adhoc

completed
2026-09-24T01:18:19.774228+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (73 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
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
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
172.6 s
total steps
261
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

Stack the bowls on the table.

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteI see three upright bowls: green on the left, blue in the middle, and beige on the right. I’ll approach the green bowl with the left gripper and stack it into the blue bowl.
move_to
left_x0.3600left_y-0.1500left_z0.1700left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.02, 0.7956, 0.6052, -0.3801, -0.0223, -0.0162, 0.9996, -0.0181, 0.7933, 0.6022, -0.3813, -0.0334, -0.0402, 0.9992] state[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1801 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9996 right_x=0.2943 right_y=0.0042 right_z=0.1791 right_yaw=-0.0001 right_pitch=-0.0004 right_roll=0.0002 right_gripper=0.9992 state[joint_eff]: [-0.6769, -1.6342, 10.0171, 1.8046, -0.0611, -0.0269, -0.0611, -0.6222, -1.4017, 10.2632, 1.917, 0.0757, 0.2711, -0.105] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":-0.15,"left_z":0.17,"left_gripper":1},"note":"I see three upright bowls: green on the left, blue in the middle, and beige on the right. I’ll approach the green bowl with the left gripper and stack it into the blue bowl."})
tool
executing move_to over 14 steps (1.4s)
step 14
top_cam
camera top_cam step 14
left_cam
camera left_cam step 14
right_cam
camera right_cam step 14
assistant
agent noteThe green bowl is beneath the left gripper, and its rim is wider than the gripper’s opening. I’ll lower toward its left rim so the jaws can pinch the wall rather than span the whole bowl.
move_to
left_x0.3600left_y-0.1100left_z0.0750
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6243, 1.33, 0.8196, -0.2203, -0.4942, -0.3687, 0.9996, -0.0177, 0.7967, 0.6037, -0.3923, -0.0338, -0.0448, 0.9992] state[eef_state]: left_x=0.3498 left_y=-0.1443 left_z=0.1506 left_yaw=-0.0234 left_pitch=-0.0585 left_roll=0.0281 left_gripper=0.9996 right_x=0.2932 right_y=0.0043 right_z=0.1766 right_yaw=0.0031 right_pitch=-0.0133 right_roll=-0.0032 right_gripper=0.9992 state[joint_eff]: [-0.4034, -5.3812, 9.3744, 1.663, -0.2955, -0.0757, -0.0611, -0.1299, -1.5248, 6.9128, 1.8339, -0.0317, 0.0317, -0.0171] camera 'top_cam' (step 14): [image omitted: streamed camera frame] camera 'left_cam' (step 14): [image omitted: streamed camera frame] camera 'right_cam' (step 14): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":-0.11,"left_z":0.075},"note":"The green bowl is beneath the left gripper, and its rim is wider than the gripper’s opening. I’ll lower toward its left rim so the jaws can pinch the wall rather than span the whole bowl."})
tool
executing move_to over 5 steps (0.5s)
step 19
top_cam
camera top_cam step 19
left_cam
camera left_cam step 19
right_cam
camera right_cam step 19
assistant
agent noteThe wrist view shows the bowl wall still forward and to the right of the pinch point. I’ll shift slightly forward and left to center the near-left section of rim between the jaws.
move_to
left_x0.3950left_y-0.0700left_z0.0650
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4973, 1.4353, 0.5777, 0.0715, -0.416, -0.3016, 0.9995, -0.0177, 0.7979, 0.6003, -0.3927, -0.0338, -0.0471, 0.9991] state[eef_state]: left_x=0.3467 left_y=-0.1029 left_z=0.0638 left_yaw=0.0088 left_pitch=-0.1359 left_roll=0.0644 left_gripper=0.9995 right_x=0.2928 right_y=0.0044 right_z=0.1746 right_yaw=0.0044 right_pitch=-0.0182 right_roll=-0.005 right_gripper=0.9991 state[joint_eff]: [0.4034, -5.2718, 6.2291, 1.8877, -0.0855, 0.1929, -0.0171, -0.0068, -1.306, 7.5419, 1.7167, -0.0611, -0.0171, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.395,"left_y":-0.07,"left_z":0.065},"note":"The wrist view shows the bowl wall still forward and to the right of the pinch point. I’ll shift slightly forward and left to center the near-left section of rim between the jaws."})
tool
executing move_to over 4 steps (0.4s)
step 23
top_cam
camera top_cam step 23
left_cam
camera left_cam step 23
right_cam
camera right_cam step 23
assistant
agent noteThe left rim now runs between the jaws, with one jaw outside and the other inside the bowl. I’ll lower a little and close gently on that section of wall.
move_to
left_z0.0400left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3187, 1.549, 0.6453, 0.1249, -0.3168, -0.21, 0.9995, -0.0177, 0.8005, 0.6003, -0.3935, -0.0338, -0.0486, 0.9991] state[eef_state]: left_x=0.3815 left_y=-0.0642 left_z=0.0536 left_yaw=0.0571 left_pitch=-0.1629 left_roll=0.0669 left_gripper=0.9995 right_x=0.2929 right_y=0.0044 right_z=0.1737 right_yaw=0.0052 right_pitch=-0.0216 right_roll=-0.0061 right_gripper=0.9991 state[joint_eff]: [0.2803, -6.147, 8.2803, 1.6337, -0.0366, 0.1197, -0.0122, -0.0889, -1.4017, 7.1726, 1.7167, -0.0562, -0.0513, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.04,"left_gripper":0},"note":"The left rim now runs between the jaws, with one jaw outside and the other inside the bowl. I’ll lower a little and close gently on that section of wall."})
tool
executing move_to over 10 steps (1.0s)
step 33
top_cam
camera top_cam step 33
left_cam
camera left_cam step 33
right_cam
camera right_cam step 33
assistant
agent noteThe gripper closed fully, so that pinch was empty. I’ll reopen and move about two centimeters outward and left to bring the rim itself onto the jaw centerline.
move_to
left_x0.4100left_y-0.0450left_z0.0650left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.305, 1.5581, 0.6567, 0.1242, -0.2836, -0.1719, 0.0083, -0.0177, 0.8009, 0.6003, -0.3931, -0.0338, -0.0486, 0.9991] state[eef_state]: left_x=0.3847 left_y=-0.0655 left_z=0.0531 left_yaw=0.0226 left_pitch=-0.1712 left_roll=0.0729 left_gripper=0.0083 right_x=0.293 right_y=0.0044 right_z=0.1737 right_yaw=0.0052 right_pitch=-0.0216 right_roll=-0.0061 right_gripper=0.9991 state[joint_eff]: [-0.1436, -6.2427, 8.212, 1.7021, -0.0171, 0.105, 0.6178, -0.1846, -1.1419, 7.159, 1.7363, -0.0806, -0.0611, -0.0171] camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.41,"left_y":-0.045,"left_z":0.065,"left_gripper":1},"note":"The gripper closed fully, so that pinch was empty. I’ll reopen and move about two centimeters outward and left to bring the rim itself onto the jaw centerline."})
tool
executing move_to over 10 steps (1.0s)
step 43
top_cam
camera top_cam step 43
left_cam
camera left_cam step 43
right_cam
camera right_cam step 43
assistant
agent noteThe rim is now close to the pinch line, and the jaws are open on opposite sides of it. I’ll lower the fingertips below the rim before closing again.
move_to
left_z0.0250
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2138, 1.5898, 0.7174, 0.083, -0.2317, -0.1223, 0.9946, -0.0177, 0.8009, 0.5999, -0.3931, -0.0338, -0.0486, 0.9991] state[eef_state]: left_x=0.3993 left_y=-0.0415 left_z=0.0552 left_yaw=0.0441 left_pitch=-0.1957 left_roll=0.0776 left_gripper=0.9946 right_x=0.2929 right_y=0.0044 right_z=0.1735 right_yaw=0.0052 right_pitch=-0.022 right_roll=-0.0061 right_gripper=0.9991 state[joint_eff]: [0.2803, -5.9009, 8.759, 1.4921, 0.0415, 0.1441, 0.0122, -0.1026, -1.2513, 7.0632, 1.7363, -0.0464, -0.0611, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 43): [image omitted: streamed camera frame] camera 'left_cam' (step 43): [image omitted: streamed camera frame] camera 'right_cam' (step 43): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.025},"note":"The rim is now close to the pinch line, and the jaws are open on opposite sides of it. I’ll lower the fingertips below the rim before closing again."})
tool
executing move_to over 2 steps (0.2s)
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 descent slowed at the bowl wall, with the fingertips near rim height. I’ll close on the rim and check the opening to see whether it is held.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2131, 1.636, 0.6945, 0.1627, -0.2344, -0.123, 0.9957, -0.0177, 0.8032, 0.5999, -0.3931, -0.0338, -0.0486, 0.9991] state[eef_state]: left_x=0.4025 left_y=-0.0414 left_z=0.0429 left_yaw=0.047 left_pitch=-0.1849 left_roll=0.0761 left_gripper=0.9957 right_x=0.2931 right_y=0.0044 right_z=0.1729 right_yaw=0.0052 right_pitch=-0.0243 right_roll=-0.0061 right_gripper=0.9991 state[joint_eff]: [-0.2393, -5.4222, 4.3966, 1.4432, -0.0806, 0.0122, 0.0904, -0.1983, -1.4291, 7.0359, 1.7509, -0.0513, -0.0317, -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 descent slowed at the bowl wall, with the fingertips near rim height. I’ll close on the rim and check the opening to see whether it is held."})
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 jaws stopped with a small gap, consistent with the thin bowl wall, and the bowl shifted slightly. I’ll lift a few centimeters to verify it comes up with the gripper.
move_to
left_z0.1150
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2134, 1.6417, 0.6834, 0.1844, -0.2237, -0.1467, 0.0411, -0.0177, 0.8036, 0.5999, -0.3935, -0.0338, -0.0486, 0.9991] state[eef_state]: left_x=0.402 left_y=-0.0434 left_z=0.0402 left_yaw=0.0503 left_pitch=-0.1811 left_roll=0.0499 left_gripper=0.0411 right_x=0.293 right_y=0.0044 right_z=0.1727 right_yaw=0.0052 right_pitch=-0.025 right_roll=-0.0061 right_gripper=0.9991 state[joint_eff]: [-0.1436, -6.3521, 6.3658, 1.0672, -0.2125, 0.188, 0.9841, -0.2256, -1.3197, 6.9949, 1.6972, -0.0757, -0.0757, -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":0.115},"note":"The jaws stopped with a small gap, consistent with the thin bowl wall, and the bowl shifted slightly. I’ll lift a few centimeters to verify it comes up with the gripper."})
tool
executing move_to over 5 steps (0.5s)
step 60
top_cam
camera top_cam step 60
left_cam
camera left_cam step 60
right_cam
camera right_cam step 60
assistant
agent noteThe green bowl rose with the gripper, confirming the rim grasp. I’ll lift it high enough to clear the blue bowl before moving sideways.
move_to
left_z0.1900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.215, 1.5028, 0.815, -0.104, -0.2249, -0.1539, 0.0419, -0.0177, 0.8043, 0.5999, -0.3931, -0.0338, -0.0486, 0.9991] state[eef_state]: left_x=0.3997 left_y=-0.0433 left_z=0.094 left_yaw=0.0546 left_pitch=-0.1979 left_roll=0.0502 left_gripper=0.0419 right_x=0.2931 right_y=0.0044 right_z=0.1726 right_yaw=0.0052 right_pitch=-0.0254 right_roll=-0.0061 right_gripper=0.9991 state[joint_eff]: [-0.0068, -8.1299, 9.0872, 1.58, -0.1197, 0.0269, 0.7937, -0.0752, -1.306, 6.9949, 1.7411, -0.0415, -0.0757, -0.0171] camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.19},"note":"The green bowl rose with the gripper, confirming the rim grasp. I’ll lift it high enough to clear the blue bowl before moving sideways."})
tool
executing move_to over 7 steps (0.7s)
step 67
top_cam
camera top_cam step 67
left_cam
camera left_cam step 67
right_cam
camera right_cam step 67
assistant
agent noteThe green bowl is clear of the table and held securely at its rim. I’ll carry it over the center blue bowl while keeping the right arm out of the way.
move_to
left_x0.3850left_y-0.2650left_z0.1900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.215, 1.433, 1.0836, -0.4625, -0.2249, -0.1574, 0.0418, -0.0177, 0.8043, 0.5999, -0.3935, -0.0338, -0.0486, 0.9992] state[eef_state]: left_x=0.4012 left_y=-0.0436 left_z=0.1703 left_yaw=0.0577 left_pitch=-0.2173 left_roll=0.0532 left_gripper=0.0418 right_x=0.2931 right_y=0.0044 right_z=0.1725 right_yaw=0.0052 right_pitch=-0.0258 right_roll=-0.006 right_gripper=0.9992 state[joint_eff]: [-0.3624, -7.9932, 9.0735, 1.453, -0.1245, 0.0073, 0.7839, -0.1299, -1.2786, 7.1316, 1.7216, -0.0562, -0.0366, -0.0171] camera 'top_cam' (step 67): [image omitted: streamed camera frame] camera 'left_cam' (step 67): [image omitted: streamed camera frame] camera 'right_cam' (step 67): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.385,"left_y":-0.265,"left_z":0.19},"note":"The green bowl is clear of the table and held securely at its rim. I’ll carry it over the center blue bowl while keeping the right arm out of the way."})
tool
executing move_to over 20 steps (2.0s)
step 87
top_cam
camera top_cam step 87
left_cam
camera left_cam step 87
right_cam
camera right_cam step 87
assistant
agent noteThe carried bowl is aligned laterally over the blue bowl. I’ll lower it slowly into the opening, keeping the rim pinched until it is supported.
move_to
left_z0.0900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8173, 1.8416, 1.6062, -0.8173, -0.572, -0.672, 0.0416, -0.0177, 0.8043, 0.5999, -0.3935, -0.0338, -0.0486, 0.9992] state[eef_state]: left_x=0.381 left_y=-0.2611 left_z=0.1778 left_yaw=0.0413 left_pitch=-0.251 left_roll=0.0614 left_gripper=0.0416 right_x=0.2931 right_y=0.0044 right_z=0.1725 right_yaw=0.0052 right_pitch=-0.0258 right_roll=-0.006 right_gripper=0.9992 state[joint_eff]: [-0.294, -9.5111, 8.8957, 1.0574, -0.5006, -0.0464, 0.8669, -0.1026, -1.2923, 7.0085, 1.6825, -0.0806, -0.0708, -0.0171] camera 'top_cam' (step 87): [image omitted: streamed camera frame] camera 'left_cam' (step 87): [image omitted: streamed camera frame] camera 'right_cam' (step 87): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.09},"note":"The carried bowl is aligned laterally over the blue bowl. I’ll lower it slowly into the opening, keeping the rim pinched until it is supported."})
tool
executing move_to over 6 steps (0.6s)
step 93
top_cam
camera top_cam step 93
left_cam
camera left_cam step 93
right_cam
camera right_cam step 93
assistant
agent noteThe blue rim is still slightly to the right of the green bowl in the close view. I’ll make a small rightward correction and lower the green bowl into its seat.
move_to
left_y-0.2850left_z0.0600
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8211, 1.8824, 1.3396, -0.5541, -0.5701, -0.6777, 0.0442, -0.0177, 0.8043, 0.5999, -0.3927, -0.0338, -0.049, 0.9991] state[eef_state]: left_x=0.3733 left_y=-0.2557 left_z=0.0936 left_yaw=0.0487 left_pitch=-0.2807 left_roll=0.0912 left_gripper=0.0442 right_x=0.2932 right_y=0.0044 right_z=0.1727 right_yaw=0.0054 right_pitch=-0.025 right_roll=-0.0064 right_gripper=0.9991 state[joint_eff]: [0.2256, -8.7453, 6.3111, 1.2234, -0.2564, 0.0171, 0.5836, -0.0752, -1.1419, 7.0632, 1.7705, -0.0513, -0.0757, -0.0171] camera 'top_cam' (step 93): [image omitted: streamed camera frame] camera 'left_cam' (step 93): [image omitted: streamed camera frame] camera 'right_cam' (step 93): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.285,"left_z":0.06},"note":"The blue rim is still slightly to the right of the green bowl in the close view. I’ll make a small rightward correction and lower the green bowl into its seat."})
tool
executing move_to over 3 steps (0.3s)
step 96
top_cam
camera top_cam step 96
left_cam
camera left_cam step 96
right_cam
camera right_cam step 96
assistant
agent noteThe green bowl is lowered into the blue bowl’s opening, with their rims overlapping. I’ll release the rim so it can settle into the stack.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8585, 1.9789, 1.3544, -0.503, -0.5865, -0.7174, 0.0444, -0.0177, 0.8043, 0.5999, -0.3931, -0.0338, -0.0486, 0.9991] state[eef_state]: left_x=0.372 left_y=-0.2757 left_z=0.0637 left_yaw=0.0503 left_pitch=-0.2863 left_roll=0.0983 left_gripper=0.0444 right_x=0.2931 right_y=0.0044 right_z=0.1726 right_yaw=0.0052 right_pitch=-0.0254 right_roll=-0.0061 right_gripper=0.9991 state[joint_eff]: [-0.4308, -9.4564, 8.0068, 0.823, -0.2125, 0.1001, 0.8181, -0.1436, -1.306, 7.0906, 1.7314, -0.0611, -0.0611, -0.0171] camera 'top_cam' (step 96): [image omitted: streamed camera frame] camera 'left_cam' (step 96): [image omitted: streamed camera frame] camera 'right_cam' (step 96): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The green bowl is lowered into the blue bowl’s opening, with their rims overlapping. I’ll release the rim so it can settle into the stack."})
tool
executing move_to over 10 steps (1.0s)
step 106
top_cam
camera top_cam step 106
left_cam
camera left_cam step 106
right_cam
camera right_cam step 106
assistant
agent noteThe rim has been released. I’ll lift the open gripper straight up before retreating, avoiding the stacked bowls.
move_to
left_z0.1800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8734, 1.9991, 1.3636, -0.4934, -0.5926, -0.7414, 0.9947, -0.0177, 0.8043, 0.5999, -0.3931, -0.0338, -0.049, 0.9991] state[eef_state]: left_x=0.3706 left_y=-0.2831 left_z=0.0593 left_yaw=0.0528 left_pitch=-0.2815 left_roll=0.0866 left_gripper=0.9947 right_x=0.2931 right_y=0.0044 right_z=0.1726 right_yaw=0.0054 right_pitch=-0.0254 right_roll=-0.0064 right_gripper=0.9991 state[joint_eff]: [-0.1299, -9.7436, 7.3094, 0.9597, -0.3541, 0.0806, -0.0464, -0.1709, -1.1145, 7.0359, 1.7216, -0.0317, -0.0806, -0.0171] camera 'top_cam' (step 106): [image omitted: streamed camera frame] camera 'left_cam' (step 106): [image omitted: streamed camera frame] camera 'right_cam' (step 106): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.18},"note":"The rim has been released. I’ll lift the open gripper straight up before retreating, avoiding the stacked bowls."})
tool
executing move_to over 8 steps (0.8s)
step 114
top_cam
camera top_cam step 114
left_cam
camera left_cam step 114
right_cam
camera right_cam step 114
assistant
agent noteThe green bowl is resting in the blue bowl at the center. I’ll park the left arm away from the stack, then use the right arm for the remaining beige bowl.
move_to
left_x0.2950left_y0.0000left_z0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8734, 1.9533, 1.6981, -0.8886, -0.5919, -0.7498, 0.9957, -0.0177, 0.8043, 0.5999, -0.3935, -0.0338, -0.0486, 0.9991] state[eef_state]: left_x=0.374 left_y=-0.2873 left_z=0.156 left_yaw=0.0606 left_pitch=-0.2905 left_roll=0.0929 left_gripper=0.9957 right_x=0.2931 right_y=0.0044 right_z=0.1725 right_yaw=0.0052 right_pitch=-0.0258 right_roll=-0.006 right_gripper=0.9991 state[joint_eff]: [-0.3214, -12.7795, 8.4034, 0.9158, -0.2857, 0.0562, 0.0855, -0.0205, -1.0462, 7.0085, 1.7411, -0.0366, -0.0464, -0.0171] camera 'top_cam' (step 114): [image omitted: streamed camera frame] camera 'left_cam' (step 114): [image omitted: streamed camera frame] camera 'right_cam' (step 114): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.295,"left_y":0,"left_z":0.2},"note":"The green bowl is resting in the blue bowl at the center. I’ll park the left arm away from the stack, then use the right arm for the remaining beige bowl."})
tool
executing move_to over 26 steps (2.6s)
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 center stack is stable, and the beige bowl remains upright on the right. I’ll approach its right-hand rim with the open right gripper.
move_to
right_x0.4000right_y0.0450right_z0.1000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1341, 1.0645, 0.997, -0.8085, -0.2081, -0.1215, 0.9957, -0.0177, 0.8051, 0.5999, -0.3939, -0.0338, -0.049, 0.9991] state[eef_state]: left_x=0.2987 left_y=0.0001 left_z=0.1997 left_yaw=0.1085 left_pitch=-0.284 left_roll=0.0828 left_gripper=0.9957 right_x=0.2931 right_y=0.0044 right_z=0.1722 right_yaw=0.0054 right_pitch=-0.0269 right_roll=-0.0063 right_gripper=0.9991 state[joint_eff]: [0.2803, -3.4393, 6.4615, 1.3211, -0.0806, 0.1245, -0.0024, -0.253, -1.388, 7.0359, 1.7411, -0.0708, -0.0708, -0.0171] 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_x":0.40,"right_y":0.045,"right_z":0.10,"right_gripper":1},"note":"The center stack is stable, and the beige bowl remains upright on the right. I’ll approach its right-hand rim with the open right gripper."})
tool
executing move_to over 9 steps (0.9s)
step 149
top_cam
camera top_cam step 149
left_cam
camera left_cam step 149
right_cam
camera right_cam step 149
assistant
agent noteThe bowl’s right rim is to the right of the jaw centerline in the wrist view. I’ll shift outward slightly and keep the tool upright so the jaws straddle that rim.
move_to
right_x0.4000right_y0.0100right_z0.0650right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1337, 1.0695, 0.9955, -0.8238, -0.2028, -0.12, 0.9957, 0.1432, 1.4227, 0.5922, 0.0998, 0.0753, 0.0174, 0.9992] state[eef_state]: left_x=0.2961 left_y=-0.0003 left_z=0.1953 left_yaw=0.105 left_pitch=-0.3061 left_roll=0.085 left_gripper=0.9957 right_x=0.3716 right_y=0.0438 right_z=0.0685 right_yaw=0.0374 right_pitch=-0.1562 right_roll=-0.0268 right_gripper=0.9992 state[joint_eff]: [-0.0342, -3.0564, 6.735, 1.5897, -0.1832, -0.0562, -0.0073, 0.3624, -6.3248, 9.4701, 1.9951, 0.2613, 0.2076, -0.105] camera 'top_cam' (step 149): [image omitted: streamed camera frame] camera 'left_cam' (step 149): [image omitted: streamed camera frame] camera 'right_cam' (step 149): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.4,"right_y":0.01,"right_z":0.065,"right_pitch":0,"right_roll":0},"note":"The bowl’s right rim is to the right of the jaw centerline in the wrist view. I’ll shift outward slightly and keep the tool upright so the jaws straddle that rim."})
tool
executing move_to over 6 steps (0.6s)
step 155
top_cam
camera top_cam step 155
left_cam
camera left_cam step 155
right_cam
camera right_cam step 155
assistant
agent noteThe open jaws now lie inside and outside the beige rim. I’ll advance a little and lower them to grip the wall below the lip, as with the first bowl.
move_to
right_x0.4150right_y0.0000right_z0.0300right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1337, 1.0725, 0.9955, -0.8265, -0.2028, -0.1204, 0.9957, 0.0902, 1.4517, 0.561, 0.1921, 0.0399, -0.0044, 0.9991] state[eef_state]: left_x=0.2958 left_y=-0.0003 left_z=0.194 left_yaw=0.1057 left_pitch=-0.3117 left_roll=0.0862 left_gripper=0.9957 right_x=0.377 right_y=0.0306 right_z=0.0629 right_yaw=0.0268 right_pitch=-0.1261 right_roll=-0.0173 right_gripper=0.9991 state[joint_eff]: [-0.1983, -2.906, 6.7897, 1.4139, -0.149, -0.0611, -0.0122, 0.1162, -5.3538, 6.1744, 1.8681, -0.1197, -0.1197, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 155): [image omitted: streamed camera frame] camera 'left_cam' (step 155): [image omitted: streamed camera frame] camera 'right_cam' (step 155): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.415,"right_y":0,"right_z":0.03,"right_pitch":0,"right_roll":0},"note":"The open jaws now lie inside and outside the beige rim. I’ll advance a little and lower them to grip the wall below the lip, as with the first bowl."})
tool
executing move_to over 5 steps (0.5s)
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 right arm did not follow the last descent, so I won’t keep pressing at that pose. I’ll lift clear and adjust the tool angle before approaching the rim again.
move_to
right_x0.4000right_y0.0000right_z0.1300right_pitch0.1500right_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1337, 1.0725, 0.9955, -0.8265, -0.2024, -0.1204, 0.9957, 0.0902, 1.4517, 0.561, 0.1925, 0.0368, -0.0116, 0.9991] state[eef_state]: left_x=0.2958 left_y=-0.0003 left_z=0.194 left_yaw=0.1054 left_pitch=-0.3118 left_roll=0.0859 left_gripper=0.9957 right_x=0.3771 right_y=0.0312 right_z=0.063 right_yaw=0.0333 right_pitch=-0.1257 right_roll=-0.0209 right_gripper=0.9991 state[joint_eff]: [-0.1299, -2.906, 6.6667, 1.3993, -0.1148, -0.0464, -0.0073, -0.1026, -5.1624, 6.1607, 1.8144, -0.0757, -0.0562, -0.0171] approver: 1 step(s) modified (delta_clamped). 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_x":0.4,"right_y":0,"right_z":0.13,"right_pitch":0.15,"right_roll":0},"note":"The right arm did not follow the last descent, so I won’t keep pressing at that pose. I’ll lift clear and adjust the tool angle before approaching the rim again."})
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 repositioned arm is moving normally, and the beige rim is aligned with the jaw centerline. I’ll descend vertically at this adjusted angle.
move_to
right_x0.4000right_y0.0050right_z0.0350right_pitch0.1500right_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1337, 1.0733, 0.9955, -0.8268, -0.2024, -0.1204, 0.9957, -0.0429, 1.3853, 0.5285, 0.3393, -0.0772, -0.0685, 0.9991] state[eef_state]: left_x=0.2958 left_y=-0.0003 left_z=0.1938 left_yaw=0.1054 left_pitch=-0.3129 left_roll=0.0862 left_gripper=0.9957 right_x=0.3916 right_y=0.0004 right_z=0.104 right_yaw=0.0274 right_pitch=0.056 right_roll=-0.0036 right_gripper=0.9991 state[joint_eff]: [-0.0205, -2.9333, 6.7077, 1.3846, -0.105, -0.0659, -0.0122, -0.4991, -7.0632, 6.8855, 2.1172, -0.1343, 0.0073, -0.0171] approver: 1 step(s) modified (delta_clamped). 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_x":0.4,"right_y":0.005,"right_z":0.035,"right_pitch":0.15,"right_roll":0},"note":"The repositioned arm is moving normally, and the beige rim is aligned with the jaw centerline. I’ll descend vertically at this adjusted angle."})
tool
executing move_to over 5 steps (0.5s)
step 175
top_cam
camera top_cam step 175
left_cam
camera left_cam step 175
right_cam
camera right_cam step 175
assistant
agent noteThe fingertips are now below the lip, with the bowl wall between them. I’ll close the right gripper to pinch that wall.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1337, 1.0756, 0.9955, -0.8272, -0.2024, -0.12, 0.9957, -0.0326, 1.7626, 0.3779, 0.8288, -0.0875, -0.0589, 0.9991] state[eef_state]: left_x=0.2959 left_y=-0.0004 left_z=0.1931 left_yaw=0.1054 left_pitch=-0.3155 left_roll=0.0871 left_gripper=0.9957 right_x=0.3842 right_y=0.0065 right_z=0.0118 right_yaw=0.0411 right_pitch=0.0177 right_roll=0.0126 right_gripper=0.9991 state[joint_eff]: [-0.0752, -2.988, 6.6256, 1.3944, -0.1587, -0.0611, -0.0122, 0.4308, -6.2974, 3.6581, 1.6239, 0.0952, 0.0415, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 175): [image omitted: streamed camera frame] camera 'left_cam' (step 175): [image omitted: streamed camera frame] camera 'right_cam' (step 175): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The fingertips are now below the lip, with the bowl wall between them. I’ll close the right gripper to pinch that wall."})
tool
executing move_to over 10 steps (1.0s)
step 185
top_cam
camera top_cam step 185
left_cam
camera left_cam step 185
right_cam
camera right_cam step 185
assistant
agent noteThe closing gap is very small, so the grasp is uncertain. I’ll make a short test lift and check whether the beige bowl follows.
move_to
right_z0.0950
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1337, 1.0752, 0.9955, -0.8272, -0.2028, -0.1204, 0.9957, -0.0284, 1.7489, 0.3847, 0.9081, -0.1207, -0.0387, 0.0292] state[eef_state]: left_x=0.2959 left_y=-0.0003 left_z=0.1932 left_yaw=0.1059 left_pitch=-0.315 left_roll=0.0871 left_gripper=0.9957 right_x=0.3968 right_y=0.0136 right_z=0.0364 right_yaw=0.0629 right_pitch=0.118 right_roll=0.0382 right_gripper=0.0292 state[joint_eff]: [-0.0752, -2.6735, 6.735, 1.3602, -0.1587, -0.0464, -0.0122, -0.5265, -5.1761, 3.6855, 0.7106, 0.6716, -0.2466, 1.8486] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 185): [image omitted: streamed camera frame] camera 'left_cam' (step 185): [image omitted: streamed camera frame] camera 'right_cam' (step 185): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.095},"note":"The closing gap is very small, so the grasp is uncertain. I’ll make a short test lift and check whether the beige bowl follows."})
tool
executing move_to over 4 steps (0.4s)
step 189
top_cam
camera top_cam step 189
left_cam
camera left_cam step 189
right_cam
camera right_cam step 189
assistant
agent noteThe beige bowl lifted with the gripper despite its thin wall. I’ll raise it above the stack’s rim before carrying it leftward.
move_to
right_z0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1337, 1.0775, 0.9955, -0.8268, -0.2024, -0.1204, 0.9957, -0.028, 1.4883, 0.4355, 0.6277, -0.1211, -0.046, 0.0363] state[eef_state]: left_x=0.2961 left_y=-0.0004 left_z=0.1926 left_yaw=0.1058 left_pitch=-0.3169 left_roll=0.0872 left_gripper=0.9957 right_x=0.396 right_y=0.0138 right_z=0.0909 right_yaw=0.0679 right_pitch=0.1491 right_roll=0.0288 right_gripper=0.0363 state[joint_eff]: [-0.1299, -2.8923, 6.8444, 1.3944, -0.1099, -0.0757, -0.0073, 0.0615, -5.3949, 8.0479, 1.8437, -0.0757, 0.0122, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 189): [image omitted: streamed camera frame] camera 'left_cam' (step 189): [image omitted: streamed camera frame] camera 'right_cam' (step 189): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.2},"note":"The beige bowl lifted with the gripper despite its thin wall. I’ll raise it above the stack’s rim before carrying it leftward."})
tool
executing move_to over 8 steps (0.8s)
step 197
top_cam
camera top_cam step 197
left_cam
camera left_cam step 197
right_cam
camera right_cam step 197
assistant
agent noteThe beige bowl is clear of the tabletop and the other bowls. I’ll move it over the center stack, allowing for the offset from the rim grip to the bowl’s center.
move_to
right_x0.3800right_y0.2400right_z0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1337, 1.0794, 0.9955, -0.8272, -0.2028, -0.12, 0.9957, -0.028, 1.2339, 0.6804, 0.0948, -0.1211, -0.057, 0.037] state[eef_state]: left_x=0.2962 left_y=-0.0003 left_z=0.192 left_yaw=0.1061 left_pitch=-0.3191 left_roll=0.0884 left_gripper=0.9957 right_x=0.3935 right_y=0.0139 right_z=0.1749 right_yaw=0.0735 right_pitch=0.116 right_roll=0.022 right_gripper=0.037 state[joint_eff]: [-0.1299, -2.906, 6.612, 1.3553, -0.1685, -0.0562, -0.0122, -0.212, -6.188, 10.2769, 1.9805, -0.0855, 0.0513, 1.0281] camera 'top_cam' (step 197): [image omitted: streamed camera frame] camera 'left_cam' (step 197): [image omitted: streamed camera frame] camera 'right_cam' (step 197): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.38,"right_y":0.24,"right_z":0.2},"note":"The beige bowl is clear of the tabletop and the other bowls. I’ll move it over the center stack, allowing for the offset from the rim grip to the bowl’s center."})
tool
executing move_to over 19 steps (1.9s)
step 216
top_cam
camera top_cam step 216
assistant
agent noteThe beige bowl is over the stack but appears slightly left of center. I’ll shift it a little right and lower it toward the green bowl’s opening.
move_to
right_y0.2200right_z0.1050
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1337, 1.0794, 0.9955, -0.8268, -0.2024, -0.12, 0.9957, 0.7666, 1.5303, 0.997, -0.0948, 0.5385, 0.2939, 0.037] state[eef_state]: left_x=0.2963 left_y=-0.0004 left_z=0.1921 left_yaw=0.1057 left_pitch=-0.3188 left_roll=0.088 left_gripper=0.9957 right_x=0.3703 right_y=0.2358 right_z=0.1728 right_yaw=0.1327 right_pitch=0.0433 right_roll=-0.0367 right_gripper=0.037 state[joint_eff]: [-0.0342, -2.8923, 6.612, 1.3993, -0.1441, -0.0415, -0.0122, 0.1026, -7.3504, 10.0855, 2.0, 0.4371, 0.2076, 1.033] camera 'top_cam' (step 216): [image omitted: streamed camera frame] camera 'left_cam' (step 216): [image omitted: streamed camera frame] camera 'right_cam' (step 216): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.22,"right_z":0.105},"note":"The beige bowl is over the stack but appears slightly left of center. I’ll shift it a little right and lower it toward the green bowl’s opening."})
tool
executing move_to over 5 steps (0.5s)
step 221
assistant
agent noteThe beige bowl is centered over the visible green rim. I’ll lower it the last few centimeters so it nests into the two-bowl stack.
move_to
right_z0.0700
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1337, 1.0801, 0.9955, -0.8268, -0.2024, -0.1204, 0.9957, 0.73, 1.6047, 0.7822, 0.1123, 0.5133, 0.2722, 0.037] state[eef_state]: left_x=0.2963 left_y=-0.0004 left_z=0.1919 left_yaw=0.106 left_pitch=-0.3195 left_roll=0.0879 left_gripper=0.9957 right_x=0.3606 right_y=0.2111 right_z=0.0913 right_yaw=0.1278 right_pitch=-0.033 right_roll=-0.0898 right_gripper=0.037 state[joint_eff]: [-0.1026, -2.8786, 6.694, 1.3748, -0.1392, -0.0757, -0.0122, -0.2803, -6.6256, 6.8308, 2.0147, 0.1001, 0.0513, 1.0037] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 221): [image omitted: streamed camera frame] camera 'left_cam' (step 221): [image omitted: streamed camera frame] camera 'right_cam' (step 221): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.07},"note":"The beige bowl is centered over the visible green rim. I’ll lower it the last few centimeters so it nests into the two-bowl stack."})
tool
executing move_to over 2 steps (0.2s)
step 223
assistant
agent noteThe descent has slowed as the beige bowl meets the stack. I’ll release the rim and let it settle under its own weight.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1337, 1.0801, 0.9955, -0.8272, -0.2024, -0.12, 0.9957, 0.73, 1.6321, 0.7555, 0.1936, 0.5095, 0.2626, 0.0371] state[eef_state]: left_x=0.2963 left_y=-0.0004 left_z=0.1918 left_yaw=0.1058 left_pitch=-0.3199 left_roll=0.0883 left_gripper=0.9957 right_x=0.3629 right_y=0.214 right_z=0.0842 right_yaw=0.1363 right_pitch=-0.0122 right_roll=-0.0805 right_gripper=0.0371 state[joint_eff]: [-0.1846, -2.9607, 6.5983, 1.3651, -0.1343, -0.0366, -0.0122, -0.1026, -5.8598, 5.1897, 1.6777, 0.1734, 0.0708, 0.8034] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 223): [image omitted: streamed camera frame] camera 'left_cam' (step 223): [image omitted: streamed camera frame] camera 'right_cam' (step 223): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The descent has slowed as the beige bowl meets the stack. I’ll release the rim and let it settle under its own weight."})
tool
executing move_to over 10 steps (1.0s)
step 233
assistant
agent noteThe beige bowl has been released and remains on the stack. I’ll lift the open gripper straight up to clear the rims.
move_to
right_z0.1900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1337, 1.0801, 0.9955, -0.8268, -0.2028, -0.12, 0.9957, 0.73, 1.6646, 0.7395, 0.1959, 0.5083, 0.2657, 0.9954] state[eef_state]: left_x=0.2963 left_y=-0.0003 left_z=0.1919 left_yaw=0.1061 left_pitch=-0.3195 left_roll=0.0885 left_gripper=0.9957 right_x=0.3586 right_y=0.2103 right_z=0.0659 right_yaw=0.1347 right_pitch=-0.0508 right_roll=-0.1032 right_gripper=0.9954 state[joint_eff]: [-0.0752, -2.906, 6.6256, 1.409, -0.1685, -0.0611, -0.0122, -0.0889, -7.4872, 5.6821, 1.7216, 0.1783, -0.0024, -0.2125] camera 'top_cam' (step 233): [image omitted: streamed camera frame] camera 'left_cam' (step 233): [image omitted: streamed camera frame] camera 'right_cam' (step 233): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.19},"note":"The beige bowl has been released and remains on the stack. I’ll lift the open gripper straight up to clear the rims."})
tool
executing move_to over 9 steps (0.9s)
step 242
assistant
agent noteThe bowls remain in place as the gripper lifts away. I’ll park the right arm to uncover the stack for a final check.
move_to
right_x0.2950right_y0.0000right_z0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1337, 1.0801, 0.9955, -0.8268, -0.2028, -0.12, 0.9957, 0.7307, 1.486, 1.0302, -0.3092, 0.5079, 0.2577, 0.9963] state[eef_state]: left_x=0.2963 left_y=-0.0003 left_z=0.1919 left_yaw=0.1061 left_pitch=-0.3195 left_roll=0.0885 left_gripper=0.9957 right_x=0.3573 right_y=0.2097 right_z=0.1658 right_yaw=0.1388 right_pitch=-0.081 right_roll=-0.1295 right_gripper=0.9963 state[joint_eff]: [-0.1436, -2.9333, 6.6393, 1.3748, -0.149, -0.0366, -0.0122, -0.2803, -8.6222, 9.388, 1.6044, 0.1734, 0.0513, 0.0806] camera 'top_cam' (step 242): [image omitted: streamed camera frame] camera 'left_cam' (step 242): [image omitted: streamed camera frame] camera 'right_cam' (step 242): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.295,"right_y":0,"right_z":0.2},"note":"The bowls remain in place as the gripper lifts away. I’ll park the right arm to uncover the stack for a final check."})
tool
executing move_to over 18 steps (1.8s)
step 260
assistant
agent noteStacked all three bowls at the center of the table, with blue on the bottom, green in the middle, and beige on top. Both arms are parked clear.
done
hindsightThese bowls are wider than the gripper stroke, so pinch one rim wall with one jaw inside and one outside. Successful rim grasps had actual fingertip heights around 3–4 cm. The beige bowl was securely held with a gripper reading of only 0.03–0.037; for these thin walls, verify with a short lift rather than relying on the 0.04 threshold alone. A stalled right-arm approach recovered after lifting to z=0.13 and commanding forward pitch=0.15 before descending again.
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1337, 1.0821, 0.9955, -0.8265, -0.2024, -0.12, 0.9957, -0.0647, 0.8818, 0.7616, -0.5392, -0.0578, -0.2306, 0.9965] state[eef_state]: left_x=0.2966 left_y=-0.0004 left_z=0.1914 left_yaw=0.1059 left_pitch=-0.321 left_roll=0.0885 left_gripper=0.9957 right_x=0.2977 right_y=-0.0055 right_z=0.1952 right_yaw=0.0774 right_pitch=-0.0895 right_roll=-0.1343 right_gripper=0.9965 state[joint_eff]: [-0.0752, -3.1111, 6.6393, 1.37, -0.1685, -0.0171, -0.0122, -0.1573, -2.1538, 7.7197, 1.6679, -0.1783, -0.0073, 0.0024] camera 'top_cam' (step 260): [image omitted: streamed camera frame] camera 'left_cam' (step 260): [image omitted: streamed camera frame] camera 'right_cam' (step 260): [image omitted: streamed camera frame]
assistant
done({"summary":"Stacked all three bowls at the center of the table, with blue on the bottom, green in the middle, and beige on top. Both arms are parked clear.","hindsight":"These bowls are wider than the gripper stroke, so pinch one rim wall with one jaw inside and one outside. Successful rim grasps had actual fingertip heights around 3–4 cm. The beige bowl was securely held with a gripper reading of only 0.03–0.037; for these thin walls, verify with a short lift rather than relying on the 0.04 threshold alone. A stalled right-arm approach recovered after lifting to z=0.13 and commanding forward pitch=0.15 before descending again."})
tool
done: Stacked all three bowls at the center of the table, with blue on the bottom, green in the middle, and beige on top. Both arms are parked clear.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 8.225 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "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.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Stack the bowls on the table.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7956, 0.6052, -0.3801, -0.0223, -0.0162, 0.9996, -0.0181, 0.7933, 0.6022, -0.3813, -0.0334, -0.0402, 0.9992]\nstate[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1801 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9996 right_x=0.2943 right_y=0.0042 right_z=0.1791 right_yaw=-0.0001 right_pitch=-0.0004 right_roll=0.0002 right_gripper=0.9992\nstate[joint_eff]: [-0.6769, -1.6342, 10.0171, 1.8046, -0.0611, -0.0269, -0.0611, -0.6222, -1.4017, 10.2632, 1.917, 0.0757, 0.2711, -0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc5f62d0440175fc4287fe85a4bb065bd6bccb4f9d66001f55e1f3c295dfc8b4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7dd11e1bc5bb0ec6217a6fa57c5713498e8ae0643ac484127d449d8aeb459ff0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b512f34b32719ed730abe48d051f5ba122aed1314c19d72e20c657c1e5ea2ab7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 7.302 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtHpwt1QrUoAVdUOJuGJm4T5D5I25E79IBgLveBSUwNTyWd7lk2HBrtQvfgmo6orx3Ty-MkmhPrGgrWjWV7PhQocowtld6Mo9L74eo_4fau9V3HSaCU5ahXr-8DQwHUPzxxD9-q5FcPnWNQx_MzTtYUdrpK_uGCaxTnRxfFPMW8bUdnKdEWl6xPUNNCyxgJ589jhYwK-gUqt7VatG55E9nVWjQKYvzpJWHMCxl837OfE7shP6nIPNBMeGFGDrMi9AsOIRlqj63yzxr6wyawN5c4y8XXDAZUbnfflQbqr7lN3qKmAZlNX8hV8K11LZ9Ht5bjfBfFjNk_138lbAM80VB94miECBt0-wjTQR2o5jrSZhRu7lk7f-hfFssHfYubIZL6jGAoHB0MwY-DbGGc4c8jx0ovdXqjRxPeVGM9kHQYayMRRZR7N0tQdmAp8_ftwrc9fRyDpfIjOiHmlpzeqO5LbAMcCSBBox1eh8RGxyIVCrttthwRgvMDw44gPUj1xZypWQRcAnQWLNxv8e-gZY4SOL2afJgZ0Uofn2jnRpgACRbbuAAjUk0my4GMm8dJRrFWmV765XBsdxWV17vgVVT37MW2pAPlPlfMAz_ucNKOQQQP8mcI0-AWK05eI0K5zyNG6p5jvPE6wjNMy5QDVgLdwRsrBeUtxypNFbJY3C3O0o3rZ99d1wxWqxKj8oPrQaPNj1FqklAlgQ9g3S0AXvSNwY5QIN06kS6Uvhx2bDs8CEhxdNxp0RfPYYHAoXzS0ZAkh1qlgGcRlyT7yJ5znPo0pkWwd4xmTSzOi6QBwRUkzts3eEFkeV2FFd8dM_jvZS5z2dD8pMHxbvwb9U4OxwyudQWP8eFPg3kMnsNnjNTbe2n6bXv5HJBohlnlaukJjyss7cvZqpatqLcCLKTeDNd0wr837u7INgMdWhgytNxw_wTQ_3_NijXN0CaySGLDTcpMdY6SbVdok8QKTolnbfCWQmwubPrjj-0I4vc7G96qLm1wxJ9Dl8MwHHO4fbbXO2ZkYmLOElHXFkeqPIXI4-kM8Z0uYHpRsk06bB30t6ezHFh84iew-4jY6uCjoKkshjTqUW75R_TRz4eyrh5KXzmjrNB_UEXWki1DYMcSp_LlYTxmqLGvcnqeoIder5L2UgPqZZmK_qEAAII5z_TYFxeKDEZdtLzntm64HLy6TxOGoUpB8I0WSLBuY5nHFuywDa9bpMQXAIFVDOWyKcKX6f6jdE2JU2f6DWLj2cUyHRnrrm2n3quGI21FgnRNYl6WegjydJlgpxJNKobLMqdaW2ZEhxXeYXneUY3w0TxTGY-1tGUCBXD7dtVf5CuqTeNnkn5vk0IlTBnEIGsHZFrH3HlqyC_rgUqf4-NO7vq0IKbteAq9SXcs713ZzkGz1muRjtD3vcgEqFoeHxMNYjA1mlkvMkT2yn6UElNPpyIs6B9KJI9AAxHfCzPLwzpMWPsOhIB8a0sKsPbhqQAKjymibcjfeA_iBqSwm4tbBX0Zo1otg9ME1CkkM4cBIHTdFnH4kJYfyNiSVYy4spKrlYn_aKjsuFl7iPJOnHKApHvuei0Ucl08I_wrRgSTpUgzp4Mth3_Sm8Eg-0KWyJoUTm1mG5jGoKKirHmkQe3mLIG5GETIhuQgf70Ce_MVYSk-sUwDwea_a2fy30N62-8seoqTW9zCYLDxn-wgijo0VSk-R8baEebX6dZ6p8s60jYvIu7VTsFgyQUT5-PLW5Hl8TyJDvK4parB6j6DztQ2mx6hfulXK6dS0sG398fnA42-7Zx0PF5dfrnIXRa-FP8j5aEyA9MbgL09zbU0D8fKtQMGa6KZcW7LWR7fgeeYVd_zx1prkF_kZL1ieEKy2rP9-tKryJneMTnJJxYd2ZmthPCHd-Bo7x_OTKD06WrstSKsNJdLNOLoZoMgEIqgMz5njkGHE2l4ll4lz2-lfCfW6JpO_MejjBDE5bgH-QcrwY3t4zzeVoqJJK9VA0daoqHoh7UROuwTip8g9kXF1IY1dRGVG15sJcpFWVMQSZ0K8ZAzGWyMg-DStQpOz-S7YtesujSMLDrCzub695wQR1dtsa8MLWbs23MRFcLjVRC8rmVZMPU4YDzFRLX3wBA8aWcrM3Byv770xoQ8gxs6v06HJD93GB9ZWD4JGZBrHtff6bUrT3akXgPkUUUX6SLpUgg8yheEIwsrFeoOtVC8lCc1l2twa9yqux_T_ptCWs8Xr5afQX7ICOK3ftyMjyBaUT2lTpl_O7b8arz-iPTIu1SBy3Xf383hfhbMvd-EP_xVKqukb9EN4nuvNRg8NZa7xJhOhb-b0fH0P0-0D_1sNccwacrxfh2d6cxCKoeVzRafdvqWfGGy4yFJSiroTIJ39hiWxcpFsCUXDM1dZNqANgHZ_D4XCcnklCs0xFo8C8nt0_xSd6INMRlOKaVCW_aeMLhPctJAnfuIAP-jf53kadpzUf3G8JU5nYi1JKxYGnkW4KYmcRTnX_ZS2qaZJmbzjDVHVZYJTWKNgxyGKkfQx-VSpdSXNXAuQyA4lRQY2ZIQVeuF9LYCgfYdnyeweNPXLoN9Kqo1xRklKT5136ObcJuqJ0vAXolZ6002EsXCE-e_bWxldmrxlDqBZBh_0ROleOoYdgrj9TWBV9Mg==",
  "id": "rs_00e2f7654b3c70aa016ab47a6a0a8887d0948f8a9cce7e5fbb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.15,\"left_z\":0.17,\"left_gripper\":1},\"note\":\"I see three upright bowls: green on the left, blue in the middle, and beige on the right. I’ll approach the green bowl with the left gripper and stack it into the blue bowl.\"}",
  "call_id": "call_Ot62UqdIietBNQGLB1APaV48",
  "id": "fc_00e2f7654b3c70aa016ab47a6f991487d09edde100a1653049",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Ot62UqdIietBNQGLB1APaV48",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6243, 1.33, 0.8196, -0.2203, -0.4942, -0.3687, 0.9996, -0.0177, 0.7967, 0.6037, -0.3923, -0.0338, -0.0448, 0.9992]\nstate[eef_state]: left_x=0.3498 left_y=-0.1443 left_z=0.1506 left_yaw=-0.0234 left_pitch=-0.0585 left_roll=0.0281 left_gripper=0.9996 right_x=0.2932 right_y=0.0043 right_z=0.1766 right_yaw=0.0031 right_pitch=-0.0133 right_roll=-0.0032 right_gripper=0.9992\nstate[joint_eff]: [-0.4034, -5.3812, 9.3744, 1.663, -0.2955, -0.0757, -0.0611, -0.1299, -1.5248, 6.9128, 1.8339, -0.0317, 0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59018fee6b8eac4d6e3f054c2345235cb57be5e3f8c5d55b45650b65bb82c83a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6592cf5f702f85dfb6530f153da5493079621ea9cfe9266e416c3d6e914c42f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ad00decad7e2619cdb427b8adfcc9a1bd3e194cf70946864738937e89ba1040",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 5.598 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 6 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7956, 0.6052, -0.3801, -0.0223, -0.0162, 0.9996, -0.0181, 0.7933, 0.6022, -0.3813, -0.0334, -0.0402, 0.9992]\nstate[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1801 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9996 right_x=0.2943 right_y=0.0042 right_z=0.1791 right_yaw=-0.0001 right_pitch=-0.0004 right_roll=0.0002 right_gripper=0.9992\nstate[joint_eff]: [-0.6769, -1.6342, 10.0171, 1.8046, -0.0611, -0.0269, -0.0611, -0.6222, -1.4017, 10.2632, 1.917, 0.0757, 0.2711, -0.105]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6243, 1.33, 0.8196, -0.2203, -0.4942, -0.3687, 0.9996, -0.0177, 0.7967, 0.6037, -0.3923, -0.0338, -0.0448, 0.9992]\nstate[eef_state]: left_x=0.3498 left_y=-0.1443 left_z=0.1506 left_yaw=-0.0234 left_pitch=-0.0585 left_roll=0.0281 left_gripper=0.9996 right_x=0.2932 right_y=0.0043 right_z=0.1766 right_yaw=0.0031 right_pitch=-0.0133 right_roll=-0.0032 right_gripper=0.9992\nstate[joint_eff]: [-0.4034, -5.3812, 9.3744, 1.663, -0.2955, -0.0757, -0.0611, -0.1299, -1.5248, 6.9128, 1.8339, -0.0317, 0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59018fee6b8eac4d6e3f054c2345235cb57be5e3f8c5d55b45650b65bb82c83a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6592cf5f702f85dfb6530f153da5493079621ea9cfe9266e416c3d6e914c42f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ad00decad7e2619cdb427b8adfcc9a1bd3e194cf70946864738937e89ba1040",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHp51yg14JQjI8MDggeTgrIl0vlKlotQgtwuzk9NqaxnVeqgwx0qi6oLGWHCrajUZu4NFgYNwgs7yIuBABK2Axi76y7_WXMjCwPV9_zIxCA-qHEZASE3JQRgXquAaQtn4S0dZyckxQNzh4kXexV6VupZES-wy_NADXHTMcfkpJRn3qPZpZpNRu70TNa_Oi1F5xNHHpJ7KwUqep1XMeA9TUcT65IZcnQDZGm5dDSgnzlGX7-hMPN8UyDUeNWkMmUzTHQkepkmgrr68cmEKOLFc2V7p0yzkKCL4sqgK2JLO1DsU3AQQM6dJ1VhXIj3rGw2dN19Bkm0X4qJeQcR_9MpJCQpPk9WEUlBL4t_zYShqYARwFkVqowIMPBD2rU5q4WJ-8yP3YRc25Afmty_uNZLtNg4tdN-6MH_YWO7oy6PdsIjS88_ROcOkP0km7bB1AA6HwC3DcaYwslt0Y8OL56_J6gv3bj9Td-AMlTqlQ_Jjq9N2R0RwHoQb4FJxKFhc_ZcgbWeUwGu2TE-LeVARcGIHNcrUmzLipdzEsAML70s3wVvVAw8KImjl7znpaCJ6OwEMUXkrtB4zHfkXa8yWyPYDSifpU1Zm7JB2SUO93pSZVMdFmC3mE5qn4CTzdNOy7aPyFB51oa_lOrObNWYH-Xp0PQ0azaQqudxr19wDEqvRvClJSXMYPGan8o3WNqeHHEacJ_N5JMi_qum21QcQjz_uHRXXYlUfCrurf-BghQEL3a6xtCvV8U0pM_HVdgJdYevipNO0t-QBjH86_tzmtlt3dWYlXCNB4tCyh6i9ZqcnvYci5F5Dteld0Y__oSP8qp8lPnciIDIRtq51H4WVQmbw6aCoNgbnfpc5Y5J4N9i7D6-0Db1pE4yi9OKgbih16c7ZBzXHlqqUMxifAJ04-ZpQrNO_KcPg1B1CYzTIUE3Zf9HequGlqpo6oKqRHxjHz8Hdr9CcmGtP_2v89ZexW10Gxcxv2e0EZlR-l48m5HGV53xYGmUVXbxWo8KMGlC2jaRF8TXkX8SXZrQu-iU5UPzzyvAKrI1ftVv1QCP5sf6hrYIDvvrfC2e29eBZw5r8Oj05zoH-wV3gBaXgDVSaWNoUOgwjTnx3_Ff8KUpHGM0DCs1iMyf-FUqnF4BSFKmnPltqEUMa_EVFH9-vZL7ABcz8vDbV-zVzBlaLqCGFjGwHFwJy03vugDJTDlXyniozr2lWs8W1gNBda8iSYmVq0AKZ-SGcfEYYkdv5zS_gsNkUB01T1VKj0tTT3_bZsf9DEPJPOrUnMYDoBk6QyaEiIx-rKFnXrx5gt_eNlkqBL-J4KQMcU2zQeyku7RG0RGLZrSPva3P6euOC62_WNM1jeq2VeMJgAo6SXREYc6fR4eA4-CYwNXCR9Rpa4WQnfQ_jQGR7BLmkkNwbpUGHVKwHWxm-vN76q_NGFbY7xn60k0aNETLeSStrhZXy6HfdQXGlXkj_fOdPF_xsD8J6jyI3e8aCHkXkMOCczDDsrkqukpXmfFZ9O7u54NI0PrseIjmL_v5i0hBTwJgmEf2PgraXgLyx7kkcGN65LZkzxV6q5oCMZc0W6awHAiN5UQD326ZyCpAOE7xOYEpLZ6ChQh3hDLwfPLl2Y7MAJ_AwXihRjBwitvByCQG5oL_PxF6NbC_sVcloxAzp6LOKW1BHTTMLd1064LaY11jO0gqRwu-a4h0rhwrT-vCGW5PEQP0r35muM0MvwfySN3QfG855cDvCohCx6rsTTFxDqfleuZ7HlODGeQUlojpxEOkKwWsiJ8MpZ3JBpLo2DjJxF5cO6xfT-9248OiBjYcuzgn88RyuOrZjwOhHXCSoJi2j5mllFjeIKzPZ0dBDvpwFpkl2EepS-soMmojjdUq25s_7TgxcYvrCKWRUlC8YGYp-cyxvlE9Avqcu3ILS59zjE-LnAFdXXrX_CmyGhyOMrnyHTt3dJc7h_Hbe2c5pGhjHvxkan9hPuD76FBYKoXhEMoksIqkQW97GHulvlsWGPn8envQ5kyA5BVixJMpG_F0rwd27CmVtiNW3b0BJqBDOVlwXHbYTn1TbQn3LKgDYOOw84TlOX4E3DLjZF94fw-Q1vg7lNLW21-WVjC9HOh9yCAsVdFyTi6FFvNJ2WUmehUiigwRUHoQacLpgtCDi82aaWx8xyVmuZ7szmgNgarFR15_aP03P84HSsJh1VeIsywxuf2GkTro8Vn-naENQ8ZvIb8qR5ig3wW1hMNGpLP8oD-DXyip67KVFKSSmTgpV9j3W4RnEcYmsjjbZZUV04b_HXnRCkd6sBocmzI2L3m3qGvEsCR6EseDclN5Lk9Rgvt76jshy0aqgEiq4WQKXHt2CsAzTU0ehME4com2RZCROhlUff_PKhFv3reRadqm1ZukVDvwXoW4S5WhoEizpw2QclY87pTHrtkJvBsGCQ7YRal0LJ9WcIY6dcyCPO5vdUXvosnwHB1v7_ZlOlrrQktuLDUoxPx5ZSqSzrtH51SvI_NKaCq_4NnpqJQIbExnx8fNnjxVxFs_kmX5Yjolut35leJptd3OW5P8Bfy8yIR3aiCcgWMFbx3jn0HBca3AmUOD0sdZX6IrNBxzUyIErFU0iolKw6FmPtfnIyXPXFaOsf-tyQXp7wBMrva365dJUkkYErJcJE-5FGN7c4wFh8oqcDKH0Efpt9KooenpcLxZX92uyBWpVLtDjaHd2k0vAhYtopowjsROGXEk6Hw=",
  "id": "rs_00e2f7654b3c70aa016ab47a7354f087d0b6a7e391c157629e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.11,\"left_z\":0.075},\"note\":\"The green bowl is beneath the left gripper, and its rim is wider than the gripper’s opening. I’ll lower toward its left rim so the jaws can pinch the wall rather than span the whole bowl.\"}",
  "call_id": "call_C9hXRRG7cfLu65epChYrzJoA",
  "id": "fc_00e2f7654b3c70aa016ab47a786bd887d0b2ead024a1ac203b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_C9hXRRG7cfLu65epChYrzJoA",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4973, 1.4353, 0.5777, 0.0715, -0.416, -0.3016, 0.9995, -0.0177, 0.7979, 0.6003, -0.3927, -0.0338, -0.0471, 0.9991]\nstate[eef_state]: left_x=0.3467 left_y=-0.1029 left_z=0.0638 left_yaw=0.0088 left_pitch=-0.1359 left_roll=0.0644 left_gripper=0.9995 right_x=0.2928 right_y=0.0044 right_z=0.1746 right_yaw=0.0044 right_pitch=-0.0182 right_roll=-0.005 right_gripper=0.9991\nstate[joint_eff]: [0.4034, -5.2718, 6.2291, 1.8877, -0.0855, 0.1929, -0.0171, -0.0068, -1.306, 7.5419, 1.7167, -0.0611, -0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcdd847816240348da55e0d402588c69a261f83565e2ef7d6f5c4125a8677861",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef5a223ed59f506683a58614b2a6ef6b1803f3cdeea020b2fe96557dc3f0f67e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b16cf9e3bdb3074708a19fbc92f4acc573f1b935108a75a03397f61d3d9c4d57",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /responses · status 200 · 5.359 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 10 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6243, 1.33, 0.8196, -0.2203, -0.4942, -0.3687, 0.9996, -0.0177, 0.7967, 0.6037, -0.3923, -0.0338, -0.0448, 0.9992]\nstate[eef_state]: left_x=0.3498 left_y=-0.1443 left_z=0.1506 left_yaw=-0.0234 left_pitch=-0.0585 left_roll=0.0281 left_gripper=0.9996 right_x=0.2932 right_y=0.0043 right_z=0.1766 right_yaw=0.0031 right_pitch=-0.0133 right_roll=-0.0032 right_gripper=0.9992\nstate[joint_eff]: [-0.4034, -5.3812, 9.3744, 1.663, -0.2955, -0.0757, -0.0611, -0.1299, -1.5248, 6.9128, 1.8339, -0.0317, 0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4973, 1.4353, 0.5777, 0.0715, -0.416, -0.3016, 0.9995, -0.0177, 0.7979, 0.6003, -0.3927, -0.0338, -0.0471, 0.9991]\nstate[eef_state]: left_x=0.3467 left_y=-0.1029 left_z=0.0638 left_yaw=0.0088 left_pitch=-0.1359 left_roll=0.0644 left_gripper=0.9995 right_x=0.2928 right_y=0.0044 right_z=0.1746 right_yaw=0.0044 right_pitch=-0.0182 right_roll=-0.005 right_gripper=0.9991\nstate[joint_eff]: [0.4034, -5.2718, 6.2291, 1.8877, -0.0855, 0.1929, -0.0171, -0.0068, -1.306, 7.5419, 1.7167, -0.0611, -0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcdd847816240348da55e0d402588c69a261f83565e2ef7d6f5c4125a8677861",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef5a223ed59f506683a58614b2a6ef6b1803f3cdeea020b2fe96557dc3f0f67e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b16cf9e3bdb3074708a19fbc92f4acc573f1b935108a75a03397f61d3d9c4d57",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHp_kMNF0MzMyJNV49E1JumQ3BCcATD4Lo1Popxbmmcu0JSkw73JoIBsMBrZs23qz6SVBXDPTXWisJxxax_d6OI5Q_WlEU4ZAGYiY7saNueFXq4MAk1-7RCUtWhgiKm5jsZq09749F69xtZbcWdxFK5ouRGGkPwJWNWrURbS8mos6HwPoQ2XTMuGFNmQjb4szAv7Y3WWWcwDkKB4V372uMk51fpHdApAQO8vz5OmvhJgqobAwZNAPxWVvC_kGRxIEddSM6w-ZjLhAtzJSOMGSaTH3mFVkcEK16nQoGRZhUyhDthTYjoQSqT3c97AE8zGzbdKA8vpoFYVN9B-n7DnJA4khCezKASFXiPINS24RYJDBC_YKNAfLOJSykxB98ZjSRGRHNje0emxoZdABKFX3l_XL800uoBqfsYxGHgV8pBzPRnHrBbUXe2NPD1YicBlGBMnOIAetLQgV_jaxlA8HwNWh5ZqkSXQ43fw989y4bZvPTP1GoCA41bKR_kCIqs3aRm66N4n_tTTJadUeTFH7eEpJrt5ZVxImx3K4pJjaQ91zaFjpWbXk6VG-c_joHnMMwyWn9L2kzeyJukppae1vsnQ-BXJlidJTOrdmFVCFa-V92c7jn8k11BT1SFLap6OSj3uzBgQ91DZSlcUM48crHnNswcveJ7ZovZtWm1Csgk3Ke5rVg3yNRZQPVZUNHUMLyMNRmo_7ejTFAoHXZ3k7Oc-dB5M-vYC8fPiY_uANszwQfPHb9rnsIjVTPlRR4fkxo-yIyd27_eFDcrB0ogb-ZbUjxvCIlGWRLcSEnbm_QnqxvlrAM4WfcMfIwzo6ns_3nNTw3LddWhRkOvghEWkrfLdNqUbGHi7f8sfGMMDjzKt_q8bkBtVPKPXmwykexFL9S3qj96TSB_fVKZCm9W0xOfxp56UZ9E5_41_zAxoIXuEhILFpr1AKrAOZ8iugEJ6699jizQr3OAiG0BA2ZMXdEY62HWJvWGd76u5dsuOVg2I5-_mYSDuCeae9c1MFmbzafqS3Fn1wO-FUyGVeJM62XdGppl1vyCwDYCbECAPxlPTnt_UhPDArkqYB4ALgU2Azjvp12rdSl_BHAd06cccQR6n24YTRsgr36cPNv8lkmtc9oqMrYs3Zv8fgFYwsbWixYCZM0WfkeF1-qsUCKu6L0CE2SDS6aXkwNPtLiPYG9213l1j4pYBzZ033Cef9RLPlVMUbnTt4-CcodlrqU-O2Rok09_4MxvGB0cmL2IYQfjo5-SoHX6paoYDU5XtQ_f5MC1nirzkQJjeEi4Xv4l3vRmGiSN7edctMrVBdAg1PojONzEijwa8Hze6ImSIJI2i4I1QSPV6IG_IRrb2mQQvVKVy5Jvc8z6kEuzklL3iJS6XwBKhbzDhXrAFqvsNX3qtAbEHB05qfmhvHst_rDTHYKfn0dTMG-1QjQAFF4n_u6EyU73r3S2ShBeRbHoaP4BKs1A6vfk73TbY3vVYvJmcHKy_e6gA3UW8V51dZD-g-nQ3I566irVczx6K9g3pUsIGkBGn9zdMlhL0oq7vhDmwNNop00e6BQHdlP3sdMyVbyizROh_78TXMvo_eXL_5Sz2rLCO8Bes0-ubRVPYPaHJMuPYB9UFiGzWq95EdBW542T85HJrSyoLTuKIe284whXEIto5Eu3E3rePH7RkRp_2h5iBcRnot8MmKhHedqnl46LCFq4Vq54ef4tqtz3zFs33jN-87sP0TLgy9r76ZfmdOb2EFFKPqgwg3l1xou69UHJODWnMZ7ZW-s1xhqSqHvKxk6LR5An_2DMc--sZ8pJAD4myWC1xqUd-7uEH5K8XwfcbiAkwSJ1ChbJmcbwZMVebF-e_F3icZm4sP1MlQycSkBQbIReiqDfB7Hw9BK461Ao8VNqPOx4WDIDcTlEOfGmR6SvZizpHo_wFwuq8Ef6wCCQjkw==",
  "id": "rs_00e2f7654b3c70aa016ab47a7af97887d0b369e6cf77f867bd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.395,\"left_y\":-0.07,\"left_z\":0.065},\"note\":\"The wrist view shows the bowl wall still forward and to the right of the pinch point. I’ll shift slightly forward and left to center the near-left section of rim between the jaws.\"}",
  "call_id": "call_00hC8rOxcwizTpTRgdlBBPrb",
  "id": "fc_00e2f7654b3c70aa016ab47a7e733487d0a89e13ee99c37c4e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_00hC8rOxcwizTpTRgdlBBPrb",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3187, 1.549, 0.6453, 0.1249, -0.3168, -0.21, 0.9995, -0.0177, 0.8005, 0.6003, -0.3935, -0.0338, -0.0486, 0.9991]\nstate[eef_state]: left_x=0.3815 left_y=-0.0642 left_z=0.0536 left_yaw=0.0571 left_pitch=-0.1629 left_roll=0.0669 left_gripper=0.9995 right_x=0.2929 right_y=0.0044 right_z=0.1737 right_yaw=0.0052 right_pitch=-0.0216 right_roll=-0.0061 right_gripper=0.9991\nstate[joint_eff]: [0.2803, -6.147, 8.2803, 1.6337, -0.0366, 0.1197, -0.0122, -0.0889, -1.4017, 7.1726, 1.7167, -0.0562, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fe8f13023a214e608b7fca30488fd73566647ac82a587f0a8d5107026ef0f01",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91ec24c207a73a3bdbcad0286c04a947dbd4e184ec23f065a543840a767af414",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b630e656c2ce5b10dc0d1e4a574e0e5cab3a5a22c2f4339fba83f1c80d430ea",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /responses · status 200 · 4.307 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7956, 0.6052, -0.3801, -0.0223, -0.0162, 0.9996, -0.0181, 0.7933, 0.6022, -0.3813, -0.0334, -0.0402, 0.9992]\nstate[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1801 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9996 right_x=0.2943 right_y=0.0042 right_z=0.1791 right_yaw=-0.0001 right_pitch=-0.0004 right_roll=0.0002 right_gripper=0.9992\nstate[joint_eff]: [-0.6769, -1.6342, 10.0171, 1.8046, -0.0611, -0.0269, -0.0611, -0.6222, -1.4017, 10.2632, 1.917, 0.0757, 0.2711, -0.105]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4973, 1.4353, 0.5777, 0.0715, -0.416, -0.3016, 0.9995, -0.0177, 0.7979, 0.6003, -0.3927, -0.0338, -0.0471, 0.9991]\nstate[eef_state]: left_x=0.3467 left_y=-0.1029 left_z=0.0638 left_yaw=0.0088 left_pitch=-0.1359 left_roll=0.0644 left_gripper=0.9995 right_x=0.2928 right_y=0.0044 right_z=0.1746 right_yaw=0.0044 right_pitch=-0.0182 right_roll=-0.005 right_gripper=0.9991\nstate[joint_eff]: [0.4034, -5.2718, 6.2291, 1.8877, -0.0855, 0.1929, -0.0171, -0.0068, -1.306, 7.5419, 1.7167, -0.0611, -0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3187, 1.549, 0.6453, 0.1249, -0.3168, -0.21, 0.9995, -0.0177, 0.8005, 0.6003, -0.3935, -0.0338, -0.0486, 0.9991]\nstate[eef_state]: left_x=0.3815 left_y=-0.0642 left_z=0.0536 left_yaw=0.0571 left_pitch=-0.1629 left_roll=0.0669 left_gripper=0.9995 right_x=0.2929 right_y=0.0044 right_z=0.1737 right_yaw=0.0052 right_pitch=-0.0216 right_roll=-0.0061 right_gripper=0.9991\nstate[joint_eff]: [0.2803, -6.147, 8.2803, 1.6337, -0.0366, 0.1197, -0.0122, -0.0889, -1.4017, 7.1726, 1.7167, -0.0562, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fe8f13023a214e608b7fca30488fd73566647ac82a587f0a8d5107026ef0f01",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91ec24c207a73a3bdbcad0286c04a947dbd4e184ec23f065a543840a767af414",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b630e656c2ce5b10dc0d1e4a574e0e5cab3a5a22c2f4339fba83f1c80d430ea",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHqF00rADbQVnIqXvFxF6IqePiHJNmgdXJchR2pe0hp7kTLmSzcP-Adce3w4PiNQGcQ0ZP7xCFfQsiTPUnUww4AKOA-mY0DGKwZZ0sz1VtMMVraIkT3srJgUdaEwBwD6N4wIsInVclc8eqF6UWTYuP28FFwnJr2oWPKI9p6Dq1EeWVz8NRfceNcmZPcmX5zjl-Me31tWYkbEwLJBrn_ZsSx-JR6Xu0IMDcbaAjspLCAXQHlb990XJpv41pTJbNby4JhLC1eVmV6qlmsPpFgWHzSqcl0xoK3ui9QPfF8q1_mebZ02T-nZgOR13BuPkKlMlgXZfhm1MOT_RiJSi--fmGBWYsZvvGvCLXJOyfyVDBxwSVlFhFfs4sgKFexqyWPN2G4358j4OVSjgxDIf8vlPyjIsheHeg-IyPylYVG15DroC2lfcOyGAFc2Rj9gJdYUwO2CjFESfP-lsRXXr0AHOWOq2VJEkF_nQSiGvLHWei2MVMhLVJLDp0Oe8PIrhaLX85NUynG0o_05vURIiF3Ju2B6z_7GMj2BQBkSv5XUibprdkyjOWbywJLhRxFLBRLhcItevgV2UXMihBAryMOv1tlx5RPPUYU0mQ4i5w17DEyPDNh_k3pFT1I4akGzlJbg7eYnC925ynTWmh71Ywb0aJT0XtrqQ7k9LcWxFLt_ExQmTEg_NtKa9To1itUhf5IgrRWxC745isqmtOhGj6rGJzf1RvS_A_aBz1i1P0D4_jRlMNRsYIT1KyayPYstmepf30-bpXVzsgdyUhpeVhNH1dC9V8z_x3tlOLq_60FBuoKyXeHIU5pfYETc5zlYbrhZiVvvOc4-vJFvVvOunHpqm2Wdua_hGBpHC58N8mCb4t_267QxtkyaD6ASzquNujdtzLOIsyp_NuWH5mRehkzHsZ4IKheZC38d2tEua-ki6LSjv3Px_xHq0m69iTsW_Hp4YOUJek6fxRvTmqOomYyPTo2KHcSwFdAqbkXvBhSRu8RzlbVkXJURfpYNmAUYiLOQnK-dFpHgzXRp7EYMT9GnADVdBJY8v_CGa48J-Y2icwsGtaxSfYvWVYMP3T1zW28ZmUDOI6MKcxtZ-tPwcnbASHXMPv-hTjIGgSoQMTrNa9imAGgB2aNolIcSRE_bM-5s4xMybEXrXwWC2AZkLRfOQTxoB7HxhjZEdls5g1arlydrTDyt5PEhDOz-c_pXTLkWGZFBgCQrki9gD-EDrFdfMbKyNWu04D98H1sr2i43ESFaqXnihdjFBbTgPo-0-JxFh0ObckgYqXAMLjrIiT_6XJ-qXOEGGX9Sevjc5bMjXkpmnUMw2r4gPMX3WjS_ouZxO4KcJ3WFT3nvDwMFBbSYu0mdgMYWXJsdspVn4bAiQu3PxWhPmEX-cDYvqFluOnbq63TwcWlFxu9B93ksLGTo30tBvTD47B5DNZtT_MLamag3TCwIBEyfQBeRCQOZ1ziqPqreU0MxbO_7auisfPRt7-1tkopeemlFqHC-SEn_u-p-YcI9kG2qFcNm88tuSDCEnyhDn3c2ZW65xiOag-emLnfoXE2A-Kcn2lvwtI2ms09AHn5Mc4WYFA1EwBMTS26iX2wuCwe1LunWPulBFM3lDzEbTnIPtwfVp-q7W-5_HJBClhjK1ERWiEOjXvVFT_Ng4Za4UfbMbi0LMi58GpYxA4OVdWcMlPwjqXtxml1V3p0c9rkOn07HtKRE76cYjd4K1j622UBRy2ZK3bzsGqlIN20q3n9QeWAMhDqUqCQ5trUR3bujUkFYJe89yskruKBER8D_XMd3SrkNvNiD4bnxn_IkPoP99B3Tx5AA6JcZoHCNVoijhcuEZPCrJdzdWBSOuBLRX3u-jKSD0BkX6uOlsuR_ZUSPGht8tmC71QzcTM-lz_8wStL6AdsI29bX9m9HZJwJjWa60SJ6kWBNd9enkYU5MWI-v1aVTbJCgzZeUSXttuSr0_kBd3rRPX7dmbKwsBbv0fd2x3t1tiGC9Gco-xan4ojm5fqojwDvMJy4okVhRA8=",
  "id": "rs_00e2f7654b3c70aa016ab47a80ec4887d0ab0112a5a0000cb6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.04,\"left_gripper\":0},\"note\":\"The left rim now runs between the jaws, with one jaw outside and the other inside the bowl. I’ll lower a little and close gently on that section of wall.\"}",
  "call_id": "call_4iBdxUK1vo0nRc1zzRKjGODu",
  "id": "fc_00e2f7654b3c70aa016ab47a8447f887d09b560504c92d6f3a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4iBdxUK1vo0nRc1zzRKjGODu",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.305, 1.5581, 0.6567, 0.1242, -0.2836, -0.1719, 0.0083, -0.0177, 0.8009, 0.6003, -0.3931, -0.0338, -0.0486, 0.9991]\nstate[eef_state]: left_x=0.3847 left_y=-0.0655 left_z=0.0531 left_yaw=0.0226 left_pitch=-0.1712 left_roll=0.0729 left_gripper=0.0083 right_x=0.293 right_y=0.0044 right_z=0.1737 right_yaw=0.0052 right_pitch=-0.0216 right_roll=-0.0061 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -6.2427, 8.212, 1.7021, -0.0171, 0.105, 0.6178, -0.1846, -1.1419, 7.159, 1.7363, -0.0806, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e8ef1850eb0740af1105bdcbad5965d4e7ba81a43c48e9a04997fa46c1480c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef7914a7148500da32e3ae4ceeae3b29e87ce3c0aa7e506ab925fef8f98d95f1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37773350511a27a6ba8241c71fdbd8e01e4e83a9476153e906596ad609c61cc6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /responses · status 200 · 2.523 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 14 changed as sent

message 18 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6243, 1.33, 0.8196, -0.2203, -0.4942, -0.3687, 0.9996, -0.0177, 0.7967, 0.6037, -0.3923, -0.0338, -0.0448, 0.9992]\nstate[eef_state]: left_x=0.3498 left_y=-0.1443 left_z=0.1506 left_yaw=-0.0234 left_pitch=-0.0585 left_roll=0.0281 left_gripper=0.9996 right_x=0.2932 right_y=0.0043 right_z=0.1766 right_yaw=0.0031 right_pitch=-0.0133 right_roll=-0.0032 right_gripper=0.9992\nstate[joint_eff]: [-0.4034, -5.3812, 9.3744, 1.663, -0.2955, -0.0757, -0.0611, -0.1299, -1.5248, 6.9128, 1.8339, -0.0317, 0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3187, 1.549, 0.6453, 0.1249, -0.3168, -0.21, 0.9995, -0.0177, 0.8005, 0.6003, -0.3935, -0.0338, -0.0486, 0.9991]\nstate[eef_state]: left_x=0.3815 left_y=-0.0642 left_z=0.0536 left_yaw=0.0571 left_pitch=-0.1629 left_roll=0.0669 left_gripper=0.9995 right_x=0.2929 right_y=0.0044 right_z=0.1737 right_yaw=0.0052 right_pitch=-0.0216 right_roll=-0.0061 right_gripper=0.9991\nstate[joint_eff]: [0.2803, -6.147, 8.2803, 1.6337, -0.0366, 0.1197, -0.0122, -0.0889, -1.4017, 7.1726, 1.7167, -0.0562, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.305, 1.5581, 0.6567, 0.1242, -0.2836, -0.1719, 0.0083, -0.0177, 0.8009, 0.6003, -0.3931, -0.0338, -0.0486, 0.9991]\nstate[eef_state]: left_x=0.3847 left_y=-0.0655 left_z=0.0531 left_yaw=0.0226 left_pitch=-0.1712 left_roll=0.0729 left_gripper=0.0083 right_x=0.293 right_y=0.0044 right_z=0.1737 right_yaw=0.0052 right_pitch=-0.0216 right_roll=-0.0061 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -6.2427, 8.212, 1.7021, -0.0171, 0.105, 0.6178, -0.1846, -1.1419, 7.159, 1.7363, -0.0806, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e8ef1850eb0740af1105bdcbad5965d4e7ba81a43c48e9a04997fa46c1480c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef7914a7148500da32e3ae4ceeae3b29e87ce3c0aa7e506ab925fef8f98d95f1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37773350511a27a6ba8241c71fdbd8e01e4e83a9476153e906596ad609c61cc6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHqKYH2qq57cvv26tZeQQalZzqVFyH9jPd0a_T36pTeufmWckKzucTSbwiyMBL20jPgJrUqdWsaXHSwxjZukWQWjutebJVvKHdI93an89e0x1uOv4v0TsDSyR7wrc180cJu2UAAUbPsrnqlPyJQoWuuBQZb0VrJSXpki6imUEyv-E4N9F7gEDL-8U6hTL0OSdlq3-Q82d8kU0y4LlAcpF76BLTKD6Lzp2nnKAYz-gKPHLHWtUAni2sNjtyJTfAJ36ydzDGXON_Hde2oj-l9T25521W1prBVk8l1JjYS2aWn_AFgjb8Dr8dgQWiIdSKb2io4pgb4IEx-e3QEep8q0CBQvMwm292vLqsTJ0XIOg4xJmsV36LVkbnCiutdDCTejPKflDergcLTkp7D8y56AX-6NB0sFJ-P6qfGQ5aJlfX1DsnokWL0-Wbbhfer5BJETSj5K5L0HCXmrXO5An7WkVAA_u9ILjmq3B45i2i19cMKBbc00suuUnOQJY1KiwayxK9FlYvRc6p8funWTVUHN--DR5eie1ItbtgL1JvQ8J1XYJNKzDLAZjoh16eGNbCF3Mr_xj9R1kO7ixpPgq9FjGfjVTbeTyY66ts9q7qk8V9_o5VFGoni8h-gS5_bk7P36qqCLJ5JAXy3_J_8pR4BXF_JU6uY56v2uHJsZFRu-SPkQUbcUSCHavW9aNfEhFdPmpmhJ5bMYdqKOMSyPNZV5-GLLGuJCPCTQ00uJcqQEqqmfskNvtSzH3MlXeN28PHCKeACnHmKxnitErQf1KW_BVt0wdy-Isqkip8L5yuUIYDMb5iR8V0BbO3aWFQzULDNjgC0LDxbcL9hqY91sahGWGJu6_4JgjicpUyouOdUI6MS4ua7ssnM5EMkh3UCwKQrC7i-RHOtq9miHouXzxhF0DvVGvlAkUGDbex48ifjivznG7eVlmM_xFPpj_rXncA4nzsOSOCYFU26277_Brx4iseswOx-X0552wVWu9w9T_GA7iqftxkx8kxqPywEUMNv-MXlg4lMh734MFp32OWH-xmzu-wtJZAR-05LowXfUFGg3Js5Ju6g_43HQZ-dgJrCzciLk7SA3oI2bng1dyITD7THCn9PpaVBDEnRvmxeENuf-UwpH_3WYgAWsfDWdOvaivgU5zt2eMSSPI7n8UjFj-95uo-UVvY3cE9Lid6Z3EB3HmaXX0HaGkZECcYX19BgbmZV1RPlytbmdO7HBnHwakqeVaPTKwYWag4DveYBXI_IwXmqcIHU5ZNnIzP0A-CJznNYMuueuUB9lMDf4vQfX4o9jfvqz7HbNhoQlF-nupGASiKUQs8A61sCvEe1L8u4glZ5h5RXe0Z9tRhGSkmE3riKJrtjuhfUKr89fy2CtvPJ-evv_QfPiMn_k2gRmrwG1BeVi1pUdV5LzmJNXe81dw3ZBSGvPXlkMuDvSXQIvOLw-whsJHf-ge7lIwb1_rpxcwY9kvDqjZbrCEAG0OfFJtmqrRAIsSkM-RUWG58in8BpA75nvPvoiDLYhiv69dbE78l7LJPARZ3ufR7E4yyRgYjezDbXi0-gNGt8XWzTdeh1_QbGPkT0tcpNfP0qXP1iE97Tn_LZ4zGhcl9IqG4070n7Ra5KtuCYNzzpJ86pbsHAYKtN1_NDWf7minQbx2VmpgFnut_c8Al7wxASjSSxztJtrNQuyBpKI5e7ffYD6-AsAuDqCNv4k5Buz7GmmaHegtb4_dafD--o0KTzSo73hjUKFUgAkZQWBwAPT0rhLMMNvT_tKhvadUPP7MOFebkbKkWJsUPaxSj21VF3B6t0qZVbvCvnRKfrM9lsrrFv0Umh8xXE=",
  "id": "rs_00e2f7654b3c70aa016ab47a87401487d098a5a884a8c1722f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_y\":-0.045,\"left_z\":0.065,\"left_gripper\":1},\"note\":\"The gripper closed fully, so that pinch was empty. I’ll reopen and move about two centimeters outward and left to bring the rim itself onto the jaw centerline.\"}",
  "call_id": "call_y36YgG0Ous5KjgNPPUDN79i6",
  "id": "fc_00e2f7654b3c70aa016ab47a893dbc87d092eaa5783a5b753a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_y36YgG0Ous5KjgNPPUDN79i6",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2138, 1.5898, 0.7174, 0.083, -0.2317, -0.1223, 0.9946, -0.0177, 0.8009, 0.5999, -0.3931, -0.0338, -0.0486, 0.9991]\nstate[eef_state]: left_x=0.3993 left_y=-0.0415 left_z=0.0552 left_yaw=0.0441 left_pitch=-0.1957 left_roll=0.0776 left_gripper=0.9946 right_x=0.2929 right_y=0.0044 right_z=0.1735 right_yaw=0.0052 right_pitch=-0.022 right_roll=-0.0061 right_gripper=0.9991\nstate[joint_eff]: [0.2803, -5.9009, 8.759, 1.4921, 0.0415, 0.1441, 0.0122, -0.1026, -1.2513, 7.0632, 1.7363, -0.0464, -0.0611, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b5a23d0bb01053d3b4ead13cbb8dca2d80da5d880e21a221ee599d3c843e5ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:687b38c7faf603f6986c8267edcf00c4118881c1623f3cb2b49d30abdef10dcd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac852dd72ac5bb63c8665b534bccb80e631b83dc204a347d2b33c9ad819b1a48",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 4.574 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 10 changed as sent

message 18 changed as sent

message 22 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4973, 1.4353, 0.5777, 0.0715, -0.416, -0.3016, 0.9995, -0.0177, 0.7979, 0.6003, -0.3927, -0.0338, -0.0471, 0.9991]\nstate[eef_state]: left_x=0.3467 left_y=-0.1029 left_z=0.0638 left_yaw=0.0088 left_pitch=-0.1359 left_roll=0.0644 left_gripper=0.9995 right_x=0.2928 right_y=0.0044 right_z=0.1746 right_yaw=0.0044 right_pitch=-0.0182 right_roll=-0.005 right_gripper=0.9991\nstate[joint_eff]: [0.4034, -5.2718, 6.2291, 1.8877, -0.0855, 0.1929, -0.0171, -0.0068, -1.306, 7.5419, 1.7167, -0.0611, -0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.305, 1.5581, 0.6567, 0.1242, -0.2836, -0.1719, 0.0083, -0.0177, 0.8009, 0.6003, -0.3931, -0.0338, -0.0486, 0.9991]\nstate[eef_state]: left_x=0.3847 left_y=-0.0655 left_z=0.0531 left_yaw=0.0226 left_pitch=-0.1712 left_roll=0.0729 left_gripper=0.0083 right_x=0.293 right_y=0.0044 right_z=0.1737 right_yaw=0.0052 right_pitch=-0.0216 right_roll=-0.0061 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -6.2427, 8.212, 1.7021, -0.0171, 0.105, 0.6178, -0.1846, -1.1419, 7.159, 1.7363, -0.0806, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2138, 1.5898, 0.7174, 0.083, -0.2317, -0.1223, 0.9946, -0.0177, 0.8009, 0.5999, -0.3931, -0.0338, -0.0486, 0.9991]\nstate[eef_state]: left_x=0.3993 left_y=-0.0415 left_z=0.0552 left_yaw=0.0441 left_pitch=-0.1957 left_roll=0.0776 left_gripper=0.9946 right_x=0.2929 right_y=0.0044 right_z=0.1735 right_yaw=0.0052 right_pitch=-0.022 right_roll=-0.0061 right_gripper=0.9991\nstate[joint_eff]: [0.2803, -5.9009, 8.759, 1.4921, 0.0415, 0.1441, 0.0122, -0.1026, -1.2513, 7.0632, 1.7363, -0.0464, -0.0611, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b5a23d0bb01053d3b4ead13cbb8dca2d80da5d880e21a221ee599d3c843e5ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:687b38c7faf603f6986c8267edcf00c4118881c1623f3cb2b49d30abdef10dcd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac852dd72ac5bb63c8665b534bccb80e631b83dc204a347d2b33c9ad819b1a48",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHqNjogrIVmg7o6W9PxVfVKYVRdXMBqP2_DUP_aQsmjCHtqseqNoNsst4RtZPvFdOr2ruxby3Yz_kxfTPnrJFbMhD-5edv8MlkoSQLr_1s4aCGzP3YKbv2t010VjuQbPW11WjABq9nASWSDfNY38U0xPfekMMkVydnPj--gcDJo8YdgY1YY5Z9voh_7jqUurxmKCUlDV_ylQRx5VcWH7TTVoa7RExz_t3ftROROUd5Tw6oWHT2YEOn-rklWqyhEgroJedKeGPBAeETULc96PvuXKP5G3ojw8gakrEC3rLukzDwxRp9JocU1vOAVBTS4-XxmHy1t8-lX1Lj0EZXd2HV2FrdUqHSUmAWqbwmcuQDdH-_rH8eaAgqugcEd6AFsiJfRRJjbwic0ojQuOjGeqONxGAzvWu2HEkjcjhj-9lqIWIYXfprXeqyoRy6DpaoJ4diJlbPl_pKJqeO8V0X1p1KB1SCxIyr1ongI-yk_ixKW3seITfcARi2dcP8HBUvvb-n3l5kVE1EgSMm600TQ7ovW14BblskaypyU_5XPufOIpSAA8MLuAvXftHjTg1yifR5DQXctp8LgWH8SlFBbkfUhxCm0V-5AKSP_EYCq_umms8CDdiRBnWX7Zku_QMy5Hdwy_xr3uP5Og0WpYve3375UX0p0pt4vN_TXU9EkwMg6BcLmjP5iauInyodtaugBO0zeBQQevqijAL4-je0X0nMjvTB-OJS_c10Gv_ttWL6JaVMpQ4nwR4InAW-ked-c5Wz7ubLiCkL5K0UzfDyvUWciqvIU0WzbFxw77vMGuBDtl8udRc4oa1j0Ie2KPXN0_QQhns6Q6MoTozhQRtFOYJyJ5NGII7pNqkABWdd8ymxAbCJUf_2GfSFzapcp2kpkRrt8ECpEbPBsrl0zak-1VOQD3vIyc3KvRLpTzAHb8AJvUQCeCGzMyzaRZoUR_1-Ohol-A8M4YGz3h-pgOnRVLumz2Jo_M6ovZY2jpTL5TriA-1FjJluzaiih1j_9F2zSgnc1Z14mDslGNpwzdwhM1d0qH1ggCrCt9dFfHSMtmP9obm-f0hfQVcMITpR2lQ9psCXZO5XxP7QkbHQwJleovvcxGd-5UhC-3oskGIUUr2AegeTUGPlIV-xCMbrCdeDl8jIHtBwDS-CtUPFrHumKZajDotMS7lXMN6_QMsZ2ysi-hT_z8qiOTiAx9LihbT36lL76TaUkxjXAwumtkMuIGtZUDSsSilk2PmH0JAoIT5CjD6l04gsOJ0t_QQxmyd_dM9eTCHQgeZn33FtlKKXFGYLrvjQ==",
  "id": "rs_00e2f7654b3c70aa016ab47a8c7e3887d09dde45819935b873",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.025},\"note\":\"The rim is now close to the pinch line, and the jaws are open on opposite sides of it. I’ll lower the fingertips below the rim before closing again.\"}",
  "call_id": "call_ByulrOLI1TSgwIQ7ls2itvRA",
  "id": "fc_00e2f7654b3c70aa016ab47a8d08c087d091881d8e8857699c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ByulrOLI1TSgwIQ7ls2itvRA",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2131, 1.636, 0.6945, 0.1627, -0.2344, -0.123, 0.9957, -0.0177, 0.8032, 0.5999, -0.3931, -0.0338, -0.0486, 0.9991]\nstate[eef_state]: left_x=0.4025 left_y=-0.0414 left_z=0.0429 left_yaw=0.047 left_pitch=-0.1849 left_roll=0.0761 left_gripper=0.9957 right_x=0.2931 right_y=0.0044 right_z=0.1729 right_yaw=0.0052 right_pitch=-0.0243 right_roll=-0.0061 right_gripper=0.9991\nstate[joint_eff]: [-0.2393, -5.4222, 4.3966, 1.4432, -0.0806, 0.0122, 0.0904, -0.1983, -1.4291, 7.0359, 1.7509, -0.0513, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:740d4d881f2480cb3eeb252f39647f4f11a6cbbc957b326bb097e9350cff4a0b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:205599cd3a366ee14cbfe084ad74b82aad4755953a39cf0ad83819a7cce92107",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8891685f2f9007f4f96e37ea99aaff4a640655d726b1960e2b0cf2d274d53129",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 7 attempt 0 · /responses · status 200 · 2.312 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 14 changed as sent

message 22 changed as sent

message 26 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3187, 1.549, 0.6453, 0.1249, -0.3168, -0.21, 0.9995, -0.0177, 0.8005, 0.6003, -0.3935, -0.0338, -0.0486, 0.9991]\nstate[eef_state]: left_x=0.3815 left_y=-0.0642 left_z=0.0536 left_yaw=0.0571 left_pitch=-0.1629 left_roll=0.0669 left_gripper=0.9995 right_x=0.2929 right_y=0.0044 right_z=0.1737 right_yaw=0.0052 right_pitch=-0.0216 right_roll=-0.0061 right_gripper=0.9991\nstate[joint_eff]: [0.2803, -6.147, 8.2803, 1.6337, -0.0366, 0.1197, -0.0122, -0.0889, -1.4017, 7.1726, 1.7167, -0.0562, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2138, 1.5898, 0.7174, 0.083, -0.2317, -0.1223, 0.9946, -0.0177, 0.8009, 0.5999, -0.3931, -0.0338, -0.0486, 0.9991]\nstate[eef_state]: left_x=0.3993 left_y=-0.0415 left_z=0.0552 left_yaw=0.0441 left_pitch=-0.1957 left_roll=0.0776 left_gripper=0.9946 right_x=0.2929 right_y=0.0044 right_z=0.1735 right_yaw=0.0052 right_pitch=-0.022 right_roll=-0.0061 right_gripper=0.9991\nstate[joint_eff]: [0.2803, -5.9009, 8.759, 1.4921, 0.0415, 0.1441, 0.0122, -0.1026, -1.2513, 7.0632, 1.7363, -0.0464, -0.0611, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2131, 1.636, 0.6945, 0.1627, -0.2344, -0.123, 0.9957, -0.0177, 0.8032, 0.5999, -0.3931, -0.0338, -0.0486, 0.9991]\nstate[eef_state]: left_x=0.4025 left_y=-0.0414 left_z=0.0429 left_yaw=0.047 left_pitch=-0.1849 left_roll=0.0761 left_gripper=0.9957 right_x=0.2931 right_y=0.0044 right_z=0.1729 right_yaw=0.0052 right_pitch=-0.0243 right_roll=-0.0061 right_gripper=0.9991\nstate[joint_eff]: [-0.2393, -5.4222, 4.3966, 1.4432, -0.0806, 0.0122, 0.0904, -0.1983, -1.4291, 7.0359, 1.7509, -0.0513, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:740d4d881f2480cb3eeb252f39647f4f11a6cbbc957b326bb097e9350cff4a0b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:205599cd3a366ee14cbfe084ad74b82aad4755953a39cf0ad83819a7cce92107",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8891685f2f9007f4f96e37ea99aaff4a640655d726b1960e2b0cf2d274d53129",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHqSWKb9twBSBJbQptvIsGKMs5Xw1B1O7Bkfs7jVAk6jLDo_DzbZjXGY1JI2N6ljbff-VZqFzuMDLDqDtEnlx7G5j5TjUAGnbmZ6YCy-LHMRL9LJ550bZLlzhGWWPOQxNdcXiHBqYgSUqRoPt10bh9R4BIDL3rnRDywUc7Ls4M-GNVSK1OQjk9vJYXU6VHm8JTVBHqLYZ0nquGvgob2t8rMDodMpCIK9YOkMYOUCLmFaRmJSozlJrJNyYZ0S1IUvPsh0DTWP9tw6Gel9IMyOzPYMftSjCsdnUUn_c8Rv1-wgVrmMxvu624B2Q9vcy4SPZrhtlSMPvcEJQAGruslWn-afgo9A2swAE-b5xsoN-xFFlXu2s0s27UEnGHdu5KySDFfhnnfWTTFh5jAENo1CETCd4WH80uN9n37eTJnZS_7yctNT_YE4wHewoXn0VTrjIPPYd6UdYgUvgszlL8eB32RBPrZdVJfv9k2uR7-Ma8gxeZLPUGutyQchGUMPaQZaf97J8Fz7e8Jxj3BufcPkhF-baUUOiyB8mA3bKSqmtgcIbWMmxBUr22j6Jdudt14JeddV8cacL0Bwz7fzN_nR8f6BX_wD1YFx7SVBzS1avLVW1GEXrmSLRnknAAmj97ZN-P5aFKp1MUMz41vrbSq4PcS2WqnsQkDs2ffRi88-mohbbe182J2NFJt0lK3JjYFGVXfYkBVtDBOwtHy5uitxK-mzD30SB4ykbjAnewgF35KjsA0SGNHiVzcFzW1FqpbQ4MrPYswMG3EQr3sM4yUFjYiDwkTSXpvxrDszikvHH0L0JFIAc0SFSa1txKswi1hWWnZdnnZ3l_JFbXs3Cgnz_3blaDjS9S6sNgqbn3WU1VUYJKcHU32u6F15EwMZiOkpkdLicOHq1v9v_W2BNyFJJAOJ2olbOklqzpYWDEemv3g6PRekoA-gBHGEib8R1-xJkf6lRjrnHv8wFGNe1UrBgXzrKH4zEr-opMUp1ZsPzNJMznAAluMHOvXvo_zgRtsA6oSQx3hHmsBbbUxL5YWZacxqw3SJ4LTtmJtr1gejuMUFfOsKjYkJ4e9fq-Kr-pdLVH6x6IDxQF4VpxuNb74YGdR_JFrAU432E3dYByd5ouNcVbyzT5hh1O8pi_aBrtDi8ooLFBfvAntVOkUqHM0DgR6vhL9DB0tWYbX2RalKQb7DWylUGaswzof2xeVQXtMwuBYscvDlW0HiEYUuE3tOVFumUkpqo5JaaLfW_s7sFojd7iOgz9VEn96HNZ2s4JFWn8QUNNZb15e4SptA6MLHM_7Gg-STkw0JpcANUYzin-a65AL-DZUshyI4NxOqMWiA5NOOPLq4aG-VXBQHXe3Iejr2mdCi3M5wYG3cww3Hu-1sRXfo1bGsOmnhI1HbzDkNGV7ust0WzZfYhGTH1kYaHOEeZg==",
  "id": "rs_00e2f7654b3c70aa016ab47a8f6e2087d0b94a864801099cf1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The descent slowed at the bowl wall, with the fingertips near rim height. I’ll close on the rim and check the opening to see whether it is held.\"}",
  "call_id": "call_prYSWqIqOvIzZfJGGbZBnDq5",
  "id": "fc_00e2f7654b3c70aa016ab47a90e2e487d0a2a37d4d9a21e38f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_prYSWqIqOvIzZfJGGbZBnDq5",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2134, 1.6417, 0.6834, 0.1844, -0.2237, -0.1467, 0.0411, -0.0177, 0.8036, 0.5999, -0.3935, -0.0338, -0.0486, 0.9991]\nstate[eef_state]: left_x=0.402 left_y=-0.0434 left_z=0.0402 left_yaw=0.0503 left_pitch=-0.1811 left_roll=0.0499 left_gripper=0.0411 right_x=0.293 right_y=0.0044 right_z=0.1727 right_yaw=0.0052 right_pitch=-0.025 right_roll=-0.0061 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -6.3521, 6.3658, 1.0672, -0.2125, 0.188, 0.9841, -0.2256, -1.3197, 6.9949, 1.6972, -0.0757, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e66cf1891256776c34706f2acb43e6d8a7b7501e4fbae518966ba5dde1bf54cb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1464b94d104522cca12a84a72ec46cc140287520ba952ff98ccf46c1c3a3264",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d152276726e23f57cab54c77c2f3428e20c3b1a32e23bc94951b0842e9400513",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 6.561 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 18 changed as sent

message 26 changed as sent

message 30 changed as sent

message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.305, 1.5581, 0.6567, 0.1242, -0.2836, -0.1719, 0.0083, -0.0177, 0.8009, 0.6003, -0.3931, -0.0338, -0.0486, 0.9991]\nstate[eef_state]: left_x=0.3847 left_y=-0.0655 left_z=0.0531 left_yaw=0.0226 left_pitch=-0.1712 left_roll=0.0729 left_gripper=0.0083 right_x=0.293 right_y=0.0044 right_z=0.1737 right_yaw=0.0052 right_pitch=-0.0216 right_roll=-0.0061 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -6.2427, 8.212, 1.7021, -0.0171, 0.105, 0.6178, -0.1846, -1.1419, 7.159, 1.7363, -0.0806, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2131, 1.636, 0.6945, 0.1627, -0.2344, -0.123, 0.9957, -0.0177, 0.8032, 0.5999, -0.3931, -0.0338, -0.0486, 0.9991]\nstate[eef_state]: left_x=0.4025 left_y=-0.0414 left_z=0.0429 left_yaw=0.047 left_pitch=-0.1849 left_roll=0.0761 left_gripper=0.9957 right_x=0.2931 right_y=0.0044 right_z=0.1729 right_yaw=0.0052 right_pitch=-0.0243 right_roll=-0.0061 right_gripper=0.9991\nstate[joint_eff]: [-0.2393, -5.4222, 4.3966, 1.4432, -0.0806, 0.0122, 0.0904, -0.1983, -1.4291, 7.0359, 1.7509, -0.0513, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2134, 1.6417, 0.6834, 0.1844, -0.2237, -0.1467, 0.0411, -0.0177, 0.8036, 0.5999, -0.3935, -0.0338, -0.0486, 0.9991]\nstate[eef_state]: left_x=0.402 left_y=-0.0434 left_z=0.0402 left_yaw=0.0503 left_pitch=-0.1811 left_roll=0.0499 left_gripper=0.0411 right_x=0.293 right_y=0.0044 right_z=0.1727 right_yaw=0.0052 right_pitch=-0.025 right_roll=-0.0061 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -6.3521, 6.3658, 1.0672, -0.2125, 0.188, 0.9841, -0.2256, -1.3197, 6.9949, 1.6972, -0.0757, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e66cf1891256776c34706f2acb43e6d8a7b7501e4fbae518966ba5dde1bf54cb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1464b94d104522cca12a84a72ec46cc140287520ba952ff98ccf46c1c3a3264",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d152276726e23f57cab54c77c2f3428e20c3b1a32e23bc94951b0842e9400513",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHqVES1GUtS9u2rCN6h2ZfC3q_AkPR3oz6Dz0GKfPpVr1Ns4HidQobQ0fCC_qszTDUd_MRVUG5_oNWcdBGr1qJArHFu-jE-HcHxO23L9vink8XYcg5oMvaWmen7as267vgNCmKxc3mGMHuy2zs7UAh6E3W1FL0jSaO24G2oAWzo5wHhftFT3AU4y8yvmvC7tOEoR-SKLva-V-5TJVkcJb3py4VNaO4v2a5FaLQy41hnNJfog3lXTa73phIWhlvk7gslshaK-MZDNa6a3NU7AecguhtJ6g6ZR83mc74Z8GwiH2EayivLygt6akWzX-2pro849eGsYTeRe5ET_bvBOLEIQgDS1eVFkip9hb-HCluds6uojGoLlYBv2Rjt23u1wrcGnJXDWC91GcXKm4MkzmOriDxPQgbnoqk8Mc3qWotrasQ0ZAgokJbOE8eGxRX8jYHth4E1Vz46mo7UuLPEucWqHFIVIcEKf13sO5I-ZHjo2LQvfvc3SOXVl6E66koEq6O9lJwQn5H5zoBG9Oqa0SyOxlucMuLSrjMXoLORy9V8I7hExWv8RS-zPk64lK79Gh1AXpRofYrYZQMtjIafgXmXDebEiToyCUX8oZ6Ub4g_v370xcMZ6mGMNRh32dTZ1o3Dc5fEHnB_ecHXAeTvUUSwBj-uCiP1MrJpnl_1y_136z2O7LJAYeqGXxh5zr34fazeLnIV4tplvMeMP_sRD60a0vTvWo6q85IgtqQVn2wNGh95VPPz2IrGDTe-yXJJehUT77_iO6L-9-oTRxYAzunpXqfewuwVr2FL4BI1P32d_DdEBaLNkFgEe0s2pLn3okLOyBaBggW-Gm2sSL5uCQNSf1oE_5BtI6XJ9ScygjZX8Jo8KUUczbhCxGmhqsKj2KYoKmjYdtXfOsZGEcSJoRN6n-llpSfYpUOd1Ol_CSlRfUzlKHp1VkxukKBZP8Jlb1wLXgen8X5BRAgDYd0ZjZG94lY4FtcJZqaRR8tKywbuyOXzJPSEcMzWcbsQTtSbKf_e8wr1qTL14ZrBxRdiZs8KorklrZe4p4dtKuhrIl-yXMvRIR2o9H52QyyE1ia-miQCuZkLf7nHjko1wMDFCKkDafaG_2-qoa2NIHlVRoahJaS7wBGYs_WY4JCq0oDaCmIjPxUE5GfD4E9wI8LaSavBTxGZFCeHNVOIkFPXPGMt3KcXj_qAhS5tHlxcRKdiu1pM9QKzQJusoVRHagDZ5XZx0wl2IWOuNdtIp4qG-W8tEGcM=",
  "id": "rs_00e2f7654b3c70aa016ab47a9495a087d09c0265b79d317bbf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.115},\"note\":\"The jaws stopped with a small gap, consistent with the thin bowl wall, and the bowl shifted slightly. I’ll lift a few centimeters to verify it comes up with the gripper.\"}",
  "call_id": "call_dxFXQMXb7nfvXmJhzifKNd4g",
  "id": "fc_00e2f7654b3c70aa016ab47a94f09887d0b3c7aa0fe569cd9f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dxFXQMXb7nfvXmJhzifKNd4g",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.215, 1.5028, 0.815, -0.104, -0.2249, -0.1539, 0.0419, -0.0177, 0.8043, 0.5999, -0.3931, -0.0338, -0.0486, 0.9991]\nstate[eef_state]: left_x=0.3997 left_y=-0.0433 left_z=0.094 left_yaw=0.0546 left_pitch=-0.1979 left_roll=0.0502 left_gripper=0.0419 right_x=0.2931 right_y=0.0044 right_z=0.1726 right_yaw=0.0052 right_pitch=-0.0254 right_roll=-0.0061 right_gripper=0.9991\nstate[joint_eff]: [-0.0068, -8.1299, 9.0872, 1.58, -0.1197, 0.0269, 0.7937, -0.0752, -1.306, 6.9949, 1.7411, -0.0415, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4519eb4d2a18399c7529ef9deb8ab69745b94311dd3a5373caf3a37d08e603e5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7aeaac04abcc521ac47ddc46579050718fc3ee1559c8a24040d728c2ccd7f681",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2e84fb3f5cfe8f5a108457e5e0736477c419eb64065a531531fbbd985c3b0d7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 6.407 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 22 changed as sent

message 30 changed as sent

message 34 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2138, 1.5898, 0.7174, 0.083, -0.2317, -0.1223, 0.9946, -0.0177, 0.8009, 0.5999, -0.3931, -0.0338, -0.0486, 0.9991]\nstate[eef_state]: left_x=0.3993 left_y=-0.0415 left_z=0.0552 left_yaw=0.0441 left_pitch=-0.1957 left_roll=0.0776 left_gripper=0.9946 right_x=0.2929 right_y=0.0044 right_z=0.1735 right_yaw=0.0052 right_pitch=-0.022 right_roll=-0.0061 right_gripper=0.9991\nstate[joint_eff]: [0.2803, -5.9009, 8.759, 1.4921, 0.0415, 0.1441, 0.0122, -0.1026, -1.2513, 7.0632, 1.7363, -0.0464, -0.0611, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2134, 1.6417, 0.6834, 0.1844, -0.2237, -0.1467, 0.0411, -0.0177, 0.8036, 0.5999, -0.3935, -0.0338, -0.0486, 0.9991]\nstate[eef_state]: left_x=0.402 left_y=-0.0434 left_z=0.0402 left_yaw=0.0503 left_pitch=-0.1811 left_roll=0.0499 left_gripper=0.0411 right_x=0.293 right_y=0.0044 right_z=0.1727 right_yaw=0.0052 right_pitch=-0.025 right_roll=-0.0061 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -6.3521, 6.3658, 1.0672, -0.2125, 0.188, 0.9841, -0.2256, -1.3197, 6.9949, 1.6972, -0.0757, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.215, 1.5028, 0.815, -0.104, -0.2249, -0.1539, 0.0419, -0.0177, 0.8043, 0.5999, -0.3931, -0.0338, -0.0486, 0.9991]\nstate[eef_state]: left_x=0.3997 left_y=-0.0433 left_z=0.094 left_yaw=0.0546 left_pitch=-0.1979 left_roll=0.0502 left_gripper=0.0419 right_x=0.2931 right_y=0.0044 right_z=0.1726 right_yaw=0.0052 right_pitch=-0.0254 right_roll=-0.0061 right_gripper=0.9991\nstate[joint_eff]: [-0.0068, -8.1299, 9.0872, 1.58, -0.1197, 0.0269, 0.7937, -0.0752, -1.306, 6.9949, 1.7411, -0.0415, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4519eb4d2a18399c7529ef9deb8ab69745b94311dd3a5373caf3a37d08e603e5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7aeaac04abcc521ac47ddc46579050718fc3ee1559c8a24040d728c2ccd7f681",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2e84fb3f5cfe8f5a108457e5e0736477c419eb64065a531531fbbd985c3b0d7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHqcqkpbykhOqGIEdNM7-YWVwnM0gEHsroDhq4CbhQuIVszRmMAN0A6mj1yapClGkJmQDDQoraZ_Fc3s1aDsZtEVhk4LQzOlIHmI7nieLjBJu7rmZneJRL21j38POW0tQ8eBtjmnV5E6W0_Dm8hmg58dwtdizXRDg3qbjaTw8kT26rVLACG3bIoYgQFnWYdYXXDNtc0VfNHFzPymG1aq467fPBKjzAu45O_K0608dqYqdu5UgCtwe8qQNPP_pW9NBjOZeBD-E3RcUeFp7vbp6tC1zvMMkIWNF6YJMdeyvnPIp1xWofX1pRQdvEYVC5ftKgfDUQmvuxXAapNEhMaPRCzUhyG2IgTlog8zkn6ULNPi9EG8d_y1NmLkmM2mWAB6VTJosjsaljW3nTeGV4N9viBnwFgacioVbEGctILj_a4NSZ4JqcdlAHSF9EDtvIDfixXmd0uYgT-EY75fzX4xpRETeViz-j6C40oec8sHCzm_buJg680RKZotv5Ezv5hV6uogNPUxgP70q98g6yFUKYo5SiNJu7oi4toFGauD3swxHDMyiZQQpcGpS9xWMc8nnMdTTgVHG56WXcYr3Kpjqld_JOCyQTwEKq01B6Zx6omI7-HIgs_R8phZbjFMVbZtPjaOK7OZlQgTt41pVVEwpEZ_gIxWCZO229lE7JdvZsxyCTV8_BdQFldI-EuyhRnhnAtQSg6n0Rt2wtueqq1RXkUqAMWdGsWg46oFJPrfIG-g1o-KuzZn7jCumMuZe6NaBOOetf3mnJcFocMn0jNZGMGpVrLCcxF1eSCYrvqw_ZdbZql6QQMwSAHIQwr0snXYCeRWvnevSEFslVtQEXoMR-fHTSGTiiHlJPfR_0JLQtcMk4zyWLi-FkTIaortbaJtwJ944qprPYl6IlC1MObQwobSwkd4e723KKPZgAlJjWb56m3B_TgtrxYTVkGNyDXhgzxVI7nWSsLlMXY1-79Jq8sz6ZUotrkujphtKQ9Ctug5xfqgB6Jwr8hmOTIZpjO4fuHXFjCiaND_BGTKX9LuzTNBeAMg2xP_QO-BtGX4RefMKqddtSPPmzvnege05zNHFycez3aOqFM4mZYsARMHLtx9XQwHuO8xrB9RWRHQ9XEci8u1IQcTZYscloD48D20hWVVQRLueCNkrQCXYBusN5dSc2Gy9Yhb6XPzFcAvpqeROdLVANDUFSrmyYRydcwDHvSwBWMlAzIsTuDA5xBqfCbNzTipB5kBxFZk7ctxoxhdfBQF0TsHlKVl6lay2aqvi-8GxWPIHzKaVlx9kCKtNpA6JuWdHxxpm8khd9rai6VVl6-tDWydrQZS6ZZtT0hqxj-IYr6MIKKsuR2szGW50yX4Aq7G0jZJd2gYpBqmpnAnj0A0XoEmoQ387VFaTDysTHGmTKmLuW4osMBPLMowbdEz49OKofK_SFI61IGYDMw3oevcuPjCq0TEvoZxxDwVyIRYScTdtVipvf1NYcDAY2cB769XKLCvNRXWPcjkpx57mG3jV1hEjGmyvFL_c6F0zbG6DiMVMY9Xjm3TjQWCTBtlNk9gtmudXMq6Z3Da57W7EQqxC043CfG8KmHQj_HSKAt0STnEqe4AGRRhBIwpc9auJfz0DAgJHvr6Y9joQ2GQQD_TX3wBif-m3VYZnC50oCfqVh2BuL1W_1r6jSRnw81tE7FBBcZaLy5Urp97XA1xkvc62YkiaF4JXpDbVbR43pe1FlgSlo-oerYaQZBAvW0U7n_IF7hduo2Vb7H1V_6gQRRdsQsua-PDXgTzOPAMLRBAobwdN0k7wZmbZ7-riuVrx8YHpfJ0SSBVvA6bdhGAghSRBHybsRK8bNM4MeikwQr13F64lJjJ7ER7EonDuh77-Gccfn6h1ncTE3I7NDCDyCxfG9PH5-Y6idSZmcBgzljy8E4DZKCvQjKtj6tijFVLKjRNgGZtzzUAqWbVAPP1NUsyiA1PkPR5cTX4TAbYCjAf8JX_7C12gWpPaZ0ii0phtVCvcp7sa8L0gY7CmgieiHKiDASsYjaf-72N01jfqXDHhBZTW4LxeFIFaYhlIwdjNLEGld90kFsCg6R5M6KFqWPbEyjfgmO5TjiX9Q3k2iBy1xUemAq6W36by0mqDuvWWz8xyFdIpA2ux0_ioS0JBgPFTfdylATQ4JPs2EREbIB4B5I7HAd5o-PkcUYen_Xc7F6JWx0JWGt-WJFT3v3j1a4BilSgUpFxmRgi3RwYqzR5wUoCsyzSsjqLuGo3FawBvMqQ6kXQqskVNh3b6jxTPvqUSsXgQaNlg7ZkoxNvL7fLALZvyUZUkyjehfJ0gg7TnB_7pifSqwVlZiiw1I9-X0Z0T6JjufZnm40MgR70GP9F",
  "id": "rs_00e2f7654b3c70aa016ab47a977a5087d0a89be93817d9f656",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.19},\"note\":\"The green bowl rose with the gripper, confirming the rim grasp. I’ll lift it high enough to clear the blue bowl before moving sideways.\"}",
  "call_id": "call_DOJq3cBaOygOCGMLSQ6wEMel",
  "id": "fc_00e2f7654b3c70aa016ab47a9beba887d08a4ff77691425f80",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DOJq3cBaOygOCGMLSQ6wEMel",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.215, 1.433, 1.0836, -0.4625, -0.2249, -0.1574, 0.0418, -0.0177, 0.8043, 0.5999, -0.3935, -0.0338, -0.0486, 0.9992]\nstate[eef_state]: left_x=0.4012 left_y=-0.0436 left_z=0.1703 left_yaw=0.0577 left_pitch=-0.2173 left_roll=0.0532 left_gripper=0.0418 right_x=0.2931 right_y=0.0044 right_z=0.1725 right_yaw=0.0052 right_pitch=-0.0258 right_roll=-0.006 right_gripper=0.9992\nstate[joint_eff]: [-0.3624, -7.9932, 9.0735, 1.453, -0.1245, 0.0073, 0.7839, -0.1299, -1.2786, 7.1316, 1.7216, -0.0562, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07e85582e8b57099dc54e3153becd25ef6780ecb7ffb354e429fff9e89c3e7c3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce534ec1fdb1e0a3f5bba2a5ecebfdee5228cb492ec10114fc76cf3295c5d5c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41b1e940da2fc0a504a09e09f346f79f61a17b8a5ee21f9bb18deb896f0b3302",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /responses · status 200 · 3.606 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 26 changed as sent

message 34 changed as sent

message 38 changed as sent

message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2131, 1.636, 0.6945, 0.1627, -0.2344, -0.123, 0.9957, -0.0177, 0.8032, 0.5999, -0.3931, -0.0338, -0.0486, 0.9991]\nstate[eef_state]: left_x=0.4025 left_y=-0.0414 left_z=0.0429 left_yaw=0.047 left_pitch=-0.1849 left_roll=0.0761 left_gripper=0.9957 right_x=0.2931 right_y=0.0044 right_z=0.1729 right_yaw=0.0052 right_pitch=-0.0243 right_roll=-0.0061 right_gripper=0.9991\nstate[joint_eff]: [-0.2393, -5.4222, 4.3966, 1.4432, -0.0806, 0.0122, 0.0904, -0.1983, -1.4291, 7.0359, 1.7509, -0.0513, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.215, 1.5028, 0.815, -0.104, -0.2249, -0.1539, 0.0419, -0.0177, 0.8043, 0.5999, -0.3931, -0.0338, -0.0486, 0.9991]\nstate[eef_state]: left_x=0.3997 left_y=-0.0433 left_z=0.094 left_yaw=0.0546 left_pitch=-0.1979 left_roll=0.0502 left_gripper=0.0419 right_x=0.2931 right_y=0.0044 right_z=0.1726 right_yaw=0.0052 right_pitch=-0.0254 right_roll=-0.0061 right_gripper=0.9991\nstate[joint_eff]: [-0.0068, -8.1299, 9.0872, 1.58, -0.1197, 0.0269, 0.7937, -0.0752, -1.306, 6.9949, 1.7411, -0.0415, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.215, 1.433, 1.0836, -0.4625, -0.2249, -0.1574, 0.0418, -0.0177, 0.8043, 0.5999, -0.3935, -0.0338, -0.0486, 0.9992]\nstate[eef_state]: left_x=0.4012 left_y=-0.0436 left_z=0.1703 left_yaw=0.0577 left_pitch=-0.2173 left_roll=0.0532 left_gripper=0.0418 right_x=0.2931 right_y=0.0044 right_z=0.1725 right_yaw=0.0052 right_pitch=-0.0258 right_roll=-0.006 right_gripper=0.9992\nstate[joint_eff]: [-0.3624, -7.9932, 9.0735, 1.453, -0.1245, 0.0073, 0.7839, -0.1299, -1.2786, 7.1316, 1.7216, -0.0562, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07e85582e8b57099dc54e3153becd25ef6780ecb7ffb354e429fff9e89c3e7c3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce534ec1fdb1e0a3f5bba2a5ecebfdee5228cb492ec10114fc76cf3295c5d5c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41b1e940da2fc0a504a09e09f346f79f61a17b8a5ee21f9bb18deb896f0b3302",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_y\":-0.265,\"left_z\":0.19},\"note\":\"The green bowl is clear of the table and held securely at its rim. I’ll carry it over the center blue bowl while keeping the right arm out of the way.\"}",
  "call_id": "call_ZJQmczIyFTFqrXl77lPMSFMc",
  "id": "fc_00e2f7654b3c70aa016ab47a9ee82887d0ab04f05a392d2487",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZJQmczIyFTFqrXl77lPMSFMc",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8173, 1.8416, 1.6062, -0.8173, -0.572, -0.672, 0.0416, -0.0177, 0.8043, 0.5999, -0.3935, -0.0338, -0.0486, 0.9992]\nstate[eef_state]: left_x=0.381 left_y=-0.2611 left_z=0.1778 left_yaw=0.0413 left_pitch=-0.251 left_roll=0.0614 left_gripper=0.0416 right_x=0.2931 right_y=0.0044 right_z=0.1725 right_yaw=0.0052 right_pitch=-0.0258 right_roll=-0.006 right_gripper=0.9992\nstate[joint_eff]: [-0.294, -9.5111, 8.8957, 1.0574, -0.5006, -0.0464, 0.8669, -0.1026, -1.2923, 7.0085, 1.6825, -0.0806, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32cd8b7823b001782ec47e564c0ed8def7e4b7061faba3f78c8a938054be52a6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df6df0a08490339288edbd52f51160565d472caf73f53ae320d286df8a0afa53",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53a2af860021167bf52b55c4eb8d91f3bbac8337789236bf109fffa7e9441e76",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 11 attempt 0 · /responses · status 200 · 6.68 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 30 changed as sent

message 38 changed as sent

message 41 changed as sent

message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2134, 1.6417, 0.6834, 0.1844, -0.2237, -0.1467, 0.0411, -0.0177, 0.8036, 0.5999, -0.3935, -0.0338, -0.0486, 0.9991]\nstate[eef_state]: left_x=0.402 left_y=-0.0434 left_z=0.0402 left_yaw=0.0503 left_pitch=-0.1811 left_roll=0.0499 left_gripper=0.0411 right_x=0.293 right_y=0.0044 right_z=0.1727 right_yaw=0.0052 right_pitch=-0.025 right_roll=-0.0061 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -6.3521, 6.3658, 1.0672, -0.2125, 0.188, 0.9841, -0.2256, -1.3197, 6.9949, 1.6972, -0.0757, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.215, 1.433, 1.0836, -0.4625, -0.2249, -0.1574, 0.0418, -0.0177, 0.8043, 0.5999, -0.3935, -0.0338, -0.0486, 0.9992]\nstate[eef_state]: left_x=0.4012 left_y=-0.0436 left_z=0.1703 left_yaw=0.0577 left_pitch=-0.2173 left_roll=0.0532 left_gripper=0.0418 right_x=0.2931 right_y=0.0044 right_z=0.1725 right_yaw=0.0052 right_pitch=-0.0258 right_roll=-0.006 right_gripper=0.9992\nstate[joint_eff]: [-0.3624, -7.9932, 9.0735, 1.453, -0.1245, 0.0073, 0.7839, -0.1299, -1.2786, 7.1316, 1.7216, -0.0562, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8173, 1.8416, 1.6062, -0.8173, -0.572, -0.672, 0.0416, -0.0177, 0.8043, 0.5999, -0.3935, -0.0338, -0.0486, 0.9992]\nstate[eef_state]: left_x=0.381 left_y=-0.2611 left_z=0.1778 left_yaw=0.0413 left_pitch=-0.251 left_roll=0.0614 left_gripper=0.0416 right_x=0.2931 right_y=0.0044 right_z=0.1725 right_yaw=0.0052 right_pitch=-0.0258 right_roll=-0.006 right_gripper=0.9992\nstate[joint_eff]: [-0.294, -9.5111, 8.8957, 1.0574, -0.5006, -0.0464, 0.8669, -0.1026, -1.2923, 7.0085, 1.6825, -0.0806, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32cd8b7823b001782ec47e564c0ed8def7e4b7061faba3f78c8a938054be52a6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df6df0a08490339288edbd52f51160565d472caf73f53ae320d286df8a0afa53",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53a2af860021167bf52b55c4eb8d91f3bbac8337789236bf109fffa7e9441e76",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHqphklqGp5fuf2hluQ4m4Lx1Q9j9HhvEYyYgHjDI1BEdutMxyHoqttZFIjNF-ON3fkwvdsjXSkIypjeiUg0x-GfKgBusz96k4IXsRzX1Y6pbYxobLqbNU3Uic23kkc0W3SCeADrhN_oyemCrkZdV2RhqSq9k5cfsjw_tmtYfkjzC06DsmhisN8BF2MS_MyggMYXV7IbFLowIxYCeYNjWnEiQCpTkl8KeECfdyycTfogURVDxbbwaHYIkzSdtGhVSmkqdvU6jP2mKpLnuoPcNrn2YJSf9K1RX6RnCKMXa9QPaQ24SjBr5FN_nwIkWUL37E5XlQJYlTuoWV5A59f8bZkwSmFtNFijlgdSAF0E6bwOyOsntS7EJmo3tShXet_7DSJVx25VUQdscByVZoE473yqAaR65ARPFHM5U6Ia5GJ8wTzVVQ0-2-bj3DWiSb0RYZbnKewrFAzkYS0dPHo2px9xZpjKK_6RXVKaryUTVpJHVpcXJ4CAx-fJFT9FJGNZWhX6V9xm8HNgNL86GEoL3qA3s34Y4O0RFdCcT_Ja1njZlsKNr8q0G0EFk_zXYy7i0BYhNdEONgh_d9eRQrWRExy1jX3f8mjnckzGfylZlfiiHSAPDgiBpFVIABgLwtGqo9M-pwBcAR7d6HJflJyI6sfQ_k9qEg_3KBGykBRoolpFlGDmBKx1-44YfCVDYEMGz6DWBcDdaIt5GpzcAo6kdddlr9wSG_CkpNzjNt-Egwd3Py_mZxKw_-Fn1g1Au_aJ_52Zp7iqW2vSXijG19PZgBnBCNLrIRJ9_qWUJx8wh4XioGzdEY1y3MsPDj49L6Uabj6GHbrGUkzsi7-Nx7BEM60ix0UKwyS2wwA8ndM3VE-pKTW3wBuzJnFAmZ6RWzlqCtmzYaR0IddEBVGCKexLnj6nUTuhoetkw5z-VTdJZfY0IS0wRPAzW96qLOHATwrKkseZixC7ZTqjXVscJuX_TnN-d3V1zq63dQwEtc9hN7-ujlFcAXI2P-8gYGDb_7VbfO8YLsEP8ualRG0kkaUpiDW7zYthFtFyQOMaiENrxrPQQ2sTBgLmx5y2Yn9NOBaATwK-lWC0lijQAENzy7vDb4Xl39JiIcMIrS7-9X_pxsqMVyuKeMd_DIuz4RUhFK92Y2nTrFtgS5HJKEIiBhIc1l8Ys6JOfG6aAlu-T6DyxSgufZGNLmfvnA92vIs37fCol9E81G1X4n3uORjeu61nW4UFqcYfrF5EIZvX6uyH_GKv5Q2XWcVf15tPz8gtSrCKnIfFJOUA63cKOa2qI3CO5PL8_hXPIyGXhvXO8ymiCp10hQe51YR4vw_fVrYbH2yLQ7USrDnGpfgGFoxnjnxRSHi6yhXJC0qijtgtP-Fr13vUpQKKIrRYydRFaW315Dxp0CdQJqAdyoWdM7_IbQARbcI-9zQ72JpNoOdrPR-hhmbqrUWyGmvr1DrFqQl8VBkh97EQ6k-SRfkBzbJTK9tza6Y0zRrlkaRI8HRk2OBATkMVZMo=",
  "id": "rs_00e2f7654b3c70aa016ab47aa6dc0087d0a425267c53a9c2ec",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.09},\"note\":\"The carried bowl is aligned laterally over the blue bowl. I’ll lower it slowly into the opening, keeping the rim pinched until it is supported.\"}",
  "call_id": "call_pUeLcyicHIrPMwL2jRZQHtj7",
  "id": "fc_00e2f7654b3c70aa016ab47aa80ce487d08493f444a4bdf437",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pUeLcyicHIrPMwL2jRZQHtj7",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8211, 1.8824, 1.3396, -0.5541, -0.5701, -0.6777, 0.0442, -0.0177, 0.8043, 0.5999, -0.3927, -0.0338, -0.049, 0.9991]\nstate[eef_state]: left_x=0.3733 left_y=-0.2557 left_z=0.0936 left_yaw=0.0487 left_pitch=-0.2807 left_roll=0.0912 left_gripper=0.0442 right_x=0.2932 right_y=0.0044 right_z=0.1727 right_yaw=0.0054 right_pitch=-0.025 right_roll=-0.0064 right_gripper=0.9991\nstate[joint_eff]: [0.2256, -8.7453, 6.3111, 1.2234, -0.2564, 0.0171, 0.5836, -0.0752, -1.1419, 7.0632, 1.7705, -0.0513, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:957b273ede4878aaa96fa7d387d95ec5684b200fe7dfe3df57a01b5b3e21d92f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77948a7f2f823ab94aa2d5e0db408e50fbb9f888b8c86a5ce0e22b8a6b412166",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0169f55f7a1c270d847565269235ddc1e982cf9c8a6e5ccb0dde28b3326e7cac",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 2.369 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 34 changed as sent

message 41 changed as sent

message 45 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.215, 1.5028, 0.815, -0.104, -0.2249, -0.1539, 0.0419, -0.0177, 0.8043, 0.5999, -0.3931, -0.0338, -0.0486, 0.9991]\nstate[eef_state]: left_x=0.3997 left_y=-0.0433 left_z=0.094 left_yaw=0.0546 left_pitch=-0.1979 left_roll=0.0502 left_gripper=0.0419 right_x=0.2931 right_y=0.0044 right_z=0.1726 right_yaw=0.0052 right_pitch=-0.0254 right_roll=-0.0061 right_gripper=0.9991\nstate[joint_eff]: [-0.0068, -8.1299, 9.0872, 1.58, -0.1197, 0.0269, 0.7937, -0.0752, -1.306, 6.9949, 1.7411, -0.0415, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8173, 1.8416, 1.6062, -0.8173, -0.572, -0.672, 0.0416, -0.0177, 0.8043, 0.5999, -0.3935, -0.0338, -0.0486, 0.9992]\nstate[eef_state]: left_x=0.381 left_y=-0.2611 left_z=0.1778 left_yaw=0.0413 left_pitch=-0.251 left_roll=0.0614 left_gripper=0.0416 right_x=0.2931 right_y=0.0044 right_z=0.1725 right_yaw=0.0052 right_pitch=-0.0258 right_roll=-0.006 right_gripper=0.9992\nstate[joint_eff]: [-0.294, -9.5111, 8.8957, 1.0574, -0.5006, -0.0464, 0.8669, -0.1026, -1.2923, 7.0085, 1.6825, -0.0806, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8211, 1.8824, 1.3396, -0.5541, -0.5701, -0.6777, 0.0442, -0.0177, 0.8043, 0.5999, -0.3927, -0.0338, -0.049, 0.9991]\nstate[eef_state]: left_x=0.3733 left_y=-0.2557 left_z=0.0936 left_yaw=0.0487 left_pitch=-0.2807 left_roll=0.0912 left_gripper=0.0442 right_x=0.2932 right_y=0.0044 right_z=0.1727 right_yaw=0.0054 right_pitch=-0.025 right_roll=-0.0064 right_gripper=0.9991\nstate[joint_eff]: [0.2256, -8.7453, 6.3111, 1.2234, -0.2564, 0.0171, 0.5836, -0.0752, -1.1419, 7.0632, 1.7705, -0.0513, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:957b273ede4878aaa96fa7d387d95ec5684b200fe7dfe3df57a01b5b3e21d92f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77948a7f2f823ab94aa2d5e0db408e50fbb9f888b8c86a5ce0e22b8a6b412166",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0169f55f7a1c270d847565269235ddc1e982cf9c8a6e5ccb0dde28b3326e7cac",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHqw72rcrMzpP3hw-NvTA5fQE8Xvdj3NY_jGvEOq9lMaOHS88efm_34cU7srlq5pSVHDxXtroGURbLTXDEFZ9Ak7SQZLuTijYlXj4hiJTy_0dXRF663cRTI9gNmV40vGADIZZirishLkEGtTVUvBQshoKO3jkNIL4skANpO8qYo3e3UmsR3vJKdj6I7LEDbBAkDwvQsH065Xvpmt8jK69wtRF38mYDHRGQ_LtGCBGecQN_PmlC0sjKo6KEVeKt3V92z7tIeTCJ9fhT3ZsRQKdUjhOZOLxVZZwj6Q0wxoxjU-LB8Ooe0WxO6WB-dMDLMveZd2JTaQJJOE1gTMikxsg4dmeJNMx50nsbGVz5b2fCY539Eem361TS4moT58qTdIWs3Qh5vulC-TnpumfybJzYJujV-obkfBH3KpPJU2QixBVaZPgnB3xj-3DHnA698fN-j6hQlfSKATgfeEVbmpZ7SB975-2ko3V8jfYUE8bopFimm5bw6t2EVMA-VKef1pZ1iHEwcIEZIsH1NlSAj-K6eHrZTiOyhmgir2BwF2-29njs0pMkRiMjtSrXMylUfQeYtqKOvyoX3i_ltm3lYnkQz9KN-I2fSmXS5exCNZe5Gfvj534Xy5PKOJehM_CgE07xNpXrGJ0xpJDMV379MrLhdfrKvdIfcxylX-knONhVwswbnR1MYDdON9Gi-Pao-PdCDhG4pHPox1VOrhW--HP0QA_aThRMyHBH-UanH-8yBXbxhBvuQEEqiInZVYFHIdjOv79_h8wkmhGwqpU7FBI5ltWenBiWYn-GJc_F2TzfA33745ar8gPynuzX2f3zAuNwgpQFLwqBjDcuvu5mu191HMTXG-iqaJCme0E8P06Q_MSlocx4Rc4UIBRM5V6ruBIhWaF2fcNcdc8_D4mPibSQws29K6m0bWDjj2aMAB-Toa_nZ5W49tpE8NgQE9kgQEYyqmZX13GqKZ2JlWfLBg3xjQJet8RNf1--_LVCWcKF4oy_ylET7R5RA7wopICwtXP8D0nOxosH3xQ2NKoEWuh7srrHmhvJgTP1Guk_CrQk1wJ0DRagvLQ0xXhLAKPvdz7hgmNYHYWiRuFxy3qwDqEHofjIRR_huonQ6OqBfarcjfLW67icz3hbeMH3oX7wuS00juJ9vle-N2gkPRCLw_jUPO-eUkDj5qiS9eo0aCJvakeVFs7CX62vueRg8TEd7YKrytEtG_cpDAZlEbSXx2Sdz5EfNTTHRq_mt4RkWzDWgMAnRF5U_MAK1fObqwHYxA3qICKtEoymkj43EUnkv_FP5b-oMd1xaiqC7Z_9RZjdlPzEDoKz-H8CDV3XgA0LIRvs8zHjF01pBrlxTrfq-1D-3FmbbSTbAfm3C7NjNzYIbjxek-PvidQyPFCqfxjwdT-3PCwt17m0qYAzBcLL82tG2TBxB_Nq8iklP2ZMxFLRj0p5SHe3ae-Y5U7TG_DPoeJPHfXyIr5ZUTG0E7ehttH77Rb2DhNTiihWpV0XWVD7FpDn2RBDV074tZjn-J9zB_XRjHE1-GaauyxN9sON5wihvCcwEW4nr20y1DY4RxJBYnLhY-ejhYPBSCwDHRm3dvJsR1cQv0_9v5jZTMvisz_nVqUteo2Im7vYWAlzl3wxFLRCfZdqEEU0rOA6IuPlIWsm3wzYW5rGdoc6Q9BsxZBzwu1FPj6Vhm98belNa78zagdQRHjs-7r26qxnRYYhpSJA67Ttt0HyhAtPXBNEj_J8-mcX_s12yzzRXfiog2t-cY1XcJjhnqTYxtqceCfLX6o5KhmpU8eTLbDhV93R_g4Xv4zsFrFcpc-R6gyKCveFZxH-dkHRykQc2pJmtsJiCk2K2shKd-VdZeg1MqzA4lOG1Ing8lBSiDU80znBcFCc3NZm2xOBwMn51PSlWfKTIv3jSN6BnTxxK3KF0qwtipyBmvNXb3mwvM9Ml0tAbEAm0sga-njHyQwb_nRZ51PmNzKFlsTLyFwvHHFX0fVL8OzLWCGWS_Y0xRTrnrW6JPq8YhHCjv7IlefMCoEnQ512wc_1lBwlzz9p_DNaWgq2tjxw4kw8HGERipx_qVkq_FTRjiQr_vyHcXj-8QU4T6xf59HDk3B5PsMwkslctFR5Z2dwieJYK1AOt2lZqZ2loYlAdhJbHXkm2XyAHf79tFI3fsjG6M2Bnl9O4yPV-iaOfUniDQ3-DAmoJLzWTrBnNd_7V171gzmqPCyRhFL0ELg5F9dYwgQOrlD4ga72t1R4zpHIuA-3_1PQSJ4jocmex72v3i1ctTIiUHCDC16snbTd3vyC0Z_0RNRDOaU3omEbgflDpimZhuUg7peqdaRDkBZfFbB1-RIZwaGxkXw6aS2VF27PBzbqIs5s2msRQ4AyjM_Wc4uMNmNxHLgZQzczL2ny6emRlitJBDn8dC9z2JQ5tykJmwwKH7pdYdWSZRH7exRh3hCcVSBw_wrnZDd5IxDfb6LQA=",
  "id": "rs_00e2f7654b3c70aa016ab47aab20f087d0af890a902c92ef4a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.285,\"left_z\":0.06},\"note\":\"The blue rim is still slightly to the right of the green bowl in the close view. I’ll make a small rightward correction and lower the green bowl into its seat.\"}",
  "call_id": "call_nmCG6O4A6w1Ilr4Y1UH5SQ2w",
  "id": "fc_00e2f7654b3c70aa016ab47aaf8aac87d096bf96b8774d7a05",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nmCG6O4A6w1Ilr4Y1UH5SQ2w",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8585, 1.9789, 1.3544, -0.503, -0.5865, -0.7174, 0.0444, -0.0177, 0.8043, 0.5999, -0.3931, -0.0338, -0.0486, 0.9991]\nstate[eef_state]: left_x=0.372 left_y=-0.2757 left_z=0.0637 left_yaw=0.0503 left_pitch=-0.2863 left_roll=0.0983 left_gripper=0.0444 right_x=0.2931 right_y=0.0044 right_z=0.1726 right_yaw=0.0052 right_pitch=-0.0254 right_roll=-0.0061 right_gripper=0.9991\nstate[joint_eff]: [-0.4308, -9.4564, 8.0068, 0.823, -0.2125, 0.1001, 0.8181, -0.1436, -1.306, 7.0906, 1.7314, -0.0611, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25b58991869cec2471b1bfdd2367e950e594670c14c1ad57dace830e8520c9a2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a51982ca0090e738689aae1936b28595442a6c20a3aeeecac67ac8d6d406ef15",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8b0043e2f182c66da85ea1301d25647b312921a934740d48af2d2fbfb2ab8e3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 2.203 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 38 changed as sent

message 45 changed as sent

message 49 changed as sent

message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.215, 1.433, 1.0836, -0.4625, -0.2249, -0.1574, 0.0418, -0.0177, 0.8043, 0.5999, -0.3935, -0.0338, -0.0486, 0.9992]\nstate[eef_state]: left_x=0.4012 left_y=-0.0436 left_z=0.1703 left_yaw=0.0577 left_pitch=-0.2173 left_roll=0.0532 left_gripper=0.0418 right_x=0.2931 right_y=0.0044 right_z=0.1725 right_yaw=0.0052 right_pitch=-0.0258 right_roll=-0.006 right_gripper=0.9992\nstate[joint_eff]: [-0.3624, -7.9932, 9.0735, 1.453, -0.1245, 0.0073, 0.7839, -0.1299, -1.2786, 7.1316, 1.7216, -0.0562, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8211, 1.8824, 1.3396, -0.5541, -0.5701, -0.6777, 0.0442, -0.0177, 0.8043, 0.5999, -0.3927, -0.0338, -0.049, 0.9991]\nstate[eef_state]: left_x=0.3733 left_y=-0.2557 left_z=0.0936 left_yaw=0.0487 left_pitch=-0.2807 left_roll=0.0912 left_gripper=0.0442 right_x=0.2932 right_y=0.0044 right_z=0.1727 right_yaw=0.0054 right_pitch=-0.025 right_roll=-0.0064 right_gripper=0.9991\nstate[joint_eff]: [0.2256, -8.7453, 6.3111, 1.2234, -0.2564, 0.0171, 0.5836, -0.0752, -1.1419, 7.0632, 1.7705, -0.0513, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8585, 1.9789, 1.3544, -0.503, -0.5865, -0.7174, 0.0444, -0.0177, 0.8043, 0.5999, -0.3931, -0.0338, -0.0486, 0.9991]\nstate[eef_state]: left_x=0.372 left_y=-0.2757 left_z=0.0637 left_yaw=0.0503 left_pitch=-0.2863 left_roll=0.0983 left_gripper=0.0444 right_x=0.2931 right_y=0.0044 right_z=0.1726 right_yaw=0.0052 right_pitch=-0.0254 right_roll=-0.0061 right_gripper=0.9991\nstate[joint_eff]: [-0.4308, -9.4564, 8.0068, 0.823, -0.2125, 0.1001, 0.8181, -0.1436, -1.306, 7.0906, 1.7314, -0.0611, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25b58991869cec2471b1bfdd2367e950e594670c14c1ad57dace830e8520c9a2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a51982ca0090e738689aae1936b28595442a6c20a3aeeecac67ac8d6d406ef15",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8b0043e2f182c66da85ea1301d25647b312921a934740d48af2d2fbfb2ab8e3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHqz4EaE5163XoQc1DGEsKx_5pL_fk4sCu1zY9hqLhY3CZqiL9a9qDrlXWGcNzRvdGEEDXHdiqemvKZPiR-0hMgHOSOWbL67Uk5igMXUzFpEqN3V3XpS2OupyV85gz5_AMZ99T6w57e4v4_qjTtbsQ4JxklN2YJNZ2gM9LDn79cfpxHun7ZdNhBSRJai4ZtuP3GBYO6X_zguiBK9K260aDqfPGGsSYcatzO5imeCp1jCqwtWLBWnAADHqseY2aKMmNhTzDoIcgyX4SNkKMExX72Z0XMBfGKYe7zbSf6ACwVmgPxnpSnamOho85Wr912d5maIYZFgSdmmuvDaebJILjk1-eZHl0U2VutTiVm0Dgo_6qnHiQFR3_X1mkbMWGWseR7LjHWdax0oqRx-BqK7pmdU5Lqne8zTQcqOgyTTqpi72MDbyx-yUuoTKJasMRM9UTLRQjYUDHbK6DNi1oudzU_VU1agPOdGxdin_TFqkUBcuD4Ky29apEa9t0UUNh1w5U0iGoOJFahDNZdz3z-kOimcU_nwCgj_7ebC6Nk7EeqDoHvq2WjnA70eVfNevByB8pR68esT0HnFlTtWUiFlf0732-rJrc2-aJ9afIci1A_usjEmtZrZm4JUsD8JiO4N_xXoEC-3dkDey7H0yzAaUKHcV7IrIs-t2l-WBIlytkJh8Zda3wio852NgMr07BYXPbPHoWOPOUSFGUcgOUGpm0mKXI5TwF7_ZedmU8nrD-cZAOhVA1TYEiP3AtxZPXXThwEfFR7__FllT0SLZCKxw_tsdcev8QYD4-hC-OkneX0x0rB8JlXIlQ3hNcsrW-yzbNquxEmEDtAQ9PXQQ9GHYj5dAI7KmQOw3GvI5D1AAGGRWBxK6mNDpm9CM1lpyiSERwFcg1RFdmaaSPBGonK5zozRzfgq9d-Ge_oVzBSUzYh6h5HG1GjAxso1Pwf4Un9wIhW5GhSSuCmPSLho8EtBsY0AfV4D2N65HbqfOo5_2cKbMgbcS7yOnlSQikB4hhhnjB0DXlZ9mFQxaHSR0GQJl7aY3vFy8uk1FjmgBm28FMIJ0kgS243pwp04UkgBJ-w-w0JDf5udR4-56RJjJLb6eRgQMIrXzVapf29yqK6Trp_L1KMsD-677wDawKadkOGVEqmqW0QcsY95Mq8sTMKjIkd5GJpgsVbc_CfxfYxyLVoV0gnWaENC_aLYtIdBEts5UR1anSPMFQjAxU7NvRgL-IQq1orfBhE9euqWOTsiaNs4iuc=",
  "id": "rs_00e2f7654b3c70aa016ab47ab20aa887d094779b3f3f89998b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The green bowl is lowered into the blue bowl’s opening, with their rims overlapping. I’ll release the rim so it can settle into the stack.\"}",
  "call_id": "call_82jh5U3oWchPrVZMNKWCRF1R",
  "id": "fc_00e2f7654b3c70aa016ab47ab24d4087d0a404ce95e59c9b58",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_82jh5U3oWchPrVZMNKWCRF1R",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8734, 1.9991, 1.3636, -0.4934, -0.5926, -0.7414, 0.9947, -0.0177, 0.8043, 0.5999, -0.3931, -0.0338, -0.049, 0.9991]\nstate[eef_state]: left_x=0.3706 left_y=-0.2831 left_z=0.0593 left_yaw=0.0528 left_pitch=-0.2815 left_roll=0.0866 left_gripper=0.9947 right_x=0.2931 right_y=0.0044 right_z=0.1726 right_yaw=0.0054 right_pitch=-0.0254 right_roll=-0.0064 right_gripper=0.9991\nstate[joint_eff]: [-0.1299, -9.7436, 7.3094, 0.9597, -0.3541, 0.0806, -0.0464, -0.1709, -1.1145, 7.0359, 1.7216, -0.0317, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eecdc014bb0cb0be2b4d1e33c789cf3a2e43870b78020a924bcc0ed64f8b9c20",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2214d178287d83a903ec7687a43f06146a7f0c9ddc5d770f29208bfc4ddc96c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93262e9bd69fdbc7430ddb86d69aaadf4fff5b380206343a8a0190d717bbd0cb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 9.638 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 41 changed as sent

message 49 changed as sent

message 53 changed as sent

message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8173, 1.8416, 1.6062, -0.8173, -0.572, -0.672, 0.0416, -0.0177, 0.8043, 0.5999, -0.3935, -0.0338, -0.0486, 0.9992]\nstate[eef_state]: left_x=0.381 left_y=-0.2611 left_z=0.1778 left_yaw=0.0413 left_pitch=-0.251 left_roll=0.0614 left_gripper=0.0416 right_x=0.2931 right_y=0.0044 right_z=0.1725 right_yaw=0.0052 right_pitch=-0.0258 right_roll=-0.006 right_gripper=0.9992\nstate[joint_eff]: [-0.294, -9.5111, 8.8957, 1.0574, -0.5006, -0.0464, 0.8669, -0.1026, -1.2923, 7.0085, 1.6825, -0.0806, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8585, 1.9789, 1.3544, -0.503, -0.5865, -0.7174, 0.0444, -0.0177, 0.8043, 0.5999, -0.3931, -0.0338, -0.0486, 0.9991]\nstate[eef_state]: left_x=0.372 left_y=-0.2757 left_z=0.0637 left_yaw=0.0503 left_pitch=-0.2863 left_roll=0.0983 left_gripper=0.0444 right_x=0.2931 right_y=0.0044 right_z=0.1726 right_yaw=0.0052 right_pitch=-0.0254 right_roll=-0.0061 right_gripper=0.9991\nstate[joint_eff]: [-0.4308, -9.4564, 8.0068, 0.823, -0.2125, 0.1001, 0.8181, -0.1436, -1.306, 7.0906, 1.7314, -0.0611, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8734, 1.9991, 1.3636, -0.4934, -0.5926, -0.7414, 0.9947, -0.0177, 0.8043, 0.5999, -0.3931, -0.0338, -0.049, 0.9991]\nstate[eef_state]: left_x=0.3706 left_y=-0.2831 left_z=0.0593 left_yaw=0.0528 left_pitch=-0.2815 left_roll=0.0866 left_gripper=0.9947 right_x=0.2931 right_y=0.0044 right_z=0.1726 right_yaw=0.0054 right_pitch=-0.0254 right_roll=-0.0064 right_gripper=0.9991\nstate[joint_eff]: [-0.1299, -9.7436, 7.3094, 0.9597, -0.3541, 0.0806, -0.0464, -0.1709, -1.1145, 7.0359, 1.7216, -0.0317, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eecdc014bb0cb0be2b4d1e33c789cf3a2e43870b78020a924bcc0ed64f8b9c20",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2214d178287d83a903ec7687a43f06146a7f0c9ddc5d770f29208bfc4ddc96c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93262e9bd69fdbc7430ddb86d69aaadf4fff5b380206343a8a0190d717bbd0cb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"left_z\":0.18},\"note\":\"The rim has been released. I’ll lift the open gripper straight up before retreating, avoiding the stacked bowls.\"}",
  "call_id": "call_NLFuQNKmL9gxw2YKds5EtXfv",
  "id": "fc_00e2f7654b3c70aa016ab47ab567f087d0b975a1766ca6a374",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NLFuQNKmL9gxw2YKds5EtXfv",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8734, 1.9533, 1.6981, -0.8886, -0.5919, -0.7498, 0.9957, -0.0177, 0.8043, 0.5999, -0.3935, -0.0338, -0.0486, 0.9991]\nstate[eef_state]: left_x=0.374 left_y=-0.2873 left_z=0.156 left_yaw=0.0606 left_pitch=-0.2905 left_roll=0.0929 left_gripper=0.9957 right_x=0.2931 right_y=0.0044 right_z=0.1725 right_yaw=0.0052 right_pitch=-0.0258 right_roll=-0.006 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -12.7795, 8.4034, 0.9158, -0.2857, 0.0562, 0.0855, -0.0205, -1.0462, 7.0085, 1.7411, -0.0366, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d0f63bc5aa1e810ea0e98d911329bb2635de9b5cc00e98ce16f0ab7238e46c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad72ded3bd641a835e5eeb567613d3b1cf6ae356244cb12553f2e849b9794eeb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9afc8fb97fac2739956374b7546a7fcbdf5e46a5b7a8bc211c710c383ec592d7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 2.817 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 45 changed as sent

message 53 changed as sent

message 56 changed as sent

message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8211, 1.8824, 1.3396, -0.5541, -0.5701, -0.6777, 0.0442, -0.0177, 0.8043, 0.5999, -0.3927, -0.0338, -0.049, 0.9991]\nstate[eef_state]: left_x=0.3733 left_y=-0.2557 left_z=0.0936 left_yaw=0.0487 left_pitch=-0.2807 left_roll=0.0912 left_gripper=0.0442 right_x=0.2932 right_y=0.0044 right_z=0.1727 right_yaw=0.0054 right_pitch=-0.025 right_roll=-0.0064 right_gripper=0.9991\nstate[joint_eff]: [0.2256, -8.7453, 6.3111, 1.2234, -0.2564, 0.0171, 0.5836, -0.0752, -1.1419, 7.0632, 1.7705, -0.0513, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8734, 1.9991, 1.3636, -0.4934, -0.5926, -0.7414, 0.9947, -0.0177, 0.8043, 0.5999, -0.3931, -0.0338, -0.049, 0.9991]\nstate[eef_state]: left_x=0.3706 left_y=-0.2831 left_z=0.0593 left_yaw=0.0528 left_pitch=-0.2815 left_roll=0.0866 left_gripper=0.9947 right_x=0.2931 right_y=0.0044 right_z=0.1726 right_yaw=0.0054 right_pitch=-0.0254 right_roll=-0.0064 right_gripper=0.9991\nstate[joint_eff]: [-0.1299, -9.7436, 7.3094, 0.9597, -0.3541, 0.0806, -0.0464, -0.1709, -1.1145, 7.0359, 1.7216, -0.0317, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8734, 1.9533, 1.6981, -0.8886, -0.5919, -0.7498, 0.9957, -0.0177, 0.8043, 0.5999, -0.3935, -0.0338, -0.0486, 0.9991]\nstate[eef_state]: left_x=0.374 left_y=-0.2873 left_z=0.156 left_yaw=0.0606 left_pitch=-0.2905 left_roll=0.0929 left_gripper=0.9957 right_x=0.2931 right_y=0.0044 right_z=0.1725 right_yaw=0.0052 right_pitch=-0.0258 right_roll=-0.006 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -12.7795, 8.4034, 0.9158, -0.2857, 0.0562, 0.0855, -0.0205, -1.0462, 7.0085, 1.7411, -0.0366, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d0f63bc5aa1e810ea0e98d911329bb2635de9b5cc00e98ce16f0ab7238e46c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad72ded3bd641a835e5eeb567613d3b1cf6ae356244cb12553f2e849b9794eeb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9afc8fb97fac2739956374b7546a7fcbdf5e46a5b7a8bc211c710c383ec592d7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHrATGI1UDsqBeDDVMKfvlhb_XteiBHS_kqbUIY2GbRLwMFtRZGBT29BlVwY4Zefl3zXuKgngZu8hCNMT3t3o1VGBhK7l9U9odXf1M8k2iEF_ZsVcPyR2gw33hUUhFOKtU3ns7kJPNVVJFRqxMn14kok9p4XD5Pycjg0WECnn_LqUNhT3tc7Yj2NZDMnrB1URLwc03wKi9kA3-mXECySKB0cuBCujlpXD44UC8nuRMhQbDcBmcJZAB-Fgbubk4bWPE7wabsRhZymvWBR2Ue7-sPx3I8yhBRWuNK_lVVi5kvy8ehPMyxv0UVPTr2jSCQCstKLUuzONBLjNJu1R93k5u8_pBEb8GMG7dRXs4d-FKTnR_jl6Lb4H8XkSMVLKIfichW30OVIdnSJvSsir9KeCThs2NUIcfcq52TgNlCKqQnr0mfQHBP6fyx9R-80zuaWoIP5JACmsL9nNcxoIrYejF8D8rXQB2BDhiZZHsv5Tp67UjqxzXpn5qdsvS6i-mpkWbMbG_BEuAi3uQNtqE3pZmxNGACaGaZaWXxD5_ZU5BK2biIiBJUE-WNv3bHPSPWhmz5wm5nZxnj4Tz76OhR6X74kW-SgaFZDg0RmuOWOqYaDucyXBsWBHguLNzHVX_GZWp00oNWH3rvDOZDUYnu9TmvDMbaTd_Z5oH24rylGYsbcAYmUK9J0YYPhzdxbu3X4-O1YlWpq5RtNF0p6ThU1eA9vDcOMEhtzdBSmxYpzNSHGi93eGL9oXDkFnetHah7wT8BZSmLCvt28bm7wtasyTo38llLiBz8ZgavA_gyHDjzFAuE77AEowmt77Lgin5SnygyPVAJCFe5PcAip_CIL6kenHqBezqFDVeoH-OjMhE3q7rKXljl8rzDFwjsd8d2dAGoiSv2-VJDk6MsRyB8fmsCaou32crxIhXEKJRixJQ7t5EzDjxzbB_iA83-DHDE5f2M0HI2qwfpK5KYjfZv9BfQi2X80U7Oe4bfY6v0gTa1hMLyGG35LaESZCdeZrh_VJfYfzE9mlviGUbOXII0P62eEo_J5cwp5khi0RjNMfTZn7shRYiY_Wp5cGCd9-toNU7fJJhZ3au60mAeHOKbouoOprtlJZYORkztmAP-8xamVXwtmXYIt4l93Jq0B-ApE4K3Fgtjcpd81A0TWHtObQm6DroTgy2ut5kkBIr_hysFFTG_Q0Wsajvn5xb-jPXrvTxdMKMqQkBBIcG2u5u07dXwh1aAYzAv9iWA2l3NhgTjMhEQqK0MLwWDKbTvJ4V9R0m7xOoxx2LHBaBo0UnfVkWG9RpcgKj7t-2F4oYXtQZy_kgFtlA__lE0qkmD-ZI9ziywZTQ20J22m2ifLrJJq6ej5lkupDZEzrVujRGM3tM-__6M4D4sEeWJSEnBjk50RLoDilwQDYzhIF9o_-yHlAseEn00K7I6gMUmO5cDnX5G8L-kXFELvY4NlyCW5M5685ZcmB-XEjoS8gE_eVbgIbLzXjHBfBhYLGABg74MR9w_kWNHHYq9t287FYAdSBdrE-jeIZd3pJungvc7o_NdAJuyH6GF5I6OV5gMgvVZHrFnaH1tZJ88KcxpRZxSkjwO3VGsRCuDECtLfDIA0NTUVLpt_4tOveDCTsTtpYsLEaSx4Za_X4CB8clALScv_V6NYDiBDCDYTWb5u2eWsFXFbzHS0L5H2riBJ_VDTvOiTUTmHy8-ZRPmgiBEHfrb17j6eb43LSQd6K2pHSsKzaiiCHYI6AaYUmW-MRm0KyxYYxivC-3DWDZNp1FdErqFprttnof17GeNfTxFJEgX2dtQ73mkKAy0gp4lacpXYEj9uxBfmcmEaa_H-PEVGPMtPDj6EFTMkoHF23hr6JbUMhkFCssiVCOIOviit_cMeQ9p-16d-GuEDc7Z6iQRZtaPePowiOLpMpBZ4a9FnI626WQGt-Rk1BSvhfaVm2HwjRk_J0C9nN6yYVgZIXFvz4wwJOwK50SDwSWKOnIHU-FFYU0hHeSfUCrFMQyJEwa9K-wP9HdGan8hOECU16MiC_ufEOsCVxXMXwMmMs2qG77dl9LZ6upvhTgFgsSkzhFxGw8TgeV_rmgnkgB7woYSOtl6fFZneLiXkR3KHPi8N2ZFKeFuqP2azdCuIrOab9xypABeoNK-EAHQ5n0Ktlohnf4jpeSbmHrrMgjxvHwxzz1FEP1gL8gmjJ7PWrAJjYTgH8id35mXmicnVKO5Xr34xXYpuNi6uM3VkHSAcbDq3rkcMqXgVe5NcGlK0D3Q3-PJrVC5eSHh7eiYrMWymNeeqIrrjVJ1noQnCwsZhd3ocQuJFVw6k-U2ewLCniygLefRIL5BzbRYU1uBIOrrtPOkt5E1y4eI7cM7bwoAwkiR7IovZZPbqHSvmYRuM1uAPs7Hboskc0EJrfiEpa22Iwd50ibylLvwlJnn2WVSwhC1ocE1XQd0TO-wkPWmLscBPpseq7hJEyL3tBcORPS2_EGKZTVqW2iz_Ubdran67rLDSHrEd6t8UAAfA5djUIn7Nc2SjIlvaAsA0lOjptuFt80tv-GrW3P_mNaFV9dfnT3firCPyXySOTgWsKCgnJT8--9dJHh7SA4jQGufNkpKCDuJynWX6MLav1hgCCVdMG0ooZMrHIwUBTcsYW5JE0W71qoNMQrMIbdiuLNArCjBLAj9jfOLFJTPDS1hNIfYrITgwNHc1OvbI5tyeawtpP-lTKgsxh1h-McQCTZz7X2R8WZ4Dh80jo7uNbbT8RQqYAXU5bfIjcMv_PBRv9MO_QJYWtX2Y3Su9PQrYSe_KMBwrNYy4sjE9VvkhiZvXFiAoGr0QHjaF1rnXGOPclesvy8DG5HqxlKy0HNwK54JOpLmymnr0SfX1JyFFbO3V04eE4Dh-NibMRce-ueYKTHOSi6GFrFR37uT4U8U9bo32w-LTKbRRX_zkEVHYfNzSXkyuyGPq0WEodGFRhd6IKdpQ_JG3HnLXmu2Ujv6-42K7grodOfGVSdHkPadwovdR8Jm6jRqzedy0kpcHvcSgMVgHBunSr9XL_uf0iVSZpQDBzpptmc3OQCCJA8gbJ-1eJkzbEl-zjhYdSDVJMepiK2SqhdJ6EV42c4yWLV92TXNdGkf45yhR0pbidT7jwVR8Ysra4RkTgEmFZR1b2l1DxGhvNbpPx9qvUHzlctH2F75hIUOrCm0nPyj18OUS8P3cgVmIN5ohmMfpjaQC-HipYYOr06opyeFqfRw88PWC1JuMP39JHTZhB9cDs2KgK6XV",
  "id": "rs_00e2f7654b3c70aa016ab47ab8725087d0b632cfb8ffc400ac",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.2},\"note\":\"The green bowl is resting in the blue bowl at the center. I’ll park the left arm away from the stack, then use the right arm for the remaining beige bowl.\"}",
  "call_id": "call_BbgnmqfjiYhfYIEKiYLywE9X",
  "id": "fc_00e2f7654b3c70aa016ab47abf594087d0985f03a3fa3f7bff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BbgnmqfjiYhfYIEKiYLywE9X",
  "output": [
    {
      "text": "executing move_to over 26 steps (2.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1341, 1.0645, 0.997, -0.8085, -0.2081, -0.1215, 0.9957, -0.0177, 0.8051, 0.5999, -0.3939, -0.0338, -0.049, 0.9991]\nstate[eef_state]: left_x=0.2987 left_y=0.0001 left_z=0.1997 left_yaw=0.1085 left_pitch=-0.284 left_roll=0.0828 left_gripper=0.9957 right_x=0.2931 right_y=0.0044 right_z=0.1722 right_yaw=0.0054 right_pitch=-0.0269 right_roll=-0.0063 right_gripper=0.9991\nstate[joint_eff]: [0.2803, -3.4393, 6.4615, 1.3211, -0.0806, 0.1245, -0.0024, -0.253, -1.388, 7.0359, 1.7411, -0.0708, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa51211bee2dea0c7f8c879941b5a77f062eda72e5c94cab91caa3333ea01cf0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc2eacb4abcb8fe91e529f373429493df4919658d09159e5576b66b1190cb092",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cae2b79f12708815cc68d2d03363dad25af98ab891608ad3483500fda97e7fb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 16 attempt 0 · /responses · status 200 · 5.883 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 49 changed as sent

message 56 changed as sent

message 60 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8585, 1.9789, 1.3544, -0.503, -0.5865, -0.7174, 0.0444, -0.0177, 0.8043, 0.5999, -0.3931, -0.0338, -0.0486, 0.9991]\nstate[eef_state]: left_x=0.372 left_y=-0.2757 left_z=0.0637 left_yaw=0.0503 left_pitch=-0.2863 left_roll=0.0983 left_gripper=0.0444 right_x=0.2931 right_y=0.0044 right_z=0.1726 right_yaw=0.0052 right_pitch=-0.0254 right_roll=-0.0061 right_gripper=0.9991\nstate[joint_eff]: [-0.4308, -9.4564, 8.0068, 0.823, -0.2125, 0.1001, 0.8181, -0.1436, -1.306, 7.0906, 1.7314, -0.0611, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8734, 1.9533, 1.6981, -0.8886, -0.5919, -0.7498, 0.9957, -0.0177, 0.8043, 0.5999, -0.3935, -0.0338, -0.0486, 0.9991]\nstate[eef_state]: left_x=0.374 left_y=-0.2873 left_z=0.156 left_yaw=0.0606 left_pitch=-0.2905 left_roll=0.0929 left_gripper=0.9957 right_x=0.2931 right_y=0.0044 right_z=0.1725 right_yaw=0.0052 right_pitch=-0.0258 right_roll=-0.006 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -12.7795, 8.4034, 0.9158, -0.2857, 0.0562, 0.0855, -0.0205, -1.0462, 7.0085, 1.7411, -0.0366, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1341, 1.0645, 0.997, -0.8085, -0.2081, -0.1215, 0.9957, -0.0177, 0.8051, 0.5999, -0.3939, -0.0338, -0.049, 0.9991]\nstate[eef_state]: left_x=0.2987 left_y=0.0001 left_z=0.1997 left_yaw=0.1085 left_pitch=-0.284 left_roll=0.0828 left_gripper=0.9957 right_x=0.2931 right_y=0.0044 right_z=0.1722 right_yaw=0.0054 right_pitch=-0.0269 right_roll=-0.0063 right_gripper=0.9991\nstate[joint_eff]: [0.2803, -3.4393, 6.4615, 1.3211, -0.0806, 0.1245, -0.0024, -0.253, -1.388, 7.0359, 1.7411, -0.0708, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa51211bee2dea0c7f8c879941b5a77f062eda72e5c94cab91caa3333ea01cf0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc2eacb4abcb8fe91e529f373429493df4919658d09159e5576b66b1190cb092",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cae2b79f12708815cc68d2d03363dad25af98ab891608ad3483500fda97e7fb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHrFBhBXlyiWL1A-b1zljLrgY4KdO-6tLcy8bX2XMkxh-rL1bqedOWqBiWDoXSifsRpxbYaTtci-elYvd7Y4OQdmC9-TchG0fgEmb785ag0mugdwYfFqBtqBl4JUDXFh6ZcVUWIWXvP4cnb1Ilj7IkFiuDS25OmIHXFbR05EmHjYd8Dg-rEfOOEvl7YRePyoqEINQiCg2NS6YT4whLSCF5qcGVlNIX54BJ1P4zFUb6cLwNVI7Xari-BBF6bVCYel15jdXjedzMNh6Oa-NmuAZNtOPPhsIduRkGUdHzgs6jDq56TRLWj6eoor8jWiUUTNF6vPvkezq_uLW6KlLI8lJ5rv1koKHm-YeKk3PZR1WUcgXvLEX9r7TepEIEtzyb71sRt3Yx5fXopskp9KOl9ePm3RrEzvJ1g-LwYXIpFd5bs0wdFX1CN-hxlSIZZitk-IMnAl3FZY-l5UqLS1A8Pn7BrpaZZtr4odFj8Ql4T-zaC356SRXjYnPtzbeWEQo58ovO8NUlbIpPA1I2f57fBxMJ43RJrgTniHYculOv0CKEs34uDbPYlm2n8YFoRESzwX0Y6wgHiNc_ls-eWGrcrQPxPRWEnKVqMHO5PmCdPqfHYjuLW5QWmEpI9uxiPzONMeVs1zNctSn_fETkyn4ToqKLsBQs7CFz73U_6s4MFeXbXizrEZ0ncdlGFFM9O6M_M98VebGcEw9XkzAan9Syx-5c3aJoOu_XOmfhNe5Ex_EXDHf28TQVK8qm666fPlbWE8GU3jLTnfyRlIKLQXW6_CEtCUEwDVQSe0tpP6mO0nreNLP177gWKcV8nzTbe8bYTHnwYO_R_HiBxfDVN6PaIBVobxUHf9NmGqYcJw9Jg7Rxjtn6Aftsa1wX8VNqCbLIiLIpYcBrL-aQqgSUFm-6mx88LnY-v8O8gya2TtYvvtGLUIH7Qdax_3VrE8PkIsT60-7QlVk1JeV7lsuNvirdpnKFIl2sKyGkQPkM8DYN67LpCPQ9nmoJHc17kia8jyS4DxuYWRdoxxwMCJNL-AoV1XQAc9kKRbOJpGFiTPO5AAdFgimJ6o56yVN5KS5mGJll9_8a080jdix_wYkeQJ0zVwn7MySaOhRdWSf0Toh3_Lq-ARDySVxuETn7G-nOrg4LymcKUOcFzQfeL_-RqA0syqQbE60i9gE28m0Uear4QWeb1MJumSqTAGCpb5gjhtrAfNxtS6Mkye6VcuWF63TH9UpzonPA==",
  "id": "rs_00e2f7654b3c70aa016ab47ac452a087d091c9bb1086f63144",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.40,\"right_y\":0.045,\"right_z\":0.10,\"right_gripper\":1},\"note\":\"The center stack is stable, and the beige bowl remains upright on the right. I’ll approach its right-hand rim with the open right gripper.\"}",
  "call_id": "call_00q38t6BWC7nMpHpdAR3wAzJ",
  "id": "fc_00e2f7654b3c70aa016ab47ac4813087d0941bcfa8b6b9b3e0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_00q38t6BWC7nMpHpdAR3wAzJ",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1337, 1.0695, 0.9955, -0.8238, -0.2028, -0.12, 0.9957, 0.1432, 1.4227, 0.5922, 0.0998, 0.0753, 0.0174, 0.9992]\nstate[eef_state]: left_x=0.2961 left_y=-0.0003 left_z=0.1953 left_yaw=0.105 left_pitch=-0.3061 left_roll=0.085 left_gripper=0.9957 right_x=0.3716 right_y=0.0438 right_z=0.0685 right_yaw=0.0374 right_pitch=-0.1562 right_roll=-0.0268 right_gripper=0.9992\nstate[joint_eff]: [-0.0342, -3.0564, 6.735, 1.5897, -0.1832, -0.0562, -0.0073, 0.3624, -6.3248, 9.4701, 1.9951, 0.2613, 0.2076, -0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8a4dc3f954ff00dd5ae0a2f900e92b899c2c08a09f5710468d3093642c1b329",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5210e43963e670e47d52a5718da21fa119b2693b885be0b914e9d9cb4452296",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:484f646ed3515a13844b587953d3c6f31dccc2b199db485c337396aeebe3e116",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 4.459 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 53 changed as sent

message 60 changed as sent

message 64 changed as sent

message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8734, 1.9991, 1.3636, -0.4934, -0.5926, -0.7414, 0.9947, -0.0177, 0.8043, 0.5999, -0.3931, -0.0338, -0.049, 0.9991]\nstate[eef_state]: left_x=0.3706 left_y=-0.2831 left_z=0.0593 left_yaw=0.0528 left_pitch=-0.2815 left_roll=0.0866 left_gripper=0.9947 right_x=0.2931 right_y=0.0044 right_z=0.1726 right_yaw=0.0054 right_pitch=-0.0254 right_roll=-0.0064 right_gripper=0.9991\nstate[joint_eff]: [-0.1299, -9.7436, 7.3094, 0.9597, -0.3541, 0.0806, -0.0464, -0.1709, -1.1145, 7.0359, 1.7216, -0.0317, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1341, 1.0645, 0.997, -0.8085, -0.2081, -0.1215, 0.9957, -0.0177, 0.8051, 0.5999, -0.3939, -0.0338, -0.049, 0.9991]\nstate[eef_state]: left_x=0.2987 left_y=0.0001 left_z=0.1997 left_yaw=0.1085 left_pitch=-0.284 left_roll=0.0828 left_gripper=0.9957 right_x=0.2931 right_y=0.0044 right_z=0.1722 right_yaw=0.0054 right_pitch=-0.0269 right_roll=-0.0063 right_gripper=0.9991\nstate[joint_eff]: [0.2803, -3.4393, 6.4615, 1.3211, -0.0806, 0.1245, -0.0024, -0.253, -1.388, 7.0359, 1.7411, -0.0708, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1337, 1.0695, 0.9955, -0.8238, -0.2028, -0.12, 0.9957, 0.1432, 1.4227, 0.5922, 0.0998, 0.0753, 0.0174, 0.9992]\nstate[eef_state]: left_x=0.2961 left_y=-0.0003 left_z=0.1953 left_yaw=0.105 left_pitch=-0.3061 left_roll=0.085 left_gripper=0.9957 right_x=0.3716 right_y=0.0438 right_z=0.0685 right_yaw=0.0374 right_pitch=-0.1562 right_roll=-0.0268 right_gripper=0.9992\nstate[joint_eff]: [-0.0342, -3.0564, 6.735, 1.5897, -0.1832, -0.0562, -0.0073, 0.3624, -6.3248, 9.4701, 1.9951, 0.2613, 0.2076, -0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8a4dc3f954ff00dd5ae0a2f900e92b899c2c08a09f5710468d3093642c1b329",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5210e43963e670e47d52a5718da21fa119b2693b885be0b914e9d9cb4452296",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:484f646ed3515a13844b587953d3c6f31dccc2b199db485c337396aeebe3e116",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHrMUCxPvWF3PRwnaFfQDGmExda7ARnYnkXjyd9ceoMMwUUaHBAuOe8pHQB6csxGvXeXZnca7CtRsN41umJtsBUJToePO9DI-6Wi_X_Qylzey6SSVrklSB3WZ2tVRnAfVE5A9dKSzfe6Vm1eem3HYHdioc6fuAiMywvD7NeY-q3LUHbX1UgTLSuRwxJrenfxzGUtNebKosZnaoSAQFISQ6sls3SusajeySAoiTntb69smKqZaOgbci_TK77FqXVwPHzzY1cJ1M5ETaXyYcRKuPeRQa0CqgG59xrT9bUnLm_I4eCf-ePfn3xqTxjVQNBs2tYWt2s81mHSXxr0-me3SGcnRWLbpQQimayHeirXbu6bcGNQUUHxD4GEmpn2QEVKMBHgNjTB5PzV7QzqKsud95JVJd8518UnjOHYBGs4cKIyPSPhFvWVG76Y9PPEj3mm46JIeKS_ULX7mHRtSp6T6rdlCN2dCHw1WXNdV-HMcpK5lVciqYXMJNNkpew8GimYAed79bkiy8J40TmFQiF_ge7xJK-nN8dV2qdQPyevMmUFz4CQfYUQ8AfnCa8eb8yCS3bQnut-XBxcmh-j8eOFGapRSTnkKiwv_WBP9vRzwEvp6I3yXHFn7hvi9vGQDn1bc8raDV6_-88FKVPy5Xv1hhWiVmnoIUYAW7Sp2CmvctqparqpxKE3_KtgYM2-6wjt-14sFPIlGbYUGhOz6X6Z7CiLp4ZCPVsN5asdP_SpaH1ISDXUO99r8dEM83vp97mbLFDdxkWWIoRZIZOtp_mp7-V6PCSpYGnY71ePqO3lI7XNnEG9seV5zwfFcWfLZLR9sWSYoaj27-lHpPmlkqCJCSP2JztpX-0NxH77ZkuzWjtBesTjpzp87dHp0imMiIGfmT5kDX-ED2NYDAjTuCcytnxibwGS4Gs7ud3RpsxZ5oB4vuPe2DPyeNbE-I96aHI20fi8Awr0o0UVuxiMwodtUDjtMsCFoeLL5tYb5UuUEyPXpKG8eXCYtAnDx1WsGCX9esAVWvZmVeRmr9HRgfZVYF5-blrpcIMWpsJmXV_HWuZfPnU85jAq8eRDJ_tO-e5pdUj8gXI2DcReQqcE6n_Q6NneJOQ3NyjkOCpu7fgeYl-rZb8tNQvXcfV3PpB5yiU5_m6lldYFe1urSr7HE73JEq3noxzOEJYcQmpOX3T2JymrhEYwgZKZQPDEq8WnriXblCYX9BLOtvvgu8W0rwl_E6Zfa3NLa9LcgLg168LbaE4DqG8HDq0RJQ0xAkKq8x9m90ltgB8ccclml9_VorTrwOFGLJ3Z8ALnqIyO9KtKch_7LOZFCxYA4ZDiS5Khmkqza4GzH56QBbnG53FkUIaVf5ftJALTI6-tNqDjgXf9UJkw5wEWkIWuVRdHZldY3wRqvSDRhIV0QEmF2mux_lxSZUC0sn-KwPBb5kZiUpCnNqAg8N4e-PxI0wR3ezv-9itGSQPr73ly4YCL-vmQ3KqDwtWsXY-2RrIjqLhh9x1Sno61cNrAHbm86O1etqv1LajqDZ7bPl4w76Y14hrBmGhokSY8dqjMPq5TfrP2a7xRbWexzXvxkHhPnN5rx21sRKhyMR2Fx1mWcyoPY9YWyeRShNXEsMsoLCT9wlFoqBC6kSBbUvY5vP7KFFGHwWrdWGOt4CnjL35tgZXXLddpP4UriKUH9OLPYIWqrgSGGOg_RsqyVP6lsK2-SrBJXz6OKbOpfURdgfHYlP7RK19efMX8v4kPpS74asdZmnnlhNJtOfzGJo69IExEpPB8Qm8wieMK6qluMWCsByiIAX60tKfrCZkpB-_kyGHr4-Q_37nckaFJXvC2rLjPOBtMvj3heIP3Anm-rqBquIGohw4Z1wjm7N7I-GNNY9a8pyAQvWJ7JpZjsP2IdBnX9FLbZGAn7f1N_1DKXcl_LgFUh26nq6F-6D3nFtVjHTXTp6-pSh1M9tHEojwFYasbJ_47K2Y7C4v-fAnxJCDClWe3hZ_xfCk9CxKfnRd99NXvRuqg6PHW74-rqpB-WmydeIFt4sOx8LFP6mS86vDV9-M84CJ3Kg5159vtC-AZFcdTHCIH54Bfvn9v6cfgomjhtcDMgtX2AulYTVWfWe3F091QoK0gHjdImBRSNGAmYvRgMV9heUilC2Zk8F1HuGzYaK_g1orh4heyZ_DJLRK5ctFXQEutCmnhGehDJytXw-tebBBYAPGtoUIYjsMXzhLG80C6AGdaWIi1LkRcSp_eV2UEOpS6E0rf3HHdWlqOHCwphPyZl4L2Vww0E3Y=",
  "id": "rs_00e2f7654b3c70aa016ab47ac8252487d0a9c25dc25b03219e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.01,\"right_z\":0.065,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The bowl’s right rim is to the right of the jaw centerline in the wrist view. I’ll shift outward slightly and keep the tool upright so the jaws straddle that rim.\"}",
  "call_id": "call_D5f5luna9AIgRqLcZKCvE6Is",
  "id": "fc_00e2f7654b3c70aa016ab47acb97c087d081c6f18e6e356dc3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_D5f5luna9AIgRqLcZKCvE6Is",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1337, 1.0725, 0.9955, -0.8265, -0.2028, -0.1204, 0.9957, 0.0902, 1.4517, 0.561, 0.1921, 0.0399, -0.0044, 0.9991]\nstate[eef_state]: left_x=0.2958 left_y=-0.0003 left_z=0.194 left_yaw=0.1057 left_pitch=-0.3117 left_roll=0.0862 left_gripper=0.9957 right_x=0.377 right_y=0.0306 right_z=0.0629 right_yaw=0.0268 right_pitch=-0.1261 right_roll=-0.0173 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -2.906, 6.7897, 1.4139, -0.149, -0.0611, -0.0122, 0.1162, -5.3538, 6.1744, 1.8681, -0.1197, -0.1197, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35dea511f709a87af6a0a6018152834a0b53fc71b947fa9aca2f7b7821ea1d60",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb30ae4e3c8f40c7bf0c3645840519f1daa60db233c36440762b606fcb2f1c10",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d042596ea32cfb0c53f91aa77d34d8ef48d1a6648c797a727e135dbe67df833b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 5.976 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 56 changed as sent

message 64 changed as sent

message 68 changed as sent

message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8734, 1.9533, 1.6981, -0.8886, -0.5919, -0.7498, 0.9957, -0.0177, 0.8043, 0.5999, -0.3935, -0.0338, -0.0486, 0.9991]\nstate[eef_state]: left_x=0.374 left_y=-0.2873 left_z=0.156 left_yaw=0.0606 left_pitch=-0.2905 left_roll=0.0929 left_gripper=0.9957 right_x=0.2931 right_y=0.0044 right_z=0.1725 right_yaw=0.0052 right_pitch=-0.0258 right_roll=-0.006 right_gripper=0.9991\nstate[joint_eff]: [-0.3214, -12.7795, 8.4034, 0.9158, -0.2857, 0.0562, 0.0855, -0.0205, -1.0462, 7.0085, 1.7411, -0.0366, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1337, 1.0695, 0.9955, -0.8238, -0.2028, -0.12, 0.9957, 0.1432, 1.4227, 0.5922, 0.0998, 0.0753, 0.0174, 0.9992]\nstate[eef_state]: left_x=0.2961 left_y=-0.0003 left_z=0.1953 left_yaw=0.105 left_pitch=-0.3061 left_roll=0.085 left_gripper=0.9957 right_x=0.3716 right_y=0.0438 right_z=0.0685 right_yaw=0.0374 right_pitch=-0.1562 right_roll=-0.0268 right_gripper=0.9992\nstate[joint_eff]: [-0.0342, -3.0564, 6.735, 1.5897, -0.1832, -0.0562, -0.0073, 0.3624, -6.3248, 9.4701, 1.9951, 0.2613, 0.2076, -0.105]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1337, 1.0725, 0.9955, -0.8265, -0.2028, -0.1204, 0.9957, 0.0902, 1.4517, 0.561, 0.1921, 0.0399, -0.0044, 0.9991]\nstate[eef_state]: left_x=0.2958 left_y=-0.0003 left_z=0.194 left_yaw=0.1057 left_pitch=-0.3117 left_roll=0.0862 left_gripper=0.9957 right_x=0.377 right_y=0.0306 right_z=0.0629 right_yaw=0.0268 right_pitch=-0.1261 right_roll=-0.0173 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -2.906, 6.7897, 1.4139, -0.149, -0.0611, -0.0122, 0.1162, -5.3538, 6.1744, 1.8681, -0.1197, -0.1197, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35dea511f709a87af6a0a6018152834a0b53fc71b947fa9aca2f7b7821ea1d60",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb30ae4e3c8f40c7bf0c3645840519f1daa60db233c36440762b606fcb2f1c10",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d042596ea32cfb0c53f91aa77d34d8ef48d1a6648c797a727e135dbe67df833b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHrRVxQD8mexn6V0TpINPqHn7zlAgTIC-5Qhr7vBlP1E61RKpXaIgkxCRojdV5nbJ8X5Rj0jglyPGv-d9_bTEGL6XmWHG2MSp9s3UE3f9vZSSh0daXTFjqYeIlNYXlY0x3HRi2JCIOTF6VQ9yP1V_VnfLjEUO6hfzcVp5_xaknkyFghjTghqCJIsRb3g2-DxkQiuhp55Ki4K4ieqBnpww3TpxogjZwvJnjihD5LdIAagZMOHClDwg58AVkVdmTpjOB1AflUp8Nty6GxyHexzN2gpWhY-i4psbV5avV8zWPjE9wXD_3ZBnfnkf5aDuNDWcI2NaersjvEbrYmh7IhuGkudSiifVetThX7iJrlsulExOkOuDDbAra9UI-fHIJRzcD6Zpp5DUXJ4_fNb66pSA0b2tE0F-D068uMQPSxusQezzsncqaKo7mON9BGFRIwsQ39afPSFxbyzDrEBbCxdOZgTUT4lI3RCV9GZHmSBS8X_4zp4ENNPirkqvTdGzGcLL_2-LHW0T-o5NF2ctoZiT0bKcwCbwk-Uew1s_FsCOdtBQP2nIVaSPW_QY7c7dNFpaeu1uYa7mZK70nzqckZZsCZNsCdF-a9Q0G-EMoxBziS4EKXpm7yhw1dGEgKnTHYsgBvgcTuH-Fzcy1G8YL1HOlYaSUKtTJkSs7mE0X1RM0jZSJdFMxkRv4Pgj-2U0vWAzkyBYKcG-6dCD2pR8STPQLbTkTiZmkFu5nMWg7ZUUBccP0RM2HKCRXlQmUl5C7jeKS9tmdFkBfE72YHA7s23ei4EvdXpY8sKLKrpaNV4nmGpWsWSG52SOXa_KQTOUbJu3xRFDka6S7kYWfCD9H2AHgoLB6NV2jmK5m4oiP75I65ZznfId9GAxdgbjFPAMga5fFDSJ9SZxvek6ycwyWCMHQ9Gwxr4Uonfk5R0uUnRWkvxgEPenfdauwlX6Zh-Qfsyyxj64LJO7JX5Y60V_wtmrf9FMkLl5TdyXtjQJ_bX3KT_xtmYvsiiC9nFo6aIwLjkKOFy2OcuR0wOdoOIUQBxQ0NP0AE9eBAS9DFAieDHo6qxK4-hJ6Xmrdy4_YlEZXggDOrvpT88d84wQX3bseGEt18g5KQePvHqIvmiLKXc1EG-cNcuejZ3C9Jiz_cjuZ5vlfsRwGpxggMSetMGvlMjdErnB0enWCysuecVl3AqKjUf-1td9Sye9m7eXaWpV_crPK5PrZrp7HR8E18kj44e5dsiQzNB-a8mLBaO_YEqOtyAPihyAhHxITnhMqFCzTkb-_EFrj-EMIy44CBY7AyQ-vqFMd58CU1bO2C7g46V8PqdY9-47vmndMV_3reiAe6q9CSU-4Ld-kQlqw2vbVbTu6S_WcltTP6oCzYI0qmqDxGQNd0r-SdVa-KfFSVH44vCnuyucEnkZfsU_iDtC0SeOicpNqa0mT5nLwK8lzLtmGVTB9xCAW1q26ubu4P6M9L6HjLna5nol5lh2hFcJC_XHTZMKp0UzfBmw4ZjWD8J3lzgRvynzT0UtujtxuEm9PBBSmtHAdAhx9RON_HosNb3bCBg_x7rxfpwKpqyKaeGwop2CF7_NvmOv7DYw4hvavxQ5ysCL5GwbpDQGCcAPdUbgAt72dbABERByva1ugnz4Poe2HoosX7ZOmzAeSRdpg8p_dA3e3ieaYmK-7oxMiEFudvNMPdwZBvY0OPZzsjmxJhDTAxb3gr2jUNAkVhZClkKM8Y9dPw-_auRg30z8n7E4p-3_jyY8X8JGCWefJ5WnVsjFDZ6dECPJHd8l3Gh3Pybqq5ZNSDUsLHh74Ke_PAj3JsZrQ==",
  "id": "rs_00e2f7654b3c70aa016ab47ace5ddc87d090db0f1ed6359fee",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.415,\"right_y\":0,\"right_z\":0.03,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The open jaws now lie inside and outside the beige rim. I’ll advance a little and lower them to grip the wall below the lip, as with the first bowl.\"}",
  "call_id": "call_AGkKW3JlfrDhkCh0Kdk20wOO",
  "id": "fc_00e2f7654b3c70aa016ab47ad06ad087d0984d5fb15abd0e51",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AGkKW3JlfrDhkCh0Kdk20wOO",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1337, 1.0725, 0.9955, -0.8265, -0.2024, -0.1204, 0.9957, 0.0902, 1.4517, 0.561, 0.1925, 0.0368, -0.0116, 0.9991]\nstate[eef_state]: left_x=0.2958 left_y=-0.0003 left_z=0.194 left_yaw=0.1054 left_pitch=-0.3118 left_roll=0.0859 left_gripper=0.9957 right_x=0.3771 right_y=0.0312 right_z=0.063 right_yaw=0.0333 right_pitch=-0.1257 right_roll=-0.0209 right_gripper=0.9991\nstate[joint_eff]: [-0.1299, -2.906, 6.6667, 1.3993, -0.1148, -0.0464, -0.0073, -0.1026, -5.1624, 6.1607, 1.8144, -0.0757, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:292f75c7709f0b5c91c700ef53d0aa4960a347ceead1ccb3742ad50014a86327",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5264337ef3b9c79f720bb4cd3d3bd88f411459ce460086ffdc12b0afcfecf4d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf559d9cee25cb80ca1054aa0934f5c35c6521a4b3c604666b87fca930053ea5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 7.031 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 60 changed as sent

message 68 changed as sent

message 72 changed as sent

message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1341, 1.0645, 0.997, -0.8085, -0.2081, -0.1215, 0.9957, -0.0177, 0.8051, 0.5999, -0.3939, -0.0338, -0.049, 0.9991]\nstate[eef_state]: left_x=0.2987 left_y=0.0001 left_z=0.1997 left_yaw=0.1085 left_pitch=-0.284 left_roll=0.0828 left_gripper=0.9957 right_x=0.2931 right_y=0.0044 right_z=0.1722 right_yaw=0.0054 right_pitch=-0.0269 right_roll=-0.0063 right_gripper=0.9991\nstate[joint_eff]: [0.2803, -3.4393, 6.4615, 1.3211, -0.0806, 0.1245, -0.0024, -0.253, -1.388, 7.0359, 1.7411, -0.0708, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1337, 1.0725, 0.9955, -0.8265, -0.2028, -0.1204, 0.9957, 0.0902, 1.4517, 0.561, 0.1921, 0.0399, -0.0044, 0.9991]\nstate[eef_state]: left_x=0.2958 left_y=-0.0003 left_z=0.194 left_yaw=0.1057 left_pitch=-0.3117 left_roll=0.0862 left_gripper=0.9957 right_x=0.377 right_y=0.0306 right_z=0.0629 right_yaw=0.0268 right_pitch=-0.1261 right_roll=-0.0173 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -2.906, 6.7897, 1.4139, -0.149, -0.0611, -0.0122, 0.1162, -5.3538, 6.1744, 1.8681, -0.1197, -0.1197, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1337, 1.0725, 0.9955, -0.8265, -0.2024, -0.1204, 0.9957, 0.0902, 1.4517, 0.561, 0.1925, 0.0368, -0.0116, 0.9991]\nstate[eef_state]: left_x=0.2958 left_y=-0.0003 left_z=0.194 left_yaw=0.1054 left_pitch=-0.3118 left_roll=0.0859 left_gripper=0.9957 right_x=0.3771 right_y=0.0312 right_z=0.063 right_yaw=0.0333 right_pitch=-0.1257 right_roll=-0.0209 right_gripper=0.9991\nstate[joint_eff]: [-0.1299, -2.906, 6.6667, 1.3993, -0.1148, -0.0464, -0.0073, -0.1026, -5.1624, 6.1607, 1.8144, -0.0757, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:292f75c7709f0b5c91c700ef53d0aa4960a347ceead1ccb3742ad50014a86327",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5264337ef3b9c79f720bb4cd3d3bd88f411459ce460086ffdc12b0afcfecf4d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf559d9cee25cb80ca1054aa0934f5c35c6521a4b3c604666b87fca930053ea5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHrYjAMqercs7Z2-cduuhUt11-HCmNKVRNxvskmK0ER7mqM3KBxzZHpHupvnmqTuJsUXNxxxAkw3riRU-5HE_y0dOS2_rhPwtOwb_t-12-u8GqX4Kmy4c6g8OEvSekvazOuX8Mi5Puqr5g6_r-2MgjM6g4_bUAOrw_zNWkPtq6dKJpgxUfBzNgyWBKNcYMvRl-BfvBCdD5Zo6sMnQOdmOQNDnJo0XbGHbbn1ssbp6e9ao6wsEA-km24aEm-pEdwfw1qKowP4OSYRlF1iCd2ztHQbVTKQ-Dr4aCUFn6nJEAsmiKMUEPHrhW0nVBOS_nvRx9JWMTra2enNTmx9V45PsoiHXRzYY7W9gcoqJ9pagJFQVSGLsOlAmpf0rQaNkA2TFyrUtCicAZ1UgBWMcDFdE7S11dfNM6NtTVFkBXQqa6SO6KSwoR9ucwSC007MhP1FStSTcupqEUAoVTrgLHHCQKs68tNBM5ivfPCnJq9SNBfJdYG9BGGfvg1lt9p90ecy5kNr68QhutOIAZoMsbTSeKxqYtPLg0MFdZp_LJxLCVsEdsO5D4eEBrXDAkJGwgZkfn-njJG36IWG-j-mI5a_pqeP4HIsyqZpYRU--N28Js3KxrMyy_a3a0OQbbwHTQ7Ul_9hjsqj_EQCgOw8rR10qrHsQiSkoY3yoig0W5lDEBMAf0fSxPtuWLlnWF05aFg4Xg9c6tnYJvBg6pY8Mx0Qm8jl63lxcX1Nsc4OlobRq9MVcd4p-eSwhqHM17jyksW8HOI0hRNzsLRj7cZi626HFVYk42JFYRardIDZRttpUZYQB7b6isXcx-ggZOEqUfVeb_FF0f1aVseXoth9uc8n2ZEOJFLM_Q7UjXImxRUHVGmkiiJaBoipRmRIyJeMQhBfnxEw0R5ozgb9zva0zrTc4cWXB2PNet4tG7NmNrtHZjyK6PZgRCY_5O80n17FrMnVOMZnpe0ZHNZ2KtO3Z1DPl6d0YFI-uLn2EUk51eFDb9AMSQNi5751evo7CNwZTatlhvzICqyF4ygxwlyWRWsXOGdcBFYP49-IAM2RIof_yatYRHcZ98_hN8qPpWmdXldOJcEDlJX3T43Pzc0HaztTSEb8eycZOTvAUUzInhibhZpz7CyYZLaRVs9TjIrDzdNL0HjSCBMTrvGzC7K6TdcbLKIe-5D6vlOEf5YKY7bqOGepHzZrNo6RJbnhmOpnaTjjkf8PMuCbCKIOlfiqgn1s3GjI_G7gsUcN--HuQWNNnrTUrrFFbsMowJJtc_urABIIE9WgMaQrXt0ooFHx4WUp2YW1MNUN3ZWkOr5sVLY4O3c_at7VicurNMXg-QSujdD29nxrueQPdoGDN_omFhQnhbhyBdyO9s_e8HSFe5gkcgJPHA5fP_W3HXkby-L6eaV68VGAgH6_LmA5mebC57kg9c47tAj_INX2FMyI-YuZES8iSFNy8W7hrZ8XO1a45GdwQT1IMt2VLjJcK6QhxMNbggOioBkFmCtJVUAHacur0XDcT37ZQTizYvmhwRo9HIhL_irlHGvvZA4WZeGKY7NpKQn_-eyppIsT8EJehi_H_TPWt4MKvYN_kkzPJI5QqjENTb7v4LjwLWEbt1QV_Wl9tc1VlOuSwZwgNveTg9iMvn9_Mf08t8chld9EUqqiczKg-v2vYTpchRAhcraTUtpyz2PpWcGA1aavQ6eaEyqRbWhtqnrHuEOV-KxlKHq9aCpKpVEJcqJTwkFuWmThXcyp2US9Hyeykdk6p7Sf_YdJOMUtd-U-SvzNiA_8rdip4XdByzLi0fL8NspJQ1UkGHWpEtlSmoTdwSOdw1l9hrQ8qa_NR9tAS_apWbMp_tuXASbzrjtNOEt03doScp7nNAgr353mhFibUXJKW2I973dKFSnvi1-XePpzQjHfJNrU9ROh3Uwhi2_sRkcP2B6y2iI5Am5COSCn7nfT0D06L-S4-nC4cNJbIidP7tpiTcf_DjlYp2KDTPUawXnFL0R_zQhzzAyeZcW2ZSTA91tbmbAuSfLlgbF7lpZxmdx_3rGZ3uAgaipS3u74Kdw763rMOqzv6EvsZyUBajMYn3G6j95kYVgaZ62Lsl9oN34r4PpE8axkD0yFynFS0ATB71BLgSPafSYk0arr8zSKyjJ0NN6UVpXYTAj9GCuvVu-QBdWnuMVirITf9TScRFJKHwBDQldsiFgtn-OoeziFL8nZzs5Jywxk6kyPMHKmp7jpbgABf4Mw1lAo2x9xF0KJS9LKCCqzhZ-ntKfj-4BIGL8D1ONk1VIU6nT4FCpnuIEJYiQWvu35KDQYZEv_xSQ8qai7KB200SIlUG5w-FprZkUM4qvQdD7018-mc8t9MbE2e8uknIZdeCYCRlSu7Xs3q5aputLOcdup3e5uKBUTZ-MuYh_8SCXCwPiAIeluN3OqSPlADYbIvzy_vd1A-nGU65E3QSv_ALJxCVKTOeQhxsojXAtX0XUnHEZRiszLZt2yKDurdmIIULF2",
  "id": "rs_00e2f7654b3c70aa016ab47ad33a2c87d09a06b47848734128",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0,\"right_z\":0.13,\"right_pitch\":0.15,\"right_roll\":0},\"note\":\"The right arm did not follow the last descent, so I won’t keep pressing at that pose. I’ll lift clear and adjust the tool angle before approaching the rim again.\"}",
  "call_id": "call_M093SC2VcXQspks2GKTjJLEw",
  "id": "fc_00e2f7654b3c70aa016ab47ad724c887d09f2dfed37b46b152",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_M093SC2VcXQspks2GKTjJLEw",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1337, 1.0733, 0.9955, -0.8268, -0.2024, -0.1204, 0.9957, -0.0429, 1.3853, 0.5285, 0.3393, -0.0772, -0.0685, 0.9991]\nstate[eef_state]: left_x=0.2958 left_y=-0.0003 left_z=0.1938 left_yaw=0.1054 left_pitch=-0.3129 left_roll=0.0862 left_gripper=0.9957 right_x=0.3916 right_y=0.0004 right_z=0.104 right_yaw=0.0274 right_pitch=0.056 right_roll=-0.0036 right_gripper=0.9991\nstate[joint_eff]: [-0.0205, -2.9333, 6.7077, 1.3846, -0.105, -0.0659, -0.0122, -0.4991, -7.0632, 6.8855, 2.1172, -0.1343, 0.0073, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e3ce0ecddf0cf272ff71c27421b78aa5f9fc4086dc8b55cfcca8ee5bebd7efa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac9a4004b24f9b40e111d9255cdc768395f58e2d11b01c4fc1a7b49a994b98b5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ebd16bc7361724c7440dbff5b87eec9f977c54ff2478ee1bd2e70f6bc62db1a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 20 attempt 0 · /responses · status 200 · 2.471 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 64 changed as sent

message 72 changed as sent

message 76 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1337, 1.0695, 0.9955, -0.8238, -0.2028, -0.12, 0.9957, 0.1432, 1.4227, 0.5922, 0.0998, 0.0753, 0.0174, 0.9992]\nstate[eef_state]: left_x=0.2961 left_y=-0.0003 left_z=0.1953 left_yaw=0.105 left_pitch=-0.3061 left_roll=0.085 left_gripper=0.9957 right_x=0.3716 right_y=0.0438 right_z=0.0685 right_yaw=0.0374 right_pitch=-0.1562 right_roll=-0.0268 right_gripper=0.9992\nstate[joint_eff]: [-0.0342, -3.0564, 6.735, 1.5897, -0.1832, -0.0562, -0.0073, 0.3624, -6.3248, 9.4701, 1.9951, 0.2613, 0.2076, -0.105]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1337, 1.0725, 0.9955, -0.8265, -0.2024, -0.1204, 0.9957, 0.0902, 1.4517, 0.561, 0.1925, 0.0368, -0.0116, 0.9991]\nstate[eef_state]: left_x=0.2958 left_y=-0.0003 left_z=0.194 left_yaw=0.1054 left_pitch=-0.3118 left_roll=0.0859 left_gripper=0.9957 right_x=0.3771 right_y=0.0312 right_z=0.063 right_yaw=0.0333 right_pitch=-0.1257 right_roll=-0.0209 right_gripper=0.9991\nstate[joint_eff]: [-0.1299, -2.906, 6.6667, 1.3993, -0.1148, -0.0464, -0.0073, -0.1026, -5.1624, 6.1607, 1.8144, -0.0757, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1337, 1.0733, 0.9955, -0.8268, -0.2024, -0.1204, 0.9957, -0.0429, 1.3853, 0.5285, 0.3393, -0.0772, -0.0685, 0.9991]\nstate[eef_state]: left_x=0.2958 left_y=-0.0003 left_z=0.1938 left_yaw=0.1054 left_pitch=-0.3129 left_roll=0.0862 left_gripper=0.9957 right_x=0.3916 right_y=0.0004 right_z=0.104 right_yaw=0.0274 right_pitch=0.056 right_roll=-0.0036 right_gripper=0.9991\nstate[joint_eff]: [-0.0205, -2.9333, 6.7077, 1.3846, -0.105, -0.0659, -0.0122, -0.4991, -7.0632, 6.8855, 2.1172, -0.1343, 0.0073, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e3ce0ecddf0cf272ff71c27421b78aa5f9fc4086dc8b55cfcca8ee5bebd7efa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac9a4004b24f9b40e111d9255cdc768395f58e2d11b01c4fc1a7b49a994b98b5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ebd16bc7361724c7440dbff5b87eec9f977c54ff2478ee1bd2e70f6bc62db1a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHrgi0eniot1xkisPK-T5xoXsqDRn_QPjGLCxdsZyFtdL9T1I0kWaDSdtaUP89JltO2uc-9WJzI2Uja_RNNgKrL1wp6X3OilzQ6pQFXjnklGGZDkWvE2qNYv6LqZSA3CJIaQtcB-_CnWZsSGidzGt1AxDA9kKYI6kpgUO2hOS28l7wDNtA--8XRTfwRayMyWshPA2oSwsWoalwKl_AxZ8CYFjdObyDjCaJrgfxXt81WcWI5y4Qprx4uObAT_MkT3tj8TBeqDoOAIM5gfjAYHXHHhGJxAjxUqgtcGWWKJ68F20fw0_XVuX1kAvgjnADHGH7JmXizJP-TnK7mbGXE8DpexrwkRqXHMT2VpZ8I7m4kk-4Cue6fR7dGDrTymEkNgZR9ISBJ1xfu1LbdDB2DgDnzfd9e45zBqehghKC_xCgABBlLLuXN3jZ2mb3AuBmdJiqEZs0Vr1rD5TS2RWRZu0SW9IS8BMGkWwTD4lJFRSy25lftmV6ar510pMsbfOj_yW6V9s8dKe4zMqFwNT4Wb88ti1bTgdJ0TOspDpZ3ncsi7vWAj8ChG9DUj42rDW7_IpfbAZWYiw2hGI0WYck_WzoUzpj_EwAJXKjuy60BZx3OhKC1tI46wCiv4_C5FunSktHj_2DIEDBYQLrNmQU0prT4N4zmFFzKJpFG4pnvpRxR6KPj4Gd3f8eEa7Txx1td1KGhwVcOHko6hrTRlQbvCXdROCnQFdvbvdHAdAesvuwHF3NWLGaHDvIXNssUa3x56YSjASEgg-RkN1isWwN4iUaEzNieyb8a1wSclIUv5AIWmRKnkQqZjdORSsPQOxd2yotYXvYNxi875fqOjwFPdw0ohtOQjc_g3IpsssxN3d4w3sDkQw3tg_EdLbZcOq4Sv4PoC_fIRTLVunba2wdEe8wf2oOnecHGOf-mWzS4tvEheb97HAlXJObCBrwwAJ-5eAZCe17unBupbUSEkmrms3QaRjr-T3-jt2k1-jW6Tebc1SSzkhhKdiKOXUIATgwmNEyt0X3rqdOPx3J75rh_32hPDfNiqojoV3s-8eMZTlgtf_5eBHzJ_PBjRIKBHcwlayWxkj8HdyencIlCQ0QFohuRLxlXCyEB5pXmx3cInwX8qniHgfT4O8XfES9D0bsCsepf9rbCyRJK8YflUJ_wFd8YRPlEggEay18US7ypdR_1DiSPXPvqu9Bmc4HfcvEjK76p_pqDGTLfxAr7N7_6DiCqRh8SHFOqFW46H5dS2iUUSuUjECaDOjRorglrXoJbS9p3lF2LVUZY1SQgWXLSiVaPxP81uTcXvHrCffoIFGM59Gg4Bsa8_tM4NUCYgHRecbdDVaFJ3nk1VaCgl85YeapJnnxHIdTNUX42B3UODDfeQCh8=",
  "id": "rs_00e2f7654b3c70aa016ab47adbc4e887d0862ddcb86191cee3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.005,\"right_z\":0.035,\"right_pitch\":0.15,\"right_roll\":0},\"note\":\"The repositioned arm is moving normally, and the beige rim is aligned with the jaw centerline. I’ll descend vertically at this adjusted angle.\"}",
  "call_id": "call_ftNzA3ddvuLf9OhINpZzcEPT",
  "id": "fc_00e2f7654b3c70aa016ab47adf18b487d0b3cf2dcb37695d45",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ftNzA3ddvuLf9OhINpZzcEPT",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1337, 1.0756, 0.9955, -0.8272, -0.2024, -0.12, 0.9957, -0.0326, 1.7626, 0.3779, 0.8288, -0.0875, -0.0589, 0.9991]\nstate[eef_state]: left_x=0.2959 left_y=-0.0004 left_z=0.1931 left_yaw=0.1054 left_pitch=-0.3155 left_roll=0.0871 left_gripper=0.9957 right_x=0.3842 right_y=0.0065 right_z=0.0118 right_yaw=0.0411 right_pitch=0.0177 right_roll=0.0126 right_gripper=0.9991\nstate[joint_eff]: [-0.0752, -2.988, 6.6256, 1.3944, -0.1587, -0.0611, -0.0122, 0.4308, -6.2974, 3.6581, 1.6239, 0.0952, 0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fea147888eb90b34b2aa48de2905458c664c6db0efa3251ce5eb0cc1d39b20e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d2e5aafbd9b4fd49505cb30ad907760c3ad71a02e0112220291246bc8b73ab5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1f59a3f71ed01f710b6e839763c6b589fa43e333b8c64304201e1fe98dae779",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 21 attempt 0 · /responses · status 200 · 3.262 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 68 changed as sent

message 76 changed as sent

message 80 changed as sent

message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1337, 1.0725, 0.9955, -0.8265, -0.2028, -0.1204, 0.9957, 0.0902, 1.4517, 0.561, 0.1921, 0.0399, -0.0044, 0.9991]\nstate[eef_state]: left_x=0.2958 left_y=-0.0003 left_z=0.194 left_yaw=0.1057 left_pitch=-0.3117 left_roll=0.0862 left_gripper=0.9957 right_x=0.377 right_y=0.0306 right_z=0.0629 right_yaw=0.0268 right_pitch=-0.1261 right_roll=-0.0173 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -2.906, 6.7897, 1.4139, -0.149, -0.0611, -0.0122, 0.1162, -5.3538, 6.1744, 1.8681, -0.1197, -0.1197, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1337, 1.0733, 0.9955, -0.8268, -0.2024, -0.1204, 0.9957, -0.0429, 1.3853, 0.5285, 0.3393, -0.0772, -0.0685, 0.9991]\nstate[eef_state]: left_x=0.2958 left_y=-0.0003 left_z=0.1938 left_yaw=0.1054 left_pitch=-0.3129 left_roll=0.0862 left_gripper=0.9957 right_x=0.3916 right_y=0.0004 right_z=0.104 right_yaw=0.0274 right_pitch=0.056 right_roll=-0.0036 right_gripper=0.9991\nstate[joint_eff]: [-0.0205, -2.9333, 6.7077, 1.3846, -0.105, -0.0659, -0.0122, -0.4991, -7.0632, 6.8855, 2.1172, -0.1343, 0.0073, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1337, 1.0756, 0.9955, -0.8272, -0.2024, -0.12, 0.9957, -0.0326, 1.7626, 0.3779, 0.8288, -0.0875, -0.0589, 0.9991]\nstate[eef_state]: left_x=0.2959 left_y=-0.0004 left_z=0.1931 left_yaw=0.1054 left_pitch=-0.3155 left_roll=0.0871 left_gripper=0.9957 right_x=0.3842 right_y=0.0065 right_z=0.0118 right_yaw=0.0411 right_pitch=0.0177 right_roll=0.0126 right_gripper=0.9991\nstate[joint_eff]: [-0.0752, -2.988, 6.6256, 1.3944, -0.1587, -0.0611, -0.0122, 0.4308, -6.2974, 3.6581, 1.6239, 0.0952, 0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fea147888eb90b34b2aa48de2905458c664c6db0efa3251ce5eb0cc1d39b20e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d2e5aafbd9b4fd49505cb30ad907760c3ad71a02e0112220291246bc8b73ab5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1f59a3f71ed01f710b6e839763c6b589fa43e333b8c64304201e1fe98dae779",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHriR_AB-IqhQJek4h2eLCQ0ozg09Lr9_rUJ14uHPYDyAyGAXtB0zhOzJDw_NWLQOv86AhFqGxMQ-V0xHN5ZHPvkYO0cOQwUTwsuYjyBSxnt5QDvoCDaH4Sq7vxe65y6kE5EOzenTQOJqpLyulTC7190jUBC4V394qtJ74Mmh71GT74xuyuolN0V70dD07fO7-98yR9-W-MYkUr4gqTrhPrEIwKTubu96N1Tn-SKRMOr6LwD-wVTfN3CyshBYF603hBoVqOeZCduE_IFB9TKaOnwD54rHzBBY13K6jgjJXL8JbeaS0dGU8h2iB6wl_sKXWjb34KTu9qLDCwJv-e4oIfyY9zfohDTQ0WPfdAyU8XZyVl86A3bIlSycaRrtehs6fWgj_PwkWzfbYHe1uyjUdyDBJCmDjEn2LDmiyo-aVgH0JeDvYVW_OF5syVSUpEvdFvljP5oi3RulqnNNUDxZmLbwHfWQl3WYXYeGIAhIS0vB2mW4mn06Qf92ZazwLr2fYLZCJn6dBGWlENLDYz0fpTezXkyoKpPj2-zpZhzvze38_tk_aOyVTNr9c-yA-5sVuppyU2B2jj4AjmXwfSpihnC0WjlKBBbtH80wKtjx6CNbRQdEiD1257ORKek4OtY0RLJ5h6q2L7U8ci_Yo2s5y8_ChpKeS8J0vrth-nn6vkDIVLHREH4Tac7wHTIkrRoTJOWw06hscYJDmL7dHjcQEsFanSNzx6jYtCXUjmI_9-iQvoxRlLGKt4YDTrz2ou0HuQyA5pImwo3CTinnwPu2GRIAzyHFikQRpgy8AJu-9BooAPrtxUxkiko_Mt7FwnWT4Ld2bwvbvl2Fu5L2Br6AfvdUSMVOgu7-AtVUJWmRlKmLWxymDYUL1oMyN6eg5cUEF96qQ_nfFx-0iKF6F5MI3pTUlDozHG13IZVBtttsV3aEbZBOHttptpSeuL6kL-VTtF3MyOaY5_bnXa8-qJIunBahX4qcGjeYOfNVDEliuijE-Sc08G3tsghVuMV5xJCjDhizZ_ogF7Rju-6Hsk2e0PA2_yaWcuAxMTd10Pr7-KnO49wePtcL7rz5lsopYYN-B53Y3ofveS4DExa95b0c3tEODcYGNdbav_FwklIAdVPcpbLVJJDzkzRTtx41nwRj6-4rujo--AJXGEnQlTXYnbgC9GqYyCvNNtRLaRb9ZxxYV8qb1w_bf7ynUqcMcShmeJPqt8byci2GoBIS2BA7SuqfoOfEMIRG0vpfSY2UCRs-ce624zanfJCpx7xIeag3NoK5HCoFEhoVdKj8s1eLl6BXQ==",
  "id": "rs_00e2f7654b3c70aa016ab47ae1b89487d099f9e0f1f5ba1af8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The fingertips are now below the lip, with the bowl wall between them. I’ll close the right gripper to pinch that wall.\"}",
  "call_id": "call_TbF562JuLjXFzAfBFrcnh2h7",
  "id": "fc_00e2f7654b3c70aa016ab47ae2155087d0a1c899e85e175d58",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TbF562JuLjXFzAfBFrcnh2h7",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1337, 1.0752, 0.9955, -0.8272, -0.2028, -0.1204, 0.9957, -0.0284, 1.7489, 0.3847, 0.9081, -0.1207, -0.0387, 0.0292]\nstate[eef_state]: left_x=0.2959 left_y=-0.0003 left_z=0.1932 left_yaw=0.1059 left_pitch=-0.315 left_roll=0.0871 left_gripper=0.9957 right_x=0.3968 right_y=0.0136 right_z=0.0364 right_yaw=0.0629 right_pitch=0.118 right_roll=0.0382 right_gripper=0.0292\nstate[joint_eff]: [-0.0752, -2.6735, 6.735, 1.3602, -0.1587, -0.0464, -0.0122, -0.5265, -5.1761, 3.6855, 0.7106, 0.6716, -0.2466, 1.8486]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fb3c55697cd849883631ca0e087c8c521fe8b729ae8abc799bf28857852f066",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43e8f8048ad526f1f4033ae1c102634c212fb46925a3e18c67d4c4eb59150076",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24f0b30ccc2275a3328286e59e20d51911e5b0b51c12d2c67fca00ae6eeb58f8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /responses · status 200 · 5.732 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 72 changed as sent

message 80 changed as sent

message 84 changed as sent

message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1337, 1.0725, 0.9955, -0.8265, -0.2024, -0.1204, 0.9957, 0.0902, 1.4517, 0.561, 0.1925, 0.0368, -0.0116, 0.9991]\nstate[eef_state]: left_x=0.2958 left_y=-0.0003 left_z=0.194 left_yaw=0.1054 left_pitch=-0.3118 left_roll=0.0859 left_gripper=0.9957 right_x=0.3771 right_y=0.0312 right_z=0.063 right_yaw=0.0333 right_pitch=-0.1257 right_roll=-0.0209 right_gripper=0.9991\nstate[joint_eff]: [-0.1299, -2.906, 6.6667, 1.3993, -0.1148, -0.0464, -0.0073, -0.1026, -5.1624, 6.1607, 1.8144, -0.0757, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1337, 1.0756, 0.9955, -0.8272, -0.2024, -0.12, 0.9957, -0.0326, 1.7626, 0.3779, 0.8288, -0.0875, -0.0589, 0.9991]\nstate[eef_state]: left_x=0.2959 left_y=-0.0004 left_z=0.1931 left_yaw=0.1054 left_pitch=-0.3155 left_roll=0.0871 left_gripper=0.9957 right_x=0.3842 right_y=0.0065 right_z=0.0118 right_yaw=0.0411 right_pitch=0.0177 right_roll=0.0126 right_gripper=0.9991\nstate[joint_eff]: [-0.0752, -2.988, 6.6256, 1.3944, -0.1587, -0.0611, -0.0122, 0.4308, -6.2974, 3.6581, 1.6239, 0.0952, 0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1337, 1.0752, 0.9955, -0.8272, -0.2028, -0.1204, 0.9957, -0.0284, 1.7489, 0.3847, 0.9081, -0.1207, -0.0387, 0.0292]\nstate[eef_state]: left_x=0.2959 left_y=-0.0003 left_z=0.1932 left_yaw=0.1059 left_pitch=-0.315 left_roll=0.0871 left_gripper=0.9957 right_x=0.3968 right_y=0.0136 right_z=0.0364 right_yaw=0.0629 right_pitch=0.118 right_roll=0.0382 right_gripper=0.0292\nstate[joint_eff]: [-0.0752, -2.6735, 6.735, 1.3602, -0.1587, -0.0464, -0.0122, -0.5265, -5.1761, 3.6855, 0.7106, 0.6716, -0.2466, 1.8486]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fb3c55697cd849883631ca0e087c8c521fe8b729ae8abc799bf28857852f066",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43e8f8048ad526f1f4033ae1c102634c212fb46925a3e18c67d4c4eb59150076",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24f0b30ccc2275a3328286e59e20d51911e5b0b51c12d2c67fca00ae6eeb58f8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHrnJDx27559EHOEzVz6Qh5jK9-6E2YbQZJP4a2UJdnqU-1324RoirfqQSWOD4fsH442hOtV2BYJfCEE3Ruewek65U3WtABNMxndsOU9fjeAKAgFpEtw-CYcZHKZZx9MKPSQejGWVhMCsK5_dlr8KjgTNZYStp4-vfDnoWYI_2p5uthGYMSKP20tlgwLUXNTV3ZhNtjHzcqojfgrfKwe5yhlHNI5EhE4O5DmHk4KMhiWKZGTp8VRV3QRC-IOsMKWg2jfyQQy2eBGbb8BcSNQris9su34WrRY7QYWu3LfXTTqtc4NG1MkxRrm3DRseBOmpVQaHP5r8ooO6xdPEZCSIaz7tDPwFPCSlnhO9KwybS996PNxrVnZaEQTVFlrb1tycRB0UYwMr6vZgSnLVl4wmX2avc9g7fMTwJNgHwFPeaQz6teMCFcoa-sz8ff1wnDGolDAIwi7HOMhSvHbZ_ICfJNZnD-_lVnZtUWXu4nnSxqDbeX2c1-btOXHIIDiVf731i5s_tNh9lfHG-5g3rdwXkyxTZhTqzmo88O7f8ZUCY-z3N3z3w3cP4Y0QnoHRzBK59l9gnIkBCENIqIsYFwziPxaWqXyibEFlx82reOgxE-peq_bLCM1P-5yHuZsCzwjbU3aTojoJpj25QQjZPAQ_h2fRki9oVztT3G77n8Z-UXhC9D217KYS9U3UqcQv-mYiNLB6tvKCnSjKqWnm4f6Fkmcboh3xhJlwRUXngPwMX1NHU-F5pyQcrZOgZCqsvksGWvJwASeAyReLG3OGf1jCG3-W89cWc25POMHbpN7Y-7Y-wjWhy4liL-Tsbd0SbDRHJk5-PlMzbzq4IFtRBCFGeqiACcKEWJAS99EpjqdgfnzHOOf5GLmVWXw23dMYEXCcBVOC0JIYi-FHeOwj_ngJsmZi85wIphGY13MFL8NbKcRQ86reovvo7qwfX6TBFo4YFf-AOZgpE8qFeIeA-NnU6lPNSWkRrE7d9d1SDI1lMoxoNULjxwMD2OIMIIrhCekWRS6qWYjPQjf8dOPe9l6htUFFjHHZHOd3ZDr6DM8y3UBQRqWLFAo0EVThaLPX8U0XbakTtp_cJtA1muE7yV_suH0e30vcAAn2IvI8cor1ya0UKKGHJvghF3zeHObxVUlO3753fIj3n_Wyv-VMA8ARvE9fSEDZqZjonaGVpZi7X-V7DXt4gACfeE2vCcH_RVLfRJvFXMQ2AWpkyX46XX0GLmrXIwug1KzPaiaS4mk2WntMcjxC5OFJvmrLqnkFIwlOT_wgFcIJQGDqsgBhYRdWeXAQsKWavpM8iSOe8OprdrlBMcgj1h7gPSvirmrg3yWA6Ggs0Nq_XsKzwb-N-jpl__XrAFEisNPt77_DcfTz9SVUldVPiSjkTlKEU7Tzy7d3bDu",
  "id": "rs_00e2f7654b3c70aa016ab47ae5275c87d093149866e5428966",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.095},\"note\":\"The closing gap is very small, so the grasp is uncertain. I’ll make a short test lift and check whether the beige bowl follows.\"}",
  "call_id": "call_AXpf6fwuacmpafK9oaScPJ0x",
  "id": "fc_00e2f7654b3c70aa016ab47ae5f1bc87d0935d54b5776502de",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AXpf6fwuacmpafK9oaScPJ0x",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1337, 1.0775, 0.9955, -0.8268, -0.2024, -0.1204, 0.9957, -0.028, 1.4883, 0.4355, 0.6277, -0.1211, -0.046, 0.0363]\nstate[eef_state]: left_x=0.2961 left_y=-0.0004 left_z=0.1926 left_yaw=0.1058 left_pitch=-0.3169 left_roll=0.0872 left_gripper=0.9957 right_x=0.396 right_y=0.0138 right_z=0.0909 right_yaw=0.0679 right_pitch=0.1491 right_roll=0.0288 right_gripper=0.0363\nstate[joint_eff]: [-0.1299, -2.8923, 6.8444, 1.3944, -0.1099, -0.0757, -0.0073, 0.0615, -5.3949, 8.0479, 1.8437, -0.0757, 0.0122, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb1f20ccaf40c672e9d3590dc2ff260efe5dbc4208342d24e829d6c6bc6dbbe3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:697f1861872c739240945daf5a2b85bcfa57929931ff624d95aa8fb7da339d8b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86263ab2c88ad359810dd3b91a9a80e621c72abae6dfdd160b827cad28c89a7d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /responses · status 200 · 2.354 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 76 changed as sent

message 84 changed as sent

message 88 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1337, 1.0733, 0.9955, -0.8268, -0.2024, -0.1204, 0.9957, -0.0429, 1.3853, 0.5285, 0.3393, -0.0772, -0.0685, 0.9991]\nstate[eef_state]: left_x=0.2958 left_y=-0.0003 left_z=0.1938 left_yaw=0.1054 left_pitch=-0.3129 left_roll=0.0862 left_gripper=0.9957 right_x=0.3916 right_y=0.0004 right_z=0.104 right_yaw=0.0274 right_pitch=0.056 right_roll=-0.0036 right_gripper=0.9991\nstate[joint_eff]: [-0.0205, -2.9333, 6.7077, 1.3846, -0.105, -0.0659, -0.0122, -0.4991, -7.0632, 6.8855, 2.1172, -0.1343, 0.0073, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1337, 1.0752, 0.9955, -0.8272, -0.2028, -0.1204, 0.9957, -0.0284, 1.7489, 0.3847, 0.9081, -0.1207, -0.0387, 0.0292]\nstate[eef_state]: left_x=0.2959 left_y=-0.0003 left_z=0.1932 left_yaw=0.1059 left_pitch=-0.315 left_roll=0.0871 left_gripper=0.9957 right_x=0.3968 right_y=0.0136 right_z=0.0364 right_yaw=0.0629 right_pitch=0.118 right_roll=0.0382 right_gripper=0.0292\nstate[joint_eff]: [-0.0752, -2.6735, 6.735, 1.3602, -0.1587, -0.0464, -0.0122, -0.5265, -5.1761, 3.6855, 0.7106, 0.6716, -0.2466, 1.8486]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1337, 1.0775, 0.9955, -0.8268, -0.2024, -0.1204, 0.9957, -0.028, 1.4883, 0.4355, 0.6277, -0.1211, -0.046, 0.0363]\nstate[eef_state]: left_x=0.2961 left_y=-0.0004 left_z=0.1926 left_yaw=0.1058 left_pitch=-0.3169 left_roll=0.0872 left_gripper=0.9957 right_x=0.396 right_y=0.0138 right_z=0.0909 right_yaw=0.0679 right_pitch=0.1491 right_roll=0.0288 right_gripper=0.0363\nstate[joint_eff]: [-0.1299, -2.8923, 6.8444, 1.3944, -0.1099, -0.0757, -0.0073, 0.0615, -5.3949, 8.0479, 1.8437, -0.0757, 0.0122, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb1f20ccaf40c672e9d3590dc2ff260efe5dbc4208342d24e829d6c6bc6dbbe3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:697f1861872c739240945daf5a2b85bcfa57929931ff624d95aa8fb7da339d8b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86263ab2c88ad359810dd3b91a9a80e621c72abae6dfdd160b827cad28c89a7d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHrt4slFZUgIcKLWrBi0rcOTMRCH-gt0wcKGr1BzxHqe7Ub8beNS5xEnbmWczKadZgISKymDdesIZ0rwdxhpDt-R-NHzaYPUTbSef5-mKD_JI2CHJlrw_6ZJIqrCEPzegrP7qLIk1if1riMaoSj89OZ66nuxmFXVoBvUCWD_mFq06wycD2vptQvu-4PIVvIriyuCT40tYJ8jRqX5-sIpLj9-P7eshDWWsTyMFlwRuMfx6XWjEW4QlTZ-g4HezQsfRPo9vIHtisRyjfqWg8xwR5IwEIIkFUX7eeSWnJyClQlaMecRsjrfDDDY-LePB95ggdS_edmzg-bAVG1-l9L913qkwW2mfVvSjikAntXe9G-VafsF_xwnBeHUqcu-OWyCsE16faE5xZdXe5CuO14Ch3eKZjF-I6r9KbKiDtSz6-_QAQY0iZUIXuCPOeEVz78-kwTjtr-bz6GxXilLOQ-6hd6xoLoSwhMYvHVAfdjfA86OALFAQ4Y5FGlszwDi8nQSUe7Ov_6EkonjCcuobWP3oZV1swND5oS9OUK2_nag1zGgTzu6vnD0MWCFjlK5OAlxMcX5UPfeB3M20QY8ueNS-gLSsIWn5l2TO4dFjD3ndVYZnABvW9n_UufL1cDplvvdVU02a1d1KwX1SsySEsSom01SbeaU28Jhn78-VFY683J_871Xr1tqAJGZj-EAJBIS5BdunfQ6xpdeBQQOX5oy2UV32-Z2R_j_0LWATufMykasOz7EiUc5T15qB9IZreEyRhviFHF8fhXUAKQk_QerL-ms3zHzlbppp-C22g42KSu2g0NDp2IJ25nxosWoy_lsTi__6872c9u6f7zjKkEqbykKRI2lbQTVC2JK0fdOZGZPCdqwYWldMIgMKUiI1TAq8wXU4xr77b_JRa673-rM5qcUbEliMMDToWJgpnJ0J5JfQ5VJzurAcLfj7md1bTsM5o2XvnndZFK8Hy_QmphXimohnqac7ZOegeGs2iS9RLbrHY3NZnbR9mURKP3DmStwqars1AG4NzxRumpVJ9HME5ESZpPeKxVItBHZrreT3jmnIIem18g3Zx56w-oQ8ZTo8H9q74DyfLaO25bR1UxUtkC9AIeokvpP7p6-EXbXtGGswyXX_78vTQ87zk3ZXNPbaFJJXemZbxOmz71QYIcLkdmJR5D__VjyhtMZw3BEsi-qyiF4poxe0B-14uuUr_yJU8dZAVaVrG5yp6XZl78YrVD2r4yQntK-sSBj6YZ50qPH79A5r7WVOyBYCV6FMGSbV-eZUgJKuanNQLxyl2q1oGNZ8yQWegGlGjYHHI3jXYbUW6njOGzLzmGbISpWVdGKYr38xR55piHbN0Dw8teDffknLM3qroIBkOzGd9eS1wHfDmOTtnJtA6-8i1IbzIMa3CiK7w7kC3j-Gpkz1fErLc1jEsnyhbyEGJ7CQVBO5uCTHbFSK7VZWb8Txutvht_aVzyvCB1OIJjpmradkTnj3MQuB_NEBNU36Xe5_q0TSUt_AR9IRyzTLUW8Xp65rgK1BbghgvvrL2tAijb-ruKJNY66jG5N8QheH-J-t0mi3hG6WhuSOGXEMVHorJIF-5bCzAi44YmfuJIQWMaNvAkf5dBHbSkaxTg-6mzwd5CRnNe8rxxfP5Q0_MaUWv8OFbXRcA1PiTvnaBfMRh6jKIVrNOMz4ZLFl_-jTWoHiU7VMDYeFKQnetAaT9oaJIIylapLsbwoRhF9c8Vo7m5gyKQIiQgNyzn4vgykOVXI5yEzNapclXoTMQg2K38pjGzUif6z3Vwhj8ySz3JMUVZWWkO1F7f1d6E6r1H2hxUJdUjOoPJ_KWULXaHvWarDFSJnfyNiL1j1Te-CMA3ICzybDd5XgQJo2c1HcrrtNSubZ6ulf_gdNOYH0Bp1yVU57zo0tKjJ8xVOIhx-dqvxnN71Ae89TD0joFn-lz6dcnAodvdgPaoew77Jfu47e-hEcbfnw0kHK-EPo9U_-xyUG1XOY0TEtyFW6gjmnn6e-8eFJmwGm2naId1GbZ2MmzjgWQVlgB85ijzkZQAOJPjFKbyROehDeoYvtgEvBZDq99A6F9U6svBP-a1FWzCggNTtQCie0IL1Wfo51Xu23XCbWANplxbcTUomhsHkNTp4X87BVY7UekBk547a5vgrkr5CeAJSZ3sQCfmVpwNTmDhVmYppJyvYzjrw09MXAmdLMrqZgPBQX2YU4UO13D3FgI9GdOQi4XW02zsYo0GKe6MLlGv72CS8-vhFxbMeS4n3rdStK3HUk5YIAKBtc0kR0Jaj95rHpoboJgy1gs2Kw1l3aVv-Mit8NECq3I9XmMSR1ydfMJgcdatWdRA=",
  "id": "rs_00e2f7654b3c70aa016ab47ae8d55087d081c909c35aa25a57",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.2},\"note\":\"The beige bowl lifted with the gripper despite its thin wall. I’ll raise it above the stack’s rim before carrying it leftward.\"}",
  "call_id": "call_wivGXMreYfx6Mtwzj96QKCEp",
  "id": "fc_00e2f7654b3c70aa016ab47aec79bc87d0b2904a528f956ea1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wivGXMreYfx6Mtwzj96QKCEp",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1337, 1.0794, 0.9955, -0.8272, -0.2028, -0.12, 0.9957, -0.028, 1.2339, 0.6804, 0.0948, -0.1211, -0.057, 0.037]\nstate[eef_state]: left_x=0.2962 left_y=-0.0003 left_z=0.192 left_yaw=0.1061 left_pitch=-0.3191 left_roll=0.0884 left_gripper=0.9957 right_x=0.3935 right_y=0.0139 right_z=0.1749 right_yaw=0.0735 right_pitch=0.116 right_roll=0.022 right_gripper=0.037\nstate[joint_eff]: [-0.1299, -2.906, 6.612, 1.3553, -0.1685, -0.0562, -0.0122, -0.212, -6.188, 10.2769, 1.9805, -0.0855, 0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13cab9d26ecd748315a29fa048476400af2ae21adf320ff160cdc69a9973e15f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2593a7fa21d861823cfb406332fac6cc4144236329eb0baf43fbbdedef4b33a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:042a847aa9b1f7c5c5142b0c21e38a1d0e90b37b8f54051237b597a07c60adb3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 5.094 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 80 changed as sent

message 88 changed as sent

message 92 changed as sent

message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1337, 1.0756, 0.9955, -0.8272, -0.2024, -0.12, 0.9957, -0.0326, 1.7626, 0.3779, 0.8288, -0.0875, -0.0589, 0.9991]\nstate[eef_state]: left_x=0.2959 left_y=-0.0004 left_z=0.1931 left_yaw=0.1054 left_pitch=-0.3155 left_roll=0.0871 left_gripper=0.9957 right_x=0.3842 right_y=0.0065 right_z=0.0118 right_yaw=0.0411 right_pitch=0.0177 right_roll=0.0126 right_gripper=0.9991\nstate[joint_eff]: [-0.0752, -2.988, 6.6256, 1.3944, -0.1587, -0.0611, -0.0122, 0.4308, -6.2974, 3.6581, 1.6239, 0.0952, 0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1337, 1.0775, 0.9955, -0.8268, -0.2024, -0.1204, 0.9957, -0.028, 1.4883, 0.4355, 0.6277, -0.1211, -0.046, 0.0363]\nstate[eef_state]: left_x=0.2961 left_y=-0.0004 left_z=0.1926 left_yaw=0.1058 left_pitch=-0.3169 left_roll=0.0872 left_gripper=0.9957 right_x=0.396 right_y=0.0138 right_z=0.0909 right_yaw=0.0679 right_pitch=0.1491 right_roll=0.0288 right_gripper=0.0363\nstate[joint_eff]: [-0.1299, -2.8923, 6.8444, 1.3944, -0.1099, -0.0757, -0.0073, 0.0615, -5.3949, 8.0479, 1.8437, -0.0757, 0.0122, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1337, 1.0794, 0.9955, -0.8272, -0.2028, -0.12, 0.9957, -0.028, 1.2339, 0.6804, 0.0948, -0.1211, -0.057, 0.037]\nstate[eef_state]: left_x=0.2962 left_y=-0.0003 left_z=0.192 left_yaw=0.1061 left_pitch=-0.3191 left_roll=0.0884 left_gripper=0.9957 right_x=0.3935 right_y=0.0139 right_z=0.1749 right_yaw=0.0735 right_pitch=0.116 right_roll=0.022 right_gripper=0.037\nstate[joint_eff]: [-0.1299, -2.906, 6.612, 1.3553, -0.1685, -0.0562, -0.0122, -0.212, -6.188, 10.2769, 1.9805, -0.0855, 0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13cab9d26ecd748315a29fa048476400af2ae21adf320ff160cdc69a9973e15f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2593a7fa21d861823cfb406332fac6cc4144236329eb0baf43fbbdedef4b33a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:042a847aa9b1f7c5c5142b0c21e38a1d0e90b37b8f54051237b597a07c60adb3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.24,\"right_z\":0.2},\"note\":\"The beige bowl is clear of the tabletop and the other bowls. I’ll move it over the center stack, allowing for the offset from the rim grip to the bowl’s center.\"}",
  "call_id": "call_hO3YMz2FAQu0L5KW9Tf1HrhZ",
  "id": "fc_00e2f7654b3c70aa016ab47aef4a3087d09c2f92cbff1d99cc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hO3YMz2FAQu0L5KW9Tf1HrhZ",
  "output": [
    {
      "text": "executing move_to over 19 steps (1.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1337, 1.0794, 0.9955, -0.8268, -0.2024, -0.12, 0.9957, 0.7666, 1.5303, 0.997, -0.0948, 0.5385, 0.2939, 0.037]\nstate[eef_state]: left_x=0.2963 left_y=-0.0004 left_z=0.1921 left_yaw=0.1057 left_pitch=-0.3188 left_roll=0.088 left_gripper=0.9957 right_x=0.3703 right_y=0.2358 right_z=0.1728 right_yaw=0.1327 right_pitch=0.0433 right_roll=-0.0367 right_gripper=0.037\nstate[joint_eff]: [-0.0342, -2.8923, 6.612, 1.3993, -0.1441, -0.0415, -0.0122, 0.1026, -7.3504, 10.0855, 2.0, 0.4371, 0.2076, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d404f5fdee7c16102b7887ff1be06185a57a4a466b12cc375fab2f02566fbe0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e48419dfef35bcd9f25e2418915ee5e5f6e0780aa751212068b71be5760e2e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6d5c645d928897a4b452de055e715c701a887b0d8d581634d1c6bb1dbb05573",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 4.238 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 84 changed as sent

message 92 changed as sent

message 95 changed as sent

message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1337, 1.0752, 0.9955, -0.8272, -0.2028, -0.1204, 0.9957, -0.0284, 1.7489, 0.3847, 0.9081, -0.1207, -0.0387, 0.0292]\nstate[eef_state]: left_x=0.2959 left_y=-0.0003 left_z=0.1932 left_yaw=0.1059 left_pitch=-0.315 left_roll=0.0871 left_gripper=0.9957 right_x=0.3968 right_y=0.0136 right_z=0.0364 right_yaw=0.0629 right_pitch=0.118 right_roll=0.0382 right_gripper=0.0292\nstate[joint_eff]: [-0.0752, -2.6735, 6.735, 1.3602, -0.1587, -0.0464, -0.0122, -0.5265, -5.1761, 3.6855, 0.7106, 0.6716, -0.2466, 1.8486]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1337, 1.0794, 0.9955, -0.8272, -0.2028, -0.12, 0.9957, -0.028, 1.2339, 0.6804, 0.0948, -0.1211, -0.057, 0.037]\nstate[eef_state]: left_x=0.2962 left_y=-0.0003 left_z=0.192 left_yaw=0.1061 left_pitch=-0.3191 left_roll=0.0884 left_gripper=0.9957 right_x=0.3935 right_y=0.0139 right_z=0.1749 right_yaw=0.0735 right_pitch=0.116 right_roll=0.022 right_gripper=0.037\nstate[joint_eff]: [-0.1299, -2.906, 6.612, 1.3553, -0.1685, -0.0562, -0.0122, -0.212, -6.188, 10.2769, 1.9805, -0.0855, 0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1337, 1.0794, 0.9955, -0.8268, -0.2024, -0.12, 0.9957, 0.7666, 1.5303, 0.997, -0.0948, 0.5385, 0.2939, 0.037]\nstate[eef_state]: left_x=0.2963 left_y=-0.0004 left_z=0.1921 left_yaw=0.1057 left_pitch=-0.3188 left_roll=0.088 left_gripper=0.9957 right_x=0.3703 right_y=0.2358 right_z=0.1728 right_yaw=0.1327 right_pitch=0.0433 right_roll=-0.0367 right_gripper=0.037\nstate[joint_eff]: [-0.0342, -2.8923, 6.612, 1.3993, -0.1441, -0.0415, -0.0122, 0.1026, -7.3504, 10.0855, 2.0, 0.4371, 0.2076, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d404f5fdee7c16102b7887ff1be06185a57a4a466b12cc375fab2f02566fbe0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e48419dfef35bcd9f25e2418915ee5e5f6e0780aa751212068b71be5760e2e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6d5c645d928897a4b452de055e715c701a887b0d8d581634d1c6bb1dbb05573",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHr3IiQD5LfxyvdLmSEpyF_87uLjatO7IrGLGfnt8ZSlYI30-glXQYp5a9tuC-b6CNGdAxWSfDkmwRhwJRinJlcVuApnbPHGkKYtzrFH2wavC1nWJKWKrtPRiQojC30Ts9NI_PzXJ7BEQ2a2XtWCx_19DHrU4CpfNBDEeB-c-05DdQKW6aFUAucNF2m3bWxr2Nhroc7DWpilz3tdCen780Hv7qCA95iR63I6yt1Zz6bBRNpAfPcOr_nd-YeXn25LMosk9Na1N0DeBb2Jn0cnij__lB0yGUmtzXwXGgvikyPaCnXZ2zQXZlwBhK8UmKIIEaa-Jm6RFwc7sIKDoPRD0q79iLjhwyiMMKPYxMlmAvHbZ6vJKsbNamSGSvWvGMDiGw7SXbYuwdvyBNTL0BJt2bJurtKDhPhmeqG2NlQOdidPwOV3Ha8fheOGFYVbPx4kDeYuPCx6ig9Y9QflYu2DSlxsEzU9QcmauFSrgUTTPLkm4cGPBxqmENJhpmdbA8kycs2YQ5aWmTYyrOwamvariIoDm7LUSTK8nFR69pB4BXN-Dgx8B5Lh0-gpbo-pSA1ys5eeO_vNdjYCUxTUPbxZOh0Q11DJZORlSzgmM3-Zco520Bke3Fg47KbJ2JXbmNAVYMwqVxeigKQol0gcmehG0ELe18u3Ti1dcaMkMwZmUUC62jljEAhEiUn2fHVuEv4aFXtcnCLAK2x-I7Jg51fC67cT0Mgq7eKYUzsWOrLaA3Z1TS8YddLWoCwUrjaP0OqSq205nskj5zOIYBtjd5hxMEpYTlLbTBZ1qhxRqXGAwMHD-5oU6HMWiXqxo-GrmSnTJhBc5a3KTC6I2b8af2QLCCjfHT4jDy4D38v-a6Pwazjna_u4auZNTc2nALxph8hheIkW8wuUi0xMHnUKTjI5Ql3fTiy3tjCt4bsVajxP5hO6HwSgzFiKKTUC4HLR-G1BRm8okOIX4mpQSJ1E6h46e4fEU5N-cB2g_PEAeO1XaDChuX3YmPT1ARxlXAKWYxb_jU_3wGJelkyNTNseQNsw8ZF9TlohiA9Qnx_OQx2GEVhirTLefghnMwd7-0EJvudnlfEx6FbpgIUWXxp3c0FJP-0fftdnA5q9bWk1awPU3jq8tFuWUXrZtUMDAMO9QHkTvxTkbqsKvQA-4Wig4V8kTEnC9oR1vaxaK2r0g7Je1rfFJS7eRMq0vokxn1xdBVsNmSk_mdfhDkGZ3Q9DQmJmCrJxXnw3wBwrZxl16rebdNyIDn2ZG4HVihsEZkSu7XY9fZJYpAKeLbC2mCIz3zGWSY1v1JnQMoY9Xyd2JLk6zg3BDP_2UtXA5foAv93cXmls01XYfP3mQEbAIlobVx5PVJdjjgy1OPYRkSc3tGnkgL4vws9VqVpvE3kN8zjrz1XmNibu--_XdEJ2oKbwMTql11Eu_XqkDb0QX9N9l9BOiLOC5aU4lh4ia7hO8JngQlpKYi6edlwaXdQiWvhZkVlKtwp7ymiqokbNAiGtRHu5TDCCQYEyatLd0slgu4bsKwDALqB8FHnb7ZOOaCfYnZjF_VzAGx01LYu5qadphLmZaVY4HSSuv60utdRi-khfkC92wx0MWChISSRoApTkZWn6YnzpRAbvOS6QruMzdtow-LlU-NmkjsC1i4Ncy-F_z541XE5n8KGcpk-H-ad39zYTD_rhLXeXaIQ3O8yaVyUX9uTNzUgvTSXu8m73_pFBfnLfCIqPqEREbI0tmgJGJ-6-1XWh7IjiL3EbFN4WdwWINgW5PCAqhUiUdHQiSze4hcC0TkbdkCgGr5bB-_zhpqCrqn7lqSCNvD9rxqm3TWokchQ6jC0Y0KAVOiaLqEevOzN81wpUAXLnt3TbzQqJR2PVItvXQfF_hhSjJD1gu5WwV9UhNO8=",
  "id": "rs_00e2f7654b3c70aa016ab47af3ed6087d0bcd587f1e7a338c9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.22,\"right_z\":0.105},\"note\":\"The beige bowl is over the stack but appears slightly left of center. I’ll shift it a little right and lower it toward the green bowl’s opening.\"}",
  "call_id": "call_niW1j98G8TNN5XVWnwWeaevt",
  "id": "fc_00e2f7654b3c70aa016ab47af6618887d0af27a4ead792e312",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_niW1j98G8TNN5XVWnwWeaevt",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1337, 1.0801, 0.9955, -0.8268, -0.2024, -0.1204, 0.9957, 0.73, 1.6047, 0.7822, 0.1123, 0.5133, 0.2722, 0.037]\nstate[eef_state]: left_x=0.2963 left_y=-0.0004 left_z=0.1919 left_yaw=0.106 left_pitch=-0.3195 left_roll=0.0879 left_gripper=0.9957 right_x=0.3606 right_y=0.2111 right_z=0.0913 right_yaw=0.1278 right_pitch=-0.033 right_roll=-0.0898 right_gripper=0.037\nstate[joint_eff]: [-0.1026, -2.8786, 6.694, 1.3748, -0.1392, -0.0757, -0.0122, -0.2803, -6.6256, 6.8308, 2.0147, 0.1001, 0.0513, 1.0037]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7efde931dea09de83272fe260c742fc8fb2d104001c0e908389e1a8c28833b23",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec8f9a202aeac6741c892ea70846372fc9125548c8ce639077f7d2970646180d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01173c76da81396b9d5e84f408ee3f810e1ce06c5551ce8ba4fffe9650717fa7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 26 attempt 0 · /responses · status 200 · 2.297 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 88 changed as sent

message 95 changed as sent

message 99 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1337, 1.0775, 0.9955, -0.8268, -0.2024, -0.1204, 0.9957, -0.028, 1.4883, 0.4355, 0.6277, -0.1211, -0.046, 0.0363]\nstate[eef_state]: left_x=0.2961 left_y=-0.0004 left_z=0.1926 left_yaw=0.1058 left_pitch=-0.3169 left_roll=0.0872 left_gripper=0.9957 right_x=0.396 right_y=0.0138 right_z=0.0909 right_yaw=0.0679 right_pitch=0.1491 right_roll=0.0288 right_gripper=0.0363\nstate[joint_eff]: [-0.1299, -2.8923, 6.8444, 1.3944, -0.1099, -0.0757, -0.0073, 0.0615, -5.3949, 8.0479, 1.8437, -0.0757, 0.0122, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1337, 1.0794, 0.9955, -0.8268, -0.2024, -0.12, 0.9957, 0.7666, 1.5303, 0.997, -0.0948, 0.5385, 0.2939, 0.037]\nstate[eef_state]: left_x=0.2963 left_y=-0.0004 left_z=0.1921 left_yaw=0.1057 left_pitch=-0.3188 left_roll=0.088 left_gripper=0.9957 right_x=0.3703 right_y=0.2358 right_z=0.1728 right_yaw=0.1327 right_pitch=0.0433 right_roll=-0.0367 right_gripper=0.037\nstate[joint_eff]: [-0.0342, -2.8923, 6.612, 1.3993, -0.1441, -0.0415, -0.0122, 0.1026, -7.3504, 10.0855, 2.0, 0.4371, 0.2076, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1337, 1.0801, 0.9955, -0.8268, -0.2024, -0.1204, 0.9957, 0.73, 1.6047, 0.7822, 0.1123, 0.5133, 0.2722, 0.037]\nstate[eef_state]: left_x=0.2963 left_y=-0.0004 left_z=0.1919 left_yaw=0.106 left_pitch=-0.3195 left_roll=0.0879 left_gripper=0.9957 right_x=0.3606 right_y=0.2111 right_z=0.0913 right_yaw=0.1278 right_pitch=-0.033 right_roll=-0.0898 right_gripper=0.037\nstate[joint_eff]: [-0.1026, -2.8786, 6.694, 1.3748, -0.1392, -0.0757, -0.0122, -0.2803, -6.6256, 6.8308, 2.0147, 0.1001, 0.0513, 1.0037]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7efde931dea09de83272fe260c742fc8fb2d104001c0e908389e1a8c28833b23",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec8f9a202aeac6741c892ea70846372fc9125548c8ce639077f7d2970646180d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01173c76da81396b9d5e84f408ee3f810e1ce06c5551ce8ba4fffe9650717fa7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHr7d3caFm9_KJ7VZWjJgN1SWAjD7S0ODuuIAOddN30HhoSvVd4zyfEaDV6nU3rAYAVPzU74BpuFOlytWB9zWkMKZXjDkDD8nQAEB6tkUhdOmRGh2deCMRfx4U8J-DB3cM8G8ZFNMLM7lRltl03NZaF8Z7CQyeemNt8R-fqqar8wFL_1KZhANgRciy0RdEkghEwq7PHXMi9N5ZSEUyu96Ae8wec1YPS1MgVPYjPkEvwX7_OFQrV-DPqbHoHpIz1hPZVSCPxTQyKDFrzqZy7GLzyZiDxysEqF321yKjodaQkamh4o_Pj05RDpwTSqZBXzL2D5VmNLfLhL2RzMjyvwn77VFFYrLwEWyXpXBLPpA_cMWHdwmnxnfM4t8RvuPZu9w6INjyinITurTCdnfru4boAWXBgUjVgRbyUqOaxaWF14o7bYnwx2xCOB6doqWyUfApzngR4PphaFOTq7BopCZjQonypI07LJAXVnF0744BlMBbBavw74EIAOW0LSWEDkcbFQ1RAvZYoixBYZJ-KIxc8sQr8XtFk-yEj_ovTH32Gfk5k23DquKCBJWXnKKoNqyzSUxTcdbZDgNknNcVF5r-wi_Rp0h_ZfHGkfLFtunf6nH5mNmcldQAjLkdOp6V9EXjXhJ47MhrDCzbG7S8zb2VF60WYqBwpCyGAM0et0CJqM1_mUNl0qX5dq1RFhvl42PW_kV-hXvlPzjNIJA6n5uFGK-njASQR0XrLJIbK30ruAhHp8eyhi291Oxa5y3-NRGo58bVPUFWBzoxXyJpcyoPzXQrEjUDNV1UA3HFu4zF-pC26HbfPzPtq1pxZq9lXCO4BuqbNpp4ePUmtV__88UOGcjnLOJKFoWcYFxK5-4vwYl9sJ4rJFEk6c6_Lqxw2kSOavq4be43fdVhhVf8jMUxKoukiRJoZd20CkDilZ97M2f9dF5X-hgR0rww8W0CveqpF7a5Ai_L1KzRAsxgAPX28XUyvANyovulbB_aZfyAKYOzfihCvvpub7k5zuVWQ0-l9o94KLUM2pgpyXC8xLdqCdhNDDHupeZA65hxGfEnU81rPRq3KNzR35uzdbvBWvejxVgfwBY7rEg1KOrFIzp78fSpvWXhYZVDoa1vPQz3Zw0S1RVn_Xx3DZUjhfpvOn2ZZQRYxbxpfogsMSKjzecFRj8nzzVOUuaJk8iK0o03M5K3QsVdwFwwBCg8LchAvhGgIaM3e4xSEZPDzAjsLVSXFUtJ_VLD_9jog5mNtQheTfQaCtjbZoYIvzIBXTuT76IegmyJ8tkiza9AAbuhhD95dPAnEjmDob6tv-3geeVoIQWwjcG9VDqBsmu-ZpWewCJIOXNtx9yro4msdmbmEM5AEdabqjR480emPyu0FcXxEftpV8P7nzPUtCh6WD_t8ztqSAu8pLEkzExaTjQhyQrBtm1PWbOMxGEgGS2uJaFnZLvMBn4pAhKuKDVZClcnMQkJ1PhFz3JvmfyCioM7wqcNn32Sq3_XqonodeERQkxqngmeUyYE8pUHqiCT-0GCJOYLZq54bvKR45dptZPylaK9RkjHB1Uat7Eq85W2S-6N5fS-87uEZFsvqZcSGufzNAlojEHPP4wFpiyga-G62IUsXiCNzoYX69EiUkilsk94k20z64i_E3DYMrtbtp4ZLDBuxr4qGQSfgiqoJ9cnfK4bZF1owYhbd26l9sJoBy3NYyHVUguEHtY8vPz6GuSajVKAIql9AERmd6oJvp4Mu9fjOUk4d2IthKuftxp4SJ6RmNy6pzjtzmOuChebd4mIr0ZBE1AOEFwZAgueu0NJfLblJ7PPEb5eGrqnpb4Q62qUjo_cssFkONuX-uiOd_MNs2L_4DUmeyc2mnQXTxsu0rt4JtCA==",
  "id": "rs_00e2f7654b3c70aa016ab47af8f09c87d0a6e0defb39c5912f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.07},\"note\":\"The beige bowl is centered over the visible green rim. I’ll lower it the last few centimeters so it nests into the two-bowl stack.\"}",
  "call_id": "call_qSIV0Rv5KbHXaO8IWQZdUr1W",
  "id": "fc_00e2f7654b3c70aa016ab47afae6e887d097c9f11a0ad4adf2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qSIV0Rv5KbHXaO8IWQZdUr1W",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1337, 1.0801, 0.9955, -0.8272, -0.2024, -0.12, 0.9957, 0.73, 1.6321, 0.7555, 0.1936, 0.5095, 0.2626, 0.0371]\nstate[eef_state]: left_x=0.2963 left_y=-0.0004 left_z=0.1918 left_yaw=0.1058 left_pitch=-0.3199 left_roll=0.0883 left_gripper=0.9957 right_x=0.3629 right_y=0.214 right_z=0.0842 right_yaw=0.1363 right_pitch=-0.0122 right_roll=-0.0805 right_gripper=0.0371\nstate[joint_eff]: [-0.1846, -2.9607, 6.5983, 1.3651, -0.1343, -0.0366, -0.0122, -0.1026, -5.8598, 5.1897, 1.6777, 0.1734, 0.0708, 0.8034]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbc902cc94fd98fcf24706e332b55c7d0dc8473fc69fa732a1725cba8cea5138",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3de195ae702010efca2a1650645bc273ca08e1c3d5554a8f6337dd13ead4126e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df2560e709e62d7d02806db32ed81ce49c7f8f691f41cb31ddb5c28b23c5d391",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 2.129 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 92 changed as sent

message 99 changed as sent

message 103 changed as sent

message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1337, 1.0794, 0.9955, -0.8272, -0.2028, -0.12, 0.9957, -0.028, 1.2339, 0.6804, 0.0948, -0.1211, -0.057, 0.037]\nstate[eef_state]: left_x=0.2962 left_y=-0.0003 left_z=0.192 left_yaw=0.1061 left_pitch=-0.3191 left_roll=0.0884 left_gripper=0.9957 right_x=0.3935 right_y=0.0139 right_z=0.1749 right_yaw=0.0735 right_pitch=0.116 right_roll=0.022 right_gripper=0.037\nstate[joint_eff]: [-0.1299, -2.906, 6.612, 1.3553, -0.1685, -0.0562, -0.0122, -0.212, -6.188, 10.2769, 1.9805, -0.0855, 0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1337, 1.0801, 0.9955, -0.8268, -0.2024, -0.1204, 0.9957, 0.73, 1.6047, 0.7822, 0.1123, 0.5133, 0.2722, 0.037]\nstate[eef_state]: left_x=0.2963 left_y=-0.0004 left_z=0.1919 left_yaw=0.106 left_pitch=-0.3195 left_roll=0.0879 left_gripper=0.9957 right_x=0.3606 right_y=0.2111 right_z=0.0913 right_yaw=0.1278 right_pitch=-0.033 right_roll=-0.0898 right_gripper=0.037\nstate[joint_eff]: [-0.1026, -2.8786, 6.694, 1.3748, -0.1392, -0.0757, -0.0122, -0.2803, -6.6256, 6.8308, 2.0147, 0.1001, 0.0513, 1.0037]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1337, 1.0801, 0.9955, -0.8272, -0.2024, -0.12, 0.9957, 0.73, 1.6321, 0.7555, 0.1936, 0.5095, 0.2626, 0.0371]\nstate[eef_state]: left_x=0.2963 left_y=-0.0004 left_z=0.1918 left_yaw=0.1058 left_pitch=-0.3199 left_roll=0.0883 left_gripper=0.9957 right_x=0.3629 right_y=0.214 right_z=0.0842 right_yaw=0.1363 right_pitch=-0.0122 right_roll=-0.0805 right_gripper=0.0371\nstate[joint_eff]: [-0.1846, -2.9607, 6.5983, 1.3651, -0.1343, -0.0366, -0.0122, -0.1026, -5.8598, 5.1897, 1.6777, 0.1734, 0.0708, 0.8034]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbc902cc94fd98fcf24706e332b55c7d0dc8473fc69fa732a1725cba8cea5138",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3de195ae702010efca2a1650645bc273ca08e1c3d5554a8f6337dd13ead4126e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df2560e709e62d7d02806db32ed81ce49c7f8f691f41cb31ddb5c28b23c5d391",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHr-7ZPk9ubJHkVZqa4Fa-M7Q915FybEv9FsHaxQ1OHsXJfpbnZj__zHRYJMA9kqJ79UBAMqKVLde2rQe8fgeS1TxM6_2L9Mr_a2q3CkZiORnbktKsL1Zc2XgS_sDI224Ybp286LcvnPX1lSjkNd5lOtnVVkzKDzWUM25e8n0sP5qIL3gtum1oIcQIVuxuZnr9uTuauJTEpwr1CpEKWFoi8WR_zS4rrsSweHtgKFuDjltDlxnCR0L7X0BBE6IGq9bOiA8iNxeXt8bwlCIpELBJSTqoV2DWjNXGMwpj4ymSANeZc_fKdE0yGFkOgS0hJG38ZCx5lNX62OAtq6e_2seKXw2VYA5oL3c9jsIEalZc8AMVszvDpgLDN8PiVglAKO6JY0X4EP0W5dO3Qf6JM06KtFXUXBhwOSILAl6CVI0TAorUeK4QtTqA5klq57aNxtBoqRtgWwU214F0T7QzovT5R4w6ZTAs29s8Ys-BAiIitkewJZvfusUBR75hOTE4qj5wwvoJQr2gsW8moVwfSCBp-eE1dGKeCIImvUb_Ne1bd9IGgTmEBNtM2bx-YAbX3E_Nzkzc9T-NFJM6vZIxz8pfka4qrDf_QsZGKO6T8Kmw5NYpIxtFZ2kDam5LxcYwgMPt2AlUVe6UPMeQ1fFtJJmNKpbRXBK_ZSjI7lK8H_aeEj1Ir9YQ5dacX8SpgNsUE5TXFsmoXaS5s804yoY72v7Q91TEagkjOw4l-RxTjxMffcLIMSXA2B9QsKGtFkVZcn_MQ9q-fuq6ogwCNX23cifyUv8YTAxNga11MayApFq1AlopBO8DibOJ3_VgNs-jKqbQHa31X9zlhjgaa_JjCi_tNHm6bNjYo0PrjmDRNYp02rbiM_8chf85UhUli3CMnQwjcRcjUAQp13O_AF94ujRmp1ImWuiqu7wEVk4EKo9RPM0HGm8jNlpAHRRPKpkvhEJqoBwzDwp71TpVbMHN7AXDCtio3HEXTLi3LNfRbBxZJM_3m9Ja74ELVf5Z4flClZl2yFd0hSBkEmqM2odTlViIYPL4wSzz6tc_lCDtCeQKXvwFdSk1OiMDgpBVoj2LnBpGZj5xM-CTaafX1GXmMcajGBOwKS4XZLYxDbh1k3M4b-TCIAjRHbjiNKvU1FjWuhSuuXOO9UPMtJT7HQaAlFkAoLBojkBJAw3d5E3_PH-sNLTUOYdFxvQAIvGoDMxvM4DT0iq9uuhy5ZTc0gMHD8fZyc1G8_BL0TkiV7_rQ_n_baL_c=",
  "id": "rs_00e2f7654b3c70aa016ab47afd347c87d0a4304760cfb6a360",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The descent has slowed as the beige bowl meets the stack. I’ll release the rim and let it settle under its own weight.\"}",
  "call_id": "call_S0O5Na8jIdlgaJ9Tsy6Oe3On",
  "id": "fc_00e2f7654b3c70aa016ab47afd732c87d0a138d6559fff469d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_S0O5Na8jIdlgaJ9Tsy6Oe3On",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1337, 1.0801, 0.9955, -0.8268, -0.2028, -0.12, 0.9957, 0.73, 1.6646, 0.7395, 0.1959, 0.5083, 0.2657, 0.9954]\nstate[eef_state]: left_x=0.2963 left_y=-0.0003 left_z=0.1919 left_yaw=0.1061 left_pitch=-0.3195 left_roll=0.0885 left_gripper=0.9957 right_x=0.3586 right_y=0.2103 right_z=0.0659 right_yaw=0.1347 right_pitch=-0.0508 right_roll=-0.1032 right_gripper=0.9954\nstate[joint_eff]: [-0.0752, -2.906, 6.6256, 1.409, -0.1685, -0.0611, -0.0122, -0.0889, -7.4872, 5.6821, 1.7216, 0.1783, -0.0024, -0.2125]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09a5dcc033cda8e89b273ad4117619b4ea7a5f2b0e4b42912a35dbd14d5e0301",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e194deab538b5acf4e64b7f203901bd9caf6c3ee796e89e8d28f451be68a2485",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30598a031141fb3e33b1e888cc27d0f69e7e698e51fa83dc6280ae27a873305f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 28 attempt 0 · /responses · status 200 · 2.628 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 95 changed as sent

message 103 changed as sent

message 107 changed as sent

message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1337, 1.0794, 0.9955, -0.8268, -0.2024, -0.12, 0.9957, 0.7666, 1.5303, 0.997, -0.0948, 0.5385, 0.2939, 0.037]\nstate[eef_state]: left_x=0.2963 left_y=-0.0004 left_z=0.1921 left_yaw=0.1057 left_pitch=-0.3188 left_roll=0.088 left_gripper=0.9957 right_x=0.3703 right_y=0.2358 right_z=0.1728 right_yaw=0.1327 right_pitch=0.0433 right_roll=-0.0367 right_gripper=0.037\nstate[joint_eff]: [-0.0342, -2.8923, 6.612, 1.3993, -0.1441, -0.0415, -0.0122, 0.1026, -7.3504, 10.0855, 2.0, 0.4371, 0.2076, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1337, 1.0801, 0.9955, -0.8272, -0.2024, -0.12, 0.9957, 0.73, 1.6321, 0.7555, 0.1936, 0.5095, 0.2626, 0.0371]\nstate[eef_state]: left_x=0.2963 left_y=-0.0004 left_z=0.1918 left_yaw=0.1058 left_pitch=-0.3199 left_roll=0.0883 left_gripper=0.9957 right_x=0.3629 right_y=0.214 right_z=0.0842 right_yaw=0.1363 right_pitch=-0.0122 right_roll=-0.0805 right_gripper=0.0371\nstate[joint_eff]: [-0.1846, -2.9607, 6.5983, 1.3651, -0.1343, -0.0366, -0.0122, -0.1026, -5.8598, 5.1897, 1.6777, 0.1734, 0.0708, 0.8034]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1337, 1.0801, 0.9955, -0.8268, -0.2028, -0.12, 0.9957, 0.73, 1.6646, 0.7395, 0.1959, 0.5083, 0.2657, 0.9954]\nstate[eef_state]: left_x=0.2963 left_y=-0.0003 left_z=0.1919 left_yaw=0.1061 left_pitch=-0.3195 left_roll=0.0885 left_gripper=0.9957 right_x=0.3586 right_y=0.2103 right_z=0.0659 right_yaw=0.1347 right_pitch=-0.0508 right_roll=-0.1032 right_gripper=0.9954\nstate[joint_eff]: [-0.0752, -2.906, 6.6256, 1.409, -0.1685, -0.0611, -0.0122, -0.0889, -7.4872, 5.6821, 1.7216, 0.1783, -0.0024, -0.2125]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09a5dcc033cda8e89b273ad4117619b4ea7a5f2b0e4b42912a35dbd14d5e0301",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e194deab538b5acf4e64b7f203901bd9caf6c3ee796e89e8d28f451be68a2485",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30598a031141fb3e33b1e888cc27d0f69e7e698e51fa83dc6280ae27a873305f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "arguments": "{\"targets\":{\"right_z\":0.19},\"note\":\"The beige bowl has been released and remains on the stack. I’ll lift the open gripper straight up to clear the rims.\"}",
  "call_id": "call_wOGPX6lcSMrrh4GQBIgldZrr",
  "id": "fc_00e2f7654b3c70aa016ab47b00a5dc87d09f6f8ab5f6c26896",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wOGPX6lcSMrrh4GQBIgldZrr",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1337, 1.0801, 0.9955, -0.8268, -0.2028, -0.12, 0.9957, 0.7307, 1.486, 1.0302, -0.3092, 0.5079, 0.2577, 0.9963]\nstate[eef_state]: left_x=0.2963 left_y=-0.0003 left_z=0.1919 left_yaw=0.1061 left_pitch=-0.3195 left_roll=0.0885 left_gripper=0.9957 right_x=0.3573 right_y=0.2097 right_z=0.1658 right_yaw=0.1388 right_pitch=-0.081 right_roll=-0.1295 right_gripper=0.9963\nstate[joint_eff]: [-0.1436, -2.9333, 6.6393, 1.3748, -0.149, -0.0366, -0.0122, -0.2803, -8.6222, 9.388, 1.6044, 0.1734, 0.0513, 0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ea50ccfb0de60adef89e484c01afc68461ef92791e67c6717c27229fbd7505a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a985dacc7a79decfaffa8b109a5971369e4325048d984194cbbd3f042a9a9951",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a85e84e4dbce3ef599230ac8c4a881193df0fbf0402b05d8804410b2ac5f03b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /responses · status 200 · 6.805 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 99 changed as sent

message 107 changed as sent

message 110 changed as sent

message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1337, 1.0801, 0.9955, -0.8268, -0.2024, -0.1204, 0.9957, 0.73, 1.6047, 0.7822, 0.1123, 0.5133, 0.2722, 0.037]\nstate[eef_state]: left_x=0.2963 left_y=-0.0004 left_z=0.1919 left_yaw=0.106 left_pitch=-0.3195 left_roll=0.0879 left_gripper=0.9957 right_x=0.3606 right_y=0.2111 right_z=0.0913 right_yaw=0.1278 right_pitch=-0.033 right_roll=-0.0898 right_gripper=0.037\nstate[joint_eff]: [-0.1026, -2.8786, 6.694, 1.3748, -0.1392, -0.0757, -0.0122, -0.2803, -6.6256, 6.8308, 2.0147, 0.1001, 0.0513, 1.0037]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1337, 1.0801, 0.9955, -0.8268, -0.2028, -0.12, 0.9957, 0.73, 1.6646, 0.7395, 0.1959, 0.5083, 0.2657, 0.9954]\nstate[eef_state]: left_x=0.2963 left_y=-0.0003 left_z=0.1919 left_yaw=0.1061 left_pitch=-0.3195 left_roll=0.0885 left_gripper=0.9957 right_x=0.3586 right_y=0.2103 right_z=0.0659 right_yaw=0.1347 right_pitch=-0.0508 right_roll=-0.1032 right_gripper=0.9954\nstate[joint_eff]: [-0.0752, -2.906, 6.6256, 1.409, -0.1685, -0.0611, -0.0122, -0.0889, -7.4872, 5.6821, 1.7216, 0.1783, -0.0024, -0.2125]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1337, 1.0801, 0.9955, -0.8268, -0.2028, -0.12, 0.9957, 0.7307, 1.486, 1.0302, -0.3092, 0.5079, 0.2577, 0.9963]\nstate[eef_state]: left_x=0.2963 left_y=-0.0003 left_z=0.1919 left_yaw=0.1061 left_pitch=-0.3195 left_roll=0.0885 left_gripper=0.9957 right_x=0.3573 right_y=0.2097 right_z=0.1658 right_yaw=0.1388 right_pitch=-0.081 right_roll=-0.1295 right_gripper=0.9963\nstate[joint_eff]: [-0.1436, -2.9333, 6.6393, 1.3748, -0.149, -0.0366, -0.0122, -0.2803, -8.6222, 9.388, 1.6044, 0.1734, 0.0513, 0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ea50ccfb0de60adef89e484c01afc68461ef92791e67c6717c27229fbd7505a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a985dacc7a79decfaffa8b109a5971369e4325048d984194cbbd3f042a9a9951",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a85e84e4dbce3ef599230ac8c4a881193df0fbf0402b05d8804410b2ac5f03b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0,\"right_z\":0.2},\"note\":\"The bowls remain in place as the gripper lifts away. I’ll park the right arm to uncover the stack for a final check.\"}",
  "call_id": "call_d16dT0vVjX0izdZi1n5QNsHE",
  "id": "fc_00e2f7654b3c70aa016ab47b03c5f887d09a99eac6e17827f0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_d16dT0vVjX0izdZi1n5QNsHE",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1337, 1.0821, 0.9955, -0.8265, -0.2024, -0.12, 0.9957, -0.0647, 0.8818, 0.7616, -0.5392, -0.0578, -0.2306, 0.9965]\nstate[eef_state]: left_x=0.2966 left_y=-0.0004 left_z=0.1914 left_yaw=0.1059 left_pitch=-0.321 left_roll=0.0885 left_gripper=0.9957 right_x=0.2977 right_y=-0.0055 right_z=0.1952 right_yaw=0.0774 right_pitch=-0.0895 right_roll=-0.1343 right_gripper=0.9965\nstate[joint_eff]: [-0.0752, -3.1111, 6.6393, 1.37, -0.1685, -0.0171, -0.0122, -0.1573, -2.1538, 7.7197, 1.6679, -0.1783, -0.0073, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c0993e409cf8840075340c4c0e3cbd0fd8339b9df82606ec1ea99abbf8323f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:716f691b8f769422d605e31ee289a545149cbad5a85457b8d83db7e47574bc09",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ba69005f6a1a3d59ed28afa92a98d5bc747f2fcf6bb11648055970d21fb8f8d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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