adhoc

completed
2026-09-24T03:08:43.008953+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (74 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
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
240 s
total steps
285
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

Stack the bowls on the table.

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThere are three upright bowls in a row. I’ll take the left bowl by its rim and place it into the middle bowl, then add the right bowl.
move_to
left_x0.3700left_y-0.1400left_z0.1700left_gripper1.0000right_x0.2950right_y0.0000right_z0.1800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.7944, 0.6048, -0.3809, -0.0227, -0.0406, 0.9996, -0.0181, 0.7929, 0.6037, -0.3775, -0.0097, -0.0196, 0.9988] state[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1801 left_yaw=-0.0002 left_pitch=-0.0004 left_roll=0.0003 left_gripper=0.9996 right_x=0.295 right_y=-0.0 right_z=0.1806 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9988 state[joint_eff]: [-0.4308, -1.4701, 10.1265, 1.7753, -0.0464, 0.2808, -0.0611, -0.8, -1.2923, 10.1128, 1.9219, -0.1245, 0.022, -0.1343] 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":0.37,"left_y":-0.14,"left_z":0.17,"left_gripper":1,"right_x":0.295,"right_y":0,"right_z":0.18},"note":"There are three upright bowls in a row. I’ll take the left bowl by its rim and place it into the middle bowl, then add the right bowl."})
tool
executing move_to over 13 steps (1.3s)
step 13
top_cam
camera top_cam step 13
left_cam
camera left_cam step 13
right_cam
camera right_cam step 13
assistant
agent noteThe left bowl is centered in the wrist view, with its rim clearly visible. I’m shifting toward its left rim and lowering with the jaws partly open so one finger can go inside and one outside.
move_to
left_x0.3700left_y-0.0750left_z0.0750left_gripper0.6500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5724, 1.3369, 0.8215, -0.2012, -0.453, -0.3576, 0.9996, -0.02, 0.7967, 0.601, -0.3866, -0.0154, -0.02, 0.9988] state[eef_state]: left_x=0.3584 left_y=-0.1347 left_z=0.1501 left_yaw=-0.0244 left_pitch=-0.0623 left_roll=0.0263 left_gripper=0.9996 right_x=0.2937 right_y=0.0004 right_z=0.1765 right_yaw=0.0031 right_pitch=-0.0156 right_roll=0.0031 right_gripper=0.9988 state[joint_eff]: [-0.3214, -5.3812, 9.3607, 1.8095, -0.3883, 0.0855, -0.0611, -0.0342, -1.5521, 7.0769, 1.8339, 0.0269, -0.0171, -0.0171] camera 'top_cam' (step 13): [image omitted: streamed camera frame] camera 'left_cam' (step 13): [image omitted: streamed camera frame] camera 'right_cam' (step 13): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.37,"left_y":-0.075,"left_z":0.075,"left_gripper":0.65},"note":"The left bowl is centered in the wrist view, with its rim clearly visible. I’m shifting toward its left rim and lowering with the jaws partly open so one finger can go inside and one outside."})
tool
executing move_to over 6 steps (0.6s)
step 19
top_cam
camera top_cam step 19
left_cam
camera left_cam step 19
right_cam
camera right_cam step 19
assistant
agent noteThe bowl’s left rim is just inside the open jaws in the wrist view. I’m making a small forward and sideways correction, then lowering to engage the wall below the rim.
move_to
left_x0.3850left_y-0.0950left_z0.0350left_gripper0.6500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3508, 1.4158, 0.5594, 0.1204, -0.3077, -0.234, 0.6529, -0.02, 0.7975, 0.5999, -0.3893, -0.0158, -0.02, 0.9988] state[eef_state]: left_x=0.3595 left_y=-0.0707 left_z=0.0671 left_yaw=0.0142 left_pitch=-0.1254 left_roll=0.0457 left_gripper=0.6529 right_x=0.2932 right_y=0.0005 right_z=0.1752 right_yaw=0.0035 right_pitch=-0.0201 right_roll=0.0034 right_gripper=0.9988 state[joint_eff]: [0.253, -5.0393, 6.1333, 1.8437, -0.0366, -0.0415, 0.0317, -0.1026, -1.347, 7.1043, 1.7314, -0.0171, -0.0317, -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":0.385,"left_y":-0.095,"left_z":0.035,"left_gripper":0.65},"note":"The bowl’s left rim is just inside the open jaws in the wrist view. I’m making a small forward and sideways correction, then lowering to engage the wall below the rim."})
tool
executing move_to over 3 steps (0.3s)
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
agent noteThe close-up shows the rim slightly left of the jaw gap. I’m opening a little wider and shifting left by three centimeters to straddle the bowl wall rather than close inside the bowl.
move_to
left_x0.3850left_y-0.0650left_z0.0350left_gripper0.8000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3985, 1.6306, 0.5919, 0.2424, -0.3225, -0.2546, 0.6512, -0.02, 0.8005, 0.5995, -0.3935, -0.0162, -0.02, 0.9988] state[eef_state]: left_x=0.3715 left_y=-0.0918 left_z=0.0251 left_yaw=-0.0067 left_pitch=-0.1769 left_roll=0.0622 left_gripper=0.6512 right_x=0.2928 right_y=0.0006 right_z=0.1733 right_yaw=0.0038 right_pitch=-0.0278 right_roll=0.0038 right_gripper=0.9988 state[joint_eff]: [0.4171, -8.0342, 7.5145, 1.8535, -0.4225, -0.1197, 0.105, -0.1846, -1.4701, 7.1179, 1.7509, -0.0708, -0.0317, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.385,"left_y":-0.065,"left_z":0.035,"left_gripper":0.8},"note":"The close-up shows the rim slightly left of the jaw gap. I’m opening a little wider and shifting left by three centimeters to straddle the bowl wall rather than close inside the bowl."})
tool
executing move_to over 3 steps (0.3s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteThe sideways correction did not track, and the bowl shifted slightly, so a finger is likely contacting it. I’m lifting clear before repositioning over the rim.
move_to
left_x0.3850left_y-0.0500left_z0.1250left_pitch0.1500left_gripper0.8000right_x0.2950right_y0.0000right_z0.1800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4049, 1.6611, 0.5976, 0.2596, -0.3382, -0.2771, 0.7971, -0.02, 0.8024, 0.598, -0.3931, -0.0162, -0.02, 0.9988] state[eef_state]: left_x=0.3734 left_y=-0.0924 left_z=0.0196 left_yaw=0.0124 left_pitch=-0.1786 left_roll=0.059 left_gripper=0.7971 right_x=0.2928 right_y=0.0006 right_z=0.1722 right_yaw=0.0038 right_pitch=-0.0308 right_roll=0.0039 right_gripper=0.9988 state[joint_eff]: [0.1436, -7.3504, 6.8308, 1.7265, -0.315, 0.0464, -0.1197, -0.0889, -1.265, 7.159, 1.746, -0.022, -0.0269, -0.0171] camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.385,"left_y":-0.05,"left_z":0.125,"left_pitch":0.15,"left_gripper":0.8,"right_x":0.295,"right_y":0,"right_z":0.18},"note":"The sideways correction did not track, and the bowl shifted slightly, so a finger is likely contacting it. I’m lifting clear before repositioning over the rim."})
tool
executing move_to over 11 steps (1.1s)
step 36
top_cam
camera top_cam step 36
left_cam
camera left_cam step 36
right_cam
camera right_cam step 36
assistant
agent noteThe arm is clear of the bowl again. I’m approaching the left side of the rim slightly farther forward, keeping a gap wide enough for one finger on each side of the wall.
move_to
left_x0.4200left_y-0.0650left_z0.0450left_pitch0.0000left_gripper0.6500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2745, 1.3445, 0.4953, 0.3672, -0.313, -0.1474, 0.7993, -0.0219, 0.8177, 0.5987, -0.4191, -0.0166, -0.0208, 0.9988] state[eef_state]: left_x=0.3804 left_y=-0.0469 left_z=0.1148 left_yaw=0.0473 left_pitch=0.1126 left_roll=0.0358 left_gripper=0.7993 right_x=0.29 right_y=0.0002 right_z=0.1632 right_yaw=0.0027 right_pitch=-0.0712 right_roll=0.0045 right_gripper=0.9988 state[joint_eff]: [0.3214, -3.8906, 6.5846, 1.5995, 0.0464, 0.1343, -0.0855, -0.212, -1.1419, 9.8393, 1.7167, -0.0855, -0.0855, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.42,"left_y":-0.065,"left_z":0.045,"left_pitch":0,"left_gripper":0.65},"note":"The arm is clear of the bowl again. I’m approaching the left side of the rim slightly farther forward, keeping a gap wide enough for one finger on each side of the wall."})
tool
executing move_to over 5 steps (0.5s)
step 41
top_cam
camera top_cam step 41
left_cam
camera left_cam step 41
right_cam
camera right_cam step 41
assistant
agent noteThe bowl is now just to the right of the fingers, so the gap is outside its rim. I’m moving three centimeters toward the bowl to bring the wall between the jaws.
move_to
left_x0.4200left_y-0.0950left_z0.0450left_gripper0.6500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2844, 1.7073, 0.5797, 0.4637, -0.3111, -0.1814, 0.652, -0.0219, 0.8219, 0.5964, -0.4225, -0.0162, -0.0235, 0.9988] state[eef_state]: left_x=0.4029 left_y=-0.0577 left_z=0.0313 left_yaw=0.0526 left_pitch=-0.0589 left_roll=0.0646 left_gripper=0.652 right_x=0.2894 right_y=0.0001 right_z=0.1603 right_yaw=0.0038 right_pitch=-0.0812 right_roll=0.0024 right_gripper=0.9988 state[joint_eff]: [-0.4855, -7.4735, 6.9675, 2.0098, -0.0806, -0.0415, 0.0659, -0.212, -1.6615, 7.3094, 1.663, -0.0513, -0.0171, -0.0171] camera 'top_cam' (step 41): [image omitted: streamed camera frame] camera 'left_cam' (step 41): [image omitted: streamed camera frame] camera 'right_cam' (step 41): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.42,"left_y":-0.095,"left_z":0.045,"left_gripper":0.65},"note":"The bowl is now just to the right of the fingers, so the gap is outside its rim. I’m moving three centimeters toward the bowl to bring the wall between the jaws."})
tool
executing move_to over 4 steps (0.4s)
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 left rim now lies at the fingers, although the bowl slid slightly during alignment. I’ll close on the rim and check the jaw opening before lifting.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3817, 1.7378, 0.6811, 0.3725, -0.3687, -0.2367, 0.6511, -0.0216, 0.823, 0.5953, -0.4225, -0.0166, -0.0235, 0.9988] state[eef_state]: left_x=0.4136 left_y=-0.0935 left_z=0.0402 left_yaw=0.0327 left_pitch=-0.0623 left_roll=0.0607 left_gripper=0.6511 right_x=0.2893 right_y=0.0003 right_z=0.1595 right_yaw=0.0045 right_pitch=-0.0835 right_roll=0.0026 right_gripper=0.9988 state[joint_eff]: [-0.0068, -6.2838, 7.241, 1.5897, -0.3492, -0.0611, 0.105, -0.1846, -1.4701, 7.2, 1.6337, -0.0659, -0.0513, -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 left rim now lies at the fingers, although the bowl slid slightly during alignment. I’ll close on the rim and check the jaw opening before lifting."})
tool
executing move_to over 7 steps (0.7s)
step 52
top_cam
camera top_cam step 52
left_cam
camera left_cam step 52
right_cam
camera right_cam step 52
assistant
agent noteThe jaws closed empty. The overhead view shows the bowl has moved toward the front of the table, so I’m backing up and reopening above its new left-rim position.
move_to
left_x0.3750left_y-0.1150left_z0.0900left_gripper0.6500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3908, 1.7412, 0.7021, 0.3313, -0.3908, -0.252, 0.0082, -0.0219, 0.8234, 0.5953, -0.4225, -0.0166, -0.0235, 0.9988] state[eef_state]: left_x=0.4136 left_y=-0.0938 left_z=0.0398 left_yaw=0.0503 left_pitch=-0.0773 left_roll=0.0712 left_gripper=0.0082 right_x=0.2893 right_y=0.0002 right_z=0.1594 right_yaw=0.0041 right_pitch=-0.0838 right_roll=0.0027 right_gripper=0.9988 state[joint_eff]: [0.1436, -6.9128, 6.7487, 1.6728, -0.1929, 0.0024, 0.6618, -0.0205, -1.3744, 7.0359, 1.6484, -0.0513, -0.0415, -0.0171] camera 'top_cam' (step 52): [image omitted: streamed camera frame] camera 'left_cam' (step 52): [image omitted: streamed camera frame] camera 'right_cam' (step 52): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.375,"left_y":-0.115,"left_z":0.09,"left_gripper":0.65},"note":"The jaws closed empty. The overhead view shows the bowl has moved toward the front of the table, so I’m backing up and reopening above its new left-rim position."})
tool
executing move_to over 7 steps (0.7s)
step 59
top_cam
camera top_cam step 59
left_cam
camera left_cam step 59
right_cam
camera right_cam step 59
assistant
agent noteThe bowl is directly beneath the gripper and no longer visible in its wrist camera. I’m lowering vertically at this corrected position for one more rim-grasp attempt.
move_to
left_x0.3750left_y-0.1150left_z0.0250left_gripper0.6500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5175, 1.5105, 0.696, 0.1219, -0.4534, -0.3279, 0.645, -0.0219, 0.8272, 0.5953, -0.4225, -0.0162, -0.0235, 0.9988] state[eef_state]: left_x=0.3808 left_y=-0.1236 left_z=0.0925 left_yaw=0.0142 left_pitch=-0.0422 left_roll=0.0383 left_gripper=0.645 right_x=0.2895 right_y=0.0001 right_z=0.1584 right_yaw=0.0038 right_pitch=-0.0877 right_roll=0.0025 right_gripper=0.9988 state[joint_eff]: [-0.2803, -5.8462, 7.3778, 1.3016, -0.4127, 0.0317, -0.0806, -0.0342, -1.1556, 7.0496, 1.7411, -0.0464, -0.0269, -0.0171] camera 'top_cam' (step 59): [image omitted: streamed camera frame] camera 'left_cam' (step 59): [image omitted: streamed camera frame] camera 'right_cam' (step 59): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.375,"left_y":-0.115,"left_z":0.025,"left_gripper":0.65},"note":"The bowl is directly beneath the gripper and no longer visible in its wrist camera. I’m lowering vertically at this corrected position for one more rim-grasp attempt."})
tool
executing move_to over 5 steps (0.5s)
step 64
top_cam
camera top_cam step 64
left_cam
camera left_cam step 64
right_cam
camera right_cam step 64
assistant
agent noteThe fingers are lowered beside the bowl’s left wall. I’m closing gently through the controller’s normal motion to test whether the rim is captured.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5049, 1.6844, 0.5526, 0.3866, -0.4458, -0.3302, 0.6494, -0.0219, 0.8307, 0.5949, -0.4229, -0.0162, -0.0235, 0.9988] state[eef_state]: left_x=0.3686 left_y=-0.1126 left_z=0.0226 left_yaw=0.0237 left_pitch=-0.0901 left_roll=0.0588 left_gripper=0.6494 right_x=0.2895 right_y=0.0001 right_z=0.1572 right_yaw=0.0038 right_pitch=-0.0919 right_roll=0.0026 right_gripper=0.9988 state[joint_eff]: [0.3761, -6.188, 4.2051, 1.6825, -0.1197, 0.105, -0.0708, -0.1709, -1.6752, 7.2684, 1.6337, -0.0073, -0.0269, -0.0171] camera 'top_cam' (step 64): [image omitted: streamed camera frame] camera 'left_cam' (step 64): [image omitted: streamed camera frame] camera 'right_cam' (step 64): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The fingers are lowered beside the bowl’s left wall. I’m closing gently through the controller’s normal motion to test whether the rim is captured."})
tool
executing move_to over 7 steps (0.7s)
step 71
top_cam
camera top_cam step 71
left_cam
camera left_cam step 71
right_cam
camera right_cam step 71
assistant
agent noteThe second close was empty and slid the bowl forward. I’ve re-estimated its new position from the overhead view and will approach the upper rim rather than the lower sloping wall.
move_to
left_x0.3250left_y-0.1450left_z0.1200left_gripper0.7500right_x0.2950right_y0.0000right_z0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5034, 1.7008, 0.5373, 0.3813, -0.4438, -0.334, 0.0082, -0.0216, 0.8314, 0.5945, -0.4229, -0.0162, -0.0238, 0.9988] state[eef_state]: left_x=0.3618 left_y=-0.1086 left_z=0.0109 left_yaw=0.0278 left_pitch=-0.1225 left_roll=0.0735 left_gripper=0.0082 right_x=0.2895 right_y=0.0002 right_z=0.1568 right_yaw=0.0044 right_pitch=-0.093 right_roll=0.0024 right_gripper=0.9988 state[joint_eff]: [-0.1573, -7.8017, 5.9145, 1.5653, -0.1929, 0.0513, 0.6422, -0.1573, -0.9368, 7.1863, 1.6728, -0.0366, -0.0562, -0.0171] camera 'top_cam' (step 71): [image omitted: streamed camera frame] camera 'left_cam' (step 71): [image omitted: streamed camera frame] camera 'right_cam' (step 71): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.325,"left_y":-0.145,"left_z":0.12,"left_gripper":0.75,"right_x":0.295,"right_y":0,"right_z":0.2},"note":"The second close was empty and slid the bowl forward. I’ve re-estimated its new position from the overhead view and will approach the upper rim rather than the lower sloping wall."})
tool
executing move_to over 8 steps (0.8s)
step 79
top_cam
camera top_cam step 79
left_cam
camera left_cam step 79
right_cam
camera right_cam step 79
assistant
agent noteThe overhead view now places the gripper over the bowl’s left rim. I’m lowering only to rim height, leaving a finger inside the bowl instead of pressing against its base.
move_to
left_x0.3250left_y-0.1450left_z0.0550left_gripper0.7500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6956, 1.3762, 0.73, -0.1989, -0.5529, -0.4866, 0.745, -0.0216, 0.873, 0.7364, -0.5583, -0.0162, -0.0273, 0.9988] state[eef_state]: left_x=0.3281 left_y=-0.1484 left_z=0.1066 left_yaw=0.0057 left_pitch=-0.1217 left_roll=0.0569 left_gripper=0.745 right_x=0.2909 right_y=0.0002 right_z=0.1826 right_yaw=0.0064 right_pitch=-0.1281 right_roll=0.0006 right_gripper=0.9988 state[joint_eff]: [-0.3214, -5.9829, 8.7863, 1.4432, -0.486, 0.0952, -0.1685, -0.2256, -1.0598, 10.2769, 1.707, -0.0366, -0.0171, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 79): [image omitted: streamed camera frame] camera 'left_cam' (step 79): [image omitted: streamed camera frame] camera 'right_cam' (step 79): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.325,"left_y":-0.145,"left_z":0.055,"left_gripper":0.75},"note":"The overhead view now places the gripper over the bowl’s left rim. I’m lowering only to rim height, leaving a finger inside the bowl instead of pressing against its base."})
tool
executing move_to over 4 steps (0.4s)
step 83
top_cam
camera top_cam step 83
left_cam
camera left_cam step 83
right_cam
camera right_cam step 83
assistant
agent noteThe open jaws appear to straddle the upper left rim without moving the bowl. I’m closing here and will use a short lift to verify any hold.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6975, 1.4792, 0.5884, -0.0422, -0.5537, -0.495, 0.7489, -0.0216, 0.8764, 0.7441, -0.5758, -0.0166, -0.0273, 0.9988] state[eef_state]: left_x=0.3132 left_y=-0.1366 left_z=0.0453 left_yaw=0.0179 left_pitch=-0.1875 left_roll=0.1088 left_gripper=0.7489 right_x=0.2894 right_y=0.0003 right_z=0.1817 right_yaw=0.0067 right_pitch=-0.1414 right_roll=0.0012 right_gripper=0.9988 state[joint_eff]: [0.1299, -5.4769, 6.2427, 1.6679, -0.2759, 0.0464, -0.1343, -0.1162, -1.8667, 6.5026, 1.8095, -0.0611, -0.0659, -0.0171] camera 'top_cam' (step 83): [image omitted: streamed camera frame] camera 'left_cam' (step 83): [image omitted: streamed camera frame] camera 'right_cam' (step 83): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The open jaws appear to straddle the upper left rim without moving the bowl. I’m closing here and will use a short lift to verify any hold."})
tool
executing move_to over 8 steps (0.8s)
step 91
top_cam
camera top_cam step 91
left_cam
camera left_cam step 91
right_cam
camera right_cam step 91
assistant
agent noteThe thin rim has slipped out again. The bowl appears narrow enough for the full jaw opening, so I’m switching to a centered grasp across the bowl’s sides.
move_to
left_x0.2900left_y-0.1750left_z0.1200left_gripper1.0000left_pitch0.1800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6979, 1.486, 0.5785, -0.041, -0.5507, -0.4957, 0.0086, -0.0216, 0.8764, 0.7425, -0.5804, -0.0166, -0.0273, 0.9988] state[eef_state]: left_x=0.3102 left_y=-0.1349 left_z=0.0398 left_yaw=0.0177 left_pitch=-0.2009 left_roll=0.1168 left_gripper=0.0086 right_x=0.2885 right_y=0.0003 right_z=0.1802 right_yaw=0.0068 right_pitch=-0.1475 right_roll=0.0014 right_gripper=0.9988 state[joint_eff]: [-0.0342, -5.7778, 6.3385, 1.2674, -0.3541, -0.022, 0.6227, 0.0068, -1.5385, 7.0085, 1.6532, -0.0659, -0.0171, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 91): [image omitted: streamed camera frame] camera 'left_cam' (step 91): [image omitted: streamed camera frame] camera 'right_cam' (step 91): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":-0.175,"left_z":0.12,"left_gripper":1,"left_pitch":0.18},"note":"The thin rim has slipped out again. The bowl appears narrow enough for the full jaw opening, so I’m switching to a centered grasp across the bowl’s sides."})
tool
executing move_to over 13 steps (1.3s)
step 104
top_cam
camera top_cam step 104
left_cam
camera left_cam step 104
right_cam
camera right_cam step 104
assistant
agent noteThe target bowl is at the bottom of the wrist view, slightly right of the jaw center. I’m correcting toward it and lowering the fully open jaws around both sides.
move_to
left_x0.3150left_y-0.2000left_z0.0400left_gripper1.0000left_pitch0.1800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.989, 1.3762, 0.5484, 0.0616, -0.9127, -0.5438, 0.996, -0.0216, 0.8772, 0.7425, -0.5919, -0.0162, -0.0273, 0.9988] state[eef_state]: left_x=0.2886 left_y=-0.178 left_z=0.1078 left_yaw=-0.0061 left_pitch=0.1267 left_roll=0.1226 left_gripper=0.996 right_x=0.2866 right_y=0.0003 right_z=0.1778 right_yaw=0.0065 right_pitch=-0.1597 right_roll=0.0015 right_gripper=0.9988 state[joint_eff]: [-0.3897, -5.9966, 5.3265, 1.5995, -0.442, 0.1001, -0.1734, -0.0752, -1.7162, 6.8718, 1.6972, -0.0317, -0.0611, -0.0171] camera 'top_cam' (step 104): [image omitted: streamed camera frame] camera 'left_cam' (step 104): [image omitted: streamed camera frame] camera 'right_cam' (step 104): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.315,"left_y":-0.2,"left_z":0.04,"left_gripper":1,"left_pitch":0.18},"note":"The target bowl is at the bottom of the wrist view, slightly right of the jaw center. I’m correcting toward it and lowering the fully open jaws around both sides."})
tool
executing move_to over 5 steps (0.5s)
step 109
top_cam
camera top_cam step 109
left_cam
camera left_cam step 109
right_cam
camera right_cam step 109
assistant
agent noteThe near bowl wall is now visibly between the two fingers. I’m closing to capture it, then I’ll test the hold with a short vertical lift.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.968, 1.7706, 0.5049, 0.4858, -0.918, -0.4908, 0.9988, -0.0219, 0.8818, 0.7425, -0.5995, -0.0166, -0.0269, 0.9988] state[eef_state]: left_x=0.3053 left_y=-0.1898 left_z=0.0305 left_yaw=-0.0114 left_pitch=0.1173 left_roll=0.1843 left_gripper=0.9988 right_x=0.2857 right_y=0.0003 right_z=0.1752 right_yaw=0.0063 right_pitch=-0.1719 right_roll=0.0024 right_gripper=0.9988 state[joint_eff]: [0.212, -7.241, 5.0803, 1.5409, -0.442, 0.0952, -0.1343, -0.1026, -1.9897, 6.8581, 1.6435, -0.0611, -0.0073, -0.0171] camera 'top_cam' (step 109): [image omitted: streamed camera frame] camera 'left_cam' (step 109): [image omitted: streamed camera frame] camera 'right_cam' (step 109): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The near bowl wall is now visibly between the two fingers. I’m closing to capture it, then I’ll test the hold with a short vertical lift."})
tool
executing move_to over 10 steps (1.0s)
step 119
top_cam
camera top_cam step 119
left_cam
camera left_cam step 119
right_cam
camera right_cam step 119
assistant
agent noteThe bowl tilted with the closing fingers, suggesting the thin rim may be held despite the small jaw reading. I’m lifting five centimeters to check directly.
move_to
left_z0.1050
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9688, 1.7569, 0.5117, 0.5518, -0.9367, -0.5171, 0.0321, -0.0216, 0.8822, 0.7425, -0.6025, -0.0166, -0.0269, 0.9988] state[eef_state]: left_x=0.312 left_y=-0.1964 left_z=0.047 left_yaw=0.0255 left_pitch=0.1784 left_roll=0.0947 left_gripper=0.0321 right_x=0.2852 right_y=0.0004 right_z=0.1746 right_yaw=0.0067 right_pitch=-0.1754 right_roll=0.0025 right_gripper=0.9988 state[joint_eff]: [-0.2393, -5.1214, 3.8906, 0.0806, -0.0317, 0.4127, 0.2808, -0.0479, -1.7026, 7.1453, 1.6288, -0.0464, -0.0024, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 119): [image omitted: streamed camera frame] camera 'left_cam' (step 119): [image omitted: streamed camera frame] camera 'right_cam' (step 119): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.105},"note":"The bowl tilted with the closing fingers, suggesting the thin rim may be held despite the small jaw reading. I’m lifting five centimeters to check directly."})
tool
executing move_to over 4 steps (0.4s)
step 123
top_cam
camera top_cam step 123
left_cam
camera left_cam step 123
right_cam
camera right_cam step 123
assistant
agent noteThe bowl rose with the gripper, confirming a rim grasp. I’m lifting it clear of the other bowls before moving it over the middle bowl.
move_to
left_x0.3150left_y-0.2000left_z0.1900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9688, 1.56, 0.5667, 0.3241, -0.9363, -0.5217, 0.0389, -0.0219, 0.8829, 0.7425, -0.6029, -0.0162, -0.0273, 0.9988] state[eef_state]: left_x=0.3118 left_y=-0.1963 left_z=0.0952 left_yaw=0.0315 left_pitch=0.1915 left_roll=0.0697 left_gripper=0.0389 right_x=0.2852 right_y=0.0002 right_z=0.1743 right_yaw=0.0062 right_pitch=-0.1765 right_roll=0.002 right_gripper=0.9988 state[joint_eff]: [-0.3487, -6.735, 7.9521, 1.4383, -0.3541, -0.0024, 1.0183, -0.2256, -1.7573, 6.8718, 1.5653, -0.0269, -0.0659, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 123): [image omitted: streamed camera frame] camera 'left_cam' (step 123): [image omitted: streamed camera frame] camera 'right_cam' (step 123): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.315,"left_y":-0.2,"left_z":0.19},"note":"The bowl rose with the gripper, confirming a rim grasp. I’m lifting it clear of the other bowls before moving it over the middle bowl."})
tool
executing move_to over 7 steps (0.7s)
step 130
top_cam
camera top_cam step 130
left_cam
camera left_cam step 130
right_cam
camera right_cam step 130
assistant
agent noteThe held bowl is clear of the table. I’m moving it forward and slightly right so its center will align with the middle bowl as it is lowered.
move_to
left_x0.4300left_y-0.2350left_z0.1900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9688, 1.3846, 0.7841, -0.0788, -0.936, -0.5243, 0.0387, -0.0219, 0.8829, 0.7425, -0.6029, -0.0162, -0.0273, 0.9988] state[eef_state]: left_x=0.3146 left_y=-0.2004 left_z=0.1728 left_yaw=0.0311 left_pitch=0.1861 left_roll=0.0755 left_gripper=0.0387 right_x=0.2852 right_y=0.0002 right_z=0.1743 right_yaw=0.0062 right_pitch=-0.1765 right_roll=0.002 right_gripper=0.9988 state[joint_eff]: [-0.1846, -6.8718, 9.0462, 1.4481, -0.3639, 0.0024, 0.5055, -0.0205, -1.6889, 6.8581, 1.5556, -0.0122, -0.0562, -0.0171] camera 'top_cam' (step 130): [image omitted: streamed camera frame] camera 'left_cam' (step 130): [image omitted: streamed camera frame] camera 'right_cam' (step 130): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.235,"left_z":0.19},"note":"The held bowl is clear of the table. I’m moving it forward and slightly right so its center will align with the middle bowl as it is lowered."})
tool
executing move_to over 9 steps (0.9s)
step 139
top_cam
camera top_cam step 139
left_cam
camera left_cam step 139
right_cam
camera right_cam step 139
assistant
agent noteThe carried bowl is centered left-to-right over the middle bowl. I’m lowering it slowly to let the bowls nest.
move_to
left_x0.4300left_y-0.2350left_z0.0850
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7673, 1.7294, 1.1301, -0.0017, -0.7853, -0.3786, 0.0422, -0.0216, 0.8848, 0.7425, -0.6041, -0.0162, -0.0273, 0.9988] state[eef_state]: left_x=0.4194 left_y=-0.226 left_z=0.1739 left_yaw=0.0522 left_pitch=0.1554 left_roll=0.0932 left_gripper=0.0422 right_x=0.2851 right_y=0.0003 right_z=0.1736 right_yaw=0.0066 right_pitch=-0.1796 right_roll=0.0021 right_gripper=0.9988 state[joint_eff]: [0.4171, -8.7453, 8.8274, 1.7705, -0.2418, 0.2027, 0.7595, -0.0752, -1.6752, 6.9538, 1.5458, -0.0171, -0.0611, -0.0171] camera 'top_cam' (step 139): [image omitted: streamed camera frame] camera 'left_cam' (step 139): [image omitted: streamed camera frame] camera 'right_cam' (step 139): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.235,"left_z":0.085},"note":"The carried bowl is centered left-to-right over the middle bowl. I’m lowering it slowly to let the bowls nest."})
tool
executing move_to over 6 steps (0.6s)
step 145
top_cam
camera top_cam step 145
left_cam
camera left_cam step 145
right_cam
camera right_cam step 145
assistant
agent noteThe bowls are nearly aligned, with the carried bowl slightly left of the lower one. I’m correcting by about a centimeter and lowering the final small distance to seat it.
move_to
left_y-0.2500left_z0.0600
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7593, 1.9377, 1.0206, 0.2474, -0.7788, -0.3668, 0.0452, -0.0219, 0.8867, 0.7425, -0.6033, -0.0162, -0.0273, 0.9988] state[eef_state]: left_x=0.4251 left_y=-0.2275 left_z=0.079 left_yaw=0.0424 left_pitch=0.1044 left_roll=0.1515 left_gripper=0.0452 right_x=0.2853 right_y=0.0002 right_z=0.1732 right_yaw=0.0062 right_pitch=-0.1807 right_roll=0.0021 right_gripper=0.9988 state[joint_eff]: [-0.5265, -9.4291, 5.5863, 1.7802, -0.3248, -0.1587, 0.6032, -0.0205, -1.3197, 6.9538, 1.5946, -0.0562, -0.0611, -0.0171] camera 'top_cam' (step 145): [image omitted: streamed camera frame] camera 'left_cam' (step 145): [image omitted: streamed camera frame] camera 'right_cam' (step 145): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.25,"left_z":0.06},"note":"The bowls are nearly aligned, with the carried bowl slightly left of the lower one. I’m correcting by about a centimeter and lowering the final small distance to seat it."})
tool
executing move_to over 2 steps (0.2s)
step 147
top_cam
camera top_cam step 147
left_cam
camera left_cam step 147
right_cam
camera right_cam step 147
assistant
agent noteThe descent stopped short, consistent with the bowl resting in the lower bowl. I’m opening the fingers to leave it seated.
move_to
left_gripper0.8500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7761, 1.9884, 1.047, 0.2932, -0.8051, -0.3885, 0.0447, -0.0219, 0.8883, 0.7425, -0.6033, -0.0166, -0.0273, 0.9988] state[eef_state]: left_x=0.4295 left_y=-0.2382 left_z=0.0745 left_yaw=0.0587 left_pitch=0.1326 left_roll=0.1272 left_gripper=0.0447 right_x=0.2854 right_y=0.0003 right_z=0.1728 right_yaw=0.0065 right_pitch=-0.1822 right_roll=0.0024 right_gripper=0.9988 state[joint_eff]: [-1.3333, -8.4171, 6.8855, 1.0916, 0.0513, -0.022, 0.315, -0.1983, -1.853, 6.8991, 1.5409, -0.0757, -0.0562, -0.0171] camera 'top_cam' (step 147): [image omitted: streamed camera frame] camera 'left_cam' (step 147): [image omitted: streamed camera frame] camera 'right_cam' (step 147): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.85},"note":"The descent stopped short, consistent with the bowl resting in the lower bowl. I’m opening the fingers to leave it seated."})
tool
executing move_to over 9 steps (0.9s)
step 156
top_cam
camera top_cam step 156
left_cam
camera left_cam step 156
right_cam
camera right_cam step 156
assistant
agent noteThe first bowl has been released into the middle bowl. I’m clearing the left arm and bringing the right gripper above the remaining pink bowl’s left rim.
move_to
left_x0.2950left_y0.0000left_z0.2200right_x0.3600right_y0.2900right_z0.1600right_gripper1.0000right_pitch0.1800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7761, 2.0113, 1.0489, 0.2928, -0.8082, -0.4046, 0.8451, -0.0219, 0.8894, 0.7425, -0.6033, -0.0162, -0.0273, 0.9988] state[eef_state]: left_x=0.4292 left_y=-0.2373 left_z=0.0649 left_yaw=0.0675 left_pitch=0.1209 left_roll=0.1299 left_gripper=0.8451 right_x=0.2855 right_y=0.0002 right_z=0.1725 right_yaw=0.0062 right_pitch=-0.1834 right_roll=0.0022 right_gripper=0.9988 state[joint_eff]: [-0.335, -12.0137, 5.4085, 1.5067, -0.3297, 0.1148, -0.232, -0.0205, -1.8256, 7.0085, 1.5409, -0.0317, -0.0562, -0.0171] camera 'top_cam' (step 156): [image omitted: streamed camera frame] camera 'left_cam' (step 156): [image omitted: streamed camera frame] camera 'right_cam' (step 156): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.295,"left_y":0,"left_z":0.22,"right_x":0.36,"right_y":0.29,"right_z":0.16,"right_gripper":1,"right_pitch":0.18},"note":"The first bowl has been released into the middle bowl. I’m clearing the left arm and bringing the right gripper above the remaining pink bowl’s left rim."})
tool
executing move_to over 25 steps (2.5s)
step 181
top_cam
camera top_cam step 181
left_cam
camera left_cam step 181
assistant
agent noteThe pink bowl is right of the wrist-camera jaw center. I’m shifting toward its left wall and moving forward while lowering to rim height, using the grasp geometry that worked on the first bowl.
move_to
right_x0.4300right_y0.2350right_z0.0550right_gripper0.8500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2203, 0.7689, 0.6106, -0.3302, -0.371, -0.0822, 0.8461, 0.9607, 1.726, 1.0206, -0.0132, 0.8185, 0.469, 0.9988] state[eef_state]: left_x=0.2969 left_y=0.0028 left_z=0.2062 left_yaw=0.1144 left_pitch=0.112 left_roll=0.1226 left_gripper=0.8461 right_x=0.3491 right_y=0.2806 right_z=0.1342 right_yaw=0.0565 right_pitch=0.0978 right_roll=-0.0775 right_gripper=0.9988 state[joint_eff]: [0.2667, -1.306, 10.5094, 1.7998, -0.1441, 0.149, 0.0855, 0.1026, -8.7863, 9.0735, 1.8291, 0.525, 0.1538, -0.1294] camera 'top_cam' (step 181): [image omitted: streamed camera frame] camera 'left_cam' (step 181): [image omitted: streamed camera frame] camera 'right_cam' (step 181): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.235,"right_z":0.055,"right_gripper":0.85},"note":"The pink bowl is right of the wrist-camera jaw center. I’m shifting toward its left wall and moving forward while lowering to rim height, using the grasp geometry that worked on the first bowl."})
tool
executing move_to over 7 steps (0.7s)
step 188
assistant
agent noteThe pink bowl’s left wall is between the open fingers at the bottom of the wrist view. I’m closing on that rim.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2192, 0.7753, 0.6147, -0.355, -0.3668, -0.0784, 0.8461, 0.7193, 1.9636, 0.9325, 0.3622, 0.6373, 0.2844, 0.8515] state[eef_state]: left_x=0.2952 left_y=0.0028 left_z=0.2012 left_yaw=0.1091 left_pitch=0.0854 left_roll=0.1329 left_gripper=0.8461 right_x=0.4166 right_y=0.2299 right_z=0.0452 right_yaw=0.0454 right_pitch=0.0394 right_roll=-0.1232 right_gripper=0.8515 state[joint_eff]: [-0.1573, -1.5795, 6.694, 2.0, -0.1929, -0.0659, -0.0073, -0.4991, -9.2923, 5.9009, 1.8974, 0.1343, -0.022, 0.0317] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 188): [image omitted: streamed camera frame] camera 'left_cam' (step 188): [image omitted: streamed camera frame] camera 'right_cam' (step 188): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The pink bowl’s left wall is between the open fingers at the bottom of the wrist view. I’m closing on that rim."})
tool
executing move_to over 9 steps (0.9s)
step 197
assistant
agent noteThe jaws stopped about nine millimeters apart, consistent with gripping the rim. I’m making a short lift to confirm the pink bowl follows.
move_to
right_z0.1150
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2192, 0.7788, 0.6147, -0.3565, -0.3668, -0.078, 0.8461, 0.72, 1.9656, 0.9291, 0.3943, 0.6228, 0.2913, 0.095] state[eef_state]: left_x=0.2953 left_y=0.0028 left_z=0.1999 left_yaw=0.1088 left_pitch=0.0807 left_roll=0.1348 left_gripper=0.8461 right_x=0.4182 right_y=0.2346 right_z=0.0476 right_yaw=0.0529 right_pitch=0.0553 right_roll=-0.0937 right_gripper=0.095 state[joint_eff]: [-0.0752, -1.4154, 7.0222, 1.7851, -0.1538, -0.0513, -0.0122, 0.1026, -9.7436, 5.9145, 1.2479, 0.2662, -0.1099, 0.3785] camera 'top_cam' (step 197): [image omitted: streamed camera frame] camera 'left_cam' (step 197): [image omitted: streamed camera frame] camera 'right_cam' (step 197): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.115},"note":"The jaws stopped about nine millimeters apart, consistent with gripping the rim. I’m making a short lift to confirm the pink bowl follows."})
tool
executing move_to over 5 steps (0.5s)
step 202
assistant
agent noteThe pink bowl moved upward with the gripper. I’m raising it to transport height before bringing it over the two-bowl stack.
move_to
right_z0.2100
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2188, 0.7792, 0.6147, -0.3626, -0.3668, -0.0784, 0.8461, 0.7197, 1.8423, 0.9848, 0.16, 0.6117, 0.2863, 0.094] state[eef_state]: left_x=0.2946 left_y=0.0031 left_z=0.1986 left_yaw=0.1092 left_pitch=0.0746 left_roll=0.1366 left_gripper=0.8461 right_x=0.4113 right_y=0.2304 right_z=0.0825 right_yaw=0.0647 right_pitch=0.0071 right_roll=-0.1265 right_gripper=0.094 state[joint_eff]: [-0.0205, -1.0325, 7.0496, 1.7998, -0.1441, -0.0317, -0.0122, -0.335, -11.5214, 9.1966, 1.8046, 0.2662, 0.0024, -0.1148] camera 'top_cam' (step 202): [image omitted: streamed camera frame] camera 'left_cam' (step 202): [image omitted: streamed camera frame] camera 'right_cam' (step 202): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.21},"note":"The pink bowl moved upward with the gripper. I’m raising it to transport height before bringing it over the two-bowl stack."})
tool
executing move_to over 9 steps (0.9s)
step 211
assistant
agent noteThe pink bowl is safely above the table. I’m moving it left over the existing stack while keeping the left arm parked clear.
move_to
right_x0.4500right_y0.3950right_z0.2100
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2188, 0.7792, 0.6147, -0.363, -0.3668, -0.0784, 0.8461, 0.7197, 1.705, 1.2724, -0.3172, 0.6003, 0.2714, 0.0939] state[eef_state]: left_x=0.2946 left_y=0.0031 left_z=0.1985 left_yaw=0.1092 left_pitch=0.0742 left_roll=0.1367 left_gripper=0.8461 right_x=0.4101 right_y=0.2315 right_z=0.1784 right_yaw=0.0807 right_pitch=-0.0405 right_roll=-0.1644 right_gripper=0.0939 state[joint_eff]: [-0.0205, -1.1145, 6.9949, 1.6923, -0.1636, -0.0366, -0.0122, -0.3624, -11.5897, 9.5932, 1.6923, 0.2955, 0.0952, -0.0269] camera 'top_cam' (step 211): [image omitted: streamed camera frame] camera 'left_cam' (step 211): [image omitted: streamed camera frame] camera 'right_cam' (step 211): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.45,"right_y":0.395,"right_z":0.21},"note":"The pink bowl is safely above the table. I’m moving it left over the existing stack while keeping the left arm parked clear."})
tool
executing move_to over 14 steps (1.4s)
step 225
assistant
agent noteThe clear overhead view shows the pink bowl is still on the table, so the earlier hold did not survive the lift. I’m returning above it with the jaws open and shifting farther onto the rim.
move_to
right_x0.4300right_y0.2050right_z0.1400right_gripper0.8000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2188, 0.7837, 0.6147, -0.363, -0.3668, -0.0784, 0.8461, 0.9127, 2.381, 2.3699, -0.8799, 0.7029, 0.4114, 0.0939] state[eef_state]: left_x=0.295 left_y=0.003 left_z=0.1973 left_yaw=0.1091 left_pitch=0.0699 left_roll=0.1382 left_gripper=0.8461 right_x=0.4457 right_y=0.3957 right_z=0.1921 right_yaw=0.1202 right_pitch=-0.0833 right_roll=-0.2003 right_gripper=0.0939 state[joint_eff]: [-0.1573, -1.5111, 7.0085, 1.7314, -0.149, -0.0708, -0.0122, -0.0615, -14.5846, 8.2256, 1.3016, 0.5495, 0.2808, -0.022] camera 'top_cam' (step 225): [image omitted: streamed camera frame] camera 'left_cam' (step 225): [image omitted: streamed camera frame] camera 'right_cam' (step 225): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.205,"right_z":0.14,"right_gripper":0.8},"note":"The clear overhead view shows the pink bowl is still on the table, so the earlier hold did not survive the lift. I’m returning above it with the jaws open and shifting farther onto the rim."})
tool
executing move_to over 16 steps (1.6s)
step 241
assistant
agent noteThe pink bowl is now aligned with the jaw column. I’m lowering around its wall and compensating for the visible wrist tilt to improve contact.
move_to
right_x0.4300right_y0.2050right_z0.0400right_gripper0.8000right_pitch0.3500right_roll0.1500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2188, 0.7876, 0.6147, -0.363, -0.3668, -0.0784, 0.8461, 0.6239, 1.7725, 1.1862, -0.2306, 0.5156, 0.168, 0.7979] state[eef_state]: left_x=0.2953 left_y=0.0029 left_z=0.1963 left_yaw=0.109 left_pitch=0.0663 left_roll=0.1394 left_gripper=0.8461 right_x=0.4249 right_y=0.2029 right_z=0.1221 right_yaw=0.1008 right_pitch=-0.1409 right_roll=-0.2335 right_gripper=0.7979 state[joint_eff]: [0.0068, -1.4974, 7.1043, 1.7118, -0.1245, -0.0464, -0.0122, -0.2256, -10.8923, 7.0769, 1.9756, 0.2564, 0.0317, -0.0806] camera 'top_cam' (step 241): [image omitted: streamed camera frame] camera 'left_cam' (step 241): [image omitted: streamed camera frame] camera 'right_cam' (step 241): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.205,"right_z":0.04,"right_gripper":0.8,"right_pitch":0.35,"right_roll":0.15},"note":"The pink bowl is now aligned with the jaw column. I’m lowering around its wall and compensating for the visible wrist tilt to improve contact."})
tool
executing move_to over 17 steps (1.7s)
step 258
assistant
agent noteOne finger is inside the pink bowl and the other is outside its wall. I’m closing fully on this better-centered rim position.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2188, 0.7895, 0.6147, -0.363, -0.3668, -0.0784, 0.8461, 0.5827, 2.1208, 0.6735, 1.1801, 0.4095, 0.2157, 0.7995] state[eef_state]: left_x=0.2954 left_y=0.0029 left_z=0.1958 left_yaw=0.109 left_pitch=0.0645 left_roll=0.1401 left_gripper=0.8461 right_x=0.4307 right_y=0.2039 right_z=0.0403 right_yaw=0.0987 right_pitch=0.3188 right_roll=0.121 right_gripper=0.7995 state[joint_eff]: [-0.0205, -1.347, 7.3504, 1.7167, -0.1832, -0.0513, -0.0122, -0.253, -7.747, 2.9197, 1.2821, 0.0073, -0.0171, -0.0708] camera 'top_cam' (step 258): [image omitted: streamed camera frame] camera 'left_cam' (step 258): [image omitted: streamed camera frame] camera 'right_cam' (step 258): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"One finger is inside the pink bowl and the other is outside its wall. I’m closing fully on this better-centered rim position."})
tool
executing move_to over 8 steps (0.8s)
step 266
assistant
agent noteThe close pushed the bowls farther away instead of securing the rim. They are now beyond the reliable low-height grasping reach, so I’m withdrawing both arms rather than risk pushing them farther.
move_to
right_x0.2950right_y0.0000right_z0.2200right_gripper1.0000right_pitch0.0000right_roll0.0000left_x0.2950left_y0.0000left_z0.2200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2192, 0.7933, 0.6147, -0.363, -0.3668, -0.078, 0.8461, 0.5819, 2.1246, 0.6727, 1.1873, 0.4042, 0.2138, 0.0088] state[eef_state]: left_x=0.2957 left_y=0.0027 left_z=0.1947 left_yaw=0.1083 left_pitch=0.0608 left_roll=0.1416 left_gripper=0.8461 right_x=0.4306 right_y=0.2045 right_z=0.0398 right_yaw=0.1033 right_pitch=0.3206 right_roll=0.1217 right_gripper=0.0088 state[joint_eff]: [-0.0068, -1.3607, 7.159, 1.7558, -0.1636, -0.0073, -0.0122, -0.0752, -9.2923, 3.6718, 1.9267, 0.022, -0.0562, 0.5201] approver: 8 step(s) modified (delta_clamped ×8). camera 'top_cam' (step 266): [image omitted: streamed camera frame] camera 'left_cam' (step 266): [image omitted: streamed camera frame] camera 'right_cam' (step 266): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.295,"right_y":0,"right_z":0.22,"right_gripper":1,"right_pitch":0,"right_roll":0,"left_x":0.295,"left_y":0,"left_z":0.22},"note":"The close pushed the bowls farther away instead of securing the rim. They are now beyond the reliable low-height grasping reach, so I’m withdrawing both arms rather than risk pushing them farther."})
tool
executing move_to over 18 steps (1.8s)
step 284
assistant
agent noteI could not complete the three-bowl stack. The remaining pink bowl slipped and moved too far forward for a reliable low-height grasp. Both arms are now withdrawn safely.
give_up
hindsightThese bowls have very thin, slippery rims: jaw opening alone was not a reliable grasp check. Verify that the bowl follows a small lift and a small sideways motion before transport. Repeated near-edge closes can eject a bowl a substantial distance; use a higher, well-centered rim grasp and remeasure after any slide. The first two bowls appeared nested, but the third moved beyond reliable table-level reach.
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2359, 0.8051, 0.6827, -0.458, -0.3676, -0.0792, 0.8461, -0.0975, 0.8356, 0.725, -0.429, -0.1154, -0.0872, 0.9975] state[eef_state]: left_x=0.2919 left_y=-0.0012 left_z=0.2033 left_yaw=0.0922 left_pitch=0.0242 left_roll=0.1536 left_gripper=0.8461 right_x=0.3048 right_y=-0.0058 right_z=0.2144 right_yaw=0.046 right_pitch=0.031 right_roll=-0.0044 right_gripper=0.9975 state[joint_eff]: [-0.4991, -1.0735, 10.2085, 1.7216, -0.2857, -0.1734, -0.0122, -0.0342, -1.9897, 9.388, 1.6484, -0.2613, -0.0366, -0.0904] camera 'top_cam' (step 284): [image omitted: streamed camera frame] camera 'left_cam' (step 284): [image omitted: streamed camera frame] camera 'right_cam' (step 284): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I could not complete the three-bowl stack. The remaining pink bowl slipped and moved too far forward for a reliable low-height grasp. Both arms are now withdrawn safely.","hindsight":"These bowls have very thin, slippery rims: jaw opening alone was not a reliable grasp check. Verify that the bowl follows a small lift and a small sideways motion before transport. Repeated near-edge closes can eject a bowl a substantial distance; use a higher, well-centered rim grasp and remeasure after any slide. The first two bowls appeared nested, but the third moved beyond reliable table-level reach."})
tool
give_up: I could not complete the three-bowl stack. The remaining pink bowl slipped and moved too far forward for a reliable low-height grasp. Both arms are now withdrawn safely.
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 · 6.796 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]: [-0.0196, 0.7944, 0.6048, -0.3809, -0.0227, -0.0406, 0.9996, -0.0181, 0.7929, 0.6037, -0.3775, -0.0097, -0.0196, 0.9988]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1801 left_yaw=-0.0002 left_pitch=-0.0004 left_roll=0.0003 left_gripper=0.9996 right_x=0.295 right_y=-0.0 right_z=0.1806 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9988\nstate[joint_eff]: [-0.4308, -1.4701, 10.1265, 1.7753, -0.0464, 0.2808, -0.0611, -0.8, -1.2923, 10.1128, 1.9219, -0.1245, 0.022, -0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:365f278a2d6f505cc57ec4ff26c5c512c26c5c475bb19408455bcfb840491845",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:096c75088bb36305aabc63288d273e01301e3d4fb5121c3b2f777aa5d97619d6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7546c89fea0bfc709c196b27d9604c6c23deaa0889a2ab885722547b76033c56",
      "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 · 8.723 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtJROkDoxHO8ovcw2MMdmCWKwEbN8kw0og9QJJjZlnYJkk3i8aaInKNGetcasu34xcbEpk6h7ognEo6Rwc6kezwaCyQhuAZ5xrhBRsdYLmBSZhXSc19lz1vWVf8nUjWeb4mQ6w6NQZtxklcQmDbRLQ0eX_l0tyembb4ULM8x2wKciwd3PxauVojvZeslbERdAvpFDPnDAaJRMi-RD2PDuDptsg7SeDeHbk59OqCWTl5ieDYI7H6kv35hVupPj1l7GjwxNGUqg8YLDFJlU4WvonwHF8Y-LeHwR2gR-WsmsEOZCSArRqOB-lrM8flZMSIvF7dhWEWdRlqgAI4dZhDOlVb5eAYvvuioGN-KYLajsEWiXuyJVKkg4lTklR0aA9zAfufH4TuA17GLjJYdOmf7LqkLghsy4VvRsj_LtDzJGtQ4YZi7DVWXhbsSWNin9e8l2a6PGauzY7_lvWaGhrTRA0kb_lw9zZBlwxWq5MRrm7KSy2m--gFr_K2i4PFAXyHUZ7Sllbfokh8nDud6uznzlrtgauYvM1g7ZZHD3ZxHuH8L565slo57dNbL90kZX27QZS_fHOpNj2KbDL6SVJdVk47sk-Qmjijd_uyoAj_vpEBRl0gBvPvociv-n5xoo5rT0ay4WZBeTA2Wr2Gt4ymaOWlJiQ1dOWKjzGlPmJUJ_3acyiKS8S-bVyhFdroERrKJGCJIJGlrADo-kV3rj5kwgCobf7aBCM6xBDkHfrOvBX6mpKobf6NlReT78hAKxqg717jXc6JHRPSsAmq4FanKVHtufT1dYg3LdkMJuCcgFvoLdyYJTj85NKA-SMFuhqUNWv9tbl30pzl2OfAiqCLBpOEoHYb0cTFt0Kn-ob3UYFeeEqrs-Hww9KYL7bjis4HSx85iqXjxUXohyXfPSpqgvYXZT5IcY6FySmV43l2ZD90-wAi5PutPH1xgrfcC3kstDaudeW48BFIFhlzM9Qjky8CnIC22E7WAWYGH9YuXI8u1_Q1fQY6G2tJFWgraYVgRZLBnmbKBOrcNK1sd1VEMc7BxeRcinhJaoWdkNvKBS0GEHLyuF-72DEaobIEC58gpCSZk5emNSd70gla7f_8Ct5x7Zdv6zntfc4TMgxlwb3w5h7V6eMkG_CltLLLeCweTl8wmyNRj6zRS3c5dxHIhqW2RztKl2a6rDdjDujn3X93FgUJK-P4PqXGIfMkBUFUIdVZO6DMre4XQN9ULZ1ocszVo3K1iPm8shGSVm1i3HLwINlElhsZDq1sGeD5GneFWJphOJpf8lq3zcHNkFwzdehPSw103FMbUGLShIGXnaOAxQ5eRztcJcd8-YTJksjxInRY4qJnyARdnPboeo73j3mdNcGPMUtL_85B94rvl-04BfgEKI6iZyd381oHDZNAypR08_zu65sd4vpbwMVXZ6GzRsUoZ5f7h13KqnlpDYp3qvgn20QZYYYizNblKZ66zC8lxDlm_c8YnsnjbtMiEeoXUVYcc_ht142lwfScD12fWfDLLdr4rZC2r85LxZRCP3QI3I0YaSYMqcXNwfaV9yK2xG2JAhmEEWkmFfs9pjty5oddWTDqy5IXXvEZdDlWCGNIkTK8iBKg_D2RMR8L4tjK5MlxjVJsckmbqAl7o0VwBV4tFAmDPcWIkAzXLadGyBXqZdxOAPbo-6PHVAnRPf2NJmSq5YpxF2uAwwy_kPuVpYe0hQYnxZJLRkosXuco3vara_YZkgb7OqMKIyqU9HIGG84MF8vQ9w1WzSs-VFDJ_x1t8UuyqmzGEaRtVy_QeASyMumFj3dalapi8aoMnj8mbzolyMmUb8LvLXNuPg8LjAgBGE3Gav5T537ur-ylY7r5edh5v3s7lc9KaE_lg8KvQmahRanBYF7lXEzleV0a0aGHT9GELuOQ9BzwVIMkKCchMp0whYhV_18ali-FNPeQZ-9fQhx1e-yQ8RQdj2Tnw9GwjkUYWzBTXjwmginflVRs79Y5nYsWC0-UtyYaRK5jItbH3vkdsPPC_gP_wgDWVvQeTGTW_dzHV1VHq5B3dIezJ0EjFBIuMUe-QDTnvnLYkykmZ53bL826F_Rc6kmp6TBplAaI75uGSqhcNUF-Jtq-oILfAzbQhn8ZPtRs3HdpXBXlEOkREdDlZKqJyIA1y7pjF_dsSRQt354lGNMAHgW1YKrFdaVaC5KR6oc6WIuIK1Ps86ZrB2PHrBfWjFrY13Jqfh-ZmwUASaUqqPgtRTwmpynlh1cNP9x-Vu6Z97SQO1wzfSraxa44uHV-qCIMHZwRrLWEbFFjrGmy5bHNari1hkrSPf34FnFKQ6vZSmcXXy48CuNllRoLHztlFPkWItKQYwLiHEOnl9fr5wWwz6P8CTU-B3W399XSFbwmzlNO8vBA==",
  "id": "rs_0107ea2fef198293016ab49449522487d0a4cff985fbc7d243",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.14,\"left_z\":0.17,\"left_gripper\":1,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.18},\"note\":\"There are three upright bowls in a row. I’ll take the left bowl by its rim and place it into the middle bowl, then add the right bowl.\"}",
  "call_id": "call_dpWV6Y0YU5LdTA9uWuxWhHrs",
  "id": "fc_0107ea2fef198293016ab4944d476c87d080b082e6271da12b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dpWV6Y0YU5LdTA9uWuxWhHrs",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5724, 1.3369, 0.8215, -0.2012, -0.453, -0.3576, 0.9996, -0.02, 0.7967, 0.601, -0.3866, -0.0154, -0.02, 0.9988]\nstate[eef_state]: left_x=0.3584 left_y=-0.1347 left_z=0.1501 left_yaw=-0.0244 left_pitch=-0.0623 left_roll=0.0263 left_gripper=0.9996 right_x=0.2937 right_y=0.0004 right_z=0.1765 right_yaw=0.0031 right_pitch=-0.0156 right_roll=0.0031 right_gripper=0.9988\nstate[joint_eff]: [-0.3214, -5.3812, 9.3607, 1.8095, -0.3883, 0.0855, -0.0611, -0.0342, -1.5521, 7.0769, 1.8339, 0.0269, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe1801f30ffb448d34179732e6977d0c403dea866f81f3ba2954682a02e710ea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6f819faf533d7ead994a699beb29a00a13b0425917451aec2d39cb2f794ab99",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de50ccd4dec5a579dd76c91945e2633d837a148e02dbe4fb9aecc60d9fcdd08c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 2 attempt 0 · /responses · status 200 · 4.314 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]: [-0.0196, 0.7944, 0.6048, -0.3809, -0.0227, -0.0406, 0.9996, -0.0181, 0.7929, 0.6037, -0.3775, -0.0097, -0.0196, 0.9988]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1801 left_yaw=-0.0002 left_pitch=-0.0004 left_roll=0.0003 left_gripper=0.9996 right_x=0.295 right_y=-0.0 right_z=0.1806 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9988\nstate[joint_eff]: [-0.4308, -1.4701, 10.1265, 1.7753, -0.0464, 0.2808, -0.0611, -0.8, -1.2923, 10.1128, 1.9219, -0.1245, 0.022, -0.1343]",
      "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]: [-0.5724, 1.3369, 0.8215, -0.2012, -0.453, -0.3576, 0.9996, -0.02, 0.7967, 0.601, -0.3866, -0.0154, -0.02, 0.9988]\nstate[eef_state]: left_x=0.3584 left_y=-0.1347 left_z=0.1501 left_yaw=-0.0244 left_pitch=-0.0623 left_roll=0.0263 left_gripper=0.9996 right_x=0.2937 right_y=0.0004 right_z=0.1765 right_yaw=0.0031 right_pitch=-0.0156 right_roll=0.0031 right_gripper=0.9988\nstate[joint_eff]: [-0.3214, -5.3812, 9.3607, 1.8095, -0.3883, 0.0855, -0.0611, -0.0342, -1.5521, 7.0769, 1.8339, 0.0269, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe1801f30ffb448d34179732e6977d0c403dea866f81f3ba2954682a02e710ea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6f819faf533d7ead994a699beb29a00a13b0425917451aec2d39cb2f794ab99",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de50ccd4dec5a579dd76c91945e2633d837a148e02dbe4fb9aecc60d9fcdd08c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJRY5ClmZSBBNTPT5qqXEZzVcx8iLeFttl1HXyjhb3CROUaZrP3MfF6PNaeCu48R5AAE5D0xNst3yeUXHp3SI80OTBbsRlEog2Ij-AjQMiA-KspyYjnti_7UrOo6cFjV1jGrYtytHSLDfc0BtashBIVepLDnlXONCqip8XvP8dWKOb6TyN5k5gABeR5VGJiPZqBrKoy5b_OJn7TZmgAWkXOC462uv8JFGzIz5twcoBkN8iepXnZtZw7ojPh5pIppSYtw0sIhiem2oFMnaSVTyAwLAl5a5fvW3zYMVZla2nffB_8DOCfZpz6jdJe2tU3NrmqCUgb8AD8uzrGFMbTQzHTPrqh1reDN_P81Xxke_mmJSd14BddMeonJA5OOd1S8c18WXbv_A1Nn8AbN8oUpwmdmjvWGyQ43ZFTWj24ENop7-b_2ueWiPkYIQoAYL38uIqo3hNoPtZfleUnfsyXgx8i35HtSPMezWs89WypnEv3jgab5pDot5ZJci0dFhApNQSaqPH68hB1ekkRFb2gYTkcdVU6aFDEUvD4020ZEE0BUDYjE1eooT8kjMLbgoL52DgNUxCLz5q6tENATxJ6ozcAm4Uj7d7KJcy2dnsSF7wiFktZDPURo79jJM7KbyT7jvdm1GmFP-SVPi6Sp63O8sM70S-pd7LEUxX5RDLJfJ5BS1GHVMfEPxDoeLGDx2quFF3UNDixqmuPuMDCvZHaQ6gGijh6vQV4Ut0UOKa4ZIIegimVjuJBN2kxGNRCxw_SQXNWAukRKy0_YCBuguW9H2ybJZudjxJItdugHYYnCPHhSCw_l2rk36TLfbqBT0EJV3iiErGDM5K3OO7-YrQ56MRqTSIvl3KbASQRKh3y157ephhdyMEVgxwbfO6f7dRhq4YmbZQHgzHPKZIQLj1UO7xVxsohY00cETdiIFb_TUX3QLXt2auFvUFoPsNFwST4tEL20zeFdZGh_1qWafH4TdCDzkShopZdRhISGSmEKp8BJOQ2PfOadvidFPn-27vfDsBhFyd4y9oGGfxqjbMbnuQyRoXEjmIcnIyTgvG42gmssA97-QdwLNnDKb4cYF2p3DAk27xlfUTJqaEN2oFfKhhIvd1OH-98lFsoUqhB53PWy6Ooqgwoz_ggO5RmqR0WOpLxY7edOWI99gjKbDn9dFAIy4JTkDrr9lgAb7SpCw8evsLY3ZB5grF9Y9JVh3le98obgJ_GVTa9vSk-v8F_Tms2zo2qU5p5lBfGbYwzdaBGjubDRyMdv_jQKgdvMOb3PUWGqn3zXcbNF89vzuJMubjqKuBW_Rtm5HU2Ujm5VxpQN4R7uXdjrCkdL5Rur4D4y6FarEA3DTPCDUoQN3Yxt0LxQQ8lplcbELVzMOxbsV1JkBVzkjZk8D9I_pFpt25IRKoBW0-bqoiSSf6ys7fIO2NBHLoTgfhEwhipgA0M6WFPnleN0s9FiHw76cYT7jN4S2o1PdIUsjYoX1Pqhbbtw28JkB-GTjE97X-RKzHUnchSrkq_G1U3s3XmV_NUXED5uzjsYaoO0rpPfvJD19AyUOIjXVYOB6RWvf2tsxP1bvc27qna7WZhaf8ZvgHRe30e2ua6CJndCqh0jF4so8rjmxjBoBmc8KTdcUMKvKM0GqNLkLX9UCzPpd3Yu_LwK5cPmi62U1qXruHzUzCFP0hnHxK3yDuMDAaUMRhCJrtHHANPIilGC5czvq3wbfQTbN33ksuvYoi_PhW91gWViCeBAMDgEbt3aNRzl0KA_hHx6KBk4Q0Kes1RycCb8nvQSco1uUGsFqoYAivuCQ3IlqU_yN3qjAOdG1o8BzBpDGtW0eJsmBiJLtzKV4he_61YDHM99IqcsmkO51NOtOTAYelUUpqadCCpgg3J_VKRzoGFUqhMDscFm4eWsAM9Kjlf5PcypF2FWXzW5x7kO15NuqQhbyT5FUJfCL_7dHvIY5l9dDQqdKVtnUY7yZvHFkSY6t8tP6Awb334O4nTFgTsuTxy2OWJ7Y4llmaxR1OKyT5P3tRZGM5QJBojDI79LSVChMb5Tx5_RXJtRbehSzdN30CMC18IjWi2h9joEuKK9vOsCbWA8nQDyajrd9Ty80BPKsUCBarXrX-WIiNDmaqa6tVkxgUW6_Xzkl2EcDBmftiNpjead-acBdTLVmKbukPivZpWBtOJBabRaI51o_oaEOsjPKpGzXy6UsSM5TVRrCsMfmPQo3VMFardYIqsSU3nU0s16yYAW8jzeb5B8Owaq_W9ooP_GfdpRLqGBbrtSdIR3_tAkGjczMMtcWtZLA7Z_FLE2D7XDoQR1kdQiXoFxxv1RW1Cj6Ir3gV8Z4Kl0uWiC6Im6jC-W0P8C5vtw-_zIJtHDnC_3OFDeJrqShYy6dnpK-JE8aMUiR4_Vgl_TU6Cv135Uc2Wdqrrsb-lTXo2jmR0alCYHXEm_x1RyXtYXoEHPBt1Pf_w-XqrYZyoRaSLs76LtTejK9cNzTehhVakKQ5M1en_Jpi8zrGcBjPwm7lQKCd83u1R7E8iKWVGy0RTygr4WWLdI4pbtURq_bFqUXCkJzoyOJUlDbBVPnY2OIELfC3_Yf00kdE9bkCmreyUd5eWj3BZb2wcbdB3y9XF8vZQVdAvOxtobB9GgBNND96fibSwwATu1XlxGdZRrvqd077ZodaJgYQwcHQuuweUGu2H1072OgnEf_tVl8RLF2h-FOc5QJdSfGMe6Ql-46MvhOfAxk9ZgmnM080ivO2E0LP8lPdplGANQSPt4M2KcBECrNoRurJ_GK1LeECV-Yx1sRTZC3-b4i9YOOZRtf0XlnnR6qj7Zcumod254APSxIBzLJjj-6DPhR-iSZIpoPjKMOmtTOGMq5TguypOo4U2HWm2iN2sRePjSVeZ0uyrgDYPv9dVaGOkVWXk66CZHdFLofGqSaqL3gsVzFSpwX50nvTgEs0il0-31cDsiHsztvbNE0yfBJorkJu9TGRu-xpAijnsKHCwvWaZzCgAlqQFodigD0CT5LtvoAmvHzATknAk34vZpPHvNqj1JGlsGFchKDQXJPwz8_JwEksZqI-YxGsVuUEStkniZG1myHGQBcwwpbQjzzqkcg3YyBpRV0ALiHd4Uie-vbzgLm87o-WjikR3xYWGSXFIIKP_czC-OYLav4nXxYRz4-xcVpLCFxJ5umNG2mms=",
  "id": "rs_0107ea2fef198293016ab49450f31487d0b3d75a44e838df54",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.075,\"left_z\":0.075,\"left_gripper\":0.65},\"note\":\"The left bowl is centered in the wrist view, with its rim clearly visible. I’m shifting toward its left rim and lowering with the jaws partly open so one finger can go inside and one outside.\"}",
  "call_id": "call_S6fRu2XS4027WWyC6Rxi5jik",
  "id": "fc_0107ea2fef198293016ab494577ed087d0b5d1d04e8bc90629",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_S6fRu2XS4027WWyC6Rxi5jik",
  "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]: [-0.3508, 1.4158, 0.5594, 0.1204, -0.3077, -0.234, 0.6529, -0.02, 0.7975, 0.5999, -0.3893, -0.0158, -0.02, 0.9988]\nstate[eef_state]: left_x=0.3595 left_y=-0.0707 left_z=0.0671 left_yaw=0.0142 left_pitch=-0.1254 left_roll=0.0457 left_gripper=0.6529 right_x=0.2932 right_y=0.0005 right_z=0.1752 right_yaw=0.0035 right_pitch=-0.0201 right_roll=0.0034 right_gripper=0.9988\nstate[joint_eff]: [0.253, -5.0393, 6.1333, 1.8437, -0.0366, -0.0415, 0.0317, -0.1026, -1.347, 7.1043, 1.7314, -0.0171, -0.0317, -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:4c054004c4931ddf11a40018c4448825960d53efc043d70cc0ce9bbf564ac86b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04d5bdef07eaeb540733ec7d4cd0828965ca60354c34a35becc3c5e59a138b01",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc7e5acec7c4530ded5c5bc619cd00254f4fc1f5caffac776c3194b590b25d09",
      "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 · 7.349 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]: [-0.5724, 1.3369, 0.8215, -0.2012, -0.453, -0.3576, 0.9996, -0.02, 0.7967, 0.601, -0.3866, -0.0154, -0.02, 0.9988]\nstate[eef_state]: left_x=0.3584 left_y=-0.1347 left_z=0.1501 left_yaw=-0.0244 left_pitch=-0.0623 left_roll=0.0263 left_gripper=0.9996 right_x=0.2937 right_y=0.0004 right_z=0.1765 right_yaw=0.0031 right_pitch=-0.0156 right_roll=0.0031 right_gripper=0.9988\nstate[joint_eff]: [-0.3214, -5.3812, 9.3607, 1.8095, -0.3883, 0.0855, -0.0611, -0.0342, -1.5521, 7.0769, 1.8339, 0.0269, -0.0171, -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]: [-0.3508, 1.4158, 0.5594, 0.1204, -0.3077, -0.234, 0.6529, -0.02, 0.7975, 0.5999, -0.3893, -0.0158, -0.02, 0.9988]\nstate[eef_state]: left_x=0.3595 left_y=-0.0707 left_z=0.0671 left_yaw=0.0142 left_pitch=-0.1254 left_roll=0.0457 left_gripper=0.6529 right_x=0.2932 right_y=0.0005 right_z=0.1752 right_yaw=0.0035 right_pitch=-0.0201 right_roll=0.0034 right_gripper=0.9988\nstate[joint_eff]: [0.253, -5.0393, 6.1333, 1.8437, -0.0366, -0.0415, 0.0317, -0.1026, -1.347, 7.1043, 1.7314, -0.0171, -0.0317, -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,$blob:4c054004c4931ddf11a40018c4448825960d53efc043d70cc0ce9bbf564ac86b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04d5bdef07eaeb540733ec7d4cd0828965ca60354c34a35becc3c5e59a138b01",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc7e5acec7c4530ded5c5bc619cd00254f4fc1f5caffac776c3194b590b25d09",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJRdSAgQlON285TVfhJsv01YHLX1_C3PuRz_oCFUjbJvWT_HBKBaJvrv68bRqB0-AdbF73HaF6Loishogd5GuubFR4lz1lMjNXctfIRJ_hfGSvpg8OC1wrHjHXIetZLV-ud8Hxstb85wXsbkgt8z_JSv1rlmLQa65Jee2RwDB5dQ8KjH__DwrQti7VsdfdV0HoRwKEmro85ZWf1ujVHD937Fp2hxMkQEMjwJiPVb0kxFwO4NsFby7Fvm8lSmnmCzrcMpDYLQ02bGzI8GtM_QRrIBZsG0lK-XMC2IVT8H7jdzuAADP13bihZktCNjTf4JqMqUvS5dRSDeWW-wEjRKgBnnh5C8YbaQlhs2RotHkRx1JGKGzl7TAKk3-sK-Nfdp68vIlufGj_lekORqgeaxOhuBc7_lDEtXMypdHuFgInl37whg_XhcwX4FXjk56lWGqUOcldGeHu8ilX-Y4x3y0pR2ohq_3cht851bPRpfX-zsaOzwtVq2G-V3Rzht6NCEmREexcjrLK6Kj0bWXKVAN1HxsKB2LtxKaV0cL2-S1SEYxPmpNOYOW_OhUCmDpvG4TOwTUbAouWmchj6N1I5LtXSBqOlYfU_fhltOv-JbuoXhCce1aohP47-9PNpNjxrhOGKP1oRV32H52F5VoZu6X9-TQPC4xFXZ8qg3z0JggfBNgvTM4YqTsXrIbaGIIlGuSKEWJJygg5KU_IuePBnhk9oKMcqpmzqEHgqnNDRZR9tdb9cx7LOtc01KyWcxbFQhc-RrO-Ne5OFCrBl4zZea1fERDKlAHDzTsFQFweInXYR1I7-9dH7ARq-J2GvP_pu96JMeaDP-ixFtq3keZH71a5Fm7p2AOGQ_d0UxgxbjdAbYQMvULEV71L6_vhGPnIb8wjuiR1BvPi276LgNsbzFUSoxKXD_Ryd73cuRHEpnY-zAZ9NPDTYejEciXqnBmOMsLZpwQWGf2G9fkZhJyfC04ATUecGWxDcIkSMWrOsRZXrHePZQQvuegB856oaMzn1xtWLmGbHxNNecwK3i0HW09nQG_h_FS0TH5Unc7_BjT34ZqK9baMsMjZ1a6ibYUA3osxLW1Lw444Pdt25b32SQ7YHFQSm7vrzWk29ZJGm6wykOSG5uCwTfJfn0XX_PAf15keCdpFCphTakYeV3CnKvR8XqwlT6SxusYt1hktT4Wao5c9V046ZDAKEWVO_8UxPDG_vZPkPgTxigQXhiKpqb9UWmUneoSGB3lqmXHW6TAoGK-4pshdR3-eLgLowqyfbZ9P5YqAWV3Itr-WWZMRLc9de4GgZv30cdLIq_enCekWECCWuBl9dk18A_LBvt9-fw7XPrwAnNhMppNem6sJ61n4wm6RxkcO5Wn_EEP2p25IDpCDJc8ulpwftf1xflm-Wl8n38r3AMRPZ89RCLACltE634maCKSM7U2fffbuzFmk6EqhS2KWyMSnXIP-F7fQlEjifCzvmhAIydgfPCG-Pi2k0taNFxp4x_Bv8eGYkOCa4FjieMHRBrr6z2EHqulJ6YvOf-0g0KFEv43MirFZyhlEjm-msl8wHs1X4DS7zq6e-mf6U70gF_FWg-DGaw9rTep6cqfmS_KhzZOsCHG_OOVLimm5_eey8vbiH4e-kKTvLR6mN7_bz8spwtVutj3a2z7dr4",
  "id": "rs_0107ea2fef198293016ab4945a563887d0b49464feb1799d4f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_y\":-0.095,\"left_z\":0.035,\"left_gripper\":0.65},\"note\":\"The bowl’s left rim is just inside the open jaws in the wrist view. I’m making a small forward and sideways correction, then lowering to engage the wall below the rim.\"}",
  "call_id": "call_PlJZnIKJPWCcXiWzzkG1k6ia",
  "id": "fc_0107ea2fef198293016ab4945c1a7487d085af426b8e7f879b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PlJZnIKJPWCcXiWzzkG1k6ia",
  "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]: [-0.3985, 1.6306, 0.5919, 0.2424, -0.3225, -0.2546, 0.6512, -0.02, 0.8005, 0.5995, -0.3935, -0.0162, -0.02, 0.9988]\nstate[eef_state]: left_x=0.3715 left_y=-0.0918 left_z=0.0251 left_yaw=-0.0067 left_pitch=-0.1769 left_roll=0.0622 left_gripper=0.6512 right_x=0.2928 right_y=0.0006 right_z=0.1733 right_yaw=0.0038 right_pitch=-0.0278 right_roll=0.0038 right_gripper=0.9988\nstate[joint_eff]: [0.4171, -8.0342, 7.5145, 1.8535, -0.4225, -0.1197, 0.105, -0.1846, -1.4701, 7.1179, 1.7509, -0.0708, -0.0317, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8997590eca916727657695c4077d3e765c742b2214a808d085ffa91f94a45061",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffc61fa4a5af69e3c4d9fa5c15f6e1e529cb0e5adab1d298fe2f5d96e12f20d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5269239b0571ae456284cb394f44dde0c82e789732842ef307899520d9d55bc4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 4 attempt 0 · /responses · status 200 · 4.721 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]: [-0.0196, 0.7944, 0.6048, -0.3809, -0.0227, -0.0406, 0.9996, -0.0181, 0.7929, 0.6037, -0.3775, -0.0097, -0.0196, 0.9988]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1801 left_yaw=-0.0002 left_pitch=-0.0004 left_roll=0.0003 left_gripper=0.9996 right_x=0.295 right_y=-0.0 right_z=0.1806 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9988\nstate[joint_eff]: [-0.4308, -1.4701, 10.1265, 1.7753, -0.0464, 0.2808, -0.0611, -0.8, -1.2923, 10.1128, 1.9219, -0.1245, 0.022, -0.1343]",
      "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]: [-0.3508, 1.4158, 0.5594, 0.1204, -0.3077, -0.234, 0.6529, -0.02, 0.7975, 0.5999, -0.3893, -0.0158, -0.02, 0.9988]\nstate[eef_state]: left_x=0.3595 left_y=-0.0707 left_z=0.0671 left_yaw=0.0142 left_pitch=-0.1254 left_roll=0.0457 left_gripper=0.6529 right_x=0.2932 right_y=0.0005 right_z=0.1752 right_yaw=0.0035 right_pitch=-0.0201 right_roll=0.0034 right_gripper=0.9988\nstate[joint_eff]: [0.253, -5.0393, 6.1333, 1.8437, -0.0366, -0.0415, 0.0317, -0.1026, -1.347, 7.1043, 1.7314, -0.0171, -0.0317, -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]: [-0.3985, 1.6306, 0.5919, 0.2424, -0.3225, -0.2546, 0.6512, -0.02, 0.8005, 0.5995, -0.3935, -0.0162, -0.02, 0.9988]\nstate[eef_state]: left_x=0.3715 left_y=-0.0918 left_z=0.0251 left_yaw=-0.0067 left_pitch=-0.1769 left_roll=0.0622 left_gripper=0.6512 right_x=0.2928 right_y=0.0006 right_z=0.1733 right_yaw=0.0038 right_pitch=-0.0278 right_roll=0.0038 right_gripper=0.9988\nstate[joint_eff]: [0.4171, -8.0342, 7.5145, 1.8535, -0.4225, -0.1197, 0.105, -0.1846, -1.4701, 7.1179, 1.7509, -0.0708, -0.0317, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8997590eca916727657695c4077d3e765c742b2214a808d085ffa91f94a45061",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffc61fa4a5af69e3c4d9fa5c15f6e1e529cb0e5adab1d298fe2f5d96e12f20d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5269239b0571ae456284cb394f44dde0c82e789732842ef307899520d9d55bc4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJRkYPed4aGrHR4B6DOhzW7gFtf8a8vtxvoQsY3V4OmoRlociYYQ-V257qdK-lSXarD_rd6BIzDGNdQ7BGXekP29QDQO03fmOruB17V841KpRyAAqNIdVuUfbKWLaLJdW1AYAzzC1a9WaAJ4UUEpmSakk9xgVj64JPcaTl7hrre_XLxc7srH1bjjzh3nOnwWxonhGrM8I4g2Zo_TljQueqW8WGalaESp41HW7LoTiYvu0-luJrVlJTO9PkPZhB5wZGcLYF3gDzCr5g8sut4J5BG7N8O0pKMGBi78b4om98J6lj-TsEaZ8ODrNLQ-wUN0khXiuWYxxYdLFxYrk3wxfOc3Y_OfSw8wiiW5D4ZgihSlaqXqzRd3J8DJA6c9jJXY7xDo9vrhsedHZOuGRzgvBLqWMe5NP_0khDl6JjshBa21EF_KVCKf72VAaR0gyD5CxFsprdJsyxHMsG1plNjC4gbpdnt4_zJ_RNfV3YaGbqrsin1kkGQchHhTe4QOs5yH99qb2uvrGjWRZL3Klfa4E8PEaLgJMNajPxOXB1OwGRgpaBMErrfj9zdI7zCnRAhByjxjKocAgY5_sgensBbwfijhWfLpBx7zMOwDtoY3PIH9TXAf8d6YT2CGSnHW8O8Tw2HJGfKN03wSKX4vhfUcjLJc-WC18S33ociE9HmMsL1IOJar90QMhe_NxN77PXc1qqhhJNodowa-aVbdLAjLs_7yOUDMUeLfURCrVgU1jZcUYhXI5pUGeVD0DizIGJSsmgpD8GDrDQ88hbVOFt-nWefxxnYLd4eHnbu4RwDdxv1u5GJr6tCS5SGOM3LsiVOdXxwyZawnGIyjWP9M5iXv8QDIVM8pPQ05AG_oQkpfQm-uUBx6nsbRhaUMQRUHsb6VlY0314nTdpCNTZBXwRmshm3DXL-uiQW3fwKtO_nJCYG_dXnqphF6oyrIxlPcaRqgvjKcmKQbf6JJocmiDQjldB2YRSb7nEv5kjewyDXAm8OqGCTjTG_cHksCJvFa_eXw-_nrXKUZTlJk396fLtg7bSW4F4LeiP5xFKKPFS5tGhS0Es_CDQs_xBYdEol2YMQMjreW_1MpKzfltIc4yWCV3eGc5eJAfEKCQEfdq49oLOJnrmQmhALyssjxO8HDrUqvB9DOmuNmSvO1CuWgMBn2pKPcb95iSqMe5gXHghx_S0_rkpSidSrwsUMMriceYkQKXDm1IgLo8S73kenlAW_3jQz059zSh4R5NuApGR-8ZXK0S-y1UuAE7UbkqBq8ZjrfVcIxZpN3ksqTiUwPmZ-xEscHo2dHNprzQupNBEVRPV-uRg_8bbU-OAV42Wmq6rj80J_0TMD0wFpNNAGyhhxUVepHlp3mm3EW1q0nAGNo5iDHuffcCtRynbwsnXJUdLwCBqnUceR-TT0xx9G7iHoEVHgwLie3o07sjLYbwXZpnmd9oC2j0ZEtpANYZ-kQSbzcyN2CHBtJehwOoycl18EWHAyxv5mGQ6VOyF0R1k1ue9Z14ZO3M2L5lDobyFXgwtJCLpXSKdfsq8jkbRMKGwBxm-6ujxzICOxj1NzQrskD4aUsTAGkyfBmPOxTk-781OWZSwQhpSW5K384r_JFhb86nB6WbUFBVSlFjT03xf9UCbF8qF8dJUtEFiEwDZLfuVirHoUBwQfFTHEG-u0L9q_0rWC06eKtHzkBcuRIpvKWgxox1jtzttPjviktSDJWQfuxoEfU1zp48bwIbvxMpM4Yyaj8YXUQI8-ERA1QcPwWzyH8wzmZkMvyHvqvRayrPz7XUetpoQd1TN9oUns9GT4faB40cgPj5FVJ5aq-bBfoDhuPdKpDvRdRR7mqSHO56RldTL9F08zUdDeQUHxfEsZ1-uWzgqeD40Fl6xowl1nFHAVo3d2lL_t_eImuPXi95GqOqFtMyTUIJOqIsvMVexbPeQa56lpnMwT31ziUK1Ghg0cnBZK4GyTwp8gtQM-1wN6kq2dGqvu2Nz4vUJbJEi8w4qvhQ57qX7ie9WQaw1o2-yiazYg68OLg2j22fbww6a4KaGe2CpizaPZyCvM_59CIL-7V80RjFE_9iCUqJEfEvrnHZbvx4vxwPfN1Hrh_IWbcBBsSy2Z_fVjFM9hfbsLcIODdSXDthHMSOji1qcj-CvScRqNti0Q9_jYyTfKqILz38eSz0iX_MHZj08ow_dbVLmzQda1-ImOBGrfkSvJ6QPzq_nXol6wchl8_ZF4ZMtDTIDu8aHxdcDoPQUIq3dICxdAinFu3sP5dZEkkmj7uN3T4xxHUrzpH9cUJMupIspySB432xn4L6gpnsOxG0GMs__7lk9PMM6xdVm5lnp2RaL3Er8ZvT6ruHkFhGGGG_nJXD7aKJ35QrRE2KBgZhNdHRA-RNiRRPXgGKuQy0HCoD0bUIoG3sDUTXCnL2mbPwtCvPFv7pRrRjhkhlm0FfVkutuKkKoxdF1BbayXvmPdfef6bMnt4GuaNkbE7-xAM6SdCK9gSTgXET6r4wAjG4c7-mcT5KJqVjeu_rg4Y7Tud5UnTt2RsXeduFGqcoOd6O84b70SVcthFTWNDyzvvAs_5a3lbfjOB6EvcXVAnc3YJ9NiVZfg=",
  "id": "rs_0107ea2fef198293016ab4945ef42487d09686ec4fe57258e0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_y\":-0.065,\"left_z\":0.035,\"left_gripper\":0.8},\"note\":\"The close-up shows the rim slightly left of the jaw gap. I’m opening a little wider and shifting left by three centimeters to straddle the bowl wall rather than close inside the bowl.\"}",
  "call_id": "call_yQpXBITxN95hWSDVuRto3Mp7",
  "id": "fc_0107ea2fef198293016ab49463957887d08ef1fff53d566b5f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yQpXBITxN95hWSDVuRto3Mp7",
  "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]: [-0.4049, 1.6611, 0.5976, 0.2596, -0.3382, -0.2771, 0.7971, -0.02, 0.8024, 0.598, -0.3931, -0.0162, -0.02, 0.9988]\nstate[eef_state]: left_x=0.3734 left_y=-0.0924 left_z=0.0196 left_yaw=0.0124 left_pitch=-0.1786 left_roll=0.059 left_gripper=0.7971 right_x=0.2928 right_y=0.0006 right_z=0.1722 right_yaw=0.0038 right_pitch=-0.0308 right_roll=0.0039 right_gripper=0.9988\nstate[joint_eff]: [0.1436, -7.3504, 6.8308, 1.7265, -0.315, 0.0464, -0.1197, -0.0889, -1.265, 7.159, 1.746, -0.022, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:789827a1093a401ce288bb29bf4beaede3ca734902bb84477ed830aee6b68fac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:754250cd4dc9b4a5c6b569aea242f14db4117487453a9ec02cd44be7a9aae2be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f95b689d67b9c2cdb5e5da9cf33be67781ffd4ec272a93341f75b4d789b1be18",
      "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 · 7.525 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]: [-0.5724, 1.3369, 0.8215, -0.2012, -0.453, -0.3576, 0.9996, -0.02, 0.7967, 0.601, -0.3866, -0.0154, -0.02, 0.9988]\nstate[eef_state]: left_x=0.3584 left_y=-0.1347 left_z=0.1501 left_yaw=-0.0244 left_pitch=-0.0623 left_roll=0.0263 left_gripper=0.9996 right_x=0.2937 right_y=0.0004 right_z=0.1765 right_yaw=0.0031 right_pitch=-0.0156 right_roll=0.0031 right_gripper=0.9988\nstate[joint_eff]: [-0.3214, -5.3812, 9.3607, 1.8095, -0.3883, 0.0855, -0.0611, -0.0342, -1.5521, 7.0769, 1.8339, 0.0269, -0.0171, -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]: [-0.3985, 1.6306, 0.5919, 0.2424, -0.3225, -0.2546, 0.6512, -0.02, 0.8005, 0.5995, -0.3935, -0.0162, -0.02, 0.9988]\nstate[eef_state]: left_x=0.3715 left_y=-0.0918 left_z=0.0251 left_yaw=-0.0067 left_pitch=-0.1769 left_roll=0.0622 left_gripper=0.6512 right_x=0.2928 right_y=0.0006 right_z=0.1733 right_yaw=0.0038 right_pitch=-0.0278 right_roll=0.0038 right_gripper=0.9988\nstate[joint_eff]: [0.4171, -8.0342, 7.5145, 1.8535, -0.4225, -0.1197, 0.105, -0.1846, -1.4701, 7.1179, 1.7509, -0.0708, -0.0317, -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]: [-0.4049, 1.6611, 0.5976, 0.2596, -0.3382, -0.2771, 0.7971, -0.02, 0.8024, 0.598, -0.3931, -0.0162, -0.02, 0.9988]\nstate[eef_state]: left_x=0.3734 left_y=-0.0924 left_z=0.0196 left_yaw=0.0124 left_pitch=-0.1786 left_roll=0.059 left_gripper=0.7971 right_x=0.2928 right_y=0.0006 right_z=0.1722 right_yaw=0.0038 right_pitch=-0.0308 right_roll=0.0039 right_gripper=0.9988\nstate[joint_eff]: [0.1436, -7.3504, 6.8308, 1.7265, -0.315, 0.0464, -0.1197, -0.0889, -1.265, 7.159, 1.746, -0.022, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:789827a1093a401ce288bb29bf4beaede3ca734902bb84477ed830aee6b68fac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:754250cd4dc9b4a5c6b569aea242f14db4117487453a9ec02cd44be7a9aae2be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f95b689d67b9c2cdb5e5da9cf33be67781ffd4ec272a93341f75b4d789b1be18",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJRpVq7fscTP2bEefUBlzYZ2s2gNBfb3FbUYeE7V6xPbTju9N5vt1pI7xFnCWPzEN-h-MyWgBsdfQw29fT7Ep8VXn3uHEujC4voLqfST62Yz9aJ7pxEzQT4bYqp6TjA3fz7VhjcUFEHgazB8vOGBsHTo75Xdcu0XI_wlZ6PikL_cQISaFLrZm9H0J9zOMC_l-PLBKEC8_4kQNPJ2AdYioUo2iyDYdpRjThPl3ZxhzXMpdHmtBoOF4WQXB2NGMhm2FJOFWQD5ZPhpOAd4v-goIbkjC9W37lg-2BXi-s_XZAnep5cee0jU7IM6WFvv2qWow1Sk3kfiAlY2ntR6wzG3gQ-ICFlbQ-H6QuL4lTWKMeeMWrlqb0nT7rW50TVlADbdWypkqkeBGHMkgN6UICKRT5eZdUXVjrExdK-dTQ5J9aQy9PLfUwJ81GdT3eSOYLmNHo6ysPpeVxDBDFBjFLfthVvkRl9ngr2qQADEAB1zy6mr2lr4y9rxqUiMFLyqNofhF1IBztJqazjR1_iyGoxFH1y3hPl227-vkJjWgQBvzTfR5iO9E6Mh3SMD2ijfttRvqivdC59cBI8u4tm9v2ulVEVbEHUhuh3fvVxpJlfk0uDMN68MAXbaH9WEarq9K1bRmptpnoDPvbmCDCogEjf6oWl2j90Rq0cFQWS_mhO8GKgQdE4_nky7r-ldXu_dpi-WaUGgmLUDi7lT-VhWNlXf8S_6qjAEQeF6izVEkBIK5fZdllQEVNtYOsschmMsFNVHrZDe9SKKSVry0lqDboG6rO5DOhJXzTKJVk_MYwgupYBBI38h7XJGcVCWqm49kvfNrnoG99imZZMuB8kYrsR8uz0snDL4AedpYohEG5LqcB2oNSho95hHq1K0CRPfzy55htY118n920LikC1d-00qz6uRrx8VycdCSLISHS0mXlEhtYNWJHOauePgxayXu6EElumRjdc1oI37dsn7zd6ZbKxD6HoT9zvEL5LlvqqXodRHatcOTPXVefGTdhhs0NjBoTIP1eTIBlrItVWk4BzNKHQit2bb_51yY9rrijg8PTeXO3W_2JPpLhft3oL9FX_IDn_nmepsyv0QtQDcLfUXGgEbiBHzpU92KuB8ILPEuJCKVQ42vbZUtFdkdr2gb4Yzee-dgSqYCh9pc4ZyvwifwP_9IFBP-BJNDplLxYU6sRUqa9vwdjRe122Arx_8iO5D2lxkgtdJUQU68d3FW1ByFlAsSBpRUzCc0a8Urpg1UUF6DTRLigm4Jlxe8dJkhtyXu3cAPT6uae1H0vbSanIk39ezxuTifByoSbtF88xWItykpFU7tMYNZgfYp1JxhRVTm2oVHlBDYSo5_MDo_7BcICl9DFgS5cwNvDYCJtiEQYFFSR7DYwOSy-JkVLHFu2GHuhYesX6S9Sb1LaVKnv7PrcvOn37OTPzQKjQQXP8pRD_5RJApOKj58qPcKiKrw7dL8AwJngeKHUAViXik0mLdqKalwPQloMYsMoxqpBO7Hhy3Yv22y-0c3VqdEFKdcAoWdBsA-JZNtEthRFVJcZEeXDQaJpgkubGwVqjdbMjwYx3qIyeGl9AHdkn9MnnjyRov27GE2klnhgIPd8WVq6AAlQIhgOuWHJWqllMRUVuJbWzRb2hpMWvCFxx40vg9J0a89jD7mPZA4zt-6ms7FDY8YkmfTHfFLWSGPOpT197S8179wCs=",
  "id": "rs_0107ea2fef198293016ab494668da887d09f4a9c03fb514565",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_y\":-0.05,\"left_z\":0.125,\"left_pitch\":0.15,\"left_gripper\":0.8,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.18},\"note\":\"The sideways correction did not track, and the bowl shifted slightly, so a finger is likely contacting it. I’m lifting clear before repositioning over the rim.\"}",
  "call_id": "call_HApreJvWnTSFzbsrD2gDObjL",
  "id": "fc_0107ea2fef198293016ab49468be6087d0aee91e1562761d39",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HApreJvWnTSFzbsrD2gDObjL",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2745, 1.3445, 0.4953, 0.3672, -0.313, -0.1474, 0.7993, -0.0219, 0.8177, 0.5987, -0.4191, -0.0166, -0.0208, 0.9988]\nstate[eef_state]: left_x=0.3804 left_y=-0.0469 left_z=0.1148 left_yaw=0.0473 left_pitch=0.1126 left_roll=0.0358 left_gripper=0.7993 right_x=0.29 right_y=0.0002 right_z=0.1632 right_yaw=0.0027 right_pitch=-0.0712 right_roll=0.0045 right_gripper=0.9988\nstate[joint_eff]: [0.3214, -3.8906, 6.5846, 1.5995, 0.0464, 0.1343, -0.0855, -0.212, -1.1419, 9.8393, 1.7167, -0.0855, -0.0855, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da1019a8f311d1a486d9231e361f19915539a74623b087d57a58f118c70490bc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:615e6fa2b3e69ced31a68a657f8f591bcbcca5d30fe150ed7b20e9e0b495cd29",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2162702c1b8ea92566327d94c4702be4339f110a3427b2bb1fa00ef6ad4ccf2",
      "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 · 6.683 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]: [-0.3508, 1.4158, 0.5594, 0.1204, -0.3077, -0.234, 0.6529, -0.02, 0.7975, 0.5999, -0.3893, -0.0158, -0.02, 0.9988]\nstate[eef_state]: left_x=0.3595 left_y=-0.0707 left_z=0.0671 left_yaw=0.0142 left_pitch=-0.1254 left_roll=0.0457 left_gripper=0.6529 right_x=0.2932 right_y=0.0005 right_z=0.1752 right_yaw=0.0035 right_pitch=-0.0201 right_roll=0.0034 right_gripper=0.9988\nstate[joint_eff]: [0.253, -5.0393, 6.1333, 1.8437, -0.0366, -0.0415, 0.0317, -0.1026, -1.347, 7.1043, 1.7314, -0.0171, -0.0317, -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]: [-0.4049, 1.6611, 0.5976, 0.2596, -0.3382, -0.2771, 0.7971, -0.02, 0.8024, 0.598, -0.3931, -0.0162, -0.02, 0.9988]\nstate[eef_state]: left_x=0.3734 left_y=-0.0924 left_z=0.0196 left_yaw=0.0124 left_pitch=-0.1786 left_roll=0.059 left_gripper=0.7971 right_x=0.2928 right_y=0.0006 right_z=0.1722 right_yaw=0.0038 right_pitch=-0.0308 right_roll=0.0039 right_gripper=0.9988\nstate[joint_eff]: [0.1436, -7.3504, 6.8308, 1.7265, -0.315, 0.0464, -0.1197, -0.0889, -1.265, 7.159, 1.746, -0.022, -0.0269, -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]: [-0.2745, 1.3445, 0.4953, 0.3672, -0.313, -0.1474, 0.7993, -0.0219, 0.8177, 0.5987, -0.4191, -0.0166, -0.0208, 0.9988]\nstate[eef_state]: left_x=0.3804 left_y=-0.0469 left_z=0.1148 left_yaw=0.0473 left_pitch=0.1126 left_roll=0.0358 left_gripper=0.7993 right_x=0.29 right_y=0.0002 right_z=0.1632 right_yaw=0.0027 right_pitch=-0.0712 right_roll=0.0045 right_gripper=0.9988\nstate[joint_eff]: [0.3214, -3.8906, 6.5846, 1.5995, 0.0464, 0.1343, -0.0855, -0.212, -1.1419, 9.8393, 1.7167, -0.0855, -0.0855, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da1019a8f311d1a486d9231e361f19915539a74623b087d57a58f118c70490bc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:615e6fa2b3e69ced31a68a657f8f591bcbcca5d30fe150ed7b20e9e0b495cd29",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2162702c1b8ea92566327d94c4702be4339f110a3427b2bb1fa00ef6ad4ccf2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJRyE2D-xYGD6FkWkGQjpqD_IrwuVjyVqhA0Q4eNlYg12yKQrSQ7nQ2M6Bv-FXCFapjGZ8Ymf6q7bWKt2Rmv7QmBUi2ZW_qgFrx6AMVUCe75Jf76-QGngexPak3y55bam-GY9_DrQgKBCd0jQDgp5ppufYce81CxPobNjUUYE-yUdEFmHJSA9l1ngF327TZqZnwkqIhkmhlC1w9fhJyrTkTj4PxiEN5jkLr3cy3JqBuVl7xmrNkFIW2tCzQOq18XOn4kJrn4PLuyrbOLkzUiuX3PsU-3D1_BXxKfHd2o70XUaVaRK1ZCunQTvo-fufWmj36Fe7dlAwrcvRENyh-5ytFlmwAZIVboAn-gfOLBwyZmxTtlG7UgIjH5VDGraQ_NnJWgbGK0pGrYdiuiSz4u0olkWua1rHSKjzusb_19a--b0kp6Qrzcd-vNXHs7sbz-SVwMrjvTue0WS-a78JS0Zz3i_VlyQrSw7xoBjPOttxTGkvDZE4WrkOhMbwLJ3uaJowbI6qK2M81VE3HtVxVJfZfK_6zrKyrkKc0d-TTbjVmeeHlkbBVw1JBoQXvB_Y0TpZDPL1mNngFxN4P2i2N_jzC4g6m2kd6rfW-h97TYx952OpEgcXkNabaIXSGSn2JyNVjUwAIu5omZ_GdbpMi3TDStOjRX9aees8OPcqHUYuvc1YwfMQSq54SxtpaafIZYH1DjD2IQun8_IyX7xhsSXuFhQlJpSWnf4mjSk-cKAKKx7uryqdv_FD3LId_kRPxmyJZMFormFHc0eEejhxKCNd_fX7iKG_movTTRrWAqCmPp2UOo4sptiEefw1n3vcSbLW-fUEMq5FNTMbBkrmGbhH9kkPLKBBFm0hn1624FCptJmVfj9fmGfnC0aGL_KN1QIS-dJzp7qdID9vccus5Z8z2qYe2nyTE7xPBqj-VrGP43YIFiZqr4PxUkyxUNeuHV78asXneEGFEmz6Lpkr9h3ZtYcb03d3l0lIZAavmL1ns2NeAw5qU8prakJzJhmwM7pGYUZ1-2PuDyYmNQbzqyQT3HS-e3SpUBOMfSEmI_sT8OMsTHNFyMTS6aRdxGK-eZoGz6dkwmXA4NX52UncJ8g3jjvSIfUH_rRCV9W_fLIsngu0v5BnAp0645nUoYHN4kuZ49TwrnTsyXVuJeKE7-80-a7iDy1eqcdxMICwdY5j0KIVRhtSDFD3997-s8HQmH7xbUKoV3sS04brCQlLAmN7Yc4MzUuteb70dWcfI6eNXSn6w__0Z_--phIrIBDFtESzpO3kNdhRbeb1IDrt1J-QbDa1EntfnTq5RMdvxCeRwvOHSQduYgNP6taQHSW-lVIE-Zj2bYwf0c-dbnm-ZO3PtSKaOByy4vWU4rOTL_niywqDAJS18lhGxcw8UFJrHIaFUxjtsF52c9OcFumSGo5p-N2sCchq21RMAPO9vTSoasHkgoXsVHmqtbe6yUDHds0C-Dp72tufDFQr9ammEWqZuuRMTXIEff-DBrBIvFyxMB1N1r-YQ9p0CQ3sW2CMs8qSvp2RmhBcOUV9Jsn7u99oQrSvb4yJeoBx9YMi5L1MPg-TC43ongG7BqJPQW-5k-q-vxkRpkeSDXFp2pqwqqlcNQENkIanvHDVRC2_Lx_UcOMKqtH5K4VEucV4J0P3dPPgJmojeU4yNxqZ_e5kD3j0si484AqYgOxJ7mJcPcfetrc_uQRS3Dsheg9bL8wyioOqUqhmbTT4EiWo1TMk4Q67eHeUEZWNZYqlrMwRqGx1mvIT1QgQ0RwMVwYg2PYtVYLmL9EsmaL0YcAdSN-dvmrWELjD0aXm0aFNtDd_nhpz6vskW8rKm-224AfqcMIxdKJh7YgexL_odoL4F8jYNQiKYS1wR6kiVc_egR2jUPNy32skPt0oEdXiitY8ERDl3ISgBzh8CmT4-cYAfoV7zzk3WWl0Eu22YNJiWdy-RyWF0NyAXIuIqoNiuVVnWDE6WGi7Tf8_kHsZegV9dlSG9mTGe1LCk4CV7AXH33OWwG-T2A1Xp-XgYsSxUkRwVq4ErVdyeqzmhGVl9augbjW8VsWNRvffDJnu1cAMa0C87P6lozGdr0sFWzdwM3HaJysmeldCM-82F2RC7ob_5_VnFI-TM45ZYKqdE1-v-rT0-mscBgTxXPzrQplq_uUajudYrUEvW3yWoAPcinErtEB_ZL0DsDmL50_B8hcMQ_wRsqDYHtnGKa5tddWZVT8im5hRN83KB0EMOCVyuFQK-BqYaK_ENkfNoHGaXUKblP-WtjrC1OcX6x5perHOGKsZuloahsvud6kTvAqSavYPjBZ9L-_iLm9NTK737P8kL8CZ7xKIZT-u22IfSQ8V-oHd_UJWzs0CM7owDs6T1ZLHjgbDAQLmuz9cktghQ1GF4GLrkIE-F2tdOa2Ca5wG7DzKds3Bbx3Dat8SD3J1fL-RvhTGPuIKNefPUD24biqJz4pijB-iy0DMOYxZtzgmZN9hXOHdM0FQ-_QO6Epon0EKzONeo9rlwboXINxJ9Jxwek8FhrC_XzK9tYlu6HZxDMeWUCpipXkLhmxQZ4GAOyHXF0dAN6jMxVlPDeILEyajd1zz2vJg32eMHZeoIEWKOZE4KdGB4YfrvHnuaYdOdtMS2TlfXSP8DxDfw64qtgyAKUAoUBuGfn9p3vZUjwrQ6iV89hWD8dmVJV8qyDthoorwjDPZhO1Ht6o-Tg_ccObbFdsBrByD3MzF-NAJH3TFbpfCLKK_6v-c8ZcpNaOQ2V4iiCbsQ8thHu-g==",
  "id": "rs_0107ea2fef198293016ab4946c5f3c87d081de728618f100b3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.065,\"left_z\":0.045,\"left_pitch\":0,\"left_gripper\":0.65},\"note\":\"The arm is clear of the bowl again. I’m approaching the left side of the rim slightly farther forward, keeping a gap wide enough for one finger on each side of the wall.\"}",
  "call_id": "call_yc3Ry76fQMkt2bdFR74TrtMF",
  "id": "fc_0107ea2fef198293016ab494710dc887d0ba663247cfa0faae",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yc3Ry76fQMkt2bdFR74TrtMF",
  "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]: [-0.2844, 1.7073, 0.5797, 0.4637, -0.3111, -0.1814, 0.652, -0.0219, 0.8219, 0.5964, -0.4225, -0.0162, -0.0235, 0.9988]\nstate[eef_state]: left_x=0.4029 left_y=-0.0577 left_z=0.0313 left_yaw=0.0526 left_pitch=-0.0589 left_roll=0.0646 left_gripper=0.652 right_x=0.2894 right_y=0.0001 right_z=0.1603 right_yaw=0.0038 right_pitch=-0.0812 right_roll=0.0024 right_gripper=0.9988\nstate[joint_eff]: [-0.4855, -7.4735, 6.9675, 2.0098, -0.0806, -0.0415, 0.0659, -0.212, -1.6615, 7.3094, 1.663, -0.0513, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:953eefc5ea07e756b0d943b226d83021965188405c4fd120a9b20a9f418e9fbb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3433446d9d79f5a076404ab45827c65623acf9068cee008adda2de12b0116dd0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4df0e21f4f4b5a6cfe4bec81b960e5aba9d5626148d4868e33e569fc66e523d5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 4.593 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]: [-0.3985, 1.6306, 0.5919, 0.2424, -0.3225, -0.2546, 0.6512, -0.02, 0.8005, 0.5995, -0.3935, -0.0162, -0.02, 0.9988]\nstate[eef_state]: left_x=0.3715 left_y=-0.0918 left_z=0.0251 left_yaw=-0.0067 left_pitch=-0.1769 left_roll=0.0622 left_gripper=0.6512 right_x=0.2928 right_y=0.0006 right_z=0.1733 right_yaw=0.0038 right_pitch=-0.0278 right_roll=0.0038 right_gripper=0.9988\nstate[joint_eff]: [0.4171, -8.0342, 7.5145, 1.8535, -0.4225, -0.1197, 0.105, -0.1846, -1.4701, 7.1179, 1.7509, -0.0708, -0.0317, -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]: [-0.2745, 1.3445, 0.4953, 0.3672, -0.313, -0.1474, 0.7993, -0.0219, 0.8177, 0.5987, -0.4191, -0.0166, -0.0208, 0.9988]\nstate[eef_state]: left_x=0.3804 left_y=-0.0469 left_z=0.1148 left_yaw=0.0473 left_pitch=0.1126 left_roll=0.0358 left_gripper=0.7993 right_x=0.29 right_y=0.0002 right_z=0.1632 right_yaw=0.0027 right_pitch=-0.0712 right_roll=0.0045 right_gripper=0.9988\nstate[joint_eff]: [0.3214, -3.8906, 6.5846, 1.5995, 0.0464, 0.1343, -0.0855, -0.212, -1.1419, 9.8393, 1.7167, -0.0855, -0.0855, -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 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2844, 1.7073, 0.5797, 0.4637, -0.3111, -0.1814, 0.652, -0.0219, 0.8219, 0.5964, -0.4225, -0.0162, -0.0235, 0.9988]\nstate[eef_state]: left_x=0.4029 left_y=-0.0577 left_z=0.0313 left_yaw=0.0526 left_pitch=-0.0589 left_roll=0.0646 left_gripper=0.652 right_x=0.2894 right_y=0.0001 right_z=0.1603 right_yaw=0.0038 right_pitch=-0.0812 right_roll=0.0024 right_gripper=0.9988\nstate[joint_eff]: [-0.4855, -7.4735, 6.9675, 2.0098, -0.0806, -0.0415, 0.0659, -0.212, -1.6615, 7.3094, 1.663, -0.0513, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:953eefc5ea07e756b0d943b226d83021965188405c4fd120a9b20a9f418e9fbb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3433446d9d79f5a076404ab45827c65623acf9068cee008adda2de12b0116dd0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4df0e21f4f4b5a6cfe4bec81b960e5aba9d5626148d4868e33e569fc66e523d5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJR5TcKhZ9Mnkitoya4uvOLat4oIotQPEBUjdZhO8EWV6deanG4vMuNzYe1afIzfTyl57SyIwxJOo-aEjTnbSJY_vKcqmETY8ugrKmrPnIPe-Pf6px15xfD7UHHJBnXhyUaXTcxD8F1Lf117NwGjStn8qUiA2NTu67dMfz5nKFhbtycVFbQhMhrf85gLl19FJ2t-w0-E27K80ugYhvqmOVIwX8Mbsi87wm6_70x8lj-jKbop_CeGLGmWaB2nSO_HhXlvLkgzOqSkjmkXK001_PjNQa8-i6LejMzVU-scyE_WtDA9qKWZLkjPKxBmw_MBBVN5UdnWjhPmLCpvxEykYrR2_lSnFF9zYkFlYF4FHFn7W6pBhEKVZnSw0oD4hIUUrlsk3JH5QP89s6XpIuBj6JC3LIAfA7cgNFN_EDotOPw41iHb-CrKPX6WaPc_NTLB3yZQBzU1CJ007ElkbVIZzGZuv4tmBSSxoFDE3mzv0lLRISWVI3Zklse4jFOZdKzEP4ugV-LgQhYnnT0SE3MKchr5jP8hUPXz72Z66PcaulDKw5uVHJVTh38IkLn1fFKOKZwu7x3UFMJ6PtyxoNmQHvnOoTC0mvnw6Sisj3E4PWh3BWIpMp9SI8iNaW4vanMsRwjPDUM70clD6-L_3hDI48S4kzoteVcILdR9MFe8RDmGaAgsuVmuSr5jR39JUmWh0MEaP6JP4uxgyKlD_6uwR8qIVxIRsn7OfgDRSV_z4sSf8sCQqvFhtQr4ADRkbLdh1SUuLhrjnxoGBtAvq6ItVQxVpsnMOhSH_po8gY9mMl2JU_V-iXkOG-vKWY7XzuyhLuVU4K7B8r2JkcxWeqWkGKd6TmnVdXbWk7f9Mv8M8uHa2Q3HQ22QKyu6fviHEod3uv9LLK-lzWvG_uk6Q8WY1tE-h1xOehv8xBvWJlxQtG4FA0YFKIDg0Zo0Z-QAtzCLJ-PRlGnZ9hYLdylSWTpwC9fOPZ6TEtKoxm-hRkFc2KF3LJj3gPQ3H04mrgbOW2zYV6blt6xb9K7_DrhAXfvc6SPxEnbEEKDIEZ156l7SK8cl3siW-SfDEOSHHPN0GxdZifmFf1KaLWjjnbGYSP1tJGjT9aPG6sXRox4bxiKVAKEszD-iC1CodNG3cy4WGRVkNT3_q1bgYx2KRkWJ4M2POAX0ViFE6Q8xPTjFMPjRkDC2DMtmMwJTVX87pX0-QhP0LvnI_CcpbGH5myMNcwRaUhUcF22T2V6WNxUedFKMdBDFQXg1Qbn_IoR7q5O2RSC3BC5jQEOlOGh8VxkZlUbYqPHTJjQfQSyyrC7VHshwzmK2WG_nC9lJwLsEOJ_RejkC-zm1Pw1-inlpJG3QnktoC8HY5Nhlt5pNpCqxR0hccHxKHVtvsJmWX6anZXXQlMPmlLVbsJgbViV58zIiI0IEa8LEXug6z6Y4LJWzfZCQBeBfvbf-3nTxR2SFuJFzcOs8LpJY2FJxjZ94TSx4h9wDqld_QOFeHfGNXtpQELW4PFZnrOiYJ-USPAOZefJDW9GWTIBobWOB6YB1W7ITeLARpUk__epvwgxLGMjIUWhM35sQ5eZz4QdY5BZDeW-RupJ4hrVKkzAzgZ7IsMFTmWgmhwkY7-5jTTqQY7PDyuFbDw3rRXnknCc5FIK9ULsWiTbzGuEElnWcaM-CLiTHJpPLF5Fvc7QG-SLQoPiNCJ9B5Hnd-_uPkCmryTSqBABNBCAqSKQOQRQwgBcIdf_zwsFDggqr-tHbJTsg7kS98wyJJvdFZyMPaGLSaPQCZRNQZohSRhJdZ-tuIQSdVaesV-IkETsJLo17Diuh8FZQiBWMZuUcKMumTe-lqC5BMriLIy3Ackcj5-EAMaDZmt4gWHkTEuOwrXsU5AGeTXGnZGKiEKcAn6dpN2M8HhHLyRCfVcVmlq_9waw5999LviWclKJ_orxP1cA8ypgO9zM3rWOsbFd_q20aGpFz84KuibqHLrYCKkMx0oFC4MkpqEx-FZwhOMNSMjhnzdw-HLr-zQES9EfeCkPINs4rnhq11BxVaE5EmXfBF_Md2ka8XwxTbGVrND3pMg8410SHMglKcxV2AkzikDbYIs8CrqZb46oIkHiJsMQWNrA38xDNcorfvb2hqcMbNvW9HIdxGXIwDTjsdqBG8SbQlK9JxONk8ruNRFGyBBcY6QKyiN1SWUOOGdQ9kzpZRdXSL-3ABFAxtN2Jx-ae6wPs1vnJjy96oRmJ5qq0JYPFAW4Nb-lDetTTl5MEcXX3fQ==",
  "id": "rs_0107ea2fef198293016ab49474496887d0b8ba9688abe6d281",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.095,\"left_z\":0.045,\"left_gripper\":0.65},\"note\":\"The bowl is now just to the right of the fingers, so the gap is outside its rim. I’m moving three centimeters toward the bowl to bring the wall between the jaws.\"}",
  "call_id": "call_CwWBsUbFY6Dwtxzw7ymyNhxs",
  "id": "fc_0107ea2fef198293016ab49478a65c87d0a4638d01234ab0f6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CwWBsUbFY6Dwtxzw7ymyNhxs",
  "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]: [-0.3817, 1.7378, 0.6811, 0.3725, -0.3687, -0.2367, 0.6511, -0.0216, 0.823, 0.5953, -0.4225, -0.0166, -0.0235, 0.9988]\nstate[eef_state]: left_x=0.4136 left_y=-0.0935 left_z=0.0402 left_yaw=0.0327 left_pitch=-0.0623 left_roll=0.0607 left_gripper=0.6511 right_x=0.2893 right_y=0.0003 right_z=0.1595 right_yaw=0.0045 right_pitch=-0.0835 right_roll=0.0026 right_gripper=0.9988\nstate[joint_eff]: [-0.0068, -6.2838, 7.241, 1.5897, -0.3492, -0.0611, 0.105, -0.1846, -1.4701, 7.2, 1.6337, -0.0659, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dec4e62544a77154a7ad6c6f684fa4d4ad7c3ec932d5ca6adaadc27170f1c6e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48c0c674ee6e1dabe2ea9ea15f2038fbafff605f93d8512ee905748335ef012b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c0d74e3f8474525ef06cbc485b720f0cf0491c3a4ad83034743e7aa1b7cb8cf",
      "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 · 4.917 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]: [-0.4049, 1.6611, 0.5976, 0.2596, -0.3382, -0.2771, 0.7971, -0.02, 0.8024, 0.598, -0.3931, -0.0162, -0.02, 0.9988]\nstate[eef_state]: left_x=0.3734 left_y=-0.0924 left_z=0.0196 left_yaw=0.0124 left_pitch=-0.1786 left_roll=0.059 left_gripper=0.7971 right_x=0.2928 right_y=0.0006 right_z=0.1722 right_yaw=0.0038 right_pitch=-0.0308 right_roll=0.0039 right_gripper=0.9988\nstate[joint_eff]: [0.1436, -7.3504, 6.8308, 1.7265, -0.315, 0.0464, -0.1197, -0.0889, -1.265, 7.159, 1.746, -0.022, -0.0269, -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]: [-0.2844, 1.7073, 0.5797, 0.4637, -0.3111, -0.1814, 0.652, -0.0219, 0.8219, 0.5964, -0.4225, -0.0162, -0.0235, 0.9988]\nstate[eef_state]: left_x=0.4029 left_y=-0.0577 left_z=0.0313 left_yaw=0.0526 left_pitch=-0.0589 left_roll=0.0646 left_gripper=0.652 right_x=0.2894 right_y=0.0001 right_z=0.1603 right_yaw=0.0038 right_pitch=-0.0812 right_roll=0.0024 right_gripper=0.9988\nstate[joint_eff]: [-0.4855, -7.4735, 6.9675, 2.0098, -0.0806, -0.0415, 0.0659, -0.212, -1.6615, 7.3094, 1.663, -0.0513, -0.0171, -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]: [-0.3817, 1.7378, 0.6811, 0.3725, -0.3687, -0.2367, 0.6511, -0.0216, 0.823, 0.5953, -0.4225, -0.0166, -0.0235, 0.9988]\nstate[eef_state]: left_x=0.4136 left_y=-0.0935 left_z=0.0402 left_yaw=0.0327 left_pitch=-0.0623 left_roll=0.0607 left_gripper=0.6511 right_x=0.2893 right_y=0.0003 right_z=0.1595 right_yaw=0.0045 right_pitch=-0.0835 right_roll=0.0026 right_gripper=0.9988\nstate[joint_eff]: [-0.0068, -6.2838, 7.241, 1.5897, -0.3492, -0.0611, 0.105, -0.1846, -1.4701, 7.2, 1.6337, -0.0659, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dec4e62544a77154a7ad6c6f684fa4d4ad7c3ec932d5ca6adaadc27170f1c6e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48c0c674ee6e1dabe2ea9ea15f2038fbafff605f93d8512ee905748335ef012b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c0d74e3f8474525ef06cbc485b720f0cf0491c3a4ad83034743e7aa1b7cb8cf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJR-VByDcdj9aF4iyzNSkXhrcWFu0bge2lzQ-IgAxHAyrHt95kQzHjQxPyhbEoGXimqeYXe-ZZZiBgO2cpLeEC6jJYcQarzdcokuK98J8na2p26kqyP0b9f_ONvQv3yvA1ic3ymJ_dZ5t9Ye_9XPOpp_4MOx24_E2r1BE2bn8YHjfokXWRYGbgMM9kr-9GtNA_B77_RibGVznfueyIPUr9QxTI342tx6dem-jt8Safy0SsAFFxvwn6VZJe1eWk-aQJzhNVJTmXMC4t5XeaOOckEKF8iKKnENPihm6CpjcTDCMatWQfBeZ-IBNT4Nmfr2DowOuQq0NbpHGpzPNzfstCv3w6wrVXnuFAjAHUdgVr55wUw67uuyCyAjQIhR6FwSxSYuZA4uwVt6N0u393OjicJ7LkrTfkmtNEg1xfH3jeaU61lyQeci7tIGaNDLeLRPK-Q4wsiby839wbCQLwUAY3s1IB-TK2ALNKC_dmGKweYLlX39X7uzn6Szi7kHY5gRRez4epp_hoUUz5NyOr7HIVFayfDxnfplq2MQJBBamaDNvEssrMv3ZgEzCkt2F7b44zOtBZ5JMWtOkyoUh5E2qqreF4rRMYg-bvur05qiJ4YqHSeb94FUaFyne8CNJuOiWI8N3oAPlIbD4pOmYbzhQ2oB_gg8OP644a9V7Lkfj1jgXTKe0POgBavpQ_XjMD9AMo2TcOOijgtG4eoIMK1EdhwUvTobUaZ1_muAjrKYYDnSLBDrtEbRwsHn5oWhnl50Lt2Sap6fLjgLsSBmO8OHiXBvsdKvnD04kmOfywFV3api9KPG27eGPA69XI75p9nO6ZbtqebS7cBjvFPuI4mcuLYqhZa1Rjpgo8YIUvrexdB0XcYswOBukEMTO3V8BB02njAhMJmCXOD3tvYgNmxyZvMTxhiRGTNv8XxV6l-IvVs65QrL8utZdYNoD2HkYqUWyf5IeXGnWmOtvfADzQ8GbfU1oq8KOch3SOD_2GetGhaZU6TndktgY2BsVm4YmE84Fr5-tYp-CC9u5r_TcmreHJyAbN0ANFUlq8lC6zpGze_2h_nuCXc2KsRuUlpLL3QD2WcfyLunYUydGng4FXTrAjGGp5X8R8oK13Adb-Bx8QKNmbr1tKLb8HGhWHLsJft5SVz-VdV42TD4WzjCcZaKw3Z7BLEEtkNA3E3J9UmKOcs-I4vwbEU826FVGyp_6S1GldhMlilAeQ3vHYuGX0F2tVDjtPNCWDDlWoL2KUOM1yE7p7yQFJkeZsQtVHIx9IEZWzMZEousJOLyberprWrwbCklcOfEusMHKr5HmwbI0PGPsjlTb4UjPmDusCU83z_d2CQ718PumQcEmaFcOCiFFQMCLgtsO7Z_J9d06LBVrxcgXATZ31hQqnb731AHFouaXsaV08OWF5Kli2xW1qxv4PIQc99tR4AQuph9VXRhjGbfnGcKuVACRJztbLcafMF2D0qSBcLphlnvKeG5M5VvDfK41X7SvpLtoqHaUlpGyhbSUaxzIbq503kTbqYcLV1Vi5xdF1gRwbJDQjy5C6drof_Ge_z0Lw_fItq-VDloHsY8JG5imXeCyO6ZBjuqRTsY8Y5-HjyWcRfBI2bx8UZxH4cYe7Tuwf3HVy-rucAc2gD_ibzn3qQWFiUoIRKZ6QFVcnaV2YEjYZ-QkhNECEowpe8Bc4Q1WdeeoonVqBs-AOLIZjXblRLdWkyV6ohA1hDDDZE_o59_ZtydO8wJp1xeoBMm9Kwc49R46oGYUe9p3_yfpbmab32uOsBNo__FCLKhggJp8ejARlBe3tqGvluqwkgDW_R2Duxi9PAbzaskw-Zj7iLbnKyPdGhQu7UUjrLGF26M2Jv-7PlrtBQrQSb_4UkUualqC9XrDgZQk5bDbRD9WiUEXerNJGxvpCMMI6UKKWDS",
  "id": "rs_0107ea2fef198293016ab4947b2f7887d0b307728557682a75",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left rim now lies at the fingers, although the bowl slid slightly during alignment. I’ll close on the rim and check the jaw opening before lifting.\"}",
  "call_id": "call_iA0SqklT1QyS1ZPDthK7Axjp",
  "id": "fc_0107ea2fef198293016ab4947d96f887d08242fbad38f26b67",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iA0SqklT1QyS1ZPDthK7Axjp",
  "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]: [-0.3908, 1.7412, 0.7021, 0.3313, -0.3908, -0.252, 0.0082, -0.0219, 0.8234, 0.5953, -0.4225, -0.0166, -0.0235, 0.9988]\nstate[eef_state]: left_x=0.4136 left_y=-0.0938 left_z=0.0398 left_yaw=0.0503 left_pitch=-0.0773 left_roll=0.0712 left_gripper=0.0082 right_x=0.2893 right_y=0.0002 right_z=0.1594 right_yaw=0.0041 right_pitch=-0.0838 right_roll=0.0027 right_gripper=0.9988\nstate[joint_eff]: [0.1436, -6.9128, 6.7487, 1.6728, -0.1929, 0.0024, 0.6618, -0.0205, -1.3744, 7.0359, 1.6484, -0.0513, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e6eee03ff088ac4357640094fa3a8a5ac04fde4753730da635f5f02c4370911",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad0e790be012894db85c82bf48095a0d1e2814db7bcce52bf4691e81192a537c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:814e6cda149f8c133b99e906da59f27400e280253e0215aa94a7c716504beb54",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 7.654 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]: [-0.2745, 1.3445, 0.4953, 0.3672, -0.313, -0.1474, 0.7993, -0.0219, 0.8177, 0.5987, -0.4191, -0.0166, -0.0208, 0.9988]\nstate[eef_state]: left_x=0.3804 left_y=-0.0469 left_z=0.1148 left_yaw=0.0473 left_pitch=0.1126 left_roll=0.0358 left_gripper=0.7993 right_x=0.29 right_y=0.0002 right_z=0.1632 right_yaw=0.0027 right_pitch=-0.0712 right_roll=0.0045 right_gripper=0.9988\nstate[joint_eff]: [0.3214, -3.8906, 6.5846, 1.5995, 0.0464, 0.1343, -0.0855, -0.212, -1.1419, 9.8393, 1.7167, -0.0855, -0.0855, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.3817, 1.7378, 0.6811, 0.3725, -0.3687, -0.2367, 0.6511, -0.0216, 0.823, 0.5953, -0.4225, -0.0166, -0.0235, 0.9988]\nstate[eef_state]: left_x=0.4136 left_y=-0.0935 left_z=0.0402 left_yaw=0.0327 left_pitch=-0.0623 left_roll=0.0607 left_gripper=0.6511 right_x=0.2893 right_y=0.0003 right_z=0.1595 right_yaw=0.0045 right_pitch=-0.0835 right_roll=0.0026 right_gripper=0.9988\nstate[joint_eff]: [-0.0068, -6.2838, 7.241, 1.5897, -0.3492, -0.0611, 0.105, -0.1846, -1.4701, 7.2, 1.6337, -0.0659, -0.0513, -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]: [-0.3908, 1.7412, 0.7021, 0.3313, -0.3908, -0.252, 0.0082, -0.0219, 0.8234, 0.5953, -0.4225, -0.0166, -0.0235, 0.9988]\nstate[eef_state]: left_x=0.4136 left_y=-0.0938 left_z=0.0398 left_yaw=0.0503 left_pitch=-0.0773 left_roll=0.0712 left_gripper=0.0082 right_x=0.2893 right_y=0.0002 right_z=0.1594 right_yaw=0.0041 right_pitch=-0.0838 right_roll=0.0027 right_gripper=0.9988\nstate[joint_eff]: [0.1436, -6.9128, 6.7487, 1.6728, -0.1929, 0.0024, 0.6618, -0.0205, -1.3744, 7.0359, 1.6484, -0.0513, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e6eee03ff088ac4357640094fa3a8a5ac04fde4753730da635f5f02c4370911",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad0e790be012894db85c82bf48095a0d1e2814db7bcce52bf4691e81192a537c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:814e6cda149f8c133b99e906da59f27400e280253e0215aa94a7c716504beb54",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJSDqsF4vYlZiWEy6sGkJ-CHxuVgMSZ-EigmCir0k0gz4JCj4sKiXsCqHXk944IOXyWeBVxP5VhLGAOV_HvmfWNJhSxgzbeZWIlLndI-r4kGThHh0zZbR1r0Bpb_1Uli_fQKC5JLxLO9DoRm2vB-4YMWnEKN3kqjR5K9M0s35lYq7_OFUizTGjiEsNsZ6KpHTXIkpJyJjHrGUni-1uBtB_mMV8selD72Pz4hYYhBl6-5l9ZJkgYupv6MSYcB0rhmOnBBL6Mg3mhyZAHo7_OOwLwq15AXhXqElO0tV7kSHtaYJKBD_Fago8avpvCeELlVqriMiKwibkBN-Lp8FwjFU9D89rehv_f6KFECuPBgZbtBUJhgfGOJHBPz4geIsd3xWIr7OZJWiaLjL7sekG8CsXNdWWF0MHprOVXgLTrDkpMcyiNXrz_jfio9EZ1UCDlpAxQhUakAW5x_DwlkR4H-6MUzVhEFRs7wpCD2qTLl9Gf99jkgBG9IGn1TER-tGYFQ6aTzEIkAKvKcEPf1XNevkVIjKOQ6Ff1GheeIfoUD4qMJgIukvHsFCnxk5uNfNcJWUyqVg_v6rfVMRITa7VMKrM8KMrzAOsGMMZ5PQPGLvTIegw7rcdZmoklivCVzw0F6T_xi_CeHzdObGOeAr08SDHkaxO5FvRUN4S3xk4QwFnX9s00qkOIcaJb-AR-aCrHpyv3wozhX9dON_ycwfe5s_FjhWo6_oaQ-vZw5JFItStaaSGs2wO82Vb3J-_h3BuGzcIaV7ByemD8hXI8vB21u0wQUM6wlJJjc9N7-F5urBabwOGasMIGMFPrV9eLo4OgZPJlK-AyRd2rDlZEJky-H2CWKvZTRh0YD4UTUZpRKi2r0VkT6qJOehTn79ldTgvmmgiCSP4S2VXMy1CRGD7jt8GHNoJll6iZTyfj8VH1EsMwGWr8wdjsB761SxO5l6ZIp237AqUE7KQwBYQ9GCTlGotR9F3-2PwsKnQX7hniiOseXhDIfwN-_m8EtZ-Ey8VQ5quRWagR3ypN_cAC5JfB9A4biHidwdYVGofhWANo94BgM61nhqpjw5dH2ZIZL6f9lf0s7mNx9UPBDLu03QU-f3sKnjaxpi34ss0j3WqzEpFZ6YxwQAjhxHCHGN4viaRw9MKgQKMQ76ndHPMIgT9m_RTihXALmUuRsOfIkp7ndFLeYsm5_HLvLZ79wknMeyQ0cS3rFcotlCxixAnm70jONucIDG9S_VSNhbRfCwTExbKddTAfs7XBkamDjDrkEFzQNjS0i2sUIguuyt14B_vZbg17fga3_N46bkICLnbmsqvEuRaJk7IDO0yoslcEodhDaRXIfwGwS1GEesbf9ClTGx1kN7cWmWuDjvfBOPL4jbcyRZu5DtsPAfl0VRWPMtXeuwFTWpJPXZqSaBJbOwE6Fn0UEArCl5UOT1paDmr7OE4AM0EPTGt_W-EAtoVOQYAprGGCyZ4Flsjm9ib7vijSG8tac5ri9OWHb3ggji0Q_1EaXgM1tFLIywlDwHTA6eqUg8JO7Cmm6diCGfUQhHnnHwLLEZ4xv46FhRcycm_vyL3kwahVsttwNmVlTIKWjXwQS475l8aYN4qQgN6wN89KVlnqkYkIiY0_ao3VeT8bSMStjCLPuwe5eCuozRfYJqihRuzycFwrtxtMYoUQOUK8A8fwqDbcHEcd7D9izUKXxDSiAyE3jrehTfuPq5MD01_pZr0dG6BSOaCdeOc5ECOSXyO8rREoF2MvGP2gRlHqK10O5nTHj8M6XuIPoM3n2-J_SEBW14X_IxAby0MNqmk_EGW3h6xkI5wSWDKXhkpiAQ-ykCk3DRIg7YqB4FPB-J-dTtnwu1D_vhgvqhDrUic3IE2e9FQ==",
  "id": "rs_0107ea2fef198293016ab494804f4087d09156446c3b6cc136",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.375,\"left_y\":-0.115,\"left_z\":0.09,\"left_gripper\":0.65},\"note\":\"The jaws closed empty. The overhead view shows the bowl has moved toward the front of the table, so I’m backing up and reopening above its new left-rim position.\"}",
  "call_id": "call_bKBPARXdrV9omgxrTD8CGAR9",
  "id": "fc_0107ea2fef198293016ab49482c78087d086de20d43113c2c8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bKBPARXdrV9omgxrTD8CGAR9",
  "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]: [-0.5175, 1.5105, 0.696, 0.1219, -0.4534, -0.3279, 0.645, -0.0219, 0.8272, 0.5953, -0.4225, -0.0162, -0.0235, 0.9988]\nstate[eef_state]: left_x=0.3808 left_y=-0.1236 left_z=0.0925 left_yaw=0.0142 left_pitch=-0.0422 left_roll=0.0383 left_gripper=0.645 right_x=0.2895 right_y=0.0001 right_z=0.1584 right_yaw=0.0038 right_pitch=-0.0877 right_roll=0.0025 right_gripper=0.9988\nstate[joint_eff]: [-0.2803, -5.8462, 7.3778, 1.3016, -0.4127, 0.0317, -0.0806, -0.0342, -1.1556, 7.0496, 1.7411, -0.0464, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e3852e030e75e13553f6ee904390b9573cac81605018341befab9811a9d0eb4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fbd7f0398b3b49c1599de2ed239ccc6d0eb3f9d275f1e7ea428704d69dcaa39",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef6e44c604ae7f46bac1b480e5be80686b520f4d3d81e625c2c68c87d55e8749",
      "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 10 attempt 0 · /responses · status 200 · 2.057 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]: [-0.2844, 1.7073, 0.5797, 0.4637, -0.3111, -0.1814, 0.652, -0.0219, 0.8219, 0.5964, -0.4225, -0.0162, -0.0235, 0.9988]\nstate[eef_state]: left_x=0.4029 left_y=-0.0577 left_z=0.0313 left_yaw=0.0526 left_pitch=-0.0589 left_roll=0.0646 left_gripper=0.652 right_x=0.2894 right_y=0.0001 right_z=0.1603 right_yaw=0.0038 right_pitch=-0.0812 right_roll=0.0024 right_gripper=0.9988\nstate[joint_eff]: [-0.4855, -7.4735, 6.9675, 2.0098, -0.0806, -0.0415, 0.0659, -0.212, -1.6615, 7.3094, 1.663, -0.0513, -0.0171, -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]: [-0.3908, 1.7412, 0.7021, 0.3313, -0.3908, -0.252, 0.0082, -0.0219, 0.8234, 0.5953, -0.4225, -0.0166, -0.0235, 0.9988]\nstate[eef_state]: left_x=0.4136 left_y=-0.0938 left_z=0.0398 left_yaw=0.0503 left_pitch=-0.0773 left_roll=0.0712 left_gripper=0.0082 right_x=0.2893 right_y=0.0002 right_z=0.1594 right_yaw=0.0041 right_pitch=-0.0838 right_roll=0.0027 right_gripper=0.9988\nstate[joint_eff]: [0.1436, -6.9128, 6.7487, 1.6728, -0.1929, 0.0024, 0.6618, -0.0205, -1.3744, 7.0359, 1.6484, -0.0513, -0.0415, -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]: [-0.5175, 1.5105, 0.696, 0.1219, -0.4534, -0.3279, 0.645, -0.0219, 0.8272, 0.5953, -0.4225, -0.0162, -0.0235, 0.9988]\nstate[eef_state]: left_x=0.3808 left_y=-0.1236 left_z=0.0925 left_yaw=0.0142 left_pitch=-0.0422 left_roll=0.0383 left_gripper=0.645 right_x=0.2895 right_y=0.0001 right_z=0.1584 right_yaw=0.0038 right_pitch=-0.0877 right_roll=0.0025 right_gripper=0.9988\nstate[joint_eff]: [-0.2803, -5.8462, 7.3778, 1.3016, -0.4127, 0.0317, -0.0806, -0.0342, -1.1556, 7.0496, 1.7411, -0.0464, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e3852e030e75e13553f6ee904390b9573cac81605018341befab9811a9d0eb4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fbd7f0398b3b49c1599de2ed239ccc6d0eb3f9d275f1e7ea428704d69dcaa39",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef6e44c604ae7f46bac1b480e5be80686b520f4d3d81e625c2c68c87d55e8749",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJSMw3_-YfVa6mnfYIH_Rv47JQoweDXMwu2KfOcd--44eIxQoxhaH0Dq_X4f5rTEMNCJFgFBiOUAwZQo_OyfbHC44UuNLYPRpYW6HxK30MXwCHpLjE_kCs_sPI1CzDkPh2gjMQvJEM0Xt1jRHWnFSaAu9EE_pj2SqSuv3fsQMS5iMfIUCgAts4X_woJsDxOSSYR5L9uDbB77odvcIz3X3p-CaM3jEfhb6lXVdkFmiG3O9qpwQbHb71swXNpJ0vTm-PIpUsUBJcKoKtf042NCumGRwEGPo5zZDmnEIeCAD-88ud2mAh_PwSpot81QUe-dVr_JLEJSfU67csohpyqJA5c8tDhreZDeyJeAeRd-sKT4yF-aF5I_34IgouLzO5t696A1TFIEqDptDC5i8wFDoD8FHUwFFgdsXUXK_q-FIruCdZtdsnc1ZSgUdzw4NxKirJ6Byv2nMcR3a0KuEXaX4RQFASLlcDTdaCqhMtGoD40SG09h_AR7gH_YChmyPiDuNWOfA3JOHj7deMYuOi6DARs2werUCUGyePk4v87DUHuMU3um8OjMo2S5eVPr1GfgSRH7FAxeOUrZ2aLEY32xhXp6QuxHuvagG8mRKJQAAyzOOSpSrVG0t8beHM_ggqyyVCcrNSS8ffIjQDRCU0HdDYBDg2_oXvN9q_qxs7KSBPJz60WUgh3cJ2RAxJ0kXnV-XR_CAUy1dgWVB8VnIuANGSBSONgja0KgHv0RH1RbWRbXPrxeLFfwg34pqYjV6ZBv0KbINaRomJGbEl24XA79n86TS8IxC04tAZ4RFy2WVLi66hP7d_7bgg5imZHxNSgbWRgZk9BUaRrP3Y1qLWmQCmIdk9WkNNoXja0H_ZfD_UMJ6ERFhhkCGaXNukVaVxMJpEJYYN0c15esY3ypxGBf79u4ERsWMR5linrzfFEbUa1T-MA1UJJztQ_7047DPgCZAe3OZVGOebRjt4EgMWh2tP6z8N8x-2MqQjKltcNgJvidYECclr4nHqGVKy95GypIR6s_qQ46pYS1nS4k5Laf0eLfczhzPAXOjUQ1tKW0h7xoXWkVy3NJIRgA1LpYlU4_gt7E0-e4PTKPQPBHowpWAmNYPzGvFXJM6Ood3wr9o1ElumwZ5GZaSFHvHTieJ03FmNTX6xCU9RcTYeUBJrFxh5bqwHYV_hpdk0okCJ_rgWYIM_bnhrtiZPR0bgjnnnoNI23l0aHox70F7GQ2HNa7j385EDvavgFc5eP2c3ggxA7pQ9iBx4A3s7Q4qtoQ3Xmb5PTeIIupJlF1OeoptFdYLa3PiBuyzxXXban0mk0m5SzICYuUKAzwv-gzNqKLTT7GU7aH6eRrf1uc8MN6tkns_qY3JWun2XyK5ocC9HVNhMp1dzHq4K6-7A_fl_juk5Q68AKrwWxxwcK9Tlwi5caDbvtAheirJHFvyvD3_PqyZgd-sSl0THXFb8NIHHk9G76k9eUOiXk7XrrflftbxCfRYm3M5UqEheLhPgesirgnYcDoT1uZqUwK-KK6bCQdbcGEhRZFOcHNPstUKGiRgy82njjzYFeU2GBNYMInoLqd46KUL2kNIzXZQaByHGUTcqMEoBdiLXfUSLk5_h_jTTlQU0po2do5_NKk6py77YcLzh-mkBZBG9VO9DRKb-zPrWCtZlF9blLTRPxC3FRCVQ-ggBHEjgRTDH_cmtp2WZ1Bx4Y5hin9G8J8W7r5OjdOQP8VHObgAQCAk7u7ELiiAfDbNaEp2wvqmiZEcH407gbTXRkpve0ga_tF2kkhKQLTTaNv-mEXjlr0yxWlwSz6qHvqOG8s_ADa3TalIqPGl7K5do23hH1-lMBy3JurWuvW-zhI7aG9wL7jp197gA_mx5cdS5Af0Qp-vPyNfsDIk__q63VQzIVHbmUsiiN7L14Vr-zuwaTsj1KA8FXPiWvvZ6tSaCkh-azhKUkYZLXJo2cmu30UbSPZN-1KZAg--39RIb-3t_WxR-tuOWvZCCV-fly6LKgGbBx103RGqCRBt6eFRJUCY0kTDHM-d8kFqjwSjCOlXvWQLFTrAnD0okFWfLuGSW1tey23XBLPWrEZ0EXU0wORdUfFEj3mHIm2TaT08ECsTdwYaDHjG2AJdhiFjWK8l_v5pgSQjmbRQy5Jk9lDklLRbyFacRQ-1C6eVgwFnr0MneZ-JQyVL-uszos-7SX8b1KGG-F_GApBcz5b-s8Ei4-l8XfZ15c8FDbsdoWo9Bqz9qFYA6pkQ92yDPlAWfM5q23K6iOY1gy9Or4XC1Cf9Ebj7GSwBgUTMnruOAY_lhTAxC1j9_lUpAWscM2QTsa6iEbD0rqsH7t7ozk9qND829Ib3C4WOVV0Qn8bqCBGaQTsEJgRdf95xxEC8k3aMrGDUWbwTThdfYCAU_NsdsMb2yKyg84NWlD0nUc3vO1DO3DFYEJlpEZOhAhFXwvYVufYrfaHiQ==",
  "id": "rs_0107ea2fef198293016ab49485ee3087d0bbff1e770b427f9e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.375,\"left_y\":-0.115,\"left_z\":0.025,\"left_gripper\":0.65},\"note\":\"The bowl is directly beneath the gripper and no longer visible in its wrist camera. I’m lowering vertically at this corrected position for one more rim-grasp attempt.\"}",
  "call_id": "call_p71F5iQycFffemP97QirLgik",
  "id": "fc_0107ea2fef198293016ab4948adc7887d0aed1568cfd69c900",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_p71F5iQycFffemP97QirLgik",
  "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]: [-0.5049, 1.6844, 0.5526, 0.3866, -0.4458, -0.3302, 0.6494, -0.0219, 0.8307, 0.5949, -0.4229, -0.0162, -0.0235, 0.9988]\nstate[eef_state]: left_x=0.3686 left_y=-0.1126 left_z=0.0226 left_yaw=0.0237 left_pitch=-0.0901 left_roll=0.0588 left_gripper=0.6494 right_x=0.2895 right_y=0.0001 right_z=0.1572 right_yaw=0.0038 right_pitch=-0.0919 right_roll=0.0026 right_gripper=0.9988\nstate[joint_eff]: [0.3761, -6.188, 4.2051, 1.6825, -0.1197, 0.105, -0.0708, -0.1709, -1.6752, 7.2684, 1.6337, -0.0073, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb53de913551d043b6bef8d3b7e86b18120fc202f0e40bb3b34de17f4338947c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a52bddf864d0b8e6941dd7cd773d0d6460a6c43c74aa636f92d5223e1ebba0c4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d42cc354278864b696a3cffab7a1a5ba137af905e96deae15b62802486c80ebf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /responses · status 200 · 6.754 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 30 changed as sent

message 38 changed as sent

message 42 changed as sent

message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3817, 1.7378, 0.6811, 0.3725, -0.3687, -0.2367, 0.6511, -0.0216, 0.823, 0.5953, -0.4225, -0.0166, -0.0235, 0.9988]\nstate[eef_state]: left_x=0.4136 left_y=-0.0935 left_z=0.0402 left_yaw=0.0327 left_pitch=-0.0623 left_roll=0.0607 left_gripper=0.6511 right_x=0.2893 right_y=0.0003 right_z=0.1595 right_yaw=0.0045 right_pitch=-0.0835 right_roll=0.0026 right_gripper=0.9988\nstate[joint_eff]: [-0.0068, -6.2838, 7.241, 1.5897, -0.3492, -0.0611, 0.105, -0.1846, -1.4701, 7.2, 1.6337, -0.0659, -0.0513, -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]: [-0.5175, 1.5105, 0.696, 0.1219, -0.4534, -0.3279, 0.645, -0.0219, 0.8272, 0.5953, -0.4225, -0.0162, -0.0235, 0.9988]\nstate[eef_state]: left_x=0.3808 left_y=-0.1236 left_z=0.0925 left_yaw=0.0142 left_pitch=-0.0422 left_roll=0.0383 left_gripper=0.645 right_x=0.2895 right_y=0.0001 right_z=0.1584 right_yaw=0.0038 right_pitch=-0.0877 right_roll=0.0025 right_gripper=0.9988\nstate[joint_eff]: [-0.2803, -5.8462, 7.3778, 1.3016, -0.4127, 0.0317, -0.0806, -0.0342, -1.1556, 7.0496, 1.7411, -0.0464, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5049, 1.6844, 0.5526, 0.3866, -0.4458, -0.3302, 0.6494, -0.0219, 0.8307, 0.5949, -0.4229, -0.0162, -0.0235, 0.9988]\nstate[eef_state]: left_x=0.3686 left_y=-0.1126 left_z=0.0226 left_yaw=0.0237 left_pitch=-0.0901 left_roll=0.0588 left_gripper=0.6494 right_x=0.2895 right_y=0.0001 right_z=0.1572 right_yaw=0.0038 right_pitch=-0.0919 right_roll=0.0026 right_gripper=0.9988\nstate[joint_eff]: [0.3761, -6.188, 4.2051, 1.6825, -0.1197, 0.105, -0.0708, -0.1709, -1.6752, 7.2684, 1.6337, -0.0073, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb53de913551d043b6bef8d3b7e86b18120fc202f0e40bb3b34de17f4338947c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a52bddf864d0b8e6941dd7cd773d0d6460a6c43c74aa636f92d5223e1ebba0c4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d42cc354278864b696a3cffab7a1a5ba137af905e96deae15b62802486c80ebf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The fingers are lowered beside the bowl’s left wall. I’m closing gently through the controller’s normal motion to test whether the rim is captured.\"}",
  "call_id": "call_TJ1hKix194gUD2Won5xjOTDl",
  "id": "fc_0107ea2fef198293016ab4948e19e887d0a4c2a0ea2da59d2f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TJ1hKix194gUD2Won5xjOTDl",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5034, 1.7008, 0.5373, 0.3813, -0.4438, -0.334, 0.0082, -0.0216, 0.8314, 0.5945, -0.4229, -0.0162, -0.0238, 0.9988]\nstate[eef_state]: left_x=0.3618 left_y=-0.1086 left_z=0.0109 left_yaw=0.0278 left_pitch=-0.1225 left_roll=0.0735 left_gripper=0.0082 right_x=0.2895 right_y=0.0002 right_z=0.1568 right_yaw=0.0044 right_pitch=-0.093 right_roll=0.0024 right_gripper=0.9988\nstate[joint_eff]: [-0.1573, -7.8017, 5.9145, 1.5653, -0.1929, 0.0513, 0.6422, -0.1573, -0.9368, 7.1863, 1.6728, -0.0366, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1a63446eb843106f32b466ed29799a288e9d18c6e065dfd5604a5b8e98a2097",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9dfccd02288c7e4db13f42620c3459fc784ae14a66dbb309f3bec6782010067",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea8a867919da807acb2d56f2e7eda33a1c0b624e51a08a28d5fd6a392de4b3ba",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 12 attempt 0 · /responses · status 200 · 4.147 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 34 changed as sent

message 42 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]: [-0.3908, 1.7412, 0.7021, 0.3313, -0.3908, -0.252, 0.0082, -0.0219, 0.8234, 0.5953, -0.4225, -0.0166, -0.0235, 0.9988]\nstate[eef_state]: left_x=0.4136 left_y=-0.0938 left_z=0.0398 left_yaw=0.0503 left_pitch=-0.0773 left_roll=0.0712 left_gripper=0.0082 right_x=0.2893 right_y=0.0002 right_z=0.1594 right_yaw=0.0041 right_pitch=-0.0838 right_roll=0.0027 right_gripper=0.9988\nstate[joint_eff]: [0.1436, -6.9128, 6.7487, 1.6728, -0.1929, 0.0024, 0.6618, -0.0205, -1.3744, 7.0359, 1.6484, -0.0513, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5049, 1.6844, 0.5526, 0.3866, -0.4458, -0.3302, 0.6494, -0.0219, 0.8307, 0.5949, -0.4229, -0.0162, -0.0235, 0.9988]\nstate[eef_state]: left_x=0.3686 left_y=-0.1126 left_z=0.0226 left_yaw=0.0237 left_pitch=-0.0901 left_roll=0.0588 left_gripper=0.6494 right_x=0.2895 right_y=0.0001 right_z=0.1572 right_yaw=0.0038 right_pitch=-0.0919 right_roll=0.0026 right_gripper=0.9988\nstate[joint_eff]: [0.3761, -6.188, 4.2051, 1.6825, -0.1197, 0.105, -0.0708, -0.1709, -1.6752, 7.2684, 1.6337, -0.0073, -0.0269, -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]: [-0.5034, 1.7008, 0.5373, 0.3813, -0.4438, -0.334, 0.0082, -0.0216, 0.8314, 0.5945, -0.4229, -0.0162, -0.0238, 0.9988]\nstate[eef_state]: left_x=0.3618 left_y=-0.1086 left_z=0.0109 left_yaw=0.0278 left_pitch=-0.1225 left_roll=0.0735 left_gripper=0.0082 right_x=0.2895 right_y=0.0002 right_z=0.1568 right_yaw=0.0044 right_pitch=-0.093 right_roll=0.0024 right_gripper=0.9988\nstate[joint_eff]: [-0.1573, -7.8017, 5.9145, 1.5653, -0.1929, 0.0513, 0.6422, -0.1573, -0.9368, 7.1863, 1.6728, -0.0366, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1a63446eb843106f32b466ed29799a288e9d18c6e065dfd5604a5b8e98a2097",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9dfccd02288c7e4db13f42620c3459fc784ae14a66dbb309f3bec6782010067",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea8a867919da807acb2d56f2e7eda33a1c0b624e51a08a28d5fd6a392de4b3ba",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJSWtAq8Xk0NwCEbYewQdRJ74g_2VCiDFeoFavW09JR8QdiZw615Mf7qgdl3ULGWtrL4DyaNhffO46xul-XK43SJMcgH4lgU3iqxF_m1cdSL9MIM30kkHntuhj8razalLhD4xlQIm4JTdeqx-bMQ1MHWQkxjrcCd7liaMPr8DffwHc4NYKJtJu4jEFbBYj1yuTSdySzw6jd5d4EfDUbaJ-QqmEQpfnNn613NJ_hBRIVSjDoEmfT6UVEPCrCqgTciATNCiJ4DfcZOoc2bAIHhGAkWuWs8y5oKrRrVU2G6HyHwgXTj77JG1GDriVZTbmgnT5KZGMp4WqvC6zipNC3YkGBHKaqmZPzhMHEtQNLJLaj0rnrLAnkGvF2xdWcRdilWz2ovNt89kK7X-M_5c6XMNNTICCwjBmX9qOlauqOI2i3zPxe2sRMVpqDri3gKmEtCCv3g3PuOYsLR8XXSVF0ZdjqeEksiUBSspJrHVcGKfIu7W0XzqaHOT2ykXrap-M6Bfo0blPhvtvz7sbwOXlMQ1srFY-il-J_4RKjIpnsi5iboKmEa3DmLKr7knqyFggGHQxAUyxN0WrLibuTRvXl_ABgZ6L5hZlQqUWbjkbGAMjrGnHl16Gwe-Tr1cNA9KG7Kbq93beTgA5vp1NPCz7xhhQB_DYqG0ck2e3Ld2bgNHuMH88o47GlsDZEiWtrSkVAUEWPJobI87BN4tDM6ScDNM9jiwMZN6Q89WA2mpTSLHPnIjLGidE5mMpjMiZQzy8gyviKETGXDt4FSwLY9eyRuP9RyptIPetUORzHXLciY6I4drRfxBOeqRjGamX7PlOB7QHyk0PjNTXXBYyOGrfrXEMcMjduGhQNMITeepZntl-29nYhLWsFSSlPjmYmOnGHI-xmeZKl0lm2rfYx2xsOvYW4V_N8iV-oxvGz82yF3v-tFJP14X6rVsQNOHUhVSvBYosp7178jI-WftL86ITorTeiC_q6MVocH3bKLsphtg-QU-MnJhGgE-7uz6EQRlNXxo5vnycVvQ9zBZvjxfkmQkoOFdWMAitTGD4cG0r7yOOPKB0Kr5DaeyKorsMYom7NCx59I6p5BWlxDyPxtRYABJKWGmT3L94gE1pmyqjhDaBHK-fweK7F08pRAHlgrV0aRKVQuwDevSxvNEYal3MFL2VE2cwPTLdoZ1sEPqw68mM3Vk-OIhMosktLgcQOeYGt48CLMaUngCaBtysvTlK2g5lCGor0kV4aMxqdVeSrTw7vHIVGxJqd1IPIs3PjMBBVlS8JxOJvOxFD1nF5HYYhX4Ib6BFhUTAPCvwPt9z7VSe5KDtZDuz5RhUo0SrQ8ynxvXJNpgny2RrzPldPbT1NDJIyRolv7QAlbOjyRNLgjhLp9AhvtuWk8p2APSmdFORQYCttM1KDuz11623nrsW61Ixph0n0IPfjiQeUr6gsmEIIUQ_inDnRpP1-4YF2rBtFjb0a92RdTdNVGqGoQ1DSJELd8iY6oVOE5WFw1o3L9CTFv6XHhqKj-zpWkiC6KMabAxlP6lCW6j8V0S73jDLuVh4UyidItMrSJ85y4AyIZQmGJh1RM3ZqScK8w2gWhaXECQsCRidSBXwMyzUmfbjH2Wz6BEd7VfRYfSQaKvX251vBTXLjRd0TcAn7Tzexm2DHPJz410FdOJ6DG1N0R-vYFWbSUjZRIO5v3TOSgmk0eXp2Unl9c5b47v9dpOrqCtdma_uXAahUAxpQSnighsrFXQxybkltnNhcfSG2x3QI6BwDsZ5OUlZNyqmYeXMaYK4j_z7Ja_aWW8PqClUsnfw4GgVPb2sLxxa5LKUrSx0dtrCF_gMNf9SnH19GH95jWv6E7fg1fQTT3qbgXUW6MekJLWrVf4Ead8UhEWspr9nGRbTHK7NEK7PpravULa-2xJsQAuQQk3ML-IPHZ0ojIyb1jd4TI8DcJ4yjrcsiz0pWSKQDjnKdNr4gDtyFk3uKjNqe5EvlVF_ncGn1I4mr8Cvoly6eVAe-SL0I8k8lLukOUN9VdvZiMXtiHMAwYW6V0TnsVpjxURhOL6dsabIxTgOE0TnAJczekF4evEdx9ur0B9TfZXSqNKbhNHw1heaaYHYWyRfOL124JOJA9RRDlckrUnnmCF2Xfg-5p6t6DhKwIYBXzC2X0aKZIdb7-4rgY4IwjGRs27qXTjLKmoRAZO10XjmZ0dUD22Hy9WZChCNrf8elaq6NPvQjkOsHGF2r-wtfEXJRK",
  "id": "rs_0107ea2fef198293016ab49490e16c87d0ba5203321c20ed11",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.325,\"left_y\":-0.145,\"left_z\":0.12,\"left_gripper\":0.75,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.2},\"note\":\"The second close was empty and slid the bowl forward. I’ve re-estimated its new position from the overhead view and will approach the upper rim rather than the lower sloping wall.\"}",
  "call_id": "call_8RVF7pVa7l7XVSlk3A83zvJr",
  "id": "fc_0107ea2fef198293016ab49494af9487d08d60c61b3a930fb0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8RVF7pVa7l7XVSlk3A83zvJr",
  "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]: [-0.6956, 1.3762, 0.73, -0.1989, -0.5529, -0.4866, 0.745, -0.0216, 0.873, 0.7364, -0.5583, -0.0162, -0.0273, 0.9988]\nstate[eef_state]: left_x=0.3281 left_y=-0.1484 left_z=0.1066 left_yaw=0.0057 left_pitch=-0.1217 left_roll=0.0569 left_gripper=0.745 right_x=0.2909 right_y=0.0002 right_z=0.1826 right_yaw=0.0064 right_pitch=-0.1281 right_roll=0.0006 right_gripper=0.9988\nstate[joint_eff]: [-0.3214, -5.9829, 8.7863, 1.4432, -0.486, 0.0952, -0.1685, -0.2256, -1.0598, 10.2769, 1.707, -0.0366, -0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e96c871382249981734ee554f57b0be591ef96d6b46243737033f52fb46d5097",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccf5fd05a8f68ffa03a96017148ebebbd931682de4d582561ff3ce8e0b9e6825",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a660901999596227a1c8cb06d0eaea22709b572352bbd5c44ffe526b637f5507",
      "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 · 4.641 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]: [-0.5175, 1.5105, 0.696, 0.1219, -0.4534, -0.3279, 0.645, -0.0219, 0.8272, 0.5953, -0.4225, -0.0162, -0.0235, 0.9988]\nstate[eef_state]: left_x=0.3808 left_y=-0.1236 left_z=0.0925 left_yaw=0.0142 left_pitch=-0.0422 left_roll=0.0383 left_gripper=0.645 right_x=0.2895 right_y=0.0001 right_z=0.1584 right_yaw=0.0038 right_pitch=-0.0877 right_roll=0.0025 right_gripper=0.9988\nstate[joint_eff]: [-0.2803, -5.8462, 7.3778, 1.3016, -0.4127, 0.0317, -0.0806, -0.0342, -1.1556, 7.0496, 1.7411, -0.0464, -0.0269, -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]: [-0.5034, 1.7008, 0.5373, 0.3813, -0.4438, -0.334, 0.0082, -0.0216, 0.8314, 0.5945, -0.4229, -0.0162, -0.0238, 0.9988]\nstate[eef_state]: left_x=0.3618 left_y=-0.1086 left_z=0.0109 left_yaw=0.0278 left_pitch=-0.1225 left_roll=0.0735 left_gripper=0.0082 right_x=0.2895 right_y=0.0002 right_z=0.1568 right_yaw=0.0044 right_pitch=-0.093 right_roll=0.0024 right_gripper=0.9988\nstate[joint_eff]: [-0.1573, -7.8017, 5.9145, 1.5653, -0.1929, 0.0513, 0.6422, -0.1573, -0.9368, 7.1863, 1.6728, -0.0366, -0.0562, -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]: [-0.6956, 1.3762, 0.73, -0.1989, -0.5529, -0.4866, 0.745, -0.0216, 0.873, 0.7364, -0.5583, -0.0162, -0.0273, 0.9988]\nstate[eef_state]: left_x=0.3281 left_y=-0.1484 left_z=0.1066 left_yaw=0.0057 left_pitch=-0.1217 left_roll=0.0569 left_gripper=0.745 right_x=0.2909 right_y=0.0002 right_z=0.1826 right_yaw=0.0064 right_pitch=-0.1281 right_roll=0.0006 right_gripper=0.9988\nstate[joint_eff]: [-0.3214, -5.9829, 8.7863, 1.4432, -0.486, 0.0952, -0.1685, -0.2256, -1.0598, 10.2769, 1.707, -0.0366, -0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e96c871382249981734ee554f57b0be591ef96d6b46243737033f52fb46d5097",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccf5fd05a8f68ffa03a96017148ebebbd931682de4d582561ff3ce8e0b9e6825",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a660901999596227a1c8cb06d0eaea22709b572352bbd5c44ffe526b637f5507",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJSbptXgl4ct5yADWVyXWhIjyIqd6oXoxgK_fOV3N3dO7KhjEhqnDoZgYfntecJKaA-QWMjtieMACMQosaRfcvWkVP9RwnY2WUh8s8grxoixaFgGfaaisqTlFUoQP2pSfu2kVDeRjDQPvrVy5iI4SzxR3aPf0rR2Il_tVuqaDt_s8TCHxaT9y5l41i8vEowaCVApQWmDTH9WpZkWRfHhNn84gBxp7vQAPN_NwGbnnIpHuAFZ5b42cUXw1qIx72wBEwrPvTooR5j5iMTbWEIFsaqJDdGCtiAsbn4spLHKgUKRa--8uaZwYwFqW0YY-kcj775BIkoAHzkBY4hZ1463A14IcBHBHEMoseU8d1rVc7bBGu3lFKNuDclFXQ2z4NARYbL0ssP0kjaXi5hItKph6-p78ujK71hrQ1ru7BQi6AE1p28By4b7LHUzbj37vTM-c6IQRjdTFbKMg6Sv6DGugvlFFYowesN0stDXtAH3BSGAOVdbZe15S6XQa81AXaMKn0LC-OAAE85fP_lK1wijh46KK5Z9fOZUZgG0dIf4BLOeqrGjjNeM72l7h8wclZBRswPekzURMjoVGmS9IZotZWpkUJHgI-y4J7x1o9yleSyE37EGJZGiZKWeSjcXKsXeeUzcO4VOvcv4ososISJuAAKqUuYRZP_jhd8bpYAficQ7Qf_-iGdpvgQpfQCmmjDUcZmCyy5QJLgA85zGkrhiYzZdnIETjSvhgSnV17oK-He1yd5X5lqvTLSajL68N3IsMgn5VvPw6hrCS_Wzl_iouJZ4WYHSrRVwF-yLhbVPSOQ8-SLpn5_T6dAWS_Ks7gmXcm_ZgCQCfC47M-016Pk9FwR31zynfhocTJ_FijspSeHk5d9cepgH80PCVKGH84fsogCXYLSE-RjmDUxGJNi9lZkj9SK86jKZ1xjPsdZSfE35f4pR-Oj8mKE4EFoo3URNHOIxyBATf_i0nfoFBLHgP5DfoPNlqxjJxwRdE5vlYSfHvrxoYCF5bpo7IKfbSQoPG3CzT2GD_49tLJgvgmYpyqZEcev1B0b_sV5B6wrdXH6qKCr9lSOyduUP0qgybMNoQ_dH-cC0qXKTrGmqjUeVBldCxDy5T1bLqd4RjmWeD_36RBeuCreD2aQgZkfZVGYyDX8Yr4mGSZqqNHi_o3WjHriyf-Nq9E4LxIv17HNe5Oa1wpMIcjuc75JHnwfIjhPi4YLgZvsJIjYch9luVE4ycXVWtTPd-WHWYYADJR29ssFmCab-uPM58ghau4ZvrZUt04OqtkYpl-uCx0pQEaz1z8YvehezySRWJQKrKfvx88vdHE6fbXikIJCvoTnXGvcB8KHC3I5oLgZepBdv1_m4IsxkerJW7PhPEAftDrr7lSoHHOARM6LO0NdJqCCK0krOjslPbV2BWpgyB_9TNmGewIP4_fZ1xekXV_Bx2FzTQ7lHW9XIsH-z1CgcjthwxFbKDkWpZA6dxTX96UqOjjK-pl-p79Ii9phOhcGG5qNZMO5QwO_D5JrAP8sTppIL_VkXuPw9NGEVW5O_0qo5pz0HFDZ5G2nfvuOCUMjV8C6KVuAT492ChwX61npWhf67eQS2yG-bkRsKfdP2XAuzE5QknOyZmyVrKk1FsHoSpVUHKAgHZ6TU8T7N41oBxNsttSdvyEc-KUiMC894d2bNfduIVjkeSde-rMsl_w7Q_szAs8frzQw=",
  "id": "rs_0107ea2fef198293016ab494981f4887d09b006165fd6b1d52",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.325,\"left_y\":-0.145,\"left_z\":0.055,\"left_gripper\":0.75},\"note\":\"The overhead view now places the gripper over the bowl’s left rim. I’m lowering only to rim height, leaving a finger inside the bowl instead of pressing against its base.\"}",
  "call_id": "call_cwzLXbL8bEw6VMLPExzjTHen",
  "id": "fc_0107ea2fef198293016ab49499df9c87d0990271aad8573e9f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cwzLXbL8bEw6VMLPExzjTHen",
  "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]: [-0.6975, 1.4792, 0.5884, -0.0422, -0.5537, -0.495, 0.7489, -0.0216, 0.8764, 0.7441, -0.5758, -0.0166, -0.0273, 0.9988]\nstate[eef_state]: left_x=0.3132 left_y=-0.1366 left_z=0.0453 left_yaw=0.0179 left_pitch=-0.1875 left_roll=0.1088 left_gripper=0.7489 right_x=0.2894 right_y=0.0003 right_z=0.1817 right_yaw=0.0067 right_pitch=-0.1414 right_roll=0.0012 right_gripper=0.9988\nstate[joint_eff]: [0.1299, -5.4769, 6.2427, 1.6679, -0.2759, 0.0464, -0.1343, -0.1162, -1.8667, 6.5026, 1.8095, -0.0611, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57420981c3ca21ea9bf85e7e071c2da18d8a9cd321af6273f8fd0408ecfe11b2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c009810264440921c096391df945dc7ae6ace319648138df61d4b69990c13afe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e55ada604ffebd636bcc822d6ed45c73506377e993b399e506a165589fcc8c6a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 14 attempt 0 · /responses · status 200 · 11.77 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 42 changed as sent

message 49 changed as sent

message 53 changed as sent

message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5049, 1.6844, 0.5526, 0.3866, -0.4458, -0.3302, 0.6494, -0.0219, 0.8307, 0.5949, -0.4229, -0.0162, -0.0235, 0.9988]\nstate[eef_state]: left_x=0.3686 left_y=-0.1126 left_z=0.0226 left_yaw=0.0237 left_pitch=-0.0901 left_roll=0.0588 left_gripper=0.6494 right_x=0.2895 right_y=0.0001 right_z=0.1572 right_yaw=0.0038 right_pitch=-0.0919 right_roll=0.0026 right_gripper=0.9988\nstate[joint_eff]: [0.3761, -6.188, 4.2051, 1.6825, -0.1197, 0.105, -0.0708, -0.1709, -1.6752, 7.2684, 1.6337, -0.0073, -0.0269, -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]: [-0.6956, 1.3762, 0.73, -0.1989, -0.5529, -0.4866, 0.745, -0.0216, 0.873, 0.7364, -0.5583, -0.0162, -0.0273, 0.9988]\nstate[eef_state]: left_x=0.3281 left_y=-0.1484 left_z=0.1066 left_yaw=0.0057 left_pitch=-0.1217 left_roll=0.0569 left_gripper=0.745 right_x=0.2909 right_y=0.0002 right_z=0.1826 right_yaw=0.0064 right_pitch=-0.1281 right_roll=0.0006 right_gripper=0.9988\nstate[joint_eff]: [-0.3214, -5.9829, 8.7863, 1.4432, -0.486, 0.0952, -0.1685, -0.2256, -1.0598, 10.2769, 1.707, -0.0366, -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 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6975, 1.4792, 0.5884, -0.0422, -0.5537, -0.495, 0.7489, -0.0216, 0.8764, 0.7441, -0.5758, -0.0166, -0.0273, 0.9988]\nstate[eef_state]: left_x=0.3132 left_y=-0.1366 left_z=0.0453 left_yaw=0.0179 left_pitch=-0.1875 left_roll=0.1088 left_gripper=0.7489 right_x=0.2894 right_y=0.0003 right_z=0.1817 right_yaw=0.0067 right_pitch=-0.1414 right_roll=0.0012 right_gripper=0.9988\nstate[joint_eff]: [0.1299, -5.4769, 6.2427, 1.6679, -0.2759, 0.0464, -0.1343, -0.1162, -1.8667, 6.5026, 1.8095, -0.0611, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57420981c3ca21ea9bf85e7e071c2da18d8a9cd321af6273f8fd0408ecfe11b2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c009810264440921c096391df945dc7ae6ace319648138df61d4b69990c13afe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e55ada604ffebd636bcc822d6ed45c73506377e993b399e506a165589fcc8c6a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJSggStp2adEsrQZR89RzMv30MF9juPGipRNq5PLTOznKiEVG0BYuAfa2rUbqFhBg2KIic8P9ugrata20RQLvBHBnZAWFbd0VbfOArqSLkTemP0xrCE--OqLwiF9y7F2ge7POZjomUmlZVgQm7bYaGd-WNpQtOw_G2CEaRDfRxLdg7WDns45Hg8og_F7cdMV1n7wK2yKHRFM-zd87utOdQfX8g4Q-VfbUeFa_uCAd0u5hi1jEDns3Q8UFJtH2h8udaq6yzK6QGMJ3z2f8irmh75er-gysq-orYiqM2u0LQkUYToqlDzsxrjZh-J_etLkojAoLcDAaNY_CotX-q8oOu8imL6kR5GFJ1JtjNIB3jz8TiWkM_JUwjJJw172QJQLvBl5-POLZND-5h-NtHdVd4hCHN0dx24jrNyklrXzSVub3enec-hVjGSzcp2gpo8n8ZhbDqul46sEWECUtpK9xF0LWEso0U7Iv786dngWcdJ9G_TgT5pCPKKsIp-PGXHOiAFlMLP6MVHyZCkU_usRssKda2BcIFGtp7TLcMeigbcZL-b-uPShCO5kVrf5n0Aq3YeL6h5D_q0MxJYWaquaIujEFWt5s5hqlc1TiLYEe8PImY9QcN7wcLHXduTtkrQBKTv3NTAutDqGpD1TaRQA5J-xff08Bw_9O4KFarOh7FwaPPv55qj45CM4e3sVI5Z02Gh_8RUp1YDq2etvAD30uaQW-l37OGP-raiD9cySaRerlpPyHEbnJSLADoyPqo6MWMpzM5Ms5Oy5fb54u18WpXBQYZJxtk4nxP0yDCgljt_dB8IvHaJPDTTnNgF633LuuWxFHdNWuNEST-q_tJnPXHozTN6og5iJyl0ZVB87b4VAYsofrhHk9YhHpAv3xGl2YEPrm12O2AeVEwoTXvqQu5TouREQmFVTx_8G5snpjKJ3yd0woma_ooOzQCyESf2WGVEj4QylcucMYEg1Smc6Q3fD4S2WtjVL1CaevBHh7aJw8R9cMVwa1BSeAYCo__N5ptxhBhadUBlQy8J1-7dx_IkQAZQHA4KL6nlZXKvy9p14oNfkBf4dLJeXOgzPnPu2bg9qX0lINzGzFVaEOpXBz_EzG8mbW9zpQ-NkfQW3cmY3kBZiNjJ8vUbktu4DoEP7JEzC8eTIhK05CnFc6EA-uQXWHQcNYu66x2paKmiz9mvDYPQwhqQ-C2hylNmvkJ7zFbr3QYLhVu0ym7dfqMrFd3bVR5aNNTrPG3yfsg5iPllyu4sUpFF1mHvONTW-LfO_wR0Kuq0GqyGmQqwnxk5c6BZJyWgFm2-tEI6p_3qr_8bj9BD9kAUyqMtXddePaI_9Q8IJ1jJwGVHA3eineHRrg8k_HSAjboU_HIPUyFEKHUxntwXVsguExauYeGD9OO0Iy9tCYlDovArCp4h7uWCQBKcXt_r1zuVUqYKPpQL_vpBEdGk1nmsYx3xzuzmVXAs83FWIgllvYBUnaE2Q10tSZRjONiZZvSfEttuLebgQCWFlyCzSmYKD0zP91qbeU5Ihxcol",
  "id": "rs_0107ea2fef198293016ab4949d96fc87d0819f9f3619f22c8c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The open jaws appear to straddle the upper left rim without moving the bowl. I’m closing here and will use a short lift to verify any hold.\"}",
  "call_id": "call_lePisvpFUH7Qa1cWjBkeUTDl",
  "id": "fc_0107ea2fef198293016ab4949ef1fc87d0a13a535aa01749e2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lePisvpFUH7Qa1cWjBkeUTDl",
  "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]: [-0.6979, 1.486, 0.5785, -0.041, -0.5507, -0.4957, 0.0086, -0.0216, 0.8764, 0.7425, -0.5804, -0.0166, -0.0273, 0.9988]\nstate[eef_state]: left_x=0.3102 left_y=-0.1349 left_z=0.0398 left_yaw=0.0177 left_pitch=-0.2009 left_roll=0.1168 left_gripper=0.0086 right_x=0.2885 right_y=0.0003 right_z=0.1802 right_yaw=0.0068 right_pitch=-0.1475 right_roll=0.0014 right_gripper=0.9988\nstate[joint_eff]: [-0.0342, -5.7778, 6.3385, 1.2674, -0.3541, -0.022, 0.6227, 0.0068, -1.5385, 7.0085, 1.6532, -0.0659, -0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d16b5ee6a2cc401f5fe97298c1b58b0fed060f71d9830e17f60f99ca10676a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c6d07d408a5245e11b860004ef60a16624a4bc98929b92865e1769a402c52bb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1008d5dde09624964944949df100b8ef4a431dc5f8a99cfde44104425199852",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 6.908 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 45 changed as sent

message 53 changed as sent

message 57 changed as sent

message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5034, 1.7008, 0.5373, 0.3813, -0.4438, -0.334, 0.0082, -0.0216, 0.8314, 0.5945, -0.4229, -0.0162, -0.0238, 0.9988]\nstate[eef_state]: left_x=0.3618 left_y=-0.1086 left_z=0.0109 left_yaw=0.0278 left_pitch=-0.1225 left_roll=0.0735 left_gripper=0.0082 right_x=0.2895 right_y=0.0002 right_z=0.1568 right_yaw=0.0044 right_pitch=-0.093 right_roll=0.0024 right_gripper=0.9988\nstate[joint_eff]: [-0.1573, -7.8017, 5.9145, 1.5653, -0.1929, 0.0513, 0.6422, -0.1573, -0.9368, 7.1863, 1.6728, -0.0366, -0.0562, -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]: [-0.6975, 1.4792, 0.5884, -0.0422, -0.5537, -0.495, 0.7489, -0.0216, 0.8764, 0.7441, -0.5758, -0.0166, -0.0273, 0.9988]\nstate[eef_state]: left_x=0.3132 left_y=-0.1366 left_z=0.0453 left_yaw=0.0179 left_pitch=-0.1875 left_roll=0.1088 left_gripper=0.7489 right_x=0.2894 right_y=0.0003 right_z=0.1817 right_yaw=0.0067 right_pitch=-0.1414 right_roll=0.0012 right_gripper=0.9988\nstate[joint_eff]: [0.1299, -5.4769, 6.2427, 1.6679, -0.2759, 0.0464, -0.1343, -0.1162, -1.8667, 6.5026, 1.8095, -0.0611, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6979, 1.486, 0.5785, -0.041, -0.5507, -0.4957, 0.0086, -0.0216, 0.8764, 0.7425, -0.5804, -0.0166, -0.0273, 0.9988]\nstate[eef_state]: left_x=0.3102 left_y=-0.1349 left_z=0.0398 left_yaw=0.0177 left_pitch=-0.2009 left_roll=0.1168 left_gripper=0.0086 right_x=0.2885 right_y=0.0003 right_z=0.1802 right_yaw=0.0068 right_pitch=-0.1475 right_roll=0.0014 right_gripper=0.9988\nstate[joint_eff]: [-0.0342, -5.7778, 6.3385, 1.2674, -0.3541, -0.022, 0.6227, 0.0068, -1.5385, 7.0085, 1.6532, -0.0659, -0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d16b5ee6a2cc401f5fe97298c1b58b0fed060f71d9830e17f60f99ca10676a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c6d07d408a5245e11b860004ef60a16624a4bc98929b92865e1769a402c52bb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1008d5dde09624964944949df100b8ef4a431dc5f8a99cfde44104425199852",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJSsOYD-kxlSwr-wXH6WR4gBA3m3wTBksbRCZx_YvyNTwBZyY_3NoyM_8wse2PHC8iLBshRmtSoJj71k8vs5Byb3JSEWQCY7c1a_S8ZMynBXIGhr5Hx9_3cY6T3ZBY2xq-CK6QM9nSzXugd9q1jlcix-i1bkDWJdFDzOyydzrkExKKN-qyZeirv5KmQmQ_eExFpDqQO37G9tjby2hGDkc2shogK08vIStCU1ZPZwYtFOFWr0PwidYCvytGaIy51P_9gJxsuZsn904du_ldwjikPJDx_FwqIfM8G41Y1jXsQb963L2bvu1MKEDJ7Q2ihgFAGfD5fVF4VRyzeJsx2ILeQHnWYyFKVxUVmuoL1UXG-ptU00GSstr3yy10FU_8nyhHhX-kuRwPelvlsG2MjLhXHpRZH5HSiJmetoAUAeuoesypxTZOUxStVPPNeb-8ppg1r9-mtPrDomYFUqpDsty6-hC_eZo2f1FiySlKYNF29TDn2cmfj_GYBGJ8xsyplR4JtOiG_-WgICneMrBJgoL-CA36_HPIYl5i1X7QUk0BzG6eyYVxGTi82m4tjyOvi65bPqlWyUrI_hwYZzr2Tz5WS7wKloBLg4EA5KLosZTb72MMJt9nWcg-gy5eRathv1pWm2mkK2BAXI7g1FG5tiVT3OeX4PVbib0EVgBQ9pnjVGytAvIcqbwfuzBTNFcfc1hnhWF66MiKBYuc4raVR-xgYILgDQ3-Q3RfoxcnQZHpIE8eH8e7pFXnMlsp3-B-4FM3hsZ13nSj3-2loH6vj2Ct1ycpACdg-JwIwqSs_n31vzHxHPcXOd7IhlyDQ4un-qL9lICZynpPF9Ki8pOGbTIfw29IWwV9ZIkhyvmgDu-rPqCw1zBQRRAihs1tBvMRecQlqauslRPtga1zsz7GDSLP8Z4p4bUIdVzwF8Q9iwfRyRSKIqNA8DaSiNIcDAW-jQAd5ElI0zdH_Zk2cum2dYwAG6f6zPnYxhbszOUvkKacr0Yqv0pIzgVwHqVGdKVpfJV8VszoNzDL59A8iBkNG6WEmYCPAOOXI87ySqaXstdg2pjeJhUD-GZCgzXPrJijv5ODSs5IsSZux0zLfzeZveRE6-o7G2_faH6xq0QHxepbjwREc6wtZa8GhEKV2wpxkwK4NuP38H5wDieS_bbG7v5P55mWwk4dfkMaNDGFZMOMR80sXK1Pq6ctC8nc1dgYXa3iq_bfttfmNd1tQD32-499L7P5GqT0CKmFwW_Ts6ch6NzGqA8-ERypRDnxAt48YoqAKtDgne1IzNKpKVL-BhBz253617pmPhTh1d4DrmwpR0eTUxi_JcW7PsI0sQUwN2t2K30BjdDVP-qB6QLTPYs0QyyTZiw5iyXL7OXY6i81QkOMJUusR8F2vPXnZe_lmCVj7BG6FpIQIk2HUzJ-zQBX8a38bELQR_vldCwtF2Yx8wMoAv_diitBNoIXTudP6F5S2FcnOIOBLqiLRiT5GH06A0FLR7K08fGJJRR_uLqV2SerZyDCURO4hhOzoJqwD9G-fPsHHrPsF9fWYf2hZyD-zcQey8Q3bvA7rYk3EYCtG3-x_rtD6CjR4ld9fzTCgzlGIKqvWLyPd8wFzpcx4C8KzCAVC9nz8OkEVxr41VQK6IKM_YgkYCN2J4pARaKpBEFa8QPduMSEd013YyTQwf1LJGDrd-3xaxX5YHkV0fZtVOmoqJf69ctBmxlMr12Lhe9fornWqZnbrIxV_8FAeJSePI4rktl2dXhsnwAiJWuGf-9MTXux4Om0US7NQ_aGF550gugya5y_k_RJfHaJa4s1sCQPNh5Ydv1l8IcomuVFnKEbdkEbtdAsQsudD-z1K5XEXHwmdDD8DzzWvaiUphij9sLa6yqTz4cXdUoiq6gWd8WZSSb9oXG8X_cuzFMZkuRFlZRXVj0UloLnrnvvnWVHvu0siAEKhah96BUHdJcrsUg65Vhvb9F4os77Y8pgQ2CxvHpCXBHM8VRgL-80THGURJ985f3iqoxaVql_CRQMt35aXFOnPvyJ5wXLrjsX4X6l7_eSEp3H_Pps-IRR_MyMHiqmNjmkh3_V_taNs_jqpIj6mKCUDolv1gQyq3q0b8DfcHR5x2ocQH2_aP5WkQtmpGl-uUbSBY0kAKnDQfin5iUhgMDKxzoXV-pFjbzkiRJHXMB2swm2iVb4KsxMeiQqfsmLsTCSl4W-Aqe0aCy4vcrUI0oTPmEu3ai_odwvUBDhHZvEEp5W4tsUKJGEPtVOnBb-MpbKE-7Pqjz1JmZv61ZViVZvbEmTHAwc4LQa0jYiOb0LelqqVD71H0tZ3zePptCw8kp10n3uqKeGkTBrSAnGcljGZm6eBOOhVoymUDIOQpespUGiQBHKvHkxgi1i2HRj5FkubP8sguy-Yw8_SRhr5uRtyUqovjCeDkkqLJhrg5CzCgLJqvOKXY9mTrqqc1q-qqRgiA9mhR1Z0ux0AckG_K4fTatPKNCcfIvyAOgb65M2ueHh6HcnMl89koKzGEt5pxfx1yqD_V1tTzLRoGhr_5m-RoUS5MJWQd4uuRI1VkUyb4aL7NVILOcNT2ZFYn0OWmc0JImt3Jp4DireAiC9wGjh-pS3SndfZwMR4MpwaHny0FBPwdheenCwm5gridoh_14vQSJybkd4s7tUQ4UNpfwyb8UDEI3I4SBelLDDzI-ShIVUQWNHODrcmzOt3HV1GDdfNwNNc4YJFNA6cffR90XIBKy61SdqGduxNlJwl4okRtf9K-xrXhIdQ9FO9APXnMNuYKGbKVmZ1MUNK0pOtlUaZ6jaDzn9YgK5pps2Qv8V-jjV1gnyRFsUEmMF_La-d6ZsLNnHOQXENTnCyw19Fd4OsRB9xjUESzr_JoW6_uVpK6EH9RSE4obhBLc4rmLVM7FuOsCtNamCmazipQjSJNYdovwrmA0HfxOqnE5dh6aLIIpBDI93eJN1KcjTVOn_JNbGNjFknIrgt7UAA-uXAJvFOP3heqireRNqZKOLHtJC5oLwTlVFZmODdJeyHK3aZ50jmHgdgmfp76m3pdCO8MA6Cl-ZX4tSJg1lo8Q5G2OAyzTnC0TNnDdwM3g6r6tOaiBMfdtvq1UMMjMRoBM2mLz9I343nOKXuD3JfKu3XBtNR9H5fUwySyfmKbwMwYdjK4QVhTnj6wLDtqC42awW5stltwuvz4A5qFrzynEeIDYDhrtXoWDVNs75yhCYf8kFQmEONh6bHN3UMUq6ALHvRQBrsQvvDefZbYUI0oeIOENg36McWZmrD_Jq6zhsxR5p-9hXU0c9m7zseNwMs0CvdLo-Dbvvyw23FNaBP2UwjmDUcrR4FETFP6ipypS79giI4vzWc_a41S9AjNdBKHQ7F-TuMi6BgcktXMXizEjaT3IgaylvEev46deiC_f3ZkFMRmLn74SdTPX-2Gb0YXYsOc3YZF9UlerKJWPCD5yBcYsqr_EOuH2l7LEPsze1rX17BZ8C21BbaCBvXzfufm9RcQtl-p8xtygnlcd5nM_bbsA9I0_ussZGAavy4qDr32MZ1_SWtCUiR2w8PkKMP6IzM08_iPCWzx4Hb2w2cVXKNBOIX1aPqIQfv0y5thaRxJ9slmPzL9msSUSfp_9TFSrKiF-4WoLWy3VGtwrR0Nhy18eMe9x1mlQ4ASEdZVpbA4prnC9-9_CEUUHlLdUJqhGiG5-u28YhQ7MWE3uRYdxQV8aUJu1fFgslIQaIISx_iADvzfuSvImwC3hhNScZwbTpj5ocGeBo0GAkjvnbE7QU2qgLnDszAEOoWYHYT9FqtXfmeh0goW2lL1KIFV49ml2jc=",
  "id": "rs_0107ea2fef198293016ab494a2064887d0860bf0a0975bddb5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":-0.175,\"left_z\":0.12,\"left_gripper\":1,\"left_pitch\":0.18},\"note\":\"The thin rim has slipped out again. The bowl appears narrow enough for the full jaw opening, so I’m switching to a centered grasp across the bowl’s sides.\"}",
  "call_id": "call_ubD103MA0AHdlZNRUES5ZHmo",
  "id": "fc_0107ea2fef198293016ab494ab6aac87d0b158a57310d515b6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ubD103MA0AHdlZNRUES5ZHmo",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.989, 1.3762, 0.5484, 0.0616, -0.9127, -0.5438, 0.996, -0.0216, 0.8772, 0.7425, -0.5919, -0.0162, -0.0273, 0.9988]\nstate[eef_state]: left_x=0.2886 left_y=-0.178 left_z=0.1078 left_yaw=-0.0061 left_pitch=0.1267 left_roll=0.1226 left_gripper=0.996 right_x=0.2866 right_y=0.0003 right_z=0.1778 right_yaw=0.0065 right_pitch=-0.1597 right_roll=0.0015 right_gripper=0.9988\nstate[joint_eff]: [-0.3897, -5.9966, 5.3265, 1.5995, -0.442, 0.1001, -0.1734, -0.0752, -1.7162, 6.8718, 1.6972, -0.0317, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10bcd935c9c94640e398d459684c482eda23dd22194c07fbca2a107164b06a4d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fb63f8371c9a4cc2a46ba5a6e953f5c18e13e030649db7e39f9e564ba180239",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ee2261f84728819106296bdf8a0ad4c44f10ff1dc95e29f5daa89f98317417c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 3.765 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 49 changed as sent

message 57 changed as sent

message 61 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6956, 1.3762, 0.73, -0.1989, -0.5529, -0.4866, 0.745, -0.0216, 0.873, 0.7364, -0.5583, -0.0162, -0.0273, 0.9988]\nstate[eef_state]: left_x=0.3281 left_y=-0.1484 left_z=0.1066 left_yaw=0.0057 left_pitch=-0.1217 left_roll=0.0569 left_gripper=0.745 right_x=0.2909 right_y=0.0002 right_z=0.1826 right_yaw=0.0064 right_pitch=-0.1281 right_roll=0.0006 right_gripper=0.9988\nstate[joint_eff]: [-0.3214, -5.9829, 8.7863, 1.4432, -0.486, 0.0952, -0.1685, -0.2256, -1.0598, 10.2769, 1.707, -0.0366, -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 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6979, 1.486, 0.5785, -0.041, -0.5507, -0.4957, 0.0086, -0.0216, 0.8764, 0.7425, -0.5804, -0.0166, -0.0273, 0.9988]\nstate[eef_state]: left_x=0.3102 left_y=-0.1349 left_z=0.0398 left_yaw=0.0177 left_pitch=-0.2009 left_roll=0.1168 left_gripper=0.0086 right_x=0.2885 right_y=0.0003 right_z=0.1802 right_yaw=0.0068 right_pitch=-0.1475 right_roll=0.0014 right_gripper=0.9988\nstate[joint_eff]: [-0.0342, -5.7778, 6.3385, 1.2674, -0.3541, -0.022, 0.6227, 0.0068, -1.5385, 7.0085, 1.6532, -0.0659, -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 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.989, 1.3762, 0.5484, 0.0616, -0.9127, -0.5438, 0.996, -0.0216, 0.8772, 0.7425, -0.5919, -0.0162, -0.0273, 0.9988]\nstate[eef_state]: left_x=0.2886 left_y=-0.178 left_z=0.1078 left_yaw=-0.0061 left_pitch=0.1267 left_roll=0.1226 left_gripper=0.996 right_x=0.2866 right_y=0.0003 right_z=0.1778 right_yaw=0.0065 right_pitch=-0.1597 right_roll=0.0015 right_gripper=0.9988\nstate[joint_eff]: [-0.3897, -5.9966, 5.3265, 1.5995, -0.442, 0.1001, -0.1734, -0.0752, -1.7162, 6.8718, 1.6972, -0.0317, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10bcd935c9c94640e398d459684c482eda23dd22194c07fbca2a107164b06a4d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fb63f8371c9a4cc2a46ba5a6e953f5c18e13e030649db7e39f9e564ba180239",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ee2261f84728819106296bdf8a0ad4c44f10ff1dc95e29f5daa89f98317417c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJS08NvxLCgfN7yI9Cd83CjSgxyD-Y2aybfjEUK7iWNrCtu5ZTXDIpjuf6BDGd_AbcEGAXVH7JPVuw4JIpbmwgCU-0594GM3ClxZoauuHDDlyXI2WRDjUuTlfcVYY3wqo6iyQXhpE751E4uTv-quLPnXtfkerf48jYZraJXgFlWPK6X2ViowRphILVuI4SnVRLckphumhGwq254MwJWb6VolbDCyz5ri6qAq5lruSeP1KgDXvYVsySkwP11UlsybPmcyM5KI8iy8eb_WHtvs41qL1RRTb9bYJk6yI_lBb0V37LB-MlbROlGb911ITmGm-x4ZkEKERHGEN1IAFO9BQsVNQEfHDuibr-RASg5Snizq4A7l6EU_D1i17NY2q27tB6TaooCjsVaKoE1rNIJAZOcVtdKJCShm3VBD44ezCD6uC3hPRczoHhfNSujRnGQgMQkN7FdR6AhdBDs4g7rPiMd3iz03vWO5j0VKNPqB197Fz-PDbKe_wUMxB6ChgdCcI70EL7rjAVtXSCBTTvS1X8d-gQMyRJ8SZVfg0nIoppUxdfa5NE8E3Q26r8BnDMjCHR4bwnKjAyk7j1pSHHkAlIPfGw2h7M1TWPl6mH-4muwOg7m1cRlkXeZ5vnY8foCcTmSwWKQ92UrXsaGHn2NH4k9RwpnGWBgUMe5aO2DAfbbl5gaWA0m7HTcCAfAnNPlQ2yx8LyQEJj3x5JaWecA748aGbkO_f_rxwbLfLbR9bL9Eqa86Ae1o7x0HWbmyOcUBkqQR6XZFG4_zr6WvtqQAZGwAYPc4b3sg-reoR0MCb6AlvA3WvpNJuMgrNfK6f4U2TzF2GkqkhG9PqDSRA6kbDMwPzaDi_LWjznMZiohEYh1CNNPewksiolPvG3ZvFcc-y5ziUN47jK7xXmpH0oA8CLlGTJ0Dg7RpwolvfyR64uMoBKnSaulKEtT6UkSt-ljZCn9-2kOsumQxr3cTWJ2281Eed1TI27JR_RCuBqe2bNffVNENKiW3AmiLQ8EvETwgKKVtwdiTZeszKZL-4ThZJogiK9x-WcKQTazg1-4PDeoYcUJm-y9VIQ52rD47hsx3J3hdLLyYm8izQaTqinrixABZcj-X6_KM2F9ys46uJyZp_K6tBtNfwCKJg_G_FhIrB4hgD_iexnQjJmnPCl5GoaOaBM1SnAwMw3MwsDMAerVgu5U_K-8AYkW-K4GsxN0_enY_n7Z3toS4dlEJvizHGHdalyz4FyOzkGTWK4sHxPZNlButNW0FhywBSN52JfGWvwTa5w3mQLsrryalBCtELG_ea2RB30vxnUiyVobk1mNKzvD_fLOl71EzuESHOOLy2U1jZpDDEFWHj-_N_EvERRIT1Syqn27GzKp9qYylo1aFtwfKiW9WIs0OEDBCePtD5rO9BNWDcTMiepJz6rVEtFWQZJUJ_b8p1dDnh6Jn-ChbbZ8ymIU02dtIV_o97hSP1-ikPcK3srhWo7HYGSOfm6gqRaJjfuDQDC_TFlFZtXORNq7evaRek0jdBk8EfRuoPhAnntMYOm3jkI1sL16B64Cr9sSCUS_34ZYnsYPzKwHQZ6AjeKPjj7FXI8g2sc7NnGWKHYb9fhrZlCQKv0TYRyOssCPx70fySH02t-7W-hX4F6Qu6gkDrdNA4ET7hUg4hCPIXTWpfvba_ttkI681G6z4W8uOqev9x1oZOclwaY31N2m39eGm_3bg7XLfDkJuLtcHBkEY1NotoWDrQfr-EOxJPDmih5SR4sxj7_YvUyi7DrtYYusvuraClVuEKFfZInIzwT58h6tW4IbUgHoUIyC4lm16BJwHrEruLRn-Kpvfyvj_dL6nL83tsUV6G1aSF61mldngv-PH7VkWXGPD72_gswy1hIpOUyC7iucv_s9KqmSflzS3NSugsoXmSxKipPvZjtwwDChWR-ieyfzxHi5hxNM-w0JHp05u8zkzltweEG_DCLk6J4jZyoADe9NrNm7voQgqUrWZdFIKT1QlQTopx1NIkNSftgq5LO3mTuSEakVGBFEhmU5FhB2J90XcvtUE6-rKMFM-c8LOjVYDzmtwZcIp2kpQ6ilcYTnyHyQtvBLJuELZcMYo0ewpLS7us71uP3ozGrGpU2nXfHXnfG4N3FhCTxPZVR9Ej6WF7Aogo186NuFCF9pnFIARAWQ4a9GKznYakPYFR0pqcuExyTkUvK7hMut4cqbdND8gJ14d6Xy6YpHa3yrtFrTLJDfQqRZjPeEvg-1k9E1zbclY-6KJxttz9G5quw2Kly1Pq6I1fdBdCe5nTcqtAKD-eYLMSncP50xNqTRSp4WoptKgXKDqvQ==",
  "id": "rs_0107ea2fef198293016ab494afca6c87d08f954f78e354e1bd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.315,\"left_y\":-0.2,\"left_z\":0.04,\"left_gripper\":1,\"left_pitch\":0.18},\"note\":\"The target bowl is at the bottom of the wrist view, slightly right of the jaw center. I’m correcting toward it and lowering the fully open jaws around both sides.\"}",
  "call_id": "call_ZHFpYIUdnlbb5kBqYo3894E8",
  "id": "fc_0107ea2fef198293016ab494b356e887d09bc6d7018085fa19",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZHFpYIUdnlbb5kBqYo3894E8",
  "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]: [-0.968, 1.7706, 0.5049, 0.4858, -0.918, -0.4908, 0.9988, -0.0219, 0.8818, 0.7425, -0.5995, -0.0166, -0.0269, 0.9988]\nstate[eef_state]: left_x=0.3053 left_y=-0.1898 left_z=0.0305 left_yaw=-0.0114 left_pitch=0.1173 left_roll=0.1843 left_gripper=0.9988 right_x=0.2857 right_y=0.0003 right_z=0.1752 right_yaw=0.0063 right_pitch=-0.1719 right_roll=0.0024 right_gripper=0.9988\nstate[joint_eff]: [0.212, -7.241, 5.0803, 1.5409, -0.442, 0.0952, -0.1343, -0.1026, -1.9897, 6.8581, 1.6435, -0.0611, -0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:938ca9d770430955c4e4fcd2d8d59892a9dc37823fa3871836b982cd10fcc6f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:534d6328f0f68db9e761bbf80d0dae92a281c0fa63d3a24fc51f36db8bc7bf87",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c827d64186225a939165d41144d423205f171aa8031c64e1117382dad128a99d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 3.324 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 53 changed as sent

message 61 changed as sent

message 65 changed as sent

message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6975, 1.4792, 0.5884, -0.0422, -0.5537, -0.495, 0.7489, -0.0216, 0.8764, 0.7441, -0.5758, -0.0166, -0.0273, 0.9988]\nstate[eef_state]: left_x=0.3132 left_y=-0.1366 left_z=0.0453 left_yaw=0.0179 left_pitch=-0.1875 left_roll=0.1088 left_gripper=0.7489 right_x=0.2894 right_y=0.0003 right_z=0.1817 right_yaw=0.0067 right_pitch=-0.1414 right_roll=0.0012 right_gripper=0.9988\nstate[joint_eff]: [0.1299, -5.4769, 6.2427, 1.6679, -0.2759, 0.0464, -0.1343, -0.1162, -1.8667, 6.5026, 1.8095, -0.0611, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.989, 1.3762, 0.5484, 0.0616, -0.9127, -0.5438, 0.996, -0.0216, 0.8772, 0.7425, -0.5919, -0.0162, -0.0273, 0.9988]\nstate[eef_state]: left_x=0.2886 left_y=-0.178 left_z=0.1078 left_yaw=-0.0061 left_pitch=0.1267 left_roll=0.1226 left_gripper=0.996 right_x=0.2866 right_y=0.0003 right_z=0.1778 right_yaw=0.0065 right_pitch=-0.1597 right_roll=0.0015 right_gripper=0.9988\nstate[joint_eff]: [-0.3897, -5.9966, 5.3265, 1.5995, -0.442, 0.1001, -0.1734, -0.0752, -1.7162, 6.8718, 1.6972, -0.0317, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.968, 1.7706, 0.5049, 0.4858, -0.918, -0.4908, 0.9988, -0.0219, 0.8818, 0.7425, -0.5995, -0.0166, -0.0269, 0.9988]\nstate[eef_state]: left_x=0.3053 left_y=-0.1898 left_z=0.0305 left_yaw=-0.0114 left_pitch=0.1173 left_roll=0.1843 left_gripper=0.9988 right_x=0.2857 right_y=0.0003 right_z=0.1752 right_yaw=0.0063 right_pitch=-0.1719 right_roll=0.0024 right_gripper=0.9988\nstate[joint_eff]: [0.212, -7.241, 5.0803, 1.5409, -0.442, 0.0952, -0.1343, -0.1026, -1.9897, 6.8581, 1.6435, -0.0611, -0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:938ca9d770430955c4e4fcd2d8d59892a9dc37823fa3871836b982cd10fcc6f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:534d6328f0f68db9e761bbf80d0dae92a281c0fa63d3a24fc51f36db8bc7bf87",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c827d64186225a939165d41144d423205f171aa8031c64e1117382dad128a99d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJS4n1MVq05xsJsRYLhv1jHtc0qPlrjrpUONyPu2SHDGms-3h7cnk5Wujl7t48W1PDpR57kgObbiIwvuU1wu6sVvU625GXm9EVFWmkjwaE-BOuWZAojkD1xiu-be6R0OvZRLlyLfQ-35aCvYvOVJanFlQwFaZCMJNhSh_iYQfMKUYeE8yDa4IQRks42tnSfk5hwkc6s1Af8V4JxWLDrRziqArP_MZPzJHMFaOT5WvmtWFYi4yhPW6VCRxtzF3WlpnbB14WYEQoMHaYVLPrDQLRujwy_InO5AdjmdeCGBF4BkHkocCiUPIWP_PG5gVRK59u5VU0ErSef07GFva0Ud4w_uPGJf0ZP93cuheaU6gK4R5PZJC5xb71ZvP7oPlVR1QCXikOFeUeH0VO9iqk0c4T-l5UHRVDDzse5sh41JnmRsKQnC2v0qvDYaJ327zA9OO--UUt-DVbTtjiW_14VHrgt-eLiyuCmdlFgiD0F6uhFhM-yRqReqI1NXn0Uh3UkKmzUv1a7DnS5ILyKyjs5jGz6bY_LTeXF1T8MjUjNrmM8zkN3qKnIa4ONAJFl5MIacDnL-jEHnHy1aLFzYBWkJvPzDGbSNr7OLOIPu8SWViPMEc-XR-Qo-YS5ZUNhyklhtBalwhFnrIyC6pzg_6zCgpkvOENMarEFIzNlFJW8vvb57pjka5Y05UiTYLu2q_yNM4GzLGQtvc06tpUoJ2yw5xNiFEt04xnuLITRG29-DOrla2d3Tkp0NwXDqw-afcTBKYgxYDoMx89HrOrjhHp4mpa6o1xtEijeaNsd-vKOpWvGxw14DROIVTpWruplAdAZjjdR9lJGisPiwRayIzPvW_huEsE1wURD8UEDLf71mg4TnXWvGWQ1kdR88cYiLX1mKMQTKPbNaHCurswwVYGeOJo2ZJz7DkvGtHD_x7huOdsmS8DUEG-zfHzrRh-4hgIWnCOF3SReefUHXXw0RypS_G-eBc6xRnWXXsRUS3vSM2OThEgd1notiYwae32ixN5oAhLIyGZF81kvfEci-aeiCZFDcwP45zGgJbXv-4vP5h6yYIy9SygZpNiYyYibwgsqBnVXTGJ7H_yvZOaTlHTUO4ni7lJ0A8TH1XsV0Me9_vAV0CNmqEa1iku127Ifph1e3GDVBRh0rJS-hS6JqfeIo9gMA36OP9pnpZ50s5HV0lcQafbXQ1eMgpwrVj_D1wdbIw_ze4sV7g-3zp6AfEBwcW2I_os8k1JYiMYSnpRSjohKDcuEBs97eS_n1jN11xqeMv0pw-B7cEWl6sm52uIJlaJ9jRuyDlNEcxFoIPtKY2E2yd35kGnjQN_IBi4KJS93oekCcfxMeArTCtUYXLRa4RREL5uaRueqrpd49o4psasR4DTGx0g3CZTzQlHm_IKDmY5MgZRrGLKIyBN6S9N1ecLi64tXAs3e1XYnSGnA8QzKC-n92_mXwpZ1LFSexUYlPkYXY-mIXoBtfaly6feU2mEBhSv4hdlbBn1nupe18ogc70m7VglBGaQhxE9rYx1LzPxg-PBR5LeEjjkwZQkcMwzoy7TdVkde_6exObKFFfL4j9r5ee54U8S8VPFAf1y5w5gv5jQWxLG-_m5yoQViVC-av-fWKhtrc5bFdYXtph2nQKrbHng8p7Lou45CX3wnyq-8a-RmXG0Iv3cA4-j3DK8wkpad8cjXAh8GkvSGd5A6TRxM=",
  "id": "rs_0107ea2fef198293016ab494b6631c87d09522d54ec09f257d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The near bowl wall is now visibly between the two fingers. I’m closing to capture it, then I’ll test the hold with a short vertical lift.\"}",
  "call_id": "call_M5ZJ1cF4ZinOGmrTcj98xMPH",
  "id": "fc_0107ea2fef198293016ab494b8236887d0b687f0d1a2731bae",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_M5ZJ1cF4ZinOGmrTcj98xMPH",
  "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]: [-0.9688, 1.7569, 0.5117, 0.5518, -0.9367, -0.5171, 0.0321, -0.0216, 0.8822, 0.7425, -0.6025, -0.0166, -0.0269, 0.9988]\nstate[eef_state]: left_x=0.312 left_y=-0.1964 left_z=0.047 left_yaw=0.0255 left_pitch=0.1784 left_roll=0.0947 left_gripper=0.0321 right_x=0.2852 right_y=0.0004 right_z=0.1746 right_yaw=0.0067 right_pitch=-0.1754 right_roll=0.0025 right_gripper=0.9988\nstate[joint_eff]: [-0.2393, -5.1214, 3.8906, 0.0806, -0.0317, 0.4127, 0.2808, -0.0479, -1.7026, 7.1453, 1.6288, -0.0464, -0.0024, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae6f42a6bbcf03e2804a649faf2a102301c4969f3c4a9272f0556577d527a009",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce81439258d07cc05d5374791b84d14f93e5e44d25d42086e2e5ac968653e10d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91266846cb850e5039ec576e8416a0155481c21fe3dfa29497064d14c1415d4f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /responses · status 200 · 7.776 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 57 changed as sent

message 65 changed as sent

message 69 changed as sent

message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6979, 1.486, 0.5785, -0.041, -0.5507, -0.4957, 0.0086, -0.0216, 0.8764, 0.7425, -0.5804, -0.0166, -0.0273, 0.9988]\nstate[eef_state]: left_x=0.3102 left_y=-0.1349 left_z=0.0398 left_yaw=0.0177 left_pitch=-0.2009 left_roll=0.1168 left_gripper=0.0086 right_x=0.2885 right_y=0.0003 right_z=0.1802 right_yaw=0.0068 right_pitch=-0.1475 right_roll=0.0014 right_gripper=0.9988\nstate[joint_eff]: [-0.0342, -5.7778, 6.3385, 1.2674, -0.3541, -0.022, 0.6227, 0.0068, -1.5385, 7.0085, 1.6532, -0.0659, -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 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.968, 1.7706, 0.5049, 0.4858, -0.918, -0.4908, 0.9988, -0.0219, 0.8818, 0.7425, -0.5995, -0.0166, -0.0269, 0.9988]\nstate[eef_state]: left_x=0.3053 left_y=-0.1898 left_z=0.0305 left_yaw=-0.0114 left_pitch=0.1173 left_roll=0.1843 left_gripper=0.9988 right_x=0.2857 right_y=0.0003 right_z=0.1752 right_yaw=0.0063 right_pitch=-0.1719 right_roll=0.0024 right_gripper=0.9988\nstate[joint_eff]: [0.212, -7.241, 5.0803, 1.5409, -0.442, 0.0952, -0.1343, -0.1026, -1.9897, 6.8581, 1.6435, -0.0611, -0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9688, 1.7569, 0.5117, 0.5518, -0.9367, -0.5171, 0.0321, -0.0216, 0.8822, 0.7425, -0.6025, -0.0166, -0.0269, 0.9988]\nstate[eef_state]: left_x=0.312 left_y=-0.1964 left_z=0.047 left_yaw=0.0255 left_pitch=0.1784 left_roll=0.0947 left_gripper=0.0321 right_x=0.2852 right_y=0.0004 right_z=0.1746 right_yaw=0.0067 right_pitch=-0.1754 right_roll=0.0025 right_gripper=0.9988\nstate[joint_eff]: [-0.2393, -5.1214, 3.8906, 0.0806, -0.0317, 0.4127, 0.2808, -0.0479, -1.7026, 7.1453, 1.6288, -0.0464, -0.0024, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae6f42a6bbcf03e2804a649faf2a102301c4969f3c4a9272f0556577d527a009",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce81439258d07cc05d5374791b84d14f93e5e44d25d42086e2e5ac968653e10d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91266846cb850e5039ec576e8416a0155481c21fe3dfa29497064d14c1415d4f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJS93UKSR15pWFFfWEXYMnd3cvXXRRckXvL14KTSCWJ-_1s711MfGgHmHBKmWvyEcVf9gn64twClS6SXrulb0kA-CrCFOBDMT5rc5uDVx1xZZBbSaf7O14yiRwV1seSKNjJkGoWbG09LxgOpsOayuu3i6d18A3JaA7n3eCkUEYUnmhPnBcRBZMSOUlV6sNL7_w7hLOlr78slcfktSdE3BJNO_PoNwgdvWanLEv6xpKH95FncjSYhGkG63PfIf86oTlptb4rLych7jTjOAYv7B7-w1xnzMULYFg7dNkHCJ4c94EuxSJBt9j13biRQnPbFebrp-VB0hG3J6B-106Ak-wcuR2K8e-JuVfxkYSOO0UyCc3v-8V53FvREr7rYiOrp-KKA2UtrH6-c_GgaSgHhFZhFohiGQGOGaEIX3lT4Pyk7sSH83uPh033WXENew26MwPrebMFXSCoZPKJceGPXgM7sYx8cWFwa-rhB7_xXU6ZRXril40mDT75GtVgSRt8_p_Z8lQdE9WuXdqZXimZFN14lnyVljXPo0wWg9ku89fICv-25DRw1NO3duyFE0jWQir3GNGlQcIhc6Xi79d2EAv9KR947eRb2KQcNh8Zk17BvvqS9MruTciqfC2NqeM2Hzv_6UocFZLlag2gnRAGkOwfO3lCeHNZmlfWQfAOtG5A7APtzP8pF-j6BxfzX403aFbZmmiW9UfLm6hHtWJHlgeWx_olTcvuifqVeW4c7i5tvtQlvxFwS5i8gOLzGFj8vmv8SrIDRAAjtelH6D210LZg5fm6BXy3pY9k8pTF9fYzU-g16Exnqh_v2aL5pBQsM_oWm-20ZBqzY4w95_6IRgAFnz1aeB3b9HQvEN3e32LgHMAIC26I7fQ9l2q-JcWQLqEmS4a-VitijliS4zhBKJHk173fdTBz95nIKSXZt8_68_ww2iBY7KHa-ynXI6WcIm4eVfaPF5rYe3AJ1Llne5yDzZ4ZyS2r0Om59UXW00iedjmpkBgLhQPiq6SoKbwBRO-vDw6pJmcNqQioG_LxiivoIc4HYSwwKrUQn4wLYGI40fzrFxyvSgWolAwNqaEtdiu93DhFF-LZWL1dysHaQwGVDUoEhUgT3-SeWOv7o-pu7W1MXAUKgUWa6N6634MkVpmTDrh2duJv9-SwZlW3gmxfRFGihTu4_ISh9mU_agMd97SMCRoIkuVirMl2e61_9_2reJ9k25JPzI7Mk8WU-Exo7IUAVFljpEgSuK8cxjx1see6vFNLVxpM9U8FcJWC9Sgx_dXf1x_wEkYEdRxpEVZO_2U_AOjrCD0s8Lg1I-9zKnLGfT0jnbxeZfA1mbT8zgsJP",
  "id": "rs_0107ea2fef198293016ab494bba94c87d0a936220aaaa998d1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.105},\"note\":\"The bowl tilted with the closing fingers, suggesting the thin rim may be held despite the small jaw reading. I’m lifting five centimeters to check directly.\"}",
  "call_id": "call_G6Nusn058SXjQPTaZY5MoS6j",
  "id": "fc_0107ea2fef198293016ab494bc3ad887d0b92501783053a93b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_G6Nusn058SXjQPTaZY5MoS6j",
  "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]: [-0.9688, 1.56, 0.5667, 0.3241, -0.9363, -0.5217, 0.0389, -0.0219, 0.8829, 0.7425, -0.6029, -0.0162, -0.0273, 0.9988]\nstate[eef_state]: left_x=0.3118 left_y=-0.1963 left_z=0.0952 left_yaw=0.0315 left_pitch=0.1915 left_roll=0.0697 left_gripper=0.0389 right_x=0.2852 right_y=0.0002 right_z=0.1743 right_yaw=0.0062 right_pitch=-0.1765 right_roll=0.002 right_gripper=0.9988\nstate[joint_eff]: [-0.3487, -6.735, 7.9521, 1.4383, -0.3541, -0.0024, 1.0183, -0.2256, -1.7573, 6.8718, 1.5653, -0.0269, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da19b9668d6489f0f81f287607359aee4c6c4b1ec4ef8a6868603fb6684ff58b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8167aadc700b67c7e1ecb105a754c51af3af9b215611209b3e481921095512cc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c3af725b1884ae4b26aae7d222dbd622ea921c000d12988ae838867b8dff5d5",
      "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 · 3.396 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 61 changed as sent

message 69 changed as sent

message 73 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.989, 1.3762, 0.5484, 0.0616, -0.9127, -0.5438, 0.996, -0.0216, 0.8772, 0.7425, -0.5919, -0.0162, -0.0273, 0.9988]\nstate[eef_state]: left_x=0.2886 left_y=-0.178 left_z=0.1078 left_yaw=-0.0061 left_pitch=0.1267 left_roll=0.1226 left_gripper=0.996 right_x=0.2866 right_y=0.0003 right_z=0.1778 right_yaw=0.0065 right_pitch=-0.1597 right_roll=0.0015 right_gripper=0.9988\nstate[joint_eff]: [-0.3897, -5.9966, 5.3265, 1.5995, -0.442, 0.1001, -0.1734, -0.0752, -1.7162, 6.8718, 1.6972, -0.0317, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9688, 1.7569, 0.5117, 0.5518, -0.9367, -0.5171, 0.0321, -0.0216, 0.8822, 0.7425, -0.6025, -0.0166, -0.0269, 0.9988]\nstate[eef_state]: left_x=0.312 left_y=-0.1964 left_z=0.047 left_yaw=0.0255 left_pitch=0.1784 left_roll=0.0947 left_gripper=0.0321 right_x=0.2852 right_y=0.0004 right_z=0.1746 right_yaw=0.0067 right_pitch=-0.1754 right_roll=0.0025 right_gripper=0.9988\nstate[joint_eff]: [-0.2393, -5.1214, 3.8906, 0.0806, -0.0317, 0.4127, 0.2808, -0.0479, -1.7026, 7.1453, 1.6288, -0.0464, -0.0024, -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 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9688, 1.56, 0.5667, 0.3241, -0.9363, -0.5217, 0.0389, -0.0219, 0.8829, 0.7425, -0.6029, -0.0162, -0.0273, 0.9988]\nstate[eef_state]: left_x=0.3118 left_y=-0.1963 left_z=0.0952 left_yaw=0.0315 left_pitch=0.1915 left_roll=0.0697 left_gripper=0.0389 right_x=0.2852 right_y=0.0002 right_z=0.1743 right_yaw=0.0062 right_pitch=-0.1765 right_roll=0.002 right_gripper=0.9988\nstate[joint_eff]: [-0.3487, -6.735, 7.9521, 1.4383, -0.3541, -0.0024, 1.0183, -0.2256, -1.7573, 6.8718, 1.5653, -0.0269, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da19b9668d6489f0f81f287607359aee4c6c4b1ec4ef8a6868603fb6684ff58b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8167aadc700b67c7e1ecb105a754c51af3af9b215611209b3e481921095512cc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c3af725b1884ae4b26aae7d222dbd622ea921c000d12988ae838867b8dff5d5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJTFRPcGAcAhv2MYzliWdDUbd6eg3fGphcB1qYl_IcfX4AW0nG1nGA1kPil9W07w-NhhIRjdqLvGmdhnfda86xobmvDmK_1TYI-N92PeW50QAabw3m0SlWTZz6DV48oA06Ozjw9LpMcV6rMAgLzN3ILlImYsTkFqd4cuB4lrVDxSlWtHqEGLxz0J3QxbuTKBz7yEsyaZAW6L0GqIFI0vkrJmfzpz41H4mhJbX7u_OoRoYo5aij00zWnY022mab6vtXy3vmcrTvBz-L8KLUvFb7yYq_eDMO6QFvEjlyAgDas8ezYkvNkaLi4-2i8vRkWsf1OV3kq9X_Vnn3GahW_8BgzHliTDGSMz5P7bHTsgbTKEd9U6PHj9AHlnVgfgZmMDS6l4pGuxlvfVJpKEK3oc1DDx7rMHN57ucn2PTpDG_hY9pSFNZamsJP5b02MZ9V4PAGaO7Olw7InXntHwcE5oXlVorSSBWzJz_ABFP9Lhbf5LwjtDy0zo0TPjEFk2UR-X99TLx3Ov4_JYD9VAI368f3jtFP9ppjsfeGfax-OW1lCgqsRlTC_JLsdqJ7s-LIS-BHKywpE-5wnbfGs3lSLWvU97c1R2KPeVW2U5fi3j4jgLy32hTf1C8vJgQZUqpnnBfN2Sqt7L0_OQmdRc_cRi1SgCjWUTCZSOXLtyXHlTZzup6KJlsqrtBuRbSe2jC7IqiogqobnPjF7t_wgh21vJjMhx_5FBMlx8VcqWCpnFRIWR5pROvjf_gjptGpMhriTQZ-JWMWYjqdcIkZyDaov_yJkUNLpzcfH3tc4IiSXmY1E5fgaIPTpI1sw3dxKjal00JfeiqBuIj6lcjA1bnKws4Pt29fgPGe6jj0dbLphbc9sTsN5g1pgvKLwM0XFH2aOyhrKq7bTCQRfTiyP8d7pNcl-YCdYyj7p1l9sDALnU7G863FD0DkCSBMBCHKa84-R6eH6iXLtFaWByNkaEmjBPdP16ns-W5Hp12ZkjS7g5pCpCo0YZakAYJi_CNxi4JGddAtnuvEaS019vlUjObIN8443u-jdr3pQESmRzJ1ZsRI-bUTomEKplVnNggoQwiVjWYNNSGuUwyi9kIhgnAJUHDypofjUhu-t56uj5anwIylvT47U2Rbpup6nQsHduhsX8MOt1007tUaXT6gYJT3veNTNqCHIKzE-RqOHEZRXQ3-8yKU75g9OP9s-V6bYD6nHDo5X7sf6d0mbNEwSYHRS9QjQr1tz8DpYfOgWlmNARGJT-0RSb4q5DVeL-N12bA3ZU8biS7GRC8yiG6PxHFdCh1R0TQOddVroZVlVT8HUWtWvAUDNgeYQR3ZARKOLdN6C0gGBtXERAE_4E5WDlulj4PuGzxjTYcxTK1fFYchExdvl4pboG9KApRJvACY7FW6zx9Tz-pGSQ0A9VShpArnb7BisYmQ3LC1zc2DNTXS3leOmf0PEhrnSL-j5cG3mafaYFVYE4sRfpJZgU5Bh0Tq1kaVesqAZ0vHE30GkvXSRLWgzc9PV-Wla0xh0U9bGqYJ4KqDvuHphYDjha38uWz6wpEghAVYbW-Be39MFlvpf8rAJs30WMez3anNzTgnwimQ9ea-XQw6Hr3bFgvl3I1hqwphnyp5up0Ys-7ChscsThciX95nIG15jRsiiqrThdDSVAWf2RsnMWM5Ty0xTuuQocfH8iVraXaSyuTbz06uRAjxGsQaQoofOMdnWRKq-bXihv00egyuKuKDeFycdObms6DFISIjVQRWFbqz4vm69LH22w0z3smzxGBH3C_cJ2KdDGlXl9e0tnyoTUT5MpZ65dUqmXqZNSmgRgja-0yJF0IKxbvSK3126fnTwZQNV_tFNoJMd9MJ8Obg6J52CcGgM03iKFB0n85M5-HrGbRpJkZxVdGWEB7NoBa5fQBSc5SGIEz9rcUTm_Rb_-84hYANa5AbGISH4KQWnVOxhAjxmyW1rWnJt4uXJ0T64C-vRriELuf44DXTmvGZOJ-Qovf4qtkSxx4Z1oZYSpL-GSSVYsMLE859UQvtL4s6YqOjw07MFExnH44qIr3bbbnB1EZeS0zbmhsngj_fkTARBFLMMuPMT3xRPJ-zKP1jlU1rcMeeY0wuRYpgH_N-BSa8qO0QCtwpg-KoWGvfC4aKRO8LwyK6K12tH32xPsR-jxMXuspcuuOI3DZfUvHUNMlh_E2EvaRd4qNyd9GB9-f0qAIclImyzzx9yKwQHus7-LzQ73go4eFnUbRE06b8kGOpdxPKG4rn6kER2-okyGcgFVRiMccG5uI0rH7AmMu_F7BdkAg2HPSIdGdMOnuzq1hsvTHe9zLTMiXaS-Ie-GK93PwCgi3ha4lFfKwGXuKAyXzmQb_m2Y8MOLsA_vUMs8zCfNaaGpCsFNutB-JLewL88gTvjQoMBR14pBjmnMh3qifH_fRNgHpjgPqJVY972I7O4lXzsD75yCzdbQ7UpY5TS3pRpxJttmm9nQGEVe5Dbjf8GNI4a_gj0AWtxQqA05_mFSuSlaSLzX0EBAcvggicSKp9Qu-X3YR5MFE6ret7eOl5oDbQfLcrctVCkwkKenLylEA0dKGylUcms9ixIACin4BtgbL8FfXOqBzvn-G0djsQTcdYQIWW2liUOiAfeNi-RiDZWjiz7qBg==",
  "id": "rs_0107ea2fef198293016ab494bef64087d0970996016cd1e732",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.315,\"left_y\":-0.2,\"left_z\":0.19},\"note\":\"The bowl rose with the gripper, confirming a rim grasp. I’m lifting it clear of the other bowls before moving it over the middle bowl.\"}",
  "call_id": "call_MAzqd5BZ11nHOPVZsVTXW3Ua",
  "id": "fc_0107ea2fef198293016ab494c4293c87d0bc6aec3c967ae383",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MAzqd5BZ11nHOPVZsVTXW3Ua",
  "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]: [-0.9688, 1.3846, 0.7841, -0.0788, -0.936, -0.5243, 0.0387, -0.0219, 0.8829, 0.7425, -0.6029, -0.0162, -0.0273, 0.9988]\nstate[eef_state]: left_x=0.3146 left_y=-0.2004 left_z=0.1728 left_yaw=0.0311 left_pitch=0.1861 left_roll=0.0755 left_gripper=0.0387 right_x=0.2852 right_y=0.0002 right_z=0.1743 right_yaw=0.0062 right_pitch=-0.1765 right_roll=0.002 right_gripper=0.9988\nstate[joint_eff]: [-0.1846, -6.8718, 9.0462, 1.4481, -0.3639, 0.0024, 0.5055, -0.0205, -1.6889, 6.8581, 1.5556, -0.0122, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e62ccd18e64ea07861a4948164c8070cebb9316b4a87a2d7669fc3a891acf96",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d4f31599c42134edfbae2674a80e88d1fe3d9bd723fd72dce0e886940d3aa08",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85095cbda7f1aec442f1ec4e2c3075474ad304dd6fb9137719af2fcfac013648",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 20 attempt 0 · /responses · status 200 · 3.986 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 65 changed as sent

message 73 changed as sent

message 77 changed as sent

message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.968, 1.7706, 0.5049, 0.4858, -0.918, -0.4908, 0.9988, -0.0219, 0.8818, 0.7425, -0.5995, -0.0166, -0.0269, 0.9988]\nstate[eef_state]: left_x=0.3053 left_y=-0.1898 left_z=0.0305 left_yaw=-0.0114 left_pitch=0.1173 left_roll=0.1843 left_gripper=0.9988 right_x=0.2857 right_y=0.0003 right_z=0.1752 right_yaw=0.0063 right_pitch=-0.1719 right_roll=0.0024 right_gripper=0.9988\nstate[joint_eff]: [0.212, -7.241, 5.0803, 1.5409, -0.442, 0.0952, -0.1343, -0.1026, -1.9897, 6.8581, 1.6435, -0.0611, -0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9688, 1.56, 0.5667, 0.3241, -0.9363, -0.5217, 0.0389, -0.0219, 0.8829, 0.7425, -0.6029, -0.0162, -0.0273, 0.9988]\nstate[eef_state]: left_x=0.3118 left_y=-0.1963 left_z=0.0952 left_yaw=0.0315 left_pitch=0.1915 left_roll=0.0697 left_gripper=0.0389 right_x=0.2852 right_y=0.0002 right_z=0.1743 right_yaw=0.0062 right_pitch=-0.1765 right_roll=0.002 right_gripper=0.9988\nstate[joint_eff]: [-0.3487, -6.735, 7.9521, 1.4383, -0.3541, -0.0024, 1.0183, -0.2256, -1.7573, 6.8718, 1.5653, -0.0269, -0.0659, -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 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9688, 1.3846, 0.7841, -0.0788, -0.936, -0.5243, 0.0387, -0.0219, 0.8829, 0.7425, -0.6029, -0.0162, -0.0273, 0.9988]\nstate[eef_state]: left_x=0.3146 left_y=-0.2004 left_z=0.1728 left_yaw=0.0311 left_pitch=0.1861 left_roll=0.0755 left_gripper=0.0387 right_x=0.2852 right_y=0.0002 right_z=0.1743 right_yaw=0.0062 right_pitch=-0.1765 right_roll=0.002 right_gripper=0.9988\nstate[joint_eff]: [-0.1846, -6.8718, 9.0462, 1.4481, -0.3639, 0.0024, 0.5055, -0.0205, -1.6889, 6.8581, 1.5556, -0.0122, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e62ccd18e64ea07861a4948164c8070cebb9316b4a87a2d7669fc3a891acf96",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d4f31599c42134edfbae2674a80e88d1fe3d9bd723fd72dce0e886940d3aa08",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85095cbda7f1aec442f1ec4e2c3075474ad304dd6fb9137719af2fcfac013648",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJTJTNLU-HVql84DR_8yvni6PsksdrO6U73m5LkdK50BgDfs_VbhCRQlEIFWbvOQO8l9CMrWpBYs8FNBLwfyuuVVPVsJgIsMMgOdQHxBWeBT0c4Zia2toO1689iaHbXekfsnbHJmjOqZy7VYQKtyll8kiFu9uFnFbz2GWobXp_V9AcwpXnBjnYw57MZhWRs8hhfqgefinpRwADjDw3tMLpoGwoUPdv8W7j3CSghXd8ZFj1mbDqLvh-NCAWltyUWn1dO0u3aRH9YU8wC52hnxbd-6r496hUSkv1nnUy6dkf1jMwQQgdb2jNmJqn9tOrEHgDwsQtGFuNwW9Qk4e2W-oSr7G4Q_ZcVqXSH60dMhEaiLfZuMAeC9z0l_Zt5adEUVuqCpRomn1zQP0qOt2D13wQ1E3_XmUYGDef5VmmEdH0o4rXBQWg5vsBy5nJwaGxEwroh3RTlBF0M3i_-TzAGTsyCYCN3Ju1JqHNvs1SHbcnNdYWH7RqWdMbpYdYjrRz-ELp_QtxXqUz9DkcmXOQU7r6XpESbsz0RhLqgSa8SFsvXwUVunNP-OOyrucH9RI0YdFJ5moVU-n9brqtoj1WLn_QpyRc3bP2hp1s792jQsrKZx9Em30gN1Rsn9RERbTkpzr6_u2s7G2KtovuIxQY24rqAeSHEpspB5zRN2oxyCRfI9UObX23syTaRan40BY8WwDZPjHfF14EkvL2VXRDWb80bWPUViv6bATJvg48KIZ27-5_ZnWeMyeGX9uyAPQCwavOiPcgZp_wuHYyUSDVODoSY45ApeVotY11XQjCCWaiKxgD4VvpWBsR6m1mwp8Dx-Y0WO-52KsvOxYUFSDwL3RKA6hbKi9OMVfKq2HC1h4CNtQrZb7TMMyYUL2GPue8EiG6ij4Ugju1A9vdPCdxRap7t85tAhcrogSf5LS4VPyU2x895nTTVSE7w1PZL7KXGvORuudJlNNWn7S07HghW-77P1DfBmwWoFDdBPPmqFHKZpeFEhyv9tLOK20j5jYps_NJWs0y9JAH87ETjVrqk6Ca4iRgixEJezfMqJyL2z7k69zn4V9MMXscwVioYGR7mwdqlQGlg_nn6yDeJi3G88nYUATzNoqbRxWm_hNgr_MlELSd8eZ-s_LxR7oq7zF6rKFQcpwNVXFwCDVdxPVKpPqm-w4tGX0x5jYHgzY1aDqPjIk8qzkzitgg1tivXmIJHfNHdnO_crLh__KQCDMERBmtupmeG-9pVZc0GxF2sTxxKDZLCkZL_iyamu0tJzcVusYdDSP-7xoeBioUJsOQN5du01THN6TMZtVwz1M04vPUynRMBA75v0NfvoKv3qtaelHhrTnEDgAWL6LLbIF6cN3ItMBT0ASKrmLxDugyBDf-8_dJrC3MPWIKQCLRQQwcBuVHI17y8qoWj9aLr1Q8MJngZDyfzsaMVpSr_aqHIoYdWrEUIP3VSet6vTmv687ggvsfVS5Ra36M3IOQ7wcEAemTQecoyixSZ2Ico7rwyxVWS9iCf6Ox1De5t06OpqCEc297c5",
  "id": "rs_0107ea2fef198293016ab494c7393487d091dee5d2797d4ae0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.235,\"left_z\":0.19},\"note\":\"The held bowl is clear of the table. I’m moving it forward and slightly right so its center will align with the middle bowl as it is lowered.\"}",
  "call_id": "call_j7A9V8DgJ0rTyLvn0YLjrLPq",
  "id": "fc_0107ea2fef198293016ab494c80f7087d084f0d2f5f6e1a2b6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_j7A9V8DgJ0rTyLvn0YLjrLPq",
  "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]: [-0.7673, 1.7294, 1.1301, -0.0017, -0.7853, -0.3786, 0.0422, -0.0216, 0.8848, 0.7425, -0.6041, -0.0162, -0.0273, 0.9988]\nstate[eef_state]: left_x=0.4194 left_y=-0.226 left_z=0.1739 left_yaw=0.0522 left_pitch=0.1554 left_roll=0.0932 left_gripper=0.0422 right_x=0.2851 right_y=0.0003 right_z=0.1736 right_yaw=0.0066 right_pitch=-0.1796 right_roll=0.0021 right_gripper=0.9988\nstate[joint_eff]: [0.4171, -8.7453, 8.8274, 1.7705, -0.2418, 0.2027, 0.7595, -0.0752, -1.6752, 6.9538, 1.5458, -0.0171, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:343a9c5257e53bc154d8a7dc16149ec4f2131792d75ec1a2fdeeeb88ec6df455",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eac2561f1fb965deb078cd092d891ec3c525a11d1e7176cf2b0da57058e2d468",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7dfff68d74cedc77ab1480d970367d1340b0c77c5cebaf051470f0d8391cd564",
      "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 21 attempt 0 · /responses · status 200 · 3.652 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 69 changed as sent

message 77 changed as sent

message 81 changed as sent

message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9688, 1.7569, 0.5117, 0.5518, -0.9367, -0.5171, 0.0321, -0.0216, 0.8822, 0.7425, -0.6025, -0.0166, -0.0269, 0.9988]\nstate[eef_state]: left_x=0.312 left_y=-0.1964 left_z=0.047 left_yaw=0.0255 left_pitch=0.1784 left_roll=0.0947 left_gripper=0.0321 right_x=0.2852 right_y=0.0004 right_z=0.1746 right_yaw=0.0067 right_pitch=-0.1754 right_roll=0.0025 right_gripper=0.9988\nstate[joint_eff]: [-0.2393, -5.1214, 3.8906, 0.0806, -0.0317, 0.4127, 0.2808, -0.0479, -1.7026, 7.1453, 1.6288, -0.0464, -0.0024, -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 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9688, 1.3846, 0.7841, -0.0788, -0.936, -0.5243, 0.0387, -0.0219, 0.8829, 0.7425, -0.6029, -0.0162, -0.0273, 0.9988]\nstate[eef_state]: left_x=0.3146 left_y=-0.2004 left_z=0.1728 left_yaw=0.0311 left_pitch=0.1861 left_roll=0.0755 left_gripper=0.0387 right_x=0.2852 right_y=0.0002 right_z=0.1743 right_yaw=0.0062 right_pitch=-0.1765 right_roll=0.002 right_gripper=0.9988\nstate[joint_eff]: [-0.1846, -6.8718, 9.0462, 1.4481, -0.3639, 0.0024, 0.5055, -0.0205, -1.6889, 6.8581, 1.5556, -0.0122, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7673, 1.7294, 1.1301, -0.0017, -0.7853, -0.3786, 0.0422, -0.0216, 0.8848, 0.7425, -0.6041, -0.0162, -0.0273, 0.9988]\nstate[eef_state]: left_x=0.4194 left_y=-0.226 left_z=0.1739 left_yaw=0.0522 left_pitch=0.1554 left_roll=0.0932 left_gripper=0.0422 right_x=0.2851 right_y=0.0003 right_z=0.1736 right_yaw=0.0066 right_pitch=-0.1796 right_roll=0.0021 right_gripper=0.9988\nstate[joint_eff]: [0.4171, -8.7453, 8.8274, 1.7705, -0.2418, 0.2027, 0.7595, -0.0752, -1.6752, 6.9538, 1.5458, -0.0171, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:343a9c5257e53bc154d8a7dc16149ec4f2131792d75ec1a2fdeeeb88ec6df455",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eac2561f1fb965deb078cd092d891ec3c525a11d1e7176cf2b0da57058e2d468",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7dfff68d74cedc77ab1480d970367d1340b0c77c5cebaf051470f0d8391cd564",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJTN-fioYoPdhZ9dS2iVgILnfnE1KZ9f0JD5rGIhYyWTB_g7wC2MnEIQGVmB6uFqA0j5497dxNexdtgncN7NDszSyCmCr3d0fe7MCjxjWyiZXz121UI7w_AP62g6kVMHj8YRvzKIvVIuEabB-TrB3SCrOFbLaNcLYu-iarD1aka5dOs1oT5tTsJIkk35MglRyNK66q0RsbirPMnkzqwFlyduIvm9OXtOd8iTgFSpzp2QLIH06_MsfAx7bkvBpfpdgfvAAWzpQqbERZZKIxwVQ6s6Fl0P3FOPTfRUTXxyoqBqzpgw0dVZ1Tw5J39qEciNiSi7vnb0fJpjG-0CQvk2X9aq_Dw7WJ_Xba5dpRQ-96e4BB1ZslT-NQm55l4tAPPS3muzwodJYzmtStS_KDnXo_PfEsr-8jrFIxf16faAu1WAlSDvaRu4o8mHEaJajhqGb-sKcIEcL1cIcZWsFZloi_DSQ8OUBTbwnIPL-tvti0ToU7q8zENfWZmlWBR1hRU5QC1KLF81uaa-_JVTtZHY1Na3Orc8ZBrcmG4mBF9Mc4vC42AxWDXENspiAu0GKxHnCfKDbIlrXUsFtmTsN86FQ_HQYFLGOmTAGk40RuTsmnRws9cOhG3AFXuVww_F2APWJhMKAWRasgIkLEivVk1O7LlzbjY198o9OEwkOH-EBnD4Wj5617ASi-pOqQvlzoV-A-mPIYIJOa4keBu9omlNjHxjGfD8m9Jx3AzmaELNGybxqeI6t9MoYhu6GKBTu4bJrWt3qYb4aoLYF8xh3HiFbH1axs2xXjgPeFSkI2b615VnkHPBEtLkIx93l7d7qhobuVvw8wp3Lk_gs4Q-Kn7ZfWeoRBbXfrmjd4FVNfXxW_xW9qKXqjXG8E5kJLOxNj9f0g6VJRWzEc_KJyUfOXWkSjN2AQCYj8SMpgiGwr37fdKGArvQ0IgFFQbwAIz1SW-zJCJIqcAR9iP5yovABqsM9mTOaMuC8pE2SGDQgDsz1_Rc4ioPTEIk2IUt9T2brNpgCBRFS_Na00y0MoUGPFej5Quco5tW4_itRTmGUxmcIEKKkXh51tbuCH-JkTqVSl22Vns7gOBbuhEOvmvIKFhnT82vMlq2b12XNa02VA403L5EEF5MDk_EWF1kW3mTF45Sp8wGV8KDUXXZFM9dsTYHV-GROOEZilb4uFC6EcCzNAww3tAt6Nz1add7COer1AvcNSEGLtrxEejxwBIXv1Whcgx1bXnZ82B2tSbuQUOTk6H3XZgoSTKKHWs8At7zfSloJCnBA2rA4S96MemIUEOlgGgGVRYPLrymhYWcFnqn54UmnMLoajXnsuK8AJMyyJWIlN1kNsafDvEmg7vv9tYRFtozxydDaIGlAFVjjrh1a2Bis6Gv_C8-TNOmSdOV_g3hbEhjZNBitRnwDVh502FjMC225o5wzP4-RWe8AP7Bve0LolaNlPDq4QdNqKJf4mw54lCvIsSpdE17kdO5BZ_i4tcnOS86y_7XTPaBTzk0dkYej-z3NMhxloZBCXmb8OIgI9t0Qv3Rt6EjDrF6ZSzWyN57Bb782Xpk9-6P3G-I_KQDoY64ocqud7moZ4a5DRsqN_XL4wHzI7l6fNfyTFbKuE645LgpqDCQJJ-J0A5CshQkk7ASqOAvaqmuzyKlPqgJWh-Fh6BmIgavILdLqhvrtuMX1BpO5sPGFZibEJh_kwitSaOI8S9XjviAepcrQdi4n3_zTf0lHYroIDXQiwkL_6tYof2AQoeWISO0RvuLIZyDMD8=",
  "id": "rs_0107ea2fef198293016ab494cb688087d0a65fcd526eb0e1fb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.235,\"left_z\":0.085},\"note\":\"The carried bowl is centered left-to-right over the middle bowl. I’m lowering it slowly to let the bowls nest.\"}",
  "call_id": "call_4gWHMkW9T28PGWTexwpzicaU",
  "id": "fc_0107ea2fef198293016ab494cd24e887d0a0aa5290eebdc120",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4gWHMkW9T28PGWTexwpzicaU",
  "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]: [-0.7593, 1.9377, 1.0206, 0.2474, -0.7788, -0.3668, 0.0452, -0.0219, 0.8867, 0.7425, -0.6033, -0.0162, -0.0273, 0.9988]\nstate[eef_state]: left_x=0.4251 left_y=-0.2275 left_z=0.079 left_yaw=0.0424 left_pitch=0.1044 left_roll=0.1515 left_gripper=0.0452 right_x=0.2853 right_y=0.0002 right_z=0.1732 right_yaw=0.0062 right_pitch=-0.1807 right_roll=0.0021 right_gripper=0.9988\nstate[joint_eff]: [-0.5265, -9.4291, 5.5863, 1.7802, -0.3248, -0.1587, 0.6032, -0.0205, -1.3197, 6.9538, 1.5946, -0.0562, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cc4384f3e01a2fa48cb8791459c5195ea620b8e5ac40fa7445c8da8638b41eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d5054c23c228bd166d373de52ba8c392505e8dd9920ad308919f252b1486ba3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c612a34a5202d6bc78af15923856fad388df07c778f15da838427f68c0a0c386",
      "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 · 2.473 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 73 changed as sent

message 81 changed as sent

message 85 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9688, 1.56, 0.5667, 0.3241, -0.9363, -0.5217, 0.0389, -0.0219, 0.8829, 0.7425, -0.6029, -0.0162, -0.0273, 0.9988]\nstate[eef_state]: left_x=0.3118 left_y=-0.1963 left_z=0.0952 left_yaw=0.0315 left_pitch=0.1915 left_roll=0.0697 left_gripper=0.0389 right_x=0.2852 right_y=0.0002 right_z=0.1743 right_yaw=0.0062 right_pitch=-0.1765 right_roll=0.002 right_gripper=0.9988\nstate[joint_eff]: [-0.3487, -6.735, 7.9521, 1.4383, -0.3541, -0.0024, 1.0183, -0.2256, -1.7573, 6.8718, 1.5653, -0.0269, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7673, 1.7294, 1.1301, -0.0017, -0.7853, -0.3786, 0.0422, -0.0216, 0.8848, 0.7425, -0.6041, -0.0162, -0.0273, 0.9988]\nstate[eef_state]: left_x=0.4194 left_y=-0.226 left_z=0.1739 left_yaw=0.0522 left_pitch=0.1554 left_roll=0.0932 left_gripper=0.0422 right_x=0.2851 right_y=0.0003 right_z=0.1736 right_yaw=0.0066 right_pitch=-0.1796 right_roll=0.0021 right_gripper=0.9988\nstate[joint_eff]: [0.4171, -8.7453, 8.8274, 1.7705, -0.2418, 0.2027, 0.7595, -0.0752, -1.6752, 6.9538, 1.5458, -0.0171, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7593, 1.9377, 1.0206, 0.2474, -0.7788, -0.3668, 0.0452, -0.0219, 0.8867, 0.7425, -0.6033, -0.0162, -0.0273, 0.9988]\nstate[eef_state]: left_x=0.4251 left_y=-0.2275 left_z=0.079 left_yaw=0.0424 left_pitch=0.1044 left_roll=0.1515 left_gripper=0.0452 right_x=0.2853 right_y=0.0002 right_z=0.1732 right_yaw=0.0062 right_pitch=-0.1807 right_roll=0.0021 right_gripper=0.9988\nstate[joint_eff]: [-0.5265, -9.4291, 5.5863, 1.7802, -0.3248, -0.1587, 0.6032, -0.0205, -1.3197, 6.9538, 1.5946, -0.0562, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cc4384f3e01a2fa48cb8791459c5195ea620b8e5ac40fa7445c8da8638b41eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d5054c23c228bd166d373de52ba8c392505e8dd9920ad308919f252b1486ba3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c612a34a5202d6bc78af15923856fad388df07c778f15da838427f68c0a0c386",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJTSfuqjH93a-7wkMbMCUel4FRE-PSmkFI-lr8_0Id2yXO3yyIJXJ1McxypWp6YhbbYqi2x_9enRaDhBiS4unuZ0pc0L9sX-ThcZbsUVRriERngVxEgCm1dAWiJITC5VoD1e4zXqdXYQo_svBar-hVLu1rin7MOAcPENsFARHubPbS0vZLgAee5VMgd_vN632bqmZwTIOyyBMNxBkEBaHA-4vg8ih5eF_to7Sw0x3fTviapeNzPj65rM747zAUILv6C_y7y6TJbSbVprcNLeVoSbRqXe-aUKL_5mePhcewANCab_MrsRSTj1MVc7QbjT1fpLmsIYXJDqtb-zaUD8X7MiVv9Wc5jAuhkHAXbGzg5lznqXN3yN4EbM5s1K-oUDg1yhEjPA-HGQwFpD84w_MSiNFEwtuIP8txUAgYf7qTeCD3404141iUP4gr18wNG1KF53900zgaNjZ3Worc3nfOdyrUGJWvYZUSjk_xFW558iEBvXRvAAThniU770zUz2whveC_25RbbLRmVHOe2MoVSVuARYpaDJzea6d5ml-0jLxRNkWjdE4cowf4fga9ODobjnfaYgWpK68RRzlVLref0AEMcvA2aE4GDBF3hcbPq4L0En85wnxvLBLVG3HhJuAWNHSKD9zL0Us413z2iki6mgiNwYqEgrcBcM04KiW0Wty3HrfwgYYBt8Nbka9rX8ppa4WFZIYb2EfGtCchVBwYk9LPPAfMgzWbJQ3_e60AO-8C2k5cYNbc1ECJquTaCEi-VZ3y-Kgd6uV4fXmG0LY2tHZCjcW3WtluxYPvSXfa_ugp6wHaKc3RwWH6SeLNqm2PfvZQNzdJ7vgLzDWRegZmJMSZXNBkGZel13W4ZvGmDBjf0vgK5h_wtXyTqB9_qIXK4_0d8J2RG7fwadqvhg1ZHFpNKlX6kFoWMH8V7EH--5q5b0gdob6GrO__cyQc7bhAXIoE30fFa3Duhhh6k5cOv1SffOMla5_Bk3c2hF8ZZz4JeVlD_F1Gw69mEGyq3Q_GM7xDZ6mW4i6RjZfF1zl-6qa8ElRidaM0NcNEYT8ChNSlOua50zSvnab449hZ7mCNCCVDItdKOJjqjfD8UuU6eUNBw9rqCzMZrMV3OPPmcAoY-hv8ZqcewGfC4vRb3tvpGk0RqqqlIMJ0_hx7QD7a-oJ9pfXtU_ti3uLx7hqtRer51Offf0mKwutGgqZgN6TLmg17K266UyZ6nVQYOGVaf9tgTTCz-6cEQ-t6hKFaZxdTBGpr9hI6xdRIkgCl6vyb1tPEHe5nz8lO0gPky1rlhMrfeJZBF5G9d2KTXzOoqMZ5kAoxdlBIYLqGr5UYQC-TR_wccnMgYJ9HNXCjcws3R0SeWa719c5_VfOx9V75apwinWUWwu5hmaoJmte2bVa0y3EI4sR6KP3vJwanuVyyjAsNiJdlKSgufXvcTuCrbZUOfvVmdoasJTorXhuB-ar7LT8_EtEWyE3tku_g4MwNpbZnmWjCFSRjtckcJ7K6Wmx0vVPx71sniQPxTCj8wDm9PhQSS08YGG12CzLuu8y4YqP-Fyc8smYUIMHnivHLLr8pg=",
  "id": "rs_0107ea2fef198293016ab494cfcc6087d085648b709b83fbbd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.25,\"left_z\":0.06},\"note\":\"The bowls are nearly aligned, with the carried bowl slightly left of the lower one. I’m correcting by about a centimeter and lowering the final small distance to seat it.\"}",
  "call_id": "call_hH8vwmLdLkYUkCaXYuSDeay3",
  "id": "fc_0107ea2fef198293016ab494d1354887d09792a01c1e0f652e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hH8vwmLdLkYUkCaXYuSDeay3",
  "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]: [-0.7761, 1.9884, 1.047, 0.2932, -0.8051, -0.3885, 0.0447, -0.0219, 0.8883, 0.7425, -0.6033, -0.0166, -0.0273, 0.9988]\nstate[eef_state]: left_x=0.4295 left_y=-0.2382 left_z=0.0745 left_yaw=0.0587 left_pitch=0.1326 left_roll=0.1272 left_gripper=0.0447 right_x=0.2854 right_y=0.0003 right_z=0.1728 right_yaw=0.0065 right_pitch=-0.1822 right_roll=0.0024 right_gripper=0.9988\nstate[joint_eff]: [-1.3333, -8.4171, 6.8855, 1.0916, 0.0513, -0.022, 0.315, -0.1983, -1.853, 6.8991, 1.5409, -0.0757, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94fcfdac1c9e616b207d76ee339142d5fd4f6f8cfa0a5681693e5addc12522ad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:376b210281aacb0b1b0df8cd7426ebefdcb4e469028b50bd376b63e6380e71e7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a99f6d36aa4d8f45dca33fc86c83493c54fc8f5ab7f77f3e4da0d3cc9f232c7c",
      "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 · 7.173 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 77 changed as sent

message 85 changed as sent

message 89 changed as sent

message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9688, 1.3846, 0.7841, -0.0788, -0.936, -0.5243, 0.0387, -0.0219, 0.8829, 0.7425, -0.6029, -0.0162, -0.0273, 0.9988]\nstate[eef_state]: left_x=0.3146 left_y=-0.2004 left_z=0.1728 left_yaw=0.0311 left_pitch=0.1861 left_roll=0.0755 left_gripper=0.0387 right_x=0.2852 right_y=0.0002 right_z=0.1743 right_yaw=0.0062 right_pitch=-0.1765 right_roll=0.002 right_gripper=0.9988\nstate[joint_eff]: [-0.1846, -6.8718, 9.0462, 1.4481, -0.3639, 0.0024, 0.5055, -0.0205, -1.6889, 6.8581, 1.5556, -0.0122, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7593, 1.9377, 1.0206, 0.2474, -0.7788, -0.3668, 0.0452, -0.0219, 0.8867, 0.7425, -0.6033, -0.0162, -0.0273, 0.9988]\nstate[eef_state]: left_x=0.4251 left_y=-0.2275 left_z=0.079 left_yaw=0.0424 left_pitch=0.1044 left_roll=0.1515 left_gripper=0.0452 right_x=0.2853 right_y=0.0002 right_z=0.1732 right_yaw=0.0062 right_pitch=-0.1807 right_roll=0.0021 right_gripper=0.9988\nstate[joint_eff]: [-0.5265, -9.4291, 5.5863, 1.7802, -0.3248, -0.1587, 0.6032, -0.0205, -1.3197, 6.9538, 1.5946, -0.0562, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7761, 1.9884, 1.047, 0.2932, -0.8051, -0.3885, 0.0447, -0.0219, 0.8883, 0.7425, -0.6033, -0.0166, -0.0273, 0.9988]\nstate[eef_state]: left_x=0.4295 left_y=-0.2382 left_z=0.0745 left_yaw=0.0587 left_pitch=0.1326 left_roll=0.1272 left_gripper=0.0447 right_x=0.2854 right_y=0.0003 right_z=0.1728 right_yaw=0.0065 right_pitch=-0.1822 right_roll=0.0024 right_gripper=0.9988\nstate[joint_eff]: [-1.3333, -8.4171, 6.8855, 1.0916, 0.0513, -0.022, 0.315, -0.1983, -1.853, 6.8991, 1.5409, -0.0757, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94fcfdac1c9e616b207d76ee339142d5fd4f6f8cfa0a5681693e5addc12522ad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:376b210281aacb0b1b0df8cd7426ebefdcb4e469028b50bd376b63e6380e71e7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a99f6d36aa4d8f45dca33fc86c83493c54fc8f5ab7f77f3e4da0d3cc9f232c7c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJTUGuK53fDYkSL03FQ2vOdStr2PS5uBopaoLfF52Tr-i1WlAcYoYueaB-K9A9xAzYbXl5vNym5kqDxQQ6k0LJmATaZmo-5B0gdUrBpFSCns5ZDBOZUk6s53S12btIva2RDWjgq6W4W8ICnLNLCjjRCFexJ_mNGZI7PpCqLOAnWAHAGVZWvIbULJgIwpm-ubtGm2CMM-FqP2EFmSY4JSB5txGe0a2ug9GFQmpVS3ARdQF_90Ajl8e5fc0iDrCPF3F3p7Xw2Cp3ub2JBN4hbuv9PKxslckR8VE2XTx-u30VnMLYO62Pvm0aZUxIsS2j8yTiSqgIMQ18xgZ03whKDouZLN5DYpXtGnPWhAm0FKUBpeORF3NzTtCK3vfbh8iPUpeDPDe7o6GFTJs2zHXsafRtRgIwoAEAgTtpIhrpWgZDGc0pdIYfWUDTkj_sFCQHNLITww8-i20jcKfyFCw1uwleMTCbdAe4VXz5ynkjKk4jzIb8GwLSodtVoeqGCiAPMfLnwAEq3jgdKB3CDxdNVzS4yErqI2kGqvgW8ecLQ97zss9B3Ccn-wQpaVe1xuw-3wAdHrHcQ59xJlcAcL9_jkKdHxzwOnEMfDLQQYrnXFrWkRUIKezVQzm6CD6aNT24ZTcSSeG1qykTzuCw14u4_3IObY7c3bmd_8mlDObu_dszfTofYEoBr1rEuD7gCCNIjc05MlMLco56wzWzVQ06HU8uJSFY44Zm8ZikPh6u8UA2ecsQsilXwlAG3NhbaWQa9eqcESMCMwdnujoKSzYJOCP7tZmg5ro_c9VR_z3ySftt-yj2GYAXdwnoI1DMn-RAvyohE76Ka_n6w2kr-ZAxPPG7X6LQ90oa43uqz6AbCHfq6cztVBzYHPD8gDxs-JuDq7y_ziHKFJS7FiCJQhlllWkU62RZ-fVQJqrl5DO3X4DQCecAtVP6w-E66a5ADzHsDXEHlz4W91JYK6rw2H5DFFJ-Z33wOtAgKycLJN362QilyIKBpQVOXt53ci9URINmZ03eD0MXvsZHPowOEANDlrRAmZ6x173L1Stcy5Jm73XI8k50jual7-yAo_RsCNa4bpVQWR7JXQXiRTeY31Y0uKsdDqnB1YjcJ79JppKJtCVZbFE7Uc6QK0fKfUD4CS06whaZv3rkR-p18b1H4xKDEpheNJUc6yZXzpBnNnck5kBwVqQFx-RDWvY_Kz2A9KMdhMtfhEG7qHj3HONfPCFV745ZZcWg==",
  "id": "rs_0107ea2fef198293016ab494d394fc87d08c3f346cf1b59f16",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.85},\"note\":\"The descent stopped short, consistent with the bowl resting in the lower bowl. I’m opening the fingers to leave it seated.\"}",
  "call_id": "call_Msx8JeQvdemNRZQyzlvB1j8L",
  "id": "fc_0107ea2fef198293016ab494d3d08c87d08ce483fae3bfe9c7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Msx8JeQvdemNRZQyzlvB1j8L",
  "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]: [-0.7761, 2.0113, 1.0489, 0.2928, -0.8082, -0.4046, 0.8451, -0.0219, 0.8894, 0.7425, -0.6033, -0.0162, -0.0273, 0.9988]\nstate[eef_state]: left_x=0.4292 left_y=-0.2373 left_z=0.0649 left_yaw=0.0675 left_pitch=0.1209 left_roll=0.1299 left_gripper=0.8451 right_x=0.2855 right_y=0.0002 right_z=0.1725 right_yaw=0.0062 right_pitch=-0.1834 right_roll=0.0022 right_gripper=0.9988\nstate[joint_eff]: [-0.335, -12.0137, 5.4085, 1.5067, -0.3297, 0.1148, -0.232, -0.0205, -1.8256, 7.0085, 1.5409, -0.0317, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51a16fef6be2db7609671e3161a8cfec1f64c0cee785871cdd7a080de716daa5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9215071e86e9b66fb679aefb171dc5a5a8a0fff79f9feb978bcb0b18a6efd941",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f954bb9606face406f6efb9f4ad06d0ac61782463078203b0742ae41ed43b2b0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 24 attempt 0 · /responses · status 200 · 9.047 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 81 changed as sent

message 89 changed as sent

message 93 changed as sent

message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7673, 1.7294, 1.1301, -0.0017, -0.7853, -0.3786, 0.0422, -0.0216, 0.8848, 0.7425, -0.6041, -0.0162, -0.0273, 0.9988]\nstate[eef_state]: left_x=0.4194 left_y=-0.226 left_z=0.1739 left_yaw=0.0522 left_pitch=0.1554 left_roll=0.0932 left_gripper=0.0422 right_x=0.2851 right_y=0.0003 right_z=0.1736 right_yaw=0.0066 right_pitch=-0.1796 right_roll=0.0021 right_gripper=0.9988\nstate[joint_eff]: [0.4171, -8.7453, 8.8274, 1.7705, -0.2418, 0.2027, 0.7595, -0.0752, -1.6752, 6.9538, 1.5458, -0.0171, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7761, 1.9884, 1.047, 0.2932, -0.8051, -0.3885, 0.0447, -0.0219, 0.8883, 0.7425, -0.6033, -0.0166, -0.0273, 0.9988]\nstate[eef_state]: left_x=0.4295 left_y=-0.2382 left_z=0.0745 left_yaw=0.0587 left_pitch=0.1326 left_roll=0.1272 left_gripper=0.0447 right_x=0.2854 right_y=0.0003 right_z=0.1728 right_yaw=0.0065 right_pitch=-0.1822 right_roll=0.0024 right_gripper=0.9988\nstate[joint_eff]: [-1.3333, -8.4171, 6.8855, 1.0916, 0.0513, -0.022, 0.315, -0.1983, -1.853, 6.8991, 1.5409, -0.0757, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7761, 2.0113, 1.0489, 0.2928, -0.8082, -0.4046, 0.8451, -0.0219, 0.8894, 0.7425, -0.6033, -0.0162, -0.0273, 0.9988]\nstate[eef_state]: left_x=0.4292 left_y=-0.2373 left_z=0.0649 left_yaw=0.0675 left_pitch=0.1209 left_roll=0.1299 left_gripper=0.8451 right_x=0.2855 right_y=0.0002 right_z=0.1725 right_yaw=0.0062 right_pitch=-0.1834 right_roll=0.0022 right_gripper=0.9988\nstate[joint_eff]: [-0.335, -12.0137, 5.4085, 1.5067, -0.3297, 0.1148, -0.232, -0.0205, -1.8256, 7.0085, 1.5409, -0.0317, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51a16fef6be2db7609671e3161a8cfec1f64c0cee785871cdd7a080de716daa5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9215071e86e9b66fb679aefb171dc5a5a8a0fff79f9feb978bcb0b18a6efd941",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f954bb9606face406f6efb9f4ad06d0ac61782463078203b0742ae41ed43b2b0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJTcuS7KNYDJzmDfDfizHleveWJw0W1DtfLoGGKXQHzLnN9j0E2F5OQNkmUPze0EbnfYX3ECZUppRP0iuDhB1DWph70I0WNtzaFrTy-k0YcgWfdq-QOzkAIOWKhrxF9zxYy6SLhuq9p34UOyVkmTWI9RSAIBBlLP9GYiU-k3sXeyQ8AqUPHwoVsz140gwIEoJVAczoxkL0YhB-8furFs4J3BCnWfhxfuWoU7OtQsRz6gzPO0T3R1fEjqWgfltI2by4_OTPQxzvOeZFYXaaG3fJk5CooD8CR6OQ9XL30UbOlvkZ-Sgyqeh9uTRb2BNn2Zw_koTaH0rB2bUBosjDGUaKR-7brUas3pw9xj1cPw7wgsN1SgkEc-Z26agT4SaCYeu-kqkFJ6LecqHIA-TfORNP8PZFs0wxjI7zH8RyQYvktPPUgl39LwZTzW9lSB5sMJRJ6_i4CqALXU5-TVJ2OvKNYTuBffy95aYDlP8Kc69RZKWqI2zxjLuPzP-wUFGhY_YoCmZqh9J104B6V7_0MnRjy1vPFmizs53eeiEg3zwJszME0MGqSDXs1xC8rnGA2EbbJOSW_LtT2JuDNVb3c8z1CVrx3bH_iNwpbZK91knLhHXSQncXBLO0511ipHpzGVbJLI0VzM4UJzqMifkmezXcHFM-FophggdnapVz2uXojMK2uPa3ccQWkYzypZ8bTKJo7nyTw5B68go8f1sgT8JQBa96_60LWfvBkBRm0rvhLLafuYADlF8a1640kwERrLC5Akjf0-PsMZl0hX13P_QGO8lch6QXQ2p_H81MkBy00og5sqO4AhWlmtv_rhvWr__fb-vbxpOZL7NQBjTBgXh9LKlOSwvjrG1Idr9YnYHcQ84VjrN35L6O6qAeaCIQgDzqU5k6u9sZJFT7ZiHgWQEtTNVJG8AXx1Tz5fbGl0zDXhUGu_UmtaQGQyU5ahsHYNRSjrcDHz5ACezUtMmjWc6CTdFyo5qNNWL-I2pON-Wlj3BHYYbUelpMVXELSV20EQ0r6A7YlaD6Xw1do_fAEYQPRZP2JZYOHSma52OzYv7KVdNCMg8zPKExfBHqgjaRgFrjFapg3_UEImIgLYsZ_CDn1TD_OtbqPQH3vdp5gF_36_te5Ld6H37ANyKcc4EmaSjX6ULl0S5ZvwrNEL4wkDiJvM5R-7hcaNlDql0dvdzdrFH-wyZP422sBqksdnl2xeEWyKwMdagfW72e_nDLE-0-db6lEfdgZT1zewfteahJhf79x9ObgMXcqPfVI6TFhvbpNn9pfBEk7v_-6xholcsDQ2erY2rPvza3WTz_aiyPMRz_Ejk46v_J4Tf5MO6SCIxqFclWZCYQ3a0Y1hAW0NHSvEVG16-aKBQOtmsd3DK5QOxBYljqwrvVhcxSaxzyPd3Yzxz2Jla3vDuLDNr6JqEHKORKUKVewmXsShb29kZtwNMULWGRoatahT8r0qpkLxf2ZBqf8gwAmobTknsXvioNqgpbRiGJjeNBxIcSEVuA1n-m-nyowzWAKvXYNKkXcFfQ_aHygILs74qo9Is37qraHmkHms-3BgfH6unaFoeAIL1LW6Vz3gx6Otu0PgoHa_EVsLVZlZ95qf6q-K__Crl861pNDUNeWaOx1mfeXGzF2Y-Sj90whYaCVvnq565VOTUopoPWM86dDCcuzwJA7V8Seig85kFoCGzq-x8r93XWGjKvYg8VwoRJ-ATeOxlLophCgoCZNR87N6KLNo8Eq6yq0uhY2wIPsFrIJvUnnidlhME7uiiyYNJ9idFtANpZzFR3RafVsVMJflXzcUUUJhZnxhgv6KR2lhbtOze7lDv2s8aYPyegU8mhaybQDfYZzwLiomoen43Nt1xjiGM_wlaOKls3z5lVYupRLyVnUlIAwcDiwyIWDWYCfc4IWoN16t5n1fFQPeLY4PNooqcobSdV_llWDIOJWsHs6rTegelCyi_VOhR0LV-DK_Ft8bGCQ8BxkbTdHWs0VelcRTmS7byx--FhI0P8t7R4zeHppdpT9CgNDVRrQhMwyBF6gJmNfzidDxWgN7XueOXyASUbwnB3kWYxzATjCyArvEkeQ52oXluzT5dW12-YQm2CcpHs7WWwC7VqdlRJeumoIwYK72tCW2APWrvqvPSOx8jYoGCabpqTKRUAn0qIHN5-jfLaL3KTc5dOAWYtSBRQrjbSE6YdRtCyt0orbhfhIPMMTcOrHn7JSITqvCQPO1IfSLoiBK2OOmdUa-3RaXJLozJn_mCINHfFDhoEV01QjXF_qzEPTxW5K2gSIWBXdWFPfNASfEfzUdIdzHBsj4bZwSa3DjCoOt0ANEJ2IVN2bzwOcryp8Eqnd6OyjKge0wzSeQf2Afl8H4oRBStGpO0bOtoD1nWuWoQO9cwQpbusX0hSMOG3BFwTtpDQoaSuq2-LcxO1pTspg3ne4U_w-iE9tFqROSXwK-RaTWfzGnpTp08JRWDVEPnHc9ZKBqunUN01JPZH_mG7HsgfTLCtEkGjOFilSK_6g81nRinKCotmS9PZ4dJV1SrfCpM4-D1r_-xEFj6U7ZleKx49_x4OlZ71B6qdyiedSpzBDiNjJxasNaFILPv3tBrnlzW75BgmU_Vg0WvjtiovCTQdCphFfPeUjmykx6CFF6qDATRulhFI9YeViaTf1qMosWXd19HdalKE9IuouVWcxh",
  "id": "rs_0107ea2fef198293016ab494d7003887d08c876c37c5a6feb1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.22,\"right_x\":0.36,\"right_y\":0.29,\"right_z\":0.16,\"right_gripper\":1,\"right_pitch\":0.18},\"note\":\"The first bowl has been released into the middle bowl. I’m clearing the left arm and bringing the right gripper above the remaining pink bowl’s left rim.\"}",
  "call_id": "call_fYrQej5O27zAaDdoVwEVu0bH",
  "id": "fc_0107ea2fef198293016ab494db7d0087d08ad1caf151e4b2f0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fYrQej5O27zAaDdoVwEVu0bH",
  "output": [
    {
      "text": "executing move_to over 25 steps (2.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2203, 0.7689, 0.6106, -0.3302, -0.371, -0.0822, 0.8461, 0.9607, 1.726, 1.0206, -0.0132, 0.8185, 0.469, 0.9988]\nstate[eef_state]: left_x=0.2969 left_y=0.0028 left_z=0.2062 left_yaw=0.1144 left_pitch=0.112 left_roll=0.1226 left_gripper=0.8461 right_x=0.3491 right_y=0.2806 right_z=0.1342 right_yaw=0.0565 right_pitch=0.0978 right_roll=-0.0775 right_gripper=0.9988\nstate[joint_eff]: [0.2667, -1.306, 10.5094, 1.7998, -0.1441, 0.149, 0.0855, 0.1026, -8.7863, 9.0735, 1.8291, 0.525, 0.1538, -0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6dd08ebf06150bf6f389daf250c2d55c858f41bb59ad086a36fc52571d9a48d1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bbdd79b51a86722f3dd1a3bf91553797a8887af8f1fefab70ff38956c54f694",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a92a82a7dd433a264e892b13bb9d28fd0a9055080a40da6de05df7c8a0251a20",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 25 attempt 0 · /responses · status 200 · 5.117 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 85 changed as sent

message 93 changed as sent

message 97 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7593, 1.9377, 1.0206, 0.2474, -0.7788, -0.3668, 0.0452, -0.0219, 0.8867, 0.7425, -0.6033, -0.0162, -0.0273, 0.9988]\nstate[eef_state]: left_x=0.4251 left_y=-0.2275 left_z=0.079 left_yaw=0.0424 left_pitch=0.1044 left_roll=0.1515 left_gripper=0.0452 right_x=0.2853 right_y=0.0002 right_z=0.1732 right_yaw=0.0062 right_pitch=-0.1807 right_roll=0.0021 right_gripper=0.9988\nstate[joint_eff]: [-0.5265, -9.4291, 5.5863, 1.7802, -0.3248, -0.1587, 0.6032, -0.0205, -1.3197, 6.9538, 1.5946, -0.0562, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7761, 2.0113, 1.0489, 0.2928, -0.8082, -0.4046, 0.8451, -0.0219, 0.8894, 0.7425, -0.6033, -0.0162, -0.0273, 0.9988]\nstate[eef_state]: left_x=0.4292 left_y=-0.2373 left_z=0.0649 left_yaw=0.0675 left_pitch=0.1209 left_roll=0.1299 left_gripper=0.8451 right_x=0.2855 right_y=0.0002 right_z=0.1725 right_yaw=0.0062 right_pitch=-0.1834 right_roll=0.0022 right_gripper=0.9988\nstate[joint_eff]: [-0.335, -12.0137, 5.4085, 1.5067, -0.3297, 0.1148, -0.232, -0.0205, -1.8256, 7.0085, 1.5409, -0.0317, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2203, 0.7689, 0.6106, -0.3302, -0.371, -0.0822, 0.8461, 0.9607, 1.726, 1.0206, -0.0132, 0.8185, 0.469, 0.9988]\nstate[eef_state]: left_x=0.2969 left_y=0.0028 left_z=0.2062 left_yaw=0.1144 left_pitch=0.112 left_roll=0.1226 left_gripper=0.8461 right_x=0.3491 right_y=0.2806 right_z=0.1342 right_yaw=0.0565 right_pitch=0.0978 right_roll=-0.0775 right_gripper=0.9988\nstate[joint_eff]: [0.2667, -1.306, 10.5094, 1.7998, -0.1441, 0.149, 0.0855, 0.1026, -8.7863, 9.0735, 1.8291, 0.525, 0.1538, -0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6dd08ebf06150bf6f389daf250c2d55c858f41bb59ad086a36fc52571d9a48d1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bbdd79b51a86722f3dd1a3bf91553797a8887af8f1fefab70ff38956c54f694",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a92a82a7dd433a264e892b13bb9d28fd0a9055080a40da6de05df7c8a0251a20",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJTocdmEIqkLmabMf-RZvBGHDuhdZWfKVIn4l7ivSsCYoX5r7iQ2o-wWLKCCddPCRqI_BdaL8ssl-4DCBOexmOjWLrCAysVn-Rk19S03pVNaYNkiAl8J0k5EUJ8e1SoKjeUcSh1cMa8LPAnRd9OByXaWx4megicDPBHS-oklWC2G7w4tHGrgKpSQV77bJp8Pjy_J429UzPOn-VADFhBh7P17GKBuyC88k3F3adGNYVLLk7-3k2fM1TzGkbpVwXdmk4xb0QdmMLHfALm4fKrVnMfsShsUXjtuaQcLJXUHxj8pUynVEkkXB8gT3qrNo27Pn7PPL1qK_sWCxUp5S_LntMePSH3Bo_B19LWtQK2AIQoDxtO0x9Vhfi9_wz1vu-MVVPGb-8Ki151j1PlKmDsx_WpWWMQWtzvYPYvzRwBe1y17JUYJtYTHogVjA_8aNdfq9fOR1s_a-Wha8Vy6poJOcTEAxa3JeX3u1XmUTVATYuy1CBjyfA22j1Okbpb3kPXg61ahuufYt4wos3Y7SDldCCATBtViGWnsyAfpjvN0iLgMXUTKXLQrUrT9inRb-ygh3KUp38Sa_S1DDCojxTmdxRPiGFINmu0YR4-lH948_Lb-a9R17zJ6xew0jpWWIVPNw7RBP0vtCf7gUBsEaDEkROWV5EPkut_0wgON6Iupt206hqxl3WFfOoJcQnfwx6dRjbxLqpqZcRnS8TUFZj76SoYLe2nlqDOytS5_zCxD-Gvzx9ye3iASldBhL1cysd44A48WzWwzo8OJ8lGnLS6PCspI-AK5jWOfLRXHu3EbInhsHnuIPm3DBsxWAOx5R88xUWJ9BVMmMH3cHQ9YbYeu2JoYDvwHUzpXt6rCB5IZtJUPOWdbr-_R2IwD_BvByynYQ5bgYSF0pLk-LOIGxdpWnXwUoHBzZrS_twVyax6dzXJJAuiC80Qh9TXCzZ7fbiK9Lja05xfxUi_qP1wjcqMAspoTgOWgAYASRqILwxulmV2q02PJIgUENNX-iZ5bODC073jwwo143Noa1f_X3Gs-CXkjdYVZ_eU6KDX4ybtDL4XKcvG25bJVXlFRbnB6126bDxfnFB81fGR70pexcDp6lLDdsp4DPjwI1SjeI9ofWuvk9oG7qx0DYDA96d54I66btJpdj0nKdWBIJEu6RGPWfcKwXN897lRtJw3BhTxZXftlR-KDvozP431w6qHET8ymbucI57L8m8C4QAgIQalLcBorT2dkMcHClp14S699GKeciFziqPHICM5BLVpj2wfwLV4E635LKkZXuKTLd4g6yRCh3_f9NUiptZGeju0FQ7FrD6gRhHkEfWveGNFFCqqh_6qhmWGv28_V-x6CY9gsNWMN-Hctrb7AaVIYcF0wdlR_QbCt-_OQBb8aseh7yCD05o58TZ3LYHMKcjuOQ0sZ8qisyePo2JXEZL49oN_kg1McM2nEU10u4jUi-uCFktEnPbIEoPErq2FrVYg4MD5s3IB-4tlx5_7mAJ8x0RuSidjgHY5sGZRUPZYJ2OTyVVOV5VWUNxu3jnwS5v_Us0jI-u4hIpQ4DpaLFMV7LpG3TndmwtwbQD_vEj8t8EuZ1Ycx-oVEZFQVGOIHue-_hsbHzWYE96vLUESDhKX4kwU2oPvdw4SZWKRKbEkE5v4NWxEx0tFdD4i5VfPioGWbWc-vxN2zRcXP3Wx469cKKP3DfdJT-6dsn5vWaM_0nWg6NxeRKPD1YEEmSkJwsaUyelOjtYAQ0CwtBPJchsDrqhVEEZpY92Fn2mBUIW7qiVBKTtZOi1kSWkgFOAqNZPwnwzqXZs9GPbw3eqk1oWBW52w4AEnJLbvCrivIhyydQMzpOvhRH_Kcb7b0NtACEQrAF1Uh1Vd8SHgOy0m3ljzni3poG4fjMEoddDBJTZqJIi7vMqx9K5ZwMmkciKj3CErVSBP8gWt-nykOiM6KdrMJRVP8okP2pnxe-b8sBbMr6Hvs-1Y7kNIP5LA7nW1wRwun6Si7NpaeycOA8c3dnDPxqBuAa-GUqMfjoTcYY5zDmfBnq3756E_7gjFpgEQ8hS7fZeTO3SYMgqejop2ROQjO-msABU0U3jO4elaLMR_40uF3Sp3rnSvymLjnOx2UIXXwZYyvcuMuCU5By_MIFuGNUmDBN09eMTt9e1oEx9nI9gv4d_WTvaIJV3UtK66nXB8RDRqzoMl4n1CJI2jowYxw6UPOrUyFeW3mPWS0Ibak8BKU2IDrIhV7pswfldAtopI9COYw81T7mxya4fwCsxQBWDfcUIiSGi45qsneghv6jkHuxyNvorYplojbc-4PxKCGAsNbNdM4WID0u1sbTFMlsmjn55704bchDLuf1sTd3pl2j4CZvg_gEOoznP2zWY30oKAX97NDNf7uXKYuND8-xsliJ-CgGmfnhimnyOiajsFWyVme1ZGCiQRuRGRybUv_DZYhxIg-LyfJBAf7N9pN1mugSLIuzpLRwjP3lI5xMytgIdfsh--pyI1CX-e8JdXqxFrlocEgXlATpyuxMFlhihsnWnDW63k=",
  "id": "rs_0107ea2fef198293016ab494e135e487d0b978f9994e96b81c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.235,\"right_z\":0.055,\"right_gripper\":0.85},\"note\":\"The pink bowl is right of the wrist-camera jaw center. I’m shifting toward its left wall and moving forward while lowering to rim height, using the grasp geometry that worked on the first bowl.\"}",
  "call_id": "call_lkpIgykC7DeqiqTMyiphhTYu",
  "id": "fc_0107ea2fef198293016ab494e6f39087d082088ca448265b63",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lkpIgykC7DeqiqTMyiphhTYu",
  "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]: [-0.2192, 0.7753, 0.6147, -0.355, -0.3668, -0.0784, 0.8461, 0.7193, 1.9636, 0.9325, 0.3622, 0.6373, 0.2844, 0.8515]\nstate[eef_state]: left_x=0.2952 left_y=0.0028 left_z=0.2012 left_yaw=0.1091 left_pitch=0.0854 left_roll=0.1329 left_gripper=0.8461 right_x=0.4166 right_y=0.2299 right_z=0.0452 right_yaw=0.0454 right_pitch=0.0394 right_roll=-0.1232 right_gripper=0.8515\nstate[joint_eff]: [-0.1573, -1.5795, 6.694, 2.0, -0.1929, -0.0659, -0.0073, -0.4991, -9.2923, 5.9009, 1.8974, 0.1343, -0.022, 0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2a95e910096a0c46183b49c72025691a4bbb1265bd5281335a092d139dbcba7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d03055333755022514c99160021ff7a518045408419a1f9ae56a7b2b25b3e72",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e5a342e80642eb8a8719ca6bf41eaca9aefc2a7b042a85bae98a33ffe8dd46d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /responses · status 200 · 2.707 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 89 changed as sent

message 97 changed as sent

message 101 changed as sent

message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7761, 1.9884, 1.047, 0.2932, -0.8051, -0.3885, 0.0447, -0.0219, 0.8883, 0.7425, -0.6033, -0.0166, -0.0273, 0.9988]\nstate[eef_state]: left_x=0.4295 left_y=-0.2382 left_z=0.0745 left_yaw=0.0587 left_pitch=0.1326 left_roll=0.1272 left_gripper=0.0447 right_x=0.2854 right_y=0.0003 right_z=0.1728 right_yaw=0.0065 right_pitch=-0.1822 right_roll=0.0024 right_gripper=0.9988\nstate[joint_eff]: [-1.3333, -8.4171, 6.8855, 1.0916, 0.0513, -0.022, 0.315, -0.1983, -1.853, 6.8991, 1.5409, -0.0757, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2203, 0.7689, 0.6106, -0.3302, -0.371, -0.0822, 0.8461, 0.9607, 1.726, 1.0206, -0.0132, 0.8185, 0.469, 0.9988]\nstate[eef_state]: left_x=0.2969 left_y=0.0028 left_z=0.2062 left_yaw=0.1144 left_pitch=0.112 left_roll=0.1226 left_gripper=0.8461 right_x=0.3491 right_y=0.2806 right_z=0.1342 right_yaw=0.0565 right_pitch=0.0978 right_roll=-0.0775 right_gripper=0.9988\nstate[joint_eff]: [0.2667, -1.306, 10.5094, 1.7998, -0.1441, 0.149, 0.0855, 0.1026, -8.7863, 9.0735, 1.8291, 0.525, 0.1538, -0.1294]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2192, 0.7753, 0.6147, -0.355, -0.3668, -0.0784, 0.8461, 0.7193, 1.9636, 0.9325, 0.3622, 0.6373, 0.2844, 0.8515]\nstate[eef_state]: left_x=0.2952 left_y=0.0028 left_z=0.2012 left_yaw=0.1091 left_pitch=0.0854 left_roll=0.1329 left_gripper=0.8461 right_x=0.4166 right_y=0.2299 right_z=0.0452 right_yaw=0.0454 right_pitch=0.0394 right_roll=-0.1232 right_gripper=0.8515\nstate[joint_eff]: [-0.1573, -1.5795, 6.694, 2.0, -0.1929, -0.0659, -0.0073, -0.4991, -9.2923, 5.9009, 1.8974, 0.1343, -0.022, 0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2a95e910096a0c46183b49c72025691a4bbb1265bd5281335a092d139dbcba7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d03055333755022514c99160021ff7a518045408419a1f9ae56a7b2b25b3e72",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e5a342e80642eb8a8719ca6bf41eaca9aefc2a7b042a85bae98a33ffe8dd46d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJTtuNC8aQ9u_7y0tlO873EzvlwP8yty353OpjjML69zrWGipfrhx-9QNgoTwZru0W-8m85iMjXR7RhnmyHb8X-Xp3rOnG11eW1Mqor8DHUXxOhbT2jnCbODC5tPpCcWJJpcLzjlaGc9viFFTYIIM-PemyZ3iSqhfEdHxlg6VOZ4Dz9NYWn6YpxZzflwQMZcB6cS0P5JKlihKGP3UsYa7aIzWQSenRRkFV2ZDLrldcc0c-1xFK231A0F5wzKj9wooGeCaowXhqVtSAqJe8RoGogI15vTORtDW4-Z2mMJSR08DgxYfvTldhhHsvjWFPzDvNNQt3GStCnKeSMs0Ctbr0ySwy7LCN0FcN20Ft3qwzcoapQdBGCMh3FT1SlOqyiwFhajQUnUZvJCAWZemVHQe6WY4umdqh7fbHLjSE9AjNW3lYtQWMRIzaJK8Xg7AxYWjvjqVy0NFT01BQ41rfJ5Kivt2a5If7ozcJfgu1eGCOZe3_KT2acd4HMDXSlTDudxC9anpxY1bvRRxE7Vz-a5_X7QybXxp6zzDFNLmthGiXvLxL4U8wMFM3pd0o3ovp4zOReGjx6fezbBcyEoVvLPxRIGai4tp281yJR8AA4_JGOVtjLKVUo42BygDBnbB0vDk94g7iWrkLDkgf2e5Eob21GF7Jj7fj2Scb7hZCl1ODycnoqBroocvS8zBFRf0ZCmM7NfgKJTwH436xS6MVoFTxnTDLpr5bXFCoNXuAX1pOlmad-idMXTeiCINKAS9Jzhe1NB0__udhrK7aUaPlbdabNx8lhleOCKTVMyobCmea4x8xwgkf-BwBNWAq3uCNzlZnCobI0hTZmc1LQg9enbUbLGs0KY-Ecc0LTS9onu8VvdyQsIwyfFf9DHFyq0wW0GsRD-8ci8D5Fsh_0GlkjkEd2kN-7IJK2GBIZ7UoQ_NwE4BQSRYuDtaPNb_fa-kxI0Q20g81PHfiVdaIaYhyXzJX7L66VV_DJruRqKzZOC-FEOjdXUlbuIGmtbEKFhs202G1m8rf9RVh7Sl3NM4CfkthdB7bV2_5JMsvIa4i1dB6NC60LjprjXJzxEqPbbN3mBStqgi_Tw8TuVBeLijjWiIA3ugvQSgoLpTJWGtg8oJY9g3rzP6fJvZHAaL-thKVYJxi0KY0WvPQz4Z6MOGynwz8prg3Szr82tZov8xwK3C35SEzMCmk8HHvgTh5G_VmEvmwC9Pp-Ox8W_EJkl789lguLOUibIYdh5mSGQbM8rw9iaEjMMnnVmldc3_TaqNFnp9Vu-CiQSTBKULYvPC2JAZ2NcvklcxCnkZ6mArjt-o27Dk7tn0nRIubBozRpjD4z6rTJNAz1AWqAqUaRvcwjWqQuprEU2jmXvO0NynmJwqYiTqhbRRYKC6C4xlTOBv9lmg6lXwUlEZuEl3zV_nFv5uyMoZTZe-p0WkXD_Q6bZishCVMnbQ_8nERKTl_I5rBK6Sed6N2_jXQV8Q1E8730CTxlFwkUAj-R311a-f3gh3ZvF5GnKRYENelYX_-sti5vWzhkZkkivV_QYIkXwpzCOJvqUMlMdQTOFEwRzjIi2QDmU2S2gsaF859cmJTs9rVIUzxbNGT3rtB8Fggwc1aqPu3EbTzRYh-MP84szEM4U_unt64KxUMLP50Zqn_zcIjqjQ3uU8wgOyAykXEAD6K3Yd2hPzQ==",
  "id": "rs_0107ea2fef198293016ab494eafd7887d0861b5da89b25a7c1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The pink bowl’s left wall is between the open fingers at the bottom of the wrist view. I’m closing on that rim.\"}",
  "call_id": "call_6SaQTu7TlSkey0PUFB94xu47",
  "id": "fc_0107ea2fef198293016ab494ed1de887d0b218c7652ccce843",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6SaQTu7TlSkey0PUFB94xu47",
  "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]: [-0.2192, 0.7788, 0.6147, -0.3565, -0.3668, -0.078, 0.8461, 0.72, 1.9656, 0.9291, 0.3943, 0.6228, 0.2913, 0.095]\nstate[eef_state]: left_x=0.2953 left_y=0.0028 left_z=0.1999 left_yaw=0.1088 left_pitch=0.0807 left_roll=0.1348 left_gripper=0.8461 right_x=0.4182 right_y=0.2346 right_z=0.0476 right_yaw=0.0529 right_pitch=0.0553 right_roll=-0.0937 right_gripper=0.095\nstate[joint_eff]: [-0.0752, -1.4154, 7.0222, 1.7851, -0.1538, -0.0513, -0.0122, 0.1026, -9.7436, 5.9145, 1.2479, 0.2662, -0.1099, 0.3785]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9409cad69e98b3997526f17dcd8620de6adf9e7d46c29085d52a7e189627a36b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:611f7104aad15835a9c1a276bd62b596948b963ef6004511a80d02b3551260e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fc040418ed62e79a3032c4c4dd11d83b41373dabe661da123a5b01e4211c65a",
      "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 · 2.803 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 93 changed as sent

message 101 changed as sent

message 105 changed as sent

message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7761, 2.0113, 1.0489, 0.2928, -0.8082, -0.4046, 0.8451, -0.0219, 0.8894, 0.7425, -0.6033, -0.0162, -0.0273, 0.9988]\nstate[eef_state]: left_x=0.4292 left_y=-0.2373 left_z=0.0649 left_yaw=0.0675 left_pitch=0.1209 left_roll=0.1299 left_gripper=0.8451 right_x=0.2855 right_y=0.0002 right_z=0.1725 right_yaw=0.0062 right_pitch=-0.1834 right_roll=0.0022 right_gripper=0.9988\nstate[joint_eff]: [-0.335, -12.0137, 5.4085, 1.5067, -0.3297, 0.1148, -0.232, -0.0205, -1.8256, 7.0085, 1.5409, -0.0317, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2192, 0.7753, 0.6147, -0.355, -0.3668, -0.0784, 0.8461, 0.7193, 1.9636, 0.9325, 0.3622, 0.6373, 0.2844, 0.8515]\nstate[eef_state]: left_x=0.2952 left_y=0.0028 left_z=0.2012 left_yaw=0.1091 left_pitch=0.0854 left_roll=0.1329 left_gripper=0.8461 right_x=0.4166 right_y=0.2299 right_z=0.0452 right_yaw=0.0454 right_pitch=0.0394 right_roll=-0.1232 right_gripper=0.8515\nstate[joint_eff]: [-0.1573, -1.5795, 6.694, 2.0, -0.1929, -0.0659, -0.0073, -0.4991, -9.2923, 5.9009, 1.8974, 0.1343, -0.022, 0.0317]\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 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2192, 0.7788, 0.6147, -0.3565, -0.3668, -0.078, 0.8461, 0.72, 1.9656, 0.9291, 0.3943, 0.6228, 0.2913, 0.095]\nstate[eef_state]: left_x=0.2953 left_y=0.0028 left_z=0.1999 left_yaw=0.1088 left_pitch=0.0807 left_roll=0.1348 left_gripper=0.8461 right_x=0.4182 right_y=0.2346 right_z=0.0476 right_yaw=0.0529 right_pitch=0.0553 right_roll=-0.0937 right_gripper=0.095\nstate[joint_eff]: [-0.0752, -1.4154, 7.0222, 1.7851, -0.1538, -0.0513, -0.0122, 0.1026, -9.7436, 5.9145, 1.2479, 0.2662, -0.1099, 0.3785]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9409cad69e98b3997526f17dcd8620de6adf9e7d46c29085d52a7e189627a36b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:611f7104aad15835a9c1a276bd62b596948b963ef6004511a80d02b3551260e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fc040418ed62e79a3032c4c4dd11d83b41373dabe661da123a5b01e4211c65a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJTx8ca7bruRYHdZyu-m1OUwMhi1iXxkJkvpH8hrs88rTEfKDWKi6b_4szFfuQOwg3YSe3smgRNOaQ4t0OeHVpKvHsYExljwM_bkVhUrruJXNBW8nw3DCpby1pKJ9aA8zgXUD4t35e4TGyfGJgkjjZxzBILK9J9mLiW-zVh_Exb-FkYASIWzmVoLz0aDMv-MFFF-rCq9l4wCwIFwxxOYmruSWZuMKB7V36d3S1i3ZxQatPzI8zZ_5lyElpOYNDjtd_-znsk39EEVtlX9Xo6AEdbDKT-8N1BQ2woqFZsgX3IPmHIIRb_BnkHv5qhQVwaxywgjuqNcyJkYZkGpqGgZPtyF9AWrtGHF0bbtV27AqkTrEfrt-psuNBKLG5Pvd-HE9IUGSbk7zrGUZ91eTBxFOKiIgk7Ptt1d7BGMHawLS7BwdoHm1nyH9jE5jb49Ira3tb8q22naY81a4rUwCMULFHK2yFKgviSimNhLvuNo9v5u4yH_2xHE1mhko0r7Q8cSAVoyMUKf4WxCB7fhwqkccxZf5nLotZcruqg7Tw1OGMrLi-02LlgBqecVA5Lb6LsryiHHE4ZoBxGY-p5FpJGpWvpBMOtnBz3_MRhDXvVCoupg-CR1uvMjSivIOeda9cl9ATItiQeyw8jiTGrfh9o4kHsi2kDQVWJt5o_4WPqIRIrhrzb7D54B8z1JreY6R42FZzDNMB_W3v87Wye_Ini25kQXOec1bqzL4psME9Z77VazOQC8rP1HbNITrVOFS6iAjkerH-UbtJa2oj2FlXjgRQ7sYP1_-uAucSWIA_n9rCxCVid226Reb5cbrkQkn3YRPJ_PPjzaK0wUlz2WvBj5QxHJCW87OsrJLmCUyypsEQpPGhSX2_4uK1M3ZMK5JvIEltbRyy58WwQreA9GOOzgjfXfa4NZBNI_OXZ1lL4weN0xuVmLnYEdGEfyK5Jf3WSaCHEBeES4jkDx85jTnE6d4aDpC81WTQf2CUN0CCFflYtkyFSDebtBFJrA-cIga9am3bDCA_pRlis_a_-0Z1jZsP6ltclojr_SHsCpMKFbHWM7LNRlnmQO8lQIm8lakEbNfzYgcTYGG0wWw5YeovfhXhSX--IPUW0QVIQb9B7WoVP8K7TjPkwo0PCK4r6dAF3XjyBnZlgaQ7FfWfw1E7LJmtGv4Jsq5Q04eKK3Vo4_ZZsSp2uR2jjtd-gWeYXYW7BIjcEUfgRpj8W4UX2Fsc0MYXKa0A==",
  "id": "rs_0107ea2fef198293016ab494f046dc87d0a1969659031c9d85",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.115},\"note\":\"The jaws stopped about nine millimeters apart, consistent with gripping the rim. I’m making a short lift to confirm the pink bowl follows.\"}",
  "call_id": "call_7VRU1PMHkWVSZVRDvcgyEiMt",
  "id": "fc_0107ea2fef198293016ab494f090d487d09b69b69bcdfe3c0f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7VRU1PMHkWVSZVRDvcgyEiMt",
  "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]: [-0.2188, 0.7792, 0.6147, -0.3626, -0.3668, -0.0784, 0.8461, 0.7197, 1.8423, 0.9848, 0.16, 0.6117, 0.2863, 0.094]\nstate[eef_state]: left_x=0.2946 left_y=0.0031 left_z=0.1986 left_yaw=0.1092 left_pitch=0.0746 left_roll=0.1366 left_gripper=0.8461 right_x=0.4113 right_y=0.2304 right_z=0.0825 right_yaw=0.0647 right_pitch=0.0071 right_roll=-0.1265 right_gripper=0.094\nstate[joint_eff]: [-0.0205, -1.0325, 7.0496, 1.7998, -0.1441, -0.0317, -0.0122, -0.335, -11.5214, 9.1966, 1.8046, 0.2662, 0.0024, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa8765c6104ea25707b749e53d7e73e5b0af103c61000b307dc54a7cd62cd3b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0177685e892a0ccbf465aaf1c7a5131580e4a3ed0f1e3e5813c4567ab10afe1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04854291974896015fc60801512006dd58ee583baf8af8f3a3d28b7785fe3886",
      "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 28 attempt 0 · /responses · status 200 · 6.236 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 97 changed as sent

message 105 changed as sent

message 109 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2203, 0.7689, 0.6106, -0.3302, -0.371, -0.0822, 0.8461, 0.9607, 1.726, 1.0206, -0.0132, 0.8185, 0.469, 0.9988]\nstate[eef_state]: left_x=0.2969 left_y=0.0028 left_z=0.2062 left_yaw=0.1144 left_pitch=0.112 left_roll=0.1226 left_gripper=0.8461 right_x=0.3491 right_y=0.2806 right_z=0.1342 right_yaw=0.0565 right_pitch=0.0978 right_roll=-0.0775 right_gripper=0.9988\nstate[joint_eff]: [0.2667, -1.306, 10.5094, 1.7998, -0.1441, 0.149, 0.0855, 0.1026, -8.7863, 9.0735, 1.8291, 0.525, 0.1538, -0.1294]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2192, 0.7788, 0.6147, -0.3565, -0.3668, -0.078, 0.8461, 0.72, 1.9656, 0.9291, 0.3943, 0.6228, 0.2913, 0.095]\nstate[eef_state]: left_x=0.2953 left_y=0.0028 left_z=0.1999 left_yaw=0.1088 left_pitch=0.0807 left_roll=0.1348 left_gripper=0.8461 right_x=0.4182 right_y=0.2346 right_z=0.0476 right_yaw=0.0529 right_pitch=0.0553 right_roll=-0.0937 right_gripper=0.095\nstate[joint_eff]: [-0.0752, -1.4154, 7.0222, 1.7851, -0.1538, -0.0513, -0.0122, 0.1026, -9.7436, 5.9145, 1.2479, 0.2662, -0.1099, 0.3785]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2188, 0.7792, 0.6147, -0.3626, -0.3668, -0.0784, 0.8461, 0.7197, 1.8423, 0.9848, 0.16, 0.6117, 0.2863, 0.094]\nstate[eef_state]: left_x=0.2946 left_y=0.0031 left_z=0.1986 left_yaw=0.1092 left_pitch=0.0746 left_roll=0.1366 left_gripper=0.8461 right_x=0.4113 right_y=0.2304 right_z=0.0825 right_yaw=0.0647 right_pitch=0.0071 right_roll=-0.1265 right_gripper=0.094\nstate[joint_eff]: [-0.0205, -1.0325, 7.0496, 1.7998, -0.1441, -0.0317, -0.0122, -0.335, -11.5214, 9.1966, 1.8046, 0.2662, 0.0024, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa8765c6104ea25707b749e53d7e73e5b0af103c61000b307dc54a7cd62cd3b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0177685e892a0ccbf465aaf1c7a5131580e4a3ed0f1e3e5813c4567ab10afe1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04854291974896015fc60801512006dd58ee583baf8af8f3a3d28b7785fe3886",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJT0G935aMoDb5Nb_DdIzJkZTsQyKmtQMDdw9kd8GXIhFK69VDh0004xfQAd2TG7m7xQkcvAIk8HleGETeDjci_DegKZz5h4mIUc_zP9TBGIztHVrtGRJLiFHy20lwpBMR5pQc9KwENYorB6NgF44xInl8T31wtiVkxT9wOGZcG2NC3OVqBlUl-Y_fiYJr5Dijk9AFe5bDdLH9chZtRmJjvdFqpCFtF89sM75VhRrbcSzbJaKTlx4d2BZr3_Fx1Fcwydj9317Cz7jqqInvejajzGfntpLxCniRRIm0CjVWSh6jny5SdVtCPNOptEZvL2SVC46Qh9tLo7vw3bFvNXFyIhD20LBsm1muqIpHICeVyS63jKtwE5k-NeCQw2rCV89Ly-br0MmbOuaz7RWKCnWkrsenpPK98UjqxF1hmePRPfu0wJb0hFcPwrLDJSs8njJpTnv6_4YfYdelf1ZZlhkeTFfWISSi2w6sJaLptH6aHZOPzeg0dAQj6h6ACgEx0gvdFvvh8EEDzncmOrVaR6ojUEMnzfs7Qy3wjThmceKbZMeiJVeZ-BxTCyTS4Z7UOwob_dR2xmN0E67LoQak3XvYOOenIqIbndK4lYz4kgJ-Atru4Obb1B_shcce8Y_Smyqk9XYmsH1iQIB_fdfIZiHl3Cn65mE0wg60JosajJ5kB17cAKv8LvCF0iVPzX0byzKNvriLbR2n3cx542oLMyaWoLeMvSS3oVbmzAcu3ToBh1KGW16ks7AKPa_krzNUUOMEplnIBeoZUDvXWWxRq5U1ihJU71OxHhEB_QqjO-I2HtUYSCGIpwwJHHyj9QwY3-zQ2qhZqsxYWORlOqeldsMPrzBI38Onz7R5gKf8h94aiNp64STp4elf9TvjulPZ1bXEuu-2wyepLUbvxQVMx8IZEMoYuVt66mLUXcdITw-H_CtzSYn-IKE2ndRAv4h2LkHKzJwo7f-E6pLi9kfEPD4XTNtZIWxmq5EKdo3AiMFUIlQXsYWWIyTll2hr7LnekQ42nqnOnIXF_H0Hx6YPAsR3zBx1Aa8xRo-xzM4Ge6eR_dxNwPNHAD533luOphw9RW4ba62CG9TChxDj-1yjv6qj2DPeL-t3L8MrqZGTPUVcNcDOX91ZAhdU35nvaBJCD3VnBLww04_DIeeYFqldjYllnQdTQLfF8_bw8xYrt7FUvAk1pkXIzY75Y5meEqM9e0-fNcPSyHz9ITHl3OSR6_DTp9DQ==",
  "id": "rs_0107ea2fef198293016ab494f3e70c87d0836172959df3c5a4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.21},\"note\":\"The pink bowl moved upward with the gripper. I’m raising it to transport height before bringing it over the two-bowl stack.\"}",
  "call_id": "call_lOG87dMab7FLHnfQpJBIEyeQ",
  "id": "fc_0107ea2fef198293016ab494f3fc5c87d0888dfa1b3db861c5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lOG87dMab7FLHnfQpJBIEyeQ",
  "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]: [-0.2188, 0.7792, 0.6147, -0.363, -0.3668, -0.0784, 0.8461, 0.7197, 1.705, 1.2724, -0.3172, 0.6003, 0.2714, 0.0939]\nstate[eef_state]: left_x=0.2946 left_y=0.0031 left_z=0.1985 left_yaw=0.1092 left_pitch=0.0742 left_roll=0.1367 left_gripper=0.8461 right_x=0.4101 right_y=0.2315 right_z=0.1784 right_yaw=0.0807 right_pitch=-0.0405 right_roll=-0.1644 right_gripper=0.0939\nstate[joint_eff]: [-0.0205, -1.1145, 6.9949, 1.6923, -0.1636, -0.0366, -0.0122, -0.3624, -11.5897, 9.5932, 1.6923, 0.2955, 0.0952, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c05ca3af6cb7966f281264a9b777962e2954823c9994fb31fc97e3e15108bee8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e386852be8c72f387e0dcb75ea10d3e2cbb66d9dbecc374010bba594559ec7bf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37c23728db9b8a4244619fa3a0ae782bef255222e5cbdc340f0266a5db477694",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 29 attempt 0 · /responses · status 200 · 11.64 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 101 changed as sent

message 109 changed as sent

message 113 changed as sent

message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2192, 0.7753, 0.6147, -0.355, -0.3668, -0.0784, 0.8461, 0.7193, 1.9636, 0.9325, 0.3622, 0.6373, 0.2844, 0.8515]\nstate[eef_state]: left_x=0.2952 left_y=0.0028 left_z=0.2012 left_yaw=0.1091 left_pitch=0.0854 left_roll=0.1329 left_gripper=0.8461 right_x=0.4166 right_y=0.2299 right_z=0.0452 right_yaw=0.0454 right_pitch=0.0394 right_roll=-0.1232 right_gripper=0.8515\nstate[joint_eff]: [-0.1573, -1.5795, 6.694, 2.0, -0.1929, -0.0659, -0.0073, -0.4991, -9.2923, 5.9009, 1.8974, 0.1343, -0.022, 0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2188, 0.7792, 0.6147, -0.3626, -0.3668, -0.0784, 0.8461, 0.7197, 1.8423, 0.9848, 0.16, 0.6117, 0.2863, 0.094]\nstate[eef_state]: left_x=0.2946 left_y=0.0031 left_z=0.1986 left_yaw=0.1092 left_pitch=0.0746 left_roll=0.1366 left_gripper=0.8461 right_x=0.4113 right_y=0.2304 right_z=0.0825 right_yaw=0.0647 right_pitch=0.0071 right_roll=-0.1265 right_gripper=0.094\nstate[joint_eff]: [-0.0205, -1.0325, 7.0496, 1.7998, -0.1441, -0.0317, -0.0122, -0.335, -11.5214, 9.1966, 1.8046, 0.2662, 0.0024, -0.1148]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2188, 0.7792, 0.6147, -0.363, -0.3668, -0.0784, 0.8461, 0.7197, 1.705, 1.2724, -0.3172, 0.6003, 0.2714, 0.0939]\nstate[eef_state]: left_x=0.2946 left_y=0.0031 left_z=0.1985 left_yaw=0.1092 left_pitch=0.0742 left_roll=0.1367 left_gripper=0.8461 right_x=0.4101 right_y=0.2315 right_z=0.1784 right_yaw=0.0807 right_pitch=-0.0405 right_roll=-0.1644 right_gripper=0.0939\nstate[joint_eff]: [-0.0205, -1.1145, 6.9949, 1.6923, -0.1636, -0.0366, -0.0122, -0.3624, -11.5897, 9.5932, 1.6923, 0.2955, 0.0952, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c05ca3af6cb7966f281264a9b777962e2954823c9994fb31fc97e3e15108bee8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e386852be8c72f387e0dcb75ea10d3e2cbb66d9dbecc374010bba594559ec7bf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37c23728db9b8a4244619fa3a0ae782bef255222e5cbdc340f0266a5db477694",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJT7841Lr3hKsUyXclulBO9xAOBnYdaSMjD31CtXG-RnxQKEM9W8FmT37rPIqW5JA1QJbRhX6mW9Yo-5Iys36XSQtLCRbOfSVrou8XUxB8ddMxIiKHQMtHhe3i-xRf38pPZebmVTL6pw-4pkzhVeXFT-EbdNjanIeFs8Dc_fqtf5uNHicYPjkHfr-do3OvJIqajQU5cFvLf-eObo-_wvDx5o-V9EMW5uoM3OSq9B4rSG9wW6BCsfb7A2ih8KAuujW6joMlTN00O7ikZA2j6765NTc-XwWYnl3tHSCZz6qFfDjNEfEhutHPWVJ-92430yNRO8xAPuIImH5jBd4ww9segJNkBk25Hxq1nmNuWe4BQmSs5uztwgAWpLd0i9gvWogV5iEdiX1kXmq2QzmNsilC0jq9F26n7RVAqblEPg_C4ncjzT4XrvLYzLcvkiaKYRN_ZhFEHIHx_9Ep0Z_WuNVhAwruaJ9iWolNiiD8d4UEacp4Sma6v6YxZBZ5CImQ7_3jre0HE25uZVEVRVIAjM78PHgAYQrzxP2Q6wYZqnmQHybxNLWy4wO6hJLbm6fKVh76nxMmqmgjkBDiJTfPQ9kvRmj9wTjI0Hz-DES4vSlPH8xtzWgcdlWMQUTDlIKqUG_i-3nvI4tgHD3WfBZMOc6h1G-GiKXwVuoQDOQXJEh-yJ-tE2y8JF518dJ31lxUbY27sR5CgV8KK93wT_5mndLyrnK-ekN2-nhv7HabOEc8ea4XBELTGW5ejMXUf33cbBmgRzZQhXqCQ5CC-5PC1VFboAsrKMrntjITd5jLwgE9IdFf1i-5Tmot3DIAz44Lu2xkQm6EkpShE_8UEJ6dKGC2Ssz9eMRCJamPtd247enxaw_OPNKrgG4LNSQOPnz3EgseNy15R9qEz3HT91MYwjc3apG9d3Dy5K8TM9LiDmbymkzrLa5o4XxivZz-RQOv1NjoIJtL4xBEOa9_doCpgxmfVaC0xBODbLqsWNUgbNOyay5zxphp_4KbZKB0AgRCO3xlnffST0jOWCNI5W3BdCrmjr1xYtbi2gSwVVoxIykbWSkSTHf91-gayprQDXQaic3aKor21afTyDJ8PBGKeRpk5xYsEA7cfdOho53GHy9Md1haUyVoORTf6u1ypcxnEcRMdJ1DX725ssXCZalO7pCIVjzk_oV2QS0gMfVcpY2Qish9ORu-F97yb8Z2nrdofm9jny7k3Zgwcc4527azTKiWbVokTZgl8CJy9T5A4li661yenQitUq8r2Zk59WP1RRa8BfG60FvL_lP7-BOn0o_4cx4HerrXgWlaamWpcNZISeZPNBTbUEYOLFMJyCE783JiExN4Z7ykxuWkV1lrR30L1Q0gnOn_9lag4Na2h9ZEk44awwcQFMrtSFFL8vTRSRf_UR-fWYdU49Pu1Uw-XSHptfaOkt9mrjQ6E4nC3U-23bZEd4lw2ahP21Zg6rnIn8j3CqZrlDYSv0T_pqbxVInQtIywiSwR6K7qvl7ynx2m-q9fkbKmmKLjhNkyHZbAjY0JqxkuWFS3tbFWWUx666Hi6FU3QVV9rmyMBhg4CUaYEP5mMylRkmT2K9FudGOn_zyFOO7ZgUHhYhLcCE3Q9uxTs2Po1HLlBO4nW6YbEwa3TcgGY6MAsPnExD98Iq3ShYvZpb5iG8V802_1hWnP8In8oHopPlZYfiTkDi3nJMOuMp22lkO5Oh6oCMAnRACYnk_FtA4yU2h8HnCdHBCJxOoMP6u3abSQLdVhM0SuFFGjHmqNePu7c6pQXMc5sIbmmHZ4xLcIoth99WjKyIuWMRbtKNbFGjmin0tlwtOQcahK9wAmkzUMtjRvmSX32gHcbYY4j9v6AraDXLoka1QdyD5CjJHo4e88EyxIFMJEGmOIxqWmr-vdOlwdMe0aWb5l-zHB-ymjkEhqUE0xpuQBR2qDrfxwDYvbwZQi2G4di11KvCTQKrf6un34kSiZYTmHxSJfcX1PDBuSO_1lDsfNRiL65abjVvx2gGyRG-QT_gkQshMx234SuQ1tCuby5aepe5gG-N1DkVLWqwKZ0Kc8Vdg5lTOA6RLWsVMc3BpeEriSfnIQN5oFYmDUuLi8y7k-SSsSxmndAtwJUhTxPzadYO0bQ-Egt7nT-J5mx-xJ0k7VDrUx7fZwPbEhLlrRxJsoUbAMTJPxq8mGApU53h1hF1y5QCgMQ4EIzQUxPRs_VXSubxOwA=",
  "id": "rs_0107ea2fef198293016ab494f7197087d09a9e9ad75315c289",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.45,\"right_y\":0.395,\"right_z\":0.21},\"note\":\"The pink bowl is safely above the table. I’m moving it left over the existing stack while keeping the left arm parked clear.\"}",
  "call_id": "call_sWga2v9ZvQ0BbyDuIb4DoGtV",
  "id": "fc_0107ea2fef198293016ab494fab64087d08793bb10b998323c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sWga2v9ZvQ0BbyDuIb4DoGtV",
  "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]: [-0.2188, 0.7837, 0.6147, -0.363, -0.3668, -0.0784, 0.8461, 0.9127, 2.381, 2.3699, -0.8799, 0.7029, 0.4114, 0.0939]\nstate[eef_state]: left_x=0.295 left_y=0.003 left_z=0.1973 left_yaw=0.1091 left_pitch=0.0699 left_roll=0.1382 left_gripper=0.8461 right_x=0.4457 right_y=0.3957 right_z=0.1921 right_yaw=0.1202 right_pitch=-0.0833 right_roll=-0.2003 right_gripper=0.0939\nstate[joint_eff]: [-0.1573, -1.5111, 7.0085, 1.7314, -0.149, -0.0708, -0.0122, -0.0615, -14.5846, 8.2256, 1.3016, 0.5495, 0.2808, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db7b93761a264f7f0575f6e5420edada13aee0a0771706d266050a7e597500f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff50b770ae3acc6db9ef7f0daf5fda019c373e30e91ec783775dd38826230883",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c37026c5cccfb445319a9a02cd2bf547dc087fd6f5292ffaaa89f33614f9c7a9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /responses · status 200 · 4.947 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 105 changed as sent

message 113 changed as sent

message 117 changed as sent

message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2192, 0.7788, 0.6147, -0.3565, -0.3668, -0.078, 0.8461, 0.72, 1.9656, 0.9291, 0.3943, 0.6228, 0.2913, 0.095]\nstate[eef_state]: left_x=0.2953 left_y=0.0028 left_z=0.1999 left_yaw=0.1088 left_pitch=0.0807 left_roll=0.1348 left_gripper=0.8461 right_x=0.4182 right_y=0.2346 right_z=0.0476 right_yaw=0.0529 right_pitch=0.0553 right_roll=-0.0937 right_gripper=0.095\nstate[joint_eff]: [-0.0752, -1.4154, 7.0222, 1.7851, -0.1538, -0.0513, -0.0122, 0.1026, -9.7436, 5.9145, 1.2479, 0.2662, -0.1099, 0.3785]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2188, 0.7792, 0.6147, -0.363, -0.3668, -0.0784, 0.8461, 0.7197, 1.705, 1.2724, -0.3172, 0.6003, 0.2714, 0.0939]\nstate[eef_state]: left_x=0.2946 left_y=0.0031 left_z=0.1985 left_yaw=0.1092 left_pitch=0.0742 left_roll=0.1367 left_gripper=0.8461 right_x=0.4101 right_y=0.2315 right_z=0.1784 right_yaw=0.0807 right_pitch=-0.0405 right_roll=-0.1644 right_gripper=0.0939\nstate[joint_eff]: [-0.0205, -1.1145, 6.9949, 1.6923, -0.1636, -0.0366, -0.0122, -0.3624, -11.5897, 9.5932, 1.6923, 0.2955, 0.0952, -0.0269]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2188, 0.7837, 0.6147, -0.363, -0.3668, -0.0784, 0.8461, 0.9127, 2.381, 2.3699, -0.8799, 0.7029, 0.4114, 0.0939]\nstate[eef_state]: left_x=0.295 left_y=0.003 left_z=0.1973 left_yaw=0.1091 left_pitch=0.0699 left_roll=0.1382 left_gripper=0.8461 right_x=0.4457 right_y=0.3957 right_z=0.1921 right_yaw=0.1202 right_pitch=-0.0833 right_roll=-0.2003 right_gripper=0.0939\nstate[joint_eff]: [-0.1573, -1.5111, 7.0085, 1.7314, -0.149, -0.0708, -0.0122, -0.0615, -14.5846, 8.2256, 1.3016, 0.5495, 0.2808, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db7b93761a264f7f0575f6e5420edada13aee0a0771706d266050a7e597500f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff50b770ae3acc6db9ef7f0daf5fda019c373e30e91ec783775dd38826230883",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c37026c5cccfb445319a9a02cd2bf547dc087fd6f5292ffaaa89f33614f9c7a9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0107ea2fef198293016ab494ff4f0887d0bb67fefea7c48344",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.205,\"right_z\":0.14,\"right_gripper\":0.8},\"note\":\"The clear overhead view shows the pink bowl is still on the table, so the earlier hold did not survive the lift. I’m returning above it with the jaws open and shifting farther onto the rim.\"}",
  "call_id": "call_Wrd73t9murfFcobAJ482pseD",
  "id": "fc_0107ea2fef198293016ab495079d9c87d0880fe399d0548cce",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Wrd73t9murfFcobAJ482pseD",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2188, 0.7876, 0.6147, -0.363, -0.3668, -0.0784, 0.8461, 0.6239, 1.7725, 1.1862, -0.2306, 0.5156, 0.168, 0.7979]\nstate[eef_state]: left_x=0.2953 left_y=0.0029 left_z=0.1963 left_yaw=0.109 left_pitch=0.0663 left_roll=0.1394 left_gripper=0.8461 right_x=0.4249 right_y=0.2029 right_z=0.1221 right_yaw=0.1008 right_pitch=-0.1409 right_roll=-0.2335 right_gripper=0.7979\nstate[joint_eff]: [0.0068, -1.4974, 7.1043, 1.7118, -0.1245, -0.0464, -0.0122, -0.2256, -10.8923, 7.0769, 1.9756, 0.2564, 0.0317, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28f91a8c9e089ebd19352b2a2c8480d7d7c7765e9c1b9a034385dd8504fca9e5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:877fa55dc5b57a185a8391535844be865c740f8bc20a79ef435120d48cc60558",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75127bc179dfb3dffab44d3c9c462bdbf8b51d8265cacf0ba4ffc223abf353a5",
      "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 31 attempt 0 · /responses · status 200 · 3.089 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 109 changed as sent

message 117 changed as sent

message 121 changed as sent

message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2188, 0.7792, 0.6147, -0.3626, -0.3668, -0.0784, 0.8461, 0.7197, 1.8423, 0.9848, 0.16, 0.6117, 0.2863, 0.094]\nstate[eef_state]: left_x=0.2946 left_y=0.0031 left_z=0.1986 left_yaw=0.1092 left_pitch=0.0746 left_roll=0.1366 left_gripper=0.8461 right_x=0.4113 right_y=0.2304 right_z=0.0825 right_yaw=0.0647 right_pitch=0.0071 right_roll=-0.1265 right_gripper=0.094\nstate[joint_eff]: [-0.0205, -1.0325, 7.0496, 1.7998, -0.1441, -0.0317, -0.0122, -0.335, -11.5214, 9.1966, 1.8046, 0.2662, 0.0024, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2188, 0.7837, 0.6147, -0.363, -0.3668, -0.0784, 0.8461, 0.9127, 2.381, 2.3699, -0.8799, 0.7029, 0.4114, 0.0939]\nstate[eef_state]: left_x=0.295 left_y=0.003 left_z=0.1973 left_yaw=0.1091 left_pitch=0.0699 left_roll=0.1382 left_gripper=0.8461 right_x=0.4457 right_y=0.3957 right_z=0.1921 right_yaw=0.1202 right_pitch=-0.0833 right_roll=-0.2003 right_gripper=0.0939\nstate[joint_eff]: [-0.1573, -1.5111, 7.0085, 1.7314, -0.149, -0.0708, -0.0122, -0.0615, -14.5846, 8.2256, 1.3016, 0.5495, 0.2808, -0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2188, 0.7876, 0.6147, -0.363, -0.3668, -0.0784, 0.8461, 0.6239, 1.7725, 1.1862, -0.2306, 0.5156, 0.168, 0.7979]\nstate[eef_state]: left_x=0.2953 left_y=0.0029 left_z=0.1963 left_yaw=0.109 left_pitch=0.0663 left_roll=0.1394 left_gripper=0.8461 right_x=0.4249 right_y=0.2029 right_z=0.1221 right_yaw=0.1008 right_pitch=-0.1409 right_roll=-0.2335 right_gripper=0.7979\nstate[joint_eff]: [0.0068, -1.4974, 7.1043, 1.7118, -0.1245, -0.0464, -0.0122, -0.2256, -10.8923, 7.0769, 1.9756, 0.2564, 0.0317, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28f91a8c9e089ebd19352b2a2c8480d7d7c7765e9c1b9a034385dd8504fca9e5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:877fa55dc5b57a185a8391535844be865c740f8bc20a79ef435120d48cc60558",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75127bc179dfb3dffab44d3c9c462bdbf8b51d8265cacf0ba4ffc223abf353a5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJUPAiBdfuUOPkL4u-jpMsFp68C9tHWucIPRnF_jDkQQriiCFA7NG3mKTJHXJOnJwe5EDaCzJ7EEuKFPrvUl6zt4cNAeeos6OQ4Cn1W_hc_7zOEs7_0ydiu0DtFtB2aKlKxvmjpuCfq4KpAc2RPz5aliHJp4rMkOd8CK5uGr7mV36CinZEXM4mk_I_Xmm4DR72wJ42xni_KqbQ6rFX87FE8L9sAERGUCUtuxJVxk0UmBie98kglQoHFbrgmBfPnaa9YlMddqSuM6JYvpSkV4fWnbPI3NRkOvbxSUPo6qbQP0IXoN7cGjRZDKZw_U70Jqp8clXPJCv4elWBUls-fnXOCkTpkN42oTmLLAKTRastF6iCU1hrlsvjawxteai1SJihhydieCdiDbsySA3NhYX3Xa6b_MQPuyrIXnGK6tXmR7vmIgqkNYSbcsDP5ud-AuKkyl8pZRVvU9rGlc4Xf17phtrOzexcREaSdlEPlLugO4y-UKlbkA_-3AEcwND-MrBhuwJYwbKdA7ALC-f9sS-tkuiJbtNRBelXJ8VOsOqk2CcBkpNVS06Yf_DmqS1yabktKhZXZ6N3SZohOD_ObGa2XumsNr2aJ-QzeA9OFPd6EW9CkF1Xymle-rr-ViwRI-pU0rDIghuIb1vyj-opFK2VP0wkEob_ehNeKe7Rj1VMzhlj6Q1KFNifhaYq8Lrqco23bWor39xa8ypi0CpaSoVKI17Z0TDiYue82QXi2o9aGYCcH-JNBrD5GkqbBdN-c0_mzG72_a2J90zHyZZ7eDrM7NFrIK33dR6GFDvTkVXZi-zC6ObUZSZ38fc45ZdO6pKGuvDSXJyrmpyJCf8MM-ksTBBVZI6wuBPi2XyRdt_sdPpzo8gzlvaUUWSW5lbVyG64p5zYv8w67zuataCNcPxYDbKLMKgqZ9ijDcddq3ISnUj3lZd7lMJc0XaFsPZomgSUxElgFiumkUx9yOQIwLjG4rI-KKZpvhLvHI9mOAppQpAvE6WHssQEKDZf7k2MzwJi885OS6thYMEZ5Kiy3bhdzsdWuj94_Omtu1RRhLmQoDvV_vn1wXHzxmnzYuCLs1DskVdXf85GqX00pQWPTMpkcRqNbfAYn9GzVl_A6VeWK6eaS5Sw8wcwub5Qo9VE-57omye6BFN92gP7oPtJ6pUxHaSkOkRa5ZdANbU5TjxCCN0BhnfA7SAYeNPK0esr3QjOKc_jRphrtOneFP1tShINkIYTHmWp3V2c6ZIuJNK0j9bU1r1rVDA_UbC3VW0FW_2GWa4r3sChSEMnfw1bSZ-omNctDM4r47VG917jgn-j7nPxkmW6sxEA8F09F6hkoS5MjAJrD7sP8soBpa1o9BCm1e-bRlZIrTpnWkarGZl2X1wx2DLQWsHXnlcOubye1xPG5CEnWHh9fULaz-ilIyb_hTNcMPWm7k5OKQeZMzOoQc6WYG7eUQE5VAGntg242u7I1QHw1FjZD5leDjH_0fN-cBK24Ft1_OzQPh5w8-iZWlBeQ-UhP_AtD3VVYvkw1YznIj2WBJNrPeOg0IM8Kwr9F7XJmGt1eFcpY0W6XlW3TOYAZ98YZ5kfC-nDo0FXQoSqtjZQhftJH5FsnNCkVIuriY0FAlZMYKnMxjp8D0uLHlDMLjBxjN3MnVpmSYjRAXlzgu0q-Y6VC500YoN06HhY_c8U1Pmz0ksbNfGBUtoYxwQ6poKJIYZveAPlsqYdNa2cvvxy4hPweSJYRr6iTs9KW1jw==",
  "id": "rs_0107ea2fef198293016ab4950bfbb487d0ac04bfd9556e650a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.205,\"right_z\":0.04,\"right_gripper\":0.8,\"right_pitch\":0.35,\"right_roll\":0.15},\"note\":\"The pink bowl is now aligned with the jaw column. I’m lowering around its wall and compensating for the visible wrist tilt to improve contact.\"}",
  "call_id": "call_6208PWwYvIutSZftE9b4HZ5P",
  "id": "fc_0107ea2fef198293016ab4950e0eb487d0b42348ccba54c810",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6208PWwYvIutSZftE9b4HZ5P",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2188, 0.7895, 0.6147, -0.363, -0.3668, -0.0784, 0.8461, 0.5827, 2.1208, 0.6735, 1.1801, 0.4095, 0.2157, 0.7995]\nstate[eef_state]: left_x=0.2954 left_y=0.0029 left_z=0.1958 left_yaw=0.109 left_pitch=0.0645 left_roll=0.1401 left_gripper=0.8461 right_x=0.4307 right_y=0.2039 right_z=0.0403 right_yaw=0.0987 right_pitch=0.3188 right_roll=0.121 right_gripper=0.7995\nstate[joint_eff]: [-0.0205, -1.347, 7.3504, 1.7167, -0.1832, -0.0513, -0.0122, -0.253, -7.747, 2.9197, 1.2821, 0.0073, -0.0171, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0900eaef00b7246a7d182c182a4a843d1448ffd3993d7c23936c216c29fc1ca3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e69ba15fb8afb19f207278125457759f9a8140418273e6ef22e552a32192e168",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2c4a6fa6d9cd8fce2f2c6aaec224d309c2a88288c651ecab1fcf7823502c5ea",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /responses · status 200 · 20.45 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 113 changed as sent

message 121 changed as sent

message 125 changed as sent

message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2188, 0.7792, 0.6147, -0.363, -0.3668, -0.0784, 0.8461, 0.7197, 1.705, 1.2724, -0.3172, 0.6003, 0.2714, 0.0939]\nstate[eef_state]: left_x=0.2946 left_y=0.0031 left_z=0.1985 left_yaw=0.1092 left_pitch=0.0742 left_roll=0.1367 left_gripper=0.8461 right_x=0.4101 right_y=0.2315 right_z=0.1784 right_yaw=0.0807 right_pitch=-0.0405 right_roll=-0.1644 right_gripper=0.0939\nstate[joint_eff]: [-0.0205, -1.1145, 6.9949, 1.6923, -0.1636, -0.0366, -0.0122, -0.3624, -11.5897, 9.5932, 1.6923, 0.2955, 0.0952, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2188, 0.7876, 0.6147, -0.363, -0.3668, -0.0784, 0.8461, 0.6239, 1.7725, 1.1862, -0.2306, 0.5156, 0.168, 0.7979]\nstate[eef_state]: left_x=0.2953 left_y=0.0029 left_z=0.1963 left_yaw=0.109 left_pitch=0.0663 left_roll=0.1394 left_gripper=0.8461 right_x=0.4249 right_y=0.2029 right_z=0.1221 right_yaw=0.1008 right_pitch=-0.1409 right_roll=-0.2335 right_gripper=0.7979\nstate[joint_eff]: [0.0068, -1.4974, 7.1043, 1.7118, -0.1245, -0.0464, -0.0122, -0.2256, -10.8923, 7.0769, 1.9756, 0.2564, 0.0317, -0.0806]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2188, 0.7895, 0.6147, -0.363, -0.3668, -0.0784, 0.8461, 0.5827, 2.1208, 0.6735, 1.1801, 0.4095, 0.2157, 0.7995]\nstate[eef_state]: left_x=0.2954 left_y=0.0029 left_z=0.1958 left_yaw=0.109 left_pitch=0.0645 left_roll=0.1401 left_gripper=0.8461 right_x=0.4307 right_y=0.2039 right_z=0.0403 right_yaw=0.0987 right_pitch=0.3188 right_roll=0.121 right_gripper=0.7995\nstate[joint_eff]: [-0.0205, -1.347, 7.3504, 1.7167, -0.1832, -0.0513, -0.0122, -0.253, -7.747, 2.9197, 1.2821, 0.0073, -0.0171, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0900eaef00b7246a7d182c182a4a843d1448ffd3993d7c23936c216c29fc1ca3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e69ba15fb8afb19f207278125457759f9a8140418273e6ef22e552a32192e168",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2c4a6fa6d9cd8fce2f2c6aaec224d309c2a88288c651ecab1fcf7823502c5ea",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJUTgeKPS73C1La-Me4yEyAJkX1MN1qFxzqSMwFYGQ6JS6Z71xvPzimS8LVWZ1V_ocKrYM95v0SHm0f6j9fUdCP6zk2tNsgtlgSu0dvaX3fv1QMDutVkQuir-a0DdPxvqjfZDBEQX2llVs4KEAWLg28cU5MUuHVTxvnXHK0G7529IM89bl0UzxtgCOnAAhhMI4NhV_LOR-dpDECME17w41VkxmIxVpG_LAmSkOHW77tuUHrMuRSdhzL2Yu-gY7rKwAhflAQfdhFgOhiooO8q64OfzBfk4ofSL07fmVbRQ4rSAhfkrizXEVCqZhvtKUVFCvarCJvehRoLNAFgibVJH4tLFP6xJCWT6lHQ4uzRzXS5iwOqjf9_k43XOXRluvyUa5CfRSFbRqoOGsbYxvnyaY9rmRX3UfzeF1A-2lljJedOvxz_kAtmlyuW9m3yHPcdAzITyz4OpAy0u3zvlJBFVCB7MbSmHZJgmsQqWXi5RhkC1eI2V5TVKt9EWQH1bD0QVD_Gbi-v7UFNpEbcM-CUIHhUD74YcGPgbSTsjuM4gmEm_S86xrN8oVXHhNj9bGhRL3R_VBj0dCMTM1lc-K12gY10vZtXIgbH2nbpMFkAvye3F6FjlOqBMk96BW_ZlTW5HTGEAeUoVTdxyDNatDlAhANqKZXYdrkxnA0ucByZuKwyv5RJcdKLkOwNOC56JkpiEOhioARlr3nhyaNXEmgtAQ9U6iCDiJfDGT5KAMhHOqyci42ARFOE1lJpqj3u1W_m-3QF4hteXbDjfjcUIw1Chqln34gVVDdeOL1rhIxVziNquOWabEJxZZLSRuRO04cRAnaDT5ik4Dy2W3O9Ya47KQEqKyqSkM4cfq6dGUbsOQ_L5-4FBfA8073N1slwGvwvXU7YD69UKIn38Y8wABzPcqndOfbnYbw8wVt83k8-4lCWpO1J3JDWIALJIPP-xicvKnscORGuLT26Mf62zZYl1sbwERoesqbzRC-ysE4AAU6NgxLMTHmpCjF2ViNqHsGYdcLlZYryQOymPPTlBDwlSPlBFv7DruGNh0LGw-uY-n-A1BSmZkBGuZ6LyFgAoVnZQ4rRd64_nM25czvrXrBO6pLT8XDRx89ksAYb0k5hwfG1eeU5iaOiAvgzzoDOGerDY0zZ-1IyyHNYf8S99WaqEX-GslhT3fa_MKLW9XlYw0H1Z4FySSu4px3N5fJUy9oVo6krn-Qq1GNkBVjXMId9Kil8zgHt-q5Y3-6665330v-mYQkrd251IkutfdlMIoRkQEShqb6kbBhs8c-24cpfhMLj4wurX0PK7tdtIP9Do4vNB76_lILDNUo6_HRpVfKzFCBT",
  "id": "rs_0107ea2fef198293016ab495126d1c87d08eec5a9c35ea081d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"One finger is inside the pink bowl and the other is outside its wall. I’m closing fully on this better-centered rim position.\"}",
  "call_id": "call_fzy79soD7D3e4mTCF6VCAqQb",
  "id": "fc_0107ea2fef198293016ab495131e9887d08127b79460c92b6e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fzy79soD7D3e4mTCF6VCAqQb",
  "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]: [-0.2192, 0.7933, 0.6147, -0.363, -0.3668, -0.078, 0.8461, 0.5819, 2.1246, 0.6727, 1.1873, 0.4042, 0.2138, 0.0088]\nstate[eef_state]: left_x=0.2957 left_y=0.0027 left_z=0.1947 left_yaw=0.1083 left_pitch=0.0608 left_roll=0.1416 left_gripper=0.8461 right_x=0.4306 right_y=0.2045 right_z=0.0398 right_yaw=0.1033 right_pitch=0.3206 right_roll=0.1217 right_gripper=0.0088\nstate[joint_eff]: [-0.0068, -1.3607, 7.159, 1.7558, -0.1636, -0.0073, -0.0122, -0.0752, -9.2923, 3.6718, 1.9267, 0.022, -0.0562, 0.5201]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee84b96311227059f37e67dfe2ae22e3daafb0e6c02b277eb6b1f15fb77f191b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9db0ca0f74bda62d8e9d70ca9024c7da3b5a5cc4391e0861e335f196814d3204",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2017dc84e1ac7c64cc7197d87eb927bde82d00cab315482eb4356e47eb7062b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /responses · status 200 · 5.108 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 117 changed as sent

message 125 changed as sent

message 129 changed as sent

message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2188, 0.7837, 0.6147, -0.363, -0.3668, -0.0784, 0.8461, 0.9127, 2.381, 2.3699, -0.8799, 0.7029, 0.4114, 0.0939]\nstate[eef_state]: left_x=0.295 left_y=0.003 left_z=0.1973 left_yaw=0.1091 left_pitch=0.0699 left_roll=0.1382 left_gripper=0.8461 right_x=0.4457 right_y=0.3957 right_z=0.1921 right_yaw=0.1202 right_pitch=-0.0833 right_roll=-0.2003 right_gripper=0.0939\nstate[joint_eff]: [-0.1573, -1.5111, 7.0085, 1.7314, -0.149, -0.0708, -0.0122, -0.0615, -14.5846, 8.2256, 1.3016, 0.5495, 0.2808, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2188, 0.7895, 0.6147, -0.363, -0.3668, -0.0784, 0.8461, 0.5827, 2.1208, 0.6735, 1.1801, 0.4095, 0.2157, 0.7995]\nstate[eef_state]: left_x=0.2954 left_y=0.0029 left_z=0.1958 left_yaw=0.109 left_pitch=0.0645 left_roll=0.1401 left_gripper=0.8461 right_x=0.4307 right_y=0.2039 right_z=0.0403 right_yaw=0.0987 right_pitch=0.3188 right_roll=0.121 right_gripper=0.7995\nstate[joint_eff]: [-0.0205, -1.347, 7.3504, 1.7167, -0.1832, -0.0513, -0.0122, -0.253, -7.747, 2.9197, 1.2821, 0.0073, -0.0171, -0.0708]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2192, 0.7933, 0.6147, -0.363, -0.3668, -0.078, 0.8461, 0.5819, 2.1246, 0.6727, 1.1873, 0.4042, 0.2138, 0.0088]\nstate[eef_state]: left_x=0.2957 left_y=0.0027 left_z=0.1947 left_yaw=0.1083 left_pitch=0.0608 left_roll=0.1416 left_gripper=0.8461 right_x=0.4306 right_y=0.2045 right_z=0.0398 right_yaw=0.1033 right_pitch=0.3206 right_roll=0.1217 right_gripper=0.0088\nstate[joint_eff]: [-0.0068, -1.3607, 7.159, 1.7558, -0.1636, -0.0073, -0.0122, -0.0752, -9.2923, 3.6718, 1.9267, 0.022, -0.0562, 0.5201]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee84b96311227059f37e67dfe2ae22e3daafb0e6c02b277eb6b1f15fb77f191b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9db0ca0f74bda62d8e9d70ca9024c7da3b5a5cc4391e0861e335f196814d3204",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2017dc84e1ac7c64cc7197d87eb927bde82d00cab315482eb4356e47eb7062b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0107ea2fef198293016ab495165c2887d08e26813188737cf7",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
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  "id": "rs_0107ea2fef198293016ab4951f4fb487d09db1cdc5560e75e3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0,\"right_z\":0.22,\"right_gripper\":1,\"right_pitch\":0,\"right_roll\":0,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.22},\"note\":\"The close pushed the bowls farther away instead of securing the rim. They are now beyond the reliable low-height grasping reach, so I’m withdrawing both arms rather than risk pushing them farther.\"}",
  "call_id": "call_7Umy8pxM9TnGNbJ2jlnL5rBQ",
  "id": "fc_0107ea2fef198293016ab495277ab887d0b3214e89636cb4b8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7Umy8pxM9TnGNbJ2jlnL5rBQ",
  "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]: [-0.2359, 0.8051, 0.6827, -0.458, -0.3676, -0.0792, 0.8461, -0.0975, 0.8356, 0.725, -0.429, -0.1154, -0.0872, 0.9975]\nstate[eef_state]: left_x=0.2919 left_y=-0.0012 left_z=0.2033 left_yaw=0.0922 left_pitch=0.0242 left_roll=0.1536 left_gripper=0.8461 right_x=0.3048 right_y=-0.0058 right_z=0.2144 right_yaw=0.046 right_pitch=0.031 right_roll=-0.0044 right_gripper=0.9975\nstate[joint_eff]: [-0.4991, -1.0735, 10.2085, 1.7216, -0.2857, -0.1734, -0.0122, -0.0342, -1.9897, 9.388, 1.6484, -0.2613, -0.0366, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8deb4499f1c6a1b96e9fb06a14dcbb7135806896a210edb68f5ab0cbc647fe89",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a9a8db46320d0bc285cbe9e6d690b2c63b8bb4a6990a2988153f34e70c61771",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4452fd4ec58f80acc03fbccf1e5a9e3ed2ff36e6358a09aa8928bfd23d64b6e0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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