adhoc

completed
2026-09-24T03:14:23.011416+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (73 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-astra
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
231.1 s
total steps
296
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

Stack the bowls on the table.

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteI see three upright bowls in a row: teal, blue, and cream. I’m bringing the right gripper above the cream bowl’s outer rim so I can lift it onto the blue bowl.
move_to
right_x0.4000right_y0.1300right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.7948, 0.6048, -0.3794, -0.0227, -0.0406, 0.9996, -0.0216, 0.7933, 0.6025, -0.3775, -0.0158, -0.0338, 0.9973] state[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1803 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2949 right_y=0.0 right_z=0.18 right_yaw=0.0005 right_pitch=-0.0004 right_roll=-0.0001 right_gripper=0.9973 state[joint_eff]: [-0.4171, -1.4427, 10.1675, 1.7753, -0.0317, 0.2711, -0.0611, -0.2803, -1.2513, 10.1675, 1.9609, -0.0855, 0.1538, -0.2906] 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":{"right_x":0.4,"right_y":0.13,"right_z":0.15,"right_gripper":1},"note":"I see three upright bowls in a row: teal, blue, and cream. I’m bringing the right gripper above the cream bowl’s outer rim so I can lift it onto the blue bowl."})
tool
executing move_to over 11 steps (1.1s)
step 11
top_cam
camera top_cam step 11
left_cam
camera left_cam step 11
right_cam
camera right_cam step 11
assistant
agent noteThe cream bowl is beneath the open right gripper, with its rim visible in the wrist view. I’m lowering toward the rim and shifting slightly inward to put one finger inside and one outside the bowl.
move_to
right_x0.3950right_y0.1450right_z0.0550
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8001, 0.6075, -0.3889, -0.0227, -0.0422, 0.9995, 0.4587, 1.4399, 0.8082, -0.0811, 0.3489, 0.2047, 0.9973] state[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.178 left_yaw=0.0008 left_pitch=-0.0122 left_roll=-0.001 left_gripper=0.9995 right_x=0.3815 right_y=0.125 right_z=0.1232 right_yaw=0.0457 right_pitch=-0.095 right_roll=-0.0465 right_gripper=0.9973 state[joint_eff]: [-0.1709, -1.6205, 6.8308, 1.7949, -0.0562, -0.0366, -0.0171, 0.212, -6.5846, 9.5932, 1.8584, 0.2711, 0.2125, -0.2906] camera 'top_cam' (step 11): [image omitted: streamed camera frame] camera 'left_cam' (step 11): [image omitted: streamed camera frame] camera 'right_cam' (step 11): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.395,"right_y":0.145,"right_z":0.055},"note":"The cream bowl is beneath the open right gripper, with its rim visible in the wrist view. I’m lowering toward the rim and shifting slightly inward to put one finger inside and one outside the bowl."})
tool
executing move_to over 5 steps (0.5s)
step 16
top_cam
camera top_cam step 16
left_cam
camera left_cam step 16
right_cam
camera right_cam step 16
assistant
agent noteThe open fingers now straddle the cream bowl’s near-right rim at low height. I’m closing gently around that rim before making a short test lift.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3901, -0.0227, -0.0422, 0.9995, 0.495, 1.6722, 0.7361, 0.1326, 0.3611, 0.2176, 0.9971] state[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1767 left_yaw=0.0008 left_pitch=-0.0175 left_roll=-0.0009 left_gripper=0.9995 right_x=0.3832 right_y=0.14 right_z=0.0437 right_yaw=0.06 right_pitch=-0.1738 right_roll=-0.0819 right_gripper=0.9971 state[joint_eff]: [-0.0479, -1.5932, 7.0359, 1.746, -0.0806, -0.0464, -0.0122, 0.1162, -7.7607, 5.4496, 1.8144, 0.3199, 0.1245, -0.0269] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The open fingers now straddle the cream bowl’s near-right rim at low height. I’m closing gently around that rim before making a short test lift."})
tool
executing move_to over 10 steps (1.0s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
agent noteThe gripper closed almost completely, so the first grasp was empty. I’m reopening and moving a little farther forward and toward the bowl’s outer edge for a rim grasp.
move_to
right_x0.4150right_y0.1100right_z0.0850right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3901, -0.0227, -0.0422, 0.9995, 0.4973, 1.6878, 0.7288, 0.2005, 0.3603, 0.2218, 0.008] state[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1767 left_yaw=0.0008 left_pitch=-0.0175 left_roll=-0.0009 left_gripper=0.9995 right_x=0.3897 right_y=0.1447 right_z=0.0463 right_yaw=0.0635 right_pitch=-0.133 right_roll=-0.0591 right_gripper=0.008 state[joint_eff]: [-0.0889, -1.1692, 7.0906, 1.6874, -0.0659, -0.0806, -0.0122, 0.1299, -7.8427, 5.8051, 1.8388, 0.3639, 0.1294, 0.5739] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.415,"right_y":0.11,"right_z":0.085,"right_gripper":1},"note":"The gripper closed almost completely, so the first grasp was empty. I’m reopening and moving a little farther forward and toward the bowl’s outer edge for a rim grasp."})
tool
executing move_to over 10 steps (1.0s)
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 cream bowl’s right wall is now clearly between the fingers, but a little left of the grasp center is still inside the bowl. I’m shifting outward slightly and lowering to catch the wall just below its rim.
move_to
right_y0.0900right_z0.0550
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3897, -0.0227, -0.0422, 0.9995, 0.3622, 1.6394, 0.7929, 0.0586, 0.2638, 0.1226, 0.9951] state[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1765 left_yaw=0.0008 left_pitch=-0.0179 left_roll=-0.0009 left_gripper=0.9995 right_x=0.4033 right_y=0.1074 right_z=0.0612 right_yaw=0.06 right_pitch=-0.1887 right_roll=-0.0811 right_gripper=0.9951 state[joint_eff]: [-0.0889, -1.388, 7.0085, 1.7118, -0.0757, -0.0757, -0.0122, -0.4855, -9.265, 9.0188, 1.7118, 0.1099, 0.1343, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). 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":{"right_y":0.09,"right_z":0.055},"note":"The cream bowl’s right wall is now clearly between the fingers, but a little left of the grasp center is still inside the bowl. I’m shifting outward slightly and lowering to catch the wall just below its rim."})
tool
executing move_to over 2 steps (0.2s)
step 38
top_cam
camera top_cam step 38
left_cam
camera left_cam step 38
right_cam
camera right_cam step 38
assistant
agent noteThe inner finger overlaps the cream bowl and the outer finger is clear of its right side. I’m closing on the rim at this corrected position.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3901, -0.0227, -0.0422, 0.9995, 0.3313, 1.6382, 0.7738, 0.0776, 0.2348, 0.1001, 0.9958] state[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1765 left_yaw=0.0008 left_pitch=-0.0183 left_roll=-0.0009 left_gripper=0.9995 right_x=0.4031 right_y=0.099 right_z=0.0568 right_yaw=0.0657 right_pitch=-0.1944 right_roll=-0.0773 right_gripper=0.9958 state[joint_eff]: [-0.0889, -1.3197, 7.0496, 1.6972, -0.0708, -0.0855, -0.0122, -0.5949, -7.4872, 5.7094, 1.5263, 0.149, -0.1343, 0.0562] camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The inner finger overlaps the cream bowl and the outer finger is clear of its right side. I’m closing on the rim at this corrected position."})
tool
executing move_to over 10 steps (1.0s)
step 48
top_cam
camera top_cam step 48
left_cam
camera left_cam step 48
right_cam
camera right_cam step 48
assistant
agent noteThe second close was also empty. Comparing the overhead view with the fingertip position, the gripper is still short of the bowl, so I’m reopening and moving farther forward before lowering again.
move_to
right_x0.4600right_y0.1150right_z0.0850right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8055, 0.6075, -0.3901, -0.0227, -0.0422, 0.9995, 0.3321, 1.6382, 0.7506, 0.078, 0.226, 0.0929, 0.0069] state[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1763 left_yaw=0.0008 left_pitch=-0.0187 left_roll=-0.0009 left_gripper=0.9995 right_x=0.3957 right_y=0.0984 right_z=0.048 right_yaw=0.0766 right_pitch=-0.2184 right_roll=-0.0824 right_gripper=0.0069 state[joint_eff]: [-0.0615, -1.2513, 7.2547, 1.7363, -0.0806, -0.0757, -0.0122, -0.212, -7.1726, 7.6376, 1.5214, 0.1587, 0.0855, 0.5006] camera 'top_cam' (step 48): [image omitted: streamed camera frame] camera 'left_cam' (step 48): [image omitted: streamed camera frame] camera 'right_cam' (step 48): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.46,"right_y":0.115,"right_z":0.085,"right_gripper":1},"note":"The second close was also empty. Comparing the overhead view with the fingertip position, the gripper is still short of the bowl, so I’m reopening and moving farther forward before lowering again."})
tool
executing move_to over 10 steps (1.0s)
step 58
top_cam
camera top_cam step 58
left_cam
camera left_cam step 58
right_cam
camera right_cam step 58
assistant
agent noteThe forward move brought the cream bowl’s rim down to the fingertips in the wrist view. I’m lowering into the bowl’s rim height while keeping the fingers open.
move_to
right_z0.0180
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8082, 0.6075, -0.3935, -0.0227, -0.0425, 0.9995, 0.3244, 1.7809, 1.0607, -0.1211, 0.2188, 0.0692, 0.9958] state[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1749 left_yaw=0.001 left_pitch=-0.0248 left_roll=-0.0011 left_gripper=0.9995 right_x=0.4475 right_y=0.1139 right_z=0.073 right_yaw=0.0863 right_pitch=-0.2517 right_roll=-0.102 right_gripper=0.9958 state[joint_eff]: [-0.1026, -1.5521, 7.241, 1.746, -0.0611, -0.0513, -0.0122, -0.7179, -8.1162, 8.7179, 1.6337, 0.0024, 0.0562, -0.105] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 58): [image omitted: streamed camera frame] camera 'left_cam' (step 58): [image omitted: streamed camera frame] camera 'right_cam' (step 58): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.018},"note":"The forward move brought the cream bowl’s rim down to the fingertips in the wrist view. I’m lowering into the bowl’s rim height while keeping the fingers open."})
tool
executing move_to over 4 steps (0.4s)
step 62
top_cam
camera top_cam step 62
left_cam
camera left_cam step 62
right_cam
camera right_cam step 62
assistant
agent noteThe fingers are now down beside the cream bowl rather than above it. I’m closing to secure its side, then I’ll verify the grasp with a short lift.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8082, 0.6075, -0.3939, -0.0227, -0.0452, 0.9995, 0.3206, 1.895, 0.9665, 0.0235, 0.2188, 0.07, 0.9963] state[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1748 left_yaw=0.0025 left_pitch=-0.0251 left_roll=-0.0033 left_gripper=0.9995 right_x=0.4368 right_y=0.1084 right_z=0.0114 right_yaw=0.0777 right_pitch=-0.3135 right_roll=-0.1172 right_gripper=0.9963 state[joint_eff]: [-0.0068, -1.265, 7.0222, 1.7363, -0.022, -0.022, -0.0122, 0.2803, -9.8393, 6.0786, 1.7656, 0.1001, -0.022, 0.0415] camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The fingers are now down beside the cream bowl rather than above it. I’m closing to secure its side, then I’ll verify the grasp with a short lift."})
tool
executing move_to over 10 steps (1.0s)
step 72
top_cam
camera top_cam step 72
left_cam
camera left_cam step 72
right_cam
camera right_cam step 72
assistant
agent noteThe fingers stopped about one centimeter apart and the cream bowl shifted with the close, which suggests a rim grasp. I’m lifting it a few centimeters to check that it is secure, while restoring the idle arm to its parked height.
move_to
right_x0.4500right_z0.0950left_x0.2950left_y0.0000left_z0.1800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.4057, -0.0227, -0.049, 0.9995, 0.3225, 1.8755, 0.9684, 0.0612, 0.1925, 0.0772, 0.1025] state[eef_state]: left_x=0.2927 left_y=0.0018 left_z=0.1719 left_yaw=0.0045 left_pitch=-0.0389 left_roll=-0.0061 left_gripper=0.9995 right_x=0.4448 right_y=0.1168 right_z=0.0257 right_yaw=0.1022 right_pitch=-0.2602 right_roll=-0.0776 right_gripper=0.1025 state[joint_eff]: [-0.0479, -1.347, 7.0222, 1.8437, -0.0562, -0.0073, -0.0122, 0.0068, -7.6239, 6.0103, 1.1062, 0.2466, -0.1538, 0.4029] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 72): [image omitted: streamed camera frame] camera 'left_cam' (step 72): [image omitted: streamed camera frame] camera 'right_cam' (step 72): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.45,"right_z":0.095,"left_x":0.295,"left_y":0,"left_z":0.18},"note":"The fingers stopped about one centimeter apart and the cream bowl shifted with the close, which suggests a rim grasp. I’m lifting it a few centimeters to check that it is secure, while restoring the idle arm to its parked height."})
tool
executing move_to over 5 steps (0.5s)
step 77
top_cam
camera top_cam step 77
left_cam
camera left_cam step 77
right_cam
camera right_cam step 77
assistant
agent noteThe rim remains clamped at the same opening through the short lift. I’m raising the bowl to transport height and adding a small forward tilt correction so it clears the other bowl.
move_to
right_x0.4400right_z0.1900right_pitch0.1800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0265, 0.8249, 0.6098, -0.4309, -0.0235, -0.0505, 0.9995, 0.3206, 1.7966, 1.0798, -0.1856, 0.1749, 0.0669, 0.102] state[eef_state]: left_x=0.2902 left_y=0.0 left_z=0.1639 left_yaw=-0.0008 left_pitch=-0.0766 left_roll=-0.006 left_gripper=0.9995 right_x=0.4399 right_y=0.1175 right_z=0.0622 right_yaw=0.1177 right_pitch=-0.3187 right_roll=-0.0833 right_gripper=0.102 state[joint_eff]: [-0.6496, -0.9778, 10.2085, 1.7656, -0.1587, -0.1148, -0.0122, -0.4718, -11.2479, 9.2786, 1.7363, 0.1734, 0.0806, -0.0708] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.44,"right_z":0.19,"right_pitch":0.18},"note":"The rim remains clamped at the same opening through the short lift. I’m raising the bowl to transport height and adding a small forward tilt correction so it clears the other bowl."})
tool
executing move_to over 17 steps (1.7s)
step 94
top_cam
camera top_cam step 94
left_cam
camera left_cam step 94
right_cam
camera right_cam step 94
assistant
agent noteThe gripper opening is stable, but the overhead view does not yet clearly confirm that the cream bowl lifted. I’m making a short lateral move at clearance height to check whether it follows before attempting a placement.
move_to
right_y0.2200right_z0.1900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0261, 0.828, 0.6094, -0.4339, -0.0261, -0.0521, 0.9995, 0.3534, 1.512, 0.8722, 0.141, 0.2356, -0.0017, 0.1019] state[eef_state]: left_x=0.2899 left_y=0.0006 left_z=0.1623 left_yaw=0.0027 left_pitch=-0.083 left_roll=-0.0054 left_gripper=0.9995 right_x=0.4347 right_y=0.1202 right_z=0.1619 right_yaw=0.1462 right_pitch=0.081 right_roll=-0.0932 right_gripper=0.1019 state[joint_eff]: [-0.0752, -1.6205, 7.0359, 1.6777, -0.0171, -0.0073, -0.0122, 0.1299, -8.4034, 6.9812, 2.3907, 0.2955, -0.0269, -0.0269] camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.22,"right_z":0.19},"note":"The gripper opening is stable, but the overhead view does not yet clearly confirm that the cream bowl lifted. I’m making a short lateral move at clearance height to check whether it follows before attempting a placement."})
tool
executing move_to over 9 steps (0.9s)
step 103
top_cam
camera top_cam step 103
left_cam
camera left_cam step 103
right_cam
camera right_cam step 103
assistant
agent noteThe cream bowl did not follow the sideways move, so it was not securely lifted. I’m switching to a centered grasp lower on the bowl’s sides rather than pinching the rim.
move_to
right_x0.4750right_y0.1800right_z0.1050right_gripper1.0000right_pitch0.2500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0261, 0.8288, 0.6094, -0.4351, -0.0261, -0.0521, 0.9995, 0.6186, 1.6539, 1.1057, -0.0441, 0.4286, 0.1059, 0.1019] state[eef_state]: left_x=0.2897 left_y=0.0006 left_z=0.1619 left_yaw=0.0027 left_pitch=-0.0849 left_roll=-0.0053 left_gripper=0.9995 right_x=0.4266 right_y=0.2179 right_z=0.17 right_yaw=0.1953 right_pitch=0.0301 right_roll=-0.1235 right_gripper=0.1019 state[joint_eff]: [-0.0479, -1.4838, 6.9949, 1.6337, -0.0562, -0.0513, -0.0122, 0.0889, -8.0479, 9.9897, 1.8828, 0.2759, 0.2955, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 103): [image omitted: streamed camera frame] camera 'left_cam' (step 103): [image omitted: streamed camera frame] camera 'right_cam' (step 103): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.475,"right_y":0.18,"right_z":0.105,"right_gripper":1,"right_pitch":0.25},"note":"The cream bowl did not follow the sideways move, so it was not securely lifted. I’m switching to a centered grasp lower on the bowl’s sides rather than pinching the rim."})
tool
executing move_to over 9 steps (0.9s)
step 112
top_cam
camera top_cam step 112
left_cam
camera left_cam step 112
right_cam
camera right_cam step 112
assistant
agent noteThe cream bowl is centered between the open fingers in the wrist view. I’m lowering close to the tabletop so the jaws can grip the narrower body below the flared rim.
move_to
right_z0.0080right_x0.4800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0261, 0.8333, 0.6094, -0.4412, -0.0261, -0.0525, 0.9995, 0.4736, 1.8805, 0.8654, 0.5846, 0.3405, -0.0269, 0.9962] state[eef_state]: left_x=0.289 left_y=0.0007 left_z=0.1594 left_yaw=0.0029 left_pitch=-0.0956 left_roll=-0.0053 left_gripper=0.9995 right_x=0.4666 right_y=0.1769 right_z=0.0884 right_yaw=0.1896 right_pitch=0.1569 right_roll=-0.1452 right_gripper=0.9962 state[joint_eff]: [-0.1436, -1.6752, 7.1453, 1.7509, -0.0366, -0.0757, -0.0122, -0.4171, -9.0598, 5.6684, 2.1954, 0.0366, -0.0122, -0.1197] camera 'top_cam' (step 112): [image omitted: streamed camera frame] camera 'left_cam' (step 112): [image omitted: streamed camera frame] camera 'right_cam' (step 112): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.008,"right_x":0.48},"note":"The cream bowl is centered between the open fingers in the wrist view. I’m lowering close to the tabletop so the jaws can grip the narrower body below the flared rim."})
tool
executing move_to over 6 steps (0.6s)
step 118
top_cam
camera top_cam step 118
left_cam
camera left_cam step 118
right_cam
camera right_cam step 118
assistant
agent noteThe descent stopped above the commanded height, indicating contact with the bowl. I’m closing at this contact height to see whether the jaws can capture its sides.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0261, 0.8379, 0.6094, -0.4423, -0.0257, -0.0521, 0.9995, 0.4637, 2.1216, 0.8795, 0.9283, 0.3195, -0.0254, 0.9959] state[eef_state]: left_x=0.289 left_y=0.0006 left_z=0.158 left_yaw=0.0024 left_pitch=-0.1013 left_roll=-0.0051 left_gripper=0.9995 right_x=0.4887 right_y=0.1864 right_z=0.0513 right_yaw=0.1899 right_pitch=0.2672 right_roll=-0.1034 right_gripper=0.9959 state[joint_eff]: [-0.0205, -1.8667, 7.0222, 1.7363, -0.022, -0.0855, -0.0122, -0.5675, -6.2838, 3.7675, 0.4713, 0.2027, -0.1343, -0.0415] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 118): [image omitted: streamed camera frame] camera 'left_cam' (step 118): [image omitted: streamed camera frame] camera 'right_cam' (step 118): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The descent stopped above the commanded height, indicating contact with the bowl. I’m closing at this contact height to see whether the jaws can capture its sides."})
tool
executing move_to over 10 steps (1.0s)
step 128
top_cam
camera top_cam step 128
left_cam
camera left_cam step 128
right_cam
camera right_cam step 128
assistant
agent noteThat close was empty, and the cream bowl remains on the table. I’m backing away from the far edge and repositioning above the bowl’s near side for a better-aligned grasp.
move_to
right_x0.3500right_y0.1800right_z0.1300right_pitch0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0261, 0.8379, 0.6094, -0.4423, -0.0261, -0.0521, 0.9995, 0.4633, 2.1376, 0.8921, 0.9199, 0.305, -0.0189, 0.0073] state[eef_state]: left_x=0.289 left_y=0.0007 left_z=0.158 left_yaw=0.0027 left_pitch=-0.1013 left_roll=-0.0049 left_gripper=0.9995 right_x=0.4901 right_y=0.1896 right_z=0.0456 right_yaw=0.1993 right_pitch=0.2549 right_roll=-0.0957 right_gripper=0.0073 state[joint_eff]: [-0.0342, -1.4974, 7.1453, 1.6239, -0.0708, -0.0317, -0.0122, -0.253, -10.7966, 5.2855, 1.3162, 0.1538, 0.0659, 0.486] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.18,"right_z":0.13,"right_pitch":0,"right_gripper":1},"note":"That close was empty, and the cream bowl remains on the table. I’m backing away from the far edge and repositioning above the bowl’s near side for a better-aligned grasp."})
tool
executing move_to over 11 steps (1.1s)
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 cream bowl is visible between the fingers, slightly to the right of center. I’m correcting that sideways offset and lowering around its body near table level.
move_to
right_x0.3500right_y0.1500right_z0.0220
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0261, 0.8436, 0.6094, -0.4522, -0.0257, -0.0525, 0.9995, 0.6472, 1.417, 0.6971, 0.1497, 0.4076, 0.1276, 0.9963] state[eef_state]: left_x=0.2878 left_y=0.0006 left_z=0.1545 left_yaw=0.0027 left_pitch=-0.117 left_roll=-0.005 left_gripper=0.9995 right_x=0.3584 right_y=0.1876 right_z=0.1313 right_yaw=0.229 right_pitch=0.0468 right_roll=-0.0851 right_gripper=0.9963 state[joint_eff]: [-0.1573, -1.4291, 6.9538, 1.8193, -0.0171, -0.0659, -0.0122, 0.1573, -5.8188, 7.8291, 1.5263, 0.2613, 0.0024, -0.2027] 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":{"right_x":0.35,"right_y":0.15,"right_z":0.022},"note":"The cream bowl is visible between the fingers, slightly to the right of center. I’m correcting that sideways offset and lowering around its body near table level."})
tool
executing move_to over 8 steps (0.8s)
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 bowl moved slightly as the fingers came down, and the gripper is still at its near edge. I’m advancing between its sides and shifting right to center the bowl between the jaws.
move_to
right_x0.4050right_y0.1150right_z0.0250
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0261, 0.8448, 0.6094, -0.4572, -0.0261, -0.0521, 0.9995, 0.5457, 1.7142, 0.392, 0.6895, 0.3313, 0.0738, 0.9963] state[eef_state]: left_x=0.287 left_y=0.0007 left_z=0.1533 left_yaw=0.0028 left_pitch=-0.1231 left_roll=-0.0042 left_gripper=0.9995 right_x=0.3421 right_y=0.1447 right_z=0.0105 right_yaw=0.2192 right_pitch=-0.0301 right_roll=-0.1133 right_gripper=0.9963 state[joint_eff]: [-0.0068, -1.5658, 6.9538, 1.6532, -0.0464, -0.0708, -0.0122, -0.335, -6.5162, 4.3556, 1.9805, 0.0415, -0.0611, -0.0024] 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":{"right_x":0.405,"right_y":0.115,"right_z":0.025},"note":"The bowl moved slightly as the fingers came down, and the gripper is still at its near edge. I’m advancing between its sides and shifting right to center the bowl between the jaws."})
tool
executing move_to over 5 steps (0.5s)
step 152
top_cam
camera top_cam step 152
left_cam
camera left_cam step 152
right_cam
camera right_cam step 152
assistant
agent noteThe bowl is now broadly centered between the jaws at low height. I’m closing around its body rather than trying to catch a thin edge.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0261, 0.8455, 0.6094, -0.4606, -0.0261, -0.0521, 0.9995, 0.3496, 1.7615, 0.5442, 0.627, 0.1936, -0.0315, 0.9963] state[eef_state]: left_x=0.2865 left_y=0.0007 left_z=0.1524 left_yaw=0.0028 left_pitch=-0.1273 left_roll=-0.0041 left_gripper=0.9995 right_x=0.3989 right_y=0.1131 right_z=0.0268 right_yaw=0.1941 right_pitch=-0.0147 right_roll=-0.1139 right_gripper=0.9963 state[joint_eff]: [-0.0479, -1.5248, 7.0222, 1.619, -0.0464, -0.0513, -0.0122, -0.3624, -6.0513, 6.3111, 1.5653, -0.0611, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 152): [image omitted: streamed camera frame] camera 'left_cam' (step 152): [image omitted: streamed camera frame] camera 'right_cam' (step 152): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The bowl is now broadly centered between the jaws at low height. I’m closing around its body rather than trying to catch a thin edge."})
tool
executing move_to over 10 steps (1.0s)
step 162
top_cam
camera top_cam step 162
left_cam
camera left_cam step 162
right_cam
camera right_cam step 162
assistant
agent noteThe bowl slipped sideways during the close, so the centered grasp is not stable. I’m turning the gripper to pinch the near rim front-to-back and following the bowl’s new position.
move_to
right_x0.4050right_y0.0550right_z0.1100right_yaw1.5700right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0261, 0.8467, 0.6094, -0.4603, -0.0261, -0.0521, 0.9995, 0.3466, 1.758, 0.5442, 0.6487, 0.1974, -0.0528, 0.0395] state[eef_state]: left_x=0.2866 left_y=0.0007 left_z=0.1522 left_yaw=0.0028 left_pitch=-0.128 left_roll=-0.0041 left_gripper=0.9995 right_x=0.4024 right_y=0.1123 right_z=0.0327 right_yaw=0.1993 right_pitch=0.0091 right_roll=-0.1301 right_gripper=0.0395 state[joint_eff]: [-0.0342, -1.5932, 6.9538, 1.6337, -0.0562, -0.0708, -0.0122, 0.1846, -6.8171, 4.8068, 1.4383, 0.0415, 0.2173, 1.1893] camera 'top_cam' (step 162): [image omitted: streamed camera frame] camera 'left_cam' (step 162): [image omitted: streamed camera frame] camera 'right_cam' (step 162): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.405,"right_y":0.055,"right_z":0.11,"right_yaw":1.57,"right_gripper":1},"note":"The bowl slipped sideways during the close, so the centered grasp is not stable. I’m turning the gripper to pinch the near rim front-to-back and following the bowl’s new position."})
tool
executing move_to over 10 steps (1.0s)
step 172
top_cam
camera top_cam step 172
left_cam
camera left_cam step 172
right_cam
camera right_cam step 172
assistant
agent noteThe wrist rotation tracked poorly and nudged the bowl farther right. The bowl is still upright on the table; I’m making a smaller positioning move with the current gripper angle before approaching its near rim.
move_to
right_x0.4250right_y0.0000right_z0.0650right_yaw1.3000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0261, 0.8524, 0.6094, -0.4702, -0.0261, -0.0521, 0.9995, -0.2428, 2.1395, 1.5864, -0.5949, -0.9588, -1.5162, 0.9948] state[eef_state]: left_x=0.2853 left_y=0.0008 left_z=0.1488 left_yaw=0.0029 left_pitch=-0.1437 left_roll=-0.0036 left_gripper=0.9995 right_x=0.4943 right_y=0.0302 right_z=0.1005 right_yaw=1.274 right_pitch=-0.0254 right_roll=-0.3584 right_gripper=0.9948 state[joint_eff]: [-0.1846, -1.4291, 7.1453, 1.873, -0.022, 0.0024, -0.0122, -0.2256, -12.1094, 5.3675, 0.2027, -0.8718, 0.1587, 0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 172): [image omitted: streamed camera frame] camera 'left_cam' (step 172): [image omitted: streamed camera frame] camera 'right_cam' (step 172): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.425,"right_y":0,"right_z":0.065,"right_yaw":1.3},"note":"The wrist rotation tracked poorly and nudged the bowl farther right. The bowl is still upright on the table; I’m making a smaller positioning move with the current gripper angle before approaching its near rim."})
tool
executing move_to over 6 steps (0.6s)
step 178
top_cam
camera top_cam step 178
left_cam
camera left_cam step 178
right_cam
camera right_cam step 178
assistant
agent noteThe near rim is visible at the bottom of the wrist view, with one finger positioned to enter the bowl. I’m lowering and backing slightly toward the near rim for the pinch.
move_to
right_x0.4150right_y-0.0050right_z0.0150
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0261, 0.8558, 0.609, -0.4717, -0.0261, -0.0521, 0.9995, -0.3042, 2.0888, 1.4246, -0.6121, -0.9733, -1.6493, 0.9957] state[eef_state]: left_x=0.2851 left_y=0.0008 left_z=0.1475 left_yaw=0.0029 left_pitch=-0.149 left_roll=-0.0035 left_gripper=0.9995 right_x=0.4548 right_y=0.014 right_z=0.0756 right_yaw=1.2891 right_pitch=-0.0387 right_roll=-0.34 right_gripper=0.9957 state[joint_eff]: [-0.0615, -1.8393, 6.9402, 1.6093, -0.0611, -0.0513, -0.0122, 0.1983, -11.4393, 6.5299, 0.8669, -0.6325, 0.1294, 0.0806] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 178): [image omitted: streamed camera frame] camera 'left_cam' (step 178): [image omitted: streamed camera frame] camera 'right_cam' (step 178): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.415,"right_y":-0.005,"right_z":0.015},"note":"The near rim is visible at the bottom of the wrist view, with one finger positioned to enter the bowl. I’m lowering and backing slightly toward the near rim for the pinch."})
tool
executing move_to over 4 steps (0.4s)
step 182
top_cam
camera top_cam step 182
left_cam
camera left_cam step 182
right_cam
camera right_cam step 182
assistant
agent noteThe right arm is no longer tracking the low, rotated pose, so I’m lifting it clear instead of forcing it. I’ll use the left arm to grasp the teal bowl’s outer rim and stack it with the blue bowl.
move_to
right_x0.3500right_y0.0000right_z0.2300right_yaw0.5000left_x0.3900left_y-0.1300left_z0.1200left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0261, 0.8558, 0.609, -0.4721, -0.0261, -0.0521, 0.9995, -0.3023, 2.0888, 1.4246, -0.6003, -0.9733, -1.6489, 0.9958] state[eef_state]: left_x=0.285 left_y=0.0008 left_z=0.1474 left_yaw=0.0029 left_pitch=-0.1494 left_roll=-0.0035 left_gripper=0.9995 right_x=0.4566 right_y=0.0143 right_z=0.0762 right_yaw=1.2903 right_pitch=-0.0389 right_roll=-0.3515 right_gripper=0.9958 state[joint_eff]: [-0.0889, -1.5795, 6.8991, 1.619, -0.0855, -0.0317, -0.0122, 0.0615, -11.453, 6.4752, 0.8132, -0.5739, 0.1197, -0.0024] camera 'top_cam' (step 182): [image omitted: streamed camera frame] camera 'left_cam' (step 182): [image omitted: streamed camera frame] camera 'right_cam' (step 182): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0,"right_z":0.23,"right_yaw":0.5,"left_x":0.39,"left_y":-0.13,"left_z":0.12,"left_gripper":1},"note":"The right arm is no longer tracking the low, rotated pose, so I’m lifting it clear instead of forcing it. I’ll use the left arm to grasp the teal bowl’s outer rim and stack it with the blue bowl."})
tool
executing move_to over 12 steps (1.2s)
step 194
top_cam
camera top_cam step 194
left_cam
camera left_cam step 194
right_cam
camera right_cam step 194
assistant
agent noteThe teal bowl is centered in the left wrist view, so I need to offset the gripper to its rim rather than close across the whole opening. I’m moving toward its left wall and lowering just below the rim.
move_to
left_x0.3850left_y-0.0750left_z0.0250
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4751, 1.4925, 0.8608, -0.2142, -0.3389, -0.355, 0.9996, -0.2207, 1.1389, 0.9176, -0.4191, -0.4881, -0.8173, 0.9958] state[eef_state]: left_x=0.3749 left_y=-0.1228 left_z=0.1019 left_yaw=-0.0106 left_pitch=-0.215 left_roll=0.0203 left_gripper=0.9996 right_x=0.3537 right_y=0.0092 right_z=0.2216 right_yaw=0.6072 right_pitch=-0.0363 right_roll=-0.3849 right_gripper=0.9958 state[joint_eff]: [-0.3487, -6.9675, 8.8, 1.6239, -0.3687, 0.1099, -0.0611, 0.1983, -3.6444, 8.3897, 1.7411, -0.1441, 0.2173, -0.0073] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 194): [image omitted: streamed camera frame] camera 'left_cam' (step 194): [image omitted: streamed camera frame] camera 'right_cam' (step 194): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.385,"left_y":-0.075,"left_z":0.025},"note":"The teal bowl is centered in the left wrist view, so I need to offset the gripper to its rim rather than close across the whole opening. I’m moving toward its left wall and lowering just below the rim."})
tool
executing move_to over 5 steps (0.5s)
step 199
top_cam
camera top_cam step 199
assistant
agent noteOne left finger is now inside the teal bowl and the other is outside its left wall. I’m closing on that wall for a rim grip.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3138, 1.6356, 0.6529, 0.0818, -0.2543, -0.2607, 0.9995, -0.218, 1.1435, 0.9176, -0.437, -0.469, -0.8124, 0.9958] state[eef_state]: left_x=0.3693 left_y=-0.0693 left_z=0.0161 left_yaw=0.034 left_pitch=-0.2934 left_roll=0.0473 left_gripper=0.9995 right_x=0.3523 right_y=0.0074 right_z=0.2159 right_yaw=0.5926 right_pitch=-0.0592 right_roll=-0.3723 right_gripper=0.9958 state[joint_eff]: [0.4171, -6.5846, 5.641, 1.6825, 0.0122, 0.0513, -0.0171, -0.2803, -3.9316, 6.9128, 1.7558, -0.2662, -0.0855, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 199): [image omitted: streamed camera frame] camera 'left_cam' (step 199): [image omitted: streamed camera frame] camera 'right_cam' (step 199): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"One left finger is now inside the teal bowl and the other is outside its left wall. I’m closing on that wall for a rim grip."})
tool
executing move_to over 10 steps (1.0s)
step 209
assistant
agent noteThe fingers stopped with about a centimeter of material between them. I’m lifting the teal bowl a short distance while keeping nearly the same wrist angle to avoid peeling the rim out of the grip.
move_to
left_z0.0850left_pitch-0.1200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3145, 1.6249, 0.6537, 0.1177, -0.2363, -0.2806, 0.1018, -0.218, 1.145, 0.9138, -0.4442, -0.4759, -0.8162, 0.9958] state[eef_state]: left_x=0.3763 left_y=-0.0751 left_z=0.0251 left_yaw=0.0248 left_pitch=-0.2531 left_roll=0.0036 left_gripper=0.1018 right_x=0.3508 right_y=0.0089 right_z=0.2129 right_yaw=0.6007 right_pitch=-0.0654 right_roll=-0.3633 right_gripper=0.9958 state[joint_eff]: [-0.1026, -5.8188, 5.9556, 1.1551, -0.3101, 0.1587, 0.3785, -0.1026, -3.8769, 7.2957, 1.6825, -0.149, -0.0024, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 209): [image omitted: streamed camera frame] camera 'left_cam' (step 209): [image omitted: streamed camera frame] camera 'right_cam' (step 209): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.085,"left_pitch":-0.12},"note":"The fingers stopped with about a centimeter of material between them. I’m lifting the teal bowl a short distance while keeping nearly the same wrist angle to avoid peeling the rim out of the grip."})
tool
executing move_to over 5 steps (0.5s)
step 214
assistant
agent noteThe teal bowl rose with the left gripper during the test lift. I’m carrying it above the blue bowl, keeping the side-grasp offset so their centers line up.
move_to
left_y-0.2000left_z0.1800left_pitch-0.1200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3279, 1.467, 0.6498, 0.057, -0.2657, -0.2836, 0.1012, -0.218, 1.145, 0.9138, -0.4442, -0.4759, -0.8165, 0.9958] state[eef_state]: left_x=0.3744 left_y=-0.0746 left_z=0.0714 left_yaw=0.031 left_pitch=-0.158 left_roll=-0.0109 left_gripper=0.1012 right_x=0.3508 right_y=0.0089 right_z=0.2129 right_yaw=0.6009 right_pitch=-0.0655 right_roll=-0.3636 right_gripper=0.9958 state[joint_eff]: [-0.7043, -7.0222, 6.3111, 1.6874, -0.2711, 0.1929, -0.0757, -0.0205, -3.7949, 6.9128, 1.663, -0.1832, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 214): [image omitted: streamed camera frame] camera 'left_cam' (step 214): [image omitted: streamed camera frame] camera 'right_cam' (step 214): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.2,"left_z":0.18,"left_pitch":-0.12},"note":"The teal bowl rose with the left gripper during the test lift. I’m carrying it above the blue bowl, keeping the side-grasp offset so their centers line up."})
tool
executing move_to over 12 steps (1.2s)
step 226
assistant
agent noteThe teal bowl is above the blue bowl but slightly left of its center. I’m correcting that offset and lowering slowly so it can settle into the blue bowl.
move_to
left_y-0.2250left_z0.0650left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.709, 1.5509, 1.1469, -0.4427, -0.5201, -0.5583, 0.1011, -0.218, 1.145, 0.9085, -0.4454, -0.4763, -0.82, 0.9958] state[eef_state]: left_x=0.3719 left_y=-0.1986 left_z=0.1676 left_yaw=0.0075 left_pitch=-0.1384 left_roll=-0.0165 left_gripper=0.1011 right_x=0.3499 right_y=0.0091 right_z=0.2104 right_yaw=0.6032 right_pitch=-0.0704 right_roll=-0.3614 right_gripper=0.9958 state[joint_eff]: [-0.335, -6.8444, 8.9231, 1.1648, -0.3492, 0.0611, -0.022, -0.0205, -3.6991, 7.3504, 1.6532, -0.232, 0.022, -0.0171] camera 'top_cam' (step 226): [image omitted: streamed camera frame] camera 'left_cam' (step 226): [image omitted: streamed camera frame] camera 'right_cam' (step 226): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.225,"left_z":0.065,"left_pitch":0},"note":"The teal bowl is above the blue bowl but slightly left of its center. I’m correcting that offset and lowering slowly so it can settle into the blue bowl."})
tool
executing move_to over 7 steps (0.7s)
step 233
assistant
agent noteThe teal bowl is aligned inside the blue bowl, with the blue rim visible just behind it. I’m lowering the last few centimeters until the bowls support each other before releasing.
move_to
left_z0.0280
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7944, 1.7489, 0.8478, 0.0715, -0.6186, -0.5686, 0.1011, -0.218, 1.145, 0.9066, -0.4454, -0.4763, -0.8234, 0.9958] state[eef_state]: left_x=0.3632 left_y=-0.2186 left_z=0.0593 left_yaw=-0.002 left_pitch=-0.0757 left_roll=0.0172 left_gripper=0.1011 right_x=0.3496 right_y=0.0092 right_z=0.2096 right_yaw=0.6051 right_pitch=-0.0724 right_roll=-0.3628 right_gripper=0.9958 state[joint_eff]: [-0.4171, -7.706, 5.4632, 1.5458, -0.4225, 0.0757, -0.0122, 0.0479, -3.7949, 7.0496, 1.5507, -0.1929, 0.0171, -0.0122] camera 'top_cam' (step 233): [image omitted: streamed camera frame] camera 'left_cam' (step 233): [image omitted: streamed camera frame] camera 'right_cam' (step 233): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.028},"note":"The teal bowl is aligned inside the blue bowl, with the blue rim visible just behind it. I’m lowering the last few centimeters until the bowls support each other before releasing."})
tool
executing move_to over 3 steps (0.3s)
step 236
assistant
agent noteThe teal bowl has stopped descending and is supported by the blue bowl, so I’m releasing it. At the same time, I’m bringing the right gripper above the remaining cream bowl for the same side-wall grasp that worked on the teal bowl.
move_to
left_gripper1.0000right_x0.3700right_y0.0450right_z0.1300right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7979, 1.8114, 0.8154, 0.1917, -0.627, -0.5663, 0.1011, -0.218, 1.145, 0.9047, -0.448, -0.4763, -0.8307, 0.9958] state[eef_state]: left_x=0.3661 left_y=-0.2218 left_z=0.042 left_yaw=-0.0018 left_pitch=-0.0537 left_roll=0.0054 left_gripper=0.1011 right_x=0.3489 right_y=0.0093 right_z=0.2083 right_yaw=0.609 right_pitch=-0.0769 right_roll=-0.3653 right_gripper=0.9958 state[joint_eff]: [0.1026, -6.8718, 4.6427, 1.4676, -0.2173, -0.0366, -0.0122, -0.0889, -3.7949, 7.1316, 1.5946, -0.2125, 0.0171, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 236): [image omitted: streamed camera frame] camera 'left_cam' (step 236): [image omitted: streamed camera frame] camera 'right_cam' (step 236): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"right_x":0.37,"right_y":0.045,"right_z":0.13,"right_yaw":0},"note":"The teal bowl has stopped descending and is supported by the blue bowl, so I’m releasing it. At the same time, I’m bringing the right gripper above the remaining cream bowl for the same side-wall grasp that worked on the teal bowl."})
tool
executing move_to over 9 steps (0.9s)
step 245
assistant
agent noteThe first two bowls remain nested after release. I’m lifting the left fingers clear and lowering the right fingers around the cream bowl’s inner-side rim, with a small tilt correction.
move_to
left_z0.1700right_x0.3750right_z0.0250right_roll0.2500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7971, 1.8423, 0.7971, 0.1967, -0.6231, -0.5735, 0.9951, 0.3038, 1.3014, 0.6819, -0.1135, 0.3248, -0.2371, 0.9958] state[eef_state]: left_x=0.3606 left_y=-0.2165 left_z=0.0244 left_yaw=0.0024 left_pitch=-0.0865 left_roll=0.0293 left_gripper=0.9951 right_x=0.3599 right_y=0.0575 right_z=0.1143 right_yaw=0.1427 right_pitch=-0.1704 right_roll=-0.3801 right_gripper=0.9958 state[joint_eff]: [0.0205, -8.5402, 5.3538, 1.4579, -0.1832, -0.0073, -0.1294, 0.1299, -5.2171, 7.4325, 2.1172, 0.2369, 0.1245, -0.0122] camera 'top_cam' (step 245): [image omitted: streamed camera frame] camera 'left_cam' (step 245): [image omitted: streamed camera frame] camera 'right_cam' (step 245): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.17,"right_x":0.375,"right_z":0.025,"right_roll":0.25},"note":"The first two bowls remain nested after release. I’m lifting the left fingers clear and lowering the right fingers around the cream bowl’s inner-side rim, with a small tilt correction."})
tool
executing move_to over 10 steps (1.0s)
step 255
assistant
agent noteThe right fingers are still too high, so I’m changing the approach slightly instead of repeating the stalled descent. I’m also parking the left arm away from the stack to give the right arm a clear path.
move_to
left_x0.2950left_y0.0000left_z0.1900right_x0.3850right_y0.0650right_z0.0150right_pitch0.1500right_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7971, 1.5925, 1.0927, -0.3672, -0.622, -0.5774, 0.9957, 0.2493, 1.3396, 0.6441, -0.07, 0.2218, -0.1604, 0.9958] state[eef_state]: left_x=0.3612 left_y=-0.2173 left_z=0.1485 left_yaw=0.0049 left_pitch=-0.0998 left_roll=0.0389 left_gripper=0.9957 right_x=0.3585 right_y=0.0549 right_z=0.0903 right_yaw=0.136 right_pitch=-0.199 right_roll=-0.2566 right_gripper=0.9958 state[joint_eff]: [-0.3761, -9.2103, 8.9915, 1.2625, -0.2808, -0.0122, 0.0464, 0.1162, -5.1624, 6.6256, 1.7753, 0.0024, -0.0464, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 255): [image omitted: streamed camera frame] camera 'left_cam' (step 255): [image omitted: streamed camera frame] camera 'right_cam' (step 255): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.295,"left_y":0,"left_z":0.19,"right_x":0.385,"right_y":0.065,"right_z":0.015,"right_pitch":0.15,"right_roll":0},"note":"The right fingers are still too high, so I’m changing the approach slightly instead of repeating the stalled descent. I’m also parking the left arm away from the stack to give the right arm a clear path."})
tool
executing move_to over 20 steps (2.0s)
step 275
assistant
agent noteAt low height, the cream bowl is visibly to the right of the fingers. I’m shifting toward it and slightly forward so the inner finger enters the bowl while the other remains outside its left wall.
move_to
right_x0.4050right_y0.0150right_z0.0250
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0834, 0.8921, 0.7479, -0.5282, -0.1375, -0.0952, 0.9958, 0.1799, 1.895, 0.3294, 1.0603, 0.0563, -0.0231, 0.9958] state[eef_state]: left_x=0.2985 left_y=0.003 left_z=0.1892 left_yaw=0.0629 left_pitch=-0.0962 left_roll=0.0306 left_gripper=0.9958 right_x=0.3762 right_y=0.0619 right_z=-0.0015 right_yaw=0.1353 right_pitch=0.0631 right_roll=-0.0271 right_gripper=0.9958 state[joint_eff]: [0.253, -2.4137, 6.8444, 1.7363, 0.0366, 0.1294, -0.0122, -0.6359, -6.653, 2.8786, 2.2833, -0.1392, 0.1001, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 275): [image omitted: streamed camera frame] camera 'left_cam' (step 275): [image omitted: streamed camera frame] camera 'right_cam' (step 275): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.405,"right_y":0.015,"right_z":0.025},"note":"At low height, the cream bowl is visibly to the right of the fingers. I’m shifting toward it and slightly forward so the inner finger enters the bowl while the other remains outside its left wall."})
tool
executing move_to over 4 steps (0.4s)
step 279
assistant
agent noteThe cream bowl has reached the outer edge of the table, so I won’t push it farther. I’m lifting the open fingers and aligning over its left rim for a straight-down grasp.
move_to
right_x0.4300right_y-0.0150right_z0.0800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0845, 0.8955, 0.7479, -0.5426, -0.1268, -0.0807, 0.9957, -0.0124, 1.8145, 0.4145, 0.9024, -0.0742, -0.0986, 0.9958] state[eef_state]: left_x=0.2965 left_y=0.0009 left_z=0.1853 left_yaw=0.0452 left_pitch=-0.1153 left_roll=0.0378 left_gripper=0.9957 right_x=0.4012 right_y=0.0117 right_z=0.0196 right_yaw=0.094 right_pitch=0.0712 right_roll=-0.0309 right_gripper=0.9958 state[joint_eff]: [0.0205, -2.1128, 7.0769, 1.7656, -0.0562, -0.149, -0.0171, -0.1983, -8.0615, 5.3675, 1.6923, -0.2173, -0.0073, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 279): [image omitted: streamed camera frame] camera 'left_cam' (step 279): [image omitted: streamed camera frame] camera 'right_cam' (step 279): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":-0.015,"right_z":0.08},"note":"The cream bowl has reached the outer edge of the table, so I won’t push it farther. I’m lifting the open fingers and aligning over its left rim for a straight-down grasp."})
tool
executing move_to over 4 steps (0.4s)
step 283
assistant
agent noteThe cream bowl is against the outer fence, and the right arm is not tracking the attempted lift beside it. I’m withdrawing inward and upward to leave the two-bowl stack undisturbed rather than risk knocking the remaining bowl off the table.
move_to
right_x0.3200right_y0.0650right_z0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0845, 0.8959, 0.7479, -0.5457, -0.1284, -0.0937, 0.9957, -0.0349, 1.771, 0.432, 0.7998, -0.1131, -0.1162, 0.9958] state[eef_state]: left_x=0.2961 left_y=0.0012 left_z=0.1847 left_yaw=0.0536 left_pitch=-0.1182 left_roll=0.0291 left_gripper=0.9957 right_x=0.3987 right_y=0.0096 right_z=0.0201 right_yaw=0.1135 right_pitch=0.0321 right_roll=-0.0218 right_gripper=0.9958 state[joint_eff]: [-0.2256, -1.8256, 6.9812, 1.6581, -0.0659, 0.0952, -0.0073, -0.3897, -8.212, 6.5573, 1.8095, 0.1245, 0.0366, -0.0122] camera 'top_cam' (step 283): [image omitted: streamed camera frame] camera 'left_cam' (step 283): [image omitted: streamed camera frame] camera 'right_cam' (step 283): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.32,"right_y":0.065,"right_z":0.2},"note":"The cream bowl is against the outer fence, and the right arm is not tracking the attempted lift beside it. I’m withdrawing inward and upward to leave the two-bowl stack undisturbed rather than risk knocking the remaining bowl off the table."})
tool
executing move_to over 12 steps (1.2s)
step 295
assistant
agent noteThe teal and blue bowls are stacked together, but the cream bowl remains separate against the right-hand fence. Grasp attempts moved it toward that edge, and the arm stopped tracking near it. I withdrew the arm rather than risk pushing the bowl off the table; the remaining bowl needs to be moved inward before continuing.
give_up
hindsightFor these flared bowls, pinching a side wall worked better than trying to grasp across the whole bowl. The successful teal grasp was approximately left_x=0.376, left_y=-0.075, left_z=0.025, with a settled gripper opening of 0.10; carrying to left_y=-0.225 placed it in the blue bowl. A nonzero gripper opening alone did not prove a secure grasp—the cream bowl slipped and stayed behind, so confirm visible motion during the test lift. Large right-wrist yaw changes tracked poorly and displaced the bowl; avoid reorienting close to a bowl, especially near the outer fence.
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0845, 0.9012, 0.7475, -0.5472, -0.1284, -0.0944, 0.9957, 0.2581, 1.0119, 0.6811, 0.2192, 0.0895, 0.0013, 0.9958] state[eef_state]: left_x=0.2962 left_y=0.0012 left_z=0.1827 left_yaw=0.0541 left_pitch=-0.1254 left_roll=0.0295 left_gripper=0.9957 right_x=0.3666 right_y=0.0842 right_z=0.2859 right_yaw=0.1628 right_pitch=0.4566 right_roll=0.0149 right_gripper=0.9958 state[joint_eff]: [-0.1162, -2.3316, 6.9128, 1.6239, -0.0855, -0.0513, -0.0073, 0.1573, 0.1299, 7.7744, 1.5018, 0.1343, 0.1685, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 295): [image omitted: streamed camera frame] camera 'left_cam' (step 295): [image omitted: streamed camera frame] camera 'right_cam' (step 295): [image omitted: streamed camera frame]
assistant
give_up({"reason":"The teal and blue bowls are stacked together, but the cream bowl remains separate against the right-hand fence. Grasp attempts moved it toward that edge, and the arm stopped tracking near it. I withdrew the arm rather than risk pushing the bowl off the table; the remaining bowl needs to be moved inward before continuing.","hindsight":"For these flared bowls, pinching a side wall worked better than trying to grasp across the whole bowl. The successful teal grasp was approximately left_x=0.376, left_y=-0.075, left_z=0.025, with a settled gripper opening of 0.10; carrying to left_y=-0.225 placed it in the blue bowl. A nonzero gripper opening alone did not prove a secure grasp—the cream bowl slipped and stayed behind, so confirm visible motion during the test lift. Large right-wrist yaw changes tracked poorly and displaced the bowl; avoid reorienting close to a bowl, especially near the outer fence."})
tool
give_up: The teal and blue bowls are stacked together, but the cream bowl remains separate against the right-hand fence. Grasp attempts moved it toward that edge, and the arm stopped tracking near it. I withdrew the arm rather than risk pushing the bowl off the table; the remaining bowl needs to be moved inward before continuing.
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 · 6.062 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, 0.7948, 0.6048, -0.3794, -0.0227, -0.0406, 0.9996, -0.0216, 0.7933, 0.6025, -0.3775, -0.0158, -0.0338, 0.9973]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1803 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2949 right_y=0.0 right_z=0.18 right_yaw=0.0005 right_pitch=-0.0004 right_roll=-0.0001 right_gripper=0.9973\nstate[joint_eff]: [-0.4171, -1.4427, 10.1675, 1.7753, -0.0317, 0.2711, -0.0611, -0.2803, -1.2513, 10.1675, 1.9609, -0.0855, 0.1538, -0.2906]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:116ee931dec53abca7538cb54baf0bbbea8c44d20b81ae64d287cc87ccee01b4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99595f9595617b5eedb0a9997f23383da50bb3ac47f2cd45ba53c0cd7e7e3191",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d25e73d73a0b6c772148e06a8588e588871e7d4de23417fa786e7e44c2b6465a",
      "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 1 attempt 0 · /responses · status 200 · 5.395 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtJWhdR_OjUjyK5JsgzkzosGfjhBniN63FdPbxHUCa_YwmyGf0QpHVf0oi2Hu0sul5p63EurJDr0eI3-elXouazRrjZ4hSOI_od_Oy_4lv-or0Raw4EnMFj2QHzDJraaoA2DlaxvF3MaYjGihYIXVrwXp-TZDpJDmrHmsfXjwfJ5CN6Bh-xh82rnfYsCRbybV2UZfniM2D_TKY0200LW6VNStfjNFi8Jo2sISGIZNhKaZnhkONrZEkdN6FjP5rtNpuyB8gL_YybzA_7V96aDHDwf3y_g65Nb7wtWpGlFkAzklXrvWGdWoj7H-nOglkdolfVggx9HIb043NO9eSB_llzsXd3m22HeByz8F3mCgarRtg7SyqY332RlEsfSCvNwgsheKp2Kjl99wiPa4GY-p0MIb2fD4Nb_klcILtT7-O91ysxJJ4Z8vPlluA73i7SM8IiE2h0pnADJnOoaJkJfYJrZbr_vdx4w0pYw5g0topcN-u-nukujzwN6bWumZ92IdERqwm-YECG-0QcX-CJDqB7uqY-2lIpseYu23ORaQjlUDGN76ZnY8mLt4wQDRBSlHCzkSdTl2vskIP6_HZT_E1ONcWP8wVVKEB0N2JZL2hwCDMwjk-xKE4woGdUBPkZ9ZquKcIFK_CALwCZZ4gHOEUto67ZRIA6rsTc1spv-rEoVWQcTlP2TlDmUswvHY6xHeB5rDJXQGLoaoCtG9UbSwBvQndeAAF9tK_dmR0nTqImo_uOWHcEFh4g9ClxR07SYeUBoSW02xeJgInXZWc-od9DRPzP6ucTHFX_GEEKzzRV7uBXVwilk8Z9PvdhnC3zj64yCeEHrTqmT3ceW4NgGOfG-bhtbw7WM1-2mb1T0MnvcT7BH3xaCK_5EPKMxSX4rVjMABu6N2SJ6zojCJCytMI2DosDZfMzgZhnHRoe8Lela7vI2V9uVijgkpwwzmSFUbOeVdTfnjN168SZr5xEPQr1rCkE0ibxflx31qFni5oPykY7XB9gznpsYxpu6Do3POvPf0hKLNjpuh5pPHzxDCDwn_DNlF35E7uSqjFZRW0GKExsh__e19Zwkmq_LPMHL9Or4pPHPnzt8MImDPWL_q0anXT9KJWc9xXslkpxLQ67a6eY7IsqVN-6nhSdVp0lhfpQTc7WQQ8NexRE-2LT0YOKcbUqMmxcG2BpAvJjf69woO7wzaZCyFFx89MiI7KQGf_Jwxlk2WR6HOPVHcFwLoFE1Mv1JYSSPM512d0QhpGBafluCa0L7NgmPWWD5-ZAL6_Kwa-ibAM-TTxDrvXUlxfigxVzknERmDNurjJTm8zRYESSyVGs0yMadauy_mh5qyL_m-YrOhikxqPgScc90cXbHfslamSjbPpap3bIBtTQhJrfOx-bK1w0VqgxWjVqiguTHCYZFDmd0Wp2HhYsOGgRxCXHuSv6hPJF8ff0RB9iPQFiUaTNgLXrZoQ6g21Wue_3WfPGe-kfkSu2srAUY5GHN62NmrOHbOyrWVPBdAQsRz0gBlzRGQOp9gNNNk4QxNnFO5I10jb5fz6-i5iog1ID0uiO2mD6wigPj8Fvc00rZonKaT6p8ysCNIeKbJLRymFrNpgKs2qB4z-Fz6u-s12YbwGcP8QLOYduox5bRR6YqYItO1ZdwL9J8loAN7f-JkDiyv-oJI4L91I2SVjiNekY2G5F8399n4bhwqBUJ6t2O-ZjZGcgN86nhU0ITvpoQq4aO-kH3A_So6aLqWr1cgqCUZZHKiqALb-8H3EHtOLZkZKQ20ctU4U4zk22VeM-ce_J5S4YiJ2dJ2-7I1H_G7o7tbDnGOkHYhKLDgLcOQhW6EahytDe7a8J2gaBknf48tp46TXKN4XnfqXAinLDAafewc_WH6WHFVM0xZpwsusuerrFOpiZvL0_mzGaFjxXwLTC0R6jb8liPFWTdtA2b5MetvP35R-YRGnPsKDjVelDb12ufFvwq1EtGnyC9XnVdoobyuHXmX-PIwe3bymt67DlhqjS6f1EEYoF6NiSo0_28xyUeTYF-PE2-yL51PydUtcA53bsrEZ5QWkaFkGK57LBx2JcGASQZvkyRA08_Zn9_aaf3biO1B1P6udViNFqB8STHGgYMtTC9wIgDsqmGY14c4quAF64wd3D1Yru36PNkDvN5KOJQH1LBbk57uPYZomRKCOjVzBY3SDzxc88hNrdIlimv3b9NNOj5gODBQVuMYqx4sBCzpuc5NM8N0P9-R7IeNOktQWSYufYIIN5il92u_GeQSAPeNg5NLCfrXCV6rxQE=",
  "id": "rs_08abb5a8bdfbf3e5016ab4959cf41887d095984d4cd8ad14bf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.13,\"right_z\":0.15,\"right_gripper\":1},\"note\":\"I see three upright bowls in a row: teal, blue, and cream. I’m bringing the right gripper above the cream bowl’s outer rim so I can lift it onto the blue bowl.\"}",
  "call_id": "call_HR835zHx6h6XVZ4DwV8iCG47",
  "id": "fc_08abb5a8bdfbf3e5016ab495a0d6c487d098a5d93c00a97c36",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HR835zHx6h6XVZ4DwV8iCG47",
  "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]: [-0.0196, 0.8001, 0.6075, -0.3889, -0.0227, -0.0422, 0.9995, 0.4587, 1.4399, 0.8082, -0.0811, 0.3489, 0.2047, 0.9973]\nstate[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.178 left_yaw=0.0008 left_pitch=-0.0122 left_roll=-0.001 left_gripper=0.9995 right_x=0.3815 right_y=0.125 right_z=0.1232 right_yaw=0.0457 right_pitch=-0.095 right_roll=-0.0465 right_gripper=0.9973\nstate[joint_eff]: [-0.1709, -1.6205, 6.8308, 1.7949, -0.0562, -0.0366, -0.0171, 0.212, -6.5846, 9.5932, 1.8584, 0.2711, 0.2125, -0.2906]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e5513e5ae92caee5a98a20cb639c36f3fee32899db5dc7f377c5c8ad4205626",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d875e4e624b6152108aaefa15ec02a662da99ffef4d3b1e694bdb17dc4c1a19",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b8788cae98b76d2a9ef6821ce760025c6f65ebb84d65dbcde1ccbc8ae9f11d1",
      "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 · 2.601 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, 0.7948, 0.6048, -0.3794, -0.0227, -0.0406, 0.9996, -0.0216, 0.7933, 0.6025, -0.3775, -0.0158, -0.0338, 0.9973]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1803 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2949 right_y=0.0 right_z=0.18 right_yaw=0.0005 right_pitch=-0.0004 right_roll=-0.0001 right_gripper=0.9973\nstate[joint_eff]: [-0.4171, -1.4427, 10.1675, 1.7753, -0.0317, 0.2711, -0.0611, -0.2803, -1.2513, 10.1675, 1.9609, -0.0855, 0.1538, -0.2906]",
      "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]: [-0.0196, 0.8001, 0.6075, -0.3889, -0.0227, -0.0422, 0.9995, 0.4587, 1.4399, 0.8082, -0.0811, 0.3489, 0.2047, 0.9973]\nstate[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.178 left_yaw=0.0008 left_pitch=-0.0122 left_roll=-0.001 left_gripper=0.9995 right_x=0.3815 right_y=0.125 right_z=0.1232 right_yaw=0.0457 right_pitch=-0.095 right_roll=-0.0465 right_gripper=0.9973\nstate[joint_eff]: [-0.1709, -1.6205, 6.8308, 1.7949, -0.0562, -0.0366, -0.0171, 0.212, -6.5846, 9.5932, 1.8584, 0.2711, 0.2125, -0.2906]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e5513e5ae92caee5a98a20cb639c36f3fee32899db5dc7f377c5c8ad4205626",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d875e4e624b6152108aaefa15ec02a662da99ffef4d3b1e694bdb17dc4c1a19",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b8788cae98b76d2a9ef6821ce760025c6f65ebb84d65dbcde1ccbc8ae9f11d1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJWoIi5hV5bzR_kst-LyZM9blkTV-Ly9HLMjr8Yz6anhMuuAINmHMviOaDXLMyomNGb-NraA_TKG8POwQ-56HQguQ8ZshCBUIm7AQsxwEaPvWck54unjOk-gr9etRe2y8AULsCm41CP5BCUxtbTkkk6HLWGdmc_tOtUzuStWOfOPsMkBIDnyzU1uEaEiRilv2kOWnD6jJz2u7bwlyEels98kCQkKHMMceiJK7N0n-AS1VRSz0IkOxAh-ua03QnYwBAdS4-WtktOq3MTdJttX3Xhr56z3QuXaFOhGyDuBIWCMJWqdRmixSfxQsn74ssMW9BE6gcxEcDpitOr9gYf90kOBBufjnef-Bwt2thydHHiMUZA5OwzIPbjdgUjT58GB8FjaBPDQ4UHzomZ0AydleAFBn2Op11yAI3HX0Vg268e2SKCukOPVOblEM9WjDYnsUwJYRUO-_rgfDMtXBQWEyCVxlD71McPXxmmBtaWYeDYa5jm3X00H7WjpAkNUlCWWf-ps35-tc9FIb3hLZ_E5K6cyJzt7LME1fvKp-rZ-5QteYKm9GPE2QEXyOPR2IUnHGEFg13LemmO-nffBVz4puNAz19_5nKCZlQQAC-E3DEgr3YsBl7JqXQCP477BmPYiNe0P6wyegK8lY_ku7UZRRBMWuJqY3TbB2cPTkQik0nqhLb8YuDplxDnAFAcKKce9xI2auKajG9MWertF3xP_aLwegXHI54QdRxGzddShaiYPLic89ja9nsXPemm-DuELN6Wq0fsn4qvj8QHHcU39Ljo967R4UllD7T77JGJYwG6-g1lVUOP68OFPFdPdAGb_Wfp4RL2iyy97pIOtQZUR1_zCVeUztm0vHiSzK50f2Bx005H8wgxamWf636a99BbTjNy4_bSKmwddV2lVjhhfbUxxPPFNPucK4nODARsbak8O3Pi0cNLHpNDm-CRDtG2rPcnZGXdXXnqimPU1zFKn3mEX0iln-T1rKAO1ASAy0Oc8n5Fw6FE34OgAXmFd2UXSaP4h6WulN3XZs3Gr5-rZD15-EcD5879m569lCm0iBW5TrDVf-p7FMuvk7_H5jdlLUqyWMAER7boAGK1klFpqGFDIFeO9EY4FLI8SNdf_WZYEKWi3l8ApHUS_m-uqp2IrMOWkQRkWKGQI3OXvR7OQYWEvQflVSPfMUOjNqFDcL3tPnq82H-iYGuBLNdFDyi-4D8xfQ1dkPFKgKWYJAgYkwexASp9eWYp7c5Kj9WKvOJEtoke6DkZCe77AJ1gwlFjjo9VSj2SGvs1Hvru1Gx6-OMFPLFZFlwqIoO_9QYONT2U8ecjIW2q6PF6uP-hHx0hiXm-j9rwFl_-HxKqPXX2b_SUOYcuwE_hDyS8HVFMmtiaeAZ2NpvJJzHoHXjrBOJ-S0nrHU2DdAMIEZ4wWrQwNsJO6tgAwl5lHs9atoXPd5i7hlXCiAnbXZ6WRTApBYC0fJZc-EE1WwAD4LSoYzocCc0oIUOWO8UDZAsMzIdBsIFWBh6hKJA1HFe_LcLCzE8WC5eiN-Hsn2rfESXblrNzGfcGs5GkDEYKZ3SWGSjFkkAm4-Slinnl_Qppc2IVX85MsPImBRCJvmuNJjPZGZvucx-VuDWHDiFIMcKUH3MvfrCRN944fmhVQM8Gtfc_tXbW_NYXmyEOz9hIjtksYDe05EKLXgh1XIBsZF6kY2aQvBIHEm_0nnnbTWu6ucyJeWaverh5Rv36a9P-kUIZlgntjEpluYS9HBtFXSHENp1vIQBYKo1am55C8U1A2t5X57FGqgV7PZu1PJk5C407k22rnF_VhiPBfd39OKmO5wFzfHaG7CT71ZYPyqqkkuhyWs3-oxKtrMrjY99o6s9PMOzksa5NE-Rt7Pd4HdwfH8Yt0a_vT4Hq8aqJZ1iMPi-SCMz4WWYZSsSDmqhJgUp4Fvsk0ztiQcQAo3uwlwH0MJoLwtTD4u1XgDSvhfgL2xr6FYTajsDqf_MptFwO3BCZH2f9JFX4YnQtGHZly5Nd5N922VjQ1zySu0Axw4IYCz5amxqHAFRHF",
  "id": "rs_08abb5a8bdfbf3e5016ab495a3ef7887d095536ebe4de31590",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.395,\"right_y\":0.145,\"right_z\":0.055},\"note\":\"The cream bowl is beneath the open right gripper, with its rim visible in the wrist view. I’m lowering toward the rim and shifting slightly inward to put one finger inside and one outside the bowl.\"}",
  "call_id": "call_6vKzLEqqCs5ebklMJC7Kodu2",
  "id": "fc_08abb5a8bdfbf3e5016ab495a6fc7c87d087b87bae0205ae4d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6vKzLEqqCs5ebklMJC7Kodu2",
  "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]: [-0.0196, 0.8043, 0.6075, -0.3901, -0.0227, -0.0422, 0.9995, 0.495, 1.6722, 0.7361, 0.1326, 0.3611, 0.2176, 0.9971]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1767 left_yaw=0.0008 left_pitch=-0.0175 left_roll=-0.0009 left_gripper=0.9995 right_x=0.3832 right_y=0.14 right_z=0.0437 right_yaw=0.06 right_pitch=-0.1738 right_roll=-0.0819 right_gripper=0.9971\nstate[joint_eff]: [-0.0479, -1.5932, 7.0359, 1.746, -0.0806, -0.0464, -0.0122, 0.1162, -7.7607, 5.4496, 1.8144, 0.3199, 0.1245, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cde4e2e5ddece855030a564d9a809f06def3ce99275bbab15d6b5c889dfd7b48",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dccdb170aad6f6c8c0464261993a63e190ac2b270c14f7bd33353d27a346daf3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e1e8f8cb0826670b87cda097c98046b154f563cd7106db953033d73e49b41c7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 3 attempt 0 · /responses · status 200 · 7.483 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]: [-0.0196, 0.8001, 0.6075, -0.3889, -0.0227, -0.0422, 0.9995, 0.4587, 1.4399, 0.8082, -0.0811, 0.3489, 0.2047, 0.9973]\nstate[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.178 left_yaw=0.0008 left_pitch=-0.0122 left_roll=-0.001 left_gripper=0.9995 right_x=0.3815 right_y=0.125 right_z=0.1232 right_yaw=0.0457 right_pitch=-0.095 right_roll=-0.0465 right_gripper=0.9973\nstate[joint_eff]: [-0.1709, -1.6205, 6.8308, 1.7949, -0.0562, -0.0366, -0.0171, 0.212, -6.5846, 9.5932, 1.8584, 0.2711, 0.2125, -0.2906]",
      "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]: [-0.0196, 0.8043, 0.6075, -0.3901, -0.0227, -0.0422, 0.9995, 0.495, 1.6722, 0.7361, 0.1326, 0.3611, 0.2176, 0.9971]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1767 left_yaw=0.0008 left_pitch=-0.0175 left_roll=-0.0009 left_gripper=0.9995 right_x=0.3832 right_y=0.14 right_z=0.0437 right_yaw=0.06 right_pitch=-0.1738 right_roll=-0.0819 right_gripper=0.9971\nstate[joint_eff]: [-0.0479, -1.5932, 7.0359, 1.746, -0.0806, -0.0464, -0.0122, 0.1162, -7.7607, 5.4496, 1.8144, 0.3199, 0.1245, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cde4e2e5ddece855030a564d9a809f06def3ce99275bbab15d6b5c889dfd7b48",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dccdb170aad6f6c8c0464261993a63e190ac2b270c14f7bd33353d27a346daf3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e1e8f8cb0826670b87cda097c98046b154f563cd7106db953033d73e49b41c7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJWrPnBmZUX-b3P56pL_LVdD8Yx4tMbx8LZZ8kRVnCBTA4flGXAVkWbRpkmKwyzT5KThQdQD-EypBHkr6LYV2e4QMJ70tc8dMEvomDDqHQnSPGOSMs_Qj3Qd3qfc5ggBaruknqW9e8BFzVdmFlW8zV3rPQthMPpJDgwZiPQO9E8kNq8DIwG-GUUnp-nXq19j5Um8hzGeh0aMIWfPH9r7ATPlCJEMeBbc6KeyFK-Ha-_Dh86qBRbAErzibFVAghwl0oinukWoQMU-lY4hDnJuE-w54FYz-9KUBPnYJULLk1iHOzunQpBBpnNhiY4AlNIH-sIbynqDzh5cGDhGM0r8FINy9qzmGBdQ20vDixn_V2ueAFH6I7t8QAoq6mkjEc5jUTPYnI67vmzEGsOtXsbWTfIJu1MtgtbgBJd7hEzyGjDzzOBi4DMGWphFwwsvgMF9AObSGk7Rpk2mt23cplj_jPfh5rhVxE0LjfAO4YQrR18aSGESRwM11-H4z7hPIpQSh3QsuEgUZvi9tpgbOk1Nn_5rM7i8AH7JLCC9ls6XIifvCue75kjKC9PSxuYs43fTZY3QpFrptJ6a0DaYYQ_cWDUVbBrGqQbB6GSsIAoEi1sUFavHS0Wy5wVZDWXHGl7KlDvWbsUVl0-Cm2gdoebAXwszgDnSKa7_CAaleGJXnPYD2882TGlB5lUFLC7c-FYDORVKHhYJMc-ye8BUAwRE_T64aUqQW37EpBX4NwXx9H5aCPq8VyZKWM5n_S1mMBnI_7TNpEbI0cb5hAXs8SQ7qDh82ruor4B68XnPBP0961tuMx4IWtuWT1VGJMAS-gXCLx_P3sBrxWTP71YxwpjVE8VuRfHlKMazBH9q6fTCJ8tfatfrxbhvhS1b3y8j_MBN5pYRVorbI90Fu4Ri78QrPgGkVuGXfHKuiiHGkBzeXRg_rLGyeh1miR6VENRIl_jAaA_g0TgDGj9UBnI5d9LiJNQ1HdUQxJipl9n2mrMtC7dEW2LJ3ZfnACteos4JWHFVQmLZkElobqJ1mEEjwQmOmP47x0EPbTdanm6b9GCKV6oSclbuWC3Dqltv8CoXcADG1QfCYJv4V2aWHQgRINPgJKQ7ot_ZpG3gBOfCRctsC72rURyPhGWRFfkwVypZ-aYVC3cIe3k4xTB0MICB1exbkOMdbq43JWFiCGqj1K5t9dIu-Nz4cLmnaQK4n_uKeQ26h1t0r5qGabPn9RIzY9pgFSuOCnVoMnlb78fDuApQ1Fa8fgqNH6zYEZgVQlAoiAalWR4P",
  "id": "rs_08abb5a8bdfbf3e5016ab495a9e03887d0a9b4dac1b24dba09",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The open fingers now straddle the cream bowl’s near-right rim at low height. I’m closing gently around that rim before making a short test lift.\"}",
  "call_id": "call_8WLMMb0TyOuzXlbRGpR78paT",
  "id": "fc_08abb5a8bdfbf3e5016ab495aa4aa487d09191fc6f65a9eb10",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8WLMMb0TyOuzXlbRGpR78paT",
  "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]: [-0.0196, 0.8043, 0.6075, -0.3901, -0.0227, -0.0422, 0.9995, 0.4973, 1.6878, 0.7288, 0.2005, 0.3603, 0.2218, 0.008]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1767 left_yaw=0.0008 left_pitch=-0.0175 left_roll=-0.0009 left_gripper=0.9995 right_x=0.3897 right_y=0.1447 right_z=0.0463 right_yaw=0.0635 right_pitch=-0.133 right_roll=-0.0591 right_gripper=0.008\nstate[joint_eff]: [-0.0889, -1.1692, 7.0906, 1.6874, -0.0659, -0.0806, -0.0122, 0.1299, -7.8427, 5.8051, 1.8388, 0.3639, 0.1294, 0.5739]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:247106a886e08be3ae5345578c736fcf2d7d3bfe924ecb1bfee29c30bd80911b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1225146bd79604eb12356b7525483c1e0e732d55c47cfb04bb2fcbde840f5555",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9b8a99dcfe740a82cc43c41eac47f372f337deb4867ddf9dfe4d88933eaf2c1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /responses · status 200 · 4.497 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, 0.7948, 0.6048, -0.3794, -0.0227, -0.0406, 0.9996, -0.0216, 0.7933, 0.6025, -0.3775, -0.0158, -0.0338, 0.9973]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1803 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2949 right_y=0.0 right_z=0.18 right_yaw=0.0005 right_pitch=-0.0004 right_roll=-0.0001 right_gripper=0.9973\nstate[joint_eff]: [-0.4171, -1.4427, 10.1675, 1.7753, -0.0317, 0.2711, -0.0611, -0.2803, -1.2513, 10.1675, 1.9609, -0.0855, 0.1538, -0.2906]",
      "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]: [-0.0196, 0.8043, 0.6075, -0.3901, -0.0227, -0.0422, 0.9995, 0.495, 1.6722, 0.7361, 0.1326, 0.3611, 0.2176, 0.9971]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1767 left_yaw=0.0008 left_pitch=-0.0175 left_roll=-0.0009 left_gripper=0.9995 right_x=0.3832 right_y=0.14 right_z=0.0437 right_yaw=0.06 right_pitch=-0.1738 right_roll=-0.0819 right_gripper=0.9971\nstate[joint_eff]: [-0.0479, -1.5932, 7.0359, 1.746, -0.0806, -0.0464, -0.0122, 0.1162, -7.7607, 5.4496, 1.8144, 0.3199, 0.1245, -0.0269]\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]: [-0.0196, 0.8043, 0.6075, -0.3901, -0.0227, -0.0422, 0.9995, 0.4973, 1.6878, 0.7288, 0.2005, 0.3603, 0.2218, 0.008]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1767 left_yaw=0.0008 left_pitch=-0.0175 left_roll=-0.0009 left_gripper=0.9995 right_x=0.3897 right_y=0.1447 right_z=0.0463 right_yaw=0.0635 right_pitch=-0.133 right_roll=-0.0591 right_gripper=0.008\nstate[joint_eff]: [-0.0889, -1.1692, 7.0906, 1.6874, -0.0659, -0.0806, -0.0122, 0.1299, -7.8427, 5.8051, 1.8388, 0.3639, 0.1294, 0.5739]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:247106a886e08be3ae5345578c736fcf2d7d3bfe924ecb1bfee29c30bd80911b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1225146bd79604eb12356b7525483c1e0e732d55c47cfb04bb2fcbde840f5555",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9b8a99dcfe740a82cc43c41eac47f372f337deb4867ddf9dfe4d88933eaf2c1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJWzOtbDcND8iElEqFI7vg-2E9td4LJ1rvMOcm3tv3zhf-pwV27pePnFLWQn3XQeJ2VwGQ7hpGNDTthuTFpt6xtqhs-tNEisgwpOoQdXmx2EMa6DKB5LyYzY8TgpJYFMQee2eQP6RAVZjUcghQ5G-KPPW6EW0CwS2tL5KFqp9MpB1xmOepOeDtx3TGLSYAn8HBC0LG3WUoPADQW2JIyKWHCbZ_I6KKYODe2AyYIfrVk1i__jCx1Z_Tf6zDdNTph0vW3mKGC65FP2lCvW8H-uuIGVXLpnJbj1GPHlwoQ8EoqperW-04amwfYKVoJ0cTwIyPLpgpkjoRm5WPiya8ShPiCOgmXWZyReTV9Hq_irtNPkiofpaFvew9RBwULL69Fp6l149lc2pdQPONMXKZ-HYrCWvthV3Eu9jDZ7dk8XuHrAcrfyUNq586gS6iFHtNAC9rZvaHZnt4FB3rgHChPCYyJzztqalaAgLr3xAcnIlMEde5qktvPCbAMUn2aF45ugPMTOfkGXWCAi2QQ2ko3PRNQTAa0Aj8gubOQ4AWDcCYDuNbTeJo-segqzypPHyxMiMf_06Pvri4U9U7PAUbwuDhgdJcADg82uq0q4ta4zyefM9CREbaXEA1GxrSePB9FxVQbbVvnCvlJ58uu6HIKRUf81hCzh854sXenNR4JcU5Sas3_lRiTmyip3BXTKLzWm6sR-IVfzPsh5KOcgKgUv2aU6TGQuM2-cOFrqRiFxYx9k-etsiItrUtSU2o5JW7sJDgLn2HXtwzdi11EoCw0Rky75zARNGhwwzwrWTRrr6tSjRqlZuzNloIK9imMSeapDacTvZQpPOUoyMRnUDFkUJ9ohVBPIrHeNm0JAeFVBiTo-m0mf8dhNMF-RAcr7kmg7RLLv4i-gDyutdaTSqZBC3F0WVlNovCPKMr13peBprtNvb2RLVnIwjSdllh8vkYa3on0fm4Ujnve79CyHZFWXHY-4pIf7Ob4LhgtoB2VS76J1hSg72d2kzvR0Kdz29sD2fAc7eI9pdpVnbQGJrmEGIELMfJ3-PFrcyDKZaZGqb6xyOjjm9OLoqZ5zFXDUewiBTbyyR7qCS38sMGetQ7bnZzSLamzIj6fq9f1QHXnHUvmRXpFONEl7dH-SLj4_deyqDWKVEmaXxN1uFkxtjANwSNj8MScxfCfkaEJoY0BOCqkcWixRUbjXiMnaHLXg4G6bTQfv6PfgSAPmMYU49bbaCIlZh_fBdzEQQb_Cv6UVuDvNZrhPf6lgSKC_esUwEo_RJdjdDwxWBSv9ZAvsar_4H5EMpYzBVEFqO0l4PVNSjz1-A6Qk4GBfUceCQTSV5pkI2Bmiyb7E2IZolqA2j6N2gFw17rARU4ZgkWIXosT2ooqZRJxBpBimVAxlde2tmCAHRKrFrMhnXFU6SV5NqR_DmOi3d3biAIUnSIYDIlbvPG0qtnHkHejoecKSnsi-z78kc81kHjXIUhQuPXCMIRuovw7EjjtrZpdPTTcTGqeCXSE9VOa12nkmjQQwTVIvi9U3sFUIXJCrTyhsymJ4rjuFhaAmaH0_ZVYtet2rCLdI0EJPA2zhOUq7epvbSs5HZ86qPt_cDULY59dEhpWsI94en79FNIHbmJR4QRV__ArEEtPFHs53rX9zXOhynNG3ZN2YpBCdPz23ThGmqHq30Ng-EOeAkFX1tH5g3I5bo2SMNnagZuyMA9sVcY7Ct5vAmo71EWKk_pIygns5WiymZCLR3LycmotV64-cjouiVUc5sLC60iklC-3WxjizuC5EZe-2ZslNvNd2I19BUAufKThxEFuVI2e6NiZGMFsTkBA4sv5E9HQAsVNZ7rlUQ7x7Ic_qxxobsFnWNHlPVDy_oLaM0OdTZBHvZpXfdPlGd5pwbgHij_1H5HfHitQVgaMeL-L7MBwseXR5y3QkzGjf4mcwcFzVH3iGTPf3g997WInx70DsoFt7AxJHZBzz9UZavEnyn3CrzTIY-pw0p05K1F4xLWpJfprwHK5aYBfUZJA-wLxiNSOc1rd4EIL2b-JN9DwxEVShOFTpEEz0XNgmjB0J0UB_1GOfN4A4AFZ3MOjis-feiqfLPz_cfZPbxh_oae4YyaJe_n5tfh8iaRpgit0Z7n5AeSwKVwXD5SQemxvcft1INjU5cV_ecEVJCv-G5oCFDfpDqZJ8jBv7p4ahnXBOP93WBeyRElAr8FaLVEscZ7qieU_P6uo4YK3P2gLp1rVH1Qvr65ATIEI4yQ5yYEpvE8i0Ga3RUUjK28SFlKQMWGCmi4JW2IG4X0WVggl2zXxAwDzKND0VqYvw8IsWogF0hzzUMstZm_6aWn7JbAZUNKfMygszL4DP1kOQzC8TVqyoJ3ni-g-7Yfgc0dweZAK0muN4zvqhX2MmtB_cSGJD_TTvdO0Mcq49GCAwxrXK03Ejvx-2QAC0HLWK5eWc1jYmDf8lVW68d7RfIxeuWR9_qSFJuaCaVUnIWiYcXlPst9AdMfTBcnrDzmjHkZvTO7PUsYZ8NQIbN0-ocb0suEImDM-s_1dd18p66RlhAcj5zau_nsbZILwZ-mtN6I4z30wX8o9CSmO0ag3TsPsqETUdEdie9nh-B59_Kh9VCsmv2FToMybA8Zb1Ztg5s8-h0utd03FzR44hRnI5VZJiIwRFkfCOUkjTIGOfcGu5JXKzHbeiplNiGJPk_CB8-lDrMA9YN10OKiCUzu3zzNkprMR4CnaD_DUnLp0WNFeenuiD_t7G-hhLyvsaB1hWxUEsI_PhfUuvrBqBgcoRtjcSIERC5BkSt00=",
  "id": "rs_08abb5a8bdfbf3e5016ab495ad6cd487d0ba9ae7a01d41bdae",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.415,\"right_y\":0.11,\"right_z\":0.085,\"right_gripper\":1},\"note\":\"The gripper closed almost completely, so the first grasp was empty. I’m reopening and moving a little farther forward and toward the bowl’s outer edge for a rim grasp.\"}",
  "call_id": "call_p25g43keEyMrAPdF1NHB1CRM",
  "id": "fc_08abb5a8bdfbf3e5016ab495b22cec87d0b6f4bd0304278fab",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_p25g43keEyMrAPdF1NHB1CRM",
  "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]: [-0.0196, 0.8051, 0.6075, -0.3897, -0.0227, -0.0422, 0.9995, 0.3622, 1.6394, 0.7929, 0.0586, 0.2638, 0.1226, 0.9951]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1765 left_yaw=0.0008 left_pitch=-0.0179 left_roll=-0.0009 left_gripper=0.9995 right_x=0.4033 right_y=0.1074 right_z=0.0612 right_yaw=0.06 right_pitch=-0.1887 right_roll=-0.0811 right_gripper=0.9951\nstate[joint_eff]: [-0.0889, -1.388, 7.0085, 1.7118, -0.0757, -0.0757, -0.0122, -0.4855, -9.265, 9.0188, 1.7118, 0.1099, 0.1343, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba18bdb9ac5b0a871897cef2d36e1d1299cfc10fb80ccb53677f731ece9cb130",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4936b3c58c86b0f16bb49098c99df38ea023763d23853ce02e282084e0e328d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a76336954b6fcb7e36f390ae720bdeb4923bbcf302cc17508593575b73d162bc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /responses · status 200 · 2.284 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]: [-0.0196, 0.8001, 0.6075, -0.3889, -0.0227, -0.0422, 0.9995, 0.4587, 1.4399, 0.8082, -0.0811, 0.3489, 0.2047, 0.9973]\nstate[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.178 left_yaw=0.0008 left_pitch=-0.0122 left_roll=-0.001 left_gripper=0.9995 right_x=0.3815 right_y=0.125 right_z=0.1232 right_yaw=0.0457 right_pitch=-0.095 right_roll=-0.0465 right_gripper=0.9973\nstate[joint_eff]: [-0.1709, -1.6205, 6.8308, 1.7949, -0.0562, -0.0366, -0.0171, 0.212, -6.5846, 9.5932, 1.8584, 0.2711, 0.2125, -0.2906]",
      "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]: [-0.0196, 0.8043, 0.6075, -0.3901, -0.0227, -0.0422, 0.9995, 0.4973, 1.6878, 0.7288, 0.2005, 0.3603, 0.2218, 0.008]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1767 left_yaw=0.0008 left_pitch=-0.0175 left_roll=-0.0009 left_gripper=0.9995 right_x=0.3897 right_y=0.1447 right_z=0.0463 right_yaw=0.0635 right_pitch=-0.133 right_roll=-0.0591 right_gripper=0.008\nstate[joint_eff]: [-0.0889, -1.1692, 7.0906, 1.6874, -0.0659, -0.0806, -0.0122, 0.1299, -7.8427, 5.8051, 1.8388, 0.3639, 0.1294, 0.5739]\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]: [-0.0196, 0.8051, 0.6075, -0.3897, -0.0227, -0.0422, 0.9995, 0.3622, 1.6394, 0.7929, 0.0586, 0.2638, 0.1226, 0.9951]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1765 left_yaw=0.0008 left_pitch=-0.0179 left_roll=-0.0009 left_gripper=0.9995 right_x=0.4033 right_y=0.1074 right_z=0.0612 right_yaw=0.06 right_pitch=-0.1887 right_roll=-0.0811 right_gripper=0.9951\nstate[joint_eff]: [-0.0889, -1.388, 7.0085, 1.7118, -0.0757, -0.0757, -0.0122, -0.4855, -9.265, 9.0188, 1.7118, 0.1099, 0.1343, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba18bdb9ac5b0a871897cef2d36e1d1299cfc10fb80ccb53677f731ece9cb130",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4936b3c58c86b0f16bb49098c99df38ea023763d23853ce02e282084e0e328d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a76336954b6fcb7e36f390ae720bdeb4923bbcf302cc17508593575b73d162bc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJW5Y9VhsemK5C0fVGlkSMCbvABc3wXFNgWn10Dkw0LofFHVgDnar2tHMt7JN9zoaKPVfm7VZIHQ620vRLpJN7o9LUrgYVL5ZFE47L87d48ROfosv01Gou0oibnHeLFe4DhQSv1NDk8vIVvNvUoHz6e-i-TCJn_YR8BL9vNKnlf1RLwHD13jPRtVi4FSkFeQEdUhNqif6lW35PaqxFRDwWuLjNlBbhz9VORwyYe3bBM5F4dvyKq1jJ27UgsNZdgx_vixCNsaXsO0oEySVTXKHh7mySBAiZYhyIPOxxAhW8OymGMOIio5b1UYq6Q8WJAsy55fP_5VlT6InN_MYHF-I2uOcvqPxF-0RNCcSLcweWt_WC4r0h7L4vXgnaF8LtVobHKfrU7bwDRO2H1ENaKatbr6MfuAO_tT6Gp0-WYs39EEiLLg-kSEmoSjSsDU_qtkgpw39N2uw2uiHL05A3aLDQDG2GifCkPFJaKwaj9OJiBclDCy2jEre2LlFxsl6KG3Uc7e33T0CnhMUzIhxx-WxptoDKTFNWJphN1L_DPMKM_Gdq9KG3UyOrlgUc11gpMMBMN1sU3d37vxOz3MNOmFG02ISayW2Nx3iUx5IJ-I7uxmpLQxxsOFzFzcLW8f0MKufRG9ncR-ShsDGI7O7SnZCCr4fpPwGCLBzJ8M00CVu77JNNda1izEqY2FdPVrQefUSFzHegTbRgRyMTSbrbTXDHprQ839wW5tKI5bsi6B03kB6Cv8ip-gj48RmKYg7Adu5i3748fHJP7DPHAwy59_a_fYyFHL3EyjWdHovr6wOWCMV_FgBIXwblCaARbH1SBe_umv4RYFWWA5x7W4KLjTxVCaCF4cJkti35KpDyVcTggjojF0e9GXaTtaEKrZNss91PHEjYy77I9wwqYqWEUkvG05s1XyJHMHI01iiXDvh5Xi6T4hfOFxbzzBEOtUVijkhLPppjY7EIPGpjVGNA-uGLxfeFdLP_aKweBUeGE9TIlu0w__LDrfuftw_fRp2WLpmYmUnuNpgUWjDU8GA5cHC2lQKbibegfyyPUW3v4h0t-7R4wIpSxOCL8obzzRVurgAUfPLojEbAMbK9mKfZLTFwNw3rU8e5r0ENAFPpFsoh_X_y5IrnDC4EJt8n07SPslOKYuLKKdXhkLJLAjLh1mrPrEBfYJezpVaG4kLUE6WVJyUsGXdBonuIEFv-zITrkR6FJedlIpBmm0DJo7Q09EKQV8xelfOFkGk0bzVQj5Ki5nuIZTmhCyxxgrrOX8DUCTSp4rSk4hoYLHOZVGHmLlUlIEVhv88hI3yGrsdDmPR_pJN0AO4LzZO90Md63AaH35bepj5MWwieOCSCjeKM5DrRAGV2RTxoOw3jfjSs-czjaTfJ5mP1GqWfGqwM-Ffzyq_xtLEC88BiQErrjQn9rXW00BiIC9sQ8HUYnyrwX1VzqSdx1m6gy_26xMaMKtMLHLW6s03Fr4uP_Y5zV_-T3tGxMgKK0xfjlLlkrFRM3bQqmW_E1rlaX0MlB0ldy1xfzoKj6xSlsN3blLSEibsv3Cnh-yYxLV4Tgy19dwz3-_0NXgMlRO-jfRpGddME2_1_nnqLsUOZ4YMwIHtLYRCsJslOQ8ahHcHJupN-f2zc8ueDFllNkONOiqJkV37ew5Uec9wJpvGo_pXdLm3T42NCH9220yapHkLzlfK2KwONaFv_djkcI=",
  "id": "rs_08abb5a8bdfbf3e5016ab495b5c41487d092382556746baaa4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.09,\"right_z\":0.055},\"note\":\"The cream bowl’s right wall is now clearly between the fingers, but a little left of the grasp center is still inside the bowl. I’m shifting outward slightly and lowering to catch the wall just below its rim.\"}",
  "call_id": "call_ZQm8JJYuXlgqzwbA4TFa6Sv7",
  "id": "fc_08abb5a8bdfbf3e5016ab495b7fa9c87d08a76c4addb94c9f9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZQm8JJYuXlgqzwbA4TFa6Sv7",
  "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]: [-0.0196, 0.8051, 0.6075, -0.3901, -0.0227, -0.0422, 0.9995, 0.3313, 1.6382, 0.7738, 0.0776, 0.2348, 0.1001, 0.9958]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1765 left_yaw=0.0008 left_pitch=-0.0183 left_roll=-0.0009 left_gripper=0.9995 right_x=0.4031 right_y=0.099 right_z=0.0568 right_yaw=0.0657 right_pitch=-0.1944 right_roll=-0.0773 right_gripper=0.9958\nstate[joint_eff]: [-0.0889, -1.3197, 7.0496, 1.6972, -0.0708, -0.0855, -0.0122, -0.5949, -7.4872, 5.7094, 1.5263, 0.149, -0.1343, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:556d3c65e6c4c5b634973afcadd29bb1f7aaf7696afd74c0880ed987ce709a94",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d0e96d1d85c67f634e0338d46bb3eef0d1f21625ec7234d027d91b768cd5524",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5fd3863b7aad2004a473642779e77dd2fdd762a0b5fb15479e6b6c821eaeeea",
      "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 · 10.08 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]: [-0.0196, 0.8043, 0.6075, -0.3901, -0.0227, -0.0422, 0.9995, 0.495, 1.6722, 0.7361, 0.1326, 0.3611, 0.2176, 0.9971]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1767 left_yaw=0.0008 left_pitch=-0.0175 left_roll=-0.0009 left_gripper=0.9995 right_x=0.3832 right_y=0.14 right_z=0.0437 right_yaw=0.06 right_pitch=-0.1738 right_roll=-0.0819 right_gripper=0.9971\nstate[joint_eff]: [-0.0479, -1.5932, 7.0359, 1.746, -0.0806, -0.0464, -0.0122, 0.1162, -7.7607, 5.4496, 1.8144, 0.3199, 0.1245, -0.0269]\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]: [-0.0196, 0.8051, 0.6075, -0.3897, -0.0227, -0.0422, 0.9995, 0.3622, 1.6394, 0.7929, 0.0586, 0.2638, 0.1226, 0.9951]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1765 left_yaw=0.0008 left_pitch=-0.0179 left_roll=-0.0009 left_gripper=0.9995 right_x=0.4033 right_y=0.1074 right_z=0.0612 right_yaw=0.06 right_pitch=-0.1887 right_roll=-0.0811 right_gripper=0.9951\nstate[joint_eff]: [-0.0889, -1.388, 7.0085, 1.7118, -0.0757, -0.0757, -0.0122, -0.4855, -9.265, 9.0188, 1.7118, 0.1099, 0.1343, -0.0122]\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 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3901, -0.0227, -0.0422, 0.9995, 0.3313, 1.6382, 0.7738, 0.0776, 0.2348, 0.1001, 0.9958]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1765 left_yaw=0.0008 left_pitch=-0.0183 left_roll=-0.0009 left_gripper=0.9995 right_x=0.4031 right_y=0.099 right_z=0.0568 right_yaw=0.0657 right_pitch=-0.1944 right_roll=-0.0773 right_gripper=0.9958\nstate[joint_eff]: [-0.0889, -1.3197, 7.0496, 1.6972, -0.0708, -0.0855, -0.0122, -0.5949, -7.4872, 5.7094, 1.5263, 0.149, -0.1343, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:556d3c65e6c4c5b634973afcadd29bb1f7aaf7696afd74c0880ed987ce709a94",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d0e96d1d85c67f634e0338d46bb3eef0d1f21625ec7234d027d91b768cd5524",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5fd3863b7aad2004a473642779e77dd2fdd762a0b5fb15479e6b6c821eaeeea",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJW7EKpcGHdyYyuc23sAB13I5EbYWthky4_4VRvAjxMe8zpmDZ6SeE78RN_IlNIhKjyOCSGRG572NiHdZ_f_Pgb0ffwr8FkVO5Z9Ho0RHJNaCKd6Z1QIO0RhvxF7deoZfVhhTauz73j8g5LU6kW2sTbTAePvLtGGzds45NqydVyXvA7kZ9PtixbIGNbJcvg42AAtUieeJT8fMbxS8dLWx3zeLKQDPKw9LzuOwUhjpd8hIQI6wrjVJVkppf3VnEXk6HqVnTuzBCibbv9awuoDf_kJpcgADnJU1RmdjXQGaAo4Xoai_-d4ceXXP6nZKflv4Nbp9bxQZ6_-1HDVtlcm0S5WQ9Q4JNEzcpfZGoWdDt-cGkUA5fSnzAcRgjGYOY8QIURsBXLFt7eZySgTi3XGjiossDXhfLGxg1CBZ_q_VBaO6lSCU1kKi5aI46Z_ILjloZt3idBzZc6R62LszJcs7_BNdO70qzdDssuPqY1ZXITpgH-YiSp078UDfmjLouCBM-MOnT02KJp8Tk7ZJenn7lOGhotflant87dGU2nARMKDTttF7-KlaMTefwlJ4IpFuu4Q7xR2eI8y1jRit54yMBUVpBdU2rdHmXEC8J67U2yMRajIiAzY034rP-aCYiUWpj2ISmm-iAG_0BzWsozx3DxN9GLD_8t3Z_1YUqmGkDLqrdXQoW1d0-2zJeRsbI8Ny-HVaz3yWJ5HrXEk8msF7MbI1yoIw_XCzGzZ9qNxoz7cYa0kY2pRLthTb8v3AFSQdaBnCV8wbNUMFx_TSh1X94wUh_NomV2tK9wqtnoc6vvjf6yzjGz0227EeFmMB069glVX1jA1SMz4i7GufW6h-EI8GRcyMsB29CWePdeG1ALRS5Uny0eIV1Mo7wj7u2Cec6VXj73LfXbH8rbO-RARoDnZGu-WPPEShZDNopFEq_6Rjin9xrKMcTrhCZa7TEc8vV6V7qt-3UHGSuyw82LIw_W8zY1ja6_jgtlYdj3wh1dPOUOqLOr_d7Mk-X7cjltM48PLEjnyxs7U_nIXjYUrOLCQrQ2qu_WkrG1m4M_iaYTtLuS34XYvCq2W4W2iQ356aWztp2aWDYcnhsYLsMVX01wOcgsdOOT3v3uq_VJTvoTPPAHK0tIAWVZju5ActFw0uXW7QIW33mq8b3Gb0xu1c9SeOGqDZS_NDQ_jNOpywK-kr4Dqn-OzEOBUYpeXpF9lpbu6mr74AAF7l_5JT8ZhV4vDLsqS0aRcG0ZFaaIDNdA3YOI=",
  "id": "rs_08abb5a8bdfbf3e5016ab495ba7cc487d0a6dd2d0969ca0400",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The inner finger overlaps the cream bowl and the outer finger is clear of its right side. I’m closing on the rim at this corrected position.\"}",
  "call_id": "call_hkjeOmtYS9lAsp3rD3ndHkRe",
  "id": "fc_08abb5a8bdfbf3e5016ab495babbb087d0a4c06a0a70b07d66",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hkjeOmtYS9lAsp3rD3ndHkRe",
  "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]: [-0.0196, 0.8055, 0.6075, -0.3901, -0.0227, -0.0422, 0.9995, 0.3321, 1.6382, 0.7506, 0.078, 0.226, 0.0929, 0.0069]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1763 left_yaw=0.0008 left_pitch=-0.0187 left_roll=-0.0009 left_gripper=0.9995 right_x=0.3957 right_y=0.0984 right_z=0.048 right_yaw=0.0766 right_pitch=-0.2184 right_roll=-0.0824 right_gripper=0.0069\nstate[joint_eff]: [-0.0615, -1.2513, 7.2547, 1.7363, -0.0806, -0.0757, -0.0122, -0.212, -7.1726, 7.6376, 1.5214, 0.1587, 0.0855, 0.5006]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d74a16174d048305c29cbd20ce80613dc709ee2f7720eb9b6e8ea62902f646a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cca5024133efba24d2bd3f923738619d31a4d8364504ed61e62a1721ac8adb01",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbe41e07c8a6b72b0e5e40d596e3d388d7dc787d2035871f3b9eee082c9c8da5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 7 attempt 0 · /responses · status 200 · 3.417 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]: [-0.0196, 0.8043, 0.6075, -0.3901, -0.0227, -0.0422, 0.9995, 0.4973, 1.6878, 0.7288, 0.2005, 0.3603, 0.2218, 0.008]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1767 left_yaw=0.0008 left_pitch=-0.0175 left_roll=-0.0009 left_gripper=0.9995 right_x=0.3897 right_y=0.1447 right_z=0.0463 right_yaw=0.0635 right_pitch=-0.133 right_roll=-0.0591 right_gripper=0.008\nstate[joint_eff]: [-0.0889, -1.1692, 7.0906, 1.6874, -0.0659, -0.0806, -0.0122, 0.1299, -7.8427, 5.8051, 1.8388, 0.3639, 0.1294, 0.5739]\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]: [-0.0196, 0.8051, 0.6075, -0.3901, -0.0227, -0.0422, 0.9995, 0.3313, 1.6382, 0.7738, 0.0776, 0.2348, 0.1001, 0.9958]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1765 left_yaw=0.0008 left_pitch=-0.0183 left_roll=-0.0009 left_gripper=0.9995 right_x=0.4031 right_y=0.099 right_z=0.0568 right_yaw=0.0657 right_pitch=-0.1944 right_roll=-0.0773 right_gripper=0.9958\nstate[joint_eff]: [-0.0889, -1.3197, 7.0496, 1.6972, -0.0708, -0.0855, -0.0122, -0.5949, -7.4872, 5.7094, 1.5263, 0.149, -0.1343, 0.0562]",
      "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]: [-0.0196, 0.8055, 0.6075, -0.3901, -0.0227, -0.0422, 0.9995, 0.3321, 1.6382, 0.7506, 0.078, 0.226, 0.0929, 0.0069]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1763 left_yaw=0.0008 left_pitch=-0.0187 left_roll=-0.0009 left_gripper=0.9995 right_x=0.3957 right_y=0.0984 right_z=0.048 right_yaw=0.0766 right_pitch=-0.2184 right_roll=-0.0824 right_gripper=0.0069\nstate[joint_eff]: [-0.0615, -1.2513, 7.2547, 1.7363, -0.0806, -0.0757, -0.0122, -0.212, -7.1726, 7.6376, 1.5214, 0.1587, 0.0855, 0.5006]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d74a16174d048305c29cbd20ce80613dc709ee2f7720eb9b6e8ea62902f646a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cca5024133efba24d2bd3f923738619d31a4d8364504ed61e62a1721ac8adb01",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbe41e07c8a6b72b0e5e40d596e3d388d7dc787d2035871f3b9eee082c9c8da5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJXGdQzGZnMyMxcScmf--ofkJJy_pfcniLpPCxQevViUEJ7-evErPgPrUJf2UmX4LlPUVYhd0Q1a4B2g-C0tDRhMHhyFHAKVEXyloWSKjuC0t_M1rwHuKB4IULah3kN_hhi2FEiYT9d2e8KLPCYbplVIvRNEppql4DkkqiUqU_bPpzwNxLECvV6ccEdk7byNqXc-zUPwMncK5vakT04HHG-4C-6bFsWqqEdoaBtj5A0PpVcqiUx_MacVmTF2I3PYqytjh-WxgJj5V9ZjylnvYiUl3RUQmPJ1hiaxqeSKHmz_FTJJQlHHyR12pG77VoiBJC3vcscql-7dJ3CFAvdl1yO4AoSNVG6d3jwPGl1TLv7n9GMMgoxI4OcfHCrYhK-b-Qw5BeR5oqxfMwxBfebte8eCFn2mbsS-dZfOmqlpgZALiDjtrAo6STHz6NZSJn24smk6__K0OcCMbVnFHKjLemm0-XWLWGLvuYsEHnBNllJsuinju17AWpWoO-10LF4KtxUlLpdV16ElmSHyoe6znhH5QKpfU_tf9jt_36t7_AGylok2b5NzFICEc2l6aqq3oSDYQZ58oPrFCt2PkkeF1ML08fYdduxNxaKiT6UTRQ-rLa6tayBOowPOtBmaSgEQKhfWRZsb434XkK33hYvadA-kz2lqkajd5L2QP_SlgctAiPvu6vY-m-BDmXRqExr3pK0jqNRg_30YiUYMSjAqk2f-zGx12Llmr_IynMjaHSDDA-0sDKjeXoJQTy5TsuBIw3Ypc_tYOqBJiFG3H6AL1vrNU3hIL5RBgbL25G46uH6JvJKrVSknV3J1q6oIWtzYEbTAWc1hFq-2vtRqHmqnTVrXnGCeFGC1lCksPlIcMdyWqT-8E9oexZ1de6fvJIVcx8GHwRritbJfMOmFpY0xWGtFAWV8mDD_bKFzKBjF9ufBHEgl7hiJfZYmeXZH4KFTzfp7NYUW1NDp-LtcCl3cy3MOwBAGhCIDl6J7dFo5X8kYO8Paw2FGfZ_a-FmQGuvEm7fNQ6N_EwSMLpJ6CGF-Js1ejM9BNpv5Y1-QtLtC_9Hnm8PFMOP2pruqNY4m76RoPpRfe-HZ2pqoE1VnLRPbdNY4K9XK-HHdtu2wWP--F74MMTuP1CPr0KechGzQ2m6KiSMO9bfna2ETD1gcpUqOLo-cK-TKIOaawNKKg2rEQmMOrLozBpq7hxR10ozVEdk4aVKW8PAneG5-oXqNfo4otwhhTL9nZdeHFglDkSJ-CNcFcf2-v3Dc8AjjdcIX8_U0fJ9XcXOfrdqiiKzkL33JTLFw0z6n0-VaHBqq65rEwCB5LEMCAOo82zAxn0k6yzBROeIDwjlQcsmcyAWWLkFyWrt8le1BoWMWYO_r1XQTCSiAGjiWsYCEoij6YawuooX5LsJwNr4XOIsQfP-w_Y8fTEO2jkHylxch_ZKjU5z0dkTkKN-1pbgoqYzrZO1toH5JcgH5MUhgj8zZOpBiHbYuCWZfeSxhKPJLXRYLb7kDghhpDls7obXWamr8EdgwNvVb1ELIcSGzQ4KT8kU86SP172mukFYM0vowan6bjQ_cmeTIksNdpI-dtChAnLVS04hoa-VOa3LD41r8du9GOQzWjyfBCM-c2xXG4X3jyktNNBWAKZO8N_-SWPgdQmTfcQHBLbZtp8X_5wLUiql9MGH5MJcnspvisKSZnBeAb6y-2SzkiORLjjORu_8CyI_LLj5oiZSoSru-CPQwl0MNsMGf8b9jBaxlcKVVXfYSKBFrbCdbqazHObrNEt4Ppvi5hTeIckjSmmqlE-7Ih0Q48WC4mtd7TzczNjV9kJ-RPSc5yiALHOWz-ZQgX1yOvXVIann8HXCBpy6_hFHAgO7u5auEyHuKFaS_nt0HBmbvD40iIkDIehlGX2Qz1Z1dtMOfPNOgTSCdgRqhvn4h8-bqc1Q3Esu6o-6sYUaWp-66bnCG7btHhzj4WHU0NWe-zoU80kZaiwh8id9lDqedPXD3wi1aHJuvtxSF34Iuwt9vDGpt2VOJ4kG7yYMIpFhhIe0lYOU9k-hp2bQ35Q_o-dgiCuZfJIe1CBBAvuzOY46VXb4oZbZPkSgKuD4F7XckWAvJOBEPHvlqFPYSpbQHiMGhN5E_O1gfFkuvupGnYCNnDeaaVKBVs_024nd-4oSbsjws0FjtKn3ay9ut6TkgLhUkGS5Zo3TfPlHrGoN7ki42I5sHP88V05yM-pI8BcwzJZDMDb5TV3IRvrl5x-hL1MbD_0ZudCgeujoI9A-Y-sUTR_XyCpZjTsHjgJLCXtGvAaCbzzqUAtZgF4rbSqpRzmHJGhRoY0c4evC6LXOhoKby0-ixdUnxI8lcOXBkZWvR7KGlIWUNtPpX8l0tPxC1w2Xh50h8y7jf5aDQIrTTq7THFPE3oTkUdDzBFZtpFzxXHdVLlfGv6vf4qBzPN5tDM2DIrv_OuAa1Q_Sy3ZTLGvVDs3Cb8aqip3x_vOj1IyONkheYGbbt1nhmPS6vSGSlMoefFZ8wRFvR-xPw4m8p3RRO0RzzQ3qWhvHtLYNgCGuI9Gzb_1-vbP-3ighDEUJdXJtvw84oq5fesOJSjl97BgQ2HYl9g8pCDMiP9vKCQxqjAP0VAzEzUv0BiDZaPTX3a8FytgUyz0ZsPqmNFXqWKWVIsOAZ2drGQetvArTVep9jjCuO0jhcvLxV5byM5CZ-O25pfT8ftDC8D1e8_ISN54nfjLX4tIutbipOkHHtkCNiFjy0AGj0yUo0b3xCNGZZWcrxqIW5zEBZ2e4Nmtf-a5w3zV-GsdRmHdOmze3ZNdmzK3IQDZ1J1gyOZ_1xnEo8TaQlZZix9hqq7yJJcHKwUxIA4EAxnFvVWGSIWSKMgN2qQBcg7j5PebDqMBqyxJtjtPmqCxTbNufEVfyLn5IQ_3jydjlvm4hXuxjaE9wnnlO6QEeoUVFjdQWBh_uMRneswEHpfzTxgBIrO3EpMc6shkEhHh_OZKvGGuroGPDpyW-dFh_UHmtXbXbU_SsVtS6lmSC6YugW6_i0WHgEtvj9fYwVRHix3YdqVmM1EndOse8A1Ut6pwzaQIDlt_a3_JQYeyyIPyviIOm_8AVd9UVA5Cf0dh1VNDRXEdhle35Hir8Rp7mv-rT1dEAIOG3VKi4c1Hoi06cH5nZNZMDqAx6DyHtdYcYGZCwJZXw4L2ktMxCbDdPfkHrV7B96JmMp4XWN84yTvcuSeGiCjKQa0iIaRLnss2mRowvrmN5BrdJ5HI5SpRII6cT26S9_xyQzHVnxIcQN52q7Nwq2zugVOgZ0ZMxA_lyV4oE_JePDe1TZ4YiRRap4wy5BmmQ_9kzvDTvt94nxSQDqGuKuirM4M7G2i-y4sUHXiqjAtd6z5XRVaRsvYoyTRPpIRe0tT5jRIULQSOm05-6nlQBK6L6gsR_GM_dXtIkquLo1KWF5h2_BV6FAYVb9hRzmEBvLY2g27wSoPvXoHydr6DauF31EpyCff52PH3iRF6miEK8t-fxm_U9Tae0Xg34Us825AZyQf0i_ljlyv-0MWuCv2MHmNHiDmhszZPcN_bPB9cCLbseEH-fORmrNfNJaf2greBbI-7waCMQzxqZQDuiQNBQRgrEDI8edGTFiCvYvM2Y=",
  "id": "rs_08abb5a8bdfbf3e5016ab495bdbebc87d0be7fdea475db15dc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.115,\"right_z\":0.085,\"right_gripper\":1},\"note\":\"The second close was also empty. Comparing the overhead view with the fingertip position, the gripper is still short of the bowl, so I’m reopening and moving farther forward before lowering again.\"}",
  "call_id": "call_ESHz2ti7ChDdvwKirBE5Q6VW",
  "id": "fc_08abb5a8bdfbf3e5016ab495c5748487d08fccf06bb94fb25b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ESHz2ti7ChDdvwKirBE5Q6VW",
  "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]: [-0.0196, 0.8082, 0.6075, -0.3935, -0.0227, -0.0425, 0.9995, 0.3244, 1.7809, 1.0607, -0.1211, 0.2188, 0.0692, 0.9958]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1749 left_yaw=0.001 left_pitch=-0.0248 left_roll=-0.0011 left_gripper=0.9995 right_x=0.4475 right_y=0.1139 right_z=0.073 right_yaw=0.0863 right_pitch=-0.2517 right_roll=-0.102 right_gripper=0.9958\nstate[joint_eff]: [-0.1026, -1.5521, 7.241, 1.746, -0.0611, -0.0513, -0.0122, -0.7179, -8.1162, 8.7179, 1.6337, 0.0024, 0.0562, -0.105]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5c5dda43e02ad7a84a479e47c0dd0a6a2c6480fcefbaa8ce97d4ae10a9f91e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3761ba565a9015df29c88d598bb061852ed2992cdd94f34caa2c5ed5390c0eaa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a72fa51f86d3bc8fddf85954f7469e1dfbc61c74cb3e5f47d75cfe05520f6b14",
      "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 · 2.363 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]: [-0.0196, 0.8051, 0.6075, -0.3897, -0.0227, -0.0422, 0.9995, 0.3622, 1.6394, 0.7929, 0.0586, 0.2638, 0.1226, 0.9951]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1765 left_yaw=0.0008 left_pitch=-0.0179 left_roll=-0.0009 left_gripper=0.9995 right_x=0.4033 right_y=0.1074 right_z=0.0612 right_yaw=0.06 right_pitch=-0.1887 right_roll=-0.0811 right_gripper=0.9951\nstate[joint_eff]: [-0.0889, -1.388, 7.0085, 1.7118, -0.0757, -0.0757, -0.0122, -0.4855, -9.265, 9.0188, 1.7118, 0.1099, 0.1343, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.0196, 0.8055, 0.6075, -0.3901, -0.0227, -0.0422, 0.9995, 0.3321, 1.6382, 0.7506, 0.078, 0.226, 0.0929, 0.0069]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1763 left_yaw=0.0008 left_pitch=-0.0187 left_roll=-0.0009 left_gripper=0.9995 right_x=0.3957 right_y=0.0984 right_z=0.048 right_yaw=0.0766 right_pitch=-0.2184 right_roll=-0.0824 right_gripper=0.0069\nstate[joint_eff]: [-0.0615, -1.2513, 7.2547, 1.7363, -0.0806, -0.0757, -0.0122, -0.212, -7.1726, 7.6376, 1.5214, 0.1587, 0.0855, 0.5006]",
      "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]: [-0.0196, 0.8082, 0.6075, -0.3935, -0.0227, -0.0425, 0.9995, 0.3244, 1.7809, 1.0607, -0.1211, 0.2188, 0.0692, 0.9958]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1749 left_yaw=0.001 left_pitch=-0.0248 left_roll=-0.0011 left_gripper=0.9995 right_x=0.4475 right_y=0.1139 right_z=0.073 right_yaw=0.0863 right_pitch=-0.2517 right_roll=-0.102 right_gripper=0.9958\nstate[joint_eff]: [-0.1026, -1.5521, 7.241, 1.746, -0.0611, -0.0513, -0.0122, -0.7179, -8.1162, 8.7179, 1.6337, 0.0024, 0.0562, -0.105]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5c5dda43e02ad7a84a479e47c0dd0a6a2c6480fcefbaa8ce97d4ae10a9f91e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3761ba565a9015df29c88d598bb061852ed2992cdd94f34caa2c5ed5390c0eaa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a72fa51f86d3bc8fddf85954f7469e1dfbc61c74cb3e5f47d75cfe05520f6b14",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJXKKK1M14gfqdLgQJDI7270QfrkS4CvN--BTdeFQOl7DR9SuyWK_ygyFPUt_1aVPqujjAa8uPRBWibW-DGhK1J-VnSgm4N4N0uBiDpcrQHUY_0Mv2Jolp1y0MipG0X4XtEefubfu_s5PYigKQ_1ER7GdF4C6JLTX0HSkdpV78RLSWwxAmaUn52g_si4hSBlQX6rkCoAf7BCWkW21NRPgjvWFbj0qkaTVZsstpDxBNbGhGhpWNUXFp3ppYKfyX82zX5zrHGD1mCexNgqJ3a3WQcj2kd4oR49ezd_MsBFsAQmbmseCvFgt1FfD-oMXhhY779YVMdlFqUkO_cr8sI6LNkGDkk5tiHADODPEhdXfJI8rKYBXWJQKdxn2U8yZOUUQ1WKH7YDoP4IMQtgwY8w9qi9vZ0gjRpfXFi8zTHDx-_91vMc-adq8C4l86uIhJCto4e_OeFhixIcVDj2rq4IRnRrWQX9WcJ-E2iAayWPyglJeR4D7xNiJasJ1uQ8dihJCtGDuxQk3UisdAskRGkNPDjdFsm2Xf-1WE8P68qGFG0OJ6E7ypJLr_cbzYWelDGPpnMKrVFaH2QfPqDy9bp1WWB4IUdGCB_CSGXPvlptVZJ-rjJA8GqLjIFYrwbt5vT859u5f_Lfuho3Iz6OAn_xxYLSbV3D3J-trdPDWAv7LpnAnb-aN1YJIBjHQ0X2IAs4cGNjrbAgFECUZs7Hi2U0SlUx1Rm05nbCu7h5L-zosawRpVjrqPpYTTjfiI1sejvr1nRDZkNO0tq12lb-gqNAx_qvuIm_LrUYjy1qUOwXxxwxFS95iZrLhAa3aEsFoBnQH63ImRTauhBjPTvgsyagJPdnH1lRjMO8FVS_XN2Dv_-b6ofRGZLKlctGH4r96v73hMSunnpZhy_ATgbMyfBTdsMTP0Ac1Ej8Rz3fxDjcL1GOXb_Qug97fc3RZByQnjRbMaL_rvn7Ql6jEnQzPbJurwbyCKt0EglDXIwgwMNqDrpUCBPits8eAC8QewyHp1UpRMfsHguwNeeFz3bXB2g7pkHBHiy9GAvAfVYoxzvesuDBQVIvJzFJ-Hnce-jARIkHc_OFd2_sBO_PO-gHeWl67ZOUBK9NR4Y-H6W2vLY-og1xyGwH0AcyT0lvGK6G5jsgY4dbdT18cRASlZ3VMDA927keohM_Lpo1HVcKCEuWADKzfZAUhfE7LYLkuksVNSQXn6XGc-_oB_8KAJSnuvG6cRBaqcPSaRKj2bjgFmikgXk568XbY_sCyzZHcih_c_7m0CzWa6KiBEYxgH6L4FcvRcR03dTLmT4KHRmGRZKoXrUXwfIy8Y61BiyGSxOB9z6025BXwhWN-aaMfGSkgPLQb9LFoSo8vsQQ4118-pqiRr3merHdHTqzhRh1E1w0bk1mrocO-vmhMhbnLbKxt8dM0RfYZw==",
  "id": "rs_08abb5a8bdfbf3e5016ab495c8e28487d0915629c6aa23ce34",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.018},\"note\":\"The forward move brought the cream bowl’s rim down to the fingertips in the wrist view. I’m lowering into the bowl’s rim height while keeping the fingers open.\"}",
  "call_id": "call_GMNq9QICGokHANi87V7NNtzm",
  "id": "fc_08abb5a8bdfbf3e5016ab495c9d2a887d09d3135cc1ba3946c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GMNq9QICGokHANi87V7NNtzm",
  "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]: [-0.0196, 0.8082, 0.6075, -0.3939, -0.0227, -0.0452, 0.9995, 0.3206, 1.895, 0.9665, 0.0235, 0.2188, 0.07, 0.9963]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1748 left_yaw=0.0025 left_pitch=-0.0251 left_roll=-0.0033 left_gripper=0.9995 right_x=0.4368 right_y=0.1084 right_z=0.0114 right_yaw=0.0777 right_pitch=-0.3135 right_roll=-0.1172 right_gripper=0.9963\nstate[joint_eff]: [-0.0068, -1.265, 7.0222, 1.7363, -0.022, -0.022, -0.0122, 0.2803, -9.8393, 6.0786, 1.7656, 0.1001, -0.022, 0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bfa7bfe3d2f603059497bbc39c9d355ad762dc117d328341e31a80765acdade",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92535baf616ac2ba972f24328431bfabe2bf472c34151500946708789637dbcc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33cca19754edf8e810a95d1e23314f19979ad12f0e3711ea42a424b732f1b679",
      "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 · 3.354 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]: [-0.0196, 0.8051, 0.6075, -0.3901, -0.0227, -0.0422, 0.9995, 0.3313, 1.6382, 0.7738, 0.0776, 0.2348, 0.1001, 0.9958]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1765 left_yaw=0.0008 left_pitch=-0.0183 left_roll=-0.0009 left_gripper=0.9995 right_x=0.4031 right_y=0.099 right_z=0.0568 right_yaw=0.0657 right_pitch=-0.1944 right_roll=-0.0773 right_gripper=0.9958\nstate[joint_eff]: [-0.0889, -1.3197, 7.0496, 1.6972, -0.0708, -0.0855, -0.0122, -0.5949, -7.4872, 5.7094, 1.5263, 0.149, -0.1343, 0.0562]",
      "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]: [-0.0196, 0.8082, 0.6075, -0.3935, -0.0227, -0.0425, 0.9995, 0.3244, 1.7809, 1.0607, -0.1211, 0.2188, 0.0692, 0.9958]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1749 left_yaw=0.001 left_pitch=-0.0248 left_roll=-0.0011 left_gripper=0.9995 right_x=0.4475 right_y=0.1139 right_z=0.073 right_yaw=0.0863 right_pitch=-0.2517 right_roll=-0.102 right_gripper=0.9958\nstate[joint_eff]: [-0.1026, -1.5521, 7.241, 1.746, -0.0611, -0.0513, -0.0122, -0.7179, -8.1162, 8.7179, 1.6337, 0.0024, 0.0562, -0.105]\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 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8082, 0.6075, -0.3939, -0.0227, -0.0452, 0.9995, 0.3206, 1.895, 0.9665, 0.0235, 0.2188, 0.07, 0.9963]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1748 left_yaw=0.0025 left_pitch=-0.0251 left_roll=-0.0033 left_gripper=0.9995 right_x=0.4368 right_y=0.1084 right_z=0.0114 right_yaw=0.0777 right_pitch=-0.3135 right_roll=-0.1172 right_gripper=0.9963\nstate[joint_eff]: [-0.0068, -1.265, 7.0222, 1.7363, -0.022, -0.022, -0.0122, 0.2803, -9.8393, 6.0786, 1.7656, 0.1001, -0.022, 0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bfa7bfe3d2f603059497bbc39c9d355ad762dc117d328341e31a80765acdade",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92535baf616ac2ba972f24328431bfabe2bf472c34151500946708789637dbcc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33cca19754edf8e810a95d1e23314f19979ad12f0e3711ea42a424b732f1b679",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJXNflisMXIsJATcQep52l7lUbwANl2dAKi8VoH_07pS-9IWct6N9u_Dt_0Wqcjs0PBOp3aeqxQrxIFOBHsUMFeas-Ij40MhySu7_pdFpcpZjxAWW4lGFOATiRJ0_3YW-V9NSZNS71GjUqerGFLKXagkCyZQBLwHQUUsJ3P4RpRELNhnyOTguqWq49VSD4p5H-dOuGPf_Z2j9xzl-cQSlbuPRm2bTrEj9hLNueSix5saI346Nh73sG_37EGioXb92JO_nrNbOB3r6gwcEwl56kausU2D9U_7dxfJpa9usYNzIqAOHorpaI9uQMPqmRXLsBMBNzm_i4kXxMKX_zaDW0awbxIousEV9v1Rt7KkMCjOlEAeF7WmjrbCnjLlWwJDHW35cPIiUZ2LKx8C4a5Ucu5Rhm0WLsRuyYF5txevQweYr5V2uij0ZRdH5wHdFsGE2H-ci7YIHlVRmCIJaAZuhAKdvUumb4Wv2QgEJArOIDABnDBmheL9Jjrh64VPkwyUv8fY_10qGqQJ21mJMn-M3n0jJ32K92gwaEOPXRUDX-lUo8SjpYD5vr-7Sk_NzPZ_p02YxGOQScZB-ZT81usCX_Swib4QKpZdIpoVZhMlFup_JXiff4VgNZp7PakviI2PmsfOixfzdNeCAJCUTQ7mLXPGGWx7N9kzUOqk_7w5uCxeOykBpa7GG0sdI_HrwhKJbQx7jQ5ADGLfUah35DoFv5MdfjiGJZ-cVyySvSL1m3a7rW7QQDGlnk09-1KFZd2UO9zZ5WmPZtjp2qlQHp3SvssGQvwywYUrJjscrBR9LF5kiWpV8SSuTnBSmc8hIzLQ9HJbwahOpiNrD4XFmwuGRZd3GIr0rWYmYCtSNEQDHy9wCRNfZ8IRY5lItKC-8V7qE9w7o6AlZx27a2HQdkF1YrpfWinIt3qIKABD3ovE_-XO0wGYKK6lfDLSLJlbNYoI50nIYYeexxj7Ozac4is29aOL3GE3jnt4BnAn69dZ7CVmtBMV5HfIGyusHfuNcSiEn0re5OswC8UTa0RfNZ4oYL3WcrShsz0REQc45gCQJWaBNWXmImtL1RfomqXuyY5b1QcB_NVBeHVROz3kaxRYcDmoFLuFSVQ6n8mdPZtNGdstO3r9CpJf0gd4uMEvUgEwALtVcyLVqaNlV0xeiotYOIvgKW9UeLq5dDkhFSi-2yYjhK_SRqZ3eKnZAE9dRjwYVh6cF8LZH6zaq9CIzIkvcQi-Tu58e3C6-oDh0ui2gKibMtfucw9i9QscqbnIFJ7PGE_u-kxbKZ_lEi7OaaI94_aVlQ==",
  "id": "rs_08abb5a8bdfbf3e5016ab495cc433087d0b829d9bf12901882",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The fingers are now down beside the cream bowl rather than above it. I’m closing to secure its side, then I’ll verify the grasp with a short lift.\"}",
  "call_id": "call_iwWOA2lKvF7KFnIAueWnfq6M",
  "id": "fc_08abb5a8bdfbf3e5016ab495ccb8ac87d085716c72c2e4e3e1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iwWOA2lKvF7KFnIAueWnfq6M",
  "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]: [-0.0196, 0.8101, 0.6075, -0.4057, -0.0227, -0.049, 0.9995, 0.3225, 1.8755, 0.9684, 0.0612, 0.1925, 0.0772, 0.1025]\nstate[eef_state]: left_x=0.2927 left_y=0.0018 left_z=0.1719 left_yaw=0.0045 left_pitch=-0.0389 left_roll=-0.0061 left_gripper=0.9995 right_x=0.4448 right_y=0.1168 right_z=0.0257 right_yaw=0.1022 right_pitch=-0.2602 right_roll=-0.0776 right_gripper=0.1025\nstate[joint_eff]: [-0.0479, -1.347, 7.0222, 1.8437, -0.0562, -0.0073, -0.0122, 0.0068, -7.6239, 6.0103, 1.1062, 0.2466, -0.1538, 0.4029]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0c2ee560f247abe3e1db3a541365580e9668401ca443f5ada681898026ea54b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:752909013a319a88d4e87bddec2a4ae518d9c8990f38c1bca2f50025c1cc842f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c70e89ca728d154bd5bb50abdc87f26ea037bfcfdaaaaae7fb06d41237fa7ad0",
      "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 · 3.685 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]: [-0.0196, 0.8055, 0.6075, -0.3901, -0.0227, -0.0422, 0.9995, 0.3321, 1.6382, 0.7506, 0.078, 0.226, 0.0929, 0.0069]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1763 left_yaw=0.0008 left_pitch=-0.0187 left_roll=-0.0009 left_gripper=0.9995 right_x=0.3957 right_y=0.0984 right_z=0.048 right_yaw=0.0766 right_pitch=-0.2184 right_roll=-0.0824 right_gripper=0.0069\nstate[joint_eff]: [-0.0615, -1.2513, 7.2547, 1.7363, -0.0806, -0.0757, -0.0122, -0.212, -7.1726, 7.6376, 1.5214, 0.1587, 0.0855, 0.5006]",
      "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]: [-0.0196, 0.8082, 0.6075, -0.3939, -0.0227, -0.0452, 0.9995, 0.3206, 1.895, 0.9665, 0.0235, 0.2188, 0.07, 0.9963]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1748 left_yaw=0.0025 left_pitch=-0.0251 left_roll=-0.0033 left_gripper=0.9995 right_x=0.4368 right_y=0.1084 right_z=0.0114 right_yaw=0.0777 right_pitch=-0.3135 right_roll=-0.1172 right_gripper=0.9963\nstate[joint_eff]: [-0.0068, -1.265, 7.0222, 1.7363, -0.022, -0.022, -0.0122, 0.2803, -9.8393, 6.0786, 1.7656, 0.1001, -0.022, 0.0415]",
      "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]: [-0.0196, 0.8101, 0.6075, -0.4057, -0.0227, -0.049, 0.9995, 0.3225, 1.8755, 0.9684, 0.0612, 0.1925, 0.0772, 0.1025]\nstate[eef_state]: left_x=0.2927 left_y=0.0018 left_z=0.1719 left_yaw=0.0045 left_pitch=-0.0389 left_roll=-0.0061 left_gripper=0.9995 right_x=0.4448 right_y=0.1168 right_z=0.0257 right_yaw=0.1022 right_pitch=-0.2602 right_roll=-0.0776 right_gripper=0.1025\nstate[joint_eff]: [-0.0479, -1.347, 7.0222, 1.8437, -0.0562, -0.0073, -0.0122, 0.0068, -7.6239, 6.0103, 1.1062, 0.2466, -0.1538, 0.4029]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0c2ee560f247abe3e1db3a541365580e9668401ca443f5ada681898026ea54b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:752909013a319a88d4e87bddec2a4ae518d9c8990f38c1bca2f50025c1cc842f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c70e89ca728d154bd5bb50abdc87f26ea037bfcfdaaaaae7fb06d41237fa7ad0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJXR1ER_pZb30Jbs_4pCrzvTlw8Y1iE8RcrvJ35ElOBmvoDKmGSr4pALR7PsUgYmnzbqSFSSFEfX-yHhIrx_eEgF2qTsdUnzGlQA2FK6ONkQHqBInF7pnmrlCDUQmOnC9Q_BqtWJL97yeXF2WmMsnoG5mex5AyOLNKXKm4kY6VcXa26Vk7hBJoDuksbyH_ERb6ooDta8vbjvmXxBXQ6ORyd_fWt4tqySp9I1vA8ILCkZyLii80thwOOhddTP9dFLtJKY0OAoyxWl99dDq47kwNl-Kdf-cr9gAJ25EWguu9rDcRVjx908nxeVyDnTMCq7ahZLEQ0NniMTVa3njaVY4iPxGOoI9oRNuTOkcpkKmBl_wtiGFw1G876_I0blur0Z8di9UYQdKheig0-brxM-NQaNqkuDCZLbO8ypuoJa7LZVnHHUcieQ4_ruFCvAO8jSXifdVuwjawLhNOOi5LB7nArfFw7aaarsgn6FM-08Pg2QfdpAWkmRlx04BNGnNuh-TuuASeciKHohcClJMYh1QIK96IY0FFNCzQIg90maf2wJBOBy1n--p0n5Nmcghvhcx8C7xMKgSgUpvyT_Bd-sXQouIqgPR-YGHeq8UUkNR9fURhTUczmPoAZryig_kcKTVEgibikFdJ3xdcwPf89pgK9J9MBF_CeIphNgoQuk94twp0DRiEJTuF-qjJtwFhme47ZLkapqqtkdwYeLi6p91f0I9oTiNIVF3tJjM-hFuq0Yl1GEz6D1g7TRaRAL-m1uW3s6xxNi2AnehwsIRzVdHKpo42SE0m1ewJNaqzAk3_X-j3g9U34rL4PE3uVeEy0VWxGkTuHRRAjjSqkZoEivoF_Tqcneb6isb5_jRhcd-rhro4Yc_fexcVsLr5w0qiGRvXzQk794u8yq4Ns47zPKD1SLUmCHtLcVn1UuoobEjnay0R8uE6H2omkzs2pRAqYpDWw_C2PDpovi1JZtkxq9W8ApE1a4tuEVWzKK5wBOFDFe99qp6XtqWIwG3Inz7E2JJeVk8t-MeCqt8IzBIntkM_MUrko6qs3lmE-6Z59DB25gJwsjH5TmjipthPkcO0KHdYP_g8XqdgcdQCrA6E3o_3K02MPnbUeNgwzwggTOrTuHH9skbU5rx_LDp__5If4-HphJGCw2x8f-HXG_rvYGjkkhunPONvxkWN7gNaRBNGYq4_8alvJSpkCNRb79-vN9lRv1",
  "id": "rs_08abb5a8bdfbf3e5016ab495cfa31487d09c17992f7ba2456d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.45,\"right_z\":0.095,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.18},\"note\":\"The fingers stopped about one centimeter apart and the cream bowl shifted with the close, which suggests a rim grasp. I’m lifting it a few centimeters to check that it is secure, while restoring the idle arm to its parked height.\"}",
  "call_id": "call_YHWrxpZrpTyuRkYlsa9wf7U5",
  "id": "fc_08abb5a8bdfbf3e5016ab495cfedcc87d0bbc26393b2dc73f9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YHWrxpZrpTyuRkYlsa9wf7U5",
  "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]: [-0.0265, 0.8249, 0.6098, -0.4309, -0.0235, -0.0505, 0.9995, 0.3206, 1.7966, 1.0798, -0.1856, 0.1749, 0.0669, 0.102]\nstate[eef_state]: left_x=0.2902 left_y=0.0 left_z=0.1639 left_yaw=-0.0008 left_pitch=-0.0766 left_roll=-0.006 left_gripper=0.9995 right_x=0.4399 right_y=0.1175 right_z=0.0622 right_yaw=0.1177 right_pitch=-0.3187 right_roll=-0.0833 right_gripper=0.102\nstate[joint_eff]: [-0.6496, -0.9778, 10.2085, 1.7656, -0.1587, -0.1148, -0.0122, -0.4718, -11.2479, 9.2786, 1.7363, 0.1734, 0.0806, -0.0708]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54915779dd7cada9ba78099d4608341d8ffc85fb96b7a8d95e3c3a761858c23f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:344ee6f9ce93cb40c2499b51eb105db3a235ad6167f41e63f9738647d2dbb802",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56c7cabe3d983a60bbcf5947f00efa7ffc89ec14b8e093b828ed3a0cc678ce79",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 11 attempt 0 · /responses · status 200 · 7.347 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]: [-0.0196, 0.8082, 0.6075, -0.3935, -0.0227, -0.0425, 0.9995, 0.3244, 1.7809, 1.0607, -0.1211, 0.2188, 0.0692, 0.9958]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1749 left_yaw=0.001 left_pitch=-0.0248 left_roll=-0.0011 left_gripper=0.9995 right_x=0.4475 right_y=0.1139 right_z=0.073 right_yaw=0.0863 right_pitch=-0.2517 right_roll=-0.102 right_gripper=0.9958\nstate[joint_eff]: [-0.1026, -1.5521, 7.241, 1.746, -0.0611, -0.0513, -0.0122, -0.7179, -8.1162, 8.7179, 1.6337, 0.0024, 0.0562, -0.105]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.0196, 0.8101, 0.6075, -0.4057, -0.0227, -0.049, 0.9995, 0.3225, 1.8755, 0.9684, 0.0612, 0.1925, 0.0772, 0.1025]\nstate[eef_state]: left_x=0.2927 left_y=0.0018 left_z=0.1719 left_yaw=0.0045 left_pitch=-0.0389 left_roll=-0.0061 left_gripper=0.9995 right_x=0.4448 right_y=0.1168 right_z=0.0257 right_yaw=0.1022 right_pitch=-0.2602 right_roll=-0.0776 right_gripper=0.1025\nstate[joint_eff]: [-0.0479, -1.347, 7.0222, 1.8437, -0.0562, -0.0073, -0.0122, 0.0068, -7.6239, 6.0103, 1.1062, 0.2466, -0.1538, 0.4029]\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 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0265, 0.8249, 0.6098, -0.4309, -0.0235, -0.0505, 0.9995, 0.3206, 1.7966, 1.0798, -0.1856, 0.1749, 0.0669, 0.102]\nstate[eef_state]: left_x=0.2902 left_y=0.0 left_z=0.1639 left_yaw=-0.0008 left_pitch=-0.0766 left_roll=-0.006 left_gripper=0.9995 right_x=0.4399 right_y=0.1175 right_z=0.0622 right_yaw=0.1177 right_pitch=-0.3187 right_roll=-0.0833 right_gripper=0.102\nstate[joint_eff]: [-0.6496, -0.9778, 10.2085, 1.7656, -0.1587, -0.1148, -0.0122, -0.4718, -11.2479, 9.2786, 1.7363, 0.1734, 0.0806, -0.0708]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54915779dd7cada9ba78099d4608341d8ffc85fb96b7a8d95e3c3a761858c23f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:344ee6f9ce93cb40c2499b51eb105db3a235ad6167f41e63f9738647d2dbb802",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56c7cabe3d983a60bbcf5947f00efa7ffc89ec14b8e093b828ed3a0cc678ce79",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJXVhJzsVp9eU9eYEXznOdXn4EkPJBpC6MtpG2eh2AN_qUuITEiA7Y95X5MDL5iODPGq5WgTgjr8dMm70HXmVSVX1TtXx1zNaa0cJzVFWLTS8OYuWikMruvKcDkWFkC4mubE_Iz-hIpHSzJaVzOgIhYQcEwUka0mvXoYlMXgxoZ50xs0zbWJkDHiDzBffjwBKreynAFW5rjhhycZif8RtZwgalwqfUtMLDU3RIMVeegmVD7eiFE6OGqZuNPKnsyKt0ZKtyskBwzEyZrwI-VYRcW0F7-llyFTyCOx9oKDcyLLK0vPHqrBOM4sDvpPNlDOsNY-ahDNSGhC9rtqHYyA-EdXMumCGPrxTYexVtxS1RzddhsVD-FpAdHltjbDHhe5M6u-Uf8jKS_T8UPvuPdcBdW2PdWPYi3GA1-NWrYpVj73QYk8MikeuyV39Gp1vMRc3lUn3uQmxtaB4yV86KzqnqxvAUa25mDVFXTlsSLwZivd24iLHnqnSlSw3M8vADE1zqQBjjfasCPevqJ1Wk6QIZDLlbYPJqusHamP2btV8xpGJA0XFKfF7SthnO9X2p1GnTEzaMZvB2DlmYcZl4n2598jD3dFpjmZfXSBgNi0NXVD-PT7lZGBrEJfCfunQ6yxjsb9AmdX_CW0pU5d20EiPunyPl-4eK2CmfrZbew58SiEcrBY_8SpxQz-_8u-MYMQFyKLweizwLtiOvfuLa5ZpTyPgEoQFilYcN9OgP05Mf44fQTXKT7Qgl6jmS2GqVfuyB3K8iDQL-zYw_JuXOG3skwQSmMHIeBxakpPDOfoZaviZPWdnzNmmrK6STNizhFfVLL5zIuft_ExVvks31Bg_ke4UxdcErHll3lZ4fwAlX8A_dSWg8VUIwaDV3KiVeklR-Fmyk2R5jN3ZanfJ9zznnQGqxTpZQVlbYaY-OoB6tJ1MxUmL25Gu49CgkHgh3ulHU4kkDBG9WzeS9ZpoV6xm6DdGDbm1ZHMm_bfb1hHRtsFlu7UzIKi-Smi86esk0uVfAbp1KjVpqV8x8oPH7kEus-lYO9EUZwOYt2Y-dQlfW6UR1cjKMDKBraV0Pwwg654WZYnznbEYFpieJXncj_55Hy0qbD4wPrglYvMV624iK9OlNUUuQBWbtg5sIfIOE_pZVy2VseatFU6MrezsDI0joFcCfVHGHKUPLaEle9c7oFi8SM35ebQQuYoE3bKnE0Dgdm4ZsR9eMt5py0X4nP0fSTxSs1gSj3XPUALX8G_Ag_odTawU_Y9YOcMaEU3oZbJT-XgCe6JAxeSHAyog3uIJbh1in4Zi9I3cyOR9GQA8uOdVjT7Q4OGNtUX59riganlsp_2LECu4TV3TWUuG3rAkGvQChj80h48Pw7rvsr9Wlqurhb3Lz5f3DDWjNIyacQQ7M8fMQUJjbHpzjbVVgeTKktd3vp3jkcZDK7Z0jPetKNqG2yuHxCtZB0mGkbSDwk4eL3YVcW3oGirhSt_8bzbxA38uaTkrlqp4Vz_hU5apnJTKBfH_FMZ-joG63plSaEDhuBp",
  "id": "rs_08abb5a8bdfbf3e5016ab495d37e3087d099fefcd4c314f878",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_z\":0.19,\"right_pitch\":0.18},\"note\":\"The rim remains clamped at the same opening through the short lift. I’m raising the bowl to transport height and adding a small forward tilt correction so it clears the other bowl.\"}",
  "call_id": "call_eVvRCtBcYuAS5v1VfXSvCl7m",
  "id": "fc_08abb5a8bdfbf3e5016ab495d4a43487d08f36296989477e1e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_eVvRCtBcYuAS5v1VfXSvCl7m",
  "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]: [-0.0261, 0.828, 0.6094, -0.4339, -0.0261, -0.0521, 0.9995, 0.3534, 1.512, 0.8722, 0.141, 0.2356, -0.0017, 0.1019]\nstate[eef_state]: left_x=0.2899 left_y=0.0006 left_z=0.1623 left_yaw=0.0027 left_pitch=-0.083 left_roll=-0.0054 left_gripper=0.9995 right_x=0.4347 right_y=0.1202 right_z=0.1619 right_yaw=0.1462 right_pitch=0.081 right_roll=-0.0932 right_gripper=0.1019\nstate[joint_eff]: [-0.0752, -1.6205, 7.0359, 1.6777, -0.0171, -0.0073, -0.0122, 0.1299, -8.4034, 6.9812, 2.3907, 0.2955, -0.0269, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b81df9c3846b4f796a7737cace8791d551ea794777f59d6a934ec77b5a8b63ca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e285a1cc91f722a8c9309024167d78ecdcd429354f21e5d5737faca07e01b18e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afbd6cf7845e008b0dac3f2225b69c97d3206b22c98588ee68af6a17be60ca0e",
      "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 12 attempt 0 · /responses · status 200 · 8.577 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 34 changed as sent

message 42 changed as sent

message 46 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8082, 0.6075, -0.3939, -0.0227, -0.0452, 0.9995, 0.3206, 1.895, 0.9665, 0.0235, 0.2188, 0.07, 0.9963]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1748 left_yaw=0.0025 left_pitch=-0.0251 left_roll=-0.0033 left_gripper=0.9995 right_x=0.4368 right_y=0.1084 right_z=0.0114 right_yaw=0.0777 right_pitch=-0.3135 right_roll=-0.1172 right_gripper=0.9963\nstate[joint_eff]: [-0.0068, -1.265, 7.0222, 1.7363, -0.022, -0.022, -0.0122, 0.2803, -9.8393, 6.0786, 1.7656, 0.1001, -0.022, 0.0415]",
      "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]: [-0.0265, 0.8249, 0.6098, -0.4309, -0.0235, -0.0505, 0.9995, 0.3206, 1.7966, 1.0798, -0.1856, 0.1749, 0.0669, 0.102]\nstate[eef_state]: left_x=0.2902 left_y=0.0 left_z=0.1639 left_yaw=-0.0008 left_pitch=-0.0766 left_roll=-0.006 left_gripper=0.9995 right_x=0.4399 right_y=0.1175 right_z=0.0622 right_yaw=0.1177 right_pitch=-0.3187 right_roll=-0.0833 right_gripper=0.102\nstate[joint_eff]: [-0.6496, -0.9778, 10.2085, 1.7656, -0.1587, -0.1148, -0.0122, -0.4718, -11.2479, 9.2786, 1.7363, 0.1734, 0.0806, -0.0708]\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 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.828, 0.6094, -0.4339, -0.0261, -0.0521, 0.9995, 0.3534, 1.512, 0.8722, 0.141, 0.2356, -0.0017, 0.1019]\nstate[eef_state]: left_x=0.2899 left_y=0.0006 left_z=0.1623 left_yaw=0.0027 left_pitch=-0.083 left_roll=-0.0054 left_gripper=0.9995 right_x=0.4347 right_y=0.1202 right_z=0.1619 right_yaw=0.1462 right_pitch=0.081 right_roll=-0.0932 right_gripper=0.1019\nstate[joint_eff]: [-0.0752, -1.6205, 7.0359, 1.6777, -0.0171, -0.0073, -0.0122, 0.1299, -8.4034, 6.9812, 2.3907, 0.2955, -0.0269, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b81df9c3846b4f796a7737cace8791d551ea794777f59d6a934ec77b5a8b63ca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e285a1cc91f722a8c9309024167d78ecdcd429354f21e5d5737faca07e01b18e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afbd6cf7845e008b0dac3f2225b69c97d3206b22c98588ee68af6a17be60ca0e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJXeF7-vOw7mlyb3PNIwOW-eRn3X5XHmrieYwyFpmg1AYRrQabGYP6YbPDcj-rAOKxtz6RjjMXVcDFPu0lY-uFceLyJ-JtJH-b8xdO0djSV-VjzUcu-i-9aBnK7-3mbQHRIMWWi0z0ewTY5gpiqJGuXrFU0f3EXf_Rk2W759V7BUQ_Y-gpBVKrlul6BiHy4opY_ghHsFmR0U403MROQZLRCAYQeA1ImZN4y86GQfS74qVT2yEEKvHYTcDQx32Z4MxhPCao_4vMOVwC3UHF88qyv4jCbud0vsYQXkEarW9E4d4-_-tFYjWBudQTJc4zolSQ2_ClYJZffgYjRAIX_4isUNxIKktBmanGLsleFb1BO0kPF6cD8BJAJDSKO8WJzEMRqHh33m2guh52M3OISVaq9P3RyhhsisCE4PYKwelK4OpOCn7cfourF_WEJtNU3sbzsklcmdCtzAkqpaqJmr2dggKqMXb2TpOjwfsvGxd_4z72koA0mTUxdkDAv2xjKjvuiqR3fR3D8xjq4IbkSIkyUgTe-csNJ9qk3TPfbbpeESfzjENG21Q-KnLrsec8yxAHWDCtElJvQbZQR8KTXV0VvLcLvPyLQrHeq1mAgBhwayJKgPt6HzD-Ubus9gag30nKwWPz3vZ2GMu4zPT5_WQCe2OYXBGqf8y5BFh9Lzt4Ld5D6VwSD9qPxhCkFsiFJHirAMKXxUvA26cLCGgQ7uYGPdohSiTroTR1QASDoGkodqTu6dueDvxFg4iU0LtCKFp_GO47RQo_c5KL1lBt48aPzBj3OHd2nMb1aPkY0p4EENMJODKCtKPc7UmYN5dQx1JMme3wvenm6wjxaekIAhrM0e6lMskxiNhRtyiB9zhBjo-5teoU9Lc90kO2wGpq0q6KzQ3tTM-7muvdM7KOPrSWOgVpDjN2U56Als5vW7WPihZqzoVP7uEuvITeUIFWQxa9TgDG50vEtotw1IFJCX1H8kDsTVHrfBPDBKnLGbluu0vvQPZ52Qm54R4hzfeGxHQsp8lkdNW2OA89M9a6D5KffAWXkczOMQFhOZi_REdU6tKps53qyPFS0t1JvGKta9vR-P0YWjtvHRtbmWvgHMz73WKWR6328lkvJdO4BKZhEmjXBsOsGI7q9L6tZ7cTTwy6QT8P7ar7-V-Ff5EoqbCXDVqLKzFJFwOWOfC9q3CdF36N1vZaKVsD7GYEm29DzwYTtbjb6Xi4oumrwaB__cosnjaTIZS7MK7puxQv9FQ3DvbmOzEivuokQzNJXeIbhgYTqpSemcOi9IWT-TeYWhS7ouQ92JZWVEdX_d8o5XTW01Ef1CvKQ3McPjRx2ITIXEHLkkaHOifYiPm0yBD7IShfmmloL4OiF38PSvCftcd1TMgjkAmHV3IPR55YW3pp7S-4R4SWB701jOlpJKyHIDLjtnzO82aCKGUmD_0xbtdISrU0qT0mty7l8JDQYYhbcvquInwboLxpIMtQzArIYR4-MWb4ptqIXMtCRIVdvFQwpWBVoudIEXVDt1T0j9eUqT5KghUTb7TZshEM7yQBAPanNWsbwxALrinxZx8MOISHMv1dDtYBDJjVWDAABtdmvKIYnmbznoGp0hOoX6M6EALSj-R-NhZTD4eLM-Xbb-QoqU8vGWwW3kllW2yRKB8YZ4V0CjoPZkJwAxWFkCXnNB6ovG-5ButBq_gjHd1elZQAJYQmzf_diXnAmlEeXeRHhla49p1BFcrZEdOu1itnlxEojZhu0xomAiX56PIvRdIq7rLUBG3iIBC16u66oTyNp8hdfhc91PYLhZUF0mAIA_Aqptp4ZMemR0_Rcadvc_sC4jgnMLziKaR_54NUkJqKdvY-xwnH_WVTw336DqDARMgqOIoxpym5jJ3qgB_yRHCSqZU6LUAlf9ajNyBWIZ4IfVJwgsoH4UerbYrVjV-jVzFBa1XgHwPxJQtG8hITwuE69cASwIClMXi7TaSLDdDTlt4kX87I90Bu_cERJs5g8_LutCZSZehmXNfXtLwZU-MtebyiLrOP7NkIGRhcEW4pL9tfG_MZmHYMCOlsvgDXUDSbEbpONIr0MizJVxxAdMUFur-TNBfDDSvPHVpqyMFRbq_3vCeLP1dLfV5uSu08amdWyVbDtRUM0xTVvzWqRRvsFL4Uy47NXsr0tvw4AXxmzTYafbGTsCJQirnIHVH5pjoJbmZtKBEJWuMhclcFO3jj_gyEbQHS5egK3uStKwSoayRNNBGLYkHVz2CjlP3TTgs6KOEsXKPS65xp4ZyUpguPZF-DV9sKPfh-AYzX7AkPabVXon_jbRudys03_NnybjtcR1voaVW_jnFhh9fWRS65DYxT8FksDnFEBEdnS2MtcIH6kySYlx8PXfsCbY95fV-6Qen25RT-s9TptVPmSgaaAtPydwzoLaxKSBdz5E2cFKhtjI3UVokniDhyWYE_6nNhLyGuCFl2R_934T5Dc0vilUlkVYLbJTveO_8HoKWU3GHrkmLjyaQYhaW_tkiZJfVbzsEwvhb_9HLP8WNXnPeCmL5aTmUvDcm6_IyGmhiiLFFPaNcX6b2bSaGQPq-_omp7TBN8IGcyW-dYq0CufZQpET6Io6b0Mya3AC-ZyLy5zj2hNkJKWTZzHkN_diSbxHO_q1Eqnw6Al_JNRUFGwKMAj83z0vyh0ymKqLa3pCvIwkyGYTiRgJF--SXFC5zH0VB7cMuSzlULE-FsusEcEw8hhYApTajZiSrc8g0Dxj0rzKvbGW2XouwcvnDG_zX71v1rWyFeRr1PorhePSwkQdqZSzRiwt_eopAE63awQbefTv6LPj4SUbNzh1pcMNaVs9FTebo-BXqBYMO0PfUmAUyHCxYtpFDnoNvgw-8ytKSq8UsnwVspcOMqQ7KeZwZNB8wv2AsgzfSukJbUDO4g_6RLmvz5GuqXaxp6do8TGcl6LSeDay",
  "id": "rs_08abb5a8bdfbf3e5016ab495d8c46c87d0a5f7cd3348c38f58",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.22,\"right_z\":0.19},\"note\":\"The gripper opening is stable, but the overhead view does not yet clearly confirm that the cream bowl lifted. I’m making a short lateral move at clearance height to check whether it follows before attempting a placement.\"}",
  "call_id": "call_aDwB5neMOzjSBcZIH5HWCJ66",
  "id": "fc_08abb5a8bdfbf3e5016ab495dde5fc87d09e1d19eb498cff2d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aDwB5neMOzjSBcZIH5HWCJ66",
  "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]: [-0.0261, 0.8288, 0.6094, -0.4351, -0.0261, -0.0521, 0.9995, 0.6186, 1.6539, 1.1057, -0.0441, 0.4286, 0.1059, 0.1019]\nstate[eef_state]: left_x=0.2897 left_y=0.0006 left_z=0.1619 left_yaw=0.0027 left_pitch=-0.0849 left_roll=-0.0053 left_gripper=0.9995 right_x=0.4266 right_y=0.2179 right_z=0.17 right_yaw=0.1953 right_pitch=0.0301 right_roll=-0.1235 right_gripper=0.1019\nstate[joint_eff]: [-0.0479, -1.4838, 6.9949, 1.6337, -0.0562, -0.0513, -0.0122, 0.0889, -8.0479, 9.9897, 1.8828, 0.2759, 0.2955, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebd0f82603676cbc9296bdfb509a719e7dd47019e4d7e3cf0b5def8df26a21de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0170299a82eeaf19c2b123f7de08a597ea7c13874ed647168174ecd892db443c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a210f13965d493f23a4dcd4aeea565f56a83e853477094000f1425adf70e691",
      "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 · 3.16 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 38 changed as sent

message 46 changed as sent

message 50 changed as sent

message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.4057, -0.0227, -0.049, 0.9995, 0.3225, 1.8755, 0.9684, 0.0612, 0.1925, 0.0772, 0.1025]\nstate[eef_state]: left_x=0.2927 left_y=0.0018 left_z=0.1719 left_yaw=0.0045 left_pitch=-0.0389 left_roll=-0.0061 left_gripper=0.9995 right_x=0.4448 right_y=0.1168 right_z=0.0257 right_yaw=0.1022 right_pitch=-0.2602 right_roll=-0.0776 right_gripper=0.1025\nstate[joint_eff]: [-0.0479, -1.347, 7.0222, 1.8437, -0.0562, -0.0073, -0.0122, 0.0068, -7.6239, 6.0103, 1.1062, 0.2466, -0.1538, 0.4029]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.828, 0.6094, -0.4339, -0.0261, -0.0521, 0.9995, 0.3534, 1.512, 0.8722, 0.141, 0.2356, -0.0017, 0.1019]\nstate[eef_state]: left_x=0.2899 left_y=0.0006 left_z=0.1623 left_yaw=0.0027 left_pitch=-0.083 left_roll=-0.0054 left_gripper=0.9995 right_x=0.4347 right_y=0.1202 right_z=0.1619 right_yaw=0.1462 right_pitch=0.081 right_roll=-0.0932 right_gripper=0.1019\nstate[joint_eff]: [-0.0752, -1.6205, 7.0359, 1.6777, -0.0171, -0.0073, -0.0122, 0.1299, -8.4034, 6.9812, 2.3907, 0.2955, -0.0269, -0.0269]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8288, 0.6094, -0.4351, -0.0261, -0.0521, 0.9995, 0.6186, 1.6539, 1.1057, -0.0441, 0.4286, 0.1059, 0.1019]\nstate[eef_state]: left_x=0.2897 left_y=0.0006 left_z=0.1619 left_yaw=0.0027 left_pitch=-0.0849 left_roll=-0.0053 left_gripper=0.9995 right_x=0.4266 right_y=0.2179 right_z=0.17 right_yaw=0.1953 right_pitch=0.0301 right_roll=-0.1235 right_gripper=0.1019\nstate[joint_eff]: [-0.0479, -1.4838, 6.9949, 1.6337, -0.0562, -0.0513, -0.0122, 0.0889, -8.0479, 9.9897, 1.8828, 0.2759, 0.2955, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebd0f82603676cbc9296bdfb509a719e7dd47019e4d7e3cf0b5def8df26a21de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0170299a82eeaf19c2b123f7de08a597ea7c13874ed647168174ecd892db443c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a210f13965d493f23a4dcd4aeea565f56a83e853477094000f1425adf70e691",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJXoL5uMVjqfaBgLY_Z0X6W6bbkQctiJT4U9-a2p_s1UwgD3G3A3nQU52KGplrjXRz3TNgcO7me79v3-N94vHmWsY9asziCkJAbLGddJBsa7Hpq21wJkAngdqNOtU_sq4Ntefzg66yn_n_kwswIzGMjw-BjlmUFPos2SCO6boVS9Al1iObI0aWMN4cnOCW-A_pdOlhq7GXL_cEvOYsPPR71lYhc_u-Ui8OhRPWkMyYybSnGQ9M57K-lE79HgJ5htt7mZHD3I-UHkUS9EaL8i2isbiu2P_7-fvP8cZnio81Eh-Tctoqq18i5P3NiV500JY6FoVRvoDwXv5hAgH5gtCG7_oUm2CX67KtPOJ0fIIwXWosuKQ8sLYq9FW9SZZVQymoUatOB470HoEks6b9tTSvKQuSizik2mVdwMET_rMLk_lTrSAKxMLmp3Dv_1lGpHtMDhyj2gZKmvLU_i20XrxxbDpbRvSRNLmg9RlVx24LVNNQI_MXiUE_72MxIUmak4cd0vhiUY8-lOPgX7JVii85hrz1TUcfXDuzrMnifJKG1A4dFOFgRqHTl-6tEfMPmL2Z4T6LP1Xw2Ox02YRszbl_jx68ebzDTNzH5jhMwzvzVNJ5rdYMC1P7OOQ7Qxu-W5DsAh-CM2G8DWxsdDnG_3txZJtgf7UxNt2dSaCTZ7ENei6-2p49TzD76teDO_tO78-YRyKkyzvxn405uoCExZFZJMpvqcIls3sPhP2L3F8tksSnMvuYEOF8ZuSy8-CYhPuFua3j1j7ARX-FaS5_rgSsJl0amudct5v9Oipq5i8pKyBaMLL6oDIJEpYXttWeZ195Ztqva1krDaw0XbWK8UuUseN7zp76YjjFh2zlgiz4h2c5u-P0tW0LTJfXFlCRRyTzlnhL6vpHj6XDEDtaLIjpH7HBlu0H9Xxik_NczOuh3wJ8Yom3p1wxEQdzrF7FXyJ-6n8-EaJePErVf4zC4AHWKC1DJt7zPeyJZvPIl5ztf45wgU_nghWx9bZgu2bDc-_EQVWGHXqeFYicUXYlRfkv2pEShEXouDEXPerT_tWVa-GdyPaMJDT79CHbM0En6xsI6VaAjXx7IwKiZXR4uTv90UgoYn8_iZwCLFkXSw71U--5pywdhG0r841jY81z7mu0fevgVm2FlVes_R_qsvQ79fQK-qINMTSoZ33Nv-xdR2FnOyUY1PhWXMeJJ_uwtUKOZj7nAPL_Ct9Woid5aXrh5tz9TPUcn4o5Vyodb5GYj2cTLM5JoWLvv3fOwOUNgJyiWJO_Bxxgq15st5KvycrG1QFsFenF9h19pdYkL6aY5mrQjuZk-byzCjw0nWkZGz4VPPXiL5ZHTNFtr2cg4DYgLMWXmlNzgw12zZv5ZM9Vgl4MXfRBI2X5kXZyX9F2YJjtE1FUNIZXDV5bY2DjInesMLcASZruUk6U9dMi94FjlvTmTQMpPSnXvZRFx5E7iYhZbACurV1r6TzouDO6aMWUIF1_3KJkwE_SpresJlDJTsd5PsxDgpzS1WTN_qh1Cw-pfqAptQgGYULZfehd1uVgnxSPncCORlTSPZjke7kr9dfD_zEa0VHv57bkVILIVQVbHKXqeQzKYkw-WAFoQbcJjCjbVWHCUnWxCuMikN1r2rO0KELIKz7zcS6HiPu7q0y5UXSV4ETfvFDymw_o1EaYNJJu_2j5skrw7gm-9MQL6X1GotOPX3Xw0-A19NGdYZCSWqspJe_z9qx2Uuw4E8rcYO7zK47p98PSLDWFz-TB3U30GfwMFrEIvht4w3Zd_UbwP_vxhkJetY89SVI3bJTmsi26yqbivwcVI_iJOxpKSKjhRy3iaz7ex75cS8maM7kgh2Sr9GV5N3uSioDkNW_6RsdqkoZSMEoU6mVArmzq8h8XseNz_0D12vsQsu_QzgfRmddfkCRZOtjNZsZ2pS0PLAW3xkCF7W4tjfkaGv9tHe-xqsTkA8hOAYjShhNB9k17pXJG8O8AG7POc9ISKj9gpfIudCSf9Nzp_e5Kv9y7fZWJ-MAMqiH5JEVrp_seCnEzhZHCJn6K7Aqn8rs-OwT8-SmKSacersNtjfEj4vLlnMejwwQMJrGwS7zGFiW93l86V4De5ndO5XSTdgO51RYufdoRF95RSbzrrAtwrvW4EIPgxxUSiX9itgXZjXDeNzS-YvEF07tuhihl1WiGhyfWniL6CeCXqgo0d_jld25h6g6h9i43KEmSKAIjTSxcXXKzEp_rWeIu7eJLEsHHsKgNxU3QjmkEAv6HWAlLnATTIXMhs_a9hiliT6_yVUcpp0jIAHHsjbedT44pICGXOYQ8ED6WqfBIFA9e1l_kS6zByc2MAooKL10IBnJaSX1D50S3nRYI6nq2g3lW3Qd_YjnT6fOj3w2DG4WfotVJmJ6vuov3S4n61ITmZqXIFXWezEUy10tp39NJ4Mcwal9FEAZYh43qBJ4wyhJCNlPgODryjPyG-FVDzihJvnkRZRYLKg_Deo9ycNpjPgmuD0QiFcI2uW81QRZ1vFA9IpcjEhgU5kUCAhkjqYlQeBa1NvEsv2knI-96eyc1oNBubcbyLpNAlrXRfoi3st1tTuUpGYIb1TDNmUNHrbaoJNGGshagNoVHPpoFYjycpwoZ96ijKMS86siz71F2xFj2C6c7m_GrGi77pelIUgP610l5X7g7XQJQlbjn59lv0HeamG5gXEVnEQEGdkMg6blwgRGI3798Zat6hqlJP1V42QruJWil_XGEpd96O6YoW6hrbnc-oj9eqnDaNCdsaAP_l3BIUUXkm_uWak-CgQOBTvuSw1oWGKTn9UMeMaGw-N8zS8J00jyWya92BNt5V27Yfx-3OnzF1CqcwbITUd_4-9UnzeBzks4WX42v_ly4VQ-wUiEBKcNAlPRJiFnGzvparj6YjpqR1qUu2Vpz7SZ3S7kZForgG4wDn7f6T4cSuKc8Xt26LzSABSAvx6cyMr_d2S1LB6AdThXVx27S-XPfj_N1S0Yfv1SKls",
  "id": "rs_08abb5a8bdfbf3e5016ab495e1550887d094f03c790859b66c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.475,\"right_y\":0.18,\"right_z\":0.105,\"right_gripper\":1,\"right_pitch\":0.25},\"note\":\"The cream bowl did not follow the sideways move, so it was not securely lifted. I’m switching to a centered grasp lower on the bowl’s sides rather than pinching the rim.\"}",
  "call_id": "call_iS8dB8qtDjB5V6lkG3Q9CvXZ",
  "id": "fc_08abb5a8bdfbf3e5016ab495e77a5c87d084d30ff3b0f7fc53",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iS8dB8qtDjB5V6lkG3Q9CvXZ",
  "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]: [-0.0261, 0.8333, 0.6094, -0.4412, -0.0261, -0.0525, 0.9995, 0.4736, 1.8805, 0.8654, 0.5846, 0.3405, -0.0269, 0.9962]\nstate[eef_state]: left_x=0.289 left_y=0.0007 left_z=0.1594 left_yaw=0.0029 left_pitch=-0.0956 left_roll=-0.0053 left_gripper=0.9995 right_x=0.4666 right_y=0.1769 right_z=0.0884 right_yaw=0.1896 right_pitch=0.1569 right_roll=-0.1452 right_gripper=0.9962\nstate[joint_eff]: [-0.1436, -1.6752, 7.1453, 1.7509, -0.0366, -0.0757, -0.0122, -0.4171, -9.0598, 5.6684, 2.1954, 0.0366, -0.0122, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76b8e46af8056795a0ad05a07256960f6193c373addde43f9e1a0b8301ac6d86",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:961255b28b799be88233076198152d96a9d43411e580264d30dc724acc9f7b8b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3388aa74e720b176c988f56832a90bc12a146a02a1fd27f61e0713e2c92023a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /responses · status 200 · 4.172 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 42 changed as sent

message 50 changed as sent

message 54 changed as sent

message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0265, 0.8249, 0.6098, -0.4309, -0.0235, -0.0505, 0.9995, 0.3206, 1.7966, 1.0798, -0.1856, 0.1749, 0.0669, 0.102]\nstate[eef_state]: left_x=0.2902 left_y=0.0 left_z=0.1639 left_yaw=-0.0008 left_pitch=-0.0766 left_roll=-0.006 left_gripper=0.9995 right_x=0.4399 right_y=0.1175 right_z=0.0622 right_yaw=0.1177 right_pitch=-0.3187 right_roll=-0.0833 right_gripper=0.102\nstate[joint_eff]: [-0.6496, -0.9778, 10.2085, 1.7656, -0.1587, -0.1148, -0.0122, -0.4718, -11.2479, 9.2786, 1.7363, 0.1734, 0.0806, -0.0708]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8288, 0.6094, -0.4351, -0.0261, -0.0521, 0.9995, 0.6186, 1.6539, 1.1057, -0.0441, 0.4286, 0.1059, 0.1019]\nstate[eef_state]: left_x=0.2897 left_y=0.0006 left_z=0.1619 left_yaw=0.0027 left_pitch=-0.0849 left_roll=-0.0053 left_gripper=0.9995 right_x=0.4266 right_y=0.2179 right_z=0.17 right_yaw=0.1953 right_pitch=0.0301 right_roll=-0.1235 right_gripper=0.1019\nstate[joint_eff]: [-0.0479, -1.4838, 6.9949, 1.6337, -0.0562, -0.0513, -0.0122, 0.0889, -8.0479, 9.9897, 1.8828, 0.2759, 0.2955, -0.0122]\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 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8333, 0.6094, -0.4412, -0.0261, -0.0525, 0.9995, 0.4736, 1.8805, 0.8654, 0.5846, 0.3405, -0.0269, 0.9962]\nstate[eef_state]: left_x=0.289 left_y=0.0007 left_z=0.1594 left_yaw=0.0029 left_pitch=-0.0956 left_roll=-0.0053 left_gripper=0.9995 right_x=0.4666 right_y=0.1769 right_z=0.0884 right_yaw=0.1896 right_pitch=0.1569 right_roll=-0.1452 right_gripper=0.9962\nstate[joint_eff]: [-0.1436, -1.6752, 7.1453, 1.7509, -0.0366, -0.0757, -0.0122, -0.4171, -9.0598, 5.6684, 2.1954, 0.0366, -0.0122, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76b8e46af8056795a0ad05a07256960f6193c373addde43f9e1a0b8301ac6d86",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:961255b28b799be88233076198152d96a9d43411e580264d30dc724acc9f7b8b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3388aa74e720b176c988f56832a90bc12a146a02a1fd27f61e0713e2c92023a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJXs5JCZp1e1qY7BTg1UxEik88hdMpPbvqO6AkAoL2y6b9y4urdOjTq0it9QZgio8m1rFso4M1RMQn9SWaSDAnRtq1oV0HFmmP4DIuBDZX_8X5E0rPsh4vAZ3dSoY-auLJUKbSSPq359ivSaEMc1DwWhK1tVHPu_1pT5wwuDySevSkyjIH25L7-BKZ0z0zdiYA0jfWsrR1w-6M6jDM23kar88nyZ4mL2QBub5RYp44_Udykx3F3EU6qgr3x5FYibEO1MNld2YI08sHZpInIt5cggdP6sy-gjol21oo0_6pg6T8o0chPnW7ukmC4W9BPES9leS5qbD6hTirTjjrOjALmdQ-EAq10UuwAVVI1T-Zs82ENHPtoLh5yMHNbhaA9uvHJb5UBOZEy5rkL1f95rcNotMt9sAjErC5FRVSC9V3yxAcyf80dRtXJzcNRGS81jcHo010LvihzwVv4Z73ZmYnnuiQ0b6uvN5hLnKswlljnahtDpsMN0Er4rW7wrD9ItwQZ35fI7h_fDBaD7K2ZSEn_l_G-CrWCVt9pD3pxpwI7XB3VPvOLoKIm7_BpOaruUfUH2MjjyScazGE9QEniXDZ6P0LjcwPsWI-I9iRkc6jSm_T7brj7rdYjcnyXCiTnNk0QGFaB9CfbI_kKJd-mzs9Z2xu2sc0jt3aDLbz4iMiFmEPXaPnRYbd9HIgnO05ipqVkXNT3DH-uMXeEVy8325wwxO5OCnTCrv9aL_qO7s_mfgZve-cJtPfQIqUL8xfWcKuLXA2Q-xeEN__LKpgzBBNYB2DNIhzrNeQ-6I9eILlA1pNvw9NBqZs7h497B1WdNklURR6GpTjER8f5Rdvf2NdWqRPEJslyqzuCCFWwKfovs8vVypE7RnmOMPuD9Njxd9cKCqDtcp6mDxAXEoHc7MPl-IEdBWzan5ghCMDZ-mWF5Mtk1TtCgtWqAPJhArl7E-9tmDsV9dIPRRSWNMYRnLDdL6NcB3gjrHVkCl_IIQ3Db78xovK64PhpTtIQIz5xGVvx4p8cjreJMYh2RXRSo6ZJihrLR4QVp-NooLsmkMMbQh-q0z8ZkNPAA57ewpDInccTsi_tU5uHaD0W3_Er6f0J5Sx3PhAZklfdOyflfH9Ujbfy8xzl6WM33qpulECe-GeXmpmJVuaNJm49NiCRWND77Cu1aK_jgV4VV4-87hXCCUkOtf2V6Wfs4ZxPzZymX9Hdlpiw1gCip0Ea3JDIDxA34SRFzsDQkpCEUBLOQGkwTuj5SuP_ghHGI_zsRZCLRGa_WkCdPcF2kynuZiAdbQOF7oMdlRE4f5bGtkLCNv_j_fYJi3J5UMJ2tO-CEnCBuqNnoynZhc7b0t6xkhEU-AU2b0VGmmi8VsaXrLSFLxFCpX8N5OuzXo2x_sOC1_wOvyTAIn7QEm2CepYhGXGACI-nJcNeV08HXdno-dsDIVbcsY5m7cNt-W8hUveX5VlcLDkus3EW2bAejCpWNek0xAtJ3_nDcw2YkLTjtJIE8pGIFzkQs8DIEHCZjMZnLA7_01YZo7OkSpEME_uNb1Q-tDkRPpg==",
  "id": "rs_08abb5a8bdfbf3e5016ab495ea3de087d0979637d287cc7032",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.008,\"right_x\":0.48},\"note\":\"The cream bowl is centered between the open fingers in the wrist view. I’m lowering close to the tabletop so the jaws can grip the narrower body below the flared rim.\"}",
  "call_id": "call_PqaS2mPV394yIYyQux1cudUG",
  "id": "fc_08abb5a8bdfbf3e5016ab495eb741487d09edcad7a0dec9a29",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PqaS2mPV394yIYyQux1cudUG",
  "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]: [-0.0261, 0.8379, 0.6094, -0.4423, -0.0257, -0.0521, 0.9995, 0.4637, 2.1216, 0.8795, 0.9283, 0.3195, -0.0254, 0.9959]\nstate[eef_state]: left_x=0.289 left_y=0.0006 left_z=0.158 left_yaw=0.0024 left_pitch=-0.1013 left_roll=-0.0051 left_gripper=0.9995 right_x=0.4887 right_y=0.1864 right_z=0.0513 right_yaw=0.1899 right_pitch=0.2672 right_roll=-0.1034 right_gripper=0.9959\nstate[joint_eff]: [-0.0205, -1.8667, 7.0222, 1.7363, -0.022, -0.0855, -0.0122, -0.5675, -6.2838, 3.7675, 0.4713, 0.2027, -0.1343, -0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e8b71fe85a4168aa1a1bd8d672f5506bc3f31e8f1a34cfd54fd4c9eb1a1d630",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c81cb02d27838736acd534cd41659a967a81571989d7d025fafb738591cfdb99",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a583ab1858792260ee6ee3b3eb3000e773c0297a5c4c7d13a0d34e6e6cafaae4",
      "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 · 14.15 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 46 changed as sent

message 54 changed as sent

message 58 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.828, 0.6094, -0.4339, -0.0261, -0.0521, 0.9995, 0.3534, 1.512, 0.8722, 0.141, 0.2356, -0.0017, 0.1019]\nstate[eef_state]: left_x=0.2899 left_y=0.0006 left_z=0.1623 left_yaw=0.0027 left_pitch=-0.083 left_roll=-0.0054 left_gripper=0.9995 right_x=0.4347 right_y=0.1202 right_z=0.1619 right_yaw=0.1462 right_pitch=0.081 right_roll=-0.0932 right_gripper=0.1019\nstate[joint_eff]: [-0.0752, -1.6205, 7.0359, 1.6777, -0.0171, -0.0073, -0.0122, 0.1299, -8.4034, 6.9812, 2.3907, 0.2955, -0.0269, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8333, 0.6094, -0.4412, -0.0261, -0.0525, 0.9995, 0.4736, 1.8805, 0.8654, 0.5846, 0.3405, -0.0269, 0.9962]\nstate[eef_state]: left_x=0.289 left_y=0.0007 left_z=0.1594 left_yaw=0.0029 left_pitch=-0.0956 left_roll=-0.0053 left_gripper=0.9995 right_x=0.4666 right_y=0.1769 right_z=0.0884 right_yaw=0.1896 right_pitch=0.1569 right_roll=-0.1452 right_gripper=0.9962\nstate[joint_eff]: [-0.1436, -1.6752, 7.1453, 1.7509, -0.0366, -0.0757, -0.0122, -0.4171, -9.0598, 5.6684, 2.1954, 0.0366, -0.0122, -0.1197]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8379, 0.6094, -0.4423, -0.0257, -0.0521, 0.9995, 0.4637, 2.1216, 0.8795, 0.9283, 0.3195, -0.0254, 0.9959]\nstate[eef_state]: left_x=0.289 left_y=0.0006 left_z=0.158 left_yaw=0.0024 left_pitch=-0.1013 left_roll=-0.0051 left_gripper=0.9995 right_x=0.4887 right_y=0.1864 right_z=0.0513 right_yaw=0.1899 right_pitch=0.2672 right_roll=-0.1034 right_gripper=0.9959\nstate[joint_eff]: [-0.0205, -1.8667, 7.0222, 1.7363, -0.022, -0.0855, -0.0122, -0.5675, -6.2838, 3.7675, 0.4713, 0.2027, -0.1343, -0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e8b71fe85a4168aa1a1bd8d672f5506bc3f31e8f1a34cfd54fd4c9eb1a1d630",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c81cb02d27838736acd534cd41659a967a81571989d7d025fafb738591cfdb99",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a583ab1858792260ee6ee3b3eb3000e773c0297a5c4c7d13a0d34e6e6cafaae4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJXwDJ5lXxuWgsQ4tRMgsDDSxq9r_Gt_Go3gp6HVFBsho4uJIZuZiJV5vz_659dqnO0XfinF11oCXNT6R-JIRBlFaikUCD1ovMItzEXsywXXaCfGdoawHi3CwhyEs_HBg0ikocDMZPaf45PUmMigzEugIgCuAAtTrfnccLZ4Qln8K1h79l1EEc8b279HI7E1eya-tLpNRP8IZ6siLxr3AAf9zmqWkg4qKH9-Cnqb1FIVOjKKNU1m4Choct9uz6OuULmzDS0FtgO-KtlqDn1eaO9t3A2Q9PWkNY0oWZsopp5gJlMj4TdpBpUM98WG4Q6l2QoMHD3U-uYb89ulXhk7g8vMpPXhJKKlPw90UgJNcFBbhm_7m4xYpd7WctN9Z7NbirkDtbHV5nTYCVwAW4zvl9uKhOAB3IWBQWYdR8khxb7a1LooD2ae4cJjH2KLGhnozITPs6l8UbZpR2ZtPUIY7x-95WX4c63476c79hCLbnHTsP02_7Mz_fq24tnoL6o8CK8SsWvK8RpCerhgkd-M-kio2ANrd_7QcMS9k2LOXCtmxWQo_B2q5fnyGHKmSepPcWjWePGAjQIProHhGLSJ07vF0uYdUnJhTLmMUMgSvTs3re4tQWkQtxQTqdpE_H8Y8ix5Z5n9JSNqcSempkpaoy5zeLZTPVaILV1F61VHxDXs1fORf730y2PW2feuncbZtprv_3pWytpWOTTXq3fvRv8Kd5yjKN-vl6vRWRe2H4QYB9tiecQhYZFfS-e9NC9KdpO4FB6BBP39rOEm6xNFoKqAbodmRL6gW3MuLkq5lEAe2MoHhanfcqY3l1qPcvpAzngDuR5PR09wnr2bWnUPiIhgHfhr3GJMhuu4_MIlvgotYIj5Rd-QKX_MTdpvpbzZD2EkvvD7JNjaOLAkgSPDs-Ng2I72cEtRR6YSZStmQJGM6TH4rQTsDnQxataCqwIj5b_Tf_ien2m3kO-oWle8xuvfnT4FLNBP33UpskysrcmIGZp5UF3fr8794ec7Ik6__8suJi8DbPurGDXq-vYY7T0fZSFkecop4H1ZrPJtuI_zHf7w_ESguBjxYLDsMpsbTLu6zUbzJkjok1b5zDmVVV8oUkuo-zJel0ryK-AWucs_w7SlJR4Kzywb_1AgFu0P-CDx6iVbE2Nc7Y9_bSU2q48yZXwwhAgmd60OpwTXTGc4pQqAlRHmBsQj6gSwDTeuDZLO-IQZyCG-zAKkLitCh454yQvuZBpBsPVtMF-ZB8zcc7DR7Iq6c9R5KmiMZZxHjCEqgNExBOIuATcd6s03hHZNKO9JInV2Uynd8b-rwjVZzOgVWqM350-OzpFXTOoBC4tU-b1ZU3nQ0v2vwheu81hvaV9f7eZ_dRCpGu7TpMiGAUI1qiepGDZ3apUut80Pkvem_YsgrUJOpeXPHW1BUazQ3Uvs9nwerMA57QEnQfdbG76DXqGBV9Z8tYBwFSbkuzjOOaO9RUjkNy2tS347prSzmwl4yslYTT97M0KivWc6S4NZhvNX42sdUKIpaTdQCNUu",
  "id": "rs_08abb5a8bdfbf3e5016ab495eea34887d0b7d2e8788e183115",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The descent stopped above the commanded height, indicating contact with the bowl. I’m closing at this contact height to see whether the jaws can capture its sides.\"}",
  "call_id": "call_0GwtT3CewwlNFX8YohgqnhHh",
  "id": "fc_08abb5a8bdfbf3e5016ab495f032b087d0a3b820a45de6c53d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0GwtT3CewwlNFX8YohgqnhHh",
  "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]: [-0.0261, 0.8379, 0.6094, -0.4423, -0.0261, -0.0521, 0.9995, 0.4633, 2.1376, 0.8921, 0.9199, 0.305, -0.0189, 0.0073]\nstate[eef_state]: left_x=0.289 left_y=0.0007 left_z=0.158 left_yaw=0.0027 left_pitch=-0.1013 left_roll=-0.0049 left_gripper=0.9995 right_x=0.4901 right_y=0.1896 right_z=0.0456 right_yaw=0.1993 right_pitch=0.2549 right_roll=-0.0957 right_gripper=0.0073\nstate[joint_eff]: [-0.0342, -1.4974, 7.1453, 1.6239, -0.0708, -0.0317, -0.0122, -0.253, -10.7966, 5.2855, 1.3162, 0.1538, 0.0659, 0.486]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b09581d34c62a8b25d84bfe72ce0b81cdbe55ab9a4baf36f4796ab14530ea109",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b07eb62ca581a7936bcb29e6b871d289d388445c8e5000f24e50ad30eff69b1d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a60a1f9422d6c982d670dd44aa59a5e7069fa0e1a14cb7940711536f0fb5556f",
      "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 · 5.574 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 50 changed as sent

message 58 changed as sent

message 62 changed as sent

message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8288, 0.6094, -0.4351, -0.0261, -0.0521, 0.9995, 0.6186, 1.6539, 1.1057, -0.0441, 0.4286, 0.1059, 0.1019]\nstate[eef_state]: left_x=0.2897 left_y=0.0006 left_z=0.1619 left_yaw=0.0027 left_pitch=-0.0849 left_roll=-0.0053 left_gripper=0.9995 right_x=0.4266 right_y=0.2179 right_z=0.17 right_yaw=0.1953 right_pitch=0.0301 right_roll=-0.1235 right_gripper=0.1019\nstate[joint_eff]: [-0.0479, -1.4838, 6.9949, 1.6337, -0.0562, -0.0513, -0.0122, 0.0889, -8.0479, 9.9897, 1.8828, 0.2759, 0.2955, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8379, 0.6094, -0.4423, -0.0257, -0.0521, 0.9995, 0.4637, 2.1216, 0.8795, 0.9283, 0.3195, -0.0254, 0.9959]\nstate[eef_state]: left_x=0.289 left_y=0.0006 left_z=0.158 left_yaw=0.0024 left_pitch=-0.1013 left_roll=-0.0051 left_gripper=0.9995 right_x=0.4887 right_y=0.1864 right_z=0.0513 right_yaw=0.1899 right_pitch=0.2672 right_roll=-0.1034 right_gripper=0.9959\nstate[joint_eff]: [-0.0205, -1.8667, 7.0222, 1.7363, -0.022, -0.0855, -0.0122, -0.5675, -6.2838, 3.7675, 0.4713, 0.2027, -0.1343, -0.0415]\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 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8379, 0.6094, -0.4423, -0.0261, -0.0521, 0.9995, 0.4633, 2.1376, 0.8921, 0.9199, 0.305, -0.0189, 0.0073]\nstate[eef_state]: left_x=0.289 left_y=0.0007 left_z=0.158 left_yaw=0.0027 left_pitch=-0.1013 left_roll=-0.0049 left_gripper=0.9995 right_x=0.4901 right_y=0.1896 right_z=0.0456 right_yaw=0.1993 right_pitch=0.2549 right_roll=-0.0957 right_gripper=0.0073\nstate[joint_eff]: [-0.0342, -1.4974, 7.1453, 1.6239, -0.0708, -0.0317, -0.0122, -0.253, -10.7966, 5.2855, 1.3162, 0.1538, 0.0659, 0.486]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b09581d34c62a8b25d84bfe72ce0b81cdbe55ab9a4baf36f4796ab14530ea109",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b07eb62ca581a7936bcb29e6b871d289d388445c8e5000f24e50ad30eff69b1d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a60a1f9422d6c982d670dd44aa59a5e7069fa0e1a14cb7940711536f0fb5556f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_08abb5a8bdfbf3e5016ab495f3290487d0bba6be59e4530c32",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtJYAY7vUBiZip3cRWoIhTDML7GsUZ8hvv4aJ1lQnXJK2uX3XiYLFvbVjWgTUOp16bcb5_OZwnxhzAd1vjtcNAune99gEp9JHdLEUzwE_pAdBCGVgG3sRtO28NrjnEMRkX2ohJfffH0-J6hs6ujYxTUoBx75fOe7EWX_quX_-E2hoNd3qi230zZWC4DRko1npmLUG9z65iPwjO1myQF1BFDkyvxnJRCh9Z9MHWkqMATGmQttbgjd-cyskrMzEKXGWd0wKy0snt1mkr2JM7p26Q5TyYiH8UhTyz46RaCIdCzC_Pg_-b4YvhzFYEYcvLnvuUUI0wwqtn7NKzCGa48sXo4lifAy7p2auOCdr-VXRh7AreP082seuC_YH2ekGs25XgYLBldnB5AxPUFPUtkyU7oAZv4dvcJRoQTQ5Aclb3KzD3R_ntn6BRm3SDcQjr96PPqGox1YR0zustvpg3vsjRzewXzo4NN68pisay5-XI0xAhCRhPpqlzx9pERgfNh-L_FWJMYz0dhSnn4SJqLOr9oC4GePf6oGS3D32pkmez1bps1jJ7R707TwSOZQdN7F-LVUcT7200btolPkZwvMIQvjwqXeKJj5OP-DwiUN9lGUPW7Jzvbm_45W9FYartP2m40WvZlvDVVkHpav4S2oYuU9UbMRXGSLGsPFQc83pC5LBrMhI9Jtbi198OvVy817z1EaJ7Bbr3gawEOO8ntusBYKpJrTuL4JyLPsnmXKiw2rUw96uTdJcFmofh0lWk8-WzB4_39QTTo8f-kSCuwDLKADUWs9JZCSaHLCuAAHNtFnR1niEWct1LKOuzJfZkh422JV356a-nVd77iQ0zQ7KTnvlbpVyp86T89g-6iLteN8PmW5U2L8fwmNPtmyen9jQobDuKQe4UlmdNsbfKT2jLdfgnV_LeqZmjJ3KJm8MnH_I_488-R0nv83Aj145dKQxER5RUWdW9pKVk6Z0GDaRhZ1IQobqC707jD-ozBrean9owvtTaO4PQOvW22F5muUyfSLBscaneEJITH7zPjTrRrH29q8OuEYzgTS5TkPHxY0Ew4BObJY6af4Iy1xKRrOHPUEziBMLECe3S0XSvc2-LycoiuT0iUc99LOaz9PPdQoJWceuMN_2LyLk3UswLQeCaWyWsAHbxUnR0ZDg4pDbdL_T9NgTHnZSq5OzqzqRgi26-5Uul8w5TX5F7SWPYSXeztrqGph1m0st8_weQJwrlxlT_Cbb6lCeosTnZLVFU8IM_RrXrZ24vx0o8jRlvOwfkyAmwvE7xAUJ8zGSfCOkuTAbBct2Xay40oFz4Be3QijSs1ZUmstOppPPUMAHHl0sYVvVOsLJvpeGVal5bniUvXkcP2NcD5pn5F3qgYH3eHxP6qNwWUF3KA0B2WRDWQ65NfxgXczWCJEelJdArS_XxfZMiFLUziDWpsAeQFbLbGLgtYtapGnJTUJzVz_ngYpck0_8DZwiVtUA4MtlH-_8O6sm9hEc7BuMU9Ps6mbXzMdNxj8CRIQO0frISIETToO3usP2-TG9kogqefnhhxt-4vuphD99iMY3ov6jIFgmivYvQ9qADcomJE_jiG7_qG9pZxQf56Mc2XUv-m3tKjz73EOOHLVipx0HDa3NQpcBCrDZW8tDnwPBVZAHXgbOKFtRArMrRGyPW8pcADUKuwA0okJ2C34Q03_D-KvyOE_PBNkxnyt0W2UuKSsJyMSCV63LhTltPVj3y7jaobiHZlR14rSt_0VFQVOEfgnxAqm7lixdPjBcxvqxvaEjWWcWBBRYytqMij8ddXXj61aN1vXZLy7CGlyJIUNpKlWYdicbboTB6y4ImfBvXrkCcT2DC6V5zRXpqeP0PhuLXw03-Q1KbwNA5diYAvSy7TRs-CBfkuucFL_PeqbJgJJ9huOAghjTCHfA-A9r2xboUvm5caZMDboWdQ==",
  "id": "rs_08abb5a8bdfbf3e5016ab495fbd19087d0879ff1ce5ed928d3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.18,\"right_z\":0.13,\"right_pitch\":0,\"right_gripper\":1},\"note\":\"That close was empty, and the cream bowl remains on the table. I’m backing away from the far edge and repositioning above the bowl’s near side for a better-aligned grasp.\"}",
  "call_id": "call_DT4iMH8zhz96hKGQMwqzffju",
  "id": "fc_08abb5a8bdfbf3e5016ab495fe8bc487d0ab37d2d6b38bf970",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DT4iMH8zhz96hKGQMwqzffju",
  "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]: [-0.0261, 0.8436, 0.6094, -0.4522, -0.0257, -0.0525, 0.9995, 0.6472, 1.417, 0.6971, 0.1497, 0.4076, 0.1276, 0.9963]\nstate[eef_state]: left_x=0.2878 left_y=0.0006 left_z=0.1545 left_yaw=0.0027 left_pitch=-0.117 left_roll=-0.005 left_gripper=0.9995 right_x=0.3584 right_y=0.1876 right_z=0.1313 right_yaw=0.229 right_pitch=0.0468 right_roll=-0.0851 right_gripper=0.9963\nstate[joint_eff]: [-0.1573, -1.4291, 6.9538, 1.8193, -0.0171, -0.0659, -0.0122, 0.1573, -5.8188, 7.8291, 1.5263, 0.2613, 0.0024, -0.2027]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df111054b5694e53fdbc19ef9b6948d146382378983887c0996f9f9f88e05a71",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00e8ef277949663e5aa5b4ecd3ed6b08157f3715bbbdaf3b53da8cf59d64bd87",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:604369fb8264459f4bff3820d4ac7a931d24619d64f970d17a477aadf6ea7b3e",
      "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 · 8.374 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 54 changed as sent

message 62 changed as sent

message 67 changed as sent

message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8333, 0.6094, -0.4412, -0.0261, -0.0525, 0.9995, 0.4736, 1.8805, 0.8654, 0.5846, 0.3405, -0.0269, 0.9962]\nstate[eef_state]: left_x=0.289 left_y=0.0007 left_z=0.1594 left_yaw=0.0029 left_pitch=-0.0956 left_roll=-0.0053 left_gripper=0.9995 right_x=0.4666 right_y=0.1769 right_z=0.0884 right_yaw=0.1896 right_pitch=0.1569 right_roll=-0.1452 right_gripper=0.9962\nstate[joint_eff]: [-0.1436, -1.6752, 7.1453, 1.7509, -0.0366, -0.0757, -0.0122, -0.4171, -9.0598, 5.6684, 2.1954, 0.0366, -0.0122, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8379, 0.6094, -0.4423, -0.0261, -0.0521, 0.9995, 0.4633, 2.1376, 0.8921, 0.9199, 0.305, -0.0189, 0.0073]\nstate[eef_state]: left_x=0.289 left_y=0.0007 left_z=0.158 left_yaw=0.0027 left_pitch=-0.1013 left_roll=-0.0049 left_gripper=0.9995 right_x=0.4901 right_y=0.1896 right_z=0.0456 right_yaw=0.1993 right_pitch=0.2549 right_roll=-0.0957 right_gripper=0.0073\nstate[joint_eff]: [-0.0342, -1.4974, 7.1453, 1.6239, -0.0708, -0.0317, -0.0122, -0.253, -10.7966, 5.2855, 1.3162, 0.1538, 0.0659, 0.486]\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 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8436, 0.6094, -0.4522, -0.0257, -0.0525, 0.9995, 0.6472, 1.417, 0.6971, 0.1497, 0.4076, 0.1276, 0.9963]\nstate[eef_state]: left_x=0.2878 left_y=0.0006 left_z=0.1545 left_yaw=0.0027 left_pitch=-0.117 left_roll=-0.005 left_gripper=0.9995 right_x=0.3584 right_y=0.1876 right_z=0.1313 right_yaw=0.229 right_pitch=0.0468 right_roll=-0.0851 right_gripper=0.9963\nstate[joint_eff]: [-0.1573, -1.4291, 6.9538, 1.8193, -0.0171, -0.0659, -0.0122, 0.1573, -5.8188, 7.8291, 1.5263, 0.2613, 0.0024, -0.2027]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df111054b5694e53fdbc19ef9b6948d146382378983887c0996f9f9f88e05a71",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00e8ef277949663e5aa5b4ecd3ed6b08157f3715bbbdaf3b53da8cf59d64bd87",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:604369fb8264459f4bff3820d4ac7a931d24619d64f970d17a477aadf6ea7b3e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJYGOMYo6ipvY767uSAwRZhWv3ZibWPIZcYKbChyresuYMUPNwXGoTruD89LEi7om32jxvUTIWm8N6daajSUrYsq_8wwsYcI1AC739Iy9bM7Dk5p5TlcPXq8CGzQMEYoWoGif_9unI9i3qF7jsnQdQcEkETsz73LZmlwhlsN-nrMZ4Mnv5ASlEnatz3yIDCQJ6pta3h4aCe2VoodfAIdDtZ5FBDIYlEq5lYtcuYwhprZt5x9IYyDZak4qLCGEL9dHZNeB7cflQD_csSfFA9s7IhgElG0oTOhLH3vaPK0sPMjIIb3zZQeSJ13FzHNgd94yxwQkbcOJgheISt58H2nMD8dPbhYOY9X9pnNHfsDXc4--cn_c5iGyaojPEpR_foyUZoJGbYD7zgCx54hAAhKH3iIm0yYxjfBWCG6k6tSjaropUqObRm4TflL0RF1BIu7Q68aIgEkaAgjiBomZQ2VzvCKYl4-3kNaQ0aHFjezau_geO1SKedUT6sZsPoEjdoqehleIe-0pCIrjHvzMxy1YE0lRx9U2a0gV-18yTedpPCS5_n1NmNRq3kVbm8xY_OcCLqKfIyLGwGzcmRqQHJ56RRadBnNELPyjSq4QXlQfASdb5-uC2ohZeWiQf0G0St_1L8_FtGMuPC-JmWkzDhfwwc52vlhsndknyt5vfHZj5q6xVGiG70F-BPoJD7ZhK9mE-2Q47CfYQcRvVV1UF3DlLc6k23w5cG6DICV8pjjiKk2rVogvqQwEA7vK63v4yyxDIotjZOcYHxdeFtU2XvfA2leQXeFr_0uu6KkbZ97n8-dAnzx0FtSHxKYtMYnz84sHauXfizYZOVcVXIBYDgX0Y3dkduh_K3rbx9rC5_Z_3q9Iy6NgtVYVAAPBTkpTgVeqa0K1nxrqHi4kmqXOKWxRXFIpa5vnxdi3Sq87CUK0U_UGdG0_IHO3epmxYGZBFKXS1j0u-FS9LC5K_lpFIhit7C6x2TbFo_R9CLrxknsaq0smdTrppmlABxnlZXiqE0TD31F1Shg95pw_Gen2ufbem8Dp_s27Zk-D-aikNvDgDO6mvZpqf3KANBmVG_bJP1aYJA3iUYYU_31DjqNzoHdsj42D-XakyCnlf3ihpwACM5rzVjo11TwxJfa8xOZqZUqsrFQBVjZX0yyNU4HFV8kaTlFf5_XahisMjKeIy3kQOxIB7sX8_T0K9cuzEGSJHLYnZS5IGV-3M2NVzh9kfiHVvfwh9KHZ4BmGIYx54UGhkyOIRrYiERR3EPzf-dYrIVMDtF0HmA_v7SCI5pfn7vznDN8NMw3wDIbkSNxEoCMpJqOoBc_bB5WSTp8nZcjUN0ptWszrCiXJsZFNY3fqNtQ_wNgdEpOs2LqgZNbfSVv6cQTXZPMUNRuFxo6D8MEWHTM8gVxpzjKEMY_x4KEIIKteNqblnznmHS6409mV6KM2DQmEF1NdbO89dPKp32TkyfVjKE9OXURJq0V3OjtYx6e8yJbBwZMeEu6hJctXu6gP4H6co_LPDQNRMwHr4JcS8TXMXMS0Idz1qIBIXFSddNReI2Ng3Ie94FQy_qNqz47rRX5tpcdgGbbBH6ma2vlETLIR_LdjV97J4232hJMwK7WjcuTJqerQYHsbLqCngEQejvnE_CVYwsahDHSlQCh077ZNaVbyyPvsrNy32lD7Cd0XgHnvYDr2PXht76OUd4LIMf2PLoPo_uRBCaWr4-50DNRoS0wEVmruyee9bTJX_S0Fkb_zWXNqphtaPzUM8ExSFy857GK7e_i5xrejoDN4rIlMn7DAHANvT2VXRiEbKAgPtja4bMyXkceBogMrBlTckr1mHDTuGSFQYKtVW77NrUvTXc-iJwK0fjdDqPka93czL2DRW8DqKiPl1aogoJ7jc-taaI-Q1tc4xHTfx0nPFPkr0F3vnQb1y47KJOjPg_lPkHrXQ==",
  "id": "rs_08abb5a8bdfbf3e5016ab4960294d087d0aeeca648ddba348b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.15,\"right_z\":0.022},\"note\":\"The cream bowl is visible between the fingers, slightly to the right of center. I’m correcting that sideways offset and lowering around its body near table level.\"}",
  "call_id": "call_xGIC1tqtlSUnVi1WC4CZCP6v",
  "id": "fc_08abb5a8bdfbf3e5016ab49605550c87d08a2d2717880d970a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xGIC1tqtlSUnVi1WC4CZCP6v",
  "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]: [-0.0261, 0.8448, 0.6094, -0.4572, -0.0261, -0.0521, 0.9995, 0.5457, 1.7142, 0.392, 0.6895, 0.3313, 0.0738, 0.9963]\nstate[eef_state]: left_x=0.287 left_y=0.0007 left_z=0.1533 left_yaw=0.0028 left_pitch=-0.1231 left_roll=-0.0042 left_gripper=0.9995 right_x=0.3421 right_y=0.1447 right_z=0.0105 right_yaw=0.2192 right_pitch=-0.0301 right_roll=-0.1133 right_gripper=0.9963\nstate[joint_eff]: [-0.0068, -1.5658, 6.9538, 1.6532, -0.0464, -0.0708, -0.0122, -0.335, -6.5162, 4.3556, 1.9805, 0.0415, -0.0611, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca9495727c5f4f54a25181e06045e27858250cdedc45b91727ec1be6bf0f9074",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbd2fa03c0aef65289dec01a807fc6622d6f6426771e517990663d156b175fc6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa90cb21337cf2849313fb761c427fb999a273ec144bff16e973efbf8d36b9d2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 2.97 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 58 changed as sent

message 67 changed as sent

message 71 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8379, 0.6094, -0.4423, -0.0257, -0.0521, 0.9995, 0.4637, 2.1216, 0.8795, 0.9283, 0.3195, -0.0254, 0.9959]\nstate[eef_state]: left_x=0.289 left_y=0.0006 left_z=0.158 left_yaw=0.0024 left_pitch=-0.1013 left_roll=-0.0051 left_gripper=0.9995 right_x=0.4887 right_y=0.1864 right_z=0.0513 right_yaw=0.1899 right_pitch=0.2672 right_roll=-0.1034 right_gripper=0.9959\nstate[joint_eff]: [-0.0205, -1.8667, 7.0222, 1.7363, -0.022, -0.0855, -0.0122, -0.5675, -6.2838, 3.7675, 0.4713, 0.2027, -0.1343, -0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8436, 0.6094, -0.4522, -0.0257, -0.0525, 0.9995, 0.6472, 1.417, 0.6971, 0.1497, 0.4076, 0.1276, 0.9963]\nstate[eef_state]: left_x=0.2878 left_y=0.0006 left_z=0.1545 left_yaw=0.0027 left_pitch=-0.117 left_roll=-0.005 left_gripper=0.9995 right_x=0.3584 right_y=0.1876 right_z=0.1313 right_yaw=0.229 right_pitch=0.0468 right_roll=-0.0851 right_gripper=0.9963\nstate[joint_eff]: [-0.1573, -1.4291, 6.9538, 1.8193, -0.0171, -0.0659, -0.0122, 0.1573, -5.8188, 7.8291, 1.5263, 0.2613, 0.0024, -0.2027]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8448, 0.6094, -0.4572, -0.0261, -0.0521, 0.9995, 0.5457, 1.7142, 0.392, 0.6895, 0.3313, 0.0738, 0.9963]\nstate[eef_state]: left_x=0.287 left_y=0.0007 left_z=0.1533 left_yaw=0.0028 left_pitch=-0.1231 left_roll=-0.0042 left_gripper=0.9995 right_x=0.3421 right_y=0.1447 right_z=0.0105 right_yaw=0.2192 right_pitch=-0.0301 right_roll=-0.1133 right_gripper=0.9963\nstate[joint_eff]: [-0.0068, -1.5658, 6.9538, 1.6532, -0.0464, -0.0708, -0.0122, -0.335, -6.5162, 4.3556, 1.9805, 0.0415, -0.0611, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca9495727c5f4f54a25181e06045e27858250cdedc45b91727ec1be6bf0f9074",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbd2fa03c0aef65289dec01a807fc6622d6f6426771e517990663d156b175fc6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa90cb21337cf2849313fb761c427fb999a273ec144bff16e973efbf8d36b9d2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJYP_oUHBbLJl7HnjGFYwW83t-CEDEZrzrVvQMjcbG4Ocv_V9tH-sUGs5zxQVof66jkUOCiArEZhnVGxLRNT3cu5wcjkYKIU52P7_S3bZPFCWVOdst9LLCZhD5LfxwdzPexAVSI-g9WpP1yUshkzHMdRqHDcHxpmuH2qPPcKIpMUWPsFf1c-wQAZRsn90xFDetPj7Hf-SfDKdehcin_PD1bpkWwbKDtNWOK9XKLDkrCrE4UDl7D7kS0g0FZTOuBiCPFiU4BDzxrVFikAXXxRpil53K5KMOdc3M_xUoDXz2JhzCX7aMU5ZCyHMFYQEMR3U_WFppzPn3teh-q2JOew9wh2QC7hF8zzXH3YCCVYTWGXHftxb8KPn_FCurjN_rjM1DeQQOwA5o1IBLP3aZLUcaTBJhTmxq5Ii-AMGl4SJljDzuAVUDmf7cSCjpbRO1TvfjwZ0r9jrG3BHAu9d8Kk8eKDZr_HqTdsvA7YA9LT86VNUkgtHaOYhi5O1MGApaTlWMrI3ESCJG_zrxauBxWVmRgspnKc1dz9ZQPOnLpeSIWPGjBJtwrMb-sn3ekDPg62T23rOLYxgakXMhtMwWfFompxUP9JcBI5IUi7DjnaAPGpCt-UhGYT_1vnfKFZ6zLDybPlfEwzqq-Yt9QQBgZGxTK3AepvLJiTsdsCETlKs9lgxzWxf4rCbBzPFQQXCkXQX_mSvS_g6ZbKCsWoDq7tzWlbGVYFt_iEiOSHk4OVFGDvMxOYhxo6hhAp9yfkSSrE98D4Y92--eejFvH1G1r_qs7Dhn6xplk7ivjq2LlE5k7M8ePN6mFlITNFWQsHYHG-0sxNDmwu5pQy2lLhAJE54C5ujL4-I_5-22--3VwB8nSUHAxkUvYaUQtMIak8grcSPleWlu48yh0VaRGZCIkxt-NonKrZ0Nq-IFLEglPaZtM9vdtlUbsF0xK9wDycnxutI4v9iygUu3vFqWWbIKecrPjwsVA-96xex2c3SDBORZ_wiyzp5k3NOVY7Imufj2Llodlv-0dAh8vnocmkhA606iIer4CVDUh_JKowKThr1n6kECKtUi0oxRWYk5Dmj1a6IprGw8eljRYWRaEL7J6FLhhLN93Y0X-jvwICQog3nShxMMHwKmWBUpeh9mFBts2brExN37BKjEhu2J7WKbtnRFPw8ax4MOoh_EbprTwqyjP-B33a4wnU4uHfxINKcJQPHxvKXRXrOIas3O4eoWaGVp_pxtS4apvNKprb9sO6FEzlaW9CDC2Ktcl3wSNrZ66bM02j1Mht4_9nRExllhjZFRL3lNbh-9tUzguS15bs3ZL6bMNE2VpQI6xE_9H_gYgULDgo-iii8uRDN1MTNmKTFOD5rpTvovtp6x7xoyiwQ12s8Y_Wo0ePfHGRh1NDyfEgQalfK09DmVzXX-peub-QvwXJawPBvttJ_B_HvN2HxkhSgjNJmzBQtlRTw7XlTbQSXMP8uTPACS5h2ett_3tjZU0lWpQyVAOI4I6g3DddyUc8eBGTTXmAotOjs4ogKXBleBfzwz1UVLJ8GU4Jd0aocqW5vsF8QSYy16MVpFfjLSKLOVK36M4up-rZwdpKyhhpatFXYVfluI2YXSbmxjAHq-mfYpdONUhBPC1CPK5QnVDUK0AkPp_qmepoN8mVBK9YdNbpM8C3htq9Fl69tVXAW5_ICyffBeishCJi9Zu90tjWESJhMxyJEF4vGTf3cK35Fr0zkC2FqvSwfjWEwKoI6Kau_MUEd5YvYkRkRbziCzh72KORtXGe_yWYSUXmliCrg7Fu9DYQ6MLji8R3qQvCDemkchZLVMabnp8JrscHHL7A2QFJ6-S7P_aqP7KmG8IM_MKpYM-j5h9XcPM6yX1XYvqGzk8ggyVSQm3WHe5K6EArYD44VCt8elAoCMzx3QD3fK07JEfP_KOz76zs2eH0rMutCKOwyyeH87EOX0nNNmfQDY1yfa9kNWMymkXf1EFQoQPW34am3dJGxqtRmgAFzHZHp9FKoJ949pLFUI1yFk7qbLBEXI8NjHyvFziE4R-OBZhVKHkr6iXvwhyGOTQiPaoi_uBlK3P-Fo2b8uDrG7FrEwSSfD-dPBNJY37OpkBkO3fikd0BzoYIy7U4w4E6V9IMvysoQkLcTnUxUpjDFQf5Sv8f55xXra98h-L8utBj0jbjzrlXfqlou3c5CobgX_80nor5TOM0va-3FyX-on6iBZ0=",
  "id": "rs_08abb5a8bdfbf3e5016ab49608c30887d087d528d9059feead",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_y\":0.115,\"right_z\":0.025},\"note\":\"The bowl moved slightly as the fingers came down, and the gripper is still at its near edge. I’m advancing between its sides and shifting right to center the bowl between the jaws.\"}",
  "call_id": "call_HWIbF050jPVAnIymtPcgB8Cz",
  "id": "fc_08abb5a8bdfbf3e5016ab4960f0f1487d09080ed2a7b580f87",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HWIbF050jPVAnIymtPcgB8Cz",
  "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]: [-0.0261, 0.8455, 0.6094, -0.4606, -0.0261, -0.0521, 0.9995, 0.3496, 1.7615, 0.5442, 0.627, 0.1936, -0.0315, 0.9963]\nstate[eef_state]: left_x=0.2865 left_y=0.0007 left_z=0.1524 left_yaw=0.0028 left_pitch=-0.1273 left_roll=-0.0041 left_gripper=0.9995 right_x=0.3989 right_y=0.1131 right_z=0.0268 right_yaw=0.1941 right_pitch=-0.0147 right_roll=-0.1139 right_gripper=0.9963\nstate[joint_eff]: [-0.0479, -1.5248, 7.0222, 1.619, -0.0464, -0.0513, -0.0122, -0.3624, -6.0513, 6.3111, 1.5653, -0.0611, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9586483b0f0ad4bdb765a6c8cfef3b432b10cd5adf429d7cc7912cf208f1d46",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fa47a1d83e25a06c0318de50762e2bf8a87d5cab952144c05adcdd5534495c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d79a19dc1487b1b14b104889448d9b9c0124fdb97ffafcefe0c0c253225ab1e1",
      "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 19 attempt 0 · /responses · status 200 · 7.401 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 62 changed as sent

message 71 changed as sent

message 75 changed as sent

message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8379, 0.6094, -0.4423, -0.0261, -0.0521, 0.9995, 0.4633, 2.1376, 0.8921, 0.9199, 0.305, -0.0189, 0.0073]\nstate[eef_state]: left_x=0.289 left_y=0.0007 left_z=0.158 left_yaw=0.0027 left_pitch=-0.1013 left_roll=-0.0049 left_gripper=0.9995 right_x=0.4901 right_y=0.1896 right_z=0.0456 right_yaw=0.1993 right_pitch=0.2549 right_roll=-0.0957 right_gripper=0.0073\nstate[joint_eff]: [-0.0342, -1.4974, 7.1453, 1.6239, -0.0708, -0.0317, -0.0122, -0.253, -10.7966, 5.2855, 1.3162, 0.1538, 0.0659, 0.486]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8448, 0.6094, -0.4572, -0.0261, -0.0521, 0.9995, 0.5457, 1.7142, 0.392, 0.6895, 0.3313, 0.0738, 0.9963]\nstate[eef_state]: left_x=0.287 left_y=0.0007 left_z=0.1533 left_yaw=0.0028 left_pitch=-0.1231 left_roll=-0.0042 left_gripper=0.9995 right_x=0.3421 right_y=0.1447 right_z=0.0105 right_yaw=0.2192 right_pitch=-0.0301 right_roll=-0.1133 right_gripper=0.9963\nstate[joint_eff]: [-0.0068, -1.5658, 6.9538, 1.6532, -0.0464, -0.0708, -0.0122, -0.335, -6.5162, 4.3556, 1.9805, 0.0415, -0.0611, -0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8455, 0.6094, -0.4606, -0.0261, -0.0521, 0.9995, 0.3496, 1.7615, 0.5442, 0.627, 0.1936, -0.0315, 0.9963]\nstate[eef_state]: left_x=0.2865 left_y=0.0007 left_z=0.1524 left_yaw=0.0028 left_pitch=-0.1273 left_roll=-0.0041 left_gripper=0.9995 right_x=0.3989 right_y=0.1131 right_z=0.0268 right_yaw=0.1941 right_pitch=-0.0147 right_roll=-0.1139 right_gripper=0.9963\nstate[joint_eff]: [-0.0479, -1.5248, 7.0222, 1.619, -0.0464, -0.0513, -0.0122, -0.3624, -6.0513, 6.3111, 1.5653, -0.0611, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9586483b0f0ad4bdb765a6c8cfef3b432b10cd5adf429d7cc7912cf208f1d46",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fa47a1d83e25a06c0318de50762e2bf8a87d5cab952144c05adcdd5534495c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d79a19dc1487b1b14b104889448d9b9c0124fdb97ffafcefe0c0c253225ab1e1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJYTvoDbC0h4wQCUntgTmLNacV4FRKFUJWliAzVtdg8HpI-eqzT7d3XROmEmhD6aGIoUE2rh4e9Tvo1UiWmkXZ42q10UNB44JejDKagg2huyq3k5rw3oqwfywQebAYAdtmP2M4H9_aPgE7vV0AdZBk6j5jj_l1K8eQ3Q1iybOqNQ5lE1Zpm6QBQD-8LkeMXODXoHtjVSPH7Sc1xKrcGpZfFFTPhI0GcfuDkwkoM7RciEHnOlCzFFj6Cmq0xZ3JwqId6ywVJxHhgSwOxsldkP8GgZb6vq6_07f4J0CSy7owz0ucTy62Fa8J9FGLjZuqV41y8Az3Kydso6xfFcowWlhZ3b0VLwGlH3zybQF5sbmO-I7Yv48D476cxuUPUtyHyo3gaT7iFQEQI2hjWwOzvBpE-HylXslSgWR-q8iCTanrncFGm_90jjsyAzK4TPhdAEHpflzgN37fN9DkYcFO4rOc3th7B6YN16omHsZkaYWIqaopqIZApSYmVGyZueeyJW5Ju9xR79hkS8hvHJ79fJLEHLH4t0B5amKRUnYlJrmKcKLdOchBU-JBNltvOPBHoOqepospk-YZkfbC0StbQj09v53aWB8djezL5AsCe4q0n3txVa1zz9C2KmDveXkzmbEPiAevWJ4-5nKIIOZFKjVSm-_sGIL_bHxukp35glqWm3ww_BT4O5lhZ0chN2OEOyMhCZ58w8YFuV8pKXQN8rLMM97VBSLGCPYDoFMIt-warJ2ecBVknGxbKXAWNKKrEDfoPYw-g-uK4UFAQvJRW6wgvt3I1MCyj9XZdK9__vrkZZOkBDB5ltU0SMe9KxcWjJ9TI6-RioydPFkZNYZzRNC07S_z1WJAyRIAgRHFqLhvfWCA_idWqKAScS3OC3RAOWAsA7Vkh9Kwo2qJAfxJdoNQmCCrHLTsbXWsuU6TfEPAroINmTtdoz3iFu1hof5qxo30QneRbvDanbpl6AvzXQjO533Gom2Zu-Imu3_OLhBgno9W1KTnm6FyrL5hnQ7j2q_3W16YCxZQe792t1Ha5Vw_NiTBWwYWESm-_AlUflRCsnehQnE8Ssr4B54xq0kFU5m-tm_wJHoT5ME0gBBBFMUC2CLEulku2p5cT_uKrElYyh2x0shiwTNfmkYugQBOKujauSeui8UObS2Tth3aVmTFA0L9hHUGEzWQh75_Ukz8ur0basjQVJJ94AJ3uY4AHsFFo6JEkZEaM8a091BKW-AQr8Q8_RzJIo2LvUDvFn2FBiN-YuVYZrhnfWzwtXY8XMpiF9wbEitpICukGkK9OmtmjvvPEJPHdM2Dzoid5THBUD7W2h1GhqCVDGrQP5-wS8dFyg4SBBg6s8MD6BiPOtnRvxMBJvtTTds960AvhPHJ5Zta-lhprTJzOchjhbEM4LzdVsYvvJc69sfVZTd7tGMCKGPdUEY9KuswYVQ-VcXVCrCTD7XgJpoyVsZjjA8FlPIuq0Nf5Y2TV9MnT_iXQAwvfDSw==",
  "id": "rs_08abb5a8bdfbf3e5016ab49611742887d0acd0ae12a8bcc3f5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The bowl is now broadly centered between the jaws at low height. I’m closing around its body rather than trying to catch a thin edge.\"}",
  "call_id": "call_H163H9fvdFaebsN7HwUDchsg",
  "id": "fc_08abb5a8bdfbf3e5016ab49612719487d0b4f9dbb3ce5f0e3d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_H163H9fvdFaebsN7HwUDchsg",
  "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]: [-0.0261, 0.8467, 0.6094, -0.4603, -0.0261, -0.0521, 0.9995, 0.3466, 1.758, 0.5442, 0.6487, 0.1974, -0.0528, 0.0395]\nstate[eef_state]: left_x=0.2866 left_y=0.0007 left_z=0.1522 left_yaw=0.0028 left_pitch=-0.128 left_roll=-0.0041 left_gripper=0.9995 right_x=0.4024 right_y=0.1123 right_z=0.0327 right_yaw=0.1993 right_pitch=0.0091 right_roll=-0.1301 right_gripper=0.0395\nstate[joint_eff]: [-0.0342, -1.5932, 6.9538, 1.6337, -0.0562, -0.0708, -0.0122, 0.1846, -6.8171, 4.8068, 1.4383, 0.0415, 0.2173, 1.1893]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d77d661c7c7400ab0a12f1bc7d28498d45d58e60c8c64b2aab418800c3bc3d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a500a41ed889882f789f12b6c7e7f92a13785cad96d97ca9049111974e856f29",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3ce5247ca376c3e335fd353146f92409cc4208a69a05c1da05db0e64a3e9d58",
      "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 20 attempt 0 · /responses · status 200 · 5.533 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 67 changed as sent

message 75 changed as sent

message 79 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8436, 0.6094, -0.4522, -0.0257, -0.0525, 0.9995, 0.6472, 1.417, 0.6971, 0.1497, 0.4076, 0.1276, 0.9963]\nstate[eef_state]: left_x=0.2878 left_y=0.0006 left_z=0.1545 left_yaw=0.0027 left_pitch=-0.117 left_roll=-0.005 left_gripper=0.9995 right_x=0.3584 right_y=0.1876 right_z=0.1313 right_yaw=0.229 right_pitch=0.0468 right_roll=-0.0851 right_gripper=0.9963\nstate[joint_eff]: [-0.1573, -1.4291, 6.9538, 1.8193, -0.0171, -0.0659, -0.0122, 0.1573, -5.8188, 7.8291, 1.5263, 0.2613, 0.0024, -0.2027]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8455, 0.6094, -0.4606, -0.0261, -0.0521, 0.9995, 0.3496, 1.7615, 0.5442, 0.627, 0.1936, -0.0315, 0.9963]\nstate[eef_state]: left_x=0.2865 left_y=0.0007 left_z=0.1524 left_yaw=0.0028 left_pitch=-0.1273 left_roll=-0.0041 left_gripper=0.9995 right_x=0.3989 right_y=0.1131 right_z=0.0268 right_yaw=0.1941 right_pitch=-0.0147 right_roll=-0.1139 right_gripper=0.9963\nstate[joint_eff]: [-0.0479, -1.5248, 7.0222, 1.619, -0.0464, -0.0513, -0.0122, -0.3624, -6.0513, 6.3111, 1.5653, -0.0611, -0.0513, -0.0122]\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 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8467, 0.6094, -0.4603, -0.0261, -0.0521, 0.9995, 0.3466, 1.758, 0.5442, 0.6487, 0.1974, -0.0528, 0.0395]\nstate[eef_state]: left_x=0.2866 left_y=0.0007 left_z=0.1522 left_yaw=0.0028 left_pitch=-0.128 left_roll=-0.0041 left_gripper=0.9995 right_x=0.4024 right_y=0.1123 right_z=0.0327 right_yaw=0.1993 right_pitch=0.0091 right_roll=-0.1301 right_gripper=0.0395\nstate[joint_eff]: [-0.0342, -1.5932, 6.9538, 1.6337, -0.0562, -0.0708, -0.0122, 0.1846, -6.8171, 4.8068, 1.4383, 0.0415, 0.2173, 1.1893]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d77d661c7c7400ab0a12f1bc7d28498d45d58e60c8c64b2aab418800c3bc3d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a500a41ed889882f789f12b6c7e7f92a13785cad96d97ca9049111974e856f29",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3ce5247ca376c3e335fd353146f92409cc4208a69a05c1da05db0e64a3e9d58",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJYbZwA3IZqSXkMmaa14wy1TwtBHrVUDczI6wB_IvrBsfpbWG96dh5DZMJ6g--KLm8DCAQk7kMZoawbBpQL5K11evnU-LtG47fztR620jWgsHvdTg1aANEtFrDB_ihKcyOt26WeuFDiwOyBJvWL3tIMvqRRFLFdbc4X-H2SAq5675vpOA0llctP7CUH-DbYlcU9z5HbFFi-Hb9crsUYuIspQjFLKSEg_KpsmBwUn2RyZ19ypAIFMsGFIsQg3aitOfEYL6hzxt8t1_yxVitQNE6Osd5W4ycbUQDle_kMK50vFeIy_CXCS6u86hRORfNhg-4rwpYf80OYx4a_0sBSPLWxPywYnqK-bTvHDg2UvMgYuw5eeY2B-pFbFO2xLcqAZXdpL3fuE_sabXUIUsZLVV7BEmAoL0c5eEit3xBLRHhBRslrDSm5xngvvwN-txa8JYTOOT0HrDLWO8B9TlAWQFTdFuGNrIzo7k5yg31cXvsCqzdh5sxaCri7YHTex5lnAqdBjKT5uVKmneq3nM5Pkx0_KooJP4KAkhVyRePX4-MWJwgRXiPMEhT4chPgC48ZYTImc1NWDZC6edmxxo5Lzt3m6ZZHTUe1-IMhXdk1NiiU8I8FzU8kibyQ8x0yp5H97Aqqf0yp_8YYjsz7X2zTiie_5dUm6OpLfK0jUUj3hYeiFiy1DOghnvVMujshvgbm8BxAP9ecNSkmpdgiyTugIm9Ao4dxvUhNey1H34IKJyVPnH0b_icy-AjNTVjGEB-l318rKvRuuFpmAWAjOKTEzDoS6fzjQryYZbNs8GBv0va1tpCvAZZ-8gRLQYbT7CpcaSSipCrbsV6fYKi2TfqYbUk39chCBTEesq9xdWvT3bN9U6pb4GxH9cvhXnXQcxTFKZEYZde8aFPb6LglPj46PMgybNbinfXvOhCBeH45XBQkQvrPrCIEyLrMU1xQtoV_Dbl126K2-HEcobEW3rmQb5eUlKQO_GdYz0U1iwsmhiETD7QdsnFfFFB5LMJTpq1RTL3aKVZWDRv5f-7G3KlbMOtsfcAJgqOvcc2Ac44zt9iTSaDe5EwwVzpojo-hRNKFP6WjDT5aLR8jmSPR_mWtjT0bSX_JQKBYCv70l3sDb_od5Mg6mAp3l3vgcpAGQZnZaVdbnzgZF6Ka3S67V-p7aJ7hHkWSZPak5EeEO7_84JaqAwt3UGQwXqRQX9N2mE0dahJKM7vAuI67N5nMEVKAwC4PrmfqB8VmzS4Lqcy8Z_muEeEdVaSaF7MdBZqxRjk3RpabQ5MMGWed-8wEccTIu9Yab1mdrzcTsVDu6Oa24hGu2u8IsOs7JUZuG7H6uYn9eil5B5n1nsOCvuJBfwmSy28NyTgWkkYJb7N2GwT2cRiLCLSp2eW3UGC5jIgs_MAt7kHM_H4cEX5ZJieeXSyz42dtZOKYnK_xHDhxp2r7KGZNNKCeWdjikY37-zQ9aF011fJXzIfBISnpqr6-agHStMmA4PvnVu7sYGxC-BeUTKyn7oWzgZqtoaLogfHTl5cyRBoR2Lal8NkjtgojCZhetS-rJ-d1hCpQi5kq1X5Mdf92ZmsvX7KBQytwRMcgV3fgbNTJsen1tBz2KxU3bNyU7cvh_hQpnwx0oe0bGphyoqwIxJenFwxdDKDzZq0ThX0UAz8C9zVGuYdbeQkbErZrU1EIK230brHfvKYl2_Y6YAdQezt-VVZpINxS9Q6GdpUYxDM_x_8YbkitdRtw4HwIm7sdmMPd75vwh2ywd_QlGzWxhbPjI9lNjnHwN43yHQrozgORs05GDhanZaMri_y9Bn-MoaXokRP_5uZqeozJrPO3FMOCeyxTG9rz-SuSxFVV2-O-JqZfu-LrWR0hIQ04oK0APdg6DUVY8g5vFe_5Pm3qg_yziLo2WBq3z2Q21QgF974eQ84l4iURZch38EcpwWeRVImYIt6mWrO2txbZPes-PPT9cCmlWi5GjXsFgegJ8HRSNEaL8rlcyRrZKe-kPHtalEH5K8nrls6usqxWZndxiYbFVpVLNed7B1LnE7UIvG5icu2hCFsER9mFXoxS-OSLnqsstvRdPcJYVU33LCm4wNID0Zgl44styCK-gV6yksGqIp1b0v5k8YoAnrxQy5k0NK98sv_5Qmd5iUzrlOwHdPRGcx-MM-u7WNhhAmzfqVISWwqlUYFyhJ7Lb00BRVMJ5c7Uk-TqJAniSvoUvdiNp3RQFR_5ST1GQj_gNgbOhZRbhcica3RAL63jRIK9HIjYEfW-vGzUCQK23HAQxOsylVNZ71x5RZQFWp99RhujGY-bhoEkbX56yI1fUbyrnfWyclxW91MkC6-fzu-gLjgbnKuu2O0vmWox2A1XkeLeAYJ9UL4wk1OkANcERziUz9uEwZKLk2RTLM_VyALFKlD8cEf9cKIF7xw6fnGbdlYhGnqcu3K3uiolEanRBCu176L3YKwi1VYJRbL4-dhTJSSB9Xg8=",
  "id": "rs_08abb5a8bdfbf3e5016ab496160d9887d08d2b702839777c5e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_y\":0.055,\"right_z\":0.11,\"right_yaw\":1.57,\"right_gripper\":1},\"note\":\"The bowl slipped sideways during the close, so the centered grasp is not stable. I’m turning the gripper to pinch the near rim front-to-back and following the bowl’s new position.\"}",
  "call_id": "call_3LKeLZbpqlvdsQt9RhWk3zoj",
  "id": "fc_08abb5a8bdfbf3e5016ab4961a442087d081d8698716a647d4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3LKeLZbpqlvdsQt9RhWk3zoj",
  "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]: [-0.0261, 0.8524, 0.6094, -0.4702, -0.0261, -0.0521, 0.9995, -0.2428, 2.1395, 1.5864, -0.5949, -0.9588, -1.5162, 0.9948]\nstate[eef_state]: left_x=0.2853 left_y=0.0008 left_z=0.1488 left_yaw=0.0029 left_pitch=-0.1437 left_roll=-0.0036 left_gripper=0.9995 right_x=0.4943 right_y=0.0302 right_z=0.1005 right_yaw=1.274 right_pitch=-0.0254 right_roll=-0.3584 right_gripper=0.9948\nstate[joint_eff]: [-0.1846, -1.4291, 7.1453, 1.873, -0.022, 0.0024, -0.0122, -0.2256, -12.1094, 5.3675, 0.2027, -0.8718, 0.1587, 0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0015be0179640fd27fbbc22cfac5c7b44ce4fbe65df9792e672ced567db0bed2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb63afb0dcbbc1396a3a41a3773e27829143cbcb1aefea3af663c4477d18d255",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4aceb82aadbc6cac25be65331f48297291cd2bc1097f09f9704c0f22c5070c1b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 3.325 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 71 changed as sent

message 79 changed as sent

message 83 changed as sent

message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8448, 0.6094, -0.4572, -0.0261, -0.0521, 0.9995, 0.5457, 1.7142, 0.392, 0.6895, 0.3313, 0.0738, 0.9963]\nstate[eef_state]: left_x=0.287 left_y=0.0007 left_z=0.1533 left_yaw=0.0028 left_pitch=-0.1231 left_roll=-0.0042 left_gripper=0.9995 right_x=0.3421 right_y=0.1447 right_z=0.0105 right_yaw=0.2192 right_pitch=-0.0301 right_roll=-0.1133 right_gripper=0.9963\nstate[joint_eff]: [-0.0068, -1.5658, 6.9538, 1.6532, -0.0464, -0.0708, -0.0122, -0.335, -6.5162, 4.3556, 1.9805, 0.0415, -0.0611, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8467, 0.6094, -0.4603, -0.0261, -0.0521, 0.9995, 0.3466, 1.758, 0.5442, 0.6487, 0.1974, -0.0528, 0.0395]\nstate[eef_state]: left_x=0.2866 left_y=0.0007 left_z=0.1522 left_yaw=0.0028 left_pitch=-0.128 left_roll=-0.0041 left_gripper=0.9995 right_x=0.4024 right_y=0.1123 right_z=0.0327 right_yaw=0.1993 right_pitch=0.0091 right_roll=-0.1301 right_gripper=0.0395\nstate[joint_eff]: [-0.0342, -1.5932, 6.9538, 1.6337, -0.0562, -0.0708, -0.0122, 0.1846, -6.8171, 4.8068, 1.4383, 0.0415, 0.2173, 1.1893]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8524, 0.6094, -0.4702, -0.0261, -0.0521, 0.9995, -0.2428, 2.1395, 1.5864, -0.5949, -0.9588, -1.5162, 0.9948]\nstate[eef_state]: left_x=0.2853 left_y=0.0008 left_z=0.1488 left_yaw=0.0029 left_pitch=-0.1437 left_roll=-0.0036 left_gripper=0.9995 right_x=0.4943 right_y=0.0302 right_z=0.1005 right_yaw=1.274 right_pitch=-0.0254 right_roll=-0.3584 right_gripper=0.9948\nstate[joint_eff]: [-0.1846, -1.4291, 7.1453, 1.873, -0.022, 0.0024, -0.0122, -0.2256, -12.1094, 5.3675, 0.2027, -0.8718, 0.1587, 0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0015be0179640fd27fbbc22cfac5c7b44ce4fbe65df9792e672ced567db0bed2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb63afb0dcbbc1396a3a41a3773e27829143cbcb1aefea3af663c4477d18d255",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4aceb82aadbc6cac25be65331f48297291cd2bc1097f09f9704c0f22c5070c1b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJYhQslV38OJcq4ZH75g95FCVwJhoNbuJtg8gmI3GLPZbi41Z8ehMst5YWCkCpK22yKBPwGUpYCZhFQi_5X3R6Q84mONgc5auzjLh_JNDK5_e_BHLFeS2v8uU0YXIRBLOecgAPPSbcSGpjzSdrYQa7CKjzcGIGf-lHogk4XpWcViGxlcemVia53PLkHrEbhNqQbCtPtL0N9zEYW4LDJ0y3XBa3RlL1eVdSj82xyyM3laaiLOje52ZPOCJIskyNJosNz2toDgUVcC6CXdMkQXIsSFAqYsmH5xgiXYKIZrcfAPezCQf2HkcMqiY2T8MvKRuTqAyl6UNb5A0GAsnKNOYDExXzjFjcQlJXbOvppqkyOxg4nLfdDgwj_0gbhVr1iU07hxaJdtb0wz8Pe0hJRSMDGbfLKJvoohU21eGP0MTve1TGRdZR3H8rbHmr1k6oOq8qGxfmRVpopzI58gf0aknNnM2nIvFY5MH2glvF5QL6woErXgcwuuaqiTlLksBQ7cuVxZr5BD7aA2gFvNZ8wfUTqMaau5BkpHEdxkvVUoLW5iaWK_Kovn9G4oUO4_5-jm-G9DKWLIgeG5bXRxfIhdEtSZrrekEBoZp4wruhOvgWt7N9T7IKRXK2_Q53MjCjPTSXQZCh3cQGQUYvOOGBgg_q_QxQYUhABe4B_zIYd3WAROQxa59Htzr8AWZ3U6q6eSQwq13ReX9YdOB_Pw16UQpCKVvwllNm3LVBf3blf5ual1jZ_LCdGeTDFUopw7iB5n5Q38BBmm9_GCSSx-eau2bKm6sE9wnZ2VPKf0ZWAE9lG9B2GAcqV8EequJoJeder_Zs3wI6cKhowtMChsgdnsT3ft-jeKemVAKFlXoO0J6uXubpQ9Zvltl_BSIc7NFfIeKL_F4TTuOB6m6diNX7ghXIFJgpgPcqD3bvJHOOmsOwbw-k-FOtBLzSl6pFCLiFX8u1-vsPzFtUftmowrsyO4gAdIOJiF9SpWemb0c-ov6-uLWRkHiRGJfMaY-2jCjq-W-gFxqy51V3w13TH_O3va7iOvpKbSmu6iib___u8aEfUk0YvKraDaIygyiXqYU5TC1r9_w0LM9MiuW8QVzCX_1LYcFi7XYjcpzWmNN48NTLigW7wNljb5KgQmc_4qYjt6p08kzoCIqwmlZcZDjazKfQ6JTW7r68CIvdZviNcHrx3mSar9D1GXKDFJvTRNrpD8pw0yPUCZ-IIj3hxrlcm03TJ5v4hkPwUbh4zpPk3TPhEflE9hDk2PWFU2XZN2eTQm0YISmOukJiBufF76qw7rUOHWBSg_km3oOfB1f0PShS1QwhtfgmT216dRhds1YVn862kRWbWchLPMK18C_R5-yIZRRSyI0oWKlU5F0v6kYdTOhZ0Kg-i0Sr9vqdhu5tdwNnj4ph7gMeEynNqQU2y5nPouOm77b3UvgFg0hkzFIvd_IvYtHR6av5eKgAjrMuOnyNie0WDA_zbALJQ7j_tsvq0GzWxM2P3wqaabLasOkw-VQyGFRl7-2RbRm7Sz3gMvMxjvDM70EGCfV5P0emncIzaIxBUw9AmeaSptgk3eBK9l9TyHWS8ernp9B-VolDkcDh8lD09grKi5Eh-mN-7pw6nD_IrhVRzwGF-410-Z7apcuMoSUxlSsCDI2ECfiUP2WW4HPVqUujdm77oX6Tlar0QWSyuaWAtldP43r2rBDJCdr5vNhgZNcXs7y2lWnUQWwbAtR7VF5sV85ihtfhAUc0sHCPEh7IlQMyJX97vrRBESDpoR8Swtb8uZM2UagYrTOY1HkagJNc6Nb8XMKZO0COCKwNnueMFNwCcrwXpOYHOPVtDd1fLrdkfv8Sg2nkgZS2qZpP-s6U6oBGzmS5jzOwMH3WClLMaL1-FWssh3JpV3pJQDdHGWP5u4V_uAflSg5edoWA9j0PMDVWEinzYufPGaRXX4TThU2eENMZZE1WI9kApD6UwCE9a4TrvZ06ohewMSA22lTVB1uZa0aj1A25b-aMAbWCpQbjhaTIVvnZcSumh67F4SuVPjsgX8Ub1_5OGv",
  "id": "rs_08abb5a8bdfbf3e5016ab4961d9eac87d094400d53256e567e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_y\":0,\"right_z\":0.065,\"right_yaw\":1.3},\"note\":\"The wrist rotation tracked poorly and nudged the bowl farther right. The bowl is still upright on the table; I’m making a smaller positioning move with the current gripper angle before approaching its near rim.\"}",
  "call_id": "call_8NWIlPKe7WEqjQ32I8sQ86Sg",
  "id": "fc_08abb5a8bdfbf3e5016ab49620774887d08a9baac90f832324",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8NWIlPKe7WEqjQ32I8sQ86Sg",
  "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]: [-0.0261, 0.8558, 0.609, -0.4717, -0.0261, -0.0521, 0.9995, -0.3042, 2.0888, 1.4246, -0.6121, -0.9733, -1.6493, 0.9957]\nstate[eef_state]: left_x=0.2851 left_y=0.0008 left_z=0.1475 left_yaw=0.0029 left_pitch=-0.149 left_roll=-0.0035 left_gripper=0.9995 right_x=0.4548 right_y=0.014 right_z=0.0756 right_yaw=1.2891 right_pitch=-0.0387 right_roll=-0.34 right_gripper=0.9957\nstate[joint_eff]: [-0.0615, -1.8393, 6.9402, 1.6093, -0.0611, -0.0513, -0.0122, 0.1983, -11.4393, 6.5299, 0.8669, -0.6325, 0.1294, 0.0806]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5728196114e57be16bdcd224362c08f72e826d3998032dc3e0420834f6c31262",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc572f1583d50cb02aaba51c58577bcc02fd8ffeb56cc373fa0811e4c5b4cfe4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc4f12e8203c49efc84e29b25599adb431c3641394ba9984975fbeae215fe5bb",
      "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 · 6.961 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 75 changed as sent

message 83 changed as sent

message 87 changed as sent

message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8455, 0.6094, -0.4606, -0.0261, -0.0521, 0.9995, 0.3496, 1.7615, 0.5442, 0.627, 0.1936, -0.0315, 0.9963]\nstate[eef_state]: left_x=0.2865 left_y=0.0007 left_z=0.1524 left_yaw=0.0028 left_pitch=-0.1273 left_roll=-0.0041 left_gripper=0.9995 right_x=0.3989 right_y=0.1131 right_z=0.0268 right_yaw=0.1941 right_pitch=-0.0147 right_roll=-0.1139 right_gripper=0.9963\nstate[joint_eff]: [-0.0479, -1.5248, 7.0222, 1.619, -0.0464, -0.0513, -0.0122, -0.3624, -6.0513, 6.3111, 1.5653, -0.0611, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8524, 0.6094, -0.4702, -0.0261, -0.0521, 0.9995, -0.2428, 2.1395, 1.5864, -0.5949, -0.9588, -1.5162, 0.9948]\nstate[eef_state]: left_x=0.2853 left_y=0.0008 left_z=0.1488 left_yaw=0.0029 left_pitch=-0.1437 left_roll=-0.0036 left_gripper=0.9995 right_x=0.4943 right_y=0.0302 right_z=0.1005 right_yaw=1.274 right_pitch=-0.0254 right_roll=-0.3584 right_gripper=0.9948\nstate[joint_eff]: [-0.1846, -1.4291, 7.1453, 1.873, -0.022, 0.0024, -0.0122, -0.2256, -12.1094, 5.3675, 0.2027, -0.8718, 0.1587, 0.0122]\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 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8558, 0.609, -0.4717, -0.0261, -0.0521, 0.9995, -0.3042, 2.0888, 1.4246, -0.6121, -0.9733, -1.6493, 0.9957]\nstate[eef_state]: left_x=0.2851 left_y=0.0008 left_z=0.1475 left_yaw=0.0029 left_pitch=-0.149 left_roll=-0.0035 left_gripper=0.9995 right_x=0.4548 right_y=0.014 right_z=0.0756 right_yaw=1.2891 right_pitch=-0.0387 right_roll=-0.34 right_gripper=0.9957\nstate[joint_eff]: [-0.0615, -1.8393, 6.9402, 1.6093, -0.0611, -0.0513, -0.0122, 0.1983, -11.4393, 6.5299, 0.8669, -0.6325, 0.1294, 0.0806]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5728196114e57be16bdcd224362c08f72e826d3998032dc3e0420834f6c31262",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc572f1583d50cb02aaba51c58577bcc02fd8ffeb56cc373fa0811e4c5b4cfe4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc4f12e8203c49efc84e29b25599adb431c3641394ba9984975fbeae215fe5bb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJYlC_Mvqn_D3VQjnXdz8SbZ_QAbHNS3ekVF_e4VA5_V21ZM0r_LGip6IZIInUsAbg8uwnOFN81yBlIrkyirBEiz6PLBOhBj9XqLeQCHeIx77GRIbfUXfXDQt3hOYL-atJUYoQzcJi_Cc0sW4xBUspLoiQyQdTwktezXvVkeEAThPVURjes8d1csOHsJjswhIwKoPz6NzJGRXlk-BvP4iDRsZTHCL4m4risOkJ80ZjmCscojwlyxdZNg6s09TGxeMyeygZJoap40tEOwqUq9d2oHokdi31PrKQopXta4GQ3vVBbQMDvX1z02EKKAMPtt1TJU58fCdKoliKnVaWlH_Zp_NhyPDHPKH7w8wqFit0e2UqMS-Ne0uWtxCJT8KI8QE0gLbdIdGmpd-yiEF3LOs7sBojZbsv-u4-6uG5CQyaZ0I-vx2K4hrSpxV3JFpZRVcE35f8Xtw7BjPe1EspaL-AfjJlSYb_xXi8cj1kiPmlENMEwPTRkWSnWzXwjJ6ADtmB2Em0CeRjtl2HW2kC-a6d-JNpcQ_tUIbwur_k_YZC0KyhFm7MSNTE8rYh941069TODI8zQn3b3TZfRwQ1NheAQaNI6PPhEEOvtMlnFnSR4A91UjORmZaudN4KJQgSJXzBr81CyC3wHfj707SmvddnchQ8MWT1GwiZmW8PEcL8QpPyR78dJZ7OzBPiWi54yU2H_OgW5O9Nh4dkL021JoJoTUM-2y0gX1CGf9Esx1mOMd6vZ-fitOvpnDaWPsFDjedFqWnjxAY_KMaAMKoDvLZFl3FIwWRbnB4WqTaFxZ6IJtkWaffP5ZpUwmcJJ2saiXb9PL8bsR9-egPd3DolyuBfr9NJ1MfkzLj3iYRWEC0J2KTVgmT6jus_cSNKc2nHFE2x4T4mj7QMaGAYPyEetRCcBwtIjEDBZSpvX7HgeI8lUZAA2B9s5TlRx7tEkBD9gQ3iRwYSzqL3b_9Z1UNU_gqsXtwl0vRDoAEUdbxCTty8jB5OtmgoWM2A-OYp_eSVG9dpwc3bxanV-OTkbJ9T8QqZY3-SeBancsIh1x_zzNAvB--73i17O9iRePgmFDQUYP6OlSdLpgP5PcPXomMlJtwT2ZXiIEKO9Fom2vF6oOf2HE5Tz0QtNlt7EmcjeZ2B28GRWjbT9hf-7m9dsI5eNotUOYL8mT2EaDPgKQ_bdlvhxxOP9udx4xOMfpSXJGq551JcV4K6yZqCAHIYBoy-8sj_Uj6kWOPYncEwQybCOkL8rpqvVhzivokzX2GT0wm5XGqtjPVK3JHUCDCFZYx2tN-FWawqRjbfaT4UCuxqdMDFBagInYTUCp2UQE5UjnZmdr_sL6",
  "id": "rs_08abb5a8bdfbf3e5016ab49623d01487d08681b6b4e0c64d63",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.415,\"right_y\":-0.005,\"right_z\":0.015},\"note\":\"The near rim is visible at the bottom of the wrist view, with one finger positioned to enter the bowl. I’m lowering and backing slightly toward the near rim for the pinch.\"}",
  "call_id": "call_eHiMy5BTvKHAonDepMQXyHWL",
  "id": "fc_08abb5a8bdfbf3e5016ab49624a55487d0ab68ef9353cf253d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_eHiMy5BTvKHAonDepMQXyHWL",
  "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]: [-0.0261, 0.8558, 0.609, -0.4721, -0.0261, -0.0521, 0.9995, -0.3023, 2.0888, 1.4246, -0.6003, -0.9733, -1.6489, 0.9958]\nstate[eef_state]: left_x=0.285 left_y=0.0008 left_z=0.1474 left_yaw=0.0029 left_pitch=-0.1494 left_roll=-0.0035 left_gripper=0.9995 right_x=0.4566 right_y=0.0143 right_z=0.0762 right_yaw=1.2903 right_pitch=-0.0389 right_roll=-0.3515 right_gripper=0.9958\nstate[joint_eff]: [-0.0889, -1.5795, 6.8991, 1.619, -0.0855, -0.0317, -0.0122, 0.0615, -11.453, 6.4752, 0.8132, -0.5739, 0.1197, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01f921a41537a1c7a3f3fc780d4e1452ab1abb7d47b5439399fd08284ab2f9e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50c195a2be38c2662b51028df080215060b1d19c4b0ce3faa3c17e67d01ad1a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bbac5f8ecba1079070698a601c22b3f35d9aad1466533e53ded7a67d2e82b66",
      "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 · 5.457 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 79 changed as sent

message 87 changed as sent

message 91 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8467, 0.6094, -0.4603, -0.0261, -0.0521, 0.9995, 0.3466, 1.758, 0.5442, 0.6487, 0.1974, -0.0528, 0.0395]\nstate[eef_state]: left_x=0.2866 left_y=0.0007 left_z=0.1522 left_yaw=0.0028 left_pitch=-0.128 left_roll=-0.0041 left_gripper=0.9995 right_x=0.4024 right_y=0.1123 right_z=0.0327 right_yaw=0.1993 right_pitch=0.0091 right_roll=-0.1301 right_gripper=0.0395\nstate[joint_eff]: [-0.0342, -1.5932, 6.9538, 1.6337, -0.0562, -0.0708, -0.0122, 0.1846, -6.8171, 4.8068, 1.4383, 0.0415, 0.2173, 1.1893]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8558, 0.609, -0.4717, -0.0261, -0.0521, 0.9995, -0.3042, 2.0888, 1.4246, -0.6121, -0.9733, -1.6493, 0.9957]\nstate[eef_state]: left_x=0.2851 left_y=0.0008 left_z=0.1475 left_yaw=0.0029 left_pitch=-0.149 left_roll=-0.0035 left_gripper=0.9995 right_x=0.4548 right_y=0.014 right_z=0.0756 right_yaw=1.2891 right_pitch=-0.0387 right_roll=-0.34 right_gripper=0.9957\nstate[joint_eff]: [-0.0615, -1.8393, 6.9402, 1.6093, -0.0611, -0.0513, -0.0122, 0.1983, -11.4393, 6.5299, 0.8669, -0.6325, 0.1294, 0.0806]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8558, 0.609, -0.4721, -0.0261, -0.0521, 0.9995, -0.3023, 2.0888, 1.4246, -0.6003, -0.9733, -1.6489, 0.9958]\nstate[eef_state]: left_x=0.285 left_y=0.0008 left_z=0.1474 left_yaw=0.0029 left_pitch=-0.1494 left_roll=-0.0035 left_gripper=0.9995 right_x=0.4566 right_y=0.0143 right_z=0.0762 right_yaw=1.2903 right_pitch=-0.0389 right_roll=-0.3515 right_gripper=0.9958\nstate[joint_eff]: [-0.0889, -1.5795, 6.8991, 1.619, -0.0855, -0.0317, -0.0122, 0.0615, -11.453, 6.4752, 0.8132, -0.5739, 0.1197, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01f921a41537a1c7a3f3fc780d4e1452ab1abb7d47b5439399fd08284ab2f9e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50c195a2be38c2662b51028df080215060b1d19c4b0ce3faa3c17e67d01ad1a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bbac5f8ecba1079070698a601c22b3f35d9aad1466533e53ded7a67d2e82b66",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJYtiMxoRVIfyFrahOQkzFrXLD8LVq_3JrmoJG0LHwZN295KSlLejqJtj3njyoobcx9XW3PtF8grhzKAU3nY5PWCJ-s5oBig-f53enE0V4bCP3-U9bYYXzbz9n_dEniMjpaO1-MBJ7_Tqd52TQanrYumZCuDv5rH4eNAVcH5OJilkU7_cRxEKyGmGw6E3QjVWWwBmtCumQl3-py-OvXWEQlbD2oiiAEgbYy7usAflQOEQIULJanPo_UAm70aLN7FnheAJoV5IVT5aj_ERYmU00WgUaThvHjNJ2U3cBtozOdfEldhyVWNkBPWBJD_m2gCAziozZ7Sy0fXTC5D0j_Km4v4qO0PeCjjHLvQbutGYsvNQqi0fMs9gHqndosqwVcehNPowO-nrc_9qoHPHy0t5gR54kfWHkUWjideBLYGAe9djcC_eEStW5Ow7cssnku3X6lkQDkD8gn_xuXbWhkaL3mvuP6-XL0itNoj06RbCoJod9ez6EItmUBnjghre1n1H_LQqlmJyqqmJztv5EONHmKB2uRUblOQYTRTOlG7z5ZnPRHKF5RrpbyMPg9Ii7u6r8nt3ZPjylmGKDfRglEQGFNJMIqey_lgzguKPeoPm06q_VPYmz1B9f_6EpwpSO1G9Afyd9I1w-kjZ3f-BqAhCijHeCDrXxi4Jbkxh1B9O3WRJCjmG3MWON-qO9-lIgFueAAGiQxMXUtwoj8BaaZv48hfHnKUY-gW1yTXPBR49AvmDK_0QlxLWmmXg31hqrqho-t9k5FqtJl9gJhYHPBbh5GEY_-tdL0uI-dsNVbatxHAnpx2ZKvPIM3yavV1g02EScqUvrtY2dOOZWankU0LHJjN0id33pj1eDm5-Uggcdpf8lwB8ZHe44eCKIck2l1CqnJIovujXQg9m4cOTwlpwWDZBRP_G0iXVfacZpuwhIy7vUm1yllsKvwpkP2kTDYsHT9aOQPOkX45zcDP2w4xsiXQqGVTh0n2f18ZGPhBeeXNKYjZhRpyNLsztZN7ELBy5ZBxywjpHZg1NIb7Y8Nbkgf5jL0lWCu57Eeqf5KKi3goqHo14hy1Fs8WAtJ-rpdUgzOJCQySSGuluuXA0KyENefIqegFN_EKwV8PKsZkPpA-4b9Q5BvKuPnKs1bZdYnX2mZVYn2pHxDMfdU41Uh1n9AcQt1kTvXqXet2nKr6_O7EUjHt8-jUChNti6jg7kiQfJGqU_Hdfyf8Hz9vx_OPqRxBKWHziRHe_qg1e_i3AY7Sna5-gPGjjJnBohjM8R6hpXB_kx8JNEYv8tyCQYueUyIAEolEgEVlOf81KPDMpfF9d9JytwX9SQFGsgJcPcuvcBnX7L6rq3B39m7UWDEi-oV4lvpu0mQXBKyZiG8a1h5kJeTe0EO0N05uMmi24p_S8DjeDFmwjN635twwCutxMC28pVyf2BrZqpuvFC3uTZak5VbhkE7PXqcM94O0DfOMG0SmleoXvH1b848EBw3AFO__kc7TJ6-ASBKZPwKGMc0x8hzXnocCSk68p9Lnz3kWYqiHRHtHKT8tTdOBk_exB1HOia-H1yRNomqkkmYeNkfj534P3FFpjw__VNWWDscKQYcsVt6umOI6rCRoHVu77njrGok_RzitR6TaRpTVXIABc3IU7Z3X93ALTLFDnDwyHGgKibYh9ni16Nm7X7i72PziJvvz0A2OEzbG4qwgOTfyx0NApg7aaWS_LTwX7jvFl4Yp-oEt5CSp1BuTzWzwIHz1FvuWCkWuUVwVnhjtFb0U1PTJRfVf5t_Jv6OvM9bfSFfHwNXjY_sOmLAf1bEf2lYNkqHfqTsTKZdgKWclQamxlGfTEPpQCfMEugLVfYa-PbvtBmfoMt8RznVZS82zYRa9sFv_t5LTQZiDsPReEQcaVfQ8sRLDDnWputXrEO9S9lRP6Y_rzZh21Nz41JzQ81bvIuPBAnZkxuYys8-v9DZ2TcSxjahsfS5OKqcNsoGI74j77njq68uR8dgdTkNDm1mkCU76y6Al2Gb0ebxktaqjrZRwqCpdElam9LE9BnyCNCgrocf7_wu_VsSE7HBFlFUM18OQ7Yi6RA7Mxi6s7q7EeyrZ--r6rE2JUVGpSjsrOE-L-9pEgWt7oVWobkZUFFPQ0F2ymQP0At09A5lKv0d9WqnI8tg3hBS60G5P_7X0uoleADuSx9AFJDnu6oJ6LAZ04KDYCAbWBe1DOq_Qa60DCQmRyXlPhh25QGtYn-xpJ6mQmLIOQ6R3vHL34Q7F3THuRnBOZdFyr1dY--nKlpn7bmO9bPvyfEUX7abEgvuoBGh1SAmpGR62qzEORMycKSyK__WsEFoZFVmFfTx569ilpngXPvsXNNajO-eYP0oa94nbK9UsUgDbmGCSCeDfZt2puMVTeI_BbPle8vrxzzUjxHqg15xUVntbfPJ7YkpJcxXya1jxbC0uimJF1J1a5q5eYsLPR48_9DoRCd7K1a4h2VQ=",
  "id": "rs_08abb5a8bdfbf3e5016ab4962763b487d0b39abb88f9eb8e9a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0,\"right_z\":0.23,\"right_yaw\":0.5,\"left_x\":0.39,\"left_y\":-0.13,\"left_z\":0.12,\"left_gripper\":1},\"note\":\"The right arm is no longer tracking the low, rotated pose, so I’m lifting it clear instead of forcing it. I’ll use the left arm to grasp the teal bowl’s outer rim and stack it with the blue bowl.\"}",
  "call_id": "call_k6i25JZblrDhTP1LtYRcDBgA",
  "id": "fc_08abb5a8bdfbf3e5016ab4962bdb8887d0b5d7610e4db336f1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_k6i25JZblrDhTP1LtYRcDBgA",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4751, 1.4925, 0.8608, -0.2142, -0.3389, -0.355, 0.9996, -0.2207, 1.1389, 0.9176, -0.4191, -0.4881, -0.8173, 0.9958]\nstate[eef_state]: left_x=0.3749 left_y=-0.1228 left_z=0.1019 left_yaw=-0.0106 left_pitch=-0.215 left_roll=0.0203 left_gripper=0.9996 right_x=0.3537 right_y=0.0092 right_z=0.2216 right_yaw=0.6072 right_pitch=-0.0363 right_roll=-0.3849 right_gripper=0.9958\nstate[joint_eff]: [-0.3487, -6.9675, 8.8, 1.6239, -0.3687, 0.1099, -0.0611, 0.1983, -3.6444, 8.3897, 1.7411, -0.1441, 0.2173, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db7e1f5192fa70bd7ccc0af138476e58dbadccf66312977fd730d575e182c39a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f92b76a0cccc9b5b0f1483bb03e55b17cd435c9b7dc78b80e1954cf8fcbb88c0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:231546c5510b7bc9c3b7eecd50c2a3c6685371a84e2ba5cab241897227e4b2a6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 3.826 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 83 changed as sent

message 91 changed as sent

message 95 changed as sent

message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8524, 0.6094, -0.4702, -0.0261, -0.0521, 0.9995, -0.2428, 2.1395, 1.5864, -0.5949, -0.9588, -1.5162, 0.9948]\nstate[eef_state]: left_x=0.2853 left_y=0.0008 left_z=0.1488 left_yaw=0.0029 left_pitch=-0.1437 left_roll=-0.0036 left_gripper=0.9995 right_x=0.4943 right_y=0.0302 right_z=0.1005 right_yaw=1.274 right_pitch=-0.0254 right_roll=-0.3584 right_gripper=0.9948\nstate[joint_eff]: [-0.1846, -1.4291, 7.1453, 1.873, -0.022, 0.0024, -0.0122, -0.2256, -12.1094, 5.3675, 0.2027, -0.8718, 0.1587, 0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8558, 0.609, -0.4721, -0.0261, -0.0521, 0.9995, -0.3023, 2.0888, 1.4246, -0.6003, -0.9733, -1.6489, 0.9958]\nstate[eef_state]: left_x=0.285 left_y=0.0008 left_z=0.1474 left_yaw=0.0029 left_pitch=-0.1494 left_roll=-0.0035 left_gripper=0.9995 right_x=0.4566 right_y=0.0143 right_z=0.0762 right_yaw=1.2903 right_pitch=-0.0389 right_roll=-0.3515 right_gripper=0.9958\nstate[joint_eff]: [-0.0889, -1.5795, 6.8991, 1.619, -0.0855, -0.0317, -0.0122, 0.0615, -11.453, 6.4752, 0.8132, -0.5739, 0.1197, -0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4751, 1.4925, 0.8608, -0.2142, -0.3389, -0.355, 0.9996, -0.2207, 1.1389, 0.9176, -0.4191, -0.4881, -0.8173, 0.9958]\nstate[eef_state]: left_x=0.3749 left_y=-0.1228 left_z=0.1019 left_yaw=-0.0106 left_pitch=-0.215 left_roll=0.0203 left_gripper=0.9996 right_x=0.3537 right_y=0.0092 right_z=0.2216 right_yaw=0.6072 right_pitch=-0.0363 right_roll=-0.3849 right_gripper=0.9958\nstate[joint_eff]: [-0.3487, -6.9675, 8.8, 1.6239, -0.3687, 0.1099, -0.0611, 0.1983, -3.6444, 8.3897, 1.7411, -0.1441, 0.2173, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db7e1f5192fa70bd7ccc0af138476e58dbadccf66312977fd730d575e182c39a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f92b76a0cccc9b5b0f1483bb03e55b17cd435c9b7dc78b80e1954cf8fcbb88c0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:231546c5510b7bc9c3b7eecd50c2a3c6685371a84e2ba5cab241897227e4b2a6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJYzvL0l_LH0BKmGIG4OZO5pjufeHMsNJKZzTnjBIkbBM5QBEjpuimKZUcGzm9tV2l_5y0oqDgCAhk9YuEf1meMscK8bOnhcSEK-ObNFlkNau_DtydeNxCtZcoFA_AG9pfcmLHtciX2iGiXJ9LW2C0PJ6H4L9D0ET_Z6ihGJdtDENhxR3623b-_juxXnhMgBVExq0HWmZO0Z35LlPDahDAQ4l7hvStZEv2earnmvMPyDVNR37Mj8FTu001ZH9pjoo38eBqK1pfoTTcnaHKWaYWiEyAtZPxRaYI1q9NJHvoFyih0hlO2Ww4Q-JWNbaD4cwwByQq6DU2E3scIjB2rG7TX8FeMXJoakU2Rgdewd9S1-QVHjFZ0JbO9I0jFK95BZWnWsSmfpChiLYee4xtRZh66wzRfvEhkfUsk8VRZThRLZsYKETSMQEZgXE62shRGZAn0PBMb6gbB1G7cxuF5WGpU8OUDQKqD_38VG_D4dwGPmg905JU7ybEMN3U9p-V5SyF2qXswFFdS0sa6WD6Dd95RRDtMwpa3f1OTGP-zhR4AHYFHaAptEgUXT0-K7vtzMgyFqhIKIor7jMS5lva4MJhvd87LAun2eyvkgqUVM3Dy0pNt4rPyfEacsaIeL0qpNdxvNz4qQMJgnmZg_iUF3uNYXHKA729YiDumsVc_8JE2olh0tXRWa-YT5TzcE6hjc3blwiAniYBxOwN-rAy39FPH1FewZiyFyQV_d5Zo9so3FKDINKxIw9vIgTEpgImRW30ZpWNr5-Q9BftQilCDajuXw04XuaJbM1PH0MYXzaeQ5aqxUorhC8n6OmOp6_CJTeZxewy4jQe_FIPicZ70zaRtdx5M5Ab3qcxNK0wtxKFEzi_m3T1v4-2553nSrF6wJWxCE5HBXynP6r8K20fxMkvC36PT3Q8K6ZPU9KVTmcecINbQ29iT1bR3Kt-oxlOK6oBpHNYCEc53RfG0uXAoJNdBMvH-HPPp-3minPAiOdZTzQMvPZ67bU4s7fq1yxxcD6KpcR67nymU6z9VPPgCfV3TS38GtkfIrb0fP233zDjTEHwlF5F7eKzwtJi4GC2Pv68-7duWFtr8HvQV5iuNnOf26W6yIwZibRjK_oVO0g80Lpqh2QqMfJOh3uyd7G_2aK2gbbPBzkePBb8nlyblQVeHEOYOFfqd-zTLu3eQ2DK_su-vNwPCAHJW9b-YzoeJKNHyVK9SuGAAZgvK7i41Z0_FhEbe3xMrXhj3HG6CvdvH70ANaKk45-PanPerk6RUdE3VyiaLY2Bw6Ow2fpHsx4knuXlwGXxwWooS4eZtH43Wd47aXgrORWOYgASCZXZVQekaH8dFpZspxR31Y5z4yvJ_l0rVvLTLfthq58Z9jD2DdMF1Ku9Zxx9nNMKsaxVOvNrjpEpLgEDjN-uihLlyc19Vhv_JZYh9Tyktw1ad3JLwPsxjTlSo8ybcghxkDhkKZ-kIo0_UdTnXrvpMWt0Q3ggyTldbCucXeUW0ekrVO6Y0VsJpVl2fWG1bAWZwJSO880b3LepB4Yii56hoe668G3fgwuAAkhKG8N63c_PFqFeUtKDJMULuA3iBOljtNdSPpVk_ZPzHu2xdFzy3HjrGR0FYxabj8HXFh9lnuoFE5WKHDM3VL5Cn6XuHpGoSb2Uoyp5uHEyu9F7Yq8ePf3nYS8-RWhH39UCmF0wF_ZGG-qTpXw9PUhy1FqsZzdmjusoIhFch9prDZwwGEFvJOYzbFVYdY9eCaQbnIaVUluv-h2m4grku0lqddPKgLzZc5yTXXTlZsmle_AMC1XzYuR1CbKm83nThlSY-deOPjo14ADJkKdEzf-oge0_Yltzu5o0G94LxvMnvzmo8Bsqzyva6Tu1L-03LetsrGhEl1gawxHIn8s5WGCbmLEnT6xp4yBQB9PoeRmU1AC_prw0MfbDASTzaFarawaIGlTRUOtW1xHmToh8n5FBOIVWs3awgJf5cPhs2LMOnq6gOXXKBhc-VFl3QppGQY3IpH6cIIEGTmpZUHUuo=",
  "id": "rs_08abb5a8bdfbf3e5016ab4962f951087d0b25419e5782f108a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_y\":-0.075,\"left_z\":0.025},\"note\":\"The teal bowl is centered in the left wrist view, so I need to offset the gripper to its rim rather than close across the whole opening. I’m moving toward its left wall and lowering just below the rim.\"}",
  "call_id": "call_sQ9mW340NuSDwIUXDsMrrbB8",
  "id": "fc_08abb5a8bdfbf3e5016ab496326ce887d0a55ca48d72edf8f5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sQ9mW340NuSDwIUXDsMrrbB8",
  "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]: [-0.3138, 1.6356, 0.6529, 0.0818, -0.2543, -0.2607, 0.9995, -0.218, 1.1435, 0.9176, -0.437, -0.469, -0.8124, 0.9958]\nstate[eef_state]: left_x=0.3693 left_y=-0.0693 left_z=0.0161 left_yaw=0.034 left_pitch=-0.2934 left_roll=0.0473 left_gripper=0.9995 right_x=0.3523 right_y=0.0074 right_z=0.2159 right_yaw=0.5926 right_pitch=-0.0592 right_roll=-0.3723 right_gripper=0.9958\nstate[joint_eff]: [0.4171, -6.5846, 5.641, 1.6825, 0.0122, 0.0513, -0.0171, -0.2803, -3.9316, 6.9128, 1.7558, -0.2662, -0.0855, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26681947fcf6fe3785e9a808a0b6f347d2b7245a9018e1bdfaffd4de99f63281",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd2d616ef5f787839f478ecf5590d4520822334034c4e17497863d7ca0e04ef1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0200a4a5b1cd33e38f9bade3098e1a4136648d78a60beec2984e0c8a7259b769",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 3.899 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 87 changed as sent

message 95 changed as sent

message 99 changed as sent

message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8558, 0.609, -0.4717, -0.0261, -0.0521, 0.9995, -0.3042, 2.0888, 1.4246, -0.6121, -0.9733, -1.6493, 0.9957]\nstate[eef_state]: left_x=0.2851 left_y=0.0008 left_z=0.1475 left_yaw=0.0029 left_pitch=-0.149 left_roll=-0.0035 left_gripper=0.9995 right_x=0.4548 right_y=0.014 right_z=0.0756 right_yaw=1.2891 right_pitch=-0.0387 right_roll=-0.34 right_gripper=0.9957\nstate[joint_eff]: [-0.0615, -1.8393, 6.9402, 1.6093, -0.0611, -0.0513, -0.0122, 0.1983, -11.4393, 6.5299, 0.8669, -0.6325, 0.1294, 0.0806]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4751, 1.4925, 0.8608, -0.2142, -0.3389, -0.355, 0.9996, -0.2207, 1.1389, 0.9176, -0.4191, -0.4881, -0.8173, 0.9958]\nstate[eef_state]: left_x=0.3749 left_y=-0.1228 left_z=0.1019 left_yaw=-0.0106 left_pitch=-0.215 left_roll=0.0203 left_gripper=0.9996 right_x=0.3537 right_y=0.0092 right_z=0.2216 right_yaw=0.6072 right_pitch=-0.0363 right_roll=-0.3849 right_gripper=0.9958\nstate[joint_eff]: [-0.3487, -6.9675, 8.8, 1.6239, -0.3687, 0.1099, -0.0611, 0.1983, -3.6444, 8.3897, 1.7411, -0.1441, 0.2173, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3138, 1.6356, 0.6529, 0.0818, -0.2543, -0.2607, 0.9995, -0.218, 1.1435, 0.9176, -0.437, -0.469, -0.8124, 0.9958]\nstate[eef_state]: left_x=0.3693 left_y=-0.0693 left_z=0.0161 left_yaw=0.034 left_pitch=-0.2934 left_roll=0.0473 left_gripper=0.9995 right_x=0.3523 right_y=0.0074 right_z=0.2159 right_yaw=0.5926 right_pitch=-0.0592 right_roll=-0.3723 right_gripper=0.9958\nstate[joint_eff]: [0.4171, -6.5846, 5.641, 1.6825, 0.0122, 0.0513, -0.0171, -0.2803, -3.9316, 6.9128, 1.7558, -0.2662, -0.0855, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26681947fcf6fe3785e9a808a0b6f347d2b7245a9018e1bdfaffd4de99f63281",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd2d616ef5f787839f478ecf5590d4520822334034c4e17497863d7ca0e04ef1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0200a4a5b1cd33e38f9bade3098e1a4136648d78a60beec2984e0c8a7259b769",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJY3AD31hm3z5fepMr4bigh2ybCCHAkOWwiZ5jbyHN1HVUROPfcUsmeze34b4me8MCkO45Dj7Agt-AzCz-Jqz-O31jR5SgbnmEbZgccyBv0o5AXhNM9juLCD3Cd8OuKk3H-ZMCPvY86w6HtKafLxLOTHUsrvCg-Frm_vGbJckZz30gdjflj-YxI-UxBzTqQvah5Qz0NUgXodohKhpf1HLfhNb_9q-SisxvDhRTNg1nFPkX4gMIG-Q1tz7okVfC5Kh6daIN0lfyWr8T0Arw09dPGwd5sWdtwLusTYyTgzv18dYh9NXRy_GDxeTrFbPa61cajP8FsyZ859RATgndMiBvnMvDtvkIpoOyULKy0WWz0eKFBZrf6Hp2YYMarh7jvKKuIzecpbZ6mxKyhYRTI7WOSxevVoGzEJom-cJT0H-vVfjIBBmEwu0grcj1eZU311JoDMdH8ko211bsvUuBc_b0ar60nejk6lrz1-lw2zG7jN4ntFoSkw7-R0lA0A2ntVQ_ixxB7W0IFjFh2-JMYDnmVwGPkwmkwQQ63y0KqEVxUabZhRVC9B-DF-otgRHpfQ4RnAiyp0feEy1OwnAcT23h6egIhGchjffHqt667TvSfEe914OJ4yobgHtLKDb4S1-DCk_TB2n-fHachNNZMWQaRtNyR7fUt66-20sobi6PNCYfUg0c1NqIofTpFVCzUH3jzahv0ehhlptjnwl_VoMIF1wX0mjw-YJ3rNF3seEfb74WnBlX0Ez2C5XO13Mm4r-dlu3FQd0QjOyQPn3t0-FYduHnfVAbpJzxX2Y8j6UKXYY8YTvYZ30slHiElZC5K3BSnkdD1QOmoNuzH5SIXzhpreCwfhAh7lolUmQe2-eVJa__aRstaxxPSK5vXhCcoSZogfT7w51_MCwb8D3X3VLGssqKu8j99H3p5QI1qXr7xV0givqaoWFt-zu-rnKBQo5sCrJsMX9K2oRkkKTXMW_XAzD8TDoy_6-Lhm_ZdAwdNSC8cD2yFQQmMRoiJELFg-4S2Hkz7rO_T5KpSYTc3DzS3XoltzefYB00G0FFntSQJAxinfcVIps77xLe3-nnCtotCpERrvNgKaqtM943h4jO8C4GcWY9hKhgb6AJmQsWoil2s-8aRLK95G6agiaHudfSd9tY3TrqegAFcBKBaCWAyUXswtlDlam8B4gq6ayzqbvUQt6C0oIUROF9aLR5mkBnpnSjEyM1OIVn2LbPf8YxhTWEv62-YxdRPu8K7acioC-ML1GcHmSgYlwmqXuZZZn5Yx230eSdnB4juBodo5gsMhbdokJi8M4-1QKLD2YyR4F5zOl7gzkGM9Oi_7SHpDIhTf77jzWYU0BA5JdHxbakgiDrvCZaRSijMXmWqjVePvgeOj_2TaJtk7f_2cpz2jakY7xUT1VCNCp1LtLqCTu_7ytr6K9VmxNU0wO3hysY3eKDOr9semFtKDSMFaSUxJy--Z",
  "id": "rs_08abb5a8bdfbf3e5016ab496357ba887d0b34c31087f72a96e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"One left finger is now inside the teal bowl and the other is outside its left wall. I’m closing on that wall for a rim grip.\"}",
  "call_id": "call_lTEEwGHbXBo6wTJrcek8DQQo",
  "id": "fc_08abb5a8bdfbf3e5016ab4963675e887d09e128c5f261518ef",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lTEEwGHbXBo6wTJrcek8DQQo",
  "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]: [-0.3145, 1.6249, 0.6537, 0.1177, -0.2363, -0.2806, 0.1018, -0.218, 1.145, 0.9138, -0.4442, -0.4759, -0.8162, 0.9958]\nstate[eef_state]: left_x=0.3763 left_y=-0.0751 left_z=0.0251 left_yaw=0.0248 left_pitch=-0.2531 left_roll=0.0036 left_gripper=0.1018 right_x=0.3508 right_y=0.0089 right_z=0.2129 right_yaw=0.6007 right_pitch=-0.0654 right_roll=-0.3633 right_gripper=0.9958\nstate[joint_eff]: [-0.1026, -5.8188, 5.9556, 1.1551, -0.3101, 0.1587, 0.3785, -0.1026, -3.8769, 7.2957, 1.6825, -0.149, -0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a71abc62c90cfb78549f1302553990a1db619be6b137de3a657e4bae942f7ced",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8374b596d7b8d8fe796196504b5bd0bbe10f30fc1ea905cb06f901fda131fe2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee67b00a38be0196306731b1b7cf10b7b768b02043a0868675d5ef6b1eb5cdfe",
      "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 · 4.204 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 91 changed as sent

message 99 changed as sent

message 103 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8558, 0.609, -0.4721, -0.0261, -0.0521, 0.9995, -0.3023, 2.0888, 1.4246, -0.6003, -0.9733, -1.6489, 0.9958]\nstate[eef_state]: left_x=0.285 left_y=0.0008 left_z=0.1474 left_yaw=0.0029 left_pitch=-0.1494 left_roll=-0.0035 left_gripper=0.9995 right_x=0.4566 right_y=0.0143 right_z=0.0762 right_yaw=1.2903 right_pitch=-0.0389 right_roll=-0.3515 right_gripper=0.9958\nstate[joint_eff]: [-0.0889, -1.5795, 6.8991, 1.619, -0.0855, -0.0317, -0.0122, 0.0615, -11.453, 6.4752, 0.8132, -0.5739, 0.1197, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3138, 1.6356, 0.6529, 0.0818, -0.2543, -0.2607, 0.9995, -0.218, 1.1435, 0.9176, -0.437, -0.469, -0.8124, 0.9958]\nstate[eef_state]: left_x=0.3693 left_y=-0.0693 left_z=0.0161 left_yaw=0.034 left_pitch=-0.2934 left_roll=0.0473 left_gripper=0.9995 right_x=0.3523 right_y=0.0074 right_z=0.2159 right_yaw=0.5926 right_pitch=-0.0592 right_roll=-0.3723 right_gripper=0.9958\nstate[joint_eff]: [0.4171, -6.5846, 5.641, 1.6825, 0.0122, 0.0513, -0.0171, -0.2803, -3.9316, 6.9128, 1.7558, -0.2662, -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 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3145, 1.6249, 0.6537, 0.1177, -0.2363, -0.2806, 0.1018, -0.218, 1.145, 0.9138, -0.4442, -0.4759, -0.8162, 0.9958]\nstate[eef_state]: left_x=0.3763 left_y=-0.0751 left_z=0.0251 left_yaw=0.0248 left_pitch=-0.2531 left_roll=0.0036 left_gripper=0.1018 right_x=0.3508 right_y=0.0089 right_z=0.2129 right_yaw=0.6007 right_pitch=-0.0654 right_roll=-0.3633 right_gripper=0.9958\nstate[joint_eff]: [-0.1026, -5.8188, 5.9556, 1.1551, -0.3101, 0.1587, 0.3785, -0.1026, -3.8769, 7.2957, 1.6825, -0.149, -0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a71abc62c90cfb78549f1302553990a1db619be6b137de3a657e4bae942f7ced",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8374b596d7b8d8fe796196504b5bd0bbe10f30fc1ea905cb06f901fda131fe2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee67b00a38be0196306731b1b7cf10b7b768b02043a0868675d5ef6b1eb5cdfe",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJY89EvCITZT8Bh17UK5yOkjE-J6vGDhSLT5-9huMV_l9YykUtCIXWtqKz1-zEA1IuCV8wbTwL11M9ctGec2ji1YU2zzfQ8QaS9eaYirm5JPx57Eh8RNP61lkrcbiNH0YgKzgijF4Kz6raUkJVJUA5hiWAHR2yldFttpTUbiDhQMK9mi4ehTIIYgAM7u4rtKhpot6ljn2crStrVV7anz3a8u_bXQekx0kjcmWbpogosBgWuZc3o2Q1W0OuWuaN6jxK3iX6hKZPU1yQVJbRQPw1jpre6wgO2f-oi15Ip49krGi9LOsG8E7yIOFhL3bsOehoM_eB9SZrX-n_goL4Ez6lZZNAw7I14xi7mCwfhYh6J7sDcDyEV_oDJ9cl_HdNquPzS2AdgB8DhbwzZy063ZQXpY8gap3yWoOgCwd46HIh9CBJdXRGNc0UG7o42k7_Ye7wQwqVZJE09-Q5-8BGIf8ucjY12f4f0DcnYjJJekZ3F_7X8hOlMP27LZQaajDZ6Mg-RvSZuCVbKLH58_0-H6NUF-TULi8C5mO_NkTrmphp9OH4JL0ZA4YOhqsrdqlfxceCCG5R9jAr9UXMH90lelJNT7d2HbpL1mg9sHIrwIPMcuJ9Qapr6A2OGSq7-Q5jjgEQJsDq9v08IRNwF2wGtTWvYM1vT2Xnje9edzrLCgrJd3zDUc5g_8MzES_Y0vAEtGL8GaXmuEakM17gzPh9pcrsTHy4YscTBtHHKI-8AvzdcLsXYaSHc9M0T5fdle07Bb29kl9V_ldTRQKDMBTkpWMHzqmS_nFM6OEQ6e3MNl-lL_anp6JZ6aX1h4LXJ094sB-WUQFp-8we4Ft0Qw09rzO31g2buHsU7cJLj71F6_Oua8etXZS4deigA2R-_CKJau61Il-uZ1SwM1cfQ2zKQ2hPVHKXSJNCqp1Bhdnc2WQYDjg3ePiEonsox0mSnEVTyvC5gntGuNpkrmIl0dLEXjDxCSKer1ghQQ5ffaM5G_jm_DnsAJ4-Op6rPo8nq6sktnlt1chW7Aw3kRzaX3XCg_VxtcNeyXJXBeDhX3NvgQJP0K_tgn0tTxGcMPNkB57IygxpWTSosKTvre6ENSxrZdyNtfrTYt0COByk4rNYrxapi6tVKUMxLDu8L-JaXht2xUA1mo6sbrtGwF_n0w133T1LerGxQT1_DBcRjq12iT8W1pbeWY-LGS1i8ICdbHN_ez4dPlyzQBKWPjfkT_2Rk29i7xbKZvYhuIXeLXIJ6dO0RPj_FmSn5UaIcYmgBwEh6Uw7e7VuxfYhZhiTVxDqMdaiOZviFQCbk81SnCm3ke8VTH58yE_Z7dregS8O8Sve0HvqIFkCKTst7ti26O0wDkQXwCoEQ9O2H6hK9mBcW2nwB_OOGTwadpu1WZVmtvemHSBaMkzDdY1A5R2CSWh3IEg7NX6wG62jAH2oXeh1xSmi32ZV_f-XDoZHJjlhKpA2U0DumfusGHTpDT8ByDUY5mri9MusuK49ylAKm_FV9-LAkuzL07ITyJrvB5Zpsc3RaYjJ083lK71sqtZN-FnQnIWTaU03EJDadT7FysaX68mGkxAygMXuzra5HL2q7CK-EQ4bGU6YvZzgrc_hpweh9vPdfv0K9GXQ1_HHprGq2iTM6LYq4W9x2w7_LrQ3dnTe0YWxwEfuSSG7n4muHB243YrxtrzPx7xiGSVRnjr5KlyT95mormjmQehE2pkKGlsLjZ-75rJZzNFIfICBqpAPbqh_Pn6Ue1sQIcvbSxq9ITcu3s_lo=",
  "id": "rs_08abb5a8bdfbf3e5016ab4963a22c487d0a9897bd22cb3a723",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.085,\"left_pitch\":-0.12},\"note\":\"The fingers stopped with about a centimeter of material between them. I’m lifting the teal bowl a short distance while keeping nearly the same wrist angle to avoid peeling the rim out of the grip.\"}",
  "call_id": "call_YmLV6O4H9sVffftT9LeaB1T4",
  "id": "fc_08abb5a8bdfbf3e5016ab4963bd94087d09276b966919659e2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YmLV6O4H9sVffftT9LeaB1T4",
  "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]: [-0.3279, 1.467, 0.6498, 0.057, -0.2657, -0.2836, 0.1012, -0.218, 1.145, 0.9138, -0.4442, -0.4759, -0.8165, 0.9958]\nstate[eef_state]: left_x=0.3744 left_y=-0.0746 left_z=0.0714 left_yaw=0.031 left_pitch=-0.158 left_roll=-0.0109 left_gripper=0.1012 right_x=0.3508 right_y=0.0089 right_z=0.2129 right_yaw=0.6009 right_pitch=-0.0655 right_roll=-0.3636 right_gripper=0.9958\nstate[joint_eff]: [-0.7043, -7.0222, 6.3111, 1.6874, -0.2711, 0.1929, -0.0757, -0.0205, -3.7949, 6.9128, 1.663, -0.1832, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84ccf9550ccdae9557f2cdbeab69ad54cfced24b992d441b89f82418c5b5a572",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c0108403fc01d0e38cff970d664467706eaf3f03dbc796a09ef391225b27727",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1408510c538aa976d8eff1e68a7de1940ea7dd782224849b483eed8a665ee530",
      "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 · 5.284 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 95 changed as sent

message 103 changed as sent

message 107 changed as sent

message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4751, 1.4925, 0.8608, -0.2142, -0.3389, -0.355, 0.9996, -0.2207, 1.1389, 0.9176, -0.4191, -0.4881, -0.8173, 0.9958]\nstate[eef_state]: left_x=0.3749 left_y=-0.1228 left_z=0.1019 left_yaw=-0.0106 left_pitch=-0.215 left_roll=0.0203 left_gripper=0.9996 right_x=0.3537 right_y=0.0092 right_z=0.2216 right_yaw=0.6072 right_pitch=-0.0363 right_roll=-0.3849 right_gripper=0.9958\nstate[joint_eff]: [-0.3487, -6.9675, 8.8, 1.6239, -0.3687, 0.1099, -0.0611, 0.1983, -3.6444, 8.3897, 1.7411, -0.1441, 0.2173, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3145, 1.6249, 0.6537, 0.1177, -0.2363, -0.2806, 0.1018, -0.218, 1.145, 0.9138, -0.4442, -0.4759, -0.8162, 0.9958]\nstate[eef_state]: left_x=0.3763 left_y=-0.0751 left_z=0.0251 left_yaw=0.0248 left_pitch=-0.2531 left_roll=0.0036 left_gripper=0.1018 right_x=0.3508 right_y=0.0089 right_z=0.2129 right_yaw=0.6007 right_pitch=-0.0654 right_roll=-0.3633 right_gripper=0.9958\nstate[joint_eff]: [-0.1026, -5.8188, 5.9556, 1.1551, -0.3101, 0.1587, 0.3785, -0.1026, -3.8769, 7.2957, 1.6825, -0.149, -0.0024, -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 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3279, 1.467, 0.6498, 0.057, -0.2657, -0.2836, 0.1012, -0.218, 1.145, 0.9138, -0.4442, -0.4759, -0.8165, 0.9958]\nstate[eef_state]: left_x=0.3744 left_y=-0.0746 left_z=0.0714 left_yaw=0.031 left_pitch=-0.158 left_roll=-0.0109 left_gripper=0.1012 right_x=0.3508 right_y=0.0089 right_z=0.2129 right_yaw=0.6009 right_pitch=-0.0655 right_roll=-0.3636 right_gripper=0.9958\nstate[joint_eff]: [-0.7043, -7.0222, 6.3111, 1.6874, -0.2711, 0.1929, -0.0757, -0.0205, -3.7949, 6.9128, 1.663, -0.1832, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84ccf9550ccdae9557f2cdbeab69ad54cfced24b992d441b89f82418c5b5a572",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c0108403fc01d0e38cff970d664467706eaf3f03dbc796a09ef391225b27727",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1408510c538aa976d8eff1e68a7de1940ea7dd782224849b483eed8a665ee530",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJZB4NllMy8B6URFsIzD2aEtFr-MTx-wwV7GzIO_d4sEUMO34UJpb1zfP2AvpQ-XmFsHoDB0E_DtF13qxTEJafPk4B_5FvT-yRhUeCU7skSKC7lmKgWa_3zgfM52GLoBwsZHsuUd0SyBODrGpahbb2utn9laYnHsPFyo9SjrOdel_Js3qZTzCX2ZFfCOIAjMtJAvOTEUvyOrGLHySISX_UlNQPHMGRx9KTlOfv6genXoAVw7KuQXe0FzxZKsjixtuyGy1A-7IqyHG283jAJOvtbNEbnDZyhWlnB6fIq7VZmaNJrhEGYNFvho2eCVm4khLNJvYVdx5imoDYl2TudicTLqL2YjnSq5IlgzsFhdDhxE8vxUurb5OfXVO-rx4J47dMqc6TiuttKzTutCvapc7EEXUBWosiQGbJUkBeGlasgwX46notpQSudYs8CFRiDYP2PSxSgqPzGwI0rpSapW84RETnnl9AqKdvCrfZ4ShNjB8b2zIsaZ_oajnpPS8QEiAsVT28hiQ9aDLLtqQw1JoPr9JtoT-OTtnzEl9ySJVSx_2uFpgFQLdPH30SdmSpd8SgHuscA_YRWEIUbm256uVoOZU27PhOzvIzbEK36oBER0MDVZBG4JbibI3Yw2z3tO9vLvDmZOL6TLBQZNN3aS2KYUpc1gcs3x6vc_SmcRvjJ7Czhu-m-e4EINWyTxXtmHW3hWyJEma0QZLJCwTRKDXZ64KWmtqCx0wU2Xp-Gle0GsuhldXW1m0va1fxeEemG3h6X9ASc4y-pWfPb7B_TaQnvCKEvpTVPPHDNKKQ7SJ_5jAgPhJlQovPiz5ziphhohACFgs0_bBelCgKibrNIGTKeky-hCcygSnNKd8xhRvJpAuBkFdnt565-Px7AEZe4SxArg0RlGhUuYQiey_C959nfqx3BgTZW7Ev8zeb8-Ta-DePNYCwjb63yW3a2hJ1XAW80C_mLLk4wclR3DMyvGxLr1UUjI-eJ_OXaYP1chW9TdQ6g3U_v4bXRYXFIhCV2AoFb7YUwsWbgJeQmQ6d0036k5OtLJ8KjGxe_l5JGLQLUmZnyLPAwYYeLZhwGaRAl1FYbMlG6OqrLISn4vaFS5zjwpG2lynM_i_ybcvsHq2yJ8fpKswyjmCoFkPPMKmmb2xhTDiERgJiZUX20ufk0Gm0EOZ3gqY0trs8JIwvrrFsOzffu7p7D4SojJGkplX6IiypJIqsluu4VNZBaOkQC49cQaimx5htE7FGnvooYU0mpJWaJiZBTOUI6koSlYzV7g94wgXkf7CbZ8d1lUinvhPI95qf_IWts3W6VWbNUQCsJJ-dEo9USwmMiFH24UySbDi8XFPFDLJdrznV54Vicz_pF8_H8WGySHhwQZCdd8rEalCbIl_sPfhnwyPKjlkkFfgh8ybvBzxfUnEAj8UtzCw0Mj3SV1eECssnpka0VjU_imE4VxIJwN_yTz7bOC5SSjpI4yQwBG3BLJBjtxBQ0rXojS6I8ZHCvObTEuoYGh6wj6Wd-C0V3Zf4O02k4uK_teCKSc9gNXPnsTxewlMevGq9-A0fJV52uU-UErWg7OmUNZlC5hWAnkcCRZU3sxZpius2C5wp34Hp6rZfcUlMkSmZjP5a5qMRYwJFPhWHOPzoXrnBu2OW6HW2vbBSq-RVbcPYeks1gfQyzagqZPzhQuEYLtXfE-Ug4cLm890uqEEmRfuStYx08R0WV8zF9sG3jM17EeS55EMkV1Ub0oeE6dhPG3uA==",
  "id": "rs_08abb5a8bdfbf3e5016ab4963e734487d0a934796169d8cbe2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.2,\"left_z\":0.18,\"left_pitch\":-0.12},\"note\":\"The teal bowl rose with the left gripper during the test lift. I’m carrying it above the blue bowl, keeping the side-grasp offset so their centers line up.\"}",
  "call_id": "call_vQWrmbAY97svm2k7DqU1tYt2",
  "id": "fc_08abb5a8bdfbf3e5016ab49640325487d0b162125b4c0a25e2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vQWrmbAY97svm2k7DqU1tYt2",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.709, 1.5509, 1.1469, -0.4427, -0.5201, -0.5583, 0.1011, -0.218, 1.145, 0.9085, -0.4454, -0.4763, -0.82, 0.9958]\nstate[eef_state]: left_x=0.3719 left_y=-0.1986 left_z=0.1676 left_yaw=0.0075 left_pitch=-0.1384 left_roll=-0.0165 left_gripper=0.1011 right_x=0.3499 right_y=0.0091 right_z=0.2104 right_yaw=0.6032 right_pitch=-0.0704 right_roll=-0.3614 right_gripper=0.9958\nstate[joint_eff]: [-0.335, -6.8444, 8.9231, 1.1648, -0.3492, 0.0611, -0.022, -0.0205, -3.6991, 7.3504, 1.6532, -0.232, 0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1caf255705e58f35eded9705eb32ea9817b111a6cff5ae8b3f480db2b34cc521",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53b4186078931490c1ab86de75b6b781dd36c1b92118b0cd3f135f166ca35eb8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32feb8e7e9b90c0d43527d7431403773a6828f45d13690c4310e0f646ed27493",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 3.119 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 99 changed as sent

message 107 changed as sent

message 111 changed as sent

message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3138, 1.6356, 0.6529, 0.0818, -0.2543, -0.2607, 0.9995, -0.218, 1.1435, 0.9176, -0.437, -0.469, -0.8124, 0.9958]\nstate[eef_state]: left_x=0.3693 left_y=-0.0693 left_z=0.0161 left_yaw=0.034 left_pitch=-0.2934 left_roll=0.0473 left_gripper=0.9995 right_x=0.3523 right_y=0.0074 right_z=0.2159 right_yaw=0.5926 right_pitch=-0.0592 right_roll=-0.3723 right_gripper=0.9958\nstate[joint_eff]: [0.4171, -6.5846, 5.641, 1.6825, 0.0122, 0.0513, -0.0171, -0.2803, -3.9316, 6.9128, 1.7558, -0.2662, -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 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3279, 1.467, 0.6498, 0.057, -0.2657, -0.2836, 0.1012, -0.218, 1.145, 0.9138, -0.4442, -0.4759, -0.8165, 0.9958]\nstate[eef_state]: left_x=0.3744 left_y=-0.0746 left_z=0.0714 left_yaw=0.031 left_pitch=-0.158 left_roll=-0.0109 left_gripper=0.1012 right_x=0.3508 right_y=0.0089 right_z=0.2129 right_yaw=0.6009 right_pitch=-0.0655 right_roll=-0.3636 right_gripper=0.9958\nstate[joint_eff]: [-0.7043, -7.0222, 6.3111, 1.6874, -0.2711, 0.1929, -0.0757, -0.0205, -3.7949, 6.9128, 1.663, -0.1832, -0.0562, -0.0122]\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 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.709, 1.5509, 1.1469, -0.4427, -0.5201, -0.5583, 0.1011, -0.218, 1.145, 0.9085, -0.4454, -0.4763, -0.82, 0.9958]\nstate[eef_state]: left_x=0.3719 left_y=-0.1986 left_z=0.1676 left_yaw=0.0075 left_pitch=-0.1384 left_roll=-0.0165 left_gripper=0.1011 right_x=0.3499 right_y=0.0091 right_z=0.2104 right_yaw=0.6032 right_pitch=-0.0704 right_roll=-0.3614 right_gripper=0.9958\nstate[joint_eff]: [-0.335, -6.8444, 8.9231, 1.1648, -0.3492, 0.0611, -0.022, -0.0205, -3.6991, 7.3504, 1.6532, -0.232, 0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1caf255705e58f35eded9705eb32ea9817b111a6cff5ae8b3f480db2b34cc521",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53b4186078931490c1ab86de75b6b781dd36c1b92118b0cd3f135f166ca35eb8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32feb8e7e9b90c0d43527d7431403773a6828f45d13690c4310e0f646ed27493",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJZHIors9-WHWMNzLMO-9ln1-afbzSiCtbjSG9LfGsO6SeoriIpDazlqG9BI7VFDfojpE4hKLMfxWPx7rgG5GGEs5T44rs-D42nSS30HmsWX31eVeZTrfbgAUmJS5Dc8i0xCMNoogik8az8iipV4UI80srxVXl67yuXLj7abfr_cciadpS98WkRBFYFTdxDKZx9i0rLiXgSQ0cFbFKdNPtUTLp0Q2LSwWb2FghRaRxyy8S8tYPWRBoOv_X6mIoiPF6hzaObVkua7_VE5TsAivz9BbJjP-77-qWGnLiUASL_8vOhIg9LBlVEAmNCoEbL9-kPDm3vTD640KM0rsXdqMFQm8j2hF9Ff_0nC9NHvuS4JfwG9IiqBSyYNvDuIDzXawsQ3WA-E6dQ8jLU62oWLXnPTAmocdE7YBmv0yvrLbAsxrK4_LAdtvuPaLr9wsEb2FpNHUn2iP_1XbqSjyOrkihHMIXJofl4R3-qJHvMw2tpEpPRzjZDpbw7gi4n9W24eTyyEnBqtj9om0nkVp0GdvU_g2wZsgTsvTsoD8TaEeWR6YgEVYN8jF50XRn9WC85xcoTMar0k_SX2KQwOdW-jdTZxaWhPM0lxSyKeuVdjaAbbmqfGZPXXOvOMQY2QyjCkBPYdqnzm3HH3rtTED-kPu3TAqhKnVQIabSjLmuSe7L30uN9RUnNiZrXEVAdlfGfUMk5wXe1I6mBpu0yd8EWxbtWDPHNfOQGO-F7VkZBSTqQdEZRqXUAaSiiQhi4lXZcOc88y5MxlRpyO_acwpxiNk9tImgSrkGZeEygnDCNZh_LWK9Qff71TpaeF9CxjsRgBuUd8l2kDTZ6GKwfcg7xwE__UEksN5PB_l3PRU6aSlPotiCvoAPCXsCsHgT4yShzFbE9Xend6vunyouNt9bLKLbgK0v_mq5aQGlZAn3O0kv_hzaCWcx7KJQEAFQwr66l21iGqD5lxY0iSWPXZVfO8JFw3KNmxTv7VF0FbzBZqnOUCKnUstyc6yJcijDvKBp8bYaoUvRVvig9QQx0DIXtGgGl-4x8j9Jh-RxGdUvpkGm-gNmwrxXjVA-BC943Vdlij90G4dTk2jvgIrWayGGaIMKTYuzTX3mKvAcxl3tMq_B8v0SnudJQ_UFZ_PdQHGRzoHixiHGoFJFtW_tYcI1KM0xAfozFZkqy-n8FeOKziedkH5npwROQGXyV1X0o691rHmfN3-A-fmj9Enm-idJ5yUT9oBmn_HlxEzLnCSdZKnWEGsDt9XWzsExXAgX6igX7_aS7gjQo2giORrRjsUXF4EUQeRvoFLpp4Pa6ff84NfZhDNTI6Xe88tgthgXgDs0346e4CUn0UMaW3pPibk89xhsOXnVevxyinedb7koH0F_d_AAeFpe-Jp0Fyt0QoR0XrYrCqoskh3g4CIhC4dpBdDPPtnpniz61SadycCl-IEqujyS4r0jSjxLu2wt-mVUc3WDovJsWHiaN063dP1e3vfH0O2w9BmH0O846ajXEyPBuG_m2rmHQGKxmVe8QaQZWJlkjgupVU5uYTOKIxZl8lILgJQ3hPXJjRN60ORPUd3zNt78rhTWaIXAlRHEBWnXtVZDNfHxQBiZ1wlEUcIlz8bF0Ro4vJobMdST-FCWMstZRD3Ank7Fvw7ezCev1ljXtcizAxoEe6CrVndrQSe5wzhf2funS8mkYqpr75OpkBphClHVQguRdygdbjCnOWgh5ZB5BLZi9lwF7-rVVV3DUNz50D7HTQoEuyON_OiBxeiLyy0EvpTuljM6-5DFPjH3BQ1k7R_U4gjIblV7elzFmYHq83NoYO7SIWMFK9XYNzhrq7bzzM0GYTxdwYv6Wp7ctIxVIYuT2IOS8--44PPPTi6OY191atjH8t295QrXlAXYsDulw=",
  "id": "rs_08abb5a8bdfbf3e5016ab496447f0487d0b1aea784e761b736",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.225,\"left_z\":0.065,\"left_pitch\":0},\"note\":\"The teal bowl is above the blue bowl but slightly left of its center. I’m correcting that offset and lowering slowly so it can settle into the blue bowl.\"}",
  "call_id": "call_pbwcG2yk4foTMTxLMGmNKAJa",
  "id": "fc_08abb5a8bdfbf3e5016ab49646a44487d09bea5cbf28af0de0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pbwcG2yk4foTMTxLMGmNKAJa",
  "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]: [-0.7944, 1.7489, 0.8478, 0.0715, -0.6186, -0.5686, 0.1011, -0.218, 1.145, 0.9066, -0.4454, -0.4763, -0.8234, 0.9958]\nstate[eef_state]: left_x=0.3632 left_y=-0.2186 left_z=0.0593 left_yaw=-0.002 left_pitch=-0.0757 left_roll=0.0172 left_gripper=0.1011 right_x=0.3496 right_y=0.0092 right_z=0.2096 right_yaw=0.6051 right_pitch=-0.0724 right_roll=-0.3628 right_gripper=0.9958\nstate[joint_eff]: [-0.4171, -7.706, 5.4632, 1.5458, -0.4225, 0.0757, -0.0122, 0.0479, -3.7949, 7.0496, 1.5507, -0.1929, 0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:505bf65d92fe3974d210954df5bf8e22418fb4134521987fd8e039c64f752cb2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f87cdfb6041947fff0c4e93e6adb4f424cd54812f75e3d29ac0dc34555f07582",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af91439f7dc5e7200f41887a782a8fde5c2060a691f59711239484e14662c3c5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /responses · status 200 · 8.176 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 103 changed as sent

message 111 changed as sent

message 115 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3145, 1.6249, 0.6537, 0.1177, -0.2363, -0.2806, 0.1018, -0.218, 1.145, 0.9138, -0.4442, -0.4759, -0.8162, 0.9958]\nstate[eef_state]: left_x=0.3763 left_y=-0.0751 left_z=0.0251 left_yaw=0.0248 left_pitch=-0.2531 left_roll=0.0036 left_gripper=0.1018 right_x=0.3508 right_y=0.0089 right_z=0.2129 right_yaw=0.6007 right_pitch=-0.0654 right_roll=-0.3633 right_gripper=0.9958\nstate[joint_eff]: [-0.1026, -5.8188, 5.9556, 1.1551, -0.3101, 0.1587, 0.3785, -0.1026, -3.8769, 7.2957, 1.6825, -0.149, -0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.709, 1.5509, 1.1469, -0.4427, -0.5201, -0.5583, 0.1011, -0.218, 1.145, 0.9085, -0.4454, -0.4763, -0.82, 0.9958]\nstate[eef_state]: left_x=0.3719 left_y=-0.1986 left_z=0.1676 left_yaw=0.0075 left_pitch=-0.1384 left_roll=-0.0165 left_gripper=0.1011 right_x=0.3499 right_y=0.0091 right_z=0.2104 right_yaw=0.6032 right_pitch=-0.0704 right_roll=-0.3614 right_gripper=0.9958\nstate[joint_eff]: [-0.335, -6.8444, 8.9231, 1.1648, -0.3492, 0.0611, -0.022, -0.0205, -3.6991, 7.3504, 1.6532, -0.232, 0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7944, 1.7489, 0.8478, 0.0715, -0.6186, -0.5686, 0.1011, -0.218, 1.145, 0.9066, -0.4454, -0.4763, -0.8234, 0.9958]\nstate[eef_state]: left_x=0.3632 left_y=-0.2186 left_z=0.0593 left_yaw=-0.002 left_pitch=-0.0757 left_roll=0.0172 left_gripper=0.1011 right_x=0.3496 right_y=0.0092 right_z=0.2096 right_yaw=0.6051 right_pitch=-0.0724 right_roll=-0.3628 right_gripper=0.9958\nstate[joint_eff]: [-0.4171, -7.706, 5.4632, 1.5458, -0.4225, 0.0757, -0.0122, 0.0479, -3.7949, 7.0496, 1.5507, -0.1929, 0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:505bf65d92fe3974d210954df5bf8e22418fb4134521987fd8e039c64f752cb2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f87cdfb6041947fff0c4e93e6adb4f424cd54812f75e3d29ac0dc34555f07582",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af91439f7dc5e7200f41887a782a8fde5c2060a691f59711239484e14662c3c5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJZL3NujbmrjSRkqDQPNxcbTzwnEo1T3HVPiv4w0AKUCwKC3MDtc59tvfW1av01SPxKJUet5cdzAYfKrLNlD0D9STI_gTmcBY6qX3UAEDMNWF7XFNmjeMufN9SA-0XzjxvxlQK3vsBL8AYeikmhTC6O4mAfMjYvmGpiiPk0pPbNdxWSkkrELFp9UIfNNmKAijdf4vZjWlAQd0LS6bqPLO4-oCflFJtN5QHDoKxkwGO80fb49yVrp3kuizPaFtfL1RSt-wqeVAkY0EJYJPTm79JRBR6guifCqQbFCi8d4ANnQSZrNkajUrHaHEKmE-aimzpV0d5b3XVPopAC5Lby3XUtVV2DK8SdhrM3VwEQa6TaLvIMBu4uy_5A5H2q-nw8s0SP7TKCLHmu05tXxCF8L2KX29M3N-SLoP6h2kBgAEBhPUMWb04-G9L38bl9Z4Cgd76ILRr0V6SaFs4XhsV7aST6dkC9h342-4zKZzu64et297Lm0_I0YchTg1OApuvpUIKQsT8pQXoWltmakYLj3CcBoO9fytyC85FZFPZRx0DsFSvFpbkfApTfYPkvphqZBusrg6Nn2C3ZPHRNvOdvVuuG_mMRd-UrOkaEWJ3gmGbwtTMxFvQJ_3VIaEFvxiMxFbMKRQRuZGcjYNLtIyrQT5zEh-sXZoKMuJpvj5Y6Q51pviuwivMaCgUGswfTdLQrZGwbfp9WuzHl7CqSRR5HE375fyeOheSZskH-g4PRal5y80VvYPNH3ZivzKwscJgIIHPNONWfx--BZUNz8mMNKKgRUpDsYNe0f27CY8W7mpzEthKj4gvYkYkmgSDEATuEg2DuF_-55uy2S6qCvI8Q1EYO3_GNrJ0QjgMEYTmS3n0iG-t4vrM1YaitXqTZ3FQfo9cztdpEFuMVPTybTX3SkVONwLvPkgEJEDDXh60F48HQsozIsUMBAKS5phsYD4oFyMZy14STwUL2HDbPQun2Vfv1MfyVRFvvgBHcQNHSQpNySwPAN6syIfJzxupaJUwqEqqm87HhnyU98CMd2rtkFcVda7olJgjuakqdzIhUu_X_QrO9BuRzoRtUT5Dy5YT74QcCyfUZOyyEAfYztY3nEkOEqSS7x9JkCk1JCq7lHD2W5iPw3KOlRbzMi3Ciw5V-SzwEtgO2Mpj-lTCqNWzA401CU4px9D2tlO-l5Dd8PbHFviFu2Nn0uzVIPV_SpgiFiJ1sXBL20JssN16h1e9-MpSefqT5FJ5-AQHFWjdnvgbhZr-QRgkYsyH1kntzwgo3qh6ibUjJxoomwT6DxRxxa14KM_YgJCN-Yq4FL4I4ICWJMsVbZKy4RjQw8HWyCOY2AYJdozieiQrhwWltucm5dBLHF-H1h1iFvyvz9nkKlxOZkAWvClqokIbcXm5QQ0R8qGFAIYPtGJFOLOE1J_dZCX7PFuQ==",
  "id": "rs_08abb5a8bdfbf3e5016ab49649ad8487d0a8df8a42c88bc2d5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.028},\"note\":\"The teal bowl is aligned inside the blue bowl, with the blue rim visible just behind it. I’m lowering the last few centimeters until the bowls support each other before releasing.\"}",
  "call_id": "call_H1usloTdCEbyM6qd4HITGCyv",
  "id": "fc_08abb5a8bdfbf3e5016ab4964a92ec87d09b128839b2e95f17",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_H1usloTdCEbyM6qd4HITGCyv",
  "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]: [-0.7979, 1.8114, 0.8154, 0.1917, -0.627, -0.5663, 0.1011, -0.218, 1.145, 0.9047, -0.448, -0.4763, -0.8307, 0.9958]\nstate[eef_state]: left_x=0.3661 left_y=-0.2218 left_z=0.042 left_yaw=-0.0018 left_pitch=-0.0537 left_roll=0.0054 left_gripper=0.1011 right_x=0.3489 right_y=0.0093 right_z=0.2083 right_yaw=0.609 right_pitch=-0.0769 right_roll=-0.3653 right_gripper=0.9958\nstate[joint_eff]: [0.1026, -6.8718, 4.6427, 1.4676, -0.2173, -0.0366, -0.0122, -0.0889, -3.7949, 7.1316, 1.5946, -0.2125, 0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:641a71e5c3608e916791e65d368d3c0ee543a33d70085d5af4efe23634006ec4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e52e65316b8ccc117bf8e82e9f5d09d66e4a3e4ce601f56596a77414125ba25",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c3effc6b69da0de8ca03f5df9fac25f3b5481729e0b0c4c4787c7ffa3aa0535",
      "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 · 7.013 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 107 changed as sent

message 115 changed as sent

message 119 changed as sent

message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3279, 1.467, 0.6498, 0.057, -0.2657, -0.2836, 0.1012, -0.218, 1.145, 0.9138, -0.4442, -0.4759, -0.8165, 0.9958]\nstate[eef_state]: left_x=0.3744 left_y=-0.0746 left_z=0.0714 left_yaw=0.031 left_pitch=-0.158 left_roll=-0.0109 left_gripper=0.1012 right_x=0.3508 right_y=0.0089 right_z=0.2129 right_yaw=0.6009 right_pitch=-0.0655 right_roll=-0.3636 right_gripper=0.9958\nstate[joint_eff]: [-0.7043, -7.0222, 6.3111, 1.6874, -0.2711, 0.1929, -0.0757, -0.0205, -3.7949, 6.9128, 1.663, -0.1832, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7944, 1.7489, 0.8478, 0.0715, -0.6186, -0.5686, 0.1011, -0.218, 1.145, 0.9066, -0.4454, -0.4763, -0.8234, 0.9958]\nstate[eef_state]: left_x=0.3632 left_y=-0.2186 left_z=0.0593 left_yaw=-0.002 left_pitch=-0.0757 left_roll=0.0172 left_gripper=0.1011 right_x=0.3496 right_y=0.0092 right_z=0.2096 right_yaw=0.6051 right_pitch=-0.0724 right_roll=-0.3628 right_gripper=0.9958\nstate[joint_eff]: [-0.4171, -7.706, 5.4632, 1.5458, -0.4225, 0.0757, -0.0122, 0.0479, -3.7949, 7.0496, 1.5507, -0.1929, 0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7979, 1.8114, 0.8154, 0.1917, -0.627, -0.5663, 0.1011, -0.218, 1.145, 0.9047, -0.448, -0.4763, -0.8307, 0.9958]\nstate[eef_state]: left_x=0.3661 left_y=-0.2218 left_z=0.042 left_yaw=-0.0018 left_pitch=-0.0537 left_roll=0.0054 left_gripper=0.1011 right_x=0.3489 right_y=0.0093 right_z=0.2083 right_yaw=0.609 right_pitch=-0.0769 right_roll=-0.3653 right_gripper=0.9958\nstate[joint_eff]: [0.1026, -6.8718, 4.6427, 1.4676, -0.2173, -0.0366, -0.0122, -0.0889, -3.7949, 7.1316, 1.5946, -0.2125, 0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:641a71e5c3608e916791e65d368d3c0ee543a33d70085d5af4efe23634006ec4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e52e65316b8ccc117bf8e82e9f5d09d66e4a3e4ce601f56596a77414125ba25",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c3effc6b69da0de8ca03f5df9fac25f3b5481729e0b0c4c4787c7ffa3aa0535",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJZTv2usLV6JS5ZWnCzyLyMxpY56LQ5zXvEjkbLz3P5nLeNNgQs3craCuqAKZ9i0reJgC1Q7lcUk2QGfg_Twc0L8wHwUNok9XQUb6wS8io73-zBZkt9GIG0igUUTdSHGxCvIFM2nlbN3wrSSvohMcT6DPA9AIhXlcUwmrIr4l55ZGcb5_BBD0GSmZ_6ysAalCzi3bW9VQiJi8ND9UDtIjNOdO9mO3rbg9vwGtGo6bzehPZtrOK0-lS0t9ngqfHJSUOc_RgFwZdTqgHtT4FaD8UQaU4vpTIKchGKT6-wRIGP9lGdHDJ5_d712XmoM2hUypi7kIRnnuk_wDTNAL7wYIrOWj0gVH1xdTrhIopcf4Bg3azNfh8CEqxkjFHpQBOC6nqpk5lJyP7vDieX1gXqbhZxyI8bwE3V8Mn2CZx8r-LET4t6zhy1uld2IVWLyExBvZtDJS-D1LZ2Zgs_m3vwh4BBIjO7CoNTAlYDEfV30SlhK3oh5VWjEXRBh9fVmSDeH4dZtYOlAnijEBOTOZtZLLca9ESujRnO4FP-B4J9GL86qW0P-T5VQWOtrW6UThetpanotgDxdiQq4fkvxn6RUhpWZLsKdn-brpllHW8V8rfrYC68qRaVpfsHti1AfBxJLQ3G4YWx6cIc38AZuIKD5-1sNGNkty9ZO6t7FFvtwzZkbRc0NUSASq1WTTBvwywp95RXR8e_hp73rl_d7FYHuLLtuSHc8-sMkU6X2FFPLs5GgHU2jrFeVxbMz2z75hCJZITTM1Py9y8gva-ZCV1KxfxCvNY3lZPsDdf_s-hfr33NsYzNcllGJbR056yXcz8-EPnEcVA_LtzW6nYO8AthVY_iF1LT1VWK30hd4K1sjheQbDQ7SKi2WuCtYIek_fE8BUmx8TUdeyj4kwjG028EyOkJukz_WpZO1RObhGM6Mm8qoCGDtoA9gMyoDoCvNp1-uTSL35PYtUK3sXVxCOKxI4j_pjTobbiiZFZYMT9lTWXrgcVxZsmGD4OJP-1xAyO8OiGbshzU-gMLxDyqAiliODyvAADqmTm_7FydLc-idj4xhl8scndvPtK03r5fQUea3gX5NhtXCMbCwlF6OOOGlI6rmY5X_yveGWNWp90mhAsLBZcCHVZv-8KOBFaZygOZ3JWRG6CvmAOwhBjiEtkTceDpas4ETAc1jA9i7SmVWRmJt72nDG12HizGXaamhqudU68MslVxNhDE3jR9RL6_rtMIwLnBopH56CpFuagBmOQuzt-C28fZKS_zsZWiqbFdQKKZyJoLb8ZGLqG2V0YsX1I4MXgN1GWk-5_EDuPcFeXK3Z0B-gUBYbskAZ0h1Zv5yO3vxn8KvfXYS4vFm1Eb_3KY3hM-3PXS7n768FzR6_6z_4CHK2D-kjCIndqJfhlNXZPnRYXR6drh9DBiWLImXOT3FAVHIzafDG-W-NoJwg__1URxkOLyyHo0ZSJpNBx6Sz-dclwv5qWVdGBsOSqWrcrNk9TKcF1ccSe34pemhZ8QAIxH9X5yRT9e7oZx7E0HpDupZjq2E82isqvDODxDHvUKeXKIdXkOQ5DeajsToNdQMr6iKVkusbkEM4ESkFyIoDPsSPS1-cxsvQL4_nwWtf3JCm0ZUXq9uZsS3lvcUiqn-KilMVaaLRwhX0ccXQl-EMNHevPAFPsBmDZBWxbJmo7nlkzwsfhjUDFGdIndJ_akXtvy59tnj3xea1mnymMZvJEokHuWV0RfgHObEsS5EsYB1NkaI9fdieyVkwuCzUMRC2ie_JyaAMdNj65CfY_YQp6KI9DCJKtzIhWnhEjjpZAQMox1QOPe-3atPDD0gH64U4OGjCiLsKKI1sRQhVvtFwisfhL2Ro3qTFrGMphkD3d6NBkKEc1EUL3-AnexArn57QfdkpFx39paq3v2nKBh8RyGVMiAfbX3VLw0lyO9Tka2nlas35_oYdsp6bqNfqePIr3w3UxjBdBK0mxSq-aw6Y7t2B3H_pNd49xT6pL_OoybyTtGa-v_h4-W_U0h7cGMy1Jcr_pwW-M1ATNlZcA8iVHB1qSdEUbLZIHEkNmDCJo-26_exEFgcEUIoWzgJedWTVQEGB4sY5rTZ4PCRun2rZ8vx9hbK9_DXLbgW6kPyYqBqwFKrzLxvs6QTvPzzznMdPG6CSk1_I3qtssxs2MaTXWvW8YN7c0WMlHzpl05lEosIAwe-azQ8AA0fgu3CUiY--YVNISGf41zdFYDRYyp1OBfX1sYZ8grMd2VmBKw4nx0zf0zYlv2A_yU0xcnxfAK8g8B1JihB4ixdS_oKZXXMTWDU5ICFQXIZjqeo1bg0_mXy0cWdbPmqma-VM5R_zr80EX2pF1dSWCmh_o1IL8jz5QFN3CgmyI3zWHM_dwfFKlq6X3JnSMRKBAV-7R99qUKEMOLU1NW9euQEYqI5M8sGJxZ-jhUq_3bhiDVTOWzJMRx_TMYRLRPsJDv-mt7ShW2a9M-l2gVNmSFaO1PseB80LfmuEqU8XR32EN9ZGsWhfujGt7stdX59PuuObNLjbrbXP-unCXUrF6iQwYRjP6PG1KDbbM8FeuugoRUf-sJctwiPtIPN8-7ddFBHntt5pfGm4vD0qftUqYtHXCMqT3_Fv8H0frES-bTbsO0HPZqOCuFgUx4jh2iJ_aeMWezhewKQ4wQlg8aRc0wlMXO57w4al5tFINqn6Hd0XFf6Cdk06Xs8Avl7s0qrhJfIErE15LEBElbhx0l7u8ngMtB0V-yvenyxgYSra4OARmsAb9huReUJBNS7o1DqRwW-o0UMsOD3Mu14czqkkaCy78XSdIkmWb6DG1iu1-j-2wCuBPiRISOTPVxpGEv1f5QZtw2Znyaa22oiQWmnUpNshyVX34u01Q1q",
  "id": "rs_08abb5a8bdfbf3e5016ab4964d397887d0a3384081de166aa4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"right_x\":0.37,\"right_y\":0.045,\"right_z\":0.13,\"right_yaw\":0},\"note\":\"The teal bowl has stopped descending and is supported by the blue bowl, so I’m releasing it. At the same time, I’m bringing the right gripper above the remaining cream bowl for the same side-wall grasp that worked on the teal bowl.\"}",
  "call_id": "call_dXwDf5jkmKkjKYqj0zdUozco",
  "id": "fc_08abb5a8bdfbf3e5016ab4965295d087d0bcf9300bacb6fe06",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dXwDf5jkmKkjKYqj0zdUozco",
  "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]: [-0.7971, 1.8423, 0.7971, 0.1967, -0.6231, -0.5735, 0.9951, 0.3038, 1.3014, 0.6819, -0.1135, 0.3248, -0.2371, 0.9958]\nstate[eef_state]: left_x=0.3606 left_y=-0.2165 left_z=0.0244 left_yaw=0.0024 left_pitch=-0.0865 left_roll=0.0293 left_gripper=0.9951 right_x=0.3599 right_y=0.0575 right_z=0.1143 right_yaw=0.1427 right_pitch=-0.1704 right_roll=-0.3801 right_gripper=0.9958\nstate[joint_eff]: [0.0205, -8.5402, 5.3538, 1.4579, -0.1832, -0.0073, -0.1294, 0.1299, -5.2171, 7.4325, 2.1172, 0.2369, 0.1245, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f09aa49f7d803a0904a2cd611f5981e8d7304202e4d70385cba2ecf532dd468e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2539582b20cf9845e68e6040fa9b25e6ac634bc5c7c026ee7bc8e48db82eb129",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af0ba7e11526a433249c727387c7691ad93379fbe3d080591c1e268060b1847b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /responses · status 200 · 6.466 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 111 changed as sent

message 119 changed as sent

message 123 changed as sent

message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.709, 1.5509, 1.1469, -0.4427, -0.5201, -0.5583, 0.1011, -0.218, 1.145, 0.9085, -0.4454, -0.4763, -0.82, 0.9958]\nstate[eef_state]: left_x=0.3719 left_y=-0.1986 left_z=0.1676 left_yaw=0.0075 left_pitch=-0.1384 left_roll=-0.0165 left_gripper=0.1011 right_x=0.3499 right_y=0.0091 right_z=0.2104 right_yaw=0.6032 right_pitch=-0.0704 right_roll=-0.3614 right_gripper=0.9958\nstate[joint_eff]: [-0.335, -6.8444, 8.9231, 1.1648, -0.3492, 0.0611, -0.022, -0.0205, -3.6991, 7.3504, 1.6532, -0.232, 0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7979, 1.8114, 0.8154, 0.1917, -0.627, -0.5663, 0.1011, -0.218, 1.145, 0.9047, -0.448, -0.4763, -0.8307, 0.9958]\nstate[eef_state]: left_x=0.3661 left_y=-0.2218 left_z=0.042 left_yaw=-0.0018 left_pitch=-0.0537 left_roll=0.0054 left_gripper=0.1011 right_x=0.3489 right_y=0.0093 right_z=0.2083 right_yaw=0.609 right_pitch=-0.0769 right_roll=-0.3653 right_gripper=0.9958\nstate[joint_eff]: [0.1026, -6.8718, 4.6427, 1.4676, -0.2173, -0.0366, -0.0122, -0.0889, -3.7949, 7.1316, 1.5946, -0.2125, 0.0171, -0.0122]\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 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7971, 1.8423, 0.7971, 0.1967, -0.6231, -0.5735, 0.9951, 0.3038, 1.3014, 0.6819, -0.1135, 0.3248, -0.2371, 0.9958]\nstate[eef_state]: left_x=0.3606 left_y=-0.2165 left_z=0.0244 left_yaw=0.0024 left_pitch=-0.0865 left_roll=0.0293 left_gripper=0.9951 right_x=0.3599 right_y=0.0575 right_z=0.1143 right_yaw=0.1427 right_pitch=-0.1704 right_roll=-0.3801 right_gripper=0.9958\nstate[joint_eff]: [0.0205, -8.5402, 5.3538, 1.4579, -0.1832, -0.0073, -0.1294, 0.1299, -5.2171, 7.4325, 2.1172, 0.2369, 0.1245, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f09aa49f7d803a0904a2cd611f5981e8d7304202e4d70385cba2ecf532dd468e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2539582b20cf9845e68e6040fa9b25e6ac634bc5c7c026ee7bc8e48db82eb129",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af0ba7e11526a433249c727387c7691ad93379fbe3d080591c1e268060b1847b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJZba5_26b1JXKb98gvnr4mWY_CXnb7fFgElVdwN4wSO2YXxcr9flX9xXqL6x4T9JkrturCtjgwgBebTBdNK1stqB4IVOAz1nVLJWyrk2f4fW33ztPr_FWHCdxjAYTqbqXhCCtNtGiCHk-okS_deRcVLFheBnFe5TfgtqIyNGoFiJoM_omDj0Yx7Nd5P8CcGuQNsizJpujfUcaOEnBq6icLsx_TpwHPm0MYBEJXSngUJLn7FVwga6zbG5zbU1JhOSs2ylneDZDrEHUCtxQ2wnYyskYui6qIJqKmA5ua3g8zyeZ23Fhz8gsWWmcti1MrdIEqLJ9UO234cNT3LvGlTNPYOVTaPiVslg04AXh4zuZ3LCzMhSTuP6iSYc7jdmYPQc3TbSDvaq0N_kj9ObiwxjzSRvOuUoPYoewBe1YSdIQraKP03PMtSJ_DdBgCn2yHXconmTjidnOmyppCTTI2_lIqtHHHM5uDnTrH_SSofPIArOqgTkJJfoXdN1ZwGsRWhi49JKCh87m44ReV9OCMMstOPtH7dQY5GBPKbxAe5y7mHNZB_XlzClSyEnyAb1pcTfx0Y0vnxw7Byfy-kwDT3Pj8abVJsUSYYldnB_wbsBIiBIyNyOkZzEeiMQHfBeAmgAP9fu0RqRqInpYwf1Vx7W6GTqBbZd60HyN5_cOESvgRnRNUZDfkIZ5jNhD9Tocrn5r3PdarXhWRjebrQlnBWYmvYPgRkefpcdjlRuFwmb-BOGhWR7h_XvmkTIAAO6bWNUOAO2YJBO7UIe8le-9bWwiOYf9fdFMcnarFQDsYEPaazvqUtKm5KNOcO-i3BiWWpj4oJl1s6UTivZpEsT9IH2X1fuspOenkw6RIej4l6euY9lTtQMxh1JWcZbjCqFcx7n3puCD74qYk01QnIKBYm2djLNmeL6PVq2atSfozaj0JQ-w8v1qjbjx4sSF-zlxy6nE1kX7E6S7K0XryVnUEK4uTSfha5Hx36xY9GFzvD5RyfdomgxJhGnA6c6yQnd-FO1WKFpietHbIHLoyROv1J4pPGiOQRrhpZVv2ywlc7MgWmS4rBuBEWD2QWcu0vYmt7YEzAsGrrlSOPph82TK3Nsne_sGrJOoDBOElzZY3ud4ZF-hBIus4UkvvQqvyTbGg2xBXvJhfsYopwsVvgxNRpzazIN-Pif47L90aah2tpTB6zeI0TO7GlEApa-2ulBz96T3btFcyyWVTE534X-bZGVyTJni5jHkTNYrtf3XGGGseSoT7Oz8DGiWTYuSURQs7GP3-wmaxNg48AN4SO6SCEKurt8o8CZTKyb83oRa4orakt5V3IZMsbGauDaTepXTjcouXxT1qi5bOMqtVJlzN54d31XakY9dsssBl5P61B3K0FoVWGR7jvQ18SFFRn-j4A7gHtxuDizjto7bBlJFnWABj1JoeCGMr8vH6VHH1YJ0xbH_Px_0kk6aE4YhpRviYH8CoEyNS3oi_q_IWYEApZ8C3zsARUW3ewgXJD2-i_VCH2TLbozMLG9PVru7ULs2VT9BMRtl5jiQ4ho1AgDUAsb3g7BvmwaELYI_H_-TKpZHDBJ9kFxm6Mp5U1IugWOUedBrmN9IgcyAKtBWP-6ZCplq-u3HZJfWKS7Yq-4gYzPWLJgVRdDe3Qy22ZtRLiZEt4OeE9WnWqnPRrTqZ6-lbttbR-b4dQ_8LOLRqmpJ3YoOQjvOGRLaqkj8rQAdT7rzO6_Mq0Urkd5q0D-CXyhTsRrZ1vo9-sa3bO5_jIcp-5aZ1J2Rdo0DPeiqmLBRhKa-fXaDBezfQ9ejPnXQgUg93pSke4FmZXTsGXgoY6EIOhHvbticD3nK_dhm4eCxmV0YX8_TgoUU1kEtu0YIleJEMcwXQDh5EDylkzvWbp5l7WrmY2zh8IYVUrz1OzbEUzYB7GmEzECAvcwnyItZfVum2gHLdK9kMnUICAmLXy6qmOYzTY95LhK6CNqKs7k1Bm4wiTM1TyQbUiFPy-w3VIj9VgukFR-tXOvMSDenH6Sgh9P1avAKyQhw7r8W6PWjyX3mKIOtmSfHjv5wdDfCnLCOjCp0-Nj1_4LctIM00Tse14OtpNiO9XpNhiQXOpm8mqFQ3ySAgJWMrny2VyKFOZIyLQV_3hLcVWWZRexTmsvZMOM4s1wMviF6EauuRJhxpMLhQf6IiCJofY5Fww5HaJo1-Io79u8aFz1Qru1DfaeqnccJSDhlbdq969VOdoE6FZIDWrMEgicGJV_fUdnuM_FC-M2KIu6ugupeKpLpEw59RLt_YRXglqDx0S6_v07gtOcqLwIbdsoYz_RvpwIv8xBbkUbyexqwVa4o8rhTqilSI--VtZ1CRoLKs8LOVRIScm6_Nd9p6x41sCYmk4HLBoaAxjTRxW2FB__nOyR0VJhx21tgUbK5rV44WV_53eFVFRF7UFVoohyQZr0kgvJ8zxwSLQCt4P04gbxp67uUEfcSqhY3gomLl5-JtLbN1N76D0fnOpaQ-W7QpxHX5QxEaPEOSwAs87lMhDGOjYWplFKogPW-q4W_rEdyQoJN2CnXcONhXv_vDD",
  "id": "rs_08abb5a8bdfbf3e5016ab49656301087d0a50fda47f781f510",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.17,\"right_x\":0.375,\"right_z\":0.025,\"right_roll\":0.25},\"note\":\"The first two bowls remain nested after release. I’m lifting the left fingers clear and lowering the right fingers around the cream bowl’s inner-side rim, with a small tilt correction.\"}",
  "call_id": "call_zpCJZU7Zz41ahCfNQfII7uOb",
  "id": "fc_08abb5a8bdfbf3e5016ab4965a7dfc87d0ae8ed3d010a1949d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zpCJZU7Zz41ahCfNQfII7uOb",
  "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]: [-0.7971, 1.5925, 1.0927, -0.3672, -0.622, -0.5774, 0.9957, 0.2493, 1.3396, 0.6441, -0.07, 0.2218, -0.1604, 0.9958]\nstate[eef_state]: left_x=0.3612 left_y=-0.2173 left_z=0.1485 left_yaw=0.0049 left_pitch=-0.0998 left_roll=0.0389 left_gripper=0.9957 right_x=0.3585 right_y=0.0549 right_z=0.0903 right_yaw=0.136 right_pitch=-0.199 right_roll=-0.2566 right_gripper=0.9958\nstate[joint_eff]: [-0.3761, -9.2103, 8.9915, 1.2625, -0.2808, -0.0122, 0.0464, 0.1162, -5.1624, 6.6256, 1.7753, 0.0024, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa4b2c4e873f5760bd2bf0a61f1e6b82b7e52af675143f4209cb4d6a99771f43",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bac341b73ab5350664879a60d6d5487c9edfb29897fd93125e38113477bece4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b383dc3f01c4d8c9d3557b67a64aa67c23d629258097f07ed4418a93ca439e0b",
      "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 · 3.644 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 115 changed as sent

message 123 changed as sent

message 127 changed as sent

message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7944, 1.7489, 0.8478, 0.0715, -0.6186, -0.5686, 0.1011, -0.218, 1.145, 0.9066, -0.4454, -0.4763, -0.8234, 0.9958]\nstate[eef_state]: left_x=0.3632 left_y=-0.2186 left_z=0.0593 left_yaw=-0.002 left_pitch=-0.0757 left_roll=0.0172 left_gripper=0.1011 right_x=0.3496 right_y=0.0092 right_z=0.2096 right_yaw=0.6051 right_pitch=-0.0724 right_roll=-0.3628 right_gripper=0.9958\nstate[joint_eff]: [-0.4171, -7.706, 5.4632, 1.5458, -0.4225, 0.0757, -0.0122, 0.0479, -3.7949, 7.0496, 1.5507, -0.1929, 0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7971, 1.8423, 0.7971, 0.1967, -0.6231, -0.5735, 0.9951, 0.3038, 1.3014, 0.6819, -0.1135, 0.3248, -0.2371, 0.9958]\nstate[eef_state]: left_x=0.3606 left_y=-0.2165 left_z=0.0244 left_yaw=0.0024 left_pitch=-0.0865 left_roll=0.0293 left_gripper=0.9951 right_x=0.3599 right_y=0.0575 right_z=0.1143 right_yaw=0.1427 right_pitch=-0.1704 right_roll=-0.3801 right_gripper=0.9958\nstate[joint_eff]: [0.0205, -8.5402, 5.3538, 1.4579, -0.1832, -0.0073, -0.1294, 0.1299, -5.2171, 7.4325, 2.1172, 0.2369, 0.1245, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7971, 1.5925, 1.0927, -0.3672, -0.622, -0.5774, 0.9957, 0.2493, 1.3396, 0.6441, -0.07, 0.2218, -0.1604, 0.9958]\nstate[eef_state]: left_x=0.3612 left_y=-0.2173 left_z=0.1485 left_yaw=0.0049 left_pitch=-0.0998 left_roll=0.0389 left_gripper=0.9957 right_x=0.3585 right_y=0.0549 right_z=0.0903 right_yaw=0.136 right_pitch=-0.199 right_roll=-0.2566 right_gripper=0.9958\nstate[joint_eff]: [-0.3761, -9.2103, 8.9915, 1.2625, -0.2808, -0.0122, 0.0464, 0.1162, -5.1624, 6.6256, 1.7753, 0.0024, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa4b2c4e873f5760bd2bf0a61f1e6b82b7e52af675143f4209cb4d6a99771f43",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bac341b73ab5350664879a60d6d5487c9edfb29897fd93125e38113477bece4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b383dc3f01c4d8c9d3557b67a64aa67c23d629258097f07ed4418a93ca439e0b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJZjzSIIFTXN37MVJxOUS1VD3ASF_gpbgqZ8MfSiIwIkuVxOzM4iSa7C-eEq6Z09A3vnygegnn_MnXW2z76lD3yf_Uh998P8e_PaGpzUDbwkgclX_KU5faTNn_qMMYFYUJ2pFD8RqCyUQ2k68E0DT3uXWN6rN0MSDlH5Z1860v_PrND2vNAye4K0W-XX1xM0qeuhHAMBNXjZZCHEnTMaqTA69IpwhZXW01B_KfDSEM3-rGzEhXy5M6c3x8Qa3--yyzT_mgvmVOwIgQwkXTi7-ve-tKv3Q-qCrQViWVQdUJUNnvzB8jIJuXRQ-XW7rrhPY5ZTMvAMloPQ0ypO5wWDlYU0LFgo_5Rk40KHcI7P3UHBLcg0HmAkq4fqRFGQpvTG7Vk6XKMLhoIDxHHFOtFbKkOySnZWjsN2SUAUy2WLR3q_tbY4ETsznGnrPLciBkjfu9Ks0GHFyp7n5gtj0RvWx7o3CT_k-8d7cyC5KGUn0JLMoew7JUTyOZyOyS3ZaH1fh19OZuVn1XUlAUJiowioB71HOxoTIgwDRDAHzt-QYSHhv4RC2nUa8oLKpyX4rAfKijlXHpVLBQZSFwC8ophodx6TBWISFfN3ytxUpVItZVYfLpeeARvKYqGPuJJzZg8_oZ6mrmxJStPuQep86BywriMT_xQTO6HtWRN8tgGVURj0hLSBLiAGjIHGFUhz16hZVH9wOr5AVJga6MJQ9cuDx07NjzwLQPqYQn2U2Q-gOhrq5vIhsLg1ZObU8eqnjXHHqnFeWWuygpbHbFTe-YLmN5GcCbuUSUv0cuVmrSOpodybH3njk59BNC3cfyT02TnoRVgLjIKHL6gjzYYW9tVPAQoYuTJmEWyDPIH2eZu7xTnEAOVFwFfDSjXp7HZ5RCFmgNZGUYqv8ZLE4fjgmFHFMC3OZatBEDUP8jfhqkMGMlcWzMXJDk-ee5Lw_yHgzgcB4z8IxqvBFTa8RBhAU0bFzO7mPYK6HJibTMFpqxeik3tBtBfErKc8EfHUjo_Qt4zeOGcu32P9BaUagD2oPMqa1KnQbv2tisc1TMLRuiL-C__v-NuBTqktTEafQ6kvDwoiDUYYeguqQc_mrbMcx2GkxVcwF3abO-7NMiUh8u2X5M_PVD70-ri5ul0P6BuHckMeO70QFkaHce0TByPLYlZcAJjL1h6T6mus23U7jyQrExMaRlmdtWiOm6XlktI2guJgjwLibUALprFsDeO1jIxCIlRmxXXQ-rddy8TNLCDrkpuvGkL5WCyxS0WL0MHBwJcZPmrHgfDAD6CIwUe6xL-ZP3M3kUtQP7I8o5YaluhyHIirVrAoy-ngJwDt42lXoFfPUbGa7uVZyqfnuP5ytDF48x1mTVyvD21rhLGTEF5ekyReozuaFWiDB5IUBQ1-_fbumw6rQc-lQ1peyGFsAnEyXFvL1oPzdQpcxg-vHbjSFarTZ5Rfonw7Vq_0ClDdYqhLhVE6Iyo-YAPhW43XOSkfeiXd8QMZ14rOODfk-Yiw2mK3pdXyXo-ZMEG-iq6SUo41oMF9iG_6mFvrYuESIxHIY2MoQRGRmZKrvXvSbSiGyCavCrpA3gQN5Z7JkII7GV3BuQwJXaJD_7Qq-TxtzGBJ7H4n9HweIr9Azapi7xX7V1dJopyKtz67e0n3e9SgrQKdfKVVAFjg4cy0ZDPluftc3PbeK_cIiIK8SU2qeLu94OryMXf95YDhpZ7JwktYs-cJ-tuvoMT2Hs5dYM3OtKCe6rztcnW01gAARVEkSNP1t7KPiZ6QRyd6cb8bnVGkpJMBPWMKLGkaAPlQGXsSqw5cQVpopmOtWp5YVhMJyKquBPgFWxg49C7bVy3JE0jzo6a0vSU3wPMGcfbUf1Q92ItYQ5Oo5wgRDjeaAsowQwlAsh1jFyXSM563iLK-fsA4iy1iIQvxKa0OhhNOxr2G_g35ATmRdvUV8jaqw9fq2NfDsYuV_U3kqDypLPKuv9V4fcnQsrFjOQzuONwo65CApQeSghzJv60ACumPabrbargO09MaQUshlZpafI56i0z1cW4-WgdBmM9aFQ1XcZuv26-mVr_MU8p9BZvWAD39jczW_Q-CtEm92k5baRXPyUxhqE1FFNgn47Nm_C2LhoMgmAuy4zZztZo3d5ZrGCNG-OhRwuu9qit3ggPLWOGBiq2vNdDLlT0EoRmycd19p2rEzlXHmbDmWwqCXSshr8w9CW2aW84M3vBXM46-i_pENz3zXDjSNbFTig6RDeMVFXL0ZX_ICFDFZ9Mpq8RSD6uFAQPHuze4zXyGTOzlDn9G9mtucw3Afh4_ks0xsV7mHhddhiDGTIHQ_A==",
  "id": "rs_08abb5a8bdfbf3e5016ab4965e2e7887d08b818ec4e09fb2ad",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.19,\"right_x\":0.385,\"right_y\":0.065,\"right_z\":0.015,\"right_pitch\":0.15,\"right_roll\":0},\"note\":\"The right fingers are still too high, so I’m changing the approach slightly instead of repeating the stalled descent. I’m also parking the left arm away from the stack to give the right arm a clear path.\"}",
  "call_id": "call_hkp03tAGiMeqx8jL74EX0fR6",
  "id": "fc_08abb5a8bdfbf3e5016ab49662026087d0b1b91031553c397b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hkp03tAGiMeqx8jL74EX0fR6",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0834, 0.8921, 0.7479, -0.5282, -0.1375, -0.0952, 0.9958, 0.1799, 1.895, 0.3294, 1.0603, 0.0563, -0.0231, 0.9958]\nstate[eef_state]: left_x=0.2985 left_y=0.003 left_z=0.1892 left_yaw=0.0629 left_pitch=-0.0962 left_roll=0.0306 left_gripper=0.9958 right_x=0.3762 right_y=0.0619 right_z=-0.0015 right_yaw=0.1353 right_pitch=0.0631 right_roll=-0.0271 right_gripper=0.9958\nstate[joint_eff]: [0.253, -2.4137, 6.8444, 1.7363, 0.0366, 0.1294, -0.0122, -0.6359, -6.653, 2.8786, 2.2833, -0.1392, 0.1001, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cd48e3d5d0a4542064bb8423e64dfab12e08247ef62115858d1f25c6d7c076e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e8b66ad900afb617cdf6ee14f80ae319fcb72c4fca2992474a6cec562d2a76b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0d31af4617c39be2f98210ae18ee7ed3fc509b96b6bb2bc4787ede6946f4e28",
      "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 · 6.72 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 119 changed as sent

message 127 changed as sent

message 131 changed as sent

message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7979, 1.8114, 0.8154, 0.1917, -0.627, -0.5663, 0.1011, -0.218, 1.145, 0.9047, -0.448, -0.4763, -0.8307, 0.9958]\nstate[eef_state]: left_x=0.3661 left_y=-0.2218 left_z=0.042 left_yaw=-0.0018 left_pitch=-0.0537 left_roll=0.0054 left_gripper=0.1011 right_x=0.3489 right_y=0.0093 right_z=0.2083 right_yaw=0.609 right_pitch=-0.0769 right_roll=-0.3653 right_gripper=0.9958\nstate[joint_eff]: [0.1026, -6.8718, 4.6427, 1.4676, -0.2173, -0.0366, -0.0122, -0.0889, -3.7949, 7.1316, 1.5946, -0.2125, 0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7971, 1.5925, 1.0927, -0.3672, -0.622, -0.5774, 0.9957, 0.2493, 1.3396, 0.6441, -0.07, 0.2218, -0.1604, 0.9958]\nstate[eef_state]: left_x=0.3612 left_y=-0.2173 left_z=0.1485 left_yaw=0.0049 left_pitch=-0.0998 left_roll=0.0389 left_gripper=0.9957 right_x=0.3585 right_y=0.0549 right_z=0.0903 right_yaw=0.136 right_pitch=-0.199 right_roll=-0.2566 right_gripper=0.9958\nstate[joint_eff]: [-0.3761, -9.2103, 8.9915, 1.2625, -0.2808, -0.0122, 0.0464, 0.1162, -5.1624, 6.6256, 1.7753, 0.0024, -0.0464, -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 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0834, 0.8921, 0.7479, -0.5282, -0.1375, -0.0952, 0.9958, 0.1799, 1.895, 0.3294, 1.0603, 0.0563, -0.0231, 0.9958]\nstate[eef_state]: left_x=0.2985 left_y=0.003 left_z=0.1892 left_yaw=0.0629 left_pitch=-0.0962 left_roll=0.0306 left_gripper=0.9958 right_x=0.3762 right_y=0.0619 right_z=-0.0015 right_yaw=0.1353 right_pitch=0.0631 right_roll=-0.0271 right_gripper=0.9958\nstate[joint_eff]: [0.253, -2.4137, 6.8444, 1.7363, 0.0366, 0.1294, -0.0122, -0.6359, -6.653, 2.8786, 2.2833, -0.1392, 0.1001, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cd48e3d5d0a4542064bb8423e64dfab12e08247ef62115858d1f25c6d7c076e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e8b66ad900afb617cdf6ee14f80ae319fcb72c4fca2992474a6cec562d2a76b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0d31af4617c39be2f98210ae18ee7ed3fc509b96b6bb2bc4787ede6946f4e28",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJZoRQPLTMU2BrE4MbtdZdJtIW6S2rB6Xs5wgCo6Xhj42ldCEQb7UXf9U5gmMjfr9K3QKNN9z7MKD_aHCkeyzbClKP4b-bmQFDq01DELK-3rFBDUP4VFUTHRTHgZHG_QR1Ym3_fFpBtsxaH_O7MIOpG2w3KXj8AmMDDCTW7GycFG2U9-eDvDuRW4PkO3k4SeLKH41tmO-sY-LUxwdl9XDbFtKpR3g42vre3B8gpM08vCyG5j33TyETfqrGrTtnX2JMmmYaDBPtS_wfMgAhNfO8y8d2pBY-NK2OuJQe3QRhOCi-l6b3qu-_knm94fq5EXq9E-zT3TAd2tGsjEWBcoD_5ylkAFz0f3otMiGBIeU-i9k6555yQ64kuXXy2qKD4IgpW-XvffrKMhDNsyX_NooIiKzzSQ9iSofAciD75LfGzZvQy5kKLJTeLciq8PoWWxSClWsz8hVnqf0JrhzBdRg-WGKi5NRGBmWzgPwlXsjYgXA52TEgxwfpqjJMxWlc7KjYQSQDy8kC_fx48xHfENl9TDWgG-B4BwZkSZXKpq4X4fA9lDBjZLg9BV_KF10NTRrIQYrochgs4A4JJrpVvbCggKBNoreo3OeJTkIDTZeBRMUD69Wpnv15ufkjTFe1q_a1SAF4mLOLJwFU2I9e2PtG84sg8pPxGDH-gD_SoWSV-1wTlI-_a4DeixlI1TiJfVBJ4yDPSxJb-L9fjGslJHo2IUsGQlpXdH4JUMMlE5eaDpHxedVAJ8GtqcYV4H9vNT1aU6JSxSkWjI6D6OuObCQpH7rFSfCZVZime-rzmPBtF_ghV16gNR6FKbh-MD62VH9McY0nzm8BRkGYxdlQib0eh5ZbZO0OO0V68YJNViSsnP0di04swidcHhYxC5vmBu0LK5OyWR_VDRvh3EA_m3la6Ccav0EA2JzPmFAiIHU8mTGcKvSeyZNYdUe73p4QIcjQM5XLwA0CRlelPy9vNTT-pfgwBSSu5GlnZlO5kWJdKGensomfe9Ed2zzq0i8vB_RUMNzCw5jsphwUuMwjWPl664Jl1M2jrnFy4TOGhefKVphjiRqWAIVFqUczRawE73LU0uHLbVEjAC9VgTthaDR-NWusyZy5EYZ_xcZ3nI95m6ECu6nDNpJwP_udzYUbi-7e-1JhjE7YL_ozzDwuDN2VP9UcFEh6BtRK0mTFgnFZj-kL1iEhGB-V62G_BZ__IonyIBlcXM2TObwOu7bNLo4q-cj_twmZWZ1okoUDzC1lKTHDtYTtIsRr4EnHNrZwvXfhw5we5xd_JgRwY7sRfRyGQEeM1G2mrQh2Nv2pLHmJkjSIUi1Jnfxw-OzPP_h140JdoS90WEMHWJkjyFmc4HlUoSI2tZRaxg-eYvohtQvXfimT8PLz5uuviQDGJGoJGF_fPFftndM9emmqjO7EFQNztze_W5je5C5Ai44PRM6T3OMdPKpEVM1Ln-__uWjQ6pOXbE0vScWnlr0OMV5G9klSzCXyK3qipUBvUJneYTP3vwQ9scSYuo_23uZv-yFbyez8-PPhCPirCKuN4NfoShsjgDpLOUiewBHrxLlkrmfSdsGy8gCp5ZvX14OUZr4ZxrdcZCDYEv60d1LiAGSifoCqxHnQ==",
  "id": "rs_08abb5a8bdfbf3e5016ab496667cd087d086dd5bb1f5da87bb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_y\":0.015,\"right_z\":0.025},\"note\":\"At low height, the cream bowl is visibly to the right of the fingers. I’m shifting toward it and slightly forward so the inner finger enters the bowl while the other remains outside its left wall.\"}",
  "call_id": "call_XoZZH9Vi0R8QhSqe1nZjLm2y",
  "id": "fc_08abb5a8bdfbf3e5016ab49667afe087d0a2ad16bac95eb3d9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XoZZH9Vi0R8QhSqe1nZjLm2y",
  "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]: [-0.0845, 0.8955, 0.7479, -0.5426, -0.1268, -0.0807, 0.9957, -0.0124, 1.8145, 0.4145, 0.9024, -0.0742, -0.0986, 0.9958]\nstate[eef_state]: left_x=0.2965 left_y=0.0009 left_z=0.1853 left_yaw=0.0452 left_pitch=-0.1153 left_roll=0.0378 left_gripper=0.9957 right_x=0.4012 right_y=0.0117 right_z=0.0196 right_yaw=0.094 right_pitch=0.0712 right_roll=-0.0309 right_gripper=0.9958\nstate[joint_eff]: [0.0205, -2.1128, 7.0769, 1.7656, -0.0562, -0.149, -0.0171, -0.1983, -8.0615, 5.3675, 1.6923, -0.2173, -0.0073, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a8a5185159a10fc715b5e4a1d3c8e41b539cb228781e1b32303c7ce9aecf90e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dff986b562f21d87d711eeb56d4b7d74fb01719bbf7b434efd4784cd931e050b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b1e8375fa5bcc28222c2e1c56305717172888318ab8e78e98612c71ddb67379",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /responses · status 200 · 4.896 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 123 changed as sent

message 131 changed as sent

message 135 changed as sent

message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7971, 1.8423, 0.7971, 0.1967, -0.6231, -0.5735, 0.9951, 0.3038, 1.3014, 0.6819, -0.1135, 0.3248, -0.2371, 0.9958]\nstate[eef_state]: left_x=0.3606 left_y=-0.2165 left_z=0.0244 left_yaw=0.0024 left_pitch=-0.0865 left_roll=0.0293 left_gripper=0.9951 right_x=0.3599 right_y=0.0575 right_z=0.1143 right_yaw=0.1427 right_pitch=-0.1704 right_roll=-0.3801 right_gripper=0.9958\nstate[joint_eff]: [0.0205, -8.5402, 5.3538, 1.4579, -0.1832, -0.0073, -0.1294, 0.1299, -5.2171, 7.4325, 2.1172, 0.2369, 0.1245, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0834, 0.8921, 0.7479, -0.5282, -0.1375, -0.0952, 0.9958, 0.1799, 1.895, 0.3294, 1.0603, 0.0563, -0.0231, 0.9958]\nstate[eef_state]: left_x=0.2985 left_y=0.003 left_z=0.1892 left_yaw=0.0629 left_pitch=-0.0962 left_roll=0.0306 left_gripper=0.9958 right_x=0.3762 right_y=0.0619 right_z=-0.0015 right_yaw=0.1353 right_pitch=0.0631 right_roll=-0.0271 right_gripper=0.9958\nstate[joint_eff]: [0.253, -2.4137, 6.8444, 1.7363, 0.0366, 0.1294, -0.0122, -0.6359, -6.653, 2.8786, 2.2833, -0.1392, 0.1001, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0845, 0.8955, 0.7479, -0.5426, -0.1268, -0.0807, 0.9957, -0.0124, 1.8145, 0.4145, 0.9024, -0.0742, -0.0986, 0.9958]\nstate[eef_state]: left_x=0.2965 left_y=0.0009 left_z=0.1853 left_yaw=0.0452 left_pitch=-0.1153 left_roll=0.0378 left_gripper=0.9957 right_x=0.4012 right_y=0.0117 right_z=0.0196 right_yaw=0.094 right_pitch=0.0712 right_roll=-0.0309 right_gripper=0.9958\nstate[joint_eff]: [0.0205, -2.1128, 7.0769, 1.7656, -0.0562, -0.149, -0.0171, -0.1983, -8.0615, 5.3675, 1.6923, -0.2173, -0.0073, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a8a5185159a10fc715b5e4a1d3c8e41b539cb228781e1b32303c7ce9aecf90e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dff986b562f21d87d711eeb56d4b7d74fb01719bbf7b434efd4784cd931e050b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b1e8375fa5bcc28222c2e1c56305717172888318ab8e78e98612c71ddb67379",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
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  "id": "rs_08abb5a8bdfbf3e5016ab4966b0b7c87d08425623b4630e88e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":-0.015,\"right_z\":0.08},\"note\":\"The cream bowl has reached the outer edge of the table, so I won’t push it farther. I’m lifting the open fingers and aligning over its left rim for a straight-down grasp.\"}",
  "call_id": "call_sjtwJHgufKi9c5WxwCJwDVJd",
  "id": "fc_08abb5a8bdfbf3e5016ab4966ea80087d0b6fc98dd4fb10632",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sjtwJHgufKi9c5WxwCJwDVJd",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0845, 0.8959, 0.7479, -0.5457, -0.1284, -0.0937, 0.9957, -0.0349, 1.771, 0.432, 0.7998, -0.1131, -0.1162, 0.9958]\nstate[eef_state]: left_x=0.2961 left_y=0.0012 left_z=0.1847 left_yaw=0.0536 left_pitch=-0.1182 left_roll=0.0291 left_gripper=0.9957 right_x=0.3987 right_y=0.0096 right_z=0.0201 right_yaw=0.1135 right_pitch=0.0321 right_roll=-0.0218 right_gripper=0.9958\nstate[joint_eff]: [-0.2256, -1.8256, 6.9812, 1.6581, -0.0659, 0.0952, -0.0073, -0.3897, -8.212, 6.5573, 1.8095, 0.1245, 0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08a0b270e61915f833810ae6e38d916d734df404fb72561ab41817aa54ab9675",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26549966eff5de5ed3978e4607524ad949166f9de736e03e0311d959ea4ab0a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a46d0b4cfbe4e07d952f02c464622e860eb512a451040a6710e7ca094b04e328",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /responses · status 200 · 4.928 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 127 changed as sent

message 135 changed as sent

message 139 changed as sent

message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7971, 1.5925, 1.0927, -0.3672, -0.622, -0.5774, 0.9957, 0.2493, 1.3396, 0.6441, -0.07, 0.2218, -0.1604, 0.9958]\nstate[eef_state]: left_x=0.3612 left_y=-0.2173 left_z=0.1485 left_yaw=0.0049 left_pitch=-0.0998 left_roll=0.0389 left_gripper=0.9957 right_x=0.3585 right_y=0.0549 right_z=0.0903 right_yaw=0.136 right_pitch=-0.199 right_roll=-0.2566 right_gripper=0.9958\nstate[joint_eff]: [-0.3761, -9.2103, 8.9915, 1.2625, -0.2808, -0.0122, 0.0464, 0.1162, -5.1624, 6.6256, 1.7753, 0.0024, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0845, 0.8955, 0.7479, -0.5426, -0.1268, -0.0807, 0.9957, -0.0124, 1.8145, 0.4145, 0.9024, -0.0742, -0.0986, 0.9958]\nstate[eef_state]: left_x=0.2965 left_y=0.0009 left_z=0.1853 left_yaw=0.0452 left_pitch=-0.1153 left_roll=0.0378 left_gripper=0.9957 right_x=0.4012 right_y=0.0117 right_z=0.0196 right_yaw=0.094 right_pitch=0.0712 right_roll=-0.0309 right_gripper=0.9958\nstate[joint_eff]: [0.0205, -2.1128, 7.0769, 1.7656, -0.0562, -0.149, -0.0171, -0.1983, -8.0615, 5.3675, 1.6923, -0.2173, -0.0073, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0845, 0.8959, 0.7479, -0.5457, -0.1284, -0.0937, 0.9957, -0.0349, 1.771, 0.432, 0.7998, -0.1131, -0.1162, 0.9958]\nstate[eef_state]: left_x=0.2961 left_y=0.0012 left_z=0.1847 left_yaw=0.0536 left_pitch=-0.1182 left_roll=0.0291 left_gripper=0.9957 right_x=0.3987 right_y=0.0096 right_z=0.0201 right_yaw=0.1135 right_pitch=0.0321 right_roll=-0.0218 right_gripper=0.9958\nstate[joint_eff]: [-0.2256, -1.8256, 6.9812, 1.6581, -0.0659, 0.0952, -0.0073, -0.3897, -8.212, 6.5573, 1.8095, 0.1245, 0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08a0b270e61915f833810ae6e38d916d734df404fb72561ab41817aa54ab9675",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26549966eff5de5ed3978e4607524ad949166f9de736e03e0311d959ea4ab0a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a46d0b4cfbe4e07d952f02c464622e860eb512a451040a6710e7ca094b04e328",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJZ0zKw2xCJWxG90mc3KWh0wQIOhorAmRB7iC7tyB_jC3lWttRcRMm3z0dOT-DAl5UGENxvUoOAohWqBoAvKWSGdyDEjMBJvlOSFEmnITYpooKR0fVEn2mp8DsE29ersv_I2Uu11Z-WyZgu6UpT4omb9kf6msWxPQM8clu8Ach-_-rjpOhG0ulrN8UrOCR6GCWClt9NSqoWWROM9rIgDZV69lqJL5x7JZ5SpV79viAZO2J9oZPnJlM2AH_gIfUdZvQQgifsw3eLbY1-0-FirX6hXg_22K45dQh5yDCvnvoHX8x-HxslDkHp64X9rCQMIIxlsQp80TgcvJuJWQC1MG3XRvJZJR6gmeCTrGSakOG3OWNHb1CePT7ywMw-TCqif1EXuX3DUA8Jp8ndet86zYsC5oagiXtBQiPO11jKWSKwBIEMymmB-wS_t0jpHBeoPljFWcCQeWTu7ona7zMYAr9qalgsl7PEZhoW8vJ6IyFUa7L1gGSMdXMQP9KNhuv6iCN9A806gDmvDaPFqyNV9tsLsu2OrRT6RS0nxwNzxsHUPXxGEF74jqbEOY4jrIHGGWhUPEFgMxKCHkLpS9DHt3odR6-duV1GvBOx9GgojXl4TnHSPw1lARVVH8pYCQphubYYWhPTruZhrGTDJXf45lIik41H4QZfcg6VvxNrrvqiQoNSqjGIoHyO9wObVe_Yv8f7SahwQ0xkPiJG89I6lfB0S9cCnH8y_U1KmxE7ezdgGJLzQdneb8t6dwchUwNFPKKUrNmVxxijbBGxI1hEQjLh_9u6lZMp1qMHX74HcCGUOGgo2gtXufUESvru6ClMF50KgiFL3yDxL04RUB2QSAWOVFi3xEmIYZEgKNWCrSFJgSIUNCTXN94Yx-lJ2lEntiM5qtS1qoLDG7r8inOWkOuPhWyDgzRRPSjSMrtWJ9cfv2KUW0_dqu7hJqirikMuloNdTBarzQ9UG_GFPM9AE09V48aA0IBRJB8_b5v6GOSho4_e90aBpwbL0bEQrWWi-rE_F3h1GUuA9VpaZZHqHIqVHVVMMGo2Nn2T14pq6J1mAUq3BEIjC8m4j8gHk9jV16fSut1MVnTjYxICaaAR92odyswuGNzKJvU3GHoSUhLc9RaamsHFs6vNsV9cBwuEapuqBWF-NtoPoZ4SRh-nrTWGzJtxtP8tZQ2_Xd4q7OkrU7277cCmqXqgsTRRu8LcMhDnt_yvknzPi-1O8BsfIO4IbTz6Wk3wHOvOpdswsfMp6jwYSC2UWQ8RPdb4XplqlimTIX2L8Qox9_GhyMdMWms_FspgjPTGLCOhkQgpQXzhTbMCdx7LQvtMzD3yFjfH-Pv4vfhuTK8TI4kBU0L-QoN_gicFC1LBnyoFW4gnJNbMbOFAoaf47pgxe03s4vHXznnD8-WYElEyE6diDNYGLPf6iVRjw5rxkP0SHqXhxuRO8Bcr905aYxu1WIDu_jZq0k5otm6sMFJG92_wcbcPvmWRacHpy5_cZMeQvq8p5IDkG9ZqNOAslE8O6i8rEfVYBvNH32wG6DNzqOv-pYkRpdLz2kwCc-4VkWwQF8S8SeMfpafQsfgkWkNBeiWnieTWOQ6I-S1L2RGIrclkvYrsQUUOXqKqlgJezV_EOiEzmP2Dgntv3lc5k5TUVQB2bT3n8DHqr-IvB--HeGAxI-uLQ8KTboqjpNW_8y72Zp8gPgzCHpdZQ6dwVEWgxMSQvwhfTK1TqVFV8XIT-tDOWI1ie-VQkfArBqJlR7qtAgZ9AfhOekwZc031S4pNEAGY5y_J_grzJUyGM7NlFHflcY_EyUpNmVZSZEA8F4mmui7EEy3z2fdTlOKIqXbaRAtxHjyFiGbU2",
  "id": "rs_08abb5a8bdfbf3e5016ab49671886c87d088cd04a6b5524b96",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.065,\"right_z\":0.2},\"note\":\"The cream bowl is against the outer fence, and the right arm is not tracking the attempted lift beside it. I’m withdrawing inward and upward to leave the two-bowl stack undisturbed rather than risk knocking the remaining bowl off the table.\"}",
  "call_id": "call_ZcEHBeLgRhd6bePnLrXF0lMZ",
  "id": "fc_08abb5a8bdfbf3e5016ab49673740c87d08e3c3cf55cfaa46c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZcEHBeLgRhd6bePnLrXF0lMZ",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0845, 0.9012, 0.7475, -0.5472, -0.1284, -0.0944, 0.9957, 0.2581, 1.0119, 0.6811, 0.2192, 0.0895, 0.0013, 0.9958]\nstate[eef_state]: left_x=0.2962 left_y=0.0012 left_z=0.1827 left_yaw=0.0541 left_pitch=-0.1254 left_roll=0.0295 left_gripper=0.9957 right_x=0.3666 right_y=0.0842 right_z=0.2859 right_yaw=0.1628 right_pitch=0.4566 right_roll=0.0149 right_gripper=0.9958\nstate[joint_eff]: [-0.1162, -2.3316, 6.9128, 1.6239, -0.0855, -0.0513, -0.0073, 0.1573, 0.1299, 7.7744, 1.5018, 0.1343, 0.1685, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6f730422d4b763a1660e3858560a2a2543b222b531020035fc93e1ea92e26f3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d62dff6f8bb91109a4abbb9086b1b9313fa29f29f1f7b9037ff273d5e64b5b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a05c3c7b9f4cf6f397326a119a2e84967da5c524c24e62fdde1aee34dfcfb1ce",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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