adhoc

completed
2026-09-24T04:00:53.233215+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (74 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-astra
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
182.8 s
total steps
248
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

Stack the bowls on the table.

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteI see three upright bowls: green on the left, blue in the middle, and cream on the right. I’ll approach the green bowl’s rim first and use the blue bowl as the base of the stack.
move_to
left_x0.3250left_y-0.1400left_z0.1700left_gripper0.6000right_x0.2945right_y0.0010right_z0.1800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.7944, 0.6041, -0.382, -0.0227, -0.041, 0.9996, -0.0181, 0.7925, 0.6018, -0.379, -0.0154, -0.0326, 0.9992] state[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1795 left_yaw=0.0 left_pitch=0.0004 left_roll=-0.0 left_gripper=0.9996 right_x=0.2945 right_y=0.001 right_z=0.1796 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9992 state[joint_eff]: [-0.5265, -1.4564, 10.1128, 1.8095, -0.0073, 0.2613, -0.0611, -0.5538, -1.2786, 10.2906, 1.9121, -0.1001, 0.188, -0.0952] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.325,"left_y":-0.14,"left_z":0.17,"left_gripper":0.6,"right_x":0.2945,"right_y":0.001,"right_z":0.18},"note":"I see three upright bowls: green on the left, blue in the middle, and cream on the right. I’ll approach the green bowl’s rim first and use the blue bowl as the base of the stack."})
tool
executing move_to over 13 steps (1.3s)
step 13
top_cam
camera top_cam step 13
left_cam
camera left_cam step 13
right_cam
camera right_cam step 13
assistant
agent noteThe green bowl is centered in the wrist view and its rim is clear. I’ll lower toward its left side with one finger aimed inside the bowl and the other outside.
move_to
left_x0.3550left_y-0.1050left_z0.0850left_gripper0.5500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6781, 1.19, 0.7319, -0.2966, -0.5293, -0.4263, 0.6018, -0.0196, 0.7967, 0.6003, -0.3901, -0.0151, -0.0303, 0.9991] state[eef_state]: left_x=0.3155 left_y=-0.135 left_z=0.1502 left_yaw=-0.0324 left_pitch=-0.0608 left_roll=0.0346 left_gripper=0.6018 right_x=0.2931 right_y=0.0005 right_z=0.1754 right_yaw=-0.0031 right_pitch=-0.0168 right_roll=0.002 right_gripper=0.9991 state[joint_eff]: [-0.3624, -4.1231, 9.5932, 1.6825, -0.3736, -0.0415, 0.0171, 0.0068, -1.4974, 7.4735, 1.7949, -0.0464, -0.0513, -0.0171] camera 'top_cam' (step 13): [image omitted: streamed camera frame] camera 'left_cam' (step 13): [image omitted: streamed camera frame] camera 'right_cam' (step 13): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.355,"left_y":-0.105,"left_z":0.085,"left_gripper":0.55},"note":"The green bowl is centered in the wrist view and its rim is clear. I’ll lower toward its left side with one finger aimed inside the bowl and the other outside."})
tool
executing move_to over 5 steps (0.5s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
agent noteThe open fingers are straddling the green bowl’s left side, but they are still above the rim. I’ll move slightly forward and lower them enough to grip the wall below the lip.
move_to
left_x0.3750left_y-0.1020left_z0.0350
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.49, 1.3693, 0.5762, 0.004, -0.4129, -0.3229, 0.5515, -0.0196, 0.7982, 0.5999, -0.3935, -0.0151, -0.0303, 0.9991] state[eef_state]: left_x=0.3397 left_y=-0.0968 left_z=0.0738 left_yaw=0.0111 left_pitch=-0.1371 left_roll=0.0662 left_gripper=0.5515 right_x=0.2927 right_y=0.0005 right_z=0.1741 right_yaw=-0.0031 right_pitch=-0.0221 right_roll=0.0021 right_gripper=0.9991 state[joint_eff]: [0.2393, -4.9299, 6.1333, 1.7363, -0.0708, 0.149, 0.0659, 0.0068, -1.3607, 7.0632, 1.7411, -0.0611, -0.0269, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.375,"left_y":-0.102,"left_z":0.035},"note":"The open fingers are straddling the green bowl’s left side, but they are still above the rim. I’ll move slightly forward and lower them enough to grip the wall below the lip."})
tool
executing move_to over 3 steps (0.3s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent noteThe fingertips are now below the green bowl’s lip. I’ll close on the rim, then check the jaw opening before attempting a lift.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4549, 1.6051, 0.5919, 0.181, -0.3885, -0.3019, 0.5516, -0.0196, 0.8013, 0.5999, -0.3958, -0.0154, -0.0299, 0.9991] state[eef_state]: left_x=0.3606 left_y=-0.0979 left_z=0.0271 left_yaw=0.0186 left_pitch=-0.1845 left_roll=0.0866 left_gripper=0.5516 right_x=0.2926 right_y=0.0006 right_z=0.1728 right_yaw=-0.003 right_pitch=-0.0275 right_roll=0.0027 right_gripper=0.9991 state[joint_eff]: [0.6906, -8.1026, 7.4598, 1.7167, -0.0904, 0.1099, -0.0024, -0.1026, -0.9231, 7.0222, 1.8486, -0.0317, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The fingertips are now below the green bowl’s lip. I’ll close on the rim, then check the jaw opening before attempting a lift."})
tool
executing move_to over 6 steps (0.6s)
step 27
top_cam
camera top_cam step 27
left_cam
camera left_cam step 27
right_cam
camera right_cam step 27
assistant
agent noteThe jaws closed fully, so that attempt was empty; they were inside the bowl rather than across its wall. I’ll lift and shift outward toward the left rim before trying again.
move_to
left_x0.3660left_y-0.0550left_z0.0900left_gripper0.6000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4496, 1.6363, 0.5926, 0.226, -0.3893, -0.2962, 0.0082, -0.0196, 0.8036, 0.598, -0.3965, -0.0151, -0.0303, 0.9991] state[eef_state]: left_x=0.3659 left_y=-0.0981 left_z=0.0236 left_yaw=0.0202 left_pitch=-0.1716 left_roll=0.0847 left_gripper=0.0082 right_x=0.2924 right_y=0.0005 right_z=0.1712 right_yaw=-0.0031 right_pitch=-0.0324 right_roll=0.0023 right_gripper=0.9991 state[joint_eff]: [0.335, -7.1316, 6.7487, 1.6581, -0.0415, 0.0415, 0.6471, -0.0342, -1.2786, 7.3368, 1.7363, -0.0366, -0.0659, -0.0122] camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.366,"left_y":-0.055,"left_z":0.09,"left_gripper":0.6},"note":"The jaws closed fully, so that attempt was empty; they were inside the bowl rather than across its wall. I’ll lift and shift outward toward the left rim before trying again."})
tool
executing move_to over 6 steps (0.6s)
step 33
top_cam
camera top_cam step 33
left_cam
camera left_cam step 33
right_cam
camera right_cam step 33
assistant
agent noteThe arm rose less than requested, and the fingers are still close to the bowl. I’ll lift more directly to clear the rim before making the sideways adjustment.
move_to
left_x0.3550left_y-0.0750left_z0.1400
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3649, 1.5467, 0.6098, 0.1162, -0.326, -0.2497, 0.5944, -0.02, 0.8047, 0.5957, -0.3969, -0.0151, -0.0303, 0.9991] state[eef_state]: left_x=0.3662 left_y=-0.0755 left_z=0.0405 left_yaw=0.0285 left_pitch=-0.1961 left_roll=0.0777 left_gripper=0.5944 right_x=0.2921 right_y=0.0004 right_z=0.1697 right_yaw=-0.0035 right_pitch=-0.0362 right_roll=0.0023 right_gripper=0.9991 state[joint_eff]: [0.2803, -8.9231, 10.3316, 2.0977, -0.2564, 0.232, -0.1148, -0.1162, -0.9094, 7.2547, 1.7753, -0.0122, -0.0122, -0.0122] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.355,"left_y":-0.075,"left_z":0.14},"note":"The arm rose less than requested, and the fingers are still close to the bowl. I’ll lift more directly to clear the rim before making the sideways adjustment."})
tool
executing move_to over 7 steps (0.7s)
step 40
top_cam
camera top_cam step 40
left_cam
camera left_cam step 40
right_cam
camera right_cam step 40
assistant
agent noteThe green bowl shifted slightly during the empty grasp, and it is now visible below the raised fingers. I’ll approach farther to its left so the jaws can straddle the rim instead of closing inside it.
move_to
left_x0.3600left_y-0.0250left_z0.0800left_gripper0.6500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3779, 1.3277, 0.8093, -0.3088, -0.3149, -0.2596, 0.5957, -0.0196, 0.8055, 0.5953, -0.4118, -0.0151, -0.0303, 0.9991] state[eef_state]: left_x=0.3563 left_y=-0.0787 left_z=0.1239 left_yaw=0.0125 left_pitch=-0.2047 left_roll=0.0653 left_gripper=0.5957 right_x=0.2899 right_y=0.0006 right_z=0.1664 right_yaw=-0.0031 right_pitch=-0.0523 right_roll=0.0026 right_gripper=0.9991 state[joint_eff]: [-0.1709, -6.0513, 8.7179, 1.5067, -0.3834, -0.0562, 0.1148, -0.1846, -1.3197, 7.2821, 1.8144, -0.0708, -0.0757, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":-0.025,"left_z":0.08,"left_gripper":0.65},"note":"The green bowl shifted slightly during the empty grasp, and it is now visible below the raised fingers. I’ll approach farther to its left so the jaws can straddle the rim instead of closing inside it."})
tool
executing move_to over 5 steps (0.5s)
step 45
top_cam
camera top_cam step 45
left_cam
camera left_cam step 45
right_cam
camera right_cam step 45
assistant
agent noteThe green bowl’s left wall now lies between the open fingers. I’ll lower a few centimeters while keeping that sideways alignment.
move_to
left_x0.3500left_y-0.0250left_z0.0400
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1772, 1.3457, 0.6453, -0.1509, -0.2031, -0.1448, 0.6491, -0.0196, 0.8089, 0.5945, -0.4156, -0.0151, -0.0303, 0.9991] state[eef_state]: left_x=0.3488 left_y=-0.0226 left_z=0.0746 left_yaw=0.0578 left_pitch=-0.2582 left_roll=0.0734 left_gripper=0.6491 right_x=0.2895 right_y=0.0006 right_z=0.1643 right_yaw=-0.0031 right_pitch=-0.0603 right_roll=0.0027 right_gripper=0.9991 state[joint_eff]: [0.253, -4.1641, 6.3248, 1.79, 0.0122, 0.0952, -0.0415, -0.0752, -1.5795, 7.0359, 1.6972, -0.0415, -0.0171, -0.0122] camera 'top_cam' (step 45): [image omitted: streamed camera frame] camera 'left_cam' (step 45): [image omitted: streamed camera frame] camera 'right_cam' (step 45): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.025,"left_z":0.04},"note":"The green bowl’s left wall now lies between the open fingers. I’ll lower a few centimeters while keeping that sideways alignment."})
tool
executing move_to over 3 steps (0.3s)
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 noteOne finger is outside the green bowl and the other is inside its left rim. I’ll close to pinch the wall at this position.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1864, 1.4288, 0.5793, -0.0227, -0.1951, -0.1406, 0.6491, -0.02, 0.8097, 0.5945, -0.416, -0.0151, -0.0303, 0.9991] state[eef_state]: left_x=0.3471 left_y=-0.0269 left_z=0.0427 left_yaw=0.0407 left_pitch=-0.2802 left_roll=0.0752 left_gripper=0.6491 right_x=0.2894 right_y=0.0005 right_z=0.164 right_yaw=-0.0034 right_pitch=-0.0614 right_roll=0.0027 right_gripper=0.9991 state[joint_eff]: [0.1709, -5.4496, 5.9966, 1.7753, -0.2759, -0.1197, -0.0073, -0.1162, -1.3744, 7.159, 1.6825, -0.0464, -0.0317, -0.0122] 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":{"left_gripper":0},"note":"One finger is outside the green bowl and the other is inside its left rim. I’ll close to pinch the wall at this position."})
tool
executing move_to over 7 steps (0.7s)
step 55
top_cam
camera top_cam step 55
left_cam
camera left_cam step 55
right_cam
camera right_cam step 55
assistant
agent noteThe jaws are nearly closed, so the grip is uncertain; the wall is thin and appears aligned with the fingertips. I’ll make a short lift to see whether the bowl comes with them.
move_to
left_z0.1050
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1883, 1.4437, 0.5591, 0.0345, -0.2012, -0.165, 0.0207, -0.02, 0.8101, 0.5945, -0.416, -0.0151, -0.0303, 0.9991] state[eef_state]: left_x=0.3498 left_y=-0.0271 left_z=0.0398 left_yaw=0.0563 left_pitch=-0.2566 left_roll=0.0576 left_gripper=0.0207 right_x=0.2895 right_y=0.0005 right_z=0.1639 right_yaw=-0.0034 right_pitch=-0.0618 right_roll=0.0027 right_gripper=0.9991 state[joint_eff]: [0.1162, -4.465, 6.4205, 1.0623, -0.1783, 0.0952, 0.9011, -0.1573, -1.1692, 6.9812, 1.6728, -0.0366, -0.0366, -0.0122] camera 'top_cam' (step 55): [image omitted: streamed camera frame] camera 'left_cam' (step 55): [image omitted: streamed camera frame] camera 'right_cam' (step 55): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.105},"note":"The jaws are nearly closed, so the grip is uncertain; the wall is thin and appears aligned with the fingertips. I’ll make a short lift to see whether the bowl comes with them."})
tool
executing move_to over 5 steps (0.5s)
step 60
top_cam
camera top_cam step 60
left_cam
camera left_cam step 60
right_cam
camera right_cam step 60
assistant
agent noteThe bowl stays in the same position relative to the wrist camera during the short lift, which suggests the rim is held. I’ll raise it to carrying height and confirm that it clears the table.
move_to
left_x0.3400left_z0.1900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.189, 1.3865, 0.6323, -0.0917, -0.2016, -0.1688, 0.0291, -0.0196, 0.812, 0.5945, -0.4164, -0.0151, -0.0303, 0.9991] state[eef_state]: left_x=0.3536 left_y=-0.028 left_z=0.0656 left_yaw=0.0577 left_pitch=-0.2523 left_roll=0.0542 left_gripper=0.0291 right_x=0.2895 right_y=0.0006 right_z=0.1634 right_yaw=-0.003 right_pitch=-0.0641 right_roll=0.0028 right_gripper=0.9991 state[joint_eff]: [-0.1299, -8.5538, 11.0291, 2.1514, 0.0024, 0.0171, 1.033, -0.0889, -0.9368, 6.9812, 1.6581, -0.0366, -0.0611, -0.0122] camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_z":0.19},"note":"The bowl stays in the same position relative to the wrist camera during the short lift, which suggests the rim is held. I’ll raise it to carrying height and confirm that it clears the table."})
tool
executing move_to over 9 steps (0.9s)
step 69
top_cam
camera top_cam step 69
left_cam
camera left_cam step 69
right_cam
camera right_cam step 69
assistant
agent noteThe green bowl is clearly off the table and held by its rim. I’ll carry it above the blue bowl, allowing for the bowl’s center being to the right of the grasp point.
move_to
left_x0.3500left_y-0.2100left_z0.2000right_z0.1800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1967, 1.2263, 0.9718, -0.6083, -0.2031, -0.181, 0.0291, -0.02, 0.812, 0.5945, -0.4191, -0.0154, -0.0303, 0.9991] state[eef_state]: left_x=0.3423 left_y=-0.0282 left_z=0.1724 left_yaw=0.0593 left_pitch=-0.2679 left_roll=0.0511 left_gripper=0.0291 right_x=0.2891 right_y=0.0005 right_z=0.1628 right_yaw=-0.0031 right_pitch=-0.0668 right_roll=0.0031 right_gripper=0.9991 state[joint_eff]: [-0.5265, -5.7778, 9.1282, 1.5067, -0.2173, -0.0073, 1.0281, -0.1162, -1.3333, 7.159, 1.6972, -0.0855, -0.0464, -0.0122] camera 'top_cam' (step 69): [image omitted: streamed camera frame] camera 'left_cam' (step 69): [image omitted: streamed camera frame] camera 'right_cam' (step 69): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.21,"left_z":0.2,"right_z":0.18},"note":"The green bowl is clearly off the table and held by its rim. I’ll carry it above the blue bowl, allowing for the bowl’s center being to the right of the grasp point."})
tool
executing move_to over 17 steps (1.7s)
step 86
top_cam
camera top_cam step 86
left_cam
camera left_cam step 86
right_cam
camera right_cam step 86
assistant
agent noteThe green bowl is above the blue bowl but slightly left of center. I’ll shift it right and lower toward the blue opening while keeping the rim pinched.
move_to
left_x0.3550left_y-0.2500left_z0.1150
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.765, 1.6222, 1.4094, -0.8726, -0.5083, -0.6662, 0.0291, -0.0196, 0.8173, 0.6231, -0.4778, -0.0154, -0.0303, 0.9991] state[eef_state]: left_x=0.3436 left_y=-0.2057 left_z=0.1842 left_yaw=0.041 left_pitch=-0.313 left_roll=0.0679 left_gripper=0.0291 right_x=0.2846 right_y=0.0007 right_z=0.1627 right_yaw=-0.0027 right_pitch=-0.1022 right_roll=0.0037 right_gripper=0.9991 state[joint_eff]: [-0.3077, -7.6376, 9.265, 1.1062, -0.5788, -0.0366, 1.0281, -0.1983, -1.3607, 10.2906, 1.6093, -0.0708, -0.0024, -0.0122] camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.355,"left_y":-0.25,"left_z":0.115},"note":"The green bowl is above the blue bowl but slightly left of center. I’ll shift it right and lower toward the blue opening while keeping the rim pinched."})
tool
executing move_to over 5 steps (0.5s)
step 91
top_cam
camera top_cam step 91
left_cam
camera left_cam step 91
right_cam
camera right_cam step 91
assistant
agent noteThe two bowl rims now appear closely aligned. I’ll lower the green bowl gently into the blue one and watch for contact.
move_to
left_z0.0650
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8265, 1.7996, 1.3449, -0.7254, -0.5251, -0.7166, 0.0291, -0.0196, 0.8204, 0.6243, -0.4969, -0.0151, -0.0303, 0.9991] state[eef_state]: left_x=0.3463 left_y=-0.24 left_z=0.1094 left_yaw=0.0438 left_pitch=-0.3621 left_roll=0.1204 left_gripper=0.0291 right_x=0.2819 right_y=0.0007 right_z=0.1588 right_yaw=-0.003 right_pitch=-0.1232 right_roll=0.0038 right_gripper=0.9991 state[joint_eff]: [-0.3897, -9.4838, 6.7077, 1.1404, -0.4567, -0.1294, 1.0232, -0.212, -1.5248, 6.8855, 1.8193, -0.0562, -0.0073, -0.0122] camera 'top_cam' (step 91): [image omitted: streamed camera frame] camera 'left_cam' (step 91): [image omitted: streamed camera frame] camera 'right_cam' (step 91): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.065},"note":"The two bowl rims now appear closely aligned. I’ll lower the green bowl gently into the blue one and watch for contact."})
tool
executing move_to over 3 steps (0.3s)
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 descent stopped with the green bowl seated against the blue bowl. I’ll release the rim so it can settle into place.
move_to
left_gripper0.6500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8322, 1.8126, 1.3415, -0.6899, -0.5251, -0.7307, 0.0318, -0.02, 0.823, 0.6239, -0.4999, -0.0151, -0.0303, 0.9991] state[eef_state]: left_x=0.3492 left_y=-0.2467 left_z=0.1062 left_yaw=0.0407 left_pitch=-0.3489 left_roll=0.0958 left_gripper=0.0318 right_x=0.2815 right_y=0.0006 right_z=0.1573 right_yaw=-0.0033 right_pitch=-0.1293 right_roll=0.0039 right_gripper=0.9991 state[joint_eff]: [-0.3077, -9.8667, 6.6667, 1.2234, -0.4078, -0.0659, 1.033, -0.0752, -1.5111, 6.9812, 1.6288, -0.0269, -0.022, -0.0122] 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":{"left_gripper":0.65},"note":"The descent stopped with the green bowl seated against the blue bowl. I’ll release the rim so it can settle into place."})
tool
executing move_to over 7 steps (0.7s)
step 101
top_cam
camera top_cam step 101
left_cam
camera left_cam step 101
right_cam
camera right_cam step 101
assistant
agent noteThe green bowl remains resting inside the blue rim after release. I’ll lift the empty gripper clear so I can check the stack and make room for the other arm.
move_to
left_x0.3400left_y-0.2200left_z0.2200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8326, 1.8126, 1.3415, -0.6819, -0.5259, -0.7433, 0.645, -0.02, 0.823, 0.6235, -0.5011, -0.0151, -0.0303, 0.9991] state[eef_state]: left_x=0.3503 left_y=-0.2479 left_z=0.107 left_yaw=0.0458 left_pitch=-0.3426 left_roll=0.0816 left_gripper=0.645 right_x=0.2813 right_y=0.0006 right_z=0.1569 right_yaw=-0.0033 right_pitch=-0.1308 right_roll=0.0039 right_gripper=0.9991 state[joint_eff]: [-0.0479, -9.8803, 6.7077, 1.2088, -0.4371, 0.0317, -0.1587, 0.0068, -1.1966, 7.1316, 1.6728, -0.0366, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 101): [image omitted: streamed camera frame] camera 'left_cam' (step 101): [image omitted: streamed camera frame] camera 'right_cam' (step 101): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_y":-0.22,"left_z":0.22},"note":"The green bowl remains resting inside the blue rim after release. I’ll lift the empty gripper clear so I can check the stack and make room for the other arm."})
tool
executing move_to over 8 steps (0.8s)
step 109
top_cam
camera top_cam step 109
left_cam
camera left_cam step 109
right_cam
camera right_cam step 109
assistant
agent noteThe green bowl is nested in the blue bowl, and the cream bowl is still separate on the right. I’ll park the left arm and bring the right gripper toward the cream bowl’s outer rim.
move_to
left_x0.2945left_y0.0018left_z0.2000right_x0.3350right_y0.0900right_z0.1400right_gripper0.6500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8032, 1.7256, 1.6081, -1.0328, -0.506, -0.7368, 0.6461, -0.0196, 0.8288, 0.6224, -0.5049, -0.0151, -0.0303, 0.9991] state[eef_state]: left_x=0.3438 left_y=-0.2278 left_z=0.1988 left_yaw=0.0584 left_pitch=-0.355 left_roll=0.0712 left_gripper=0.6461 right_x=0.2807 right_y=0.0007 right_z=0.1542 right_yaw=-0.0029 right_pitch=-0.1415 right_roll=0.0041 right_gripper=0.9991 state[joint_eff]: [0.253, -10.7009, 8.5949, 0.9158, -0.3639, 0.2808, 0.0904, -0.0342, -1.5521, 7.2, 1.6239, -0.0757, -0.0317, -0.0122] camera 'top_cam' (step 109): [image omitted: streamed camera frame] camera 'left_cam' (step 109): [image omitted: streamed camera frame] camera 'right_cam' (step 109): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.2945,"left_y":0.0018,"left_z":0.2,"right_x":0.335,"right_y":0.09,"right_z":0.14,"right_gripper":0.65},"note":"The green bowl is nested in the blue bowl, and the cream bowl is still separate on the right. I’ll park the left arm and bring the right gripper toward the cream bowl’s outer rim."})
tool
executing move_to over 21 steps (2.1s)
step 130
top_cam
camera top_cam step 130
left_cam
camera left_cam step 130
right_cam
camera right_cam step 130
assistant
agent noteThe cream bowl is centered ahead of the right gripper. I’ll shift to its right-hand rim and lower with the fingers open, mirroring the successful rim grasp on the green bowl.
move_to
right_x0.3350right_y0.0450right_z0.0750
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1059, 1.1213, 1.0695, -0.9077, -0.1665, -0.1482, 0.6462, 0.3988, 1.1889, 0.7002, -0.3344, 0.2771, 0.2291, 0.6512] state[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1971 left_yaw=0.1071 left_pitch=-0.3701 left_roll=0.0669 left_gripper=0.6462 right_x=0.3209 right_y=0.0867 right_z=0.1191 right_yaw=0.0218 right_pitch=-0.2133 right_roll=-0.0255 right_gripper=0.6512 state[joint_eff]: [0.294, -4.1641, 6.2154, 1.4139, -0.0464, 0.1538, 0.0024, 0.1846, -3.9316, 9.7846, 1.7998, 0.2418, 0.105, -0.0122] camera 'top_cam' (step 130): [image omitted: streamed camera frame] camera 'left_cam' (step 130): [image omitted: streamed camera frame] camera 'right_cam' (step 130): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.335,"right_y":0.045,"right_z":0.075},"note":"The cream bowl is centered ahead of the right gripper. I’ll shift to its right-hand rim and lower with the fingers open, mirroring the successful rim grasp on the green bowl."})
tool
executing move_to over 4 steps (0.4s)
step 134
top_cam
camera top_cam step 134
left_cam
camera left_cam step 134
right_cam
camera right_cam step 134
assistant
agent noteThe right rim is just inside the open jaws. I’ll make a small outward adjustment and lower the fingertips below the lip before closing.
move_to
right_x0.3280right_y0.0230right_z0.0400
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1066, 1.1233, 1.0615, -0.9096, -0.1555, -0.141, 0.6462, 0.21, 1.2575, 0.561, -0.1734, 0.1799, 0.1219, 0.6512] state[eef_state]: left_x=0.2936 left_y=-0.0003 left_z=0.1929 left_yaw=0.0933 left_pitch=-0.3838 left_roll=0.0645 left_gripper=0.6462 right_x=0.3211 right_y=0.0398 right_z=0.0657 right_yaw=-0.029 right_pitch=-0.2821 right_roll=-0.0442 right_gripper=0.6512 state[joint_eff]: [-0.0479, -3.3846, 7.1453, 1.2821, -0.2125, -0.0464, -0.0171, -0.1162, -4.2735, 6.9675, 1.9072, 0.0122, -0.0562, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 134): [image omitted: streamed camera frame] camera 'left_cam' (step 134): [image omitted: streamed camera frame] camera 'right_cam' (step 134): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.328,"right_y":0.023,"right_z":0.04},"note":"The right rim is just inside the open jaws. I’ll make a small outward adjustment and lower the fingertips below the lip before closing."})
tool
executing move_to over 2 steps (0.2s)
step 136
top_cam
camera top_cam step 136
left_cam
camera left_cam step 136
right_cam
camera right_cam step 136
assistant
agent noteThe last descent stopped higher than intended, and the inner finger may be touching the rim. I’ll lift slightly and shift outward to give that finger room to enter the bowl.
move_to
right_x0.3250right_y0.0000right_z0.0850
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1066, 1.124, 1.0615, -0.9112, -0.157, -0.1463, 0.6462, 0.1776, 1.2808, 0.5316, -0.0906, 0.1417, 0.078, 0.6512] state[eef_state]: left_x=0.2934 left_y=-0.0 left_z=0.1925 left_yaw=0.0979 left_pitch=-0.3856 left_roll=0.063 left_gripper=0.6462 right_x=0.327 right_y=0.037 right_z=0.0598 right_yaw=-0.0022 right_pitch=-0.2596 right_roll=-0.0389 right_gripper=0.6512 state[joint_eff]: [-0.1026, -3.0701, 6.5026, 1.2821, -0.1099, -0.022, -0.0122, -0.3761, -3.2068, 6.0103, 1.6044, 0.1636, 0.0562, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 136): [image omitted: streamed camera frame] camera 'left_cam' (step 136): [image omitted: streamed camera frame] camera 'right_cam' (step 136): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.325,"right_y":0.0,"right_z":0.085},"note":"The last descent stopped higher than intended, and the inner finger may be touching the rim. I’ll lift slightly and shift outward to give that finger room to enter the bowl."})
tool
executing move_to over 4 steps (0.4s)
step 140
top_cam
camera top_cam step 140
left_cam
camera left_cam step 140
right_cam
camera right_cam step 140
assistant
agent noteThe arm did not follow the small clearance move, so I won’t push farther sideways near the bowl. I’ll raise it straight up and restore a more upright tool orientation before reapproaching.
move_to
right_x0.3200right_y0.0300right_z0.1700right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1066, 1.1248, 1.0615, -0.9115, -0.157, -0.1463, 0.6462, 0.168, 1.2953, 0.5171, -0.0971, 0.1444, 0.078, 0.6512] state[eef_state]: left_x=0.2934 left_y=-0.0 left_z=0.1923 left_yaw=0.098 left_pitch=-0.3867 left_roll=0.0632 left_gripper=0.6462 right_x=0.3209 right_y=0.0323 right_z=0.0489 right_yaw=-0.0159 right_pitch=-0.2941 right_roll=-0.0476 right_gripper=0.6512 state[joint_eff]: [-0.1162, -3.2889, 6.4889, 1.3455, -0.1343, -0.0513, -0.0122, 0.0342, -4.1778, 6.2838, 1.5946, 0.105, 0.0659, -0.0122] camera 'top_cam' (step 140): [image omitted: streamed camera frame] camera 'left_cam' (step 140): [image omitted: streamed camera frame] camera 'right_cam' (step 140): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.32,"right_y":0.03,"right_z":0.17,"right_pitch":0,"right_roll":0},"note":"The arm did not follow the small clearance move, so I won’t push farther sideways near the bowl. I’ll raise it straight up and restore a more upright tool orientation before reapproaching."})
tool
executing move_to over 10 steps (1.0s)
step 150
top_cam
camera top_cam step 150
left_cam
camera left_cam step 150
right_cam
camera right_cam step 150
assistant
agent noteThe gripper is clear again, and the cream bowl’s right rim is visible beside the jaw column. I’ll descend slightly farther outside the bowl while keeping the tool upright.
move_to
right_x0.3250right_y0.0050right_z0.0750right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1066, 1.1294, 1.0615, -0.9115, -0.1574, -0.1463, 0.6462, 0.168, 0.9451, 0.5877, -0.2203, 0.144, 0.0738, 0.6512] state[eef_state]: left_x=0.2937 left_y=0.0 left_z=0.191 left_yaw=0.0987 left_pitch=-0.3912 left_roll=0.0646 left_gripper=0.6462 right_x=0.3203 right_y=0.0323 right_z=0.1629 right_yaw=-0.0053 right_pitch=-0.0014 right_roll=0.0027 right_gripper=0.6512 state[joint_eff]: [-0.0752, -3.6444, 6.8718, 1.3309, -0.1392, -0.0122, -0.0122, -0.2256, -2.4274, 9.6068, 1.663, 0.0513, -0.0464, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 150): [image omitted: streamed camera frame] camera 'left_cam' (step 150): [image omitted: streamed camera frame] camera 'right_cam' (step 150): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.325,"right_y":0.005,"right_z":0.075,"right_pitch":0,"right_roll":0},"note":"The gripper is clear again, and the cream bowl’s right rim is visible beside the jaw column. I’ll descend slightly farther outside the bowl while keeping the tool upright."})
tool
executing move_to over 6 steps (0.6s)
step 156
top_cam
camera top_cam step 156
left_cam
camera left_cam step 156
right_cam
camera right_cam step 156
assistant
agent noteThe outer edge is safely between the open fingers, but the grasp is near the rounded front corner. I’ll move forward along the rim and lower to pinch a straighter section of the wall.
move_to
right_x0.3500right_y0.0100right_z0.0350right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1066, 1.1305, 1.0615, -0.9123, -0.1574, -0.1463, 0.6462, 0.0204, 1.1252, 0.3065, 0.1474, 0.0422, 0.0017, 0.6512] state[eef_state]: left_x=0.2937 left_y=0.0 left_z=0.1906 left_yaw=0.0989 left_pitch=-0.393 left_roll=0.065 left_gripper=0.6462 right_x=0.3106 right_y=0.0025 right_z=0.0591 right_yaw=-0.0287 right_pitch=-0.1009 right_roll=-0.0071 right_gripper=0.6512 state[joint_eff]: [-0.1846, -3.0291, 6.4889, 1.2772, -0.1294, -0.0659, -0.0122, -0.2803, -3.2615, 6.5299, 1.9707, -0.0562, -0.0171, -0.0171] camera 'top_cam' (step 156): [image omitted: streamed camera frame] camera 'left_cam' (step 156): [image omitted: streamed camera frame] camera 'right_cam' (step 156): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.01,"right_z":0.035,"right_pitch":0},"note":"The outer edge is safely between the open fingers, but the grasp is near the rounded front corner. I’ll move forward along the rim and lower to pinch a straighter section of the wall."})
tool
executing move_to over 4 steps (0.4s)
step 160
top_cam
camera top_cam step 160
left_cam
camera left_cam step 160
right_cam
camera right_cam step 160
assistant
agent noteThe fingers now straddle the cream bowl’s right wall below the rim. I’ll close on that wall, then test the grasp with a lift.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1066, 1.1351, 1.0607, -0.9134, -0.1574, -0.1463, 0.6462, 0.0525, 1.4658, 0.2813, 0.4873, 0.0475, 0.0044, 0.6512] state[eef_state]: left_x=0.2937 left_y=0.0 left_z=0.1889 left_yaw=0.0994 left_pitch=-0.3994 left_roll=0.0664 left_gripper=0.6462 right_x=0.3291 right_y=0.0125 right_z=0.0121 right_yaw=-0.0028 right_pitch=-0.1266 right_roll=-0.0098 right_gripper=0.6512 state[joint_eff]: [-0.1573, -3.6444, 6.5436, 1.3065, -0.1441, -0.0415, -0.0171, 0.3077, -5.6547, 5.2718, 2.2344, 0.2906, 0.0904, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 160): [image omitted: streamed camera frame] camera 'left_cam' (step 160): [image omitted: streamed camera frame] camera 'right_cam' (step 160): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The fingers now straddle the cream bowl’s right wall below the rim. I’ll close on that wall, then test the grasp with a lift."})
tool
executing move_to over 7 steps (0.7s)
step 167
top_cam
camera top_cam step 167
left_cam
camera left_cam step 167
assistant
agent noteThe jaws have closed to a thin gap, consistent with holding the rim. I’ll lift a few centimeters to verify that the cream bowl follows.
move_to
right_z0.1050right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1066, 1.1362, 1.0607, -0.9127, -0.157, -0.1463, 0.6462, 0.0532, 1.4471, 0.2897, 0.5636, 0.0124, 0.025, 0.0375] state[eef_state]: left_x=0.2939 left_y=-0.0001 left_z=0.1887 left_yaw=0.0991 left_pitch=-0.3998 left_roll=0.0662 left_gripper=0.6462 right_x=0.3449 right_y=0.0198 right_z=0.0359 right_yaw=0.0168 right_pitch=-0.0244 right_roll=0.0326 right_gripper=0.0375 state[joint_eff]: [-0.0068, -3.3709, 6.612, 1.2283, -0.1245, -0.0269, -0.0122, 0.0068, -2.7009, 4.3966, 0.8767, 0.2857, -0.2027, 0.8669] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 167): [image omitted: streamed camera frame] camera 'left_cam' (step 167): [image omitted: streamed camera frame] camera 'right_cam' (step 167): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.105,"right_pitch":0,"right_roll":0},"note":"The jaws have closed to a thin gap, consistent with holding the rim. I’ll lift a few centimeters to verify that the cream bowl follows."})
tool
executing move_to over 5 steps (0.5s)
step 172
assistant
agent noteThe cream bowl lifted with the gripper and is clear of the table. I’ll raise it above the existing stack before moving it sideways.
move_to
right_z0.2200right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1066, 1.1381, 1.0607, -0.9123, -0.157, -0.1463, 0.6462, 0.0647, 1.1809, 0.3943, 0.2192, 0.0227, 0.0032, 0.0379] state[eef_state]: left_x=0.2941 left_y=-0.0001 left_z=0.1883 left_yaw=0.0993 left_pitch=-0.4013 left_roll=0.0665 left_gripper=0.6462 right_x=0.3426 right_y=0.0218 right_z=0.0927 right_yaw=0.0313 right_pitch=0.0023 right_roll=0.0097 right_gripper=0.0379 state[joint_eff]: [-0.1846, -3.2889, 6.5026, 1.326, -0.1538, -0.0171, -0.0122, 0.2256, -3.9179, 9.3197, 1.8974, 0.188, 0.0904, 1.033] approver: 1 step(s) modified (delta_clamped). 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_z":0.22,"right_pitch":0,"right_roll":0},"note":"The cream bowl lifted with the gripper and is clear of the table. I’ll raise it above the existing stack before moving it sideways."})
tool
executing move_to over 9 steps (0.9s)
step 181
assistant
agent noteThe cream bowl is held above the stack’s height. I’ll carry it leftward, keeping its center offset from the rim grasp, toward the green bowl’s opening.
move_to
right_x0.3500right_y0.2650right_z0.2300right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1066, 1.14, 1.0595, -0.9123, -0.157, -0.1463, 0.6462, 0.0654, 1.0397, 0.791, -0.3496, 0.0357, -0.0051, 0.039] state[eef_state]: left_x=0.2941 left_y=-0.0001 left_z=0.1873 left_yaw=0.0995 left_pitch=-0.4043 left_roll=0.0672 left_gripper=0.6462 right_x=0.3419 right_y=0.0197 right_z=0.1987 right_yaw=0.0257 right_pitch=-0.0283 right_roll=-0.0056 right_gripper=0.039 state[joint_eff]: [-0.0342, -3.5214, 6.5709, 1.2625, -0.1392, -0.0415, -0.0122, 0.1573, -3.7949, 9.9897, 1.8144, -0.0659, 0.0024, 0.8718] camera 'top_cam' (step 181): [image omitted: streamed camera frame] camera 'left_cam' (step 181): [image omitted: streamed camera frame] camera 'right_cam' (step 181): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.265,"right_z":0.23,"right_pitch":0,"right_roll":0},"note":"The cream bowl is held above the stack’s height. I’ll carry it leftward, keeping its center offset from the rim grasp, toward the green bowl’s opening."})
tool
executing move_to over 21 steps (2.1s)
step 202
assistant
agent noteThe cream bowl is over the stack but appears a little left of the opening. I’ll shift it slightly right and lower toward the green bowl.
move_to
right_x0.3500right_y0.2400right_z0.1400right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.107, 1.1408, 1.0588, -0.9123, -0.157, -0.1463, 0.6462, 0.897, 1.5948, 1.3045, -0.5537, 0.6609, 0.5087, 0.0423] state[eef_state]: left_x=0.294 left_y=-0.0002 left_z=0.1868 left_yaw=0.0993 left_pitch=-0.4058 left_roll=0.0675 left_gripper=0.6462 right_x=0.3424 right_y=0.2609 right_z=0.2068 right_yaw=0.0725 right_pitch=-0.0625 right_roll=-0.0589 right_gripper=0.0423 state[joint_eff]: [-0.1846, -3.3846, 6.5709, 1.2332, -0.1001, -0.0415, -0.0122, 0.2256, -8.0068, 9.8803, 1.5165, 0.5397, 0.2418, 0.735] camera 'top_cam' (step 202): [image omitted: streamed camera frame] camera 'left_cam' (step 202): [image omitted: streamed camera frame] camera 'right_cam' (step 202): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.24,"right_z":0.14,"right_pitch":0,"right_roll":0},"note":"The cream bowl is over the stack but appears a little left of the opening. I’ll shift it slightly right and lower toward the green bowl."})
tool
executing move_to over 5 steps (0.5s)
step 207
assistant
agent noteThe cream bowl now looks centered over the other two. I’ll lower it gently until the stack supports it.
move_to
right_z0.0800right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1066, 1.1427, 1.0588, -0.9123, -0.157, -0.1463, 0.6462, 0.841, 1.5764, 0.9573, -0.2405, 0.6266, 0.4671, 0.0451] state[eef_state]: left_x=0.2941 left_y=-0.0001 left_z=0.1863 left_yaw=0.0998 left_pitch=-0.4076 left_roll=0.068 left_gripper=0.6462 right_x=0.3379 right_y=0.2277 right_z=0.1213 right_yaw=0.062 right_pitch=-0.0935 right_roll=-0.0854 right_gripper=0.0451 state[joint_eff]: [-0.1162, -3.5077, 6.5436, 1.2576, -0.149, -0.0464, -0.0171, -0.5265, -7.8838, 7.1863, 1.8291, 0.3443, -0.0562, 0.5641] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 207): [image omitted: streamed camera frame] camera 'left_cam' (step 207): [image omitted: streamed camera frame] camera 'right_cam' (step 207): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.08,"right_pitch":0,"right_roll":0},"note":"The cream bowl now looks centered over the other two. I’ll lower it gently until the stack supports it."})
tool
executing move_to over 4 steps (0.4s)
step 211
assistant
agent noteThe cream bowl has lowered into the stack, and the wrist load has eased as the bowls support it. I’ll open the gripper and let it settle.
move_to
right_gripper0.6500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1066, 1.1427, 1.0588, -0.9123, -0.157, -0.1463, 0.6462, 0.8379, 1.6199, 0.7517, 0.0555, 0.627, 0.4625, 0.0474] state[eef_state]: left_x=0.2941 left_y=-0.0001 left_z=0.1863 left_yaw=0.0998 left_pitch=-0.4076 left_roll=0.068 left_gripper=0.6462 right_x=0.331 right_y=0.2182 right_z=0.0728 right_yaw=0.0637 right_pitch=-0.06 right_roll=-0.0563 right_gripper=0.0474 state[joint_eff]: [-0.1026, -3.2068, 6.5573, 1.2723, -0.1538, -0.0708, -0.0122, 0.4991, -6.0239, 6.7077, 1.3114, 0.1294, -0.0317, 0.525] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 211): [image omitted: streamed camera frame] camera 'left_cam' (step 211): [image omitted: streamed camera frame] camera 'right_cam' (step 211): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.65},"note":"The cream bowl has lowered into the stack, and the wrist load has eased as the bowls support it. I’ll open the gripper and let it settle."})
tool
executing move_to over 7 steps (0.7s)
step 218
assistant
agent noteThe cream bowl remains in place after release. I’ll lift the empty gripper straight up to avoid disturbing the rims.
move_to
right_z0.2200right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1066, 1.1484, 1.058, -0.9127, -0.157, -0.1463, 0.6462, 0.8425, 1.6348, 0.7422, 0.1394, 0.6205, 0.4679, 0.6461] state[eef_state]: left_x=0.2944 left_y=-0.0001 left_z=0.1844 left_yaw=0.1005 left_pitch=-0.4144 left_roll=0.0695 left_gripper=0.6462 right_x=0.3358 right_y=0.2276 right_z=0.0762 right_yaw=0.0718 right_pitch=-0.0205 right_roll=-0.0071 right_gripper=0.6461 state[joint_eff]: [-0.0479, -3.7128, 6.5846, 1.2137, -0.1392, -0.0757, -0.0122, 0.1162, -6.9949, 5.8188, 1.6777, 0.3101, -0.0855, -0.0855] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 218): [image omitted: streamed camera frame] camera 'left_cam' (step 218): [image omitted: streamed camera frame] camera 'right_cam' (step 218): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.22,"right_pitch":0,"right_roll":0},"note":"The cream bowl remains in place after release. I’ll lift the empty gripper straight up to avoid disturbing the rims."})
tool
executing move_to over 10 steps (1.0s)
step 228
assistant
agent noteThe top bowl stayed behind as the gripper lifted. I’ll park the right arm away from the stack so I can check all three bowls without the arm blocking the view.
move_to
right_x0.2945right_y0.0010right_z0.2000right_pitch0.0000right_roll0.0000left_x0.2945left_y0.0018left_z0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1066, 1.1484, 1.058, -0.9123, -0.157, -0.1463, 0.6462, 0.8433, 1.4437, 1.0832, -0.3874, 0.6159, 0.4591, 0.647] state[eef_state]: left_x=0.2944 left_y=-0.0001 left_z=0.1844 left_yaw=0.1004 left_pitch=-0.414 left_roll=0.0694 left_gripper=0.6462 right_x=0.3356 right_y=0.2289 right_z=0.198 right_yaw=0.0807 right_pitch=-0.0189 right_roll=-0.0084 right_gripper=0.647 state[joint_eff]: [-0.0342, -3.0701, 6.694, 1.243, -0.0952, -0.0659, -0.0171, 0.1846, -7.5282, 10.441, 1.7314, 0.2418, -0.0122, 0.0757] camera 'top_cam' (step 228): [image omitted: streamed camera frame] camera 'left_cam' (step 228): [image omitted: streamed camera frame] camera 'right_cam' (step 228): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.2945,"right_y":0.001,"right_z":0.2,"right_pitch":0,"right_roll":0,"left_x":0.2945,"left_y":0.0018,"left_z":0.2},"note":"The top bowl stayed behind as the gripper lifted. I’ll park the right arm away from the stack so I can check all three bowls without the arm blocking the view."})
tool
executing move_to over 19 steps (1.9s)
step 247
assistant
agent noteStacked all three bowls, with the blue bowl at the bottom, green in the middle, and cream/pink bowl on top. Both arms are clear of the stack.
done
hindsightGrasp these bowls by pinching one rim wall with a finger inside and one outside. Successful thin-wall grasps read only 0.029–0.04, so verify by lifting rather than treating that reading alone as empty. A rim-held bowl remains visible off-center in its wrist camera. Explicitly command pitch and roll to 0 when an upright tool is needed; leaving rotation dimensions unnamed allowed substantial tilt to accumulate during this trial.
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1028, 1.158, 1.0904, -0.9684, -0.1539, -0.1463, 0.6462, -0.0704, 0.8169, 0.6891, -0.4545, -0.0689, -0.0734, 0.6471] state[eef_state]: left_x=0.2889 left_y=0.001 left_z=0.1868 left_yaw=0.1046 left_pitch=-0.447 left_roll=0.0741 left_gripper=0.6462 right_x=0.2962 right_y=-0.0051 right_z=0.1975 right_yaw=0.0147 right_pitch=-0.0111 right_roll=-0.0046 right_gripper=0.6471 state[joint_eff]: [0.3761, -3.1521, 9.8256, 1.1648, -0.1099, 0.0415, -0.0122, -0.1299, -1.7162, 6.9402, 1.7656, -0.1392, -0.0073, -0.0073] camera 'top_cam' (step 247): [image omitted: streamed camera frame] camera 'left_cam' (step 247): [image omitted: streamed camera frame] camera 'right_cam' (step 247): [image omitted: streamed camera frame]
assistant
done({"summary":"Stacked all three bowls, with the blue bowl at the bottom, green in the middle, and cream/pink bowl on top. Both arms are clear of the stack.","hindsight":"Grasp these bowls by pinching one rim wall with a finger inside and one outside. Successful thin-wall grasps read only 0.029–0.04, so verify by lifting rather than treating that reading alone as empty. A rim-held bowl remains visible off-center in its wrist camera. Explicitly command pitch and roll to 0 when an upright tool is needed; leaving rotation dimensions unnamed allowed substantial tilt to accumulate during this trial."})
tool
done: Stacked all three bowls, with the blue bowl at the bottom, green in the middle, and cream/pink bowl on top. Both arms are clear of the stack.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 8.501 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Stack the bowls on the table.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7944, 0.6041, -0.382, -0.0227, -0.041, 0.9996, -0.0181, 0.7925, 0.6018, -0.379, -0.0154, -0.0326, 0.9992]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1795 left_yaw=0.0 left_pitch=0.0004 left_roll=-0.0 left_gripper=0.9996 right_x=0.2945 right_y=0.001 right_z=0.1796 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.5265, -1.4564, 10.1128, 1.8095, -0.0073, 0.2613, -0.0611, -0.5538, -1.2786, 10.2906, 1.9121, -0.1001, 0.188, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26c49984b7de4ebb11d79e080ee4589c09951ed0463e76986978bd311993f3f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df2b11452cd785c255708c6f9ced4eb00520dab0e4dc174b26896fe32f1cedbb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4470aee7ab649fae9131dd3ac9328d707aba0a778834726eb7e7ce8d60fdc1bf",
      "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 1 attempt 0 · /responses · status 200 · 5.08 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtKCKno-LEYgriZ_x_-M4lCdJhfDRnv3-9BW8_1ZZFglforpAobWNHgNbx16nUzT1OwWOm-etlZ9LtyO7330wVac1w6bL2I-zThT64M8Pe0VDZ2rGcHJrbTow00rtKUcpPu8SqNTT7ToWi6CMeEzNTAbLa5De0mKHAv_KaK-H_dJEc7zmKYTOor6hYMbnIdnMzltl7VwiFEgfwNyyc248RCWZVsRGfrayBnhK5Rs88Ofe3yQpQdzomHVkxo1jv4HuCg39VnUVLohsEAOGkE3JgjSdGUskvsNCRVLERihHDV29fK57r5Rt6QEF9ZZKWQtRgDJXc7wVGKGy1aB7D3APuU_ELd4RAi2g0BdYzbscN8OcTHbZmb4xRkNBwerRv9PcRrDmRuhVgQ_Fm7CnD5fu1mT7pfLVLl4ZGxNUqcX-WZKtuGH-zprJEE6aBot14Ti72jQKs_vdlHfzo0xTtQXvzQpjv07VfkrvcHKbd4Yzf3T-wDtY94Er2AbbDExHmcrquL1fvOrYYf9_V3HTtMcfGXURTpMpN2qhj3UzU8btIsXxex6JythAzwnzWI4N0R27VAz6wWPeRzY-LW6lQW-qGs_TgvIzlopZV9DDSsTXAyXTHgyES54nRJxIKjZwSRVUitEkV8c_5sg00M93w0aVP0fRuwV0fjI870bk5hv5WNChP-A0c0eH2Wgrw0vw3PbmwJzA6Td3D3UCTicUvTzHK9Ab80J71jWJI6dsZDeNXGeyNrQazcaKZsPnS9dZRgdgcXQx957ao6zqLGtGfzZJUM5Qp-PoEmKZlcbMUgOjVSmWpUPZ6FUyz70xxCXhkLW-It2WOaUFrYk6jCO6AlKZATDHDIoGykkaTWuUVXU3b2uUqxYVDWcT-imrPZ7KTLDsRmrf3QB0wo__00RLYaK63BxNKexVDbzDXG92FrKb5DXUV9AReXunhJZulXfRUWNZaCzwABuMHN8ZfXP1MAsOjfF5VhJHnRWtAi0i945rZvV6kK5qlkc1g96qJm96vGQMMm9br87jXiR4cfRR_jeRhLC_5lHioQsDJvEilN1evSfz_BqBOQJKSWNmd_f3SlFp8inGwLfGl7X_52VeEnTG74bbAG53dcZhnrz2NLzy4rizSYw357rJXFC0MdxIRQZpfGfMVZZ8gT7TzAyaC7REUE1AIgXYcveLiL9f-3v8p9YqeQ26MVxjjmVm-p864399-3grAE3c2E6zVa5V-IfYKjN9B2aqU122Xbndzoour4uiIqaW2NoYTuUqJ-xRlRyO3XIA_YrmXKppGzYLnC14VqUR9a6qrUwPsVrcMEoTNA12E91WoPTBpDktLfbDwOTyyh1D0vwrD2mnwxWfgcOF89Qlc5oMh46CdKIARynndNWbC_3IOKAKEB6snZeoWxhbSfcv9gDADpUgJjYrhzBYiZIO9IbBqO7EevXsdkNlQE6cIoCkiDJ85lxLnnAQiYZSZ-YgF7YHhUqvF5SSqYf0tgDUYeDcBgpo8bWHWZwIxm502nf5y_hCRgGzT440cOcoGcne0nPG98yAzcOTdsDjRsckOslNBs2DxX-8ordSkzZ_FqfpN3N7KbupjdEEfwMN-devU6UBJwJykQ5x-vWs_4kRLVPm4H35jKk4qfhoXVj-oNPa1f_rulTIDkbqt6QZjWrfHE2bplrQz0g6NoXZMKPe-Zun-leYJ8IorLddLojuG8tBg5V7bnjnjD2B5BFJYxVzC0pAOt0kFl7jjOgjPnmqJBK1VcPy0Tr4Oj__bm1sog7VoRbZswNGtquLMZoMH5aqCwW4wsTrDLYjI_eAKtbl4J2eG5SryuaxZWiGQ8NXE_T--pKa92HXBJ49m58GWKSZKZVb2uTGLQ9IUQgZ4fMO9OiQQCbdRMn8MIxcVpfLRWD4SxIaNdFTTmz5gLwT-c1EJdX-uVm_Quxs9NZB5AP-GTihBks_UXziaOZ-TELxtCxWFcr0zG-rG71PyEn4PKgmVUHIFQoxSLw48Me2wKEmiJLizfHpI_P0Jm0Tsb_KbCmqVbCOgXfJYrXxeU4vPu-dbjx5R-niDcBChFC-fA8AdodogtClVDbViE90dkQAdw9R8BDIgSYHtbkud4LOJYO6V6LYAEz15f0N4IjPyQI8zvuIKK858b1HJsWve5Bb9chav1uJkZkhemQqZo8xDmXryDwWGbN3EVQNBkH2XIQEcedxJuIaFefvDNn0GY_ac2UYSjbSmZeBH6_3KpYbxVfeMp1N4tZr74h3EgyvwJrJeJVV_SsjnOPVs2dLHNe8C2kj6xQ2FCR8cHxHY7rK0Z-FxwwWD94MOgfX9CMvRd3qUYqcp1tU9OR1x0dWLHF_vH_KkYE2d360hfDDXsYowbTxCv2R48maja-eu_8bqAogOX4Kx65LPzIKayxD4ZE5lqLh1Vy6bKfYMrffLFlqbtvLVwUWjShWwjQGau5nz48w0VO341IvzwOLbSox7ukN8MsHoLoMAL8l-9qiyA5xGMT6ZYYP-0Vyis9G9VNioLcdp53IZtKwJxZKOrXtb3ZPgwtg1znoSqVWTuYNnpid780Kvz2vkOT6bZNqKy3Fl1Uh4QMG0lhg8fjuhEBEHrs5jwtI6z78cqVLDzwSsprVxze3g2Z8bv6UXkjSTm50xhmEIq1X1P2DT4d2joV2uDLu79vfe2l5XTOjDiqlIXISqVQQAWsRAeV0okleDxe6hlAThgTwWl21J-wLAIXViaJtxhCueXFyVQx8_WcfxYytEjru8eVqmstvN4Wvo5vsjujU-KWHlhc47q-nZSq59SIDmNw0eJwD-DnlJ7gIaTvFnC7qbRQYmT9dwMSpe9_tcJ4XSHF4iec3U6exqAjJx5l7dNnsLhJw8pkhk1Wd1Nuc_FDRNZrH-hJOBV4mpfcycmZfRGFOrjAi3QEb3ruUPO7Pdag=",
  "id": "rs_05497ed85d2d9111016ab4a0835fb887d08a404dfd249fd453",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.325,\"left_y\":-0.14,\"left_z\":0.17,\"left_gripper\":0.6,\"right_x\":0.2945,\"right_y\":0.001,\"right_z\":0.18},\"note\":\"I see three upright bowls: green on the left, blue in the middle, and cream on the right. I’ll approach the green bowl’s rim first and use the blue bowl as the base of the stack.\"}",
  "call_id": "call_kPeNx9yaQKOwd9aR8bBeT2r7",
  "id": "fc_05497ed85d2d9111016ab4a08958f487d08f91526955767b52",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kPeNx9yaQKOwd9aR8bBeT2r7",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6781, 1.19, 0.7319, -0.2966, -0.5293, -0.4263, 0.6018, -0.0196, 0.7967, 0.6003, -0.3901, -0.0151, -0.0303, 0.9991]\nstate[eef_state]: left_x=0.3155 left_y=-0.135 left_z=0.1502 left_yaw=-0.0324 left_pitch=-0.0608 left_roll=0.0346 left_gripper=0.6018 right_x=0.2931 right_y=0.0005 right_z=0.1754 right_yaw=-0.0031 right_pitch=-0.0168 right_roll=0.002 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -4.1231, 9.5932, 1.6825, -0.3736, -0.0415, 0.0171, 0.0068, -1.4974, 7.4735, 1.7949, -0.0464, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4078e9c3d14bc6ad3bf4cf59a7200e7150f66ad9c7d9a32dc8316d587c1b48a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec92f18652340a475c131845a71e3ab1515541c5d9b010a4b76b614f30d55196",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aecbdb7290f057ce2fe2dd44923a1911da5eda4f07443c5bfeafdc894a3f4b18",
      "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 2 attempt 0 · /responses · status 200 · 5.108 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 6 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7944, 0.6041, -0.382, -0.0227, -0.041, 0.9996, -0.0181, 0.7925, 0.6018, -0.379, -0.0154, -0.0326, 0.9992]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1795 left_yaw=0.0 left_pitch=0.0004 left_roll=-0.0 left_gripper=0.9996 right_x=0.2945 right_y=0.001 right_z=0.1796 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.5265, -1.4564, 10.1128, 1.8095, -0.0073, 0.2613, -0.0611, -0.5538, -1.2786, 10.2906, 1.9121, -0.1001, 0.188, -0.0952]",
      "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]: [-0.6781, 1.19, 0.7319, -0.2966, -0.5293, -0.4263, 0.6018, -0.0196, 0.7967, 0.6003, -0.3901, -0.0151, -0.0303, 0.9991]\nstate[eef_state]: left_x=0.3155 left_y=-0.135 left_z=0.1502 left_yaw=-0.0324 left_pitch=-0.0608 left_roll=0.0346 left_gripper=0.6018 right_x=0.2931 right_y=0.0005 right_z=0.1754 right_yaw=-0.0031 right_pitch=-0.0168 right_roll=0.002 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -4.1231, 9.5932, 1.6825, -0.3736, -0.0415, 0.0171, 0.0068, -1.4974, 7.4735, 1.7949, -0.0464, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4078e9c3d14bc6ad3bf4cf59a7200e7150f66ad9c7d9a32dc8316d587c1b48a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec92f18652340a475c131845a71e3ab1515541c5d9b010a4b76b614f30d55196",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aecbdb7290f057ce2fe2dd44923a1911da5eda4f07443c5bfeafdc894a3f4b18",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtKCQ79KcIUiEcX4g0s-vTmmEMGf7aMD1ZZkIrfAwwz5gCvpNQF3OqYzJDe5-Mw2ogTB2Uedz0EKPIWhDoxZ6fdjz-oWPM_3uhIlhqxmnip2DVXBIYd_dfqc9HgpqL0ujKJaH5u1RFGXdg8fyyLuuG09VxGdtCDL_CqY5rzBAGW7nBEN-arjUN9e2nxGVWhTj2Jf6YMrRaTFikPlioC5ipvVy98yCfsmCpHP93AexuWWet3FZs_JDRmvYwBfYFeeF3o7JlqHjJ_QFFKhqxG76wgd-DaC5OTKS85avbJY6-Ma3IOzVI_EfMNuUfReXNw-rdjddz6ltk07-lWcwhGwPYnNmS3NABchpPYil5st36Z1QVQx87ZnsNV1QEo9gCywKOYuhYn1chtXiLqyK22PadgxKGV3Ec1DyDVL8gOMB0DWP3ZGtCAqiC2E5EoZwz5Cdo0rMQ6KG7cTMnkRD0qFRpuf6MdPdUSUiN9R-pavFUyZ6yqcJ5lPkNaPS0nGW5RFVVPV0bq4famhiypxb8ZlQEZ-xTeXPYUqr7T-2pQ72lersXt3fXcL8mo_SARd9St0u4TQWgi3imOznw4aQh8LN1mzXAOokC8zpnYaXCZetgI5p4p3O5-SA_YoW4_SYL18WlGjceCP4XhCZe-n-Q7gii5KRVRVYq7E-wSN5qr6k5HATFSvCr74_vpqnRt_SJgJkCvEltsq58vPe_zXVx1xt0tIxYGqEVpOqncfLoGvzLOfOdjoRAAzSu-JrsF6wgvwwUhpLHhpzgA09yyZtMsn_SmNBHVZYPdnPvk6vHMy5xBVkKLKJrq8bfSTrf7N-fiUxeSBUJ-GvOGTgVeanDvFSuMG38OsJ3n1CsPru83MQoFdGZPzNa7KsKfkibnSUElkIKnk7Tv_NCbn6_967CVl8uW8qq7cFNEt610cU_UaAdmfa6Acp8d-aYcSo-4dye-qf_U7uPok3pTIpUDqBA9ad82n0Oz1t2z7IG7voov9hYrWDi_i6E84T2LLHjnBR4VoruGISYL6Lj1c2iLTObx9YyNvJXkZNRzE2frJoxtEHR1DzUK3Ds12bGqcIcyu7VCQsQEFUeH2W6lagO23pygPYkRvdL3e0pT8tYvAHxmqyrJmt34vTiHLPYG3YKrbuN5hGSyzrR_aoLo-HpTc904zzic67W20tmcqP9sPG3BjF0l4W8whzb2av6Pxwx-aUU2eWZOiNBSQs8aDLkG2XoPz1_RFI9VeYN0MTJJLSCEW1AE3_kqM73xliuYlXoGAIFoLb6HlTdGV5N9ZTTOkxJHfx2Lfe-njeSonIDhBA2CUYPz41GZa7Q1-xaiNUwmuGLU8bxz5oXE5RYbCjO3Hffc-B3y8yzqxzGexyYRlbfg69Sx8luiyV2b7672QgfeHJd8gqgtilxMgUfkkueJvMkb5QE7nFdFbte-jYG45eVAY55y5ddqEknz1o7ELuWBVrFfwQ26wM54emLB-x1aW8dERt2LhC2o2rJYygy3lJxzIydsAoi0-bZmEkuXaUBXoq-Fvoj81D4J4JFVkM_OuzhvwU3MULCWSr9sVCbhCpziFyOH92D-JJcrf2pFLD1aRbHLiwuQwZWSZERNqEUtLhHprZI1gIBrTd7l7tTVQnuAa0ky7iphELQL-Brnzhd1Rvd_UwwSMj48pRAz15zpMZ-Z7p9THYt939hnY15byPtFUsffAC_yznn-CavN-2jmbJrgGkTE3-Ii6Tjw5S-Rz7yED9F7omvUveA3B8OlrQG-A2IlmiU2gPnKYkwp_SaUFRouso9p3o_6SjNzaaF8w96Hmd9A53BgTK-WRrHkGrDg1ps7LlwOoliIBNksBbM1bOFkLDqvcUJAA6VZIUjxCJkiyAwUBYOGixyQMT-EP7xdR3H1SBZrMHHxVte2JyN7DF7xvHKMlkQ6J1wC4GQJv9KzrrfKZY78gniMV3P68IiMM_ojRq9UV0KSXfQ9JUG9UCRsqg8hCSKQq6j0x2W7zoNRYHM6hxznobchn7jLoMLwhfCXxRMsA=",
  "id": "rs_05497ed85d2d9111016ab4a08ceba087d08439a425000d91ba",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.355,\"left_y\":-0.105,\"left_z\":0.085,\"left_gripper\":0.55},\"note\":\"The green bowl is centered in the wrist view and its rim is clear. I’ll lower toward its left side with one finger aimed inside the bowl and the other outside.\"}",
  "call_id": "call_eyqpNPpeqbBzYFkBiLlGQEyQ",
  "id": "fc_05497ed85d2d9111016ab4a08fcdd487d094474606cd41f856",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_eyqpNPpeqbBzYFkBiLlGQEyQ",
  "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]: [-0.49, 1.3693, 0.5762, 0.004, -0.4129, -0.3229, 0.5515, -0.0196, 0.7982, 0.5999, -0.3935, -0.0151, -0.0303, 0.9991]\nstate[eef_state]: left_x=0.3397 left_y=-0.0968 left_z=0.0738 left_yaw=0.0111 left_pitch=-0.1371 left_roll=0.0662 left_gripper=0.5515 right_x=0.2927 right_y=0.0005 right_z=0.1741 right_yaw=-0.0031 right_pitch=-0.0221 right_roll=0.0021 right_gripper=0.9991\nstate[joint_eff]: [0.2393, -4.9299, 6.1333, 1.7363, -0.0708, 0.149, 0.0659, 0.0068, -1.3607, 7.0632, 1.7411, -0.0611, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29dbcd044bd65cb252fe481698943c0445d6a4283e57917390aee953f54e5d90",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57452b7db0189e4d258c25d6cb33f2339907a3159da162cbfb1346d7d80601f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3da435f79a86e2fed8b1fe5dbd9c79ebd2e51f105bd459956e31cdcc00ef412",
      "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 3 attempt 0 · /responses · status 200 · 3.352 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]: [-0.6781, 1.19, 0.7319, -0.2966, -0.5293, -0.4263, 0.6018, -0.0196, 0.7967, 0.6003, -0.3901, -0.0151, -0.0303, 0.9991]\nstate[eef_state]: left_x=0.3155 left_y=-0.135 left_z=0.1502 left_yaw=-0.0324 left_pitch=-0.0608 left_roll=0.0346 left_gripper=0.6018 right_x=0.2931 right_y=0.0005 right_z=0.1754 right_yaw=-0.0031 right_pitch=-0.0168 right_roll=0.002 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -4.1231, 9.5932, 1.6825, -0.3736, -0.0415, 0.0171, 0.0068, -1.4974, 7.4735, 1.7949, -0.0464, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.49, 1.3693, 0.5762, 0.004, -0.4129, -0.3229, 0.5515, -0.0196, 0.7982, 0.5999, -0.3935, -0.0151, -0.0303, 0.9991]\nstate[eef_state]: left_x=0.3397 left_y=-0.0968 left_z=0.0738 left_yaw=0.0111 left_pitch=-0.1371 left_roll=0.0662 left_gripper=0.5515 right_x=0.2927 right_y=0.0005 right_z=0.1741 right_yaw=-0.0031 right_pitch=-0.0221 right_roll=0.0021 right_gripper=0.9991\nstate[joint_eff]: [0.2393, -4.9299, 6.1333, 1.7363, -0.0708, 0.149, 0.0659, 0.0068, -1.3607, 7.0632, 1.7411, -0.0611, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29dbcd044bd65cb252fe481698943c0445d6a4283e57917390aee953f54e5d90",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57452b7db0189e4d258c25d6cb33f2339907a3159da162cbfb1346d7d80601f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3da435f79a86e2fed8b1fe5dbd9c79ebd2e51f105bd459956e31cdcc00ef412",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtKCWYnSEJK9mbchzEg6xPZ5YHv2jVSsRIx9DpNnkkg03Cs80jKoZ4XG9WrK8OMIik_TdMCpoI-1DDCde_vXgICStpXUvcGP-YlKmSE8j3xniv_WmunH-2RCFR1XvAzsPW3qenfUtXDbXicYQ7be0hg1aTqy9NmD4kmhGTLVS7PZrvEOTWX6v4BjMim8HqNHta-hYcEd49Ee9P6zC5ek8x_bJm8ToyrFWZReqV10CBHYFcTOAwO5PjDlrLI7_VJHEXjJ-8TaIpHQE5xH2BN_7IKKyI9iOZOdoUsyeD0SNG4AJds6Lr2INzg7xhMqSyr85p7RFNpuJuuKpnd4n94EecVuiBhbIACvv8iCU2PU9-fJNfiEVuUAbu67nt5GXNavfwAybKxJBlynp5F0m4pMhh0Wkx9NktDEF_Fw6QiGvUN_3rONAMAbb4KRq4J9nDdHpWQY8HX4xa6gvfYfZPKnlF2gY7-2Nf3p-I3j2-Ycxhn4IvHvZJ-Ytntes3RvkcSFrYQqkxp_IxdHSWEnu2h3nwRCNC8Ik_nMJiI_u5J7KHIR_nwm_zKTjmbNIsp0wAT1mtqYe3fg28WSoURA51USagL-9P0K5aDrr-yrrhagCFSKsFLlXtplRg8N9bk9-KRue5aaH4EaIxAov-ak8ZvKkKt33T98pv1Tja0RQvyalPuiA6G0rtYM99gItnSaxzG3XuDGqL8ara5-FHEIrsCvjsvyeTRcUQ3RbsDgOfCwJ123mtmlsOYFmzuczwq81MLfPrapULpFMfruQqJ8jupdZiTbyDQDzvS2F2G_A8lLdLumBbixkOqQhpKq1kwt8M8ILFfv8YpbEUl-9dY93I_HZfUxEYcwx9MBdy7PKxASwstnldBJrYjvyU6msMzYya2xt950qkMwU9itB9Nu_4KVkBMB_1yJJSThkYVmkDiWMJxjjYgb_rsgA0DbTSjQjOgjiVTSPmM6S6iP3OOkSKd7a89576vfry3Amt04xIDClmWvR0oKH0mHseDHcY_9uBsq-c6HYdomD1dki12s7TCyC1iZMgQYX1rQWBEf4iO1BTqvTLq8BpRL5ISHNyvNNxsXuNC_d4f56WjC2lGBKnZir8EHnQW6SoNZWZm3gHIHpu8ExU31vb58_Ck4gjsO-QPNWNAV1ua3cuwNH3p3ydbaYBbMAsB3BlvkuIUbME4qH2X_mWSN8XHeIVKZhVooZW46GuNlWwtZKLQ00ZHiHuqhVhLz5LHyMPnoKHjoe_2ePO0lZpzdsgzNCdIPi_Yh61MlLgQY0PkCmWTxtHm_cab3dpgrTODWcBq4YAeoyImRZeLeJpdl_eJhu08vIbP3i8PhzlwoeDVzi98lSWO9P5sOMy9jrVruSxlOQSX5UXsVIDQoJF4_MzXvZmIb4q-zg9AeftY6HLCCbnyWPTplsqgCo4o8lmIIr8gb3OzsyREOvM4l6Yr9HN8IWx5iq1_mV4jiGdTaBcunCkNKVodzV2myO7ptRLulRFUEX2dVrQuc_8ddS98JEk9-WgxbFKffG07zQXsqYlNPrVK3KsGMTCHjOEu_j3RMevnCCfSdWhJwaJqNM70bY6AxSgZuCLWtodSlxuvpZqyP6Fs2Pj1BL7Tmq5rY1tBLBpbUQ8RNBBjwQpBig4iB7hvGRJWvRpSy2_ZUfzbd2ZroKcMW-z4FjdKjVM9-cXKbNdrFqzBYPdZBXlEUA22DFOXNfYqAH1w6OZT4iu38fkKyBR5aNFOg7ci_1rBUH27FTz5DzdcdCJAVpKtR4bL7QiwYEgruxMdt7ZVPBmAwDYPvSjuDscPDkhOPfQvQBoNnovCYp3g4gwQ6p_7y3GszvKKt5wcD-4tXUuCX9yzyqRcnq7xueRwtlDstzgZHa8oQvF_tMHJcpkF6eK9NLtn0=",
  "id": "rs_05497ed85d2d9111016ab4a0927b0c87d0b41ba48090711594",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.375,\"left_y\":-0.102,\"left_z\":0.035},\"note\":\"The open fingers are straddling the green bowl’s left side, but they are still above the rim. I’ll move slightly forward and lower them enough to grip the wall below the lip.\"}",
  "call_id": "call_feM1nEFtKYfffNK5qLkrONN4",
  "id": "fc_05497ed85d2d9111016ab4a095166087d0b017e637d4aae441",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_feM1nEFtKYfffNK5qLkrONN4",
  "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]: [-0.4549, 1.6051, 0.5919, 0.181, -0.3885, -0.3019, 0.5516, -0.0196, 0.8013, 0.5999, -0.3958, -0.0154, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.3606 left_y=-0.0979 left_z=0.0271 left_yaw=0.0186 left_pitch=-0.1845 left_roll=0.0866 left_gripper=0.5516 right_x=0.2926 right_y=0.0006 right_z=0.1728 right_yaw=-0.003 right_pitch=-0.0275 right_roll=0.0027 right_gripper=0.9991\nstate[joint_eff]: [0.6906, -8.1026, 7.4598, 1.7167, -0.0904, 0.1099, -0.0024, -0.1026, -0.9231, 7.0222, 1.8486, -0.0317, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c20bbc5094debfe28a862daee266504746342c79fb2a346ac0c892b5de4b2e46",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56bf45f107012cb7e3f3f7185d2cbace5190e71dea0f77fd4e93ceb601a15fd6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04a60f907df9cfaf043beb80df8d11ee26dc71b06e4c6b2d3076299ce9b86116",
      "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 4 attempt 0 · /responses · status 200 · 8.427 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7944, 0.6041, -0.382, -0.0227, -0.041, 0.9996, -0.0181, 0.7925, 0.6018, -0.379, -0.0154, -0.0326, 0.9992]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1795 left_yaw=0.0 left_pitch=0.0004 left_roll=-0.0 left_gripper=0.9996 right_x=0.2945 right_y=0.001 right_z=0.1796 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.5265, -1.4564, 10.1128, 1.8095, -0.0073, 0.2613, -0.0611, -0.5538, -1.2786, 10.2906, 1.9121, -0.1001, 0.188, -0.0952]",
      "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]: [-0.49, 1.3693, 0.5762, 0.004, -0.4129, -0.3229, 0.5515, -0.0196, 0.7982, 0.5999, -0.3935, -0.0151, -0.0303, 0.9991]\nstate[eef_state]: left_x=0.3397 left_y=-0.0968 left_z=0.0738 left_yaw=0.0111 left_pitch=-0.1371 left_roll=0.0662 left_gripper=0.5515 right_x=0.2927 right_y=0.0005 right_z=0.1741 right_yaw=-0.0031 right_pitch=-0.0221 right_roll=0.0021 right_gripper=0.9991\nstate[joint_eff]: [0.2393, -4.9299, 6.1333, 1.7363, -0.0708, 0.149, 0.0659, 0.0068, -1.3607, 7.0632, 1.7411, -0.0611, -0.0269, -0.0073]\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]: [-0.4549, 1.6051, 0.5919, 0.181, -0.3885, -0.3019, 0.5516, -0.0196, 0.8013, 0.5999, -0.3958, -0.0154, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.3606 left_y=-0.0979 left_z=0.0271 left_yaw=0.0186 left_pitch=-0.1845 left_roll=0.0866 left_gripper=0.5516 right_x=0.2926 right_y=0.0006 right_z=0.1728 right_yaw=-0.003 right_pitch=-0.0275 right_roll=0.0027 right_gripper=0.9991\nstate[joint_eff]: [0.6906, -8.1026, 7.4598, 1.7167, -0.0904, 0.1099, -0.0024, -0.1026, -0.9231, 7.0222, 1.8486, -0.0317, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c20bbc5094debfe28a862daee266504746342c79fb2a346ac0c892b5de4b2e46",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56bf45f107012cb7e3f3f7185d2cbace5190e71dea0f77fd4e93ceb601a15fd6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04a60f907df9cfaf043beb80df8d11ee26dc71b06e4c6b2d3076299ce9b86116",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtKCZxumMO6r9oB8-9IBh-76hiQzfkDBObDSdobWfgRCRWhjLH3-HKiCfRnEFQ4sUBsLQJG4ttSdxtbk8Cn9CLX3OGtKGvv6LTGze5zeGyrOPH-bZQHun2sciaJiLl9goOJPqEAO0NEDc6UUkq9dCPBHbfscEh5mRfN0Xn1jlydBphOYL1bOkqjIG6jHw2kQ1EER3Hsz8a3CwcCr8X5QYP_QOhXLE2oW-WGGWB0P9ozUc7wgokxmTs4UImCw3V66bKluzb2Y9I8TiUQ1tWWlohTebnxVPXjnglJ3Oj1asu5PmigPrwL_Qmoxw9DLbtB5IH3PntbLy3SMhpS90yfb1vc5msjLMrn3MAZGcLltZUYvTaGPy5lLbMmTVHn7GhwdAnP7czsReUWlVp_403gy8m9qEZL3suLCmTfIGxbKpEC4xrASeS6ZtTWJWTeoQKxMTcSTSMsXFPCdPu2as--48otdFyPbmRMYExYebfUQm_ewsvbV27iXsbfcDrvTU-0Jvzp9Q7ZvBr8vnSjRLZI4_R4nIzFnNHKMr51zym9kp_MXbyOmjVec11r2CGWfTWGMmm3feVskNI2vvViNMZKGl3eL90LTBOtQtsvAZHRY7NfrCw5rAxPo3Kah4J-asEE5tViEOpq9OjpVequz3y8flus6KEUG5mycztGHgWBkXsZrupkfW_hLXrm_XsSAilcipsqiCMxIFheM-m4cowY-cBTg6VKXb8NLias74A9-jopcK6uYYt8EBUlU2iyJphE7YPG74cUHM8MAVbOXCZ_j5nbunFp8RWZVfn1mMAb5sPwRSUVp5WRGPTAP6dOF2ou5rVQ_-KqU2F8MJcrTv44ThwbX247-HV5x49T0YdwbYt7qBXn8j_xRJWRpTUAkbLdElAUoFID_AkU0uNSwpNTy9m1XyPDpne4pzO-5aRbzlaIJrFciKaNt7Rt1WgCPc-Y_iAPNEL2zm-gH1-TcEcI1oKgG1joJ2mReGRTJqap-hm5N6fuHEY3ubbhFGxoZuCgNSe5idvhV2d9WnGZ-DFwyM9IT_L7wmWGDY6wMkqsVTX-Adcy3lH3Y0lBfZp-rnSeXE6KmO5nYL3tmmGiol1Ih3qUXwKt8KgEIHrA0ujDTAhUyd6GFO7m23HNni2Ct80u-vVW3fyU48MiBM8fFA6qK8BQynZC1gR67viO2yf4tUpRQ7fJglEDWy-jIGRt_CKmryhqGLwT8W-l_xydWEb6pkLcEdeZPfeZ1rts0TrA3l_KPoNGs6lCv1gOljmv6cG7yIb_x3wFuX1Bal6ZfRZlvUBbt1bMtfM0huMahzWfBb9wSCb-XOF1_KMAekk4DHLank3f8-s8gto9pXnMlPATiV9iz7QZvKhFv458yWCyCzGkVpO0ydCVrkc5Bt85oARgyEQA9iYIIhYjUyin1xDUpqIg_tGsbrddI1PWAg31s5nKRsNuduf9wuelx96bHQvKGSHrshVw9uNoTybQvVcZrT_I-sXIOLVA-L2oAdAzBNTpEYTX-jph8W__SrLRXA6STLle5BtLfZw1zyb8lUHqkwuGk7eSgZ3rFSvUZgr_1xmQX5hbGba1CnDPuZL1kD6sgCZ4Ya",
  "id": "rs_05497ed85d2d9111016ab4a097b91487d085b1cd345a22c63a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The fingertips are now below the green bowl’s lip. I’ll close on the rim, then check the jaw opening before attempting a lift.\"}",
  "call_id": "call_imaRvwzae6BzulQFFTEdEpNy",
  "id": "fc_05497ed85d2d9111016ab4a099231087d0bdfe306c1c842735",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_imaRvwzae6BzulQFFTEdEpNy",
  "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]: [-0.4496, 1.6363, 0.5926, 0.226, -0.3893, -0.2962, 0.0082, -0.0196, 0.8036, 0.598, -0.3965, -0.0151, -0.0303, 0.9991]\nstate[eef_state]: left_x=0.3659 left_y=-0.0981 left_z=0.0236 left_yaw=0.0202 left_pitch=-0.1716 left_roll=0.0847 left_gripper=0.0082 right_x=0.2924 right_y=0.0005 right_z=0.1712 right_yaw=-0.0031 right_pitch=-0.0324 right_roll=0.0023 right_gripper=0.9991\nstate[joint_eff]: [0.335, -7.1316, 6.7487, 1.6581, -0.0415, 0.0415, 0.6471, -0.0342, -1.2786, 7.3368, 1.7363, -0.0366, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff59396dff1371e44d2bbc0f6b0ce3a6bd085b3e46e24292add3226fd1884b6e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16add4b1183db09bf22e48e13fe17387acf8783601a1d88c78b467cbd40423da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d5a2c6c948b7ea4809768776f28021a9773bf08afbd0fa0f09d5528ada4d3e6",
      "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 5 attempt 0 · /responses · status 200 · 3.195 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]: [-0.6781, 1.19, 0.7319, -0.2966, -0.5293, -0.4263, 0.6018, -0.0196, 0.7967, 0.6003, -0.3901, -0.0151, -0.0303, 0.9991]\nstate[eef_state]: left_x=0.3155 left_y=-0.135 left_z=0.1502 left_yaw=-0.0324 left_pitch=-0.0608 left_roll=0.0346 left_gripper=0.6018 right_x=0.2931 right_y=0.0005 right_z=0.1754 right_yaw=-0.0031 right_pitch=-0.0168 right_roll=0.002 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -4.1231, 9.5932, 1.6825, -0.3736, -0.0415, 0.0171, 0.0068, -1.4974, 7.4735, 1.7949, -0.0464, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4549, 1.6051, 0.5919, 0.181, -0.3885, -0.3019, 0.5516, -0.0196, 0.8013, 0.5999, -0.3958, -0.0154, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.3606 left_y=-0.0979 left_z=0.0271 left_yaw=0.0186 left_pitch=-0.1845 left_roll=0.0866 left_gripper=0.5516 right_x=0.2926 right_y=0.0006 right_z=0.1728 right_yaw=-0.003 right_pitch=-0.0275 right_roll=0.0027 right_gripper=0.9991\nstate[joint_eff]: [0.6906, -8.1026, 7.4598, 1.7167, -0.0904, 0.1099, -0.0024, -0.1026, -0.9231, 7.0222, 1.8486, -0.0317, -0.0366, -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 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4496, 1.6363, 0.5926, 0.226, -0.3893, -0.2962, 0.0082, -0.0196, 0.8036, 0.598, -0.3965, -0.0151, -0.0303, 0.9991]\nstate[eef_state]: left_x=0.3659 left_y=-0.0981 left_z=0.0236 left_yaw=0.0202 left_pitch=-0.1716 left_roll=0.0847 left_gripper=0.0082 right_x=0.2924 right_y=0.0005 right_z=0.1712 right_yaw=-0.0031 right_pitch=-0.0324 right_roll=0.0023 right_gripper=0.9991\nstate[joint_eff]: [0.335, -7.1316, 6.7487, 1.6581, -0.0415, 0.0415, 0.6471, -0.0342, -1.2786, 7.3368, 1.7363, -0.0366, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff59396dff1371e44d2bbc0f6b0ce3a6bd085b3e46e24292add3226fd1884b6e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16add4b1183db09bf22e48e13fe17387acf8783601a1d88c78b467cbd40423da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d5a2c6c948b7ea4809768776f28021a9773bf08afbd0fa0f09d5528ada4d3e6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtKCi02ecGPZGRKsR_1DGYM9c9tH7tPcGdcFeJ3zperIFLYmiSock6n2t2JSMVMkTSu9E7WwSKOg93304k_0SwbIdmN4tkhSgpvqjZ2rzXHaJjh1c4dwRkTzbL8D2FoytKr_xRLOwjG8j58iVWMZeosQbCudGveIwl_uGShDuPlIEVEosEgSIqVe1eQrEkv3xNxXu4dc8chXFKWa0jZ8_317A7lX5ZI1Z4wViCmUnwJmJ_aynf2fUvPPb4mYcwHOEuWF7fmSmkTUfidXT6UILkoBocwklBOE1tMeacasPQOLJMuNWeivzC5AME-oXbE3js0Y_lYMV16pdgRTYjhNDudzsNIXUhiVqsLaarD1Zi3Fu6VeMCKqNaT13WtPodl8h--fZPM1yH17jXBaM-d8oShlzD1nvf6QAD7BW9pQmrBN7wu3iSUnTB261xlfthk4D08oCKauFaBHPfH3lZriTOSPfA5kK0WOM6jGeLmDuWNBa7IxbSugxku9EOZPSeQS0cOPq7mb165Y1w_ZQrlXfJblA8ySUb4PRL2wx6kdZDlzmErkvjkAUBNND_yrGoqQg0p1HLuLhpwoHUfmyjt-S4wfpX7p-g2yd269m9Sa3RIX7YwMbzGOVBVfOR7jdVR6m1dWUaq991Y-v_INbw5sqRxhBr0FYiwPfIlnh8yz01kmcVtPbB0uFZ0DBsigAKX4Y6jAirGc35iPkyvm1OmBFhIm0BXAtnC5x7eymC-_HkOkpPQlrL5B3zWPTVJb_LqACeKdMCpNU9C9qlB0fPCRUdj4BOQmsNnzIZZtQ14D8IDWcQvwfXAMgrDNUrvPN6Mjl23Qa313C-yyMPkqE6MrILnAjJvL5epVM8f4TXBv24YiLbxXrUX96ijWnL0jDLwZIDX2LNQWd8_aT0_qzvW9vY7uQGSjr9JmeJaKwiCIoMqEbUFf4Rg2lxU2XmM9I8RqM4rm53LI5c-imOLw1qoudE86CrOZMG6DI2Zzcc2TB3xY_801JbPE5Cp9GwztToNdY6BbY8MLx_yznto7UfRqgEQ9lDSqpcb8SlH2yyqwPPkHzwMcjXxGFuH0VF41HwG51tBsVcaFIUxEE1kSAS784wNl2iB1eOMpbnsJ0UxC2iYSESQPI3359DVAFAq5m2wp1gugY4Lf_5w1Zc3Dcp19776CBDYS9ASgW_JCoUziiM9pI8lBYCSUcKetctxYun-KF8CSmrgSuUrM9Sd9gxh5vlkMCEngsFVGu6W1vcJI6pD5ANUE5CAryqtQ0GOsNDL4VWsJMoL2JkSTOPiqLh5fLv5xcztKAcXV8c7eYFNHLpeL66uWRsnRbGeGRSQj59Lnlj5aIhxIiPgiUZTcABaauqhZ2iSPmOebOGAdoX-knRzqDOZBuqGOYUlMyPhCJ6O8Lih6Nhr716TNtNrwcJjXgKTVNtI7ZDLgptwyqQnwPEvPKO7Nabwb9MuI01CCNvd6DngD-NsgQDGtRe8gzQFoxn8PCCXOG7iOke8a-5dy_ZE_Y-00IL-vZZx0n6TAFkr5UTYau21FsFeGGlB_eDYoFLHf2xrmOFQATsn8pCucoqrTTaizNOLU-VhmbC42L2lyW0RSXvbT9mUjq-ndyYnY1S1Cw4SrXsK0mKjF4nkxdlv29RMp_-x6cfk5hRfuBf-84LGE6bKXDu3Del9R2jVcGMBwpTStJ_Gzz_2C9UBL0jAWtLMhMtQjMcR0TcIR_aPLK6YPmxdK50fDnezK3piPoIitW4Cj7edw3B_MWeC6G1bqBJfVlXn-kG5PAPHixU6k34DbGd7gYt6Lzwh0_N44FPmIqgqM-uV1QwOUfqGt9nu3E4t2gbt0UZnlNtSSpUpo9cV_Va25zv9j1mBIP0CIwSjj-P1F7yJfFo7LJ0X05XOLD8QdX_S8h4rlgVoyZ8Afh8Bj70h-v_OlmrKBHVZCeeDctB51nWkZvbMUKRy3FIYi9axajm0-4ZnuoW_GbhXcOewOfdatG9KiE5GF3Jy_zEGZnxK4M4p2H-GShmKvKdEeM0MVCDfxOMHwc3loi3QOB_ocVjBo37AcNWwJvwEW7z3zR-Ac7Ad41jvr0FCvOlN3q3RLLHVQ8jy4LIJ39qGLfpr2yX3Ssd5Oswy5olBw4CYI_NAn_HksGH41248vPEPhdMto_H0F9Z4B_spFefxNcOpgtERQ9rPndXzMHTx8J65GKPTd2Fx9Z8MRfymGHzG-fAK7w1yt5QDNReh4O-uiaiPaT9XrIR2ddB_EMarUI0foQxS4rkuiPB1yk8DHqdxB5hFSlBo0m5grWR6eCpCl9rQ45xnGlyPppA5_9h5pq49INfrdhtqqELrFXTwYTPjYehPhu3VtcWxltcAflO2nNrcPa6_0bHf0n0m11ZHARNvXOoFfLXaKtVLpr45PwMPBCi9MMawDVIma1XcTlgdqXqWG_IyaDNDOxEDN_MHxMituNRByGeguE7MBIfMr2NYV3p6t9SbdFIoT7QkUzW1qV59bdLm5DQ40bA30-PMwT5kBxAUIbgpjU6Kj0CtHZE8RVFziBn_oGSVD07x6vP3IcGjrXRb2hziXKpCb4ouWMbmgas7qtgd9L89XjmEMpt55_hFrJRp51BkDeqFVmzrIt_nKmNyPV2AbS-HXEnm-bhkwfVZ84eldHZDi0llZ6AbZvL9Cnr2yN2XXy9g5WXdrEbRNEuZsYiXF0F6x_sfD7ECtHIs4RRhuKbD9BGz5JrN4BwmqlEsUhQOQ9_uwVeg4fwhsucro0jrA4cwE-F8FywnOcm900jRGGoo-wMmnjSwutUMUAc7YXWM2TPWB6FHoB0JyBsxcIIDTvaioIsiL5G5XcGdJ-RzArOAUHFftWIlnUqQsbnE-PogFIZlXJh4mvqpYsCjwP_7NLWZwWzF4dYiM18U8IiWZg_MvQJTxuWMeMNSXZCxxchjeV-UD4bKpDkB5vJpmoMmZ2S4OWfZ5ZaT1E0jzcyI7pLa7dj9TUPuK1D80=",
  "id": "rs_05497ed85d2d9111016ab4a09c0f2c87d0a27f5160c8c15483",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.366,\"left_y\":-0.055,\"left_z\":0.09,\"left_gripper\":0.6},\"note\":\"The jaws closed fully, so that attempt was empty; they were inside the bowl rather than across its wall. I’ll lift and shift outward toward the left rim before trying again.\"}",
  "call_id": "call_6lHJ6SHJ3jQkpyWLBwHUcKml",
  "id": "fc_05497ed85d2d9111016ab4a0a1c96887d0919ffa280b443adf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6lHJ6SHJ3jQkpyWLBwHUcKml",
  "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]: [-0.3649, 1.5467, 0.6098, 0.1162, -0.326, -0.2497, 0.5944, -0.02, 0.8047, 0.5957, -0.3969, -0.0151, -0.0303, 0.9991]\nstate[eef_state]: left_x=0.3662 left_y=-0.0755 left_z=0.0405 left_yaw=0.0285 left_pitch=-0.1961 left_roll=0.0777 left_gripper=0.5944 right_x=0.2921 right_y=0.0004 right_z=0.1697 right_yaw=-0.0035 right_pitch=-0.0362 right_roll=0.0023 right_gripper=0.9991\nstate[joint_eff]: [0.2803, -8.9231, 10.3316, 2.0977, -0.2564, 0.232, -0.1148, -0.1162, -0.9094, 7.2547, 1.7753, -0.0122, -0.0122, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c332a79e07009a7dd19d31b9b4792a144c94caadeea408cf51d5982848ba32d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34da8b2a36a5d81aa4b03ad7830af86e6701a180f51cfad9f1b4e7308e376bcb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be852c20984cbdedfa9a8421ba58a618e99c66f10dadcbae4c54b1dcfd59f700",
      "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 6 attempt 0 · /responses · status 200 · 4.232 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]: [-0.49, 1.3693, 0.5762, 0.004, -0.4129, -0.3229, 0.5515, -0.0196, 0.7982, 0.5999, -0.3935, -0.0151, -0.0303, 0.9991]\nstate[eef_state]: left_x=0.3397 left_y=-0.0968 left_z=0.0738 left_yaw=0.0111 left_pitch=-0.1371 left_roll=0.0662 left_gripper=0.5515 right_x=0.2927 right_y=0.0005 right_z=0.1741 right_yaw=-0.0031 right_pitch=-0.0221 right_roll=0.0021 right_gripper=0.9991\nstate[joint_eff]: [0.2393, -4.9299, 6.1333, 1.7363, -0.0708, 0.149, 0.0659, 0.0068, -1.3607, 7.0632, 1.7411, -0.0611, -0.0269, -0.0073]\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]: [-0.4496, 1.6363, 0.5926, 0.226, -0.3893, -0.2962, 0.0082, -0.0196, 0.8036, 0.598, -0.3965, -0.0151, -0.0303, 0.9991]\nstate[eef_state]: left_x=0.3659 left_y=-0.0981 left_z=0.0236 left_yaw=0.0202 left_pitch=-0.1716 left_roll=0.0847 left_gripper=0.0082 right_x=0.2924 right_y=0.0005 right_z=0.1712 right_yaw=-0.0031 right_pitch=-0.0324 right_roll=0.0023 right_gripper=0.9991\nstate[joint_eff]: [0.335, -7.1316, 6.7487, 1.6581, -0.0415, 0.0415, 0.6471, -0.0342, -1.2786, 7.3368, 1.7363, -0.0366, -0.0659, -0.0122]",
      "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]: [-0.3649, 1.5467, 0.6098, 0.1162, -0.326, -0.2497, 0.5944, -0.02, 0.8047, 0.5957, -0.3969, -0.0151, -0.0303, 0.9991]\nstate[eef_state]: left_x=0.3662 left_y=-0.0755 left_z=0.0405 left_yaw=0.0285 left_pitch=-0.1961 left_roll=0.0777 left_gripper=0.5944 right_x=0.2921 right_y=0.0004 right_z=0.1697 right_yaw=-0.0035 right_pitch=-0.0362 right_roll=0.0023 right_gripper=0.9991\nstate[joint_eff]: [0.2803, -8.9231, 10.3316, 2.0977, -0.2564, 0.232, -0.1148, -0.1162, -0.9094, 7.2547, 1.7753, -0.0122, -0.0122, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c332a79e07009a7dd19d31b9b4792a144c94caadeea408cf51d5982848ba32d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34da8b2a36a5d81aa4b03ad7830af86e6701a180f51cfad9f1b4e7308e376bcb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be852c20984cbdedfa9a8421ba58a618e99c66f10dadcbae4c54b1dcfd59f700",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtKCme0jR3RinwvT_iqD5O0B2s5ftj-uvFxjJIQtHbg7q7-RzG7dNF48MyHZxLZ_ALIeMtj86ovkC0Q1okYJOYKqk2qJOKEUHmB_oJnJ9kSEQAScAydR8HpR0KiJOK0VTNC4eZ0BcJJWQnZqX4yxquKJ0Eki3TZ0NWW9ROIpNwGQuyAjvxK6fiaurzHEIsdbFWWV_-VVf4M-Aygpgs3avNfoRZygdxhEWGM7-NE0MbcTkrMENolBOr0vRF0rvq07cLAk7miCdMIAtIl5SrmwtT8p_6u2Oc4t-ZAv1zHruQPWmhFEz8Jjxj-eKxfix2DfsvsjxPK1_u-znt4OvjOHNlYu68UeYd30yG_IwmH7rJH-bqOf3dsy8lzgDV0Wsqs6MInHFuYjVJp0ziXo7_zRJpqbV9Rex8IXYtYsvqaMtrTVEF3w0_rcihdtYCPE3Gi4p7HRM6fs1cz5h1ZNLwCxFrOjUDmJK_1lWRjWMYToTixP-YxVOE5XkB81RwexUSxnyMs5VCh8ftOi_Rie7vmbElj9sbgv-A9YhmdtvTQHvwdr-Y7MuzRXnGbxuQ4iTpoRkwCRmhB_JMjPvnElSVFBEOTXEUeLVU6X7Xp4m8zdwXAwztYnjGPGEQwAymhQQbeB9J8juvGUVYjxHoZD6AkBKN5__AdliVzw4nLi93kTspWnfsrOiGiZcu2NlK4NnAeSIMf9qRS7mg1WxQw-Kd140_LFQae6YVpS6gRSQAUIV0AnXZwXJRoOiT9wYfGOIT5mNmSmGnvKxAVvsK2cXtIgeNkGBW2GKFaD9yAjhpFo3OpbFiBFAgCQFEvvS7q3l5dYzBO-h4RlR8Dlq4vlLdOgo9nbT0DA9YWdHubSz7ZdiA8X9CFHikDUnc7gU5MwGs0d7XcA3nKFKu5iEl04PZTBcmtq-8pSSv2jFKXibDy6GMJuGgy5Vc0b5RZZoEIC2gs3QyPhgvSWH_l8OxfSwEujQP-znFK_HiJJwMR4hpCa3oZDaeIZYQk9hVwnhjXnrTLoMeAYF2fYOVxqf8xu147mx6tcm4ZLqfUetFXrz6Qng6bxliGSwIhmizHh8KqLqyuZfCzC06QAsdtuBIWpSxzOGEdItOSq5J1KvRk4o294XjV4k1Pn_ACX6bmA5b_zwHYvJmotlVtPYlqYvgrdDsMxydgKar_qU8JaCr6JcdC-OVIxx6I0QBRuStXedBgf-E05hC7haN7zZhjw_A3-AhvGm4ezuh7VCbgUaLYOtb7Z1d5jH7gmSSBcaLHv7sG0QwexRe1rQTggvkDm0WUqbMcNTKEiLI5KjYePDHsyJdGk1ZP-m7VhQdzMz-DV09CkcpwZccfQR1KABT-kHjbIv80-Yx29nxlKaApqgcT-UgHI4UrMqRLvu1bK0OE28CVDfooR9X_jXgjgzjPxsN1RN0n4GRBj2sV35LGKW5F406rAkyvXS6nRHH3qGf-CzDP7JxaLaVGi35b9DPPadcjUE25b1paVClQ==",
  "id": "rs_05497ed85d2d9111016ab4a0a4944887d0b648ad08a3044527",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.355,\"left_y\":-0.075,\"left_z\":0.14},\"note\":\"The arm rose less than requested, and the fingers are still close to the bowl. I’ll lift more directly to clear the rim before making the sideways adjustment.\"}",
  "call_id": "call_L1bclmvWT1Noxho4zi1wgpvA",
  "id": "fc_05497ed85d2d9111016ab4a0a5a08487d09a5bc0233957a8df",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_L1bclmvWT1Noxho4zi1wgpvA",
  "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]: [-0.3779, 1.3277, 0.8093, -0.3088, -0.3149, -0.2596, 0.5957, -0.0196, 0.8055, 0.5953, -0.4118, -0.0151, -0.0303, 0.9991]\nstate[eef_state]: left_x=0.3563 left_y=-0.0787 left_z=0.1239 left_yaw=0.0125 left_pitch=-0.2047 left_roll=0.0653 left_gripper=0.5957 right_x=0.2899 right_y=0.0006 right_z=0.1664 right_yaw=-0.0031 right_pitch=-0.0523 right_roll=0.0026 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -6.0513, 8.7179, 1.5067, -0.3834, -0.0562, 0.1148, -0.1846, -1.3197, 7.2821, 1.8144, -0.0708, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba370f1d019809d6a30b4dbe0ac64489f46e065f70673ee5b509a221f6faab92",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:680ce53c19d84f3c8ac370570b7c9d6c83633484d1851f8c83ffbcbb9ac84681",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d067a85b618c1ce67bf38b44afeb355ce164f383d595e6c443dd2edb9ec4f06",
      "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 7 attempt 0 · /responses · status 200 · 3.77 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]: [-0.4549, 1.6051, 0.5919, 0.181, -0.3885, -0.3019, 0.5516, -0.0196, 0.8013, 0.5999, -0.3958, -0.0154, -0.0299, 0.9991]\nstate[eef_state]: left_x=0.3606 left_y=-0.0979 left_z=0.0271 left_yaw=0.0186 left_pitch=-0.1845 left_roll=0.0866 left_gripper=0.5516 right_x=0.2926 right_y=0.0006 right_z=0.1728 right_yaw=-0.003 right_pitch=-0.0275 right_roll=0.0027 right_gripper=0.9991\nstate[joint_eff]: [0.6906, -8.1026, 7.4598, 1.7167, -0.0904, 0.1099, -0.0024, -0.1026, -0.9231, 7.0222, 1.8486, -0.0317, -0.0366, -0.0122]\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]: [-0.3649, 1.5467, 0.6098, 0.1162, -0.326, -0.2497, 0.5944, -0.02, 0.8047, 0.5957, -0.3969, -0.0151, -0.0303, 0.9991]\nstate[eef_state]: left_x=0.3662 left_y=-0.0755 left_z=0.0405 left_yaw=0.0285 left_pitch=-0.1961 left_roll=0.0777 left_gripper=0.5944 right_x=0.2921 right_y=0.0004 right_z=0.1697 right_yaw=-0.0035 right_pitch=-0.0362 right_roll=0.0023 right_gripper=0.9991\nstate[joint_eff]: [0.2803, -8.9231, 10.3316, 2.0977, -0.2564, 0.232, -0.1148, -0.1162, -0.9094, 7.2547, 1.7753, -0.0122, -0.0122, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.3779, 1.3277, 0.8093, -0.3088, -0.3149, -0.2596, 0.5957, -0.0196, 0.8055, 0.5953, -0.4118, -0.0151, -0.0303, 0.9991]\nstate[eef_state]: left_x=0.3563 left_y=-0.0787 left_z=0.1239 left_yaw=0.0125 left_pitch=-0.2047 left_roll=0.0653 left_gripper=0.5957 right_x=0.2899 right_y=0.0006 right_z=0.1664 right_yaw=-0.0031 right_pitch=-0.0523 right_roll=0.0026 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -6.0513, 8.7179, 1.5067, -0.3834, -0.0562, 0.1148, -0.1846, -1.3197, 7.2821, 1.8144, -0.0708, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba370f1d019809d6a30b4dbe0ac64489f46e065f70673ee5b509a221f6faab92",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:680ce53c19d84f3c8ac370570b7c9d6c83633484d1851f8c83ffbcbb9ac84681",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d067a85b618c1ce67bf38b44afeb355ce164f383d595e6c443dd2edb9ec4f06",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtKCrBw3oAI2Y6wAEGBnN9MB7LhGpMHN190YBXnSjdbn3iAU979LGsDkvvHf7TbKUil_J9f97YVWV6466kjq5YGjr-HI4Hz-iIfwcObPGSP8y4wHSpyn5TxfC6AF02MhZ5LBKPcdw_a6hCfqkERh8kXZhuHS-GEePONxrKuKGESgWSPQXB0DmZnFuwDN8KO40G6QHGdo5ZO6WA43qTQey2aXAtSO187AAHwnpT8GnGAe65Dj5Yq9ArQva3j9rvnlsNTAdQRZXACU59rg1GxiTv2Ng5Thk2ndBe3lS2e5z-NEZauvoQAHuF36aOqMPpziz7rb3srQo-vKBlM7GcXstQvt5hL38bhtBg8cAovmXjrasZeIKOOsz3hbIytQYuG0j3Op8t67cXG4_DrV4u_jThggEg1nL-wIX9QaMZpqk3nzjB6on3_pjrRQO0VtwE2whOeCC5CAwsbGASn9uyTIR8r_CoX05al-enZr1K-NfipkQpco8gG0_seKR1DPQGuzsNyT7OcC8adacvDDqYzbin79TJN9C4rhB7xgBmWfuYtmT18APgjgQkmAJkOgojVf5pczFJvg5GfHaUlPPfB7XTKNCgPVYOMxnOuxN-biWk5u0dJnQsmQhhvR2d_m9AaVtTImcHQsceg_SIswZpAsUPRfcD1QqDDsZ4WHYvA1QIR69rJHcaG66jsT2gjPcX1XIQf44arGN5N3P7QAv4QBx6UtL_wKgT0hlL17hhQRTsBIBKp2BKKOgeDkD2fZwnF10wjU2mfZPXgKidt21WbYhp5VZUgr2RQO64I96WBfOxy5hGFZbsDVPvaTomUnpFTmN0xrvU6g3lfiMgvv08Lbe22oDy5qT_eW1jaEB5WP0EzB4lOiNE_LL5FnBl-ZN-ryz6kKhk_bvrV9fpWMUZGCTcSiUaPpLIEYLN0rdw5osRnsAj-724xw1vybGVbXqwEAJ1OuuPQqaR9cRy8MCKyjocqoDFHehbjsJxbPywoj6nVZKw2hPUWjzMwvIct5xXpOTRvggpavFnp8KxauBuZa7Zhhf9PP7LIjswYQ90IxzWu8urseF2xZZcRIsPXzWdpck8zbnFXqCh7UF788e5PhPfX3yZjwgrEc3uKThy2a2L13dO-r1KJ3PI4BY3PHTnB6UcGIjPHv9V2OpMlkXdLmRXAwjiQPf0q9Uxlx8vRlK00ty62M5VQTwoBKutXhYMI16kSvjE072nxgo2x4-fOCYtI92Igq54trCwmbVOk8p3o6jrz22yrbi5jNJktEdWMQGdg-CMWvAMfROo7Y6k-NeSPEGw4EV15FJBXeocHjVRiHTF_yYoTnd209y68Fkw6thkHA4ru1tPGqRvkpavZ6pwE49fSAD4CsYLdGBWQHPQWmUHQsG8kFPPBr2cJQ287K58EDMvOxQ_WyzHPsjBLa0FXPFRyrLQurDrgPM6-17Fvv7m8IO78Q17sOXgke17sjHE4DFmmHkCDhXS1_8wtjvfaRURi3u7BVuPXyco9hKOKy6-54-E6qIQRWLpjawE854Gl49785_1MqDrWEOT3mxuL_1WZc-13ZtKglxUalM14vZd63kgB5RN0U9H_iwA7M4UdMR6_OlbWZ1b7Qt4v6gpNDWQHfjulZdByQkfhYLv7DK7ge78WDh7zonPxd4uysJYQVNPwwmMBg2q_C-5KDquHLWsw==",
  "id": "rs_05497ed85d2d9111016ab4a0a8a32c87d0af417eea9fab9453",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.025,\"left_z\":0.08,\"left_gripper\":0.65},\"note\":\"The green bowl shifted slightly during the empty grasp, and it is now visible below the raised fingers. I’ll approach farther to its left so the jaws can straddle the rim instead of closing inside it.\"}",
  "call_id": "call_VDZkaZ0EXa8PWwEu4yF1Bgfl",
  "id": "fc_05497ed85d2d9111016ab4a0aa669c87d08d35eb2c191b2439",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VDZkaZ0EXa8PWwEu4yF1Bgfl",
  "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]: [-0.1772, 1.3457, 0.6453, -0.1509, -0.2031, -0.1448, 0.6491, -0.0196, 0.8089, 0.5945, -0.4156, -0.0151, -0.0303, 0.9991]\nstate[eef_state]: left_x=0.3488 left_y=-0.0226 left_z=0.0746 left_yaw=0.0578 left_pitch=-0.2582 left_roll=0.0734 left_gripper=0.6491 right_x=0.2895 right_y=0.0006 right_z=0.1643 right_yaw=-0.0031 right_pitch=-0.0603 right_roll=0.0027 right_gripper=0.9991\nstate[joint_eff]: [0.253, -4.1641, 6.3248, 1.79, 0.0122, 0.0952, -0.0415, -0.0752, -1.5795, 7.0359, 1.6972, -0.0415, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83f0112cedd731b5cd32471016c637fe8cb1e6f05a0d617722f2a8cf61cf8efe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb3659ffece24bff13260d2d14f95f92a831b7606880347fb68f9b3498639d51",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fcc6f3a5c834349f9bc875ec7a472b3e2a6af6f1768c8124067d9e4f9ffff32",
      "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 8 attempt 0 · /responses · status 200 · 1.93 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]: [-0.4496, 1.6363, 0.5926, 0.226, -0.3893, -0.2962, 0.0082, -0.0196, 0.8036, 0.598, -0.3965, -0.0151, -0.0303, 0.9991]\nstate[eef_state]: left_x=0.3659 left_y=-0.0981 left_z=0.0236 left_yaw=0.0202 left_pitch=-0.1716 left_roll=0.0847 left_gripper=0.0082 right_x=0.2924 right_y=0.0005 right_z=0.1712 right_yaw=-0.0031 right_pitch=-0.0324 right_roll=0.0023 right_gripper=0.9991\nstate[joint_eff]: [0.335, -7.1316, 6.7487, 1.6581, -0.0415, 0.0415, 0.6471, -0.0342, -1.2786, 7.3368, 1.7363, -0.0366, -0.0659, -0.0122]",
      "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]: [-0.3779, 1.3277, 0.8093, -0.3088, -0.3149, -0.2596, 0.5957, -0.0196, 0.8055, 0.5953, -0.4118, -0.0151, -0.0303, 0.9991]\nstate[eef_state]: left_x=0.3563 left_y=-0.0787 left_z=0.1239 left_yaw=0.0125 left_pitch=-0.2047 left_roll=0.0653 left_gripper=0.5957 right_x=0.2899 right_y=0.0006 right_z=0.1664 right_yaw=-0.0031 right_pitch=-0.0523 right_roll=0.0026 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -6.0513, 8.7179, 1.5067, -0.3834, -0.0562, 0.1148, -0.1846, -1.3197, 7.2821, 1.8144, -0.0708, -0.0757, -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 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1772, 1.3457, 0.6453, -0.1509, -0.2031, -0.1448, 0.6491, -0.0196, 0.8089, 0.5945, -0.4156, -0.0151, -0.0303, 0.9991]\nstate[eef_state]: left_x=0.3488 left_y=-0.0226 left_z=0.0746 left_yaw=0.0578 left_pitch=-0.2582 left_roll=0.0734 left_gripper=0.6491 right_x=0.2895 right_y=0.0006 right_z=0.1643 right_yaw=-0.0031 right_pitch=-0.0603 right_roll=0.0027 right_gripper=0.9991\nstate[joint_eff]: [0.253, -4.1641, 6.3248, 1.79, 0.0122, 0.0952, -0.0415, -0.0752, -1.5795, 7.0359, 1.6972, -0.0415, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83f0112cedd731b5cd32471016c637fe8cb1e6f05a0d617722f2a8cf61cf8efe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb3659ffece24bff13260d2d14f95f92a831b7606880347fb68f9b3498639d51",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fcc6f3a5c834349f9bc875ec7a472b3e2a6af6f1768c8124067d9e4f9ffff32",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtKCvIO8wYmqNKg5CKcspK_U2o1FBPxoE50qa8rttACJuhQzIudavdkqqjtbd7XYUAd1D11x52a-dJiWfbcw-PtKsDeoL58ypxxAcZrpBKuLdtJbH5eFLfWQdGn5RxXRz-mB5ZBYmPZ1fAttMPiB2d7T16V228VL_1B3DxlFK5_6PKTC7DOiQ2IC9-VNTLQTfyLu6ptX7Eu0wtJuuHCszy7s_ieAO9OmrBI7JM2yKHfzZ4RGKmTFUrvTLtQeiFnERGufYPoFAEJH4s9LvvODh8Fljm3IDovafToKsvDcK49XxyuoDGni7CGW9CBwEwmOt9hRvok94-IxFsBGta8C67BDb-dkl9NkphSl0Z5nfzGOn5atm2ixtOxJ5i-mtRYvGGMd1hv0R-EApkovegWiGKdaBeJE7Unk9BgFLDSKWeiMIS04u-aSs5ED47Cr076SNBmGclsAHtbgw-iI49GO3btANONYzNGkpMMq1BG_BxNZotrWc8nOhYx91r-WTbi3yPLm6klI5XxXN5dsteS2UMuoloJA-WcC9SxjsdtjjMZWzVed4VSJbjqPnneBDvlsqPCNtO1CCM79lggPYKd9t0Kvz325uCOGc50tE5UG7N_3kz6wf6GV-_b0LMOj05qknPRyLZjZKiYeLxfh4PjNhGGoC7yBI1a5cSFWbL1YTvpdkF9pHotqy1FiQHPUjJZU49RtbSngy6PxqCvLp9YZZeKykUeU0_W74z_7ma4C8DZ-ZJE4x_tUW9Ya4463B2EO-D88nbznf04iwvyGq7ufocqwaYITWSqJz9boP3K8aYrbtA9nMVwQc8X6i0LOE3BzsD_YN6P3KJKJwZoucZ82VhddzilTUuJeK4LxKD3-HPFuefK_6ZgdVK4mCFbf7Yn80AR7MXqNvGBJqFjoaTZ0A5Y07x5e3he6NXLHExGT8pO1m-RLPJC6prBayecuOwyR5yKo8lp0z1YiDlbrQNd-inTRfamPVVo3O7Cw_wTVwcy3_TcsqfJDFQsmF0JI9dep8ndI53-xTg2a4WFfEdGqsmXg1ZfG4W0ws0Gu54zlt00tgZ8dNqju5MMckGPDkPPEt9LVJPwDs-FcaWuPmtpM--aXN_dH9_Lcyas2USwuXJTCdhCeFSYr3dkDvK0Q9qhWa-dvxGIiadT5eDvXbIghVqu8xpryohHgRTCbGFlWLRdUy2Elpk7ql6JYmKFr_qx33j--W1SBKwNSci8nQAorTMJCa7MoeV3a9reuVF-go7N1hVWZb_6k5P-77EFif2bbNx9EqxpgyyKfTfU6245DkYqZ7-ChAK-q3az4WN2ckNZ3Qw5-tTVkE-_mEZsPR_rxaFctL9kYIvQsJRUTGQW0l-W4X2NBdVoiGX4x7OI9TYAW2JnN22DMWZoi1EiANKVPLApOVNw9gvQuHbtoN3fX68m_AQT3oEp18mVKjNsG4yKCbyNjzrLCU00fTE5_6M3DZQiNhzG86UCaGIFQyQPJMJHWc3A==",
  "id": "rs_05497ed85d2d9111016ab4a0ad366487d0be94d2a17df40ea6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.025,\"left_z\":0.04},\"note\":\"The green bowl’s left wall now lies between the open fingers. I’ll lower a few centimeters while keeping that sideways alignment.\"}",
  "call_id": "call_gkz5xRPX0nPHIAZfDBp3KzNW",
  "id": "fc_05497ed85d2d9111016ab4a0ae9f6c87d084cb392668346627",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gkz5xRPX0nPHIAZfDBp3KzNW",
  "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]: [-0.1864, 1.4288, 0.5793, -0.0227, -0.1951, -0.1406, 0.6491, -0.02, 0.8097, 0.5945, -0.416, -0.0151, -0.0303, 0.9991]\nstate[eef_state]: left_x=0.3471 left_y=-0.0269 left_z=0.0427 left_yaw=0.0407 left_pitch=-0.2802 left_roll=0.0752 left_gripper=0.6491 right_x=0.2894 right_y=0.0005 right_z=0.164 right_yaw=-0.0034 right_pitch=-0.0614 right_roll=0.0027 right_gripper=0.9991\nstate[joint_eff]: [0.1709, -5.4496, 5.9966, 1.7753, -0.2759, -0.1197, -0.0073, -0.1162, -1.3744, 7.159, 1.6825, -0.0464, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4938cd666b89768c6f5b94b835c1efa5aeefce86734253b3a92cb2b3cea2ca5f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4215e424ba8c1804d6a381b71c24dfda075e976fdb71a465c3d130e6c13ca85a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cf2b8ac6584337a1d94723cc6725abe7b9f444f1131e09e5de82d2798c384b5",
      "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 9 attempt 0 · /responses · status 200 · 3.352 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]: [-0.3649, 1.5467, 0.6098, 0.1162, -0.326, -0.2497, 0.5944, -0.02, 0.8047, 0.5957, -0.3969, -0.0151, -0.0303, 0.9991]\nstate[eef_state]: left_x=0.3662 left_y=-0.0755 left_z=0.0405 left_yaw=0.0285 left_pitch=-0.1961 left_roll=0.0777 left_gripper=0.5944 right_x=0.2921 right_y=0.0004 right_z=0.1697 right_yaw=-0.0035 right_pitch=-0.0362 right_roll=0.0023 right_gripper=0.9991\nstate[joint_eff]: [0.2803, -8.9231, 10.3316, 2.0977, -0.2564, 0.232, -0.1148, -0.1162, -0.9094, 7.2547, 1.7753, -0.0122, -0.0122, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.1772, 1.3457, 0.6453, -0.1509, -0.2031, -0.1448, 0.6491, -0.0196, 0.8089, 0.5945, -0.4156, -0.0151, -0.0303, 0.9991]\nstate[eef_state]: left_x=0.3488 left_y=-0.0226 left_z=0.0746 left_yaw=0.0578 left_pitch=-0.2582 left_roll=0.0734 left_gripper=0.6491 right_x=0.2895 right_y=0.0006 right_z=0.1643 right_yaw=-0.0031 right_pitch=-0.0603 right_roll=0.0027 right_gripper=0.9991\nstate[joint_eff]: [0.253, -4.1641, 6.3248, 1.79, 0.0122, 0.0952, -0.0415, -0.0752, -1.5795, 7.0359, 1.6972, -0.0415, -0.0171, -0.0122]",
      "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]: [-0.1864, 1.4288, 0.5793, -0.0227, -0.1951, -0.1406, 0.6491, -0.02, 0.8097, 0.5945, -0.416, -0.0151, -0.0303, 0.9991]\nstate[eef_state]: left_x=0.3471 left_y=-0.0269 left_z=0.0427 left_yaw=0.0407 left_pitch=-0.2802 left_roll=0.0752 left_gripper=0.6491 right_x=0.2894 right_y=0.0005 right_z=0.164 right_yaw=-0.0034 right_pitch=-0.0614 right_roll=0.0027 right_gripper=0.9991\nstate[joint_eff]: [0.1709, -5.4496, 5.9966, 1.7753, -0.2759, -0.1197, -0.0073, -0.1162, -1.3744, 7.159, 1.6825, -0.0464, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4938cd666b89768c6f5b94b835c1efa5aeefce86734253b3a92cb2b3cea2ca5f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4215e424ba8c1804d6a381b71c24dfda075e976fdb71a465c3d130e6c13ca85a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cf2b8ac6584337a1d94723cc6725abe7b9f444f1131e09e5de82d2798c384b5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"One finger is outside the green bowl and the other is inside its left rim. I’ll close to pinch the wall at this position.\"}",
  "call_id": "call_2mhPqfUsn7mrk14DV04Q7Exy",
  "id": "fc_05497ed85d2d9111016ab4a0b11a7c87d0ae4d9879c9355957",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2mhPqfUsn7mrk14DV04Q7Exy",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1883, 1.4437, 0.5591, 0.0345, -0.2012, -0.165, 0.0207, -0.02, 0.8101, 0.5945, -0.416, -0.0151, -0.0303, 0.9991]\nstate[eef_state]: left_x=0.3498 left_y=-0.0271 left_z=0.0398 left_yaw=0.0563 left_pitch=-0.2566 left_roll=0.0576 left_gripper=0.0207 right_x=0.2895 right_y=0.0005 right_z=0.1639 right_yaw=-0.0034 right_pitch=-0.0618 right_roll=0.0027 right_gripper=0.9991\nstate[joint_eff]: [0.1162, -4.465, 6.4205, 1.0623, -0.1783, 0.0952, 0.9011, -0.1573, -1.1692, 6.9812, 1.6728, -0.0366, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c3728dd80704895491a25affd04cb99992708babfb908a600230ca1dce7ab82",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c55f98e122573d7124cca04dbab3cbfaaa831aecae813e12a4c80fd51fa0b615",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d3eadd91976ece6ef29036d915f0e0958119326fe5a5b2bfad9f9ce873e5263",
      "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 · 3.497 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 26 changed as sent

message 34 changed as sent

message 37 changed as sent

message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3779, 1.3277, 0.8093, -0.3088, -0.3149, -0.2596, 0.5957, -0.0196, 0.8055, 0.5953, -0.4118, -0.0151, -0.0303, 0.9991]\nstate[eef_state]: left_x=0.3563 left_y=-0.0787 left_z=0.1239 left_yaw=0.0125 left_pitch=-0.2047 left_roll=0.0653 left_gripper=0.5957 right_x=0.2899 right_y=0.0006 right_z=0.1664 right_yaw=-0.0031 right_pitch=-0.0523 right_roll=0.0026 right_gripper=0.9991\nstate[joint_eff]: [-0.1709, -6.0513, 8.7179, 1.5067, -0.3834, -0.0562, 0.1148, -0.1846, -1.3197, 7.2821, 1.8144, -0.0708, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.1864, 1.4288, 0.5793, -0.0227, -0.1951, -0.1406, 0.6491, -0.02, 0.8097, 0.5945, -0.416, -0.0151, -0.0303, 0.9991]\nstate[eef_state]: left_x=0.3471 left_y=-0.0269 left_z=0.0427 left_yaw=0.0407 left_pitch=-0.2802 left_roll=0.0752 left_gripper=0.6491 right_x=0.2894 right_y=0.0005 right_z=0.164 right_yaw=-0.0034 right_pitch=-0.0614 right_roll=0.0027 right_gripper=0.9991\nstate[joint_eff]: [0.1709, -5.4496, 5.9966, 1.7753, -0.2759, -0.1197, -0.0073, -0.1162, -1.3744, 7.159, 1.6825, -0.0464, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1883, 1.4437, 0.5591, 0.0345, -0.2012, -0.165, 0.0207, -0.02, 0.8101, 0.5945, -0.416, -0.0151, -0.0303, 0.9991]\nstate[eef_state]: left_x=0.3498 left_y=-0.0271 left_z=0.0398 left_yaw=0.0563 left_pitch=-0.2566 left_roll=0.0576 left_gripper=0.0207 right_x=0.2895 right_y=0.0005 right_z=0.1639 right_yaw=-0.0034 right_pitch=-0.0618 right_roll=0.0027 right_gripper=0.9991\nstate[joint_eff]: [0.1162, -4.465, 6.4205, 1.0623, -0.1783, 0.0952, 0.9011, -0.1573, -1.1692, 6.9812, 1.6728, -0.0366, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c3728dd80704895491a25affd04cb99992708babfb908a600230ca1dce7ab82",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c55f98e122573d7124cca04dbab3cbfaaa831aecae813e12a4c80fd51fa0b615",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d3eadd91976ece6ef29036d915f0e0958119326fe5a5b2bfad9f9ce873e5263",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtKC1OxNNJegxfJrGllKqYr2Nno6cG8a-kxADxsSIb-yLpH7BJS878ckEGJvUSTB-maXFQYXyW5bXggcPIvsiCmaOfhxBvZfIyq_hBkFPDF9U0M9JQn5fpnszuBGV95pVQRwwzcDYKpB6gCPBdadP261zXqnH_V484_XvwJOU8P3CVRINZqAZ7LUkyTZIyXJvdeJaQNzNqByj7S0GD2bg8xwQtmpmowNfjG2qdVYMLRJQVjdUYoRpoU8jDcb2FNPUv6p87i1w86HXpCRWD0rESVEmZKskW-ITElqXTFgYArXxLqT_5jHUBQdEMJOJplRH-m2WKLkCx2qGfiXytMQxKXL1NLqKPnSM9EkeFMgDBO5t45TwPtvNiWgGH8aW3SJlUXIFEyQP3XqR3nWrJnU6SazCm1i7YhwGyxjNVdLnXIxp7QxOdegX-d8hAl9AzxrjZfGZjc2mnYLW4u9U8QunyPgYDdBaGUSMyAm3lt2znM0MgNu24H-bsSs1Ly4GDpHIGGglWP-sB6r_e-9NO20U7U_zvDn0PrPHAdpD9stmoE6Flv90I0dsAyFNQiqRIJ9sE4f2CtQHuvquShu8cF5d_vOVPXwu6WciH55DSWWP6wbDk27n3oKilLVgZiGoYjPl9Ydi2SCNHJIRXKM77ggyyGmNXeRKdIL0Ks5H_7Oc4rasBC1dZM0eBSMBQoKfUZ5Umu6Jar6WiAVvYPYpxp0TxMEWAelSpsE5eVZPCnM0XsZQ9ctjzdMitdNY6Py5W73v7cFGKo9HdhzF8djhOdFwTfwJF3gscSEGcWL06FstccWTMAAMawFqgNtLXfqtqkr7lkx6T-C3nFCGuLfS5voJ_IrPoH2ZOmprEZ9NzeWoxYLZH0qLYdPsht0-neIjYWyMb5TKV-LYjSS-zlBHAwSokJnh0ihmvuehfDXIamZpkaN_AQ3-wJX2A2v8HVrR90m8BYZDFZagVTEUDpuMqvmaGhrDyaWVF4pYUVNQPSdVUhc-UhA3pisGeO9nqVB0Ia4gLQyOe6PntwO7OvWkzJeDYev17-BpMDKKW_0eVycljGngl3pAtKzjImBXaWvdMJmzHW78pdeXgstcV1M_h9BEGiSKYLJdG1RnV_zWHROW2G6WiCXLFplJK-7ZKHZCQ15AsrdgIJ9J-2ay1EPkexqroHSJmn5Ow-viwAneOHx5WwqPYnwFqvpuAPVY5qVZH8mUXVO5-WGVF60ogfHEeEcnYeFNrJqyBX_cR55zDX26nqR8MTQQh6dY7tgsZzHNqttHyNdPdvc5iV_GIO39kNHk5flTv-mD6m554uizLJXiFcNm-fgeToXDkfm9kCMLBQzn95DyN_7KkefdvQh-tH_Jx1ceOTrUlzY-TQnMEPlF0nD8OAGW8DzieBFhEu-i5PH7Yt2_o0KYjOb5WhClN9Uz3dh-d_Ox5iObrwVvA4SY2lRNM2he4x99LABC0sAr5ZZVedujpDX4mb1EtsQ--j-9MFhtdkf1N4WlZXyfcP0IYWQ2duw=",
  "id": "rs_05497ed85d2d9111016ab4a0b3f04c87d0994b301669cbe7a1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.105},\"note\":\"The jaws are nearly closed, so the grip is uncertain; the wall is thin and appears aligned with the fingertips. I’ll make a short lift to see whether the bowl comes with them.\"}",
  "call_id": "call_ehGdFcXOsta5CDbgzDqldMBL",
  "id": "fc_05497ed85d2d9111016ab4a0b4f33887d095aeb251454cd7cf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ehGdFcXOsta5CDbgzDqldMBL",
  "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]: [-0.189, 1.3865, 0.6323, -0.0917, -0.2016, -0.1688, 0.0291, -0.0196, 0.812, 0.5945, -0.4164, -0.0151, -0.0303, 0.9991]\nstate[eef_state]: left_x=0.3536 left_y=-0.028 left_z=0.0656 left_yaw=0.0577 left_pitch=-0.2523 left_roll=0.0542 left_gripper=0.0291 right_x=0.2895 right_y=0.0006 right_z=0.1634 right_yaw=-0.003 right_pitch=-0.0641 right_roll=0.0028 right_gripper=0.9991\nstate[joint_eff]: [-0.1299, -8.5538, 11.0291, 2.1514, 0.0024, 0.0171, 1.033, -0.0889, -0.9368, 6.9812, 1.6581, -0.0366, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e3a0ff5261f7df109081cc16deadd2cc2ac903b847d0cd4a8e447ac9cccc295",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88730743d5bb6c7e58e2077339c596d1c1467097a1cc90853ab9cf42a3e1d30f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:514f214dfca0ac85d63ad3d8a0673b7028a8acc5f66a97d57bcd11808be2afd7",
      "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 11 attempt 0 · /responses · status 200 · 8.681 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 30 changed as sent

message 37 changed as sent

message 41 changed as sent

message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1772, 1.3457, 0.6453, -0.1509, -0.2031, -0.1448, 0.6491, -0.0196, 0.8089, 0.5945, -0.4156, -0.0151, -0.0303, 0.9991]\nstate[eef_state]: left_x=0.3488 left_y=-0.0226 left_z=0.0746 left_yaw=0.0578 left_pitch=-0.2582 left_roll=0.0734 left_gripper=0.6491 right_x=0.2895 right_y=0.0006 right_z=0.1643 right_yaw=-0.0031 right_pitch=-0.0603 right_roll=0.0027 right_gripper=0.9991\nstate[joint_eff]: [0.253, -4.1641, 6.3248, 1.79, 0.0122, 0.0952, -0.0415, -0.0752, -1.5795, 7.0359, 1.6972, -0.0415, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1883, 1.4437, 0.5591, 0.0345, -0.2012, -0.165, 0.0207, -0.02, 0.8101, 0.5945, -0.416, -0.0151, -0.0303, 0.9991]\nstate[eef_state]: left_x=0.3498 left_y=-0.0271 left_z=0.0398 left_yaw=0.0563 left_pitch=-0.2566 left_roll=0.0576 left_gripper=0.0207 right_x=0.2895 right_y=0.0005 right_z=0.1639 right_yaw=-0.0034 right_pitch=-0.0618 right_roll=0.0027 right_gripper=0.9991\nstate[joint_eff]: [0.1162, -4.465, 6.4205, 1.0623, -0.1783, 0.0952, 0.9011, -0.1573, -1.1692, 6.9812, 1.6728, -0.0366, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.189, 1.3865, 0.6323, -0.0917, -0.2016, -0.1688, 0.0291, -0.0196, 0.812, 0.5945, -0.4164, -0.0151, -0.0303, 0.9991]\nstate[eef_state]: left_x=0.3536 left_y=-0.028 left_z=0.0656 left_yaw=0.0577 left_pitch=-0.2523 left_roll=0.0542 left_gripper=0.0291 right_x=0.2895 right_y=0.0006 right_z=0.1634 right_yaw=-0.003 right_pitch=-0.0641 right_roll=0.0028 right_gripper=0.9991\nstate[joint_eff]: [-0.1299, -8.5538, 11.0291, 2.1514, 0.0024, 0.0171, 1.033, -0.0889, -0.9368, 6.9812, 1.6581, -0.0366, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e3a0ff5261f7df109081cc16deadd2cc2ac903b847d0cd4a8e447ac9cccc295",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88730743d5bb6c7e58e2077339c596d1c1467097a1cc90853ab9cf42a3e1d30f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:514f214dfca0ac85d63ad3d8a0673b7028a8acc5f66a97d57bcd11808be2afd7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtKC5i7hT3gRRIFUPeqscB0MPlNSXr3IZcE0zhHQBNWqGX3cwtyXRyHbW6CxtFcWoloUL9VSHT-JSOJ55QxWCobyEcyBCyfQ9jSdIq4BQBa-SbZrJC8EINF24JkTwUIgz6s_XwkexmU1hxM9ixgpVdhkKf0MIBVke8dj3wcU4Brx4iBcnPnAkPAxNLXDHTxPn4ux3NQ13ylpGdI28F4lx-worW567K0vWXJ2dBgEAtm-mMy7CSP5xTBZZmZwPxgecM2LGu0_HCK6WUoGWLSlrpqjeJ9VGzSjsqz1g_ZIesd8os2RrFZiFojWO09_OLrDf2XTGzhIRcaTPz-2F1_W13PZQnLThKSljfsB4q6j53fL0fW0Qh7Sv7C5cGes10oSaQWZEiL3PPLvrFfi_B-Z1kd2VQ0soNZygJRESsX67xIX2acajGaHF9MGP7CsCNbf2BnGAnk-xfcOBz-NKx9T4wsqSjrXA9Lu3iKqusvmS44BRGXr4B1cmL-4aR9fq7RsznITHu64pmGxsAgVk9CBLSLkdJfjI3zzQOFq4RVqfjOHfEPjpBFLWqiuAl89bXsMYR2Pu2MsIr572Gwi9KhVFE0uYFHx-0cnGsguDxSnxg5CvOEPHVc93_0F13F4Yy38yc-dh-OX5Dlm5dJQ8YY6FrL27YNBSe1eruWaZphOdzuSTFx0vji-lymuggKiO8ONGG4kN7M1lQlvjnN1eD2FmC8zYcmipLdGf8HzuXiGoaZ8k-PISkBLTyfv2ZPv6ufACmI894s-9am6ySA-C-WbhkmLyupaKEcbVy1ZuFF3vKnXMUvH6z1PTn2oUUiJeGyKKmBWFP5HsYgmBhLDoZ_42wNOyIRIsaXFGz81nttXwB-Urdv3YniWE1eU_xvRQTOGvIsatGX_vsbbJiPJ1sr3dUaX8fAw8qq1WaZOydTFDJ7-bXaAA2MZSw-jLLi6mDxyi2C2OfoFcffErpSM67jvJkMIJ3Bs1f7s9ohuWANI_LIqZD0vs-uK47Q0Zit_uBO_fnIkHzhmjTHv7tuE_KxrOoBVVs48bfZKIetilLGv671fOTRURFP1R47PYSjFbuYwprtpOhOKcrlnP7_zYNXng5hn79UwI3WDC-2ZqeQIhSHKUpPih6yxJHF5lHafapGHOc6LAI0wzOGN7YVCjCAjZJrjhyba8CBn-67AoU5CCx4pisCgs2y2JFBsysQaa-yZaxIqR664BaDzuni0lMpGDjSAG5A2Z4caczOlXvNbB83fCFo8UMQnyr9AykLewblEKdsupnsxmGYwvtvmpQDI0Yy1VTMAv3Iv-doUbEBycegZ1o1g9_dbJTqQcUzU-owcX0eqhSScs3CbIrUVIcLTiShCZ8HCTZ0bfiAUqAGSM7-ZycB6r1DyUDs0oW-HfCAobYcais6HlK1EKUorxgV7ZdsChvz8S31fZ9wH7221ACQBD7QnYegWCUbKFR0FFZ_P8sCsEXbToL9AZ0XOwTA3pZgtD6dZ_M5jAXtOR5xtPZViqoiE=",
  "id": "rs_05497ed85d2d9111016ab4a0b779c087d0828c64d94dddbe1f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_z\":0.19},\"note\":\"The bowl stays in the same position relative to the wrist camera during the short lift, which suggests the rim is held. I’ll raise it to carrying height and confirm that it clears the table.\"}",
  "call_id": "call_ruO1FQ0RbrwZQhMPWAgAqQan",
  "id": "fc_05497ed85d2d9111016ab4a0b8d3d087d0998c1a02041fca88",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ruO1FQ0RbrwZQhMPWAgAqQan",
  "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]: [-0.1967, 1.2263, 0.9718, -0.6083, -0.2031, -0.181, 0.0291, -0.02, 0.812, 0.5945, -0.4191, -0.0154, -0.0303, 0.9991]\nstate[eef_state]: left_x=0.3423 left_y=-0.0282 left_z=0.1724 left_yaw=0.0593 left_pitch=-0.2679 left_roll=0.0511 left_gripper=0.0291 right_x=0.2891 right_y=0.0005 right_z=0.1628 right_yaw=-0.0031 right_pitch=-0.0668 right_roll=0.0031 right_gripper=0.9991\nstate[joint_eff]: [-0.5265, -5.7778, 9.1282, 1.5067, -0.2173, -0.0073, 1.0281, -0.1162, -1.3333, 7.159, 1.6972, -0.0855, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f01a689345d7116088797842f330c5473b5a7d7554f668a42b4d2b9d5cc8c751",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7266be2d77af09927f12488ead3208171b5b62bdc9a78959fdf5225dabfb726",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e5556f9955df2425d2b37b8e44922f827a84500bffb7ebb5cba2121e582ef4a",
      "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 · 4.999 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 34 changed as sent

message 41 changed as sent

message 45 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1864, 1.4288, 0.5793, -0.0227, -0.1951, -0.1406, 0.6491, -0.02, 0.8097, 0.5945, -0.416, -0.0151, -0.0303, 0.9991]\nstate[eef_state]: left_x=0.3471 left_y=-0.0269 left_z=0.0427 left_yaw=0.0407 left_pitch=-0.2802 left_roll=0.0752 left_gripper=0.6491 right_x=0.2894 right_y=0.0005 right_z=0.164 right_yaw=-0.0034 right_pitch=-0.0614 right_roll=0.0027 right_gripper=0.9991\nstate[joint_eff]: [0.1709, -5.4496, 5.9966, 1.7753, -0.2759, -0.1197, -0.0073, -0.1162, -1.3744, 7.159, 1.6825, -0.0464, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.189, 1.3865, 0.6323, -0.0917, -0.2016, -0.1688, 0.0291, -0.0196, 0.812, 0.5945, -0.4164, -0.0151, -0.0303, 0.9991]\nstate[eef_state]: left_x=0.3536 left_y=-0.028 left_z=0.0656 left_yaw=0.0577 left_pitch=-0.2523 left_roll=0.0542 left_gripper=0.0291 right_x=0.2895 right_y=0.0006 right_z=0.1634 right_yaw=-0.003 right_pitch=-0.0641 right_roll=0.0028 right_gripper=0.9991\nstate[joint_eff]: [-0.1299, -8.5538, 11.0291, 2.1514, 0.0024, 0.0171, 1.033, -0.0889, -0.9368, 6.9812, 1.6581, -0.0366, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1967, 1.2263, 0.9718, -0.6083, -0.2031, -0.181, 0.0291, -0.02, 0.812, 0.5945, -0.4191, -0.0154, -0.0303, 0.9991]\nstate[eef_state]: left_x=0.3423 left_y=-0.0282 left_z=0.1724 left_yaw=0.0593 left_pitch=-0.2679 left_roll=0.0511 left_gripper=0.0291 right_x=0.2891 right_y=0.0005 right_z=0.1628 right_yaw=-0.0031 right_pitch=-0.0668 right_roll=0.0031 right_gripper=0.9991\nstate[joint_eff]: [-0.5265, -5.7778, 9.1282, 1.5067, -0.2173, -0.0073, 1.0281, -0.1162, -1.3333, 7.159, 1.6972, -0.0855, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f01a689345d7116088797842f330c5473b5a7d7554f668a42b4d2b9d5cc8c751",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7266be2d77af09927f12488ead3208171b5b62bdc9a78959fdf5225dabfb726",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e5556f9955df2425d2b37b8e44922f827a84500bffb7ebb5cba2121e582ef4a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtKDDyAaDTgiZNXR6lL1QBZ5LTYguNYvf91d_Q73AQ2xxx3cv1mFVQOhBt9xVhMBPmyF4t17aNdV_SjF6Wlhmgp8XLHeh1zgUos8v2K4lfIfoOI3rjEbYzCD8yfJi1-L1k_wrxD8OF5_PfFBfeeU3U3ksIculA13Rg7Yzm_4gkB0UskSN7zSD1PfCMnz6FMwf_DdsV_VGFhqo6T72O-RZVySkswrHSiVctPcZ3aP9cFPwMu4KMc8OZTw4CMDCPtkEiEsV625DNfmzHkYiXmjkpeVDU6U6RVchnNjYwxfC261AIKsYT5HuZ5pwVSTOtVAK-lNm6MYidqJPs-kHF6prda8DEU-vGJr3o0SkfhHnojNWLceufuGcK2Z2-D6xxYMuBtjWmtbkLdl-d1K6EAFgEqp9ii75xHRk6GfA-j5FloiIAjdu-f1MWKBIwcTE1iHrmRj6trrcMOaKXnOcEKKld9M4HOJGPhjzGsIh_zdZtzgC4R6tLBxk8bchwpPOnN2qg6ShGAC1m_57vc89U1cjSizgISD7H7Rl770e2yaZn6HhZkyCXDQEKGF1YLwuYlAxCDdbwjPr52hT5zhxIjx7iyeqqmRCegjHJYf8C2ITB9Kj0llGTX3TuFUcD4WdlG10PZZCWTzw0l4ZqHjunhW8iuBkQkZENjNPHnCZC5RzfUBF9v1Cemn2-mt6NyZ3iCF19xVMaMsq75JhU6Cs6f5fbjwy5jVkyOuqG5iSyIK5DNTCKsSMIcW6bAGaQZNF41ObJ82tRtGKAY1215H_mioLP1NdFjHEKN0wJudA75uynZoQhe02_pyB-zPmuatxSD3_a3VPXrf-IWmYuekuc_GmKRHgqjZ0sUkMx8hfuLztc_lwO9-z5YlUjOdSR_iHdluagMvrXKKAGw8buAsrc_HqpqZsypCBaa83p-NHj1mJ5dunut9mdYO0yk9zS7s3-nOC96Fv7vxR4H-E2XkNM3fvo_TdJsoNwT_YaZQiK-LYIAYNss4M05ELwFo8Vs57FoJv9WtuQ2UepfL5AXUxUuIKFcZBT3M8ZKus22FsWSkfwT1LaaABZwdRZh1Tu-OR2KL7I-azx3QOOZ1B8gVAET1_2xC37p-8iehhRX0D0LcnOYp0qaFEkHNVGnhhjvKwNHyxMm4Qr4S1vCPKKIJbIrTXxDUcDLCICheDaUIz0lNc87h_3xmkUo1BwKYE8K7KFvEvRxYhyvpCU9ujMn7Ujvu-c6yl0hceM2GyZn3EdtXOVRWbndX_d5BFNI6r4Q6rtSuYVfP6VfN2dwPqr2_z_NlX0oGgv_-UOTAM1UarrJahmDa5_atpojioaqeyw5FcPqojEsWtvW0GOj5lDHMYK853H8uzT2xuyPLX9bdeLiz-dcBnHSGS7zSEAz-obuUWv8hWOno_m71fepriKE8A0d9RwUvGWrHnmOhkinPRHZ_5kSJT8BPc5I9Vwj2_sDkvn9GM46cC60ZZkoHAfXSOvCX2PqxIjTB_MQemu2N2x7AvtbIq_85K2Wx6QA8umRLu-GCpTKdzHxGhT7D_Mb877Ssvqi2nUv-PfXkb5qSKqq8En5tswefBD-wG7r2PM-jtRC6zuChrRb_EuI8Cc9zT3Nk2YsdI_wa7S1yX2RH_n6Ep7hMBycY9Es7jlaG4s_ARs0U4Nw4xduyrzlh4cwxYnQVLDkV8P0ONnIXJwyQXWdqoTv6OCpwgEp0F_vrjGRb2cRa9qd0C85o4VTJTv0xy-dbTjIx43WgPE_Jt1HWj1ddby-xga9-VQUwJs4rxZKKuZCqswdg0bsXf0B5dDlAw8vHZWY-MWfdPf96Bwt1Q7gZgwuJCGs_nsgaylcdqUcgbQT2UJ4wgFcG_4iYXZjyHzaUFvcsLSgRPnFVpWuZj0cwyt8It0sghXsi37h7GFrhzxGTuiqs_eTNkjVhyY0ndyoO4uRFt3a_WuG1P-2HhU5lfISNvyfi23lWXu10f_rVfnFlBvnQAxAqcZ7bqug2Ch5pDu5mP0rW3GHTax56kp7V-H0BFSHkdOuIaj_T3xvb8K_b0ib32gFzpPrFqUedtTTCAu4NuTJawTCC0lLVW0i7dPe1hr-07xIcohXxYJkLxcxENPUcRf-oThcMd7Mq0YKQbRa_EfWKpvvAntXjWDCVqbmkUb54Nf4LSZO_bjwgTmyFram1QTQGJfqwnGkeoeqRkJz_Jgw5CHi6SotrAjgv1vUKWUt6EJvV0zlPhRE0MLQcsmBxgmjUj4UyjQVukaT1GTGhY_Ok8CHiUQgiEU273Ot2Zla6LJlW_g2TwVDW_vxSeoq-GkOsv2O6rr6lmDrXO1eXKYrWdhd_wJGfd7Lr03k8G9dvL97A11VCqJ4JkjH-XEGQVvenXrdOX9qeBWlF2ZJV9lJT2gV3hEcj6ngrr6szxLepVnlk7mONLNKUgJ4q7BmbSqT94RwZvFkz6zYBsog0cf3JYHfIJxup90mfuXgL-aLovDr5GnN4dwRtOw1gHLciecNxkV0G9MU_pDg_BCtBX2SjBVbHpmQeeWTzeGbURKwK6MLSPoxIq07YduoXNkhRwS7MfteA4IrSUUEbGOOQpoN6Tonhz7cteeCqeyFhN-x61GYNueWqmjCaV77zdaMjcqbejs1P6Cl4clKYHfN3qku45DVxHHdApjhm7Eq70F8WcKy1OT9z2hNwc5os4D14uwoSOqqNQUi7QY7Leji_eUhuuAd-1jL7dma19z0B-5j1CV8qjSZZbHWQtg_hHz8TCxRwGbj1Bp8kkkOZwCXjFo5mZ0EqGmcZq57aX5b7HqLE6LpjoFjlZRIGju66YRbozN2PMviEeN1ieT6Esmk6WK_yfs1JUbJVBbbhf0M37zDaB5jKjd6DtCwpbh2vPDhUNM7hM8qbusdJp79iWzSFmdWoAx550Ch7ldUBkEVeS00XJmkoLmzr2IWwkxoM1cDPHqgWI7FCDPYziQ7pO0ENfWhKTDqVhaRiXbEFSS3Px8aTuA0NdeIqZF2RNZ_H4aoNXVK6W-1lMzaccva806F8hXpmxz0EVvu0nMn1_Rg4OYRqGK28Q8ogWrTabTsQxrSHoUo4h6Zgv9uV2a0sWhDhwnA==",
  "id": "rs_05497ed85d2d9111016ab4a0bbbc2487d0aefc88252ffef35f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.21,\"left_z\":0.2,\"right_z\":0.18},\"note\":\"The green bowl is clearly off the table and held by its rim. I’ll carry it above the blue bowl, allowing for the bowl’s center being to the right of the grasp point.\"}",
  "call_id": "call_nunM1MbPpSfMixzCrNcxlyd5",
  "id": "fc_05497ed85d2d9111016ab4a0c21e0487d0afcae91867e80a5d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nunM1MbPpSfMixzCrNcxlyd5",
  "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]: [-0.765, 1.6222, 1.4094, -0.8726, -0.5083, -0.6662, 0.0291, -0.0196, 0.8173, 0.6231, -0.4778, -0.0154, -0.0303, 0.9991]\nstate[eef_state]: left_x=0.3436 left_y=-0.2057 left_z=0.1842 left_yaw=0.041 left_pitch=-0.313 left_roll=0.0679 left_gripper=0.0291 right_x=0.2846 right_y=0.0007 right_z=0.1627 right_yaw=-0.0027 right_pitch=-0.1022 right_roll=0.0037 right_gripper=0.9991\nstate[joint_eff]: [-0.3077, -7.6376, 9.265, 1.1062, -0.5788, -0.0366, 1.0281, -0.1983, -1.3607, 10.2906, 1.6093, -0.0708, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:984a3d03a33cbae249e20f7a26744817b1f11fd0eb14e408cd6e4c32415100d1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f6528122e2eb05f4e74fd304713d214a60eae3d1aa5ff1977d653c20e61033b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42e741ca5105f88f7e6c2e20f9fd4b4911220a6ac99534cc191c7ed4a82f1f48",
      "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 13 attempt 0 · /responses · status 200 · 3.313 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 37 changed as sent

message 45 changed as sent

message 49 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1883, 1.4437, 0.5591, 0.0345, -0.2012, -0.165, 0.0207, -0.02, 0.8101, 0.5945, -0.416, -0.0151, -0.0303, 0.9991]\nstate[eef_state]: left_x=0.3498 left_y=-0.0271 left_z=0.0398 left_yaw=0.0563 left_pitch=-0.2566 left_roll=0.0576 left_gripper=0.0207 right_x=0.2895 right_y=0.0005 right_z=0.1639 right_yaw=-0.0034 right_pitch=-0.0618 right_roll=0.0027 right_gripper=0.9991\nstate[joint_eff]: [0.1162, -4.465, 6.4205, 1.0623, -0.1783, 0.0952, 0.9011, -0.1573, -1.1692, 6.9812, 1.6728, -0.0366, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1967, 1.2263, 0.9718, -0.6083, -0.2031, -0.181, 0.0291, -0.02, 0.812, 0.5945, -0.4191, -0.0154, -0.0303, 0.9991]\nstate[eef_state]: left_x=0.3423 left_y=-0.0282 left_z=0.1724 left_yaw=0.0593 left_pitch=-0.2679 left_roll=0.0511 left_gripper=0.0291 right_x=0.2891 right_y=0.0005 right_z=0.1628 right_yaw=-0.0031 right_pitch=-0.0668 right_roll=0.0031 right_gripper=0.9991\nstate[joint_eff]: [-0.5265, -5.7778, 9.1282, 1.5067, -0.2173, -0.0073, 1.0281, -0.1162, -1.3333, 7.159, 1.6972, -0.0855, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.765, 1.6222, 1.4094, -0.8726, -0.5083, -0.6662, 0.0291, -0.0196, 0.8173, 0.6231, -0.4778, -0.0154, -0.0303, 0.9991]\nstate[eef_state]: left_x=0.3436 left_y=-0.2057 left_z=0.1842 left_yaw=0.041 left_pitch=-0.313 left_roll=0.0679 left_gripper=0.0291 right_x=0.2846 right_y=0.0007 right_z=0.1627 right_yaw=-0.0027 right_pitch=-0.1022 right_roll=0.0037 right_gripper=0.9991\nstate[joint_eff]: [-0.3077, -7.6376, 9.265, 1.1062, -0.5788, -0.0366, 1.0281, -0.1983, -1.3607, 10.2906, 1.6093, -0.0708, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:984a3d03a33cbae249e20f7a26744817b1f11fd0eb14e408cd6e4c32415100d1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f6528122e2eb05f4e74fd304713d214a60eae3d1aa5ff1977d653c20e61033b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42e741ca5105f88f7e6c2e20f9fd4b4911220a6ac99534cc191c7ed4a82f1f48",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtKDJfTCRDFdvDiaQRz9QXFIkN1e7nz_VIqmUALAb2mrbj1yOpbbVy2IHb5ACIOgIKPzHjeKAZesdEvhZPxZiZ2PZp7PMRR2tMjCOLYmiSHqV82Gut8oPFK3zttfKouIm2oO8W9Q9pA03KcXRHevZPzkoX1OMlY8DB0ZAxXywax4V-YODRlcbtZVxrjj4C9n5qWgob1lordo0GZAWtIiE9VJCM_dZ56rIVdRH94oZhg818TqJd395RjulQ5cg9Fef-qXF75u9p21BYf9dHdZb9cE18OeTaVuBEEsYn_dTJn6V3ehscSvj0afM3aeejofH0jIYt1ZwcNkAeh1aXD_67QyElLEco3E3vgMcMmhmxMoDHgdq37lQcKYUZ5smV5eQnDBSZDXTDPEBzJ8TFGdLP0ZurrdNiGlEDWivoYlAK7URZfUX23RRVpNXA-7Swq4VkycijmefFsD_Rvhnhckh39T5zePfk9lLIHxWF0GdgUM-_BS4DdgA9Ml6KrClu2dc-b_uFBYhZlFBt3jbCpbDL9pjN_pXtqf24ICG7ubkJdxOD1hyjCRsuPODCcXAcCB38gVHQCqACY3JubCcl4D5T_-mapAclMRiIg_aclImKt0HNefq4koN8RP4Tio3rn1n5pQf9nsU89g13Spq3GjC7VA-kL9rqyxCZtiV_NGjsq-q3xOBPSvpC9yaNYb_XVnJD54Ah2lXkIbtYE-P77z6rnUO0rRh_7dLyLFVTdLN6YvKuik7B5yXzAS2BkokOOTSJoc9P4aY4jyu_Wmr88fymSDM509vP117pNyh7vIbAF7ncd-zFo0HZaDKYVXX7y5z1ThjTHoDwtKIIQWHLju1lmS7AZ_pVl3hHwUfr5lKjLrjWTUuRFsczKzDg_wCfnz4AYpbjK91-zN5vmu9gtBO8fRRbZy_C80bawqYYaDXvQL_om_jqoLS11I1W6QC-ckq7J7rQDRubzo7YocMvlMjScqyPMJJybNQDW7LK8932OOYELOgBxDVuVg5oCMuJEKP0t8MwCUPtvjkYT-VmpP5TSh5Ak9a6ChR6PwXzrK7-2PSFVSTcwaXZ4O00WIDcauN03DVb5-GufASvrC6t6I99tkJcriu5DyAF1Pz8N2q9FprBPUKYDvelZzJt85SKWljkIxUIO7UkV5Q6rTKTA1mulnSe6iNE91kc-PoPjP3K426bVm77DWhxV-0Kn7E1UisRPUCjWIthlWqzawtMv2Shn0KoaJDHiXiGiX79Ez91aZLzQJiXLuOPJFglkuwBJj63Xq44I-r-CFutg12K6efOeL_KinqrFbVripUlZCavCm46-luu6ROHawBT4exktq5wvzXVjcH7zm4aYCiFVZr4N6hY7QF4HQcZNgVDpQkaVgu4G9ZxJeLRgKNJHGwrbnSMqN7LXgfYfVvrvJ7ewcdteHOBX1-Sxf7bUxkBQ88Ne0D_UoEkVfZf2vvP2mvxKefOFU_nA4C40SDgHHcdMm-oteYJyvEFYGoX46tGiQxCplDaF8YX2fxydm33F_9KiELS3mnVV_SP5Ny-oaG7BnXqjLGn52Qp75gRYUxqkhtgphzfVZjIDcfSD49lZgRvmuqlQIuqhFBWCTb_OV_FIYF1teah9EB3lPb4mDTpFw7t7INGsUu-qQhHjJf2P-oJS-_EMThBOIyQgd3z7hlY6cRiz3lnQBWGS38N7c9fHIoylMuZHfXkKCF5YA6z6o8WW_cEOQY01LMeSf8Ku-bSm8NqkwyfYNTubmDWo76pzirHIv6Mtpz-SCHN9LSnvt7E7EaCCwk6-apXF4SZmlrHNK2xvhe0R6_IJhiWJnofnTcLLFHNB3mSWK6zA1rQj9NfC1ZKGcT_cC31-yLT72uSJFST3r6WbUl6Y1GCNauhhsw2Uxo11odpB5IFIVGUJfi7KqiTV1ry4AtW_AEkKz4G5KOFTXEYonnoRFLbG_JKxCMt05z9feDs5oyXBnvvXMVQieO95dV85gGxbxV02J_C9mj_HauU6mPwOIk7G8c_eNez68dS_kN64A0hwz1FbIt-_5HIo0V4NAEqYZjR029QsI4GdZaFrBTznbUlU_mZLgGbwk-AGLotCHrXZHoQzuEzqQOFAJuNr85G-p8wvyLGg2oRHo9bA==",
  "id": "rs_05497ed85d2d9111016ab4a0c61ea087d09e20343495a90aa0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.355,\"left_y\":-0.25,\"left_z\":0.115},\"note\":\"The green bowl is above the blue bowl but slightly left of center. I’ll shift it right and lower toward the blue opening while keeping the rim pinched.\"}",
  "call_id": "call_XOgQ8rsaB62dPH5suT175YcS",
  "id": "fc_05497ed85d2d9111016ab4a0c900c487d0aec5ac5de2ef434e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XOgQ8rsaB62dPH5suT175YcS",
  "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]: [-0.8265, 1.7996, 1.3449, -0.7254, -0.5251, -0.7166, 0.0291, -0.0196, 0.8204, 0.6243, -0.4969, -0.0151, -0.0303, 0.9991]\nstate[eef_state]: left_x=0.3463 left_y=-0.24 left_z=0.1094 left_yaw=0.0438 left_pitch=-0.3621 left_roll=0.1204 left_gripper=0.0291 right_x=0.2819 right_y=0.0007 right_z=0.1588 right_yaw=-0.003 right_pitch=-0.1232 right_roll=0.0038 right_gripper=0.9991\nstate[joint_eff]: [-0.3897, -9.4838, 6.7077, 1.1404, -0.4567, -0.1294, 1.0232, -0.212, -1.5248, 6.8855, 1.8193, -0.0562, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a159425cedc5866908f62abcc0fe79165bf22f693c82c43f7c40b36030fdcb0f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b36a372d0415d69101f4059a5b23d8f63a6257b3ee863c2368d58f5f099babfc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a756425a9d98977d9ff1b849f090437acd797c96e7c4c4f35026c7b8aad962c8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 2.113 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 41 changed as sent

message 49 changed as sent

message 53 changed as sent

message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.189, 1.3865, 0.6323, -0.0917, -0.2016, -0.1688, 0.0291, -0.0196, 0.812, 0.5945, -0.4164, -0.0151, -0.0303, 0.9991]\nstate[eef_state]: left_x=0.3536 left_y=-0.028 left_z=0.0656 left_yaw=0.0577 left_pitch=-0.2523 left_roll=0.0542 left_gripper=0.0291 right_x=0.2895 right_y=0.0006 right_z=0.1634 right_yaw=-0.003 right_pitch=-0.0641 right_roll=0.0028 right_gripper=0.9991\nstate[joint_eff]: [-0.1299, -8.5538, 11.0291, 2.1514, 0.0024, 0.0171, 1.033, -0.0889, -0.9368, 6.9812, 1.6581, -0.0366, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.765, 1.6222, 1.4094, -0.8726, -0.5083, -0.6662, 0.0291, -0.0196, 0.8173, 0.6231, -0.4778, -0.0154, -0.0303, 0.9991]\nstate[eef_state]: left_x=0.3436 left_y=-0.2057 left_z=0.1842 left_yaw=0.041 left_pitch=-0.313 left_roll=0.0679 left_gripper=0.0291 right_x=0.2846 right_y=0.0007 right_z=0.1627 right_yaw=-0.0027 right_pitch=-0.1022 right_roll=0.0037 right_gripper=0.9991\nstate[joint_eff]: [-0.3077, -7.6376, 9.265, 1.1062, -0.5788, -0.0366, 1.0281, -0.1983, -1.3607, 10.2906, 1.6093, -0.0708, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8265, 1.7996, 1.3449, -0.7254, -0.5251, -0.7166, 0.0291, -0.0196, 0.8204, 0.6243, -0.4969, -0.0151, -0.0303, 0.9991]\nstate[eef_state]: left_x=0.3463 left_y=-0.24 left_z=0.1094 left_yaw=0.0438 left_pitch=-0.3621 left_roll=0.1204 left_gripper=0.0291 right_x=0.2819 right_y=0.0007 right_z=0.1588 right_yaw=-0.003 right_pitch=-0.1232 right_roll=0.0038 right_gripper=0.9991\nstate[joint_eff]: [-0.3897, -9.4838, 6.7077, 1.1404, -0.4567, -0.1294, 1.0232, -0.212, -1.5248, 6.8855, 1.8193, -0.0562, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a159425cedc5866908f62abcc0fe79165bf22f693c82c43f7c40b36030fdcb0f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b36a372d0415d69101f4059a5b23d8f63a6257b3ee863c2368d58f5f099babfc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a756425a9d98977d9ff1b849f090437acd797c96e7c4c4f35026c7b8aad962c8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtKDNRh4dAFn7FNwT-Hldxpaypy5Kysrj1UgOrxcoLuJHooee9IY6AemBHAF3DLDSNpjzNYaOqJ9WoNSw1AOa5v5BssAqEc9JlL135PAO7SwAMhpizDGzfice3I-S5rNq0ei-Xb-jpfkpKTmoCZD8KEqkgHVhpS9iPgF2tsvpz0HuNxEQVbjxljtheLvAQU3B29lOC4fEBiyFHOS8EV_5V5uEifRQoL_vUbb42LVuEqgEQ5iESU4bP9JUSlQVinGYFcMH0tIfs4-GwsIpxq9ug4mERVFdoF3ZJN4sBfZ_ZyyUB5KO0nvqVD7oaZU46-zVfkWE7DAI7-h8pJrb0TyfC5Gi9VBG4OL1DD6O17bGsFcvb4-rdEHvNEYFyWE_ScRiukTBGdt1xonQTcgPn78IneAar3nhRGeCW9Jfci6AYL7KVEB_pe3QVZbW7J1FsxlMrXTmxJivuthBHEyulm9TuQFPWYy7jAqMpTg2RBEv3iw57IeqqyZd37wvYdNSi7HYLhGo0VjzfS3I-o27PwVxZJb2QTufC4UGOVxWEK388HeFVfmld7B-FlHEE83TjE-RWE9jfjxS1p43_uLsnOpgQ0ws-Oi_DGpHZayZegosESOugIrZo0NA5yLyHB2WM20uSQ1siqFqq-s40l7ylU9Tuh5RSJDZxJ8QjzQdr6DkkRJYoSFxojdLIbTrVYSYHQKVHWNYK8KML88F91a7a8EmZU3qdi9i_EE1WJYIaZjw5DpSVNfxmcRI4ou1nPtNX750y7CfHSsYLbmlAoeSqCi2-H-HL2exLum8H6Z4O11aO56wnAC2r3sKBiwrSllhDRXdtsA_qEzTLbYlbWwjKo2qQFw4AQyZon6BKXa6--JY0eFO690hE4-FKmR7h9t_cmHLzt3iF2oMOGmqTbA1OW7JCx9yhaPLhi4fiCxfL3GF-dY8Ulpo0SO9cO2UAjuKlpLBf8gaEu5VU95tAv_GJ0-Noxx0K_N6jisoXPy7iyHojl0yA-7BL4hmRyzbBKGhGn3PpTBkO-0je_u9Cvz9mUPdfhcznJ9pFw_Gwilq-NzTyn_twEOUMCy0IUFrWraBs4aj84LVCrXtBx69M84Vh4SfsekV5Qi2UvP6IL_wDF3JvnRjXQepNYAJx36qEaSH8CDMAT4TywyVIy1IM3hjZdJluiOmOE44e7UCsZebGN5KjsZuuOoHMo84pHKZeJ-LVewi2ZE9dCSpc_oPe8ZSEu9a9QzNbhVxjFPoPvE7BLGNA8AnLOZFr9ntmWmh2wsSxeYc9q2k9thgd6dX-7gELF7lsKBuALqEb9pMzedJdxMpnehSXRMKgXvpAVxp3oz2AaH8e1NRBIWVTZ5lR0Bh4p8YDsuceuayEn5CdtITU8PeXaawK3SFoT2tt4ejt2BTN084SkoJalcm-anpmVy5L0YW382VEg==",
  "id": "rs_05497ed85d2d9111016ab4a0cc261487d08f7cc3dbf6004f2c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.065},\"note\":\"The two bowl rims now appear closely aligned. I’ll lower the green bowl gently into the blue one and watch for contact.\"}",
  "call_id": "call_w9B8ShtKu45s25Fb4yJ8lV6B",
  "id": "fc_05497ed85d2d9111016ab4a0ccf2bc87d0aa85df2c9f9d0bcf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_w9B8ShtKu45s25Fb4yJ8lV6B",
  "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]: [-0.8322, 1.8126, 1.3415, -0.6899, -0.5251, -0.7307, 0.0318, -0.02, 0.823, 0.6239, -0.4999, -0.0151, -0.0303, 0.9991]\nstate[eef_state]: left_x=0.3492 left_y=-0.2467 left_z=0.1062 left_yaw=0.0407 left_pitch=-0.3489 left_roll=0.0958 left_gripper=0.0318 right_x=0.2815 right_y=0.0006 right_z=0.1573 right_yaw=-0.0033 right_pitch=-0.1293 right_roll=0.0039 right_gripper=0.9991\nstate[joint_eff]: [-0.3077, -9.8667, 6.6667, 1.2234, -0.4078, -0.0659, 1.033, -0.0752, -1.5111, 6.9812, 1.6288, -0.0269, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:533b28161d9a22e0bca5bd31e46faaed3bce45330488f88f0f8123266d038a08",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d5a1647e3ac1ab7d446390c53e80c14ab0d9bdad5d1ee2cf01f215a81eb41a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b1d7dcdaaf122b5466a39842f60a7edce4099c6fa71083b987e34649a9bc8ed",
      "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 15 attempt 0 · /responses · status 200 · 2.972 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 45 changed as sent

message 53 changed as sent

message 57 changed as sent

message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1967, 1.2263, 0.9718, -0.6083, -0.2031, -0.181, 0.0291, -0.02, 0.812, 0.5945, -0.4191, -0.0154, -0.0303, 0.9991]\nstate[eef_state]: left_x=0.3423 left_y=-0.0282 left_z=0.1724 left_yaw=0.0593 left_pitch=-0.2679 left_roll=0.0511 left_gripper=0.0291 right_x=0.2891 right_y=0.0005 right_z=0.1628 right_yaw=-0.0031 right_pitch=-0.0668 right_roll=0.0031 right_gripper=0.9991\nstate[joint_eff]: [-0.5265, -5.7778, 9.1282, 1.5067, -0.2173, -0.0073, 1.0281, -0.1162, -1.3333, 7.159, 1.6972, -0.0855, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8265, 1.7996, 1.3449, -0.7254, -0.5251, -0.7166, 0.0291, -0.0196, 0.8204, 0.6243, -0.4969, -0.0151, -0.0303, 0.9991]\nstate[eef_state]: left_x=0.3463 left_y=-0.24 left_z=0.1094 left_yaw=0.0438 left_pitch=-0.3621 left_roll=0.1204 left_gripper=0.0291 right_x=0.2819 right_y=0.0007 right_z=0.1588 right_yaw=-0.003 right_pitch=-0.1232 right_roll=0.0038 right_gripper=0.9991\nstate[joint_eff]: [-0.3897, -9.4838, 6.7077, 1.1404, -0.4567, -0.1294, 1.0232, -0.212, -1.5248, 6.8855, 1.8193, -0.0562, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8322, 1.8126, 1.3415, -0.6899, -0.5251, -0.7307, 0.0318, -0.02, 0.823, 0.6239, -0.4999, -0.0151, -0.0303, 0.9991]\nstate[eef_state]: left_x=0.3492 left_y=-0.2467 left_z=0.1062 left_yaw=0.0407 left_pitch=-0.3489 left_roll=0.0958 left_gripper=0.0318 right_x=0.2815 right_y=0.0006 right_z=0.1573 right_yaw=-0.0033 right_pitch=-0.1293 right_roll=0.0039 right_gripper=0.9991\nstate[joint_eff]: [-0.3077, -9.8667, 6.6667, 1.2234, -0.4078, -0.0659, 1.033, -0.0752, -1.5111, 6.9812, 1.6288, -0.0269, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:533b28161d9a22e0bca5bd31e46faaed3bce45330488f88f0f8123266d038a08",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d5a1647e3ac1ab7d446390c53e80c14ab0d9bdad5d1ee2cf01f215a81eb41a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b1d7dcdaaf122b5466a39842f60a7edce4099c6fa71083b987e34649a9bc8ed",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtKDPfOL1hYN_yGtfMNHkb0Ta2MAVHbv7Fd7P1P0GV5BrfQL6B1B018fUgzeNBY39Z_O8TTocp8MQ3MmboRnUpLvsCNdEI65_kQQ5WQ2QK-gHAlk3w0D4QieWTPLvoiAqCUVMtVs9JNlpjI6Qp0VQP6Uht1JTvJB5P9PIJgQsHzFQKyG3FZkDqhVUiROZdPVDbwwKyJL181QRYkLBR0-3T9D8l2C5Drov4mk7q0VfFwreinMm3hTMSgjbyjsquJ0c2myA55-qUD-D55GPGk_DYzFSAm2MVAkssVDoekPX7cdoyzEDRtkradaKY5NnyhVg_EQhDPzMQ9BNt0-MS9pVMMqzpxBYV7qFNL6UAI46rb2GYqfHsQE67btIRJ97yjNSDU0EYBpD9UislVgibrm6jWh9biYba6507iMTIAhwFX7J-zkbhVosoMYwIQhnpJzV-bqFhl4lovaCXesddjSyEr_uaAqeNhKofMOvINjGL1CdIWIZG6DRl6ggPI2kMf12SZvtK9uY9Ksp3Tv-PVoUx9WIXCyd8phzLsGGoKImVBUuMM7osHI9Sng2NDG-rk3YluOAW0oACfPkOpuBEZ8ARKNG0R-jL581KfdLDzn6lkOnfBRttNV-dtujqqbDXFSR7S4fWRyO-ESlgnuXqGauVVa4qZWO5CN704uiftiyI8VBKZWK0QrG-rgXI7X2Stt949ml5LIJpJrSesKYM2PmwN4U40xffOaakXtkgLPVXsaSVnIZdFcAMPULIbE-Uf2N4NnXiTQNJK9GSkGKRVub8ACpP1zy6h20VsN-KaO6FJz3WQBSTg55RC0QRbALdVWPrMDzySUQwmHL1VdFGNjdkmvgc9mvZxM13v5neimkmaRHluJcPhQMfSk0oXPeC1XCjjZNLvaKAyaoK2RRd2qtRQNJLDjP6CsbKg9PdwnoEPbLZXDU2SOfy9i8z2y_ugQDtKOFMB7mcHyRplhD2rUG14ZG-MH-VOaqgmyon_X4fT0hQS0s_4fAw8K_-ztD44sncpKvoKXupiSX-hAaifipDE1jL4i-aEiXhlViNis_D_TDDMAd6EAk0boScZIQGFDtBY9kid_kpk9QHYJJGGFgWxni7LGVH8ohLztW536a_OduWIE8SJiC9xTdlHyWj6GVN_QgbIn6AaHDSL2mHaBmIFJkIghJ-w_Ze0YoeelM5FSNC698mDBX6Z_BkGuGPJXuPtve4ucWWTEtYx0T8lzIGkF6XQ==",
  "id": "rs_05497ed85d2d9111016ab4a0cf00fc87d0b529dceef06a1936",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.65},\"note\":\"The descent stopped with the green bowl seated against the blue bowl. I’ll release the rim so it can settle into place.\"}",
  "call_id": "call_KcuQQOcfYV4eyrpeaIrHFDsa",
  "id": "fc_05497ed85d2d9111016ab4a0cf2d6c87d0a201bbab4bf905e7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KcuQQOcfYV4eyrpeaIrHFDsa",
  "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]: [-0.8326, 1.8126, 1.3415, -0.6819, -0.5259, -0.7433, 0.645, -0.02, 0.823, 0.6235, -0.5011, -0.0151, -0.0303, 0.9991]\nstate[eef_state]: left_x=0.3503 left_y=-0.2479 left_z=0.107 left_yaw=0.0458 left_pitch=-0.3426 left_roll=0.0816 left_gripper=0.645 right_x=0.2813 right_y=0.0006 right_z=0.1569 right_yaw=-0.0033 right_pitch=-0.1308 right_roll=0.0039 right_gripper=0.9991\nstate[joint_eff]: [-0.0479, -9.8803, 6.7077, 1.2088, -0.4371, 0.0317, -0.1587, 0.0068, -1.1966, 7.1316, 1.6728, -0.0366, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00fa1bb5d3e2a3c9aa6a4c84cf0f4310f2a0a04b841b26845474ec3040d93d5a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b09c29270ed0377450910bf317b0bb447de298cb9e12d2e06ce14682da0bda6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a497a16e508c144040990038a670de8ef71a9fcce0bf9a1482cfa7f3c6edd56c",
      "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 16 attempt 0 · /responses · status 200 · 6.405 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 49 changed as sent

message 57 changed as sent

message 61 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.765, 1.6222, 1.4094, -0.8726, -0.5083, -0.6662, 0.0291, -0.0196, 0.8173, 0.6231, -0.4778, -0.0154, -0.0303, 0.9991]\nstate[eef_state]: left_x=0.3436 left_y=-0.2057 left_z=0.1842 left_yaw=0.041 left_pitch=-0.313 left_roll=0.0679 left_gripper=0.0291 right_x=0.2846 right_y=0.0007 right_z=0.1627 right_yaw=-0.0027 right_pitch=-0.1022 right_roll=0.0037 right_gripper=0.9991\nstate[joint_eff]: [-0.3077, -7.6376, 9.265, 1.1062, -0.5788, -0.0366, 1.0281, -0.1983, -1.3607, 10.2906, 1.6093, -0.0708, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8322, 1.8126, 1.3415, -0.6899, -0.5251, -0.7307, 0.0318, -0.02, 0.823, 0.6239, -0.4999, -0.0151, -0.0303, 0.9991]\nstate[eef_state]: left_x=0.3492 left_y=-0.2467 left_z=0.1062 left_yaw=0.0407 left_pitch=-0.3489 left_roll=0.0958 left_gripper=0.0318 right_x=0.2815 right_y=0.0006 right_z=0.1573 right_yaw=-0.0033 right_pitch=-0.1293 right_roll=0.0039 right_gripper=0.9991\nstate[joint_eff]: [-0.3077, -9.8667, 6.6667, 1.2234, -0.4078, -0.0659, 1.033, -0.0752, -1.5111, 6.9812, 1.6288, -0.0269, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8326, 1.8126, 1.3415, -0.6819, -0.5259, -0.7433, 0.645, -0.02, 0.823, 0.6235, -0.5011, -0.0151, -0.0303, 0.9991]\nstate[eef_state]: left_x=0.3503 left_y=-0.2479 left_z=0.107 left_yaw=0.0458 left_pitch=-0.3426 left_roll=0.0816 left_gripper=0.645 right_x=0.2813 right_y=0.0006 right_z=0.1569 right_yaw=-0.0033 right_pitch=-0.1308 right_roll=0.0039 right_gripper=0.9991\nstate[joint_eff]: [-0.0479, -9.8803, 6.7077, 1.2088, -0.4371, 0.0317, -0.1587, 0.0068, -1.1966, 7.1316, 1.6728, -0.0366, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00fa1bb5d3e2a3c9aa6a4c84cf0f4310f2a0a04b841b26845474ec3040d93d5a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b09c29270ed0377450910bf317b0bb447de298cb9e12d2e06ce14682da0bda6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a497a16e508c144040990038a670de8ef71a9fcce0bf9a1482cfa7f3c6edd56c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtKDTQlAUC713wv3QdsbxqkIw4e3xPlPStJSgwQn5_8YOcG3VFpu3OQckC3wPsCsIyBgUYJzCKHM7TCJzqkhs7M71Z35php88fDPL6xN03-7b_XmoUSLVJZSVhTfjVnHiXZlgCXNZXZ3rIyvtOtSsM6Q1IbB5LmiPt8mnU1n1jnwIF1zQt5HqlKKuf1oPas2Io2eOH_0EsjckCjr4bdFmfkxNG1YmGBHack_coCfpPO-MAzyiOJ7VOkmP6o5Ddot4D6XIl3MQ1AtKkeue7KQFdonM6u2YGNyitTSSZWFE7UlSzFSFeO6GtTBDgLjLxpHlKNC1fdAp1Xuyh6uHVj_UcrqOwdQUd0pCz_LdPKWy0QWByrDwlbvmSNJCwo7HF6Dz6ASaWb3SQK5Cqy4sdu-EY--cpSI7CQJVJBeFXWUvq5RfX9o07P0INTnBbb0X1gaiG9j6AA-UPxHIYVyIqX-F3ZVzihM7UvvHUVPZsvDTMfwIMj8KdI_YcV8dqwpy7uinAIO8i-RP0TypWPaco4UkkUabGEKDoTdWRgL03R_K3rbt3Gphdozmp2v0zXlrco-5QX63HtCIMtsuMuJaOxBLNUa9XW5e3WBbkB9j7TvJ0VlG1mOkplcA4GMuluq4vmPQir4eaj9r8RXRJd0lFxTXCP42R0i1c_Zv7Dvvpq0Kbuv3JWsL4-yfKUNRySQoAFcEa5RcgbKL18JI3kcQ1nju4Q7dpKifkFt5ZWqc21U1AXOn3QlROhQhiar5DL7ehaCk1TaJipUO5RQBI-6NeHCu6dVFXBY5K3Wb1yNsRl9UGm6yXF4R4DH0HiFYe62gEHKeq8yyqPPVARDs_gf1ww6aqYWa9BPycMSyi8_V7MHmhBYOVE6e0LoT5RlTTfUh5zJSlgy6FiJIx0t2Tli23JLYdv3qT-PhOMj-_RVlC7Tss2Hyh8r3BHqtiYpMMTAcXjpAXOAOBi0dyvK7s7l8d2N7Kny7GmO7rl9FC5lcWK9bqCFflsKMeKQRN9QgmDc3DLdrbnXmpMOrtCI9HVfkjfWpb6BjVf36huFwoRasgZjhUCKLH15xKwvRagdn3z8YBRIbofIiFceVNu_uMDtWiQ43Duf-YXU0lpYA6-BP9gCmkurj6y0jjAufCMrx3M51r1PoM6GH1uenFbo8MvLGsjbGfGcGxOg3QION_R9e4c2LkAx1AQFGr3He0dDMrXGHirg0H1sC7xzOyqwlO4Akw_KkHSMs-KPHVNezWri4KjDfP-YXs7zrJMQ6sNZ8kzKCFLRIeLYs",
  "id": "rs_05497ed85d2d9111016ab4a0d1f6f487d09761c073c29c4fa8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.22,\"left_z\":0.22},\"note\":\"The green bowl remains resting inside the blue rim after release. I’ll lift the empty gripper clear so I can check the stack and make room for the other arm.\"}",
  "call_id": "call_KwW7sGkJpOQ49ufIWezYA5FG",
  "id": "fc_05497ed85d2d9111016ab4a0d28a8887d0b4b54df09c230ce5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KwW7sGkJpOQ49ufIWezYA5FG",
  "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]: [-0.8032, 1.7256, 1.6081, -1.0328, -0.506, -0.7368, 0.6461, -0.0196, 0.8288, 0.6224, -0.5049, -0.0151, -0.0303, 0.9991]\nstate[eef_state]: left_x=0.3438 left_y=-0.2278 left_z=0.1988 left_yaw=0.0584 left_pitch=-0.355 left_roll=0.0712 left_gripper=0.6461 right_x=0.2807 right_y=0.0007 right_z=0.1542 right_yaw=-0.0029 right_pitch=-0.1415 right_roll=0.0041 right_gripper=0.9991\nstate[joint_eff]: [0.253, -10.7009, 8.5949, 0.9158, -0.3639, 0.2808, 0.0904, -0.0342, -1.5521, 7.2, 1.6239, -0.0757, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f162d6f4002e09c166f4c999b5f660ac42e70c159b5a7d44cad05abaabf141d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a803061c6b5391aba42b613fc8bee3a22aef21e52b170753d1ce8c6fec0f4724",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4771993f584ac7b0012c3d6effda8a69076b844e699a880eecf5b28a3e9976ed",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 6.379 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 53 changed as sent

message 61 changed as sent

message 65 changed as sent

message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8265, 1.7996, 1.3449, -0.7254, -0.5251, -0.7166, 0.0291, -0.0196, 0.8204, 0.6243, -0.4969, -0.0151, -0.0303, 0.9991]\nstate[eef_state]: left_x=0.3463 left_y=-0.24 left_z=0.1094 left_yaw=0.0438 left_pitch=-0.3621 left_roll=0.1204 left_gripper=0.0291 right_x=0.2819 right_y=0.0007 right_z=0.1588 right_yaw=-0.003 right_pitch=-0.1232 right_roll=0.0038 right_gripper=0.9991\nstate[joint_eff]: [-0.3897, -9.4838, 6.7077, 1.1404, -0.4567, -0.1294, 1.0232, -0.212, -1.5248, 6.8855, 1.8193, -0.0562, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8326, 1.8126, 1.3415, -0.6819, -0.5259, -0.7433, 0.645, -0.02, 0.823, 0.6235, -0.5011, -0.0151, -0.0303, 0.9991]\nstate[eef_state]: left_x=0.3503 left_y=-0.2479 left_z=0.107 left_yaw=0.0458 left_pitch=-0.3426 left_roll=0.0816 left_gripper=0.645 right_x=0.2813 right_y=0.0006 right_z=0.1569 right_yaw=-0.0033 right_pitch=-0.1308 right_roll=0.0039 right_gripper=0.9991\nstate[joint_eff]: [-0.0479, -9.8803, 6.7077, 1.2088, -0.4371, 0.0317, -0.1587, 0.0068, -1.1966, 7.1316, 1.6728, -0.0366, -0.0464, -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 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8032, 1.7256, 1.6081, -1.0328, -0.506, -0.7368, 0.6461, -0.0196, 0.8288, 0.6224, -0.5049, -0.0151, -0.0303, 0.9991]\nstate[eef_state]: left_x=0.3438 left_y=-0.2278 left_z=0.1988 left_yaw=0.0584 left_pitch=-0.355 left_roll=0.0712 left_gripper=0.6461 right_x=0.2807 right_y=0.0007 right_z=0.1542 right_yaw=-0.0029 right_pitch=-0.1415 right_roll=0.0041 right_gripper=0.9991\nstate[joint_eff]: [0.253, -10.7009, 8.5949, 0.9158, -0.3639, 0.2808, 0.0904, -0.0342, -1.5521, 7.2, 1.6239, -0.0757, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f162d6f4002e09c166f4c999b5f660ac42e70c159b5a7d44cad05abaabf141d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a803061c6b5391aba42b613fc8bee3a22aef21e52b170753d1ce8c6fec0f4724",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4771993f584ac7b0012c3d6effda8a69076b844e699a880eecf5b28a3e9976ed",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtKDaU-R3EQHc4DtBBzb-7QVKtitFNpbRfhflhtUnlT91GyLwWQueiGtc5YEx3_u2BHjGVRoUG_woTHTcu3l4s2hdvN-mNhhVTgj-7nThC3dobGZUxHTTuRCr9mcdvIYPXl5mtOCo1eVEvZwIfFxgMM8YByR3Fp5b8HlzX-Loaa3s9ePDXD5wWoKFvBo-jtET5Jm3H66zxuBxb-664_LzxmSgYj0Fw03UP2IN0V2rNpI2bRbeun9CFs5-9hgIHCuoVEyf-N2NMqnV5ViPIKPskdY2P_q8R3mmMMdVOI5aZb4dodIusrI6lZ1MQwZCDE8Lhy2oG8t5arjhaOPDDBfUOQQVoKD5D5Tyg89W32rOVe9GSEQV6KupWe4PTg4e9uosaVx5VBEXVmyip702D6B-tFHQmgvh3XiT2NHYyK6t6fh9f84lRl8rHboAv95FYd1vL2rlW-jVZ5fCgviaEB-BZCazTcjdFng2tNLXXvUl7b4J4mHqZnBrZQD-BphukjhdsXNVgKVJ1pVKRFYw9ULDc84qOKJETFB3YOSreq1cUWrwS3Gh79lYcb1CM_T7Phqk_lFFG-l05hQDitE15AWaP-ziPvifIFUbmp7BpSffsaPn3EAZIyGLG8VicgCyJUb6-m76tGoK-YSrnOYf2JnGNfP2eKU-EcbVdooGyGZ6h_X_7JQ_oxzsdmanZ3F1iAxD6rJjiBVaXJxVKIksMkZ3HA4XWne348lWo_vO2Gvt_3KE9ny89wL65O9SsF7Or3kJkIxUzcFlFbSKDmQytq9x96ZWT5JOoXWJ1y3-cFJ-d7t92fFQeG0EcDQEe_FEyiWeCjRfLCK9v6opGHIcoEF3rXlePxDt_u8q0BX_7r3eoOXRXZMoG8DCfxDFmbMjQXhrKb3QnQst46rmNXGwqXziKVoIZ2oBcbwfhI8QfiDboPw0JUf2XyCYDq_Li06MbYN9T8VvEyvSyGF086_OI6ZqpufD_mo5IB9qccB0X7RbnWZdCyXw_TwOxfwXLiikpopGY7jnhVpLNF0yC81UEi-Wx2Atl_1Yd7UU02uwq2BQgmJ-Cs5gqfDviYMmsB1dGKyXK9IcsvUazBX4lKBxj3R2Tnd9W1TI9a7DTxmTpbUCh8z99x2HllxnWhTNMPXQ6IWHQT9NDkbDPpu3IWUeHvWWc4eSqDiqt8JoLnTDUfUR25PLi1-Vsj0sTjToOdiiIukrO_zkRVHjk5XBnqucpKKGBv1XWG7VUDq7tVno61u1zPXaGiGJkPcWe2X1Ni5znXALCb5nuzocMQ297JHml_cJf28tL3PsdSHTvju-yCGJLjDe4DOl_9aozQhobOnGQYCeESIaG_StVoYCsPGQjBJLaVuBW9066REKSUR71xFkXPnCvyJXWArEn5AYs2GpJd4pJGSzyGqct7z8FvIMiVvihSo02oBPhBYc4YC1uigIb-W5kXK7YeZ0z1l99HNXBFGKlZaMBKb9cgitKDj_X0DmxMZNVjXHtvCW7IPtrrf0J31aDAXUT4W2lVuLGabr7cTFhqpDnemYfdpaSabNo8C6cOLEQW5-PYasze-ce_v3FZYParDVHvi42mF7CJusj_ndy4q_veIB7gUmOfJqaBUR5HBywzErp4trAPuWBCKZ73ohDFsIcnHmY3xG7k2qSwXP-01nqsqmieLki4nMnsgdSaf6gTbDif6wF19oxQD-8H6jZ1o0sr4HCZzgqzoedOUNRQ06SC5_d00aUKVT9R043OQKDvPVPHOlsDl2yRW1hiHkMNXv-Rhu0ERQtSikS7LiV2lfno94qsKIe3zkPzLCoB3AizxFv3co2FTfXyy9Ix62zdtNhQMhcBci06GszME_ePBGnVlsgWUi913jB_qIvOIXE8sRcwVj9fo8IRYr_R1jPiaZQsOTWGbN64rEUcO6tYBt4UxjWktZRMaXBXeYk0FUM3MTCfxhOvx6LDSytrlGSnbCzz2paPN9EzwZTxV_0VegRhXWBt0-FmKru_ToqwiDJMFN3280svrBmCBWMmw-MvHaUCN3nSC8LDPbf05UtsVmbdG-c7As_Yyd4brpuaxahAwVy_PNMJuQHQxynxn61X2C1RsGBz825VJddr9BRLOqHJmP-4kFLgBWSrlvr_GpFUgAgcPdAgOYGeJ12xx5eeSlPI81bzI_zauEKgRtuVu6",
  "id": "rs_05497ed85d2d9111016ab4a0d5b40887d08208708ca086100d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.2945,\"left_y\":0.0018,\"left_z\":0.2,\"right_x\":0.335,\"right_y\":0.09,\"right_z\":0.14,\"right_gripper\":0.65},\"note\":\"The green bowl is nested in the blue bowl, and the cream bowl is still separate on the right. I’ll park the left arm and bring the right gripper toward the cream bowl’s outer rim.\"}",
  "call_id": "call_xj5UI7kWMQAn2QuNzM3reALE",
  "id": "fc_05497ed85d2d9111016ab4a0d9820087d0a40e62c88df3efd5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xj5UI7kWMQAn2QuNzM3reALE",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1059, 1.1213, 1.0695, -0.9077, -0.1665, -0.1482, 0.6462, 0.3988, 1.1889, 0.7002, -0.3344, 0.2771, 0.2291, 0.6512]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1971 left_yaw=0.1071 left_pitch=-0.3701 left_roll=0.0669 left_gripper=0.6462 right_x=0.3209 right_y=0.0867 right_z=0.1191 right_yaw=0.0218 right_pitch=-0.2133 right_roll=-0.0255 right_gripper=0.6512\nstate[joint_eff]: [0.294, -4.1641, 6.2154, 1.4139, -0.0464, 0.1538, 0.0024, 0.1846, -3.9316, 9.7846, 1.7998, 0.2418, 0.105, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11dd703d7e0fb1e80fe1284b3b13e56271989b68f641e5d878ab0ff3627967b5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b70a6724717bec87a211c31d13e52b8d48906a39b48b18cc8fc307e7d3573f5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc9806367f4825fd120429835878a1075fd725f2773da0664976ca6dc5a26f36",
      "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 · 3.934 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 57 changed as sent

message 65 changed as sent

message 69 changed as sent

message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8322, 1.8126, 1.3415, -0.6899, -0.5251, -0.7307, 0.0318, -0.02, 0.823, 0.6239, -0.4999, -0.0151, -0.0303, 0.9991]\nstate[eef_state]: left_x=0.3492 left_y=-0.2467 left_z=0.1062 left_yaw=0.0407 left_pitch=-0.3489 left_roll=0.0958 left_gripper=0.0318 right_x=0.2815 right_y=0.0006 right_z=0.1573 right_yaw=-0.0033 right_pitch=-0.1293 right_roll=0.0039 right_gripper=0.9991\nstate[joint_eff]: [-0.3077, -9.8667, 6.6667, 1.2234, -0.4078, -0.0659, 1.033, -0.0752, -1.5111, 6.9812, 1.6288, -0.0269, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8032, 1.7256, 1.6081, -1.0328, -0.506, -0.7368, 0.6461, -0.0196, 0.8288, 0.6224, -0.5049, -0.0151, -0.0303, 0.9991]\nstate[eef_state]: left_x=0.3438 left_y=-0.2278 left_z=0.1988 left_yaw=0.0584 left_pitch=-0.355 left_roll=0.0712 left_gripper=0.6461 right_x=0.2807 right_y=0.0007 right_z=0.1542 right_yaw=-0.0029 right_pitch=-0.1415 right_roll=0.0041 right_gripper=0.9991\nstate[joint_eff]: [0.253, -10.7009, 8.5949, 0.9158, -0.3639, 0.2808, 0.0904, -0.0342, -1.5521, 7.2, 1.6239, -0.0757, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1059, 1.1213, 1.0695, -0.9077, -0.1665, -0.1482, 0.6462, 0.3988, 1.1889, 0.7002, -0.3344, 0.2771, 0.2291, 0.6512]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1971 left_yaw=0.1071 left_pitch=-0.3701 left_roll=0.0669 left_gripper=0.6462 right_x=0.3209 right_y=0.0867 right_z=0.1191 right_yaw=0.0218 right_pitch=-0.2133 right_roll=-0.0255 right_gripper=0.6512\nstate[joint_eff]: [0.294, -4.1641, 6.2154, 1.4139, -0.0464, 0.1538, 0.0024, 0.1846, -3.9316, 9.7846, 1.7998, 0.2418, 0.105, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11dd703d7e0fb1e80fe1284b3b13e56271989b68f641e5d878ab0ff3627967b5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b70a6724717bec87a211c31d13e52b8d48906a39b48b18cc8fc307e7d3573f5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc9806367f4825fd120429835878a1075fd725f2773da0664976ca6dc5a26f36",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtKDjd3CUqYgW1ww-9GkzD-R3HeWg-SS5EC4Ohd_m2rrAJwWYT1egP9VZfRSp1NErxZdeRqUmMeJSduRVp3XOlquRkzFSSe-iLGfs1YKuedHTEsxrXu-UjzfxwE4U4nlCouHeen4rzfFy7VGdO6v0krJZSocZE05opqSP-XPFr6lvLjsIb6LdGI_W3rFY_JIQf-ZOKG3w7XHfrLF2htKp5deG3tTXuOE6tHve1keMz7xmYNt8iitu6RXHKXcG6oVtmrjNl5mtoy0ZM4wRy7MC9-OhM9N_5Qdj5ceHTNKBhYgjcVbapWqVZPRkmE4cwTQHsBjMy28bcKl-LQitFRCYqDaaECKfFmNzyfjhcADakQl0SInKmZ3bY40YifARyHPRhQ5Dn1dw-KTtAmIiM03Zxxfrp0U76XePxRmOGqteT07LKuKoAiQSxgR-1l7F9pLFsxLyhjSKNwTpf0oOu_-0E1RiIQ-1LuvvR6WP3HcEzGbFymh3DJFrbXuXqzRmPABWeixPSNj2Rq_8lae2C71hZVk1HiKcUAEK81jva0oTc-A2H3aKYaSLTZbtQe-mWQcx7ARcb1nnA4CRdXTNs9HtpSpkgfSPB2jnZ5fQbDCxGLkp1LbhA30SUB9IbCSpf0JbnRWFuZJPfU3K01GsE4z7qMJTPc2bYOpniyB2ACNNQ9OKqYHjlU8dMO7KQuZF25o1eQfGaw2VYIKZBGVmXK05cNXbpGXwCV_xKFLujwL4EgJSOkvws5bvvo3nDnyGXB27Z62wvNydwPJ3AMJrf9s9vLG_wmd2u5W-dZRUuCllyqZ8IV7BtJtNXKWUC7bnPAIcMtj0aGgWtC9bZA5ZC7kPQO_MuWwCDaXhRhlk32_9WsTCBEpSM2HEc4CJlu19tH3_Fzi98E_7MMMAkX6q6FG42aVliTJfVyT0tGrAw2AiIMiB-56LVFs5TS4l4GKZhddcWd9VE2zp_yfVRAf7mlKM2MLulKtVVHsEYqOQeM2dyO5URJfaa7vNIc1Nn-Mduf2wkBuQ3QSmNC3cDGF4-MUkOifnclWXWjFoIEVvtW9Gyqh4DiMm14Xjbzz-7pCerCtYBrx8knhhGlcrTCZq6hfzjBABdcj7NsdS_2god1o0bEkqF239EBV7zr-MBXkQ_0CdWp2enS-eUk2xiT_DhcK9wL2Z6nG08-1uKny-pu2keyXApe9tpMfOUR--liEMX_n7hjLRGocCd1X947pofmxSDf37ggVe9LxV5kSWD7FFiOiAeOVBEBIxmIsYVb86w_kjEwO-W6qzEnfoOjjHVE5jw3hpIAMot1oIyXC7i85vyOfbVWwlEAUdM6M7TgyZ7wd-SbZyrOcwkA7sLB5Oakt6_sI8Wrw6SwAanfzsGhmiplAiplAf3HwepG_vNUZVP4fEnkGYOJ8VSgBKtd2Jgg8RzRmADviGFJv_0qUBDpliD_S5KpqjI5jhOMkrv50DsXx_Aa6vOG8RIXo8BCCk5cCu8oH5GazaJjh6Gd1P5rHImazyb9oiRWPSQ3w7deaXdHJRzVof2UkPSS7F7zdc7pufVH_g0LtvPuFrlRJHPp3WRBWxaSM1fI8JDEwMV_OXXjZrUWAWlWSDkJyfQOX2smdOhKUpF82ANuL-Q8O63drUcVlqkyqU2yb_XkhXgJOvPVnoynzDxXTSuAmkX8ES0sy_JhW21ojYUFaEOPmCW-i3cV4-rCz6MoYT_PppHZ9bUk4rNL1dMDOjMsDxdAyP9kIdMSC9BiZi9jyacqom-SwYBXtR6g3_6q1qlXg3ZyczSH-DSQneD-eoGl6XVZJMQT5UM0zdpXVtCDMRer_aVXLaMIEaP6cYqGTBbYqC6ToydEYem5vZYB1EQcjG3khlKDpWGh9DdXkAGQUirrD6CgVzzLZ6Bc8hu85v4ujemnDFhmXeS8_T8gLLWnw6riqV_OHAjBmGI7bw0bd4g89Lf47S6eqvMEmCIQNhlWY1OZYuzOU17QMwFVrRJMWECKsBKVeeABkpe0ea5dTRQaobW_qEjjfc6FkI-QhFV6jIeiaHpeamfg6Una7kTY1EWray39mMOd7ixXJdFrpy84GTt3hxaXmbyzCPl2KZIWdAPdGdaQuKG68Quh20bgcPUPSRg5-9bP2itGMRsWp9fVsQvUyRJ1RkNuQRK393uRFJB7jHMG6IDMZYHEvC6mIqsVoGHVbeEX7UOun6Zs-q7r57VBjx0cr0I0-Sz9aIXRjzctHQP4XNtW7V_h7osGKIPwzPJopXLXpURG1sCvyyQvJ8Gjuo33UwMdOlU9xNnR66AoSs-HR3s2qQqiQxN5hnbAjLEQV4q-hK5AkziGE2mYn7jR7KL_sUlHUY0mQUol9Av16tDy017ZcsCcmNpvZYM9Rj179HLug4Mw==",
  "id": "rs_05497ed85d2d9111016ab4a0de215887d0b40daf9550358eb9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.335,\"right_y\":0.045,\"right_z\":0.075},\"note\":\"The cream bowl is centered ahead of the right gripper. I’ll shift to its right-hand rim and lower with the fingers open, mirroring the successful rim grasp on the green bowl.\"}",
  "call_id": "call_N8Oo6iznebrgvjIreKviphIe",
  "id": "fc_05497ed85d2d9111016ab4a0e1988c87d0bc3bf9826c03ef56",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_N8Oo6iznebrgvjIreKviphIe",
  "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]: [-0.1066, 1.1233, 1.0615, -0.9096, -0.1555, -0.141, 0.6462, 0.21, 1.2575, 0.561, -0.1734, 0.1799, 0.1219, 0.6512]\nstate[eef_state]: left_x=0.2936 left_y=-0.0003 left_z=0.1929 left_yaw=0.0933 left_pitch=-0.3838 left_roll=0.0645 left_gripper=0.6462 right_x=0.3211 right_y=0.0398 right_z=0.0657 right_yaw=-0.029 right_pitch=-0.2821 right_roll=-0.0442 right_gripper=0.6512\nstate[joint_eff]: [-0.0479, -3.3846, 7.1453, 1.2821, -0.2125, -0.0464, -0.0171, -0.1162, -4.2735, 6.9675, 1.9072, 0.0122, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3f2327c317e4ba7e5346e8a8afd815d4b6dd2ad193250c72064ae7642987bc4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53c80c6ff98caf43e361db198389fd69c7925b7803dfc87bd1f6335df9e5136f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6aba58d41bd07f1b66f2d704a56d62c97d62c93ee1c2daccaab408117dbfc6f0",
      "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 19 attempt 0 · /responses · status 200 · 5.361 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 61 changed as sent

message 69 changed as sent

message 73 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8326, 1.8126, 1.3415, -0.6819, -0.5259, -0.7433, 0.645, -0.02, 0.823, 0.6235, -0.5011, -0.0151, -0.0303, 0.9991]\nstate[eef_state]: left_x=0.3503 left_y=-0.2479 left_z=0.107 left_yaw=0.0458 left_pitch=-0.3426 left_roll=0.0816 left_gripper=0.645 right_x=0.2813 right_y=0.0006 right_z=0.1569 right_yaw=-0.0033 right_pitch=-0.1308 right_roll=0.0039 right_gripper=0.9991\nstate[joint_eff]: [-0.0479, -9.8803, 6.7077, 1.2088, -0.4371, 0.0317, -0.1587, 0.0068, -1.1966, 7.1316, 1.6728, -0.0366, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1059, 1.1213, 1.0695, -0.9077, -0.1665, -0.1482, 0.6462, 0.3988, 1.1889, 0.7002, -0.3344, 0.2771, 0.2291, 0.6512]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1971 left_yaw=0.1071 left_pitch=-0.3701 left_roll=0.0669 left_gripper=0.6462 right_x=0.3209 right_y=0.0867 right_z=0.1191 right_yaw=0.0218 right_pitch=-0.2133 right_roll=-0.0255 right_gripper=0.6512\nstate[joint_eff]: [0.294, -4.1641, 6.2154, 1.4139, -0.0464, 0.1538, 0.0024, 0.1846, -3.9316, 9.7846, 1.7998, 0.2418, 0.105, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1066, 1.1233, 1.0615, -0.9096, -0.1555, -0.141, 0.6462, 0.21, 1.2575, 0.561, -0.1734, 0.1799, 0.1219, 0.6512]\nstate[eef_state]: left_x=0.2936 left_y=-0.0003 left_z=0.1929 left_yaw=0.0933 left_pitch=-0.3838 left_roll=0.0645 left_gripper=0.6462 right_x=0.3211 right_y=0.0398 right_z=0.0657 right_yaw=-0.029 right_pitch=-0.2821 right_roll=-0.0442 right_gripper=0.6512\nstate[joint_eff]: [-0.0479, -3.3846, 7.1453, 1.2821, -0.2125, -0.0464, -0.0171, -0.1162, -4.2735, 6.9675, 1.9072, 0.0122, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3f2327c317e4ba7e5346e8a8afd815d4b6dd2ad193250c72064ae7642987bc4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53c80c6ff98caf43e361db198389fd69c7925b7803dfc87bd1f6335df9e5136f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6aba58d41bd07f1b66f2d704a56d62c97d62c93ee1c2daccaab408117dbfc6f0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtKDnhvpotFqMr5pTI8aJOBgh_5wZrLTOV3Clwj_YXjb4owU2GMz8nCnw5rC_nucp2snGBbuyOqlxFzkEYkOS3J3GKvRVDtzAt34ydqTcmblfyWB-G7iN_7Tm5twnXQ390JxXuT547mlX8I1CxJ48OUu9rlOc7JjdcfDpe1lGrFzRcBF07f92ucw_LaFn5CwBJEpPY9teFRhglFDsbbWKxYYzqirGNDM0xj77liPTTPY4aoPPhJZtLJyv_8r68hHJGTdC7gvJUxi1Sbm9t2s89rRFQQX4SMU9ykVeY7l3liyK5GOLXvnzm4KoG8loI950wcOxK3lEndkxBXXFFj0IalYJU20p5sY8sXEE5E6zX9fGmTwEcRzcH0xhKSEbysG44Qt1bSPF-nEc3FTN6XrGHL2cCDTxUVsi4StGJwFJsBp4ZjXfCv5XvPUil_2AUuNOZZdJDR_lDPWjyWTgubaNNSe5EAzJ13OVo3nDyrjo6lNEQQ5qi-TIHIAWST07iF_w6B2Xnk0_zuv2ht7nyUNn5BV2h4_lfenUPuKawVQQi1Lsx36p7yw2IQ3Q6nGJL422aQNOAUgOJf8h8E7eC9UwQ4TUWPSum5o5GbFOK_opAnESmtSXB26iVj3vfPPMJyLKz-jewrbh3veU-6s6Ldledbp8St2BszEpadzd0iGyefnB7FJyA6AlJRK1HAz8qCZjxMVaelXQ4gZeTppqUEJJocMwO77UKB8sRrEeuZgHDP_-FGaOQyDUcfln_EEIL7Sl_He3VqZvr1iKwvLRiBWpriYarTpt9kfRRWlA9eU5Hc-Vso1oWqTSGCn1wsG-JdbBlOBtymwncDgPZ1Cg95hT_PPD7HoYQFq7gtUiwwXYv-iuHkTuTBEu5YjyA931-RaNYy6W92jP6RierZ4p_p1NTkhmyupHo2Q8CW3i9r0X_0ZpwOTTAANsSPpLWbf88ac4vPD2ajcI_1CQQ9kq6fTilp2QflPbkeV38a1jN5PWGxBGoMbGZoavNmWZlciggReYNqNDHj248donozECGsjI2YwcczTIW41xW0rySujAN9TBPDpd3-cXK0lAJ2Wu0WgSHsfZiw-M13Yqq-pLn3RSkQwZRiNnKU-bNa29LGsckfeCkl23HJfVJDrLVaphIfqkKZo1nTmL_1SqWs76WgDzUp1ogeXQ2BqOGXB9iA6ztR3G5RLaLQ3cmwNdDEZ1faovVRD1UzhNCQNPi7RzyAcdmQdDgozl9XJ4UGD97pQcwNsyAfgUflNOR9p_fCicubG3xoRKJ6T8DNktoV9JnrAXLhg40EbMx67tX_oyqMETXCUPrAl1L_vPXlWXsrxpF0XiZAOn8LYh4diqXfoVVEDYsxpxpKgjcV1TBnUGh2KTMQ_3CXG8fWGbPjwkaaJblmgz_IwbBjvQTdt0eMipu10gbxxdNdsbLSbE5SNB3UThKJgsM0UXiwSOftu_q97YcN27HbUNUpq2GAu1Q_W9UW3NQTAplD7JX9iuK2oSF827lEGluDbQVpwQwz5Sn7HG1J39LXaD-QGFumkcodlyPP-TrAENsRVa234PTRXmJrNZdc_qEeNtQ5BbFxvnsICCGqfKTjz_4Qdj3Tf7qQY49irvuIBPS9OaD_34prQtEONb7X5Cjok=",
  "id": "rs_05497ed85d2d9111016ab4a0e4bc2087d0a19e232817939088",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.328,\"right_y\":0.023,\"right_z\":0.04},\"note\":\"The right rim is just inside the open jaws. I’ll make a small outward adjustment and lower the fingertips below the lip before closing.\"}",
  "call_id": "call_CGDqOm7DIuA9SqeMysFmqMTH",
  "id": "fc_05497ed85d2d9111016ab4a0e6657887d0a6906fba2bcbd183",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CGDqOm7DIuA9SqeMysFmqMTH",
  "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]: [-0.1066, 1.124, 1.0615, -0.9112, -0.157, -0.1463, 0.6462, 0.1776, 1.2808, 0.5316, -0.0906, 0.1417, 0.078, 0.6512]\nstate[eef_state]: left_x=0.2934 left_y=-0.0 left_z=0.1925 left_yaw=0.0979 left_pitch=-0.3856 left_roll=0.063 left_gripper=0.6462 right_x=0.327 right_y=0.037 right_z=0.0598 right_yaw=-0.0022 right_pitch=-0.2596 right_roll=-0.0389 right_gripper=0.6512\nstate[joint_eff]: [-0.1026, -3.0701, 6.5026, 1.2821, -0.1099, -0.022, -0.0122, -0.3761, -3.2068, 6.0103, 1.6044, 0.1636, 0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62893a3de65345d7642c9be6b9d59adb6647fdfe108c70df81b182c1e30269e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07d7ef3e6022b7d63d40b4a7054302e188fc00f6f183f9a292fff79cad23eb49",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60c901e604ec3d8c75fc63c99bad8cb8333c0ebbde941294a8511e8bfbdedb96",
      "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 · 5.59 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 65 changed as sent

message 73 changed as sent

message 77 changed as sent

message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8032, 1.7256, 1.6081, -1.0328, -0.506, -0.7368, 0.6461, -0.0196, 0.8288, 0.6224, -0.5049, -0.0151, -0.0303, 0.9991]\nstate[eef_state]: left_x=0.3438 left_y=-0.2278 left_z=0.1988 left_yaw=0.0584 left_pitch=-0.355 left_roll=0.0712 left_gripper=0.6461 right_x=0.2807 right_y=0.0007 right_z=0.1542 right_yaw=-0.0029 right_pitch=-0.1415 right_roll=0.0041 right_gripper=0.9991\nstate[joint_eff]: [0.253, -10.7009, 8.5949, 0.9158, -0.3639, 0.2808, 0.0904, -0.0342, -1.5521, 7.2, 1.6239, -0.0757, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1066, 1.1233, 1.0615, -0.9096, -0.1555, -0.141, 0.6462, 0.21, 1.2575, 0.561, -0.1734, 0.1799, 0.1219, 0.6512]\nstate[eef_state]: left_x=0.2936 left_y=-0.0003 left_z=0.1929 left_yaw=0.0933 left_pitch=-0.3838 left_roll=0.0645 left_gripper=0.6462 right_x=0.3211 right_y=0.0398 right_z=0.0657 right_yaw=-0.029 right_pitch=-0.2821 right_roll=-0.0442 right_gripper=0.6512\nstate[joint_eff]: [-0.0479, -3.3846, 7.1453, 1.2821, -0.2125, -0.0464, -0.0171, -0.1162, -4.2735, 6.9675, 1.9072, 0.0122, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1066, 1.124, 1.0615, -0.9112, -0.157, -0.1463, 0.6462, 0.1776, 1.2808, 0.5316, -0.0906, 0.1417, 0.078, 0.6512]\nstate[eef_state]: left_x=0.2934 left_y=-0.0 left_z=0.1925 left_yaw=0.0979 left_pitch=-0.3856 left_roll=0.063 left_gripper=0.6462 right_x=0.327 right_y=0.037 right_z=0.0598 right_yaw=-0.0022 right_pitch=-0.2596 right_roll=-0.0389 right_gripper=0.6512\nstate[joint_eff]: [-0.1026, -3.0701, 6.5026, 1.2821, -0.1099, -0.022, -0.0122, -0.3761, -3.2068, 6.0103, 1.6044, 0.1636, 0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62893a3de65345d7642c9be6b9d59adb6647fdfe108c70df81b182c1e30269e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07d7ef3e6022b7d63d40b4a7054302e188fc00f6f183f9a292fff79cad23eb49",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60c901e604ec3d8c75fc63c99bad8cb8333c0ebbde941294a8511e8bfbdedb96",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtKDsU0XnbxwIoEWT0e26WDyZFiHvHB-Id94IVrGY1oTLdjBQm47KEx3vSSCkxf2CBfdlKq58pPlev9fP8l7kAjH4Tv8OpoV47gLo46V6T7FLPbePJPPwyjsnBksV0gDUAV8QEYBquT5Iw41wjSc9UJK7gaTaE46RpWAv38ZBsr8hQXpUKdONEMXzQa0FDWeXDpSg_g_vis5ro9kxeP6qB5Ql_QhsFmbapX0nApJJTWEVYvCic2TVQjYu3mGoRc5S6OpKTJh8l7A6A7nOxjL4vHTmc1aJdTp_hJ4bVFEJ6TaNgFPoWuhmdcyIkeNiEvZB8ATgqXzUuzF8SRVXWTiO9ghH5yWOykQf9rDqinKb9I02SQg4BSfO2S_ec-74_SJCumb3G1Kq2eohLyzDBo5CEA8hwe_MBInKwVSkEdX8bl5PkkeClrkC07y8e73E4K-__KnFDMr92xXbg2h-X7io6ic6kjXPTQFkA-32tjTMSxY-sF_p-7cl8nFkMFnyNUrQETLJDt9u7-tYYKF69bPsoTQUI2zwHbmewbrfynhbJFgbk4PtQ_BsVjOVNLWMUdW3GWBtUsBJ4pj_fS176IUISrwU7--R_WoYfsOgE7qpT4s7Y7UHDHtswSsLkEWMfJLLIi7IaB2hg8rHPmeQdUf9uqJCrBY5ERiZ0cNopJFiMco7X81uNSDyhcArrfBBIXy8OZ8YfmWmXIC28VoLdHDzD5B7eSrKbsYrWX30LB7diSpkbuEME_Jd_P6y1fuO-aKf4QCbuQjfIeQY129IyQ04LijH4AWzGyKnPi_aZMkX6dooXgvAr1GLsM5dn5xLv7VxQa8virsYJ7lC7Go06ZZOG6g_7cn9k1AwsCWE5J8dzNsvDSNVvdJYa8zQ1WTciXgwDxng66xRmKYZnEDjXwJUpNiYNXj4N66ve7AC2EoUMSlfYBBshpsiKE24qveSUkTR_9jFYbKeU66Rtzzawa7rz5cP5rJ9UueYXCQ0ZCuoVWv5aYBwbTRJ5sVmQAWL3Mqi-zV_c7uEJSniT279oamV-QbC_TNCnodDHH8ryglqk0A9mgCOxWhpj7s46A5GiDwJFXzfSy2TIOCr7a3bbjQieHPXbP6Hl3Bj5kp8qe7yZ9SkwJXFuveYXWjHtgVvlXkdnonHMPb9-67z2JnYkzE49sn4GPYpeX2yQQib4JELYFep71hgmxA_oYLogYeRZUCiQe5CROy7pgnp70UWTdYbKWb1F52wUUzgexIZtDLUXxDOpQKZLPuj7zT31lEMW28p_1OPW0TLtdvvagSsZh5Dj2yHx9-hq2m_yw20CMYCaN7k7vxlpf4CmbViRRliCeQ97VxOvPfkAX4CLu9klKMeo8ZqG2rQZ2Y4g7WSaIvdKJb4IU5qi1iqmvK7Skr5zbmPuvJOU3Nzqsh6blSvwz1L2ys8drxlsZzFQhCshyjueF0aWtj9fIonNqpN1ElIam4eT9OLMDkxAGgChz-sRSS9t2ugBJAo578ZTj8F1VY0xEZoJ_aw2qPgfonk6LtmdYJPgy52Td55udq236mByWM4DPYii05kG6VwDNZvX-Hf2rZioDRUAEN6un2MThjwrC1ZU5-3gVu4jl9kUpDR6Wa5SRuKT30xkZZ8mSJpOfmU7kic1ur52GWsxG6yv1DDcokJWBGidaCw5G_pXYgbAiGqfveHr0fa9eSFnh_DG9w8qd8tfS08B6af6CX1rlVdXFGvPz31GRh3eTivoHmtfuqNjw7EZ861UrFOAcZSbEwzLtYAMqDERShd8Ea8-zdpZ6Lg4jBiXo8M1mZ6OUnHdffX0XBqtKZWw0thK5FM_KjwnMD4XVKrT-ra4w5DJ2G1SFAgE89224foDyo7M4ag0CZFDjPWeQZvTqp4CXhfF98K0wpoawmymbTksO8djBAI4sw28fygrHFC-DRPgsD8zgUzEjDZSjJ2_8sXeC99YGE1YvN8rTuQXaikkinvT7IA_wDRkqO0",
  "id": "rs_05497ed85d2d9111016ab4a0e8d21087d09168c4b6b4d8df48",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.325,\"right_y\":0.0,\"right_z\":0.085},\"note\":\"The last descent stopped higher than intended, and the inner finger may be touching the rim. I’ll lift slightly and shift outward to give that finger room to enter the bowl.\"}",
  "call_id": "call_EDQuCSzMNibigv1luaM7uTdS",
  "id": "fc_05497ed85d2d9111016ab4a0eb67c487d0b345e7e73095dbe4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_EDQuCSzMNibigv1luaM7uTdS",
  "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]: [-0.1066, 1.1248, 1.0615, -0.9115, -0.157, -0.1463, 0.6462, 0.168, 1.2953, 0.5171, -0.0971, 0.1444, 0.078, 0.6512]\nstate[eef_state]: left_x=0.2934 left_y=-0.0 left_z=0.1923 left_yaw=0.098 left_pitch=-0.3867 left_roll=0.0632 left_gripper=0.6462 right_x=0.3209 right_y=0.0323 right_z=0.0489 right_yaw=-0.0159 right_pitch=-0.2941 right_roll=-0.0476 right_gripper=0.6512\nstate[joint_eff]: [-0.1162, -3.2889, 6.4889, 1.3455, -0.1343, -0.0513, -0.0122, 0.0342, -4.1778, 6.2838, 1.5946, 0.105, 0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c363e57ea6bf2582ef51cb5f6ce5f01793e1dc18e8f763b0d6a83cac8098783",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39ae409e70d1354fbcf4a97a2ba8c64fbb1faef939dde0e38bd1495eec454cf3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55e826bef73a49e3165602b27007b7eb269a76ad804c0090411e25d6e9b18c1f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /responses · status 200 · 4.256 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 69 changed as sent

message 77 changed as sent

message 81 changed as sent

message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1059, 1.1213, 1.0695, -0.9077, -0.1665, -0.1482, 0.6462, 0.3988, 1.1889, 0.7002, -0.3344, 0.2771, 0.2291, 0.6512]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1971 left_yaw=0.1071 left_pitch=-0.3701 left_roll=0.0669 left_gripper=0.6462 right_x=0.3209 right_y=0.0867 right_z=0.1191 right_yaw=0.0218 right_pitch=-0.2133 right_roll=-0.0255 right_gripper=0.6512\nstate[joint_eff]: [0.294, -4.1641, 6.2154, 1.4139, -0.0464, 0.1538, 0.0024, 0.1846, -3.9316, 9.7846, 1.7998, 0.2418, 0.105, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1066, 1.124, 1.0615, -0.9112, -0.157, -0.1463, 0.6462, 0.1776, 1.2808, 0.5316, -0.0906, 0.1417, 0.078, 0.6512]\nstate[eef_state]: left_x=0.2934 left_y=-0.0 left_z=0.1925 left_yaw=0.0979 left_pitch=-0.3856 left_roll=0.063 left_gripper=0.6462 right_x=0.327 right_y=0.037 right_z=0.0598 right_yaw=-0.0022 right_pitch=-0.2596 right_roll=-0.0389 right_gripper=0.6512\nstate[joint_eff]: [-0.1026, -3.0701, 6.5026, 1.2821, -0.1099, -0.022, -0.0122, -0.3761, -3.2068, 6.0103, 1.6044, 0.1636, 0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1066, 1.1248, 1.0615, -0.9115, -0.157, -0.1463, 0.6462, 0.168, 1.2953, 0.5171, -0.0971, 0.1444, 0.078, 0.6512]\nstate[eef_state]: left_x=0.2934 left_y=-0.0 left_z=0.1923 left_yaw=0.098 left_pitch=-0.3867 left_roll=0.0632 left_gripper=0.6462 right_x=0.3209 right_y=0.0323 right_z=0.0489 right_yaw=-0.0159 right_pitch=-0.2941 right_roll=-0.0476 right_gripper=0.6512\nstate[joint_eff]: [-0.1162, -3.2889, 6.4889, 1.3455, -0.1343, -0.0513, -0.0122, 0.0342, -4.1778, 6.2838, 1.5946, 0.105, 0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c363e57ea6bf2582ef51cb5f6ce5f01793e1dc18e8f763b0d6a83cac8098783",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39ae409e70d1354fbcf4a97a2ba8c64fbb1faef939dde0e38bd1495eec454cf3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55e826bef73a49e3165602b27007b7eb269a76ad804c0090411e25d6e9b18c1f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtKDyEMtiwXCGzQc2REk67DH2EPwEYjOeqeytburw8VddA1f5WI0X-3kv0UBgy_FaXuY_GHcM9cieaEvPd02ETWEiI3QASQJeUkhzm3YBIEC8TRTXNHWGTgc8vYI7zxbgDvskaYZ0aw2Vaz_jdJ-gBwX8JsO2tK5mpk0wQXfT7LAQQSjIq-42Xka9Rhhni-med-ysrMJkNfq3QFezGefc_rdN9vapCAvFBsakA9E7kXYRscN3_eIliFDCqaY7DN3QSqK5mVDaCGe_XEy5PiurlLjufnWq4whp0a5WSA-67x54FHjlI3p8bA-8Mj1BFxdJT4Vpw_m5Ptf6yhnwy8SjHWdrHnWhOe5GZzM4nfoo7nTgmD3BtAZj0uVXSZKhtUz7qdNGF2miXytcPNB7blClRPEEP8_GkyQoVXShb1hBqLVvn012K3sa7lpBL2ZWUiy-Hlr6-ZyNOxxufu2ZhLt2-EwMgEpi--05cdAQOCTHJraJ2CTmf-ivoIuaJ1s3JHqWeosZYmf3HGw1kSOCZPeA_bYLzJ1W9vfkBzYyWqJMTcQvTw2fxeTbEr6GmZU7EUCDh-dw2ga5drY3KhPj_cXyDWXT7Wgw-YvBBqPmFr0LVXChMHlkecwHlgkN2Z8KHaWypWWgOuLEvs6OypNqxyADrB5AxpgsRkhIAxXemOmVaOSqF2sat6tg2sVOdDBs1t7as6TEZRM0vqWVLS2fBZTLj5wAhDulR_5_HWzFhZ5A11KdIeRLBG6ToMbThtapGejjMhyPK_cYYaxlR2mCvEGTqc-7QTJ5lndzeDMV2RL5C7Bphq3KKQbxwYFIq-OBzOJpiEKP3BfEqkmkvxF4csLlP-gNwYOemTrEZ2uPg2V4yAuQnwxysdcfpzU_UD4G_5sFGu46dbGVCIDO-VZ-JRc0856v6RHkp_j43QNKBBp9z5flHvJf6_X-SKdtdQ1HIRi2VpFRAWejw9gtYd5hVjJruAw3e08tAEm-yhCfWnfsNbwTrO171vI6vF7kX-i6-MtUkngOM1zURtoWRQNVxSM2nt6WK_IHX9fKG6dOvLxZOdebN-jEBAj1g9E-N0qa6gzRFi7nxzmkza52-SNFlQvuhXixSE6c1NDKI6YhivHK8_aKBNAA8p5wQSlfLtzu7_cMd1MbkkN35PFKfI7NBv22p-0HTbyMqB3rmc3MqUBvLstEZDUd_-VlPh1CBxy_AnjQDFfHjammhEMa_vkzj0SDFp6CePpBt2BlOCO6b71VnUYBwrNm602s09i_RK50iejZG0Ij9HIRNd5fK12FJvt7Jm6LxUHuPkpKTzboG3nfdXKQhu6uIGjsOefIVN4qlrtSsrAmN0dYon9rExXMBn9EUY2cctA5Nn5uWNE0Bdg4tZRtAmLRS4gGyyT15cfvVOfiJKff15Ci3Q9O5o4Q5P1lBQMT8P0lfhBXgrpP61WUZJxtyMA0zPSpv0c0HPDdn-vl2oaoba3HVnzAZZcUlX3mP8OTXScIRnZkxSv3V3BPFaGmkjWJiNJ7V6qHYX20Tyya56Vufi9R9AJMSm8rHwwinDE1x_84Agy02XDVlaWELfGiDkbYzNlDX1UHffi9DbG2_y1I",
  "id": "rs_05497ed85d2d9111016ab4a0ef1e2087d0aaf2b99e2e74e977",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.03,\"right_z\":0.17,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The arm did not follow the small clearance move, so I won’t push farther sideways near the bowl. I’ll raise it straight up and restore a more upright tool orientation before reapproaching.\"}",
  "call_id": "call_5Hn7J4GJRuGcyBRBwbQe9fEB",
  "id": "fc_05497ed85d2d9111016ab4a0f075b887d0bdb70c280526e1f9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5Hn7J4GJRuGcyBRBwbQe9fEB",
  "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]: [-0.1066, 1.1294, 1.0615, -0.9115, -0.1574, -0.1463, 0.6462, 0.168, 0.9451, 0.5877, -0.2203, 0.144, 0.0738, 0.6512]\nstate[eef_state]: left_x=0.2937 left_y=0.0 left_z=0.191 left_yaw=0.0987 left_pitch=-0.3912 left_roll=0.0646 left_gripper=0.6462 right_x=0.3203 right_y=0.0323 right_z=0.1629 right_yaw=-0.0053 right_pitch=-0.0014 right_roll=0.0027 right_gripper=0.6512\nstate[joint_eff]: [-0.0752, -3.6444, 6.8718, 1.3309, -0.1392, -0.0122, -0.0122, -0.2256, -2.4274, 9.6068, 1.663, 0.0513, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c21207effd0e5c184bfdf7116e6fc2f21979def362228a71be97866ea4615ad8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c7c8a3f939eaf2a93d7292da5effb211131fa28bf30b2f8ca6d7ba1e79c1e92",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9847fd99f294a6b9d1cdc0bcf8a5fce1107158cda1f473586f81c578d031d4b",
      "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 22 attempt 0 · /responses · status 200 · 4.968 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 73 changed as sent

message 81 changed as sent

message 85 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1066, 1.1233, 1.0615, -0.9096, -0.1555, -0.141, 0.6462, 0.21, 1.2575, 0.561, -0.1734, 0.1799, 0.1219, 0.6512]\nstate[eef_state]: left_x=0.2936 left_y=-0.0003 left_z=0.1929 left_yaw=0.0933 left_pitch=-0.3838 left_roll=0.0645 left_gripper=0.6462 right_x=0.3211 right_y=0.0398 right_z=0.0657 right_yaw=-0.029 right_pitch=-0.2821 right_roll=-0.0442 right_gripper=0.6512\nstate[joint_eff]: [-0.0479, -3.3846, 7.1453, 1.2821, -0.2125, -0.0464, -0.0171, -0.1162, -4.2735, 6.9675, 1.9072, 0.0122, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1066, 1.1248, 1.0615, -0.9115, -0.157, -0.1463, 0.6462, 0.168, 1.2953, 0.5171, -0.0971, 0.1444, 0.078, 0.6512]\nstate[eef_state]: left_x=0.2934 left_y=-0.0 left_z=0.1923 left_yaw=0.098 left_pitch=-0.3867 left_roll=0.0632 left_gripper=0.6462 right_x=0.3209 right_y=0.0323 right_z=0.0489 right_yaw=-0.0159 right_pitch=-0.2941 right_roll=-0.0476 right_gripper=0.6512\nstate[joint_eff]: [-0.1162, -3.2889, 6.4889, 1.3455, -0.1343, -0.0513, -0.0122, 0.0342, -4.1778, 6.2838, 1.5946, 0.105, 0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1066, 1.1294, 1.0615, -0.9115, -0.1574, -0.1463, 0.6462, 0.168, 0.9451, 0.5877, -0.2203, 0.144, 0.0738, 0.6512]\nstate[eef_state]: left_x=0.2937 left_y=0.0 left_z=0.191 left_yaw=0.0987 left_pitch=-0.3912 left_roll=0.0646 left_gripper=0.6462 right_x=0.3203 right_y=0.0323 right_z=0.1629 right_yaw=-0.0053 right_pitch=-0.0014 right_roll=0.0027 right_gripper=0.6512\nstate[joint_eff]: [-0.0752, -3.6444, 6.8718, 1.3309, -0.1392, -0.0122, -0.0122, -0.2256, -2.4274, 9.6068, 1.663, 0.0513, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c21207effd0e5c184bfdf7116e6fc2f21979def362228a71be97866ea4615ad8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c7c8a3f939eaf2a93d7292da5effb211131fa28bf30b2f8ca6d7ba1e79c1e92",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9847fd99f294a6b9d1cdc0bcf8a5fce1107158cda1f473586f81c578d031d4b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtKD3wr8l6jNauEhMx9bl10dmwZT6_-GjpxuC97GiiVq0-6K-zdY9vuATI0ywkkIoZQmseQg-EuIHUB8DC-YlbTPac3Aj7EGwXhfGgJqgbXjmgPehjaJH02OXLxZYVDscmiaG4RVSMiVUThQsaaLd-Mi7DWvHhsP5E0sjbwfuJ05pCuBLCceNht0we0vzXJV3ZSQBPDdMUBlfvn2pIIX9W2s3YZAnvn20_BHRe3VSorWokQYXsSmLTo9Gw0PDCpGpouGMjVjqsSN6HPG-qp75n9y7-Gd6S1Dyy-7u3lfLL5f6DmhmoYVlrWAjSSY2fC1z0j9xvMjnxTmXHVmwTTeOBQJHTKtbRS0gLTLsdCtbqkkHvVPczFDXVccu7etM2jiSqgJ1qijm2eeF9FeGpd_YEeTn9B0TFclH4kPN84ecIrZHYzkeU9j4Z1vsHUHqezB12nyuMQxaQXVnl27cWxrh8xRPCqKk26ya6jZ6sCSRGVuSUSkO35n08r5GD-vCP7uAko_2rnGP5wAnBuu0sv3VixvekslLt-SFYaUNP5biiXq_yiWcHUeuayxsYh8pnrNrgaRU6EIFc88UBslODZ6IouSrxUSouvoSjYFOjVm9s885aHbyYpn8glo519qAo-ZVFP6D2DNHrDkS0EuNgszQRhHW0apGjGeXvItxxOI6YLDnThrVA3PbcyZgh5LF46KfAqFLOI5xMAuw09ImCR2ST79W8QM52N3nrLwd1Pm65rw8DNxNb1yomnGSgL76dzu0dmR-mNt5ShhuGv7ckuKTMoSeh3j5dNRT3C1sgohHVMuE-CpI3mMZetR7M7eI-0_gFS6QYJR-u_DFzegmQ4weMzAAHKBQA2k2e8eV0NenGrFkpPSL4x_NxiV5JpPhU5EBAMT17mfsYsy4HJCsIUqMNrCoMoMGej8BOPj5G-8VCbrNm2yZMpb4fTx84H1YT6M8WZyAyMCHA7TE9kjytY34L3sIDl2tZmw6wKCrcvZHVUoBiwh2qleCngvzmM3egBb4Fykq5nJ70M9PAMNtQg2ETtiRPfbgq8pzm3TIyDqttl8g8dysTfE2hmCT0o95P_5CO4UGeFLnO_apiWAma47Q97AmTx5amNHV3HFsaEneja_VGNONhexFrI1oh-AGiisOnJReVmcLZqpxqfQ2L7nr9yUwYOOxynVWDkmq8-3mAhf3mVTsBuPy28615ZmRM8cyKofBvfG54xOrmRFHWURyaXZBRwYFAsxCD2T7r3PmNd56-tViA7Oh3LvTU9-kpqdnfkiEW4bKJToatlhCNHZABLHcqjPjhW-9tVxrzkMXs09bedHD_cK9BXomDIWnMqi5dTgN497HlvBG8DVtBLVqZVDEpqfC_4Z4fLe_UhWKY8IliDRnmwhPxDxkOTsr4fnN_fROehuxPhI2jX6C7ll6El5PdW1-VEFcDXCLHA-TIaXOpCOKsLNPmVxIBHqEKK_L_y_fmiysGWlNyil1qeF3WOtUH9rTmJA7xLD-uoghcznHtTJ2PjyuzwopS0wsv08Omge5biknrG10VUTIVTZsWIF3FtFzKESIGk_SlB01CH6MSj4=",
  "id": "rs_05497ed85d2d9111016ab4a0f4fb6087d0b3131b26f7bd07aa",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.325,\"right_y\":0.005,\"right_z\":0.075,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The gripper is clear again, and the cream bowl’s right rim is visible beside the jaw column. I’ll descend slightly farther outside the bowl while keeping the tool upright.\"}",
  "call_id": "call_wgZG67IOoQ23ZZ38Qs0FEqX2",
  "id": "fc_05497ed85d2d9111016ab4a0f6982c87d0a0a78078e7ba6f6c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wgZG67IOoQ23ZZ38Qs0FEqX2",
  "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]: [-0.1066, 1.1305, 1.0615, -0.9123, -0.1574, -0.1463, 0.6462, 0.0204, 1.1252, 0.3065, 0.1474, 0.0422, 0.0017, 0.6512]\nstate[eef_state]: left_x=0.2937 left_y=0.0 left_z=0.1906 left_yaw=0.0989 left_pitch=-0.393 left_roll=0.065 left_gripper=0.6462 right_x=0.3106 right_y=0.0025 right_z=0.0591 right_yaw=-0.0287 right_pitch=-0.1009 right_roll=-0.0071 right_gripper=0.6512\nstate[joint_eff]: [-0.1846, -3.0291, 6.4889, 1.2772, -0.1294, -0.0659, -0.0122, -0.2803, -3.2615, 6.5299, 1.9707, -0.0562, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6650ff610c21966eaa621018eeed222ef88359b780f99d755eddd073cffb342d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9165b0ff71074908062ea09f40a4bce52d8799eb6bd9dd969e294a7faf47deb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:175c48144d9213c3543665e4952c10d49c406c417ddd941e6e0941df936d1234",
      "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 23 attempt 0 · /responses · status 200 · 4.484 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 77 changed as sent

message 85 changed as sent

message 89 changed as sent

message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1066, 1.124, 1.0615, -0.9112, -0.157, -0.1463, 0.6462, 0.1776, 1.2808, 0.5316, -0.0906, 0.1417, 0.078, 0.6512]\nstate[eef_state]: left_x=0.2934 left_y=-0.0 left_z=0.1925 left_yaw=0.0979 left_pitch=-0.3856 left_roll=0.063 left_gripper=0.6462 right_x=0.327 right_y=0.037 right_z=0.0598 right_yaw=-0.0022 right_pitch=-0.2596 right_roll=-0.0389 right_gripper=0.6512\nstate[joint_eff]: [-0.1026, -3.0701, 6.5026, 1.2821, -0.1099, -0.022, -0.0122, -0.3761, -3.2068, 6.0103, 1.6044, 0.1636, 0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1066, 1.1294, 1.0615, -0.9115, -0.1574, -0.1463, 0.6462, 0.168, 0.9451, 0.5877, -0.2203, 0.144, 0.0738, 0.6512]\nstate[eef_state]: left_x=0.2937 left_y=0.0 left_z=0.191 left_yaw=0.0987 left_pitch=-0.3912 left_roll=0.0646 left_gripper=0.6462 right_x=0.3203 right_y=0.0323 right_z=0.1629 right_yaw=-0.0053 right_pitch=-0.0014 right_roll=0.0027 right_gripper=0.6512\nstate[joint_eff]: [-0.0752, -3.6444, 6.8718, 1.3309, -0.1392, -0.0122, -0.0122, -0.2256, -2.4274, 9.6068, 1.663, 0.0513, -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 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1066, 1.1305, 1.0615, -0.9123, -0.1574, -0.1463, 0.6462, 0.0204, 1.1252, 0.3065, 0.1474, 0.0422, 0.0017, 0.6512]\nstate[eef_state]: left_x=0.2937 left_y=0.0 left_z=0.1906 left_yaw=0.0989 left_pitch=-0.393 left_roll=0.065 left_gripper=0.6462 right_x=0.3106 right_y=0.0025 right_z=0.0591 right_yaw=-0.0287 right_pitch=-0.1009 right_roll=-0.0071 right_gripper=0.6512\nstate[joint_eff]: [-0.1846, -3.0291, 6.4889, 1.2772, -0.1294, -0.0659, -0.0122, -0.2803, -3.2615, 6.5299, 1.9707, -0.0562, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6650ff610c21966eaa621018eeed222ef88359b780f99d755eddd073cffb342d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9165b0ff71074908062ea09f40a4bce52d8799eb6bd9dd969e294a7faf47deb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:175c48144d9213c3543665e4952c10d49c406c417ddd941e6e0941df936d1234",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtKD9ncGV6G-rtKwgjirGk1j8Pdncjzlpf2Vs7eHTI3tB10rw1NH16aRpJJq5qO_3T7mMkwaZL21bTicQpAiKV4oUmgS4xqJhkZxYteE90iwpCfCF45rXI61_902CDP7ROWWRbfnsPLQ5KR0NvZGpr8VY8-WRDZrSr63yEpC4tf_ottEdmiV3XfOUjjPlJhoWAA_HA28b8UnI7isHqx40FFHzYK5fXNWPE_kDxS68Jbhmpd6PUY0fKEdkL4m9fYJTjXCMO2CoLZogIDLBJLCjeKCqMPQ2ZgpyrnJnqj2MWyC7A6ux2xBlh3E4suPZMV0SkEXhxbSIgTBlwq9QrjEL0ooU6gUHli6JzYO-h0MXHkr12x83CxgnuqeN7eN1bTiYXmMOSfOM856GLgnkm-ExGRcEvsJNYkQNfY7kA4ijRogCUQd7-gFTn4xUnAadtkF3RrEf5bGyfu2fRDImSoQ3SAbwPglm1Yf8ziqxjrUf-2xVAG6pYqjlD1Ch4fGpBSkMPh2hXhfjO7U2bO4_63_1oylApH1TtVcaBL4Rztlq3McIXua6PU83CtQeqzVSSiyxPY6kmO7AEGH8Gr_ib0x4BuDFtuKvLpww-bxV1tV5W-EPqT2BkQSCfpRh2oAo_QEvUNrF6EtUhF9YXi8LcqLMbMBocXgCwGp0gqkM2KyvOLIXMyIoknIHMTmde_Uc6Dobkfp7ZsQCrotRXNREzpQtGvHp_KIukytDY974kgZZBpgV2r89HE7RWEipxfIihHCNur4gOl_bXkkfiNEm2xIOmCe1bEyePvw308PoRlyqcz2SCG-P5G-whCiyRO9QYq_D9NAdfSAofhp2WoJwh0h1i0Vr_FlRlpujjrkjleUEIGsYwe3bl52Tx09bYO3iqxavhDoZEBTYuQAmzovAknZjBSiRUXTjeYZ_R3FLN2eZABZeZAaVOgnUGYNvVGMbawUybDHF-GCACwVAUrTS9cbS3VBY-eQUmH1FXguF87UTVJrxaGgPQ3pDKVdbYR03ncFhIYpMevKMusb547JM-XqwX2xcy5EDT4VK5Z0pswJ0tBAElNq7lQWP1AXNKHiTjO9Oq4pFttc2UI_sJTnHg1TLxU84HUO6f4DTomzmCXBDFEh3SIqF_sNrb_fhCARUDa8HO_1M4YkEUWeX4uVGpo_R48ADeX-nZmiOw37f31wOYQvHHQc00iADlR2cgOUczZPgPjJo520mndgHIEjUfMGLLW00KgnMhGza7ih_HCG8hwOM8etZKLSWX_9o582cFQs9qSIkpn1pMm6UrEczo3vnvlb23VybGsRWydViooIelX08YOGLru_dZLGoD0O2DGoS2qX-VBPKNhGVCh23MPlL7a1nyHXZk_696_dgSGzji-_DMewuyXPydF_NtBa6aOc1DOPkLeDowdwfaWAL2p2Q0pRHiwP3f90swg51ROAO-mhMx0D1l5OuOAYgozMVRxBf1gX29FhTfNY5Fq9kSNg0UiX6thUAp6II4fbpB_J7SiUrtJkLC-2jrTgxuXFeaDZ1i70sJqbDa57wdM4XQwNEI4fmoQsQZKdAUKbRTy4U7MfQPZo5qEpWK-UV-jKE25K--_6IKVFXTwioOPAIYSws3Ushh6jgX7GjtwMAlWO5lD4hn11zXOzl0Xi6pYGMRNksgj4dC5ekAlQ0Njl6z1GsUor4C-a9YWwrbS10wwYpDjQl_o9P95gCTJxk3UP4uKDNxQPxpaO1Jcdv3Qq_PME1YUbDThl9DPN3mcO6psEGQGfgJ46DQu0dSzS1-L6Jl0i1IrqHpFTub-KsAnyL3HOQ19eJYo8rgcdBoZ-uTTaPsE4HrgCSBBuJ9emmvzkHML7bFCawB0mulPjo_9Bzcx17kQBvpBuDp38oE3hZ2L21A2vDfLyVFewRTEqXXDwNh8J6TDHX",
  "id": "rs_05497ed85d2d9111016ab4a0f9c9f087d0a87d4e32297aa939",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.01,\"right_z\":0.035,\"right_pitch\":0},\"note\":\"The outer edge is safely between the open fingers, but the grasp is near the rounded front corner. I’ll move forward along the rim and lower to pinch a straighter section of the wall.\"}",
  "call_id": "call_rCi2g9FsR8cx3gNzz6dzIrra",
  "id": "fc_05497ed85d2d9111016ab4a0fc155087d0aefd405f56c91ed7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rCi2g9FsR8cx3gNzz6dzIrra",
  "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]: [-0.1066, 1.1351, 1.0607, -0.9134, -0.1574, -0.1463, 0.6462, 0.0525, 1.4658, 0.2813, 0.4873, 0.0475, 0.0044, 0.6512]\nstate[eef_state]: left_x=0.2937 left_y=0.0 left_z=0.1889 left_yaw=0.0994 left_pitch=-0.3994 left_roll=0.0664 left_gripper=0.6462 right_x=0.3291 right_y=0.0125 right_z=0.0121 right_yaw=-0.0028 right_pitch=-0.1266 right_roll=-0.0098 right_gripper=0.6512\nstate[joint_eff]: [-0.1573, -3.6444, 6.5436, 1.3065, -0.1441, -0.0415, -0.0171, 0.3077, -5.6547, 5.2718, 2.2344, 0.2906, 0.0904, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdc985c34c4994203b861e330dd0d44da067ea15db9f611fd8ec14134e9a3c2b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ebf9a0edc555cec35fab179f46f61ae7226347f29a25cfed640b78d8735cad1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5d5942ce0b3c43046320a520e2eac271c056c7a0eb6a3b0ac91a16161e3cd8d",
      "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 24 attempt 0 · /responses · status 200 · 3.177 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 81 changed as sent

message 89 changed as sent

message 93 changed as sent

message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1066, 1.1248, 1.0615, -0.9115, -0.157, -0.1463, 0.6462, 0.168, 1.2953, 0.5171, -0.0971, 0.1444, 0.078, 0.6512]\nstate[eef_state]: left_x=0.2934 left_y=-0.0 left_z=0.1923 left_yaw=0.098 left_pitch=-0.3867 left_roll=0.0632 left_gripper=0.6462 right_x=0.3209 right_y=0.0323 right_z=0.0489 right_yaw=-0.0159 right_pitch=-0.2941 right_roll=-0.0476 right_gripper=0.6512\nstate[joint_eff]: [-0.1162, -3.2889, 6.4889, 1.3455, -0.1343, -0.0513, -0.0122, 0.0342, -4.1778, 6.2838, 1.5946, 0.105, 0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1066, 1.1305, 1.0615, -0.9123, -0.1574, -0.1463, 0.6462, 0.0204, 1.1252, 0.3065, 0.1474, 0.0422, 0.0017, 0.6512]\nstate[eef_state]: left_x=0.2937 left_y=0.0 left_z=0.1906 left_yaw=0.0989 left_pitch=-0.393 left_roll=0.065 left_gripper=0.6462 right_x=0.3106 right_y=0.0025 right_z=0.0591 right_yaw=-0.0287 right_pitch=-0.1009 right_roll=-0.0071 right_gripper=0.6512\nstate[joint_eff]: [-0.1846, -3.0291, 6.4889, 1.2772, -0.1294, -0.0659, -0.0122, -0.2803, -3.2615, 6.5299, 1.9707, -0.0562, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1066, 1.1351, 1.0607, -0.9134, -0.1574, -0.1463, 0.6462, 0.0525, 1.4658, 0.2813, 0.4873, 0.0475, 0.0044, 0.6512]\nstate[eef_state]: left_x=0.2937 left_y=0.0 left_z=0.1889 left_yaw=0.0994 left_pitch=-0.3994 left_roll=0.0664 left_gripper=0.6462 right_x=0.3291 right_y=0.0125 right_z=0.0121 right_yaw=-0.0028 right_pitch=-0.1266 right_roll=-0.0098 right_gripper=0.6512\nstate[joint_eff]: [-0.1573, -3.6444, 6.5436, 1.3065, -0.1441, -0.0415, -0.0171, 0.3077, -5.6547, 5.2718, 2.2344, 0.2906, 0.0904, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdc985c34c4994203b861e330dd0d44da067ea15db9f611fd8ec14134e9a3c2b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ebf9a0edc555cec35fab179f46f61ae7226347f29a25cfed640b78d8735cad1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5d5942ce0b3c43046320a520e2eac271c056c7a0eb6a3b0ac91a16161e3cd8d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtKECxDD13tNa9seRcnmXT-1CciNZmvBAKbQttns0e_ivO9CEGdgW0A-8h_jN7AC5XT8Cwow9ncLnP5Lb7xJJDgn_4rMzIai_Ni39LVNFfvpQz-AcUCN_h3Z66of-Xdyw7ahrFNQYH_qwiweWlstjoYYS2HskGuaexd8AsC4IuFVubQSDm2BW_EZWZZyQEGgSjhx-SxyuxIdD0NmuZlKV6oqsyhXN0iHe0x6RKBJ3hTKvFbesJCB1XHrekvzGEunTxYojvNftERu50A2-3936sqFFFB4XNVHSxF1sBH1Jy1ZFjQh9_C11D6Og02L_fRqK9DVQcoPGnQ8oNM32URkz-DkaVVEQ7URuctAZxam-73wc8tX6y26Fzujhbm-0kligtnxznb7cohUQLM69z4k4W6hTWh_eWtxzf7bIV9IIdDnhtTMJfefBLFRbr59FjQ7xstYF5JkUe4yu-rv0-slwvrplL6HQkzYC-2Mm__IGX9aRzE-bvkkUZ-n55yVmTLVKBEvxq_sK8cjGoL5q02NBeltXtu70rgGAai5_BZFU3HXGH8b5oLx73LefNcY1T47Mif5YLu01dKEuxWD5pGQm6O5dIO3zN27fNaoTslog1qI2-p4b4gXz7FoxB7m2ZQSV70MN9XtjbMDZ-78amxcOZhzhpzb8oN_UNIArfj2W-bfd3Rd_nVCfYWWmkV_Mdjf8MhSc5h_xaDcXrywtRcGakTpT4NR3boJtx8n0b7Cz7CjLkszdu4SKGMmtYmQAm8wftTrdZ-NMsRfLxuN4_oYcjYCCrQ1N7HeNSwMkydgi5qKKJn3CgB-el4WqFwCSLfOzwPs_SzfQ-5dymqe8JAGiU4MHWKAESHCJFxQaUA6dLfVZmtGyw2j_gey9XIeb5M9YuOgw_RxUpcRs1r3Wj66di07YM6FwPJuOHgm-4JM6V0DJD5vbbU6dx3sHuCJ0fapJTHNh5R8uIHjQqOI6_Av4Pw-qqn7mH61-0wwVil_zw63sxE-QsRQijiWMLbQypvqCYFNLmDtwugN4TwHuGnzbanFRUii4-EjZSQtNiiOs97pfwTJ8HPGHjG8HOi-WCVUpNn4ogkajmsLuA3vmAE1ZcQ6gizkhgWOYuDwjz1TVYRI1m09-IZDbBc0RUoauVB1sDUGYDoBnC3Frj9FjN3XOxZJIcc4DTPEQfa9uiDC5ZxAQ_oiRiKBuIXbsp2Yx_p4tJ7iHrFYe3MZsotsRRtxXlAUkJd4amZx3sXIeYiV-Y2_ed8QtvpGoyH5zAK4JSn2lk3dstMGEDAUaPRSlXQfCwBTN1ZV8OiXqqOuORtEOT-2dxz58IT0DBZlZ08_o3264mdKPnUPNtfT2oQQnOHuy7dxU-DY59bwK88hHZM3T_20SuARCVC9uxfehS0m7_z5MOltqL5pOf76TrFbbulD1PIYlvU4JiiSD0eKdaCrj1T1kfLUL-x0opcRKDCuPBImJutumNS5YpxbE-RRlgB8kuqVqh9oK1HkjYOfFXZ1Trv7uFry6Ev7EX7uZppFgn81QAxgCiiS79GKyvYK3yVnJv2c5R2VmBFVCtUP1yQoQZR6hCj0=",
  "id": "rs_05497ed85d2d9111016ab4a0ffeaa087d0935fe7395c348df8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The fingers now straddle the cream bowl’s right wall below the rim. I’ll close on that wall, then test the grasp with a lift.\"}",
  "call_id": "call_rhOTrnS0D7dhk6FBFEnQQhtu",
  "id": "fc_05497ed85d2d9111016ab4a10146a887d0a4ea0babcadf6828",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rhOTrnS0D7dhk6FBFEnQQhtu",
  "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]: [-0.1066, 1.1362, 1.0607, -0.9127, -0.157, -0.1463, 0.6462, 0.0532, 1.4471, 0.2897, 0.5636, 0.0124, 0.025, 0.0375]\nstate[eef_state]: left_x=0.2939 left_y=-0.0001 left_z=0.1887 left_yaw=0.0991 left_pitch=-0.3998 left_roll=0.0662 left_gripper=0.6462 right_x=0.3449 right_y=0.0198 right_z=0.0359 right_yaw=0.0168 right_pitch=-0.0244 right_roll=0.0326 right_gripper=0.0375\nstate[joint_eff]: [-0.0068, -3.3709, 6.612, 1.2283, -0.1245, -0.0269, -0.0122, 0.0068, -2.7009, 4.3966, 0.8767, 0.2857, -0.2027, 0.8669]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2c120b429b42d912729335fd490b39e6a0e04913c0cb3c1d9b908ca3ce239d2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed5671b9f29b7c5538144af44cfc84290cdf46b093fe517204b0ff85576dfff5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b62901af949990578482eb7e05e2dfee1eaebbe1da52242404f2002ef91cd184",
      "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 25 attempt 0 · /responses · status 200 · 8.927 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 85 changed as sent

message 93 changed as sent

message 97 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1066, 1.1294, 1.0615, -0.9115, -0.1574, -0.1463, 0.6462, 0.168, 0.9451, 0.5877, -0.2203, 0.144, 0.0738, 0.6512]\nstate[eef_state]: left_x=0.2937 left_y=0.0 left_z=0.191 left_yaw=0.0987 left_pitch=-0.3912 left_roll=0.0646 left_gripper=0.6462 right_x=0.3203 right_y=0.0323 right_z=0.1629 right_yaw=-0.0053 right_pitch=-0.0014 right_roll=0.0027 right_gripper=0.6512\nstate[joint_eff]: [-0.0752, -3.6444, 6.8718, 1.3309, -0.1392, -0.0122, -0.0122, -0.2256, -2.4274, 9.6068, 1.663, 0.0513, -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 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1066, 1.1351, 1.0607, -0.9134, -0.1574, -0.1463, 0.6462, 0.0525, 1.4658, 0.2813, 0.4873, 0.0475, 0.0044, 0.6512]\nstate[eef_state]: left_x=0.2937 left_y=0.0 left_z=0.1889 left_yaw=0.0994 left_pitch=-0.3994 left_roll=0.0664 left_gripper=0.6462 right_x=0.3291 right_y=0.0125 right_z=0.0121 right_yaw=-0.0028 right_pitch=-0.1266 right_roll=-0.0098 right_gripper=0.6512\nstate[joint_eff]: [-0.1573, -3.6444, 6.5436, 1.3065, -0.1441, -0.0415, -0.0171, 0.3077, -5.6547, 5.2718, 2.2344, 0.2906, 0.0904, -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 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1066, 1.1362, 1.0607, -0.9127, -0.157, -0.1463, 0.6462, 0.0532, 1.4471, 0.2897, 0.5636, 0.0124, 0.025, 0.0375]\nstate[eef_state]: left_x=0.2939 left_y=-0.0001 left_z=0.1887 left_yaw=0.0991 left_pitch=-0.3998 left_roll=0.0662 left_gripper=0.6462 right_x=0.3449 right_y=0.0198 right_z=0.0359 right_yaw=0.0168 right_pitch=-0.0244 right_roll=0.0326 right_gripper=0.0375\nstate[joint_eff]: [-0.0068, -3.3709, 6.612, 1.2283, -0.1245, -0.0269, -0.0122, 0.0068, -2.7009, 4.3966, 0.8767, 0.2857, -0.2027, 0.8669]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2c120b429b42d912729335fd490b39e6a0e04913c0cb3c1d9b908ca3ce239d2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed5671b9f29b7c5538144af44cfc84290cdf46b093fe517204b0ff85576dfff5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b62901af949990578482eb7e05e2dfee1eaebbe1da52242404f2002ef91cd184",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtKEGg61GHuzuL_0jJANQR4zPtGirxLm2YfmZSk_n3V8uZc7ZNLEDkrj1jXGuEaK693yfSwjeg1BA4yd0ZR8_PFxV9UTeTqFpn9yBFOlXmlQxMgwZNKetHxGNLA_pvQuE-5ymIPpc-iZ7arpWMGOtUG-CPyfUU89TrWsAo0znY5TQGQd-gVUUPAEMSV-p6bSRTs63qcjMw0xZMPQ97wZKeJxr_nFol7IWm4o9hIWUoAf65chox0x93Krvn1eSKha--X_3QCHau3gTWOpseabc1q47KBTrZ8LF00yfsxjwEU6loHHRePpdvZ0RYRybcPM0Sshr6WaRWfJZQ4bDk3gpUAHxtHzl9eDZ7ojY93IPFWOl0lVQFweJSwK8A0JEVChbBbqiDwa363mUafAaexMjv8MaFuF3yokYJbDTD7Wst7-JIa50SeHbpkoCbAbrmjoiPAU0F6baUcOa3Zo1uXu3bP5RENRe1NkrVML8n711-EkA6PTULRgFGyx6cTcvzgA_wzm4zjV6u3mzNPoboTTamY3oikKyCzUYloVYFHhNcBSmPgE4U2JTjUoUYMld4X7B8ww3_YTl9n1xu17Wigu6NjZpB6t5UE_aolvzHzClE_pT7PsWcPD_GjygZySLj03skw-FzBYgMW6H-HahQh7DuGqrhS_idDSa1TQZHsAcJBdknMzuSOnpf75i9PCyqWKsDKYV_cEKsTrRsXZ8fXl_Ha6uraIulCnaZs0P_UHLiqOgLj2qKEo9DQ-e413Y6QZ886M_IF7v_XXDNDiZqNVjKp4JVOQOgya3w-f35HJv5_dBsssURevPAV0P9Tim3_P9bQEtKigofRLR70qUTvLNLL3U_6J6VD8eVETrMvcPAAEtoJSFmB5EBmdKWueirly1QtJ--qtHzPlc4LQ4CN_pv7L6WxRYDTCQwCZJTzaAnOMjGpXFuLdF9k61MJGfJKCbkHVuhQKhdZUeHejg9gbKKdw2VlLS_JM_fq6jZICmL5YLOLPa2qGVKlVhuuAMapQE_YiaeyKoF5fyhkHLh1jlLQFuoqnu4YNebmWYCTz1ZLa18TJdzDzOUE8-6_GyQX8bnA27SUx-RO80a8aGVhFIH3gprmPCKL12zcVSQlqzkIf6fjmXQsT8QOQFAuNETR8DsprBHsaewaMqkKd9lIchZJTDczh8_oF3ld9uIWJaH3-JbbA8D1iNj1TyRykiCnwrdkv8A67_xn0zUYSd7f10HC9PkYG4RQli-zvs_yJdLF4nVVnBdwF9p3xKL6iqBDs_88ucwqOJbhN_ZlM2UUzWiUHDkCMoXTqk63YIvVR4Ah1TNWcpjP9BntdETbwBuSCiaHEt7s7uRLZ061fgBeo0sdMENIAjCXdMAg7CUbCxVkedL27QnCbqiPSsgYApmJ0BZMlQ-g7pKb18FNCXIM4cOjerDyF7ZdVwJ5s141vET_ttaZJjbZFisrOwLQ9MtqZ33r_6",
  "id": "rs_05497ed85d2d9111016ab4a104351887d0b7905ece3509efd7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.105,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The jaws have closed to a thin gap, consistent with holding the rim. I’ll lift a few centimeters to verify that the cream bowl follows.\"}",
  "call_id": "call_Soxw8wHM4fatLDQcdVB1ImH9",
  "id": "fc_05497ed85d2d9111016ab4a10503ac87d0b16e037bc47d6f06",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Soxw8wHM4fatLDQcdVB1ImH9",
  "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]: [-0.1066, 1.1381, 1.0607, -0.9123, -0.157, -0.1463, 0.6462, 0.0647, 1.1809, 0.3943, 0.2192, 0.0227, 0.0032, 0.0379]\nstate[eef_state]: left_x=0.2941 left_y=-0.0001 left_z=0.1883 left_yaw=0.0993 left_pitch=-0.4013 left_roll=0.0665 left_gripper=0.6462 right_x=0.3426 right_y=0.0218 right_z=0.0927 right_yaw=0.0313 right_pitch=0.0023 right_roll=0.0097 right_gripper=0.0379\nstate[joint_eff]: [-0.1846, -3.2889, 6.5026, 1.326, -0.1538, -0.0171, -0.0122, 0.2256, -3.9179, 9.3197, 1.8974, 0.188, 0.0904, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d25ffc214f9715d46f5e7a82391c9e2a035ece9d2d576b1883664a4078fd33c7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85d1a228b189fd816e5dea60e9bfb21348eed50122ab3203525bcdac053e9a2c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d97766bd6c2915b777a618ca85f4ea1825c508a3f9b8c954a846f78d0853477",
      "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 26 attempt 0 · /responses · status 200 · 2.897 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 89 changed as sent

message 97 changed as sent

message 101 changed as sent

message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1066, 1.1305, 1.0615, -0.9123, -0.1574, -0.1463, 0.6462, 0.0204, 1.1252, 0.3065, 0.1474, 0.0422, 0.0017, 0.6512]\nstate[eef_state]: left_x=0.2937 left_y=0.0 left_z=0.1906 left_yaw=0.0989 left_pitch=-0.393 left_roll=0.065 left_gripper=0.6462 right_x=0.3106 right_y=0.0025 right_z=0.0591 right_yaw=-0.0287 right_pitch=-0.1009 right_roll=-0.0071 right_gripper=0.6512\nstate[joint_eff]: [-0.1846, -3.0291, 6.4889, 1.2772, -0.1294, -0.0659, -0.0122, -0.2803, -3.2615, 6.5299, 1.9707, -0.0562, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1066, 1.1362, 1.0607, -0.9127, -0.157, -0.1463, 0.6462, 0.0532, 1.4471, 0.2897, 0.5636, 0.0124, 0.025, 0.0375]\nstate[eef_state]: left_x=0.2939 left_y=-0.0001 left_z=0.1887 left_yaw=0.0991 left_pitch=-0.3998 left_roll=0.0662 left_gripper=0.6462 right_x=0.3449 right_y=0.0198 right_z=0.0359 right_yaw=0.0168 right_pitch=-0.0244 right_roll=0.0326 right_gripper=0.0375\nstate[joint_eff]: [-0.0068, -3.3709, 6.612, 1.2283, -0.1245, -0.0269, -0.0122, 0.0068, -2.7009, 4.3966, 0.8767, 0.2857, -0.2027, 0.8669]\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 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1066, 1.1381, 1.0607, -0.9123, -0.157, -0.1463, 0.6462, 0.0647, 1.1809, 0.3943, 0.2192, 0.0227, 0.0032, 0.0379]\nstate[eef_state]: left_x=0.2941 left_y=-0.0001 left_z=0.1883 left_yaw=0.0993 left_pitch=-0.4013 left_roll=0.0665 left_gripper=0.6462 right_x=0.3426 right_y=0.0218 right_z=0.0927 right_yaw=0.0313 right_pitch=0.0023 right_roll=0.0097 right_gripper=0.0379\nstate[joint_eff]: [-0.1846, -3.2889, 6.5026, 1.326, -0.1538, -0.0171, -0.0122, 0.2256, -3.9179, 9.3197, 1.8974, 0.188, 0.0904, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d25ffc214f9715d46f5e7a82391c9e2a035ece9d2d576b1883664a4078fd33c7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85d1a228b189fd816e5dea60e9bfb21348eed50122ab3203525bcdac053e9a2c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d97766bd6c2915b777a618ca85f4ea1825c508a3f9b8c954a846f78d0853477",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtKEPbX9xddqFv8bUgKzR-GH-ikAGAwUvl7O9-oIfFQdwoAXeSxoBzlTHWiH2d9W_R8Rjlu3x32KplWtw22hX3YGY624ice65m-2x_sVUz4_ewswwcJN8kpOMjNelNha-3m5tkKOLK1yUxQzK1fqXraQVcbvvuCjlyhGlJwmZaQiNXt-fX4het03pgYcoc8UD4piwiCJg55n4VstDxITBqxk8PxCTAeMYCfb1m3OCcYZNwPqex77Bh9YkfZIH29cwohzY23b8oRGcbHPZJj6eDN5whHgXv58VEqF7sTL4Bj9jkMsxWAJqrLM_jDLAHsQrXlZmuqNULwYgVnqJZQ6c47AqG0Z2pJW-IGWkuofluc1agwd98CEKoLW92UbewPvhYzFCw-gZggadZkQjzZ9Q_d-7Ix8g4j6kjmORhHlxCho5quYskhQEeR7DcEgq1wBqEZs_P4fXzOG8rAaLnl602C4Q8DTB6F01I0xKKL6hEwIz_C5bXHwR7Ko_DjYr6qJNPZQoVFZ1cQPBpm7liwQoKmL4Z7tW0IwZyduuJT9Uz96JYAMhIBqgWV85N1GBpFGiBNOO9s4tE5RpehVRSRpBZbusupxi62N9-ErHO6DCyNY671UNXjk-VIjnDa3-UfigAfeCtRo_ExuT6IfkSqCNn9QqndItYQt15MIzuMiG2P7E764h8YDNpcuvBEacrQYwRODpf7Bgq6ywrAw5C3Yq6DTotQzjcBy2BlL0m95gFDFgVzOrmuEzQ2hJcCaw6y57CJQ2fwNFp2wrFsBoxYgexTUJd_MubjklWbGghACKuoynnLXd9peiDKUhRbNbn8csMxpVZWbfnakaghOF9V3KkdC8t1vajEJI4A5rLzq1bMhOfrnju1ox8j6BU9vG1Kxr5uqRsd0iwgpFCHzmJsDCiH619uvLxB33rYyARwg0shU0gkuKNy7OVM-00qSYjsRCzJ6LfrylwJ2liVWcJpDkBRPQp6iItbz2b88Rc3ZSZEAH0RbO5McV08dfYRs7txehm3uAXLeTJABzVkdMeLeC9i1cRaEts3qAY1u0SUiz8pbErILU0BGd_BfNa5lM7g7es44paDBx8mMGUDsvRLscLCVUAeiCfDX9_DcVxWqkj2UmV2XqzvD7dwW_EHNCbQGox_gfqwNFj8CC2Q0sKIF9Vdco1aphRenzDqEK1RhqgnfjfkmGO00jL_s_h_wQj0BgfIKbWl7jSQZatrEhfm1cZwqRYumS7ihudZoDF6kCCnEWLvlt3UJ4V0QHAVHV7IFBJhusYOOr6lLQyW53uDQMa6joIx26CwWMxUKNfLjzLj5DmaySAfhlJU-8SWseho6l901n0Li5XiTAk2v9u1bT0V103UnIEP7C33pVHGE2sN1Z6GK6YqrTRkd5fkonZF8rsTYFP4Jk1Ln5t7AH_Y-K1Fl86v76xBZexWUMq2d9XeyAAv8n7wXePrSs9VwOUcVbSXLBAQelk1-eb9mmL9BiXhzbYX75r37pxH4LiW3AfPqwdyNOz4xigWaLgm5dtiDMF2eXfgMqUMJN_Vs9CDFtYkqaYgk2A01iz4Sa2c_v4d1i-87ti2aE1JdHVlK6KBAuNGtsVzwbVTVnD4Y0V7_BuU9W-2wFQFoA4LrfEu8Lxoe6wauvt1YCj0Kszghh7qzQ7deVGUXoRlzLAKp2HlHVE6oUFnDCYyqfpU9v5kRFgT3sWxUUWp_sJflEACxR67SsELJfYj7psp1MAW21zic5VFV8DM34f2bsShEHSe5RCWST3Qg1v59RmgsSblluACoux3p6OuTLY463_n_7DcPGq9ZzkQwtZCGSBJcZB4Wu_Bk5ZxJiENnxhpVln1kBrsdeyCOMQKsiLyCfMhbzBO7URfFOCkPfXLswNFjWJFLUiCj6SnLfxpsnrgXIjqrEoVgBACI2VF1bKgw3nRjKpCAN0xR7PnESexnct_S1ow38-rKrtSP7eYTGAlvJdT0VnkYAXgOpw9RpFLMzmeA6MyTBp6nMVVHMsTWPs2AjK90lf5MQR_GgYvb70redS4mb75YG2E2C_Td5XDrmKwpBvWPelH-GDUJTdzawSozVpKobH_WiAcNoSyNTaWzy0QRrnCUMXT_JtxUXHqRfoe_w5lYhWvBZE_PmCRxk64LX8tfdBRF93G3cMcWTsA0X4TlvdNCD44EHS0Agme9Rg4Kh-rXfG-b-2QyJ23fPGRQAPCKzxDxB7W408f7RURrTn_Tizak8lUWsLmWoTFJME6nrm1qvH9PNmurRoaWoTGNiQBORoyxFDxJKM0pQGtcHv0TrZJiKCUb_d4omOjSXpIrXAarFC9lXOGlpQ_EbzaXF4d3llyLFbSfJRWMONwjSTjnjxXVKN8-WAPBR--nz4ROOooFVEJmTV5k5X5QOAWiRc4ZeZvyxQ35L2dpd1CwaXgyLq7hoQ9L9rnJE3PZoNng4qchzMhazRVc7HxTbjo3vIseJeRrHi2aDR2AtBg6-Gw0_EWU5h5d4SSM5gR9dGT9l8vcYA6G1s6a9zx1EBfcIQl2VUE-r-1hg03kIPiV3uNSzkMq5OIAbzVMqCNpfr76YZ4XK9fjq4iUMjauO98wNAy0bumtlZW8R1U9EStM57k_JvCIJ4FpC0Y2NVkp9m_GazLYxdDi33HJo7mQ_9HaDoYnunh20-B1makGWkVlSAIKPvnR5eQ7qDKiIJKeWGkFkPjMADjV2uKSu0rO5is5VIHsFXkVrnOM=",
  "id": "rs_05497ed85d2d9111016ab4a108c76487d0adb8831792570e07",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.22,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The cream bowl lifted with the gripper and is clear of the table. I’ll raise it above the existing stack before moving it sideways.\"}",
  "call_id": "call_hLk6fqNpaYfkAUaAhrErJCyN",
  "id": "fc_05497ed85d2d9111016ab4a10e8b9887d09ab55773f03c8c7b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hLk6fqNpaYfkAUaAhrErJCyN",
  "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]: [-0.1066, 1.14, 1.0595, -0.9123, -0.157, -0.1463, 0.6462, 0.0654, 1.0397, 0.791, -0.3496, 0.0357, -0.0051, 0.039]\nstate[eef_state]: left_x=0.2941 left_y=-0.0001 left_z=0.1873 left_yaw=0.0995 left_pitch=-0.4043 left_roll=0.0672 left_gripper=0.6462 right_x=0.3419 right_y=0.0197 right_z=0.1987 right_yaw=0.0257 right_pitch=-0.0283 right_roll=-0.0056 right_gripper=0.039\nstate[joint_eff]: [-0.0342, -3.5214, 6.5709, 1.2625, -0.1392, -0.0415, -0.0122, 0.1573, -3.7949, 9.9897, 1.8144, -0.0659, 0.0024, 0.8718]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:771ee697d5d751ffaad792c1e26aa0fdcdf31e844350cc3038870b23311b5ace",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04caf98e1a7e3e181cddee8d9173f209718be9707f589f60c827d61550360f7a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47f7146f3131d4a980d6c73f598780ed09ab573f66dc04bc1cb3b47a49653e8d",
      "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 27 attempt 0 · /responses · status 200 · 4.68 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 93 changed as sent

message 101 changed as sent

message 105 changed as sent

message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1066, 1.1351, 1.0607, -0.9134, -0.1574, -0.1463, 0.6462, 0.0525, 1.4658, 0.2813, 0.4873, 0.0475, 0.0044, 0.6512]\nstate[eef_state]: left_x=0.2937 left_y=0.0 left_z=0.1889 left_yaw=0.0994 left_pitch=-0.3994 left_roll=0.0664 left_gripper=0.6462 right_x=0.3291 right_y=0.0125 right_z=0.0121 right_yaw=-0.0028 right_pitch=-0.1266 right_roll=-0.0098 right_gripper=0.6512\nstate[joint_eff]: [-0.1573, -3.6444, 6.5436, 1.3065, -0.1441, -0.0415, -0.0171, 0.3077, -5.6547, 5.2718, 2.2344, 0.2906, 0.0904, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1066, 1.1381, 1.0607, -0.9123, -0.157, -0.1463, 0.6462, 0.0647, 1.1809, 0.3943, 0.2192, 0.0227, 0.0032, 0.0379]\nstate[eef_state]: left_x=0.2941 left_y=-0.0001 left_z=0.1883 left_yaw=0.0993 left_pitch=-0.4013 left_roll=0.0665 left_gripper=0.6462 right_x=0.3426 right_y=0.0218 right_z=0.0927 right_yaw=0.0313 right_pitch=0.0023 right_roll=0.0097 right_gripper=0.0379\nstate[joint_eff]: [-0.1846, -3.2889, 6.5026, 1.326, -0.1538, -0.0171, -0.0122, 0.2256, -3.9179, 9.3197, 1.8974, 0.188, 0.0904, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1066, 1.14, 1.0595, -0.9123, -0.157, -0.1463, 0.6462, 0.0654, 1.0397, 0.791, -0.3496, 0.0357, -0.0051, 0.039]\nstate[eef_state]: left_x=0.2941 left_y=-0.0001 left_z=0.1873 left_yaw=0.0995 left_pitch=-0.4043 left_roll=0.0672 left_gripper=0.6462 right_x=0.3419 right_y=0.0197 right_z=0.1987 right_yaw=0.0257 right_pitch=-0.0283 right_roll=-0.0056 right_gripper=0.039\nstate[joint_eff]: [-0.0342, -3.5214, 6.5709, 1.2625, -0.1392, -0.0415, -0.0122, 0.1573, -3.7949, 9.9897, 1.8144, -0.0659, 0.0024, 0.8718]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:771ee697d5d751ffaad792c1e26aa0fdcdf31e844350cc3038870b23311b5ace",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04caf98e1a7e3e181cddee8d9173f209718be9707f589f60c827d61550360f7a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47f7146f3131d4a980d6c73f598780ed09ab573f66dc04bc1cb3b47a49653e8d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.265,\"right_z\":0.23,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The cream bowl is held above the stack’s height. I’ll carry it leftward, keeping its center offset from the rim grasp, toward the green bowl’s opening.\"}",
  "call_id": "call_0hM30RD8lmyKULpQ6mJnF42X",
  "id": "fc_05497ed85d2d9111016ab4a111c5c887d08ae250de37e1c721",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0hM30RD8lmyKULpQ6mJnF42X",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.107, 1.1408, 1.0588, -0.9123, -0.157, -0.1463, 0.6462, 0.897, 1.5948, 1.3045, -0.5537, 0.6609, 0.5087, 0.0423]\nstate[eef_state]: left_x=0.294 left_y=-0.0002 left_z=0.1868 left_yaw=0.0993 left_pitch=-0.4058 left_roll=0.0675 left_gripper=0.6462 right_x=0.3424 right_y=0.2609 right_z=0.2068 right_yaw=0.0725 right_pitch=-0.0625 right_roll=-0.0589 right_gripper=0.0423\nstate[joint_eff]: [-0.1846, -3.3846, 6.5709, 1.2332, -0.1001, -0.0415, -0.0122, 0.2256, -8.0068, 9.8803, 1.5165, 0.5397, 0.2418, 0.735]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f619cae270f5c0ffe45a3f99430e42e597fd0dd094d321acee52209819ecb3e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c0063e4fc7b98c260d3700ade868a125530df86cd8c5caf6fb61237fba2c2e7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55ecb2cc193ab713d9d5e5908ecfb29ab859f8aadf2895c27851be02084c5997",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /responses · status 200 · 3.16 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 97 changed as sent

message 105 changed as sent

message 108 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1066, 1.1362, 1.0607, -0.9127, -0.157, -0.1463, 0.6462, 0.0532, 1.4471, 0.2897, 0.5636, 0.0124, 0.025, 0.0375]\nstate[eef_state]: left_x=0.2939 left_y=-0.0001 left_z=0.1887 left_yaw=0.0991 left_pitch=-0.3998 left_roll=0.0662 left_gripper=0.6462 right_x=0.3449 right_y=0.0198 right_z=0.0359 right_yaw=0.0168 right_pitch=-0.0244 right_roll=0.0326 right_gripper=0.0375\nstate[joint_eff]: [-0.0068, -3.3709, 6.612, 1.2283, -0.1245, -0.0269, -0.0122, 0.0068, -2.7009, 4.3966, 0.8767, 0.2857, -0.2027, 0.8669]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1066, 1.14, 1.0595, -0.9123, -0.157, -0.1463, 0.6462, 0.0654, 1.0397, 0.791, -0.3496, 0.0357, -0.0051, 0.039]\nstate[eef_state]: left_x=0.2941 left_y=-0.0001 left_z=0.1873 left_yaw=0.0995 left_pitch=-0.4043 left_roll=0.0672 left_gripper=0.6462 right_x=0.3419 right_y=0.0197 right_z=0.1987 right_yaw=0.0257 right_pitch=-0.0283 right_roll=-0.0056 right_gripper=0.039\nstate[joint_eff]: [-0.0342, -3.5214, 6.5709, 1.2625, -0.1392, -0.0415, -0.0122, 0.1573, -3.7949, 9.9897, 1.8144, -0.0659, 0.0024, 0.8718]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.107, 1.1408, 1.0588, -0.9123, -0.157, -0.1463, 0.6462, 0.897, 1.5948, 1.3045, -0.5537, 0.6609, 0.5087, 0.0423]\nstate[eef_state]: left_x=0.294 left_y=-0.0002 left_z=0.1868 left_yaw=0.0993 left_pitch=-0.4058 left_roll=0.0675 left_gripper=0.6462 right_x=0.3424 right_y=0.2609 right_z=0.2068 right_yaw=0.0725 right_pitch=-0.0625 right_roll=-0.0589 right_gripper=0.0423\nstate[joint_eff]: [-0.1846, -3.3846, 6.5709, 1.2332, -0.1001, -0.0415, -0.0122, 0.2256, -8.0068, 9.8803, 1.5165, 0.5397, 0.2418, 0.735]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f619cae270f5c0ffe45a3f99430e42e597fd0dd094d321acee52209819ecb3e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c0063e4fc7b98c260d3700ade868a125530df86cd8c5caf6fb61237fba2c2e7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55ecb2cc193ab713d9d5e5908ecfb29ab859f8aadf2895c27851be02084c5997",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtKEZGzJ2M7DO-3Cib3AXVcIkMvGNOOXSj4q0d5m43zUXFOjp7Bhn8kOKTqDYBD7e-fL8YLcjeksfQb9tdrQfNgoZ-NDmvHieJCttYpF5_Qc4VTlpPK5XZ85i-DI3zSFaDM7_YlDJU_S-WS6zYqq4ITeKL3IALdnkKiW_oaguZ43ct_Usw9Mr3otYx-HknQwbh3Z4XBsmwmileJx6URA7VvDKFAJukIzkY1T-Yru_bWQqZBBEbDt7X4Q0CTJ0DWyfwVEWeqLllkIxDlmM7-bfNU_VI4i3X7fKeBSrpvIHBu7OGW7mAfXKuvZvoIB0zo4a7-137t6LWr5UY9H3LUDjChMjHZeeF0FgfGcuLDtPFZHOr09zjkNW1rT1I5dmaY3piy1_koCWePm8l-hXcW2a7i58jHUSB54GIPmaH_yYuNs79oTcu4djvoa6qPQqeAalO86HJSBRqLCBI6wmzr9JZT645W4ELi-9CemdHZqfC8LhjMAe4YGh6dpmF2pe6FGCxD6-zamtAZgFKWAw98-njeTtOZUQkW1-_v5jfLXn6IZrr9oU57HOVulthJbEx8Br8dCxRH6Vc6Rzk_r-pEkI0MWeBFdv74Lpg_txcPuVY8c-oJklDHDK-1IeWPQrOf8RHOHBUsVvzPx9tVWTNnPR5EgfetdhKWwzGXFdshKrlRZc4s7MIMLxAAQ14tSQuHy5zsmO3agTdzN-AepIVsfKjZPEt3k2stRzKTksgMNKYxX7Ms6Et1Zmehtp_U0V-FuMMZ9T_A0O7jlpQsolZ3KRgtZHFzGjFEvTguaMzyOkIgPYiBMlq8IDNxtQYt5-RoFrLj2n3EWK7FnvvZ4HX29oTbjv4c8fT7zO0wjqg8IXNb1mfZy4AjWK2EOTGIs4Hzzs_QQNH_6zSVY1O6Rcy6oEZOOxrW6Em_0RGs0o5wgCwj-VkcuEQd9BJK1BrDWt55HHq7fkiU50f0kxVc3IhxZplkFfE96hHyysKXQeFrkzOW963LxHLHm8-czr6Hmd37VDHtNgOYZ8DTQTaP0q-WwnJaP6Q3p4L63qrwV0h0gp8Udxe3cmMO5l_e9gKBVe6uVA5wz-MrmS9_6yvrdiy88Z0Fy63nAdsNNGgeqcIsivo1eF8yEROmFbBmV3ZsE-wyD0_i6X1H38af-34yDjVl3lKipp9e5Ja78HHfLR-KtysytlqZIluJC9Nkvp0b8l1tXdpPLz0TZXgKjHYs81N3hYnRGI-STdfwa4faY7oXkdQrvw9i-sPViQ0Dym89EQBm2VRiN3T7DBWrd4StIUwa4aiO-mwJoOp_EcUJrZqBMKw02caxIapf2DHAhNOLNlVdvUWegZnOGppv697XeXhcyFzMpIeBQJ-1a7NxnefkCy-vZfjrD6pej6KqBgwvlGe9Ae28bVbgzrvTGGST6VLivIL3aYNYi3WM5LPLpY4a8Hgt7Z1OmudjN6NVA8TAeI8mzDmLdFlSpStCynXg4ibqwSu_KwUlrWEI0K0T6tMRk7RZKnOFZEeGMfXdbpvWUgmTy1wTuBFhTHzCm6jfdga0RH0OF_Ioe8atkAkFIbBV_lTb0AYIotdM0wccpRY89DMN5nFUnQdnApx6rK_DihBz16P5QOglpDa1AKCTTId10C4xBCyYm73o5PoKt8LAlKkENeESIcQFIBaDRXQd4IBV1fKqwFw9HyyQGDw_wbkBLzz1_z_au4CRl-YU9n7Z2DpEK--VpEjIf5pEAXrPjiwH9Sw6Ew-sw68RcUJj3IYx-F5OMMfOk=",
  "id": "rs_05497ed85d2d9111016ab4a1167cc087d0b32dfb3c5f745aec",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.24,\"right_z\":0.14,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The cream bowl is over the stack but appears a little left of the opening. I’ll shift it slightly right and lower toward the green bowl.\"}",
  "call_id": "call_zAN3NA6f4hCfsA89zl9vQzvd",
  "id": "fc_05497ed85d2d9111016ab4a118ce6887d09afdb892ba84b934",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zAN3NA6f4hCfsA89zl9vQzvd",
  "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]: [-0.1066, 1.1427, 1.0588, -0.9123, -0.157, -0.1463, 0.6462, 0.841, 1.5764, 0.9573, -0.2405, 0.6266, 0.4671, 0.0451]\nstate[eef_state]: left_x=0.2941 left_y=-0.0001 left_z=0.1863 left_yaw=0.0998 left_pitch=-0.4076 left_roll=0.068 left_gripper=0.6462 right_x=0.3379 right_y=0.2277 right_z=0.1213 right_yaw=0.062 right_pitch=-0.0935 right_roll=-0.0854 right_gripper=0.0451\nstate[joint_eff]: [-0.1162, -3.5077, 6.5436, 1.2576, -0.149, -0.0464, -0.0171, -0.5265, -7.8838, 7.1863, 1.8291, 0.3443, -0.0562, 0.5641]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07f286bbb5b9eca8001869dafbbff76a109ed246787e4c93071ebbc564b6a19a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a7528baccbac4778292c8a570721f2905add273973775eb651ab54a4544224d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64206a410bfcfb539c243221ea8128085e1321305ec0c3cbc308ec6852946fb4",
      "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 29 attempt 0 · /responses · status 200 · 5.044 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 101 changed as sent

message 108 changed as sent

message 112 changed as sent

message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1066, 1.1381, 1.0607, -0.9123, -0.157, -0.1463, 0.6462, 0.0647, 1.1809, 0.3943, 0.2192, 0.0227, 0.0032, 0.0379]\nstate[eef_state]: left_x=0.2941 left_y=-0.0001 left_z=0.1883 left_yaw=0.0993 left_pitch=-0.4013 left_roll=0.0665 left_gripper=0.6462 right_x=0.3426 right_y=0.0218 right_z=0.0927 right_yaw=0.0313 right_pitch=0.0023 right_roll=0.0097 right_gripper=0.0379\nstate[joint_eff]: [-0.1846, -3.2889, 6.5026, 1.326, -0.1538, -0.0171, -0.0122, 0.2256, -3.9179, 9.3197, 1.8974, 0.188, 0.0904, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.107, 1.1408, 1.0588, -0.9123, -0.157, -0.1463, 0.6462, 0.897, 1.5948, 1.3045, -0.5537, 0.6609, 0.5087, 0.0423]\nstate[eef_state]: left_x=0.294 left_y=-0.0002 left_z=0.1868 left_yaw=0.0993 left_pitch=-0.4058 left_roll=0.0675 left_gripper=0.6462 right_x=0.3424 right_y=0.2609 right_z=0.2068 right_yaw=0.0725 right_pitch=-0.0625 right_roll=-0.0589 right_gripper=0.0423\nstate[joint_eff]: [-0.1846, -3.3846, 6.5709, 1.2332, -0.1001, -0.0415, -0.0122, 0.2256, -8.0068, 9.8803, 1.5165, 0.5397, 0.2418, 0.735]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1066, 1.1427, 1.0588, -0.9123, -0.157, -0.1463, 0.6462, 0.841, 1.5764, 0.9573, -0.2405, 0.6266, 0.4671, 0.0451]\nstate[eef_state]: left_x=0.2941 left_y=-0.0001 left_z=0.1863 left_yaw=0.0998 left_pitch=-0.4076 left_roll=0.068 left_gripper=0.6462 right_x=0.3379 right_y=0.2277 right_z=0.1213 right_yaw=0.062 right_pitch=-0.0935 right_roll=-0.0854 right_gripper=0.0451\nstate[joint_eff]: [-0.1162, -3.5077, 6.5436, 1.2576, -0.149, -0.0464, -0.0171, -0.5265, -7.8838, 7.1863, 1.8291, 0.3443, -0.0562, 0.5641]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07f286bbb5b9eca8001869dafbbff76a109ed246787e4c93071ebbc564b6a19a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a7528baccbac4778292c8a570721f2905add273973775eb651ab54a4544224d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64206a410bfcfb539c243221ea8128085e1321305ec0c3cbc308ec6852946fb4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtKEcAyKNjvMpsMdkvXPP56DSWYfNfhqPIVARvYa2gDLxep0giKqlZfYU6nFD3zcm-p-CtI3ih-9EBg_BtRhpIocqHPR3_Y7fN_aRf9NO6WPomal5XVVIuz5IK4ONZ_IVC7636dT4VRMTlPyF1Cg1yW7nZrfFoL1nR_1FJkNmS4TjRvWqPOa7PzV62DjCgvzxEkkC-nSdZx8JRUURSFc4SQfXWvRmaK57bTuyWd6BEz23yqroBy87D5jqoj8brouCZIKOgPgClURWch3XXB2JSRgqgBqWCAdlMkGheCZ7qr-khRMWQSs3zxM2SMrSfu2iv-0OkauOJ2fWTpIbREYCbS2MbXIf3hQbZ7zM_lGbNCMddAZgtfhAtybxF9xh2vJbeUr2KsB-hF1os16lDHCTBVfkFMqmOJaw9RMZTVZlTrZHkGGNsxJy77QtaRvGXhsLbGvoUgSxzb94RYJqjFt2Kg1iCY91neSZu645nlwXkPM22sCWl37U31xCwUemOGUGqb5U74ebunGyitsAk4sc6B1he7NiMdiBLCONKQYqanLM9i7ugjLZ_BzUL6HdN8S6GmckSTy469V8VT9hKk0vEVkCJvshVSzoOh4t0jUNTfHBp-VWcFeNI5zYRA05Z_s_48Jc3dHm_mnXFMACsC0myW4O-MqMuUven8O_RMRdI2BrFtsi6HmGeTu60rEODjAKXCpZgdGLXQkYWx1bZpYTXgf2xcI5wFWFObX7hwW6KIQFuJw8QbIdQAA5WQE366-aBSjrfgihe3TkHEeKYRE6HKv-uKz20Ir5Egvu1NllYrhjL-aKjA_1Br2JDqqoeGjBt_kFwOxwfr_RleDkGqxFa-ZfKU-iiR_wanNacSD6InMG-Ere7qDypHaWiHkt0QACya4bniwLjcDgxZHOO_2WJIArNLSQSJbIu-IqaWCePfP8S9W4AtXwQZV-RtvNlkPQh0rFP7iqblEOI56egZwDafPhX6fGJ0tou85uBRRNV3mm4i_VLmYfMxpw-qtxOsNbsan50sJ_esJIjWnEMp0gGZK_OBCcGEnw8KQzqmMz2lrQ4m5_r2zA14SdJFgM656rDOjEfNtp9rwRCy-oikpQCvkURuwlO1XLVwNyQcSjIh2Y2m9tboaXsdGtb2vv6n0KemvqJFY_qjnkUwXhGJBKyK_FJfE5vLStpz1gGdm4z8nYPqFQkGOqttwxa3X4W60GGN5c-NceO7HDXvARs6dCC0t4QxP0ZZFzRZQh_VepzuM4ehejUwujkfIHt8RyPO_qqtzaMB137ujzLcM2npCmAkdKvQ==",
  "id": "rs_05497ed85d2d9111016ab4a11ba6f087d0a593304ab4ff59a9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.08,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The cream bowl now looks centered over the other two. I’ll lower it gently until the stack supports it.\"}",
  "call_id": "call_JejIzxAY2heqBXXHLzPUi0nW",
  "id": "fc_05497ed85d2d9111016ab4a11c042c87d08f5df8bdcf685252",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JejIzxAY2heqBXXHLzPUi0nW",
  "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]: [-0.1066, 1.1427, 1.0588, -0.9123, -0.157, -0.1463, 0.6462, 0.8379, 1.6199, 0.7517, 0.0555, 0.627, 0.4625, 0.0474]\nstate[eef_state]: left_x=0.2941 left_y=-0.0001 left_z=0.1863 left_yaw=0.0998 left_pitch=-0.4076 left_roll=0.068 left_gripper=0.6462 right_x=0.331 right_y=0.2182 right_z=0.0728 right_yaw=0.0637 right_pitch=-0.06 right_roll=-0.0563 right_gripper=0.0474\nstate[joint_eff]: [-0.1026, -3.2068, 6.5573, 1.2723, -0.1538, -0.0708, -0.0122, 0.4991, -6.0239, 6.7077, 1.3114, 0.1294, -0.0317, 0.525]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:227e5fb3352b769c9951cc6956e6cb0926cdb7f2c57a67ae57caa3f1866077ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:813e28cd8dfb4c2f4443137d3885e9b6147192130bf3f21fb26b46759643fafd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b8c566cedb778621154e53fa65f709e77e721fd8ec584a1fbefd0d8d2aef817",
      "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 30 attempt 0 · /responses · status 200 · 2.985 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 105 changed as sent

message 112 changed as sent

message 116 changed as sent

message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1066, 1.14, 1.0595, -0.9123, -0.157, -0.1463, 0.6462, 0.0654, 1.0397, 0.791, -0.3496, 0.0357, -0.0051, 0.039]\nstate[eef_state]: left_x=0.2941 left_y=-0.0001 left_z=0.1873 left_yaw=0.0995 left_pitch=-0.4043 left_roll=0.0672 left_gripper=0.6462 right_x=0.3419 right_y=0.0197 right_z=0.1987 right_yaw=0.0257 right_pitch=-0.0283 right_roll=-0.0056 right_gripper=0.039\nstate[joint_eff]: [-0.0342, -3.5214, 6.5709, 1.2625, -0.1392, -0.0415, -0.0122, 0.1573, -3.7949, 9.9897, 1.8144, -0.0659, 0.0024, 0.8718]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1066, 1.1427, 1.0588, -0.9123, -0.157, -0.1463, 0.6462, 0.841, 1.5764, 0.9573, -0.2405, 0.6266, 0.4671, 0.0451]\nstate[eef_state]: left_x=0.2941 left_y=-0.0001 left_z=0.1863 left_yaw=0.0998 left_pitch=-0.4076 left_roll=0.068 left_gripper=0.6462 right_x=0.3379 right_y=0.2277 right_z=0.1213 right_yaw=0.062 right_pitch=-0.0935 right_roll=-0.0854 right_gripper=0.0451\nstate[joint_eff]: [-0.1162, -3.5077, 6.5436, 1.2576, -0.149, -0.0464, -0.0171, -0.5265, -7.8838, 7.1863, 1.8291, 0.3443, -0.0562, 0.5641]\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 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1066, 1.1427, 1.0588, -0.9123, -0.157, -0.1463, 0.6462, 0.8379, 1.6199, 0.7517, 0.0555, 0.627, 0.4625, 0.0474]\nstate[eef_state]: left_x=0.2941 left_y=-0.0001 left_z=0.1863 left_yaw=0.0998 left_pitch=-0.4076 left_roll=0.068 left_gripper=0.6462 right_x=0.331 right_y=0.2182 right_z=0.0728 right_yaw=0.0637 right_pitch=-0.06 right_roll=-0.0563 right_gripper=0.0474\nstate[joint_eff]: [-0.1026, -3.2068, 6.5573, 1.2723, -0.1538, -0.0708, -0.0122, 0.4991, -6.0239, 6.7077, 1.3114, 0.1294, -0.0317, 0.525]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:227e5fb3352b769c9951cc6956e6cb0926cdb7f2c57a67ae57caa3f1866077ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:813e28cd8dfb4c2f4443137d3885e9b6147192130bf3f21fb26b46759643fafd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b8c566cedb778621154e53fa65f709e77e721fd8ec584a1fbefd0d8d2aef817",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtKEi1iX7lZn70Be9W_HJQiDqy8sfx188WS4ocl76uAsQzsZ1yyPJxvCGd6kyh_4fTlOoypUDqkUP3WXAtHzENP2jCqsVmrRQb4lh-3XoMPZ-UVEAFPLWgGjfbsApEaUIt3rSlrJn56VrLg7zG2E9OCZFPmcjBH8ZweyynkWRPgDlQLK7xBEIE3GgqphkhmcHqHYEcdk0wPY49Caj-KGFSJn1c1scGu9ZH7hbHU_W42GDrDx0Z4HWCWf0Cm9w9Kcr_f98VoICYP91gew4hZC-7U4wAhgkFETcXC8d6E1CpSYCUPhbgl4G8Mt0YOGTYV-wFQ2iELp8XMUNv_-qVySHRlIB0S43wL0Lar-1-QRs0suGvjFyjOEVNXjGmmRU84qz7zZ1nCtVHU6n2TVYG3Sbo_Ir1DpSVvknBHGUk43ZNchwCzgWPb-DAtjQzqJTbLqQlHQNpgv_y-wex9mqSlNAHc9Xc4u6G9MuHXQxNg0eGtmWo6kRvnsM0eYNbTTGT4_sMDLsdEMWQmGcxznk5zK9_EX2l9Cs6byE6OD71i14yOe3pp1I1dZOO9l6uAvBYFkC849if80c1ao_rG94wiqN3CIZAve_Spv3EUFLOkIaLnPnDmHeLrjJnwmqI-zv_J4BnMrMUhDC9ccPMDGuJ3vFgnrA3zljJOSIksckKaFJnYtOOKOxiqdsKwZh_hJI3KxgkxHETz4GxsRB4Uk4scvaqr1u75aKwesGKY4gf3ISLhvG3YjkrCpRydKcqK_h2-NXFI7z6Lc-_d4CGUuQuBQFk69sc3fF9bAG9n5uyHX7QmIqSTGYdTgIGyo_MkzV6PgyP5YKC-y_WZGci4N0w8Nh1eqm9meBslNwHVvSh6uKf5JFStDLaYGTJT-Ztv5Bb9wKc-k0x8HaataIUFk0ScYeYpcU0kbEMGFTi-OAOJLV3CAIMFEjsquCFHXj9IktwwnUzyBHFyY2Vvj20xXaL1AsX436I3ZMo7_WmKLG463jwxnxwx8DIxvYAyxSjhZUsekcxBlk4Jy_S3cXzheFQZIkZSdZL5m7fnvkNX-N6nkBjzGvvGI9t2C608Zz9Ufr9faof_av-MVxoFX4piKglgiyCr_iPY0idSbRuHpOh057Nhk23ojJvSrKjAdR-7wZtsE1Dxw9OPxpcPklrbFk-p0S0dpIYBxjc4MIkW6UnXnuqMTlpRqyg8bpnZDRdS1axjnZOI1LDxh6ybIqzZ_2oMghZWhYDDS7-4Jh9l3fEoH6fWEpzeYOg3T4T7Fq3oc6DMMtlzXaPKUnuBByqBEKpDmcnRzl64Q2lle-KUpLp_GW4YxKL0bf7ndHZMSIgU25HgVcbmE1vWnS1pzrCHfoPnbDEqtbAlPT-abiH1kUJaA_XmyhO0RMFw5e4MCoopeTZXL7KSoXT5kMRMM5rj1ie7ZTisD0QhgG3GLABvs_xcfZCKSf1ub_NFcjMTPXdtl_A8wDryuEYYUmzX86F3SBxQHCVR_H7vCmcLDNQ_MSa8gkqj24hJHq067rMQz-6791EtTmpMyu1HbExnXyRttncAwcmZk9W2zQNnrH-jEaPUI_WVkl_-lKZRUmjzwzlWxtsxVXWHwdFvXnXSg3bZlNMjxHLhhTurmH-6-2huwp2ohjZxeYk9XDcVNHUlCsJXE3uVXuAE-aL8U5dNYEYtbowT_LnA_sPBHZyltWYeM8Z9lAAvE_lQuUksF6vjlUjkGgVYOMBBCi7rCubE5ilRmXhP0AFdL5yNsVQ2h9c1tKanuAnA8izMdeDv2z4MaG9OfrpLG8M9DaICpNioo1-LHP-752teKTr6zverT5mSbq3vzgG5qDvRfnw4PrWqVGcTIdYdTBHBVo2vi4vNrQqTaTGE21YAWGEg3vZ1CR9P7KS_Q78QnSF8BwehzzfXsd9zyRWjHR4vN5mqyuB8urXV_5j71TPoXFB2thqVHrzLQ_a-zwgPql1mHse6mtUOlm2f4cPQnOWbwosflYwelzbPSB066fSIx6xsrP1Ttr0gohUjWFemkD8KwzgM582TU4LuhqnPdiGQnEff60Zti01qT1GG53UXOtW-QuF9mtEieyBfeoQWVNtGU=",
  "id": "rs_05497ed85d2d9111016ab4a11f1b9087d0a0d7803642ff759e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.65},\"note\":\"The cream bowl has lowered into the stack, and the wrist load has eased as the bowls support it. I’ll open the gripper and let it settle.\"}",
  "call_id": "call_Pq8OhPljVGKLXVKIug8qLyQv",
  "id": "fc_05497ed85d2d9111016ab4a121fb2887d0946eef97c4ca0680",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Pq8OhPljVGKLXVKIug8qLyQv",
  "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]: [-0.1066, 1.1484, 1.058, -0.9127, -0.157, -0.1463, 0.6462, 0.8425, 1.6348, 0.7422, 0.1394, 0.6205, 0.4679, 0.6461]\nstate[eef_state]: left_x=0.2944 left_y=-0.0001 left_z=0.1844 left_yaw=0.1005 left_pitch=-0.4144 left_roll=0.0695 left_gripper=0.6462 right_x=0.3358 right_y=0.2276 right_z=0.0762 right_yaw=0.0718 right_pitch=-0.0205 right_roll=-0.0071 right_gripper=0.6461\nstate[joint_eff]: [-0.0479, -3.7128, 6.5846, 1.2137, -0.1392, -0.0757, -0.0122, 0.1162, -6.9949, 5.8188, 1.6777, 0.3101, -0.0855, -0.0855]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1fbbb79de57fb78d0d054b8d6d9fa1c76aed5573daf62d35177fb9b1cff0bd8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f3c7632315c2ef5fe201ff9c4889c341cc6946abef00ea8c9bf90fbbbd8d156",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bc10f1b483e13d16d1f9ea34f446d46d77925c6782c7419868f6ca5ba71aeb3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /responses · status 200 · 2.777 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 108 changed as sent

message 116 changed as sent

message 120 changed as sent

message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.107, 1.1408, 1.0588, -0.9123, -0.157, -0.1463, 0.6462, 0.897, 1.5948, 1.3045, -0.5537, 0.6609, 0.5087, 0.0423]\nstate[eef_state]: left_x=0.294 left_y=-0.0002 left_z=0.1868 left_yaw=0.0993 left_pitch=-0.4058 left_roll=0.0675 left_gripper=0.6462 right_x=0.3424 right_y=0.2609 right_z=0.2068 right_yaw=0.0725 right_pitch=-0.0625 right_roll=-0.0589 right_gripper=0.0423\nstate[joint_eff]: [-0.1846, -3.3846, 6.5709, 1.2332, -0.1001, -0.0415, -0.0122, 0.2256, -8.0068, 9.8803, 1.5165, 0.5397, 0.2418, 0.735]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1066, 1.1427, 1.0588, -0.9123, -0.157, -0.1463, 0.6462, 0.8379, 1.6199, 0.7517, 0.0555, 0.627, 0.4625, 0.0474]\nstate[eef_state]: left_x=0.2941 left_y=-0.0001 left_z=0.1863 left_yaw=0.0998 left_pitch=-0.4076 left_roll=0.068 left_gripper=0.6462 right_x=0.331 right_y=0.2182 right_z=0.0728 right_yaw=0.0637 right_pitch=-0.06 right_roll=-0.0563 right_gripper=0.0474\nstate[joint_eff]: [-0.1026, -3.2068, 6.5573, 1.2723, -0.1538, -0.0708, -0.0122, 0.4991, -6.0239, 6.7077, 1.3114, 0.1294, -0.0317, 0.525]\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 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1066, 1.1484, 1.058, -0.9127, -0.157, -0.1463, 0.6462, 0.8425, 1.6348, 0.7422, 0.1394, 0.6205, 0.4679, 0.6461]\nstate[eef_state]: left_x=0.2944 left_y=-0.0001 left_z=0.1844 left_yaw=0.1005 left_pitch=-0.4144 left_roll=0.0695 left_gripper=0.6462 right_x=0.3358 right_y=0.2276 right_z=0.0762 right_yaw=0.0718 right_pitch=-0.0205 right_roll=-0.0071 right_gripper=0.6461\nstate[joint_eff]: [-0.0479, -3.7128, 6.5846, 1.2137, -0.1392, -0.0757, -0.0122, 0.1162, -6.9949, 5.8188, 1.6777, 0.3101, -0.0855, -0.0855]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1fbbb79de57fb78d0d054b8d6d9fa1c76aed5573daf62d35177fb9b1cff0bd8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f3c7632315c2ef5fe201ff9c4889c341cc6946abef00ea8c9bf90fbbbd8d156",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bc10f1b483e13d16d1f9ea34f446d46d77925c6782c7419868f6ca5ba71aeb3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtKEmkRSYDuhdu2v0tTtNwvd26VWl99ULbUjfsZJJnGmbfai918BZwQsfcHbwTUlDgG9CPE2kE8JE4yORUJHPVRTsxVnTyItO9Zlubsm7t0VBzPqkwGWQrfcMc80zAn88atbQnPbnLY0Id8cV7jhUcP3ChILfqZffrueTDaMlZqy0ZPsOQqVWJngLjQJnXt_kI6PQ_hsoUNoYH8YL7Q2nPUvrFfEKtrI62QJgFwnkPsd5rFEYLMGx3PW0Hf8Tkr5R2ZAzivDGQZzJnEeCZut5altBqcnsW2NeEacPv3jMdX9f38FUBFVE9fe32iN0P3_-VF4QnswKfQs6J4w1tyDbSWkK0NG14arCuQrhZtl-VJdT7BEWRi1EZM_wbFn7jGJFWLjgS0j3xaBR_7TaE8cZ20597zFcqHgawpS59d3uYFwiYkjwDKjbtC606iN4wRwBtu3BilMo4-09xvaxYJ_xR7peuRE9zgKTPiGCuSbipzE8DFNscClyt7qPui1fg5cH4pXYU8NpvuIHc_7v_bamzgSakJ9a-8OWhASgCLeZ0gEY6PCzemmOdKLAfrLFOVy-irJQaCRDIPYe7wtAJQGKyY1wjS2MFQblTY-hTzVH5F9eDX3hHlNslX2Y9tZFy-P4elR2dmO3Gs-B9BfIjv9_O_vDL1K2MUULo-RUioVIr_3Wkg8tivwmLoNUPs7wIlTYcAWzfLklPGTRzdtEeiPCcEK6zEe5MgFoo2yJS2bTTITmPe7DbhYOSE5Hw_G4iHRF996FxckQseS65pkBy2F7U1AUjZ1sRwWmCsSR3FdtF14S8cAXsxXsUjtycQg7xbIoFgYMe9MApn6RVTvdNdGL8N4Fq1x4zJNvQUkgZjfD9eEbJcKnXXQtpySZ2OcI0XAsTlA0GlmYXPw0xYwqnJZeLNRJcWFdKV5G790duEos-SXxIsxnIGxhZcRzDk1rb5ZOTrLO55pB9fI_9Mt4zTAr_P3DfvNbhp_RAiipM_q2wFIK4il3rKdcwUMKj9yE5labZUza3V60A6pRFM47mW2hCh5eOVenR581oQAhZArnWqvy9YYyNfadUCFuYMR1BMJaUm0KUPRAjouUuMLm3GXS2FKifAabKULgZuy9M--XU6-VULJnX128vVnMe5JfstfWojQGq7hkvDDQXU9qaFcGfmX6M_QLMct6VmDYh6cjxS5IvJ5e4rhfXIbkPWC3YD2unvqC",
  "id": "rs_05497ed85d2d9111016ab4a125535487d08ff99e93afacb06b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.22,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The cream bowl remains in place after release. I’ll lift the empty gripper straight up to avoid disturbing the rims.\"}",
  "call_id": "call_bVIZaDovpkbqcR9AFNzYxEMK",
  "id": "fc_05497ed85d2d9111016ab4a125828c87d0b6072289b4eed847",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bVIZaDovpkbqcR9AFNzYxEMK",
  "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]: [-0.1066, 1.1484, 1.058, -0.9123, -0.157, -0.1463, 0.6462, 0.8433, 1.4437, 1.0832, -0.3874, 0.6159, 0.4591, 0.647]\nstate[eef_state]: left_x=0.2944 left_y=-0.0001 left_z=0.1844 left_yaw=0.1004 left_pitch=-0.414 left_roll=0.0694 left_gripper=0.6462 right_x=0.3356 right_y=0.2289 right_z=0.198 right_yaw=0.0807 right_pitch=-0.0189 right_roll=-0.0084 right_gripper=0.647\nstate[joint_eff]: [-0.0342, -3.0701, 6.694, 1.243, -0.0952, -0.0659, -0.0171, 0.1846, -7.5282, 10.441, 1.7314, 0.2418, -0.0122, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:461496dc6a2d8843fc3d2b09e173850af52d5a7b466ffc55e67630c90aac11c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad2d4e8a2f827e5a003cc9ac886fcf9ee36b47461021293cdc02126964f93d47",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:506defe69b8c0b017e7fa3bf522e5b606e954292f4db6c23bcfc96a81d88526c",
      "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 32 attempt 0 · /responses · status 200 · 5.114 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 112 changed as sent

message 120 changed as sent

message 124 changed as sent

message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1066, 1.1427, 1.0588, -0.9123, -0.157, -0.1463, 0.6462, 0.841, 1.5764, 0.9573, -0.2405, 0.6266, 0.4671, 0.0451]\nstate[eef_state]: left_x=0.2941 left_y=-0.0001 left_z=0.1863 left_yaw=0.0998 left_pitch=-0.4076 left_roll=0.068 left_gripper=0.6462 right_x=0.3379 right_y=0.2277 right_z=0.1213 right_yaw=0.062 right_pitch=-0.0935 right_roll=-0.0854 right_gripper=0.0451\nstate[joint_eff]: [-0.1162, -3.5077, 6.5436, 1.2576, -0.149, -0.0464, -0.0171, -0.5265, -7.8838, 7.1863, 1.8291, 0.3443, -0.0562, 0.5641]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1066, 1.1484, 1.058, -0.9127, -0.157, -0.1463, 0.6462, 0.8425, 1.6348, 0.7422, 0.1394, 0.6205, 0.4679, 0.6461]\nstate[eef_state]: left_x=0.2944 left_y=-0.0001 left_z=0.1844 left_yaw=0.1005 left_pitch=-0.4144 left_roll=0.0695 left_gripper=0.6462 right_x=0.3358 right_y=0.2276 right_z=0.0762 right_yaw=0.0718 right_pitch=-0.0205 right_roll=-0.0071 right_gripper=0.6461\nstate[joint_eff]: [-0.0479, -3.7128, 6.5846, 1.2137, -0.1392, -0.0757, -0.0122, 0.1162, -6.9949, 5.8188, 1.6777, 0.3101, -0.0855, -0.0855]\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 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1066, 1.1484, 1.058, -0.9123, -0.157, -0.1463, 0.6462, 0.8433, 1.4437, 1.0832, -0.3874, 0.6159, 0.4591, 0.647]\nstate[eef_state]: left_x=0.2944 left_y=-0.0001 left_z=0.1844 left_yaw=0.1004 left_pitch=-0.414 left_roll=0.0694 left_gripper=0.6462 right_x=0.3356 right_y=0.2289 right_z=0.198 right_yaw=0.0807 right_pitch=-0.0189 right_roll=-0.0084 right_gripper=0.647\nstate[joint_eff]: [-0.0342, -3.0701, 6.694, 1.243, -0.0952, -0.0659, -0.0171, 0.1846, -7.5282, 10.441, 1.7314, 0.2418, -0.0122, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:461496dc6a2d8843fc3d2b09e173850af52d5a7b466ffc55e67630c90aac11c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad2d4e8a2f827e5a003cc9ac886fcf9ee36b47461021293cdc02126964f93d47",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:506defe69b8c0b017e7fa3bf522e5b606e954292f4db6c23bcfc96a81d88526c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"right_x\":0.2945,\"right_y\":0.001,\"right_z\":0.2,\"right_pitch\":0,\"right_roll\":0,\"left_x\":0.2945,\"left_y\":0.0018,\"left_z\":0.2},\"note\":\"The top bowl stayed behind as the gripper lifted. I’ll park the right arm away from the stack so I can check all three bowls without the arm blocking the view.\"}",
  "call_id": "call_L1BY8jCxbg00KSA8noazNZOy",
  "id": "fc_05497ed85d2d9111016ab4a128af1487d0a9d6414d42487317",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_L1BY8jCxbg00KSA8noazNZOy",
  "output": [
    {
      "text": "executing move_to over 19 steps (1.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1028, 1.158, 1.0904, -0.9684, -0.1539, -0.1463, 0.6462, -0.0704, 0.8169, 0.6891, -0.4545, -0.0689, -0.0734, 0.6471]\nstate[eef_state]: left_x=0.2889 left_y=0.001 left_z=0.1868 left_yaw=0.1046 left_pitch=-0.447 left_roll=0.0741 left_gripper=0.6462 right_x=0.2962 right_y=-0.0051 right_z=0.1975 right_yaw=0.0147 right_pitch=-0.0111 right_roll=-0.0046 right_gripper=0.6471\nstate[joint_eff]: [0.3761, -3.1521, 9.8256, 1.1648, -0.1099, 0.0415, -0.0122, -0.1299, -1.7162, 6.9402, 1.7656, -0.1392, -0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d4685ddc98c8609fcea2ee9cd10e11be47ab2618687751ff0299737c7f7f919",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff7d9251008eb7192e048269ead401ca6f37e23f09784bb88efc4ca658d4958d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d62a3abac72c5129d115e225a662db0de08195e702b09a2f5c675a6e20cab4b3",
      "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]