adhoc

completed
2026-09-24T03:56:29.752841+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
172.4 s
total steps
251
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: teal on the left, blue in the middle, and cream on the right. I’m bringing the left gripper over the teal bowl to line up a rim grasp, using the blue bowl as the base of the stack.
move_to
left_x0.3500left_y-0.1400left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.7952, 0.6044, -0.3817, -0.0223, -0.041, 0.9996, -0.0219, 0.7937, 0.6018, -0.3805, -0.0105, -0.02, 0.9969] state[eef_state]: left_x=0.2947 left_y=0.0017 left_z=0.1795 left_yaw=-0.0001 left_pitch=-0.0 left_roll=-0.0005 left_gripper=0.9996 right_x=0.2944 right_y=-0.001 right_z=0.1789 right_yaw=0.0 right_pitch=-0.0008 right_roll=0.0 right_gripper=0.9969 state[joint_eff]: [-0.4171, -1.6342, 10.1538, 1.79, -0.0171, 0.2466, -0.0611, -0.4171, -1.4017, 10.3316, 1.9267, -0.1392, 0.0024, -0.3297] 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":0.35,"left_y":-0.14,"left_z":0.15,"left_gripper":1},"note":"I see three upright bowls: teal on the left, blue in the middle, and cream on the right. I’m bringing the left gripper over the teal bowl to line up a rim grasp, using 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 teal bowl is beneath the left wrist, with its right-hand rim close to the jaw centreline. I’m lowering toward that rim so one finger can enter the bowl while the other stays outside.
move_to
left_x0.3500left_y-0.1450left_z0.0750
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.614, 1.2934, 0.717, -0.1589, -0.4854, -0.3847, 0.9996, -0.0219, 0.7979, 0.6003, -0.3904, -0.0158, -0.0204, 0.9966] state[eef_state]: left_x=0.3387 left_y=-0.1335 left_z=0.131 left_yaw=-0.0251 left_pitch=-0.0635 left_roll=0.0323 left_gripper=0.9996 right_x=0.2932 right_y=-0.0 right_z=0.175 right_yaw=0.0047 right_pitch=-0.0163 right_roll=0.003 right_gripper=0.9966 state[joint_eff]: [-0.335, -5.094, 9.4701, 1.6484, -0.3297, -0.0464, -0.0611, -0.2256, -1.4017, 7.3641, 1.8339, 0.0073, -0.0659, -0.0464] 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":0.35,"left_y":-0.145,"left_z":0.075},"note":"The teal bowl is beneath the left wrist, with its right-hand rim close to the jaw centreline. I’m lowering toward that rim so one finger can enter the bowl while the other stays outside."})
tool
executing move_to over 4 steps (0.4s)
step 17
top_cam
camera top_cam step 17
left_cam
camera left_cam step 17
right_cam
camera right_cam step 17
assistant
agent noteThe open jaws are aligned across the teal bowl’s side rim. I’m lowering just below the rim and narrowing the opening before pinching it.
move_to
left_x0.3500left_y-0.1450left_z0.0350left_gripper0.6500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.625, 1.4757, 0.6254, 0.0303, -0.4946, -0.3935, 0.9995, -0.0216, 0.8021, 0.6003, -0.3931, -0.0162, -0.0204, 0.9966] state[eef_state]: left_x=0.3395 left_y=-0.1372 left_z=0.0655 left_yaw=-0.0198 left_pitch=-0.1296 left_roll=0.0786 left_gripper=0.9995 right_x=0.293 right_y=0.0001 right_z=0.1733 right_yaw=0.0054 right_pitch=-0.0232 right_roll=0.0034 right_gripper=0.9966 state[joint_eff]: [-0.294, -6.7761, 6.2017, 1.9121, -0.188, -0.0317, -0.0171, -0.0889, -1.1009, 7.0222, 1.7802, -0.022, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.145,"left_z":0.035,"left_gripper":0.65},"note":"The open jaws are aligned across the teal bowl’s side rim. I’m lowering just below the rim and narrowing the opening before pinching it."})
tool
executing move_to over 4 steps (0.4s)
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 noteOne finger appears inside the teal bowl and the other outside its right rim. I’m closing the gripper to secure that rim before a short test lift.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.625, 1.6131, 0.614, 0.1417, -0.4953, -0.3935, 0.6546, -0.0216, 0.804, 0.5999, -0.3931, -0.0162, -0.0204, 0.9966] state[eef_state]: left_x=0.3446 left_y=-0.1407 left_z=0.0318 left_yaw=-0.0161 left_pitch=-0.16 left_roll=0.1006 left_gripper=0.6546 right_x=0.2931 right_y=0.0001 right_z=0.1726 right_yaw=0.0054 right_pitch=-0.0255 right_roll=0.0035 right_gripper=0.9966 state[joint_eff]: [-0.4444, -6.5709, 5.2171, 1.6777, -0.2125, -0.0513, 0.0562, -0.0752, -1.4701, 7.1043, 1.6874, -0.0806, -0.0269, -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":"One finger appears inside the teal bowl and the other outside its right rim. I’m closing the gripper to secure that rim before a short test lift."})
tool
executing move_to over 7 steps (0.7s)
step 28
top_cam
camera top_cam step 28
left_cam
camera left_cam step 28
right_cam
camera right_cam step 28
assistant
agent noteThe fingers have closed to a very narrow gap, which could be the thin rim or an empty grasp. I’m lifting about five centimetres to check whether the teal bowl comes with them.
move_to
left_z0.1000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.625, 1.6218, 0.614, 0.1886, -0.5079, -0.3897, 0.0371, -0.0216, 0.8043, 0.5999, -0.3931, -0.0162, -0.0204, 0.9966] state[eef_state]: left_x=0.351 left_y=-0.1429 left_z=0.0367 left_yaw=-0.0118 left_pitch=-0.1236 left_roll=0.0891 left_gripper=0.0371 right_x=0.2931 right_y=0.0001 right_z=0.1725 right_yaw=0.0054 right_pitch=-0.0259 right_roll=0.0035 right_gripper=0.9966 state[joint_eff]: [-0.2256, -6.147, 5.5453, 1.2625, -0.1099, 0.0073, 1.2332, -0.0342, -1.306, 7.0222, 1.7656, -0.0415, -0.0562, -0.0122] camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.10},"note":"The fingers have closed to a very narrow gap, which could be the thin rim or an empty grasp. I’m lifting about five centimetres to check whether the teal bowl comes with them."})
tool
executing move_to over 5 steps (0.5s)
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 bowl remains beside the closed fingers, but the arm rose much less than commanded. I’m bringing it slightly closer to the base while raising it for a clearer lift check and transport clearance.
move_to
left_x0.3300left_z0.1700
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.625, 1.5608, 0.6575, 0.0719, -0.5056, -0.392, 0.0376, -0.0219, 0.8055, 0.5999, -0.3927, -0.0162, -0.0204, 0.9966] state[eef_state]: left_x=0.3502 left_y=-0.1428 left_z=0.0549 left_yaw=-0.0113 left_pitch=-0.1345 left_roll=0.0931 left_gripper=0.0376 right_x=0.2933 right_y=0.0 right_z=0.1723 right_yaw=0.005 right_pitch=-0.0266 right_roll=0.0035 right_gripper=0.9966 state[joint_eff]: [-0.1709, -10.8103, 11.5624, 2.0488, -0.3687, 0.0415, 1.0037, -0.0752, -1.0051, 7.0496, 1.6972, -0.0415, -0.0415, -0.0122] 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":0.33,"left_z":0.17},"note":"The bowl remains beside the closed fingers, but the arm rose much less than commanded. I’m bringing it slightly closer to the base while raising it for a clearer lift check and transport clearance."})
tool
executing move_to over 8 steps (0.8s)
step 41
top_cam
camera top_cam step 41
left_cam
camera left_cam step 41
right_cam
camera right_cam step 41
assistant
agent noteThe teal bowl has lifted off the table and is staying with the fingers. I’m carrying it toward the blue bowl, keeping it raised and allowing for the sideways offset of the rim grasp.
move_to
left_x0.3400left_y-0.3250left_z0.2000right_x0.2940right_y0.0000right_z0.1800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6674, 1.3315, 0.9005, -0.4286, -0.5194, -0.4355, 0.0413, -0.0219, 0.8097, 0.5999, -0.3931, -0.0162, -0.0204, 0.9966] state[eef_state]: left_x=0.3322 left_y=-0.1456 left_z=0.1515 left_yaw=-0.0173 left_pitch=-0.1488 left_roll=0.0851 left_gripper=0.0413 right_x=0.2935 right_y=0.0 right_z=0.1711 right_yaw=0.005 right_pitch=-0.0312 right_roll=0.0036 right_gripper=0.9966 state[joint_eff]: [-0.5265, -6.694, 8.9915, 1.4432, -0.4078, 0.022, 0.906, 0.0479, -1.5932, 7.1316, 1.7314, -0.0269, -0.0415, -0.0122] camera 'top_cam' (step 41): [image omitted: streamed camera frame] camera 'left_cam' (step 41): [image omitted: streamed camera frame] camera 'right_cam' (step 41): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_y":-0.325,"left_z":0.2,"right_x":0.294,"right_y":0,"right_z":0.18},"note":"The teal bowl has lifted off the table and is staying with the fingers. I’m carrying it toward the blue bowl, keeping it raised and allowing for the sideways offset of the rim grasp."})
tool
executing move_to over 16 steps (1.6s)
step 57
top_cam
camera top_cam step 57
left_cam
camera left_cam step 57
right_cam
camera right_cam step 57
assistant
agent noteThe blue bowl is still slightly to the right of the carried teal bowl. I’m shifting right and lowering partway, keeping the bowls separated while improving their alignment.
move_to
left_x0.3450left_y-0.3600left_z0.1250
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-1.0126, 1.8893, 1.6749, -0.8612, -0.6899, -0.7895, 0.0439, -0.0219, 0.8158, 0.6003, -0.4225, -0.0162, -0.0204, 0.9966] state[eef_state]: left_x=0.3382 left_y=-0.3227 left_z=0.1878 left_yaw=-0.0287 left_pitch=-0.1764 left_roll=0.0759 left_gripper=0.0439 right_x=0.2896 right_y=0.0001 right_z=0.1637 right_yaw=0.0051 right_pitch=-0.0663 right_roll=0.0046 right_gripper=0.9966 state[joint_eff]: [-0.4991, -9.935, 8.4581, 0.7888, -0.6618, 0.0659, 0.7643, -0.1026, -0.9094, 10.1128, 1.663, -0.0415, -0.0513, -0.0122] camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.345,"left_y":-0.36,"left_z":0.125},"note":"The blue bowl is still slightly to the right of the carried teal bowl. I’m shifting right and lowering partway, keeping the bowls separated while improving their alignment."})
tool
executing move_to over 5 steps (0.5s)
step 62
top_cam
camera top_cam step 62
left_cam
camera left_cam step 62
right_cam
camera right_cam step 62
assistant
agent noteThe teal bowl is still a little left of and nearer the base than the blue bowl. I’m making a small forward-and-right correction while lowering it toward the blue bowl’s opening.
move_to
left_x0.3750left_y-0.3850left_z0.0850
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-1.0397, 2.0422, 1.6573, -0.749, -0.6964, -0.8169, 0.0441, -0.0219, 0.8173, 0.5999, -0.4229, -0.0166, -0.0235, 0.9966] state[eef_state]: left_x=0.3421 left_y=-0.3516 left_z=0.1247 left_yaw=-0.0278 left_pitch=-0.2016 left_roll=0.1088 left_gripper=0.0441 right_x=0.2896 right_y=0.0002 right_z=0.163 right_yaw=0.0071 right_pitch=-0.0686 right_roll=0.0024 right_gripper=0.9966 state[joint_eff]: [-0.4581, -11.5214, 6.5162, 1.1306, -0.4957, -0.0855, 0.7888, -0.2256, -1.388, 7.159, 1.6532, -0.0317, -0.0122, -0.0122] camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.375,"left_y":-0.385,"left_z":0.085},"note":"The teal bowl is still a little left of and nearer the base than the blue bowl. I’m making a small forward-and-right correction while lowering it toward the blue bowl’s opening."})
tool
executing move_to over 3 steps (0.3s)
step 65
top_cam
camera top_cam step 65
left_cam
camera left_cam step 65
right_cam
camera right_cam step 65
assistant
agent noteThe bowl rims are now nearly aligned, with the blue rim visible just outside the teal one. I’m lowering the teal bowl gently into the blue bowl with a final small sideways correction.
move_to
left_x0.3800left_y-0.3950left_z0.0600
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-1.0241, 2.2147, 1.7897, -0.7071, -0.6853, -0.823, 0.0441, -0.0219, 0.8192, 0.5995, -0.4229, -0.0162, -0.0235, 0.9966] state[eef_state]: left_x=0.3659 left_y=-0.3793 left_z=0.0897 left_yaw=-0.015 left_pitch=-0.2087 left_roll=0.0973 left_gripper=0.0441 right_x=0.2896 right_y=0.0001 right_z=0.1624 right_yaw=0.0067 right_pitch=-0.0709 right_roll=0.0022 right_gripper=0.9966 state[joint_eff]: [0.5538, -12.7795, 7.6239, 0.8816, -0.4322, 0.232, 0.3883, -0.1846, -1.4564, 7.0085, 1.7118, -0.0464, -0.0562, -0.0122] camera 'top_cam' (step 65): [image omitted: streamed camera frame] camera 'left_cam' (step 65): [image omitted: streamed camera frame] camera 'right_cam' (step 65): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":-0.395,"left_z":0.06},"note":"The bowl rims are now nearly aligned, with the blue rim visible just outside the teal one. I’m lowering the teal bowl gently into the blue bowl with a final small sideways correction."})
tool
executing move_to over 2 steps (0.2s)
step 67
top_cam
camera top_cam step 67
left_cam
camera left_cam step 67
right_cam
camera right_cam step 67
assistant
agent noteThe teal bowl appears seated in the blue bowl, and the descent reached the intended stacking height. I’m opening the fingers to leave the teal bowl supported by the blue one.
move_to
left_gripper0.6500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-1.0126, 2.2917, 1.824, -0.691, -0.6781, -0.8146, 0.0466, -0.0216, 0.82, 0.598, -0.4225, -0.0162, -0.0238, 0.9966] state[eef_state]: left_x=0.3741 left_y=-0.3831 left_z=0.0633 left_yaw=-0.0069 left_pitch=-0.2291 left_roll=0.1229 left_gripper=0.0466 right_x=0.2895 right_y=0.0002 right_z=0.1615 right_yaw=0.0073 right_pitch=-0.0728 right_roll=0.002 right_gripper=0.9966 state[joint_eff]: [-0.5949, -11.3026, 8.4308, 0.9988, -0.4469, 0.0073, 0.6374, -0.1299, -1.4427, 7.159, 1.6337, -0.0757, -0.0708, -0.0122] camera 'top_cam' (step 67): [image omitted: streamed camera frame] camera 'left_cam' (step 67): [image omitted: streamed camera frame] camera 'right_cam' (step 67): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.65},"note":"The teal bowl appears seated in the blue bowl, and the descent reached the intended stacking height. I’m opening the fingers to leave the teal bowl supported by the blue one."})
tool
executing move_to over 7 steps (0.7s)
step 74
top_cam
camera top_cam step 74
left_cam
camera left_cam step 74
right_cam
camera right_cam step 74
assistant
agent noteThe fingers are clear of the teal rim. I’m lifting away before returning the left arm home so the overhead camera can confirm the two-bowl stack.
move_to
left_x0.3500left_y-0.3300left_z0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-1.0126, 2.3142, 1.8309, -0.6712, -0.6811, -0.8276, 0.6453, -0.0216, 0.8204, 0.5957, -0.4229, -0.0162, -0.0238, 0.9966] state[eef_state]: left_x=0.3766 left_y=-0.3864 left_z=0.0561 left_yaw=0.001 left_pitch=-0.2236 left_roll=0.1114 left_gripper=0.6453 right_x=0.2891 right_y=0.0002 right_z=0.1603 right_yaw=0.0073 right_pitch=-0.0758 right_roll=0.0021 right_gripper=0.9966 state[joint_eff]: [-0.4991, -12.2188, 8.5675, 1.1013, -0.3883, 0.1099, -0.1392, -0.0889, -1.1419, 7.2, 1.6435, -0.0562, -0.022, -0.0122] camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.33,"left_z":0.2},"note":"The fingers are clear of the teal rim. I’m lifting away before returning the left arm home so the overhead camera can confirm the two-bowl stack."})
tool
executing move_to over 10 steps (1.0s)
step 84
top_cam
camera top_cam step 84
left_cam
camera left_cam step 84
right_cam
camera right_cam step 84
assistant
agent noteThe teal bowl stayed on the table when the gripper lifted away. I’m parking the left arm outside the work area so I can inspect the stack and use the right arm for the remaining cream bowl.
move_to
left_x0.2940left_y0.0000left_z0.2000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-1.0, 2.0464, 1.879, -0.9936, -0.6689, -0.8276, 0.6458, -0.0219, 0.8242, 0.5953, -0.4229, -0.0162, -0.0235, 0.9966] state[eef_state]: left_x=0.3521 left_y=-0.339 left_z=0.1738 left_yaw=0.0086 left_pitch=-0.2366 left_roll=0.111 left_gripper=0.6458 right_x=0.2893 right_y=0.0001 right_z=0.1591 right_yaw=0.0068 right_pitch=-0.08 right_roll=0.0025 right_gripper=0.9966 state[joint_eff]: [0.5265, -14.0376, 9.1556, 0.8571, -0.3736, 0.1783, 0.0415, -0.0205, -1.5932, 7.0359, 1.7021, -0.0708, -0.0122, -0.0122] camera 'top_cam' (step 84): [image omitted: streamed camera frame] camera 'left_cam' (step 84): [image omitted: streamed camera frame] camera 'right_cam' (step 84): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.294,"left_y":0,"left_z":0.2,"left_gripper":1},"note":"The teal bowl stayed on the table when the gripper lifted away. I’m parking the left arm outside the work area so I can inspect the stack and use the right arm for the remaining cream bowl."})
tool
executing move_to over 31 steps (3.1s)
step 115
top_cam
camera top_cam step 115
left_cam
camera left_cam step 115
right_cam
camera right_cam step 115
assistant
agent noteThe teal bowl is now centred over the blue bowl, leaving the cream-pink bowl on the right. I’m approaching that bowl’s left rim with the right gripper so it can be added to the stack.
move_to
right_x0.3500right_y0.2000right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1169, 1.01, 0.9375, -0.7544, -0.1841, -0.075, 0.9987, -0.0219, 0.8249, 0.5945, -0.4225, -0.0166, -0.0238, 0.9966] state[eef_state]: left_x=0.2956 left_y=0.0014 left_z=0.1985 left_yaw=0.0619 left_pitch=-0.2414 left_roll=0.1028 left_gripper=0.9987 right_x=0.2892 right_y=0.0002 right_z=0.1587 right_yaw=0.0073 right_pitch=-0.0812 right_roll=0.0025 right_gripper=0.9966 state[joint_eff]: [0.212, -3.0974, 6.4889, 1.5018, -0.1099, 0.0757, -0.0952, -0.1709, -1.388, 7.0496, 1.6874, -0.0708, -0.0611, -0.0122] camera 'top_cam' (step 115): [image omitted: streamed camera frame] camera 'left_cam' (step 115): [image omitted: streamed camera frame] camera 'right_cam' (step 115): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.2,"right_z":0.15,"right_gripper":1},"note":"The teal bowl is now centred over the blue bowl, leaving the cream-pink bowl on the right. I’m approaching that bowl’s left rim with the right gripper so it can be added to the stack."})
tool
executing move_to over 17 steps (1.7s)
step 132
top_cam
camera top_cam step 132
left_cam
camera left_cam step 132
right_cam
camera right_cam step 132
assistant
agent noteThe cream-pink bowl is to the right of the jaw centreline, farther than needed for a rim pinch. I’m shifting a few centimetres toward it and lowering to rim height.
move_to
right_x0.3500right_y0.1500right_z0.0750
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1177, 1.0138, 0.9337, -0.7589, -0.1802, -0.0719, 0.9988, 0.7418, 1.4784, 0.9325, -0.3164, 0.532, 0.4637, 0.997] state[eef_state]: left_x=0.2946 left_y=0.0007 left_z=0.195 left_yaw=0.0567 left_pitch=-0.2541 left_roll=0.1043 left_gripper=0.9988 right_x=0.3389 right_y=0.1939 right_z=0.1303 right_yaw=0.0474 right_pitch=-0.1429 right_roll=-0.0426 right_gripper=0.997 state[joint_eff]: [0.0205, -2.2496, 6.9949, 1.5067, -0.1538, -0.0757, -0.0073, 0.2256, -6.8444, 9.1966, 1.5751, 0.3687, 0.188, -0.3248] camera 'top_cam' (step 132): [image omitted: streamed camera frame] camera 'left_cam' (step 132): [image omitted: streamed camera frame] camera 'right_cam' (step 132): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.15,"right_z":0.075},"note":"The cream-pink bowl is to the right of the jaw centreline, farther than needed for a rim pinch. I’m shifting a few centimetres toward it and lowering to rim height."})
tool
executing move_to over 4 steps (0.4s)
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 bowl’s left rim now crosses the jaw centreline. I’m lowering the fingertips just below that rim and reducing the opening so they can pinch it without squeezing across the whole bowl.
move_to
right_x0.3500right_y0.1500right_z0.0350right_gripper0.6500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1177, 1.0138, 0.9337, -0.762, -0.1802, -0.0719, 0.9988, 0.5999, 1.494, 0.7052, -0.1188, 0.4603, 0.3756, 0.9966] state[eef_state]: left_x=0.294 left_y=0.0007 left_z=0.1945 left_yaw=0.0568 left_pitch=-0.2571 left_roll=0.1048 left_gripper=0.9988 right_x=0.3357 right_y=0.1389 right_z=0.0638 right_yaw=0.0024 right_pitch=-0.2164 right_roll=-0.0908 right_gripper=0.9966 state[joint_eff]: [-0.1709, -2.2906, 6.7077, 1.5311, -0.1099, -0.0562, -0.0122, -0.1573, -5.6137, 7.3368, 1.8339, 0.149, 0.0073, -0.0513] 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":0.35,"right_y":0.15,"right_z":0.035,"right_gripper":0.65},"note":"The bowl’s left rim now crosses the jaw centreline. I’m lowering the fingertips just below that rim and reducing the opening so they can pinch it without squeezing across the whole 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 descent stopped a little above the target, with a finger appearing to contact the bowl. I’m holding this height and closing gently on the left rim rather than pushing farther down.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1177, 1.0142, 0.9337, -0.7662, -0.1802, -0.0719, 0.9988, 0.6018, 1.523, 0.6849, -0.057, 0.4484, 0.3637, 0.6543] state[eef_state]: left_x=0.2933 left_y=0.0008 left_z=0.1937 left_yaw=0.057 left_pitch=-0.2616 left_roll=0.1056 left_gripper=0.9988 right_x=0.3375 right_y=0.1432 right_z=0.055 right_yaw=0.0213 right_pitch=-0.2118 right_roll=-0.0843 right_gripper=0.6543 state[joint_eff]: [-0.1162, -2.5231, 6.8581, 1.5214, -0.1245, -0.0708, -0.0122, 0.1436, -5.5179, 6.4068, 1.3895, 0.3883, 0.0806, 0.1441] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 140): [image omitted: streamed camera frame] camera 'left_cam' (step 140): [image omitted: streamed camera frame] camera 'right_cam' (step 140): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The descent stopped a little above the target, with a finger appearing to contact the bowl. I’m holding this height and closing gently on the left rim rather than pushing farther down."})
tool
executing move_to over 7 steps (0.7s)
step 147
top_cam
camera top_cam step 147
left_cam
camera left_cam step 147
right_cam
camera right_cam step 147
assistant
agent noteThe gripper closed fully, so that pinch was empty. The bowl is still just beyond the fingertips in the wrist view; I’m reopening and advancing three centimetres for one corrected attempt.
move_to
right_x0.3800right_y0.1400right_z0.0800right_gripper0.7000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1177, 1.0142, 0.9337, -0.7727, -0.1802, -0.0715, 0.9988, 0.6018, 1.523, 0.6849, -0.0715, 0.4549, 0.366, 0.0079] state[eef_state]: left_x=0.2921 left_y=0.001 left_z=0.1927 left_yaw=0.0571 left_pitch=-0.268 left_roll=0.1071 left_gripper=0.9988 right_x=0.3357 right_y=0.1407 right_z=0.0533 right_yaw=0.0134 right_pitch=-0.2209 right_roll=-0.0952 right_gripper=0.0079 state[joint_eff]: [-0.0479, -2.4821, 6.7487, 1.5556, -0.1294, -0.022, -0.0122, 0.0205, -5.7094, 6.4479, 1.453, 0.3199, 0.1294, 0.6374] camera 'top_cam' (step 147): [image omitted: streamed camera frame] camera 'left_cam' (step 147): [image omitted: streamed camera frame] camera 'right_cam' (step 147): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.38,"right_y":0.14,"right_z":0.08,"right_gripper":0.7},"note":"The gripper closed fully, so that pinch was empty. The bowl is still just beyond the fingertips in the wrist view; I’m reopening and advancing three centimetres for one corrected attempt."})
tool
executing move_to over 7 steps (0.7s)
step 154
top_cam
camera top_cam step 154
left_cam
camera left_cam step 154
right_cam
camera right_cam step 154
assistant
agent noteThe bowl now extends down to the fingertips, and its left rim is between the open jaws. I’m lowering a short distance to engage the rim before closing again.
move_to
right_z0.0350
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1181, 1.0138, 0.9337, -0.7738, -0.1802, -0.0715, 0.9988, 0.5217, 1.5925, 0.8383, -0.1596, 0.4019, 0.2924, 0.6956] state[eef_state]: left_x=0.2919 left_y=0.0009 left_z=0.1926 left_yaw=0.0568 left_pitch=-0.2687 left_roll=0.1072 left_gripper=0.9988 right_x=0.3686 right_y=0.1363 right_z=0.0678 right_yaw=0.0145 right_pitch=-0.2511 right_roll=-0.113 right_gripper=0.6956 state[joint_eff]: [-0.1436, -2.4684, 6.6667, 1.4335, -0.1148, -0.0366, -0.0122, -0.5402, -6.4479, 8.6906, 1.4042, 0.1197, -0.022, -0.1636] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 154): [image omitted: streamed camera frame] camera 'left_cam' (step 154): [image omitted: streamed camera frame] camera 'right_cam' (step 154): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.035},"note":"The bowl now extends down to the fingertips, and its left rim is between the open jaws. I’m lowering a short distance to engage the rim before closing again."})
tool
executing move_to over 3 steps (0.3s)
step 157
top_cam
camera top_cam step 157
left_cam
camera left_cam step 157
right_cam
camera right_cam step 157
assistant
agent noteThe right finger is inside the bowl and the left finger is outside the rim. I’m closing on the rim for the second grasp attempt.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1177, 1.0138, 0.9337, -0.7738, -0.1802, -0.0715, 0.9988, 0.5167, 1.6573, 0.7834, -0.0673, 0.4023, 0.2871, 0.6961] state[eef_state]: left_x=0.2919 left_y=0.001 left_z=0.1926 left_yaw=0.0572 left_pitch=-0.2687 left_roll=0.1072 left_gripper=0.9988 right_x=0.3654 right_y=0.1322 right_z=0.0377 right_yaw=0.0086 right_pitch=-0.2753 right_roll=-0.1308 right_gripper=0.6961 state[joint_eff]: [-0.1573, -2.4684, 6.9402, 1.409, -0.1392, -0.0269, -0.0122, 0.1983, -7.4598, 5.6684, 1.6581, 0.1099, 0.0073, 0.0269] camera 'top_cam' (step 157): [image omitted: streamed camera frame] camera 'left_cam' (step 157): [image omitted: streamed camera frame] camera 'right_cam' (step 157): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The right finger is inside the bowl and the left finger is outside the rim. I’m closing on the rim for the second grasp attempt."})
tool
executing move_to over 7 steps (0.7s)
step 164
top_cam
camera top_cam step 164
left_cam
camera left_cam step 164
right_cam
camera right_cam step 164
assistant
agent noteThe fingers closed to a thin gap and the bowl shifted slightly during the pinch. I’m making a short lift to determine whether the rim is actually secured.
move_to
right_x0.3600right_z0.1050
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1177, 1.0138, 0.9337, -0.7738, -0.1802, -0.0715, 0.9988, 0.5205, 1.6707, 0.7639, -0.0742, 0.4183, 0.271, 0.0257] state[eef_state]: left_x=0.2919 left_y=0.001 left_z=0.1926 left_yaw=0.0572 left_pitch=-0.2687 left_roll=0.1072 left_gripper=0.9988 right_x=0.3578 right_y=0.1265 right_z=0.0265 right_yaw=0.0029 right_pitch=-0.3049 right_roll=-0.174 right_gripper=0.0257 state[joint_eff]: [-0.1983, -2.4821, 6.7624, 1.4139, -0.1392, -0.0317, -0.0122, -0.4034, -7.5009, 7.2684, 1.2967, 0.022, 0.149, 1.2186] camera 'top_cam' (step 164): [image omitted: streamed camera frame] camera 'left_cam' (step 164): [image omitted: streamed camera frame] camera 'right_cam' (step 164): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.36,"right_z":0.105},"note":"The fingers closed to a thin gap and the bowl shifted slightly during the pinch. I’m making a short lift to determine whether the rim is actually secured."})
tool
executing move_to over 6 steps (0.6s)
step 170
top_cam
camera top_cam step 170
left_cam
camera left_cam step 170
right_cam
camera right_cam step 170
assistant
agent noteThe cream-pink bowl rose with the gripper, confirming the rim grasp despite its very thin reading. I’m raising it to carrying height and levelling the wrist before moving it over the stack.
move_to
right_x0.3550right_y0.1300right_z0.2000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1177, 1.0138, 0.9337, -0.7734, -0.1799, -0.0719, 0.9988, 0.5205, 1.5501, 0.9173, -0.3767, 0.4057, 0.2646, 0.03] state[eef_state]: left_x=0.2919 left_y=0.0009 left_z=0.1926 left_yaw=0.057 left_pitch=-0.2684 left_roll=0.1066 left_gripper=0.9988 right_x=0.355 right_y=0.1273 right_z=0.0828 right_yaw=0.0118 right_pitch=-0.3357 right_roll=-0.1834 right_gripper=0.03 state[joint_eff]: [-0.1709, -2.4684, 6.694, 1.4383, -0.1197, -0.0366, -0.0122, -0.4855, -8.3487, 9.0598, 1.3065, 0.2613, -0.0415, 1.0232] camera 'top_cam' (step 170): [image omitted: streamed camera frame] camera 'left_cam' (step 170): [image omitted: streamed camera frame] camera 'right_cam' (step 170): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.355,"right_y":0.13,"right_z":0.2,"right_pitch":0,"right_roll":0},"note":"The cream-pink bowl rose with the gripper, confirming the rim grasp despite its very thin reading. I’m raising it to carrying height and levelling the wrist before moving it over the stack."})
tool
executing move_to over 12 steps (1.2s)
step 182
top_cam
camera top_cam step 182
left_cam
camera left_cam step 182
right_cam
camera right_cam step 182
assistant
agent noteThe bowl is clear of the table and the wrist is more level. I’m carrying it leftward over the two-bowl stack, keeping the rim-grasp offset in mind.
move_to
right_x0.3900right_y0.3400right_z0.2000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1177, 1.0142, 0.9337, -0.7734, -0.1802, -0.0719, 0.9988, 0.5434, 1.2774, 0.9009, -0.3614, 0.4206, 0.2806, 0.0333] state[eef_state]: left_x=0.292 left_y=0.001 left_z=0.1925 left_yaw=0.0574 left_pitch=-0.2687 left_roll=0.1069 left_gripper=0.9988 right_x=0.3477 right_y=0.13 right_z=0.1749 right_yaw=0.0426 right_pitch=-0.091 right_roll=-0.048 right_gripper=0.0333 state[joint_eff]: [-0.0479, -2.4821, 6.9402, 1.4676, -0.105, -0.0708, -0.0122, 0.212, -6.1744, 7.7197, 2.0635, 0.3932, 0.1832, 1.0281] camera 'top_cam' (step 182): [image omitted: streamed camera frame] camera 'left_cam' (step 182): [image omitted: streamed camera frame] camera 'right_cam' (step 182): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.34,"right_z":0.2,"right_pitch":0,"right_roll":0},"note":"The bowl is clear of the table and the wrist is more level. I’m carrying it leftward over the two-bowl stack, keeping the rim-grasp offset in mind."})
tool
executing move_to over 18 steps (1.8s)
step 200
top_cam
camera top_cam step 200
left_cam
camera left_cam step 200
right_cam
camera right_cam step 200
assistant
agent noteThe carried bowl is above the stack, which is mostly hidden by the gripper and bowl. I’m descending vertically to bring the bottom close to the teal bowl’s opening.
move_to
right_x0.3900right_y0.3400right_z0.1250right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1177, 1.0176, 0.9337, -0.7738, -0.1802, -0.0715, 0.9988, 0.9333, 1.9163, 1.5784, -0.532, 0.6819, 0.5579, 0.0333] state[eef_state]: left_x=0.2922 left_y=0.001 left_z=0.1916 left_yaw=0.0574 left_pitch=-0.2725 left_roll=0.1079 left_gripper=0.9988 right_x=0.3807 right_y=0.3329 right_z=0.1775 right_yaw=0.0814 right_pitch=-0.0653 right_roll=-0.0561 right_gripper=0.0333 state[joint_eff]: [-0.3214, -2.6872, 6.6667, 1.4335, -0.1197, -0.0415, -0.0122, 0.1436, -10.4274, 9.8256, 1.5263, 0.5543, 0.2369, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 200): [image omitted: streamed camera frame] camera 'left_cam' (step 200): [image omitted: streamed camera frame] camera 'right_cam' (step 200): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.34,"right_z":0.125,"right_pitch":0,"right_roll":0},"note":"The carried bowl is above the stack, which is mostly hidden by the gripper and bowl. I’m descending vertically to bring the bottom close to the teal bowl’s opening."})
tool
executing move_to over 4 steps (0.4s)
step 204
top_cam
camera top_cam step 204
left_cam
camera left_cam step 204
assistant
agent noteThe cream-pink bowl remains centred over the stack as it descends. I’m lowering it the last few centimetres to let it settle into the teal bowl.
move_to
right_x0.3900right_y0.3400right_z0.0750right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1177, 1.0195, 0.9337, -0.7734, -0.1799, -0.0715, 0.9988, 0.9291, 1.9629, 1.3827, -0.3099, 0.6781, 0.5495, 0.035] state[eef_state]: left_x=0.2924 left_y=0.0009 left_z=0.1911 left_yaw=0.0571 left_pitch=-0.2741 left_roll=0.1079 left_gripper=0.9988 right_x=0.3788 right_y=0.3278 right_z=0.1106 right_yaw=0.0832 right_pitch=-0.0812 right_roll=-0.0761 right_gripper=0.035 state[joint_eff]: [-0.0752, -2.3863, 6.653, 1.453, -0.0659, -0.0708, -0.0122, -0.1162, -10.906, 7.5282, 1.7411, 0.3639, -0.1099, 0.8962] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 204): [image omitted: streamed camera frame] camera 'left_cam' (step 204): [image omitted: streamed camera frame] camera 'right_cam' (step 204): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.34,"right_z":0.075,"right_pitch":0,"right_roll":0},"note":"The cream-pink bowl remains centred over the stack as it descends. I’m lowering it the last few centimetres to let it settle into the teal bowl."})
tool
executing move_to over 3 steps (0.3s)
step 207
assistant
agent noteThe descent stopped above the target, indicating that the cream-pink bowl has met the stack. I’m releasing the rim so it can settle under its own weight rather than pressing it downward.
move_to
right_gripper0.7000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1177, 1.0195, 0.9337, -0.7738, -0.1802, -0.0715, 0.9988, 0.9291, 1.9759, 1.3426, -0.2317, 0.672, 0.5423, 0.0386] state[eef_state]: left_x=0.2923 left_y=0.0009 left_z=0.191 left_yaw=0.0575 left_pitch=-0.2744 left_roll=0.1082 left_gripper=0.9988 right_x=0.3798 right_y=0.3306 right_z=0.0996 right_yaw=0.0926 right_pitch=-0.0682 right_roll=-0.06 right_gripper=0.0386 state[joint_eff]: [-0.1436, -2.3863, 6.694, 1.4139, -0.1538, -0.0757, -0.0122, -0.3624, -9.4564, 6.4342, 1.5409, 0.3101, -0.0073, 0.7399] 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_gripper":0.7},"note":"The descent stopped above the target, indicating that the cream-pink bowl has met the stack. I’m releasing the rim so it can settle under its own weight rather than pressing it downward."})
tool
executing move_to over 7 steps (0.7s)
step 214
assistant
agent noteThe released bowl has settled slightly lower and remains on the stack. I’m lifting the open gripper straight clear before moving the arm aside for a final check.
move_to
right_x0.3800right_y0.3300right_z0.2100right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1177, 1.0195, 0.9337, -0.7734, -0.1802, -0.0719, 0.9988, 0.9283, 1.9762, 1.3422, -0.2283, 0.6724, 0.5426, 0.6954] state[eef_state]: left_x=0.2924 left_y=0.0009 left_z=0.1911 left_yaw=0.0576 left_pitch=-0.274 left_roll=0.1079 left_gripper=0.9988 right_x=0.3804 right_y=0.3306 right_z=0.0998 right_yaw=0.0915 right_pitch=-0.0662 right_roll=-0.0579 right_gripper=0.6954 state[joint_eff]: [-0.0479, -2.5094, 6.6667, 1.4628, -0.1441, -0.0464, -0.0122, 0.0205, -9.9624, 6.3521, 1.4921, 0.3004, -0.0024, -0.0904] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 214): [image omitted: streamed camera frame] camera 'left_cam' (step 214): [image omitted: streamed camera frame] camera 'right_cam' (step 214): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.38,"right_y":0.33,"right_z":0.21,"right_pitch":0,"right_roll":0},"note":"The released bowl has settled slightly lower and remains on the stack. I’m lifting the open gripper straight clear before moving the arm aside for a final check."})
tool
executing move_to over 8 steps (0.8s)
step 222
assistant
agent noteThe bowl stayed behind as the gripper rose. I’m returning the right arm home and holding the left arm parked so the completed stack is unobstructed.
move_to
right_x0.2940right_y0.0000right_z0.2000right_pitch0.0000right_roll0.0000right_gripper1.0000left_x0.2940left_y0.0000left_z0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1177, 1.0195, 0.9337, -0.7738, -0.1802, -0.0715, 0.9988, 0.9287, 1.8877, 1.5047, -0.4728, 0.6693, 0.5293, 0.696] state[eef_state]: left_x=0.2923 left_y=0.0009 left_z=0.191 left_yaw=0.0575 left_pitch=-0.2744 left_roll=0.1082 left_gripper=0.9988 right_x=0.3776 right_y=0.3279 right_z=0.1696 right_yaw=0.1016 right_pitch=-0.0641 right_roll=-0.0623 right_gripper=0.696 state[joint_eff]: [-0.1026, -2.4957, 6.694, 1.4286, -0.1099, -0.0464, -0.0122, -0.0205, -13.3949, 10.2222, 1.6728, 0.3834, 0.0415, 0.0464] camera 'top_cam' (step 222): [image omitted: streamed camera frame] camera 'left_cam' (step 222): [image omitted: streamed camera frame] camera 'right_cam' (step 222): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.294,"right_y":0,"right_z":0.2,"right_pitch":0,"right_roll":0,"right_gripper":1,"left_x":0.294,"left_y":0,"left_z":0.2},"note":"The bowl stayed behind as the gripper rose. I’m returning the right arm home and holding the left arm parked so the completed stack is unobstructed."})
tool
executing move_to over 28 steps (2.8s)
step 250
assistant
agent noteStacked all three bowls, with blue on the bottom, teal in the middle, and cream-pink on top. Both grippers are clear and the stack remains upright.
done
hindsightGrasp these bowls by a side rim, with one finger inside and one outside. Successful thin-rim grasps read only 0.025–0.045, so a short lift and visible bowl motion are essential checks. The right bowl needed a 3 cm forward correction after an empty pinch. Explicitly commanding pitch and roll back to zero at carrying height corrected tilt that had accumulated during position-only moves. Lower onto the stack until descent stops, then release without pressing.
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1181, 1.0298, 0.9356, -0.8055, -0.1802, -0.0719, 0.9988, -0.0898, 0.8188, 0.6895, -0.4545, -0.0921, -0.0826, 0.9963] state[eef_state]: left_x=0.2874 left_y=0.0014 left_z=0.1841 left_yaw=0.0594 left_pitch=-0.3138 left_roll=0.1153 left_gripper=0.9988 right_x=0.2963 right_y=-0.0068 right_z=0.1973 right_yaw=0.0346 right_pitch=-0.0095 right_roll=-0.0071 right_gripper=0.9963 state[joint_eff]: [-0.3897, -2.3043, 10.3316, 1.4042, -0.149, -0.0611, -0.0122, -0.0479, -1.6889, 7.1179, 1.7851, -0.2027, -0.0171, -0.398] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 250): [image omitted: streamed camera frame] camera 'left_cam' (step 250): [image omitted: streamed camera frame] camera 'right_cam' (step 250): [image omitted: streamed camera frame]
assistant
done({"summary":"Stacked all three bowls, with blue on the bottom, teal in the middle, and cream-pink on top. Both grippers are clear and the stack remains upright.","hindsight":"Grasp these bowls by a side rim, with one finger inside and one outside. Successful thin-rim grasps read only 0.025–0.045, so a short lift and visible bowl motion are essential checks. The right bowl needed a 3 cm forward correction after an empty pinch. Explicitly commanding pitch and roll back to zero at carrying height corrected tilt that had accumulated during position-only moves. Lower onto the stack until descent stops, then release without pressing."})
tool
done: Stacked all three bowls, with blue on the bottom, teal in the middle, and cream-pink on top. Both grippers are clear and the stack remains upright.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 6.324 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, 0.7952, 0.6044, -0.3817, -0.0223, -0.041, 0.9996, -0.0219, 0.7937, 0.6018, -0.3805, -0.0105, -0.02, 0.9969]\nstate[eef_state]: left_x=0.2947 left_y=0.0017 left_z=0.1795 left_yaw=-0.0001 left_pitch=-0.0 left_roll=-0.0005 left_gripper=0.9996 right_x=0.2944 right_y=-0.001 right_z=0.1789 right_yaw=0.0 right_pitch=-0.0008 right_roll=0.0 right_gripper=0.9969\nstate[joint_eff]: [-0.4171, -1.6342, 10.1538, 1.79, -0.0171, 0.2466, -0.0611, -0.4171, -1.4017, 10.3316, 1.9267, -0.1392, 0.0024, -0.3297]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:beeea018a0c712d2bc091061d4e71cb1b3eb7529e407febd08dbc4bc040e8b0f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35a772708e59274fce2b03ab5bacff359740d10cdeae69c5a8708ce6ef7b0a05",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4967f311afcf97954ebb3d09b4d8fd64dc95b2b0e029556985c9b97ff0d4f16",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 9.033 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtJ-A7sWWAQ__7PmkJgp0EYd4XZe6xIEAnLl-MD-uNDKkGIV66JGcj6-HiWPuOY02AmIE_v6D7ORGb-sYJAoVuCnleD4ENcBhbORkKmh35VmY2A_dzk6DsZSWjxcxfD8iwYzg3DyRHF9WpaXY1aKdJ8rUyn654RIFRTD6StNONWoZC7Am7yt74vqT8aBUedSMjmHPbXiIcboB6gn_eGI5SP-D552ne-mWAw-tW-dBAXwbDPLFJTRXeRCJq9-2hJ5NykTwJQvWcA-EbKYYVK3Ei_NarjRaSvMkUSn1C_TnpmFst86gH9OBDOL-o__94N3YIYm93gBs_6BTn9qqrctTPGbB5jntsYufnrRoN43b1UyWzfP602pGjF94PLTaT0RQExSLiiks-akcv4NA9QLBr6D2Y4dHs4UcMEZFnRvS263gPghGGUUUiDdI0opBSw7pYrzndAFk5o0_2nLFzQrCDf62ki7orySRXY24Xz5CtjT_NqLYPZ-8kbGEVxn-JArdAivbsHkrbmlkVcj4wOl1heqLX0CiWqfaKYDMs4KYCVhzznnIbwtyPVMt-IW83HrIcBOWunhEfvoxEiT6RpYSJE6ixbfZU7G6FyDxorvxQFAGvPsrYV1lrNvZJWDdjQ2T_TiGke3SgC2ziSg_0QHPwuiV2YseIc0FAsxPxVsJIYX7sLwTqGNEU2Z9jEFthXbwC5MKbohlKqbFYRyrqK9z9ocTKE54d2DGLZ0sVBbMAePbmucQu148wKH8QlmFxRDNQjkiam1_HLee8_rmWYvT6NWTYH59LUqjx_K31Fc7xBOwpXEAADahXbgGs-Z2swef2vbZ58Dg8QgeKI6LTH_DEkyevkrtXuz0FPxVUH2fQUK_ZaQb5J1FMzgA5KiuRiDVWmeOsmWuDjky4MpXZsVXjFHiy73qGQP_ZxpqZWL3fEuaPfrz3_bJtBmVKpOSBvCDlLzOQXgJFn9T997zuUar_ZMxydZp7dZ6J7ibaz3JHesitJ53XhGNjtzH7y8-WVgjNzDr_MDiTAGrRP3gRvlSq71id1eHueniQOaLnPDe-9657tXZQkyC-DdUhCLJVt7ZK-7D39mLS3UxSMUtu4OjpBe69dlA3RHCdz3S9ic6L6aSjBufbrJS6wLOL1CSPyLsbGVOHc2FKs7yDaJm2NC6_1j4hguXTZxOOuqNEuus-uslb1aowmpjBXdQzri1nWM6xz6wxTNt3IrG4x1V_yHHI9Qlhnt5tSwrKa3kHPN1n2MG_UG0PWqPaP2BL7nyNgct3h3O3xqO8ZRY5I9qy7porjilWdd-S2i3__s2uWpPR_7IcCg4bKSX2_Rxv4J4tNbc8CbQxDUAlupbvCRyzOljbzibtQGFaAe0HyYkFbLNJlTHooNtNPP-cE0Ug3-GCt-S723pELH69LEqLH8tEmrPXZrJvec3er2qSdeip-4TgPbTgQ1v38gwY2ijtMNDkq3R4xeEzLmDxHUvTwcvR1K6grAAwBbPol_kG9bn9UZFJtBFL-ljiEa1xgstgbolms_2kqClQzIrKJV__kzBo1yIT-oiB3t7SNYSEGNDYr98St95dL9U9eol4DXRggHcllntUfaZI1fKC0aKz2gTdGu2_WKbs6Ro2gkmRyW1govmoEmZdKMce2qDNGO9msrk_n60IgQh4BUav_eWntLmkAHnr0jeJMk7xsMfUgWMZ0QJgtm_Mwl3kVS5Oj5MczAiZsfOJelRjwWF3TDadIyYxq_i28YeSAotzUcRsqNugJ3da0rs-URp3Yh2QwNeSNmK1MCsveP5iGOPChiKRuWrHetIv0kvgGX9Kp4XQkHP5bymftT2K5yY2XEqDG-TJajVQjv2Z7B1BjEjFcmFzqc4qKvm8EWvoQVTtS5diBHMys6Ub1vwN4lRB29d8VLpr8R6a8I68bjc9QigoYOacjWUeZAWtISRrv2aQiS5rna-8j5L2p21LrIosvhK4Kn2PWYMCZfA4PG5ZDAMhhgwROKvcahnNMdgTL7kWb4HW4-6bXqGqQ5E1P1tdkb93OgzsdrvwPMW-hUCznvdZJr98RxenhdFXfLdD7FBQXNsjYQo0Ut0WRrU1bSEKbBsQE1k7ztgi9SfaOoj-oChUB457yI61MeG9MHUsc9rFvnLMYzs8BmkNaog7oWmc5WZLb5RD6pHee8Ebsc1JHijly_kuPtaCqLQjM0SwQ==",
  "id": "rs_000d2b526bee51d6016ab49f7bd95c87d09be83bece6d5fec8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.14,\"left_z\":0.15,\"left_gripper\":1},\"note\":\"I see three upright bowls: teal on the left, blue in the middle, and cream on the right. I’m bringing the left gripper over the teal bowl to line up a rim grasp, using the blue bowl as the base of the stack.\"}",
  "call_id": "call_QJw5IsADy7QolbL5EYHDPRre",
  "id": "fc_000d2b526bee51d6016ab49f7f574487d0bca822821ff0ed37",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QJw5IsADy7QolbL5EYHDPRre",
  "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]: [-0.614, 1.2934, 0.717, -0.1589, -0.4854, -0.3847, 0.9996, -0.0219, 0.7979, 0.6003, -0.3904, -0.0158, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.3387 left_y=-0.1335 left_z=0.131 left_yaw=-0.0251 left_pitch=-0.0635 left_roll=0.0323 left_gripper=0.9996 right_x=0.2932 right_y=-0.0 right_z=0.175 right_yaw=0.0047 right_pitch=-0.0163 right_roll=0.003 right_gripper=0.9966\nstate[joint_eff]: [-0.335, -5.094, 9.4701, 1.6484, -0.3297, -0.0464, -0.0611, -0.2256, -1.4017, 7.3641, 1.8339, 0.0073, -0.0659, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f5d0011bb97f7919ef74633cff2f470bda13cbf87fe7cf18ab0c00c216b3f9f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc74d16c084f9a0fe5d55abad32aabe63c180eaddeef2065a5d7baca42458533",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e9be82e3f795b12e394b3b43ccc01e2bc43a73f90807d50f87c8c99eecf5582",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 4.421 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, 0.7952, 0.6044, -0.3817, -0.0223, -0.041, 0.9996, -0.0219, 0.7937, 0.6018, -0.3805, -0.0105, -0.02, 0.9969]\nstate[eef_state]: left_x=0.2947 left_y=0.0017 left_z=0.1795 left_yaw=-0.0001 left_pitch=-0.0 left_roll=-0.0005 left_gripper=0.9996 right_x=0.2944 right_y=-0.001 right_z=0.1789 right_yaw=0.0 right_pitch=-0.0008 right_roll=0.0 right_gripper=0.9969\nstate[joint_eff]: [-0.4171, -1.6342, 10.1538, 1.79, -0.0171, 0.2466, -0.0611, -0.4171, -1.4017, 10.3316, 1.9267, -0.1392, 0.0024, -0.3297]",
      "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]: [-0.614, 1.2934, 0.717, -0.1589, -0.4854, -0.3847, 0.9996, -0.0219, 0.7979, 0.6003, -0.3904, -0.0158, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.3387 left_y=-0.1335 left_z=0.131 left_yaw=-0.0251 left_pitch=-0.0635 left_roll=0.0323 left_gripper=0.9996 right_x=0.2932 right_y=-0.0 right_z=0.175 right_yaw=0.0047 right_pitch=-0.0163 right_roll=0.003 right_gripper=0.9966\nstate[joint_eff]: [-0.335, -5.094, 9.4701, 1.6484, -0.3297, -0.0464, -0.0611, -0.2256, -1.4017, 7.3641, 1.8339, 0.0073, -0.0659, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f5d0011bb97f7919ef74633cff2f470bda13cbf87fe7cf18ab0c00c216b3f9f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc74d16c084f9a0fe5d55abad32aabe63c180eaddeef2065a5d7baca42458533",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e9be82e3f795b12e394b3b43ccc01e2bc43a73f90807d50f87c8c99eecf5582",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJ-LdYFVOc8FYEDA7-VCLZHf26f3BMqRq7lpa03wqKbqa2-NYKsfMrplsuhZz7f2EYcZ1RCjn3pKgcfm4vT3ggqG0pLBaVJIB3HhXrDG3W3Gxf2hfTQbTBpCCsf9hX3fMjGkdTkgJDAbqT5Y1bPKtKY-019uxnsFq2pAYZnwoNqvyE89D0DeI4Z7dK2bh19KPCIqMWXu-5DIt-O3Prjjx3kjunBETY9i0C_icRzrKnqNu8W4ligcW88hhZTizH612uTUz44rJDZ18n9NXM6PyK_TRDMxkjfuTrLc-y9YEzpa2CUcxny_hAp_rlekEFIPoOOWupYPZQwCRSrEyzc9HJcCUQ1-WUFJooUBfarSYAeLQ-iXU5XVaXOPwxxsqRI0JqT1PzrZhBn_CmYrb-PnNj4QkEDAZ1ZRlXdib65AAxhWOpNELL_04GI3TAajuN_MvYX-PY9TKgyyIwaKrfMjIJzKHS0rFPWt_b-3TFdauEBiuAnPegXJftrVEAqTuiWuqMjviGJhRWbRmQCd-CnhDyyj5kE6T86hW3gXlBfVtxIv_r7gWJUkHbgJUImfuRIdiEwSvxdnx2NzGlX6VD6NhSFXcBw9EHrc8ZRxksjotuhufg9m0KeJOcJXBZD9jILzrU6Jv8QIfTLKsYFExgm0WTuJaJnMlNMAP_wXMkG5RoXlN8-JmCNwv0kzuYwFgulNChYfA6-ATrSsWuxmVMmkKbD0lb1u_pQKOSkBIY14pLbGNfPPkXQYDEaYKJU_vh-Mc15pHincKsCB7NA3OUkWd3_vJ9fnCY81Zg1xYKxYRX5S7X2y6U093XHQq79LXD0NBWfnJb4I1KNjjmyg0w7vqu7BnK67gxMzres2SNieMOSnsmPthdnF8t26CaRQKxuWKBGefBBW3IeLdiciUJOO-VApaH9yI1AEyVyTk-kBeg8yG23_jAP17zMBK1b5x2hTftl16-FolMJWm53WsWGlyHP-o1U0jLgwRwmjw0EFyWOW9yY9KA0217YexJLQCGqjd8Y1BqHfHeYRWaCcjM29H50QxMTGQsdG3bhDXLBYk2G4IhL1_50EQ-jUGz-PybBO4yVTNcVnLjBok5ZkagXZ66obJZt9MXxDZ4uUeQXbK0nDLxzV7EmRGd884Sge3wpdghHY0tpEyjvBKY_Nstrb0EH4Ims0bXtq-a66_6hKljqk_OU7u64SlUAMvQzRB_KOWZznAauVCHcL4U6B5eikaWEm7Q5NkhGsIjzl6p2607eOn4orOYQNr5MADnRc9XBShX3GSuOyFvihZzhrETNVqQun-vP2TUCdpJ5mZAJixFWAyvvU6w_vTOERRn62EscWd_rsOEQy09oGLWLV2XRR-WrMNXM-Pt9eKmdex6ahvVBj2PbYzuob6efNUwWD5S4aEE-_NhYvg_zy8sw1P2kXCsuGsdM1sdTzkeIvmA3xb8_tUfpqVLU6FcYy32tbjtenrQ9JEUHdqwm743STAGolbbczldo2t54bBBDMfd4h3oc4DI7IWy53YV27k7OM4ARLeRtorPPoYPH5vFueJ23o_V6FEuMtH4ifJ1CdIfPB3QkgvpjaK9xOCYGMCaDkM11n0NAqsLywTgkkqil-JumsonGXy5xGNroyd2Ec6nIkRoKPyOX-tfTRQUtjUyarz0jddKX61B2SkAK2gOZYFqT1TWmXdFvcF6h6EGI5YJMlREQ83atl2jPYACs40t-DbGVB6Rc1zpuiX85_79boJgCaKMuBAJI6-9cWsiuLX5OjK3XIDYtJsFD1xFBDUlkyD3PY6k2PLfoTTUA3LKdVXEZbWGeOR4-8JaW_OaHPFjM3CNM-KRJGW8c5GpJI2n2qGo-qUG4jWbfgITXZagAu-YpAH6Qus_7W_SeNditftvVXIO4P-ckYFBKeNp2SLBDynlk-6A_Pu8bNjTxsSDcwDzMVsoHmPEuGLC29D0CTnZF2eooH_809X5nYwGYDDMclFfceX1sTuNMu45nwxcnoTsiUbVlcisr66LnAE8AItQ1Kj2BhDy1mcmCme8Ywstuz9znvtk0NT8BX_lzSJ5FmQ3ycg9NzwgLXXqGR2aCdBSoMIEiuaM3s_9wKQmt4pLdrrgcvMcG65sTz-St7ir9t7rD9NVVzm8KX4SZscRvxByfjkFhv9CrM2fV4EClSyBkx-XuFFJspEMQnkC5TXeqskftK-2Zj6kNBCM7oIFjJtFzCYyVwb4z5UoEz8TxFcqoN3zSAv3Ninr57wgPtsJs6ZIqoeh5OQ7SdjOHfCS40EWR2Qr9f2FjVhVYxBLyW_SySny48oHblMpWuGwM_iR1XOLwgudYx6M95UA6Z9siZmYN7BzHmR62w-qGxwKG6RKm7Yg2bdorcZpZZ09QXxftkEUDGQJgkfUS8Wasjojb36FEVUwKCPxX_H023du1b7gpmooW-dBIKpsBkMJ51Mm-VBGwjzTvR3bj7L3hO3pM2-KS41Q9mKeyodLnHWaC-hYnpIS1TZ_0ijbAT3fFpHEUwqr3b_W4cuoJT_K0xAKLH09FVmQCk4bNAtEIwW-6lHRx5tN6TzZSuBFklPplSApz0Si6gMkhNWqG_Ngvs62wvcOPi1usBCNFxaW-HASYWmPu4_0iAd0E7ogUAcLm3VFbo2D6jwEBwJrevAeZ9-4JX7KV1F4EiGA1GB84ZE-xqxpa-_MspzYTkIcw5glK3xQiZxyRnhlwsFpzbtnhgZFlxdC9llyP3CC_QSQ8-8JauhDXpYwrmVuYYL4bD7aOrDl3xH_Rm6jZp5dXSLFEmnuyq-iJgMUSX8YDGaLCRcI-zFToljuVpmEHNHavA6SdZSNtuMMPA6HO7e01UW7KV2orjx9ir5kmwB1KRsc4cba1XdgYLvOsQx6TFrOffK4cLvYS0oaSByQVADf9ObFADr7Q8pEZuLrURPrlQPExL8fFZ8PSHkbT_AGmq4dqWyKSEz-XpoA2w3bprirxCzVqpo4Zs4QXyCgESMSwYFUrutND0jfY0e_g5gZHxB8hrItUUvQkub9K5nPTiSC6btJUcKI6voW9Zqf20KuqcbAQ49oaTVbZO2T6S4jJBm7zzIZeqIk8JRu--OzSgheGYMitDedQB7AZaCyJyhqxZP_v9Wt0jtj3k4GWywcD8f9M4JMCo6hAMa2asvT-XAQ==",
  "id": "rs_000d2b526bee51d6016ab49f840d4087d0a878e9cb5fd77428",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.145,\"left_z\":0.075},\"note\":\"The teal bowl is beneath the left wrist, with its right-hand rim close to the jaw centreline. I’m lowering toward that rim so one finger can enter the bowl while the other stays outside.\"}",
  "call_id": "call_nBiPm4PFphBthMuUcuoZEjdD",
  "id": "fc_000d2b526bee51d6016ab49f89ec6087d0af19f51fcb963988",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nBiPm4PFphBthMuUcuoZEjdD",
  "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]: [-0.625, 1.4757, 0.6254, 0.0303, -0.4946, -0.3935, 0.9995, -0.0216, 0.8021, 0.6003, -0.3931, -0.0162, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.3395 left_y=-0.1372 left_z=0.0655 left_yaw=-0.0198 left_pitch=-0.1296 left_roll=0.0786 left_gripper=0.9995 right_x=0.293 right_y=0.0001 right_z=0.1733 right_yaw=0.0054 right_pitch=-0.0232 right_roll=0.0034 right_gripper=0.9966\nstate[joint_eff]: [-0.294, -6.7761, 6.2017, 1.9121, -0.188, -0.0317, -0.0171, -0.0889, -1.1009, 7.0222, 1.7802, -0.022, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8838afc7068d6e72505b900bbc752cfe7c151cd0fb4d4ee4762a53cd083ff6e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cce9d947e364fbcd2f9924c8fcac760a7769b0c8767be413671b58926aaa1539",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4f020321978abd752cc56b851406b59c5aad6e0d0f45275652ee48f54d08ecd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /responses · status 200 · 2.265 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]: [-0.614, 1.2934, 0.717, -0.1589, -0.4854, -0.3847, 0.9996, -0.0219, 0.7979, 0.6003, -0.3904, -0.0158, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.3387 left_y=-0.1335 left_z=0.131 left_yaw=-0.0251 left_pitch=-0.0635 left_roll=0.0323 left_gripper=0.9996 right_x=0.2932 right_y=-0.0 right_z=0.175 right_yaw=0.0047 right_pitch=-0.0163 right_roll=0.003 right_gripper=0.9966\nstate[joint_eff]: [-0.335, -5.094, 9.4701, 1.6484, -0.3297, -0.0464, -0.0611, -0.2256, -1.4017, 7.3641, 1.8339, 0.0073, -0.0659, -0.0464]",
      "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]: [-0.625, 1.4757, 0.6254, 0.0303, -0.4946, -0.3935, 0.9995, -0.0216, 0.8021, 0.6003, -0.3931, -0.0162, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.3395 left_y=-0.1372 left_z=0.0655 left_yaw=-0.0198 left_pitch=-0.1296 left_roll=0.0786 left_gripper=0.9995 right_x=0.293 right_y=0.0001 right_z=0.1733 right_yaw=0.0054 right_pitch=-0.0232 right_roll=0.0034 right_gripper=0.9966\nstate[joint_eff]: [-0.294, -6.7761, 6.2017, 1.9121, -0.188, -0.0317, -0.0171, -0.0889, -1.1009, 7.0222, 1.7802, -0.022, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8838afc7068d6e72505b900bbc752cfe7c151cd0fb4d4ee4762a53cd083ff6e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cce9d947e364fbcd2f9924c8fcac760a7769b0c8767be413671b58926aaa1539",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4f020321978abd752cc56b851406b59c5aad6e0d0f45275652ee48f54d08ecd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJ-PQk-TLriv3amea8h5uVblYAfqAyTVG8uujjk90M-Xk59ExKpOzQzXFIe_Cn0sNtufAIs3toNFxRmFvE4P7abHbHycARfkCLPrsDphI7EyvmBODDIZArtbAIYiWXem2YJFxSnEc7dWYYIvKLV-_z9Hw2u8gtHzHhLVnU3kgCuLWhINTXRQCvJAuxlkGWMs2T0y15WfWUDSozqj69fg-Bg8HOHqIExGY67_zy8syanyJO5iZn0aCrehMgHN8qwG5Xsa3mhjIn8Uu10hciLIWUH7XSBteSQV76okANLIV6gp6zINZLv4abCsu9jZjvMi8PV99-hmClcpq_Kezr3EZ0DPc5xQixeRHtu8Y-pia1U5-yAfz0NgujZ8FB27F_FLx3hNc5zhYGOqZeaLe7Jdi7yTaxyj9FBXDOpC6XfBfZeHhTOaFWR4hw7QYRzZD8XvMJPkgtzz25Kwec-BSsLg8CSqyxK_pn3gT3ZUo1fQioRXGaZ4uyL-RzVAnsOJUiCzbDWEKBK-yn2Kwbx9Qo0S5z5zjIKDaPAeF-rQnJGPJ7GKOMxT3t6iVDUxpG8NGrdqchqUTZwXZLmNcFFMotdzPbqh5uJyMHrvCPAg6B6o_H1MRkwONCb6dk2NHNUud8eoQH0GQghDmIUQV3REvD7LJAaxdpIE2K1Joh1hkCbkpAlp_c71nRN6g1AuRW3RfKPcc9Uep4aHVmyMsOeE_smU7QxwIKcgajSZg4pDS_NAjWA8sm9c4fN_lHjRk7H0BD5PpciV8AbXGYlRI65PqAosn78uEsJeY1l5or4XJXw9929O8GBIRxWIlpLYdj6CTnb5vK3LXjK6tB6fGTVY4C46M5SUb_v4MA9-vU7hl4JFPa52UCejgr6YkrwL33NDNqfjSqWgoh47p_8r2_HeRmxHw4GeEMe-ULuhGiRvhuxLFvYn0rPo79AR3R-vd2mYDzLE8Hb4RdfgIM3GccfR68y_J033HjQv-aNzB-62oLKWJthrLn4nn2JYL74yDBLOeG7FL2NyrSC8gdFdc9LvdcOj7qBCq9Jif2r-8E8v5wsE-g-IVawSy7H2OLRb_YKNr9TxHgYDoxhcKzwjFj1T__IqGGSAoTHsuDYBjzb64OjOEZQLi3WqZ8gqzIuM0sPuwKybA8P8Kk8-6GtcOGXOgay4qNsS13lxBi4FrLJ3NPAkzcBQGhIgMG33DN5IUIhwhmGVPQqoacV-6w2kjuepTrcQsoJn3C4vx2p8njrjCff6QYQaySh3Mb6B-w9wSYcoH5OtlzqEQJhLjkNVXFN3XIjdJR2hUWfrlmCc-_ijFF0Pry8ZjnrfX7fJpO5V_WrR0Dnbs69Fx9bfWJwYBNwQf55c_8zc24MV_fJoTMfyJqqrS14s_d0rcZPWrBGJ8TOoO0XjJOQOH76JYivmK2632x2eoZfxfq4ZTqUPCeUTMQf2sBHvylnOnXZXN5K1Q01nKnLFkMRZgtGdg4rPHy8TKP5V5BFS4pcWqXmYu6GTPR4Txc9W-cHrIoceosixrGaXDUdB59TeVTlpFyYJOx496fJ42bJEIUdmabv2OEttVDEt0q_F3soSfvVECcCrYIgoKilI7OSY8fvgQw0Yatm4j2fNS1VSVTqu4WDqsKs2V-t4XKQ2ko9ekyIaa2s1AWnahO1TGkvzTjOunBl6zcfr4HVdIRcvDdMybHtwq6us2ebXRXeyx3V6srV4WqiaKIPuFozU-xQcwkxHXe3-mljCTMVef62CwcdKEb72O98KBEarb4bI5IrQghd7wPRI0OR6dDipcFwqzYAXbc2mCRpO_a5XqA7m8dmu_rYzuNYOUQzI8JQwLuU=",
  "id": "rs_000d2b526bee51d6016ab49f8ca2c887d09705f654c3a6ac6f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.145,\"left_z\":0.035,\"left_gripper\":0.65},\"note\":\"The open jaws are aligned across the teal bowl’s side rim. I’m lowering just below the rim and narrowing the opening before pinching it.\"}",
  "call_id": "call_Anlxr8ZBJ4WCN4NuegPbpsjj",
  "id": "fc_000d2b526bee51d6016ab49f8ecaec87d0b95d2cf8b3b389e7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Anlxr8ZBJ4WCN4NuegPbpsjj",
  "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]: [-0.625, 1.6131, 0.614, 0.1417, -0.4953, -0.3935, 0.6546, -0.0216, 0.804, 0.5999, -0.3931, -0.0162, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.3446 left_y=-0.1407 left_z=0.0318 left_yaw=-0.0161 left_pitch=-0.16 left_roll=0.1006 left_gripper=0.6546 right_x=0.2931 right_y=0.0001 right_z=0.1726 right_yaw=0.0054 right_pitch=-0.0255 right_roll=0.0035 right_gripper=0.9966\nstate[joint_eff]: [-0.4444, -6.5709, 5.2171, 1.6777, -0.2125, -0.0513, 0.0562, -0.0752, -1.4701, 7.1043, 1.6874, -0.0806, -0.0269, -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:2ba36ea082b4e4a5f9de471f7e9c0161d6f74fcae5d31f9e01038034cb9e2674",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ee950fa6fe2bd67b08b4d7b25c6c5886b2842e1aa4746e99ad83c311e6c9b2b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:519ea23dd258c2928a32d3f7a22564ef39e6a2509bc7251632bf1c0005bfae50",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /responses · status 200 · 2.453 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, 0.7952, 0.6044, -0.3817, -0.0223, -0.041, 0.9996, -0.0219, 0.7937, 0.6018, -0.3805, -0.0105, -0.02, 0.9969]\nstate[eef_state]: left_x=0.2947 left_y=0.0017 left_z=0.1795 left_yaw=-0.0001 left_pitch=-0.0 left_roll=-0.0005 left_gripper=0.9996 right_x=0.2944 right_y=-0.001 right_z=0.1789 right_yaw=0.0 right_pitch=-0.0008 right_roll=0.0 right_gripper=0.9969\nstate[joint_eff]: [-0.4171, -1.6342, 10.1538, 1.79, -0.0171, 0.2466, -0.0611, -0.4171, -1.4017, 10.3316, 1.9267, -0.1392, 0.0024, -0.3297]",
      "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]: [-0.625, 1.4757, 0.6254, 0.0303, -0.4946, -0.3935, 0.9995, -0.0216, 0.8021, 0.6003, -0.3931, -0.0162, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.3395 left_y=-0.1372 left_z=0.0655 left_yaw=-0.0198 left_pitch=-0.1296 left_roll=0.0786 left_gripper=0.9995 right_x=0.293 right_y=0.0001 right_z=0.1733 right_yaw=0.0054 right_pitch=-0.0232 right_roll=0.0034 right_gripper=0.9966\nstate[joint_eff]: [-0.294, -6.7761, 6.2017, 1.9121, -0.188, -0.0317, -0.0171, -0.0889, -1.1009, 7.0222, 1.7802, -0.022, -0.0415, -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 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.625, 1.6131, 0.614, 0.1417, -0.4953, -0.3935, 0.6546, -0.0216, 0.804, 0.5999, -0.3931, -0.0162, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.3446 left_y=-0.1407 left_z=0.0318 left_yaw=-0.0161 left_pitch=-0.16 left_roll=0.1006 left_gripper=0.6546 right_x=0.2931 right_y=0.0001 right_z=0.1726 right_yaw=0.0054 right_pitch=-0.0255 right_roll=0.0035 right_gripper=0.9966\nstate[joint_eff]: [-0.4444, -6.5709, 5.2171, 1.6777, -0.2125, -0.0513, 0.0562, -0.0752, -1.4701, 7.1043, 1.6874, -0.0806, -0.0269, -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,$blob:2ba36ea082b4e4a5f9de471f7e9c0161d6f74fcae5d31f9e01038034cb9e2674",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ee950fa6fe2bd67b08b4d7b25c6c5886b2842e1aa4746e99ad83c311e6c9b2b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:519ea23dd258c2928a32d3f7a22564ef39e6a2509bc7251632bf1c0005bfae50",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"One finger appears inside the teal bowl and the other outside its right rim. I’m closing the gripper to secure that rim before a short test lift.\"}",
  "call_id": "call_zAqhorg1fpyBpLEZ4HFrHoWZ",
  "id": "fc_000d2b526bee51d6016ab49f91a4e087d083144e366c4e1ca8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zAqhorg1fpyBpLEZ4HFrHoWZ",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.625, 1.6218, 0.614, 0.1886, -0.5079, -0.3897, 0.0371, -0.0216, 0.8043, 0.5999, -0.3931, -0.0162, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.351 left_y=-0.1429 left_z=0.0367 left_yaw=-0.0118 left_pitch=-0.1236 left_roll=0.0891 left_gripper=0.0371 right_x=0.2931 right_y=0.0001 right_z=0.1725 right_yaw=0.0054 right_pitch=-0.0259 right_roll=0.0035 right_gripper=0.9966\nstate[joint_eff]: [-0.2256, -6.147, 5.5453, 1.2625, -0.1099, 0.0073, 1.2332, -0.0342, -1.306, 7.0222, 1.7656, -0.0415, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3aa5bdbb55aea0293a5694d5a8547fc7509f14090beacc09fe2500b3db6e7837",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:095057e35b60c4d4315863c571cea0977ce02a77837df2b30dc3f341e84d823b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77c7ac008ef4c38e3322a022366130c8e815aa33dc33e34ab0eef223fc8ba86b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /responses · status 200 · 3.833 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 14 changed as sent

message 17 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.614, 1.2934, 0.717, -0.1589, -0.4854, -0.3847, 0.9996, -0.0219, 0.7979, 0.6003, -0.3904, -0.0158, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.3387 left_y=-0.1335 left_z=0.131 left_yaw=-0.0251 left_pitch=-0.0635 left_roll=0.0323 left_gripper=0.9996 right_x=0.2932 right_y=-0.0 right_z=0.175 right_yaw=0.0047 right_pitch=-0.0163 right_roll=0.003 right_gripper=0.9966\nstate[joint_eff]: [-0.335, -5.094, 9.4701, 1.6484, -0.3297, -0.0464, -0.0611, -0.2256, -1.4017, 7.3641, 1.8339, 0.0073, -0.0659, -0.0464]",
      "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]: [-0.625, 1.6131, 0.614, 0.1417, -0.4953, -0.3935, 0.6546, -0.0216, 0.804, 0.5999, -0.3931, -0.0162, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.3446 left_y=-0.1407 left_z=0.0318 left_yaw=-0.0161 left_pitch=-0.16 left_roll=0.1006 left_gripper=0.6546 right_x=0.2931 right_y=0.0001 right_z=0.1726 right_yaw=0.0054 right_pitch=-0.0255 right_roll=0.0035 right_gripper=0.9966\nstate[joint_eff]: [-0.4444, -6.5709, 5.2171, 1.6777, -0.2125, -0.0513, 0.0562, -0.0752, -1.4701, 7.1043, 1.6874, -0.0806, -0.0269, -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 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.625, 1.6218, 0.614, 0.1886, -0.5079, -0.3897, 0.0371, -0.0216, 0.8043, 0.5999, -0.3931, -0.0162, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.351 left_y=-0.1429 left_z=0.0367 left_yaw=-0.0118 left_pitch=-0.1236 left_roll=0.0891 left_gripper=0.0371 right_x=0.2931 right_y=0.0001 right_z=0.1725 right_yaw=0.0054 right_pitch=-0.0259 right_roll=0.0035 right_gripper=0.9966\nstate[joint_eff]: [-0.2256, -6.147, 5.5453, 1.2625, -0.1099, 0.0073, 1.2332, -0.0342, -1.306, 7.0222, 1.7656, -0.0415, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3aa5bdbb55aea0293a5694d5a8547fc7509f14090beacc09fe2500b3db6e7837",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:095057e35b60c4d4315863c571cea0977ce02a77837df2b30dc3f341e84d823b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77c7ac008ef4c38e3322a022366130c8e815aa33dc33e34ab0eef223fc8ba86b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJ-V2N5bKyXgep-Tzt9gODMlclHZ-TKL1dMnplaj6SMy88TDh-chfB_rDU2ceQAyb3z2XthIaGZF0dC5Cc8V_iwQNwXdKj0cRFBOERnb0c2Kr1rR24nEb2iSyUbuOuqFU5HoJFcbR_y7nMxqSRSrMCDJiQIwErvv0vNFOp5qyYyNerwc5a_EJJmgxzQ-fz2uHPvkS-NUEiLRtH6qtR39GgWtL_6LXtWg6t8aK6U4Qs_ir3G_aN3YBDvA9gaIPAhqOSvYrO9bYWOtWOrFoAEVHYhO1XOx8o1C9rwasmZa8HBWUI7Rr6GdjhIiPTkdplrugcGuVuF7FOawHYkvGcAUcz8rvfSrxcvYa_YCNd6JGJIIjFTsqov18G9oNp6xi7sA7IxcRBP3dwuRl5zF8k4uS0Md9QeGHNyLhRApe8I1MkbYIQCWYUZCnOyT7-DXHTEqduuN1IzXQK-1iRwl5hxAiCUx72CuK8LIlX7PsdeHtxBi3zNOsmEOK2HYOffglFuLLEAnV300C5hbC6BX9jtbBKKnqxhwAYAumcJk0NTx8xS4ZaFu1_lhFcwa-pEHfxywN_Z01KmVqETA0tbhuhDIlGmoZvEDOw7zeTCeypFU0j02jndwefgB-AvFcEPuzH2GAs-akBtHjjesvCGbK3tDKylBMVn89qIysUfmEvmn4m1v_KE9g5TGEO5lAQq7jZ5RSkhJtxYpPxEUF7seIENbvPRsnzI1iM6QrXNtsiFLJrqi0SB5xpxcuD_hY7iJ0X7bPALMldJwv5zpy2cxE2DwXq3oZ-T4xb5H5KyWkuibkvFgoOvvLJjJiG61FAhJ-EqQTAa2HqmJHAUulDPPvw1NYSDW_MbI4LZ13A1rV0xbjTsVgVvzKJziips7jeRz2BX7lhkV341P06CFzSLt8R7mB94M_KwREiyngSyoe4_auOuGXWx0BkU2QVNPQMjwYU4Qyc2jFOOLt35PbjXeDB5S68Pm1AIp_iiLtbDeG4g6ISwD_V9S23PCENRhgwTiWP-S_HaPZaBy3dcYYmlBTsUf9-rH-gNxjYnNEKKZbKmtOFTYDw-PNs2_xhOeX8Dmq8Gp-ehJx3vJOdaIPbEomD11lAejk1iA-zGB9QleGCATMdyGacBM0V0GEcGVbmJiVPtoYz3w7hPuW86hQ82zp5itkUh57eeIsjO0o8WKkJWkVvAxPCoLdgxUeifUiVetcYdNdVP46d2ke_VTf_7oHGY-15Kx5m1AQg8TxRm82mJiS9nBo_0=",
  "id": "rs_000d2b526bee51d6016ab49f946fd087d0aafe7a0eb52a128b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.10},\"note\":\"The fingers have closed to a very narrow gap, which could be the thin rim or an empty grasp. I’m lifting about five centimetres to check whether the teal bowl comes with them.\"}",
  "call_id": "call_So61J6MyjW9cMZBf2unr9KxE",
  "id": "fc_000d2b526bee51d6016ab49f94ae4087d0814020f6f56f966f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_So61J6MyjW9cMZBf2unr9KxE",
  "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]: [-0.625, 1.5608, 0.6575, 0.0719, -0.5056, -0.392, 0.0376, -0.0219, 0.8055, 0.5999, -0.3927, -0.0162, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.3502 left_y=-0.1428 left_z=0.0549 left_yaw=-0.0113 left_pitch=-0.1345 left_roll=0.0931 left_gripper=0.0376 right_x=0.2933 right_y=0.0 right_z=0.1723 right_yaw=0.005 right_pitch=-0.0266 right_roll=0.0035 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -10.8103, 11.5624, 2.0488, -0.3687, 0.0415, 1.0037, -0.0752, -1.0051, 7.0496, 1.6972, -0.0415, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84241cc4d8d35d8d2edbdb09cd0121bddb9b559a8dbe2a39c6c843115c4fc060",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64962874c4344c81b639be1a79c4b7975ab9d7f5087269028ad9086b032aac97",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d26211d17acd08bd852cf0f8d26efc28ef549c3ea4004dceff9f0e29c8caae9a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 10.56 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 10 changed as sent

message 17 changed as sent

message 21 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.625, 1.4757, 0.6254, 0.0303, -0.4946, -0.3935, 0.9995, -0.0216, 0.8021, 0.6003, -0.3931, -0.0162, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.3395 left_y=-0.1372 left_z=0.0655 left_yaw=-0.0198 left_pitch=-0.1296 left_roll=0.0786 left_gripper=0.9995 right_x=0.293 right_y=0.0001 right_z=0.1733 right_yaw=0.0054 right_pitch=-0.0232 right_roll=0.0034 right_gripper=0.9966\nstate[joint_eff]: [-0.294, -6.7761, 6.2017, 1.9121, -0.188, -0.0317, -0.0171, -0.0889, -1.1009, 7.0222, 1.7802, -0.022, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.625, 1.6218, 0.614, 0.1886, -0.5079, -0.3897, 0.0371, -0.0216, 0.8043, 0.5999, -0.3931, -0.0162, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.351 left_y=-0.1429 left_z=0.0367 left_yaw=-0.0118 left_pitch=-0.1236 left_roll=0.0891 left_gripper=0.0371 right_x=0.2931 right_y=0.0001 right_z=0.1725 right_yaw=0.0054 right_pitch=-0.0259 right_roll=0.0035 right_gripper=0.9966\nstate[joint_eff]: [-0.2256, -6.147, 5.5453, 1.2625, -0.1099, 0.0073, 1.2332, -0.0342, -1.306, 7.0222, 1.7656, -0.0415, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.625, 1.5608, 0.6575, 0.0719, -0.5056, -0.392, 0.0376, -0.0219, 0.8055, 0.5999, -0.3927, -0.0162, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.3502 left_y=-0.1428 left_z=0.0549 left_yaw=-0.0113 left_pitch=-0.1345 left_roll=0.0931 left_gripper=0.0376 right_x=0.2933 right_y=0.0 right_z=0.1723 right_yaw=0.005 right_pitch=-0.0266 right_roll=0.0035 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -10.8103, 11.5624, 2.0488, -0.3687, 0.0415, 1.0037, -0.0752, -1.0051, 7.0496, 1.6972, -0.0415, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84241cc4d8d35d8d2edbdb09cd0121bddb9b559a8dbe2a39c6c843115c4fc060",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64962874c4344c81b639be1a79c4b7975ab9d7f5087269028ad9086b032aac97",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d26211d17acd08bd852cf0f8d26efc28ef549c3ea4004dceff9f0e29c8caae9a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJ-ZC-tOqXSkSsV1F6QwWlMatOE-08aGiZlEed8_q8sKSGs1DRww8YxPNeytxjCW2Bq4evCmfzVTqEyyApXM_KWN_-8b9z2-HuD3v-LOQS75JfpHoyFWFsAOJJRkooo_r--u-BazQjQNEJloR-CLrcdTg3CF8QRhXEEriF68wSDmpyBQjzSSFBxZikI56VdzyuzdxpTlZTeIx2UXHYVc2WqMx_gfQoP1OvvO5tJfNZEOWPchlq77KhPEvsLTnekZykvO2SkDvbf4S_WgJfyYf_4-xfcJlEsmG1Q2baFmk9W6uzrlYRNla2XemT3nAMYV5ok18Qs-TVBVnn4_i7WhTgJtlKqEkfkSKj1jtq9YUXyT2MNFHpgi_3UP6ApiVi8TvAYAGAyY4VwLuKQOi6unnDwfvZO0oqu7tyTgxtonmsg6dfbJfX8S6DCm12T-JKyq12_1n5WtFTKKHsJUXYWozU5cj2A9_6dmPtjzSk1zXcXsgzsg3dzsBJ5-bfrxPRuWYSTTS9y1RCC2__85Q8u4l_x_q0ZrQ2Wpiecx_OBDXzVZxwN64bXg9aGDKkQrAaLiTQtjedem_eDhmJhfk9a5DrGSbNaPJIABK67ZQU7PINH7dQN5yqDdX94ENESvL9k_pJy5CHXGJNL7z_JXz3mSgbNgFXtNEDy0My_6PQ3LVQosdSiHqUK9-6BIE6vrC7NGUJCKUxznyi3Hqv6GkkSYkuee0HkYMER-FZ1BBq2g5d_lQ-J0p90AoVDrxJ36dRo-796Yfd4UtrQUIbH_As_Z21TZ5hRnlo6LJ2oygYYIDqMwnpTG8sSB9QeE89xkOK9fCw1GAv083C_FDlQ0zLrklmR2lmjiMeHFmOKj9QbyWIXkVAjnDwr6-xVmdZedg6VKO9gIkUnIydRWdEGZ-rAaHF-yUtpea_Urnj8alAYiNp8PVP9UeyKKU3x9Lc0HxfXdodrNCRv8A1G5wJV3d1rQSNEQ8fS5Vtjqb_oJ75BlJBKs3YZEYxwdlyhERaoD1hn8UAn3XDI1q2rxbkRJjCf5vdfdAuM9wvrDfjdOOsiGJnXZ3-fSdj4revvrZ-ZLHkt0-DsqY90BdFC09JiuDTv45u3qI3rT3kf7frE2fBjKhf5rrOLae1UuGzHMfQqrFrEOm-ZUPHcdcBxHJAFex9OeMQAB1VEKi2S36Nrv_W9m0ACkB_0wXR6gCNi3Gpf9EMn79k23JHNzjVCqL9H_TujYe5WkgEF_lOILKNG0tTzr4-NALBRlgxwm73ldbQyUw8QThQc7o35_iqPUCTCzUHMHTsD6QBHJvcPr2WkcJoCrwohvX070vzNgQNOpSG3fd9CVXakMVBTOVkUjrEuOK-prYEqpibH7qpUT5evKVcB7lfmD4XdiZ404HzQaFef9NahpbZuEwywlGOEx0SiMf3SP4AELf_hbdzJIeLsBvMVMKcMUT-k1DOQbpXZoesBrkNjAYA5gSB6cXQf5hpu04UEkz0yfh0Ot_Ze89p4IEIqpHSa_SQ4lmqzdkc1ef3LKtb1W6XUhopUv4E_DbhbCJBcWjcnvvIGGuCVsUNXAjQPMCnfBuUIwZny5-YTPDeM0oZcjlLGFkYe5js8iKa5XUmq-3ELkt3OtLSJ-7gPuEdjISMIv71nixoM8cWb6gA3hv0l-ufYK",
  "id": "rs_000d2b526bee51d6016ab49f975a8487d0a7ca4700a73eadd6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_z\":0.17},\"note\":\"The bowl remains beside the closed fingers, but the arm rose much less than commanded. I’m bringing it slightly closer to the base while raising it for a clearer lift check and transport clearance.\"}",
  "call_id": "call_sn84pmWFRhBpYK3DjE6syytd",
  "id": "fc_000d2b526bee51d6016ab49f98cc0887d0893ad865f081714b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sn84pmWFRhBpYK3DjE6syytd",
  "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]: [-0.6674, 1.3315, 0.9005, -0.4286, -0.5194, -0.4355, 0.0413, -0.0219, 0.8097, 0.5999, -0.3931, -0.0162, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.3322 left_y=-0.1456 left_z=0.1515 left_yaw=-0.0173 left_pitch=-0.1488 left_roll=0.0851 left_gripper=0.0413 right_x=0.2935 right_y=0.0 right_z=0.1711 right_yaw=0.005 right_pitch=-0.0312 right_roll=0.0036 right_gripper=0.9966\nstate[joint_eff]: [-0.5265, -6.694, 8.9915, 1.4432, -0.4078, 0.022, 0.906, 0.0479, -1.5932, 7.1316, 1.7314, -0.0269, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f26e62d240f916a8973a831f5039e5bfd7b9957b157fd9ad77dc8b073673dd4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9edbc15414c1b5eb1f282fa2526ee165e74135a8a1398302abeb139ed27cc6e6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62f82a78e7f9a93b852a82b0bda922dbf1a6d60def049697d20e0145923e47de",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 8.425 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 14 changed as sent

message 21 changed as sent

message 25 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.625, 1.6131, 0.614, 0.1417, -0.4953, -0.3935, 0.6546, -0.0216, 0.804, 0.5999, -0.3931, -0.0162, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.3446 left_y=-0.1407 left_z=0.0318 left_yaw=-0.0161 left_pitch=-0.16 left_roll=0.1006 left_gripper=0.6546 right_x=0.2931 right_y=0.0001 right_z=0.1726 right_yaw=0.0054 right_pitch=-0.0255 right_roll=0.0035 right_gripper=0.9966\nstate[joint_eff]: [-0.4444, -6.5709, 5.2171, 1.6777, -0.2125, -0.0513, 0.0562, -0.0752, -1.4701, 7.1043, 1.6874, -0.0806, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.625, 1.5608, 0.6575, 0.0719, -0.5056, -0.392, 0.0376, -0.0219, 0.8055, 0.5999, -0.3927, -0.0162, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.3502 left_y=-0.1428 left_z=0.0549 left_yaw=-0.0113 left_pitch=-0.1345 left_roll=0.0931 left_gripper=0.0376 right_x=0.2933 right_y=0.0 right_z=0.1723 right_yaw=0.005 right_pitch=-0.0266 right_roll=0.0035 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -10.8103, 11.5624, 2.0488, -0.3687, 0.0415, 1.0037, -0.0752, -1.0051, 7.0496, 1.6972, -0.0415, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6674, 1.3315, 0.9005, -0.4286, -0.5194, -0.4355, 0.0413, -0.0219, 0.8097, 0.5999, -0.3931, -0.0162, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.3322 left_y=-0.1456 left_z=0.1515 left_yaw=-0.0173 left_pitch=-0.1488 left_roll=0.0851 left_gripper=0.0413 right_x=0.2935 right_y=0.0 right_z=0.1711 right_yaw=0.005 right_pitch=-0.0312 right_roll=0.0036 right_gripper=0.9966\nstate[joint_eff]: [-0.5265, -6.694, 8.9915, 1.4432, -0.4078, 0.022, 0.906, 0.0479, -1.5932, 7.1316, 1.7314, -0.0269, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f26e62d240f916a8973a831f5039e5bfd7b9957b157fd9ad77dc8b073673dd4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9edbc15414c1b5eb1f282fa2526ee165e74135a8a1398302abeb139ed27cc6e6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62f82a78e7f9a93b852a82b0bda922dbf1a6d60def049697d20e0145923e47de",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJ-lyaDHrfZj8nOna9ARgzM_NlNSbEDS6uPNivBwznhM8HY0ZNf4Hn9I1M1HE42-aRbobONSYlMVRvrOg3bQv69YdJX1ISJ8IZ20nIiJDpTND3Khqe1sE9kvGpNcjl2QqLSaBdenib_5AiMhYEfxReToOgVsGHVPWuMHwQCP1yr3tJRVXldomylkQLoeaokdq8G1QkjkPYheuM3tj4mR5RKvr3fr7cYL2yckXnp5CM4mYNH7QSjCZYP_ahotDWy1bxGjhr_yGPTQFdSml5NZdvFI1CtMN5uuBjV0RpRvdJ8ZkkgVGViSjcU6dH7oAyaD9-OOK8gcUp-9niigNwHo6-mAGBvuEhIbL08jSYX-90xmcTeKl-mFr8WUS0YGUeURavJ2kocA2NzDCE22dgCRPeV6AfVc8kqck4MICF8FV_i0tEnPdZL-5nZ1MydX368juP0s2kjCGVFQ-rwO5g5maxMLoBlGHb4pVb4y8725stNU-J-7sAMq10QIFpNcoWZJOI_1kU1gb-xMps16vrE8J4zTMtEfjlaQsHv1uzovgpod3O2olXODdL28x29oR35eKq9omW9opxYXwKoXncXvs2hLI4-YuRtfIEwbEg-FxyTj3nemyS_jdHXZHKLcU1wYSt7npmt-WMb-atTrpZn6KzL2JS_nHNEHwQr96HNk3rwmP6C1SqVJ6cEUwo1_oh7qaxwM7TueMlgFO64pJR8T6ABGEwpBOdOwlS5MLxux6XI7hlYCXHwto6BtQm8HkHQFsE-zeTeCBY5fEUlIqE6eAzibaKAYUHc7FYhU3bu5vD_8SuvKrX7Ljgvh1XMC6wKhQKughcAFcSWDyyQc33y-5rr8p9oRP_ylhEjkk0QpV4lTDsY7iMw54Nj2lxgHrZ8xooqUp5LNzMyB8mb59Io7cgwmJ6uv5eCtBIGuYahIWqnmeQXsu7syGh5TUfxOT7SLDC7xZQEj0a0LCGDZM6VTOmEv2paS3HgvhAIcRL1FhxRr0vO9hkzgDkfklJ0R9X0gM-lOFSuUwRwAxTY8rAOw2rb17yKK_o0o0Pb6gZIOTwYjUzzjVaRqwm-j6D7b_x7X114PaKGTMCDYYgmtBJMT4xG_d76rVKAExabE0pLPakrmfkPRqDvo6IYuR6PFQ5HMHTnW9IuWHBcViXwrP7z1oRQPLqePmhHh7cKvP5VwF-IMspjZvVCoMYk4f5Y-fjVlsDLDCU6cPP4e6jjnmLqddsp4thghCkJdHTw2870RbcDaDb9FjXg4WeXoovevdi3OPG96MTCk8QbJkl9kOk5iYfIVkDfsldDkl9W3-W0a7TZp8hMuAJ_F4ejxaYVbTRHzt9DKOKCaweLpXaMzvnNkxdH_BQiiXkzN-L5Tpm6gjTvl10M3beZaGg0ssnowMuwvOrR47SVs85rEesIlSSjUeKtpK37RjrGleZtE_jx6DcduiA8yPFBh-BFL_Mc72clxdM_v3WyuhqUf8oNhKONukIjKx4dWg0hjMoG3j1FukCuDvgJLIzAVmfpM47wkw-MnevyqMDNJNe_ncWzka3fxTPA0U-LscR-hXfkuqNqnX8H7nScceQ2xQyHdsqzM6Q20FKaOhpITg_KfRybiW9yyYbEwdP6Rp6ssHooZR5ickchZVf_ItRU__vnDuKWdYzTZF6Yk1ALgOIaThz3EKmlweukdhDZKrYHbSNBGtCoesdZhjdCN9l8WedrFH3de1Iry4jcTg-H7QmtoAnzgXhCZ8O09Kt4lzNM-r3t695QR4t7nYxIDafJi0NA7ryXlg-FR5JFz5IlNquXrnI5VrWY4o1kHdYRnRlfMGjyK-JWqJWam5lV1ofS8yFkO5I6yXRgfKzbW-irFm4HiOOHTFc-LkzllG46C3erBhnytP1o3aPgtZwgPuqD78GKy-wki2oUAXCBwTndITf3NI_6Q696XkSnUsuZCKLaf79TfCZA_7p4Z45pDicdVo0Z_YuOFjRu1hRGP177v1RZAztc4xKmr-iU_eUYfwS5PU85or-CIPIY1Y5cGyB-EZZfq6r7QIyGTa-mX3o3WSpionlYny411m4Qjxan5ILhibAHKE1WlSYVluqxE7XK22EPKUxnlp_x0__LZxUZHGk62TJ9ZtCtWGXbfWk_QP0NJV8JX7VHG9ZgQqpwxlp1IPXWFWNGY1rTwrGxcdCDEfZS1AMFBvbW0mTrqoXLNjGTdVjJKlkz4UqVi7NXAD5N0-rgwXaWWAipRxvhLPRwOHUp9_gtA_tRmb46O3JXpteCfN5x4uz0x5e39plB_TpvTaT1Kpgc4lg2ojBD5hSe14TRs29j18uq35h73K4BnToh8ZysFcN8DgOcSfm01ZPlHAJlxK1hqUxq6B6JiZQy5Cf2HzuakUwML8ux1mRrPJAaUM8TR0jd7mX8S7CUHBMTTYcvX-W5gsJVnB8ws9XtpetrkMDe3-5AmhhLLDuyh8OLdM5-ryc6ZuslHD_nmsFD4yLTV71gMFIYPiNVzY8dvMS7bia0JqwaZpLBp_8cXSwXWxse9swAZNdC19OEJDUwqWsl9aaIUTTyiifXHBuHh0oE2bCHb40I0KWpONQZjWi8XLG3kkujsTo5NVJnKZwU9mbmQS8d90fq0oykyYXt8pWef-0vXVRhacVUDXS8NFVpNxx7n_AkLQ9DtSd5O_P7XpQH5ZjCngcNgxEkelJ6t14qrhXQeUFvWU4V-yulhguXEJiSpTMjksZutMH7e1JlqG3PWn4-r49RZeSxnwditGqHvSUL5QuR7k4ZTl50mGm-KDbVC6Er8XhOU1jPbk5vRh_IiuGJLC7D1wjVJIWchs3FOykZtyehNBq2gfSyA9fMMdr-W8mSwQdt68RvV_1vKrmudpy-hI9KMemd7gOYiKx8Fd16v-rm26qP2akBoiFg86LdITr4ZR-rVW5beBLbaVmOhB_ofyg0hgRQDqF8JvaB9b8KLqEJegYEqv-wGVYWtugIAlImUiGj9AzKgdwVU-VBdQlCEc1Bx6Njf",
  "id": "rs_000d2b526bee51d6016ab49f9bc35887d0b3e4d927a97216d8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.325,\"left_z\":0.2,\"right_x\":0.294,\"right_y\":0,\"right_z\":0.18},\"note\":\"The teal bowl has lifted off the table and is staying with the fingers. I’m carrying it toward the blue bowl, keeping it raised and allowing for the sideways offset of the rim grasp.\"}",
  "call_id": "call_C66jXhVAucEIgUxxqlpsN49q",
  "id": "fc_000d2b526bee51d6016ab49fa2312087d0925937a0c9d5c410",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_C66jXhVAucEIgUxxqlpsN49q",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.0126, 1.8893, 1.6749, -0.8612, -0.6899, -0.7895, 0.0439, -0.0219, 0.8158, 0.6003, -0.4225, -0.0162, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.3382 left_y=-0.3227 left_z=0.1878 left_yaw=-0.0287 left_pitch=-0.1764 left_roll=0.0759 left_gripper=0.0439 right_x=0.2896 right_y=0.0001 right_z=0.1637 right_yaw=0.0051 right_pitch=-0.0663 right_roll=0.0046 right_gripper=0.9966\nstate[joint_eff]: [-0.4991, -9.935, 8.4581, 0.7888, -0.6618, 0.0659, 0.7643, -0.1026, -0.9094, 10.1128, 1.663, -0.0415, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5d64f06a66a8624e5fd27eb5ef38e6e35488a8da92e94460a7d23b11ef9b816",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cd6515ac18b30ef1c6b8fd8719f85a0879eeaef3990c3511b992b9db8b42a7c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5768ddae90054d4a5c37058f0e7ff582f21619ea8c802f399d3a2cc133aac3c1",
      "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 · 11.16 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 17 changed as sent

message 25 changed as sent

message 29 changed as sent

message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.625, 1.6218, 0.614, 0.1886, -0.5079, -0.3897, 0.0371, -0.0216, 0.8043, 0.5999, -0.3931, -0.0162, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.351 left_y=-0.1429 left_z=0.0367 left_yaw=-0.0118 left_pitch=-0.1236 left_roll=0.0891 left_gripper=0.0371 right_x=0.2931 right_y=0.0001 right_z=0.1725 right_yaw=0.0054 right_pitch=-0.0259 right_roll=0.0035 right_gripper=0.9966\nstate[joint_eff]: [-0.2256, -6.147, 5.5453, 1.2625, -0.1099, 0.0073, 1.2332, -0.0342, -1.306, 7.0222, 1.7656, -0.0415, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6674, 1.3315, 0.9005, -0.4286, -0.5194, -0.4355, 0.0413, -0.0219, 0.8097, 0.5999, -0.3931, -0.0162, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.3322 left_y=-0.1456 left_z=0.1515 left_yaw=-0.0173 left_pitch=-0.1488 left_roll=0.0851 left_gripper=0.0413 right_x=0.2935 right_y=0.0 right_z=0.1711 right_yaw=0.005 right_pitch=-0.0312 right_roll=0.0036 right_gripper=0.9966\nstate[joint_eff]: [-0.5265, -6.694, 8.9915, 1.4432, -0.4078, 0.022, 0.906, 0.0479, -1.5932, 7.1316, 1.7314, -0.0269, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.0126, 1.8893, 1.6749, -0.8612, -0.6899, -0.7895, 0.0439, -0.0219, 0.8158, 0.6003, -0.4225, -0.0162, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.3382 left_y=-0.3227 left_z=0.1878 left_yaw=-0.0287 left_pitch=-0.1764 left_roll=0.0759 left_gripper=0.0439 right_x=0.2896 right_y=0.0001 right_z=0.1637 right_yaw=0.0051 right_pitch=-0.0663 right_roll=0.0046 right_gripper=0.9966\nstate[joint_eff]: [-0.4991, -9.935, 8.4581, 0.7888, -0.6618, 0.0659, 0.7643, -0.1026, -0.9094, 10.1128, 1.663, -0.0415, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5d64f06a66a8624e5fd27eb5ef38e6e35488a8da92e94460a7d23b11ef9b816",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cd6515ac18b30ef1c6b8fd8719f85a0879eeaef3990c3511b992b9db8b42a7c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5768ddae90054d4a5c37058f0e7ff582f21619ea8c802f399d3a2cc133aac3c1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJ-vP-r710e0mrXz4roJzEeNgMhYj2dGlQFTdAbnanRc8c6s4-DipDh6iIhW0R247PdNI9dFOuTWmK1vNu1Rby_8rExjCnvULucfpYWvok_M17g0zF4Vhwgsz0ukKaJjMhAKrW-BgIq0_G8wzDMwMgkITplRbOlPZeJ9Bli0fzPC6ygMlZJWs4y79EwKtUQPsZ1mhVEDFucQYBcEbU4eu0O49AAHqtmGF9awl9Zp6gGLSqddFFNUF1ezjHD9RiVKYrfn-9VllUqVYJh6uyNi_cJTd_ODnDkM1LpYVX1TUQ3sq56WdSnS84I5MP5WWXsHcN4u3GlmykV4Bvb9JZ7aNFKMexFGZeTZiJETSmSYTKLPlCKl6DdnbkH50mt8gD5dpTeGdsXbSLAzNxfT-zheHovaN3CYnm1W-56vXiW8wv-9WPePCOBOjMgB1ppWlEUr1DyFI3R_Si3Nh0DCP1FdFClEb2v8fiTURk2QCm-va8DEQoGdmkGHJvHKZCQmA6uew4rSPKO-J5SsJGyY-3GRFghdAuWajKJnB60wIbUTxK2DqRZwosPJwDpI2_yj3ZFMuT4EptJTdHPd7mRSbRQgglcLUcmZI0UWar_xvDi_Z0jWvMB_aSzyzoMCXTmc_2wtYG8WFY_QlNa5qFPum7NlsTF-EVy3VENfcN1BOkBn8iiX70_WwpQr3IaRsqHOg2nbikwyhbv57GFHVP6H1W2YwcwIw3jgjAHSN0Cboup2NtXfC3byJtqWGe-WNtNc7pSOHQOD555-VJeHWYgV15wX1Eu4EQpXnbr8-87rOS9cMkoFLrtxXZ5944Z8eOFFpZh3Ybls86Ntk9c6yrkXj3h-Z_beofxBs3d0u68t-pLTN66Ns6kBp-qwErwEPPhgBOGnJvLLBBloRlB9VoIFXj8vCx-I-n9tIDcUmHX5dw_9RhEjiZi4nUvwwpdZftbd39tC5d8bdLzaEcP-qF_uhUmHqIcA40KZiVgBYD2-rIKnr4vnkQKcz9Wqw8UyD_X6Bn3wTuKHA5HH4kTANrS1Qbl0XuMldKQxPVaZV7NqGKMzlPSVzluTY7H45JZsf_xvBxRhjdCAJGOfEx3VNV6w0q3vRi29NBWMyu9A8s1wRCd597dmIjQG61skES2qSXZ7Xo-_4TOiOP__wNBWMjOln6qw1aEdHJ_aIAcsxTnvEO2ZI-hSpm8JNenrBnehKVYlMYIyiJR-ZHsa9izuXhGoz0w_sf6yHxnsjrJOe63r5yNBJNVZ3D-BHvhOvuQ9-wayyk4yobqAOfIxsJezHPwrxofh73mh4iPSiB5KILIOV5Gyd_ANdMeY9-S6bBMuOQfS62Q5AGTlcLfSRN0CXjO3IudId6PweqkBB9G9StGnKFoKU2WtN8CfQwrdmOOy0fu5ZhEFpm3F7Un_zcYwsbzeb1buPiwJ8Sb7keK_cHw3v5GQnAhv48dKJHVXq8eldSnsFQdwKq1tOaKmS6tGxx7rjq82QhfJ0B33-VxMQelpoFKT3BrmPrvx4aDRbSMpB2XIdHvxGDI7kA16R7Z-VcrYPW0WgiSr82NXM-xXw3SZsh1ey4kHWK90c-tSN1EcikVTHNkJiH0AWGo77U6gSx8aTUXFuNiSt1ertSRCYZ2lANUls7rldHiXndXq-HF3k0VAAUpoWLKfFAIkDWeJU4uPO4PEz9DsHsGMUCOuCBjJx5rwLZ5_c52y1CUKAldZ3gNNHn5SaAGI5Zny2ApnOjQxV5fGc7cG3dBTuuoAhRtzlgvshkJDljwSNbJdJBGq_cj322rGKwJKTjm0QYgvGOESpYw6ORWVhUqju8rdvCb0incBKi5kQwZsHzx6qay-jo1RAWL55jHYGsWyMtb9S_R5CrDPmXYYHwLYclYh5pOVx7OMNIzgIvqa1A7Sg5XuABK8REdWeoWt2I2zVaPrQMy62weqXuPzp4-jLIbYqJloDzXuAt78hLfQRz_fXeuCzPGNb_Uh8MwNZgvFkWH6s9f5eno0Xt3CsB0WESmefjVOnRWPF-1dMFJJ-hpWBP2sDfA74xiKyg_5ILRbKuykSH-fC8QBs-mbeK-FBj963d04900seCjJ25A9AvAQAJJ6iPpjdu047XZE1m0YaUiWMwfYVPdPsz7nJ1l0SYIQ6WcuzW0zUvErfCidBmVHzyiUZNoLiT2N5cRF8cla-1fsykUq-zCRvBfuFliRrWSP_G0F7hAwxs3RB7f7ezvlyqT7rzU3QQqpOroG4VjSwVl3lQX9R2UvHVaLvP0iI-gTVTKlh4y1m8cNwzkkwv-TWjtBB-UcAukkwOz9zDBBuvWLGo88V5kFC4RedSqwlsZfwO_Eve95VLZEFl0NTv7e2cb9o5iOMimfFmJP6ljtoyReiz9aMrvQ45djc0ET9MktA9in59KIXQge8KvAGh6W0xgBPVrcoAemXNczFayQf3m_e0lTCL1yPe-EB_Y2_nWIHBF9gY8t9aC8YIVvHVmP8A80m1S5dgAjREmsHu_4vS8jhtv2Tn4phGVraIO1oqA-HvmTRJWPLwwt863uV019F1dOBkA4-75Pz6nfq9W6j2GBCeUYnMgs_lQaSoj55O0b2_q-_QYAZGXF0IIcCvJ82_Tg3LC_HiRgWBhpCASZR3CYK2BddWBQrQ1RP5InHIla4fyd5kdqkmCn0jU3_Lx_sO5GfjKT-kz9cq3gCvUtKnYMd8uSVxA6dYpLezI8vdV79GoNFzvKcPeHlVw957VO0YaD_-LPkx7dALGLZSEmYEWXJS3Y6HcRPXXPgUeFOkHYTMfTcOWceopCGO6YaFUiI5h7cz2o6uYj0dCSR5pjLRgaABSsX5Fi-yF34ro-wYtqPSEfES0XULGHErvMDi7dTHVO4IpxJLTgiEbj9GL98gfwnub2b1OVvJfcbcmfFLQL7vmzaDCCGRV4sc5mDotaLk8KueOlLitysRJ9uzw2ayoXcwpATsfe_aEHKaaz_Wud7OK_h26jHtC1u3c=",
  "id": "rs_000d2b526bee51d6016ab49fa81fa487d0917e9ae53acdeb5e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.345,\"left_y\":-0.36,\"left_z\":0.125},\"note\":\"The blue bowl is still slightly to the right of the carried teal bowl. I’m shifting right and lowering partway, keeping the bowls separated while improving their alignment.\"}",
  "call_id": "call_LTFzw9NnaqWzI3Zfh34CP8JB",
  "id": "fc_000d2b526bee51d6016ab49fae1a6487d09a59d848ce4b9b2e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LTFzw9NnaqWzI3Zfh34CP8JB",
  "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]: [-1.0397, 2.0422, 1.6573, -0.749, -0.6964, -0.8169, 0.0441, -0.0219, 0.8173, 0.5999, -0.4229, -0.0166, -0.0235, 0.9966]\nstate[eef_state]: left_x=0.3421 left_y=-0.3516 left_z=0.1247 left_yaw=-0.0278 left_pitch=-0.2016 left_roll=0.1088 left_gripper=0.0441 right_x=0.2896 right_y=0.0002 right_z=0.163 right_yaw=0.0071 right_pitch=-0.0686 right_roll=0.0024 right_gripper=0.9966\nstate[joint_eff]: [-0.4581, -11.5214, 6.5162, 1.1306, -0.4957, -0.0855, 0.7888, -0.2256, -1.388, 7.159, 1.6532, -0.0317, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05f33786edfb46524fac5f5a9dc20291e92825142dfc8c735b80c4a7b918fe7e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35b1b70f0aeefe059b027bac597b025b24f99eddf3193f13cda39ef2e9a1a5bf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4efc0f4be8314c18b90a3bf88ac7d7440c1fae082ad39f5823894467da91a3e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 3.84 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 21 changed as sent

message 29 changed as sent

message 33 changed as sent

message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.625, 1.5608, 0.6575, 0.0719, -0.5056, -0.392, 0.0376, -0.0219, 0.8055, 0.5999, -0.3927, -0.0162, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.3502 left_y=-0.1428 left_z=0.0549 left_yaw=-0.0113 left_pitch=-0.1345 left_roll=0.0931 left_gripper=0.0376 right_x=0.2933 right_y=0.0 right_z=0.1723 right_yaw=0.005 right_pitch=-0.0266 right_roll=0.0035 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -10.8103, 11.5624, 2.0488, -0.3687, 0.0415, 1.0037, -0.0752, -1.0051, 7.0496, 1.6972, -0.0415, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.0126, 1.8893, 1.6749, -0.8612, -0.6899, -0.7895, 0.0439, -0.0219, 0.8158, 0.6003, -0.4225, -0.0162, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.3382 left_y=-0.3227 left_z=0.1878 left_yaw=-0.0287 left_pitch=-0.1764 left_roll=0.0759 left_gripper=0.0439 right_x=0.2896 right_y=0.0001 right_z=0.1637 right_yaw=0.0051 right_pitch=-0.0663 right_roll=0.0046 right_gripper=0.9966\nstate[joint_eff]: [-0.4991, -9.935, 8.4581, 0.7888, -0.6618, 0.0659, 0.7643, -0.1026, -0.9094, 10.1128, 1.663, -0.0415, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.0397, 2.0422, 1.6573, -0.749, -0.6964, -0.8169, 0.0441, -0.0219, 0.8173, 0.5999, -0.4229, -0.0166, -0.0235, 0.9966]\nstate[eef_state]: left_x=0.3421 left_y=-0.3516 left_z=0.1247 left_yaw=-0.0278 left_pitch=-0.2016 left_roll=0.1088 left_gripper=0.0441 right_x=0.2896 right_y=0.0002 right_z=0.163 right_yaw=0.0071 right_pitch=-0.0686 right_roll=0.0024 right_gripper=0.9966\nstate[joint_eff]: [-0.4581, -11.5214, 6.5162, 1.1306, -0.4957, -0.0855, 0.7888, -0.2256, -1.388, 7.159, 1.6532, -0.0317, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05f33786edfb46524fac5f5a9dc20291e92825142dfc8c735b80c4a7b918fe7e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35b1b70f0aeefe059b027bac597b025b24f99eddf3193f13cda39ef2e9a1a5bf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4efc0f4be8314c18b90a3bf88ac7d7440c1fae082ad39f5823894467da91a3e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJ-6fz3JquehT87HVg4IXa9R0xuQGT2tlNi6b5Fh2QPgRpa5HvWu3wOGwA9uzcMC3slVLqnHBPVwx2iGyYPy8qIbeKBuAzx4a9eS4AHZpU0s1jOk0kUd6WZ9SWxauiMud0D4cA2-20W_oVRjs_rUSDYC6sYFeSydQ4sxsiLgIhUdz6o5CYiavBajkLkhgrLINidIL9E7R6-F-EWZQUsl347XNoB2-3h-xl0_8fA-LynoODWcTU2IaEpIDnFkKKtUziphiRmmPPaptDHE6mR52g8Oasi0hLgmMHk4IfFMferUSa0B9N14Y1-Ceb91NN6ZFFrWKj1NrN2k2MzUgbtD_N5A_5y0ysJKlyWu36fqly6VKsPzhMhoT41lHEHHPWvfipgQbZpDP4uRptY9G_nPbVcks75xN-VVa8sEBRpIlBRB2LOAgF-BEGBC_cIMp5_NREeFEp8LGUDIC0Px0zN5JRWtmh7Hm2c8KvhHcz5cHE-W18zEK5fUJ7nYWMcS5lom4TRa-PfHjK6K_tY4NQ6Xbjf_29cDERYq901c8ciJAiOAP_Go63z5u2-kMfYC8CNH9cNrlLDNIAHBgblB4aeIS8Xk684Am4nWydEWMIyxBvrGafogZ9PDRL_Atq8gxd4Qs51aIFtkTZmab5aFNLCwDhjYsCH6qLpZqquQhbGQ9atn4JAhZi1KsfEh4hIlVp2Hf0XcXcTJuT1sT_MIPVMODzxT8KL3FXlm5s7gkhBty6Aco5Voe0HWpg5042kJcz6cvG_TMdUtYXrLKeYb6jXESQyQhKl_wkk3uwHJCEoaSYOASU_2hXvkfjPfVOKI0dlfobEZhnI4aOpCS0YBJVtD65Aez8bp9GIL_1xy13O2wVh3USrVeHgBn9g7WB7X3twzsSmGfpnhNYA0RUek142dny3Tlq4uaV7_MYQ5h4tK3HWgIM0byYhMnpGq9kiAArOw0blqoT8fTkn-dYQzdCfjs4ORGyW-c4hA2l9Hh5I4TFCsNNX9fWVpTtVMVFIiv2yEUar2ilQr72k4ulfSTVwfHetkYmYWeZyDQgPxpADxfMkO6O0w12upp6I7esNvXoIdXqYLCE7VCss91IE4XawQsl3sWnxzi7wmqVEi_dEBYlCIorccY0yVqu8vVHyIhB3FthPmaG9OPO1F_u0KrwtP3fMcoBI2YCeOT8XhdaMFu3KKpB1EHT_aH8F8PrFlfyzTOZ6P_mlkOewVnvkOY_gI4J4DVgKF0U96H9C2KLy39J8hhMmwKwbfqu4IORwtwtxOoEOW6Phlx96Avv8_LL9LXZIToZjIh9Ux-qxHlHkxc4G7FYDCtvWtvVaonSkRaQ1Z2m4skAv-UFFuBg50rdhOJpxRg5D_Ee5fwDCE5pH0o3uqVFrrceAzb6X7jgzj7dhqP48YOkqBX8s97qVkZUI6jLxto_CwgrX5osG78451xswhj4slcPv6EJpccFvw4NIWEkpYzTh-iloVEAQ3LaR_P_nxQykpHfe4oA2SmslSNBxr6BYfjUtqpSoF-ly7Q6ew77Q6vtU-b2uJ65fqHTioMiHPPhS7rcIk9na4MJl3UnHdrXxbmDbffCK0Ka98LqyQlq3aTnYtn-fcPasCg2_h22bOmqui2CKFzlodsZ7GrfnTIECL4S63BwRgaTXmfU6WxeM1dyzD7axy_qBiyWbY4hl7zRNKudzojkTw-rTN5jv62D0fozVCZwBrE0mr72nIIjIo1tExVtQvrY_u73oJK8SMm5cDNEzFZOLiZoUhWjcCJy1934g_n5BJ2AbC8vlxznmAhgoapEkoiVdLCjVxK_OKxn1U_6g2uRy7Rrv-d9UhagLP6XMROXXi_prpvBbOPsUFNIZpnQ-W5ffCwogmf3DV8-CVeJ-9trpKZsqXuhZMPoD0D82s2SwOm8_TB5ZZTXSLs5rxSgyyCxziuzhOKWRzOscDWLesa8xn7GCfBQcSLDscZk2gvq07f65WZT2fBXhWEsCr5da3gEELNtoo7QNuSzNqCyj7jLfsaNQDJjfd9e9MIt5yvmMyKYegr_UA4_xLETE14syShBxezsfrKQR5EXMESmbNSvsJmgEuatgU-lpRbfiew_C28zeuBmbwhqWD14eCuBG18z6AjoWTeD6YWP68ucJUnlTwOOnpBB8gPcbTYCxhdobSpYYdxvYJQLJLRfivdLzrX7inaEjL6N2JJVTItfbbOtMpbrOkO6b9w5Wj1lHhb35KpuY-vPM2Yu00mDjXP7tCtR6IgNhPFPQY4BmGPRsTTyGvvP38cI8LaDC1BLsu9tvhPmTLlwFwXdMkbJfIVS7KHbu2nzDmz9HZPr_BAM-2YO6NmMjobMIV-dPpcUfO96fd9urpydIwroS47UqX46LMgfuWAxRuhlI45yyALa30iUyptI9UZ6v13C8u7H9mAwdPYqHLfZ2fqqLsDmwXAuXB-rqjC4A_MyX7fbvqXARL1yjiZksTWNTttUOGdRCTjqS9ZoZa6NlY6yXz6N1DGDxzHmZRClRZyv2UjtyXEoLaoCcWBjZmMU7-djFqGKP0tL3uSftwjSBHAUPcmrVBVFphddF5iiWlQIivL4gxQ26ZhVoVwNWjbgLY5vqN0mK05aArk05pe5rx_9d4-AmDH0cerukVsWMZCnc2GFtKrux4GKRBQpTWgmkVN47lWV_9_TZkOyc_ABIrZy9zNcVp_IhGZMnGLrY_jqYZ0h4IZWOhh3qo83x16VIyzJ8MDInAcW1tQ4UMdavAWYjvYdA56ewzmq_2hw5-_WB1nSxMbo5DT9Tp3v5onDMpWnDkJ3XMx7buW9sncPF1MdiRb4It0U1me3Zd5au-THc-tDmT2QI3jw1q5DDN9nlk9nDKTJ42IIkAM6J_meveHFAI0JHzd8mUIq-a7tQiIaqLI2HZ5rFeCk4G2y1dudU3buNs4KptQhTlTHLK9-BTayZAkRnjku2c6zpuasr6EM3oD7ANuLy8rbbnTQ-CaBhSxtQaWC0cBtxhRI_vPTlN9djdXwyzP2hGSBQ0Q2D2Fr_yBoZjwCFObRcxUyhlFCE9IkOE1ihROS9Hh6mDuuy8cF391ufWNRF4MlkGrHLBBzrd_4wz4RMysg6q6Jmfk6ePoGnXlwwNnacn0KSyeycjDP4904nF6UzwwdJd8HQW1m6XJyE8X2TH7zA7rFnkY_eneiCujssCYPoaq1nj3_HTa1kIRj9pbVdMFF36hPKgPubXgqKLR0LOvnXG3nINFRcuuS-KjBuKKaidpJF_rlw_Rw0Zr-kIodJTLNCLtCZSuEwJPhbf1AMEY36f5C1k5-rVZG5ibZC3cDq3cGa51Zy5TdZD2F4YmgCS-N3O8k0e7lE10KSDcafNyXJp1GfIkcB3C8trVQJQXZUhpouXIfbNVlQyTn1Nl_svsBkmQBm5v4qRnO1AUontwjFK9pjHRtFoM6riy6zhpE2gjZD71yO4HfdkIvAk5epNlaVqt6_ei4UsUycUNRUDAieyBFnc-koDdD895iR53JpghjEK_N7TTcUw7829Pf0YXuNcgvqc4O6hTjKeR2I4-gZsP5EH1G2CVKSTpc-W_H7uPuc4f03WxspV0YQYzz_oKIdvHIDuLSHDah2pzPEPfiYQzlfrOG175aWaJTvzMG-aWx_ALAn0hfW2syZX4JEvlRiKO9MWKu7khKOirR3MPDCLipnhxbMAGd8GxU1QVWo5MhGoZVXWUfRHBzKcMgXrLryDyNVC1ckLL08V8YtYxI3HbuNyFSptC2HXDSjVrTOuBKlKLAIx2wQvqEXJergLxYkBbLlzx5F0_nJeo9UzjT9Ql8q5RsK3Uco=",
  "id": "rs_000d2b526bee51d6016ab49fb0c85487d0b40027e8c0ca6ce1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.375,\"left_y\":-0.385,\"left_z\":0.085},\"note\":\"The teal bowl is still a little left of and nearer the base than the blue bowl. I’m making a small forward-and-right correction while lowering it toward the blue bowl’s opening.\"}",
  "call_id": "call_PNlRRukhNPo3xtHS27n9dVLR",
  "id": "fc_000d2b526bee51d6016ab49fb9a8b087d0858f80dbeef50664",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PNlRRukhNPo3xtHS27n9dVLR",
  "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]: [-1.0241, 2.2147, 1.7897, -0.7071, -0.6853, -0.823, 0.0441, -0.0219, 0.8192, 0.5995, -0.4229, -0.0162, -0.0235, 0.9966]\nstate[eef_state]: left_x=0.3659 left_y=-0.3793 left_z=0.0897 left_yaw=-0.015 left_pitch=-0.2087 left_roll=0.0973 left_gripper=0.0441 right_x=0.2896 right_y=0.0001 right_z=0.1624 right_yaw=0.0067 right_pitch=-0.0709 right_roll=0.0022 right_gripper=0.9966\nstate[joint_eff]: [0.5538, -12.7795, 7.6239, 0.8816, -0.4322, 0.232, 0.3883, -0.1846, -1.4564, 7.0085, 1.7118, -0.0464, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b450a590e8d88733eaabf7b43a2064971ee153673a6adaf71b0b3d2440fc8fc7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d733856aa009d8634bd898cd842530743867f4dc27a4e6391be274233309fec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:655764ee35a8148adf4af8e6cb72885dcb527ae17cafe573036cf08ab9e17963",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 2.543 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 25 changed as sent

message 33 changed as sent

message 37 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6674, 1.3315, 0.9005, -0.4286, -0.5194, -0.4355, 0.0413, -0.0219, 0.8097, 0.5999, -0.3931, -0.0162, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.3322 left_y=-0.1456 left_z=0.1515 left_yaw=-0.0173 left_pitch=-0.1488 left_roll=0.0851 left_gripper=0.0413 right_x=0.2935 right_y=0.0 right_z=0.1711 right_yaw=0.005 right_pitch=-0.0312 right_roll=0.0036 right_gripper=0.9966\nstate[joint_eff]: [-0.5265, -6.694, 8.9915, 1.4432, -0.4078, 0.022, 0.906, 0.0479, -1.5932, 7.1316, 1.7314, -0.0269, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.0397, 2.0422, 1.6573, -0.749, -0.6964, -0.8169, 0.0441, -0.0219, 0.8173, 0.5999, -0.4229, -0.0166, -0.0235, 0.9966]\nstate[eef_state]: left_x=0.3421 left_y=-0.3516 left_z=0.1247 left_yaw=-0.0278 left_pitch=-0.2016 left_roll=0.1088 left_gripper=0.0441 right_x=0.2896 right_y=0.0002 right_z=0.163 right_yaw=0.0071 right_pitch=-0.0686 right_roll=0.0024 right_gripper=0.9966\nstate[joint_eff]: [-0.4581, -11.5214, 6.5162, 1.1306, -0.4957, -0.0855, 0.7888, -0.2256, -1.388, 7.159, 1.6532, -0.0317, -0.0122, -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]: [-1.0241, 2.2147, 1.7897, -0.7071, -0.6853, -0.823, 0.0441, -0.0219, 0.8192, 0.5995, -0.4229, -0.0162, -0.0235, 0.9966]\nstate[eef_state]: left_x=0.3659 left_y=-0.3793 left_z=0.0897 left_yaw=-0.015 left_pitch=-0.2087 left_roll=0.0973 left_gripper=0.0441 right_x=0.2896 right_y=0.0001 right_z=0.1624 right_yaw=0.0067 right_pitch=-0.0709 right_roll=0.0022 right_gripper=0.9966\nstate[joint_eff]: [0.5538, -12.7795, 7.6239, 0.8816, -0.4322, 0.232, 0.3883, -0.1846, -1.4564, 7.0085, 1.7118, -0.0464, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b450a590e8d88733eaabf7b43a2064971ee153673a6adaf71b0b3d2440fc8fc7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d733856aa009d8634bd898cd842530743867f4dc27a4e6391be274233309fec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:655764ee35a8148adf4af8e6cb72885dcb527ae17cafe573036cf08ab9e17963",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJ--bZMCGjk0v77nOTURPcogy7eup1ztFSyYX8yXoGhr8vLtCc7Adp5clMskVOMTcgnHQJD1nJCT4hPhrZIWtdSo1TC6zcM3uu7rrWmaOvANVwikG18j4J3dF3yIFUUqphmhKWzQhypqckpsOmj5CiV0ittmwkxdWyNZDgy_9ZT4RGePMYopRp-zeRPGrAduUXHg6e4GPBYv2s6v47tCJ5utZxKqb7oW_vHSYNEwiQaSfXZEAlXJcfe_nLnzfy9BvvRX9W4Y5sh4tTBY-1kQQ7BgIqwS6FWuGygf1_l-MszLFHBSy-5nWaLX0AwldvI3XHka_3kLXSSs3vlNcMWhyhV2rpQxFEYnYwQMmzvtzqY6XmKeNcl-rcOG-bfGX8cDfGaQOdkCTF3Ql5qrOQGlfwDuEcqWJElPkIupGsCropEMRwulhrRgs2PBYvZywFQtj6iaqWsvMpB5eyehYds8O2IXGNdl3iQ3RPYV6eWH8V0jrOB1VHW59Rj8YVVRhuwfQW5vo3SwmLhbspM4HPi0lVVpEVnAvb0t7hTKf52tRmKu1eSOa7T5etd39zQQntvjpA4NwM6FHfnYM00---oPZAQk_5bB2o6U9yieYRhVx95RIyUvw0qs9in9AAUb9o52Y-wEZdxmBKZqHU9ycFyNs3QAviGse8Sx3L7vU620hu7CrsjzCdkTFI5Dk4efm6tD0UOFO_jXk-pqg-jXJC0hBiH6HPfh1XkFo1D0zaFYyS9Lhn-HclyTs5WBAKJo0jw1oGoUv2896o7xq_o8hh9ujb4k1mjSpuCZgUpxtnPL-N9pXLydqcf_ymCnoBc5ArwtUCjoTXewvUhWzBKyI8p5XhQHxu1b4R8quh8WbZjUScNwFaejhu8NOCVwAsehqnm9bLnRV5vVXOZTOOxSYANffEGF3Kujip5cY_NUHfKQmIF8ecb__YEZxHpRxEY-_Y3W-E77MNP2WnEh6go7l-ksXN6PudM2EhFS6t9ZTYSY9c_sY-K1XYZauouAGDZcbXwRzgwpGr-d7pLyEuMTBcj4DoQA-mqdTBo4rcwYS_OttH3KIhkX9p2MG0oMTZKzXOCDxdgYNQWHkMncgVyU6wrXpfCpiHdTiDKU5oorxmHcJICh-p3mVc8hty_woIYWurAJlt8HV9s6-W0Q9PhK18YJFS-Eqeo72trk4-Jc_bmxFfAzIxLwNnomYGIZdEfOvBmKJjff0OvpDHFjZ-wTtdaZC_iaHzxYJQpVCeN7YmkjvS55etOc_rBgjfCZ5PpcT1qPtoEPpk2enpAci6RChI_UUXdiE_ntuepHLGRXG9bTVzL9JMUr--iqpI4mvfhWjZMKKxru-LU-j9mGfm34ceoIG8gbUeDSUr1N_KnjmhI2Jp3P2bfN4Wbxwxb0YaFOHPCEHfUkvhkqZgRtzEUm0MoXwWNezS3eMXDUtRHDazs8nZbgG1iqUgTdA58g0OQWNnqWddi4wB0Rp7D-w76eLApVpO1BMrAXz0q8vwuHBK08OklUDGvICKypPstwlnC_c_cLp-RGLyvjdG0f9qjQ3-h7Kkm8Mg==",
  "id": "rs_000d2b526bee51d6016ab49fbc592087d0a1d8122875d23d7d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.395,\"left_z\":0.06},\"note\":\"The bowl rims are now nearly aligned, with the blue rim visible just outside the teal one. I’m lowering the teal bowl gently into the blue bowl with a final small sideways correction.\"}",
  "call_id": "call_OxI9Oxv1nV7CUQg5qltm28J1",
  "id": "fc_000d2b526bee51d6016ab49fbdc3b887d0b354a484046d2fa2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OxI9Oxv1nV7CUQg5qltm28J1",
  "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]: [-1.0126, 2.2917, 1.824, -0.691, -0.6781, -0.8146, 0.0466, -0.0216, 0.82, 0.598, -0.4225, -0.0162, -0.0238, 0.9966]\nstate[eef_state]: left_x=0.3741 left_y=-0.3831 left_z=0.0633 left_yaw=-0.0069 left_pitch=-0.2291 left_roll=0.1229 left_gripper=0.0466 right_x=0.2895 right_y=0.0002 right_z=0.1615 right_yaw=0.0073 right_pitch=-0.0728 right_roll=0.002 right_gripper=0.9966\nstate[joint_eff]: [-0.5949, -11.3026, 8.4308, 0.9988, -0.4469, 0.0073, 0.6374, -0.1299, -1.4427, 7.159, 1.6337, -0.0757, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a59113b268b92085f623209bb80267a550943434fc76fb75e1112bc2939f9624",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0564ce97b1b4bd0b674eb0a44f9e92b16af84acf5a2bb8b1fc867ad53bb1a380",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ca16929503afa3308c6e44dfb4a383af28f1d85ac79bc356f31a51b2c74fe4e",
      "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 · 2.58 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 29 changed as sent

message 37 changed as sent

message 41 changed as sent

message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.0126, 1.8893, 1.6749, -0.8612, -0.6899, -0.7895, 0.0439, -0.0219, 0.8158, 0.6003, -0.4225, -0.0162, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.3382 left_y=-0.3227 left_z=0.1878 left_yaw=-0.0287 left_pitch=-0.1764 left_roll=0.0759 left_gripper=0.0439 right_x=0.2896 right_y=0.0001 right_z=0.1637 right_yaw=0.0051 right_pitch=-0.0663 right_roll=0.0046 right_gripper=0.9966\nstate[joint_eff]: [-0.4991, -9.935, 8.4581, 0.7888, -0.6618, 0.0659, 0.7643, -0.1026, -0.9094, 10.1128, 1.663, -0.0415, -0.0513, -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]: [-1.0241, 2.2147, 1.7897, -0.7071, -0.6853, -0.823, 0.0441, -0.0219, 0.8192, 0.5995, -0.4229, -0.0162, -0.0235, 0.9966]\nstate[eef_state]: left_x=0.3659 left_y=-0.3793 left_z=0.0897 left_yaw=-0.015 left_pitch=-0.2087 left_roll=0.0973 left_gripper=0.0441 right_x=0.2896 right_y=0.0001 right_z=0.1624 right_yaw=0.0067 right_pitch=-0.0709 right_roll=0.0022 right_gripper=0.9966\nstate[joint_eff]: [0.5538, -12.7795, 7.6239, 0.8816, -0.4322, 0.232, 0.3883, -0.1846, -1.4564, 7.0085, 1.7118, -0.0464, -0.0562, -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]: [-1.0126, 2.2917, 1.824, -0.691, -0.6781, -0.8146, 0.0466, -0.0216, 0.82, 0.598, -0.4225, -0.0162, -0.0238, 0.9966]\nstate[eef_state]: left_x=0.3741 left_y=-0.3831 left_z=0.0633 left_yaw=-0.0069 left_pitch=-0.2291 left_roll=0.1229 left_gripper=0.0466 right_x=0.2895 right_y=0.0002 right_z=0.1615 right_yaw=0.0073 right_pitch=-0.0728 right_roll=0.002 right_gripper=0.9966\nstate[joint_eff]: [-0.5949, -11.3026, 8.4308, 0.9988, -0.4469, 0.0073, 0.6374, -0.1299, -1.4427, 7.159, 1.6337, -0.0757, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a59113b268b92085f623209bb80267a550943434fc76fb75e1112bc2939f9624",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0564ce97b1b4bd0b674eb0a44f9e92b16af84acf5a2bb8b1fc867ad53bb1a380",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ca16929503afa3308c6e44dfb4a383af28f1d85ac79bc356f31a51b2c74fe4e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJ_BLOcolvr6PxJQJiK_QZxwR5iEfNAwnbvf9Vize7xZ05KxqdQvvk3xSoGaYhAcetUVEdqU_FH1uGWkLubcB9m6tgP-0UH6qka3W5x5IgyeZ2dOjBC3gSmJf8HRF1g3M4OlOdzK8Be3TEI6XWg5yPLaAjKIQdnyK6OjwrXkvjbs9uY5GdRBKAzHPs8J--uEGINg-CGw5OZnX6eSM4GqnZaGQCkGL0doNBLtPPa_zoDUTpZQEobxrXLG2q-VQz-n5HJTykvHhPWxKOsdFQ8S8IBiiHNhkf-fkarzlC5ctzJzBAOph0lDQQHWA29ADqhEStCJkQt7XAlWU_N64BlGd-c04n2ILrhySbqNUwTmbvva3u8c-sNzSDIY6hIxYxUKxwQHgrbS7qYSrSwNlu6kHnoZ2AbUdVFPjWwXCbhG8RSAT2RDGBv-Ow2QmL9WxPEjiXUi59DOLMJvhqGRegMBjgTcvD6ItWnnOvupfKGe3t7FZqkwj_TwXyMUKmtfIjZ075Z4sps6KbGJHRVcAf9D-JVn-AWwzum0XJ1dzwIoQtuWHpLoWtvVMtYJaCHxUvEqyWW12Z_4dqZa_LQ3Bfbm-aqK8arHdFoGqlmmu-MPD3VrzMQlVsy1lZAwNPf7q7V3Pd3Z3Vy7Uj0IN4cccoUXlKlhFGHLokfNMnfVDm4UxupjtHO2h_GThywckzcRYVX63CYh4_WKI-dsFFfqmvZHpktlJ7ej_rKQ_-_AUpmcccdh2NWjCABnzkPQOWfQOEwDNFONPJFZtDQZ87u7JSBS-12l2N3AMVHeMksDXjtj9rQBVjFHip7_GWbRzDxo96_QgXTlkSCRagO8IwyB5kqeK13Sd9VPtX32AzaO-2bVp21H32BPP39KtW8iSu3qAVZ0HEBF0UiRYZMwLfOyUk3zjvg47xPdTu-imrdd7UT1ObnzTNsb_EWcuu2Nlvh4PbZO2c6ZayaLytIOY-7DzxgcDCe5ktExbNZSQ2fGxGJCuEBYi2lflKelFPaL3QRqhEV1igtoxXHjFlaaEPyHlYIS9dizcZ19flqH5j7I900pWWznjRdZOBgdnzOaA1YDn_MG-cycAXVB5WROUdix9yiZIrJ1ppTdyWGXvaEn0MQshKwzwZwHtvpA5_GZd_iFn5H1yysM37OZGhB_vOxfc4FI2Zbh8wHYa2zMMUMupsg7R8jnaQX7sQOKWCwGtZqLnP1ia70-vEK6r50xBkfeSU1hhZVv5YOW5rSBjRlTsdPixPmzwzy7inwWEV5UCid1p27sj-A0",
  "id": "rs_000d2b526bee51d6016ab49fc00f3487d0a293f6ead71e7c0c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.65},\"note\":\"The teal bowl appears seated in the blue bowl, and the descent reached the intended stacking height. I’m opening the fingers to leave the teal bowl supported by the blue one.\"}",
  "call_id": "call_0yOFcJrxIaVbQONIeYYs95XA",
  "id": "fc_000d2b526bee51d6016ab49fc0783487d0aa87cdb7fec08264",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0yOFcJrxIaVbQONIeYYs95XA",
  "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]: [-1.0126, 2.3142, 1.8309, -0.6712, -0.6811, -0.8276, 0.6453, -0.0216, 0.8204, 0.5957, -0.4229, -0.0162, -0.0238, 0.9966]\nstate[eef_state]: left_x=0.3766 left_y=-0.3864 left_z=0.0561 left_yaw=0.001 left_pitch=-0.2236 left_roll=0.1114 left_gripper=0.6453 right_x=0.2891 right_y=0.0002 right_z=0.1603 right_yaw=0.0073 right_pitch=-0.0758 right_roll=0.0021 right_gripper=0.9966\nstate[joint_eff]: [-0.4991, -12.2188, 8.5675, 1.1013, -0.3883, 0.1099, -0.1392, -0.0889, -1.1419, 7.2, 1.6435, -0.0562, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:615bd7dca9ba8a48022ef3ebac7a9fa174f7633710c30ac0191c2d865aa383ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fca43c90d6f3abf9a47dd13a100b252f4a6aeeb5655d87ceefc7a36dec630161",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8979ecb2b2ac6ca082cada8be813837428af84b5efcc18dbea5889b529371e76",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 3.335 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 33 changed as sent

message 41 changed as sent

message 45 changed as sent

message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.0397, 2.0422, 1.6573, -0.749, -0.6964, -0.8169, 0.0441, -0.0219, 0.8173, 0.5999, -0.4229, -0.0166, -0.0235, 0.9966]\nstate[eef_state]: left_x=0.3421 left_y=-0.3516 left_z=0.1247 left_yaw=-0.0278 left_pitch=-0.2016 left_roll=0.1088 left_gripper=0.0441 right_x=0.2896 right_y=0.0002 right_z=0.163 right_yaw=0.0071 right_pitch=-0.0686 right_roll=0.0024 right_gripper=0.9966\nstate[joint_eff]: [-0.4581, -11.5214, 6.5162, 1.1306, -0.4957, -0.0855, 0.7888, -0.2256, -1.388, 7.159, 1.6532, -0.0317, -0.0122, -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]: [-1.0126, 2.2917, 1.824, -0.691, -0.6781, -0.8146, 0.0466, -0.0216, 0.82, 0.598, -0.4225, -0.0162, -0.0238, 0.9966]\nstate[eef_state]: left_x=0.3741 left_y=-0.3831 left_z=0.0633 left_yaw=-0.0069 left_pitch=-0.2291 left_roll=0.1229 left_gripper=0.0466 right_x=0.2895 right_y=0.0002 right_z=0.1615 right_yaw=0.0073 right_pitch=-0.0728 right_roll=0.002 right_gripper=0.9966\nstate[joint_eff]: [-0.5949, -11.3026, 8.4308, 0.9988, -0.4469, 0.0073, 0.6374, -0.1299, -1.4427, 7.159, 1.6337, -0.0757, -0.0708, -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]: [-1.0126, 2.3142, 1.8309, -0.6712, -0.6811, -0.8276, 0.6453, -0.0216, 0.8204, 0.5957, -0.4229, -0.0162, -0.0238, 0.9966]\nstate[eef_state]: left_x=0.3766 left_y=-0.3864 left_z=0.0561 left_yaw=0.001 left_pitch=-0.2236 left_roll=0.1114 left_gripper=0.6453 right_x=0.2891 right_y=0.0002 right_z=0.1603 right_yaw=0.0073 right_pitch=-0.0758 right_roll=0.0021 right_gripper=0.9966\nstate[joint_eff]: [-0.4991, -12.2188, 8.5675, 1.1013, -0.3883, 0.1099, -0.1392, -0.0889, -1.1419, 7.2, 1.6435, -0.0562, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:615bd7dca9ba8a48022ef3ebac7a9fa174f7633710c30ac0191c2d865aa383ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fca43c90d6f3abf9a47dd13a100b252f4a6aeeb5655d87ceefc7a36dec630161",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8979ecb2b2ac6ca082cada8be813837428af84b5efcc18dbea5889b529371e76",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.33,\"left_z\":0.2},\"note\":\"The fingers are clear of the teal rim. I’m lifting away before returning the left arm home so the overhead camera can confirm the two-bowl stack.\"}",
  "call_id": "call_nWYuCEXfsu7TFaOCehE6FMDC",
  "id": "fc_000d2b526bee51d6016ab49fc356d087d0a8a23d87b04e9b32",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nWYuCEXfsu7TFaOCehE6FMDC",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.0, 2.0464, 1.879, -0.9936, -0.6689, -0.8276, 0.6458, -0.0219, 0.8242, 0.5953, -0.4229, -0.0162, -0.0235, 0.9966]\nstate[eef_state]: left_x=0.3521 left_y=-0.339 left_z=0.1738 left_yaw=0.0086 left_pitch=-0.2366 left_roll=0.111 left_gripper=0.6458 right_x=0.2893 right_y=0.0001 right_z=0.1591 right_yaw=0.0068 right_pitch=-0.08 right_roll=0.0025 right_gripper=0.9966\nstate[joint_eff]: [0.5265, -14.0376, 9.1556, 0.8571, -0.3736, 0.1783, 0.0415, -0.0205, -1.5932, 7.0359, 1.7021, -0.0708, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2739e7f1f2ca58cd457f05d9e2b6e2ca4b87ec54f631fee5d0a136984f4950c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:557a00137828abf779fc1ffe5ef2eaebedcc8b5d0ab89dc366a826355f338251",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f292f5330544da9571a1f44b6e3ccacfc2db5fe06747d99d505c1e74b0919519",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 6.876 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 37 changed as sent

message 45 changed as sent

message 48 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.0241, 2.2147, 1.7897, -0.7071, -0.6853, -0.823, 0.0441, -0.0219, 0.8192, 0.5995, -0.4229, -0.0162, -0.0235, 0.9966]\nstate[eef_state]: left_x=0.3659 left_y=-0.3793 left_z=0.0897 left_yaw=-0.015 left_pitch=-0.2087 left_roll=0.0973 left_gripper=0.0441 right_x=0.2896 right_y=0.0001 right_z=0.1624 right_yaw=0.0067 right_pitch=-0.0709 right_roll=0.0022 right_gripper=0.9966\nstate[joint_eff]: [0.5538, -12.7795, 7.6239, 0.8816, -0.4322, 0.232, 0.3883, -0.1846, -1.4564, 7.0085, 1.7118, -0.0464, -0.0562, -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]: [-1.0126, 2.3142, 1.8309, -0.6712, -0.6811, -0.8276, 0.6453, -0.0216, 0.8204, 0.5957, -0.4229, -0.0162, -0.0238, 0.9966]\nstate[eef_state]: left_x=0.3766 left_y=-0.3864 left_z=0.0561 left_yaw=0.001 left_pitch=-0.2236 left_roll=0.1114 left_gripper=0.6453 right_x=0.2891 right_y=0.0002 right_z=0.1603 right_yaw=0.0073 right_pitch=-0.0758 right_roll=0.0021 right_gripper=0.9966\nstate[joint_eff]: [-0.4991, -12.2188, 8.5675, 1.1013, -0.3883, 0.1099, -0.1392, -0.0889, -1.1419, 7.2, 1.6435, -0.0562, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.0, 2.0464, 1.879, -0.9936, -0.6689, -0.8276, 0.6458, -0.0219, 0.8242, 0.5953, -0.4229, -0.0162, -0.0235, 0.9966]\nstate[eef_state]: left_x=0.3521 left_y=-0.339 left_z=0.1738 left_yaw=0.0086 left_pitch=-0.2366 left_roll=0.111 left_gripper=0.6458 right_x=0.2893 right_y=0.0001 right_z=0.1591 right_yaw=0.0068 right_pitch=-0.08 right_roll=0.0025 right_gripper=0.9966\nstate[joint_eff]: [0.5265, -14.0376, 9.1556, 0.8571, -0.3736, 0.1783, 0.0415, -0.0205, -1.5932, 7.0359, 1.7021, -0.0708, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2739e7f1f2ca58cd457f05d9e2b6e2ca4b87ec54f631fee5d0a136984f4950c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:557a00137828abf779fc1ffe5ef2eaebedcc8b5d0ab89dc366a826355f338251",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f292f5330544da9571a1f44b6e3ccacfc2db5fe06747d99d505c1e74b0919519",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJ_IEVKyFJkAUO28vH8MHcUMf4TPhORcd2cDwxg6Ttk_DaO-_ERHmdkRs-2ab6mEl4Kx76fvJM2GZzUqz10shgpvb4c_-wAHRkofi8p4MCUAle3gIHwtb_49sXQvgUIBDl_4U0DPue_Jf7SBTUhFVUnBemqCvtFLM1aaE9AdZ9_BtP5bSENJT18I2ppFF_nCbC49f-UNaySoIpdwiwT0WwLPnpEl9HSHRzjkuHd423jPgJOpuTg-oTmB3XRq5j1q_x1Sq0NJrKs3eFcajNFF9zpTd5tfxDWezqA3lRBQ1daC-j6DMIRLxotwVmPo0H_Y_G7Ovo3OfGVq_Sg1ecu_a2x8K0BuEOkKG9cONyJjjZjfNWal51Dt4gLPFCUJPOUYY4TYvkdtAn3phSTJdoHWB86ERahQiJIG2h3PwP4K4oSX137PWq3M7FhjRxE_LpucpT4DrK2il2YWBLVR07FTiTuMBqwYMSgEWj_ACGq6_-g8kOhA23MqSTaHjVThK96QnV8IgEiUZdNtjteVpnS3iRHjfuMHqrvU6JMHhwIUV_gBOwygk5bE3AFV0YcWa_OQzqLaYPmdKm8A5jiEGYHSsvV5BVJPlZdnBC8iYnAsCp1o3pNr2dVoN8QggvzNaYzHz7p9W1F7T9oKcu54VaL3se9Dd5onvymx0l5MqWjZc7gGA5XpcnT2cEDMf5kjoVk3jsN0GqXTnen_9u8j-_FDr1Rx8n_uQhzD2OMsZML-19v6ifhSP7lWvfVxovKNUVxaTf_E7C5EndR9H1-n3z0nXF6ysyGALfzQk-O1q68NZMLQ4sJNnZyAENQEVA3iApbpM4G6o60SDmmM7V3aY9z3FlbYCanVCZO3o23aJwNcE-Wvswz6UyjCw8838br2Kf0HxuqWIVpABOnGkRDcWhG_h5UNlT_aWd3NROGVBEOCMeIOnfSSDIayLVEhmwLfmgzAQNqcVCGtyX3fXfrwIOZBtOPuOzftY5fW6htOhfnEs30o9IGL11IoYO9gI1BAO1jXG8IzADGa8xGTh8TWE2RdYSWSwxX1MPF6oLvt2C5QdZYUFF0xvR362Pp9Knsrka2dMBHuia2SbE3uD5jVoDPEMNIImZVQylbuLQrK5UCoRt0rC6VUhkEeB12y-Wv87qEMu-ppyWathuTTJLnTWBvxqOr8UO1krNFtIcgT_5zaOGMA5HFRFvtNkYo2ekBFiWCdnIc74qB4FD15lfW7aDN8C0Pah7V0dg7ZRqMceXV939cJpNSVfzvPZjnFYV8wXtl3VCcUaTcl3-DlX3ouPBoDbFfAQSlXLu2iDABXduU-cv5R0F84jliYCd0DdJacPL6S-h6_WSDkHaM1IVq6xJcCBnNEyc4oEUwvwLr3q-xG7Golhptrhvu-i1pJW5fHiWhAdDP3",
  "id": "rs_000d2b526bee51d6016ab49fc6d7a487d0b475d06fc7efd0b2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.294,\"left_y\":0,\"left_z\":0.2,\"left_gripper\":1},\"note\":\"The teal bowl stayed on the table when the gripper lifted away. I’m parking the left arm outside the work area so I can inspect the stack and use the right arm for the remaining cream bowl.\"}",
  "call_id": "call_gRabUsPOXlJA8xyhPre8z1VZ",
  "id": "fc_000d2b526bee51d6016ab49fc7cf2087d0909ce736d715d907",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gRabUsPOXlJA8xyhPre8z1VZ",
  "output": [
    {
      "text": "executing move_to over 31 steps (3.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1169, 1.01, 0.9375, -0.7544, -0.1841, -0.075, 0.9987, -0.0219, 0.8249, 0.5945, -0.4225, -0.0166, -0.0238, 0.9966]\nstate[eef_state]: left_x=0.2956 left_y=0.0014 left_z=0.1985 left_yaw=0.0619 left_pitch=-0.2414 left_roll=0.1028 left_gripper=0.9987 right_x=0.2892 right_y=0.0002 right_z=0.1587 right_yaw=0.0073 right_pitch=-0.0812 right_roll=0.0025 right_gripper=0.9966\nstate[joint_eff]: [0.212, -3.0974, 6.4889, 1.5018, -0.1099, 0.0757, -0.0952, -0.1709, -1.388, 7.0496, 1.6874, -0.0708, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7239c1ee0f1fad0f14f44c6cabddc55ac75596637bd3ee936ecfe26b072d291",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1e12723e385d5a7d17f0b12b65d3fad38bc6037b9f8afd7b01e74eea4ef6b7e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12516345b074bd23f1bdbb837e0d1c608c436ebcc3121709a9fc9385f94ab721",
      "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 · 4.167 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 41 changed as sent

message 48 changed as sent

message 52 changed as sent

message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.0126, 2.2917, 1.824, -0.691, -0.6781, -0.8146, 0.0466, -0.0216, 0.82, 0.598, -0.4225, -0.0162, -0.0238, 0.9966]\nstate[eef_state]: left_x=0.3741 left_y=-0.3831 left_z=0.0633 left_yaw=-0.0069 left_pitch=-0.2291 left_roll=0.1229 left_gripper=0.0466 right_x=0.2895 right_y=0.0002 right_z=0.1615 right_yaw=0.0073 right_pitch=-0.0728 right_roll=0.002 right_gripper=0.9966\nstate[joint_eff]: [-0.5949, -11.3026, 8.4308, 0.9988, -0.4469, 0.0073, 0.6374, -0.1299, -1.4427, 7.159, 1.6337, -0.0757, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.0, 2.0464, 1.879, -0.9936, -0.6689, -0.8276, 0.6458, -0.0219, 0.8242, 0.5953, -0.4229, -0.0162, -0.0235, 0.9966]\nstate[eef_state]: left_x=0.3521 left_y=-0.339 left_z=0.1738 left_yaw=0.0086 left_pitch=-0.2366 left_roll=0.111 left_gripper=0.6458 right_x=0.2893 right_y=0.0001 right_z=0.1591 right_yaw=0.0068 right_pitch=-0.08 right_roll=0.0025 right_gripper=0.9966\nstate[joint_eff]: [0.5265, -14.0376, 9.1556, 0.8571, -0.3736, 0.1783, 0.0415, -0.0205, -1.5932, 7.0359, 1.7021, -0.0708, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1169, 1.01, 0.9375, -0.7544, -0.1841, -0.075, 0.9987, -0.0219, 0.8249, 0.5945, -0.4225, -0.0166, -0.0238, 0.9966]\nstate[eef_state]: left_x=0.2956 left_y=0.0014 left_z=0.1985 left_yaw=0.0619 left_pitch=-0.2414 left_roll=0.1028 left_gripper=0.9987 right_x=0.2892 right_y=0.0002 right_z=0.1587 right_yaw=0.0073 right_pitch=-0.0812 right_roll=0.0025 right_gripper=0.9966\nstate[joint_eff]: [0.212, -3.0974, 6.4889, 1.5018, -0.1099, 0.0757, -0.0952, -0.1709, -1.388, 7.0496, 1.6874, -0.0708, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7239c1ee0f1fad0f14f44c6cabddc55ac75596637bd3ee936ecfe26b072d291",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1e12723e385d5a7d17f0b12b65d3fad38bc6037b9f8afd7b01e74eea4ef6b7e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12516345b074bd23f1bdbb837e0d1c608c436ebcc3121709a9fc9385f94ab721",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJ_Sv47B6FgKMtcLy4jWdR_YonWtAtiXZ1PdU8l1lOMbdem__M6BQP8AbSA9wHkdEkXUR1EwIPCYFtAWHVDtFNpBrQyzWxUWFMQlTSDp4qmKZuc-H5-NtftOzR4h-VhoMaawY8P9me2pLk-oG7p-KS62Rnfg1nky9De7lXBchJ9e-orRfnZ_H_r6AqoV5D-cNg2wwnhR9dbIzjOoIfIzfHcEnmPu5Y37mB3hoMywfrFaFEaJBriyxtXaLVbKGpC7y4WozoBxsM2BXGPruajBm6qpI5_hHsjH0BHg2KJZlWfkje3gy8SW2HtmePLeoEYI5UbQ2EirA7Fjd71Cm-oeRb9b6xdvlBeoOHo8eGBfPF8p7hM-JnPWd1vDiWinBAOurbz8N_rI1gECWzwdjp33Hej9WhMmFL2f428GcEA1n3P0Z__1XVB5etfZ9GSgaufOGY0jqNRyXtRokTiQ33auUWanABdivYVC492GVn1SNSBetmC3J2XueG7ww59CrBIiD2ZxIFQykcNQtggk3k2AHb8Wbs-j_1-hASkZC4mExZfdFvTVgRamaOAPHqTYH0mClfbBBJYP1_BLAH6QI7F58g2gQ8NTx8r0zIVDWBwC2Nwz5YhvPRPg-JJKcHa3UvPlS9A3OvEjemyuYIL6Y9KbImZEt0l4afbvkl-rEJSGL_7XGOmv0n8fqlQPCo8wgdBV72lzEJdVqB5t1Qh1KnNJcIw9jDXSq0K5M3YD-Od1JWAC5sNfPAIH-N7U8Qwsfsw3txEPMV-sos-XiBVxS_cxgu7fA1US3xuaql6GW-yub1Nb6s6AhtgGRdenDHf-S4ZCMXuLT_rq5MqmUrLZBGa4s_pX0Qyr2NjK2oFj0ShBl9sAIkF_xu0WK0EbO7ihsFPj89f70WYWp5nD7AuSDd_iVTGHFTvNihS17AmecQt7Eu5tjtZEKp3YphTScwHTGjKMItwHJhT33-FU7sZo2FmFkrXIc3P45JagGVC_PhJfz41zqXd9gWES4KsGXGAMyNjDPMF0taJuCa4lzdz7NMX4qE8Ov9SudAO_ghANfm14RsF8NY6y9KFOBhH0ARCbXEL-Cjyw0XZxW8Or6wCXzfdZdcCFZLDuwpzx2YuYmae7oPkejuhvxhqBQYYm5xVZl_IvgqnLU51iKAqjdJP8TdbZh5oqEXyoJ5GK9P6IC51U-xXpRi0W2JBV3ADX_Rd7apmazUj7tiXtwSSARIoGVVlCbA01Drg-vUosOBNcezoUraxZvdrap3ThtNykQn4LrjIMOZO5GtSCX5OaetQ0l1AuX98LtHTXev41tcr0-dFrXmKhL95y_Xom8n7xH0vs3uMeaInIj3fr4lw8Lmvo220rb6HZEM9dPA0QgEvGG7qyOvOy_IqiZR19YpgtuLpBAxO-nShpfAWb_AZZnX34aXiyf29RhNaYnwinL6SEhBsOJA1unuOFvzKvvbqQO95FCgi5B08AtsMRrJv8rOeHZms4yYD6Bu7p01kVlBP6T0KSt5t-T20AfYqrbhNJSj2sEPeF2KhmAbrWqG08BgcCRK_3_I2X24AT99EbEVUFbK5-ZhC-r3-N1XBEotixzXR5wz4BCiSjrmFX98QjZKP-ge3B59X5jEaWnHaDTCdB10fcjLX0N7UfvENlCzbcfecCXOLFFw6E3bMMnd_ueqS0itg1JOV2ctU7Vge9OLj4l9oTgA0VY4lYGtxxkfh3rYamKftUdHA-0aWiL8AMUSLHJ9syF7sefkE1bkv9hA4Ro7t9hrCVqdjfl3P-o28mQRHH6Mbtnw12uQebIfHjzD1v2UWrUl2UdwvGHCzIBB18g3q-YvmDUow_vdIgsn4mzOd9M7NTEmdHYfrN26oSVUXOy3gFFI5LxyOqbilFnTIgwLhC4mljA4B3Ho_n3-qBc3iIkQ8SMk5n17vvjlPJHATx6sCNMe9BzwdRG0mUHMIgw8pOuXqQMnAhwGl7PaQ5VDByaRhgvNe3Dg9qYkhzw1SJYdTZmY4ymFt_Ren4bNiJIFZQjc6zWFqpmj_d8QnNi8hMemgXnuDh00-vK_TO6CPNT3BjvAP9cj-lGG3upHMr7J70B4J-YIMzkHs1P8ALJzu_L0UqipFrvBt7keh8ATk7hJld0KZvM0f1MdFrHtf5wYS0_OmpQT1w_OalJMesSERU8a1RnbgT1cmzGNLLS8H0htf3pF6W0-Z2W-VXTf6wmYevV-AnrjzAvk7-Qu49XH9IKgb0HMftMaiXS-f6GWHHJwSYSEj9shHgkHLiBpBz_6oAB1ppoRFec6h4--ZGqf3BRfn8q47KqI9HSJvzZfWWwcPlZhfOPOhEHou04euG3qfOsVxTDd2Hg_NAzjcd-5F7YoVrUXbfcyEmNSWhzC6cMOWgEZMSbkoUTXXYdyjJSGEXhYh80xFlvdm6aGFVopBbt9IFE0BvA8b7APxz_pJVD4R7-aDLPMKcTFJfBvWeARw6O-8nmSoSwhHFVXpounS5WFIC6oydRDrpxV6NH3oJFv6phU9DoJF2YS-zTiHlGMNDDAFhc5u1cVDVXoeUv_n0f_E0ewIyRs07Dl6EtkqXWMjhmmnm3Q==",
  "id": "rs_000d2b526bee51d6016ab49fcd1cd887d09fe369182a67ef4f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.2,\"right_z\":0.15,\"right_gripper\":1},\"note\":\"The teal bowl is now centred over the blue bowl, leaving the cream-pink bowl on the right. I’m approaching that bowl’s left rim with the right gripper so it can be added to the stack.\"}",
  "call_id": "call_tlVNC8h3GaauXIKXgW4kgqcp",
  "id": "fc_000d2b526bee51d6016ab49fd1a63887d08a7e5d9b00d58548",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tlVNC8h3GaauXIKXgW4kgqcp",
  "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]: [-0.1177, 1.0138, 0.9337, -0.7589, -0.1802, -0.0719, 0.9988, 0.7418, 1.4784, 0.9325, -0.3164, 0.532, 0.4637, 0.997]\nstate[eef_state]: left_x=0.2946 left_y=0.0007 left_z=0.195 left_yaw=0.0567 left_pitch=-0.2541 left_roll=0.1043 left_gripper=0.9988 right_x=0.3389 right_y=0.1939 right_z=0.1303 right_yaw=0.0474 right_pitch=-0.1429 right_roll=-0.0426 right_gripper=0.997\nstate[joint_eff]: [0.0205, -2.2496, 6.9949, 1.5067, -0.1538, -0.0757, -0.0073, 0.2256, -6.8444, 9.1966, 1.5751, 0.3687, 0.188, -0.3248]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfb52443ada46dd10ff1611c13dcc5c358f39d59038f887de75ceb9cd6367cc9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:324848ed924574a09e1daf58d4e5d1158f1bd474f2e1cd6f7041cf1853a9504f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2248f6fe1b323087d41666fd0c562e01c35056ff148b08147c3d1edc8c18d29e",
      "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 · 3.144 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 45 changed as sent

message 52 changed as sent

message 56 changed as sent

message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.0126, 2.3142, 1.8309, -0.6712, -0.6811, -0.8276, 0.6453, -0.0216, 0.8204, 0.5957, -0.4229, -0.0162, -0.0238, 0.9966]\nstate[eef_state]: left_x=0.3766 left_y=-0.3864 left_z=0.0561 left_yaw=0.001 left_pitch=-0.2236 left_roll=0.1114 left_gripper=0.6453 right_x=0.2891 right_y=0.0002 right_z=0.1603 right_yaw=0.0073 right_pitch=-0.0758 right_roll=0.0021 right_gripper=0.9966\nstate[joint_eff]: [-0.4991, -12.2188, 8.5675, 1.1013, -0.3883, 0.1099, -0.1392, -0.0889, -1.1419, 7.2, 1.6435, -0.0562, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1169, 1.01, 0.9375, -0.7544, -0.1841, -0.075, 0.9987, -0.0219, 0.8249, 0.5945, -0.4225, -0.0166, -0.0238, 0.9966]\nstate[eef_state]: left_x=0.2956 left_y=0.0014 left_z=0.1985 left_yaw=0.0619 left_pitch=-0.2414 left_roll=0.1028 left_gripper=0.9987 right_x=0.2892 right_y=0.0002 right_z=0.1587 right_yaw=0.0073 right_pitch=-0.0812 right_roll=0.0025 right_gripper=0.9966\nstate[joint_eff]: [0.212, -3.0974, 6.4889, 1.5018, -0.1099, 0.0757, -0.0952, -0.1709, -1.388, 7.0496, 1.6874, -0.0708, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1177, 1.0138, 0.9337, -0.7589, -0.1802, -0.0719, 0.9988, 0.7418, 1.4784, 0.9325, -0.3164, 0.532, 0.4637, 0.997]\nstate[eef_state]: left_x=0.2946 left_y=0.0007 left_z=0.195 left_yaw=0.0567 left_pitch=-0.2541 left_roll=0.1043 left_gripper=0.9988 right_x=0.3389 right_y=0.1939 right_z=0.1303 right_yaw=0.0474 right_pitch=-0.1429 right_roll=-0.0426 right_gripper=0.997\nstate[joint_eff]: [0.0205, -2.2496, 6.9949, 1.5067, -0.1538, -0.0757, -0.0073, 0.2256, -6.8444, 9.1966, 1.5751, 0.3687, 0.188, -0.3248]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfb52443ada46dd10ff1611c13dcc5c358f39d59038f887de75ceb9cd6367cc9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:324848ed924574a09e1daf58d4e5d1158f1bd474f2e1cd6f7041cf1853a9504f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2248f6fe1b323087d41666fd0c562e01c35056ff148b08147c3d1edc8c18d29e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJ_YdvGMKDD8G2AxRfgC8YIzoHNP88gq1pd5g3BZYfyPpfS4JVHs6AH20SZMzWqXqx1-ZVCFogF2ukAkAmw7WI-lugAesKqlwT0KWIt1o4kB6QjfwTa87OBHo66ei8lahMMYel3soDxHtqYlnHbUTfK-SBsjwQsnVCmUftL4Y_9dMkDVatKkgPGR1b9asBvpIvXeklXcoqwC-d0ZrBbYkKlLnGmjApwn7N11I4Qaswni2O0lOnWnK0nu8TT7up7t2bhdMFozC32PIN43EwHYvy7CEZwJ1VS0FEv8niFurdkayEx8Sk59_B9sgiyM3aEtEY47ldq6mnSTRAIQZJQJG7WK-FgD_IsMeacUGBtj5kAlMudH2xvdUGJennvddSbr1rp5wCJkaJRDo2dKBFIrr3ynQpgskcQ0S9qciaHM1XgkJG1GcHxLxpzlGmD2SosOr8ruuWpIKjdVCQVbEZZPPcOlqjjFP61qZVnGQ6e1E6GqOWmux3rGPsVJLkPezT6SPqiO-6oTYuRDfmgz28KvjvyOfXdWK6zOMOPo7oO26isVG9JjWxdyzWJNShx7dA7atAx1R9RhYguyZ5Glm2dBk2hSc-zXH52FQFg40Xi6DD0tl97T1ltiSOeuAvs8eV5AbTaQ8y_Hsqz3oK86H2gc5w6PBUaDuEEF3yz_3ZlWsGX2kNaSJAg1n07HTY5Q3mJIs82rvr9AVdjNzOr5hHYw3Ijr8h8GCa_hVxHNA9tft-j4ZHs8RztyUeeTR-ntcWhXyu8HqjFAzrHQ-7W7ItDSQlCYSoyGE6-dY9kpBktaWFJg8vIzARrPBECNkn_jI-2jGUgo1wYzj5abO89kPdKy9SqvOzWs1NlG2V93BRYBD-ZadQsvHsAlpMWJ_pEGcmEBhXxZ2jEHvsSkZOiqjBXjF6R_a--mM6URN-ZZ1ZVgtm5JwI3BKmnkZGVBaNTWZjEYD4D4BzU2Wloq4rKwkZkLvb3jkxUijye_fy-vIhkXts5e1Ht2jyqPGRvHUVITamJn7D7aYdyqAHERLXJ6oeNf7TdziFna8d-y_qC3OU3TDR36YNeHNlEev77gkTangzpSaWEhrJAF42txVW2G7se1BD2cCwojTb89kwd_KkuM46QK5gTWgzS_CigUT6YJUlx0rQjJaWLOUpWU7tQaOLW0ZCrgRjjXZ0fhj3VU6Rk0ndYP7s4BrThfbylywbQ2YS8eWo8dQ4OA2RqESr8oyQ7Rez6Gzp1SqbjEub4g-OvZuFs_EoSVzMUysarPDZjnvQWfW6OFvNVP2Nr2KqC4PVYnaPtu6aNe0zAFCji366f4H5wba7FvQzDQnY7v2KJrjhCmYGv1WCs3oHnDSwOcucKbTXXZSyvZZT8NHcE3k9SG2W6-iuX2V-VR4JTJCwMCDbwjefCE4SJysiS4GBzGeUT59TbzavehYxvDmjwxdfppK-yavjD6F3RdjJS48xzAOvqve4PkhG2A7hiWam0SrpLftUQ1cbaJ-N38yl2LV7DG_h_jC20d1GZOR5jDf6EvibkaN3urWsYc5ojqUo90MYLDls4lDfvUzrrY019QAeHg2udH4n_u9HvqG9NbW_XdHdKLhxaTdXR_FvPZ4M1HbvgWwOkSzS2ZL0oUvgOVVgjcV19gP73nwiRqDb7lgUQw98s-Wp2-LlpQ-UltNCYUWuBTQF70C1JQWs-VeCsGWlMos0TVblgQZS39xTcgImoLYWCqL1FxnExOmexibyf0rwQXzIRq8UurJRor3nFdyPZdWg4f0nN7CWFBswHtEBIYgDx4xu6XNsMIbumlRzTEozlAGRIi7ZQte-n1w8c5sccROTsGO1k=",
  "id": "rs_000d2b526bee51d6016ab49fd5945087d084722d58d1bb2a98",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.15,\"right_z\":0.075},\"note\":\"The cream-pink bowl is to the right of the jaw centreline, farther than needed for a rim pinch. I’m shifting a few centimetres toward it and lowering to rim height.\"}",
  "call_id": "call_waoJnFHpSAW9P1MFdO0hmEMj",
  "id": "fc_000d2b526bee51d6016ab49fd79b3887d0a5de4cbb869b0420",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_waoJnFHpSAW9P1MFdO0hmEMj",
  "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]: [-0.1177, 1.0138, 0.9337, -0.762, -0.1802, -0.0719, 0.9988, 0.5999, 1.494, 0.7052, -0.1188, 0.4603, 0.3756, 0.9966]\nstate[eef_state]: left_x=0.294 left_y=0.0007 left_z=0.1945 left_yaw=0.0568 left_pitch=-0.2571 left_roll=0.1048 left_gripper=0.9988 right_x=0.3357 right_y=0.1389 right_z=0.0638 right_yaw=0.0024 right_pitch=-0.2164 right_roll=-0.0908 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -2.2906, 6.7077, 1.5311, -0.1099, -0.0562, -0.0122, -0.1573, -5.6137, 7.3368, 1.8339, 0.149, 0.0073, -0.0513]\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:4f97b0e86f4d1bcbc891bb4a1207e54a938ee43d744e991f1207f98cd12c46af",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:684b296975f37663fe74372b4b9ff18aa52e2298115e5c7dacb4b6b396b7a836",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88d57f5ad2825c5d38d03ede6a1a2ecf46cb170e4dbfb1b0b865bac252588ec8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 16 attempt 0 · /responses · status 200 · 4.583 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 48 changed as sent

message 56 changed as sent

message 60 changed as sent

message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.0, 2.0464, 1.879, -0.9936, -0.6689, -0.8276, 0.6458, -0.0219, 0.8242, 0.5953, -0.4229, -0.0162, -0.0235, 0.9966]\nstate[eef_state]: left_x=0.3521 left_y=-0.339 left_z=0.1738 left_yaw=0.0086 left_pitch=-0.2366 left_roll=0.111 left_gripper=0.6458 right_x=0.2893 right_y=0.0001 right_z=0.1591 right_yaw=0.0068 right_pitch=-0.08 right_roll=0.0025 right_gripper=0.9966\nstate[joint_eff]: [0.5265, -14.0376, 9.1556, 0.8571, -0.3736, 0.1783, 0.0415, -0.0205, -1.5932, 7.0359, 1.7021, -0.0708, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1177, 1.0138, 0.9337, -0.7589, -0.1802, -0.0719, 0.9988, 0.7418, 1.4784, 0.9325, -0.3164, 0.532, 0.4637, 0.997]\nstate[eef_state]: left_x=0.2946 left_y=0.0007 left_z=0.195 left_yaw=0.0567 left_pitch=-0.2541 left_roll=0.1043 left_gripper=0.9988 right_x=0.3389 right_y=0.1939 right_z=0.1303 right_yaw=0.0474 right_pitch=-0.1429 right_roll=-0.0426 right_gripper=0.997\nstate[joint_eff]: [0.0205, -2.2496, 6.9949, 1.5067, -0.1538, -0.0757, -0.0073, 0.2256, -6.8444, 9.1966, 1.5751, 0.3687, 0.188, -0.3248]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1177, 1.0138, 0.9337, -0.762, -0.1802, -0.0719, 0.9988, 0.5999, 1.494, 0.7052, -0.1188, 0.4603, 0.3756, 0.9966]\nstate[eef_state]: left_x=0.294 left_y=0.0007 left_z=0.1945 left_yaw=0.0568 left_pitch=-0.2571 left_roll=0.1048 left_gripper=0.9988 right_x=0.3357 right_y=0.1389 right_z=0.0638 right_yaw=0.0024 right_pitch=-0.2164 right_roll=-0.0908 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -2.2906, 6.7077, 1.5311, -0.1099, -0.0562, -0.0122, -0.1573, -5.6137, 7.3368, 1.8339, 0.149, 0.0073, -0.0513]\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,$blob:4f97b0e86f4d1bcbc891bb4a1207e54a938ee43d744e991f1207f98cd12c46af",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:684b296975f37663fe74372b4b9ff18aa52e2298115e5c7dacb4b6b396b7a836",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88d57f5ad2825c5d38d03ede6a1a2ecf46cb170e4dbfb1b0b865bac252588ec8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJ_bD1ayLCBbIdk1QWrtfWaudHX21g81IoVy0BGdzDMLXwBMiFqbqOXdWSJ33Bjf9X3v_s0O0BrgyxepzY2FXDPs9VZZlYeRKs2RcW8xHnavhV-bgrzgHPiO-TbdnUbLE4XVLX_EeJskffLkOa73_ZjTzXRl7pDpFINVqvBGkNZDyFFeNPGVo84zFAkJvc5-ug0803HseQhjOd2FlHTMdaSuakBxWsmf9fnYV-8P2GhFXdN4jsDz16zfPZO9b2h8a_i5WTH_-H1aqd4n4MSsgtQGcPaOXWRkQXtz5_nW27orTSZr7TgnMCflCKHhZ_H0lvHhh1BCkCmy62bwlHU_LOZDnYFRbxmBKMbo5XXKbVA0qz4R4f8x8ljEXaZ4gZ4Jr5HqhOBGOkKFk_7Epl6i2zKiERO1pyMJPTOKQ8IbEWz1UtYdgQXDDS6lekT5k8X0wQuC7T8ZrF_x-xS74Bt5IAXWeYPxiT_mZH0uDozqtgC-snqUfZfsv1KI8lkduclztl-6t3uEt6m7ZdjkZAAaneHaW68ehRkQfbn49YACXdfw9GKLDZbNKJNLftBfR8TsBuhktSR5WEzUFjH2YtHU6OK2hOrkrvT4S6TtEigQlfL_o2AVnP9VzJyW4TteS1EOrISs2sD28EtcBSFZiYkm142zy2PzH5Ojyw99VkzZxMjSMBkNzbGyw2i3IVye-iwQjc3xgzViRTpNc7d1FDjNTEA_xB0OEdI4KNnZBQhZgBD-VVi3jj2kYy375jl-k4lh18_oNbn_ZPTIZCCYKzlojPIgjPkwhRVXLw7yiZHp6I1Wcq0xWSF3yYtxCM5JPr9w3kGTjQji9a97P4J7nDXGCHh71OsOP3u2nQcHG8uTB1IUFTSioRoO5URU41MiOXQDPoMcGuCdzMzzB1mzuZfsNd8pD7Tbqk2meqp12y4NLeQ9HaGNmEdGRDzYJCVsQf4GHygvgxKu7l3MZ1W9xiayiosXX1A-uxfNSV5Wx2kJJnLLqFcrYjJCQPiIxWG_sh2WuzYoVakByshlTTRJ3TXk-Lk271PYlec12vN_SAJURmUta9GCsVhWqk82Qef6vWslS3ORZt9EiekLrqGB9JsTQ-fCzzDU_mMp33Jf6OelMPh4rh0GVPSrMvH7vXKxXuh9eNrNO4_L-BIi397MUK2J_oUoKfVUWQyNk9gmCo6e2F4h3BiH9NZo6aJzBaLngtnXE0pNSUYetEO1CQMn6Z1FixV3EO3seNYdTz7Ar3wkhLb8rSlGCgt2BDBUW5aGZNpxguisP3cpAag1JkZLfGm0bcHo4DxWmkJSYVbtMnxzpYI1VkXpv5axKJ7mzlDLYpyGjO2ptxKS23lYN6jNyvBF1FTRfpmKPun69vW9VtgQUeherUrOgEGxZZiC_Tai1Rv0496Q",
  "id": "rs_000d2b526bee51d6016ab49fda27c887d0bb5f1e0aa88544bd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.15,\"right_z\":0.035,\"right_gripper\":0.65},\"note\":\"The bowl’s left rim now crosses the jaw centreline. I’m lowering the fingertips just below that rim and reducing the opening so they can pinch it without squeezing across the whole bowl.\"}",
  "call_id": "call_fw8Xc3FouxcXrgafeEUBkJpM",
  "id": "fc_000d2b526bee51d6016ab49fdada9c87d0891f7c5262bf82e2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fw8Xc3FouxcXrgafeEUBkJpM",
  "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]: [-0.1177, 1.0142, 0.9337, -0.7662, -0.1802, -0.0719, 0.9988, 0.6018, 1.523, 0.6849, -0.057, 0.4484, 0.3637, 0.6543]\nstate[eef_state]: left_x=0.2933 left_y=0.0008 left_z=0.1937 left_yaw=0.057 left_pitch=-0.2616 left_roll=0.1056 left_gripper=0.9988 right_x=0.3375 right_y=0.1432 right_z=0.055 right_yaw=0.0213 right_pitch=-0.2118 right_roll=-0.0843 right_gripper=0.6543\nstate[joint_eff]: [-0.1162, -2.5231, 6.8581, 1.5214, -0.1245, -0.0708, -0.0122, 0.1436, -5.5179, 6.4068, 1.3895, 0.3883, 0.0806, 0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc1d7c70317d32a490114abeb0b06ae8b3fbeed41141824a06efc289fb0a2f2d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:892cd880b99b5ff53e8d9bf45154610e3cdf216a1fa7cfaccaf4b0bdde5d72e9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77f7b70a37dd586b0df99b532b9b4f3e1a942e6940edfb758ad65d6c848378c9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 17 attempt 0 · /responses · status 200 · 5.078 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 52 changed as sent

message 60 changed as sent

message 64 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1169, 1.01, 0.9375, -0.7544, -0.1841, -0.075, 0.9987, -0.0219, 0.8249, 0.5945, -0.4225, -0.0166, -0.0238, 0.9966]\nstate[eef_state]: left_x=0.2956 left_y=0.0014 left_z=0.1985 left_yaw=0.0619 left_pitch=-0.2414 left_roll=0.1028 left_gripper=0.9987 right_x=0.2892 right_y=0.0002 right_z=0.1587 right_yaw=0.0073 right_pitch=-0.0812 right_roll=0.0025 right_gripper=0.9966\nstate[joint_eff]: [0.212, -3.0974, 6.4889, 1.5018, -0.1099, 0.0757, -0.0952, -0.1709, -1.388, 7.0496, 1.6874, -0.0708, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1177, 1.0138, 0.9337, -0.762, -0.1802, -0.0719, 0.9988, 0.5999, 1.494, 0.7052, -0.1188, 0.4603, 0.3756, 0.9966]\nstate[eef_state]: left_x=0.294 left_y=0.0007 left_z=0.1945 left_yaw=0.0568 left_pitch=-0.2571 left_roll=0.1048 left_gripper=0.9988 right_x=0.3357 right_y=0.1389 right_z=0.0638 right_yaw=0.0024 right_pitch=-0.2164 right_roll=-0.0908 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -2.2906, 6.7077, 1.5311, -0.1099, -0.0562, -0.0122, -0.1573, -5.6137, 7.3368, 1.8339, 0.149, 0.0073, -0.0513]\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 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1177, 1.0142, 0.9337, -0.7662, -0.1802, -0.0719, 0.9988, 0.6018, 1.523, 0.6849, -0.057, 0.4484, 0.3637, 0.6543]\nstate[eef_state]: left_x=0.2933 left_y=0.0008 left_z=0.1937 left_yaw=0.057 left_pitch=-0.2616 left_roll=0.1056 left_gripper=0.9988 right_x=0.3375 right_y=0.1432 right_z=0.055 right_yaw=0.0213 right_pitch=-0.2118 right_roll=-0.0843 right_gripper=0.6543\nstate[joint_eff]: [-0.1162, -2.5231, 6.8581, 1.5214, -0.1245, -0.0708, -0.0122, 0.1436, -5.5179, 6.4068, 1.3895, 0.3883, 0.0806, 0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc1d7c70317d32a490114abeb0b06ae8b3fbeed41141824a06efc289fb0a2f2d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:892cd880b99b5ff53e8d9bf45154610e3cdf216a1fa7cfaccaf4b0bdde5d72e9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77f7b70a37dd586b0df99b532b9b4f3e1a942e6940edfb758ad65d6c848378c9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJ_gv2aqqYrhSUSPp2aEVa49G5hrUxhaf8fUugvWMpe7GYGRYmPcTziOqMfkc8dhdeKEsCRs3jApPwZD-Lc3RyJdn2ovLpdQRN2fXpvqnn37kED7YQr8JE2bx7mnhjumw7ZnPPZpAnnULRpvcMbT-WYmmHp1-asmKSW1cztgbRtzn5PC7Exwhwtnq9_m_l82DoEktLc77OaAsaWo0F8cE3QvzF6OMSFS1dzioiPchOMJ40yoWe2mG7cqXNfKkeko33x5W-W9znt2SLP32tv9BykWuEDtceSJDXImXUBf-27Sjk8QamvQSXd2syf3GUdEZUrDrDVq1h_h4Ty0cel46UBr7b6yn1a3z-C_de6gv7Ko3UBnfcnOC-1fzB9jLqmWC4IG5W0izreUHaSfqY3KC11dDgJFKKwITe-DRD1Wg6ijY12CNzmo0Ux31L1YdBh8kEt1_iCP7Z9iH2TIlqHb4uH8R065TCDs4KuOKQ7YtNoITs7qfmQSgA76DZdKV_bvFekw6lzngNR_ZlAdBmYQblYDqBUfLSBuoNnGgAZN-C4Vnfvw2Hu5EaRKNgP46_7ZiTxNz_3FNkcFX50qJ1UWz80fLyIDqD63aFfBmDdy18UVGnppuVokDNsMV4sYcD4KE2Phb9ctwZK1_AQPgM56NaWVx5J1gti-HPy_YVvwtjTB8PGSB8LtTtjcijEsRtBtWuGZSe7-_VZeHfJlb3rxiI4uMIFoeZqyPkjpnz_XHDpyXwyIYyGhXqI9Vy1IT1_lEK-DnO_4To2jUnPUuhLVr99yL3ovwx4htUAqn_JEmD1xR_P-yZd13f2V8A2xFz3BAgC5Pd5He-YZ82D1jER9Pn7k-g9Iav_axrlsy7ekRedcmyG3YaLYX_CwTFX53bcw_Eu2wNFW3gexWmrFC6JT_dEE7UdWM92Qa_SZadc1WY1qWGRZ1OpPDpBEJ1TKsJqA3PcZZqpIn6JM9IOkeFUGeFsLEkvQk23Um6n2FTVWuFiK1v5LMv2kXmDYri5scIeFox6rtyyCpFtB_gFG-59h6SYZo5xVul6At70oE0Iynn989WWg1chtvtFcNrV6nmmBV2faZi9113Fz5qtZKIJwyF4VLeVFwIDRXBJ9EwT8QAQGNpJJjDjCAJmSp1z7YvRn1rdBg-81RgPbe9_N9KBpV7ECvH7wAVTY-0dY2b-_7NtlIjaZjlCKoL-Dv5PCi6EfgbVMkF0sDYkESUIT7Kqe-4MplWh3CNEWy3XlYmYjWMgwY3DsmZM0JTUgCmU5b478xzDZBn_0DqmrB4gZ0vdc11qpEaKu6p1XsYMASNU-aeoNqzKSmKEBK-H8BUJSLX6m22qzyvh1c3Z3Vs7-7_IS5lEz7wNw4oE6lvVr13770gyCpLtUmwHsiQApB2VVO1Ky1CE09urtaT1tSDt76ebeu3ZUjyBCDbYmVdzDDWonCJYH_APmfr7I1zgH6THYlnkbFAo0Il0bdl_yNq_LkmTVN5R5PBuVU0vC5-zeLQBPczBT35sOaa_976SobY4kGg_vZAqtLTGPBGSIaFsO3G9f_jbop5aUQMxXFuEvmw4kKD2YKhW5ZG7Osq8gbkGxvNTni3Ogb1Xk_uNnxd9QRrR60gIz2PCM7nBHF5jX_y3sFVVes7JjgQJmq7_lheN3emKdZhcP-BDvJI9Ga7zvFGrv6_p6AboKJhwLGr2GWr5Ic3jzvtSSXJdIwaLYQseh8porrC7ld_EFVbBs5duUoTjFM70gWQ==",
  "id": "rs_000d2b526bee51d6016ab49fde590887d098858690993a362e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The descent stopped a little above the target, with a finger appearing to contact the bowl. I’m holding this height and closing gently on the left rim rather than pushing farther down.\"}",
  "call_id": "call_3vvjCFFv71Ha1wfCYoEmtRWb",
  "id": "fc_000d2b526bee51d6016ab49fdfe9c487d09502d8c65e1ad958",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3vvjCFFv71Ha1wfCYoEmtRWb",
  "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]: [-0.1177, 1.0142, 0.9337, -0.7727, -0.1802, -0.0715, 0.9988, 0.6018, 1.523, 0.6849, -0.0715, 0.4549, 0.366, 0.0079]\nstate[eef_state]: left_x=0.2921 left_y=0.001 left_z=0.1927 left_yaw=0.0571 left_pitch=-0.268 left_roll=0.1071 left_gripper=0.9988 right_x=0.3357 right_y=0.1407 right_z=0.0533 right_yaw=0.0134 right_pitch=-0.2209 right_roll=-0.0952 right_gripper=0.0079\nstate[joint_eff]: [-0.0479, -2.4821, 6.7487, 1.5556, -0.1294, -0.022, -0.0122, 0.0205, -5.7094, 6.4479, 1.453, 0.3199, 0.1294, 0.6374]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ceb5b8af799038d2d39aa27ed84f1ac5020db5ad2476ee0766430c6e0165b37d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d99f9cff17310b94c7e3b3cdb765207acfc22da11ea2e067fbe0c6f643f0f59f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:693cc2e9ce3243846bc2b5a554768f0dd31c69529f6447157092b1efb5223726",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 18 attempt 0 · /responses · status 200 · 6.443 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 56 changed as sent

message 64 changed as sent

message 68 changed as sent

message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1177, 1.0138, 0.9337, -0.7589, -0.1802, -0.0719, 0.9988, 0.7418, 1.4784, 0.9325, -0.3164, 0.532, 0.4637, 0.997]\nstate[eef_state]: left_x=0.2946 left_y=0.0007 left_z=0.195 left_yaw=0.0567 left_pitch=-0.2541 left_roll=0.1043 left_gripper=0.9988 right_x=0.3389 right_y=0.1939 right_z=0.1303 right_yaw=0.0474 right_pitch=-0.1429 right_roll=-0.0426 right_gripper=0.997\nstate[joint_eff]: [0.0205, -2.2496, 6.9949, 1.5067, -0.1538, -0.0757, -0.0073, 0.2256, -6.8444, 9.1966, 1.5751, 0.3687, 0.188, -0.3248]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1177, 1.0142, 0.9337, -0.7662, -0.1802, -0.0719, 0.9988, 0.6018, 1.523, 0.6849, -0.057, 0.4484, 0.3637, 0.6543]\nstate[eef_state]: left_x=0.2933 left_y=0.0008 left_z=0.1937 left_yaw=0.057 left_pitch=-0.2616 left_roll=0.1056 left_gripper=0.9988 right_x=0.3375 right_y=0.1432 right_z=0.055 right_yaw=0.0213 right_pitch=-0.2118 right_roll=-0.0843 right_gripper=0.6543\nstate[joint_eff]: [-0.1162, -2.5231, 6.8581, 1.5214, -0.1245, -0.0708, -0.0122, 0.1436, -5.5179, 6.4068, 1.3895, 0.3883, 0.0806, 0.1441]\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 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1177, 1.0142, 0.9337, -0.7727, -0.1802, -0.0715, 0.9988, 0.6018, 1.523, 0.6849, -0.0715, 0.4549, 0.366, 0.0079]\nstate[eef_state]: left_x=0.2921 left_y=0.001 left_z=0.1927 left_yaw=0.0571 left_pitch=-0.268 left_roll=0.1071 left_gripper=0.9988 right_x=0.3357 right_y=0.1407 right_z=0.0533 right_yaw=0.0134 right_pitch=-0.2209 right_roll=-0.0952 right_gripper=0.0079\nstate[joint_eff]: [-0.0479, -2.4821, 6.7487, 1.5556, -0.1294, -0.022, -0.0122, 0.0205, -5.7094, 6.4479, 1.453, 0.3199, 0.1294, 0.6374]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ceb5b8af799038d2d39aa27ed84f1ac5020db5ad2476ee0766430c6e0165b37d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d99f9cff17310b94c7e3b3cdb765207acfc22da11ea2e067fbe0c6f643f0f59f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:693cc2e9ce3243846bc2b5a554768f0dd31c69529f6447157092b1efb5223726",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJ_mzQr3CjLRvSZZ05w9vlj5BTLJMT_2DB3c6n7vLI_73hqVX2ZBA7bappOg4voG6v5IJ15XYwawCkghpa04ksgdAuclaNKdMb56quAJZXqflp9cKIBe9VckaQsl4LZyDhltBgE1eIviuzpq-kfcW03N4GPH4uQLSJvkqpz-VPh9GeKiC56taGIhaewHu9By4TIYXlalyrzsnWaYd15223qss39ZC0yRbq0y795U66c00fV9EQNUVs6U8TFBBAgmiLa5vRMyvyRRUwbkKaz-11jwjPh2Sw8vxsi7xdqnnq7CBO5FyQ_xYB3ulNrJlFI7why7LLM-8nNG8xh9SMOamuDakZo0TKSdyMvfZcbXWuf2JokHC2Bs1pKKRcIoKSU_ZI8E-yqiUuHj5WZsD5fHgFXrDHDBm1gYqLx-Om1W5ZwQBJieu4gNXsicaQStUVFaoKsIPhF6vc2aQF600IVW0XZClU87fO4dFEHiByFYfYwb_0_GYcXO9qUKrQse3UYzplp1yDqL5RM9Cew4dbh4CqrwQfg5Wi0pVx6TgQqNFNQf7_-0JIXmYlf3RQjPR9Yy2p03BzyhIHp8BgIIhXJEBf7jB_8oagq_FWPb7kzRlY7FR4i86XyUhcugcnEZ7Usf1NQt6R97UVAG7Sx4VV5eHwVY3JhdMPhDcCvJS403_z7IBxCt4Svr_hwCEy_RtKJXhhnCw-Es0E4l32sqm-mE7nPkfvDf7HR4va5yhxfcDqv2QxmAnfrzlcBRyylgv33txVhg9w5S7XGuskfsVx26gmpckbzKnq8pcNwD2JZKWbI_asbfeEtwx5phezSeqfanK1UsgXbrpT0F8XRBUloMyF2LbjsSuuKHqqL-4_J_c44H6TzC-hDB4FEhXn4o-GqOciTefBYYj5j8se-ly20soLCnNZkQNnbm2pAV-ZdMw5-mNYKFq5I4kcLBuGQOXCaNGeez2ANg8NkP6L46TdXgJIBXouc3LCVvNZcvuJOMF6577fWSBz67k6vxnzlxMs7d9tIysKVANP3ia7Hd6Ob5UjHNAqDoxwiaPBnemS-Z3uabn0gOgfyaGyHny4x6qz2yD9CnL73Go5c7QnUS1b8ZgoY7tfYIFStgXU1eXRSzvkgdDiUPvtCf4Ua-eAUER2mHXtIzw77uD6eOnWQPamb7HZ7ztZL9GI2DfXBJxP5iDCIhCX4tUSmjz-hTaa0DZfGmKAWhzsPDVzOTKegBB2i6HLq2U9sZ6yQmWVFrhf7MftTZ9ko_S8tNjo1d0ERGrAZ93bBVKWO9t4K9cJASu6fPGncRSoQ5Fw6dJvrl7W3XCkOLAd9g_NARQJE8xtjKR-RJrHe-xgMaFquU7LQI_PpxCCvUIStFP6eYCClhll3UjIBSf_ktjabUf6d6-55ykUOXQYGdDAHQqah6hqvwxHV_iXiWZqHx5_nltti1p3OkSW2hLExSr7PpR0To6fnrKmIXDQKqCYQoO7YCtnrltrj74YyUkZMv4KP9ow0ndLNrMLY54UcNo6L6wSY4zMchH8DoID_ARIK4W8PK55wh-MD1qErbgo18hdD8TfijC-exhTXQauGkZ38QoJ9hzqF9PaFRhfjAYd1BxIH3hp0preBitMCGreGBXQ8pSeEpb9ys_chmtHveCgvr_mx5m5whzm6tb0LOIGNZ-f0j1XGLWHzv_jx1aHcOCzi_oQuGBgePlO5EM1g2Y2dnsAubj5TBWTBnmFNPn3bwnD1b4s7jBivK3zZDz8fywbPRha8FCWmRlUYwLPZ_D8SshgOjLT9x_XbCudcfScq7G6v_2vGLd-R8Xw1RmA==",
  "id": "rs_000d2b526bee51d6016ab49fe2f06487d0894b95eddcab0037",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.14,\"right_z\":0.08,\"right_gripper\":0.7},\"note\":\"The gripper closed fully, so that pinch was empty. The bowl is still just beyond the fingertips in the wrist view; I’m reopening and advancing three centimetres for one corrected attempt.\"}",
  "call_id": "call_A62zFIP9Y8h3OcxWbsGh37FN",
  "id": "fc_000d2b526bee51d6016ab49fe526c887d0974d3ecb8f3f389c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_A62zFIP9Y8h3OcxWbsGh37FN",
  "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]: [-0.1181, 1.0138, 0.9337, -0.7738, -0.1802, -0.0715, 0.9988, 0.5217, 1.5925, 0.8383, -0.1596, 0.4019, 0.2924, 0.6956]\nstate[eef_state]: left_x=0.2919 left_y=0.0009 left_z=0.1926 left_yaw=0.0568 left_pitch=-0.2687 left_roll=0.1072 left_gripper=0.9988 right_x=0.3686 right_y=0.1363 right_z=0.0678 right_yaw=0.0145 right_pitch=-0.2511 right_roll=-0.113 right_gripper=0.6956\nstate[joint_eff]: [-0.1436, -2.4684, 6.6667, 1.4335, -0.1148, -0.0366, -0.0122, -0.5402, -6.4479, 8.6906, 1.4042, 0.1197, -0.022, -0.1636]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d505392171520abf3819d109fb205d86cab9357aa60184582233ed93b439652e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6eeeb5c2e22910bc30eb9a7c9ca3f5b9e1d15133da26d48345363a7a63c13479",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf3e49193140c9c8b8011fc0bd34d37c165b34211700747d1a45d4c3586cc691",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 19 attempt 0 · /responses · status 200 · 2.13 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 60 changed as sent

message 68 changed as sent

message 72 changed as sent

message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1177, 1.0138, 0.9337, -0.762, -0.1802, -0.0719, 0.9988, 0.5999, 1.494, 0.7052, -0.1188, 0.4603, 0.3756, 0.9966]\nstate[eef_state]: left_x=0.294 left_y=0.0007 left_z=0.1945 left_yaw=0.0568 left_pitch=-0.2571 left_roll=0.1048 left_gripper=0.9988 right_x=0.3357 right_y=0.1389 right_z=0.0638 right_yaw=0.0024 right_pitch=-0.2164 right_roll=-0.0908 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -2.2906, 6.7077, 1.5311, -0.1099, -0.0562, -0.0122, -0.1573, -5.6137, 7.3368, 1.8339, 0.149, 0.0073, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1177, 1.0142, 0.9337, -0.7727, -0.1802, -0.0715, 0.9988, 0.6018, 1.523, 0.6849, -0.0715, 0.4549, 0.366, 0.0079]\nstate[eef_state]: left_x=0.2921 left_y=0.001 left_z=0.1927 left_yaw=0.0571 left_pitch=-0.268 left_roll=0.1071 left_gripper=0.9988 right_x=0.3357 right_y=0.1407 right_z=0.0533 right_yaw=0.0134 right_pitch=-0.2209 right_roll=-0.0952 right_gripper=0.0079\nstate[joint_eff]: [-0.0479, -2.4821, 6.7487, 1.5556, -0.1294, -0.022, -0.0122, 0.0205, -5.7094, 6.4479, 1.453, 0.3199, 0.1294, 0.6374]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1181, 1.0138, 0.9337, -0.7738, -0.1802, -0.0715, 0.9988, 0.5217, 1.5925, 0.8383, -0.1596, 0.4019, 0.2924, 0.6956]\nstate[eef_state]: left_x=0.2919 left_y=0.0009 left_z=0.1926 left_yaw=0.0568 left_pitch=-0.2687 left_roll=0.1072 left_gripper=0.9988 right_x=0.3686 right_y=0.1363 right_z=0.0678 right_yaw=0.0145 right_pitch=-0.2511 right_roll=-0.113 right_gripper=0.6956\nstate[joint_eff]: [-0.1436, -2.4684, 6.6667, 1.4335, -0.1148, -0.0366, -0.0122, -0.5402, -6.4479, 8.6906, 1.4042, 0.1197, -0.022, -0.1636]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d505392171520abf3819d109fb205d86cab9357aa60184582233ed93b439652e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6eeeb5c2e22910bc30eb9a7c9ca3f5b9e1d15133da26d48345363a7a63c13479",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf3e49193140c9c8b8011fc0bd34d37c165b34211700747d1a45d4c3586cc691",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJ_tJJIyASbzczklUZILg8VzOy7OlltQkj2DeVcJYA7Pr0TI8W6p9fHZIWto4UxrA2pB6IEgbebz2i2C-Otd2eiHmRY4VryFNQovbd9A_hEKHGGbyodzM0URU1y9VKLmeTsz3Y1gEM0Uzsv97OnaD2AH5J9Dkm30UIxVtVezU9RrofQ-HrEr-vKk0X-tiiaaAusZRo6FkEM9W24HssVjuAm67HKpJT1Hh4L0ojbR0zecxjcwg1qYN0-bU1I_xnYnmTbY_od9B5QpjRfhONfMBq05bsvY76m0dyt31QKNrYdwboghJh_6SzyihaEa_7Yn0uIdyISW9vAivx9axin73bJDUOvcSMFQPwb7ECnY4NbzQikf_vy9JdRqAs21FHSt5d9itgXI_McQzVaC4_4nuV4rpneso4jc233_X_Z7zdLVI7H1VtrtYEPLyWiXlnhOd5HniS5Gcpw_mVu7Gc4Gls38An5mHdfsCF6teldSYxlunNR9uHhlwd8CSwQZl3z09WS-lMUTDCjHXN91Y5FLnQdhMbes6JiQjETDESZ1_bzwYEYH2VjCb3auz93q-DSCtMpghE-3r0iKLNLyPnusR5ASGUBKjriovW_xSLfTVTMCs5pJsu1TjyfRg7Y6TtYbIAZW4AoYsSG_hudvMFght2CszcY_1YZh1vQxXVNnnwb7u9ABzkgw0t8smpZq18KXall4XMIXF_P3Cu_WtLUnO46FPQBk9qw98LUwpyYNCn-z7GP-Ylfm4Q0-iGfkvT5dkxwNGhNIV4ano8kQ0CxtrvFmTB-ulJrf-XZm5zeRvxcntoNHGeDKwiThZnOUV8oRMcld_fhD9MM36WaXEP1jehYGCGuHRRM4oHd_d59DD6hNswrgBBZR7QX-TMRAJXoPecO4skSsH2fxQ0HqnAS_xgZ-50Zl6M8IFhWySBzKllkCnCglAoUlqPo_Sj_6axxzTHmINE4NA3ukjgSAXG3HGveJlZTbEh7-wV9Kl4ZEJT8slS_X359V_dpKZpLAT4SEMDyc3d2wqPyHEo7iWcfOvYU1hj53obysjL4owuV2fs2RSabV_36TAuDX9yUV0yAlrEE_Cb_18u6CL2_0ijXYgLHd0pL5m1Y61ixT8DaVksyxTlf3QmcDkf-ksX9XILkr7D7FOxX53gA025i5jv486FC8Szco3rzbXKcq6IlX_pWT7lcZAjzA80iW4TIAnNDMhbQMUbo1m4rySCviVxmEsA5VddlET3CHn4WDcjZTaihmg_ALWJ65BcnJQ1bgu1pdfr4F2bOyRtEuniyF3QHlRaVLa4i1tUYXFLSdSZ1GEQiHK2JyxzQktSse-buBW-SW3pF2nW2GfNNoxOqLTDB40THgTyYTONqxpd2DxjqFSnb0hwAXVrppmDI9D_VG2wrSEf0Tf2TO9gvo4JEJ0AvmKZLosTuzB4rRdMwPewWf1OVJk6XHCtzB66pxEYOCwxVaHsi6FfCtMRxlFoplztzraVosrt3YbjE-k0dk62OWoycAFL34r3-8vSNzJ7YD1Qi0kCCXk-2t4NbAkJyiXgHnuSrLW4GJXePO4_AbVJZoLEK8Jz5end5Qgkov9dJv87KriL-rq4eMi_1XJFpJ4pkK6jNeYeg7DDDBeUV03W_303vdionyDpOzsN0Tb95BMPPp-Kz5qMaXLmVPegwv0UOej1uivkEU1Z76-9R6DlsbHPJWCrAU8gCdIieTJ3BX6K5iL8QCuqM5Rh31ThdRfLfYJzB58d6PJ0qkbUzsPNTF6qFiPkSY1XXntAI4TuyQR_iuwzsN_HeQ_WWsom9EQ1Upj-D_v1LYQZovwDMwkt47LG19NqZfrdC006AvP8AFM-RbbYR6v1bclWIBHd2vMLRtmeRKJZtVXggUpmGc10f1r64__mO0_xE3jO8ArrBQVkNfBgLE97yQwkFT497eIZeDDlHR148ZeQctas9GY23OqKUy3Mqeo_zZKesNbl6pBYT7Np0AFDuxnCrJQmzZg3M0tSJwYPBVj2M1jHt_kNU1bu6rs4TmtmrmJikhInI1rN46PdyTjmQ8QTMqH9bKvE31R9LDTy3STlsxSk52A48bDUe3EcR5ip0n7cjD2n1l2K2FF-exYLSuNeGol621l2rwWoPxm3qWTnZGD5vg9kJAsDmPXdvKA4P2roqBwdXxl4CtWb2Ef_8Ob58lz1degjRMLyJB4AC1hVVAsAvZzZbCQRr1MG9xOHVWqg1Pb5Ovi15QrekUBRHCXAQD-pK4-yaD0Q3ZVIOUige2FqrRQj1QE_tf6fN6rZRhqnFnJsTlLkjKGEEEJDhEQ8y1S5uIpqXCwpbb9Gy2KGMoQYqvKktuoBWbHBrwlJtcpQb8q8BEoS4nIYU97QMsz1BZ7-Pn9sATxZ8HGw==",
  "id": "rs_000d2b526bee51d6016ab49fe9501487d0a4cc1140e16525de",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.035},\"note\":\"The bowl now extends down to the fingertips, and its left rim is between the open jaws. I’m lowering a short distance to engage the rim before closing again.\"}",
  "call_id": "call_UUp2lb33OAoDcbOtUrZ15TWW",
  "id": "fc_000d2b526bee51d6016ab49feca22c87d0aba26dded297c812",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UUp2lb33OAoDcbOtUrZ15TWW",
  "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]: [-0.1177, 1.0138, 0.9337, -0.7738, -0.1802, -0.0715, 0.9988, 0.5167, 1.6573, 0.7834, -0.0673, 0.4023, 0.2871, 0.6961]\nstate[eef_state]: left_x=0.2919 left_y=0.001 left_z=0.1926 left_yaw=0.0572 left_pitch=-0.2687 left_roll=0.1072 left_gripper=0.9988 right_x=0.3654 right_y=0.1322 right_z=0.0377 right_yaw=0.0086 right_pitch=-0.2753 right_roll=-0.1308 right_gripper=0.6961\nstate[joint_eff]: [-0.1573, -2.4684, 6.9402, 1.409, -0.1392, -0.0269, -0.0122, 0.1983, -7.4598, 5.6684, 1.6581, 0.1099, 0.0073, 0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ea1f1f0f575245bc25daad4e0dd54e7c404444505e6582b4ee7d103dd4697a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0199ff32e984bbfc9e73eb3a8c54db0d772926564c9f6dc662e087ee6872979",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02d697bfd95dac8f5231f83feab5a1dc3ffe5804960d09c7f74f7c96b0f57e5c",
      "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 · 2.705 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 64 changed as sent

message 72 changed as sent

message 76 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1177, 1.0142, 0.9337, -0.7662, -0.1802, -0.0719, 0.9988, 0.6018, 1.523, 0.6849, -0.057, 0.4484, 0.3637, 0.6543]\nstate[eef_state]: left_x=0.2933 left_y=0.0008 left_z=0.1937 left_yaw=0.057 left_pitch=-0.2616 left_roll=0.1056 left_gripper=0.9988 right_x=0.3375 right_y=0.1432 right_z=0.055 right_yaw=0.0213 right_pitch=-0.2118 right_roll=-0.0843 right_gripper=0.6543\nstate[joint_eff]: [-0.1162, -2.5231, 6.8581, 1.5214, -0.1245, -0.0708, -0.0122, 0.1436, -5.5179, 6.4068, 1.3895, 0.3883, 0.0806, 0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1181, 1.0138, 0.9337, -0.7738, -0.1802, -0.0715, 0.9988, 0.5217, 1.5925, 0.8383, -0.1596, 0.4019, 0.2924, 0.6956]\nstate[eef_state]: left_x=0.2919 left_y=0.0009 left_z=0.1926 left_yaw=0.0568 left_pitch=-0.2687 left_roll=0.1072 left_gripper=0.9988 right_x=0.3686 right_y=0.1363 right_z=0.0678 right_yaw=0.0145 right_pitch=-0.2511 right_roll=-0.113 right_gripper=0.6956\nstate[joint_eff]: [-0.1436, -2.4684, 6.6667, 1.4335, -0.1148, -0.0366, -0.0122, -0.5402, -6.4479, 8.6906, 1.4042, 0.1197, -0.022, -0.1636]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1177, 1.0138, 0.9337, -0.7738, -0.1802, -0.0715, 0.9988, 0.5167, 1.6573, 0.7834, -0.0673, 0.4023, 0.2871, 0.6961]\nstate[eef_state]: left_x=0.2919 left_y=0.001 left_z=0.1926 left_yaw=0.0572 left_pitch=-0.2687 left_roll=0.1072 left_gripper=0.9988 right_x=0.3654 right_y=0.1322 right_z=0.0377 right_yaw=0.0086 right_pitch=-0.2753 right_roll=-0.1308 right_gripper=0.6961\nstate[joint_eff]: [-0.1573, -2.4684, 6.9402, 1.409, -0.1392, -0.0269, -0.0122, 0.1983, -7.4598, 5.6684, 1.6581, 0.1099, 0.0073, 0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ea1f1f0f575245bc25daad4e0dd54e7c404444505e6582b4ee7d103dd4697a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0199ff32e984bbfc9e73eb3a8c54db0d772926564c9f6dc662e087ee6872979",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02d697bfd95dac8f5231f83feab5a1dc3ffe5804960d09c7f74f7c96b0f57e5c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right finger is inside the bowl and the left finger is outside the rim. I’m closing on the rim for the second grasp attempt.\"}",
  "call_id": "call_mWuvRh001zgqbARYCE6gKpmA",
  "id": "fc_000d2b526bee51d6016ab49fef71d887d097f6e9caa6129304",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mWuvRh001zgqbARYCE6gKpmA",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1177, 1.0138, 0.9337, -0.7738, -0.1802, -0.0715, 0.9988, 0.5205, 1.6707, 0.7639, -0.0742, 0.4183, 0.271, 0.0257]\nstate[eef_state]: left_x=0.2919 left_y=0.001 left_z=0.1926 left_yaw=0.0572 left_pitch=-0.2687 left_roll=0.1072 left_gripper=0.9988 right_x=0.3578 right_y=0.1265 right_z=0.0265 right_yaw=0.0029 right_pitch=-0.3049 right_roll=-0.174 right_gripper=0.0257\nstate[joint_eff]: [-0.1983, -2.4821, 6.7624, 1.4139, -0.1392, -0.0317, -0.0122, -0.4034, -7.5009, 7.2684, 1.2967, 0.022, 0.149, 1.2186]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1699a4552129ebe67151838151b6274c26d29c87035c006d4cbf093f4a1edeb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c3f51584716f80e5ce10ee98e8aae82c31f4d9c51044fa4b179c79c7bd667ef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1351453cf6127ed9650dc2f12f1479162c7de6745df06415fccf190c07eda125",
      "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 · 4.044 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 68 changed as sent

message 76 changed as sent

message 79 changed as sent

message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1177, 1.0142, 0.9337, -0.7727, -0.1802, -0.0715, 0.9988, 0.6018, 1.523, 0.6849, -0.0715, 0.4549, 0.366, 0.0079]\nstate[eef_state]: left_x=0.2921 left_y=0.001 left_z=0.1927 left_yaw=0.0571 left_pitch=-0.268 left_roll=0.1071 left_gripper=0.9988 right_x=0.3357 right_y=0.1407 right_z=0.0533 right_yaw=0.0134 right_pitch=-0.2209 right_roll=-0.0952 right_gripper=0.0079\nstate[joint_eff]: [-0.0479, -2.4821, 6.7487, 1.5556, -0.1294, -0.022, -0.0122, 0.0205, -5.7094, 6.4479, 1.453, 0.3199, 0.1294, 0.6374]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1177, 1.0138, 0.9337, -0.7738, -0.1802, -0.0715, 0.9988, 0.5167, 1.6573, 0.7834, -0.0673, 0.4023, 0.2871, 0.6961]\nstate[eef_state]: left_x=0.2919 left_y=0.001 left_z=0.1926 left_yaw=0.0572 left_pitch=-0.2687 left_roll=0.1072 left_gripper=0.9988 right_x=0.3654 right_y=0.1322 right_z=0.0377 right_yaw=0.0086 right_pitch=-0.2753 right_roll=-0.1308 right_gripper=0.6961\nstate[joint_eff]: [-0.1573, -2.4684, 6.9402, 1.409, -0.1392, -0.0269, -0.0122, 0.1983, -7.4598, 5.6684, 1.6581, 0.1099, 0.0073, 0.0269]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1177, 1.0138, 0.9337, -0.7738, -0.1802, -0.0715, 0.9988, 0.5205, 1.6707, 0.7639, -0.0742, 0.4183, 0.271, 0.0257]\nstate[eef_state]: left_x=0.2919 left_y=0.001 left_z=0.1926 left_yaw=0.0572 left_pitch=-0.2687 left_roll=0.1072 left_gripper=0.9988 right_x=0.3578 right_y=0.1265 right_z=0.0265 right_yaw=0.0029 right_pitch=-0.3049 right_roll=-0.174 right_gripper=0.0257\nstate[joint_eff]: [-0.1983, -2.4821, 6.7624, 1.4139, -0.1392, -0.0317, -0.0122, -0.4034, -7.5009, 7.2684, 1.2967, 0.022, 0.149, 1.2186]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1699a4552129ebe67151838151b6274c26d29c87035c006d4cbf093f4a1edeb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c3f51584716f80e5ce10ee98e8aae82c31f4d9c51044fa4b179c79c7bd667ef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1351453cf6127ed9650dc2f12f1479162c7de6745df06415fccf190c07eda125",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJ_z-enSVNHlEbO57JtQhd5uXVIXRnpkvuWBxxQ_rZpmkei6uqGmUwLzWk5FnRqFmutEe7y0jFolfrEBg1NEXhwIWxELHUPb1J68L6OXoCw9ltIIWVzGHF3sa4jJumF9B3CcEBHbkBs7Dx6-NryDQApucQm40ENTkxPRcS2OO5fMs-WnEj0BXVVKTcTZ3xRN-i93fyEKroXSYIQfd4n00cqfpuOR0KiKYE9OkbOOvqMJEueirh2_PaPQmhBSCJe9wD-DhEcK_2MlN8U591hbbSlKF-kfh-_go1eXfRxbSsuf2HQjloakdWRdvlSsnWEfSDSp531RML022U635vuBO0hEv_3AmdEWP1xGY1hoK9zEZjIRikycw2eTOyPTZaBwZFS5fm4xmge1ne03le5k_BF5IkO8sFylNX7oRniPdLLB42U_0Ui91bZd1G4NbgXB75rWiLSo7Q5J74Zc4oWPyXrRKQxtoAQ9pr2dHU74zLi8uTx6p0XuHr8QygiITARv2NvuuxJHfQV5G9HxmFc_MqEYabl2x_1DgFsCaEHY6PBSeSlSdFvduQzbYraYwW6wQvEBwzRZoV8eDVN94gyeQh0aA2rsh9vDpVK5K-OA-D7S9qbKnuRc7rmEgPOgtaiKPc2-TfUbgAFSU9hYanItMVNJqZdHJXRdii0mS-TGOHRdsSbLqRekCvxXoo6VaLnmGYXb6W1QsVjhzZ8LQEgSBen5qjbQwUNqYW4pWRP5YOI8L72voCHiGi3LGPbw0ZNhGChnbXzmLvKYuN_4h6IK7cn9ba6ezDU6APTsSErgGe-LQjGitUR-wJ5_T8IuiXvm94tesbyN8dhLqLGV97YwPFVZjLtDCZ1oUpNHwpP0G6VBa5Rt7ScCju2owg4Ck674daHqSrhvzjVS3hMm6YbjHkx_IDcA07TAm4nc1fuNs1Jlo2XLd73Pmxfnb02Y1Vh5dUbVlyv-O2dPo2wlrXLkghn0ciWb3tcUxgIU39k6tdKrLhUF6uG-pKwHIUvrxtpGoG7HcttH29zDf_c90cKjldxdxWmTEC89KL-EmVhLluqAo2qidFDrLgOK6iyEHQ16j2H5PQjaL0ks3mzKNS-GcUlidbTgJ06lq7yzflYNshivRqf8JRkzsH7WzhfP62SGNhl7qiNSFbvErgrMarrBpRNXwkG3T2Q7U-k1Q6vngaHyKa0iMlwkLrOcFs6LSIjfcyzw3oq4mIL6DO1sVRMgnYo_xjSnUuHtobE9ub5cTO-o7THb4-cnbAF2n2kimcQjoeUJGNCNg_tJXDFvREhZ2XiQoKEev9T-haY6ZXipZTIo4Z0=",
  "id": "rs_000d2b526bee51d6016ab49ff20df487d08600433819ca8290",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_z\":0.105},\"note\":\"The fingers closed to a thin gap and the bowl shifted slightly during the pinch. I’m making a short lift to determine whether the rim is actually secured.\"}",
  "call_id": "call_z5KaEbwYT1RuGcQV5SK4YFv2",
  "id": "fc_000d2b526bee51d6016ab49ff2857887d084f8f5b23436795c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_z5KaEbwYT1RuGcQV5SK4YFv2",
  "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]: [-0.1177, 1.0138, 0.9337, -0.7734, -0.1799, -0.0719, 0.9988, 0.5205, 1.5501, 0.9173, -0.3767, 0.4057, 0.2646, 0.03]\nstate[eef_state]: left_x=0.2919 left_y=0.0009 left_z=0.1926 left_yaw=0.057 left_pitch=-0.2684 left_roll=0.1066 left_gripper=0.9988 right_x=0.355 right_y=0.1273 right_z=0.0828 right_yaw=0.0118 right_pitch=-0.3357 right_roll=-0.1834 right_gripper=0.03\nstate[joint_eff]: [-0.1709, -2.4684, 6.694, 1.4383, -0.1197, -0.0366, -0.0122, -0.4855, -8.3487, 9.0598, 1.3065, 0.2613, -0.0415, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bfcfc062f8d7bed9c77040490e615ba548a3983e2839baf77468d3d3ec8922d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df96b6d3c6599ff7225ac71c47bab9f11888c208515e6275bf84be0c0bf278ef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac785bce71d6855889c87806539a75b3d65d437a59c7fbfec5f11536c7391978",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /responses · status 200 · 10.31 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 72 changed as sent

message 79 changed as sent

message 83 changed as sent

message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1181, 1.0138, 0.9337, -0.7738, -0.1802, -0.0715, 0.9988, 0.5217, 1.5925, 0.8383, -0.1596, 0.4019, 0.2924, 0.6956]\nstate[eef_state]: left_x=0.2919 left_y=0.0009 left_z=0.1926 left_yaw=0.0568 left_pitch=-0.2687 left_roll=0.1072 left_gripper=0.9988 right_x=0.3686 right_y=0.1363 right_z=0.0678 right_yaw=0.0145 right_pitch=-0.2511 right_roll=-0.113 right_gripper=0.6956\nstate[joint_eff]: [-0.1436, -2.4684, 6.6667, 1.4335, -0.1148, -0.0366, -0.0122, -0.5402, -6.4479, 8.6906, 1.4042, 0.1197, -0.022, -0.1636]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1177, 1.0138, 0.9337, -0.7738, -0.1802, -0.0715, 0.9988, 0.5205, 1.6707, 0.7639, -0.0742, 0.4183, 0.271, 0.0257]\nstate[eef_state]: left_x=0.2919 left_y=0.001 left_z=0.1926 left_yaw=0.0572 left_pitch=-0.2687 left_roll=0.1072 left_gripper=0.9988 right_x=0.3578 right_y=0.1265 right_z=0.0265 right_yaw=0.0029 right_pitch=-0.3049 right_roll=-0.174 right_gripper=0.0257\nstate[joint_eff]: [-0.1983, -2.4821, 6.7624, 1.4139, -0.1392, -0.0317, -0.0122, -0.4034, -7.5009, 7.2684, 1.2967, 0.022, 0.149, 1.2186]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1177, 1.0138, 0.9337, -0.7734, -0.1799, -0.0719, 0.9988, 0.5205, 1.5501, 0.9173, -0.3767, 0.4057, 0.2646, 0.03]\nstate[eef_state]: left_x=0.2919 left_y=0.0009 left_z=0.1926 left_yaw=0.057 left_pitch=-0.2684 left_roll=0.1066 left_gripper=0.9988 right_x=0.355 right_y=0.1273 right_z=0.0828 right_yaw=0.0118 right_pitch=-0.3357 right_roll=-0.1834 right_gripper=0.03\nstate[joint_eff]: [-0.1709, -2.4684, 6.694, 1.4383, -0.1197, -0.0366, -0.0122, -0.4855, -8.3487, 9.0598, 1.3065, 0.2613, -0.0415, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bfcfc062f8d7bed9c77040490e615ba548a3983e2839baf77468d3d3ec8922d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df96b6d3c6599ff7225ac71c47bab9f11888c208515e6275bf84be0c0bf278ef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac785bce71d6855889c87806539a75b3d65d437a59c7fbfec5f11536c7391978",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJ_3YvKw92nLY1wvaCwMOWzu63_UEQrUI2fStJrl-zUj7w5Ukh7_n74iUUOsu72CdEjnBbAgTU_gTKQtDr2XqiI_azBNvxQc5UsZrRnUmES0yJDEj7jpFkvH1DUu6t3dsNy8A7I1qvcQ-Bp1GudRxrTYMvAu7E25WsPgNqRFmTVAgDmxvtD4JE5nQbZjRkH-UdRZJyQoFc_EJ2chKxEczIiV7EhLiFltjRffrULOxQ0-nA7kDhWT8tg8j5e_9xG719U_WRxojD0PF4AOPq7asIII1JLIbVYXmoes2dPI7pL3mCCaciuTMMjN-jibst0_7jIzUDFkTQpN5kFLdynpNJTQUk-gemlOY6qXd1kDSDbVOOHCPx8E2LVBk-Fp1bHu_nrTfT4Vg38XH_so_Sxm8Ov2s6bDR_JbmKrEl_i0Jk_LIlNlIuuFoWlbDE0ok-o8P1tMkDPTsNcuog0t8of6-gesJqDBUCqWPFcV0dcjhwjOGtR8nvUPzF3qOZv5usRvlfisoesI29hOpC8YtRka1d9wHmIjAtLIsSowjfFzU_53INmwugs6j-sTqBoogdt9BCnS94xw8aHD8ckGQFNvIwPwiFmQiD1bDEKunngObbJIui4wHB28KuS0D9E7lj3yBOXytoo30WgjeTMLdzhlraJebYDMfXfNLDEuWv-BZsVq-imReDUDBGu0cn3axFEE-qddDZvPBuwHLNUjqix_WXa5rZYOf-SIa-g-6r4JP5BCuUWlVbizutbH_MtTJ-t-HsrjlY-oNiIGnhplybgocIYof3FUH6UTFoGwZNMSx4kBBHKtgg8nmCQkkWH9xpKYclOO7Q4oI3etn-2GdlWk_BM_8jTPgDbFUV64xLbe6VFVXml5QKrs36aI9INHHwlxJBhFqMNotUSHW5nTrJ9bnwOi96huL1A96REmV_N1I9xPwvBo2GYrTRm53ucNcHvV77JBYgWwv7Q0RPt9jrvRvAXm7k_TkWLW44k2HsAzblw4gJTJ8Fsy1UCFWnLmwBEa5zBvovzhWBalzBBHP0RJVZF9kTwWGPMzsQmFnI2yDXjY4_PpvgknVB2fgaPKEwD6QTjT2DXt_woxGTKYtdNuYCgUflAcoZPY1AmuvK79gZlpM56dfnDh90MccJTiIThTekuUL5aO7chTmGlzWtDlSanh9yh0aGiJ-jCj5hA5rfLbnRELQaG_a069WGKdlmmx5p2eH6nKZIGoKSBBB7NDFcQAO6UZioiKLZ02T2pmEaMPrlNv5mP2HdKhC3twpyTO1acMSbFEWQ1geI4fSZfsBvcjJzGn_hVFQeubOq_sJkKiEoAsiTI5zQzbHrHZWTqELB3nEkaMgsf-F-av5OtMMigo7tcPbMoQf_q5pV-08zZW-awcirMww2zB_KUWShNkd8c2OrqSA11QYW2FNekNLVlShL1lQiBHRuhYHup-dRtDFtXjgSpN5JIqNPiYzYw-Vfd3T_2cDBaPBBhZfNYi_o6QPyRSGEJm5I1gEADqAs1iLwctZrcH520m1tGTgOSDmQtaW0jg0nXHqlO6LYOb34iZ-3SX69sg_l4U6qArHARQDPdYQuh9-P0Qp2w3fQImEdUoSodnutRBsjpp_z64-wXNwg6Rrt0grnpoInanDLEdeNjgNWWVX5BF3V77WE40_qcSi06o2_DloLlSJrP_bA5bCg==",
  "id": "rs_000d2b526bee51d6016ab49ff5339887d0a64aa9e15bf08ae9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.355,\"right_y\":0.13,\"right_z\":0.2,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The cream-pink bowl rose with the gripper, confirming the rim grasp despite its very thin reading. I’m raising it to carrying height and levelling the wrist before moving it over the stack.\"}",
  "call_id": "call_H74erRpHK3PHKampSHXZdkIy",
  "id": "fc_000d2b526bee51d6016ab49ff68a3487d0ab9d54c429c8441d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_H74erRpHK3PHKampSHXZdkIy",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1177, 1.0142, 0.9337, -0.7734, -0.1802, -0.0719, 0.9988, 0.5434, 1.2774, 0.9009, -0.3614, 0.4206, 0.2806, 0.0333]\nstate[eef_state]: left_x=0.292 left_y=0.001 left_z=0.1925 left_yaw=0.0574 left_pitch=-0.2687 left_roll=0.1069 left_gripper=0.9988 right_x=0.3477 right_y=0.13 right_z=0.1749 right_yaw=0.0426 right_pitch=-0.091 right_roll=-0.048 right_gripper=0.0333\nstate[joint_eff]: [-0.0479, -2.4821, 6.9402, 1.4676, -0.105, -0.0708, -0.0122, 0.212, -6.1744, 7.7197, 2.0635, 0.3932, 0.1832, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f905b5e823b88ecf2c9521ab0423ee058ed90e3f5ea79d05f4ad2538464f9f5a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46d83d3b2b3e555b48a459f1e146dd339d3dcf448a0ba0f21afc586440253f63",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcca5a399fde3bc7fafb8d96cca2be47b952045f9644cfbd9f0ac4559fcd06ca",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /responses · status 200 · 4.102 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 76 changed as sent

message 83 changed as sent

message 87 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1177, 1.0138, 0.9337, -0.7738, -0.1802, -0.0715, 0.9988, 0.5167, 1.6573, 0.7834, -0.0673, 0.4023, 0.2871, 0.6961]\nstate[eef_state]: left_x=0.2919 left_y=0.001 left_z=0.1926 left_yaw=0.0572 left_pitch=-0.2687 left_roll=0.1072 left_gripper=0.9988 right_x=0.3654 right_y=0.1322 right_z=0.0377 right_yaw=0.0086 right_pitch=-0.2753 right_roll=-0.1308 right_gripper=0.6961\nstate[joint_eff]: [-0.1573, -2.4684, 6.9402, 1.409, -0.1392, -0.0269, -0.0122, 0.1983, -7.4598, 5.6684, 1.6581, 0.1099, 0.0073, 0.0269]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1177, 1.0138, 0.9337, -0.7734, -0.1799, -0.0719, 0.9988, 0.5205, 1.5501, 0.9173, -0.3767, 0.4057, 0.2646, 0.03]\nstate[eef_state]: left_x=0.2919 left_y=0.0009 left_z=0.1926 left_yaw=0.057 left_pitch=-0.2684 left_roll=0.1066 left_gripper=0.9988 right_x=0.355 right_y=0.1273 right_z=0.0828 right_yaw=0.0118 right_pitch=-0.3357 right_roll=-0.1834 right_gripper=0.03\nstate[joint_eff]: [-0.1709, -2.4684, 6.694, 1.4383, -0.1197, -0.0366, -0.0122, -0.4855, -8.3487, 9.0598, 1.3065, 0.2613, -0.0415, 1.0232]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1177, 1.0142, 0.9337, -0.7734, -0.1802, -0.0719, 0.9988, 0.5434, 1.2774, 0.9009, -0.3614, 0.4206, 0.2806, 0.0333]\nstate[eef_state]: left_x=0.292 left_y=0.001 left_z=0.1925 left_yaw=0.0574 left_pitch=-0.2687 left_roll=0.1069 left_gripper=0.9988 right_x=0.3477 right_y=0.13 right_z=0.1749 right_yaw=0.0426 right_pitch=-0.091 right_roll=-0.048 right_gripper=0.0333\nstate[joint_eff]: [-0.0479, -2.4821, 6.9402, 1.4676, -0.105, -0.0708, -0.0122, 0.212, -6.1744, 7.7197, 2.0635, 0.3932, 0.1832, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f905b5e823b88ecf2c9521ab0423ee058ed90e3f5ea79d05f4ad2538464f9f5a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46d83d3b2b3e555b48a459f1e146dd339d3dcf448a0ba0f21afc586440253f63",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcca5a399fde3bc7fafb8d96cca2be47b952045f9644cfbd9f0ac4559fcd06ca",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtKADSpnoVV5qIKTorMFaQpsqjVOq9vmTMfYB_shJib5cEwqs5skeUWqkBNfWDgETlY4V9SjVVW_3jmlR9xNjcUB7pF0Fc2aMjtaqVgdqO5lQBQ7n1ObcdYZr1e4YnTcKnuvatjyKJhOeKnq67vqmB88Pq_ty1Wz7bxPjyskO-Q1TVOy23IjOibOmMh3bW4eLL6dhbZhEpD3BlqLFXzjpZprd2OHNyEHJaa8Brcp8RWxxbF0LqowV6YZPVnCh60hgL-TKnJoSmAP82GEEAf5Ayd3QkpalU6k6SqkjpktrVqXFLRApW9GhYnc1cLz45jl1RiN8imrTdandMjCyo3Us9nRxfRcZpZDO5J196sLpPVPjrjeyTMBgRD92jwo6krOycnc6Zuw5SfN3QZb3q-WBCKPotJZIzHK7AXCkMxowFo8GEpgH3ynV51pg1uQbD883D3wEwBLDv_V_2dTpaRDoYyLFoaUj-vq9p_t9h09oSDy4hEI_ZyrWvTmn5t1NUB5S3eYMvnc3264zOwBGLv6kzN-A_U6ad4OveNepxaUNcmaijJRx86SHrK0Y5ohoI05JGPGZ1oYLOEXHLXg7NxFQPKaT484MxiI8mRmo1oa4loawL4VsMFLiI7065GYaLzp43S4fpUlgVpwhDfxm-Pe_vHm2836cHEDy7Jg-7MG8ks4C4fZ-ZwAaT23CKdeR7FKmCm0zF2RpJwHmEdzaaaSfqs-rsuLW7cGM3QeLT2O4KQk3ohitteTjiGjFscr-uW7s_tnWYdfOciCIAEYuNPGu2-rylu85U7uZf9TefrsIvduk5zBmNLmYw_lscls-NWHXzozeK6a0S0baQGrauf0p2cRdzz_oWuXfaPVSiPlASVl8WABJ8NXZcu1z19GsObNm_MBqlrw1N6BmMJP_v6U8ZKtNKjtDqjjt8rXDu-iAhItXnf-NTVBOy5z09zMP6z63wOgKFL0LjU-UKuxmEwfTAeLKz4s2ijNGHXsMgA3BCtpmYDN9TOzBFnLGaAJA935qmhXv_Xg4JMNjUpM1tMVxX12DA1bKR_qm43sX72D4p0UT7m42-SoBeLH9o-hspjKAuBLCSEGtDtznJstZ8UwYZ5LarJDaBJrzm50goJAiyDnptylZZTtnVjWYA_2YzqzN8-CkmOfIKSxXS-b0ksU2vNNoVriMDLn8cS0QYtrPWNzER-MGnHF9gjLJlmfuyJAuoDx0wzBF9bU-vjiO1htZQa2iOkzq7GItPjX64xrj-J8Jhb7e399cBwzdIb3HlWBbOqLXOATMgA9Rrw-K1oeIMLJdrKP2BfKKg4guAnWg2YjHBTv0T47kN3PF12Mz7plHHjDL2yprCJfwSu4Bt4VpZ2iz80X4uMF88SN3FmjqKU44tFVNSoaWl6O0tX0EiHFjR3tWXbxovG8_2NwbWBUXAz4oJSqgWsWY1S_I3Yjqb6SxhCXaPrbd6KDh0_I2fcwKEEN1Np6wQx32IZZpj7YeiX57vuNmjiQqWS6jBar7_9rOsLTGjmwvdIAqI-msgmRsr4XwZ4JKkXL358HMdagezjJFLu_AprzTuVOSAZBvMbl7YyAumFxu7yTSdFMyltKh-p5HFtExZN5N_RhQK0WHyExsYCw7hosq59HdShwtBST9D78N6klbNjwn93U2J_xLOFVibWUKiEeQzd69Pxre61HCrCgEXCca9-RfwfPmitC5tlDFzeZz4d5nHkszFrKzsr_YuizEGMHH3EbRFgeoi7JwsWF6DERkauF6Bw80PYAlV7N8cLU5FbWI1PWwOPJrwEbQpTRw-DFv3hl8fWrkVHJRSu9frb9fVPrFx1bbzECfsE9m1orgWtNvwnj0AAJ5PrOXplnptmoV59vuBf-FhubOuV3X4MCBgL8A8MppkC88n4dI4hq_L_QmBe6Zx4f2mnUjcSMEXUgO-ZnxqcVjnSJGMl082JZ8X0-WaI1ba0UToJLXr5FJeWyWvh2bC_bGtjX7D9SPaZ_aLTLbVK6PKGBdHxrktS5BzYTav8d6QLLieb-vC5uUQntqcWZoBJwU1exmh77iMmtmDuHabNsB2QWC3WwZHSXpo7dfCKTfRMZUm8turSVlIuALsOmU0GLO4r7Hmhr6D91dL-vH0pUV89XkKbProeLTJ5QHgvJiwUmlBV1ZbZcESlAKLO98ctoiel4O8UKveLGQE4RfxhgxA5GlsumlRYzPS_U0kC4eYy3evChOA1oWYurv_-adWjNKcq5M43haH2nRjQvEvLz03lsZH4D-72-o5btQlwt4CJEaLrwM4HT5GGqJwerl_RxMJT0QT6y16jfHOOUEm_dQKxE6pvW_30xNCtTAgZaT4YLn7L50vyZqNrmIf5OUo3lqB3UapmcPEH04xtpVVU8WtWEeHPH3DT7lIz2Tku1VKNTgTaG7fqCRV_HKmzQuMeF60DSXUwtn95Rf2uLAzxJ2SVWn-uqyTYZmOL3ijk0vlKt1evLTZ-qdoeu6C1YmQ-E1iCIza6Nz5elFaDt788u_EGCW_7jD9YtPWTNCGWOhcOZ0PKckP1R6dLXs-7qKLowwfmfDIY6KQpvRAqG7tHJJG3LG2OtXA7venHXsJOMG1fHwhUJ1knQUK1ZaxSfd9ps2bfO5fspKuWi_HHZ4GE14KPlQ2wOO3UjKdqpWoM5AFBdvajc0dgUkIBUmhtVEtojIokWi8_4bL7o8xnnt2vL7PjNR8zzY0XhPheS0SQvap2VBHex_qGEALwM83ySKjCvVEZtTp6a19UWT5dKLw77AIrnWXEBw9cXFyFwuGaKnjweA4R0Tm34fFqd4dcf0zDcbb1eMHbQg7k2YlfUJSI9lcaJOWmUY-yr6uzKeAuBxhVbLDscPevDadmse9yZPHBAmE6ZGuI1uoIkrKlqwQxtM59umLW_VpPzbguh2mHPZW2cQGImg558kcXkD4YNBKP3dFPRozhj9xjhdoJyuknIHqYeYytzf0wikOvXlIXMMEafcMgRN7m78FWJjxRcrlY0u8WMEMRbJ4c8jSTeIobQ8Ox44N_uTXKVNhqrk9beHQ9huSDY4Brh0wxa2rGuRXhL4ucnDEF0OPvmYyX711iVlTdAKgmtTEpcyM2vPELx3-Ws_kzhV3IIX8H91VBsnRx9q-mEztKHa6MFfRbp4ZHAQ5ybK-4MdzisIy7j6kHkvkRTP2onelpesUYA65mT2XrSPFxeB",
  "id": "rs_000d2b526bee51d6016ab49ffb5b3487d0a861835299d39852",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.34,\"right_z\":0.2,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The bowl is clear of the table and the wrist is more level. I’m carrying it leftward over the two-bowl stack, keeping the rim-grasp offset in mind.\"}",
  "call_id": "call_XClYm2kIIzF6sOzvpOX9RcDa",
  "id": "fc_000d2b526bee51d6016ab4a002449487d0baa1111c7f7ccf8f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XClYm2kIIzF6sOzvpOX9RcDa",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1177, 1.0176, 0.9337, -0.7738, -0.1802, -0.0715, 0.9988, 0.9333, 1.9163, 1.5784, -0.532, 0.6819, 0.5579, 0.0333]\nstate[eef_state]: left_x=0.2922 left_y=0.001 left_z=0.1916 left_yaw=0.0574 left_pitch=-0.2725 left_roll=0.1079 left_gripper=0.9988 right_x=0.3807 right_y=0.3329 right_z=0.1775 right_yaw=0.0814 right_pitch=-0.0653 right_roll=-0.0561 right_gripper=0.0333\nstate[joint_eff]: [-0.3214, -2.6872, 6.6667, 1.4335, -0.1197, -0.0415, -0.0122, 0.1436, -10.4274, 9.8256, 1.5263, 0.5543, 0.2369, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:935c0835a32266f9b3e3c147bbcf11cfe305cb5734fb4edc2dab64f9d3aa0663",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c683a6ebb284c9e5be8210e80b4d757494aad92fe8ff698c55b8135be4495ca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cf8d13298f9a49a7a35052628c15247d379194140ed803e0958124b2a60939f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 3.015 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 79 changed as sent

message 87 changed as sent

message 91 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1177, 1.0138, 0.9337, -0.7738, -0.1802, -0.0715, 0.9988, 0.5205, 1.6707, 0.7639, -0.0742, 0.4183, 0.271, 0.0257]\nstate[eef_state]: left_x=0.2919 left_y=0.001 left_z=0.1926 left_yaw=0.0572 left_pitch=-0.2687 left_roll=0.1072 left_gripper=0.9988 right_x=0.3578 right_y=0.1265 right_z=0.0265 right_yaw=0.0029 right_pitch=-0.3049 right_roll=-0.174 right_gripper=0.0257\nstate[joint_eff]: [-0.1983, -2.4821, 6.7624, 1.4139, -0.1392, -0.0317, -0.0122, -0.4034, -7.5009, 7.2684, 1.2967, 0.022, 0.149, 1.2186]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1177, 1.0142, 0.9337, -0.7734, -0.1802, -0.0719, 0.9988, 0.5434, 1.2774, 0.9009, -0.3614, 0.4206, 0.2806, 0.0333]\nstate[eef_state]: left_x=0.292 left_y=0.001 left_z=0.1925 left_yaw=0.0574 left_pitch=-0.2687 left_roll=0.1069 left_gripper=0.9988 right_x=0.3477 right_y=0.13 right_z=0.1749 right_yaw=0.0426 right_pitch=-0.091 right_roll=-0.048 right_gripper=0.0333\nstate[joint_eff]: [-0.0479, -2.4821, 6.9402, 1.4676, -0.105, -0.0708, -0.0122, 0.212, -6.1744, 7.7197, 2.0635, 0.3932, 0.1832, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1177, 1.0176, 0.9337, -0.7738, -0.1802, -0.0715, 0.9988, 0.9333, 1.9163, 1.5784, -0.532, 0.6819, 0.5579, 0.0333]\nstate[eef_state]: left_x=0.2922 left_y=0.001 left_z=0.1916 left_yaw=0.0574 left_pitch=-0.2725 left_roll=0.1079 left_gripper=0.9988 right_x=0.3807 right_y=0.3329 right_z=0.1775 right_yaw=0.0814 right_pitch=-0.0653 right_roll=-0.0561 right_gripper=0.0333\nstate[joint_eff]: [-0.3214, -2.6872, 6.6667, 1.4335, -0.1197, -0.0415, -0.0122, 0.1436, -10.4274, 9.8256, 1.5263, 0.5543, 0.2369, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:935c0835a32266f9b3e3c147bbcf11cfe305cb5734fb4edc2dab64f9d3aa0663",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c683a6ebb284c9e5be8210e80b4d757494aad92fe8ff698c55b8135be4495ca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cf8d13298f9a49a7a35052628c15247d379194140ed803e0958124b2a60939f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtKAJl7pPilxgpwOXIFJUBcaBJwRAHXIRGnu2GNlnvx8AktVW_vYwPh8sqMmwWZP4Y8VBVDEKTH-LiiVxEybGcCrlIBIejYS5An9nZtE7EMoE0fmjPdP1XVkB63a8J7MJmJXJBCq1XXmNcMolaLFpISDhTwbzVw0TDjnA54R3k6qGiFKDN-FgDM7GsjWSk19EmMXDVsKh45ReyzElhIv3Vi98hOQTuEHOlburNRPWCS4GfXNltMtP0y9LdEb1-eSScwOyF7IhYOcbSqCgRN4FP0kloc-DInF8i05meRWGGiGialrk8LraUEIQjXtWvGArdfH9RC_R3BLBgZ2eTTSTUu2iv63mSCXfRmMbKEJZ8plfTJXXIJFTm6CNiV23N8sEm9EESUTwDAkws8WA2OGqZ8ZRNfGTOH83GVIQ63sDWwlL-uRgnlllvVD-Qlm-ohwv8UlmtxcmUc2jbvI5C9_IUhU8KO2zghhVzBfNGlRigBq1RP_cPXk7Bmzz7BWZTtrWueDVl1zjVVSF-IXl4_QwkzaGYWmAYuXw8Jpq3rv39MaenvFvqq-bm_t6NYzT83o-9kjrgGGQA1Dg6Hrao1RkJjmf3lPs89usTFTVB0iz_UQ4FYIanR50rE5BKsTN5IQXX8tKScps4A9AEICxI9hx54c8F-sPK27wpCewngN4zbrZ-9tLcn-lg8lcwyPZM6Lopzy8mkXaZiOVmK-H2EYP9sW4uFGSInDgC33es_P8yycfFiewYhyUi1ROqEfhu2vHQaKE4zniCz0VGesp2-mOf-Oi4aS9fz_KP_8h8YUCRLiHJt5uM4lTVw9V1E_KLMU1fobrxl8v59o_AhLIVr1phIWYue-sH6txpu8KZV4CL3bQL3MoZjzFVQ_h0nMZw0ILaUEf6Vr3byQW4SZ7KkAVi62OVCRmuA-HP1GtA6hMFO_fCWmZFO_c6dqwDL-h5yNl3HLHuVOWjlfq7zP8lIo2dXIprtA_HONjDIRy9BQCTHuFRS26u_eNlUPCnWeay5HvHNcs1RTixxEue4vy5V5kAu1aUsMXQlH_AjFId5moJs6JbQaBdHFE6mNtEdhriSjTaqWyA3Mws9VDZsvmfgftZakh17exSbMv-EiCRm4Uiet7s36FXNsZHTni5eiwgr4ufzPjF-hfWS_CmJ46zn6ajhmYvDX0kUs1AO7Zf34V55lT_otPmbnCbnmFfdolA5P5BjoKMHb_3hOHSkQqitEqZuIfv73a5VenC-bitXm2qjzdmuTcTKZ6BLYUr2Y6aQlqDy2pApEkNBfhey2ZE6QNr20JxPdx83WuB9RxUmglQHLvuYiG-Su2JIAua433pNVEvZA2hkzbBJMvjFOOG3zWaDLZAP1gcNAc7dS7d3UMy6N_iEd5Oe1uyu3sjT6NeGq3GR4g71TQ1ukFi-qJzGI2vQRo1QQLP38Dm8oiURHo1WdYr-1Om3Kaiof4vatmE2Zy5-y5-jlkx7VGPfD6eFtmqBdWdHiQsr1KLK04bjHPcitp26CXz_9zuWeZxu72BaFIjnds",
  "id": "rs_000d2b526bee51d6016ab4a006cfe087d081384cc76509c298",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.34,\"right_z\":0.125,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The carried bowl is above the stack, which is mostly hidden by the gripper and bowl. I’m descending vertically to bring the bottom close to the teal bowl’s opening.\"}",
  "call_id": "call_GM3BCRlZONep7gHNhgupo3rm",
  "id": "fc_000d2b526bee51d6016ab4a007f40c87d08f2c8d61a5678505",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GM3BCRlZONep7gHNhgupo3rm",
  "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]: [-0.1177, 1.0195, 0.9337, -0.7734, -0.1799, -0.0715, 0.9988, 0.9291, 1.9629, 1.3827, -0.3099, 0.6781, 0.5495, 0.035]\nstate[eef_state]: left_x=0.2924 left_y=0.0009 left_z=0.1911 left_yaw=0.0571 left_pitch=-0.2741 left_roll=0.1079 left_gripper=0.9988 right_x=0.3788 right_y=0.3278 right_z=0.1106 right_yaw=0.0832 right_pitch=-0.0812 right_roll=-0.0761 right_gripper=0.035\nstate[joint_eff]: [-0.0752, -2.3863, 6.653, 1.453, -0.0659, -0.0708, -0.0122, -0.1162, -10.906, 7.5282, 1.7411, 0.3639, -0.1099, 0.8962]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:478940e12d0c9ce450a3397f2cf3b75d9d9aa89d782edbc42efacfc0523975e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1d3c8c17f3e2b67122f30c953c7ff2ae739d37dba0ddc314645966a6ecf8df6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45a0214392111d16bec32b2d5d308641d4e6f79dc93cba80531b64b6d5ce1532",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 3.314 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 83 changed as sent

message 91 changed as sent

message 95 changed as sent

message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1177, 1.0138, 0.9337, -0.7734, -0.1799, -0.0719, 0.9988, 0.5205, 1.5501, 0.9173, -0.3767, 0.4057, 0.2646, 0.03]\nstate[eef_state]: left_x=0.2919 left_y=0.0009 left_z=0.1926 left_yaw=0.057 left_pitch=-0.2684 left_roll=0.1066 left_gripper=0.9988 right_x=0.355 right_y=0.1273 right_z=0.0828 right_yaw=0.0118 right_pitch=-0.3357 right_roll=-0.1834 right_gripper=0.03\nstate[joint_eff]: [-0.1709, -2.4684, 6.694, 1.4383, -0.1197, -0.0366, -0.0122, -0.4855, -8.3487, 9.0598, 1.3065, 0.2613, -0.0415, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1177, 1.0176, 0.9337, -0.7738, -0.1802, -0.0715, 0.9988, 0.9333, 1.9163, 1.5784, -0.532, 0.6819, 0.5579, 0.0333]\nstate[eef_state]: left_x=0.2922 left_y=0.001 left_z=0.1916 left_yaw=0.0574 left_pitch=-0.2725 left_roll=0.1079 left_gripper=0.9988 right_x=0.3807 right_y=0.3329 right_z=0.1775 right_yaw=0.0814 right_pitch=-0.0653 right_roll=-0.0561 right_gripper=0.0333\nstate[joint_eff]: [-0.3214, -2.6872, 6.6667, 1.4335, -0.1197, -0.0415, -0.0122, 0.1436, -10.4274, 9.8256, 1.5263, 0.5543, 0.2369, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1177, 1.0195, 0.9337, -0.7734, -0.1799, -0.0715, 0.9988, 0.9291, 1.9629, 1.3827, -0.3099, 0.6781, 0.5495, 0.035]\nstate[eef_state]: left_x=0.2924 left_y=0.0009 left_z=0.1911 left_yaw=0.0571 left_pitch=-0.2741 left_roll=0.1079 left_gripper=0.9988 right_x=0.3788 right_y=0.3278 right_z=0.1106 right_yaw=0.0832 right_pitch=-0.0812 right_roll=-0.0761 right_gripper=0.035\nstate[joint_eff]: [-0.0752, -2.3863, 6.653, 1.453, -0.0659, -0.0708, -0.0122, -0.1162, -10.906, 7.5282, 1.7411, 0.3639, -0.1099, 0.8962]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:478940e12d0c9ce450a3397f2cf3b75d9d9aa89d782edbc42efacfc0523975e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1d3c8c17f3e2b67122f30c953c7ff2ae739d37dba0ddc314645966a6ecf8df6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45a0214392111d16bec32b2d5d308641d4e6f79dc93cba80531b64b6d5ce1532",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtKAM-qPyDEzeU4fqywdhdGD6swe5V7Zl84T-gDTxGG7G1iweM1S7_x3Xcb5qD9KymIrHiEVi3b89GmPTbLAV2K89voG0d57vIrvrSOQ1p7jmUB3OXquQJw2b_bgbwPjNNVJIy4i_olzioftQLm5vNGNHRchTgdbEVmSWuTc-NVikIeHqrdzFIAC0qlvD7NEXQMeYVXFMiGr1tiHEyCdYElAml0ldVdqqoUxm1yrAsyRib2jUWwguBZPT9-RVpCFdAkVH0vJygr5_dqhk2Fu4AdHzgDGq5ah3PHpljAflq4vPPh0QltdoQaB81m6qIjj-MG5W4FTzRDXdW1i1He0Tr8Rg5t-RDAJYzuRB95AGMPyUejG3pPR4ul2knA4fiOFPm3lTzaMsw0Np_dJ7UikKmffL9gk6TPKczJ6_-CljZuIQqhoWAt6Tr9CimLteL3OeaL39OHF9V2BIQ6bd9xVGhTuWW7WkR8HmRXff9BLrYphZPIlwKj97JdQnbL8S88OUboC0lbyuCCbkRAvnIAVx6z2FTgmJvWCy_veSm5mMXYHPR0hs3hbrMuRz4sHdK7SC2TM6t4ATEc0fWBFD4y5YDSr-9Q5ZvIVDEXUNLxRpED_JpmlhGeL39Fo1ANVg9jGPBFamy-l5Z5WKaTl1k2lSBz4qoG0wZcTBin8CxwAJrbbRj2mfmCNyUTtaqd9SM-G1cV5N_xvQ20TBweqnBjl_d0hYjAZsQciqP9NeZRSbtId7XDxt38vi3jIw8KlS4sB1DwbOnKGvgY43jW8Q566MhQtU57dABvjjI4dqAwabSTELiF6Qi4fIIezoE5SSFVf2FucIo7ahILONqjeQ4MgaqTGP5EPFYSQfPin9FXSiJV90V6VbOyHjsOwFMUxHeJNdFVhqFD43bVOj7AS6pxGsqCrPKWPJe1jTazWYIXS_4c47v26eFUmZbD3_e_So_-8bCy9HRJn-1pLLrAn5w3n-V2JIOBtWQzoy2IBIfjM0BO9yEdn0FvdQGsvxpKRlPbeNRj3FO3ecwCHCQz-pkcC0m9gX-rUXYbO75bCF3VVMFcMXDJG5YnpQBMZI2Vq8ENoiS9eOyyn2yhKLvpPQbuLDxiBmvIuvtOHRQDvp9C4rKYhgFzq_9YZVUVUsNmb9-Vr7mRWx7jMCfpJIsxZuO-9n1frCr97LYFw86_MWhgr4hcxbdT5jVapNgglDYOZ_VrITwvYczXXvWZogRiowLE4ts6_VoxLYcfGCO1oibWLH8wnhdPkdp3EXooTkkwN9AdwQCTkCq-P9_ed4jA00B0TtNqLBaRGUeJFLfaxWEKNbFyMIbROapsVY1EAMO2pJyG16E2vHg0Kwzrh79hzH189wpDJpgZ67TJo1h8zTDJRtpNobPMxSGjiMNTfpXCdqXwOVBc6u",
  "id": "rs_000d2b526bee51d6016ab4a00ace8487d08239b091ceba1a65",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.34,\"right_z\":0.075,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The cream-pink bowl remains centred over the stack as it descends. I’m lowering it the last few centimetres to let it settle into the teal bowl.\"}",
  "call_id": "call_ZjC9wwwLB1upUTgQUHISSZAt",
  "id": "fc_000d2b526bee51d6016ab4a00b9b0487d0866a61585f392d8b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZjC9wwwLB1upUTgQUHISSZAt",
  "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]: [-0.1177, 1.0195, 0.9337, -0.7738, -0.1802, -0.0715, 0.9988, 0.9291, 1.9759, 1.3426, -0.2317, 0.672, 0.5423, 0.0386]\nstate[eef_state]: left_x=0.2923 left_y=0.0009 left_z=0.191 left_yaw=0.0575 left_pitch=-0.2744 left_roll=0.1082 left_gripper=0.9988 right_x=0.3798 right_y=0.3306 right_z=0.0996 right_yaw=0.0926 right_pitch=-0.0682 right_roll=-0.06 right_gripper=0.0386\nstate[joint_eff]: [-0.1436, -2.3863, 6.694, 1.4139, -0.1538, -0.0757, -0.0122, -0.3624, -9.4564, 6.4342, 1.5409, 0.3101, -0.0073, 0.7399]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9d9498d7c4aecbedd0106b4ec988c75c94b98e65544983ccc558223f481c905",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab35ff452c8ab4153a36f1a9391ddc3f86d0beb71d06f9df10d6cb448190755e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20ea7977cac273cc44ac347ce639801f826fba471f583631ccaf39527ca1e123",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 26 attempt 0 · /responses · status 200 · 2.741 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 87 changed as sent

message 95 changed as sent

message 99 changed as sent

message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1177, 1.0142, 0.9337, -0.7734, -0.1802, -0.0719, 0.9988, 0.5434, 1.2774, 0.9009, -0.3614, 0.4206, 0.2806, 0.0333]\nstate[eef_state]: left_x=0.292 left_y=0.001 left_z=0.1925 left_yaw=0.0574 left_pitch=-0.2687 left_roll=0.1069 left_gripper=0.9988 right_x=0.3477 right_y=0.13 right_z=0.1749 right_yaw=0.0426 right_pitch=-0.091 right_roll=-0.048 right_gripper=0.0333\nstate[joint_eff]: [-0.0479, -2.4821, 6.9402, 1.4676, -0.105, -0.0708, -0.0122, 0.212, -6.1744, 7.7197, 2.0635, 0.3932, 0.1832, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1177, 1.0195, 0.9337, -0.7734, -0.1799, -0.0715, 0.9988, 0.9291, 1.9629, 1.3827, -0.3099, 0.6781, 0.5495, 0.035]\nstate[eef_state]: left_x=0.2924 left_y=0.0009 left_z=0.1911 left_yaw=0.0571 left_pitch=-0.2741 left_roll=0.1079 left_gripper=0.9988 right_x=0.3788 right_y=0.3278 right_z=0.1106 right_yaw=0.0832 right_pitch=-0.0812 right_roll=-0.0761 right_gripper=0.035\nstate[joint_eff]: [-0.0752, -2.3863, 6.653, 1.453, -0.0659, -0.0708, -0.0122, -0.1162, -10.906, 7.5282, 1.7411, 0.3639, -0.1099, 0.8962]\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 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1177, 1.0195, 0.9337, -0.7738, -0.1802, -0.0715, 0.9988, 0.9291, 1.9759, 1.3426, -0.2317, 0.672, 0.5423, 0.0386]\nstate[eef_state]: left_x=0.2923 left_y=0.0009 left_z=0.191 left_yaw=0.0575 left_pitch=-0.2744 left_roll=0.1082 left_gripper=0.9988 right_x=0.3798 right_y=0.3306 right_z=0.0996 right_yaw=0.0926 right_pitch=-0.0682 right_roll=-0.06 right_gripper=0.0386\nstate[joint_eff]: [-0.1436, -2.3863, 6.694, 1.4139, -0.1538, -0.0757, -0.0122, -0.3624, -9.4564, 6.4342, 1.5409, 0.3101, -0.0073, 0.7399]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9d9498d7c4aecbedd0106b4ec988c75c94b98e65544983ccc558223f481c905",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab35ff452c8ab4153a36f1a9391ddc3f86d0beb71d06f9df10d6cb448190755e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20ea7977cac273cc44ac347ce639801f826fba471f583631ccaf39527ca1e123",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtKAQCBos-tNlYNSZCApaqhbY88NYNWzATE_WtbmyXMxK-Pr_y8xf3aIwdABN4fR-lc4QKxPPwNfHEKQaStorSLj4jStZavtH7Y9FdiWfXtvsGhUoBI971HDAlTA0Zp7GYVfVZJxXYGmd794SJUyDfQggU6lTi7Fyn6SSvuJyrYFqxqIkJzqGycA9XjmJpnA_MT1OQ6tV4hIa0UwMJRsgL34cFlIfCByBIGCZI7XJVbYeMdED2ogskuLdO7AMF8lrx--E_K1ZYPST938gj0IXSs_KFl-UGdmGn28RN6w9DBfKMuJxCdZp9TBbCpaywl1_O8wH6XmFl6-D6R4P-MkZ_VNgzEW9trl9IbzGf5FJzf0VmhepftBNZ_rZIRYR-LIrnYLs8RNH8UlizFwxHOlbxnP53UFcGa-ufrwfYgWt5aVxD29_UBRP4FG9XvGVu_xknHS0C30azMcboiC0OWjZKVe9PGLpDQvJZ5mnt-F8TUKRtb_KMZqDM5jB7OLZPA7lNhdsjWfy4JUMEbnEIrq1TOEK726V7CZliHG1POXP4wT0QWpGEre-SODYRsdVDkKCe6pE809OdDCzXf-63qkfSSkcEmNfAteMp7-wm-FmSk6T9tgnE11dJYR8rXuxioEmvHtE9EzlfLD_BN5H-dKTJfRRIAFcCECKVI_fYyUP6n_0fR2Q2J6ncih1BniQmtDgtQOHdzZqtbS3lh7ZSL39hOlY2n232-biU52SySarv1rqe9_DnV_dD03Qv2enxRirjD4tdsihROA4NAP6ocjjxXGIkaW80e2fiivgGEXEbMMYy54_rs04oJZvcvB0q1NRkjVQMyyTBgM6uqk7rjnuqnvgt0n96LPTyo0JEZ9qgjOvpaI_WmWkp9ElgstuDLeh3QvMJCciaJQJoc-3SH-c_YTGegT3Kj5OL0VvKbyC9Cy5Jo0UFtp5T4-ceOipo6LIW6I82PvuhF14ZurllaRqdrlWP8iLRBm-GEfJ73-X4C29L23og0VsL2OvMlRkQsuNRVzLK4_erR-vUKqGFUSlBy3PlMkBsBr9OnTBF__lMuBIo65Y6m0VHxjPnJLqZ9s9cvObEhJIA6ekNJY2XxkIzJmoEh6XJbZVE4XSmwqbQiWtdulxV0iv111swXmCcQEaWmBNR9z3cVSEphtVuja1IVbBIcEIr36CQ6qeQT1EMGsvetT8wp020VtAQHwkBZANPqreBKm7kKFq6kfewQaCiUSsbMRc5TM5pOw2Iu3RyzCNr-vaGxupJKbdlDH_lab7ht8eV5a8NwITSPASMNcLpvT8YGprrxbou-DfB6bpQuzC38Q8jCrjLgqszcXXDJWz49qd4n77x4DITCl_DR-nGy6wVBR4dTAc6A80RRd8BrCAf7Q=",
  "id": "rs_000d2b526bee51d6016ab4a00e5aac87d0a90ff8fbe1a6758e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.7},\"note\":\"The descent stopped above the target, indicating that the cream-pink bowl has met the stack. I’m releasing the rim so it can settle under its own weight rather than pressing it downward.\"}",
  "call_id": "call_3NoVKtiq8P8drwzB8MAODGI9",
  "id": "fc_000d2b526bee51d6016ab4a00f463c87d08f4e4ef21660a8a3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3NoVKtiq8P8drwzB8MAODGI9",
  "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]: [-0.1177, 1.0195, 0.9337, -0.7734, -0.1802, -0.0719, 0.9988, 0.9283, 1.9762, 1.3422, -0.2283, 0.6724, 0.5426, 0.6954]\nstate[eef_state]: left_x=0.2924 left_y=0.0009 left_z=0.1911 left_yaw=0.0576 left_pitch=-0.274 left_roll=0.1079 left_gripper=0.9988 right_x=0.3804 right_y=0.3306 right_z=0.0998 right_yaw=0.0915 right_pitch=-0.0662 right_roll=-0.0579 right_gripper=0.6954\nstate[joint_eff]: [-0.0479, -2.5094, 6.6667, 1.4628, -0.1441, -0.0464, -0.0122, 0.0205, -9.9624, 6.3521, 1.4921, 0.3004, -0.0024, -0.0904]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d145f67f8efcbd3fdc6f0060d9fd7bb3543d0f8eefff8fc9e22531135a1ed96",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e635fcf57b17c7fc358a344464b8fdafa67b4f7b415a29b27539c763d222fefa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c221ffc0651c0857a1ff066cb9a39c46050f7434b4a9fc7a52d0d224ab4a8cb0",
      "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 · 2.965 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 91 changed as sent

message 99 changed as sent

message 103 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1177, 1.0176, 0.9337, -0.7738, -0.1802, -0.0715, 0.9988, 0.9333, 1.9163, 1.5784, -0.532, 0.6819, 0.5579, 0.0333]\nstate[eef_state]: left_x=0.2922 left_y=0.001 left_z=0.1916 left_yaw=0.0574 left_pitch=-0.2725 left_roll=0.1079 left_gripper=0.9988 right_x=0.3807 right_y=0.3329 right_z=0.1775 right_yaw=0.0814 right_pitch=-0.0653 right_roll=-0.0561 right_gripper=0.0333\nstate[joint_eff]: [-0.3214, -2.6872, 6.6667, 1.4335, -0.1197, -0.0415, -0.0122, 0.1436, -10.4274, 9.8256, 1.5263, 0.5543, 0.2369, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1177, 1.0195, 0.9337, -0.7738, -0.1802, -0.0715, 0.9988, 0.9291, 1.9759, 1.3426, -0.2317, 0.672, 0.5423, 0.0386]\nstate[eef_state]: left_x=0.2923 left_y=0.0009 left_z=0.191 left_yaw=0.0575 left_pitch=-0.2744 left_roll=0.1082 left_gripper=0.9988 right_x=0.3798 right_y=0.3306 right_z=0.0996 right_yaw=0.0926 right_pitch=-0.0682 right_roll=-0.06 right_gripper=0.0386\nstate[joint_eff]: [-0.1436, -2.3863, 6.694, 1.4139, -0.1538, -0.0757, -0.0122, -0.3624, -9.4564, 6.4342, 1.5409, 0.3101, -0.0073, 0.7399]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1177, 1.0195, 0.9337, -0.7734, -0.1802, -0.0719, 0.9988, 0.9283, 1.9762, 1.3422, -0.2283, 0.6724, 0.5426, 0.6954]\nstate[eef_state]: left_x=0.2924 left_y=0.0009 left_z=0.1911 left_yaw=0.0576 left_pitch=-0.274 left_roll=0.1079 left_gripper=0.9988 right_x=0.3804 right_y=0.3306 right_z=0.0998 right_yaw=0.0915 right_pitch=-0.0662 right_roll=-0.0579 right_gripper=0.6954\nstate[joint_eff]: [-0.0479, -2.5094, 6.6667, 1.4628, -0.1441, -0.0464, -0.0122, 0.0205, -9.9624, 6.3521, 1.4921, 0.3004, -0.0024, -0.0904]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d145f67f8efcbd3fdc6f0060d9fd7bb3543d0f8eefff8fc9e22531135a1ed96",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e635fcf57b17c7fc358a344464b8fdafa67b4f7b415a29b27539c763d222fefa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c221ffc0651c0857a1ff066cb9a39c46050f7434b4a9fc7a52d0d224ab4a8cb0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.33,\"right_z\":0.21,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The released bowl has settled slightly lower and remains on the stack. I’m lifting the open gripper straight clear before moving the arm aside for a final check.\"}",
  "call_id": "call_8hZelBP3mHh2D3IlpnNEYEVx",
  "id": "fc_000d2b526bee51d6016ab4a01227a487d096c543c567c2a304",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8hZelBP3mHh2D3IlpnNEYEVx",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1177, 1.0195, 0.9337, -0.7738, -0.1802, -0.0715, 0.9988, 0.9287, 1.8877, 1.5047, -0.4728, 0.6693, 0.5293, 0.696]\nstate[eef_state]: left_x=0.2923 left_y=0.0009 left_z=0.191 left_yaw=0.0575 left_pitch=-0.2744 left_roll=0.1082 left_gripper=0.9988 right_x=0.3776 right_y=0.3279 right_z=0.1696 right_yaw=0.1016 right_pitch=-0.0641 right_roll=-0.0623 right_gripper=0.696\nstate[joint_eff]: [-0.1026, -2.4957, 6.694, 1.4286, -0.1099, -0.0464, -0.0122, -0.0205, -13.3949, 10.2222, 1.6728, 0.3834, 0.0415, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71943b034d6ed34dc1f68ea2c112cfd17579db91e1945d9ce1aa579a2e3c0f8b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e18cb2f0291e621e1aa3f9ea660779ad58b898e990b126954f239cedd3a89886",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e50e2e36758538ac03c774a763657b759a4bb0e2005c731d4a608a4a9c0496d0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 5.169 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 95 changed as sent

message 103 changed as sent

message 106 changed as sent

message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1177, 1.0195, 0.9337, -0.7734, -0.1799, -0.0715, 0.9988, 0.9291, 1.9629, 1.3827, -0.3099, 0.6781, 0.5495, 0.035]\nstate[eef_state]: left_x=0.2924 left_y=0.0009 left_z=0.1911 left_yaw=0.0571 left_pitch=-0.2741 left_roll=0.1079 left_gripper=0.9988 right_x=0.3788 right_y=0.3278 right_z=0.1106 right_yaw=0.0832 right_pitch=-0.0812 right_roll=-0.0761 right_gripper=0.035\nstate[joint_eff]: [-0.0752, -2.3863, 6.653, 1.453, -0.0659, -0.0708, -0.0122, -0.1162, -10.906, 7.5282, 1.7411, 0.3639, -0.1099, 0.8962]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1177, 1.0195, 0.9337, -0.7734, -0.1802, -0.0719, 0.9988, 0.9283, 1.9762, 1.3422, -0.2283, 0.6724, 0.5426, 0.6954]\nstate[eef_state]: left_x=0.2924 left_y=0.0009 left_z=0.1911 left_yaw=0.0576 left_pitch=-0.274 left_roll=0.1079 left_gripper=0.9988 right_x=0.3804 right_y=0.3306 right_z=0.0998 right_yaw=0.0915 right_pitch=-0.0662 right_roll=-0.0579 right_gripper=0.6954\nstate[joint_eff]: [-0.0479, -2.5094, 6.6667, 1.4628, -0.1441, -0.0464, -0.0122, 0.0205, -9.9624, 6.3521, 1.4921, 0.3004, -0.0024, -0.0904]\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 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1177, 1.0195, 0.9337, -0.7738, -0.1802, -0.0715, 0.9988, 0.9287, 1.8877, 1.5047, -0.4728, 0.6693, 0.5293, 0.696]\nstate[eef_state]: left_x=0.2923 left_y=0.0009 left_z=0.191 left_yaw=0.0575 left_pitch=-0.2744 left_roll=0.1082 left_gripper=0.9988 right_x=0.3776 right_y=0.3279 right_z=0.1696 right_yaw=0.1016 right_pitch=-0.0641 right_roll=-0.0623 right_gripper=0.696\nstate[joint_eff]: [-0.1026, -2.4957, 6.694, 1.4286, -0.1099, -0.0464, -0.0122, -0.0205, -13.3949, 10.2222, 1.6728, 0.3834, 0.0415, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71943b034d6ed34dc1f68ea2c112cfd17579db91e1945d9ce1aa579a2e3c0f8b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e18cb2f0291e621e1aa3f9ea660779ad58b898e990b126954f239cedd3a89886",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e50e2e36758538ac03c774a763657b759a4bb0e2005c731d4a608a4a9c0496d0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "arguments": "{\"targets\":{\"right_x\":0.294,\"right_y\":0,\"right_z\":0.2,\"right_pitch\":0,\"right_roll\":0,\"right_gripper\":1,\"left_x\":0.294,\"left_y\":0,\"left_z\":0.2},\"note\":\"The bowl stayed behind as the gripper rose. I’m returning the right arm home and holding the left arm parked so the completed stack is unobstructed.\"}",
  "call_id": "call_VRjJgGLJRhkbrB2QPXfxzhwp",
  "id": "fc_000d2b526bee51d6016ab4a015aeb087d0bd9c56bdd886069e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VRjJgGLJRhkbrB2QPXfxzhwp",
  "output": [
    {
      "text": "executing move_to over 28 steps (2.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1181, 1.0298, 0.9356, -0.8055, -0.1802, -0.0719, 0.9988, -0.0898, 0.8188, 0.6895, -0.4545, -0.0921, -0.0826, 0.9963]\nstate[eef_state]: left_x=0.2874 left_y=0.0014 left_z=0.1841 left_yaw=0.0594 left_pitch=-0.3138 left_roll=0.1153 left_gripper=0.9988 right_x=0.2963 right_y=-0.0068 right_z=0.1973 right_yaw=0.0346 right_pitch=-0.0095 right_roll=-0.0071 right_gripper=0.9963\nstate[joint_eff]: [-0.3897, -2.3043, 10.3316, 1.4042, -0.149, -0.0611, -0.0122, -0.0479, -1.6889, 7.1179, 1.7851, -0.2027, -0.0171, -0.398]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:152ab6ae68b709fdb0099bceeaa0e723b3d75949e88eef85327b15133dcef8d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5c3d3f485a31ef112b7931593b3723aaa415fd29692ed9160b6359d347eb251",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ea63ea9f528d94eefc2208ff18976363cddb23815e293aac1db128a62b9e1be",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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