adhoc

completed
2026-09-24T03:36:11.113447+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
197.3 s
total steps
262
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 in a row: teal, blue, and pale pink. I’m moving the right gripper toward the pink bowl so I can grasp its rim and nest it in the blue bowl.
move_to
right_x0.4000right_y0.1200right_z0.1800right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.7948, 0.6044, -0.3809, -0.0227, -0.041, 0.9994, -0.02, 0.7933, 0.6014, -0.3794, -0.0154, -0.0334, 0.9966] state[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1798 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9994 right_x=0.2945 right_y=0.0004 right_z=0.1791 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9966 state[joint_eff]: [-0.5538, -1.6068, 10.1538, 1.8095, -0.0659, 0.2466, -0.0708, -0.5675, -1.4291, 10.3179, 1.9414, -0.0855, 0.1978, -0.359] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.4,"right_y":0.12,"right_z":0.18,"right_gripper":1},"note":"I see three upright bowls in a row: teal, blue, and pale pink. I’m moving the right gripper toward the pink bowl so I can grasp its rim and nest it in the blue bowl."})
tool
executing move_to over 10 steps (1.0s)
step 10
top_cam
camera top_cam step 10
left_cam
camera left_cam step 10
right_cam
camera right_cam step 10
assistant
agent noteThe pink bowl is directly below and slightly left of the right wrist camera. I’m lowering toward its right-hand rim, with enough jaw opening to put one finger inside and one outside.
move_to
right_x0.4150right_y0.0850right_z0.0750right_gripper0.7500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.7986, 0.6075, -0.3862, -0.0227, -0.0452, 0.9993, 0.4259, 1.3926, 0.8883, -0.1963, 0.3202, 0.1852, 0.9967] state[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.179 left_yaw=0.0023 left_pitch=-0.0061 left_roll=-0.0034 left_gripper=0.9993 right_x=0.3844 right_y=0.1173 right_z=0.1528 right_yaw=0.0458 right_pitch=-0.0879 right_roll=-0.0402 right_gripper=0.9967 state[joint_eff]: [-0.0205, -1.5385, 6.8171, 1.7607, -0.0806, -0.0024, -0.0171, 0.212, -6.7487, 9.4564, 1.8437, 0.3004, 0.2369, -0.3541] camera 'top_cam' (step 10): [image omitted: streamed camera frame] camera 'left_cam' (step 10): [image omitted: streamed camera frame] camera 'right_cam' (step 10): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.415,"right_y":0.085,"right_z":0.075,"right_gripper":0.75},"note":"The pink bowl is directly below and slightly left of the right wrist camera. I’m lowering toward its right-hand rim, with enough jaw opening to put one finger inside and one outside."})
tool
executing move_to over 6 steps (0.6s)
step 16
top_cam
camera top_cam step 16
left_cam
camera left_cam step 16
right_cam
camera right_cam step 16
assistant
agent noteThe open fingers are straddling the pink bowl’s outer rim, but the fingertips are still high. I’m lowering a few centimetres to engage the rim before closing.
move_to
right_x0.4200right_y0.0750right_z0.0300right_gripper0.7500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8005, 0.6075, -0.3866, -0.0223, -0.049, 0.9993, 0.2893, 1.5944, 0.7399, 0.0959, 0.2245, 0.1032, 0.7524] state[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1784 left_yaw=0.004 left_pitch=-0.0084 left_roll=-0.0067 left_gripper=0.9993 right_x=0.4015 right_y=0.0822 right_z=0.064 right_yaw=0.0307 right_pitch=-0.1653 right_roll=-0.0608 right_gripper=0.7524 state[joint_eff]: [-0.0342, -1.4154, 7.1043, 1.7314, -0.0611, 0.0024, -0.0122, -0.3077, -7.0769, 5.7094, 1.9609, 0.0855, -0.0611, 0.1197] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.42,"right_y":0.075,"right_z":0.03,"right_gripper":0.75},"note":"The open fingers are straddling the pink bowl’s outer rim, but the fingertips are still high. I’m lowering a few centimetres to engage the rim before closing."})
tool
executing move_to over 3 steps (0.3s)
step 19
top_cam
camera top_cam step 19
left_cam
camera left_cam step 19
right_cam
camera right_cam step 19
assistant
agent noteThe fingertips are now down alongside the pink bowl’s wall. I’m closing on the rim, then I’ll check whether the bowl follows a short lift.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.049, 0.9993, 0.2554, 1.7332, 0.7307, 0.2108, 0.1974, 0.0776, 0.7503] state[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=0.0043 left_pitch=-0.0148 left_roll=-0.0064 left_gripper=0.9993 right_x=0.4105 right_y=0.0751 right_z=0.0253 right_yaw=0.0321 right_pitch=-0.203 right_roll=-0.0691 right_gripper=0.7503 state[joint_eff]: [-0.0615, -1.0462, 7.0085, 1.7363, -0.0659, -0.0171, -0.0122, -0.294, -8.8137, 6.106, 1.9121, 0.022, -0.0806, 0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The fingertips are now down alongside the pink bowl’s wall. I’m closing on the rim, then I’ll check whether the bowl follows a short lift."})
tool
executing move_to over 8 steps (0.8s)
step 27
top_cam
camera top_cam step 27
left_cam
camera left_cam step 27
right_cam
camera right_cam step 27
assistant
agent noteThe gripper has stopped at a small but nonempty opening, consistent with holding the bowl wall. I’m lifting about five centimetres to verify the grasp.
move_to
right_x0.4210right_y0.0790right_z0.0950
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3889, -0.0227, -0.0494, 0.9993, 0.2485, 1.7439, 0.7341, 0.2714, 0.1764, 0.0776, 0.0919] state[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1769 left_yaw=0.0045 left_pitch=-0.0145 left_roll=-0.0067 left_gripper=0.9993 right_x=0.4208 right_y=0.0785 right_z=0.0325 right_yaw=0.045 right_pitch=-0.1539 right_roll=-0.0432 right_gripper=0.0919 state[joint_eff]: [-0.0615, -1.3197, 7.0085, 1.707, -0.0708, -0.0562, -0.0122, -0.1299, -7.3504, 5.8598, 1.5165, 0.2173, -0.1148, 0.3687] camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.421,"right_y":0.079,"right_z":0.095},"note":"The gripper has stopped at a small but nonempty opening, consistent with holding the bowl wall. I’m lifting about five centimetres to verify the grasp."})
tool
executing move_to over 5 steps (0.5s)
step 32
top_cam
camera top_cam step 32
left_cam
camera left_cam step 32
right_cam
camera right_cam step 32
assistant
agent noteThe pink bowl is staying with the closed fingers during the lift. I’m raising it clear of the table and moving it over the blue bowl for nesting.
move_to
right_x0.4350right_y0.2200right_z0.2050
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.3893, -0.0227, -0.049, 0.9993, 0.2485, 1.6173, 0.8131, 0.0681, 0.1703, 0.0738, 0.0925] state[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1763 left_yaw=0.0043 left_pitch=-0.0167 left_roll=-0.0063 left_gripper=0.9993 right_x=0.4199 right_y=0.0794 right_z=0.0771 right_yaw=0.0523 right_pitch=-0.1525 right_roll=-0.0415 right_gripper=0.0925 state[joint_eff]: [-0.0205, -1.0872, 7.2274, 1.7314, -0.0904, -0.0513, -0.0122, 0.2393, -7.1863, 8.3487, 1.5263, 0.1001, 0.0024, 0.0464] camera 'top_cam' (step 32): [image omitted: streamed camera frame] camera 'left_cam' (step 32): [image omitted: streamed camera frame] camera 'right_cam' (step 32): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.435,"right_y":0.22,"right_z":0.205},"note":"The pink bowl is staying with the closed fingers during the lift. I’m raising it clear of the table and moving it over the blue bowl for nesting."})
tool
executing move_to over 12 steps (1.2s)
step 44
top_cam
camera top_cam step 44
left_cam
camera left_cam step 44
right_cam
camera right_cam step 44
assistant
agent noteThe pink bowl is still beside the blue bowl, so the first grasp did not hold during transport. I’m returning to its rim for a deeper grip and will maintain the closing command while lifting.
move_to
right_x0.4200right_y0.0780right_z0.0800right_gripper0.7000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8093, 0.6075, -0.3897, -0.0227, -0.0494, 0.9993, 0.6052, 1.7599, 1.4754, -0.5537, 0.3901, 0.2935, 0.0925] state[eef_state]: left_x=0.2949 left_y=0.0018 left_z=0.1754 left_yaw=0.0045 left_pitch=-0.0202 left_roll=-0.0066 left_gripper=0.9993 right_x=0.4291 right_y=0.2195 right_z=0.1867 right_yaw=0.1013 right_pitch=-0.1885 right_roll=-0.061 right_gripper=0.0925 state[joint_eff]: [-0.0615, -1.5385, 7.0085, 1.7216, -0.0464, -0.0562, -0.0122, 0.2803, -9.0462, 9.7299, 1.4872, 0.5104, 0.232, -0.0073] camera 'top_cam' (step 44): [image omitted: streamed camera frame] camera 'left_cam' (step 44): [image omitted: streamed camera frame] camera 'right_cam' (step 44): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.42,"right_y":0.078,"right_z":0.08,"right_gripper":0.7},"note":"The pink bowl is still beside the blue bowl, so the first grasp did not hold during transport. I’m returning to its rim for a deeper grip and will maintain the closing command while lifting."})
tool
executing move_to over 12 steps (1.2s)
step 56
top_cam
camera top_cam step 56
left_cam
camera left_cam step 56
right_cam
camera right_cam step 56
assistant
agent noteThe pink bowl’s side is visible between the open fingers. I’m moving slightly farther along its side and lowering the fingertips to get more wall surface between the jaws.
move_to
right_x0.4400right_y0.0650right_z0.0100right_gripper0.7000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.3897, -0.0227, -0.0494, 0.9993, 0.239, 1.6333, 0.8608, -0.075, 0.157, 0.0422, 0.6973] state[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1747 left_yaw=0.0045 left_pitch=-0.0225 left_roll=-0.0065 left_gripper=0.9993 right_x=0.4096 right_y=0.0751 right_z=0.0643 right_yaw=0.0673 right_pitch=-0.2648 right_roll=-0.0758 right_gripper=0.6973 state[joint_eff]: [-0.0205, -1.5111, 7.0359, 1.6777, -0.0806, -0.0415, -0.0122, -0.1846, -9.0051, 6.694, 1.7021, -0.0269, -0.0415, -0.1099] camera 'top_cam' (step 56): [image omitted: streamed camera frame] camera 'left_cam' (step 56): [image omitted: streamed camera frame] camera 'right_cam' (step 56): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.44,"right_y":0.065,"right_z":0.01,"right_gripper":0.7},"note":"The pink bowl’s side is visible between the open fingers. I’m moving slightly farther along its side and lowering the fingertips to get more wall surface between the jaws."})
tool
executing move_to over 4 steps (0.4s)
step 60
top_cam
camera top_cam step 60
left_cam
camera left_cam step 60
right_cam
camera right_cam step 60
assistant
agent noteThe fingertips have reached table height beside the bowl. I’m closing gently around this deeper section of the wall to test the improved grip.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8139, 0.6075, -0.3904, -0.0227, -0.0494, 0.9993, 0.1925, 1.8404, 0.8528, 0.0895, 0.1169, 0.0051, 0.6996] state[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.174 left_yaw=0.0045 left_pitch=-0.0255 left_roll=-0.0064 left_gripper=0.9993 right_x=0.4237 right_y=0.0652 right_z=0.0031 right_yaw=0.0743 right_pitch=-0.321 right_roll=-0.0769 right_gripper=0.6996 state[joint_eff]: [-0.0342, -1.5385, 7.0359, 1.6923, -0.0855, -0.0757, -0.0122, -0.4171, -7.0222, 6.9812, 1.1306, 0.0708, 0.0317, -0.0464] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The fingertips have reached table height beside the bowl. I’m closing gently around this deeper section of the wall to test the improved grip."})
tool
executing move_to over 7 steps (0.7s)
step 67
top_cam
camera top_cam step 67
left_cam
camera left_cam step 67
right_cam
camera right_cam step 67
assistant
agent noteThe bowl wall is visibly between the closed fingers. I’m lifting it while keeping the gripper commanded closed so the rim does not slip free.
move_to
right_x0.4370right_y0.0730right_z0.1000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8154, 0.6075, -0.3935, -0.0227, -0.0494, 0.9993, 0.1917, 1.8233, 0.8608, 0.1402, 0.0879, 0.0177, 0.1031] state[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1729 left_yaw=0.0045 left_pitch=-0.0301 left_roll=-0.0063 left_gripper=0.9993 right_x=0.4369 right_y=0.0726 right_z=0.0207 right_yaw=0.0942 right_pitch=-0.2475 right_roll=-0.037 right_gripper=0.1031 state[joint_eff]: [-0.0889, -1.5111, 7.1043, 1.7753, -0.0855, -0.0562, -0.0122, 0.1162, -7.1863, 5.2855, 1.0085, 0.3248, -0.2027, 0.4322] approver: 7 step(s) modified (delta_clamped ×7). 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":{"right_x":0.437,"right_y":0.073,"right_z":0.1,"right_gripper":0},"note":"The bowl wall is visibly between the closed fingers. I’m lifting it while keeping the gripper commanded closed so the rim does not slip free."})
tool
executing move_to over 6 steps (0.6s)
step 73
top_cam
camera top_cam step 73
left_cam
camera left_cam step 73
right_cam
camera right_cam step 73
assistant
agent noteThe pink bowl has risen with the gripper this time. I’m lifting to carrying height and leveling the wrist before moving over the blue bowl.
move_to
right_x0.4350right_y0.0750right_z0.2100right_yaw0.0000right_pitch0.0000right_roll0.0000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8165, 0.6075, -0.3939, -0.0227, -0.0494, 0.9993, 0.1932, 1.6913, 0.9791, -0.157, 0.0719, 0.0059, 0.0486] state[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1725 left_yaw=0.0045 left_pitch=-0.0316 left_roll=-0.0063 left_gripper=0.9993 right_x=0.429 right_y=0.0747 right_z=0.0714 right_yaw=0.1151 right_pitch=-0.2956 right_roll=-0.037 right_gripper=0.0486 state[joint_eff]: [0.0068, -1.4701, 7.0085, 1.6825, -0.0806, -0.0757, -0.0122, -0.3897, -10.2085, 9.0872, 1.6825, 0.1978, 0.105, 0.9109] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 73): [image omitted: streamed camera frame] camera 'left_cam' (step 73): [image omitted: streamed camera frame] camera 'right_cam' (step 73): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.435,"right_y":0.075,"right_z":0.21,"right_yaw":0,"right_pitch":0,"right_roll":0,"right_gripper":0},"note":"The pink bowl has risen with the gripper this time. I’m lifting to carrying height and leveling the wrist before moving over the blue bowl."})
tool
executing move_to over 10 steps (1.0s)
step 83
top_cam
camera top_cam step 83
left_cam
camera left_cam step 83
right_cam
camera right_cam step 83
assistant
agent noteThe pink bowl is securely suspended above its original position. I’m moving it leftward over the blue bowl while maintaining height and grip.
move_to
right_x0.4450right_y0.2200right_z0.2100right_yaw0.0000right_pitch0.0000right_roll0.0000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.4023, -0.0227, -0.0494, 0.9993, 0.2417, 1.4773, 1.0351, -0.2558, 0.1753, 0.0803, 0.047] state[eef_state]: left_x=0.2936 left_y=0.0018 left_z=0.1706 left_yaw=0.0046 left_pitch=-0.0408 left_roll=-0.0061 left_gripper=0.9993 right_x=0.4236 right_y=0.0764 right_z=0.1676 right_yaw=0.0387 right_pitch=-0.1144 right_roll=-0.0321 right_gripper=0.047 state[joint_eff]: [-0.1162, -1.4564, 6.9949, 1.7607, -0.0708, -0.0806, -0.0122, 0.253, -8.4855, 10.8786, 1.8779, 0.1832, 0.2613, 1.0281] camera 'top_cam' (step 83): [image omitted: streamed camera frame] camera 'left_cam' (step 83): [image omitted: streamed camera frame] camera 'right_cam' (step 83): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.445,"right_y":0.22,"right_z":0.21,"right_yaw":0,"right_pitch":0,"right_roll":0,"right_gripper":0},"note":"The pink bowl is securely suspended above its original position. I’m moving it leftward over the blue bowl while maintaining height and grip."})
tool
executing move_to over 12 steps (1.2s)
step 95
top_cam
camera top_cam step 95
left_cam
camera left_cam step 95
right_cam
camera right_cam step 95
assistant
agent noteThe suspended pink bowl is slightly to the right of the blue bowl. I’m correcting that offset and lowering it toward the blue bowl’s opening.
move_to
right_x0.4450right_y0.2500right_z0.0950right_yaw0.0000right_pitch0.0000right_roll0.0000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.4076, -0.0227, -0.0494, 0.9993, 0.6216, 1.729, 1.3483, -0.3687, 0.4683, 0.308, 0.0469] state[eef_state]: left_x=0.2929 left_y=0.0018 left_z=0.1695 left_yaw=0.0046 left_pitch=-0.0461 left_roll=-0.0059 left_gripper=0.9993 right_x=0.433 right_y=0.2165 right_z=0.1824 right_yaw=0.0545 right_pitch=-0.0832 right_roll=-0.0525 right_gripper=0.0469 state[joint_eff]: [-0.0889, -1.2923, 7.1863, 1.7265, -0.0708, -0.0611, -0.0122, 0.1026, -9.1282, 10.1128, 1.8535, 0.442, 0.2515, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 95): [image omitted: streamed camera frame] camera 'left_cam' (step 95): [image omitted: streamed camera frame] camera 'right_cam' (step 95): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.445,"right_y":0.25,"right_z":0.095,"right_yaw":0,"right_pitch":0,"right_roll":0,"right_gripper":0},"note":"The suspended pink bowl is slightly to the right of the blue bowl. I’m correcting that offset and lowering it toward the blue bowl’s opening."})
tool
executing move_to over 6 steps (0.6s)
step 101
top_cam
camera top_cam step 101
left_cam
camera left_cam step 101
right_cam
camera right_cam step 101
assistant
agent noteThe pink bowl is now centered above the blue bowl. I’m lowering the last few centimetres so the bowls can settle together before release.
move_to
right_x0.4450right_y0.2550right_z0.0420right_yaw0.0000right_pitch0.0000right_roll0.0000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8185, 0.6075, -0.4076, -0.0227, -0.0494, 0.9993, 0.6853, 1.9244, 1.1881, -0.0624, 0.5285, 0.3698, 0.0468] state[eef_state]: left_x=0.2929 left_y=0.0018 left_z=0.1692 left_yaw=0.0046 left_pitch=-0.0473 left_roll=-0.0059 left_gripper=0.9993 right_x=0.4324 right_y=0.2431 right_z=0.0803 right_yaw=0.036 right_pitch=-0.0975 right_roll=-0.0665 right_gripper=0.0468 state[joint_eff]: [-0.0615, -1.4701, 6.9949, 1.7167, -0.0806, -0.0513, -0.0122, 0.335, -10.2769, 5.9145, 1.8339, 0.5397, 0.2125, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 101): [image omitted: streamed camera frame] camera 'left_cam' (step 101): [image omitted: streamed camera frame] camera 'right_cam' (step 101): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.445,"right_y":0.255,"right_z":0.042,"right_yaw":0,"right_pitch":0,"right_roll":0,"right_gripper":0},"note":"The pink bowl is now centered above the blue bowl. I’m lowering the last few centimetres so the bowls can settle together before release."})
tool
executing move_to over 4 steps (0.4s)
step 105
top_cam
camera top_cam step 105
left_cam
camera left_cam step 105
right_cam
camera right_cam step 105
assistant
agent noteThe descent has met the stack, with the pink bowl supported at the blue bowl’s opening. I’m opening the fingers to let it settle into place.
move_to
right_gripper0.6500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8185, 0.6075, -0.408, -0.0227, -0.0494, 0.9993, 0.6964, 2.0342, 1.1328, 0.1799, 0.5594, 0.3962, 0.0446] state[eef_state]: left_x=0.2929 left_y=0.0018 left_z=0.1692 left_yaw=0.0046 left_pitch=-0.0476 left_roll=-0.0059 left_gripper=0.9993 right_x=0.4431 right_y=0.253 right_z=0.0482 right_yaw=0.0122 right_pitch=-0.0231 right_roll=-0.0142 right_gripper=0.0446 state[joint_eff]: [-0.0889, -1.4017, 7.1863, 1.6777, -0.0415, -0.0855, -0.0122, 0.5812, -8.8547, 4.9573, 1.1355, 0.1294, -0.022, 0.9548] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 105): [image omitted: streamed camera frame] camera 'left_cam' (step 105): [image omitted: streamed camera frame] camera 'right_cam' (step 105): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.65},"note":"The descent has met the stack, with the pink bowl supported at the blue bowl’s opening. I’m opening the fingers to let it settle into place."})
tool
executing move_to over 7 steps (0.7s)
step 112
top_cam
camera top_cam step 112
left_cam
camera left_cam step 112
right_cam
camera right_cam step 112
assistant
agent noteThe pink bowl has been released. I’m lifting the open gripper clear so I can verify the nesting and then handle the remaining teal bowl.
move_to
right_x0.4350right_y0.2400right_z0.1900right_yaw0.0000right_pitch0.0000right_roll0.0000right_gripper0.6500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8185, 0.6075, -0.408, -0.0227, -0.0494, 0.9993, 0.7002, 2.0441, 1.1206, 0.2249, 0.5648, 0.4004, 0.6457] state[eef_state]: left_x=0.2929 left_y=0.0018 left_z=0.1692 left_yaw=0.0046 left_pitch=-0.0476 left_roll=-0.0059 left_gripper=0.9993 right_x=0.444 right_y=0.2552 right_z=0.0468 right_yaw=0.0099 right_pitch=-0.0032 right_roll=0.0011 right_gripper=0.6457 state[joint_eff]: [-0.1573, -1.1966, 7.1726, 1.707, -0.0415, -0.0269, -0.0073, -0.0615, -9.2923, 5.8598, 1.6923, 0.2711, -0.0171, -0.2271] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 112): [image omitted: streamed camera frame] camera 'left_cam' (step 112): [image omitted: streamed camera frame] camera 'right_cam' (step 112): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.435,"right_y":0.24,"right_z":0.19,"right_yaw":0,"right_pitch":0,"right_roll":0,"right_gripper":0.65},"note":"The pink bowl has been released. I’m lifting the open gripper clear so I can verify the nesting and then handle the remaining teal bowl."})
tool
executing move_to over 10 steps (1.0s)
step 122
top_cam
camera top_cam step 122
left_cam
camera left_cam step 122
right_cam
camera right_cam step 122
assistant
agent noteThe pink bowl remains in the center after release. I’m parking the right arm away from the bowls to expose the stack and give the left arm room to work.
move_to
right_x0.2950right_y0.0000right_z0.2000right_yaw0.0000right_pitch0.0000right_roll0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8211, 0.6075, -0.4076, -0.0227, -0.0494, 0.9993, 0.6918, 1.8038, 1.3113, -0.2428, 0.5602, 0.3923, 0.6494] state[eef_state]: left_x=0.2931 left_y=0.0018 left_z=0.1685 left_yaw=0.0046 left_pitch=-0.0499 left_roll=-0.0059 left_gripper=0.9993 right_x=0.4336 right_y=0.242 right_z=0.1586 right_yaw=0.0089 right_pitch=-0.0335 right_roll=-0.0265 right_gripper=0.6494 state[joint_eff]: [-0.0889, -1.4291, 6.9949, 1.746, -0.0757, -0.0659, -0.0122, -0.5538, -12.3966, 10.3179, 1.6825, 0.1978, -0.0317, -0.0464] camera 'top_cam' (step 122): [image omitted: streamed camera frame] camera 'left_cam' (step 122): [image omitted: streamed camera frame] camera 'right_cam' (step 122): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.295,"right_y":0,"right_z":0.20,"right_yaw":0,"right_pitch":0,"right_roll":0,"right_gripper":1},"note":"The pink bowl remains in the center after release. I’m parking the right arm away from the bowls to expose the stack and give the left arm room to work."})
tool
executing move_to over 21 steps (2.1s)
step 143
top_cam
camera top_cam step 143
left_cam
camera left_cam step 143
right_cam
camera right_cam step 143
assistant
agent noteThe pink and blue bowls are together in the center, with the teal bowl remaining on the left. I’m bringing the left gripper over the teal bowl’s left rim for the final pickup.
move_to
left_x0.4250left_y-0.1600left_z0.1500left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper0.7500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8242, 0.6075, -0.4076, -0.0227, -0.0494, 0.9993, 0.0029, 0.8234, 0.6868, -0.4301, 0.0536, 0.0051, 0.9958] state[eef_state]: left_x=0.2932 left_y=0.0018 left_z=0.1677 left_yaw=0.0046 left_pitch=-0.053 left_roll=-0.0058 left_gripper=0.9993 right_x=0.2996 right_y=-0.005 right_z=0.1996 right_yaw=-0.056 right_pitch=0.0054 right_roll=-0.0046 right_gripper=0.9958 state[joint_eff]: [-0.1026, -1.6615, 7.2274, 1.746, -0.0366, -0.0806, -0.0073, -0.1436, -1.5111, 7.1316, 1.7802, -0.1587, 0.0317, -0.4322] camera 'top_cam' (step 143): [image omitted: streamed camera frame] camera 'left_cam' (step 143): [image omitted: streamed camera frame] camera 'right_cam' (step 143): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.425,"left_y":-0.16,"left_z":0.15,"left_yaw":0,"left_pitch":0,"left_roll":0,"left_gripper":0.75},"note":"The pink and blue bowls are together in the center, with the teal bowl remaining on the left. I’m bringing the left gripper over the teal bowl’s left rim for the final pickup."})
tool
executing move_to over 15 steps (1.5s)
step 158
top_cam
camera top_cam step 158
left_cam
camera left_cam step 158
right_cam
camera right_cam step 158
assistant
agent noteThe teal bowl is beneath the wrist, with its left edge visible beside the jaw column. I’m shifting outward to straddle that rim and lowering the fingers alongside the bowl.
move_to
left_x0.4250left_y-0.1100left_z0.0400left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper0.7500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5316, 1.5822, 0.9577, -0.0818, -0.4286, -0.3389, 0.7517, 0.0029, 0.8295, 0.6842, -0.4541, 0.0437, -0.0116, 0.9955] state[eef_state]: left_x=0.4118 left_y=-0.1529 left_z=0.1318 left_yaw=-0.0133 left_pitch=-0.0607 left_roll=0.0224 left_gripper=0.7517 right_x=0.2966 right_y=-0.0033 right_z=0.1917 right_yaw=-0.0386 right_pitch=-0.0278 right_roll=-0.0148 right_gripper=0.9955 state[joint_eff]: [-0.5538, -7.2821, 8.7726, 1.8681, -0.2857, -0.0415, 0.0611, -0.1026, -1.4291, 7.1863, 1.9658, 0.0904, 0.105, -0.0464] camera 'top_cam' (step 158): [image omitted: streamed camera frame] camera 'left_cam' (step 158): [image omitted: streamed camera frame] camera 'right_cam' (step 158): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.425,"left_y":-0.11,"left_z":0.04,"left_yaw":0,"left_pitch":0,"left_roll":0,"left_gripper":0.75},"note":"The teal bowl is beneath the wrist, with its left edge visible beside the jaw column. I’m shifting outward to straddle that rim and lowering the fingers alongside the bowl."})
tool
executing move_to over 6 steps (0.6s)
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 close wrist view shows that the fingers are still too far inside the teal bowl. I’m lifting clear and shifting farther left so the next descent straddles its wall rather than its interior.
move_to
left_x0.4250left_y-0.0550left_z0.1050left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper0.7500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.408, 1.7729, 0.6956, 0.3798, -0.3576, -0.2771, 0.7514, 0.0029, 0.831, 0.6838, -0.4675, 0.0433, -0.0124, 0.9955] state[eef_state]: left_x=0.4138 left_y=-0.1076 left_z=0.0321 left_yaw=0.0195 left_pitch=-0.075 left_roll=0.0272 left_gripper=0.7514 right_x=0.2948 right_y=-0.0032 right_z=0.1884 right_yaw=-0.0379 right_pitch=-0.043 right_roll=-0.0159 right_gripper=0.9955 state[joint_eff]: [0.6085, -6.8444, 4.4786, 1.5897, -0.0562, 0.1587, 0.1197, -0.0068, -1.5248, 6.9812, 1.8584, -0.0317, -0.0611, -0.0171] approver: 1 step(s) modified (delta_clamped). 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":{"left_x":0.425,"left_y":-0.055,"left_z":0.105,"left_yaw":0,"left_pitch":0,"left_roll":0,"left_gripper":0.75},"note":"The close wrist view shows that the fingers are still too far inside the teal bowl. I’m lifting clear and shifting farther left so the next descent straddles its wall rather than its interior."})
tool
executing move_to over 5 steps (0.5s)
step 169
top_cam
camera top_cam step 169
left_cam
camera left_cam step 169
right_cam
camera right_cam step 169
assistant
agent noteThe teal bowl’s left rim is now near the gap between the fingers. I’m lowering with a small outward adjustment to place one finger outside and one inside the bowl.
move_to
left_x0.4250left_y-0.0350left_z0.0120left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper0.7500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2256, 1.5673, 0.6914, 0.2695, -0.2317, -0.1894, 0.7514, 0.0029, 0.8333, 0.683, -0.4709, 0.0433, -0.0128, 0.9955] state[eef_state]: left_x=0.4202 left_y=-0.0512 left_z=0.0885 left_yaw=0.0494 left_pitch=-0.0168 left_roll=-0.0043 left_gripper=0.7514 right_x=0.2943 right_y=-0.0032 right_z=0.1867 right_yaw=-0.0377 right_pitch=-0.0495 right_roll=-0.0165 right_gripper=0.9955 state[joint_eff]: [0.294, -7.8154, 8.841, 1.7167, 0.0317, 0.149, 0.1245, -0.0752, -1.2103, 7.0222, 1.7314, -0.0269, -0.0366, -0.0171] camera 'top_cam' (step 169): [image omitted: streamed camera frame] camera 'left_cam' (step 169): [image omitted: streamed camera frame] camera 'right_cam' (step 169): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.425,"left_y":-0.035,"left_z":0.012,"left_yaw":0,"left_pitch":0,"left_roll":0,"left_gripper":0.75},"note":"The teal bowl’s left rim is now near the gap between the fingers. I’m lowering with a small outward adjustment to place one finger outside and one inside the bowl."})
tool
executing move_to over 5 steps (0.5s)
step 174
top_cam
camera top_cam step 174
left_cam
camera left_cam step 174
right_cam
camera right_cam step 174
assistant
agent noteThe teal bowl’s wall is between the fingers, though the bowl has tilted slightly during insertion. I’m closing on the wall to secure it before lifting.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1486, 1.824, 0.5766, 0.6106, -0.1532, -0.1455, 0.7514, 0.0029, 0.8371, 0.68, -0.4744, 0.0433, -0.0124, 0.9955] state[eef_state]: left_x=0.4176 left_y=-0.0316 left_z=0.009 left_yaw=0.0374 left_pitch=-0.0571 left_roll=-0.0059 left_gripper=0.7514 right_x=0.2937 right_y=-0.0032 right_z=0.1836 right_yaw=-0.0379 right_pitch=-0.0598 right_roll=-0.0166 right_gripper=0.9955 state[joint_eff]: [0.0479, -6.2427, 3.6444, 1.4676, 0.022, 0.3541, 0.1197, 0.0615, -1.7436, 7.2, 1.7167, -0.0464, -0.0366, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 174): [image omitted: streamed camera frame] camera 'left_cam' (step 174): [image omitted: streamed camera frame] camera 'right_cam' (step 174): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The teal bowl’s wall is between the fingers, though the bowl has tilted slightly during insertion. I’m closing on the wall to secure it before lifting."})
tool
executing move_to over 8 steps (0.8s)
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 jaws have closed almost fully on the thin teal rim. I’m making a short lift while maintaining closure to determine whether the bowl is actually held.
move_to
left_x0.4380left_y-0.0380left_z0.1050left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.144, 1.8397, 0.5728, 0.786, -0.123, -0.1406, 0.0377, 0.0029, 0.8371, 0.6785, -0.4747, 0.0433, -0.0124, 0.9955] state[eef_state]: left_x=0.4375 left_y=-0.0379 left_z=0.0374 left_yaw=0.0145 left_pitch=0.0939 left_roll=-0.0441 left_gripper=0.0377 right_x=0.2935 right_y=-0.0032 right_z=0.1828 right_yaw=-0.0379 right_pitch=-0.0617 right_roll=-0.0166 right_gripper=0.9955 state[joint_eff]: [0.0068, -5.7094, 3.9179, 1.0232, -0.149, 0.3053, 1.3797, 0.0342, -1.4564, 7.2, 1.6825, -0.0415, -0.022, -0.022] 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":{"left_x":0.438,"left_y":-0.038,"left_z":0.105,"left_yaw":0,"left_pitch":0,"left_roll":0,"left_gripper":0},"note":"The jaws have closed almost fully on the thin teal rim. I’m making a short lift while maintaining closure to determine whether the bowl is actually held."})
tool
executing move_to over 5 steps (0.5s)
step 187
top_cam
camera top_cam step 187
left_cam
camera left_cam step 187
right_cam
camera right_cam step 187
assistant
agent noteThe teal bowl follows the lift, but it is tilted in the rim grasp. I’m raising it clear and rotating the wrist to bring the bowl closer to level before placing it on the stack.
move_to
left_x0.4350left_y-0.0600left_z0.2050left_yaw0.0000left_pitch0.0000left_roll-0.5000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.144, 1.6447, 0.7109, 0.4873, -0.1299, -0.1341, 0.0422, 0.0029, 0.8379, 0.6785, -0.4747, 0.0433, -0.0124, 0.9955] state[eef_state]: left_x=0.4539 left_y=-0.0391 left_z=0.1083 left_yaw=0.0173 left_pitch=0.1284 left_roll=-0.0407 left_gripper=0.0422 right_x=0.2936 right_y=-0.0032 right_z=0.1826 right_yaw=-0.038 right_pitch=-0.0625 right_roll=-0.0167 right_gripper=0.9955 state[joint_eff]: [-0.3077, -7.5556, 7.1453, 1.6728, -0.0562, 0.2271, 1.033, -0.1573, -1.4154, 7.0359, 1.6679, -0.0562, -0.0317, -0.022] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 187): [image omitted: streamed camera frame] camera 'left_cam' (step 187): [image omitted: streamed camera frame] camera 'right_cam' (step 187): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.435,"left_y":-0.06,"left_z":0.205,"left_yaw":0,"left_pitch":0,"left_roll":-0.5,"left_gripper":0},"note":"The teal bowl follows the lift, but it is tilted in the rim grasp. I’m raising it clear and rotating the wrist to bring the bowl closer to level before placing it on the stack."})
tool
executing move_to over 7 steps (0.7s)
step 194
top_cam
camera top_cam step 194
left_cam
camera left_cam step 194
assistant
agent noteThe teal bowl is clear of the table. I’m moving it over the center stack and matching the wrist orientation used for the pink bowl.
move_to
left_x0.4450left_y-0.2850left_z0.2050left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0708, 1.438, 0.9302, -0.0151, 0.1349, -0.4381, 0.0422, 0.0029, 0.8379, 0.6765, -0.4747, 0.0433, -0.0124, 0.9955] state[eef_state]: left_x=0.4383 left_y=-0.0513 left_z=0.1848 left_yaw=0.024 left_pitch=0.0014 left_roll=-0.4205 left_gripper=0.0422 right_x=0.2933 right_y=-0.0032 right_z=0.1818 right_yaw=-0.038 right_pitch=-0.0644 right_roll=-0.0168 right_gripper=0.9955 state[joint_eff]: [0.335, -7.8427, 9.347, 1.8828, 0.1441, 0.0464, 1.033, -0.1162, -1.3744, 7.1726, 1.7167, -0.0611, -0.0611, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 194): [image omitted: streamed camera frame] camera 'left_cam' (step 194): [image omitted: streamed camera frame] camera 'right_cam' (step 194): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.445,"left_y":-0.285,"left_z":0.205,"left_yaw":0,"left_pitch":0,"left_roll":0,"left_gripper":0},"note":"The teal bowl is clear of the table. I’m moving it over the center stack and matching the wrist orientation used for the pink bowl."})
tool
executing move_to over 21 steps (2.1s)
step 215
assistant
agent noteThe teal bowl is slightly right of the pink bowl beneath it. I’m correcting leftward and lowering to just above the stack to check the final alignment.
move_to
left_x0.4450left_y-0.2450left_z0.1150left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.765, 1.8954, 1.5631, -0.4232, -0.598, -0.5251, 0.0422, 0.0029, 0.8379, 0.6731, -0.4751, 0.0433, -0.0124, 0.9955] state[eef_state]: left_x=0.4412 left_y=-0.2808 left_z=0.191 left_yaw=-0.0142 left_pitch=-0.0313 left_roll=-0.0094 left_gripper=0.0422 right_x=0.2928 right_y=-0.0032 right_z=0.1801 right_yaw=-0.038 right_pitch=-0.0682 right_roll=-0.0169 right_gripper=0.9955 state[joint_eff]: [-0.335, -10.4821, 9.2103, 1.5116, -0.2857, 0.022, 1.033, 0.0068, -1.4154, 7.2821, 1.6532, -0.0171, -0.0415, -0.0171] camera 'top_cam' (step 215): [image omitted: streamed camera frame] camera 'left_cam' (step 215): [image omitted: streamed camera frame] camera 'right_cam' (step 215): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.445,"left_y":-0.245,"left_z":0.115,"left_yaw":0,"left_pitch":0,"left_roll":0,"left_gripper":0},"note":"The teal bowl is slightly right of the pink bowl beneath it. I’m correcting leftward and lowering to just above the stack to check the final alignment."})
tool
executing move_to over 5 steps (0.5s)
step 220
assistant
agent noteThe teal bowl is now aligned over the pink bowl. I’m lowering slowly until it is supported by the stack.
move_to
left_x0.4450left_y-0.2400left_z0.0600left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7044, 1.8915, 1.2263, -0.1452, -0.5781, -0.4839, 0.0419, 0.0029, 0.8417, 0.6727, -0.4751, 0.0433, -0.0124, 0.9955] state[eef_state]: left_x=0.4331 left_y=-0.2367 left_z=0.1007 left_yaw=0.0116 left_pitch=-0.0822 left_roll=0.0504 left_gripper=0.0419 right_x=0.293 right_y=-0.0032 right_z=0.1789 right_yaw=-0.038 right_pitch=-0.0724 right_roll=-0.0171 right_gripper=0.9955 state[joint_eff]: [0.1983, -9.8256, 7.1043, 1.8632, -0.3101, 0.0757, 1.0281, 0.0205, -1.6615, 7.2274, 1.6435, -0.0171, -0.0464, -0.0171] camera 'top_cam' (step 220): [image omitted: streamed camera frame] camera 'left_cam' (step 220): [image omitted: streamed camera frame] camera 'right_cam' (step 220): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.445,"left_y":-0.24,"left_z":0.06,"left_yaw":0,"left_pitch":0,"left_roll":0,"left_gripper":0},"note":"The teal bowl is now aligned over the pink bowl. I’m lowering slowly until it is supported by the stack."})
tool
executing move_to over 3 steps (0.3s)
step 223
assistant
agent noteThe teal bowl has contacted the bowls below and is supported above them. I’m opening the gripper so it can settle into the stack.
move_to
left_gripper0.7000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6994, 1.9598, 1.1198, 0.0967, -0.5743, -0.4686, 0.0414, 0.0029, 0.8421, 0.6727, -0.4747, 0.0433, -0.0124, 0.9955] state[eef_state]: left_x=0.4384 left_y=-0.2388 left_z=0.0662 left_yaw=0.0029 left_pitch=-0.0334 left_roll=0.017 left_gripper=0.0414 right_x=0.2931 right_y=-0.0032 right_z=0.1789 right_yaw=-0.038 right_pitch=-0.0724 right_roll=-0.0171 right_gripper=0.9955 state[joint_eff]: [0.6496, -9.5795, 6.3658, 1.6532, -0.1832, 0.1734, 0.9988, -0.1162, -1.4838, 7.0906, 1.6337, -0.0562, -0.0415, -0.022] camera 'top_cam' (step 223): [image omitted: streamed camera frame] camera 'left_cam' (step 223): [image omitted: streamed camera frame] camera 'right_cam' (step 223): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.7},"note":"The teal bowl has contacted the bowls below and is supported above them. I’m opening the gripper so it can settle into the stack."})
tool
executing move_to over 7 steps (0.7s)
step 230
assistant
agent noteThe teal bowl has been released onto the stack. I’m lifting straight clear before moving the arm aside to verify that all three bowls remain together.
move_to
left_x0.4350left_y-0.2350left_z0.2000left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper0.7000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6975, 1.9778, 1.1065, 0.1898, -0.5732, -0.4686, 0.6954, 0.0029, 0.8436, 0.6727, -0.4747, 0.0437, -0.0124, 0.9955] state[eef_state]: left_x=0.4455 left_y=-0.2437 left_z=0.0681 left_yaw=0.0036 left_pitch=0.0133 left_roll=-0.0235 left_gripper=0.6954 right_x=0.2932 right_y=-0.0033 right_z=0.1785 right_yaw=-0.0383 right_pitch=-0.0739 right_roll=-0.0174 right_gripper=0.9955 state[joint_eff]: [0.4034, -9.1829, 5.5863, 1.5653, -0.2466, 0.0904, -0.1587, -0.0068, -1.6068, 6.9812, 1.6484, -0.0024, -0.0415, -0.022] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 230): [image omitted: streamed camera frame] camera 'left_cam' (step 230): [image omitted: streamed camera frame] camera 'right_cam' (step 230): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.435,"left_y":-0.235,"left_z":0.2,"left_yaw":0,"left_pitch":0,"left_roll":0,"left_gripper":0.7},"note":"The teal bowl has been released onto the stack. I’m lifting straight clear before moving the arm aside to verify that all three bowls remain together."})
tool
executing move_to over 9 steps (0.9s)
step 239
assistant
agent noteThe released teal bowl remains at the center with the others. I’m returning the left arm home and refreshing the right arm’s parked pose so the finished stack is fully visible.
move_to
left_x0.2950left_y0.0000left_z0.2000left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000right_x0.2950right_y0.0000right_z0.2000right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6983, 1.7699, 1.3491, -0.2523, -0.5766, -0.4694, 0.6993, 0.0029, 0.8444, 0.6727, -0.4747, 0.0433, -0.0128, 0.9955] state[eef_state]: left_x=0.4403 left_y=-0.2392 left_z=0.1896 left_yaw=0.006 left_pitch=0.0211 left_roll=-0.0279 left_gripper=0.6993 right_x=0.2933 right_y=-0.0032 right_z=0.1783 right_yaw=-0.0378 right_pitch=-0.0747 right_roll=-0.0175 right_gripper=0.9955 state[joint_eff]: [-0.2667, -10.9197, 9.0462, 1.6874, -0.2662, 0.0708, -0.0904, 0.0068, -1.5795, 6.9402, 1.6435, -0.0366, -0.0757, -0.0171] camera 'top_cam' (step 239): [image omitted: streamed camera frame] camera 'left_cam' (step 239): [image omitted: streamed camera frame] camera 'right_cam' (step 239): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.295,"left_y":0,"left_z":0.2,"left_yaw":0,"left_pitch":0,"left_roll":0,"left_gripper":1,"right_x":0.295,"right_y":0,"right_z":0.2,"right_yaw":0,"right_pitch":0,"right_roll":0},"note":"The released teal bowl remains at the center with the others. I’m returning the left arm home and refreshing the right arm’s parked pose so the finished stack is fully visible."})
tool
executing move_to over 22 steps (2.2s)
step 261
assistant
agent noteStacked all three bowls together at the center of the table and moved both arms clear.
done
hindsightGrasp these bowls by a side rim with one finger inside and one outside; the thin walls produced settled gripper readings around 0.04–0.05, so confirm pickup visually. Explicitly keep the gripper commanded to 0 during every carrying move: the first pickup slipped when closure was not maintained. Also repeat the intended wrist orientation during transport rather than preserving accumulated tracking error.
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0589, 0.8246, 0.6949, -0.4324, -0.0994, -0.102, 0.9985, -0.0193, 0.815, 0.6727, -0.474, -0.0097, -0.0319, 0.9955] state[eef_state]: left_x=0.3004 left_y=0.0034 left_z=0.2028 left_yaw=0.0582 left_pitch=0.0121 left_roll=-0.0111 left_gripper=0.9985 right_x=0.2915 right_y=-0.0003 right_z=0.1863 right_yaw=-0.0049 right_pitch=-0.0451 right_roll=-0.0012 right_gripper=0.9955 state[joint_eff]: [0.253, -1.6615, 6.6803, 1.8339, 0.1099, 0.1294, -0.0757, -0.5538, -2.0991, 8.1983, 1.8974, -0.1148, -0.0904, -0.022] camera 'top_cam' (step 261): [image omitted: streamed camera frame] camera 'left_cam' (step 261): [image omitted: streamed camera frame] camera 'right_cam' (step 261): [image omitted: streamed camera frame]
assistant
done({"summary":"Stacked all three bowls together at the center of the table and moved both arms clear.","hindsight":"Grasp these bowls by a side rim with one finger inside and one outside; the thin walls produced settled gripper readings around 0.04–0.05, so confirm pickup visually. Explicitly keep the gripper commanded to 0 during every carrying move: the first pickup slipped when closure was not maintained. Also repeat the intended wrist orientation during transport rather than preserving accumulated tracking error."})
tool
done: Stacked all three bowls together at the center of the table and moved both arms clear.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 8.197 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Stack the bowls on the table.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7948, 0.6044, -0.3809, -0.0227, -0.041, 0.9994, -0.02, 0.7933, 0.6014, -0.3794, -0.0154, -0.0334, 0.9966]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1798 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9994 right_x=0.2945 right_y=0.0004 right_z=0.1791 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9966\nstate[joint_eff]: [-0.5538, -1.6068, 10.1538, 1.8095, -0.0659, 0.2466, -0.0708, -0.5675, -1.4291, 10.3179, 1.9414, -0.0855, 0.1978, -0.359]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dff7fdfa81c0d8b0b0fe6afb659c7084230407802782fed9098807c64678d4ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a709476b86b6de29a1e853403f6dc08de90164c7be0190273a6cc78f549a0cbc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba11e72a37cd36ee1e4a30db0b27d950edbf1ef34ee87879f2d1fc18505a4b15",
      "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 · 5.635 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtJrAnT5t5RikDAYyMYXUSElmZBoUyTS3wf99hgdzt4sNAmtW8i5jTOYdrSxYxB2rnii09jnawopa-ZFhBrVrc_VzUURAdFsN9uJpzpJAhEqUbL0mkzeYCSiuywFf0I4-M67J4uQKUZl8zHmS_cX0AVRbZvcDz09_sMkcpE0fdSYNy7I7ELzdLgguWkcG86q8UpypxnFfVViLd1-yw52xFNGE1ieea3ZRJev9yZyBlaLqhtptrx0j0ypBVlzRdlrAZvzv0h5OM91hB1W9bzxbGtvu5_fLANRA5Xlv-iv5VyMJ-KncaiEIoTObybQqu2KJIxeIu7htg7K9pPUGW3lLUcT20ZqbqlAfgEA0Kb39PEIyDaYtPH3wYWzDP7IAzBwbBI7Q9W4j3N0-xbLMn8t1eJtWI4QKRNGF2VoDhyoaTXl9_v8TojQNkU2FyeOZ6F4if_D0bgJju5mxo8VpU2LitclW-5c6pOL_Nd7QMbtFFn_-7ROII5k5x4VgQl7rZVRcx02DtV6YlXvmSXAz6kXGYd8YBrJ2etS9MrjNEMpRrGE1YpPWkHV5sGEWfH0MGoVFNZgXpKvPjMtH0tFvlbZtvRwtv1kHqsnObzOfIsdBz4-f-WI8kczv21iMxlAplPYS4DTX6f_8RPs6aLgMS_7uk2F1X_QX7vbRDLDNYvNLoNMLvriUZ2_H2ej1UXpt5yJvblV1JlO8ilmqr7w4Y_v2rIpMcPNW_QPYBEzbTVVZ0JnOtFGCBL7sE0cbi3KcphaySkD0hinR8-5iWuWsTcKCDvdZYWtxvz_RQjwCiYYqmvlBjPQB30Q8EL-e0RH22EZ5yf4god72Cix9C5Fm_lhKgJ7adgVmymxzyjnmR-vBo2LrlG6GhQkhRK4IlyP1ccv_1EA5kjkxC_k2lyHTR46emUUJSazYdkTHbEssi-BEvpt9NZmO4edvHOtf0k1p9cgyWYFoHEWt5n-7p7xFQABjfQ10qGSJpO0fVbDsvkSspmHJ_G9h9igHQG2OQ7aj8CRgskFXlDTxFFXJTR28NroaczNIVyjQlrrXGIjxWx8pvcp-8OxCopGsfTK9JWEacDRU53Y8zwCkN_gGu_YLrGWFOcs0q5Gtkyd0KziEMkyA0oY2eL7NOdB0wd1IPwHp_KH9Cxv0U2JhDWb1e3cNGleYRaRdRl74YAEDa_kVDpIbgLCLx0tmVQolKFpOo888jW2x_xyz-iecGkqejobmFhl6Kf_6QQtxOPssFzV0_oAP3jKfFomWO8dumiBnc9fnvcQId0hq7MeAZosP5z0gdcbxUMvone9cMTM2G0PYSfqprNvErMGCre5EAri2-u0fMHq-W2zp0uPpF2Qp2LZu5QLdjUUTV0bbokMgOezqMYaVOiyTnNrt2GWKRIOZJejOst_ujx8z2JtcKoc39Ur2E4unc2KQHo4PAQYVjDHFS12Fe5qsl2OraFkC3_x_7JfEgZHhLTE_QhKNz4D5ivLl8lv5uawRmlFZEms06iyMST0iEDARvmqxnr58i_xCkSRcgdsauXnF08CkehbZO_RVEgGqb34F4CJza9T51Ma_bykg49IYLWU4Kyc4m6XD36jgl_OgxkA5VcBcg8VNmSmw-cEKCVwQk0rTFl_RajbIzNyJwVS85hG0LlYOXpBquJzcRWAJPahDyZ75JxXqf_JdhbhsJh0QDkgqbAlB_8WA89xQHtvDLSYG30dctTNbV_mnJAC5UfS4A73R7aHM1YlKyAc99uhZsDzkutGfLWiAekJ8Ad38g5RH4lMypU6z33GwVh9mDlvdm_0f6qvDnLiwQ4OhTTrjdBSl3KLR76UaLWrx0b2oKNQnhuMO7P21bbQaTovSpjDAUCN_y4aN-Pfs7W6i-J03k5vOxmWQLFETpK6PHle_SGL7nc28iuql56uM66BNfRhCZWx0-39nMkuUWWxLP5uaCFmIcq0hvqR0Hl4n5zXPsALAWyVbGFp-lM0qfrGk9wqGqCjtJjh-qcjWf4nsyDjvIm-PO-d554RmktM8sLQHZUespNPLpSCiKzI8i6J03QQ23T9K7CMXUOEufHJFKHq1d9DOVDNSomNdIKVo_VYTzFuovzSurmmmzeLJesORLugMgnZj18cyRKppqy4lMl7oqmfQLjf1i_AbHFVpA7UQHCld2SQ9T4H3wsR27VIg-5yRtl4lCCiyo-04EU_MmrQRMVnabMM_1QEl84hvbgnVrXJKopfqEYXA6ZQFdaU1887rQY3axYSh75c7dw4H0LhliZvwWqZZkXEkud7O_pDGjtBKEVDoYNxINxnjqbbFhVz-IR8LBPTOIxyKb5LEDOivcyjD7yoWJXNvGq2nvgVKYN06fjqbpO42mav0LukOoVuLoygSx6MvawqZMVcz02vhF-k3WElW3lxmTbjweWNPfarccBAowzxzwRhSpj5D69vNQ0IHnIN8-h-h1twdrkRmlNzOwvoGgShWqdOIm-z41CZ3cLqmeVg8wRyYSji10oTgY5BzLxDvKqSfne7la0TUxcvhKJ631dnT0TunhU1TpLZjMmAg28C6bmMvooTC3aZGMKhvcEsZJsYJAlewxI1VkMm6TgDhIdatBCOHx3Slw5KDJcpLLiD99eTXrusdLxKx2gThMSjIlGvpg0Ru1aKDSx0DMTxwxTstQuJ_ZsojtvRzcqOnmOLNi3t_J_yjogBtOjqD019byp3YmEAQzWzcunarcc6Z0XwIPT8PJpj_8gppkVMn-wLYT6oSrEYxUphawwvvWzjrUvYgEFqCcsKaXoTQYrZYOJ6t-GuzBxTs5S7yWJ58Q_bBTkB6rPhX6XBs4_0_QrM6_uX-IRrlr3CwZZ34ZdfS-CMiUrt4VZCa1HSs-lcquKaTecs7mVyiOIZQDm8mGxzJMftD8HLPon2ycnjGO0bGAEY9cfQ8RgBRGueN1cm6miCZ0k_HvDDxwuM_KIjyH04sm0TCFrFaeh_5DQ==",
  "id": "rs_07ef7fef379d19ee016ab49ab90ed087d0bb26831d488d26ef",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.12,\"right_z\":0.18,\"right_gripper\":1},\"note\":\"I see three upright bowls in a row: teal, blue, and pale pink. I’m moving the right gripper toward the pink bowl so I can grasp its rim and nest it in the blue bowl.\"}",
  "call_id": "call_zogHN8pCEOdiOz6XKyDsXtbr",
  "id": "fc_07ef7fef379d19ee016ab49abec22487d089da50b857d41650",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zogHN8pCEOdiOz6XKyDsXtbr",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7986, 0.6075, -0.3862, -0.0227, -0.0452, 0.9993, 0.4259, 1.3926, 0.8883, -0.1963, 0.3202, 0.1852, 0.9967]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.179 left_yaw=0.0023 left_pitch=-0.0061 left_roll=-0.0034 left_gripper=0.9993 right_x=0.3844 right_y=0.1173 right_z=0.1528 right_yaw=0.0458 right_pitch=-0.0879 right_roll=-0.0402 right_gripper=0.9967\nstate[joint_eff]: [-0.0205, -1.5385, 6.8171, 1.7607, -0.0806, -0.0024, -0.0171, 0.212, -6.7487, 9.4564, 1.8437, 0.3004, 0.2369, -0.3541]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3393521793a29f0d7c136ba0ddba6b1be5e433b3731695b4e30be197542e250d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb633d4a37ec80d78ed4c134693742dc941d8137873a43878fef65b0298d15c8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f73c735592932f826ef96d9e5dec555d9a2fdad86ac93cf799b3745c4c587e0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 5.362 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 6 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7948, 0.6044, -0.3809, -0.0227, -0.041, 0.9994, -0.02, 0.7933, 0.6014, -0.3794, -0.0154, -0.0334, 0.9966]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1798 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9994 right_x=0.2945 right_y=0.0004 right_z=0.1791 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9966\nstate[joint_eff]: [-0.5538, -1.6068, 10.1538, 1.8095, -0.0659, 0.2466, -0.0708, -0.5675, -1.4291, 10.3179, 1.9414, -0.0855, 0.1978, -0.359]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7986, 0.6075, -0.3862, -0.0227, -0.0452, 0.9993, 0.4259, 1.3926, 0.8883, -0.1963, 0.3202, 0.1852, 0.9967]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.179 left_yaw=0.0023 left_pitch=-0.0061 left_roll=-0.0034 left_gripper=0.9993 right_x=0.3844 right_y=0.1173 right_z=0.1528 right_yaw=0.0458 right_pitch=-0.0879 right_roll=-0.0402 right_gripper=0.9967\nstate[joint_eff]: [-0.0205, -1.5385, 6.8171, 1.7607, -0.0806, -0.0024, -0.0171, 0.212, -6.7487, 9.4564, 1.8437, 0.3004, 0.2369, -0.3541]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3393521793a29f0d7c136ba0ddba6b1be5e433b3731695b4e30be197542e250d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb633d4a37ec80d78ed4c134693742dc941d8137873a43878fef65b0298d15c8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f73c735592932f826ef96d9e5dec555d9a2fdad86ac93cf799b3745c4c587e0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJrGTJqu_WegynJrnIjcdM_pawTaK14LidybBe1GGfAWvPgohGFiuUuaq52RZfkZoruEoY0NuwSBxKRTMmVKOYvoPsn-LmPzmFWdVJk4fLz4o8avRw-xmY8icGdGP-WoAgc30VCMpvqZTw5j97Lu9HTGTzhmY3ccNNa9Mxtj0-LKp1heSyD_H1vJrJcsQdWEGjp-qbu--lf1N6rL3qcYLAg3vF1qhMJv34Ax0XCBEhWUcp9lS-5-Xdlob65jsugl1s-vZEVQTgU_1X_GYf4a0F7ebFrjwbrF1LN6183ay_o7vdFTDeeoEi6r726_r2nK42atYuHFf1FB2JhmqaTCEwwE_7ACHYiZ_d5QN_XHDqT_07lb4oTyJwwlpDRtkHsaZA7w__BsVdReY_AaIJnClF-80WDn_5EGNBBsIRhWUg3_cCdwllGmPbKgRYWHobANaPdypejUEFSLRY81SXUVmZFKDpMxQ0yjHhzsI8Qh43TybAi1StM3FpLkRplI-4FNE_IMSiBpYGDqep9rz2toPl3hF997a8eNWrNuqKNnvnJq5aPq2UKUX1hxVWf_lS9nc1DTE7tKLHLzZbe9_f6GpjHluGoQPYqDhdjpGXbo-dpPxmn-HshfPLhyXpg7QnlVCot2wjS6LUaZv4e5wZbym3nqKNxhST-PtaWgVvk8O16NC6n6dJS5l0vMD5g0Ngf-3IrOv7u7oW2SWMpEdB2o0s3fEYUGoM2HCOIg9Im7Kj5zD31BB7zNQkw7v_mSNSnd2lJDNB2Ksi9hBEr9oziw80bnugLL9Y_v3XhQtTXzmMqcwzAjAO--9ilJJr7DOGV2uAs7ptDnL4MlvO2XyI5z-mY6dBwFhqaTyVFu4Bhs2MZsJ3yH-Lwyi8OnpkA5mIhmxZusreRQBQI4aqBuv-RenFzrbdcSebe-IAwax6AG6TUJNzZJsrCzKB202DM6S85vLl6dRbA46iqU6Cmz0TjjshORCMHK6t6oYlG9P7hGxAigogRzM-RR-lUkyASCL7uhu7BOjRAFOMpqH-H21B34AstS-LZ7ezLMXdvqqiV4x5_rVtk70Eu_886KyPLSXfPD3XysrTLGKsibR4WIEIsPhVuE22Z_53z7Vy0uETGg51LvT-H6J7kv-Z_YYw7lDtThZdoM2_gibso32M6exhk3IKFfHjbe8SrDWgV9o4PQZRxGPZK_fOKY_3_XogTAsOImPjMJeNAm1uHz_xJHJQIsGDBF-wJj1fPKboIiarbKRsc3NcyD8gho4QJ65-bXI2ZsUsyPNwh8GB-pgmjIUefgpznzJQrgd5Y_Ezz6CaIJe8AgbtaSzhWD5KmVsadiHz7ZfSFjSZJYYFxFhT2kw6MfPHr4vTCzqzr2rvi8H1AIQ5sndvKUWOQFXeIk2AZuc_NdR9rloctCIcgqb5H9xAjSnC75RPR4u229VpJTtl3dASgiNCb8NEl0NudmDz_ZFGg-AH0op1PIW9BDLD9AUSL0OdgBok_P8xz9kuvPjBdiSvjdg4KGcaYC7piX4A2Cc_dA1Gsq30TCu5k0kQ6QT6UnjjFK9DhX2-ZVos1iq1Dz59QChSd3wcpaZ9HFksEZByDE4fFSdO83CPSDMGDrTuGm2CSsoeRgUo_xYT_6FwbnQ89mcfMq_ZZw7tsLEf_KVG2JXNwmzhs_TUpBjKQygEN9ovaI6RkBg0DFosN2rPwMSQPTbu5dKqqa_XRw7gHJxX0IuyPqfICGApJzZIgncOLgFRFoitBjHpvraTigPGKT1D5kb4S4sD-86TcuaHaKFlIwO4OfUGaru43tQiUJQ6bs66qQbClizzIRCG2kDKTW88u18M3a83nLvE6hURWRDFh0Ic_VpmZ5GhsybgvG_MDz4Nb9hpbwNCCPS8MVkbzLnxlKH3dhKeU_hiYQj64xvZCYdW5UyYfLZoRVgIqCzcnoJGgn-VFR6SEtXYa5FL3PCbjfomUUsQngWR1apgJxxoaEHnbG1VPWRlfnd6UBoF54qMzUynT-jPl21iQQS-dAZPqbWAcbBGqFMFJk5-9dvtAva5O9WxMvtJYdyYUo-RtPkVo20F5fxYU3hYjuNky6xSaLPCX8Y3Tt1Ir5qbjB9VoErBAd768iJzwmZ_BqeQk_bzLpXRl1F95lreNRm0uoFwxs3FwBF3FezZx8QKQMBKKpmDtK0-Mwb5eVmY_yImU8jw6edg==",
  "id": "rs_07ef7fef379d19ee016ab49ac24c5887d099ce91f75f2448bc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.415,\"right_y\":0.085,\"right_z\":0.075,\"right_gripper\":0.75},\"note\":\"The pink bowl is directly below and slightly left of the right wrist camera. I’m lowering toward its right-hand rim, with enough jaw opening to put one finger inside and one outside.\"}",
  "call_id": "call_DDahEx6vcjSfxE99HtOL1iC7",
  "id": "fc_07ef7fef379d19ee016ab49ac557f487d096265baa4d41305e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DDahEx6vcjSfxE99HtOL1iC7",
  "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]: [-0.0196, 0.8005, 0.6075, -0.3866, -0.0223, -0.049, 0.9993, 0.2893, 1.5944, 0.7399, 0.0959, 0.2245, 0.1032, 0.7524]\nstate[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1784 left_yaw=0.004 left_pitch=-0.0084 left_roll=-0.0067 left_gripper=0.9993 right_x=0.4015 right_y=0.0822 right_z=0.064 right_yaw=0.0307 right_pitch=-0.1653 right_roll=-0.0608 right_gripper=0.7524\nstate[joint_eff]: [-0.0342, -1.4154, 7.1043, 1.7314, -0.0611, 0.0024, -0.0122, -0.3077, -7.0769, 5.7094, 1.9609, 0.0855, -0.0611, 0.1197]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2601e6808ff7c80ae420f83762bf26d4eae39088b62b3e555a510b2426c64e2f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f926fb21ad314690cfb272276708e84855d4d6dee56ee2a93c1d3d9e9fa389b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60dad80d660aa515cc342c3788f6ae80ff4f8941a76dda1bc1a59a73aa6adacd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 3 attempt 0 · /responses · status 200 · 2.212 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 10 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7986, 0.6075, -0.3862, -0.0227, -0.0452, 0.9993, 0.4259, 1.3926, 0.8883, -0.1963, 0.3202, 0.1852, 0.9967]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.179 left_yaw=0.0023 left_pitch=-0.0061 left_roll=-0.0034 left_gripper=0.9993 right_x=0.3844 right_y=0.1173 right_z=0.1528 right_yaw=0.0458 right_pitch=-0.0879 right_roll=-0.0402 right_gripper=0.9967\nstate[joint_eff]: [-0.0205, -1.5385, 6.8171, 1.7607, -0.0806, -0.0024, -0.0171, 0.212, -6.7487, 9.4564, 1.8437, 0.3004, 0.2369, -0.3541]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8005, 0.6075, -0.3866, -0.0223, -0.049, 0.9993, 0.2893, 1.5944, 0.7399, 0.0959, 0.2245, 0.1032, 0.7524]\nstate[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1784 left_yaw=0.004 left_pitch=-0.0084 left_roll=-0.0067 left_gripper=0.9993 right_x=0.4015 right_y=0.0822 right_z=0.064 right_yaw=0.0307 right_pitch=-0.1653 right_roll=-0.0608 right_gripper=0.7524\nstate[joint_eff]: [-0.0342, -1.4154, 7.1043, 1.7314, -0.0611, 0.0024, -0.0122, -0.3077, -7.0769, 5.7094, 1.9609, 0.0855, -0.0611, 0.1197]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2601e6808ff7c80ae420f83762bf26d4eae39088b62b3e555a510b2426c64e2f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f926fb21ad314690cfb272276708e84855d4d6dee56ee2a93c1d3d9e9fa389b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60dad80d660aa515cc342c3788f6ae80ff4f8941a76dda1bc1a59a73aa6adacd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJrM77ZT1gOrXtv32mOGwQabHpUa97p1j4KHDm6uR1Rg3sVfNZaa2tP9iQ1cNJCi69vv8WACiMAqLZWftHpXV3CfA7xcvAsnDuswLKnAJwkM9TnKJpazXq0LU7IpXrS_SBQKERyG8xLT9QfDJr2ypAFpXoOlP5SnIJRYwApa7aV2z8CrkKtm73zpYhRMHynWA4eTr-JJnRrGPYrhxGVx5fKJ2tKyKVRA0EL6WiPjr2iKbSkjMiUwo9svirXGumocZ9XyPLWlJR4yUA0P1XU7NDBzDdX6uQa6X3V1m9MyIRa_Eh2a0Nddz6loHZ9B6bglWXsEcLnIKiltA7R5-Tqjqb8fWLqtj5FRQCaqM5Y1tIYMwdMn6U20wr6DICCU210Q_8-xacFTobu6OyFvsMEbPzk-e8zsgeBQwX45f4zAF3bvY_xKhuhoktqbuSzeL9F5_aOlYarjJbL3MNikR6pz244ymVqz2avemQUY1fMRF-xZW1vTe_IiRUXcySWrB7e-fdKMlxwv4satdv-vL7iWW8loyUvROZM2ZA1F518WRwTEjr7CgY6nmwLx-WdR6z6osbj_ahWyOMZzOjYUqRb6XXMbBWwWYzNJ6GY3tNvWNAxiaZ-LLLKINLaGLoPCJ0mtxyo1gN4R26wvPmwY1t4HMgBtU5Rb43a06zmyqomtMTwXJf-cXmmCn5ecWbcZUxwFoC3hh8rMqLKPrTwm1RYcrXm1CFAhG5X1r6NJUYkaPzkPdv3v9TACmr3r8t0gSAKZ4i6_Arky2njqvJeGcrZg-9GwRYsBa8ZjHqctWWQtrkIMQKOt95V_c_w0jety7vaoz5eSrbykpzupPAKT4H25G3ck_PnEoXIZ6-J29KPVXkCqz4heglkV4lWyY_Fj0awkX1e8-nArf3KGakgz5qLQUVA18pa4LVuK-KnrelTOhdT-39naQdKlS04PDwRbt6QGdWjsE3SDNz_mjulSgtECwt8VAogkmAu8dfxdGITESyLljFYQRcnfU7QKLEJs4MWKPccCtoxGurxQg8P-1Pox60TKVXE0VG7s9ggDp9Q8iRQaY5GGhq9tEBZ2-KJ0wR4lrDDJk7zT5DCQ2SCNAotBPiS3vPEbsfYyJvEmFjHwwxrJ7fJbNVosozXJK5-7NuDlSt69TBKwjXE9njjvcJ-ccwviFVi4QZjNYzA3XfdGoWNmaKFfH5ny70m2BryUSYLq2uyeJvqiapCDSpi7iJ2tcdJ6eIFuuBEPoHVNtJ65olutzl-fZGr0lmbnogSgD_EUOHsAhzc6kCEtUYN6TAKiIPQpCOsx7cn_gVWPQYj39Tmq-7x7rrQgy_eLqtoVEHk62wOhXBprAv4Xo1caopx-NZHmzO784scYMC-PTkdscYvHfotycuqog7yYPFmk4qrRwXvyq3ousbqzBqwRPBgHYKRVLX0W5aAN8Guo5hxMMcljVDdEi0IefBXvglagcouwqhP549pNrSzACi2MA0dCIGxfEtIiPpvJAY-P5CAyEfBlT90ihO7wEk9T7cOXiY52YR4_MB0JGTq-EIUSuVvad6RIeHWGrrq326UK-jIAmqpidDemvA9FXfYILKq2G57Vr32DuV9fTtz9wcVrg3wRDCK8LwwwdilTd4UPW9d_I4sDQmMr95vXuMG4Kt4OgjuDA2iP3iLA_LZ50eMxRP5mRuUPHLaWkgZh1-Q8-OxrOxiAqwjgAHh-QqMmqUBfnm-ln7ynpgxxwGhnoRSnJcjevNmx0dpsPE7myb7nZLFF4l0Kbpmzt8BqyqYU24fSMT6nIXLHT3rEN1LW06un_-qHNPW9kwh3mW9r46R4xRck4MuSZeU7LsbuIjmqYStnyiSDSXHrldm8bo-rJaffNKk8SkXvgvQEy-HN5oNgzWtAGQcmIUlxebbYPmXRUxrfhoRnSSj0jXmjeTniX5bXwlWJMRWMG_n92ZJbrIamCSwpe77HpK0=",
  "id": "rs_07ef7fef379d19ee016ab49ac85c3487d097f4c19fdac158ae",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.075,\"right_z\":0.03,\"right_gripper\":0.75},\"note\":\"The open fingers are straddling the pink bowl’s outer rim, but the fingertips are still high. I’m lowering a few centimetres to engage the rim before closing.\"}",
  "call_id": "call_ply8KzOG1U7upWFOBwQB6k9q",
  "id": "fc_07ef7fef379d19ee016ab49acb399c87d0b86de3aa9340da81",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ply8KzOG1U7upWFOBwQB6k9q",
  "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]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.049, 0.9993, 0.2554, 1.7332, 0.7307, 0.2108, 0.1974, 0.0776, 0.7503]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=0.0043 left_pitch=-0.0148 left_roll=-0.0064 left_gripper=0.9993 right_x=0.4105 right_y=0.0751 right_z=0.0253 right_yaw=0.0321 right_pitch=-0.203 right_roll=-0.0691 right_gripper=0.7503\nstate[joint_eff]: [-0.0615, -1.0462, 7.0085, 1.7363, -0.0659, -0.0171, -0.0122, -0.294, -8.8137, 6.106, 1.9121, 0.022, -0.0806, 0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d4d35d264826138a27d7785eca53c2b9320b07bfc0d77a5fb29840ced507462",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:620655668fd0343f500a94d94b48371ea0b54674425ace77e3ba2b11ca6d53c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14e27f25e6909cde22df97ef996bfe86eadfdbccc5dab014778dfaded7c7979d",
      "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 · 2.85 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7948, 0.6044, -0.3809, -0.0227, -0.041, 0.9994, -0.02, 0.7933, 0.6014, -0.3794, -0.0154, -0.0334, 0.9966]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1798 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9994 right_x=0.2945 right_y=0.0004 right_z=0.1791 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9966\nstate[joint_eff]: [-0.5538, -1.6068, 10.1538, 1.8095, -0.0659, 0.2466, -0.0708, -0.5675, -1.4291, 10.3179, 1.9414, -0.0855, 0.1978, -0.359]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8005, 0.6075, -0.3866, -0.0223, -0.049, 0.9993, 0.2893, 1.5944, 0.7399, 0.0959, 0.2245, 0.1032, 0.7524]\nstate[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1784 left_yaw=0.004 left_pitch=-0.0084 left_roll=-0.0067 left_gripper=0.9993 right_x=0.4015 right_y=0.0822 right_z=0.064 right_yaw=0.0307 right_pitch=-0.1653 right_roll=-0.0608 right_gripper=0.7524\nstate[joint_eff]: [-0.0342, -1.4154, 7.1043, 1.7314, -0.0611, 0.0024, -0.0122, -0.3077, -7.0769, 5.7094, 1.9609, 0.0855, -0.0611, 0.1197]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.049, 0.9993, 0.2554, 1.7332, 0.7307, 0.2108, 0.1974, 0.0776, 0.7503]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=0.0043 left_pitch=-0.0148 left_roll=-0.0064 left_gripper=0.9993 right_x=0.4105 right_y=0.0751 right_z=0.0253 right_yaw=0.0321 right_pitch=-0.203 right_roll=-0.0691 right_gripper=0.7503\nstate[joint_eff]: [-0.0615, -1.0462, 7.0085, 1.7363, -0.0659, -0.0171, -0.0122, -0.294, -8.8137, 6.106, 1.9121, 0.022, -0.0806, 0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d4d35d264826138a27d7785eca53c2b9320b07bfc0d77a5fb29840ced507462",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:620655668fd0343f500a94d94b48371ea0b54674425ace77e3ba2b11ca6d53c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14e27f25e6909cde22df97ef996bfe86eadfdbccc5dab014778dfaded7c7979d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The fingertips are now down alongside the pink bowl’s wall. I’m closing on the rim, then I’ll check whether the bowl follows a short lift.\"}",
  "call_id": "call_J34xjDkgDuNrUaogFNBMg4i0",
  "id": "fc_07ef7fef379d19ee016ab49ace148887d091f3836edb0afe48",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_J34xjDkgDuNrUaogFNBMg4i0",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3889, -0.0227, -0.0494, 0.9993, 0.2485, 1.7439, 0.7341, 0.2714, 0.1764, 0.0776, 0.0919]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1769 left_yaw=0.0045 left_pitch=-0.0145 left_roll=-0.0067 left_gripper=0.9993 right_x=0.4208 right_y=0.0785 right_z=0.0325 right_yaw=0.045 right_pitch=-0.1539 right_roll=-0.0432 right_gripper=0.0919\nstate[joint_eff]: [-0.0615, -1.3197, 7.0085, 1.707, -0.0708, -0.0562, -0.0122, -0.1299, -7.3504, 5.8598, 1.5165, 0.2173, -0.1148, 0.3687]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:011f7ee35aa5fb2cefa2bb4c1b6a0a0a559cc3a4c7dcbc6d6c5e403b2b8e0377",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad7b44eba0a733adb3301ca070116960e54126f39a3b9999c2f4f47323731ffa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8741266d6cb4fff93cc83563c5af68e2802469c603de79b91ab99a82c6f89e4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 5.671 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]: [-0.0196, 0.7986, 0.6075, -0.3862, -0.0227, -0.0452, 0.9993, 0.4259, 1.3926, 0.8883, -0.1963, 0.3202, 0.1852, 0.9967]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.179 left_yaw=0.0023 left_pitch=-0.0061 left_roll=-0.0034 left_gripper=0.9993 right_x=0.3844 right_y=0.1173 right_z=0.1528 right_yaw=0.0458 right_pitch=-0.0879 right_roll=-0.0402 right_gripper=0.9967\nstate[joint_eff]: [-0.0205, -1.5385, 6.8171, 1.7607, -0.0806, -0.0024, -0.0171, 0.212, -6.7487, 9.4564, 1.8437, 0.3004, 0.2369, -0.3541]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.049, 0.9993, 0.2554, 1.7332, 0.7307, 0.2108, 0.1974, 0.0776, 0.7503]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=0.0043 left_pitch=-0.0148 left_roll=-0.0064 left_gripper=0.9993 right_x=0.4105 right_y=0.0751 right_z=0.0253 right_yaw=0.0321 right_pitch=-0.203 right_roll=-0.0691 right_gripper=0.7503\nstate[joint_eff]: [-0.0615, -1.0462, 7.0085, 1.7363, -0.0659, -0.0171, -0.0122, -0.294, -8.8137, 6.106, 1.9121, 0.022, -0.0806, 0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3889, -0.0227, -0.0494, 0.9993, 0.2485, 1.7439, 0.7341, 0.2714, 0.1764, 0.0776, 0.0919]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1769 left_yaw=0.0045 left_pitch=-0.0145 left_roll=-0.0067 left_gripper=0.9993 right_x=0.4208 right_y=0.0785 right_z=0.0325 right_yaw=0.045 right_pitch=-0.1539 right_roll=-0.0432 right_gripper=0.0919\nstate[joint_eff]: [-0.0615, -1.3197, 7.0085, 1.707, -0.0708, -0.0562, -0.0122, -0.1299, -7.3504, 5.8598, 1.5165, 0.2173, -0.1148, 0.3687]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:011f7ee35aa5fb2cefa2bb4c1b6a0a0a559cc3a4c7dcbc6d6c5e403b2b8e0377",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad7b44eba0a733adb3301ca070116960e54126f39a3b9999c2f4f47323731ffa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8741266d6cb4fff93cc83563c5af68e2802469c603de79b91ab99a82c6f89e4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "arguments": "{\"targets\":{\"right_x\":0.421,\"right_y\":0.079,\"right_z\":0.095},\"note\":\"The gripper has stopped at a small but nonempty opening, consistent with holding the bowl wall. I’m lifting about five centimetres to verify the grasp.\"}",
  "call_id": "call_JSB7eNAvNlyWOR1Kur1irWtF",
  "id": "fc_07ef7fef379d19ee016ab49ad1088887d089b9afefc5113837",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JSB7eNAvNlyWOR1Kur1irWtF",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.3893, -0.0227, -0.049, 0.9993, 0.2485, 1.6173, 0.8131, 0.0681, 0.1703, 0.0738, 0.0925]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1763 left_yaw=0.0043 left_pitch=-0.0167 left_roll=-0.0063 left_gripper=0.9993 right_x=0.4199 right_y=0.0794 right_z=0.0771 right_yaw=0.0523 right_pitch=-0.1525 right_roll=-0.0415 right_gripper=0.0925\nstate[joint_eff]: [-0.0205, -1.0872, 7.2274, 1.7314, -0.0904, -0.0513, -0.0122, 0.2393, -7.1863, 8.3487, 1.5263, 0.1001, 0.0024, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05a7693d74121b78e9a4b01ae3dbb084f501b298afd87f736945d91dbee6c700",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:618cd8600e4b3eb2a0db916b445a809af33ce223b769a0f8676e6fe2d5b72cf3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebee112a153c6a196343d236010b4e6b832967ae795799879c908afea8311322",
      "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 · 9.709 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 10 changed as sent

message 17 changed as sent

message 20 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8005, 0.6075, -0.3866, -0.0223, -0.049, 0.9993, 0.2893, 1.5944, 0.7399, 0.0959, 0.2245, 0.1032, 0.7524]\nstate[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1784 left_yaw=0.004 left_pitch=-0.0084 left_roll=-0.0067 left_gripper=0.9993 right_x=0.4015 right_y=0.0822 right_z=0.064 right_yaw=0.0307 right_pitch=-0.1653 right_roll=-0.0608 right_gripper=0.7524\nstate[joint_eff]: [-0.0342, -1.4154, 7.1043, 1.7314, -0.0611, 0.0024, -0.0122, -0.3077, -7.0769, 5.7094, 1.9609, 0.0855, -0.0611, 0.1197]\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]: [-0.0196, 0.8043, 0.6075, -0.3889, -0.0227, -0.0494, 0.9993, 0.2485, 1.7439, 0.7341, 0.2714, 0.1764, 0.0776, 0.0919]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1769 left_yaw=0.0045 left_pitch=-0.0145 left_roll=-0.0067 left_gripper=0.9993 right_x=0.4208 right_y=0.0785 right_z=0.0325 right_yaw=0.045 right_pitch=-0.1539 right_roll=-0.0432 right_gripper=0.0919\nstate[joint_eff]: [-0.0615, -1.3197, 7.0085, 1.707, -0.0708, -0.0562, -0.0122, -0.1299, -7.3504, 5.8598, 1.5165, 0.2173, -0.1148, 0.3687]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.3893, -0.0227, -0.049, 0.9993, 0.2485, 1.6173, 0.8131, 0.0681, 0.1703, 0.0738, 0.0925]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1763 left_yaw=0.0043 left_pitch=-0.0167 left_roll=-0.0063 left_gripper=0.9993 right_x=0.4199 right_y=0.0794 right_z=0.0771 right_yaw=0.0523 right_pitch=-0.1525 right_roll=-0.0415 right_gripper=0.0925\nstate[joint_eff]: [-0.0205, -1.0872, 7.2274, 1.7314, -0.0904, -0.0513, -0.0122, 0.2393, -7.1863, 8.3487, 1.5263, 0.1001, 0.0024, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05a7693d74121b78e9a4b01ae3dbb084f501b298afd87f736945d91dbee6c700",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:618cd8600e4b3eb2a0db916b445a809af33ce223b769a0f8676e6fe2d5b72cf3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebee112a153c6a196343d236010b4e6b832967ae795799879c908afea8311322",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_07ef7fef379d19ee016ab49ad4322887d0975a21fcbbf43c28",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.435,\"right_y\":0.22,\"right_z\":0.205},\"note\":\"The pink bowl is staying with the closed fingers during the lift. I’m raising it clear of the table and moving it over the blue bowl for nesting.\"}",
  "call_id": "call_lEogOmVbJ8Chk7Bcp5NwGFSx",
  "id": "fc_07ef7fef379d19ee016ab49ad7b34087d0835ff4872fdbb9e6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lEogOmVbJ8Chk7Bcp5NwGFSx",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8093, 0.6075, -0.3897, -0.0227, -0.0494, 0.9993, 0.6052, 1.7599, 1.4754, -0.5537, 0.3901, 0.2935, 0.0925]\nstate[eef_state]: left_x=0.2949 left_y=0.0018 left_z=0.1754 left_yaw=0.0045 left_pitch=-0.0202 left_roll=-0.0066 left_gripper=0.9993 right_x=0.4291 right_y=0.2195 right_z=0.1867 right_yaw=0.1013 right_pitch=-0.1885 right_roll=-0.061 right_gripper=0.0925\nstate[joint_eff]: [-0.0615, -1.5385, 7.0085, 1.7216, -0.0464, -0.0562, -0.0122, 0.2803, -9.0462, 9.7299, 1.4872, 0.5104, 0.232, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78618f9f697472c5ebffedbfcbec2af589ffe394df5e5b3be67945828b382770",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc2225504b006baf6fbbcb37386d132c5c243a5ca29ac738a518242d4c803342",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ac1bec69a74e095df7678c557cbef7c479e19458c1a581ff355f26f9eca452c",
      "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 · 6.305 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 14 changed as sent

message 20 changed as sent

message 24 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.049, 0.9993, 0.2554, 1.7332, 0.7307, 0.2108, 0.1974, 0.0776, 0.7503]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=0.0043 left_pitch=-0.0148 left_roll=-0.0064 left_gripper=0.9993 right_x=0.4105 right_y=0.0751 right_z=0.0253 right_yaw=0.0321 right_pitch=-0.203 right_roll=-0.0691 right_gripper=0.7503\nstate[joint_eff]: [-0.0615, -1.0462, 7.0085, 1.7363, -0.0659, -0.0171, -0.0122, -0.294, -8.8137, 6.106, 1.9121, 0.022, -0.0806, 0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.3893, -0.0227, -0.049, 0.9993, 0.2485, 1.6173, 0.8131, 0.0681, 0.1703, 0.0738, 0.0925]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1763 left_yaw=0.0043 left_pitch=-0.0167 left_roll=-0.0063 left_gripper=0.9993 right_x=0.4199 right_y=0.0794 right_z=0.0771 right_yaw=0.0523 right_pitch=-0.1525 right_roll=-0.0415 right_gripper=0.0925\nstate[joint_eff]: [-0.0205, -1.0872, 7.2274, 1.7314, -0.0904, -0.0513, -0.0122, 0.2393, -7.1863, 8.3487, 1.5263, 0.1001, 0.0024, 0.0464]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8093, 0.6075, -0.3897, -0.0227, -0.0494, 0.9993, 0.6052, 1.7599, 1.4754, -0.5537, 0.3901, 0.2935, 0.0925]\nstate[eef_state]: left_x=0.2949 left_y=0.0018 left_z=0.1754 left_yaw=0.0045 left_pitch=-0.0202 left_roll=-0.0066 left_gripper=0.9993 right_x=0.4291 right_y=0.2195 right_z=0.1867 right_yaw=0.1013 right_pitch=-0.1885 right_roll=-0.061 right_gripper=0.0925\nstate[joint_eff]: [-0.0615, -1.5385, 7.0085, 1.7216, -0.0464, -0.0562, -0.0122, 0.2803, -9.0462, 9.7299, 1.4872, 0.5104, 0.232, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78618f9f697472c5ebffedbfcbec2af589ffe394df5e5b3be67945828b382770",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc2225504b006baf6fbbcb37386d132c5c243a5ca29ac738a518242d4c803342",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ac1bec69a74e095df7678c557cbef7c479e19458c1a581ff355f26f9eca452c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJrj7QQkLsiSrc17KDuZCelvWHLXYC2Knmu6rP4NDFMV1RKWyNcRVxrbHiTIFcuLNJCmpRPcBStLKnxP0TDZqMJSbv2vBHdQYl95addX0I6AtrUK7skx7P0WwG5zimkXYVTv0yvpFqn4lq4y0rJRq-SxMa3s2vzp5-8wfG5giJtvO5sGmxzrF35S4MbUhhBKah4uSQShxkyd_ujZEaqWY-QEHvlvRx7bZ4QyaK5x9JS0h0t-1LjJ0ILGCfs7OaEmekClzNPLwcIK5NUy-Nl8w8gxhqFs2anhFKlh13CQTKPWRIjWhqH4E-a_dmyelF4lLvLFBPogc3VVeCI8Ny5qyfJe63I_jUVxMDFVrP3g2xVrAiFkoFnGTDbpi6MmUOsa_Uxpk3LyqFlC7IB-c5V0W6sV3Z3kdYH9vFfw-WA_NgRw4PXGAf_5P1oBHHPznWQefBlYEDas6l4nlU_2eg37cDrovn_vAz3iqq-Qygordw54QSlKKNyEC-AcjL9yITlgCqNeAFfcEdDmLirtDd2PNNskZuw5a1NRhqljxhZi21TTXonPsh5t_XmgRXgioMIm_JoTBkDrRTkBR72O6VyFCH-NdchPZWVQDYZZHo4zgkOln3ke20Wwi3Kft2ktMXi-Exp2uuXJsvylinyEyAmU5gDxaBaqeTLbe3KEw4D7Qd8BjoHF5MEUEwo3WlpJaxmTc5IYSWJJ87UF1AKlWffe8GLo651w32WYWDxOtWFHIoaQQkexu7QYla0jO201P9PaQ1tsrq7-PFUNStKAntE0iJ76XR7krIWGQCAITkIRgLIbxNtHhPpOhRHYV493Syjwuscq8hPgj4tydpGYW2qJxDoeYg_e5JCijzA4Sa2jJb6mUuxrikonGfQABlufnbwJdBdNI1lqobGN2Zouey-zBSVfU6mV_Q6Rf5kPhd5EBRLfvenhw7VG8JkHoPlwhNg9tYUbimq58Zcdq5BFsh43MGgbe4smWp7uoJDUe65QWadFfFcQHducjp5guVllvWfdpQ4qiUCR8bipxXFUciLYoPihtZbsKBkuWbsVX6ksv88fswcpowHhfNynAMEoKjNdfOvo7qX0XwJJuM_Dlg7Q5F382Xg3g0f1_WJ085FpHdJUzSaFnFGcv3Qu-3X-KPK8pDp1SsEtb9cYuw3qCfJdUzKR-QUvGJIabOXZ9WjAp2M_b84fFruK596fLyil9AWUbDKb780-9zIshAs18fjQ04BNxLRy5R_6AHx0jldXY-X_QevsT5etLqr1Hk5la8QYpi8eFrAqZbOYSjeVf7bqWH-ZCFeb7wC11824yBp29YE1ImDbJDqWLn-9AL5u-LN-y8JmUc5Eo9vkpHu1o9OMxmbuTnK1E2eI3Vs7GeWEpBghnANS80iDGFl345xVSMGwG9T-v9Qgeda5Is5OiM5GuMhoCjdMItYbkQ9btXmhMMQKrf_D2gS85ngQc5tGRstrtnX0NdKY-Da9hcPhzBnHqComZ9_lgCKQrWpj0B1bOzBiLYsG6k_sh0nJyoSIXsUZkpPI-8CeP76efFmiUZN5hOWwQ-CTmj1I0-frIMqrgmgGt2buOYbb3F654iQLcf6RgHYXoRR6T5oR0KjzEYJ03HOCBQjpXVey8zeCpOwR1UirWftZcLSTaFgRReMjI26TD3CoU_1qyeRzRaE6l-OFLG9TVrt1qeAW8Fu9lRhXE-zs-UOwSu1_YtAvZ1YGRU5XS3QGdzIW7-JcE9gputExj6yzfIMmWy-mN1veabR8EnRB7xhYNLIuTYrbNxBNCioVZhJ87qXoraNgYxxG6EUHaLnlvjF4zomDWh1Iy0ppFaNjjxr4H0rQy7d1194Gi1tvT7ScZLLaQ4mkKlHjUQtZFI13gw-RXntY_Ydkfn2EVDb04bIXBRZfK1K7GZ5K7m8aM_JpAIMgySqpCwmO3l-p_MafedeUrzupkVlu_qq3MGcUJ5fSHFalwQDSWD95AC1Gti-RudgY-J7t-YUOAkxv8lfLsVMwEFXSkm6YDg1EuvU1Xxi0xY9hVMlNGgBdinserXlDP6IvKwbj_JhCOTYKv8Em1ZU_Yunj8L2Gw3HAFfSBSMjmFu3ycPvSqxn6x68HvRt3FRYPGv2KgipA8YC1gxQ_JYchRA-5xbDi8q_ML8l94a5kFYt8VkEqrt6taIVyW1z0pbb-XzPTy6ko7ME5IIKqHfdstPdbRIbG4Jy4ZWhIIR8_LMXsY5B0CdMn211nVTXQD6TUxnGJzwivhpnRPAVDOmmQb7tVP0tLssSczXPqGDcA01QaD1WnXLq8e2kFW5Kcjp_PFDTOs3nz_FQohlJ9B-kjotT1PeE5ibkNIwflxD-_FEeEuHLqRXsMdjsk0rrbRsSBZLXJmxHJ209uMyFV5iCT_SKT16atThyaVPsnLAJgPWR73EQ4IxZ-ZR3tH8oO5N-Pfve-EG2v6M2Ft4etK5gqIUNe2s9ILhiOniCrv_we1GWmfjwN3LKq72UoeXCROdLIx6mdX8XnddgQ7HvMelzi6KFTQvLE-hv5IEbFiTcUMtC99GjrVRj2ityzbzxb6DeCA0a6AufcZj3e8gvzQrc6z3K9Waaxs6m0qhMYn0wPD04-iJfmmOluaDFDUFWv_KZYI3MTUl8BDLywD6KKPDNK11go98H2UbYxRyTotdQeQO8x1BdwC9UcZMp2sI2uetcdxMm07LHkNI_tNUWyn6zfFox2QfQ2_RCfZG-_G7OM907uI4m8V4zPFyTmXprLyMN3APA5h_ltMFPsfSzcGcU3CGleeQcE4Hunvtnh4SVGg2JZDTtuINv3sgM2QEQyX0ncAZ-b7hn2PtU-JdGQVwW9X60_HasaTXFTOT36K9tCy295IuP-E7VzYh1PZuaZwyooxvRbbLzgazANvtPfJWB4MbXQimZomx2nD2SlDVe3ExAXr907_uCtORCPqNq89DuxfZgK4Ain6FfC3A0FvZFC5n9VAGka7T8AlsCz8o2QDy3hcgjnj4phGej2Yuwh778JWn8ed7WYNvnrGJu9-rvvBIqJRnwGlaY3P7KXEshPpYatEX4Pm-8V-PdLQVJ1IgfFZueQDyvmZZsS4iQTyyxfnTTKb0KrTMhP3JaO-MJa3ewp4gFYkLPRK_o2DzTIxMMDmRqEgji3EfMdBQm4SLtxOQpQ6zyD9qgPwLG9GBJCvmyuH_6RkUs7clmtBdmqN0hr4Qr_5fAOsarjZoDkt-d-28GC4r_5KEyoBhBjbhcJZOlbwK3-fe1BpO5xbIC8nmCPdly-XjXFAhN-LF1fHIf-ibeO2JZmRtaq4kITWYqQrXUKqJxQEX5vIo5YzRWkzpT_7w6eJ3yJbAATt3o4tezWp0lTae3GvNeEej321-0HVnqXhCSY6nVcwRrPyaPPrymPzmeqRIFqx7-PziDxhGebCv2Obo5WMKSFydc5t86vpqCOkdK1tZt-ZBQAzFuxaoe6-oy25LdQCmgRP2GENDuj6uaN9IqYIrugHq3ubHSFLtNZPeHttZhpU5Ictu32bhc1DjFbOPMEWUc-ttXhjGIK2ywKQ7ildoV-Ivcuhlh1rwOqDpJzjFJaCIbMmfk8IJ0zkJNlNVdHlqXTHeryxAKFcEijP5nhmInoa0RMPnZO_uHlvaSackToaHXx4qylW3lzQD7hNRFlR24QyUNmoEGqpD58L60z1ZewGubVb1RrIhtLeN4FeAXlANHcZhu8",
  "id": "rs_07ef7fef379d19ee016ab49adb261087d0baec6643c8e75c2f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.078,\"right_z\":0.08,\"right_gripper\":0.7},\"note\":\"The pink bowl is still beside the blue bowl, so the first grasp did not hold during transport. I’m returning to its rim for a deeper grip and will maintain the closing command while lifting.\"}",
  "call_id": "call_PqY1qSE8AIaSuyDLVIZehkJZ",
  "id": "fc_07ef7fef379d19ee016ab49ae23aac87d0b8b98c8a47d249bd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PqY1qSE8AIaSuyDLVIZehkJZ",
  "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]: [-0.0196, 0.8116, 0.6075, -0.3897, -0.0227, -0.0494, 0.9993, 0.239, 1.6333, 0.8608, -0.075, 0.157, 0.0422, 0.6973]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1747 left_yaw=0.0045 left_pitch=-0.0225 left_roll=-0.0065 left_gripper=0.9993 right_x=0.4096 right_y=0.0751 right_z=0.0643 right_yaw=0.0673 right_pitch=-0.2648 right_roll=-0.0758 right_gripper=0.6973\nstate[joint_eff]: [-0.0205, -1.5111, 7.0359, 1.6777, -0.0806, -0.0415, -0.0122, -0.1846, -9.0051, 6.694, 1.7021, -0.0269, -0.0415, -0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e63b8da49f0018671da643b44d6c639385602dcc0c7dc841845b117bb7e1a806",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e7fe6b1acad69e6ec51b1f9fe7dd752eef3e06e0f4ff3a4917ab0d9559385d5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f70f54e6533d67d24adbf53f670e6229c0000e93d6c1a3342e3d39952790fb85",
      "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 · 7.657 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 17 changed as sent

message 24 changed as sent

message 28 changed as sent

message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3889, -0.0227, -0.0494, 0.9993, 0.2485, 1.7439, 0.7341, 0.2714, 0.1764, 0.0776, 0.0919]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1769 left_yaw=0.0045 left_pitch=-0.0145 left_roll=-0.0067 left_gripper=0.9993 right_x=0.4208 right_y=0.0785 right_z=0.0325 right_yaw=0.045 right_pitch=-0.1539 right_roll=-0.0432 right_gripper=0.0919\nstate[joint_eff]: [-0.0615, -1.3197, 7.0085, 1.707, -0.0708, -0.0562, -0.0122, -0.1299, -7.3504, 5.8598, 1.5165, 0.2173, -0.1148, 0.3687]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8093, 0.6075, -0.3897, -0.0227, -0.0494, 0.9993, 0.6052, 1.7599, 1.4754, -0.5537, 0.3901, 0.2935, 0.0925]\nstate[eef_state]: left_x=0.2949 left_y=0.0018 left_z=0.1754 left_yaw=0.0045 left_pitch=-0.0202 left_roll=-0.0066 left_gripper=0.9993 right_x=0.4291 right_y=0.2195 right_z=0.1867 right_yaw=0.1013 right_pitch=-0.1885 right_roll=-0.061 right_gripper=0.0925\nstate[joint_eff]: [-0.0615, -1.5385, 7.0085, 1.7216, -0.0464, -0.0562, -0.0122, 0.2803, -9.0462, 9.7299, 1.4872, 0.5104, 0.232, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.3897, -0.0227, -0.0494, 0.9993, 0.239, 1.6333, 0.8608, -0.075, 0.157, 0.0422, 0.6973]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1747 left_yaw=0.0045 left_pitch=-0.0225 left_roll=-0.0065 left_gripper=0.9993 right_x=0.4096 right_y=0.0751 right_z=0.0643 right_yaw=0.0673 right_pitch=-0.2648 right_roll=-0.0758 right_gripper=0.6973\nstate[joint_eff]: [-0.0205, -1.5111, 7.0359, 1.6777, -0.0806, -0.0415, -0.0122, -0.1846, -9.0051, 6.694, 1.7021, -0.0269, -0.0415, -0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e63b8da49f0018671da643b44d6c639385602dcc0c7dc841845b117bb7e1a806",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e7fe6b1acad69e6ec51b1f9fe7dd752eef3e06e0f4ff3a4917ab0d9559385d5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f70f54e6533d67d24adbf53f670e6229c0000e93d6c1a3342e3d39952790fb85",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJrqHdZuNQO6wLLFl178my7-u5Rie3ozV_Ow-fi67LwHdULb4YJfeHFYM3X0wSCSWAzk1F6qgxGRW1hOkttdgfkMmDkd57ooN2rw2cJYePVbwGhvu6MgLXvaOQGE-4YzJPtQwV1nOwb6LTz7Bqpvd3PuOxxbNVOAZ95IQ7786UdjmB6C3mwm4omjU-N-l8axpm_fPJYbRT63UT3lGW4vbWH4zZjHEB1FshalInL3UtxfrvXL261q56sxHrErbBlbnwsmJNY7rcYvhBDkoB6IG6T3NUoatTb74d3uhxtiKDrJqhr212GV9epvQkKr7pI55h0g-XBBPxytnqDcAQOeGw-pIaoh-W_-7iIVfjzhgMR1CwZWz2ktkSbIHd396ScBmiUcaI9R6Rhy9v0_z2KgOxuYdf4ElWIOUfllOD9MeNeUVqzk6IoaJzLGR5uexQ5TZ2qo3pvKeF3AJejuUCW_aEsAhW3HyMtm-a10D1z87Z7X74X-gcYTLsmltqpUt3950TNMA4_FroR0HA8a18RW_ECBQc-Un83uhtrPkYKpewa5948DcnDjAZCwxxK10jLRcBVCDPGGsvTlE-ESiKTPBvnIXAyT0AYX_se1HGELXxJpH3bKbqRljV10tg1ue_0zf1WpHHfpN1LwXqCF-MihgFmL_Fd8uCYlwvVqcNP9JGlwkt4C9-RgMhy0jo2gX8HFMsMA80cQcN1MapqsnBLzsM9fWGuKkXvlvUWI_k45Uakc-XcdIPFp9nHQYt2YE0oihpJBerJgnZHcFaGjHmcQRBUz3h6XBLW64yymoZTWgz8DGJKTMbgvJ7E-W9MH55EHrQrpNavNMxgR27TcqPWObm3qL1MnhtBoPdd-qn5wSqd6GqvOsPymmpOAx2RpPdthx53kwwsbMuAyCr56bqx91esOr36FPnwNCe7IM_lXv1u60AGcLHnJBm4YR2lKCbo4vRt0F72r8GUTMBxq15FXq9O0kO47_bNpr5xqIUi63P90TToZ1XmUUCVQWgDsWbl2IysM_gngwRSoGi7D3-CrN8ni5OXeT_1qsp99GtnYdzes2wDRR0Q0e35_mtcLuiqWwTTN0sYYo5qPvrdi_gcR44ItY965xEqu-QE4b14zlB58BrSyiRAKImycRbOUF1I3IOU73dWWbB_FjTd2-LJjwTluBk4v87HaFPknYbL95aToRi2BwHMj_YtSJ-Nm-RglT_pF588giIuaq0WAt0KeRXtUYa_RQS5L_Ublj7lVP5IbtZl0UFJ2h4F2gBgEHuWpJ6xY9abC24DXRgXidgrlaH3FEl7sg2pRAkCZ5aGulnUXDT5YVV2cJlMcR2EpzoFmHsro1Smo8TPEivyGK6zIDCvWp2VVYE8kZ_PDCDewSEFUErZlZJ811xV0CmDnKO1et67JKk1yO-8TU9oEftDzdDdsua-SlLvDBaAaudflDvtlOf21z0LFpgou_qOe3tO_bh6an4aZdtT7RBa9Q0n6LTq8ULOz1o6Btfk69pQ9NbArNygR3Tx0fPZDN6FyRqr69xn-Mv-HdOSGsu9sqwVp-wocqC7FQ_PXfg-stZ5H9kXJmfyGxYRVtpk95lso8GUduzUG40deyurVWs6OfbFzXtvQ2JRaiM66OEGoHNMmlLUXWdv7hHedlxnz7FxpQx0qd0TQYT_5MQYck9rpPSECPRasRixFXBt_TcbJnedRc_7-vIy97zxFQmW2UoOfsdUxW1ijtTtvFTf4tPJgiQSO8btUbmLY3QyPebmnUvv0mRS0D_6uy2TWSmp_taMyjRusLuxtjB3R182mg9wietu_IaCDBRGp1wQHapTsJWlJL-1RClReo0wgppyweozWDyPyfLwxlSQs0_ddiCeGMyUeLHJc5h4dDRcqqo0g0jW_zIVwacBdU3kdijQmrHmB4a-YLCO03YxoQTLrPWr6s0fSwBXm6gemurnM8C2os1vk8cxOwsNl17mAhxz_f2E_n8UDDdvApTqjjZ83GMZzZF4ISBRKO4YdbDtE8hXPD321YXsvW0SuuSPamHWvutgmWlR0eAKo-QPPfbXap-PXYvFNUPxPIguoNBAb3GfXSMEVBRg1bUwIuuJYrW8i4-i09rlNYrqXFAQILrNiYgsCMHjHRuz24zyvov_UlpAh4UwxT5RKbOhpJbAcSiATcoiJ_-IRZ1VzEXHcGlPMGrwWcBYpdbpdBfT3VByxN6y4qgmWl4YXpiDGi4fH4yyI4JAWfEA8lA9MsTVPA32em6r_1YLcb18ZMl8T2wUVsJp5xMENe7DF_dcEUpYsBM012nYR-sx7jKTINBxoGtltgeUnCI4c_hBEfQBe0vsN7Umt1lUhbS06cPjPQEYIILRv6FFzscCtBqUDbMy52YLSKmGT-bkPd2iiMeQ0pFenq4lxiEuGLkvD-Ns=",
  "id": "rs_07ef7fef379d19ee016ab49ae6017087d0a402628415e9f214",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.065,\"right_z\":0.01,\"right_gripper\":0.7},\"note\":\"The pink bowl’s side is visible between the open fingers. I’m moving slightly farther along its side and lowering the fingertips to get more wall surface between the jaws.\"}",
  "call_id": "call_imR3tiYVqphP62pb0zxVKYWU",
  "id": "fc_07ef7fef379d19ee016ab49ae9badc87d08b4cd083b9f41f64",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_imR3tiYVqphP62pb0zxVKYWU",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8139, 0.6075, -0.3904, -0.0227, -0.0494, 0.9993, 0.1925, 1.8404, 0.8528, 0.0895, 0.1169, 0.0051, 0.6996]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.174 left_yaw=0.0045 left_pitch=-0.0255 left_roll=-0.0064 left_gripper=0.9993 right_x=0.4237 right_y=0.0652 right_z=0.0031 right_yaw=0.0743 right_pitch=-0.321 right_roll=-0.0769 right_gripper=0.6996\nstate[joint_eff]: [-0.0342, -1.5385, 7.0359, 1.6923, -0.0855, -0.0757, -0.0122, -0.4171, -7.0222, 6.9812, 1.1306, 0.0708, 0.0317, -0.0464]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1984a749a296a5a96f2554d59a72fc683dde94d6ec768d0e15bea12e90d39e11",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29b21870f39221aedcddcab0ab13edba02ed28b5bad673c1a4aa5f171eea3a96",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0a73899113c27edbe09ee00b5e3eaa0d442563ff96d125e0daa1b54204d14ff",
      "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 · 2.65 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 20 changed as sent

message 28 changed as sent

message 32 changed as sent

message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.3893, -0.0227, -0.049, 0.9993, 0.2485, 1.6173, 0.8131, 0.0681, 0.1703, 0.0738, 0.0925]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1763 left_yaw=0.0043 left_pitch=-0.0167 left_roll=-0.0063 left_gripper=0.9993 right_x=0.4199 right_y=0.0794 right_z=0.0771 right_yaw=0.0523 right_pitch=-0.1525 right_roll=-0.0415 right_gripper=0.0925\nstate[joint_eff]: [-0.0205, -1.0872, 7.2274, 1.7314, -0.0904, -0.0513, -0.0122, 0.2393, -7.1863, 8.3487, 1.5263, 0.1001, 0.0024, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.3897, -0.0227, -0.0494, 0.9993, 0.239, 1.6333, 0.8608, -0.075, 0.157, 0.0422, 0.6973]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1747 left_yaw=0.0045 left_pitch=-0.0225 left_roll=-0.0065 left_gripper=0.9993 right_x=0.4096 right_y=0.0751 right_z=0.0643 right_yaw=0.0673 right_pitch=-0.2648 right_roll=-0.0758 right_gripper=0.6973\nstate[joint_eff]: [-0.0205, -1.5111, 7.0359, 1.6777, -0.0806, -0.0415, -0.0122, -0.1846, -9.0051, 6.694, 1.7021, -0.0269, -0.0415, -0.1099]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8139, 0.6075, -0.3904, -0.0227, -0.0494, 0.9993, 0.1925, 1.8404, 0.8528, 0.0895, 0.1169, 0.0051, 0.6996]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.174 left_yaw=0.0045 left_pitch=-0.0255 left_roll=-0.0064 left_gripper=0.9993 right_x=0.4237 right_y=0.0652 right_z=0.0031 right_yaw=0.0743 right_pitch=-0.321 right_roll=-0.0769 right_gripper=0.6996\nstate[joint_eff]: [-0.0342, -1.5385, 7.0359, 1.6923, -0.0855, -0.0757, -0.0122, -0.4171, -7.0222, 6.9812, 1.1306, 0.0708, 0.0317, -0.0464]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1984a749a296a5a96f2554d59a72fc683dde94d6ec768d0e15bea12e90d39e11",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29b21870f39221aedcddcab0ab13edba02ed28b5bad673c1a4aa5f171eea3a96",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0a73899113c27edbe09ee00b5e3eaa0d442563ff96d125e0daa1b54204d14ff",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJry9fs8PtRENw9SOcUX1CMwEBEDBZmQUAVbAgpK2QWoBmRAtlVKpYeAu1szCimJ0shimz9H-xxnexyzXPctsDosD6jyue2SvZk3nBIOvle7D8jCohmkKDkXVxYh7Gvgg1N2MebPH6mElJHOxe4GFGDDVCxH0QfSQP7OalSsVZyjDr0NYNr8FTaAtaTvnVCv5-3w4ga3phl1Ft1-ICBy0fktJwz3JnSk69es_VlCRuiGJud-2Qelz84P9yk0B8rGG2uLhsdq8jpsaho5-Q1D--93xBSIP9QIx8K8X9TShUjpJJdeJuqE4UOEMytBsIL3gb9_3CTuHBDzaLIqMBaWiJ3m0wozI67mRBV_8UxNI1-LAMaAknqpCjBpr6sXYg-BSD4Sur3dC32tmUGmD2-ZWpIH_JFs-2vdGB1Sbtkn1fBCC57tqAF3diXRWzlFe_3_NCMQsEWlya5tqEBvHaJStC-NRUe846_ESSiQoqJXckCjGtcjIALRr6DWVITBzfWwEEHHGaSp1Xa75iBU5HgZX4_V9_lNXa22k0iR2uKHB98yiDVgAjpBOa3fSMkxhx3gFb4TcdAFKgbBQihlWw4AYz9UjSOvQqFLu9OmtN2GZsWUg97vJIGQ9eabYrPebIJzrQKbgadjBIC3ba9jts-4z2BBLSyZUGo5OfXwKWU1qpyfG2IWIk9aytBRCesNP94osnEt3h4wTnOkCorDOdWkg0NQumyFLUZFRg_SbfnBzVmTBI-L-xRTD9SwjGJWfod56oaCDvCLix3kOLiNMkmdwlpwpjVd9YHAUHW6qLi_KFnGo-l7GwPYPcB_Y7Gebl7qyaAgQuq4NkYMw9wTLAoztRQh3YSTbZ99yzMU6YsILZoNoGYzIDejuoivuZ0rBbJJ4keBkdH1yeCYnr5D9lWy8WqpLlGkyDlAKjDYojr3YbEvLkWhSE5qMo4WCkxW6Q-gDiNf001g0SwjU3Yp9U_jujADFBt1kii2_NGhdkt_wQ7v7tG4ieZViDj8T9yCQppYDh2NT-_Vm5XEILjlMNuzXXTt_lcCqxB4D2OJ7QiGg9FP4eeIBwxPPz3fUFrzOBIe2bKEvtLf2hf8S5aq-WBFPnIr-p8JmdYFxLDJGD9Dc0CIY2CLy5A8eVwfZlV6iB1x8ztzQSl_T9j5fdELsMVvna0o277AmGbT_9R-bmBuKFxrlnAUZCy-bPEh0t2mbH4y1pznGAr0yJhvrhnWf8YK46FHpaumGOFWstEAOI4tEogTYq2Icl1BJFi72G60V1Ox0WZcBxQldlR-craK6nqMM5MWG2QEhkx0_F4cvAT1T7Gope5Isace_AVT1_Ka5eHtIJCHNYE2-g5P476GI51URZPY-N8TyzM38ZyOBDUj8oeSNdPzib-XXzeUHIRTvtzYrjq7IBUrO4qU1Sk9hMaE6NXESpg_xDyKbj_yTwkXufj66751kbWgwH8-QNxFG49CdLw3vklwfb8sizvjN6BkfWIivhaBGSMKOAzUMB4usrJTmEVuO4NTtEKEbreUOuzyIJxnlZtxtON7itv_fwuBQNfPx8QSnVR-k58kS0gSURz_ufwPi_lsOOzlFWotykzqLbCm-uEhXQNV7gNzjDtBAkxyDn-dpAyTgpxnk-USCn8z6OyTd_AL1LI-haDKL34JI4xYswG7zw0o4ytxMz7DEpe6yMYZ5DzUr4IhI160HUn5a0AFebsPKtv5OWlv1D6o6jt-2eINPauT6KnrJ_M1AJ6b_ln5DC8R2Iu3QqRpgsTJwDgeoQUpA3DqrgpQPkIicClS4DRz7nuai-FN7iG9oMgDbu22DclRw7Cb208m0TSDWPOB6BBLOog59nmWZJVlZzCX8urQtj_sYH2UiIRY9LGj9VsuPFabwpPEoCBO70SSBg6LtO1OB855YQBt4tGXMiR-qHES87luXvNC8g1ZT2qXdOSJH6MY1PyNwUasibT39XSxlT6r1Wh8UySxg4He1oehgZQ15ypW1unWNFbmC3HtUj8ZmPfzn48qlAYgOOt6DUcXPU5EFMO-cWf3K8nOx81eQN3ecITgzRff3krrslNj4vQnoU9PCHAPtyYkapo3XLVD63dy1wWQJC35vCgxXKWZcQ056irxvPbcj55omnBZ3V2wX-ETgFa4FlM-hOVI_xW0IKL2MQdLKHCAXVNAYoxDVo_RSJGyA-8XTvNwcBVvnc70lHkJcgUUfTJtVEg_zZ7GdMp3BBImrq70lWnXbjLzPYxfRKho1Ctbxfh2kQa-f86iiAalFEXEP4AGNQ_r3s02yvCM6FX6QN0ooKiCoKFYY3H0d4zoMN77fz3Sh-rfjcWbamrN0gEBGJCzYUT4deW9pyiiIiOyPkMc5D6rz9coqvZ3lkgBIoAUwc0UilC6iVwtbgfw7d_t2eo-MoyHpkKJfkb8AD7IGnOIclKtqpBPPApZVDBlhwk7CsOrHOyyHhjK4yB4herYlrEi5sbWk6IPOkhhelqO5Br5rHRYIgmSd5S0L5jjLKCELMzcPkszHZ2ybImwH0TSeW0hAplc5uO3ip6mnjzyNHiXdvO_u8DqWMMkQJj0--QbceMK4y3y5W1KRjoALkPIAIEZ69FQ73RxEBFppyBL5e41pV1QL-eq",
  "id": "rs_07ef7fef379d19ee016ab49aec82f087d08744f6b5a204a062",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The fingertips have reached table height beside the bowl. I’m closing gently around this deeper section of the wall to test the improved grip.\"}",
  "call_id": "call_Cn17IQQlPPMD3PCcWDCgRM9f",
  "id": "fc_07ef7fef379d19ee016ab49af1981887d08612457f5a944f77",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Cn17IQQlPPMD3PCcWDCgRM9f",
  "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]: [-0.0196, 0.8154, 0.6075, -0.3935, -0.0227, -0.0494, 0.9993, 0.1917, 1.8233, 0.8608, 0.1402, 0.0879, 0.0177, 0.1031]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1729 left_yaw=0.0045 left_pitch=-0.0301 left_roll=-0.0063 left_gripper=0.9993 right_x=0.4369 right_y=0.0726 right_z=0.0207 right_yaw=0.0942 right_pitch=-0.2475 right_roll=-0.037 right_gripper=0.1031\nstate[joint_eff]: [-0.0889, -1.5111, 7.1043, 1.7753, -0.0855, -0.0562, -0.0122, 0.1162, -7.1863, 5.2855, 1.0085, 0.3248, -0.2027, 0.4322]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38fc27b4ea0639c12626a3303aab68526237f0e58552c14fb95e516affbb681b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bfeaf63a752271fc22aa3d460ef7f3e45bc36778562113ce322e881e65d09d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:578591a088b952fe69fd65d0cf491464540672e5703aab5e771c06dfe24c0f39",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /responses · status 200 · 4.032 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 24 changed as sent

message 32 changed as sent

message 36 changed as sent

message 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8093, 0.6075, -0.3897, -0.0227, -0.0494, 0.9993, 0.6052, 1.7599, 1.4754, -0.5537, 0.3901, 0.2935, 0.0925]\nstate[eef_state]: left_x=0.2949 left_y=0.0018 left_z=0.1754 left_yaw=0.0045 left_pitch=-0.0202 left_roll=-0.0066 left_gripper=0.9993 right_x=0.4291 right_y=0.2195 right_z=0.1867 right_yaw=0.1013 right_pitch=-0.1885 right_roll=-0.061 right_gripper=0.0925\nstate[joint_eff]: [-0.0615, -1.5385, 7.0085, 1.7216, -0.0464, -0.0562, -0.0122, 0.2803, -9.0462, 9.7299, 1.4872, 0.5104, 0.232, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8139, 0.6075, -0.3904, -0.0227, -0.0494, 0.9993, 0.1925, 1.8404, 0.8528, 0.0895, 0.1169, 0.0051, 0.6996]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.174 left_yaw=0.0045 left_pitch=-0.0255 left_roll=-0.0064 left_gripper=0.9993 right_x=0.4237 right_y=0.0652 right_z=0.0031 right_yaw=0.0743 right_pitch=-0.321 right_roll=-0.0769 right_gripper=0.6996\nstate[joint_eff]: [-0.0342, -1.5385, 7.0359, 1.6923, -0.0855, -0.0757, -0.0122, -0.4171, -7.0222, 6.9812, 1.1306, 0.0708, 0.0317, -0.0464]\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 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8154, 0.6075, -0.3935, -0.0227, -0.0494, 0.9993, 0.1917, 1.8233, 0.8608, 0.1402, 0.0879, 0.0177, 0.1031]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1729 left_yaw=0.0045 left_pitch=-0.0301 left_roll=-0.0063 left_gripper=0.9993 right_x=0.4369 right_y=0.0726 right_z=0.0207 right_yaw=0.0942 right_pitch=-0.2475 right_roll=-0.037 right_gripper=0.1031\nstate[joint_eff]: [-0.0889, -1.5111, 7.1043, 1.7753, -0.0855, -0.0562, -0.0122, 0.1162, -7.1863, 5.2855, 1.0085, 0.3248, -0.2027, 0.4322]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38fc27b4ea0639c12626a3303aab68526237f0e58552c14fb95e516affbb681b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bfeaf63a752271fc22aa3d460ef7f3e45bc36778562113ce322e881e65d09d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:578591a088b952fe69fd65d0cf491464540672e5703aab5e771c06dfe24c0f39",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJr2NHc6zEG3Ju1M5DkxLeX13zccVVftMLIQ0hqSK8GXJ0kTQ0wZqhufndN_ldmfqD0TJOzY90HKJlSDh01SEOIg5WpUnou9m6DOhp8hLEoi69ZlNJhEXBGmganeJwefPzpEm3MV3xKjdwHwdadKqlpxGmYKizmnhHy9lXEKQjYGOPk-D_7hhHIgDc-2pBMiK3xWZWkw9zXkWMMCpAbnYqzTUKdSgE3On5l0vSvHx2Edp2_HGo1nELTVC1_UHluZy0_iWTRw_WnVnru8yGGFyTtSRi3wFNEl62ZSipcRx7Fv_VDilUefqzg-_h3lkGqnaleTKCE9q91o78F8tZEXZkT7Tmw4qMAAq6xlTuyQElSu9p9MYiWD3Gxn_p6ui1P78SwS25cP-rSsSpFSD2Zm_zjicpNw1jZMWDzA-JF0DTestKvyoDP65y6zAzQdCuHdqnHqJ5QEpge4Jz-kf8WCD-WikDPwyczG-WoUTs-zEe8avPyb6A0irbBgQMIjQcagyaH58iJMr4MzE3BJc_mLJZJRVe97fN97DmXssRrSAQ8XNGYpkgDiGQ5Z6NXYfBFShBfIRQDjkob2Qijk3213jSDQxa5l1nrZSR4zMG6FPlANJpxNDK_uSgM4Fg3Q-6DnvHQGuwRSS03ESqeHomvEjWEPb28c-vbcZSndHAVrIzfgcEnfJZCsPIAuBDuclVBrTztfm76v4zBGPfM4XE9X27kEU3UwNVX9Vu4tn8JWiUew1DLvSwdxCheX6HMtqVeJKvoCLoAn0rmQogrKvwjBUgkUfXEvMfD8A0FOPf6aDlmTXxH_9HoSPNQfF6y7pcjFfGE9p5rFIAugGYhe-put5c8ASTTHvN8yPEPHHngIcdfpNRm67B30Ecx6wX-c-jwT0MfiVDOvE5Ads21y8W5Rguuzo5tKfRRCi8UzOZFlSRBSQIYP6UwxORFfAxYL5d7srxrK48bvQgQUlWIy7UYQhukr7y70w5utCZZeo7XHTLOVH7m0vULEDfurrl34fqdSgf7xHqqZlHx5jqdQayniRvBB7ym9EAyUyPdVZ46mzivWyZYP2q_bq94qNxHVTS4VM9Ou4fVyHKrHIN3roj0E69aKyoG1peytjwY7JX7btP32XiautlpOSvgnLcd7Kms-qtGhuGaX_sEcP2G_pQEs9bTmKQb66vPLXRmpz4tGviJHzeLrAIwxe-0bSuxiSOi4mUCdpbJXd_q72LoQNxUCHg9k93Ll9bsZ6uESDL4IFJjc4qdrb4NIxqe4AWQWrLi0MRMpqMV8FAyXAcvphr6QK68Qf38AGc4YX6-vNJwCB5XHupA=",
  "id": "rs_07ef7fef379d19ee016ab49af4becc87d09fbdaedc6b1aac4e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.437,\"right_y\":0.073,\"right_z\":0.1,\"right_gripper\":0},\"note\":\"The bowl wall is visibly between the closed fingers. I’m lifting it while keeping the gripper commanded closed so the rim does not slip free.\"}",
  "call_id": "call_5WR6mE5B32WQcLVbDoSwko9n",
  "id": "fc_07ef7fef379d19ee016ab49af518cc87d0bf2586816fea54bd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5WR6mE5B32WQcLVbDoSwko9n",
  "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]: [-0.0196, 0.8165, 0.6075, -0.3939, -0.0227, -0.0494, 0.9993, 0.1932, 1.6913, 0.9791, -0.157, 0.0719, 0.0059, 0.0486]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1725 left_yaw=0.0045 left_pitch=-0.0316 left_roll=-0.0063 left_gripper=0.9993 right_x=0.429 right_y=0.0747 right_z=0.0714 right_yaw=0.1151 right_pitch=-0.2956 right_roll=-0.037 right_gripper=0.0486\nstate[joint_eff]: [0.0068, -1.4701, 7.0085, 1.6825, -0.0806, -0.0757, -0.0122, -0.3897, -10.2085, 9.0872, 1.6825, 0.1978, 0.105, 0.9109]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:214a9d95a4a9910a566cd554eb0f9200c991d52e8cad6ca5d2903640a00e3356",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24924f4d1b729c79f45bedd3ae5102e12ec96f49fc50f83f18b7307cea1b8218",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea4faa51be5833ee9f340b6b26693be50457e69d01c1d40ecb140dd1b2cf2656",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 3.547 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 28 changed as sent

message 36 changed as sent

message 40 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.3897, -0.0227, -0.0494, 0.9993, 0.239, 1.6333, 0.8608, -0.075, 0.157, 0.0422, 0.6973]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1747 left_yaw=0.0045 left_pitch=-0.0225 left_roll=-0.0065 left_gripper=0.9993 right_x=0.4096 right_y=0.0751 right_z=0.0643 right_yaw=0.0673 right_pitch=-0.2648 right_roll=-0.0758 right_gripper=0.6973\nstate[joint_eff]: [-0.0205, -1.5111, 7.0359, 1.6777, -0.0806, -0.0415, -0.0122, -0.1846, -9.0051, 6.694, 1.7021, -0.0269, -0.0415, -0.1099]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8154, 0.6075, -0.3935, -0.0227, -0.0494, 0.9993, 0.1917, 1.8233, 0.8608, 0.1402, 0.0879, 0.0177, 0.1031]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1729 left_yaw=0.0045 left_pitch=-0.0301 left_roll=-0.0063 left_gripper=0.9993 right_x=0.4369 right_y=0.0726 right_z=0.0207 right_yaw=0.0942 right_pitch=-0.2475 right_roll=-0.037 right_gripper=0.1031\nstate[joint_eff]: [-0.0889, -1.5111, 7.1043, 1.7753, -0.0855, -0.0562, -0.0122, 0.1162, -7.1863, 5.2855, 1.0085, 0.3248, -0.2027, 0.4322]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8165, 0.6075, -0.3939, -0.0227, -0.0494, 0.9993, 0.1932, 1.6913, 0.9791, -0.157, 0.0719, 0.0059, 0.0486]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1725 left_yaw=0.0045 left_pitch=-0.0316 left_roll=-0.0063 left_gripper=0.9993 right_x=0.429 right_y=0.0747 right_z=0.0714 right_yaw=0.1151 right_pitch=-0.2956 right_roll=-0.037 right_gripper=0.0486\nstate[joint_eff]: [0.0068, -1.4701, 7.0085, 1.6825, -0.0806, -0.0757, -0.0122, -0.3897, -10.2085, 9.0872, 1.6825, 0.1978, 0.105, 0.9109]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:214a9d95a4a9910a566cd554eb0f9200c991d52e8cad6ca5d2903640a00e3356",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24924f4d1b729c79f45bedd3ae5102e12ec96f49fc50f83f18b7307cea1b8218",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea4faa51be5833ee9f340b6b26693be50457e69d01c1d40ecb140dd1b2cf2656",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJr6uW2ZifA9LEc33Kkd_MuXginPw4fuWexTEvBMnIPlJDsOnSLyq5hMNhghq1GjmTLwEs3W2ejaVkq5Lr0mqfPqjQmF6VGGf34o60lIsa-6bPa7C5aqb3c2ZZveynaGEKwFJTrRADk-6oOzDTiW7UgDQ9HkZ_0qXSZshQS1PTuLerBpon7z_1Wq5OJM_QWAPuoFO_D3eqnFevR5wL-GTTLSwpYug7KHG3DHXPXJu7lGTPTsPnXT8aLhpQB6TXkfFIgVuINuAPm6RPPzoxhPBoLibtnkHC39u59GNGvIDnSkqyeDr79Kgyr8kTV5eRTjClkOJ9ZqG7v9o2Mme4BYd26C_Ec0_8PAnD37b3Dzyp1Vi7gEiEJlY2vB2NyYQbnFCC3d_0jgjgesSVaC2zU15SIZviMcWjj8EkmcyVq8g93K_0Cc77UIcraUWrmE0DHCw1pjRi1QmkyiBpyaYFclrZ7lRBmYdomPBCJbFhaIVQoN_f_R40hGrFw8GacLgYbM_AbGi7VW4VX24qfQZ1GqoRZZFIIXLBwhDTgLdI4sWllyYJn9QPe5YslqYGEGPCtPBY9AXisSHDKqs7oDjcDalu3eMdEABUNHbtXkU6blaxlhRjmIe-Cq3AZStDVL67lEBquHBkOiAy5uRdscdDyAOt3Qh9XZqzke_poZw2wWnxRaxCwx8TpqeohRvDfuylhTgp852ssy09JeUdYnNH84YXB6-1zL44hmSveUXra8v-7XeArfj-qBmMPAze5d7oIV6QfVNH6GZAKJCxp7iD6hEJWj1GTUfP6zN6Jsamr6vPFGBnCous05zRXzmPCdpf7g0nAkvQl1gTpc1w3pUOZmktSIv-svzcotPgJcwesKzJuQM72p4wLDCaVo3NQdfOaR_c6Ulwee7bAfMaTUshTt5TLT5k469zir7neDtUPUPWuZzuQ0PVHeckvWYuoyUY2hANylsxi41n15g0v31NROszMCu_mwYM3dC5LqkjHAjbKHBlE61jLJsxK1nzAiFP1i4lFtqrKlz31PdyLqhEWru9rHJgCPjbSMZ1sEpgL7dQRtLKDk5LBREnw2yOK9IFQtayYmcognzfFupvSLJ4lzvAsGlsvavYpv64wfTSDEKWhpeTaRpEPpEsy9upxc1qR9lU12eZyr4xh00NrZT5D6Or7CsK2RCIao5aehZ6X-nfGXlz20jgtUV6S4ToUptvFHPlhvr0pYLkdwzUDY37kW9h3C5LdjlVyYNKScg9DyLMdzRpWR9hh7OZFLm3ZR2AazmnJWbkRthgm_y7KnZUxwXga5femm2RmFWrQpNS22m8RxbVhjLw0KYBoJw3uFd7VklbtrUxHaXt_3KRfhhfVknGhrrf054mWJbnt2fK2IsNwAPojEE9OrQFpbpalPlXCOahRWlsA14G6L-ctrt0uYeADP7RJ2WY2TwUMvS-hteaRBSyqe7MEjnlffXkKEfucv9kzfK39wflFgHMUp5kJy51LqNEQELTWV461nqwDRzjevJDqSaRxQSeXza2fk0geszp23FMZOt6e-jKXz-lO0iuEdQLA1qL2DUm699Qzq67tJGVV_P40v-yp_SY8Q4dU4i_XBRToTrzVAYEaSCnIZeT9HDeCOV0vIOjQvZEGVxUZDW7a30GevYPC0NxyuMSx76r9tyLL9DWg1xkC7xkvi0S-CoXgMJzb0ZIFmi-oqv4m2fve8PQCrmkhlVMUOVr7k5PcuoGDnDItGkhjo6GSxRsjhrg==",
  "id": "rs_07ef7fef379d19ee016ab49af8230887d0acd5054890a6c497",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.435,\"right_y\":0.075,\"right_z\":0.21,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0,\"right_gripper\":0},\"note\":\"The pink bowl has risen with the gripper this time. I’m lifting to carrying height and leveling the wrist before moving over the blue bowl.\"}",
  "call_id": "call_Wrx7TbYkwnXKuVkghqU0Gz6i",
  "id": "fc_07ef7fef379d19ee016ab49af990b487d0b5ef53fa8ebdc47c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Wrx7TbYkwnXKuVkghqU0Gz6i",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.4023, -0.0227, -0.0494, 0.9993, 0.2417, 1.4773, 1.0351, -0.2558, 0.1753, 0.0803, 0.047]\nstate[eef_state]: left_x=0.2936 left_y=0.0018 left_z=0.1706 left_yaw=0.0046 left_pitch=-0.0408 left_roll=-0.0061 left_gripper=0.9993 right_x=0.4236 right_y=0.0764 right_z=0.1676 right_yaw=0.0387 right_pitch=-0.1144 right_roll=-0.0321 right_gripper=0.047\nstate[joint_eff]: [-0.1162, -1.4564, 6.9949, 1.7607, -0.0708, -0.0806, -0.0122, 0.253, -8.4855, 10.8786, 1.8779, 0.1832, 0.2613, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4b75b3bf7b9807c1c8433873e9b77b2abb87381f266462b7e29da33bb182f0e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d7851b204abbe790905a93f9d4958151a196f0026844491f6e0f9e70f22b185",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:898ebaf04322b2cad973e9e2a3945ab92550d5b987bf72db898ba7c82ff4f7a1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 7.036 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 32 changed as sent

message 40 changed as sent

message 44 changed as sent

message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8139, 0.6075, -0.3904, -0.0227, -0.0494, 0.9993, 0.1925, 1.8404, 0.8528, 0.0895, 0.1169, 0.0051, 0.6996]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.174 left_yaw=0.0045 left_pitch=-0.0255 left_roll=-0.0064 left_gripper=0.9993 right_x=0.4237 right_y=0.0652 right_z=0.0031 right_yaw=0.0743 right_pitch=-0.321 right_roll=-0.0769 right_gripper=0.6996\nstate[joint_eff]: [-0.0342, -1.5385, 7.0359, 1.6923, -0.0855, -0.0757, -0.0122, -0.4171, -7.0222, 6.9812, 1.1306, 0.0708, 0.0317, -0.0464]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8165, 0.6075, -0.3939, -0.0227, -0.0494, 0.9993, 0.1932, 1.6913, 0.9791, -0.157, 0.0719, 0.0059, 0.0486]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1725 left_yaw=0.0045 left_pitch=-0.0316 left_roll=-0.0063 left_gripper=0.9993 right_x=0.429 right_y=0.0747 right_z=0.0714 right_yaw=0.1151 right_pitch=-0.2956 right_roll=-0.037 right_gripper=0.0486\nstate[joint_eff]: [0.0068, -1.4701, 7.0085, 1.6825, -0.0806, -0.0757, -0.0122, -0.3897, -10.2085, 9.0872, 1.6825, 0.1978, 0.105, 0.9109]\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 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.4023, -0.0227, -0.0494, 0.9993, 0.2417, 1.4773, 1.0351, -0.2558, 0.1753, 0.0803, 0.047]\nstate[eef_state]: left_x=0.2936 left_y=0.0018 left_z=0.1706 left_yaw=0.0046 left_pitch=-0.0408 left_roll=-0.0061 left_gripper=0.9993 right_x=0.4236 right_y=0.0764 right_z=0.1676 right_yaw=0.0387 right_pitch=-0.1144 right_roll=-0.0321 right_gripper=0.047\nstate[joint_eff]: [-0.1162, -1.4564, 6.9949, 1.7607, -0.0708, -0.0806, -0.0122, 0.253, -8.4855, 10.8786, 1.8779, 0.1832, 0.2613, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4b75b3bf7b9807c1c8433873e9b77b2abb87381f266462b7e29da33bb182f0e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d7851b204abbe790905a93f9d4958151a196f0026844491f6e0f9e70f22b185",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:898ebaf04322b2cad973e9e2a3945ab92550d5b987bf72db898ba7c82ff4f7a1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJr_f07sTPE3Ce8G2WQtFnGlBvPqwB_Vh2NSFpN0v6J1l6szz67XsV3drgUlyx41SaBxdQ-DJYHuTj1GjQXgpE3mh9b21qpyVGBDCTtXTtqDFLc8K4Fv4A-PqoLPDRsl9YgV-gMHuAOKGJ-W5zVI_CxtmE36TpZFKToTJA4U_ym1NchTiEXNCB0BGzicw-VYxDbRzl_IclzyjHo2CE3JyBcjBH5FfwgRHNVeA5e-mLKufPVoMQ0uhSgtvqWoiWnjwb7r35_cHVvG2D-OkNkhfi56a4yz3jAPzixWzRwF_HmQL4d8j-DgK9RrFVuIU4SZgnXWt1J11qlwO0ECwPbu2kCHNvYoSh9xk3hCsaX00O1ra4AKhIKS-PNfIQAIU_tSnIw66itf4GgYY85wqHA5JluFQ6BsVrmmLsPXP6ItEyI6CQzXTD3ouAwATQ8C9YKgiF-fo8W4K5LCEMjDhEniQQ8pYenet3jU3pjoerdBMiwwNgmFR6RCkn2www-HW0OE9rhx_H8OuPhLIxMo4tNk_-_6W-aDu3TRPGULGSGwVRgBJQxIzOUA-oWYtzrmUkjNLJYNt1QJK-TToek3pQFlo2Drhn5W5_Su28HCFaJld5NNRrrmAav4GhOKGRYS83x0zg5WOljfP_ezRgliifPCfCHj4_srJE6vCAE99dxFmVWmEVASqwAsh5rYgs0iVbDKJYoJKhXYz54un4H815D56DWOglgGXRIddPtezORsQoH4kVH740LCw8Frn0sEPvulbXpMRVzuU_lp72SLZm-8liZwtnmb4e9SR2Ic6oOGJ3e77ig6oXMkYp-nEeGEXJwK_3skK8rUVe2610rFm2gk_9iLQBjGFw8NV86nYFja5b05_yf2c1TYS5Ele9wGaBcn81Asuqmb1LoYbVOHiC9Sm4NTMN94Qk4M73q3XXkbNs5N-16EbbzSQYKbYZ8QwD-w2AWGNKaJvIVhiXEVIgaU948uGNlcSbvVxOm_kSt0MCzLT2P0cpARET_wvwJCTJitqn4s1wymq8Hgk85VFB8YCmux14PZvqAGYt9yRVXTyeszxV3Zm9OvUJaDHSqz1IKmsC0YTZEzBHquYrenmnBNkDwGzy8CQNItUJK--JCGdv_rwVVUD6bL2FbafxYlRaMl6QRYZpRduPJFnFlcZT2S2q8ZfZtKvSdxwSBHGd-8MVZoZ0BiGXetPQvtVeYrQ_JEddR34vJ4850js33r622PBY568o964Sd_rYvTsTtPe7o0Y5fgR1pr1cSBYHkZY1mNQWjOqmGJ_txoV-mstmQfDMwzYXrD4hVlke-kLgc4LH7AdtMObg3aHpwrVS0iIrX4aVCQVFCRpm56M0ykRw6Sl36LDMJTYT3TWGk35saNRRHGCNljr6ag3Op20Tr2w8tVXuOOrCq7QjXxKpngfuAxv5jGVcDteFAsnb3GmMZSVTE-HXOfJb4BBOb24cVtjhDIaX-3cIZQ8Ew8LYEkYxjxQIKDKwjNhfTFGDXnk5trzf6T-KXehxS7ZFmt_9KlGzzn-Min",
  "id": "rs_07ef7fef379d19ee016ab49afd04ac87d0a3d1603f7408d707",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.445,\"right_y\":0.22,\"right_z\":0.21,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0,\"right_gripper\":0},\"note\":\"The pink bowl is securely suspended above its original position. I’m moving it leftward over the blue bowl while maintaining height and grip.\"}",
  "call_id": "call_nNNHS9BHe5EaHyuLCbJqq9lA",
  "id": "fc_07ef7fef379d19ee016ab49afe1af887d0bebb7ef21e4a2afe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nNNHS9BHe5EaHyuLCbJqq9lA",
  "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]: [-0.0196, 0.8173, 0.6075, -0.4076, -0.0227, -0.0494, 0.9993, 0.6216, 1.729, 1.3483, -0.3687, 0.4683, 0.308, 0.0469]\nstate[eef_state]: left_x=0.2929 left_y=0.0018 left_z=0.1695 left_yaw=0.0046 left_pitch=-0.0461 left_roll=-0.0059 left_gripper=0.9993 right_x=0.433 right_y=0.2165 right_z=0.1824 right_yaw=0.0545 right_pitch=-0.0832 right_roll=-0.0525 right_gripper=0.0469\nstate[joint_eff]: [-0.0889, -1.2923, 7.1863, 1.7265, -0.0708, -0.0611, -0.0122, 0.1026, -9.1282, 10.1128, 1.8535, 0.442, 0.2515, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e41f694fc5b879e22eaa154bc9f8b19346d3980e824ed3a77ab4bee1593c3565",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e70df461d053fffc5f4184390b8d80e229905e192a2353e71d4185e438df5bd7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c64a8e54a810eb17eec57bd93d9eb8bb8b65bb4c66ec54f938f461a0ddf4126",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 3.833 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 36 changed as sent

message 44 changed as sent

message 48 changed as sent

message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8154, 0.6075, -0.3935, -0.0227, -0.0494, 0.9993, 0.1917, 1.8233, 0.8608, 0.1402, 0.0879, 0.0177, 0.1031]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1729 left_yaw=0.0045 left_pitch=-0.0301 left_roll=-0.0063 left_gripper=0.9993 right_x=0.4369 right_y=0.0726 right_z=0.0207 right_yaw=0.0942 right_pitch=-0.2475 right_roll=-0.037 right_gripper=0.1031\nstate[joint_eff]: [-0.0889, -1.5111, 7.1043, 1.7753, -0.0855, -0.0562, -0.0122, 0.1162, -7.1863, 5.2855, 1.0085, 0.3248, -0.2027, 0.4322]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.4023, -0.0227, -0.0494, 0.9993, 0.2417, 1.4773, 1.0351, -0.2558, 0.1753, 0.0803, 0.047]\nstate[eef_state]: left_x=0.2936 left_y=0.0018 left_z=0.1706 left_yaw=0.0046 left_pitch=-0.0408 left_roll=-0.0061 left_gripper=0.9993 right_x=0.4236 right_y=0.0764 right_z=0.1676 right_yaw=0.0387 right_pitch=-0.1144 right_roll=-0.0321 right_gripper=0.047\nstate[joint_eff]: [-0.1162, -1.4564, 6.9949, 1.7607, -0.0708, -0.0806, -0.0122, 0.253, -8.4855, 10.8786, 1.8779, 0.1832, 0.2613, 1.0281]",
      "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]: [-0.0196, 0.8173, 0.6075, -0.4076, -0.0227, -0.0494, 0.9993, 0.6216, 1.729, 1.3483, -0.3687, 0.4683, 0.308, 0.0469]\nstate[eef_state]: left_x=0.2929 left_y=0.0018 left_z=0.1695 left_yaw=0.0046 left_pitch=-0.0461 left_roll=-0.0059 left_gripper=0.9993 right_x=0.433 right_y=0.2165 right_z=0.1824 right_yaw=0.0545 right_pitch=-0.0832 right_roll=-0.0525 right_gripper=0.0469\nstate[joint_eff]: [-0.0889, -1.2923, 7.1863, 1.7265, -0.0708, -0.0611, -0.0122, 0.1026, -9.1282, 10.1128, 1.8535, 0.442, 0.2515, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e41f694fc5b879e22eaa154bc9f8b19346d3980e824ed3a77ab4bee1593c3565",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e70df461d053fffc5f4184390b8d80e229905e192a2353e71d4185e438df5bd7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c64a8e54a810eb17eec57bd93d9eb8bb8b65bb4c66ec54f938f461a0ddf4126",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJsHlpuosDEU72J4yXWZyHatbCLFgdk4_hfSVMskWEu-eSCvT1M8PznQGSkRtEBv9JziVDWoZXOPGP8dXh_OL8DSEPRn6F81oEoPhzZkbnuF9tcNnTTtTzsb3WzrY9Gam285Pb7dC-COcB_yIwfd3y3QQb44APvGru8kJht7vV0ca9mN0EnSVjI656jRpkZFeGMwj6O8fVdrASgUhfRkErJwRLjlZ9RQMtcNjYpx8J6adMZ5-Y6GLJkBnQgbOqKp2Llx5S8Xsd-h5YfaZe_2L7hfT5IXZEHcB1DWEAb8n8SDi1637NBqb7QUzC65b1lGkrPiS6YaCFjjKw-r4yl3LxfmQzZfGgqdzSM_hGDTb1fYCphsfVd-9LD8Okmb_EZ8KibPpczha2Zavq3fsY9-RwFhlUoFZ6P75d6l5rpJ-zslQuMnzz8BRmjQ0oXtiUagJgqcdEzcpql6k4Tuyb3B1qAFRzj3X-rQYO3g9Z4pJBPq06DWemMtFxM6g9vfwM6r0lg7lFMknT_iSsSSbiqRYdkBMGgO2Ijk-cYNCoUE7nYswS9J0jwBtIK5qNM4pNRia2Fc48TZHDqYXe4mOgFpQDsOClZsXBtIhQKv7NiW2k3LiSK2u4muqpjerMUXQGoRUIpzmMwX13UcvnACAHytcahhhUD67Mws2GcMY_GvmRQmr4GjGkubOUpNYVA_msjvFKdD2oiwmHiEz2Of4v0gOBk8MIrjtuuC7hW_59PJFtyvzZ3pihSSbj0soRL5l6leQM6WAgfoFUK9Yf7j_V1nC_XTh8Gp76PxoCQ4owPESUq8KXxiiawg1CeQNyKW63rgJl0bX-cuyt41pjAUqNaKZT1vEnT6kDmcMiILG7BRKvKQwo9qmdqqMLUehMO6jLbrQ-Ymr5cnDTaxfv2sQs8WwvDtZS5FncP277wAjIV2mhw-im7v71VwnzbVP4GeAU1LGo6yP6D3__NKzEhtaTbxXN98sjL9ayNzSJwvG_8SOwdL8cIyGhoo6utaYywZo40sL9vx2dwkqB7us0No1vC_wqKA3QRt_g6iKaEUrWfi4VFcJ1i2BuDQEst-fL89SNpkbwy1gdKQ2L_Xmklr_r_fzU27S8SdwFrT3ieWKplEpqgJyKlI4jBiUl8fJBCv32wljaOlZV6JS6ZErOHV1yJB840TXDeGDhVqWJ5GuF4GwlzXh-k4HeBvR1dhij0w537trzhSD-wddW88HTaxIPRQLD-IB4O_eX9_TjQPLCdym4KWW1M95aOunYpZI7Mdxh9yEu5pDbnqx65GdVAlv3C-t-IPVopiJB-tRXGZjtC1XYMdDSmzhlcTF9fVlDw9LD8-MTpYT1PQeGoTc9-EuG-iUKemLGxDcakQmuYRNmYyIDxBRmLbtehkJqTcq2rFpyLgAM5pSBTHed-Z_6v5oFYmG6120RlSWTR2myTzPDZa7iQbfh45bZevv_8I7ehlhqYcQbOh_277mN3sfyTBojCrwtoWGFchgjjG89NmBpfDM9jJ3URV1fNKBLF7ns6_OH8tayddalodm2eFGP_-je2OEwhJWRSL6j2gtBrkW4jD3l21UIUWnzW9OuIv_rGrD_g0EtsmNDeZYquXGXrsL6z6ZANTJqRxUjwRABKBtOUgj0qeNwMkD7VR8bLnoRYfO3j0-UsDU6yuVvtTKxSwrmumD6JSc4uQh_bPTX5qvxdiFFlDfxiQip_JwJ4WIaIT5t8jIRTcsH0ArFeU-IJObdb6rdur4F60ygyWgZJTB4k7pyjFxMPJkdP_JMDIoRGAl4ignRPZJi8QG3BwTCA60aKSTV-uxr2UW7YGnicSL4nIcZJ1qX0jhRUTYOtcf5DCyVyONloixC1tigeNNMowxRwuts3ObK4n5g3bCc98Fxl0_g8rISzoyOFVGQvhH97hoCIVfCC3Qgk37pjdNubAgnkOYFIc4g-XaWh_sa_QrGUBP6smrWtKacgPR_hbzhvYCWvZo-QW9mmujbQ92tRR1_g9MbhaeVg5eOawd5HpL3Vf9jGc7pqycAYXRev-ZwUP9dNCj8RqZw6xwS_8ugqQsARzgcgu5aC7hRyX0kOT7UzXmPrJCT4MezwRL4hsHcWvGwg3ttEzRAtZTEd6014jUhHYGsyr-oeqwJQgEHMBXhY2-dpN3AiIds7E2D4aThdZWyTexrBDiVrnQc7sSO4OuVbqH862anTBR8IuQ24w55mxUGYh9oO1Seyquhctnt-M7GsgeEmMcs4xyycLZJUKCZMoAHc5n3wA3VjtsNEltbyA6SbiZ48oNLuPsiqzvE1uHw78zmDW4biBGHb2pTBl9G4M_NZpMXqmDZiraauRO4-bFdrD-MWlcLkqAVBmWTbTf_B9q8PRHRlXgTQsP5gn5N4tswlTfw==",
  "id": "rs_07ef7fef379d19ee016ab49b01c91087d08a8268a7fa9d3086",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.445,\"right_y\":0.25,\"right_z\":0.095,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0,\"right_gripper\":0},\"note\":\"The suspended pink bowl is slightly to the right of the blue bowl. I’m correcting that offset and lowering it toward the blue bowl’s opening.\"}",
  "call_id": "call_CihjhaIpomZtxjGlCM5zmyoh",
  "id": "fc_07ef7fef379d19ee016ab49b063dcc87d09957677824233b01",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CihjhaIpomZtxjGlCM5zmyoh",
  "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]: [-0.0196, 0.8185, 0.6075, -0.4076, -0.0227, -0.0494, 0.9993, 0.6853, 1.9244, 1.1881, -0.0624, 0.5285, 0.3698, 0.0468]\nstate[eef_state]: left_x=0.2929 left_y=0.0018 left_z=0.1692 left_yaw=0.0046 left_pitch=-0.0473 left_roll=-0.0059 left_gripper=0.9993 right_x=0.4324 right_y=0.2431 right_z=0.0803 right_yaw=0.036 right_pitch=-0.0975 right_roll=-0.0665 right_gripper=0.0468\nstate[joint_eff]: [-0.0615, -1.4701, 6.9949, 1.7167, -0.0806, -0.0513, -0.0122, 0.335, -10.2769, 5.9145, 1.8339, 0.5397, 0.2125, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:467e7f7cb22d867e4a247d85a77145087664e9002e58d5d88b4c1b7a4baaacc8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d92f44dd942c2f740e79bc31d8d8035704cc088b43b5b651dece4265c01b7ffc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a203cfe7ca800c1329b8c9a4766eb91706c2f71c887517e032d63fbed6e20830",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /responses · status 200 · 4.429 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 40 changed as sent

message 48 changed as sent

message 52 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8165, 0.6075, -0.3939, -0.0227, -0.0494, 0.9993, 0.1932, 1.6913, 0.9791, -0.157, 0.0719, 0.0059, 0.0486]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1725 left_yaw=0.0045 left_pitch=-0.0316 left_roll=-0.0063 left_gripper=0.9993 right_x=0.429 right_y=0.0747 right_z=0.0714 right_yaw=0.1151 right_pitch=-0.2956 right_roll=-0.037 right_gripper=0.0486\nstate[joint_eff]: [0.0068, -1.4701, 7.0085, 1.6825, -0.0806, -0.0757, -0.0122, -0.3897, -10.2085, 9.0872, 1.6825, 0.1978, 0.105, 0.9109]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0196, 0.8173, 0.6075, -0.4076, -0.0227, -0.0494, 0.9993, 0.6216, 1.729, 1.3483, -0.3687, 0.4683, 0.308, 0.0469]\nstate[eef_state]: left_x=0.2929 left_y=0.0018 left_z=0.1695 left_yaw=0.0046 left_pitch=-0.0461 left_roll=-0.0059 left_gripper=0.9993 right_x=0.433 right_y=0.2165 right_z=0.1824 right_yaw=0.0545 right_pitch=-0.0832 right_roll=-0.0525 right_gripper=0.0469\nstate[joint_eff]: [-0.0889, -1.2923, 7.1863, 1.7265, -0.0708, -0.0611, -0.0122, 0.1026, -9.1282, 10.1128, 1.8535, 0.442, 0.2515, 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 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8185, 0.6075, -0.4076, -0.0227, -0.0494, 0.9993, 0.6853, 1.9244, 1.1881, -0.0624, 0.5285, 0.3698, 0.0468]\nstate[eef_state]: left_x=0.2929 left_y=0.0018 left_z=0.1692 left_yaw=0.0046 left_pitch=-0.0473 left_roll=-0.0059 left_gripper=0.9993 right_x=0.4324 right_y=0.2431 right_z=0.0803 right_yaw=0.036 right_pitch=-0.0975 right_roll=-0.0665 right_gripper=0.0468\nstate[joint_eff]: [-0.0615, -1.4701, 6.9949, 1.7167, -0.0806, -0.0513, -0.0122, 0.335, -10.2769, 5.9145, 1.8339, 0.5397, 0.2125, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:467e7f7cb22d867e4a247d85a77145087664e9002e58d5d88b4c1b7a4baaacc8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d92f44dd942c2f740e79bc31d8d8035704cc088b43b5b651dece4265c01b7ffc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a203cfe7ca800c1329b8c9a4766eb91706c2f71c887517e032d63fbed6e20830",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJsL4n3t5zVqyb0LON6ll5B-QyUGZhplZGj9Q-yImpdRuKuudqoe-QlnREeHpEHcoN-qAjbBosYBSqdm4LtaB_25N9YQDO4kSQG9IsNj5VFQdqH090vxVq1gmvlyyoxgKRZbepJDcK04EZG3_CBIUPKanLJ-pmu1kvyz0sbPUq6Ea9nvKPsUYMJqCXRXl_Lju5FOWI2UtBQq5oSncmnv_HA60mj0niIoOReq4PltIm_1167ifpiQIMVAc6Bb5F5UkQKjoTS6WHBZ_uny8UGHsLjCDLG-fQyLJ_R_vXM7i2aZwbNC0j3Lv_s7RShhZvt3FSG2RJyXJDFr2CyGPpScaSDdaRPjxrF28A1T8MuNzx0g6udw0l30-2aG7Pu7fh8y5Octy0ZaGsDfajPAwRAcxEuZ38jHiBOZiSNVYa9ugkPZKF9WsBqxH0mq-3Qg4pCsivzm5iuQyO05xzbd5hq8qxhV4TdbCB7I8C344KMLAgWgvedVGp8IedZl0p7xS4B6eWZVw3XmTNLSOy9OLdlzWDRoMLj7fJ_KDcl9o1aDgwgiym6bATc4YWDz20oDQiT3D0dV0bQvT3ig_0iojyaVPw8pUfTGwl-s5onHDHdVl9Wk8IcyNn5eCG77h7h4miTYkQOxRHLsKrJunM720fzXcg1VlUcQhmZ7rz5vjFjBNygqzDWB1MQ8pGQmkePUcwb3bW-nAogQyplwaUSpp1OgXM2F5PkkFEdKOiFFPSivU1IrdW4qrvFSBtOkawWmbIf8lL55MZaHEQxzTRYRJV7TGaG4C2egIMVcEeqyXNegH_H75t6AgGxAyZY7VhWJp04JgjUJHpD6Fg5hUbQ40LkSVcOvjhJB1WAFytl1_zL7K14OkSnVIuF8nrJc3HS338AMv7zQC2jpJpE_izPbTWBWIaA1WpSb5kOcggPrdh3GplmkCv6uVCirKM90yJfASdaN1WrWIY_tJ8kfiGg37wETqdwMtaHzF3XYE5gsVrZwm9etm4OqDLnnGyYtsPbBnvcsrkd083uy3H3Z7rAD8JLm8jJUHqf8yAlF6U0TjgZi5GTZ1kEnbVXItnS6xVT8BZh8qCj43BD0JX4774AFZRhpCaDSkzPrLYpWRZ8ulw6kCmAZI2hHX_rmJChYqv_NcyRjOdmm1i_kYhUlBNBF9mSXhBR-g388Yujf7eku75Do_s531gTvEkR2iqTMf9gCgvkbuzMOnR9G2J-lcDysG14V4Ovv4T21mmIsIaEKb3eU5nyAh1tPfkmG1hnSPfb4naag5BdeaVjDK4qgOPn9MJbnmO8oGI3puNj7gSo2MAQJQ0A7p688xo2w0FDNuoGnpw33itdfzDVIFQRqBAw_XnM0SbImXonkjr42TnJI51axQ3sZMseQQbXnQcuUudij9fIvRRxgON-7_qA5zH5OyxjSlNqmd-CO9bz6j3XjbI2aJ0vZ_2VKBWvgxjKXRyhZ8B7ndJ3dc0n3sjMNHJzmuhPbVf3RpId-QGFQ9udwhG3fNp7BJhafxPtSRIAIfRqnAB7eMHFHkGXxfdOxW3dFWNOIf125MTk9xjpK2cDiyDTG2hBr1-g=",
  "id": "rs_07ef7fef379d19ee016ab49b0927dc87d092cdb8b5310eb23a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.445,\"right_y\":0.255,\"right_z\":0.042,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0,\"right_gripper\":0},\"note\":\"The pink bowl is now centered above the blue bowl. I’m lowering the last few centimetres so the bowls can settle together before release.\"}",
  "call_id": "call_txBbXtVfPgSlWSUO1cMQhph6",
  "id": "fc_07ef7fef379d19ee016ab49b0abfc887d096b6e524557f02b1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_txBbXtVfPgSlWSUO1cMQhph6",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8185, 0.6075, -0.408, -0.0227, -0.0494, 0.9993, 0.6964, 2.0342, 1.1328, 0.1799, 0.5594, 0.3962, 0.0446]\nstate[eef_state]: left_x=0.2929 left_y=0.0018 left_z=0.1692 left_yaw=0.0046 left_pitch=-0.0476 left_roll=-0.0059 left_gripper=0.9993 right_x=0.4431 right_y=0.253 right_z=0.0482 right_yaw=0.0122 right_pitch=-0.0231 right_roll=-0.0142 right_gripper=0.0446\nstate[joint_eff]: [-0.0889, -1.4017, 7.1863, 1.6777, -0.0415, -0.0855, -0.0122, 0.5812, -8.8547, 4.9573, 1.1355, 0.1294, -0.022, 0.9548]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d452ee22d715a89d5bdaa86b63c0d656e7ecd051dd1f2362738f9dccf8170e94",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b05f3dd711c517b4aaaeb6b835c9d0b5634fbf6b4b6124854ca1099eed6ced2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fc27c0350dad0964511d7e7407c81628c8e955c2b11117562c4c43a6932c2ef",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 2.73 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 44 changed as sent

message 52 changed as sent

message 56 changed as sent

message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.4023, -0.0227, -0.0494, 0.9993, 0.2417, 1.4773, 1.0351, -0.2558, 0.1753, 0.0803, 0.047]\nstate[eef_state]: left_x=0.2936 left_y=0.0018 left_z=0.1706 left_yaw=0.0046 left_pitch=-0.0408 left_roll=-0.0061 left_gripper=0.9993 right_x=0.4236 right_y=0.0764 right_z=0.1676 right_yaw=0.0387 right_pitch=-0.1144 right_roll=-0.0321 right_gripper=0.047\nstate[joint_eff]: [-0.1162, -1.4564, 6.9949, 1.7607, -0.0708, -0.0806, -0.0122, 0.253, -8.4855, 10.8786, 1.8779, 0.1832, 0.2613, 1.0281]",
      "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]: [-0.0196, 0.8185, 0.6075, -0.4076, -0.0227, -0.0494, 0.9993, 0.6853, 1.9244, 1.1881, -0.0624, 0.5285, 0.3698, 0.0468]\nstate[eef_state]: left_x=0.2929 left_y=0.0018 left_z=0.1692 left_yaw=0.0046 left_pitch=-0.0473 left_roll=-0.0059 left_gripper=0.9993 right_x=0.4324 right_y=0.2431 right_z=0.0803 right_yaw=0.036 right_pitch=-0.0975 right_roll=-0.0665 right_gripper=0.0468\nstate[joint_eff]: [-0.0615, -1.4701, 6.9949, 1.7167, -0.0806, -0.0513, -0.0122, 0.335, -10.2769, 5.9145, 1.8339, 0.5397, 0.2125, 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 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8185, 0.6075, -0.408, -0.0227, -0.0494, 0.9993, 0.6964, 2.0342, 1.1328, 0.1799, 0.5594, 0.3962, 0.0446]\nstate[eef_state]: left_x=0.2929 left_y=0.0018 left_z=0.1692 left_yaw=0.0046 left_pitch=-0.0476 left_roll=-0.0059 left_gripper=0.9993 right_x=0.4431 right_y=0.253 right_z=0.0482 right_yaw=0.0122 right_pitch=-0.0231 right_roll=-0.0142 right_gripper=0.0446\nstate[joint_eff]: [-0.0889, -1.4017, 7.1863, 1.6777, -0.0415, -0.0855, -0.0122, 0.5812, -8.8547, 4.9573, 1.1355, 0.1294, -0.022, 0.9548]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d452ee22d715a89d5bdaa86b63c0d656e7ecd051dd1f2362738f9dccf8170e94",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b05f3dd711c517b4aaaeb6b835c9d0b5634fbf6b4b6124854ca1099eed6ced2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fc27c0350dad0964511d7e7407c81628c8e955c2b11117562c4c43a6932c2ef",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJsQb6gkkiIhaV-lgJD28astTPvZeeO5KF7rKFXo_vR0EF1DM4lW-jZr7TV9LgEIwPuyRFD7AwZojMqoN1hQRW3rux8D4iutswdQM75GlC6B0h_e0EjUi29rWrDid77LETplNAERoEohGWQNwtFYL8r4tWQ09-ZKWfBX9CnxhNd8E8VInsv_vN8Y6kDyhbRUx4k1uJOpnicQs_-2nOtYvpDU3hJYU_HbBFMgB0b24w7sNw3Yc13KXe586-b1twei3Ixt8-0WiU5Dm1tG-wpCEht8qmqhJsi7IisNHwaW_0PdXzjtqq7-_T8WXBYXfrOKODYxbHD_Cz_arP1fd8g2G0aC8c4AUKwypqRgSVZ3H6Cy0tsTJAUIvQSW1BZYM6yW8Srv1LfuDxw1NaWfeFUNkJQG4QKCw8o1gOL3257QgrHBecL5ejCAtNQWT6BCn87pqB3-8bXT76z4VXyKf9zLyivU0Z75L6V2b4xGhdVmhCPQkcJ5GrkqSxSAKKk7dmCHXNbsrr8GP27gSbrp8MDuL0CiWpiiId_2yVS8294yBN7AnlC0kLy05avp1XW8O27TDb8DEa7pmoEiK1OWG57jF7aZlk0ySEzQn_fUZSt3kRBwA7Yt1hbGHvw-fGN09qA__erkahrR3DN9S7KJWXiMPpYGmJeOCxe0o_8fVovbJ7LyrRu-80Et1xkOjFQGTzQCK7md5OpvEs4irHloNyu-R7XFyE60yZWe0NaSwdPYS7FHqQs3mK1W4ydzpwARhhRwQJvICTWH5fl5D9N0aPFoWByd9EIR2UwHnodEX1FT10Ejda5HXlA1RGFcKAnj3kLSEgWafpIiAMHWhDuhwpvVOpefzSkTBs7VBNE7-DKMTaET4gu5sgxsO4PR3cVm_PPr3bhuG7UP2F-lQx-rdjVoMQLzAwu2-tdelsjSvOKBDuimvN89I_MI4Co_hyaxC4wqKID7pVzEqOTQ2jatYoSj6KGAYZRvrUFDrEAh5DnFMhvi2qVY_LDeB7pIHH6T84ar4LJtu6yq12NipsdptxFTUL70vm5_24QcaEkAx8TqDFavwdbLvoEK5Rpzz2PvjJs8baInhMYOjfKwUEZhe47wBUQ8Dbr4Wrh3up614fNAvxFLffrTGfzctxfJ23U74lixhHTdxLRQbsuQJfzP6FwK-NG8wo1Rey-Hx-2JLu2SDydtMVwJhvMU8RNZv7m1GQNRelymUiQveU9ku_qmNOovvex0iBDjeD-TZlPrXa99I9ChdtVNh9r0DibaiFITsB0U5PBv_V-b5C4KoZOKUS8A8O4hCsA_YTAafhvgvZ6xQNBhyA9feJSpFaR85JTmIc5t_YxZUF6MtJyIs7b9FHuc9vDlEqN-b3WTYY6f5skV45GGxbPR7pSXt-jPDBBIjYLcA3bRVFIeDN6jHn6zK6CkY8oeNfdXO1GYVIh63pKz6ZcSQbOT4XlNNDH5I7hMHMynRyL5T3JtjgBOD-uVOGF3lN6dsUeyBX2A1ftaac5GcKMXFEWqsS_Bwnz2duH1gJwjNZRMRHbRO8zRplQDLO_guXxkF0tu_wdjd0HYUn8abRfLq5JzrBAGcWMrZpYUx40x8BdLjQZTCfcovqn0tLR7E2_0sSUhwixLrAydBOwGpzfHaSliYyqhbOzu145jm0H5zOrYRwZ0bgDuWj9XpjocAdumkQswK3oKbpQPo0h_Vko8US2vaUIx8RKd1RwkrBSK50sI-Xj3yRWXZcvZQrWLjeTRJhXPrAltzezxYdUEbSuu1DsVmP7eRbXE9yBpj0V6skW-dAyViUkyLmi20rAoi4lv3kUYkAv6AKklatcNdHxPicZKITwZnqm9pKxabH_5V9IhH33AyyrOSJWeKgPM5Qc67ypX9XRDNi7VUvf2xAgetzsMmjVGXUSa2VJvG2VsizCT",
  "id": "rs_07ef7fef379d19ee016ab49b0d567887d0848301c42ab441f1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.65},\"note\":\"The descent has met the stack, with the pink bowl supported at the blue bowl’s opening. I’m opening the fingers to let it settle into place.\"}",
  "call_id": "call_M6OZJHKLEeabiyZB7bybIcf8",
  "id": "fc_07ef7fef379d19ee016ab49b0f97fc87d08fcbf970d1c74352",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_M6OZJHKLEeabiyZB7bybIcf8",
  "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]: [-0.0196, 0.8185, 0.6075, -0.408, -0.0227, -0.0494, 0.9993, 0.7002, 2.0441, 1.1206, 0.2249, 0.5648, 0.4004, 0.6457]\nstate[eef_state]: left_x=0.2929 left_y=0.0018 left_z=0.1692 left_yaw=0.0046 left_pitch=-0.0476 left_roll=-0.0059 left_gripper=0.9993 right_x=0.444 right_y=0.2552 right_z=0.0468 right_yaw=0.0099 right_pitch=-0.0032 right_roll=0.0011 right_gripper=0.6457\nstate[joint_eff]: [-0.1573, -1.1966, 7.1726, 1.707, -0.0415, -0.0269, -0.0073, -0.0615, -9.2923, 5.8598, 1.6923, 0.2711, -0.0171, -0.2271]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56eaab417b7e49b2dd9fbe75410f57c35f1f1f70affe2ed39ac876e672672102",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06b5bdfa18714dc4b0aa7ce4f887c75e8c7a2a74263f870954cf3b98c102a9e0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85d97e70354a552c380e2831a385378a0efcbbf5adcf2c90cb0935cb25826d39",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 16 attempt 0 · /responses · status 200 · 3.938 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]: [-0.0196, 0.8173, 0.6075, -0.4076, -0.0227, -0.0494, 0.9993, 0.6216, 1.729, 1.3483, -0.3687, 0.4683, 0.308, 0.0469]\nstate[eef_state]: left_x=0.2929 left_y=0.0018 left_z=0.1695 left_yaw=0.0046 left_pitch=-0.0461 left_roll=-0.0059 left_gripper=0.9993 right_x=0.433 right_y=0.2165 right_z=0.1824 right_yaw=0.0545 right_pitch=-0.0832 right_roll=-0.0525 right_gripper=0.0469\nstate[joint_eff]: [-0.0889, -1.2923, 7.1863, 1.7265, -0.0708, -0.0611, -0.0122, 0.1026, -9.1282, 10.1128, 1.8535, 0.442, 0.2515, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0196, 0.8185, 0.6075, -0.408, -0.0227, -0.0494, 0.9993, 0.6964, 2.0342, 1.1328, 0.1799, 0.5594, 0.3962, 0.0446]\nstate[eef_state]: left_x=0.2929 left_y=0.0018 left_z=0.1692 left_yaw=0.0046 left_pitch=-0.0476 left_roll=-0.0059 left_gripper=0.9993 right_x=0.4431 right_y=0.253 right_z=0.0482 right_yaw=0.0122 right_pitch=-0.0231 right_roll=-0.0142 right_gripper=0.0446\nstate[joint_eff]: [-0.0889, -1.4017, 7.1863, 1.6777, -0.0415, -0.0855, -0.0122, 0.5812, -8.8547, 4.9573, 1.1355, 0.1294, -0.022, 0.9548]\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 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8185, 0.6075, -0.408, -0.0227, -0.0494, 0.9993, 0.7002, 2.0441, 1.1206, 0.2249, 0.5648, 0.4004, 0.6457]\nstate[eef_state]: left_x=0.2929 left_y=0.0018 left_z=0.1692 left_yaw=0.0046 left_pitch=-0.0476 left_roll=-0.0059 left_gripper=0.9993 right_x=0.444 right_y=0.2552 right_z=0.0468 right_yaw=0.0099 right_pitch=-0.0032 right_roll=0.0011 right_gripper=0.6457\nstate[joint_eff]: [-0.1573, -1.1966, 7.1726, 1.707, -0.0415, -0.0269, -0.0073, -0.0615, -9.2923, 5.8598, 1.6923, 0.2711, -0.0171, -0.2271]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56eaab417b7e49b2dd9fbe75410f57c35f1f1f70affe2ed39ac876e672672102",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06b5bdfa18714dc4b0aa7ce4f887c75e8c7a2a74263f870954cf3b98c102a9e0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85d97e70354a552c380e2831a385378a0efcbbf5adcf2c90cb0935cb25826d39",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"right_x\":0.435,\"right_y\":0.24,\"right_z\":0.19,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0,\"right_gripper\":0.65},\"note\":\"The pink bowl has been released. I’m lifting the open gripper clear so I can verify the nesting and then handle the remaining teal bowl.\"}",
  "call_id": "call_5bTQuRDdhSebtVc61qPHWeP0",
  "id": "fc_07ef7fef379d19ee016ab49b12898887d0bd6c429bb2198776",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5bTQuRDdhSebtVc61qPHWeP0",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8211, 0.6075, -0.4076, -0.0227, -0.0494, 0.9993, 0.6918, 1.8038, 1.3113, -0.2428, 0.5602, 0.3923, 0.6494]\nstate[eef_state]: left_x=0.2931 left_y=0.0018 left_z=0.1685 left_yaw=0.0046 left_pitch=-0.0499 left_roll=-0.0059 left_gripper=0.9993 right_x=0.4336 right_y=0.242 right_z=0.1586 right_yaw=0.0089 right_pitch=-0.0335 right_roll=-0.0265 right_gripper=0.6494\nstate[joint_eff]: [-0.0889, -1.4291, 6.9949, 1.746, -0.0757, -0.0659, -0.0122, -0.5538, -12.3966, 10.3179, 1.6825, 0.1978, -0.0317, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:047f8b36035b97180afa7e07de0c29e5d379db18ae2a2071177f8e46413bad49",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:466e60aa7838e51aca5e29d5daeb18439480dae1258274731efe80e6cc89672d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bf4c52d3fdcd654cb8d4a3bdbc9b386c5fdfaedf188501359d5d95dc5f5388e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 6.085 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 52 changed as sent

message 60 changed as sent

message 63 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8185, 0.6075, -0.4076, -0.0227, -0.0494, 0.9993, 0.6853, 1.9244, 1.1881, -0.0624, 0.5285, 0.3698, 0.0468]\nstate[eef_state]: left_x=0.2929 left_y=0.0018 left_z=0.1692 left_yaw=0.0046 left_pitch=-0.0473 left_roll=-0.0059 left_gripper=0.9993 right_x=0.4324 right_y=0.2431 right_z=0.0803 right_yaw=0.036 right_pitch=-0.0975 right_roll=-0.0665 right_gripper=0.0468\nstate[joint_eff]: [-0.0615, -1.4701, 6.9949, 1.7167, -0.0806, -0.0513, -0.0122, 0.335, -10.2769, 5.9145, 1.8339, 0.5397, 0.2125, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0196, 0.8185, 0.6075, -0.408, -0.0227, -0.0494, 0.9993, 0.7002, 2.0441, 1.1206, 0.2249, 0.5648, 0.4004, 0.6457]\nstate[eef_state]: left_x=0.2929 left_y=0.0018 left_z=0.1692 left_yaw=0.0046 left_pitch=-0.0476 left_roll=-0.0059 left_gripper=0.9993 right_x=0.444 right_y=0.2552 right_z=0.0468 right_yaw=0.0099 right_pitch=-0.0032 right_roll=0.0011 right_gripper=0.6457\nstate[joint_eff]: [-0.1573, -1.1966, 7.1726, 1.707, -0.0415, -0.0269, -0.0073, -0.0615, -9.2923, 5.8598, 1.6923, 0.2711, -0.0171, -0.2271]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8211, 0.6075, -0.4076, -0.0227, -0.0494, 0.9993, 0.6918, 1.8038, 1.3113, -0.2428, 0.5602, 0.3923, 0.6494]\nstate[eef_state]: left_x=0.2931 left_y=0.0018 left_z=0.1685 left_yaw=0.0046 left_pitch=-0.0499 left_roll=-0.0059 left_gripper=0.9993 right_x=0.4336 right_y=0.242 right_z=0.1586 right_yaw=0.0089 right_pitch=-0.0335 right_roll=-0.0265 right_gripper=0.6494\nstate[joint_eff]: [-0.0889, -1.4291, 6.9949, 1.746, -0.0757, -0.0659, -0.0122, -0.5538, -12.3966, 10.3179, 1.6825, 0.1978, -0.0317, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:047f8b36035b97180afa7e07de0c29e5d379db18ae2a2071177f8e46413bad49",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:466e60aa7838e51aca5e29d5daeb18439480dae1258274731efe80e6cc89672d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bf4c52d3fdcd654cb8d4a3bdbc9b386c5fdfaedf188501359d5d95dc5f5388e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJsYe-nt7wrsb2Wr5buFvwA97IcE0jhVHtDfmOUDy4uSR8HOlgeI2Y9Lkxy4y_6ns6CBGwX9_Xkm08R671aoybNbtxXTV2XMqU5GFeU2wZdWqxlQ20_p3bvhyowDW--6voeqwagwZdXn1rjoq5iItrcgm8UbpVoLRxgD7z-v9mF-f_7PVfh7_aZanUSJjQTN0_JGE3NQEDmp5Rc9O8gfROS7PUc8R7kYhK-Q1bBoQMmvUn3U49tnRVM2heoGmtrDTYPpMbbTrkrvfv6YTh7i0uIg2NfaQWX9E4OOmJz-3V-ycqth1jkl_wq8LYwBUxKRNHvGtjPtenfP-N-XB40UdrIGBf02Ryk7tOyNGkmZv4zeuXJI47W_8XnC3mqlzIDXh4AjuVatSr3mjbkgS7nfdD1mCv85iaAQFyUea8nXbevbAxhSPq7BoMJteLxqZW5sA-4yW0LH4bCvnBdYGAtEB_ovXF8o3DLew9FGZGm440ilndyNtQMmO_Lf3F1ut82Kam0hEFqMZOJq0GZ4UnqGrn33QMTUZRUnUi-AZmIFIDNlgzGdwadKYaeohLYRB1L2dyv6XlVjXMPs95d5XqxdXuzuEoVzlxGWdMBrTRQWikYnO3uAv0XhRUz3Owdd55pIKnuzzlqODjY0KUfzsAF6yQ-HgfIt5tbGcLwiBi8YMwh0d7rxGemrloFG2b1biBD7deH4zlnbcAt7Aov4kl2A-oIbyYyQkN47Eee40vtbqDCOu3TM77Bw3BVveb9JrLRSPAjHybRdyFrUjfmKPNnWGFSig_zzwRp_p4Q6V9xnLvGI9_7VbxcvQFEhPtYX_uaSwQfMe7DzNDmJHDLgw145qDEfY5zCuEcdO0LUztUl5y1ByWkocDcLQcgv5X69t1bUshpHl6Q-jkH7iV3QX6U0LSxI-vpE2b7Etf_QQpmm8oNpt95DcIVvjaH3JYinp3njXos1ZtfgGZpE_oDlL7CG9gZx88bL8zhN0ATmNDHT88F0oB11LkwmnPjeNASb3AweIsKgika_6rUigkmEaRBhLbm6IRCI7BCMPcRLybGOX5QDQrsrUvOk1mSw5w5kY1naoVMahpJa5AZH9FnkU3B3C60sIEkm8R4q6ABn5FD7HLR1Af9bzsEJ1eaS26zXbbhfXBdf8I6ny6U6JI5qaKMuRDTu6TK_sP9RogakTWI-mXaDJqYA_FXnEJ1gnk7p-IBUQLaRREBR2-bvrDcbqgWN6cqFahWwG5DcTbx6E_HMRwPdCWO4N53Nfqpolw8OUy3ouIKyGLoxpxg8EHj57E5EV007VukTeWV7f3Pc8uLZA720YPTAzBeE6MgWlQoMuN_Q-LvL46htDWVwMIVGlW0wmRhS7PqbqJX-9IIf55-kX9ZZb7lA9p_axqt0XlB6DyhXtumlqhhXuewMENAdE30APbuMvKo_nzmcaXGVbIcUAX3-Hkxyr2kRlwVb22PQGcW5XgOTIFI-YwxSsa8otNhfzprlBRQLxDAN2yQAO7eRY3HjpWTNPiISiqC2XhFpGxVTyrqKe9Zg9DElcYja340DOqR3568qGhR1LyxjE3jcuqrtPAWHQUi_JRfHEpdwNH9Nx5oEXgm2g1M4M09bfkrb6W8c87n7Ph6B6AwYgHAnRbUN54CBj3WNeSecQM1KBIUvihqqvk0gDIXJSlpe0rv4OlrYIkGyc3jU09Tt-d-wwKgA-k4=",
  "id": "rs_07ef7fef379d19ee016ab49b1612c887d08b1cfc3bd23b74c0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0,\"right_z\":0.20,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0,\"right_gripper\":1},\"note\":\"The pink bowl remains in the center after release. I’m parking the right arm away from the bowls to expose the stack and give the left arm room to work.\"}",
  "call_id": "call_Bs2hqWbj7RY1OOqp8wO2ihTw",
  "id": "fc_07ef7fef379d19ee016ab49b176e4487d0a48c7cd1af78146b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Bs2hqWbj7RY1OOqp8wO2ihTw",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8242, 0.6075, -0.4076, -0.0227, -0.0494, 0.9993, 0.0029, 0.8234, 0.6868, -0.4301, 0.0536, 0.0051, 0.9958]\nstate[eef_state]: left_x=0.2932 left_y=0.0018 left_z=0.1677 left_yaw=0.0046 left_pitch=-0.053 left_roll=-0.0058 left_gripper=0.9993 right_x=0.2996 right_y=-0.005 right_z=0.1996 right_yaw=-0.056 right_pitch=0.0054 right_roll=-0.0046 right_gripper=0.9958\nstate[joint_eff]: [-0.1026, -1.6615, 7.2274, 1.746, -0.0366, -0.0806, -0.0073, -0.1436, -1.5111, 7.1316, 1.7802, -0.1587, 0.0317, -0.4322]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa2e82f7debec21496efa813ea44620e29b70ffa6b2eb8c9095f63c7850b2137",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33b0672b84ef218600ef204d9d5143a3a6c875b6979cc33d0aaeb1a802b60924",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3dfb56a9f411ca0d1d7b76055cc171ca0320ca33ebfe681bd782b5abf080572c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /responses · status 200 · 6.232 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 56 changed as sent

message 63 changed as sent

message 67 changed as sent

message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8185, 0.6075, -0.408, -0.0227, -0.0494, 0.9993, 0.6964, 2.0342, 1.1328, 0.1799, 0.5594, 0.3962, 0.0446]\nstate[eef_state]: left_x=0.2929 left_y=0.0018 left_z=0.1692 left_yaw=0.0046 left_pitch=-0.0476 left_roll=-0.0059 left_gripper=0.9993 right_x=0.4431 right_y=0.253 right_z=0.0482 right_yaw=0.0122 right_pitch=-0.0231 right_roll=-0.0142 right_gripper=0.0446\nstate[joint_eff]: [-0.0889, -1.4017, 7.1863, 1.6777, -0.0415, -0.0855, -0.0122, 0.5812, -8.8547, 4.9573, 1.1355, 0.1294, -0.022, 0.9548]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8211, 0.6075, -0.4076, -0.0227, -0.0494, 0.9993, 0.6918, 1.8038, 1.3113, -0.2428, 0.5602, 0.3923, 0.6494]\nstate[eef_state]: left_x=0.2931 left_y=0.0018 left_z=0.1685 left_yaw=0.0046 left_pitch=-0.0499 left_roll=-0.0059 left_gripper=0.9993 right_x=0.4336 right_y=0.242 right_z=0.1586 right_yaw=0.0089 right_pitch=-0.0335 right_roll=-0.0265 right_gripper=0.6494\nstate[joint_eff]: [-0.0889, -1.4291, 6.9949, 1.746, -0.0757, -0.0659, -0.0122, -0.5538, -12.3966, 10.3179, 1.6825, 0.1978, -0.0317, -0.0464]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8242, 0.6075, -0.4076, -0.0227, -0.0494, 0.9993, 0.0029, 0.8234, 0.6868, -0.4301, 0.0536, 0.0051, 0.9958]\nstate[eef_state]: left_x=0.2932 left_y=0.0018 left_z=0.1677 left_yaw=0.0046 left_pitch=-0.053 left_roll=-0.0058 left_gripper=0.9993 right_x=0.2996 right_y=-0.005 right_z=0.1996 right_yaw=-0.056 right_pitch=0.0054 right_roll=-0.0046 right_gripper=0.9958\nstate[joint_eff]: [-0.1026, -1.6615, 7.2274, 1.746, -0.0366, -0.0806, -0.0073, -0.1436, -1.5111, 7.1316, 1.7802, -0.1587, 0.0317, -0.4322]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa2e82f7debec21496efa813ea44620e29b70ffa6b2eb8c9095f63c7850b2137",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33b0672b84ef218600ef204d9d5143a3a6c875b6979cc33d0aaeb1a802b60924",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3dfb56a9f411ca0d1d7b76055cc171ca0320ca33ebfe681bd782b5abf080572c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJsgVL1lO3o7FWD9qHuscfOuiiuOogOGgpwieiRwDxDKgMomi15yM2FWyKf-2I0ixnXXR0X4YonSteTXYPtEXW3kuYNBT0xJDt2NpwqYp1tFPZ-hAMNAVCGSOc2MktW7b6W6Or19FI9Ld5kWYgCxwLp8eqqvzmVwXKD7FJh09do62FH1avtb5zqup8u6M1GO0l2qLG9N_rNGRzNoyryV1u9USqYGruZS_mfJI5CjOLFOR_2iNF8Eu0r5IEXfK_pXnGBGz4Xujt2RFljnu8ao2icHB_v_c4MvyrxMY1NWPzTIpe4R0T6Fz_xq5Yc58gOACZ1BtHc9w5NRFddzdbp6Qf5b9l3E1gfi0Z-UiiflY4wPqTEVxPyprgErzvDAkv567XjssaM9MCJIN4D7GUYl24g_-0kMU68bZMmcivFjUE_iVBH4b8beLcHJ6_N7Qlj1lqtrdznu1-jcMGMperRFtt8p4DSMUz13TTM_JE5eUtDipjMbitW5g4q8pH-ImjAsiPo22BMadqaMfyAtc57GtoM5zNOXx0WTIAEyhElma_hPzpDJ3VxrScDD11sDN7__MuYg_x-E5O2urFuXOTJHI8JBHXGoMiA2hIj9rsvgENdoghB0U-qBACxBd2sFhVF7n_7R229l9hBDOQJUHQ9tbWAEd64zSumf6wy09FIL2TICoUwJKpO22qG5u9jBt_MklafyWlc_oHqXR6mn9v8mqxz9srwgKWt02gcttC6hgvKBQaEyk8FOUAT-KeRh6irH55VcCT3aJcAi8uAURjgFj7OibU9DeAOubXlhzbWUbwzA1k_8U_0hgygs953L7AKiVALxX76w20NIMnVkGrfkqbXPZmxMMRC8C-OK2gh130uMTjiKzeNGe9p80ZvHni2zoPUvJq3IVx6XohnUMwJKMplSzFO6TIQYllajcKHJr513elLzD2EUthCp5z1jnSuwVGZJ6TNGzxdo3lnnYuzUs4_eURJ6SsqxjfGwmuzcOAFk4CHNi8poGNa83VOf8DBc3RQ21SMqFhc5NtlsrePq0qUCN77EejtGgSxsbVqHIoL7vCF0rQzCzL6eRRA0w0plZCIdM0mEADl3wvHwOCCDoTwXUyvX6lqJdIUJKoPgDg5pIDR5IYbfbqSkjCgbDzCKJo_JoBCmHDQK-I8Q0vHZO-tgQkWvn06jrf6fwZEjE7BjLX8vhZ_u3ZH-XtcV0CIaJYo364nNg9Qdn5W3q7GYAikCvAHyz5FinyL7kV_5R9HZEN87WrMLPEvUynEirgAen0dl8vpDN6OQcJ0kjj1qF49ldrwNuCRuYRhG4E_PqVm_LBb3BPpuL9Vu0G-NaSOK2A31NnKWaci_SAoYKsazH7GZLNEOfTEX_HnJ4oG8gooPrbuXVIhPwIbEf5JF6WNpUDwuhD-_ZZ1yn3Oi0N6ph0D06SKXZ5YAjDwF2js0AfzLvMvOSc1fysFmDJhlu0mQDQU916o2stSrBLyli-cL2R45VHLUraCTdYIBUMWyYhRG7gdFqMhPC_zbswSVPGZWWKf1vvHsZvWq0M1MKMpOq5PXyxoddRk7P3v_5dfhaU9m3kSBj8hhvjbY-wFiHaKts6UxPSklp7m3Ez5cUSSVhC0H98tyBgU6LDTkbd6NB43-Bts27-wIQLy2KMgTOdAX7jLI5H5JVh3t2XwsiQ3STRtv_gWFQfObMaJ1mtLgGfCHQcfFWqLuO1MDu6S-4e92FW-myyxsuewcm5N9Fh0OnCxPEPTX3ECmsTbkmzT0VHjhWI6bhWa_GMdI7p-Z2dYvXR0Yg_wPhqn_5BLLNuIUu9jg2PTuRmLVcgbvWN7y5nVQ9XeyNFG5qrRS8h05DGfO8tOhSCEEK06wx3Cg5yCe126cVLvhM6EFvKchwWKCvwiJcrbuuGhDknwaiQnkM0PMH9Fd4KN68WbeRfzAV6ciRzHqCL--mkvt2zoKLhKanlY9O2JzxKL_qv1eN40m1L43v2Z6rsl6aRF6XEWncdMv7gc__JUvASGcdkx3Rqv5NB1rbqjo8m7zbuYYFFeoab-cRtsW6AKB0iioxboybfaSm4UL_oC3FQH6sL_7LdwJLUAymDg=",
  "id": "rs_07ef7fef379d19ee016ab49b1c80e487d0aea16b453b432ab8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.425,\"left_y\":-0.16,\"left_z\":0.15,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":0.75},\"note\":\"The pink and blue bowls are together in the center, with the teal bowl remaining on the left. I’m bringing the left gripper over the teal bowl’s left rim for the final pickup.\"}",
  "call_id": "call_czEIThlWkWjgP36UWg7Vvp1y",
  "id": "fc_07ef7fef379d19ee016ab49b1fa39887d098f13afda37bc9ba",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_czEIThlWkWjgP36UWg7Vvp1y",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5316, 1.5822, 0.9577, -0.0818, -0.4286, -0.3389, 0.7517, 0.0029, 0.8295, 0.6842, -0.4541, 0.0437, -0.0116, 0.9955]\nstate[eef_state]: left_x=0.4118 left_y=-0.1529 left_z=0.1318 left_yaw=-0.0133 left_pitch=-0.0607 left_roll=0.0224 left_gripper=0.7517 right_x=0.2966 right_y=-0.0033 right_z=0.1917 right_yaw=-0.0386 right_pitch=-0.0278 right_roll=-0.0148 right_gripper=0.9955\nstate[joint_eff]: [-0.5538, -7.2821, 8.7726, 1.8681, -0.2857, -0.0415, 0.0611, -0.1026, -1.4291, 7.1863, 1.9658, 0.0904, 0.105, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73c5aabeb272c2ddb21ea6a89102851b0d371b02869c23ceb2629194b12974b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0a13c8a259e37d385ef74e80ad79a5069127adead3a515e2e7b6ce1aa5e7b34",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa9e833a3b789ef6e8125956960ec81495e93b1f25cb05b1306dc9724807d9fa",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 7.064 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 60 changed as sent

message 67 changed as sent

message 71 changed as sent

message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8185, 0.6075, -0.408, -0.0227, -0.0494, 0.9993, 0.7002, 2.0441, 1.1206, 0.2249, 0.5648, 0.4004, 0.6457]\nstate[eef_state]: left_x=0.2929 left_y=0.0018 left_z=0.1692 left_yaw=0.0046 left_pitch=-0.0476 left_roll=-0.0059 left_gripper=0.9993 right_x=0.444 right_y=0.2552 right_z=0.0468 right_yaw=0.0099 right_pitch=-0.0032 right_roll=0.0011 right_gripper=0.6457\nstate[joint_eff]: [-0.1573, -1.1966, 7.1726, 1.707, -0.0415, -0.0269, -0.0073, -0.0615, -9.2923, 5.8598, 1.6923, 0.2711, -0.0171, -0.2271]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8242, 0.6075, -0.4076, -0.0227, -0.0494, 0.9993, 0.0029, 0.8234, 0.6868, -0.4301, 0.0536, 0.0051, 0.9958]\nstate[eef_state]: left_x=0.2932 left_y=0.0018 left_z=0.1677 left_yaw=0.0046 left_pitch=-0.053 left_roll=-0.0058 left_gripper=0.9993 right_x=0.2996 right_y=-0.005 right_z=0.1996 right_yaw=-0.056 right_pitch=0.0054 right_roll=-0.0046 right_gripper=0.9958\nstate[joint_eff]: [-0.1026, -1.6615, 7.2274, 1.746, -0.0366, -0.0806, -0.0073, -0.1436, -1.5111, 7.1316, 1.7802, -0.1587, 0.0317, -0.4322]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5316, 1.5822, 0.9577, -0.0818, -0.4286, -0.3389, 0.7517, 0.0029, 0.8295, 0.6842, -0.4541, 0.0437, -0.0116, 0.9955]\nstate[eef_state]: left_x=0.4118 left_y=-0.1529 left_z=0.1318 left_yaw=-0.0133 left_pitch=-0.0607 left_roll=0.0224 left_gripper=0.7517 right_x=0.2966 right_y=-0.0033 right_z=0.1917 right_yaw=-0.0386 right_pitch=-0.0278 right_roll=-0.0148 right_gripper=0.9955\nstate[joint_eff]: [-0.5538, -7.2821, 8.7726, 1.8681, -0.2857, -0.0415, 0.0611, -0.1026, -1.4291, 7.1863, 1.9658, 0.0904, 0.105, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73c5aabeb272c2ddb21ea6a89102851b0d371b02869c23ceb2629194b12974b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0a13c8a259e37d385ef74e80ad79a5069127adead3a515e2e7b6ce1aa5e7b34",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa9e833a3b789ef6e8125956960ec81495e93b1f25cb05b1306dc9724807d9fa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJsomVnhLj8weoC7Qt6rGlyrkN2lxq9Bsy0aL3qNysJS_bxus0KxfogwKBdQKrJ_5yKRmDSZ03O74Kk-JCfheC572xEUZkf9tNfZycp30XAH3ksHM2PjNkhTw1ICvpUEROwi14DVXv81WpMWu2ZGCpRje5ko7AgBgtgVQTVw82yVhGyLOGCyvAX27Aipfk52zguIJvvKFt9RJAFcLfqsU_oXRCdnydZ-SHaPePcbWqhusDNWmwslR5wc9LRDwKN2cNdUZkCFw1wcViM_9lH4K8HaSb1NDhQVpQvKh7WOyLzwu1A_7tlitqzF7gdVb7p-rSrsFsESZcLh8yzqMChbdAczOLxbC1ZJfQZrqTvF5bcI0xumqMyl0fMMy5Xi0rC-TsUdkhYkqc4WhO3zitlkg2NDfmyHk5nfy-iJWuA5HTWPF-r8-maEjYWNlKlByP5jgo8C316jATb8VXHS-TROISKcFhBFxPr3ixQrw8rpgfeCbrRaLXuixSgUFUpayfi2zFUB4khsL3_N1h9phz5evscm1fH7soAZ63Y4eEjJXwivyWqOUwt9-f6-1uPqM1_wDCL3F0NHradn7QTUxQaR9FIWxF5QwekvarEzmBP4DbLeylvqFv_6AkVrCquqp2E8MBNR0beW3uIpio5wgGaM-BtUbPRQa7mgZ1gd0B1dP8ahLoYjCU_xOQCSjCXDGx-Is1MuvIYie2zYEZ-bln3vFP7J0bwsVLE2M6xIbzV8_kiWDU5biuAtcwBI0vmDDkkgxov82dPYSydDxX0He9mnussqYG7v_YBmEBJ-Z1FgZI2n-rnF8jQbdjp_zR0vhxX8kgwZ6xHG7vGsbL1DqjA6rOq-UuD4Xda6M0asyL6XeOLCUpD4NtjGz_TtLZVeSY4oF1-LLKzsvUfeJ4S3x2NcVaH3Amg_ugqGTiE-_C25dWV1x9wa6Wf8-zApO58LKUJ1IN4mgF3rzGu4Ko-IoPas0zy6GAUPumuSjkZnEiRLh-xcTdVmRW9_fXtHMqIJJexKFV6MG2S5ox6_YOlUEwLhNnVWRl_wYJlqiuzXoaV2eOBiHeX0GhYIQrvnnyswISXzwzqDC_tpcUA-AcsCGy8ML_6_8RsjJH7FMRg7nIgOlli7RNOidSs3cn1_q-B6dOcdX4SE6cF1i6CheGqesYa0wC0CvHi6surcHVPmaGEK-xzucS8v5bvg9DVu3WSEBGcwNnBZBvBdMH5adDa6tFUbHcs0WsULenpW6JcjxjzTgG3JCm8qadccgQoc6n6o8C94ER-1TQTVC5mzVy1OgEX8fnWiMnzJZWbQoWhaxeBelmPqOCstQZsH3XIfk3bsNcFgEUqtdTM2f8wkLWY0ONcz-ZBI2HZ4AXDGsgUhcdVCG9tjVClQVudYWinXZpQGgOsuhRWiUQ00Hh5gFSn4ohTEPZiKLA4tWS8N-gABNT385g89MFRfSIsxNgfpYbphGOFY_pxz-ukfcZBMNY79W04LNA95EkzKmXFITWVlFNNIStDkJuSqUK8n31gwsj17Rl8YI1Tes7wMWXb0Qa7u9dM4QIB1Z8DsN6k1_m4bcyi-b6iOWB2R0zLVKmE0CRVruvj9TjNSm-RGeHsmoFmbp1v4HGb9fF4n8qfvu-AqBi2yvUbIeRnfaYCdnQ90mCrQu4xSWSa6viGNBlzxExCbPT9QKNbzdrHekhfk3wz_5bDWdu413z3b11CquifMXmFOoBYcBE0ONUQCqErS8ghL00o8DLkxMGKpshk0XwjyH68QrqRD6Vdu7P9wUCWao77gJ9U56LWKBaKyKCOfylKeYwksWY_L8VJxdtmNNW4JJeampJh6HpeXQ-4sDEIkPZYgoIWQCA3bhMQKwrUaz77OQ37ZrOypd-mnHlDFmlKVHtWGkPNBzf0RdorEiPx7qwCuAS4zSZjT9wIPfpraYuoHAyelr-fzT2dNFij3kMfMQngNMU6VxEdeNong7nfBnDHJ6XaPA62uqbDs9rOWdPYuGO4DB5BuFBOFmD43Vfq4nUpURymnoxN8WtlcizYqusx6UV-PULBOp0IErHwbgeL9p7cjMlg2px6a7_a9pzRdd1GN2j9ZwArx-A6Vsd26BQNoEr6n7mx8XxQOJwzg8NB3NFVtHt3Nnn5yuli0RhhYNDR5DpMkGgLn6EJCCNQzyKvMvl6qMNXDZfA8AuFBlBdfEuohBGnhDOx6ZQ13qZ0cGF3ZmbJzXyBXh5mRDMqJE_EtaD9-gFcnc3ZnjGqvDOZXxZW9bMAcJZCXDBrP32yjR0wKVs0Qz-L1Qy2WPAlaVBj3zgngkUDKcs16eCKwpT9o2Go2z8-Qqc1DB9XF7rrcWDu0Pki2_jxisdkpbJVbVtA7iTfGRuD8B3xtE1ItgrU42dSie67jWqHurdrRCzE_HItEtMkp2CctCucq5RTvtv4ozwjdf_46oAxw078ibECizT4XVM_g-oTuyOCBqyLfx4jakfTbZ6g=",
  "id": "rs_07ef7fef379d19ee016ab49b23a23887d08b8c5cc8e6dcef69",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.425,\"left_y\":-0.11,\"left_z\":0.04,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":0.75},\"note\":\"The teal bowl is beneath the wrist, with its left edge visible beside the jaw column. I’m shifting outward to straddle that rim and lowering the fingers alongside the bowl.\"}",
  "call_id": "call_77wfUeAzrCT7VorHZO1cjoHa",
  "id": "fc_07ef7fef379d19ee016ab49b27871487d0a27af3db47cfbbab",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_77wfUeAzrCT7VorHZO1cjoHa",
  "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]: [-0.408, 1.7729, 0.6956, 0.3798, -0.3576, -0.2771, 0.7514, 0.0029, 0.831, 0.6838, -0.4675, 0.0433, -0.0124, 0.9955]\nstate[eef_state]: left_x=0.4138 left_y=-0.1076 left_z=0.0321 left_yaw=0.0195 left_pitch=-0.075 left_roll=0.0272 left_gripper=0.7514 right_x=0.2948 right_y=-0.0032 right_z=0.1884 right_yaw=-0.0379 right_pitch=-0.043 right_roll=-0.0159 right_gripper=0.9955\nstate[joint_eff]: [0.6085, -6.8444, 4.4786, 1.5897, -0.0562, 0.1587, 0.1197, -0.0068, -1.5248, 6.9812, 1.8584, -0.0317, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb2b03d33e547f8add130a701cc0ad11ab66b590df6295a8771f9b5113a03150",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85b3826fa402a5ad9772e8e8d4a75dd3293f09c69f09346fabd27f6eb6c1983d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d77d7750c0cc68a5fd16494a47d7b55ff0d0078a67fa7656e624bf8bf1e7f3e0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 20 attempt 0 · /responses · status 200 · 6.912 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 63 changed as sent

message 71 changed as sent

message 75 changed as sent

message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8211, 0.6075, -0.4076, -0.0227, -0.0494, 0.9993, 0.6918, 1.8038, 1.3113, -0.2428, 0.5602, 0.3923, 0.6494]\nstate[eef_state]: left_x=0.2931 left_y=0.0018 left_z=0.1685 left_yaw=0.0046 left_pitch=-0.0499 left_roll=-0.0059 left_gripper=0.9993 right_x=0.4336 right_y=0.242 right_z=0.1586 right_yaw=0.0089 right_pitch=-0.0335 right_roll=-0.0265 right_gripper=0.6494\nstate[joint_eff]: [-0.0889, -1.4291, 6.9949, 1.746, -0.0757, -0.0659, -0.0122, -0.5538, -12.3966, 10.3179, 1.6825, 0.1978, -0.0317, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5316, 1.5822, 0.9577, -0.0818, -0.4286, -0.3389, 0.7517, 0.0029, 0.8295, 0.6842, -0.4541, 0.0437, -0.0116, 0.9955]\nstate[eef_state]: left_x=0.4118 left_y=-0.1529 left_z=0.1318 left_yaw=-0.0133 left_pitch=-0.0607 left_roll=0.0224 left_gripper=0.7517 right_x=0.2966 right_y=-0.0033 right_z=0.1917 right_yaw=-0.0386 right_pitch=-0.0278 right_roll=-0.0148 right_gripper=0.9955\nstate[joint_eff]: [-0.5538, -7.2821, 8.7726, 1.8681, -0.2857, -0.0415, 0.0611, -0.1026, -1.4291, 7.1863, 1.9658, 0.0904, 0.105, -0.0464]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.408, 1.7729, 0.6956, 0.3798, -0.3576, -0.2771, 0.7514, 0.0029, 0.831, 0.6838, -0.4675, 0.0433, -0.0124, 0.9955]\nstate[eef_state]: left_x=0.4138 left_y=-0.1076 left_z=0.0321 left_yaw=0.0195 left_pitch=-0.075 left_roll=0.0272 left_gripper=0.7514 right_x=0.2948 right_y=-0.0032 right_z=0.1884 right_yaw=-0.0379 right_pitch=-0.043 right_roll=-0.0159 right_gripper=0.9955\nstate[joint_eff]: [0.6085, -6.8444, 4.4786, 1.5897, -0.0562, 0.1587, 0.1197, -0.0068, -1.5248, 6.9812, 1.8584, -0.0317, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb2b03d33e547f8add130a701cc0ad11ab66b590df6295a8771f9b5113a03150",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85b3826fa402a5ad9772e8e8d4a75dd3293f09c69f09346fabd27f6eb6c1983d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d77d7750c0cc68a5fd16494a47d7b55ff0d0078a67fa7656e624bf8bf1e7f3e0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJswOyG7XAswqS9Vi9HhJ7ZRK36UhBFBkrZsSaSm-FcPiBiXrqRZ8ZDi0hR7xhbrSaL8k1LMvwt7XQPRt0AZ0w01tF0FnZdiAtEVplii2onVISQ-TbkjLc_oBD0hVmsDJjIgCX3JwF6r_i1dMegQArTsNgZEuCyHUZOwBOos2GJxjnTYx4KBA35BI5HpQQGWrk0kAwrCW4vBFEEZ7FSvk0G7CwVTivnZ4EgwiHpmIi02MZjBU3dYIIiKUlXskTSU_8bDSYOr2gNuWK7qGjKkH9oMmdrMrBVkXRQNJ5bvJcftN0-H4wya0YUkxCeiSh57f-gELWaZqoXrh0QQ9UNn4c4ipq0u0UW8W_0nFIsygfQL5jv7uB8LED6ErYV59RAEXkus3Zmv2zcdWhI4cVxwq3C1lpnN8L_hoyiWRftNvaioXHmxkfxyo4QLPPcbC9xC88gGY5JvqN83iE9nBi9VRw9KPYQlXk7ININ5e84ErEGupU6_ypofpk9ct8i_l6uH6wmzD5y0-D7yIxjT84rTZdL3k-o_R_AbSoYqdkm29Mx4XDD8fCC7ltv3WrlC_di6SaEVxG79ArT82Vhq1QJ_0CvNnvUgvDbL4BoqOTeXR-6CiWw4KN57EOPt_STVDaTt8WFnLXcJSWhk8de-35W7Dw4mWKByj6GvQAM5oZkzRyn9GGeoiLymposAIEfEJPDtnZgQBQKZHQjK-vXMf68U1N0ix7SZIAlhUBgK1nFAj20gpGcctixRIQuiP92bXpwJm8rbtoQ7_xbqfWEkthHpdYrypT3GPkshHp0UHDbz7nW6hzVRULDnc1Te6PQHKBLXeL_P2VVdMA4BUPOQYC1QwBHfZ2_PEXze8w7g8g43nzkPNvS_QWK2OFbSS-ocdjNR2QNQrJU5Yds-AQau4AVZO-WMpVbU1WkTPSnGs6UoGYk6CtIOLzUgwlpfqAOtSMqURNwvwTi9OkZVBGqXor1PpB_j8d-go03PHXEHUQrO0J63RUJ7xg4z8d-VUaLvzi4waC1ERRIc28XTwjwgng26SNH-tKrMRezlrP6bOtPMDlJmrXDo4he9YYXhG2HveyMrt5aThsXcwGQckOFYN0Dkbh-HNt954zykmezagcsSP4Vocg7vQoM5t9u83b-iOJA2G1r4ibZ79DCC30DP_zZxG_miYPXbFJQLTfsQQ1uNM69s3CDxtZ_1txNgPE8tc4b-73yZLcXnJvui6SXYUTwMK2nU7WwvxYg656vHMWHMkl2fBzpzOFhy71GNl9n-7_uunwEuuP9x4gNm66qHmGBvfjPr5NZSneBnRRQi3mnIadV8ZO93Az1zrlY2y60PeiP0rJo5GamWcD0-RfY6xRTtcQ5D2G0uQoZ1ZZNIFe2L3mV5G5qOXULLTo6fIuoLW7L9rfzrx66lkAnNxqIbOEbOoo5iyG_NthYCrlejHBS3lkROSSVa427Srg3ybeL99cP9f6YDTyyo9m51feQegKYzaC9dUF1kCQ5Ds45U7qscd1czH6xoOAMjUydgGMDDylSQLi37i3F4pQ2lBOwqLZj0XVyYGsk_hAGp3X4p0furcaB9KKW7fwv19N5rU-2ydhbaTE0qg1jMYybpxpxi84GQtesgVXymUF7NFu3O4Fzpt3J3JmR-YmoDjUNuYR2GLTS4DKzhBdRpAj7sYCZR6fi7mLF-1TcT87MjSh71chJWhNj62cM2Wy9WEzyYb8YCJKPqIhjz8fLaOjgBczeHfBiQF_zEhooV-j33lHY64TlXBTXvcgAH6nxnUe2Q62pv4ACAeA76sHUaSVnLyVL0Nar_3rzFo8NgkN3IBc9NrHnieywmzzjrD2UW3GxmL-Mx7UhK4KGfKf_GC5k1Wv944euthkteW_9tOXxvcyZW-ELI-wLyr4NJYbBs8y2dld-XtZ9J72eKAk8XORD7bIcNSoHUic6AyKZ8Jmvfc_z50wBFPzXt7ikMvz3N9G3Xzb4hDjbnYLViUVQTgDCdRsUakaRtLpqgS7i0gjVbSl8eRCNFifA7-tYml_FOgFPe6ViEMZnmdiXT-F7TjdvufLXxHA-oW2TRaaYaRS9p0d1T3cVsnOJOgDTm86_EZct8qglRi2Nx-3ENCTZjn3SQKU4SWwohKWW87QJItO9p6FXIiWOXBEEseWs1L-OFE707LyaCcsv7MRnLgQQ1h5tVsWcc3xxhQFg0z1N8niICcqBZunSIW4umvjQLKkS9pRGOlP4lv-Q0fA95be_L5DI4S7zce8W82yuVTjc-OdsbZixesoVBnLI0VF52l3ux_4LG4QkZky2BQjpboTL3XBhe-wMD6Wmwv8xMl5aUqY_TjidydrKQ0LJSkk-9e1Vekgzehhf-XFPZXWPwlPVkM3KsSTkokMIG_7PN76HcYtfV-blJw_4kVjdw-0Uux5mlR2P6KAjomZ14R310jrtL01R-LF8krXDTRBaZoCF3khArw8hKS_Nit3Q15JeU-FWOhF7-12bcCKvU2eWHTU6Ha1siQ6P2F37ubk5iun7AgGn-4uZ3HNjLEim_2SE=",
  "id": "rs_07ef7fef379d19ee016ab49b2a4a1087d082d00be1b1087889",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.425,\"left_y\":-0.055,\"left_z\":0.105,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":0.75},\"note\":\"The close wrist view shows that the fingers are still too far inside the teal bowl. I’m lifting clear and shifting farther left so the next descent straddles its wall rather than its interior.\"}",
  "call_id": "call_pW6zbyOLoxLKTGLHFa3XYIqd",
  "id": "fc_07ef7fef379d19ee016ab49b2eb34887d0ad2c171310b989a6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pW6zbyOLoxLKTGLHFa3XYIqd",
  "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]: [-0.2256, 1.5673, 0.6914, 0.2695, -0.2317, -0.1894, 0.7514, 0.0029, 0.8333, 0.683, -0.4709, 0.0433, -0.0128, 0.9955]\nstate[eef_state]: left_x=0.4202 left_y=-0.0512 left_z=0.0885 left_yaw=0.0494 left_pitch=-0.0168 left_roll=-0.0043 left_gripper=0.7514 right_x=0.2943 right_y=-0.0032 right_z=0.1867 right_yaw=-0.0377 right_pitch=-0.0495 right_roll=-0.0165 right_gripper=0.9955\nstate[joint_eff]: [0.294, -7.8154, 8.841, 1.7167, 0.0317, 0.149, 0.1245, -0.0752, -1.2103, 7.0222, 1.7314, -0.0269, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:629c0b8895aba13106dd0913e0ca7d35269de369025adc97f3828fbdeb03f7e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90e62a18312bc07970fba40e9619252e92be43bdaf8826bcc1327c9f721d5d44",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59ce57cb9f91b37328e9f12945913d7543cd6b5688e85586e5bc35465f0bf0c6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 21 attempt 0 · /responses · status 200 · 3.511 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 67 changed as sent

message 75 changed as sent

message 79 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8242, 0.6075, -0.4076, -0.0227, -0.0494, 0.9993, 0.0029, 0.8234, 0.6868, -0.4301, 0.0536, 0.0051, 0.9958]\nstate[eef_state]: left_x=0.2932 left_y=0.0018 left_z=0.1677 left_yaw=0.0046 left_pitch=-0.053 left_roll=-0.0058 left_gripper=0.9993 right_x=0.2996 right_y=-0.005 right_z=0.1996 right_yaw=-0.056 right_pitch=0.0054 right_roll=-0.0046 right_gripper=0.9958\nstate[joint_eff]: [-0.1026, -1.6615, 7.2274, 1.746, -0.0366, -0.0806, -0.0073, -0.1436, -1.5111, 7.1316, 1.7802, -0.1587, 0.0317, -0.4322]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.408, 1.7729, 0.6956, 0.3798, -0.3576, -0.2771, 0.7514, 0.0029, 0.831, 0.6838, -0.4675, 0.0433, -0.0124, 0.9955]\nstate[eef_state]: left_x=0.4138 left_y=-0.1076 left_z=0.0321 left_yaw=0.0195 left_pitch=-0.075 left_roll=0.0272 left_gripper=0.7514 right_x=0.2948 right_y=-0.0032 right_z=0.1884 right_yaw=-0.0379 right_pitch=-0.043 right_roll=-0.0159 right_gripper=0.9955\nstate[joint_eff]: [0.6085, -6.8444, 4.4786, 1.5897, -0.0562, 0.1587, 0.1197, -0.0068, -1.5248, 6.9812, 1.8584, -0.0317, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2256, 1.5673, 0.6914, 0.2695, -0.2317, -0.1894, 0.7514, 0.0029, 0.8333, 0.683, -0.4709, 0.0433, -0.0128, 0.9955]\nstate[eef_state]: left_x=0.4202 left_y=-0.0512 left_z=0.0885 left_yaw=0.0494 left_pitch=-0.0168 left_roll=-0.0043 left_gripper=0.7514 right_x=0.2943 right_y=-0.0032 right_z=0.1867 right_yaw=-0.0377 right_pitch=-0.0495 right_roll=-0.0165 right_gripper=0.9955\nstate[joint_eff]: [0.294, -7.8154, 8.841, 1.7167, 0.0317, 0.149, 0.1245, -0.0752, -1.2103, 7.0222, 1.7314, -0.0269, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:629c0b8895aba13106dd0913e0ca7d35269de369025adc97f3828fbdeb03f7e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90e62a18312bc07970fba40e9619252e92be43bdaf8826bcc1327c9f721d5d44",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59ce57cb9f91b37328e9f12945913d7543cd6b5688e85586e5bc35465f0bf0c6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJs3UaeckZty_41wAuhCGENIZNEbPxj82WxyzrUL_NeORAp3UrXWBB3xPTxkElXD4ETKKHf2yH_rJJ6DssAdvgoU9EQLGdLr4qAWwL9on7iPm3D5igSdlUwVwJpbqaSWNHUsBdJOlOfsnTzniATEUb59DmHVfskVAig2cyHKg7Ig0MKzpgayi5O-cc2WJMO065AaJy6FU-fJwNJPic6QHAJpvZLNZYvzWGj69FR5nUl-UAjKtqM123Bb74kfzf6PbysDvUmXx7067OZT9p7wgWsX2GUbJmNkXqk7-NKo_Z-ii05MS3aFXRg7_Ib9lbG_Wc9RKQxiYaHfHw_c5oyh7fNb7Fx4QO7b4uUzC8BBDnqUu6QtMGuZKecCma0RaORwDh_MPdc-IojF_ilIVqZ1aSBdXiFIRK0MDRDvex_BuTuP-6ymeZLKmEMLgaQTYFQ1KVEPOjVo--_YtSIpmevkgOVa-NIScB6NxI5zPgA4QVchIcvpskB8CEfwb9nBnglxhiJRpGP_x0Q4GI1qDeNwjB98aqoU5WCkKlAQX9GhVWuu04sLFMy_e6mAoV3Q9gsJmHhWjR9xxCycUehS1Un5J0g9qfw2ZzqwWEt7GQTqDXBu3Iq0xZJCW9MVy0o9umXc_7_NJe3c7dQ1O7owij56x-kH5be_4F1ZTlWyPutm-8sl7wvkmAMsQo_SFWyqAvBRAXmQ4rhnIy4TA9rE48Z-6-03bSvmxUUW742V5PutzIBc7nqAUZxFYDZ_DtMP1gyO0L9_RxfUj1yVqF3w9yOrVRcO5TNKeLRPOXbr96aRUhRoXVyk9wZLAnwzrPVzsXFA9XZUZa0wGBb1l6ZL5GgLaRvKjI5PSveq1Tm18xMWhU2JzVkMih0ytOBnX6_WMET8PH-NFSRojXf_zcKYcf5GJe_zWCCBOjuqbqdxRUpwAlvuEeSO4cz7VJEkEv70De9xYvsTj2leoqQYAVvbnyptOcEoUaGBLHKeAkJ0Z4PQEB2nd3JVuvXR7bNk-T80Bb0MSq-7eKKpDz2pQKpurinQhrVP0xffl-LlHigJ3Uw8M-QFmoV-rJAa9xo5o6xrBAvY-1zorhyPOblk6nHSlekVxmIWOiDHc9ydiWJ7PQUcjg1ZaecLFLdgNTBpX22S2r05Pb6fhp0ZLhq08mEbrngrnLf0mNffP-ciD0wrCuz1hQRiEaviiv2QUwiKWAdPJccN4wEBeDKLo7mcNzHWO7h0rf0rYQ6vnNiLAB_MPZaFbHq04i1kJP9z8rqJKdjQeZxi6zOnSZFIfxFwXsVPAhLqvMB3fS-7HuO-1GSJJNPJ7n3KID0RvT5BhnwdS42pH6-GEtcDU6Qp4iT-YAbVpbwOfPIzmVqUQXBkizlMrLXSqCHC3kWgruFzGsu9eo2LYqXGW22Fh-VTcun429YDW5TCNP5L-0_DTnbdoOtOFzVJXKj2s4_yXsIz9S-uBXoXTFgeKBnGL78BcM1jd93bBaPFEtu5TCjbbcdQPQ06UOJKQFKkSqo50sObnp-lQdLeDL0nYZEIKf8CV69sicg16noVMLciBlJJ7GJ4zF2rU0vmLATUgx4on1AIp5ZaIFvHyRsXdz7zdAQ5H-cBWg1aS5R9XH-HuEB8lDlRh1RIwX0stHUmx2ncakMhNAAhv2lVd_bYxYvrSL5EHrW5una9iOFMmp4OffLBXqJyjgAzD4ilnHAi_I-K6TLTPHB0C9xG_Tk_n_rOU-m5hZS5cI0tYbN2BZlRsHh20eph-KQDJyuPpQ0tXuPZ2gZjFCgqyQvIMhmiIfCKK725-hIM_IniVrQDHIYl3uouSrvCiV4LW85FeLy4dUJa4Rbd3lDlq639Nu7IU8U2jeHBX8fQDAhyw1HDux3j17FMFHdtbBLo_W1vtPnRIx4izuWbSjbYV4Br_tPAlBDEW8RifDp_cckRsTvr9C3n32pbw03Bksj37qZ87srH4pov1i5JcHa5utC0ISAPYEw_JYQVhfG3J9-O3I9tHKAyLBr2PR4N-3H6aqpfsL_KymjTJw4AeZ1xk2DOoU4VFiQofmZdChnMlbX3Jh6u4CT7GVEmwE8umxaO-ZvchWhiWNLwAK7Kh8CI8DMgYjdsowhl9zKv3YFiIk4U1CWDXhXiDkw_G-iGDCVwcu-DAojJbzJcu3IyfDUXAzhh_meVXtQ2HIIYrmORy9Qntj2cMdzSwUleUE4Z54J2y7yRcE3DbgKZtXVYQPs9l-IapFlIaoDMm4oo8gJtfnOscbfmYh1BuLSs8j5f_FpmjQp7X4t1f-ZTk4dFNiNYKO-gNh2CLO_DYj3WmsEZgDrEYI4HP00_EcTnLcvCSGmMNUyMRI7XMCNlNbQsT4_RN2vU7nv-wU-Oov4eG9KAtwo1pJtzuj9nH6B7IkjSy2H5lZ_QOUGTURF-G-IhVDJh41w9jDomHFHCEnc1GUmQhOGu9ZGTwuGVrVmkXOKHYhntJwCyYUnBAzr0dskssDQ8CZtqPtkugEMvXCDvxFZnTHkO8_ODA0blQ8fkI2D_TvSLdXHCSPYmVCFFbE2s-5pOxI48Fr7gW6pJOZtI_yi_Iw9CTIV-lDno9F0QiqSGFi-cVDdaf9FxdUe1xkmH1WFeIxqEiixzQF1MwUvGrPNd1A7LBr6oXmDa9A==",
  "id": "rs_07ef7fef379d19ee016ab49b31a5e487d0aa4de5984a4f309a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.425,\"left_y\":-0.035,\"left_z\":0.012,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":0.75},\"note\":\"The teal bowl’s left rim is now near the gap between the fingers. I’m lowering with a small outward adjustment to place one finger outside and one inside the bowl.\"}",
  "call_id": "call_w1Ev7GUDgDaXPY43VXcn5lJd",
  "id": "fc_07ef7fef379d19ee016ab49b36301487d09d266cf6146fec6a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_w1Ev7GUDgDaXPY43VXcn5lJd",
  "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]: [-0.1486, 1.824, 0.5766, 0.6106, -0.1532, -0.1455, 0.7514, 0.0029, 0.8371, 0.68, -0.4744, 0.0433, -0.0124, 0.9955]\nstate[eef_state]: left_x=0.4176 left_y=-0.0316 left_z=0.009 left_yaw=0.0374 left_pitch=-0.0571 left_roll=-0.0059 left_gripper=0.7514 right_x=0.2937 right_y=-0.0032 right_z=0.1836 right_yaw=-0.0379 right_pitch=-0.0598 right_roll=-0.0166 right_gripper=0.9955\nstate[joint_eff]: [0.0479, -6.2427, 3.6444, 1.4676, 0.022, 0.3541, 0.1197, 0.0615, -1.7436, 7.2, 1.7167, -0.0464, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5898869cec1970987cce7151b1b93bb69535d10e5518b66faecf4e06500b5744",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92b972ef5f01468fed19afb8098f13465831bee7487ca24d48df51866f886335",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80b6fcbc2692c894d94ac388c548470653e5b9c31b0ffd7317c6fa56e00bb9d0",
      "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 22 attempt 0 · /responses · status 200 · 3.422 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 71 changed as sent

message 79 changed as sent

message 83 changed as sent

message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5316, 1.5822, 0.9577, -0.0818, -0.4286, -0.3389, 0.7517, 0.0029, 0.8295, 0.6842, -0.4541, 0.0437, -0.0116, 0.9955]\nstate[eef_state]: left_x=0.4118 left_y=-0.1529 left_z=0.1318 left_yaw=-0.0133 left_pitch=-0.0607 left_roll=0.0224 left_gripper=0.7517 right_x=0.2966 right_y=-0.0033 right_z=0.1917 right_yaw=-0.0386 right_pitch=-0.0278 right_roll=-0.0148 right_gripper=0.9955\nstate[joint_eff]: [-0.5538, -7.2821, 8.7726, 1.8681, -0.2857, -0.0415, 0.0611, -0.1026, -1.4291, 7.1863, 1.9658, 0.0904, 0.105, -0.0464]",
      "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]: [-0.2256, 1.5673, 0.6914, 0.2695, -0.2317, -0.1894, 0.7514, 0.0029, 0.8333, 0.683, -0.4709, 0.0433, -0.0128, 0.9955]\nstate[eef_state]: left_x=0.4202 left_y=-0.0512 left_z=0.0885 left_yaw=0.0494 left_pitch=-0.0168 left_roll=-0.0043 left_gripper=0.7514 right_x=0.2943 right_y=-0.0032 right_z=0.1867 right_yaw=-0.0377 right_pitch=-0.0495 right_roll=-0.0165 right_gripper=0.9955\nstate[joint_eff]: [0.294, -7.8154, 8.841, 1.7167, 0.0317, 0.149, 0.1245, -0.0752, -1.2103, 7.0222, 1.7314, -0.0269, -0.0366, -0.0171]",
      "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]: [-0.1486, 1.824, 0.5766, 0.6106, -0.1532, -0.1455, 0.7514, 0.0029, 0.8371, 0.68, -0.4744, 0.0433, -0.0124, 0.9955]\nstate[eef_state]: left_x=0.4176 left_y=-0.0316 left_z=0.009 left_yaw=0.0374 left_pitch=-0.0571 left_roll=-0.0059 left_gripper=0.7514 right_x=0.2937 right_y=-0.0032 right_z=0.1836 right_yaw=-0.0379 right_pitch=-0.0598 right_roll=-0.0166 right_gripper=0.9955\nstate[joint_eff]: [0.0479, -6.2427, 3.6444, 1.4676, 0.022, 0.3541, 0.1197, 0.0615, -1.7436, 7.2, 1.7167, -0.0464, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5898869cec1970987cce7151b1b93bb69535d10e5518b66faecf4e06500b5744",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92b972ef5f01468fed19afb8098f13465831bee7487ca24d48df51866f886335",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80b6fcbc2692c894d94ac388c548470653e5b9c31b0ffd7317c6fa56e00bb9d0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJs7fRBs4CJjBovTW8JmP36Q8fYBzZ1RGNhYRmdakDnqgymwThia7mlWi7qLmLzy5j0TE-NSoK7MxVksn4j7VsjVfSOH5_Mi8cm6AxvJ-JSYRY5H55ZVKoG2VjB6OWQlndLWyHCLxFlCVlV_l0nENM2QzAEulkFBuOyq_8QkVf6MQFVGKf3Hslw2P9giY9MnRMMZe726CKZQzNbHzxLGKKilo13Af3X8u9zMnIzsNbRrkZMP77EshB2-45qPANno2iHUuPRNzF2OISYGNGaDBJsZFvg9Lf5qbURny8w-gMrAaYY1K6qzMgqRDYEWOi4fE-NrDf2s_-MRaswmMQHhgdJIYUoYAzgKA9bKJKpr0z2uGniGqFCQmvez_3nxEGU-_Rk7u3LasU0sJ9p7pQ4Y9bmB84mnuSR0LeHO6LSvqiZwfGgXeShnRDg1CQ6kBMN0UTp9h3MYBhnv3bdFOL17btP--2d_dCciyl176V_cIAxSAktW_C-7kDv12OiON-AvsfJWgwh0j8URG6TKnprNNdQO7gjmVo4jKVpHL8jq22o6ygqur_pJzzMwHo9zPmTSQ0x-uedID4SIvLCXT2XD3ApYX5GcRqMXOScPy5ktF5X_ZCiTUxpZoBLnjWnEVqnwZY9mfxH5y_HWT7vDLj-cd7FdLPaQkTBjaJW0WEKbuh_j-LoiLhHHfSV1tid_G3VcbNkENTwqfFqo5NHfu4XIZFZa2vugeaI9eqqCnW7TpHdqF81ca5D0IcMjUIbT8YgcbTWm1667ekV09e_nhPjIXi5rMwR9lFin41ZJwF1hd_PlixOll6rVp2PRaLah0rUq6jOxJXs67p7FYMAHGACD2vdfN7yS6vT2wT-v1fZ1WxUDsZKKqqX_6Wn0mQoY_g7TsKh0JLyvU4GdzVD_mUtK79ArCF3fXruCZwLmI0rI8p2YHhREaC8qS0NB0K8DRbZwcMNB9DkolmYnLP_aHQrThzE9emz_d1ZwjHSRWA2GhmoWJnjvRp0FgdldLHkFiSddoOfJ1E_zix_gLKOGp7I3U-JPeRcIxWUyogDgA1bVOZD0FE7pGV7mzeWY9VfdmCH4hdyd4m-22RLeLeYe-_zBHD9u4vP2OrImDme9pQSPNaaHlySmLN8jFwGRp5TRkCaSjE96y7rxtLy9x7M1ym1dEE3lixYALo8Gde9B2nerbDNFs0g0o7cRRgr9QzPFevOcHKQPIsJ3p5_bK5qZ8p2d_tb-a7stubmbKDZBO062yfFkmu3n_37PVwcPdpSTc04f7ZXzkXHu5tNmT4qbusFi3A1WwJF-CX8BZJFfaAu3vE2fLLhFHuKPvz_Xoa7cC3rXiKlOk3XvdVyQAJ_kF0ghaBDuZzJLcL-NtYzPhTA6XYEvglz_bQu_LvyA6LRTSIdPC67GTMOH5RFro0kVBFAOusHDel-jnm8uqX9vDcCKVH2mImKDdeYcLn0Nm-xVwnzPhgbgn5pEpsFRl_4jgFHBzp0g_w==",
  "id": "rs_07ef7fef379d19ee016ab49b39862887d0b492f557340cbbf6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The teal bowl’s wall is between the fingers, though the bowl has tilted slightly during insertion. I’m closing on the wall to secure it before lifting.\"}",
  "call_id": "call_zQztIcVT8QYIfjRcTkvzDAec",
  "id": "fc_07ef7fef379d19ee016ab49b3a4ba487d0ac1201e700c50ad7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zQztIcVT8QYIfjRcTkvzDAec",
  "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]: [-0.144, 1.8397, 0.5728, 0.786, -0.123, -0.1406, 0.0377, 0.0029, 0.8371, 0.6785, -0.4747, 0.0433, -0.0124, 0.9955]\nstate[eef_state]: left_x=0.4375 left_y=-0.0379 left_z=0.0374 left_yaw=0.0145 left_pitch=0.0939 left_roll=-0.0441 left_gripper=0.0377 right_x=0.2935 right_y=-0.0032 right_z=0.1828 right_yaw=-0.0379 right_pitch=-0.0617 right_roll=-0.0166 right_gripper=0.9955\nstate[joint_eff]: [0.0068, -5.7094, 3.9179, 1.0232, -0.149, 0.3053, 1.3797, 0.0342, -1.4564, 7.2, 1.6825, -0.0415, -0.022, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1842bd1f46d33a8b2d9d55f84c7bb2be872a94890a514747af1cfa526866f5c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed67b2027a06468503df67491e6f1a583a85774361748ce11da6b87ea83050bf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:752a1225cff32525a864a2cf9a055083cff12ad886a0fb1dbc6d11221067c777",
      "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 · 10.78 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 75 changed as sent

message 83 changed as sent

message 87 changed as sent

message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.408, 1.7729, 0.6956, 0.3798, -0.3576, -0.2771, 0.7514, 0.0029, 0.831, 0.6838, -0.4675, 0.0433, -0.0124, 0.9955]\nstate[eef_state]: left_x=0.4138 left_y=-0.1076 left_z=0.0321 left_yaw=0.0195 left_pitch=-0.075 left_roll=0.0272 left_gripper=0.7514 right_x=0.2948 right_y=-0.0032 right_z=0.1884 right_yaw=-0.0379 right_pitch=-0.043 right_roll=-0.0159 right_gripper=0.9955\nstate[joint_eff]: [0.6085, -6.8444, 4.4786, 1.5897, -0.0562, 0.1587, 0.1197, -0.0068, -1.5248, 6.9812, 1.8584, -0.0317, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1486, 1.824, 0.5766, 0.6106, -0.1532, -0.1455, 0.7514, 0.0029, 0.8371, 0.68, -0.4744, 0.0433, -0.0124, 0.9955]\nstate[eef_state]: left_x=0.4176 left_y=-0.0316 left_z=0.009 left_yaw=0.0374 left_pitch=-0.0571 left_roll=-0.0059 left_gripper=0.7514 right_x=0.2937 right_y=-0.0032 right_z=0.1836 right_yaw=-0.0379 right_pitch=-0.0598 right_roll=-0.0166 right_gripper=0.9955\nstate[joint_eff]: [0.0479, -6.2427, 3.6444, 1.4676, 0.022, 0.3541, 0.1197, 0.0615, -1.7436, 7.2, 1.7167, -0.0464, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.144, 1.8397, 0.5728, 0.786, -0.123, -0.1406, 0.0377, 0.0029, 0.8371, 0.6785, -0.4747, 0.0433, -0.0124, 0.9955]\nstate[eef_state]: left_x=0.4375 left_y=-0.0379 left_z=0.0374 left_yaw=0.0145 left_pitch=0.0939 left_roll=-0.0441 left_gripper=0.0377 right_x=0.2935 right_y=-0.0032 right_z=0.1828 right_yaw=-0.0379 right_pitch=-0.0617 right_roll=-0.0166 right_gripper=0.9955\nstate[joint_eff]: [0.0068, -5.7094, 3.9179, 1.0232, -0.149, 0.3053, 1.3797, 0.0342, -1.4564, 7.2, 1.6825, -0.0415, -0.022, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1842bd1f46d33a8b2d9d55f84c7bb2be872a94890a514747af1cfa526866f5c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed67b2027a06468503df67491e6f1a583a85774361748ce11da6b87ea83050bf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:752a1225cff32525a864a2cf9a055083cff12ad886a0fb1dbc6d11221067c777",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJs_HtHSqmMLtBrzPCij7NWg19qIuO-WrkTHmBt8k0xUrviG2d4n_Z49g7AViUIhk3qR_W2XwbuKrJ-1a-c46bvVOCiQvbqeXgSYF1TlxM2oi_YUNYqFydfVT1Znh7DGeu06Y_qbF25CGF03C0pnNc7WuNrOIN0Yxuv2QOWbPfWiePkCeWxiHxnVastLfDmDJhH1Jd7CWIGSD8mz1a8D6lN1ztq-n99JAgMAaFw0W7ck0_mjodhMv2dVON0O86UM2gE3o0gOzcU79VXvuDr5VqLSr09cnBXxarZpJsmywzZzCjxVy-Qr6aDUSHPwD2v4IYOtQSlcqjdV6HEeBepZa6_dOZ3HpHNwhxWGgsSimPQGtm8qYmSYLMUt_MHGoKHEC5BzqOcr9NPCI0WW0y5sAexCWf_PjVg1aUW8Hy8aiGhXm5pyIIdYOiHxcvW1DYvqrrSrCJHhToySiCejv3NzUyEtp4opzfpHzknKVprxcsrchkHNvhbmZnGDp9tuBLYRFfziL8NHaWCSoQj5BSTb6vxAVX6RuodAg8pueQ5xS1QKJ1dLoapqlTzuaRECxiCTiTcqkMYMwIQeOof8FzEm5WlvLXojeH6g17oyiwzfMjDMt4AlRGv36QddU_COVrathFIfk4htnNVMU_BZYOwcd0JKGQDsQFBM94Q5LHwABLqeAV1M9GS-Q7USO1AiTB7y0jpmZOkW1GoZy8bCNsG80VNDoJ9EjHY6bH-R3PaJNz3XNcBSoOGDnJlx_W_6fGpbo8dYdEHNFEDsfGPy7OlkIii7N1UQPWSmtNq8bZLCeBMpvllTNg9QPRv-HWrJ-3yoD8jIXbRMxA1wEmOBqFpvlHj1vNBtImvBAtFjK0H5BWcBDk90VPnYM3ki1XeAyESBFAMx7aHW7Mtx-Ddc0AEYedBe4HIRU-AT-TKdyTPSVhKp_-ndKeBmoMtaMK4OmzTedVfkApzHg8JSD7hhk38vpfHfE3uNd4lPvNsuVVasr5muwn2-Rr8Uu4kdsyKZqrjgDWX8apaw6CLXvwPUkWeEiNQ81XVba5zQR3Ku2PBOYlS6Srw59Qvj763VsvaBUPYSbKVP2Qtkior4mMvO47sGiXlwToYd_jvbwiYGlHvZI_3EaydkGO2hGPHpSkHiBM3YQvtebA50KOGby-lVLpmyQmpTMpdyu7IvfLAX1wZYLGBsWl4zPuOV8MouktihKo7lTh8xG1OaWCW-Qi0rvI9Sat1VVmaRIKIM3bngB7AXmmqIFLtYoYmxYO3j82e4O4-P_mcz7apKxzYA5rPSdDljV124LUO3obAclPU8pM9Wypm-g06oU8yZG1thshFUjpDyvzPL",
  "id": "rs_07ef7fef379d19ee016ab49b3d903087d0a8dd53aef8e5a0ef",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.438,\"left_y\":-0.038,\"left_z\":0.105,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":0},\"note\":\"The jaws have closed almost fully on the thin teal rim. I’m making a short lift while maintaining closure to determine whether the bowl is actually held.\"}",
  "call_id": "call_jkm45bJW1fEkKxpUOuHtBA4c",
  "id": "fc_07ef7fef379d19ee016ab49b3e2e9887d08a7855b9d8fb0ee7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jkm45bJW1fEkKxpUOuHtBA4c",
  "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]: [-0.144, 1.6447, 0.7109, 0.4873, -0.1299, -0.1341, 0.0422, 0.0029, 0.8379, 0.6785, -0.4747, 0.0433, -0.0124, 0.9955]\nstate[eef_state]: left_x=0.4539 left_y=-0.0391 left_z=0.1083 left_yaw=0.0173 left_pitch=0.1284 left_roll=-0.0407 left_gripper=0.0422 right_x=0.2936 right_y=-0.0032 right_z=0.1826 right_yaw=-0.038 right_pitch=-0.0625 right_roll=-0.0167 right_gripper=0.9955\nstate[joint_eff]: [-0.3077, -7.5556, 7.1453, 1.6728, -0.0562, 0.2271, 1.033, -0.1573, -1.4154, 7.0359, 1.6679, -0.0562, -0.0317, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49df274624c14bad8e4aac3e69ce9ba9c3a4883123dbca9dc426dce06e7e44cc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a7056845f5e2e7e092226ca78eddef98d57159d5ab09c0bd27ce45b9134fd95",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fee8ba302520eeb5c3b293410f198ce3c2c488b521aaa68a132d518944302a24",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 24 attempt 0 · /responses · status 200 · 11.21 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]: [-0.2256, 1.5673, 0.6914, 0.2695, -0.2317, -0.1894, 0.7514, 0.0029, 0.8333, 0.683, -0.4709, 0.0433, -0.0128, 0.9955]\nstate[eef_state]: left_x=0.4202 left_y=-0.0512 left_z=0.0885 left_yaw=0.0494 left_pitch=-0.0168 left_roll=-0.0043 left_gripper=0.7514 right_x=0.2943 right_y=-0.0032 right_z=0.1867 right_yaw=-0.0377 right_pitch=-0.0495 right_roll=-0.0165 right_gripper=0.9955\nstate[joint_eff]: [0.294, -7.8154, 8.841, 1.7167, 0.0317, 0.149, 0.1245, -0.0752, -1.2103, 7.0222, 1.7314, -0.0269, -0.0366, -0.0171]",
      "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]: [-0.144, 1.8397, 0.5728, 0.786, -0.123, -0.1406, 0.0377, 0.0029, 0.8371, 0.6785, -0.4747, 0.0433, -0.0124, 0.9955]\nstate[eef_state]: left_x=0.4375 left_y=-0.0379 left_z=0.0374 left_yaw=0.0145 left_pitch=0.0939 left_roll=-0.0441 left_gripper=0.0377 right_x=0.2935 right_y=-0.0032 right_z=0.1828 right_yaw=-0.0379 right_pitch=-0.0617 right_roll=-0.0166 right_gripper=0.9955\nstate[joint_eff]: [0.0068, -5.7094, 3.9179, 1.0232, -0.149, 0.3053, 1.3797, 0.0342, -1.4564, 7.2, 1.6825, -0.0415, -0.022, -0.022]",
      "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]: [-0.144, 1.6447, 0.7109, 0.4873, -0.1299, -0.1341, 0.0422, 0.0029, 0.8379, 0.6785, -0.4747, 0.0433, -0.0124, 0.9955]\nstate[eef_state]: left_x=0.4539 left_y=-0.0391 left_z=0.1083 left_yaw=0.0173 left_pitch=0.1284 left_roll=-0.0407 left_gripper=0.0422 right_x=0.2936 right_y=-0.0032 right_z=0.1826 right_yaw=-0.038 right_pitch=-0.0625 right_roll=-0.0167 right_gripper=0.9955\nstate[joint_eff]: [-0.3077, -7.5556, 7.1453, 1.6728, -0.0562, 0.2271, 1.033, -0.1573, -1.4154, 7.0359, 1.6679, -0.0562, -0.0317, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49df274624c14bad8e4aac3e69ce9ba9c3a4883123dbca9dc426dce06e7e44cc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a7056845f5e2e7e092226ca78eddef98d57159d5ab09c0bd27ce45b9134fd95",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fee8ba302520eeb5c3b293410f198ce3c2c488b521aaa68a132d518944302a24",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJtKCaKexlsXp9AOx5qKW32yeG0GNfXWHiiKjzZo0XOiuvQUkORDCJmY83qzx0fDwY2ZDfPPg483Zbp45EIsS4s4gVBm4VkcGU-bMu78Q_Xt4ia74Zu01Mnraid6viCCr_udTdQrfuhP8RqNJI-c2zSXwh0LIE9BuRExLVn5Y6uaTfF8TcID770QBPZfZ3gTt6m-6MkbryZhCOgthwE3-rTepGQOlmeQTGJb-0AedMnEf1TIGr7KgN7juV179QymL5sjTIq5Qob8hBmXxj5HNkiEbqRJcyOwlFqVqR87OL7qw3fo6ZQcd_WyWaShMyivSaHBEbz6YhezuDaZ_z3C7NQNrS0Kkiwl-Y7TOLVIFwsXgirzHlgv08ACD--E-drcImUBwaAmd8pRGmZP5frBeNkIfiHZzusEq54Cb_7H0C-VnuGmdxIeZcJGKnAFNTX7-y3XxvZTcnyN9XoKceI1ZItzRoTvy_pG7C_Nf_WRXWxPJP5-H6Oux7kRSJOLwIgSJAfygX06DPtuC0cBcLmUIk2cKB2Fc1RSZNiEBT9kcDdzvpkq0FIB64_7P755hBr1s_ja0_5AtFMcQZ764Cg1oKmUlf362D3k0WUi9jxh59GKsng-8621izImor11LuX91VukbLUgCHlL5Pk40CT19p3eoWWrmNLBh6939bqc8zmclyUYL_vko4sOpkQyCI2XT23XOLXIvF0mA3rIikSIQ1BzfCP9pbGZlIQWuW0zUzIEgTo6E69rHsKKbDIN6I6dZ5APRljz8COyo1Rx_6eHt9pkojIIt6BOZNCraU387LGGRkjgwNYSMvOXyOEUVYOa4gUjtkjr_MxkWIL6OoabjnKmwAlCDj2CQpEojN3owCQ9KmeerD2d1w0LFbEcm50pbCNuZDKmvtzG0Yoda0XdkzA18gZSC0YUQ2DTu7VGZneEK-mHNhxxB-8WInHExhhPGLl4_Vs3_jJvNXyBvzTAtT9lSqrbYDR_Dw0TZR9cN5sJ6n1E1i7r9oTAoWnJiCyuXjDZwgcC09GXZQQZ6Rq4fhnrjNZqlFK2sPgfZgLz8VPRXHm4wzqjgNcfUCFTvq6DhrsAbAyfO8C1WqNR94TcB2g3VKaCfLM8BA-legpVG4oh9Dh-UOxhyJ6AgNKgzh0ffWPsq_sOC1kFKnnn-N2Ln1_zXnJX0LVx_q6ymo_FBWitJ-am2hBu62lfZUco7Go_YoZ89xGrfnNotDyBHtoB8SHZ8EGzTmjdO2iJl3V_-jX2zit-AfkNzC74YYTYOsjanKNb4Byx7uUVM8B-5yFtkTh7MSmLoXZPOg_frnfCfJsqMS7y22j587ukXQ979zae46Apk_p8YOWrZ1lzFgIBG2JfSngd_Sbw2my-Uar0HRKaBqUT4DILqUe_j3Jg4Ys1wzV8EgiJ_KhVlyCWUUnWoIs2l38lrRXLw7iB7dVZTYxhol7tAJgc0PwnWMXXHmaebh3slJorjSK70UN_tSokyOn6w9-yL2L-IZeGcfRmZQb8qhVH_5q7hNnv9US1V43AJEFPIMYZ3BtyIKiCdpJrdHLNrFnSzgv6xMkaALF3-_4rbuUVhG9wQ61fppl9J0sVGwGZfVd_CvNd3HPbBPVMMpXwN5BX68qnSAxYEJciKqqPx9b-TbDpJA5TG2Q85oiRg_63mJ1GSyUjQcIUqsfEA8tOMPplczQw2fAsD7xDrWWvrRaYxVbsv7YbaWhK8MD8sXgwHbRGZpJJ1_k0czvGLc2JE7_75kgMUKOS_estK6LLpF2uDVNEGZ2kUd8sS_YMctbU-dxq-F-xyCct34ieKWcu772kORubMbtkyCecXQpCQb2TbRURNPRHNsXC_vzT-yLbIf4pQQfMvF63KgFFNYy37Rspdkrw9OVWDEODFn9MIhhLsPjBuPszbd4mYU5NEv5zEZPC5jdF398wUldZuYNCjCvx4aVueKdZHcAy8jbjNG8uWksqj-U-lToztIYU6PGhWq9U-OQZvPFy2lJCvbmY5WORps3WsbzAg4NuIKVSZeVwBaOohbY8w4M402olGRVSQ4Z7XG_wlsMFQv0000L0ns-8m_ULsxbf-PMPMagUAY8T2Q51CAkRqU0MZs4KEqkobX2lYWVOexIUlqkxyRsUp_CrTZbMPa3beMIsPZD7WiZ5kso0RdlADYqu6isjb8_BhZBzOwxuJFyyLB6Yu3QjWBEwETMGlcM4CzdlBJQFWBJfW7BNQ7xXBsTIPXGwsp-9gRibLh9JoypPRKQXCYrfWY_asunQ7EASvtB2IEvcl2vao1iC_l9OLrwbPbBTo3btGFa3M8tqROmGNWpFhyG2U_az0aq2YZSI3X0wGFtS7UuuzxaKitCuTSTJlheEi51h4CDSRwGqcveCe-Q9Ts_ELAjdeUG1WRQC7opH9U9qGrQ-nvtKbf0xtd7tLgQ8xkERkAOgl1HONs774ijPg1Lhc_zJskWnkXGLa7TRUM00lIC0gs0GWy60VTwkTjCugjQkiWokYuSC1FB_XiZKrqbNGR8lX-wP-RU0YOh3fDYFCIruLvAb8GNUVihPsLFTa59EhpC2KynAD-ZbRexUZctiiz_GODgqnXUPu2AB9tFsEsgE3OMH8pHUhagL3-znBdNHiFztBEjVYNiUXdxjhnUuMe0AwZKNlfxIFzoZEPh3JI-yBiEjVaNFj_uVaEN7tuadXaMKY3Lx0Plmka6r2Ilmzzh8RTgeXoRgLJrpOMl2xmElPzpNAtagja53-2jK964zMSgmMbnEiER1e8ZMJeIshVXN6q6JydI9I0A9psQ8DdUS_qu5T2zGgPvsAV62CC_XBw1Xh9tCoO9jAjp2IHiLmElhx1fIUlH1ZSCvqipJBUFWakpnLqbfJOOdw2vugAOtivsoisY9nJHkx1--cK-36I_gIpMTluYEgCa-koDYQ4wbVyOCB4-EFiI6CbXOVHwYbQporHyDt6gKh2Pj5sORdmtCHADRkzvU3MZ0CkPgG4GW0vVxjvYVpuvtP-qa5vzCzdWJRA3x7YFKB0uG7Y9byKQgLk-oyW62VdCN77S_gYOIcUkAxLWCoj2E3BiG98PxOWd9p_lEvfzD6fs8Yq-OHJXe6ZmuS_mcEovfhop5bnvyI167g-3-M_xtYCfcTyZc9Pz69owREfzdkPkT5U359i7XdwWExhyhjk44cZ2KlTgrTxBrJLPT-V42f4GcHqJi63eJeeXN8LzeT-xzXXdAYgJlxNCiwomFVD4Rop1doFIPL2chNSsMaKT38CR8UvBGBY7emGwqpgTxLu894-bOmB1Ny9e9z4Doi2a2vfq4H3o81Bprixnq4YsQsgIuliN3qKHGF673P10P1wBDALwzWYo9fEs-iLBgjOJ7yy5vF4dULpycc601mz5ZXAi54-3Sl-j4lSe_d1KZgtMIYD_vNF-s1NfCpsGKtG1LVgyDl7slfwmlYwvr6P3-ZOraERVNwyP_QVUe8_FoblQnacUYVctdKkjha7qszabvwWD11eI-TqNdY1zR_YCwgoezjNypdBymwdZMYWIb6jMjXoZ6haISU8IDATDjrbmLTCqFtbze0VgYM1KmKU1TtuIqZ3sPQZ4vYclOW8MY3NKRQPvfdktUgIQgredZuBgT6gg-_k0szEEB3pBYB5W-z5BkJbPfQMMt4HxoduR5olhNFLV2fOXNlygK5MvtWYxZiWolxj5QSPlhKUuSxrYY3wkqhs6Pe4jXgNvt3SNaiR-7EJFsJvkecMIJCwKBFg42czNzfWskr_ue8akD47ZnF_aoUvKPAoMkbPH4oajoxkSK5KnSIEUqWE-MLTxkiD-E_QZ43mNbKxEPa8__d5cqE0_nxnP4YEGByhjnFIGL7wRUW-6_zrRgAcUwPFlhTOr5oxaQe96sg1QFA4DTNItnZjQ5RmI4CuCCvqR84Lup_yLhF9EoBtTkXDbgkht-AtVNu2wg7CGvUkKL0ayQDhhA018Oh7BIYcY65DnY3V-eHPNNK4vlhcF8baRK-beeL_eiuVWQnPR_tg_XmCJEcZmGWRS2h603NApPlKhla_ngrIZZgeUdcklFG1gBJqdre_yiZtzFhSyGTj2LZXsMGtGJR9e0vwsUNvDpurKgCRF8YqafvXhVxQkSxZEC2Onl2YvYkfkuBsGJalSmL3k-Y5AWbZejtLyKuUbezvGHLAX92n5l6FVxI4ZtqP891mIZAw85Bj5VkeWB-ZiFNrZvDnjGxSkXbOUBKm3wSmv5oesDxJMy7bxtsL7DaY5lDtgu7rGEsJ_cHhT9r2hQBGxu5ETdcb_14vm_",
  "id": "rs_07ef7fef379d19ee016ab49b41430487d086bd99578f503246",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.435,\"left_y\":-0.06,\"left_z\":0.205,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":-0.5,\"left_gripper\":0},\"note\":\"The teal bowl follows the lift, but it is tilted in the rim grasp. I’m raising it clear and rotating the wrist to bring the bowl closer to level before placing it on the stack.\"}",
  "call_id": "call_PcfKGS92jSigVBBaT0Xzy6YX",
  "id": "fc_07ef7fef379d19ee016ab49b49735887d09d082e9b96689d54",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PcfKGS92jSigVBBaT0Xzy6YX",
  "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]: [-0.0708, 1.438, 0.9302, -0.0151, 0.1349, -0.4381, 0.0422, 0.0029, 0.8379, 0.6765, -0.4747, 0.0433, -0.0124, 0.9955]\nstate[eef_state]: left_x=0.4383 left_y=-0.0513 left_z=0.1848 left_yaw=0.024 left_pitch=0.0014 left_roll=-0.4205 left_gripper=0.0422 right_x=0.2933 right_y=-0.0032 right_z=0.1818 right_yaw=-0.038 right_pitch=-0.0644 right_roll=-0.0168 right_gripper=0.9955\nstate[joint_eff]: [0.335, -7.8427, 9.347, 1.8828, 0.1441, 0.0464, 1.033, -0.1162, -1.3744, 7.1726, 1.7167, -0.0611, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3ba8ee221d7de162184952e0b72f0d2f84e13f85c369861f1f60d2cc9b5eb6d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d33c6815be140c247b1d3860ff4ef03337e8fa43ef441c9e7d7c6fdd1b70eb18",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:313b8d66303b75733054fd1c1b8adbf6c018d81e35e38452f293d17cd6814d44",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 25 attempt 0 · /responses · status 200 · 7.845 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]: [-0.1486, 1.824, 0.5766, 0.6106, -0.1532, -0.1455, 0.7514, 0.0029, 0.8371, 0.68, -0.4744, 0.0433, -0.0124, 0.9955]\nstate[eef_state]: left_x=0.4176 left_y=-0.0316 left_z=0.009 left_yaw=0.0374 left_pitch=-0.0571 left_roll=-0.0059 left_gripper=0.7514 right_x=0.2937 right_y=-0.0032 right_z=0.1836 right_yaw=-0.0379 right_pitch=-0.0598 right_roll=-0.0166 right_gripper=0.9955\nstate[joint_eff]: [0.0479, -6.2427, 3.6444, 1.4676, 0.022, 0.3541, 0.1197, 0.0615, -1.7436, 7.2, 1.7167, -0.0464, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.144, 1.6447, 0.7109, 0.4873, -0.1299, -0.1341, 0.0422, 0.0029, 0.8379, 0.6785, -0.4747, 0.0433, -0.0124, 0.9955]\nstate[eef_state]: left_x=0.4539 left_y=-0.0391 left_z=0.1083 left_yaw=0.0173 left_pitch=0.1284 left_roll=-0.0407 left_gripper=0.0422 right_x=0.2936 right_y=-0.0032 right_z=0.1826 right_yaw=-0.038 right_pitch=-0.0625 right_roll=-0.0167 right_gripper=0.9955\nstate[joint_eff]: [-0.3077, -7.5556, 7.1453, 1.6728, -0.0562, 0.2271, 1.033, -0.1573, -1.4154, 7.0359, 1.6679, -0.0562, -0.0317, -0.022]\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]: [-0.0708, 1.438, 0.9302, -0.0151, 0.1349, -0.4381, 0.0422, 0.0029, 0.8379, 0.6765, -0.4747, 0.0433, -0.0124, 0.9955]\nstate[eef_state]: left_x=0.4383 left_y=-0.0513 left_z=0.1848 left_yaw=0.024 left_pitch=0.0014 left_roll=-0.4205 left_gripper=0.0422 right_x=0.2933 right_y=-0.0032 right_z=0.1818 right_yaw=-0.038 right_pitch=-0.0644 right_roll=-0.0168 right_gripper=0.9955\nstate[joint_eff]: [0.335, -7.8427, 9.347, 1.8828, 0.1441, 0.0464, 1.033, -0.1162, -1.3744, 7.1726, 1.7167, -0.0611, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3ba8ee221d7de162184952e0b72f0d2f84e13f85c369861f1f60d2cc9b5eb6d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d33c6815be140c247b1d3860ff4ef03337e8fa43ef441c9e7d7c6fdd1b70eb18",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:313b8d66303b75733054fd1c1b8adbf6c018d81e35e38452f293d17cd6814d44",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJtWjRlTLJfeOQo23ilc-92LDleGeAxKIbMXkQ_fCILePJAsEubZzZcIzGUp2tb4UXytpXpI3bsv_AihjnXp512C_qh8ISteebqfQLk7brj89Nzc5V4mL56SmYjbpEt5IRDp8qYnMpSiM0DOHujRWS6Kr9J7U8fpaYkC2o-Qov4QpeZeXtNTQl8U5URA76FP09tQTcn5jmtw2CdztpFASAQo8VsY7yVTED_J-Y3FVlnSQ0cumL1i0RnoZGX-CPcynYjLWA21mwoUXxvpptUF7GRhthXhg3Cn8UtXrhfLlsiHRCwiEERwYlfMRNj0ZnlmfN_K0AX-HlwAXYx6JjVp_g_7E5xVhj6xtgzHCinBLZdVFwyNT9fJSbHcSLKamyAKfZKLcr1BhgXDfERZlWrw9SYzGP9MzXpNLIueyJNROQLEmZEZJnkwEAKV5nYdRRjk8WhuJcDA_Nv3e_BgDbDRDjQ91beOa8CLNU-FFby2wiT5SLJMfTayTCK74w7xvD3usIvIMeiOLA5cA0SWfM4J6Hg-H_eefXiRhDqIWXLmB0Oo8TrIowm3NduRUJI--2f7JHhdFjFHwSkqYifK_6MUQR2PRPvkkrSqKveOqXU9wKq1_k1vlwcNgRN9yguiy55gBU3rxA6CKn8XnrARJxXx5Oo3XtNIhvR1eK8gABabsnNm_j3L7DU1VJ93xhLwYP-4t9iwHDzzju-oXSVbM9PDXlq5NSnhQm8EJr-1vmt6Qb3b8peCuzuQyju7MNEAzVOuR2d2Ue1wHb19lG2WE8DJDNpXZ-ZpayVq7UQ0VPPG9IkSh7DamIFIWNl6vcapyfJQWtvIMk0jVsuk048LZIVlmgMFTMo2qlmddoTws3sMDkNELflY9N27Bg-fSR_vFHKzWZgxaHoClc7V-MrdA1Qg9z2zlfCFvnKEHy3qrnSb2VwERjL3FCr181eWru1Q-W3G-hI7tLha8NN-GGbdSrYboZbcHykXevL9kWt7AVdqmOXm58dYsE5Y5s6btS1V9bs1Vt30iPSpH0scjxlowY5nb-TG0PhxmDwJnW5axHyd5hCe8jlFd1BbJTTIbIVBtfDHxCsZamyikuvJEONG6S2qcc3o6SAH4YChKL7F2rTkCc19jSo21dV0u2e8Y7kgD6H0-RSe9quBJleN9o1xlah9iRgLhNDHy2MzsWT-m_sCKVmuu4DRYPS8Gm_jI7Qx_efSdqZDZ9s_8HtJtMFaJ_z9fIbVYetnsRaV4iQaeRP2id1CIFE1QNBFRDTfy0v5hvkfErvwgKUkdvCZ7raT65E_NmC1cAtEfeCxJbXeVc1IyMsjrunEURfxMvhbJcyIlnTECzeD3VMKJgouwbfKpDuJcsnnCrGmKgu1hBDPR7Myd8xtBd8PC8L5Ug_WVCmd5_FU2Q1tH9fb5xFW0jmtuR2jE15LGTHhg3OJbLCt8FLtIqOHK93wdszAb1dXyPrrTscTVxhpmGL5qtSj3GLbTuDH4lSCEI04LqSMuAH49pLfh8of2zcLjI0Z8HvQ3B3YwUWjRopUAxWj1iUrv-fsbCV-s5GBAyOuR4qyHiZu3geix8o5VB5yj3r2ToW3e08IT5JQwZeRP07FAXQs5iSCvy3D-4Ac3BlGZx1uJFc2pEnXo6SU-gyZmar8Tn8ycmqtMr3NhXpzazkSlTuCRKQyfUyXxqIn1aKzWDma-RYF6fcUkkMRYTM5m-15XSWkwsKNHQb4wdjmeWnZQuCc1Z8ogFlF-HDKQishoQF9xPaZQP-8qfRHtaUzHabjeWbZMpiNlJjX_7D-ySGANDXyYXJHsnDpuFix140dXyfcFypwGV_8T3Kbx33tO06ZgMEZwoeygxHuD_tGJ7qCllHhg-tFLr4fYBuzaMx288jP29BJp3sMVhs2MgicxvYj2Vm6IEBbDGzxcHWesWq_bKEZOvRiUidwcffI7TCsH-GNmIHTLfTZ8CyPo9fwfmiJfYou2xpityALG0CEVM_ubBoJvIuxa9sW6ZvNaK2Zkr05VBWgNvLpsypkyzBEJfwlPyt2iOyTaDn2bKRdSU9gcixX7A0pI10zOID-r4Z86TEdefkKLc9cLCml_i_AGF0BTa2z50vkWR873-S4GrKEmyn6xAF9ClJ0c2uGtQw-Yg3yfKwMzJ0crC-v9XEa9kA-E6EDbi2bCnpHoQt6gHvh876wjtGEdnVPLziOcrXkQ-vRMBtcTlMrSC3X2Xvq_2QjtW_nOvQWenxgQDDxHZLSiUWBsihUAkatosHO0Mc5xGPlzUy4_gsA3OwMmX69qLouzR0Ac_yZXYqYob-XnZE5T_-8NDAr3_PESmNvIL8qTlCfrFEkdfIxc8O2xd4-_ssgKMI5WS3o7d4Ak6ryK-x-Yvze0vFaNqa_uwtR6e6qZQdj9XTR-A9mXHqZ8uGXE4q7P6KoHtJVL-JhTEumDodz5U6LTUT7rGOFGMtK_3lItpbcWxMpq0hl3E0l9q_l6HP7AjLiVaKtTelFdUb-Ac3RGlyL72kzaAyyl5GopGep2T_02hDBmKMojAjPlYcHhQdt3LvNRqun3uVseffF2Whaj81YcxhHCali2SM9HRUxKKM2pTQDijb7cfFSkUOJrwz9q1O7FuLkOcOxEenkH26Z96COmSoDDLd6RttHeP9g_G_BjB_4ThTufQ0jrvDT-HNwOf4yKlv9aH1YarXMiOwTGpmoa8MgEaqSsQw5ThGLxCI2FiOBT4EZlvY-T5bGniGPQdKDebtfOD3GNPPEgiM7xZhPUCwZdLsSjHEUewuf2lnKRdx8lxUPRGoLvFI2R5v5uqpBk3yXmMLVH-cgMzt7ga7ixgHlr13NEEmBWr9HUUhF0FdIu9T4Kdc0XGke-m9jPJ4_sHSE8UGA-WFY3DkP7it3pOPMszJ-KPPP-Ls6KKwDttRTX7xw0xdEZFr9HHhgL47bTtqJBxoMIRz3Z92_Q8l2L3CFoFPd8T6NuvIlZQyzLUWnGzVHj_XSbPr60bDrsOY1Sp3cy1UbK_DnfHTOWtvAJ2x1IY4ArzEdLoDTgwkHF8-Pv6He_qBt-RFLSrV6yGsJ1-FqtyNzghZJ3hPNTf-hPdR0PdOEiVv0EaDqbcw8SkuKR79QAkLeT3mhEmxzyKuCfp8-CfbdUooQu4-eYsre7iqGS0zPYUl5C-J7ACl_vQlV6VpFNtpx2RX7FMnfwjKoJEZMwdtHI94uONCY-uz-ReMeizMXrewgfbGE1wjmPFDjVEOgx8v1nYGiEQs7N-GV1PIZ4nXx2KomHnyWiQ5rwBYp4yt-UleCTo8l9fdlRerbFRiOekwVKszq0irMbQFcDIIUkNPBIQFOjn8QYbWESCd4gIdgy8bp0cp2vILMm8Uup9hdwTSCY1Hef5f-RSHzi5YAwDbnLDxC1RmeK3oYj9wOrMGPKawa4TovoREqXayv0oC4B9ObGZE4rKhoGIiCwXQbUhlz-m8OUbPhr1JKpdz5fK9pyhexPuZ4gfwJ-8Ur-Z5kDiK4qQ0hodFioUrxy_UCnXR4jXOGSO6qxaiq0fY5p6WnNSm3b6IF7S7ZOJbqt38b6o0jzj-tF6cL7pyf5pEAsbNtausxQzSmKNtk_ZajZd7p1cx0dOzn4BYRZrwxnhcucMqwEJV49aTTvTLtAiGkKAAdulviSjHKChH4jvIaMr5YrrVbnXxC6LBCFnYFMQNVeQ2UN6Qw6WDPS3TWt05KNNEa0dTkck4UhbQWiP5DC8QSCIPVoKO_hgPn2QwKnBjmmXR1ZMRRfbusXe0nnjbHJtTSjrzyVWXQF00T_-xPoBjbVjsSkt7mRkXLPMDZIjAet3fDmw01FjqAYE-kvj0jnE2K90dkm0aGV63-CSKyDdd_jlv2wQaz5nyG_9ilhFjFICAhcVDnmnnzWIAQyASUIpjq2Caq_Zz50KttJBbLiOkG9_5M6ZidJgx_QJWaMdrlcC-KW0VRULnlQqEocH-hUw-GOOw6mRXGY-wXaa6k_BCPccGQBxWQS3ZpNNvr6zNnhY-lQOPNBt-UUsNjr_cnE4-vrAFxs_QxhogrpWFCMdvJCsjrjlGdbTYns0YAGbL_Plv1CNJ6o8VCFySPML2ItSN_eVrFKZCBkSKRGgJnxlHGhVcTeXikOQNuqQmmz-878Nc_TT_bYCs8nkWz8kcleogsPlJ_HbDQjKdTghitbLv8uTvwaw==",
  "id": "rs_07ef7fef379d19ee016ab49b4c911487d083e58dd73b0d404d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.445,\"left_y\":-0.285,\"left_z\":0.205,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":0},\"note\":\"The teal bowl is clear of the table. I’m moving it over the center stack and matching the wrist orientation used for the pink bowl.\"}",
  "call_id": "call_HntGoZU3dzOp3bPxcP41Ysq5",
  "id": "fc_07ef7fef379d19ee016ab49b54d20087d09d1968fd96dee340",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HntGoZU3dzOp3bPxcP41Ysq5",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.765, 1.8954, 1.5631, -0.4232, -0.598, -0.5251, 0.0422, 0.0029, 0.8379, 0.6731, -0.4751, 0.0433, -0.0124, 0.9955]\nstate[eef_state]: left_x=0.4412 left_y=-0.2808 left_z=0.191 left_yaw=-0.0142 left_pitch=-0.0313 left_roll=-0.0094 left_gripper=0.0422 right_x=0.2928 right_y=-0.0032 right_z=0.1801 right_yaw=-0.038 right_pitch=-0.0682 right_roll=-0.0169 right_gripper=0.9955\nstate[joint_eff]: [-0.335, -10.4821, 9.2103, 1.5116, -0.2857, 0.022, 1.033, 0.0068, -1.4154, 7.2821, 1.6532, -0.0171, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8d4b63de2d344b9e58b335d15f342ef99a071f40fbde070e27164e1757d3d99",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50da25f02548a57960def5fbae82d9dc012b4bfabb8e77c84c02f858dbabc8c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce772c4c21a2722c406074c3c1b21fe332af27aa8524b914afee9b9ea8da34d0",
      "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 · 2.848 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]: [-0.144, 1.8397, 0.5728, 0.786, -0.123, -0.1406, 0.0377, 0.0029, 0.8371, 0.6785, -0.4747, 0.0433, -0.0124, 0.9955]\nstate[eef_state]: left_x=0.4375 left_y=-0.0379 left_z=0.0374 left_yaw=0.0145 left_pitch=0.0939 left_roll=-0.0441 left_gripper=0.0377 right_x=0.2935 right_y=-0.0032 right_z=0.1828 right_yaw=-0.0379 right_pitch=-0.0617 right_roll=-0.0166 right_gripper=0.9955\nstate[joint_eff]: [0.0068, -5.7094, 3.9179, 1.0232, -0.149, 0.3053, 1.3797, 0.0342, -1.4564, 7.2, 1.6825, -0.0415, -0.022, -0.022]",
      "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]: [-0.0708, 1.438, 0.9302, -0.0151, 0.1349, -0.4381, 0.0422, 0.0029, 0.8379, 0.6765, -0.4747, 0.0433, -0.0124, 0.9955]\nstate[eef_state]: left_x=0.4383 left_y=-0.0513 left_z=0.1848 left_yaw=0.024 left_pitch=0.0014 left_roll=-0.4205 left_gripper=0.0422 right_x=0.2933 right_y=-0.0032 right_z=0.1818 right_yaw=-0.038 right_pitch=-0.0644 right_roll=-0.0168 right_gripper=0.9955\nstate[joint_eff]: [0.335, -7.8427, 9.347, 1.8828, 0.1441, 0.0464, 1.033, -0.1162, -1.3744, 7.1726, 1.7167, -0.0611, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.765, 1.8954, 1.5631, -0.4232, -0.598, -0.5251, 0.0422, 0.0029, 0.8379, 0.6731, -0.4751, 0.0433, -0.0124, 0.9955]\nstate[eef_state]: left_x=0.4412 left_y=-0.2808 left_z=0.191 left_yaw=-0.0142 left_pitch=-0.0313 left_roll=-0.0094 left_gripper=0.0422 right_x=0.2928 right_y=-0.0032 right_z=0.1801 right_yaw=-0.038 right_pitch=-0.0682 right_roll=-0.0169 right_gripper=0.9955\nstate[joint_eff]: [-0.335, -10.4821, 9.2103, 1.5116, -0.2857, 0.022, 1.033, 0.0068, -1.4154, 7.2821, 1.6532, -0.0171, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8d4b63de2d344b9e58b335d15f342ef99a071f40fbde070e27164e1757d3d99",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50da25f02548a57960def5fbae82d9dc012b4bfabb8e77c84c02f858dbabc8c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce772c4c21a2722c406074c3c1b21fe332af27aa8524b914afee9b9ea8da34d0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJtgq-CQyvKvpnGz05shiou0ByQxpHSH8w0iDH7kYCpbYFlR5FkCZtM1gqbBaIsdr28mTdKTUKfR7UgQOar8hcAeuBdAWhUBn2I25ybUQGnz1FMaVqmVK96jfCwiRlVW2cfnBwLFz3-ptDLRRAlS4571cNaoKcF5KlQHSwTEaSP0ApQWsQR7KY2wqG3P9yHJvoGgSR3iBM8mi-RaKbN2Ms1Z_CjagWKoboGWzX7z06OtNcMB-l5NSvHwnRINaJafX-8yd2cpqWU0EYwaWuOP8Zy0Ugy7CjpJ4If2yO4F4AiflVK1a2_0oWnhtc-S1muAxMvxgKEXx8RWGK3bUf9_ie7OHNmM00eQ67Pns6XG0g4VNLUFp-JAK6_7OzDicCK56olSN-niIT3QEz6MM-_ghLfpF0qeFLFfy_neoOO_UKcLkI8eUpFslWVbEE2G_Om-Jl8lEXWv1SKbpuEy9SIw1h-OunuxK1YXi8i_tNCn2I93DDtTcVSFDwYbDGDOaynKqaXJvXDZOBVcm_43NBOzcSnPvPhBDtsZ-7xQIAc2RzhAm8Lwy-xlW2KktFoNFBxjt_ZrRlA6dEitW5AoGspp6d4eRd_NM3dVpGMiYaQ6SnBQGXVbbsSIIQi1JCky7SYFlCY3c-zslC357LtFTxd1OnH-GA1dYJZdCB4U1FbEbFLNL1Md0C6IomMVj_zxeuVSzeeY3HbbysSbaQv3wlc0b6Qfk2V1uZqS5Zr8SU6JIY_MjuFIXysuRdI0EHMiT7sWPwEIdDwE9dGacqJ4mkuerhNkzgF2KWgSbuKWucma_fno88vWMpEi7NlsryhG5pnwX_1zWW6DTV4Q9c3HhIp2kELExrwpXKJt5ZVbrLvdXO3DfVRGyguC5S-tBIThHvo8GXYlMGnZzsHLgTs6i4tlMNSlq0putjCgSE4qGPYka9lxLIHDEcb6Tr5Us0tzq2ReQnPGT8mq6OuQ5Ft9p0K8F5uhr7uVP32_NmtYl8haJBZE6tgTKr5LtIwPWtKEWruZw2HxutznWmBMtPf8I-JeH0V_Wy01jfBzhbAsICwFuB2AmD8ND5SNnG__RRb51h3NrAc9s0JZu61Jk3FJ5xVo-oE5JMCQPyGjzHEwcvM88Bcrz5nNMZV-JVPDl3sbSLjxJL7MksTQjQ4mcClbsIopdUFirJ8uY3sPnKmU7O-bGq2yvj4WQj98y3U7hbiOku0MnnuOa4dEXubcX8pZnER9oGcbNP_B0j2ax3UxxPTbp5xzsnW_y0CGuhKsRjNddsoH30hJy2C1MiRXa9fz7KY-FuCZphYqLrQoG7NqcF0qd6YXvtU5gFnTy0GhNLurjRbvIpT5prLUzXsaxF0mhVMTqfbqpr-ASPNbXqCLtcHHs6D-owoBcc-tgfXc4ki6g2ITha6gQ8YHaQZ3GmaQE6IPRYGDyDc7V8aqLW_AyXv850pNBUbZO7Sr4KmEwsV_pdfMiEvQZAWc8zeUmFqmwCYZdfYrD1vZe3IR4PydqjEI3amEjF85jrGEHQR3cUM963WeWHYyTY3iI8B6yx5qw_91Jg5A40H1xd5jw5sS0N6MKmTaPxZqgRkzbz15nSDyRsFcU4bqYOQS6_k1-mP3EwJfQuI73vJBuqg01QYnoA8Ut5bGJAnZe1rFBdwMGaKXKXgqitYtitDHAR8IKSiupBqG7DZl5Zzq24zLTyzwAXiQ7mJf_gbxaqj93jfFs_eVrAxgK55HFQvyLSblQII0NZC76hdXiKEz_OnDp8_ar-N1kIhAvnMRMSIN7I4Ktp6ARO-nGKyc",
  "id": "rs_07ef7fef379d19ee016ab49b5a7c5487d09aa69eaec265a991",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.445,\"left_y\":-0.245,\"left_z\":0.115,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":0},\"note\":\"The teal bowl is slightly right of the pink bowl beneath it. I’m correcting leftward and lowering to just above the stack to check the final alignment.\"}",
  "call_id": "call_4cDUA6hefLbScInORkZT9GND",
  "id": "fc_07ef7fef379d19ee016ab49b5cd60087d0b24aa99bef3ba091",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4cDUA6hefLbScInORkZT9GND",
  "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]: [-0.7044, 1.8915, 1.2263, -0.1452, -0.5781, -0.4839, 0.0419, 0.0029, 0.8417, 0.6727, -0.4751, 0.0433, -0.0124, 0.9955]\nstate[eef_state]: left_x=0.4331 left_y=-0.2367 left_z=0.1007 left_yaw=0.0116 left_pitch=-0.0822 left_roll=0.0504 left_gripper=0.0419 right_x=0.293 right_y=-0.0032 right_z=0.1789 right_yaw=-0.038 right_pitch=-0.0724 right_roll=-0.0171 right_gripper=0.9955\nstate[joint_eff]: [0.1983, -9.8256, 7.1043, 1.8632, -0.3101, 0.0757, 1.0281, 0.0205, -1.6615, 7.2274, 1.6435, -0.0171, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68532f88c5865ab47cf20108379d01faec2956045bfac800dd6aa477e6d77959",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd5487ad0672c944f576533c9610d6c066d7a5b27f188f06198e6e7ee83eb065",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a197402a04f379ddd0df90e62bda6b90519012d5a4e46678500f3a0e738a3f5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 2.487 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]: [-0.144, 1.6447, 0.7109, 0.4873, -0.1299, -0.1341, 0.0422, 0.0029, 0.8379, 0.6785, -0.4747, 0.0433, -0.0124, 0.9955]\nstate[eef_state]: left_x=0.4539 left_y=-0.0391 left_z=0.1083 left_yaw=0.0173 left_pitch=0.1284 left_roll=-0.0407 left_gripper=0.0422 right_x=0.2936 right_y=-0.0032 right_z=0.1826 right_yaw=-0.038 right_pitch=-0.0625 right_roll=-0.0167 right_gripper=0.9955\nstate[joint_eff]: [-0.3077, -7.5556, 7.1453, 1.6728, -0.0562, 0.2271, 1.033, -0.1573, -1.4154, 7.0359, 1.6679, -0.0562, -0.0317, -0.022]\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]: [-0.765, 1.8954, 1.5631, -0.4232, -0.598, -0.5251, 0.0422, 0.0029, 0.8379, 0.6731, -0.4751, 0.0433, -0.0124, 0.9955]\nstate[eef_state]: left_x=0.4412 left_y=-0.2808 left_z=0.191 left_yaw=-0.0142 left_pitch=-0.0313 left_roll=-0.0094 left_gripper=0.0422 right_x=0.2928 right_y=-0.0032 right_z=0.1801 right_yaw=-0.038 right_pitch=-0.0682 right_roll=-0.0169 right_gripper=0.9955\nstate[joint_eff]: [-0.335, -10.4821, 9.2103, 1.5116, -0.2857, 0.022, 1.033, 0.0068, -1.4154, 7.2821, 1.6532, -0.0171, -0.0415, -0.0171]",
      "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]: [-0.7044, 1.8915, 1.2263, -0.1452, -0.5781, -0.4839, 0.0419, 0.0029, 0.8417, 0.6727, -0.4751, 0.0433, -0.0124, 0.9955]\nstate[eef_state]: left_x=0.4331 left_y=-0.2367 left_z=0.1007 left_yaw=0.0116 left_pitch=-0.0822 left_roll=0.0504 left_gripper=0.0419 right_x=0.293 right_y=-0.0032 right_z=0.1789 right_yaw=-0.038 right_pitch=-0.0724 right_roll=-0.0171 right_gripper=0.9955\nstate[joint_eff]: [0.1983, -9.8256, 7.1043, 1.8632, -0.3101, 0.0757, 1.0281, 0.0205, -1.6615, 7.2274, 1.6435, -0.0171, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68532f88c5865ab47cf20108379d01faec2956045bfac800dd6aa477e6d77959",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd5487ad0672c944f576533c9610d6c066d7a5b27f188f06198e6e7ee83eb065",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a197402a04f379ddd0df90e62bda6b90519012d5a4e46678500f3a0e738a3f5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJtjuNYZSQLa0bJBkaHCC-A-B7Xmigb0aEVL4RxpTQiEMEfVzISQFrmzsDmVqKJQ5KFymqe8MQDK4w8oDNllqWVQ0G9TtQIUiityYFUsfOAwDPeoVHIGXBnzon66gcku4HZw8SIQAEDFt6DN6xzovvkarNk6aejIeXyi9T-kP7TioD5S9goUygiZyR7Lz9jKOinwHHG3NnI6C9NbYEmVbEFkzksF9z0m3h1lsWgqDNPvt5r2B0WnusCXAnCANaHGmA72K9m5Ntz8HlzvpHLDpV3JdMtnspxnG4FUyENnbsYt6aHYQwfsRpRTXJxqsOJkGz7pfRWBVRQ9ZMInjkZigtZmt2Q7CQNpOoiYuOHTwG8WtHgIzZU5wLtd546izjkVEqRZxa1B3rDkEW86Sid6B5FmAyWD23dZrwS6JYzZvDQtOJhjxxwGGMiVtBUqppYwM3BsiJhpztP-5lFw7TUtdzV9-0MkdwbWkdUelPFgWZbDs0un17u_Q3tyABbYEfthHYgN3ZBMuDuuhoZsroURryu8tlUK8aFX6Yre6DMx_tnDt1PEIyyq0H7ewVIhtqRvenbTdquihms9i3KUTSjWzjr1JZBcebn50YXsFQLPN3WG_GV85CkPnas0NIt3aNY4sVMigQ8C2G5cQiO4-YFR2pX3W5Ossc868pCQESfWN-wADEeK5c9j0MVMYPU_w5Ddc7yi-W5tsyLeeGR38a6CYEUKYvxMe6u8Q3d15cjdY2fdlWaxCSF5SFco91El7kZjFcPK9ZzH3q5-OihaXwhp-gNlQsAAgQxroEoV2xyEH6fo8AMA0b66hdHbdfGP35hGnXdNzkYNO4LVWPFepjdkjja7wa1JCPbJb7MF3feqqHKRG5xMFB1Wa3AnyKudL34LvDbl0c55jWkhiojlCx5SHNiClW9KCT0aYZkFpcIaknQ2M2X6-EN_I36gJrB_yEf40ThPJiNGVwREytxPbGClAuxMUczbJWhYUploai8IvP5_lF-T82RPrs21qByWoAlGlF1CA5tbo33hxZ_GMGPVeMgNs765pzfX0_X0FKEYwt9LL-_pEmEt_XsqTTzwRkiNQpjo_R0Fiop0u-xgjqvDX3cGZhv2_q-z0o3r9x1WV6MaMZCV5dnHTnkrYfV8qi1qI5yCup7T5IxzDjHJegDv1AmibyxZULeQyzfmjs5bRirVVZfE4tycysUcRIpD5O3yjMNVNLgwiGCYx1u4Y2y-I_csCcsp-snXSIi8VBFBtYcWvUI=",
  "id": "rs_07ef7fef379d19ee016ab49b62239087d0a34775641744f6e0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.445,\"left_y\":-0.24,\"left_z\":0.06,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":0},\"note\":\"The teal bowl is now aligned over the pink bowl. I’m lowering slowly until it is supported by the stack.\"}",
  "call_id": "call_SUkBEEKBvPxiramb9SakFVuj",
  "id": "fc_07ef7fef379d19ee016ab49b627ad087d0819ef88627642c72",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SUkBEEKBvPxiramb9SakFVuj",
  "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]: [-0.6994, 1.9598, 1.1198, 0.0967, -0.5743, -0.4686, 0.0414, 0.0029, 0.8421, 0.6727, -0.4747, 0.0433, -0.0124, 0.9955]\nstate[eef_state]: left_x=0.4384 left_y=-0.2388 left_z=0.0662 left_yaw=0.0029 left_pitch=-0.0334 left_roll=0.017 left_gripper=0.0414 right_x=0.2931 right_y=-0.0032 right_z=0.1789 right_yaw=-0.038 right_pitch=-0.0724 right_roll=-0.0171 right_gripper=0.9955\nstate[joint_eff]: [0.6496, -9.5795, 6.3658, 1.6532, -0.1832, 0.1734, 0.9988, -0.1162, -1.4838, 7.0906, 1.6337, -0.0562, -0.0415, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62be8695e7501b25de9288b75818070bce3ab657924fe93ac2f0258d3db8e2cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24adafe796b636b9c5d88e771e30508bd631610a299886d35ad7207ae523320e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3542376a349c022f2616ae8f0eebb1fa43656ca59159767fba9afc9e846c60ce",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /responses · status 200 · 2.674 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 95 changed as sent

message 103 changed as sent

message 107 changed as sent

message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0708, 1.438, 0.9302, -0.0151, 0.1349, -0.4381, 0.0422, 0.0029, 0.8379, 0.6765, -0.4747, 0.0433, -0.0124, 0.9955]\nstate[eef_state]: left_x=0.4383 left_y=-0.0513 left_z=0.1848 left_yaw=0.024 left_pitch=0.0014 left_roll=-0.4205 left_gripper=0.0422 right_x=0.2933 right_y=-0.0032 right_z=0.1818 right_yaw=-0.038 right_pitch=-0.0644 right_roll=-0.0168 right_gripper=0.9955\nstate[joint_eff]: [0.335, -7.8427, 9.347, 1.8828, 0.1441, 0.0464, 1.033, -0.1162, -1.3744, 7.1726, 1.7167, -0.0611, -0.0611, -0.0171]\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]: [-0.7044, 1.8915, 1.2263, -0.1452, -0.5781, -0.4839, 0.0419, 0.0029, 0.8417, 0.6727, -0.4751, 0.0433, -0.0124, 0.9955]\nstate[eef_state]: left_x=0.4331 left_y=-0.2367 left_z=0.1007 left_yaw=0.0116 left_pitch=-0.0822 left_roll=0.0504 left_gripper=0.0419 right_x=0.293 right_y=-0.0032 right_z=0.1789 right_yaw=-0.038 right_pitch=-0.0724 right_roll=-0.0171 right_gripper=0.9955\nstate[joint_eff]: [0.1983, -9.8256, 7.1043, 1.8632, -0.3101, 0.0757, 1.0281, 0.0205, -1.6615, 7.2274, 1.6435, -0.0171, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6994, 1.9598, 1.1198, 0.0967, -0.5743, -0.4686, 0.0414, 0.0029, 0.8421, 0.6727, -0.4747, 0.0433, -0.0124, 0.9955]\nstate[eef_state]: left_x=0.4384 left_y=-0.2388 left_z=0.0662 left_yaw=0.0029 left_pitch=-0.0334 left_roll=0.017 left_gripper=0.0414 right_x=0.2931 right_y=-0.0032 right_z=0.1789 right_yaw=-0.038 right_pitch=-0.0724 right_roll=-0.0171 right_gripper=0.9955\nstate[joint_eff]: [0.6496, -9.5795, 6.3658, 1.6532, -0.1832, 0.1734, 0.9988, -0.1162, -1.4838, 7.0906, 1.6337, -0.0562, -0.0415, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62be8695e7501b25de9288b75818070bce3ab657924fe93ac2f0258d3db8e2cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24adafe796b636b9c5d88e771e30508bd631610a299886d35ad7207ae523320e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3542376a349c022f2616ae8f0eebb1fa43656ca59159767fba9afc9e846c60ce",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJtmdiXyfJQqy6cwgdNFQD4dSPgL18pwx6S9aDWym2pqXfNNi7bX12ClF33sHdzbWn89DU0fO1tVJu_wS3nopANXqU2a_BhzYqtCrmQK-TCuOVxMSTErTBMbSbPT5LJsw3h0-boVNhG-n8RvR1MypZkGdFU_Synx8yYlBLc3Khcb1zYi-25bzV9iKtrdWrAXxX5wkztGaAF5hTyfERFsWUCusu6PecTadt944s5a3IDPkCl1Kk6rgEPKxoCVf5p-NIDeeePUsvKrx92q4Pwz4vKjQOxShCk_i2yVIJO0wY_DR8Xzp1eyni2qs2ufCjZIv3fKyuKd_umAYAlleAIU38QgvRABTUa9CqecrVsCL1gzzNI_9obVTr_HPc3SzmFjz_0U0aSGFcXg9_BRjEzVJMjebqYCL8jCFdOWRnMXSLZ5PRqhRNxfiDycdi1MzSbhKKKPxSJdtbS85FmeDst91gwMMOU66UrgzmR7k3sq5RwlL2P_3wsMPpVn_3Recfso81-Su4yhfgncowdS1a6_obXucOZa_6Q1UX6n-Yfvo-lhRXzCbquNMCrTnGyfINlEq-a6nY7RCsbv2Vsrb6G34s4CnqJj78Bmw9XFmxkIXJ7AtALMy9KivLusMikG6lvoZUtPceyBldC7HIQ1TRVS4OhGseK6LSdS4ilpvCE3AqTecE3F4Zk4KUMjYYdrEPSg96TWLKZRcdYv6Rij__mo0WueV7YsBEpOfgZp-4a3knsVAsMcXZI1JK1mcwDDZRVTxXepQQcDlGkEt1XQaTl9NJr6KY5lGDCxzvifrUV7AbijMfp8GXdf-9Ap-JC5yVjoN6nsoKp25nXU88kn6cVutSsSpJwPLP4fvZFJI9IX8Mha5ZJMq9lMOlFtXwHUNF2qm5moVTQHwAJo2eEhRK4nTUDXYuyZcftfIcM-1bM1mwqDs9Ul9s2ncjDWNpPI4mhvPRGxUhNYEV0SDu4bS55flwyFNwnPbVGC65V-d7cKOonh00WVqm-NRP-HKBdGWkGtvXHA0zJcWkM_aHLDHGh7OHykzyUib1GuXtwmdDmy_QaqPFfEGyIs-ATJylJGgxWy-QxzWQfFbiQgSf0uABUP9DikFeVGrksnGZpq3enTS1tC4eW9N30Tv_w1g-p4JiTdCw2AGEzQUUDrNzII_q9mo4SAnhRJ7N5_g_qsMbLXF8hjx5aX00p3PgfdLmVz1OJGyag8mbhMXYz9au03gz0n5513-g==",
  "id": "rs_07ef7fef379d19ee016ab49b65694c87d0b1a7739138e22d64",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.7},\"note\":\"The teal bowl has contacted the bowls below and is supported above them. I’m opening the gripper so it can settle into the stack.\"}",
  "call_id": "call_YIuhWnE11slh9atkdbBrj6yU",
  "id": "fc_07ef7fef379d19ee016ab49b65a6d487d0baa44a517bcc9396",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YIuhWnE11slh9atkdbBrj6yU",
  "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]: [-0.6975, 1.9778, 1.1065, 0.1898, -0.5732, -0.4686, 0.6954, 0.0029, 0.8436, 0.6727, -0.4747, 0.0437, -0.0124, 0.9955]\nstate[eef_state]: left_x=0.4455 left_y=-0.2437 left_z=0.0681 left_yaw=0.0036 left_pitch=0.0133 left_roll=-0.0235 left_gripper=0.6954 right_x=0.2932 right_y=-0.0033 right_z=0.1785 right_yaw=-0.0383 right_pitch=-0.0739 right_roll=-0.0174 right_gripper=0.9955\nstate[joint_eff]: [0.4034, -9.1829, 5.5863, 1.5653, -0.2466, 0.0904, -0.1587, -0.0068, -1.6068, 6.9812, 1.6484, -0.0024, -0.0415, -0.022]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a74a80ef0fe8171f955f4fc85bafe9a0ce87715e0595b7283a382ecdd27e680",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c80d6f0fbaa7642bd2dea288a482352318ecb0d2d26de33d914b0053ef03aafa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4f1dff96a66a88102313cda614b1a90bd2575813231d8edf9052c70baca23d1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /responses · status 200 · 3.867 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 99 changed as sent

message 107 changed as sent

message 111 changed as sent

message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.765, 1.8954, 1.5631, -0.4232, -0.598, -0.5251, 0.0422, 0.0029, 0.8379, 0.6731, -0.4751, 0.0433, -0.0124, 0.9955]\nstate[eef_state]: left_x=0.4412 left_y=-0.2808 left_z=0.191 left_yaw=-0.0142 left_pitch=-0.0313 left_roll=-0.0094 left_gripper=0.0422 right_x=0.2928 right_y=-0.0032 right_z=0.1801 right_yaw=-0.038 right_pitch=-0.0682 right_roll=-0.0169 right_gripper=0.9955\nstate[joint_eff]: [-0.335, -10.4821, 9.2103, 1.5116, -0.2857, 0.022, 1.033, 0.0068, -1.4154, 7.2821, 1.6532, -0.0171, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6994, 1.9598, 1.1198, 0.0967, -0.5743, -0.4686, 0.0414, 0.0029, 0.8421, 0.6727, -0.4747, 0.0433, -0.0124, 0.9955]\nstate[eef_state]: left_x=0.4384 left_y=-0.2388 left_z=0.0662 left_yaw=0.0029 left_pitch=-0.0334 left_roll=0.017 left_gripper=0.0414 right_x=0.2931 right_y=-0.0032 right_z=0.1789 right_yaw=-0.038 right_pitch=-0.0724 right_roll=-0.0171 right_gripper=0.9955\nstate[joint_eff]: [0.6496, -9.5795, 6.3658, 1.6532, -0.1832, 0.1734, 0.9988, -0.1162, -1.4838, 7.0906, 1.6337, -0.0562, -0.0415, -0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6975, 1.9778, 1.1065, 0.1898, -0.5732, -0.4686, 0.6954, 0.0029, 0.8436, 0.6727, -0.4747, 0.0437, -0.0124, 0.9955]\nstate[eef_state]: left_x=0.4455 left_y=-0.2437 left_z=0.0681 left_yaw=0.0036 left_pitch=0.0133 left_roll=-0.0235 left_gripper=0.6954 right_x=0.2932 right_y=-0.0033 right_z=0.1785 right_yaw=-0.0383 right_pitch=-0.0739 right_roll=-0.0174 right_gripper=0.9955\nstate[joint_eff]: [0.4034, -9.1829, 5.5863, 1.5653, -0.2466, 0.0904, -0.1587, -0.0068, -1.6068, 6.9812, 1.6484, -0.0024, -0.0415, -0.022]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a74a80ef0fe8171f955f4fc85bafe9a0ce87715e0595b7283a382ecdd27e680",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c80d6f0fbaa7642bd2dea288a482352318ecb0d2d26de33d914b0053ef03aafa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4f1dff96a66a88102313cda614b1a90bd2575813231d8edf9052c70baca23d1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "arguments": "{\"targets\":{\"left_x\":0.435,\"left_y\":-0.235,\"left_z\":0.2,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":0.7},\"note\":\"The teal bowl has been released onto the stack. I’m lifting straight clear before moving the arm aside to verify that all three bowls remain together.\"}",
  "call_id": "call_WCNOR0EO2deg8dmM8TI1r6hP",
  "id": "fc_07ef7fef379d19ee016ab49b6877e087d08712d8bc3bbe67c7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WCNOR0EO2deg8dmM8TI1r6hP",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6983, 1.7699, 1.3491, -0.2523, -0.5766, -0.4694, 0.6993, 0.0029, 0.8444, 0.6727, -0.4747, 0.0433, -0.0128, 0.9955]\nstate[eef_state]: left_x=0.4403 left_y=-0.2392 left_z=0.1896 left_yaw=0.006 left_pitch=0.0211 left_roll=-0.0279 left_gripper=0.6993 right_x=0.2933 right_y=-0.0032 right_z=0.1783 right_yaw=-0.0378 right_pitch=-0.0747 right_roll=-0.0175 right_gripper=0.9955\nstate[joint_eff]: [-0.2667, -10.9197, 9.0462, 1.6874, -0.2662, 0.0708, -0.0904, 0.0068, -1.5795, 6.9402, 1.6435, -0.0366, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa048c1a006831cbeda8948a4dfcdd35ececfb29878413134f8c7727f2ea09c6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f959fcdbf08ce6534f6d06fb561cb6dc9c496594510297ef3d33a92b95cb846",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e1e35d7e2b09cca9f49b410a09858c44a0bdb3bc9e58e37171ceffc589e0b7f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /responses · status 200 · 4.835 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 103 changed as sent

message 111 changed as sent

message 114 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7044, 1.8915, 1.2263, -0.1452, -0.5781, -0.4839, 0.0419, 0.0029, 0.8417, 0.6727, -0.4751, 0.0433, -0.0124, 0.9955]\nstate[eef_state]: left_x=0.4331 left_y=-0.2367 left_z=0.1007 left_yaw=0.0116 left_pitch=-0.0822 left_roll=0.0504 left_gripper=0.0419 right_x=0.293 right_y=-0.0032 right_z=0.1789 right_yaw=-0.038 right_pitch=-0.0724 right_roll=-0.0171 right_gripper=0.9955\nstate[joint_eff]: [0.1983, -9.8256, 7.1043, 1.8632, -0.3101, 0.0757, 1.0281, 0.0205, -1.6615, 7.2274, 1.6435, -0.0171, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6975, 1.9778, 1.1065, 0.1898, -0.5732, -0.4686, 0.6954, 0.0029, 0.8436, 0.6727, -0.4747, 0.0437, -0.0124, 0.9955]\nstate[eef_state]: left_x=0.4455 left_y=-0.2437 left_z=0.0681 left_yaw=0.0036 left_pitch=0.0133 left_roll=-0.0235 left_gripper=0.6954 right_x=0.2932 right_y=-0.0033 right_z=0.1785 right_yaw=-0.0383 right_pitch=-0.0739 right_roll=-0.0174 right_gripper=0.9955\nstate[joint_eff]: [0.4034, -9.1829, 5.5863, 1.5653, -0.2466, 0.0904, -0.1587, -0.0068, -1.6068, 6.9812, 1.6484, -0.0024, -0.0415, -0.022]\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 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6983, 1.7699, 1.3491, -0.2523, -0.5766, -0.4694, 0.6993, 0.0029, 0.8444, 0.6727, -0.4747, 0.0433, -0.0128, 0.9955]\nstate[eef_state]: left_x=0.4403 left_y=-0.2392 left_z=0.1896 left_yaw=0.006 left_pitch=0.0211 left_roll=-0.0279 left_gripper=0.6993 right_x=0.2933 right_y=-0.0032 right_z=0.1783 right_yaw=-0.0378 right_pitch=-0.0747 right_roll=-0.0175 right_gripper=0.9955\nstate[joint_eff]: [-0.2667, -10.9197, 9.0462, 1.6874, -0.2662, 0.0708, -0.0904, 0.0068, -1.5795, 6.9402, 1.6435, -0.0366, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa048c1a006831cbeda8948a4dfcdd35ececfb29878413134f8c7727f2ea09c6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f959fcdbf08ce6534f6d06fb561cb6dc9c496594510297ef3d33a92b95cb846",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e1e35d7e2b09cca9f49b410a09858c44a0bdb3bc9e58e37171ceffc589e0b7f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.2,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":1,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.2,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The released teal bowl remains at the center with the others. I’m returning the left arm home and refreshing the right arm’s parked pose so the finished stack is fully visible.\"}",
  "call_id": "call_VMSEfOGf56gN9Ozk9a59YVlo",
  "id": "fc_07ef7fef379d19ee016ab49b6ce79c87d0a1f084d8ba0aac28",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VMSEfOGf56gN9Ozk9a59YVlo",
  "output": [
    {
      "text": "executing move_to over 22 steps (2.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0589, 0.8246, 0.6949, -0.4324, -0.0994, -0.102, 0.9985, -0.0193, 0.815, 0.6727, -0.474, -0.0097, -0.0319, 0.9955]\nstate[eef_state]: left_x=0.3004 left_y=0.0034 left_z=0.2028 left_yaw=0.0582 left_pitch=0.0121 left_roll=-0.0111 left_gripper=0.9985 right_x=0.2915 right_y=-0.0003 right_z=0.1863 right_yaw=-0.0049 right_pitch=-0.0451 right_roll=-0.0012 right_gripper=0.9955\nstate[joint_eff]: [0.253, -1.6615, 6.6803, 1.8339, 0.1099, 0.1294, -0.0757, -0.5538, -2.0991, 8.1983, 1.8974, -0.1148, -0.0904, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de035f2661d1d33cb41cea0b8100a2b244e0fa1d05bba2e3d50e881298ba4f73",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05f10ec65ce10a210ec284cec16a66ddc045bed9a1fed1d3c77945bc8740ded6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e97b67535b8c15e1a950397ade89a26faceaacaf742337db65a55445f3ae76b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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