adhoc

completed
2026-09-24T04:14:34.684440+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
185.1 s
total steps
298
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. I’m bringing the left gripper above the teal bowl to align a grasp before stacking it into the middle bowl.
move_to
left_x0.3600left_y-0.1700left_z0.1600left_gripper1.0000right_x0.2940right_y0.0000right_z0.1900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.7952, 0.6041, -0.3817, -0.0223, -0.0257, 0.9996, -0.0219, 0.7933, 0.6014, -0.3813, -0.0097, -0.0196, 0.9992] state[eef_state]: left_x=0.2946 left_y=0.0017 left_z=0.1793 left_yaw=-0.0003 left_pitch=-0.0008 left_roll=-0.0002 left_gripper=0.9996 right_x=0.2942 right_y=-0.0011 right_z=0.1787 right_yaw=-0.0002 right_pitch=-0.0008 right_roll=0.0003 right_gripper=0.9992 state[joint_eff]: [-0.3761, -1.6068, 10.1812, 1.7802, -0.0073, 0.0952, -0.0611, -0.5128, -1.3744, 10.3316, 1.9463, -0.149, 0.0366, -0.0952] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":-0.17,"left_z":0.16,"left_gripper":1,"right_x":0.294,"right_y":0,"right_z":0.19},"note":"I see three upright bowls in a row. I’m bringing the left gripper above the teal bowl to align a grasp before stacking it into the middle bowl."})
tool
executing move_to over 16 steps (1.6s)
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 teal bowl is under the left gripper and slightly left of the jaw centerline. I’m shifting left and lowering the open jaws around its narrower body.
move_to
left_x0.3600left_y-0.1400left_z0.0450
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6827, 1.3907, 0.8356, -0.1997, -0.5419, -0.4248, 0.9996, -0.0196, 0.8013, 0.6098, -0.4229, -0.012, -0.02, 0.9992] state[eef_state]: left_x=0.3499 left_y=-0.1624 left_z=0.1421 left_yaw=-0.02 left_pitch=-0.056 left_roll=0.0304 left_gripper=0.9996 right_x=0.29 right_y=0.0 right_z=0.1718 right_yaw=0.0042 right_pitch=-0.0419 right_roll=0.0022 right_gripper=0.9992 state[joint_eff]: [-0.4308, -6.0376, 9.0872, 1.6679, -0.3297, 0.0073, -0.0562, 0.335, -1.0872, 10.4957, 1.663, 0.0513, -0.0269, -0.0171] 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":{"left_x":0.36,"left_y":-0.14,"left_z":0.045},"note":"The teal bowl is under the left gripper and slightly left of the jaw centerline. I’m shifting left and lowering the open jaws around its narrower body."})
tool
executing move_to over 7 steps (0.7s)
step 23
top_cam
camera top_cam step 23
left_cam
camera left_cam step 23
right_cam
camera right_cam step 23
assistant
agent noteThe bowl is centered between the open jaws at bowl-body height. I’m closing the gripper to secure it, then I’ll check the grip with a short lift.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5976, 1.5909, 0.5854, 0.218, -0.4881, -0.3752, 0.9995, -0.02, 0.8032, 0.6079, -0.4305, -0.0093, -0.02, 0.9991] state[eef_state]: left_x=0.3519 left_y=-0.1349 left_z=0.0411 left_yaw=-0.0013 left_pitch=-0.1061 left_roll=0.0589 left_gripper=0.9995 right_x=0.2888 right_y=-0.0005 right_z=0.1689 right_yaw=0.0016 right_pitch=-0.0534 right_roll=0.0009 right_gripper=0.9991 state[joint_eff]: [0.335, -6.0239, 5.0667, 1.6288, -0.0952, 0.0806, -0.022, -0.1162, -1.347, 7.1863, 1.7411, -0.0757, -0.0464, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The bowl is centered between the open jaws at bowl-body height. I’m closing the gripper to secure it, then I’ll check the grip with a short lift."})
tool
executing move_to over 10 steps (1.0s)
step 33
top_cam
camera top_cam step 33
left_cam
camera left_cam step 33
right_cam
camera right_cam step 33
assistant
agent noteThe gripper closed empty; the bowl is still visible ahead of the fingertips. I’m reopening and advancing three centimeters to reach the bowl rather than closing behind it.
move_to
left_x0.3900left_y-0.1400left_z0.0600left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5957, 1.6054, 0.572, 0.2207, -0.4881, -0.3824, 0.0119, -0.02, 0.8043, 0.6075, -0.4381, -0.009, -0.0204, 0.9991] state[eef_state]: left_x=0.3478 left_y=-0.1313 left_z=0.032 left_yaw=0.0062 left_pitch=-0.1266 left_roll=0.0676 left_gripper=0.0119 right_x=0.2877 right_y=-0.0006 right_z=0.1669 right_yaw=0.0015 right_pitch=-0.0626 right_roll=0.0006 right_gripper=0.9991 state[joint_eff]: [-0.2256, -7.4325, 6.5983, 1.4579, -0.2222, 0.0317, 0.9304, -0.1162, -1.0598, 7.1863, 1.7411, -0.0366, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.14,"left_z":0.06,"left_gripper":1},"note":"The gripper closed empty; the bowl is still visible ahead of the fingertips. I’m reopening and advancing three centimeters to reach the bowl rather than closing behind it."})
tool
executing move_to over 10 steps (1.0s)
step 43
top_cam
camera top_cam step 43
left_cam
camera left_cam step 43
right_cam
camera right_cam step 43
assistant
agent noteThe bowl has moved down in the wrist view as expected, indicating the fingertips are now farther over it. I’m lowering slightly so the jaws can grip below the rim.
move_to
left_z0.0250
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5446, 1.6524, 0.7425, 0.1028, -0.4618, -0.3592, 0.9944, -0.02, 0.8043, 0.6075, -0.445, -0.009, -0.0204, 0.9991] state[eef_state]: left_x=0.3824 left_y=-0.1354 left_z=0.0539 left_yaw=0.0241 left_pitch=-0.1333 left_roll=0.0663 left_gripper=0.9944 right_x=0.2867 right_y=-0.0006 right_z=0.1656 right_yaw=0.0015 right_pitch=-0.0694 right_roll=0.0008 right_gripper=0.9991 state[joint_eff]: [0.5675, -6.5026, 7.9658, 1.536, -0.0806, 0.2027, 0.0659, -0.1436, -1.1966, 6.9675, 1.7558, -0.0171, -0.0464, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 43): [image omitted: streamed camera frame] camera 'left_cam' (step 43): [image omitted: streamed camera frame] camera 'right_cam' (step 43): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.025},"note":"The bowl has moved down in the wrist view as expected, indicating the fingertips are now farther over it. I’m lowering slightly so the jaws can grip below the rim."})
tool
executing move_to over 2 steps (0.2s)
step 45
top_cam
camera top_cam step 45
left_cam
camera left_cam step 45
right_cam
camera right_cam step 45
assistant
agent noteThe descent stopped near the bowl’s rim height. I’m closing here to see whether the jaws have captured the bowl wall.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5423, 1.6958, 0.7265, 0.1749, -0.4706, -0.3592, 0.995, -0.02, 0.8043, 0.6075, -0.4454, -0.0093, -0.02, 0.9991] state[eef_state]: left_x=0.3863 left_y=-0.135 left_z=0.0437 left_yaw=0.0323 left_pitch=-0.1193 left_roll=0.0647 left_gripper=0.995 right_x=0.2866 right_y=-0.0005 right_z=0.1655 right_yaw=0.0016 right_pitch=-0.0698 right_roll=0.0013 right_gripper=0.9991 state[joint_eff]: [-0.3897, -5.4222, 3.8906, 1.0769, -0.0757, 0.0611, 0.022, -0.1299, -1.2376, 7.2821, 1.6532, -0.0464, -0.0562, -0.0073] camera 'top_cam' (step 45): [image omitted: streamed camera frame] camera 'left_cam' (step 45): [image omitted: streamed camera frame] camera 'right_cam' (step 45): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The descent stopped near the bowl’s rim height. I’m closing here to see whether the jaws have captured the bowl wall."})
tool
executing move_to over 10 steps (1.0s)
step 55
top_cam
camera top_cam step 55
left_cam
camera left_cam step 55
right_cam
camera right_cam step 55
assistant
agent noteThe second close was also empty, so I won’t repeat the same body grasp. The bowl appears wider than the jaw opening; I’m lifting and moving to its left rim for a one-wall pinch.
move_to
left_x0.3900left_y-0.0750left_z0.1200left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5423, 1.7195, 0.7097, 0.1692, -0.469, -0.3634, 0.0116, -0.02, 0.8051, 0.6075, -0.4454, -0.0093, -0.02, 0.9991] state[eef_state]: left_x=0.379 left_y=-0.1309 left_z=0.0281 left_yaw=0.0369 left_pitch=-0.1584 left_roll=0.086 left_gripper=0.0116 right_x=0.2867 right_y=-0.0005 right_z=0.1653 right_yaw=0.0016 right_pitch=-0.0706 right_roll=0.0013 right_gripper=0.9991 state[joint_eff]: [-0.0889, -8.9094, 6.9675, 1.5116, -0.1734, 0.022, 0.9988, -0.1436, -1.3333, 7.0085, 1.6825, -0.0317, -0.0366, -0.0122] camera 'top_cam' (step 55): [image omitted: streamed camera frame] camera 'left_cam' (step 55): [image omitted: streamed camera frame] camera 'right_cam' (step 55): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.075,"left_z":0.12,"left_gripper":1},"note":"The second close was also empty, so I won’t repeat the same body grasp. The bowl appears wider than the jaw opening; I’m lifting and moving to its left rim for a one-wall pinch."})
tool
executing move_to over 10 steps (1.0s)
step 65
top_cam
camera top_cam step 65
left_cam
camera left_cam step 65
right_cam
camera right_cam step 65
assistant
agent noteThe teal bowl’s left rim is now between the open jaws, with one jaw outside and the other over the bowl. I’m lowering to pinch that rim.
move_to
left_z0.0350
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3538, 1.4754, 0.8127, -0.1539, -0.3527, -0.244, 0.9947, -0.02, 0.8089, 0.6075, -0.4454, -0.009, -0.02, 0.9991] state[eef_state]: left_x=0.3849 left_y=-0.0733 left_z=0.0996 left_yaw=0.0663 left_pitch=-0.1848 left_roll=0.0872 left_gripper=0.9947 right_x=0.2869 right_y=-0.0006 right_z=0.1643 right_yaw=0.0013 right_pitch=-0.0744 right_roll=0.0012 right_gripper=0.9991 state[joint_eff]: [0.294, -7.747, 9.2239, 1.4921, -0.0659, 0.1832, -0.0757, -0.1573, -1.5658, 6.9949, 1.7021, -0.0366, -0.0464, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 65): [image omitted: streamed camera frame] camera 'left_cam' (step 65): [image omitted: streamed camera frame] camera 'right_cam' (step 65): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.035},"note":"The teal bowl’s left rim is now between the open jaws, with one jaw outside and the other over the bowl. I’m lowering to pinch that rim."})
tool
executing move_to over 5 steps (0.5s)
step 70
top_cam
camera top_cam step 70
left_cam
camera left_cam step 70
right_cam
camera right_cam step 70
assistant
agent noteThe bowl wall is aligned along the gap between the jaws. I’m closing on this single rim section rather than trying to span the whole bowl.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3515, 1.6253, 0.672, 0.0605, -0.3443, -0.2356, 0.9956, -0.02, 0.8101, 0.6075, -0.4458, -0.009, -0.0204, 0.9991] state[eef_state]: left_x=0.3724 left_y=-0.0692 left_z=0.0266 left_yaw=0.0641 left_pitch=-0.2576 left_roll=0.119 left_gripper=0.9956 right_x=0.2869 right_y=-0.0006 right_z=0.1639 right_yaw=0.0015 right_pitch=-0.0759 right_roll=0.0009 right_gripper=0.9991 state[joint_eff]: [-0.3487, -6.694, 5.6137, 1.6093, -0.2564, -0.1245, 0.0855, -0.1026, -1.3607, 7.2, 1.6923, -0.0269, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The bowl wall is aligned along the gap between the jaws. I’m closing on this single rim section rather than trying to span the whole bowl."})
tool
executing move_to over 10 steps (1.0s)
step 80
top_cam
camera top_cam step 80
left_cam
camera left_cam step 80
right_cam
camera right_cam step 80
assistant
agent noteThe gripper stopped about nine millimeters open, consistent with a captured rim. I’m making a short test lift to confirm the bowl follows.
move_to
left_x0.3900left_y-0.0750left_z0.1100
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3515, 1.6146, 0.6754, 0.1009, -0.3355, -0.2584, 0.0963, -0.02, 0.8101, 0.6075, -0.4454, -0.009, -0.02, 0.9991] state[eef_state]: left_x=0.3809 left_y=-0.0739 left_z=0.0375 left_yaw=0.0644 left_pitch=-0.2091 left_roll=0.0738 left_gripper=0.0963 right_x=0.2869 right_y=-0.0006 right_z=0.164 right_yaw=0.0013 right_pitch=-0.0755 right_roll=0.0012 right_gripper=0.9991 state[joint_eff]: [-0.0342, -5.4632, 5.2855, 0.8767, -0.2271, 0.3883, 1.0818, -0.1162, -1.0735, 6.9949, 1.6386, -0.0366, -0.022, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 80): [image omitted: streamed camera frame] camera 'left_cam' (step 80): [image omitted: streamed camera frame] camera 'right_cam' (step 80): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.075,"left_z":0.11},"note":"The gripper stopped about nine millimeters open, consistent with a captured rim. I’m making a short test lift to confirm the bowl follows."})
tool
executing move_to over 5 steps (0.5s)
step 85
top_cam
camera top_cam step 85
left_cam
camera left_cam step 85
right_cam
camera right_cam step 85
assistant
agent noteThe jaw opening is stable, but the overhead view does not yet clearly show the bowl lifting. I’m raising straight up to check that it is secure before moving sideways.
move_to
left_z0.1800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3489, 1.5139, 0.8387, -0.1677, -0.3325, -0.2661, 0.0958, -0.02, 0.8108, 0.6075, -0.4454, -0.009, -0.0204, 0.9991] state[eef_state]: left_x=0.3889 left_y=-0.0763 left_z=0.0924 left_yaw=0.0692 left_pitch=-0.2138 left_roll=0.068 left_gripper=0.0958 right_x=0.287 right_y=-0.0006 right_z=0.1638 right_yaw=0.0015 right_pitch=-0.0763 right_roll=0.0009 right_gripper=0.9991 state[joint_eff]: [0.4171, -8.0752, 8.5265, 1.3846, -0.1441, 0.1099, -0.0611, -0.2393, -1.1145, 7.1863, 1.6777, -0.0366, -0.0562, -0.0122] camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.18},"note":"The jaw opening is stable, but the overhead view does not yet clearly show the bowl lifting. I’m raising straight up to check that it is secure before moving sideways."})
tool
executing move_to over 6 steps (0.6s)
step 91
top_cam
camera top_cam step 91
left_cam
camera left_cam step 91
right_cam
camera right_cam step 91
assistant
agent noteThe gripper remains closed on a rim-sized gap. I’m moving a short distance toward the middle bowl while watching whether the teal bowl follows, before completing the transfer.
move_to
left_y-0.1350left_z0.1900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3489, 1.4487, 1.0782, -0.4831, -0.3328, -0.2768, 0.0958, -0.02, 0.8108, 0.6075, -0.4454, -0.0093, -0.02, 0.9991] state[eef_state]: left_x=0.391 left_y=-0.077 left_z=0.1628 left_yaw=0.0764 left_pitch=-0.223 left_roll=0.0651 left_gripper=0.0958 right_x=0.287 right_y=-0.0005 right_z=0.1638 right_yaw=0.0016 right_pitch=-0.0763 right_roll=0.0014 right_gripper=0.9991 state[joint_eff]: [-0.1026, -7.706, 8.4444, 1.3553, -0.1538, 0.0806, -0.0122, -0.1709, -1.2923, 7.2274, 1.6532, -0.0269, -0.0562, -0.0122] camera 'top_cam' (step 91): [image omitted: streamed camera frame] camera 'left_cam' (step 91): [image omitted: streamed camera frame] camera 'right_cam' (step 91): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.135,"left_z":0.19},"note":"The gripper remains closed on a rim-sized gap. I’m moving a short distance toward the middle bowl while watching whether the teal bowl follows, before completing the transfer."})
tool
executing move_to over 6 steps (0.6s)
step 97
top_cam
camera top_cam step 97
left_cam
camera left_cam step 97
right_cam
camera right_cam step 97
assistant
agent noteThe bowl stayed on the table during the sideways test, so the rim grip slipped. I’m returning to the rim and will keep an explicit closing command during the next lift.
move_to
left_x0.3900left_y-0.0750left_z0.0850left_gripper1.0000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5117, 1.533, 1.2381, -0.63, -0.4152, -0.403, 0.0958, -0.02, 0.8116, 0.6075, -0.4461, -0.009, -0.0204, 0.9991] state[eef_state]: left_x=0.3866 left_y=-0.1313 left_z=0.1771 left_yaw=0.0573 left_pitch=-0.2499 left_roll=0.0682 left_gripper=0.0958 right_x=0.2869 right_y=-0.0006 right_z=0.1634 right_yaw=0.0015 right_pitch=-0.0778 right_roll=0.0009 right_gripper=0.9991 state[joint_eff]: [-0.4581, -6.2427, 9.4974, 1.2234, -0.3346, 0.022, -0.0122, -0.0205, -1.3333, 7.0222, 1.6728, -0.0366, -0.0659, -0.0122] camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.075,"left_z":0.085,"left_gripper":1,"left_pitch":0,"left_roll":0},"note":"The bowl stayed on the table during the sideways test, so the rim grip slipped. I’m returning to the rim and will keep an explicit closing command during the next lift."})
tool
executing move_to over 10 steps (1.0s)
step 107
top_cam
camera top_cam step 107
left_cam
camera left_cam step 107
right_cam
camera right_cam step 107
assistant
agent noteThe left rim is again straddled by the jaws. I’m lowering the fingertips below the rim, keeping the tool upright for a more secure pinch.
move_to
left_z0.0250left_pitch0.0000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3592, 1.4792, 0.6109, 0.1482, -0.3626, -0.2729, 0.9951, -0.02, 0.8154, 0.6071, -0.4454, -0.009, -0.02, 0.9991] state[eef_state]: left_x=0.3761 left_y=-0.0705 left_z=0.0717 left_yaw=0.0792 left_pitch=-0.093 left_roll=0.0308 left_gripper=0.9951 right_x=0.2871 right_y=-0.0006 right_z=0.1624 right_yaw=0.0013 right_pitch=-0.0812 right_roll=0.0013 right_gripper=0.9991 state[joint_eff]: [0.2803, -4.7248, 6.4068, 1.9219, -0.0269, 0.2076, -0.0024, -0.1026, -1.6752, 7.0632, 1.6874, -0.022, -0.0366, -0.0122] camera 'top_cam' (step 107): [image omitted: streamed camera frame] camera 'left_cam' (step 107): [image omitted: streamed camera frame] camera 'right_cam' (step 107): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.025,"left_pitch":0,"left_roll":0,"left_yaw":0},"note":"The left rim is again straddled by the jaws. I’m lowering the fingertips below the rim, keeping the tool upright for a more secure pinch."})
tool
executing move_to over 4 steps (0.4s)
step 111
top_cam
camera top_cam step 111
left_cam
camera left_cam step 111
right_cam
camera right_cam step 111
assistant
agent noteThe fingertips are down alongside the bowl wall. I’m closing the rim pinch before lifting with continued grip pressure.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3256, 1.6531, 0.4301, 0.5266, -0.3027, -0.2291, 0.9958, -0.02, 0.8173, 0.6071, -0.445, -0.009, -0.0204, 0.9991] state[eef_state]: left_x=0.3637 left_y=-0.0634 left_z=0.0123 left_yaw=0.0393 left_pitch=-0.0874 left_roll=0.0203 left_gripper=0.9958 right_x=0.2873 right_y=-0.0006 right_z=0.1619 right_yaw=0.0015 right_pitch=-0.0828 right_roll=0.0011 right_gripper=0.9991 state[joint_eff]: [0.294, -5.5726, 5.0667, 1.2967, -0.022, 0.4078, 0.0513, -0.0205, -1.5111, 7.2, 1.7021, -0.022, -0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 111): [image omitted: streamed camera frame] camera 'left_cam' (step 111): [image omitted: streamed camera frame] camera 'right_cam' (step 111): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The fingertips are down alongside the bowl wall. I’m closing the rim pinch before lifting with continued grip pressure."})
tool
executing move_to over 10 steps (1.0s)
step 121
top_cam
camera top_cam step 121
left_cam
camera left_cam step 121
right_cam
camera right_cam step 121
assistant
agent noteThe rim is visibly between the closed fingers. I’m lifting straight up while continuing to command the gripper closed so the thin wall cannot slip out.
move_to
left_x0.3900left_y-0.0750left_z0.1200left_gripper0.0000left_pitch0.0000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3271, 1.6375, 0.44, 0.6079, -0.2859, -0.2592, 0.0413, -0.02, 0.8173, 0.6071, -0.4458, -0.009, -0.0204, 0.9991] state[eef_state]: left_x=0.379 left_y=-0.0722 left_z=0.0361 left_yaw=0.0388 left_pitch=0.0087 left_roll=-0.052 left_gripper=0.0413 right_x=0.2872 right_y=-0.0006 right_z=0.1618 right_yaw=0.0015 right_pitch=-0.0835 right_roll=0.0011 right_gripper=0.9991 state[joint_eff]: [-0.0615, -4.5197, 4.3145, 0.6716, -0.2906, 0.3199, 1.6825, -0.1299, -1.3333, 7.0085, 1.7363, -0.0464, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 121): [image omitted: streamed camera frame] camera 'left_cam' (step 121): [image omitted: streamed camera frame] camera 'right_cam' (step 121): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.075,"left_z":0.12,"left_gripper":0,"left_pitch":0,"left_roll":0,"left_yaw":0},"note":"The rim is visibly between the closed fingers. I’m lifting straight up while continuing to command the gripper closed so the thin wall cannot slip out."})
tool
executing move_to over 6 steps (0.6s)
step 127
top_cam
camera top_cam step 127
left_cam
camera left_cam step 127
right_cam
camera right_cam step 127
assistant
agent noteThe teal bowl has visibly lifted with the gripper. I’m carrying it above the middle bowl, maintaining the rim pinch and clearance.
move_to
left_x0.3650left_y-0.2050left_z0.1900left_gripper0.0000left_pitch0.0000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3264, 1.4162, 0.6174, 0.1947, -0.284, -0.2234, 0.0465, -0.02, 0.8181, 0.6071, -0.4454, -0.009, -0.0204, 0.9991] state[eef_state]: left_x=0.387 left_y=-0.0749 left_z=0.1032 left_yaw=0.0186 left_pitch=-0.0048 left_roll=-0.0178 left_gripper=0.0465 right_x=0.2873 right_y=-0.0006 right_z=0.1616 right_yaw=0.0015 right_pitch=-0.0839 right_roll=0.0011 right_gripper=0.9991 state[joint_eff]: [0.335, -7.1453, 8.9504, 1.7411, -0.0171, 0.2857, 1.0281, -0.1436, -1.4154, 7.0769, 1.6435, -0.0366, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 127): [image omitted: streamed camera frame] camera 'left_cam' (step 127): [image omitted: streamed camera frame] camera 'right_cam' (step 127): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.365,"left_y":-0.205,"left_z":0.19,"left_gripper":0,"left_pitch":0,"left_roll":0,"left_yaw":0},"note":"The teal bowl has visibly lifted with the gripper. I’m carrying it above the middle bowl, maintaining the rim pinch and clearance."})
tool
executing move_to over 12 steps (1.2s)
step 139
top_cam
camera top_cam step 139
left_cam
camera left_cam step 139
right_cam
camera right_cam step 139
assistant
agent noteThe teal bowl is above the middle bowl but a little left of its center. I’m correcting that offset while lowering it toward the receiving bowl.
move_to
left_x0.3750left_y-0.2300left_z0.0950left_gripper0.0000left_pitch0.0000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7605, 1.4826, 1.029, -0.2974, -0.5957, -0.4847, 0.0465, -0.02, 0.8185, 0.6071, -0.4458, -0.009, -0.02, 0.9991] state[eef_state]: left_x=0.3617 left_y=-0.2023 left_z=0.1741 left_yaw=-0.025 left_pitch=-0.0284 left_roll=0.0071 left_gripper=0.0465 right_x=0.2872 right_y=-0.0006 right_z=0.1615 right_yaw=0.0013 right_pitch=-0.0847 right_roll=0.0014 right_gripper=0.9991 state[joint_eff]: [-0.3487, -6.2974, 9.3744, 1.5311, -0.4274, -0.0513, 1.033, -0.0752, -1.265, 7.0085, 1.6484, -0.0269, -0.0171, -0.0122] camera 'top_cam' (step 139): [image omitted: streamed camera frame] camera 'left_cam' (step 139): [image omitted: streamed camera frame] camera 'right_cam' (step 139): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.375,"left_y":-0.23,"left_z":0.095,"left_gripper":0,"left_pitch":0,"left_roll":0,"left_yaw":0},"note":"The teal bowl is above the middle bowl but a little left of its center. I’m correcting that offset while lowering it toward the receiving bowl."})
tool
executing move_to over 6 steps (0.6s)
step 145
top_cam
camera top_cam step 145
left_cam
camera left_cam step 145
right_cam
camera right_cam step 145
assistant
agent noteThe bowls are now aligned in the overhead view. I’m lowering slowly until the teal bowl settles into the middle one.
move_to
left_z0.0500left_gripper0.0000left_pitch0.0000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7998, 1.7042, 0.923, -0.0422, -0.6346, -0.5217, 0.0464, -0.02, 0.82, 0.6071, -0.4458, -0.009, -0.02, 0.9991] state[eef_state]: left_x=0.3674 left_y=-0.2227 left_z=0.0881 left_yaw=-0.0136 left_pitch=-0.0611 left_roll=0.0469 left_gripper=0.0464 right_x=0.2873 right_y=-0.0006 right_z=0.1611 right_yaw=0.0013 right_pitch=-0.0862 right_roll=0.0014 right_gripper=0.9991 state[joint_eff]: [-0.6906, -7.788, 5.6821, 1.5653, -0.4664, -0.0122, 1.033, -0.1162, -0.9231, 7.1043, 1.6484, -0.0464, -0.0317, -0.0122] camera 'top_cam' (step 145): [image omitted: streamed camera frame] camera 'left_cam' (step 145): [image omitted: streamed camera frame] camera 'right_cam' (step 145): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.05,"left_gripper":0,"left_pitch":0,"left_roll":0,"left_yaw":0},"note":"The bowls are now aligned in the overhead view. I’m lowering slowly until the teal bowl settles into the middle one."})
tool
executing move_to over 3 steps (0.3s)
step 148
top_cam
camera top_cam step 148
left_cam
camera left_cam step 148
right_cam
camera right_cam step 148
assistant
agent noteThe teal bowl is seated over the blue bowl with their rims aligned. I’m opening the gripper to leave the first two bowls stacked.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8047, 1.7779, 0.8127, 0.168, -0.6537, -0.5262, 0.0464, -0.02, 0.8204, 0.6071, -0.4454, -0.009, -0.0204, 0.9991] state[eef_state]: left_x=0.3643 left_y=-0.2186 left_z=0.0528 left_yaw=-0.0034 left_pitch=-0.0327 left_roll=0.0341 left_gripper=0.0464 right_x=0.2874 right_y=-0.0006 right_z=0.161 right_yaw=0.0016 right_pitch=-0.0862 right_roll=0.0011 right_gripper=0.9991 state[joint_eff]: [-0.4171, -7.5145, 6.0513, 1.3162, -0.1441, -0.0122, 1.0232, -0.1983, -1.3197, 6.9812, 1.6386, -0.0171, -0.0464, -0.0122] camera 'top_cam' (step 148): [image omitted: streamed camera frame] camera 'left_cam' (step 148): [image omitted: streamed camera frame] camera 'right_cam' (step 148): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The teal bowl is seated over the blue bowl with their rims aligned. I’m opening the gripper to leave the first two bowls stacked."})
tool
executing move_to over 10 steps (1.0s)
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 first two bowls remain nested after release. I’m lifting the left hand clear and positioning the right hand at the peach bowl’s outer rim.
move_to
left_z0.2100left_gripper1.0000right_x0.3600right_y0.1400right_z0.1200right_gripper1.0000right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8043, 1.7927, 0.7979, 0.2443, -0.6594, -0.543, 0.9951, -0.02, 0.8211, 0.6067, -0.4458, -0.009, -0.0204, 0.9991] state[eef_state]: left_x=0.3686 left_y=-0.2216 left_z=0.0538 left_yaw=0.0097 left_pitch=0.0026 left_roll=-0.0108 left_gripper=0.9951 right_x=0.2873 right_y=-0.0006 right_z=0.1606 right_yaw=0.0016 right_pitch=-0.0877 right_roll=0.0012 right_gripper=0.9991 state[joint_eff]: [-0.4718, -7.0769, 4.9846, 1.5604, -0.315, 0.0415, -0.149, -0.1573, -1.2376, 7.0222, 1.7118, -0.0366, -0.0415, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). 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_z":0.21,"left_gripper":1,"right_x":0.36,"right_y":0.14,"right_z":0.12,"right_gripper":1,"right_pitch":0,"right_roll":0,"right_yaw":0},"note":"The first two bowls remain nested after release. I’m lifting the left hand clear and positioning the right hand at the peach bowl’s outer rim."})
tool
executing move_to over 12 steps (1.2s)
step 170
top_cam
camera top_cam step 170
left_cam
camera left_cam step 170
right_cam
camera right_cam step 170
assistant
agent noteThe peach bowl is visible between the right jaws; its outer wall is a little farther right. I’m aligning and lowering onto that wall while parking the left arm out of the way.
move_to
left_x0.2940left_y0.0000left_z0.2000right_x0.3750right_y0.0950right_z0.0350right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8043, 1.5669, 1.1568, -0.3668, -0.6556, -0.551, 0.9988, 0.5655, 1.3815, 0.6479, -0.0204, 0.4351, 0.2966, 0.9992] state[eef_state]: left_x=0.3697 left_y=-0.2236 left_z=0.1862 left_yaw=0.0114 left_pitch=-0.0174 left_roll=-0.0001 left_gripper=0.9988 right_x=0.3423 right_y=0.1333 right_z=0.0943 right_yaw=0.0445 right_pitch=-0.0988 right_roll=-0.0514 right_gripper=0.9992 state[joint_eff]: [0.0479, -9.7709, 9.4974, 1.3993, -0.2564, 0.0513, -0.1343, 0.1983, -5.8735, 9.0872, 1.7216, 0.3443, 0.1734, -0.0952] camera 'top_cam' (step 170): [image omitted: streamed camera frame] camera 'left_cam' (step 170): [image omitted: streamed camera frame] camera 'right_cam' (step 170): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.294,"left_y":0,"left_z":0.20,"right_x":0.375,"right_y":0.095,"right_z":0.035,"right_pitch":0,"right_roll":0,"right_yaw":0},"note":"The peach bowl is visible between the right jaws; its outer wall is a little farther right. I’m aligning and lowering onto that wall while parking the left arm out of the way."})
tool
executing move_to over 20 steps (2.0s)
step 190
top_cam
camera top_cam step 190
left_cam
camera left_cam step 190
right_cam
camera right_cam step 190
assistant
agent noteThe bowl shifted slightly during approach, leaving its rim left of the pinch point. I’m lifting clear and correcting left before closing.
move_to
right_y0.1200right_z0.0850right_gripper1.0000right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.07, 0.8299, 0.7139, -0.4713, -0.1207, -0.1036, 0.9988, 0.3939, 1.6409, 0.4679, 0.5129, 0.3351, 0.2119, 0.9991] state[eef_state]: left_x=0.2976 left_y=0.0041 left_z=0.2022 left_yaw=0.0741 left_pitch=-0.0105 left_roll=-0.0105 left_gripper=0.9988 right_x=0.3681 right_y=0.0939 right_z=0.0276 right_yaw=0.0022 right_pitch=-0.0456 right_roll=-0.0194 right_gripper=0.9991 state[joint_eff]: [0.2256, -1.8667, 6.2974, 1.8242, 0.022, 0.105, -0.022, -0.3897, -5.8462, 4.8479, 1.9658, 0.2369, -0.0806, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 190): [image omitted: streamed camera frame] camera 'left_cam' (step 190): [image omitted: streamed camera frame] camera 'right_cam' (step 190): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.12,"right_z":0.085,"right_gripper":1,"right_pitch":0,"right_roll":0,"right_yaw":0},"note":"The bowl shifted slightly during approach, leaving its rim left of the pinch point. I’m lifting clear and correcting left before closing."})
tool
executing move_to over 4 steps (0.4s)
step 194
top_cam
camera top_cam step 194
left_cam
camera left_cam step 194
right_cam
camera right_cam step 194
assistant
agent noteThe peach bowl’s right wall now lines up with the jaw centerline. I’m lowering below the rim for the same single-wall pinch that worked on the teal bowl.
move_to
right_z0.0250right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0704, 0.8341, 0.7139, -0.49, -0.1062, -0.0982, 0.9988, 0.4858, 1.4956, 0.5423, 0.3229, 0.3775, 0.247, 0.9992] state[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1971 left_yaw=0.0587 left_pitch=-0.0343 left_roll=-0.011 left_gripper=0.9988 right_x=0.365 right_y=0.1232 right_z=0.0723 right_yaw=0.041 right_pitch=-0.0076 right_roll=-0.0016 right_gripper=0.9992 state[joint_eff]: [-0.3077, -1.7709, 6.9402, 1.8681, -0.2466, -0.1099, -0.0122, -0.1436, -6.1197, 7.7333, 1.6044, 0.2711, 0.1441, -0.0952] 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":{"right_z":0.025,"right_pitch":0,"right_roll":0,"right_yaw":0},"note":"The peach bowl’s right wall now lines up with the jaw centerline. I’m lowering below the rim for the same single-wall pinch that worked on the teal bowl."})
tool
executing move_to over 4 steps (0.4s)
step 198
top_cam
camera top_cam step 198
left_cam
camera left_cam step 198
assistant
agent noteThe descent has stopped at the bowl wall, with one jaw inside and one outside. I’m closing the right gripper onto the rim.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0704, 0.8379, 0.7139, -0.4923, -0.1055, -0.1013, 0.9988, 0.4927, 1.5452, 0.5167, 0.3431, 0.384, 0.2577, 0.9991] state[eef_state]: left_x=0.2954 left_y=0.0014 left_z=0.1956 left_yaw=0.0598 left_pitch=-0.0404 left_roll=-0.0132 left_gripper=0.9988 right_x=0.3576 right_y=0.1209 right_z=0.0492 right_yaw=0.036 right_pitch=-0.0551 right_roll=-0.0203 right_gripper=0.9991 state[joint_eff]: [-0.1162, -1.265, 7.0496, 1.6972, -0.0904, -0.0171, -0.0122, -0.253, -6.0239, 5.7094, 1.9805, 0.1685, -0.0171, -0.0171] camera 'top_cam' (step 198): [image omitted: streamed camera frame] camera 'left_cam' (step 198): [image omitted: streamed camera frame] camera 'right_cam' (step 198): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The descent has stopped at the bowl wall, with one jaw inside and one outside. I’m closing the right gripper onto the rim."})
tool
executing move_to over 10 steps (1.0s)
step 208
assistant
agent noteThe right gripper closed empty just outside the rim. I’m reopening and moving slightly inward and forward to bring the wall fully between the fingertips.
move_to
right_x0.3850right_y0.1350right_z0.0700right_gripper1.0000right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0704, 0.8379, 0.7139, -0.4931, -0.1055, -0.1013, 0.9988, 0.4927, 1.5448, 0.5163, 0.3439, 0.3801, 0.252, 0.0099] state[eef_state]: left_x=0.2953 left_y=0.0014 left_z=0.1954 left_yaw=0.0598 left_pitch=-0.0412 left_roll=-0.0131 left_gripper=0.9988 right_x=0.3575 right_y=0.1216 right_z=0.0491 right_yaw=0.0422 right_pitch=-0.0556 right_roll=-0.0224 right_gripper=0.0099 state[joint_eff]: [-0.1983, -1.4564, 6.9538, 1.6972, -0.1001, -0.0806, -0.0122, -0.0479, -5.3812, 5.4496, 1.7802, 0.1538, 0.0659, 0.7839] camera 'top_cam' (step 208): [image omitted: streamed camera frame] camera 'left_cam' (step 208): [image omitted: streamed camera frame] camera 'right_cam' (step 208): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.385,"right_y":0.135,"right_z":0.07,"right_gripper":1,"right_pitch":0,"right_roll":0,"right_yaw":0},"note":"The right gripper closed empty just outside the rim. I’m reopening and moving slightly inward and forward to bring the wall fully between the fingertips."})
tool
executing move_to over 10 steps (1.0s)
step 218
assistant
agent noteThe rim now runs through the open jaw gap rather than outside it. I’m lowering a little to grip below its rounded lip.
move_to
right_z0.0250right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0704, 0.8383, 0.7139, -0.4934, -0.1055, -0.1013, 0.9988, 0.5053, 1.5974, 0.5953, 0.3111, 0.408, 0.271, 0.9959] state[eef_state]: left_x=0.2953 left_y=0.0014 left_z=0.1952 left_yaw=0.0598 left_pitch=-0.042 left_roll=-0.013 left_gripper=0.9988 right_x=0.3722 right_y=0.1299 right_z=0.0539 right_yaw=0.022 right_pitch=-0.053 right_roll=-0.0257 right_gripper=0.9959 state[joint_eff]: [-0.0752, -0.9094, 7.2137, 1.7021, -0.1001, -0.0415, -0.0122, 0.3897, -5.2444, 8.6496, 1.8339, 0.3541, 0.1245, -0.1441] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 218): [image omitted: streamed camera frame] camera 'left_cam' (step 218): [image omitted: streamed camera frame] camera 'right_cam' (step 218): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.025,"right_pitch":0,"right_roll":0,"right_yaw":0},"note":"The rim now runs through the open jaw gap rather than outside it. I’m lowering a little to grip below its rounded lip."})
tool
executing move_to over 2 steps (0.2s)
step 220
assistant
agent noteThe fingertips straddle the peach bowl’s wall below the lip. I’m closing the pinch now.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0704, 0.8387, 0.7139, -0.4934, -0.1055, -0.1013, 0.9988, 0.514, 1.6714, 0.5583, 0.461, 0.4152, 0.2771, 0.9971] state[eef_state]: left_x=0.2953 left_y=0.0014 left_z=0.1951 left_yaw=0.0598 left_pitch=-0.0423 left_roll=-0.0129 left_gripper=0.9988 right_x=0.3754 right_y=0.1343 right_z=0.0409 right_yaw=0.0222 right_pitch=-0.0164 right_roll=-0.0064 right_gripper=0.9971 state[joint_eff]: [-0.1846, -1.4017, 6.9675, 1.707, -0.0952, -0.0757, -0.0122, 0.2803, -5.6547, 3.5214, 1.37, 0.2955, 0.0659, 0.1148] 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":{"right_gripper":0},"note":"The fingertips straddle the peach bowl’s wall below the lip. I’m closing the pinch now."})
tool
executing move_to over 10 steps (1.0s)
step 230
assistant
agent noteThe bowl moved slightly as the jaws captured its thin wall. I’m checking the grasp with a vertical lift while maintaining the closing command.
move_to
right_x0.3850right_y0.1350right_z0.1150right_gripper0.0000right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0704, 0.8433, 0.7139, -0.4938, -0.1055, -0.1013, 0.9988, 0.5213, 1.7256, 0.5156, 0.6346, 0.4255, 0.3023, 0.0386] state[eef_state]: left_x=0.2956 left_y=0.0014 left_z=0.1938 left_yaw=0.0598 left_pitch=-0.0473 left_roll=-0.0123 left_gripper=0.9988 right_x=0.379 right_y=0.1377 right_z=0.0393 right_yaw=0.0068 right_pitch=0.0535 right_roll=0.0468 right_gripper=0.0386 state[joint_eff]: [-0.2256, -1.894, 6.9538, 1.6679, -0.0757, -0.0464, -0.0122, -0.335, -5.2991, 4.1915, 1.1404, 0.2662, -0.0952, 0.7497] 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":{"right_x":0.385,"right_y":0.135,"right_z":0.115,"right_gripper":0,"right_pitch":0,"right_roll":0,"right_yaw":0},"note":"The bowl moved slightly as the jaws captured its thin wall. I’m checking the grasp with a vertical lift while maintaining the closing command."})
tool
executing move_to over 5 steps (0.5s)
step 235
assistant
agent noteThe peach bowl is lifting with the right hand. I’m carrying it over the two-bowl stack while keeping the thin rim firmly pinched.
move_to
right_x0.3850right_y0.2550right_z0.2000right_gripper0.0000right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0704, 0.8444, 0.7139, -0.4938, -0.1055, -0.1013, 0.9988, 0.5148, 1.5101, 0.6872, 0.2104, 0.4187, 0.2844, 0.0352] state[eef_state]: left_x=0.2957 left_y=0.0014 left_z=0.1935 left_yaw=0.0598 left_pitch=-0.0484 left_roll=-0.0121 left_gripper=0.9988 right_x=0.3853 right_y=0.1396 right_z=0.1038 right_yaw=0.0163 right_pitch=0.0195 right_roll=0.0168 right_gripper=0.0352 state[joint_eff]: [-0.1573, -1.347, 6.9949, 1.6581, -0.0952, -0.0611, -0.0122, -0.6359, -7.4051, 8.6222, 1.8095, 0.2906, 0.0024, 0.9792] camera 'top_cam' (step 235): [image omitted: streamed camera frame] camera 'left_cam' (step 235): [image omitted: streamed camera frame] camera 'right_cam' (step 235): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.385,"right_y":0.255,"right_z":0.2,"right_gripper":0,"right_pitch":0,"right_roll":0,"right_yaw":0},"note":"The peach bowl is lifting with the right hand. I’m carrying it over the two-bowl stack while keeping the thin rim firmly pinched."})
tool
executing move_to over 10 steps (1.0s)
step 245
assistant
agent noteThe peach bowl is above the stack and slightly to its right. I’m making a small centering correction and lowering it toward the teal bowl.
move_to
right_x0.3850right_y0.2750right_z0.1000right_gripper0.0000right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0704, 0.8448, 0.7139, -0.4942, -0.1055, -0.1013, 0.9988, 0.8074, 1.6695, 1.2545, -0.3607, 0.6216, 0.4736, 0.0341] state[eef_state]: left_x=0.2957 left_y=0.0014 left_z=0.1933 left_yaw=0.0598 left_pitch=-0.0491 left_roll=-0.012 left_gripper=0.9988 right_x=0.3808 right_y=0.2543 right_z=0.1813 right_yaw=0.0478 right_pitch=-0.0337 right_roll=-0.0257 right_gripper=0.0341 state[joint_eff]: [-0.0752, -1.3607, 6.9949, 1.6972, -0.0757, -0.0562, -0.0122, 0.2256, -8.0615, 9.4838, 1.4921, 0.4762, 0.149, 1.033] camera 'top_cam' (step 245): [image omitted: streamed camera frame] camera 'left_cam' (step 245): [image omitted: streamed camera frame] camera 'right_cam' (step 245): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.385,"right_y":0.275,"right_z":0.10,"right_gripper":0,"right_pitch":0,"right_roll":0,"right_yaw":0},"note":"The peach bowl is above the stack and slightly to its right. I’m making a small centering correction and lowering it toward the teal bowl."})
tool
executing move_to over 6 steps (0.6s)
step 251
assistant
agent noteThe peach bowl is centered inside the teal rim. I’m lowering the final few centimeters so it can settle into the stack.
move_to
right_z0.0650right_gripper0.0000right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0704, 0.8455, 0.7139, -0.4938, -0.1055, -0.1013, 0.9988, 0.8501, 1.832, 1.1168, -0.1291, 0.6586, 0.5255, 0.0325] state[eef_state]: left_x=0.2958 left_y=0.0014 left_z=0.1932 left_yaw=0.0598 left_pitch=-0.0495 left_roll=-0.012 left_gripper=0.9988 right_x=0.3767 right_y=0.2705 right_z=0.095 right_yaw=0.0336 right_pitch=-0.0616 right_roll=-0.051 right_gripper=0.0325 state[joint_eff]: [-0.0205, -1.4974, 6.9538, 1.6728, -0.0952, -0.0611, -0.0122, 0.2393, -8.0889, 5.6684, 1.6777, 0.6032, 0.2418, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 251): [image omitted: streamed camera frame] camera 'left_cam' (step 251): [image omitted: streamed camera frame] camera 'right_cam' (step 251): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.065,"right_gripper":0,"right_pitch":0,"right_roll":0,"right_yaw":0},"note":"The peach bowl is centered inside the teal rim. I’m lowering the final few centimeters so it can settle into the stack."})
tool
executing move_to over 3 steps (0.3s)
step 254
assistant
agent noteThe peach bowl has settled into the bowls below it. I’m releasing the rim without shifting the stack.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0704, 0.8455, 0.7139, -0.4942, -0.1055, -0.1013, 0.9988, 0.8585, 1.8713, 1.0264, 0.0441, 0.68, 0.548, 0.032] state[eef_state]: left_x=0.2958 left_y=0.0014 left_z=0.1931 left_yaw=0.0598 left_pitch=-0.0499 left_roll=-0.0119 left_gripper=0.9988 right_x=0.3755 right_y=0.2704 right_z=0.0719 right_yaw=0.0162 right_pitch=-0.0201 right_roll=-0.0111 right_gripper=0.032 state[joint_eff]: [-0.0615, -1.4427, 7.0222, 1.6923, -0.0659, -0.0024, -0.0122, 0.253, -7.788, 5.5863, 1.1648, 0.3248, -0.1441, 1.033] camera 'top_cam' (step 254): [image omitted: streamed camera frame] camera 'left_cam' (step 254): [image omitted: streamed camera frame] camera 'right_cam' (step 254): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The peach bowl has settled into the bowls below it. I’m releasing the rim without shifting the stack."})
tool
executing move_to over 10 steps (1.0s)
step 264
assistant
agent noteThe bowl stayed in place after the jaws opened. I’m lifting the right hand straight up to clear the rims before checking the completed stack.
move_to
right_z0.2100right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0704, 0.8455, 0.7139, -0.4938, -0.1055, -0.1013, 0.9988, 0.8585, 1.8877, 1.0058, 0.102, 0.6918, 0.5537, 0.9953] state[eef_state]: left_x=0.2958 left_y=0.0014 left_z=0.1932 left_yaw=0.0598 left_pitch=-0.0495 left_roll=-0.012 left_gripper=0.9988 right_x=0.3773 right_y=0.27 right_z=0.067 right_yaw=0.0049 right_pitch=0.0001 right_roll=0.0039 right_gripper=0.9953 state[joint_eff]: [-0.1983, -1.4564, 6.9538, 1.6728, -0.0806, -0.0415, -0.0073, 0.1983, -8.7179, 5.9829, 1.3748, 0.2808, -0.0073, -0.1832] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 264): [image omitted: streamed camera frame] camera 'left_cam' (step 264): [image omitted: streamed camera frame] camera 'right_cam' (step 264): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.21,"right_gripper":1},"note":"The bowl stayed in place after the jaws opened. I’m lifting the right hand straight up to clear the rims before checking the completed stack."})
tool
executing move_to over 10 steps (1.0s)
step 274
assistant
agent noteThe right hand is clear of the bowls. I’m parking it to reveal the stack and verify that all three bowls remain nested.
move_to
right_x0.2940right_y0.0000right_z0.2000right_gripper1.0000right_pitch0.0000right_roll0.0000right_yaw0.0000left_x0.2940left_y0.0000left_z0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0704, 0.8455, 0.7139, -0.4938, -0.1055, -0.1013, 0.9988, 0.8574, 1.7298, 1.3266, -0.4232, 0.6872, 0.5488, 0.9985] state[eef_state]: left_x=0.2958 left_y=0.0014 left_z=0.1932 left_yaw=0.0598 left_pitch=-0.0495 left_roll=-0.012 left_gripper=0.9988 right_x=0.377 right_y=0.2698 right_z=0.1799 right_yaw=0.009 right_pitch=-0.0331 right_roll=-0.0331 right_gripper=0.9985 state[joint_eff]: [-0.0615, -1.4838, 7.1726, 1.707, -0.1001, -0.0171, -0.0122, -0.0342, -10.988, 9.5658, 1.4579, 0.315, 0.0269, -0.1734] camera 'top_cam' (step 274): [image omitted: streamed camera frame] camera 'left_cam' (step 274): [image omitted: streamed camera frame] camera 'right_cam' (step 274): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.294,"right_y":0,"right_z":0.2,"right_gripper":1,"right_pitch":0,"right_roll":0,"right_yaw":0,"left_x":0.294,"left_y":0,"left_z":0.2},"note":"The right hand is clear of the bowls. I’m parking it to reveal the stack and verify that all three bowls remain nested."})
tool
executing move_to over 23 steps (2.3s)
step 297
assistant
agent noteStacked all three bowls together, with the peach bowl on top, and parked both arms clear.
done
hindsightThese bowls are too wide for a centered body grasp; pinch a single side wall with one finger inside and one outside. Keep gripper=0 explicitly commanded during every lift and transport: holding the measured thin-wall gap can let the bowl slip. A successful thin bowl-wall grasp can read only 0.032–0.047, so verify by visible bowl motion rather than the empty-gripper threshold alone. Reset pitch, roll, and yaw explicitly during moves to avoid accumulating sagged orientation readbacks.
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.078, 0.849, 0.7139, -0.5205, -0.1055, -0.102, 0.9988, 0.0135, 0.815, 0.6876, -0.4496, 0.0746, 0.0292, 0.9985] state[eef_state]: left_x=0.2922 left_y=-0.0006 left_z=0.187 left_yaw=0.0529 left_pitch=-0.0794 left_roll=-0.0087 left_gripper=0.9988 right_x=0.2962 right_y=-0.0056 right_z=0.1984 right_yaw=-0.062 right_pitch=-0.0029 right_roll=-0.0046 right_gripper=0.9985 state[joint_eff]: [-0.3487, -1.9624, 9.1692, 1.6532, -0.1197, -0.1197, -0.0122, -0.1573, -1.5795, 7.0769, 1.7118, -0.1148, -0.0073, -0.1685] camera 'top_cam' (step 297): [image omitted: streamed camera frame] camera 'left_cam' (step 297): [image omitted: streamed camera frame] camera 'right_cam' (step 297): [image omitted: streamed camera frame]
assistant
done({"summary":"Stacked all three bowls together, with the peach bowl on top, and parked both arms clear.","hindsight":"These bowls are too wide for a centered body grasp; pinch a single side wall with one finger inside and one outside. Keep gripper=0 explicitly commanded during every lift and transport: holding the measured thin-wall gap can let the bowl slip. A successful thin bowl-wall grasp can read only 0.032–0.047, so verify by visible bowl motion rather than the empty-gripper threshold alone. Reset pitch, roll, and yaw explicitly during moves to avoid accumulating sagged orientation readbacks."})
tool
done: Stacked all three bowls together, with the peach bowl on top, and parked 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 · 6.91 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Stack the bowls on the table.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7952, 0.6041, -0.3817, -0.0223, -0.0257, 0.9996, -0.0219, 0.7933, 0.6014, -0.3813, -0.0097, -0.0196, 0.9992]\nstate[eef_state]: left_x=0.2946 left_y=0.0017 left_z=0.1793 left_yaw=-0.0003 left_pitch=-0.0008 left_roll=-0.0002 left_gripper=0.9996 right_x=0.2942 right_y=-0.0011 right_z=0.1787 right_yaw=-0.0002 right_pitch=-0.0008 right_roll=0.0003 right_gripper=0.9992\nstate[joint_eff]: [-0.3761, -1.6068, 10.1812, 1.7802, -0.0073, 0.0952, -0.0611, -0.5128, -1.3744, 10.3316, 1.9463, -0.149, 0.0366, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c81e3ff3f2c74f05fbe7efa55c2e5dfec13bb63a11818a84f77051e3b0f95363",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c9f8f7e72e6ba82c087b7bd750ae74e2bde34491461f64772d2ba7fa5f8157b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45731dd12903d58d5caa6224c4c464418d68962c18f9530b62d0d2cd6c5b3ab0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 1 attempt 0 · /responses · status 200 · 4.84 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtKO-aZetio5YU6ZGv_yBRKorcWqiE6PpNBVuTZTw-mpLsmjVdK5V69mEKJ9qH9tHQZiI8tN0I96LJPvvMNT7ORQ5TtlaRxW_-yu0HCpOv0bqbsZ5-eyTNXfaJZCTcEN8KPNwBX7WFKQaD7eI-AJnlDFZZKqPgxkMmfDSC7GtTR7uqfuaQx1Ex_HzpnYQiZRKHdcY9nDueeC7-RV-mKXpjSbDIwR9qe26Faiuhs0ovve7MSiR90uMeMVVRuvrnaQQRKSUSKhFhw3zQhCWEUKO1dF1O8JxClRhSAl36cHfCyifvp2nK3OiB4spluRa9VVrjyYAilPW0fEUUMtcmC5VmyeBfiDqWjbTM0S6VkDlirQecxkbiMblzwV9cTYTqYUB2gVWr9Ua1iS9PEQr7zcwbYijQH1vusBcWRw9cIU-FWYb9P_Qu9hS-NqQEdJwG5zc6CVySoOIUsXJuKLp6YcO8vIPH2r2Xo13BH9autDiKYAAfaE3G1hM6I-2jZ8jQ0BN8gtUcvB_TXjbEPGGFeEkvoOnGxMEAcFgO4xCtTAXdx1q2kqjDEDJwCx3MhOWHXyROC74yHNApa6WaP0vj5sFyR_76rmVgXXnm7CrBjlwX38yBl9vP8GyhBlQBIAJdMNNRcpfTDK8q0msxjwMw8y80u2vlXaboaJimYerEN2JL6y4nNV23DTiFmEQbGpbPVOBvGYEuKnJPbNYTDHJ9ZTzIhwJ82hhcUxxMVYtOmuRkBk0-Aeq3DxTjBMZS6zdej3dWM50nK5g3IwYohZZMGArYB4tc-fd4s0uduSbOqqsj04on5qkDprznhO949uXqfhKAPZaXUiPVxlqUFYP1xlj_jxLIw_cN0rVnMadM6oDwHHXGVxnqg8QhP-_xJFupi--t5MiTtNADSHSwnXBsaOI2cZ4bla_1bWzl2gVvDJoGziQmMhYUZ0_xCvugaAS65q4eLkS9zeGLlzAatneml9cCxVWhHoqRC8PFJQdrlJSw2MChJSJZcUc3ijJ6tpOIf25H1J8KsDDtKwpwBnARXqD0WBanTf-RemGv6koPywM2BI568kMSz9Y0nnfApnlPQSy628yy7ZPsVji8QhbAprsgXGneb-FZENZ3nd3zBaw0G9B8yfPiSALISXStSkZN5GMuiW33cM7ScmfanzO_K8WQc9eg9NCEyqc3I5QTRBAMGwJMGjv1JED_OzFqFvPSAOQ5uAzzCGBu8ak3vvU3U90cd84Fq7FubqgKlHkecwYArPa8gxZrJ-2TpPVvOG2tZGIddACd12ztOhsP-KkNacj5sR0aQdzY-XERSVOcCXq9n2O9gr52gKM1N94H4rXNRKDLxJyOSU60pJG9k_ylO1N69jBzobxSxh9S76aZJQLdFPp9pv5y7kPbD6RL0f9fqgaKo7b0pN-PdbPiBfi5aolpz7rsAJ2zO5LzHbEsRswcVMpemcFU7uJFDG5VKKNW_gVRZHi0zKPQ43HicEKqtRySaPenf-lzLVknzWgnhF2OE1CzdBsMTDbsGFsGNYrqYPznuDNU9mznZIBdjRJBvjQvtJv8_zYqR7U94b-W_HLuX0CbvFzAHCfPLXEfPgtS9mmVl3mSndR_MQBW-U0P23jU_Y5CNRBlgnP1VPLhSA1IS4fC2J1F_YBts7lCJjF97wJei4nwtJa9pRVKCoPa3fzDmWFIlM_3wkvos_FoufKYAZZBw33U-myd7lKepkjiYO4MJ2VBeWBKHF7i1ORdjWUxfpWwLOuPboTlEvonG40TyVu_Igty7fyaDOe6J25IlKtBI3qcatAcd1sBfmfN-zmk5p_XhZIWUkVf6TiKPI5w_HK7A6x2YQzGpP6fJ8lpXu_5RigVxkt4-5cDGaRataf71udN8LKMruSXgXQNa_LKDOf0sTgvPb2O04xtmInPZwxMWsx-B8qXTx640cR2F5tlu_5aABToKw9jbGIgSxnWbH7kGbAheHtwmUgXYw6HDBIAFzCgEM95MTyrekYb4a4Zl4cdIjj5PLulgCclQAK4SNP96CpcPB46QXef_GADynzzXOKzlrVcUhTQCsdPVa4T9S-jvsg5zbAEa9y5B5lW6QOgx0t3Ys97lyjGhLGcXnRoc9UkweIJzlKHCvU2Gjd5ajnmXcTJI7SanZpxg3fJCtKJtwJqslsgqbuRVFUU8JMpLaFbDbXz4ega-jis6ipOvdIBg3Xpp5N_M8NMe5YXfa8cShccR-8KrdT4dZp-2sb_6sFhGrZGgeBQDqfYbKCmW9Jl2fVdOgYUb-a28TCHeIwcw8Ri1k2t-eBljaB61U1Zi4Rhre4ZVVL2jmmY2UI279vIRqo3i4FnnWD4W4x1abHiJzqXP_P-bbiax3uIRm4_cvtUvLx6MKvNDenELUgPotrbJ4tv8G76TDoOsrSlcracOiDAAJA8p_VXDf8YsJWwivg2M-kVampwAyMj1N5tKyC2q6v6khGJgAKEO4sshDwLqOkqTOkhuN1Jy0Zq9JOvWaLd1wHcPcWUJxJT9V9jXhVAg==",
  "id": "rs_013da3c67213bd55016ab4a3b8f72887d0acb54811381a8667",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.17,\"left_z\":0.16,\"left_gripper\":1,\"right_x\":0.294,\"right_y\":0,\"right_z\":0.19},\"note\":\"I see three upright bowls in a row. I’m bringing the left gripper above the teal bowl to align a grasp before stacking it into the middle bowl.\"}",
  "call_id": "call_OAN6jydnz1fghZxJJx0RslZc",
  "id": "fc_013da3c67213bd55016ab4a3bd0f2c87d0bca2bead99f4e0d1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OAN6jydnz1fghZxJJx0RslZc",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6827, 1.3907, 0.8356, -0.1997, -0.5419, -0.4248, 0.9996, -0.0196, 0.8013, 0.6098, -0.4229, -0.012, -0.02, 0.9992]\nstate[eef_state]: left_x=0.3499 left_y=-0.1624 left_z=0.1421 left_yaw=-0.02 left_pitch=-0.056 left_roll=0.0304 left_gripper=0.9996 right_x=0.29 right_y=0.0 right_z=0.1718 right_yaw=0.0042 right_pitch=-0.0419 right_roll=0.0022 right_gripper=0.9992\nstate[joint_eff]: [-0.4308, -6.0376, 9.0872, 1.6679, -0.3297, 0.0073, -0.0562, 0.335, -1.0872, 10.4957, 1.663, 0.0513, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0e5411fa1a01b6e08fbc3eaed3339e50712bd769c0ecedb340c14fb077ccccd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6576f19b70bc89a408869d931f03d0b2af40a7ca48071fdb8b2083c3884a31ab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46a2ccda3a70c26ba2f7c4db0ea42014198f12eeb23847d0700d87d630778a0a",
      "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 · 3.885 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 6 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7952, 0.6041, -0.3817, -0.0223, -0.0257, 0.9996, -0.0219, 0.7933, 0.6014, -0.3813, -0.0097, -0.0196, 0.9992]\nstate[eef_state]: left_x=0.2946 left_y=0.0017 left_z=0.1793 left_yaw=-0.0003 left_pitch=-0.0008 left_roll=-0.0002 left_gripper=0.9996 right_x=0.2942 right_y=-0.0011 right_z=0.1787 right_yaw=-0.0002 right_pitch=-0.0008 right_roll=0.0003 right_gripper=0.9992\nstate[joint_eff]: [-0.3761, -1.6068, 10.1812, 1.7802, -0.0073, 0.0952, -0.0611, -0.5128, -1.3744, 10.3316, 1.9463, -0.149, 0.0366, -0.0952]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6827, 1.3907, 0.8356, -0.1997, -0.5419, -0.4248, 0.9996, -0.0196, 0.8013, 0.6098, -0.4229, -0.012, -0.02, 0.9992]\nstate[eef_state]: left_x=0.3499 left_y=-0.1624 left_z=0.1421 left_yaw=-0.02 left_pitch=-0.056 left_roll=0.0304 left_gripper=0.9996 right_x=0.29 right_y=0.0 right_z=0.1718 right_yaw=0.0042 right_pitch=-0.0419 right_roll=0.0022 right_gripper=0.9992\nstate[joint_eff]: [-0.4308, -6.0376, 9.0872, 1.6679, -0.3297, 0.0073, -0.0562, 0.335, -1.0872, 10.4957, 1.663, 0.0513, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0e5411fa1a01b6e08fbc3eaed3339e50712bd769c0ecedb340c14fb077ccccd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6576f19b70bc89a408869d931f03d0b2af40a7ca48071fdb8b2083c3884a31ab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46a2ccda3a70c26ba2f7c4db0ea42014198f12eeb23847d0700d87d630778a0a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtKPEQXM3iz5rDW9GtudRTiafKddoJn2EeRtmOLkp5Yl5u1vxEwhzZ0ennjIZStKDP7FX-XDSjUz4Fs2sqQcQ3MCYMvBSDO7BZf85nAlUjA0ZRcNKrhNBUS-SLBuYqi055K_aWmiwfPE0c-dgx-zyIJzhtU6lDvqSfeo1im7QHK4BUQMdxTTMxtcefhvmloXTN6nrFoqe2wj_3yD6YYKedybGq94UYspUJIuDxO9hsHnDezVauNEBOs_TpXpPAL3pOeYtyDOcLIQjACNX9y_rnOhEVMr2p6t_GVCGI-KfrxnJuNE97UTY0J2XKKcT69AltV1e94rOx3ppxGrKXjGlaXkVtaz0_UjX67pyrhcozMto_4MbJSLeF8IrfvEOoKzI0WVVU9jqYIhnI4Ok_WmvF7psVwMBHdMD9Fxq2MCTJGPVL9fEF_L5HMNVV14dFx4H7HFYu3EKLnE4GRqVJhvlH7NfTUKjolS8nzuunWdslez19LRN3z3MoN5Khvx50VNm99UPhNyILAc9CTSQbhhEnfOWgkRkQzeDJVuWDEMxIGn3Z9HT8VtsdhdCI_qYWwK8t7WVhW5x6QB6cm5if-kuY6CZ72wMBCSuBvGfZmMVPny1TKAMjdcNmZapCcT468Wg1I4bxeURqXCvDlQGfnQ9SSrwAhJVfCwHysgidk4fztZP9fTPwjMbjlIJ9sRKak3bu6Oh8rtF6Beco2koI6YJ56DNYThelBbz6l202fYAvMiRWPU6lnei9wZ3VKdSeERKhPESNFGZUkaT1ECQzPmmh-R9axC77voncbY8-fv0Xma_zJB_vMEJcAuk92oBSxaUZQywPxEwEiVDm7jCGDtjlRhvhGB-3O7A82YszfXBMBIMTfFJ1jwLMz-jU6iRlxpPI8avY2hvwaX8OEp7Fv6sBB_lQnGaqeLrxLw16YbaP3eZKh2oYAdaoBdYnfQqNyb7tNgO23zf20m9WiKHgHTPpqFmuGhmLBaJ9BjzRGY0fIKc-f811-OsDXIMcQFIrkVfLwN-VqjPMqohrKlOBnOqerOqROJhA8JxGucrR8Hn8Ru7n7neFMIlhH9340IKe-NlQS-6z0N6eXnGvpayNb45usZBAryqChtTxN7foU1grSCsvs4n3L0hcb9LUrTpTkb4QQm351M1XT7PtsjSCeyeQHlUvnT5alXkj10pFC7Nl1TVLFBBxXnny5QGch12Fna99yd2GSHiFaCeg2086WiVw51N0NkxOncaFoPLSdf7X9TNWwj6Vo_dZsG2y-gTiWIu1DKPk5heJ1-_NL89SEGTpav7jKN8ppc_ABIB99UF0ENtZ2297uEwXawuWtlyfLIlKP5NUAZkO9MnoYMI6DBGEltYffPXwS8UIrtEQ2Ehhz3wI329WblY3EpjXNUyXrWMhqlmuumiVynJcTRjDCtHjarL7ActPnYCa-Own3BSeJDLlYtqaO6xw2nJd8iXhg6lYtNia3c11Y-FylWpfgYuaFnamvlxW_MSdXc-nvuFa8OZyr2w-6dJq6MSeIG4FTitJDNOh6VA52_vwezUuFVQflMML5ERjecuh08zSoKMkdJ97dNLp8NOysMzQfETWNOUI1cnTqWLWScRJ6vBHBGmdz-QHXBKPBtc9vSLRrSLbOVEOR2YjHBvPaEuqDOLUU4N6xStj1krLjBFrSPFvw0Ur9VrXFhuYLQt9oHvpPtm3mjz4O23QfZ64x4LHVdl0OUJNciAxCw05SbmoEHw49x9gyVKoL41Dq4ZbwrTkdjJt4lw7OOE_TsjU4pNQBTs9pocx139liIr6rkDOBAhAjxUe3vLUe5o5sNVOrYf_k871vM5rP24catiMYl98HSddVlZyqZq3rTq06wh0QO_t4N9Flc5ATlAtFIJJsbGfZmQmjFaB2Qo7WID7YlI-3qFuo5x7dlgZ_ACEir2rkGN2WsqpwEeGuH9WYlFCJasBwlh_f2b8DchFO3-Q4PxSUWWccw062lB8jAvFZBG0jjVmIhsHwpNw4eppOmyjIZOv2TSACsdOmWsxTx9aIZMb5ih4j-Gllm6rThiO30HETcfiFGqDUuIKdg1-taAArqvdjVN2CSkpGrYixefP8IQKmiCKCZoRgqrZ4La0ks3AGuEo6NwsbvLD4B6Xz6I_JhyEdGnA0G1UrnqAmXqwBsW9eTLEcbRag36t0xyohGfGuA_NPxlMEyjauEHU-vL4qJijDFx1qja4Z4=",
  "id": "rs_013da3c67213bd55016ab4a3c1020c87d0b51df82ff400e7ec",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.14,\"left_z\":0.045},\"note\":\"The teal bowl is under the left gripper and slightly left of the jaw centerline. I’m shifting left and lowering the open jaws around its narrower body.\"}",
  "call_id": "call_c73AuLFHEFlsjaGntt19OQoB",
  "id": "fc_013da3c67213bd55016ab4a3c3ae6087d0b92d6a08e444ab48",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_c73AuLFHEFlsjaGntt19OQoB",
  "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]: [-0.5976, 1.5909, 0.5854, 0.218, -0.4881, -0.3752, 0.9995, -0.02, 0.8032, 0.6079, -0.4305, -0.0093, -0.02, 0.9991]\nstate[eef_state]: left_x=0.3519 left_y=-0.1349 left_z=0.0411 left_yaw=-0.0013 left_pitch=-0.1061 left_roll=0.0589 left_gripper=0.9995 right_x=0.2888 right_y=-0.0005 right_z=0.1689 right_yaw=0.0016 right_pitch=-0.0534 right_roll=0.0009 right_gripper=0.9991\nstate[joint_eff]: [0.335, -6.0239, 5.0667, 1.6288, -0.0952, 0.0806, -0.022, -0.1162, -1.347, 7.1863, 1.7411, -0.0757, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66037517a857b34f7d28e10c749d260b8c493190deb70f31eafab39628c482d2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c8b891d897d08f51bc8e42250e1ca1e3d1eb259101f084f82b21d1e9b964679",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a839fa38df065d3b6a6fbe9c68339d55f6e75605ff0fa0703c54729f8049e503",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /responses · status 200 · 5.075 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]: [-0.6827, 1.3907, 0.8356, -0.1997, -0.5419, -0.4248, 0.9996, -0.0196, 0.8013, 0.6098, -0.4229, -0.012, -0.02, 0.9992]\nstate[eef_state]: left_x=0.3499 left_y=-0.1624 left_z=0.1421 left_yaw=-0.02 left_pitch=-0.056 left_roll=0.0304 left_gripper=0.9996 right_x=0.29 right_y=0.0 right_z=0.1718 right_yaw=0.0042 right_pitch=-0.0419 right_roll=0.0022 right_gripper=0.9992\nstate[joint_eff]: [-0.4308, -6.0376, 9.0872, 1.6679, -0.3297, 0.0073, -0.0562, 0.335, -1.0872, 10.4957, 1.663, 0.0513, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5976, 1.5909, 0.5854, 0.218, -0.4881, -0.3752, 0.9995, -0.02, 0.8032, 0.6079, -0.4305, -0.0093, -0.02, 0.9991]\nstate[eef_state]: left_x=0.3519 left_y=-0.1349 left_z=0.0411 left_yaw=-0.0013 left_pitch=-0.1061 left_roll=0.0589 left_gripper=0.9995 right_x=0.2888 right_y=-0.0005 right_z=0.1689 right_yaw=0.0016 right_pitch=-0.0534 right_roll=0.0009 right_gripper=0.9991\nstate[joint_eff]: [0.335, -6.0239, 5.0667, 1.6288, -0.0952, 0.0806, -0.022, -0.1162, -1.347, 7.1863, 1.7411, -0.0757, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66037517a857b34f7d28e10c749d260b8c493190deb70f31eafab39628c482d2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c8b891d897d08f51bc8e42250e1ca1e3d1eb259101f084f82b21d1e9b964679",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a839fa38df065d3b6a6fbe9c68339d55f6e75605ff0fa0703c54729f8049e503",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtKPJ1osh0Q2Q7ecIVva0jfpHhKtfgOr5bxYMlxpaXl4bleTerB0ezmT4DmGxN7XWd4uHIkMFCf4p1Y_NlV-4QK0Zs0g9-5-8H9c0QSfMPmJlDvOiEncxagF-9xZsptoy7kd7oztxxd4gW5xfpwq7Hde2Ty4-9mDPUs8lCzUkndl45kYBfAaFvOWNFaJWx0TPL3H3dA5D-wU10TrNfWBECqi2zKsQ67bza9a8mqpmHsmpu5fRYsXC0TXYCkT_uZd7m6Wq5msHgKFydmgS73lKcBT-QedinK_5FOVToFeAfmIG2DY9wp1nzSK7OSdnPmM-1Qp1xFQmv4kQn2GalWlzCHlHuwTzvkNL1zI5r0p4X17NWgTDhp-11k31LbYSXTFKq0SA_D0gl5f8JQNact5GpNxWTo2T-W0unqBRXYs5QrnBu8SECqh6OFfOavH4eAg-R7UoDqTdMfPvxjMuZwNtso-wWbDp-ZAdBHegOmP5Nd3vH9HiE52XMO-7xf3CXyW6fxJAmKMNVOanrmFwKIYhvDKoBRhny3C0mnht6t_2wO4K8Gc7OwhjhlMVf75zeQAGW2mSFM1NyxosOXWf9xT3dV5Ep_7IUP4_GuHN5B_PO01hLROZpy4rD5yNIzIhkEwjfpk5XJwp-HDM7jI5VitaroTXL2-VD0zd8AV1Spe9ubJFj9ssexKchPO0M9aW8ZJ-4_on-o0fs7vx6r-Lw3mkNexAicp2dmpEPW4BdJ5YsDO12-KuZjHLKFYCobySSUCoSThRPBCZEsNJJofSwu6DUJlmZhmOuXdyLqlDoXGWpJVLuHGMB3jvH6IIZHokxxWuozFf6I5D-6JCy2K2G3CX3Ujt3uqGMn8z5cVmMscQaQCIG9Oy5VFiyjl2xPrgOgHuKTUTg86WSf2ZkTWfkPq7DizI-g1HFx4_LNhfGSyQl8cglMX2ZIwTgtlGqvPwi0TmYZTx5nHCFCA0X09jv2pDyuW89Pa9vdF1hvVJ0mhY2fAcWojUEMs3HpV6CGuQKO2L-MYjXwMWfJJnjOaQV3aPtLtbvTwf6rYuzZ8kq-m-SaBynPLDr0CBFBC6BONpWR2K9jBeE4TRGyE6U3AmsshPRALY4qAdVEaJl7en7lxW46BVpxFGNNDvBIpOYkW123vV7gM51YjOizjH_aUVXe0kicHk8Qnx652XzCqw2jRQ-KH1SOjSbLtoGn72CzzoFpb5WeE-URVhAFuSjkRHzRdBEJeELCJgc-30Qd886YkuloyN9bcGIspoaHX3Va3Btip-OKTGGOydYvQ82DVvNP821oyKIS3SWcAYVO_R_vUojLzu9PSeN66gFpxBGkWxGc8DFgDhEbPsSYLBQRl3-VnywtNY26JzGcaZy36XIL8d4uVdecblf8k2YhmjQwrWG4mQmqYx45Anwj3yklDmEyB5EBlDgCEr7xDi3EcqSUDIBY1QQ365gP-kRmKwLsukRUKV-ESn2jB_IzFG6C410_yHXdWodJ3xj5bDVk0oRVLtMHWjyZ4CigqgHMQCsOvc_SGSwAbL0g7T7Ij9Pc5ullJVz0Pp5i2o0zl3zZzeLNUfBn-iKGIbTsEq4aQPBC1SXOjOK5xR9AzcAUbDOflBLsnbQtO3jkqIXmbUnoUllsrIZ9enP8aNxEWDG_2xxnSsHCIITjJOofuGiHlaEOXgg3b-KBoqKToAdJxoy_VrT5CZlUbvcktwNKys0xj28hwI2DV9eVkec1F5d-ia2IW5r_7GaPrhpA==",
  "id": "rs_013da3c67213bd55016ab4a3c6987887d09812d645f4d0a8c3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The bowl is centered between the open jaws at bowl-body height. I’m closing the gripper to secure it, then I’ll check the grip with a short lift.\"}",
  "call_id": "call_CYUFcsyXUPbGiJrR6diTpomm",
  "id": "fc_013da3c67213bd55016ab4a3c85bec87d08b0e5799aec6eabf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CYUFcsyXUPbGiJrR6diTpomm",
  "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]: [-0.5957, 1.6054, 0.572, 0.2207, -0.4881, -0.3824, 0.0119, -0.02, 0.8043, 0.6075, -0.4381, -0.009, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.3478 left_y=-0.1313 left_z=0.032 left_yaw=0.0062 left_pitch=-0.1266 left_roll=0.0676 left_gripper=0.0119 right_x=0.2877 right_y=-0.0006 right_z=0.1669 right_yaw=0.0015 right_pitch=-0.0626 right_roll=0.0006 right_gripper=0.9991\nstate[joint_eff]: [-0.2256, -7.4325, 6.5983, 1.4579, -0.2222, 0.0317, 0.9304, -0.1162, -1.0598, 7.1863, 1.7411, -0.0366, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3d7e1034ebdc6db6c3df97478bde6a7fe7a5bdc04b5e061ac2ef5d120ef7229",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c776b158d5cbf0b3c488e7e892c59c73077f39ab82b0782289d7af7f45d3c37a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11f8652cd93363f3e5840fa6eff502b138f304736365ed5cc0a5f1de85f015e9",
      "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 · 3.814 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7952, 0.6041, -0.3817, -0.0223, -0.0257, 0.9996, -0.0219, 0.7933, 0.6014, -0.3813, -0.0097, -0.0196, 0.9992]\nstate[eef_state]: left_x=0.2946 left_y=0.0017 left_z=0.1793 left_yaw=-0.0003 left_pitch=-0.0008 left_roll=-0.0002 left_gripper=0.9996 right_x=0.2942 right_y=-0.0011 right_z=0.1787 right_yaw=-0.0002 right_pitch=-0.0008 right_roll=0.0003 right_gripper=0.9992\nstate[joint_eff]: [-0.3761, -1.6068, 10.1812, 1.7802, -0.0073, 0.0952, -0.0611, -0.5128, -1.3744, 10.3316, 1.9463, -0.149, 0.0366, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5976, 1.5909, 0.5854, 0.218, -0.4881, -0.3752, 0.9995, -0.02, 0.8032, 0.6079, -0.4305, -0.0093, -0.02, 0.9991]\nstate[eef_state]: left_x=0.3519 left_y=-0.1349 left_z=0.0411 left_yaw=-0.0013 left_pitch=-0.1061 left_roll=0.0589 left_gripper=0.9995 right_x=0.2888 right_y=-0.0005 right_z=0.1689 right_yaw=0.0016 right_pitch=-0.0534 right_roll=0.0009 right_gripper=0.9991\nstate[joint_eff]: [0.335, -6.0239, 5.0667, 1.6288, -0.0952, 0.0806, -0.022, -0.1162, -1.347, 7.1863, 1.7411, -0.0757, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5957, 1.6054, 0.572, 0.2207, -0.4881, -0.3824, 0.0119, -0.02, 0.8043, 0.6075, -0.4381, -0.009, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.3478 left_y=-0.1313 left_z=0.032 left_yaw=0.0062 left_pitch=-0.1266 left_roll=0.0676 left_gripper=0.0119 right_x=0.2877 right_y=-0.0006 right_z=0.1669 right_yaw=0.0015 right_pitch=-0.0626 right_roll=0.0006 right_gripper=0.9991\nstate[joint_eff]: [-0.2256, -7.4325, 6.5983, 1.4579, -0.2222, 0.0317, 0.9304, -0.1162, -1.0598, 7.1863, 1.7411, -0.0366, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3d7e1034ebdc6db6c3df97478bde6a7fe7a5bdc04b5e061ac2ef5d120ef7229",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c776b158d5cbf0b3c488e7e892c59c73077f39ab82b0782289d7af7f45d3c37a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11f8652cd93363f3e5840fa6eff502b138f304736365ed5cc0a5f1de85f015e9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtKPPL5lpt7E2adgOB-OUHBf-SbMU-bt10EarroaUQoehm159_wO-FTUWL5npqmwuacnSUBPHbzyj_FMizw0B9FVt4X9eTYKwc0qjMDuDsF3zxg-jdN0mvNIwel1ngKb8nn7nAY45iElsjtqyjIL3ZeLL1WSHs3H5aAL4LRBfkBal9tAzxQ6F1o9Zyf9nXIgJRxh8VUELpKrXO9h0Qgpbfxds3JGqD4GkMLvvnphlL1kVDsw5ANMjlpdHwWUPXxDZXpSCKw4vMG3O1SwQHooaC28ltdQpMhGr7I-gsxp-_Vhfho6ibgrRs-y1kQlEgZb-_1SjaodhGTuT4g8vlEkMTzaS4Y874pz3BrhsHEHAgwSuB2-gPa2e46w_Tox5EMT0gKR1EZ7XdRtG_XNyKM0n43eqZ9w-QWIbTsw2oglqHTuQqZLVWJpoqrVRd1CntVZVl24-WOkEWWrNvKmu1AL_iME2j0UnCNBwUCirQeaPgnPRAsSbQmAXvX4j2D6Tvx-Eid9VR3j6TvfJHhxqRwSdG8wM7w_kNzusAJW3RVwVRUqr3g7dXChB2Xix715xH5m9NPCxX4l6pRNRZENgAs5qn6WHIqEwmY2Zg-js2ofMx9nBji6lp04gmUaC8zYQbbfI5ypgTm8MKtgwFXfmb6lc-pO7EZjeZlDXtUOYq_OSGHd6xC9ZlXuglc2Jt060u8acWyCe_c33gMyZta9Y80sLiNiGlfZRPUFguj85BWM0a1CagyiGebll9h1I117x3cNrAhcDJf9kU0qrftF3nnhCuaf5ufdQbyfEPIBTcBNbCe2H4sLkOhIvNUU0CUTnkYLNX1nqUb3gBGdXYPIJ3xtXwTH-ARcNQXpY2PTA-fndDIXaTF_1i2BwhDDgxBLUNyP_hJUQ8WRh3wEXgtqXb3VkgopFnoOqzUKlmHA17tPn_gM7vwLNE0FlMFMVSYyL--LuyHEU1pfQJfYsLp32sHmtSwfD1Z9PcZleQX_AhNQB3SxVfRu4Sd_u75MaaGLMrCjcKTSUYXBXdPazdAu6qw5MOWXT09yFseImZo1z4MdLrYrUsp7-bxGzuNg-uD0orsrwlmT3PTl3qsR9p3dm-ZHjX5NyCCFHV8VpHWJHYCYFp9R-yUUm9CZ-gVeiRPUOGf42FDCeJdhADLbR-60T3XAXw1NRigCTqZt1h-K1gQzad0ughN2-KBy9GK6iRbw7FVFDxaE6sQqFMFF9TkCvSLe8opJwlAUfmBvrMpk6IOrLt-PjoYtF_GskJYQOS31--eXAHE0xt1jgxdAAOYEno97Od1vF2OnZ-7iIakHBgTDRX4a-5Mn6Y5Cundf5CudELb_Nf4rsXRI3XPH4smFG5fhoSAHI8qXagAcUFvJLYs-EBjLabzskYtcBS2zBMIe4so40lSLWzhI0-Th3FMqFYdANAGBNlHfLXCg6hGUYt3awpo5qkSy39BHVaJl2ii2aEaATtv55fb-0QNHbousXoRAPwpmJfh1owLqUVWDCjmQWf_k3lJ4eSc85ykTh6UEDFIQDcjL8couFuviR1chzEi0fo-ssL0f_H1ZITrydUOTHJwaNvj_iSMb0MNznL0Kx4y6ZWhJCLZFNQlYhiH2YIxWG_p7vY_eDzUHYBj1hf0qxD56fS5r_DGrStC7IS3C3klH8a75ozmvho6Iu6LT-lrEZk4kzqA7QPFNHshKBot2Jj1DTRaJ9jAB-gtcHPY1Rb1slqGPi2Sx6obLEKlF_gNertzGlkqwugFy71OtYhZAdSS6nHuv7ot-4BSoLWA26zzavvcAZX1xlB0Fpkik7q4GqFklnL9d78OOhWVnxU2B2113SoIug2VHcRvye-_OuaCG0-m8g-W1JLMdMPpHHahHjhdM00wOXwRtLoOMUdRN2gJEh9k7UxPZE6VLJ6uBaxbY2nTH4AihMvLGVrmEz74PMb6gQghHK3fLkfNbvOZYEcgLxWQktP9i49gP529vBrs2abZV0S3TA0JK4BeWEhgZVsLY--AGwT2Xpu8Gm4RTOi9H6gJ03WJzJVB7A33APPfDaciVT",
  "id": "rs_013da3c67213bd55016ab4a3cbacc487d0ba09d45b82b7edb6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.14,\"left_z\":0.06,\"left_gripper\":1},\"note\":\"The gripper closed empty; the bowl is still visible ahead of the fingertips. I’m reopening and advancing three centimeters to reach the bowl rather than closing behind it.\"}",
  "call_id": "call_vvCpoZAat1pEqxeZoRv5BEK7",
  "id": "fc_013da3c67213bd55016ab4a3ce5a9887d0bc7e3288020f7cc8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vvCpoZAat1pEqxeZoRv5BEK7",
  "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]: [-0.5446, 1.6524, 0.7425, 0.1028, -0.4618, -0.3592, 0.9944, -0.02, 0.8043, 0.6075, -0.445, -0.009, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.3824 left_y=-0.1354 left_z=0.0539 left_yaw=0.0241 left_pitch=-0.1333 left_roll=0.0663 left_gripper=0.9944 right_x=0.2867 right_y=-0.0006 right_z=0.1656 right_yaw=0.0015 right_pitch=-0.0694 right_roll=0.0008 right_gripper=0.9991\nstate[joint_eff]: [0.5675, -6.5026, 7.9658, 1.536, -0.0806, 0.2027, 0.0659, -0.1436, -1.1966, 6.9675, 1.7558, -0.0171, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:694932f57015ce91e5b114027d754b6abd1d91b500fe3ab32243103cbcde937c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cee23a6f8a88219fda14f95d1a574bb7faeab6cffda0b8c007f21c40664eb1cd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d46097cbd5b8114daeacb186429e6854ad0fb7ce8c79f76a1e978561592a1d11",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /responses · status 200 · 2.242 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 14 changed as sent

message 18 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6827, 1.3907, 0.8356, -0.1997, -0.5419, -0.4248, 0.9996, -0.0196, 0.8013, 0.6098, -0.4229, -0.012, -0.02, 0.9992]\nstate[eef_state]: left_x=0.3499 left_y=-0.1624 left_z=0.1421 left_yaw=-0.02 left_pitch=-0.056 left_roll=0.0304 left_gripper=0.9996 right_x=0.29 right_y=0.0 right_z=0.1718 right_yaw=0.0042 right_pitch=-0.0419 right_roll=0.0022 right_gripper=0.9992\nstate[joint_eff]: [-0.4308, -6.0376, 9.0872, 1.6679, -0.3297, 0.0073, -0.0562, 0.335, -1.0872, 10.4957, 1.663, 0.0513, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5957, 1.6054, 0.572, 0.2207, -0.4881, -0.3824, 0.0119, -0.02, 0.8043, 0.6075, -0.4381, -0.009, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.3478 left_y=-0.1313 left_z=0.032 left_yaw=0.0062 left_pitch=-0.1266 left_roll=0.0676 left_gripper=0.0119 right_x=0.2877 right_y=-0.0006 right_z=0.1669 right_yaw=0.0015 right_pitch=-0.0626 right_roll=0.0006 right_gripper=0.9991\nstate[joint_eff]: [-0.2256, -7.4325, 6.5983, 1.4579, -0.2222, 0.0317, 0.9304, -0.1162, -1.0598, 7.1863, 1.7411, -0.0366, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5446, 1.6524, 0.7425, 0.1028, -0.4618, -0.3592, 0.9944, -0.02, 0.8043, 0.6075, -0.445, -0.009, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.3824 left_y=-0.1354 left_z=0.0539 left_yaw=0.0241 left_pitch=-0.1333 left_roll=0.0663 left_gripper=0.9944 right_x=0.2867 right_y=-0.0006 right_z=0.1656 right_yaw=0.0015 right_pitch=-0.0694 right_roll=0.0008 right_gripper=0.9991\nstate[joint_eff]: [0.5675, -6.5026, 7.9658, 1.536, -0.0806, 0.2027, 0.0659, -0.1436, -1.1966, 6.9675, 1.7558, -0.0171, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:694932f57015ce91e5b114027d754b6abd1d91b500fe3ab32243103cbcde937c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cee23a6f8a88219fda14f95d1a574bb7faeab6cffda0b8c007f21c40664eb1cd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d46097cbd5b8114daeacb186429e6854ad0fb7ce8c79f76a1e978561592a1d11",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtKPTUmIAs6PjJeG6qBxUQISQEStqxreXxLEZjX6nw5Ik7BNMhyCDvFLcnmUSZBnvjSSWOAUAlcPFeQCYebOMBTVbeg1nhOTo2VmKCZhN7nNRXZrK6H8A6xz92D5-dwytKKdwuYtaDVSUjWjZya4GoE-E5A8zhB8kY6W6fWaWF2BkoUK_SX0PN9TNKW-LX9JafMeTejiImTzO20RMYhzOl6tOJEGmM-dFjU67EBjtEYz-ZaKdhUyaQx5UjZu_WJ2ihpX2hNlVoeEBNHs7je15aVwzfARdZ02_nRicApqODbsB-9iwtv9ie74g2ZNUK-bF8eXefVL9EVCXAeFyrhCq4_TN1e66FClTkVP6UlCr-pphNndDqKl948y1h7NXWZcht2U27qQCh5m-NlblKddG8fpCoq10Y2xbxkrxPdk52-RL7zqpr08lejW3J0xGOciSZY62BgCfDM8n3XHEqW_baFNgW-r8hFpbyDZ4wKVUqIrOyLTIcAxRDtznEeNxYwFKj5bv7q9fq3-NwCNSrUw6Y-faL4DZA6ZPbtzDNnO5tGLKK5b8LcycZ43yY0VPBTVyqUSmXaBGpdFXdkjs2OxJNUgcHB3qibHH0eHkm0L1GOv0JCh0jXB2wp7NW2S2FK5SNYw902I3tZ5qP6wTJFUUZ5eYexQzCG4pllzvbNU5e3HgM3VbJ-6xN9CO_zbYXyhnqdnAVeRNVtTjcNvDWFPqFXiVHqBHtWwszH1Mtco-HCSee1SVImQiGkVTG8LN2kSAENGCD3UxaCVVTaKxUgCwUsaXgRKHYQ9HgMr1zz87qprCNq-Yg50PMePytDgmeWkz3Soom4NFPdVjOnux0wh5-Aui3WHuStkz65rq-exfnXigEwUXUoySK_IbOLso0YgZHiDc9gTvEgRhW4vXqQLoW6_Qlq6ZSBR29G8jglf_YB8NnAWcN5UhF2C4jGM79W86KzpRD5uB6SvYgUXmbY2cLSp6T2AljodDPOBUd1HHZwMjuo_okGga8iRNt543SBSOVevSRQd7-pHlsRjCBwvEC3ltS2ddT7lid5R6H1Fge9eX7wu12Uy4Dq3sujLKklTZ_tZs6Pv5mhyJaI2wl1h-wIvEkiXsASbwVZSwgTaHmYgLii0BRrmUXW5ioLkVwzN9UtymwAGSIliisr8FmaQE9pVGBbzouGCskcjHOqSh5CQJeKhRR8Q7x2tUGDUByReH7RbbP29oXEt34pZWZt8NLfceDfPLZ2sRX1wWS0riSmWGVF_dwSpKtqzuKV3xVrWnoAMBdzQaTYgIXHpvJ-b3tgs-Jo04mVmS-8SFvm_AaAfvcXfPnIpy_0k2RUgQmKr1s07GCkKNjW9tFvxZqh99O_30GzD9StvZNRGDzIWh_DEg97szkpQlTGBglgMLtXTRVXQ4sYGdEgkbmp8G458f1F2W0A_rT4YjheP_-VhPO0IyUeqfNJxVobRg1QXZ9fNaOidu3p3oRwpHxqFXAsvydUNNhksPRcAY6ppwoGI-bHcDr4AWhKoxQB4AXC9gAgM28_PhCPqXLOs8WSoHlTh94aydmIc-efmk6glW5zKTRZ-LT1TIZ1m9Mq9wb11grBJxDXNTjm9Bqkqb3uz0Gq7IDdWZ6NCH4Iz2837mlgCzbepx7u8-wUH3ysFDoZ6AY99AGitLgrkU54tymZE9zlup1GOUCn5hh0bHcFIZx76DlsW9zULlzVCkTeCvfTj3MppMBMuk",
  "id": "rs_013da3c67213bd55016ab4a3d189e487d0a89972260ee17650",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.025},\"note\":\"The bowl has moved down in the wrist view as expected, indicating the fingertips are now farther over it. I’m lowering slightly so the jaws can grip below the rim.\"}",
  "call_id": "call_sBSpmdEMLfalmnHxw3Yi1haP",
  "id": "fc_013da3c67213bd55016ab4a3d3482887d0abadc6e7c37a8a13",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sBSpmdEMLfalmnHxw3Yi1haP",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5423, 1.6958, 0.7265, 0.1749, -0.4706, -0.3592, 0.995, -0.02, 0.8043, 0.6075, -0.4454, -0.0093, -0.02, 0.9991]\nstate[eef_state]: left_x=0.3863 left_y=-0.135 left_z=0.0437 left_yaw=0.0323 left_pitch=-0.1193 left_roll=0.0647 left_gripper=0.995 right_x=0.2866 right_y=-0.0005 right_z=0.1655 right_yaw=0.0016 right_pitch=-0.0698 right_roll=0.0013 right_gripper=0.9991\nstate[joint_eff]: [-0.3897, -5.4222, 3.8906, 1.0769, -0.0757, 0.0611, 0.022, -0.1299, -1.2376, 7.2821, 1.6532, -0.0464, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1145ecad1ed524dce8996416b43cec9cead40b2adee7d7ed871745e4e1d0c468",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25edd8e81950cca35b5d54a7048075ec238a7b0d02aeaa38fad2521f241a46ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa10621bdc307ed155b05d7f70c1cdc19139e522e21879220e2ab16b5c11e705",
      "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 · 9.239 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 10 changed as sent

message 18 changed as sent

message 22 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5976, 1.5909, 0.5854, 0.218, -0.4881, -0.3752, 0.9995, -0.02, 0.8032, 0.6079, -0.4305, -0.0093, -0.02, 0.9991]\nstate[eef_state]: left_x=0.3519 left_y=-0.1349 left_z=0.0411 left_yaw=-0.0013 left_pitch=-0.1061 left_roll=0.0589 left_gripper=0.9995 right_x=0.2888 right_y=-0.0005 right_z=0.1689 right_yaw=0.0016 right_pitch=-0.0534 right_roll=0.0009 right_gripper=0.9991\nstate[joint_eff]: [0.335, -6.0239, 5.0667, 1.6288, -0.0952, 0.0806, -0.022, -0.1162, -1.347, 7.1863, 1.7411, -0.0757, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5446, 1.6524, 0.7425, 0.1028, -0.4618, -0.3592, 0.9944, -0.02, 0.8043, 0.6075, -0.445, -0.009, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.3824 left_y=-0.1354 left_z=0.0539 left_yaw=0.0241 left_pitch=-0.1333 left_roll=0.0663 left_gripper=0.9944 right_x=0.2867 right_y=-0.0006 right_z=0.1656 right_yaw=0.0015 right_pitch=-0.0694 right_roll=0.0008 right_gripper=0.9991\nstate[joint_eff]: [0.5675, -6.5026, 7.9658, 1.536, -0.0806, 0.2027, 0.0659, -0.1436, -1.1966, 6.9675, 1.7558, -0.0171, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5423, 1.6958, 0.7265, 0.1749, -0.4706, -0.3592, 0.995, -0.02, 0.8043, 0.6075, -0.4454, -0.0093, -0.02, 0.9991]\nstate[eef_state]: left_x=0.3863 left_y=-0.135 left_z=0.0437 left_yaw=0.0323 left_pitch=-0.1193 left_roll=0.0647 left_gripper=0.995 right_x=0.2866 right_y=-0.0005 right_z=0.1655 right_yaw=0.0016 right_pitch=-0.0698 right_roll=0.0013 right_gripper=0.9991\nstate[joint_eff]: [-0.3897, -5.4222, 3.8906, 1.0769, -0.0757, 0.0611, 0.022, -0.1299, -1.2376, 7.2821, 1.6532, -0.0464, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1145ecad1ed524dce8996416b43cec9cead40b2adee7d7ed871745e4e1d0c468",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25edd8e81950cca35b5d54a7048075ec238a7b0d02aeaa38fad2521f241a46ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa10621bdc307ed155b05d7f70c1cdc19139e522e21879220e2ab16b5c11e705",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtKPW13e3V3yk8Cp1YB7os-wc7IoPulCHwusZSz0B4krF_U0bt903_C2lNzf7VevbekeivbU4BLtemCgmlUYYSf_SWUimD4RB_k_Cz_mMaLEKm1h1aWgnxmfSmYHKxfsq--P24Sb6mpj2VKmnUbKPnhUlugZ3LEEy5TV6yv0icDFdrr70MElTrP0pAbY-8yrpxDqLstZLbCAIEKRCYXS7TpUGYNlUJ4tnKf2kPVGoEBv1Rcx8gCmriMsXFvzj8fIdhVfmORxxLUZqDKtViwZHJ7pQZP_RM3U1C0oQuXWUwdSm3NJwSl2vse9e5C1L0W51tOx9-H1J7xf1UkZMgzdVmyo4RgO1-PnISuAG_UagrEJao7jF9GMoruMrQvCQrAvxE6s-3VEvZg0P1xnm3ahjgP3uO4mXtgYoceVT0WUSEA4idlisGZKPmU2eWbqOW6Bkj8BICnphwtlEdZasZsRX4iAlTfhwnlaUBqMyoke082W1isbdtnSqADRrnv0qU49qoWgnUg1kSX_sUgp8tFmWFVkiIiAUtCw9sI0jK1QGg-ksCEqx8nfinLiQHb5GNSmyeZdTD2GfonbtHZ5AGD65A7O0yl2UeZ4wn3U1x8E7rIrkFWE-57jjcx_wuBhiPAHC0lqJ4LB9MuYh_K3uXNMhY0-YFGAKPcE8iIVr9-AVSkY2xgzvq1AlSl0TnbDxCOLXCSVDrzRZcGfDzOMqfRN4gf9rSDk4s8boBCFXjQeJzqY_gvTIHN8btn5jRbnoqcJhtl54IKe2qUdVmZZakOsnlIT96-Xerc0ZVuJIWqtN-cJoGayyeQQ707fo4mdcFlLI0JoPYrnZpJBNOjUJNm1IXvNLeO__bfuIKshenXls0fHTAnEar2cmCjs-gLD1HHc5M3EL3IVuwYMmCMsMv_XpAQGGO2S267Yb0SyM1d4I0L3_XobhbRkyZ2Nf5IQAMG6Gi65q4kslTGF1ur4iFCfT7ukv48uKjci2ihGBwmNAmZFtCFV0IgkgMWsh2Vu4agbEh1_aa8MeHUSFHZuxzdMLLkIzlsoKJP13qDuF_oU7z7DMPfm4MYMje1A6GjzVed3jQyEZdq6ClzU9G7pgJcpLWyFenraGIzbhgE7wzqPUu500Htw-qYjJGlIBhuG9dTc0twTACEY6mc5OLZcbDUMvr2lAAIisEroxcJw4F0x2b6i3o7lmY3Xc5zzhVwq5qwRu9PPu8vcSBLJHiuUm_pbGvAMNGA==",
  "id": "rs_013da3c67213bd55016ab4a3d55da487d08581a1769e2fdc0e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The descent stopped near the bowl’s rim height. I’m closing here to see whether the jaws have captured the bowl wall.\"}",
  "call_id": "call_gIudAoiMkNitJKNRjoBDbCly",
  "id": "fc_013da3c67213bd55016ab4a3d5a52487d0b37a5c79fbbb58b5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gIudAoiMkNitJKNRjoBDbCly",
  "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]: [-0.5423, 1.7195, 0.7097, 0.1692, -0.469, -0.3634, 0.0116, -0.02, 0.8051, 0.6075, -0.4454, -0.0093, -0.02, 0.9991]\nstate[eef_state]: left_x=0.379 left_y=-0.1309 left_z=0.0281 left_yaw=0.0369 left_pitch=-0.1584 left_roll=0.086 left_gripper=0.0116 right_x=0.2867 right_y=-0.0005 right_z=0.1653 right_yaw=0.0016 right_pitch=-0.0706 right_roll=0.0013 right_gripper=0.9991\nstate[joint_eff]: [-0.0889, -8.9094, 6.9675, 1.5116, -0.1734, 0.022, 0.9988, -0.1436, -1.3333, 7.0085, 1.6825, -0.0317, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9e6f259c0fd47c8d8bdab277dea84860ec4175bece9d9366f3522b5f8b25505",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0868a7b5998c4675a524d43442dbad12815130a86e474dc1d02a22a3362ff42",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30e63360dbfaff9ed69ce7e7cb255ea68afe3c31b0d8def08ff7dc86d1377ce6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 7 attempt 0 · /responses · status 200 · 3.095 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 14 changed as sent

message 22 changed as sent

message 26 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5957, 1.6054, 0.572, 0.2207, -0.4881, -0.3824, 0.0119, -0.02, 0.8043, 0.6075, -0.4381, -0.009, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.3478 left_y=-0.1313 left_z=0.032 left_yaw=0.0062 left_pitch=-0.1266 left_roll=0.0676 left_gripper=0.0119 right_x=0.2877 right_y=-0.0006 right_z=0.1669 right_yaw=0.0015 right_pitch=-0.0626 right_roll=0.0006 right_gripper=0.9991\nstate[joint_eff]: [-0.2256, -7.4325, 6.5983, 1.4579, -0.2222, 0.0317, 0.9304, -0.1162, -1.0598, 7.1863, 1.7411, -0.0366, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5423, 1.6958, 0.7265, 0.1749, -0.4706, -0.3592, 0.995, -0.02, 0.8043, 0.6075, -0.4454, -0.0093, -0.02, 0.9991]\nstate[eef_state]: left_x=0.3863 left_y=-0.135 left_z=0.0437 left_yaw=0.0323 left_pitch=-0.1193 left_roll=0.0647 left_gripper=0.995 right_x=0.2866 right_y=-0.0005 right_z=0.1655 right_yaw=0.0016 right_pitch=-0.0698 right_roll=0.0013 right_gripper=0.9991\nstate[joint_eff]: [-0.3897, -5.4222, 3.8906, 1.0769, -0.0757, 0.0611, 0.022, -0.1299, -1.2376, 7.2821, 1.6532, -0.0464, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5423, 1.7195, 0.7097, 0.1692, -0.469, -0.3634, 0.0116, -0.02, 0.8051, 0.6075, -0.4454, -0.0093, -0.02, 0.9991]\nstate[eef_state]: left_x=0.379 left_y=-0.1309 left_z=0.0281 left_yaw=0.0369 left_pitch=-0.1584 left_roll=0.086 left_gripper=0.0116 right_x=0.2867 right_y=-0.0005 right_z=0.1653 right_yaw=0.0016 right_pitch=-0.0706 right_roll=0.0013 right_gripper=0.9991\nstate[joint_eff]: [-0.0889, -8.9094, 6.9675, 1.5116, -0.1734, 0.022, 0.9988, -0.1436, -1.3333, 7.0085, 1.6825, -0.0317, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9e6f259c0fd47c8d8bdab277dea84860ec4175bece9d9366f3522b5f8b25505",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0868a7b5998c4675a524d43442dbad12815130a86e474dc1d02a22a3362ff42",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30e63360dbfaff9ed69ce7e7cb255ea68afe3c31b0d8def08ff7dc86d1377ce6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtKPgr_XFvuS2HH96PPUgEujb1gc-9ruyikeVTucaEFQtXc513UriJNiwUENd44DnFXg-WVhUBYAB1KtHPpEF_6QMeppHM5df_ZZQGS5FvBeYeo-DPVqqP8UKueYjWt5BEFNYyob38wU7dQzi2sKX3jEIAZhVxBTg4tH8njzQORpHG6q79LAYy1S7OauVA1lomfxtmoy_K-r2DWOLmam1zRi8IqE-JJD25YmE70NUWQHXPyhan4samnkuKwr7SB7FsPJMbLeEFrkHJL9662vsid2XL1XErSe0djCBQomLFVbMqv6rOnjfKdq3f_mkTt7NuvkI5gZ1Orog7KVWEBYsM1TLl_Ut9gl_Z3FFcTRNu-Ik5nTJpI34RrZ51lRuOVXMs91qiMT8iVsKyH0tP3hDbQG7QD-g5JoVtc80afMuR_uUUrYAavmbGRTLFtig2P3mnAt1g8pp-wiNq-yllF90l5ekjdPrm1D4UpZq9P4DqBA8qtfQ8EKGMItbUFl8CeaGGhulYUrjAMpwOhSW2YoHrz6C3ZIDKHWRgbCwy3o_IfmFIDMdItO5RMPdmBTo88OczxCv3qHrfNIkPtZwTjHtsVQkqVzqhp1sjyBiKWLvcz_NtWjjdwNBE1IUv3Fq19Hinv_hc7KMMJ6ysZ3dX09zrEvTlxLP3ZH8WQfANHaNL8LBIri8Dcdv8lD1SYhfwMM3xKuzOZ0L_SoKBDNbuDagzcugnPrFmKu6SDOhjLWwro7fFAa32iW1cwsOHhqSMPom3GrVgfWr7DJ_2FYXiUAEFhPLNFkCUiLIupFm1G8bdQg_h7tMF0nYNPBBf2Fd0ve0r8O0EC1kOZOUbn4MCDhRl0dUQwKoK27iQ_prdgxEClG0g3hBq18SZwBcKtm9T9LA4KfI9Qt28lPd3aSGxs-hgc-u54aWKQLkzPGcTj7jLbOzM0Aeb-3Cf2l_SEv75cDQOk6nTeTaUYzLXqMKAZgr_VrZK9RT0aleC74aBGpUrzECqbWI1BgMPh56V9Df_JtJ0JD28FAV7nEFYPSkBvTS90N1NYrn8oy8_yiTfoYSDc7Ihfa8aCGQPzGvZ7zKbZjL2CfDngowe52dNT_FXY4Erxq_BY3rAZ3ZNkt7h3vN7Y4WiyPVgZeRUYHWm07mdf-k65zuJddwdnfU3Fx6zxKQ4NeQuQuYWG90q05MtoSaOwTL1dSV_U5jEJ9cY3I-Y0QU-s8FKiQ04FG_u52OEmh2SypY3H4n8hAOj1ONbMyHrwzgrmgKV4mCsedijw5mUVQ3K2J14fuaLLLjIYCg2Fn7n-_gtwYZgCa5-_4I20_WIfcCNJvPXIT2o8oHIfNJDpBcYG1MfcoKOtXxoKuAei5bbYsQWJTk8p6TiaU0YcUFlo_ZKCAdxnEI1dnAe_AQSNNgZNJiFmWlkHxQIe-VVS12rLPNnVLmcHm6V48pRreCYwqhukHE17zDXQF5cRLBSasuoMbxqy-2eHPmG7DaKLKKv5InGVk0Lyl1rxzKyRvD2tU-J0-d28Rth0-nzDDciYyPjwyPTGtCYKJT23mj7uNawMmTE7ywJthqt8G5Ggm9LW0eFLYNVYf8n0YLrEx1Iv9jiPaMu7fApGpG0QhkFDpJ-lFy4c2_aPN5tbrsdSmafXhbLC92H7_JwFs2bs3NNtyZyAO7XYuOmFJXnZfdmuudYqxNgXHlhMzBvNH23-SpsyWl7PHLWP5Y7M2wcmG9knh8eFK_lLTNz1rRTxZP0i7AF1zrNHHCTCgEfoMOvMI7x6gxnzPY8uTJaU3_lEed91UQFz-L2kLPRcJI4gWz3KYySEgYOx3WpR-N4EH7naSZtUfIhdB82O1k7WR37dg9DEwfWT05FwmTTLO6fy0m7ROHl2frxZK4c9UJ2YRt9KShHyW4t0tb-7LZOW6CaPcpjBmMfxYvcRYet8fqBv6o-_OlU9ZliPH6J2sMkfMBY1swGcQ7nXtW7wH4ocdyzfhHQbjcRe__9y_CIoenKjquA8edrUwkPxO70y2iHgUaNam5rtzhYyLR5XpY59hfP4_-ExF5imECgIAKgLyenpvIDUgcdtaSreJ_3GPvTdzlM4uwPV7ifag2t8Zzirb6ejfsK28RYEQIwsYPWqjQSrdAQ20M4eM2arG38HALXwqub7s0AOuvbWZHEThmexjh0lqRflOuxEZ61QZP-6B1SzC3TH8ozfZxHt02yRGPOtI2I1PHzdjRu_5Ur16E0q4b2jPyl37E--15981Gx6KTT7uQcBekincaUF6ppiSH6-0erN0bww8AM-o2RBElhZQvKfep3LRt73lEc1vby0ErvhjIvosCrXuSSV2Ac7HcEtIy5KiH2lShDeCjFdvq-zy6wuexzpOe0DDKIFRl8VQbSqiYK_tg2CGGZb6VSrI5_QqyLKzFNORDsxdJFfu1M3hPz-xz_WjsGltqm0P5_BipmH2YHN_lSq_zwe1ztmgkov8M_Kb8EGsy9g6ACdVwVGuPCQU-ksHuXqp24t7osKHUgeRSkc3NozO7Fs1Y8UpqxP3UoTOhJeCYBs4eDrvSc1sUDcM2HqoPd3XqCG_WgZkJThzK0JxVTuUYlMAnAmKGcAYcWFp-sciWtsZz35OHY5Y-WieixnkKv2MF-hi0FHaRFPjbEIbTjlqTjd16llMUyMZ_oL_FuSIWcU8EiV_VXu9JuapUydwc2c8VoyoTJglIr259T9yknevyJ0wsibq6OsrxlYkk61YxBYg3uIfEu8QYJKLg7BBMCJcRdqZYahJ5DNcaxl6Q-NDbBvC7RhxyDUP2u5M6pCcDbiDOtPhzzVfzaFw0rj8YhNNzIRUB6yDOE51fEs6mDTu3npHzjTRZ3j7JNJloT1lQq-xr93Qj5IVSKP6gl_4sKraJYNavYOs3VViZios3xNyTSflQKUo6RYnnTj02DoW0mJvyhrn3Fz5ZR1-Zxq3Y3X7L6eLQ7QpkVzdYTe0qQ8xe7qzIzc44qmY1liCAd11uVX6zW921lS0AgbfExHH_bxUWLB3SheMEm0gfhMnj6qh904vdQJ8qjVUuun0TH9iaQ11dVpAMjbu-lXvwkLfCSFvc8ZLt4-i8cy9Cl7FZd0Q8x23m4RiiuEbXV6zlesnXPCUl7swgkJq9ciDPJsnpgqZuvKCdK1ufHjnxFND3_ZYlloyjDYQn-FGt3mQD7v-QjlpHK4HrzuKPZYh24L-BQEOG0IRTWLIgTXi2bHwJpU_3g6YyprrMWz0WgbSBkUU2QPOQ-Cw3doBmYwHw9BQTycwTOvxk7TfeKfTUNUesAF0zajO9N51Eo0J4JBGwJ05LODjQcrzM1s6MDglHnrn0TTIy",
  "id": "rs_013da3c67213bd55016ab4a3d8889887d099d44dc7a7f06578",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.075,\"left_z\":0.12,\"left_gripper\":1},\"note\":\"The second close was also empty, so I won’t repeat the same body grasp. The bowl appears wider than the jaw opening; I’m lifting and moving to its left rim for a one-wall pinch.\"}",
  "call_id": "call_gspRgGeqwPkDnP1t56MqdEv9",
  "id": "fc_013da3c67213bd55016ab4a3df88c087d0bfd2d39df566ef87",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gspRgGeqwPkDnP1t56MqdEv9",
  "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]: [-0.3538, 1.4754, 0.8127, -0.1539, -0.3527, -0.244, 0.9947, -0.02, 0.8089, 0.6075, -0.4454, -0.009, -0.02, 0.9991]\nstate[eef_state]: left_x=0.3849 left_y=-0.0733 left_z=0.0996 left_yaw=0.0663 left_pitch=-0.1848 left_roll=0.0872 left_gripper=0.9947 right_x=0.2869 right_y=-0.0006 right_z=0.1643 right_yaw=0.0013 right_pitch=-0.0744 right_roll=0.0012 right_gripper=0.9991\nstate[joint_eff]: [0.294, -7.747, 9.2239, 1.4921, -0.0659, 0.1832, -0.0757, -0.1573, -1.5658, 6.9949, 1.7021, -0.0366, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c277584f2e77c8dfce73190131c01c25231ff1af3f59ddddb67da4373cf6fed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7941c5b65a4fa55be9bc2d0f4daa8d5491caf87d6a7bc9b34d49cbf840f546f2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bccd895514181c713cdd4d506ee2894424e985e70d855591403be613973a9b80",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 2.133 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 18 changed as sent

message 26 changed as sent

message 30 changed as sent

message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5446, 1.6524, 0.7425, 0.1028, -0.4618, -0.3592, 0.9944, -0.02, 0.8043, 0.6075, -0.445, -0.009, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.3824 left_y=-0.1354 left_z=0.0539 left_yaw=0.0241 left_pitch=-0.1333 left_roll=0.0663 left_gripper=0.9944 right_x=0.2867 right_y=-0.0006 right_z=0.1656 right_yaw=0.0015 right_pitch=-0.0694 right_roll=0.0008 right_gripper=0.9991\nstate[joint_eff]: [0.5675, -6.5026, 7.9658, 1.536, -0.0806, 0.2027, 0.0659, -0.1436, -1.1966, 6.9675, 1.7558, -0.0171, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5423, 1.7195, 0.7097, 0.1692, -0.469, -0.3634, 0.0116, -0.02, 0.8051, 0.6075, -0.4454, -0.0093, -0.02, 0.9991]\nstate[eef_state]: left_x=0.379 left_y=-0.1309 left_z=0.0281 left_yaw=0.0369 left_pitch=-0.1584 left_roll=0.086 left_gripper=0.0116 right_x=0.2867 right_y=-0.0005 right_z=0.1653 right_yaw=0.0016 right_pitch=-0.0706 right_roll=0.0013 right_gripper=0.9991\nstate[joint_eff]: [-0.0889, -8.9094, 6.9675, 1.5116, -0.1734, 0.022, 0.9988, -0.1436, -1.3333, 7.0085, 1.6825, -0.0317, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3538, 1.4754, 0.8127, -0.1539, -0.3527, -0.244, 0.9947, -0.02, 0.8089, 0.6075, -0.4454, -0.009, -0.02, 0.9991]\nstate[eef_state]: left_x=0.3849 left_y=-0.0733 left_z=0.0996 left_yaw=0.0663 left_pitch=-0.1848 left_roll=0.0872 left_gripper=0.9947 right_x=0.2869 right_y=-0.0006 right_z=0.1643 right_yaw=0.0013 right_pitch=-0.0744 right_roll=0.0012 right_gripper=0.9991\nstate[joint_eff]: [0.294, -7.747, 9.2239, 1.4921, -0.0659, 0.1832, -0.0757, -0.1573, -1.5658, 6.9949, 1.7021, -0.0366, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c277584f2e77c8dfce73190131c01c25231ff1af3f59ddddb67da4373cf6fed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7941c5b65a4fa55be9bc2d0f4daa8d5491caf87d6a7bc9b34d49cbf840f546f2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bccd895514181c713cdd4d506ee2894424e985e70d855591403be613973a9b80",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtKPknsv0BCrJvREYxGm-RukEcVdFEHpfsZbDza4W2qj5AiFp-7lb8J6Rs57KyGsxBd_zYBl4H7-Txm2upY62zlo_ioqs-_bUKeE3I6fOHj-hnaAkldgS5ojXhKEPNqt-TGYmgSHytRJy-NzOvbUPqBKJPYSgHKwWKz9RGtCYKncaryzGQ1yuwH6E1UnEp1pyngOcA1RFYtcArd4I8T7jgnIjvZbjihf8_Ut9Fc1R9IClR4CqL0K1K6ryOQmrSBRdUe09BFlOQ1lXdQZi80jr95iGhPcVZdOji5cw3CD5Zi-a-HYPwNaJqhC9N-Lq4g5gDKcG8pas9NyJXcsm9LamDPBRwjrcqPkhNYXfpnTB42dId_6oT-AIkTa0P1XmQf7SiOibuglLIz0UXTIZ03HYl2hInjsBO6P2DpGdW969IiZPMnU7YV2gZO4YJdEqZop4tZka3OMWhPiB9mTEG6bfd9r2KaR7UU06rlre95vV5t-x70AUg6lT0BEdha4oEPGWc7VNMdRCkDg4x-KpfSlghzLr_JzG95tc6VHVl1xV8cn00DSt5IJFz5o7PcTY1CFmbt3xx7-ROcoRptOGuUn9IJvTLsHflYf2qLRFexKBobrbcy3qzqsbuwofBX1cuR6OWZdbT8I-wcJ-R1RQ1iuSUht0MsaBDs0SU92HluUwkJZ8ON4wKEvNgh7sefLnomaqWozdggWqE7dl-3nBMDGhcX3OGwHfnG7yl3_23FeScZPYBgqdn60TW52JjKsnR02-Zrg0uLPlxyYVziQtwT8DqEMGxMskHeuBuRQeK8bjori32714Y9YQRj6YMz0o_UXAsRTyttNS6BYcPiohkGveSUAJjMb2OXMCbqgi8BL-PanZTVVQPExblw0Zkm4VZUDjvSvLyQPPAsdjvtXxM96QgcPzUKNoAqKEcsyxEPPaw21efFMM6fv4rxhnCvsPusVfS7o14u8yUyMlGCmjnV340_6X7Hf9s6J_yIsy8vW-g4bQTesmwIN6iyU6GsObaynZGgBxTZxpFp0_RitHhH1GIMElxfOCBl_SRL0cnaWP9UED0K54I4aiI9CVrzn-vLZzp3gd-vuthRi-6-8YUNUdria6dhT8-Rj4MEkImZRVHm7TWpAHpnbA0p0n164-0nhzNY5v63R0cuR5tPV-KM3RmFd2tuG_6SCQZNBpRyZHbgTZsehACD2uolYcVLsO4DwocBLspjMMk3osICts6Z-rFtHg18b7gTNI-E7969OBM4YYshgimZJxHoqMrSBrla2waFDCLy7d0lBML0iJFXz-6ebjNbT5uk6EjBmDbRdTencwanT_b_4rN_IpL74ve7XzcVJ9rPBGWZpGbx0r-96gdXpCVYfR48SsBt0RXG0mOHtQnHAraTOXGvfmxYgdyUi2j0TDhhNNqd1eJRKwxljvVmKiDptcl8GaxfXcAW0kWfThARrtOdWKzGxUoLilf30BEElb03ecctNcxqQvZ2g6d_0DSg==",
  "id": "rs_013da3c67213bd55016ab4a3e2ba1487d082b4ed9411a996d2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.035},\"note\":\"The teal bowl’s left rim is now between the open jaws, with one jaw outside and the other over the bowl. I’m lowering to pinch that rim.\"}",
  "call_id": "call_E9TWl0R4mspkefDL1jNPmuCK",
  "id": "fc_013da3c67213bd55016ab4a3e3e7f087d0ae9771afa44bc91e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_E9TWl0R4mspkefDL1jNPmuCK",
  "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]: [-0.3515, 1.6253, 0.672, 0.0605, -0.3443, -0.2356, 0.9956, -0.02, 0.8101, 0.6075, -0.4458, -0.009, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.3724 left_y=-0.0692 left_z=0.0266 left_yaw=0.0641 left_pitch=-0.2576 left_roll=0.119 left_gripper=0.9956 right_x=0.2869 right_y=-0.0006 right_z=0.1639 right_yaw=0.0015 right_pitch=-0.0759 right_roll=0.0009 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -6.694, 5.6137, 1.6093, -0.2564, -0.1245, 0.0855, -0.1026, -1.3607, 7.2, 1.6923, -0.0269, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd7f4175f0c1c48b3f5b84402a1312772fa5c82eb6ad20b45759bddbde1032f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f58d601bca8b0bd2dae84b09563eaaaf1e6010b435233b8c89168478b5d62ae8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:173a728bc4ddccf246c78426ec58a5760ef4d4c793f08fc96e504c775cbd5c74",
      "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 · 2.233 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 22 changed as sent

message 30 changed as sent

message 34 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5423, 1.6958, 0.7265, 0.1749, -0.4706, -0.3592, 0.995, -0.02, 0.8043, 0.6075, -0.4454, -0.0093, -0.02, 0.9991]\nstate[eef_state]: left_x=0.3863 left_y=-0.135 left_z=0.0437 left_yaw=0.0323 left_pitch=-0.1193 left_roll=0.0647 left_gripper=0.995 right_x=0.2866 right_y=-0.0005 right_z=0.1655 right_yaw=0.0016 right_pitch=-0.0698 right_roll=0.0013 right_gripper=0.9991\nstate[joint_eff]: [-0.3897, -5.4222, 3.8906, 1.0769, -0.0757, 0.0611, 0.022, -0.1299, -1.2376, 7.2821, 1.6532, -0.0464, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3538, 1.4754, 0.8127, -0.1539, -0.3527, -0.244, 0.9947, -0.02, 0.8089, 0.6075, -0.4454, -0.009, -0.02, 0.9991]\nstate[eef_state]: left_x=0.3849 left_y=-0.0733 left_z=0.0996 left_yaw=0.0663 left_pitch=-0.1848 left_roll=0.0872 left_gripper=0.9947 right_x=0.2869 right_y=-0.0006 right_z=0.1643 right_yaw=0.0013 right_pitch=-0.0744 right_roll=0.0012 right_gripper=0.9991\nstate[joint_eff]: [0.294, -7.747, 9.2239, 1.4921, -0.0659, 0.1832, -0.0757, -0.1573, -1.5658, 6.9949, 1.7021, -0.0366, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3515, 1.6253, 0.672, 0.0605, -0.3443, -0.2356, 0.9956, -0.02, 0.8101, 0.6075, -0.4458, -0.009, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.3724 left_y=-0.0692 left_z=0.0266 left_yaw=0.0641 left_pitch=-0.2576 left_roll=0.119 left_gripper=0.9956 right_x=0.2869 right_y=-0.0006 right_z=0.1639 right_yaw=0.0015 right_pitch=-0.0759 right_roll=0.0009 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -6.694, 5.6137, 1.6093, -0.2564, -0.1245, 0.0855, -0.1026, -1.3607, 7.2, 1.6923, -0.0269, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd7f4175f0c1c48b3f5b84402a1312772fa5c82eb6ad20b45759bddbde1032f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f58d601bca8b0bd2dae84b09563eaaaf1e6010b435233b8c89168478b5d62ae8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:173a728bc4ddccf246c78426ec58a5760ef4d4c793f08fc96e504c775cbd5c74",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The bowl wall is aligned along the gap between the jaws. I’m closing on this single rim section rather than trying to span the whole bowl.\"}",
  "call_id": "call_yoroX1FrkuITMrW5yPV0zPun",
  "id": "fc_013da3c67213bd55016ab4a3e63a9c87d0b90e188d64a55410",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yoroX1FrkuITMrW5yPV0zPun",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3515, 1.6146, 0.6754, 0.1009, -0.3355, -0.2584, 0.0963, -0.02, 0.8101, 0.6075, -0.4454, -0.009, -0.02, 0.9991]\nstate[eef_state]: left_x=0.3809 left_y=-0.0739 left_z=0.0375 left_yaw=0.0644 left_pitch=-0.2091 left_roll=0.0738 left_gripper=0.0963 right_x=0.2869 right_y=-0.0006 right_z=0.164 right_yaw=0.0013 right_pitch=-0.0755 right_roll=0.0012 right_gripper=0.9991\nstate[joint_eff]: [-0.0342, -5.4632, 5.2855, 0.8767, -0.2271, 0.3883, 1.0818, -0.1162, -1.0735, 6.9949, 1.6386, -0.0366, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eec47dfb392fea746dc56cbf982506254b03e759dda0b2bdbfdb0c2543d4c8e1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e994844a88dab935dd22582341e5637a4fc35c448942aa12ddee41395ab51e2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6cb04a183c5f811ce7110ac06d4915e4dbab723e58ff7b0a27235a162fea3a5",
      "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 · 4.602 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 26 changed as sent

message 34 changed as sent

message 37 changed as sent

message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5423, 1.7195, 0.7097, 0.1692, -0.469, -0.3634, 0.0116, -0.02, 0.8051, 0.6075, -0.4454, -0.0093, -0.02, 0.9991]\nstate[eef_state]: left_x=0.379 left_y=-0.1309 left_z=0.0281 left_yaw=0.0369 left_pitch=-0.1584 left_roll=0.086 left_gripper=0.0116 right_x=0.2867 right_y=-0.0005 right_z=0.1653 right_yaw=0.0016 right_pitch=-0.0706 right_roll=0.0013 right_gripper=0.9991\nstate[joint_eff]: [-0.0889, -8.9094, 6.9675, 1.5116, -0.1734, 0.022, 0.9988, -0.1436, -1.3333, 7.0085, 1.6825, -0.0317, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3515, 1.6253, 0.672, 0.0605, -0.3443, -0.2356, 0.9956, -0.02, 0.8101, 0.6075, -0.4458, -0.009, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.3724 left_y=-0.0692 left_z=0.0266 left_yaw=0.0641 left_pitch=-0.2576 left_roll=0.119 left_gripper=0.9956 right_x=0.2869 right_y=-0.0006 right_z=0.1639 right_yaw=0.0015 right_pitch=-0.0759 right_roll=0.0009 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -6.694, 5.6137, 1.6093, -0.2564, -0.1245, 0.0855, -0.1026, -1.3607, 7.2, 1.6923, -0.0269, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3515, 1.6146, 0.6754, 0.1009, -0.3355, -0.2584, 0.0963, -0.02, 0.8101, 0.6075, -0.4454, -0.009, -0.02, 0.9991]\nstate[eef_state]: left_x=0.3809 left_y=-0.0739 left_z=0.0375 left_yaw=0.0644 left_pitch=-0.2091 left_roll=0.0738 left_gripper=0.0963 right_x=0.2869 right_y=-0.0006 right_z=0.164 right_yaw=0.0013 right_pitch=-0.0755 right_roll=0.0012 right_gripper=0.9991\nstate[joint_eff]: [-0.0342, -5.4632, 5.2855, 0.8767, -0.2271, 0.3883, 1.0818, -0.1162, -1.0735, 6.9949, 1.6386, -0.0366, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eec47dfb392fea746dc56cbf982506254b03e759dda0b2bdbfdb0c2543d4c8e1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e994844a88dab935dd22582341e5637a4fc35c448942aa12ddee41395ab51e2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6cb04a183c5f811ce7110ac06d4915e4dbab723e58ff7b0a27235a162fea3a5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.075,\"left_z\":0.11},\"note\":\"The gripper stopped about nine millimeters open, consistent with a captured rim. I’m making a short test lift to confirm the bowl follows.\"}",
  "call_id": "call_Dcdr7TWHkl620cHnL6hcx0Hs",
  "id": "fc_013da3c67213bd55016ab4a3e9773c87d0bff2cdda3292ad9f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Dcdr7TWHkl620cHnL6hcx0Hs",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3489, 1.5139, 0.8387, -0.1677, -0.3325, -0.2661, 0.0958, -0.02, 0.8108, 0.6075, -0.4454, -0.009, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.3889 left_y=-0.0763 left_z=0.0924 left_yaw=0.0692 left_pitch=-0.2138 left_roll=0.068 left_gripper=0.0958 right_x=0.287 right_y=-0.0006 right_z=0.1638 right_yaw=0.0015 right_pitch=-0.0763 right_roll=0.0009 right_gripper=0.9991\nstate[joint_eff]: [0.4171, -8.0752, 8.5265, 1.3846, -0.1441, 0.1099, -0.0611, -0.2393, -1.1145, 7.1863, 1.6777, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c159e9a5072e89887d15901888d5c913ef5e8b1e58977e2bbd429849ec02b2bb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c772806dac93363ae2c83e81c709bf3b11c22e66a9b00461483c54954276259b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db265421a3565877414d5ead33f747827df2b8b923a1310cde7420cb6c9f35b6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /responses · status 200 · 6.069 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 30 changed as sent

message 37 changed as sent

message 40 changed as sent

message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3538, 1.4754, 0.8127, -0.1539, -0.3527, -0.244, 0.9947, -0.02, 0.8089, 0.6075, -0.4454, -0.009, -0.02, 0.9991]\nstate[eef_state]: left_x=0.3849 left_y=-0.0733 left_z=0.0996 left_yaw=0.0663 left_pitch=-0.1848 left_roll=0.0872 left_gripper=0.9947 right_x=0.2869 right_y=-0.0006 right_z=0.1643 right_yaw=0.0013 right_pitch=-0.0744 right_roll=0.0012 right_gripper=0.9991\nstate[joint_eff]: [0.294, -7.747, 9.2239, 1.4921, -0.0659, 0.1832, -0.0757, -0.1573, -1.5658, 6.9949, 1.7021, -0.0366, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3515, 1.6146, 0.6754, 0.1009, -0.3355, -0.2584, 0.0963, -0.02, 0.8101, 0.6075, -0.4454, -0.009, -0.02, 0.9991]\nstate[eef_state]: left_x=0.3809 left_y=-0.0739 left_z=0.0375 left_yaw=0.0644 left_pitch=-0.2091 left_roll=0.0738 left_gripper=0.0963 right_x=0.2869 right_y=-0.0006 right_z=0.164 right_yaw=0.0013 right_pitch=-0.0755 right_roll=0.0012 right_gripper=0.9991\nstate[joint_eff]: [-0.0342, -5.4632, 5.2855, 0.8767, -0.2271, 0.3883, 1.0818, -0.1162, -1.0735, 6.9949, 1.6386, -0.0366, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3489, 1.5139, 0.8387, -0.1677, -0.3325, -0.2661, 0.0958, -0.02, 0.8108, 0.6075, -0.4454, -0.009, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.3889 left_y=-0.0763 left_z=0.0924 left_yaw=0.0692 left_pitch=-0.2138 left_roll=0.068 left_gripper=0.0958 right_x=0.287 right_y=-0.0006 right_z=0.1638 right_yaw=0.0015 right_pitch=-0.0763 right_roll=0.0009 right_gripper=0.9991\nstate[joint_eff]: [0.4171, -8.0752, 8.5265, 1.3846, -0.1441, 0.1099, -0.0611, -0.2393, -1.1145, 7.1863, 1.6777, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c159e9a5072e89887d15901888d5c913ef5e8b1e58977e2bbd429849ec02b2bb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c772806dac93363ae2c83e81c709bf3b11c22e66a9b00461483c54954276259b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db265421a3565877414d5ead33f747827df2b8b923a1310cde7420cb6c9f35b6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtKPvXteDz8UbA9Esg6bAgsYWd4bobngznShuNHUsZSQGJwRnvlkmSlUgt091UAR5Omfy7zljYd1rCux7n15l_UyTuO5-L-53Y5Dny_neuANK07KAQZmNihVW2yAGit64PzqvCPqhOZtoO7hF-dUCi-Y5Z3HTfvcl4BfHZBUjZ1Zz2stxO5p-FMRF8BPeO_Fqf6CUSf2390oTn-0aYvvGZJcsbWxG_YbztSaO6iKJklTdIhkjwFOCwPx3Wa_oSOKEyIXnAc_mjhQrbNmvuv6Yt_oR_MNSBE8fHE3ewT5h3cPVZXYq7CLl8JuOWCYR9h5n3EmY6mrP7OLuvezJVg93DwNQx18Y-lOMyxdyq_7z1newh_cxpJOAmUvrw51V_o27kKQuHzPZrBFIuFrB4sLBMD6wkw17zaByk2IM-LP9CxLC3px3cnxY5TnFqnGg45b7tjZe0U-loWgcWR4hSPZrT-OQYdJoKyaSroZiO4MgYayR603BFjeSqwAE1I6aP-yy2Evy0v7nKgxmI9_3FFAPzlWYMatZOSGJY6LK4TNH8I9RO1U1dpW8yX0a1DTW8TAe43usED7-oRVKmfzIdnAniNCPLnn76PPunc3bDFTRAKw4zMj1cQ7c5_Tf_AtKMW5QdYm3CuEgZCJvPwoup-y_u_2Hrxz6DaPvBz-xSnr38Yb_NneDyXXmdqW3Ffp4fKisFkPEzEu6gx0xu_A1VG-F-EUoUj45FUSYoVhMe_5ZAmGo9L6ODGw22VPhIOPEU1LMpOHoI3CfXmCzlprUmxtdLmDuN8Rba18o9YtUQtVEJbsLsc1g89rmEUDlEvYz1iHBJKv6yvokTY7ofSGhsPNWlaRJkOjnVBCVExnTLVUkv6PMlFBMiUyn47oaGGFha87NQ4L1TsatXOV1GXLLREJx8xKp1jrZR9w-pw2rzFdOumYtqV4TfOphQdoUuE1fa1Objm0x2N-jKXpJ074koLFR6o_ZLxF5ykaWSj4eGHxLpJjpT5tRA6yAeX2tg3CovElRR58uzRnFwCxQFghIXpU12iFx2ddxJVdRsfJPeUnMkTSmWEMrSLLn52MLGnzUL6NmSGcfnYjxf0hgUhMJdiWwnnSk9oAdlxtd52Rv_0xMvOEGlmXlPYiUAriDU-5BZTSIMpqcHz6EspQu_Grc8b-xGaWBAm3xjwQc0qdBCBMQux8t8YHKuk5z4gpUFMLlDU1tmarWk_kL8age-lbDRYaz7byH_XJSHUwslpAP3FR8X1I8wi8gVkRk9KzQ3Qz3AdgJZlFmfy2chL4CSKA4sikYzNM6tJsPYWzO8BwPDD_Cf8Amh2H_dlljMg0vYs0_rOnNKuGEhd8WQ6FUKCGUDenOJdGIfL6Owol8Izx1DpG3aF5Le1vvUsJSGx3O-2RPdrznfUcRnsljU9t0E-4bT84ihp7iIGBWgWrtbqbp2FUw_utDu8yt6b-7qRacAgXcZJz4kZzQ2Xk1bN0hFnWuf3KO4KLB2ZuNAx7WgOF1ckeCBVnLJC85wzsvm2YkxAPhm0J8uSYlzICFOPJ_aeK3ucPfquJv4YrOhkUrzHqQxS4pD_NuFsiO3PL2qneRb46HwNq8xdGQfAR_0xyhAOwZJKnJL2B8UO8YzScZCXS2vZIsuM_z7U7Sa00XJltmq97m1uE0dIM33D42xxw9hNFw5HnMM9-al-zGIffOuWcuIkZlAKNrMjZNdB2Uu_wqtXjufXHK7YgMDktdCJdVo-eKLEjypthp3Zjs0QWreSGrWoYJi6dp3fighlo2T62i7q7n68oK3fddfIdm1zOeSeieaXe9827G96qQUjPOalsFj8ZRPfcD-0D7thhDNi6uymETMlOt29J5tScUsb4oJtxSmjaZt4RAaT9fWOVgTynJZbSkBwNB4ZvP6e6EnEK5mIv_Vkf_pm8C4JctMd9EHXZE75U_hvd67D_yRNJPi5K4hdLgXeyR5aZA9XkdTprbgCk_VFrEbGdRcZmV0PKmW1CN8hdJj7w4_w==",
  "id": "rs_013da3c67213bd55016ab4a3ec00c087d09fab1ef443fc8f60",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.18},\"note\":\"The jaw opening is stable, but the overhead view does not yet clearly show the bowl lifting. I’m raising straight up to check that it is secure before moving sideways.\"}",
  "call_id": "call_iVoQ7UB2xE9vKJFxEOXzbMYX",
  "id": "fc_013da3c67213bd55016ab4a3ee5ac887d09086402bfc706df0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iVoQ7UB2xE9vKJFxEOXzbMYX",
  "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]: [-0.3489, 1.4487, 1.0782, -0.4831, -0.3328, -0.2768, 0.0958, -0.02, 0.8108, 0.6075, -0.4454, -0.0093, -0.02, 0.9991]\nstate[eef_state]: left_x=0.391 left_y=-0.077 left_z=0.1628 left_yaw=0.0764 left_pitch=-0.223 left_roll=0.0651 left_gripper=0.0958 right_x=0.287 right_y=-0.0005 right_z=0.1638 right_yaw=0.0016 right_pitch=-0.0763 right_roll=0.0014 right_gripper=0.9991\nstate[joint_eff]: [-0.1026, -7.706, 8.4444, 1.3553, -0.1538, 0.0806, -0.0122, -0.1709, -1.2923, 7.2274, 1.6532, -0.0269, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd91b8e5bc78ce1e721f4e7df1b6a368e7ba0ce51c179adc7630711b3de33666",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72e41a93bd2b6f19b56a39677c2376f96eb04e149f2b7035c746afa1e7c8369b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fb857d6779271ba9d8178ec56a695e26730334eb0b859e972a9e1411c5e6114",
      "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 · 7.267 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 34 changed as sent

message 40 changed as sent

message 44 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3515, 1.6253, 0.672, 0.0605, -0.3443, -0.2356, 0.9956, -0.02, 0.8101, 0.6075, -0.4458, -0.009, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.3724 left_y=-0.0692 left_z=0.0266 left_yaw=0.0641 left_pitch=-0.2576 left_roll=0.119 left_gripper=0.9956 right_x=0.2869 right_y=-0.0006 right_z=0.1639 right_yaw=0.0015 right_pitch=-0.0759 right_roll=0.0009 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -6.694, 5.6137, 1.6093, -0.2564, -0.1245, 0.0855, -0.1026, -1.3607, 7.2, 1.6923, -0.0269, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3489, 1.5139, 0.8387, -0.1677, -0.3325, -0.2661, 0.0958, -0.02, 0.8108, 0.6075, -0.4454, -0.009, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.3889 left_y=-0.0763 left_z=0.0924 left_yaw=0.0692 left_pitch=-0.2138 left_roll=0.068 left_gripper=0.0958 right_x=0.287 right_y=-0.0006 right_z=0.1638 right_yaw=0.0015 right_pitch=-0.0763 right_roll=0.0009 right_gripper=0.9991\nstate[joint_eff]: [0.4171, -8.0752, 8.5265, 1.3846, -0.1441, 0.1099, -0.0611, -0.2393, -1.1145, 7.1863, 1.6777, -0.0366, -0.0562, -0.0122]",
      "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]: [-0.3489, 1.4487, 1.0782, -0.4831, -0.3328, -0.2768, 0.0958, -0.02, 0.8108, 0.6075, -0.4454, -0.0093, -0.02, 0.9991]\nstate[eef_state]: left_x=0.391 left_y=-0.077 left_z=0.1628 left_yaw=0.0764 left_pitch=-0.223 left_roll=0.0651 left_gripper=0.0958 right_x=0.287 right_y=-0.0005 right_z=0.1638 right_yaw=0.0016 right_pitch=-0.0763 right_roll=0.0014 right_gripper=0.9991\nstate[joint_eff]: [-0.1026, -7.706, 8.4444, 1.3553, -0.1538, 0.0806, -0.0122, -0.1709, -1.2923, 7.2274, 1.6532, -0.0269, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd91b8e5bc78ce1e721f4e7df1b6a368e7ba0ce51c179adc7630711b3de33666",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72e41a93bd2b6f19b56a39677c2376f96eb04e149f2b7035c746afa1e7c8369b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fb857d6779271ba9d8178ec56a695e26730334eb0b859e972a9e1411c5e6114",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtKP1JwWyCia0kRKlbvV9uY9_549cuQk5P1E9eDd-a-JgRU_lAalqLYHEOJl4QrFx4Eq-c1d5wULZOQGxhx8bsBxWJCyAg-EZaB1c3r0lh-y1uO0gNU-hRlDvIgbYkRPAakEEFq0yNGSDpCostI-7BjznHK5_ptLbn6ygAqNNmAwuGw3BL_lgD44dJjudoqeumpXMfFmEEVlqV_bUtrgIp6V59zjbVQoa29H97XXdgayUEql1ri1_H9p_7_Wk-l8Fks4pF_ILXZu6ifXVB1NtDNl0-m9siO5K2HFtwek9n4_Jj_fKO293SUaITlY7alvbWB7qz7Qn2Lisj4jLdfP-Na8POllzFGQmR8cpC64BiXMTEnwk5ktp7kpOOTmadbB15K3YcR2s_JavVDX7Hm5D70BzTkCM5e-RTzIQl_yh0ps-mJnFroFzCrDbyCh0sw03klMg3FTPpAAi1MKfPj4s4y-cGUHFnb-E6_gHYThld92xtPyecJCX6bQnDu776_vTmvJq6Y6n3kiLK8omdp7uB5SzhE_ckq2Qiru4IDv6C2zf2KFgwVse4ZltV54use3vcjyXmP0fwRt0TRaMBuPIVdy7FV2b-334lOySfAr5Z4sa2LwmuV3b9aIdYrHRfmq6RYRqEv9fGOEphO_PuDOcjFGurGpZFHqcYyUCxRX29mbb83DxqkvOBQmNhSvegGVgWr6mBcUZfBiEoMNBI4aZphuDCbjQm-MGmf4bHc5IBbNov_gkDfn6HtViVy18hDXzs9xfv8GI45nMQyVCl2mA8Z5WrMsSLOqFjdYAnWrlz0S_3ZmcHQ3DoI-giRauP6bnm0x-SA9JS3qayzjiw9fiIb-C2E-f3u_Fq0Z0zau9URZ6r-Y6U0yv1uwDdhkcp5KbLWqN7UhrHEG0ldx8eYao6dMe_7Ai23G2nPd9isP8Rh2htre9hy65lunnYeLCC4pTAHkkvCIPdJpbwUQuZMFQiHGGmlEE99J89HE9FSMFNduuI0b-OKfe1HmIwAOE5QTAmtVxqwKvkP9QFVH8g8_Kwb8oIIJ05rQdb46xvPgq_cweHoSev82RtBYED9AEgbFmZW3KUcxZNkZyc6Nf6kzyHFk3gJS6sRZ9vHe9QtgKraemgNkvHwykpN8AIBb3KaghHQeCTiBRLai4eEtggnf7AnuFO--J1xUiRXVIYfx3mmXOqWJgXNCSrXFvYt8L7dXdBa2AfBD2mkUPZUL03RdMi6Z82UvGk5kVkXarCTfxnRHwzr3CNRlliaPm-Hj_Xg7nwqfYD2gcbpUvd7tyZ3Zzo-QhOKoidbQ04ptmuGk0mpj-6P0VrmwJN1wy4gRtoIqrusqhpwYrwe9lX2odhnGSwz6rCkuQeq0w2WT88kpiK8w5k5BuL8fP_rPWzg4osPwqgxeM_IsrZ8CsRV6io7k45slkv8TS6VqNcQVEUZPufWj5_O0iWBQ-j4-4tBuwyZdO0nwbIxfC0xIUzlsstfcIFkG77HH-V4tmXQgE9M5bHkmiRL5SmMCyE31nTjsltmWJdGY-MMnstETW4xiils-jxaw98DTYyXcxkzcAL5BEUbTXBjq4qw3KMcuuHAV8IoVufG6jhinF_PFfP-PLSpfxxj37lLOlcXvFHfwFrl16UpcWS43shrvSVXx4ugHD8uJ0PPx8VgqZcH1RKHYasiTYw9DvqDt_8pin8ZKR-volMEnKrmyX1eoKaCMyA9asRvOJATDJCzrhCsqfQgq_jfdmIKMApyGIHOCJvy-4zeBWL_xYdsPQhSi8JMk_JqIqz-03wwkpdm_heF137_7BTvCzHUhQdlg1GxakPBomCB4dbTWgiK1-FwWXfIdcz7GxQhIsBrmY-AiOKhNMzjEdzCnr899dzT_RDf2YZBhRelWS6bF97KzlEdIPmbZhtIdt0843lzoPjtkQ30XF8WQ14VyfyDjYyivvOvlvNwlwEUYzPnu8lozqixJfJUuiVqr14JttCRvKP52PrS2AuZaW_zvqxjVsOlQO0NwMF_jK6k3CxZ7Cm-lYpSvur1J5szWOQT6fgklfuwI6mbXhXldgvzWzDXLXLFqqXdi4e9w_dzNSUxZxZHyTh6j8f7TIxx0KVEA-xgkkJV8ycvM8ajt10Y_pXzaXcilnNXVFVhVvjwMSuGRQMakitto5zuIC1-aNsPt8jQBY0b-_v52x9eErxV_qVvBFtipsBuOeVMg64qwN7vkaDNGujLDThvDrDd_Aw_OUo4RPf-C4xjjfpknXTJw-Q4JcXwNiig5D3ehy6PQ9pbpoJI2BPLaQoYjiB3izpmk-L3b0Hd6mLSRjkDB0Fwz8dZNZ7lWzeIpHD1nq9vS0h2jZoE66kdUMi8aW1J8pNbGH1O75uAJsnK76Ito-QZeSDTj9F6uiQ9uL3dSiM4iN_tEg4U8=",
  "id": "rs_013da3c67213bd55016ab4a3f1378487d0b6a1c1ebf086cef3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.135,\"left_z\":0.19},\"note\":\"The gripper remains closed on a rim-sized gap. I’m moving a short distance toward the middle bowl while watching whether the teal bowl follows, before completing the transfer.\"}",
  "call_id": "call_TCVtv4m3nGr1WB5ddB4yrU5a",
  "id": "fc_013da3c67213bd55016ab4a3f507a487d0888ff1945ea70a9b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TCVtv4m3nGr1WB5ddB4yrU5a",
  "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]: [-0.5117, 1.533, 1.2381, -0.63, -0.4152, -0.403, 0.0958, -0.02, 0.8116, 0.6075, -0.4461, -0.009, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.3866 left_y=-0.1313 left_z=0.1771 left_yaw=0.0573 left_pitch=-0.2499 left_roll=0.0682 left_gripper=0.0958 right_x=0.2869 right_y=-0.0006 right_z=0.1634 right_yaw=0.0015 right_pitch=-0.0778 right_roll=0.0009 right_gripper=0.9991\nstate[joint_eff]: [-0.4581, -6.2427, 9.4974, 1.2234, -0.3346, 0.022, -0.0122, -0.0205, -1.3333, 7.0222, 1.6728, -0.0366, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b470afdf28c931a3a4636f7f57a2d43e9d43245a3e685fe8069014d270d06ef5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c0b70c93847e40b3215e9a8065542df6e01847151092be618d1e2e70d6b1628",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:021f7e4e6646460bdf2861791190ad7c2af3cbb23728d41c15b7eca2feb63d39",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 4.022 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 37 changed as sent

message 44 changed as sent

message 48 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3515, 1.6146, 0.6754, 0.1009, -0.3355, -0.2584, 0.0963, -0.02, 0.8101, 0.6075, -0.4454, -0.009, -0.02, 0.9991]\nstate[eef_state]: left_x=0.3809 left_y=-0.0739 left_z=0.0375 left_yaw=0.0644 left_pitch=-0.2091 left_roll=0.0738 left_gripper=0.0963 right_x=0.2869 right_y=-0.0006 right_z=0.164 right_yaw=0.0013 right_pitch=-0.0755 right_roll=0.0012 right_gripper=0.9991\nstate[joint_eff]: [-0.0342, -5.4632, 5.2855, 0.8767, -0.2271, 0.3883, 1.0818, -0.1162, -1.0735, 6.9949, 1.6386, -0.0366, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.3489, 1.4487, 1.0782, -0.4831, -0.3328, -0.2768, 0.0958, -0.02, 0.8108, 0.6075, -0.4454, -0.0093, -0.02, 0.9991]\nstate[eef_state]: left_x=0.391 left_y=-0.077 left_z=0.1628 left_yaw=0.0764 left_pitch=-0.223 left_roll=0.0651 left_gripper=0.0958 right_x=0.287 right_y=-0.0005 right_z=0.1638 right_yaw=0.0016 right_pitch=-0.0763 right_roll=0.0014 right_gripper=0.9991\nstate[joint_eff]: [-0.1026, -7.706, 8.4444, 1.3553, -0.1538, 0.0806, -0.0122, -0.1709, -1.2923, 7.2274, 1.6532, -0.0269, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5117, 1.533, 1.2381, -0.63, -0.4152, -0.403, 0.0958, -0.02, 0.8116, 0.6075, -0.4461, -0.009, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.3866 left_y=-0.1313 left_z=0.1771 left_yaw=0.0573 left_pitch=-0.2499 left_roll=0.0682 left_gripper=0.0958 right_x=0.2869 right_y=-0.0006 right_z=0.1634 right_yaw=0.0015 right_pitch=-0.0778 right_roll=0.0009 right_gripper=0.9991\nstate[joint_eff]: [-0.4581, -6.2427, 9.4974, 1.2234, -0.3346, 0.022, -0.0122, -0.0205, -1.3333, 7.0222, 1.6728, -0.0366, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b470afdf28c931a3a4636f7f57a2d43e9d43245a3e685fe8069014d270d06ef5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c0b70c93847e40b3215e9a8065542df6e01847151092be618d1e2e70d6b1628",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:021f7e4e6646460bdf2861791190ad7c2af3cbb23728d41c15b7eca2feb63d39",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtKP94REa1J3gB4LwVsghzIgTKEQJAt8ms1z-kVZU5QpDj2b-zscrhPx62pBf0MbARz0a7ccnkdImIuMaI_fvarkF7NS5-0fKRKGDbTVM02QVgspk8NLaU_rDko5FZSu3sm4hV1EL9lpFnhMDt4yIo6JMe10GkY-7JfxSVwftJCz7FLKPgvDFGhCxzo0l-dPe_KW2uGVWuoKOgMtpm-qzL2e82swizc0kCyiBc8xoEa2wg0Od4fPToi7waCBoUsZI9fwLUZ3xgnS5LktQH3Ma0et0nX5XWkeYsQNCh70cBr7OXghCWpNMoIrgTghWlyniPNrocz_-y7mvW1dMpSXfKG1Y6Fyj2hmeq4fVxjqHChSuF1wXqa3XM2h3NUI09YR5B4sk25dRRdeWFsSl4W8Sp5WcjQ7XjhxiocbrZ63T6xZt3iTB--9sR6kqe4lXM4qW58b8kKk1Z2UCx4O1fh4p208aFySGV-9SWWn-TCbViI656YGEzjptUCoOaPtIVEylbS0l0JmhGnNJGagG4Vf1dJtdAetpVWhy1pSDaQ7ORc-rlm3fGh0Ahx4f7GcosTea-ReNoxK2kD31pBu8WrxO_p5iX3QT29QX8MqK_HuJdpM5wvuDHpwy6W9NV4ixfjsMIv7PjLR5uyterj9vW1adUKitgedc0JCgKKP6fOXXbiJFQCuvs5w53omw6g_GH6D6nK65sSQOdfgod7c_y3wgAeweY8aXlOgYaE9jLBHgGSG9rzHdi-cUNmbs2unVCNkflEpEcFdia342nHYLzuvhMmDEYkFXfU071JdT2lI8l5Csf-HtdHdfQOomZT2JTLmZu8C3OTrfr8ias-nzsF5KC_boWWIaDndyZIQ_iht9QZmY-ZjAn1aLAtkQDfDcMrqylEc7eyJ7lz0zxlm8vFk0nFnEC_uyZqRHM40NB4FnnkPvPkCBngKJLSNLxBh3LXaQmgqKL6uadLxytwIOmYkLQBmNlNfVldlnrylqAVmnvQBzI00ZG2taWrErrQC6oKjRAscAGFGIrw_4eB2XnWbU8SVK6IuakRtE2oUHrG2sc41AKlw6YpJmk5wCw_94q1GBynNLE-RC9sd8SxWpvXEQ057DuX8-4Zn0nzye4G_EBRqy9_YQ1RMVyzPI69aceY00sQpkMCHjTtvztbVqtNJ2e4HSr35t3opcSazEoGptqwk7pfBbbpiQOSb-pa06r4HAqXF7SG-tuOiJV3EJ8Dq4oVK0Gd453UHjho3csuJLd7IjKrxTnELcKdQnhhB03GERWYrtlhovZFeRKb3L6NPzb2BrSoGoAqnboOECLS86yf6I4vKfy_phUwFlHaEmmGhVlUvD9MGjw8beNaIT6o68Vxu1rPyMHJVv-Q0-pYoC96dq382K1-KrOggcnLlYFwCXMv7tfRCBYINulS3VGgXHWXPMcSwRt2Fkl8RSUQfYMxXW1TKsP1rCL66BVy9Lv8udQnUBS8CzXLfuY6-uB0azLqp593pxdtBYppdRqci4EB7-sYC6hiyWIT5-3V2Pux4JMczYYPeW8nRvj3NqfIOej9BxCERhLcBopE3zaJKXEfhG9cgFIU0-gTWwFcrSQV85sp6JxjXmCXyoh69wIok9lmsnBnFi1fh72cYa8RWHQA_Pv4bHHAxxxYyi9_0NlN2FktXEUJtR1Gjby2gIh3QRl6SkDrvBvpJNwyhvDD0jR3S_bkq8bNu33UuUjrjX6EooW_YCkN1YfeOYmAnK5HKK4FRJNI9GQSmP1jK0RiffZLaX_Nzgy5YlSxIudlPLC0ZE-25mSY-gzo3_H35Gwn0nO_2qfxEGykhXZ9qbqygdrPASIotrzVhnGGJAJq888RZ_BYypotWC9LYddlFZ4rDsga8cqaGR585RjEzoIVN1i4sDN8u3ywLS7EToPa2iJAcq3dH4H8xgBTZlzQ0YZT31RpkrKGA2eK6RiSelVl5urA22UK-tdmUYFZuyorc6eOmtljnIJbgtwVA0GQQFKeqRKfeLZjfyLJK5-gkVCgJIuEcCg_l0gFhie3D8yZY91tn-Bi8md_VcRqj7as2E-LfOB2sj3OA9szfEud5NcPdVsBNxIzHEquUs3aK2BC1cAY2wQ9QrV0MEBA7wuFkmWyKQ_TJT3bqbh1kDOfAaldivQh0yA1f50wx2qe7ox9UGPyushebEgbGrTbsfsZawKqpUMGKqBGltZ6nozg_64Fk-_Soqyes4uTq--xLRdLjI57md7w-COa0TmirIBuyVooBvBx1qZ8COT7h1i0EBFKayDCe3ofpei91HzHh4v2ETJ7WhNS1kCO77dWgpgrKWOEgaD6bqu9THM5qlb7gOTWxwjH-X9tSbjgF2ut86griuXuXMoiLs_5UAukwWnSeoABsslpBH9BH9j-uqL9nNv--f6t44pNJptn8uSssZmuNwkWqSykVo2NOePLv44H1I3RFtbXLsq0RqUeO1acOr9h889QigWvAuIOpoQgaUFAnIkufOrkt3Z7WhkOJAxRj9XhH-ilc6qehM8hdn11kkKSi4gEEVzGSEkDrNLCl54Cw7xbv1z-FWOfuUBGP6ftapl4bfuigHsRAvG_LKRaVpgfJlBrP9W_y4gjVCduOH1U_3h1oo7x4iSoDF5HcJ3RnSLIHz0ZVo6Q==",
  "id": "rs_013da3c67213bd55016ab4a3f7c0cc87d0846af70c2e9eec4d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.075,\"left_z\":0.085,\"left_gripper\":1,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The bowl stayed on the table during the sideways test, so the rim grip slipped. I’m returning to the rim and will keep an explicit closing command during the next lift.\"}",
  "call_id": "call_0MuUliWTyX7pMY1vJ0kvmOaM",
  "id": "fc_013da3c67213bd55016ab4a3fc426487d08f063d4f9ba0822b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0MuUliWTyX7pMY1vJ0kvmOaM",
  "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]: [-0.3592, 1.4792, 0.6109, 0.1482, -0.3626, -0.2729, 0.9951, -0.02, 0.8154, 0.6071, -0.4454, -0.009, -0.02, 0.9991]\nstate[eef_state]: left_x=0.3761 left_y=-0.0705 left_z=0.0717 left_yaw=0.0792 left_pitch=-0.093 left_roll=0.0308 left_gripper=0.9951 right_x=0.2871 right_y=-0.0006 right_z=0.1624 right_yaw=0.0013 right_pitch=-0.0812 right_roll=0.0013 right_gripper=0.9991\nstate[joint_eff]: [0.2803, -4.7248, 6.4068, 1.9219, -0.0269, 0.2076, -0.0024, -0.1026, -1.6752, 7.0632, 1.6874, -0.022, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bebc5df751778f3c0b9f619476d0d48dbabfdfe00e602340f3ce71959918e322",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb6b51b828b9d7250555afdc17c1154afaf85acfcdbdb76539997ce43258e566",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02e6cccaba48c11bfd77d2545c0140f2b5121d34e6ba1fbde564fb7045e5f78e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 2.739 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]: [-0.3489, 1.5139, 0.8387, -0.1677, -0.3325, -0.2661, 0.0958, -0.02, 0.8108, 0.6075, -0.4454, -0.009, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.3889 left_y=-0.0763 left_z=0.0924 left_yaw=0.0692 left_pitch=-0.2138 left_roll=0.068 left_gripper=0.0958 right_x=0.287 right_y=-0.0006 right_z=0.1638 right_yaw=0.0015 right_pitch=-0.0763 right_roll=0.0009 right_gripper=0.9991\nstate[joint_eff]: [0.4171, -8.0752, 8.5265, 1.3846, -0.1441, 0.1099, -0.0611, -0.2393, -1.1145, 7.1863, 1.6777, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5117, 1.533, 1.2381, -0.63, -0.4152, -0.403, 0.0958, -0.02, 0.8116, 0.6075, -0.4461, -0.009, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.3866 left_y=-0.1313 left_z=0.1771 left_yaw=0.0573 left_pitch=-0.2499 left_roll=0.0682 left_gripper=0.0958 right_x=0.2869 right_y=-0.0006 right_z=0.1634 right_yaw=0.0015 right_pitch=-0.0778 right_roll=0.0009 right_gripper=0.9991\nstate[joint_eff]: [-0.4581, -6.2427, 9.4974, 1.2234, -0.3346, 0.022, -0.0122, -0.0205, -1.3333, 7.0222, 1.6728, -0.0366, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3592, 1.4792, 0.6109, 0.1482, -0.3626, -0.2729, 0.9951, -0.02, 0.8154, 0.6071, -0.4454, -0.009, -0.02, 0.9991]\nstate[eef_state]: left_x=0.3761 left_y=-0.0705 left_z=0.0717 left_yaw=0.0792 left_pitch=-0.093 left_roll=0.0308 left_gripper=0.9951 right_x=0.2871 right_y=-0.0006 right_z=0.1624 right_yaw=0.0013 right_pitch=-0.0812 right_roll=0.0013 right_gripper=0.9991\nstate[joint_eff]: [0.2803, -4.7248, 6.4068, 1.9219, -0.0269, 0.2076, -0.0024, -0.1026, -1.6752, 7.0632, 1.6874, -0.022, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bebc5df751778f3c0b9f619476d0d48dbabfdfe00e602340f3ce71959918e322",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb6b51b828b9d7250555afdc17c1154afaf85acfcdbdb76539997ce43258e566",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02e6cccaba48c11bfd77d2545c0140f2b5121d34e6ba1fbde564fb7045e5f78e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtKQC4LGbMgEAh53FCZupoPDilzsJ1Cfls0C6_7F2A11qJa0r74_nsFtUawpI9rBIHo3qhN50CcTWwts9cV9X3EDgtoEFLrHhabo-KdeaW060q1sKBV8qdxImwHPRZF9t2Qs_0kS0pPlXXqXqFxr6jR_BTu3jaF0ANPdwCYjK7FaRCAnTbP22TtggWT9lTY1qWl39XLbwtmNB8CtiEchSnDIwFwbyEjP7Fcyc_yogs0U3IPun2E6876Bg8zc0jHY5Wj9t1NHdD7x37gwyO8fupd0OCvfSaJVQ4uoqqMjUkFoRGMVmU2B3T15EKkEyRAGmEn6kb3ki-fl2SXQiEmIQy4mgY2b4uAKEsEdfQSKt5A39XCSEEDuOfojoEiVlLY8PNFb2vds1-XKpDwWRrgayDkzlLX4mRqrQ2P9fOl48-nyL02fzhNINbJcRYqM9OLwXJwlRIfkfbwVTXUitU47dRcyOsMaBDBSloiE_u_z6QHdozrvM8K3wOH8SK2XF-Z8v9CLOf7hzwZjIyG9hJWu25U-n-yJZ7lgHGpD1ZdSmEi6K1rTFLU6MIMtuoW9xitFUWx2CtMDT-yxEVUw1Dk7-5PwZOneZ8M2248CwbH_WKCEfftKv3W7fJedmDPBbDd03JgolOdBvM9LZfXjP4O-Awo7T2zKk36iacaLfeI8AAUGprI18tdxVmFlWdb91Z2p3Sm_JuKBDd_pvd4LX5EuduIeE9vwDpQfJn6-UYIdL6zMBQwJxjYUhPvrsXybqnJmZuchjl02xD0EuxqeD9O2pKQwF81kd6dn54seD1kqGYTdAbEGzA67im_dhLgjwmySil3lu_cuuFOY4EfdTfAdFcWNqWkDysGbXpIkxDI6j2gNIFcBxwUSIjEDmHk7jsgjNAJpL0XbOdcu888_mGHFRDIERhJCBmhKtuGvjcAqzB6cGiDVt1uZiwpOvwJZ85_8tYoACvHbRgUHhVp_ltrBCwzqlNiyjt_v-7gd3X7-xX4XazW0B5Kz2dgL9YSBOkkwcGR6G42QrUA54WOLg2ZD9km8S467DHeBlrTo-5hB02ovIg5C-gA1rBr6cG_Wr9AQW5f0pmlcHxQR5Am_X26tyUEOpWnZDqLJ-uyRQCLIWODbFwFDVjZGpMnX4y2GsfwilE4SjrYwvaaQrCn5TVO4beP_1mg-LFML1YzdDAwytx-GasstCMEln1J1dJfPwy6YK2zeP-yBibcVzzJGxvwXWI8LAueQTs9mzqkPWbwq04mqBRc5ViWwAHcPa9V07T0lZrhNovvUwU7VXl3YaW-HuJPlBt7HnKjsX68PIctDOg8izMp3f6lX3UDp4lRTuWvVLMXV3FcVj50QY_jF628a5C-l1zOzvERzXUyavHUvH4dBghxwa97WZgmEaI0Qamum352sIl4wwSFUoXIxH42TddwIiixDMra04XDt89hLAXENEIqkK_T5GY_mfmiJRs74SCPvROeXf9W7OvgajuFaWVHlRnJy9hyR-5A9hnp8bxhwkSGBkeh24BLoQDXojYg1pRH9_2jgThE8TJ2r7sQQIX8i_Uxkvmk5E7KH6rOVFXTeJAroxgjkKQyON4A_u_WeW6RyCQKH17alc58C1kCGNcl5XXAMQ7iVhGFToD5wTKoR0XJA=",
  "id": "rs_013da3c67213bd55016ab4a4000acc87d0be630563e616c03c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.025,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0},\"note\":\"The left rim is again straddled by the jaws. I’m lowering the fingertips below the rim, keeping the tool upright for a more secure pinch.\"}",
  "call_id": "call_XHPneczfPxXLVZuPihlAMJHQ",
  "id": "fc_013da3c67213bd55016ab4a401944087d09d8c26b07a0880ee",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XHPneczfPxXLVZuPihlAMJHQ",
  "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]: [-0.3256, 1.6531, 0.4301, 0.5266, -0.3027, -0.2291, 0.9958, -0.02, 0.8173, 0.6071, -0.445, -0.009, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.3637 left_y=-0.0634 left_z=0.0123 left_yaw=0.0393 left_pitch=-0.0874 left_roll=0.0203 left_gripper=0.9958 right_x=0.2873 right_y=-0.0006 right_z=0.1619 right_yaw=0.0015 right_pitch=-0.0828 right_roll=0.0011 right_gripper=0.9991\nstate[joint_eff]: [0.294, -5.5726, 5.0667, 1.2967, -0.022, 0.4078, 0.0513, -0.0205, -1.5111, 7.2, 1.7021, -0.022, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7b2c279c68ff11435fd376c35248129128e6a1cf0df7250f7374c0853def629",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:290e9266871a3760057cd502717d83f302b23e1ea4351577bc14fdf9ce399ac2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3fa6489edb10eb5c75a30cfc2c19b7f49a4672695bc6e51293749374a6f6739",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 15 attempt 0 · /responses · status 200 · 2.366 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]: [-0.3489, 1.4487, 1.0782, -0.4831, -0.3328, -0.2768, 0.0958, -0.02, 0.8108, 0.6075, -0.4454, -0.0093, -0.02, 0.9991]\nstate[eef_state]: left_x=0.391 left_y=-0.077 left_z=0.1628 left_yaw=0.0764 left_pitch=-0.223 left_roll=0.0651 left_gripper=0.0958 right_x=0.287 right_y=-0.0005 right_z=0.1638 right_yaw=0.0016 right_pitch=-0.0763 right_roll=0.0014 right_gripper=0.9991\nstate[joint_eff]: [-0.1026, -7.706, 8.4444, 1.3553, -0.1538, 0.0806, -0.0122, -0.1709, -1.2923, 7.2274, 1.6532, -0.0269, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3592, 1.4792, 0.6109, 0.1482, -0.3626, -0.2729, 0.9951, -0.02, 0.8154, 0.6071, -0.4454, -0.009, -0.02, 0.9991]\nstate[eef_state]: left_x=0.3761 left_y=-0.0705 left_z=0.0717 left_yaw=0.0792 left_pitch=-0.093 left_roll=0.0308 left_gripper=0.9951 right_x=0.2871 right_y=-0.0006 right_z=0.1624 right_yaw=0.0013 right_pitch=-0.0812 right_roll=0.0013 right_gripper=0.9991\nstate[joint_eff]: [0.2803, -4.7248, 6.4068, 1.9219, -0.0269, 0.2076, -0.0024, -0.1026, -1.6752, 7.0632, 1.6874, -0.022, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3256, 1.6531, 0.4301, 0.5266, -0.3027, -0.2291, 0.9958, -0.02, 0.8173, 0.6071, -0.445, -0.009, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.3637 left_y=-0.0634 left_z=0.0123 left_yaw=0.0393 left_pitch=-0.0874 left_roll=0.0203 left_gripper=0.9958 right_x=0.2873 right_y=-0.0006 right_z=0.1619 right_yaw=0.0015 right_pitch=-0.0828 right_roll=0.0011 right_gripper=0.9991\nstate[joint_eff]: [0.294, -5.5726, 5.0667, 1.2967, -0.022, 0.4078, 0.0513, -0.0205, -1.5111, 7.2, 1.7021, -0.022, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7b2c279c68ff11435fd376c35248129128e6a1cf0df7250f7374c0853def629",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:290e9266871a3760057cd502717d83f302b23e1ea4351577bc14fdf9ce399ac2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3fa6489edb10eb5c75a30cfc2c19b7f49a4672695bc6e51293749374a6f6739",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtKQF9BoTR-wkTy130iRwuoDdhqnqpjQR9nK3c2qAQAzmPFoVrmzi4toC6jrGIJY3kKCoeDLLsh4uQjG7i1LVGnaP0v5SmkB9EtmdMxvLQ8pt8CLC0ufSCTZiBeGcV8MdH7tz4BJyfwZObUTdQYZmEmRI0gKAFu2uWppntbx6UJ9koqHoI9UZASL5E4h-Cs_dx1gz2ooedch1P4zn9_SNRU9c7xL91y70a7zVTwX_oROCRjUaPl6O0h9BOGRe02nX4AoYv1Za0sPK2JoUuNUWkqIgfzoUtnLfNY7PgECJr-c4gaTdY0P-qPsvuhoBZ7EjteIpmvw4zjsmzQWbIMv8GfWtD4_3cfog4ZB7JnMW_cCsD_h53G1nwE6cR64obmffdf30aMEOz4o8xRNLLwOhv60PBU6qJL9gnLGIp76bWwcQrEZVCrPKPzQGI2qQisOjGpwaXiATI3RJXLQ8bH3PNousqLoiO9bimn28_eL68gt4w30-xRVhJBorApxKHkhicgGZPMTcZZWfVYcwlVwQMjuPbG9Kqpa7dr2trmmhIH-ueqrcQbRKvDroHiPPqOshOCFKmEOkAOjWtS725lRGXny0TrG02vl3qBHC2Hq9QNuztoBmb99FsqAx_lmMdMm2Qe4Ktk2oI4BCuPYaT2ayz7i01BnvmeJZEqT4p7kvqTrmz_R28V0MKTk6baa8BvSAuEyz_qvjIRi1D1Jfhx_-sZmc2o3VnTWhUAyP0tqLRC2pj7Ptdw3W7rxEibFB7ansWMjZ1nL3HN7tzaGtShPoZhjwjwju7gR5UCPG7Nq3kH7YmtjRKKQzBakdSDhSJ6CHTTFc7pJC8WkJwmyaLH2MPv45ZJMoaEPgvlIwttjZJcHzay4vhwKzqWo71xU2IsQ44WwElSa5-78qE8SXHIVCBLs3_xo_V_v3LsDaH_4PaRgAtL0G5IvICMgSSIsmNFj65_vbUtOOpXJsye3Lt-tduHU5SPBzK5gn_x1hl7ihsbaxO6pc0W4gVRcFXg4PPd5YCCmFFSEqUXY2lZZOtrVxjqGFMklb3WmoVvrEFxkyqWcwt09XHtTAV6uNHBUDrDlXVXpQPYOhC4M9PVmaYD0vpwWwTDwWttcf2e5x5iNMaCpn9-ns80p_r3jZ4Aab3opQz04L7FhT2JtG25MHytTjj1Teh06RyMBBC5oJM2NGgJu69INMUJTT2r4-fYO3udDrUhDnrYhe5Jfydk4wq8LLeGCpGtNOhvrePi6WSz243tC8VRpVWRCK_6ZV2nLNkixwf-gOke3kL27AmCC8k9tQuTLkZsFDYovK86DuYfNnfo8Up_0=",
  "id": "rs_013da3c67213bd55016ab4a4046a1087d0b057b37fcc619f9a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The fingertips are down alongside the bowl wall. I’m closing the rim pinch before lifting with continued grip pressure.\"}",
  "call_id": "call_OaWUwLXmdQmiARBnp1NCWxfA",
  "id": "fc_013da3c67213bd55016ab4a404de8887d0bd96c4cf89d74613",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OaWUwLXmdQmiARBnp1NCWxfA",
  "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]: [-0.3271, 1.6375, 0.44, 0.6079, -0.2859, -0.2592, 0.0413, -0.02, 0.8173, 0.6071, -0.4458, -0.009, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.379 left_y=-0.0722 left_z=0.0361 left_yaw=0.0388 left_pitch=0.0087 left_roll=-0.052 left_gripper=0.0413 right_x=0.2872 right_y=-0.0006 right_z=0.1618 right_yaw=0.0015 right_pitch=-0.0835 right_roll=0.0011 right_gripper=0.9991\nstate[joint_eff]: [-0.0615, -4.5197, 4.3145, 0.6716, -0.2906, 0.3199, 1.6825, -0.1299, -1.3333, 7.0085, 1.7363, -0.0464, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:996638a461bcfabf7301e159d8beef7b2bbe83719872be02f249533ec9eece4a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1985e3b9ce0bcaeb8bfc0be4dcfc2d70e50514804a05fd076655a16b21d0bc9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a89d280dd049b530770a7b83c548d42e468ccbbdd656e340c08f077bc3f7ad93",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 4.461 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]: [-0.5117, 1.533, 1.2381, -0.63, -0.4152, -0.403, 0.0958, -0.02, 0.8116, 0.6075, -0.4461, -0.009, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.3866 left_y=-0.1313 left_z=0.1771 left_yaw=0.0573 left_pitch=-0.2499 left_roll=0.0682 left_gripper=0.0958 right_x=0.2869 right_y=-0.0006 right_z=0.1634 right_yaw=0.0015 right_pitch=-0.0778 right_roll=0.0009 right_gripper=0.9991\nstate[joint_eff]: [-0.4581, -6.2427, 9.4974, 1.2234, -0.3346, 0.022, -0.0122, -0.0205, -1.3333, 7.0222, 1.6728, -0.0366, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3256, 1.6531, 0.4301, 0.5266, -0.3027, -0.2291, 0.9958, -0.02, 0.8173, 0.6071, -0.445, -0.009, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.3637 left_y=-0.0634 left_z=0.0123 left_yaw=0.0393 left_pitch=-0.0874 left_roll=0.0203 left_gripper=0.9958 right_x=0.2873 right_y=-0.0006 right_z=0.1619 right_yaw=0.0015 right_pitch=-0.0828 right_roll=0.0011 right_gripper=0.9991\nstate[joint_eff]: [0.294, -5.5726, 5.0667, 1.2967, -0.022, 0.4078, 0.0513, -0.0205, -1.5111, 7.2, 1.7021, -0.022, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3271, 1.6375, 0.44, 0.6079, -0.2859, -0.2592, 0.0413, -0.02, 0.8173, 0.6071, -0.4458, -0.009, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.379 left_y=-0.0722 left_z=0.0361 left_yaw=0.0388 left_pitch=0.0087 left_roll=-0.052 left_gripper=0.0413 right_x=0.2872 right_y=-0.0006 right_z=0.1618 right_yaw=0.0015 right_pitch=-0.0835 right_roll=0.0011 right_gripper=0.9991\nstate[joint_eff]: [-0.0615, -4.5197, 4.3145, 0.6716, -0.2906, 0.3199, 1.6825, -0.1299, -1.3333, 7.0085, 1.7363, -0.0464, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:996638a461bcfabf7301e159d8beef7b2bbe83719872be02f249533ec9eece4a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1985e3b9ce0bcaeb8bfc0be4dcfc2d70e50514804a05fd076655a16b21d0bc9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a89d280dd049b530770a7b83c548d42e468ccbbdd656e340c08f077bc3f7ad93",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.075,\"left_z\":0.12,\"left_gripper\":0,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0},\"note\":\"The rim is visibly between the closed fingers. I’m lifting straight up while continuing to command the gripper closed so the thin wall cannot slip out.\"}",
  "call_id": "call_kUuVOsFov5twq8fJyOIYpC8y",
  "id": "fc_013da3c67213bd55016ab4a407e54887d091bff214e40c0141",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kUuVOsFov5twq8fJyOIYpC8y",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3264, 1.4162, 0.6174, 0.1947, -0.284, -0.2234, 0.0465, -0.02, 0.8181, 0.6071, -0.4454, -0.009, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.387 left_y=-0.0749 left_z=0.1032 left_yaw=0.0186 left_pitch=-0.0048 left_roll=-0.0178 left_gripper=0.0465 right_x=0.2873 right_y=-0.0006 right_z=0.1616 right_yaw=0.0015 right_pitch=-0.0839 right_roll=0.0011 right_gripper=0.9991\nstate[joint_eff]: [0.335, -7.1453, 8.9504, 1.7411, -0.0171, 0.2857, 1.0281, -0.1436, -1.4154, 7.0769, 1.6435, -0.0366, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5986f4e865c9f360a11c33ad6abbc2c9b68bbd5282118495eb7d5981418e510",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee63ad3564afbd08eb21e3d81a935d215ba617fe34d3b46d17c7daccea43e31d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8c6a8d43ad03441ec3e2917e5ed1fa80a36555716f9c033db64f9e4ed39bdc3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 7.334 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]: [-0.3592, 1.4792, 0.6109, 0.1482, -0.3626, -0.2729, 0.9951, -0.02, 0.8154, 0.6071, -0.4454, -0.009, -0.02, 0.9991]\nstate[eef_state]: left_x=0.3761 left_y=-0.0705 left_z=0.0717 left_yaw=0.0792 left_pitch=-0.093 left_roll=0.0308 left_gripper=0.9951 right_x=0.2871 right_y=-0.0006 right_z=0.1624 right_yaw=0.0013 right_pitch=-0.0812 right_roll=0.0013 right_gripper=0.9991\nstate[joint_eff]: [0.2803, -4.7248, 6.4068, 1.9219, -0.0269, 0.2076, -0.0024, -0.1026, -1.6752, 7.0632, 1.6874, -0.022, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3271, 1.6375, 0.44, 0.6079, -0.2859, -0.2592, 0.0413, -0.02, 0.8173, 0.6071, -0.4458, -0.009, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.379 left_y=-0.0722 left_z=0.0361 left_yaw=0.0388 left_pitch=0.0087 left_roll=-0.052 left_gripper=0.0413 right_x=0.2872 right_y=-0.0006 right_z=0.1618 right_yaw=0.0015 right_pitch=-0.0835 right_roll=0.0011 right_gripper=0.9991\nstate[joint_eff]: [-0.0615, -4.5197, 4.3145, 0.6716, -0.2906, 0.3199, 1.6825, -0.1299, -1.3333, 7.0085, 1.7363, -0.0464, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3264, 1.4162, 0.6174, 0.1947, -0.284, -0.2234, 0.0465, -0.02, 0.8181, 0.6071, -0.4454, -0.009, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.387 left_y=-0.0749 left_z=0.1032 left_yaw=0.0186 left_pitch=-0.0048 left_roll=-0.0178 left_gripper=0.0465 right_x=0.2873 right_y=-0.0006 right_z=0.1616 right_yaw=0.0015 right_pitch=-0.0839 right_roll=0.0011 right_gripper=0.9991\nstate[joint_eff]: [0.335, -7.1453, 8.9504, 1.7411, -0.0171, 0.2857, 1.0281, -0.1436, -1.4154, 7.0769, 1.6435, -0.0366, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5986f4e865c9f360a11c33ad6abbc2c9b68bbd5282118495eb7d5981418e510",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee63ad3564afbd08eb21e3d81a935d215ba617fe34d3b46d17c7daccea43e31d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8c6a8d43ad03441ec3e2917e5ed1fa80a36555716f9c033db64f9e4ed39bdc3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtKQNabn0meCVALufDtv9_is1D3G_30qzNQacHDD3SjeFBrEC-dUpJ7gvNXRX29-NT-WsL6WPBcs9pnkZHOA_4exoywTD9Bs8ADMksQ9etBaCQrXWe5aumJqeIKgsAiYL22mr7sEdqI0OjCU9kQLMGQSpNcSJ7NVjEomfP2Ydh7QTWecOFDsdRbTJTGOnitapeWF9QarKVXVfqkV5u1TsAPi5D-QwMqDob7YBM8JS5JAmswJtHx6jNEdJILkxf1T9eE85rm7sM_I5MdR9lXHAp7ES6umFZqbs4YLe385uAK6yJc_t6uPtGcv_p70BvJBo0L5EQ3NiBhhoymnA4DzazC0SU2_NkGxoG4sRDj6iBEe-ON-508IoOfgfp64DlmGlmQka6UDsm0xaIWe-6qPtGwQSGVLWA5pkFC8Hd_izKotSXoHnC0ycCUKSl2sUc4bSVMMRLfOfiRktUylYmc-JXl4BiWxmrHOIqQoubfUiDU3CQDGaACiErTU3BnFqziiQg16ZxZ7yiDa5AuomNFTjSpAzrzi8ct-pYqA6kAVec3V0j0OqCyFkPVsqfzJ6xaSPn3heuRMGgNfpb6sucG6EoTU-DJ7jlqL-r7x5AkHJnL_n4ExwPjuKOURJjyOjwOd5ozbKjy8cy_MuB4s4a3sIdRqZnVBhvnf_r4AAOKQMh26_iVMNCLSHT264YcmYZV6zJjl9R6CBR47t5EFpQsxQCFx3R9kaXqjYs22h2QX_a-5K7psdlVfk681-XlhSH5NGHNYNjUtdntJv8LIBBE7orjGhSgLrZaeFeIl5v76b8eto6Q38qeKsklwA1oLeRXrO0iAz7ujtKbbfxWReZl0Oz65raL1a_B5WEWMh__NUxZxtpOlHWlCUXuYaGUI_fkQwGhVY769CX7UFfbfTqHlQGAGcOKlztfgrriOo1B_hoANYCM4TxtbqON84ub5_v8X6ypd5xpubuA9SuVXyXRDa5AoDqRvfpMJ5suTD0kH7J-9UHs1q8TmqjHAco7iMqGMsU2srfawJxospL4amLP8TiLHzHbq8KhMT2fOfmBDc64IxOTAo9wkq0eAlVhTXV6lCxf1ge0kbAEj0w2tqaH80tptIr-0BMAGRIS67bh03Iz_1St1Cvfq0BHZ5_XaFNtraolZVgwSDNKCePuHKUhPslyLuDuAsK4terqSHq4cK1rFaAYfbZ1RHXbcl46ogCOAPBU77KvlQremdODkUQrRBCn9QfrSvH0ae8yK4UUMp-XXDJWCCTIXXtJRM1IiNm9hcYnlp81Z0HOM7YILc5BEO2eYfgTLbNqkJ1vqNRasUKOaFm7LgVp3JcNQdjsik1opem9DHezoB5uIVDa5-uhwMp8vfibbCosLAUGfHFap83qGCglhIB_x0igQuSbZz_y4eczXoqKOQ2iGHe5xIKKTRtP0MG076q8yCEf-T5egjZLo6tL0M7MbKwaZePHhXLsM_64Cxciky6VgwG9jhZS294I1h922c19NPULhZiyqQzJSMr9Ayn_Fn82kpiKDXjzlr5SJRxzJRMgLveeWsIi8sfLT2axT9KaLOEmwqtrbs0ENk3SYTzZCsMtKeBrnipkTVvrv9J7l0buD76eoPvQg2N56_O1bIJt-UJtaU84xY0PdNR7yC4fAY3yofigjRZi00W-P9f37WSIk_wxzayRWDJFI6tUj5FNN4VNmaNMUAwqwtDlmHiTQ9JpUtNzUMk9SbqNMHYNvi8IDz1RVPMfQslAX2Hzb5uCy7DfyG63oXUHbayCHHdxY8AvxCQfY5oMpCoohv1Yutur4Gl6681coz7yG6PQ==",
  "id": "rs_013da3c67213bd55016ab4a40ae39087d09eb22906eb01398c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.365,\"left_y\":-0.205,\"left_z\":0.19,\"left_gripper\":0,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0},\"note\":\"The teal bowl has visibly lifted with the gripper. I’m carrying it above the middle bowl, maintaining the rim pinch and clearance.\"}",
  "call_id": "call_nfdgUpT7baCFDwxdl7PbRDae",
  "id": "fc_013da3c67213bd55016ab4a40d13b087d08bf83b198f4c453f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nfdgUpT7baCFDwxdl7PbRDae",
  "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]: [-0.7605, 1.4826, 1.029, -0.2974, -0.5957, -0.4847, 0.0465, -0.02, 0.8185, 0.6071, -0.4458, -0.009, -0.02, 0.9991]\nstate[eef_state]: left_x=0.3617 left_y=-0.2023 left_z=0.1741 left_yaw=-0.025 left_pitch=-0.0284 left_roll=0.0071 left_gripper=0.0465 right_x=0.2872 right_y=-0.0006 right_z=0.1615 right_yaw=0.0013 right_pitch=-0.0847 right_roll=0.0014 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -6.2974, 9.3744, 1.5311, -0.4274, -0.0513, 1.033, -0.0752, -1.265, 7.0085, 1.6484, -0.0269, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a14c6ef0323cb8019e41c57c72f3aa514050dd6dd3505b7564db67211a4f6c2c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f90bb68b4ada8d8f67cf4dd792de9679394e3b647c3a388b84a371154ab936bb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:668311e74880db04cbcac10992f14c0eb05b348d7b816a98c77aecdff81694e7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 18 attempt 0 · /responses · status 200 · 2.696 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]: [-0.3256, 1.6531, 0.4301, 0.5266, -0.3027, -0.2291, 0.9958, -0.02, 0.8173, 0.6071, -0.445, -0.009, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.3637 left_y=-0.0634 left_z=0.0123 left_yaw=0.0393 left_pitch=-0.0874 left_roll=0.0203 left_gripper=0.9958 right_x=0.2873 right_y=-0.0006 right_z=0.1619 right_yaw=0.0015 right_pitch=-0.0828 right_roll=0.0011 right_gripper=0.9991\nstate[joint_eff]: [0.294, -5.5726, 5.0667, 1.2967, -0.022, 0.4078, 0.0513, -0.0205, -1.5111, 7.2, 1.7021, -0.022, -0.0708, -0.0122]\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]: [-0.3264, 1.4162, 0.6174, 0.1947, -0.284, -0.2234, 0.0465, -0.02, 0.8181, 0.6071, -0.4454, -0.009, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.387 left_y=-0.0749 left_z=0.1032 left_yaw=0.0186 left_pitch=-0.0048 left_roll=-0.0178 left_gripper=0.0465 right_x=0.2873 right_y=-0.0006 right_z=0.1616 right_yaw=0.0015 right_pitch=-0.0839 right_roll=0.0011 right_gripper=0.9991\nstate[joint_eff]: [0.335, -7.1453, 8.9504, 1.7411, -0.0171, 0.2857, 1.0281, -0.1436, -1.4154, 7.0769, 1.6435, -0.0366, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7605, 1.4826, 1.029, -0.2974, -0.5957, -0.4847, 0.0465, -0.02, 0.8185, 0.6071, -0.4458, -0.009, -0.02, 0.9991]\nstate[eef_state]: left_x=0.3617 left_y=-0.2023 left_z=0.1741 left_yaw=-0.025 left_pitch=-0.0284 left_roll=0.0071 left_gripper=0.0465 right_x=0.2872 right_y=-0.0006 right_z=0.1615 right_yaw=0.0013 right_pitch=-0.0847 right_roll=0.0014 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -6.2974, 9.3744, 1.5311, -0.4274, -0.0513, 1.033, -0.0752, -1.265, 7.0085, 1.6484, -0.0269, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a14c6ef0323cb8019e41c57c72f3aa514050dd6dd3505b7564db67211a4f6c2c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f90bb68b4ada8d8f67cf4dd792de9679394e3b647c3a388b84a371154ab936bb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:668311e74880db04cbcac10992f14c0eb05b348d7b816a98c77aecdff81694e7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtKQWV_7WhzbZystQhyGMsAMtu3BuBtQOmRlkatUZ45npbsYMR84fTvnMbBfMsoaPSpZ-_bfsoppGvMa1F6s8hgl_ZYrUUqwK4Scpor5aapq63RMAdgT9c_wWNF42ss0vwyQWODhO4v04TlhiqUjDGnRJEYBKfh5oQGmiQNLK_fExkD9xmL4yuv79MenCEcx4wA5l3scKLPqW3cudAZeFKi4cemthWKOgkscegF9NZUZn9h6kPygiSX9iOf2s_ef568QAeglKikpTti3_GC8Xaepy7mD8pwzMAPL2IAS4VIhHWy21ryevgU1Blu9QhceWyaRE10wSibiqT0bIZsFdBecL7EXuXuRcLV05e1Lk4B39gDONuoYenUnoO4du0ts51kgsOWJNyRU-ZzN4fY9wPoSWgH8NQOi9Bf_04_zh18KgFfQEp3xdv3PdfwSWHqx1_HbN5dSA5lT-BQn9tGqtzEiiAxnJAPah8ZzvA245s-bvMZDi7FfXjSdAfzVVAjSezJkm7Bj2MninzVISyO9KY6lPw9pjWve0vkCpb9i2LkZfPKGlFTT9934_fKbxNCv-bFSApIcGKBcTdcaHlZLo_vZ_-fhmp9FY8N8wepmXrdNc5RnHKlQsHJcKQedt79iANFWCg_k7uXdGlnkgrC1sp2ocdyD4e_7XK3OOR38Ips00sq-WZF85v-qfuPYTmPSUwM2kygEoxWwIfbmygVtfsMMUg36Jpc80_9kgRrGtS7CQH4XtvNStNbkqzDXW4HLe5gt0rBieziqwA0Ue6VDARi1GxBnLI3PDN7NYExOFWXF2zmV2EkKLqaSrGNS8pbwO5LcRf0_eynHZme80m67AIB-A7edN2AJHaH4n5bMp3bbf90W1ang7UzjfJpJstYrT-g2zT6vA-MpbjRHcmFMipMBquQ9C9mpalenXOE0ZXXFQhv07RK6cni5TTY2i3e1f0KBiJJMbywbr19ijRpJfEB-Vii86ipUVTo3o2g6ZI4OddTyTnQFALV4ZGyRvz2XqhaIvT3N3nnVd8XZjvhxI-xTVKNBZ4RukW3tVrb5d35qWCcUugBBqnBeCuO7OgUKs45hBTDxtLvKAOo3IJMWupaXoxGaCs1FpkxN7tW3XiDRdV0DC5JaUyZBdHoyy3kUS8vZtW1Iu4EWlarjvtU4MvEpV0kI7tgh1KvaijH7XRefLmMELzeN_iRYbbRHmYhSVPnXbDd-QquB3JQoiyxEkIGXdXDTBGyJiKAQk3hHqfGqDhA4wUu9nHq0XohsIwb0vXER3hZWvAjTH9rGZaJwn5anWHS_b15CQGfFLMqzqNWx3xwG6VaRk1ocLHxfQY0m6zfls46E88zsS-ZSQUwKtd5Ew6FqTptXf9rjh1LBoIEJo6Qa0fYjvwIqYlKhIAF5qFMffOdH7vg6PFg_zEYQOXNCnszChkoOTouIpePQzta5XIUO9LrbwbnRh7xLOV2l5NmJINg9s-U26QbzL1wPMwVMkDNSjghqJR0Ak2QKkmK4ubeIt7MorN_I-qUA8S5vjayJr4-LRUoVAsRTzeDRFj6l4CYAN3cRuiDKIsdvSEXwmfn7nfWlWI46pLLOBXPDvCXuzb1Af2uiYceC2GPyRk9DPaYfikFuFOIQHlyzd69BgHKkU7jUK1gA857c8WlES5VfMcEgwHsf4Pgr_cLyFaO9POtffyCjbmG5kYDshRr4mDi-jJYAxN2nFLXalFxSyPkOXWIsSTyLf0LlQOg60yK_0Wv5Ug80OuaCuN_JKGGPegX6aYL4rVz2Q-6qIx8fsECiLhlUcw7saArz4iERBqYAZ6wMEZuwbg27EdNw3tvzjz5wABVpvp1zhOzKBLSh5WHrmWLzf9Gb--wGhyU6SNHG6lwwBmlyXag0AwumhPbgBkTTHtaz14ZZ3a9G1BtU95-Tnt_MRNVevv7feQT1GRw4gNXMOFMnPElUOEXYAKI8NdgzC8-hngS-J90A89ZDszHoNbOQF2y_OXd2RCoL9cn9TW8glTh84x5-cqTPiac3o0v-lv09b33NW2R6755XvO2jH0mX6po-OQSOzui86opr-2fhcTSJQu1-_mLqfBoYZlLFqLDvJ5QR-21LB3lT8K_GybTsOwSYT2b-AWwCCjlkzoUXUVrtWUVFyxKrHzqhAf3Pff6UKHunerysidkdlVLzwEmqL0yfKoC-tCjz1PBysaKfDE38AoZgD1oC1RgtDRqku6OA9ToyMV7k-G3E8xCzgWVczM7QOqGDLVFkxfq7aHYYFDSPOaimzvTCRqzmqdhqznk3cqqbz9BjQJGRLz6j1R2gbQ_Dg9WmQ6B-GICu_DUBd8jbGdF0yokO3uJ_B4_R2JLMWqVJyeFBWxqm3AMHlqXbcJ1HCndDPtCQstApweH6tuziEpiJzpweS0lUxvN_fARCO2soqJmioIkoddmbwrBDDrJ9EFFOb8BTe0yAisq6-NXxeo0XBxYCW4waHYE8O_yE01SYL7pY0oJa7nvdrKbyOo-FPP-39px0tCL4iIFxZHh_M0WaDN-RtUOaRhs3_GUFxwoYnMS-QN8CdvjHnICW7ydkymOxleh3uevVdWNk_DRu9jCbuk5IEudeE6mO_ffjJcIZ7ViuGeQXuJsENtqVgE6rKwOPjY9SZzxoLLTBNqc5c9pZL1yhv-0KdhpyjlKFioAHh9DtcakzlIV7NzpaLMAEPDJ7vsaVm1Q8ZckIewatbZWTAop-W125wGNo9hVWtx0uvcPV40gcbuDPAFiktoqbTb9juK3_FzGQm32huHnyhF0u2rmTSWyCGuyJxy2G_RnfDMkKbcNim3qTqlpLVOGUXaRofH_MoRt3ei2q3IWxcDXRE-hh74rC36aQQ5ciBWxDrRQ6A-jKkJF-SH45od-4lHSrV9GTzqXalUtQAfy7YcVz9aFCNvOrc7IzcHvLzodfkMP8bQDtix7YaI7uhEN69lnWdLTGoVfF2LYAwApM-U80tx9AYRmOPznkKMVXQG3aqoiOoyJK-20LT",
  "id": "rs_013da3c67213bd55016ab4a410487887d081e68fc70ef1585e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.375,\"left_y\":-0.23,\"left_z\":0.095,\"left_gripper\":0,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0},\"note\":\"The teal bowl is above the middle bowl but a little left of its center. I’m correcting that offset while lowering it toward the receiving bowl.\"}",
  "call_id": "call_LhaU0OV40kVCbaSxBWlxzUnX",
  "id": "fc_013da3c67213bd55016ab4a415875087d08bcffb994cc7e78f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LhaU0OV40kVCbaSxBWlxzUnX",
  "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]: [-0.7998, 1.7042, 0.923, -0.0422, -0.6346, -0.5217, 0.0464, -0.02, 0.82, 0.6071, -0.4458, -0.009, -0.02, 0.9991]\nstate[eef_state]: left_x=0.3674 left_y=-0.2227 left_z=0.0881 left_yaw=-0.0136 left_pitch=-0.0611 left_roll=0.0469 left_gripper=0.0464 right_x=0.2873 right_y=-0.0006 right_z=0.1611 right_yaw=0.0013 right_pitch=-0.0862 right_roll=0.0014 right_gripper=0.9991\nstate[joint_eff]: [-0.6906, -7.788, 5.6821, 1.5653, -0.4664, -0.0122, 1.033, -0.1162, -0.9231, 7.1043, 1.6484, -0.0464, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edd200ca206cab44b6d5f6022702e3a0401a87a9feeae9cbef5e175ad266d470",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3526d17a9b848e2501066af10b85c147cd0caf5174a1b818cf677edff88cfea5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf1e70d54f5452d25abcf0b60b276741c9c0e3926a2fcc66e7207343491f3e82",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 2.777 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]: [-0.3271, 1.6375, 0.44, 0.6079, -0.2859, -0.2592, 0.0413, -0.02, 0.8173, 0.6071, -0.4458, -0.009, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.379 left_y=-0.0722 left_z=0.0361 left_yaw=0.0388 left_pitch=0.0087 left_roll=-0.052 left_gripper=0.0413 right_x=0.2872 right_y=-0.0006 right_z=0.1618 right_yaw=0.0015 right_pitch=-0.0835 right_roll=0.0011 right_gripper=0.9991\nstate[joint_eff]: [-0.0615, -4.5197, 4.3145, 0.6716, -0.2906, 0.3199, 1.6825, -0.1299, -1.3333, 7.0085, 1.7363, -0.0464, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7605, 1.4826, 1.029, -0.2974, -0.5957, -0.4847, 0.0465, -0.02, 0.8185, 0.6071, -0.4458, -0.009, -0.02, 0.9991]\nstate[eef_state]: left_x=0.3617 left_y=-0.2023 left_z=0.1741 left_yaw=-0.025 left_pitch=-0.0284 left_roll=0.0071 left_gripper=0.0465 right_x=0.2872 right_y=-0.0006 right_z=0.1615 right_yaw=0.0013 right_pitch=-0.0847 right_roll=0.0014 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -6.2974, 9.3744, 1.5311, -0.4274, -0.0513, 1.033, -0.0752, -1.265, 7.0085, 1.6484, -0.0269, -0.0171, -0.0122]",
      "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]: [-0.7998, 1.7042, 0.923, -0.0422, -0.6346, -0.5217, 0.0464, -0.02, 0.82, 0.6071, -0.4458, -0.009, -0.02, 0.9991]\nstate[eef_state]: left_x=0.3674 left_y=-0.2227 left_z=0.0881 left_yaw=-0.0136 left_pitch=-0.0611 left_roll=0.0469 left_gripper=0.0464 right_x=0.2873 right_y=-0.0006 right_z=0.1611 right_yaw=0.0013 right_pitch=-0.0862 right_roll=0.0014 right_gripper=0.9991\nstate[joint_eff]: [-0.6906, -7.788, 5.6821, 1.5653, -0.4664, -0.0122, 1.033, -0.1162, -0.9231, 7.1043, 1.6484, -0.0464, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edd200ca206cab44b6d5f6022702e3a0401a87a9feeae9cbef5e175ad266d470",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3526d17a9b848e2501066af10b85c147cd0caf5174a1b818cf677edff88cfea5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf1e70d54f5452d25abcf0b60b276741c9c0e3926a2fcc66e7207343491f3e82",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtKQZgT_tJ9IzpOmwymkdQTNg1j3whKghZGInGeEmLuUorJLpo-wFc0ApDS_SNdLntYKSJc1DP4bkDljy4G1QoP9yd6k0hv666f2Y8k_EbhTuLfhq_GYaHKhm1HLSKiXg0BSufZ6edLPM2Cu8_N_qegJPG_v-JrhGXZQIfcQpYn97gaOf4uKLFeASyBQp-opr_GRVT0hKy-0NCrgR0pjBxd5HwcYIvjSB71qIZkNTJSo_YGRHtJkuv1URG6IuMQCyoBMxb6qUyYPTeDTlERxUOf0TGCgq9UMKx01TfWis1gVZvR2psrAt5QdNUtIJuoC98qR4ceniisoqfIR1P91fjM_KO-raxLw9JpOdkhqqsX23sqR0-ZXpdQXIk3jFHpg3s6pC5zM8RwG1414o9HAAJAsLE6rLIK16WAU7A-T6AXsxOAqw7wZ25t8Nr4b4nhDsWwFi4AycjLax38bc3s5CJgeWDtlYeVlih_B22CQyCrSy_8noAmDSjWY10SoR4LtpAIW0jSd75z0UzBJnkIRH1vk-mbqP-WwMjxAKQFVtTcRRkAzjyvzx_1U91QyMPoP814nXS95rGm6j-pnrUm5lHQgE2R1XBsg-LAjkGkpFwFKE95X-HJjy1Z9Pg-UmzbEteYj20DuNBocQy7geV0a744TECuOINjJ49VzmqTI1AwhwmwJBdAPRYMPxsH-A0XoOYTh49PnMQm8jrRNOELWo8jPtTNySmra28Ek65fc53shuNkhHQPy6WnBst-3zrLkeqkiIx4u2gy_TxsrdP2Q5JZhCOhVjv9mCp_2QbESqSUZ02YGUhg7naO7JGFmNnQrcZ7mUQ3zIAQgzhpa25c-Cge5mJ7WGzmEVy2YkZa_1bDxmvfJ3ThHnLQmcNjfi8BCq1kjaPgay-usjuMqwhoFiUs49UcQxxEj1fcTA4HEiwaRPWoYyypZ4Latn3urrpUp0XwHna8F-Jk5LK340Vs_ssLwxMqEaDYQfnucGoW3ZCyS7gRcRYDd3MYC-48uXdY4dXAkGo5_bVUgVtKBvBcJTp0Aj-EfEb4RJyhb6wIcrfKtR9bMemCTFSczPc50YSTbGvjcRAUaNIwMmvX6kEVpk1em1eYj8e_Qd9V3YrKdbG1QqBPb-plkpgpwHIwXk-BbXhhQCpHuryf76fPMAc_-Srr7iDPwf2NrfSQ2nX02P6sx9pzD2dhDWHc-H3f0diDd3guUREPy2-zDhWtebIN62-vXGO_R3iXs6HZLRvUtKXZSwdi7Uus7tSHogi6Dekf0gt8zlDLIwy7JfmCl29kCGlc7H1NKZWO-odOddiIYbU9hmxdaiiRpcBgq-XAsG_AzG1vzwthHeiv64GZzTWRcWmC0agA==",
  "id": "rs_013da3c67213bd55016ab4a418339887d0b35f52cbe95e48da",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.05,\"left_gripper\":0,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0},\"note\":\"The bowls are now aligned in the overhead view. I’m lowering slowly until the teal bowl settles into the middle one.\"}",
  "call_id": "call_fCnUwAFQxGdA4RL0jvu52szu",
  "id": "fc_013da3c67213bd55016ab4a418e56c87d09f24ab7ba67413a9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fCnUwAFQxGdA4RL0jvu52szu",
  "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]: [-0.8047, 1.7779, 0.8127, 0.168, -0.6537, -0.5262, 0.0464, -0.02, 0.8204, 0.6071, -0.4454, -0.009, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.3643 left_y=-0.2186 left_z=0.0528 left_yaw=-0.0034 left_pitch=-0.0327 left_roll=0.0341 left_gripper=0.0464 right_x=0.2874 right_y=-0.0006 right_z=0.161 right_yaw=0.0016 right_pitch=-0.0862 right_roll=0.0011 right_gripper=0.9991\nstate[joint_eff]: [-0.4171, -7.5145, 6.0513, 1.3162, -0.1441, -0.0122, 1.0232, -0.1983, -1.3197, 6.9812, 1.6386, -0.0171, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ec47ba47cae7da146c4a0d55cdffcaac4ff97ed2bf0af038ef8beed7b8db654",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9aebe108bf5050eeeada38aa06cd0ce88a87f35c7498ab319720985b7cee35f5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77aa2cec3b7b2ef77feac49c735083933a06b4b04aefe20e0e8b4dfc11f514a8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 5.757 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]: [-0.3264, 1.4162, 0.6174, 0.1947, -0.284, -0.2234, 0.0465, -0.02, 0.8181, 0.6071, -0.4454, -0.009, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.387 left_y=-0.0749 left_z=0.1032 left_yaw=0.0186 left_pitch=-0.0048 left_roll=-0.0178 left_gripper=0.0465 right_x=0.2873 right_y=-0.0006 right_z=0.1616 right_yaw=0.0015 right_pitch=-0.0839 right_roll=0.0011 right_gripper=0.9991\nstate[joint_eff]: [0.335, -7.1453, 8.9504, 1.7411, -0.0171, 0.2857, 1.0281, -0.1436, -1.4154, 7.0769, 1.6435, -0.0366, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7998, 1.7042, 0.923, -0.0422, -0.6346, -0.5217, 0.0464, -0.02, 0.82, 0.6071, -0.4458, -0.009, -0.02, 0.9991]\nstate[eef_state]: left_x=0.3674 left_y=-0.2227 left_z=0.0881 left_yaw=-0.0136 left_pitch=-0.0611 left_roll=0.0469 left_gripper=0.0464 right_x=0.2873 right_y=-0.0006 right_z=0.1611 right_yaw=0.0013 right_pitch=-0.0862 right_roll=0.0014 right_gripper=0.9991\nstate[joint_eff]: [-0.6906, -7.788, 5.6821, 1.5653, -0.4664, -0.0122, 1.033, -0.1162, -0.9231, 7.1043, 1.6484, -0.0464, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8047, 1.7779, 0.8127, 0.168, -0.6537, -0.5262, 0.0464, -0.02, 0.8204, 0.6071, -0.4454, -0.009, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.3643 left_y=-0.2186 left_z=0.0528 left_yaw=-0.0034 left_pitch=-0.0327 left_roll=0.0341 left_gripper=0.0464 right_x=0.2874 right_y=-0.0006 right_z=0.161 right_yaw=0.0016 right_pitch=-0.0862 right_roll=0.0011 right_gripper=0.9991\nstate[joint_eff]: [-0.4171, -7.5145, 6.0513, 1.3162, -0.1441, -0.0122, 1.0232, -0.1983, -1.3197, 6.9812, 1.6386, -0.0171, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ec47ba47cae7da146c4a0d55cdffcaac4ff97ed2bf0af038ef8beed7b8db654",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9aebe108bf5050eeeada38aa06cd0ce88a87f35c7498ab319720985b7cee35f5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77aa2cec3b7b2ef77feac49c735083933a06b4b04aefe20e0e8b4dfc11f514a8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtKQcJkjLfRk48I9iuWm_xkVhg1mM6digNloflB1bEef82zMTP_AQlLDwVFl3GiK-ew1YXJXi48LYyv-O2gWqCPg7HQBQmUFr3dg4hUdd7AFr4Sh4hN00CkyBY1pV12x6-Nzbs9DTr7nBnTfWw7aTLE2q5DdWN9NuOMUJmBKmbD9nRlHYk3RgKxDk5lMSqAoreU1tVnxlIBi3Gnw4n0ynECvwFGOPaU77m8neZ2XemxBNXr_9RJWmMZTLy4kX4cUmsesGww5Q6CLV1ilM84H-YdGnNHkarcuDWpIZ4JMO3DcQKtWO4SXZT6lVWqMuzZPzq0eNjGRjx4zlM0G5vPS9pqOn2f1twl-uXJCOpoAhuaH4bqz4CSVFomDxJesSozoKOwMxrg4Qg2kJZPNt4fOdIXdMKiJj8wn8gauGE3mijxfVMwvuUGe5KtC5Sw6sVHLWpWZ1Xe3_-f27IOwk-k0RznngBfkgNz6T7ry_hTTS8LoQhxIzzrQ_wee2pBmRFmxslo--Oh2n8eeTUFkDMchcZnDXBRf8rQsAohHw9ch1ntFc-3VDbsPbdDOny_9VuP-Wn3FDOntQOZ4abqMrGbuuI21943OF1NH4mZPL2Z3crQyjIJlK5KGLBh3x4NCri-rXsULnHM7wmesvBC9bn2nbOOb25HIHB_6MDLN24s5stlls_zZ0Kzxr7EIOJdpDYzNIgIOdu9DuOFZenST9GeHMVPt-YxVSMM8M8yuV53Oze35F97UZds9viK0PZLyA9oVOw0h1Kc_-GL-zB7IkRCspl1KoggJw57UVvOpqnAekpBay-rX_a9712FO8UesJ6j5_ysFVo4Bt-sEH-xfWkLN6vdEPSoP9ovg0EoOAAPtF0voO5xM51sdMK6vbOXYuG8tAK9Jug_6VqLoxzVxrNG6P5bRrVJEaKbzzoqnB63vNEPChw9sC122MkJ4loAvD1tn2RA8W6h8m4wsYS89c-kvNbnyyTKkrNn9zpSX0yIGYaluOwb2BvPtlRf2PXZJjvDA7uSeVsK35HdfYGtF1EdQE_jPgnYCvHaz63i3_zuhA24HvEM_v6Ix8dkCm1F-81_9Qv_4Mj5pdnepLV_ITDGLlGHoYzgr-IuoHE7ork28YDWOQL-uQhIrGYYlxL_6U-zc9_4LCHlEfrnUEVe88_1hUpoge0IuEQMDyHNuj0j0MJVJxOglZJMpA3RXzGQb6rZ1byIlQktlDs7C7TFY4QfLJXOoRvQ==",
  "id": "rs_013da3c67213bd55016ab4a41b8fb887d0b564364dfb987588",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The teal bowl is seated over the blue bowl with their rims aligned. I’m opening the gripper to leave the first two bowls stacked.\"}",
  "call_id": "call_OE3DNsG07vncFj4fDb19dT5C",
  "id": "fc_013da3c67213bd55016ab4a41be43c87d0bc9eb0f4b4396144",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OE3DNsG07vncFj4fDb19dT5C",
  "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]: [-0.8043, 1.7927, 0.7979, 0.2443, -0.6594, -0.543, 0.9951, -0.02, 0.8211, 0.6067, -0.4458, -0.009, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.3686 left_y=-0.2216 left_z=0.0538 left_yaw=0.0097 left_pitch=0.0026 left_roll=-0.0108 left_gripper=0.9951 right_x=0.2873 right_y=-0.0006 right_z=0.1606 right_yaw=0.0016 right_pitch=-0.0877 right_roll=0.0012 right_gripper=0.9991\nstate[joint_eff]: [-0.4718, -7.0769, 4.9846, 1.5604, -0.315, 0.0415, -0.149, -0.1573, -1.2376, 7.0222, 1.7118, -0.0366, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afd422c05b803212183d95f9a215d673b4b6cd9c19ed39ed0187f31daec4a735",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:574a7e556143bafad7d3f570c3d0c3b6436c459782418aa09896cfc9baaa2594",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43a3f73130f9b32ff0c5deaeb4272b56743b2ed424b925110e1ab64126567a8b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /responses · status 200 · 5.377 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]: [-0.7605, 1.4826, 1.029, -0.2974, -0.5957, -0.4847, 0.0465, -0.02, 0.8185, 0.6071, -0.4458, -0.009, -0.02, 0.9991]\nstate[eef_state]: left_x=0.3617 left_y=-0.2023 left_z=0.1741 left_yaw=-0.025 left_pitch=-0.0284 left_roll=0.0071 left_gripper=0.0465 right_x=0.2872 right_y=-0.0006 right_z=0.1615 right_yaw=0.0013 right_pitch=-0.0847 right_roll=0.0014 right_gripper=0.9991\nstate[joint_eff]: [-0.3487, -6.2974, 9.3744, 1.5311, -0.4274, -0.0513, 1.033, -0.0752, -1.265, 7.0085, 1.6484, -0.0269, -0.0171, -0.0122]",
      "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]: [-0.8047, 1.7779, 0.8127, 0.168, -0.6537, -0.5262, 0.0464, -0.02, 0.8204, 0.6071, -0.4454, -0.009, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.3643 left_y=-0.2186 left_z=0.0528 left_yaw=-0.0034 left_pitch=-0.0327 left_roll=0.0341 left_gripper=0.0464 right_x=0.2874 right_y=-0.0006 right_z=0.161 right_yaw=0.0016 right_pitch=-0.0862 right_roll=0.0011 right_gripper=0.9991\nstate[joint_eff]: [-0.4171, -7.5145, 6.0513, 1.3162, -0.1441, -0.0122, 1.0232, -0.1983, -1.3197, 6.9812, 1.6386, -0.0171, -0.0464, -0.0122]",
      "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]: [-0.8043, 1.7927, 0.7979, 0.2443, -0.6594, -0.543, 0.9951, -0.02, 0.8211, 0.6067, -0.4458, -0.009, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.3686 left_y=-0.2216 left_z=0.0538 left_yaw=0.0097 left_pitch=0.0026 left_roll=-0.0108 left_gripper=0.9951 right_x=0.2873 right_y=-0.0006 right_z=0.1606 right_yaw=0.0016 right_pitch=-0.0877 right_roll=0.0012 right_gripper=0.9991\nstate[joint_eff]: [-0.4718, -7.0769, 4.9846, 1.5604, -0.315, 0.0415, -0.149, -0.1573, -1.2376, 7.0222, 1.7118, -0.0366, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afd422c05b803212183d95f9a215d673b4b6cd9c19ed39ed0187f31daec4a735",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:574a7e556143bafad7d3f570c3d0c3b6436c459782418aa09896cfc9baaa2594",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43a3f73130f9b32ff0c5deaeb4272b56743b2ed424b925110e1ab64126567a8b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtKQjgg4wkjIKlmNYDn1mUbi2pceOdmhLLc-O8vFZzdgxOxO0hU-N9KV12fTZmEmFhsoilyBIfpSEpDGr279CtvCxPtvmXmCgkCYRNrBi7o4ccsyx852GsLmLCn-E078AXkYRWWjdxtBNJ-fqSlQUJ5d55xv8cSsO2t0zhWeIlWKaLvBerN67hde9z1WnUF8lirXUbr71RInB471Kcqep975OFWwNk7TMiX78EMW0RBGUiq_Bsmqvn_eG8XcVsHW74QMyiUdVlUOxGnAhCBl0y1NrHyjJrzs6VOIH1l9DloOaI7Kenbw1xvX6QqsbhoLyPk8vNia0uUMs5eQZEQFlO4em4N8f2vEE2Rv8NieCo7XM3JklCKy0ZRPN-kaQ6nocbqntotag9W5LX9mKWPQnnXvbtatj1-ZY_QryfA-tJzFrvHEjhryEDBxsIheTrn4Mf7dfz0DbXaaLWdFKIqWbGDB8wIiAyAOlXxreiuMLn6SsrZ5dmdsEX7bXqjUPY309fcn0SqEjyJ5gnv3Q80JnB42azBRB7-7WP1WNKewZ0woVXSGVrYBBu8KCA8I4Q9aYxOXozhReCeo136IWEFO0Q7nfd3scmmGlzOq0OK7p8iwSri9mQ7tMgG0LuRplHIbE0pNQfmCM98Kh5bmKSH9LoBSDK7tlXI3ZrInl8njxmxfUZErfh9slCyKz-JCvxH_WysqszlueyOTcy6WHhVhjfmb8Yw28YxkrtLjNDCfm_c3F_IUTHuojZu_kKgb_1gQ8aRlkpgNiiIkdFTOc8hqg5hL4jOgaQPsIRD3vKXFHDqCrXksvFwATu1vSdn8jeP72-NYJ_WUCXPEnuP-TryTx22-wLavFSHNPfjw2qHPRzB-wFHV7Endj1-C0h6YGpfmgCJDc9JLEc9oUBZDuX2kixSQ5IgpGYu_JWQVlMlgD4x8aLMCjdl9vfeLiuAGaOLLDM_wiYgJnBEduFrHbn7GajoKEbZ-OcyLt0wVebUKR-u7LqqMoE1B_Y-eIE_H5CQauHe5Y4MHMVGraSDb6nbYX36zHqL61LcU81B2VXxU47EdLk6cVRGPVaUCP9FKzm4k3rHhngab-W9IaG6Iokwj9bH_vYSX2t8UGBBRWRRfZ74aF4U8qEZcUoLis7dMaxXFJWk-UL8HN895rad58EjnReU-1B_NO05TovMdX4kSHBLsyTnTsBhYa7CeXaX08LrfAES5kjYAYNY9KNe1riFnwCyHh9pwUaaZYK29dcelUXDAgsTXLe58VEUo1V6dLkddFIaeST5ywOikrWc0BZMfOgT42uXJYofIAMG0xjM8kSLCA0fPyqZR1MdRXw-dBLoi5x_2f5eJcndINLFw3ehdmz9kHD2xp_x3v_QaY0bEUIHJW569KQoQZvvvqc5DLWAm8-zlOTxgyrC_JYljqzLQLZyex_7QcwoaATHrkkN4xzaPKwMg2eF88e1hhg2gqFq_myww67j4gKStwOQu27j2j67loIIaaJQCGkV_4TTN9IVPofFJWO7OpkHlXnEUAi4aEfT_jD3lhhOVM1BZDSLJNa9-6UC5x9tYhezfZnj2KCzZNNIECfQIf-2lic3REFIFRIAkJpoxpsok7ZO5A8qz6aGVj3K1T2rB9ykdYoRaI5dkIQ9DvMa-mR35stcDktcJuvT8QlrPNoZQp14bsA18Y-3FE4DEQw8U4L27X4cvnQ6YaLtyVpPXNeiW6Fk0eKfEPu7FwkTeBdnO2LkccQVh5n6DS8n9LLMKGanQ4ixgDqdp7-GT3QIQYOF8aBP_otqabN9DusFylkP1xQTq7RbOaVM8kTO49P61T2JIsfYbuo-o_cNqPA86pgVN8TEwg8m0kIyd9z5DuWaCQOu1Xu2FAZV9V1l2oeQ79VWLK5WOCIyptOhSBuHXCRgWCmdi26mIU-X3biLe7dn7xh8R9-fR8OQN15nlqTo0L6Hqn9p9oJXHcQ3yuH-3PVm1k-28yz7ZcdawV4v-3lkUlvl7uqM0kYMLJN1db8k9ilbyME1TRSf9pvsl92_b5S3lGX_NzVzbLANUvsiQb2yzEzChnQ-T3bBy_HA==",
  "id": "rs_013da3c67213bd55016ab4a41ee77887d095eeb73538d47919",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.21,\"left_gripper\":1,\"right_x\":0.36,\"right_y\":0.14,\"right_z\":0.12,\"right_gripper\":1,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The first two bowls remain nested after release. I’m lifting the left hand clear and positioning the right hand at the peach bowl’s outer rim.\"}",
  "call_id": "call_YHERveYBWR7w2FQIaW60JFfQ",
  "id": "fc_013da3c67213bd55016ab4a422180087d083f9dba59687bd6d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YHERveYBWR7w2FQIaW60JFfQ",
  "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]: [-0.8043, 1.5669, 1.1568, -0.3668, -0.6556, -0.551, 0.9988, 0.5655, 1.3815, 0.6479, -0.0204, 0.4351, 0.2966, 0.9992]\nstate[eef_state]: left_x=0.3697 left_y=-0.2236 left_z=0.1862 left_yaw=0.0114 left_pitch=-0.0174 left_roll=-0.0001 left_gripper=0.9988 right_x=0.3423 right_y=0.1333 right_z=0.0943 right_yaw=0.0445 right_pitch=-0.0988 right_roll=-0.0514 right_gripper=0.9992\nstate[joint_eff]: [0.0479, -9.7709, 9.4974, 1.3993, -0.2564, 0.0513, -0.1343, 0.1983, -5.8735, 9.0872, 1.7216, 0.3443, 0.1734, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0b994aa9d06bbaba8f1a74dee840ebc329bf5ce4a3a34b6d7a7957b2a91cf06",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfa26b6e82de01173aac663b15399de02088658427f2e333b478afbee9b68999",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d8d3ea322d2f071f79dcb0fc97630038bdb623cb5aacaa15f9ebaa50ed7c373",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /responses · status 200 · 4.574 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]: [-0.7998, 1.7042, 0.923, -0.0422, -0.6346, -0.5217, 0.0464, -0.02, 0.82, 0.6071, -0.4458, -0.009, -0.02, 0.9991]\nstate[eef_state]: left_x=0.3674 left_y=-0.2227 left_z=0.0881 left_yaw=-0.0136 left_pitch=-0.0611 left_roll=0.0469 left_gripper=0.0464 right_x=0.2873 right_y=-0.0006 right_z=0.1611 right_yaw=0.0013 right_pitch=-0.0862 right_roll=0.0014 right_gripper=0.9991\nstate[joint_eff]: [-0.6906, -7.788, 5.6821, 1.5653, -0.4664, -0.0122, 1.033, -0.1162, -0.9231, 7.1043, 1.6484, -0.0464, -0.0317, -0.0122]",
      "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]: [-0.8043, 1.7927, 0.7979, 0.2443, -0.6594, -0.543, 0.9951, -0.02, 0.8211, 0.6067, -0.4458, -0.009, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.3686 left_y=-0.2216 left_z=0.0538 left_yaw=0.0097 left_pitch=0.0026 left_roll=-0.0108 left_gripper=0.9951 right_x=0.2873 right_y=-0.0006 right_z=0.1606 right_yaw=0.0016 right_pitch=-0.0877 right_roll=0.0012 right_gripper=0.9991\nstate[joint_eff]: [-0.4718, -7.0769, 4.9846, 1.5604, -0.315, 0.0415, -0.149, -0.1573, -1.2376, 7.0222, 1.7118, -0.0366, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8043, 1.5669, 1.1568, -0.3668, -0.6556, -0.551, 0.9988, 0.5655, 1.3815, 0.6479, -0.0204, 0.4351, 0.2966, 0.9992]\nstate[eef_state]: left_x=0.3697 left_y=-0.2236 left_z=0.1862 left_yaw=0.0114 left_pitch=-0.0174 left_roll=-0.0001 left_gripper=0.9988 right_x=0.3423 right_y=0.1333 right_z=0.0943 right_yaw=0.0445 right_pitch=-0.0988 right_roll=-0.0514 right_gripper=0.9992\nstate[joint_eff]: [0.0479, -9.7709, 9.4974, 1.3993, -0.2564, 0.0513, -0.1343, 0.1983, -5.8735, 9.0872, 1.7216, 0.3443, 0.1734, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0b994aa9d06bbaba8f1a74dee840ebc329bf5ce4a3a34b6d7a7957b2a91cf06",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfa26b6e82de01173aac663b15399de02088658427f2e333b478afbee9b68999",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d8d3ea322d2f071f79dcb0fc97630038bdb623cb5aacaa15f9ebaa50ed7c373",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtKQpD43gxqZpqUM6QJpe75FqpmN80tWO_df2rQmZvO3gmAOKRp3hZUnE30aJrmPazYAZvjllUT2d5YTraVDUBdxpVxJGBacnxDgrAAIX_AuR3QquNZZE3yfpJ6_fPMFpgCp_Hb4x2PQ3uD6IJeA7p8v9ymoJbrqmqKIYUeizBCcGVUcpQE916ToFxHoY7f0RO8XTp3g9XdlrKf5mfky-0Rk-xIER572luxzhnIU2PjGMEUNB0zQCPE3-cCsOqQDH5D64ucXdz7tbQQwYTkSwokEVgiOob3mnAHgHpN8MwN1ysBDCO-Z03hZeFNB-15FGahdvI24T9tu5Dfa_uyQxEPWF7F0bGYuNeY7KQT7SwMgbXniSSecRh8SgO5pChUoqgvuN19wUG91lfUOyXR26CAA1gkJTKpqbkWpWXR0yf7pyIuQyp9Qyyo63dNtl9b9_MWkQCJ6Qs0S8jkN6jTlCwRn2NQzzjYsgGu2H5qOyuC7z7fvY154ABYVlrfsf9wmva3URlU4pva4Vy7L-qEamjRzLNtnjkgA50qsJkIDvhO8dpORQOd9piTWSKfie-IssHZibAraiJJVcAuHQy0-uti6FoOCd1LNfLUvvaCLOUxTaYN3wIknGTJ8lzlS8Mqo-cjFgHtD7wgHlysKNDvAIeAkX3aKSW9S3GGeQvbM42iEPYMrDe2ziMA9koWf_GysBw4pQaF-Yz7eUFwFYnuSP90D3_9CBL6vPltLlo4jo3JDQtCdn5lm6vhdus4FfBQ6hKhJSsagdno30E8jweXi3iowmUyPasuAJBYrcBpRxIjSvfHYwjGd3eyYldihpIGPJhUSoxUisPbajdLGbJKS1tj2hglKrDoR9dO_Q28Y53eRXN-Y7eIPm4i_jJ-hoC2PZcCa3Vn5fDkuDRco5uhnR1pidYVjLCPNeAG6Nvbv5hpAmXd4qNM21QUrJhwYGhkYUBzACuLzH05PfpzqLbqqTMCgIrhuzM0HqOlt2tYHY5Gp7-m-P-UWA2KUToyTetPqDq2U9hzafTIMt5brTDxXNvFhbMh2MkaTx0iv-RoLbntB8JJFGaRB8yGUH3OfwdxEJAWEppLKCsTGjKsuwxXG59RmFHUdYm7wdZU-XCwCcCTUaXBCO6tveRLxwFneICapmotgTZ8vHCKdZXspNdxceHv0z2QM74XX_kCfFg3z5HQR_N8m_jWgLtxtEEV5YqVFuUaAWYUJKWChGyeTCN5L8rPoYR1szMI31W93infXqX_z0_ca0zl8uGc3iKGLpYSX27p_VnfkO27io6nGCnqSEljD0qUlOSWXSojC0xcVmQ_5qp6iduj7FjZsI4qCRg5nYl414yQd-JoufUwxMbmTgtr9EXb4xZj-NOsi-O1C8aiZhFkcW7D2-_xWmWZM_OUTrf2mepFu328uuS3GSJA7g8mV40Utw1E_-IgcSv2aQ2QWtVVJ8ZU7cXTtw97Nrfulmf9dSpUx1szbjqIE67U0QTMqDdXBuQLuZX31cQ3y35MG3L6j9HHfNckzyxqocIkBkYBeb3lspP8zUhxZlBuxtaAPXI1uiP12LwpZB_hq1XTqXwXwmY-77SW6MOCuE80J0_xmiuW0IHQ8nYFxSs73lx_hlo678v6XC8V3hkeA5Qbg6M7R1u7AU7eU6z4y9z_Tq8wOyITWDp_I_R7Br3c8VSPEUjedQarMSkGF33BS_jHf10LmX-zG-Y7sRiKiXmwBFZQ6S_AMIFvdVVenZ4ep30lK3qXmxCxb-9fQ1hig0qxKlQqG8iQad6SoETM2i4_UldIwJmyLmVO5B7X1KxUnyfngHBOmbM6Usy8q18A6Axb3uSAzLc76ec9ZQkbxIQXJdOaVDWEzJsTqHnisamMom3jVXEw==",
  "id": "rs_013da3c67213bd55016ab4a426151c87d087a09d429aa5887a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.294,\"left_y\":0,\"left_z\":0.20,\"right_x\":0.375,\"right_y\":0.095,\"right_z\":0.035,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The peach bowl is visible between the right jaws; its outer wall is a little farther right. I’m aligning and lowering onto that wall while parking the left arm out of the way.\"}",
  "call_id": "call_yvgzwfYZNumypwlZA8wrbdvI",
  "id": "fc_013da3c67213bd55016ab4a42874bc87d0a96d776adf429a84",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yvgzwfYZNumypwlZA8wrbdvI",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.07, 0.8299, 0.7139, -0.4713, -0.1207, -0.1036, 0.9988, 0.3939, 1.6409, 0.4679, 0.5129, 0.3351, 0.2119, 0.9991]\nstate[eef_state]: left_x=0.2976 left_y=0.0041 left_z=0.2022 left_yaw=0.0741 left_pitch=-0.0105 left_roll=-0.0105 left_gripper=0.9988 right_x=0.3681 right_y=0.0939 right_z=0.0276 right_yaw=0.0022 right_pitch=-0.0456 right_roll=-0.0194 right_gripper=0.9991\nstate[joint_eff]: [0.2256, -1.8667, 6.2974, 1.8242, 0.022, 0.105, -0.022, -0.3897, -5.8462, 4.8479, 1.9658, 0.2369, -0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bbdc5e869bbd4bd32703baa9adc0fef16e5397b463d7d9f712aceca71d7b1a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:180bfb40f7032f37d19af3f51d869cc0eaaa504d4e756100fb9cbd3911192a81",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf4dd2c3b2e721822df843d79110dcfb46933d4597dec586ba6066f6c4b0fee1",
      "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 · 2.925 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]: [-0.8047, 1.7779, 0.8127, 0.168, -0.6537, -0.5262, 0.0464, -0.02, 0.8204, 0.6071, -0.4454, -0.009, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.3643 left_y=-0.2186 left_z=0.0528 left_yaw=-0.0034 left_pitch=-0.0327 left_roll=0.0341 left_gripper=0.0464 right_x=0.2874 right_y=-0.0006 right_z=0.161 right_yaw=0.0016 right_pitch=-0.0862 right_roll=0.0011 right_gripper=0.9991\nstate[joint_eff]: [-0.4171, -7.5145, 6.0513, 1.3162, -0.1441, -0.0122, 1.0232, -0.1983, -1.3197, 6.9812, 1.6386, -0.0171, -0.0464, -0.0122]",
      "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]: [-0.8043, 1.5669, 1.1568, -0.3668, -0.6556, -0.551, 0.9988, 0.5655, 1.3815, 0.6479, -0.0204, 0.4351, 0.2966, 0.9992]\nstate[eef_state]: left_x=0.3697 left_y=-0.2236 left_z=0.1862 left_yaw=0.0114 left_pitch=-0.0174 left_roll=-0.0001 left_gripper=0.9988 right_x=0.3423 right_y=0.1333 right_z=0.0943 right_yaw=0.0445 right_pitch=-0.0988 right_roll=-0.0514 right_gripper=0.9992\nstate[joint_eff]: [0.0479, -9.7709, 9.4974, 1.3993, -0.2564, 0.0513, -0.1343, 0.1983, -5.8735, 9.0872, 1.7216, 0.3443, 0.1734, -0.0952]",
      "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]: [-0.07, 0.8299, 0.7139, -0.4713, -0.1207, -0.1036, 0.9988, 0.3939, 1.6409, 0.4679, 0.5129, 0.3351, 0.2119, 0.9991]\nstate[eef_state]: left_x=0.2976 left_y=0.0041 left_z=0.2022 left_yaw=0.0741 left_pitch=-0.0105 left_roll=-0.0105 left_gripper=0.9988 right_x=0.3681 right_y=0.0939 right_z=0.0276 right_yaw=0.0022 right_pitch=-0.0456 right_roll=-0.0194 right_gripper=0.9991\nstate[joint_eff]: [0.2256, -1.8667, 6.2974, 1.8242, 0.022, 0.105, -0.022, -0.3897, -5.8462, 4.8479, 1.9658, 0.2369, -0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bbdc5e869bbd4bd32703baa9adc0fef16e5397b463d7d9f712aceca71d7b1a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:180bfb40f7032f37d19af3f51d869cc0eaaa504d4e756100fb9cbd3911192a81",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf4dd2c3b2e721822df843d79110dcfb46933d4597dec586ba6066f6c4b0fee1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtKQwaHsqJqy4yeolYixszgrY2fdZPkZgtpy7_L667KW3X-ujNNIk3FplGN9BQtDLa3uOBvyKyfIjpzdaODX5Fhjppjjvs-cfYLQnjYlextj8uUteB-fWHAlz1xXbDnhznwgVQqt3qyh_8LofVFg4NXPqS1n_GFD06wxMB0ZwO7NTA6AArK-A9Z5Wt1yEipf0TcJH-RFTYs0xwWGEXHnxWmGckF3kEwFNF4_5XsnM8AJNtNwSh2ZqJ3TGhGQS4SxDPspdeWiPmy0zdOkylN9VseuDdEK1yk_aZK5z_oEp7lJ8hh9cn00KrubT3-4tqDTbEvR6i6voAL5n5mGjT-4NfUqOnHst5YDjaTBEQGSJWkcOGdjeccobi2LyNDu_0_Pz6mIn4T7-3wwh58SgtbGNOgg0BjYoPy3xlx9h8UaFi_J6Gax_Qec6iRhywCZ1tPCjvaYKWE2Czw9iIVV7hU4hd9YtpWPPsbGGK83lf2DunWZ-J35fBVjm1SZ2Aoatx2Gpw4L_bfwpEQzOAhSuTgUr2-VOPx8FfB0SvNU1HmnWjfrWRYsjoJi4t67GzFnW6D1-PBpZh0SzQfAxqv67_Sse7HVXTmON9QcpfoF-3ZKpA5YQ41N1tr0ih_WQbZDUuEpI0Kgz3xDh6TpRjuhmU10C7fJ48BxTTDKVoy7_HVEmi6KYbxWxE7CzxCY9ZZF_uCKMgux4jKgSdODUJGkuqS-bw2xMfOXEVX-G6Cru-Vz4HbZ86T-vArCmn5qDKKe7-TAqLife3zGUySUnJvwjKYmIWhROBtsplOTeSV3HvNx7PRj2boWjiNvaIL8nt3_5I7wIWRsF_YmJIKdbbIWf1qzN-A2LvN1QEp1Z_57amcvXzgQqefIEKp1SmEzy0HWfMyKpXemAFYJr-hAfqVGGm-As4zwO66N9uL2cO2gGp1AGhQEAuPCx7Kr5Gbijr3k8LaNg79lmCroZufdQeZH4vC1khXLI-Na7grf8H1BGQ09MJkZofOASNUZ1FnDE3jRxyW-RLylUP1KfT75ptGIpPo2nepeJTEgvZ-CAejWWi-ZI7M4oIJORXEFAcKkFBGKSYuDWnjeME7dNQP7m7e9RXAkP7BMBIJNrRgdAVDWSiHPHxlVgZgYamqrCaUr32mXJz6JYUTm8z0jtL73BuiWQnxog0AlomPTKwmgqWrh78ypXVnt7ahqCmBLMJ6Gp7Gdr4T61JIdck_g_Og2h5C5BZcS2VIPRfbygKOsa_XsTfZiAaJHDzav5FN11xtZXqo4Nx72ciIrZSpz4R5-tZz3z6yEXdL0UR2K5cqEGuWuIyTeIsQbxr8TRV6li4GnRL3qO96LWwAy9W9K-Q6raHJPvuxVxZ_-dsPNA5S4xKtbh6ivmSGass-LaoxQwVelEDkrVDXMfL3AmmBBxGF0jxBTPw7vWFp_JpuYgTtXZr_Ai_PyVuShE0s2xdUbnWSe6H3UZjS9irsMqJBmHKGswZ9I9F1VDlbfEhKZHMc2ozRr6XCstBcfq8XMjyjj8lbeGNSRBP1dvq0qAnwfD3C0DMd6_z4_Uo6gnyqUSC_NGAExx6LA6unGYT1hMzRrs8CGtyO51q7xftEGFcSAjm_D0lKJKTWzeZ-6VDBDlNk3FHLxw_47tgY6_ctRyRSMLDjW40kXxU2GPCE835357LdwpHQyrjqyNmh-JUGDn75Gm87Y_oeLk8KSPEXQdphSw_xGx2SBMnsublocc-GsOjNv3zLSNB_8bMlks_qtHTnhDPMjo76zNKw0tOLj462Lnxkns_BtZlwSjLfulaOKqU9_kh6A1UhGewZudNOYGAqWQ_Rk9nLV91K1HCWTdLhbcsDEWLkv3fpUb3AoD80UrZueHvYfe_-WMgaXwSKpgmDQ5T2dx_skHKIdMXvx1xZUIgyg5cRNVs0DkWtIFoIG6FHNT6hCBYjOuunUikMjBKsoySkGuQ5GlsC4sDilRIMta3es9T2n6Sn1s2RzGWsqLtdiGxDRLz1Wk3tiUPg==",
  "id": "rs_013da3c67213bd55016ab4a42cfb5487d0bfdb4f6d5d39e6fa",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.12,\"right_z\":0.085,\"right_gripper\":1,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The bowl shifted slightly during approach, leaving its rim left of the pinch point. I’m lifting clear and correcting left before closing.\"}",
  "call_id": "call_bdhnLtQ7a2hLQclEorG2yiWc",
  "id": "fc_013da3c67213bd55016ab4a42f6f7087d0b596bbea184bbd5d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bdhnLtQ7a2hLQclEorG2yiWc",
  "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]: [-0.0704, 0.8341, 0.7139, -0.49, -0.1062, -0.0982, 0.9988, 0.4858, 1.4956, 0.5423, 0.3229, 0.3775, 0.247, 0.9992]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1971 left_yaw=0.0587 left_pitch=-0.0343 left_roll=-0.011 left_gripper=0.9988 right_x=0.365 right_y=0.1232 right_z=0.0723 right_yaw=0.041 right_pitch=-0.0076 right_roll=-0.0016 right_gripper=0.9992\nstate[joint_eff]: [-0.3077, -1.7709, 6.9402, 1.8681, -0.2466, -0.1099, -0.0122, -0.1436, -6.1197, 7.7333, 1.6044, 0.2711, 0.1441, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cd36d02d7a31d5588d595c0e39a807014edc06bb778b86934432135e1ee1722",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:373eec8554999cdf32ca8ad8596211a42e6775eb5eaa8bf8b85ddcf7ece95efc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbe63c8ffc9170a5ea3770e362ca80509a1f2acaba171a76f5cde42ec6deb201",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 2.386 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]: [-0.8043, 1.7927, 0.7979, 0.2443, -0.6594, -0.543, 0.9951, -0.02, 0.8211, 0.6067, -0.4458, -0.009, -0.0204, 0.9991]\nstate[eef_state]: left_x=0.3686 left_y=-0.2216 left_z=0.0538 left_yaw=0.0097 left_pitch=0.0026 left_roll=-0.0108 left_gripper=0.9951 right_x=0.2873 right_y=-0.0006 right_z=0.1606 right_yaw=0.0016 right_pitch=-0.0877 right_roll=0.0012 right_gripper=0.9991\nstate[joint_eff]: [-0.4718, -7.0769, 4.9846, 1.5604, -0.315, 0.0415, -0.149, -0.1573, -1.2376, 7.0222, 1.7118, -0.0366, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.07, 0.8299, 0.7139, -0.4713, -0.1207, -0.1036, 0.9988, 0.3939, 1.6409, 0.4679, 0.5129, 0.3351, 0.2119, 0.9991]\nstate[eef_state]: left_x=0.2976 left_y=0.0041 left_z=0.2022 left_yaw=0.0741 left_pitch=-0.0105 left_roll=-0.0105 left_gripper=0.9988 right_x=0.3681 right_y=0.0939 right_z=0.0276 right_yaw=0.0022 right_pitch=-0.0456 right_roll=-0.0194 right_gripper=0.9991\nstate[joint_eff]: [0.2256, -1.8667, 6.2974, 1.8242, 0.022, 0.105, -0.022, -0.3897, -5.8462, 4.8479, 1.9658, 0.2369, -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 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0704, 0.8341, 0.7139, -0.49, -0.1062, -0.0982, 0.9988, 0.4858, 1.4956, 0.5423, 0.3229, 0.3775, 0.247, 0.9992]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1971 left_yaw=0.0587 left_pitch=-0.0343 left_roll=-0.011 left_gripper=0.9988 right_x=0.365 right_y=0.1232 right_z=0.0723 right_yaw=0.041 right_pitch=-0.0076 right_roll=-0.0016 right_gripper=0.9992\nstate[joint_eff]: [-0.3077, -1.7709, 6.9402, 1.8681, -0.2466, -0.1099, -0.0122, -0.1436, -6.1197, 7.7333, 1.6044, 0.2711, 0.1441, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cd36d02d7a31d5588d595c0e39a807014edc06bb778b86934432135e1ee1722",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:373eec8554999cdf32ca8ad8596211a42e6775eb5eaa8bf8b85ddcf7ece95efc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbe63c8ffc9170a5ea3770e362ca80509a1f2acaba171a76f5cde42ec6deb201",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtKQzhxOwiM_X8MRq0JqckNkIVZMY53kA-RPNdIxXz-cJO6lIR2ldU8jQRoABaEmT5MhhlQwoy-n_j6tovth8Cih0cOVDM3mAdXj_75Xf6SLLiWvJ8KBaA1qG6aZshy7f4f9TqrkPyqObmJPBrvi4ohGt6lZVGT8cl2YEdnLdVJX7OXheg5cbvf5bIDGxSZ8waL_GT4ke0q26ZDVnX0U4lGpXFfVCvab5kPyo3WEWf7cN1w273nROBsT4r_J60WQNXI5bSUjzMnul7SlHInCF2RWAr5Lz9UL8dG6oqZ3EdEf80eh15Ylnhw_Q7ca9S119oHExfGt8bfmkfXyVHr4PYKDME_H-bPdJQvodczWOlCoo7zgWhgHvOe1DclOi_E4m78VqOZaRXyBDVat7SmsA18_YucWzkJYW2hY5JHlxiCreCIcxbs09e9_CXEXEtEd3oMbMWxNI5mKvRa4EoWN-uPh5ybULg4M7R7B4CRa92g68oFqcSk5hxmVvQfs-a4c6mnjl6DGYwmJuxTD8O25s4hkEJE2DMdKnRJ396T_Jzzp-4DM2u0Inq1XOZ9_t9XYXD7gK1gLZ9fYjYF4YaahjMiqfOvTUgOTXJXfChBZElGbq-g7gc4fYmTuNKWhJYcdBfyTUiYja6bySm2LL6aDhW7UC1WMeDg9QJ_NFWrHXCDbS3jc0_A6xF1mU3-fzyIiGVJJcOgV8flZkO8bxrfJQ-unwojv3g8Cvj_vyValScqXnAFVswZzbThIXaB_k7YVgL23gwmxTH_r0vxCRX4cay9lVJl6jTA2DNWSU-__D-PWJP68dDSk6SPraOsXCYUNSc43ymu-W1y11J_kGsQQ7qRwwTXlqOUFWwqFT29riac0Rx1iGwLt_8VQYiva2GHI4fgfpUV7FJOO0JnMnfnNGYp9sSyKKqY3RUClpfusf8gPj2GfVeNNjdVvKYbbsBi1-ZwUalhpF8Ob9TX4Yi65Io2Oeyp33AtvNlsLqKiPDe6laP9WzA1ef0qRpTZ_A0wVbaQYqRfCUgR3etq1Vh8iUupJR-8ms8-44McsmmfY06GYwW4IWp39b1AIxRT28Sh1bsjeIYQXFo4Egl02qXn1sWp9PFnjxcj6DL_shBcCnF2T6ZD17bzbDt8wVOWEo8tc3DUvMgrRU6WL8P47mElNOOogPSTUXhq7vn6Yj8uRc-NjmvIkDY5hYURQormkRIzSfSxIAuXA72hYcuLlMGs_XhnauHXqFTM4dD5qXcrs-y2KDRuJdA_eQEnimcnPDQQjTug14",
  "id": "rs_013da3c67213bd55016ab4a4323b3087d0befd4965853476ce",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.025,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The peach bowl’s right wall now lines up with the jaw centerline. I’m lowering below the rim for the same single-wall pinch that worked on the teal bowl.\"}",
  "call_id": "call_4azpcvBdfjyx9nbmcDz32tXz",
  "id": "fc_013da3c67213bd55016ab4a432747c87d0ba7489b54e626048",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4azpcvBdfjyx9nbmcDz32tXz",
  "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]: [-0.0704, 0.8379, 0.7139, -0.4923, -0.1055, -0.1013, 0.9988, 0.4927, 1.5452, 0.5167, 0.3431, 0.384, 0.2577, 0.9991]\nstate[eef_state]: left_x=0.2954 left_y=0.0014 left_z=0.1956 left_yaw=0.0598 left_pitch=-0.0404 left_roll=-0.0132 left_gripper=0.9988 right_x=0.3576 right_y=0.1209 right_z=0.0492 right_yaw=0.036 right_pitch=-0.0551 right_roll=-0.0203 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -1.265, 7.0496, 1.6972, -0.0904, -0.0171, -0.0122, -0.253, -6.0239, 5.7094, 1.9805, 0.1685, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:780d2b290136de1361ffc7d2fd2802a6a34f9fdf6d776882ff9ca03cd370e678",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f342ecdc8c457e93194f8c48ebae4b61d460431014323d10e70195bb0ffaaef4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c68e076c410938533de14ed64aa1c8e61dbe8ffdf6aef8c1ebf1a59ac0884e4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 5.71 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]: [-0.8043, 1.5669, 1.1568, -0.3668, -0.6556, -0.551, 0.9988, 0.5655, 1.3815, 0.6479, -0.0204, 0.4351, 0.2966, 0.9992]\nstate[eef_state]: left_x=0.3697 left_y=-0.2236 left_z=0.1862 left_yaw=0.0114 left_pitch=-0.0174 left_roll=-0.0001 left_gripper=0.9988 right_x=0.3423 right_y=0.1333 right_z=0.0943 right_yaw=0.0445 right_pitch=-0.0988 right_roll=-0.0514 right_gripper=0.9992\nstate[joint_eff]: [0.0479, -9.7709, 9.4974, 1.3993, -0.2564, 0.0513, -0.1343, 0.1983, -5.8735, 9.0872, 1.7216, 0.3443, 0.1734, -0.0952]",
      "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]: [-0.0704, 0.8341, 0.7139, -0.49, -0.1062, -0.0982, 0.9988, 0.4858, 1.4956, 0.5423, 0.3229, 0.3775, 0.247, 0.9992]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1971 left_yaw=0.0587 left_pitch=-0.0343 left_roll=-0.011 left_gripper=0.9988 right_x=0.365 right_y=0.1232 right_z=0.0723 right_yaw=0.041 right_pitch=-0.0076 right_roll=-0.0016 right_gripper=0.9992\nstate[joint_eff]: [-0.3077, -1.7709, 6.9402, 1.8681, -0.2466, -0.1099, -0.0122, -0.1436, -6.1197, 7.7333, 1.6044, 0.2711, 0.1441, -0.0952]",
      "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]: [-0.0704, 0.8379, 0.7139, -0.4923, -0.1055, -0.1013, 0.9988, 0.4927, 1.5452, 0.5167, 0.3431, 0.384, 0.2577, 0.9991]\nstate[eef_state]: left_x=0.2954 left_y=0.0014 left_z=0.1956 left_yaw=0.0598 left_pitch=-0.0404 left_roll=-0.0132 left_gripper=0.9988 right_x=0.3576 right_y=0.1209 right_z=0.0492 right_yaw=0.036 right_pitch=-0.0551 right_roll=-0.0203 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -1.265, 7.0496, 1.6972, -0.0904, -0.0171, -0.0122, -0.253, -6.0239, 5.7094, 1.9805, 0.1685, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:780d2b290136de1361ffc7d2fd2802a6a34f9fdf6d776882ff9ca03cd370e678",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f342ecdc8c457e93194f8c48ebae4b61d460431014323d10e70195bb0ffaaef4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c68e076c410938533de14ed64aa1c8e61dbe8ffdf6aef8c1ebf1a59ac0884e4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtKQ2NY3DH9HVVpWwRY-Zaeg8PiIEz1ZxN2kbMqKOaORpRKTW-Ogf1NY7r3JwtIvxHrNSkSElibr5Xp9v3Z5UCni-oYqieqE25-l4iaS1Bx5NfmNFP0aKm5QbEZjGv9gJbKxLEB3pkPSnlZXTEy8aLlg7hMhrj-HhV7WjY8pirVmfehzTVUKgtMcMZlNfXYdTv8S0MCy4O-R_QpUmnKINt8UHS_OQOFTH_R0lGLmEkw8RkgapOgeSYlzyeTM7nKcwQOBvNAAQIiDT90pZkotVNpe4qYPvWA97jLqvSsA_MLs-fwy_1s4aY9OlasChqBNHzEmSGdy7qW6CVgvPBa3rAq6a7zoHywKU5eBWZ7ZfgajP_3IfQ9cf8BFeKGevb3JvquuA2qvO4Rbd2g9JikmmyEoc8C-cg--QOZqiF8Wh7FZIwmPg_oQz2TX_RqfpHN_WNpVcLPQ-PVvSgcm_4FQvfDw3ERFZCECYSuBsxZDCjvc7EFZAvXOIahLhXGC8mFH2poUhJNF0Z1hf1hyWKRpQ0KvE-w7QZ0z8uekb1CKmcAqSLf7fkdk3yMLfX567PsK-3Szszn6r5rM-unebHDwekd2h3hG37WfgHW4G6yxzDUHlULFHt4NsOK1c-WJIGlGl3Z9vQkC1k-yAa1-Lp09MxnaJHNzHwBpsC12Zit94ujgoJLXx-8cIDefibqJo5Krlbd_RaYJ4YgnzEs_5cKOM_nnUtUNy9Q9o3Pr9OWh7yAnDlUP2MvcZ0C4t3BoQa6HbMlTVMzp3oNgtj002PU_Tewx9HWoc1HRB2TfanCzNcFIWA7hqUatBDRloGHsMs4h6OcIvkUp_BuEfMVVa8-e5MB4WanqWYnwmTNZbD7Atsf-iHpSTZaFiuiRyXe162wAxqeDzLqt5uEu9lbyOtf97WPcGu_0TsPlOWdJ8bKiw_CSjWod2vRGvYNTZM4xo3m69qESSpqZvI5AcrfPzHnkAB_EAdgfD6ZXY70RsHD2eE9gHlYiwPwJ9frp-cEEHWsMpzeKPxHWDHfJ3mItBEgJ9rmNZ-sFNFaZi79jlrPjp4PkdMxU8yi3lRZZRntmc-z2HKzEd85G2Nm33on5y-k1v4nJ1gKpaPpA2eEjo-9FJJh8rZk2kZKa9yZA1sUFXTOBxh2Ybk-Wrt8X2mBbRjcUZjQNwSdOOIR68vDM1IF78-e_7kI8HxF-ZznDrotvRe6BmST6UbyW9EecgCsZvH87R-WdggFvzJ1zKofgpekUCARUT-tg=",
  "id": "rs_013da3c67213bd55016ab4a43544cc87d080cdb6fd98c610cf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The descent has stopped at the bowl wall, with one jaw inside and one outside. I’m closing the right gripper onto the rim.\"}",
  "call_id": "call_aak8WTwND4bMI9hueiKcFOMa",
  "id": "fc_013da3c67213bd55016ab4a43580c487d08cf6b5a1960ad1c2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aak8WTwND4bMI9hueiKcFOMa",
  "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]: [-0.0704, 0.8379, 0.7139, -0.4931, -0.1055, -0.1013, 0.9988, 0.4927, 1.5448, 0.5163, 0.3439, 0.3801, 0.252, 0.0099]\nstate[eef_state]: left_x=0.2953 left_y=0.0014 left_z=0.1954 left_yaw=0.0598 left_pitch=-0.0412 left_roll=-0.0131 left_gripper=0.9988 right_x=0.3575 right_y=0.1216 right_z=0.0491 right_yaw=0.0422 right_pitch=-0.0556 right_roll=-0.0224 right_gripper=0.0099\nstate[joint_eff]: [-0.1983, -1.4564, 6.9538, 1.6972, -0.1001, -0.0806, -0.0122, -0.0479, -5.3812, 5.4496, 1.7802, 0.1538, 0.0659, 0.7839]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0fea84028306e26cff7f18c79c4d5919eae63fa0bbc1d3034163bcbcfc81f2d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c01052e72f5c620bc06f2142164cdb5ae2a2172f22c12ebc90fb6b273b9cfe5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb579b0fa3bad92f5d9e9aaf038e30cefa8bdee87566e6a86261b18a7bc466fd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /responses · status 200 · 3.159 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]: [-0.07, 0.8299, 0.7139, -0.4713, -0.1207, -0.1036, 0.9988, 0.3939, 1.6409, 0.4679, 0.5129, 0.3351, 0.2119, 0.9991]\nstate[eef_state]: left_x=0.2976 left_y=0.0041 left_z=0.2022 left_yaw=0.0741 left_pitch=-0.0105 left_roll=-0.0105 left_gripper=0.9988 right_x=0.3681 right_y=0.0939 right_z=0.0276 right_yaw=0.0022 right_pitch=-0.0456 right_roll=-0.0194 right_gripper=0.9991\nstate[joint_eff]: [0.2256, -1.8667, 6.2974, 1.8242, 0.022, 0.105, -0.022, -0.3897, -5.8462, 4.8479, 1.9658, 0.2369, -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 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0704, 0.8379, 0.7139, -0.4923, -0.1055, -0.1013, 0.9988, 0.4927, 1.5452, 0.5167, 0.3431, 0.384, 0.2577, 0.9991]\nstate[eef_state]: left_x=0.2954 left_y=0.0014 left_z=0.1956 left_yaw=0.0598 left_pitch=-0.0404 left_roll=-0.0132 left_gripper=0.9988 right_x=0.3576 right_y=0.1209 right_z=0.0492 right_yaw=0.036 right_pitch=-0.0551 right_roll=-0.0203 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -1.265, 7.0496, 1.6972, -0.0904, -0.0171, -0.0122, -0.253, -6.0239, 5.7094, 1.9805, 0.1685, -0.0171, -0.0171]",
      "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]: [-0.0704, 0.8379, 0.7139, -0.4931, -0.1055, -0.1013, 0.9988, 0.4927, 1.5448, 0.5163, 0.3439, 0.3801, 0.252, 0.0099]\nstate[eef_state]: left_x=0.2953 left_y=0.0014 left_z=0.1954 left_yaw=0.0598 left_pitch=-0.0412 left_roll=-0.0131 left_gripper=0.9988 right_x=0.3575 right_y=0.1216 right_z=0.0491 right_yaw=0.0422 right_pitch=-0.0556 right_roll=-0.0224 right_gripper=0.0099\nstate[joint_eff]: [-0.1983, -1.4564, 6.9538, 1.6972, -0.1001, -0.0806, -0.0122, -0.0479, -5.3812, 5.4496, 1.7802, 0.1538, 0.0659, 0.7839]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0fea84028306e26cff7f18c79c4d5919eae63fa0bbc1d3034163bcbcfc81f2d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c01052e72f5c620bc06f2142164cdb5ae2a2172f22c12ebc90fb6b273b9cfe5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb579b0fa3bad92f5d9e9aaf038e30cefa8bdee87566e6a86261b18a7bc466fd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtKQ8jVjhiYs2mzpM-swp3t3Muehrivnak_JBcrXmBI50Iu-uf2fwJUOjAyccuedsLWBiCitpuz6FyrxZz5OH63CDxNZL82Vq_R9LJG2LkeOhsZgyccuwvNKpYt8uImzKcV-yH4d_Cx-fRfN8fIytncn4FryIRfsHcak-c0Wi01CfrzACDTQGpmrsk6H9NQYAsRCWhdLrEGeJEzmacdPIHx-d6_fLVQxIx7QzqjDDgtEvfIDoVni1JMnBWVm1jMKt0h3kKKNUlLxGoNbdWSZETbVgHS-MBQwpyZK23HP5QEeVSgG8ZBZUmuKzyDZS5c_7OTaKQvLIaRNSPo2gpNopZXiRVU9BKhQ0GahvJhN9nQIF8uabBBrro4V2ymyKLn-zxvTrm3VzV8s_BW6emX71vKWtV9K9K_lm7YQHuv7XhzY-jL-uK9qWOQAz76akjdFw4BKObkfaJ8sqLKZD0XoULr_qy0RaBH2iANM-_al9yvYmHQDE3y1rE2oqifiK8gBcCA9zdruV_5XnChvj3JbIHXLpnrumIDO-Cl1XfK32RUnUQ1rOmEois9dDZMYOl8bdK7zkiJEa1GJ1yWWVpIQiCI1NZOBG4Sj3tcagyhzgoikayQlP02AOzLvTPtkeI5ZU9Qw5dqWlpgvDQ8btHxIhpOVlcODngYa8qZchgEDPi0gKnA3bmCTTtVLtIE074HAqS8qS1ya77lz6HXPbfyEpzctwiHMpncMQ7DtwutwVI-fHlL1FUcAs787rVA0Z0Pl2E7OQh5Opct60ecIGBjVhzamZr9Kd4rLD6FQrNPXB-WE4z-BmMxLWmBJL9B59nln3OABVYyEOhgebUG9GuIGgMid9-Mp0_-02dOnZ3NW5EmP2g2BQO5c0Bq6fu3CXVzqDlP5wxiCddoo6EvZboP5fIaw3kdxyao3lLq1_QMhu0CH6CG1IUQZYLnsDXB2PzR6_gG29jPSl5b3SL9GWX10vnDIKeTScBLKHkI4y0ScnQVZKtWVhGLlUCmiRRQ5YASAK_LLvgp97Q4w6X3KZvz_PiHZcyLdk4qSjHFexogHnSRAShOdtf_lQL3-kORFNtxKwdlZipK6Hlj5Rv8yUWfQEzljGueo2_bgyjXV_-aiySlmpBWx7ZZArUIyySwVSbt-NolWZX_jnC_lF7XGlqARGIrPCxYVSFZnh1GhA6wwQwHJ2meB4ZFV0MQ_k0wWHbGL2TGJajJuSf3J528TT8zgrABzFdNYA5YylkZrq4GvKuR_Y9TtDC7juYMkpG1XhIRJzCqf5ChwMvntF1G4FX3FT2zcotYxgJXkrIdZRxv0MfHhVoGfmLVxDHMnHQcG795_j1lpWY_YNeGh72IGIvtPwjgFdKJLz74Vf5nj3huqEOKZyXKeP9-9IUDnicPkmkz_dp3WmHwxBQV9EsAhcBCq11znX1KGK5mTdA-kmB-PlRDUSRihdApcGyME7X_OyfUfbh4ur0s-zc6T2maRfWKpHNa3RJ-RkLmGqINIVxhot8sUwzFdtAKXeSDSNBRsqUAX1WT_6nosLpn3eMowhjB8gJR2I0fu9sPe6TjU31aQJcRHsfdO4bBNn6GiaraVJdSz06UGMw-3aNBXbOUB1zMh_KPgOov_PVDX_0JefYwBcqh06a6WGUpdb5V0Gm8_iJ7ZrRkHoKWeaCg5teIcZ58xdtXoJjtoxjEOaKWn3uLNSLwmqxn59d87vdwE5sz4RAqfxaMCzsiuxlcz0EVkXyIReGt9fglEA3fCxcbCPtKpnhAyDs9-XZFxOeyXpdYzF1JCvbSseGqyISPHNBPVn5lwTrc0DWCqae9Tlg5FesMCMTOpob-qM60DWRqFxIw7Qe-RTWCzufHhjSZwATDgeq1ZlpRdweNYKfAAA8gnNbtMbbWSEJ-mcE30V-vPpQmIo54Knld-qAYvsjqGmsOusqOgKZv-9DF5Com4T55TXkSV4-IaQLkRiSYHCgN93iRqx1sTnSfFp4C4tV3pxathf3sQox5cGnJsOP1cbwqPqsSM_H3lhwav8x1GkoBzapOvhes-qtEaKd6Q9itidFM8k9mQ0-ZFcdfPjA1OVzEWjkAWEPJmG8MJ0bmori-u7VgXucOQEPk-YUJzjE0s7IXU4DwSC7HggEIi4Mjvz_k332hT2b_lWVCnmg-_vhxpKjv12RL6gBPOXySsXnb6LsmuDU_PxpKLNfwHpC6yVpSNU2TmTwqxLptA=",
  "id": "rs_013da3c67213bd55016ab4a4388e9487d0a3bbfc2f7baeac7e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.385,\"right_y\":0.135,\"right_z\":0.07,\"right_gripper\":1,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The right gripper closed empty just outside the rim. I’m reopening and moving slightly inward and forward to bring the wall fully between the fingertips.\"}",
  "call_id": "call_21GF8pEJJeBFUXlkWXkwqI0M",
  "id": "fc_013da3c67213bd55016ab4a43bdf1087d09dbae32a11c63a59",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_21GF8pEJJeBFUXlkWXkwqI0M",
  "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]: [-0.0704, 0.8383, 0.7139, -0.4934, -0.1055, -0.1013, 0.9988, 0.5053, 1.5974, 0.5953, 0.3111, 0.408, 0.271, 0.9959]\nstate[eef_state]: left_x=0.2953 left_y=0.0014 left_z=0.1952 left_yaw=0.0598 left_pitch=-0.042 left_roll=-0.013 left_gripper=0.9988 right_x=0.3722 right_y=0.1299 right_z=0.0539 right_yaw=0.022 right_pitch=-0.053 right_roll=-0.0257 right_gripper=0.9959\nstate[joint_eff]: [-0.0752, -0.9094, 7.2137, 1.7021, -0.1001, -0.0415, -0.0122, 0.3897, -5.2444, 8.6496, 1.8339, 0.3541, 0.1245, -0.1441]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3b10c65d9a47d7a31a587a96d2d5b6e2d8d441b38101b3a935237f59f224b90",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4aabf94ca55387074bc0f0ece56bfeb59f3e98636aea1f71c6a4df16854907b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99b5f365fc4339d575a582616974da1d069f8a34d901fc65f79d1098258becfc",
      "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 · 2.157 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]: [-0.0704, 0.8341, 0.7139, -0.49, -0.1062, -0.0982, 0.9988, 0.4858, 1.4956, 0.5423, 0.3229, 0.3775, 0.247, 0.9992]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1971 left_yaw=0.0587 left_pitch=-0.0343 left_roll=-0.011 left_gripper=0.9988 right_x=0.365 right_y=0.1232 right_z=0.0723 right_yaw=0.041 right_pitch=-0.0076 right_roll=-0.0016 right_gripper=0.9992\nstate[joint_eff]: [-0.3077, -1.7709, 6.9402, 1.8681, -0.2466, -0.1099, -0.0122, -0.1436, -6.1197, 7.7333, 1.6044, 0.2711, 0.1441, -0.0952]",
      "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]: [-0.0704, 0.8379, 0.7139, -0.4931, -0.1055, -0.1013, 0.9988, 0.4927, 1.5448, 0.5163, 0.3439, 0.3801, 0.252, 0.0099]\nstate[eef_state]: left_x=0.2953 left_y=0.0014 left_z=0.1954 left_yaw=0.0598 left_pitch=-0.0412 left_roll=-0.0131 left_gripper=0.9988 right_x=0.3575 right_y=0.1216 right_z=0.0491 right_yaw=0.0422 right_pitch=-0.0556 right_roll=-0.0224 right_gripper=0.0099\nstate[joint_eff]: [-0.1983, -1.4564, 6.9538, 1.6972, -0.1001, -0.0806, -0.0122, -0.0479, -5.3812, 5.4496, 1.7802, 0.1538, 0.0659, 0.7839]",
      "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]: [-0.0704, 0.8383, 0.7139, -0.4934, -0.1055, -0.1013, 0.9988, 0.5053, 1.5974, 0.5953, 0.3111, 0.408, 0.271, 0.9959]\nstate[eef_state]: left_x=0.2953 left_y=0.0014 left_z=0.1952 left_yaw=0.0598 left_pitch=-0.042 left_roll=-0.013 left_gripper=0.9988 right_x=0.3722 right_y=0.1299 right_z=0.0539 right_yaw=0.022 right_pitch=-0.053 right_roll=-0.0257 right_gripper=0.9959\nstate[joint_eff]: [-0.0752, -0.9094, 7.2137, 1.7021, -0.1001, -0.0415, -0.0122, 0.3897, -5.2444, 8.6496, 1.8339, 0.3541, 0.1245, -0.1441]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3b10c65d9a47d7a31a587a96d2d5b6e2d8d441b38101b3a935237f59f224b90",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4aabf94ca55387074bc0f0ece56bfeb59f3e98636aea1f71c6a4df16854907b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99b5f365fc4339d575a582616974da1d069f8a34d901fc65f79d1098258becfc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtKRBmEbKyCL45g2jJeBYLE7TlYo2pmACy_Kscu--Pmj7MXdWVGwaCfjOoNlkj7s0qk2aimX-Jw62ioo2EtvPx3VeTbe-JcZtcGHS6XkKcuJ-hFgDUWrXj6QSvHcPwcozCbC5ijOvBEKlQR9WxhCr7QvFAQQmR_oNjkAg-NPE1aX_hMg8z-WrQWbqldStDvMkRTbz0wDDJr_k7kTqsIxxeX7Chd_v6upjY3nhctQNH1DvYLUGbXle0WAQw2gvcNuczZpShuTLOMpzZZIiyufVAAXW4H5GvjADxFdn5-TBC0FdVsUHgwTghFD7J-IUE6vdeM4f2xcICq1kg8OWETq4KQ0oH9qxXdCiYJyHCu_WUVICeKasn1S1iBB4Vab5px53-kbV1dLmbidGRmrL0KVw_MgiWd1nLDOcXeRLUutgEpri2NafSy_uRAQxkPBrh-yHOYHW-67qiSkoz7-4rvC17JCyAld0ztmznJLhj3SDDxNXJzm3lRKLrCXaGUGco3pZBUXOF9efwx1INUHDYWrVQdCJwrqD_ZgvU2dxlw0Yn1WimI3ZwS3EOGKWpL9Botwe0-LtIDvMgRrcJRjCRoddWdPqoRekrNqYaYZx_SQOE7LnoVjdgWxkx3c17yhQPx3FGxX6R30hnZZJp4A8DusoGbob7owGp1yATA9HgoQMC1JMFDmhS2Vxymk6oJbNMrQXE3vwcyAiQ8JN3eN7hathvKmJAC7-nWGH2XqZbmIDfhq63G7HH-UfEHa1OQb_4bb2QFnmceo7dkP9ZUqGQqOdXQy4aZnSbt4Nt2AxkK-T5grEAKTp0PVOYOGfhXVnjZAvlvJj--Q2ckvGEoRNVgCsrsh67Zhje8pO2eE0hXgN-cWqe2z2nwvYDPNXBJszharf_jmKblhDEGAgOIdAKhsU6JfLKpE_Aq11Ewy9r4NhIjyAmmiIs8-KN0ZeUgXeuf_rjmzS_1rilIDsi_NyzFhOueJkhVkeg-_hqSpOE2hW59t4WU_qfWzLsbcVFLgTE7obw9ktEjQyXqJ_HMMCa8ybCNBB7G3vaCtY5xTNtokDwlhBIMyCeO_Plu-STBjzNQd_PoRC_qzI98EbBWALxXfshfKzMCZUYyRnfjI46MFI5QHSr4BfMMeQUsjjoM3qIyd2NBjq2QrWfNY0P3kSqo5LLKSFs2YRCDBeIIDBPgg4jlRyTXx77kcBUw3fXmxHZhGpTrWgmKN5QJndurk0vHxdC9xO5_yXgkAHh1fEZJythpZHRATP0TDnyJIVBj_ziSilPMEyOGMuiTqjVOX6u-KF8PgtNXGhbiiKzH_M58xFpIiFWRzJC9UXyha0IRZnKC-cWLfnfgCLKd48_4gTNEnbWOx-3gfzzKbHmk3ud2WMOczMoB65fPlD-4X8vT1f_t8Ac89r2UCqB4_vxMBK_vQulgtmyp6w_4LBN0_4_cEdl1PnDvWSwuP1a-lmyJEFF4N7phWC9bQfGw97XgTO-nN3PYjybnOPRcyxdI3JKbmuEKVbkYbUj2YijDexYlFKMZUn6YeFwwNk9s3-29Des9dB4KETXQC0py2DEdkE9P9fTKA9xvQB9waFA2OjGt-zCiT24KZo",
  "id": "rs_013da3c67213bd55016ab4a43f2f1487d0be3bd96525348cdd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.025,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The rim now runs through the open jaw gap rather than outside it. I’m lowering a little to grip below its rounded lip.\"}",
  "call_id": "call_oZw8fRIMouKXf2hvUWWC5mKx",
  "id": "fc_013da3c67213bd55016ab4a4401ba887d0a8c7231a1e3f089c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oZw8fRIMouKXf2hvUWWC5mKx",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0704, 0.8387, 0.7139, -0.4934, -0.1055, -0.1013, 0.9988, 0.514, 1.6714, 0.5583, 0.461, 0.4152, 0.2771, 0.9971]\nstate[eef_state]: left_x=0.2953 left_y=0.0014 left_z=0.1951 left_yaw=0.0598 left_pitch=-0.0423 left_roll=-0.0129 left_gripper=0.9988 right_x=0.3754 right_y=0.1343 right_z=0.0409 right_yaw=0.0222 right_pitch=-0.0164 right_roll=-0.0064 right_gripper=0.9971\nstate[joint_eff]: [-0.1846, -1.4017, 6.9675, 1.707, -0.0952, -0.0757, -0.0122, 0.2803, -5.6547, 3.5214, 1.37, 0.2955, 0.0659, 0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c8f2fc3e96eb47ef539903e121756f6353048bc31eff24ed72297b253898c29",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09a9a982b82c01a4948396a537c2c7b3c77f063b50db22d55852815132d8a9e7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f66d8cc5a4578b50f7db2c676de203938fe9dd4ef76f75585295242f695db78",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 3.105 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]: [-0.0704, 0.8379, 0.7139, -0.4923, -0.1055, -0.1013, 0.9988, 0.4927, 1.5452, 0.5167, 0.3431, 0.384, 0.2577, 0.9991]\nstate[eef_state]: left_x=0.2954 left_y=0.0014 left_z=0.1956 left_yaw=0.0598 left_pitch=-0.0404 left_roll=-0.0132 left_gripper=0.9988 right_x=0.3576 right_y=0.1209 right_z=0.0492 right_yaw=0.036 right_pitch=-0.0551 right_roll=-0.0203 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -1.265, 7.0496, 1.6972, -0.0904, -0.0171, -0.0122, -0.253, -6.0239, 5.7094, 1.9805, 0.1685, -0.0171, -0.0171]",
      "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]: [-0.0704, 0.8383, 0.7139, -0.4934, -0.1055, -0.1013, 0.9988, 0.5053, 1.5974, 0.5953, 0.3111, 0.408, 0.271, 0.9959]\nstate[eef_state]: left_x=0.2953 left_y=0.0014 left_z=0.1952 left_yaw=0.0598 left_pitch=-0.042 left_roll=-0.013 left_gripper=0.9988 right_x=0.3722 right_y=0.1299 right_z=0.0539 right_yaw=0.022 right_pitch=-0.053 right_roll=-0.0257 right_gripper=0.9959\nstate[joint_eff]: [-0.0752, -0.9094, 7.2137, 1.7021, -0.1001, -0.0415, -0.0122, 0.3897, -5.2444, 8.6496, 1.8339, 0.3541, 0.1245, -0.1441]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0704, 0.8387, 0.7139, -0.4934, -0.1055, -0.1013, 0.9988, 0.514, 1.6714, 0.5583, 0.461, 0.4152, 0.2771, 0.9971]\nstate[eef_state]: left_x=0.2953 left_y=0.0014 left_z=0.1951 left_yaw=0.0598 left_pitch=-0.0423 left_roll=-0.0129 left_gripper=0.9988 right_x=0.3754 right_y=0.1343 right_z=0.0409 right_yaw=0.0222 right_pitch=-0.0164 right_roll=-0.0064 right_gripper=0.9971\nstate[joint_eff]: [-0.1846, -1.4017, 6.9675, 1.707, -0.0952, -0.0757, -0.0122, 0.2803, -5.6547, 3.5214, 1.37, 0.2955, 0.0659, 0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c8f2fc3e96eb47ef539903e121756f6353048bc31eff24ed72297b253898c29",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09a9a982b82c01a4948396a537c2c7b3c77f063b50db22d55852815132d8a9e7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f66d8cc5a4578b50f7db2c676de203938fe9dd4ef76f75585295242f695db78",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The fingertips straddle the peach bowl’s wall below the lip. I’m closing the pinch now.\"}",
  "call_id": "call_cPSQ3qVESE5D5FYI40Zk3pef",
  "id": "fc_013da3c67213bd55016ab4a4429a8c87d0bedf2e408b25b195",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cPSQ3qVESE5D5FYI40Zk3pef",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0704, 0.8433, 0.7139, -0.4938, -0.1055, -0.1013, 0.9988, 0.5213, 1.7256, 0.5156, 0.6346, 0.4255, 0.3023, 0.0386]\nstate[eef_state]: left_x=0.2956 left_y=0.0014 left_z=0.1938 left_yaw=0.0598 left_pitch=-0.0473 left_roll=-0.0123 left_gripper=0.9988 right_x=0.379 right_y=0.1377 right_z=0.0393 right_yaw=0.0068 right_pitch=0.0535 right_roll=0.0468 right_gripper=0.0386\nstate[joint_eff]: [-0.2256, -1.894, 6.9538, 1.6679, -0.0757, -0.0464, -0.0122, -0.335, -5.2991, 4.1915, 1.1404, 0.2662, -0.0952, 0.7497]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce7ae0424b1b819a1c2063d8f401b00912035eb5b940c12df7e72992dd6a1bf5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e307afe2f32d29dc67e1fd4c256dd73fc7214cc05500f97c2f3a492921463c7b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f735ff37a52f6863e1e876318a247a7d3c5543267f024510d9851f49a57ddff",
      "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 29 attempt 0 · /responses · status 200 · 4.922 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 99 changed as sent

message 107 changed as sent

message 110 changed as sent

message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0704, 0.8379, 0.7139, -0.4931, -0.1055, -0.1013, 0.9988, 0.4927, 1.5448, 0.5163, 0.3439, 0.3801, 0.252, 0.0099]\nstate[eef_state]: left_x=0.2953 left_y=0.0014 left_z=0.1954 left_yaw=0.0598 left_pitch=-0.0412 left_roll=-0.0131 left_gripper=0.9988 right_x=0.3575 right_y=0.1216 right_z=0.0491 right_yaw=0.0422 right_pitch=-0.0556 right_roll=-0.0224 right_gripper=0.0099\nstate[joint_eff]: [-0.1983, -1.4564, 6.9538, 1.6972, -0.1001, -0.0806, -0.0122, -0.0479, -5.3812, 5.4496, 1.7802, 0.1538, 0.0659, 0.7839]",
      "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]: [-0.0704, 0.8387, 0.7139, -0.4934, -0.1055, -0.1013, 0.9988, 0.514, 1.6714, 0.5583, 0.461, 0.4152, 0.2771, 0.9971]\nstate[eef_state]: left_x=0.2953 left_y=0.0014 left_z=0.1951 left_yaw=0.0598 left_pitch=-0.0423 left_roll=-0.0129 left_gripper=0.9988 right_x=0.3754 right_y=0.1343 right_z=0.0409 right_yaw=0.0222 right_pitch=-0.0164 right_roll=-0.0064 right_gripper=0.9971\nstate[joint_eff]: [-0.1846, -1.4017, 6.9675, 1.707, -0.0952, -0.0757, -0.0122, 0.2803, -5.6547, 3.5214, 1.37, 0.2955, 0.0659, 0.1148]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0704, 0.8433, 0.7139, -0.4938, -0.1055, -0.1013, 0.9988, 0.5213, 1.7256, 0.5156, 0.6346, 0.4255, 0.3023, 0.0386]\nstate[eef_state]: left_x=0.2956 left_y=0.0014 left_z=0.1938 left_yaw=0.0598 left_pitch=-0.0473 left_roll=-0.0123 left_gripper=0.9988 right_x=0.379 right_y=0.1377 right_z=0.0393 right_yaw=0.0068 right_pitch=0.0535 right_roll=0.0468 right_gripper=0.0386\nstate[joint_eff]: [-0.2256, -1.894, 6.9538, 1.6679, -0.0757, -0.0464, -0.0122, -0.335, -5.2991, 4.1915, 1.1404, 0.2662, -0.0952, 0.7497]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce7ae0424b1b819a1c2063d8f401b00912035eb5b940c12df7e72992dd6a1bf5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e307afe2f32d29dc67e1fd4c256dd73fc7214cc05500f97c2f3a492921463c7b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f735ff37a52f6863e1e876318a247a7d3c5543267f024510d9851f49a57ddff",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtKRH3d7mXoNhH1_q2klmWCpjaDKrxDJ0wFUjolkrj_lsfN2yt2qT9B7u-k5hjpncdIb4qY2oYbH3ZMBB1wcYcLkQLVRyc5V6SrcwGt6jRg5SxSrAEqU-6nOF9bOdhrSmbOjIXqZUxG0YyPhxVSglwva76IpESYOFqr_bVUsDuLZ3YXe4DYmL7APhGORLWXSE-TbaLCQka2aWJWlsnd7fUlTa99kZziwKxUVJ-gPOhn0AQhoxe8CB-ULdwGuSmcoHE595RAFDQsCiiUceqk6lLnc4sxoIhj4pC9R4LQeO1AdKeikFIY2v2NRa0P-nNIOZgVBBumdT2drzLgp4Ig2dsP98_eMTGJTrL-r9C_YOpxS_Tyk1CcCHGqsEBACNa-m1DL08JJELalzGmNBpCMjr1JB-WqnL8b-dOnQdCY-BlQS60dold0MI6byifDn3ZyjznrN8mMM3_85kwQaDCiDud6SrqXMbPQUELVePOKb9AnqyV_OzkI-lS6eVOHlqgsQ83euqpWxn7EK3HUd9PBr9RQS4HFnNTj-052Q_euow4gPtvLAhaPyiwaUEFwMEyvb8IYL1XpY3tkCesgkGx7nyoIAz5j8ITtLEnV8uriMZKTS49x8z7e-_UFydV3kejyxa-ROTyOW07cvKIiCaKYOsWCtO1zWGwkZeTGnaceu5fjC1SVY1xZQyD_oy_KCMQIn3vdfEg_A7IQU65_zWRSKEOjmYOnJUxtUPDWar80_xac9NQxPGR-PgQRH3rWBL8P_kdzRBWzVprOjObPLGpiIz1oX2Pi-G8gR9aWcAiJ7ZtQUkFkrrFu37dX-utKrtVailQP1uLFcQFCaOuAr7CadBLKMprMeHJegx71YE94Bsr96jcZYYlPAlFcxTAv5pUhpX-2SPOrmz-toRNXFpitiJRJaq6lLfYbdBNhsiULTzkUPWvb6WXmg_SzvHkHmrGhS4ig542XDYmHYGzx4_OlK2l1xzSNcN7OxdNpZj4ONFrbhTjPSxf09ndYtHdijTdjC1qJ4CqZG_qhvrnGFwotvaOWrWgOng3O1N5m9O0GshQylN3vUkb2ocP53Ni1semwugwZ-IYj52IMxcGsl7u4XxbFO4ZI-AYclrlbXgfrU_g16A02p-BYdJD4bCNwYBSSOe3BvXu8rcWQYZsOjD9EbF6r63JR5UGTwpS0r4ZHMWcGxkgL-NPjH-V0mxLh87FApsneTwH3CMT76VeJMc9HNdJXlsaqXfZBYJqxfH5OHqoTiAoUMMM8lUBbjePOmg1SBUvy4UTwgxftW2NXLgXPQaOJ_SDsAhbKiNBT3IVzywQwchSs0=",
  "id": "rs_013da3c67213bd55016ab4a445b0f887d08c5ac64ba7ad8a87",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.385,\"right_y\":0.135,\"right_z\":0.115,\"right_gripper\":0,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The bowl moved slightly as the jaws captured its thin wall. I’m checking the grasp with a vertical lift while maintaining the closing command.\"}",
  "call_id": "call_cW9RzyrmSt0adUFxsyqIvXev",
  "id": "fc_013da3c67213bd55016ab4a446131887d0882f0c16823eea12",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cW9RzyrmSt0adUFxsyqIvXev",
  "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]: [-0.0704, 0.8444, 0.7139, -0.4938, -0.1055, -0.1013, 0.9988, 0.5148, 1.5101, 0.6872, 0.2104, 0.4187, 0.2844, 0.0352]\nstate[eef_state]: left_x=0.2957 left_y=0.0014 left_z=0.1935 left_yaw=0.0598 left_pitch=-0.0484 left_roll=-0.0121 left_gripper=0.9988 right_x=0.3853 right_y=0.1396 right_z=0.1038 right_yaw=0.0163 right_pitch=0.0195 right_roll=0.0168 right_gripper=0.0352\nstate[joint_eff]: [-0.1573, -1.347, 6.9949, 1.6581, -0.0952, -0.0611, -0.0122, -0.6359, -7.4051, 8.6222, 1.8095, 0.2906, 0.0024, 0.9792]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0091b24f0bb73382e49e54dfa5d25b0106ca828859ff1bea77c73e5ad98d084",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc34e18904b6a99422e925aad888cbc049baf7e17b0afab9ac57744cc018230b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b9a0cc46cfaf2593465e40020351a9c0cc3581c65c64359a5cb4a293bd7bd4a",
      "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 30 attempt 0 · /responses · status 200 · 6.976 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 103 changed as sent

message 110 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]: [-0.0704, 0.8383, 0.7139, -0.4934, -0.1055, -0.1013, 0.9988, 0.5053, 1.5974, 0.5953, 0.3111, 0.408, 0.271, 0.9959]\nstate[eef_state]: left_x=0.2953 left_y=0.0014 left_z=0.1952 left_yaw=0.0598 left_pitch=-0.042 left_roll=-0.013 left_gripper=0.9988 right_x=0.3722 right_y=0.1299 right_z=0.0539 right_yaw=0.022 right_pitch=-0.053 right_roll=-0.0257 right_gripper=0.9959\nstate[joint_eff]: [-0.0752, -0.9094, 7.2137, 1.7021, -0.1001, -0.0415, -0.0122, 0.3897, -5.2444, 8.6496, 1.8339, 0.3541, 0.1245, -0.1441]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0704, 0.8433, 0.7139, -0.4938, -0.1055, -0.1013, 0.9988, 0.5213, 1.7256, 0.5156, 0.6346, 0.4255, 0.3023, 0.0386]\nstate[eef_state]: left_x=0.2956 left_y=0.0014 left_z=0.1938 left_yaw=0.0598 left_pitch=-0.0473 left_roll=-0.0123 left_gripper=0.9988 right_x=0.379 right_y=0.1377 right_z=0.0393 right_yaw=0.0068 right_pitch=0.0535 right_roll=0.0468 right_gripper=0.0386\nstate[joint_eff]: [-0.2256, -1.894, 6.9538, 1.6679, -0.0757, -0.0464, -0.0122, -0.335, -5.2991, 4.1915, 1.1404, 0.2662, -0.0952, 0.7497]",
      "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]: [-0.0704, 0.8444, 0.7139, -0.4938, -0.1055, -0.1013, 0.9988, 0.5148, 1.5101, 0.6872, 0.2104, 0.4187, 0.2844, 0.0352]\nstate[eef_state]: left_x=0.2957 left_y=0.0014 left_z=0.1935 left_yaw=0.0598 left_pitch=-0.0484 left_roll=-0.0121 left_gripper=0.9988 right_x=0.3853 right_y=0.1396 right_z=0.1038 right_yaw=0.0163 right_pitch=0.0195 right_roll=0.0168 right_gripper=0.0352\nstate[joint_eff]: [-0.1573, -1.347, 6.9949, 1.6581, -0.0952, -0.0611, -0.0122, -0.6359, -7.4051, 8.6222, 1.8095, 0.2906, 0.0024, 0.9792]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0091b24f0bb73382e49e54dfa5d25b0106ca828859ff1bea77c73e5ad98d084",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc34e18904b6a99422e925aad888cbc049baf7e17b0afab9ac57744cc018230b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b9a0cc46cfaf2593465e40020351a9c0cc3581c65c64359a5cb4a293bd7bd4a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtKRMTU9BIVBcAyJUi3LPO67FnzD8Grh7VxL0hkpYipWOSYdUP2cwCo7tqXwTycH2GtHfIMWYlTVQFvWJGkr49yxZe9MP7_nsaZIGPKezbd2cvQhf8BINUoRuLJKY6QhBMRpy5KSOlHQuQn_hsxixVBaDGAbuZr8t4SGYWkPNZpdVa2H7v3Ue-SDeg7Z56hpf8JZXqog_OCpsRC0W3wlrSrXr-W6uM2mNSHZt3VHPaq5YVSR_qauxT42VQvEwcVLNVQg9dHDndLeXZYsPNuSJq_5tM1jq-iOAoJoJuK6SSfDw6JYZmpTuWUISkaJe7FWFartllc6iUvT4BMdEdqf7hUzbWDvWhu3YCAATYH_HMD9u42712UINrlEBYGk7-5njh5_tZWg20rSFc43kaZg6IO1TGCVGb2b4IlYnggiYFY1zp3LJ3TARe_5HKhq-ruXnOKvtRQ4YDQheeZ5hv-DNtXdFLouQGdDDDQLz2XW4tb2vYU1Kx3IJAedF5g3YyPQmcRjz212RG4_jiBA1z1udF0UKigfUmZMWYE5u0zk_660El8QvSEIv_40iYOuyD5nHE3nipFiqTpBt0tRWnwE9vbvWC2jWjAFxpA1ppqfA97CtFGV7PtmDmuvrQg1PllOM5T2-EJMF53X6PHTXWDTsUEmFNHCOepcr5FRX9zVOcPfTwTcVRKn4RfbsMPkp9s3zuEhtPqkVJQcgZhKAzL88IrAriHFPo3al3-pcox8h-TUxDp8qfD7Qj4Y6Le1h_8Tl2C9LnpXSYkcmyP2ccZFio2C46igdVLxd_-YecYYKvfYiTDO_sjdopxR-tvZXPqH2kpxnFxFfFMTzNy59xs5rDM_9xk1_P_Gve-vyrLNK0AUM5DqV9Pf7j8zVVX8wUZVidrpNhaNU9MTRIU2XjR0UPZAHoKt_coWWX41CO79lRFF1BDL7XhIum84o9xM6gP88-vgZe32IQNOb9J_2fjVYtwEwJ62hBpBtsUg2YJqbjkAsNWdVFHkGq9uz8JOozrAhCIMyyDRxD2Chc0Hdnonx3gxyuHCKuMWIHWYvv7YQjsHpqKeKUGR9JC4SbW2BQ6lNsQhcVryIMXl8s7umRVhp8jmqrnzfs8esEx26yP6A58Aiplc_LQO4bpMIYbjix_vyOxLtKpFwZI-M-NU2iUZMZ0Yj4J2nRenL8tALjpL8T-9bIrOOU0lgJDF1N_bfTD3lGkxGPlXkXFC4mCXQOIKaKaobFiQ60VvgDMU5K7_g9ZmLBjicY_g6_ep2ln8O_fb3xu5PL-nzqnNSmnvLiN3BfJPve1Y8FoWxrYPZ5Z04JfwgxhCvFX6KDRskfZdOMnA1A9ez1PShNWwV19dYeTENm3kKRN5KGWTqdbEpvrI74-SeBBpN_4XPOSlhZG8zSsWvfT-pKqfYJ5lwvLhCN7dro5Np-Gdugqg-aoSf-U7y2jV0bU-5Dqsg_S7cOu7GmRgyb9EyoFF62ryjJL1ZDXoSsTDYXXVbQ4kfDpLzHFDXWoZKn_UupI3rshQUrJIVTLXlJTfzaHJ1_-v4GP9wCA4s-ho_ogSEmxwKes1_oSXwnMqcXxR02HxFtXmu9pmiRu7ch8LhH5WHLE9vS7Uz6Ldw95Fbc6VWlI2pQ6LdNYxBR48K-7VVVAR5ZdFKID7JtmEmCqScToEcPArrYJJkxr_RqToxFl1Sys45N0eLYQ1DpBCEBVOqRAVUuiue7qQdp1fYOIeOzQc6nwI7aMBm-pkN2_oIUQrmfHE44b2K70y0gxqIv4TyoUIRc2GaXHkZM9QQET8IBUJe122VBdCb5pMO3hxUbKZnPX9HH1eEq4LyCE32IMDBkphtGWW6yOKter5T5UNZ_GSiNQlGVIUKSaoNoddTHQ==",
  "id": "rs_013da3c67213bd55016ab4a449352087d0b739f37925834e0c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.385,\"right_y\":0.255,\"right_z\":0.2,\"right_gripper\":0,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The peach bowl is lifting with the right hand. I’m carrying it over the two-bowl stack while keeping the thin rim firmly pinched.\"}",
  "call_id": "call_VSOWOCO3JZGRr1XJkkR9yDvv",
  "id": "fc_013da3c67213bd55016ab4a44bb50087d0b83bcfb192eac830",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VSOWOCO3JZGRr1XJkkR9yDvv",
  "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]: [-0.0704, 0.8448, 0.7139, -0.4942, -0.1055, -0.1013, 0.9988, 0.8074, 1.6695, 1.2545, -0.3607, 0.6216, 0.4736, 0.0341]\nstate[eef_state]: left_x=0.2957 left_y=0.0014 left_z=0.1933 left_yaw=0.0598 left_pitch=-0.0491 left_roll=-0.012 left_gripper=0.9988 right_x=0.3808 right_y=0.2543 right_z=0.1813 right_yaw=0.0478 right_pitch=-0.0337 right_roll=-0.0257 right_gripper=0.0341\nstate[joint_eff]: [-0.0752, -1.3607, 6.9949, 1.6972, -0.0757, -0.0562, -0.0122, 0.2256, -8.0615, 9.4838, 1.4921, 0.4762, 0.149, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74bb0f615dc632d0bcfdfbcf512c4f2e4cf410e2ac5b919bd14fae8b6e125081",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dac233035d8e76910a230f66b49e033c8a0249920d1f8dc98c20d3c24d220b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e8b543a908879f18d9e5b36991046e256f2217da7e6702de20854eb850c9f93",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /responses · status 200 · 4.214 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 107 changed as sent

message 114 changed as sent

message 118 changed as sent

message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0704, 0.8387, 0.7139, -0.4934, -0.1055, -0.1013, 0.9988, 0.514, 1.6714, 0.5583, 0.461, 0.4152, 0.2771, 0.9971]\nstate[eef_state]: left_x=0.2953 left_y=0.0014 left_z=0.1951 left_yaw=0.0598 left_pitch=-0.0423 left_roll=-0.0129 left_gripper=0.9988 right_x=0.3754 right_y=0.1343 right_z=0.0409 right_yaw=0.0222 right_pitch=-0.0164 right_roll=-0.0064 right_gripper=0.9971\nstate[joint_eff]: [-0.1846, -1.4017, 6.9675, 1.707, -0.0952, -0.0757, -0.0122, 0.2803, -5.6547, 3.5214, 1.37, 0.2955, 0.0659, 0.1148]",
      "type": "input_text"
    },
    {
      "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]: [-0.0704, 0.8444, 0.7139, -0.4938, -0.1055, -0.1013, 0.9988, 0.5148, 1.5101, 0.6872, 0.2104, 0.4187, 0.2844, 0.0352]\nstate[eef_state]: left_x=0.2957 left_y=0.0014 left_z=0.1935 left_yaw=0.0598 left_pitch=-0.0484 left_roll=-0.0121 left_gripper=0.9988 right_x=0.3853 right_y=0.1396 right_z=0.1038 right_yaw=0.0163 right_pitch=0.0195 right_roll=0.0168 right_gripper=0.0352\nstate[joint_eff]: [-0.1573, -1.347, 6.9949, 1.6581, -0.0952, -0.0611, -0.0122, -0.6359, -7.4051, 8.6222, 1.8095, 0.2906, 0.0024, 0.9792]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0704, 0.8448, 0.7139, -0.4942, -0.1055, -0.1013, 0.9988, 0.8074, 1.6695, 1.2545, -0.3607, 0.6216, 0.4736, 0.0341]\nstate[eef_state]: left_x=0.2957 left_y=0.0014 left_z=0.1933 left_yaw=0.0598 left_pitch=-0.0491 left_roll=-0.012 left_gripper=0.9988 right_x=0.3808 right_y=0.2543 right_z=0.1813 right_yaw=0.0478 right_pitch=-0.0337 right_roll=-0.0257 right_gripper=0.0341\nstate[joint_eff]: [-0.0752, -1.3607, 6.9949, 1.6972, -0.0757, -0.0562, -0.0122, 0.2256, -8.0615, 9.4838, 1.4921, 0.4762, 0.149, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74bb0f615dc632d0bcfdfbcf512c4f2e4cf410e2ac5b919bd14fae8b6e125081",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dac233035d8e76910a230f66b49e033c8a0249920d1f8dc98c20d3c24d220b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e8b543a908879f18d9e5b36991046e256f2217da7e6702de20854eb850c9f93",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
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  "id": "rs_013da3c67213bd55016ab4a44f143887d08d79217259524efa",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.385,\"right_y\":0.275,\"right_z\":0.10,\"right_gripper\":0,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The peach bowl is above the stack and slightly to its right. I’m making a small centering correction and lowering it toward the teal bowl.\"}",
  "call_id": "call_twQiQLve9YmvMhCkmKfiPudU",
  "id": "fc_013da3c67213bd55016ab4a453975887d082215056309641ef",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_twQiQLve9YmvMhCkmKfiPudU",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0704, 0.8455, 0.7139, -0.4938, -0.1055, -0.1013, 0.9988, 0.8501, 1.832, 1.1168, -0.1291, 0.6586, 0.5255, 0.0325]\nstate[eef_state]: left_x=0.2958 left_y=0.0014 left_z=0.1932 left_yaw=0.0598 left_pitch=-0.0495 left_roll=-0.012 left_gripper=0.9988 right_x=0.3767 right_y=0.2705 right_z=0.095 right_yaw=0.0336 right_pitch=-0.0616 right_roll=-0.051 right_gripper=0.0325\nstate[joint_eff]: [-0.0205, -1.4974, 6.9538, 1.6728, -0.0952, -0.0611, -0.0122, 0.2393, -8.0889, 5.6684, 1.6777, 0.6032, 0.2418, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f21cd15569f4ba381c66b5020d561cc778c987e2b907204e3d519d8c35ad729",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6504e28118af8578b60c4ca28c5dc284e99f7e98988fadd54c51a38a83a24f6d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a96340bccb806068b07f07b47a18cd5d9b7e8f5daf0ba7d456969782d46b9daa",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /responses · status 200 · 2.173 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 110 changed as sent

message 118 changed as sent

message 122 changed as sent

message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0704, 0.8433, 0.7139, -0.4938, -0.1055, -0.1013, 0.9988, 0.5213, 1.7256, 0.5156, 0.6346, 0.4255, 0.3023, 0.0386]\nstate[eef_state]: left_x=0.2956 left_y=0.0014 left_z=0.1938 left_yaw=0.0598 left_pitch=-0.0473 left_roll=-0.0123 left_gripper=0.9988 right_x=0.379 right_y=0.1377 right_z=0.0393 right_yaw=0.0068 right_pitch=0.0535 right_roll=0.0468 right_gripper=0.0386\nstate[joint_eff]: [-0.2256, -1.894, 6.9538, 1.6679, -0.0757, -0.0464, -0.0122, -0.335, -5.2991, 4.1915, 1.1404, 0.2662, -0.0952, 0.7497]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0704, 0.8448, 0.7139, -0.4942, -0.1055, -0.1013, 0.9988, 0.8074, 1.6695, 1.2545, -0.3607, 0.6216, 0.4736, 0.0341]\nstate[eef_state]: left_x=0.2957 left_y=0.0014 left_z=0.1933 left_yaw=0.0598 left_pitch=-0.0491 left_roll=-0.012 left_gripper=0.9988 right_x=0.3808 right_y=0.2543 right_z=0.1813 right_yaw=0.0478 right_pitch=-0.0337 right_roll=-0.0257 right_gripper=0.0341\nstate[joint_eff]: [-0.0752, -1.3607, 6.9949, 1.6972, -0.0757, -0.0562, -0.0122, 0.2256, -8.0615, 9.4838, 1.4921, 0.4762, 0.149, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0704, 0.8455, 0.7139, -0.4938, -0.1055, -0.1013, 0.9988, 0.8501, 1.832, 1.1168, -0.1291, 0.6586, 0.5255, 0.0325]\nstate[eef_state]: left_x=0.2958 left_y=0.0014 left_z=0.1932 left_yaw=0.0598 left_pitch=-0.0495 left_roll=-0.012 left_gripper=0.9988 right_x=0.3767 right_y=0.2705 right_z=0.095 right_yaw=0.0336 right_pitch=-0.0616 right_roll=-0.051 right_gripper=0.0325\nstate[joint_eff]: [-0.0205, -1.4974, 6.9538, 1.6728, -0.0952, -0.0611, -0.0122, 0.2393, -8.0889, 5.6684, 1.6777, 0.6032, 0.2418, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f21cd15569f4ba381c66b5020d561cc778c987e2b907204e3d519d8c35ad729",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6504e28118af8578b60c4ca28c5dc284e99f7e98988fadd54c51a38a83a24f6d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a96340bccb806068b07f07b47a18cd5d9b7e8f5daf0ba7d456969782d46b9daa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtKRZrFy5aqaKihkU9OERvm_yUnL5HT-TZ3lFFKSUCk5u5vr1J5Q67VrkhuJqrmCj-o8nU4o-wvOQaocKoHQjCbxKJWhAJags9XqwHBpsTqzQPKjwH3-AYpkKlsX51ZP6RDDfLkGnNHPn9-UqgRM3idkYf0PpisWuERSx1dw2akUPFnMYKRxVMNJIut9YHQjv72Yki3UuTAidn1KcK0buSUHawgp2rHfKWWzS9bDdWEy2Csdw-mGmQE_94pf-lVagv82N3zz8nEbfb9Rd-AVnK8dywPB-pGc_kYqtJAATic0-61Eml-9SKDK7kW2U-Y_3FP7sK__HWx33Swpixg4v_20lIzg63yRaz9wHiSEodrHzC1bIa0fRQhAoaNZFFYXmfYYSm9XAeXM6sH_yIB5duYDrIXBVoSyCTGAA_P6Sdw8jEiSfIr1ZJN2zaaXRmx8Iyuuwrxls0zAAXhDP0WOhos1kU_Y3MqFTivgVYxtyix11ep2pNhIm6Y7s8JX0vJQscNpRxxmdr1nG_aOBwz_BAPLkh3CRHPU25KpSqyvU_1KyoI4hAtorxSqVk2lfzckeY245_DDSJP2L6JNL0txEbhzAX-0vxx9Og1pvcZ39OFvMGGr-0L2Mse9CwS_1RLUo4lE3ixNmCwAfAsGqAfE8_eUw_bHthXqsQ5ycWZu8KHIBRBiEF3CaQa0C_Ys4UQYT1hFO0M08shnzh90YTP3_FtR2pSqK7PGIwutIubUdTPMyXJ_MP5LYPJn8duxKMns7IthzOS9anqrMC5cofWPVXYONGewQLnf-OdPPkfBv85N1xP_ZnYUh4ZWT_BZV2sxSDZmLqulijfM-RyEEaoNB2XeC8brbomj4PGp4bcfpv-6kN0cMhdU2ldyNC0Z0X-3j9VVMUIqed4vlJ-_8Ihsj22RYpcwWPdV8Qe4sAJB6B36Mcf9GvnjNot_V-xftjsSIBuR_sKfiR018hjiDh-chBdLZLgIZBEXr_uLCXps69dqYLXPl07qzsHf-CYNgjF5Br6vkerlBA64sm-uDeniThXoR1jKVsSb5hO77n9wd3o-R8Msh9qHIuIElXK7IF8ywsE8x7tDfVY0YJgApMXYNdYXjJ7kNY3o16HCNI14bR9FVKudeIYVx4LHI2zTXOTY6MWBreOLk3jqQ41v60uOznxwA7ftIZgNWlv2XdsFHQ2s75FrdR6rDf_2w2cWrrqnqAn1wAYdZeggGhmjS-qfQTsSMlWCb4VZ0PVNfdFWuYqjNtfQIt_9tWilE59VkbPgdbWTLg-Gx7vaw6t0c11fUlA3Y5V2RWM1NjF0_CTOOmp53Fnb0Qi4qe42_rW1AgYJuFT4affWFVCLTu4EyeLLDSr7s5Z6PRWZie4LNg1fupl58V3TxHzlGoDh2va9-xlBtLrJHnzFHFR8pGDlw7rJNGe7DVIH02u0jFLdn8Ftk9RWrjN7d4bsj1jfOO8blOvNuqtSPFzu_iqkJpgdOxCPnUWBabblTJoyhY0sJSGoOT_SyzFGUFw0P5AiJGzKMIE6HxGzHTJKtmJ3tuRD92QpYrnfK75mf6fRRoqBHtO-PsLA66Ug=",
  "id": "rs_013da3c67213bd55016ab4a45674fc87d0a9952c0bc6b8246e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.065,\"right_gripper\":0,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The peach bowl is centered inside the teal rim. I’m lowering the final few centimeters so it can settle into the stack.\"}",
  "call_id": "call_vQ3TAiqhz7l7pItQmzeOTZvI",
  "id": "fc_013da3c67213bd55016ab4a457e87887d0a7a4ca861a1516b2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vQ3TAiqhz7l7pItQmzeOTZvI",
  "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]: [-0.0704, 0.8455, 0.7139, -0.4942, -0.1055, -0.1013, 0.9988, 0.8585, 1.8713, 1.0264, 0.0441, 0.68, 0.548, 0.032]\nstate[eef_state]: left_x=0.2958 left_y=0.0014 left_z=0.1931 left_yaw=0.0598 left_pitch=-0.0499 left_roll=-0.0119 left_gripper=0.9988 right_x=0.3755 right_y=0.2704 right_z=0.0719 right_yaw=0.0162 right_pitch=-0.0201 right_roll=-0.0111 right_gripper=0.032\nstate[joint_eff]: [-0.0615, -1.4427, 7.0222, 1.6923, -0.0659, -0.0024, -0.0122, 0.253, -7.788, 5.5863, 1.1648, 0.3248, -0.1441, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cd1d64207474301d20e60301290030af9801d0006ab9fe67a55eb6fbea04be6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31a7ad2513bb417a878a9a272ec8997363b2e8eb5f9f3bd693538af9ccfb5912",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:225c61bf32125487b1d39392e8a69206a838d5b5280dd7054e79c55f7e9f69af",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /responses · status 200 · 2.255 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 114 changed as sent

message 122 changed as sent

message 126 changed as sent

message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0704, 0.8444, 0.7139, -0.4938, -0.1055, -0.1013, 0.9988, 0.5148, 1.5101, 0.6872, 0.2104, 0.4187, 0.2844, 0.0352]\nstate[eef_state]: left_x=0.2957 left_y=0.0014 left_z=0.1935 left_yaw=0.0598 left_pitch=-0.0484 left_roll=-0.0121 left_gripper=0.9988 right_x=0.3853 right_y=0.1396 right_z=0.1038 right_yaw=0.0163 right_pitch=0.0195 right_roll=0.0168 right_gripper=0.0352\nstate[joint_eff]: [-0.1573, -1.347, 6.9949, 1.6581, -0.0952, -0.0611, -0.0122, -0.6359, -7.4051, 8.6222, 1.8095, 0.2906, 0.0024, 0.9792]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0704, 0.8455, 0.7139, -0.4938, -0.1055, -0.1013, 0.9988, 0.8501, 1.832, 1.1168, -0.1291, 0.6586, 0.5255, 0.0325]\nstate[eef_state]: left_x=0.2958 left_y=0.0014 left_z=0.1932 left_yaw=0.0598 left_pitch=-0.0495 left_roll=-0.012 left_gripper=0.9988 right_x=0.3767 right_y=0.2705 right_z=0.095 right_yaw=0.0336 right_pitch=-0.0616 right_roll=-0.051 right_gripper=0.0325\nstate[joint_eff]: [-0.0205, -1.4974, 6.9538, 1.6728, -0.0952, -0.0611, -0.0122, 0.2393, -8.0889, 5.6684, 1.6777, 0.6032, 0.2418, 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 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0704, 0.8455, 0.7139, -0.4942, -0.1055, -0.1013, 0.9988, 0.8585, 1.8713, 1.0264, 0.0441, 0.68, 0.548, 0.032]\nstate[eef_state]: left_x=0.2958 left_y=0.0014 left_z=0.1931 left_yaw=0.0598 left_pitch=-0.0499 left_roll=-0.0119 left_gripper=0.9988 right_x=0.3755 right_y=0.2704 right_z=0.0719 right_yaw=0.0162 right_pitch=-0.0201 right_roll=-0.0111 right_gripper=0.032\nstate[joint_eff]: [-0.0615, -1.4427, 7.0222, 1.6923, -0.0659, -0.0024, -0.0122, 0.253, -7.788, 5.5863, 1.1648, 0.3248, -0.1441, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cd1d64207474301d20e60301290030af9801d0006ab9fe67a55eb6fbea04be6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31a7ad2513bb417a878a9a272ec8997363b2e8eb5f9f3bd693538af9ccfb5912",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:225c61bf32125487b1d39392e8a69206a838d5b5280dd7054e79c55f7e9f69af",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The peach bowl has settled into the bowls below it. I’m releasing the rim without shifting the stack.\"}",
  "call_id": "call_wxBYmHisaniBtfei9Kg6EwBC",
  "id": "fc_013da3c67213bd55016ab4a45b0ac487d08cdaacf2f5457adf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wxBYmHisaniBtfei9Kg6EwBC",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0704, 0.8455, 0.7139, -0.4938, -0.1055, -0.1013, 0.9988, 0.8585, 1.8877, 1.0058, 0.102, 0.6918, 0.5537, 0.9953]\nstate[eef_state]: left_x=0.2958 left_y=0.0014 left_z=0.1932 left_yaw=0.0598 left_pitch=-0.0495 left_roll=-0.012 left_gripper=0.9988 right_x=0.3773 right_y=0.27 right_z=0.067 right_yaw=0.0049 right_pitch=0.0001 right_roll=0.0039 right_gripper=0.9953\nstate[joint_eff]: [-0.1983, -1.4564, 6.9538, 1.6728, -0.0806, -0.0415, -0.0073, 0.1983, -8.7179, 5.9829, 1.3748, 0.2808, -0.0073, -0.1832]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec727acb17036702bd13b6dbe6e392090cdb34c8009cf07927ef3600441628ea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0e48e0e2f28126622cd4e61198d66b619a87a33f33b594602c3a8c079fafa44",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb5f08771db8c9691eb9aa08bc90fc74c1d095b90cbf84d52275ba003e51e0d8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /responses · status 200 · 3.076 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 118 changed as sent

message 126 changed as sent

message 129 changed as sent

message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0704, 0.8448, 0.7139, -0.4942, -0.1055, -0.1013, 0.9988, 0.8074, 1.6695, 1.2545, -0.3607, 0.6216, 0.4736, 0.0341]\nstate[eef_state]: left_x=0.2957 left_y=0.0014 left_z=0.1933 left_yaw=0.0598 left_pitch=-0.0491 left_roll=-0.012 left_gripper=0.9988 right_x=0.3808 right_y=0.2543 right_z=0.1813 right_yaw=0.0478 right_pitch=-0.0337 right_roll=-0.0257 right_gripper=0.0341\nstate[joint_eff]: [-0.0752, -1.3607, 6.9949, 1.6972, -0.0757, -0.0562, -0.0122, 0.2256, -8.0615, 9.4838, 1.4921, 0.4762, 0.149, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0704, 0.8455, 0.7139, -0.4942, -0.1055, -0.1013, 0.9988, 0.8585, 1.8713, 1.0264, 0.0441, 0.68, 0.548, 0.032]\nstate[eef_state]: left_x=0.2958 left_y=0.0014 left_z=0.1931 left_yaw=0.0598 left_pitch=-0.0499 left_roll=-0.0119 left_gripper=0.9988 right_x=0.3755 right_y=0.2704 right_z=0.0719 right_yaw=0.0162 right_pitch=-0.0201 right_roll=-0.0111 right_gripper=0.032\nstate[joint_eff]: [-0.0615, -1.4427, 7.0222, 1.6923, -0.0659, -0.0024, -0.0122, 0.253, -7.788, 5.5863, 1.1648, 0.3248, -0.1441, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0704, 0.8455, 0.7139, -0.4938, -0.1055, -0.1013, 0.9988, 0.8585, 1.8877, 1.0058, 0.102, 0.6918, 0.5537, 0.9953]\nstate[eef_state]: left_x=0.2958 left_y=0.0014 left_z=0.1932 left_yaw=0.0598 left_pitch=-0.0495 left_roll=-0.012 left_gripper=0.9988 right_x=0.3773 right_y=0.27 right_z=0.067 right_yaw=0.0049 right_pitch=0.0001 right_roll=0.0039 right_gripper=0.9953\nstate[joint_eff]: [-0.1983, -1.4564, 6.9538, 1.6728, -0.0806, -0.0415, -0.0073, 0.1983, -8.7179, 5.9829, 1.3748, 0.2808, -0.0073, -0.1832]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec727acb17036702bd13b6dbe6e392090cdb34c8009cf07927ef3600441628ea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0e48e0e2f28126622cd4e61198d66b619a87a33f33b594602c3a8c079fafa44",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb5f08771db8c9691eb9aa08bc90fc74c1d095b90cbf84d52275ba003e51e0d8",
      "type": "input_image"
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    {
      "text": "",
      "type": "input_text"
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  ],
  "role": "user"
}
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{
  "arguments": "{\"targets\":{\"right_z\":0.21,\"right_gripper\":1},\"note\":\"The bowl stayed in place after the jaws opened. I’m lifting the right hand straight up to clear the rims before checking the completed stack.\"}",
  "call_id": "call_eVmPKfhN5Ebm9qirQeJafyIT",
  "id": "fc_013da3c67213bd55016ab4a45dfa6c87d0a377e0fbfa1b9b39",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_eVmPKfhN5Ebm9qirQeJafyIT",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0704, 0.8455, 0.7139, -0.4938, -0.1055, -0.1013, 0.9988, 0.8574, 1.7298, 1.3266, -0.4232, 0.6872, 0.5488, 0.9985]\nstate[eef_state]: left_x=0.2958 left_y=0.0014 left_z=0.1932 left_yaw=0.0598 left_pitch=-0.0495 left_roll=-0.012 left_gripper=0.9988 right_x=0.377 right_y=0.2698 right_z=0.1799 right_yaw=0.009 right_pitch=-0.0331 right_roll=-0.0331 right_gripper=0.9985\nstate[joint_eff]: [-0.0615, -1.4838, 7.1726, 1.707, -0.1001, -0.0171, -0.0122, -0.0342, -10.988, 9.5658, 1.4579, 0.315, 0.0269, -0.1734]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a365b31dd71039edb2c366f73ac7ae0a7d5f9fcbe84de33e5b6307562e721d1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:954557347d88b5089c000bd12aa8764e60b98fb19a3624f499e1c5c113053153",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bca98cf55f9660fe00b6540f779104bce732e64ea817746ce46c05ee2da07db",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /responses · status 200 · 3.569 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 122 changed as sent

message 129 changed as sent

message 132 changed as sent

message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0704, 0.8455, 0.7139, -0.4938, -0.1055, -0.1013, 0.9988, 0.8501, 1.832, 1.1168, -0.1291, 0.6586, 0.5255, 0.0325]\nstate[eef_state]: left_x=0.2958 left_y=0.0014 left_z=0.1932 left_yaw=0.0598 left_pitch=-0.0495 left_roll=-0.012 left_gripper=0.9988 right_x=0.3767 right_y=0.2705 right_z=0.095 right_yaw=0.0336 right_pitch=-0.0616 right_roll=-0.051 right_gripper=0.0325\nstate[joint_eff]: [-0.0205, -1.4974, 6.9538, 1.6728, -0.0952, -0.0611, -0.0122, 0.2393, -8.0889, 5.6684, 1.6777, 0.6032, 0.2418, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0704, 0.8455, 0.7139, -0.4938, -0.1055, -0.1013, 0.9988, 0.8585, 1.8877, 1.0058, 0.102, 0.6918, 0.5537, 0.9953]\nstate[eef_state]: left_x=0.2958 left_y=0.0014 left_z=0.1932 left_yaw=0.0598 left_pitch=-0.0495 left_roll=-0.012 left_gripper=0.9988 right_x=0.3773 right_y=0.27 right_z=0.067 right_yaw=0.0049 right_pitch=0.0001 right_roll=0.0039 right_gripper=0.9953\nstate[joint_eff]: [-0.1983, -1.4564, 6.9538, 1.6728, -0.0806, -0.0415, -0.0073, 0.1983, -8.7179, 5.9829, 1.3748, 0.2808, -0.0073, -0.1832]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0704, 0.8455, 0.7139, -0.4938, -0.1055, -0.1013, 0.9988, 0.8574, 1.7298, 1.3266, -0.4232, 0.6872, 0.5488, 0.9985]\nstate[eef_state]: left_x=0.2958 left_y=0.0014 left_z=0.1932 left_yaw=0.0598 left_pitch=-0.0495 left_roll=-0.012 left_gripper=0.9988 right_x=0.377 right_y=0.2698 right_z=0.1799 right_yaw=0.009 right_pitch=-0.0331 right_roll=-0.0331 right_gripper=0.9985\nstate[joint_eff]: [-0.0615, -1.4838, 7.1726, 1.707, -0.1001, -0.0171, -0.0122, -0.0342, -10.988, 9.5658, 1.4579, 0.315, 0.0269, -0.1734]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a365b31dd71039edb2c366f73ac7ae0a7d5f9fcbe84de33e5b6307562e721d1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:954557347d88b5089c000bd12aa8764e60b98fb19a3624f499e1c5c113053153",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bca98cf55f9660fe00b6540f779104bce732e64ea817746ce46c05ee2da07db",
      "type": "input_image"
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    {
      "text": "",
      "type": "input_text"
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  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"right_x\":0.294,\"right_y\":0,\"right_z\":0.2,\"right_gripper\":1,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0,\"left_x\":0.294,\"left_y\":0,\"left_z\":0.2},\"note\":\"The right hand is clear of the bowls. I’m parking it to reveal the stack and verify that all three bowls remain nested.\"}",
  "call_id": "call_xTfQjXsBRTavKFF6MWrwtm8N",
  "id": "fc_013da3c67213bd55016ab4a461a3dc87d09e0e2d03718eb5b0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xTfQjXsBRTavKFF6MWrwtm8N",
  "output": [
    {
      "text": "executing move_to over 23 steps (2.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.078, 0.849, 0.7139, -0.5205, -0.1055, -0.102, 0.9988, 0.0135, 0.815, 0.6876, -0.4496, 0.0746, 0.0292, 0.9985]\nstate[eef_state]: left_x=0.2922 left_y=-0.0006 left_z=0.187 left_yaw=0.0529 left_pitch=-0.0794 left_roll=-0.0087 left_gripper=0.9988 right_x=0.2962 right_y=-0.0056 right_z=0.1984 right_yaw=-0.062 right_pitch=-0.0029 right_roll=-0.0046 right_gripper=0.9985\nstate[joint_eff]: [-0.3487, -1.9624, 9.1692, 1.6532, -0.1197, -0.1197, -0.0122, -0.1573, -1.5795, 7.0769, 1.7118, -0.1148, -0.0073, -0.1685]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cd28c49ea40d5343fa65db4d55685fed52f744d73a37c7ca6f230947f158082",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfe230d93023a2efc0a982285b6ac9813b753fa68cd281708dbb3b9033fb6898",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02ab4b63e5a5d7ad0b7a5e3bd4e06ab6460b2c7594ae0c127edfcec04d02c7e2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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