adhoc

completed
2026-09-24T03:51:34.476286+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
231.6 s
total steps
322
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’ll approach the left bowl’s outer rim with the left gripper, aiming to nest it into the middle bowl.
move_to
left_x0.3600left_y-0.1350left_z0.1500left_gripper1.0000right_x0.2940right_y0.0000right_z0.1800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.7944, 0.6041, -0.3817, -0.0227, -0.041, 0.9996, -0.02, 0.7925, 0.601, -0.3805, -0.0105, -0.02, 0.9974] state[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1795 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2942 right_y=-0.0005 right_z=0.1789 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9974 state[joint_eff]: [-0.3761, -1.5795, 10.1265, 1.7753, -0.0122, 0.2466, -0.0611, -0.5402, -1.306, 10.359, 1.9219, -0.1294, 0.0513, -0.2857] 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":-0.135,"left_z":0.15,"left_gripper":1,"right_x":0.294,"right_y":0,"right_z":0.18},"note":"I see three upright bowls in a row. I’ll approach the left bowl’s outer rim with the left gripper, aiming to nest it into the middle bowl."})
tool
executing move_to over 13 steps (1.3s)
step 13
top_cam
camera top_cam step 13
left_cam
camera left_cam step 13
right_cam
camera right_cam step 13
assistant
agent noteThe left bowl is below the gripper, with its left rim slightly to the side of the jaw centre. I’ll shift toward that rim and lower while keeping the jaws open.
move_to
left_x0.3500left_y-0.1100left_z0.0650
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5766, 1.3155, 0.7277, -0.1375, -0.4557, -0.3588, 0.9996, -0.02, 0.7967, 0.6003, -0.3931, -0.0154, -0.02, 0.9971] state[eef_state]: left_x=0.3476 left_y=-0.129 left_z=0.1299 left_yaw=-0.0256 left_pitch=-0.0669 left_roll=0.0314 left_gripper=0.9996 right_x=0.2927 right_y=0.0005 right_z=0.1748 right_yaw=0.0042 right_pitch=-0.0175 right_roll=0.0031 right_gripper=0.9971 state[joint_eff]: [-0.3487, -5.3128, 9.4017, 1.8095, -0.3394, -0.1001, -0.0562, 0.1436, -1.6205, 7.4188, 1.8095, 0.0366, -0.0415, -0.0366] camera 'top_cam' (step 13): [image omitted: streamed camera frame] camera 'left_cam' (step 13): [image omitted: streamed camera frame] camera 'right_cam' (step 13): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.11,"left_z":0.065},"note":"The left bowl is below the gripper, with its left rim slightly to the side of the jaw centre. I’ll shift toward that rim and lower while keeping the jaws open."})
tool
executing move_to over 5 steps (0.5s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
agent noteThe bowl’s left wall lies between the open fingers, but the grasp is still a little toward its near edge. I’ll advance slightly and lower the fingertips below the rim for a secure wall grip.
move_to
left_x0.3700left_y-0.0900left_z0.0320
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5102, 1.4311, 0.5358, 0.1116, -0.416, -0.329, 0.9995, -0.02, 0.7971, 0.6003, -0.3931, -0.0128, -0.02, 0.9971] state[eef_state]: left_x=0.3398 left_y=-0.1042 left_z=0.0563 left_yaw=-0.0037 left_pitch=-0.1319 left_roll=0.0608 left_gripper=0.9995 right_x=0.2927 right_y=-0.0 right_z=0.1747 right_yaw=0.0019 right_pitch=-0.0179 right_roll=0.0016 right_gripper=0.9971 state[joint_eff]: [0.4991, -5.1624, 5.8051, 1.7118, -0.0317, 0.1245, -0.0171, -0.0615, -1.0598, 7.0359, 1.7363, -0.0562, -0.0757, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.37,"left_y":-0.09,"left_z":0.032},"note":"The bowl’s left wall lies between the open fingers, but the grasp is still a little toward its near edge. I’ll advance slightly and lower the fingertips below the rim for a secure wall grip."})
tool
executing move_to over 3 steps (0.3s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent noteThe left bowl’s wall is now between the fingertips, with one finger outside and the other inside. I’ll close on the rim and check the gripper opening before lifting.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4145, 1.5848, 0.5331, 0.2443, -0.3679, -0.2836, 0.9995, -0.02, 0.8005, 0.5999, -0.3946, -0.0132, -0.02, 0.9971] state[eef_state]: left_x=0.3564 left_y=-0.0835 left_z=0.0234 left_yaw=0.0306 left_pitch=-0.1706 left_roll=0.0754 left_gripper=0.9995 right_x=0.2927 right_y=0.0001 right_z=0.1733 right_yaw=0.0023 right_pitch=-0.0232 right_roll=0.002 right_gripper=0.9971 state[joint_eff]: [-0.5675, -6.7214, 7.1726, 1.7411, -0.0464, 0.1392, -0.0122, -0.1573, -1.1145, 7.0359, 1.746, -0.022, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The left bowl’s wall is now between the fingertips, with one finger outside and the other inside. I’ll close on the rim and check the gripper opening before lifting."})
tool
executing move_to over 10 steps (1.0s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
agent noteThe gripper has stopped at about a 9 mm opening, consistent with holding the bowl wall. I’ll make a short test lift to confirm the bowl comes with it.
move_to
left_z0.1050
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4, 1.597, 0.551, 0.3138, -0.3363, -0.2695, 0.0992, -0.02, 0.8032, 0.5999, -0.3962, -0.0132, -0.02, 0.9971] state[eef_state]: left_x=0.3721 left_y=-0.0901 left_z=0.0358 left_yaw=0.0074 left_pitch=-0.1118 left_roll=0.0345 left_gripper=0.0992 right_x=0.2926 right_y=0.0001 right_z=0.1722 right_yaw=0.0023 right_pitch=-0.0274 right_roll=0.0021 right_gripper=0.9971 state[joint_eff]: [-0.2393, -5.4496, 6.2564, 1.37, -0.1832, 0.1978, 0.3248, -0.0479, -1.5111, 7.0359, 1.7607, -0.0513, -0.0366, -0.0122] camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.105},"note":"The gripper has stopped at about a 9 mm opening, consistent with holding the bowl wall. I’ll make a short test lift to confirm the bowl comes with it."})
tool
executing move_to over 5 steps (0.5s)
step 36
top_cam
camera top_cam step 36
left_cam
camera left_cam step 36
right_cam
camera right_cam step 36
assistant
agent noteThe opening suggests a rim grip, but the overhead view does not yet clearly show the bowl lifting. I’ll raise a little farther to check whether it is securely attached before moving sideways.
move_to
left_z0.1700
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4, 1.4235, 0.6689, 0.0284, -0.3367, -0.2806, 0.0981, -0.02, 0.8043, 0.5999, -0.4034, -0.0128, -0.0204, 0.9971] state[eef_state]: left_x=0.3723 left_y=-0.0901 left_z=0.0919 left_yaw=0.0134 left_pitch=-0.1059 left_roll=0.0236 left_gripper=0.0981 right_x=0.2917 right_y=0.0 right_z=0.1704 right_yaw=0.0021 right_pitch=-0.0358 right_roll=0.0017 right_gripper=0.9971 state[joint_eff]: [-0.0342, -6.7077, 8.5402, 1.5946, -0.149, 0.0757, -0.1197, -0.1436, -1.388, 6.9949, 1.7705, -0.022, -0.0415, -0.0122] camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.17},"note":"The opening suggests a rim grip, but the overhead view does not yet clearly show the bowl lifting. I’ll raise a little farther to check whether it is securely attached before moving sideways."})
tool
executing move_to over 6 steps (0.6s)
step 42
top_cam
camera top_cam step 42
left_cam
camera left_cam step 42
right_cam
camera right_cam step 42
assistant
agent noteThe bowl stayed on the table, so the first close did not secure it. I’ll reopen and place the jaws farther inward over the left rim for a second attempt.
move_to
left_x0.3900left_y-0.1300left_z0.0450left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4, 1.3334, 0.8688, -0.2722, -0.3367, -0.2817, 0.098, -0.02, 0.8043, 0.5999, -0.4126, -0.0132, -0.02, 0.9971] state[eef_state]: left_x=0.3735 left_y=-0.0907 left_z=0.1535 left_yaw=0.0145 left_pitch=-0.1156 left_roll=0.0271 left_gripper=0.098 right_x=0.2904 right_y=0.0001 right_z=0.1686 right_yaw=0.0023 right_pitch=-0.045 right_roll=0.0024 right_gripper=0.9971 state[joint_eff]: [-0.1026, -6.7624, 9.2239, 1.453, -0.2027, -0.0122, -0.0269, -0.0889, -1.2923, 6.9812, 1.8046, -0.0317, -0.022, -0.0122] camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.13,"left_z":0.045,"left_gripper":1},"note":"The bowl stayed on the table, so the first close did not secure it. I’ll reopen and place the jaws farther inward over the left rim for a second attempt."})
tool
executing move_to over 10 steps (1.0s)
step 52
top_cam
camera top_cam step 52
left_cam
camera left_cam step 52
right_cam
camera right_cam step 52
assistant
agent noteThe open fingers now straddle the bowl much more centrally. I’ll close gently through the controller and check whether the bowl is captured.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.498, 1.6627, 0.7158, 0.1364, -0.3985, -0.35, 0.9949, -0.02, 0.8051, 0.5999, -0.4156, -0.0132, -0.02, 0.9971] state[eef_state]: left_x=0.3829 left_y=-0.1261 left_z=0.0425 left_yaw=0.008 left_pitch=-0.1606 left_roll=0.0468 left_gripper=0.9949 right_x=0.29 right_y=0.0001 right_z=0.1678 right_yaw=0.0023 right_pitch=-0.0488 right_roll=0.0025 right_gripper=0.9971 state[joint_eff]: [-0.7179, -6.5709, 5.1897, 1.6337, -0.2857, -0.0415, -0.0024, -0.0205, -1.3197, 6.9949, 1.7021, -0.022, -0.0269, -0.0171] camera 'top_cam' (step 52): [image omitted: streamed camera frame] camera 'left_cam' (step 52): [image omitted: streamed camera frame] camera 'right_cam' (step 52): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The open fingers now straddle the bowl much more centrally. I’ll close gently through the controller and check whether the bowl is captured."})
tool
executing move_to over 10 steps (1.0s)
step 62
top_cam
camera top_cam step 62
left_cam
camera left_cam step 62
right_cam
camera right_cam step 62
assistant
agent noteThe second close was empty: the fingers closed inside the bowl rather than around its wall. I’ll change approach, rotating the jaws to pinch the far rim from inside and outside.
move_to
left_x0.4350left_y-0.1300left_z0.1200left_yaw1.5700left_gripper1.0000right_x0.2940right_y0.0000right_z0.1800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5014, 1.6848, 0.7139, 0.1356, -0.3969, -0.3592, 0.0087, -0.02, 0.8051, 0.5999, -0.4156, -0.0132, -0.02, 0.9971] state[eef_state]: left_x=0.3803 left_y=-0.1265 left_z=0.0333 left_yaw=0.0104 left_pitch=-0.1825 left_roll=0.0513 left_gripper=0.0087 right_x=0.29 right_y=0.0001 right_z=0.1678 right_yaw=0.0023 right_pitch=-0.0488 right_roll=0.0025 right_gripper=0.9971 state[joint_eff]: [0.0205, -8.9504, 5.6274, 1.4237, -0.1832, 0.0855, 0.5788, -0.1983, -1.1282, 6.9949, 1.6728, -0.0366, 0.0073, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.435,"left_y":-0.13,"left_z":0.12,"left_yaw":1.57,"left_gripper":1,"right_x":0.294,"right_y":0,"right_z":0.18},"note":"The second close was empty: the fingers closed inside the bowl rather than around its wall. I’ll change approach, rotating the jaws to pinch the far rim from inside and outside."})
tool
executing move_to over 10 steps (1.0s)
step 72
top_cam
camera top_cam step 72
left_cam
camera left_cam step 72
right_cam
camera right_cam step 72
assistant
agent noteThe rotated far-rim pose did not track well; the arm stayed lower and farther sideways than requested. I’ll pull back and raise it with a smaller rotation before approaching again.
move_to
left_x0.3700left_y-0.1300left_z0.2000left_yaw0.8000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4778, 2.4149, 2.0331, -1.4231, -0.7307, -1.9621, 0.9942, -0.02, 0.8314, 0.6186, -0.4561, -0.0132, -0.0208, 0.9971] state[eef_state]: left_x=0.4288 left_y=-0.0852 left_z=0.0559 left_yaw=1.3508 left_pitch=-0.2382 left_roll=-0.0172 left_gripper=0.9942 right_x=0.288 right_y=0.0001 right_z=0.1611 right_yaw=0.0028 right_pitch=-0.0968 right_roll=0.003 right_gripper=0.9971 state[joint_eff]: [1.5795, -13.4906, 5.053, -0.5055, -0.3199, 0.0317, 0.022, -0.1162, -1.1419, 10.1949, 1.7802, -0.0317, -0.0659, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 72): [image omitted: streamed camera frame] camera 'left_cam' (step 72): [image omitted: streamed camera frame] camera 'right_cam' (step 72): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.37,"left_y":-0.13,"left_z":0.2,"left_yaw":0.8},"note":"The rotated far-rim pose did not track well; the arm stayed lower and farther sideways than requested. I’ll pull back and raise it with a smaller rotation before approaching again."})
tool
executing move_to over 10 steps (1.0s)
step 82
top_cam
camera top_cam step 82
left_cam
camera left_cam step 82
right_cam
camera right_cam step 82
assistant
agent noteThe arm is still not reaching the requested raised pose. I’ll return toward its original, unrotated posture to clear the bowl and recover a better-controlled approach.
move_to
left_x0.3000left_y-0.1000left_z0.2500left_yaw0.0000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5293, 2.4145, 2.1178, -1.5307, -0.7269, -1.9785, 0.9951, -0.02, 0.836, 0.6197, -0.4675, -0.0132, -0.0204, 0.9971] state[eef_state]: left_x=0.4215 left_y=-0.1064 left_z=0.078 left_yaw=1.3149 left_pitch=-0.2359 left_roll=-0.0055 left_gripper=0.9951 right_x=0.2866 right_y=0.0002 right_z=0.1582 right_yaw=0.0026 right_pitch=-0.1117 right_roll=0.0036 right_gripper=0.9971 state[joint_eff]: [-0.3077, -14.5436, 6.4342, -0.2418, -0.486, 0.1148, 0.0757, -0.1299, -1.7709, 6.8718, 1.7265, -0.0708, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 82): [image omitted: streamed camera frame] camera 'left_cam' (step 82): [image omitted: streamed camera frame] camera 'right_cam' (step 82): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":-0.1,"left_z":0.25,"left_yaw":0,"left_pitch":0,"left_roll":0},"note":"The arm is still not reaching the requested raised pose. I’ll return toward its original, unrotated posture to clear the bowl and recover a better-controlled approach."})
tool
executing move_to over 12 steps (1.2s)
step 94
top_cam
camera top_cam step 94
left_cam
camera left_cam step 94
right_cam
camera right_cam step 94
assistant
agent noteThe arm has recovered its normal posture. Rechecking the overhead view, the earlier grasps were on the near side of the bowl; I’ll advance farther toward its left rim without rotating the wrist.
move_to
left_x0.4500left_y-0.1100left_z0.1100left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6228, 1.0473, 0.9936, -0.6743, -0.5964, -0.5625, 0.9951, -0.02, 0.8417, 0.6178, -0.4744, -0.0128, -0.0204, 0.9971] state[eef_state]: left_x=0.3015 left_y=-0.09 left_z=0.2437 left_yaw=0.1468 left_pitch=-0.0119 left_roll=-0.0601 left_gripper=0.9951 right_x=0.2855 right_y=0.0001 right_z=0.1545 right_yaw=0.0023 right_pitch=-0.1262 right_roll=0.0037 right_gripper=0.9971 state[joint_eff]: [0.2393, -1.6205, 6.2154, 1.8535, -0.2466, 0.188, -0.0073, -0.1026, -1.9624, 7.2137, 1.7607, -0.0269, -0.0073, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.45,"left_y":-0.11,"left_z":0.11,"left_yaw":0},"note":"The arm has recovered its normal posture. Rechecking the overhead view, the earlier grasps were on the near side of the bowl; I’ll advance farther toward its left rim without rotating the wrist."})
tool
executing move_to over 12 steps (1.2s)
step 106
top_cam
camera top_cam step 106
left_cam
camera left_cam step 106
right_cam
camera right_cam step 106
assistant
agent noteThe bowl’s rim now reaches the bottom of the wrist view, where the fingertips act. I’ll lower at this position to put one jaw inside the rim and one outside.
move_to
left_x0.4250left_y-0.1050left_z0.0350
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3538, 1.6482, 0.8574, 0.075, -0.2924, -0.3126, 0.9951, -0.02, 0.8436, 0.6132, -0.4751, -0.0132, -0.0204, 0.9971] state[eef_state]: left_x=0.4279 left_y=-0.0999 left_z=0.0864 left_yaw=0.0405 left_pitch=-0.1077 left_roll=-0.0325 left_gripper=0.9951 right_x=0.2847 right_y=0.0002 right_z=0.1519 right_yaw=0.0027 right_pitch=-0.1335 right_roll=0.0041 right_gripper=0.9971 state[joint_eff]: [0.335, -8.3214, 9.4291, 1.9023, -0.0366, 0.1783, -0.0171, -0.1162, -1.6342, 7.4872, 1.6386, -0.0562, 0.0024, -0.0122] camera 'top_cam' (step 106): [image omitted: streamed camera frame] camera 'left_cam' (step 106): [image omitted: streamed camera frame] camera 'right_cam' (step 106): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.425,"left_y":-0.105,"left_z":0.035},"note":"The bowl’s rim now reaches the bottom of the wrist view, where the fingertips act. I’ll lower at this position to put one jaw inside the rim and one outside."})
tool
executing move_to over 4 steps (0.4s)
step 110
top_cam
camera top_cam step 110
left_cam
camera left_cam step 110
right_cam
camera right_cam step 110
assistant
agent noteThe fingers are lowered alongside the rim, with the left jaw outside the bowl. I’ll close here to capture the wall rather than the empty interior.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3702, 1.771, 0.77, 0.2356, -0.2916, -0.3183, 0.9951, -0.02, 0.8436, 0.6128, -0.4747, -0.0128, -0.0204, 0.9971] state[eef_state]: left_x=0.4185 left_y=-0.1041 left_z=0.0312 left_yaw=0.0291 left_pitch=-0.1537 left_roll=-0.0181 left_gripper=0.9951 right_x=0.2847 right_y=0.0001 right_z=0.1518 right_yaw=0.0023 right_pitch=-0.1335 right_roll=0.0039 right_gripper=0.9971 state[joint_eff]: [-0.2393, -8.4991, 5.6547, 1.9072, -0.2515, -0.0659, -0.0171, -0.1162, -1.4701, 6.9812, 1.6532, -0.0269, -0.0171, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 110): [image omitted: streamed camera frame] camera 'left_cam' (step 110): [image omitted: streamed camera frame] camera 'right_cam' (step 110): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The fingers are lowered alongside the rim, with the left jaw outside the bowl. I’ll close here to capture the wall rather than the empty interior."})
tool
executing move_to over 10 steps (1.0s)
step 120
top_cam
camera top_cam step 120
left_cam
camera left_cam step 120
right_cam
camera right_cam step 120
assistant
agent noteThe bowl moved as the jaws closed, and the gripper is holding a rim-sized opening. I’ll test-lift it before carrying it over the middle bowl.
move_to
left_z0.1050
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3721, 1.7725, 0.7628, 0.26, -0.2855, -0.3374, 0.0986, -0.02, 0.844, 0.6106, -0.4747, -0.0132, -0.0204, 0.9971] state[eef_state]: left_x=0.4195 left_y=-0.1065 left_z=0.032 left_yaw=0.0317 left_pitch=-0.1412 left_roll=-0.0427 left_gripper=0.0986 right_x=0.2844 right_y=0.0002 right_z=0.1507 right_yaw=0.0027 right_pitch=-0.1361 right_roll=0.0042 right_gripper=0.9971 state[joint_eff]: [0.1026, -8.1026, 6.5573, 1.37, -0.2369, 0.1929, 0.3297, -0.1162, -1.306, 7.1453, 1.6288, -0.0415, -0.0415, -0.0122] camera 'top_cam' (step 120): [image omitted: streamed camera frame] camera 'left_cam' (step 120): [image omitted: streamed camera frame] camera 'right_cam' (step 120): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.105},"note":"The bowl moved as the jaws closed, and the gripper is holding a rim-sized opening. I’ll test-lift it before carrying it over the middle bowl."})
tool
executing move_to over 5 steps (0.5s)
step 125
top_cam
camera top_cam step 125
left_cam
camera left_cam step 125
right_cam
camera right_cam step 125
assistant
agent noteThe bowl still appears to be resting on the table. The gripper also stopped short of a full close, so I’ll finish closing to distinguish a real grip from an incompletely closed jaw.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3725, 1.6272, 0.8719, 0.0006, -0.2848, -0.3408, 0.098, -0.02, 0.844, 0.609, -0.4751, -0.0132, -0.0204, 0.9971] state[eef_state]: left_x=0.419 left_y=-0.1066 left_z=0.0873 left_yaw=0.0329 left_pitch=-0.146 left_roll=-0.0438 left_gripper=0.098 right_x=0.2841 right_y=0.0002 right_z=0.1499 right_yaw=0.0027 right_pitch=-0.138 right_roll=0.0042 right_gripper=0.9971 state[joint_eff]: [-0.1573, -9.0051, 8.5949, 1.4823, -0.1832, -0.0171, -0.0708, -0.0752, -1.2513, 7.159, 1.6044, -0.0757, -0.022, -0.0122] camera 'top_cam' (step 125): [image omitted: streamed camera frame] camera 'left_cam' (step 125): [image omitted: streamed camera frame] camera 'right_cam' (step 125): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The bowl still appears to be resting on the table. The gripper also stopped short of a full close, so I’ll finish closing to distinguish a real grip from an incompletely closed jaw."})
tool
executing move_to over 1 steps (0.1s)
step 126
top_cam
camera top_cam step 126
left_cam
camera left_cam step 126
right_cam
camera right_cam step 126
assistant
agent noteThe bowl shifted forward but is not yet held. I’ll reopen over its new rim position, then keep the close command active during the next test lift.
move_to
left_x0.4400left_y-0.1150left_z0.0350left_gripper0.7000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3725, 1.6058, 0.8921, -0.0677, -0.2848, -0.3405, 0.098, -0.02, 0.844, 0.6083, -0.4747, -0.0128, -0.02, 0.9971] state[eef_state]: left_x=0.4142 left_y=-0.1047 left_z=0.0922 left_yaw=0.0343 left_pitch=-0.1705 left_roll=-0.0328 left_gripper=0.098 right_x=0.284 right_y=0.0002 right_z=0.1496 right_yaw=0.0021 right_pitch=-0.1384 right_roll=0.0043 right_gripper=0.9971 state[joint_eff]: [-0.3624, -8.335, 7.9111, 1.5556, -0.2027, -0.0366, -0.0757, -0.1026, -1.306, 7.1453, 1.6386, -0.0269, -0.0024, -0.0171] camera 'top_cam' (step 126): [image omitted: streamed camera frame] camera 'left_cam' (step 126): [image omitted: streamed camera frame] camera 'right_cam' (step 126): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.44,"left_y":-0.115,"left_z":0.035,"left_gripper":0.7},"note":"The bowl shifted forward but is not yet held. I’ll reopen over its new rim position, then keep the close command active during the next test lift."})
tool
executing move_to over 7 steps (0.7s)
step 133
top_cam
camera top_cam step 133
left_cam
camera left_cam step 133
right_cam
camera right_cam step 133
assistant
agent noteThe jaws opened, but the downward motion was limited and the fingertips remain above the rim. I’ll make a smaller, straight approach to the bowl wall.
move_to
left_x0.4300left_y-0.1100left_z0.0400left_gripper0.7000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3721, 1.6264, 0.8768, -0.0383, -0.284, -0.3405, 0.6954, -0.02, 0.844, 0.6075, -0.4751, -0.0132, -0.0204, 0.9971] state[eef_state]: left_x=0.4143 left_y=-0.1047 left_z=0.0828 left_yaw=0.0345 left_pitch=-0.1767 left_roll=-0.0307 left_gripper=0.6954 right_x=0.2838 right_y=0.0002 right_z=0.1492 right_yaw=0.0027 right_pitch=-0.1396 right_roll=0.0043 right_gripper=0.9971 state[joint_eff]: [-0.3214, -6.5846, 7.1453, 1.5507, -0.2027, -0.0806, -0.149, -0.0615, -1.4564, 7.0085, 1.5946, -0.0073, -0.0317, -0.0122] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 133): [image omitted: streamed camera frame] camera 'left_cam' (step 133): [image omitted: streamed camera frame] camera 'right_cam' (step 133): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.11,"left_z":0.04,"left_gripper":0.7},"note":"The jaws opened, but the downward motion was limited and the fingertips remain above the rim. I’ll make a smaller, straight approach to the bowl wall."})
tool
executing move_to over 3 steps (0.3s)
step 136
top_cam
camera top_cam step 136
left_cam
camera left_cam step 136
right_cam
camera right_cam step 136
assistant
agent noteThe left arm has stopped tracking the low approach rather than pressing into the table. I’ll raise and retract it with a slight forward tilt, while restoring the idle arm to its parked pose.
move_to
left_x0.3900left_y-0.1100left_z0.1600left_yaw0.0000left_pitch0.2500left_roll0.0000left_gripper0.7000right_x0.2940right_y0.0000right_z0.1800right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3725, 1.6264, 0.8768, -0.0406, -0.2844, -0.3408, 0.6998, -0.02, 0.844, 0.6075, -0.4751, -0.0128, -0.0204, 0.9971] state[eef_state]: left_x=0.4139 left_y=-0.1047 left_z=0.0825 left_yaw=0.0348 left_pitch=-0.1787 left_roll=-0.0299 left_gripper=0.6998 right_x=0.2838 right_y=0.0002 right_z=0.1492 right_yaw=0.0023 right_pitch=-0.1396 right_roll=0.004 right_gripper=0.9971 state[joint_eff]: [-0.2667, -6.6393, 7.1179, 1.5556, -0.1832, -0.0659, -0.0366, -0.1299, -1.4564, 6.9538, 1.5751, -0.0366, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 136): [image omitted: streamed camera frame] camera 'left_cam' (step 136): [image omitted: streamed camera frame] camera 'right_cam' (step 136): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.11,"left_z":0.16,"left_yaw":0,"left_pitch":0.25,"left_roll":0,"left_gripper":0.7,"right_x":0.294,"right_y":0,"right_z":0.18,"right_yaw":0,"right_pitch":0,"right_roll":0},"note":"The left arm has stopped tracking the low approach rather than pressing into the table. I’ll raise and retract it with a slight forward tilt, while restoring the idle arm to its parked pose."})
tool
executing move_to over 15 steps (1.5s)
step 151
top_cam
camera top_cam step 151
left_cam
camera left_cam step 151
right_cam
camera right_cam step 151
assistant
agent noteThe raised, forward-tilted pose tracks correctly again. I’ll approach the visible left rim while holding that orientation explicitly.
move_to
left_x0.4200left_y-0.1150left_z0.0250left_yaw0.0000left_pitch0.2500left_roll0.0000left_gripper0.7000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4728, 1.3911, 0.5938, 0.3622, -0.4377, -0.2218, 0.6998, -0.0196, 0.8028, 0.606, -0.4252, -0.0132, -0.0235, 0.9971] state[eef_state]: left_x=0.388 left_y=-0.1104 left_z=0.1416 left_yaw=-0.0034 left_pitch=0.1802 left_roll=0.0005 left_gripper=0.6998 right_x=0.2893 right_y=0.0002 right_z=0.1692 right_yaw=0.0045 right_pitch=-0.0499 right_roll=-0.0002 right_gripper=0.9971 state[joint_eff]: [-0.5538, -6.7077, 6.2291, 2.1026, -0.2466, 0.2466, -0.0366, 0.1983, -2.0034, 6.9812, 2.0488, -0.0073, 0.022, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 151): [image omitted: streamed camera frame] camera 'left_cam' (step 151): [image omitted: streamed camera frame] camera 'right_cam' (step 151): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.42,"left_y":-0.115,"left_z":0.025,"left_yaw":0,"left_pitch":0.25,"left_roll":0,"left_gripper":0.7},"note":"The raised, forward-tilted pose tracks correctly again. I’ll approach the visible left rim while holding that orientation explicitly."})
tool
executing move_to over 8 steps (0.8s)
step 159
top_cam
camera top_cam step 159
left_cam
camera left_cam step 159
right_cam
camera right_cam step 159
assistant
agent noteOne fingertip is outside the bowl and the other is inside at the same wall. I’ll close on that wall while preserving the forward tilt.
move_to
left_gripper0.0000left_pitch0.2500left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4496, 1.9999, 0.5144, 1.0714, -0.4412, -0.2054, 0.6998, -0.02, 0.8089, 0.6056, -0.4232, -0.0128, -0.0238, 0.9971] state[eef_state]: left_x=0.4136 left_y=-0.1118 left_z=0.0208 left_yaw=0.0156 left_pitch=0.1994 left_roll=0.0076 left_gripper=0.6998 right_x=0.2899 right_y=0.0 right_z=0.1678 right_yaw=0.004 right_pitch=-0.0545 right_roll=-0.0007 right_gripper=0.9971 state[joint_eff]: [0.5812, -7.2821, 3.8632, 1.536, 0.0611, 0.1734, -0.0366, -0.0479, -1.7162, 7.0222, 1.6728, -0.0317, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 159): [image omitted: streamed camera frame] camera 'left_cam' (step 159): [image omitted: streamed camera frame] camera 'right_cam' (step 159): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0,"left_pitch":0.25,"left_roll":0,"left_yaw":0},"note":"One fingertip is outside the bowl and the other is inside at the same wall. I’ll close on that wall while preserving the forward tilt."})
tool
executing move_to over 7 steps (0.7s)
step 166
top_cam
camera top_cam step 166
left_cam
camera left_cam step 166
right_cam
camera right_cam step 166
assistant
agent noteThe rim is visibly pinched and the bowl tilted as the grip tightened. I’ll lift while maintaining the close command to check that it stays attached.
move_to
left_x0.4230left_y-0.1170left_z0.1300left_yaw0.0000left_pitch0.2500left_roll0.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4469, 2.03, 0.5064, 1.2701, -0.4313, -0.2073, 0.0364, -0.02, 0.8108, 0.6052, -0.4316, -0.0128, -0.0238, 0.9971] state[eef_state]: left_x=0.423 left_y=-0.1168 left_z=0.0492 left_yaw=0.031 left_pitch=0.3411 left_roll=-0.0729 left_gripper=0.0364 right_x=0.2887 right_y=0.0001 right_z=0.1654 right_yaw=0.004 right_pitch=-0.0652 right_roll=-0.0004 right_gripper=0.9971 state[joint_eff]: [-0.0889, -5.7778, 2.3726, 1.1013, -0.0073, 0.0708, 0.8132, -0.0342, -0.9094, 7.1726, 1.7363, -0.0269, -0.022, -0.0122] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 166): [image omitted: streamed camera frame] camera 'left_cam' (step 166): [image omitted: streamed camera frame] camera 'right_cam' (step 166): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.423,"left_y":-0.117,"left_z":0.13,"left_yaw":0,"left_pitch":0.25,"left_roll":0,"left_gripper":0},"note":"The rim is visibly pinched and the bowl tilted as the grip tightened. I’ll lift while maintaining the close command to check that it stays attached."})
tool
executing move_to over 6 steps (0.6s)
step 172
top_cam
camera top_cam step 172
left_cam
camera left_cam step 172
right_cam
camera right_cam step 172
assistant
agent noteThe bowl is now clearly lifted with the gripper. I’ll carry it above the middle bowl, allowing extra height for clearance and arm sag.
move_to
left_x0.3600left_y-0.2400left_z0.2100left_yaw0.0000left_pitch0.2500left_roll0.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4469, 1.6321, 0.59, 0.7174, -0.4286, -0.205, 0.035, -0.02, 0.8146, 0.6048, -0.4412, -0.0128, -0.0238, 0.9971] state[eef_state]: left_x=0.4215 left_y=-0.1166 left_z=0.1208 left_yaw=0.017 left_pitch=0.2772 left_roll=-0.0373 left_gripper=0.035 right_x=0.2874 right_y=0.0001 right_z=0.1624 right_yaw=0.0041 right_pitch=-0.0789 right_roll=-0.0001 right_gripper=0.9971 state[joint_eff]: [-0.1299, -7.9932, 8.2393, 1.9951, -0.1197, 0.2222, 1.033, -0.0752, -1.6615, 7.0359, 1.8291, -0.0122, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 172): [image omitted: streamed camera frame] camera 'left_cam' (step 172): [image omitted: streamed camera frame] camera 'right_cam' (step 172): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":-0.24,"left_z":0.21,"left_yaw":0,"left_pitch":0.25,"left_roll":0,"left_gripper":0},"note":"The bowl is now clearly lifted with the gripper. I’ll carry it above the middle bowl, allowing extra height for clearance and arm sag."})
tool
executing move_to over 11 steps (1.1s)
step 183
top_cam
camera top_cam step 183
left_cam
camera left_cam step 183
right_cam
camera right_cam step 183
assistant
agent noteThe carried bowl is over the middle bowl, slightly to its right. I’ll correct that offset and lower slowly toward the opening.
move_to
left_x0.3800left_y-0.2300left_z0.0850left_yaw0.0000left_pitch0.2500left_roll0.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8928, 1.5261, 0.9188, 0.1013, -0.8047, -0.3985, 0.0343, -0.02, 0.8173, 0.6037, -0.4446, -0.0128, -0.0269, 0.9971] state[eef_state]: left_x=0.3605 left_y=-0.239 left_z=0.192 left_yaw=-0.0335 left_pitch=0.2291 left_roll=0.0093 left_gripper=0.0343 right_x=0.2869 right_y=0.0001 right_z=0.1605 right_yaw=0.0057 right_pitch=-0.0862 right_roll=-0.0023 right_gripper=0.9971 state[joint_eff]: [-0.3214, -6.9128, 9.4974, 1.7509, -0.2906, -0.0269, 1.0379, -0.0615, -1.1966, 7.2137, 1.7265, -0.0122, -0.0269, -0.0122] camera 'top_cam' (step 183): [image omitted: streamed camera frame] camera 'left_cam' (step 183): [image omitted: streamed camera frame] camera 'right_cam' (step 183): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":-0.23,"left_z":0.085,"left_yaw":0,"left_pitch":0.25,"left_roll":0,"left_gripper":0},"note":"The carried bowl is over the middle bowl, slightly to its right. I’ll correct that offset and lower slowly toward the opening."})
tool
executing move_to over 7 steps (0.7s)
step 190
top_cam
camera top_cam step 190
left_cam
camera left_cam step 190
assistant
agent noteThe two bowl openings appear aligned, and the upper bowl is just entering the lower one. I’ll lower a few more centimetres to seat it before releasing.
move_to
left_x0.3800left_y-0.2300left_z0.0450left_yaw0.0000left_pitch0.2500left_roll0.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8482, 1.8145, 0.7326, 0.5365, -0.7933, -0.3824, 0.0342, -0.02, 0.8181, 0.6018, -0.4454, -0.0128, -0.0269, 0.9971] state[eef_state]: left_x=0.3734 left_y=-0.2277 left_z=0.0796 left_yaw=-0.0132 left_pitch=0.1984 left_roll=0.0509 left_gripper=0.0342 right_x=0.2865 right_y=0.0001 right_z=0.1593 right_yaw=0.0057 right_pitch=-0.0896 right_roll=-0.0022 right_gripper=0.9971 state[joint_eff]: [0.7726, -7.7744, 4.8205, 1.7998, -0.1685, 0.0855, 1.033, -0.1846, -1.4017, 7.1316, 1.6825, -0.0073, -0.0269, -0.0122] 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":{"left_x":0.38,"left_y":-0.23,"left_z":0.045,"left_yaw":0,"left_pitch":0.25,"left_roll":0,"left_gripper":0},"note":"The two bowl openings appear aligned, and the upper bowl is just entering the lower one. I’ll lower a few more centimetres to seat it before releasing."})
tool
executing move_to over 3 steps (0.3s)
step 193
assistant
agent noteThe descent has stopped slightly above the target, consistent with the bowl resting in the stack. I’ll open the gripper to leave it seated.
move_to
left_gripper0.7000left_pitch0.2500left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8425, 1.9606, 0.7074, 0.775, -0.791, -0.3904, 0.0337, -0.02, 0.8192, 0.5999, -0.4454, -0.0132, -0.0269, 0.9971] state[eef_state]: left_x=0.3803 left_y=-0.2323 left_z=0.053 left_yaw=0.0063 left_pitch=0.2424 left_roll=-0.0089 left_gripper=0.0337 right_x=0.2863 right_y=0.0002 right_z=0.1581 right_yaw=0.0061 right_pitch=-0.0927 right_roll=-0.0019 right_gripper=0.9971 state[joint_eff]: [0.0752, -7.4188, 3.2205, 0.7253, -0.0757, 0.2515, 1.0037, -0.0752, -1.1556, 7.2957, 1.6532, -0.0366, -0.0562, -0.0122] camera 'top_cam' (step 193): [image omitted: streamed camera frame] camera 'left_cam' (step 193): [image omitted: streamed camera frame] camera 'right_cam' (step 193): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.7,"left_pitch":0.25,"left_roll":0,"left_yaw":0},"note":"The descent has stopped slightly above the target, consistent with the bowl resting in the stack. I’ll open the gripper to leave it seated."})
tool
executing move_to over 7 steps (0.7s)
step 200
assistant
agent noteThe first two bowls appear nested. I’ll clear the left arm and approach the remaining pink bowl’s right rim with the right gripper.
move_to
left_x0.2940left_y0.0000left_z0.2000left_yaw0.0000left_pitch0.0000left_roll0.0000right_x0.3700right_y0.1450right_z0.0900right_yaw0.0000right_pitch0.2500right_roll0.0000right_gripper0.7000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8425, 1.9835, 0.6987, 0.8429, -0.794, -0.3828, 0.6951, -0.02, 0.8204, 0.5999, -0.4454, -0.0128, -0.0273, 0.9971] state[eef_state]: left_x=0.3816 left_y=-0.2332 left_z=0.053 left_yaw=0.0117 left_pitch=0.2673 left_roll=-0.0286 left_gripper=0.6951 right_x=0.2863 right_y=0.0001 right_z=0.1578 right_yaw=0.006 right_pitch=-0.0938 right_roll=-0.0024 right_gripper=0.9971 state[joint_eff]: [0.1983, -7.8564, 3.6718, 1.5653, -0.2125, 0.0757, -0.1441, -0.1846, -1.4291, 7.0496, 1.6728, -0.0464, -0.0562, -0.0122] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 200): [image omitted: streamed camera frame] camera 'left_cam' (step 200): [image omitted: streamed camera frame] camera 'right_cam' (step 200): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.294,"left_y":0,"left_z":0.2,"left_yaw":0,"left_pitch":0,"left_roll":0,"right_x":0.37,"right_y":0.145,"right_z":0.09,"right_yaw":0,"right_pitch":0.25,"right_roll":0,"right_gripper":0.7},"note":"The first two bowls appear nested. I’ll clear the left arm and approach the remaining pink bowl’s right rim with the right gripper."})
tool
executing move_to over 21 steps (2.1s)
step 221
assistant
agent noteThe nested pair has settled to the left, and the pink bowl remains separate. I’ll place the right-hand fingers across the pink bowl’s outer wall for a rim grasp.
move_to
right_x0.3900right_y0.1150right_z0.0250right_yaw0.0000right_pitch0.2500right_roll0.0000right_gripper0.7000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0582, 0.8124, 0.6437, -0.3969, -0.1078, -0.1074, 0.696, 0.6037, 1.6142, 0.4194, 0.6884, 0.5411, 0.1921, 0.701] state[eef_state]: left_x=0.2984 left_y=0.0052 left_z=0.1902 left_yaw=0.0689 left_pitch=0.01 left_roll=-0.0108 left_gripper=0.696 right_x=0.3551 right_y=0.1387 right_z=0.0626 right_yaw=0.0491 right_pitch=0.1414 right_roll=-0.0681 right_gripper=0.701 state[joint_eff]: [0.1983, -1.7846, 9.9761, 1.707, -0.0024, 0.188, 0.0806, 0.4581, -6.2838, 7.4735, 2.1172, 0.3394, 0.1343, -0.0024] camera 'top_cam' (step 221): [image omitted: streamed camera frame] camera 'left_cam' (step 221): [image omitted: streamed camera frame] camera 'right_cam' (step 221): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.115,"right_z":0.025,"right_yaw":0,"right_pitch":0.25,"right_roll":0,"right_gripper":0.7},"note":"The nested pair has settled to the left, and the pink bowl remains separate. I’ll place the right-hand fingers across the pink bowl’s outer wall for a rim grasp."})
tool
executing move_to over 4 steps (0.4s)
step 225
assistant
agent noteThe right bowl wall is between the fingers. I’ll close on the rim, using the same forward-tilted grip that secured the first bowl.
move_to
right_gripper0.0000right_yaw0.0000right_pitch0.2500right_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0582, 0.8169, 0.6487, -0.4282, -0.0929, -0.1017, 0.6961, 0.4747, 1.9667, 0.4061, 1.111, 0.4854, 0.1646, 0.7004] state[eef_state]: left_x=0.2952 left_y=0.0028 left_z=0.1846 left_yaw=0.0533 left_pitch=-0.0216 left_roll=-0.0104 left_gripper=0.6961 right_x=0.3814 right_y=0.1074 right_z=0.013 right_yaw=-0.0235 right_pitch=0.1767 right_roll=-0.0422 right_gripper=0.7004 state[joint_eff]: [-0.3077, -1.7162, 6.5983, 2.0537, -0.1441, -0.105, -0.0073, -0.1846, -7.5692, 3.8769, 1.1013, -0.0562, -0.2662, 0.0269] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 225): [image omitted: streamed camera frame] camera 'left_cam' (step 225): [image omitted: streamed camera frame] camera 'right_cam' (step 225): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0,"right_yaw":0,"right_pitch":0.25,"right_roll":0},"note":"The right bowl wall is between the fingers. I’ll close on the rim, using the same forward-tilted grip that secured the first bowl."})
tool
executing move_to over 8 steps (0.8s)
step 233
assistant
agent noteThe pink bowl has tilted upward with the closing fingers. I’ll test-lift it while keeping the gripper fully commanded closed.
move_to
right_x0.3930right_y0.1180right_z0.1300right_yaw0.0000right_pitch0.2500right_roll0.0000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0582, 0.8185, 0.6487, -0.4335, -0.1017, -0.1047, 0.6961, 0.477, 1.9648, 0.4084, 1.2579, 0.4622, 0.1833, 0.0355] state[eef_state]: left_x=0.2945 left_y=0.0044 left_z=0.1832 left_yaw=0.0623 left_pitch=-0.0279 left_roll=-0.0072 left_gripper=0.6961 right_x=0.3927 right_y=0.1183 right_z=0.0448 right_yaw=-0.0297 right_pitch=0.3051 right_roll=0.0585 right_gripper=0.0355 state[joint_eff]: [-0.1983, -0.9094, 7.1863, 1.7363, 0.0317, -0.0317, -0.0171, -0.294, -5.4085, 2.5641, 0.6325, 0.3101, -0.2222, 0.8523] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 233): [image omitted: streamed camera frame] camera 'left_cam' (step 233): [image omitted: streamed camera frame] camera 'right_cam' (step 233): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.393,"right_y":0.118,"right_z":0.13,"right_yaw":0,"right_pitch":0.25,"right_roll":0,"right_gripper":0},"note":"The pink bowl has tilted upward with the closing fingers. I’ll test-lift it while keeping the gripper fully commanded closed."})
tool
executing move_to over 6 steps (0.6s)
step 239
assistant
agent noteThe pink bowl is securely lifted. I’ll carry it leftward above the nested pair, keeping the idle arm clear and the bowl well above the table.
move_to
right_x0.3500right_y0.4000right_z0.2200right_yaw0.0000right_pitch0.2500right_roll0.0000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0582, 0.8223, 0.6487, -0.4335, -0.1028, -0.1047, 0.6961, 0.4759, 1.6859, 0.4923, 0.9195, 0.448, 0.1593, 0.0323] state[eef_state]: left_x=0.2948 left_y=0.0046 left_z=0.1822 left_yaw=0.0633 left_pitch=-0.0316 left_roll=-0.0061 left_gripper=0.6961 right_x=0.4044 right_y=0.1263 right_z=0.1067 right_yaw=-0.0085 right_pitch=0.3252 right_roll=0.05 right_gripper=0.0323 state[joint_eff]: [-0.1573, -1.306, 7.1316, 1.7607, -0.0806, -0.0464, -0.0122, -0.4581, -6.8991, 7.3504, 2.0244, 0.2271, 0.0171, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 239): [image omitted: streamed camera frame] camera 'left_cam' (step 239): [image omitted: streamed camera frame] camera 'right_cam' (step 239): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.4,"right_z":0.22,"right_yaw":0,"right_pitch":0.25,"right_roll":0,"right_gripper":0},"note":"The pink bowl is securely lifted. I’ll carry it leftward above the nested pair, keeping the idle arm clear and the bowl well above the table."})
tool
executing move_to over 23 steps (2.3s)
step 262
assistant
agent noteThe pink bowl is above the stack, with the gripper partially hiding the lower bowls. I’ll lower to just above their rims and make a small sideways correction.
move_to
right_x0.3500right_y0.3900right_z0.1000right_yaw0.0000right_pitch0.2500right_roll0.0000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0582, 0.8249, 0.6487, -0.4408, -0.1024, -0.1047, 0.6961, 1.1301, 2.0125, 1.6024, -0.2813, 0.9997, 0.548, 0.0317] state[eef_state]: left_x=0.2939 left_y=0.0046 left_z=0.18 left_yaw=0.063 left_pitch=-0.0414 left_roll=-0.0051 left_gripper=0.6961 right_x=0.3483 right_y=0.3986 right_z=0.2026 right_yaw=0.0528 right_pitch=0.2191 right_roll=-0.0469 right_gripper=0.0317 state[joint_eff]: [-0.0205, -1.5658, 6.9949, 1.7998, -0.0122, -0.0659, -0.0122, 0.1573, -11.2615, 8.9641, 1.663, 0.6178, 0.1783, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 262): [image omitted: streamed camera frame] camera 'left_cam' (step 262): [image omitted: streamed camera frame] camera 'right_cam' (step 262): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.39,"right_z":0.10,"right_yaw":0,"right_pitch":0.25,"right_roll":0,"right_gripper":0},"note":"The pink bowl is above the stack, with the gripper partially hiding the lower bowls. I’ll lower to just above their rims and make a small sideways correction."})
tool
executing move_to over 7 steps (0.7s)
step 269
assistant
agent noteThe upper bowl is slightly left of the stack’s centre. I’ll shift it a little right while lowering the last few centimetres to seat it.
move_to
right_x0.3500right_y0.3700right_z0.0550right_yaw0.0000right_pitch0.2500right_roll0.0000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0582, 0.8276, 0.6487, -0.4412, -0.1051, -0.1047, 0.6961, 1.1275, 2.1265, 1.3472, 0.0494, 1.013, 0.5716, 0.0317] state[eef_state]: left_x=0.2941 left_y=0.005 left_z=0.1792 left_yaw=0.0653 left_pitch=-0.0443 left_roll=-0.0032 left_gripper=0.6961 right_x=0.3457 right_y=0.3869 right_z=0.0978 right_yaw=0.0352 right_pitch=0.2097 right_roll=-0.0633 right_gripper=0.0317 state[joint_eff]: [-0.0615, -1.6479, 6.9949, 1.6679, -0.0562, -0.0415, -0.0122, -0.2803, -10.3179, 6.4752, 1.5849, 0.5006, -0.0073, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 269): [image omitted: streamed camera frame] camera 'left_cam' (step 269): [image omitted: streamed camera frame] camera 'right_cam' (step 269): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.37,"right_z":0.055,"right_yaw":0,"right_pitch":0.25,"right_roll":0,"right_gripper":0},"note":"The upper bowl is slightly left of the stack’s centre. I’ll shift it a little right while lowering the last few centimetres to seat it."})
tool
executing move_to over 3 steps (0.3s)
step 272
assistant
agent noteThe descent stopped above the commanded height as the bowl met the stack. I’ll release it, then lift straight up so the fingers do not drag the bowls sideways.
move_to
right_gripper0.7000right_yaw0.0000right_pitch0.2500right_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0582, 0.8295, 0.6487, -0.4412, -0.1051, -0.1047, 0.6961, 1.1168, 2.1551, 1.2236, 0.2733, 1.0134, 0.5667, 0.0317] state[eef_state]: left_x=0.2942 left_y=0.005 left_z=0.1787 left_yaw=0.0653 left_pitch=-0.0462 left_roll=-0.003 left_gripper=0.6961 right_x=0.3462 right_y=0.3757 right_z=0.0715 right_yaw=0.0123 right_pitch=0.2425 right_roll=-0.0026 right_gripper=0.0317 state[joint_eff]: [-0.0889, -1.4017, 7.0085, 1.7021, -0.0757, -0.0415, -0.0122, -0.9368, -8.9231, 5.4769, 1.1941, 0.3443, -0.1245, 1.0281] camera 'top_cam' (step 272): [image omitted: streamed camera frame] camera 'left_cam' (step 272): [image omitted: streamed camera frame] camera 'right_cam' (step 272): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.7,"right_yaw":0,"right_pitch":0.25,"right_roll":0},"note":"The descent stopped above the commanded height as the bowl met the stack. I’ll release it, then lift straight up so the fingers do not drag the bowls sideways."})
tool
executing move_to over 7 steps (0.7s)
step 279
assistant
agent noteThe pink bowl has been released onto the others. I’ll lift vertically to clear both sides of its rim before moving the arm away.
move_to
right_x0.3460right_y0.3710right_z0.2100right_yaw0.0000right_pitch0.2500right_roll0.0000right_gripper0.7000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0582, 0.8295, 0.6487, -0.4412, -0.1055, -0.1047, 0.6961, 1.1137, 2.175, 1.2091, 0.281, 1.0138, 0.572, 0.6955] state[eef_state]: left_x=0.2942 left_y=0.0051 left_z=0.1787 left_yaw=0.0656 left_pitch=-0.0461 left_roll=-0.0028 left_gripper=0.6961 right_x=0.3455 right_y=0.3709 right_z=0.0586 right_yaw=0.0118 right_pitch=0.2307 right_roll=-0.0221 right_gripper=0.6955 state[joint_eff]: [-0.0068, -1.3197, 7.0222, 1.6825, -0.1001, -0.0806, -0.0122, 0.4581, -12.2188, 7.4872, 1.2381, 0.3932, -0.0415, -0.105] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 279): [image omitted: streamed camera frame] camera 'left_cam' (step 279): [image omitted: streamed camera frame] camera 'right_cam' (step 279): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.346,"right_y":0.371,"right_z":0.21,"right_yaw":0,"right_pitch":0.25,"right_roll":0,"right_gripper":0.7},"note":"The pink bowl has been released onto the others. I’ll lift vertically to clear both sides of its rim before moving the arm away."})
tool
executing move_to over 10 steps (1.0s)
step 289
assistant
agent noteThe right fingers are clear of the bowls. I’ll park both arms out of the way so I can verify the completed stack in the overhead view.
move_to
right_x0.2940right_y0.0000right_z0.2000right_yaw0.0000right_pitch0.0000right_roll0.0000right_gripper0.7000left_x0.2940left_y0.0000left_z0.2000left_yaw0.0000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0582, 0.8295, 0.6487, -0.4412, -0.1055, -0.1047, 0.6961, 1.1164, 1.9694, 1.4212, -0.1703, 1.0092, 0.5652, 0.6994] state[eef_state]: left_x=0.2942 left_y=0.0051 left_z=0.1787 left_yaw=0.0656 left_pitch=-0.0461 left_roll=-0.0028 left_gripper=0.6961 right_x=0.3447 right_y=0.3731 right_z=0.1709 right_yaw=0.0281 right_pitch=0.2125 right_roll=-0.0579 right_gripper=0.6994 state[joint_eff]: [-0.0068, -1.2513, 6.9949, 1.707, -0.0757, -0.0757, -0.0122, -0.4444, -14.0923, 9.7983, 1.5897, 0.442, 0.022, -0.0757] camera 'top_cam' (step 289): [image omitted: streamed camera frame] camera 'left_cam' (step 289): [image omitted: streamed camera frame] camera 'right_cam' (step 289): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.294,"right_y":0,"right_z":0.2,"right_yaw":0,"right_pitch":0,"right_roll":0,"right_gripper":0.7,"left_x":0.294,"left_y":0,"left_z":0.2,"left_yaw":0,"left_pitch":0,"left_roll":0},"note":"The right fingers are clear of the bowls. I’ll park both arms out of the way so I can verify the completed stack in the overhead view."})
tool
executing move_to over 32 steps (3.2s)
step 321
assistant
agent noteStacked the three bowls together, with the pink bowl on top, and parked both arms clear.
done
hindsightThese thin bowl walls produced secure rim grasps at gripper readings around 0.032–0.035, so the usual below-0.04 empty-grasp heuristic was not reliable; visual test lifts confirmed the holds. A forward pitch target of 0.25 rad worked well for rim grasps. Keep the close command and orientation explicit during lifting, and lift vertically after releasing before retracting sideways, to avoid dragging the nested bowls.
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.038, 0.8131, 0.6487, -0.461, -0.0479, -0.0708, 0.6961, 0.0116, 0.8101, 0.6708, -0.4454, 0.0711, 0.0238, 0.6999] state[eef_state]: left_x=0.2903 left_y=0.001 left_z=0.1787 left_yaw=0.019 left_pitch=-0.0527 left_roll=-0.0084 left_gripper=0.6961 right_x=0.2945 right_y=-0.0055 right_z=0.1929 right_yaw=-0.0607 right_pitch=-0.011 right_roll=-0.0082 right_gripper=0.6999 state[joint_eff]: [0.3077, -2.3316, 10.0444, 1.707, 0.1001, 0.1734, -0.0122, -0.0889, -1.8667, 8.4991, 1.7509, -0.0611, -0.0464, -0.0269] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 321): [image omitted: streamed camera frame] camera 'left_cam' (step 321): [image omitted: streamed camera frame] camera 'right_cam' (step 321): [image omitted: streamed camera frame]
assistant
done({"summary":"Stacked the three bowls together, with the pink bowl on top, and parked both arms clear.","hindsight":"These thin bowl walls produced secure rim grasps at gripper readings around 0.032–0.035, so the usual below-0.04 empty-grasp heuristic was not reliable; visual test lifts confirmed the holds. A forward pitch target of 0.25 rad worked well for rim grasps. Keep the close command and orientation explicit during lifting, and lift vertically after releasing before retracting sideways, to avoid dragging the nested bowls."})
tool
done: Stacked the three bowls together, with the pink 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 · 7.276 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Stack the bowls on the table.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7944, 0.6041, -0.3817, -0.0227, -0.041, 0.9996, -0.02, 0.7925, 0.601, -0.3805, -0.0105, -0.02, 0.9974]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1795 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2942 right_y=-0.0005 right_z=0.1789 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9974\nstate[joint_eff]: [-0.3761, -1.5795, 10.1265, 1.7753, -0.0122, 0.2466, -0.0611, -0.5402, -1.306, 10.359, 1.9219, -0.1294, 0.0513, -0.2857]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3393734b744fc7121f730762f4d9e673960291c295c19ffe73872fc2126d133d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a9ca19f08a94be300142759cc934853a03dfd7b88f1ed00e932878c603fab78",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6a7e1078ce607a24873840090574132ed3f26b7eaa7632973e55b5b1bba70fe",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 10.78 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtJ5aaKDd4y4R8ike98063OCKEnuERIPQboOy-AljHaRStEloVD18NxCPYAVHYBg_ZKoUwc1nm4mPIwY0KMuVLjsu0xVCRX-l5y1IX47YxUGAIWO_OY0iFESGStX-BzkY_ld9ywt3iz5baBZwed03mLxd3I1phg9tHO_PguSBTGevXzd8wC4eSl9E3kr4kNY3qIKbvhJkvgdq6YDJk6Yte8pYPrdf49HNjj3B2FGzzFdQdYKlqtvwX2DWK7F1MmnjnerI6AssShHQFcIJkpJZV05ze2_is4OwFpipDr5Ro8IVdN1ozZ1NKAHPGXJuxCq_wVeAf1btFooRbB6vtNuFmpBgAxNIVbxV39vBqUS_XqhF4_MQgy-3vDo4Fz2QNn7WjrJrZxXHq9COT1quWQg7idqRZ76XMypCSVDvBYusPFBydaYO3jbnHN_0cmvhWyRZyGZZEVGHKdS5mN9vxdhfbPzWso7k_GmSPgPSqxVndG8mkD_XKL0Ekyl5BFobtWW0FFh9moxbeeBAfRtsqtor0CGs1tXmMnbJ_-Mjt_5dfZuKWnq7FFnFMChDkNF-VVSdf7_sR3NjgW7H57ykVXm0YrN84-K-szIUE23bqwRcd08t3C-NlyWXMFHMfwDDK0UjE_cLIsRGcD9mwxYLMgmGreI5V1HFXTCuyLHXTcbYrnGgeOb2PJOAIyCTgNQVsMkjLR2PlHxCXgUJZLMPSamk5SH3A1ljGYLOeB1DcrSCohsOxPvCY7zjw2JTDVU-zcOhNC8MlSkh9VOaNKPJY9rQ7N7ND6dKviNhLutydQQ4py_PqtjGEqj_LliqhAaYh_NuwHVg-dAXTvJutGxWfWxJxLT7u6ggvj8Zsqc79yzlBjN5VpyX7Y9xFWGacaEgbhTo5ldOY_mX9tTuWAK7niHW4tp3EKNXwir-TknzRyW4ZtnEVBt9h9Hb-GkakRFZH_p8jEm3DArl7DkWnRFh8hntp_0YA_BIyo1H4Mpp8qiDhURqDNNjyUEjS5eNkIo3WdywMDK7pquaT4NflCm1diHHirE27uv4at3rImSRFMmdn0RePKHGzpUhONwyjourHyOQqXPp33-VvvvJ4zI0NJTvdBfEu3aDdadXXgitdABcQ1KLz-z-8Qosx5-DEvjYzY9UG2yjtnnmw2Dpay28_u1JHBDXuhGddprwLTjUQUv1vhAqyrsV377DhSmgDtTU7dlyjPHfnaTbQ925hAdrlSlBYXigKuEIXO71zTFO6VF42nW7JOyJf8SbxZr8QOBWYyBhMNIGaDo2G0yWAgmHViPL-hyjzcRwqrpJq5H7rPyeVApUPBBevlUgfeRMJr7BaK0wtL3Ob2ajY66H7y1Bc6nD4irtpMwDgFZYhr3FKxCAH2ucW7mmop8skCPf25WdLyehLv1VxT5AgQZGVjIGAzCVr48G_SF-qMtsc2AZH6JvEngaXaiNdEv2mF7-pNz-qyHEkTuuiPVyEVksPIoWB6L2IfuWgHLyhCfA0h1NZSbb_b-yq6iSYbEmAnABj7QmVfq6UX5Un48HXHUKZ7axL_UGcZCLeU-YnuOmkeKxhB9VrcEn4WD5hT-3gC8tuqetkXONOGotu-piIJ5bBKjdrppZ3HJStIb4e5qrunin__o1L8YBILtV_gwV5Cris1ffHvOGg1nxYYpt_RMByczGVMguIAI5wZ7LWqS9Cm3hiap6rn0d5Tabk6h0KUji9VDVxnKHFLtxlRodoLC0PoTolw4rKlKQMB7m4pmMF22MCXhUxIwAOb0o7PWcxlYReQ1LUfa9KfL3o-AOwT-sQny2hpickDLtuReNHpkjKWkaP8RMzVMyshsXgKxleAoHLwLiwI6e7Bak7elc4yZ50SIXD1t9GyrP2ouKqbecp08wemo9H2FRZxGqjaF6DfS4LswCumudlIkHIT_8oErsyrjVCIJswvIP8ne-VLLX_2cwJFXIvqiT_vlVyDaijjKrwJBXqtcrTJauHIxDLAntbx1ZQaDGSCX4m436rSiy5-tLZL1gp8QwdNlyJgZqN99iWBmM8fjv6vWAYjG-j4zaiwD6cVJU9lXyc_dtDeFlyFV1ZLgEnUCajNkO32OTkWvV_vqQSDTbcUylQBW1AhhH1cL_lpdvzZXMYqBHrzCh6Pb8DRB_jj-5Tc4Hw4G7MRDTrJTuuPjxndKxkc6hiOFOt4imy5RH-n_0kmJHTdIJYaU3yjYkx9OkOUxUSv7IfyBQCoK3nz9fMHNx64zBdi51bWzX0Jj7-86Mhbr2qbR7MhLCGIZHHsQQPvTv67WRC4C-6RH70ComMqgLFyrTrX9luha4xQQHhHzcjUhklwDNt1AWqoD13n6ZZixSe_LTompxlInt7bflwF3K",
  "id": "rs_038e0ee62d6e9d7b016ab49e54837c87d08e43d1a7aec791e9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.135,\"left_z\":0.15,\"left_gripper\":1,\"right_x\":0.294,\"right_y\":0,\"right_z\":0.18},\"note\":\"I see three upright bowls in a row. I’ll approach the left bowl’s outer rim with the left gripper, aiming to nest it into the middle bowl.\"}",
  "call_id": "call_vKUJz2OSQ06Lhp90YNFfAlVG",
  "id": "fc_038e0ee62d6e9d7b016ab49e59033087d0b1c531c294e1a25d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vKUJz2OSQ06Lhp90YNFfAlVG",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5766, 1.3155, 0.7277, -0.1375, -0.4557, -0.3588, 0.9996, -0.02, 0.7967, 0.6003, -0.3931, -0.0154, -0.02, 0.9971]\nstate[eef_state]: left_x=0.3476 left_y=-0.129 left_z=0.1299 left_yaw=-0.0256 left_pitch=-0.0669 left_roll=0.0314 left_gripper=0.9996 right_x=0.2927 right_y=0.0005 right_z=0.1748 right_yaw=0.0042 right_pitch=-0.0175 right_roll=0.0031 right_gripper=0.9971\nstate[joint_eff]: [-0.3487, -5.3128, 9.4017, 1.8095, -0.3394, -0.1001, -0.0562, 0.1436, -1.6205, 7.4188, 1.8095, 0.0366, -0.0415, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d6e6150a7d90ed872154c6a01fd54414ab454eb3e0ee788f23ef05f625e7b80",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b4aa280190a07835ddc3a62060eef28583bfe4575b00a2f814c2496d4e5fa08",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25a9d825e9bc5cf76d637406343fd4a0bc2c7a034d90b75cc1acf147e72183d4",
      "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 · 7.656 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 6 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7944, 0.6041, -0.3817, -0.0227, -0.041, 0.9996, -0.02, 0.7925, 0.601, -0.3805, -0.0105, -0.02, 0.9974]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1795 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2942 right_y=-0.0005 right_z=0.1789 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9974\nstate[joint_eff]: [-0.3761, -1.5795, 10.1265, 1.7753, -0.0122, 0.2466, -0.0611, -0.5402, -1.306, 10.359, 1.9219, -0.1294, 0.0513, -0.2857]",
      "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]: [-0.5766, 1.3155, 0.7277, -0.1375, -0.4557, -0.3588, 0.9996, -0.02, 0.7967, 0.6003, -0.3931, -0.0154, -0.02, 0.9971]\nstate[eef_state]: left_x=0.3476 left_y=-0.129 left_z=0.1299 left_yaw=-0.0256 left_pitch=-0.0669 left_roll=0.0314 left_gripper=0.9996 right_x=0.2927 right_y=0.0005 right_z=0.1748 right_yaw=0.0042 right_pitch=-0.0175 right_roll=0.0031 right_gripper=0.9971\nstate[joint_eff]: [-0.3487, -5.3128, 9.4017, 1.8095, -0.3394, -0.1001, -0.0562, 0.1436, -1.6205, 7.4188, 1.8095, 0.0366, -0.0415, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d6e6150a7d90ed872154c6a01fd54414ab454eb3e0ee788f23ef05f625e7b80",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b4aa280190a07835ddc3a62060eef28583bfe4575b00a2f814c2496d4e5fa08",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25a9d825e9bc5cf76d637406343fd4a0bc2c7a034d90b75cc1acf147e72183d4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJ5mwltiu5cx0dZngEe2RveYkdBhWWLBR9QqIMAZ6Oa9r2FY634i_RtfBLGLE52WAHa7IQvWnB-hDzoqenCsCwqIbvU-JJ7T2_P09y7_dWv_4sv5ej3Q8ymsTCJ6PL7ISeO8Rv_RYQfQyB44TJ2_ob12-SVO_HUvH9XbRt7lYh0gW0YRJ-HfcefEIkq7Xq0Hmhxhd1t__vkLVrQrvommC5HNtZ659u1KvafaSXCuaJEO00YIXNn8zXzxv0eDXSRoyNQaGySqDRaP4keCdknkmicSkow1yFI8ET-sIecNHo9OmDQdZgLBnS-Ky_-8K7xvBQ7fCD96C62cPwC76RYeGjjdadyWsaSu0qFEFQqiN3kEOAC5XIbtZq0q2ghKBlRfNQ8GBzRBDS9PRrT7_B0KboEv1TbeMK4AtnLs-YVR8cLNvLpFeo-KNtFya_ZbluI6WkdwCR7wyJrmrYG8thNmqir7XXG5GueVFuc2I-5Z7kwTV32x2XVYkGmnEt0GEWYUMa0obj3K13OZv28NCyTow1acVE_UBEbvRkg4hGNa-uOjRKEcbYvsEIPV96nknhQu-cSkHUqf3JqM90oB-UEW2d05-U_J6leFFX77OGvOvradjE7I208U8Fr98zNy9c1BQ143lgu_tErlk-nIThDoMaLWXs4Ni5YyfZYnSmp15JldQCdFd9Enbfteu_yevrRlYq4NSqiMGRktV9M7Mxl-osSONUBj_GgPYbk6UJoAZpCFwPmXKEPZNA4Kf54AVTwq7j17eUTxte6-APZ_sI3SsBI-hPsqJsv0LoZp7V6ws9HNwCTFPhgZa8NjwwboSOzj2YW2Y6pb1eSn_aHppx0jQLy44V3ozuIzIyg2AopeYCQksCrgKTBP49zZUbg9jvn85ULQ0Pif8BGXoSE2cQacIsBLXZgzxWJRpUUmhDP1-hG8HvaY384iFHYgfuTY7Zku7tULc3Do2KaNQfztH7Gbvu6Dr4dm7ax2lILU2EMF8RW5GKrYvi2tOKPJS7LW3WiDshxKLeGi66m2oTNaxaguiY9ZkvC95-m0l0Vs6DKmxLliY52WzE_q0MMel3xUp-ZEiFEKfmNjrMB9lXAf5ahprHfr8i-f-dV7_C3eBDlRjVMxzoeI9CJdd5nS6OIkbb7dj_iSu6t5NIWTkxf5nMpelAEA2WaNCYd4YZxmnR9WCFZDcxBgkaf2f_UC43GSmN4OVU_xtKbof-vlMjRFQaOcxzq-wILkchPtWtc7zlZTBR8QMCGbviV_qrVIHk1ZwSugRUkn_AUI4Two7HMBi1s8wItWJenbkJDAjkyX2ambw_Wg0nVg2I6R8EuRcTjGzVNLwncMpDdiixOvD3jRz080PQxcNCvNE5PGZCRdCHnCUxYTbeNMWzftHhnuLnCjSZjawo_-KN9la83lbMDJVQa4E9TWYG5RDOom5yZCbAps-OiTaiwI6bK6aaW6wjX6vDK7Ololc5ZgVPwOIMuJGGACVzxPhbWIaiGbfF4PQD7kxj4MTUbmIZxFl9EhRjNZHut3wdGH1c6VncS53h280C5Bzc81f_ZFG3XvvV0gJxpqUJ2POFY56CpqkkqL4SwNKOTtJMhbt0GoQZC2C9OWHr2C9hA4DqItn4CT-0XKeDYFICWGZamLPULgK3Flr0-om3SfIGIh6mKgAB_A54dRlhysECOSCKGG8HaybUj878WIQWUMuZ9W9WsxwyHEQT1pKNiwppz_TrgjpmLExtH1ciPbYOyq8xQR3v8cD2q9kGZs9IyjFtKW6IWYU4lHpwxbMpi42HGY2C8UeVvTj0yIjFpTvsjzXyO9ud_yPC4SWBQganLRDLXIMtegiuwZFSgn7I5jx63lN_qTfugeXKoJTlS8hmxzDmXjAlw-_RE7oMKc2qHQhSNRYGVYSf624ewNod4ekFhUTtCJ_AB2epgo3SZ8HHUx7DwNw1GTxvppOgiRYIfXpX3UQI0yxWht4km0XdsI-S4Xg3Swcp4Rv3q6lCO0k52_OiwVa-gxl0UwsC2dmrfXI5f3pO6Z007KkFe0jNUvYhEFnA3nBE9aopF82Q5nYUB9xHs4OmXjYBNrM5FGzUiBiDfC1SONZdbrvv8KmleHSdV6l24nx-QIEL9vNhQEhESmhpajeGf4LgsjBuMMNgrJxzS_AcdTqt9hVRY5Jam4eCpCLK-1Kqw0bde9ESqa9vnxwEGCJgaVl-jIp4QicYHgs1tUwkfjIYp-VTbSKdT1IbT-yBs98x2V3YT2IpX9o-JdM7mQDScPDQuAGRO1sog3Jx5tAlWWR86EMJjaH51a3Ud-ShQ5vAzZAm_oEdB2yNyP-PsteDlR0dpcP1IrpyVEFhOyASMatwQMalDWxOW3xVgNM1gUTtPJanZLwhxq7Prrb50uOkDzzdf2gasZodRiJwwgMRvm3685BA8MEjUuTb4GwH3tSN8bBYXkZSUX_u1Cv0m0ongVu-PIcWSVdajvFi46wBXn-cgOsA6jIFmP83oiOh5SdX5Y4raNjioGos8IrtZrGZ3CZ1F11f2FRNKAdESWRHWYKSz3fpD48p0xBMdca2zJkmmWkBU-rrmhay71METSctMTJ5AjDjfUAdbJhVg_eO88dL6atl_CG-UrtGpav2Rt-vo_E6IXQHNS8nbNA8LQTXCouVtM6MeaaENlrOq8IFCFQ7hgPYV2a8eiQgz6vEuId8DgRCPsehjiLSug67LEZ8unU7n0Czn9Z7ttrNamFUlRNIHtkUh1ekJTRJ8yHnlBfRr-WFtZz3ZL7SOBP15HSFAxqB2Gkt7JfbIC-r_8bUmS97WXsM7PQYOarMOTFbm4ScbY1bjoh1AqI4GvHg2zp8B6U7TVxIdKXoWsSz55_btRsjYP4L09W0NIBi7vGTwfIwFqtRNN2TaCteUeBo-GRiaEGSM3kuQKDulAUG1erQpgcKY2WMswNS-nDbYtobt7Tfjd1mlh8CRC2c8Es0ZqCSneal9a8JSmyRbPoxbvDIQnisa2VhxN7GQfucoN7GOMOyQgVCK1tweNEAnvkQzaC2K7ao5mFa6y9c8nocXT_Mr5BisGnSfNmz1foHKA-Xi5qghasaVjVG0SlB4FIEsvS2h6c575MXj9Dwykp_o5RiDyfmfP_XGl6iCawrLy7lynAfYK4geOJDVEklaAZisjHp4SFJ69Ca9rDYITC5C_2GpXpAsTWuezE0T9xxBfQeTTsDPdckrNu8_6SRBcEsoPk3biD-h3qr7vuCqcyoeScCYygan6gJNYTZzEF75DL-DoBVQi33SevFRhc94b_lDon4iJJFkFdWAQ_hB4a7z-WF6S4EZWSQaQXYXFY3AW-J-rCrtX7pEjhyB5Qy-NfLqD__bnyarg04c8JnVBXygRKt5CVe_9wAAGH8--B6c3UBDZvHDCioO5Za87bK4e5gT8PPdUi1nl6vAVfKzJto8pieQZBZ7NdtholUwNV1ZCTSmHzlmWPUCTmpPUHKmtt8wWlxZgDDiNQIK8-7VZNxYyegR6CMMcBLqzLjSVOKh30QEdJ0ShXSmIr5P3LDCpnQ==",
  "id": "rs_038e0ee62d6e9d7b016ab49e5d5e2c87d0b9cce85c89699110",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.11,\"left_z\":0.065},\"note\":\"The left bowl is below the gripper, with its left rim slightly to the side of the jaw centre. I’ll shift toward that rim and lower while keeping the jaws open.\"}",
  "call_id": "call_rlAsbrxsMMrBnjmUMFWixl4e",
  "id": "fc_038e0ee62d6e9d7b016ab49e65922487d0aef0978e2a9ee0fc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rlAsbrxsMMrBnjmUMFWixl4e",
  "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]: [-0.5102, 1.4311, 0.5358, 0.1116, -0.416, -0.329, 0.9995, -0.02, 0.7971, 0.6003, -0.3931, -0.0128, -0.02, 0.9971]\nstate[eef_state]: left_x=0.3398 left_y=-0.1042 left_z=0.0563 left_yaw=-0.0037 left_pitch=-0.1319 left_roll=0.0608 left_gripper=0.9995 right_x=0.2927 right_y=-0.0 right_z=0.1747 right_yaw=0.0019 right_pitch=-0.0179 right_roll=0.0016 right_gripper=0.9971\nstate[joint_eff]: [0.4991, -5.1624, 5.8051, 1.7118, -0.0317, 0.1245, -0.0171, -0.0615, -1.0598, 7.0359, 1.7363, -0.0562, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a28bab6d0440c6383f491e040ce0d1fe46eb2742f5a8f1b64721d4b424555630",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:754d28ae872e4b3369538c7e1fd9d77233fc59139b95f82cd58a448a5f25b6f0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ff4fd18d904d112cbbcebe7e51823223232843740a9a598586c1f60e04d799e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /responses · status 200 · 2.457 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]: [-0.5766, 1.3155, 0.7277, -0.1375, -0.4557, -0.3588, 0.9996, -0.02, 0.7967, 0.6003, -0.3931, -0.0154, -0.02, 0.9971]\nstate[eef_state]: left_x=0.3476 left_y=-0.129 left_z=0.1299 left_yaw=-0.0256 left_pitch=-0.0669 left_roll=0.0314 left_gripper=0.9996 right_x=0.2927 right_y=0.0005 right_z=0.1748 right_yaw=0.0042 right_pitch=-0.0175 right_roll=0.0031 right_gripper=0.9971\nstate[joint_eff]: [-0.3487, -5.3128, 9.4017, 1.8095, -0.3394, -0.1001, -0.0562, 0.1436, -1.6205, 7.4188, 1.8095, 0.0366, -0.0415, -0.0366]",
      "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]: [-0.5102, 1.4311, 0.5358, 0.1116, -0.416, -0.329, 0.9995, -0.02, 0.7971, 0.6003, -0.3931, -0.0128, -0.02, 0.9971]\nstate[eef_state]: left_x=0.3398 left_y=-0.1042 left_z=0.0563 left_yaw=-0.0037 left_pitch=-0.1319 left_roll=0.0608 left_gripper=0.9995 right_x=0.2927 right_y=-0.0 right_z=0.1747 right_yaw=0.0019 right_pitch=-0.0179 right_roll=0.0016 right_gripper=0.9971\nstate[joint_eff]: [0.4991, -5.1624, 5.8051, 1.7118, -0.0317, 0.1245, -0.0171, -0.0615, -1.0598, 7.0359, 1.7363, -0.0562, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a28bab6d0440c6383f491e040ce0d1fe46eb2742f5a8f1b64721d4b424555630",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:754d28ae872e4b3369538c7e1fd9d77233fc59139b95f82cd58a448a5f25b6f0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ff4fd18d904d112cbbcebe7e51823223232843740a9a598586c1f60e04d799e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJ5uDtQ2rO5L0OF6hT6YL1FzbOhzJPGpX5pDcVlNeB98LOfv57w5QBYVHaPWgt6WPpiYgIvlkZVlgA1DObbqPygU7COBKn0l3q0SPgmLtKt9y4MQfp854DwuWxP50eqUe2rJbvcpkz1-ygvohIGaRZSD8fiHdWIOBCqpHkRgCe7Auh38xY6MVkwaCi1xGvno8z9hTRdS6gxI21OgyLhknITsp_f1xcNkoNQV0deTWiSClIuu4jODYaYQI7B0B2HfXQtoL1gB6_vRsoQ9hyYuYqpGOTu0uSHhF22WUnQ7V-_Y5ZXQQRgBCFfX0Z-y-opDpZxnqEwUWD7DSfwjC-eFEWQ2eaUEHwG5qxRIWLCvJxMP2ecv5mO2InMXg55rUVV7mBdXv_JFRCnkqmbrTybuT7E5QVtdPnt3aFiK-h3vZiaSgEEZnApBCX94LTM6y5mLqZtwKa-n7na34AfdIb4PIDuKrcFhey5fpdhpln1tZRIfAUg_c5VsYdyZzsRzsor-EJayF11QgxULGEpjFtwGv621yJxHZT08PrFrE654uhcKQI3tQ3YqFFeywZdC14klah8cVN5s9FwuQUjw5P6nkwVntWajJ3jYeBn8i2Kv7NTErtD3eFWNTmd8jfFclxk4PtEVJSZ7sAz_OQYzp_KtcuCU6lXjvb3LhbemhbrZu_Nmr3TlpqpV9uUUgmDteiQrb375pl9A4L3EgJ9DNK5rWIdCYkI7JW1vdH41bn_SjiLdkrALqz5NNXu1CF7ciyqyk5_6CgDOVmzQxWfQaE8OQkCrycTIfZysirjf0koB8IMBshASFbh9cWu-0u9ezSIVR1D6w6WFQWrjZ_biOaP7WwXJGIePVt23f-GU6nudhfmP49DL2mvp8V2hJCN9Y2QeiSkQviLlEnfsB0Zp9Og4gTMzZkRxdJoJsWxUFGFUvPB0DTUMTpJeyDvH8qWvHr21ZksUvpx9MHg5TO76prAuylsNxXvOLoBNsL0LJzWR7z1Cy5IgfkJ9yBnBN1v_H3Mfea_J1lnuP2YRDzQVRNXZWDISKOHs9_HNPAV1LAsj4Ad73ZQJXmdx61uEOHNfbX6vLGYkSTDTy9a4Ur4doCHb9HgTzH-51bT_Py9nsU0sZz18s5X60PS4VxFtGMgcpE2MCr6cPjOYz2Ws8p8goNAK6_d9Q638-SWry1sDDrfDUqCNq65bNeP3-J2TDGj3X7nbC6yly6iyzoiJMryGE9T0h295ms6MJgA6oiLDKEwFMXhIinElhmyOddjEl3N5gd9h_jzq7NJDEFSlcs5GJjwlKhHIeu0E8VCHb7H5z2OrFzkH0Gx24f363BrS9lfpdzp9S1TTxhF6sBxmyq_ucGmwNeg8p_a82eStsGqIBSbNFzdUDmAhKHRmsDrt0fULEaLeg3-VRE3EwULFznOCSCSAV-zyrhUelics2JTM841wXZHDGqVHKKABr7v5V7m8xt21GOvCsFVD9K4POvYWq5EuIIOeAPGvJcUJXkRFWlXiPB5T03EXZYIAwrygrP1p4v3TYUQ0WZlOxj4caK2AaUKd1Svi9D4SFPwh9ZlynafRQUczMHdQ05V8nhMq5z78y1kZ-pSN6SmHNaZd9Pz8tK9h13Ur9pSJ8ZIdFB-LS3dSI3Lmw0C9vyzgHarkqehucgXNktm9v5b2Y4Lleo4OjpobAKskk5iWB_KL3oPRGfKacCy9ekWdNBMaq7dd5gXhNsehdfRdii7Pfy7TV9r-_B_vnigCYoT938eqwZ3tIp0g1fjkQbhOx8Fyon5M90qQTyPxyHW2xIOx4ITlCNtuKWrr86lS1C8gDo6xrGUGlyGjj_ekyo2_B43FPcC-uawtwaRmTMdex4nwC5mJshM4alTjjL-zZiYAAFpIWkothOe1x_0V2QZm_01Jtq3-feCWl2d9kcLMbN32hhEZWM27SgAbiZUorXz0pC5Rkn_XPqdzlig0wVu427Va7LG3nraJSpbjl3L12UxwSD09ntNrNbLC_KYw4AMb0ERhuLKl_9CQRT9LBZeAd1h2GaV9Ygpk9smkXjd4eMZ6mgAORjz5iH1f05vyyTFiGScqeVOGX0luhKgs-yY6RnWXXnnqOPwhqUZmCtVTXcLKtO3sZTXJprMRyHuoh2IfLArlmA4vx_TJ19j2Iwdw1LSYrZVsHr74JP0JpkF43X9V_JPvro9BtalD75hltnrTyX7scwhyT_MA6ONwPXyKScHRDYiwftQJwJRcofps_dAbyPl-wogYX2i0dZA3RgklkNz74QJ-5APIWRPthgPXio7k6dJEH0YNBB_3htcGmO-i8NBEtIlyMhHZ5EAhSPdbDTj0A0qyswXEmW87pPlcyijThLKN3Ur0T2NEjtAmrboEVCyGG4ziyiQKBkewPrXz_oYqZYjfhT5ECfg65SnuDfrtqXYrQ5PBLjF6tl8m9LOF8WUHL8mBXMVJTpZEsBwKilq7FKLM9jYGdWbgZ6vwRGPlCFvy0ylXuiqjqAijniDzp2chYjadF1iUkE0MNHBpG8591I-FIeWJ_UelnLjoNA6mPpR7vFyc5MG7M1yiOjJuIqooFRJ0VRzFZcccWY3-sOj-yTjWWnYoVUuObQM=",
  "id": "rs_038e0ee62d6e9d7b016ab49e68831487d082b23c9216db1b4d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.09,\"left_z\":0.032},\"note\":\"The bowl’s left wall lies between the open fingers, but the grasp is still a little toward its near edge. I’ll advance slightly and lower the fingertips below the rim for a secure wall grip.\"}",
  "call_id": "call_RtqXABXUBJS6iwRnL5AwcUBd",
  "id": "fc_038e0ee62d6e9d7b016ab49e6d833887d095d337035af0cefe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RtqXABXUBJS6iwRnL5AwcUBd",
  "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]: [-0.4145, 1.5848, 0.5331, 0.2443, -0.3679, -0.2836, 0.9995, -0.02, 0.8005, 0.5999, -0.3946, -0.0132, -0.02, 0.9971]\nstate[eef_state]: left_x=0.3564 left_y=-0.0835 left_z=0.0234 left_yaw=0.0306 left_pitch=-0.1706 left_roll=0.0754 left_gripper=0.9995 right_x=0.2927 right_y=0.0001 right_z=0.1733 right_yaw=0.0023 right_pitch=-0.0232 right_roll=0.002 right_gripper=0.9971\nstate[joint_eff]: [-0.5675, -6.7214, 7.1726, 1.7411, -0.0464, 0.1392, -0.0122, -0.1573, -1.1145, 7.0359, 1.746, -0.022, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7a061c654539d62127ad35bada43058e378ee8d1b2d4d6d4e41169ec7d6fe60",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09182dc79bd30fcb44b0f1693f720fee81da15c5a49db19c1adb7dbc5ca193b6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfa9edeb6607ad12068e9c9e900d3b0bb8b46d8e9c485a71dc73f002117ce1c4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /responses · status 200 · 2.246 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7944, 0.6041, -0.3817, -0.0227, -0.041, 0.9996, -0.02, 0.7925, 0.601, -0.3805, -0.0105, -0.02, 0.9974]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1795 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2942 right_y=-0.0005 right_z=0.1789 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9974\nstate[joint_eff]: [-0.3761, -1.5795, 10.1265, 1.7753, -0.0122, 0.2466, -0.0611, -0.5402, -1.306, 10.359, 1.9219, -0.1294, 0.0513, -0.2857]",
      "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]: [-0.5102, 1.4311, 0.5358, 0.1116, -0.416, -0.329, 0.9995, -0.02, 0.7971, 0.6003, -0.3931, -0.0128, -0.02, 0.9971]\nstate[eef_state]: left_x=0.3398 left_y=-0.1042 left_z=0.0563 left_yaw=-0.0037 left_pitch=-0.1319 left_roll=0.0608 left_gripper=0.9995 right_x=0.2927 right_y=-0.0 right_z=0.1747 right_yaw=0.0019 right_pitch=-0.0179 right_roll=0.0016 right_gripper=0.9971\nstate[joint_eff]: [0.4991, -5.1624, 5.8051, 1.7118, -0.0317, 0.1245, -0.0171, -0.0615, -1.0598, 7.0359, 1.7363, -0.0562, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4145, 1.5848, 0.5331, 0.2443, -0.3679, -0.2836, 0.9995, -0.02, 0.8005, 0.5999, -0.3946, -0.0132, -0.02, 0.9971]\nstate[eef_state]: left_x=0.3564 left_y=-0.0835 left_z=0.0234 left_yaw=0.0306 left_pitch=-0.1706 left_roll=0.0754 left_gripper=0.9995 right_x=0.2927 right_y=0.0001 right_z=0.1733 right_yaw=0.0023 right_pitch=-0.0232 right_roll=0.002 right_gripper=0.9971\nstate[joint_eff]: [-0.5675, -6.7214, 7.1726, 1.7411, -0.0464, 0.1392, -0.0122, -0.1573, -1.1145, 7.0359, 1.746, -0.022, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7a061c654539d62127ad35bada43058e378ee8d1b2d4d6d4e41169ec7d6fe60",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09182dc79bd30fcb44b0f1693f720fee81da15c5a49db19c1adb7dbc5ca193b6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfa9edeb6607ad12068e9c9e900d3b0bb8b46d8e9c485a71dc73f002117ce1c4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJ5xQYf6H8cWkad61G2IPxx7O4lGevFZ2Ks8I4eJdW7T0T43Gm1SXuzWXblbvByrmHpi57x-1_mAAU30AAW0jye9xDoQijW18cLs4INmp7NLv9o_R0U_Qhr0C1qIGDA_61IZu_oZrvZTsClO5f7RQxAHQwLTCy85viIXw8ONPl15CWHTxhjr853dvpM8TnEY_4FIP5efoqCi_Voemw3cMajtwlt9e5DaLPdQ5zgi30mu4O1dwKlvOS8xLnZGj-OSOM25O8C-eisPQSZB34zzqQuulHmC91ymsR97yna4tnQeafcFONxgUFn74HFEXn_oQzQEXNtkEb-9j3-cal9-M76kINZOA9GoliFSJjpxyMp0sOSaWi_67SBP4OnB39CUG72cfc2bG1-zcWH2IM1klnulQh024m34qKRGLPjCrOKues0TONwzZhmpK212J1UEXYL1kpSeO_ZINhF8z5dibbNjqjX_2L2lCxcjFWnJAn70cx_csudlgOZIE4R8F9Z-hhNEMSYEgy21pONsU0Poh3RYfxSnXVWI4zHPGtrb5XWV-h44gDCdGc_U_QOHGlH1bdY9sQwqcC8ccNTSnovLugSaxpAqAcfoEkpISvE3s4iP5rk2NwdEOhLi7LeS6EGbjz9u1XrY_d5TUDCGTaXfsrUTjX78Fk6d7fHxP37UtOGGqveTD8rG1dHGgU4bT-LiWffDiuwfkyhVFOo5i-3pYYfq0mBHzz5E_7Uf-CeIxH1LqhVrO20ZQ_QzXIEpRhdxnkEcmM1ZtmnNbQpP6DDtVnDOvJubdQVORuPv85xPtg3MJBR7T0yeaceugf10MltvqSRzsTwwznCnYhcVU_DBDkZ9RQIuo7VGgzZIYRvk2BVtv4rtdj0Tt03WaNTB-ekV9YDZruQblqtIAd4v8T6c_iuDMgJZFdBxOOCZn0S-Ngcv1g31uzY7hl3bIm2sUkOE2DUZbd7mJc6mLEtuLi5QDgzzto0ELrIi4YASq_gQyv3SFTYHc9uz_bz2KxBHOnr3--mrAIlj5Lfi9hP-36DYFH9E2VLBO3K7zeNnc0-olKWz6zIuiPiIsl-0uyqJIBGeogiOHeIVMM1FNve78l5RBDpeLdSg__OpnKkqvHn50ZvP8IW2CimWdKVT1Mqt5mKRlP1k2XxSRQzkDI8_XjnNfVOnbFERp3TDOiQuyQOHm-eVdHs=",
  "id": "rs_038e0ee62d6e9d7b016ab49e70279887d0a09eacd2c7d16f2b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left bowl’s wall is now between the fingertips, with one finger outside and the other inside. I’ll close on the rim and check the gripper opening before lifting.\"}",
  "call_id": "call_UClF7F4pJBnxv5yBvGTgKED9",
  "id": "fc_038e0ee62d6e9d7b016ab49e7046c887d095492362001f0c9f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UClF7F4pJBnxv5yBvGTgKED9",
  "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]: [-0.4, 1.597, 0.551, 0.3138, -0.3363, -0.2695, 0.0992, -0.02, 0.8032, 0.5999, -0.3962, -0.0132, -0.02, 0.9971]\nstate[eef_state]: left_x=0.3721 left_y=-0.0901 left_z=0.0358 left_yaw=0.0074 left_pitch=-0.1118 left_roll=0.0345 left_gripper=0.0992 right_x=0.2926 right_y=0.0001 right_z=0.1722 right_yaw=0.0023 right_pitch=-0.0274 right_roll=0.0021 right_gripper=0.9971\nstate[joint_eff]: [-0.2393, -5.4496, 6.2564, 1.37, -0.1832, 0.1978, 0.3248, -0.0479, -1.5111, 7.0359, 1.7607, -0.0513, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33f88204b483eb1b73ae0afdea394c287fa8fa686ee75773ebcd701e7c1434a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:234c1b941c6efd462023fd7e593dc2db4f38eb3beb0f76f7a77b855fc6663bf3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8ffef3bb6c8830dbeafef077b74347c4432ddc8495c317359174ec029ba13d3",
      "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 · 5.641 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]: [-0.5766, 1.3155, 0.7277, -0.1375, -0.4557, -0.3588, 0.9996, -0.02, 0.7967, 0.6003, -0.3931, -0.0154, -0.02, 0.9971]\nstate[eef_state]: left_x=0.3476 left_y=-0.129 left_z=0.1299 left_yaw=-0.0256 left_pitch=-0.0669 left_roll=0.0314 left_gripper=0.9996 right_x=0.2927 right_y=0.0005 right_z=0.1748 right_yaw=0.0042 right_pitch=-0.0175 right_roll=0.0031 right_gripper=0.9971\nstate[joint_eff]: [-0.3487, -5.3128, 9.4017, 1.8095, -0.3394, -0.1001, -0.0562, 0.1436, -1.6205, 7.4188, 1.8095, 0.0366, -0.0415, -0.0366]",
      "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]: [-0.4145, 1.5848, 0.5331, 0.2443, -0.3679, -0.2836, 0.9995, -0.02, 0.8005, 0.5999, -0.3946, -0.0132, -0.02, 0.9971]\nstate[eef_state]: left_x=0.3564 left_y=-0.0835 left_z=0.0234 left_yaw=0.0306 left_pitch=-0.1706 left_roll=0.0754 left_gripper=0.9995 right_x=0.2927 right_y=0.0001 right_z=0.1733 right_yaw=0.0023 right_pitch=-0.0232 right_roll=0.002 right_gripper=0.9971\nstate[joint_eff]: [-0.5675, -6.7214, 7.1726, 1.7411, -0.0464, 0.1392, -0.0122, -0.1573, -1.1145, 7.0359, 1.746, -0.022, -0.0317, -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]: [-0.4, 1.597, 0.551, 0.3138, -0.3363, -0.2695, 0.0992, -0.02, 0.8032, 0.5999, -0.3962, -0.0132, -0.02, 0.9971]\nstate[eef_state]: left_x=0.3721 left_y=-0.0901 left_z=0.0358 left_yaw=0.0074 left_pitch=-0.1118 left_roll=0.0345 left_gripper=0.0992 right_x=0.2926 right_y=0.0001 right_z=0.1722 right_yaw=0.0023 right_pitch=-0.0274 right_roll=0.0021 right_gripper=0.9971\nstate[joint_eff]: [-0.2393, -5.4496, 6.2564, 1.37, -0.1832, 0.1978, 0.3248, -0.0479, -1.5111, 7.0359, 1.7607, -0.0513, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33f88204b483eb1b73ae0afdea394c287fa8fa686ee75773ebcd701e7c1434a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:234c1b941c6efd462023fd7e593dc2db4f38eb3beb0f76f7a77b855fc6663bf3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8ffef3bb6c8830dbeafef077b74347c4432ddc8495c317359174ec029ba13d3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "arguments": "{\"targets\":{\"left_z\":0.105},\"note\":\"The gripper has stopped at about a 9 mm opening, consistent with holding the bowl wall. I’ll make a short test lift to confirm the bowl comes with it.\"}",
  "call_id": "call_0PzvC9bp2DbTxFE24yzyRWrN",
  "id": "fc_038e0ee62d6e9d7b016ab49e73a42087d08927444703c59a61",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0PzvC9bp2DbTxFE24yzyRWrN",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4, 1.4235, 0.6689, 0.0284, -0.3367, -0.2806, 0.0981, -0.02, 0.8043, 0.5999, -0.4034, -0.0128, -0.0204, 0.9971]\nstate[eef_state]: left_x=0.3723 left_y=-0.0901 left_z=0.0919 left_yaw=0.0134 left_pitch=-0.1059 left_roll=0.0236 left_gripper=0.0981 right_x=0.2917 right_y=0.0 right_z=0.1704 right_yaw=0.0021 right_pitch=-0.0358 right_roll=0.0017 right_gripper=0.9971\nstate[joint_eff]: [-0.0342, -6.7077, 8.5402, 1.5946, -0.149, 0.0757, -0.1197, -0.1436, -1.388, 6.9949, 1.7705, -0.022, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54bdec4bae4d8c4f73695214fce8ce5e068f449722af8bf4aac7fe96597dfed6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29b24f5817212e2eb46c4ec1f03c41dba63301721d4eb3308bde5ddd4738db79",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a99fae6fd3a5cc319a419908b3bd9a95b072ec2395ba9c723ea2b4432feb50dc",
      "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 · 8.676 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 10 changed as sent

message 18 changed as sent

message 21 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5102, 1.4311, 0.5358, 0.1116, -0.416, -0.329, 0.9995, -0.02, 0.7971, 0.6003, -0.3931, -0.0128, -0.02, 0.9971]\nstate[eef_state]: left_x=0.3398 left_y=-0.1042 left_z=0.0563 left_yaw=-0.0037 left_pitch=-0.1319 left_roll=0.0608 left_gripper=0.9995 right_x=0.2927 right_y=-0.0 right_z=0.1747 right_yaw=0.0019 right_pitch=-0.0179 right_roll=0.0016 right_gripper=0.9971\nstate[joint_eff]: [0.4991, -5.1624, 5.8051, 1.7118, -0.0317, 0.1245, -0.0171, -0.0615, -1.0598, 7.0359, 1.7363, -0.0562, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4, 1.597, 0.551, 0.3138, -0.3363, -0.2695, 0.0992, -0.02, 0.8032, 0.5999, -0.3962, -0.0132, -0.02, 0.9971]\nstate[eef_state]: left_x=0.3721 left_y=-0.0901 left_z=0.0358 left_yaw=0.0074 left_pitch=-0.1118 left_roll=0.0345 left_gripper=0.0992 right_x=0.2926 right_y=0.0001 right_z=0.1722 right_yaw=0.0023 right_pitch=-0.0274 right_roll=0.0021 right_gripper=0.9971\nstate[joint_eff]: [-0.2393, -5.4496, 6.2564, 1.37, -0.1832, 0.1978, 0.3248, -0.0479, -1.5111, 7.0359, 1.7607, -0.0513, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4, 1.4235, 0.6689, 0.0284, -0.3367, -0.2806, 0.0981, -0.02, 0.8043, 0.5999, -0.4034, -0.0128, -0.0204, 0.9971]\nstate[eef_state]: left_x=0.3723 left_y=-0.0901 left_z=0.0919 left_yaw=0.0134 left_pitch=-0.1059 left_roll=0.0236 left_gripper=0.0981 right_x=0.2917 right_y=0.0 right_z=0.1704 right_yaw=0.0021 right_pitch=-0.0358 right_roll=0.0017 right_gripper=0.9971\nstate[joint_eff]: [-0.0342, -6.7077, 8.5402, 1.5946, -0.149, 0.0757, -0.1197, -0.1436, -1.388, 6.9949, 1.7705, -0.022, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54bdec4bae4d8c4f73695214fce8ce5e068f449722af8bf4aac7fe96597dfed6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29b24f5817212e2eb46c4ec1f03c41dba63301721d4eb3308bde5ddd4738db79",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a99fae6fd3a5cc319a419908b3bd9a95b072ec2395ba9c723ea2b4432feb50dc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJ56iILRnPtbRbJ2L3QtqU_FSeNJXvMLtadfozZIR4yq3bLPpxdNMawr6VhBX_Lshy3DxlgQS0toLY8T1UD4-qIWemjtm7gzcq6LnGsKxqNjqFc-gs3xsea7r-mgp17zybZsvhWj-Au_D-mOFoyKjj2wAR-U3sWW9JFnchcYc33rbgyyfI39GbmvJ6qBICqJtXLJ8qCi2S3XNUIva4d9VreohBay6Zy-5HJ3nLIUNpxTVJ4-EhAfNW6G2upQo_Q7qltfuVrItSqT2VB9ZoZnxaYnzMd5XCI61oItbhoqeGbQeBNHxvGRrwMswzaGMnqH3LcDpqm9vGTCq0TmUPI9YewqE-Ub-yvcqRGwqoxqz1y3gAU7KyjImXdDfJh5ef0-Bo3_21eySB-ksC4dGN6abyqXaDsMupF3JXbmbCyq9xHVa_b4OtZGbXbwOn17vHqGlRNU6lmnEaE7EacfsceV53K85yzFZb4cquK6AG0tPRYJ8W8jB1kU9beLFmXC0u9cHpxqhd1EdpZ0bku7U8QdyGdD_EXM4neOUwsE8yp83JULcwQPvlZO9oDcG7dvs5t5IwFGM2jCcneposIIU09cOs7kYSq9Osi4EBAC1kSRFXHcAAo18FDKShpPNqIrTOEapzEeNqHegi0SIl4-uGiitOQh67d5WihDwh3COeMObqz3w-M-Nj1adTAtYUAiBfclI5IVXJa5VzPoj-AluAwGwoXKPOXABTXwMv_0lMNinRjWPWoC3QXVPn9iaBtfEnvNBslOQj6nyD_8gKzMsW6veHm6gvX4LVpU9ctHCeipJ8GnZ22yPSIrWIHQqpgtZRcf7us4khQ29JbKfOn-O9rjF_upVXitb2EFG84dz3Re16D0VAv1RCy5mWXJhO4-FgTVwIhkc28PDn3y2nmfHLkbpvQMzSxAgizKdlNDN_gOIhRZYsKciPAMsJ29mYHMXnfynsRFHdqETc5Zf_-K3ehaxxGxn6MO3KXj5Ta5bLPmYCrf-N136lxR1V6i7zm8OTexAuya3kJ0e6YO0lKSVJ5JJ47xRq69pKDyaMtAeiijDXw5aqwd1IqHzSkCw14xhczB7RWCPswK-MG3LbqPD-U-EsAb-5RSs0NL1AOQPvLMrv5GfFZZ0ho67FZexKH5T0yK5X8YNvRx79TUJN-vawhq1mLCAHvjGctgwm_6rIAiPG-biA5PEL6yJDbP0nVu1iy0pzevRa8tpd5N8OR1gRjAioUttOKGHwJzqBFzZh0o1VTNXMk9cQ7pS-unHRVkJR_HAIHFakABiNARQHI9fPGovGJynDKlaJ5SOSwoXNgZ6O7FlunJYV1X_eXCc1lvnFm0X2gWORsNxD5RGdIEtUQORsIHKnL9GjT2TrkbO_eNW6CfqaNIKqXAvyJrQvcQe8mpy8kdsV4BwMidxdgfJlYpRyd-Rrgr7jMVznmkBED3LV-Ja3oURXrj8UG9Tx0QadjDkT28QIV3GB26IWiDZ9Z02lLAyLJD5-_3OTVxpxlmxQHn5qkDadcW7bIuWFzey5e2P_fv9jAIqE8ehFg-av7JloHbYlaMgavTjnVOSbIvzTkfP9qy6wjSHWdhzL_Cayh0r7Hpc5gvGJhsnMvwrxDfbUTnW2P8zLtpKxczeXUYDvHN3PLN3iHzbBadpMM-yVK_5aeXQvjsekL2HEBl4qU6j9Ywxme4vjwBIMDiZryAb7XTpWSk1_cZKw7mouqoQhc_NprhLYYEIoPcUgw8urdJqJ61lh1MZ_2MVvp6CD5H1lhZILmZTVGZSgcooHZ67Qas01LjfXTw6wze2rmN3gK62KjQMM8M29iEkXz4LDPKUlkeSqszz6rlQlZ1xKTJ4uqeIVHyUs2Hz8zSbcCvL_4SNUaIXy8R7mgLu9h_akYRAOUEFxP4cNWCs_Q1iHaxvytecUwA1u1hjiYGOln742IsSntHDpmxkUPpLVkQ97r9XXFv0vZWYsm5Fnd16-rE783Fb7xnv_I1JRPnxqg9MLYYI_Jrc6N63UfOZzMpN_tG9-fzGTnPJyzO0sDSyYIXDOx8LZ2pkxmVTCZb-ppacsb4v_sztvexAyg6n9r_vivMNR1nyOD_7WTr0MF4Ar-ko8YxN0rqzlIy-j4MO60h7dRPYAovB2kTDX6KKt_o1fxaFEYAMMoDQ0WDYb-a11G8o8lkmtdTA88QpY9zgBUVt9OQEzprFvusZK8lAeKVvspyg_vUCJ8yhw6Lu0IZLmZzI_ah8WzClyUqwjT8lr3Oow1rvk4s2_l1FyNhvWCn0OEx4Mrer1Wt1CwJJeBJYq58vr6p9Q8_bQZtcVGDCCcTnsmkUxBU-GcVKO8NuufQEcqqVHZSe2T5e_hrg3HvYpJ-B6_1os9RUCK9aF_k_yFyPeVmeaXQxQ==",
  "id": "rs_038e0ee62d6e9d7b016ab49e76725487d09f7ebae9893e90a6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.17},\"note\":\"The opening suggests a rim grip, but the overhead view does not yet clearly show the bowl lifting. I’ll raise a little farther to check whether it is securely attached before moving sideways.\"}",
  "call_id": "call_nP3SYxfR1Gdl1LJpmrqGJu1m",
  "id": "fc_038e0ee62d6e9d7b016ab49e797f7487d0849fca2819928186",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nP3SYxfR1Gdl1LJpmrqGJu1m",
  "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]: [-0.4, 1.3334, 0.8688, -0.2722, -0.3367, -0.2817, 0.098, -0.02, 0.8043, 0.5999, -0.4126, -0.0132, -0.02, 0.9971]\nstate[eef_state]: left_x=0.3735 left_y=-0.0907 left_z=0.1535 left_yaw=0.0145 left_pitch=-0.1156 left_roll=0.0271 left_gripper=0.098 right_x=0.2904 right_y=0.0001 right_z=0.1686 right_yaw=0.0023 right_pitch=-0.045 right_roll=0.0024 right_gripper=0.9971\nstate[joint_eff]: [-0.1026, -6.7624, 9.2239, 1.453, -0.2027, -0.0122, -0.0269, -0.0889, -1.2923, 6.9812, 1.8046, -0.0317, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34429e111704a5e9939fae4403d5e9ca8f138ad7bf1cf4a4e516c90b66e96d22",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8203c34928efff618544606e49206b47ac54e9f9ba3cbeffe7923cdc614828f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea973a92a4fb23f587b22d4e02d10969c5da6b8f27be283a6a91854ca97e4cd3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 5.359 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 14 changed as sent

message 21 changed as sent

message 25 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4145, 1.5848, 0.5331, 0.2443, -0.3679, -0.2836, 0.9995, -0.02, 0.8005, 0.5999, -0.3946, -0.0132, -0.02, 0.9971]\nstate[eef_state]: left_x=0.3564 left_y=-0.0835 left_z=0.0234 left_yaw=0.0306 left_pitch=-0.1706 left_roll=0.0754 left_gripper=0.9995 right_x=0.2927 right_y=0.0001 right_z=0.1733 right_yaw=0.0023 right_pitch=-0.0232 right_roll=0.002 right_gripper=0.9971\nstate[joint_eff]: [-0.5675, -6.7214, 7.1726, 1.7411, -0.0464, 0.1392, -0.0122, -0.1573, -1.1145, 7.0359, 1.746, -0.022, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4, 1.4235, 0.6689, 0.0284, -0.3367, -0.2806, 0.0981, -0.02, 0.8043, 0.5999, -0.4034, -0.0128, -0.0204, 0.9971]\nstate[eef_state]: left_x=0.3723 left_y=-0.0901 left_z=0.0919 left_yaw=0.0134 left_pitch=-0.1059 left_roll=0.0236 left_gripper=0.0981 right_x=0.2917 right_y=0.0 right_z=0.1704 right_yaw=0.0021 right_pitch=-0.0358 right_roll=0.0017 right_gripper=0.9971\nstate[joint_eff]: [-0.0342, -6.7077, 8.5402, 1.5946, -0.149, 0.0757, -0.1197, -0.1436, -1.388, 6.9949, 1.7705, -0.022, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4, 1.3334, 0.8688, -0.2722, -0.3367, -0.2817, 0.098, -0.02, 0.8043, 0.5999, -0.4126, -0.0132, -0.02, 0.9971]\nstate[eef_state]: left_x=0.3735 left_y=-0.0907 left_z=0.1535 left_yaw=0.0145 left_pitch=-0.1156 left_roll=0.0271 left_gripper=0.098 right_x=0.2904 right_y=0.0001 right_z=0.1686 right_yaw=0.0023 right_pitch=-0.045 right_roll=0.0024 right_gripper=0.9971\nstate[joint_eff]: [-0.1026, -6.7624, 9.2239, 1.453, -0.2027, -0.0122, -0.0269, -0.0889, -1.2923, 6.9812, 1.8046, -0.0317, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34429e111704a5e9939fae4403d5e9ca8f138ad7bf1cf4a4e516c90b66e96d22",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8203c34928efff618544606e49206b47ac54e9f9ba3cbeffe7923cdc614828f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea973a92a4fb23f587b22d4e02d10969c5da6b8f27be283a6a91854ca97e4cd3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJ6D45PPqp6m83LGI2a3AdZbafYu5lO6GcJ0sXicxs1m-uP7QnHbbBy1NsQXynrE2rmp-OnAkp0Mrci6CcXB-4ZFO_GxFLYpMZcnu-x5zqiiAeRtgctz9zRDocaY64JpiLTBSEotadZJ34b_DTUtPzLhGsrlCMThIZkup0pW5duXiQb8ljVhnwwGgMSQI0L8uc3c70jMDCc_NKdQaPj3djsSxf1picu2KR9TYQp145TZuutt8B5_FRxCcC3By6eJjwVFt1ISLlD490peGvvPb3PtWdT0WZ7y48Tjx6tCa3U4FUI2bVCs1n60i6kMD609BKUQQB2fBAVgCCj_ASxLWOxQ1NcDHtg7I5nLi0gOT6fcDWxQVIWVS_ICEwPTMMX3TufC9jDFlmhxQUaFA69ILzCK6Oe8rWHrikvmFGC4GAN4tUQl-AIX6KEhEp4zB1ZxXyF7Lv2g7zsXCCvPEYeZ1BR58fZ2ZZTrJAe4WlLzNR4vpe2VgOQOqAEfJ2uHXVdXJTgPM6-uK71LTzgVAcfSJGeVPcbDLviQr8CEQ6QLCQEbTh0sGeJaNzXjGrROPwBkD1vbFfmasbfFKSP8gtToHxqbY0cLBYn1hqBGQ1BoE2LgJx9xlqZ7LI2FSZlFVMVBKyyZULdonhmPFHRpnpR1Jzxpf-oCKzNoUZShi1CIqUjINqpFhJ15dK4ck63v70h-fZytHFQMuoQyvxBISAkWKRyRRWCo5VMyVq5a7C7i9YQ08tFIWvEYAqCxH8BqCvXAMRuGCQvSqXFL-j9Rt8pgFI7YFx8jpvMFITEYv4_HBPJRnWw_uOeBe0u_PzHNkZfFE67-VnUrIFsAONQRO8_PybziBa6eBX-oLF3Jk1flu0GtMRgcytLNc7g7_XFZwfEDXf5mY7nd7Fo0DmfSRI6PMSz8ijnG0srUuJfZP_alw2N4Fg-jravxOWl8UPKLBJioTD72jz6pTnwhwen1Qow7pqNDr0rRtQpw0xE9M_mfFCGUqFaiz1-UOfIVj620ylzqLT-mWfLSwL2OXi2caln3lu3Bf6uF_NDSeZChSUjC4MRSsmdBtDKrOv9et_3IZhb0wSbQbxUQ4gwTATjGtWEzdzR--cP3RGVBKuqZNLQ3aCByBpPQlhqBviY4ZhxUUIvYc2qxH8YdVwHK2lIS7pDQcR1ABpPIw0aBIMyR7gO5gofNVlTAsBdTNIHUrae5FKsnQYpi_CawnjVUfAyG14_m3UleG6wxelmadhVxOWCmJEot0WcYj-PLB2Qf0cf1uyMWSz0ETDXBHrgXKbr_zp351YQ8imcbOw5wskiAP2ODFww5vS-F_uKQ0_2Ah11-48wVBt4I4z2t8X7fWxYqs8dityjq5OBmAezbMeZfo9nNsBkzAhONhCjFOJCpdBs7UllsExnnhlxtfKHq7ODfffNTYQoh0RwmGcDhE9SkyJNbkA2FbHk4uslG26VSWFisCFuHOko1JYR8Mi5ZLbiowDs9t75ksn7vHkmY7alHrciYCFl17kpoNHaAudHuw8JjHG0rFIEgUhOacBZK9lSZPTuc0aURBa6x5-DqtvQGm2_UQ4Qxw9vXMjwWkJrP1O3P_giC80ZgLNfa7508nHtS-Wxeuc53YD-3PUadYhkbSGTsQINgwOdMdBIBqxDxBJL_G6DFk-cqCQRSmF6MHOg14wJEWn2fooRxEwM-JtNRMdNWZyZxSlrqO6LAo7VtUGQF2X1u9d1DKg9toGPgUFwtoGZaTrpY3uMZn6JfdMP4y2dStzha4nZCkT2lyTM9aCD7o4Uc0o_FDKl2V5hZzquXEYs2Yj2ayU--Deg6DDLJ9qf--RcoJk8Q3dNXqyIoazDwriWbUksxYUbCFjtE_ZLcl8211cMi9HEO2_U4-abSqVb8n6lK4HJuAIUlNGeNrAwFIGZMqU1KN4GdrTGlwAs9ZMnUqauy39riFenM6l-cT4Y3Hp636XUGhBZtOmsPPULG0DxGty-Pgo3_xazgcujXfjzTM1EruuQDKBggP5yqqxGwk6bhVbKogfn4cPO1QIUIOrFhavzzv4ZzEIL3ldyxkE0IOM42rfHz7D_YdjF4ToF5Th_N6kx41_bH8NT-THmoB3p1mm9Ykp_rA6x5TfIx-6LPCIvL_9pvJmXm8VAyb4hs_L15cg9tWol4rvMc9P3bsh3JTPg2js79aYPqeQ_Fq3sH2xqRXJFuEQLeVMYvgwGMyCmdOtd2nDpf8cUbiQX9EiNvm4FtzrKudR03V6s8U7_aKuwZ6yTLSWSOR6Wo-1kw_nAQKF3gVZBZrCB8hL02syJIbhM9yShT-_v9VLuMZtr6-cxOI-PgHRkJfLMCjxav50TTo_UUsQkmJWAQ6eyf_NrSx8mr-B5mwA_J4k0TgbexYKOaWepEwjvFo4tCb8fcg0_35Y47eBeMvuzawZ0yu9oQHNwLqzbfmZYjCJS2HgTURqLfxHuvIBQ7hfDFjgLvdQwRaJo=",
  "id": "rs_038e0ee62d6e9d7b016ab49e7c60c887d0afaaeb1f86565eaf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.13,\"left_z\":0.045,\"left_gripper\":1},\"note\":\"The bowl stayed on the table, so the first close did not secure it. I’ll reopen and place the jaws farther inward over the left rim for a second attempt.\"}",
  "call_id": "call_V4CN5rl03tPYUa9cflCMmSOe",
  "id": "fc_038e0ee62d6e9d7b016ab49e824bf887d0b3eed21f423ee6bd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_V4CN5rl03tPYUa9cflCMmSOe",
  "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]: [-0.498, 1.6627, 0.7158, 0.1364, -0.3985, -0.35, 0.9949, -0.02, 0.8051, 0.5999, -0.4156, -0.0132, -0.02, 0.9971]\nstate[eef_state]: left_x=0.3829 left_y=-0.1261 left_z=0.0425 left_yaw=0.008 left_pitch=-0.1606 left_roll=0.0468 left_gripper=0.9949 right_x=0.29 right_y=0.0001 right_z=0.1678 right_yaw=0.0023 right_pitch=-0.0488 right_roll=0.0025 right_gripper=0.9971\nstate[joint_eff]: [-0.7179, -6.5709, 5.1897, 1.6337, -0.2857, -0.0415, -0.0024, -0.0205, -1.3197, 6.9949, 1.7021, -0.022, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e17858c25d452e66fd6fe316d85a47c2149b158a8b95aba83e4fb30093a659f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e48fb6e463ffdf56c358a0ca63ac631ded751a87a21506f3a886495e1562b663",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c142e42ed5ff9f28fd144d977db404fd2f723723c9eb40cd57e916772806c6b",
      "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 · 7.644 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 18 changed as sent

message 25 changed as sent

message 29 changed as sent

message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4, 1.597, 0.551, 0.3138, -0.3363, -0.2695, 0.0992, -0.02, 0.8032, 0.5999, -0.3962, -0.0132, -0.02, 0.9971]\nstate[eef_state]: left_x=0.3721 left_y=-0.0901 left_z=0.0358 left_yaw=0.0074 left_pitch=-0.1118 left_roll=0.0345 left_gripper=0.0992 right_x=0.2926 right_y=0.0001 right_z=0.1722 right_yaw=0.0023 right_pitch=-0.0274 right_roll=0.0021 right_gripper=0.9971\nstate[joint_eff]: [-0.2393, -5.4496, 6.2564, 1.37, -0.1832, 0.1978, 0.3248, -0.0479, -1.5111, 7.0359, 1.7607, -0.0513, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4, 1.3334, 0.8688, -0.2722, -0.3367, -0.2817, 0.098, -0.02, 0.8043, 0.5999, -0.4126, -0.0132, -0.02, 0.9971]\nstate[eef_state]: left_x=0.3735 left_y=-0.0907 left_z=0.1535 left_yaw=0.0145 left_pitch=-0.1156 left_roll=0.0271 left_gripper=0.098 right_x=0.2904 right_y=0.0001 right_z=0.1686 right_yaw=0.0023 right_pitch=-0.045 right_roll=0.0024 right_gripper=0.9971\nstate[joint_eff]: [-0.1026, -6.7624, 9.2239, 1.453, -0.2027, -0.0122, -0.0269, -0.0889, -1.2923, 6.9812, 1.8046, -0.0317, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.498, 1.6627, 0.7158, 0.1364, -0.3985, -0.35, 0.9949, -0.02, 0.8051, 0.5999, -0.4156, -0.0132, -0.02, 0.9971]\nstate[eef_state]: left_x=0.3829 left_y=-0.1261 left_z=0.0425 left_yaw=0.008 left_pitch=-0.1606 left_roll=0.0468 left_gripper=0.9949 right_x=0.29 right_y=0.0001 right_z=0.1678 right_yaw=0.0023 right_pitch=-0.0488 right_roll=0.0025 right_gripper=0.9971\nstate[joint_eff]: [-0.7179, -6.5709, 5.1897, 1.6337, -0.2857, -0.0415, -0.0024, -0.0205, -1.3197, 6.9949, 1.7021, -0.022, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e17858c25d452e66fd6fe316d85a47c2149b158a8b95aba83e4fb30093a659f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e48fb6e463ffdf56c358a0ca63ac631ded751a87a21506f3a886495e1562b663",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c142e42ed5ff9f28fd144d977db404fd2f723723c9eb40cd57e916772806c6b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJ6Kb76E_UpDwq-7XMWg6JdfBmhG-5hQxS94fLWg9hUwcTcuxXaseBIG3V3GwdvWWvWut3HdtmXh-O9qsuo5GgOnhy4vIaWO_ttHFaK7ZnFoxLpw3ooLzgM2haVEOWjMlKP-mvJIzrswEU9RnTTYnaSCcjGbkdh6Y9_FQQXrc-3u5jnlx5HIw8yBwbPm52AcOaHLQdsQ0kB63bbZMbF2bYH9ZUf36KUpULxUDqJj2RSScx-UsqDPDQ77vDOEyfsRigTMPo0pOjJ0i2UYsNMM0JFosTdndgpEYjg3Lrs0xN-DghaGcTyPFPExLMN3JiDojnVxPjuHBSAM9OC47pLgCbCytw8PbhgZ8KIIDaahMo8Ahi7dRxaPs-_CrKBGATrnN9JdBPJCX5iMDlRgoLkyVJoubT2gFHdPNzHkyHqSPda9q1JRThg9ueUwHG_kZBsQhtav3AbEz1IP29Tcp8DjG9X6JicN0Lw4NcmXHRr4Ldtg17pBoBni-RRcwSAmDnZ6UVPQNetS3SJdSYlLnBr3hQ6bDflQdQEFX8Z_J5srHWY6Nnefgb4VTIQibzWcrpwCk9FQZK0e1LqtwPKXiTZjom8BgB06wJF0dkBEH9qPQ7jyEKNjcR15UemGD30v9r2IaOqlwVnbU11CYfRJKqEF-rGX6XzPX13TkRv2JHsmDFbfSCExyz8iGUtswFgG1L0XJrlLacoxc4GGqv3ZN-6_f9U-gabf1uTKAADxuifBTf_MuG8tSV_DNFYFXVvYT65_yokvCzoRlxBFdxW5_HZpuqK7kupexTDPvL7gKCFhBsdn99H5eoDLDeUsTBQd3Z-6SA4AcCDYZLwj1lhEVSxL5hBZDsIefC9_SP1lfFAi_1N-qwP2PjmctAnrMeRmRnn3sZTQxwjT55RhfeEX-bA009moLMSg3SROeFyKIYNeOK-Rvj4Icw4smX8WN6YwLIxuyi7BvoJ15mfsnhQ09xyI4dYS0_BpJR47ASdqZeWkcq94gm2oigfTvUN5Hj4QsLsHkz6TLUCj2aStZfEhdDpzXzHg4NwFWVlO5ffTONiGZDVay0blSvhNA6jMAt-nGThzHv_jt4gVBdlQpo6L9HdUXV7aj2hCrKBWXf3_dqncFsIV2HAHlyVcdcfAN9VFKNcaBqFTr9wfffvD0M7FTWmLJfcwHz_BCRZfYyw3_ijgWtmStpz9XV2222NR26vKStgLJ3GBuo7gl-dUlbDHP2askBzUvWm5S4BS-QolLEpnI3aBBysteoknZpMGBMUu4Mu9_RWouQs9f3-T67Fw_2svpFr4pMCYJM2Tk7IqOIWJgwyhAGpBZd5i851xhaubXiFc3NehhmPDDb9wTMWoSUmLny86GXWfi9f4qdWhNOTyeXcNm0Fvb18WGaEjZL25x8JJqny1N68YhdRD4iUkKQC_uSUc2L0WGO9TqyHSh26iL8tD8-ZgCsyRSil9NZJAih2hPLzNB0swOTXrS8PG7QXkpsdj3amQ9Y2O4eNa-O8xe-f1BMk7DrD49pEHFNzHzdXungiP52dNRlBzlqxbhIy5kmSt5pS_V94LLSrVX1dmsqlRnddFj4d0_QmziQWDnprUQX-gbLwGUBsdefKknEOYiTczq_doobvKoZ6tZqWqixxCjHvV5ISO8vSUfgX-OuOXkIFUMPOkrGHWGtKIQTtjeH0xpdqutS2AR-FObh59ud7T5Ze_RVMk242AcSpl-xEh8-5PyZiJWI2tybScsB7yLICtQNHQMZeE5OxJclRh3fzsmsXPRUsf5gFXM4f03YWuouz8dzp4BEx-7sD_Q43KpkzdLZchSGJZi8wUNTKzssDzPj61Yt31ekThK4kpjLj4QpCYa1oxfTHQqfvQDqPJwmDwoPF8wTnoTKD0F3l4BetRDFFos2QNXQdmyfca5ZUt015FBZnH2nGF8yztRSxyfEfCx0Mj_a7bm4Ke-zY4C4kvPen8zNRw6cORX94i8GLvEtrIwXFO6wj5jkXCxuw-l-xKLF8rAe0WBh_X3y_pOlK7wi_Dkxd7tJUVXXOxpfShrG2u6TnYx-SFFXQr_Bu2GLaPFlE0G3cp_dEaCu_MloSdkn2nHxPH0xwE0CQnZOmG9xnF",
  "id": "rs_038e0ee62d6e9d7b016ab49e864e7887d09b7f893b2184e2ab",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The open fingers now straddle the bowl much more centrally. I’ll close gently through the controller and check whether the bowl is captured.\"}",
  "call_id": "call_ZvhYTbSRSbbHvMcnPoLmPLTq",
  "id": "fc_038e0ee62d6e9d7b016ab49e894b0087d084eff0f91eb7a79e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZvhYTbSRSbbHvMcnPoLmPLTq",
  "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]: [-0.5014, 1.6848, 0.7139, 0.1356, -0.3969, -0.3592, 0.0087, -0.02, 0.8051, 0.5999, -0.4156, -0.0132, -0.02, 0.9971]\nstate[eef_state]: left_x=0.3803 left_y=-0.1265 left_z=0.0333 left_yaw=0.0104 left_pitch=-0.1825 left_roll=0.0513 left_gripper=0.0087 right_x=0.29 right_y=0.0001 right_z=0.1678 right_yaw=0.0023 right_pitch=-0.0488 right_roll=0.0025 right_gripper=0.9971\nstate[joint_eff]: [0.0205, -8.9504, 5.6274, 1.4237, -0.1832, 0.0855, 0.5788, -0.1983, -1.1282, 6.9949, 1.6728, -0.0366, 0.0073, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84ba57b601bf7561353ae5a5be1c4b9533c4e54132776832ecfd12b99efd6bf2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcc24f089adcc7d55d672ad182da257b4f933c371794c9117ce80737f62a7cfd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae2a31542f0f85fc3d90aa8192965e7cca145e7dc7bb60eb79bbeccbb66642e1",
      "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 · 2.703 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 21 changed as sent

message 29 changed as sent

message 33 changed as sent

message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4, 1.4235, 0.6689, 0.0284, -0.3367, -0.2806, 0.0981, -0.02, 0.8043, 0.5999, -0.4034, -0.0128, -0.0204, 0.9971]\nstate[eef_state]: left_x=0.3723 left_y=-0.0901 left_z=0.0919 left_yaw=0.0134 left_pitch=-0.1059 left_roll=0.0236 left_gripper=0.0981 right_x=0.2917 right_y=0.0 right_z=0.1704 right_yaw=0.0021 right_pitch=-0.0358 right_roll=0.0017 right_gripper=0.9971\nstate[joint_eff]: [-0.0342, -6.7077, 8.5402, 1.5946, -0.149, 0.0757, -0.1197, -0.1436, -1.388, 6.9949, 1.7705, -0.022, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.498, 1.6627, 0.7158, 0.1364, -0.3985, -0.35, 0.9949, -0.02, 0.8051, 0.5999, -0.4156, -0.0132, -0.02, 0.9971]\nstate[eef_state]: left_x=0.3829 left_y=-0.1261 left_z=0.0425 left_yaw=0.008 left_pitch=-0.1606 left_roll=0.0468 left_gripper=0.9949 right_x=0.29 right_y=0.0001 right_z=0.1678 right_yaw=0.0023 right_pitch=-0.0488 right_roll=0.0025 right_gripper=0.9971\nstate[joint_eff]: [-0.7179, -6.5709, 5.1897, 1.6337, -0.2857, -0.0415, -0.0024, -0.0205, -1.3197, 6.9949, 1.7021, -0.022, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5014, 1.6848, 0.7139, 0.1356, -0.3969, -0.3592, 0.0087, -0.02, 0.8051, 0.5999, -0.4156, -0.0132, -0.02, 0.9971]\nstate[eef_state]: left_x=0.3803 left_y=-0.1265 left_z=0.0333 left_yaw=0.0104 left_pitch=-0.1825 left_roll=0.0513 left_gripper=0.0087 right_x=0.29 right_y=0.0001 right_z=0.1678 right_yaw=0.0023 right_pitch=-0.0488 right_roll=0.0025 right_gripper=0.9971\nstate[joint_eff]: [0.0205, -8.9504, 5.6274, 1.4237, -0.1832, 0.0855, 0.5788, -0.1983, -1.1282, 6.9949, 1.6728, -0.0366, 0.0073, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84ba57b601bf7561353ae5a5be1c4b9533c4e54132776832ecfd12b99efd6bf2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcc24f089adcc7d55d672ad182da257b4f933c371794c9117ce80737f62a7cfd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae2a31542f0f85fc3d90aa8192965e7cca145e7dc7bb60eb79bbeccbb66642e1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJ6S-YGDujYAIn9DL7XBod6_Xl8tJUNXS6we5lduMe3gdUOhGVrfOWtyv10YglHPdngd_bQcP6tsssCdDWR7oy22eNUhTnkM_X6yIcTlTPJ-lFqXKuOJKjnITFzRgpmdctB18NU5-iGwvWWCj4V6EWX7NjfuhsnRVwctANEyjPMnEc7zojs2wrMPlYxGTx0oklkFKqHQzvx9HSeA7cNN-XBsCGAoqsCvsUkGK2BWQ8Vrj2R5SfLzqiwJc3Qd0X6N7KuFClFyntCi0G2UBK9Yury0AkOL2iZqAnbMOF-c4jt0qs4m6_oTwOPJ3o0SWV29CSfTDuMymf1XqCM3mJg8aDBHsYAn43ePeJIgJy7iuM5DKpqfgSstzsnf4Iw_8NTlbj_S1jJXyn2sj05oDi6iG71f3XOd8heF3PkcSzNUutPUtU4ok1CrzcoIOXrtOYPqMBntKEx3Fg1RjB-1FmBiM9ULEBRRK-AzRZDQynmQyH8ReHMq4naj7A5lirCEUmc12uMRbloae8okD16TeIocXWuIxLWv3fPPbSk2N8Mxn557O_308rwhF5uhxLNIku0jR6bWgBRhdf9s-ZFidxvS9EvjpQWyLx-HDOAF_xbyPx9sYoaZJWZJan-QBwZjQMxx0lvrnYsYvYmt8m5l_Aw6WIDIBINk8B47-2DwHP6s1WQ2okScCgVSZTt3ols6o9I-cSE2Q6aqjCtvrceRBtpytkPavgS10sF03IhnOdyeSHM5zsMSAMcW6qX6dUh6T0LHQXdOPkRbDQqPB77OQZ-BX-PyomNTrFczmliOdk3_4uXtpQZBqYaUlaI2o5pHLLj4kWBaXQfb2XsZAMXrB_OJOIDw77INFDFSRV2PlozeP8HVcbRS8S9k2j081ILwgDehERwd8MuPNrlw2oRc1Tq9YEbUDrsPTVrBrjVpaeF3uNHZj2FTHjPK7UpQb-LAgkx5POVOM93KTKWmZSDQAKaUn9wXbdb5JH8B_tmUGniHc43BHDbU5LR8VLHa9dVDk4Y3lhZiwfbfBT53JkN0UYimejvanSQHtF9yP1Uf8VMYm5v0GB516s8KtWgjUCWHj3u6t10A3Ers8j8K8a6lO0qjSJKqQhOdNybmFvX8UFRcWTrsZpSAwp7LCrlWXlN01zIk2j1gAj_KaYwV0igphUKr2EhxHXfsDOvwGFQ9BUKQfHK583ZjLQ4Rt04Nm6K_snk6gynl3_zvd9jEROBE6Q0KtvCQdgoOqAa9InHBYJ2JmVqek-XLeNd4DbtnFnKnEIfNfc2dI3PUs_qP4C0Co53tc27qBJl3bwGDSY1dqv-WtKBlCgU84VuuRF3iSpVki5uiwiGICLRBNJlChlgl_l2C5OOCTQnowSKxNaTyGs0OckJXum5iOggEO_-ek1pIlDWYWzek-w3kHaSozJtjec7dD9ouRFl7AX_8w7nsRVW4bwA86_ZYkCZUK37vXM2qd42zvLMDTS_pTrMit9bFqUL9GMdtUZarb5N0fhCPa_qKx7R6wxEv7SLA75_aJyTH6KfSIFD2mvuwXDVHMbKWvQCt74dSiXdbrt8Mke2WtHq5DyXBgI1Zophmw5CsLuv1X9NeY2z1514YBfVXR0Jx3UNgRPEwt8GuyBYu05pUhan8Ocpf3r4rmGUlUf-VprzDds6_7JZscxxXVCDTRlPqITFTInUTYos69-EQszKkQuo5ssFTldXjVPJz-GAbWKPkgYsz69GVFhLrV2ZrpNxsOuqgvJqEF5UiUQuUfYqYeQ11CDTZI_egOWZFR7Fu9gEw4ujYAb9I30tW_9Dbr5sRK-2wWMJEXqF9gzvT8CBhyzlJ7PZIZT8h9iWH6JYYzURZstmlj3yb_EDdoQBgD_gdLa_ceWh2LKvh6yR7jcs_eZ-IjTfYabJ3Xgs5uozNDP3EpPaApr3O4tMV6FUyIlXe8vBnbO_M33svZSya_rj0AIBhRCM522NoRh-mHuRwdt84Ee6tteZVvQePVHRDhXjB8ZZ4cPR4l30JOfB6O0ssFoHRoFGrMcVJErfUEjU5wx8gG1u1J1Q_Y34b-h6DgLAf-M5C3LrN6BvmLBR63pg6444--EWuIo9F-MA34XlAduDzfvdIen11KsiK57cjVyqW3MXtEKAlxaDGnH08mTYAeMRm2nYeQG2S_NnawIky2IncsOebIdzQmgmtkUhDaUAEZP33naCpqHltrKgFWd4A1Ufg3F1DPcBCuF6dqeADCJVtKz2j1IMbYHqtgdyoqI9jV5rpX7h4HOW4s1IlZogSGWXMyKMqJG3lNpQIv6weUHXTefZZyMHqQBF6WSn0o_GA9lZaJ6KJ27WgrHtsjAznPKJ8Tg5vsw2uAkBtL-R8jTS47hLKCKsFBuK2HprH2NbZd-d4F3Y4yzR7GzmFWxXbZkRBbEFf4qFdr9kn77rjKbiDa8n3Q4kRh-GUfsTZm47-LQK-eo0URy452eCsRSBj7pHSZbGafKOob-p556MJELAhtLcTAxCR-8St74dSA0oJdM1ki7HTcV_IKFNQAE-hfGFHH3ZunKNL87LDYX5GlZsORFMFtbEmyg2R9_J7bQ45bBgZb4CmWJgy-_Sel9zcTcpdROJEMtC5lPsJ4pwCJqGsdiHB9gHzg_OTUzzZnFQrI1D3B10XVzJofAEqM9iiB3U5PkXyIBBx0xNP_olqWk8PCddF0RmpIo4BrWzmInIjMC2t49aOhUrof_jq9a0P4HWtNz64O9_8pBo891HnG7P0ohfiS_bRkPmmi0ApHH5tGAAxZxM80KXKNZ5jOToPIc8tx22UK3mpM7gsXZBTMUp2igWhLgmrEca6a3-Yeu9edRN9hK_W6nxd6lFuqfYnGnFjGlY-3vPB_6An9cXULvjCkOoQV79lJsrBPMAfwB664cUyKSNDavy5fWENIkQwoHojWp7Z1KYGSUDfbZlhs5AqVtepcshbChf_BDv46X0mF_hOXQvq7_ZiAE3mRBrYmsY1hNEaObUcKJPxa2qTlh75iM_i34aDZxDM6I9SOP_hFgKklW9q7t1OBUzTsry2Wa0TpMDuN8GSR929cpsq7j0gd42ru4YuV75x2eIWcYtJXaBdQ9MJ-g==",
  "id": "rs_038e0ee62d6e9d7b016ab49e8c147c87d0b12de24e396aefd6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.435,\"left_y\":-0.13,\"left_z\":0.12,\"left_yaw\":1.57,\"left_gripper\":1,\"right_x\":0.294,\"right_y\":0,\"right_z\":0.18},\"note\":\"The second close was empty: the fingers closed inside the bowl rather than around its wall. I’ll change approach, rotating the jaws to pinch the far rim from inside and outside.\"}",
  "call_id": "call_233zj0aw5zs2UoWeZxtXcwPG",
  "id": "fc_038e0ee62d6e9d7b016ab49e912f0887d08c4cda53efc6199c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_233zj0aw5zs2UoWeZxtXcwPG",
  "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]: [-0.4778, 2.4149, 2.0331, -1.4231, -0.7307, -1.9621, 0.9942, -0.02, 0.8314, 0.6186, -0.4561, -0.0132, -0.0208, 0.9971]\nstate[eef_state]: left_x=0.4288 left_y=-0.0852 left_z=0.0559 left_yaw=1.3508 left_pitch=-0.2382 left_roll=-0.0172 left_gripper=0.9942 right_x=0.288 right_y=0.0001 right_z=0.1611 right_yaw=0.0028 right_pitch=-0.0968 right_roll=0.003 right_gripper=0.9971\nstate[joint_eff]: [1.5795, -13.4906, 5.053, -0.5055, -0.3199, 0.0317, 0.022, -0.1162, -1.1419, 10.1949, 1.7802, -0.0317, -0.0659, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a1aafcd63ac8ae4b0ca7b9cd0fec9ce950d057c9e62828f14c779c4f214e479",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d87dcc303971db743ef2d02de518fe3fcc2bef592ddc8ab09899f14710ca65aa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fe704dd8434372935aa998d9b6d435c38e3d6e1afb8c274bee58863e1528634",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 10 attempt 0 · /responses · status 200 · 2.902 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 25 changed as sent

message 33 changed as sent

message 37 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4, 1.3334, 0.8688, -0.2722, -0.3367, -0.2817, 0.098, -0.02, 0.8043, 0.5999, -0.4126, -0.0132, -0.02, 0.9971]\nstate[eef_state]: left_x=0.3735 left_y=-0.0907 left_z=0.1535 left_yaw=0.0145 left_pitch=-0.1156 left_roll=0.0271 left_gripper=0.098 right_x=0.2904 right_y=0.0001 right_z=0.1686 right_yaw=0.0023 right_pitch=-0.045 right_roll=0.0024 right_gripper=0.9971\nstate[joint_eff]: [-0.1026, -6.7624, 9.2239, 1.453, -0.2027, -0.0122, -0.0269, -0.0889, -1.2923, 6.9812, 1.8046, -0.0317, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5014, 1.6848, 0.7139, 0.1356, -0.3969, -0.3592, 0.0087, -0.02, 0.8051, 0.5999, -0.4156, -0.0132, -0.02, 0.9971]\nstate[eef_state]: left_x=0.3803 left_y=-0.1265 left_z=0.0333 left_yaw=0.0104 left_pitch=-0.1825 left_roll=0.0513 left_gripper=0.0087 right_x=0.29 right_y=0.0001 right_z=0.1678 right_yaw=0.0023 right_pitch=-0.0488 right_roll=0.0025 right_gripper=0.9971\nstate[joint_eff]: [0.0205, -8.9504, 5.6274, 1.4237, -0.1832, 0.0855, 0.5788, -0.1983, -1.1282, 6.9949, 1.6728, -0.0366, 0.0073, -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 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4778, 2.4149, 2.0331, -1.4231, -0.7307, -1.9621, 0.9942, -0.02, 0.8314, 0.6186, -0.4561, -0.0132, -0.0208, 0.9971]\nstate[eef_state]: left_x=0.4288 left_y=-0.0852 left_z=0.0559 left_yaw=1.3508 left_pitch=-0.2382 left_roll=-0.0172 left_gripper=0.9942 right_x=0.288 right_y=0.0001 right_z=0.1611 right_yaw=0.0028 right_pitch=-0.0968 right_roll=0.003 right_gripper=0.9971\nstate[joint_eff]: [1.5795, -13.4906, 5.053, -0.5055, -0.3199, 0.0317, 0.022, -0.1162, -1.1419, 10.1949, 1.7802, -0.0317, -0.0659, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a1aafcd63ac8ae4b0ca7b9cd0fec9ce950d057c9e62828f14c779c4f214e479",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d87dcc303971db743ef2d02de518fe3fcc2bef592ddc8ab09899f14710ca65aa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fe704dd8434372935aa998d9b6d435c38e3d6e1afb8c274bee58863e1528634",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJ6WVQpREe8Q45iC5Tr0AD4l8fuUok4oE3YvbQ8YepSXMbrqAyoKYKp0nOGuaQPQnpyEp_C18jA9eoGTy2chmt8lYvOMF7JIecBTB2VjA4YfjtCcHixPlaQAnCJMY2bk9CtQCGoSXRttivwlk-zIxwER864u9Gc-E3QBn0d2h85W0h9z-X22dDqdDHVbVL2vpFS7c8rnA-YWUrUvOlX-h4098mZH5oI04z8Be6TWMha3YaJXSrPLdAZnsr9lnv7jbZH6cI93XF7l-f2h9zh4-LCEhMUieLgGhjVr93wDGYVG0kcB9t9G4Up_7Brk81F50aBOIin2EfYXKMe42ah2LBmm1Fc6UifDLp2qv87rN0EvHLcGwSgaINE3kRm8-ZZFGBrerfijmhFas7brIknvlUNvUBbkCpgjUR2qQuzSgGZWaQYJ_iQaHWEoSRijWYAxUfI8kNP1t4IdsywqYyXHZIiLOsJoe_3dJUWGMA9ln9iTA1fRrZ7V8o_c1RSmire1ej_fhIIErcz62sOzwFmHkbl0prupDSaIebV7GCSNFjEAGYCmmsYXyw6_gziBZ6BDtE8oSHK91QEdyBJO9yCiEwHrGQdw7b-nebsBDV8ZkH6AcTlr0Zi8jiGNer1WpR2YeV46vRCSSRxHJSPJb4mxh7L3IM7tGsW5vvtACt9A7KS9U2K2ugF372hDD4jRqRkDVSTpnk4BQFPVxSlGVwwtzjuIP_qi9IBTlYzRx0CykfMtfGWUZost5vC5OEJo4aW_9bToGAFQNx3hn8muhwjNTLIp3xYC3M03fGrd7Tw7VVJA6bCUJzxzznGpiFM5UJ-DcOdgc4aZPn_O-CXHFwwz9PYNoJ7FxnRgKYjwLURbOzwioDPadNIic7OadYT5m0syzlOFqaFrud2THzz4lUkrIjxhr-MDCHGrMiDQpXgCo62Uzw2cqaMDJVDE-s4qhv-OJGGQlPVnyh3NhmOqdQS9xd6JNx1ygpoKinu1kLSBucPH01SGmiRTFHL5x9Lsej9ATutvNsJnMMNThlLz9_46wcZeTGR4AoXiChkUs2pLebFTd3oGd5IMJY9Q0PVx7Iel6gQN9tQ4BMa8oWTKpqhI7khRzZYG_9XZxXlqi5ksZoNm3qlWPoBM55B3WqntJmPaDoZ9wylpHHKg-QgPpOUkWillJtBqfHCIeKwGGS37Wj0W6xvSL0CkCGMl0ex_2jvGZJlxORlNLIaEg0RuV_ioxjp3VFJMLXFraaUar50Uf9u12_Q1f-zYvUg0asIXLlHZa99_isjOQXy39zfUbgK94k0UtEJtAz2LlkgCFlYZubxZRtnL-LK1MyFYa7oDw1-lK84IWUx13G3ca3NBH9gsnxSKyvyHfUhvTyXZq_Z6A_GZiP8K3wpYMlz65v1wzAj3Wr9C",
  "id": "rs_038e0ee62d6e9d7b016ab49e949a6887d0b78b4ba7dfcefe36",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.13,\"left_z\":0.2,\"left_yaw\":0.8},\"note\":\"The rotated far-rim pose did not track well; the arm stayed lower and farther sideways than requested. I’ll pull back and raise it with a smaller rotation before approaching again.\"}",
  "call_id": "call_4Wd3BontNsC6KcKEnbgwAoxe",
  "id": "fc_038e0ee62d6e9d7b016ab49e953a8c87d09543ce67f824c6d1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4Wd3BontNsC6KcKEnbgwAoxe",
  "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]: [-0.5293, 2.4145, 2.1178, -1.5307, -0.7269, -1.9785, 0.9951, -0.02, 0.836, 0.6197, -0.4675, -0.0132, -0.0204, 0.9971]\nstate[eef_state]: left_x=0.4215 left_y=-0.1064 left_z=0.078 left_yaw=1.3149 left_pitch=-0.2359 left_roll=-0.0055 left_gripper=0.9951 right_x=0.2866 right_y=0.0002 right_z=0.1582 right_yaw=0.0026 right_pitch=-0.1117 right_roll=0.0036 right_gripper=0.9971\nstate[joint_eff]: [-0.3077, -14.5436, 6.4342, -0.2418, -0.486, 0.1148, 0.0757, -0.1299, -1.7709, 6.8718, 1.7265, -0.0708, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:133868b047db3755650817ac78371e584e42c58e83afd1187fecb3e3af0a982e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4889dd6ec2a2b3c0404b514063882664147aa3fedf9eb07c2dc5710725c86e8b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c82be7b4d81b3fc31b3ca00e230df70314605e0d7892e9796b9a671b47234109",
      "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 · 10.27 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 29 changed as sent

message 37 changed as sent

message 41 changed as sent

message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.498, 1.6627, 0.7158, 0.1364, -0.3985, -0.35, 0.9949, -0.02, 0.8051, 0.5999, -0.4156, -0.0132, -0.02, 0.9971]\nstate[eef_state]: left_x=0.3829 left_y=-0.1261 left_z=0.0425 left_yaw=0.008 left_pitch=-0.1606 left_roll=0.0468 left_gripper=0.9949 right_x=0.29 right_y=0.0001 right_z=0.1678 right_yaw=0.0023 right_pitch=-0.0488 right_roll=0.0025 right_gripper=0.9971\nstate[joint_eff]: [-0.7179, -6.5709, 5.1897, 1.6337, -0.2857, -0.0415, -0.0024, -0.0205, -1.3197, 6.9949, 1.7021, -0.022, -0.0269, -0.0171]",
      "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]: [-0.4778, 2.4149, 2.0331, -1.4231, -0.7307, -1.9621, 0.9942, -0.02, 0.8314, 0.6186, -0.4561, -0.0132, -0.0208, 0.9971]\nstate[eef_state]: left_x=0.4288 left_y=-0.0852 left_z=0.0559 left_yaw=1.3508 left_pitch=-0.2382 left_roll=-0.0172 left_gripper=0.9942 right_x=0.288 right_y=0.0001 right_z=0.1611 right_yaw=0.0028 right_pitch=-0.0968 right_roll=0.003 right_gripper=0.9971\nstate[joint_eff]: [1.5795, -13.4906, 5.053, -0.5055, -0.3199, 0.0317, 0.022, -0.1162, -1.1419, 10.1949, 1.7802, -0.0317, -0.0659, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5293, 2.4145, 2.1178, -1.5307, -0.7269, -1.9785, 0.9951, -0.02, 0.836, 0.6197, -0.4675, -0.0132, -0.0204, 0.9971]\nstate[eef_state]: left_x=0.4215 left_y=-0.1064 left_z=0.078 left_yaw=1.3149 left_pitch=-0.2359 left_roll=-0.0055 left_gripper=0.9951 right_x=0.2866 right_y=0.0002 right_z=0.1582 right_yaw=0.0026 right_pitch=-0.1117 right_roll=0.0036 right_gripper=0.9971\nstate[joint_eff]: [-0.3077, -14.5436, 6.4342, -0.2418, -0.486, 0.1148, 0.0757, -0.1299, -1.7709, 6.8718, 1.7265, -0.0708, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:133868b047db3755650817ac78371e584e42c58e83afd1187fecb3e3af0a982e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4889dd6ec2a2b3c0404b514063882664147aa3fedf9eb07c2dc5710725c86e8b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c82be7b4d81b3fc31b3ca00e230df70314605e0d7892e9796b9a671b47234109",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJ6afmd-CQJ4kZOOpSSX9i5TQxTbvkPb4LzXV0L8vR21G3HouPUqI8r9t0d0f11GA0QkTnjkaW7wzto3xbZ3q1oCsqBpaczbhvSPYzHzkBAaZsClJHbU6HVOcJqtJ39NY5N2ejfRxncub-MJJ94GkYhgRraoDb9mShNPbf5raLKbZLDKEFibiTnflgn41brLmLoZvZHiIvh632ITd6mLrJgkEmMC8xWjyQY0mWkgLCgnU7P_62A6qCMlv5bYpETeWQB8mVc0kLoZX26WuUOncZwJQ_c0SMCG0tkdy4kVYf81CQ85XbRZXPa7M0zHSIpUvQAx58Zcuk-95yh05xHTgo7wUbmeWZvLX4oFLul-KhQyLoU9TdvNm7TrCAFEKM7H5DmKMoC4QsiCSNELqSmgwK1iFmW-xtGIDT3q3W73jV0oUPmKDcj8Fqjdp6xHk7-oMSmyFTcaRyJyZlGChV9m0F4b2zWXL9j5JUDLw4Qm1ABu9coXxet4CqS1MG-ik0Y5Gjrx8G1QWU_3DKoBGmcwjrcFnoVz2IXSUTn97p-aCt-jlSi-Sx5f6G_RvW0oPPhPHzps1E_36Ks_4WomfQWwJpY_rzhPL_7B8is6VwyEJUBcZ6VIBZxpzdQ8uJc6KDqwsg2GdDF5Qa-8qOg4jE419NQoaRJkeQjtrwhcpFFUaCW8JlOtT01XiA6E74xgePD8kpDMeZn2dSbaDPQnOfpx3P84vNyk4nQOZCuFHLJEyOVnCzUi8pKIAgdObkJCc_dsaGQdOhmFWKBDaXwNWduRXk2wlGPMC07OfFJMmKvCnx_sKTXRLACz_ZD-iXWQDL-9g4xxEugL78T4nARZNSX6mNDPcP6zOzr3EqJrlT1WnhuLj7Sw-bK_qH4QqawcIMPKgSprJCFuRtUcKBTuIkhjEfI1-cVzNtMlsssRqi08mZRa_FKd8n9Q9nWl5jVw3-65ipO3c4MabZZ9CrC38qvVAsC96XHL7ZbjISjiUlaoC1vFHtfHnHTh5kuME8_kCjG4Yz9ZJp8bu3g-N1vy4nZ7V-53jbwBnjGeGJPjd8D3jkO8cQsvxnxdNs9ryX6n6uXB5exCzM8viC0rADVaQ2kkuCLSoXDBEtISBzvRBere7y8dQHGDlb52pI4rReIZaxJ_drNmKlVJrqo30iejBjHQdHsjl5X3EMboDjFwttUZBaXeGXjLElxGxIL3T68BpNUaeU06jEcBOk3RkSLmnCNPL9XwQw_nRELZkslOCTFf-FBiYtQ=",
  "id": "rs_038e0ee62d6e9d7b016ab49e98777887d0a09942df5de214fa",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.1,\"left_z\":0.25,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The arm is still not reaching the requested raised pose. I’ll return toward its original, unrotated posture to clear the bowl and recover a better-controlled approach.\"}",
  "call_id": "call_OmMPNEi43b7Imx2ooZeiraW0",
  "id": "fc_038e0ee62d6e9d7b016ab49e98e1c487d0bcba50b8938d49af",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OmMPNEi43b7Imx2ooZeiraW0",
  "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]: [-0.6228, 1.0473, 0.9936, -0.6743, -0.5964, -0.5625, 0.9951, -0.02, 0.8417, 0.6178, -0.4744, -0.0128, -0.0204, 0.9971]\nstate[eef_state]: left_x=0.3015 left_y=-0.09 left_z=0.2437 left_yaw=0.1468 left_pitch=-0.0119 left_roll=-0.0601 left_gripper=0.9951 right_x=0.2855 right_y=0.0001 right_z=0.1545 right_yaw=0.0023 right_pitch=-0.1262 right_roll=0.0037 right_gripper=0.9971\nstate[joint_eff]: [0.2393, -1.6205, 6.2154, 1.8535, -0.2466, 0.188, -0.0073, -0.1026, -1.9624, 7.2137, 1.7607, -0.0269, -0.0073, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41b8a33eca7f3d987d746a22c07ec3dbe7da9adc632fcd23e902ed0346f6eced",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6519909d618ab0bbe6b1ca95d51aaf0e5da5280ce327efc58dfd86e6ee2618e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3b789775529358eb6bc155e4f92c01975e0f77a6fd6ff90e3ebc80d15b17c8c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 4.647 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 33 changed as sent

message 41 changed as sent

message 45 changed as sent

message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5014, 1.6848, 0.7139, 0.1356, -0.3969, -0.3592, 0.0087, -0.02, 0.8051, 0.5999, -0.4156, -0.0132, -0.02, 0.9971]\nstate[eef_state]: left_x=0.3803 left_y=-0.1265 left_z=0.0333 left_yaw=0.0104 left_pitch=-0.1825 left_roll=0.0513 left_gripper=0.0087 right_x=0.29 right_y=0.0001 right_z=0.1678 right_yaw=0.0023 right_pitch=-0.0488 right_roll=0.0025 right_gripper=0.9971\nstate[joint_eff]: [0.0205, -8.9504, 5.6274, 1.4237, -0.1832, 0.0855, 0.5788, -0.1983, -1.1282, 6.9949, 1.6728, -0.0366, 0.0073, -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 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5293, 2.4145, 2.1178, -1.5307, -0.7269, -1.9785, 0.9951, -0.02, 0.836, 0.6197, -0.4675, -0.0132, -0.0204, 0.9971]\nstate[eef_state]: left_x=0.4215 left_y=-0.1064 left_z=0.078 left_yaw=1.3149 left_pitch=-0.2359 left_roll=-0.0055 left_gripper=0.9951 right_x=0.2866 right_y=0.0002 right_z=0.1582 right_yaw=0.0026 right_pitch=-0.1117 right_roll=0.0036 right_gripper=0.9971\nstate[joint_eff]: [-0.3077, -14.5436, 6.4342, -0.2418, -0.486, 0.1148, 0.0757, -0.1299, -1.7709, 6.8718, 1.7265, -0.0708, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6228, 1.0473, 0.9936, -0.6743, -0.5964, -0.5625, 0.9951, -0.02, 0.8417, 0.6178, -0.4744, -0.0128, -0.0204, 0.9971]\nstate[eef_state]: left_x=0.3015 left_y=-0.09 left_z=0.2437 left_yaw=0.1468 left_pitch=-0.0119 left_roll=-0.0601 left_gripper=0.9951 right_x=0.2855 right_y=0.0001 right_z=0.1545 right_yaw=0.0023 right_pitch=-0.1262 right_roll=0.0037 right_gripper=0.9971\nstate[joint_eff]: [0.2393, -1.6205, 6.2154, 1.8535, -0.2466, 0.188, -0.0073, -0.1026, -1.9624, 7.2137, 1.7607, -0.0269, -0.0073, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41b8a33eca7f3d987d746a22c07ec3dbe7da9adc632fcd23e902ed0346f6eced",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6519909d618ab0bbe6b1ca95d51aaf0e5da5280ce327efc58dfd86e6ee2618e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3b789775529358eb6bc155e4f92c01975e0f77a6fd6ff90e3ebc80d15b17c8c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJ6lt5ioFIL9hay72E2NoL4Ge0e-086NyWAQP-2_hlXd8lyuL_PT3CUoRxU_2UGD_4VYx39mHwBHiRYnbRiOFSi4ht4VZ2qop7OmMyKI3Jf3NyV1UiP2AZ1_tOkmpcsQ2ZLKpZ7mrUmkDhow66IzkcGuh5TozJtjG87e-sCW_Cv8Yq6B5-FbYOVmTe6Pa8MBo9aTqfpqAYgp7OEgNqArFDzWQPcJazwcuz-G4_3ystnVF0Bjdja2EugGHMKDMNY8-VOO3xpYfQyF2RWGc6ytKK07UYhbUDTB_Py3PKfU-ckAyfYFO409hMyyIJ7ao5xEgYlyj8FvDckYudCX5_1HoGHhazwihL7nV1d97Ud0-p9MJvSZGuVPB-18pa0rc7FBuBvLWYNX-lczDrVa2CIZAQ7fyYLxQTtVtryED8cI3ZWSy6_-iz4H5zSq6Se4jyotjoBQceE1u4pFiPWcRmOr7DIBJKTpPsIvWaUlFrJDWtOaa6q2OHeS1UVcA6AHXkBGvJpGyJSVAXvCnDc8EjowyfCfqkHjOvU4Ol8XvM9AzzmWEv9Bk-bTALCyxodNPMJ6QtKXdO7fwpD8eIy6rDu_096q2EP54nDRQ3LBBVKcPwAHOu5PeSDD9cr9Oqa4RPcnLZGgVGLuECzyxYBO2lP516btSgjVcEAkn_6AHoNTSVn_4o_C4fIjcHTXBkgVKOtUSORRm35m6zvjK1soXOTHPjNn0oxbtlc5dY-vzm_5H8cWNuTd_DFjbEhAOMNIIw4Xhs12IcBEconyNI9H8Ha4TdGL9C4QJS7aBsPP0uZVMd3yFFS10S5qm-r-uoI9mShIJdGRRfwBRGUmjXGI94nDr24DoqzKt2FsTsywEd4xfK0yhBOpApHs30t3IZCp-JtKqBr6mvnHIJMpRirrvQS2dujUyqNom4un4RdnffK1Pd4BIG2iTgDnrc6Hegt97v3STZJCQ1XrrmL7ozMCYyRQXWvsw21iDH_fsg8HL-pHFO2clIr-VXMFs8S_DPlekMR1-P-rrGsxFR_QL923ZjfOQ7gh_0qn_I92TRgh5qwUSfyh153tIIriBerWeT1KYnwdI81j1Hr51kdglQxnH3lAimJTe3lT0sfTmSeG3bolxvpwDKRPdgJSs4vTkQqQZKICyRbwZzo7vP0ZMjfJnzlnTA5H5QCy6lfjbqewVhaXZE4X2TQJaLDEh96oOdIrL66pt-KQ48zj3SwazmTerNR5RSifd_m3XfpuwQfpMtkJPa3S2gtSkHtmzsFAa_DRtHTHs7PBmDmA6ej68t088E6caxkbkRYhQTEal8VsaocJ-ixGFFzTjJPhQTEtL5MTAOgdH3XL3iw-W197FzCyGV9otUk84olr4cE6s8pZqWX9X94LFSXtM-AegXyrClp1yS4hYI1dP7GyNYeOi-RwGafKtXl8UZuxYaU3q2qK9LAhCUs4gOTraUX38MpDT3FOUk2_wRxgxSG0ohJY653LaFM411czc2Jc5u24Xi_VD_uAHzRxs1NUVxQ9cffYURn0MHGGf-yXmO1_4EG6f9p4n7GLj64O7SLrp75ekK5Fo583GxEDfRF2OraNityAh57xRtg1xd34twRxAgluk8Hb3W39Fr1AWztWXj66pWKQ1bi4QDOwyHNqd8bviOOCsKwM1ukkFIERdwUPa2VLloggAKizAOmQLqbcADiO-UMNtE5_xSt0TJxzmn33Gf6lJS8_4KjMjAo-ohNER5VNvUsgJ40AKjThWguZ78a3kLpajU8w9EQQC98w8MLz7VXaSLY3EoR9zR0ttw1YxGEeV6MjIOhGELsdJqSCO-dL4Hb8kjBVeL-vadv9hfwJ7kjqfzHh1N2T1G9qrI8DatYHn7NNonPJNpP6R6YW-IL0wgFoJEUnzAntTimC2OAKFN_Em99_A-LX5h0L3cWHRKcpiRYxHr6g3KXok0X-rBlPD1Vhb-w-xVL9Se6V2IZ8cyJVDGc-8zUvzIoLKfq1XjsVM1jQ0dhK-ddarvMXZYhvmuOb1hTdAG2tO3kK4Xzk9hoZni7b0PyKwPu9mnVXCOa-qO5NUh1HozyosI6JIo78R5ljfS3KP2UuxZfQcrWli53Y9ztlWEV5-M5-Ae7IQDVDTUZZ7nS0GTAKrXnuRoYEF6h3JSv6343msbhxUClf8dzUPzGHnVsxow1qD4ZH1B2v2bU0oYzMXYp-gKTwC1qfzIfm5c51npvPp5Lyptzccwx6o9zE-XIPo66nx85_x6tqRaOnRTpIHVV6lHEojQNm5LCp2eBYBmEVnNtWI7mXaUxr5yyeW42rpXgzE2VZkwVDZyj93QLChRnWp6qkrqapeoAAOFcDaeu3HGeU4_kuWByUDYARO8V3-8O4KABizFOErQyNL8EymuH6gGnmANfPc41ycEVsKqWRDJQPRdSaFbFK9zw9GW94eUQf6Q63GPXkK6wSRXoWgFBPcZGINUkluI34n53-2KzZeKIKoLhi6VAMT2a2tb5xZlacnvdpJop8hJhCTgDWohE7Xdohr3EX4fnk1ECkarag3ggCbkHjue6PyZdHYE5FRSraULr9eeCOVUGgAeLmnn_x11jT4vyoqEDiT6qq6_FafJxT81TlrpPaE9nFqBITtju4d0CvK9FX2AB9VK05uYjXLIOOSDI4ha9P4ShzOOJRyEucSzq1X7HIy0VoqqtAQTzIu8_CqYrHL3qRJGyncx8StgdTOBF7iO4N9QHaMX3zC5CrykIaH9hCiSzhDh5H0OranJMRxD5jClEgozR8SRLp_pOkPlGzpCzU64be3uNtC-Hqfct-7zHLwUnIBkEGlz-PKRA1BXO7D6GP5sP0S1IaFTHTu6wcEWwnqytmXhMPIC_Wmh0nDoPmsl2Sm3Z3ihLCWEow0UayL_QD_0rnBZT78R_dwUTuHHjlxLif0UxHoQyhkGmgKhVjrKPkNMw1tCjEZKlP1gZR2AhQkw-lH2K8jGFFcrGPyUz4j4fwPkOYuK0Ju8FpFtBB3ubvbwL4lj7Yx5_-qkJDIsc0ncWHa_QYmR3M76nEjvfmDP2-XQoTcTc1mKyuc76wP97JUC0CeK03EAbYsWyNKOwPE9pchhbhwyJ40QK1amvK6V6s17kPcjwqm5_kOR1fAqZSHlkQpr1jX4LNoLR6T41sdI5aBB_QJMxaibHZf_3CRrjyWiyyLeENTC3BW6ErFvHZfajFVg-QxaHvU0LQ0iBUI7on62HEnVooKQ8Qw4-HwEARXdZ7CmRZ2KxKX7sQ-pokyhIX91YjpjMU2cAcUMLPrisq4xCuYBOSr-Sg4oEPx6pWMhY6gL5HruFwYg-AKZsLNUg2tgA5_ut_hpOT21hdJiuqYH1SFO80C8diC2662jfwNCITahgX5XEgqraAQe3gRSOoIM9_uWW4imVv4lh63w4Gf99n3TlOUxR7ebZpZ1eQdjn-4Enq7N-NFqXrG1tb4MxOGf_FBuPdW8JJFDoQ8pgIGQ5wt1dNauz0svSVG67kNxdSUvEuAkuzCYIPyNPP7mAhJ5PBCmUgftUog7nq53PJ4w4Pjs-uJeP_8tpmdYp5ZwJQJKeDRonPI_KAVmIYfnc8RmMxN3EYmQ6Y342GcfiEVX2LlFoK9IUx9PbtzbpnexaYWoNUYOZrZi1Rs0ZlpHMYDkrZ2DUKPB5sX-UDZGyYThk6HRkGfzUXuVo2GKZMZVv1uKfGUHixnPI6fY4D0VVoWSWelPa4BfrtMSTLQ41nz5F0bY1jOvFQuQqe-B_Rp0F3lbStOaBohIP2wLBhi9i3VE9JJpol0tBRqm1Ur8HkxtnQcaTn5zuLD9B_aFOdYz6X36bVsOennhQ4-Pd0ShlUCnsuSJfWtTNm-c221nypKANsvCpsOLuMklgpMHPsjVZWCBk=",
  "id": "rs_038e0ee62d6e9d7b016ab49e9c86c887d087e04c18c7a6dbe7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.11,\"left_z\":0.11,\"left_yaw\":0},\"note\":\"The arm has recovered its normal posture. Rechecking the overhead view, the earlier grasps were on the near side of the bowl; I’ll advance farther toward its left rim without rotating the wrist.\"}",
  "call_id": "call_WAIlT0DeaUmTnioZU3p898Ia",
  "id": "fc_038e0ee62d6e9d7b016ab49ea4480c87d09b3e9a5faf642e8c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WAIlT0DeaUmTnioZU3p898Ia",
  "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]: [-0.3538, 1.6482, 0.8574, 0.075, -0.2924, -0.3126, 0.9951, -0.02, 0.8436, 0.6132, -0.4751, -0.0132, -0.0204, 0.9971]\nstate[eef_state]: left_x=0.4279 left_y=-0.0999 left_z=0.0864 left_yaw=0.0405 left_pitch=-0.1077 left_roll=-0.0325 left_gripper=0.9951 right_x=0.2847 right_y=0.0002 right_z=0.1519 right_yaw=0.0027 right_pitch=-0.1335 right_roll=0.0041 right_gripper=0.9971\nstate[joint_eff]: [0.335, -8.3214, 9.4291, 1.9023, -0.0366, 0.1783, -0.0171, -0.1162, -1.6342, 7.4872, 1.6386, -0.0562, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4c86a8987d21d3c5d783e1cefe64afad42e27f5e546f369ac587d5d7abded5b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f4ccc24c823966201a198d862817de2393fa432ca2c01a3c70ae5148ba97750",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f63547e4a3d4ca4b9ff0d9f8206f73472dd45802df1da62267844acdda4d6630",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 2.923 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 37 changed as sent

message 45 changed as sent

message 49 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4778, 2.4149, 2.0331, -1.4231, -0.7307, -1.9621, 0.9942, -0.02, 0.8314, 0.6186, -0.4561, -0.0132, -0.0208, 0.9971]\nstate[eef_state]: left_x=0.4288 left_y=-0.0852 left_z=0.0559 left_yaw=1.3508 left_pitch=-0.2382 left_roll=-0.0172 left_gripper=0.9942 right_x=0.288 right_y=0.0001 right_z=0.1611 right_yaw=0.0028 right_pitch=-0.0968 right_roll=0.003 right_gripper=0.9971\nstate[joint_eff]: [1.5795, -13.4906, 5.053, -0.5055, -0.3199, 0.0317, 0.022, -0.1162, -1.1419, 10.1949, 1.7802, -0.0317, -0.0659, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6228, 1.0473, 0.9936, -0.6743, -0.5964, -0.5625, 0.9951, -0.02, 0.8417, 0.6178, -0.4744, -0.0128, -0.0204, 0.9971]\nstate[eef_state]: left_x=0.3015 left_y=-0.09 left_z=0.2437 left_yaw=0.1468 left_pitch=-0.0119 left_roll=-0.0601 left_gripper=0.9951 right_x=0.2855 right_y=0.0001 right_z=0.1545 right_yaw=0.0023 right_pitch=-0.1262 right_roll=0.0037 right_gripper=0.9971\nstate[joint_eff]: [0.2393, -1.6205, 6.2154, 1.8535, -0.2466, 0.188, -0.0073, -0.1026, -1.9624, 7.2137, 1.7607, -0.0269, -0.0073, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3538, 1.6482, 0.8574, 0.075, -0.2924, -0.3126, 0.9951, -0.02, 0.8436, 0.6132, -0.4751, -0.0132, -0.0204, 0.9971]\nstate[eef_state]: left_x=0.4279 left_y=-0.0999 left_z=0.0864 left_yaw=0.0405 left_pitch=-0.1077 left_roll=-0.0325 left_gripper=0.9951 right_x=0.2847 right_y=0.0002 right_z=0.1519 right_yaw=0.0027 right_pitch=-0.1335 right_roll=0.0041 right_gripper=0.9971\nstate[joint_eff]: [0.335, -8.3214, 9.4291, 1.9023, -0.0366, 0.1783, -0.0171, -0.1162, -1.6342, 7.4872, 1.6386, -0.0562, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4c86a8987d21d3c5d783e1cefe64afad42e27f5e546f369ac587d5d7abded5b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f4ccc24c823966201a198d862817de2393fa432ca2c01a3c70ae5148ba97750",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f63547e4a3d4ca4b9ff0d9f8206f73472dd45802df1da62267844acdda4d6630",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJ6rBV3-7OWLVaO-t8byLtkl37BQ0j0NJRBUfrfn_b2qx1B3AXue26y1eZTwUhRSiETZ4lkbaM1ftPHkggij9FT78P3nvEN2kVqYL8GOwnuZ5RY7Fr84EPSxBQVf8FCSu3Hb31pC3CNq44r5rb9QpfHaYMzDf6fHXEd8yZ8w6Nj48iDWlCk3MJ4MLOrUqxIqVeXN83xvJXTvg2JPjl04PIv6rEv9RldgF4Nfx82eRmPVZwRmlzVGMrKSsIyQKbUJL_8_Vpb7lo2UvBVRqWHNMDIRdVolkfLataNnjqTRsI7nPtur0KlMlE6ZYGi2koTeWeEFabk498Xd9P2almLHdObpmcdUJY32ALp1NlerdvJtKU1WTrkJ3UWfiph2LMGYIxqKi1rmEh1LH54d97OIY7nUfQ7TP-pIMhM0pLDHyrFfkIlU4UbiCBBbM3yZkmSY5csrUZV_4U4PkRZ3wKGo5Viy9N4C5DZwzJZPcOYm0Y5cSNCFYvQrWpcPdSSNxSgsvZ9LS443pbZz2Qr5RgJhvoEItOvQPSlthxOTZ0IDAwvJ8Ic5SrP1aG4omT_VSck1--LQiH-2BPenauqDGM2vMWg161DmCIF8bk3VoLO1Y7zBYWU4Ok7wZ19u2u0vOowfuYKWMG3QOWNkVgDw9w1bJG7GL2VDI_5OvCxTIX_E6efqepioUqdU9Xe_n2HtMuTJFt_caLajl3nazd3KmZPmLeSMErgpNQW1OmNkAREuIjlRXiFobAk20xvrQBQow71Ex9M804XJxlXVlPc9Bccupwf459tj0YPHmXVWejylwW8Bg36bpuH1efhCMMDlTpF6jI9VSyMsvzXAZ9HkxIP17wCE4M_tESzA9O_Uuk7JHw-na7cQANxyEXKnmEXEiQYuNB5onW1AaRLRdw9ONy2a-Ye1QQsq8Zi9kg8tTLqCo_y-s8CQQdvuHBZMxGRXBYNcA0XL3xwRDNJ5jtY3ZmKm_BbGxgciSqOzoDHTPp-_keKSvMidVNeoEGvqaxT2IaEnxASC37vUgIoK6DkggODBc44JsOImkfCSQgmEqCL4hU-xhMN3i1b3UNYa5_FSjdZewwPxrFCyC6eN6Cw3DoVuUU3yLFVwBa2ZpQkoX_enQuYDRXvxRhvGg4Hy7dEsZxojfaGJQvuoNFmZJdp_TP7Z0c_J9RKjRyOKJ2-faDz5vMNiRtYfYpK09C3V583zvNqAJgNGbxOundci0xNzJQKTbKheU5szhN_Fs7Ifj7yOLknu0bGuyoeVleYsG7y3qrTbJtns4oiZ5hc9SU77dvp8erOSU0g-8Crg0s4ajRchAnKjWY7eGndzqe-s7ocyEfi3LctLMtT8PXRcft7mMpBlKPsgcSDU8onupiO-xzqvMxY2tXF9Q2f4qikFUNTMp52hJXNemOeY3erLqQIOXn_Vrh27sqa82_l5OAj5jvv_FCma5iY1UnT2CZG3gi4gASWHYDl_9O1AMUUzWj5D3XxuZoOegodMEygigTwB7AVncjrbUss_754lf_X_TAGnCkBxymHtL5gCQSaPyBZZIdecWXcmmFC0T4Cc2x1yz9jFWY-ulQqBNWRiqDE6Cos1kvnAdfj7vNv6h0cn3Zd8oN6YMiSo9ZZ9EuaWJwQGiD8tG4GUZTFy4sgDSRJoPXjy3mRK2xhXa-Lz4HIYJvHsaJUwCbKi77oyW0pYEAHTqb7-MsiwYjVEZfP2d7ulv1785GJ6NnvVnMSNXUKXlFEniN-PVgFMtUt_eKHKWzWuPFjYFlRaZjE=",
  "id": "rs_038e0ee62d6e9d7b016ab49ea8242087d0b2f7eb04022815bb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.425,\"left_y\":-0.105,\"left_z\":0.035},\"note\":\"The bowl’s rim now reaches the bottom of the wrist view, where the fingertips act. I’ll lower at this position to put one jaw inside the rim and one outside.\"}",
  "call_id": "call_ZVwO1O1iC4IwTXth9pF67dsh",
  "id": "fc_038e0ee62d6e9d7b016ab49ea9fc0487d0900ec0110c7903b0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZVwO1O1iC4IwTXth9pF67dsh",
  "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]: [-0.3702, 1.771, 0.77, 0.2356, -0.2916, -0.3183, 0.9951, -0.02, 0.8436, 0.6128, -0.4747, -0.0128, -0.0204, 0.9971]\nstate[eef_state]: left_x=0.4185 left_y=-0.1041 left_z=0.0312 left_yaw=0.0291 left_pitch=-0.1537 left_roll=-0.0181 left_gripper=0.9951 right_x=0.2847 right_y=0.0001 right_z=0.1518 right_yaw=0.0023 right_pitch=-0.1335 right_roll=0.0039 right_gripper=0.9971\nstate[joint_eff]: [-0.2393, -8.4991, 5.6547, 1.9072, -0.2515, -0.0659, -0.0171, -0.1162, -1.4701, 6.9812, 1.6532, -0.0269, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c81f6b87af2e89b2a2f2ed5b5c0950924b4acf93afd7c16f9e1957e6e01ff37",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8eb9f076351547ac53030df943a41d60412d6aad5fe40fdd0688b1cf44ddf543",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acbf418ae579022c01201e1b3bbfcb3bbd31a69f4aab83b45d94239f4835e929",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /responses · status 200 · 10.11 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 41 changed as sent

message 49 changed as sent

message 53 changed as sent

message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5293, 2.4145, 2.1178, -1.5307, -0.7269, -1.9785, 0.9951, -0.02, 0.836, 0.6197, -0.4675, -0.0132, -0.0204, 0.9971]\nstate[eef_state]: left_x=0.4215 left_y=-0.1064 left_z=0.078 left_yaw=1.3149 left_pitch=-0.2359 left_roll=-0.0055 left_gripper=0.9951 right_x=0.2866 right_y=0.0002 right_z=0.1582 right_yaw=0.0026 right_pitch=-0.1117 right_roll=0.0036 right_gripper=0.9971\nstate[joint_eff]: [-0.3077, -14.5436, 6.4342, -0.2418, -0.486, 0.1148, 0.0757, -0.1299, -1.7709, 6.8718, 1.7265, -0.0708, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3538, 1.6482, 0.8574, 0.075, -0.2924, -0.3126, 0.9951, -0.02, 0.8436, 0.6132, -0.4751, -0.0132, -0.0204, 0.9971]\nstate[eef_state]: left_x=0.4279 left_y=-0.0999 left_z=0.0864 left_yaw=0.0405 left_pitch=-0.1077 left_roll=-0.0325 left_gripper=0.9951 right_x=0.2847 right_y=0.0002 right_z=0.1519 right_yaw=0.0027 right_pitch=-0.1335 right_roll=0.0041 right_gripper=0.9971\nstate[joint_eff]: [0.335, -8.3214, 9.4291, 1.9023, -0.0366, 0.1783, -0.0171, -0.1162, -1.6342, 7.4872, 1.6386, -0.0562, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3702, 1.771, 0.77, 0.2356, -0.2916, -0.3183, 0.9951, -0.02, 0.8436, 0.6128, -0.4747, -0.0128, -0.0204, 0.9971]\nstate[eef_state]: left_x=0.4185 left_y=-0.1041 left_z=0.0312 left_yaw=0.0291 left_pitch=-0.1537 left_roll=-0.0181 left_gripper=0.9951 right_x=0.2847 right_y=0.0001 right_z=0.1518 right_yaw=0.0023 right_pitch=-0.1335 right_roll=0.0039 right_gripper=0.9971\nstate[joint_eff]: [-0.2393, -8.4991, 5.6547, 1.9072, -0.2515, -0.0659, -0.0171, -0.1162, -1.4701, 6.9812, 1.6532, -0.0269, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c81f6b87af2e89b2a2f2ed5b5c0950924b4acf93afd7c16f9e1957e6e01ff37",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8eb9f076351547ac53030df943a41d60412d6aad5fe40fdd0688b1cf44ddf543",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acbf418ae579022c01201e1b3bbfcb3bbd31a69f4aab83b45d94239f4835e929",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJ6udc0F6jvlbnumM_PQ5VQSOjwWqn5A5wuaFL7VqDGpE8QkpzL9yllppIf3jI7MFWy8-fmem95nL7gfmmW3ta2BgqTmFMFTyhKpe50oSatbYPnaCPnr4M4p94p8m0Y8ua2ORTukKQpEmkuNxw4fEISgMqYtPIlsffNh7zlDJ5bK33MuW81V4_6a5cMP6UlbzRCvVc86GgM78ly1IKl92_1oBykS-hZF2VkaE-DGFr6MctI51RPMoBBoj4E71GJP4E5db7iyxt6Ja6aO8A3LhGo8X7I8vv301pTBRnGVyoedYbooZfWNDW9_3_vlQIIicOntjyJ7NhZiRdK-g8PzgKbNkU5hj048spsbpR8OQ95mN76sqTe7sREi9VRyuAZ_21Scpwur8-5-N37rC9pDb1X38urzdKgKvzFS_GbrnWDP0aGZDnNLX6olTaFYbgNM_kayFAFJbxb7PIpVsslw_DBq2dEdtihLfBuZDwrm6ihK7SCVRZYy68Mtey1wSfjENacrBk7X3r0Pp6U_8EvPqirXFmW7gml1_2oe236r9kp1CspUyPRn2JEA0-xPdURF1SLdqlCl-Bl-SeBa86GvJ_3dDjCs5hNTV4G42DDJI4cd0fKWBGIEyd1YcMLIaQnCmGjarNT6tSbtnPc2O4g-4LiVkx9NfYRcHrWC5O08bp5v7ZRLQ-1d1qeZsLD71VgUYhZJZ27t3Rv2DeJcZbYkf_DVcIKrGIqf5xnF9Xm_YWwPaATS6b60GfGARVsO8QRmEwg705DBmIN-8RQze6QI4uR6aOaZMCXkra0oyhYZ7i3ogeGtoLavr4PeS61GQvkMxVOdkf8p_nO7cgLFoMKV1ydx61RmccwCJfS3v_mbagtSG5gwl1xdYTiWY38U_wF5VsAGtz9h84GYoWXW5TUDFXOU9kWq_iAqTZ-QAGqSRdpezoRSN8P6P6Sl-Vdka1AiwDQPRbzzlTueBeMso6_RomRBF58iD4MD2nT7FRmkihgjIwwgNYlCJfxu6o8TW5AVPOd1uWBiT5SqLwBHwCeDoG6cQvUx9_0quPhSHEqej3xf4vK1y3o8Ypabwm_vZqDm6o3ji7PEVnZaem8dToZNIVJM0JxenrXVPsW9dtgXZEbTS2pPsgyvFccZpB33ZKvT5e2i4J403jfIf-XcJWZgFUGzBr9kUvEB1CvTpp39tCg7Lw5F155lH4Ldd76dADkQ8JdxLuSyeIA-1qKZL_sZm43mJAxYYnzVFlmau-mKKgSgppjEkYxHE11iANbF60liVv7dilGHk78ItrHmdouAapMtq2Dv5q2fNU6oure22nxArIfPbw06HLMc1PdOw0DZ1UJAryZPOR0lgn0byDxlkISlaQ==",
  "id": "rs_038e0ee62d6e9d7b016ab49eace19c87d0b088faf4c50e6ab3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The fingers are lowered alongside the rim, with the left jaw outside the bowl. I’ll close here to capture the wall rather than the empty interior.\"}",
  "call_id": "call_2EcLXCgWEqoVfnaBgHtAdccJ",
  "id": "fc_038e0ee62d6e9d7b016ab49eadb17087d0bfe619f8dd830ce6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2EcLXCgWEqoVfnaBgHtAdccJ",
  "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]: [-0.3721, 1.7725, 0.7628, 0.26, -0.2855, -0.3374, 0.0986, -0.02, 0.844, 0.6106, -0.4747, -0.0132, -0.0204, 0.9971]\nstate[eef_state]: left_x=0.4195 left_y=-0.1065 left_z=0.032 left_yaw=0.0317 left_pitch=-0.1412 left_roll=-0.0427 left_gripper=0.0986 right_x=0.2844 right_y=0.0002 right_z=0.1507 right_yaw=0.0027 right_pitch=-0.1361 right_roll=0.0042 right_gripper=0.9971\nstate[joint_eff]: [0.1026, -8.1026, 6.5573, 1.37, -0.2369, 0.1929, 0.3297, -0.1162, -1.306, 7.1453, 1.6288, -0.0415, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bbd5d1934abc5767b22f9a48b12f712b6775a98d86685737e2f98ee477906eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46dcdce6c84848bfbc9bbe35443b979dc58e146342b55c1f4de8215fe5584a3a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5af7bc0bb161de0e5a6ca9e6e833850a7fff1419d386141aa41d33b83362481",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 7.91 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 45 changed as sent

message 53 changed as sent

message 57 changed as sent

message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6228, 1.0473, 0.9936, -0.6743, -0.5964, -0.5625, 0.9951, -0.02, 0.8417, 0.6178, -0.4744, -0.0128, -0.0204, 0.9971]\nstate[eef_state]: left_x=0.3015 left_y=-0.09 left_z=0.2437 left_yaw=0.1468 left_pitch=-0.0119 left_roll=-0.0601 left_gripper=0.9951 right_x=0.2855 right_y=0.0001 right_z=0.1545 right_yaw=0.0023 right_pitch=-0.1262 right_roll=0.0037 right_gripper=0.9971\nstate[joint_eff]: [0.2393, -1.6205, 6.2154, 1.8535, -0.2466, 0.188, -0.0073, -0.1026, -1.9624, 7.2137, 1.7607, -0.0269, -0.0073, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3702, 1.771, 0.77, 0.2356, -0.2916, -0.3183, 0.9951, -0.02, 0.8436, 0.6128, -0.4747, -0.0128, -0.0204, 0.9971]\nstate[eef_state]: left_x=0.4185 left_y=-0.1041 left_z=0.0312 left_yaw=0.0291 left_pitch=-0.1537 left_roll=-0.0181 left_gripper=0.9951 right_x=0.2847 right_y=0.0001 right_z=0.1518 right_yaw=0.0023 right_pitch=-0.1335 right_roll=0.0039 right_gripper=0.9971\nstate[joint_eff]: [-0.2393, -8.4991, 5.6547, 1.9072, -0.2515, -0.0659, -0.0171, -0.1162, -1.4701, 6.9812, 1.6532, -0.0269, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3721, 1.7725, 0.7628, 0.26, -0.2855, -0.3374, 0.0986, -0.02, 0.844, 0.6106, -0.4747, -0.0132, -0.0204, 0.9971]\nstate[eef_state]: left_x=0.4195 left_y=-0.1065 left_z=0.032 left_yaw=0.0317 left_pitch=-0.1412 left_roll=-0.0427 left_gripper=0.0986 right_x=0.2844 right_y=0.0002 right_z=0.1507 right_yaw=0.0027 right_pitch=-0.1361 right_roll=0.0042 right_gripper=0.9971\nstate[joint_eff]: [0.1026, -8.1026, 6.5573, 1.37, -0.2369, 0.1929, 0.3297, -0.1162, -1.306, 7.1453, 1.6288, -0.0415, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bbd5d1934abc5767b22f9a48b12f712b6775a98d86685737e2f98ee477906eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46dcdce6c84848bfbc9bbe35443b979dc58e146342b55c1f4de8215fe5584a3a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5af7bc0bb161de0e5a6ca9e6e833850a7fff1419d386141aa41d33b83362481",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJ65biqZsUAjov0yypYYNKpyOjuCW_gZWnW0tTBCwWICIOrmWFgbQYDiV5AL9vJkg6nzbiE52QTPydiNqVsQwWu8h3CLyO4Uyq7DlRfKg8eLEpcSn8KMN1BykfwyVfmF3em1eMUSKN_6OUPeHBCI4SJJwmff1IoyDczYlixAcf4YxcW4xlnvIawFiLSfFLgyxCd-_5KrLIUhya3F9EppkmcyZHk7azPGJ6YIfqGoyagvNK8qnULz4uUKKXLt3TwJdkj-sSV1DoWza6QK-tplmDcN2f8IPAWmMMEMmsbtkpO4bz6STWlgHSMkpuktzqgewOQKvT88iJhH1M2o47lsDTbHcboFweKVYBRRH2d9AhjbHKxBXjOWhdbFCbXH7ajLilty0492ddDPxDM7vQIFu8zCVxfUic03Ax7z6VUbQxMHUJ2GHu8DWFdZSF1R1ga213nzELa_uux1niRtobjAHXhiXa4PTx8R_67e2gCselxo49DxpTWxAwjhavdjcZc5xDpc2G6ePA5dv3WO49lniuy2b6wHoJYkqvZMSzmABpP6xUU4i_WobmRasoqcVi3H4WqEsxoJbcWkDdi6bDJ9qq19tuJun9mVwq-J-yC6x3v199JixVnkPdYYQI7L08-k7wB7an5j4ZTY6OrmEpD9Vs7sGvG3H7DGTWZV6iinrv1hTeMTMkE1WJxwuo5-EACyw5PECGn60kGOqJHgHMP7Oy_SuNfhzO4uwjOLyt8Hc9wBYA-j0gA8WwTsKxBP4_Vfsb4Tyk2E0cgHxlHIk0tfipPUdzRDa_4-2dbGploEB2HYyqRnttVKEgQHn-Ivf0dd_uCbdcxG45dkJRdYv170UftoIc2F-LGn-LwH4lD-nhNZjLdODvGSUtpXUtGdyoeIBPtimU_GGl8rLGr0RTNEE044JtGMqqtdymCBbFRmkBr2N1Fak8s9z0Zr81J0e1S2Gn4dC-3w6pUnTa0nBWAwHedgnxOBz60J8IgIkd9NociKwF0rGb4qajpY624KA2sF_uYceau7VScYVDvJQLpcKpzAOzmMSqUSO8PWLKzzh0uxu4s7fb_s7NKnLyAkg0Kxd8-2CugzlT-1wfEwxKZ7TAqozsb_QKNmzDM6oMqGOr0XkMQ9bODPVzBk3f9c_54enHj_sWrrtqT9yiOE3ytug_BuZX5WLflQ4M1WGoS-qRM8L7CEqjyvmMM_ZN6tLDDTaLZPBY2w04uemrbGJexoFaaYrB_8IgSoMhd8Z0_DjOrJReA1VcoBo65gxPK0sLjHX8m3sXg1UjuFcYI8-Fr7g88d_EXLazVxYsJb7dd_49NBDNFspvzdwRzCYr8LUS_hte5s4dHgY034oMnMBNcy34ADjOhCuYoU_GeQssajIdgma-ddQeAJivnLkIN7MblJdfQrthUyOGvvwrWfR0xXp53-sXFbyowyjdLgcgdq-GEPcF91auKpINg-GdI-1Lu8Zsi9hpxW4H1hqArPf3kCP_LhrFgU2DCYPBiomkCddSQ_j9rM2phVhVpb5w_MwqSN4W03",
  "id": "rs_038e0ee62d6e9d7b016ab49eb339c887d0ae811009139463d5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.105},\"note\":\"The bowl moved as the jaws closed, and the gripper is holding a rim-sized opening. I’ll test-lift it before carrying it over the middle bowl.\"}",
  "call_id": "call_jODSBqtfgzrGYPJjcRNUi6gN",
  "id": "fc_038e0ee62d6e9d7b016ab49eb8282c87d0905c9f4707a5cd45",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jODSBqtfgzrGYPJjcRNUi6gN",
  "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]: [-0.3725, 1.6272, 0.8719, 0.0006, -0.2848, -0.3408, 0.098, -0.02, 0.844, 0.609, -0.4751, -0.0132, -0.0204, 0.9971]\nstate[eef_state]: left_x=0.419 left_y=-0.1066 left_z=0.0873 left_yaw=0.0329 left_pitch=-0.146 left_roll=-0.0438 left_gripper=0.098 right_x=0.2841 right_y=0.0002 right_z=0.1499 right_yaw=0.0027 right_pitch=-0.138 right_roll=0.0042 right_gripper=0.9971\nstate[joint_eff]: [-0.1573, -9.0051, 8.5949, 1.4823, -0.1832, -0.0171, -0.0708, -0.0752, -1.2513, 7.159, 1.6044, -0.0757, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:903af78a4e5d87cecc6faf95add22fbe9974caf237f1b5cd74af2f21ba1fcaa4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:801b7285fc18b827cd39dfa1844114ec4f81d99bc008dd68bd8a8b93174ab942",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3d29a033636c1fade815d318c8d7421c521bea5888dcdcf075913db2e2107a1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 6.091 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 49 changed as sent

message 57 changed as sent

message 61 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3538, 1.6482, 0.8574, 0.075, -0.2924, -0.3126, 0.9951, -0.02, 0.8436, 0.6132, -0.4751, -0.0132, -0.0204, 0.9971]\nstate[eef_state]: left_x=0.4279 left_y=-0.0999 left_z=0.0864 left_yaw=0.0405 left_pitch=-0.1077 left_roll=-0.0325 left_gripper=0.9951 right_x=0.2847 right_y=0.0002 right_z=0.1519 right_yaw=0.0027 right_pitch=-0.1335 right_roll=0.0041 right_gripper=0.9971\nstate[joint_eff]: [0.335, -8.3214, 9.4291, 1.9023, -0.0366, 0.1783, -0.0171, -0.1162, -1.6342, 7.4872, 1.6386, -0.0562, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3721, 1.7725, 0.7628, 0.26, -0.2855, -0.3374, 0.0986, -0.02, 0.844, 0.6106, -0.4747, -0.0132, -0.0204, 0.9971]\nstate[eef_state]: left_x=0.4195 left_y=-0.1065 left_z=0.032 left_yaw=0.0317 left_pitch=-0.1412 left_roll=-0.0427 left_gripper=0.0986 right_x=0.2844 right_y=0.0002 right_z=0.1507 right_yaw=0.0027 right_pitch=-0.1361 right_roll=0.0042 right_gripper=0.9971\nstate[joint_eff]: [0.1026, -8.1026, 6.5573, 1.37, -0.2369, 0.1929, 0.3297, -0.1162, -1.306, 7.1453, 1.6288, -0.0415, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3725, 1.6272, 0.8719, 0.0006, -0.2848, -0.3408, 0.098, -0.02, 0.844, 0.609, -0.4751, -0.0132, -0.0204, 0.9971]\nstate[eef_state]: left_x=0.419 left_y=-0.1066 left_z=0.0873 left_yaw=0.0329 left_pitch=-0.146 left_roll=-0.0438 left_gripper=0.098 right_x=0.2841 right_y=0.0002 right_z=0.1499 right_yaw=0.0027 right_pitch=-0.138 right_roll=0.0042 right_gripper=0.9971\nstate[joint_eff]: [-0.1573, -9.0051, 8.5949, 1.4823, -0.1832, -0.0171, -0.0708, -0.0752, -1.2513, 7.159, 1.6044, -0.0757, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:903af78a4e5d87cecc6faf95add22fbe9974caf237f1b5cd74af2f21ba1fcaa4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:801b7285fc18b827cd39dfa1844114ec4f81d99bc008dd68bd8a8b93174ab942",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3d29a033636c1fade815d318c8d7421c521bea5888dcdcf075913db2e2107a1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJ7BdyTkzLP34uOap2RyxFbfIEfTAjWDf6m0oAVojO0yRkaO88e1Y6l8Lx2G4c4VQxFfm4yIxllx-cz-IsTf3YrFMUsMcHrg-UImzHetugHGLtlhT5BJOUtETYczck074TboqW6WaIbilxR9ZGjkSUMZ_1vlIAsaBbDMDyHxjCnELCRI7AtwGP-5i-NNoZiV4JkbM3UZpVp0bVIfWL1OFZgIBw4zzMSCAnc7f5s-Qmmg8v0Pd3mJ3HaM7AW9q2TRkSYGVahOXwGza2Tgz6A_6IHFeB-2dDljpkaoCa212Im5p5KnDQRF8mr6S3LSEYwDTeSA-CW63Gq2B9g4V9fVqU7H-ebO_KUClptsx2Ta9KirEzoUU4TY3p3GcSqAnsaXkKdyT1SMP34ymscQnofz1Asj9WH4act9RySrLFAm3RvbM3So8jKuchF2KACUp0O06k2qsLOHt4uER9w3aTdusySDD17jvJ828NADThBmNKzexqYfFV-ktwLqPukihigmjaoQZkJtNLSSrn-oy_K7Ww21_Z0cP-lKtndcj_TC0DMjdy9oKU_sKjkjiQh-BO8Dp7VH5ZghIsXzrqwoafukQREaC7_fn-B8bQalOoURUyjZ-6V6sPnupZ-EF2qifKI3GHWgvnJ0F9K9me7W38TAgV3-n_JChRdJZoh2uXwRcXJHPtASLV5sY7_dQqEh__wDLvCyD7-QOy0BadiwoFNrMqk9yvpBeLUwtutm37j3D8Vtfh2WPOiIwxfZXUx1IB3JWzQb34PA48TT9-xaWNDjr9m5M4cNRvvtW0xkMEEAzVcThQOjiY-ZfwaMyluTqpyAiTmwmx2E_oewJiSty6XMLcSDA5cgYL2opFVXVov8k1SWWZO7BLlt1jrjJjtrw4Q4n00kP8B-ZoaI7HuN0vYyouVGbRckIi-7YcOb4sv4Q9RPx1_AaRpVTEmphnRjv9QlBUYGDdV5xifJcEAuf--bI3o--pK1OQ8T8vgYzhXyulm4LB1hk32Opu4Ln-0WXo3x42ekhs8U-kHr811pufM1LM1KtisDnS9ygkdFxAUfDkw6bob7EPy_ZoF2P7MnQtPUKUboT3f4xsTxxad_l7Sh_MTiYekO8Zql56ArimfjIaD_MZiC21EHeJvAJk0H1F1XHyi5MGAOmUBNhYhPWUicGZ6MktK8KtCsAwatWQBHCtv8TNfXKClA4KzBb3H2Qps6KBN3sG05g4sfo4Oz_vnJTXoDCZ9lGm-7ZUgX5OPJk9MAFEzqhzGR3w6jqtNBeNISVA28aw9iKGYXbL1ikmZjBr7klSymetsBKEg4oLDxjOIlxQzFY-GshOoJ5_FXLvTGxHz8cNHDD7MgQ7pGKtWehpDfduc_QgPXzL27Ay__-9a3oUFn--mja_BZRkLL86l3qZJCJaplfdm2zj67v-fDuD10kEPIc7I9r3Nuo0LoUyAA6zWN421hHOuNis9rGYi1am_C441Z8TU8q16Wx6d6tGxhWRajzWsZqjuG9g2HAtll1-p1Odx9lOk956h2BCAcvKMX-MGpReROt_G2nLDHAM0kRtdP0yWvfV4H1fbUxxTgtmX9UmSWI-J545Wi1utrum89721LnWAXI1foQk5wfOwGyE8iGOfggcfXsroUXht0cSF3mq9C1rdF6CLKcCcB_w-ZI_eLGu46bKNcdn6Wrx00inm2hCxIkGIMPly5KDRzHlvOjoHSA2Hrs-QOmtawgcS1CuCTI1KqRtGaON_AK_Bcxw6okXlwu4MW7Bj2o1Qr_AbmNNeb7CFGSMedQ-k-n5cf3Xl9VOvdrW1swo9WHjGELETZDD3bIcACgcYZ8W4I9T8OY2dXPWHE6KlCZH2nGA6Fy9_He23qOTV2F06lLYpb60ZMsGqtMI92Hgp8Nb6k2hvG9uG3r-Nn5o_gwo7jZraIIuK7DjfE-L-c6R_KZoo5a_zo5PZWAHP2LDnJVn9ABvBBRAh3ZmsCpWRE82YzAejI5LoK1IWlHmmbJKGwULMerR38IvDRG9gLl4vk97nVSHGgO3QCcAtsTrjQ2YXRwEOqbaZnzwOIArIdyKTFse7FpcOLA_eMdEa45ihddg-aFRFXdislaJ9tl2vF9VGLPmxnoaXIOlVJ5ERpecRxp8LCZVlZ73dehLfestKipoMyGGnZpFXNFbODhkzoStfMabHK8fATUclpAtLM8wokdg0TEjVaEUydqNaOaBR66Pb3zfTxJeRS1I9wIkqRC-bbfXtN193MhI61bmevWSu30Tufhxa5DUFPKQPnXlcc5PK9eOSkJqwbDSl3VVqVkchwBUmgxseJV_5FcuYq937iN9MPYBhsGCYsV35utI2T5iVBcSc4dK2Y5MIX8VgK0F6P33xYJ47flVsjadalr3IibkCfBKSQrRe3x8Sq6ke4el-A-y9ec_idyv_G6ZhgAIUmqCmNzcmE2PQKoTh60kCWfz54nTocurkQequMc5P83UhdjOXYhtho7kZbmHHPr25mCyjnLBbQ4p3eJwlGfbIKSB2I3SReMAH-3qD_K0EYlR3Y1ux-2zni32NIi3diaSVnstt7y2Sr17l2uAEerBNF4j6S61UGqyiWZQZICNEFmo4IcozH4TIe0BLOrvkOcyqCLf71qzPJERJOJMY9nzPKb1b43k7HXtwoFb4sVTR-fhoXkqpPuTiBL-_j8uDYSprszGU0Z77vLk4mKHCdFtdxYlr0D-fbu3ZlY92c6S3ovKczXVqMxt9e9ohzkyHOgVyE0t8gnvsHcVzCWrT5azRVhuzgFZaXFgnU_0Cafeb4kd2uBVAEh7IGWdqzKZ_idZoZWz7k_3ELyqtchDWrGbtwOwkBwqKRXecbGNMR2CMawiMMAdn7HOdUF9H5w9IjqfgeW9qO57rvFUcjhABWZuaq9CZMfukcW0Bv-Ed5UK8lMVpAqD9OPQQqibXiYnQzFddwFRNsDzWWBHhvFzVrElHK4eNYGqFZmpH6Mg5Y1DFe-RV1c-KxHJfEpvGGg1g1tGh8tNVipOdYcPlEe9k047muvlJB-y-EIxPPRLecyDJFXs8Ek6OwSQDNyhrDSaYAOMA115MDjyfevrlhljEFHHWK4LtqXW3WL-A8KVhZ9eZpNHwwTP9G8TPUgA44nvb2FsCqnsn_r3d4blnV272yv3An-b81nvOnX1shvqys3hZ63a9_mQpZC0qc2MnHysEOwUXRPukjxojW60HrefhlN7bSIElilPgS4s1fUEAUGzDMmad8qJU85Rei6kScAzDWH1OY9cCj",
  "id": "rs_038e0ee62d6e9d7b016ab49ebb397c87d084147c2ad3ca81de",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The bowl still appears to be resting on the table. The gripper also stopped short of a full close, so I’ll finish closing to distinguish a real grip from an incompletely closed jaw.\"}",
  "call_id": "call_yB08BKXSHR7G27D91nc3qMQ2",
  "id": "fc_038e0ee62d6e9d7b016ab49ec0c1e487d0902d92f30071b277",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yB08BKXSHR7G27D91nc3qMQ2",
  "output": [
    {
      "text": "executing move_to over 1 steps (0.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3725, 1.6058, 0.8921, -0.0677, -0.2848, -0.3405, 0.098, -0.02, 0.844, 0.6083, -0.4747, -0.0128, -0.02, 0.9971]\nstate[eef_state]: left_x=0.4142 left_y=-0.1047 left_z=0.0922 left_yaw=0.0343 left_pitch=-0.1705 left_roll=-0.0328 left_gripper=0.098 right_x=0.284 right_y=0.0002 right_z=0.1496 right_yaw=0.0021 right_pitch=-0.1384 right_roll=0.0043 right_gripper=0.9971\nstate[joint_eff]: [-0.3624, -8.335, 7.9111, 1.5556, -0.2027, -0.0366, -0.0757, -0.1026, -1.306, 7.1453, 1.6386, -0.0269, -0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:566742d0109d10ba945ced06dfa84645f6f2cb984239e5fe57f39c17bdc3ac4d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a30d91e2e680587f71fbac12429151d7801a7226500fe3f899cbfb7290ae4f99",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f77fb9558647091b907b37902237665ada4b995eb516caae49900c1b21a85660",
      "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 · 2.876 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 53 changed as sent

message 61 changed as sent

message 65 changed as sent

message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3702, 1.771, 0.77, 0.2356, -0.2916, -0.3183, 0.9951, -0.02, 0.8436, 0.6128, -0.4747, -0.0128, -0.0204, 0.9971]\nstate[eef_state]: left_x=0.4185 left_y=-0.1041 left_z=0.0312 left_yaw=0.0291 left_pitch=-0.1537 left_roll=-0.0181 left_gripper=0.9951 right_x=0.2847 right_y=0.0001 right_z=0.1518 right_yaw=0.0023 right_pitch=-0.1335 right_roll=0.0039 right_gripper=0.9971\nstate[joint_eff]: [-0.2393, -8.4991, 5.6547, 1.9072, -0.2515, -0.0659, -0.0171, -0.1162, -1.4701, 6.9812, 1.6532, -0.0269, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3725, 1.6272, 0.8719, 0.0006, -0.2848, -0.3408, 0.098, -0.02, 0.844, 0.609, -0.4751, -0.0132, -0.0204, 0.9971]\nstate[eef_state]: left_x=0.419 left_y=-0.1066 left_z=0.0873 left_yaw=0.0329 left_pitch=-0.146 left_roll=-0.0438 left_gripper=0.098 right_x=0.2841 right_y=0.0002 right_z=0.1499 right_yaw=0.0027 right_pitch=-0.138 right_roll=0.0042 right_gripper=0.9971\nstate[joint_eff]: [-0.1573, -9.0051, 8.5949, 1.4823, -0.1832, -0.0171, -0.0708, -0.0752, -1.2513, 7.159, 1.6044, -0.0757, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3725, 1.6058, 0.8921, -0.0677, -0.2848, -0.3405, 0.098, -0.02, 0.844, 0.6083, -0.4747, -0.0128, -0.02, 0.9971]\nstate[eef_state]: left_x=0.4142 left_y=-0.1047 left_z=0.0922 left_yaw=0.0343 left_pitch=-0.1705 left_roll=-0.0328 left_gripper=0.098 right_x=0.284 right_y=0.0002 right_z=0.1496 right_yaw=0.0021 right_pitch=-0.1384 right_roll=0.0043 right_gripper=0.9971\nstate[joint_eff]: [-0.3624, -8.335, 7.9111, 1.5556, -0.2027, -0.0366, -0.0757, -0.1026, -1.306, 7.1453, 1.6386, -0.0269, -0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:566742d0109d10ba945ced06dfa84645f6f2cb984239e5fe57f39c17bdc3ac4d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a30d91e2e680587f71fbac12429151d7801a7226500fe3f899cbfb7290ae4f99",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f77fb9558647091b907b37902237665ada4b995eb516caae49900c1b21a85660",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJ7HhyToPG4md1W0LCwC4qiivcSQZS4aMLLM2OH2L3-8kNgmlygGKcsF5MBC0OXZrgYey8Ce9cdb9voa5N9o9YSDO14O-dU_iwn8tlLiU5Q1Jz6PH5WWnrqNK11-255n2BwQXHw3F1v-oAz7I9rNpvHGs2OwOEv7hScDkMNjQKtZ44ycMSxF9_6XjXROGOG3_zcBbFfNEHwKTmTOmR6fwXaQFvHZg0JT2rbY1DNvzEeSNAX-jkn4m54Sj92p23-DD_yc6QZLWz3vkNsbLHEoec4DDAeeOiLg9JeVWWxsfs7eVvZArdp58I1cRjifyK6aKNDb2kJBhM2Om078TTGBXJWww13RMz4sJ9129BMkq7mXPifG0ez5h22MtV02YAx4YjkWeMGG5ncA6U6CSx9Brjh_6Sx9jYHf-mMnUdI7XTAh7StSnSHqqKbnWcmQ_x-Tuyyfi6mCqhseoo--jo__ZIv_VyJU6DTdSmu7ES4wmd-jp_9ukkV8K6uj5T2x8q2Q8iRhFCy6CT3Bv4Gz7lhIY-Uc-0s0zQy0vv60klyM4YdKqZ5X0-HBC5jTrvg_M14xL9FgN-8jGvmSR-WjNxNZ7dIBkg8vMf-3yefjTmy0eDxGdhav4iEGIX6OWQRzxxvzK5mIzDtgmq5eEhFfU2G_ahXGT8IlNSX-tlHflxc2iDOB5IkosnnwW6MPpabuX8KqO9LjAzcETbs8Yqm9p8hD1TGoWIex598k5EjX4nunAlQiX6umeVEQupRJY7pspomUUol6BaCaGab88b4BDa5-w4-GI9zKK0keaNeUJCjMEtDBiDIqO5_-H_SCIdhFMyqnBLy-SNV8H4vww_VKFBGY3u_1R2m7IijvT3vLFoddBrUyzZ_Q47vLbwAW526ratpVpuB24Edt1PZCtA3uxfDIbP2Lm6vDCVruhYPCCrg8g_TPOAfOIzFGJCbIcopX4l9nH4IUhUA18AHE4aVvx_Dqq3e65REvwfkU9jo7CxmoREJUEiCsrRvsBBwqnpXUZaE3e8Mr-xuUJDaSfZu5-Ro6xV3btW0HSCqn6WmJa2mpZxWzxnRpQVZ61htNyMfO8-Tqjce94bgywalXt29MPUhtxptTrrZzkEd687QEMyXX28lWvcZdbVdaa-6LkmMeWIabIS9j4WXawG_ZmcxT9s65c6SBCJ4g5JZ5o7D84rahFMWY_jiJs3GdE9snJW4wTKSJb7gYqANuFP9eI6wRCBaUo5am3TU1MvCi8u6dAQHBkKXpmSZGymoV5Ckz8h5w2jJh4xxEf0E2rZCGVqOxddAKJA3Wv_gtokhBfsrZC18MKjedAOupJ-L4ygbBJGYyo2kE2Uyh7DRA27lolpzzDiqFitFuRv39aMDOyZpy2gZmScIbRqHQHPG9bx8hOI5f981mCMY08D6upWg6RnoUQFnpBOro2hMdfsYmVg2ONGH8x8B0Z8DOblGP75c5YtJJ7LL5BRjsrMJMAk68wOM2eLouDnFySs194naQybTU6G2TVko-NXOq-f8mi577yAlHg4hAA2ALDd_FP-oil2II_drk-VvPpNmSzzXXLQauLRJpaU9UjPuNSjWDHkaRrpMDLlXv8AwSI-Gbj9XtgG6P0OpIdHI2KMCo9728qOcjbgDX3mP6SzDEyASPYij4HZGv3LlUolOY9fWQ3N24VOmUj04bQx6DPKSiUUoDpmsKV5NhBbebbzxkhrbisg2-EjF-ViK0iv75lq0xq4nSH3AmUkhu1Sr3eIW1a-33UCr439nj2uUR-E0fIEHUPE1yXWw15LaQBrZYea2YBZvyvf4NfIXUiAPrzYOwi8WQNhNuEoF1RRCZ0TjGr0O765kjj5SOCtvo1z_hY5M0hlS5nGwxovxSeuMyvh2UcWY4NGTBtnnQ2PY8eiKYz8Wn3tRe9jZzN_UwirZuXDmm74g2n6GEaG2dhmOYDztb1_6DN-33SeMXXLZC8nuSsN5yaMkyXNnpucfG7dzr8a3onq6d8SZY7A2XmgnntIxhVkw_23Kjdj4NfDkq9kZwetjDclkJ4GknZVro32DJrWse-pSMR_DXAjdUEQFut1nNuuwnv2EBGpjRZdGpr8bR6v8bt8mWe72MfVoCxWGFPBb6n5L6_QVVWsvTAzzLplIyV7WVDVnv6RIHj8eF8wSpMaIEjiUq_qWn0dgaMuHRdsDDTvLzT1B91ROh6G0tUShuGms9dZDaQKSBXa7HhmDM_Jd_mUCLtx_IP9eAGaN3NPG2x8sPjS4txfKoCzTZEWplS-wChvJ8mB5zuZjQJsthRyASQ_Jmqe16-kqDH8TkM9C9TG-vSYQFZ527Yi-Tc_UWRHyGeBUCRy_wyb7Wg-g0fnabvQXIp5XsHlzHa7nbol4smjn_SNX4EfdHJVQ6R5x4QO8uU3IYTkbISs5gf3KEvmlQZA-68Kwv_o0fs6gqC-XpICTU-8V5hvyzfe3h3w==",
  "id": "rs_038e0ee62d6e9d7b016ab49ec3461887d096ade2ec911b5abc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.115,\"left_z\":0.035,\"left_gripper\":0.7},\"note\":\"The bowl shifted forward but is not yet held. I’ll reopen over its new rim position, then keep the close command active during the next test lift.\"}",
  "call_id": "call_OCjJfIY70P1ruHVr9Khb3YVG",
  "id": "fc_038e0ee62d6e9d7b016ab49ec6d2a087d08e1068681e36a142",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OCjJfIY70P1ruHVr9Khb3YVG",
  "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]: [-0.3721, 1.6264, 0.8768, -0.0383, -0.284, -0.3405, 0.6954, -0.02, 0.844, 0.6075, -0.4751, -0.0132, -0.0204, 0.9971]\nstate[eef_state]: left_x=0.4143 left_y=-0.1047 left_z=0.0828 left_yaw=0.0345 left_pitch=-0.1767 left_roll=-0.0307 left_gripper=0.6954 right_x=0.2838 right_y=0.0002 right_z=0.1492 right_yaw=0.0027 right_pitch=-0.1396 right_roll=0.0043 right_gripper=0.9971\nstate[joint_eff]: [-0.3214, -6.5846, 7.1453, 1.5507, -0.2027, -0.0806, -0.149, -0.0615, -1.4564, 7.0085, 1.5946, -0.0073, -0.0317, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b5e047e69ffc7b7b767e505246a532938e0bb0060f4e0559818d4ffe8834ca2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69622c55d097094c327b10529c50102d37eb9d27bb2cd53393774680e482a2fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6071bbef5c1a387155fb69c6018170e502ec588ec247a448c46747d9a5d2e0fb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /responses · status 200 · 5.39 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 57 changed as sent

message 65 changed as sent

message 69 changed as sent

message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3721, 1.7725, 0.7628, 0.26, -0.2855, -0.3374, 0.0986, -0.02, 0.844, 0.6106, -0.4747, -0.0132, -0.0204, 0.9971]\nstate[eef_state]: left_x=0.4195 left_y=-0.1065 left_z=0.032 left_yaw=0.0317 left_pitch=-0.1412 left_roll=-0.0427 left_gripper=0.0986 right_x=0.2844 right_y=0.0002 right_z=0.1507 right_yaw=0.0027 right_pitch=-0.1361 right_roll=0.0042 right_gripper=0.9971\nstate[joint_eff]: [0.1026, -8.1026, 6.5573, 1.37, -0.2369, 0.1929, 0.3297, -0.1162, -1.306, 7.1453, 1.6288, -0.0415, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3725, 1.6058, 0.8921, -0.0677, -0.2848, -0.3405, 0.098, -0.02, 0.844, 0.6083, -0.4747, -0.0128, -0.02, 0.9971]\nstate[eef_state]: left_x=0.4142 left_y=-0.1047 left_z=0.0922 left_yaw=0.0343 left_pitch=-0.1705 left_roll=-0.0328 left_gripper=0.098 right_x=0.284 right_y=0.0002 right_z=0.1496 right_yaw=0.0021 right_pitch=-0.1384 right_roll=0.0043 right_gripper=0.9971\nstate[joint_eff]: [-0.3624, -8.335, 7.9111, 1.5556, -0.2027, -0.0366, -0.0757, -0.1026, -1.306, 7.1453, 1.6386, -0.0269, -0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3721, 1.6264, 0.8768, -0.0383, -0.284, -0.3405, 0.6954, -0.02, 0.844, 0.6075, -0.4751, -0.0132, -0.0204, 0.9971]\nstate[eef_state]: left_x=0.4143 left_y=-0.1047 left_z=0.0828 left_yaw=0.0345 left_pitch=-0.1767 left_roll=-0.0307 left_gripper=0.6954 right_x=0.2838 right_y=0.0002 right_z=0.1492 right_yaw=0.0027 right_pitch=-0.1396 right_roll=0.0043 right_gripper=0.9971\nstate[joint_eff]: [-0.3214, -6.5846, 7.1453, 1.5507, -0.2027, -0.0806, -0.149, -0.0615, -1.4564, 7.0085, 1.5946, -0.0073, -0.0317, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b5e047e69ffc7b7b767e505246a532938e0bb0060f4e0559818d4ffe8834ca2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69622c55d097094c327b10529c50102d37eb9d27bb2cd53393774680e482a2fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6071bbef5c1a387155fb69c6018170e502ec588ec247a448c46747d9a5d2e0fb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJ7L8EqOa5m8l-WWwvJ1EP4KOTiscT2hlya4uotFX_AFTayKESC-uWod0tq2SnSddWtIRdxFAvX1mjGy8HtALKs4g66ofL7TAsLUlzmIYC9hCU8Kx1NVSIceOHBLhuWqtzFSpuzdig_SltYfKF0eGBCy67RXkuYz5kwnWYYuPc-9aG3lZcjyExbNSr5g2SjiJSuU22UsWaIbRvbLijqszkQ5n7GAnfco7S9LpWZ0G9DXNbFmJOC3EVwwjKYCqeVy65q2JPcngsQwxonCo9YmjgR2x9eJXlZKyrdtK3YV78bU8prNn7LJAWJoH_nzj9hF5gJwFScTs_QNx9Akb5lwchGk0Roj46j4QY9PzTTnsNpCA1XVCYixj2xXE5ezPsQyx44QYxIfj16q5Mat_3QBwxDg4_KUdjDBTyKyVGPrsFdv4t-D-I59KB70_JuigWAD0OQC485roa4kBezhbsDkV4-k6arQqDHMbjQN2RUj2IP23wPAbZCVJAMCCKg2tvFsXLrL5650LgSuto2sDxQTppVf8n4sjJRxXXz9XjvjFCEc5RY1GszYW0RMteV1xLC_NFoBODxzkf2F-fXHKb152RK5zQXG7GfS5QfRhG672Ij0ZILvUKnsoIXEfiilLP1f-ONL735Dk1SIxHcemgLgDeLVNVTbHOb1Cf6R1StLUrjR5OnF9Ql9MIsTiODnojI93swj4N1xfbuPLGe99ocUK0Gtf6-TCgYJn0g7GWJO5atAXQZQgdGcUyS0Zmo2uVtPonQvLWHwksQfla0U9rVJnuj9BBw6HiqF0-V5ZFbS55v_i4nGP4eA0RgAN8gp_2nGkae4czSVkSEiMHEZR1_ErL4Ia8PEDj1-rXyZLclUWDrcWkO0938yLtcTXUj7kUUVkHZMtksZ4jfyfFAgfwssnMyUx7qglZghc6bJfRe5b-g4KSa4wa37d6IijET6QS1Mm0utj_xo8v9vbnRDGtbNZbDnFGXhkXr4142poGWQbEpqWY7FR-D8BLG6LWOZ1uMBjIMWF5p-YJywjnHhllid4hDaB028t3MN0u3-D-jRs0PRtRJ3L5LbjlH2ETH-PXLWkyi9U1LXej2ScRDwWOJDa41R0OuXursJSPTpk2K9UGevquWyK9I6I1pNJTTqkvyjoui5gC_cxaq4fiUWfcgQKBVIcDd-Yc0aItK4AuQM4MCsmbajQT1r7GbdopklcAOVHOS_AYd7_GEGCE7U9XalovQ9BDBG08sMl3qrsVi4VJZSbXjmU98BktK0wF5ny4prWHbmMgHlDs8kVy7v6c7wQ9zaoYa-hwJ06kfOYwLpgI0l1VOVbyFTnbpHBCvQCm9clhXgLTEIQ19IKOtLs95NT7_YpGIg1mLhmBMx21bPhojeoq_JVn9OZbW5m-q3kIjeoppZFcteQHAci9azmcZG7mAefn43nzFsGLB58NDKM4MDf2s=",
  "id": "rs_038e0ee62d6e9d7b016ab49ec9db9087d0aaeba810cc4ce5f4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.11,\"left_z\":0.04,\"left_gripper\":0.7},\"note\":\"The jaws opened, but the downward motion was limited and the fingertips remain above the rim. I’ll make a smaller, straight approach to the bowl wall.\"}",
  "call_id": "call_Ve8ugKTJzKBqbZ5tzpGeIcLy",
  "id": "fc_038e0ee62d6e9d7b016ab49eca6cd487d0a28de6acaa344814",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Ve8ugKTJzKBqbZ5tzpGeIcLy",
  "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]: [-0.3725, 1.6264, 0.8768, -0.0406, -0.2844, -0.3408, 0.6998, -0.02, 0.844, 0.6075, -0.4751, -0.0128, -0.0204, 0.9971]\nstate[eef_state]: left_x=0.4139 left_y=-0.1047 left_z=0.0825 left_yaw=0.0348 left_pitch=-0.1787 left_roll=-0.0299 left_gripper=0.6998 right_x=0.2838 right_y=0.0002 right_z=0.1492 right_yaw=0.0023 right_pitch=-0.1396 right_roll=0.004 right_gripper=0.9971\nstate[joint_eff]: [-0.2667, -6.6393, 7.1179, 1.5556, -0.1832, -0.0659, -0.0366, -0.1299, -1.4564, 6.9538, 1.5751, -0.0366, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba72beec384a8ed1d1d6f647c7ca6798290354377a52d30f305f3700698d8e54",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f665a0b85de80e93eaf205b261324a8ef33fa3bd6e1a3d3e8693f001426c2d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:344422ec12e98dc4303ca10e9ce53d4f93107a89d7700d6fc4ebc481d34922af",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 4.483 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 61 changed as sent

message 69 changed as sent

message 73 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3725, 1.6272, 0.8719, 0.0006, -0.2848, -0.3408, 0.098, -0.02, 0.844, 0.609, -0.4751, -0.0132, -0.0204, 0.9971]\nstate[eef_state]: left_x=0.419 left_y=-0.1066 left_z=0.0873 left_yaw=0.0329 left_pitch=-0.146 left_roll=-0.0438 left_gripper=0.098 right_x=0.2841 right_y=0.0002 right_z=0.1499 right_yaw=0.0027 right_pitch=-0.138 right_roll=0.0042 right_gripper=0.9971\nstate[joint_eff]: [-0.1573, -9.0051, 8.5949, 1.4823, -0.1832, -0.0171, -0.0708, -0.0752, -1.2513, 7.159, 1.6044, -0.0757, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3721, 1.6264, 0.8768, -0.0383, -0.284, -0.3405, 0.6954, -0.02, 0.844, 0.6075, -0.4751, -0.0132, -0.0204, 0.9971]\nstate[eef_state]: left_x=0.4143 left_y=-0.1047 left_z=0.0828 left_yaw=0.0345 left_pitch=-0.1767 left_roll=-0.0307 left_gripper=0.6954 right_x=0.2838 right_y=0.0002 right_z=0.1492 right_yaw=0.0027 right_pitch=-0.1396 right_roll=0.0043 right_gripper=0.9971\nstate[joint_eff]: [-0.3214, -6.5846, 7.1453, 1.5507, -0.2027, -0.0806, -0.149, -0.0615, -1.4564, 7.0085, 1.5946, -0.0073, -0.0317, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3725, 1.6264, 0.8768, -0.0406, -0.2844, -0.3408, 0.6998, -0.02, 0.844, 0.6075, -0.4751, -0.0128, -0.0204, 0.9971]\nstate[eef_state]: left_x=0.4139 left_y=-0.1047 left_z=0.0825 left_yaw=0.0348 left_pitch=-0.1787 left_roll=-0.0299 left_gripper=0.6998 right_x=0.2838 right_y=0.0002 right_z=0.1492 right_yaw=0.0023 right_pitch=-0.1396 right_roll=0.004 right_gripper=0.9971\nstate[joint_eff]: [-0.2667, -6.6393, 7.1179, 1.5556, -0.1832, -0.0659, -0.0366, -0.1299, -1.4564, 6.9538, 1.5751, -0.0366, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba72beec384a8ed1d1d6f647c7ca6798290354377a52d30f305f3700698d8e54",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f665a0b85de80e93eaf205b261324a8ef33fa3bd6e1a3d3e8693f001426c2d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:344422ec12e98dc4303ca10e9ce53d4f93107a89d7700d6fc4ebc481d34922af",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJ7RIuVQvT3i0ihdRmEsvUPDQplv1Bbl9JdWWtktwxOjauG8z9NKPFXvubx3iQ39F8UCk-4TGoh695cgMtafuGTvc5-KbGuTgXcy_8CWDhnqjlYVIK-0VdWCH_rZYDg8Ca_uJdjqsrj3dTnHkCd6RTPQHdi9OvVxVuu4p-9o70mZ74-LPiFYQ1rDGFXo6HnLpX3OGbvec6xcbFfI6ovGAJTHWB2dPfxv7QWk3CpZeAPsF4wcCY33ACsOxUFS4AcPEvWejPRqhWVsWO-pahWaBx4zHriTbVOV5dn8Mt6oKMgEvvr405aVlucxfTf0EVljBe9SPCUqmE0StQu7UdI-PjMi1lkgv3zucTrdasDUPYihKWjeBIxSZI5JJo_FsBhfdZUEmEIvaxZxZ3z-0S_YY9F8TU9BoujSt5nXAjt-UsKTn8wb4EiTpF-mfLlbDdSBOujDGxB2al5am2JYmGTUdF_aUxeI04FtXvk_noPtvpq_t9IBDKMixE1OXgigoq-mDzZAUEnH7cA33eyRGqnU649sJ0ec_9dUrG0TMZiDTKiRx1mjv1A5GysMsJhxAfDHmHxz1pZtNgz8Pjf97covFJ7nq3S4ojGW6BkJDBkzySI4tSuKTCB0AA-qZlLcwYWJV0eOAyqjObIZCBYtKYTZjWAzgtSbr4kjSj4FQK7ZPLg7qAj7SQwgxAVIjtsUJwWVeebOCQHMwfU-C1GPhNLVfnHUpLCkabJnx4AoKCpHPDsKGxnJw19RJtxvrGKAGUCa-UHKfvg46HLW4CrF_5NWHTjvbK2w8a3NVXze-5OGjXRurvw7jUWRwl6E_dyGaBaS5G8bciPv8VzHeNFVD7S7hJsED1qkiA6BSv5AMPOAPtG6H2A7iuqZivFteF72d4cgURHt6rm3kImnmCo7ReCp1YgmDuc4w-ZlAFHRmIXInez7JvBhjADBYqJkPoG1kecgUcHWeQtUxFEJeMcXhOizv6A3-FCj7Q_Kwsfy9cSZB_YGCVRdPPByLFES1HhG7ZY5wmuWcv8PSCXLXNVNSTEeFh32rFMHEqHa7yM78o7w4t2vzJVgxpRQfCd5DAQqo8D3ADk-TH4v71JcZe1GiNUsy8PebVdikF2CTGIPHd9-6_55oNLfVp8g-YDfuvV7HNBUoyxHCsWyI0YTPKIHwGktpu28SoyLqF_xZa7bBk2gZMi8A_o9nNz3U_qPN9DP6FFxfBbHZkQpv9r4CpqvoxhLzkJ9OPHwuoPGfn5eaUPuwTGnpGQCwXIrx4mCalvFqOzMCcDGjws-MIAyyw1xKy9RlegoZGAaKV1blPCBdi5FQxNQgtYBybjvwIjMZL6SLqKtt0jrrwVDsKKBp3UHW05TgXztI2z5mucLqivEM3ixcDW-d8m1o5CFtUj3ZDFHuOOB6-oIPEZcLiTJi8xCTZpfv4olNcwgZ-M-803-Whk6_gs9HDqmtMSww8oEO_yxUi53RJSFQe_yTAP33LFKwB5awuiLViuQCmXsSpVfPig7IltoFMt0C_eAQIacprxcVWwaUNeGPb6GItp1ubIiuN7vK8YJelZe4JGZzypIRmPG-QwC1_aBdkQx2q6rBYu6gduxBJ6DiUMslsHKrny__xi76Bpi0957disyWoZX1zkZVtu7YHeN-u-E9LYnwIE7E4v_xV9UoIKe6pwUPORrzBgWarWwXb2pdBmtencz4JPjK4rZYDQ-oDDGkpO9KNrqAIFQSh6_dK2igoyBB7tfVn7UcZwc0hAx63zRAFwpNOzhPiO74X89QhcFMKgYacp-FM_Vg6gldb69aOtVvKG9VLv0fZO_Ny_B5D4ttHO60M-IG00lP-KRfumclhwuLO7hXt0rQXA7DhpduKLdiSvBC9gF7al7OGhajA3anGHRLJ8UcGQQWnLL-vB3PO0bTj9wK2LO9ZYhnZwkEttHkhFsB5ZeTkVZnuL3hVR2T2xvQ0yJJv96e_A=",
  "id": "rs_038e0ee62d6e9d7b016ab49ecd4c6887d09f3394bdb09a557a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.11,\"left_z\":0.16,\"left_yaw\":0,\"left_pitch\":0.25,\"left_roll\":0,\"left_gripper\":0.7,\"right_x\":0.294,\"right_y\":0,\"right_z\":0.18,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The left arm has stopped tracking the low approach rather than pressing into the table. I’ll raise and retract it with a slight forward tilt, while restoring the idle arm to its parked pose.\"}",
  "call_id": "call_tNh3WZQrAUAhh6cfpE4MZRKj",
  "id": "fc_038e0ee62d6e9d7b016ab49ecf6f1087d0839481735d23d339",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tNh3WZQrAUAhh6cfpE4MZRKj",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4728, 1.3911, 0.5938, 0.3622, -0.4377, -0.2218, 0.6998, -0.0196, 0.8028, 0.606, -0.4252, -0.0132, -0.0235, 0.9971]\nstate[eef_state]: left_x=0.388 left_y=-0.1104 left_z=0.1416 left_yaw=-0.0034 left_pitch=0.1802 left_roll=0.0005 left_gripper=0.6998 right_x=0.2893 right_y=0.0002 right_z=0.1692 right_yaw=0.0045 right_pitch=-0.0499 right_roll=-0.0002 right_gripper=0.9971\nstate[joint_eff]: [-0.5538, -6.7077, 6.2291, 2.1026, -0.2466, 0.2466, -0.0366, 0.1983, -2.0034, 6.9812, 2.0488, -0.0073, 0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a805c772b7d62dde933a3445467ef54fe0454e65bfbabad0a8a0ce09b444f1a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:811100976f823b7921aa0f1abbdf7428fdb5329137c06c449e5fc9ef4187a952",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:815a85d14cd2e787571a05a01075601decfa762cbe6d1702c81b25b3b4d416f9",
      "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 · 3.634 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 65 changed as sent

message 73 changed as sent

message 77 changed as sent

message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3725, 1.6058, 0.8921, -0.0677, -0.2848, -0.3405, 0.098, -0.02, 0.844, 0.6083, -0.4747, -0.0128, -0.02, 0.9971]\nstate[eef_state]: left_x=0.4142 left_y=-0.1047 left_z=0.0922 left_yaw=0.0343 left_pitch=-0.1705 left_roll=-0.0328 left_gripper=0.098 right_x=0.284 right_y=0.0002 right_z=0.1496 right_yaw=0.0021 right_pitch=-0.1384 right_roll=0.0043 right_gripper=0.9971\nstate[joint_eff]: [-0.3624, -8.335, 7.9111, 1.5556, -0.2027, -0.0366, -0.0757, -0.1026, -1.306, 7.1453, 1.6386, -0.0269, -0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3725, 1.6264, 0.8768, -0.0406, -0.2844, -0.3408, 0.6998, -0.02, 0.844, 0.6075, -0.4751, -0.0128, -0.0204, 0.9971]\nstate[eef_state]: left_x=0.4139 left_y=-0.1047 left_z=0.0825 left_yaw=0.0348 left_pitch=-0.1787 left_roll=-0.0299 left_gripper=0.6998 right_x=0.2838 right_y=0.0002 right_z=0.1492 right_yaw=0.0023 right_pitch=-0.1396 right_roll=0.004 right_gripper=0.9971\nstate[joint_eff]: [-0.2667, -6.6393, 7.1179, 1.5556, -0.1832, -0.0659, -0.0366, -0.1299, -1.4564, 6.9538, 1.5751, -0.0366, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4728, 1.3911, 0.5938, 0.3622, -0.4377, -0.2218, 0.6998, -0.0196, 0.8028, 0.606, -0.4252, -0.0132, -0.0235, 0.9971]\nstate[eef_state]: left_x=0.388 left_y=-0.1104 left_z=0.1416 left_yaw=-0.0034 left_pitch=0.1802 left_roll=0.0005 left_gripper=0.6998 right_x=0.2893 right_y=0.0002 right_z=0.1692 right_yaw=0.0045 right_pitch=-0.0499 right_roll=-0.0002 right_gripper=0.9971\nstate[joint_eff]: [-0.5538, -6.7077, 6.2291, 2.1026, -0.2466, 0.2466, -0.0366, 0.1983, -2.0034, 6.9812, 2.0488, -0.0073, 0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a805c772b7d62dde933a3445467ef54fe0454e65bfbabad0a8a0ce09b444f1a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:811100976f823b7921aa0f1abbdf7428fdb5329137c06c449e5fc9ef4187a952",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:815a85d14cd2e787571a05a01075601decfa762cbe6d1702c81b25b3b4d416f9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJ7W4e8xqkwROe4t0CCyUu3dum-NEQoOxpXiviMbqN5PaNN1qV2FLdVg6iOEwGbceSZ8le-rLqlT0dGDKRMX5Yrqai3WS5vL59JSB2mp9QzPUEfkQhwS5ag8D9qhXbmH4f_dRCujfp3ssKzx7_XWTXNZThasSgHEEyv5nUVb0STCkzLsUy-TivnhS1aZ4MJgL8wmYlFK8m4FFOCyVXm8QCgwU658_-wJg3w8yPS3MbrzOh_GduKZNJZxBfLm-mXnBGO83BgX-HD5ZD5w38juz9HUqExZZIHCkH9qhrmE2f-QGJyFXbeDFRLpDCIIplVtpb3Zr_FyCHSqFs2m5XLItRjjn3_gTQ1ME0X9WZCdWXj1Q-8zMpYJSnzFPn1wH2lzSEMCYSkC82fswNu4gVkcQ0mNdwugu1Abnc3cayo9BFSaKV0pSMMTSlchuh7-f-2LUjTlT62uRob_szsKcD4v6pH544qf7qBEFEhyUzQU15M_UiIOPhKM0fsktd9E66vi3Xawy8JxcvrJWztFAQRO6a9cRG46KSYsLQYnKi-Vq_mHsMBseotHY5O5ozdjmXEF1I8_EMBJJowFQix-OdtGE60VAg54-EzAxp4LDFWOlLoB9qDjHHwCZqFR9dGsfTEEAGnf9NyWqo_vQNaka6owvnCRAxU2vr8letNTFop1jRcgRM3p7sG58Jh46JkWq-gUjOFNCiQC0by9UAKgipaHSMRSW2TztORb78fZmkjgVqNA3zFIQ0NOTO6DUTb5cQwGHkxu9UNhMBVa-2bR2ojGiN-gWG_7jSdDiaWxM2k1pB43Dn0JDcA8YXGjDg-2SrWLMtcN9g7u54xv-moza0n67sD4o0sX6ouo45R7i0EatSWECC2U_Q4h-I6c9BvTB4qjEHnqfL8Plq5h8Ak2I3ZTQPkDRbw5UsyU-zjgGiI8BEtNBNvlOFHapI0tGpAV1D9z8wnWlEpGl1IYBUw4G84LOvh_DHnD686et71ffbF8lXfda7Mn2OTS851pWn4Cz7vgtx4mZi4BSZNBOwrgVB6jvWFM3whppK_xC7koKwrWw67mmuQrFpC5nV1ROSWd7K4zyeJYlrCLEEcT0c2UB-_n8iql-nqTj4NcuMfRRUUzgKTbsSyQdCsl6xc6Rv1A8nmP_TPOZE_Bs9Ji814j5T1MiT9IoexdlN9IKWt_qnIFqhukcX77ObjW6Vx_I3H7Xgoa_Uv2CM5Zy2RWnoruh8G45Z5OHjxom2FGMyrlb-OKrH_zXYLNWIoMO-CoIMBF6XdO-BPhO3xo0CaCZFt_Jv7bY8PWC9nFiiy9Mt7LBwXmwLq4GDhPomxOp03WXPVcL6GC5vwwi9c2KR8eLLdIge_Hz1wv3C2Kv3ppjrGPJja0z1xmJA80N0LTMbvb62MJQ4idEzDA7STN6de32XEbNiHL82r9yEwKpKJqbluVqB3rdgHa86P9FuqlmacdrQSlvrc-1LnE",
  "id": "rs_038e0ee62d6e9d7b016ab49ed4266c87d0857365410161b188",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.115,\"left_z\":0.025,\"left_yaw\":0,\"left_pitch\":0.25,\"left_roll\":0,\"left_gripper\":0.7},\"note\":\"The raised, forward-tilted pose tracks correctly again. I’ll approach the visible left rim while holding that orientation explicitly.\"}",
  "call_id": "call_90uAYvQOXW5kxZZTsOBUA4qK",
  "id": "fc_038e0ee62d6e9d7b016ab49ed546e087d0ba59f25d30f61795",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_90uAYvQOXW5kxZZTsOBUA4qK",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4496, 1.9999, 0.5144, 1.0714, -0.4412, -0.2054, 0.6998, -0.02, 0.8089, 0.6056, -0.4232, -0.0128, -0.0238, 0.9971]\nstate[eef_state]: left_x=0.4136 left_y=-0.1118 left_z=0.0208 left_yaw=0.0156 left_pitch=0.1994 left_roll=0.0076 left_gripper=0.6998 right_x=0.2899 right_y=0.0 right_z=0.1678 right_yaw=0.004 right_pitch=-0.0545 right_roll=-0.0007 right_gripper=0.9971\nstate[joint_eff]: [0.5812, -7.2821, 3.8632, 1.536, 0.0611, 0.1734, -0.0366, -0.0479, -1.7162, 7.0222, 1.6728, -0.0317, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95aaed80b23fb924e65325c5c400a3fcfdf243459335aa70900984dd30d0ebe5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:624b3462eb4edbb0d1f9817a24c2227032944c4221e792d387c5d6bf6a97d725",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:676627b233f6f69bee00f92a4ebda9ea6c4cfb48a103e835c53524b2f6ce70e9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 3.534 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 69 changed as sent

message 77 changed as sent

message 81 changed as sent

message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3721, 1.6264, 0.8768, -0.0383, -0.284, -0.3405, 0.6954, -0.02, 0.844, 0.6075, -0.4751, -0.0132, -0.0204, 0.9971]\nstate[eef_state]: left_x=0.4143 left_y=-0.1047 left_z=0.0828 left_yaw=0.0345 left_pitch=-0.1767 left_roll=-0.0307 left_gripper=0.6954 right_x=0.2838 right_y=0.0002 right_z=0.1492 right_yaw=0.0027 right_pitch=-0.1396 right_roll=0.0043 right_gripper=0.9971\nstate[joint_eff]: [-0.3214, -6.5846, 7.1453, 1.5507, -0.2027, -0.0806, -0.149, -0.0615, -1.4564, 7.0085, 1.5946, -0.0073, -0.0317, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4728, 1.3911, 0.5938, 0.3622, -0.4377, -0.2218, 0.6998, -0.0196, 0.8028, 0.606, -0.4252, -0.0132, -0.0235, 0.9971]\nstate[eef_state]: left_x=0.388 left_y=-0.1104 left_z=0.1416 left_yaw=-0.0034 left_pitch=0.1802 left_roll=0.0005 left_gripper=0.6998 right_x=0.2893 right_y=0.0002 right_z=0.1692 right_yaw=0.0045 right_pitch=-0.0499 right_roll=-0.0002 right_gripper=0.9971\nstate[joint_eff]: [-0.5538, -6.7077, 6.2291, 2.1026, -0.2466, 0.2466, -0.0366, 0.1983, -2.0034, 6.9812, 2.0488, -0.0073, 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 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4496, 1.9999, 0.5144, 1.0714, -0.4412, -0.2054, 0.6998, -0.02, 0.8089, 0.6056, -0.4232, -0.0128, -0.0238, 0.9971]\nstate[eef_state]: left_x=0.4136 left_y=-0.1118 left_z=0.0208 left_yaw=0.0156 left_pitch=0.1994 left_roll=0.0076 left_gripper=0.6998 right_x=0.2899 right_y=0.0 right_z=0.1678 right_yaw=0.004 right_pitch=-0.0545 right_roll=-0.0007 right_gripper=0.9971\nstate[joint_eff]: [0.5812, -7.2821, 3.8632, 1.536, 0.0611, 0.1734, -0.0366, -0.0479, -1.7162, 7.0222, 1.6728, -0.0317, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95aaed80b23fb924e65325c5c400a3fcfdf243459335aa70900984dd30d0ebe5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:624b3462eb4edbb0d1f9817a24c2227032944c4221e792d387c5d6bf6a97d725",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:676627b233f6f69bee00f92a4ebda9ea6c4cfb48a103e835c53524b2f6ce70e9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJ7b9wEy-O-ISt-S35ErbPZqzak208McK8w77Lx8nX2pdUE4t_EVnZQw_RjcAHiLCOYgw5D3gesdTLrQ6d5b_LNntudXJf5PuopXFn7y5U5Ol-uDs9ffv8Or0YGBUFc4K4spR9m8iyE7rjp27YaJtr78HqwVCSHHxrkobDeJq8KgKxib63sZ8_XXJSfgmKuxb3YKQZ7iMrbbNI0BzEo6TYwpQvgbXCXQCoIIVH--R3jVcSD6r6RboJpXDX-WTbROmCfeYFJCjRxr7RTxtrcMlKKOWTdydvPjduTIgPgJJRwfFa7sTGm01Jiu7pnT4xbG8ZYohi0E41g_e7w3rmlvbWccGwHwTnaFN4pYNziaPzhqVbLSuTmzLc1M-lXLj56-stHldis8wn-n6ASgCmp_U-t-4rbo-IDDNkJNXOq07vGoAuxIQ8IXpMuaL0RqtIQsIyydJHONfk_jyDAotO4QnclymUR24b1t_lDOYujCBtjZNYblAGYLBAXNRQRct8gYB7wM80ONwLIHPGmII0SSYe-58HA80dE4ZKDZTJmQfsdQhjAYpnNa89LANb5msCvdWKX0z2lbNSg-eRvhfY0sm1WS8WOyT2umBTRC8q1eU-H0B-bMO3wZtic5U1ZSW9v9mwsWIky4Icb_cuwfg54NCOuM5Bg0WlmlpjwiN9M8xCwbnkTUcLc3prjAtCj3S7CPHTUKzIQDCBd7lGgZwAhNroKi6qzEwuD1c8G-JkrI1OAumi1q86pP9RZn0H0W__CWH-rHWrPci3cJOG3gUYOGMR3w1yqvZRRM2c0MeXG2Ulj2kdEARk4oMpx-EUb99CbN8mL-YYwfLtKgCjYq5_-n7wwulOL484st8FUN6ISgfV5L3SBwdQdMvq7dYx0yrXPLxck2PVT3wwA2lnP6nkcjiqHXD0mXDygvc45bAxwNXdJ9jn1Nyxe-D_zobYdpaUrQiYVSnN9gvSyYdgS1ZLKVnFnWtIx40wZc79jQExqsaA5mFd6Ksx-phD8JAzISdOJicbNA8_uQRI3wN_kxp2dxO72VJXqyF631UlUXfUPojXboS6ZV5-IGbzYc3VV0Hyl0jQ8tSc_NGLpC1LODK5Ggf999Dwg4GIJsDQJuw1DgRIoSOEao9lyuju1yQE3qLomczvQd5v_A_M1qlwh2VU0dxni9BBZQm6Rvld5EtE4Ybx_ujrOZXZ2EEAlFHyaMNNf3Hhc47vFRqrHqRQpkXqtPMP2leCAzxtQZ8ooIYD9Ff6ZGGlDj0YqyDywTon7cQn3foN7kYgoM1c-q7CD3k8N2H9ITfB66smCAbcoyDQDOUmKDGUv3IWVpNd-ynsIu8CfNZ9oVoS1MmHhv3HOku-LWOPnuq33EnXCpxc9ppufP7-2fSdQ=",
  "id": "rs_038e0ee62d6e9d7b016ab49ed8f79887d0bae54467019bdcdb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"left_pitch\":0.25,\"left_roll\":0,\"left_yaw\":0},\"note\":\"One fingertip is outside the bowl and the other is inside at the same wall. I’ll close on that wall while preserving the forward tilt.\"}",
  "call_id": "call_INVmDkX048qExC4hB7M1JvO6",
  "id": "fc_038e0ee62d6e9d7b016ab49ed9a7ac87d0ac54df2a26d3c845",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_INVmDkX048qExC4hB7M1JvO6",
  "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]: [-0.4469, 2.03, 0.5064, 1.2701, -0.4313, -0.2073, 0.0364, -0.02, 0.8108, 0.6052, -0.4316, -0.0128, -0.0238, 0.9971]\nstate[eef_state]: left_x=0.423 left_y=-0.1168 left_z=0.0492 left_yaw=0.031 left_pitch=0.3411 left_roll=-0.0729 left_gripper=0.0364 right_x=0.2887 right_y=0.0001 right_z=0.1654 right_yaw=0.004 right_pitch=-0.0652 right_roll=-0.0004 right_gripper=0.9971\nstate[joint_eff]: [-0.0889, -5.7778, 2.3726, 1.1013, -0.0073, 0.0708, 0.8132, -0.0342, -0.9094, 7.1726, 1.7363, -0.0269, -0.022, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3b677a3fc464a1ef569128c9b4f678fd4868027d2281f5cdbe3d5e53874d465",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9a6ab65a738a0a8cff8d01f8bfda3087b4b128b875f6b2c4a4a87bc4ffa1d1c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d56dceda6ce780aa1684143deeecddb5a5e096ef7cb28dc405f2ada5a0815e8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 22 attempt 0 · /responses · status 200 · 7.383 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 73 changed as sent

message 81 changed as sent

message 85 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3725, 1.6264, 0.8768, -0.0406, -0.2844, -0.3408, 0.6998, -0.02, 0.844, 0.6075, -0.4751, -0.0128, -0.0204, 0.9971]\nstate[eef_state]: left_x=0.4139 left_y=-0.1047 left_z=0.0825 left_yaw=0.0348 left_pitch=-0.1787 left_roll=-0.0299 left_gripper=0.6998 right_x=0.2838 right_y=0.0002 right_z=0.1492 right_yaw=0.0023 right_pitch=-0.1396 right_roll=0.004 right_gripper=0.9971\nstate[joint_eff]: [-0.2667, -6.6393, 7.1179, 1.5556, -0.1832, -0.0659, -0.0366, -0.1299, -1.4564, 6.9538, 1.5751, -0.0366, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4496, 1.9999, 0.5144, 1.0714, -0.4412, -0.2054, 0.6998, -0.02, 0.8089, 0.6056, -0.4232, -0.0128, -0.0238, 0.9971]\nstate[eef_state]: left_x=0.4136 left_y=-0.1118 left_z=0.0208 left_yaw=0.0156 left_pitch=0.1994 left_roll=0.0076 left_gripper=0.6998 right_x=0.2899 right_y=0.0 right_z=0.1678 right_yaw=0.004 right_pitch=-0.0545 right_roll=-0.0007 right_gripper=0.9971\nstate[joint_eff]: [0.5812, -7.2821, 3.8632, 1.536, 0.0611, 0.1734, -0.0366, -0.0479, -1.7162, 7.0222, 1.6728, -0.0317, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4469, 2.03, 0.5064, 1.2701, -0.4313, -0.2073, 0.0364, -0.02, 0.8108, 0.6052, -0.4316, -0.0128, -0.0238, 0.9971]\nstate[eef_state]: left_x=0.423 left_y=-0.1168 left_z=0.0492 left_yaw=0.031 left_pitch=0.3411 left_roll=-0.0729 left_gripper=0.0364 right_x=0.2887 right_y=0.0001 right_z=0.1654 right_yaw=0.004 right_pitch=-0.0652 right_roll=-0.0004 right_gripper=0.9971\nstate[joint_eff]: [-0.0889, -5.7778, 2.3726, 1.1013, -0.0073, 0.0708, 0.8132, -0.0342, -0.9094, 7.1726, 1.7363, -0.0269, -0.022, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3b677a3fc464a1ef569128c9b4f678fd4868027d2281f5cdbe3d5e53874d465",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9a6ab65a738a0a8cff8d01f8bfda3087b4b128b875f6b2c4a4a87bc4ffa1d1c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d56dceda6ce780aa1684143deeecddb5a5e096ef7cb28dc405f2ada5a0815e8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJ7fGvHY5d_xhwE9I8COrYdD24j08K1VVSpqyyWFrryxjgilejJ9VkFydBEjbOQJeWyghHzg-kk1Morc6LpBSiY3Zki8XsWyvyl65q8KcKE0Ogvw9euMX6HVNVKyL6jJJhXUUI3g3CNAef-QFnxPoLJtG9EBz8Jz2wrQVekuvhC7E6Jzk05TNjY9XavX96fMxaC-6fuCOoC9YZg_gN8Q2P5MydnwPA5yhwWZZmnMKd9BLxHkvzQ5BIxR-vv2FzOmFtbykf5IGSvTaJPWMDgQDbTAU_6rrpIY3lx3WX5OZobYx8tYn9793hGcwkvXm6Pdcb9hIyhgT4t1sXtDUVoklA_79n4vplVbVdJS6rb2S8HDWzl_rYZGZDt0iGcNkyO3X4AwkXm6Wl1o2ADEfls9AHNTHLZra_tBb4KEotEjP3KWUD5JYz6W9h4OKoadI7mpvFXa-M1g5eBUYjdXX-lCubr6D5T5n8ZFfoy7bjhCStP_tDBK6rxNobUBYW2IK_-pttZARjbZX077SO41P-TQlGGLaN3xMK6o7GTXW_yNSSH-cIrxCmVxMdMQRiwwYIehKZB-_Ul-QcJ2c0IYppSqXi5QnniJ_XwJ2aZiNIp2EW3jb6VvjsR_15uPIhaNOhvRtpRW4uBORZX4u-XVDo3TKQFmVV6gA39DP3-NZnd8qIZ_rFm1CaAYVNYkwMt4gQjjL2GvvdfLJG6_qpknU4JjGVXYHQKYInhaUvvnxcf-N-A5dl4Y14x_p3BBC-D6YoIEr8qzCuZOyxSnQUvT1D2YNjWOcnJV4wQ6TBE53x8BLzAnd7lu_73QgMm5SPzio0TCUMom6W-mRLdusmkhNSy_TnlOv4ppFFGAkd0UsZWKoCQlgM--EvmGuIrYbp6aiwuuhfI_5_MfrM3QfeuX9wV74mKfhH4UZ2oKUgUN_NFsbzuWJ5aw4Y7JYmPO9G7VREUwkwYkAxoYPN0BbJbZHwpX3-jA8KX9FLZHq79DTnW5jxx5mrItCPpYeIl62G1_U6xNgmEvSVs4V2P7VcpGQ879D4znOtm2A3XfJ460nljeAqLKPEnq4A4ws2kbHNxMefEaUyu5_imLVmcpdbTJFwnpa-Km2iPf1E1apHnvTt45dq9Q-E4T8uEsLDtnNwnDW__Wxy3vKQK7-Jji4EWPYGyrCv-ImnUblt8s_k54nTGKfluTAkWF41QvB5IJIGtO0Zlil5Up4cA35hJmih0kNpHj2N5OSt5eTfMqekJ1LORA5_xA4IeBXWykIAyztl8K3XjCcAtYDgjBJJwC8amkDabalz8oH3P20MNZ8192EAYmv_wkwltGHVzsofaaMqOZufrcqmhKgJzWhEPGqJnnd6dj0OLCn-f6_lBnPnwx6N7YrM0WZ_o=",
  "id": "rs_038e0ee62d6e9d7b016ab49edd518087d08f2d8b5fe84d3625",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.423,\"left_y\":-0.117,\"left_z\":0.13,\"left_yaw\":0,\"left_pitch\":0.25,\"left_roll\":0,\"left_gripper\":0},\"note\":\"The rim is visibly pinched and the bowl tilted as the grip tightened. I’ll lift while maintaining the close command to check that it stays attached.\"}",
  "call_id": "call_LK6KaiBxW8s9WAQjk7CsHAio",
  "id": "fc_038e0ee62d6e9d7b016ab49eddd93087d0825920d43209c98f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LK6KaiBxW8s9WAQjk7CsHAio",
  "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]: [-0.4469, 1.6321, 0.59, 0.7174, -0.4286, -0.205, 0.035, -0.02, 0.8146, 0.6048, -0.4412, -0.0128, -0.0238, 0.9971]\nstate[eef_state]: left_x=0.4215 left_y=-0.1166 left_z=0.1208 left_yaw=0.017 left_pitch=0.2772 left_roll=-0.0373 left_gripper=0.035 right_x=0.2874 right_y=0.0001 right_z=0.1624 right_yaw=0.0041 right_pitch=-0.0789 right_roll=-0.0001 right_gripper=0.9971\nstate[joint_eff]: [-0.1299, -7.9932, 8.2393, 1.9951, -0.1197, 0.2222, 1.033, -0.0752, -1.6615, 7.0359, 1.8291, -0.0122, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93453d739ebebb9d4e80c92ea6b1141c512f581cbf026ce5bc758bc3f930c50b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ab9f8b8e0334dc2669f5e4c6e0d125c73c33f0d073cd4d765a957f8117dd1b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a73095467dac2ca522ec95633f8ed2a607cb8732ae43d7e0d1b57fba5de5850",
      "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 · 3.661 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 77 changed as sent

message 85 changed as sent

message 89 changed as sent

message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4728, 1.3911, 0.5938, 0.3622, -0.4377, -0.2218, 0.6998, -0.0196, 0.8028, 0.606, -0.4252, -0.0132, -0.0235, 0.9971]\nstate[eef_state]: left_x=0.388 left_y=-0.1104 left_z=0.1416 left_yaw=-0.0034 left_pitch=0.1802 left_roll=0.0005 left_gripper=0.6998 right_x=0.2893 right_y=0.0002 right_z=0.1692 right_yaw=0.0045 right_pitch=-0.0499 right_roll=-0.0002 right_gripper=0.9971\nstate[joint_eff]: [-0.5538, -6.7077, 6.2291, 2.1026, -0.2466, 0.2466, -0.0366, 0.1983, -2.0034, 6.9812, 2.0488, -0.0073, 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 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4469, 2.03, 0.5064, 1.2701, -0.4313, -0.2073, 0.0364, -0.02, 0.8108, 0.6052, -0.4316, -0.0128, -0.0238, 0.9971]\nstate[eef_state]: left_x=0.423 left_y=-0.1168 left_z=0.0492 left_yaw=0.031 left_pitch=0.3411 left_roll=-0.0729 left_gripper=0.0364 right_x=0.2887 right_y=0.0001 right_z=0.1654 right_yaw=0.004 right_pitch=-0.0652 right_roll=-0.0004 right_gripper=0.9971\nstate[joint_eff]: [-0.0889, -5.7778, 2.3726, 1.1013, -0.0073, 0.0708, 0.8132, -0.0342, -0.9094, 7.1726, 1.7363, -0.0269, -0.022, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4469, 1.6321, 0.59, 0.7174, -0.4286, -0.205, 0.035, -0.02, 0.8146, 0.6048, -0.4412, -0.0128, -0.0238, 0.9971]\nstate[eef_state]: left_x=0.4215 left_y=-0.1166 left_z=0.1208 left_yaw=0.017 left_pitch=0.2772 left_roll=-0.0373 left_gripper=0.035 right_x=0.2874 right_y=0.0001 right_z=0.1624 right_yaw=0.0041 right_pitch=-0.0789 right_roll=-0.0001 right_gripper=0.9971\nstate[joint_eff]: [-0.1299, -7.9932, 8.2393, 1.9951, -0.1197, 0.2222, 1.033, -0.0752, -1.6615, 7.0359, 1.8291, -0.0122, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93453d739ebebb9d4e80c92ea6b1141c512f581cbf026ce5bc758bc3f930c50b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ab9f8b8e0334dc2669f5e4c6e0d125c73c33f0d073cd4d765a957f8117dd1b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a73095467dac2ca522ec95633f8ed2a607cb8732ae43d7e0d1b57fba5de5850",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJ7nx7qqMhFzgqvMLo9n4o3nZs5ZwkHa21mHWDvgX4YKoNbr1UgmcWYHH86KVezcn4kkcfhNXAzQCjzxVy0hgBL60wsk69hk0t1dQiGL_KNC5q7EnhwtnB_FW0bG-qQdevcfQEFIQj9gtfaSJZj2F9soJbXwUuNEafaGeb8SYh8yEdUwTVzAeRvNO_nCzzkinIIYu7kv_J8RLos056rgOn6B5O8bAhDs38Vuc0rFA3RMIZvk3DFygs2-TG5cGcqgkDGlTqCBnUi3uhKdEjHac6wzHak1jFFMBbJfHroDYc-Dy8Bc8CDnf-g8szW4K4WvOgcmobowcXEOLGkFEzPbyKqmF_hfyuMdspB5hnuk2W95uVVFklz7nvWvtmBry4ZFUGwrfOZag_uPMMfEvc0SFA2IfcH5Ac0b4bZfBlpOCjSZeL9Wj8yvDupP56xXKea2EWtxqXG2bUerxBrjXACo0bpM-4YKsMWK9DIRLxSLJboksNryTzwnFg1_BLgxVkZyvVHS-oRbFvWDsp5l0nUO9zJm5ODjdv9UlBIyp3uOkg1LXxcjL84xyj5Ctt0FKxr9_HHXiUSxfLS5RkjRcoyq7HWjg4j9YYC_WSWTDnJFGR_qzTKRaYplxTZaQTHva1cCLx8g_iHdVggGfhXqUQkukAB4uCDTw0zSKsUSg7zC7SZHj4v3NYgWg3UVQoOjO3ASxQO-fTqfOG9D4YzlyONNT34kC7WeqKizT2T-NnggZpnuLv1wBFjhArMufaQV-Kt9GwcfS-kMBnQhuI1-1SUofCWJaph4A_ZZfJFYkB86PPEmpIDfCsSHTYBDjnTmyqgqCkifQGKZ8JwcPTaimgFm1-VGBHLmznjTSMbCJANDYXz0DOFQivxruPNolBRWFoO2YSzYCO1G11DBH3qRUAqG671u5I2niWbIpcKmpsndje9pnGNtdGsN-NW36PK29mr-DpN3A3r61y7wJs2y4P2FMETaHigCb_QfYC9CXT2B17K4cdUuse1dJ5a39X2xlfzUOfjlBZmgXFVjEIFDhR56L9K5YvnxNs23EZnad4hJWxMF-R6d1kl0Ajrseb_bfPeUb2I_QiYikD_HqvR4ZatI4sMd3UembURtSD2ZdzZU3Wi7KwV61lEa0RTAd1gKJSE5byM_3ohP28XFk9HgqHOETVa4YsV8KtdN_c3a9k3-FIFsQaI0opbAMpDdaM5BOcc1oLtyRne7eXFCrwNQx47Xjfb5mGZjg7JB8VZ7EFUsmIpkYQE3B5g2mJmhg7OeM-2Z3ln2obGz2VF-DsXEIkzWpWKrV7PKc2a_P8nUiGcbBTDM9Q6KRNfUne4A-6QKDvWcsC_78drcAKXx4Kk6VV0qdCQvduJfjU3Wedb7nLtrqeZ1K9J2yjs6VYV_4Xm2PbqElh6u4GRBWg2tSBXV81wQynZNLaLxCPfrdSw7VD7zmhNWDZS1v-5FkkR22JdXpMZ3rrtclbvmfX6mqfWrLVLNJCIOgKfywUWw1DCSbjMcM4nSlVLLHG4YXM-r49XQ1AYKKmbKbq3TaoJywZmJSvRwK9n2Ci_oqn5QQxgtuXCHw6o98Zb_-Bq-vScPPil4lk0pjBNbOgLzuF6RaSaxEVp9JWSWCQQcYoBXj2RdWrAmwGtO1ZK29YRQtv7d7SIgjhSkXRg3vVpAbbeJV6jC5bJJQ3g91wCCP3Dp9WF_PLbww8Yp3ErmLzj_VCOYjSZUV4QDi3kRj7Q8IOxSP9wzXQ1odFIXX0l0LXX6uROvngdKNZybxDR9QrRhkV91v307EJRc52oGyOqM3Mb3BASd_gQ71Ef4yBZKkC7pqZ7xGPNskpslSco9AX1GwZ6aGa24ya5kthtC1H20mKKzIoBXraVmR8EgCv1dahunGI3dgbeEO4LgrYV7B9Y7Pj24Bz6oSPIg-0OFSZZq2EEO3HTeoYVLD4GwpIcgzdIB4X_62bCinWv11YbWjVkHm6lfRWnjjOli_3b4jmVqVbw2C8ddchpvyYyvBk11FDUecw3eGPYu8YwlhG4xMThw7K2v6A2940u5hHtCEAiRItmbcWM7mqRcTlk0QJ1dXkTbmH5xv2tWW9b1aY2I78inHXUHY3Q_xq_Ij7p-bwKQz5vbaK4KABNLISf4hEWlV8jJYnvXulsrBx1paErAr8S5601XlzNNhz5Q-3fHGTyMo4M7-QzIG8AvIVrA-1yc8WnsIOL05-BS71vL1tbNehVM67TLeKJsXD-0RazTcNyO1Z2lpKNHQjkj6AO6b0JmagFBqiNyDi6vyFDuabSwKVlHN28BGJPHOV3cClRmS4F_khLhn5gc1S22glALVwtVbVEaabuRJtrkRS_gNugCbb0yv8mVUCgL-vCqvcaj0g2XQqagoZcvnqwL7o-T4HtBVpgU9CBmUg2xkyT4aqtBnOie0YfF-5gdxImo01zjVAXE0CuDxY_uGLy3kvnZnqARFxKVHLbNUDfJWpx1qZpCdB92Zr3kb96vPnRts-h0zUl3m1SeBqskGtAIoUwI6-evKsEyC1ojilO6KINDGQq2WBePe255FAxac74uL_aZMjWo_VtBlOWZm8TXKjribqFctSFclhSZU3b-0_o50_VP4n8ueQvB8uNSm-oL8owUTab27TTL7Oub5-2JZvtHdj3bHaybq-QjYOf9Ui4O6pfDiJAVFso_K6w-5LNzGACUxy2qNtS--eGswVzqW5IYYzLvjS-w-sE9cWfrPd_R4AY=",
  "id": "rs_038e0ee62d6e9d7b016ab49ee14cc087d09d39dfb9b60f53cf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.24,\"left_z\":0.21,\"left_yaw\":0,\"left_pitch\":0.25,\"left_roll\":0,\"left_gripper\":0},\"note\":\"The bowl is now clearly lifted with the gripper. I’ll carry it above the middle bowl, allowing extra height for clearance and arm sag.\"}",
  "call_id": "call_qVDU7iddjLF00kSZmjfo85N1",
  "id": "fc_038e0ee62d6e9d7b016ab49ee6540c87d09926dfd73572206a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qVDU7iddjLF00kSZmjfo85N1",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8928, 1.5261, 0.9188, 0.1013, -0.8047, -0.3985, 0.0343, -0.02, 0.8173, 0.6037, -0.4446, -0.0128, -0.0269, 0.9971]\nstate[eef_state]: left_x=0.3605 left_y=-0.239 left_z=0.192 left_yaw=-0.0335 left_pitch=0.2291 left_roll=0.0093 left_gripper=0.0343 right_x=0.2869 right_y=0.0001 right_z=0.1605 right_yaw=0.0057 right_pitch=-0.0862 right_roll=-0.0023 right_gripper=0.9971\nstate[joint_eff]: [-0.3214, -6.9128, 9.4974, 1.7509, -0.2906, -0.0269, 1.0379, -0.0615, -1.1966, 7.2137, 1.7265, -0.0122, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a2530e34e009a55a2720bbde848c2f5ee1d911eaadbe84c4494054d21155df0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56f995ab7828573353ae8749d7d80a8307c6fcfbe212c50a5fa48c3ff6acc50b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b1f1515f600f47edd1214cd2031c106c8837c46596ea5d442feb041d720bfb9",
      "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 · 4.077 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 81 changed as sent

message 89 changed as sent

message 93 changed as sent

message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4496, 1.9999, 0.5144, 1.0714, -0.4412, -0.2054, 0.6998, -0.02, 0.8089, 0.6056, -0.4232, -0.0128, -0.0238, 0.9971]\nstate[eef_state]: left_x=0.4136 left_y=-0.1118 left_z=0.0208 left_yaw=0.0156 left_pitch=0.1994 left_roll=0.0076 left_gripper=0.6998 right_x=0.2899 right_y=0.0 right_z=0.1678 right_yaw=0.004 right_pitch=-0.0545 right_roll=-0.0007 right_gripper=0.9971\nstate[joint_eff]: [0.5812, -7.2821, 3.8632, 1.536, 0.0611, 0.1734, -0.0366, -0.0479, -1.7162, 7.0222, 1.6728, -0.0317, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4469, 1.6321, 0.59, 0.7174, -0.4286, -0.205, 0.035, -0.02, 0.8146, 0.6048, -0.4412, -0.0128, -0.0238, 0.9971]\nstate[eef_state]: left_x=0.4215 left_y=-0.1166 left_z=0.1208 left_yaw=0.017 left_pitch=0.2772 left_roll=-0.0373 left_gripper=0.035 right_x=0.2874 right_y=0.0001 right_z=0.1624 right_yaw=0.0041 right_pitch=-0.0789 right_roll=-0.0001 right_gripper=0.9971\nstate[joint_eff]: [-0.1299, -7.9932, 8.2393, 1.9951, -0.1197, 0.2222, 1.033, -0.0752, -1.6615, 7.0359, 1.8291, -0.0122, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8928, 1.5261, 0.9188, 0.1013, -0.8047, -0.3985, 0.0343, -0.02, 0.8173, 0.6037, -0.4446, -0.0128, -0.0269, 0.9971]\nstate[eef_state]: left_x=0.3605 left_y=-0.239 left_z=0.192 left_yaw=-0.0335 left_pitch=0.2291 left_roll=0.0093 left_gripper=0.0343 right_x=0.2869 right_y=0.0001 right_z=0.1605 right_yaw=0.0057 right_pitch=-0.0862 right_roll=-0.0023 right_gripper=0.9971\nstate[joint_eff]: [-0.3214, -6.9128, 9.4974, 1.7509, -0.2906, -0.0269, 1.0379, -0.0615, -1.1966, 7.2137, 1.7265, -0.0122, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a2530e34e009a55a2720bbde848c2f5ee1d911eaadbe84c4494054d21155df0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56f995ab7828573353ae8749d7d80a8307c6fcfbe212c50a5fa48c3ff6acc50b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b1f1515f600f47edd1214cd2031c106c8837c46596ea5d442feb041d720bfb9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJ7s6BugQm_Y2_ne62tJzbwL-oRy1Lp3_ZpYS0hChR8h3mVf_1uZQzqOPwmGBF_bYKm10jHgfUKm3Pm3JH0ThtH-hk7xC7S7cJ9bh0BJe0gXoOS-FJa5z-uPHvDbqUtM7A9_L9pjRjERkwA5D5ugvsFPJkFHsBWh1AwJma-YA-7FyV3PuNHzsS3sqmOq2TR4CbuxdmwUbPnOjncI6xIPWUISVdzoco6cxn5MlzifAmZnRm5fXEZ_0y5ZoH283tDiFs1OSQ9294oWiMCNGTk8lDW-5ZgEPriUyR8NVeAwfTI_IIHi2Qg_V8pTfh2JEaqd50YiLzcQs1b1gYddu2wp4gWla2o-lbO1kdysg7g3tiMyATeSelziui9_nRU0qAi1aFMyK17uEUd3SEa4_Oy3DhuP2SADolXUAhYHloRggegnw7XpmU388_85XbTrvoeQhFYjwp0_saVkjavfEqa81WZN_9jWf4KYXYfUcj1qKUF_aqGkLHzTwrV1ONks8bOYItSr1RuKaZ7GpzFnrhOiAX7DiyF4h9Wk_8HMy-cBsVE7fSODla8IKVcxHdIbi0naGvVU4qOMixxKTEE2mArTD6ZgczrF4nbArSXA38DEgOaSxwVchwn6hIGamCg4qblygjKaBPVmC8imBer2lqM-N8plHvnySlDFbbG5QX4f2XwpxMfjO0YKuF6udIs-TcFnO3BwtWyvCu-iIX65unnxquOUmmKiTa1bXLeLsO_AnxTh5mMAP73th4esQB7E4Q7JpyJ6RrkIUMyc1D1SWN9z3vKT9hrDONzC3yTTbNbzWkBU4_m5ScWIxHN64BJPL1RxUXsjClCl0rOsgiD5bdqTubbl5ifqlbJq0NZ8gKoNEnxB9EKpNFgHasbTEZMSJOI5CVYcApfpTVnpq3ZzturTEvisIVL9f2po1-CujAQUCfIVvJvOu5d-BMuEtpPTW8UosSzYSuwCGX_Xdq5rJONLBk97V8rTLoE-blEm9qrL0lM6w6c-AKwT-0AxzNzzWvzloWeBMJODFq6LaygFJ_qLzT5iuAtnfjOfCcXNfTx0fdncfm6Z-SzYDrcZR6hSkPWd9U3vhgICoLe_BGRqEFUMICMoifmu6nycgnCKNbWhmFkmaP9ISlPBS66fXblMRh7X_JFs6BKJQk9ovNGznllVgwSmBNcJGTvjwLggu44huNeK-RADslg3OzEcajNSG6oxuZX5nwpzsjMYicGb8HG8t_AYRQTvGIDNn8puIbNiWfQeCE3BkSuyKFuvxmuZRskd0iS9yZK-zVfg8lHQvA7sk2VDhOhVKeo8XhhuPlw66utADCB4m3tiQlazg72UfWTgqp3x5oRKIFWf04Kwnhh-rOUo1udT-Rw8O6fXh9ovlu49RoomKSSBxaFSma0aGls4JmlzUJbGPJeXZVhcKrJ1p41MUiQRG0NAQJ8y11Nc9fVGaK68BavkoHXRXcZuNa-_OTDX",
  "id": "rs_038e0ee62d6e9d7b016ab49ee9e73c87d0b1256cfae00fcd52",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.23,\"left_z\":0.085,\"left_yaw\":0,\"left_pitch\":0.25,\"left_roll\":0,\"left_gripper\":0},\"note\":\"The carried bowl is over the middle bowl, slightly to its right. I’ll correct that offset and lower slowly toward the opening.\"}",
  "call_id": "call_Q93mRtRUltQDarY7eq156oR5",
  "id": "fc_038e0ee62d6e9d7b016ab49eeae04887d0aa983e3566eb68ac",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Q93mRtRUltQDarY7eq156oR5",
  "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]: [-0.8482, 1.8145, 0.7326, 0.5365, -0.7933, -0.3824, 0.0342, -0.02, 0.8181, 0.6018, -0.4454, -0.0128, -0.0269, 0.9971]\nstate[eef_state]: left_x=0.3734 left_y=-0.2277 left_z=0.0796 left_yaw=-0.0132 left_pitch=0.1984 left_roll=0.0509 left_gripper=0.0342 right_x=0.2865 right_y=0.0001 right_z=0.1593 right_yaw=0.0057 right_pitch=-0.0896 right_roll=-0.0022 right_gripper=0.9971\nstate[joint_eff]: [0.7726, -7.7744, 4.8205, 1.7998, -0.1685, 0.0855, 1.033, -0.1846, -1.4017, 7.1316, 1.6825, -0.0073, -0.0269, -0.0122]\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:e725bbde0ebe826ebc816e1c04fbbd511fcf427891017713b860d6a13ae6022e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e81e6ff2390d54cd6f8cbabc908a616f3cec698357614c5b4fe9ab78ca0cd848",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37249b2ad98ef3e0d27be6e91eff7a6299b160ce69db6d453fe3ee5784dc4440",
      "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 · 2.308 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 85 changed as sent

message 93 changed as sent

message 97 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4469, 2.03, 0.5064, 1.2701, -0.4313, -0.2073, 0.0364, -0.02, 0.8108, 0.6052, -0.4316, -0.0128, -0.0238, 0.9971]\nstate[eef_state]: left_x=0.423 left_y=-0.1168 left_z=0.0492 left_yaw=0.031 left_pitch=0.3411 left_roll=-0.0729 left_gripper=0.0364 right_x=0.2887 right_y=0.0001 right_z=0.1654 right_yaw=0.004 right_pitch=-0.0652 right_roll=-0.0004 right_gripper=0.9971\nstate[joint_eff]: [-0.0889, -5.7778, 2.3726, 1.1013, -0.0073, 0.0708, 0.8132, -0.0342, -0.9094, 7.1726, 1.7363, -0.0269, -0.022, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8928, 1.5261, 0.9188, 0.1013, -0.8047, -0.3985, 0.0343, -0.02, 0.8173, 0.6037, -0.4446, -0.0128, -0.0269, 0.9971]\nstate[eef_state]: left_x=0.3605 left_y=-0.239 left_z=0.192 left_yaw=-0.0335 left_pitch=0.2291 left_roll=0.0093 left_gripper=0.0343 right_x=0.2869 right_y=0.0001 right_z=0.1605 right_yaw=0.0057 right_pitch=-0.0862 right_roll=-0.0023 right_gripper=0.9971\nstate[joint_eff]: [-0.3214, -6.9128, 9.4974, 1.7509, -0.2906, -0.0269, 1.0379, -0.0615, -1.1966, 7.2137, 1.7265, -0.0122, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8482, 1.8145, 0.7326, 0.5365, -0.7933, -0.3824, 0.0342, -0.02, 0.8181, 0.6018, -0.4454, -0.0128, -0.0269, 0.9971]\nstate[eef_state]: left_x=0.3734 left_y=-0.2277 left_z=0.0796 left_yaw=-0.0132 left_pitch=0.1984 left_roll=0.0509 left_gripper=0.0342 right_x=0.2865 right_y=0.0001 right_z=0.1593 right_yaw=0.0057 right_pitch=-0.0896 right_roll=-0.0022 right_gripper=0.9971\nstate[joint_eff]: [0.7726, -7.7744, 4.8205, 1.7998, -0.1685, 0.0855, 1.033, -0.1846, -1.4017, 7.1316, 1.6825, -0.0073, -0.0269, -0.0122]\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,$blob:e725bbde0ebe826ebc816e1c04fbbd511fcf427891017713b860d6a13ae6022e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e81e6ff2390d54cd6f8cbabc908a616f3cec698357614c5b4fe9ab78ca0cd848",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37249b2ad98ef3e0d27be6e91eff7a6299b160ce69db6d453fe3ee5784dc4440",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJ7wWIQh7S6DnUL1BWbPcKNLGzYp3war2pXwERYu22x-gS6e-20uXWk-h3-8Xym15tpuQ1i8o9g6DD6nsUxfy0EquwhbAsTdpB2elx7U-kvO6Sv2m3NYPKmluR5avbCxbCYufaD7YTT28_Zg1K1-UcxhbbYQd6vgoWLtva8N3xzVaGVD1CQAHdLISuAys_98T61fMPCEDjqrpBQxx803E3TTmMRGuzU8WFvZJND7sAxOKUycNip6BYLYbxtBNRpRqwQ9sHsnT3JxECJsP5HRpHj587c_Xsx_B9dfRQbnMHi8a_Lgll7i43rTrxll9EfydcBRZBclRbEPhU87HKhdp8nZD0-qe4BLOwaXoG1nN35zoZ6xS9z83blcDmXV4OwQZIWCXGxIc1M3Cr2g2nnLOkACPjTkJtUtdihN1MAaSCX8TqW9VIVO7X9GHDfYHTRK8POJD_Qs2IiMFFd2_9ci2zrcnfoITqlSOtR1sDkHEhu9vBbNou_eGtSvWUINxvmbYZNNfhKYFb5MkD4JuTBxE5MgtzVZ33R-QJ6du0aOVP2bjcumlp2iQ7Fe-VKXzUYzIRynX_kFO4avz01uJXHpUwj1qk7-E7f1dbMVtQtBAJOaMEQYu-DFr2nqPXLKkt0zPmJRam0E2wn680nDpZ0PYe6zSDZ7IA_5WJdYTfK5XmBmTVxR6gMXnY-X0KMCcwniTf3Eh-loIrNwAYjqSwYEFcg6QZgdm9UrBwJOX4QFofz3p1FhUooWDpZfUAO1U3j6yAATBFeW2cHYRcbHVSlb1dvp0r-ivXeE2gK6KD8dxz9nhHhJLWVygPkSRbcw0-u9UfrVXJDu30qI1is6kcaeS6I-gVQ4mdU04w64mslHUOAn9Jo4Pu2vKy-AYz5FHCu2FL8zQeTJifIheo3W54Hy1bKjutGOWLUpId5MBLOjtnm5V8FG_o2Ce-IoHzFyU6WMmIYoY38ry6Cbllq5DZrjZ7-HgaQiG0iXDGxYqVRhG4CCzlrXX7iTpXG8iQqiFkTONvop4L2nsYggf3NcqGnrJ3nO0lxzk5YxnjxWR2kNwQoJxe-J0ckncaxmdO2atLjDcRfMcJSBP8vyb_8mZhL2Kc6TpFCFzcJRJvd0JXnrh-nNDernJtlVpveHK90dBFqh_coAM91BfkF5keD2bjR6nIpLDceqBIDAoniwDoCybhRHTkOW6yIfuHinld9Wo-WHMTFU38rp-nsZKBsFLhMcwWcBEAcLgfBEjiNgM9OUZydBODf7hNVSEV2Y82McHjOUVILrLZsLAdxhS8ml_lYK4lU0A9DRn0GTzLVowi2gyPvVdOGCH42H0ac1UPug_I7J0eqLexIJAEaTp1GAg7po9LNiEydbWNxa7U2DuLBE_Bp8je1dsKJ0lqps8PrALzqP7x-ss0JkQumfwzG5a45AXztApJejKpNFBCJKONxK1Wfn5TRtqeu46f7Nq2gUz5_OnDvOlEhmiHINLy7RMvnm681ygloIYT-1miJDVCDA7u7dgwl0mHHNH4EuPHLszWgPxkRVw9BeT6OvLMA6swdqPpAPS6YzFW5lBzGm4zjMpvwg0xc=",
  "id": "rs_038e0ee62d6e9d7b016ab49eedfa3887d0a72b7d7175566305",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.23,\"left_z\":0.045,\"left_yaw\":0,\"left_pitch\":0.25,\"left_roll\":0,\"left_gripper\":0},\"note\":\"The two bowl openings appear aligned, and the upper bowl is just entering the lower one. I’ll lower a few more centimetres to seat it before releasing.\"}",
  "call_id": "call_BA6RqmV6piArYtAyXkotErAY",
  "id": "fc_038e0ee62d6e9d7b016ab49eef469887d09eadef8c2a29477c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BA6RqmV6piArYtAyXkotErAY",
  "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]: [-0.8425, 1.9606, 0.7074, 0.775, -0.791, -0.3904, 0.0337, -0.02, 0.8192, 0.5999, -0.4454, -0.0132, -0.0269, 0.9971]\nstate[eef_state]: left_x=0.3803 left_y=-0.2323 left_z=0.053 left_yaw=0.0063 left_pitch=0.2424 left_roll=-0.0089 left_gripper=0.0337 right_x=0.2863 right_y=0.0002 right_z=0.1581 right_yaw=0.0061 right_pitch=-0.0927 right_roll=-0.0019 right_gripper=0.9971\nstate[joint_eff]: [0.0752, -7.4188, 3.2205, 0.7253, -0.0757, 0.2515, 1.0037, -0.0752, -1.1556, 7.2957, 1.6532, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10230159e83ce4fb00faed47284be6e3d6902f077670acbee0031b3bbf0467b1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de44bc45d4f855a3417d8cf32f22c8a84d2b1bbd63860ed171860f0c0292eb24",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab0ed93c66fccdc3b79a536b31e520e0b3aa6bf9e28325a69c6a2bcb20db4a79",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 26 attempt 0 · /responses · status 200 · 5.574 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 89 changed as sent

message 97 changed as sent

message 101 changed as sent

message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4469, 1.6321, 0.59, 0.7174, -0.4286, -0.205, 0.035, -0.02, 0.8146, 0.6048, -0.4412, -0.0128, -0.0238, 0.9971]\nstate[eef_state]: left_x=0.4215 left_y=-0.1166 left_z=0.1208 left_yaw=0.017 left_pitch=0.2772 left_roll=-0.0373 left_gripper=0.035 right_x=0.2874 right_y=0.0001 right_z=0.1624 right_yaw=0.0041 right_pitch=-0.0789 right_roll=-0.0001 right_gripper=0.9971\nstate[joint_eff]: [-0.1299, -7.9932, 8.2393, 1.9951, -0.1197, 0.2222, 1.033, -0.0752, -1.6615, 7.0359, 1.8291, -0.0122, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8482, 1.8145, 0.7326, 0.5365, -0.7933, -0.3824, 0.0342, -0.02, 0.8181, 0.6018, -0.4454, -0.0128, -0.0269, 0.9971]\nstate[eef_state]: left_x=0.3734 left_y=-0.2277 left_z=0.0796 left_yaw=-0.0132 left_pitch=0.1984 left_roll=0.0509 left_gripper=0.0342 right_x=0.2865 right_y=0.0001 right_z=0.1593 right_yaw=0.0057 right_pitch=-0.0896 right_roll=-0.0022 right_gripper=0.9971\nstate[joint_eff]: [0.7726, -7.7744, 4.8205, 1.7998, -0.1685, 0.0855, 1.033, -0.1846, -1.4017, 7.1316, 1.6825, -0.0073, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8425, 1.9606, 0.7074, 0.775, -0.791, -0.3904, 0.0337, -0.02, 0.8192, 0.5999, -0.4454, -0.0132, -0.0269, 0.9971]\nstate[eef_state]: left_x=0.3803 left_y=-0.2323 left_z=0.053 left_yaw=0.0063 left_pitch=0.2424 left_roll=-0.0089 left_gripper=0.0337 right_x=0.2863 right_y=0.0002 right_z=0.1581 right_yaw=0.0061 right_pitch=-0.0927 right_roll=-0.0019 right_gripper=0.9971\nstate[joint_eff]: [0.0752, -7.4188, 3.2205, 0.7253, -0.0757, 0.2515, 1.0037, -0.0752, -1.1556, 7.2957, 1.6532, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10230159e83ce4fb00faed47284be6e3d6902f077670acbee0031b3bbf0467b1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de44bc45d4f855a3417d8cf32f22c8a84d2b1bbd63860ed171860f0c0292eb24",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab0ed93c66fccdc3b79a536b31e520e0b3aa6bf9e28325a69c6a2bcb20db4a79",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"left_gripper\":0.7,\"left_pitch\":0.25,\"left_roll\":0,\"left_yaw\":0},\"note\":\"The descent has stopped slightly above the target, consistent with the bowl resting in the stack. I’ll open the gripper to leave it seated.\"}",
  "call_id": "call_H9eMNbC4390l9SUl53fhp19n",
  "id": "fc_038e0ee62d6e9d7b016ab49ef25efc87d082f6119fbe86cdb5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_H9eMNbC4390l9SUl53fhp19n",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8425, 1.9835, 0.6987, 0.8429, -0.794, -0.3828, 0.6951, -0.02, 0.8204, 0.5999, -0.4454, -0.0128, -0.0273, 0.9971]\nstate[eef_state]: left_x=0.3816 left_y=-0.2332 left_z=0.053 left_yaw=0.0117 left_pitch=0.2673 left_roll=-0.0286 left_gripper=0.6951 right_x=0.2863 right_y=0.0001 right_z=0.1578 right_yaw=0.006 right_pitch=-0.0938 right_roll=-0.0024 right_gripper=0.9971\nstate[joint_eff]: [0.1983, -7.8564, 3.6718, 1.5653, -0.2125, 0.0757, -0.1441, -0.1846, -1.4291, 7.0496, 1.6728, -0.0464, -0.0562, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ba580684dceb90f8d6162b5f7ea0435ab6c25d2e00c7a42b4e30485c62979ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a4e43f6d7150a9b245f5ec347b9310d269aeb0c5bdd72fb2ee16540550622d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58c697f25e6e3b621baa62520ec4e3cfaa3b9cb52984da01d660559b1cc363d2",
      "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 · 8.629 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 93 changed as sent

message 101 changed as sent

message 104 changed as sent

message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8928, 1.5261, 0.9188, 0.1013, -0.8047, -0.3985, 0.0343, -0.02, 0.8173, 0.6037, -0.4446, -0.0128, -0.0269, 0.9971]\nstate[eef_state]: left_x=0.3605 left_y=-0.239 left_z=0.192 left_yaw=-0.0335 left_pitch=0.2291 left_roll=0.0093 left_gripper=0.0343 right_x=0.2869 right_y=0.0001 right_z=0.1605 right_yaw=0.0057 right_pitch=-0.0862 right_roll=-0.0023 right_gripper=0.9971\nstate[joint_eff]: [-0.3214, -6.9128, 9.4974, 1.7509, -0.2906, -0.0269, 1.0379, -0.0615, -1.1966, 7.2137, 1.7265, -0.0122, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8425, 1.9606, 0.7074, 0.775, -0.791, -0.3904, 0.0337, -0.02, 0.8192, 0.5999, -0.4454, -0.0132, -0.0269, 0.9971]\nstate[eef_state]: left_x=0.3803 left_y=-0.2323 left_z=0.053 left_yaw=0.0063 left_pitch=0.2424 left_roll=-0.0089 left_gripper=0.0337 right_x=0.2863 right_y=0.0002 right_z=0.1581 right_yaw=0.0061 right_pitch=-0.0927 right_roll=-0.0019 right_gripper=0.9971\nstate[joint_eff]: [0.0752, -7.4188, 3.2205, 0.7253, -0.0757, 0.2515, 1.0037, -0.0752, -1.1556, 7.2957, 1.6532, -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 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8425, 1.9835, 0.6987, 0.8429, -0.794, -0.3828, 0.6951, -0.02, 0.8204, 0.5999, -0.4454, -0.0128, -0.0273, 0.9971]\nstate[eef_state]: left_x=0.3816 left_y=-0.2332 left_z=0.053 left_yaw=0.0117 left_pitch=0.2673 left_roll=-0.0286 left_gripper=0.6951 right_x=0.2863 right_y=0.0001 right_z=0.1578 right_yaw=0.006 right_pitch=-0.0938 right_roll=-0.0024 right_gripper=0.9971\nstate[joint_eff]: [0.1983, -7.8564, 3.6718, 1.5653, -0.2125, 0.0757, -0.1441, -0.1846, -1.4291, 7.0496, 1.6728, -0.0464, -0.0562, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ba580684dceb90f8d6162b5f7ea0435ab6c25d2e00c7a42b4e30485c62979ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a4e43f6d7150a9b245f5ec347b9310d269aeb0c5bdd72fb2ee16540550622d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58c697f25e6e3b621baa62520ec4e3cfaa3b9cb52984da01d660559b1cc363d2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJ75Xvgo6NxXw72KHhq_ax6EBLH8sJGbTRW2itTxc8XjOAnXsARMcSIC59cjIPcUwXZq_fQwOJl7EYTeZlgAEbY1XyMoasBvitf1c80OA2ZBXJY6-uCCr43Qp63W7mF4aBW4xn_a_djr7s1l5ERBFyMvHq20LU4dmAhWh79wLNpdIeSDzReqg73Uxz08dAZRkgi3WOG-EjsndZs6w5aa9coFyeIKRT9Y90ZLtKvvKaKY4kd8U-nH81ID_3HyfxULaxfoBtIol6gkhuHl9_cnu8zV2oqGJgqEs5LjZ2-xUQjI22GVZfPDbbcwcGuYTDbCcU5gfLszT1Rg1sA-MYKMJ5l-r6gp8-SrklNEyX0XcyGpbcElbnJ24CVa2rx7lNGjEvBylXXRNkREk_-23EJX9RztbGUsEwm4y5Y2CforfNjtRr_vgPd5sVKei7EpubWP57IEyLiWSBhP6JrvYrtuwaVPPp_P8nUrpYIHGf68CbIS5SF2BsrYLnAKrLiWveSaoRbII2osQuDG3rmHb736tNe1xuZ7NmPdkuZwP7tvaL6y7WpM8mWtJ0wOsBu_6_zdS3R6ZF2VKY12D2qnVkAD8RruAotLoSdBo2c-AmyJ1wkRYL22y18F1D7Wf-oF-gQ6Hf4QgHY8-DYN2yoQWxrXy2wyFXu6kCTaec1Gs5-CmzIzwrng5_9wymiKFugwp0OdQlt02eBx75rCRG-OOfddGL-9NLJUtaleptZY-wtPvPrTSxIuiv6A8zT4SCuk179jB9M4ZBXFKjHsdkUZqwG27743Z5ADkg47S1_03kl7BWZib5CfkkUTDT0geBCeFCw8s2ZaVejs0MqZ_9JtUKRZ1NKnwtGMM8Q2oLFEpLzmQCRTdJLhEUJgnTJTC7t-BuMo0zaPdvoDdowK2bLPZ_Y7RFMvSEa5AybMiigEPymwO7qrcnbt-OLehVBnu88vRFHPK4CgFSsCyNG7NOF6ykLgsS8j_3QNrlXwQ74PCH31uUTgTGn2EtNFk0K7ugzn9_iLYX8KlUGzn8T0V2l1ZHEOWpomEC7mUqYWWKUyQJjfI47qa7rjFEQlm30bKFXN3zc4WeFRYjHdKSxQThTNTuTxn3EwNNzCUQIJ5waetDwtqkiyT-i_0sry3b83cXk7KbnV7e4AnljmPMs0Dg3jeHWMqsdbQ1KbyotbesY_zcYrNvnNmydOzW4VhM97dN3Qm-zRUaFev-_djz5sQBGkPa8Rr1O6Vz9rfyj9dHMVzjNbmWrl8i9LL4F24CU2-VtDQzGy6EyP6S-k2uOmmYnM7CwURf27124bDbAkswzhmILDO20_ZvDKuQrcAbJ2kUTDg77U4hFaw56v3PbWPemfn2dXzRLprzR9UwIQUt6GyfeZKKixD3OmP1KH66EuuMwK_qLgtytsZ46W7r7f-0p05ZNIpZCKP7mudcseLbOO2x-tIGOjxTLDY4QorfP7FeLK1L66keYU_di_iBtszt77jQtuzvG1EEXSoRvFHOykzdw_Pg7khNLWB040_syEbsf7GC8mXeAn5Zv06LQiG7GZmZfP7NHuLS53SOhOjMRCzAJkC8cdsobohsjeqZSNHcZY0rLQsARtQsX99OyO0mA95Ad2AfGAHGWu7qNmPpyCN-ZKRcxXtPEWlMOqCLP-mv086gJ9J-JRB89swStcNS3N7vjgki-opydX-iz5Kz-GoEDU0M_JGULWDaltoXVLz9HrQZOB9GRo2JntlnT1yKEKoUTVV_TewC6r0VQu7lx_y0cOrH9iOQBkfg5kgbxN-kcIYgDZfYU_IoeBuwLwOXCoIgjFMVaEpobwR9E7V34XKFG-s9-UjyKW8XgHkNre-N17tcc8kU85IlqfMe_7SmPWzIbUeuYx3uHa_MFDmr_l3_eZf68_HdL3WayDdQkiuhB8_rnuDh5lgT54iEpQqsR5U1LTwtbQnBHfC3vMmxp7arlRmwGxG0_lcXLwjjbvoo5OcBwkm7zsc1X0S_r0N2-9szJ00elUiW3miOFGqc1Gi-F0FTWJ8Zo=",
  "id": "rs_038e0ee62d6e9d7b016ab49ef5dc3087d0b077224f21a93dc0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.294,\"left_y\":0,\"left_z\":0.2,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"right_x\":0.37,\"right_y\":0.145,\"right_z\":0.09,\"right_yaw\":0,\"right_pitch\":0.25,\"right_roll\":0,\"right_gripper\":0.7},\"note\":\"The first two bowls appear nested. I’ll clear the left arm and approach the remaining pink bowl’s right rim with the right gripper.\"}",
  "call_id": "call_xVUsSZOj7r8RgDg5TQlQJeEm",
  "id": "fc_038e0ee62d6e9d7b016ab49ef8474887d08f2a81bcb0c36b9f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xVUsSZOj7r8RgDg5TQlQJeEm",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0582, 0.8124, 0.6437, -0.3969, -0.1078, -0.1074, 0.696, 0.6037, 1.6142, 0.4194, 0.6884, 0.5411, 0.1921, 0.701]\nstate[eef_state]: left_x=0.2984 left_y=0.0052 left_z=0.1902 left_yaw=0.0689 left_pitch=0.01 left_roll=-0.0108 left_gripper=0.696 right_x=0.3551 right_y=0.1387 right_z=0.0626 right_yaw=0.0491 right_pitch=0.1414 right_roll=-0.0681 right_gripper=0.701\nstate[joint_eff]: [0.1983, -1.7846, 9.9761, 1.707, -0.0024, 0.188, 0.0806, 0.4581, -6.2838, 7.4735, 2.1172, 0.3394, 0.1343, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccfa2f1c22f17f983ad4f420d29fa3223bb113aec1cde971653a6358721ed0c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7129f00d143c39748d558651a58322fd088b4187ec555c136c01939db5d5deb9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:caf516094e2fe36f058edba9a34716bf648c8d91d0a73223cf35be58358642c2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 28 attempt 0 · /responses · status 200 · 2.62 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 97 changed as sent

message 104 changed as sent

message 108 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8482, 1.8145, 0.7326, 0.5365, -0.7933, -0.3824, 0.0342, -0.02, 0.8181, 0.6018, -0.4454, -0.0128, -0.0269, 0.9971]\nstate[eef_state]: left_x=0.3734 left_y=-0.2277 left_z=0.0796 left_yaw=-0.0132 left_pitch=0.1984 left_roll=0.0509 left_gripper=0.0342 right_x=0.2865 right_y=0.0001 right_z=0.1593 right_yaw=0.0057 right_pitch=-0.0896 right_roll=-0.0022 right_gripper=0.9971\nstate[joint_eff]: [0.7726, -7.7744, 4.8205, 1.7998, -0.1685, 0.0855, 1.033, -0.1846, -1.4017, 7.1316, 1.6825, -0.0073, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8425, 1.9835, 0.6987, 0.8429, -0.794, -0.3828, 0.6951, -0.02, 0.8204, 0.5999, -0.4454, -0.0128, -0.0273, 0.9971]\nstate[eef_state]: left_x=0.3816 left_y=-0.2332 left_z=0.053 left_yaw=0.0117 left_pitch=0.2673 left_roll=-0.0286 left_gripper=0.6951 right_x=0.2863 right_y=0.0001 right_z=0.1578 right_yaw=0.006 right_pitch=-0.0938 right_roll=-0.0024 right_gripper=0.9971\nstate[joint_eff]: [0.1983, -7.8564, 3.6718, 1.5653, -0.2125, 0.0757, -0.1441, -0.1846, -1.4291, 7.0496, 1.6728, -0.0464, -0.0562, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0582, 0.8124, 0.6437, -0.3969, -0.1078, -0.1074, 0.696, 0.6037, 1.6142, 0.4194, 0.6884, 0.5411, 0.1921, 0.701]\nstate[eef_state]: left_x=0.2984 left_y=0.0052 left_z=0.1902 left_yaw=0.0689 left_pitch=0.01 left_roll=-0.0108 left_gripper=0.696 right_x=0.3551 right_y=0.1387 right_z=0.0626 right_yaw=0.0491 right_pitch=0.1414 right_roll=-0.0681 right_gripper=0.701\nstate[joint_eff]: [0.1983, -1.7846, 9.9761, 1.707, -0.0024, 0.188, 0.0806, 0.4581, -6.2838, 7.4735, 2.1172, 0.3394, 0.1343, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccfa2f1c22f17f983ad4f420d29fa3223bb113aec1cde971653a6358721ed0c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7129f00d143c39748d558651a58322fd088b4187ec555c136c01939db5d5deb9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:caf516094e2fe36f058edba9a34716bf648c8d91d0a73223cf35be58358642c2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJ8E_PiMlP2CAAadUZzLyrmNwCDyp8SyHs0gPCalH4NDqYXv5FBT7QuUxC5CxZSxbKUf0bTiKF4T6HSI_-r1Byes3PyVNvXjD-j1sNSfFvMPZlCG7UfaXJ2s0ykodze-BV7g0pSURKk_LgIKDoTuL-IW5C-cdWO8UJNmQjsoXvGRYbu6QR7nlhw32PhEtiKx2HHlGOtDESAeH5OsYUzupO4fdKeKJElUWXdYuhXBYRr22YCQLVPH7SCXD7hSjJxDfslmQYQiVP9OunI-H7Qx27jyAjtLJFGEYJOWaq6n_qlJ8WMPdlswyqLdB3qNre47tYva2zTr_P2sZ2lt8JqkRAvWCssUmTzj1LDskl3HnHoohm6oI4bLKofvcmskD6I-pDR2rs3d5J_amKgQZAFPjaGgc7BCljYEhtTkXqF0eXTfCS5C7CsS9IJJJ5KK2xP543IPgWMQ79tqXniEzaZaOxBu3nNvam1bbipkxspwYYaIR_IRhE6i118ZBjwexeCAchimsps2Tb5N9O-qbAeRRGlEEo-dbNYpgUdXrop5gLhN64iv-3XmERjY3J2__g_dA44KFHiGf1f1_78CeTxqjeg5hxdho1AkGV9lc8I-V99gF7fBEZ1shRNLRoqG2Q1hpptqx1AF6-0VXWLksw-26nbsl_DbrNLTwmPo9lzla-6kBsVfVmGDlBg-QdY7d53t3gv41Oe2EoCEe53y4QA0tqv1tLtBhs-J62uvoldLyMUb70nwZkwMIp6XYyEl_a4jX0liRZltVpPof6zxrWXsiK2MVU9heMwNvwQgMJx0HeEHOz2KXZ_miQNBDQs9g7MIgS9bd4e7zEUeGj2nwbYj3-jr_20xKbje5oxPB8R_DcM-luvi6lFxr6rxM3SSRybEvTQzxIB4UkDU2Mxdng4X8JJMfVzdW46XG0PC3lLzO-yuQk0xrqHu5R2GLD_OCSILLuytGwv4nkM-nmmJamcW9ucWkmD0Or0am36kD7H13DEa-1t3WgXrHQA4gGncVtFKb0gvCS3XuRsOAeCLN4L0gzFbnVJ4HsiAocpnbqYvYNSrr4G8CwoCgFjq2jUyfsLGRC3xDTjQbUR5u_URg0kOCbxa4GIb6BI6xJFAogMWkvL7i0aE-yl9cb61I8mfcq3SPirjfWn_3InJglLwQ2x8nZaphXy9hfqRVVrKbR0LscRMHcnLzy9qnSHPNB3BMdFejRBO1nCTxp6GAAPQEX-t2Oogpj2liwIeIkwUUauM3QB7tJ2DNZWnCI2dKI9CIjPQXNXe8ikP3DD5eLDygs3y6uuk4p46vgt31JhTeJlTDYLXPWLGElSvaR-3le2uGHEqLViXYL-zRRJpb3g46hvTkAXPq7-C6YN1HmLPlPufw1TDVHDtsSCNXvptHnMmwY2krsrmlQJgx5YoL1l1VMUylQp1xDyNstMgNfAZXAE4ES0wwjR7Sbh2byDXWyEO_vsZn80ipwBjt6kcd7Sa7-lu75rpQxqEGIFgInqojuyWWk9L_apYmf3tgKUgnaNGDB4fmmFCm0qvEEVVWykhGqT9AlU3I4cQB3BKiCab35s3kY_Cjwvg41nS-hacNFJMIhBiviuo47_-15zZIWJYJ0dlQfn2ri4J0MMvnL2kIKBPtSnXTFATipU1wUsQqTGFpOoJAvYSj4hz15xcPvN-zJz2g244kBkKuzpGEO62xBBbTtH0YO03usItJ6VAHKOtoavHGNXRugc5YSQQWjp2-W1q3s7ONATBamjfSPUVLsPEvC7GCHWiEFl7SUhDCJRaQNEDJl575Up9cfqP-Q6cf60YbWmpYGbgOJuIgrWwzDf-aDBSoETcPANymqYN4QJOmuHLbN2ccXL5pARcFfwGq_n1i1iltLwjZZqtaNZf2H9cp-7FAA2WsymH902pW-NJk9A51HOqTruEWHdeo1xyHS2C3j5LJ9zlEDXt6MXdYtMrSGZhd-LTM2xf2kGou1oy4g17E0rVOXQk8NbaN3yysaI1tj4BmDRQ613xnWnPqWAqWEEx6t4476bjQ6iG1FD81jZmOiemhmiZrYTR5BiINxpXI7s9cM8Lw6lSa9omYA1b0knIvx8Zcq0gQfV26cylaZxgTwpBjHPlTZKPngzJqHjjP_DRBJUHZaqUfySo_hP6zLJDuOszcjz09DjlMIrC6zgFDNr-MgcDnF42sRKAOfhavKAAc-WEQp8srKBRVt5eFZavg2bl4pTEsYaaOlWo1tqn-pNFatHf7ii2Ek64hZy2pzTWlgfmQwE6MhzhPQef1LNFsCchf9LXAzh6yJgz95sV2yFGQSs1iHXcLG1Hea0-cEyjJz2IjI2WA6YYfIHXJSUDd1pKsEYJ7FDDV4hZYGkLiJpPznKs_k6pJGVATBOBhrK8sygnG6FM0LO9VlyNFdRxdmMwJt2rE2DPNFO4buqgrDFDT_bYBjEK1ZzSItzPX6mV5EO0Ixks5ZUpaz0MTvh5OsrTOthxPR7RRUoP-1T-jzAy9I1o8nMwtTpneAIQuS5r6vMcCpTgkOiw8kaPLNB2F7pxVC_Zu97vklFOzxiqC-llN7xw6nksOJQSiuASm6ppqv9U00c5MLIKbVnEs2q2B4YpCNP81kCktnUK2HjtwQ9L9KtI_1ZNa-m5bUHsNG10ypqJxG4tVg0KjJl6ITvPoSbEsJSqtqxuWRkze5E7nj1znMCeOFZFgOXOlh1jhd5nuHM1beEi5Lg8JwWkEI4Xzy6jY_Sm9HLJjgUIrZCw5hb9ElAedq___GfrihmPsR0zVp7sOqpTBHZRuXiGLCkbNTmNpTmVeGIiQZccYIi6NLVvlZaKEcl4ehCMMsN9Pzpfd_rFRqBoL6wLRgOy21oiiPagcNgmYMhLVpoVSUYW7Vrcsi4BjF9IYi6GVO3XNdrw5mnNDK0T74mDwFu0reQ3Uu7wlujquViOVR0gyJA-FoF8AYncU6G9MyscfbUCOanJjh0DCiuEDzhJOkonIWzBN1X8XFlxBD1uPmPWC410xRGMpXoUFR0fzNTTpzNF_c-Nz1YtuLUJuyKaFmG_DnEV4onsH98clL1ij88pAinjMvKrEOQKPGzSrRZNdhI43j8_yi52m8QSTp6Dx9PI2Pf1U3HL99XF1TALlqSHw22x6YkjSXmDCSBf5qgItxPn3qmSYbV03jUZtWrydynEJAo_O_aevp7a2_mm8LOCKcmLIafT",
  "id": "rs_038e0ee62d6e9d7b016ab49efce9d487d0aad6ee45576d3d4c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.115,\"right_z\":0.025,\"right_yaw\":0,\"right_pitch\":0.25,\"right_roll\":0,\"right_gripper\":0.7},\"note\":\"The nested pair has settled to the left, and the pink bowl remains separate. I’ll place the right-hand fingers across the pink bowl’s outer wall for a rim grasp.\"}",
  "call_id": "call_QaSVTPAgXTnGhKnV0daLMkzn",
  "id": "fc_038e0ee62d6e9d7b016ab49f02d46487d0b05aae0488d28ca7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QaSVTPAgXTnGhKnV0daLMkzn",
  "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]: [-0.0582, 0.8169, 0.6487, -0.4282, -0.0929, -0.1017, 0.6961, 0.4747, 1.9667, 0.4061, 1.111, 0.4854, 0.1646, 0.7004]\nstate[eef_state]: left_x=0.2952 left_y=0.0028 left_z=0.1846 left_yaw=0.0533 left_pitch=-0.0216 left_roll=-0.0104 left_gripper=0.6961 right_x=0.3814 right_y=0.1074 right_z=0.013 right_yaw=-0.0235 right_pitch=0.1767 right_roll=-0.0422 right_gripper=0.7004\nstate[joint_eff]: [-0.3077, -1.7162, 6.5983, 2.0537, -0.1441, -0.105, -0.0073, -0.1846, -7.5692, 3.8769, 1.1013, -0.0562, -0.2662, 0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58539c5ca82ca5397f8dfe327c9a4a4480684f0add8896692e0f4079b4d7485a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc3f55f51cd8b36df412fb1e270ad84a762e572219adc6d96a4335d91649d9fe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01e2ca98dd1af509cc27b48d83dd10fd65f6e32562a0dbd19030de866d096da0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /responses · status 200 · 3.646 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 101 changed as sent

message 108 changed as sent

message 112 changed as sent

message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8425, 1.9606, 0.7074, 0.775, -0.791, -0.3904, 0.0337, -0.02, 0.8192, 0.5999, -0.4454, -0.0132, -0.0269, 0.9971]\nstate[eef_state]: left_x=0.3803 left_y=-0.2323 left_z=0.053 left_yaw=0.0063 left_pitch=0.2424 left_roll=-0.0089 left_gripper=0.0337 right_x=0.2863 right_y=0.0002 right_z=0.1581 right_yaw=0.0061 right_pitch=-0.0927 right_roll=-0.0019 right_gripper=0.9971\nstate[joint_eff]: [0.0752, -7.4188, 3.2205, 0.7253, -0.0757, 0.2515, 1.0037, -0.0752, -1.1556, 7.2957, 1.6532, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0582, 0.8124, 0.6437, -0.3969, -0.1078, -0.1074, 0.696, 0.6037, 1.6142, 0.4194, 0.6884, 0.5411, 0.1921, 0.701]\nstate[eef_state]: left_x=0.2984 left_y=0.0052 left_z=0.1902 left_yaw=0.0689 left_pitch=0.01 left_roll=-0.0108 left_gripper=0.696 right_x=0.3551 right_y=0.1387 right_z=0.0626 right_yaw=0.0491 right_pitch=0.1414 right_roll=-0.0681 right_gripper=0.701\nstate[joint_eff]: [0.1983, -1.7846, 9.9761, 1.707, -0.0024, 0.188, 0.0806, 0.4581, -6.2838, 7.4735, 2.1172, 0.3394, 0.1343, -0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0582, 0.8169, 0.6487, -0.4282, -0.0929, -0.1017, 0.6961, 0.4747, 1.9667, 0.4061, 1.111, 0.4854, 0.1646, 0.7004]\nstate[eef_state]: left_x=0.2952 left_y=0.0028 left_z=0.1846 left_yaw=0.0533 left_pitch=-0.0216 left_roll=-0.0104 left_gripper=0.6961 right_x=0.3814 right_y=0.1074 right_z=0.013 right_yaw=-0.0235 right_pitch=0.1767 right_roll=-0.0422 right_gripper=0.7004\nstate[joint_eff]: [-0.3077, -1.7162, 6.5983, 2.0537, -0.1441, -0.105, -0.0073, -0.1846, -7.5692, 3.8769, 1.1013, -0.0562, -0.2662, 0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58539c5ca82ca5397f8dfe327c9a4a4480684f0add8896692e0f4079b4d7485a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc3f55f51cd8b36df412fb1e270ad84a762e572219adc6d96a4335d91649d9fe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01e2ca98dd1af509cc27b48d83dd10fd65f6e32562a0dbd19030de866d096da0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJ8HoUcvRVn9Yf_9ZV_xu-PQyStd_QwF8dWECGOZfnBZJS2Famm0Ymevjwwu9Asqo-Ph_VZxIVJYlSdHpxRTvsbkFK_Gw_Y-FtLDchs8dqHJTbRo6-xfTRQZ5gBIX9PW1OCmaw-zQXMRtITSL3g4_rhb5HnAEgxqWtavUlPsBXkgd__Q8OVHShBPaRld3Z0Q-NhtExTkQgoO-KV0wuT-CofreqogDSNZ8G8usyI1JjKjCWWdgOQa6bayOxxVMmP6TdWY0PkBbvvFFv4LeU65jKdloH3oWpJCg6vKyxsUKL5aS_Wsn1n7AeiXztvq0EB4gwck7CcnTKFGlgJpJPOKi6lnRmTC1_3Hm6WUrI_GflI8kjs0g0fikez-5kXk_qoQwkaQrGYe1mfZsuFXa_b-zjBwBddBIjfQpT-JzINgttO1dHlKQkX-eQUkz5jiUpZxgXEiyNBi6DacGf_zRTkUw1c-CeLsx9hA544CKLxK3jv4Yi1onCVEzvFNWn_gKl9rI148_UGSJekTGG4WpXcM6jhjxF_NfHIIs1HarDz-KCcT61ErvJwaTl84F9-UQtiBKPU4cGGWdlDw2pRBeEA_GKA5uOL_8Oc5Qx91nhEyECRIVH8f9xBnbF1GR7m9r3-vyi8jYxktuxa4QyHH853vYmCbmWZ1s0j8FRGi4ClIBDNbcIxk6WSlBBqyU0aEExRZwZ8ZvVrEMsiIBhY3UiKV9qoFXkq-3B5OSUPOACF5b1FR64lBkuBSasvtfbmBysvYkN3bA2aF81MHgTDAFvmOpXCyrfbmqRtTDjPPLCZ-0zR7gY8RuZIDpzwCue5UCSMx1WP-DsUNnZWUBjN6Brb5JLjei5eodvRvKo00qzxHCqdhPTFqAXwY0Nuh7MLVliHc9VkAu4JFXluocS3K9UYfRPclzsP-mAucUyuD9gsaeVvEI6oSx2NDEq2HP4SU1NWS8npcx-etwHLFJ0MyH8YRm97oCT39VYKxaV7ICBIyC6Xz8JatyCu5PWwRXoBU_A_ErphyoJHku8O45ab9NA2veuFWiBGi2HCGdUoPAetahqzZvLW74ymyUs9PZUpp7WNbgHnZHfcgN9fYoYqJ3gNI3JCLqR4Gjw4tuHAo4v3Mgp09cT66n-ItquPCYyOKp4ODGy5nFC_sGtvvBPnSRI2Z8XXxfQjD3u7DEWyKcu8VZWZjPUoUUgx7Go_MYMf55FoaLgRSiXGDna1Q0V4SeFeE7nZqz9Vz7RdJFJ90R_cy6YZOWzus4kjEdZzkgPmzucuKoO9RdbvcsjjmWnEWMnLi6hVYMQ==",
  "id": "rs_038e0ee62d6e9d7b016ab49f05e5c087d09f2078c64cefeb48",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0,\"right_yaw\":0,\"right_pitch\":0.25,\"right_roll\":0},\"note\":\"The right bowl wall is between the fingers. I’ll close on the rim, using the same forward-tilted grip that secured the first bowl.\"}",
  "call_id": "call_3y6G0R1Gil6DumUB17kNjzlu",
  "id": "fc_038e0ee62d6e9d7b016ab49f064e4887d0af49795af32cb6f9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3y6G0R1Gil6DumUB17kNjzlu",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0582, 0.8185, 0.6487, -0.4335, -0.1017, -0.1047, 0.6961, 0.477, 1.9648, 0.4084, 1.2579, 0.4622, 0.1833, 0.0355]\nstate[eef_state]: left_x=0.2945 left_y=0.0044 left_z=0.1832 left_yaw=0.0623 left_pitch=-0.0279 left_roll=-0.0072 left_gripper=0.6961 right_x=0.3927 right_y=0.1183 right_z=0.0448 right_yaw=-0.0297 right_pitch=0.3051 right_roll=0.0585 right_gripper=0.0355\nstate[joint_eff]: [-0.1983, -0.9094, 7.1863, 1.7363, 0.0317, -0.0317, -0.0171, -0.294, -5.4085, 2.5641, 0.6325, 0.3101, -0.2222, 0.8523]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd319fc3dc740eeaa68cc250147f4be1bed2d693e0d73a3492f10acf2d3302b2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d0a104f72063f56e8d2365d24e5c991d98c80568b50c19bd870de8817ce00aa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96789ab06e1945b9a1c1f84aa377dafc0ef656bd5133380d72d26f7949c7705c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /responses · status 200 · 8.842 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 104 changed as sent

message 112 changed as sent

message 116 changed as sent

message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8425, 1.9835, 0.6987, 0.8429, -0.794, -0.3828, 0.6951, -0.02, 0.8204, 0.5999, -0.4454, -0.0128, -0.0273, 0.9971]\nstate[eef_state]: left_x=0.3816 left_y=-0.2332 left_z=0.053 left_yaw=0.0117 left_pitch=0.2673 left_roll=-0.0286 left_gripper=0.6951 right_x=0.2863 right_y=0.0001 right_z=0.1578 right_yaw=0.006 right_pitch=-0.0938 right_roll=-0.0024 right_gripper=0.9971\nstate[joint_eff]: [0.1983, -7.8564, 3.6718, 1.5653, -0.2125, 0.0757, -0.1441, -0.1846, -1.4291, 7.0496, 1.6728, -0.0464, -0.0562, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0582, 0.8169, 0.6487, -0.4282, -0.0929, -0.1017, 0.6961, 0.4747, 1.9667, 0.4061, 1.111, 0.4854, 0.1646, 0.7004]\nstate[eef_state]: left_x=0.2952 left_y=0.0028 left_z=0.1846 left_yaw=0.0533 left_pitch=-0.0216 left_roll=-0.0104 left_gripper=0.6961 right_x=0.3814 right_y=0.1074 right_z=0.013 right_yaw=-0.0235 right_pitch=0.1767 right_roll=-0.0422 right_gripper=0.7004\nstate[joint_eff]: [-0.3077, -1.7162, 6.5983, 2.0537, -0.1441, -0.105, -0.0073, -0.1846, -7.5692, 3.8769, 1.1013, -0.0562, -0.2662, 0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0582, 0.8185, 0.6487, -0.4335, -0.1017, -0.1047, 0.6961, 0.477, 1.9648, 0.4084, 1.2579, 0.4622, 0.1833, 0.0355]\nstate[eef_state]: left_x=0.2945 left_y=0.0044 left_z=0.1832 left_yaw=0.0623 left_pitch=-0.0279 left_roll=-0.0072 left_gripper=0.6961 right_x=0.3927 right_y=0.1183 right_z=0.0448 right_yaw=-0.0297 right_pitch=0.3051 right_roll=0.0585 right_gripper=0.0355\nstate[joint_eff]: [-0.1983, -0.9094, 7.1863, 1.7363, 0.0317, -0.0317, -0.0171, -0.294, -5.4085, 2.5641, 0.6325, 0.3101, -0.2222, 0.8523]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd319fc3dc740eeaa68cc250147f4be1bed2d693e0d73a3492f10acf2d3302b2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d0a104f72063f56e8d2365d24e5c991d98c80568b50c19bd870de8817ce00aa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96789ab06e1945b9a1c1f84aa377dafc0ef656bd5133380d72d26f7949c7705c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJ8LbCZrENvNmEA_g4gKs__ypiYZGNXrV2j4hQuQkTU4OlzW47Yd1orJ8nNXsvnmwZYGXVCI_yjM_4bg_tMMNzIyt6w3cers_FqIE5ukXaTNc4mpFJ9lUYU9Ko4Z7L8CuoLUZeZ6EbnYOplyt8wdk-tQ0Ynx22sfmir-MAxmmt4wlessRnpGQIUbn74OayvqOL1gR-9o1s3LE4rv0fa7KFgqRAW6OLgt6mzAZXddwLc3wqz0mgCzJTBqWTuA8WmNjuofXyp2idYbym0KHeNo_581Xu_hTtcwlTsFLG5VdZDo3E5P34lhyBSJmDJam8O3kI4xsqWNDstQ0BFK6MvuM6kPSqZ2jY-dmt2dtfJan1VJ7PugUmextnatdO7Kf63CcU75WBd1GC4XJZwRELi7w9GOTlj5W8TFl5Q-0EGwO6Hccwwif7O6Wkfn7FmA1k9UPIyg69Zk8-tooKOJ2B6VuLVtP4VZvtKcbFFS971s6Lf-2e2MshBHdeTuAsTG_wdsbfu8DYzjdJO-gxTKpuNcIFH-VTB9nO3l1MvVtkZBA968O-I62028tvwe_mumDGc039CATba04sqxr57da8Rr3Iv-xc30gIrtfvWJ7-o3hxMIEmA2yihj9S3atiMJwiH7poWpyJLeYeAD7SALa-zLxKYP7z6xJjIma8ejqLm6ONQZmnps-AYgGMpfolyPXHhbIlgnxQqqwfvqlY_gzTabv05DTRKHWXrsWEGxCEOp7o1GDdjxlagIlaio7GUpizzSqGuj90VOaexb7gfhMSk8yiGnihKhhjEBw-PB3xZVAbPT0fHR-krYNAIfzpPQr3tCaYw7VYSbI_AcNP_b4ooH264pIjK7HQVRFI3t4t5rqNPVrFENstaiGXGFBgH1mt53nnBUHAX0PJk1IQy8nxGuuCNmqVefEeQv13cjyiVxMpviS6x0CkLmMaJ5ZhmYGY4bRpWxqSwYh2N7WL1iebOoTfVJ7W1il_BhCgoI91UuuJY-TofgR_KY2lD2PbqfMXNChxje2Une60yuAb5h1_aQurVP3CFRw22wQ-kRVaftR2JyuQy8xAxXP1jp7M_To72DJST1YZfakIzoWea6dYrzba3HxjWn2zYmE_Q_zAgP7HrdrYSu58ksQu7OpsbGXGc_7QmxgAEFufZ6tk76lsd9Lr_GmZjVC041RSYn7WwoaqQarFm6fdXzUxtY5ThPKLj_24ntSngQjFcGCtAveMu9WBuT7Bi4qnT6hXhR5qH12_Fy1L66MvaMbxc5NI2icWlR002qGP2KcIkOb-YVSG98qmrE9W0YFwR2bDBiThEmhCbAULQtLoK_rgAVe7LL0WKKRfRsk-SRlcHV9W0f6DPLFsAqksP8gHd3W55FzOheGyjMmqq3z-jAgDPRuA2riBIoziB_odK-wcicw9I4KV4JTivJ0BcUDgfV2qNAK4-NLo8CIzlSskCzRohvW6E3-QEQXt6OnCO5eBmrUEW0_ukEvwPRAIzs3E4m_4-oKYlPR0MRoXEVk3Q-nl0YH9l6RvFM09uS04w-WozdYaJu4SoYa8sI4MjuVnm5PCUZfJQnTiM79UPyMafss6clwUQkFG_jVoHj",
  "id": "rs_038e0ee62d6e9d7b016ab49f09472487d0b68d1ecb6c8b641e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.393,\"right_y\":0.118,\"right_z\":0.13,\"right_yaw\":0,\"right_pitch\":0.25,\"right_roll\":0,\"right_gripper\":0},\"note\":\"The pink bowl has tilted upward with the closing fingers. I’ll test-lift it while keeping the gripper fully commanded closed.\"}",
  "call_id": "call_ljhM5gATrLucVjTcV3MRDxN5",
  "id": "fc_038e0ee62d6e9d7b016ab49f0a657c87d0810edf296c549865",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ljhM5gATrLucVjTcV3MRDxN5",
  "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]: [-0.0582, 0.8223, 0.6487, -0.4335, -0.1028, -0.1047, 0.6961, 0.4759, 1.6859, 0.4923, 0.9195, 0.448, 0.1593, 0.0323]\nstate[eef_state]: left_x=0.2948 left_y=0.0046 left_z=0.1822 left_yaw=0.0633 left_pitch=-0.0316 left_roll=-0.0061 left_gripper=0.6961 right_x=0.4044 right_y=0.1263 right_z=0.1067 right_yaw=-0.0085 right_pitch=0.3252 right_roll=0.05 right_gripper=0.0323\nstate[joint_eff]: [-0.1573, -1.306, 7.1316, 1.7607, -0.0806, -0.0464, -0.0122, -0.4581, -6.8991, 7.3504, 2.0244, 0.2271, 0.0171, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e314a7510fb4e720406a0021d0782f92b28f61b3475730edfe50ab9e9e74d3cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae11abe745913794d16a80efbaba2fc10f2c49b4b694245b5070e20989ccdcae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf8a8dc3e065babcb3879ef20f0e4e35e65a0fdcb923de66808524bea730c921",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /responses · status 200 · 3.948 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 108 changed as sent

message 116 changed as sent

message 120 changed as sent

message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0582, 0.8124, 0.6437, -0.3969, -0.1078, -0.1074, 0.696, 0.6037, 1.6142, 0.4194, 0.6884, 0.5411, 0.1921, 0.701]\nstate[eef_state]: left_x=0.2984 left_y=0.0052 left_z=0.1902 left_yaw=0.0689 left_pitch=0.01 left_roll=-0.0108 left_gripper=0.696 right_x=0.3551 right_y=0.1387 right_z=0.0626 right_yaw=0.0491 right_pitch=0.1414 right_roll=-0.0681 right_gripper=0.701\nstate[joint_eff]: [0.1983, -1.7846, 9.9761, 1.707, -0.0024, 0.188, 0.0806, 0.4581, -6.2838, 7.4735, 2.1172, 0.3394, 0.1343, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0582, 0.8185, 0.6487, -0.4335, -0.1017, -0.1047, 0.6961, 0.477, 1.9648, 0.4084, 1.2579, 0.4622, 0.1833, 0.0355]\nstate[eef_state]: left_x=0.2945 left_y=0.0044 left_z=0.1832 left_yaw=0.0623 left_pitch=-0.0279 left_roll=-0.0072 left_gripper=0.6961 right_x=0.3927 right_y=0.1183 right_z=0.0448 right_yaw=-0.0297 right_pitch=0.3051 right_roll=0.0585 right_gripper=0.0355\nstate[joint_eff]: [-0.1983, -0.9094, 7.1863, 1.7363, 0.0317, -0.0317, -0.0171, -0.294, -5.4085, 2.5641, 0.6325, 0.3101, -0.2222, 0.8523]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0582, 0.8223, 0.6487, -0.4335, -0.1028, -0.1047, 0.6961, 0.4759, 1.6859, 0.4923, 0.9195, 0.448, 0.1593, 0.0323]\nstate[eef_state]: left_x=0.2948 left_y=0.0046 left_z=0.1822 left_yaw=0.0633 left_pitch=-0.0316 left_roll=-0.0061 left_gripper=0.6961 right_x=0.4044 right_y=0.1263 right_z=0.1067 right_yaw=-0.0085 right_pitch=0.3252 right_roll=0.05 right_gripper=0.0323\nstate[joint_eff]: [-0.1573, -1.306, 7.1316, 1.7607, -0.0806, -0.0464, -0.0122, -0.4581, -6.8991, 7.3504, 2.0244, 0.2271, 0.0171, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e314a7510fb4e720406a0021d0782f92b28f61b3475730edfe50ab9e9e74d3cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae11abe745913794d16a80efbaba2fc10f2c49b4b694245b5070e20989ccdcae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf8a8dc3e065babcb3879ef20f0e4e35e65a0fdcb923de66808524bea730c921",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJ8UYg2RwTcqYA86h96j5MslAzoMoUhwbem8pE9bRchd0xD1bLse2YTZ5C3yDtTgBmzFcuGhA4VcBWk2qDUMb5kN2h7X5T3YrcObCZK5sX3345AVmNmzBwN3c24j20eFPY63P6ZRx0S6t41nUwASOkZDj8JhrObHkWhs1KSWcsImodYXDy9gpxVw9nav15aYogsHym3CXdLmoOpY0WqHtzXqMo0t0SwCfl4-c1uidVHCAYFkpi4wBDcnDINPDCDmbM_-6BVbhrDLdyjmJxDh-TgRdwgUGCaCnG8yx-kv-mNf48818UeW47mksyzrpF6pZVAv69IzQtO4YPCSzzvJwChR0v6d3cSPCv9Ee8Zh9v6JPzuwdpVIxSIw6Qz27Kx9zXWvEzrKkVy6aCm5EJ4S3cqjBmDjSdLSNhO-HPDDPfc4BH34l8uQ6Z-4i-nXL2sql7LaoVZeSMJ4cocptKIzv0my1dD6Eh3mruT1qiHiLoAOK0VIbD3QHfCLI0nJrCyWLJh9Od_qOHX5zVFvnvQQwakoWXsj4Istz-3b1z5lMYLLhRSIVmYZW7i820N7burqgK9HWJzs0m4YEbCvVEG1DyFnljIOwDHYC7AbMgRnQFYdilYcOjwcxWfyLX7eN-qfdW1uOSuppE_OtS5c2q5iw-Z-VPVScjHhXj99m8XdbOZbDR8fIAJnCWiQHYAk6y91NKvJ8gxJVOiOt3ekI5OZJTyvUA-bYPTujFhY-Ln2oltsVVkkkaHE_4Z-J1yOgBeDus3CWIbcz55GuRCbvBVD5CNjyink9nAl1Uglg_erlTWXnL_AE8xQloRJ0LsHoqThfjsTTjskwq4BGfsBs_sOtsrmHCTH7EK4Fi_cztrebXgLZV2nlHhrvDCHSyHlWSgc1MZddMqDW6nRHXFx3t9dGAKnW2vCOuOlKTec_PrA_HSY7eaWba92y9ffnSTbzKSUvXN8j-04cJIelZIMUyO4LMJXAteuybx5aN88CqLwE6iAHnLnEEuTerM3TJYzPQS5gXjRu8Cw3XDm8OEf7-hDF_hC5s0y9emy29VPabPRa2Bi-LYhMH8z8AZSh8GnCQbORYB6Ua_Uc9TIW41fyVZRl-YzttgXEURdjVc4kKjyyvlZkaRkPvjb_leh1V2f5ukpTOhgDd8QTogdYqR-BA3GYNurtkOTRujVqml92hWbe7WqIWIv4sVe_JWwb-IJNFAen3mi9FaTwXGgsOgrilwSqDJDpSM-a1BYkxqD3OgJSxEkRDJG6yqVSZ274Ii4lyT9t5qLt6JZXTG7L59Maa9VQo5GYSuR6xKBf4OeumSzxL5d3ecx9XJ-SI_KBHxGV0Z2mGiIhg4eo1Pv2tpmXio6dfz5W28FdK1seDui3itTkDWwubilHyFpBlZ1Hm3YvIF6It4GaYVC47jl7OBmd1tw5TbGCXhIiseA_GsjF7oMuBCuC225v3o-KwuPVd6DdD6Fv7fRB9VNAvMqSN7ceFG8r5Wb0HBFaVouq_MDKul12qu_WTywuAj5GM-8upf54KQEG6tSjrgoOKAUB-FaOopFq88t8_55kFCWVkaeHEX5NLnA3GsjSfDpL6zf4me5d3yeOcFwpiTkyz_kHQMc-VSLXGKrJPaol7duc_ivCPRuHiBdy0pQc3mzwijMzMXqCbn_8zRM2s-P3UXIWDV0lOvvCKtubEwe-GYwI0uGEju7xLY7NuOoJj6cyrrTk1CqO_Q0WBsjInSb6wBdtngSxq0QibwWmcIP4IDWWCCmsweKs4Rulci0LZ-VPaeRlXuyiOp0ksvVUS5cUt0W85o-zHgivLhDH-fbJGRChm_xcWUg4p-c3P_dzpJ4vJHEe6E0PbCJMqJGLSeLAL_GAtywYAbeF6JcYqfkEhX1cl9lCpChUNU1IGcgGXnZ2QCq3eeIao6oAJ0kCJdD5bUl4nuqaiUkOLeRudDGVU72vm4Sc3eWw9Rv6oKbMiiMPnSVQDAT5YXFOOd0sb7OU43S577L1iDsiJqx-NWEywzmDygsmdnloc1NFkETZI6TM7IiNfr_TqA-sd28xS2P_Yigu7GVNHuMTOyJmagxeaz_AKx-NbTawrB8tJjvgAPAMng3rfoYORBEta7soX6qeWWPfq0NSn3X6xm_2NjiTkV-yz--xzsdj376eSpZ2oSPcJjgM8N3EpkpkAqEgY_j-FigEwK3zg75L2ZN95It-sAgEzBgIjgoVwJcxzYcK_YQWhKogyhdOIHGooJ8yJnBa0XHiWEo0xT13Xrae2F0fv6htup_eMNCdLeSG6e44O5n_j2zjWiDNkVKKkWZVRzUiIiX5hs3eqLOZy8P1W_q-ISv6hOepjkkbHMt4lFGIzM9bgzDJfzfG7HUDGv3w9XJRY0jOIWKWLDA2kwAqNf_8Gsq1fqDDAii5SGQCKiLxvh7uwBxbk88eIGMhZMygYebFoWoQ8bG347XDifbrptmgxvEYidn-GnnwPPLt_zfXO-AVhKYvY6FBp1u1f6K4vr-W5hBiRxi5J3YTVE5wNlPsTXkdm-3nqNZUDCQRnf7PwNEDBaaHtXZu0j-o9Da1BL_tJCR2qhNnuI6vtBc18FkZdM6hWIEKwYPmaqbYILkbSkFuYEV-tKNVxgraifO64svhCfZA2x02n3jTdDp7jc_yJnEdxPPUVMwmDvz2P1dnYf0h5b19PXxk5_7czvnWxrbu2wJ-HW6vP_qWmyhGG6c2zzEkwOshchXBVpAml5wtK0nXUrp6z_lcywVnHH9wf2cjVZN9wIXarsMjiCd4WpK82w4TAOdakCXKTldFRQ4jlAELRWilrawQATVmYlxklsNmDCm6-vZ7GPAXdimMyr5DW6oLSy-HqEZygmGVCkrmtpFmDPbZpjD2bI9JyOI2bvD3mVZauTndKYo8dtAOaL1YeJGS7npdl_QQ4UhjghbMGRmfBP3E62kQv19Zrq4b1HGspe5htTR2_pqoek3XDQkwZ7s5g3s5g0J3l3o04yq0H6SSGjNlbWZCEtJUfVN7ZUyMT8vQZ222nW-iCeJvXR1YNhrX-7XpOtl2odjZkq83w2n-ZOuZw724GYLrXtU3Q6HOvq5PLCUR49_7tIOse56zIZM272f9KrlgOghx0dCXCJ-8qlzsIRkCd64cKijrwJ37I4HN-itZfOCYwD0O5SM6BD2gXKTyu-pVIACUzk=",
  "id": "rs_038e0ee62d6e9d7b016ab49f0d67c087d09822cc6526441c22",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.4,\"right_z\":0.22,\"right_yaw\":0,\"right_pitch\":0.25,\"right_roll\":0,\"right_gripper\":0},\"note\":\"The pink bowl is securely lifted. I’ll carry it leftward above the nested pair, keeping the idle arm clear and the bowl well above the table.\"}",
  "call_id": "call_VU2zT0NxJy1kmf0VZFybD3Gc",
  "id": "fc_038e0ee62d6e9d7b016ab49f139ddc87d09c1aba4486fa402a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VU2zT0NxJy1kmf0VZFybD3Gc",
  "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]: [-0.0582, 0.8249, 0.6487, -0.4408, -0.1024, -0.1047, 0.6961, 1.1301, 2.0125, 1.6024, -0.2813, 0.9997, 0.548, 0.0317]\nstate[eef_state]: left_x=0.2939 left_y=0.0046 left_z=0.18 left_yaw=0.063 left_pitch=-0.0414 left_roll=-0.0051 left_gripper=0.6961 right_x=0.3483 right_y=0.3986 right_z=0.2026 right_yaw=0.0528 right_pitch=0.2191 right_roll=-0.0469 right_gripper=0.0317\nstate[joint_eff]: [-0.0205, -1.5658, 6.9949, 1.7998, -0.0122, -0.0659, -0.0122, 0.1573, -11.2615, 8.9641, 1.663, 0.6178, 0.1783, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75b1098dbd6a342a9c183e3a9bc1bcf98342d62c72074b4a04878e24017e875e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:234875795ea3e34aa8c10a39844aaae02ab8734809dfaf5b3418022f4d83eeb2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a446e2c0eb7ef65158d64bb6bf9ea75d803441a9eae99ff21ce506c9f1de0ffc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /responses · status 200 · 3.928 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 112 changed as sent

message 120 changed as sent

message 124 changed as sent

message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0582, 0.8169, 0.6487, -0.4282, -0.0929, -0.1017, 0.6961, 0.4747, 1.9667, 0.4061, 1.111, 0.4854, 0.1646, 0.7004]\nstate[eef_state]: left_x=0.2952 left_y=0.0028 left_z=0.1846 left_yaw=0.0533 left_pitch=-0.0216 left_roll=-0.0104 left_gripper=0.6961 right_x=0.3814 right_y=0.1074 right_z=0.013 right_yaw=-0.0235 right_pitch=0.1767 right_roll=-0.0422 right_gripper=0.7004\nstate[joint_eff]: [-0.3077, -1.7162, 6.5983, 2.0537, -0.1441, -0.105, -0.0073, -0.1846, -7.5692, 3.8769, 1.1013, -0.0562, -0.2662, 0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0582, 0.8223, 0.6487, -0.4335, -0.1028, -0.1047, 0.6961, 0.4759, 1.6859, 0.4923, 0.9195, 0.448, 0.1593, 0.0323]\nstate[eef_state]: left_x=0.2948 left_y=0.0046 left_z=0.1822 left_yaw=0.0633 left_pitch=-0.0316 left_roll=-0.0061 left_gripper=0.6961 right_x=0.4044 right_y=0.1263 right_z=0.1067 right_yaw=-0.0085 right_pitch=0.3252 right_roll=0.05 right_gripper=0.0323\nstate[joint_eff]: [-0.1573, -1.306, 7.1316, 1.7607, -0.0806, -0.0464, -0.0122, -0.4581, -6.8991, 7.3504, 2.0244, 0.2271, 0.0171, 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 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0582, 0.8249, 0.6487, -0.4408, -0.1024, -0.1047, 0.6961, 1.1301, 2.0125, 1.6024, -0.2813, 0.9997, 0.548, 0.0317]\nstate[eef_state]: left_x=0.2939 left_y=0.0046 left_z=0.18 left_yaw=0.063 left_pitch=-0.0414 left_roll=-0.0051 left_gripper=0.6961 right_x=0.3483 right_y=0.3986 right_z=0.2026 right_yaw=0.0528 right_pitch=0.2191 right_roll=-0.0469 right_gripper=0.0317\nstate[joint_eff]: [-0.0205, -1.5658, 6.9949, 1.7998, -0.0122, -0.0659, -0.0122, 0.1573, -11.2615, 8.9641, 1.663, 0.6178, 0.1783, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75b1098dbd6a342a9c183e3a9bc1bcf98342d62c72074b4a04878e24017e875e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:234875795ea3e34aa8c10a39844aaae02ab8734809dfaf5b3418022f4d83eeb2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a446e2c0eb7ef65158d64bb6bf9ea75d803441a9eae99ff21ce506c9f1de0ffc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJ8bZmnPrSo6fB6GhvQNZhGQ0rgpofwYEXJxO27qq1UHrnRVfBYWQZlCeH0Ggu-0qMbeuBcZbqiRLJTTxvtbMcxnra9jCFKxCr_113B8xazh8XHD3TcWgf8noa0dTIEpQTk9JYSYqzhVcPRDRRfgktmXUIsBJGWL2K9TAhjduYyA_eeWZ57-UcmUD2yL-ecCDYnUtKKrWLHXrGu6pE_p5G2wqFTe7StAcf2u6J7WMwf7h8LGzal8tYAd1aBcSSnp4L8vbSDiM5GbpJAtSnebpHdBGFVIy2lzsWZfjrnhSkcdII0f5Bpdg2qL_jPg_gaLQxBiGOehLLvq1GlK-Xc7uEIbTHHKgh6_EivqX85op0EFm-i2MajPiPuNfxsQwjyVyFw15w0gmWnCh_9ICzxWKBoKZMkfzKt-PnngmoZou7RxXxG1wk2TA-Gnyp1IJ7Lx8myJC6ywobtbrF4cRailHqMi5Ghes13zV9CelAPH0KS0LG_9vlET3wsNnVPnNnIX2rMyJS9oyGRulx9UA7KTrUXSVDzz2U7oERCRK4EC04dNbFfOa7SBMd6-3yLmvVmbT54gtpu-eHq-j_2tNoknYIb9WgNiaEHmjuVkLENLElf8yU_reSV71vrSvYbAiTz9PVVOYEfobRpycChnAEr_wkXi7tI712TD2WFujz23UDa_4okjXpQFn1cfX_tIBs85lx9NbK9WHKxYhlZjJbX2YXFkWR9SYGerF5_s52BTKGJdOX0zlU4NkIwIcqfYc7B1bfxhp6vgbIfwLoD1TCWTE1wzQrDwhVLodwq_X71JN6qpK6e-NOMABjV0inNEC955CoJVFYG-gNDH4VCf6jZzOdRgWVcadxakbGgE1k8Fa9oPbMd1h9AGTOdTrpSmN7Dk-FMeXbM3k2NjseJL25kjDbR0iHd9GmBwjLe-j_JNjnZiUYieuXVkEZcsB7v8I4kMrzMza5JohBmTeqt_zBfLrRqawGL-tXGwTizovw5f2a7NTXJUhhPqsR1uNpkeeLon6Yf_hqAERuQB5q-I47Mdnp3GFJtC5FEetrnSKvkO_E9oJ71Fx8lfOHfKK-Gfd1fi7dyKzMepbHMPWxwEyBlBFFtFxotqPl6vQyilptzJG0_xedjNSj3_s-8jHA-bg9qRt9ya4LiXLDHDu0nDn_Z2MRnnXbCMjy7UxqYYaKLecfVa0I4ioAMJcp5xqNHhJhPGLKlxOPlpM657dAIhSRbFtKASxwA4qbLkesf0Xj7fEL3aejmv6P58w0xpZCPcNF-SLnUY3OHFtMcmC4zMVv48CRIteQwQ1WZvLtPwiBfJsT870fPZZhRW9MefCPryaF39-d9oHkIgqGp2i8CmqLj59JMIYIZqX7UECvIbO7Lx0ltvKvqnyMNT8VVGi7al5U2OJp2G2GxPhjSfNZ7LW1pZ4TyObh6E4cJtp6xEbaDK70PqlV4=",
  "id": "rs_038e0ee62d6e9d7b016ab49f18b07887d0b3e7439e30d7e005",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.39,\"right_z\":0.10,\"right_yaw\":0,\"right_pitch\":0.25,\"right_roll\":0,\"right_gripper\":0},\"note\":\"The pink bowl is above the stack, with the gripper partially hiding the lower bowls. I’ll lower to just above their rims and make a small sideways correction.\"}",
  "call_id": "call_idaWsjH3RJrnzSFEXMGgPUJS",
  "id": "fc_038e0ee62d6e9d7b016ab49f19be9487d0a54e81ee8f0fdac6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_idaWsjH3RJrnzSFEXMGgPUJS",
  "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]: [-0.0582, 0.8276, 0.6487, -0.4412, -0.1051, -0.1047, 0.6961, 1.1275, 2.1265, 1.3472, 0.0494, 1.013, 0.5716, 0.0317]\nstate[eef_state]: left_x=0.2941 left_y=0.005 left_z=0.1792 left_yaw=0.0653 left_pitch=-0.0443 left_roll=-0.0032 left_gripper=0.6961 right_x=0.3457 right_y=0.3869 right_z=0.0978 right_yaw=0.0352 right_pitch=0.2097 right_roll=-0.0633 right_gripper=0.0317\nstate[joint_eff]: [-0.0615, -1.6479, 6.9949, 1.6679, -0.0562, -0.0415, -0.0122, -0.2803, -10.3179, 6.4752, 1.5849, 0.5006, -0.0073, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7a44b85a4019747c3de940edd5e412e832737afcceaadd9d02505c2add20bf6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02e26290c64ae5d6c82074ca43afaf085274b396e8065e1cf93a2eaf0167d8b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26cec27efcbabb9aa0751f0ff9e093dad0b25e19226179d7ffbc75d32e19cb12",
      "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 · 3.217 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 116 changed as sent

message 124 changed as sent

message 128 changed as sent

message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0582, 0.8185, 0.6487, -0.4335, -0.1017, -0.1047, 0.6961, 0.477, 1.9648, 0.4084, 1.2579, 0.4622, 0.1833, 0.0355]\nstate[eef_state]: left_x=0.2945 left_y=0.0044 left_z=0.1832 left_yaw=0.0623 left_pitch=-0.0279 left_roll=-0.0072 left_gripper=0.6961 right_x=0.3927 right_y=0.1183 right_z=0.0448 right_yaw=-0.0297 right_pitch=0.3051 right_roll=0.0585 right_gripper=0.0355\nstate[joint_eff]: [-0.1983, -0.9094, 7.1863, 1.7363, 0.0317, -0.0317, -0.0171, -0.294, -5.4085, 2.5641, 0.6325, 0.3101, -0.2222, 0.8523]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0582, 0.8249, 0.6487, -0.4408, -0.1024, -0.1047, 0.6961, 1.1301, 2.0125, 1.6024, -0.2813, 0.9997, 0.548, 0.0317]\nstate[eef_state]: left_x=0.2939 left_y=0.0046 left_z=0.18 left_yaw=0.063 left_pitch=-0.0414 left_roll=-0.0051 left_gripper=0.6961 right_x=0.3483 right_y=0.3986 right_z=0.2026 right_yaw=0.0528 right_pitch=0.2191 right_roll=-0.0469 right_gripper=0.0317\nstate[joint_eff]: [-0.0205, -1.5658, 6.9949, 1.7998, -0.0122, -0.0659, -0.0122, 0.1573, -11.2615, 8.9641, 1.663, 0.6178, 0.1783, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0582, 0.8276, 0.6487, -0.4412, -0.1051, -0.1047, 0.6961, 1.1275, 2.1265, 1.3472, 0.0494, 1.013, 0.5716, 0.0317]\nstate[eef_state]: left_x=0.2941 left_y=0.005 left_z=0.1792 left_yaw=0.0653 left_pitch=-0.0443 left_roll=-0.0032 left_gripper=0.6961 right_x=0.3457 right_y=0.3869 right_z=0.0978 right_yaw=0.0352 right_pitch=0.2097 right_roll=-0.0633 right_gripper=0.0317\nstate[joint_eff]: [-0.0615, -1.6479, 6.9949, 1.6679, -0.0562, -0.0415, -0.0122, -0.2803, -10.3179, 6.4752, 1.5849, 0.5006, -0.0073, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7a44b85a4019747c3de940edd5e412e832737afcceaadd9d02505c2add20bf6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02e26290c64ae5d6c82074ca43afaf085274b396e8065e1cf93a2eaf0167d8b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26cec27efcbabb9aa0751f0ff9e093dad0b25e19226179d7ffbc75d32e19cb12",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJ8fGbQEeWg4s9ZIF5sm6fwrrAYxxhaQ7yvnEEO87e2hIOZ95yPUB66JtNFn2kU7WeNM9qPcBjLhNbIXhU87od7rMsVx58Z_sboTgP3Azi1NFKmP2FT6qQddid0fUrGEyLIMpK969n40eEvy94SyOqdo3ahadJhzOHRimt2njTbeAdPXsTCjtiWdegM69SeZvuaPGO6eC_uqKe8jKQGo-OLo2oAhJDnNyxNG-FjMSRruieCkQJkyNrT79UBvrMG9H98ChBKo04hZIthwGaw9e5cfRApl9fszkojc39OdFDm4cIayLeWGHop_uLXLg4n93__xeaOVYgakoTNC1nt5Z3piRjsglZpB--qtWJYw2o65Znn3-J4dRibj2jhHA1a21m6KU3DGZy6LJA4Tu_zt4RpmU7GbA820JjoUN9tsVT48MHWD5lyxYvt5UcU_LCYPvLjkDQbUQ5DKWCU5-f9U81Tw35gP9LgXmjaS4djOJ_kgSil7eldSlZVjdiE5FTupKw3Y47zyGWsC4M4oBn6ydiDSDELDdJeVs0bC_K4l0a9i0zF-PpM2NsJxOZp_-wb-7y756s5rXmvPjAwhEocvHwzygvjKbBoPznD4VOhHf5kzzIwnUS9XoRKVAvtP-Ykt7Yjp5qpCAyBWmv5qwogxSMQoO49EAl7vedwLB6HR2lmPBzEgb9gqWjImpOYPjb6Hpz7xtd6JA_X_pgJA-Dyio_giUvz7FnosvFuU5Q0QBkmxZ_VbpvmzK8l26glveajhV9ayqPJDdeiDH_bvOKy-uIa1zL9j_YN_9u4vquEiG807iM5BWJ_CxV0Yj9UpX4qGAvTg6ZFSKyUSHeMtG72QE3kLFR_cH5R14ykm6OyZa1qFlRLWs0sgsFD72TDlL3ghFgXgEOO5LalYzijSuZEUpluWTGi8k2O2w1pBZOF7rIPNUib6sPVp4e30JtQOP8S6Wboe1uAEdJXK5Iufsbxy1qpP4mVNDRaooIP9EiEH-wLqHKYRuRzWl0WjYWXumoJmw9JfoDoSzJ9knWf33qNJSHogLSEjN2y11fOK6DDqQq51bmTaC7QUpFBJqfM_0xSIAVlueqlibiTNvl5lfT6U6pqPvz0V-x5O0AKbWKNoCQFliFEKelr7yMLfNQ0JTd30lmZqYtXjCrQ-1omvimqPvzFiSP1SWhQ_4i_2UVU1Yj3NTrS-k0YFLi_kpVmxfX_bp5LjWorke5ye7-FE4ucR-B3VDV7vKcFjkuxywHAV_g_c0_1fHGVKROx8F2Ct9XzfFWEWO4FJLEn07AxvaoKWcpfH8um3aRxC67PlyKMQ1_HaM3WDUlYZqa0Hp02Y37W3zfAuD7Uw_9QM0CnqocRWW2H4RryuInIkKN0Hp3tEBqnWvEUiJPfS8szayKvBJoRl5VswNgP9PUycKkc5doqIGvkaVss5I9Jkl6li-R8k6yfCEF0g5BANBLO8l6ksiuRy70ADLl9TZExq3N_ljtaSSd7yLmq0LY3aCljMsgcznbAdVJ6u8s4d4UHwkvMibAfXEZYbcjIghd7SBorVTpyT6XUh-cwmj2xZY4aLwtt2Ym7mLAE=",
  "id": "rs_038e0ee62d6e9d7b016ab49f1d0cb087d0b4460365f8da4439",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.37,\"right_z\":0.055,\"right_yaw\":0,\"right_pitch\":0.25,\"right_roll\":0,\"right_gripper\":0},\"note\":\"The upper bowl is slightly left of the stack’s centre. I’ll shift it a little right while lowering the last few centimetres to seat it.\"}",
  "call_id": "call_HQ4a3bfhqwwSm73Yd5DageQ7",
  "id": "fc_038e0ee62d6e9d7b016ab49f1e6f3887d0843012aa66a8290d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HQ4a3bfhqwwSm73Yd5DageQ7",
  "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]: [-0.0582, 0.8295, 0.6487, -0.4412, -0.1051, -0.1047, 0.6961, 1.1168, 2.1551, 1.2236, 0.2733, 1.0134, 0.5667, 0.0317]\nstate[eef_state]: left_x=0.2942 left_y=0.005 left_z=0.1787 left_yaw=0.0653 left_pitch=-0.0462 left_roll=-0.003 left_gripper=0.6961 right_x=0.3462 right_y=0.3757 right_z=0.0715 right_yaw=0.0123 right_pitch=0.2425 right_roll=-0.0026 right_gripper=0.0317\nstate[joint_eff]: [-0.0889, -1.4017, 7.0085, 1.7021, -0.0757, -0.0415, -0.0122, -0.9368, -8.9231, 5.4769, 1.1941, 0.3443, -0.1245, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d02857c6db5e08b7a63c8c65b385960b30651782fb4b898fea333a838b9edc12",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72998e73c6ea91b1a7666e98ee4aa2a7217ab077b2f87e888c528d38fb060db8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc7fe9295b406a55e948018db25c071b7c0b093e9c03ed78eff1e50e42f7cb9d",
      "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 · 3.241 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 120 changed as sent

message 128 changed as sent

message 132 changed as sent

message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0582, 0.8223, 0.6487, -0.4335, -0.1028, -0.1047, 0.6961, 0.4759, 1.6859, 0.4923, 0.9195, 0.448, 0.1593, 0.0323]\nstate[eef_state]: left_x=0.2948 left_y=0.0046 left_z=0.1822 left_yaw=0.0633 left_pitch=-0.0316 left_roll=-0.0061 left_gripper=0.6961 right_x=0.4044 right_y=0.1263 right_z=0.1067 right_yaw=-0.0085 right_pitch=0.3252 right_roll=0.05 right_gripper=0.0323\nstate[joint_eff]: [-0.1573, -1.306, 7.1316, 1.7607, -0.0806, -0.0464, -0.0122, -0.4581, -6.8991, 7.3504, 2.0244, 0.2271, 0.0171, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0582, 0.8276, 0.6487, -0.4412, -0.1051, -0.1047, 0.6961, 1.1275, 2.1265, 1.3472, 0.0494, 1.013, 0.5716, 0.0317]\nstate[eef_state]: left_x=0.2941 left_y=0.005 left_z=0.1792 left_yaw=0.0653 left_pitch=-0.0443 left_roll=-0.0032 left_gripper=0.6961 right_x=0.3457 right_y=0.3869 right_z=0.0978 right_yaw=0.0352 right_pitch=0.2097 right_roll=-0.0633 right_gripper=0.0317\nstate[joint_eff]: [-0.0615, -1.6479, 6.9949, 1.6679, -0.0562, -0.0415, -0.0122, -0.2803, -10.3179, 6.4752, 1.5849, 0.5006, -0.0073, 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 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0582, 0.8295, 0.6487, -0.4412, -0.1051, -0.1047, 0.6961, 1.1168, 2.1551, 1.2236, 0.2733, 1.0134, 0.5667, 0.0317]\nstate[eef_state]: left_x=0.2942 left_y=0.005 left_z=0.1787 left_yaw=0.0653 left_pitch=-0.0462 left_roll=-0.003 left_gripper=0.6961 right_x=0.3462 right_y=0.3757 right_z=0.0715 right_yaw=0.0123 right_pitch=0.2425 right_roll=-0.0026 right_gripper=0.0317\nstate[joint_eff]: [-0.0889, -1.4017, 7.0085, 1.7021, -0.0757, -0.0415, -0.0122, -0.9368, -8.9231, 5.4769, 1.1941, 0.3443, -0.1245, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d02857c6db5e08b7a63c8c65b385960b30651782fb4b898fea333a838b9edc12",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72998e73c6ea91b1a7666e98ee4aa2a7217ab077b2f87e888c528d38fb060db8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc7fe9295b406a55e948018db25c071b7c0b093e9c03ed78eff1e50e42f7cb9d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJ8jGj_1gc1fdoghZph6sE1k9NMnkkOCOTtbW6LYtpodnQI1P_TBIAMVh1brfGkB6jFn5pkoZerdpROTAaV1aPq_yTMC8BRj3sQksAmbpgFR7mLYBF1WbXPJjvBBct81U3oTYzllAOLluSeIEm6NwWZoAiQ9H8Z-kfshcjWe62wnshsb07Anwkxg4s6fl0VJYW6fyi9pJkffti4Qj4rvY6a0nQzsPgC91zkHmHn8BAD9XEcMgE7Tx708yPJJEydPCDlOkrh_kDCLipwyBNos3bhdwkZ9XE4Gofctc6Ju8VqwrQOymrptxAoxQhikyNOkF3r4JvBAZIV4rKS7aEZJwHCWo7_ASz2VzhODlNrSzwuxd-UjbhaqMe3UpaZNO7BDcgdWXgwLOvBzfgVSkAi9vsLEYOL2_V5Rv2QI1dTVcDNvK1HbEy4w7IXKuFosOSgTvdhDoN3SaZpwp5sdgLPSVwptKd7wfIVk2NqrqDlVbSI8pcMEhhMNgDDQbv8cbKsnMReM4d7tkFgxB-rvZuYYuY2FfthTldjE__RHyZ3Eq1u-HSxL1pRFONF5BdtMg3rLJa7pN4OhIjgU-xFL36SZdtCgvkhxuKQHi-lOqsdXjimVfAsAiSYRZkExE81rfrPrGJGAzCfEizyTfLC0fUwDn55MK9aLM91kK4LRmNVBln5aggudOxpr53M0aPDi6p4T2SL_NmUiCcINwblQPQp0sblfNXjpzUMmrNRqBNl-43UDXIRHYApwB04wrQ3Gzna_H1qb7Ai8pklK0sPzFelSLUgUcZkMvdiGOIkn7pFz3bXAD5ouIuapB5SGfvvjyzBsYow5n5OQjqV8JNJ87OKOicjzwnPc9HRQSedHKFuv-kTD9naXEv23pMZZwYdJtK84OIy7H5ApVO6PAHX7ySJlEos6phgirsqphkOxlSjWRjF0SAxEoIAuC7mX7ZRf-4giT13iNHJdqbbPkk8eeWSwiKdWWbanVE6j_jfx9Nhlpxz6ztFPzCMZ091QEFBg6sQRmNqXsrtGwxXcdZrltcAW58YA6s4s65g8so3ei9BPH7kDLJmHM7rIuYQgBO8Z5bu1LgYr5iBwHdS_P0jk3VfOt_blxCnNf44weVSxORP2VHE0ztAy2HA3ozcC_mk41XhCe9YOiqpuhkldjVnoPTMP-ZCTRiMtoP89C00QfOumcRe99vt9gAJINa-I6WRc4is3SaZ5eYJ6BB2G2k8JbBKjMktnbu3OAdca5DfESnByuSLS0OTtXVm7dNrGOMDiLkGtKisStfRc7yTJInbrpjbmRJDgc-0tLMd8uzsyu-l3308V-LRx7qQe49RHRfPMeXRiDHrDQAbCWOPXad0M-7818dE6qF2V0HFkeFQdA1INiLgf9eNtiHGgGAcxitT_tQhKsXlUa_aGL-i7loPMKWjPDUkq2w==",
  "id": "rs_038e0ee62d6e9d7b016ab49f213bb487d0858412d903f0a9f2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.7,\"right_yaw\":0,\"right_pitch\":0.25,\"right_roll\":0},\"note\":\"The descent stopped above the commanded height as the bowl met the stack. I’ll release it, then lift straight up so the fingers do not drag the bowls sideways.\"}",
  "call_id": "call_JHtSoW8fI9H9pxdZjMtW0RJE",
  "id": "fc_038e0ee62d6e9d7b016ab49f22114887d09ed7a455c621881b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JHtSoW8fI9H9pxdZjMtW0RJE",
  "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]: [-0.0582, 0.8295, 0.6487, -0.4412, -0.1055, -0.1047, 0.6961, 1.1137, 2.175, 1.2091, 0.281, 1.0138, 0.572, 0.6955]\nstate[eef_state]: left_x=0.2942 left_y=0.0051 left_z=0.1787 left_yaw=0.0656 left_pitch=-0.0461 left_roll=-0.0028 left_gripper=0.6961 right_x=0.3455 right_y=0.3709 right_z=0.0586 right_yaw=0.0118 right_pitch=0.2307 right_roll=-0.0221 right_gripper=0.6955\nstate[joint_eff]: [-0.0068, -1.3197, 7.0222, 1.6825, -0.1001, -0.0806, -0.0122, 0.4581, -12.2188, 7.4872, 1.2381, 0.3932, -0.0415, -0.105]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d78b637ad92b4981368d8f9e379b18aa9a984a79ad56784afb489ef8b5746523",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64350399f146481977f8b3a75c5e1f1c4a7b4e9b82b78a236a5db9cb5e12751d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8e944c8bd9506c7ff46018b036357d3ed526c73397f42bb1ffe5665b49ba1e5",
      "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 · 3.153 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 124 changed as sent

message 132 changed as sent

message 136 changed as sent

message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0582, 0.8249, 0.6487, -0.4408, -0.1024, -0.1047, 0.6961, 1.1301, 2.0125, 1.6024, -0.2813, 0.9997, 0.548, 0.0317]\nstate[eef_state]: left_x=0.2939 left_y=0.0046 left_z=0.18 left_yaw=0.063 left_pitch=-0.0414 left_roll=-0.0051 left_gripper=0.6961 right_x=0.3483 right_y=0.3986 right_z=0.2026 right_yaw=0.0528 right_pitch=0.2191 right_roll=-0.0469 right_gripper=0.0317\nstate[joint_eff]: [-0.0205, -1.5658, 6.9949, 1.7998, -0.0122, -0.0659, -0.0122, 0.1573, -11.2615, 8.9641, 1.663, 0.6178, 0.1783, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "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]: [-0.0582, 0.8295, 0.6487, -0.4412, -0.1051, -0.1047, 0.6961, 1.1168, 2.1551, 1.2236, 0.2733, 1.0134, 0.5667, 0.0317]\nstate[eef_state]: left_x=0.2942 left_y=0.005 left_z=0.1787 left_yaw=0.0653 left_pitch=-0.0462 left_roll=-0.003 left_gripper=0.6961 right_x=0.3462 right_y=0.3757 right_z=0.0715 right_yaw=0.0123 right_pitch=0.2425 right_roll=-0.0026 right_gripper=0.0317\nstate[joint_eff]: [-0.0889, -1.4017, 7.0085, 1.7021, -0.0757, -0.0415, -0.0122, -0.9368, -8.9231, 5.4769, 1.1941, 0.3443, -0.1245, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0582, 0.8295, 0.6487, -0.4412, -0.1055, -0.1047, 0.6961, 1.1137, 2.175, 1.2091, 0.281, 1.0138, 0.572, 0.6955]\nstate[eef_state]: left_x=0.2942 left_y=0.0051 left_z=0.1787 left_yaw=0.0656 left_pitch=-0.0461 left_roll=-0.0028 left_gripper=0.6961 right_x=0.3455 right_y=0.3709 right_z=0.0586 right_yaw=0.0118 right_pitch=0.2307 right_roll=-0.0221 right_gripper=0.6955\nstate[joint_eff]: [-0.0068, -1.3197, 7.0222, 1.6825, -0.1001, -0.0806, -0.0122, 0.4581, -12.2188, 7.4872, 1.2381, 0.3932, -0.0415, -0.105]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d78b637ad92b4981368d8f9e379b18aa9a984a79ad56784afb489ef8b5746523",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64350399f146481977f8b3a75c5e1f1c4a7b4e9b82b78a236a5db9cb5e12751d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8e944c8bd9506c7ff46018b036357d3ed526c73397f42bb1ffe5665b49ba1e5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"right_x\":0.346,\"right_y\":0.371,\"right_z\":0.21,\"right_yaw\":0,\"right_pitch\":0.25,\"right_roll\":0,\"right_gripper\":0.7},\"note\":\"The pink bowl has been released onto the others. I’ll lift vertically to clear both sides of its rim before moving the arm away.\"}",
  "call_id": "call_37L7YTSjEiVW77td64CbraYA",
  "id": "fc_038e0ee62d6e9d7b016ab49f259e7487d0be48a5054b717371",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_37L7YTSjEiVW77td64CbraYA",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0582, 0.8295, 0.6487, -0.4412, -0.1055, -0.1047, 0.6961, 1.1164, 1.9694, 1.4212, -0.1703, 1.0092, 0.5652, 0.6994]\nstate[eef_state]: left_x=0.2942 left_y=0.0051 left_z=0.1787 left_yaw=0.0656 left_pitch=-0.0461 left_roll=-0.0028 left_gripper=0.6961 right_x=0.3447 right_y=0.3731 right_z=0.1709 right_yaw=0.0281 right_pitch=0.2125 right_roll=-0.0579 right_gripper=0.6994\nstate[joint_eff]: [-0.0068, -1.2513, 6.9949, 1.707, -0.0757, -0.0757, -0.0122, -0.4444, -14.0923, 9.7983, 1.5897, 0.442, 0.022, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b4192fc5fb1a469b46af92de9bb51e99ecd3ce546fac3deec747d90fa563254",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e9663f230b6332f868ccd606b25311808ba21dc0c21fdd3c1c7246f6696a35f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c16e8fd5e375c2c431744cb2d168abfcb902bfb2f8a7ad45f5a58d63c52479bf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 36 attempt 0 · /responses · status 200 · 4.883 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 128 changed as sent

message 136 changed as sent

message 139 changed as sent

message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0582, 0.8276, 0.6487, -0.4412, -0.1051, -0.1047, 0.6961, 1.1275, 2.1265, 1.3472, 0.0494, 1.013, 0.5716, 0.0317]\nstate[eef_state]: left_x=0.2941 left_y=0.005 left_z=0.1792 left_yaw=0.0653 left_pitch=-0.0443 left_roll=-0.0032 left_gripper=0.6961 right_x=0.3457 right_y=0.3869 right_z=0.0978 right_yaw=0.0352 right_pitch=0.2097 right_roll=-0.0633 right_gripper=0.0317\nstate[joint_eff]: [-0.0615, -1.6479, 6.9949, 1.6679, -0.0562, -0.0415, -0.0122, -0.2803, -10.3179, 6.4752, 1.5849, 0.5006, -0.0073, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0582, 0.8295, 0.6487, -0.4412, -0.1055, -0.1047, 0.6961, 1.1137, 2.175, 1.2091, 0.281, 1.0138, 0.572, 0.6955]\nstate[eef_state]: left_x=0.2942 left_y=0.0051 left_z=0.1787 left_yaw=0.0656 left_pitch=-0.0461 left_roll=-0.0028 left_gripper=0.6961 right_x=0.3455 right_y=0.3709 right_z=0.0586 right_yaw=0.0118 right_pitch=0.2307 right_roll=-0.0221 right_gripper=0.6955\nstate[joint_eff]: [-0.0068, -1.3197, 7.0222, 1.6825, -0.1001, -0.0806, -0.0122, 0.4581, -12.2188, 7.4872, 1.2381, 0.3932, -0.0415, -0.105]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0582, 0.8295, 0.6487, -0.4412, -0.1055, -0.1047, 0.6961, 1.1164, 1.9694, 1.4212, -0.1703, 1.0092, 0.5652, 0.6994]\nstate[eef_state]: left_x=0.2942 left_y=0.0051 left_z=0.1787 left_yaw=0.0656 left_pitch=-0.0461 left_roll=-0.0028 left_gripper=0.6961 right_x=0.3447 right_y=0.3731 right_z=0.1709 right_yaw=0.0281 right_pitch=0.2125 right_roll=-0.0579 right_gripper=0.6994\nstate[joint_eff]: [-0.0068, -1.2513, 6.9949, 1.707, -0.0757, -0.0757, -0.0122, -0.4444, -14.0923, 9.7983, 1.5897, 0.442, 0.022, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b4192fc5fb1a469b46af92de9bb51e99ecd3ce546fac3deec747d90fa563254",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e9663f230b6332f868ccd606b25311808ba21dc0c21fdd3c1c7246f6696a35f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c16e8fd5e375c2c431744cb2d168abfcb902bfb2f8a7ad45f5a58d63c52479bf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJ8rSygg2_iPVqcpw4k_eF_AS5PGjfHsJOwjPTGAp2F8-yLKPVfa1xqkNm7MUVcssb0VourrwbVkm832r7q49o5VbS2wrOHJfVfKeOFnn7EOHS5B7__VROtvng0B3YrboQBXxUOvdgef7UzCNyjwt3aMI3QjvTYc9QL-kB5ytHgWKmJwWRQ0VNuLN_3MwcpPMPBturqfPQkiIgY-dd3QJS46we059l4pwHWMjP_tdOtBOOKMiu5VjHc30Zo3WQacU0BQf9CrtrBYgh78fVW-CcXio9zRXOy3u61J0YPwm7mZpI3tw3bwgUrOwP6fwBispo2uqEOoJ9ocS1jrumlJzj8giNgrla0OEZCIAxE-v2pJO_zCOgry0nxI-5HPlRtdMRjCC3-V2Io9phIlXDZREv6KrMM1jhI1TlHWtoDSrj0Z31yZEWpow-7TAeGGAbFPkdikXbQaVlokjfG_2zT75PR9Jy2fTmPPcCOS_3oP8rz1EXM6pE4B11QKqvTZCIoMfWT81EGXzIW6u4JvER29lvXM1XsoELC4-TyG1arN5Na_oGc9xd30zr8eNeow-uVzxt3pqAW9Ez6U9KsieR2N23AT6zA2TfwSwuvwdfMjiSasUqSpSvgOOOe8TGILoZ4sWpiBd-1ePStXijd9cMDAYGlFFAAyQVirUnWjgOqJhKGbdDAHbaI8dqKEzYNeMBkznQOJH_PlXygdiVlpGE_3p9Ayp7N8J6c3x-RefRfpU-xFgtg0TBdFmrEhKobnhnjeZ9i71c_e-zT46Xn0Ugdeg_jelqxxESNl1Jxd65vrZv9fyEPUgyWtuhgeO1E5f-_ZsvS9PXaAPG6yXGULnJbCpwM0yMvjTAlRH5BuvorZ0gWKoTI4qktnPntNxCx0PIZa8sf8upS-BR8htWV_pIDLmm3CI2szNQJLPIkyUeTjcZ3r8k1nXFexSwiRpcFPdeobtsm3SgkNcx7VzLuUgtqQg8-769qyW8MSFSXXrPcNROG8Ol8C7ma_Icv19GmEkvdqyhPznFSGzpULxkSHbb5zOqP7rrXS5PaONyGLQTP69Iu3VeSREgVghYinrQ3fKAOgudH1K-EQkIglemyF9QkO5ENePi6sGfuI180LmmOR9dWGqvGlG4FDLgft8bxQ0zmzjwCTW4GR7Lb__vhMny-_u5mi5B7-K_NRyWXSW4v00q6COK85DjrCba-x0u42wHzkCSEM",
  "id": "rs_038e0ee62d6e9d7b016ab49f294ae887d081b8350c2cc81844",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.294,\"right_y\":0,\"right_z\":0.2,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0,\"right_gripper\":0.7,\"left_x\":0.294,\"left_y\":0,\"left_z\":0.2,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The right fingers are clear of the bowls. I’ll park both arms out of the way so I can verify the completed stack in the overhead view.\"}",
  "call_id": "call_7bbf8S1Fp4IbUGtJ6uOvcabD",
  "id": "fc_038e0ee62d6e9d7b016ab49f2978e087d09b254bd32b758e21",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7bbf8S1Fp4IbUGtJ6uOvcabD",
  "output": [
    {
      "text": "executing move_to over 32 steps (3.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.038, 0.8131, 0.6487, -0.461, -0.0479, -0.0708, 0.6961, 0.0116, 0.8101, 0.6708, -0.4454, 0.0711, 0.0238, 0.6999]\nstate[eef_state]: left_x=0.2903 left_y=0.001 left_z=0.1787 left_yaw=0.019 left_pitch=-0.0527 left_roll=-0.0084 left_gripper=0.6961 right_x=0.2945 right_y=-0.0055 right_z=0.1929 right_yaw=-0.0607 right_pitch=-0.011 right_roll=-0.0082 right_gripper=0.6999\nstate[joint_eff]: [0.3077, -2.3316, 10.0444, 1.707, 0.1001, 0.1734, -0.0122, -0.0889, -1.8667, 8.4991, 1.7509, -0.0611, -0.0464, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb1fef46debc1b05bc09e85237064c0678161e61db261fe974eb0301240d0bbc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4780949673076585067a14b809a826c7a7636ac9c0e3cb112e7778021fc11391",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 321):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13b943c6eb3243c671d714fcde7885bddf302c7198712d52a14d0bd19225a649",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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