adhoc

completed
2026-09-23T23:03:57.978749+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
173.2 s
total steps
225
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 separate bowls, with the blue bowl in the middle. I’ll approach the white bowl’s rim with the right gripper so I can place it onto the blue bowl.
move_to
right_x0.3650right_y0.1200right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.7944, 0.6041, -0.3813, -0.0227, -0.0322, 0.9996, -0.0219, 0.7929, 0.6022, -0.3794, -0.0166, -0.0269, 0.9992] state[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1796 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2946 right_y=0.0001 right_z=0.1795 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9992 state[joint_eff]: [-0.6222, -1.5521, 10.1128, 1.7998, -0.0317, 0.1929, -0.0562, -0.294, -1.306, 10.2359, 1.9219, -0.1197, 0.1294, -0.0952] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.365,"right_y":0.12,"right_z":0.15,"right_gripper":1},"note":"I see three separate bowls, with the blue bowl in the middle. I’ll approach the white bowl’s rim with the right gripper so I can place it onto the blue bowl."})
tool
executing move_to over 10 steps (1.0s)
step 10
top_cam
camera top_cam step 10
left_cam
camera left_cam step 10
right_cam
camera right_cam step 10
assistant
agent noteThe white bowl is centered in the right wrist view, but it is too wide to grasp across. I’ll lower toward its right-hand rim, aiming to put one finger inside and one outside.
move_to
right_x0.3850right_y0.0750right_z0.0750
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.7994, 0.6075, -0.387, -0.0227, -0.0265, 0.9995, 0.4839, 1.2995, 0.7048, -0.1215, 0.363, 0.2287, 0.9992] state[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1787 left_yaw=-0.0031 left_pitch=-0.0073 left_roll=0.0049 left_gripper=0.9995 right_x=0.3491 right_y=0.1167 right_z=0.1245 right_yaw=0.0493 right_pitch=-0.0915 right_roll=-0.0432 right_gripper=0.9992 state[joint_eff]: [-0.0205, -1.5932, 6.9265, 1.746, -0.0269, -0.1343, -0.0171, 0.1162, -5.559, 9.1556, 1.8584, 0.3053, 0.1294, -0.0952] camera 'top_cam' (step 10): [image omitted: streamed camera frame] camera 'left_cam' (step 10): [image omitted: streamed camera frame] camera 'right_cam' (step 10): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.385,"right_y":0.075,"right_z":0.075},"note":"The white bowl is centered in the right wrist view, but it is too wide to grasp across. I’ll lower toward its right-hand rim, aiming to put one finger inside and one outside."})
tool
executing move_to over 4 steps (0.4s)
step 14
top_cam
camera top_cam step 14
left_cam
camera left_cam step 14
right_cam
camera right_cam step 14
assistant
agent noteThe open jaws now straddle the white bowl’s right rim. I’ll lower slightly and narrow the opening before gripping the rim.
move_to
right_z0.0400right_gripper0.5500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8024, 0.6075, -0.3882, -0.0227, -0.0261, 0.9995, 0.2867, 1.4738, 0.6163, 0.0826, 0.2516, 0.1276, 0.9991] state[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1776 left_yaw=-0.0033 left_pitch=-0.0115 left_roll=0.0053 left_gripper=0.9995 right_x=0.3687 right_y=0.0666 right_z=0.0601 right_yaw=-0.0042 right_pitch=-0.1765 right_roll=-0.0707 right_gripper=0.9991 state[joint_eff]: [-0.1162, -1.4974, 7.0222, 1.7167, -0.0611, -0.0855, -0.0122, -0.1436, -6.3658, 6.8034, 1.9121, 0.0171, -0.1392, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 14): [image omitted: streamed camera frame] camera 'left_cam' (step 14): [image omitted: streamed camera frame] camera 'right_cam' (step 14): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.04,"right_gripper":0.55},"note":"The open jaws now straddle the white bowl’s right rim. I’ll lower slightly and narrow the opening before gripping the rim."})
tool
executing move_to over 5 steps (0.5s)
step 19
top_cam
camera top_cam step 19
left_cam
camera left_cam step 19
right_cam
camera right_cam step 19
assistant
agent noteOne finger is inside the white bowl and the other is outside its rim. I’ll close gently on that edge, then check the grip before lifting.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0223, -0.0261, 0.9995, 0.2878, 1.4937, 0.5823, 0.139, 0.2379, 0.1154, 0.5548] state[eef_state]: left_x=0.2946 left_y=0.0017 left_z=0.1768 left_yaw=-0.0036 left_pitch=-0.0145 left_roll=0.0052 left_gripper=0.9995 right_x=0.366 right_y=0.0687 right_z=0.0498 right_yaw=0.0152 right_pitch=-0.1771 right_roll=-0.0697 right_gripper=0.5548 state[joint_eff]: [-0.1983, -1.3333, 7.0222, 1.7167, -0.0415, -0.0757, -0.0122, 0.1162, -6.5162, 5.7915, 1.6777, 0.2711, 0.0122, 0.2125] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"One finger is inside the white bowl and the other is outside its rim. I’ll close gently on that edge, then check the grip before lifting."})
tool
executing move_to over 6 steps (0.6s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteThe gripper closed fully, so that attempt missed the rim. I’ll reopen and move a little farther forward and outward, with the fingertips lower on the bowl’s edge.
move_to
right_x0.3850right_y0.0500right_z0.0250right_gripper0.6500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.0261, 0.9995, 0.2878, 1.4937, 0.5808, 0.1387, 0.2466, 0.115, 0.0087] state[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=-0.0033 left_pitch=-0.0145 left_roll=0.0054 left_gripper=0.9995 right_x=0.3656 right_y=0.067 right_z=0.0494 right_yaw=0.008 right_pitch=-0.1773 right_roll=-0.0765 right_gripper=0.0087 state[joint_eff]: [-0.1026, -1.3197, 7.0222, 1.7265, -0.0806, -0.0708, -0.0122, 0.0889, -6.3521, 5.8598, 1.6386, 0.2418, 0.105, 0.7106] camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.385,"right_y":0.05,"right_z":0.025,"right_gripper":0.65},"note":"The gripper closed fully, so that attempt missed the rim. I’ll reopen and move a little farther forward and outward, with the fingertips lower on the bowl’s edge."})
tool
executing move_to over 7 steps (0.7s)
step 32
top_cam
camera top_cam step 32
left_cam
camera left_cam step 32
right_cam
camera right_cam step 32
assistant
agent noteThe fingertips are now lower beside the white bowl’s wall. I’ll make one more rim-grasp attempt and use the gripper opening to check whether it caught.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.0261, 0.9995, 0.2115, 1.6203, 0.5789, 0.2436, 0.1932, 0.0578, 0.646] state[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=-0.0033 left_pitch=-0.0145 left_roll=0.0054 left_gripper=0.9995 right_x=0.3766 right_y=0.0498 right_z=0.0204 right_yaw=0.0069 right_pitch=-0.212 right_roll=-0.087 right_gripper=0.646 state[joint_eff]: [-0.2256, -1.306, 7.2547, 1.6972, -0.0415, -0.0269, -0.0122, -0.4718, -5.7231, 5.7915, 1.6972, -0.0024, 0.022, -0.1343] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 32): [image omitted: streamed camera frame] camera 'left_cam' (step 32): [image omitted: streamed camera frame] camera 'right_cam' (step 32): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The fingertips are now lower beside the white bowl’s wall. I’ll make one more rim-grasp attempt and use the gripper opening to check whether it caught."})
tool
executing move_to over 7 steps (0.7s)
step 39
top_cam
camera top_cam step 39
left_cam
camera left_cam step 39
right_cam
camera right_cam step 39
assistant
agent noteThe second close was also empty, and the bowl appears to have shifted sideways. I’ll lift clear to locate its rim again rather than repeat the same approach.
move_to
right_x0.3000right_y-0.0400right_z0.1800right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.0261, 0.9995, 0.2092, 1.6341, 0.5777, 0.2367, 0.1925, 0.0513, 0.0078] state[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=-0.0033 left_pitch=-0.0145 left_roll=0.0054 left_gripper=0.9995 right_x=0.3738 right_y=0.0485 right_z=0.0139 right_yaw=0.0078 right_pitch=-0.2337 right_roll=-0.0956 right_gripper=0.0078 state[joint_eff]: [-0.0068, -1.3197, 7.0222, 1.6923, -0.0611, -0.0757, -0.0073, 0.1026, -7.5692, 5.2718, 1.5556, 0.0611, 0.0708, 0.6276] camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.30,"right_y":-0.04,"right_z":0.18,"right_gripper":1},"note":"The second close was also empty, and the bowl appears to have shifted sideways. I’ll lift clear to locate its rim again rather than repeat the same approach."})
tool
executing move_to over 11 steps (1.1s)
step 50
top_cam
camera top_cam step 50
left_cam
camera left_cam step 50
right_cam
camera right_cam step 50
assistant
agent noteThe white bowl is now farther right and nearer the front of the table. I’ll approach its outer rim again, restoring the gripper to a vertical orientation for a more controlled pinch.
move_to
right_x0.3300right_y0.0150right_z0.0850right_pitch0.0000right_roll0.0000right_yaw0.0000right_gripper0.7500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8074, 0.6075, -0.3897, -0.0227, -0.0261, 0.9995, -0.1768, 1.0298, 0.807, -0.5732, -0.0444, -0.2127, 0.9951] state[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1759 left_yaw=-0.0033 left_pitch=-0.018 left_roll=0.0054 left_gripper=0.9995 right_x=0.306 right_y=-0.0431 right_z=0.1667 right_yaw=-0.0276 right_pitch=-0.2296 right_roll=-0.1079 right_gripper=0.9951 state[joint_eff]: [-0.0752, -1.4701, 7.0769, 1.6972, -0.0659, -0.0317, -0.0122, -0.2667, -3.453, 9.388, 1.5897, -0.2613, 0.105, -0.0952] camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.33,"right_y":0.015,"right_z":0.085,"right_pitch":0,"right_roll":0,"right_yaw":0,"right_gripper":0.75},"note":"The white bowl is now farther right and nearer the front of the table. I’ll approach its outer rim again, restoring the gripper to a vertical orientation for a more controlled pinch."})
tool
executing move_to over 8 steps (0.8s)
step 58
top_cam
camera top_cam step 58
left_cam
camera left_cam step 58
right_cam
camera right_cam step 58
assistant
agent noteThe right rim is now between the open fingers, and the bowl has stayed upright. I’ll advance slightly and lower the fingertips below the lip before closing.
move_to
right_x0.3500right_y0.0050right_z0.0450right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8085, 0.6075, -0.3901, -0.0227, -0.0261, 0.9995, 0.0536, 1.1213, 0.3538, 0.0662, 0.0284, -0.0189, 0.7518] state[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1755 left_yaw=-0.0033 left_pitch=-0.0195 left_roll=0.0055 left_gripper=0.9995 right_x=0.3114 right_y=0.0153 right_z=0.0638 right_yaw=0.0331 right_pitch=-0.1312 right_roll=-0.0202 right_gripper=0.7518 state[joint_eff]: [-0.1709, -1.1829, 7.0496, 1.7509, -0.0513, -0.0806, -0.0122, 0.2393, -3.412, 6.9402, 2.0488, 0.2222, 0.0464, 0.0171] camera 'top_cam' (step 58): [image omitted: streamed camera frame] camera 'left_cam' (step 58): [image omitted: streamed camera frame] camera 'right_cam' (step 58): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.005,"right_z":0.045,"right_pitch":0,"right_roll":0,"right_yaw":0},"note":"The right rim is now between the open fingers, and the bowl has stayed upright. I’ll advance slightly and lower the fingertips below the lip before closing."})
tool
executing move_to over 5 steps (0.5s)
step 63
top_cam
camera top_cam step 63
left_cam
camera left_cam step 63
right_cam
camera right_cam step 63
assistant
agent noteThe bowl’s outer wall sits between the fingertips at this lower height. I’ll close on the rim and check whether the jaws stop short of fully closed.
move_to
right_gripper0.0000right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.3901, -0.0227, -0.0261, 0.9995, 0.0154, 1.4067, 0.3012, 0.4259, 0.0135, -0.0113, 0.7517] state[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1747 left_yaw=-0.0033 left_pitch=-0.0226 left_roll=0.0055 left_gripper=0.9995 right_x=0.3324 right_y=0.0063 right_z=0.0255 right_yaw=0.0035 right_pitch=-0.1095 right_roll=-0.0044 right_gripper=0.7517 state[joint_eff]: [-0.1162, -1.5248, 7.0222, 1.6874, -0.0855, -0.0513, -0.0122, -0.7726, -4.6564, 5.4222, 1.9463, -0.0806, -0.0171, -0.022] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0,"right_pitch":0,"right_roll":0,"right_yaw":0},"note":"The bowl’s outer wall sits between the fingertips at this lower height. I’ll close on the rim and check whether the jaws stop short of fully closed."})
tool
executing move_to over 8 steps (0.8s)
step 71
top_cam
camera top_cam step 71
left_cam
camera left_cam step 71
right_cam
camera right_cam step 71
assistant
agent noteThe jaws stopped at a very small opening, which could be the thin rim but is not conclusive. I’ll lift about five centimeters and check whether the bowl rises with them.
move_to
right_x0.3400right_y0.0100right_z0.0950right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.3897, -0.0227, -0.0261, 0.9995, 0.0132, 1.4193, 0.2569, 0.5816, -0.0082, 0.0029, 0.0388] state[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1747 left_yaw=-0.0033 left_pitch=-0.0222 left_roll=0.0055 left_gripper=0.9995 right_x=0.3388 right_y=0.0095 right_z=0.0368 right_yaw=0.012 right_pitch=-0.0108 right_roll=0.0205 right_gripper=0.0388 state[joint_eff]: [-0.0479, -1.347, 7.2684, 1.7167, -0.0806, -0.0611, -0.0122, 0.1573, -2.947, 5.2308, 0.9597, 0.3541, -0.2418, 1.0476] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 71): [image omitted: streamed camera frame] camera 'left_cam' (step 71): [image omitted: streamed camera frame] camera 'right_cam' (step 71): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.34,"right_y":0.01,"right_z":0.095,"right_pitch":0,"right_roll":0,"right_yaw":0},"note":"The jaws stopped at a very small opening, which could be the thin rim but is not conclusive. I’ll lift about five centimeters and check whether the bowl rises with them."})
tool
executing move_to over 4 steps (0.4s)
step 75
top_cam
camera top_cam step 75
left_cam
camera left_cam step 75
right_cam
camera right_cam step 75
assistant
agent noteThe arm did not rise to the last height target, so the lift is not yet confirmed. I’ll use a slightly retracted, higher pose to lift clear without dragging the bowl.
move_to
right_x0.3000right_y0.0100right_z0.1700right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8146, 0.6075, -0.4007, -0.0227, -0.0261, 0.9995, 0.0128, 1.4178, 0.2588, 0.588, -0.0086, 0.004, 0.0396] state[eef_state]: left_x=0.2937 left_y=0.0018 left_z=0.1717 left_yaw=-0.0033 left_pitch=-0.0363 left_roll=0.0057 left_gripper=0.9995 right_x=0.3405 right_y=0.0095 right_z=0.0393 right_yaw=0.0113 right_pitch=-0.0009 right_roll=0.0217 right_gripper=0.0396 state[joint_eff]: [-0.1709, -1.388, 7.0496, 1.8144, -0.0855, -0.0562, -0.0122, 0.1846, -3.3299, 4.9162, 1.2723, 0.1783, -0.1978, 1.0281] camera 'top_cam' (step 75): [image omitted: streamed camera frame] camera 'left_cam' (step 75): [image omitted: streamed camera frame] camera 'right_cam' (step 75): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0.01,"right_z":0.17,"right_pitch":0,"right_roll":0,"right_yaw":0},"note":"The arm did not rise to the last height target, so the lift is not yet confirmed. I’ll use a slightly retracted, higher pose to lift clear without dragging the bowl."})
tool
executing move_to over 9 steps (0.9s)
step 84
top_cam
camera top_cam step 84
left_cam
camera left_cam step 84
right_cam
camera right_cam step 84
assistant
agent noteThe white bowl rose with the gripper, confirming the rim grip. I’ll carry it toward the blue bowl at a safe height, while keeping the left arm parked clear.
move_to
right_x0.3900right_y0.2300right_z0.2100right_pitch0.0000right_roll0.0000right_yaw0.0000left_x0.2950left_y0.0000left_z0.1800left_pitch0.0000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8181, 0.6075, -0.4076, -0.0227, -0.0261, 0.9995, 0.0402, 0.8413, 0.5201, -0.2455, 0.0219, 0.0002, 0.0402] state[eef_state]: left_x=0.2929 left_y=0.0018 left_z=0.1693 left_yaw=-0.0033 left_pitch=-0.0466 left_roll=0.0059 left_gripper=0.9995 right_x=0.3035 right_y=0.0119 right_z=0.1561 right_yaw=0.0151 right_pitch=0.0035 right_roll=0.0021 right_gripper=0.0402 state[joint_eff]: [-0.1709, -1.6752, 7.0222, 1.7705, -0.0659, -0.0708, -0.0073, 0.212, -1.9077, 9.853, 1.8388, 0.1538, 0.0562, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 84): [image omitted: streamed camera frame] camera 'left_cam' (step 84): [image omitted: streamed camera frame] camera 'right_cam' (step 84): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.23,"right_z":0.21,"right_pitch":0,"right_roll":0,"right_yaw":0,"left_x":0.295,"left_y":0,"left_z":0.18,"left_pitch":0,"left_roll":0,"left_yaw":0},"note":"The white bowl rose with the gripper, confirming the rim grip. I’ll carry it toward the blue bowl at a safe height, while keeping the left arm parked clear."})
tool
executing move_to over 19 steps (1.9s)
step 103
top_cam
camera top_cam step 103
left_cam
camera left_cam step 103
right_cam
camera right_cam step 103
assistant
agent noteThe carried bowl is above the blue bowl, with their centers nearly aligned in the overhead view. I’ll lower it carefully toward the blue bowl’s opening.
move_to
right_x0.3900right_y0.2400right_z0.1150right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0265, 0.8047, 0.6075, -0.4061, -0.0265, -0.0345, 0.9995, 0.7464, 1.5986, 1.2179, -0.3885, 0.5732, 0.4164, 0.0407] state[eef_state]: left_x=0.2923 left_y=0.0005 left_z=0.1733 left_yaw=-0.0024 left_pitch=-0.0316 left_roll=0.0009 left_gripper=0.9995 right_x=0.3813 right_y=0.2271 right_z=0.1887 right_yaw=0.0441 right_pitch=-0.0548 right_roll=-0.0412 right_gripper=0.0407 state[joint_eff]: [-0.8137, -1.7709, 7.0359, 1.9267, -0.1245, -0.0952, -0.0073, 0.1573, -7.9795, 9.4154, 1.536, 0.569, 0.1636, 0.8864] camera 'top_cam' (step 103): [image omitted: streamed camera frame] camera 'left_cam' (step 103): [image omitted: streamed camera frame] camera 'right_cam' (step 103): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.24,"right_z":0.115,"right_pitch":0,"right_roll":0,"right_yaw":0},"note":"The carried bowl is above the blue bowl, with their centers nearly aligned in the overhead view. I’ll lower it carefully toward the blue bowl’s opening."})
tool
executing move_to over 5 steps (0.5s)
step 108
top_cam
camera top_cam step 108
left_cam
camera left_cam step 108
right_cam
camera right_cam step 108
assistant
agent noteThe white bowl is aligned over the blue bowl’s opening. I’ll lower another few centimeters so it can settle into the blue bowl before I release the rim.
move_to
right_x0.3900right_y0.2400right_z0.0750right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0261, 0.8051, 0.6075, -0.4076, -0.0261, -0.0414, 0.9995, 0.767, 1.734, 1.0275, -0.1364, 0.5976, 0.4477, 0.0404] state[eef_state]: left_x=0.2922 left_y=0.0006 left_z=0.1729 left_yaw=0.0014 left_pitch=-0.0335 left_roll=-0.0049 left_gripper=0.9995 right_x=0.3776 right_y=0.2308 right_z=0.0979 right_yaw=0.0262 right_pitch=-0.0974 right_roll=-0.0782 right_gripper=0.0404 state[joint_eff]: [-0.1436, -1.306, 7.1316, 1.7411, -0.0073, 0.0659, -0.0073, 0.6496, -8.8, 6.7624, 1.8242, 0.4176, 0.1734, 0.8767] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 108): [image omitted: streamed camera frame] camera 'left_cam' (step 108): [image omitted: streamed camera frame] camera 'right_cam' (step 108): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.24,"right_z":0.075,"right_pitch":0,"right_roll":0,"right_yaw":0},"note":"The white bowl is aligned over the blue bowl’s opening. I’ll lower another few centimeters so it can settle into the blue bowl before I release the rim."})
tool
executing move_to over 4 steps (0.4s)
step 112
top_cam
camera top_cam step 112
left_cam
camera left_cam step 112
right_cam
camera right_cam step 112
assistant
agent noteThe descent stopped above the target, consistent with the bowl resting on the blue bowl. I’ll open the gripper and let it settle without pressing down.
move_to
right_gripper0.7000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0261, 0.8051, 0.6075, -0.4076, -0.0261, -0.0422, 0.9995, 0.7715, 1.7466, 1.0145, -0.062, 0.6025, 0.453, 0.0445] state[eef_state]: left_x=0.2922 left_y=0.0006 left_z=0.1729 left_yaw=0.0018 left_pitch=-0.0335 left_roll=-0.0055 left_gripper=0.9995 right_x=0.3825 right_y=0.2374 right_z=0.0992 right_yaw=0.0269 right_pitch=-0.0588 right_roll=-0.0435 right_gripper=0.0445 state[joint_eff]: [-0.1709, -1.2923, 7.0222, 1.7167, -0.0415, -0.0415, -0.0122, -0.2256, -9.2376, 6.8718, 1.9267, 0.4371, 0.1294, 0.7643] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 112): [image omitted: streamed camera frame] camera 'left_cam' (step 112): [image omitted: streamed camera frame] camera 'right_cam' (step 112): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.7},"note":"The descent stopped above the target, consistent with the bowl resting on the blue bowl. I’ll open the gripper and let it settle without pressing down."})
tool
executing move_to over 7 steps (0.7s)
step 119
top_cam
camera top_cam step 119
left_cam
camera left_cam step 119
right_cam
camera right_cam step 119
assistant
agent noteThe released bowl has settled lower into the stack. I’ll lift the right gripper clear and bring the left gripper above the remaining bowl’s left rim.
move_to
right_z0.2000right_pitch0.0000right_roll0.0000right_yaw0.0000left_x0.3900left_y-0.1300left_z0.1500left_pitch0.0000left_roll0.0000left_yaw0.0000left_gripper0.8000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0261, 0.8082, 0.6075, -0.4084, -0.0261, -0.0422, 0.9995, 0.7715, 1.7466, 1.0145, -0.0444, 0.606, 0.4534, 0.6958] state[eef_state]: left_x=0.2922 left_y=0.0006 left_z=0.1719 left_yaw=0.0018 left_pitch=-0.0373 left_roll=-0.0054 left_gripper=0.9995 right_x=0.3846 right_y=0.2387 right_z=0.1021 right_yaw=0.0247 right_pitch=-0.0442 right_roll=-0.033 right_gripper=0.6958 state[joint_eff]: [-0.212, -1.5658, 7.0769, 1.7167, -0.0464, -0.0513, -0.0122, -0.1299, -9.265, 7.0632, 1.7363, 0.4225, 0.149, -0.1197] camera 'top_cam' (step 119): [image omitted: streamed camera frame] camera 'left_cam' (step 119): [image omitted: streamed camera frame] camera 'right_cam' (step 119): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.2,"right_pitch":0,"right_roll":0,"right_yaw":0,"left_x":0.39,"left_y":-0.13,"left_z":0.15,"left_pitch":0,"left_roll":0,"left_yaw":0,"left_gripper":0.8},"note":"The released bowl has settled lower into the stack. I’ll lift the right gripper clear and bring the left gripper above the remaining bowl’s left rim."})
tool
executing move_to over 12 steps (1.2s)
step 131
top_cam
camera top_cam step 131
left_cam
camera left_cam step 131
right_cam
camera right_cam step 131
assistant
agent noteThe remaining bowl is centered in the left wrist view. I’ll lower onto its left edge with one finger inside and one outside, and park the right arm away from the stack.
move_to
left_x0.3900left_y-0.0650left_z0.0500left_pitch0.0000left_roll0.0000left_yaw0.0000left_gripper0.7500right_x0.2950right_y0.0000right_z0.1800right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5014, 1.4082, 0.7959, -0.0944, -0.4, -0.305, 0.8019, 0.7792, 1.6527, 1.206, -0.3542, 0.6102, 0.4534, 0.6967] state[eef_state]: left_x=0.3762 left_y=-0.1237 left_z=0.1298 left_yaw=-0.0197 left_pitch=-0.0701 left_roll=0.0265 left_gripper=0.8019 right_x=0.3803 right_y=0.2384 right_z=0.1693 right_yaw=0.0284 right_pitch=-0.0601 right_roll=-0.0518 right_gripper=0.6967 state[joint_eff]: [-0.3487, -6.0376, 9.1556, 1.79, -0.3346, -0.105, 0.1099, 0.0205, -10.359, 9.6615, 1.6679, 0.4127, 0.1978, 0.0904] camera 'top_cam' (step 131): [image omitted: streamed camera frame] camera 'left_cam' (step 131): [image omitted: streamed camera frame] camera 'right_cam' (step 131): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.065,"left_z":0.05,"left_pitch":0,"left_roll":0,"left_yaw":0,"left_gripper":0.75,"right_x":0.295,"right_y":0,"right_z":0.18,"right_pitch":0,"right_roll":0,"right_yaw":0},"note":"The remaining bowl is centered in the left wrist view. I’ll lower onto its left edge with one finger inside and one outside, and park the right arm away from the stack."})
tool
executing move_to over 20 steps (2.0s)
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 left edge of the bowl is between the fingertips. I’ll lower slightly and pinch that rim, using the same edge-grasp approach that lifted the first bowl.
move_to
left_z0.0300left_gripper0.0000left_pitch0.0000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2886, 1.5913, 0.506, 0.4549, -0.2577, -0.1978, 0.7516, 0.0029, 0.8116, 0.6048, -0.3744, 0.0578, 0.0143, 0.6968] state[eef_state]: left_x=0.3853 left_y=-0.0637 left_z=0.0454 left_yaw=0.0174 left_pitch=-0.0351 left_roll=0.0028 left_gripper=0.7516 right_x=0.2965 right_y=-0.0058 right_z=0.1768 right_yaw=-0.0601 right_pitch=-0.0101 right_roll=-0.0061 right_gripper=0.6968 state[joint_eff]: [0.335, -5.6274, 4.9983, 1.9023, 0.0415, 0.1832, 0.149, 0.0615, -1.6889, 7.1179, 1.8046, -0.2173, -0.0855, -0.0024] 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_z":0.03,"left_gripper":0,"left_pitch":0,"left_roll":0,"left_yaw":0},"note":"The left edge of the bowl is between the fingertips. I’ll lower slightly and pinch that rim, using the same edge-grasp approach that lifted the first bowl."})
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 noteThe jaws have stopped at a thin-rim-sized opening. I’ll lift the bowl a short distance to confirm it is secure before moving toward the stack.
move_to
left_x0.3850left_y-0.0650left_z0.1100left_pitch0.0000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2859, 1.6497, 0.4652, 0.625, -0.2535, -0.202, 0.0396, 0.0002, 0.8162, 0.6033, -0.3893, 0.0441, -0.0002, 0.6968] state[eef_state]: left_x=0.3907 left_y=-0.0649 left_z=0.0431 left_yaw=0.0189 left_pitch=0.0319 left_roll=-0.0243 left_gripper=0.0396 right_x=0.2946 right_y=-0.0041 right_z=0.1717 right_yaw=-0.0434 right_pitch=-0.0315 right_roll=-0.0116 right_gripper=0.6968 state[joint_eff]: [0.1026, -4.2462, 4.0, 1.1697, 0.0269, 0.1587, 1.1355, 0.0889, -1.6068, 7.159, 1.9023, 0.1197, 0.0952, -0.0122] 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_x":0.385,"left_y":-0.065,"left_z":0.11,"left_pitch":0,"left_roll":0,"left_yaw":0},"note":"The jaws have stopped at a thin-rim-sized opening. I’ll lift the bowl a short distance to confirm it is secure before moving toward the stack."})
tool
executing move_to over 5 steps (0.5s)
step 164
top_cam
camera top_cam step 164
left_cam
camera left_cam step 164
right_cam
camera right_cam step 164
assistant
agent noteThe remaining bowl rose with the left gripper. I’ll carry it above the two-bowl stack, keeping enough height to clear the rims.
move_to
left_x0.3900left_y-0.2350left_z0.2100left_pitch0.0000left_roll0.0000left_yaw0.0000right_x0.2950right_y0.0000right_z0.1800right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2863, 1.409, 0.5671, 0.2668, -0.255, -0.2016, 0.0405, 0.0002, 0.8181, 0.6018, -0.3931, 0.0433, -0.001, 0.6968] state[eef_state]: left_x=0.3856 left_y=-0.0633 left_z=0.0988 left_yaw=0.0194 left_pitch=0.0172 left_roll=-0.0185 left_gripper=0.0405 right_x=0.294 right_y=-0.004 right_z=0.1697 right_yaw=-0.0423 right_pitch=-0.0388 right_roll=-0.0121 right_gripper=0.6968 state[joint_eff]: [-0.4308, -6.2701, 9.0462, 1.8193, -0.0366, 0.105, 1.033, -0.1573, -1.4017, 7.1726, 1.746, -0.0269, -0.0317, -0.0073] camera 'top_cam' (step 164): [image omitted: streamed camera frame] camera 'left_cam' (step 164): [image omitted: streamed camera frame] camera 'right_cam' (step 164): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.235,"left_z":0.21,"left_pitch":0,"left_roll":0,"left_yaw":0,"right_x":0.295,"right_y":0,"right_z":0.18,"right_pitch":0,"right_roll":0,"right_yaw":0},"note":"The remaining bowl rose with the left gripper. I’ll carry it above the two-bowl stack, keeping enough height to clear the rims."})
tool
executing move_to over 16 steps (1.6s)
step 180
top_cam
camera top_cam step 180
left_cam
camera left_cam step 180
right_cam
camera right_cam step 180
assistant
agent noteThe carried bowl is centered over the stack in the overhead view. I’ll lower it slowly toward the upper bowl’s opening.
move_to
left_x0.3900left_y-0.2350left_z0.1300left_pitch0.0000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7742, 1.6169, 1.24, -0.3794, -0.609, -0.5064, 0.0419, -0.017, 0.8062, 0.6014, -0.3923, -0.0093, -0.0242, 0.6968] state[eef_state]: left_x=0.3867 left_y=-0.2318 left_z=0.194 left_yaw=-0.0205 left_pitch=-0.0264 left_roll=0.0049 left_gripper=0.0419 right_x=0.2935 right_y=0.0003 right_z=0.1729 right_yaw=-0.0026 right_pitch=-0.0271 right_roll=-0.0013 right_gripper=0.6968 state[joint_eff]: [-0.4991, -7.6786, 9.6068, 1.4383, -0.5348, 0.0806, 1.0281, -0.6496, -2.0855, 7.2821, 1.8242, -0.1245, -0.0806, -0.0073] camera 'top_cam' (step 180): [image omitted: streamed camera frame] camera 'left_cam' (step 180): [image omitted: streamed camera frame] camera 'right_cam' (step 180): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.235,"left_z":0.13,"left_pitch":0,"left_roll":0,"left_yaw":0},"note":"The carried bowl is centered over the stack in the overhead view. I’ll lower it slowly toward the upper bowl’s opening."})
tool
executing move_to over 5 steps (0.5s)
step 185
top_cam
camera top_cam step 185
left_cam
camera left_cam step 185
right_cam
camera right_cam step 185
assistant
agent noteThe third bowl is entering the stack with only a small sideways offset. I’ll correct that offset and lower a little farther until the bowls support it.
move_to
left_x0.3900left_y-0.2400left_z0.0950left_pitch0.0000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7837, 1.6993, 1.0584, -0.1844, -0.6277, -0.5179, 0.042, -0.02, 0.8097, 0.5999, -0.3931, -0.009, -0.0269, 0.6968] state[eef_state]: left_x=0.3808 left_y=-0.228 left_z=0.119 left_yaw=-0.008 left_pitch=-0.0668 left_roll=0.053 left_gripper=0.042 right_x=0.2934 right_y=-0.0007 right_z=0.1711 right_yaw=-0.0045 right_pitch=-0.0329 right_roll=-0.0036 right_gripper=0.6968 state[joint_eff]: [-0.1846, -8.1846, 6.9128, 1.7509, -0.359, -0.0562, 1.033, 0.1299, -1.6068, 7.1453, 1.7314, -0.0171, -0.0513, -0.0122] camera 'top_cam' (step 185): [image omitted: streamed camera frame] camera 'left_cam' (step 185): [image omitted: streamed camera frame] camera 'right_cam' (step 185): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.24,"left_z":0.095,"left_pitch":0,"left_roll":0,"left_yaw":0},"note":"The third bowl is entering the stack with only a small sideways offset. I’ll correct that offset and lower a little farther until the bowls support it."})
tool
executing move_to over 3 steps (0.3s)
step 188
top_cam
camera top_cam step 188
left_cam
camera left_cam step 188
right_cam
camera right_cam step 188
assistant
agent noteThe bowl has stopped descending and appears supported by the stack. I’ll release the rim so it can settle into place.
move_to
left_gripper0.7000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7837, 1.7069, 1.0458, -0.1215, -0.6292, -0.5213, 0.0428, -0.02, 0.8097, 0.5999, -0.3931, -0.009, -0.0273, 0.6968] state[eef_state]: left_x=0.3855 left_y=-0.2324 left_z=0.1205 left_yaw=-0.0065 left_pitch=-0.0354 left_roll=0.021 left_gripper=0.0428 right_x=0.2934 right_y=-0.0007 right_z=0.1711 right_yaw=-0.0043 right_pitch=-0.0329 right_roll=-0.0039 right_gripper=0.6968 state[joint_eff]: [-0.1299, -8.5538, 7.0496, 1.7753, -0.4029, -0.0269, 1.0183, -0.0068, -1.347, 7.0496, 1.6972, -0.0513, -0.0806, -0.0122] camera 'top_cam' (step 188): [image omitted: streamed camera frame] camera 'left_cam' (step 188): [image omitted: streamed camera frame] camera 'right_cam' (step 188): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.7},"note":"The bowl has stopped descending and appears supported by the stack. I’ll release the rim so it can settle into place."})
tool
executing move_to over 7 steps (0.7s)
step 195
top_cam
camera top_cam step 195
left_cam
camera left_cam step 195
assistant
agent noteThe released bowl has settled lower, and the stack remains upright. I’ll lift the open fingers straight up to avoid catching either rim.
move_to
left_z0.2300left_pitch0.0000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7837, 1.7069, 1.0458, -0.107, -0.6296, -0.522, 0.6948, -0.02, 0.8097, 0.5999, -0.3931, -0.009, -0.0273, 0.6968] state[eef_state]: left_x=0.387 left_y=-0.2338 left_z=0.1227 left_yaw=-0.0062 left_pitch=-0.0249 left_roll=0.0104 left_gripper=0.6948 right_x=0.2934 right_y=-0.0007 right_z=0.1711 right_yaw=-0.0043 right_pitch=-0.0329 right_roll=-0.0039 right_gripper=0.6968 state[joint_eff]: [-0.0752, -8.6632, 6.9128, 1.6386, -0.4371, 0.0024, 0.0269, -0.1846, -1.265, 7.0496, 1.7167, -0.0757, -0.0757, -0.0122] camera 'top_cam' (step 195): [image omitted: streamed camera frame] camera 'left_cam' (step 195): [image omitted: streamed camera frame] camera 'right_cam' (step 195): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.23,"left_pitch":0,"left_roll":0,"left_yaw":0},"note":"The released bowl has settled lower, and the stack remains upright. I’ll lift the open fingers straight up to avoid catching either rim."})
tool
executing move_to over 7 steps (0.7s)
step 202
assistant
agent noteThe left fingers are clear of the bowls. I’ll park both arms away from the center so I can verify the completed stack in the overhead view.
move_to
left_x0.2950left_y0.0000left_z0.1800left_pitch0.0000left_roll0.0000left_yaw0.0000right_x0.2950right_y0.0000right_z0.1800right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7837, 1.6451, 1.3125, -0.4343, -0.6296, -0.5251, 0.6957, -0.02, 0.8101, 0.5999, -0.3935, -0.009, -0.0269, 0.6968] state[eef_state]: left_x=0.3905 left_y=-0.2373 left_z=0.2044 left_yaw=-0.0045 left_pitch=-0.024 left_roll=0.0071 left_gripper=0.6957 right_x=0.2934 right_y=-0.0007 right_z=0.1709 right_yaw=-0.0045 right_pitch=-0.0336 right_roll=-0.0036 right_gripper=0.6968 state[joint_eff]: [-0.4034, -10.8376, 9.306, 1.3944, -0.4176, -0.0171, 0.0855, -0.1436, -1.0872, 7.0496, 1.7118, -0.0464, -0.0366, -0.0122] camera 'top_cam' (step 202): [image omitted: streamed camera frame] camera 'left_cam' (step 202): [image omitted: streamed camera frame] camera 'right_cam' (step 202): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.295,"left_y":0,"left_z":0.18,"left_pitch":0,"left_roll":0,"left_yaw":0,"right_x":0.295,"right_y":0,"right_z":0.18,"right_pitch":0,"right_roll":0,"right_yaw":0},"note":"The left fingers are clear of the bowls. I’ll park both arms away from the center so I can verify the completed stack in the overhead view."})
tool
executing move_to over 22 steps (2.2s)
step 224
assistant
agent noteStacked all three bowls together at the center of the table and parked both arms clear.
done
hindsightThese bowls can be lifted by pinching a side rim; a successful thin-rim grasp settled around 0.040–0.043 gripper opening, so a short lift was essential to distinguish it from an empty close. Successful fingertip heights were about 0.03–0.045 m. Explicitly resetting pitch, roll, and yaw to zero helped avoid accumulated tilt during successive moves. The left bowl was grasped near left (0.39, -0.065), and its placement rim target was near (0.39, -0.24); the right bowl was placed with its rim near right (0.39, 0.24).
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0601, 0.8143, 0.6144, -0.3756, -0.1024, -0.0929, 0.6958, -0.0216, 0.804, 0.5995, -0.3927, -0.0097, -0.0273, 0.6968] state[eef_state]: left_x=0.2979 left_y=0.0038 left_z=0.1805 left_yaw=0.0594 left_pitch=-0.0005 left_roll=-0.0076 left_gripper=0.6958 right_x=0.2931 right_y=-0.001 right_z=0.1725 right_yaw=-0.0052 right_pitch=-0.0272 right_roll=-0.0036 right_gripper=0.6968 state[joint_eff]: [0.253, -1.7162, 6.7897, 1.8828, -0.0122, 0.1392, -0.0024, -0.1573, -1.4564, 7.4325, 1.8535, -0.1294, -0.0415, -0.0122] camera 'top_cam' (step 224): [image omitted: streamed camera frame] camera 'left_cam' (step 224): [image omitted: streamed camera frame] camera 'right_cam' (step 224): [image omitted: streamed camera frame]
assistant
done({"summary":"Stacked all three bowls together at the center of the table and parked both arms clear.","hindsight":"These bowls can be lifted by pinching a side rim; a successful thin-rim grasp settled around 0.040–0.043 gripper opening, so a short lift was essential to distinguish it from an empty close. Successful fingertip heights were about 0.03–0.045 m. Explicitly resetting pitch, roll, and yaw to zero helped avoid accumulated tilt during successive moves. The left bowl was grasped near left (0.39, -0.065), and its placement rim target was near (0.39, -0.24); the right bowl was placed with its rim near right (0.39, 0.24)."})
tool
done: Stacked all three bowls together at the center of the table 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 · 10.53 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, -0.3813, -0.0227, -0.0322, 0.9996, -0.0219, 0.7929, 0.6022, -0.3794, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1796 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2946 right_y=0.0001 right_z=0.1795 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.6222, -1.5521, 10.1128, 1.7998, -0.0317, 0.1929, -0.0562, -0.294, -1.306, 10.2359, 1.9219, -0.1197, 0.1294, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ae9de2c10e5aaf4def0c2f7c9c08a596505c748b89089b0222c0a5ed4e6e15e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96f75db8cf847ea3689e6602972621ef416fb87c31a45bdfaa689d9fffd69c4a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6feb6ec7fe24115e6832509a926629853b44d5751e1f44c11ca4262108cdb6f3",
      "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 · 7.448 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
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  "id": "rs_0317b7ae175ce9cd016ab45aebee9887d0b2dd411afbae3af5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.365,\"right_y\":0.12,\"right_z\":0.15,\"right_gripper\":1},\"note\":\"I see three separate bowls, with the blue bowl in the middle. I’ll approach the white bowl’s rim with the right gripper so I can place it onto the blue bowl.\"}",
  "call_id": "call_DjKJrYZiVrIPej2iWbQaeYVd",
  "id": "fc_0317b7ae175ce9cd016ab45af41df887d08b00637c84066204",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DjKJrYZiVrIPej2iWbQaeYVd",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7994, 0.6075, -0.387, -0.0227, -0.0265, 0.9995, 0.4839, 1.2995, 0.7048, -0.1215, 0.363, 0.2287, 0.9992]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1787 left_yaw=-0.0031 left_pitch=-0.0073 left_roll=0.0049 left_gripper=0.9995 right_x=0.3491 right_y=0.1167 right_z=0.1245 right_yaw=0.0493 right_pitch=-0.0915 right_roll=-0.0432 right_gripper=0.9992\nstate[joint_eff]: [-0.0205, -1.5932, 6.9265, 1.746, -0.0269, -0.1343, -0.0171, 0.1162, -5.559, 9.1556, 1.8584, 0.3053, 0.1294, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e37e5a9a84e6fa832953b91914cb157eeef6d6936aeb5e62622c96072608d246",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d229e46df7f55182c7266ad0194922cdec2f4889a46f92251207c70e5250684c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0255a246c588173b7b41c47b9a126b4554d32d0b328ee69820036a6763cb60ba",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 2 attempt 0 · /responses · status 200 · 5.505 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, -0.3813, -0.0227, -0.0322, 0.9996, -0.0219, 0.7929, 0.6022, -0.3794, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1796 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2946 right_y=0.0001 right_z=0.1795 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.6222, -1.5521, 10.1128, 1.7998, -0.0317, 0.1929, -0.0562, -0.294, -1.306, 10.2359, 1.9219, -0.1197, 0.1294, -0.0952]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7994, 0.6075, -0.387, -0.0227, -0.0265, 0.9995, 0.4839, 1.2995, 0.7048, -0.1215, 0.363, 0.2287, 0.9992]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1787 left_yaw=-0.0031 left_pitch=-0.0073 left_roll=0.0049 left_gripper=0.9995 right_x=0.3491 right_y=0.1167 right_z=0.1245 right_yaw=0.0493 right_pitch=-0.0915 right_roll=-0.0432 right_gripper=0.9992\nstate[joint_eff]: [-0.0205, -1.5932, 6.9265, 1.746, -0.0269, -0.1343, -0.0171, 0.1162, -5.559, 9.1556, 1.8584, 0.3053, 0.1294, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e37e5a9a84e6fa832953b91914cb157eeef6d6936aeb5e62622c96072608d246",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d229e46df7f55182c7266ad0194922cdec2f4889a46f92251207c70e5250684c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0255a246c588173b7b41c47b9a126b4554d32d0b328ee69820036a6763cb60ba",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFr9c3_6v9KIEY0CTYBIRx7FEI6YtDz7LeYZgDUzwMWaRUfUCqPx7WifsdGniGSlGN9SniacZTFp9rOp5V6XBCi4pmEKOWJOMgsEpERVvLIuuMkXdcCWUQMcI1KsiwUxz0flEOxGIOJhJ1P1gpS_eU61scl1rx4mJ9OnXJhlkzaNo0pHeWpHnC0nY-0cy3flYWdlfxGgX-dqwVVcMh6firQ0HrdsfDZ9X0dPvfIaRM9dtpH8D8bvhmNqcVeGXBAJiOsOxTipRzYhJzV2pdn3lNtNNrNrzAmwqiaCuegWLmJXINTK30SrQgwYNxf1ihMvv9gXLAhiOlDctQXrKLDyYs6DyfD_PwbcqN12X5wCOq-MAG6cMNkdOcLtZNrY0uwD85xz6ygaUcKpTDt1JEJ2UZqlpCi3i2-4QastGVXpTYaGD6I8UlwHKbKzMAlYPQHQUORS18ZMPyBLEgJdOjspny234jnINXoVMimd8r1d6-K3n3bBr8SDZgpCzQq0RPhPLpT7scHPYgfQcrh1GcR4XgjsdUI9QlRWZCPyKXV5AJ4zeWbDeo7SELV0n8d5wzULsh4Qzgkdnu4md3bXRU_pMzB-B7fNC5cIdnjUowWmhk10FcyHX_EUYJaNpWA3B-si7YJAXUhWMd2BKZhp0LJfXDw9DjG4c_uVz__yIfVwitvziDWkZeQffodRuKFR8H7MM-NQZbxs-QXj8Ee2NguRS6Y5e9W_2qF39NBXagCjC5w9BIFa9NDpFCIkF0Sl5Bq1BKQ3nnhxfMJndqdT5TvyhMEHnwCLIO0ydZ8ZbW3mj8I-E5juhXndA7TVC7tkGjpReqJP1b4YCPxtI81AcAbjLhzALZwyNs_yE8xm-vYmDYgLBUU2ym4bfOfbSlotOHkSiFbpoVR5LkEXqApi38L9Oz80kR4QNJK4I1WDpgf5RFzabVsxqWlyfR4ArFiMscyYVfff59QioN4C9RfDm7FW8R8SuxmfQX16Tc06tSKsSlzlsF9pGW2cY_8i-CxMltO1H6rzjchp4PSDCLwDS4G1eGckq9bM7t50SNWjAq0HAVGgU-2NP_1LSK4q8rma18I3gGsQDEAfxTFwLhrpEZiXCS7kClxKYPBPT9MJAHvGhURBJ79_OjXjjvyrDF091xZa1Z0zrl8Hr4lJKkojcb2apGco60f4I5p6kukJegzIFjzgwmKETv4GFAWYExUnSQKwLR0RHA6dca1FhrU8xw0cxggM1SDe659wUjpIGAhNXgbSOH9OH5r5xsX7FdJhJ-XktkkChN3X-HO03RRlUbUY5_n38WvnoAqCe61-5PiIPZMh-n0F0PO3bVc5t_eiyrEUG1848ZdrNOMnA2TRuOeTT6dvh54ncX53oJZvqMCTqWeFA2GWeWQda2hgUTBBqyS7krM6NIjnRtbOGcU9op2CrNUD2U6hH1nhoYVHm3Y9jDLR5t1cKByhb5cS_mK2v-7W_DVAV6nZCqkjwrm1EQKH1X_Cv8GI3EQ2Pes4KHc4gnqslN13hY_-iLQbGjx7um7tSm_N2OxvjekJE3W0trITrR9QttLccFv_OhVsQd1yvnuHkgbmD5xrZW31sfYwBCxmkNWYv5tJqTCagAkfhiQyf2EjA48XwyA8I4Yknvvi5bNAG_SLvIiS1qqCuJUFyZoM-lAsxHmyCZRMtS8exV7vB3ulg-EjM32HhNriVyy5_RZ5U2O5Ft1-wiNA9oyqpqK1tnbq0ysagclPN7Ge0V7ore7CQ2IqmqhFaEopZGixCKbZDLFGyML1UCZqj3g7DRCi1hekTuvm6AI3BkoxHlHGV_aY7XZQ_XYA-kyvGxxUXvDH3KqLAuTBZpZ4M0eJnzmPR7lpgnnjQsKdhKDZj-M1IqE71os_tq3bFsDXa-XoSQ9sbBzNnXE_0YVlyriLT_Uj76N5I01UehdbG8CnpP7e46qrrMGO8ZQxz02tR1hgT_UWE1smtejstk21hmpl_oNKc7WgudelEbYv5SYHGSm2qyfN3LpYOYT4jza9HVvymtR2-VEvVboh5byviS6kGU3_A58sn9x8EqDJVxr7Nb8ExjVUL06cS3_uTJcDukFLm9bhlM_FRyIf98EbaYLEy6vIF-eYKwkANtcaQhSTyl9GSDSvDco27tyXrENwJMjfE8uE8FaAxpCvFCp_gUguLR7eGr2IKN-q2Uyu2HyL8414yI6_xcBFHFYlhgD5GNAC0vqv3ZZSJSMEuI-nzXGExQImYn3Jh3F0inF0r6yn1z6ZU17uslvO5U-LePRBgY-9Ll9zAZXQu_vQ9mYQ8TP-Uq6qhvfvT3_dbZgDTP1_EudPHz0z9lAPLpWxBNxPMG1A2IngGiinotIbrbi525a12HisR5oRGY-0tMLh-L0LKgMpTyt6ZCZVHLLa2w2eCuBME4XMZQouorm3O4w7iTfLCdjRZhDuo3UG1G6dPhkqk-zTCFh7ph72VVumBaICSjr1wnKoFrDSf1hQiwSH9Cwp7elG2y4W-h1tcRE1NGU8DOqsHIbhxwFWtPOGKvUE--6heN8cGHAJTCjrpL-iPrOkhOOoGra2o2_C6euv_z9y1t9v-CIA7gFtj8ZYI7sznUux_X5Y03DFwz-dPqcNl-DQsCfVXjPBbXOp3x1JAsTdFG-idpACksRIoATMQF7lDRymzNNm78pLayoO_IZU1zJU9oXhAw3dgaltgRNekajGktsp_tf2HxMS-3UCRf0BhoYAMRsMoqb-tFnm6NyWQ_HWWoRsuXDtO-CamgjZRUuc8PzYqPgKF62OtNIC20tH5a_Wjd1bJ1eHLZmD27hAWWH9ykho6C84E5Hcg4oqtTVOYGDAbi-FfQ==",
  "id": "rs_0317b7ae175ce9cd016ab45af7757087d0b390696dcfcc8c0f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.385,\"right_y\":0.075,\"right_z\":0.075},\"note\":\"The white bowl is centered in the right wrist view, but it is too wide to grasp across. I’ll lower toward its right-hand rim, aiming to put one finger inside and one outside.\"}",
  "call_id": "call_njTSj76B6UrHRzPgP6BMVIKJ",
  "id": "fc_0317b7ae175ce9cd016ab45afc731887d0b71c034eb1f52189",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_njTSj76B6UrHRzPgP6BMVIKJ",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8024, 0.6075, -0.3882, -0.0227, -0.0261, 0.9995, 0.2867, 1.4738, 0.6163, 0.0826, 0.2516, 0.1276, 0.9991]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1776 left_yaw=-0.0033 left_pitch=-0.0115 left_roll=0.0053 left_gripper=0.9995 right_x=0.3687 right_y=0.0666 right_z=0.0601 right_yaw=-0.0042 right_pitch=-0.1765 right_roll=-0.0707 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -1.4974, 7.0222, 1.7167, -0.0611, -0.0855, -0.0122, -0.1436, -6.3658, 6.8034, 1.9121, 0.0171, -0.1392, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb142b64940809d9a164e62fe610b5d0b5f3e2512cdfde5a0cecaea5fcdb3d81",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c147d140563e9467c44753b5187a994d6aa51d4dc082dca4e735a31f688b8400",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:178b64a17958e4fbb9a036e11c591266a54fe15d507d0eeaec8ed42f29f9ab9c",
      "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 · 3.3 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 10 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7994, 0.6075, -0.387, -0.0227, -0.0265, 0.9995, 0.4839, 1.2995, 0.7048, -0.1215, 0.363, 0.2287, 0.9992]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1787 left_yaw=-0.0031 left_pitch=-0.0073 left_roll=0.0049 left_gripper=0.9995 right_x=0.3491 right_y=0.1167 right_z=0.1245 right_yaw=0.0493 right_pitch=-0.0915 right_roll=-0.0432 right_gripper=0.9992\nstate[joint_eff]: [-0.0205, -1.5932, 6.9265, 1.746, -0.0269, -0.1343, -0.0171, 0.1162, -5.559, 9.1556, 1.8584, 0.3053, 0.1294, -0.0952]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8024, 0.6075, -0.3882, -0.0227, -0.0261, 0.9995, 0.2867, 1.4738, 0.6163, 0.0826, 0.2516, 0.1276, 0.9991]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1776 left_yaw=-0.0033 left_pitch=-0.0115 left_roll=0.0053 left_gripper=0.9995 right_x=0.3687 right_y=0.0666 right_z=0.0601 right_yaw=-0.0042 right_pitch=-0.1765 right_roll=-0.0707 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -1.4974, 7.0222, 1.7167, -0.0611, -0.0855, -0.0122, -0.1436, -6.3658, 6.8034, 1.9121, 0.0171, -0.1392, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb142b64940809d9a164e62fe610b5d0b5f3e2512cdfde5a0cecaea5fcdb3d81",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c147d140563e9467c44753b5187a994d6aa51d4dc082dca4e735a31f688b8400",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:178b64a17958e4fbb9a036e11c591266a54fe15d507d0eeaec8ed42f29f9ab9c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFsDlbCULNir1PiuilSlVauvjAvzakPY4RsnF3I0C-_E51jJiM3DvPf1x6ytTgF7y6lFaLDasz3L3q5SPKZbYxGkdtTILgVFqXVc0V7BjLpHhb31zY_FdLpVqwXrF3H8zqWa7RfQ9dDwEuqYMCcQZyCOlf7pz5EQl8URAZ2FTkPs2eRaGEAPlvAAQJO0YR7tUSYOu67bsTnhi2Pa2n-wfOiMRTNFSDWfylhUsDjJ0NBLHGWcf_M5BSJeGH49IrY5lgPgCDx_efBK8yw2lAHppcpL3e-QH-A6lX3vm6EYO-8NM--_7zBf6FNNk1wjAezqOyAO-BwFRyCT3-Wf4OwH7hIL1Fa80oeBFEeGCucO9sowZgskYbc3Pyl85LMvHXuKUy0Bv5X6Vt3Cf4lKlCJubM7Eaxw8N3AGU9aKw2dmuyLwVAwIRF8gEL5WgoF3SDbNIMfzvipBXEHsPq8u_WMnRW2E9aXnnUFHsyOnogIaNgLf55qRCsWDkBEVy9lPqA2G2jA0lc1rOz6vZDt42m7Y6_ZcDkNiq32yi-SmcTVIm6NhPLpCQ_O7on_pNIP2CRIUGF2a_AtmWmuMsBJcjI1Eu6PpB4WV7yWQwMjuTsLmpzvIwA4K66sLh_VbWIqxy9w7JbNC75GZ-AM-jtwCEynebHkfMGglWvusq7_Ru0ZD5l77LsaFPYuNP7Xec_V0mZgbqWQUWImLvoAd1ya5Ktx77q6hUTcwthmjIaqb_0qto1bz_5gvQPzMcSqJv19MMVB7Mv_kjFqdDD8SC2mCiVkXFxrAGbVQnIPHvOSpAonc26NpKTiYGaSs61o9P3okp7iR8N_2loam1pRxciguinAOeQE93N8cj-3-F5uKEfwS4BfsRBdwfTckrog7OJI6oES-T4XplC7yP14fwEoxcdq_JRXtCDxGka9BvsmsskqGnmNnJ46hmLKiqrFMx51A8ruK7_NF4bkA8eQP8nr_dzMK3ef9rsNOAn7xLnrqX4IbAgcBZ9FmQ29cTXciSQNQotOf7CXHrbCGvVUdYFf2e-Hdp-Mfu5Oh3wrqHE_gXfn_IulgyVs5UGbFnxq-ITJujxy_FXAcoRgF8lWqmbxw_ldlKz19sxclL5eC75FMUeFJRJYRbC5KhZ88u428QDCWOVbj41YYyx9OlWFtwRmXM4mt5Y50_hbXUYcxCxrLwvCdSkAxSsL3_aO-rcgnRIc5bxzGsnAg6rBkim9yDeufHg7j1ZnXVQGYdpM7a3to-gPbBt-TQW-OTNUHgsI_tCte9lxeJyjGhvCrWwRntGt38rxncSQa8KcGEGSjVNMZbNyCasgGGX1Ri345-Q7p2Y3UbXsa1pJeDQ9epqCTiMmGWzQ1D_Oua439hzTsyYz-omHtAOwk2UNEZ-DQ-8yDFAlBdwG3ToH5Wd_jhM95O7pGmfhQFMRsOSyCY9ZFdRf47wvh7Wm3TzVkH0WwGAKUl6cYnBShtjOWoK8Dnt5OapFARCUKfh7WSJA3Q-gtgY89FMwDTZ8O1M7lhUfEZjKVVoW_Gzof6z8WgDlrBdcMP4onOV3pcw5o9Fr4jj9TX_AMntrGDuFe4N3AiDHyD0EOywHShctzsuaFuF-kKkgyGpUbZ1CCP9a5b-QuzKihxG8Q6uvvWzzw8RKlhPqvmet88ZnguWROfME9Gb-4uxxGSz2ItK8YDi3cow==",
  "id": "rs_0317b7ae175ce9cd016ab45b00528087d0bcf982c5f37143e9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.04,\"right_gripper\":0.55},\"note\":\"The open jaws now straddle the white bowl’s right rim. I’ll lower slightly and narrow the opening before gripping the rim.\"}",
  "call_id": "call_KpXMTGxyOd5M9sbbH4AP8HiU",
  "id": "fc_0317b7ae175ce9cd016ab45b0271f487d0b31291a069abd9f4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KpXMTGxyOd5M9sbbH4AP8HiU",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0223, -0.0261, 0.9995, 0.2878, 1.4937, 0.5823, 0.139, 0.2379, 0.1154, 0.5548]\nstate[eef_state]: left_x=0.2946 left_y=0.0017 left_z=0.1768 left_yaw=-0.0036 left_pitch=-0.0145 left_roll=0.0052 left_gripper=0.9995 right_x=0.366 right_y=0.0687 right_z=0.0498 right_yaw=0.0152 right_pitch=-0.1771 right_roll=-0.0697 right_gripper=0.5548\nstate[joint_eff]: [-0.1983, -1.3333, 7.0222, 1.7167, -0.0415, -0.0757, -0.0122, 0.1162, -6.5162, 5.7915, 1.6777, 0.2711, 0.0122, 0.2125]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:244399e049f3400303f64400348b571352c046efd7c1ea42e2d1c9325a4ec5f6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7556b12770af85817e42f1ee9dc318781ed68fe818ea02c65cf9716bc0af9ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0575eed279ee78d06ec38d6506fcdab0bfdf5ff5cee7adacc09981e68c94440",
      "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 · 8.133 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, -0.3813, -0.0227, -0.0322, 0.9996, -0.0219, 0.7929, 0.6022, -0.3794, -0.0166, -0.0269, 0.9992]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1796 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2946 right_y=0.0001 right_z=0.1795 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.6222, -1.5521, 10.1128, 1.7998, -0.0317, 0.1929, -0.0562, -0.294, -1.306, 10.2359, 1.9219, -0.1197, 0.1294, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8024, 0.6075, -0.3882, -0.0227, -0.0261, 0.9995, 0.2867, 1.4738, 0.6163, 0.0826, 0.2516, 0.1276, 0.9991]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1776 left_yaw=-0.0033 left_pitch=-0.0115 left_roll=0.0053 left_gripper=0.9995 right_x=0.3687 right_y=0.0666 right_z=0.0601 right_yaw=-0.0042 right_pitch=-0.1765 right_roll=-0.0707 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -1.4974, 7.0222, 1.7167, -0.0611, -0.0855, -0.0122, -0.1436, -6.3658, 6.8034, 1.9121, 0.0171, -0.1392, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0223, -0.0261, 0.9995, 0.2878, 1.4937, 0.5823, 0.139, 0.2379, 0.1154, 0.5548]\nstate[eef_state]: left_x=0.2946 left_y=0.0017 left_z=0.1768 left_yaw=-0.0036 left_pitch=-0.0145 left_roll=0.0052 left_gripper=0.9995 right_x=0.366 right_y=0.0687 right_z=0.0498 right_yaw=0.0152 right_pitch=-0.1771 right_roll=-0.0697 right_gripper=0.5548\nstate[joint_eff]: [-0.1983, -1.3333, 7.0222, 1.7167, -0.0415, -0.0757, -0.0122, 0.1162, -6.5162, 5.7915, 1.6777, 0.2711, 0.0122, 0.2125]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:244399e049f3400303f64400348b571352c046efd7c1ea42e2d1c9325a4ec5f6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7556b12770af85817e42f1ee9dc318781ed68fe818ea02c65cf9716bc0af9ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0575eed279ee78d06ec38d6506fcdab0bfdf5ff5cee7adacc09981e68c94440",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFsHjsCS2ncFcbboAxETD3MDz5wY15M1mEPMu11nwiA4wFSJqldF7QbkhDP-7ZMLBPycfk8gcyVXckyUqPsX96aZ2e187qJgl30r8yWxiR4y0ImnQQ2rx1tsBogVuM9Dh2t7oaeMYQvOgG3pDYoDbynI9BABlHwQL4cxzVHXWQonJjfGqODTmsMid9-XECxO76lejj9Rmz7POZ4UuK-TmfjY7SQPC1OntP0FfA8sNnRhPOBDguW0gw9hxCZe20gE_i_2OokFxqg1dqv7-DDLElngorTA2bsHvFwra540smD2tn0LU-3cBw1vykVD5xnjuWfAhlUqHuZB0rsYgCAzFB_A_5vJeaVpoJBCmXhpeRDq7QkFLspREgYahK9_SsFP5l6_MMeNn95TDrGSUN3EICPfgrJiBXp0D8DMXYBPY0ODdTuOQ7PkbZmqv76Uu3TOLq0EVv_U4P4pX0oduLkjqUFmXqUmCvW-qcLKG2WaxL9z5hvlKCqm3ENLbbta1pny-eJiiqZRV9PSHURpdsl5u1S7XVdoUaf1y4K19F9wjFP1_lfH6JkwW5wYMu2JBkaSt9BhEhkwAL_LNoVr8B8Jb53huIV-AuOpXtLkUYRAegocnFlrpjjHNsgv5DJeyPjn9FZvfSfu8bDffh_w7FE9Amj-HJLCbWHWrhj1-xUNoFI_1CIdJLRHeWGRGuNwvsDjaSGhMSv6KYLVj3DYUDZdCqOwxt4vJPo3DS0Yt-W8zo-Mdq6KiQEKARP3BVLuMpfCxlZzPawUWNuz4_NjpU8SbR4qNWSmotfiYfYwqaY1fVx22HOrkkt7peQbGMSwBHROVmb4CWQLU-j4TNWds0RaePWu_GzYHq0eWwnXRhUiHB1Rc21eEzu7PXOmjocpjbWJF9u3wZwNKSHNxZ239vowac9M5jfLdZWf_ZPa29nuY0405Gs_9oR4rPeNU4Nsimha5hl4L2fQa6M48VQp0WPAcCxexqZgSb3X-qT8KYacwDNpMiOJyFBnlob77nO48HVyliFphl20iLiDm_UQTyBjsjTAK2EopyzoDjJ5ArWK_Lp_e45arChTDO48rkpFPkn_a5RV8c6MfdjHuodLUMh-FbxCU1TN8PgrK9bmnKQ5arNYvIu-NYMe8MbSxf6ACnDDr_-kYpi3zfulpqdfq1O5NT4EumnGhUZGr-GLU7q6jkCjJ9exzPLGL9j5SYG7MgIezc91IdxTJKLGq7TUVyR5gK7_3HidEo2O4ecKSOi9kU_Kuo4HItqzCGYYbGUg36D-25AO9aKuEMEBBGM94qkg4eGqmqmk9S8xxWOGREpu-qYKQYPuMq8eHx-bduo6DeCDc9nj9tFTV9r0lvNS_WI2bHyXbCKSjryr0rNije2sQLNDNjJnyERvR-g6JMv1p7aIhQDXe5aoTpI8H7OZatvIQfoD8MpqaOoM732P8YcP_cPhvZdBWHumARAF-rra4yhX68BD4UrHJz4r7DuENaXe1U9qhg==",
  "id": "rs_0317b7ae175ce9cd016ab45b0554e887d092b6317092b8f6e4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"One finger is inside the white bowl and the other is outside its rim. I’ll close gently on that edge, then check the grip before lifting.\"}",
  "call_id": "call_ZFAtEZ9Uwhxvwbfa5HK8dssR",
  "id": "fc_0317b7ae175ce9cd016ab45b06959887d080bb645da33e3bd8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZFAtEZ9Uwhxvwbfa5HK8dssR",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.0261, 0.9995, 0.2878, 1.4937, 0.5808, 0.1387, 0.2466, 0.115, 0.0087]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=-0.0033 left_pitch=-0.0145 left_roll=0.0054 left_gripper=0.9995 right_x=0.3656 right_y=0.067 right_z=0.0494 right_yaw=0.008 right_pitch=-0.1773 right_roll=-0.0765 right_gripper=0.0087\nstate[joint_eff]: [-0.1026, -1.3197, 7.0222, 1.7265, -0.0806, -0.0708, -0.0122, 0.0889, -6.3521, 5.8598, 1.6386, 0.2418, 0.105, 0.7106]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e57113aabdb7b1878bbc36da497806505e23552b3fefbf8bfb8f4d784446a6b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:086fd6384c9457f8e8bfee11d82a8170925548f3a865c729ddcf3fb537364a31",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36538cda37e39c3401eabb42b7a0b9e37b9e47dc6e8e814d95ec220d1afbcc58",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 4.318 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]: [-0.0196, 0.7994, 0.6075, -0.387, -0.0227, -0.0265, 0.9995, 0.4839, 1.2995, 0.7048, -0.1215, 0.363, 0.2287, 0.9992]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1787 left_yaw=-0.0031 left_pitch=-0.0073 left_roll=0.0049 left_gripper=0.9995 right_x=0.3491 right_y=0.1167 right_z=0.1245 right_yaw=0.0493 right_pitch=-0.0915 right_roll=-0.0432 right_gripper=0.9992\nstate[joint_eff]: [-0.0205, -1.5932, 6.9265, 1.746, -0.0269, -0.1343, -0.0171, 0.1162, -5.559, 9.1556, 1.8584, 0.3053, 0.1294, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0223, -0.0261, 0.9995, 0.2878, 1.4937, 0.5823, 0.139, 0.2379, 0.1154, 0.5548]\nstate[eef_state]: left_x=0.2946 left_y=0.0017 left_z=0.1768 left_yaw=-0.0036 left_pitch=-0.0145 left_roll=0.0052 left_gripper=0.9995 right_x=0.366 right_y=0.0687 right_z=0.0498 right_yaw=0.0152 right_pitch=-0.1771 right_roll=-0.0697 right_gripper=0.5548\nstate[joint_eff]: [-0.1983, -1.3333, 7.0222, 1.7167, -0.0415, -0.0757, -0.0122, 0.1162, -6.5162, 5.7915, 1.6777, 0.2711, 0.0122, 0.2125]\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]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.0261, 0.9995, 0.2878, 1.4937, 0.5808, 0.1387, 0.2466, 0.115, 0.0087]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=-0.0033 left_pitch=-0.0145 left_roll=0.0054 left_gripper=0.9995 right_x=0.3656 right_y=0.067 right_z=0.0494 right_yaw=0.008 right_pitch=-0.1773 right_roll=-0.0765 right_gripper=0.0087\nstate[joint_eff]: [-0.1026, -1.3197, 7.0222, 1.7265, -0.0806, -0.0708, -0.0122, 0.0889, -6.3521, 5.8598, 1.6386, 0.2418, 0.105, 0.7106]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e57113aabdb7b1878bbc36da497806505e23552b3fefbf8bfb8f4d784446a6b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:086fd6384c9457f8e8bfee11d82a8170925548f3a865c729ddcf3fb537364a31",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36538cda37e39c3401eabb42b7a0b9e37b9e47dc6e8e814d95ec220d1afbcc58",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFsPsbfYWhS1r7P5oJCzDdxz1snn9b8vAC2ATDTxn84JGbSV_EPmuDh2f6UoooVL3Ahz2He-5PEdP7pJAIH1hND7jwyLh2CjM6tEIgy6Kdyb3WxoSiGOoxJ71ut_hCM6vRE4aJKfM6E3otr10g4UrUZmHl-p5tuj_Z8GeYnMMHRt1qmI-XBXz6wDc3aQr26RhWT4M-NKAAhcplz3q94HWrIpXPcFv4TW5b-V0Km8SJPgCo2douM_Z5tiPJYAlrJ1UEtwnN2BpvFBAaEA_Ip-wzflL25mYahxOD5O95cinlIv6XF4JrscmuNrUsPQzuq49x-nKdE7QhSfam4oDzSAKHYsR9tjLbKxvNNKIvK6wayhQJE4hxlx0oFvxjCiF0LBaRki6GrnQsU1gJ2MfoPxLV30Cen5qzRkO2h4g3TI7ovCO1liW6AY-d5httUph5CA6ib9DpkcX_Q7zJcCGuY4yh7Q2mT-R2ILLJ6lwJSinVj7o8Q9KwZwi5TeWdPrpXFYO7wpauFceFZUBBffyNSNeeFNSTLSySuTcoRAAgE4X_L8axUSm4ORHm17k9QNBG-CCKBV3AtxLco4E9J2a6f4b8yC3k5NxuUjP2_GJ38fvvnB7QvOVWQWjbr3Qt6-IrvqtoNZeDnu__T1YUUJdkAydp6-_ZQSH70QrhuZ2NTv8ida_xPiCCwddzaaUTd_gkUMSeYm15l8uUWVHSc0xjBFnNLgTiBtNEeyhfLPoCwWlANfihgcWIbIq99lCYOqye3ohjzNG7H4HQhuybyPmKp-y9zCiSFx36ULB8tWvKcej-9lVVuvPHVhWFZszVJ3udZkWed1k8DCyn1x9B_fioGA2jUpgC9oPzlGSCUbEiAEwiSoqsZhL5F14Y7sYXzM9HW8Rj25yKrwxrP7SjZgDdVmIIMCjFDDZ-6_GG2gWT2XuiqA1BV5Fvy_HDwHkA9V62wQVinLRWLj_mbheSu3ht8O0N6A_93ECwE9p81HgIoqELYE1foCkxWVJn_LAoQwaHPneP9Ulj8SKLq8jFQPmlD5rQdvR3npdD1I81p8MY-ZbRkEz9ti9A7D4HsllP9wcAy69K6vTpvqnH-w_JvjjcwXaEyBpvyxHyLKOl6lyjYNX_DkyN0DACnnntk_ResXKwYlV7-NUsSHZjAMc9JaMjxJifJmOkPTjYFNFSGykruGnsc8_1jRRDXpCStVNBo1uYMYj5k7YiCN-IhrgKfA-xuJ5ytu5_4j6eswzJhuw0DgaGtfuPDILHx_xp-d8H4G0N0_YPwPxASXXUzowtOBwpDPoaTKkwTqn2HmYgiKesbMDJCLf2r75s1e6QZa7lb62OIbBPBnI3-SwSz4kIo4CNqtmZtoJNsCu8AI30WRzGdBKI02ebqVEzpH5ca6NcxyTjJ5mkvrRIwLmiAfi1dTsSUTLoeIW_jc8-R9aUi7nZvuP7XMQj-AMR7VR0THQeCgsbonEATazt_sJ-M64fSRYKWhQIDAzkJxotKU0wgLsGJAhGBylsJd6HfGBA6VSvA1MpvZBUjnwsXYCkWuJX-6dQv98UwKRlLkrYMAiDZV0ZDQk-5_zwujs2z6jKqySPEFhnRaaVCNVBFhmbpuSJDXDCK6a4UG1-1SaICp2SOTAA9Kt096g-dEwq46lQNQW-5d8BvK0BSnyD149Rnsa5zQLUgwY-e0UO1D5Z0RXWTyDVSMb82zCrMAyLNY9m4K7yL_RVIjuMHYAYN9q2Gig5y5eqbIkLvFMdyzVvLg9KDg7Dsec_LGFp6tLMBMvSME6V0GCH3_kd_v0f0tabKWLYPAkzR9kbJLWUXM06FG1LwYwL0_DnwjAdVyP3UZW52zCMCIEFnsoETalnarUNJ5bmwuDq62zX-Xu5N-BrNrtzG3xMTFP-XDl3JU--DQQkWaet1EdtR4XF8rT37_LtE4ffilgzsSbU0jv1N3UqZppqp70XKG4YYEqmldYYLlSK3ehXhGyMfoHQi4EQSZO2j-leSG4HGWxol-z4IxRcP2fqqSUHuRyLbI0Oxqk4S3OfS0NomVo2Kd1UkHSjZa_cbxkeTIdqOwY2i9HCc0B6pf0pSlvyM2BkcdQyPt1TSV6xNi1gQBjMnxaipwXQKMMXSmOXglDmVtmf8WKQq2N_5oWfQHNbU-Vk3Oq-dAeUNEvAnvYS-f62QRjCmUzVdVofveThtGkMBIuw2wAe5uI3RufJT5IGhU7NrYsb91KcKrYoUydYY1gQToBdSoG0x8SgwcvFqEuZRpHjzwSsQ6zVNLXOmSFBEc3xMWsFr30Hg3q5AE3HuXoSyLP-bCu1FenW1aBarBZj9aMwN84aj9R_-NL92AnRr1aWZPm8W65BJwFYnTcXVJqLfXr6-zaTQko6OZ75jwavDgrjC-gUfWaodo3ISItEAO2MITJ4V_fBYO_9YNPfpAAhKVTCwvWRLMOYYIkYovz90FPA4Q_keLV63hBjQZFCWhBDLDjvMDIz9K7mMcd9o-urFIiszoj3HyG6LZ9ctGZRtyNs947UsZEigSk5COFwq6-YLicnlveuqSygezdbaVcGi_dGqgiAHV8t_8MkEIRJFAF32NSgxLbMTM_9ry1oWxJCfvqxk=",
  "id": "rs_0317b7ae175ce9cd016ab45b09dd1c87d0ba1338683108f888",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.385,\"right_y\":0.05,\"right_z\":0.025,\"right_gripper\":0.65},\"note\":\"The gripper closed fully, so that attempt missed the rim. I’ll reopen and move a little farther forward and outward, with the fingertips lower on the bowl’s edge.\"}",
  "call_id": "call_2OAPY2yODvoyOOd4EqTA848F",
  "id": "fc_0317b7ae175ce9cd016ab45b0eb03887d0b2966b67fa52630c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2OAPY2yODvoyOOd4EqTA848F",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.0261, 0.9995, 0.2115, 1.6203, 0.5789, 0.2436, 0.1932, 0.0578, 0.646]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=-0.0033 left_pitch=-0.0145 left_roll=0.0054 left_gripper=0.9995 right_x=0.3766 right_y=0.0498 right_z=0.0204 right_yaw=0.0069 right_pitch=-0.212 right_roll=-0.087 right_gripper=0.646\nstate[joint_eff]: [-0.2256, -1.306, 7.2547, 1.6972, -0.0415, -0.0269, -0.0122, -0.4718, -5.7231, 5.7915, 1.6972, -0.0024, 0.022, -0.1343]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0c8340f3c81d332bb2e8c5c4687be7a0854e1a1bd9ae4893550fa2f2df00237",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16ae5e2aacef2fafd765d5699275582941e06ac454c78ade2843f2685ef003fc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9b604b64c0a98b9faf4a6a588b846474d57934c569f3ead5619437e5e6c1b7c",
      "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 · 6.909 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 10 changed as sent

message 18 changed as sent

message 22 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8024, 0.6075, -0.3882, -0.0227, -0.0261, 0.9995, 0.2867, 1.4738, 0.6163, 0.0826, 0.2516, 0.1276, 0.9991]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1776 left_yaw=-0.0033 left_pitch=-0.0115 left_roll=0.0053 left_gripper=0.9995 right_x=0.3687 right_y=0.0666 right_z=0.0601 right_yaw=-0.0042 right_pitch=-0.1765 right_roll=-0.0707 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -1.4974, 7.0222, 1.7167, -0.0611, -0.0855, -0.0122, -0.1436, -6.3658, 6.8034, 1.9121, 0.0171, -0.1392, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.0261, 0.9995, 0.2878, 1.4937, 0.5808, 0.1387, 0.2466, 0.115, 0.0087]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=-0.0033 left_pitch=-0.0145 left_roll=0.0054 left_gripper=0.9995 right_x=0.3656 right_y=0.067 right_z=0.0494 right_yaw=0.008 right_pitch=-0.1773 right_roll=-0.0765 right_gripper=0.0087\nstate[joint_eff]: [-0.1026, -1.3197, 7.0222, 1.7265, -0.0806, -0.0708, -0.0122, 0.0889, -6.3521, 5.8598, 1.6386, 0.2418, 0.105, 0.7106]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.0261, 0.9995, 0.2115, 1.6203, 0.5789, 0.2436, 0.1932, 0.0578, 0.646]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=-0.0033 left_pitch=-0.0145 left_roll=0.0054 left_gripper=0.9995 right_x=0.3766 right_y=0.0498 right_z=0.0204 right_yaw=0.0069 right_pitch=-0.212 right_roll=-0.087 right_gripper=0.646\nstate[joint_eff]: [-0.2256, -1.306, 7.2547, 1.6972, -0.0415, -0.0269, -0.0122, -0.4718, -5.7231, 5.7915, 1.6972, -0.0024, 0.022, -0.1343]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0c8340f3c81d332bb2e8c5c4687be7a0854e1a1bd9ae4893550fa2f2df00237",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16ae5e2aacef2fafd765d5699275582941e06ac454c78ade2843f2685ef003fc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9b604b64c0a98b9faf4a6a588b846474d57934c569f3ead5619437e5e6c1b7c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFsUBye1cGkUG7ql8DvjNd6IPBjN-Mzq-NCyF5KgD8FHc95-gbN4gLABYGqf9JMWgwGsGNqz1dXBF6NJniLGue-FurLLjIpfqksnGH9YLKtJUcvew6Nxf598sOryTfnmyB5JCph4Jgw0cx43AI2VXsHroTxl-KmutK5oCLqs6i_Fih9B7Kd8cfDeWe5Xz0h_EgJd8MyvWpEjZvxKEY-Gwkor4YG78J3qpzCb2FimFn_wXta8PTijZcqhmXijo9MANK7nP6ZGAIoBYjcqg1ygcthSgeNg2TsmR2OqSl0KbAl-Pm8T26sNG27Kj5Yj9hkp3z8SGgPrsFEmbl18Bd6nCnLty_M9X8bEz4yaJj7ttwehbajuFWo7o9vpQVdHnTzw3cgLA6h0AQMatS7zgti_5saZM_qaVewk4w9hrjlZhiMoE9e7_nzp4B681lAo2AjEeLyreq-2sNmkT9viqZwEsfJgoEQsu7JVwrAMyHDOt8lSNOwdGRinR4TYeY1pPjES8mG3M_Mn4OgwgBBGSD1z6iGdgt3MjfZlkRiT946fEhnT9MIWqc6TuC6fJgv8vE9foIfvLU408ECBn1HccdRNJedQ94GW0TNTdz5OpvgMB74adzQ3TAB5bKNQcPxG4NFfeaHDlO5oufYIsgLDKGOPKEAs3SFqBSZkI1kZe4iHOmTHFCXE7TsozLRouX-4acBi1bdtT2jyt3oxggElQtgR8cCrvcSKd76j51aVvpwktd6O2Ze7te74mgRbcdP6v-FqHTlKVKQUwRQ0WmtifXMP5HrgLn6l27K1nLHWo12laomvBEMEhu4tKatEx_LCUIZUckYkWhfwbcezFz-LbrhcUsZdbmvEybqfV-z0kbBNULhAkQUXEx7tiSbdyeqQm-gQz6cM77FWOeWnxA8fTGcygYRnl5epQuK68SsuSoj6zzdS4fc40eI74lCsU1ho_Q_9-hNo_jQG4vD87vvZ6nKGbmXIauEANwSs6qTwjQqcrzwgH4IEzyC1ozTa2xnHvc9LS9jd0KN_IuhuvhHGDutasgH7xRtGxJp8Z9kiy7TH6OQQKHUTyWUknmktDLGmjMYSM1sIY0GgF6GrzvKmefEsEIOWFx5tM8AQrn3qwVqQVenVYxlZ_xfvnJ2jzLweFZAj2PFoclzojJGvmg2KyzmM9CXuUEbUthCPnAEoex9lNHcNs5m_SNA7WLhjTYAZJezscCnrS4q8cqCo7d1w-J6197sSXlnr0Fqx-opmp9gsuLjpCBBI2Pn_1m01yMfBS0g9brSzQSBy8y814H34m0JiBFwAe0mJHGIBt5tiWMoC-Yt5KkmLvDxoi2Urt-_c-j2NqiO-5zcssxkkCFmiMJ23rXVNXbBIbD74P18RONeLuBLTjk63nrrmQzrMFGE57FqJsySjMvI_2lC9s-ELW67D7Mo0h-lhXvutNto8hBcwwhRESpc-ml726N0hm_vMmCLrgtV8iOZSYpiLqCTatv3B4WpbXI5Pir5JdXAZlkslVIAeBDZwf6g8R9uCMUiKga3GQiZzErJ5XKP8nr8y0cLCS4ceNHT5G0l9zRFHp3Sj2UCu23I=",
  "id": "rs_0317b7ae175ce9cd016ab45b119aa887d0a0e55c4c8175cbd0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The fingertips are now lower beside the white bowl’s wall. I’ll make one more rim-grasp attempt and use the gripper opening to check whether it caught.\"}",
  "call_id": "call_aIMu8RIdF0G1o0R15ZSJyY45",
  "id": "fc_0317b7ae175ce9cd016ab45b13108c87d0b13df85452bf9b58",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aIMu8RIdF0G1o0R15ZSJyY45",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.0261, 0.9995, 0.2092, 1.6341, 0.5777, 0.2367, 0.1925, 0.0513, 0.0078]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=-0.0033 left_pitch=-0.0145 left_roll=0.0054 left_gripper=0.9995 right_x=0.3738 right_y=0.0485 right_z=0.0139 right_yaw=0.0078 right_pitch=-0.2337 right_roll=-0.0956 right_gripper=0.0078\nstate[joint_eff]: [-0.0068, -1.3197, 7.0222, 1.6923, -0.0611, -0.0757, -0.0073, 0.1026, -7.5692, 5.2718, 1.5556, 0.0611, 0.0708, 0.6276]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a0105be3ce4ae6beb6a449546ee08bb56246943f0e17fe15f8021d8d28fcd29",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5866f50b1b1826b5020499d33bb58107304b1cb546b6ecf69254147c84b3d093",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43d1d46dd2f2ca01a9102ba559beb22f7c61636258f1ce83e3396c199d267635",
      "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 · 17.07 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 14 changed as sent

message 22 changed as sent

message 26 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0223, -0.0261, 0.9995, 0.2878, 1.4937, 0.5823, 0.139, 0.2379, 0.1154, 0.5548]\nstate[eef_state]: left_x=0.2946 left_y=0.0017 left_z=0.1768 left_yaw=-0.0036 left_pitch=-0.0145 left_roll=0.0052 left_gripper=0.9995 right_x=0.366 right_y=0.0687 right_z=0.0498 right_yaw=0.0152 right_pitch=-0.1771 right_roll=-0.0697 right_gripper=0.5548\nstate[joint_eff]: [-0.1983, -1.3333, 7.0222, 1.7167, -0.0415, -0.0757, -0.0122, 0.1162, -6.5162, 5.7915, 1.6777, 0.2711, 0.0122, 0.2125]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.0261, 0.9995, 0.2115, 1.6203, 0.5789, 0.2436, 0.1932, 0.0578, 0.646]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=-0.0033 left_pitch=-0.0145 left_roll=0.0054 left_gripper=0.9995 right_x=0.3766 right_y=0.0498 right_z=0.0204 right_yaw=0.0069 right_pitch=-0.212 right_roll=-0.087 right_gripper=0.646\nstate[joint_eff]: [-0.2256, -1.306, 7.2547, 1.6972, -0.0415, -0.0269, -0.0122, -0.4718, -5.7231, 5.7915, 1.6972, -0.0024, 0.022, -0.1343]\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 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.0261, 0.9995, 0.2092, 1.6341, 0.5777, 0.2367, 0.1925, 0.0513, 0.0078]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=-0.0033 left_pitch=-0.0145 left_roll=0.0054 left_gripper=0.9995 right_x=0.3738 right_y=0.0485 right_z=0.0139 right_yaw=0.0078 right_pitch=-0.2337 right_roll=-0.0956 right_gripper=0.0078\nstate[joint_eff]: [-0.0068, -1.3197, 7.0222, 1.6923, -0.0611, -0.0757, -0.0073, 0.1026, -7.5692, 5.2718, 1.5556, 0.0611, 0.0708, 0.6276]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a0105be3ce4ae6beb6a449546ee08bb56246943f0e17fe15f8021d8d28fcd29",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5866f50b1b1826b5020499d33bb58107304b1cb546b6ecf69254147c84b3d093",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43d1d46dd2f2ca01a9102ba559beb22f7c61636258f1ce83e3396c199d267635",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFscbCCF3RQBJNm4bKud1bCFgcFTfSFqEULUCCTm48eS5L0U7WyWkAccgpKl_f83AdXn8cCUT5U3H15xkdMk7qv_aXy7Pmk5nhA0xNsL3YIDo8xO5Pyif4W1Givxnsr1dL2YnvjQC8r8qVrIbHcGl74nLcxfh1Zv98mVQ2Bk-n9DwlTiSH6aHdm2sA2Sw4D4vfqMbeIh5cIQHrd-Gk8eN7N-rnUMbgiab1RKD0exYDzJ_a0s4v2L897vaDX4DqVVPbl3aKt7WwjJt_u1ZWYliSMjBGZwwQizM_Or2tcYnes4r97bEFMGL25yTh8_xScU_4YAzuct6WtApr-_CShKbUcnt7bgvrYTByV1Cn9O2ZXVqaAmr86M-Gfb6FCDDj1RhUzC3aUJykmdBZmRiMbFK6JrvmkdTXRu5VDdD1IJ1SI_cjG0NDxkrEt-hDcgGdG1ViBW04Am9GKo3fK4d1F9O8xQmMQCecx1qEkctmCnIJNj-JtwnjSJAJgbJ5VDyHtAz6cRQOufgDmOf_j_dLNszL1QUVZng0NrMH3vYSsX2aGl4TBk7gId_qgw--NbXzS9Za0Sz4974DTjgrBXvF19DEPK0UkY3NcWUJJIq7A6wBAiKfAcpoilO_ULglt1J9Y3ujxImFx1sLV0WTGluULNi6WsSdtZgUnjyqwExdUwg-fJcJmG9WDsr5N206Yn12gsBTw9j6-PphkqDLpRgRUheijFtHZvtZDy3XNUmLmCBnttpqr9Anr6S82-oiuucne78i_eA-T7XsDouUZKcChKTUGgLOfStvBTzJmcUtOY8Q1r_NpG57zrNEUMFS2kq1Y9YPoZKuB30Z1V4aMcGjYOzw_g3GXxAXfsLHxw5hJQQ_I4Sr3NOoU_7swa2ED6wl31uJbtyyWJkmutRVyjj4z04W4BIhQgedpHe5ahPferf4SWX0FRHKfmjD9ScbZydNRN_KtIf4WHkyDQU-f987wwtwUoiOHrWmqQn9n73rs71a334SG-PeYTLvVBqxXB9Fp3Xl9GgQc8wCISXRxJ111022PD-2vwWcJEf9xnAMEmXGDRpZ7y-TghFyziTbRFHJPLePfGiVqnwH65lHgUMvupLP1RSHDsg95n3HNGFdP006kkYBsUcjr2SNJLPI6sz01n6WDHyZEZGjSYR3hbPNFNw6WledcZ_nON8J9bR-gDfgX43wud8SLpXUKUDYtq-4KZHhnRc9GAxTdS1tPnjmbLizUpqfeb4ke_yX7Eybe7LbDcjlkP82lCMzHf7hRSCW0_yMXCO_0V22EB_jyT3r3SnNDpHxvRFjPe3Pe9idV_6mc3Tbdp7Gu8f2HH12xekh8AZ5D6zWLkwb4vDyfvq440X12jwQ7JZeluNx1rCsWhhpKkeYeVy2PNSrDKYjUUwpWIhrID_oW6ZRvuzTTsF9k6HUKzO8xMUV_mmSPMz6HAFFSpfgH2cKdqAEOUKHlFxhXDwWAtw4DRg_t-6c7e4t0SZEcCB9wYOPaCDrgy7mXUeYZJngG3BiRQ3FCzNPEXAvq4cd0AB6J5GkmFw4YkfEpAWedjOu9xUc3Wtyif_9FraynbGvgpltQcXzHJSLt-7dixgW06FraBoaQe93D2-Rx9U9IG1aZvBESKk8y016qy-wMyPvkn156V-mU4g79nBuH4fJ8fNE5EKTyRtHGapZgnHc3fZtXOey-5dhdXitFwEc9dSRYX_6XcmbpG1vGGKrVo_4FoQvBcKaAUk_b7OQjfwqgZH0yapqXMZsk_Clb2LQgZEPS_StyE-p-TC1x0_m_zPD4OwZn7UOE2b0Dk0fHS0W6Uqd6Qfs6MapPoe_pRHDZtTrUer-XfT3un7pdsG1oD_OrDSGEEWczXiGKDD5DFEIh3E16g_YpDyRq9W6QXHsQc8XN0DshSA_slTQCXCyCd0s61nSUYdupwT27Zn-1SvirB29HgA0jWlFKBP5CR1XLxbVRg9l3KbB7BI_Z_vTwg1pLfi4VvcTlgj-dfzfaeDEys76KghdUExUVQoWUgakvBKV2KkSM2MkKx_a6_wAipJ08icxXsMZ2nLerAcZwM0-YD_CAjcwlyWcpKlI0CRnRdffTpiMzeLUYNjEwAwXM6aiBBliKrsIF4iTfv2ElgbEJKsEY-M4h5XuTGSf6y0yQYlYy0DVtdYRNscgWb0qfH3pdcJ8M8q0pD-sHgkM57R7Pj7yfI6CIAuOlEEEGTRN5KJmFYtlHoy6k1FV2r_25Bu1KkHrXfw6Dpnyynpxhl_KdEaUaKAM2qIITzA2YsbAPu0-4yrJxu92QfgwmmiZwy0CmdC0v0EYbSnDPygHjvM7TuTKefEHwcRikxkkTGRmkv98fEsXXMv9WFINhsdi1XEgDsC2TW5VQF2TMT5y2YOtf05Ak9FRk11G2jLQeQc96Chb93Tm0IduOevgnWRcRS-sW7sfxnMcPh2x8UcSuu9GKzqRVVF8btcyN0Bna51c8rQxGT_gRS7lG39hQZs4ODKRgE7CXWaUfFxkemQn4WVvJHEPqYIuFjsrpDIkyPtAVcQy4=",
  "id": "rs_0317b7ae175ce9cd016ab45b16f6b887d09d5f3babbf3d43ae",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.30,\"right_y\":-0.04,\"right_z\":0.18,\"right_gripper\":1},\"note\":\"The second close was also empty, and the bowl appears to have shifted sideways. I’ll lift clear to locate its rim again rather than repeat the same approach.\"}",
  "call_id": "call_sALyz9faaFwbw6ay5eJnP9BA",
  "id": "fc_0317b7ae175ce9cd016ab45b1b35d487d0a689f78de42f7604",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sALyz9faaFwbw6ay5eJnP9BA",
  "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]: [-0.0196, 0.8074, 0.6075, -0.3897, -0.0227, -0.0261, 0.9995, -0.1768, 1.0298, 0.807, -0.5732, -0.0444, -0.2127, 0.9951]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1759 left_yaw=-0.0033 left_pitch=-0.018 left_roll=0.0054 left_gripper=0.9995 right_x=0.306 right_y=-0.0431 right_z=0.1667 right_yaw=-0.0276 right_pitch=-0.2296 right_roll=-0.1079 right_gripper=0.9951\nstate[joint_eff]: [-0.0752, -1.4701, 7.0769, 1.6972, -0.0659, -0.0317, -0.0122, -0.2667, -3.453, 9.388, 1.5897, -0.2613, 0.105, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3ab9bdf17ff8d5a25b27ce5d525bdbde9b93f7f049094cd7c21f758933e12a0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef3c36829dcf9808a4721806a5feaf4dffbb49369a886be8678ffc4411bf03bf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e54c4a59fbb3c3f7592dc8ba16d96096c484dc1ea5df9edb24af8e8776dc278",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /responses · status 200 · 4.488 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 18 changed as sent

message 26 changed as sent

message 30 changed as sent

message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.0261, 0.9995, 0.2878, 1.4937, 0.5808, 0.1387, 0.2466, 0.115, 0.0087]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=-0.0033 left_pitch=-0.0145 left_roll=0.0054 left_gripper=0.9995 right_x=0.3656 right_y=0.067 right_z=0.0494 right_yaw=0.008 right_pitch=-0.1773 right_roll=-0.0765 right_gripper=0.0087\nstate[joint_eff]: [-0.1026, -1.3197, 7.0222, 1.7265, -0.0806, -0.0708, -0.0122, 0.0889, -6.3521, 5.8598, 1.6386, 0.2418, 0.105, 0.7106]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.0261, 0.9995, 0.2092, 1.6341, 0.5777, 0.2367, 0.1925, 0.0513, 0.0078]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=-0.0033 left_pitch=-0.0145 left_roll=0.0054 left_gripper=0.9995 right_x=0.3738 right_y=0.0485 right_z=0.0139 right_yaw=0.0078 right_pitch=-0.2337 right_roll=-0.0956 right_gripper=0.0078\nstate[joint_eff]: [-0.0068, -1.3197, 7.0222, 1.6923, -0.0611, -0.0757, -0.0073, 0.1026, -7.5692, 5.2718, 1.5556, 0.0611, 0.0708, 0.6276]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8074, 0.6075, -0.3897, -0.0227, -0.0261, 0.9995, -0.1768, 1.0298, 0.807, -0.5732, -0.0444, -0.2127, 0.9951]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1759 left_yaw=-0.0033 left_pitch=-0.018 left_roll=0.0054 left_gripper=0.9995 right_x=0.306 right_y=-0.0431 right_z=0.1667 right_yaw=-0.0276 right_pitch=-0.2296 right_roll=-0.1079 right_gripper=0.9951\nstate[joint_eff]: [-0.0752, -1.4701, 7.0769, 1.6972, -0.0659, -0.0317, -0.0122, -0.2667, -3.453, 9.388, 1.5897, -0.2613, 0.105, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3ab9bdf17ff8d5a25b27ce5d525bdbde9b93f7f049094cd7c21f758933e12a0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef3c36829dcf9808a4721806a5feaf4dffbb49369a886be8678ffc4411bf03bf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e54c4a59fbb3c3f7592dc8ba16d96096c484dc1ea5df9edb24af8e8776dc278",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFsuUGM0Z3yhCpJfDSsC9mmvVGQ9vxEZp6cAz9Rx_FuQ6aPLlPCVR32H_Ui5pz5esC0F8pKcLtSHCRxLiyWR25lbYpFJ1aOINPEep64qnt081qnEEmlvh_PNStCKiJOQuNVDIdh4yiAC9fwfN2rNxnXLN8kgl6_BORqKp2Q8aNb2MvsEkdx2smL3NkWRXLE8fncpnBkc8CW59MSxBxvHFPN-bspOaN6o2BWhJAynaBfDshH0FKDPXWQyNL4K53GJKlF4Ecr0bpEaLlWbAm82pRf1WumNhBpg98_hB_LhKvnrv_fyl6OQ9tXRghs3NZW-mdkOh4Up9lpeTOdM58_TDocvMCXgqUozFlzVhUhcJvrMk2E5iwBcsQ0wEycuuyZ9PLmKIrp6Wfn1xRDpAfcXo6_HJ-vKphZ-AqYtnMXPs1vvtMx55sys0Q_UmycYZE6uRAozJIIF0R5oPuR7dPzkgqBFPUjm7QbIe2dSQLu7uE4L7hzIMcjlN4wd-v24T7yvWhooXp74SM51OWEykt1oFl692nozLSOQBf7BZIxuYp0JUx7qvbOPC7o970Yoa1pu-db5V0WiEprmJzDK_RC4F-L2zaJyx-HkHv26jo2q7bMc_4t_Jsbhqn-vTRlsNHxQiCsL_WdqdhY-V8lTpzCqwgKY5c9sHRNimz73vTHdt53DeAZsQhKBBZn-TEUV6IZXMti5V-IaRpNffrs7JMcEgiFsXjTnr1PLac5ds-FfpVvRk98mzocgS-O5coktUklK0yehD6DlrleIVgfjDhLRhi27mHhulCrwEY6JvqhAMA4JwIVnhNa4Lm6U4TPga_9lPtaUkTY6nKGoq6kdQbB4hcgLttorVCPvZyyUFkVLYS-Nh_RRPAIcJSzM6UyGCHxsK-u-XZH1dLad-Yf1LAUGAGqNmFo0pmh4BYQuPYBd8tH6OwrtCXik9tlaJLvepixaYIddmBjzZYY0Xyzm1xxZlrYO3sYckZpKKoz0uP1TcGTtEaFGG9oYJZJFY8lb1Xc6ZUsano4cV8Oi6LvEOjt4BghbFDvjO5fsreBn-PtKzprOD3Wv3F09yv51Blndm_D5DHxh84uW0DQG8C2DUk-eohbHza-SlcoumWfUgnKLSUmFGgrMccNEz15WCIXj21TpLChsswCVXXj08zIvH99Z_8cLt0vuHU5GDmLjttGEHxbBFmzFIKb_AHGTpp41f8Me10sQO9M9K4KG9aNl2kc3O_F-8g1EoT-7Z4HNC5Turt-U7g5b3IKrh1UBgEzouXoHBgv2OQGNJK-z1g2uDYeTNzJC0dodQMtkSpdXUfPNZ9YaJwf0Um3l_1HmpNeubGqNuK_i5ZIzFXBKz0lhqP7iSGdgQE-2Rx-zkKx4qIHmXJOx0rBkGjRHhfm1VaZcBJwoSe2q6n5NpfryMWuWtTE52qdpnKq8qWJVKdiHMXmgBtsHFc5IMlfBE86Lj5evzicMNgBmeP6pcdhsDIn1SIFlnp-sOVC2Eu7SAcB6D8TLMLJPNhmy5L4ivrShhIY9bxrb4_6_dNHhlaOXEKceS3gRdT5hTnHyRYXVdPioMYgB3WMfHOqK9M8TeJsFQjC3cbuWAIWbAGRpkfnT1QAucpYKgelX9aSnP_nZPr_JpPOewPAitw528UqyUu40TpVdR2anRr1fuhzT9o4PJIlG3MPyGBGSrjCWl-kja1_YUjEOmO2jWtu6ODWYfiUhJCLcHtBfeyYSbmO6c2bIE0Pk3d41YjQZtJ5Xmn0BoE9tFkC4_bCpCZ6ncK5sw_sPvYDI3oeKoR8VGcMTLbVV-I30VA8dZookcfNy8lZ-A9fz6zxw7LQQb_Kih9PMieNii2dlFFgqZn6xkfXacAB_HMOsAZ_e1kiODM1eMTQdihscUb5BW6esW3ZGoPxio-w1qKRBL0I1tGpL3Os_9bWt0XOYCtEu-tEdpU5Q2e4vtC6_NP_74img7gfTTRiqnJwlxDxJv25l5uvYEwjzrBQIw5DOzoBeyT3NLt6d5y8BPg1Kg5JPfVBabZ-5WhGa1qCVBXZEZuVCNxGi4uYRZ0LtdNflpk26Oj4kmkJpIXVMTGp3Q94OCTcbwa9wUL5wzOxAoPM8ZLgU91byHnVgM5pOUqQJnWTPTMw_PZlDv-IJOF5lpGRzqiqm3G1xPjphFHYeWn9q_l9kPMmERFRshfE2eA5Xkf_oFG8SpN7-QEiRShQ5J3w18RFN9nQ1BXfG3lwCwRCQfa8eqr9doygPU00sk2Vs1hTtkwNFQpNSUsHD7qgS7qM63-akwp_xvZB09ANqUnLC-ezIo9vxTVVi_C-xgjx0PPHtOJ17TRChHqunwZAL3Aak4b-9xyCeBqV9xW_N_wMTfVJnS1LEmS71B-nnAj9t1M2F-KUhPvUgvbr54igFC08RY0j-WKjbqLE4UYFSfM7VCU_WPnNRNXJwLWYbsMT58W2_OFzztp3DSoJePRLSfbh6XxqQgvclnAVgxXSe7yM2BTlm_paKSlNQKCQkpy_cBFgLd_8ukDn69rdLm0CAaRsUqNsNNkMhjmiXZU7qepfWk_sZnhB6VGY5lwM7JwN4PrH8t7bCq-kjbPpVaYn8x1rDfI2d2YDw_d26X4bAAWQ_0Emf2cMVA_qtBP0Dn5rW72wiKoYdaL-svZAMI37JobIIcAJSi_Y_0-teKt0GfaCNopYy6GrurVSWKGckKe6Aw8k2z_Xd1iZuGIoOkKC2gTO6FYqop4Cl2Ip2AuRo7PRt2lTEQeKXCUtYs9IWA7NfC1Wd983k7dgYkutrsrPM8bLlINKMotxbRS-LubPt1LCAOlmLdZPjrK-eaAho2bW53J9TcbjASAzYuxHVAOer0cRXbcKSYcHLGYRx--hjVXgIgdKzFCb1FdVE41vyx9T6G3_dHEGd5MjvxsBnLp4gRPjx-G0fmLSVgWwwmaavf9ZOaDhdnIGogGp5Ny2Qv5ygWloOFXVfoNkRy0o_vfDwz7GiN4_KMlvy-XPnCIBVQxLb5MrzNqAK96Tk4b9b76T4cLaofli5QQM2a4h1TB6JSPVnURnpCNSPorGEmFpSwPcxb4dW4EEVDZVu-AqlskvqPFPRybUW7w2AKp6j27aCFpjVbg1EfbuYV7hPhb4iZwVvIex-9wx8TXRYIYioEi_9UJ37iTbWgKiD3mksS6Duvc1N0isLJAiNzKtq1FSJzVjIRIH_ttyN7gyTKG7I_BtEcSmGE6n1LuyNG2pxFL0JSK1jhswP24sqPhsuLhc8ewbfOSmrzzggewHtNP2mBUVv_SHt8iwuF690XVhpnuaSzv3CXnP3Ee5l1XyqaPPptmg2WHiq8LtKz0XYBqM6JG4LLqld2YPiITr8zfHVQG5L1AuZJzsBfQorTLb_ozxOk4xWDZF-xmo0bMWXuM6IRoCumghpbfMJS2aqQDy3QrqGDZpJWfI0EytTGgrVI1qhbA1dzeUxN1mHauiCQ-qEnIcY-lq5QY3g3gb-d1AluL2JdbL6L364m5FVd6RV9OAJoYL3Oh1Pz968VNufamQb-MuPp-VYl3bdJafQIrZ6z_3ClmbE3fiwxl4_Zq6lXeXKktmWUUEevnSX5n88dxNcPJJiyH0ZGE68hDdFu63kYTDNXCUQUcpQTHt7vI01Mu24NW0i0YQBSrJe8pTbTZtPZXnFQCHZZ0yMcxy8TxqpjwMfKxOjCIiaZmrBybpd9M6yMhrs78Ml51PfjotXIVFzdV3mpfjgK4IIJ6pjSFDU1EJxK5EoUwLexjJqgS52zdnF0WoB8EAvM22Iu6IQ3P3jsizpR3SRP0Rgnir9jbNOVsG7Wd-pO_glQ1w=",
  "id": "rs_0317b7ae175ce9cd016ab45b1eadf487d0837aa498147308c4",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtFsulgQu4afIbtLI856AqArOZnLDnpMQ8zATPwcxuftmgrzg_Wub_VsVUeiozWlxZSSvEA20z96BqAxkYWVeNQfZmmi2PzgXPKdxn-e991ClKpOp8u7Arbsgs7cludk1web7NOiTDIr34EaKAlCUgw30MjzsB_6AwClW36FArXLlyXuE06h8qYzSvq5VvJZAhhqSZRrA72QlsUcTwTO4BjIfiVk63BQ9dX3UH4rNhj5YkIqahFG4y0v6rMe9Gxp7AA6TaVA4_YQLogweWWv4d4h3jp5mX1cdzgl-uDp_TzcQoBrrNEWQNcAhKUAugifUXDxbgQzCzzinM_PHxWNcSNiyNvH-yaz9Otm3shVsE_qSEIBMy0eiK3zr1pH0tfxpXi6J26Wn3KrCgNz0pHvGwAPjp-GMI5Zjl4-3gnEdmrnZZfAfFhwuEUULem0zpNpzxF4Dq_5LmBxaQfe1xCK98jCcND1MzsxRa3HKa4qx1X5JtLhRoIejKOHOcck7LaAjHFXBLnJF2fZmQhw9uG01PmRV1INeM-6rz2cTAHTliQ0TwCUUYJtdAvJNKvUQ6wZBaHUkQHtTKSKWCDeEzEXdOLuU5dWzOemjXtE7oNOTdYSjsQ1jmhdQTlIanGD1szT8wtZ4BzjAwV05RYDuPo2052ShZZTfoVsvl0pChGoS3MaDgAJW_7_TWhhyFGmCRmUYosjwAr9wtJrJEUpr_1wLucBzPlOTwUDf8l6-nsXt7Tf0t7PIqZMq6ILxNfUZxb_EZZN6_PJXKtiY4MJHewsYnB3gbF2_BWs4OfiLySB8i1bdLGaa6bb18HHTO9IF46RCIA5eyziLEtirQza2Z60ho1iHL17MZn6fwI_MHhosumMLPD8qkix8oLAtVy3cbBUx_muIW4CDob2tocvfgr-1O728XoN3prqF2OyCF7dmT6kmVX60QXQ2p8UrpA4u14bD0e7CKdxwRALs8LOFHt4qwTbSdeS6lxK2JyI7V-M6lI0DolaiJo71ss5oANoKuVlNpCFYD8Lgl0Vfk0kNbpxVn7lJ1sTwFx2Dy5si_hIPivED_6uv89wc6Dc3xOhItQCqsD1Ubb4yYREtfTzCSVdusU_f9EVUcgVCh4xKJ_RhQ4aYZNskNNQw_vGp5a9vFPfpfVNIvREOzUDg4pMM99TT_7I3o3MHSKWG_C3oWmD9FBvJWFxd_1JoHVuDnI3YfSuAy8ppYueXDZo5eHpd55kWqz6Zcad9a2_baxNNNN_InDr6Le2fpz-cviJfG3c0-8PTchxEyFAP0qe6ZBLwa6Y66089zXNoG24wnrFPUsv7318kDA_c0D8d_v_9KMiMm8TxJRQ7Jrjgir2oV-Qw8tUEXenAqCPwxjw97wCGWbA7waVC_APqIvI4H3MdYrJOnEEQAb548_B1Sh4td_85PkFOBv9k515djxr1_BHKDQJDbDD817iTVdbxyo9KOpu8O32ZjdWWW3nH8foqt9OxFJ5uYOgNcU5W6LpdHPIwezkpp3GUWCSNTB_whJmcAS5uUj0xXVpnFSlSePawKHcEf2XvkxtkLX6shC2uJd_KGF_MiIdsymxWEMvUNKHj8D6ITOddO4mrtL3nXcY0B10ZPl445_b6j91oZfsVIXLELskKuxHMbVHbeBb2jwLgmC0sdljTOaRMrkhB6i-F3LMeemgY1bPB6LLs4IKevDpOZ7AtwopqSKmzLzndYvf7tzuFCbko8htUpP5RQGyK4f_una8QD0z0fUGCz8-hkV3-SNiqbJgUKMlF5gLaq245sML-2U2ohbdlBmBBjLvyRITn64ffUpXdLSwkgNhXTYnOsZcwWMFaq1tCh_t8ZUW9Xq1h4ACjDjCbDFZIq2oHzWVFVkVrYJnfUSbC1ZijiORVBY8jTKU_lxvJrW1BkvncE-JjaJa-6FgcJdNCAvZYyprVnIzHfilrUf3EywSSGtbMq_p_TIriwLhCX8F94KDLVs3PiQPZ2sOClK-UhgbxnafF1mFvtow8Sk5S-4Nq7BBSRZaxRXF8bLS1KgV4TvDVsnB0K8EycUk6pPk_k5jAl1n9FQ-pPO0pgIrwWq0QKLrDSLg60xG92p8yy-gArf2nmJKLa3CE4XQD8zswrmOYlT9ZfGgI1mpTjFdg9-3bV-iX9IRv0wCxxSJMjdKJVUu7BwxRUkQQc09yYY2GPOfc5CrnOSjBAxM1fovCztzLl1DCHxohWO1XZLheu-BPZqZwOCUdtVdrQQxasGu__GgtRP5r63kgSBo2T0udNCF46J_4N7ee2cfrj7P0dppeGynxUT_T5SY3TnCECI2csFeQ9PmdErDpKsPleVbTxMqSW0XpbY6fL4O2PZRifDqfPQrCOR9vrB8DUrmwzh5eXwuA3S6gDfm8dKknVJAqsC8E2QYgKVRDDL-7AnMBGAK6suF-TApyWROgHw038fb30Jk-h-zY9Gs-Ru9lW-XLofLJJHmJSnvpAvxoios=",
  "id": "rs_0317b7ae175ce9cd016ab45b27a0e087d0998f1596760233d7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.33,\"right_y\":0.015,\"right_z\":0.085,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0,\"right_gripper\":0.75},\"note\":\"The white bowl is now farther right and nearer the front of the table. I’ll approach its outer rim again, restoring the gripper to a vertical orientation for a more controlled pinch.\"}",
  "call_id": "call_njLz2MmfpO26lba8Mn0CjhsL",
  "id": "fc_0317b7ae175ce9cd016ab45b2d254c87d0983096964b82f6b0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_njLz2MmfpO26lba8Mn0CjhsL",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8085, 0.6075, -0.3901, -0.0227, -0.0261, 0.9995, 0.0536, 1.1213, 0.3538, 0.0662, 0.0284, -0.0189, 0.7518]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1755 left_yaw=-0.0033 left_pitch=-0.0195 left_roll=0.0055 left_gripper=0.9995 right_x=0.3114 right_y=0.0153 right_z=0.0638 right_yaw=0.0331 right_pitch=-0.1312 right_roll=-0.0202 right_gripper=0.7518\nstate[joint_eff]: [-0.1709, -1.1829, 7.0496, 1.7509, -0.0513, -0.0806, -0.0122, 0.2393, -3.412, 6.9402, 2.0488, 0.2222, 0.0464, 0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c0fdf2f523e5fd124230c07fae9a6e13dab1f7a2622a719ac2cfe23be785612",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65c59cd6d1d276cad3b299384367ef3bf0832f18ee3ea92d3fc2e7541733af19",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abc9cb7612639fa9d072b957a91b3a6166c2b7df55473ced018df45b2b6d28a6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 3.104 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 22 changed as sent

message 30 changed as sent

message 35 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.0261, 0.9995, 0.2115, 1.6203, 0.5789, 0.2436, 0.1932, 0.0578, 0.646]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=-0.0033 left_pitch=-0.0145 left_roll=0.0054 left_gripper=0.9995 right_x=0.3766 right_y=0.0498 right_z=0.0204 right_yaw=0.0069 right_pitch=-0.212 right_roll=-0.087 right_gripper=0.646\nstate[joint_eff]: [-0.2256, -1.306, 7.2547, 1.6972, -0.0415, -0.0269, -0.0122, -0.4718, -5.7231, 5.7915, 1.6972, -0.0024, 0.022, -0.1343]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8074, 0.6075, -0.3897, -0.0227, -0.0261, 0.9995, -0.1768, 1.0298, 0.807, -0.5732, -0.0444, -0.2127, 0.9951]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1759 left_yaw=-0.0033 left_pitch=-0.018 left_roll=0.0054 left_gripper=0.9995 right_x=0.306 right_y=-0.0431 right_z=0.1667 right_yaw=-0.0276 right_pitch=-0.2296 right_roll=-0.1079 right_gripper=0.9951\nstate[joint_eff]: [-0.0752, -1.4701, 7.0769, 1.6972, -0.0659, -0.0317, -0.0122, -0.2667, -3.453, 9.388, 1.5897, -0.2613, 0.105, -0.0952]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8085, 0.6075, -0.3901, -0.0227, -0.0261, 0.9995, 0.0536, 1.1213, 0.3538, 0.0662, 0.0284, -0.0189, 0.7518]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1755 left_yaw=-0.0033 left_pitch=-0.0195 left_roll=0.0055 left_gripper=0.9995 right_x=0.3114 right_y=0.0153 right_z=0.0638 right_yaw=0.0331 right_pitch=-0.1312 right_roll=-0.0202 right_gripper=0.7518\nstate[joint_eff]: [-0.1709, -1.1829, 7.0496, 1.7509, -0.0513, -0.0806, -0.0122, 0.2393, -3.412, 6.9402, 2.0488, 0.2222, 0.0464, 0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c0fdf2f523e5fd124230c07fae9a6e13dab1f7a2622a719ac2cfe23be785612",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65c59cd6d1d276cad3b299384367ef3bf0832f18ee3ea92d3fc2e7541733af19",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abc9cb7612639fa9d072b957a91b3a6166c2b7df55473ced018df45b2b6d28a6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFszQziNHhuq9eYWNUTwqIjqRShhYTK_PoPLsvDbseKKDjjbR7HkQ8fyIn-S_7Y-rsu6uIq1nosW_a1cUrpC6NQEQ4K5cwIBKOJ1r0pE6bR2MYalQPeslMHwXMJSnXu3hWc4kgy0baR3YGiTM6oY1O7zvgMlh7vPyl-SW4UBNi2OYWCMeLDJuNXnECNK8AoitPeQ0nP8DHjeV23wIFbPIilAHJuL462-CSeMYJq4mDUBRKTG1P5KdsaIPxynV8C3tCYL1KuXVJE6_3kZcemUuNMKXmgGgKpQZaA8KP280hIfrXsmKDcZq6bzRNdsouSTS8cy_cORfI1fdyZjEDeIAh6wTdzAdYx-jh6RRRUVIxpH0bWg0iLd63LuTQvLNnb_3ZwhP2s-vonGo7zO47sb1w_AoNWurL4mDLTEp_yFQjDH8nRhha3eX2rXCmcUTkpFYpC0-wPZBuByK_vcJc_wmYoDng5695fhhUfF3OmEZ1f5iv_AlID8lWAfti4R1oPrjOGBvvrNI0jYq5lHxWXmo5cuJilNrulSvELliJksLOHgVxjEhd8mdNuZmVzAwplK0H7J6jYm6NthJxie99on4e56XVRKUVFLi8uHYyq1CUJtXRrQRfNvtlv3KNLYyUTsxJwtsr8LbK5elc3nQnlPg9fX9v68HRIdRCnusrvRmI7jIsWkFLFTTtpBxqK2Ew4xbC8K8RdGoh2Z6MPsr8e4Z53lYkH2OhHgu0zUc8mdO9Sf0RVVxcs7Df1G0tgLgORcJL7P8oWKP2AdCRD3QPZZOpAQstItt9-C8I5gRJJ0pVfelbb9pIuRhmoi-K6G-BazVUvzs6rEULNDUsPhQI1ptt6rAhxsBbDfXduCKaQT210dYdN-07VYFVmJ3SlFBq1Gy_WiP7_LrfSTVYHkwkHQM-XEfm40mGF33Sffp-fTIbBCA9C4IpOctiv_rKSy-Y03BlWFibu4psQkeyyGY-nsGeOikMs9aPTDFFpgCT8eL6S02lO8zbhtpcn1TwGJlBJteFHoinSGziAS21SwEJrQmnv2weWK-FdpWdjqxN92wPha81uT0ZEwoTOGh6lKmhrT-s9YF8UNkDhyRMw2RmJBrsJpBr7rIOtQDYAdYV92AFSyxGnnJDWzO9yMA2V2wFcqSbChnM9OCKDzDsWn-AOHfUSex1tMEvr-NUujgFfFDPe9O2oAjNMpJoVHjj6trEmf2i9l1ktMDRMP-aMoXz5RiJ9QhY4mIhOfAHUZREcRNWzZWc5RMN-CjgLO6nD7jd8ExvCnLKKtGBVXpTzOJTTTHzon06kxHEYbVZfwuoBS3SVE16F1-0mDNZxifvsH8G6uF5PCJBOETlQO7Vts1_U5Wgsk7LrOr9TV6e_-X-5wVwaS1ulleFgs-n6rnaFE97Upa4WN2ZGxTNSVvReJTsmMpBQH6frd-pUaiqAVUgsib0HAStQ9vIAbtkKvZ0CbeNZSjZS3R-W7csFl-Y80cplpskriDQ5RpgoGUO09lFWNoGmvaozEmQjVE-1QfP-la3LI9_nibaO1NH_ZEevnI2w0iVGri5JFeJLQA-LFgqCNDEYMyaYsrligNc8XT_VxYh4yjH4rY_u42zybzrIzWNxS_rKKwuM4S9wkz_60g8u5sqU-YTxQTL6VECXxzjinEFxNnzyCnAmRXQlp6EL2prGVMwKtyiH4jIcy-fG41bULuDWiB2UcjpLezdb4LdOS8rg4aqrA9HsF5rH0UMAn-gHfzbO-aJnx3ncC2OIh2-010zlEHMcp0PgRmiuqlJWQ71ea2bOK",
  "id": "rs_0317b7ae175ce9cd016ab45b30767487d09885702daf2ad1ce",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.005,\"right_z\":0.045,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The right rim is now between the open fingers, and the bowl has stayed upright. I’ll advance slightly and lower the fingertips below the lip before closing.\"}",
  "call_id": "call_a7KftzL0LSFQ6QqXEOmRRfQ2",
  "id": "fc_0317b7ae175ce9cd016ab45b327d7487d0ae1eb739a97949dd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_a7KftzL0LSFQ6QqXEOmRRfQ2",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.3901, -0.0227, -0.0261, 0.9995, 0.0154, 1.4067, 0.3012, 0.4259, 0.0135, -0.0113, 0.7517]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1747 left_yaw=-0.0033 left_pitch=-0.0226 left_roll=0.0055 left_gripper=0.9995 right_x=0.3324 right_y=0.0063 right_z=0.0255 right_yaw=0.0035 right_pitch=-0.1095 right_roll=-0.0044 right_gripper=0.7517\nstate[joint_eff]: [-0.1162, -1.5248, 7.0222, 1.6874, -0.0855, -0.0513, -0.0122, -0.7726, -4.6564, 5.4222, 1.9463, -0.0806, -0.0171, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c770cfe2506adf1ed5d74901f25a8b536c04edbece0f0a8766e99de5958b2057",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9738cfcf46fbe6840f1787c4021ae13dc02bd5e5773a6e5d044c685cfc31240c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27e998742f759d3f2828396815f12c4b8b2c01678f500cf98570cee4ea678d7b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 3.332 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 26 changed as sent

message 35 changed as sent

message 39 changed as sent

message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.0261, 0.9995, 0.2092, 1.6341, 0.5777, 0.2367, 0.1925, 0.0513, 0.0078]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=-0.0033 left_pitch=-0.0145 left_roll=0.0054 left_gripper=0.9995 right_x=0.3738 right_y=0.0485 right_z=0.0139 right_yaw=0.0078 right_pitch=-0.2337 right_roll=-0.0956 right_gripper=0.0078\nstate[joint_eff]: [-0.0068, -1.3197, 7.0222, 1.6923, -0.0611, -0.0757, -0.0073, 0.1026, -7.5692, 5.2718, 1.5556, 0.0611, 0.0708, 0.6276]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8085, 0.6075, -0.3901, -0.0227, -0.0261, 0.9995, 0.0536, 1.1213, 0.3538, 0.0662, 0.0284, -0.0189, 0.7518]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1755 left_yaw=-0.0033 left_pitch=-0.0195 left_roll=0.0055 left_gripper=0.9995 right_x=0.3114 right_y=0.0153 right_z=0.0638 right_yaw=0.0331 right_pitch=-0.1312 right_roll=-0.0202 right_gripper=0.7518\nstate[joint_eff]: [-0.1709, -1.1829, 7.0496, 1.7509, -0.0513, -0.0806, -0.0122, 0.2393, -3.412, 6.9402, 2.0488, 0.2222, 0.0464, 0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.3901, -0.0227, -0.0261, 0.9995, 0.0154, 1.4067, 0.3012, 0.4259, 0.0135, -0.0113, 0.7517]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1747 left_yaw=-0.0033 left_pitch=-0.0226 left_roll=0.0055 left_gripper=0.9995 right_x=0.3324 right_y=0.0063 right_z=0.0255 right_yaw=0.0035 right_pitch=-0.1095 right_roll=-0.0044 right_gripper=0.7517\nstate[joint_eff]: [-0.1162, -1.5248, 7.0222, 1.6874, -0.0855, -0.0513, -0.0122, -0.7726, -4.6564, 5.4222, 1.9463, -0.0806, -0.0171, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c770cfe2506adf1ed5d74901f25a8b536c04edbece0f0a8766e99de5958b2057",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9738cfcf46fbe6840f1787c4021ae13dc02bd5e5773a6e5d044c685cfc31240c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27e998742f759d3f2828396815f12c4b8b2c01678f500cf98570cee4ea678d7b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFs3QwvpMSyFCiWAZDr9Q7WOKyIrR4yrhAmoMzDoCq8msu8s-MgJ80fhv2cNpw6EJU0BCHErPgFMBF1R_uIUQ-sW47Ie7DWP7v9s-phcFBnsDrryl-Ah-6zV0_vFbzjziMDbqtVcSVXi_DdUGngQ7MRKXO2kN18XKA7XXkRnr_NjTnboZ5fUz-PnACMS-CaKlWccgbBjte0K5_wwVZaxvEZSJzeqAtyMKBui31zK1-hjP_DrpO-uU0F0rIo2OcEl-YiHTTjpFJm17-x2gI3qPl9y_q40ffxUo3tW8aA4yw5lBWThRJZrzzDWSAzPY4QO3a61fYK4X1f7fXwxzFbCJijGmNZZprFt2H7eNYXWze4Wqq4Ab5xrNKh5ow_q5sHxs_CpwrbjDO4KVsNNUy6ND5xmPAEAZ6N8VAoUs7ZU0bybUJBPVR-KrXpN2_NHE6ZIVVr2AJ_FAaf5jRk08AfP9PZcXrQ_zy6NpD6_Q5PYTg6LkyR-MreI49XJSmpxNtrfnaaCP3Qel_0ncmwxWyBs3iXtclMX55iOtD10sSTshykPaW4J5lk25lGwST_V7FJ-37pks52Qegc8-4x-7T1gXUfJsdpdcdmapdCEMMcJWMyPW5ig_Gn7DWS8Kzm5g8z_aw2bvrtr6MdFwDuVin0k-I7Vnnj5xTk_ZMDmEvBnrR0BHRFEk7SW2qJmxKGEcEcFydFK_T71Xfrsn5yWwdr2ng-4pPETnM3e1-zfrqs6qddoZwp1Fp5oT-hbKx0GkryMyuYU35S6dpMkJzbS62qQYh5BalaFCIfRi6UGzgidwXy7X1zBLk8L1VezDXExnilrJVCMrZjcC7UNEIL0Vgh06M-KutJElfBoJJ7XeikTsE48UZfGJZXUmLmhCvgaww0D5NjhzHm2YlPXw1OVS_9dtLX_yZXXk-bN8Xk8cPiEZQLT_2Bc9GWCb1EthdxWllHDiLnMqAMtjzX1Q5Uc4ieJdvWwsPkylAE-xPjbdi9NqnjpmRELjoJOZuLvz_PL4J7nJ3-VGfc5QNcXVkwFdC5ux4PmzJB4_WukBmesmRdB6VLVVRyJ_47uCZTzIY8LMjcJGe8AcCxYMFI7YWLcoQVK1wseUhxPNNiJa-GDNLhGffMuZ3aSCLxIVHMUfF5viehNsNSyqQYpHpTexEa-kihZZVdCGvlV8OkgMRogsvY-teao4Rwdqr803TtF76FYM2YnDdlcVJ66m7FvLDHqXOHxy68nlTXmTnErFxwlyR2nPWgpl8-Otim0FKZAYO4e-vdBzysl-yNxXWPEwrHPi_C9CAvVUCNNEZ6iWeHJa-cYrdmmrmeeyuCYizFCaohJk7wtAfUE",
  "id": "rs_0317b7ae175ce9cd016ab45b35b01c87d0b6def1e4061ca61d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The bowl’s outer wall sits between the fingertips at this lower height. I’ll close on the rim and check whether the jaws stop short of fully closed.\"}",
  "call_id": "call_X2yve944IsrQ1vco5eeDQlM9",
  "id": "fc_0317b7ae175ce9cd016ab45b36259c87d099164e9fc91b1eee",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_X2yve944IsrQ1vco5eeDQlM9",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.3897, -0.0227, -0.0261, 0.9995, 0.0132, 1.4193, 0.2569, 0.5816, -0.0082, 0.0029, 0.0388]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1747 left_yaw=-0.0033 left_pitch=-0.0222 left_roll=0.0055 left_gripper=0.9995 right_x=0.3388 right_y=0.0095 right_z=0.0368 right_yaw=0.012 right_pitch=-0.0108 right_roll=0.0205 right_gripper=0.0388\nstate[joint_eff]: [-0.0479, -1.347, 7.2684, 1.7167, -0.0806, -0.0611, -0.0122, 0.1573, -2.947, 5.2308, 0.9597, 0.3541, -0.2418, 1.0476]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ddd8443d9c28786756818d3bd3c66fd7ef4588619501b4cc420f0162471e3382",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6c07b9bcbabe0a16b46ba68d0d15034f316d5df6ee019b1339aed599dff1201",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3ebe7bb5a6e88cdb410c6ef4207502be5b3019f8f184c0650b51d7363f29b57",
      "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 · 3.727 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 30 changed as sent

message 39 changed as sent

message 43 changed as sent

message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8074, 0.6075, -0.3897, -0.0227, -0.0261, 0.9995, -0.1768, 1.0298, 0.807, -0.5732, -0.0444, -0.2127, 0.9951]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1759 left_yaw=-0.0033 left_pitch=-0.018 left_roll=0.0054 left_gripper=0.9995 right_x=0.306 right_y=-0.0431 right_z=0.1667 right_yaw=-0.0276 right_pitch=-0.2296 right_roll=-0.1079 right_gripper=0.9951\nstate[joint_eff]: [-0.0752, -1.4701, 7.0769, 1.6972, -0.0659, -0.0317, -0.0122, -0.2667, -3.453, 9.388, 1.5897, -0.2613, 0.105, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.3901, -0.0227, -0.0261, 0.9995, 0.0154, 1.4067, 0.3012, 0.4259, 0.0135, -0.0113, 0.7517]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1747 left_yaw=-0.0033 left_pitch=-0.0226 left_roll=0.0055 left_gripper=0.9995 right_x=0.3324 right_y=0.0063 right_z=0.0255 right_yaw=0.0035 right_pitch=-0.1095 right_roll=-0.0044 right_gripper=0.7517\nstate[joint_eff]: [-0.1162, -1.5248, 7.0222, 1.6874, -0.0855, -0.0513, -0.0122, -0.7726, -4.6564, 5.4222, 1.9463, -0.0806, -0.0171, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.3897, -0.0227, -0.0261, 0.9995, 0.0132, 1.4193, 0.2569, 0.5816, -0.0082, 0.0029, 0.0388]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1747 left_yaw=-0.0033 left_pitch=-0.0222 left_roll=0.0055 left_gripper=0.9995 right_x=0.3388 right_y=0.0095 right_z=0.0368 right_yaw=0.012 right_pitch=-0.0108 right_roll=0.0205 right_gripper=0.0388\nstate[joint_eff]: [-0.0479, -1.347, 7.2684, 1.7167, -0.0806, -0.0611, -0.0122, 0.1573, -2.947, 5.2308, 0.9597, 0.3541, -0.2418, 1.0476]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ddd8443d9c28786756818d3bd3c66fd7ef4588619501b4cc420f0162471e3382",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6c07b9bcbabe0a16b46ba68d0d15034f316d5df6ee019b1339aed599dff1201",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3ebe7bb5a6e88cdb410c6ef4207502be5b3019f8f184c0650b51d7363f29b57",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFs7KTirspFT7ijG70aYlafr-R2ftkV1Ai-i5fLieo1IYutTG6i6i9rr71MrVtUxAmk6SQ4S3qvTLS-ae3MZFinQ2AtY056-vMKoBCqi71YSXLCxga3IfD0belrqLRVduAPMpalZyijKC6Xh5TMXrUyAZIMfxg0c8kNpQ4-KdE7aCtlQneB0BfwI_RMS0W94GUjrc870EgLMf1mL09ZNsc5BBjgPFRlYSo6_TE4KbiRVtQkfxwJ5vFVqUipa-7dz2l6MIgstHW0w8psezI7_jMYm_FFgw7JCr9nJY-W_V0thmF43dqk4oRoNo9oIL7sRgZFla9vKPWbb5dVKnCQbjqAQR_Smglk5PigQzSy0jhiEW3aU4ZspJhK3lri5kaOuB4oh-NXCHGAOz_WoUxCaXK4rC-9dC-gHjKEkcBLzDYhPCo-gkW9oyYqD5Uhh7ES0Pq11YVjsM2364pgDBnO2F_VPY0nnNFMeWwLVhZ5RgFegzJ3EhOZCsVfyTYPeSPC2WYOQ3OD_NugeNffJWxhdRkupPDFGwpgbCuJgZen39YIdLFZHp1esD83d06n3MkmNexyZe08eSeSZnl-Pb8yO_N9G8AfoSSwY-tfCZSajQso5hRjmrdIp5F9WH-gcqhsAAs_HIbCGPvsitsq88NQthxww5Be1vEn7koQ54U2f8bda8ABJ1f-FkOttmWIObpeLs6nhKoeWrmsd8f9__D4DZtXU_DRk4G0BKDwz3XRjXPBwQNjDgOWHs_rXuGnQvd_bxzcKCyjV9DjYUt47YEHPOb6ipZAibBmLFsTlEFEk7e-Pr6Cq9-5ZNKLO_ZRAv4eSEHEMEOIkAjql1-8zn4vttWigI_IzKPkF4k1GQvPdCju0b5X9xPZOdOreUVknlRYTaBjpxiydAWSukSBZRTLaXxkyyodfMSQ3HZ-e42lOT86Kwz6dYNJcFMDwZFzeAJbKh4-hLNxcUz1qRebBopdx95kBrOcpmrIbp8rhMWgRnzs4OS9hy66xXI0EPJR-aLneR08G_Mp3iyWAXtL4qepu3DmYB1Vo7sU1LaYQpbQ2B2pamJjwGlHUOTSb7upk2H6KEBrRUNQ356LgVyvwqV7u2GVlmJixdj4xuEhk_XzB9LSvHo7sE_bWEntwkslvlNCx6Ftj1o5hnT-h6TEjgEBMnuHpCNWNckWKQ03UROWQRlK9AWEL7R46zn7Jqzzdy4PPygxDvo81AWq_ZAjgWwzBfJjw4liP9ziRNC1CHu16wk0cGENrlrxHVPbCJXO0tKy_HrFx5NJlLbH39gScPhd8N2LcdsZ9a2rZWNhq5Atwy3iC9aAbvROF65-ke6wV2hNrJPq4Fw0gfS1-S7rxigHWYBWF-9AWcSzezYs0fFCZ1RmCTns02iFI-jycz-bp6Spv1VXozSKLqa2wWXF4e5iop5uzXEacNYzAo25o4AZ776RlYHp-K0VwsfZr6pjy9TAF6eZYJ-Yvl18IACX6_I8M1oZUEydlg79cULu1ZXinonu1_GPSjI3X-GOfz1uhL3ZD2Hk8",
  "id": "rs_0317b7ae175ce9cd016ab45b39328c87d0aa79f7dcf411c461",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.01,\"right_z\":0.095,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The jaws stopped at a very small opening, which could be the thin rim but is not conclusive. I’ll lift about five centimeters and check whether the bowl rises with them.\"}",
  "call_id": "call_WOMW0g97UN2vpjAfZGqkvbgk",
  "id": "fc_0317b7ae175ce9cd016ab45b3a313487d0a9c97f7f30aef61e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WOMW0g97UN2vpjAfZGqkvbgk",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8146, 0.6075, -0.4007, -0.0227, -0.0261, 0.9995, 0.0128, 1.4178, 0.2588, 0.588, -0.0086, 0.004, 0.0396]\nstate[eef_state]: left_x=0.2937 left_y=0.0018 left_z=0.1717 left_yaw=-0.0033 left_pitch=-0.0363 left_roll=0.0057 left_gripper=0.9995 right_x=0.3405 right_y=0.0095 right_z=0.0393 right_yaw=0.0113 right_pitch=-0.0009 right_roll=0.0217 right_gripper=0.0396\nstate[joint_eff]: [-0.1709, -1.388, 7.0496, 1.8144, -0.0855, -0.0562, -0.0122, 0.1846, -3.3299, 4.9162, 1.2723, 0.1783, -0.1978, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6632205c0f65d1ce85b0b9d5e45dac279ada760cc4d489962b9905b37cd81ea7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b84d8393ab59d6fef279f06645a4d27e63682ce49a7dc595a98ae67941a1e8e4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef1085c65c56efef2313290c76991ec27cf21455948700197f9001929cc0655c",
      "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 · 6.597 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 35 changed as sent

message 43 changed as sent

message 47 changed as sent

message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8085, 0.6075, -0.3901, -0.0227, -0.0261, 0.9995, 0.0536, 1.1213, 0.3538, 0.0662, 0.0284, -0.0189, 0.7518]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1755 left_yaw=-0.0033 left_pitch=-0.0195 left_roll=0.0055 left_gripper=0.9995 right_x=0.3114 right_y=0.0153 right_z=0.0638 right_yaw=0.0331 right_pitch=-0.1312 right_roll=-0.0202 right_gripper=0.7518\nstate[joint_eff]: [-0.1709, -1.1829, 7.0496, 1.7509, -0.0513, -0.0806, -0.0122, 0.2393, -3.412, 6.9402, 2.0488, 0.2222, 0.0464, 0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.3897, -0.0227, -0.0261, 0.9995, 0.0132, 1.4193, 0.2569, 0.5816, -0.0082, 0.0029, 0.0388]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1747 left_yaw=-0.0033 left_pitch=-0.0222 left_roll=0.0055 left_gripper=0.9995 right_x=0.3388 right_y=0.0095 right_z=0.0368 right_yaw=0.012 right_pitch=-0.0108 right_roll=0.0205 right_gripper=0.0388\nstate[joint_eff]: [-0.0479, -1.347, 7.2684, 1.7167, -0.0806, -0.0611, -0.0122, 0.1573, -2.947, 5.2308, 0.9597, 0.3541, -0.2418, 1.0476]\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 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8146, 0.6075, -0.4007, -0.0227, -0.0261, 0.9995, 0.0128, 1.4178, 0.2588, 0.588, -0.0086, 0.004, 0.0396]\nstate[eef_state]: left_x=0.2937 left_y=0.0018 left_z=0.1717 left_yaw=-0.0033 left_pitch=-0.0363 left_roll=0.0057 left_gripper=0.9995 right_x=0.3405 right_y=0.0095 right_z=0.0393 right_yaw=0.0113 right_pitch=-0.0009 right_roll=0.0217 right_gripper=0.0396\nstate[joint_eff]: [-0.1709, -1.388, 7.0496, 1.8144, -0.0855, -0.0562, -0.0122, 0.1846, -3.3299, 4.9162, 1.2723, 0.1783, -0.1978, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6632205c0f65d1ce85b0b9d5e45dac279ada760cc4d489962b9905b37cd81ea7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b84d8393ab59d6fef279f06645a4d27e63682ce49a7dc595a98ae67941a1e8e4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef1085c65c56efef2313290c76991ec27cf21455948700197f9001929cc0655c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFs_8mXDBqpFq3XkXHgjFueeUaVHucS9GK2ZtTPVgK03z5hneVGmaEdnwgIljpM4gsYi3QNXrPr72XeLeai6AN5K6tU2dxt4LjfmZlTJpQ7_I49dD6bq_Je40Jram2ssa0OmEc2J-R2ohdvbcJuVvcTQBMvRl3PSEZvG-OYpYfjTkPw5pdlDKr8cbTdhri_73lljs2_GhKQ-c1Z-ZJrxVOO3bLBV16qwkthqCQbSyfS7EhKch8x_7W37gLHWuWYBFsWatAqERUvbZ4BFkBt79n5h-IlwAE87c82nFa6bEGeX2pZFqAUSbNEfV6B4BeDyTWeJbuojwnjcT6S_nBWLux9mQ290bugpS6q3QhYwRiYAG-mu2XlaZhGOZMo5_M2aBKx_-bLsjwWwGNcImMvQM9z5SnBK393vpUoBmD0_tmOPmJUTXkqO4Me_CCzoNjyUytiU7sYFAPkb5RSh4hII-PHDDMk6wkgViUm4Pp3CvgflHprK7zFf5NOkCPy-b2ZgCPZz7g7TliTRyNYxeikWuxy9KWBexf2wf1thr0R5uxOyXbWTMqHB8TGAHwHgCEl5XoGsiFykwSG0THR0C_Xnie2fUXZ0gTJUdOW2ulPt1e0b-Sze7OpjkkQlk-7fn6qtOBDdpTHbwTBzjKsIu0lXLtiOz5MPn2D0cg_4m1dMJ9oFw6rHvKQHbHqkqdHKLNcv_tDNP8KlvAu2Cw88ODgbSODxIi-ydOnVLC2_2pzc9OfkMnO5CCvcssOU17cS8G9HMTEUmYYvjzplMAZURHMipPgFusc2AHgAScHhaJ4viwuazMR3o0asPpsQh3-_jov3fZevwuIl4dopYgwH5V5pClocStV-2C33iYnYro90wP0o58LHiQuOYZrDh8n4_m1JF2McgOJApfUqNNnsvwrD6bUAmQ1cGRAW09xF1UDLn_iQsxtRHQ_FjPbhcCG6T77ilvQcUxI6OszeVeRH1a_1za9iDIrHJAjzk8fa0YLbCIjgGb2zCsk0St6Fd9QeNJK1_Y3DRxWkBPQiI9KVJAAvKVEyya3IziOcRKaKCqaOM5ZxHhl_i21VyxoN5oI1YESA8WFOWQr9y-S5o1WwhHaxMkeqk1iskNkiy-tXcLr1qeH0oHvllgKe1Sy9VkXY70V4KxlNr4Vhf8-yb3Rcxa_uQVfD_WbzrC8C1MGUjulBshQvVJUUmn9rMFlOhyA5xzzGRBtyH8Qc0JxVdsuvTRhFwNojJr6llzCtOKtObmNpOMEFNeRZCRIrYO5jqSoW6WwMp0CAMleN_3oiO7UtnM1XykQpio01VZhHADosYN67r0RSBBiYXQBi-EFDwsWV3CzgSvM8Wej1m1Gzxz2FHBZh-fBa7IDSWXlzqL4s45jnAmUPtsqK2gehHAqanV052xfXgAAFd-hXEiuiy5mBHY4naYtXcINWp4vKRb8I_E9Zu6u-l_VMN9wa1WwK3u3S8m9UVfgwD-F1EAr2cRULT1h9R_CE98WEXyJFX4eaak3wZY-pYonTwX0i4UIQW4RBG4H1lnLyEydrRt4z-ajPROIffefjRouks4y7kT9scFPfoj0NMEkvTJV6aOhow1KQbkVKeY63kFiFZa3Iv8Es_bxJAz6dNqSFtt1NQUgjzNjEOBLp6xkxvgD05xGpDV-yMc9bNp2fEIosQ73mFQKEMqGW9_lgip4LxSdxms_gF3bVaTm8k_dD_dKfeH8lCmDEKIHTqXbF7NeW6pLRdamC9pNczEQaN1z-gRB5JTm9iickp-h-EwLse9w4Y6Xp-cT51osSZWz430Lg1_Syp-AJTr4zJACPQNg5T7DbCqO65DnEL5a0jEU=",
  "id": "rs_0317b7ae175ce9cd016ab45b3ce96887d0b18b2e18812e8b48",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.01,\"right_z\":0.17,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The arm did not rise to the last height target, so the lift is not yet confirmed. I’ll use a slightly retracted, higher pose to lift clear without dragging the bowl.\"}",
  "call_id": "call_2hMtvuDAobG8H3UeT0WfSeFk",
  "id": "fc_0317b7ae175ce9cd016ab45b3e3d3887d09ec2a788d6cb1491",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2hMtvuDAobG8H3UeT0WfSeFk",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8181, 0.6075, -0.4076, -0.0227, -0.0261, 0.9995, 0.0402, 0.8413, 0.5201, -0.2455, 0.0219, 0.0002, 0.0402]\nstate[eef_state]: left_x=0.2929 left_y=0.0018 left_z=0.1693 left_yaw=-0.0033 left_pitch=-0.0466 left_roll=0.0059 left_gripper=0.9995 right_x=0.3035 right_y=0.0119 right_z=0.1561 right_yaw=0.0151 right_pitch=0.0035 right_roll=0.0021 right_gripper=0.0402\nstate[joint_eff]: [-0.1709, -1.6752, 7.0222, 1.7705, -0.0659, -0.0708, -0.0073, 0.212, -1.9077, 9.853, 1.8388, 0.1538, 0.0562, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c3dac2a9ef0851c030816ea109a2c95bcb7564bcf856e400567c8a076964b51",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acbfb59efab47708d10379dc7e7b3cbc8799be9b691d14e8f2a51402cd28fb93",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d3fd6b34e65ba0ccdcc19bdf880c3ebe0c96f8459f883a43c1df2d76273f879",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 4.604 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 39 changed as sent

message 47 changed as sent

message 51 changed as sent

message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.3901, -0.0227, -0.0261, 0.9995, 0.0154, 1.4067, 0.3012, 0.4259, 0.0135, -0.0113, 0.7517]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1747 left_yaw=-0.0033 left_pitch=-0.0226 left_roll=0.0055 left_gripper=0.9995 right_x=0.3324 right_y=0.0063 right_z=0.0255 right_yaw=0.0035 right_pitch=-0.1095 right_roll=-0.0044 right_gripper=0.7517\nstate[joint_eff]: [-0.1162, -1.5248, 7.0222, 1.6874, -0.0855, -0.0513, -0.0122, -0.7726, -4.6564, 5.4222, 1.9463, -0.0806, -0.0171, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8146, 0.6075, -0.4007, -0.0227, -0.0261, 0.9995, 0.0128, 1.4178, 0.2588, 0.588, -0.0086, 0.004, 0.0396]\nstate[eef_state]: left_x=0.2937 left_y=0.0018 left_z=0.1717 left_yaw=-0.0033 left_pitch=-0.0363 left_roll=0.0057 left_gripper=0.9995 right_x=0.3405 right_y=0.0095 right_z=0.0393 right_yaw=0.0113 right_pitch=-0.0009 right_roll=0.0217 right_gripper=0.0396\nstate[joint_eff]: [-0.1709, -1.388, 7.0496, 1.8144, -0.0855, -0.0562, -0.0122, 0.1846, -3.3299, 4.9162, 1.2723, 0.1783, -0.1978, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8181, 0.6075, -0.4076, -0.0227, -0.0261, 0.9995, 0.0402, 0.8413, 0.5201, -0.2455, 0.0219, 0.0002, 0.0402]\nstate[eef_state]: left_x=0.2929 left_y=0.0018 left_z=0.1693 left_yaw=-0.0033 left_pitch=-0.0466 left_roll=0.0059 left_gripper=0.9995 right_x=0.3035 right_y=0.0119 right_z=0.1561 right_yaw=0.0151 right_pitch=0.0035 right_roll=0.0021 right_gripper=0.0402\nstate[joint_eff]: [-0.1709, -1.6752, 7.0222, 1.7705, -0.0659, -0.0708, -0.0073, 0.212, -1.9077, 9.853, 1.8388, 0.1538, 0.0562, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c3dac2a9ef0851c030816ea109a2c95bcb7564bcf856e400567c8a076964b51",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acbfb59efab47708d10379dc7e7b3cbc8799be9b691d14e8f2a51402cd28fb93",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d3fd6b34e65ba0ccdcc19bdf880c3ebe0c96f8459f883a43c1df2d76273f879",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFtG-CqMf0UxNc1_fNZxy-e2_4q9Qwai08OQIT26J7x6c7kXQO6-q6jXomSvmExYpK023kP4Y_46QU3YEGBkn1wS0RVKZ05JZc2OiHcxvU3CYfqCgghfb21Oxe5iKONmbNtC4v5qTd6ObkxbqlC2ALKLp42MaZvKza6JdKb8_95Hl8-iCEoaNkMoVI9KJ1oJql1MZj8NUEDrxezFis8b3n2QZ9ntdc7JbI5Yg9phvyWF8nVzHdKDEpIxn8xvUs4A08NPAuTOCxxoSkIDV7RurbvD-c1i1F-qcYB8zQozN5BUVkqXJo_McPcyj4WmxmRgaKmlGpASz32jORw6ZpM5pR0Sn569SQdvKDEpkdxRVX8TawvcuX_l8aJitsvV6YhHCFrXWaZjDxQFh5DQNeRGjXrLie66Uc41go8VprPoxuM735qM4Tcr16mK0sX4V8MAB-D6oo83irqsQAszhbmLvfX1t4by9yH6y1__ir9-Reu1dJmksvVFiOHmqaeY0E7JvCzUp80vKwA9deIzBKCy_qOzjDApFarLfzvW4ffOOmdaitIDfCw3OTaoBteayD8BajyCIrBujayi6Ps8G71lfOuPzBlPkD6Pz6bqtX_m7Wc6Dzr3XgPe4WDavUXNhTp__nTT6QjHc1241bOoeVkZKZAHBhOQivXw--bI76XBxhz6b7xU4G7UsVwy2fmPFM5HHpxT4Yayqpt7nDMIQot_OM3yCmBXScb77AiIKES_HP8jpdxZB1DTrCQs3dzFK7m_dvi81dbxl8byYK2W0hhIRNhe1AIwZ3uNpxpy5XxhfLo-x5qaRqU2I7NbfBfJtPxYa0Pt_o9wdel20z7t05_X3KdZsOqDCQgvw51uiwNW-GHK0RLUeFjuNHvTzXcD973WwRR9UyHrRdwWJjAlYp9siedkKH9SFuIk0zu_Oepdxc8DN96H2BSDpdw54gjq6a8yBMvrTHg29EkDi96teqmyXKRMsBOLg8B8Uqu4GFt1-PijLMDkrCBCRJoDTgx-xnKw4s3JBOXlBLmS4xLAx8nrOQ0y_WzpKyxK5LnVrQV82-dx50adCknv0i2KCKZNvoEF8YPWV-XM-7sxOTYUPeFf7YqBcfM1_Mk7vfZXvIFgw4ceXOvFVy_VNMpCCvPIp-5KwrDxRojDBtkOKvU1LKRP4QGijX2Bk3kiKIRiFUOill25YrGrAIo_o55nlOMyubSLyNGvE8g9JKhzbvYiUcOWPIdsu8wFLFhPWDw8i84ub9Eg90CrykK5V_RXdnT_pOkJvIZEwpX-BTTy9AKpKbCj_n8mfYPA_3bL_fhZO_Juu5WFv-BK81Z4W7B0leg7YAKiriCEZl_FzTbRHRkVO2NXA-9bLh3d3PDL5secfWNNrwPtQICuNOiigvPDfojWJ4QMZsWj5Z8fe7h2ARmjB-xvSpeXZMK27Au9_KDhd5dxt5ZaWexTamufyGxV5p0ZjX3zZ9knR3Nsg_twcX5VbBDrSOVrw9Rg8jY5xpYcKI_y-mRTgv2BIbTM7-CFjUlWLFcPM8kpQ6eBL5YkyNJOzOZmTeWP6tCAsrmCPp4s9EmR6Q9ef76VrLYMWoHlA5RB0QM0nKR6PVBsmpbea7BuTkgPKumTDwg-K7OH9v1NqvJx9eD6o46hWK5TJZ-qUdigJJnnhkTXxF68dwKXrkUiCd-ur1TKPCzqaE_zvFigkUvrD4FcOp7E7hGjykxP2vzyCIR7N-cze8PPNWmlA64U9OKmKgn5buKO2vXeMvjNQ5TiyF_hvuAs9O3F-og7nd9nU0FKGh2cjhV0DbGRAx0aNL3steJJbQoU8y3TVIwCb1gcCdqdhWhKM-6iM0zsZy5duGe6WPfB19wH1ur46kek7ukdWr6jP-wBcAzlz5g48oClIOg9NISHSZFvIjGaZVttJ_WZiQLk07W6qcKgOlYvcLxo5YZSZNs_ighG5RyXEe9eY9TaORGjf5wTSxtKBx1EVdkXa2kedCtEuPIEwbDGbRkzURsB2U-mB6BMvB-fURiJL7_c_cP0XpjnHbKcMAbhYD8bUOjuMEWJLAAOaLPLTaRUsrgo6cCie66kCOHGY8DYNw5vU1D_bESqYfBWmo8cw-5hNuHNn5RO2wTno9bbnHcveRF10CDY3ZCs1QYQnydPypdYMWWxQR9aIsBAn5vHJ3cMMF1ZXSlOvoYPG4XiMmeBgcVqfj-Q6-z6nrI4iMpJzQi97fiT0jEwBe-OnEEw5mk0EBithWLxQGu_aXyI0XUCF6s_oZdmQEZqzlBU9O4l4RekuE3JWCV8Kz7oHHPDjTA-B5FLY4PSnDQ13DTLIuSF5UPF56VljazqGA9fEGoHKc1Ku8k=",
  "id": "rs_0317b7ae175ce9cd016ab45b41729087d0966a242b194d8f3f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.23,\"right_z\":0.21,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.18,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0},\"note\":\"The white bowl rose with the gripper, confirming the rim grip. I’ll carry it toward the blue bowl at a safe height, while keeping the left arm parked clear.\"}",
  "call_id": "call_DjDXLJaKFA6qj95FzwVjfsqN",
  "id": "fc_0317b7ae175ce9cd016ab45b452cd487d089e43a335ca2e6c9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DjDXLJaKFA6qj95FzwVjfsqN",
  "output": [
    {
      "text": "executing move_to over 19 steps (1.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0265, 0.8047, 0.6075, -0.4061, -0.0265, -0.0345, 0.9995, 0.7464, 1.5986, 1.2179, -0.3885, 0.5732, 0.4164, 0.0407]\nstate[eef_state]: left_x=0.2923 left_y=0.0005 left_z=0.1733 left_yaw=-0.0024 left_pitch=-0.0316 left_roll=0.0009 left_gripper=0.9995 right_x=0.3813 right_y=0.2271 right_z=0.1887 right_yaw=0.0441 right_pitch=-0.0548 right_roll=-0.0412 right_gripper=0.0407\nstate[joint_eff]: [-0.8137, -1.7709, 7.0359, 1.9267, -0.1245, -0.0952, -0.0073, 0.1573, -7.9795, 9.4154, 1.536, 0.569, 0.1636, 0.8864]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67eba2f38c48f784f9e5210c3863b2d20dc4a6c62252f62dc0fd3ee122cffb83",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b59833b179b09fb1c89ecb461f8d85aac4defedbd64df1e7c83d69dc089ebe3a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11cd94174b8595a7d55e308141700993089802ed63e377c2b2401fae7d184f13",
      "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 · 3.582 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 43 changed as sent

message 51 changed as sent

message 55 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.3897, -0.0227, -0.0261, 0.9995, 0.0132, 1.4193, 0.2569, 0.5816, -0.0082, 0.0029, 0.0388]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1747 left_yaw=-0.0033 left_pitch=-0.0222 left_roll=0.0055 left_gripper=0.9995 right_x=0.3388 right_y=0.0095 right_z=0.0368 right_yaw=0.012 right_pitch=-0.0108 right_roll=0.0205 right_gripper=0.0388\nstate[joint_eff]: [-0.0479, -1.347, 7.2684, 1.7167, -0.0806, -0.0611, -0.0122, 0.1573, -2.947, 5.2308, 0.9597, 0.3541, -0.2418, 1.0476]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8181, 0.6075, -0.4076, -0.0227, -0.0261, 0.9995, 0.0402, 0.8413, 0.5201, -0.2455, 0.0219, 0.0002, 0.0402]\nstate[eef_state]: left_x=0.2929 left_y=0.0018 left_z=0.1693 left_yaw=-0.0033 left_pitch=-0.0466 left_roll=0.0059 left_gripper=0.9995 right_x=0.3035 right_y=0.0119 right_z=0.1561 right_yaw=0.0151 right_pitch=0.0035 right_roll=0.0021 right_gripper=0.0402\nstate[joint_eff]: [-0.1709, -1.6752, 7.0222, 1.7705, -0.0659, -0.0708, -0.0073, 0.212, -1.9077, 9.853, 1.8388, 0.1538, 0.0562, 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 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0265, 0.8047, 0.6075, -0.4061, -0.0265, -0.0345, 0.9995, 0.7464, 1.5986, 1.2179, -0.3885, 0.5732, 0.4164, 0.0407]\nstate[eef_state]: left_x=0.2923 left_y=0.0005 left_z=0.1733 left_yaw=-0.0024 left_pitch=-0.0316 left_roll=0.0009 left_gripper=0.9995 right_x=0.3813 right_y=0.2271 right_z=0.1887 right_yaw=0.0441 right_pitch=-0.0548 right_roll=-0.0412 right_gripper=0.0407\nstate[joint_eff]: [-0.8137, -1.7709, 7.0359, 1.9267, -0.1245, -0.0952, -0.0073, 0.1573, -7.9795, 9.4154, 1.536, 0.569, 0.1636, 0.8864]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67eba2f38c48f784f9e5210c3863b2d20dc4a6c62252f62dc0fd3ee122cffb83",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b59833b179b09fb1c89ecb461f8d85aac4defedbd64df1e7c83d69dc089ebe3a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11cd94174b8595a7d55e308141700993089802ed63e377c2b2401fae7d184f13",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFtNO85JO5JDMSWaxbBEWqjfSpx0_3da_sBlPkL8l05Ryz-4PXWYgDES5hbC65ZofJQ-SE_gt2SJ-93M882su4HmHP8YiBJUL7qt_8V_PC6Tc7WMXDE7nLOoFguMGoJ7Lv5nRpzm8IW_Lr29njj14vG_T-NY6GMn0Lgw7btfKy0p2_GWDYFMCyrreoRODdfQLPObRjU0b9DFaaIhnJ6cNyKNdYe_AVsHs2Rr4SrgEewfxkHDZri3KIKsoFO7EGE0V4llmCyf9osj5eLaFxlkuf-bXahcjjhjlYrCnwdOXrkbFbW-PE7qTV2HciWc7-k0ELjlZYTmVdFNWZIdiiXDtoQUW7QvIn3WadW8zG5ffSfQ0KMgPZRq47TnHcZXwEGgOfaWNJDWvZUJk9ozevYeHTszLu9v5JhgV6yU1tUOdfS4S9e1vUlh4yRBzEv1XWctiRauIYlqVYkuiwesyndo5TCkP8rQtKoTW_yj3jcfJDKzissJhRljo6myNsb7BkN2OvlD-fDkLBdS32KOppx0LfJwNmD82F0HsSXeo8tmDQlG1wIvYOGlABPqBAfRWhf4SW6mG_KTLuFxbsnWoRYu01P9j3ZF_7RLpixh4LQdqbbThsMnK_JPpGgRpWv7obghDmOLX3ykoo2L72WzBbq3Qb7BQW7vbwhAWx4LiYeNoeiuOUVWAs37ej6Znb7zqBRRZMCipSPVpi3gHDN5EJ3RkW4066KgirjVySI9GAvQ7hyCqgi0YoUSwnOs7mypN4rtiEdN2f7cE66y8-byetvBk08PuG6FJ7l194udCXkSTF9rP8EWM5l7J1BR-371lOP6dnhBrSsGxlt5tDLup37roo4eg49TBxFcowME1z3r54YXeZXdAOCRkv-zT9hp8nFJ8N2_8Y2uvF-goQfdWR35Cg79cQCTo_W4dmu9Jv_536qSOIv2k4fVe4uEC0BNIsJTEAwik81WKjB7glQARiMRzJ4B9nBxKM0O5iL6aTeOwHkJsmfAPUsVubA-gdKi3sm4zWNnNqztgRGk23Gtrqkz0Jw3kryguHN70fZRkZCDSCfdVts49k1Lg6mxtQf-lMIZNwMH2hj7L2JGgVx7ysZr2TAEXSqtxtpCp_rgwbTHVUKzCV4XW9JUmFD-PgXn3YO4-tW2H8E-IhgiVtO6ZR6M6x2vdGGYa2CASIxiVtRCJ-DlK704-SMiXsf5dZQ8pKHO6HDADSUgrN4z_oB_XGaAm2Wh0O36h48KJJAyTRq1svec-n5LOVO5rHaIacMEIIitW-bJaQxQ-kDtV0H2D4Gl1seiYT2MmjlrNtnEZ4ch2crnQ1S8SYgeaHjEc_DRdTuaK2F92BiARCVs6wbCVjElSkD05kg73ilJSAHJwOx0mMo3HM16eJ_4JeUI-NJFbw0W_OasTfXLr_AMPkwrAYHucTPlUsvGaE0VcXMNGtwENM4WoVEG7ZLaxD8FvOye2l3VtAUmp2wKiJbyEQrGwrcYJL5euFmwta1SV1QSfRosrbYB6wyjIB-IB1dY7GBYRVhxbjz_T1ae5CW1UozeopiC1P07Kj1sR7hUrfHM5zsozlbD_u7RyUJ-Gl83xxjGdTDkw5JahTxtLlJYVsj58hStyO7YeRzci8N-vNZ_XX4Utvyx8ftyLXMSF7PK182A6_mJJPI5yzwcIA0UO1sHQBrofqhWxhSoidIDynTCwY0Gw3z6IcnrGV-M9B0bXYQhTpW-aX-QyUQkzyBAtjiRd1-Oy_3nNm22GwNbrW98mIexKmIyL_0Ew_WNF0mn4Gf4aVLxgsMx",
  "id": "rs_0317b7ae175ce9cd016ab45b49f44c87d0a8641222e1c697d5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.24,\"right_z\":0.115,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The carried bowl is above the blue bowl, with their centers nearly aligned in the overhead view. I’ll lower it carefully toward the blue bowl’s opening.\"}",
  "call_id": "call_XPc7lBw0ZcK1NXCAy8tjS6gd",
  "id": "fc_0317b7ae175ce9cd016ab45b4c090887d0b3ce5c81b1a431c9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XPc7lBw0ZcK1NXCAy8tjS6gd",
  "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]: [-0.0261, 0.8051, 0.6075, -0.4076, -0.0261, -0.0414, 0.9995, 0.767, 1.734, 1.0275, -0.1364, 0.5976, 0.4477, 0.0404]\nstate[eef_state]: left_x=0.2922 left_y=0.0006 left_z=0.1729 left_yaw=0.0014 left_pitch=-0.0335 left_roll=-0.0049 left_gripper=0.9995 right_x=0.3776 right_y=0.2308 right_z=0.0979 right_yaw=0.0262 right_pitch=-0.0974 right_roll=-0.0782 right_gripper=0.0404\nstate[joint_eff]: [-0.1436, -1.306, 7.1316, 1.7411, -0.0073, 0.0659, -0.0073, 0.6496, -8.8, 6.7624, 1.8242, 0.4176, 0.1734, 0.8767]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f5faeb6bfb2cacc0e9f345d19bf511f13ae26b74dd5eac2b0d7a68ecf095de2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:010911c1c14aaccee1b204c1df252a2b9f2af4fdc2b88c82f227caf4cdc0aa0c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42d5250f14cc6f03a25b374e920c2b9f107e71d3e00fd11d74037960df05edce",
      "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 · 3.119 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 47 changed as sent

message 55 changed as sent

message 59 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8146, 0.6075, -0.4007, -0.0227, -0.0261, 0.9995, 0.0128, 1.4178, 0.2588, 0.588, -0.0086, 0.004, 0.0396]\nstate[eef_state]: left_x=0.2937 left_y=0.0018 left_z=0.1717 left_yaw=-0.0033 left_pitch=-0.0363 left_roll=0.0057 left_gripper=0.9995 right_x=0.3405 right_y=0.0095 right_z=0.0393 right_yaw=0.0113 right_pitch=-0.0009 right_roll=0.0217 right_gripper=0.0396\nstate[joint_eff]: [-0.1709, -1.388, 7.0496, 1.8144, -0.0855, -0.0562, -0.0122, 0.1846, -3.3299, 4.9162, 1.2723, 0.1783, -0.1978, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0265, 0.8047, 0.6075, -0.4061, -0.0265, -0.0345, 0.9995, 0.7464, 1.5986, 1.2179, -0.3885, 0.5732, 0.4164, 0.0407]\nstate[eef_state]: left_x=0.2923 left_y=0.0005 left_z=0.1733 left_yaw=-0.0024 left_pitch=-0.0316 left_roll=0.0009 left_gripper=0.9995 right_x=0.3813 right_y=0.2271 right_z=0.1887 right_yaw=0.0441 right_pitch=-0.0548 right_roll=-0.0412 right_gripper=0.0407\nstate[joint_eff]: [-0.8137, -1.7709, 7.0359, 1.9267, -0.1245, -0.0952, -0.0073, 0.1573, -7.9795, 9.4154, 1.536, 0.569, 0.1636, 0.8864]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8051, 0.6075, -0.4076, -0.0261, -0.0414, 0.9995, 0.767, 1.734, 1.0275, -0.1364, 0.5976, 0.4477, 0.0404]\nstate[eef_state]: left_x=0.2922 left_y=0.0006 left_z=0.1729 left_yaw=0.0014 left_pitch=-0.0335 left_roll=-0.0049 left_gripper=0.9995 right_x=0.3776 right_y=0.2308 right_z=0.0979 right_yaw=0.0262 right_pitch=-0.0974 right_roll=-0.0782 right_gripper=0.0404\nstate[joint_eff]: [-0.1436, -1.306, 7.1316, 1.7411, -0.0073, 0.0659, -0.0073, 0.6496, -8.8, 6.7624, 1.8242, 0.4176, 0.1734, 0.8767]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f5faeb6bfb2cacc0e9f345d19bf511f13ae26b74dd5eac2b0d7a68ecf095de2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:010911c1c14aaccee1b204c1df252a2b9f2af4fdc2b88c82f227caf4cdc0aa0c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42d5250f14cc6f03a25b374e920c2b9f107e71d3e00fd11d74037960df05edce",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFtRU03O2qxzHYcLXPiBKBsQDhxYt2-S5uJ_7BLmuul6TfWkaMef3REUbBWCYIR376ZFZaIs6W2dWg4ns3TXMqZr5MF-UJEPCivXzb3ndtP5JZ1OEIO5R4PJ8NNhn_Cp2FmEqBh6hf9DdDBg6h0Bfe4WAqnuwo6ltzcVHfD97xgE0O7p-I2Q7J3V_OkT8nFvq4SSB6ywytw-l2DDotbvfWQNSqOuWcoZTlfUFFZmvLxU1wrDMxOmJFa6OTZNktZTnwEuvdTWZjbarbYXwU_Nw-hNbIvn_1tDdk2LRowh2l1sekBpyf39wmCXMn8CJRof9rGbjVR-BRyD2Wh4gQqfS7oiUMej_E7DN0UAFghRzf30-SpWWEzmwlIOhPCZ2SewtH9Lr0gOlgGh45MI1osZpXk4NsFbAzKlXiRWS4G_XxubU465s1UcQCj_h12QWto4HaNz8y3RWl9p_tsh-rnAwNkAdYxOdBM46pm5ZnslXc-Kh0TNOMUQmPCcbMo-vw7gomeC951unZzgYxAFlr8c2ZL084EF4ZjsM2eUmk8fbOPHtxRHh8iKVppBdWlrQoU2ogwID8AhjPtHfszvUce9vmXB8LbyDl2DL1fbzLrWgKopDyd_ss2V0IYHGxn3MA8D31isDth0GSRRAuzwlB34DgAuY4NX4NAtly4aVcuQZNu5rRFqTqdlZKUcw9Bm_CcE9nDzwfHTeOi2feXYzZTLgmrpX2hLjappvRE8S2pDf1P7FfOKopacvKbtQLQYNQ8eJ1AMZ5O8A6ihSdxnd_SkraPp7l7c_yEejgYITeuHdMaENCmmPbo53DnFuYmjpyLCVXDYKsVv2yicKw6UNLA-5Rw0XT0eT3VGHoDU6x6OoDWO40mp-QjuetE13Cwd1_aEuwA7mfCb5ndfzbqxSVPOvgIvBQRuay8-4sVnQDXI-TOcSATM_UwJivasS-JkvrOLpp15G3QYKiAAQZfgu4cjzoybG1SUIbFPwyhakJk9DncqX09mQ_jEoFUTInszSIjBNweswxg0DzVdxvqWPHQ0BeIvRlXteDHH-GyZiMBv-WRGx3aP-GoQ6UCqZ0BqIaOKLXAM_54WVPgr010_atTjy6QIH5aTaQYRXfQ5bJr6J3iJwbSX6JCpapPnFXfJhM8yhL2-SCEDqfVCXuS7Av-6dNleYYRe_huPlsRhMkLieIqGSlpnIT66WWmm62i-5_L17PPE9cvF1f6zWPf6t5Bw7uJ6lM-zUr3UWMSFOe1ayM2NjFlqEVnf5gjeSieKNZft-8M4-qa4dr-raED7HeqmE6lNmKPIVAyb8rmRG7MzGXpls2f_NWU5RpZun4cjlF369vQBp4yJHfvzmkd4H0oeJto8EmYPGtpI6HcWi47zbkiEFnASkDf3r90CBdBkJzOOVu7MUnRcvYW1tcD37fPOQ5MDh7fiiq47tpYk_Vri3t_xdIU7qwdx1f0ZbgUY8WKL1lrDKcOT1XTw-pIJVIDYnlZVKg==",
  "id": "rs_0317b7ae175ce9cd016ab45b4ee6b487d08c11496193c1c599",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.24,\"right_z\":0.075,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The white bowl is aligned over the blue bowl’s opening. I’ll lower another few centimeters so it can settle into the blue bowl before I release the rim.\"}",
  "call_id": "call_ne3kMs7WE4W7CiCEkGnepKy5",
  "id": "fc_0317b7ae175ce9cd016ab45b4ff85087d095fd243b74424a87",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ne3kMs7WE4W7CiCEkGnepKy5",
  "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]: [-0.0261, 0.8051, 0.6075, -0.4076, -0.0261, -0.0422, 0.9995, 0.7715, 1.7466, 1.0145, -0.062, 0.6025, 0.453, 0.0445]\nstate[eef_state]: left_x=0.2922 left_y=0.0006 left_z=0.1729 left_yaw=0.0018 left_pitch=-0.0335 left_roll=-0.0055 left_gripper=0.9995 right_x=0.3825 right_y=0.2374 right_z=0.0992 right_yaw=0.0269 right_pitch=-0.0588 right_roll=-0.0435 right_gripper=0.0445\nstate[joint_eff]: [-0.1709, -1.2923, 7.0222, 1.7167, -0.0415, -0.0415, -0.0122, -0.2256, -9.2376, 6.8718, 1.9267, 0.4371, 0.1294, 0.7643]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8adae92c4f8c199db0c3422251f895e2c433cf6308325342e48c07f9e02244d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e05c982cfa0819a1ec9922e16b3a5e9a290465c38ad4237c297748482b192661",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:491756079cf2f468bb4e56f92326244ded8b458d7b5397887306836f92ce13ea",
      "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 · 7.244 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 51 changed as sent

message 59 changed as sent

message 63 changed as sent

message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8181, 0.6075, -0.4076, -0.0227, -0.0261, 0.9995, 0.0402, 0.8413, 0.5201, -0.2455, 0.0219, 0.0002, 0.0402]\nstate[eef_state]: left_x=0.2929 left_y=0.0018 left_z=0.1693 left_yaw=-0.0033 left_pitch=-0.0466 left_roll=0.0059 left_gripper=0.9995 right_x=0.3035 right_y=0.0119 right_z=0.1561 right_yaw=0.0151 right_pitch=0.0035 right_roll=0.0021 right_gripper=0.0402\nstate[joint_eff]: [-0.1709, -1.6752, 7.0222, 1.7705, -0.0659, -0.0708, -0.0073, 0.212, -1.9077, 9.853, 1.8388, 0.1538, 0.0562, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8051, 0.6075, -0.4076, -0.0261, -0.0414, 0.9995, 0.767, 1.734, 1.0275, -0.1364, 0.5976, 0.4477, 0.0404]\nstate[eef_state]: left_x=0.2922 left_y=0.0006 left_z=0.1729 left_yaw=0.0014 left_pitch=-0.0335 left_roll=-0.0049 left_gripper=0.9995 right_x=0.3776 right_y=0.2308 right_z=0.0979 right_yaw=0.0262 right_pitch=-0.0974 right_roll=-0.0782 right_gripper=0.0404\nstate[joint_eff]: [-0.1436, -1.306, 7.1316, 1.7411, -0.0073, 0.0659, -0.0073, 0.6496, -8.8, 6.7624, 1.8242, 0.4176, 0.1734, 0.8767]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8051, 0.6075, -0.4076, -0.0261, -0.0422, 0.9995, 0.7715, 1.7466, 1.0145, -0.062, 0.6025, 0.453, 0.0445]\nstate[eef_state]: left_x=0.2922 left_y=0.0006 left_z=0.1729 left_yaw=0.0018 left_pitch=-0.0335 left_roll=-0.0055 left_gripper=0.9995 right_x=0.3825 right_y=0.2374 right_z=0.0992 right_yaw=0.0269 right_pitch=-0.0588 right_roll=-0.0435 right_gripper=0.0445\nstate[joint_eff]: [-0.1709, -1.2923, 7.0222, 1.7167, -0.0415, -0.0415, -0.0122, -0.2256, -9.2376, 6.8718, 1.9267, 0.4371, 0.1294, 0.7643]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8adae92c4f8c199db0c3422251f895e2c433cf6308325342e48c07f9e02244d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e05c982cfa0819a1ec9922e16b3a5e9a290465c38ad4237c297748482b192661",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:491756079cf2f468bb4e56f92326244ded8b458d7b5397887306836f92ce13ea",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFtUV_cqQkzdqehkdT802-AZ4ZXctK27pbSSmw_H0rHA0gkjQAm8qKbUpvtVBiv5EF1J2nA2IMSjv9UerKjFKGSnxgTV1U5Q03Mm3Rkh-SrCj-b58oobguqSMh8EuhmLp8RLCqtGKLbLyaJ7MOUwMTzFKTzxW99lvIrB28JF0jcvLooXlocT1TNdV2C8sY1IaDUYhsl1SdwhtBnN9txLPglW36y61RC1iMqHrCMzXESaOzojHafPwoHzyb9FC2m56AZor7H3gBmJ6gP5NAe6JZ3O9g990i1_5Q2-PnDLw0uJSu5Zf6SGFAjaFr8cMR63o2RLT6MhBKUoeCQTpdcZKbV6IIhDdGxru6qx1TDObn9Wq8Qmdm8F3DTm2sGvw9enhTRLWLCD6jr0grthPKgfly0YRT0_rw_nziWWJVcrIJAt3JbVbrRO49u4wp5Ntf8bE6uZjs_1cB6Zi4AXRikpS7mCLYqCmPxdBaQE3_r8hyCLhq6xcxrSKbigW1XOrM1ACNT3D1wvnh-cFPc2Z1VjjUR2pBDbXqDNWhLsQAQ5Za-G6ensDQveb3iGWaQeRLbnfgWiADXTw_8nNkAgx9pHvP6hXqtmIwMMlyqOZr2rknVo0HHwxXl2Cl5bpF5nvRw2ns0-0glR-djEhCA_Eym5pHn4v_hPVB6gBbil8LVSR-DJssuT3RIPiaJPYjOuGuCMpJn7aToXZlTf5v4VEMlpP74AG3NbII09dYI5H1wiWYm520vUefIHL_DfKxdHiNGJI6MkTjYo5OxsiGlAutz5hKX2KsAa0w1YGgwItcsqC3xwsY_BgzwlXnds4wd2My6a092lItlaN5rY7LnkU_w_UmwHhAUu8xcfiBNPnoC3YWYuQ7paILGq_8_Van4zkqmFlnWzd8Nh8GC7361bpWz-mb-AiqXOnB6uz0-orQawK405i8cosE7YAyw4hXvVnGI_zxL0A3-ZJkH-0aoQPEkk16sivCyONZdYKR8u_8ULN5ciKB5IYA8iroXBf0iOLtZb5B2VAguanMlrBzs4_YFgh5J_GnuIGkrMfZbS1-wtqqXnG2oUW3cu2xTNvuPOBFsXF4t7x7UkBcZbILz3HQQZa4XBemC5TA4Y1MHUph7_VqpbOv6I1-XAALIZcdegmLAmr279n3MS6NNvkUAapps6Cg2xHuus6nwlNzSrGn7n4qwTXUP0_wwkGAfxApZwoHuhOsm2Dvyt_3qaBEvmJOdS4aYwmOO9QXzRdFercCgTC3XPXHwD0pvk8XyUAAb8UQ6xzSBfd21Gv9v3annpbRcOhIPb5IxcaXh54bXNeFBN7dqyO3KQdqgHlYrDRGaU55t35f-9PpLghJNQThxOAH1kizR_n4apOpkspRRmsikYGd_lXlxAA5t5Jskmvx-xmSyef7iE",
  "id": "rs_0317b7ae175ce9cd016ab45b52b82087d099e0492466268403",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.7},\"note\":\"The descent stopped above the target, consistent with the bowl resting on the blue bowl. I’ll open the gripper and let it settle without pressing down.\"}",
  "call_id": "call_2OjxSGatS0SAwF7XHgjMXR6J",
  "id": "fc_0317b7ae175ce9cd016ab45b53aeec87d083c2e2251938331b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2OjxSGatS0SAwF7XHgjMXR6J",
  "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]: [-0.0261, 0.8082, 0.6075, -0.4084, -0.0261, -0.0422, 0.9995, 0.7715, 1.7466, 1.0145, -0.0444, 0.606, 0.4534, 0.6958]\nstate[eef_state]: left_x=0.2922 left_y=0.0006 left_z=0.1719 left_yaw=0.0018 left_pitch=-0.0373 left_roll=-0.0054 left_gripper=0.9995 right_x=0.3846 right_y=0.2387 right_z=0.1021 right_yaw=0.0247 right_pitch=-0.0442 right_roll=-0.033 right_gripper=0.6958\nstate[joint_eff]: [-0.212, -1.5658, 7.0769, 1.7167, -0.0464, -0.0513, -0.0122, -0.1299, -9.265, 7.0632, 1.7363, 0.4225, 0.149, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51701d9e1e332412ecaff28cb782257583c1c0de3f4c6f059de821c55d23e72f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e3b6748fbf65e5602bd561b035ef09632ac6d41c3f8c9878e3a5ba736a3a9e2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d26c6c91b57c15f62b96787b81440d28c126715db8fce758ddc2af2bd64324ba",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 9.196 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 55 changed as sent

message 63 changed as sent

message 67 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0265, 0.8047, 0.6075, -0.4061, -0.0265, -0.0345, 0.9995, 0.7464, 1.5986, 1.2179, -0.3885, 0.5732, 0.4164, 0.0407]\nstate[eef_state]: left_x=0.2923 left_y=0.0005 left_z=0.1733 left_yaw=-0.0024 left_pitch=-0.0316 left_roll=0.0009 left_gripper=0.9995 right_x=0.3813 right_y=0.2271 right_z=0.1887 right_yaw=0.0441 right_pitch=-0.0548 right_roll=-0.0412 right_gripper=0.0407\nstate[joint_eff]: [-0.8137, -1.7709, 7.0359, 1.9267, -0.1245, -0.0952, -0.0073, 0.1573, -7.9795, 9.4154, 1.536, 0.569, 0.1636, 0.8864]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8051, 0.6075, -0.4076, -0.0261, -0.0422, 0.9995, 0.7715, 1.7466, 1.0145, -0.062, 0.6025, 0.453, 0.0445]\nstate[eef_state]: left_x=0.2922 left_y=0.0006 left_z=0.1729 left_yaw=0.0018 left_pitch=-0.0335 left_roll=-0.0055 left_gripper=0.9995 right_x=0.3825 right_y=0.2374 right_z=0.0992 right_yaw=0.0269 right_pitch=-0.0588 right_roll=-0.0435 right_gripper=0.0445\nstate[joint_eff]: [-0.1709, -1.2923, 7.0222, 1.7167, -0.0415, -0.0415, -0.0122, -0.2256, -9.2376, 6.8718, 1.9267, 0.4371, 0.1294, 0.7643]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8082, 0.6075, -0.4084, -0.0261, -0.0422, 0.9995, 0.7715, 1.7466, 1.0145, -0.0444, 0.606, 0.4534, 0.6958]\nstate[eef_state]: left_x=0.2922 left_y=0.0006 left_z=0.1719 left_yaw=0.0018 left_pitch=-0.0373 left_roll=-0.0054 left_gripper=0.9995 right_x=0.3846 right_y=0.2387 right_z=0.1021 right_yaw=0.0247 right_pitch=-0.0442 right_roll=-0.033 right_gripper=0.6958\nstate[joint_eff]: [-0.212, -1.5658, 7.0769, 1.7167, -0.0464, -0.0513, -0.0122, -0.1299, -9.265, 7.0632, 1.7363, 0.4225, 0.149, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51701d9e1e332412ecaff28cb782257583c1c0de3f4c6f059de821c55d23e72f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e3b6748fbf65e5602bd561b035ef09632ac6d41c3f8c9878e3a5ba736a3a9e2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d26c6c91b57c15f62b96787b81440d28c126715db8fce758ddc2af2bd64324ba",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFtcunF6jDBU0XvUX4YvI5IDkhcF-pnpODLZkg4boYxa5VUg3XvFreLfs-Xf58iFoGHs33LjNArsn_JKr7cowJ5zUBbGLVrerldxBplXBD35_PnwHzXfVRpDyPnTEo8_rAa1ltWT0QHUYpz_empnUZjVlGxAYSwovYrfnT3Kjdh3dx3K7xs6sNdqmF8TsdjboBHo9tKbl1eExEdWWCGA0-5-NK-skEhno5laLJzEEUVkQW5kW-CUaSWqRp-wcVKo34Ca3xoB3U0Q9Sgn8QcMf6EO39sLDqcCa-w6w8EJYrPyJaHnz7xlWipqGyIz5JCd8br_ZUd6DO6Ec24LfkkoYfNI3Xjzzj5srH_ilAbT6lfWfa2q2aMQwPNj5avHiFj2hglhm9Xhua752H4X63ErjKMvrasgRwFbLnwz42Z2t_svIhTsyMCZsRoosY7MM0b3MU6sIUL_iFQ7dDHSFDbmPvdbHIDwscb6BE4sIowMtEFwWGk7_wjiPZoFxFuuSpdlv9-Ec2pLJjQJ8Jq--dxBEkU0-Yag_7dKlZls3qAGFVYJVaNjHFOhnrIRkabaQ2UvLvc0iaNIgVcn1C4meyXIUN7Th-nIXH0PZnultrbfBWudrL91shIYD-Qpl7Wlzu-QtQVWGz6LRsSOMIccRWDVLnLYwF_Z-hO571s-kHhnNoLj2ZpWqQwTaSW4v4-VBpa3fVZXKIkDTOxewn1jMwZszPipCtCe573iG6Rfw2d_BmYeUK3hEMr30eFKAfRK61XPvtjNGFs-suCyr_GGpvArMRnYFZyMwBiH5jRtbefEv_A4Z_fZOLPdQR4VqH3EzsaGPXMQCoJ0rAGlR8O7_C7Vhw-TQz_5C7Ly4Jf4gQqEbbcg5KXwYSNEphvIX4ShceJW0wcOv7DDP7E07Rc5nB8KY5L7Ue-EzItJlYlZNLsb465wIYUcaEf4BjyzIeNrIfnUccXy8d-8qLgFis2tImROZYFC335cKOSm8RwRO_zWa2PFyhsYlTJQp2ceQvOPCgk5nX_Gka9wWklRBQrtPkn6SQfIXOx_49JuUf7ZobDvjEZA6Z3gUlKV2Ch9phmVVNKKkrOrCV-PggdvKERDSydgqJqwqMEfCX-GTOEL0I_z5qzEOX70MANMv-VgRVNaiW8UGqZs_FGqH1selhIq3ZMfoee6Ky0NZDNnMSx_uByhVdAIM_7MbHNLGZQ9a9eLgn6vLkQ-2MMOXRDfSyIwiKhChO5GaBtS-WG0YT6RBx6fBVONHMyiwJkx7rTk_Yy6JupVmPY1BY4E0sAblmTi_6OKtX4tS1yBcDUxfV7w4mdw4ekY4JcZH2q_wcmmFFtfZO1yFRM-JupG37aCM0n9_czVqKQqrzv8WJTNjPt3G0gKIx4Z3eKJ2zGKEy-T022HkDL1QZWLrLw6-vElMe37Yxr0XDZBrQdeNbBhuQNwntw4kClJRcVypjQ5MGkY2nC9-SmkFbS6j1SRFSqp8zI-Gk6M1P76WpoWxeHKJW5orf4OE18OIVO52YwOPRYlzvOvWt4mdFFQmHy27TUQzw_pEO29ieDAgUDfHikEmavmxY77n3ZMcqACUNXu8zEZZBUEKYU72U5K84bJ_0Ovhq6JenKKGpdW5BWEtHrHRiBvkr92ZwgE1J4eyw0bHORtFI2ruQJogsc6jJ0_wG9Z9Gvz_YWYXMIt95GUuvhvkSS-CCeQbfTh2J-dKBDxykKhY4G3PfVPTR_sV5rU3uz5vng7_I0zqKpE1bo60-ra9oRBCOVmbiOhjikpTZPgQXWjZEGHxyAcK1QBgIMf8NzZ4oeA7eIcZzVFTCtyCfLPHbu7xbSJ1tX5yit8v0xeyME0vkdfRjGvLzeeM5YVeWt9Xpx7duHbZfqqvSGSXAvGsPALRhRKI48ueEnHe5G4A2pBO-n0_bRc1fehBWCqAcfsBehvsd-ezNgNls8eoWcv_TBg8AcZZYBXPHJeKRplHLBjb2eoZlPxE8OJIj4Bb-iFhqfydkaOIWilRKpYxwK6gMJKKeKzDlvxMiIsAH3UcUvPKWn0itbd2PUKgR7ZMf7jzdM4-rUo0CcV_BDYzXVF8VCQPZGByodiJUvKZouXYXO5TgjDzlm6k33h8Av7NBkeMrXkkIIwwcp9K53t2Z1-zpvg5JTTjxqSmelta0A8nirxspeW3wzYrJwrF3AvdgTiaDTVHh3N0086txYNMFze-RRckWda7JJIM71r0l35Q--mELzkBInjYLCk3BpHMwvov2hG2t4C52u__vWTFR-rN8EQ9tU5jedpcJoUTVkT0giOd3retEPGhyjUWqlGnOqDDXkzyFGCIKUKKX8tbMTM7_V24S7EZoUwFPuIRCP0p4DcDAepJGKK-NLl0cQcuWb9EXdI3mQTpnID-oqXGnpoSIxzuXQJkwSEJt53ScIoQoyAFsLMaRuL9AVW4eCsXD77WpF1olvTH8eCTGCsLw8UmBinuztWE3Rwc5zzyuT-QGNTjGM3LqP-mPpfDm4lCL9ykS-SH0gSvzt1n-FMqlXYCqmjoFj9a-Y5ACM=",
  "id": "rs_0317b7ae175ce9cd016ab45b56b7f487d0bcad1006f5d1580a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.2,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0,\"left_x\":0.39,\"left_y\":-0.13,\"left_z\":0.15,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0,\"left_gripper\":0.8},\"note\":\"The released bowl has settled lower into the stack. I’ll lift the right gripper clear and bring the left gripper above the remaining bowl’s left rim.\"}",
  "call_id": "call_SkRZID2B8LizDqY7j9PmXhhV",
  "id": "fc_0317b7ae175ce9cd016ab45b5b0b1087d0abb8b7a186759de4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SkRZID2B8LizDqY7j9PmXhhV",
  "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]: [-0.5014, 1.4082, 0.7959, -0.0944, -0.4, -0.305, 0.8019, 0.7792, 1.6527, 1.206, -0.3542, 0.6102, 0.4534, 0.6967]\nstate[eef_state]: left_x=0.3762 left_y=-0.1237 left_z=0.1298 left_yaw=-0.0197 left_pitch=-0.0701 left_roll=0.0265 left_gripper=0.8019 right_x=0.3803 right_y=0.2384 right_z=0.1693 right_yaw=0.0284 right_pitch=-0.0601 right_roll=-0.0518 right_gripper=0.6967\nstate[joint_eff]: [-0.3487, -6.0376, 9.1556, 1.79, -0.3346, -0.105, 0.1099, 0.0205, -10.359, 9.6615, 1.6679, 0.4127, 0.1978, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcb6405908c522b8146417b2769d474e3cfc91fa7f0c6334aa432590cd941e2e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fcfb6baec03a860520ed300146102d3f5e940cda9e92cfa26ce2e4fafb39d1e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf3d2b2956fe3cd7b540e3c604abfc9df55c7f522be4c8540d32e7cc049a3158",
      "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 · 4.466 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 59 changed as sent

message 67 changed as sent

message 71 changed as sent

message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8051, 0.6075, -0.4076, -0.0261, -0.0414, 0.9995, 0.767, 1.734, 1.0275, -0.1364, 0.5976, 0.4477, 0.0404]\nstate[eef_state]: left_x=0.2922 left_y=0.0006 left_z=0.1729 left_yaw=0.0014 left_pitch=-0.0335 left_roll=-0.0049 left_gripper=0.9995 right_x=0.3776 right_y=0.2308 right_z=0.0979 right_yaw=0.0262 right_pitch=-0.0974 right_roll=-0.0782 right_gripper=0.0404\nstate[joint_eff]: [-0.1436, -1.306, 7.1316, 1.7411, -0.0073, 0.0659, -0.0073, 0.6496, -8.8, 6.7624, 1.8242, 0.4176, 0.1734, 0.8767]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8082, 0.6075, -0.4084, -0.0261, -0.0422, 0.9995, 0.7715, 1.7466, 1.0145, -0.0444, 0.606, 0.4534, 0.6958]\nstate[eef_state]: left_x=0.2922 left_y=0.0006 left_z=0.1719 left_yaw=0.0018 left_pitch=-0.0373 left_roll=-0.0054 left_gripper=0.9995 right_x=0.3846 right_y=0.2387 right_z=0.1021 right_yaw=0.0247 right_pitch=-0.0442 right_roll=-0.033 right_gripper=0.6958\nstate[joint_eff]: [-0.212, -1.5658, 7.0769, 1.7167, -0.0464, -0.0513, -0.0122, -0.1299, -9.265, 7.0632, 1.7363, 0.4225, 0.149, -0.1197]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5014, 1.4082, 0.7959, -0.0944, -0.4, -0.305, 0.8019, 0.7792, 1.6527, 1.206, -0.3542, 0.6102, 0.4534, 0.6967]\nstate[eef_state]: left_x=0.3762 left_y=-0.1237 left_z=0.1298 left_yaw=-0.0197 left_pitch=-0.0701 left_roll=0.0265 left_gripper=0.8019 right_x=0.3803 right_y=0.2384 right_z=0.1693 right_yaw=0.0284 right_pitch=-0.0601 right_roll=-0.0518 right_gripper=0.6967\nstate[joint_eff]: [-0.3487, -6.0376, 9.1556, 1.79, -0.3346, -0.105, 0.1099, 0.0205, -10.359, 9.6615, 1.6679, 0.4127, 0.1978, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcb6405908c522b8146417b2769d474e3cfc91fa7f0c6334aa432590cd941e2e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fcfb6baec03a860520ed300146102d3f5e940cda9e92cfa26ce2e4fafb39d1e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf3d2b2956fe3cd7b540e3c604abfc9df55c7f522be4c8540d32e7cc049a3158",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
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  "id": "rs_0317b7ae175ce9cd016ab45b5f227887d0ba791d75cae0b3c1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.065,\"left_z\":0.05,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0,\"left_gripper\":0.75,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.18,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The remaining bowl is centered in the left wrist view. I’ll lower onto its left edge with one finger inside and one outside, and park the right arm away from the stack.\"}",
  "call_id": "call_lez2FOx2vsS5uQjq9XjzkwlM",
  "id": "fc_0317b7ae175ce9cd016ab45b65422c87d0b0276a64e2828670",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lez2FOx2vsS5uQjq9XjzkwlM",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2886, 1.5913, 0.506, 0.4549, -0.2577, -0.1978, 0.7516, 0.0029, 0.8116, 0.6048, -0.3744, 0.0578, 0.0143, 0.6968]\nstate[eef_state]: left_x=0.3853 left_y=-0.0637 left_z=0.0454 left_yaw=0.0174 left_pitch=-0.0351 left_roll=0.0028 left_gripper=0.7516 right_x=0.2965 right_y=-0.0058 right_z=0.1768 right_yaw=-0.0601 right_pitch=-0.0101 right_roll=-0.0061 right_gripper=0.6968\nstate[joint_eff]: [0.335, -5.6274, 4.9983, 1.9023, 0.0415, 0.1832, 0.149, 0.0615, -1.6889, 7.1179, 1.8046, -0.2173, -0.0855, -0.0024]\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:3cff79d7318da8eb56add2d174d98878b3b5b41604d96a85a1ab60a04e2ae14c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a685500ed43a13cd79363f92d655d63b69b94b09415a80aab3d569b9a397d499",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97629af79c76bdb6ee2a2e55f4afe853e42b6d11b0b6068455adb4f528639505",
      "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 · 4.024 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 63 changed as sent

message 71 changed as sent

message 75 changed as sent

message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8051, 0.6075, -0.4076, -0.0261, -0.0422, 0.9995, 0.7715, 1.7466, 1.0145, -0.062, 0.6025, 0.453, 0.0445]\nstate[eef_state]: left_x=0.2922 left_y=0.0006 left_z=0.1729 left_yaw=0.0018 left_pitch=-0.0335 left_roll=-0.0055 left_gripper=0.9995 right_x=0.3825 right_y=0.2374 right_z=0.0992 right_yaw=0.0269 right_pitch=-0.0588 right_roll=-0.0435 right_gripper=0.0445\nstate[joint_eff]: [-0.1709, -1.2923, 7.0222, 1.7167, -0.0415, -0.0415, -0.0122, -0.2256, -9.2376, 6.8718, 1.9267, 0.4371, 0.1294, 0.7643]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5014, 1.4082, 0.7959, -0.0944, -0.4, -0.305, 0.8019, 0.7792, 1.6527, 1.206, -0.3542, 0.6102, 0.4534, 0.6967]\nstate[eef_state]: left_x=0.3762 left_y=-0.1237 left_z=0.1298 left_yaw=-0.0197 left_pitch=-0.0701 left_roll=0.0265 left_gripper=0.8019 right_x=0.3803 right_y=0.2384 right_z=0.1693 right_yaw=0.0284 right_pitch=-0.0601 right_roll=-0.0518 right_gripper=0.6967\nstate[joint_eff]: [-0.3487, -6.0376, 9.1556, 1.79, -0.3346, -0.105, 0.1099, 0.0205, -10.359, 9.6615, 1.6679, 0.4127, 0.1978, 0.0904]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2886, 1.5913, 0.506, 0.4549, -0.2577, -0.1978, 0.7516, 0.0029, 0.8116, 0.6048, -0.3744, 0.0578, 0.0143, 0.6968]\nstate[eef_state]: left_x=0.3853 left_y=-0.0637 left_z=0.0454 left_yaw=0.0174 left_pitch=-0.0351 left_roll=0.0028 left_gripper=0.7516 right_x=0.2965 right_y=-0.0058 right_z=0.1768 right_yaw=-0.0601 right_pitch=-0.0101 right_roll=-0.0061 right_gripper=0.6968\nstate[joint_eff]: [0.335, -5.6274, 4.9983, 1.9023, 0.0415, 0.1832, 0.149, 0.0615, -1.6889, 7.1179, 1.8046, -0.2173, -0.0855, -0.0024]\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,$blob:3cff79d7318da8eb56add2d174d98878b3b5b41604d96a85a1ab60a04e2ae14c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a685500ed43a13cd79363f92d655d63b69b94b09415a80aab3d569b9a397d499",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97629af79c76bdb6ee2a2e55f4afe853e42b6d11b0b6068455adb4f528639505",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFttXjwS9tSzrxVGrqeRscLxSdnw4SQZuj6n2TRP-f1qB_7snKvHE9LdnrakK9sWjlFPikuA_UhA48_Pe28UTVrTwu4lOmqMI-Zd2Nj9VZxkHdEGWFsu3Zg-IumU0afX91OWOW-TTS4fvk1W5kesmm_aXXbjWen4-h5G-nHut0d6GX51bEhEZ37aBcqyoP0bppvAPppzQWjIGOXvh9LE7GUvXePHPRuN3kz5u3tMKtxxMiWesxP2zR2WGmA5qFS9e18LDflqDVEjt9AvUXPfygPTb2rRtBgZzmoAub3559e3ybQDftu5JExJMFwBqEcJx7iW2mAHSbHhaOgE3dHgapsqFOqRYrD6s9dSI4xDYGhk5Ed6GyH94yBUleoZsyvGJ9RNUP85qldt6cA8qitM4aaHNxPCu4_BmRVQj8skili7-BcFvL2L2pxk58wmATn9nsQPli4u09kUSS3YBcxQNhopF-G_LRvqxiTUpjHUKAvgGhsKzSoX6xjFCtNa42FMyOz3jOve6tW9Mn7aIeUvSlU_yBS_9CywTzm1EoLn-Teul-ROaO4881QarKKYc7-kfBfm0toLzk7KNqIJUWxk-XImQp_Fu7KpJ0dHVyT9x-HVeTbshZf6lGk1cAnve8ufbjG5ZQrI_-J3hu5cKe-Id3R0CIj4iDPfEhonRjIUq6Xbl26BzTFi-Pj383NHMLPgV2sLDKe2bnGVRa4zsoC2F7q6fjG2_Kz_kUbsGmlops5zEwyBnJtO9rbM6yOBu2ERkn8NcYhHCGLBKcv9WNhVOAA3YIJ75HFNdnQYU9gITipN148BE_PCDZXTlL2auJNR88to-bNPbnP6lvpL9UvNtGKYNTTuYstH2DM0p9cYiO0Lc5jCzB5fLWNNS98GRSz3ox9T-Y8h-8M6X6OqCLyNwMAV6kccQ_gFP6NMg8yVmOTQ7-eO6Y28k_TetjQa47cFo4WGZp2WN2eUTe8MSLkuFr09zHnQ0MqvJ0LI1LdmThUQ7tqaECl1eQ3UczeS1GHueHW_Jw39qOUMZYHxAFBledS2R0Qfoq2pCLwzIvlrq1tpj2MWw-m1RszXGvdDHLpE0VUMIOGPu6Bddi-6Benwx8ETQUlRLZDGRBU4zvj2EhoWdQS9eQ_W62jPTCP4194Zvh2ZBOoaJOaAamgDIkIXuQG43JW5pcmS3Gj5CYqgJjpO5iMYcLbWJ5KKvS5tNIciYpps8C5OdYBOqsWGuQHRLqV2iQ0YlAJPw_fuPPkvxX8eBt4FxweZHFp0kO340CLBwo9bubN19wbaC8AVy5bDzWI8ZLkGKiMKr7hdQFdhU-mqfu1f5a2OL9nwR5jjpD2Glr_pbBaPABA5SNTOlnnv58IjyZYnmA0Jt_9-Dq70bs0SG0zV7_AZSDy1aGQQIk1Qgz52F94QyvebBYnYY4KDRmsO0lka-idSFsmnh-XTU1V4l5WzDaI03H6usfCB2AWhIYB3PuOqWX1aLTY7W5dnhVXlo39sr5XyOYd_JbpnXc3CzDYZEYrsjHBr8bDWv3EMyqa3kIF8PO9Trtp4sNRIIXdlS-g2zFNZ6_Nj6-lGquSfSDzcAWYqFk_1cqFB5CXWBUUx5yGEVH3bD1LHP_Ie2ke2iwvPv9agLBTfewUbt__PQwYSNYNeEefrYOToenUWeNsfj1ERluKKsNsvS0sg8JFm-MMjjMKSLUbRZPH8zMqJ3V7HXzT6bYGmdyEsEMeDHkm5Qr3IqC0TrCSZSPwPNR3U6EAIlRQWAnLSYFBaHF5SwDbBtYIbAQQhDw-GVigFWzlzuntBoRFM0TQrASCdwEWxcA==",
  "id": "rs_0317b7ae175ce9cd016ab45b6a12cc87d09ab584db4b509861",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.03,\"left_gripper\":0,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0},\"note\":\"The left edge of the bowl is between the fingertips. I’ll lower slightly and pinch that rim, using the same edge-grasp approach that lifted the first bowl.\"}",
  "call_id": "call_46b3bzhcwOOuFQNTjQn75eEV",
  "id": "fc_0317b7ae175ce9cd016ab45b6c3c7887d0a09a42cbc3116459",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_46b3bzhcwOOuFQNTjQn75eEV",
  "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]: [-0.2859, 1.6497, 0.4652, 0.625, -0.2535, -0.202, 0.0396, 0.0002, 0.8162, 0.6033, -0.3893, 0.0441, -0.0002, 0.6968]\nstate[eef_state]: left_x=0.3907 left_y=-0.0649 left_z=0.0431 left_yaw=0.0189 left_pitch=0.0319 left_roll=-0.0243 left_gripper=0.0396 right_x=0.2946 right_y=-0.0041 right_z=0.1717 right_yaw=-0.0434 right_pitch=-0.0315 right_roll=-0.0116 right_gripper=0.6968\nstate[joint_eff]: [0.1026, -4.2462, 4.0, 1.1697, 0.0269, 0.1587, 1.1355, 0.0889, -1.6068, 7.159, 1.9023, 0.1197, 0.0952, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2db600b17c27f06bf70bb4df452a34365e8851c0170e79c39ecd8a804d0b52e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c34ac921e520f312e0c7415442f78a627a39d69ec12220de4dcc9a3e8d0f4769",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:625458e76e783390eb632e526c4149283f86c6ef0b1552b7ba6b2f315a16e477",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 20 attempt 0 · /responses · status 200 · 5.476 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 67 changed as sent

message 75 changed as sent

message 79 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8082, 0.6075, -0.4084, -0.0261, -0.0422, 0.9995, 0.7715, 1.7466, 1.0145, -0.0444, 0.606, 0.4534, 0.6958]\nstate[eef_state]: left_x=0.2922 left_y=0.0006 left_z=0.1719 left_yaw=0.0018 left_pitch=-0.0373 left_roll=-0.0054 left_gripper=0.9995 right_x=0.3846 right_y=0.2387 right_z=0.1021 right_yaw=0.0247 right_pitch=-0.0442 right_roll=-0.033 right_gripper=0.6958\nstate[joint_eff]: [-0.212, -1.5658, 7.0769, 1.7167, -0.0464, -0.0513, -0.0122, -0.1299, -9.265, 7.0632, 1.7363, 0.4225, 0.149, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2886, 1.5913, 0.506, 0.4549, -0.2577, -0.1978, 0.7516, 0.0029, 0.8116, 0.6048, -0.3744, 0.0578, 0.0143, 0.6968]\nstate[eef_state]: left_x=0.3853 left_y=-0.0637 left_z=0.0454 left_yaw=0.0174 left_pitch=-0.0351 left_roll=0.0028 left_gripper=0.7516 right_x=0.2965 right_y=-0.0058 right_z=0.1768 right_yaw=-0.0601 right_pitch=-0.0101 right_roll=-0.0061 right_gripper=0.6968\nstate[joint_eff]: [0.335, -5.6274, 4.9983, 1.9023, 0.0415, 0.1832, 0.149, 0.0615, -1.6889, 7.1179, 1.8046, -0.2173, -0.0855, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2859, 1.6497, 0.4652, 0.625, -0.2535, -0.202, 0.0396, 0.0002, 0.8162, 0.6033, -0.3893, 0.0441, -0.0002, 0.6968]\nstate[eef_state]: left_x=0.3907 left_y=-0.0649 left_z=0.0431 left_yaw=0.0189 left_pitch=0.0319 left_roll=-0.0243 left_gripper=0.0396 right_x=0.2946 right_y=-0.0041 right_z=0.1717 right_yaw=-0.0434 right_pitch=-0.0315 right_roll=-0.0116 right_gripper=0.6968\nstate[joint_eff]: [0.1026, -4.2462, 4.0, 1.1697, 0.0269, 0.1587, 1.1355, 0.0889, -1.6068, 7.159, 1.9023, 0.1197, 0.0952, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2db600b17c27f06bf70bb4df452a34365e8851c0170e79c39ecd8a804d0b52e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c34ac921e520f312e0c7415442f78a627a39d69ec12220de4dcc9a3e8d0f4769",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:625458e76e783390eb632e526c4149283f86c6ef0b1552b7ba6b2f315a16e477",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFtxayr4roki3FzjtV0RRYKk95qV3vzQS9GWw_HkKgXoVEfw4F6SzDsZ7l9yjz2HnFxrtI69LbrSfuLyF0ITUQqdsGNRLyRK-x0OnIahUwIg-TeAq0imKQC9XF8gkspWWbX-GS-Jr_f0XtaVCH7GcF5eVxoyFzmKc6XGH_ipmCMoeLJzs3KtDmu2GIbJtlmYiCFDbP-P3wjP2BIBT0V4DcBaj8pxTcinqna12K57ldD14d9FJNfTUHonsCPR1eHAG6rwwKZNNLaoIg3EbiwCTs683rfuFulS-mlDactgqWTO9U_OEFC_nuc_VF_ErP63RzdTKaLcLZqtj5uxZ7lzkvdG71d22e-M5tOgPr0SHwY2DKxf61oxtGr39z50Usm99xDfM6KK8Nxpxe-DGzojcIMsz__F_xdm2Z3e0NIVBEbDZ5z2mpWKLpXWOiEoSNSE3Wksp4xeWAkHA_2XuJyuOFy114ii2qSPXvGvwsGUBv92ezsGd2CQNe85gS34G9AjCMMuXk9zOGU_sxlnSNJhRyjJfN-yymMvnqDRe_vRV3CH1ilRoAre1JguI0fGV2m8IqZpxZ_R2DvE-ZQJUekGHFUCqp58NyeRu-2beijW6riZ-LHznm0bGHIQU2TsRaq3EdkB5dkCawK1k7dwn8F4mSaz-cmvxZZPvSdWT9-h2fmCGQXao2o7UrGs2yQV7vgKeWu_eWDeyl1XnKDGbdieDWlnjf30SK23UOB9UPp2w7ovoCOdrsu2JQdXETtnKBAkq2zMV6r5hGQFHuhLNt00J6geH2szkR0vmmHXjehbxRRyUdmBSA0DbF67F2k9f_pW_GsfLcJFiivjjBIQBjxaA2X1ZjTo-JnoaC3_f6-tyftjtoMwFCPkxmx89z60-a54FKup_vD5_d_YMEz18f7_8pILSYOa8KpLkxzH_t-zyzvy7TrD_2LjBF4D9ou8NS7I5-UCE0_mdd_rMfsG6nfmNEE70-Tex0YFPqch-6PkKK2ENURopFks4WAmbWNvGskLmoOAN3c24veCwohWrEcBRLWohfR2Jij-dabT-4VQfmjIoLiZXuBhekvVvO8j4U_gWkiWSvpZ5LdQX7yvj9PXJPASjniZe8jvT9UL5u1xuOCIPQypdKeLBeaLzFBZqa-HnXwTojKz7MCyHaBWPj4aQxtl_Qe8nSrJnYUx9Wgpd5mq2cMLPvPucM6Uy6eU6qsUzonZz6M2fnjxnlnYW-XW2PC0wwcUXSqA1q9iaD1q8xRp6zfV_rfSuT9rz_5IxptwutYPiZWs73--tGlLwmKN6-_vou-rI5671-bcT6rsBdobXKU=",
  "id": "rs_0317b7ae175ce9cd016ab45b703f5887d0b92f876c74de7838",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_y\":-0.065,\"left_z\":0.11,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0},\"note\":\"The jaws have stopped at a thin-rim-sized opening. I’ll lift the bowl a short distance to confirm it is secure before moving toward the stack.\"}",
  "call_id": "call_Z2vYM5kaRLS26eoswbRvcrGQ",
  "id": "fc_0317b7ae175ce9cd016ab45b70c62c87d0933ec0ef3fa5392c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Z2vYM5kaRLS26eoswbRvcrGQ",
  "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]: [-0.2863, 1.409, 0.5671, 0.2668, -0.255, -0.2016, 0.0405, 0.0002, 0.8181, 0.6018, -0.3931, 0.0433, -0.001, 0.6968]\nstate[eef_state]: left_x=0.3856 left_y=-0.0633 left_z=0.0988 left_yaw=0.0194 left_pitch=0.0172 left_roll=-0.0185 left_gripper=0.0405 right_x=0.294 right_y=-0.004 right_z=0.1697 right_yaw=-0.0423 right_pitch=-0.0388 right_roll=-0.0121 right_gripper=0.6968\nstate[joint_eff]: [-0.4308, -6.2701, 9.0462, 1.8193, -0.0366, 0.105, 1.033, -0.1573, -1.4017, 7.1726, 1.746, -0.0269, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:534a202db1aa3ee51e09b5245f9df994ff508eaef7efd0e98c1518556e6d8f58",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44dd1c88843a4dbb2ce84f66865bf26cb00f65ff0a05b8bcd53f78889f985522",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fda2e775de3bc1589c38c01db94e5cbf755aeabbafef5a9d8a7681427c9129ee",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 21 attempt 0 · /responses · status 200 · 3.023 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 71 changed as sent

message 79 changed as sent

message 83 changed as sent

message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5014, 1.4082, 0.7959, -0.0944, -0.4, -0.305, 0.8019, 0.7792, 1.6527, 1.206, -0.3542, 0.6102, 0.4534, 0.6967]\nstate[eef_state]: left_x=0.3762 left_y=-0.1237 left_z=0.1298 left_yaw=-0.0197 left_pitch=-0.0701 left_roll=0.0265 left_gripper=0.8019 right_x=0.3803 right_y=0.2384 right_z=0.1693 right_yaw=0.0284 right_pitch=-0.0601 right_roll=-0.0518 right_gripper=0.6967\nstate[joint_eff]: [-0.3487, -6.0376, 9.1556, 1.79, -0.3346, -0.105, 0.1099, 0.0205, -10.359, 9.6615, 1.6679, 0.4127, 0.1978, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2859, 1.6497, 0.4652, 0.625, -0.2535, -0.202, 0.0396, 0.0002, 0.8162, 0.6033, -0.3893, 0.0441, -0.0002, 0.6968]\nstate[eef_state]: left_x=0.3907 left_y=-0.0649 left_z=0.0431 left_yaw=0.0189 left_pitch=0.0319 left_roll=-0.0243 left_gripper=0.0396 right_x=0.2946 right_y=-0.0041 right_z=0.1717 right_yaw=-0.0434 right_pitch=-0.0315 right_roll=-0.0116 right_gripper=0.6968\nstate[joint_eff]: [0.1026, -4.2462, 4.0, 1.1697, 0.0269, 0.1587, 1.1355, 0.0889, -1.6068, 7.159, 1.9023, 0.1197, 0.0952, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2863, 1.409, 0.5671, 0.2668, -0.255, -0.2016, 0.0405, 0.0002, 0.8181, 0.6018, -0.3931, 0.0433, -0.001, 0.6968]\nstate[eef_state]: left_x=0.3856 left_y=-0.0633 left_z=0.0988 left_yaw=0.0194 left_pitch=0.0172 left_roll=-0.0185 left_gripper=0.0405 right_x=0.294 right_y=-0.004 right_z=0.1697 right_yaw=-0.0423 right_pitch=-0.0388 right_roll=-0.0121 right_gripper=0.6968\nstate[joint_eff]: [-0.4308, -6.2701, 9.0462, 1.8193, -0.0366, 0.105, 1.033, -0.1573, -1.4017, 7.1726, 1.746, -0.0269, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:534a202db1aa3ee51e09b5245f9df994ff508eaef7efd0e98c1518556e6d8f58",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44dd1c88843a4dbb2ce84f66865bf26cb00f65ff0a05b8bcd53f78889f985522",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fda2e775de3bc1589c38c01db94e5cbf755aeabbafef5a9d8a7681427c9129ee",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFt36kilZCdwkIUoK9oJxUskMgbwXsVtgdbJgNJKgazm3qAbtAXRnDLPYatH_DNEdPozEV7AXiCtxMaah4cDyKQOscmLXnTW4SmJ83dg3HQYHS7xrozMXhPrkeYL21Vb0RyoXZUzE-kf33pXGR0qN5SOtDZn2Gng2PpMUjeHNutamPoIL0f-Lw8WrJCb-jyXT3wmJAq32iHVXWeV1ce5fWq04sm3Or3Ua3Z09GN_UPI4lAcjWlAQXyyX0Mq78MKONq-JqXjlEssUx2XToC9JeVWYqJg01AHWlQhqS1LfZSzmue1DURBljicxb2d2EEKrf7xoYrVSNaB6ReLsTXiE8Pwe0w8yuwN-_3By1DwYmDu9DvqcYRoPGbyf3hrhrcV_Z4ORChFtnTyUasivBjwuJOggRBeHsgD41M96iScbVGl11FUE5Nmrz9gv_J9QOngssGKrzP855scz9PFR-YhBrhOMzlCnEBRZukDySAytMdA2bpuCzN-x2nl9pHgX_5KzZ2h48W39oDB1MA4QgC_9ViqSR8HR9WBmTGYMufLurVTi4fi-i_XcCt644hmux47dG8dJuSN0dgCJDgv2N14SR23Kq1p0NeoRwxQTmuhoYxYh2v1YiKYFY5OHWVcY8iH9pbbAx3wNsL69cWVPH6sH7F8OibKfXCROaQdYLiAhDDI59IMAt714c2pTzTgY3HyzP3yyd7rHlfaRRXfL30v2YB2dhDIMezC3DrmKb_9zqXrExPuM5VB2ttyGjFBlEjQsjWvviOEAX53HoAebwp8SZc8pYin-431dB2ppCFRDAUHURLnVkOJmBkhx158ipAql3rPfS8EvMaXjWlzy5u5AWiTUvh7uRgtAdJidKM2KcLvFDvRLZkRZve0nv9nNt6UWdlpDkypAQ5esSvjepioe9EZ5-bG75k7GByp1OUy926SM59GcQHxANJahv4QhUWRln-L0KL4Z7uLjvo9ZiD3B2bq22o7vbrfl-we454kek8FIBnPOthKRd5uxXHNl7q1yNA_EynUN5AKQk5DhDieZ-_oEEfyTQZ9FU6Oz3UZ_UhVkiSX75-yiu1t_fiAESML0XFSMhn_1evkx1PPMv0t1s7CP5hXGbrMy3d3KeGb0ty8AuPHVS9eBBnJF3woshlAKyTafXkn15HrJ2UKk4DK8D1iras72x07CfNIYLksOiHPSavBXWavXG9CH6I5ZEFYD0Qu4gHUM7U61_Wk7Wkqkax9ypIHHuE_oeXZHQQmRzftRdhzf35MHygGK0UNZJWUVD4oyx0Q4tB4xxJSht1D8B3wQ7XARiD3ll-6r4zNtbBeJXBJXLHnPDmaWrCmq9RBYT458uJfzyTLkiLUkRsK6Glnvq1Uk0VO3-_SOMGpG-yQZoQb2TWYFvALY_fXGJwtLAwpxEvrsr2RxLTClkdjpGHL7c2QqieRoJ4w8mwMdr_W1KmwHPEGrJHiaD24qsv63SnwzZ0TbLf7BA2X_xIl2kxE7_pvbDGurxcRvnMqBNmXAzuqLCY9AE_ZMK4HxtgWfhwgmmrBJYq4aF46J_cqcUpDBewb7bKp9Ycbl8vfq1Is14-_gJqWsJFHw9PMjF5ROEUn2-7NWjl3JRUL4HUn71hlxidmvx4WZY-O3QRWVFEE81Pi0AooZMqGUU4WFtHsGb8SGwA1uju4ZWqwQ8z4agV7BhG25bLH7RjvnmCcvHiWGkhzJFVOoYM2xVKFWgoV2PjMg-DuIXjevAeqenNGj31TTOAPw_fVYf6JGCLjv68C3B1ndZS9ZGTA9QR3QtNZxTM5-95SWBUcScI2gUt4ClMrAllxGaVVC-jYfwfD22XkjJ26SMTRr9-Gn4cYlg1FRiFHIpBsaJ12sDf0nq1HDfBge8jaoUGQ13wgV9VoI4lh1sanC-6v4OCCwHcYKSTb4nsSWwCqf4kpLIxVEQlfX4lfy1A==",
  "id": "rs_0317b7ae175ce9cd016ab45b73a73c87d0a5d1d5bde6f9e462",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.235,\"left_z\":0.21,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.18,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The remaining bowl rose with the left gripper. I’ll carry it above the two-bowl stack, keeping enough height to clear the rims.\"}",
  "call_id": "call_gaWsCLDHNyPxr7IsNbsrqQgq",
  "id": "fc_0317b7ae175ce9cd016ab45b76874087d083ed0ba03ec77cd6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gaWsCLDHNyPxr7IsNbsrqQgq",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7742, 1.6169, 1.24, -0.3794, -0.609, -0.5064, 0.0419, -0.017, 0.8062, 0.6014, -0.3923, -0.0093, -0.0242, 0.6968]\nstate[eef_state]: left_x=0.3867 left_y=-0.2318 left_z=0.194 left_yaw=-0.0205 left_pitch=-0.0264 left_roll=0.0049 left_gripper=0.0419 right_x=0.2935 right_y=0.0003 right_z=0.1729 right_yaw=-0.0026 right_pitch=-0.0271 right_roll=-0.0013 right_gripper=0.6968\nstate[joint_eff]: [-0.4991, -7.6786, 9.6068, 1.4383, -0.5348, 0.0806, 1.0281, -0.6496, -2.0855, 7.2821, 1.8242, -0.1245, -0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0077163ab96e55e0c7d1ebf0e465c7cd3176aa9fa742283af00512ae3c66feb3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc77003bc7ad2f53c0839008c5e0e449f534abfb1fd769b15f766922fcf83d45",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d70698b21377bec89ae4b1cb3adbef577bcf56fcffc0bde0c4b096e42fe7f57e",
      "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 · 3.25 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 75 changed as sent

message 83 changed as sent

message 87 changed as sent

message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2886, 1.5913, 0.506, 0.4549, -0.2577, -0.1978, 0.7516, 0.0029, 0.8116, 0.6048, -0.3744, 0.0578, 0.0143, 0.6968]\nstate[eef_state]: left_x=0.3853 left_y=-0.0637 left_z=0.0454 left_yaw=0.0174 left_pitch=-0.0351 left_roll=0.0028 left_gripper=0.7516 right_x=0.2965 right_y=-0.0058 right_z=0.1768 right_yaw=-0.0601 right_pitch=-0.0101 right_roll=-0.0061 right_gripper=0.6968\nstate[joint_eff]: [0.335, -5.6274, 4.9983, 1.9023, 0.0415, 0.1832, 0.149, 0.0615, -1.6889, 7.1179, 1.8046, -0.2173, -0.0855, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2863, 1.409, 0.5671, 0.2668, -0.255, -0.2016, 0.0405, 0.0002, 0.8181, 0.6018, -0.3931, 0.0433, -0.001, 0.6968]\nstate[eef_state]: left_x=0.3856 left_y=-0.0633 left_z=0.0988 left_yaw=0.0194 left_pitch=0.0172 left_roll=-0.0185 left_gripper=0.0405 right_x=0.294 right_y=-0.004 right_z=0.1697 right_yaw=-0.0423 right_pitch=-0.0388 right_roll=-0.0121 right_gripper=0.6968\nstate[joint_eff]: [-0.4308, -6.2701, 9.0462, 1.8193, -0.0366, 0.105, 1.033, -0.1573, -1.4017, 7.1726, 1.746, -0.0269, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7742, 1.6169, 1.24, -0.3794, -0.609, -0.5064, 0.0419, -0.017, 0.8062, 0.6014, -0.3923, -0.0093, -0.0242, 0.6968]\nstate[eef_state]: left_x=0.3867 left_y=-0.2318 left_z=0.194 left_yaw=-0.0205 left_pitch=-0.0264 left_roll=0.0049 left_gripper=0.0419 right_x=0.2935 right_y=0.0003 right_z=0.1729 right_yaw=-0.0026 right_pitch=-0.0271 right_roll=-0.0013 right_gripper=0.6968\nstate[joint_eff]: [-0.4991, -7.6786, 9.6068, 1.4383, -0.5348, 0.0806, 1.0281, -0.6496, -2.0855, 7.2821, 1.8242, -0.1245, -0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0077163ab96e55e0c7d1ebf0e465c7cd3176aa9fa742283af00512ae3c66feb3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc77003bc7ad2f53c0839008c5e0e449f534abfb1fd769b15f766922fcf83d45",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d70698b21377bec89ae4b1cb3adbef577bcf56fcffc0bde0c4b096e42fe7f57e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFt8dUXpEv1ipAGvzFp-664xDXrTbBqBZpVeNWb6vg5nsbov7qrskkx-I6MAoHXmYBJJls4nAvR1ni5Tm5cDD5NM1ii6mePVk-ZqBbiBPh0GIodh9zCDqvAFW69ZxXe5TEBL5KF7dKLBjWYLIa4VqMJXU1Zb40YJuh8szGDxycLdwCx7pDdeXPMIvPYd-pRcF7gWxOSEYtfygBR7tDMnwExaAKQP7xzFPdIE9Hw2WEu2Ldq25Q4sq7GOT0umk3R9YNqE63gxuGDZny_TGpQVzrx2tB0_s0Oz9jAY1wTG32wpxxusM3WrB1N47Ro0h8QJmnQ1nzRwJkvNYjI0hFpyqDK3_JEeKiR6dHjMywvc0NsUU7r35SVdTXZTxLfujg0IH6XjzMFOBpg8JiwEH7mJXtFW7ukdzlg_RdGb2Yu8ib3qKV1Bj3xcOBH9wTpvl9ueA6LcWlCRWS7UgIrJvLOShTyYhHJoigBUti2pKdFxdTipbQir3GTFKYuOx_UzVjw7M8m69oJr6SDdmjEINQ8C5ykbqCIcXw4xYXaWJxoE1PpsT4jjrKdrDxexyDw8Jqpn9-gmypCHcr5yt759gwwxskymDlhVTRah3TvNM3IEXPhhowcBXtHHt7bYVZ1yqv-1QfqY_8XBD9SLveqofumXevsmxDzbAgXnCARc_hY-si8ZHntitN35nQ_4YjumncQrALMoNFLoGR5i_8_b_0sq3198BOsMJON1SZd2mi4oJlgxsd5xwhyyINkP3XVlQTITDVM3ai61HsL6BFVXdMvYx73O68KbGlk2BPbCJh8mexRmnO8w9ysJtGvdX6-Fp5jp6hcf_OayDA-eueVbmTMPQzxMIRgxgrAc9oLrYZVtvMlVOszpcnoPrz4iAPncbBSNbIcWcdaI3Q-ZSMRy9pKF3GjyGTZYHlE2gVVvW54mNkYVF91SHJbNkTPTs-Ku9wmYJwg_7naadbAIOkIAY8w8K3llkVRmA2VfTjcgT1INhhnnvexRbJ14KfEjieePttsnXZI74BQ7mJSE0k1MEevThu39t6OisdX3lhtaQYCB0_V6rp3xvocGMOd3vS_ljC5umzty6uMBslneXCuJMXkIERFhOar-wpK-mw14p03kZQmoZdqv5ToOWaGV6aquvKawwl0E4BqJdm4J_n6EeCIPJ1sq-0_IRRbvlzlhhkHaxu0gS8SFj27-_A2_34hFLG7DWOuvpS4OWqOiabLF43riWIgq5u8gGXqgSg1msxENqZCAByn4wqS1-ix7fH50-nfPnsjavvsGrkv22eE5N9v3oNaN-gXmW7NYnFbs5EaPF5MIaBT-BqnhPPvcly1kCm_JA_LeGUAYgTBYILmPK4-nyMNoTw==",
  "id": "rs_0317b7ae175ce9cd016ab45b7aee8887d088e5fcc344c5681b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.235,\"left_z\":0.13,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0},\"note\":\"The carried bowl is centered over the stack in the overhead view. I’ll lower it slowly toward the upper bowl’s opening.\"}",
  "call_id": "call_IDL2CGExVcVaHafkEUvnHCz8",
  "id": "fc_0317b7ae175ce9cd016ab45b7b867487d09844841422d11c6f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IDL2CGExVcVaHafkEUvnHCz8",
  "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]: [-0.7837, 1.6993, 1.0584, -0.1844, -0.6277, -0.5179, 0.042, -0.02, 0.8097, 0.5999, -0.3931, -0.009, -0.0269, 0.6968]\nstate[eef_state]: left_x=0.3808 left_y=-0.228 left_z=0.119 left_yaw=-0.008 left_pitch=-0.0668 left_roll=0.053 left_gripper=0.042 right_x=0.2934 right_y=-0.0007 right_z=0.1711 right_yaw=-0.0045 right_pitch=-0.0329 right_roll=-0.0036 right_gripper=0.6968\nstate[joint_eff]: [-0.1846, -8.1846, 6.9128, 1.7509, -0.359, -0.0562, 1.033, 0.1299, -1.6068, 7.1453, 1.7314, -0.0171, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1444ac4f31ed278dd5cdea1c3286d192a4ebc458a74af4b9b479da69504ffae6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcd4ca0893539375a15097d761fe13a8a0df53e56f15cfc8544dbe9290977ba7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd9ee353b48722e6b7354ea20a5f89b9aea9e417a0dc4437520e11bcc6c541b5",
      "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 · 3.084 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 79 changed as sent

message 87 changed as sent

message 91 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2859, 1.6497, 0.4652, 0.625, -0.2535, -0.202, 0.0396, 0.0002, 0.8162, 0.6033, -0.3893, 0.0441, -0.0002, 0.6968]\nstate[eef_state]: left_x=0.3907 left_y=-0.0649 left_z=0.0431 left_yaw=0.0189 left_pitch=0.0319 left_roll=-0.0243 left_gripper=0.0396 right_x=0.2946 right_y=-0.0041 right_z=0.1717 right_yaw=-0.0434 right_pitch=-0.0315 right_roll=-0.0116 right_gripper=0.6968\nstate[joint_eff]: [0.1026, -4.2462, 4.0, 1.1697, 0.0269, 0.1587, 1.1355, 0.0889, -1.6068, 7.159, 1.9023, 0.1197, 0.0952, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7742, 1.6169, 1.24, -0.3794, -0.609, -0.5064, 0.0419, -0.017, 0.8062, 0.6014, -0.3923, -0.0093, -0.0242, 0.6968]\nstate[eef_state]: left_x=0.3867 left_y=-0.2318 left_z=0.194 left_yaw=-0.0205 left_pitch=-0.0264 left_roll=0.0049 left_gripper=0.0419 right_x=0.2935 right_y=0.0003 right_z=0.1729 right_yaw=-0.0026 right_pitch=-0.0271 right_roll=-0.0013 right_gripper=0.6968\nstate[joint_eff]: [-0.4991, -7.6786, 9.6068, 1.4383, -0.5348, 0.0806, 1.0281, -0.6496, -2.0855, 7.2821, 1.8242, -0.1245, -0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7837, 1.6993, 1.0584, -0.1844, -0.6277, -0.5179, 0.042, -0.02, 0.8097, 0.5999, -0.3931, -0.009, -0.0269, 0.6968]\nstate[eef_state]: left_x=0.3808 left_y=-0.228 left_z=0.119 left_yaw=-0.008 left_pitch=-0.0668 left_roll=0.053 left_gripper=0.042 right_x=0.2934 right_y=-0.0007 right_z=0.1711 right_yaw=-0.0045 right_pitch=-0.0329 right_roll=-0.0036 right_gripper=0.6968\nstate[joint_eff]: [-0.1846, -8.1846, 6.9128, 1.7509, -0.359, -0.0562, 1.033, 0.1299, -1.6068, 7.1453, 1.7314, -0.0171, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1444ac4f31ed278dd5cdea1c3286d192a4ebc458a74af4b9b479da69504ffae6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcd4ca0893539375a15097d761fe13a8a0df53e56f15cfc8544dbe9290977ba7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd9ee353b48722e6b7354ea20a5f89b9aea9e417a0dc4437520e11bcc6c541b5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFuAAP_OeulFvwDcrjhc7wGCaWMHEr1ZD0YycB3BrebTtcVdjta20n1ZT64m5MPiDvi2KGMOfIzatUM-Sh2rAse7r2WWjL79EntpH9zh4K7JcQBQTh17ofAvAOzpdlGOt2iBhKZN4bn-85PAU72p8nVzlz0i9paYnbrlyHg5glPA7LHvLLVidp5L8EO7pO1V8jzz3hY7ujOlwAhwPmOqDvnO8KPcE165HQaO1Zl9HwDdXUS7QpNN6bz5_tpY8veEUcXcZ5h8UDSM1jh8vlB6SFDVfga28uqHZUaZvZng_aAyog9ZE-BMf29EVmLw2IAjU8_m6ujIzvtsXfe61r8Qpsin9ArOZxF661eNUFk8MlUykmg8dEfVyRG2j10bWnVyzCWIra81fQOSMHBSg3rBsrmzdifBWM04dfw4roippj5TvZtPLu5iRuXzSQTh3rY-Gt0j3QSxNGtrmLBAzWyDyasaBJ_9lewk069NHfzE-EcFcbFHofJu7Uuy187fLP0F4q88l3FlyhAuYnRduZMZLe4MVUwmya38SBnmGDBvG__QYc0_Yx5V_8vYQERQbMyoOMBrP9tvf2mA_OYiZu-5oZMXXX2XALWTV7KN9EUjmrL1EuK2APHsTGNQbZcP78TAgxGdxsl5WoKqZrmo81aLJW2_VUz6ATCwqeLz41t9vad0i-vcGL4pA3ZcSGg9JVJ8KljBtP9PNdqdG0WkJrXv4BeJRMv3ao_8LmjxmsPO4UmxwDp9ET4p2oZklhu6mC8eSiJ3RQEmc2t8Yr18CJwNwEGc7AC6jA1_b0rAIkPQ0hEjvsjRF1BS5LOTrTEXncfm5_dfpDPM2d2xIvtFaVjXTxP8Cb6nyWvX49T8tN-by9Mfn-goZ_vNxDS__gbsKs6CkgHGFb1Kjnqew3ZzBXOYSjlDGe4FPu9jcrTcu5Ib_rAE3HIx9PQXDnf8J0HCbV4mOfMofjAr0MSuAWp6BiJAPnXgeSJBiIKHmJ5ktkjYjCK6VUunJGs-bgWghAqCcfZ64QYtfn5XkjuWCcP7N3PTYUrszSCOONe_uVEm-mtHgKJkpeX_rKd9mREZOatVAYvO_2S1Fg9fUJWMsqOQaeg5agxxANR8sYmFmnLQqK1VNYaWZuY18sbiJ5uAcD1-td01ev_4sLg7Kvhq0PLV0iuRtYmqumkla_-HswMgQtkyNKuqKzmyOFqMG21ZLGrzofUI4Xz7Zom5A1oqVegFHIy-R-UU23I_xK9eEfemI356zHjxkgSyYQu-uK-jC7mdM-la5ABPtj3zLNt6u0g2mzrswQ1y9bL79C7iDER3lL1dmFUyCFXnYUXb0INp8yBT4L1AYwBg",
  "id": "rs_0317b7ae175ce9cd016ab45b7e388c87d09d3648636fe4ecbc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.24,\"left_z\":0.095,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0},\"note\":\"The third bowl is entering the stack with only a small sideways offset. I’ll correct that offset and lower a little farther until the bowls support it.\"}",
  "call_id": "call_Kr97Wb9bx1iHdQbET2O05bUk",
  "id": "fc_0317b7ae175ce9cd016ab45b7edbdc87d0a669fa7d98e0e8e7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Kr97Wb9bx1iHdQbET2O05bUk",
  "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]: [-0.7837, 1.7069, 1.0458, -0.1215, -0.6292, -0.5213, 0.0428, -0.02, 0.8097, 0.5999, -0.3931, -0.009, -0.0273, 0.6968]\nstate[eef_state]: left_x=0.3855 left_y=-0.2324 left_z=0.1205 left_yaw=-0.0065 left_pitch=-0.0354 left_roll=0.021 left_gripper=0.0428 right_x=0.2934 right_y=-0.0007 right_z=0.1711 right_yaw=-0.0043 right_pitch=-0.0329 right_roll=-0.0039 right_gripper=0.6968\nstate[joint_eff]: [-0.1299, -8.5538, 7.0496, 1.7753, -0.4029, -0.0269, 1.0183, -0.0068, -1.347, 7.0496, 1.6972, -0.0513, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84ad53e8938a97217485a7295a0c91036efa02d15edce8aae0934ce7b91fb43b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a15c50c5879e331802ef0dd54f4fc6510d68faec5968da5780fac75af101d2d7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2aa4aa42e341d1f63e0725265a71a8338bfe55450336c7379fab8f02f9835fc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /responses · status 200 · 2.71 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 83 changed as sent

message 91 changed as sent

message 95 changed as sent

message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2863, 1.409, 0.5671, 0.2668, -0.255, -0.2016, 0.0405, 0.0002, 0.8181, 0.6018, -0.3931, 0.0433, -0.001, 0.6968]\nstate[eef_state]: left_x=0.3856 left_y=-0.0633 left_z=0.0988 left_yaw=0.0194 left_pitch=0.0172 left_roll=-0.0185 left_gripper=0.0405 right_x=0.294 right_y=-0.004 right_z=0.1697 right_yaw=-0.0423 right_pitch=-0.0388 right_roll=-0.0121 right_gripper=0.6968\nstate[joint_eff]: [-0.4308, -6.2701, 9.0462, 1.8193, -0.0366, 0.105, 1.033, -0.1573, -1.4017, 7.1726, 1.746, -0.0269, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7837, 1.6993, 1.0584, -0.1844, -0.6277, -0.5179, 0.042, -0.02, 0.8097, 0.5999, -0.3931, -0.009, -0.0269, 0.6968]\nstate[eef_state]: left_x=0.3808 left_y=-0.228 left_z=0.119 left_yaw=-0.008 left_pitch=-0.0668 left_roll=0.053 left_gripper=0.042 right_x=0.2934 right_y=-0.0007 right_z=0.1711 right_yaw=-0.0045 right_pitch=-0.0329 right_roll=-0.0036 right_gripper=0.6968\nstate[joint_eff]: [-0.1846, -8.1846, 6.9128, 1.7509, -0.359, -0.0562, 1.033, 0.1299, -1.6068, 7.1453, 1.7314, -0.0171, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7837, 1.7069, 1.0458, -0.1215, -0.6292, -0.5213, 0.0428, -0.02, 0.8097, 0.5999, -0.3931, -0.009, -0.0273, 0.6968]\nstate[eef_state]: left_x=0.3855 left_y=-0.2324 left_z=0.1205 left_yaw=-0.0065 left_pitch=-0.0354 left_roll=0.021 left_gripper=0.0428 right_x=0.2934 right_y=-0.0007 right_z=0.1711 right_yaw=-0.0043 right_pitch=-0.0329 right_roll=-0.0039 right_gripper=0.6968\nstate[joint_eff]: [-0.1299, -8.5538, 7.0496, 1.7753, -0.4029, -0.0269, 1.0183, -0.0068, -1.347, 7.0496, 1.6972, -0.0513, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84ad53e8938a97217485a7295a0c91036efa02d15edce8aae0934ce7b91fb43b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a15c50c5879e331802ef0dd54f4fc6510d68faec5968da5780fac75af101d2d7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2aa4aa42e341d1f63e0725265a71a8338bfe55450336c7379fab8f02f9835fc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFuDi1vjndZ22qFGjuz_987dHD8M8LXINBikjADwKLdeVAhEQTyjQy7vVQ-zQ8ZYKUvrx1rtYr2aAY1AbrGInSsbXUON7sjaotgQrC0m9DBI6m1YbP145yHhCA69BLmEiopHXLWtsy62YIZPpmLCkhahH-XwQgSEdmIkdtf3r-rgWus9v-4ZYSgFB_6P-_44tFry51mKa9o9ca1PyiOE6SykfXOhh0_ZTl_4Ek4EXC1EcPGyEDeAeYE_DUxSDUrKJ5j6V4nh5csa1OXq-xUH-w87f4OsTFqgNgfDdweQkg84oJBOtJ63EbhndRvb2kQQZl0Ah3lVaUjewh-t5o-ctRRQpbiirc4WPCgsuU8T99iJb1-fRascwS6Mc894ZzQyFIr5Ag6h1jEYsMQvQhJmH3rfFNkh5rtuRwiAfr12rztIBZSmeFeG9KZNcugEmfn-Z9vwkdOTUwi8xMWlScvUn2hpLPKLXmN1IWwWGlUFkiVR-J5Wo68FXCs0JVb7BGcCK3bPST5IVi3MC7jdg8OKMMzEnK149wa9eLsbaxVm1a-WwtV4dwQEBOOOI9gBjNmu1dRtfYSghhhL81oStNln68rL4MEK4TsGdIyEFj4NV4fY0H0g-cupzV_QdXSnwCgYzKU3tlphTW-s4a1S-1TA_vUuA3nm1Rj3NcN7QYrxjdDPuBOwSeXCJddRt9g7NRfLhuyQuzP5NxtIT8y2ZRnTLxdrosxQDwQBNBGUDyg4RIH14Hzi3_hWCWQonXBeD_SekqxcLthDCmmzXviyTOzgb__-mk3GaTJHZpflIDXgZFF_YO5e0C4vweukKgAkGAf4PEVLIROkESuLHN7aLIfWVpj0ClkaykPn759rnQLxMV04u8f_uBCsWRTApfjZALce4puln82lGonFDeZAeM-7EOOSe9V95-oiy_kA5u5ZzCyqxt9tqPxI0D0K90ppfDuWK-iLZ9AjBz7ub9UUIrhQi2LhmEoZWuU70gKEhXC8zkD3N8ERDrGZZYP9_VVuPL336yvlb9sbxRs14la9M0Va-Zl9qI0gIrIvFSB0MDzUUR_pdt4fR2AuYQ_M46H14-son2o8XNq15nKMT5E13m6onLymigc5tXM4k_uKRiw3DroG5rsC3VYjh03kXUaZJwqZQKxs7tRGj4dhhLFlBd2-RNimh1MFjSJwM0dyl0VzftPw86wiFkR5VrjgySFABW36nxGtPmOceqohZmZV-5CJJ6ozxpqQVsbd8xfSdd-BWxfy9NDu-aRmwx7s7ZG9vvrfIj3gioQ_n3M_CjtA2F4vQd3bzIRrV_aqpm_t9IIdVATpWKbhsMDOHkjwIU6Jcq12BvZk7E-OyeVAGU7-vKZb1KWpxbtLNaTWsaG-pCQSwFT7zGMJR-oMzF2VEyFUtOIHXP8Zd5CeiVDoUxmaEu40dNebRLf5zjZ3ZWPT7BAT5KetMyU=",
  "id": "rs_0317b7ae175ce9cd016ab45b81aa2487d08c18699e3cb8eee0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.7},\"note\":\"The bowl has stopped descending and appears supported by the stack. I’ll release the rim so it can settle into place.\"}",
  "call_id": "call_k2MadKtgwemFMRivE6o05mKq",
  "id": "fc_0317b7ae175ce9cd016ab45b829cf887d0ba202b5e17fa5501",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_k2MadKtgwemFMRivE6o05mKq",
  "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]: [-0.7837, 1.7069, 1.0458, -0.107, -0.6296, -0.522, 0.6948, -0.02, 0.8097, 0.5999, -0.3931, -0.009, -0.0273, 0.6968]\nstate[eef_state]: left_x=0.387 left_y=-0.2338 left_z=0.1227 left_yaw=-0.0062 left_pitch=-0.0249 left_roll=0.0104 left_gripper=0.6948 right_x=0.2934 right_y=-0.0007 right_z=0.1711 right_yaw=-0.0043 right_pitch=-0.0329 right_roll=-0.0039 right_gripper=0.6968\nstate[joint_eff]: [-0.0752, -8.6632, 6.9128, 1.6386, -0.4371, 0.0024, 0.0269, -0.1846, -1.265, 7.0496, 1.7167, -0.0757, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc8864d3564909080325058e481a209caa1fa41b02e80f7ffb339287027b0a8e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3809bff8cc77fc9a5b20a491daa6527a70f94fed269de886b5e25a268873cd51",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43752eb21700fcd549d12aa68cdc97d1ac6272279c4a849c6604969aa94dadf7",
      "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 · 2.722 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 87 changed as sent

message 95 changed as sent

message 99 changed as sent

message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7742, 1.6169, 1.24, -0.3794, -0.609, -0.5064, 0.0419, -0.017, 0.8062, 0.6014, -0.3923, -0.0093, -0.0242, 0.6968]\nstate[eef_state]: left_x=0.3867 left_y=-0.2318 left_z=0.194 left_yaw=-0.0205 left_pitch=-0.0264 left_roll=0.0049 left_gripper=0.0419 right_x=0.2935 right_y=0.0003 right_z=0.1729 right_yaw=-0.0026 right_pitch=-0.0271 right_roll=-0.0013 right_gripper=0.6968\nstate[joint_eff]: [-0.4991, -7.6786, 9.6068, 1.4383, -0.5348, 0.0806, 1.0281, -0.6496, -2.0855, 7.2821, 1.8242, -0.1245, -0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7837, 1.7069, 1.0458, -0.1215, -0.6292, -0.5213, 0.0428, -0.02, 0.8097, 0.5999, -0.3931, -0.009, -0.0273, 0.6968]\nstate[eef_state]: left_x=0.3855 left_y=-0.2324 left_z=0.1205 left_yaw=-0.0065 left_pitch=-0.0354 left_roll=0.021 left_gripper=0.0428 right_x=0.2934 right_y=-0.0007 right_z=0.1711 right_yaw=-0.0043 right_pitch=-0.0329 right_roll=-0.0039 right_gripper=0.6968\nstate[joint_eff]: [-0.1299, -8.5538, 7.0496, 1.7753, -0.4029, -0.0269, 1.0183, -0.0068, -1.347, 7.0496, 1.6972, -0.0513, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7837, 1.7069, 1.0458, -0.107, -0.6296, -0.522, 0.6948, -0.02, 0.8097, 0.5999, -0.3931, -0.009, -0.0273, 0.6968]\nstate[eef_state]: left_x=0.387 left_y=-0.2338 left_z=0.1227 left_yaw=-0.0062 left_pitch=-0.0249 left_roll=0.0104 left_gripper=0.6948 right_x=0.2934 right_y=-0.0007 right_z=0.1711 right_yaw=-0.0043 right_pitch=-0.0329 right_roll=-0.0039 right_gripper=0.6968\nstate[joint_eff]: [-0.0752, -8.6632, 6.9128, 1.6386, -0.4371, 0.0024, 0.0269, -0.1846, -1.265, 7.0496, 1.7167, -0.0757, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc8864d3564909080325058e481a209caa1fa41b02e80f7ffb339287027b0a8e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3809bff8cc77fc9a5b20a491daa6527a70f94fed269de886b5e25a268873cd51",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43752eb21700fcd549d12aa68cdc97d1ac6272279c4a849c6604969aa94dadf7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFuGZOAQVcyyiIzXBS0BZhG91HRzPcFOytHlh6VWTD4ZmT_lXhn7OLcSAjQs8ga6rlhLowZv5DMM5iJFKXgmMcAFjfsWrtitVsl9o6BDJ_Ix-1YLO2zlstzYimUcMeUGUc79AFX5DyCuFdsYyJiCj5D9ECLkGdG8XinS--zOH8RD3bk-MrmkMiDQywHgsgnGDPMENZyyKSn6dwUH22H9ODx0YXG4yWIG9vOtdEpL7SyLx8C9CnUfutsgXoXCfZyCPXBtIL136OTiGZElrr2gseRwBQhFA_jF1d1xlf-Xs-xwFunfoLnEF--fNb7WXKM0bDpv2t1g-esPRIVRH2P8vsvO2kESsMd-qiFpYD5Trf4fDRmcc-DZljb4qux3Ck8FPorZwjDXEQmmQxHtv7omRrd1Ltnej_UoOCDYd-atMRrSZVYdNkF9q9Z1OSpdrT8elyeAesViQ-r87orClWT-06iqJZCkGPTx8Oxnjxq91Gc7EHXd90v9pJI-F0SrVLzeUi6lHgAh4PilZX6NcVtrhCmj5MIYZivzVsVoDd6MngoM8Io-tWvHLqwKBGac98P0iIqj2IU4fhnm6G3QEBRD1p9LGoXgRthQDMtQaMo_Qr5vVpqUuwSxJyyMNdTyXbtGYDNxwK4qpYOFnPg50FJ0TkU-sO11u5CLlmQo5Y87fyzxN9SUMMUvO06RJE7BcW5Pmcc3HeBu0xhcMCyP20WZvCwuZRH7lZzvQqrPX1UeRTR0Rbw5_FMntt6nfPThHCYk8c2mB9BbZYs8q5mcuX29WxZQD5SV8p55OMv62M5ieLefZ-m1fp2GPJDYIJHiH7a4a2dYlTTLdVI9WewdkMoa1Nr3cnxVFIVrypCDqBZJk54aUEewdpCvAUSabpnoiXbNFNV9bXnu2Cl7QN6HzeN1lInTgwGhay399__tm4gNBi_bn2HimTnPGEvOw2m0UFsagN9HNr46exvZgP6cJfEIu2ibdr4Kbw6o207urV98bFSuuEKVHnlajhJqCZG1IZLsXvdvwvE5OUuiP1ZdVqKCZdQK3iVx-SQ8IKmbZyO9BuIXTcAoLrxUnDd3mp53xK-V9-1M8Wvj5KFK5-JQVgZHDlzn03ZW5XIl-97trDyUp3fHeO-ZlenGwntcAJ8VKQboxMRwyzC2FVvoOZp6zT2_MyILRQplwMYnFXD1QjT9c37-EeGYC25ImxpQLQce_Dw3b_KPjMJmoOPy-DfbIM-rS2KkfGa3YThSKRKZB0mkaCGGA70=",
  "id": "rs_0317b7ae175ce9cd016ab45b85828087d0bfcf291e876602d6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.23,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0},\"note\":\"The released bowl has settled lower, and the stack remains upright. I’ll lift the open fingers straight up to avoid catching either rim.\"}",
  "call_id": "call_tWE8z8CgVApR5RYuMDrxXBH4",
  "id": "fc_0317b7ae175ce9cd016ab45b85c2bc87d0b1e6975b17ac74a6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tWE8z8CgVApR5RYuMDrxXBH4",
  "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]: [-0.7837, 1.6451, 1.3125, -0.4343, -0.6296, -0.5251, 0.6957, -0.02, 0.8101, 0.5999, -0.3935, -0.009, -0.0269, 0.6968]\nstate[eef_state]: left_x=0.3905 left_y=-0.2373 left_z=0.2044 left_yaw=-0.0045 left_pitch=-0.024 left_roll=0.0071 left_gripper=0.6957 right_x=0.2934 right_y=-0.0007 right_z=0.1709 right_yaw=-0.0045 right_pitch=-0.0336 right_roll=-0.0036 right_gripper=0.6968\nstate[joint_eff]: [-0.4034, -10.8376, 9.306, 1.3944, -0.4176, -0.0171, 0.0855, -0.1436, -1.0872, 7.0496, 1.7118, -0.0464, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fd7b0c9a19f1a34421f65afbc31f2acb5376e17d69ef336202323a66ddff38a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c6551d8f572dd27b481339e4419b09ac4cae5dd121d6c7d5332ded2930594b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbab87a9d4f695b87f196546429b5c3334442354a0df29d4127babef9ceace15",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /responses · status 200 · 3.887 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 91 changed as sent

message 99 changed as sent

message 103 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7837, 1.6993, 1.0584, -0.1844, -0.6277, -0.5179, 0.042, -0.02, 0.8097, 0.5999, -0.3931, -0.009, -0.0269, 0.6968]\nstate[eef_state]: left_x=0.3808 left_y=-0.228 left_z=0.119 left_yaw=-0.008 left_pitch=-0.0668 left_roll=0.053 left_gripper=0.042 right_x=0.2934 right_y=-0.0007 right_z=0.1711 right_yaw=-0.0045 right_pitch=-0.0329 right_roll=-0.0036 right_gripper=0.6968\nstate[joint_eff]: [-0.1846, -8.1846, 6.9128, 1.7509, -0.359, -0.0562, 1.033, 0.1299, -1.6068, 7.1453, 1.7314, -0.0171, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7837, 1.7069, 1.0458, -0.107, -0.6296, -0.522, 0.6948, -0.02, 0.8097, 0.5999, -0.3931, -0.009, -0.0273, 0.6968]\nstate[eef_state]: left_x=0.387 left_y=-0.2338 left_z=0.1227 left_yaw=-0.0062 left_pitch=-0.0249 left_roll=0.0104 left_gripper=0.6948 right_x=0.2934 right_y=-0.0007 right_z=0.1711 right_yaw=-0.0043 right_pitch=-0.0329 right_roll=-0.0039 right_gripper=0.6968\nstate[joint_eff]: [-0.0752, -8.6632, 6.9128, 1.6386, -0.4371, 0.0024, 0.0269, -0.1846, -1.265, 7.0496, 1.7167, -0.0757, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7837, 1.6451, 1.3125, -0.4343, -0.6296, -0.5251, 0.6957, -0.02, 0.8101, 0.5999, -0.3935, -0.009, -0.0269, 0.6968]\nstate[eef_state]: left_x=0.3905 left_y=-0.2373 left_z=0.2044 left_yaw=-0.0045 left_pitch=-0.024 left_roll=0.0071 left_gripper=0.6957 right_x=0.2934 right_y=-0.0007 right_z=0.1709 right_yaw=-0.0045 right_pitch=-0.0336 right_roll=-0.0036 right_gripper=0.6968\nstate[joint_eff]: [-0.4034, -10.8376, 9.306, 1.3944, -0.4176, -0.0171, 0.0855, -0.1436, -1.0872, 7.0496, 1.7118, -0.0464, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fd7b0c9a19f1a34421f65afbc31f2acb5376e17d69ef336202323a66ddff38a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c6551d8f572dd27b481339e4419b09ac4cae5dd121d6c7d5332ded2930594b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbab87a9d4f695b87f196546429b5c3334442354a0df29d4127babef9ceace15",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.18,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.18,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The left fingers are clear of the bowls. I’ll park both arms away from the center so I can verify the completed stack in the overhead view.\"}",
  "call_id": "call_QhkWYwEVTuZXGBVLSqf60wNu",
  "id": "fc_0317b7ae175ce9cd016ab45b88e34487d0b4158d141f95d191",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QhkWYwEVTuZXGBVLSqf60wNu",
  "output": [
    {
      "text": "executing move_to over 22 steps (2.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0601, 0.8143, 0.6144, -0.3756, -0.1024, -0.0929, 0.6958, -0.0216, 0.804, 0.5995, -0.3927, -0.0097, -0.0273, 0.6968]\nstate[eef_state]: left_x=0.2979 left_y=0.0038 left_z=0.1805 left_yaw=0.0594 left_pitch=-0.0005 left_roll=-0.0076 left_gripper=0.6958 right_x=0.2931 right_y=-0.001 right_z=0.1725 right_yaw=-0.0052 right_pitch=-0.0272 right_roll=-0.0036 right_gripper=0.6968\nstate[joint_eff]: [0.253, -1.7162, 6.7897, 1.8828, -0.0122, 0.1392, -0.0024, -0.1573, -1.4564, 7.4325, 1.8535, -0.1294, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f87726f44ea727d524d7344e8ec5f197b03e38207cf93bd6b77d5240920d474",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a55062a778efd06ba78c9b40af631eda640c78aace7561f3cf13b2a8a1059bb4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73d046c565953b3563a0f932ccb6874ce7064fe904742154f354a835d9105e58",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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