adhoc

completed
2026-09-24T03:19:06.508660+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
217.7 s
total steps
268
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

Stack the bowls on the table.

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteI see three upright bowls in a row: teal, blue, and cream. I’ll bring the left gripper above the teal bowl to pick it up by its rim and stack it in the blue bowl.
move_to
left_x0.3900left_y-0.1500left_z0.1700left_gripper1.0000right_x0.2950right_y0.0000right_z0.1800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.7944, 0.6048, -0.379, -0.0227, -0.0257, 0.9996, -0.0181, 0.7933, 0.6025, -0.3794, -0.0135, -0.0193, 0.9979] state[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1804 left_yaw=0.0 left_pitch=0.0004 left_roll=-0.0 left_gripper=0.9996 right_x=0.2946 right_y=0.0006 right_z=0.1796 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9979 state[joint_eff]: [-0.3897, -1.4427, 10.1675, 1.7509, -0.0269, 0.0806, -0.0611, -0.5675, -1.3333, 10.2222, 1.9219, -0.1392, 0.0073, -0.2369] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.15,"left_z":0.17,"left_gripper":1,"right_x":0.295,"right_y":0,"right_z":0.18},"note":"I see three upright bowls in a row: teal, blue, and cream. I’ll bring the left gripper above the teal bowl to pick it up by its rim and stack it in the blue bowl."})
tool
executing move_to over 14 steps (1.4s)
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 teal bowl is directly below the left wrist camera. I’m moving to its outside rim, away from the other bowls, so one finger can enter the bowl while the other stays outside.
move_to
left_x0.3800left_y-0.0850left_z0.0650left_gripper0.6500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5636, 1.425, 0.8906, -0.1738, -0.4507, -0.3393, 0.9996, -0.0216, 0.8013, 0.6037, -0.3893, -0.0162, -0.0223, 0.9977] state[eef_state]: left_x=0.3787 left_y=-0.1441 left_z=0.1512 left_yaw=-0.0193 left_pitch=-0.0571 left_roll=0.0231 left_gripper=0.9996 right_x=0.294 right_y=0.0001 right_z=0.1759 right_yaw=0.0005 right_pitch=-0.0171 right_roll=-0.0008 right_gripper=0.9977 state[joint_eff]: [-0.335, -6.3111, 9.0462, 1.8437, -0.3541, -0.0806, -0.0562, -0.0889, -1.6342, 7.1179, 1.8242, -0.0366, -0.0366, -0.0317] 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":{"left_x":0.38,"left_y":-0.085,"left_z":0.065,"left_gripper":0.65},"note":"The teal bowl is directly below the left wrist camera. I’m moving to its outside rim, away from the other bowls, so one finger can enter the bowl while the other stays outside."})
tool
executing move_to over 6 steps (0.6s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteThe open fingers straddle the teal bowl’s left wall. I’ll lower them slightly below the lip before closing on the rim.
move_to
left_x0.3800left_y-0.0850left_z0.0320
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3771, 1.4971, 0.5812, 0.1764, -0.329, -0.2379, 0.6532, -0.0216, 0.8043, 0.6018, -0.3927, -0.0162, -0.0227, 0.9977] state[eef_state]: left_x=0.3689 left_y=-0.0808 left_z=0.0578 left_yaw=0.0159 left_pitch=-0.1239 left_roll=0.0457 left_gripper=0.6532 right_x=0.2934 right_y=0.0001 right_z=0.1735 right_yaw=0.0007 right_pitch=-0.0255 right_roll=-0.0009 right_gripper=0.9977 state[joint_eff]: [0.294, -5.2034, 5.9009, 1.8584, -0.0269, 0.0366, 0.022, -0.0615, -1.5385, 7.159, 1.7411, -0.0317, -0.0317, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":-0.085,"left_z":0.032},"note":"The open fingers straddle the teal bowl’s left wall. I’ll lower them slightly below the lip before closing on the rim."})
tool
executing move_to over 2 steps (0.2s)
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
agent noteThe teal rim remains between the fingers, and the fingertips are now below its upper edge. I’ll close the gripper to secure that wall.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3676, 1.5826, 0.5674, 0.2974, -0.318, -0.2325, 0.6528, -0.0219, 0.804, 0.6018, -0.3931, -0.0162, -0.0227, 0.9977] state[eef_state]: left_x=0.3782 left_y=-0.0826 left_z=0.0432 left_yaw=0.0126 left_pitch=-0.1067 left_roll=0.0347 left_gripper=0.6528 right_x=0.2934 right_y=0.0 right_z=0.1735 right_yaw=0.0003 right_pitch=-0.0255 right_roll=-0.0009 right_gripper=0.9977 state[joint_eff]: [-0.8, -5.5453, 6.5709, 1.3748, -0.2173, -0.0952, -0.0366, -0.1026, -1.2239, 7.241, 1.7411, -0.022, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The teal rim remains between the fingers, and the fingertips are now below its upper edge. I’ll close the gripper to secure that wall."})
tool
executing move_to over 7 steps (0.7s)
step 29
top_cam
camera top_cam step 29
left_cam
camera left_cam step 29
right_cam
camera right_cam step 29
assistant
agent noteThe gripper stopped about 9 mm open, consistent with holding the bowl wall rather than closing empty. I’ll lift the bowl a short distance to check that the grasp is secure.
move_to
left_z0.0950
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3759, 1.6318, 0.5713, 0.3386, -0.3222, -0.252, 0.0944, -0.0216, 0.8089, 0.6003, -0.3923, -0.0162, -0.0227, 0.9977] state[eef_state]: left_x=0.3814 left_y=-0.0866 left_z=0.0341 left_yaw=0.0183 left_pitch=-0.1091 left_roll=0.0236 left_gripper=0.0944 right_x=0.2936 right_y=0.0001 right_z=0.1716 right_yaw=0.0007 right_pitch=-0.0313 right_roll=-0.0008 right_gripper=0.9977 state[joint_eff]: [-0.212, -6.4205, 5.7368, 1.4042, -0.2662, 0.1001, 0.4811, -0.0068, -1.6205, 7.1453, 1.7802, -0.0269, -0.0171, -0.0073] camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.095},"note":"The gripper stopped about 9 mm open, consistent with holding the bowl wall rather than closing empty. I’ll lift the bowl a short distance to check that the grasp is secure."})
tool
executing move_to over 4 steps (0.4s)
step 33
top_cam
camera top_cam step 33
left_cam
camera left_cam step 33
right_cam
camera right_cam step 33
assistant
agent noteThe height readback barely changed on that lift, so I haven’t yet confirmed the bowl is free. I’ll raise the arm while drawing it slightly back to avoid the stalled pose.
move_to
left_x0.3600left_y-0.0850left_z0.1600
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3759, 1.6287, 0.5713, 0.3435, -0.3225, -0.2581, 0.0945, -0.0216, 0.8101, 0.5999, -0.3931, -0.0166, -0.0227, 0.9977] state[eef_state]: left_x=0.3824 left_y=-0.0869 left_z=0.0362 left_yaw=0.0216 left_pitch=-0.1015 left_roll=0.0159 left_gripper=0.0945 right_x=0.2935 right_y=0.0002 right_z=0.171 right_yaw=0.001 right_pitch=-0.0335 right_roll=-0.0005 right_gripper=0.9977 state[joint_eff]: [-0.0889, -5.9966, 5.6957, 1.3065, -0.232, 0.1832, 0.0024, -0.1026, -1.4017, 7.0769, 1.7607, -0.0464, -0.0464, -0.0122] camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":-0.085,"left_z":0.16},"note":"The height readback barely changed on that lift, so I haven’t yet confirmed the bowl is free. I’ll raise the arm while drawing it slightly back to avoid the stalled pose."})
tool
executing move_to over 8 steps (0.8s)
step 41
top_cam
camera top_cam step 41
left_cam
camera left_cam step 41
right_cam
camera right_cam step 41
assistant
agent noteThe teal bowl has lifted with the gripper. I’ll carry it over the blue bowl, keeping enough height to clear both rims.
move_to
left_x0.3520left_y-0.1970left_z0.1900right_x0.2950right_y0.0000right_z0.1800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3969, 1.2831, 0.7841, -0.215, -0.3374, -0.281, 0.0951, -0.0219, 0.8135, 0.598, -0.3927, -0.0166, -0.0227, 0.9977] state[eef_state]: left_x=0.3634 left_y=-0.085 left_z=0.1457 left_yaw=0.0251 left_pitch=-0.0973 left_roll=0.0069 left_gripper=0.0951 right_x=0.2935 right_y=0.0001 right_z=0.1692 right_yaw=0.0006 right_pitch=-0.0385 right_roll=-0.0004 right_gripper=0.9977 state[joint_eff]: [-0.6359, -5.6274, 9.3333, 1.5653, -0.2222, 0.0464, 0.0464, -0.1983, -1.6615, 7.2821, 1.7363, -0.0659, -0.0415, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 41): [image omitted: streamed camera frame] camera 'left_cam' (step 41): [image omitted: streamed camera frame] camera 'right_cam' (step 41): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.352,"left_y":-0.197,"left_z":0.19,"right_x":0.295,"right_y":0,"right_z":0.18},"note":"The teal bowl has lifted with the gripper. I’ll carry it over the blue bowl, keeping enough height to clear both rims."})
tool
executing move_to over 10 steps (1.0s)
step 51
top_cam
camera top_cam step 51
left_cam
camera left_cam step 51
right_cam
camera right_cam step 51
assistant
agent noteThe teal bowl appears to have stayed on the table rather than following the gripper, so the rim grasp was not secure. I’ll return with the jaws fully open and try gripping across the bowl’s narrower sides.
move_to
left_x0.3800left_y-0.1300left_z0.1400left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7593, 1.4746, 1.1049, -0.4934, -0.5678, -0.5526, 0.0951, -0.0219, 0.8242, 0.6064, -0.424, -0.0162, -0.0261, 0.9977] state[eef_state]: left_x=0.3487 left_y=-0.1951 left_z=0.1759 left_yaw=-0.0015 left_pitch=-0.1267 left_roll=0.0144 left_gripper=0.0951 right_x=0.2907 right_y=0.0001 right_z=0.1639 right_yaw=0.0022 right_pitch=-0.0721 right_roll=-0.0026 right_gripper=0.9977 state[joint_eff]: [-0.2803, -6.3385, 9.2923, 1.3162, -0.4469, -0.0659, -0.0122, -0.1162, -1.4291, 10.3453, 1.6386, -0.0171, 0.022, -0.0171] camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":-0.13,"left_z":0.14,"left_gripper":1},"note":"The teal bowl appears to have stayed on the table rather than following the gripper, so the rim grasp was not secure. I’ll return with the jaws fully open and try gripping across the bowl’s narrower sides."})
tool
executing move_to over 10 steps (1.0s)
step 61
top_cam
camera top_cam step 61
left_cam
camera left_cam step 61
right_cam
camera right_cam step 61
assistant
agent noteThe teal bowl is visible between the open jaws, slightly left of their centerline. I’ll center the gripper and lower it around the bowl’s sides.
move_to
left_x0.3950left_y-0.1100left_z0.0520
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5205, 1.4586, 0.9176, -0.2806, -0.416, -0.382, 0.9952, -0.0216, 0.8288, 0.6067, -0.4374, -0.0162, -0.0265, 0.9977] state[eef_state]: left_x=0.3749 left_y=-0.1285 left_z=0.1301 left_yaw=0.0262 left_pitch=-0.1656 left_roll=0.0281 left_gripper=0.9952 right_x=0.289 right_y=0.0002 right_z=0.1602 right_yaw=0.0028 right_pitch=-0.0896 right_roll=-0.0025 right_gripper=0.9977 state[joint_eff]: [0.294, -7.6786, 6.7214, 1.619, -0.105, 0.2027, -0.0269, 0.1026, -1.7573, 7.1453, 1.7656, -0.0415, -0.0366, -0.0073] camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.395,"left_y":-0.11,"left_z":0.052},"note":"The teal bowl is visible between the open jaws, slightly left of their centerline. I’ll center the gripper and lower it around the bowl’s sides."})
tool
executing move_to over 6 steps (0.6s)
step 67
top_cam
camera top_cam step 67
left_cam
camera left_cam step 67
right_cam
camera right_cam step 67
assistant
agent noteThe bowl is centered between the open fingers. I’ll lower the fingertips toward its lower sides so the grasp is below the flared rim.
move_to
left_z0.0200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4362, 1.6321, 0.7586, 0.012, -0.3687, -0.3363, 0.9957, -0.0216, 0.8307, 0.6067, -0.4431, -0.0162, -0.0265, 0.9977] state[eef_state]: left_x=0.3842 left_y=-0.1049 left_z=0.0481 left_yaw=0.0518 left_pitch=-0.2191 left_roll=0.0509 left_gripper=0.9957 right_x=0.2882 right_y=0.0002 right_z=0.1586 right_yaw=0.0028 right_pitch=-0.0972 right_roll=-0.0023 right_gripper=0.9977 state[joint_eff]: [0.4034, -6.5573, 5.6274, 1.619, -0.105, 0.1978, 0.0415, 0.0068, -1.5658, 6.9675, 1.7265, -0.0366, -0.0366, -0.0122] camera 'top_cam' (step 67): [image omitted: streamed camera frame] camera 'left_cam' (step 67): [image omitted: streamed camera frame] camera 'right_cam' (step 67): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.02},"note":"The bowl is centered between the open fingers. I’ll lower the fingertips toward its lower sides so the grasp is below the flared rim."})
tool
executing move_to over 2 steps (0.2s)
step 69
top_cam
camera top_cam step 69
left_cam
camera left_cam step 69
right_cam
camera right_cam step 69
assistant
agent noteBoth jaws are aligned with the bowl’s sides below the lip. I’ll close around the bowl and then check it with a lift.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4332, 1.6772, 0.7338, 0.1268, -0.3641, -0.3332, 0.9957, -0.0219, 0.831, 0.6064, -0.445, -0.0162, -0.0265, 0.9977] state[eef_state]: left_x=0.3923 left_y=-0.1082 left_z=0.0402 left_yaw=0.0452 left_pitch=-0.1809 left_roll=0.0287 left_gripper=0.9957 right_x=0.2879 right_y=0.0001 right_z=0.1579 right_yaw=0.0025 right_pitch=-0.0999 right_roll=-0.0022 right_gripper=0.9977 state[joint_eff]: [-0.5128, -5.6137, 4.3556, 1.37, -0.1978, -0.0659, -0.0024, 0.0205, -1.4154, 6.9812, 1.6581, -0.0415, -0.0757, -0.0171] camera 'top_cam' (step 69): [image omitted: streamed camera frame] camera 'left_cam' (step 69): [image omitted: streamed camera frame] camera 'right_cam' (step 69): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"Both jaws are aligned with the bowl’s sides below the lip. I’ll close around the bowl and then check it with a lift."})
tool
executing move_to over 10 steps (1.0s)
step 79
top_cam
camera top_cam step 79
left_cam
camera left_cam step 79
right_cam
camera right_cam step 79
assistant
agent noteThe gripper closed empty inside the bowl; its rim is wider than the jaw opening. I’ll move farther toward the left wall for a true rim pinch and restore the tool to its upright orientation.
move_to
left_x0.3900left_y-0.0500left_z0.0900left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper0.6500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4339, 1.7039, 0.7139, 0.1425, -0.3668, -0.3393, 0.0085, -0.0219, 0.8314, 0.6064, -0.4454, -0.0166, -0.0265, 0.9977] state[eef_state]: left_x=0.3867 left_y=-0.1054 left_z=0.0258 left_yaw=0.0528 left_pitch=-0.2072 left_roll=0.0406 left_gripper=0.0085 right_x=0.2878 right_y=0.0002 right_z=0.1577 right_yaw=0.0028 right_pitch=-0.1007 right_roll=-0.002 right_gripper=0.9977 state[joint_eff]: [-0.3214, -6.4342, 4.8479, 1.4676, -0.1343, -0.0122, 0.6422, -0.0752, -1.4564, 6.9949, 1.6435, -0.0806, -0.0415, -0.0073] camera 'top_cam' (step 79): [image omitted: streamed camera frame] camera 'left_cam' (step 79): [image omitted: streamed camera frame] camera 'right_cam' (step 79): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.05,"left_z":0.09,"left_yaw":0,"left_pitch":0,"left_roll":0,"left_gripper":0.65},"note":"The gripper closed empty inside the bowl; its rim is wider than the jaw opening. I’ll move farther toward the left wall for a true rim pinch and restore the tool to its upright orientation."})
tool
executing move_to over 7 steps (0.7s)
step 86
top_cam
camera top_cam step 86
left_cam
camera left_cam step 86
right_cam
camera right_cam step 86
assistant
agent noteThe left wall now lies clearly between the fingers, with one finger outside and one inside. I’ll lower just below the rim while keeping the tool upright.
move_to
left_x0.3900left_y-0.0500left_z0.0350left_yaw0.0000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2363, 1.4673, 0.5686, 0.2546, -0.2325, -0.1791, 0.6452, -0.0219, 0.8364, 0.6056, -0.4561, -0.0162, -0.0265, 0.9977] state[eef_state]: left_x=0.3855 left_y=-0.0473 left_z=0.0751 left_yaw=0.0424 left_pitch=-0.0553 left_roll=0.0024 left_gripper=0.6452 right_x=0.2863 right_y=0.0002 right_z=0.154 right_yaw=0.0025 right_pitch=-0.1171 right_roll=-0.0018 right_gripper=0.9977 state[joint_eff]: [0.294, -6.5709, 5.7504, 2.0537, 0.0317, 0.1099, -0.1538, -0.0205, -1.3197, 6.9949, 1.79, -0.0317, -0.0757, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.05,"left_z":0.035,"left_yaw":0,"left_pitch":0,"left_roll":0},"note":"The left wall now lies clearly between the fingers, with one finger outside and one inside. I’ll lower just below the rim while keeping the tool upright."})
tool
executing move_to over 3 steps (0.3s)
step 89
top_cam
camera top_cam step 89
left_cam
camera left_cam step 89
right_cam
camera right_cam step 89
assistant
agent noteThe fingertips are low enough to catch the bowl wall. I’ll close on this outside rim position.
move_to
left_gripper0.0000left_yaw0.0000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2253, 1.6352, 0.477, 0.4927, -0.205, -0.1532, 0.6464, -0.0219, 0.8398, 0.6037, -0.4671, -0.0162, -0.0265, 0.9977] state[eef_state]: left_x=0.3807 left_y=-0.0467 left_z=0.0252 left_yaw=0.0169 left_pitch=-0.0805 left_roll=0.0126 left_gripper=0.6464 right_x=0.2843 right_y=0.0002 right_z=0.1502 right_yaw=0.0026 right_pitch=-0.1335 right_roll=-0.0014 right_gripper=0.9977 state[joint_eff]: [0.212, -7.5692, 5.7915, 2.1758, 0.0317, 0.1538, 0.1148, -0.1436, -1.1556, 7.2547, 1.8242, -0.0415, -0.0708, -0.0122] camera 'top_cam' (step 89): [image omitted: streamed camera frame] camera 'left_cam' (step 89): [image omitted: streamed camera frame] camera 'right_cam' (step 89): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0,"left_yaw":0,"left_pitch":0,"left_roll":0},"note":"The fingertips are low enough to catch the bowl wall. I’ll close on this outside rim position."})
tool
executing move_to over 7 steps (0.7s)
step 96
top_cam
camera top_cam step 96
left_cam
camera left_cam step 96
right_cam
camera right_cam step 96
assistant
agent noteThe fingers are visibly pinching the bowl’s outer wall. I’ll lift and draw back slightly to verify that the bowl follows.
move_to
left_x0.3700left_y-0.0500left_z0.1200left_yaw0.0000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2253, 1.6558, 0.4541, 0.6384, -0.2012, -0.1535, 0.0943, -0.0219, 0.8436, 0.6018, -0.4709, -0.0162, -0.0265, 0.9977] state[eef_state]: left_x=0.3913 left_y=-0.0498 left_z=0.0385 left_yaw=0.0132 left_pitch=0.0183 left_roll=-0.0141 left_gripper=0.0943 right_x=0.2836 right_y=0.0002 right_z=0.1476 right_yaw=0.0026 right_pitch=-0.143 right_roll=-0.0012 right_gripper=0.9977 state[joint_eff]: [-0.1709, -6.0103, 5.1487, 1.5897, -0.0611, 0.1343, 0.5153, -0.1026, -1.5111, 7.0769, 1.6532, -0.0317, -0.0464, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 96): [image omitted: streamed camera frame] camera 'left_cam' (step 96): [image omitted: streamed camera frame] camera 'right_cam' (step 96): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.37,"left_y":-0.05,"left_z":0.12,"left_yaw":0,"left_pitch":0,"left_roll":0},"note":"The fingers are visibly pinching the bowl’s outer wall. I’ll lift and draw back slightly to verify that the bowl follows."})
tool
executing move_to over 6 steps (0.6s)
step 102
top_cam
camera top_cam step 102
left_cam
camera left_cam step 102
right_cam
camera right_cam step 102
assistant
agent noteThe bowl now stays fixed relative to the fingers as the arm lifts, confirming the rim grasp. I’ll move it over the blue bowl and reset the idle arm to its parked pose.
move_to
left_x0.3600left_y-0.1750left_z0.1800left_yaw0.0000left_pitch0.0000left_roll0.0000right_x0.2950right_y0.0000right_z0.1800right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2398, 1.3754, 0.5194, 0.3542, -0.2066, -0.1539, 0.0945, -0.0216, 0.8486, 0.6003, -0.4721, -0.0162, -0.0265, 0.9977] state[eef_state]: left_x=0.3862 left_y=-0.0534 left_z=0.1086 left_yaw=0.0041 left_pitch=0.0786 left_roll=-0.0265 left_gripper=0.0945 right_x=0.2833 right_y=0.0003 right_z=0.1454 right_yaw=0.003 right_pitch=-0.1506 right_roll=-0.001 right_gripper=0.9977 state[joint_eff]: [-0.5128, -4.506, 9.2786, 2.0488, -0.0513, 0.0513, 0.0024, -0.0889, -1.5248, 7.0769, 1.663, -0.0415, -0.0757, -0.0122] camera 'top_cam' (step 102): [image omitted: streamed camera frame] camera 'left_cam' (step 102): [image omitted: streamed camera frame] camera 'right_cam' (step 102): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":-0.175,"left_z":0.18,"left_yaw":0,"left_pitch":0,"left_roll":0,"right_x":0.295,"right_y":0,"right_z":0.18,"right_yaw":0,"right_pitch":0,"right_roll":0},"note":"The bowl now stays fixed relative to the fingers as the arm lifts, confirming the rim grasp. I’ll move it over the blue bowl and reset the idle arm to its parked pose."})
tool
executing move_to over 11 steps (1.1s)
step 113
top_cam
camera top_cam step 113
left_cam
camera left_cam step 113
right_cam
camera right_cam step 113
assistant
agent noteThe bowl slipped out during transport. I’ll regrasp the rim and explicitly keep the close command active during lifting, rather than merely holding the measured jaw opening.
move_to
left_x0.3900left_y-0.0650left_z0.0750left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper0.6500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6941, 1.3911, 0.9043, -0.2031, -0.5484, -0.4221, 0.0944, -0.0219, 0.8062, 0.5999, -0.4191, -0.0166, -0.0265, 0.9977] state[eef_state]: left_x=0.3593 left_y=-0.1746 left_z=0.1698 left_yaw=-0.0291 left_pitch=-0.0053 left_roll=-0.0039 left_gripper=0.0944 right_x=0.2896 right_y=0.0002 right_z=0.1668 right_yaw=0.0027 right_pitch=-0.0557 right_roll=-0.0031 right_gripper=0.9977 state[joint_eff]: [-0.3214, -5.7778, 9.1009, 1.5604, -0.2906, -0.105, -0.0171, -0.1983, -1.9214, 7.3504, 2.0098, -0.0366, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 113): [image omitted: streamed camera frame] camera 'left_cam' (step 113): [image omitted: streamed camera frame] camera 'right_cam' (step 113): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.065,"left_z":0.075,"left_yaw":0,"left_pitch":0,"left_roll":0,"left_gripper":0.65},"note":"The bowl slipped out during transport. I’ll regrasp the rim and explicitly keep the close command active during lifting, rather than merely holding the measured jaw opening."})
tool
executing move_to over 10 steps (1.0s)
step 123
top_cam
camera top_cam step 123
left_cam
camera left_cam step 123
right_cam
camera right_cam step 123
assistant
agent noteThe bowl wall is again between the fingers. I’ll lower below its rim before applying the grip.
move_to
left_x0.3900left_y-0.0650left_z0.0350left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper0.6500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2993, 1.491, 0.5537, 0.2836, -0.2832, -0.2066, 0.6469, -0.0216, 0.8104, 0.5957, -0.4202, -0.0166, -0.0265, 0.9977] state[eef_state]: left_x=0.3813 left_y=-0.0622 left_z=0.0676 left_yaw=0.0365 left_pitch=-0.0548 left_roll=0.0123 left_gripper=0.6469 right_x=0.289 right_y=0.0003 right_z=0.1635 right_yaw=0.0031 right_pitch=-0.0652 right_roll=-0.0029 right_gripper=0.9977 state[joint_eff]: [0.2256, -5.4632, 5.6547, 1.9609, -0.0757, 0.0415, -0.0513, -0.0479, -1.6752, 7.3094, 1.6679, -0.0708, -0.0317, -0.0073] camera 'top_cam' (step 123): [image omitted: streamed camera frame] camera 'left_cam' (step 123): [image omitted: streamed camera frame] camera 'right_cam' (step 123): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.065,"left_z":0.035,"left_yaw":0,"left_pitch":0,"left_roll":0,"left_gripper":0.65},"note":"The bowl wall is again between the fingers. I’ll lower below its rim before applying the grip."})
tool
executing move_to over 3 steps (0.3s)
step 126
top_cam
camera top_cam step 126
left_cam
camera left_cam step 126
right_cam
camera right_cam step 126
assistant
agent noteThe fingers straddle the teal bowl’s wall below the lip. I’ll close firmly on it.
move_to
left_gripper0.0000left_yaw0.0000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2844, 1.6451, 0.4896, 0.5014, -0.2558, -0.1871, 0.6495, -0.0216, 0.8135, 0.5953, -0.4221, -0.0162, -0.0265, 0.9977] state[eef_state]: left_x=0.3828 left_y=-0.0616 left_z=0.0289 left_yaw=0.0181 left_pitch=-0.0607 left_roll=0.0123 left_gripper=0.6495 right_x=0.2889 right_y=0.0002 right_z=0.1622 right_yaw=0.0028 right_pitch=-0.0705 right_roll=-0.0029 right_gripper=0.9977 state[joint_eff]: [-0.0342, -7.2, 5.1214, 2.1123, 0.0122, 0.0659, -0.0708, -0.0479, -1.0188, 7.0359, 1.6679, -0.0513, -0.0659, -0.0073] camera 'top_cam' (step 126): [image omitted: streamed camera frame] camera 'left_cam' (step 126): [image omitted: streamed camera frame] camera 'right_cam' (step 126): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0,"left_yaw":0,"left_pitch":0,"left_roll":0},"note":"The fingers straddle the teal bowl’s wall below the lip. I’ll close firmly on it."})
tool
executing move_to over 7 steps (0.7s)
step 133
top_cam
camera top_cam step 133
left_cam
camera left_cam step 133
right_cam
camera right_cam step 133
assistant
agent noteThe rim is pinched between the jaws. I’ll lift while maintaining the full close command to prevent another slip.
move_to
left_x0.3800left_y-0.0650left_z0.1150left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.284, 1.6657, 0.4709, 0.6266, -0.2508, -0.1833, 0.0945, -0.0219, 0.8139, 0.5953, -0.4221, -0.0166, -0.0265, 0.9977] state[eef_state]: left_x=0.3917 left_y=-0.0649 left_z=0.0393 left_yaw=0.0118 left_pitch=0.0205 left_roll=-0.0126 left_gripper=0.0945 right_x=0.2889 right_y=0.0002 right_z=0.1621 right_yaw=0.0027 right_pitch=-0.0709 right_roll=-0.0027 right_gripper=0.9977 state[joint_eff]: [0.1026, -6.147, 5.1214, 1.5897, -0.0562, 0.0904, 0.4615, -0.1299, -1.3607, 6.9812, 1.6484, -0.0708, -0.0562, -0.0073] camera 'top_cam' (step 133): [image omitted: streamed camera frame] camera 'left_cam' (step 133): [image omitted: streamed camera frame] camera 'right_cam' (step 133): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":-0.065,"left_z":0.115,"left_yaw":0,"left_pitch":0,"left_roll":0,"left_gripper":0},"note":"The rim is pinched between the jaws. I’ll lift while maintaining the full close command to prevent another slip."})
tool
executing move_to over 5 steps (0.5s)
step 138
top_cam
camera top_cam step 138
left_cam
camera left_cam step 138
right_cam
camera right_cam step 138
assistant
agent noteThe jaws have tightened onto the thin wall, and the bowl remains fixed in the wrist view. The lift is tracking low, so I’ll raise it further while moving slightly back.
move_to
left_x0.3600left_y-0.0650left_z0.2000left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2878, 1.5719, 0.5213, 0.4953, -0.2478, -0.1936, 0.0527, -0.0219, 0.8185, 0.5945, -0.4217, -0.0166, -0.0265, 0.9977] state[eef_state]: left_x=0.3962 left_y=-0.0684 left_z=0.0662 left_yaw=0.0111 left_pitch=0.0324 left_roll=-0.0268 left_gripper=0.0527 right_x=0.289 right_y=0.0002 right_z=0.1606 right_yaw=0.0027 right_pitch=-0.0759 right_roll=-0.0026 right_gripper=0.9977 state[joint_eff]: [-0.6632, -9.2103, 9.9761, 2.4982, -0.149, 0.1929, 0.9548, -0.1299, -1.3197, 7.0359, 1.6728, -0.0659, -0.0708, -0.0122] camera 'top_cam' (step 138): [image omitted: streamed camera frame] camera 'left_cam' (step 138): [image omitted: streamed camera frame] camera 'right_cam' (step 138): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":-0.065,"left_z":0.20,"left_yaw":0,"left_pitch":0,"left_roll":0,"left_gripper":0},"note":"The jaws have tightened onto the thin wall, and the bowl remains fixed in the wrist view. The lift is tracking low, so I’ll raise it further while moving slightly back."})
tool
executing move_to over 9 steps (0.9s)
step 147
top_cam
camera top_cam step 147
left_cam
camera left_cam step 147
right_cam
camera right_cam step 147
assistant
agent noteThe teal bowl is now visibly clear of the table and securely held. I’ll carry it over the blue bowl with the gripping force maintained.
move_to
left_x0.3520left_y-0.2000left_z0.2000left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3149, 1.1751, 0.7864, -0.2073, -0.2623, -0.1909, 0.0471, -0.0219, 0.8192, 0.5945, -0.4225, -0.0162, -0.0265, 0.9977] state[eef_state]: left_x=0.3643 left_y=-0.0667 left_z=0.1833 left_yaw=-0.0055 left_pitch=-0.0042 left_roll=-0.0047 left_gripper=0.0471 right_x=0.289 right_y=0.0001 right_z=0.1602 right_yaw=0.0024 right_pitch=-0.0774 right_roll=-0.0028 right_gripper=0.9977 state[joint_eff]: [-0.6496, -5.2855, 9.4838, 1.6972, -0.2418, -0.0513, 1.033, -0.0752, -1.4154, 7.0496, 1.6484, -0.0855, -0.0366, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 147): [image omitted: streamed camera frame] camera 'left_cam' (step 147): [image omitted: streamed camera frame] camera 'right_cam' (step 147): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.352,"left_y":-0.2,"left_z":0.2,"left_yaw":0,"left_pitch":0,"left_roll":0,"left_gripper":0},"note":"The teal bowl is now visibly clear of the table and securely held. I’ll carry it over the blue bowl with the gripping force maintained."})
tool
executing move_to over 12 steps (1.2s)
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 held bowl is slightly left of the blue bowl. I’ll shift it right and lower it carefully into alignment for nesting.
move_to
left_x0.3750left_y-0.2450left_z0.1100left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7795, 1.4277, 1.0237, -0.3794, -0.6064, -0.4969, 0.0458, -0.0219, 0.823, 0.5945, -0.4225, -0.0162, -0.0265, 0.9977] state[eef_state]: left_x=0.3462 left_y=-0.1956 left_z=0.1804 left_yaw=-0.0287 left_pitch=-0.0501 left_roll=0.0246 left_gripper=0.0458 right_x=0.2891 right_y=0.0001 right_z=0.1592 right_yaw=0.0024 right_pitch=-0.0812 right_roll=-0.0027 right_gripper=0.9977 state[joint_eff]: [-0.3761, -6.2701, 9.9214, 1.536, -0.5055, -0.0269, 1.033, -0.1162, -1.6889, 6.9812, 1.6777, -0.0464, -0.0855, -0.0073] 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":0.375,"left_y":-0.245,"left_z":0.11,"left_yaw":0,"left_pitch":0,"left_roll":0,"left_gripper":0},"note":"The held bowl is slightly left of the blue bowl. I’ll shift it right and lower it carefully into alignment for nesting."})
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 teal bowl is centered over the blue bowl. I’ll lower it the last few centimeters until the bowls seat together.
move_to
left_x0.3750left_y-0.2450left_z0.0520left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.833, 1.7168, 0.9886, -0.1337, -0.6533, -0.5446, 0.0458, -0.0219, 0.8249, 0.5945, -0.4225, -0.0162, -0.0265, 0.9977] state[eef_state]: left_x=0.3634 left_y=-0.2348 left_z=0.0954 left_yaw=-0.0192 left_pitch=-0.0802 left_roll=0.066 left_gripper=0.0458 right_x=0.2892 right_y=0.0001 right_z=0.1587 right_yaw=0.0024 right_pitch=-0.0831 right_roll=-0.0026 right_gripper=0.9977 state[joint_eff]: [-0.5538, -8.759, 6.7487, 1.6386, -0.6081, -0.0952, 1.033, -0.253, -1.4974, 7.0496, 1.6435, -0.0366, -0.0611, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 164): [image omitted: streamed camera frame] camera 'left_cam' (step 164): [image omitted: streamed camera frame] camera 'right_cam' (step 164): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.375,"left_y":-0.245,"left_z":0.052,"left_yaw":0,"left_pitch":0,"left_roll":0,"left_gripper":0},"note":"The teal bowl is centered over the blue bowl. I’ll lower it the last few centimeters until the bowls seat together."})
tool
executing move_to over 3 steps (0.3s)
step 167
top_cam
camera top_cam step 167
left_cam
camera left_cam step 167
assistant
agent noteThe downward motion has stopped while the bowls are aligned, indicating support from the lower bowl. I’ll release the teal bowl onto it.
move_to
left_gripper0.7000left_yaw0.0000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8364, 1.7405, 0.9886, -0.0624, -0.6746, -0.5514, 0.0458, -0.0216, 0.8288, 0.5945, -0.4225, -0.0162, -0.0265, 0.9977] state[eef_state]: left_x=0.371 left_y=-0.2409 left_z=0.0976 left_yaw=-0.006 left_pitch=-0.0359 left_roll=0.0363 left_gripper=0.0458 right_x=0.2894 right_y=0.0002 right_z=0.1576 right_yaw=0.0028 right_pitch=-0.0869 right_roll=-0.0025 right_gripper=0.9977 state[joint_eff]: [-0.3761, -9.2376, 6.7077, 1.663, -0.3785, -0.0904, 1.033, -0.0615, -1.6752, 6.9949, 1.6337, -0.0317, -0.0757, -0.0073] camera 'top_cam' (step 167): [image omitted: streamed camera frame] camera 'left_cam' (step 167): [image omitted: streamed camera frame] camera 'right_cam' (step 167): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.7,"left_yaw":0,"left_pitch":0,"left_roll":0},"note":"The downward motion has stopped while the bowls are aligned, indicating support from the lower bowl. I’ll release the teal bowl onto it."})
tool
executing move_to over 7 steps (0.7s)
step 174
assistant
agent noteThe teal bowl has settled onto the blue bowl. I’ll clear the left arm and bring the right gripper toward the cream bowl’s outside rim.
move_to
left_x0.2950left_y0.0000left_z0.2000left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000right_x0.3600right_y0.2000right_z0.1500right_yaw0.0000right_pitch0.0000right_roll0.0000right_gripper0.7000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8364, 1.7405, 0.9886, -0.0544, -0.675, -0.5663, 0.6949, -0.0219, 0.8307, 0.5945, -0.4225, -0.0162, -0.0265, 0.9977] state[eef_state]: left_x=0.3718 left_y=-0.2417 left_z=0.0987 left_yaw=0.002 left_pitch=-0.03 left_roll=0.0183 left_gripper=0.6949 right_x=0.2895 right_y=0.0001 right_z=0.1571 right_yaw=0.0024 right_pitch=-0.0888 right_roll=-0.0025 right_gripper=0.9977 state[joint_eff]: [-0.4991, -9.4154, 6.8991, 1.5995, -0.4078, 0.0269, -0.1441, -0.0615, -1.3607, 7.0222, 1.6728, -0.0464, -0.0317, -0.0122] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 174): [image omitted: streamed camera frame] camera 'left_cam' (step 174): [image omitted: streamed camera frame] camera 'right_cam' (step 174): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.295,"left_y":0,"left_z":0.2,"left_yaw":0,"left_pitch":0,"left_roll":0,"left_gripper":1,"right_x":0.36,"right_y":0.2,"right_z":0.15,"right_yaw":0,"right_pitch":0,"right_roll":0,"right_gripper":0.7},"note":"The teal bowl has settled onto the blue bowl. I’ll clear the left arm and bring the right gripper toward the cream bowl’s outside rim."})
tool
executing move_to over 22 steps (2.2s)
step 196
assistant
agent noteThe teal and blue bowls are nested together. The cream bowl is visible under the right wrist; I’ll lower around its right-hand rim, away from the stack.
move_to
right_x0.3600right_y0.1300right_z0.0350right_yaw0.0000right_pitch0.0000right_roll0.0000right_gripper0.7000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0589, 0.8177, 0.6544, -0.4259, -0.104, -0.0891, 0.9987, 0.7406, 1.4864, 0.8742, -0.1787, 0.5701, 0.424, 0.7009] state[eef_state]: left_x=0.2962 left_y=0.0045 left_z=0.1876 left_yaw=0.0632 left_pitch=-0.0167 left_roll=-0.0073 left_gripper=0.9987 right_x=0.3473 right_y=0.1932 right_z=0.1279 right_yaw=0.0385 right_pitch=-0.0731 right_roll=-0.0521 right_gripper=0.7009 state[joint_eff]: [0.1983, -1.6615, 9.4701, 1.9023, -0.0269, 0.2515, -0.0952, 0.335, -6.3521, 9.4974, 1.7607, 0.5201, 0.1148, 0.0024] camera 'top_cam' (step 196): [image omitted: streamed camera frame] camera 'left_cam' (step 196): [image omitted: streamed camera frame] camera 'right_cam' (step 196): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.36,"right_y":0.13,"right_z":0.035,"right_yaw":0,"right_pitch":0,"right_roll":0,"right_gripper":0.7},"note":"The teal and blue bowls are nested together. The cream bowl is visible under the right wrist; I’ll lower around its right-hand rim, away from the stack."})
tool
executing move_to over 6 steps (0.6s)
step 202
assistant
agent noteOne finger is inside the cream bowl and the other is outside its right wall. I’ll close on that rim.
move_to
right_gripper0.0000right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0589, 0.8223, 0.654, -0.4511, -0.0998, -0.0788, 0.9988, 0.5514, 1.6333, 0.4976, 0.3767, 0.4755, 0.3241, 0.7006] state[eef_state]: left_x=0.293 left_y=0.0039 left_z=0.181 left_yaw=0.0543 left_pitch=-0.047 left_roll=0.0024 left_gripper=0.9988 right_x=0.3463 right_y=0.1223 right_z=0.0225 right_yaw=-0.0232 right_pitch=-0.09 right_roll=-0.0593 right_gripper=0.7006 state[joint_eff]: [-0.0342, -1.5385, 7.0222, 1.9121, -0.1294, -0.1538, -0.0024, -0.1983, -6.106, 5.2171, 1.7265, 0.0269, 0.0269, 0.0464] approver: 1 step(s) modified (delta_clamped). 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":{"right_gripper":0,"right_yaw":0,"right_pitch":0,"right_roll":0},"note":"One finger is inside the cream bowl and the other is outside its right wall. I’ll close on that rim."})
tool
executing move_to over 8 steps (0.8s)
step 210
assistant
agent noteThe right gripper has caught the bowl wall. I’ll lift it while maintaining the close command, as with the successful teal-bowl grasp.
move_to
right_x0.3350right_y0.1300right_z0.1900right_yaw0.0000right_pitch0.0000right_roll0.0000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0589, 0.823, 0.654, -0.4553, -0.1024, -0.0784, 0.9988, 0.543, 1.6482, 0.4229, 0.6254, 0.4435, 0.3172, 0.0907] state[eef_state]: left_x=0.2924 left_y=0.0044 left_z=0.18 left_yaw=0.0563 left_pitch=-0.0518 left_roll=0.0048 left_gripper=0.9988 right_x=0.3537 right_y=0.1291 right_z=0.0355 right_yaw=0.0 right_pitch=0.0342 right_roll=0.0364 right_gripper=0.0907 state[joint_eff]: [-0.0615, -1.4291, 6.9675, 1.7363, -0.0806, -0.0806, -0.0122, -0.3077, -4.3282, 3.5077, 1.3309, 0.1685, -0.2125, 0.5153] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 210): [image omitted: streamed camera frame] camera 'left_cam' (step 210): [image omitted: streamed camera frame] camera 'right_cam' (step 210): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.335,"right_y":0.13,"right_z":0.19,"right_yaw":0,"right_pitch":0,"right_roll":0,"right_gripper":0},"note":"The right gripper has caught the bowl wall. I’ll lift it while maintaining the close command, as with the successful teal-bowl grasp."})
tool
executing move_to over 10 steps (1.0s)
step 220
assistant
agent noteThe cream bowl is securely lifted. I’ll move it left and slightly forward over the two-bowl stack, keeping the jaws closed.
move_to
right_x0.4100right_y0.2400right_z0.2100right_yaw0.0000right_pitch0.0000right_roll0.0000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0589, 0.8276, 0.654, -0.4603, -0.1028, -0.0784, 0.9988, 0.5903, 1.2087, 0.7826, -0.2386, 0.4667, 0.3214, 0.0412] state[eef_state]: left_x=0.292 left_y=0.0045 left_z=0.1778 left_yaw=0.0567 left_pitch=-0.0612 left_roll=0.0061 left_gripper=0.9988 right_x=0.3362 right_y=0.1339 right_z=0.1719 right_yaw=0.0267 right_pitch=-0.0137 right_roll=-0.0058 right_gripper=0.0412 state[joint_eff]: [-0.0342, -1.7846, 7.1043, 1.7363, -0.1099, -0.0415, -0.0122, 0.2667, -5.3402, 9.3197, 1.7411, 0.4078, 0.1441, 1.0379] camera 'top_cam' (step 220): [image omitted: streamed camera frame] camera 'left_cam' (step 220): [image omitted: streamed camera frame] camera 'right_cam' (step 220): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.41,"right_y":0.24,"right_z":0.21,"right_yaw":0,"right_pitch":0,"right_roll":0,"right_gripper":0},"note":"The cream bowl is securely lifted. I’ll move it left and slightly forward over the two-bowl stack, keeping the jaws closed."})
tool
executing move_to over 9 steps (0.9s)
step 229
assistant
agent noteThe held bowl is above the stack and slightly to its right. I’ll make a small leftward adjustment while lowering toward the top bowl.
move_to
right_x0.4100right_y0.2550right_z0.1200right_yaw0.0000right_pitch0.0000right_roll0.0000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0589, 0.8314, 0.654, -0.4606, -0.1028, -0.0784, 0.9988, 0.7322, 1.6791, 1.2961, -0.3889, 0.5644, 0.4095, 0.0383] state[eef_state]: left_x=0.2922 left_y=0.0045 left_z=0.1767 left_yaw=0.0567 left_pitch=-0.0654 left_roll=0.0066 left_gripper=0.9988 right_x=0.3995 right_y=0.2369 right_z=0.1857 right_yaw=0.043 right_pitch=-0.0614 right_roll=-0.0484 right_gripper=0.0383 state[joint_eff]: [-0.0342, -1.7436, 6.9675, 1.6825, -0.1001, -0.0366, -0.0122, -0.1573, -9.3744, 9.6205, 1.536, 0.4127, 0.2369, 1.033] camera 'top_cam' (step 229): [image omitted: streamed camera frame] camera 'left_cam' (step 229): [image omitted: streamed camera frame] camera 'right_cam' (step 229): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.41,"right_y":0.255,"right_z":0.12,"right_yaw":0,"right_pitch":0,"right_roll":0,"right_gripper":0},"note":"The held bowl is above the stack and slightly to its right. I’ll make a small leftward adjustment while lowering toward the top bowl."})
tool
executing move_to over 5 steps (0.5s)
step 234
assistant
agent noteThe cream bowl is nearly aligned, but sits a little forward of the stack. I’ll draw it back slightly and lower it gently into the top bowl.
move_to
right_x0.3900right_y0.2650right_z0.0750right_yaw0.0000right_pitch0.0000right_roll0.0000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0589, 0.8326, 0.654, -0.4606, -0.1024, -0.0784, 0.9988, 0.7593, 1.8133, 1.1427, -0.1596, 0.5949, 0.4458, 0.0383] state[eef_state]: left_x=0.2923 left_y=0.0044 left_z=0.1763 left_yaw=0.0564 left_pitch=-0.0665 left_roll=0.0065 left_gripper=0.9988 right_x=0.3984 right_y=0.2466 right_z=0.1034 right_yaw=0.0252 right_pitch=-0.0901 right_roll=-0.0742 right_gripper=0.0383 state[joint_eff]: [-0.0342, -1.5385, 6.9675, 1.6874, -0.0757, -0.0317, -0.0122, 0.3487, -9.7162, 6.9128, 1.8291, 0.4713, 0.1099, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 234): [image omitted: streamed camera frame] camera 'left_cam' (step 234): [image omitted: streamed camera frame] camera 'right_cam' (step 234): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.265,"right_z":0.075,"right_yaw":0,"right_pitch":0,"right_roll":0,"right_gripper":0},"note":"The cream bowl is nearly aligned, but sits a little forward of the stack. I’ll draw it back slightly and lower it gently into the top bowl."})
tool
executing move_to over 4 steps (0.4s)
step 238
assistant
agent noteThe bowl is supported and the arm has stopped descending. I’ll open the gripper so it can settle fully onto the stack.
move_to
right_gripper0.7000right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0589, 0.8326, 0.654, -0.4606, -0.1024, -0.0784, 0.9988, 0.7593, 1.8236, 1.1301, -0.0925, 0.5949, 0.453, 0.0383] state[eef_state]: left_x=0.2923 left_y=0.0044 left_z=0.1763 left_yaw=0.0564 left_pitch=-0.0665 left_roll=0.0065 left_gripper=0.9988 right_x=0.4035 right_y=0.2515 right_z=0.1042 right_yaw=0.0234 right_pitch=-0.057 right_roll=-0.0386 right_gripper=0.0383 state[joint_eff]: [-0.0889, -1.3333, 7.3368, 1.6728, -0.0952, -0.0513, -0.0122, 0.212, -9.935, 7.1179, 1.8828, 0.4518, 0.1441, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 238): [image omitted: streamed camera frame] camera 'left_cam' (step 238): [image omitted: streamed camera frame] camera 'right_cam' (step 238): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.7,"right_yaw":0,"right_pitch":0,"right_roll":0},"note":"The bowl is supported and the arm has stopped descending. I’ll open the gripper so it can settle fully onto the stack."})
tool
executing move_to over 7 steps (0.7s)
step 245
assistant
agent noteThe cream bowl has settled downward after release. I’ll park both arms away from the bowls so I can verify the completed stack.
move_to
right_x0.2950right_y0.0000right_z0.2000right_yaw0.0000right_pitch0.0000right_roll0.0000right_gripper1.0000left_x0.2950left_y0.0000left_z0.2000left_yaw0.0000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0589, 0.8326, 0.654, -0.4606, -0.1024, -0.0784, 0.9988, 0.7593, 1.8236, 1.1301, -0.0799, 0.5957, 0.453, 0.6958] state[eef_state]: left_x=0.2923 left_y=0.0044 left_z=0.1763 left_yaw=0.0564 left_pitch=-0.0665 left_roll=0.0065 left_gripper=0.9988 right_x=0.4049 right_y=0.2527 right_z=0.1062 right_yaw=0.0233 right_pitch=-0.0473 right_roll=-0.0306 right_gripper=0.6958 state[joint_eff]: [-0.0889, -1.4154, 6.9949, 1.6484, -0.0708, -0.0415, -0.0122, 0.1573, -9.812, 7.1863, 1.663, 0.4469, 0.0952, -0.1294] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 245): [image omitted: streamed camera frame] camera 'left_cam' (step 245): [image omitted: streamed camera frame] camera 'right_cam' (step 245): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.295,"right_y":0,"right_z":0.2,"right_yaw":0,"right_pitch":0,"right_roll":0,"right_gripper":1,"left_x":0.295,"left_y":0,"left_z":0.2,"left_yaw":0,"left_pitch":0,"left_roll":0},"note":"The cream bowl has settled downward after release. I’ll park both arms away from the bowls so I can verify the completed stack."})
tool
executing move_to over 22 steps (2.2s)
step 267
assistant
agent noteStacked all three bowls together and moved both arms clear.
done
hindsightExplicitly command gripper=0 throughout lifting and carrying. Unspecified gripper dimensions hold the measured opening, which released gripping force and caused rim grasps to slip. Likewise, explicitly maintain yaw/pitch/roll targets to avoid accumulating orientation sag. These bowls are wider than the open jaws, so pinch one wall with a finger inside and one outside rather than grasping across the whole bowl.
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0372, 0.815, 0.654, -0.4671, -0.0483, -0.0513, 0.9988, 0.0059, 0.8192, 0.672, -0.4232, 0.0566, 0.0212, 0.9971] state[eef_state]: left_x=0.2902 left_y=0.0013 left_z=0.1794 left_yaw=0.0178 left_pitch=-0.0584 left_roll=-0.0045 left_gripper=0.9988 right_x=0.2985 right_y=-0.0046 right_z=0.1954 right_yaw=-0.0569 right_pitch=0.0002 right_roll=-0.0038 right_gripper=0.9971 state[joint_eff]: [0.2667, -2.2906, 9.6205, 1.873, 0.1099, 0.149, -0.0122, -0.212, -1.6068, 8.1299, 1.79, -0.1587, -0.1001, -0.3004] camera 'top_cam' (step 267): [image omitted: streamed camera frame] camera 'left_cam' (step 267): [image omitted: streamed camera frame] camera 'right_cam' (step 267): [image omitted: streamed camera frame]
assistant
done({"summary":"Stacked all three bowls together and moved both arms clear.","hindsight":"Explicitly command gripper=0 throughout lifting and carrying. Unspecified gripper dimensions hold the measured opening, which released gripping force and caused rim grasps to slip. Likewise, explicitly maintain yaw/pitch/roll targets to avoid accumulating orientation sag. These bowls are wider than the open jaws, so pinch one wall with a finger inside and one outside rather than grasping across the whole bowl."})
tool
done: Stacked all three bowls together and moved both arms clear.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 8.89 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, 0.6048, -0.379, -0.0227, -0.0257, 0.9996, -0.0181, 0.7933, 0.6025, -0.3794, -0.0135, -0.0193, 0.9979]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1804 left_yaw=0.0 left_pitch=0.0004 left_roll=-0.0 left_gripper=0.9996 right_x=0.2946 right_y=0.0006 right_z=0.1796 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9979\nstate[joint_eff]: [-0.3897, -1.4427, 10.1675, 1.7509, -0.0269, 0.0806, -0.0611, -0.5675, -1.3333, 10.2222, 1.9219, -0.1392, 0.0073, -0.2369]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d4bfc6adc89331d369d765fb74bc73d138c2f64f8e38cae8add80b1fb919ee3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af59db208dba2a4a86b0f1384dd89857346061dc6269ac3995dfe04e1f561978",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d39c773f0ca02cf10fcea826cedad26a08d8e2a1158808070eb30d817fc55c4a",
      "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 1 attempt 0 · /responses · status 200 · 9.698 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtJbAULlqSdtihV16XheRiIdikXulLB1_PznCVOFC4tOaLr3avM5KFUsfr8bUQx0hXhHyjaKjzO8pX1E_JoC3aQ1wuMT7EmAk1xl38uIHMjEk_TAx0MGDR2btA_eET21fXwos2TQ_We0m-P4WL_YJTbr_i791OTxLCGnvoj8n4eEAb14p6ggSQ1BNkgK8dPHxZd0cZZ6xflBHrhk4JOH3ZIf1cKTxih8IzcsREZ6rG7VBkFSLzutDQ6LLin_50lwtPr_OuEc49PwDKYO3bTc_bRJh5tBcaHlelJV0UILgFmh6qOUtOUYN46Fuy7ylKZ9i8bCApupk82i8X-vT-p2UYYAmksgoJiV5e64Zk8quLS5kbIfkZ7ix--ArovpyPRC6cfGoziR5p7eFzB6ruaqYvpcPf1ukNsSeJ5IftFXyEkcFa7EIbXXBsJhq7qfnRMWkPE-2-7PD70EnloBMclVxHdPvOVeuI-_IvDVsY0t0LpeVnYHjE2XebaSW1q_LCVG6Wn_tNVNZEBeELNinUt9tj3H8_bX3jQ3NzENS6KfprFeGNuLCVysSy-i484nMZonsttB45lTzZOSHOQoeO1xxJDRYXxu_w92RhapgJQP0VwtquKdD3_t6vVO-3d3s0Ydo539ARXR-OfxkOTzVdDRk5mOA4OmBv_k6BkGl7BTV693D276oj3xJ0FSsC6KE12yGCFR4gIi2sEVMtUjv986oxCIVnP9dnAFHz46NERdDhPQYbmqJGAw94ABAqWTrNYvzbdZA5MtVyVwkF81iEKp36sRD_eDNVJD_uabWp-21K8Wtdu27DbY3TsMCBFjB07j5lM1JXhHjUOtfA_BqRtY7bQ4rFpnrZlIOG2ST1Qd82K0cXSdL6P0I23JhgYGNtORZ6cnmRuCeS_vL3y3EnrayJLO8gUKWnkCXRLUdse_ONx1nAAhqJu_OMxO6qpTtGU-_Fc5jHOosNZh6Kyv728LT6mkwpLLEY8NMgKBt_v2ekm8sWq7GfQJ0W02k0nZaOMw_4shpILLEJV0EhQ1FNlufh_j9kueRQ02JNZBpfs_GOvyGSrHStu-g1grYPu6i6d2M4dSkDclf8RH-QMnBwG6gQCp-AbDws6vF1wY5yNH1La_lKk6iy562_ILD-rnXN5yxnqa0CxMn1w6yUCsSGWE8Ev_1WsAc19KJpvNz4zbwxHHNKlygKA75ICWMhh9FMw_IGl6qGcg6GlVTRq1yKkuCkfck7Ps_7kkMFt4U-Du98HZwNVZLG_VFohGlkwFvVidrpclCr7TbdPhXsRbNg0IsapZDDRa5A0Zpx0Us_NQ5eUuUtxbziRsaoc67h2OcSNXPQPd2iO-ZR-b2eL6fjwpr3nKWD8Touz8HvgCzMNHaOmVZwa-aC8_t3jdrK5qn-gG89dXapvWB6F3z-jnM--8RJ6bNI4pksirOd_I2LLHhVGsOlkIbtY9zVIE5M5Jn_R-1JxvBOrP9p0CpjvwJyTX9MVPESDqdyukJSIXJOaa5jGtnKHuON-62adeQNGjDdIOP5EFe-ptHnLglfK_OB_6S_Bnf2JyixuURWUffBdXRQG1oxjg1Qg44lWfOOET4tJF_2Y9gAalTpEEo4M0_AnyehE1Prv_A1KhHfVs7qrHbUe898V0BXwDBqRpB8kPxwsSlz31muABIk3x_RtyFeOK_4y4V5_OEpZy6AkwE9SUyZj7jxYOq8AllSyVpq_-cwGS5ydmNxmmIwC4t9HNet4O1Gi6E3lqu7nuTwIypKQfAwqBeGCRKaO78ACSuW6vBt2ACyX5TNLEckYRYzHqJGKchQyHaQfynOXiPVF3KhptxojVfexDkR3iq4UzBBaaCkwmH9SxI6aqmu7mDr0nPIRsgjbnkaOrV3A6jWs61mx4iSsYRrxf4Io7MX69T4O1qx-FfKhKIoORVApk85pucCuTE18R7OPwUxzAzS0rGWg_A-MNVfWNPpjDI-GASs3XRKaBpwbYXDwoX--E9CCoPaMSRyboQdrrp4IYOoccWgyP6WLB5ACxeQ91J3oMGmvB0a9g_mDmSMZDNNAjQcEW7SvYPOc0Twh3rEcfm7R5z14OtzRTovu3XKmBkvDWcBBInFk2GrAPqnVQZ9PBrjuVXxbE8L09oF5jgrjuu1LoVzBtQUgouZNcTTkVBgo8pi-Yd1R_VLTmfFjr8YeIJRwQ8jsBuVVF40XXxJVfb-GRPWrQCTgK5rR8LvXHUzkI1Fls2v9CIbv_kyE31jcEnV-wA1X-yxARnF1rnA7Rb5Kzrc0sUQkbmxepIXuZWz_JOnQ7yi0AX2SQ_mNbEt6vKxMAoFDJtQlKMM93emvxLAw4alAKx30n27qn-tV6gk8cVSDn80HzAHLUTENz6itE9soth55hjTa7PJsLirtY5lJNiDfecKz4IXEcfzeme8ZmnZLk8GrNKbBK771KUlLlHdBb8VzYbeu-vhrttyAnvU6v4X8BFOkj_DjXWtkU7jk_8Y0wZAXohN6Cc9gZtbDEhmwr_7HVawDR0H0gZEA-nr-wpNvHR271UoNKnX1985bXrL4D-ZcvbaeH7Xr8WdMUAVplGZNIJPaNACoMOmQmAxjROCpigriKxmSO4Ehg7bM_D-6VMUHlEZlGvJnCPRrFfgh04M5yPycVKEUMw7AD_trv9VYXlGj2W0RTgPrrxdZFFWMliNE0nyHNqb8xEGqBGqe65vxvE4QiGhdccdG7IkErZk9vb7Kw2OUAue1URmOfsUkKQNt9Cxpq75Vx3MLzX-6cozGutdkB1e8FOcTwrJ4z8OMvYpmT2CdopV-DbZ62oPaXbFUXMsLk6lwtTAzsyfXyQAUP0BMr7YDQIuKc-bUePDBOU7CW42ALqYkjXgbC5t2HKHbjaWjdZbdUe05Fqb-wU8WK8waqujHuGJLMZJniy2wi2QeTeG92Qa7766GXqYxDcyDFjeZ5H7-0fVPslImVzsqhqAasv7pJXdNWbORUYP9g9VswC7HVZwdg1UpOPdyNZZFtOPku6",
  "id": "rs_06415379f6f0f60e016ab496b87a5487d08e911dec7e1cfb41",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.15,\"left_z\":0.17,\"left_gripper\":1,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.18},\"note\":\"I see three upright bowls in a row: teal, blue, and cream. I’ll bring the left gripper above the teal bowl to pick it up by its rim and stack it in the blue bowl.\"}",
  "call_id": "call_mbvK6WT59kBu7gBSiimQznjy",
  "id": "fc_06415379f6f0f60e016ab496bee46487d085d218be0e2c086a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mbvK6WT59kBu7gBSiimQznjy",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5636, 1.425, 0.8906, -0.1738, -0.4507, -0.3393, 0.9996, -0.0216, 0.8013, 0.6037, -0.3893, -0.0162, -0.0223, 0.9977]\nstate[eef_state]: left_x=0.3787 left_y=-0.1441 left_z=0.1512 left_yaw=-0.0193 left_pitch=-0.0571 left_roll=0.0231 left_gripper=0.9996 right_x=0.294 right_y=0.0001 right_z=0.1759 right_yaw=0.0005 right_pitch=-0.0171 right_roll=-0.0008 right_gripper=0.9977\nstate[joint_eff]: [-0.335, -6.3111, 9.0462, 1.8437, -0.3541, -0.0806, -0.0562, -0.0889, -1.6342, 7.1179, 1.8242, -0.0366, -0.0366, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8ecba578c1df010112534af56d1a530ca5af91377a78380d333b0f9aa963b7b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e804a6e6882ab0723fa15a2e0d64f00cc17e6fb3a50fcd713ff4e8c971a0d877",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29d053dadd65fcb425c118fae1436fe47920553cd3694a115d8c118e71f864a7",
      "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 · 6.978 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, 0.6048, -0.379, -0.0227, -0.0257, 0.9996, -0.0181, 0.7933, 0.6025, -0.3794, -0.0135, -0.0193, 0.9979]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1804 left_yaw=0.0 left_pitch=0.0004 left_roll=-0.0 left_gripper=0.9996 right_x=0.2946 right_y=0.0006 right_z=0.1796 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9979\nstate[joint_eff]: [-0.3897, -1.4427, 10.1675, 1.7509, -0.0269, 0.0806, -0.0611, -0.5675, -1.3333, 10.2222, 1.9219, -0.1392, 0.0073, -0.2369]",
      "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]: [-0.5636, 1.425, 0.8906, -0.1738, -0.4507, -0.3393, 0.9996, -0.0216, 0.8013, 0.6037, -0.3893, -0.0162, -0.0223, 0.9977]\nstate[eef_state]: left_x=0.3787 left_y=-0.1441 left_z=0.1512 left_yaw=-0.0193 left_pitch=-0.0571 left_roll=0.0231 left_gripper=0.9996 right_x=0.294 right_y=0.0001 right_z=0.1759 right_yaw=0.0005 right_pitch=-0.0171 right_roll=-0.0008 right_gripper=0.9977\nstate[joint_eff]: [-0.335, -6.3111, 9.0462, 1.8437, -0.3541, -0.0806, -0.0562, -0.0889, -1.6342, 7.1179, 1.8242, -0.0366, -0.0366, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8ecba578c1df010112534af56d1a530ca5af91377a78380d333b0f9aa963b7b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e804a6e6882ab0723fa15a2e0d64f00cc17e6fb3a50fcd713ff4e8c971a0d877",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29d053dadd65fcb425c118fae1436fe47920553cd3694a115d8c118e71f864a7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJbLjEkzyogjdkUYwzD564ypB7hWXCg5gGFwHAK9OC48t0rwaHZmpl0gWvCTFsA_Q0ziY6kPyzEX5h_TunhVkXZjJzTa6M2SEdMGVoo1lu6aytkmUhCETVwLP16pe61KlKJxLw5L0WsTobl7wnYNT1fzZ0IXlYTsUwZ_l_t0yrQLsRFD45ALyrEOUvjeIofYNnKm6ASa43velVuhk5dnu5dzAbQ8xzADZ3YxhvyJH35rVHT2_NErOKWa25vpqD8BQAeUzd7_mommfkuQMrk-cldroiPmKF-4VGWHvuu-OZH7ER5hiTdMhsqlRb6KVuvnXP3S941aNlgWDON5LTHwX76oE_jVx4B-0GPAPXcfR7im2Tf3LccpEMCV3WDsDQf8Rn8W1nXQU6zCW0j3rj6nPh88osUjOSnnMeFX7m3aXg7_5wqUrLTSS310V88Tlzrbynt-aNgLEqLyBk8K064yDe2KGCgjqgI4XaKAHYuNA69NxDrfjRM9-TGBtqm3Bpv7lImNIOTFPjGOzRfz-gj3l-fo9DaeR55ojr2EaLsv3J_05kKc8WRSSLRybyhVfRUkIulkn-KqiNA2HZBEepq-Ys8N9D4DS47YLCh9p9B_BovTId6ef2SXzoqL1RhDoHHiN4M-CmUCEDAfi1y_FyzBZuZ2I1KSyjvpKYjEPaH0KO3R5fI-m5jH3uAsu8PSVNP20XLgaH9uOFFUEOsgg4YrlrPWfHPERCR_h8ymAVTuM4a8JoPQQPjJZh_6nH-9crMNJQNLMTWKedQxRNKxmJrPy8ILRfWY1dmOwraA4rmPl169ipoW34XQadlr3bZlrDBa49K78Wjtw0WmPGxmGk4UmG8ZkNOVj-In2IWS740VW_X6qG6Z6khWbF2sA2XB0lrWZbwu4mePjDX-JcttU3qHa17Jiw6N07vP5wFUs7uIvzPvBiSauqjrwaRrIEJNanWIjhsJQDL9_eu4Wm52DGf-crML6Kr-uHVDP4zo1b8TccfrQhHua3Pb2FFfmM4QkLMeHFB8ifgZNpSLewX74NwbuppwM_MbaOq1H7QPm-FELYIe3pOLG2mO3Ni3LpQHuB0YLHjKWb9wDkLNE6KhXTM8KjIO9axhsJH-BlLL0gHDMUAicLY6crIuz3eQs0wPi12XLOYM-oTXr-DWxPE5qzxSB-SQD15mR3NG5pTR3MWrQ9xuz9183bVGLvvNHXscxKby6w2aRV7PJtQUvZ19bknxiy6XEIQGUZl2j0GhP7EpX2HdMjDqm1I-SI1xQiWIu0ukHJKBZS-saUzAW7lTE2C1WHk3LBsKDjTxcny1ncJ6N9u89fFE_MqG-pESBMLiIf_EPU2NpFA5fFF16Gx3DtbD_O3quIK0aEY2-fgj8FWCTO0Q6CyGOlXrdNS-UPKn8-BzxCcdyEYLnVOIyfU0lopQpYmnEs47cQaHlS9S1Nh59qm8H7YRDwrP-uu5xgIMO451Am7WIiJmpw7d0hByuBdP3wkW6iBnUlv0hsJgUaqY5XSJoibXhNHB73_R0juMVafpjzq5Mcl-6978QG1eIZQtw8pcs4NDBnv8Yb2If7IRpxSWCS1MDVozMdmtOBzxa2i75C54CgNP4g30VVUDOYe4ZQslNqzxFoTCEhteYPXm6tSDv0Lfej6ZOVUtVAegSuw5NoywwKzeR7gjgnDXZ9NBJfG0oUrONN_0rrkxrr8zSeMSloT8PyWoE60JpjKaRj7T70Jjm2ZRpFeCj0QDNktYhsKBpPgHvEHgXxKXQ8gAfRYgJCrI-LAwJ7p8G40fKx9CQVU1ZAIauEp8NjBbiEK7FIZBgmQuGC9qxRMQkTfmWqYU0PFJuyMHivk9BJXz7WBNJioMEU_sjLXGSSErY9ei-hvNl2Ei5MgZGWQBmfKslkRf_auLJ4ghuNdGjyHob3va6JGofcKfz5xGeMWfYKUV21CSrB5p62-9nWiO57dLZk_S729zl17u5A2f4gSU3DA8D8VyYNQ7xDqkA5cxImCXqBsVdbDFo5QKUkxPEOcPao1E8IeqV2dBCIcvtfU691_ZEsQ5Ko7cvBHuOYLhv49FBO6i1y-HAzTHhDBNXWqMOp6QzDWcBd0SkBJadHyZ61-HOUPygFdWBE8L8d9X92N5wisHBFDLOMyvS_FC4wjuhHDztTRXCErWKg8XTZydahVhmHp1KrpZRG6yOgslSpJZG0L2dEccQOOMHXc6ef2J5mT0F8HRDUaKi-jGY8wz71m2jpBg1WB_c5rqo6vvUWbqwDTPZkg3WFBM5Q9Y3WeU39s-Uh1VHzvigik9lZ0seJRQjrqEEh7uthOiX5gMUi823oPOIJQ_ra3hsXitJ-BmsJISEzLStXpo3nKE82zp_o3PYCWDjyPSjr-aJ18rsn9uOy9sU6YeYKfybOtjMzPJd17RSFmXalnmbY8BLHGme6vIVR2cgcgeK3g1aYk10UOE64mNOZ55_u67ZNd6Pk_H6eYTu6PNzxi8Rc5ncQy29JvYvfrgYbFzkkF-OH8UGBF2HraNwu-emv_c5A99i5enABVPaVF9XlvPijHRVyp1jbpIzsnjPAf00F4GV3rhfUPd2jlyJwVk1BgiaVVAvv2x1mP5ULG-YCn0IseXKs4rZaHsEQ74aLS6CA18cZZyJLRW7CMec_EE24gWn1Mn8Gn3kR6vKQUkkd08PjwbwtTU4p9E7UD7MCH-URHDI5of0sUopRNMl31T844cpmFTd2s9bPN2sD9j8JbuBz0l7lpm6i5AsM56o8udQDaxe6krT1ZJKLb8rRwkWSgHG8OMlaDFEWjfS6YDCKZP5DrQc5DPPSZGDxCq3YmjQ2PHA5peuoqlvr1oNa6J0AGtkoreZIkybiy8QRCpB0gKQ7-Hiyum3APBTcKFTVjFEyPJ1m8BYlkwtBObjyjXJdQB2lxszdpAuUabKOy752mtEFvcyZ3yzMJ30FR49sQpugr4Y-sokd4VxOTjkS8bV8FLHm0Dkuwk8ehAK9fr6fcMAbFWlFTlWXydHW64YRaHvsA3njOP5LCldTS5lpKnYgh1a1aJ_Tf-3Vb3433ilwp3ueh8ImvKK21h01CyrVabjtHJrZjXJKLUijbCHkFJxp7MJNjFTckLt4m7o7JCnb7F0hI-S_lucKI2SqvaYfUZqLjIo1H_7zZGG95P9rJjJVoNbZTVB8A3zAXEk15eLMapP011lOu_h2X3xFzp3hWynBBJMnWL1e2dZkvc8nk4ahwqnlvU0LPaUgM2KLM_GaluPiP9p45i5J-uCGfEU10ZtwvIMKoILpRngbV_k29xqV8rz4spSdjX0p55Cz49VJP3Xtrkfc_uSAk2vxwHxdFsnFZwZsR1-y39FDH8jopPWEY04pW24hQrwidCNb-OneKNQHnnkMy40cARktt6XDU_eZWVH8g__3Qy_X07JqmfG4FWUFuXvd0HmFZXV04=",
  "id": "rs_06415379f6f0f60e016ab496c293c087d0b334f9a7f23bc4f2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.085,\"left_z\":0.065,\"left_gripper\":0.65},\"note\":\"The teal bowl is directly below the left wrist camera. I’m moving to its outside rim, away from the other bowls, so one finger can enter the bowl while the other stays outside.\"}",
  "call_id": "call_x0GJLsy81ogCs3SPU6xMRvHL",
  "id": "fc_06415379f6f0f60e016ab496c9b99c87d0b867a6953b2c38db",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_x0GJLsy81ogCs3SPU6xMRvHL",
  "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]: [-0.3771, 1.4971, 0.5812, 0.1764, -0.329, -0.2379, 0.6532, -0.0216, 0.8043, 0.6018, -0.3927, -0.0162, -0.0227, 0.9977]\nstate[eef_state]: left_x=0.3689 left_y=-0.0808 left_z=0.0578 left_yaw=0.0159 left_pitch=-0.1239 left_roll=0.0457 left_gripper=0.6532 right_x=0.2934 right_y=0.0001 right_z=0.1735 right_yaw=0.0007 right_pitch=-0.0255 right_roll=-0.0009 right_gripper=0.9977\nstate[joint_eff]: [0.294, -5.2034, 5.9009, 1.8584, -0.0269, 0.0366, 0.022, -0.0615, -1.5385, 7.159, 1.7411, -0.0317, -0.0317, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c31ffdec981e69f791d6e8eae40b9593b217ddfb2d91c0b5d2de3989802c63b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63c49150e442e8cdca47089ff639d7d6da3c746fdf9ca78f49a4dadd7d7e5f45",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d5eef859e53419bcd8409204219e543781c1b22e27e42ae2edabb4e28da7edf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 3 attempt 0 · /responses · status 200 · 2.219 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]: [-0.5636, 1.425, 0.8906, -0.1738, -0.4507, -0.3393, 0.9996, -0.0216, 0.8013, 0.6037, -0.3893, -0.0162, -0.0223, 0.9977]\nstate[eef_state]: left_x=0.3787 left_y=-0.1441 left_z=0.1512 left_yaw=-0.0193 left_pitch=-0.0571 left_roll=0.0231 left_gripper=0.9996 right_x=0.294 right_y=0.0001 right_z=0.1759 right_yaw=0.0005 right_pitch=-0.0171 right_roll=-0.0008 right_gripper=0.9977\nstate[joint_eff]: [-0.335, -6.3111, 9.0462, 1.8437, -0.3541, -0.0806, -0.0562, -0.0889, -1.6342, 7.1179, 1.8242, -0.0366, -0.0366, -0.0317]",
      "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]: [-0.3771, 1.4971, 0.5812, 0.1764, -0.329, -0.2379, 0.6532, -0.0216, 0.8043, 0.6018, -0.3927, -0.0162, -0.0227, 0.9977]\nstate[eef_state]: left_x=0.3689 left_y=-0.0808 left_z=0.0578 left_yaw=0.0159 left_pitch=-0.1239 left_roll=0.0457 left_gripper=0.6532 right_x=0.2934 right_y=0.0001 right_z=0.1735 right_yaw=0.0007 right_pitch=-0.0255 right_roll=-0.0009 right_gripper=0.9977\nstate[joint_eff]: [0.294, -5.2034, 5.9009, 1.8584, -0.0269, 0.0366, 0.022, -0.0615, -1.5385, 7.159, 1.7411, -0.0317, -0.0317, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c31ffdec981e69f791d6e8eae40b9593b217ddfb2d91c0b5d2de3989802c63b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63c49150e442e8cdca47089ff639d7d6da3c746fdf9ca78f49a4dadd7d7e5f45",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d5eef859e53419bcd8409204219e543781c1b22e27e42ae2edabb4e28da7edf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJbSqEhdP8OL8CbUDja10XdOZ-GwqnXvUk3v5EnoVtZDWbjhK5UBoxCMFLTB00DMVTjzIDowal_yG23ap0cmQxVQikGEkplP3GfRl8-TbmPa5b3hc8v-pIlGp6NHQc4MBG2-FNmI2TDJS6xQ3EgvEfgbgD5Aw21aKTAdSsF0QcmmgaW5JAMx4njQ05l82dd9JpvWUtsnINXSx4goOhg42F49-0l9F97tCghV5MNe5NUP1ut3Dl8KzPNKnTw-eo2sSWM82_vL8cpZwMv49r7RVOXWI8OjyxDCM2UmtmcyYSGXdzd9RZbzrsl2NNTwvWnoFHmrGQiM9vhbGsb_SZvZR4WXCrhO_lrrfjilPtc1mVXDWEg5NDtsLCIEHrhLnrjnESITv1jR7m1WfyDQLA7pDBuxLjLoGg5rB4zcGHyLvTYtZ_PJ2qTog3HhdZo5RYHDu7UOIPuFwJ9uj-OURA8aK-Hft21aaeiLpxG5q4cP2Ns5YleuP1hKkSRGFsA_jV4Cq-sKlUjzw5_gjC9UXW4oqqemtcbvrVhvCzxuQJ4nIzEA2A9G_y5xS6ZITll1EZljQMun0TG5nCaeR8Vn5UIxYk3-2wuiAHRRtKICNFn9kLa7SOlFbAEiJBi7HXHKrrOYfDe1mRwcWxdRDlSMvO2RXCubGLm0r7cIrIxgOb6BKyO9Y417yEfN-WNztr1CG8ThLBEVVIf_wYLv1aPlORG3GxJYOC4eL1kHfIXMWgR83batjfAb2Q3XLhbysLM4malE7CnYvxCLqndHDGy4Xrza8TD5-gekqP5xVbQhQcQuhyTWhuGI71b0Pj83XRL1YRMLM7TLVSIHAysT8O9WjQKylqE9EjGM52LJa5NLAWcjjn10PZhsu_9cZWyfRlllzXXvVPL6IlOdOsb7dzKNW1YlI5Wzdbu-e0LDLcePITMAVa3OzBiFWNnmB89WJZEhqoGX0T-vo_dUaEcUsFNGUAMAUlBfBAowq3qqY9-k8mNcJwlak0obKTaPh3u5ZEP5AJMHKNlhQ9eruIa68Hjsuoew1AJUnkGDCs8mSoEHDei55B9ZPZ_QcIhgkUVnUIkpGSkC1o_SlEvB8bJSMiF88my6QE9F9SE1ajW9P2Ma0-WxDybBO4ljkFQTAlh1E5Ab_DbU9mjPJTAq-0s4-k_YwWbgpwphYyslsA8wGmt9tPUivvqIf64oY19B6mFve6luhXrpCPAnk35NRBMEAXoSSeKYLU8CNR9PECTvE_4Za4GnYpfOg_Fa1Na8zAlFO2WMdI2G3z-uvZ_ktlVs0YtY03YR1vywC2OG-uLtSjxotz6xsX_3MonpBdsfZlQS0IeLkrSSPsludhvDC62Q_ucYvahpNDgBt5Unq1k0Fi-zMuVWPYQ7vtRpnNuKolG978lspaWXTVbovUHhe0bYxrb-voItU6FaHF9IF_JzeMuoYdqKRdvglHoh7CQT25isMB057JCxCB7rVN5Ew8KypyAc4GpP9hLhEMV1DeqLfsiHvvHDv9AaBtpecRbSI6L8AG4yUG2oOKVscNMSgxHw2Wyx7PRjPiLybbzG3LW6dsKLw0TeuMu5Ksj7ZQXWcgEVTTub5kcU_RogadAIEFW1HjKdJ7dHkux2NN-poDvTJgQfBVBX7QHIwaVCLS8O0tbg298vcHpjnAcwyhrvGSOgA4Nt2pSYBGlZfFgxdBaDFn1CoPaZH0o-fzDqvdR4QQMXEq9N8ZEgVnGfZx2lZFD-MCkJQm7XXpr-UnUI_G073EIsItDbRmW_eeOzozd9g9FwF2Xbmj6SEqO1u6ratiu78xJeEAO7RtVnGQvsKNbg4a_bX8PCdhTrpiFDTVuUZP7XPf1cQxnVZOkYZysRSmiuzd4sSRhZjFsYZWqoXetF8qpnUBMwPT4qCW68Ci-pA3_23n6h3UjkHfkt3SV2c7rWepIZT4jn6oVwJ3z-3ASnr7fydpqnqHfq8RV0Dbv9AjM-gGrA-GDIiBUrYxGz4VmHu6rB-vKuiLVPvm-j0coiGqPovrcFcakiUxpgVptzlpGdYypCTNj9WE8PQUhNOT1lU9HqfgRXUFDgUXQQOuRa6maxCApi91cHQEfQ3Sg1IqbBz6MZn7VqEq_FWo8Jb6jr3uyfWvibz12qH_ZEgd-5MKEb1S1FZ5oCgacFrzeRL0kHb2l1pDXc9rJJCOo8rTzeJXPrAAU4LXFsXR9hR-WYJy3c363Wi0OITqY=",
  "id": "rs_06415379f6f0f60e016ab496ccf29087d09bccd31baa22a2b7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.085,\"left_z\":0.032},\"note\":\"The open fingers straddle the teal bowl’s left wall. I’ll lower them slightly below the lip before closing on the rim.\"}",
  "call_id": "call_ijrIc7PkwnrZKNZkFzcBC0UY",
  "id": "fc_06415379f6f0f60e016ab496d22e5087d0ae031e7f77f5a469",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ijrIc7PkwnrZKNZkFzcBC0UY",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3676, 1.5826, 0.5674, 0.2974, -0.318, -0.2325, 0.6528, -0.0219, 0.804, 0.6018, -0.3931, -0.0162, -0.0227, 0.9977]\nstate[eef_state]: left_x=0.3782 left_y=-0.0826 left_z=0.0432 left_yaw=0.0126 left_pitch=-0.1067 left_roll=0.0347 left_gripper=0.6528 right_x=0.2934 right_y=0.0 right_z=0.1735 right_yaw=0.0003 right_pitch=-0.0255 right_roll=-0.0009 right_gripper=0.9977\nstate[joint_eff]: [-0.8, -5.5453, 6.5709, 1.3748, -0.2173, -0.0952, -0.0366, -0.1026, -1.2239, 7.241, 1.7411, -0.022, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b8f7e33787cd10e474c53582f7ff9dd50afb8bad8725a92f196e7608f583e2b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3d0999c5761a18ad933e4444b80d7d2643b3a538aa16b61be1bb5fd57aa20f3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f089b6777bef8171d1e2b09c081c49b86115b11814ff390988d3269b91e6f509",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /responses · status 200 · 2.37 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, 0.6048, -0.379, -0.0227, -0.0257, 0.9996, -0.0181, 0.7933, 0.6025, -0.3794, -0.0135, -0.0193, 0.9979]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1804 left_yaw=0.0 left_pitch=0.0004 left_roll=-0.0 left_gripper=0.9996 right_x=0.2946 right_y=0.0006 right_z=0.1796 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9979\nstate[joint_eff]: [-0.3897, -1.4427, 10.1675, 1.7509, -0.0269, 0.0806, -0.0611, -0.5675, -1.3333, 10.2222, 1.9219, -0.1392, 0.0073, -0.2369]",
      "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]: [-0.3771, 1.4971, 0.5812, 0.1764, -0.329, -0.2379, 0.6532, -0.0216, 0.8043, 0.6018, -0.3927, -0.0162, -0.0227, 0.9977]\nstate[eef_state]: left_x=0.3689 left_y=-0.0808 left_z=0.0578 left_yaw=0.0159 left_pitch=-0.1239 left_roll=0.0457 left_gripper=0.6532 right_x=0.2934 right_y=0.0001 right_z=0.1735 right_yaw=0.0007 right_pitch=-0.0255 right_roll=-0.0009 right_gripper=0.9977\nstate[joint_eff]: [0.294, -5.2034, 5.9009, 1.8584, -0.0269, 0.0366, 0.022, -0.0615, -1.5385, 7.159, 1.7411, -0.0317, -0.0317, -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]: [-0.3676, 1.5826, 0.5674, 0.2974, -0.318, -0.2325, 0.6528, -0.0219, 0.804, 0.6018, -0.3931, -0.0162, -0.0227, 0.9977]\nstate[eef_state]: left_x=0.3782 left_y=-0.0826 left_z=0.0432 left_yaw=0.0126 left_pitch=-0.1067 left_roll=0.0347 left_gripper=0.6528 right_x=0.2934 right_y=0.0 right_z=0.1735 right_yaw=0.0003 right_pitch=-0.0255 right_roll=-0.0009 right_gripper=0.9977\nstate[joint_eff]: [-0.8, -5.5453, 6.5709, 1.3748, -0.2173, -0.0952, -0.0366, -0.1026, -1.2239, 7.241, 1.7411, -0.022, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b8f7e33787cd10e474c53582f7ff9dd50afb8bad8725a92f196e7608f583e2b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3d0999c5761a18ad933e4444b80d7d2643b3a538aa16b61be1bb5fd57aa20f3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f089b6777bef8171d1e2b09c081c49b86115b11814ff390988d3269b91e6f509",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The teal rim remains between the fingers, and the fingertips are now below its upper edge. I’ll close the gripper to secure that wall.\"}",
  "call_id": "call_wO8N0jagXSAaZocS6nqPmuuF",
  "id": "fc_06415379f6f0f60e016ab496d4229c87d084a0ea8078db44a2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wO8N0jagXSAaZocS6nqPmuuF",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3759, 1.6318, 0.5713, 0.3386, -0.3222, -0.252, 0.0944, -0.0216, 0.8089, 0.6003, -0.3923, -0.0162, -0.0227, 0.9977]\nstate[eef_state]: left_x=0.3814 left_y=-0.0866 left_z=0.0341 left_yaw=0.0183 left_pitch=-0.1091 left_roll=0.0236 left_gripper=0.0944 right_x=0.2936 right_y=0.0001 right_z=0.1716 right_yaw=0.0007 right_pitch=-0.0313 right_roll=-0.0008 right_gripper=0.9977\nstate[joint_eff]: [-0.212, -6.4205, 5.7368, 1.4042, -0.2662, 0.1001, 0.4811, -0.0068, -1.6205, 7.1453, 1.7802, -0.0269, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8f222209f99f86cf65b5efe6b3d011916e47c82e4a6d82a68bfa99098e8ac28",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24f75d34027c3f98399fd66e1a43fc07092a8dda69b08a47312e6fd1edc6b7bd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1385af8b278838463739fa93fbf5361b74a36661238010403c02df666e527176",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /responses · status 200 · 3.197 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 14 changed as sent

message 17 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5636, 1.425, 0.8906, -0.1738, -0.4507, -0.3393, 0.9996, -0.0216, 0.8013, 0.6037, -0.3893, -0.0162, -0.0223, 0.9977]\nstate[eef_state]: left_x=0.3787 left_y=-0.1441 left_z=0.1512 left_yaw=-0.0193 left_pitch=-0.0571 left_roll=0.0231 left_gripper=0.9996 right_x=0.294 right_y=0.0001 right_z=0.1759 right_yaw=0.0005 right_pitch=-0.0171 right_roll=-0.0008 right_gripper=0.9977\nstate[joint_eff]: [-0.335, -6.3111, 9.0462, 1.8437, -0.3541, -0.0806, -0.0562, -0.0889, -1.6342, 7.1179, 1.8242, -0.0366, -0.0366, -0.0317]",
      "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]: [-0.3676, 1.5826, 0.5674, 0.2974, -0.318, -0.2325, 0.6528, -0.0219, 0.804, 0.6018, -0.3931, -0.0162, -0.0227, 0.9977]\nstate[eef_state]: left_x=0.3782 left_y=-0.0826 left_z=0.0432 left_yaw=0.0126 left_pitch=-0.1067 left_roll=0.0347 left_gripper=0.6528 right_x=0.2934 right_y=0.0 right_z=0.1735 right_yaw=0.0003 right_pitch=-0.0255 right_roll=-0.0009 right_gripper=0.9977\nstate[joint_eff]: [-0.8, -5.5453, 6.5709, 1.3748, -0.2173, -0.0952, -0.0366, -0.1026, -1.2239, 7.241, 1.7411, -0.022, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3759, 1.6318, 0.5713, 0.3386, -0.3222, -0.252, 0.0944, -0.0216, 0.8089, 0.6003, -0.3923, -0.0162, -0.0227, 0.9977]\nstate[eef_state]: left_x=0.3814 left_y=-0.0866 left_z=0.0341 left_yaw=0.0183 left_pitch=-0.1091 left_roll=0.0236 left_gripper=0.0944 right_x=0.2936 right_y=0.0001 right_z=0.1716 right_yaw=0.0007 right_pitch=-0.0313 right_roll=-0.0008 right_gripper=0.9977\nstate[joint_eff]: [-0.212, -6.4205, 5.7368, 1.4042, -0.2662, 0.1001, 0.4811, -0.0068, -1.6205, 7.1453, 1.7802, -0.0269, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8f222209f99f86cf65b5efe6b3d011916e47c82e4a6d82a68bfa99098e8ac28",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24f75d34027c3f98399fd66e1a43fc07092a8dda69b08a47312e6fd1edc6b7bd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1385af8b278838463739fa93fbf5361b74a36661238010403c02df666e527176",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"left_z\":0.095},\"note\":\"The gripper stopped about 9 mm open, consistent with holding the bowl wall rather than closing empty. I’ll lift the bowl a short distance to check that the grasp is secure.\"}",
  "call_id": "call_o9BzCx3hBXFr5mHCZ0VTHcwa",
  "id": "fc_06415379f6f0f60e016ab496d7188087d0b7a63ac88410700d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_o9BzCx3hBXFr5mHCZ0VTHcwa",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3759, 1.6287, 0.5713, 0.3435, -0.3225, -0.2581, 0.0945, -0.0216, 0.8101, 0.5999, -0.3931, -0.0166, -0.0227, 0.9977]\nstate[eef_state]: left_x=0.3824 left_y=-0.0869 left_z=0.0362 left_yaw=0.0216 left_pitch=-0.1015 left_roll=0.0159 left_gripper=0.0945 right_x=0.2935 right_y=0.0002 right_z=0.171 right_yaw=0.001 right_pitch=-0.0335 right_roll=-0.0005 right_gripper=0.9977\nstate[joint_eff]: [-0.0889, -5.9966, 5.6957, 1.3065, -0.232, 0.1832, 0.0024, -0.1026, -1.4017, 7.0769, 1.7607, -0.0464, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c229d9bd59f172304dfe15ee46b739bfda25b850f9adc396b660daf99f77171e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53d2fd48b7c6d9a8e1d0933f2dfa2a17744748b9e61d8b484d325409b4b2d5cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c5dbde9a85030fefc83a1e8e586cdca4c6ad4336cba25acfa65f6f035f77a5f",
      "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 · 7.262 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 10 changed as sent

message 17 changed as sent

message 20 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3771, 1.4971, 0.5812, 0.1764, -0.329, -0.2379, 0.6532, -0.0216, 0.8043, 0.6018, -0.3927, -0.0162, -0.0227, 0.9977]\nstate[eef_state]: left_x=0.3689 left_y=-0.0808 left_z=0.0578 left_yaw=0.0159 left_pitch=-0.1239 left_roll=0.0457 left_gripper=0.6532 right_x=0.2934 right_y=0.0001 right_z=0.1735 right_yaw=0.0007 right_pitch=-0.0255 right_roll=-0.0009 right_gripper=0.9977\nstate[joint_eff]: [0.294, -5.2034, 5.9009, 1.8584, -0.0269, 0.0366, 0.022, -0.0615, -1.5385, 7.159, 1.7411, -0.0317, -0.0317, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3759, 1.6318, 0.5713, 0.3386, -0.3222, -0.252, 0.0944, -0.0216, 0.8089, 0.6003, -0.3923, -0.0162, -0.0227, 0.9977]\nstate[eef_state]: left_x=0.3814 left_y=-0.0866 left_z=0.0341 left_yaw=0.0183 left_pitch=-0.1091 left_roll=0.0236 left_gripper=0.0944 right_x=0.2936 right_y=0.0001 right_z=0.1716 right_yaw=0.0007 right_pitch=-0.0313 right_roll=-0.0008 right_gripper=0.9977\nstate[joint_eff]: [-0.212, -6.4205, 5.7368, 1.4042, -0.2662, 0.1001, 0.4811, -0.0068, -1.6205, 7.1453, 1.7802, -0.0269, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3759, 1.6287, 0.5713, 0.3435, -0.3225, -0.2581, 0.0945, -0.0216, 0.8101, 0.5999, -0.3931, -0.0166, -0.0227, 0.9977]\nstate[eef_state]: left_x=0.3824 left_y=-0.0869 left_z=0.0362 left_yaw=0.0216 left_pitch=-0.1015 left_roll=0.0159 left_gripper=0.0945 right_x=0.2935 right_y=0.0002 right_z=0.171 right_yaw=0.001 right_pitch=-0.0335 right_roll=-0.0005 right_gripper=0.9977\nstate[joint_eff]: [-0.0889, -5.9966, 5.6957, 1.3065, -0.232, 0.1832, 0.0024, -0.1026, -1.4017, 7.0769, 1.7607, -0.0464, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c229d9bd59f172304dfe15ee46b739bfda25b850f9adc396b660daf99f77171e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53d2fd48b7c6d9a8e1d0933f2dfa2a17744748b9e61d8b484d325409b4b2d5cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c5dbde9a85030fefc83a1e8e586cdca4c6ad4336cba25acfa65f6f035f77a5f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJbbIK604yc3IcE74IJ_8aucO7LTKidOOhubAJ_snoQ1e5PoLKgi08YM-wV1avVNAfc3qFWAqwTIj4BbKJOTL7008QTYTLx9hczr4CmmgZhUuhBCNWM4Ryi_BtZbzfs5Z_l1_98yyVheQkobRtu1_W34yiW6_0Vab-oDRopKXVbN_2Kd4UJpBoeOKiwPQtw2o3ShO9vPeiROmlge4CkuLixefjv-TUq5ClqFlBJK-NrV8iLHMQE1FtH0NnVa-jxoDp31hRJvEbkDeaxblOhMKHozYpCiIMIH3msIBIoyyy3KDAO5HKVKjJ4AAQSfj82tcwmJh0sqsikc7dUKHb0Vl_TnyU3uc52dCxNL2eDf9XqbghPsQn3vS2KhEMvDfmhELEWNvA_idaZXvPFIPJVrq9CpXyzR7Q-9MjdO5pwnN32NFz-xCvS_FkKp8LEiV6QsJAk_2ZPOLx9VJvZLU5kjT9K4b5c8UeJ9wiWmjdj_NHBD6sQw5RWfR7HSAqbQYloPzKYWDAt54BsCykZ00c8zAm-uSIDX1iXZ-qp1VCGi6sGppn1cWl2v17gxn0laJ25_6k8aw3by1L5Ud1sPUKqgZUIQFaZjdWQXfueFeQpKjyoKwlfabOquHWsv-lRMbln2NtVfV-dgLOLyme0WLDi2XM8CWe2LpJd7GMuZmEPZWsP9XcIUChLGsv1Uf_llhRs9e-fnyjKFHAx4s8TKDvwAU6F8oWOAh4eszOCP_okz_UpjcbmdrOyHvIym_pAwKCpz8THQVRXmUA0UHOMW3-_WvFzt8WoDWoaTPw8OhBA_xgUIQFH2eJjZjdzM6vDlEjvy1baKh99ZYbbWR-FdhbqokTFl9npFLMPQqnvMZ9j3LpkgxKNDA4WufN8XUAi-W1AnX0wJxKajZHhvvULSmTxVCwqjRH-6XyGSfW_kYOhmcwoaKpjSrc-bRisdXX9C-tuQm9zqAXJiUPgBCrTdw9TMoDuhyTyItInvJpaANTmBcgQnr5GaEBMwqTsX5EjQ8a5Qhmmj_VwIYLNIIr7d4lIIT_Y535Iamw7Drelo4H6aWhEEIcvPuJmisuoCjbB0r0tX2cuokWeE9t2Imo-63QsMetsbuh-j7V71p5QudorRuDbH4938SCPf_47GLC5-m5vHjqryu7hCtilpLOBnPt1HycYNrA5wVu2o0W2-Wpc3mZcusxDPiYLctFtyMNiyExz4ngf1HnSNFprHIKh5VhiEFw63YsnJfMWHg7a_dSrSZaXY5snm0x-7k0n6ZmwzXn5DeE_FL3a7fECi_1W10fd3CCDdVrAckKTNg3lKOmL5l5IZ_jfJDqrAT0pRps0mUdlebm9fTNfpmDdwAGsKVDeSyYRZTqw1OLgOTawfTAsM_NBSJ-1ZWA9KthEPKSwYvsELuXdY1vOtrgdUBwYuFn94wB8QUuLfoxTQRO3JVXshwDMi4J768sXQDNzeLRW56NvSNOhAPBLdr9xINtoGcZDjMYhcHDj7KQ-mm7_A-wf7z4LxnW_tewl1u9rPonzaVS4HwPu16Vs-I6bEfUMetUWGXIj8DQ02wN04sL9tXciOpNvWHUc=",
  "id": "rs_06415379f6f0f60e016ab496d98fec87d083e8ebeab2e1fcc6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.085,\"left_z\":0.16},\"note\":\"The height readback barely changed on that lift, so I haven’t yet confirmed the bowl is free. I’ll raise the arm while drawing it slightly back to avoid the stalled pose.\"}",
  "call_id": "call_gLRcVgjlcisu6qZLPztWIHxS",
  "id": "fc_06415379f6f0f60e016ab496da827c87d0be5a2d5bf3c8c22f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gLRcVgjlcisu6qZLPztWIHxS",
  "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]: [-0.3969, 1.2831, 0.7841, -0.215, -0.3374, -0.281, 0.0951, -0.0219, 0.8135, 0.598, -0.3927, -0.0166, -0.0227, 0.9977]\nstate[eef_state]: left_x=0.3634 left_y=-0.085 left_z=0.1457 left_yaw=0.0251 left_pitch=-0.0973 left_roll=0.0069 left_gripper=0.0951 right_x=0.2935 right_y=0.0001 right_z=0.1692 right_yaw=0.0006 right_pitch=-0.0385 right_roll=-0.0004 right_gripper=0.9977\nstate[joint_eff]: [-0.6359, -5.6274, 9.3333, 1.5653, -0.2222, 0.0464, 0.0464, -0.1983, -1.6615, 7.2821, 1.7363, -0.0659, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c889e33ff8649ebeb00cc9e1fc52f9a9b98f909a2ff76a1e36080b0d4abdb29b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5067a534855621cfc4ee00ae9cd5d66729871c2a5b737a64698c2120b27f8b75",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2d8ce12f9afa988189f37a2699d3756d90c87447b3ff0807bbb3c5762234b27",
      "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 7 attempt 0 · /responses · status 200 · 11.62 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 14 changed as sent

message 20 changed as sent

message 24 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3676, 1.5826, 0.5674, 0.2974, -0.318, -0.2325, 0.6528, -0.0219, 0.804, 0.6018, -0.3931, -0.0162, -0.0227, 0.9977]\nstate[eef_state]: left_x=0.3782 left_y=-0.0826 left_z=0.0432 left_yaw=0.0126 left_pitch=-0.1067 left_roll=0.0347 left_gripper=0.6528 right_x=0.2934 right_y=0.0 right_z=0.1735 right_yaw=0.0003 right_pitch=-0.0255 right_roll=-0.0009 right_gripper=0.9977\nstate[joint_eff]: [-0.8, -5.5453, 6.5709, 1.3748, -0.2173, -0.0952, -0.0366, -0.1026, -1.2239, 7.241, 1.7411, -0.022, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3759, 1.6287, 0.5713, 0.3435, -0.3225, -0.2581, 0.0945, -0.0216, 0.8101, 0.5999, -0.3931, -0.0166, -0.0227, 0.9977]\nstate[eef_state]: left_x=0.3824 left_y=-0.0869 left_z=0.0362 left_yaw=0.0216 left_pitch=-0.1015 left_roll=0.0159 left_gripper=0.0945 right_x=0.2935 right_y=0.0002 right_z=0.171 right_yaw=0.001 right_pitch=-0.0335 right_roll=-0.0005 right_gripper=0.9977\nstate[joint_eff]: [-0.0889, -5.9966, 5.6957, 1.3065, -0.232, 0.1832, 0.0024, -0.1026, -1.4017, 7.0769, 1.7607, -0.0464, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3969, 1.2831, 0.7841, -0.215, -0.3374, -0.281, 0.0951, -0.0219, 0.8135, 0.598, -0.3927, -0.0166, -0.0227, 0.9977]\nstate[eef_state]: left_x=0.3634 left_y=-0.085 left_z=0.1457 left_yaw=0.0251 left_pitch=-0.0973 left_roll=0.0069 left_gripper=0.0951 right_x=0.2935 right_y=0.0001 right_z=0.1692 right_yaw=0.0006 right_pitch=-0.0385 right_roll=-0.0004 right_gripper=0.9977\nstate[joint_eff]: [-0.6359, -5.6274, 9.3333, 1.5653, -0.2222, 0.0464, 0.0464, -0.1983, -1.6615, 7.2821, 1.7363, -0.0659, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c889e33ff8649ebeb00cc9e1fc52f9a9b98f909a2ff76a1e36080b0d4abdb29b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5067a534855621cfc4ee00ae9cd5d66729871c2a5b737a64698c2120b27f8b75",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2d8ce12f9afa988189f37a2699d3756d90c87447b3ff0807bbb3c5762234b27",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJbjCGsvd7ZmbzY5-8AMzRhahBfDhE3Oe1nNwwiAxkM24YJBMTltTqxsTYEeKy3vNGbvgrtpm1bApl0rm6OJyjcQm73Cmey-wAIVcn-B17Rg4gJtqNDLEyF9MYKpYN4J0nX8CqDS7BSXbn-xG9ifhH20mI9fDlnp9lYsmLSxL4TO_m_JsX_apF97XboGQew8Kj0h2cAfT_ssVRzaqEUcDR4kaBKvyhtP4Ig0D34SUdDUCQz4vvI7nrQ5L1V-ONUMMVvKGxfS6pqROJK_G6qpuv50Js9M5QZtzWaLqyiK3r6p6rJWb5evy4LHy66yhUH-XIxuZo7D_tOdm-ymF8nHnNGyB22fvbofW5RGA7QQ9whNIH3b095S5RxSgU3KR-bf5Tn52cxpA7u59lrVyn2I7lLY6PFu8r7p-fV6KhZrbfy4zIr_WHpJmxjNLEMBHHHWO4rcUi2QCL05vDqWLytWA5x-sJP9ESM5uUgxtU_yU3J18Mk21WLWkGxPDHN6V9L4xfcBRkxU0rme9k83PWT57OhXD_DCGjnmQQ0ybRR8WNUpZ-GKscitMyWuERExOqexGovTQBxd0XVKzhBXmmWg-lZhb6f55xclIOJ5uYkukNLMmiVS7YdPGU2wqMhmAPTgn8Rwb0lawK3gAIr183sblAzzmr5genA1I8QqvY61Be3W1S7nJL6w-T_gjsXgR1m_UbXFLXwBmfrSPbS6se4JKUEsifi37QoCueWc1qXI-goH-tIrgx3GQdCFJYGgzyERAhoDLCw8--Gk5LciwzSo5rnsvOdByxRwsTwjEdk-57fDpn8HR9k-7ojaIzSIuf7gw5BAqPctKxCB3rqiK5-MZMwlTKUC5PIOM6aXILALiJuJJQNz1QSXwxWl9qTSKAH4jw0vQoU_sgNPlO1SlTg_62NonCTMAv8T28Dg6AzyzZnScGvr920OPMVHZ95Gfd90XwQMuG74Kx2dPfQJRdMU6UVXB7Al67g_NuE65OfhRDaDR2uhuu9bVhQecoWZPGtk48flZfK5c4pUq4B8Tut9eJRgqr6OGwWqmiqwbtohQ2OggfFkWkecOgPkoAIHO2ie0hZYWq6HcQW_lNoLLUJCozEEbLWbH2iagrmnFMW7RcgGYcxLOIWyzY6k7Yo2XzMvhbEbEKd46dyXKewz335e4ujzDbqt2Ni1cgZq2nwSssgdSgWqSBlJxVuK1UkM3YQzooZyCwyStQz3x8LKlkGwAJgN_CiR-KSUXz5n-9vNof4rkOLKxOjfu78_iNl3EitjODmWRUUI_9gZA528SVP91gmwVojLp8hzYwgRqweU943XKeez-IT5cCtht1aHEns9QmYn7WxOMNMC3tywPe5xga5xmT3T9qFpG19nLlwx3gCtPcDBPwemkkpDKMWm-qzrQxvyGOF9vkRm0-p4ajBidkR_HWBEV4Djkz5xxJgFvDofHUwXRKCQVcAS75yUP3o_2oTcN5ybxmPk8JzYQWBWxthqLzSplAWQ6JJ_I00woNYC2lbUlkFooOyIs8W69SUxstgzh1Q4o2z2iK8IIKVmFivy0QRBlFAwiUQFoi-j7Jm4YKa6rO7MBYJXeLUwARmxzEGf5s_dH0ZqcKTjo5ms5zR4M0nyTqw3ZGBeUUTDvHzhk_0hW4qDfxamx2saDoSomh-C0i_wXfn_1HRP_TC4zc93IwRXN9f17zufpe0o-A9qNNXQNTJfB0A7WF6B6DTMGRii7XT9GERZUm1-ded4cl_R7CvO9MnuG3q9tmaNP1h_XrT0zVFVg42SmuC3hweZW_Se2S5buCidYezcLROmA53D5HgjEkzSySknWzv92Mv2YKrqhMl9ghtbx1J4HVhzJGZ-Y4NCvX1asFqJnch3lk2hWyrQomaZLxPafW_sI0p-fyalXS5pFizjy5eKbV2bE9AqdUnCUD0StQBrVfz9Ln7ijXUYPhlULLyZfTzAIVulB6wFyPhLPHuKia3m-3U9fS53Wf3FIx9NYP-NgDG2NqknbEfPwZfLMbEvLX3heyEMhCPh-6oVWYTnmURMfmOwo-eQXTFIMYvmkOoa-e4cj1jM6xQV0EcMOFSX_yR4uN450NQDlN79Ux1vLx_avR3A1WH2aCEL1glHr91mszwAlZauQsbnXEB0vH3WmKbTIgbWqMi8xVrmWdYuw9Car-IN8DCHaM0FxJjgg6pJ3hHVll5HZiQVogRsueTYidPug37mSHgBxK6f0hmuoEL_tO9Y8wWaC0PuBGqOOkcZqQWWEdOcn2CsDnIPUBONJXLlBTtBV516pWpieQ6LG8WnnW9G7CHhP1w5dtBtNxjxvEe9gw00L5sWcpzBxF7P0JFqqm-p7gP5ednGShE5_BkidikU3LTnklgXx0MELLVE46zvTTOvgvzSjwS6qLNPfRmZCqKdV1TzlUkqMBLAxB89vbM3U7S1huReSZO5cR8f5FxCG1zuSQ6CwxYbU8nrSMhnjsXRMu1S7_c6l0nlmrhsvBTF02HGlREcZSE37ZxRtq_CtZYFnKlyKZtw28zyLK_rp2UYdaEvJuhyRQLmOueCr1K8v3wxNoxHxXbkWsrt_nPJcpbvm2j9ZPAYGsN0i6GBX7InUPwgZES9B78ibqcu-iLH6g593YUprm2acEpHOQ1DCmQQ7d1V4gUgR5AQtih2KStzU7EyQVmJiLcoi-RzAl9tqZUi6jPhxtLN9065KWwXoQOgKYOF7K2kh9Dp29xH72_TAhTzwFeET0yXtrhqEJbHqOZV9LkIaa-gX5lUDBqk0VljsLdlLESudW1bENvq_wMWm3Bu4gQixVRHxr1EqOTSV_n5BgZwcXFqAzzKkpPWypeW7XpdLT0qii3PXijSe5BNteU=",
  "id": "rs_06415379f6f0f60e016ab496dd66f087d08d330f7d5eea7fdd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.352,\"left_y\":-0.197,\"left_z\":0.19,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.18},\"note\":\"The teal bowl has lifted with the gripper. I’ll carry it over the blue bowl, keeping enough height to clear both rims.\"}",
  "call_id": "call_RQ3sIy98E1pxbv9dyH0IHsUB",
  "id": "fc_06415379f6f0f60e016ab496e2735487d0a8d21c1222e8c1c4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RQ3sIy98E1pxbv9dyH0IHsUB",
  "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]: [-0.7593, 1.4746, 1.1049, -0.4934, -0.5678, -0.5526, 0.0951, -0.0219, 0.8242, 0.6064, -0.424, -0.0162, -0.0261, 0.9977]\nstate[eef_state]: left_x=0.3487 left_y=-0.1951 left_z=0.1759 left_yaw=-0.0015 left_pitch=-0.1267 left_roll=0.0144 left_gripper=0.0951 right_x=0.2907 right_y=0.0001 right_z=0.1639 right_yaw=0.0022 right_pitch=-0.0721 right_roll=-0.0026 right_gripper=0.9977\nstate[joint_eff]: [-0.2803, -6.3385, 9.2923, 1.3162, -0.4469, -0.0659, -0.0122, -0.1162, -1.4291, 10.3453, 1.6386, -0.0171, 0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de8e97f722263ff0bbd25cf1e9590bc3b804c6c22f54bce69782aeb70c412cf4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f51fddfbc35fecf2564d376e1091849213eed6f8044a61c6e2c0b8458805893",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b46d643c981edae1ab3adcc963377ae937ffb0a20b8fce7bac44503c8333658",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 7.922 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 17 changed as sent

message 24 changed as sent

message 28 changed as sent

message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3759, 1.6318, 0.5713, 0.3386, -0.3222, -0.252, 0.0944, -0.0216, 0.8089, 0.6003, -0.3923, -0.0162, -0.0227, 0.9977]\nstate[eef_state]: left_x=0.3814 left_y=-0.0866 left_z=0.0341 left_yaw=0.0183 left_pitch=-0.1091 left_roll=0.0236 left_gripper=0.0944 right_x=0.2936 right_y=0.0001 right_z=0.1716 right_yaw=0.0007 right_pitch=-0.0313 right_roll=-0.0008 right_gripper=0.9977\nstate[joint_eff]: [-0.212, -6.4205, 5.7368, 1.4042, -0.2662, 0.1001, 0.4811, -0.0068, -1.6205, 7.1453, 1.7802, -0.0269, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3969, 1.2831, 0.7841, -0.215, -0.3374, -0.281, 0.0951, -0.0219, 0.8135, 0.598, -0.3927, -0.0166, -0.0227, 0.9977]\nstate[eef_state]: left_x=0.3634 left_y=-0.085 left_z=0.1457 left_yaw=0.0251 left_pitch=-0.0973 left_roll=0.0069 left_gripper=0.0951 right_x=0.2935 right_y=0.0001 right_z=0.1692 right_yaw=0.0006 right_pitch=-0.0385 right_roll=-0.0004 right_gripper=0.9977\nstate[joint_eff]: [-0.6359, -5.6274, 9.3333, 1.5653, -0.2222, 0.0464, 0.0464, -0.1983, -1.6615, 7.2821, 1.7363, -0.0659, -0.0415, -0.0073]\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 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7593, 1.4746, 1.1049, -0.4934, -0.5678, -0.5526, 0.0951, -0.0219, 0.8242, 0.6064, -0.424, -0.0162, -0.0261, 0.9977]\nstate[eef_state]: left_x=0.3487 left_y=-0.1951 left_z=0.1759 left_yaw=-0.0015 left_pitch=-0.1267 left_roll=0.0144 left_gripper=0.0951 right_x=0.2907 right_y=0.0001 right_z=0.1639 right_yaw=0.0022 right_pitch=-0.0721 right_roll=-0.0026 right_gripper=0.9977\nstate[joint_eff]: [-0.2803, -6.3385, 9.2923, 1.3162, -0.4469, -0.0659, -0.0122, -0.1162, -1.4291, 10.3453, 1.6386, -0.0171, 0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de8e97f722263ff0bbd25cf1e9590bc3b804c6c22f54bce69782aeb70c412cf4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f51fddfbc35fecf2564d376e1091849213eed6f8044a61c6e2c0b8458805893",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b46d643c981edae1ab3adcc963377ae937ffb0a20b8fce7bac44503c8333658",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_06415379f6f0f60e016ab496e5ad5c87d0a6e9321a12eac0b5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.13,\"left_z\":0.14,\"left_gripper\":1},\"note\":\"The teal bowl appears to have stayed on the table rather than following the gripper, so the rim grasp was not secure. I’ll return with the jaws fully open and try gripping across the bowl’s narrower sides.\"}",
  "call_id": "call_k8f0FcNiGbyWDBxCd5gbhLSp",
  "id": "fc_06415379f6f0f60e016ab496eefa4887d0b40eb011eef6fc35",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_k8f0FcNiGbyWDBxCd5gbhLSp",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5205, 1.4586, 0.9176, -0.2806, -0.416, -0.382, 0.9952, -0.0216, 0.8288, 0.6067, -0.4374, -0.0162, -0.0265, 0.9977]\nstate[eef_state]: left_x=0.3749 left_y=-0.1285 left_z=0.1301 left_yaw=0.0262 left_pitch=-0.1656 left_roll=0.0281 left_gripper=0.9952 right_x=0.289 right_y=0.0002 right_z=0.1602 right_yaw=0.0028 right_pitch=-0.0896 right_roll=-0.0025 right_gripper=0.9977\nstate[joint_eff]: [0.294, -7.6786, 6.7214, 1.619, -0.105, 0.2027, -0.0269, 0.1026, -1.7573, 7.1453, 1.7656, -0.0415, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6847a479315029a94a767f4fbd4862d8af514f8fcf238910c3979d47d775371e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a498b829d85b3d562d28bbc36ca2d4833d9e4891ee04854bf37476683cc8df27",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a93ba783fe27d94084ad4a90c25b785c3a6e0050336b8a52cc9112e33ced038d",
      "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 9 attempt 0 · /responses · status 200 · 5.985 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 20 changed as sent

message 28 changed as sent

message 32 changed as sent

message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3759, 1.6287, 0.5713, 0.3435, -0.3225, -0.2581, 0.0945, -0.0216, 0.8101, 0.5999, -0.3931, -0.0166, -0.0227, 0.9977]\nstate[eef_state]: left_x=0.3824 left_y=-0.0869 left_z=0.0362 left_yaw=0.0216 left_pitch=-0.1015 left_roll=0.0159 left_gripper=0.0945 right_x=0.2935 right_y=0.0002 right_z=0.171 right_yaw=0.001 right_pitch=-0.0335 right_roll=-0.0005 right_gripper=0.9977\nstate[joint_eff]: [-0.0889, -5.9966, 5.6957, 1.3065, -0.232, 0.1832, 0.0024, -0.1026, -1.4017, 7.0769, 1.7607, -0.0464, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7593, 1.4746, 1.1049, -0.4934, -0.5678, -0.5526, 0.0951, -0.0219, 0.8242, 0.6064, -0.424, -0.0162, -0.0261, 0.9977]\nstate[eef_state]: left_x=0.3487 left_y=-0.1951 left_z=0.1759 left_yaw=-0.0015 left_pitch=-0.1267 left_roll=0.0144 left_gripper=0.0951 right_x=0.2907 right_y=0.0001 right_z=0.1639 right_yaw=0.0022 right_pitch=-0.0721 right_roll=-0.0026 right_gripper=0.9977\nstate[joint_eff]: [-0.2803, -6.3385, 9.2923, 1.3162, -0.4469, -0.0659, -0.0122, -0.1162, -1.4291, 10.3453, 1.6386, -0.0171, 0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5205, 1.4586, 0.9176, -0.2806, -0.416, -0.382, 0.9952, -0.0216, 0.8288, 0.6067, -0.4374, -0.0162, -0.0265, 0.9977]\nstate[eef_state]: left_x=0.3749 left_y=-0.1285 left_z=0.1301 left_yaw=0.0262 left_pitch=-0.1656 left_roll=0.0281 left_gripper=0.9952 right_x=0.289 right_y=0.0002 right_z=0.1602 right_yaw=0.0028 right_pitch=-0.0896 right_roll=-0.0025 right_gripper=0.9977\nstate[joint_eff]: [0.294, -7.6786, 6.7214, 1.619, -0.105, 0.2027, -0.0269, 0.1026, -1.7573, 7.1453, 1.7656, -0.0415, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6847a479315029a94a767f4fbd4862d8af514f8fcf238910c3979d47d775371e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a498b829d85b3d562d28bbc36ca2d4833d9e4891ee04854bf37476683cc8df27",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a93ba783fe27d94084ad4a90c25b785c3a6e0050336b8a52cc9112e33ced038d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJb40FmfmWvyli_5IGcJFD2AyUQ44uxjIj0S-nafkC7NtGi5qpxr6YXyOeCYvaVQgU9oBuPXMeMWZqORa_gNFlmiPf60a16OzKuegb4vMquFs3TjIi_KG-jkZwaSvACMkXBq_bhTGCyP4a-TFtUyIr7Kd0OtYPv-ejmiSrt9lYE8U6x6_cHE9ibpn2TZIT17CaSj-BPY5KD58XxayaOcJx-b_bfZVXA4YrFQkPsguWzNslczCQCuXK2vUKvF1Ai05GhIhDZbJdcZcHR13EUvmv2aqecdQyePJn9MwBr4vT0v-nL6pi9ggncz14BTTid0yPNOmytjSdcSZt5YdzvTOL3lBl8l4lhlRBc6Xu-V26qcdCrx78KlKRKlY9nNyz1ikB3b4jiRT7XNdER9G6ypwcOKME-QoWYoK-yGlaiKsSo4LcP9TNM3rsSYf_WoEoh3ph78MNYwuTBWvl5CmY4KFqdfeFh-JMKX3bUzw4jsyPdYyD-RjuftzX42vNcbGFXaiFKtYZOaOeKCeDMET1S3WuBHOJCKqgxUmPwF9HVwkOsBLmgIa2NMHIoanrBL1BqJrTfaXhVmRW6n_-2a917hpmHeuyPF5AET5c67ndiK-3Ce80do2kzFR4MfqRCVQJZ8ktbB863HH4nnNP6rUyT3Y3gPMWkjDGPzt-tsBhF2h9GZu7B7HvvaluXlAgLFO6BkmJLZkeiIRUFTypvy0fZvouja7EpBUawynVlytlGEACygJAoIDvTHPU9UlKaxViRPwovcvqp-AtXSfNdUYj7ysQhKQXSwB_0PVfJfwlKZ-FGhaUci9LYoSJSUVbwC-CAVIufuckDzjsgr1ae4GF6omaI442f0Qig5tK6lhL9k7BCGj-VyT7fTDDDviFBMJXs-bjewrlDe5b_-ae1UoyDlpiuxCC07Apd1Suyx4GbrpQNXAWWnp0WqA7-BKCqwF6r9C6dqy_D_7aZEVgPZ0xCeqbk0zjVFJh33Px7dLu4Nnh6eP7hCupj5BtEQDECBCfen57EFcAA7-CGbgu2gyCmhgisKpfZmOg31DjuMvTnkIxN9wc9rFwN9C3i61jLpWWo94AbKec2xJDdWllfUe5wqW4RDqq9SARiCE080nH_KZPwb2Ha_75wMa-4g-Cn8KtJxVQ1qu80vroj8KzNdAm79OjJdk3krXGx5nuX6CdiNGNDjqEHDm83yLxIkg3KTVHk1F9CH80VoEWfuA672afqJ1xkv69UWqmgxX_XDQuwZqGwyVm2mK37btYjStvQ6N3RETdQhWEQNsjiP9FcvjHJJRadYFkgRF2l8Nh6sJxaBzkc38oJVGDMKzBE0WjyOlNBXEeGfbEGMXhSItbuw0T4r0sccXDE-kMOCRDAhOHSd9PKWIgbcOzJJjspDwerk7Ax6-UlsCo3rSbx6Tew80beanUaHNilMIcAW9oeR3SEVxrUGzhBX28SQghtnmsgEtezNSVMmSlHlchsqJ0VYoE6dCuP-6nZrwm5i5bnJr1gP5It6HmFtTvKs36gceX4goXAk4fKzHzeHSRR8_sZt27sMkHtiDc4sat6a7hds7Vb_OqjRmdAMpcU0vApiEYgFaGCD6EyKoFNOMF4ApHQsnyh9Pq283t78j_lmkaJUYFoawE-cE9m1THa4xyAPhhcU0qmKqfVgW7y3wrJWluZXyF5F6lsndN5A1Dw32iJVVz6efrV6ovW03qfaKwuEm2inAwS-Y406vH2kiPQEmFdogPlC1w3FwwT1YzzFDhtOpHbM2ppV--FtjX5nDJ4URxAgxsO3wXmk0agU0_mPYZZLF0Lb2jjtyVaNtbgQx_xYHYvBuOiZ7KmIzhi3egFI-D7qO1_2pySFJoSSjCK7UGse833IIfCp_GgZOyv1VbJtV2_2BDKfefljZsuD8BxKr2rW6WwikaS4xQfnekOvLeVa0A030zNnNEXXqwACflh26qTimx8HI7caOHdhLRnbfp3r8b7bp-I7D3u2rnJZP59EoWmwaRGwVmDb4-OkPrs1FITi2Hx7rp6uAedaqJ44rAtrCcHUuRtP_Mkvtix-fmr7lXHd07Pj0TEcht14Fbs2EktEb4eRHFpD3s_TBuuzo7eSQjkt0LIAcHHxScb_injauZYQzR-vipxY-yFfSJ74zhY3L4giBlyzmMvVYS4edTleYLCDnXuDVssucAuEhiY9MHVBAjNeFiNomkNFNpU21lPqdIOa_kYuKtCEQx6mc-RJlfz85RyCfWEtalIf8trIh6FGUvpUj_uQNF1ifgZY2kbs7hfbyZlOt0Vtz4exZqh9ZHdRDO3JpeQflmImVcSBpRmAsMqFgT-1T0FhRRSWRzO6ekXHAHqWqQJzrvDivR5U-7FGIxY8O3ooydPxWUmhRruv_h-okQPQe6ic_GhykaUeMYANgsS0_iHYMROreuXJvE3-aNwdjEEGu9ij_AIzr-bEKiE_z-_NgrxCtm6MBVVbOQlZiRlD7Sxt9mndDcMjvNqA0uxRooOKYizS_8dsRh7z1aiG7sYmfSwd7xhxDK5Vwg2-OZcyETGTLWW2d-JsSxTglukXGz2SDU8wDgtOf5MP837D1Clv7dGXIMzsfcZv0i2DKFWGbYtK5GrV5spkyrbLhgpti5XrfQd3HmZTZYLwNy7l9nnE5809R00Dpy1bdTKvQhJZIyMWTZBxB1spCiqn3MN-VExAuPiUCRWG83rMzP6i5W-L2g315lRxMJfC_mZpVioM-4MGT7zo0lk0ZYHaTMTo872pQDgNS60XKx0P9tICm-CYUI3WHxJz104hmTgD7AKMa98yXTPpwwuJrL4PnP8q31NopIXU1sFeINyw8n2WW_uBOOEIKWqojITYoNBh0r1z-c2Pg2k7ZD4ISQltVXwvqFvK8MJ6DlsXql57Hf7FHg==",
  "id": "rs_06415379f6f0f60e016ab496f25e6c87d0b7e89f838a076c58",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.395,\"left_y\":-0.11,\"left_z\":0.052},\"note\":\"The teal bowl is visible between the open jaws, slightly left of their centerline. I’ll center the gripper and lower it around the bowl’s sides.\"}",
  "call_id": "call_1YxdUjzSoimyjKl6sUbPhBsr",
  "id": "fc_06415379f6f0f60e016ab496f7de6487d09f12eb64d7f00ebf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1YxdUjzSoimyjKl6sUbPhBsr",
  "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]: [-0.4362, 1.6321, 0.7586, 0.012, -0.3687, -0.3363, 0.9957, -0.0216, 0.8307, 0.6067, -0.4431, -0.0162, -0.0265, 0.9977]\nstate[eef_state]: left_x=0.3842 left_y=-0.1049 left_z=0.0481 left_yaw=0.0518 left_pitch=-0.2191 left_roll=0.0509 left_gripper=0.9957 right_x=0.2882 right_y=0.0002 right_z=0.1586 right_yaw=0.0028 right_pitch=-0.0972 right_roll=-0.0023 right_gripper=0.9977\nstate[joint_eff]: [0.4034, -6.5573, 5.6274, 1.619, -0.105, 0.1978, 0.0415, 0.0068, -1.5658, 6.9675, 1.7265, -0.0366, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42f35c977180771feafb5571cd825335946f9a54e7654e0e36dcb2b180049c7a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8441df2a406562260b5cf9a9d758e217eb939f8ac8b0fa9de9b9bba3bbda4e5b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a172560f81439049579d9f218c95eb8c0cbe290b471ac3ea9fdd54986ec230b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 2.144 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 24 changed as sent

message 32 changed as sent

message 36 changed as sent

message 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3969, 1.2831, 0.7841, -0.215, -0.3374, -0.281, 0.0951, -0.0219, 0.8135, 0.598, -0.3927, -0.0166, -0.0227, 0.9977]\nstate[eef_state]: left_x=0.3634 left_y=-0.085 left_z=0.1457 left_yaw=0.0251 left_pitch=-0.0973 left_roll=0.0069 left_gripper=0.0951 right_x=0.2935 right_y=0.0001 right_z=0.1692 right_yaw=0.0006 right_pitch=-0.0385 right_roll=-0.0004 right_gripper=0.9977\nstate[joint_eff]: [-0.6359, -5.6274, 9.3333, 1.5653, -0.2222, 0.0464, 0.0464, -0.1983, -1.6615, 7.2821, 1.7363, -0.0659, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5205, 1.4586, 0.9176, -0.2806, -0.416, -0.382, 0.9952, -0.0216, 0.8288, 0.6067, -0.4374, -0.0162, -0.0265, 0.9977]\nstate[eef_state]: left_x=0.3749 left_y=-0.1285 left_z=0.1301 left_yaw=0.0262 left_pitch=-0.1656 left_roll=0.0281 left_gripper=0.9952 right_x=0.289 right_y=0.0002 right_z=0.1602 right_yaw=0.0028 right_pitch=-0.0896 right_roll=-0.0025 right_gripper=0.9977\nstate[joint_eff]: [0.294, -7.6786, 6.7214, 1.619, -0.105, 0.2027, -0.0269, 0.1026, -1.7573, 7.1453, 1.7656, -0.0415, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4362, 1.6321, 0.7586, 0.012, -0.3687, -0.3363, 0.9957, -0.0216, 0.8307, 0.6067, -0.4431, -0.0162, -0.0265, 0.9977]\nstate[eef_state]: left_x=0.3842 left_y=-0.1049 left_z=0.0481 left_yaw=0.0518 left_pitch=-0.2191 left_roll=0.0509 left_gripper=0.9957 right_x=0.2882 right_y=0.0002 right_z=0.1586 right_yaw=0.0028 right_pitch=-0.0972 right_roll=-0.0023 right_gripper=0.9977\nstate[joint_eff]: [0.4034, -6.5573, 5.6274, 1.619, -0.105, 0.1978, 0.0415, 0.0068, -1.5658, 6.9675, 1.7265, -0.0366, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42f35c977180771feafb5571cd825335946f9a54e7654e0e36dcb2b180049c7a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8441df2a406562260b5cf9a9d758e217eb939f8ac8b0fa9de9b9bba3bbda4e5b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a172560f81439049579d9f218c95eb8c0cbe290b471ac3ea9fdd54986ec230b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJb_P1kgnS0W8fyuoZKgz2RNuRJ4kIuQUt3I4z0jZ6A9RrjJidJmNuXuJcEZvez-zrIFdM1U4J4SIEI_Cxrqh6fM2sqCje5sDIIgdDbs-TRK9VlULgjGTZztuPO3eTWgdlBmJ2Av0FHfVpPXR5t1AW_Zk7yAmeYib_mk1KGiREnryrtgMI0d-g1zBKpw8vt4WEQ-5DmhG35OWYIKyvIapM6iYMpgX8_qBD_tGn3QTCESR-9sTPCUcXguNc82Q9F4fXMVM-zjAJzyWyZrTMnB14iex57z6A2-kXqtiHBiBk27g8rksYXlLnnQmOKWyPgGkgYhuvJbznotTBkKtDXEohWR5hTGAws8lWltwx8NezoqmjiF54PlU7IufAVIz3u_FdlpThcuyABl2lNW2mSSFIScu-Gd0kPm8ZeAQjNMjWs07HPE7H19i4DzR_THe3NS5O8K1UGilnLQf9BCylo3kqQy5oKYIQpcp_VylUcgeqwhQCnuq69toryT6OvSQgwCvTLVx55MzyTF28028CH7KjSzThhUzznvMIXg_hxI4Z6YKcI_Om5pTrC95rowPqoGzDwOzX7oMfTZ6F_Fe4xmi2LwIPk7cNkhgcZVP_tPkpwQIImEqdmVzITym782PbMnLTTwV5ajX96fRj-d5HRDd7iU8P4tkgJnU56aoehu4tNtL30513rLC7JXGbfo-89LYoairbUeiOi_1uwfEZA14n4QoU09Qi_h9dvG1-aWT6pzobZr3_okKv0u4RQtSvvkKp-32d9ih9fKnbWm6B9_uOAradfLVSpoEaZBO4NqsU_Ls5Mj5skCZSXt5Q4ppA-V4KFt38dU6y9p-ZCvRLMnaWoyxzRY3ytUyxz33Ytyan8SCCDTHj2q9Ohq3FrLckmQQmm855zkmgNwh-3v0GG3V9D7einF3ZT4cVsJ_1Hj8m21S8k-UxhWmXqO92auOEz0tEcvT2rWllmW4HCJkG4sc3mH2ZLiWNnPhuBicOD6gDL5cW6HYf3dcmLAQLCPiBIMbYrLa8ZR11wBQGKxQNGjHtw3rLAOvtj1c5WMk2QO3q2dRVK8NzX2Tyd4RWk_Uzamn4acIQjo5ZJE8lFTOKBeFU--UukecZrUPFK-kb2mF_nCJlwr3p7HgQ-Wvu7NwpFzyXdaYVj0vwdw3sZ6qgIoMOzbX71l4t7uHLVWz6fpzr9Fg7nB2SWIiQgfKYSVX1RLVgxlxjyDzdgy5PPk0xLOayofbzdOwi0X5JlufzovNJn-hLxuwEQviDJdriGny72p_YN658WKt-0FR0IHms37EZL28seJpHISpt8MPPxWzp8I5klfW7SjPUrKKzSzSb9ANb4uojcd8GikQQcVBQ0deeFtjyojxKlEM9DhFbk5Hvb6380O7r6VDQwOFBYCtlfpuyp4uhXiC0Y5fJPTzU8Z8vCRMLC7z3mKnBWoWvLxcKBypASpOwyN4viZCgftjGJK0Ahk5aqRDVsodnBa84YDhHhLuuuHxQLTS1XR4tCIQUQg9YWpY_1If2S9ytpXpecSPSKqU2ET93BYNDrXqDD-ZbnUHNsjfvFRBCyhvblZayElnYAWZQ3Et804Eoiiu5JOblEuyuMLFZJpUlA4Y6KNrpPMwYXIyW9nq6zdqaKWUrbISUTpyJ6FuH8CZAk5-FxQHW4ygR0SafiUUv0L2H9wEXthMoN4cvXgnvCpOulUrS4dTtrebuEz6dM-lJBAeyllXMsdFuO4vHDrPNPfnp09zW08yYkpk6I-i3j79-WaN216DuYOi2FFN125bGMVPD48G2iN-TPNDfPEzXQ2esUedKaAJwPMEjJz5Tjy_YpwC-qsAq9udMJ8S05QC2rIeG3EwwkXOdz9VZo9deuwkwbCLxWaLj4JW4Nw42cMl5ovYDK--80UIrHe-LmshUguFMKY3qClE5BSXx-k8gi1qGolVPUhtqkZr-Oi2QYiRmAyvUrY-lDKQs2z6pGoyxy-bijmRcHSmKOMtJyY_-SmNPYcICVn1K0G5e3_iz8EhD4L01UI-JZ-smuZ0rtpgNDDReV3ZpPVbLyqnkjO5pGcG5KbYGFBE59KGm9CzESyOwM592KKyDhhSCZt7bAeLGfum_HxLHMgpa_GGrj1drLcSijjuhyHUkJ90QScSpKIHwt7oM0y401ZeMuUHQlyv-goUfa5UkKyzVqcVugFxh0Bzc7Eny9bUOb_xxW1PhAzK3A1k_wMTiQXSEM-Fremk79UpmvnynxU",
  "id": "rs_06415379f6f0f60e016ab496fb34a887d09755106c8f59126d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.02},\"note\":\"The bowl is centered between the open fingers. I’ll lower the fingertips toward its lower sides so the grasp is below the flared rim.\"}",
  "call_id": "call_xiNOTmn1uvOvVmIJdVSW2S4p",
  "id": "fc_06415379f6f0f60e016ab496fe18cc87d0a171d57a142ab2e2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xiNOTmn1uvOvVmIJdVSW2S4p",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4332, 1.6772, 0.7338, 0.1268, -0.3641, -0.3332, 0.9957, -0.0219, 0.831, 0.6064, -0.445, -0.0162, -0.0265, 0.9977]\nstate[eef_state]: left_x=0.3923 left_y=-0.1082 left_z=0.0402 left_yaw=0.0452 left_pitch=-0.1809 left_roll=0.0287 left_gripper=0.9957 right_x=0.2879 right_y=0.0001 right_z=0.1579 right_yaw=0.0025 right_pitch=-0.0999 right_roll=-0.0022 right_gripper=0.9977\nstate[joint_eff]: [-0.5128, -5.6137, 4.3556, 1.37, -0.1978, -0.0659, -0.0024, 0.0205, -1.4154, 6.9812, 1.6581, -0.0415, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ab5aa8d918833c890ab996cfaea5cf7a0f9298c2d51bf79a8ae40a2f6866c59",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b28827b2028513766155adb4b3d89b5d568f5ed6291033a607aba799976d49fb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd5fb2688c28a2c0c62b0717c096e713285d49a40a6cce4b383d8bd66da19fd3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /responses · status 200 · 10.3 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 28 changed as sent

message 36 changed as sent

message 40 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7593, 1.4746, 1.1049, -0.4934, -0.5678, -0.5526, 0.0951, -0.0219, 0.8242, 0.6064, -0.424, -0.0162, -0.0261, 0.9977]\nstate[eef_state]: left_x=0.3487 left_y=-0.1951 left_z=0.1759 left_yaw=-0.0015 left_pitch=-0.1267 left_roll=0.0144 left_gripper=0.0951 right_x=0.2907 right_y=0.0001 right_z=0.1639 right_yaw=0.0022 right_pitch=-0.0721 right_roll=-0.0026 right_gripper=0.9977\nstate[joint_eff]: [-0.2803, -6.3385, 9.2923, 1.3162, -0.4469, -0.0659, -0.0122, -0.1162, -1.4291, 10.3453, 1.6386, -0.0171, 0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4362, 1.6321, 0.7586, 0.012, -0.3687, -0.3363, 0.9957, -0.0216, 0.8307, 0.6067, -0.4431, -0.0162, -0.0265, 0.9977]\nstate[eef_state]: left_x=0.3842 left_y=-0.1049 left_z=0.0481 left_yaw=0.0518 left_pitch=-0.2191 left_roll=0.0509 left_gripper=0.9957 right_x=0.2882 right_y=0.0002 right_z=0.1586 right_yaw=0.0028 right_pitch=-0.0972 right_roll=-0.0023 right_gripper=0.9977\nstate[joint_eff]: [0.4034, -6.5573, 5.6274, 1.619, -0.105, 0.1978, 0.0415, 0.0068, -1.5658, 6.9675, 1.7265, -0.0366, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4332, 1.6772, 0.7338, 0.1268, -0.3641, -0.3332, 0.9957, -0.0219, 0.831, 0.6064, -0.445, -0.0162, -0.0265, 0.9977]\nstate[eef_state]: left_x=0.3923 left_y=-0.1082 left_z=0.0402 left_yaw=0.0452 left_pitch=-0.1809 left_roll=0.0287 left_gripper=0.9957 right_x=0.2879 right_y=0.0001 right_z=0.1579 right_yaw=0.0025 right_pitch=-0.0999 right_roll=-0.0022 right_gripper=0.9977\nstate[joint_eff]: [-0.5128, -5.6137, 4.3556, 1.37, -0.1978, -0.0659, -0.0024, 0.0205, -1.4154, 6.9812, 1.6581, -0.0415, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ab5aa8d918833c890ab996cfaea5cf7a0f9298c2d51bf79a8ae40a2f6866c59",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b28827b2028513766155adb4b3d89b5d568f5ed6291033a607aba799976d49fb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd5fb2688c28a2c0c62b0717c096e713285d49a40a6cce4b383d8bd66da19fd3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"Both jaws are aligned with the bowl’s sides below the lip. I’ll close around the bowl and then check it with a lift.\"}",
  "call_id": "call_esmsELOuz715XGwHOlKjkw7x",
  "id": "fc_06415379f6f0f60e016ab49700d5c087d0a9d076440cb1f1f4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_esmsELOuz715XGwHOlKjkw7x",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4339, 1.7039, 0.7139, 0.1425, -0.3668, -0.3393, 0.0085, -0.0219, 0.8314, 0.6064, -0.4454, -0.0166, -0.0265, 0.9977]\nstate[eef_state]: left_x=0.3867 left_y=-0.1054 left_z=0.0258 left_yaw=0.0528 left_pitch=-0.2072 left_roll=0.0406 left_gripper=0.0085 right_x=0.2878 right_y=0.0002 right_z=0.1577 right_yaw=0.0028 right_pitch=-0.1007 right_roll=-0.002 right_gripper=0.9977\nstate[joint_eff]: [-0.3214, -6.4342, 4.8479, 1.4676, -0.1343, -0.0122, 0.6422, -0.0752, -1.4564, 6.9949, 1.6435, -0.0806, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c796f608e1f9ae27e730cf39253de2d9d11892c6a1460363cae35702757c1faa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c82047faa0c86b0d236e4c6cc5c68f37ad417fdd2af594c5ab64c8b9e6f28f73",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:373ad3d7a387cbfdc0bf18b27eebafc9c300572917e828dd6cc4f125841ef52f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 3.338 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 32 changed as sent

message 40 changed as sent

message 43 changed as sent

message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5205, 1.4586, 0.9176, -0.2806, -0.416, -0.382, 0.9952, -0.0216, 0.8288, 0.6067, -0.4374, -0.0162, -0.0265, 0.9977]\nstate[eef_state]: left_x=0.3749 left_y=-0.1285 left_z=0.1301 left_yaw=0.0262 left_pitch=-0.1656 left_roll=0.0281 left_gripper=0.9952 right_x=0.289 right_y=0.0002 right_z=0.1602 right_yaw=0.0028 right_pitch=-0.0896 right_roll=-0.0025 right_gripper=0.9977\nstate[joint_eff]: [0.294, -7.6786, 6.7214, 1.619, -0.105, 0.2027, -0.0269, 0.1026, -1.7573, 7.1453, 1.7656, -0.0415, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4332, 1.6772, 0.7338, 0.1268, -0.3641, -0.3332, 0.9957, -0.0219, 0.831, 0.6064, -0.445, -0.0162, -0.0265, 0.9977]\nstate[eef_state]: left_x=0.3923 left_y=-0.1082 left_z=0.0402 left_yaw=0.0452 left_pitch=-0.1809 left_roll=0.0287 left_gripper=0.9957 right_x=0.2879 right_y=0.0001 right_z=0.1579 right_yaw=0.0025 right_pitch=-0.0999 right_roll=-0.0022 right_gripper=0.9977\nstate[joint_eff]: [-0.5128, -5.6137, 4.3556, 1.37, -0.1978, -0.0659, -0.0024, 0.0205, -1.4154, 6.9812, 1.6581, -0.0415, -0.0757, -0.0171]",
      "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]: [-0.4339, 1.7039, 0.7139, 0.1425, -0.3668, -0.3393, 0.0085, -0.0219, 0.8314, 0.6064, -0.4454, -0.0166, -0.0265, 0.9977]\nstate[eef_state]: left_x=0.3867 left_y=-0.1054 left_z=0.0258 left_yaw=0.0528 left_pitch=-0.2072 left_roll=0.0406 left_gripper=0.0085 right_x=0.2878 right_y=0.0002 right_z=0.1577 right_yaw=0.0028 right_pitch=-0.1007 right_roll=-0.002 right_gripper=0.9977\nstate[joint_eff]: [-0.3214, -6.4342, 4.8479, 1.4676, -0.1343, -0.0122, 0.6422, -0.0752, -1.4564, 6.9949, 1.6435, -0.0806, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c796f608e1f9ae27e730cf39253de2d9d11892c6a1460363cae35702757c1faa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c82047faa0c86b0d236e4c6cc5c68f37ad417fdd2af594c5ab64c8b9e6f28f73",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:373ad3d7a387cbfdc0bf18b27eebafc9c300572917e828dd6cc4f125841ef52f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
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  "id": "rs_06415379f6f0f60e016ab49703ea9087d0b351fa91bd81d4db",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.05,\"left_z\":0.09,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":0.65},\"note\":\"The gripper closed empty inside the bowl; its rim is wider than the jaw opening. I’ll move farther toward the left wall for a true rim pinch and restore the tool to its upright orientation.\"}",
  "call_id": "call_U7HI563pHlgqgKXhkEFNrQ8g",
  "id": "fc_06415379f6f0f60e016ab4970bb07887d0a0685a8e82a600c3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_U7HI563pHlgqgKXhkEFNrQ8g",
  "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]: [-0.2363, 1.4673, 0.5686, 0.2546, -0.2325, -0.1791, 0.6452, -0.0219, 0.8364, 0.6056, -0.4561, -0.0162, -0.0265, 0.9977]\nstate[eef_state]: left_x=0.3855 left_y=-0.0473 left_z=0.0751 left_yaw=0.0424 left_pitch=-0.0553 left_roll=0.0024 left_gripper=0.6452 right_x=0.2863 right_y=0.0002 right_z=0.154 right_yaw=0.0025 right_pitch=-0.1171 right_roll=-0.0018 right_gripper=0.9977\nstate[joint_eff]: [0.294, -6.5709, 5.7504, 2.0537, 0.0317, 0.1099, -0.1538, -0.0205, -1.3197, 6.9949, 1.79, -0.0317, -0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0527785197a1da1517d0f132196f4f4dbb18be595bca5bbc98c49b9172b14132",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4226c7025216c94d60d8fc3a9c18aee7ad9d2f07eb222b6e47d02905f6e84616",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eeb2d69555a1c9eaf181370a2d107bd92a29bd28a54db05d081b8a7a35d9226e",
      "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 · 2.325 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 36 changed as sent

message 43 changed as sent

message 47 changed as sent

message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4362, 1.6321, 0.7586, 0.012, -0.3687, -0.3363, 0.9957, -0.0216, 0.8307, 0.6067, -0.4431, -0.0162, -0.0265, 0.9977]\nstate[eef_state]: left_x=0.3842 left_y=-0.1049 left_z=0.0481 left_yaw=0.0518 left_pitch=-0.2191 left_roll=0.0509 left_gripper=0.9957 right_x=0.2882 right_y=0.0002 right_z=0.1586 right_yaw=0.0028 right_pitch=-0.0972 right_roll=-0.0023 right_gripper=0.9977\nstate[joint_eff]: [0.4034, -6.5573, 5.6274, 1.619, -0.105, 0.1978, 0.0415, 0.0068, -1.5658, 6.9675, 1.7265, -0.0366, -0.0366, -0.0122]",
      "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]: [-0.4339, 1.7039, 0.7139, 0.1425, -0.3668, -0.3393, 0.0085, -0.0219, 0.8314, 0.6064, -0.4454, -0.0166, -0.0265, 0.9977]\nstate[eef_state]: left_x=0.3867 left_y=-0.1054 left_z=0.0258 left_yaw=0.0528 left_pitch=-0.2072 left_roll=0.0406 left_gripper=0.0085 right_x=0.2878 right_y=0.0002 right_z=0.1577 right_yaw=0.0028 right_pitch=-0.1007 right_roll=-0.002 right_gripper=0.9977\nstate[joint_eff]: [-0.3214, -6.4342, 4.8479, 1.4676, -0.1343, -0.0122, 0.6422, -0.0752, -1.4564, 6.9949, 1.6435, -0.0806, -0.0415, -0.0073]",
      "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]: [-0.2363, 1.4673, 0.5686, 0.2546, -0.2325, -0.1791, 0.6452, -0.0219, 0.8364, 0.6056, -0.4561, -0.0162, -0.0265, 0.9977]\nstate[eef_state]: left_x=0.3855 left_y=-0.0473 left_z=0.0751 left_yaw=0.0424 left_pitch=-0.0553 left_roll=0.0024 left_gripper=0.6452 right_x=0.2863 right_y=0.0002 right_z=0.154 right_yaw=0.0025 right_pitch=-0.1171 right_roll=-0.0018 right_gripper=0.9977\nstate[joint_eff]: [0.294, -6.5709, 5.7504, 2.0537, 0.0317, 0.1099, -0.1538, -0.0205, -1.3197, 6.9949, 1.79, -0.0317, -0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0527785197a1da1517d0f132196f4f4dbb18be595bca5bbc98c49b9172b14132",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4226c7025216c94d60d8fc3a9c18aee7ad9d2f07eb222b6e47d02905f6e84616",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eeb2d69555a1c9eaf181370a2d107bd92a29bd28a54db05d081b8a7a35d9226e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJcQa750ycUjkc3FSEgU8jYEEOE_6o02OocSYF3f_GxolhFiwwSfitZgyFZti5pbyMEoihYO9-qLdKLWYPFa7RkaFzVmxkc6ykrm3zou6GSfz5lySVnTofIi3M1CIAmDWsi6Mj_XOoAGbMrBsab56DgHFBRhZqEkJqMCyL6lMT8PhzJF2sjVx7YhvFKdsmJhw39iCGkX2K_cevgluEhxJGz-k8pBZJoO3gZgOKWWeMtXNj727vKCXaryKPKdlPTSxEEVIBXbZubezULdanOIRpqyimTHnb8EvYKAtbwvJEqBnj8GK7S-cLLCtSGbLfqSB4azmWrlDn3hZLOh45c9iRzc_anUJM625RtsPm67uqz_AxP_21WNZID3q9SG4E4LY-tbNlvWnRkB-ydijBF7BjVhMTawa48QN_JJK0s5MpfPwMYo3gYWRqxUYaC7n8kjIFazn7C5Q946BoDn7PHqg7b1F2SIaXDIhZk7QPmtH-z9T6F3eHRe-nFl-KaiBcnVOeGx5UmT1jRo4AE_3JwSCO42q2CXWpt8kjAvO8i1t3fRnhCnkFCQ_8lJEDw0aGq0usNEShXIAKzY2TTQO7pBiFhjwP7Wgu8EgiFKZ5YU6eFIBEtkC8rsXJjxsc4BC5hxWeOy2bavGsqcjfyeGyomKTxDMhU_U3nSZe_IXl6ZXMa5BULRnOIWcoWdRyLf0nki66a29Ft2fKxOwFk6anxIfjJBVLc-DrvbApwtoSb_vw98IlsTbMi4LAomuC011qZlPu1hZsFI5ypyJgBqJ6YcV5MBb5f0tCoSVj54YeOW5ftC8ZNPZ7hq0HPBAxlPEzlfqpybido8EdsUiEyDBmMOKlhReEYe98zV2ZE8_z5nCrZ_UdxtGmq9SgKtwIffX9J2MMGaVpTZbwN-Xq4NtDqS6NgCWV6UqdycEiCS_D4hDYG1owLHmMmQpeFQo1yH2QM3LCUZVt3UPvwIRW2VtaJ6mIxNt_sKSTHaU3ry2VPK8ffxLuNuyX-rOnnP8v9qE8dWiHTm3JrRk4tmvzHg83Bl-_P7bYKCB6jvceapGnh_Py7JN8ZViXybSm0BPZNbz2wc_UmH6GNqt06PS-TU5KBIP2g4FaM5RywMkvDkKTsItCEU4gwRmX5p4M8K27ORyT6cWI7Td5_1mtzQagqem6IgFf_uVP1NeuTaqMz_2oDNq8JOOgTgtCd-VtLrB8ADumZ1JJvtl_y0C_bqeAcy-R6KspgQOBAyMEL3l7VLgOWZPDjd6vjRMlKTLAmw69DnuzfLjDlJigM1zwC6alypv9xM6-ZE_hEOiV1beU0j1aq4L62-XxeMdy4GlctiKe-cdKbB76qWuzL7H_rExegaPYI6mSB7MamBcsZrxyubpcloY_gKhkckseJR9DFd425Hi45AdCkwCjh1qdwjDQWrWgk_P6f-Z0_xX6qPprgp9TcQ4_YnWMuX36PvFK9ROtyZirENrSqN48ImjuE0PdtyELOq1butuQ==",
  "id": "rs_06415379f6f0f60e016ab4970ec42487d09310ca5805d4c29f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.05,\"left_z\":0.035,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The left wall now lies clearly between the fingers, with one finger outside and one inside. I’ll lower just below the rim while keeping the tool upright.\"}",
  "call_id": "call_5zFu5h59rVt0v2DpQikM2nQY",
  "id": "fc_06415379f6f0f60e016ab4970fd16087d080b654c8dcdb94b5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5zFu5h59rVt0v2DpQikM2nQY",
  "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]: [-0.2253, 1.6352, 0.477, 0.4927, -0.205, -0.1532, 0.6464, -0.0219, 0.8398, 0.6037, -0.4671, -0.0162, -0.0265, 0.9977]\nstate[eef_state]: left_x=0.3807 left_y=-0.0467 left_z=0.0252 left_yaw=0.0169 left_pitch=-0.0805 left_roll=0.0126 left_gripper=0.6464 right_x=0.2843 right_y=0.0002 right_z=0.1502 right_yaw=0.0026 right_pitch=-0.1335 right_roll=-0.0014 right_gripper=0.9977\nstate[joint_eff]: [0.212, -7.5692, 5.7915, 2.1758, 0.0317, 0.1538, 0.1148, -0.1436, -1.1556, 7.2547, 1.8242, -0.0415, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f35439caf2e3122629670fb5c8402aa57071b10ea94d57a40f3c2b09d3f3a60",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86bd091fbf95d91ed1ec7f25ed1a06dd3daeee77f292ae70ce0adc8af8bcf2d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca8e1df328ac16d4ec78572db84ce8fb5d03a51eca3b01ed4e2715ee66fe680f",
      "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 · 3.199 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 40 changed as sent

message 47 changed as sent

message 51 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4332, 1.6772, 0.7338, 0.1268, -0.3641, -0.3332, 0.9957, -0.0219, 0.831, 0.6064, -0.445, -0.0162, -0.0265, 0.9977]\nstate[eef_state]: left_x=0.3923 left_y=-0.1082 left_z=0.0402 left_yaw=0.0452 left_pitch=-0.1809 left_roll=0.0287 left_gripper=0.9957 right_x=0.2879 right_y=0.0001 right_z=0.1579 right_yaw=0.0025 right_pitch=-0.0999 right_roll=-0.0022 right_gripper=0.9977\nstate[joint_eff]: [-0.5128, -5.6137, 4.3556, 1.37, -0.1978, -0.0659, -0.0024, 0.0205, -1.4154, 6.9812, 1.6581, -0.0415, -0.0757, -0.0171]",
      "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]: [-0.2363, 1.4673, 0.5686, 0.2546, -0.2325, -0.1791, 0.6452, -0.0219, 0.8364, 0.6056, -0.4561, -0.0162, -0.0265, 0.9977]\nstate[eef_state]: left_x=0.3855 left_y=-0.0473 left_z=0.0751 left_yaw=0.0424 left_pitch=-0.0553 left_roll=0.0024 left_gripper=0.6452 right_x=0.2863 right_y=0.0002 right_z=0.154 right_yaw=0.0025 right_pitch=-0.1171 right_roll=-0.0018 right_gripper=0.9977\nstate[joint_eff]: [0.294, -6.5709, 5.7504, 2.0537, 0.0317, 0.1099, -0.1538, -0.0205, -1.3197, 6.9949, 1.79, -0.0317, -0.0757, -0.0073]\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 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2253, 1.6352, 0.477, 0.4927, -0.205, -0.1532, 0.6464, -0.0219, 0.8398, 0.6037, -0.4671, -0.0162, -0.0265, 0.9977]\nstate[eef_state]: left_x=0.3807 left_y=-0.0467 left_z=0.0252 left_yaw=0.0169 left_pitch=-0.0805 left_roll=0.0126 left_gripper=0.6464 right_x=0.2843 right_y=0.0002 right_z=0.1502 right_yaw=0.0026 right_pitch=-0.1335 right_roll=-0.0014 right_gripper=0.9977\nstate[joint_eff]: [0.212, -7.5692, 5.7915, 2.1758, 0.0317, 0.1538, 0.1148, -0.1436, -1.1556, 7.2547, 1.8242, -0.0415, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f35439caf2e3122629670fb5c8402aa57071b10ea94d57a40f3c2b09d3f3a60",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86bd091fbf95d91ed1ec7f25ed1a06dd3daeee77f292ae70ce0adc8af8bcf2d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca8e1df328ac16d4ec78572db84ce8fb5d03a51eca3b01ed4e2715ee66fe680f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The fingertips are low enough to catch the bowl wall. I’ll close on this outside rim position.\"}",
  "call_id": "call_VFsdDwkekrJpYHrAe5ovIFxV",
  "id": "fc_06415379f6f0f60e016ab49712649c87d0b7f350b0cfa1442a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VFsdDwkekrJpYHrAe5ovIFxV",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2253, 1.6558, 0.4541, 0.6384, -0.2012, -0.1535, 0.0943, -0.0219, 0.8436, 0.6018, -0.4709, -0.0162, -0.0265, 0.9977]\nstate[eef_state]: left_x=0.3913 left_y=-0.0498 left_z=0.0385 left_yaw=0.0132 left_pitch=0.0183 left_roll=-0.0141 left_gripper=0.0943 right_x=0.2836 right_y=0.0002 right_z=0.1476 right_yaw=0.0026 right_pitch=-0.143 right_roll=-0.0012 right_gripper=0.9977\nstate[joint_eff]: [-0.1709, -6.0103, 5.1487, 1.5897, -0.0611, 0.1343, 0.5153, -0.1026, -1.5111, 7.0769, 1.6532, -0.0317, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ae3e6cb8bdd6ef9d951125977baa555401ce04bc37141e67720abd0632af7de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5205e0e534b445d5e42cebb9be07fbedb60e0d496c7441a8bebec1b7ae15179d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd4ba794174ba704a11b0cb37586aa7372f5ace1b81200ed83387df83e222ee5",
      "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 · 6.5 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 43 changed as sent

message 51 changed as sent

message 54 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4339, 1.7039, 0.7139, 0.1425, -0.3668, -0.3393, 0.0085, -0.0219, 0.8314, 0.6064, -0.4454, -0.0166, -0.0265, 0.9977]\nstate[eef_state]: left_x=0.3867 left_y=-0.1054 left_z=0.0258 left_yaw=0.0528 left_pitch=-0.2072 left_roll=0.0406 left_gripper=0.0085 right_x=0.2878 right_y=0.0002 right_z=0.1577 right_yaw=0.0028 right_pitch=-0.1007 right_roll=-0.002 right_gripper=0.9977\nstate[joint_eff]: [-0.3214, -6.4342, 4.8479, 1.4676, -0.1343, -0.0122, 0.6422, -0.0752, -1.4564, 6.9949, 1.6435, -0.0806, -0.0415, -0.0073]",
      "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]: [-0.2253, 1.6352, 0.477, 0.4927, -0.205, -0.1532, 0.6464, -0.0219, 0.8398, 0.6037, -0.4671, -0.0162, -0.0265, 0.9977]\nstate[eef_state]: left_x=0.3807 left_y=-0.0467 left_z=0.0252 left_yaw=0.0169 left_pitch=-0.0805 left_roll=0.0126 left_gripper=0.6464 right_x=0.2843 right_y=0.0002 right_z=0.1502 right_yaw=0.0026 right_pitch=-0.1335 right_roll=-0.0014 right_gripper=0.9977\nstate[joint_eff]: [0.212, -7.5692, 5.7915, 2.1758, 0.0317, 0.1538, 0.1148, -0.1436, -1.1556, 7.2547, 1.8242, -0.0415, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2253, 1.6558, 0.4541, 0.6384, -0.2012, -0.1535, 0.0943, -0.0219, 0.8436, 0.6018, -0.4709, -0.0162, -0.0265, 0.9977]\nstate[eef_state]: left_x=0.3913 left_y=-0.0498 left_z=0.0385 left_yaw=0.0132 left_pitch=0.0183 left_roll=-0.0141 left_gripper=0.0943 right_x=0.2836 right_y=0.0002 right_z=0.1476 right_yaw=0.0026 right_pitch=-0.143 right_roll=-0.0012 right_gripper=0.9977\nstate[joint_eff]: [-0.1709, -6.0103, 5.1487, 1.5897, -0.0611, 0.1343, 0.5153, -0.1026, -1.5111, 7.0769, 1.6532, -0.0317, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ae3e6cb8bdd6ef9d951125977baa555401ce04bc37141e67720abd0632af7de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5205e0e534b445d5e42cebb9be07fbedb60e0d496c7441a8bebec1b7ae15179d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd4ba794174ba704a11b0cb37586aa7372f5ace1b81200ed83387df83e222ee5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJcXMiVDntbIF5neSPnFMcVG6sl-GAK2ulg70SwtGoiuFiyVIMzC95D_WlnPs4MxaS3xRhkyBE7-0-AWAxJUB_8a2TdCeelOye9WWXJ8OL_rovEKl1uJvkZ1RpLMNkY9N3AmEjsHBBJmvJB9auKGdk0PFiieVYsfPCvOUfc3HMqzsXP4fMVp_czIUaTgvJlvXbqDBl5hIdyVBdw2e2zjrbMJxlACg_gmn7dNQNNYjKx1aR6Hlt4oTBI88vmGOh3UdhPF_ef4qp8yVeuZSlXoQ277G_9obaUP9LBNYCZpDfwOqlhtRHYSA-hjci6WrONb_NeZDdAnNKORW5uE-C3xlb6NTJ58sHXJglfzXeyaYYu8HVOMo3HcXrysVJdRS-cCW6ALMP0Q3SeAFNgsGio5ZVGy2HAnKL9NA91LEW58ZYGJK3UuoSY7LCpj4jkYAonGHlN_i20wcuxlkQ5Gj9F3UEV23A3pZgOt1XlYT9YP4rsBf0mi5029TWjHNE_VaIUYZOVhHriW779k82RsIXDAvpWBlkXY9TjW5Msq5cr0m4YgfshYKU5v9ZzZLaUW9wkSqOXtlZCZUBIThojDrDvpvKabcDX1M--MyED7TMdExfASql9rAghn05JIXfAL3P-tQUD2kfBInqbMCCtmFMppGFEXcCt6BFCFZn6MflPsWGyocpHZBoex_81uMI8SOijSKV98DNC5EAtZl5pXW430FQ3K_anKX85cbr3D8YexA_3hVbB_qvH70eM8drSek7ImzWo1IbndamO7p10MMvkfMY-kDjN5f53lBZ0-yP0aX_QF9kqQAFA0FlR9wMFrIGa50ky1_217zTJSfE2qbife80IYDPraI5oZuNiFXC9LnetOCuh4Jf3DIasEUTPxPKTzOrlkt47AWRMKHiKGjQDC_KWp0rG446oDvA9UtKuf5_WzFEB8ebpuEyWy2oyFptLTxereK7IkH6C1-S8lAJbM4XP6tDmPz0ZFweCwwxlgJou08zqakwcttELBgAN-169aNM91m1Qnm6WX4xC6Or1aYwymEjrafAlZRzLlt6tfNJrWv7ZS0E8TRXiK-gIS7H4UvMm-v16HulSKurWa9d6VSwHHYpNI5c5dR5BxXUq1Pwx7GweSiJiv49BjvPEm0apn3U3imraBmdIDYENmyHg0DwKDILj7FgHGz-HGS6zUGNRLH_RBpUJaa8lhhRM9XE7loHpt5OdM0Q6U_qWSQdXa71Ui34qiF7yqBy3fAMhT0g_70bErx1aGpn_A7SB8lPq34h7AOb_b2zpVyFrltbYgnvaZiJJax31u0xeXjn2W4wsK1vk=",
  "id": "rs_06415379f6f0f60e016ab497159e8c87d0a97ecee9d83d841b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.05,\"left_z\":0.12,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The fingers are visibly pinching the bowl’s outer wall. I’ll lift and draw back slightly to verify that the bowl follows.\"}",
  "call_id": "call_5PKhOCdIJZ2jjVVbd7aIRFWq",
  "id": "fc_06415379f6f0f60e016ab4971634d087d0ab97b1b92f330c08",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5PKhOCdIJZ2jjVVbd7aIRFWq",
  "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]: [-0.2398, 1.3754, 0.5194, 0.3542, -0.2066, -0.1539, 0.0945, -0.0216, 0.8486, 0.6003, -0.4721, -0.0162, -0.0265, 0.9977]\nstate[eef_state]: left_x=0.3862 left_y=-0.0534 left_z=0.1086 left_yaw=0.0041 left_pitch=0.0786 left_roll=-0.0265 left_gripper=0.0945 right_x=0.2833 right_y=0.0003 right_z=0.1454 right_yaw=0.003 right_pitch=-0.1506 right_roll=-0.001 right_gripper=0.9977\nstate[joint_eff]: [-0.5128, -4.506, 9.2786, 2.0488, -0.0513, 0.0513, 0.0024, -0.0889, -1.5248, 7.0769, 1.663, -0.0415, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78e588f8b71804f9abc997b2aca05ef054b870665bde90d5ae6bf6b5319ef604",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01486f4f0d417554bb59b9fe745f864b39d859747a86e6b29b3f70041eb0e6c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:355afc0b04712120ce421d8355e97093593992112ce3007ad7b64af58201c4ff",
      "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 · 7.819 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 47 changed as sent

message 54 changed as sent

message 58 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2363, 1.4673, 0.5686, 0.2546, -0.2325, -0.1791, 0.6452, -0.0219, 0.8364, 0.6056, -0.4561, -0.0162, -0.0265, 0.9977]\nstate[eef_state]: left_x=0.3855 left_y=-0.0473 left_z=0.0751 left_yaw=0.0424 left_pitch=-0.0553 left_roll=0.0024 left_gripper=0.6452 right_x=0.2863 right_y=0.0002 right_z=0.154 right_yaw=0.0025 right_pitch=-0.1171 right_roll=-0.0018 right_gripper=0.9977\nstate[joint_eff]: [0.294, -6.5709, 5.7504, 2.0537, 0.0317, 0.1099, -0.1538, -0.0205, -1.3197, 6.9949, 1.79, -0.0317, -0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2253, 1.6558, 0.4541, 0.6384, -0.2012, -0.1535, 0.0943, -0.0219, 0.8436, 0.6018, -0.4709, -0.0162, -0.0265, 0.9977]\nstate[eef_state]: left_x=0.3913 left_y=-0.0498 left_z=0.0385 left_yaw=0.0132 left_pitch=0.0183 left_roll=-0.0141 left_gripper=0.0943 right_x=0.2836 right_y=0.0002 right_z=0.1476 right_yaw=0.0026 right_pitch=-0.143 right_roll=-0.0012 right_gripper=0.9977\nstate[joint_eff]: [-0.1709, -6.0103, 5.1487, 1.5897, -0.0611, 0.1343, 0.5153, -0.1026, -1.5111, 7.0769, 1.6532, -0.0317, -0.0464, -0.0073]\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 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2398, 1.3754, 0.5194, 0.3542, -0.2066, -0.1539, 0.0945, -0.0216, 0.8486, 0.6003, -0.4721, -0.0162, -0.0265, 0.9977]\nstate[eef_state]: left_x=0.3862 left_y=-0.0534 left_z=0.1086 left_yaw=0.0041 left_pitch=0.0786 left_roll=-0.0265 left_gripper=0.0945 right_x=0.2833 right_y=0.0003 right_z=0.1454 right_yaw=0.003 right_pitch=-0.1506 right_roll=-0.001 right_gripper=0.9977\nstate[joint_eff]: [-0.5128, -4.506, 9.2786, 2.0488, -0.0513, 0.0513, 0.0024, -0.0889, -1.5248, 7.0769, 1.663, -0.0415, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78e588f8b71804f9abc997b2aca05ef054b870665bde90d5ae6bf6b5319ef604",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01486f4f0d417554bb59b9fe745f864b39d859747a86e6b29b3f70041eb0e6c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:355afc0b04712120ce421d8355e97093593992112ce3007ad7b64af58201c4ff",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJceSeXDFbWAHnbn4iIDWxb2FOUDdqtgmsL-vtAgIM49gap5eQ5c5p_dTgoOCcrMi58UTY8xHdrURVF7SXeO69ZIFXtSNXVexq04bvqMjj2DCErak36l8pH64FmSeLk1CGbKx37N72iTFVXKvF2eQa8_sTiGUhcZw24N_LoWB4-soxpiRVJFYGHz4k2P-tiEmGXUnsFrycxgt__rk_5la1FNRUMezygpKlLrRgZQa6EbmvAHeIqqyscVnuMkB66q38QsBMletPIC1JjeS15elUIyRqzJqBT_coLAPwAIYr4-LU7jmcdDgfWG-42cLjKLwjHj9fM4L_Z3xjoXZmFCdkTkhNCUFck6lIcGSkbRqivVVyX0WhOHT20G9TOsEsBe_TzqqPeYDt3zS7BC8kH4qboLvCs7HOFJkuPME8Y1cGcMZOvvvDXOF8M8d44MKyxgyst8seLw-jnlAVrsu6EgMqOEx-NgynhXF9TMZEiPoCRWl-OBTI7d4wE72gkFlNygpcSorezPvcpVBDLiTyDQgGe45plpwLt9fi0HBT548o4-KXn2r6ADIVnBP42-JgIdh5ZbMCgtkM_44hBD5SqogtQw4uauPrLyPdS8TFCWFA9JgSgENndyESx8qo1yu0d00MJcA4myl-Ee3x1WszZkd5XdyzHwgBQCjxoWDdMgF0u54Ec6zUPzjSoBxrppvHbwIkDNuUgUrbWNF7DtjGt4IStPTozA1LLWlkAdwiJ3Q252zGDmiKVtRHx7q4-R0EMepghNVAChPH7x0khlvXM0mDZsYj_YUMNehVMA4qvSBsNlyes27GcGS4aThsVFGAIePbJr_DvOcQ-Vj9_K1GYz3a47raYMxvXTdjSfDCx-wFuXVFBSTpuydjNW4rPtUquJsBbLkRxOLcFVkTzC6-X3AOyaBc3i_-0Vc44zoShDBMADrh-bZd_aGRAdwB9vPy_eU-QZiAXcv6ySSC4OxVhvYcZ5yAyM58xqIDIJfnXUsUBS4_bjfhtMAsvqFzr1oC9ytsGMxKMKuTBhMkIWF19XhUd0cCWdT69LGpNVUT7ON0PE9mSVXmbxTjCX96iFGieMiUkDLn1Tf1hgH6ogh3UinIku23OHbnJ0wZW5tGy8-UwnOInjmI8WCfiuiscUCVAl0k74iUrUgI2cwERSJ9pIUqLD-IDvRWPo-qOCmFreE69WgdrV8OYIwWNFl9XpiBwFf-cun9sT_XcaROTOo159FCxWAANVit4SQkbZcag5aGFpOtiT7wlL5CfYF-U1Kkae4IRjJKGEaSBNeu3bsE-dzhUzlhgi55j82n8hQ0vAPW4RCTvJCkx9UBjTUQSgq08rW8ADG8VQt4w0HPPKuwN3eCW5PKAAwt8qWD0gkLOlVRzekdVzNrRwTOUq49XygIdD_7rA_4ynLec94Aa1RnJs_-Zc-N4Rqn35go9XxzV_HqO3NSTqvzC4_TdWS4zNV52dhISyz-5B-jNfNs15uQdSQ8B49qlrufcr_NKYoBoLzcJz3xZaig59gQ7ejhh4l9dBylTzQirHVEifuJOHghj6Er8o1XpkDN2oVL0DXvi29BmIRBHt3idZEvtItPJmsEJzpQX0Yf7UXSUhwYNfR_X-JYcd1braQB1gGfG9EZzy0sJEi0X1W79TBOJTRs7qXbVs7ZhHPxOldnJRymdWZRyzuzWdL4zbXD3u4r12zGB92PKLdEwAMAtreg1cZXd-huCmvSuTcEX_-QofjJXeKRDe1fgB4kJw9fgb9Qa9m1lggT6CUtc4DKV8Dc1oi9fn4SDywtbsBFLLwh9H49wvkTeA3hm3SXIb2Z9A_GRCnWg1FpSTeYno_nzCWzN71PnNyebtHWGo3WZsE2vO_G6WpbJPJYuVMrzrV6B4jOEZvi5y3gjwJ3OvOMAOW6dk5cbI57Yiy86gPWnd8b856WWA0OVebjK_In4tvjRLH-cTfGKq9ysyD9kWJLgfFzW6nljRtQBaTHDg7Q-FeKE18FabGA_p5BUcLHTVFfVJA_rrETjpDuTqNG0=",
  "id": "rs_06415379f6f0f60e016ab49719a9b487d087360dc2d474c743",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.175,\"left_z\":0.18,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.18,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The bowl now stays fixed relative to the fingers as the arm lifts, confirming the rim grasp. I’ll move it over the blue bowl and reset the idle arm to its parked pose.\"}",
  "call_id": "call_6uYBmFTbxQcDHtUjxqweDr8a",
  "id": "fc_06415379f6f0f60e016ab4971cf45487d0b4bd14ee2efbdf75",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6uYBmFTbxQcDHtUjxqweDr8a",
  "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]: [-0.6941, 1.3911, 0.9043, -0.2031, -0.5484, -0.4221, 0.0944, -0.0219, 0.8062, 0.5999, -0.4191, -0.0166, -0.0265, 0.9977]\nstate[eef_state]: left_x=0.3593 left_y=-0.1746 left_z=0.1698 left_yaw=-0.0291 left_pitch=-0.0053 left_roll=-0.0039 left_gripper=0.0944 right_x=0.2896 right_y=0.0002 right_z=0.1668 right_yaw=0.0027 right_pitch=-0.0557 right_roll=-0.0031 right_gripper=0.9977\nstate[joint_eff]: [-0.3214, -5.7778, 9.1009, 1.5604, -0.2906, -0.105, -0.0171, -0.1983, -1.9214, 7.3504, 2.0098, -0.0366, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f89ac60132056e0d2a68652f30f82c4c769ceb8ca0c021915c0d21697ea37294",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0b9f5c89a498a51c3824fe5c7529a799c306c5004a3135e30a2f37099219aad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0893fc657c55f21d8a3c0e2959f8c846372292a82f19bfdf113cf6b59bb8e52",
      "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 · 3.049 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 51 changed as sent

message 58 changed as sent

message 62 changed as sent

message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2253, 1.6352, 0.477, 0.4927, -0.205, -0.1532, 0.6464, -0.0219, 0.8398, 0.6037, -0.4671, -0.0162, -0.0265, 0.9977]\nstate[eef_state]: left_x=0.3807 left_y=-0.0467 left_z=0.0252 left_yaw=0.0169 left_pitch=-0.0805 left_roll=0.0126 left_gripper=0.6464 right_x=0.2843 right_y=0.0002 right_z=0.1502 right_yaw=0.0026 right_pitch=-0.1335 right_roll=-0.0014 right_gripper=0.9977\nstate[joint_eff]: [0.212, -7.5692, 5.7915, 2.1758, 0.0317, 0.1538, 0.1148, -0.1436, -1.1556, 7.2547, 1.8242, -0.0415, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2398, 1.3754, 0.5194, 0.3542, -0.2066, -0.1539, 0.0945, -0.0216, 0.8486, 0.6003, -0.4721, -0.0162, -0.0265, 0.9977]\nstate[eef_state]: left_x=0.3862 left_y=-0.0534 left_z=0.1086 left_yaw=0.0041 left_pitch=0.0786 left_roll=-0.0265 left_gripper=0.0945 right_x=0.2833 right_y=0.0003 right_z=0.1454 right_yaw=0.003 right_pitch=-0.1506 right_roll=-0.001 right_gripper=0.9977\nstate[joint_eff]: [-0.5128, -4.506, 9.2786, 2.0488, -0.0513, 0.0513, 0.0024, -0.0889, -1.5248, 7.0769, 1.663, -0.0415, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6941, 1.3911, 0.9043, -0.2031, -0.5484, -0.4221, 0.0944, -0.0219, 0.8062, 0.5999, -0.4191, -0.0166, -0.0265, 0.9977]\nstate[eef_state]: left_x=0.3593 left_y=-0.1746 left_z=0.1698 left_yaw=-0.0291 left_pitch=-0.0053 left_roll=-0.0039 left_gripper=0.0944 right_x=0.2896 right_y=0.0002 right_z=0.1668 right_yaw=0.0027 right_pitch=-0.0557 right_roll=-0.0031 right_gripper=0.9977\nstate[joint_eff]: [-0.3214, -5.7778, 9.1009, 1.5604, -0.2906, -0.105, -0.0171, -0.1983, -1.9214, 7.3504, 2.0098, -0.0366, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f89ac60132056e0d2a68652f30f82c4c769ceb8ca0c021915c0d21697ea37294",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0b9f5c89a498a51c3824fe5c7529a799c306c5004a3135e30a2f37099219aad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0893fc657c55f21d8a3c0e2959f8c846372292a82f19bfdf113cf6b59bb8e52",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJcnDSEx5l2YjATVHxhXsfjyNZs5Fog5rz0hpf9D-RnZv5QVQ3a0wZ9auyHszYnqyvusHaRovc-Pk82H1ZmIJnY3J5ka4ejjNGfuCaok-SiA0dq5D6JhevNVTq16izSCki0coN676CbDiGhfrD_qTls_OHD7ufx0mVwIllCzCUj1BuljooxrQqpIzS_ulvytyIUP6KwBpkuCvmed1jwUdghpbWy9ncRqJgmsjUxrT-d1enErYbVyUWy0rkc8RKN-peiSypO05uLC-W-Z3RzGYjIqo0Y4TiZRwC0uuRsECeJ4okVsbrQAekMr1IiSnsDE3IToI4e3pZMDdY_Jk7LT4qEt4jwBJoCBLI-BwVgexXW6twhKvBNiz2uRAyEboPqGe2SzUmX0pe4JjhuKhbk8YoJdkRwebvZEsFfmILly4jOxMiEYNbk1xdhEPQ2jCECJEeR7NQjUM-N7ErKhz8y5KMM7-N6NSyshS9fYZoRYczn1Md-LQsqXq5mrImzH5lV44X6wNgYmxph_Vk1ceNM5NKN76XNqrOOrZU9SKFB3PBkoZJDkjsI4Vn6zhyqJ8USfDfHBuHaKMV-j9sj8AG31IgknhXHoCH_SU0f-w9uZTCqQfN-a2s8i9UuBmmQHqQUEe4fJT1AdFWv3GblSphQ7MooSHMeCJT1CqZ4dG3sIGeT0RC6T-tcUDNkaeZBo0W4cEROkffBazKBY_HvHRklxW52PRllYqnFq04sUNvrn3p9gTLInD6I_rDGgdS-B2PS6-nY7tVLrzZsP0a1cgPugDoyeFFaTJoCz-is6s2kFHgLf26Aj7kVEK0D4zt6SZsTB_YpP25NHZ0nCxHcz7QCSzVHYng_CGfHHQBX4igsBTlBIyZAeBgVovcQnVCuv3QbNiJKhD8nFXBoZxzdPKpfLnRQCNT89IT-vsdcsO80U_3arbQvS1ogYuOWgP51qwm3tVnVDZEuKr0h4rj9yGPjuFf7iZr7owbDIrebHYPfvxcGH_MxbRc31gYWm5cdiD_Lx4fujPzj8DyfvJ7JlRPIapX1Fq0gUtVoetjk_DxAGGyVdTO25O9w3JggsSursefdAYfzPNLkBRremMugJ6IljLEe6ai7qk9WXdoAwI63ISmtkA3nGJMVPULKQu2d8sYLgptjGfveQeIQIJNVXScA5D2hnYbQ1Ja93Cn_VdiXpEDNhlBI95oS773cKKoH73hKVW2JixkRjAPuW6w36Q0HJ2VnJqkYgOVJX-duULZN8XdWj2iItwJzQnZA99S51bAc0gD3NnenF0JQhbU_pgkbwze2fXfQIRjMuTsNabOlxCL4_STbFJ3A_g3WsDj6HF_LhBAQDQPHS06lojNHHd7jt6OIaU90x8Mhvkr0DEWjo_IlNZQZgWE0sM3qHBSh3eFzkyFIMUeIrvyA9yKBggTUXkc9dTyY360Pa8hBaRQJy1w4Eqs5siyMxd3wweyyYDtxwHExM6A6nU9684kqtM1jCfeN6D9YVydWbODjhN3onhLvQHZ4d1dZVF-Yo1lgW36U_EXQhI4tpRttE4Iufv29mpdbvCRc96OUoUEXk5r_AnbIfepEPgXj1kUAD5rDdDngK1nSzjghFX6zZn4xPpdN2Sr1LXEJskE7o9GLh2zLdlELqj18db27Tl6jvCNPv7b4ObudWg0PYmqDSF9_YvOWMR8KYrmstGc2e879kUCdi4AArtjZq_MbPSqHK9Y6V0sblil2xHKDVkh8pGkobO-RMVIahtNZ1rblp1xTcJ44ej4lOp0sRpBPv4ByCKpgzdrdDCFSCvdjSk-HSsswn993sWoKVmkXDXhe-A2WnjnBoOhzt7UgzKFVGczDrYIgKWgLtJ9V7Bx3GUIycPj4n55ZyuwInKr5gEiwt9I1j18n5s4mpYFpvTmftVx_00cqcPxJWXlXBa91W5WbYaCI_G-izOpNIfBiqr7BmtlVVsQSoNESKqdOPmOgMvZNb_L9rcB18o9wvVgG8mrUQESRZfkGsPUbJDRTpVjomyoKVfAc__-0reehrPloRFfhpnak61fYFKxiobPolVnlwhTSYstmcONQNYH0CmZ6Wye39NM7nm7S0jwTWicubhElSOpSdPhoXHnS6XDyd5UHKhtkbeYOmBjUpm0Re33Siw3pNcEP4qAiDUQnxnAeME_xDZPKKrOGywRs1ZGVRtMr_UAEWwWNu-nzcsLTR4MsycROu_B0qsSMi1Of8hiOrzmJga_dW3YP0jwehl33Q7Sf5eRCmH8z4T5FmvKmfTE8kknZT7Jh_1nm5bZjDgzF_tV4SluQIHgo1z5pKBZD6Tbu0JUWOEb1uK74aWdtXk99v8A5B2nHvr4fQ3k2qbNrKupSo0rqrMsEJ4dKqtWWlOAf2F1uchpZOhvAeLrdGIeGEbcwGCkGQPSuvVrYpMcG49Y2GOot3si8xPdN3erR05G6IgRwqUQAmonvSmIRi3d5zbQZbuPf8xOvrjazEf2G-4S7MmuLEcoHOhcWV0FgSnpxWOwFTlfV5gFvdzLShbdb02CaiRUE1Zo8SGLFbhrzrDSmLRSTqsU9r6PBHsVMHvg4es-UVnnRK6JzHyIarV6Gt7xyDr-Na-aJEwiIpTXyUUU_rwyvl0e7ZJD9ayO3LER0bmfHUCUTVV6KC12BdjPIu-nAUltySvEQZRTjL2YzYYxuKGt7JgwhOKFOATDPHl8VbTCJlYk7OBaTS8kaP6rHxwAXL_WAsaVILL-OrDQqmBDyBGBtqNG-MATj3lGXr0Ru4Zou-M1cgGqRyWWdv0NlTL5Zj1ef4asQZG7w1B5IoFbpxMnS1_Wnm0PyHjbISC3-0bNo3vo1XMIxL_jJXxaZNrfp8Wo-_SQCNbL7byiDXfWoOHWAv3bimAE0QepEFDfbKdhM5ZSjyo9c7Rwg4Ymq5oYVxZxws4FaZeNTTU4b5GHQ2F0XK3-2Ng6EOD_POcLoPL8Ygmbz6naewEZTOkvAA_AEGyUBJekABo4NLo1NUxhnMIp78F66QK9Qo",
  "id": "rs_06415379f6f0f60e016ab49720c7bc87d0b6c9cebd70ee8aed",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.065,\"left_z\":0.075,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":0.65},\"note\":\"The bowl slipped out during transport. I’ll regrasp the rim and explicitly keep the close command active during lifting, rather than merely holding the measured jaw opening.\"}",
  "call_id": "call_A4s7QRKEMsn9MR0Hkyjt8biu",
  "id": "fc_06415379f6f0f60e016ab49725c58887d0a8cff8fe2c2bbc63",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_A4s7QRKEMsn9MR0Hkyjt8biu",
  "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]: [-0.2993, 1.491, 0.5537, 0.2836, -0.2832, -0.2066, 0.6469, -0.0216, 0.8104, 0.5957, -0.4202, -0.0166, -0.0265, 0.9977]\nstate[eef_state]: left_x=0.3813 left_y=-0.0622 left_z=0.0676 left_yaw=0.0365 left_pitch=-0.0548 left_roll=0.0123 left_gripper=0.6469 right_x=0.289 right_y=0.0003 right_z=0.1635 right_yaw=0.0031 right_pitch=-0.0652 right_roll=-0.0029 right_gripper=0.9977\nstate[joint_eff]: [0.2256, -5.4632, 5.6547, 1.9609, -0.0757, 0.0415, -0.0513, -0.0479, -1.6752, 7.3094, 1.6679, -0.0708, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6a24e9409afc9585d3b35517014977bd396a203e3b8ea7f8174ad3036cc4a48",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec2480dab1752964fdb6f394ccbd5c46c8ff6d0167263e58a3c7d0100eafd57f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6be2b3dee4a9eb0bc168c77c8bf78b3389a97540c67b976d87cb77182493d23",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 18 attempt 0 · /responses · status 200 · 2.111 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 54 changed as sent

message 62 changed as sent

message 66 changed as sent

message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2253, 1.6558, 0.4541, 0.6384, -0.2012, -0.1535, 0.0943, -0.0219, 0.8436, 0.6018, -0.4709, -0.0162, -0.0265, 0.9977]\nstate[eef_state]: left_x=0.3913 left_y=-0.0498 left_z=0.0385 left_yaw=0.0132 left_pitch=0.0183 left_roll=-0.0141 left_gripper=0.0943 right_x=0.2836 right_y=0.0002 right_z=0.1476 right_yaw=0.0026 right_pitch=-0.143 right_roll=-0.0012 right_gripper=0.9977\nstate[joint_eff]: [-0.1709, -6.0103, 5.1487, 1.5897, -0.0611, 0.1343, 0.5153, -0.1026, -1.5111, 7.0769, 1.6532, -0.0317, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6941, 1.3911, 0.9043, -0.2031, -0.5484, -0.4221, 0.0944, -0.0219, 0.8062, 0.5999, -0.4191, -0.0166, -0.0265, 0.9977]\nstate[eef_state]: left_x=0.3593 left_y=-0.1746 left_z=0.1698 left_yaw=-0.0291 left_pitch=-0.0053 left_roll=-0.0039 left_gripper=0.0944 right_x=0.2896 right_y=0.0002 right_z=0.1668 right_yaw=0.0027 right_pitch=-0.0557 right_roll=-0.0031 right_gripper=0.9977\nstate[joint_eff]: [-0.3214, -5.7778, 9.1009, 1.5604, -0.2906, -0.105, -0.0171, -0.1983, -1.9214, 7.3504, 2.0098, -0.0366, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2993, 1.491, 0.5537, 0.2836, -0.2832, -0.2066, 0.6469, -0.0216, 0.8104, 0.5957, -0.4202, -0.0166, -0.0265, 0.9977]\nstate[eef_state]: left_x=0.3813 left_y=-0.0622 left_z=0.0676 left_yaw=0.0365 left_pitch=-0.0548 left_roll=0.0123 left_gripper=0.6469 right_x=0.289 right_y=0.0003 right_z=0.1635 right_yaw=0.0031 right_pitch=-0.0652 right_roll=-0.0029 right_gripper=0.9977\nstate[joint_eff]: [0.2256, -5.4632, 5.6547, 1.9609, -0.0757, 0.0415, -0.0513, -0.0479, -1.6752, 7.3094, 1.6679, -0.0708, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6a24e9409afc9585d3b35517014977bd396a203e3b8ea7f8174ad3036cc4a48",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec2480dab1752964fdb6f394ccbd5c46c8ff6d0167263e58a3c7d0100eafd57f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6be2b3dee4a9eb0bc168c77c8bf78b3389a97540c67b976d87cb77182493d23",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJcrkSx-xABo7yNU7g7KZdmDkU_VBtL1mPe61XXQCoZmcHcTteCmy1glgJRtdfV00kxF5_pCS23aMN2b2V7MkpJXOO_CyfR126H2BHl5wxSyM0noxWiDPGOLDYjOEsKiHZfJoY9ahxURGVQYVlMS_gFfaA8baWQif_79l9yxumtJZUsimSV7x4X0WuumipWUULCtAtj5zXDs9efdGPnkEhn-jPxjNRdSGtRTTNoDvuc7Pil9OzG6_ntn42I4zZDPRWXPc-ElDVFgiqYjEy1jmRorYs1nvyr4H9MEioCqt9lyUdnzuollqEUcmUY1asztep0jjVLyuD4Vd5nE82E34jdwOIciGmW5PHGYVMtCFY0eV376w7W92gMEhgJcCsVbSPZrFTudXHJlLs2AaASzpOteL-E1ZaUhqaMvCNijw7X66T0c5ZbuoeXqS-6x9dJVuaGdadP7I0zovDZ3gt1bhgIMit1wpvvIsU5PFln37giLq9DRMaZAqxqK-MZ4wXLNcuFHX6vIdTmLUVdJdxHT3Yq2bLtV_-DBtyZ-bXcIvlcjwnq2FI3_ta9tlUZ2Zviv525Ww0e59n8X5Uu0HrBfqJ_QuxkmOjsKln_diXMDswx6QTD3uFvF2YR5aucG4yNqjBowntu_GSve5pX4zC5TpiSUltfxrIPOFqW9hKTKGsqJBaqt5beIzwNvo8ri_hoaj9uwTV-9CV6f5jZzKpzU8lCe9Qfv5QOK6_XxG2ObCEOO0kELt2P61nXlBsEOeCUFC4CNJv_SBHT48qXDZ-HWPlcHx8jl0akojZgMocHqRIJN7Em8zCbSxrn4FhinMAoEXYXP9-DsgeJShAAKmy7um0i-Y7qITXRaaU234pQ3XR8rVozMp4aNLjp0J0jU4WhPKI1QTJ8wL5ckx6mVlszvbQ-gw_SsAd3vqgjszwT0txmfawzt9XWhbs2C44lKJZu2ZkBphJXqNs_jp5-XT7TgW-FuU8gV3MYaGxZes9PjxlsPg946VgLdYcSGRfJJOtXmJlXINVpy6gZORaS4j1ybldLhGJ-AmkfzmnguAgEa3x5xBvL4jvcCnHkhSD7TMcYiCAC0kOId7A6bNDTmNL6byxHMu-0VJnRt-cB1zGZQ50ByAKCUQAZrF2pFTIfvfvRQjKvOcTOe0vm45WluG5YDzIHuGnehcXo2ySNC51rUUzjusHtnsWom_CsJG3aN_1l329SkBATFkbLfEgklg97PlSq63Mg_4O_RdrCGxkVaWdy02ZjqT8-vE0kWtxeLYoz6ePaCQo42RaJD-AXZJr5zIJmTHm5lIAX6v5ggHf87XsqzAlnzIPO9Yvi1APXfd5akkuA0v6tEhk1BxrUn-IzuOpmTnQ==",
  "id": "rs_06415379f6f0f60e016ab497294c4487d08a34ff5efbf9ae1c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.065,\"left_z\":0.035,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":0.65},\"note\":\"The bowl wall is again between the fingers. I’ll lower below its rim before applying the grip.\"}",
  "call_id": "call_KHUpAoBEt2zYeFAosT7n6AOR",
  "id": "fc_06415379f6f0f60e016ab49729e1b887d0bb5b1ebc085d2d72",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KHUpAoBEt2zYeFAosT7n6AOR",
  "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]: [-0.2844, 1.6451, 0.4896, 0.5014, -0.2558, -0.1871, 0.6495, -0.0216, 0.8135, 0.5953, -0.4221, -0.0162, -0.0265, 0.9977]\nstate[eef_state]: left_x=0.3828 left_y=-0.0616 left_z=0.0289 left_yaw=0.0181 left_pitch=-0.0607 left_roll=0.0123 left_gripper=0.6495 right_x=0.2889 right_y=0.0002 right_z=0.1622 right_yaw=0.0028 right_pitch=-0.0705 right_roll=-0.0029 right_gripper=0.9977\nstate[joint_eff]: [-0.0342, -7.2, 5.1214, 2.1123, 0.0122, 0.0659, -0.0708, -0.0479, -1.0188, 7.0359, 1.6679, -0.0513, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7dc2d2e61eaec888577e532f91e975d921fc5a3cbab46a6224ba8a964ad681a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8262d41098fa1caf440d34e7807ba19ee4c110ebf0a8add82a3bededa0c647a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6410f95593dbcc80d37b965fc04035ebd15dc7f7aaf0110bb2b6a52fdf61e243",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 2.594 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 58 changed as sent

message 66 changed as sent

message 70 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2398, 1.3754, 0.5194, 0.3542, -0.2066, -0.1539, 0.0945, -0.0216, 0.8486, 0.6003, -0.4721, -0.0162, -0.0265, 0.9977]\nstate[eef_state]: left_x=0.3862 left_y=-0.0534 left_z=0.1086 left_yaw=0.0041 left_pitch=0.0786 left_roll=-0.0265 left_gripper=0.0945 right_x=0.2833 right_y=0.0003 right_z=0.1454 right_yaw=0.003 right_pitch=-0.1506 right_roll=-0.001 right_gripper=0.9977\nstate[joint_eff]: [-0.5128, -4.506, 9.2786, 2.0488, -0.0513, 0.0513, 0.0024, -0.0889, -1.5248, 7.0769, 1.663, -0.0415, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2993, 1.491, 0.5537, 0.2836, -0.2832, -0.2066, 0.6469, -0.0216, 0.8104, 0.5957, -0.4202, -0.0166, -0.0265, 0.9977]\nstate[eef_state]: left_x=0.3813 left_y=-0.0622 left_z=0.0676 left_yaw=0.0365 left_pitch=-0.0548 left_roll=0.0123 left_gripper=0.6469 right_x=0.289 right_y=0.0003 right_z=0.1635 right_yaw=0.0031 right_pitch=-0.0652 right_roll=-0.0029 right_gripper=0.9977\nstate[joint_eff]: [0.2256, -5.4632, 5.6547, 1.9609, -0.0757, 0.0415, -0.0513, -0.0479, -1.6752, 7.3094, 1.6679, -0.0708, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2844, 1.6451, 0.4896, 0.5014, -0.2558, -0.1871, 0.6495, -0.0216, 0.8135, 0.5953, -0.4221, -0.0162, -0.0265, 0.9977]\nstate[eef_state]: left_x=0.3828 left_y=-0.0616 left_z=0.0289 left_yaw=0.0181 left_pitch=-0.0607 left_roll=0.0123 left_gripper=0.6495 right_x=0.2889 right_y=0.0002 right_z=0.1622 right_yaw=0.0028 right_pitch=-0.0705 right_roll=-0.0029 right_gripper=0.9977\nstate[joint_eff]: [-0.0342, -7.2, 5.1214, 2.1123, 0.0122, 0.0659, -0.0708, -0.0479, -1.0188, 7.0359, 1.6679, -0.0513, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7dc2d2e61eaec888577e532f91e975d921fc5a3cbab46a6224ba8a964ad681a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8262d41098fa1caf440d34e7807ba19ee4c110ebf0a8add82a3bededa0c647a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6410f95593dbcc80d37b965fc04035ebd15dc7f7aaf0110bb2b6a52fdf61e243",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The fingers straddle the teal bowl’s wall below the lip. I’ll close firmly on it.\"}",
  "call_id": "call_UHr4GrJTMxUZVTd43yTRWhGl",
  "id": "fc_06415379f6f0f60e016ab4972c97d887d0810eeea5f14898c7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UHr4GrJTMxUZVTd43yTRWhGl",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.284, 1.6657, 0.4709, 0.6266, -0.2508, -0.1833, 0.0945, -0.0219, 0.8139, 0.5953, -0.4221, -0.0166, -0.0265, 0.9977]\nstate[eef_state]: left_x=0.3917 left_y=-0.0649 left_z=0.0393 left_yaw=0.0118 left_pitch=0.0205 left_roll=-0.0126 left_gripper=0.0945 right_x=0.2889 right_y=0.0002 right_z=0.1621 right_yaw=0.0027 right_pitch=-0.0709 right_roll=-0.0027 right_gripper=0.9977\nstate[joint_eff]: [0.1026, -6.147, 5.1214, 1.5897, -0.0562, 0.0904, 0.4615, -0.1299, -1.3607, 6.9812, 1.6484, -0.0708, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3013ebd108d61ebb2952ac8c9f202e5be74b27b8abfbaa89f91d8cb9b12653d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8afc1992d8164300ec8f510f93f91844d6d67501c724d611d1f266f55e697979",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3676a8cf8d8d9d662aa5ed8b5ba9628522dc09f738a04b801a4092c749ac1dad",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 3.268 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 62 changed as sent

message 70 changed as sent

message 73 changed as sent

message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6941, 1.3911, 0.9043, -0.2031, -0.5484, -0.4221, 0.0944, -0.0219, 0.8062, 0.5999, -0.4191, -0.0166, -0.0265, 0.9977]\nstate[eef_state]: left_x=0.3593 left_y=-0.1746 left_z=0.1698 left_yaw=-0.0291 left_pitch=-0.0053 left_roll=-0.0039 left_gripper=0.0944 right_x=0.2896 right_y=0.0002 right_z=0.1668 right_yaw=0.0027 right_pitch=-0.0557 right_roll=-0.0031 right_gripper=0.9977\nstate[joint_eff]: [-0.3214, -5.7778, 9.1009, 1.5604, -0.2906, -0.105, -0.0171, -0.1983, -1.9214, 7.3504, 2.0098, -0.0366, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2844, 1.6451, 0.4896, 0.5014, -0.2558, -0.1871, 0.6495, -0.0216, 0.8135, 0.5953, -0.4221, -0.0162, -0.0265, 0.9977]\nstate[eef_state]: left_x=0.3828 left_y=-0.0616 left_z=0.0289 left_yaw=0.0181 left_pitch=-0.0607 left_roll=0.0123 left_gripper=0.6495 right_x=0.2889 right_y=0.0002 right_z=0.1622 right_yaw=0.0028 right_pitch=-0.0705 right_roll=-0.0029 right_gripper=0.9977\nstate[joint_eff]: [-0.0342, -7.2, 5.1214, 2.1123, 0.0122, 0.0659, -0.0708, -0.0479, -1.0188, 7.0359, 1.6679, -0.0513, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.284, 1.6657, 0.4709, 0.6266, -0.2508, -0.1833, 0.0945, -0.0219, 0.8139, 0.5953, -0.4221, -0.0166, -0.0265, 0.9977]\nstate[eef_state]: left_x=0.3917 left_y=-0.0649 left_z=0.0393 left_yaw=0.0118 left_pitch=0.0205 left_roll=-0.0126 left_gripper=0.0945 right_x=0.2889 right_y=0.0002 right_z=0.1621 right_yaw=0.0027 right_pitch=-0.0709 right_roll=-0.0027 right_gripper=0.9977\nstate[joint_eff]: [0.1026, -6.147, 5.1214, 1.5897, -0.0562, 0.0904, 0.4615, -0.1299, -1.3607, 6.9812, 1.6484, -0.0708, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3013ebd108d61ebb2952ac8c9f202e5be74b27b8abfbaa89f91d8cb9b12653d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8afc1992d8164300ec8f510f93f91844d6d67501c724d611d1f266f55e697979",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3676a8cf8d8d9d662aa5ed8b5ba9628522dc09f738a04b801a4092c749ac1dad",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.065,\"left_z\":0.115,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":0},\"note\":\"The rim is pinched between the jaws. I’ll lift while maintaining the full close command to prevent another slip.\"}",
  "call_id": "call_xxPjRV92F59h44VCFDfYd6Lz",
  "id": "fc_06415379f6f0f60e016ab4972f955887d0a235b9c1ea89278c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xxPjRV92F59h44VCFDfYd6Lz",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2878, 1.5719, 0.5213, 0.4953, -0.2478, -0.1936, 0.0527, -0.0219, 0.8185, 0.5945, -0.4217, -0.0166, -0.0265, 0.9977]\nstate[eef_state]: left_x=0.3962 left_y=-0.0684 left_z=0.0662 left_yaw=0.0111 left_pitch=0.0324 left_roll=-0.0268 left_gripper=0.0527 right_x=0.289 right_y=0.0002 right_z=0.1606 right_yaw=0.0027 right_pitch=-0.0759 right_roll=-0.0026 right_gripper=0.9977\nstate[joint_eff]: [-0.6632, -9.2103, 9.9761, 2.4982, -0.149, 0.1929, 0.9548, -0.1299, -1.3197, 7.0359, 1.6728, -0.0659, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cf691efdec9082f57151decd378bc2270f77332c86556b190fd83673b95e272",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7113c423b496f67ed0f55d686a160a29f40746e8ad72feb39f1d6aca110610f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f3579f31de1972375e5d6395be971012003678006a229c1370de9b6c90beeea",
      "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 · 5.327 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 66 changed as sent

message 73 changed as sent

message 76 changed as sent

message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2993, 1.491, 0.5537, 0.2836, -0.2832, -0.2066, 0.6469, -0.0216, 0.8104, 0.5957, -0.4202, -0.0166, -0.0265, 0.9977]\nstate[eef_state]: left_x=0.3813 left_y=-0.0622 left_z=0.0676 left_yaw=0.0365 left_pitch=-0.0548 left_roll=0.0123 left_gripper=0.6469 right_x=0.289 right_y=0.0003 right_z=0.1635 right_yaw=0.0031 right_pitch=-0.0652 right_roll=-0.0029 right_gripper=0.9977\nstate[joint_eff]: [0.2256, -5.4632, 5.6547, 1.9609, -0.0757, 0.0415, -0.0513, -0.0479, -1.6752, 7.3094, 1.6679, -0.0708, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.284, 1.6657, 0.4709, 0.6266, -0.2508, -0.1833, 0.0945, -0.0219, 0.8139, 0.5953, -0.4221, -0.0166, -0.0265, 0.9977]\nstate[eef_state]: left_x=0.3917 left_y=-0.0649 left_z=0.0393 left_yaw=0.0118 left_pitch=0.0205 left_roll=-0.0126 left_gripper=0.0945 right_x=0.2889 right_y=0.0002 right_z=0.1621 right_yaw=0.0027 right_pitch=-0.0709 right_roll=-0.0027 right_gripper=0.9977\nstate[joint_eff]: [0.1026, -6.147, 5.1214, 1.5897, -0.0562, 0.0904, 0.4615, -0.1299, -1.3607, 6.9812, 1.6484, -0.0708, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2878, 1.5719, 0.5213, 0.4953, -0.2478, -0.1936, 0.0527, -0.0219, 0.8185, 0.5945, -0.4217, -0.0166, -0.0265, 0.9977]\nstate[eef_state]: left_x=0.3962 left_y=-0.0684 left_z=0.0662 left_yaw=0.0111 left_pitch=0.0324 left_roll=-0.0268 left_gripper=0.0527 right_x=0.289 right_y=0.0002 right_z=0.1606 right_yaw=0.0027 right_pitch=-0.0759 right_roll=-0.0026 right_gripper=0.9977\nstate[joint_eff]: [-0.6632, -9.2103, 9.9761, 2.4982, -0.149, 0.1929, 0.9548, -0.1299, -1.3197, 7.0359, 1.6728, -0.0659, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cf691efdec9082f57151decd378bc2270f77332c86556b190fd83673b95e272",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7113c423b496f67ed0f55d686a160a29f40746e8ad72feb39f1d6aca110610f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f3579f31de1972375e5d6395be971012003678006a229c1370de9b6c90beeea",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJc0bT4sMim7UwBPoWHrBPzI6pefqI8O6UcHwTk7pIOu_Xz2QJMF8QpSwH7o0ofGnSnyBTud-jDuobw-G8v6dQ0-lTQlPKA_u8CbkJJYKNcR8-eRxwoOEH4h2wh3CjCODcugDRJyOA1rrMF8jyId56yDHPUyZwnfg-o0uqla7KK67VUmMlkoVTJaY29tYGo5CTZUlzwLlEyJBRy4pSprrjinr-bL8zWjQA-dh9C30EwYQT2m01sTNK5dWLr_dArOe5uiyCsX7FCqW4CSMrf5MmHJ327HcS0NHhZ64wssGcr89IkhUnbgDZSSmU2siuIKl1XnXthi92atMhds6HN65Hyv60fIz8TE4_kSfP74mYJjVEqBd44BjJSClPEnfy4DtkTj6tKd7A4RNWBamUKkP1D4bm1kDGL3ftWQ8SZV7M5xjZWdr_CFxRChvde8h8woMLDGB4RmKFaTlYXYML74z8lrPp4S_QZmJycnpu7AyR3Fn_Z0jdicWq4Mfrb6raqqskB_hGSGfjXTrXbvOWDmVecQhIxDBQhJurSdXI5z5NFsqkLXqIZDH9p8jSjPvH1goN9OPMWFt1MGS6Zu2M8qQjK3Fa5s96mIGCZ5-RohBmrNFtpwW-0m8C3RxWoyvdvWPyH3xLOOcLgw-ldxueHTrOWS5tSuBv5qDN4Y74VVc_oDjWDoXCPbseAJ0zd1GJaowetFAH3wLTGMY55VjsFomiMAAcQkIfmgQkzUNQPT6f9F57KiI2KeWThN5k9MCY3r1_asJLxUkMts5purKg3GwLIQczsFl9E09_cdPZMckqX-X3yFIkVsN0xUnIBP3qycpZMz4yQyLxJOpQXATIjX5QiW9o1-czDJ6iZb38LOcT8FsPnS3yHJMiWwC23lTMLdqqGi5s9Pb2U_l-SSh-IWwlXWGn9AHLNm4SYFNhU3EC6a-r2gk9Sd4pr2Col4VOIo3J-efGtwiiitw1nRnFpD4RAEI1B4T6Q7WqaWfhMIl6AMKuC3N7A0LJHWH9dwg6ktLCPNmkavshInUeB1mG8ua3FFjriUwoU-26MdV1x_p6zUfQrzHiWFdhvylUgDXumr7oPs0m5xdGWSNAqm0Ja5c4U-mhd4fcOm1vBRRDUgcGKcwwA6s5BEGtHSmC-U2NyCTC6lmX9DfOXDi4ssPpH3ehtPgYgsbba5jOa5YLmyBqw6k1XLkXNsTXFAWKu8n_5RtGhPkNksDku_zkdYw1jDsaddrV0KqbPwlZ75PtFktt6NnpvF9g0XlGWePDeQCV3CeDqZx3mnl7IISpghCcmstlj19bO_43_QKItjKWFBCRVghCCS6exaicRM552Hwu73TOBV",
  "id": "rs_06415379f6f0f60e016ab49732568087d0ad2a4fc0873a52d5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.065,\"left_z\":0.20,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":0},\"note\":\"The jaws have tightened onto the thin wall, and the bowl remains fixed in the wrist view. The lift is tracking low, so I’ll raise it further while moving slightly back.\"}",
  "call_id": "call_b5pUJ2NUYqQ8UmlRKtlHHkcN",
  "id": "fc_06415379f6f0f60e016ab49732df8c87d0b862c379cc38d6bc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_b5pUJ2NUYqQ8UmlRKtlHHkcN",
  "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]: [-0.3149, 1.1751, 0.7864, -0.2073, -0.2623, -0.1909, 0.0471, -0.0219, 0.8192, 0.5945, -0.4225, -0.0162, -0.0265, 0.9977]\nstate[eef_state]: left_x=0.3643 left_y=-0.0667 left_z=0.1833 left_yaw=-0.0055 left_pitch=-0.0042 left_roll=-0.0047 left_gripper=0.0471 right_x=0.289 right_y=0.0001 right_z=0.1602 right_yaw=0.0024 right_pitch=-0.0774 right_roll=-0.0028 right_gripper=0.9977\nstate[joint_eff]: [-0.6496, -5.2855, 9.4838, 1.6972, -0.2418, -0.0513, 1.033, -0.0752, -1.4154, 7.0496, 1.6484, -0.0855, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4a2d5e6a2cd3ce0468ddd9a3d2aadf806e2f7b34aecf2cd61e2faa44f6e1b88",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21aff889dd22a722e2023acaab91c51b66c1c9903a3168959d3753bdce662ab4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3669a7ce96db492ce9d2345799dae6a7579a0de0ef78dfdd9578b2062bcfceec",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /responses · status 200 · 7.567 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 70 changed as sent

message 76 changed as sent

message 80 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2844, 1.6451, 0.4896, 0.5014, -0.2558, -0.1871, 0.6495, -0.0216, 0.8135, 0.5953, -0.4221, -0.0162, -0.0265, 0.9977]\nstate[eef_state]: left_x=0.3828 left_y=-0.0616 left_z=0.0289 left_yaw=0.0181 left_pitch=-0.0607 left_roll=0.0123 left_gripper=0.6495 right_x=0.2889 right_y=0.0002 right_z=0.1622 right_yaw=0.0028 right_pitch=-0.0705 right_roll=-0.0029 right_gripper=0.9977\nstate[joint_eff]: [-0.0342, -7.2, 5.1214, 2.1123, 0.0122, 0.0659, -0.0708, -0.0479, -1.0188, 7.0359, 1.6679, -0.0513, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2878, 1.5719, 0.5213, 0.4953, -0.2478, -0.1936, 0.0527, -0.0219, 0.8185, 0.5945, -0.4217, -0.0166, -0.0265, 0.9977]\nstate[eef_state]: left_x=0.3962 left_y=-0.0684 left_z=0.0662 left_yaw=0.0111 left_pitch=0.0324 left_roll=-0.0268 left_gripper=0.0527 right_x=0.289 right_y=0.0002 right_z=0.1606 right_yaw=0.0027 right_pitch=-0.0759 right_roll=-0.0026 right_gripper=0.9977\nstate[joint_eff]: [-0.6632, -9.2103, 9.9761, 2.4982, -0.149, 0.1929, 0.9548, -0.1299, -1.3197, 7.0359, 1.6728, -0.0659, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3149, 1.1751, 0.7864, -0.2073, -0.2623, -0.1909, 0.0471, -0.0219, 0.8192, 0.5945, -0.4225, -0.0162, -0.0265, 0.9977]\nstate[eef_state]: left_x=0.3643 left_y=-0.0667 left_z=0.1833 left_yaw=-0.0055 left_pitch=-0.0042 left_roll=-0.0047 left_gripper=0.0471 right_x=0.289 right_y=0.0001 right_z=0.1602 right_yaw=0.0024 right_pitch=-0.0774 right_roll=-0.0028 right_gripper=0.9977\nstate[joint_eff]: [-0.6496, -5.2855, 9.4838, 1.6972, -0.2418, -0.0513, 1.033, -0.0752, -1.4154, 7.0496, 1.6484, -0.0855, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4a2d5e6a2cd3ce0468ddd9a3d2aadf806e2f7b34aecf2cd61e2faa44f6e1b88",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21aff889dd22a722e2023acaab91c51b66c1c9903a3168959d3753bdce662ab4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3669a7ce96db492ce9d2345799dae6a7579a0de0ef78dfdd9578b2062bcfceec",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_06415379f6f0f60e016ab49736878c87d08df8593b901274c7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.352,\"left_y\":-0.2,\"left_z\":0.2,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":0},\"note\":\"The teal bowl is now visibly clear of the table and securely held. I’ll carry it over the blue bowl with the gripping force maintained.\"}",
  "call_id": "call_sDMi8fYms1HPc6oLmGXrjFwA",
  "id": "fc_06415379f6f0f60e016ab497397dc487d093341383c3f9e818",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sDMi8fYms1HPc6oLmGXrjFwA",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7795, 1.4277, 1.0237, -0.3794, -0.6064, -0.4969, 0.0458, -0.0219, 0.823, 0.5945, -0.4225, -0.0162, -0.0265, 0.9977]\nstate[eef_state]: left_x=0.3462 left_y=-0.1956 left_z=0.1804 left_yaw=-0.0287 left_pitch=-0.0501 left_roll=0.0246 left_gripper=0.0458 right_x=0.2891 right_y=0.0001 right_z=0.1592 right_yaw=0.0024 right_pitch=-0.0812 right_roll=-0.0027 right_gripper=0.9977\nstate[joint_eff]: [-0.3761, -6.2701, 9.9214, 1.536, -0.5055, -0.0269, 1.033, -0.1162, -1.6889, 6.9812, 1.6777, -0.0464, -0.0855, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03698ee862deeeafa91395035dbd968ff9de8d988a9f103ccdbdfd47c43e0756",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16caa7dc3b967dc2be7bf87234c2546cb2a381b2efccd2564282539a02488296",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e731336748972f1b30b08dbeef76bacb6251ccb2c215c0c15c9cfd2d777d4f8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /responses · status 200 · 2.955 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 73 changed as sent

message 80 changed as sent

message 84 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.284, 1.6657, 0.4709, 0.6266, -0.2508, -0.1833, 0.0945, -0.0219, 0.8139, 0.5953, -0.4221, -0.0166, -0.0265, 0.9977]\nstate[eef_state]: left_x=0.3917 left_y=-0.0649 left_z=0.0393 left_yaw=0.0118 left_pitch=0.0205 left_roll=-0.0126 left_gripper=0.0945 right_x=0.2889 right_y=0.0002 right_z=0.1621 right_yaw=0.0027 right_pitch=-0.0709 right_roll=-0.0027 right_gripper=0.9977\nstate[joint_eff]: [0.1026, -6.147, 5.1214, 1.5897, -0.0562, 0.0904, 0.4615, -0.1299, -1.3607, 6.9812, 1.6484, -0.0708, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3149, 1.1751, 0.7864, -0.2073, -0.2623, -0.1909, 0.0471, -0.0219, 0.8192, 0.5945, -0.4225, -0.0162, -0.0265, 0.9977]\nstate[eef_state]: left_x=0.3643 left_y=-0.0667 left_z=0.1833 left_yaw=-0.0055 left_pitch=-0.0042 left_roll=-0.0047 left_gripper=0.0471 right_x=0.289 right_y=0.0001 right_z=0.1602 right_yaw=0.0024 right_pitch=-0.0774 right_roll=-0.0028 right_gripper=0.9977\nstate[joint_eff]: [-0.6496, -5.2855, 9.4838, 1.6972, -0.2418, -0.0513, 1.033, -0.0752, -1.4154, 7.0496, 1.6484, -0.0855, -0.0366, -0.0073]\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 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7795, 1.4277, 1.0237, -0.3794, -0.6064, -0.4969, 0.0458, -0.0219, 0.823, 0.5945, -0.4225, -0.0162, -0.0265, 0.9977]\nstate[eef_state]: left_x=0.3462 left_y=-0.1956 left_z=0.1804 left_yaw=-0.0287 left_pitch=-0.0501 left_roll=0.0246 left_gripper=0.0458 right_x=0.2891 right_y=0.0001 right_z=0.1592 right_yaw=0.0024 right_pitch=-0.0812 right_roll=-0.0027 right_gripper=0.9977\nstate[joint_eff]: [-0.3761, -6.2701, 9.9214, 1.536, -0.5055, -0.0269, 1.033, -0.1162, -1.6889, 6.9812, 1.6777, -0.0464, -0.0855, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03698ee862deeeafa91395035dbd968ff9de8d988a9f103ccdbdfd47c43e0756",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16caa7dc3b967dc2be7bf87234c2546cb2a381b2efccd2564282539a02488296",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e731336748972f1b30b08dbeef76bacb6251ccb2c215c0c15c9cfd2d777d4f8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJdDtLuDuLnIO6Ps5Rh6Fx87Fh0z5qx-hJvEAmEiD3KGwL2qcmE0DrqG_42kAnopRf-HiIK8fRAKRlUFSRkpbcCUR8AzrjnCKKDKKaa8FydK0XFv6q9QGDOl2jKsLCy4hrlerEfG2CKGDquqr-orABQuN2ZbhczeO3pldfsCzggrVIByru-jlnQ5uJv5ToTmloI2y4D2fl6377ImvcXRBlum4O_Bw6NN1R_PuFY_0FAOk914Q5dQM5pGvldwQdcjkl5dhST67Dqu_4yiVcs7NtwNzgsLuJfN1TjXkTz7el4BcVYQdtjRGvl53quGHGRKps7mVk3O3RvUyvkkBM7Pws6f-mbpmb1yBU5xyCvshwpVla8SLKwOfQHfdD_TEmN4FnaQvpHDW4gDrKCc0pgrYBN7IcUwGXojvvWR5gFeiD6uSmXQUoFtYOaPKaI1yPAvSAsTFEwRUoxCEof5L1Np5BTUlj3FE9G4ak_1OZy1aylhKtxsyQ5V6BePi21UY9cOwCL8JDtZTxP1f9pipwiJp_dCRmSu3ULplXnx0rXAY9cer4ictfDpoYzlIfZ-yQBg30efsn8Z5wKQq0f5jNDoREiwkJixSYWIXoN7mMU-1ghl56poGi_r9aJa7UA9eIYnM-oF2Wv8EbmwZJFwq_iJpYQp6mr3gBDgMMm8m9vMbSZgM5K_M79Jtr-1NKjKrddtqxXcypb6gaApfAfMM_MISXRsMAHPEfyfo59KOG4IY1rjiFB6AD0v9NjofDaA8O_2q0p7gIXxjAkMZGEZnWPG9YUQNByitIcpQnl6ZxeHPPv1zMfI900bN4hZU1Hsa-6noRoFsRNap5aROwjs7YblhcppZXVTiY5eYPk0snnIqlvqzKRumBobVz2XTDe4H3aV5HnYw0zdTUkTRR5YB2_RchYS2CQcc5q-XGo4AeergYhqbQXoMARImw4ORUFnDwkh7swx72ogRjVGcs-2VQdzlFPyuWhZzYb8KWcXDrHakOmauoCkc1aIYZYuxSGFM7u6gPgCtyACSHDMbzWP-sX0X3Kzuv79LyoqMOzVK066bwA0rHNhzovmGbIXRjGHg9K4vUfsjkb1sodLIYKmMRyIEQtZmPOHbCR4i8rJ6fjra5a7oMKp4tcTnrfrHrUllRDRCXfnwMIpsmly-00EEI5c5cyePwz7x8WmQEhbpkvmpx0VtOtO1p5XHGhZvunO45z5-ZPKwNOZSfIPyVOqKVZDdKd7fOdgCsqsvTLV95jDSZwJj98nFYf_PAZheKc40m8XsxQ97b8UYY9kzEghik6pgssgsmyLj83kPT1a3sjuKIEJE8Lkkk2g5GrZELDg_PkE0bgycN_nJNKBRQX59V_mHKxC5R6P-EEHCkwRy1kXAbx-ZFKk_VQcrrxdjqkERM8pRXihoZNXclLRfcc09GUXInUs0BFt5GZQm2vGkEcZU5tN5ozz6KJgPaGpoaZHCL1sW6A7JSIOPkFF8VU7nHxUX1ifHK9PSPNEAyz2WW2uY0aOBALmP1X-4PG5k6JVBAfb4PBNOOFqmoSmOSjga6ejqshdtmN8tJknQUkqDk4sH9xKcQMmstdFEFXcxkg8FafMGGbyGOdWU5D8Hz_XmaPDvTSvcf_NjlsL9fJdqCUXyuqI9I8PTkshkTOuitsRT8TFm3G5vf8ThozDwUUx-Q68wOe58KDUGnLrw93ejmdhT6ZjnV_whbQkEQ_Dn6JrM0ngTFSzLOn3xmmaddV8388CFPwZ9B-utN6t0XjMK-g_cBjnwm8VTI_hLcZFVq5B9VU4Kfofe4HSB4Xxq7EDkVPMc15e4PH79OgNemcrkUrmo9k1Kf4pt8VRxC9cG4OB9l9SsVWY6NR9378PiuZ9W_zAjHTetzr-OVq0m1A_MmQGYQwoIKOXqw_RF5hCxLqN6a_mmA0fDPiEBEPMGNj8RSIlJC2nNHhDxMX57LmNysG6kKC0zCRv4-asBzD1UiRTwzx0myE5gLs9v8IaKUlcTOOAGlvDgVVTbsMlJAVRRgyeUXrC2lwemmnhOsYhE1fUai2LqqNjP8Tz-8KbOWo2OzStbrilmpRcsjpEftjg23jC8XyKUjmIRH4pA5fAJYB7ji6Om1E7aAK8KMUhAd8zHRDKqJS7OE5qCw8ndmuPf_UNaQifqTnTvTkCJE16p37_C3SzjHPklN2zHvlc4s3ZF8l4V-l87mbsSn7zknvsDdKF8e51i-0GbEasFMG-O6PcRErWGagJwGCyMdX4JZkdgcmy4gQDyT1Jws4Hw_O4MW-whK6sBzVV5EWbqxNTZla3VWFscYEhetuiarIghUJkCUS4Hi04C1rRHcpYATbQU6qHjNiUesTJsAa_8gQPB7JS-Ft3XStYMBER9o7TQWwnY5BkDEuBCB-iNBBpTvzrl5Dbuw8CxYmlGD1hzcDUeXDrgCR_e840JtIBiroToULFMCc5wz-wcfO_caXXqc6xXs91GTAwY8G2LxNItA49loSmWt-J0_Eoe-2bIBVzvPbHbav-P2E9rcL4fECrBkoAkUSnxWlGExi-x0ccc9iDwkYLMOLReQPMQWtYxJkaslR6ejJAvu2o5LDrE_JMkaHG6k-9iDgvSgLbpiFvhzeIsNWuwZ3o8802a7HSXnBtL19c-0BPBT8jpaYhNUB4XNHB9V3l8xSXv-TOJsK4bjRUyQuGhsHkXjYJcTQt1B1TIelIHlTJuRmns9r2EKheNSRAT8zTaFhEWB2xg1Q7Lu2N9E6WErS5K_JA5fMePEJRfCJwBWMOZal4LuWVLtZnG6zFZ5UMjl5ePCWVUY2NpkhoygnWs6CIvbE-AlnhMbIn3ccrIWOlLHemMUqi6Qsngv-91HUNLTDWuxxk1-_UfGZ4lWBY6hO_tNAHcXyPw1BciY_DcSVEc7YcCeMFFMrw3kyDnvHg4jR5t9M=",
  "id": "rs_06415379f6f0f60e016ab4973cdf8087d0998e94c1ab8f1490",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.375,\"left_y\":-0.245,\"left_z\":0.11,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":0},\"note\":\"The held bowl is slightly left of the blue bowl. I’ll shift it right and lower it carefully into alignment for nesting.\"}",
  "call_id": "call_YiJQr8rDcXdeUHAxrmnnQLEK",
  "id": "fc_06415379f6f0f60e016ab4974215c487d0a6db830ff74d7a3c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YiJQr8rDcXdeUHAxrmnnQLEK",
  "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]: [-0.833, 1.7168, 0.9886, -0.1337, -0.6533, -0.5446, 0.0458, -0.0219, 0.8249, 0.5945, -0.4225, -0.0162, -0.0265, 0.9977]\nstate[eef_state]: left_x=0.3634 left_y=-0.2348 left_z=0.0954 left_yaw=-0.0192 left_pitch=-0.0802 left_roll=0.066 left_gripper=0.0458 right_x=0.2892 right_y=0.0001 right_z=0.1587 right_yaw=0.0024 right_pitch=-0.0831 right_roll=-0.0026 right_gripper=0.9977\nstate[joint_eff]: [-0.5538, -8.759, 6.7487, 1.6386, -0.6081, -0.0952, 1.033, -0.253, -1.4974, 7.0496, 1.6435, -0.0366, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6534b126221ea509bdf5735b6deb43d9a57ce73f9aa878872b0b4adf9ea73a88",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59b570e96b532c10c865e0e78dd90ca5b319eb87952865b087623279cdeda52b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11df7de44b71a40cfc4311087b411b111c2ba23106ff470a3d4e05eb3cdfa367",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 3.71 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 76 changed as sent

message 84 changed as sent

message 88 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2878, 1.5719, 0.5213, 0.4953, -0.2478, -0.1936, 0.0527, -0.0219, 0.8185, 0.5945, -0.4217, -0.0166, -0.0265, 0.9977]\nstate[eef_state]: left_x=0.3962 left_y=-0.0684 left_z=0.0662 left_yaw=0.0111 left_pitch=0.0324 left_roll=-0.0268 left_gripper=0.0527 right_x=0.289 right_y=0.0002 right_z=0.1606 right_yaw=0.0027 right_pitch=-0.0759 right_roll=-0.0026 right_gripper=0.9977\nstate[joint_eff]: [-0.6632, -9.2103, 9.9761, 2.4982, -0.149, 0.1929, 0.9548, -0.1299, -1.3197, 7.0359, 1.6728, -0.0659, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7795, 1.4277, 1.0237, -0.3794, -0.6064, -0.4969, 0.0458, -0.0219, 0.823, 0.5945, -0.4225, -0.0162, -0.0265, 0.9977]\nstate[eef_state]: left_x=0.3462 left_y=-0.1956 left_z=0.1804 left_yaw=-0.0287 left_pitch=-0.0501 left_roll=0.0246 left_gripper=0.0458 right_x=0.2891 right_y=0.0001 right_z=0.1592 right_yaw=0.0024 right_pitch=-0.0812 right_roll=-0.0027 right_gripper=0.9977\nstate[joint_eff]: [-0.3761, -6.2701, 9.9214, 1.536, -0.5055, -0.0269, 1.033, -0.1162, -1.6889, 6.9812, 1.6777, -0.0464, -0.0855, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.833, 1.7168, 0.9886, -0.1337, -0.6533, -0.5446, 0.0458, -0.0219, 0.8249, 0.5945, -0.4225, -0.0162, -0.0265, 0.9977]\nstate[eef_state]: left_x=0.3634 left_y=-0.2348 left_z=0.0954 left_yaw=-0.0192 left_pitch=-0.0802 left_roll=0.066 left_gripper=0.0458 right_x=0.2892 right_y=0.0001 right_z=0.1587 right_yaw=0.0024 right_pitch=-0.0831 right_roll=-0.0026 right_gripper=0.9977\nstate[joint_eff]: [-0.5538, -8.759, 6.7487, 1.6386, -0.6081, -0.0952, 1.033, -0.253, -1.4974, 7.0496, 1.6435, -0.0366, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6534b126221ea509bdf5735b6deb43d9a57ce73f9aa878872b0b4adf9ea73a88",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59b570e96b532c10c865e0e78dd90ca5b319eb87952865b087623279cdeda52b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11df7de44b71a40cfc4311087b411b111c2ba23106ff470a3d4e05eb3cdfa367",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJdGguX4nN3EfxwLVmyoNUTLe5YhjqFn8Zxe7lAfZlYQpvfsvu3hL4Cxa9nf9ap4BkgDO6uCf6d9gn7exkug2djxjoHNG7grTugqFNCxeRZ2ab8nYflTDZTT6bDyeWRC62Nt7rCP8uHg9XYmmhhUVP6sOP63LiV8P__WcpAqWwBLk9m9t1cDfzsiFPMVI7QbAbJWe8vOcBahHnC5xClUn4MDImyZezpp7HTQdl0mIT_7T19WVCFLoAEBlv_vpuw_MGhUzHsDNfpLLzX4rybQFdr2eMQxYDXUkBO3-Y9jJ4-PuCTbCoaMNe8FN_h9yrjXYPZ1YfkXNM7RyFfGyUOMx8PfnTxFMmD_iBtZgt1PoEtYLodL3NFlH37CN4RTJkr3CVps9pNcIPAi3f9v5w83dSJylX-dZvbew0p-jYtWxz6WRDVi3lAYSd1rzjJiZE6Ly2gReGihRg8Gz8VbjZDVEDk_IuLTtLnAMNGam5UNi5XDs3CsPRbUHpjo1lw1Rp2opX8ee_i9ucewBJnA8qdg9rLr3uwR5FFagBiE93wyMDWNm4eFtp787hJv5SUvn97NH-12uGB-2czFOnLvMBLioJVDTJzS7FhE39tgOdGOiC9dX66_hit7sPQNa_3Y7ecorzMcDfEc0DBJlGn79Noy6W7hKD5mzFMnxrbtGTXqJBKoiwijbEKauL5ogccGXCUeKhNgT-XSN5vD-dhQ75Bd8FM7XnOCGVdq-N_KvoyibfztZSC2MFwhpiis7Q5d6ZIDErK90d6-IGTl8CsIPL7kRbQoM1-lskTIky34c-oJgRQI-HVgG8iEW9ssQNdB-Gd3knpAzDnAElKZ7mSnS-HCKVa4NVdjpbtHs5FFuLolj_Tkl7CJ7_pwY445YU0t8U6mfskNLZajrQ76Mr3f0G89_BUOBJv6UJhzjqcDPlJV0jEb8hwThyU2aALRn3BZkAjzLm1vkkjqz44Sz4KKMOIPiw-0-GFNqC-P-FrXidOKKmcEIa7s1t2D0GTj9DpEntMTkTQJ8Vn0Qp8yVcwYTN-KT-Et82WmIsja6UC_8mDr0IuIIce2PcYEGCDUXjISI-AD_oWYK9IaH0AOlJo7IYfsD4XIbvOXDYr2xu37SYfL4NZu9aekLOkJEk-GPw5VPwnA9Fuju7IiONNxs9LRHcY1xK4orysDXN-h6DuyBCbk9qYmIuvyCTf9EvLeDGw6MWkwyv0EF-66iwccuOpJrVLa6dObolnRKkgRUQLgKqTF4YGTB9jy2WssFVQhxbjzKr99kkUwgG7NsrBaRYbzTOAuLknFjLjd2tYQoLCdBf2Cs6FMN9mhdVTiijpJY71_1pW4jCGl",
  "id": "rs_06415379f6f0f60e016ab49744fa1c87d0849457ab90787b00",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.375,\"left_y\":-0.245,\"left_z\":0.052,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":0},\"note\":\"The teal bowl is centered over the blue bowl. I’ll lower it the last few centimeters until the bowls seat together.\"}",
  "call_id": "call_ihujjUbqXhlyby5O701nBNOd",
  "id": "fc_06415379f6f0f60e016ab49745609087d097c8263748b813d6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ihujjUbqXhlyby5O701nBNOd",
  "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]: [-0.8364, 1.7405, 0.9886, -0.0624, -0.6746, -0.5514, 0.0458, -0.0216, 0.8288, 0.5945, -0.4225, -0.0162, -0.0265, 0.9977]\nstate[eef_state]: left_x=0.371 left_y=-0.2409 left_z=0.0976 left_yaw=-0.006 left_pitch=-0.0359 left_roll=0.0363 left_gripper=0.0458 right_x=0.2894 right_y=0.0002 right_z=0.1576 right_yaw=0.0028 right_pitch=-0.0869 right_roll=-0.0025 right_gripper=0.9977\nstate[joint_eff]: [-0.3761, -9.2376, 6.7077, 1.663, -0.3785, -0.0904, 1.033, -0.0615, -1.6752, 6.9949, 1.6337, -0.0317, -0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5316f0f5767fe128c70d8b67690d7c17c8c26b55dde645ef45423311b96bf2d0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59a6ee0e5cb82af3a24ab4bf40f3346e75cca0b9d035d3c3a2167e473a8579d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfb6e614aa54c240f25cb49deda083b1880a5664f39246cd77c625f9050d1932",
      "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 25 attempt 0 · /responses · status 200 · 7.321 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 80 changed as sent

message 88 changed as sent

message 92 changed as sent

message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3149, 1.1751, 0.7864, -0.2073, -0.2623, -0.1909, 0.0471, -0.0219, 0.8192, 0.5945, -0.4225, -0.0162, -0.0265, 0.9977]\nstate[eef_state]: left_x=0.3643 left_y=-0.0667 left_z=0.1833 left_yaw=-0.0055 left_pitch=-0.0042 left_roll=-0.0047 left_gripper=0.0471 right_x=0.289 right_y=0.0001 right_z=0.1602 right_yaw=0.0024 right_pitch=-0.0774 right_roll=-0.0028 right_gripper=0.9977\nstate[joint_eff]: [-0.6496, -5.2855, 9.4838, 1.6972, -0.2418, -0.0513, 1.033, -0.0752, -1.4154, 7.0496, 1.6484, -0.0855, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.833, 1.7168, 0.9886, -0.1337, -0.6533, -0.5446, 0.0458, -0.0219, 0.8249, 0.5945, -0.4225, -0.0162, -0.0265, 0.9977]\nstate[eef_state]: left_x=0.3634 left_y=-0.2348 left_z=0.0954 left_yaw=-0.0192 left_pitch=-0.0802 left_roll=0.066 left_gripper=0.0458 right_x=0.2892 right_y=0.0001 right_z=0.1587 right_yaw=0.0024 right_pitch=-0.0831 right_roll=-0.0026 right_gripper=0.9977\nstate[joint_eff]: [-0.5538, -8.759, 6.7487, 1.6386, -0.6081, -0.0952, 1.033, -0.253, -1.4974, 7.0496, 1.6435, -0.0366, -0.0611, -0.0073]\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 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8364, 1.7405, 0.9886, -0.0624, -0.6746, -0.5514, 0.0458, -0.0216, 0.8288, 0.5945, -0.4225, -0.0162, -0.0265, 0.9977]\nstate[eef_state]: left_x=0.371 left_y=-0.2409 left_z=0.0976 left_yaw=-0.006 left_pitch=-0.0359 left_roll=0.0363 left_gripper=0.0458 right_x=0.2894 right_y=0.0002 right_z=0.1576 right_yaw=0.0028 right_pitch=-0.0869 right_roll=-0.0025 right_gripper=0.9977\nstate[joint_eff]: [-0.3761, -9.2376, 6.7077, 1.663, -0.3785, -0.0904, 1.033, -0.0615, -1.6752, 6.9949, 1.6337, -0.0317, -0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5316f0f5767fe128c70d8b67690d7c17c8c26b55dde645ef45423311b96bf2d0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59a6ee0e5cb82af3a24ab4bf40f3346e75cca0b9d035d3c3a2167e473a8579d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfb6e614aa54c240f25cb49deda083b1880a5664f39246cd77c625f9050d1932",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJdKFsUMQz9bbyowAlGecrS7w73tDaQ58362i4ykhJTpApL1OH_YcQINe0hT1CxrDQnBXWZp5kUMxJHyuqiFqVbeImsjZ_WEsSoWwWqtkOEqoDpf8nyLOCS1pnpDD-QChfs-kqttv0j2hxmkCS9q-L9Gzs4EbPcEMXh42GuDuSyxYKgu5DG7b0OalH7qDladHHmm6K4tZCBgObuuwZ63KswMf9qnuHaiLjNenijxuy5pgNCmeyYcpV_2Yi-qSfh696gmw5LhZiede96kLGDEIUsCzZu9rGmIi6YsbCilX5Z3q6KEcpPumHpuh_V3yhJUBD1orfwTQRFq_bXaLptXohkAfEqJBy2oQGz4ezeleIdGf1Dh1I3O2rCWmq2Q4nT3njVCKSHvgq4EN5OfDs8RmQkZuueNkJaCdeaSMWH05EOBjnrScmge1G_otQ51MfSOKmW4a3mnf56V8P921ldcuopBwuCTaQhkea6IbVez12xF84t4V90Fgva-Gz1M57rFeW8ZmCCPcwjb8htm6LSLEvbOdfFE4eDBksk3N1s9SvYU-DoNpgxeHIoTTV-7KEkaPMhcJDJvqhG_d8KJWjJqgzTcA0kDFJ4PXOpZA0qLgKnwf_YoK_dVkT1lcewHdiSDpFWQtBRoOzUiKZarJdnJ5JTIZf33_k-_xGd3MrhxYMAKkqDcuT9IlTS8WbZ6Zf7KEpjSEyzM-nUntb71kzHWG9A0bXEef4f_bkY-4uwyWh8WJb5XIja7MbEp5pfrTVEl_dgte1ipdMwr8euZtDD_6OfjJjJ19dZPBR38CKPrrCiebSlBv5xYsMNuYb2cDlP9085RBqJlZVYbPrD4zp67gUrgxfrOjUrCtT_LTNDNRP-X5fySIdyMkWSwP81k_AE4ezZGx5CB_I5fbjCbjekezeF7a1ui6UsDd4Zqgtmpu-f8v6LZelwE_4EjwkcEbCHQ7luoH63c3htriEZUuVvlCntzII7HxJNVA5Y_10PlOxlwbTcowrMJGV5L7FhgFvL1ClnG6jUAoUrQgypiJfpbXVf-DxNZSxnACCIz6fRCl5QIsKJV74RvfUs3LCWj4b6owTXECQbYRClO-B0TVjVuk8DhAQi0lYMicW1-WSJX_NDiIIFDWbggUClHdCqAMJtXwbQX-hA7dDX3PNLtbMmxOBDRfNPhXNnRx1oiSwlNzgPSUlpES0zx63ou9oOFWWNpPXTi7SgXXUnpOP8OZkfzO3rpZndsA-PwPA5DaxCy0fNN4PAS2CBfTUve_R8KtBbm2_VkdL8yGoPSbUbo5td51J1RfW_dORuxdIYW5qPs4zizwh_FqYUGveLLbnBDiGvpJfi5X4EpSuu__Q4tFdgCNpIOKZp3dzTPs7n52UntBJYYRZI=",
  "id": "rs_06415379f6f0f60e016ab497484b2487d0b92ef5e16deeb0e2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.7,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The downward motion has stopped while the bowls are aligned, indicating support from the lower bowl. I’ll release the teal bowl onto it.\"}",
  "call_id": "call_a1l8q6TgpskYyjoXbLFgMaA0",
  "id": "fc_06415379f6f0f60e016ab49749936487d0867b2c00731ec89a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_a1l8q6TgpskYyjoXbLFgMaA0",
  "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]: [-0.8364, 1.7405, 0.9886, -0.0544, -0.675, -0.5663, 0.6949, -0.0219, 0.8307, 0.5945, -0.4225, -0.0162, -0.0265, 0.9977]\nstate[eef_state]: left_x=0.3718 left_y=-0.2417 left_z=0.0987 left_yaw=0.002 left_pitch=-0.03 left_roll=0.0183 left_gripper=0.6949 right_x=0.2895 right_y=0.0001 right_z=0.1571 right_yaw=0.0024 right_pitch=-0.0888 right_roll=-0.0025 right_gripper=0.9977\nstate[joint_eff]: [-0.4991, -9.4154, 6.8991, 1.5995, -0.4078, 0.0269, -0.1441, -0.0615, -1.3607, 7.0222, 1.6728, -0.0464, -0.0317, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a4fa133bc0d3197c67eb6dd6ee801dc81482bdd6be8ff772fe149f590450f93",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b15a899fe1bab9990227784b4b6c7f2ef0a6405a57e8d423f1db7ebb7093dcf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08e852a0ce196c36ad9318a51263043449c38d28d99aca3fc6310cbd5cfa433a",
      "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 · 7.815 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 84 changed as sent

message 92 changed as sent

message 96 changed as sent

message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7795, 1.4277, 1.0237, -0.3794, -0.6064, -0.4969, 0.0458, -0.0219, 0.823, 0.5945, -0.4225, -0.0162, -0.0265, 0.9977]\nstate[eef_state]: left_x=0.3462 left_y=-0.1956 left_z=0.1804 left_yaw=-0.0287 left_pitch=-0.0501 left_roll=0.0246 left_gripper=0.0458 right_x=0.2891 right_y=0.0001 right_z=0.1592 right_yaw=0.0024 right_pitch=-0.0812 right_roll=-0.0027 right_gripper=0.9977\nstate[joint_eff]: [-0.3761, -6.2701, 9.9214, 1.536, -0.5055, -0.0269, 1.033, -0.1162, -1.6889, 6.9812, 1.6777, -0.0464, -0.0855, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8364, 1.7405, 0.9886, -0.0624, -0.6746, -0.5514, 0.0458, -0.0216, 0.8288, 0.5945, -0.4225, -0.0162, -0.0265, 0.9977]\nstate[eef_state]: left_x=0.371 left_y=-0.2409 left_z=0.0976 left_yaw=-0.006 left_pitch=-0.0359 left_roll=0.0363 left_gripper=0.0458 right_x=0.2894 right_y=0.0002 right_z=0.1576 right_yaw=0.0028 right_pitch=-0.0869 right_roll=-0.0025 right_gripper=0.9977\nstate[joint_eff]: [-0.3761, -9.2376, 6.7077, 1.663, -0.3785, -0.0904, 1.033, -0.0615, -1.6752, 6.9949, 1.6337, -0.0317, -0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8364, 1.7405, 0.9886, -0.0544, -0.675, -0.5663, 0.6949, -0.0219, 0.8307, 0.5945, -0.4225, -0.0162, -0.0265, 0.9977]\nstate[eef_state]: left_x=0.3718 left_y=-0.2417 left_z=0.0987 left_yaw=0.002 left_pitch=-0.03 left_roll=0.0183 left_gripper=0.6949 right_x=0.2895 right_y=0.0001 right_z=0.1571 right_yaw=0.0024 right_pitch=-0.0888 right_roll=-0.0025 right_gripper=0.9977\nstate[joint_eff]: [-0.4991, -9.4154, 6.8991, 1.5995, -0.4078, 0.0269, -0.1441, -0.0615, -1.3607, 7.0222, 1.6728, -0.0464, -0.0317, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a4fa133bc0d3197c67eb6dd6ee801dc81482bdd6be8ff772fe149f590450f93",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b15a899fe1bab9990227784b4b6c7f2ef0a6405a57e8d423f1db7ebb7093dcf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08e852a0ce196c36ad9318a51263043449c38d28d99aca3fc6310cbd5cfa433a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJdSoKC8bN70yW5CzMqUzizrqG9aXBIVEMCYJa-sYIf_EsAf7J5mN0WpzoQXoChe2VF1TNwl8Op7Sd_RYxbzjElDRnQnEVRgnSXLpvT_ZSLTUT2yQ-xXKMFrKQtO9Qjw7oY_0KofZdpFQXpzEifSsVfPVFwKo_vhCyZJoVMue84f0o-5W5VMqWgAavrRJaMgCSF_a4-8UvytG_2TYzV5oS8CExActnbWxRc5HbKenKjfa-khOTnbKGEHhSVprD_t50YZsl8bZOAbq9I8iGVo2hE6_oOfyVgDz5VQGJj4WLzaurrkP0FGoYdGBG0qDtM_2BnrMcIXaDEs0vR4Wo8o7lXHq0Dt9oo3oIyN2WMeq3ygCtpJQQo5FFudcUjH64f4h5oo9geEPni1rx4_T8t0v2AV-e2Y5jj8GSEm_Jpi5qKaYvGDbU5Haek0B1sJlx-IWC-gjya0COhsI0ppfsjRMmaxFgb565RmzH1hbe3glWgu5u7m81zg_1hCg8bWnS175vpOv_Y1frUIiuOtg-4ik86QEtxXxfDpSrX_cBGpqoa4XeXF8wt_Q0GOXo7e4D6-ybnlB1vTG2JywdvOBwWc7o_LKJbjS5Lud2_RVtFHuAogWZOplN1qEvi7MPdU4WmUT86nFYKnhQJVF2grmighZepVF-Gv053o9twZ9PJvFSE7P5US_nPrAlk5uJDiHN0jerIhq-h9nRQpua8N-6vqQBBkTfenunQPHqedqLR0qLufxWMMs6prh2e5CvkH1xQlUbpx085cs8u5_GnOnUB7pdEhEzBy7PMFOdyjJm79hn6g6SQRpolP9kzzNH-fsmj2ji7li-wjWFrAhrBl3QUpW5N_7fDLwW7d3ERQ8uHiX46XrQwn-uWkgHj2Ri3F5zePz2x9jqM2s8kZ_2XTE4fe_DBtQLr-jmTFzjt8F9uV_dW6guKhPrDWf8ecfdZvZJSXiRTqjGaOt97Dwd4bxnoVyXUbqzKthA6tetJwuBSoXVTIf8Tq4CR9mGDasepv2d6bRrVBZBdJaHSGNl4GKZ0wHe9Y67lk-JzkDblfT7HfQGOIoisvPVSWIR4BRmUAvYuTdfcIbC9IpakBRdzy9M1yYlQjMPCJrdyNROJeeJz-W9zkSsrP921b-uIdiiBUMEVOf7Xf9ZXNSpL99wQHEePfeGMbVddzfMU1Ic1NDYs7CxFN56KCAGGraRBZSVzBMtRsRg1ViXzb_bJTcZh_nhX8uDtHtoS_oy6MetZ8zGdVxTDpn_fLr8TW_B2TfU9BV7OxciDT2PTwzQabaOk3f_qqwhIddsIxgTWnoo6JZe3RgJ4p75EvtCunBK-iDjFMnMcSu_RRRy9k8I-Xt0GdPm3YpxmT1kXQufYjCMc4fjJhKPj2_wFmHE8HLCpjdO6XcB7sJcvm8LaikoyOkBXdOBzzx53mZmvXZV_f6fJX3iAnygvO_rWMYQrYKFqqPl-zp9CsnBU9pyj2ElGzxlb3XAJ3ECZmlkYG4zCDcb1ajO8LsX4XmQwzetBLB-gMnyceUcIoL9x-NEbDYeMtbUnfZry1IcxFpVD30MtlMlgFCpe1hdNv5pIWBkEQibMIK3VYxpqBxi48_gsXRHo8f3H_ilRAGQ6Gndj398QajjwnhtiouaMfP93BGEy9b9ZnbXVooyZEvmUlp2hzJwTQjsuMDvPPJYtcCni8EuwX2ax1FKvANUSKinMR7DFjwa5wy-bTgMFL7vyUtHyx7-t-pMrUbpClaTmYCMPr_LrX6lDw6VQ0ZeUPofYsqrqHoylxL5WoVbS5naFkDDaLXeFf8tGx9Ytf4VjK-JakCNcxpGIdcFa8V0cftviDIrSReN7_hFcTQ2Bvq3GnUU-CqXn8HZH3bN6hd_H58v2kjTsXzE-ikXc7qwnL2T5FNtNEilN1THvzZLHzeG4T8k9_0kp9EswlVoktaeAthLVSxldlFfcjyJYJOQLhQeUKaC-3gSaSsk9kuNEWWyB41G8BqZSVhlaTsbzoAANqHmu8XQTiubewAtrkYrM18LORePF_vLfHMup8oC3dSCab-9wNrAC-6dpT4z7F52CM9UJn2zmuy3d1uKrTu1iehPvqiEXFDGugN_oC_7bNBjIquUT37mpQS_eZO94Y6SLPli6JaIFjyFS-foFhXnQ9k5TOvRA23WBc0JFKA8aoNpZOUCxvmh7JD2umUYtZmHWU2ZVqennDMVU1OQXpZ1-HEOu00pWpSPiUIpS7Bd8rgv7OHvJyvB_S6ljMRm5lZJz8RlopkI-PjltKzeqEJRecg1iJcfxciaz-iWkD_Y0Ib4xmyTaLXR9TLAca-iti4mUppM19N9dl8E6ahM1mfAP6m0kAw9hAx_0okmZwRmwkHRoP",
  "id": "rs_06415379f6f0f60e016ab4974ca77c87d091f0c83f4e886c20",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.2,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":1,\"right_x\":0.36,\"right_y\":0.2,\"right_z\":0.15,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0,\"right_gripper\":0.7},\"note\":\"The teal bowl has settled onto the blue bowl. I’ll clear the left arm and bring the right gripper toward the cream bowl’s outside rim.\"}",
  "call_id": "call_QRKHLoAF8J1TZxkOKXHpBJLe",
  "id": "fc_06415379f6f0f60e016ab49750e5e487d08e68110a69f8191f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QRKHLoAF8J1TZxkOKXHpBJLe",
  "output": [
    {
      "text": "executing move_to over 22 steps (2.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0589, 0.8177, 0.6544, -0.4259, -0.104, -0.0891, 0.9987, 0.7406, 1.4864, 0.8742, -0.1787, 0.5701, 0.424, 0.7009]\nstate[eef_state]: left_x=0.2962 left_y=0.0045 left_z=0.1876 left_yaw=0.0632 left_pitch=-0.0167 left_roll=-0.0073 left_gripper=0.9987 right_x=0.3473 right_y=0.1932 right_z=0.1279 right_yaw=0.0385 right_pitch=-0.0731 right_roll=-0.0521 right_gripper=0.7009\nstate[joint_eff]: [0.1983, -1.6615, 9.4701, 1.9023, -0.0269, 0.2515, -0.0952, 0.335, -6.3521, 9.4974, 1.7607, 0.5201, 0.1148, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e2f60ab5587847bc7f387cc6fa8929e298bb059f58aeb56d545c1d4a6708ff5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ae128b39c44cc640e6839accda724db4784f32d5fa3bfdd1da165af171202c8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f6ceb8b52dccaa0b5879bb78f9a6fe7cb8686648c23e91a644f629f446a0788",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 3.959 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 88 changed as sent

message 96 changed as sent

message 100 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.833, 1.7168, 0.9886, -0.1337, -0.6533, -0.5446, 0.0458, -0.0219, 0.8249, 0.5945, -0.4225, -0.0162, -0.0265, 0.9977]\nstate[eef_state]: left_x=0.3634 left_y=-0.2348 left_z=0.0954 left_yaw=-0.0192 left_pitch=-0.0802 left_roll=0.066 left_gripper=0.0458 right_x=0.2892 right_y=0.0001 right_z=0.1587 right_yaw=0.0024 right_pitch=-0.0831 right_roll=-0.0026 right_gripper=0.9977\nstate[joint_eff]: [-0.5538, -8.759, 6.7487, 1.6386, -0.6081, -0.0952, 1.033, -0.253, -1.4974, 7.0496, 1.6435, -0.0366, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8364, 1.7405, 0.9886, -0.0544, -0.675, -0.5663, 0.6949, -0.0219, 0.8307, 0.5945, -0.4225, -0.0162, -0.0265, 0.9977]\nstate[eef_state]: left_x=0.3718 left_y=-0.2417 left_z=0.0987 left_yaw=0.002 left_pitch=-0.03 left_roll=0.0183 left_gripper=0.6949 right_x=0.2895 right_y=0.0001 right_z=0.1571 right_yaw=0.0024 right_pitch=-0.0888 right_roll=-0.0025 right_gripper=0.9977\nstate[joint_eff]: [-0.4991, -9.4154, 6.8991, 1.5995, -0.4078, 0.0269, -0.1441, -0.0615, -1.3607, 7.0222, 1.6728, -0.0464, -0.0317, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0589, 0.8177, 0.6544, -0.4259, -0.104, -0.0891, 0.9987, 0.7406, 1.4864, 0.8742, -0.1787, 0.5701, 0.424, 0.7009]\nstate[eef_state]: left_x=0.2962 left_y=0.0045 left_z=0.1876 left_yaw=0.0632 left_pitch=-0.0167 left_roll=-0.0073 left_gripper=0.9987 right_x=0.3473 right_y=0.1932 right_z=0.1279 right_yaw=0.0385 right_pitch=-0.0731 right_roll=-0.0521 right_gripper=0.7009\nstate[joint_eff]: [0.1983, -1.6615, 9.4701, 1.9023, -0.0269, 0.2515, -0.0952, 0.335, -6.3521, 9.4974, 1.7607, 0.5201, 0.1148, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e2f60ab5587847bc7f387cc6fa8929e298bb059f58aeb56d545c1d4a6708ff5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ae128b39c44cc640e6839accda724db4784f32d5fa3bfdd1da165af171202c8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f6ceb8b52dccaa0b5879bb78f9a6fe7cb8686648c23e91a644f629f446a0788",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJdcvs7ULBo6q23XipxLCMnFzorkX0ofWEGk_uSEnpZqON7W6L3KbFPzvcHv5JYcPE5kxr_LsJwnLEonIWMJY2RWHAuvy7jY1Azl6oqdDFTTH5uKhqNb48LJsG-USiUX9ZpdaZTd_vQQv91q9Xm9wmRmfpHHXKTlIZH89TygYLbEQieB-RcrCtR9SK3_IqiOhMf_lPhu3PfrxS-DwnaWk-Bc-xd4Ynd0SQPjgybL54ub1byINKGuM0Ol8iDKrb1G_xThDZ-QrUFxhyFI8LfmygUxjuI3VgEdTMXWlLtTj1eP6FWYzPmH9UUPlncbOqjpGcaQrjCjACoyIOU_WJoL5A6lYwuG6Nx4viSuY6bREeSWjvsqcvdDJNSRrlQxIN0wwFauhWdjW3-j7CtvtITUMMGANnp2-4-bZlGdfrsWTZKVuLMcJHVsyY8Umr5UrSrIbw0b48RodBWui7RK1i8YCacsCuqa5dQVYw4bMOj7hP79cq9uSetHusU0qCC3uZ3DTXTG4A3GXzPKu1-O0ChgiPczU-BZphn4lqCxoaqMrxvdT0N8V4ukqSXNDWYyz4iOAuAVulefLDANowgvTQbCY4ZQ-vn_kKG7tAEPyHShETmHqo_sJfQrJ_CkoYVxGW9e_Krm72B-Zmz_5T72Wuoe62es0mLiYjLNUnCMJIbfJUyxJ9YLcbNThl7YpP4LObBwUsQ7-mK2foH37tg3r7iuN41xS73PyTtapO8F5vXMCrS2uk0-hO10yMUwSKMXPsFHUjjzeeGn1FGqw3l9FrgtktP3DuKeKoOpgClf8681xhx8U9Qtabd39-GqkTmnnwvPPBGF2fz-G_MpyeTkVRZjwamwzf9h-JGUoDEnnuojuzvgQtBp31-D-7jsetraPSwZZeZYfEVywxjOftEsEMLDWsPgNtkZaNtKUPlhhp5qWrfzE2Cc3kLzLsAKIanOaC4c7QN9trX2M_C4oOBKXSow9hK8yPi9boO-WIhSOhtwIyVO_5pu55dMONpWCxrX_H8_0RgNHk5nK2caDvD-mkX-NqEmbFQCLE2O9ZTu17b_qKGQ3zpEYDSxW354yOVvC71Mbax5nOJWpOPsHQgW2UfannbL0_nWmSy99mq--ZrSnv8cV-7DKxgAcfWNdJmzDLCUHiS3RG_MFY8jBvAZhX9oIQq77eT_oQYViCG_AKx2EPLu6oncox7Zl8RAxLp1WViy4ytSDmc1BhPjC3i5_gTXkC4M_H3OhI1n7BIJUq3La2FOOAFNGEXSdGbiyvZ56ejXXIh88on8GHWkjKVlkchIqMEtT28EBoxSTW8mluPfqPSv-Ie_52O7fMjkZ5cuHH9dGqmUox_kFCebk1ARVGyZN_dN-LE2nR3i_tGoq_d5XPeKu8nye-xr2QrwrgLz1ORYYSSUK4A6dRgRhuHrVKuNF9q17SWgplhRvT9a6bT0BBE_ZXYrOYxuemM29QBh86IrYtEfxBEoVa-8Kkj-CrrwETO2typxUcS_4yOYCb0-CpBkE25D6t2tGRRWZAsk8h7E3v_yreSbo0upAlNta3Lh_yfq-SnayoDMeP9Fv0gjnzeZ-pgpgi1P1Unm1XWgoRZCHTkFsPIjBRRRWiofB1kbmL7e1krEwaHzJOqqGIL_KLVjc57DnrGQmp3wxzhZRNRfLQW2MuzkRp4qEobR9GVkl6gM7UEDYCgWxC7zL8hXqbDDPFxOjEsCS7I9Rz6INeTfShoBLSUaAMjrk1F7irKgQ3-raECCoINpF3BhbyDa1l-j72nYX_d_vlcZ0gsmTstCxAkKLrvQjIlIbySxiOHDQtScNoORod2CnzX50a_xitYoV09uqeBeIxZA5ID_B4TV2b02nJRH39LPc6yYqLzVyuZ2OwAyDhLVIwDcZd5BWOoYzmMLBimWIFDRJMgxbTLLVfTx_dQ1FgE5KreH8jqlrhart4On8FEy9kLN7stJI4vXN7vD1GurK61EKvlYBTs1aFxilj3Slf3-f199mw6Xn-DBrgExBWPEbWRymBSvF9S0ZxXUGwEt09xnXx0zi628eh_kdOmM-S7kg9_syZfHDfG12jNBBNmE1tOyEax4Gp5itp1D1PGuNJnWeSfHA6pMlTXcgewh2npyS988vwV8nGz94_mENJs6JKLSiRwg5caJCRtc7lTghG3B41uhsk3uppwJRcVr8uhIH75MuUtrapv7HUN9sEYCXYeFhU_e8dGKDBS6tDLISE6fcnwp6ayNybImyOGbubjmS0c4_PteJT3NdzzzdkYMK6mVjJ32nYC0qnpue_hbkF_q4SBAS-nt-ZZshMVZ6PxZ_mqZOAUBQZ59z_yLzcZHH3V26pVaU7rVwWHlNBbGuIswQK5kKPWEsAN_7jvQ63KrkHPIFksFDcdlPj2Jx4Z0XLLsH7j-lYveIXItuXXDJfez-TmJ8Rj4CWSYrgsCJ_JphDoMepTAYdXZC96RLTfrU1dtKHqkiU5NDNXv15Z6CWuGkoisu1YINkECLjFK-O8QdX_LEQFnCmtw18CUgjUHVKgE8vHMeyBJ1YyBk9XSGsYKyn56JBrrfp7L",
  "id": "rs_06415379f6f0f60e016ab49756048887d082f8c4967af1ba3c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.13,\"right_z\":0.035,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0,\"right_gripper\":0.7},\"note\":\"The teal and blue bowls are nested together. The cream bowl is visible under the right wrist; I’ll lower around its right-hand rim, away from the stack.\"}",
  "call_id": "call_pRig3dlxfKrghZ0FGePSWMb7",
  "id": "fc_06415379f6f0f60e016ab4975b059487d0b11416ef16c7a683",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pRig3dlxfKrghZ0FGePSWMb7",
  "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]: [-0.0589, 0.8223, 0.654, -0.4511, -0.0998, -0.0788, 0.9988, 0.5514, 1.6333, 0.4976, 0.3767, 0.4755, 0.3241, 0.7006]\nstate[eef_state]: left_x=0.293 left_y=0.0039 left_z=0.181 left_yaw=0.0543 left_pitch=-0.047 left_roll=0.0024 left_gripper=0.9988 right_x=0.3463 right_y=0.1223 right_z=0.0225 right_yaw=-0.0232 right_pitch=-0.09 right_roll=-0.0593 right_gripper=0.7006\nstate[joint_eff]: [-0.0342, -1.5385, 7.0222, 1.9121, -0.1294, -0.1538, -0.0024, -0.1983, -6.106, 5.2171, 1.7265, 0.0269, 0.0269, 0.0464]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:986dc4a04ff0be8b6a0a21a0dea13ba6a2884e1f703ae0757146cfbb57d7d0bb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7291409fc98a1893b71e873452b95f332dbba4a02ed25b8a9acd81c1b41c61d6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce645112344d20ee1153a0acb48b30eed95dbbe66207b6871c1cde11413a57fa",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 3.833 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 92 changed as sent

message 100 changed as sent

message 104 changed as sent

message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8364, 1.7405, 0.9886, -0.0624, -0.6746, -0.5514, 0.0458, -0.0216, 0.8288, 0.5945, -0.4225, -0.0162, -0.0265, 0.9977]\nstate[eef_state]: left_x=0.371 left_y=-0.2409 left_z=0.0976 left_yaw=-0.006 left_pitch=-0.0359 left_roll=0.0363 left_gripper=0.0458 right_x=0.2894 right_y=0.0002 right_z=0.1576 right_yaw=0.0028 right_pitch=-0.0869 right_roll=-0.0025 right_gripper=0.9977\nstate[joint_eff]: [-0.3761, -9.2376, 6.7077, 1.663, -0.3785, -0.0904, 1.033, -0.0615, -1.6752, 6.9949, 1.6337, -0.0317, -0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0589, 0.8177, 0.6544, -0.4259, -0.104, -0.0891, 0.9987, 0.7406, 1.4864, 0.8742, -0.1787, 0.5701, 0.424, 0.7009]\nstate[eef_state]: left_x=0.2962 left_y=0.0045 left_z=0.1876 left_yaw=0.0632 left_pitch=-0.0167 left_roll=-0.0073 left_gripper=0.9987 right_x=0.3473 right_y=0.1932 right_z=0.1279 right_yaw=0.0385 right_pitch=-0.0731 right_roll=-0.0521 right_gripper=0.7009\nstate[joint_eff]: [0.1983, -1.6615, 9.4701, 1.9023, -0.0269, 0.2515, -0.0952, 0.335, -6.3521, 9.4974, 1.7607, 0.5201, 0.1148, 0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0589, 0.8223, 0.654, -0.4511, -0.0998, -0.0788, 0.9988, 0.5514, 1.6333, 0.4976, 0.3767, 0.4755, 0.3241, 0.7006]\nstate[eef_state]: left_x=0.293 left_y=0.0039 left_z=0.181 left_yaw=0.0543 left_pitch=-0.047 left_roll=0.0024 left_gripper=0.9988 right_x=0.3463 right_y=0.1223 right_z=0.0225 right_yaw=-0.0232 right_pitch=-0.09 right_roll=-0.0593 right_gripper=0.7006\nstate[joint_eff]: [-0.0342, -1.5385, 7.0222, 1.9121, -0.1294, -0.1538, -0.0024, -0.1983, -6.106, 5.2171, 1.7265, 0.0269, 0.0269, 0.0464]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:986dc4a04ff0be8b6a0a21a0dea13ba6a2884e1f703ae0757146cfbb57d7d0bb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7291409fc98a1893b71e873452b95f332dbba4a02ed25b8a9acd81c1b41c61d6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce645112344d20ee1153a0acb48b30eed95dbbe66207b6871c1cde11413a57fa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJdg54RwY4XF0cQmUn18L0NrGlwJEXH21MhFBwCSOUtwk7D7YFMcZKBV7BbmNGbSGlEXkgq6iqGaYf0kRa2_Lg_42CItnCZi6LArqRPV9LLVFrNXtLFtbUWAgAEcITev2E6KzlCqfcFEngI6ra-dzaFg8uc2przRihLEeF4BzSWW1bRjD9-TvKWvJZthtyL9gtu7hiScgL_OwqIYEQQyoU16hksx5glb2HcHrlU0dkaeDKGIDwaVjfqeS0-NQp2qJZ0hPs0Zu-svYJeSjDfdLNkHck5ofl-3Gahnel5K3b2Y6nx-LwKL56w_OuChEABwEtaf89E9kpsjPpG7zuosrLe1v0CShXImGH_H40cZ8cdZFyb1EWh7ul_1q6C48Skpqw7MmFqvef2Y3cy0ulFH9F5vbmFmFYgH2cP6xwtkVkf6ni45sVY0nrBmxRRPh3vpYAak-yFsqXNlsfP_2uk8v6tlf0hxLk9WMhc43AZEgBIoMHm7YTzSVhsbPwknUapkeD9JaQcibuqrmHSZsNL_UGtn74fFZz6jpUHBeGFY-HeaEomf6o2VliF9yWmfmdrhQo3ezKn9CgbYcjZ9ID0CONsnaG0QLGGkRza4KQUB8XJo2qMAAlXNIuC8FQc0c4o9RIkQe77vP7nul1kDSlUOQtRsc-1BaF6jTw7tdW8xo7_gD1Twqb0bfFFtpKaBj4WpPyV4X5MHHWam5Ef-uficlSq3W5jJoqU_GhtURivTJTemarqqCnw4tluLb_LJZ1BTL7eGuQ0qi_khPc1boh42xDYEb3qSDktP-UtRMi_7PmhZjgzdK3qULlT3BpjtySjffYLB21P20yCF8Av5nW1_JntOZ4J36IBAfH1TJV0YT5Z3tv29TtfuYTVneWUp09uMwKlBzkcRKGNH2oGFg1yqLMcVgnYqG2dYEnNfiKZc8Stz2mQY8t0_iZofKFi0mr5d9RLT4eyLrBN_DRzOjGFIxFqezhcy4Az2Kci80F03F_qsLUQyyazaJK0L1AJ8HKFYtczgwffzEuI_h0IcKj1dLxdSo4roWjribey6Xwk5bStKSrTSXJC_ldk10BgMl5K9yZDfiTvdKqdBQcOy3ouBVSRql8XEmpJALqyWXPGR_AUFsr_0URDxB1eIMfmtl5ISEFNcTP1lrRfXWP_B57lblxS3azA0siz2fGAmNLqOZMbHk0TbWHdOHJZrTH1M1qSVg80YeXg0Bqa-NLJhSbOLfuQxBuxAqy-MiswA3TtoaaG-KKQBU3iBQfVwVW-Qs75LMqVGEQrXm7ZpcWLrdAkTMwN1ofsFZTcIDRDU-JY7R9dxyoCAyGiiv5CF4eQ4VwsccsXATshSsBSK_O7jSRDxEpajHIFXtctlqo2SKpqrJFviSA7lgcH7YNmroTFxBZJiureLE4-YDyCzf0TM0I9cDkZK5lhSuuLdYrYJL9UvfVaDtZSqq5mF3_d9LHio6UKRc-xk5CJviZO5_iErYvCBoH65_fgoFH_TFPhhBVkgWSv3NQU=",
  "id": "rs_06415379f6f0f60e016ab4975ef74087d0a8b55fd71cd0efe6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"One finger is inside the cream bowl and the other is outside its right wall. I’ll close on that rim.\"}",
  "call_id": "call_3a5GXX9QqYn9u0ECV3HqIZlc",
  "id": "fc_06415379f6f0f60e016ab49760062c87d0a9fcc53e60d1248b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3a5GXX9QqYn9u0ECV3HqIZlc",
  "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]: [-0.0589, 0.823, 0.654, -0.4553, -0.1024, -0.0784, 0.9988, 0.543, 1.6482, 0.4229, 0.6254, 0.4435, 0.3172, 0.0907]\nstate[eef_state]: left_x=0.2924 left_y=0.0044 left_z=0.18 left_yaw=0.0563 left_pitch=-0.0518 left_roll=0.0048 left_gripper=0.9988 right_x=0.3537 right_y=0.1291 right_z=0.0355 right_yaw=0.0 right_pitch=0.0342 right_roll=0.0364 right_gripper=0.0907\nstate[joint_eff]: [-0.0615, -1.4291, 6.9675, 1.7363, -0.0806, -0.0806, -0.0122, -0.3077, -4.3282, 3.5077, 1.3309, 0.1685, -0.2125, 0.5153]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab8b8b1a66ca113be8448121900411ad20155821fbf2a6d140d1ff719a2fbae7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4300017aafe68e8abce382766e9dc4d0e043d91b3e28721621982a6d9eea00fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd560d5f57b736ba76875f3548555a0d4062108c703b60325ee3a64112d60169",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /responses · status 200 · 10.67 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 96 changed as sent

message 104 changed as sent

message 108 changed as sent

message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8364, 1.7405, 0.9886, -0.0544, -0.675, -0.5663, 0.6949, -0.0219, 0.8307, 0.5945, -0.4225, -0.0162, -0.0265, 0.9977]\nstate[eef_state]: left_x=0.3718 left_y=-0.2417 left_z=0.0987 left_yaw=0.002 left_pitch=-0.03 left_roll=0.0183 left_gripper=0.6949 right_x=0.2895 right_y=0.0001 right_z=0.1571 right_yaw=0.0024 right_pitch=-0.0888 right_roll=-0.0025 right_gripper=0.9977\nstate[joint_eff]: [-0.4991, -9.4154, 6.8991, 1.5995, -0.4078, 0.0269, -0.1441, -0.0615, -1.3607, 7.0222, 1.6728, -0.0464, -0.0317, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0589, 0.8223, 0.654, -0.4511, -0.0998, -0.0788, 0.9988, 0.5514, 1.6333, 0.4976, 0.3767, 0.4755, 0.3241, 0.7006]\nstate[eef_state]: left_x=0.293 left_y=0.0039 left_z=0.181 left_yaw=0.0543 left_pitch=-0.047 left_roll=0.0024 left_gripper=0.9988 right_x=0.3463 right_y=0.1223 right_z=0.0225 right_yaw=-0.0232 right_pitch=-0.09 right_roll=-0.0593 right_gripper=0.7006\nstate[joint_eff]: [-0.0342, -1.5385, 7.0222, 1.9121, -0.1294, -0.1538, -0.0024, -0.1983, -6.106, 5.2171, 1.7265, 0.0269, 0.0269, 0.0464]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0589, 0.823, 0.654, -0.4553, -0.1024, -0.0784, 0.9988, 0.543, 1.6482, 0.4229, 0.6254, 0.4435, 0.3172, 0.0907]\nstate[eef_state]: left_x=0.2924 left_y=0.0044 left_z=0.18 left_yaw=0.0563 left_pitch=-0.0518 left_roll=0.0048 left_gripper=0.9988 right_x=0.3537 right_y=0.1291 right_z=0.0355 right_yaw=0.0 right_pitch=0.0342 right_roll=0.0364 right_gripper=0.0907\nstate[joint_eff]: [-0.0615, -1.4291, 6.9675, 1.7363, -0.0806, -0.0806, -0.0122, -0.3077, -4.3282, 3.5077, 1.3309, 0.1685, -0.2125, 0.5153]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab8b8b1a66ca113be8448121900411ad20155821fbf2a6d140d1ff719a2fbae7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4300017aafe68e8abce382766e9dc4d0e043d91b3e28721621982a6d9eea00fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd560d5f57b736ba76875f3548555a0d4062108c703b60325ee3a64112d60169",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJdkWjUvXjp0NhmXH3OZmOjbBCindJIQHRsEGfTjRw1Z7pX3RWyvIX2cM504Tn7ZKf8JnusRyXmARXLsnhkID4Qv-OyJaqiTMcABA-xLV6NM_AhxJLQ0Isb3II-xxJjyrKLsBusR3rP76bpKgMk2jc1ay7c1ho6mlCTF2tBz8cbkJwjpslkfDVboZ45NwmNd6-k9IKlJ_5jrHsD62jj1lngGG25Q7EMiCR3-Jki16MiOBae22aqLjfkd0HpEnChRFMryBqXMSYUYuBAYApEGqtyillL0kTB35EayvaVAMq4r4nzjf2DWw_3ZrXBRdMgxtUJeEI5B-ljL4IqJ-x7Qc0MWBLR5Ojkh4P0czKo_j5SiuZJCPxtLys9bF2iENWFk_DssMVtj0nuy9lMF1OMYhq7K5G1jlGryt70CVX10l_iiLU9hESIkTDHI_k8uehB2yDg1VLBBCAzTenBCLqZD-5uI6HLKIL8XaSSUWBROGW7lSdR8I7E1rs3WVCVqyKiI4eMtw705YRpNKxTxmGda8qQARUStsSYM87igXcIgYisoTukceFAMWATl_TEYPwpzcTQTozUZswXm6YW-63ZKef3WKXYrv7M77YjDDILIkJPURqtAJzYPbm7crMXq7fanxzPXYFAGHXSQxmZxqbKmiHAMOT5WekEXuKoylT07w4y1ELxNIBu5fk8IAfSK5BkBMov4cJ5J2cdFT-XHiMC7WGqcN2HI9xRE9Vu-7sTXsqQwlcNh2_1oCJ0hvzt7WaTdG5-HPtR-fxaTBzO1qjlto-WaOh-HTkP70lRlb-3f_29yoELd9muISia6u0JVBJ6X9xrz1t8Uubuo6-ol-qk3kY7xSmz8BBCU85BZCZLNLl_4UL_w3xOn0YeTE0NHpjenrrKPfQqEk9ZqFsQL_XCVcW3gpYdrWudhIgo_G2dxd7YJO0E2mm7L16x2cjL-PlfGYIw3-MxSg09dP2eRXqJCo11nVpkGidXlgZwcJ-UEuuHsDxfRlhUDftX99LBFKBMqT1BIvwEMMC2sAkuq9ZUbeBIh2VNquB0cK9DzjwHAtn7-xPZfwEOS8FLKSpanux-23pFHS28zv3h3t4A4ILRs2Lep083VgCEQ02K3IyvLnUkExxn0Jty2JdWN_X6XCkOEVou7WRpwrqRd9AS5H-QJIAhszPplTPwsV-NxihEIHrwx5E3y75ElIqJtfp7m3zlAQEpoeejz_i4HWyxoWnta7LlaWsP9jGaXN-xivIPmSd2LKlz3wZPM04lwMXDpe5MWBzUaiD3Vkc3zxM4JzSGCamXZgzG2AH7lvqrU5rdCNbtEEKM=",
  "id": "rs_06415379f6f0f60e016ab49763177c87d09adad6edf97135c5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.335,\"right_y\":0.13,\"right_z\":0.19,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0,\"right_gripper\":0},\"note\":\"The right gripper has caught the bowl wall. I’ll lift it while maintaining the close command, as with the successful teal-bowl grasp.\"}",
  "call_id": "call_oGRsTwLYaHPmKvSx6N3W1Wu5",
  "id": "fc_06415379f6f0f60e016ab49763c50c87d0b45daef6fe78d1d1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oGRsTwLYaHPmKvSx6N3W1Wu5",
  "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]: [-0.0589, 0.8276, 0.654, -0.4603, -0.1028, -0.0784, 0.9988, 0.5903, 1.2087, 0.7826, -0.2386, 0.4667, 0.3214, 0.0412]\nstate[eef_state]: left_x=0.292 left_y=0.0045 left_z=0.1778 left_yaw=0.0567 left_pitch=-0.0612 left_roll=0.0061 left_gripper=0.9988 right_x=0.3362 right_y=0.1339 right_z=0.1719 right_yaw=0.0267 right_pitch=-0.0137 right_roll=-0.0058 right_gripper=0.0412\nstate[joint_eff]: [-0.0342, -1.7846, 7.1043, 1.7363, -0.1099, -0.0415, -0.0122, 0.2667, -5.3402, 9.3197, 1.7411, 0.4078, 0.1441, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7823bcd8df3145650f1dce4eef2386649555337574e2cba543df1c8b0819578e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70201906d82310277d2f34fd2043817c94530c900918c09ae7c76ed209d645c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57afcff831aae9cdfac00be04e21f1559d353b7966fed7634a092e1fb2a2e446",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /responses · status 200 · 4.417 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 100 changed as sent

message 108 changed as sent

message 112 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0589, 0.8177, 0.6544, -0.4259, -0.104, -0.0891, 0.9987, 0.7406, 1.4864, 0.8742, -0.1787, 0.5701, 0.424, 0.7009]\nstate[eef_state]: left_x=0.2962 left_y=0.0045 left_z=0.1876 left_yaw=0.0632 left_pitch=-0.0167 left_roll=-0.0073 left_gripper=0.9987 right_x=0.3473 right_y=0.1932 right_z=0.1279 right_yaw=0.0385 right_pitch=-0.0731 right_roll=-0.0521 right_gripper=0.7009\nstate[joint_eff]: [0.1983, -1.6615, 9.4701, 1.9023, -0.0269, 0.2515, -0.0952, 0.335, -6.3521, 9.4974, 1.7607, 0.5201, 0.1148, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0589, 0.823, 0.654, -0.4553, -0.1024, -0.0784, 0.9988, 0.543, 1.6482, 0.4229, 0.6254, 0.4435, 0.3172, 0.0907]\nstate[eef_state]: left_x=0.2924 left_y=0.0044 left_z=0.18 left_yaw=0.0563 left_pitch=-0.0518 left_roll=0.0048 left_gripper=0.9988 right_x=0.3537 right_y=0.1291 right_z=0.0355 right_yaw=0.0 right_pitch=0.0342 right_roll=0.0364 right_gripper=0.0907\nstate[joint_eff]: [-0.0615, -1.4291, 6.9675, 1.7363, -0.0806, -0.0806, -0.0122, -0.3077, -4.3282, 3.5077, 1.3309, 0.1685, -0.2125, 0.5153]\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 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0589, 0.8276, 0.654, -0.4603, -0.1028, -0.0784, 0.9988, 0.5903, 1.2087, 0.7826, -0.2386, 0.4667, 0.3214, 0.0412]\nstate[eef_state]: left_x=0.292 left_y=0.0045 left_z=0.1778 left_yaw=0.0567 left_pitch=-0.0612 left_roll=0.0061 left_gripper=0.9988 right_x=0.3362 right_y=0.1339 right_z=0.1719 right_yaw=0.0267 right_pitch=-0.0137 right_roll=-0.0058 right_gripper=0.0412\nstate[joint_eff]: [-0.0342, -1.7846, 7.1043, 1.7363, -0.1099, -0.0415, -0.0122, 0.2667, -5.3402, 9.3197, 1.7411, 0.4078, 0.1441, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7823bcd8df3145650f1dce4eef2386649555337574e2cba543df1c8b0819578e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70201906d82310277d2f34fd2043817c94530c900918c09ae7c76ed209d645c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57afcff831aae9cdfac00be04e21f1559d353b7966fed7634a092e1fb2a2e446",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJdxyy1MJQgIEuCnROQNgHTMvfG4u5gKwDUzF8IYcg2Eql38VVi-yuJg6X3Pwlu8ltzZkPq7n9e8NkhM3FlslwTGH1K5tuyYJH9sDAy4zn5q8KiqJ1N8mPmuaKjwpjaPCZlDQK5jWXSlvXMjYvkIMfc7wIMtm71cSEnbUWOzUiOld7Kyk09I3ffbFLur7KRlp003HrPzwymnb8ydWaEGWKlEWqJY98Ks24BvjRaX4q_SEIvJ_LD9FD_V6G3WjKcIv70KemkQHl9P-EBOPmU6kRsNFRtzEIyrPU7ljKlGktwjD9VKwfoDeUQ0YRImNg8CAziZvrNh9Mkw6S-VrB6TvKLWZAoLLWd7a7-DokXoELI4gmZb5iCDfIp7aYUCtcsdZkESpQnyxyhkPTuXxwyzl5uTpqta9BNidoj2eW31pq_xTtYlh4ZvKnffbBJOZT5IKQ7MumAxluCNexrPP1j-yTuokYQ9u6oI--UIUFff4Q6QDULUBFT-JmiiCAlR2V08gfpzbUt1nqHkoEjX6Jhz2eP5_7oBb-9gazf6eiYEFahAo8YFpFlIMM6aYJ9Ac8yY-RST1Y3VpojmPjeZQnD8x2ev4RNloIOQSPCHo3qgahseGCZ4ogXFDj2Rz3ZLtgZi3e14tedYiktOi-HJwhYZZAkYaqhwiJESFF5z4J7Ss7Kjhzq6wjFLPfm2eGVA6o-9o7jRHQGsDjEk0KKDJ5Q3L_pIWqnck7-jgvml_14X5rSQGTD0JjdY8_V0j77idqZmCDO-rJITljTlk0eJZdZq8lnyFuLf1Wo5XSDUDpm9nvotgALk8GpoVyrPHBsla2lsSUgl4pcpVK5xPApEJSlHD82oUH7iOLCMLEck75HgjYhY0PjYY1S-85KxQSMiGWcUjtgMYAXg6rwPyCEf4As_cHFly421ydgxC4Lqnhf6h2kY2ip_KPjaq6TINEoUz4AvXjKNi3Ag7ipt40HgYkUxKUKSW3qUZKHaTkJzbizr-FkUYqnlFGSa3_R7e30nl_BiSmJO92D5KX-Rjc3p_z9Dy8okYWYPkpi_4qRmREnoZ22M-F9kAsSdcC_RI5WEWHN76DaIHtfQHFNMjo_6-nnegitJ5Wpd_7G51Slj0d7judTRIpHSHfIuqr4SLCflgIG6l5q72vv8L7CHWDanfCvS6ZShJIP58xQB6DTuyRvZz_uZCleqqoaG6lpPlRqVge5GO4-L8mfqgQacZpv46X6fdpU2xYn458tOTmVpwFwIcKuv-VFO7ZC0zo81gb-IvcC92PCZUPk8bKLX__lVL-MwLsAekb22VFVcPjUQ_s7Lt6TGDf3nKkSWKr96WpjgQVF1-F5BU34y7_dzcuqx96ZZwXOx78j0zWo4n8hpoh9ST1gWNuf9LucPGih7dFtksB6tvCCytBCTnvHd_Gvwplypocsljbdg4Y9m350GfdflL6g_1vRWVg1iU-7gTAc4Y5SHL8-pr0gz26VLmajZS0XhxJM2lRrL2ZuIAIBwMxPLbYu0zQ6Z-15HQPYfREo-1_PTcwsonz-bFJg_jZWtYfm5bzq5W3FIrJJ_5o82uJ193g92dDP14eg_SKc308TVSD0SwN7levUj6VVtA2fA_nWicwl3DLIMBvkp3HXxhclNhnn-LzpreyBqUfs6XS47viDaFqY-6Oc5LBYUjg_UTzlkbN1x0hJphkx5gse4T6FC8c9yP-o_cRN72nEoMZynoVO-fxt3J4UeqNj0wOG0MXzMvCTlopsRRp5x8hKpc8VsD3hrwaT3aqX9UT0XQ4OxvFns8Tz7Rg_yYZavq1dd04yz8Pq4nn_fX8mW3N34LVgtLOH0KYNBhWM7gxMmByqb0A06Rt_ASy95dGhyZnv4CwA8Trvebs1fvXHuecycBX4aHqOgkzvqAndFOZ-D6AEtsv5H7F6UKiGTmCDNO23dfrN_dbYeAWkSvDseUI2zyBe-cyDkqAWn6arpzOK_kUTopp9OelFG7rxP4OeoKQTF4dUswlydRNUtgpb6lL-qwrmRJ758TlhmIwukGk_XjuxO8c0SDuyfDq0QXEAbqfR0WxD0gumrZnRvgBRChj544p4XsWqJotMAUzd2V2uk7b_eaJxK3xW-twANuP2D8HG3AX0JcL5MlvmOZwB32X2tdEyccWVvIM4RzxGItF7L8US5Apu9zX8Loxq_YZ5MPlH9184DdjAx58uDxLCzHLScVroeXrUtszhPp49ouNGkczu59IsmpuUR7fl_8B7eo9hvO5QBYxDg_44HgQPEvmkXb2QiIv_Oo9D-eQ_haPpuWgOH7-rckTw1yOZl1ku6uodhj7bR113epaK9G4LRoXDs-ZVFrdNGQJeH1o3UbCMJO79W_koPWJQJNrdWEVGBziOpm7Eh9rvxkR8YMJhcKA9-NS4vrNiTIGtJk7ZzM73Mnyh4vSvTOE-U5jw2IrHXY9xujjFa2_NXY2jy2nMCFIZZzS0dDXvsHVaybNt7rsoqrtvfD_mTU-MZT2XSnustOfmaNygDqMUBL9Oq27JOM2enBQA6ws3vSFsNPhDKlpVDT9_WR4pGvVl87ylg4EFIePOK9ROJurlX_9hrj51mUi9ui9MxmBNf7yqPzXIS5q6mvnp2RIuhKz3M_gyA69K4sSYAF8Q-yF5xk7tvXuxh9nvo1llNYLH2BFr88zYbsgeVknAhY1Zsh1O9hjchJz_up2J-8-lRU3wiBqlNpexJpj4tF_aSwpMjql_rXLwU19XWUXGp17aY9V15jvZAnK53ClZv-SvVq_AZT9G0tEl46v8GT3l3j6CqgJFbgxyjZaefPWuNxBdFPbxndtXcC-jjk0shgJyJTidhdA6-qpYeV7_QN5-GUx_UXA8ckTcajcHslM2s10MUBlHg6rPXe1FAFZ0xo1QNW6xY4wE3MewFiEzLB5z2gterXGViqBnszL7sd_baDWq8sBVADTjHx21Q0TB1PVUYZqs7_AKq5xFMi3cAIu4hX0DxPqIvj_u4IvLNG4JP3kcfrhnbQRBANq15DoPON5u9XhGFeZkxj7AcKOOQqv1RQzUDTydK9C8J5Ki2KVysbdFuYv2KxgnPSYxYj1agcdnIdwG9hPE3jh-Da5BXCtN16nZgYZ9g3uIgmEif0_lAOEPFS53FiRtnLsTd_Tp66OojFbzByLoi7B9sp0e4tpScNvLMfBEf8ATYGkCQzQWvPFqvt2TxTnD2ooha_ZrorunsYDBZ7rUtzBvkGOO8oDbo4GT2sdDgsaHaNT0JnDDz07JkNulZsPH6funDsNpuM0geX0u-QtzAgyyvpeeDfsHde3xLBCy73EbPIcn1l7cfz2C_eRyckJZTXfNZNnKlrdOmg2iJ85EP21qWTV8VbJ6aYcYC5jcERIbX_CP4OfR31Y4NKVsqanKAcvrK4qZ_0_cpHbAtk8zn5gBA3DHuYGfwyU89_bzjhGwT0a6apUQjarb8okCqLbYt2eOfdITGmWFL_bo5pqZhUknxBYYxJUvqqQPJ_Z2BdUMEA-g7wEQk5qYBTl1cK5MQCWQJq0oDNR7HX8Q81oozQ9euZ5WZT4vL5Cg4AVJTzRS_E0k8NHL2o_rBW6Ao6t3wOn3up-gOkkHG7mT1QLNXgk0ZFbTggjaW3mOaAdXW-D9jXWL6IvjYZWINIu3nIfUnDi0dsDmgbLmYDRjGgnPpSh3Y575MBGYMjTLHxVs=",
  "id": "rs_06415379f6f0f60e016ab49767a9dc87d0a9b5ce5f310f48a1",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtJdx_FYneMrKvL_996E40i-DT6l540ROpSkkazFm30eyCN5vsJ-SoJL7tRwb8v4h8AgEEByxAQz1bvmcgQXBrXWk2dkGV7DjK7MHpHPl4HBn-VO928DCz1SQabyGC5RWtsxor4mvKyLSNG-GzRh_ZlCsvErj4dc2_RIM6lMjppbTsYf0U7J_d_2rfCZFjbbMUYify85WvKK1gwZrr6waMYbBk1Zhl6088yTiLnPasjV29nyQ8T4VovCBnaEfnEz9Zhya-t5KqGo4UMPFQsjpvQZTWklxs49Opf-PAvq7WxDVqgSSUjxP-xyYlFC8pZyO9O-5PwDVOKqxyJKbZgj9W-H5sk1EHVgmraIN_4KoPGFPlqC04AtFczJmZFm3olpEpGRw4nvyZRGhk5Hz24TKM6JLuaR5riujYQg-m7BoWlyNRexYEvtP5gUzsCjPG5LiA4JY2EXoPwOd0rZTxF4WRuhCSwGw3tRasWkj_vEjEzHn1F67sU4evscg0lnTmGLnNROr6jVGmzrdbXC0TaPuZhmKKWNYr0fFAIGFBEmhgMFu4_cKTRr17aK8e7JDX0xUomd1h913UJLdFFPF28c17RjGNlNn6c7r5cGr47B75CNX3QOl6SvbdeVfornJyXbMQTgFlWbOKvpKMe7Xx8fNTiGwAVltXBO-42H1BHkai9MhPo8l70a-DhsYuhjb-CSY1_Rx6OorecQTjrgU7dMimYicnbfcFFo7InJmeolY_g48F2y1cfJosjkLucZEYyRvgORdSvnV1pYnaVFJOP5F2NX5OmKKQbC4M3X9s25mZ-fpdzbV1XVa3-moMXbe1meiY_USpLmTFwOc7DMpkQY6YpdgiHKs9i-KIPIz6OJVigB4PQ8IrIB0kEpczzdqsqUAIvaEHW5K7k0o5xt98XW9deCF0b0R1m4fzoosuV95h2OXi7VkltjuaR5zJltG7_bY60QoDQ2_4wh0PXOM_DlmXOZFj3ZVfxfEM-9hwka8uTX1cuL7yy-xtUg99lcrPUjg4kwAoskeYX20QD-ebC8IUCGYb0KOl9S9LEJis3KfN0mV6NjxawRuzchahiJ3x1iDLxvCsCcxnqOrkwaADURj5QNnJaDyFURxc7MLZOCB4tP0SCzlbWEtkDkh9LIdzWIpRe806uLQ8V7dBNusnk8I-G8I752Y1u9nZlR1rLPGYACO1LZi9SKaVq03kUy0dKRjO6SIfucPCQPWD44aFe5cIVkLeLw6GIbqcsJ_St2jYQZvjsy444-pwvHtH8zkz1ik05Tc6cN-RjXTde0AOT9ROpQVVw==",
  "id": "rs_06415379f6f0f60e016ab4976f8d6487d085929142444c5d4e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.41,\"right_y\":0.24,\"right_z\":0.21,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0,\"right_gripper\":0},\"note\":\"The cream bowl is securely lifted. I’ll move it left and slightly forward over the two-bowl stack, keeping the jaws closed.\"}",
  "call_id": "call_SopmOJFqCoeuJh6TFaq576IE",
  "id": "fc_06415379f6f0f60e016ab4976ff25c87d0886f8c9918b26e92",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SopmOJFqCoeuJh6TFaq576IE",
  "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]: [-0.0589, 0.8314, 0.654, -0.4606, -0.1028, -0.0784, 0.9988, 0.7322, 1.6791, 1.2961, -0.3889, 0.5644, 0.4095, 0.0383]\nstate[eef_state]: left_x=0.2922 left_y=0.0045 left_z=0.1767 left_yaw=0.0567 left_pitch=-0.0654 left_roll=0.0066 left_gripper=0.9988 right_x=0.3995 right_y=0.2369 right_z=0.1857 right_yaw=0.043 right_pitch=-0.0614 right_roll=-0.0484 right_gripper=0.0383\nstate[joint_eff]: [-0.0342, -1.7436, 6.9675, 1.6825, -0.1001, -0.0366, -0.0122, -0.1573, -9.3744, 9.6205, 1.536, 0.4127, 0.2369, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebecb902aa94baccdabd41ba8061ba6e18f4e722026611df6cb767e01b9907e1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e86b86173015f936b56b26043c7ea8bac64ec6db85ae49ba2503cf5cb92f1fd1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38714518b48cf1433f7127520f4740ac60f334d208695a0d2efb0f13eca7e92c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /responses · status 200 · 4.438 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 104 changed as sent

message 112 changed as sent

message 117 changed as sent

message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0589, 0.8223, 0.654, -0.4511, -0.0998, -0.0788, 0.9988, 0.5514, 1.6333, 0.4976, 0.3767, 0.4755, 0.3241, 0.7006]\nstate[eef_state]: left_x=0.293 left_y=0.0039 left_z=0.181 left_yaw=0.0543 left_pitch=-0.047 left_roll=0.0024 left_gripper=0.9988 right_x=0.3463 right_y=0.1223 right_z=0.0225 right_yaw=-0.0232 right_pitch=-0.09 right_roll=-0.0593 right_gripper=0.7006\nstate[joint_eff]: [-0.0342, -1.5385, 7.0222, 1.9121, -0.1294, -0.1538, -0.0024, -0.1983, -6.106, 5.2171, 1.7265, 0.0269, 0.0269, 0.0464]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0589, 0.8276, 0.654, -0.4603, -0.1028, -0.0784, 0.9988, 0.5903, 1.2087, 0.7826, -0.2386, 0.4667, 0.3214, 0.0412]\nstate[eef_state]: left_x=0.292 left_y=0.0045 left_z=0.1778 left_yaw=0.0567 left_pitch=-0.0612 left_roll=0.0061 left_gripper=0.9988 right_x=0.3362 right_y=0.1339 right_z=0.1719 right_yaw=0.0267 right_pitch=-0.0137 right_roll=-0.0058 right_gripper=0.0412\nstate[joint_eff]: [-0.0342, -1.7846, 7.1043, 1.7363, -0.1099, -0.0415, -0.0122, 0.2667, -5.3402, 9.3197, 1.7411, 0.4078, 0.1441, 1.0379]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0589, 0.8314, 0.654, -0.4606, -0.1028, -0.0784, 0.9988, 0.7322, 1.6791, 1.2961, -0.3889, 0.5644, 0.4095, 0.0383]\nstate[eef_state]: left_x=0.2922 left_y=0.0045 left_z=0.1767 left_yaw=0.0567 left_pitch=-0.0654 left_roll=0.0066 left_gripper=0.9988 right_x=0.3995 right_y=0.2369 right_z=0.1857 right_yaw=0.043 right_pitch=-0.0614 right_roll=-0.0484 right_gripper=0.0383\nstate[joint_eff]: [-0.0342, -1.7436, 6.9675, 1.6825, -0.1001, -0.0366, -0.0122, -0.1573, -9.3744, 9.6205, 1.536, 0.4127, 0.2369, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebecb902aa94baccdabd41ba8061ba6e18f4e722026611df6cb767e01b9907e1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e86b86173015f936b56b26043c7ea8bac64ec6db85ae49ba2503cf5cb92f1fd1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38714518b48cf1433f7127520f4740ac60f334d208695a0d2efb0f13eca7e92c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJd2yHGZD-xe5LXqxytY1Qb6yjOgaxFN6KoLYmEsPywOzA9wA20KAmbGWXR6LQZTSeq4BCs391UcBrT1TLwmjDvEYu8wbjQFmrUUQwnSFjJS1X_oQTGv42868mr0eAgbqTKeC8hiV7iNu4cik_VwLdLlnpwMmVFhs4L-WXWOKMgBy-Jt4r9M-FGFhJr8C1PQAzL3ybUcHD2GcI0QbS06GSxWyJjvSzlij_m2QrNNJFDtQIEzXgSCRdKd6rM4HCNCNgzWIotrG1yzPPr-J61QLaKZSCnOZNa3c-WNCo88hFfiCd__TANKvFvGxPh_2meePg8rYIcbzfUJH65gBrbrrmq0nHmcLEooh2Rw1T-vQVVcJi0Gf-lM4piW8HEM5TJm3X09fyG_GNgRPKWZwI9SLb_q4UaHYUT8KI3zktKIJTA91vP0pWrSO1acEcGOl7CkU26LKTEH-HULxzaJRigTNae_pKNzovmH0wEiTcHRlYTE3bXQl2uV-4hWtT0cGpaY6dCG1c1Py2BGtc_yHEaPhOcqBnn_aKicZtjSAedF2589hXZLXyJDAEZoduAw2JtLXczLxa1KgpRtNOuCYGmCDkncrhrZXQEwRSQXjHPw_j7bsemwYxYRoOdHPN9MuIRiCK_9o-GRj0Yp3yttLHwyVBGhz2bqTKK7wT175TK-LOVXR5AetEwyzQeYPlCGP80R7nZkXtZmqZj1SiYHJaRi9brsfDShiN040MrNQMhQLThd579xHI-zkjmKf45dqkXDuREv4PTuTETvTp6HzYSC8p1nTyS00aD1nBVJHrFNgMUy0iDot1wtZW9SQSOUvb5kKHS-AdRro-KX2I-90RIB22fAIzYAq8j5iQuLGk4zys6umy7E5-95oMp3UeS-PH2grFTrhWIdJa4ljPiaaa1dHpLr0ulhOv7Z2hCH72J8so7prsfJp97tnKMN-Dpkh8rXqWynWqQRMXn2L6z0wzm55xKX5yXtiBTWxanjJ1Z5BwoELdtEBh8CYMdaW9DpVOukUO2Jnr0eKxIP_B6N9pjhIPtix6IPRgydOwG0TK1mT5swspTsMaeSLFp7hxENF1ke5_CXr4mlxIPaXs_7RfBats9PIyRiYejVtlOV-pLWlwOk37uTOezr_V3ElSkyeY2H2qWAm5UiZlCjQOU7ao7cii3Jyl84lqkvO2DfKYg4EyKn-73gTXTNNTSn3qFsSYns9LNgQp6hDIit0ExrLkewa8gEg6eWAmbG3_b28olA8L5juzzIGZ15xlPkLNpOoFoyDPEPO3DYfWbBHekchsHYeCQkhpW4xmintzbh0jG1zccpEgp230Wipp-QCfVclvf0n29YtJadMGA-73xCMJc9qkqLr4NPTF0n4l9OJOqyvFMAVH2PWZ6pDfzGZvyC0tFqcSHO_WwFqMG5AwG33r4STtX0FyYBLHOCRbX0l2I1j1RaDdr0niBQSIxfmC3r3yOKiuUJJGFs7I4CPmC4a7eQmUeXgVEhYp2jrljAwYvfKJZF09_zGkUUbEaDF6LxcQz-dAidDILqxPV4IwKrsl14qgclHNsK9vNzZQLepDUBSkr9Yaw=",
  "id": "rs_06415379f6f0f60e016ab49773720487d0998b2a597add8eb8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.41,\"right_y\":0.255,\"right_z\":0.12,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0,\"right_gripper\":0},\"note\":\"The held bowl is above the stack and slightly to its right. I’ll make a small leftward adjustment while lowering toward the top bowl.\"}",
  "call_id": "call_tIS6ReDafa4sELOmg3avrg3h",
  "id": "fc_06415379f6f0f60e016ab49775186487d0bd2259b0a29aa4a3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tIS6ReDafa4sELOmg3avrg3h",
  "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]: [-0.0589, 0.8326, 0.654, -0.4606, -0.1024, -0.0784, 0.9988, 0.7593, 1.8133, 1.1427, -0.1596, 0.5949, 0.4458, 0.0383]\nstate[eef_state]: left_x=0.2923 left_y=0.0044 left_z=0.1763 left_yaw=0.0564 left_pitch=-0.0665 left_roll=0.0065 left_gripper=0.9988 right_x=0.3984 right_y=0.2466 right_z=0.1034 right_yaw=0.0252 right_pitch=-0.0901 right_roll=-0.0742 right_gripper=0.0383\nstate[joint_eff]: [-0.0342, -1.5385, 6.9675, 1.6874, -0.0757, -0.0317, -0.0122, 0.3487, -9.7162, 6.9128, 1.8291, 0.4713, 0.1099, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be673456c8e7dfe3407852be1018ac4e74fd20301396e28bde4130c35ca458cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdcc90f856d04fcecc64aea53d6ea3935de4d36b5bdd8132e557ef353618e309",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:114468a0b416fa747bc86db340d37f8d5e61bd10a8aa80ca2832db81d099f7e4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /responses · status 200 · 4.581 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 108 changed as sent

message 117 changed as sent

message 121 changed as sent

message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0589, 0.823, 0.654, -0.4553, -0.1024, -0.0784, 0.9988, 0.543, 1.6482, 0.4229, 0.6254, 0.4435, 0.3172, 0.0907]\nstate[eef_state]: left_x=0.2924 left_y=0.0044 left_z=0.18 left_yaw=0.0563 left_pitch=-0.0518 left_roll=0.0048 left_gripper=0.9988 right_x=0.3537 right_y=0.1291 right_z=0.0355 right_yaw=0.0 right_pitch=0.0342 right_roll=0.0364 right_gripper=0.0907\nstate[joint_eff]: [-0.0615, -1.4291, 6.9675, 1.7363, -0.0806, -0.0806, -0.0122, -0.3077, -4.3282, 3.5077, 1.3309, 0.1685, -0.2125, 0.5153]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0589, 0.8314, 0.654, -0.4606, -0.1028, -0.0784, 0.9988, 0.7322, 1.6791, 1.2961, -0.3889, 0.5644, 0.4095, 0.0383]\nstate[eef_state]: left_x=0.2922 left_y=0.0045 left_z=0.1767 left_yaw=0.0567 left_pitch=-0.0654 left_roll=0.0066 left_gripper=0.9988 right_x=0.3995 right_y=0.2369 right_z=0.1857 right_yaw=0.043 right_pitch=-0.0614 right_roll=-0.0484 right_gripper=0.0383\nstate[joint_eff]: [-0.0342, -1.7436, 6.9675, 1.6825, -0.1001, -0.0366, -0.0122, -0.1573, -9.3744, 9.6205, 1.536, 0.4127, 0.2369, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0589, 0.8326, 0.654, -0.4606, -0.1024, -0.0784, 0.9988, 0.7593, 1.8133, 1.1427, -0.1596, 0.5949, 0.4458, 0.0383]\nstate[eef_state]: left_x=0.2923 left_y=0.0044 left_z=0.1763 left_yaw=0.0564 left_pitch=-0.0665 left_roll=0.0065 left_gripper=0.9988 right_x=0.3984 right_y=0.2466 right_z=0.1034 right_yaw=0.0252 right_pitch=-0.0901 right_roll=-0.0742 right_gripper=0.0383\nstate[joint_eff]: [-0.0342, -1.5385, 6.9675, 1.6874, -0.0757, -0.0317, -0.0122, 0.3487, -9.7162, 6.9128, 1.8291, 0.4713, 0.1099, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be673456c8e7dfe3407852be1018ac4e74fd20301396e28bde4130c35ca458cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdcc90f856d04fcecc64aea53d6ea3935de4d36b5bdd8132e557ef353618e309",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:114468a0b416fa747bc86db340d37f8d5e61bd10a8aa80ca2832db81d099f7e4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJd7-t_nWvJhi_fiL8E6c60q-Jb7Eowvmi9i5sSkxuGNwTU6sH_EfnZ5nes3OeqhjZk5g-RZeQAdDeoOq4ChM-HaTppMtKpzpDfODmqV-YZTdEsBY1uuxHxVgUkjfSIrExTBH4twaCwD-JOQci7ENpsLbTIA1a2zYjNM-ALIyH5Z7b6RRwcUzFUrJ0gS3roG14TmlwZfyZ8JUItFxf_RWTBEaGtOFwvHpWyOtiOzPsKSrsonj52-lbvRVbJPT1YRztO7Uq2BopGFvw-dLXuZclKby5A8hC2gSJ3G4_Gz3ubcaayor1nJnHOboLDW-h7lkcfgp1H9lcYMdN3bubLkkj4Jp2F_fpdqJSDNMedt-f5wV23NcEY-btc3xipDn0qSzeBoGwFJgfJv3ZwNQXI9MdrsHBf-_G87WxAbBRQwp7pYjXXhAnypL1svM0bivZza62-mwEbRNJ8HINdtUi1Q3fvUuvxf7nPubMBYTDfx6I3RLACCW2DyU2gUcQh7NyoVUh_QWutvNUcu_Hp-UPISf7NWVpbM8TRuxab61rCM5ItTFbzr-PmY0B_x-xi3x-VAlh3ZZ5PrLtFTc9LI_b2XCpI2LXsJKHp2aSoL3C4mhEzujbk3o0YJLBQgVjMBBzJtR5m1yZVkeLBnbfDP2KU8JP8iqtq70yanRtiKLrALA3VFaIAOWFqIvZOimUikYb48AgBvaIxm7TvMv7Q8DjuUbqDFeWTlVEihZNk0Po-RlTbvarLGyDYHikBvWcOHDW6EF1gmmiw1tqeJ5OLc4N7WiM0iboKzGbZvATlv8gqJxVBcBPMlk6plAfrOXSneXOMbFNTOQ6dkrXcmnKuZS8X3z-uP5dmu3gXUPuXgJXmAKxEUOCvZXc9ztALzqczTxqoOlUrwjYIkGXZQl2TRyw185xobIfC6P3m9wpHGJS2z7kxQDqwu073Sk3QnbTEqtXG0TjJJKufkJFGN9vpFBHLmhBpFQztTrBRQuARKcTPO7-eVX4Ds3fklJ-qaAxAJ4fTGJIa-JMJuY2H2C9NrCmtFt5qZ-q7RUYUFW4RVhsIEd3z1PF8kU6dRP9JXyi-0ENhnVNjcdHdCFqLjN2NlFq-eUTHDQi_yABqqoHlE7Al37qnzkJ9nvpV6RzHQXKnOPwuBkpzHbnUCB6_ufEeAvQBimZXEEkjkXF9F_TnjCqWtKCztB4RJWTRQ_hfkJyaKmSIotziyyKVQYmC0y2vPnalSnPt9F8yuelrMlIjPSFAaDHwhGg7j59250ppNmyp9tMEl9XenK2b5D9euIdrwB6oU0UPMLi0vMHX6Yuru1LuqeSNEEONtc7UtzLrmSI9ICEl7DG_SSLjjY6sJNrIMbdA6T8rezce6AkglnXsI7LTid7uPXbrGW0UDA-QqrYaYX1HLebENh1ib-RGlqVPE16dtdD0kFZHra7N-GNahaWehFeC_ux6rasY60tnBBPpS3OFVbuFyL1hL18TAjcFEi2Q2WKThA_27wy2lt5bvO_Vg5QpCuVb-q4plj6HLxDCrEn-8tvhLxNTJZwWsN9toObBX8vLLCRGDCdSDvIRA7DpbHgsslQ3WRESpmLh__pW8q-6GIcjZME_odrGVg-Nis17WAtkMGYfHMpNlMbVIPjVxCmeRsZI=",
  "id": "rs_06415379f6f0f60e016ab497781ce887d093f62b668845401e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.265,\"right_z\":0.075,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0,\"right_gripper\":0},\"note\":\"The cream bowl is nearly aligned, but sits a little forward of the stack. I’ll draw it back slightly and lower it gently into the top bowl.\"}",
  "call_id": "call_SogPFjlukgAoeELAWKBK1cnW",
  "id": "fc_06415379f6f0f60e016ab4977a1bb087d08229aa5ee9795807",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SogPFjlukgAoeELAWKBK1cnW",
  "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]: [-0.0589, 0.8326, 0.654, -0.4606, -0.1024, -0.0784, 0.9988, 0.7593, 1.8236, 1.1301, -0.0925, 0.5949, 0.453, 0.0383]\nstate[eef_state]: left_x=0.2923 left_y=0.0044 left_z=0.1763 left_yaw=0.0564 left_pitch=-0.0665 left_roll=0.0065 left_gripper=0.9988 right_x=0.4035 right_y=0.2515 right_z=0.1042 right_yaw=0.0234 right_pitch=-0.057 right_roll=-0.0386 right_gripper=0.0383\nstate[joint_eff]: [-0.0889, -1.3333, 7.3368, 1.6728, -0.0952, -0.0513, -0.0122, 0.212, -9.935, 7.1179, 1.8828, 0.4518, 0.1441, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66492c3352b19d15cbe31355c964c2ea87c0e0ba7cc60f0f8a51aa2d8893c6ec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f07e9d33b33714f011ac1715efa019692a0ecffb48f4dc67cc14c4930fa55a2d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e820c6896afabfb3bfa9ffcc7b723c8e5400ed704bdd788ec82e2625b2b2764d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /responses · status 200 · 3.019 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 112 changed as sent

message 121 changed as sent

message 125 changed as sent

message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0589, 0.8276, 0.654, -0.4603, -0.1028, -0.0784, 0.9988, 0.5903, 1.2087, 0.7826, -0.2386, 0.4667, 0.3214, 0.0412]\nstate[eef_state]: left_x=0.292 left_y=0.0045 left_z=0.1778 left_yaw=0.0567 left_pitch=-0.0612 left_roll=0.0061 left_gripper=0.9988 right_x=0.3362 right_y=0.1339 right_z=0.1719 right_yaw=0.0267 right_pitch=-0.0137 right_roll=-0.0058 right_gripper=0.0412\nstate[joint_eff]: [-0.0342, -1.7846, 7.1043, 1.7363, -0.1099, -0.0415, -0.0122, 0.2667, -5.3402, 9.3197, 1.7411, 0.4078, 0.1441, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0589, 0.8326, 0.654, -0.4606, -0.1024, -0.0784, 0.9988, 0.7593, 1.8133, 1.1427, -0.1596, 0.5949, 0.4458, 0.0383]\nstate[eef_state]: left_x=0.2923 left_y=0.0044 left_z=0.1763 left_yaw=0.0564 left_pitch=-0.0665 left_roll=0.0065 left_gripper=0.9988 right_x=0.3984 right_y=0.2466 right_z=0.1034 right_yaw=0.0252 right_pitch=-0.0901 right_roll=-0.0742 right_gripper=0.0383\nstate[joint_eff]: [-0.0342, -1.5385, 6.9675, 1.6874, -0.0757, -0.0317, -0.0122, 0.3487, -9.7162, 6.9128, 1.8291, 0.4713, 0.1099, 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 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0589, 0.8326, 0.654, -0.4606, -0.1024, -0.0784, 0.9988, 0.7593, 1.8236, 1.1301, -0.0925, 0.5949, 0.453, 0.0383]\nstate[eef_state]: left_x=0.2923 left_y=0.0044 left_z=0.1763 left_yaw=0.0564 left_pitch=-0.0665 left_roll=0.0065 left_gripper=0.9988 right_x=0.4035 right_y=0.2515 right_z=0.1042 right_yaw=0.0234 right_pitch=-0.057 right_roll=-0.0386 right_gripper=0.0383\nstate[joint_eff]: [-0.0889, -1.3333, 7.3368, 1.6728, -0.0952, -0.0513, -0.0122, 0.212, -9.935, 7.1179, 1.8828, 0.4518, 0.1441, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66492c3352b19d15cbe31355c964c2ea87c0e0ba7cc60f0f8a51aa2d8893c6ec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f07e9d33b33714f011ac1715efa019692a0ecffb48f4dc67cc14c4930fa55a2d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e820c6896afabfb3bfa9ffcc7b723c8e5400ed704bdd788ec82e2625b2b2764d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJeAQDcbeSmNyvzOHJbLTgW6RXlBJVQApWmxIspCOvvAyRDFjWEewlGRulSE1HhKrrDHsURzDMSvOkv8OwVRR-hEd2cDFfZ15psQBZOT-MgcnqHQjXr_F80KidpulzKnxtvjdrWyxfPPSsQdYO0jpYYsN_B8409wW2Z_EOBwS6ZUq_7B5oMcpYDqgc4X2ZL0J9TWb6HHrYGGVgW7KJQT3cz5q-R9FKJpPrHJxdxSY-JHeqh_GbDsn4uyzk8-_7-mVlr40NgsWUAgCg9uw7A6Gffw35UuNkp1SxtXeARZimSrjeOBtMJNvQ9PpXSmVOB9QLnDMMvtStwi4IAXB4SZOZTFX3VGjiNH7hz195PtHwW3aqbXi5RU6pJn4kZJTDoS7X5_Y6ugXVxo3XByee3hZq4E06r9V_cUtXRikiKgfNGZJNBhjMneIBEXmhjOSU2f_Xl-FURdzJj4mL1sHoFr8uklsAlRDGB7Fe0Ip2MoND8pRL1h1yrV9USHdocNXo_pQhm6hUFLYwWET71KmBZWpy6d2vafGz4UeaaRurGrpP7W8JMs61jzrSA8zgf1jzVZJTDTa3KbB0LeOQR-Edo7uZfci-tgHDuE40LT0nEBR3D3GsVc8efxv9pA9CkVzMjqS0AhEpmS_o09qCS5OmUfUQohkIaVMk7calLImrZci7seVnj0MNhInoLUdyYuqE2Z5fzNbnJTudD9w74ZvaU97mmixpo69Zz5Vjb7LpgJfoneusC-UVUsrHVX-q3S_ablDcZimQfCqkNACo9znhYpSZK7TU4rN_EWp63DrkQ4ynouu5VL_YB1Gev-_rwcaI72HiELEjWaRo9fCSlYc0B2i0n6h4lgBzmZ89EJuT5mq2uJvYCN_fFoA8SadYzv8x97JCxylk92P_cwVL-TqXyNaT87hoat2ZFyHBeNs1VrzpogwUOyGALyQ8Q8jFfgWLQmDlWspf_J1KR5tNIr_juhmtdsVf7ElzPpfg6zHy8_CyaE3iK08x7_Azz15oVYan6x7Twm5YaGuHxI-9FDd3ia__z6OLWglx1ULtFvXrQPKnqQY25DepYwodin9kSiscsisACJisuqYov9BO9NaSpqqnMlLaQ-GuU8Y7Ui8PyhKQLx9NaK_L1jWKBND-_jtKa-9wYzYq8wn4ypx611ACIt7XE1mIEes3dgGiAJP0gRpVFzmlHIp5vzaqX7eGXg1oMkRh8IaJ2CXDsHCC3F4j26_pO610suHIKialpIpyx5UyzDoitofZ6L6jAknkMVvBjlFpHxEWuo6Dte2fcZzDC5D1bLa6hENe4bMyYkZ3UBwZWFWjWamlwAd-d99PNhZ7XG7avBa9ZZQ6gin8co5JnvTc5nR_HcSvu2j7-7FNMj1Rn-eNYaGaPjID5JAD0dqxsIU2bntMgAjO5BMAvI_5jzVjigl5wIdDI7rhbyypl-SYPKjyd6noHTBmVW49x8t9eQcXn3A5ztViTkPcVKPFwAaANgL8W4NE8A9Byte4rE9fHr71yysh_pgtznEq1deOiBQeTHSxSSzR2bTugpv7XR-sopURWm1zwQBSqWLiGJxxZd6nI4-kf0nG3DpTdaCyFaMsJ8P4EZhTdLR1F5vGHkShTjadoGf6wvrUqf7R9UTTGIUFFMqWNnKbT5P2__b6BpSrYkXVpGHqmLVkBFvTPTV-u5O-TRROkKKHwPX4Crksei_NU=",
  "id": "rs_06415379f6f0f60e016ab4977ce87087d08488601a9e6f2c5a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.7,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The bowl is supported and the arm has stopped descending. I’ll open the gripper so it can settle fully onto the stack.\"}",
  "call_id": "call_ZngJVvIkwAgTZwuoXYnhQPhj",
  "id": "fc_06415379f6f0f60e016ab4977e983087d0925f4883d3a479d5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZngJVvIkwAgTZwuoXYnhQPhj",
  "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]: [-0.0589, 0.8326, 0.654, -0.4606, -0.1024, -0.0784, 0.9988, 0.7593, 1.8236, 1.1301, -0.0799, 0.5957, 0.453, 0.6958]\nstate[eef_state]: left_x=0.2923 left_y=0.0044 left_z=0.1763 left_yaw=0.0564 left_pitch=-0.0665 left_roll=0.0065 left_gripper=0.9988 right_x=0.4049 right_y=0.2527 right_z=0.1062 right_yaw=0.0233 right_pitch=-0.0473 right_roll=-0.0306 right_gripper=0.6958\nstate[joint_eff]: [-0.0889, -1.4154, 6.9949, 1.6484, -0.0708, -0.0415, -0.0122, 0.1573, -9.812, 7.1863, 1.663, 0.4469, 0.0952, -0.1294]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24337bc0c676c5b60dbe620cb507b1696e4d7f46cc10eb4ec86f6c9df94980ae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a202054b10fba016a64063901e98d791437f82c82e0a33053a0a1e66097d660a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f01a301b9140547d3d082b6bceccbaf85f054038a1f670d8bf18b81ac10e879",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /responses · status 200 · 3.373 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 117 changed as sent

message 125 changed as sent

message 129 changed as sent

message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0589, 0.8314, 0.654, -0.4606, -0.1028, -0.0784, 0.9988, 0.7322, 1.6791, 1.2961, -0.3889, 0.5644, 0.4095, 0.0383]\nstate[eef_state]: left_x=0.2922 left_y=0.0045 left_z=0.1767 left_yaw=0.0567 left_pitch=-0.0654 left_roll=0.0066 left_gripper=0.9988 right_x=0.3995 right_y=0.2369 right_z=0.1857 right_yaw=0.043 right_pitch=-0.0614 right_roll=-0.0484 right_gripper=0.0383\nstate[joint_eff]: [-0.0342, -1.7436, 6.9675, 1.6825, -0.1001, -0.0366, -0.0122, -0.1573, -9.3744, 9.6205, 1.536, 0.4127, 0.2369, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0589, 0.8326, 0.654, -0.4606, -0.1024, -0.0784, 0.9988, 0.7593, 1.8236, 1.1301, -0.0925, 0.5949, 0.453, 0.0383]\nstate[eef_state]: left_x=0.2923 left_y=0.0044 left_z=0.1763 left_yaw=0.0564 left_pitch=-0.0665 left_roll=0.0065 left_gripper=0.9988 right_x=0.4035 right_y=0.2515 right_z=0.1042 right_yaw=0.0234 right_pitch=-0.057 right_roll=-0.0386 right_gripper=0.0383\nstate[joint_eff]: [-0.0889, -1.3333, 7.3368, 1.6728, -0.0952, -0.0513, -0.0122, 0.212, -9.935, 7.1179, 1.8828, 0.4518, 0.1441, 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 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0589, 0.8326, 0.654, -0.4606, -0.1024, -0.0784, 0.9988, 0.7593, 1.8236, 1.1301, -0.0799, 0.5957, 0.453, 0.6958]\nstate[eef_state]: left_x=0.2923 left_y=0.0044 left_z=0.1763 left_yaw=0.0564 left_pitch=-0.0665 left_roll=0.0065 left_gripper=0.9988 right_x=0.4049 right_y=0.2527 right_z=0.1062 right_yaw=0.0233 right_pitch=-0.0473 right_roll=-0.0306 right_gripper=0.6958\nstate[joint_eff]: [-0.0889, -1.4154, 6.9949, 1.6484, -0.0708, -0.0415, -0.0122, 0.1573, -9.812, 7.1863, 1.663, 0.4469, 0.0952, -0.1294]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24337bc0c676c5b60dbe620cb507b1696e4d7f46cc10eb4ec86f6c9df94980ae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a202054b10fba016a64063901e98d791437f82c82e0a33053a0a1e66097d660a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f01a301b9140547d3d082b6bceccbaf85f054038a1f670d8bf18b81ac10e879",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0,\"right_z\":0.2,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0,\"right_gripper\":1,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.2,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The cream bowl has settled downward after release. I’ll park both arms away from the bowls so I can verify the completed stack.\"}",
  "call_id": "call_RDBSOZinIHIXiiR3fWJOPjBU",
  "id": "fc_06415379f6f0f60e016ab497824d6087d0ab4e1a1d1c4586e8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RDBSOZinIHIXiiR3fWJOPjBU",
  "output": [
    {
      "text": "executing move_to over 22 steps (2.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0372, 0.815, 0.654, -0.4671, -0.0483, -0.0513, 0.9988, 0.0059, 0.8192, 0.672, -0.4232, 0.0566, 0.0212, 0.9971]\nstate[eef_state]: left_x=0.2902 left_y=0.0013 left_z=0.1794 left_yaw=0.0178 left_pitch=-0.0584 left_roll=-0.0045 left_gripper=0.9988 right_x=0.2985 right_y=-0.0046 right_z=0.1954 right_yaw=-0.0569 right_pitch=0.0002 right_roll=-0.0038 right_gripper=0.9971\nstate[joint_eff]: [0.2667, -2.2906, 9.6205, 1.873, 0.1099, 0.149, -0.0122, -0.212, -1.6068, 8.1299, 1.79, -0.1587, -0.1001, -0.3004]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75fea55b27d9d0bfd23ffb08366f24874b48f9395e456e4a7e8e575f526d7c00",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97902b441d9f4d3d52baac1f2e692514edf24c815f8b37494d1746971db306af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d25c3552004ba1c48f7c4675e54d36ffda641e26ec15acc3332786252a2e29f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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