adhoc

completed
2026-09-24T03:31:33.412284+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (73 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
228.3 s
total steps
255
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

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteI see three upright bowls in a row. I’ll approach the outer rim of the rightmost bowl so I can lift it and nest it into the middle bowl.
move_to
right_x0.4100right_y0.1300right_z0.1600right_gripper1.0000left_x0.2950left_y0.0000left_z0.1800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.02, 0.7944, 0.6037, -0.3817, -0.0227, -0.0406, 0.9996, -0.0181, 0.7925, 0.6025, -0.3752, -0.0101, -0.033, 0.9981] state[eef_state]: left_x=0.2946 left_y=0.0017 left_z=0.1794 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2951 right_y=0.0 right_z=0.1807 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9981 state[joint_eff]: [-0.5675, -1.5385, 10.1128, 1.7753, -0.0317, 0.2808, -0.0611, -0.7043, -1.3744, 10.1812, 1.8486, -0.1587, 0.1734, -0.2076] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.41,"right_y":0.13,"right_z":0.16,"right_gripper":1,"left_x":0.295,"left_y":0,"left_z":0.18},"note":"I see three upright bowls in a row. I’ll approach the outer rim of the rightmost bowl so I can lift it and nest it into the middle bowl."})
tool
executing move_to over 11 steps (1.1s)
step 11
top_cam
camera top_cam step 11
left_cam
camera left_cam step 11
right_cam
camera right_cam step 11
assistant
agent noteThe pink bowl is beneath the right gripper, with its outer rim just to the right of the jaw centerline. I’ll shift slightly outward and lower toward that rim.
move_to
right_x0.4000right_y0.1050right_z0.0750
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0265, 0.7994, 0.6075, -0.3889, -0.0265, -0.0494, 0.9995, 0.4461, 1.4635, 0.8669, -0.1062, 0.3412, 0.1951, 0.9981] state[eef_state]: left_x=0.2944 left_y=0.0005 left_z=0.1783 left_yaw=0.0015 left_pitch=-0.0083 left_roll=-0.0051 left_gripper=0.9995 right_x=0.3927 right_y=0.1263 right_z=0.1337 right_yaw=0.046 right_pitch=-0.0908 right_roll=-0.0429 right_gripper=0.9981 state[joint_eff]: [-0.5812, -1.4701, 6.9812, 1.8095, -0.0855, -0.0415, -0.0171, 0.1983, -7.1316, 9.5111, 1.8291, 0.3736, 0.232, -0.2076] camera 'top_cam' (step 11): [image omitted: streamed camera frame] camera 'left_cam' (step 11): [image omitted: streamed camera frame] camera 'right_cam' (step 11): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.4,"right_y":0.105,"right_z":0.075},"note":"The pink bowl is beneath the right gripper, with its outer rim just to the right of the jaw centerline. I’ll shift slightly outward and lower toward that rim."})
tool
executing move_to over 4 steps (0.4s)
step 15
top_cam
camera top_cam step 15
left_cam
camera left_cam step 15
right_cam
camera right_cam step 15
assistant
agent noteThe open jaws appear to straddle the bowl’s outer wall. I’ll advance a little and lower the fingertips below the lip before closing.
move_to
right_x0.4150right_y0.1000right_z0.0280
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0265, 0.8005, 0.6075, -0.3893, -0.0265, -0.0494, 0.9995, 0.3702, 1.5692, 0.7139, 0.0834, 0.3012, 0.1574, 0.998] state[eef_state]: left_x=0.2944 left_y=0.0005 left_z=0.1779 left_yaw=0.0015 left_pitch=-0.0098 left_roll=-0.005 left_gripper=0.9995 right_x=0.3875 right_y=0.0981 right_z=0.064 right_yaw=0.0201 right_pitch=-0.1662 right_roll=-0.0724 right_gripper=0.998 state[joint_eff]: [-0.2393, -1.2513, 7.2684, 1.7021, -0.0806, -0.0757, -0.0122, -0.0615, -7.1179, 6.8581, 1.9219, -0.0513, -0.0317, -0.022] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 15): [image omitted: streamed camera frame] camera 'left_cam' (step 15): [image omitted: streamed camera frame] camera 'right_cam' (step 15): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.415,"right_y":0.10,"right_z":0.028},"note":"The open jaws appear to straddle the bowl’s outer wall. I’ll advance a little and lower the fingertips below the lip before closing."})
tool
executing move_to over 3 steps (0.3s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
agent noteThe fingertips are at the bowl’s wall, and the descent has slowed above the target height. I’ll gently close on the rim, then check the grasp with a short lift.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0261, 0.8005, 0.6075, -0.3897, -0.0261, -0.0494, 0.9995, 0.3641, 1.6352, 0.696, 0.1612, 0.2806, 0.1379, 0.998] state[eef_state]: left_x=0.2943 left_y=0.0005 left_z=0.1778 left_yaw=0.0015 left_pitch=-0.0102 left_roll=-0.0052 left_gripper=0.9995 right_x=0.3908 right_y=0.1004 right_z=0.045 right_yaw=0.0413 right_pitch=-0.1776 right_roll=-0.0753 right_gripper=0.998 state[joint_eff]: [-0.1162, -1.2786, 7.0085, 1.7216, -0.0562, -0.0611, -0.0122, -0.3487, -6.9949, 6.5436, 1.6337, 0.3004, 0.0513, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The fingertips are at the bowl’s wall, and the descent has slowed above the target height. I’ll gently close on the rim, then check the grasp with a short lift."})
tool
executing move_to over 10 steps (1.0s)
step 28
top_cam
camera top_cam step 28
left_cam
camera left_cam step 28
right_cam
camera right_cam step 28
assistant
agent noteThe jaws closed empty and nudged the pink bowl slightly left. I’ll reopen, lift clear of the lip, and move farther forward and inward for a better rim alignment.
move_to
right_x0.4400right_y0.1250right_z0.0750right_pitch0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0261, 0.8005, 0.6075, -0.3893, -0.0261, -0.0494, 0.9995, 0.3645, 1.6375, 0.6956, 0.1589, 0.2798, 0.1356, 0.0093] state[eef_state]: left_x=0.2944 left_y=0.0005 left_z=0.1779 left_yaw=0.0015 left_pitch=-0.0098 left_roll=-0.0052 left_gripper=0.9995 right_x=0.3901 right_y=0.1005 right_z=0.0435 right_yaw=0.0432 right_pitch=-0.1826 right_roll=-0.078 right_gripper=0.0093 state[joint_eff]: [-0.0889, -1.306, 7.0632, 1.79, -0.0904, -0.0513, -0.0122, -0.1436, -7.159, 5.6684, 1.5556, 0.0806, -0.0171, 0.5543] camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.44,"right_y":0.125,"right_z":0.075,"right_pitch":0.15,"right_gripper":1},"note":"The jaws closed empty and nudged the pink bowl slightly left. I’ll reopen, lift clear of the lip, and move farther forward and inward for a better rim alignment."})
tool
executing move_to over 12 steps (1.2s)
step 40
top_cam
camera top_cam step 40
left_cam
camera left_cam step 40
right_cam
camera right_cam step 40
assistant
agent noteThe bowl is now farther forward, and its right wall lies between the open jaws. I’ll lower straight down to catch the wall beneath its lip.
move_to
right_x0.4400right_y0.1250right_z0.0250
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0261, 0.8005, 0.6075, -0.3897, -0.0261, -0.0494, 0.9995, 0.4114, 1.7889, 0.6735, 0.5831, 0.3599, 0.0681, 0.9961] state[eef_state]: left_x=0.2943 left_y=0.0005 left_z=0.1778 left_yaw=0.0015 left_pitch=-0.0102 left_roll=-0.0052 left_gripper=0.9995 right_x=0.4283 right_y=0.1229 right_z=0.0568 right_yaw=0.0647 right_pitch=0.0667 right_roll=-0.0973 right_gripper=0.9961 state[joint_eff]: [-0.0479, -1.2513, 7.0769, 1.7314, -0.0464, -0.0611, -0.0122, 0.2256, -7.4598, 6.3795, 2.1319, 0.2564, 0.0904, -0.0464] camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.44,"right_y":0.125,"right_z":0.025},"note":"The bowl is now farther forward, and its right wall lies between the open jaws. I’ll lower straight down to catch the wall beneath its lip."})
tool
executing move_to over 3 steps (0.3s)
step 43
top_cam
camera top_cam step 43
left_cam
camera left_cam step 43
right_cam
camera right_cam step 43
assistant
agent noteOne jaw is inside the pink bowl and the other is outside its right wall. I’ll close on that wall and check whether the gripper retains a nonzero opening.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0261, 0.8036, 0.6075, -0.3897, -0.0261, -0.0494, 0.9995, 0.408, 1.9205, 0.6788, 0.6849, 0.3531, 0.0589, 0.9966] state[eef_state]: left_x=0.2945 left_y=0.0005 left_z=0.177 left_yaw=0.0015 left_pitch=-0.0133 left_roll=-0.0051 left_gripper=0.9995 right_x=0.4329 right_y=0.1245 right_z=0.0231 right_yaw=0.0722 right_pitch=0.0419 right_roll=-0.1101 right_gripper=0.9966 state[joint_eff]: [-0.0068, -1.0188, 7.1863, 1.6972, -0.0464, -0.0366, -0.0122, -0.5949, -8.8957, 6.3111, 1.9219, 0.0952, 0.0122, 0.0415] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 43): [image omitted: streamed camera frame] camera 'left_cam' (step 43): [image omitted: streamed camera frame] camera 'right_cam' (step 43): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"One jaw is inside the pink bowl and the other is outside its right wall. I’ll close on that wall and check whether the gripper retains a nonzero opening."})
tool
executing move_to over 10 steps (1.0s)
step 53
top_cam
camera top_cam step 53
left_cam
camera left_cam step 53
right_cam
camera right_cam step 53
assistant
agent noteThe opening is very small, so the grasp is uncertain, although the bowl tilted as the jaws closed. I’ll make a short lift to see whether it follows before attempting to carry it.
move_to
right_x0.4480right_y0.1350right_z0.1050
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0261, 0.8043, 0.6075, -0.3897, -0.0265, -0.0494, 0.9995, 0.4068, 1.9331, 0.6968, 0.7841, 0.329, 0.0757, 0.0218] state[eef_state]: left_x=0.2946 left_y=0.0006 left_z=0.1767 left_yaw=0.0019 left_pitch=-0.014 left_roll=-0.0049 left_gripper=0.9995 right_x=0.4475 right_y=0.1346 right_z=0.0436 right_yaw=0.0791 right_pitch=0.1378 right_roll=-0.0499 right_gripper=0.0218 state[joint_eff]: [-0.0889, -1.1692, 7.1863, 1.6923, -0.0904, -0.0611, -0.0122, -0.253, -7.5556, 4.547, 1.2137, 0.3541, -0.0806, 0.9548] camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.448,"right_y":0.135,"right_z":0.105},"note":"The opening is very small, so the grasp is uncertain, although the bowl tilted as the jaws closed. I’ll make a short lift to see whether it follows before attempting to carry it."})
tool
executing move_to over 4 steps (0.4s)
step 57
top_cam
camera top_cam step 57
left_cam
camera left_cam step 57
right_cam
camera right_cam step 57
assistant
agent noteThe pink bowl remains against the closed jaws after the test lift. I’ll raise it to carrying height and move a short distance toward the middle bowl, checking that it follows.
move_to
right_x0.4450right_y0.1900right_z0.1800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0261, 0.8051, 0.6075, -0.3893, -0.0261, -0.0494, 0.9995, 0.4057, 1.7622, 0.7288, 0.5587, 0.3248, 0.07, 0.0262] state[eef_state]: left_x=0.2947 left_y=0.0005 left_z=0.1766 left_yaw=0.0015 left_pitch=-0.0144 left_roll=-0.0051 left_gripper=0.9995 right_x=0.4422 right_y=0.1325 right_z=0.083 right_yaw=0.0855 right_pitch=0.1156 right_roll=-0.0606 right_gripper=0.0262 state[joint_eff]: [-0.0068, -1.2239, 7.241, 1.7167, -0.0659, -0.0366, -0.0122, -0.1983, -9.3333, 8.4991, 1.9023, 0.0757, 0.0366, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.445,"right_y":0.19,"right_z":0.18},"note":"The pink bowl remains against the closed jaws after the test lift. I’ll raise it to carrying height and move a short distance toward the middle bowl, checking that it follows."})
tool
executing move_to over 7 steps (0.7s)
step 64
top_cam
camera top_cam step 64
left_cam
camera left_cam step 64
right_cam
camera right_cam step 64
assistant
agent noteThe pink bowl is clearly moving with the gripper. I’ll bring it over the middle bowl, accounting for the bowl hanging to the left of the rim grasp.
move_to
right_x0.4050right_y0.2500right_z0.1800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0261, 0.8051, 0.6075, -0.3893, -0.0261, -0.0494, 0.9995, 0.551, 1.6863, 1.0096, 0.123, 0.4171, 0.1135, 0.0283] state[eef_state]: left_x=0.2947 left_y=0.0005 left_z=0.1766 left_yaw=0.0015 left_pitch=-0.0144 left_roll=-0.0051 left_gripper=0.9995 right_x=0.4413 right_y=0.1914 right_z=0.146 right_yaw=0.1333 right_pitch=0.0604 right_roll=-0.0929 right_gripper=0.0283 state[joint_eff]: [-0.0889, -1.2923, 7.0359, 1.6874, -0.0659, -0.0659, -0.0122, 0.2393, -11.1795, 9.5795, 1.956, 0.486, 0.2857, 1.0281] camera 'top_cam' (step 64): [image omitted: streamed camera frame] camera 'left_cam' (step 64): [image omitted: streamed camera frame] camera 'right_cam' (step 64): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.405,"right_y":0.25,"right_z":0.18},"note":"The pink bowl is clearly moving with the gripper. I’ll bring it over the middle bowl, accounting for the bowl hanging to the left of the rim grasp."})
tool
executing move_to over 5 steps (0.5s)
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 noteThe pink bowl is aligned above the middle bowl in the overhead view. I’ll lower it slowly until its base enters the bowl below.
move_to
right_x0.4050right_y0.2500right_z0.0850
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0261, 0.8051, 0.6075, -0.3893, -0.0261, -0.0494, 0.9995, 0.7403, 1.6737, 1.1015, -0.0734, 0.5278, 0.1936, 0.0283] state[eef_state]: left_x=0.2947 left_y=0.0005 left_z=0.1766 left_yaw=0.0015 left_pitch=-0.0144 left_roll=-0.0051 left_gripper=0.9995 right_x=0.3998 right_y=0.2496 right_z=0.1585 right_yaw=0.192 right_pitch=0.0131 right_roll=-0.1217 right_gripper=0.0283 state[joint_eff]: [-0.0342, -1.2923, 7.0769, 1.7851, -0.0562, -0.0757, -0.0122, 0.1573, -8.5949, 9.8803, 1.7656, 0.4176, 0.2759, 1.033] 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":{"right_x":0.405,"right_y":0.25,"right_z":0.085},"note":"The pink bowl is aligned above the middle bowl in the overhead view. I’ll lower it slowly until its base enters the bowl below."})
tool
executing move_to over 5 steps (0.5s)
step 74
top_cam
camera top_cam step 74
left_cam
camera left_cam step 74
right_cam
camera right_cam step 74
assistant
agent noteThe arm did not descend toward the last target. I’ll bring it slightly closer and tip the wrist forward to improve reach while keeping the pink bowl over the middle bowl.
move_to
right_x0.3900right_y0.2500right_z0.1050right_pitch0.3500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0261, 0.8055, 0.6075, -0.3893, -0.0261, -0.0494, 0.9995, 0.7517, 1.6737, 1.1194, -0.1173, 0.5652, 0.218, 0.0283] state[eef_state]: left_x=0.2947 left_y=0.0005 left_z=0.1765 left_yaw=0.0015 left_pitch=-0.0148 left_roll=-0.0051 left_gripper=0.9995 right_x=0.3973 right_y=0.2468 right_z=0.1604 right_yaw=0.1612 right_pitch=0.0054 right_roll=-0.1342 right_gripper=0.0283 state[joint_eff]: [-0.1709, -1.0188, 7.0359, 1.7021, -0.0122, -0.0562, -0.0122, -0.0752, -8.5675, 9.4017, 1.7851, 0.398, 0.1685, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.25,"right_z":0.105,"right_pitch":0.35},"note":"The arm did not descend toward the last target. I’ll bring it slightly closer and tip the wrist forward to improve reach while keeping the pink bowl over the middle bowl."})
tool
executing move_to over 12 steps (1.2s)
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 pink bowl is now directly over the middle bowl and close to seated. I’ll lower it a final small amount before releasing the rim.
move_to
right_x0.3900right_y0.2500right_z0.0600
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0261, 0.8051, 0.6075, -0.3893, -0.0261, -0.0494, 0.9995, 0.8059, 1.8694, 0.728, 0.7341, 0.6819, 0.0525, 0.0319] state[eef_state]: left_x=0.2947 left_y=0.0005 left_z=0.1766 left_yaw=0.0015 left_pitch=-0.0144 left_roll=-0.0051 left_gripper=0.9995 right_x=0.3857 right_y=0.2462 right_z=0.0847 right_yaw=0.1906 right_pitch=0.2423 right_roll=-0.1842 right_gripper=0.0319 state[joint_eff]: [-0.0479, -1.2923, 7.159, 1.7314, -0.0562, -0.0659, -0.0122, 0.5675, -8.3761, 4.9436, 1.9512, 0.3346, 0.0708, 0.6618] approver: 2 step(s) modified (delta_clamped ×2). 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":{"right_x":0.39,"right_y":0.25,"right_z":0.06},"note":"The pink bowl is now directly over the middle bowl and close to seated. I’ll lower it a final small amount before releasing the rim."})
tool
executing move_to over 2 steps (0.2s)
step 88
top_cam
camera top_cam step 88
left_cam
camera left_cam step 88
right_cam
camera right_cam step 88
assistant
agent noteThe descent stopped short with the bowls aligned, indicating the pink bowl is supported. I’ll release the rim so it can settle into the middle bowl.
move_to
right_gripper0.8000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0261, 0.8051, 0.6075, -0.3893, -0.0261, -0.0494, 0.9995, 0.8085, 1.935, 0.7204, 0.8516, 0.6907, 0.0303, 0.0323] state[eef_state]: left_x=0.2947 left_y=0.0005 left_z=0.1766 left_yaw=0.0015 left_pitch=-0.0144 left_roll=-0.0051 left_gripper=0.9995 right_x=0.3887 right_y=0.2493 right_z=0.077 right_yaw=0.1911 right_pitch=0.2781 right_roll=-0.1823 right_gripper=0.0323 state[joint_eff]: [0.0068, -1.1145, 7.1179, 1.6972, -0.0611, -0.0269, -0.0122, -0.6359, -7.4462, 6.0513, 1.5946, 0.0024, 0.1587, 0.7643] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 88): [image omitted: streamed camera frame] camera 'left_cam' (step 88): [image omitted: streamed camera frame] camera 'right_cam' (step 88): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.8},"note":"The descent stopped short with the bowls aligned, indicating the pink bowl is supported. I’ll release the rim so it can settle into the middle bowl."})
tool
executing move_to over 8 steps (0.8s)
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 pink bowl has settled after release. I’ll lift the empty gripper straight up to clear the stack and inspect it.
move_to
right_x0.3900right_y0.2500right_z0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0261, 0.8055, 0.6075, -0.3893, -0.0261, -0.0494, 0.9995, 0.807, 1.9579, 0.7193, 0.8417, 0.688, 0.0254, 0.7955] state[eef_state]: left_x=0.2947 left_y=0.0005 left_z=0.1765 left_yaw=0.0015 left_pitch=-0.0148 left_roll=-0.0051 left_gripper=0.9995 right_x=0.3876 right_y=0.2477 right_z=0.0648 right_yaw=0.1998 right_pitch=0.2492 right_roll=-0.2066 right_gripper=0.7955 state[joint_eff]: [-0.1709, -1.3333, 7.0359, 1.7363, -0.0562, -0.0611, -0.0122, -0.0615, -10.6051, 4.8342, 1.7656, 0.1343, 0.0024, -0.0659] 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":{"right_x":0.39,"right_y":0.25,"right_z":0.2},"note":"The pink bowl has settled after release. I’ll lift the empty gripper straight up to clear the stack and inspect it."})
tool
executing move_to over 9 steps (0.9s)
step 105
top_cam
camera top_cam step 105
left_cam
camera left_cam step 105
right_cam
camera right_cam step 105
assistant
agent noteThe pink bowl remains nested in the middle bowl. I’ll park the right arm and bring the left gripper above the outer rim of the remaining bowl.
move_to
right_x0.2950right_y0.0000right_z0.2000right_pitch0.0000right_gripper1.0000left_x0.4050left_y-0.1700left_z0.1500left_pitch0.2000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0261, 0.8062, 0.6075, -0.3893, -0.0261, -0.0494, 0.9995, 0.807, 1.6272, 0.915, 0.2871, 0.6731, 0.0216, 0.7961] state[eef_state]: left_x=0.2948 left_y=0.0005 left_z=0.1763 left_yaw=0.0015 left_pitch=-0.0156 left_roll=-0.0051 left_gripper=0.9995 right_x=0.3878 right_y=0.2509 right_z=0.1752 right_yaw=0.2181 right_pitch=0.2221 right_roll=-0.2216 right_gripper=0.7961 state[joint_eff]: [-0.0752, -1.1966, 7.1316, 1.7509, -0.0757, -0.0611, -0.0122, -0.1162, -9.3333, 9.2513, 1.9658, 0.2759, 0.0024, 0.0464] camera 'top_cam' (step 105): [image omitted: streamed camera frame] camera 'left_cam' (step 105): [image omitted: streamed camera frame] camera 'right_cam' (step 105): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.295,"right_y":0,"right_z":0.2,"right_pitch":0,"right_gripper":1,"left_x":0.405,"left_y":-0.17,"left_z":0.15,"left_pitch":0.2,"left_gripper":1},"note":"The pink bowl remains nested in the middle bowl. I’ll park the right arm and bring the left gripper above the outer rim of the remaining bowl."})
tool
executing move_to over 21 steps (2.1s)
step 126
top_cam
camera top_cam step 126
left_cam
camera left_cam step 126
right_cam
camera right_cam step 126
assistant
agent noteThe remaining bowl is under the left gripper, with the jaws positioned to straddle its left wall. I’ll lower toward the rim while moving slightly forward.
move_to
left_x0.4150left_y-0.1700left_z0.0550
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6235, 1.5448, 0.7322, 0.2802, -0.5625, -0.2935, 0.9996, -0.0753, 0.8036, 0.6327, -0.3916, -0.0673, -0.3347, 0.9974] state[eef_state]: left_x=0.3936 left_y=-0.1626 left_z=0.128 left_yaw=-0.019 left_pitch=0.1279 left_roll=0.0344 left_gripper=0.9996 right_x=0.2972 right_y=-0.0069 right_z=0.1883 right_yaw=0.1513 right_pitch=-0.0132 right_roll=-0.2242 right_gripper=0.9974 state[joint_eff]: [-0.4718, -6.7897, 8.7726, 2.0, -0.3248, 0.0317, -0.0562, -0.0615, -1.812, 10.3179, 1.8535, -0.1832, -0.0366, -0.2759] camera 'top_cam' (step 126): [image omitted: streamed camera frame] camera 'left_cam' (step 126): [image omitted: streamed camera frame] camera 'right_cam' (step 126): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.415,"left_y":-0.17,"left_z":0.055},"note":"The remaining bowl is under the left gripper, with the jaws positioned to straddle its left wall. I’ll lower toward the rim while moving slightly forward."})
tool
executing move_to over 5 steps (0.5s)
step 131
top_cam
camera top_cam step 131
left_cam
camera left_cam step 131
right_cam
camera right_cam step 131
assistant
agent noteThe wrist view shows the jaws too close to the bowl’s center for a rim grasp. I’ll lift clear and shift toward its left edge before descending again.
move_to
left_x0.4150left_y-0.1200left_z0.1200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6067, 1.8286, 0.6949, 0.5312, -0.5499, -0.2928, 0.9995, -0.0738, 0.8062, 0.6315, -0.4149, -0.083, -0.3557, 0.9973] state[eef_state]: left_x=0.4057 left_y=-0.1649 left_z=0.0458 left_yaw=-0.0165 left_pitch=0.066 left_roll=0.0692 left_gripper=0.9995 right_x=0.2942 right_y=-0.0035 right_z=0.1823 right_yaw=0.1773 right_pitch=-0.0401 right_roll=-0.2269 right_gripper=0.9973 state[joint_eff]: [0.3077, -7.788, 5.0803, 1.8535, -0.1099, 0.0708, -0.0171, -0.1436, -1.2103, 7.3094, 1.9658, 0.0611, 0.1441, -0.0269] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 131): [image omitted: streamed camera frame] camera 'left_cam' (step 131): [image omitted: streamed camera frame] camera 'right_cam' (step 131): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.415,"left_y":-0.12,"left_z":0.12},"note":"The wrist view shows the jaws too close to the bowl’s center for a rim grasp. I’ll lift clear and shift toward its left edge before descending again."})
tool
executing move_to over 5 steps (0.5s)
step 136
top_cam
camera top_cam step 136
left_cam
camera left_cam step 136
right_cam
camera right_cam step 136
assistant
agent noteThe gripper is now offset toward the left rim. I’ll descend with the jaws open so one fingertip enters the bowl and the other stays outside.
move_to
left_x0.4200left_y-0.1200left_z0.0250
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4694, 1.5822, 0.7185, 0.3096, -0.4644, -0.2379, 0.9995, -0.0738, 0.8097, 0.6296, -0.416, -0.0837, -0.3599, 0.9972] state[eef_state]: left_x=0.4136 left_y=-0.1171 left_z=0.1089 left_yaw=0.0242 left_pitch=0.0813 left_roll=0.0524 left_gripper=0.9995 right_x=0.2941 right_y=-0.0033 right_z=0.1803 right_yaw=0.1802 right_pitch=-0.0468 right_roll=-0.2283 right_gripper=0.9972 state[joint_eff]: [0.335, -7.6376, 9.1556, 1.619, 0.0317, 0.1636, -0.0122, -0.1299, -1.306, 7.4051, 1.7363, -0.0659, -0.0024, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 136): [image omitted: streamed camera frame] camera 'left_cam' (step 136): [image omitted: streamed camera frame] camera 'right_cam' (step 136): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.42,"left_y":-0.12,"left_z":0.025},"note":"The gripper is now offset toward the left rim. I’ll descend with the jaws open so one fingertip enters the bowl and the other stays outside."})
tool
executing move_to over 6 steps (0.6s)
step 142
top_cam
camera top_cam step 142
left_cam
camera left_cam step 142
right_cam
camera right_cam step 142
assistant
agent noteThe left jaw is outside the bowl and the right jaw is inside, below the lip. I’ll close on the wall to secure the rim.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4648, 1.8771, 0.6346, 0.6209, -0.4591, -0.2325, 0.9995, -0.0738, 0.8116, 0.6277, -0.4194, -0.0841, -0.3603, 0.9973] state[eef_state]: left_x=0.4132 left_y=-0.1156 left_z=0.0183 left_yaw=0.02 left_pitch=0.02 left_roll=0.0862 left_gripper=0.9995 right_x=0.2935 right_y=-0.0032 right_z=0.1782 right_yaw=0.1808 right_pitch=-0.0539 right_roll=-0.2266 right_gripper=0.9973 state[joint_eff]: [-0.4034, -7.5692, 3.9863, 1.8779, -0.1636, -0.0855, -0.0122, -0.0889, -1.2376, 7.1863, 1.7314, -0.0611, -0.0171, -0.0171] camera 'top_cam' (step 142): [image omitted: streamed camera frame] camera 'left_cam' (step 142): [image omitted: streamed camera frame] camera 'right_cam' (step 142): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The left jaw is outside the bowl and the right jaw is inside, below the lip. I’ll close on the wall to secure the rim."})
tool
executing move_to over 10 steps (1.0s)
step 152
top_cam
camera top_cam step 152
left_cam
camera left_cam step 152
right_cam
camera right_cam step 152
assistant
agent noteThe gripper has stopped at a substantial opening, indicating contact with the bowl. I’ll lift about five centimeters and confirm that the bowl comes with it.
move_to
left_x0.4200left_y-0.1200left_z0.0900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4648, 1.8683, 0.6365, 0.6704, -0.4656, -0.2512, 0.518, -0.0738, 0.8116, 0.6262, -0.4221, -0.0841, -0.3634, 0.9973] state[eef_state]: left_x=0.4202 left_y=-0.118 left_z=0.0321 left_yaw=0.0367 left_pitch=0.0756 left_roll=0.0446 left_gripper=0.518 right_x=0.2929 right_y=-0.0032 right_z=0.177 right_yaw=0.1825 right_pitch=-0.0583 right_roll=-0.2281 right_gripper=0.9973 state[joint_eff]: [-0.0615, -7.0222, 4.5607, 1.199, -0.1538, 0.1636, 1.033, -0.1299, -1.347, 7.159, 1.707, -0.0611, -0.0024, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 152): [image omitted: streamed camera frame] camera 'left_cam' (step 152): [image omitted: streamed camera frame] camera 'right_cam' (step 152): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.42,"left_y":-0.12,"left_z":0.09},"note":"The gripper has stopped at a substantial opening, indicating contact with the bowl. I’ll lift about five centimeters and confirm that the bowl comes with it."})
tool
executing move_to over 4 steps (0.4s)
step 156
top_cam
camera top_cam step 156
left_cam
camera left_cam step 156
right_cam
camera right_cam step 156
assistant
agent noteThe bowl followed the test lift. I’ll raise it to carrying height before moving it over the two-bowl stack.
move_to
left_x0.4200left_y-0.1200left_z0.1900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4648, 1.6978, 0.6838, 0.4686, -0.469, -0.2592, 0.4052, -0.0738, 0.8135, 0.6262, -0.4221, -0.0841, -0.3637, 0.9972] state[eef_state]: left_x=0.4206 left_y=-0.1176 left_z=0.0797 left_yaw=0.0445 left_pitch=0.0907 left_roll=0.0313 left_gripper=0.4052 right_x=0.293 right_y=-0.0032 right_z=0.1765 right_yaw=0.1827 right_pitch=-0.0602 right_roll=-0.2279 right_gripper=0.9972 state[joint_eff]: [-0.5675, -8.3214, 7.665, 1.6044, -0.1587, 0.0366, -0.0708, -0.1846, -1.5248, 6.9949, 1.7411, -0.0757, -0.0464, -0.0171] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 156): [image omitted: streamed camera frame] camera 'left_cam' (step 156): [image omitted: streamed camera frame] camera 'right_cam' (step 156): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.42,"left_y":-0.12,"left_z":0.19},"note":"The bowl followed the test lift. I’ll raise it to carrying height before moving it over the two-bowl stack."})
tool
executing move_to over 8 steps (0.8s)
step 164
top_cam
camera top_cam step 164
left_cam
camera left_cam step 164
right_cam
camera right_cam step 164
assistant
agent noteThe remaining bowl is securely lifted. I’ll move it sideways above the pink bowl while maintaining clearance over the stack.
move_to
left_x0.4200left_y-0.2250left_z0.1900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4679, 1.4929, 0.9104, 0.0204, -0.4725, -0.2634, 0.4044, -0.0738, 0.8162, 0.6262, -0.4225, -0.0841, -0.3637, 0.9972] state[eef_state]: left_x=0.4213 left_y=-0.1188 left_z=0.1695 left_yaw=0.0458 left_pitch=0.0771 left_roll=0.0374 left_gripper=0.4044 right_x=0.2931 right_y=-0.0032 right_z=0.1757 right_yaw=0.1828 right_pitch=-0.0631 right_roll=-0.2271 right_gripper=0.9972 state[joint_eff]: [-0.6906, -8.841, 9.1966, 1.6728, -0.2466, -0.0415, -0.0952, -0.0479, -1.5932, 7.2137, 1.6728, -0.0757, -0.0708, -0.0171] 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":0.42,"left_y":-0.225,"left_z":0.19},"note":"The remaining bowl is securely lifted. I’ll move it sideways above the pink bowl while maintaining clearance over the stack."})
tool
executing move_to over 10 steps (1.0s)
step 174
top_cam
camera top_cam step 174
left_cam
camera left_cam step 174
right_cam
camera right_cam step 174
assistant
agent noteThe bowl did not move sideways with the gripper as expected, so it may have slipped. I’ll lift and draw back slightly to see its position clearly before trying again.
move_to
left_x0.3600left_y-0.2250left_z0.2300
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7292, 1.6894, 1.187, -0.1795, -0.6659, -0.437, 0.4043, -0.0738, 0.8173, 0.6258, -0.4225, -0.0841, -0.3637, 0.9972] state[eef_state]: left_x=0.416 left_y=-0.2206 left_z=0.1772 left_yaw=0.0259 left_pitch=0.0527 left_roll=0.0472 left_gripper=0.4043 right_x=0.2932 right_y=-0.0032 right_z=0.1752 right_yaw=0.1828 right_pitch=-0.0646 right_roll=-0.2267 right_gripper=0.9972 state[joint_eff]: [-0.3624, -8.212, 9.5658, 1.6386, -0.3883, -0.0757, -0.022, -0.1709, -1.4564, 7.0085, 1.6777, -0.0415, -0.0366, -0.0171] 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":0.36,"left_y":-0.225,"left_z":0.23},"note":"The bowl did not move sideways with the gripper as expected, so it may have slipped. I’ll lift and draw back slightly to see its position clearly before trying again."})
tool
executing move_to over 5 steps (0.5s)
step 179
top_cam
camera top_cam step 179
assistant
agent noteThe remaining bowl is still separate from the stack. I’ll approach its right rim this time, with a more forward wrist angle to reach it cleanly.
move_to
left_x0.4500left_y-0.2150left_z0.1200left_pitch0.3500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8509, 1.5627, 1.2163, -0.4026, -0.7269, -0.5213, 0.4043, -0.0738, 0.8173, 0.6258, -0.4221, -0.0841, -0.3637, 0.9972] state[eef_state]: left_x=0.3657 left_y=-0.2336 left_z=0.2118 left_yaw=-0.0075 left_pitch=0.0373 left_roll=0.0504 left_gripper=0.4043 right_x=0.2932 right_y=-0.0032 right_z=0.1753 right_yaw=0.1828 right_pitch=-0.0642 right_roll=-0.2268 right_gripper=0.9972 state[joint_eff]: [-0.294, -8.9641, 9.4017, 1.409, -0.4176, 0.022, -0.0171, -0.1299, -1.3607, 7.2684, 1.746, -0.0708, -0.0464, -0.0171] camera 'top_cam' (step 179): [image omitted: streamed camera frame] camera 'left_cam' (step 179): [image omitted: streamed camera frame] camera 'right_cam' (step 179): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.45,"left_y":-0.215,"left_z":0.12,"left_pitch":0.35,"left_gripper":1},"note":"The remaining bowl is still separate from the stack. I’ll approach its right rim this time, with a more forward wrist angle to reach it cleanly."})
tool
executing move_to over 11 steps (1.1s)
step 190
assistant
agent noteThe arm held its position rather than reaching the farther target. I’ll use a closer intermediate pose to avoid the reach limit.
move_to
left_x0.4050left_y-0.1900left_z0.1400left_pitch0.2500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8623, 1.5475, 1.2266, -0.4683, -0.7433, -0.5507, 0.9968, -0.0738, 0.8173, 0.6258, -0.4225, -0.0841, -0.3637, 0.9972] state[eef_state]: left_x=0.3579 left_y=-0.2284 left_z=0.2137 left_yaw=0.0077 left_pitch=0.0208 left_roll=0.063 left_gripper=0.9968 right_x=0.2932 right_y=-0.0032 right_z=0.1752 right_yaw=0.1828 right_pitch=-0.0646 right_roll=-0.2267 right_gripper=0.9972 state[joint_eff]: [0.1709, -8.4991, 8.841, 1.326, -0.5592, -0.0513, -0.1685, -0.0615, -1.3607, 7.0085, 1.6923, -0.1001, -0.0611, -0.0171] camera 'top_cam' (step 190): [image omitted: streamed camera frame] camera 'left_cam' (step 190): [image omitted: streamed camera frame] camera 'right_cam' (step 190): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.405,"left_y":-0.19,"left_z":0.14,"left_pitch":0.25},"note":"The arm held its position rather than reaching the farther target. I’ll use a closer intermediate pose to avoid the reach limit."})
tool
executing move_to over 8 steps (0.8s)
step 198
assistant
agent noteThe right wall of the bowl is now between the jaw positions in the wrist view. I’ll advance slightly and lower beneath the lip.
move_to
left_x0.4250left_y-0.1900left_z0.0350left_pitch0.3000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7151, 1.6382, 0.794, 0.3016, -0.7254, -0.3023, 0.9979, -0.0738, 0.82, 0.6243, -0.4225, -0.0841, -0.3637, 0.9973] state[eef_state]: left_x=0.3954 left_y=-0.1834 left_z=0.1279 left_yaw=0.0234 left_pitch=0.1721 left_roll=0.0988 left_gripper=0.9979 right_x=0.2931 right_y=-0.0032 right_z=0.1738 right_yaw=0.1828 right_pitch=-0.0687 right_roll=-0.2256 right_gripper=0.9973 state[joint_eff]: [0.3897, -7.1863, 6.6393, 1.9707, -0.0757, 0.1587, 0.0952, -0.0479, -1.6342, 7.4188, 1.6679, -0.0611, -0.0513, -0.0171] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 198): [image omitted: streamed camera frame] camera 'left_cam' (step 198): [image omitted: streamed camera frame] camera 'right_cam' (step 198): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.425,"left_y":-0.19,"left_z":0.035,"left_pitch":0.3},"note":"The right wall of the bowl is now between the jaw positions in the wrist view. I’ll advance slightly and lower beneath the lip."})
tool
executing move_to over 6 steps (0.6s)
step 204
assistant
agent noteThe downward target was not reached. I’ll shorten the reach and tip the wrist farther forward to bring the fingertips down beside the bowl.
move_to
left_x0.4000left_y-0.1800left_z0.0400left_pitch0.4500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7059, 1.6646, 0.7746, 0.4278, -0.7155, -0.276, 0.998, -0.0738, 0.8204, 0.6243, -0.4225, -0.0845, -0.3637, 0.9972] state[eef_state]: left_x=0.4031 left_y=-0.1866 left_z=0.1317 left_yaw=0.021 left_pitch=0.2274 left_roll=0.0652 left_gripper=0.998 right_x=0.2932 right_y=-0.0031 right_z=0.1737 right_yaw=0.1832 right_pitch=-0.069 right_roll=-0.2253 right_gripper=0.9972 state[joint_eff]: [-0.1299, -8.0615, 6.3248, 1.8632, -0.1929, 0.1734, 0.0024, -0.1573, -1.388, 7.0769, 1.6679, -0.0708, -0.0611, -0.0171] camera 'top_cam' (step 204): [image omitted: streamed camera frame] camera 'left_cam' (step 204): [image omitted: streamed camera frame] camera 'right_cam' (step 204): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":-0.18,"left_z":0.04,"left_pitch":0.45},"note":"The downward target was not reached. I’ll shorten the reach and tip the wrist farther forward to bring the fingertips down beside the bowl."})
tool
executing move_to over 8 steps (0.8s)
step 212
assistant
agent noteThe bowl has been nudged farther forward. I’ll approach the rim nearest the robot instead, turning the jaws to pinch that edge without reaching across the whole bowl.
move_to
left_x0.4350left_y-0.1400left_z0.1400left_yaw1.4500left_pitch0.3000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.72, 2.1181, 0.6201, 1.0054, -0.7963, -0.1932, 0.9979, -0.0738, 0.8265, 0.6239, -0.4232, -0.0864, -0.3637, 0.9973] state[eef_state]: left_x=0.3907 left_y=-0.17 left_z=0.006 left_yaw=0.0222 left_pitch=0.2234 left_roll=0.1943 left_gripper=0.9979 right_x=0.2934 right_y=-0.0028 right_z=0.1717 right_yaw=0.1849 right_pitch=-0.0757 right_roll=-0.2224 right_gripper=0.9973 state[joint_eff]: [0.0615, -3.6855, 0.6496, -0.7692, 0.0513, 1.0379, -0.0122, 0.0068, -1.7573, 7.0085, 1.7216, -0.0269, -0.0269, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 212): [image omitted: streamed camera frame] camera 'left_cam' (step 212): [image omitted: streamed camera frame] camera 'right_cam' (step 212): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.435,"left_y":-0.14,"left_z":0.14,"left_yaw":1.45,"left_pitch":0.3,"left_gripper":1},"note":"The bowl has been nudged farther forward. I’ll approach the rim nearest the robot instead, turning the jaws to pinch that edge without reaching across the whole bowl."})
tool
executing move_to over 10 steps (1.0s)
step 222
assistant
agent noteThe wrist rotation produced a large unexpected position error and displaced the bowls. I’ll raise and retract the arm before making any further contact.
move_to
left_x0.4000left_y-0.1000left_z0.2500left_yaw0.7000left_pitch0.0000left_roll0.0000right_x0.2950right_y0.0000right_z0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3759, 2.4836, 1.8294, -0.2974, -1.1744, -1.6848, 0.9988, -0.0738, 0.8303, 0.6231, -0.4316, -0.0868, -0.3637, 0.9972] state[eef_state]: left_x=0.5635 left_y=-0.0434 left_z=0.0595 left_yaw=1.33 left_pitch=0.118 left_roll=-0.7048 left_gripper=0.9988 right_x=0.2923 right_y=-0.0027 right_z=0.1686 right_yaw=0.1855 right_pitch=-0.0882 right_roll=-0.2189 right_gripper=0.9972 state[joint_eff]: [-1.4427, -15.706, 5.2718, 0.7497, -0.4469, -0.0611, -0.1392, -0.0205, -1.2786, 7.4325, 1.8486, -0.0806, -0.0757, -0.0171] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 222): [image omitted: streamed camera frame] camera 'left_cam' (step 222): [image omitted: streamed camera frame] camera 'right_cam' (step 222): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":-0.1,"left_z":0.25,"left_yaw":0.7,"left_pitch":0,"left_roll":0,"right_x":0.295,"right_y":0,"right_z":0.2},"note":"The wrist rotation produced a large unexpected position error and displaced the bowls. I’ll raise and retract the arm before making any further contact."})
tool
executing move_to over 13 steps (1.3s)
step 235
assistant
agent noteThe remaining bowl is now beside the far-left fence, outside a reliable table-level grasp. I’ll attempt to return the left arm to its clear home orientation rather than risk pushing it farther.
move_to
left_x0.2950left_y0.0000left_z0.3000left_yaw0.0000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.532, 2.6522, 2.1994, -0.9474, -1.1526, -2.0327, 0.9988, -0.0589, 0.8528, 0.7162, -0.535, -0.0834, -0.3634, 0.9972] state[eef_state]: left_x=0.5349 left_y=-0.1233 left_z=0.0433 left_yaw=1.2795 left_pitch=0.0706 left_roll=-0.5645 left_gripper=0.9988 right_x=0.2906 right_y=0.0012 right_z=0.1839 right_yaw=0.1982 right_pitch=-0.1204 right_roll=-0.2122 right_gripper=0.9972 state[joint_eff]: [0.1983, -13.9009, 7.5282, 0.3785, -0.6618, -0.1148, -0.0122, 0.212, -0.9504, 10.1675, 1.6874, 0.0366, 0.0562, -0.0171] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 235): [image omitted: streamed camera frame] camera 'left_cam' (step 235): [image omitted: streamed camera frame] camera 'right_cam' (step 235): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.295,"left_y":0,"left_z":0.3,"left_yaw":0,"left_pitch":0,"left_roll":0},"note":"The remaining bowl is now beside the far-left fence, outside a reliable table-level grasp. I’ll attempt to return the left arm to its clear home orientation rather than risk pushing it farther."})
tool
executing move_to over 19 steps (1.9s)
step 254
assistant
agent noteTwo bowls are nested, but the third was displaced beside the far-left fence after an unexpected arm-position error during wrist rotation. I returned the arm to a raised position. I cannot safely finish without the remaining bowl being moved back into reach.
give_up
hindsightA substantial gripper opening did not guarantee a secure bowl grasp: the left bowl tipped but failed to follow a sideways carry, so verify lateral motion as well as a lift. A large yaw change near the table caused severe Cartesian tracking error; make rotations in small increments from a raised, retracted pose. Returning to x≈0.295, y=0, z=0.30 with zero rotation recovered the left arm.
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0616, 0.9443, 1.0901, -0.7132, -0.1528, -0.1864, 0.9988, -0.0589, 0.8566, 0.7177, -0.5465, -0.0837, -0.3637, 0.9973] state[eef_state]: left_x=0.3067 left_y=0.0116 left_z=0.2895 left_yaw=0.1465 left_pitch=0.0116 left_roll=-0.0538 left_gripper=0.9988 right_x=0.2893 right_y=0.0013 right_z=0.1814 right_yaw=0.1991 right_pitch=-0.1337 right_roll=-0.2087 right_gripper=0.9973 state[joint_eff]: [0.1983, -2.3043, 8.9778, 1.707, -0.0317, 0.2369, -0.0122, 0.0068, -1.8667, 7.0496, 1.7216, -0.0757, -0.0513, -0.0171] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 254): [image omitted: streamed camera frame] camera 'left_cam' (step 254): [image omitted: streamed camera frame] camera 'right_cam' (step 254): [image omitted: streamed camera frame]
assistant
give_up({"reason":"Two bowls are nested, but the third was displaced beside the far-left fence after an unexpected arm-position error during wrist rotation. I returned the arm to a raised position. I cannot safely finish without the remaining bowl being moved back into reach.","hindsight":"A substantial gripper opening did not guarantee a secure bowl grasp: the left bowl tipped but failed to follow a sideways carry, so verify lateral motion as well as a lift. A large yaw change near the table caused severe Cartesian tracking error; make rotations in small increments from a raised, retracted pose. Returning to x≈0.295, y=0, z=0.30 with zero rotation recovered the left arm."})
tool
give_up: Two bowls are nested, but the third was displaced beside the far-left fence after an unexpected arm-position error during wrist rotation. I returned the arm to a raised position. I cannot safely finish without the remaining bowl being moved back into reach.
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 · 8.272 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]: [-0.02, 0.7944, 0.6037, -0.3817, -0.0227, -0.0406, 0.9996, -0.0181, 0.7925, 0.6025, -0.3752, -0.0101, -0.033, 0.9981]\nstate[eef_state]: left_x=0.2946 left_y=0.0017 left_z=0.1794 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2951 right_y=0.0 right_z=0.1807 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9981\nstate[joint_eff]: [-0.5675, -1.5385, 10.1128, 1.7753, -0.0317, 0.2808, -0.0611, -0.7043, -1.3744, 10.1812, 1.8486, -0.1587, 0.1734, -0.2076]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad56beb962144efb6016552853f6267571f1acd4aa14f2d0a7752af9bc94427c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fad38a3e16443965eb636f359b5474f22fd8e67f0e3bba7e1a83fe04a784aed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f346b14fd5b88bea1089de247fbe6419c776b1d7ab7f488b95d6d18c244714a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 6.007 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtJmq2D8mHBv5XSc63ie5ypp63nDLryLM7kZ7ltTmaKDobvyRh-Uf76iFZEgJnr8WWMpyxzVnhh89clpn8DM6BQw1SwIi84xI4J2Yk5Wai0g-LLZE8tZ9AfqQck925Md-D1u5lIm1Yvg3SvOSJiTzG6MDFG6POQLMyYr7lljNpDHwON64TvyhiaTcGgPPZ9BWPKbdSnPaRf0dapPmHzfUS5zOFdwO7-K8E196KjMk0QP31tB4LzQOAmZ1FnvfOR8FvlyLigmSD46lFyam6VkzUs0U_Go2VuYU3r4vFUj4VzVNkaPl6hkYUbGDN6cYqiL7FriJOJhemrCnPcTAmqZFA1DKac4seVEi_v4ebq9nOJtcSUAg4qOO9TADpQD4GhngYoOuBEK7rRL9wzEauT3H8p_JnJuOuHZae9huNdb7lTe07vFbc1dG2vCt6QQrRqBtlVqgupU8ac3tVy0AslZc-fVV5AOzHSxByK1nKY7HFeHuO1m2x2HItIco3_8ZkoKt8z2IHZkd1K9VoWXUv4q2C_-MImCtUPACEGKIwYZWLLY0TYC2Q4fKN5qr8wnqn1O2F5xmW0nr2crwh9KZmtQvzI_Y5QH0gnLHSeRI0oJz0uQMrvX7KoMJQTEgbbiwK2TNPbz55-h8xxLHJtM2CUaPyxOWtQL37cNmzd3DhtydVohYgJigSATbOcTlMjZkAkBo_0gAbyfa1zwcDItgBTyNUpFB1hqm0Goi556PtwoBRkaeQVH0FukG5WAqSdYKqU8qgHPnOQU2yYzJk8KCP1q0tQmtpl0R_GqMCkUv9O8BPdkXFZRDLPCDIIh9vlVwc9KVGcw1Q-P4cdq58CpZVW_DUIGgylnnTTbzAl4rqLfYFbuPDRnoOinZK0W-IcOf_1airNd9HSELO2hjR9Cz1vJZ6LyNkN6IA1QT7EcuK01t7QWiSOXThFARDjBZsyIYm5CvWa5aVbuI4zm6NrZLt2DmINjFSAnRlz0Q1nBJNCTT457bri7VRP7ct1N9Q1_4mh-ltIq55aeNtKi9NURlQDRnOJiSnYjMkl_DF-ginqY3S9l0Ce7ci-9QPr5HJJmG5gY6fr3r4h1Ilz-dH-Z1YXEXdAuGNqJz0c7mVyXYbzTrw25FAgDrtNO_75ItMI3ka_IviuugnZif2D94-_HEeNWzXYAGlpZ3Udxxl6QmB-g2oS-7oHtsC_W6XxzJZlZvmjuWSdEXSVkDOeKlcvwU0slhU9RIptS89KqopgeRK4Y-acVPkGB9gLx1LUYCcDaV72WqOMy7TwBMM_bBVXEDEfo000FXY6FoxYspbnjgBquVDj_kR5mtE0vwvExDyHRoEny2qlAhZoRoer07pfeskdHS_wprkkxeNLPaKE9MPduMVPvbdzbGg08ZUxC7G6YFcvWW0--8pBByfsAnPNe5bP50wJUq3YLw7mjbuYShoqgNpaIJHcH_0UaUNl97aExYALlUneWiomwWBEwMCoY79cqdrmIjkjGO9ap2-mAhbGFWyllo8FVATYSs4N4l9Bdwa1srr8uXUmPqA-Yv-yQhOzmNx1ojOz00FX8cDxoDTjZKE5SO3Pt_nrwh1OzGoa0eouRGJQ9TkgTmx2g-wWgWr6YPEy47hTcmXCBXi-XtOD6P6mNulXwiBovyTxqeQKRIiCjVfExCXROM7gHvCCPxokgpoFcIbxYtLtobMLhZkr-BXFi9CBqAswZQCL_RMzmv1V8g1Pe-h9qzxutaq9OT1Q7u6Ud8gf5ujOOb9YTYT7edTFKEl5I3xIe8nDIVnAOekRF0EjdeskGIfCW1LkzYyno9PZZPpz9xvEJ1QqYtzRcbv4J0kEqxQzFb6ylGHisCpfPrk_DbAyK_w5Rpa2bt4SkB7-bLKxSV2rKYEB6c8J4z7Yc72XyXOg8XLWkIOS89ynZ31GLUaXFKpz7fUsvDc4sMgfFxmAvI-BsGRXcGx_7JhomyPqyF0Gvn1O9E2T1pVYHB-veFQLCtOgtroW9qy_QVN32T3GOsuatOJqpnLgTgVeh2OPCERnHpAmFpDoz17E2uZnJo2H8Rpai-JhODxO4j2VBwsnRtf3Pbq-O0_KefBfQimXXcGdHVY0wsah4u4qSJl23qf1eD9ZrExqhf6zmU9hPCviXX1FveJMs7uKipkRySYWHBzJwMKW8SKz27tTwLe_hpK0IEKdSRkgdQygXrmmAX7WbAK9uaNhB2E-s5pm573p_YDchgZRyCujGTEq-xTd_UmztWDOP3XD1-OnZd23aJbg6o8NJ5_UDsGGg08yyOLhwjqTFfuyEYvesyVzbR1J7CA66kJfdDfdsDGYkfHI4-gUX_PMMZjx1XXUQUW6yJ4OzJVKxuFc-Wbk45N8pXVeQLz0cKLi_qyjNs0D0Gy_IMzUAiCH34VgNGjdl2GHozUy5IC07xlq_bSWys2_Sp1xUMT4x2YjC6pXIt0xS9zwDbwDJUF-WvBCnVaJBp1l5WdVXLuTXbDEVdsoWyvHdDSOfHTsiZCHiH1uVYwZKa4tXhvc5N7PY0pudjWnfPMJSDoqTA1fWaadSgICZ7_756H2vcIFsX3zi-nkBnemLmuA5RBhfgrw3C--dbjT_S9Ya8sZAYfet3IJj1wzHHAGXreaqvsBCpROV4hl3zpmOsKkiEtkTm2dgnKzCvPv_fvsaatkAPi_nS_9BzM4jpZ67JBqjCWeceUBvgnl6gUU2HXnc6r4R41A7QH-HddfN-cW6oJpZ6_y19LFaXUqKlhpgRSMWVqk0nXxgQOOKlDhrqdsPf-BKiiL4Tr54ppYn_gMADRvwx9g27xPAch0r778vdxsCEoqmjsTccIe6BiNS3P_kceB3Y2zcEKW5Hpq8YPrmu9mY=",
  "id": "rs_0ca0e0d2734ef76b016ab499a37a3887d0bd6da3de38b6a3c7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.41,\"right_y\":0.13,\"right_z\":0.16,\"right_gripper\":1,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.18},\"note\":\"I see three upright bowls in a row. I’ll approach the outer rim of the rightmost bowl so I can lift it and nest it into the middle bowl.\"}",
  "call_id": "call_GHtNb0nN34IUPNeYHiv5dH9X",
  "id": "fc_0ca0e0d2734ef76b016ab499a8d0e887d0ac6062d27b004784",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GHtNb0nN34IUPNeYHiv5dH9X",
  "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]: [-0.0265, 0.7994, 0.6075, -0.3889, -0.0265, -0.0494, 0.9995, 0.4461, 1.4635, 0.8669, -0.1062, 0.3412, 0.1951, 0.9981]\nstate[eef_state]: left_x=0.2944 left_y=0.0005 left_z=0.1783 left_yaw=0.0015 left_pitch=-0.0083 left_roll=-0.0051 left_gripper=0.9995 right_x=0.3927 right_y=0.1263 right_z=0.1337 right_yaw=0.046 right_pitch=-0.0908 right_roll=-0.0429 right_gripper=0.9981\nstate[joint_eff]: [-0.5812, -1.4701, 6.9812, 1.8095, -0.0855, -0.0415, -0.0171, 0.1983, -7.1316, 9.5111, 1.8291, 0.3736, 0.232, -0.2076]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6075be5b9858b64ae58c439b9b16d339342c989f0f8c12ab68566ff053e28282",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df4a5c9ed565329952c9fe97e7a5c9703e4e182a53c7828045372bf89d4d41cd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85b3fb72daf618821a05b31ce3db615413deecd5656e46e777df1fd071f76c1d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 2 attempt 0 · /responses · status 200 · 7.166 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]: [-0.02, 0.7944, 0.6037, -0.3817, -0.0227, -0.0406, 0.9996, -0.0181, 0.7925, 0.6025, -0.3752, -0.0101, -0.033, 0.9981]\nstate[eef_state]: left_x=0.2946 left_y=0.0017 left_z=0.1794 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2951 right_y=0.0 right_z=0.1807 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9981\nstate[joint_eff]: [-0.5675, -1.5385, 10.1128, 1.7753, -0.0317, 0.2808, -0.0611, -0.7043, -1.3744, 10.1812, 1.8486, -0.1587, 0.1734, -0.2076]",
      "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]: [-0.0265, 0.7994, 0.6075, -0.3889, -0.0265, -0.0494, 0.9995, 0.4461, 1.4635, 0.8669, -0.1062, 0.3412, 0.1951, 0.9981]\nstate[eef_state]: left_x=0.2944 left_y=0.0005 left_z=0.1783 left_yaw=0.0015 left_pitch=-0.0083 left_roll=-0.0051 left_gripper=0.9995 right_x=0.3927 right_y=0.1263 right_z=0.1337 right_yaw=0.046 right_pitch=-0.0908 right_roll=-0.0429 right_gripper=0.9981\nstate[joint_eff]: [-0.5812, -1.4701, 6.9812, 1.8095, -0.0855, -0.0415, -0.0171, 0.1983, -7.1316, 9.5111, 1.8291, 0.3736, 0.232, -0.2076]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6075be5b9858b64ae58c439b9b16d339342c989f0f8c12ab68566ff053e28282",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df4a5c9ed565329952c9fe97e7a5c9703e4e182a53c7828045372bf89d4d41cd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85b3fb72daf618821a05b31ce3db615413deecd5656e46e777df1fd071f76c1d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJmxZeA0A94KV6OWuLzTZmxb_ftDQF5w-7QJlQe_BBKkSPZ0TrioBh1V3AfD6jyWpHVXKIzilQ4XAMREST1qept_rPdi2EuD0Zi7PfCrvzTpJRKxG07IiXSwC8ugOmJUHDAirwTIRt83wW1deGHpqPhq_nG566Fnv1JtK8Atj9OrDBz_chBjhooDjVXPvt7h0K6Gr2A1OTZlAGSdsH3qJHu_oc-TcA2Pbdwu-OV65YqK6ELEeKgQpM-8v7qSecCZvXMF5gihF4Q-uEv5Kz-f3WN5CcyRHsZ57QZDDwIua2zZSd-QJdCQWfMUQJuIv9nClywEUBxI_e1vpI3DYO9IMrzVRts52Nyay5e5ZANUSIX_23Uavcb2yVHJslxQpxrVTPo6t6eWXSoNe_7xSpD78wSbqLyXX3Hlidohy1K31HAHMP-egGSAyn_5Qzsds04l_PwzE1pCCDRlJLjD6LV0yDfEazRqHNEMj3bTdXbU-Sml4gE7ZT05v3QGWJmAxe1N80xhs-4vp5I7OQjK40wv3TLCEV7F6RHaILiZIM03-p7ryn5gJVsFDDAUyk1337aNsVfNdSaFUqEh0gN00iZh2lJj2mhJx_HDmxv_Utj6AuDkpjs1HtNK4wFCMAYjJOMbSFUuxx2z0-wD_RVScw49qujmkXBLKuyuEZkr9BshZHvxNRjs4S4W21KM6hirrxTu04VNgvQyjNu51nu5vwNkc2Wpc-0d1YueTZhRVOlcfG6-dkEZJfuzg2_WoyHEMQtJsGLJdpt3KQmIrKSJBUw3FPt7qKndGMtUI4CP0DchWH_IcG0tPsjIuljvtOUxmNSRJ-yvbPogzedY6g0SHfW7PwCgCHnTpAfrieJBsCTjYPgDFy3Kq_ELQ6U_hHiKvsDB2w0geSWFe6F8uQTlQWoC54zjLuQpHK_QPpFdlt6RO0UIvB7g0kEgMhkujT7W6162TE9eNC6FJSTW8ObRRjSE9FkQ2bLBFv56pVGNcv0WANMRGo0sX-zTZRvLdyyNgmxuH5EJzEO0LOi-NX-0l0Y9OBcgC7r4OyLKNk1a1PnH_wQpuVG3YuAhpNd69tqto3ehx5Yq3ZFOOUnl-NWDnkHkYZYc69uVFuJCxyUPDO2h8x22PqQHqURWQNLE4RsNuI9FuqNadOl5M-Ahqh1B5Seaev4w8FUXERmjpRVjECqkWvBuYpCp_Ls2C5rHJg--pHrtPMP_2B0uZ9-d-EmDMJHu_7TPZM8ffFnt6B6E18RLWv2fAUMaIfPBXqQjP752ukWyDY9ATFSnf4g9aoFnoz76CwMVjrHG_4Y_Hw_0Em7Zsn23xR0z_J-qYG-3jWqrI8JHAlO2RSwqktlkym_vc2dA3as7dPQUCJ-0Eo3pDkVITPrAvDqTRi1fcHHU3t_zL3D0NkecVErCl3Iwpdpjx3AROAtD0cdg21QeuyHDas0NDaOfIrMa6dnQCJAOKa8BREuRa5spMmfP5bpkMtNIaYYYB7OEax-JE_S2JOTA06NcCYk8VNhI8uUm4aPGhlt-qmju2BgO6iRL-ooxXpRw1eavagypUHgSIY0Aa7NODQppEOIDiyH6UnqQ6t_NjECr9HaLrp_8ReBphVKyABy-b0FJY1sR_RLiRTxdM3by0sdS6lFdEgWxUnoiJ1ik8RS0QLDwybO4zoAlcFbV71M3lSq6q7_okQVGEv6Ntlu3YJ3fZ061gKr65RLrNAci__5T9JJ3pNHY_7oguaeWifGDn5-UOtvadMam5tdWjuF4tPjH1TWO9PsO8Ul6f5GJXx8gPldqfNHVyWmdwNe_oqkvuFGXIFs9pZMrgCshgmesbTgcIaIgd0Yh_BKnDsWpZ0fIj3zV99Uda0zm72FR2vOs_vC-NAjhPEx2fwFsAehm13wWgjGvWKla89bMUPFz1_AZtcbFIVQ9UfNi-jhABtth3E7wMjBEPnox7PoZbOd5kLoItmNMXMkUflEQea7ZqNV1xBD1P9Q_HaHeFz2ELU-jJ9zKzDkHhKQWqQduJr6W0LtAMXV6QutwggBIbAbFHPMZ9sCXPV4t9ISK_Y6DH-X3rB0nluhhLzotUCiXSyZZUoXeuOtW0EFTdke199QFxv1iiwstqVFw20Ff7hblXK6M402Hh9-NjbZo2-WY2XXQUbA8wUKIWRp4m05y2hBzsOdYHajCNa6hiqom12pfLkK2SUwMFJbBLsh5iFCoNvYGv4vKtfLjDUuzaWWFtuFbAgeeU6481xXZglAp238DN1KcM0cPlwOhP9fGo3XrMemTx3-sZQOR97I=",
  "id": "rs_0ca0e0d2734ef76b016ab499acb40c87d091d3f09db90e5cb9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.105,\"right_z\":0.075},\"note\":\"The pink bowl is beneath the right gripper, with its outer rim just to the right of the jaw centerline. I’ll shift slightly outward and lower toward that rim.\"}",
  "call_id": "call_Koj9rZifBfAtJp5q43BoKZQf",
  "id": "fc_0ca0e0d2734ef76b016ab499b05e5887d0982d2be3f1b0176f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Koj9rZifBfAtJp5q43BoKZQf",
  "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]: [-0.0265, 0.8005, 0.6075, -0.3893, -0.0265, -0.0494, 0.9995, 0.3702, 1.5692, 0.7139, 0.0834, 0.3012, 0.1574, 0.998]\nstate[eef_state]: left_x=0.2944 left_y=0.0005 left_z=0.1779 left_yaw=0.0015 left_pitch=-0.0098 left_roll=-0.005 left_gripper=0.9995 right_x=0.3875 right_y=0.0981 right_z=0.064 right_yaw=0.0201 right_pitch=-0.1662 right_roll=-0.0724 right_gripper=0.998\nstate[joint_eff]: [-0.2393, -1.2513, 7.2684, 1.7021, -0.0806, -0.0757, -0.0122, -0.0615, -7.1179, 6.8581, 1.9219, -0.0513, -0.0317, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:113fe90a721bf8f4292f449995e23e980cf872df099ffd9728e214d540031dea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7edab3c0f5afd4bbad7a1c77c8cd9c0e67f784a9b856223f37942a07d083ac8e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fb1e358440ad26e905b10b66e3b907680376b987837ec5772cdd0cf26d62ad9",
      "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 3 attempt 0 · /responses · status 200 · 3.336 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]: [-0.0265, 0.7994, 0.6075, -0.3889, -0.0265, -0.0494, 0.9995, 0.4461, 1.4635, 0.8669, -0.1062, 0.3412, 0.1951, 0.9981]\nstate[eef_state]: left_x=0.2944 left_y=0.0005 left_z=0.1783 left_yaw=0.0015 left_pitch=-0.0083 left_roll=-0.0051 left_gripper=0.9995 right_x=0.3927 right_y=0.1263 right_z=0.1337 right_yaw=0.046 right_pitch=-0.0908 right_roll=-0.0429 right_gripper=0.9981\nstate[joint_eff]: [-0.5812, -1.4701, 6.9812, 1.8095, -0.0855, -0.0415, -0.0171, 0.1983, -7.1316, 9.5111, 1.8291, 0.3736, 0.232, -0.2076]",
      "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]: [-0.0265, 0.8005, 0.6075, -0.3893, -0.0265, -0.0494, 0.9995, 0.3702, 1.5692, 0.7139, 0.0834, 0.3012, 0.1574, 0.998]\nstate[eef_state]: left_x=0.2944 left_y=0.0005 left_z=0.1779 left_yaw=0.0015 left_pitch=-0.0098 left_roll=-0.005 left_gripper=0.9995 right_x=0.3875 right_y=0.0981 right_z=0.064 right_yaw=0.0201 right_pitch=-0.1662 right_roll=-0.0724 right_gripper=0.998\nstate[joint_eff]: [-0.2393, -1.2513, 7.2684, 1.7021, -0.0806, -0.0757, -0.0122, -0.0615, -7.1179, 6.8581, 1.9219, -0.0513, -0.0317, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:113fe90a721bf8f4292f449995e23e980cf872df099ffd9728e214d540031dea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7edab3c0f5afd4bbad7a1c77c8cd9c0e67f784a9b856223f37942a07d083ac8e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fb1e358440ad26e905b10b66e3b907680376b987837ec5772cdd0cf26d62ad9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJm4l1tnLp-j0HBtWlVJFkfck5uhe43vvKmsgvebV4h-r5ZMf77btFfmAfSWmAaa81UShdVw8lHeSAM69beEEQ4A6qRwuhyUmRWQm6DiZ_Pv4dy8GNJUI0Pl-dCCn2Thu1ZU8YGbBExACDBzulcy7LqmkbtQa6XDrA6MfQgtHkoyCbypR2DeELBDqBhyu8LQIrHwc_ABwiM-rOs9k4aF7vb4Cdf5Zj20KEsqVgmz21We4qsMgg4RLxV2e7g9r_5PgQvC5MnESXpFtzoarjCh9Akf0SdfVYVecu0VILmgRbcD25DeWyK8rNdkyD2nDoU6LmnNz3KhODbKZXwqI-9UEgKxZPzKO5KkmeMrS4yfZUoJf7auXFhKxiqc7k6lJIfaJ93nHjzeyEyOPPKu0zbVz_gIFZkXJR4nWKwczn6l-RD7ao9ZQLdahKRormaXH0W9itSx_Kx-3JjbgySCTjE4z3F6wy_ouLP4dqytJ9n4oUr6FhfGa7LeRdszYRaQGwSB_eMBq5GrkeYcgiZbBWhyjFlM70tY5l7INCTiJ96MhI1mswg_iELpJa7NNToKtML3ywZDu3IKxLiM_hlG_u6yXYT-L1rMsUm3jypM8IcXpYK68TH30zKb_Mfd3fjcTz5ybT2WRCGc1PAC2YoQlAqqlG6wv60A52UeNwbxdaf0qL3-2ZJCngI2Sp-M4kpO21roGqSg3KHOVaXSAfR1C5yClqFCh3C79ISGpwaSnKzvOwbWVnL0FnpenN-ZZsojWr4Az5Do-TLS6YfZfLO1jbxwRf3bWQKlMblqUCrfvSjwuOD9B56L1G0s4tckgK9L1487oRMhKIl2wThVBJzbyo9VbaszR6STZZpsNCh3YGw9T1ggBmIrYcOUFvgSkqu3YhnaprrmAGC3vRiY1twwhO7KFSw8YVi7WdoxUyYEszWfUsv04ZfU5vv8Db9lEne4Iio92Ts4u8UlNwYu6gHqqRzlGSsY6EmymraMbR7x0ptYPgByDBa9FYWbUneDk2t8D98owC0TsW6dHrrlyjqRFxAylVZ1PH4yy7LzaDLW4YiBHtFYKP7fQeR3kTQg-lJvZJvBaLhd7fXikWp0PilZ1LwM4wD8ej8yBS43mNmcpo6RQqkQbzCDzqUFy0gtMi6Nj6sa0fRFZgDOatwnfmZvV4Aust8_rDe1wyIMaZPpuj1NMqr9oSuUQN9jvZUoi17Mrd4tJyFfnHmcPKM_f32_tf-aLTRAwup5TjOHIZSLMBHH2mt7TAQxzw09roX1C0aJDtvyAm6qqcabvpxmL-eW_kI4Cn-9htMcLT0GfoI52xwknQgfWgn7_qb_cXeit0Nd2jZgJG2DWXs3hdhVLyOfFut6zt2z0_juybYgXOPFx5cfH75lJINRHasV-oRT3tkMELyaY3dIj1cHLZOvX0lqFSM1m24Vg9a9w7TzI5lk_NvZtWBEA7CLM-_DbRoXPZJ5shBL6nKZ_J6DRbp0I0I4Um7NqbNFilm7qajvPgEnCH7-B7uWqG3iJDZCZsuNtRawMPLq3iwaBjt11Ia9N90KgbaGb-mHoG7Oo5vzivEiyIaQQvHaxs-Vi1NHZW7H_rSshNXiL-3fweCbrGRDsZL93yQI-5kzUWMxou0KQsv91_PvPcQZ7odyOiJxFPsu8FLFPaAl8y0PGtsmD1ryU85Ruhqvj2OXWMVcPqh76KF5vdx0hvEHmemnXU-WdxrOkeuLI4eufcQuQ46sh2SABqKppmdqmHrhEHyte6GO9sYW5iJiLE629v-_Kl9cdQPNfJVRVjKmxhR-dEamrJLwGwSH-2msRYgSnpOw0NMNJQldzJVuViImGElKGFR6j7Sn6jwHwMFCtQtdbeENG55Q3m41KtfcQFstvwE0C5lgvVP6tFLbpiLDgyMfayBPUsJilZlJgttngVk7NuTN6eYvZG_s3nFumr2xWm6qsjUT19NdXeF6cZJCQAVp72vMPNRISi4ESDC1DvcBZzZA65PdSHOp2WnobyLQNIRu_E8K8PYiWMsR02aLBSYu5dQ8Lyk80hVMoAjHQ2qMUH9HtUjaG4L5TZpKtt9rn851xpPekv4LL71o9XtzGIkx-ebVohG25dn3Q_zva4rZ3WKpSz4iYtydb2uFnq1JCfXO4mGyBRieQbXew8-9J9-dkQNQxQdKhpcYPfi7gacRSjGVNmd9UuSEfE39atEgZuz3rYIuA0tn6AZ7Qa5GWSAKoJgYEZV4Ig2Xu3_MlILjAdYK5ENyO3rX9sRvuXgDIZc_fCeFoWBaS2IyOtGOCujfSdU9h__LuOHhR3w45FtsT5haJD8XzSDKSImsPBRMnhLVEOr83XXxNPmOqbLs6xA2oiJh7Oo4jRa8pMqfplJcXkuXv8cGLcjrR_wGBCz7qu7lyPyD6OSaJ3cSJ8A1DmlIuuyUROmkHifDeK5_opAkla-vBmNKG4n8TbAkG7hPj8VQbS_U3PSI0Lk6z6rXfTTWg7xQjqiq51Dq9j2dZEm7OKQQvMkbhsCt1jYtAm_4-3zngnFQ4XJGt8A8PbIsSRLrkYS9Zg8yPjhnKK603drfhDx6EFZ1in28QGwNohDolcGRULOg9V59aG3XlG2HdgFKM8r9Q4xLC-JcgNK7RCEe0IxOnM5Y15dChE5-7MiyM1qcpc5T57uFeg8IIpJUyR4l2xs1wQlERbkFt6Vb5lBxr0l3448_HvxK5eV91bLfBYQ58XZ6HTv-yIg5IrGVRD1wxRaAUZzqBgRXZ9xtd2Gq6uy0MFvN4YcirDH5Y7Y88dgMrw8ZdBE4JIgR86NNVaz-HN_pfjnjcvslnbyWbac9FZNqyx0ayoIjHAhuiQ3kPHcPooEjBRn5VBX_kFtNrqA=",
  "id": "rs_0ca0e0d2734ef76b016ab499b2f77087d0826f31cb972a50da",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.415,\"right_y\":0.10,\"right_z\":0.028},\"note\":\"The open jaws appear to straddle the bowl’s outer wall. I’ll advance a little and lower the fingertips below the lip before closing.\"}",
  "call_id": "call_J5rOu0JWiWw9Riw4PGKGbbki",
  "id": "fc_0ca0e0d2734ef76b016ab499b82df487d094dfff0605f8d0c5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_J5rOu0JWiWw9Riw4PGKGbbki",
  "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]: [-0.0261, 0.8005, 0.6075, -0.3897, -0.0261, -0.0494, 0.9995, 0.3641, 1.6352, 0.696, 0.1612, 0.2806, 0.1379, 0.998]\nstate[eef_state]: left_x=0.2943 left_y=0.0005 left_z=0.1778 left_yaw=0.0015 left_pitch=-0.0102 left_roll=-0.0052 left_gripper=0.9995 right_x=0.3908 right_y=0.1004 right_z=0.045 right_yaw=0.0413 right_pitch=-0.1776 right_roll=-0.0753 right_gripper=0.998\nstate[joint_eff]: [-0.1162, -1.2786, 7.0085, 1.7216, -0.0562, -0.0611, -0.0122, -0.3487, -6.9949, 6.5436, 1.6337, 0.3004, 0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82c1712029abd5f2edf084132e0891299423c19476045b065b650d3f1d95148b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2bdc4d16177a8471d8fe195cfece19a68b8ac3d2297be05287855da3aa51a94",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0b3571f5aec57061a9f54e14db228e6969e15eb1d4f6a41c8affca8794fae9c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /responses · status 200 · 8.306 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]: [-0.02, 0.7944, 0.6037, -0.3817, -0.0227, -0.0406, 0.9996, -0.0181, 0.7925, 0.6025, -0.3752, -0.0101, -0.033, 0.9981]\nstate[eef_state]: left_x=0.2946 left_y=0.0017 left_z=0.1794 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2951 right_y=0.0 right_z=0.1807 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9981\nstate[joint_eff]: [-0.5675, -1.5385, 10.1128, 1.7753, -0.0317, 0.2808, -0.0611, -0.7043, -1.3744, 10.1812, 1.8486, -0.1587, 0.1734, -0.2076]",
      "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]: [-0.0265, 0.8005, 0.6075, -0.3893, -0.0265, -0.0494, 0.9995, 0.3702, 1.5692, 0.7139, 0.0834, 0.3012, 0.1574, 0.998]\nstate[eef_state]: left_x=0.2944 left_y=0.0005 left_z=0.1779 left_yaw=0.0015 left_pitch=-0.0098 left_roll=-0.005 left_gripper=0.9995 right_x=0.3875 right_y=0.0981 right_z=0.064 right_yaw=0.0201 right_pitch=-0.1662 right_roll=-0.0724 right_gripper=0.998\nstate[joint_eff]: [-0.2393, -1.2513, 7.2684, 1.7021, -0.0806, -0.0757, -0.0122, -0.0615, -7.1179, 6.8581, 1.9219, -0.0513, -0.0317, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8005, 0.6075, -0.3897, -0.0261, -0.0494, 0.9995, 0.3641, 1.6352, 0.696, 0.1612, 0.2806, 0.1379, 0.998]\nstate[eef_state]: left_x=0.2943 left_y=0.0005 left_z=0.1778 left_yaw=0.0015 left_pitch=-0.0102 left_roll=-0.0052 left_gripper=0.9995 right_x=0.3908 right_y=0.1004 right_z=0.045 right_yaw=0.0413 right_pitch=-0.1776 right_roll=-0.0753 right_gripper=0.998\nstate[joint_eff]: [-0.1162, -1.2786, 7.0085, 1.7216, -0.0562, -0.0611, -0.0122, -0.3487, -6.9949, 6.5436, 1.6337, 0.3004, 0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82c1712029abd5f2edf084132e0891299423c19476045b065b650d3f1d95148b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2bdc4d16177a8471d8fe195cfece19a68b8ac3d2297be05287855da3aa51a94",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0b3571f5aec57061a9f54e14db228e6969e15eb1d4f6a41c8affca8794fae9c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJm8DnAKQu8QE6XiaMsU5I3J8wtq1GS6EUxBr_RV3RlBxqGiXwpwi-uOOK-IyLWhgtzAD2-DvTDVgM6pox6jufg5-FO-V3AM70GYerE1hCBYb0c8ZQHHhhjz9Bp2cqC2xIMnMvxpFUfCV1VAjrZPfZRoey3E2laN6Krhjt7hyd7uYJOFlR2Z2gbue4Bb4_yP5ptGKnDTEHfd83kLLGUGNd9ys_nhL1JgIXfLKe-K4HxejNQqW7WGKVjSPKsJ2jaUJWYj7bvYEyKYe6jrncDG9zXhcjDjZIJ5PWmjSrW8LN720dvHUeiqHs0bdoLkW5qocM0WEfozriIeSwLJW4Lvm_hl7lrQNaanLV1qKET_0aBskPmyBF1JjB2GR8e2zRScPkuOLl8k-kHZ0yhrJOUrp0Sbc2BbCZyYWYhD7Z2oae1D7qr-pErDsl9quAfl8dSZGZmd2fyqm_ZA1qK-AoFMSFQGDL01Ga6EsYkIhd3A3orz1biw6qrptrzhCuoszRebYXpzzlqa7_4LzUUEHpa14QdHfoHBiLlNBdH_-5GKSNn11f3QkvkbdZECUl2AChmtK24q3xgdLvrZaPP0n4vhrQHCNJTvh-mIMzdNu6cFmE0Nk_Vk_SNSZkF4KrWjaDlm8XSLZsLE4DHP2QBiNhjpokq8k-Rk_fYREGhc0bx0gUhJ1PKxbjRPOVxi_6byFABFyEm58ooUdBQt0sr6YkE0rK3pKeI1qdA6Jkud0mcOwU7mwUcBrI-Q1BJXizSmzjTdJaE9X0sLYbzf8BrVCaQ_NR6b4aWI4rl4AlEvjAKcru8pTODlOgqYpxAGPLX5qnROvend5TNHe-6cMQfY6cRqDtJgmuaIa4e-opvNo3I_xPu7uM8655CEsQwPNZzGLsE5tVS5hasxwZRuk13eIJX1sba4n3C4SqNwfePKx5xUtjjNJ11-jq_aUkm89qz07-bMeCkXuR14ZSCxwcNB22Cc0zxxjNfP3oJzP_Kpdx5j4ps0Jq1WZhixqsN_vX_fAxZ0DQZuvAQnU-GYB_VSUZdeX7ejk54rBFBa5G4sb1Rvx-6_LXCJq-wf96mVyrPeTmzCRnsERYr5VSTcAg2JVL3SdjT_CraqcLwdCVrsYOo6K829O6tzG5P1Gu7A0lid13lOvyzlRnjhOzp6On1H03iuHCMvHsfiUebj0czEVmoTVo6yLYtJEViJjmeFrVhN57KRCM1_Cchr5lMOQiYP5Rsw0SaEsqquxZFptmV1fMvZYfPb7OiVhGLEFUZq8hliEPG6gQfiYIYEazNSnXU9BeOv4_KIRzfpt2Wprqs1DIkpF3LaxC9_hjlcwP6k4MxUznuFIfHoagdyx8St7MA_ea7oaVI2srkmbo6Nm_sMmBp0Gp7VUNzr_3w5mU4nW5oZAAnbk85DoDu5i3BX0cDflSnkTjM27KSLj6G1nXEahwrURB7sTjfc4E-zMMONFSpVCRmcNzaSmv_UpnkydsU6Hwz3UcufmquXBvdBIWJUqvU6TvzJXaA=",
  "id": "rs_0ca0e0d2734ef76b016ab499ba8dd087d0ac84f5601aa8165b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The fingertips are at the bowl’s wall, and the descent has slowed above the target height. I’ll gently close on the rim, then check the grasp with a short lift.\"}",
  "call_id": "call_bu6hKTigC76OWBRCjQLx0q0t",
  "id": "fc_0ca0e0d2734ef76b016ab499bbb2cc87d098985223cfb60603",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bu6hKTigC76OWBRCjQLx0q0t",
  "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]: [-0.0261, 0.8005, 0.6075, -0.3893, -0.0261, -0.0494, 0.9995, 0.3645, 1.6375, 0.6956, 0.1589, 0.2798, 0.1356, 0.0093]\nstate[eef_state]: left_x=0.2944 left_y=0.0005 left_z=0.1779 left_yaw=0.0015 left_pitch=-0.0098 left_roll=-0.0052 left_gripper=0.9995 right_x=0.3901 right_y=0.1005 right_z=0.0435 right_yaw=0.0432 right_pitch=-0.1826 right_roll=-0.078 right_gripper=0.0093\nstate[joint_eff]: [-0.0889, -1.306, 7.0632, 1.79, -0.0904, -0.0513, -0.0122, -0.1436, -7.159, 5.6684, 1.5556, 0.0806, -0.0171, 0.5543]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4336ce134c9b9378a262428ee84479907741c03daf2b8ea762f6e7500c75c5b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:894fc3e37475df2c612102cde799c4f2a2228fda946e6fb2a7425fdfec8f7df9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f7b57594b6f76094c3af26ec3cf1ede257ac177c5ee7f42275a6f9bff3a5ada",
      "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 · 3.813 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 14 changed as sent

message 18 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0265, 0.7994, 0.6075, -0.3889, -0.0265, -0.0494, 0.9995, 0.4461, 1.4635, 0.8669, -0.1062, 0.3412, 0.1951, 0.9981]\nstate[eef_state]: left_x=0.2944 left_y=0.0005 left_z=0.1783 left_yaw=0.0015 left_pitch=-0.0083 left_roll=-0.0051 left_gripper=0.9995 right_x=0.3927 right_y=0.1263 right_z=0.1337 right_yaw=0.046 right_pitch=-0.0908 right_roll=-0.0429 right_gripper=0.9981\nstate[joint_eff]: [-0.5812, -1.4701, 6.9812, 1.8095, -0.0855, -0.0415, -0.0171, 0.1983, -7.1316, 9.5111, 1.8291, 0.3736, 0.232, -0.2076]",
      "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]: [-0.0261, 0.8005, 0.6075, -0.3897, -0.0261, -0.0494, 0.9995, 0.3641, 1.6352, 0.696, 0.1612, 0.2806, 0.1379, 0.998]\nstate[eef_state]: left_x=0.2943 left_y=0.0005 left_z=0.1778 left_yaw=0.0015 left_pitch=-0.0102 left_roll=-0.0052 left_gripper=0.9995 right_x=0.3908 right_y=0.1004 right_z=0.045 right_yaw=0.0413 right_pitch=-0.1776 right_roll=-0.0753 right_gripper=0.998\nstate[joint_eff]: [-0.1162, -1.2786, 7.0085, 1.7216, -0.0562, -0.0611, -0.0122, -0.3487, -6.9949, 6.5436, 1.6337, 0.3004, 0.0513, -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 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8005, 0.6075, -0.3893, -0.0261, -0.0494, 0.9995, 0.3645, 1.6375, 0.6956, 0.1589, 0.2798, 0.1356, 0.0093]\nstate[eef_state]: left_x=0.2944 left_y=0.0005 left_z=0.1779 left_yaw=0.0015 left_pitch=-0.0098 left_roll=-0.0052 left_gripper=0.9995 right_x=0.3901 right_y=0.1005 right_z=0.0435 right_yaw=0.0432 right_pitch=-0.1826 right_roll=-0.078 right_gripper=0.0093\nstate[joint_eff]: [-0.0889, -1.306, 7.0632, 1.79, -0.0904, -0.0513, -0.0122, -0.1436, -7.159, 5.6684, 1.5556, 0.0806, -0.0171, 0.5543]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4336ce134c9b9378a262428ee84479907741c03daf2b8ea762f6e7500c75c5b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:894fc3e37475df2c612102cde799c4f2a2228fda946e6fb2a7425fdfec8f7df9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f7b57594b6f76094c3af26ec3cf1ede257ac177c5ee7f42275a6f9bff3a5ada",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJnFfgfkZi9ZPKQsEtcoIPehJ42RKbwsN5LGjs7PSKlkMUkRpWPCVSji-_ndysTN6LlKu_4gHd4BqOCR4IfUcjt0y_yFbdhpv_mYjJJ4qlBRu8TiV0f-NkKDjitLS_-1iztvmIOO4V9pDpqRQy0S3ASaUTzu_JDeCzgYYGA2hPtb7W1yVc7SslF2COPJ10jHr9yZb5ISxxd3JUZDDM7FixN-1833H2PG40vDQf3CHjUzO-LhkLxHg2DSxA_A2FoZjHsx5nohWJWn5ALbMidy94iCnpBT8SgOJft-y1RNBFBbG-9MzNQOEJ2DCAb92hY1qYuqT828uLiz1sWjjRNmBPXG3qGXCMEK1Yw2CLewzXW5hPmm69eEA8edwFyIIYJ99JttV5qh76MkVp2-cGh_6P8ppN_1kwUsN9gK4Jne-ojgAUE6kIFZVb2Ctq7blTG-D3s4_pbstM9F9jZVITUoB0TP_U2Jl8R5v0u-Wa5OeLy0bjewQvrdWd8ZYRGxiqGODWoJe1yIoUTIzAcWn7q3bT2Y_HG8ruk5LKssDnrnaMW-r0BWmlQg6OpTE23UuYuwoPpNkiNZhpXu3I5qUtT5ST98kKu-6Chs4g8HtJo-tsPfAdP8cTJvzC3aOg3dV_PTLOwslZSDibBfvkLbooNrkvSeAZq3h0qdOqmYZyS0iDoGFk7wepdb2DQW-50-iDdyWp6JQyAEqgYehahWTMe84GMNlqNT05OVeXfolSBAuX_dZsgCzPBqlKfjngUNQ2wiCm2cYhyZC-956Yi62KiWjdJ1XsWQXBTAEnanjdfdIXGApr_9Z3HgId4fT_zPPtO4W6QEYhLAgw5kZPttwWlFPYTNVWqadJ0tchoz5wTqdkTIlZtpj1Nd1MYfpYMsWjN57KhO43bl84_hdnufL9bbe4Tevk8nRt8eH1epsS_8ThbBrzOFaXIXhYiOgSJIgC2NgMtNvNLUl-ovG9cM2QSPEwf6o7_xG35S8J19XOig8VedSwV8T7OWPBP6_pu_xeFst-IBVo7rqZiA6avQF7neOFCFCYSCkXRSfczhW-MOeVUPwTDppPmc35ESYbg4KrY3OddOkO8Zcx_UUXgHxgOdJXg4DrIS0SAZ2oMG20IB9y8rO2qqGmgIwlIiGdBHPr44Ib3hYGTC4T0SU8MHzOlQoEK3nQTnPg-GGFrGn_jnNikkzAItPc1fLC5lVoiYZLX1G9XzkJW1aec-8Lw2qLPOpcVn6ZnSa5PHyEZPEUVGffHeA9tWt9rAgagywnbT7aSbo67oQpKUehxcst3ZzkXE-w1wLGImlsnNWHopKngD42pOTsRSajVqOluQgE74Bu6d7zcuJGoI9_TJzrOEGRXoU5PfdH2t4kZq3RI1_EfOFZmYPIHkBaDXh5bLKfxRC2QmAap2BbCqcnMVw52vR1xx5m3q3MDbyYUYHr9gp0n-kLlM0a1vSOjmK1tkwjUWx_0_aoIEHNc8DaHpRcsxyInfnlE1qZrXXWAbNiVrlRxVJuPF9y8giLZhV6GQbq7VmsX5Xe_KiUkJVIRBaQQ3VrFbvKpeM7dPEuVQGJr45FQXkdxC1sKQJIIKra1h-FjHXHNKJl6yF701wygrkzQTViDGo82npzmuQotEAkD9Ge-4Lt4M0--dU2b9nu14enuCN_8zarOp4utwj7brp1BjYqOwZaZju35XDu90SWZfDyiseu4riuCxnQptKMZZFdcH9AzuWnyzj5dEqrq6fLho_bzACXGFLCSmPlbYMfqrEcY5_MFh0-1iaWzEdBS2aHbysuULnPXfxvMUM8PXlXwDavYMoGDHAU6DS0FdgjhR8XRgweb4QQzBdeqMGtfL8tGHxekB8-N_buA-jeA9C7XLu2i5sGOpS_1Pj5ju2lR1_-Zk1-z_RZfSpUaZCy1u3f1Doe0eHlDv0RCHa6YwsTBoNS94vMQOJDLkQgU3pLM0B9SyWpF_B5l4ynT1qbOAhN9dMhfCGZrEJ0srDEBjfLRjPBhESqvzpUF0UltdDsFYLo4DO65624bKM4XdCo_XQdgyV0LAO-4TSlQw5U-_l324jFEPghT-9vvwHEhKqVL9T707PgzU5AlRfEmMCIBWm7TNFTvBjGkAgu5W12QCZ75gBIp2ksKmm7Kc-rCBg0LOmqM0BTkt-tU6Wqxep72uJdTd0vrArQazDuCAoo0bFRmBZ6KMReRHJj91rrX5ke2SgitxxUBJN5DdvngwqMMeRJcktb1FQon3nXGzWPn2QsPIAK9iAqHmMZ5Vzd3BkOFnjJfio5Lm2acqg89xfi0yatzDvMku_BaqVbZbjsK8GmGZvj48vyX7XxZpl2M9hlCFtPNBda--mTYGlSHGp-LUgkWjEc4Lu4VSzgyA9ZJPH6k6o7TWbd5f6MPpvIyvRBB2Hg1yLSwuO2zlA6mfOlZ9X0W29OA_rvFnbCUHBDNe95FycKfDX_J3S5KbkcIfv5gDADlGi7Wq_rVnFfDWelY7WokxfXtyno23hzQBho7qoSsmHl5J7KUadU8rFXnepvtwCvgXKPGV1yOdS6LsXNnJ14EK8GkldIbZRKTjrfsF9mfvp2i7dL-ZRcw0P7EqHT82HpPtXGLu0opv7iwT2-ZfeySwmezj9OZPCjtU9xOk1DME1tN87cpzcnYg478jC9uXfcKfH7lEn2G_W6JFX1mYezP8mOoyO_uTxuaBkdAkZJ-iWmyLqH7DgqGL9IOqG0o1LU2ezKkB4ste8wLcFB4t_7hDd5obhHv5lTisLFaPCfrUfS82WokKnHKbsLTWiOxTV6K3SAiBF_hLmi1JtgRrFUJGTQRBpf8X5wRVN0U3zGLN_IyAZV4xcRxc6Idc-L4sYKCScg_laruuWuDygU6pRkXHvb48XKS9",
  "id": "rs_0ca0e0d2734ef76b016ab499bebfb887d0bbbcd840e2b7c5b6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.125,\"right_z\":0.075,\"right_pitch\":0.15,\"right_gripper\":1},\"note\":\"The jaws closed empty and nudged the pink bowl slightly left. I’ll reopen, lift clear of the lip, and move farther forward and inward for a better rim alignment.\"}",
  "call_id": "call_7DDQDsK0c1dT7qqC8HskCPO1",
  "id": "fc_0ca0e0d2734ef76b016ab499c4971087d082e725c7b197de18",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7DDQDsK0c1dT7qqC8HskCPO1",
  "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]: [-0.0261, 0.8005, 0.6075, -0.3897, -0.0261, -0.0494, 0.9995, 0.4114, 1.7889, 0.6735, 0.5831, 0.3599, 0.0681, 0.9961]\nstate[eef_state]: left_x=0.2943 left_y=0.0005 left_z=0.1778 left_yaw=0.0015 left_pitch=-0.0102 left_roll=-0.0052 left_gripper=0.9995 right_x=0.4283 right_y=0.1229 right_z=0.0568 right_yaw=0.0647 right_pitch=0.0667 right_roll=-0.0973 right_gripper=0.9961\nstate[joint_eff]: [-0.0479, -1.2513, 7.0769, 1.7314, -0.0464, -0.0611, -0.0122, 0.2256, -7.4598, 6.3795, 2.1319, 0.2564, 0.0904, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1af8e975114a30683bdcb8f9e4af22d05685a6ce0227103d33537d3371cd7165",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8615244dabcf8142714adf1b3d6bbace9187445d39e361dbeb54c2caff2ef5b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ef1cfae75b429a96a669bba960b7d9702eb269dfc875a09041544c4f3bf258e",
      "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 · 3.925 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 10 changed as sent

message 18 changed as sent

message 22 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0265, 0.8005, 0.6075, -0.3893, -0.0265, -0.0494, 0.9995, 0.3702, 1.5692, 0.7139, 0.0834, 0.3012, 0.1574, 0.998]\nstate[eef_state]: left_x=0.2944 left_y=0.0005 left_z=0.1779 left_yaw=0.0015 left_pitch=-0.0098 left_roll=-0.005 left_gripper=0.9995 right_x=0.3875 right_y=0.0981 right_z=0.064 right_yaw=0.0201 right_pitch=-0.1662 right_roll=-0.0724 right_gripper=0.998\nstate[joint_eff]: [-0.2393, -1.2513, 7.2684, 1.7021, -0.0806, -0.0757, -0.0122, -0.0615, -7.1179, 6.8581, 1.9219, -0.0513, -0.0317, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8005, 0.6075, -0.3893, -0.0261, -0.0494, 0.9995, 0.3645, 1.6375, 0.6956, 0.1589, 0.2798, 0.1356, 0.0093]\nstate[eef_state]: left_x=0.2944 left_y=0.0005 left_z=0.1779 left_yaw=0.0015 left_pitch=-0.0098 left_roll=-0.0052 left_gripper=0.9995 right_x=0.3901 right_y=0.1005 right_z=0.0435 right_yaw=0.0432 right_pitch=-0.1826 right_roll=-0.078 right_gripper=0.0093\nstate[joint_eff]: [-0.0889, -1.306, 7.0632, 1.79, -0.0904, -0.0513, -0.0122, -0.1436, -7.159, 5.6684, 1.5556, 0.0806, -0.0171, 0.5543]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8005, 0.6075, -0.3897, -0.0261, -0.0494, 0.9995, 0.4114, 1.7889, 0.6735, 0.5831, 0.3599, 0.0681, 0.9961]\nstate[eef_state]: left_x=0.2943 left_y=0.0005 left_z=0.1778 left_yaw=0.0015 left_pitch=-0.0102 left_roll=-0.0052 left_gripper=0.9995 right_x=0.4283 right_y=0.1229 right_z=0.0568 right_yaw=0.0647 right_pitch=0.0667 right_roll=-0.0973 right_gripper=0.9961\nstate[joint_eff]: [-0.0479, -1.2513, 7.0769, 1.7314, -0.0464, -0.0611, -0.0122, 0.2256, -7.4598, 6.3795, 2.1319, 0.2564, 0.0904, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1af8e975114a30683bdcb8f9e4af22d05685a6ce0227103d33537d3371cd7165",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8615244dabcf8142714adf1b3d6bbace9187445d39e361dbeb54c2caff2ef5b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ef1cfae75b429a96a669bba960b7d9702eb269dfc875a09041544c4f3bf258e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJnKv_L3SlLyuvuyOGdPeEtVWXB5RruXmULpDZN6K9tPmQ60IhUFz7cgSDSdGkROnL-WfRntQDRyR0FNCJ5ptvdP0XfWIywlraB1R49kDpVOySJVBu4O-LOD92E15JC2A78LYcbR2kFdNW2AOjE2gVnykL-tYtrf58h9_emYEssamPpQduNraNlqIazQ970cKGlH-ElfMU23-QRNaXShsEIyx4Ir13Hvgr6D4_bnNqA9VQFm2RTlu3W58OUCQivDajRSMhiHELKvkwslClQJVJNk6XSy6ZSMgH9fMNhbc8XUD_8edgagQ2G2wQE3nBNVN6MWpmKuxV1VJfbqwK6QIS32mOMYVLeyma8K6DCOswQFzv_95MAfM9-mI-GPuiZ4Ij4z6TRLk7INrgr_Lm9XrJJaBVKoaRWpbq42UkR61EDYy01MHlSCw__5nq5tQhhQQ3tRL70DGmnrvWINdCJ9Fkg-wN0d-2kp0DeN2d57Lni9kKu_UYh835r-5IC-SGscFoo6nSM5yA9krGHJIJGI7g498ztpvHn8tVcTQaqJGpiL4dldtFAGM5Xl2rLbCqdBVT2fFRF3G9Tc9ZFEi5EMWKkcLngnhoSRJFYTSpUZW506OMWGoA_ZTeAXcA3dTr5yiKPS7U4EMCg8BY14CQr37KdXMLDf0TUFPG2g08JcSt7XRIEC9hb8c0-xpadaKbBxDQLbMf9j7d7fTE9XMhfqQH6E3G__r-vhBvKxx3KXFmn3Vlvw8tdFwJypTFqKL-RqrEleogeXkHXI9JaZSTUUu6SkAoXVC8GXQN4hY9DARGqdCIX88lGukf-mVWWkB7C4FC31TON9CMYQkpcL-cy5j2teLs7cGJaSDbqH938PnNRDpiB3BrGmdTB-aZR-Z9ZccBSYzXg5gj-Zl7iylwK8ABih146Zmwzvo81-oD5Lq0ZNbRXRPly12aKGxEQGKklr9cVsiean3lnO1BpPiAKmtyar8XVB7SgY0QWtimh3qF6K3S66MX3PvGLe8PEeJQ9iLk2RWVD0y0N_7FScZyvVUfTgDqFY4wlcVeaQnbThbYTCzI4xjrpn1sf_QvJGsEPia59Lc1iGdmo-ppvSJEu3gDNbCELyt75MvkhNNI-AhJnFet5NdQ8bQRGaYUXAj3fa48U4pOcgzArl6-myDK1q_JLsLyQRxCly5bPfpQ9dFKST8errmrLi2o9YGr5PcqAw3L6hTTFFkFbDYhUy-rJhPDTiPdJrtry__xRB9YGPF0QQ9BzIfsPLzXF_EAIdhD-SBOT5fUId3fUI1CjIXrVDEVSzbO41x_g9owqnkpvxSQxgrhJZSUnhgNpmn6emHMPW7CvseiX4nGLVvqr_AStqDVCzGBZJMfhT-6TtelBfmIXmZ_YXWQyAw3QxLLlrelwvGWSQMzaIhk2Rpc5EXcWa0ifUmmcjpbs0sAYwj0cFQa7sdczjWmt_LOz9G1ZAGnrcqtaW8ZjqItakI9xKSay9XQ7_ZEn-2ZSCnKpXL55WHZo7cKrg1LigozNXPLkfOTbSrhL9XfH3-VRvGpRphIMdwOdJdQgJj9ztrMGSIJjGtq8uUSzlUMCceWt_aN2XQoVQzTX6cZixA62g0GZGjmQZeCuwmvJ4iS8QwT7QtPDeFfMuKw2800IVm4SUodHizIOi_zbS",
  "id": "rs_0ca0e0d2734ef76b016ab499c817d087d098a6442cd151405e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.125,\"right_z\":0.025},\"note\":\"The bowl is now farther forward, and its right wall lies between the open jaws. I’ll lower straight down to catch the wall beneath its lip.\"}",
  "call_id": "call_rLVBcf0SAHyVmaXuoeLfZs8q",
  "id": "fc_0ca0e0d2734ef76b016ab499c9cdc887d088430135b790ca55",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rLVBcf0SAHyVmaXuoeLfZs8q",
  "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]: [-0.0261, 0.8036, 0.6075, -0.3897, -0.0261, -0.0494, 0.9995, 0.408, 1.9205, 0.6788, 0.6849, 0.3531, 0.0589, 0.9966]\nstate[eef_state]: left_x=0.2945 left_y=0.0005 left_z=0.177 left_yaw=0.0015 left_pitch=-0.0133 left_roll=-0.0051 left_gripper=0.9995 right_x=0.4329 right_y=0.1245 right_z=0.0231 right_yaw=0.0722 right_pitch=0.0419 right_roll=-0.1101 right_gripper=0.9966\nstate[joint_eff]: [-0.0068, -1.0188, 7.1863, 1.6972, -0.0464, -0.0366, -0.0122, -0.5949, -8.8957, 6.3111, 1.9219, 0.0952, 0.0122, 0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:295748e0df69165652f2c307bf41832046e1fda697ffbb3f7b824a0376e97382",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe746705b929d99315335ae2b79ae09c2d9bb687efcadc46bd12be15753ad45f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11998d740f650629770ed87d62655449b087c6f7b0fadf387a51899761484adf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 3.539 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 14 changed as sent

message 22 changed as sent

message 26 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8005, 0.6075, -0.3897, -0.0261, -0.0494, 0.9995, 0.3641, 1.6352, 0.696, 0.1612, 0.2806, 0.1379, 0.998]\nstate[eef_state]: left_x=0.2943 left_y=0.0005 left_z=0.1778 left_yaw=0.0015 left_pitch=-0.0102 left_roll=-0.0052 left_gripper=0.9995 right_x=0.3908 right_y=0.1004 right_z=0.045 right_yaw=0.0413 right_pitch=-0.1776 right_roll=-0.0753 right_gripper=0.998\nstate[joint_eff]: [-0.1162, -1.2786, 7.0085, 1.7216, -0.0562, -0.0611, -0.0122, -0.3487, -6.9949, 6.5436, 1.6337, 0.3004, 0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8005, 0.6075, -0.3897, -0.0261, -0.0494, 0.9995, 0.4114, 1.7889, 0.6735, 0.5831, 0.3599, 0.0681, 0.9961]\nstate[eef_state]: left_x=0.2943 left_y=0.0005 left_z=0.1778 left_yaw=0.0015 left_pitch=-0.0102 left_roll=-0.0052 left_gripper=0.9995 right_x=0.4283 right_y=0.1229 right_z=0.0568 right_yaw=0.0647 right_pitch=0.0667 right_roll=-0.0973 right_gripper=0.9961\nstate[joint_eff]: [-0.0479, -1.2513, 7.0769, 1.7314, -0.0464, -0.0611, -0.0122, 0.2256, -7.4598, 6.3795, 2.1319, 0.2564, 0.0904, -0.0464]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8036, 0.6075, -0.3897, -0.0261, -0.0494, 0.9995, 0.408, 1.9205, 0.6788, 0.6849, 0.3531, 0.0589, 0.9966]\nstate[eef_state]: left_x=0.2945 left_y=0.0005 left_z=0.177 left_yaw=0.0015 left_pitch=-0.0133 left_roll=-0.0051 left_gripper=0.9995 right_x=0.4329 right_y=0.1245 right_z=0.0231 right_yaw=0.0722 right_pitch=0.0419 right_roll=-0.1101 right_gripper=0.9966\nstate[joint_eff]: [-0.0068, -1.0188, 7.1863, 1.6972, -0.0464, -0.0366, -0.0122, -0.5949, -8.8957, 6.3111, 1.9219, 0.0952, 0.0122, 0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:295748e0df69165652f2c307bf41832046e1fda697ffbb3f7b824a0376e97382",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe746705b929d99315335ae2b79ae09c2d9bb687efcadc46bd12be15753ad45f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11998d740f650629770ed87d62655449b087c6f7b0fadf387a51899761484adf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJnONLBLoV7nZKrygWUPcqjmJ8wVi2LSHbF4rTEs0d6e5ckedT4PKPBEDtmuyDtWLrue6QTlKriD-2OY_pMTnjLP0ye9yCsPv9vFoe1X2DGTpIvgB0VFt2TgeHgndntE6rYXJmNVCfdGobusCH5AxuFEb1FlJNWkI_sgRyUmNuhvxI8Nhb_npdsAR48vJ6aASkTtelhMGNKHjxAGl2DgzqMHrPpFMtY5QrqPgaVdMmg9Dk8BHI4-5kK2S3AbRMK4Qify3Q9WKN3STgeEsm86sQ1chNjZtMNvv5xgCmS4avPpn_n2yCuVEAMxAWQ8B3y04wSeo8tGxv-f5C4YnY0VVzWUnSg3bVRQ_bMqWEIyZoUkq-Fi5zFdjce6cV898RhueEWL471Dm3TaBMNrJFFs5kl_RDT0DorskeGssYqWNswV8ZaCJoYwwBmFLmsKlAJ-hKKG2iPWpxhGBZLLJ5ezfNWSVlrUQlWfeSuZ0zdpfzM66NkD4oiXKJqj3ZwYt1V7Em8xl2ZL5X0_dvs6AkFqgisEDuoyXDvm8ZoK0xy4UowG1SRloL86dBYRtJzGiRoYQdKEba-SH-VpekEp0ZjEDnRUCePI7S9P8Johh-InFop-bHdJXEwXsteG4ppwPYcsymXnzfwT0SNaZP_cBZFgrRBRs_LybG0Sn4AodTgNbxEDXqYET1HvjQap9-Jx_trwqTtvA28rtPnGIRdkLBFNkrbIFLOH0iddPyBU-T0QP3O96KC0v8tMwJyWi6eqHppPzMVzx_vVoRTSPX3wfDdoaEyh3v0LqcTgevr4CiIqqE2UoC0SxEVYc_O62lk6ZJasB6C4aQodganTfvR-mPvjpO1h0qKJwnjsybZc1IeEj_2VWoayGUADJPudfJNtMLYg30N-Jcu329FOyvtLApMfvzam6nIFhiPtlRxolrlJaQw6m6802rwBuDIq0uX9JILeAS_OdfW9bTperJa9pOqnaOv66UuYQlCGGXQ9HLRl5_uxAzwwIC5XWzfVNXCKtJtZalWDLVKC1BhYr65wYPGPSis9bk427mS5OqHoeXh1Y9amkmJF3SW6HZt8sE-TjOeMH-P0xTOceLt57qWzYdagGcgWFRuCnklSj-bCD3c0-PRRE6HDbTWHXdfZca0QQ6FMcZa6zoGFztZuRhO4PpscqWWnNphJbzl4CePuyp4-vg7roENiR4wTudSSK9xxQXkdy9-Dk6sykqk16TnLuZC-r5e4mdWXey62vExeMOJUIxEPyVd-CSmtVZD0dJ5SPBLRDOwzjNT6r_Ffpk_NC_tsYqfrgxginsb6sMO5CcvP8l91gcVzHR98w_g30ySAXBJbW8BP9JNskMlowk56QH2JPTzs3Nbi2EYVx1_cQ28rI6K-E-073KYj3QAJV0TeGmuF5SpG3YHSXTwEVzDTNJQp8rJMkYWJ_sijRfXzfBG2fEKkBkduxWfV-tIwZ54xKggQX6R0708F2H07zUi5BHfez3XVnQT65p3cwStC0G0VZv8I57VWcQ5AvzXtpImkTfChiOGtyPw3_5NrU7aGRqSg3QVfxsJw7SnFEjVLwQnL2HV5jtmtUR8cp2FPcKAZkBcM9XF4hBbxN3IrroRMFciMatV_ywB5aaXOEPjRWNcrJF3qq8pHVHCov0v_rbaRxizjsFTURa80D7Z9XMJr63piEyHZRnuORt_HMYOh1Yo37i6KzxtPiHwBA-No__Y2l1l89oHFvfrjY_2cLexonBiUcZAAtHg_0ddempeQDr1mJKM5qQBHDuEgqjoLglMzzCFXurRctVlcrTk9wQvF-MYEYi_5nArT4RDz37ChZsuZMOC6H4zGdakquf2DERu0CvwFzREb_bWuBogcGppCXCEx81ObWMiMIua01wk3ah8Fig-C5r0xsMwUpDfV5W20BEw1ni_T",
  "id": "rs_0ca0e0d2734ef76b016ab499cc3fd887d0aaf2cc5d8a9178cd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"One jaw is inside the pink bowl and the other is outside its right wall. I’ll close on that wall and check whether the gripper retains a nonzero opening.\"}",
  "call_id": "call_5QvouhuczGoQjhTfBtkyUu00",
  "id": "fc_0ca0e0d2734ef76b016ab499ce1f3c87d08d2f20e47f6f99ea",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5QvouhuczGoQjhTfBtkyUu00",
  "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]: [-0.0261, 0.8043, 0.6075, -0.3897, -0.0265, -0.0494, 0.9995, 0.4068, 1.9331, 0.6968, 0.7841, 0.329, 0.0757, 0.0218]\nstate[eef_state]: left_x=0.2946 left_y=0.0006 left_z=0.1767 left_yaw=0.0019 left_pitch=-0.014 left_roll=-0.0049 left_gripper=0.9995 right_x=0.4475 right_y=0.1346 right_z=0.0436 right_yaw=0.0791 right_pitch=0.1378 right_roll=-0.0499 right_gripper=0.0218\nstate[joint_eff]: [-0.0889, -1.1692, 7.1863, 1.6923, -0.0904, -0.0611, -0.0122, -0.253, -7.5556, 4.547, 1.2137, 0.3541, -0.0806, 0.9548]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbf4af31ed47882f0d29d6d50e18491d5fbce47a33f31baf65ce34dfbfa09705",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3159f7ed60507b493172abc162f0a9cc66b9d23741f2f7562427d8026d191170",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51fb06f64eabe6ef9cc4e9393932284e4deaaa1df75690aeebdb2223344bf604",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 8 attempt 0 · /responses · status 200 · 5.081 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 18 changed as sent

message 26 changed as sent

message 30 changed as sent

message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8005, 0.6075, -0.3893, -0.0261, -0.0494, 0.9995, 0.3645, 1.6375, 0.6956, 0.1589, 0.2798, 0.1356, 0.0093]\nstate[eef_state]: left_x=0.2944 left_y=0.0005 left_z=0.1779 left_yaw=0.0015 left_pitch=-0.0098 left_roll=-0.0052 left_gripper=0.9995 right_x=0.3901 right_y=0.1005 right_z=0.0435 right_yaw=0.0432 right_pitch=-0.1826 right_roll=-0.078 right_gripper=0.0093\nstate[joint_eff]: [-0.0889, -1.306, 7.0632, 1.79, -0.0904, -0.0513, -0.0122, -0.1436, -7.159, 5.6684, 1.5556, 0.0806, -0.0171, 0.5543]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8036, 0.6075, -0.3897, -0.0261, -0.0494, 0.9995, 0.408, 1.9205, 0.6788, 0.6849, 0.3531, 0.0589, 0.9966]\nstate[eef_state]: left_x=0.2945 left_y=0.0005 left_z=0.177 left_yaw=0.0015 left_pitch=-0.0133 left_roll=-0.0051 left_gripper=0.9995 right_x=0.4329 right_y=0.1245 right_z=0.0231 right_yaw=0.0722 right_pitch=0.0419 right_roll=-0.1101 right_gripper=0.9966\nstate[joint_eff]: [-0.0068, -1.0188, 7.1863, 1.6972, -0.0464, -0.0366, -0.0122, -0.5949, -8.8957, 6.3111, 1.9219, 0.0952, 0.0122, 0.0415]\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 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8043, 0.6075, -0.3897, -0.0265, -0.0494, 0.9995, 0.4068, 1.9331, 0.6968, 0.7841, 0.329, 0.0757, 0.0218]\nstate[eef_state]: left_x=0.2946 left_y=0.0006 left_z=0.1767 left_yaw=0.0019 left_pitch=-0.014 left_roll=-0.0049 left_gripper=0.9995 right_x=0.4475 right_y=0.1346 right_z=0.0436 right_yaw=0.0791 right_pitch=0.1378 right_roll=-0.0499 right_gripper=0.0218\nstate[joint_eff]: [-0.0889, -1.1692, 7.1863, 1.6923, -0.0904, -0.0611, -0.0122, -0.253, -7.5556, 4.547, 1.2137, 0.3541, -0.0806, 0.9548]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbf4af31ed47882f0d29d6d50e18491d5fbce47a33f31baf65ce34dfbfa09705",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3159f7ed60507b493172abc162f0a9cc66b9d23741f2f7562427d8026d191170",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51fb06f64eabe6ef9cc4e9393932284e4deaaa1df75690aeebdb2223344bf604",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJnTy38VxzXDEDjatp_MKtPjA2IXp550Dvr61CVYQy4GwqrX1q130rr1Mjt2M8dT6A6EgX8990cYlxMBrO2DpXcD3xaMdqgXMTWKN7RGUFfuCX8coWEdlDxZmG3JIezOgBpQaEmFC9ESPrygFhrEcAvwJi5yDTQv1rtQNkA-DIbSDMsZW0Iiue9ZMi8dkcmXNGz1NmrdmgOeF7wJc32UVI6Q5A9ZPD47vHVYhP9vkC75lG39_CSuclDHlH3PdEoWg0htul2kTEEyxc9COGybCnM23XKTIltgOZY4Nho38NgYRQqt7VDggKib_PucbYo_LR-o4ZIsfQAZajZSB-Aads2FRHLUEZovqd7ZLaAW6Smh7fYV0csJAk_otr9urn7juSS6k_GwxRWNMzjH6KPqsT5XCSrb_W1NscRS5VCAwT4u3hbRdXWPhrYZJMPKOBMrnqrLgDZQsgV9LNf7oV7PJj7twSJlY0oNaoaFwfwFWPV9PMHsgKYJuhOYC1_RY06cy2b3SSk1mE9gDd4lqMPHzmEm5xsoisIPYWTECdGlazvUO4dxBlrc2iqiimqFaK11xJJGnjfvXddc9zEopP1a24Fv21-1N0pZQESTeOSvo5iYxEnvvpFKhXVz8mBGWzmJSsFtgJEepXhBTKXY2qzBL3GIodsGuC_CBLB9sjXzeZ4qKUotPH5AgQRzo0QpFtZzmIamQ2fGkZYPbCaHse9OzV1JrxsjhyRrghfei28tQFzkEiQAl4gbXEO2ksFhCOgB2_0ot2HNL-opzNKtW1TyiAuvRNMiE_I4Xr7CU3S8BPHY3OLAm3X-yfzq3xNecMs8FQfRKZt6MTl76Yu2Bx1ghTWtxvkdbrzzqDYfaE3QJlGzi3fPe2DRLhpJ6F4pu2mBv11jfsVx5a-L1Z1iG1uQ4KAYrVuwWCfhM6ouc4aoPEQMi387j7DlOjvihnfpmTa8EkmXuzfWVeZ1jIIMVqcX9DvAx4st8d-Q1VFP3MXGTSK02HXEW7cxG840lFybstUv14s2mTXOtZBZTRoW_EAv1GfJ8zCFb7vkX0qOX7Iwm8Ak0BhTLnBJ8VwC_bQQGd9YZAcBKycPfzSy9FEautGDqjxX1EFS7ii1Sl-KC5-9Ykkiz7DO4wb9xOVMBnQDereVAo9mhgmWiOjqwkfDWbYs6GaUnYE7-k6Yl6wZ3IPMf-H61rk4wMyN-DDVrlDpfxzH7h9uYhQBJ72rtLxYCbv5c8ouON6GspTceTVIhcD11Bieaumu1n5kwyfNkol_51L9E6CCvxE7W1iGwy_oYOfy3SiZLmZAuLBlnSV1MUaviwaECoJhQke6QpytBbG3DSffLNIf2u5hdepNleYFUgR3LiOCTZ9nG3cJUeM6H3GoHurmNOda40vXRl3y6Ka8peeO1bh2UHIdLJ11yG9etDFtQDsrudYGIyyWjwxApV8I3c7UzUU=",
  "id": "rs_0ca0e0d2734ef76b016ab499d12b9487d0980e069d9daa30f8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.448,\"right_y\":0.135,\"right_z\":0.105},\"note\":\"The opening is very small, so the grasp is uncertain, although the bowl tilted as the jaws closed. I’ll make a short lift to see whether it follows before attempting to carry it.\"}",
  "call_id": "call_JZfInbsgxirRfCAJjaP1Ffxz",
  "id": "fc_0ca0e0d2734ef76b016ab499d1ee9887d09b6a3ec464aa6202",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JZfInbsgxirRfCAJjaP1Ffxz",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8051, 0.6075, -0.3893, -0.0261, -0.0494, 0.9995, 0.4057, 1.7622, 0.7288, 0.5587, 0.3248, 0.07, 0.0262]\nstate[eef_state]: left_x=0.2947 left_y=0.0005 left_z=0.1766 left_yaw=0.0015 left_pitch=-0.0144 left_roll=-0.0051 left_gripper=0.9995 right_x=0.4422 right_y=0.1325 right_z=0.083 right_yaw=0.0855 right_pitch=0.1156 right_roll=-0.0606 right_gripper=0.0262\nstate[joint_eff]: [-0.0068, -1.2239, 7.241, 1.7167, -0.0659, -0.0366, -0.0122, -0.1983, -9.3333, 8.4991, 1.9023, 0.0757, 0.0366, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb176c8916a0ca692c08d9b98f0ff66f193485add55116a93ec8b4914643f76c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2e67aaadddeb83f8b8f65ed1344f5841f04fa91d57d60469089b033e4fc3ef0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f86c58902a6ace4bb05279cef75c6d4c7d5eafe7d0f5945f3b839824c7b6b7ab",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 8.449 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 22 changed as sent

message 30 changed as sent

message 34 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8005, 0.6075, -0.3897, -0.0261, -0.0494, 0.9995, 0.4114, 1.7889, 0.6735, 0.5831, 0.3599, 0.0681, 0.9961]\nstate[eef_state]: left_x=0.2943 left_y=0.0005 left_z=0.1778 left_yaw=0.0015 left_pitch=-0.0102 left_roll=-0.0052 left_gripper=0.9995 right_x=0.4283 right_y=0.1229 right_z=0.0568 right_yaw=0.0647 right_pitch=0.0667 right_roll=-0.0973 right_gripper=0.9961\nstate[joint_eff]: [-0.0479, -1.2513, 7.0769, 1.7314, -0.0464, -0.0611, -0.0122, 0.2256, -7.4598, 6.3795, 2.1319, 0.2564, 0.0904, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8043, 0.6075, -0.3897, -0.0265, -0.0494, 0.9995, 0.4068, 1.9331, 0.6968, 0.7841, 0.329, 0.0757, 0.0218]\nstate[eef_state]: left_x=0.2946 left_y=0.0006 left_z=0.1767 left_yaw=0.0019 left_pitch=-0.014 left_roll=-0.0049 left_gripper=0.9995 right_x=0.4475 right_y=0.1346 right_z=0.0436 right_yaw=0.0791 right_pitch=0.1378 right_roll=-0.0499 right_gripper=0.0218\nstate[joint_eff]: [-0.0889, -1.1692, 7.1863, 1.6923, -0.0904, -0.0611, -0.0122, -0.253, -7.5556, 4.547, 1.2137, 0.3541, -0.0806, 0.9548]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8051, 0.6075, -0.3893, -0.0261, -0.0494, 0.9995, 0.4057, 1.7622, 0.7288, 0.5587, 0.3248, 0.07, 0.0262]\nstate[eef_state]: left_x=0.2947 left_y=0.0005 left_z=0.1766 left_yaw=0.0015 left_pitch=-0.0144 left_roll=-0.0051 left_gripper=0.9995 right_x=0.4422 right_y=0.1325 right_z=0.083 right_yaw=0.0855 right_pitch=0.1156 right_roll=-0.0606 right_gripper=0.0262\nstate[joint_eff]: [-0.0068, -1.2239, 7.241, 1.7167, -0.0659, -0.0366, -0.0122, -0.1983, -9.3333, 8.4991, 1.9023, 0.0757, 0.0366, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb176c8916a0ca692c08d9b98f0ff66f193485add55116a93ec8b4914643f76c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2e67aaadddeb83f8b8f65ed1344f5841f04fa91d57d60469089b033e4fc3ef0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f86c58902a6ace4bb05279cef75c6d4c7d5eafe7d0f5945f3b839824c7b6b7ab",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0ca0e0d2734ef76b016ab499d5117087d09fbc9b7c6ebc7a46",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.445,\"right_y\":0.19,\"right_z\":0.18},\"note\":\"The pink bowl remains against the closed jaws after the test lift. I’ll raise it to carrying height and move a short distance toward the middle bowl, checking that it follows.\"}",
  "call_id": "call_0wJ1cay5evUSqPA70AXSAY7o",
  "id": "fc_0ca0e0d2734ef76b016ab499d7c34087d09ced9254381767d3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0wJ1cay5evUSqPA70AXSAY7o",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8051, 0.6075, -0.3893, -0.0261, -0.0494, 0.9995, 0.551, 1.6863, 1.0096, 0.123, 0.4171, 0.1135, 0.0283]\nstate[eef_state]: left_x=0.2947 left_y=0.0005 left_z=0.1766 left_yaw=0.0015 left_pitch=-0.0144 left_roll=-0.0051 left_gripper=0.9995 right_x=0.4413 right_y=0.1914 right_z=0.146 right_yaw=0.1333 right_pitch=0.0604 right_roll=-0.0929 right_gripper=0.0283\nstate[joint_eff]: [-0.0889, -1.2923, 7.0359, 1.6874, -0.0659, -0.0659, -0.0122, 0.2393, -11.1795, 9.5795, 1.956, 0.486, 0.2857, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54b6bab8650cc1d1c8395de3bda3ae160db84b73105be489f40db79209778063",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f60dcc0ec41c62778bac83e5ab7c697001cf363ce94a9a6f8fcceaef8a3e99ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1c5540cfce1d95e6446ce866668d7f17901452e119e1c332d8f464c039a61ad",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /responses · status 200 · 3.24 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 26 changed as sent

message 34 changed as sent

message 38 changed as sent

message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8036, 0.6075, -0.3897, -0.0261, -0.0494, 0.9995, 0.408, 1.9205, 0.6788, 0.6849, 0.3531, 0.0589, 0.9966]\nstate[eef_state]: left_x=0.2945 left_y=0.0005 left_z=0.177 left_yaw=0.0015 left_pitch=-0.0133 left_roll=-0.0051 left_gripper=0.9995 right_x=0.4329 right_y=0.1245 right_z=0.0231 right_yaw=0.0722 right_pitch=0.0419 right_roll=-0.1101 right_gripper=0.9966\nstate[joint_eff]: [-0.0068, -1.0188, 7.1863, 1.6972, -0.0464, -0.0366, -0.0122, -0.5949, -8.8957, 6.3111, 1.9219, 0.0952, 0.0122, 0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8051, 0.6075, -0.3893, -0.0261, -0.0494, 0.9995, 0.4057, 1.7622, 0.7288, 0.5587, 0.3248, 0.07, 0.0262]\nstate[eef_state]: left_x=0.2947 left_y=0.0005 left_z=0.1766 left_yaw=0.0015 left_pitch=-0.0144 left_roll=-0.0051 left_gripper=0.9995 right_x=0.4422 right_y=0.1325 right_z=0.083 right_yaw=0.0855 right_pitch=0.1156 right_roll=-0.0606 right_gripper=0.0262\nstate[joint_eff]: [-0.0068, -1.2239, 7.241, 1.7167, -0.0659, -0.0366, -0.0122, -0.1983, -9.3333, 8.4991, 1.9023, 0.0757, 0.0366, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8051, 0.6075, -0.3893, -0.0261, -0.0494, 0.9995, 0.551, 1.6863, 1.0096, 0.123, 0.4171, 0.1135, 0.0283]\nstate[eef_state]: left_x=0.2947 left_y=0.0005 left_z=0.1766 left_yaw=0.0015 left_pitch=-0.0144 left_roll=-0.0051 left_gripper=0.9995 right_x=0.4413 right_y=0.1914 right_z=0.146 right_yaw=0.1333 right_pitch=0.0604 right_roll=-0.0929 right_gripper=0.0283\nstate[joint_eff]: [-0.0889, -1.2923, 7.0359, 1.6874, -0.0659, -0.0659, -0.0122, 0.2393, -11.1795, 9.5795, 1.956, 0.486, 0.2857, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54b6bab8650cc1d1c8395de3bda3ae160db84b73105be489f40db79209778063",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f60dcc0ec41c62778bac83e5ab7c697001cf363ce94a9a6f8fcceaef8a3e99ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1c5540cfce1d95e6446ce866668d7f17901452e119e1c332d8f464c039a61ad",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJnhZZhOyvPdcyP7-5TzcCtAZIC02k91T0VgK-t8z32PsvzDsRTgbNaDsk1SeETufCGTPIf2IhXjJq_X0veaksIlyesE2EvWG7--bQYwKWyXFAAhUKCk0Bsitzsb-QXo0NYs8pJVYouWMqv9jXHV4OESeZ2_De869qDsJKzYxFAV9qnFgFEc19NqpSzIKl_XwUGOsqr6gU5w2LYF_yDIM-smJeE3nkhl5rySKF_DTH3nApQV5awyyKdsZh5fsvnfjfowBB73v7hbbxIiWI0g1KjaYqS0TyB_F7P1-KBzjyeBTOEUntlPgwVMjvPNLhUFfVqNDzcbKIR9LoYXcIpFnA2qUr8qkNJqlcUZb09JDjGa1T7wiKiQlGQZmHjMZk_rZLK1qfj4qDjtp9T4O0ZEf_NLlred0YtwwcZsezl1SZ8CMA7Y4tm9ee9gL0yRgDl5Gvmv-B5V3wE8n8Cwb4RTqJeGKs3rUzBWCh0KZgXtQllqrx8QKP0KsR4C45eoSDIxG0bYde3BTM-MR13DdCGPMKcCqzSKsGO8dmZMweAxMRdwaHiVowleJTQ5WCGym1YNCgPBP18l5RLJX0zYGdLKXSDN21w1MSdv8yTgYlQ3jh2wF0w_UFmJm01gRLZZssTTW2K6aAtV9u2oM6XB6rBjvz87Rf2HsRBuv9uI4OBRkau3qn5lTvS-UAGhyH9oRrRjorKY5D8bn7Q5_ndB61VeuEfW5dmoTqZ4YVeBsVQ05UZrWgspgz3ndluCnqcy-B1D4T1V67U6rHQdoNzqHc5P9yA28pjgJeFNsr6S2F_AeE5KyHVGyakuVNy2QJnv2hfLI4N5QomJvcyZ_j3bJhoHiRvO0kwuxQOYe94v6auNVp4kGqOLfXGAQwKyeYzQTDpDzc8relp4AF-eaVktcQWrg13mUB2BR65RZ1eUigriqeOnsY1kB3qxG3tkEpevy23xvMAdq468tbZy6tgu6HqXUEzG_6vGtW7h3JPP_jNCk-0dSw_W0wJ4dyg0eOqO-JG2UJ4Ga0URvxzJy3zD_4ZSxSNKMBltWF7BwHcuVJmJ5RxZpkVoHduMK89jAcFuNECvFNZG3UbRfvgIa65pEw-GTy9RvZcCbsHmMx3EjpaHgU0XM20sxnR6pmu2c3qXMi_qkHL5SwKGoqEX9vXpQLAW4vY_us8H44-C-r6rQhjpzVJlVwhBz0KudWJgf4YzmMR02KltTxsLWkCqMuXBlhijlMzvfbW48pUDvOvpMUxUF6PnkHuw2WtQzVVnFNYLrvciGuT0ooDjQJR5_qZnHDc1qhQsUGcOm_HS1KSlOHz8MQHH9Gy6yUiP9g9Udago4FvX1R3hWMvgU2UguKR0N8q4WVvrLCRQv4EVhyTrM1__3i2uSAOEtHHzIXpriI_k8YMeqLoAbv1kveY0-LC6dp8-TEh7iOpx-kILgXCrCKh8Q6XbbaNIT3eeRfzOrLfQY8SAlJF_eZzFcFTfQc7BhL5UIuYr5yd2M1gRa9xDRHggMnJPbXHV4ETOCtBW8dmy5XtCBw0eJMWXQifkjW7SIY22agoTYHgLc4FVgIwCt4Yz2mAc6t5oy77IccR_5A139ipyR_R4V2WEn92RPmsp8pjO7EnCvqCnNoqc1123Y4mY_g3J6OhFbxFna-n_0owemuM526DrTo6H5E-r94GPinJ0lMJHc0jrq_xh-o0F_yV3ZLa-UNJFQcV9fCkrugROR6LU8OODfMy0jehz4tAAANcEbSVNPjP6NEQTusoPf5OVzdPAdqWs2j5LmNPBi5CP-UvNYWLBhSPua1-8-ar8PkZ50UOcSs3gV5XzuLnS_lyOftIPdoT8bkNgJdWH9uhmHBzdi0uAsBO1dp7h3hlJI7WYr1QVWkYtTZeuGHiKK7bIGSgx_vgC0H_HbLwojCdIBymh9Ni-AJr4lCHUyJqNMDqcYqND383Np1UH1b09s-O7w4kxr84FSNPpiD9jfiRP1FTPbn-Mil-fxIH6hnCvS-E5CWNunKirV3BW9bvnycr5h6eIWmu-GzcnM7lCijaxcGJVMcTzaXazzHoS77Ht40O1U18T3XVklzVxpEQ9Fk1VzA1QGz4qNY35hXhRwvK5EUX45-11wximx280Ky2bJ8ejFKjnvpqKxDOXMSNkWHkpIqnpZNOnQBA8pPVJHBk8ttTe4RpZ4x1Bw1X8mqv5OoohNQdXHjC2pSSN44_ezNgqUag31D5AkbNhkz_aRKLdmifbC_aHVHFMmZAcgxrmVWCNlCw0cGiw2trOPfpDJiI5aFi0ACZUwz2bQ1Kv5uFblWOU78CKMIqzQ5eZpjy5NGuXwfFjfK-GOsw2hLbPBwzbRQDs-0MG1DdMdiZ6iN_cOSF2gs0XFOG92FcnzUKHrKzTQ6tChtHajxCXm_JgvtVy1YycjnW_mOYBTXbu3jAFEGDhzCJUuZ8uejbMpun_WMGgLI1RWPPXP8aKiPzIJoLZccgPtM1cx1WxKdGoxO0sMeq_XqBLIoxijUiKfSorxJzeSTHZtib1YZUL3UfGuzuXXqlt0-5avS4FwLW3RAoxdR4fzxIBpeZkjGCrMpdDbqz9y2lmigzaMhE-pHPQnx4VqBvuYeL5ocZzsY7v5sLRO1gWZw4zPpwU5DEL4w0vP7r-2x_S8yiwvkzDVHz8nZZcOEBiPBUDS_i1q4TlPTn-q24dNeMnwGRSavJHyRy-GUirMrJIbUYiFwfPBUy-_P6diKIf56Td2C63_EAdxCqEXjCxNbTm59fXVrRZdZiapr-Np5ldLbBe1JlLWkL87DOxvj3AhVWcHnlVCTHz3xx2AnEwRyWy5DYh_wAuwEP-e2Clt59_dhw6SgrH1BWBninLjprmiB2mtbdY_raBnMQlUkRkh7OjntnOFKj2CQ4ij2nMX1di1rLIqUurImJXFf1RlzfMKNYTIs8yegWMW3XG1rzOuzkH",
  "id": "rs_0ca0e0d2734ef76b016ab499daa9bc87d0bc6ad8f4f9b1ef47",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_y\":0.25,\"right_z\":0.18},\"note\":\"The pink bowl is clearly moving with the gripper. I’ll bring it over the middle bowl, accounting for the bowl hanging to the left of the rim grasp.\"}",
  "call_id": "call_lOs8z47xASb0NXPKCTn7ozHu",
  "id": "fc_0ca0e0d2734ef76b016ab499e0e63487d08b214116a68119a2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lOs8z47xASb0NXPKCTn7ozHu",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8051, 0.6075, -0.3893, -0.0261, -0.0494, 0.9995, 0.7403, 1.6737, 1.1015, -0.0734, 0.5278, 0.1936, 0.0283]\nstate[eef_state]: left_x=0.2947 left_y=0.0005 left_z=0.1766 left_yaw=0.0015 left_pitch=-0.0144 left_roll=-0.0051 left_gripper=0.9995 right_x=0.3998 right_y=0.2496 right_z=0.1585 right_yaw=0.192 right_pitch=0.0131 right_roll=-0.1217 right_gripper=0.0283\nstate[joint_eff]: [-0.0342, -1.2923, 7.0769, 1.7851, -0.0562, -0.0757, -0.0122, 0.1573, -8.5949, 9.8803, 1.7656, 0.4176, 0.2759, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3bbfc28d7c0b84e8ea491bac9d904590beea1d5d005d3e8099013815375977f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0dfbfbc1f1651254c2dda257ccd849ffba4d06627911fc975d1c7c9813ec121",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45f5db454ef01b630738a1dad5f4531c94b4d3b6941f959765a6a90c714dc9a0",
      "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 11 attempt 0 · /responses · status 200 · 9.304 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 30 changed as sent

message 38 changed as sent

message 42 changed as sent

message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8043, 0.6075, -0.3897, -0.0265, -0.0494, 0.9995, 0.4068, 1.9331, 0.6968, 0.7841, 0.329, 0.0757, 0.0218]\nstate[eef_state]: left_x=0.2946 left_y=0.0006 left_z=0.1767 left_yaw=0.0019 left_pitch=-0.014 left_roll=-0.0049 left_gripper=0.9995 right_x=0.4475 right_y=0.1346 right_z=0.0436 right_yaw=0.0791 right_pitch=0.1378 right_roll=-0.0499 right_gripper=0.0218\nstate[joint_eff]: [-0.0889, -1.1692, 7.1863, 1.6923, -0.0904, -0.0611, -0.0122, -0.253, -7.5556, 4.547, 1.2137, 0.3541, -0.0806, 0.9548]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8051, 0.6075, -0.3893, -0.0261, -0.0494, 0.9995, 0.551, 1.6863, 1.0096, 0.123, 0.4171, 0.1135, 0.0283]\nstate[eef_state]: left_x=0.2947 left_y=0.0005 left_z=0.1766 left_yaw=0.0015 left_pitch=-0.0144 left_roll=-0.0051 left_gripper=0.9995 right_x=0.4413 right_y=0.1914 right_z=0.146 right_yaw=0.1333 right_pitch=0.0604 right_roll=-0.0929 right_gripper=0.0283\nstate[joint_eff]: [-0.0889, -1.2923, 7.0359, 1.6874, -0.0659, -0.0659, -0.0122, 0.2393, -11.1795, 9.5795, 1.956, 0.486, 0.2857, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8051, 0.6075, -0.3893, -0.0261, -0.0494, 0.9995, 0.7403, 1.6737, 1.1015, -0.0734, 0.5278, 0.1936, 0.0283]\nstate[eef_state]: left_x=0.2947 left_y=0.0005 left_z=0.1766 left_yaw=0.0015 left_pitch=-0.0144 left_roll=-0.0051 left_gripper=0.9995 right_x=0.3998 right_y=0.2496 right_z=0.1585 right_yaw=0.192 right_pitch=0.0131 right_roll=-0.1217 right_gripper=0.0283\nstate[joint_eff]: [-0.0342, -1.2923, 7.0769, 1.7851, -0.0562, -0.0757, -0.0122, 0.1573, -8.5949, 9.8803, 1.7656, 0.4176, 0.2759, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3bbfc28d7c0b84e8ea491bac9d904590beea1d5d005d3e8099013815375977f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0dfbfbc1f1651254c2dda257ccd849ffba4d06627911fc975d1c7c9813ec121",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45f5db454ef01b630738a1dad5f4531c94b4d3b6941f959765a6a90c714dc9a0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJnlmj61Ny_DWYMl_orc9Ym6snKcTb1Kpk7Bw0Q37riwYsp08FWQRezVOrPJDGZNSB6VBuBgk3IhuTWiH2ZvBHgFS2qrnyNCMBWDdE9w8X8kWVHQTRSWO_gCTbPkWQA4y2okMpg88mh6v15TEOiwGPrh3aMyZjY1WltYShr20SGsIR3AgwmwVcLGJeKC4LWh-w5bfLsbnneBmt4BSwWTnXyGckDe3W87lOR5rg0-5OzF-fpn6d1RqNSJwcsj1vy0c0PfrYXwyOUcSvB4NKMZfa--zDEqJMVgn0d_8GnrfhvOSYSaaQTlJhtZ1JKwDHp0CE1LHeKhf53MWDD7WygALlWYErN52TG_7pO1ykM0QlH98YSQw4Ejz96pNNDOCQmcrldU9Lw4KyQsFTeAMxkH8-20S7HS_xcfP8brF1UgwnX7N74wPqzWb45A8T_w150oWX9alP7Jo3jV9s3hMkHRI5w_tsZ3xmsGOHmCa11DJ-WssUb2NrsRVwxYVyfUGFLFrSa31DMz4yx6MZC49O0wF_I8U7n55r7I1BPbgHYqTcaXft9XLQC7dintyHfTLKqAW3PaRNNBSL5TJAttmxXIgrGDOCuvWPvu6bJpY-ZlkLbjwWWSurdthMS0wm3ySlkYgEYRM7KBpn7pAEW3TC-RVcqB6HGE_9q1zSkqljkqv6uPG-9Dv65pR1G7h3gVoox_0FGZuFw5ckpVQQH8dpVLwPMn8dQdqnnorXNi1NDwX0OwL62SPsz-Y8Xf_W6O7VpYNsPeuJNPcL3N5MCiu5pcQZcKIm0zqkRjS8zRFb9TUiZc073IZhfADzpZrnJpJTEC7somrY2y9o6ekUYFKPy83kvB1nH3QjKr5V5UPUcn1Yfzix18sr18tbMk5xZIEHj51yxPG64xXPLzW97sTWqi3FPlZ-1Nvz_9rHeT58-G9-LMtsR0MkkuL3KpRiuSuCItGkbWV7zT8paGVIi4JBEx8HkRX36eMYym_wL2t8NMREjP2IccDA_G1zigFhifKmJ5AxcWzPiRNpYMZDTy6jJzUg2zQoVUHFbeFZXB_sN6JiEoETLi6fXGBDouxEeWUGXtK5O4wgFCNs4ddJ3iwVurQOKmDt4ZwrlRHKesl8xn3BA6cRIpOjJhdJHBhlscs9AXPiz5p3cZ0gARU_kr383LePLfuohckqAbG9bsGgNlj6r0x7gUN-1ga9MHRItNkzARHh7UsNQXT0bEWW7DYvysyHsirkv1rCJayC5OIFw6FJH1Tssn35feH1OJ-Mz-zz9u9PQpHkJeGllLoyUJNSjoMCBAUg83BL8_2DVMhp5hD8x72WZWskVz4AVmfU2mQ5b7HYDDkq5kAlYODfVPnB09MZmCuWeXvJVwAWPLYYci9sxIcp0BF9w6sO_jNEiw96lzwVdc74kcpaVY9heR5wGXBu3eiKxu7YMaYKMpMQuHtJtwckiwwIGLDmUY3tDNqSovzBrtNndB7m8lNHzMIB6L6gaL0A==",
  "id": "rs_0ca0e0d2734ef76b016ab499e3aef487d080353e677c65d694",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_y\":0.25,\"right_z\":0.085},\"note\":\"The pink bowl is aligned above the middle bowl in the overhead view. I’ll lower it slowly until its base enters the bowl below.\"}",
  "call_id": "call_r1gd8DWfi0d2Gipl6WOyRITS",
  "id": "fc_0ca0e0d2734ef76b016ab499e4a05887d091599f3d21062e01",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_r1gd8DWfi0d2Gipl6WOyRITS",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8055, 0.6075, -0.3893, -0.0261, -0.0494, 0.9995, 0.7517, 1.6737, 1.1194, -0.1173, 0.5652, 0.218, 0.0283]\nstate[eef_state]: left_x=0.2947 left_y=0.0005 left_z=0.1765 left_yaw=0.0015 left_pitch=-0.0148 left_roll=-0.0051 left_gripper=0.9995 right_x=0.3973 right_y=0.2468 right_z=0.1604 right_yaw=0.1612 right_pitch=0.0054 right_roll=-0.1342 right_gripper=0.0283\nstate[joint_eff]: [-0.1709, -1.0188, 7.0359, 1.7021, -0.0122, -0.0562, -0.0122, -0.0752, -8.5675, 9.4017, 1.7851, 0.398, 0.1685, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07c39cd722489266fcd222bbef26dba49b16d8491e2ce5f19e3e86ca4a76328a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c30bc0e29ce19e978dddf3b48eec0c380a372cce6b04c8d400153640f4e3e4eb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2be14963c9cc0190d1299dd469f27feb84c7b44f36777bd06074baadb3b7a97b",
      "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 12 attempt 0 · /responses · status 200 · 3.666 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 34 changed as sent

message 42 changed as sent

message 46 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8051, 0.6075, -0.3893, -0.0261, -0.0494, 0.9995, 0.4057, 1.7622, 0.7288, 0.5587, 0.3248, 0.07, 0.0262]\nstate[eef_state]: left_x=0.2947 left_y=0.0005 left_z=0.1766 left_yaw=0.0015 left_pitch=-0.0144 left_roll=-0.0051 left_gripper=0.9995 right_x=0.4422 right_y=0.1325 right_z=0.083 right_yaw=0.0855 right_pitch=0.1156 right_roll=-0.0606 right_gripper=0.0262\nstate[joint_eff]: [-0.0068, -1.2239, 7.241, 1.7167, -0.0659, -0.0366, -0.0122, -0.1983, -9.3333, 8.4991, 1.9023, 0.0757, 0.0366, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8051, 0.6075, -0.3893, -0.0261, -0.0494, 0.9995, 0.7403, 1.6737, 1.1015, -0.0734, 0.5278, 0.1936, 0.0283]\nstate[eef_state]: left_x=0.2947 left_y=0.0005 left_z=0.1766 left_yaw=0.0015 left_pitch=-0.0144 left_roll=-0.0051 left_gripper=0.9995 right_x=0.3998 right_y=0.2496 right_z=0.1585 right_yaw=0.192 right_pitch=0.0131 right_roll=-0.1217 right_gripper=0.0283\nstate[joint_eff]: [-0.0342, -1.2923, 7.0769, 1.7851, -0.0562, -0.0757, -0.0122, 0.1573, -8.5949, 9.8803, 1.7656, 0.4176, 0.2759, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8055, 0.6075, -0.3893, -0.0261, -0.0494, 0.9995, 0.7517, 1.6737, 1.1194, -0.1173, 0.5652, 0.218, 0.0283]\nstate[eef_state]: left_x=0.2947 left_y=0.0005 left_z=0.1765 left_yaw=0.0015 left_pitch=-0.0148 left_roll=-0.0051 left_gripper=0.9995 right_x=0.3973 right_y=0.2468 right_z=0.1604 right_yaw=0.1612 right_pitch=0.0054 right_roll=-0.1342 right_gripper=0.0283\nstate[joint_eff]: [-0.1709, -1.0188, 7.0359, 1.7021, -0.0122, -0.0562, -0.0122, -0.0752, -8.5675, 9.4017, 1.7851, 0.398, 0.1685, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07c39cd722489266fcd222bbef26dba49b16d8491e2ce5f19e3e86ca4a76328a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c30bc0e29ce19e978dddf3b48eec0c380a372cce6b04c8d400153640f4e3e4eb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2be14963c9cc0190d1299dd469f27feb84c7b44f36777bd06074baadb3b7a97b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJnvWTSa7UMuK7OpdhQWozUupiq1dlkkk9C093sIWCjnyf7bkPraFG8f0cOZlXz46CrzqF8vmt3Z71KghfqUoy1sDqe46hcJ-bFS4IlUFps1GzMuNNeqWt2n8_UxJ6IsBOC-3iq0wJhn4ZAcy0_HnvKZGsK-kw7BZ_ArCFtukTsCP8STOVzewriX9PBvFEj3amU-kKy2XZmGaCqOe0zqRIzP825yF_Vf65hZYEzHGt6TaopO1be05M9PcL-HAuHCEkGvaFcDeR26dMUPTo3UNBF2IopTr9xabL4qiLOG6S2wd3MiAyRzNLto3XC_8tbdQmZ9j3ZrmKrCO2pqw77BGVCOzyrsXGZthXJ3JptP54SvIginNL1BB6EVDxuIx-ljSYjLWWFZaJEb0cLm46xwBQd0uObo-sQ0br0GktdzpUnalNk43WGIjH81X8AKO1FcO3kKEWVqRCmqO0iPr92GtBATbmUupEpcPEQkKhfGGKxupW_f9L5ZfdVTpX9-7eeOE9ZDpPTJRHDHBMmeRaqAK7T0e8CltFaJ4dWyyYiXjVnCXjrKSMI_rZ0vcXQQ9zzSf-oBzoIP1ThiZpDC48kFcyqjq3JX-D3x_sL-BBi-5Pw_CUJ20skKol5Hz4jINEp8kLrgA3ykaL_Hb4M9M5tUThTLM1CqeIGlOsH-E2OWKqPne-_P6vYra5xp8VYNKjWuy9NQiyy7k_9dhht-Dwz5-cYtFAuDrZjLHvBzvB1S_9787gJbZp5fCaJyYZvOmdg3rlFGZ54wIgjQbaVadZ0QWoP4wAMmcBDRT6CJWdd1GRAFe_NnNL2O-3zWvrdC5HrrrFeAnztQ4n2yNtpH4wO-7S9-00zKFho-RYXYLYFPGY0CKPNKCJ61M0IutO_Df1W4mT9LDGnrDWdNZkaTO4NLeoQ434N-ryEvTkR2JIkronnpwezx2iho3MrdbpazhtxYlO1354ULWOYLYP6B7xdPnD8R0DztsMvxYIkFS6Dg4do5Aa5ZkbTWrQ6xQMgtW0eXAQ3EB_NrRPpKMHgKLljx7yUhFF3ovFVYB6kbgoLZeBfAcFyvJAerH6lKsIk-i-jW6VyqUZhpm2VRZf-7Zx7gjWStM-B-bjh3FbRdpRPPzsKnX1Es0iGRaoTjcDU5uVs6kuQ2S0du17efNeh2XDmEJp5iKzKMfv3VR5MJOvaCGZLF0FJ2tzEYDvOSdI5axSKCOt-XL3Sqi52JSFJCfq3ZsYubZxEs04Opvp8yBlxThCAZ8G7-4mJqmQt4MxuVZIVMr9yKz4_vsx_3SvvL36X_yi0DrG_vdYJztJCJV6GLXL12KrazyQRh65UFjCJ3oTaBjXXx-B5GG0ztH5K1_YQJgc1UqGCFDOapCSfaPGeVTM3vzUWMMAaPUAR4SCNi0eT6ByS2wDrG-F5lQwo6ZtyocVRv_C50m6f5F76QgfrttMkrecVeFMtdEr6FBtrJhXosYpaGZNf76qYWCjgM390GsIoeVukCTQHYQqOII16_zlBEYPyBMPBS59qKhaBdFaGYCcIpjKInzXo8RF7sEMFz4Oq7mo661zt1QJpG_uG-rSrdohOsd2VFvv3f6k4iivn9cVPXmiCMF01St9NZR9-3UD0kbbZfxsKEmN2XHiw39E-SbOYW8r2zEBbrZJOytwJKsmpbp-6oG7fg7_c4gL0NNAjjFRqLKNhFVcIX1qCVLSL_pEFUZi4YeebIm4LbCJ5vA76MnZ-8M1Gk0agpsci_w413UJxTt1giEXWascSy7Dom4Igb326igcK2A4eqPMI3_c2jylwJHwph1g3fN8XZkQ56NN61H4zt1BJjbkCSpxoGwin5bw2ZjxDdSHH_RWS3e3fGs-Hr3igG498zDGeVmIk28VadeTDnt5KBS2nTb-PJdP5nuALBmo9vsL1tX3XxX-G-LKNmZTKrE_--lcE4KARttkHmjdNqxiBVnq6Q4bKxxDd_XyPzo8cNoxrhEipFB7G4PPcQ28LN2DLQb9V3ipjN9BV1lPIDGss52-DmbjD7WFrlc5MTwqIceld8FGE6ATNmBa3V-XxLugjwTMPxFgTkQSjVWDcsRColMs0y5OKfnG88TV8LZhN89ezkgJtMVQE0lN0EiXx_gEdsS2Ns1_WyuwMyDdcHdIKaprxtbtrRHUJjWBIEOd6qK_3OVT-mo4IO8leaLneOxAvxnFux1gaRNKFD16WTm8ca_fGY6FmQkkmE61eHe24RM0Bje3IEZhTrYVsFpOzS-olmA-JEf2hiQWI3boXls15cVjXprQJTgObyNQltK_xUmyQd7t8XjCyT0RV8G056j-WPday_aLkNSNArhHpRJBMa6puSCpSuwcedlRKFNYEsct71NclFQax91gHfNS6nFP89cQJNl2JCqwuwoLKsgtbsp3B8uHgEVBmacz7vzfLKUKJ4fC4OewDMMjI1-8r6SnydVNvQxesxDWHUQz6RSRumk95JQSKj6lKX6MY97OK-UZAG2XapUyXnM86yALr7OJyzsUGHNn4H2ZaHdw5DaJho-mISN00CSXwu2gaUu8t-MRmYG4Kz1GwIfnbJOrXWDnpgyeIzgsxv-WJBGMqVM5Eei2pcVNQv14a6X2EH0_Ks_N56BcjUvoC843B95n0q_Wu0yrqEwfyJlRaAmK7Iwqon4-OiisX-8hVhsvtDuvFR7PyzTkgX4eRBNxHAfUxB8Awtfsz6avWHGVVeK1-WqR1YhFs-KMvVuEQPDtzmhUSva2NMtyKPz7q5SDA8mJorPYvt0A3E2l_8e94c9t9LAtW9KoebibaA5T4Qw1ZAPeOchnJ_wGboOITfAeVrxJCKjxQBd1HzPi8PNoqlGOoaS-X7k41VreKST4gO_g-FH4gnmhXYFHZbYhI_cpM2463GkvQlVUTALq-YRKUgDGjjgCDCKPL8En72ldpDTADh--6_ito4hQEz27ydDT2urmT3-nHcDtL6zAm3xSNXyXsI_9GA8WTPcEH77LooRV3UEluyopoNfuOw47Q4zFO5p8zQ-4z5hTyfi5DLdnsbSH5vsCN1XhKKT_c4rM9rycpol_ULcCmsD9egcWH6spvNC6DNRAjnez9GR0x-vg==",
  "id": "rs_0ca0e0d2734ef76b016ab499e72b1087d0aeb2d63616f683e8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.25,\"right_z\":0.105,\"right_pitch\":0.35},\"note\":\"The arm did not descend toward the last target. I’ll bring it slightly closer and tip the wrist forward to improve reach while keeping the pink bowl over the middle bowl.\"}",
  "call_id": "call_xnmgqGvsBgFVqreEpeLvEG90",
  "id": "fc_0ca0e0d2734ef76b016ab499ee3eac87d086b95eee33839ee8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xnmgqGvsBgFVqreEpeLvEG90",
  "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]: [-0.0261, 0.8051, 0.6075, -0.3893, -0.0261, -0.0494, 0.9995, 0.8059, 1.8694, 0.728, 0.7341, 0.6819, 0.0525, 0.0319]\nstate[eef_state]: left_x=0.2947 left_y=0.0005 left_z=0.1766 left_yaw=0.0015 left_pitch=-0.0144 left_roll=-0.0051 left_gripper=0.9995 right_x=0.3857 right_y=0.2462 right_z=0.0847 right_yaw=0.1906 right_pitch=0.2423 right_roll=-0.1842 right_gripper=0.0319\nstate[joint_eff]: [-0.0479, -1.2923, 7.159, 1.7314, -0.0562, -0.0659, -0.0122, 0.5675, -8.3761, 4.9436, 1.9512, 0.3346, 0.0708, 0.6618]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82ae44e5db24840ce5233f80aa6fe2f4de8348e761bd90b38fd35f2a8b8de18e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfe736b7f764f26afd7de28d9156c2bd7533c91b79d4ba7fb6f48ffde884a5c5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e36ae43f830058d8b59ccd05b098e7580df0c3adf3bd4d38e671b8dab0cb0184",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 13 attempt 0 · /responses · status 200 · 2.416 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 38 changed as sent

message 46 changed as sent

message 50 changed as sent

message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8051, 0.6075, -0.3893, -0.0261, -0.0494, 0.9995, 0.551, 1.6863, 1.0096, 0.123, 0.4171, 0.1135, 0.0283]\nstate[eef_state]: left_x=0.2947 left_y=0.0005 left_z=0.1766 left_yaw=0.0015 left_pitch=-0.0144 left_roll=-0.0051 left_gripper=0.9995 right_x=0.4413 right_y=0.1914 right_z=0.146 right_yaw=0.1333 right_pitch=0.0604 right_roll=-0.0929 right_gripper=0.0283\nstate[joint_eff]: [-0.0889, -1.2923, 7.0359, 1.6874, -0.0659, -0.0659, -0.0122, 0.2393, -11.1795, 9.5795, 1.956, 0.486, 0.2857, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8055, 0.6075, -0.3893, -0.0261, -0.0494, 0.9995, 0.7517, 1.6737, 1.1194, -0.1173, 0.5652, 0.218, 0.0283]\nstate[eef_state]: left_x=0.2947 left_y=0.0005 left_z=0.1765 left_yaw=0.0015 left_pitch=-0.0148 left_roll=-0.0051 left_gripper=0.9995 right_x=0.3973 right_y=0.2468 right_z=0.1604 right_yaw=0.1612 right_pitch=0.0054 right_roll=-0.1342 right_gripper=0.0283\nstate[joint_eff]: [-0.1709, -1.0188, 7.0359, 1.7021, -0.0122, -0.0562, -0.0122, -0.0752, -8.5675, 9.4017, 1.7851, 0.398, 0.1685, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8051, 0.6075, -0.3893, -0.0261, -0.0494, 0.9995, 0.8059, 1.8694, 0.728, 0.7341, 0.6819, 0.0525, 0.0319]\nstate[eef_state]: left_x=0.2947 left_y=0.0005 left_z=0.1766 left_yaw=0.0015 left_pitch=-0.0144 left_roll=-0.0051 left_gripper=0.9995 right_x=0.3857 right_y=0.2462 right_z=0.0847 right_yaw=0.1906 right_pitch=0.2423 right_roll=-0.1842 right_gripper=0.0319\nstate[joint_eff]: [-0.0479, -1.2923, 7.159, 1.7314, -0.0562, -0.0659, -0.0122, 0.5675, -8.3761, 4.9436, 1.9512, 0.3346, 0.0708, 0.6618]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82ae44e5db24840ce5233f80aa6fe2f4de8348e761bd90b38fd35f2a8b8de18e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfe736b7f764f26afd7de28d9156c2bd7533c91b79d4ba7fb6f48ffde884a5c5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e36ae43f830058d8b59ccd05b098e7580df0c3adf3bd4d38e671b8dab0cb0184",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJnz0s0KrTc-n2rQLDKCfdn_RirpqIZWA5Ey29uXXVWMGZvHHstTLAhQQpJPdbfNLWv01PQmTO3rVbJ5roCCsqp7EY09kc_Cw-LGnykFCeiQfv04SRF80JtctKPSx7RZFkWMydNxFNRR9acq9uu7Kg0pXsQ9j76t9IJgpMLzjaOVPsG036KkUrWJ-9mbKfqgPhveDUHq9NOdvgpdAQcSJ1MPnN6OChms9O_uDoG423KDVNXeFlyKXxmgGdKw6RbJEElqNf1iUfO3ElKrt1XgAHl_ERphn-cKbHuXWjAwHWRUFx3AbRitfLbbVlsCbCAWOdahP6R6enHFG7ZmVyGX29j3yr-scz3E_Puth2XT2v_NADDipLvogjUMlvcQQHRs2svKo3vSy3MWVyWiqlGx0XgihKOp3m6BCSPthBd616ZznLlJLMHHaV7KJStZ-TBPcxwdhHOXLooZnUxQPqoB7u9I1Ipsb4F9SMCv0888dLDTxlNuB0DsUUZQNYgH-wytbsD1bPRNEvrKOIZbPxKe8no7_-wL-1Np577DTTfEQhbT0_alp0Bmj3kNebVNo-uEtK-KPKmqmJNB71AHxz22xjzXek1YjsahF-ISYNqdPmdYkHtHgEABrlVfGUzqq7WRycl9h6hDtc8I0OPFCOrcWW_AssPbQLECgA0GQIWmA5pSJpXmnqWkxI17XRUT7aL2mEo0jvqxBwXIHJnGnBDpX3ZSbBDVHkCieeW_mMfyN9OcH_1zdzlw6z3gok5_ZDtHM7pz48UhGTzQ_PGxkDAzU3JDnN7__FMwsBhLUW6hXR9Rex64yQatBvC44kt4MrKrASsl_jYgcX4X9VgjgfMAosDAMsHOm0AbeDkDYxiBB6Pm4WlGKdy5soWU20ekLK8rsc6HWykZRxSYURxayit07WEYCoyGoScSZmhFg64WWpY3SVPokNs9iA_pgKX6rDGExoOo3jNxpjaMMxtZ0e8PFzmvx2METHfYr-3WODipk2U594sut0fhxAHjKAP2FYlfuQukDv1SajTH0Tuz8NAV-UQT3GafqcfsBbmE1a0KFh2o6L5rbmHkh2tx9JQ0dRlEN9enaN9FBQ6ocoNDDG1dnC22uXXZ4C2y4qYV8N-kVHs3tDgzJL_137O_GEYXG6CyfTN5UdNIQnUjnZlorXftsfVXR4QDj1KdS5eqpOM6COpNGnoIFtXs2KdjUbdp9ql2v3mcZ_DBQMo4SYfe7cJjTMcYU4j6NF0D2GRK95n96gasfbwUetZouebWToj4eWOajZ0kqKj6k5awUxOIzLOaOUAmI-q4kNTXU1MXcFZybA9OdgAvKTt__hwagvwXVU_zzzaTtPeFoLm544Ko7Pn3RmBgUK6mnwbuEEEVZRHtj65VA-0ghfGrGU_ILRQcI_uOKV7Ks-9o7N50m6fzqNUE6Wcyt4FhFu_h0-BmqoJ8JhxTV5Jqqg_gfohWzeLN2Vv33GfUjxzBHecte0_iqjsFEFhJ-cpIQnRhOXyVxuFiq2vcFBCM-ZRkwkrHr9id0TYhjp-kbkmlYuBgCAtwn_TPxMiu-lO1z62U6JusZqPOeH6x9QU-rh8jyuuu1sRom4Xz6dlOII_sCBibYRQm_yFCQmwyWg==",
  "id": "rs_0ca0e0d2734ef76b016ab499f1c0a887d08bd66c54635219c3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.25,\"right_z\":0.06},\"note\":\"The pink bowl is now directly over the middle bowl and close to seated. I’ll lower it a final small amount before releasing the rim.\"}",
  "call_id": "call_MxIS8F90Tr493Lp0sNcHSxC0",
  "id": "fc_0ca0e0d2734ef76b016ab499f31fc887d0961856de514e9b84",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MxIS8F90Tr493Lp0sNcHSxC0",
  "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]: [-0.0261, 0.8051, 0.6075, -0.3893, -0.0261, -0.0494, 0.9995, 0.8085, 1.935, 0.7204, 0.8516, 0.6907, 0.0303, 0.0323]\nstate[eef_state]: left_x=0.2947 left_y=0.0005 left_z=0.1766 left_yaw=0.0015 left_pitch=-0.0144 left_roll=-0.0051 left_gripper=0.9995 right_x=0.3887 right_y=0.2493 right_z=0.077 right_yaw=0.1911 right_pitch=0.2781 right_roll=-0.1823 right_gripper=0.0323\nstate[joint_eff]: [0.0068, -1.1145, 7.1179, 1.6972, -0.0611, -0.0269, -0.0122, -0.6359, -7.4462, 6.0513, 1.5946, 0.0024, 0.1587, 0.7643]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c77e7486e975fc5b1842bff9123a191e1905f08f647d2e2268df15d1d7794d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7fdf1f1fe37b6ba8be7693d697eedecb94556b4a49167a694b5f5803264986a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b5e7b5ee5004349e5b762e18d405a07bf4cac29a18766bfa93a9ad6aa5ecd2e",
      "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 · 9.983 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 42 changed as sent

message 50 changed as sent

message 54 changed as sent

message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8051, 0.6075, -0.3893, -0.0261, -0.0494, 0.9995, 0.7403, 1.6737, 1.1015, -0.0734, 0.5278, 0.1936, 0.0283]\nstate[eef_state]: left_x=0.2947 left_y=0.0005 left_z=0.1766 left_yaw=0.0015 left_pitch=-0.0144 left_roll=-0.0051 left_gripper=0.9995 right_x=0.3998 right_y=0.2496 right_z=0.1585 right_yaw=0.192 right_pitch=0.0131 right_roll=-0.1217 right_gripper=0.0283\nstate[joint_eff]: [-0.0342, -1.2923, 7.0769, 1.7851, -0.0562, -0.0757, -0.0122, 0.1573, -8.5949, 9.8803, 1.7656, 0.4176, 0.2759, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8051, 0.6075, -0.3893, -0.0261, -0.0494, 0.9995, 0.8059, 1.8694, 0.728, 0.7341, 0.6819, 0.0525, 0.0319]\nstate[eef_state]: left_x=0.2947 left_y=0.0005 left_z=0.1766 left_yaw=0.0015 left_pitch=-0.0144 left_roll=-0.0051 left_gripper=0.9995 right_x=0.3857 right_y=0.2462 right_z=0.0847 right_yaw=0.1906 right_pitch=0.2423 right_roll=-0.1842 right_gripper=0.0319\nstate[joint_eff]: [-0.0479, -1.2923, 7.159, 1.7314, -0.0562, -0.0659, -0.0122, 0.5675, -8.3761, 4.9436, 1.9512, 0.3346, 0.0708, 0.6618]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8051, 0.6075, -0.3893, -0.0261, -0.0494, 0.9995, 0.8085, 1.935, 0.7204, 0.8516, 0.6907, 0.0303, 0.0323]\nstate[eef_state]: left_x=0.2947 left_y=0.0005 left_z=0.1766 left_yaw=0.0015 left_pitch=-0.0144 left_roll=-0.0051 left_gripper=0.9995 right_x=0.3887 right_y=0.2493 right_z=0.077 right_yaw=0.1911 right_pitch=0.2781 right_roll=-0.1823 right_gripper=0.0323\nstate[joint_eff]: [0.0068, -1.1145, 7.1179, 1.6972, -0.0611, -0.0269, -0.0122, -0.6359, -7.4462, 6.0513, 1.5946, 0.0024, 0.1587, 0.7643]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c77e7486e975fc5b1842bff9123a191e1905f08f647d2e2268df15d1d7794d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7fdf1f1fe37b6ba8be7693d697eedecb94556b4a49167a694b5f5803264986a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b5e7b5ee5004349e5b762e18d405a07bf4cac29a18766bfa93a9ad6aa5ecd2e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJn2mjk6SBstcUWVBed9maJSQI-kT9xTGlHCYvIPOpFiFr07e1vX_4Ia0DdWPjJSx8PavVxcl67v6C4P1Zo_1JBUqxmJIU1sW7ZRAvV7b5y3heh1PcltcLn7R4mxZp18aIhmc9y0ZjRoCXmSHTur1E0vTlcMmVcv81kteII9HS-hsKgeriFcV7yYm5u_8O9tfMXejieLSmgrUFyAKX9PktrvPp31lua8IqG9lDwDrOzZZcjVp7M8sd1d3grRNEO7B86Yjw8bccaXA2VmdSYhVNHw7UdGFx8lTqH5yq7ihd-MB6oTdsdiTmxZP64H4NIKzQjr_WrfhvF8B0uuBuHudGGtoVQ8YEqjjZ5vPjIJy6tND5vHlJMvaFQ2HAO99HASzqGdYLbruUQzIk2XpelG987qz1ZfO5jMVOsB95zeghWi5n3UqPEopJIMb35FlnTIhYEqDF_mBoCtxoKyXSFodvrBgvtbpEWBfeqe7kMJm7zA6sXSPD9hQycEoe8Wbu-R0wmN9GeOBGZcvfyniMxb41iqV7lgbRZrp3pX946da9-_ZWNB7gRCTYXWGIXt85Ko-tONA3_7yxuyljmLOoUVbK79suYYCJEPdNhbGJyH52cwyCOM-FqqOo-MYoE4B3umwEPmzPz0FNs2NcMymKy3hJUAQMqoqLSRYQ1twjG4xwePjymVsZ7ysEbRr4DRog8ulBpL-HSwiIfgoZYr3zVke6HThpX52r4txL9y_Gu5qL8mYRuWVtn2FuAfaslnK2ebRk9sy4J9L2mbSKt2EqINpJT5IZjMaUZwYTxPGquNIK9O8QeDQtQ_zaNrHwl_9j2ZDg4npgU5ubD0zlCRUcgqEVjGlavDkY6mmqcBzAS_WFIZsFOrgmqG9FE5HjbdwaOQr8EOGxqk-AXQZWV_WbY5Lo-KMFj2iUxo9Bb8bcF_wVvtN0dgKsrs5Mzr8T_QkrkyvmpfugDauV2VxCPOwzddD3L7XXkKrKG3yvIRr3yV45vaa7MBAw4XAYRhL7-s-DAauFwljnoweU66ahjy-Sduti0Pn7k8-yzpXCF5D7ZK10qFCchb5NBOO6XzD1OX9k1tlO2NAqzUK59cSXUL3PhNIsp3-xh8Boj7IF9OV-WH1V7DrfmYSf-HMOs62UQH7FRSaBsX_0kN8IXw3YXrCN2qj7Dz7-4vFLA_hxW4wYJY6c89OCSMOD-ttxp6sMV_5DqrCjZOD8GMjis7lGpPpGhvwN9L4g==",
  "id": "rs_0ca0e0d2734ef76b016ab499f578d487d0819e40c1d971e745",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.8},\"note\":\"The descent stopped short with the bowls aligned, indicating the pink bowl is supported. I’ll release the rim so it can settle into the middle bowl.\"}",
  "call_id": "call_1G3cnvOgdT1kMxVNQ4U1lmFQ",
  "id": "fc_0ca0e0d2734ef76b016ab499f5b57887d09e40a663d84a2c79",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1G3cnvOgdT1kMxVNQ4U1lmFQ",
  "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]: [-0.0261, 0.8055, 0.6075, -0.3893, -0.0261, -0.0494, 0.9995, 0.807, 1.9579, 0.7193, 0.8417, 0.688, 0.0254, 0.7955]\nstate[eef_state]: left_x=0.2947 left_y=0.0005 left_z=0.1765 left_yaw=0.0015 left_pitch=-0.0148 left_roll=-0.0051 left_gripper=0.9995 right_x=0.3876 right_y=0.2477 right_z=0.0648 right_yaw=0.1998 right_pitch=0.2492 right_roll=-0.2066 right_gripper=0.7955\nstate[joint_eff]: [-0.1709, -1.3333, 7.0359, 1.7363, -0.0562, -0.0611, -0.0122, -0.0615, -10.6051, 4.8342, 1.7656, 0.1343, 0.0024, -0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abb8132c59bdc6b2611a2e9c060c1b719625945c499b79cd3c5b8a85e08e2cc0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8072963fa088cf81ec5333a215ced3a682fe420926cfa74fffc0f7e7e69aa290",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5dffcb3d7c075f91c9a2ddff2fbccdd3a3fc35d76eaf3c30893fae484a64e95d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
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call 15 attempt 0 · /responses · status 200 · 5.963 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 46 changed as sent

message 54 changed as sent

message 58 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8055, 0.6075, -0.3893, -0.0261, -0.0494, 0.9995, 0.7517, 1.6737, 1.1194, -0.1173, 0.5652, 0.218, 0.0283]\nstate[eef_state]: left_x=0.2947 left_y=0.0005 left_z=0.1765 left_yaw=0.0015 left_pitch=-0.0148 left_roll=-0.0051 left_gripper=0.9995 right_x=0.3973 right_y=0.2468 right_z=0.1604 right_yaw=0.1612 right_pitch=0.0054 right_roll=-0.1342 right_gripper=0.0283\nstate[joint_eff]: [-0.1709, -1.0188, 7.0359, 1.7021, -0.0122, -0.0562, -0.0122, -0.0752, -8.5675, 9.4017, 1.7851, 0.398, 0.1685, 1.033]\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]: [-0.0261, 0.8051, 0.6075, -0.3893, -0.0261, -0.0494, 0.9995, 0.8085, 1.935, 0.7204, 0.8516, 0.6907, 0.0303, 0.0323]\nstate[eef_state]: left_x=0.2947 left_y=0.0005 left_z=0.1766 left_yaw=0.0015 left_pitch=-0.0144 left_roll=-0.0051 left_gripper=0.9995 right_x=0.3887 right_y=0.2493 right_z=0.077 right_yaw=0.1911 right_pitch=0.2781 right_roll=-0.1823 right_gripper=0.0323\nstate[joint_eff]: [0.0068, -1.1145, 7.1179, 1.6972, -0.0611, -0.0269, -0.0122, -0.6359, -7.4462, 6.0513, 1.5946, 0.0024, 0.1587, 0.7643]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8055, 0.6075, -0.3893, -0.0261, -0.0494, 0.9995, 0.807, 1.9579, 0.7193, 0.8417, 0.688, 0.0254, 0.7955]\nstate[eef_state]: left_x=0.2947 left_y=0.0005 left_z=0.1765 left_yaw=0.0015 left_pitch=-0.0148 left_roll=-0.0051 left_gripper=0.9995 right_x=0.3876 right_y=0.2477 right_z=0.0648 right_yaw=0.1998 right_pitch=0.2492 right_roll=-0.2066 right_gripper=0.7955\nstate[joint_eff]: [-0.1709, -1.3333, 7.0359, 1.7363, -0.0562, -0.0611, -0.0122, -0.0615, -10.6051, 4.8342, 1.7656, 0.1343, 0.0024, -0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abb8132c59bdc6b2611a2e9c060c1b719625945c499b79cd3c5b8a85e08e2cc0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8072963fa088cf81ec5333a215ced3a682fe420926cfa74fffc0f7e7e69aa290",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5dffcb3d7c075f91c9a2ddff2fbccdd3a3fc35d76eaf3c30893fae484a64e95d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.25,\"right_z\":0.2},\"note\":\"The pink bowl has settled after release. I’ll lift the empty gripper straight up to clear the stack and inspect it.\"}",
  "call_id": "call_CXx3Z1HQPlQytmVBQd2cpB5v",
  "id": "fc_0ca0e0d2734ef76b016ab49a00351487d0ade96376a0e600ec",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CXx3Z1HQPlQytmVBQd2cpB5v",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8062, 0.6075, -0.3893, -0.0261, -0.0494, 0.9995, 0.807, 1.6272, 0.915, 0.2871, 0.6731, 0.0216, 0.7961]\nstate[eef_state]: left_x=0.2948 left_y=0.0005 left_z=0.1763 left_yaw=0.0015 left_pitch=-0.0156 left_roll=-0.0051 left_gripper=0.9995 right_x=0.3878 right_y=0.2509 right_z=0.1752 right_yaw=0.2181 right_pitch=0.2221 right_roll=-0.2216 right_gripper=0.7961\nstate[joint_eff]: [-0.0752, -1.1966, 7.1316, 1.7509, -0.0757, -0.0611, -0.0122, -0.1162, -9.3333, 9.2513, 1.9658, 0.2759, 0.0024, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eea6800028d714e91398aba9cca70c67b032b3126f7b4eaec7689368a2186b56",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:540581e451a1901274982c1d1b14972e80c6bee0f65475d8ab6dd72d7081b167",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:030fcf0b93c4de08697262fa9ea43f309a302c5eabd8a3647c9b0998d0709e62",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 6.422 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 50 changed as sent

message 58 changed as sent

message 61 changed as sent

message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8051, 0.6075, -0.3893, -0.0261, -0.0494, 0.9995, 0.8059, 1.8694, 0.728, 0.7341, 0.6819, 0.0525, 0.0319]\nstate[eef_state]: left_x=0.2947 left_y=0.0005 left_z=0.1766 left_yaw=0.0015 left_pitch=-0.0144 left_roll=-0.0051 left_gripper=0.9995 right_x=0.3857 right_y=0.2462 right_z=0.0847 right_yaw=0.1906 right_pitch=0.2423 right_roll=-0.1842 right_gripper=0.0319\nstate[joint_eff]: [-0.0479, -1.2923, 7.159, 1.7314, -0.0562, -0.0659, -0.0122, 0.5675, -8.3761, 4.9436, 1.9512, 0.3346, 0.0708, 0.6618]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.0261, 0.8055, 0.6075, -0.3893, -0.0261, -0.0494, 0.9995, 0.807, 1.9579, 0.7193, 0.8417, 0.688, 0.0254, 0.7955]\nstate[eef_state]: left_x=0.2947 left_y=0.0005 left_z=0.1765 left_yaw=0.0015 left_pitch=-0.0148 left_roll=-0.0051 left_gripper=0.9995 right_x=0.3876 right_y=0.2477 right_z=0.0648 right_yaw=0.1998 right_pitch=0.2492 right_roll=-0.2066 right_gripper=0.7955\nstate[joint_eff]: [-0.1709, -1.3333, 7.0359, 1.7363, -0.0562, -0.0611, -0.0122, -0.0615, -10.6051, 4.8342, 1.7656, 0.1343, 0.0024, -0.0659]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8062, 0.6075, -0.3893, -0.0261, -0.0494, 0.9995, 0.807, 1.6272, 0.915, 0.2871, 0.6731, 0.0216, 0.7961]\nstate[eef_state]: left_x=0.2948 left_y=0.0005 left_z=0.1763 left_yaw=0.0015 left_pitch=-0.0156 left_roll=-0.0051 left_gripper=0.9995 right_x=0.3878 right_y=0.2509 right_z=0.1752 right_yaw=0.2181 right_pitch=0.2221 right_roll=-0.2216 right_gripper=0.7961\nstate[joint_eff]: [-0.0752, -1.1966, 7.1316, 1.7509, -0.0757, -0.0611, -0.0122, -0.1162, -9.3333, 9.2513, 1.9658, 0.2759, 0.0024, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eea6800028d714e91398aba9cca70c67b032b3126f7b4eaec7689368a2186b56",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:540581e451a1901274982c1d1b14972e80c6bee0f65475d8ab6dd72d7081b167",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:030fcf0b93c4de08697262fa9ea43f309a302c5eabd8a3647c9b0998d0709e62",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJoI4V4DSq_oGC7N_tpDa6GaZ05UcduGkPe_DkE-CST7vOu0O5Xpi2lmdL5y5l4kqUQj7umRTwf8l76TtSCg3ThC6-3STYc0PALNUB_4sXwJ_0QCCPkn-K10adua-Ahwbzy-jKiC-NzHK8YcKarmdyKdbCvMWNu04fHTYzVgKIyAENqRWF9RHNoyEiGlg_ViKT7IjSP86KJrYB3Pwgn0rYjjHXxqs8_Zy4S0qW5JuT3BmdKjsHy7kzOl_ChC99qi7rkQmQLvcSE6QwoHfWbjUI3bxNrr95CKmyFBoozatp-EeQOtqCkzbtlDU44zCKKo9fNBSq8hp0rnn5uv-OFe7_NFkhkiOPWTv_piTrS0E4-6l5FImM6hCeelyU1otdMpoCA1bYyb3iR3bQ6bWMYZNrvKjs7OW1860ZfXwf47mKIdbdPDXMveMbFuVE3wV4EQcHBaBQYd1FqiTliLBog1EJMq7IXwBP3TqeLNnR8Dix5GQQWJEH0qAR5UlBuLoom4_Rjr9atsktU9U1uYypzXUgXO37xUgtwqxuZ0qD3T-LXxR6wDv-NqkDR5nNogpd_FlUSuBqpwDuk6TD3f29RG_gMfNYgRxdvdfUihbN7Dhudbpv_wFan6RCp8waIMzZ7E67d2JpBAkiz7Hovxh4ncnN9bS1etpdFLcVlUDIM79kXh_FygmiRpQ5keyWtD2JCCzaiuQQ6QlsS_CON7wt7svSpHOHYsEVhlD1FjQ_SBQ8KHxU3zjfm1O83T4o_FDIS7saBREwosPu-DALnrzp7Vx6v5HoBQ72--ug22uTlOUsmlPLEUoDi33FGVm38hY4sheF9Uh9HiPSS26bn9qzsE9W134bLZaB5ptWMf8IHBk7i1Fg8t7QsUBD5H2xnzpWnx8XdOQjC5FUfbpFzxljAbAku5ZD_owsKCFpV59xhAFsOYphd5E11R74X8qX3tLAp4VpnoiD8_7r8gic80ijjyBG-T-8TlxU1ZPPZQTgf8Jusi-psGDUguIVKRXDq9XkXCGMCVH-_nJ0gw1d51ZTtR84-h_BaiNcTslc_1CbPLJUaAO6NSTct3BytEHZYVRIOxGFI8s4rYMkDVk8dHvkgO4rBDFHBsU6i66Tp612IqBtFYKXeOFieMXQyXhkKBoM_CL8q-5kfDNUbaQlZ8L9nh7WgubjKW9YjZKL-FRNa3aodVlpRxzWJ4Gh-19wigXiJySRbEJ26PnEe32PPfhj39vYTq0gxakjmOVUzS9fIg39bCP6F5bXQDzxmXrAlcAPJrCaR96LMiVjkDPgcgYwNTE_-QJvjQI2LxehIFnyEv2eRA0iFcDHtUMWS_SrzMsvledUgA35U82IzJqHUUkNvCODOs1OHeVHN0NIVxIAjR3eFbIC5lEH_Ch0mx3IfsQPbpjBiCYJYnEBaFj3OGFjK7jBs5rJZ7YVYQPY4fv3oHgzRz3eTa7iSbNgBbwDH8lMVb5jEj3T1aSyUSPPwt0V6wrWNkQClfKfNQxGhqU-Ax4XwUVm7f5iv2TDoPMaqQ3VOkM1pk-xRXQcJO625W9cgwKucHceXPQsovItWTcFRP0Bx3kHmY4lifpDVvKnt_f_AfhAp0RRNC9Re00sS9LVaUSYx6X6BpdK2Jc_0-THqsQraAQYWrDTxn6yP9BOmS0f0V1CD_H58Pynkk6qQ-AiVPESusOihMpO7KEnIJCv0YxPoQnYInKHFvis98OExZe_5DAAaXM74l51Soykzc_g_25ep9hr_SVP59b7AWCvRMNBl5LtinrESAkLU27ZuZzTmXMbjdrVWG-0xfGUmnQzisV4nB6si5SsDvwTIjz55dOyHuqRzee21g-2JfUTZtJh27hVNlYvazSWQ_VOtn9E5f8C0_i2BxDE8kqIhlOCdTFVzKloA5AuzZdiUNAof02E3tyYXZHuHKoXZfeHoyptde0rBz8-bGpMLSiKTxX8byuB9kgxbsCmRB3rYILyrlj4Da5vVo3cqgGRiao-Mp9IRna4x8ie-i3NBNXJ-QtyVJwTg854_srtMyMm6uaSff1HfrBV8l0IHeYLezH02EBWZmG3rFR7-Tz0SmRBuY7-KqfRfm8WQ_PuGHQe3HaoJGVdDUY34rml_6PszV9BMnVccwPN5_-ln3CG8bXL8J6WnyQvW-8frkEKu3MlqOtzsoUR3fbvzdv739Lcxh_KcMTBg-1pTVITWx-92KCof2P-kBKjg8UDsyHhdEOG7w7xb6NVR1cjgTlGgvuE-dDchj6grp_fzSauylVmYkyv1RN5ERYzpsyHY=",
  "id": "rs_0ca0e0d2734ef76b016ab49a0353e487d09537e39eff24dec4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0,\"right_z\":0.2,\"right_pitch\":0,\"right_gripper\":1,\"left_x\":0.405,\"left_y\":-0.17,\"left_z\":0.15,\"left_pitch\":0.2,\"left_gripper\":1},\"note\":\"The pink bowl remains nested in the middle bowl. I’ll park the right arm and bring the left gripper above the outer rim of the remaining bowl.\"}",
  "call_id": "call_w1J9jyZii8upnBSfRAclOrRn",
  "id": "fc_0ca0e0d2734ef76b016ab49a06c47087d0ae6f215e0a746bf5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_w1J9jyZii8upnBSfRAclOrRn",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6235, 1.5448, 0.7322, 0.2802, -0.5625, -0.2935, 0.9996, -0.0753, 0.8036, 0.6327, -0.3916, -0.0673, -0.3347, 0.9974]\nstate[eef_state]: left_x=0.3936 left_y=-0.1626 left_z=0.128 left_yaw=-0.019 left_pitch=0.1279 left_roll=0.0344 left_gripper=0.9996 right_x=0.2972 right_y=-0.0069 right_z=0.1883 right_yaw=0.1513 right_pitch=-0.0132 right_roll=-0.2242 right_gripper=0.9974\nstate[joint_eff]: [-0.4718, -6.7897, 8.7726, 2.0, -0.3248, 0.0317, -0.0562, -0.0615, -1.812, 10.3179, 1.8535, -0.1832, -0.0366, -0.2759]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90d274ad7685b85e547be6aeeb7680ee44d85e5371857da273cddb5871c591ac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3db4343794656acd94355b0400a9ba395875ce39e6578571af85a698b684928",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5e8b2576b61af778c6271e54c6943e2e9bc09c09fd3b368141b86842a2c9cd7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 17 attempt 0 · /responses · status 200 · 8.524 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 54 changed as sent

message 61 changed as sent

message 65 changed as sent

message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8051, 0.6075, -0.3893, -0.0261, -0.0494, 0.9995, 0.8085, 1.935, 0.7204, 0.8516, 0.6907, 0.0303, 0.0323]\nstate[eef_state]: left_x=0.2947 left_y=0.0005 left_z=0.1766 left_yaw=0.0015 left_pitch=-0.0144 left_roll=-0.0051 left_gripper=0.9995 right_x=0.3887 right_y=0.2493 right_z=0.077 right_yaw=0.1911 right_pitch=0.2781 right_roll=-0.1823 right_gripper=0.0323\nstate[joint_eff]: [0.0068, -1.1145, 7.1179, 1.6972, -0.0611, -0.0269, -0.0122, -0.6359, -7.4462, 6.0513, 1.5946, 0.0024, 0.1587, 0.7643]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8062, 0.6075, -0.3893, -0.0261, -0.0494, 0.9995, 0.807, 1.6272, 0.915, 0.2871, 0.6731, 0.0216, 0.7961]\nstate[eef_state]: left_x=0.2948 left_y=0.0005 left_z=0.1763 left_yaw=0.0015 left_pitch=-0.0156 left_roll=-0.0051 left_gripper=0.9995 right_x=0.3878 right_y=0.2509 right_z=0.1752 right_yaw=0.2181 right_pitch=0.2221 right_roll=-0.2216 right_gripper=0.7961\nstate[joint_eff]: [-0.0752, -1.1966, 7.1316, 1.7509, -0.0757, -0.0611, -0.0122, -0.1162, -9.3333, 9.2513, 1.9658, 0.2759, 0.0024, 0.0464]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6235, 1.5448, 0.7322, 0.2802, -0.5625, -0.2935, 0.9996, -0.0753, 0.8036, 0.6327, -0.3916, -0.0673, -0.3347, 0.9974]\nstate[eef_state]: left_x=0.3936 left_y=-0.1626 left_z=0.128 left_yaw=-0.019 left_pitch=0.1279 left_roll=0.0344 left_gripper=0.9996 right_x=0.2972 right_y=-0.0069 right_z=0.1883 right_yaw=0.1513 right_pitch=-0.0132 right_roll=-0.2242 right_gripper=0.9974\nstate[joint_eff]: [-0.4718, -6.7897, 8.7726, 2.0, -0.3248, 0.0317, -0.0562, -0.0615, -1.812, 10.3179, 1.8535, -0.1832, -0.0366, -0.2759]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90d274ad7685b85e547be6aeeb7680ee44d85e5371857da273cddb5871c591ac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3db4343794656acd94355b0400a9ba395875ce39e6578571af85a698b684928",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5e8b2576b61af778c6271e54c6943e2e9bc09c09fd3b368141b86842a2c9cd7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJoQBlYpikjs1RR6XgWjTfL13qcCqxckKN2dhKUZBRp88BaGBJivVr9TV_ZGEMjo2pAgO24X6GqRgT0Z0tekL2v5351r6gxcEJZ5OYJqfzl_2d1owwQ5WbbcJtMydG6oS-4GsahlHYfwv4SArMKXR4YrjhcNa6UfjNmkmxNekDZ2vVCv5r8z6_K_q9L4vV9OTFK4iBaMVhR4Lwtd_SN9KhaZ57U51rwtODVSVOX7rNH3rs1JjSVfZUpuTJUByENScXiZ9X2ty3_I0-xUEvb0ZF8T2i0CPMEZQVOMuMlJKYCfNXvr2bBA6-zGXq9hkwnCAGeYv0YRJcjKEQTvjSsURwvmRpEj2tCeSgxxVITHtaBCLh7GpgMrAa5ZcQ-s7RtGKuPNhOYtJVhJNzf3LHpw1zjkvjskoTZ8cKPpqk9V6jnj2eaRmUF1J-IyRQT8PL0by8x5JmKBz-2CTKiK-4Ammkoyx9c-D3HhEHuoB5ox58lzSayyh0gAlU1T8CGqrCOGncIQKOC-vDNuulzinhXnQ4rPE3X5p0btLvPWJb0yregdkbFF334-ldVLmF0hXtDA22SLWKBCa-HEgyNeFRH8_6a2WSWv4iNmMLCOp1P1KN5X2_DlbNbDbBF85bZ7rNwMzJgS-u4p56tblanoYydEc-mP4PjnfHuHW0CREu5BgWc3dL0ZpGi0veck59uuQmsbJK1U2Ik-cSLi4Zr7samoj0Tzxzy9dHYH2kUnYdHuuEpHbOB5C0351ZtNXTV92hr_faWwdYOxKkh0QObnmxWGyQlAK1T36LSTnXgCQNyZ0nVBf556T1Y_2_J2hNwCYi2nS34T0ww8ZGZ9wvoglSvaXvl6SlwVia96jdP89hhztOGZG0zxRqw-qmf3wvAZUpytFwAcwTUt5LZWX1yu13LsPgawDvGv-K7dx9nsKcs1mw-uke1mYH70EPGno0z7bi88y-2NEavVugtZYD0VMri217Lh00xuJ_d_vmvial9SGzIOoFYh1YgXl7LpArKcdnkYbmXohFxAkXSLVlLzrikvxzu8THz89ZcsjAK3jZW5jw5nfN5RZ5jvNJqWfFH_b_RRhe4Z0uZHqz6JeFx4LITKHGMBr1vjHO2_GZWNtwMYAavQwyhho-imKcG8Inj2bTcHCdcIWkuSrxYUqSxQk4Uwbsq2OSf1ACopc3-J62Wdnz8jqACWzICnre4u9PoePkfO0PHvheKiGBdJLM92h_oOYIfCGez1JoFKnk-x3--_MIm_G69t-gp26q3vu3jfoQe4Y_BrBQBaYiD-lKk9JyWGVM7cm-Dr90icj0IdXJBHTV_B0YUgGlaRAv8QOUxGolr_C6qQ28O9RT467-qiU53tYZDYHTaGbiS8BpBm9vKXoUR8VaNzTlLdBsc9QhtVBAjR8d1c5WvAihmNJgfvGTtbBI1VwSdTzz8lyLS_zxHHaZEO9OSNHM17n3eljE-Ktfhu_hD0xKmG84gFP8nJgoAqhICOjf0yU3TxML1DCcslurGpKoT_5wxOfxsVVk8VP3PpYwk8KdArwunmZCQISg1oO0gBI6rmpe-_uG2-PgBGer-C0yiIB2N8c4UafNarl23P0UzosDPmeZroQe8LQ3m39p-5sp8uFBgpsjxvb1T8wlsT8b2Y83pVVhnVFMXU6wzLDeyB6qUvk9wEFrwTo_SnEJjMNhxC8Q7YqU4PcaWy4QaRo20isZs0SOKdxUnjFgKNn5bsQfPvaRx4bbDMZlH82rJj7Eb2fW4eBbynae6oYJcrqxveABDR8JX0Mv2KCIQ9PIR6KS245wOFuTpOgD34Z9pe84TxzVafaJEczLcn9KpvnBLK4aJb5rzKHGGO0YN7by73tGpuR77CmXW87-4nBtl5kxJBbZfuqvx7tDcTm1bDL3c1aJHqu2agPr0YbjwAGA-sQkUaTo0kejPcdoZoN5D8qtZt2CFLarTJ0GzPSGfb5ajBJDfgNaRXXLvJOCVuU3e-Amri4CCxY5P3_t06Ib2SpUNwC9xU_lWqFPVrx2_qUdWGYhBFzs9qmxmnLAEP7nUIO6RSs5qaMAykuHY5I6RMkpc4lp4N1LFMXtBjHOwtf0gHEkM6lN3ESzw9WbXwpe-EU1T96u36eX3zLW5_TcfbKj-YWCqvAMUuXO4T6I_1PQgb-qZIiLfY-ZHGnEYmzK0Qsp_FFxDLj4b6UmUKHkwbuYXfX-zaqFshosKtWpGHP_kuSEpnUa8p4fFy63gXyRgJeBXKz7rFpeuq-jmnIf-Cz0jRHydzLJJVQ6nqmWPhYIoO7RLvOpxMLoRzlRUOfWPtbC3fNerCzy1M4gjkTMvfuRK64PSN8w7vvzrANbQudUv7_D-U0pHL-PNE5gFoYiL3A-aWj8fentrsuRHR21vYYmE4arfgOc6dD5g33qYl7_QhPJ0KMVzEJ6B8lyUjQvNLfz-eHyXfHXF-yb1q_C2wal-06-hXNslmQWRrWqCJos99azCSXbdeIexpY4laJyoeZBsYiXQC9GjIHxZMkNakQeZDaT0KXtyRBwWRIzxS7t0=",
  "id": "rs_0ca0e0d2734ef76b016ab49a0b502c87d0bcbce85c78fbb334",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.415,\"left_y\":-0.17,\"left_z\":0.055},\"note\":\"The remaining bowl is under the left gripper, with the jaws positioned to straddle its left wall. I’ll lower toward the rim while moving slightly forward.\"}",
  "call_id": "call_DEby6D1YrSD3QK4xdkeTeFJE",
  "id": "fc_0ca0e0d2734ef76b016ab49a0f3d5c87d09f97358318dac6f5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DEby6D1YrSD3QK4xdkeTeFJE",
  "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]: [-0.6067, 1.8286, 0.6949, 0.5312, -0.5499, -0.2928, 0.9995, -0.0738, 0.8062, 0.6315, -0.4149, -0.083, -0.3557, 0.9973]\nstate[eef_state]: left_x=0.4057 left_y=-0.1649 left_z=0.0458 left_yaw=-0.0165 left_pitch=0.066 left_roll=0.0692 left_gripper=0.9995 right_x=0.2942 right_y=-0.0035 right_z=0.1823 right_yaw=0.1773 right_pitch=-0.0401 right_roll=-0.2269 right_gripper=0.9973\nstate[joint_eff]: [0.3077, -7.788, 5.0803, 1.8535, -0.1099, 0.0708, -0.0171, -0.1436, -1.2103, 7.3094, 1.9658, 0.0611, 0.1441, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9135083b410079ceeea86f6300af48c2e27f13d39f6051f4cf3721fe953f7f2a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e1cdf0f1f03948b103fb540b82d87a7b0c896a0769ae367bb51f0df1d40b2e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01b9bf2a1f5b79236a44bf322b88450acfe23eaa065a7aa2e2fe70f62baeb1e2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /responses · status 200 · 3.076 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 58 changed as sent

message 65 changed as sent

message 69 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8055, 0.6075, -0.3893, -0.0261, -0.0494, 0.9995, 0.807, 1.9579, 0.7193, 0.8417, 0.688, 0.0254, 0.7955]\nstate[eef_state]: left_x=0.2947 left_y=0.0005 left_z=0.1765 left_yaw=0.0015 left_pitch=-0.0148 left_roll=-0.0051 left_gripper=0.9995 right_x=0.3876 right_y=0.2477 right_z=0.0648 right_yaw=0.1998 right_pitch=0.2492 right_roll=-0.2066 right_gripper=0.7955\nstate[joint_eff]: [-0.1709, -1.3333, 7.0359, 1.7363, -0.0562, -0.0611, -0.0122, -0.0615, -10.6051, 4.8342, 1.7656, 0.1343, 0.0024, -0.0659]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6235, 1.5448, 0.7322, 0.2802, -0.5625, -0.2935, 0.9996, -0.0753, 0.8036, 0.6327, -0.3916, -0.0673, -0.3347, 0.9974]\nstate[eef_state]: left_x=0.3936 left_y=-0.1626 left_z=0.128 left_yaw=-0.019 left_pitch=0.1279 left_roll=0.0344 left_gripper=0.9996 right_x=0.2972 right_y=-0.0069 right_z=0.1883 right_yaw=0.1513 right_pitch=-0.0132 right_roll=-0.2242 right_gripper=0.9974\nstate[joint_eff]: [-0.4718, -6.7897, 8.7726, 2.0, -0.3248, 0.0317, -0.0562, -0.0615, -1.812, 10.3179, 1.8535, -0.1832, -0.0366, -0.2759]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6067, 1.8286, 0.6949, 0.5312, -0.5499, -0.2928, 0.9995, -0.0738, 0.8062, 0.6315, -0.4149, -0.083, -0.3557, 0.9973]\nstate[eef_state]: left_x=0.4057 left_y=-0.1649 left_z=0.0458 left_yaw=-0.0165 left_pitch=0.066 left_roll=0.0692 left_gripper=0.9995 right_x=0.2942 right_y=-0.0035 right_z=0.1823 right_yaw=0.1773 right_pitch=-0.0401 right_roll=-0.2269 right_gripper=0.9973\nstate[joint_eff]: [0.3077, -7.788, 5.0803, 1.8535, -0.1099, 0.0708, -0.0171, -0.1436, -1.2103, 7.3094, 1.9658, 0.0611, 0.1441, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9135083b410079ceeea86f6300af48c2e27f13d39f6051f4cf3721fe953f7f2a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e1cdf0f1f03948b103fb540b82d87a7b0c896a0769ae367bb51f0df1d40b2e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01b9bf2a1f5b79236a44bf322b88450acfe23eaa065a7aa2e2fe70f62baeb1e2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJoZK7CdDa44vW3dQQQmHv_nAB8oGviX4nW8qf0ePXLZZWeOPOrNbbwk_kMapjq0nIYxG_azw_doFI1IB8XZw1u-gxhUWZWuPyOhC45kc2rElLv-ntCesLlMbP5cKajOSAc1V9My5F9qWowNGTWVGOc6hrRVnl7LuTPeLNnFXmy5_f_aSno18ATLd-D_qrdfAOy4qyeWqyV7NqU4dDJ5O_QUzB0FOcVqwPPhGujvwXuD2ko7D-zqvS22TP4aR7LOKep4RBbZgamCJKMv6RLqoB-DbMCWtRCuSIWLyAJrB6dZJ1eOMFslDCo8yQsgubxz7LSjMvcl1scnl6j7_IMnAAP1jsxt7OOBRsSFIlw83KKayygT9DVYOlceb4jdvPfBVcLHs1tPpAuVRWL7kjhhomAQ69HTSypssXJ2uO0QW0omkklm1bBVdOFt1rtpic5qyde0uGTAHHwmzVQxuJzi7qZH1tperuaKYCQZZPOXim_pc5adWfVs52zYiwqG9HNsLtc5g7dvl1dS8VQ673zmyYuQaFcFjTHgbhvaAKXgsjEYnQohHsMg5ds_6Aj60Fu91FvcPVPqKXpC4ZCg9Ry2fxkR056h6GL-6nKHxO4tGGK4u-xCuUvf-_k8I5LqK4gDz47Y-G9W2DZuVf9XZ-81lTXAMm5Pz8Ubp7U0lLlPNYBJywC6Df7dKLaYDt1clNFPA8_gforVfWlGYepmxXwbljpmOTaqo3IcGohhnIXoiTpRl_HDL4ySqeGA5wlQBeNcbhJtTF1tNZ577Ka8XsMPmiS44SqR3ewaGLQSw_p3LkLWZ_meJTD-BY6bcUgLZQBEMeyRKKWU7eZRjE_RBZd9pHBYF-kAj0gxeCeLIoo_a5Nc0-PIQymqGhmPUPUYxUyyJI0mOUK_163cxNxo-6yJY2voYc_mXa-BzZ7GaXPgaHNMXNu6e5UvSkrTjVGXw0XqCuksUWDrmdiXvXMRyRccshShTI8mN7045Dmeaw6kpQ7rtsks1q3c19N1IbjKg1cg84MQaDC6kaaK4t6SyP5gngYPIEaCTbOhiuV_VQ3aSUNUkvoxYMqyNozfttyZMePd1y-0maSWTBMPMtru7_wut5_935_aMl26OknxVHFE22eOrtX1JGvLxnG-D7D3GrDOEP-FvM0swBG3UkfFCuLRxUTCKSu7hds0LvjkDnbB14UrymUAew0jEMtGCt3aXQPiYdhf80R08PUD2wx2sHaPqh7v6OKXQ1gVuWGYxxPy5MiM4qHhtjNvW33PhDufTc_gS_PCrDpo21olsSDCBjruVtroQDQ55Ceo8uws3B9tmtB3EZhZEXeVTgoyJ5Wd6IbxFWjKKHZ9xLtdvU2dpxGxdPmTuJSutNuGFVhtwfkhJrdjtlDng6T_y_6dYcCvHaera-jM6XXhZ85aOzG1wlpBpjJXfQBtEzqZgM4YwXBISr49Q4OiudlrX2NskxO57e-M8o71O_yck3Oub8BPlpesOOVl3aB7gpGtQilmLMg29vARhBJpSEi4G35cmRKKpHAxesQ_dTECTQaib5ACtTdzykKHPMhHp-ZXB-3fqZuAe4ARAVOImLidNJ7aD48r4N77UMBNBjLCMkpRNBDtnFPSv1CyPNW6jHU9934IncLbDiUEotKX5TEMDamrvdOx82QAKCQoNRulxCyTN_x8Z-Qg_bx4wG1HrePYWgRi3wdLbwVJh0oCuvv1B8AORCGK-FV3hvE_GSy9bm5o9dISAr8t2eEzdt5ml3mmNdXg21yB2QCplNST6EnHU4AkHUkoCX5FgXDMEnoXLTm4_aSfA5u6MhJQZ_60lw2x8t6Jl5Cn74SbKA65MWWNOwwRDuoHYAyG-n7Qd5-ToV7w3EJnvwufO0ZQ_VPULHEVkGHp7i-yFx_jSYesERbHr5m2TImkKjSdlz36rSd2HSrA1nzISrklRUGl_euCkVI5DVekGmuW8BdX8XIA8Hdz7EukqiLAW8Def3Xs2uA69uNf7tSyKpH3oQLWjHn3IxbsH-ZbhDYjH3SrqTMdh4Dhp387vZXYUgWk4la4hwR7Xnkk-V5kDKeoZQ91C_v_NA7UDQi5ia6ebmhD0RhWOWf31ppJ0qaPl5Vl4Sd_TTmywO0u0pwo1v_MtaM5aYbjrME3ODCG7A9ymkoXGOQr_Z4K2GUBn12vfzVAAGGBW6oWt6GjwPe-KXJLuZnseHedmXKWLKTdi2malwljowBI8jMIeD7m5Za9gtWUHrUHneATsBfybzevxyBPKQK_QVf7M8wA8uiXQULia5WEAgSafAkuBJ5d-IijVkgqsMovjLoRUcMd0H_oMkyDJe_jZ_DP3hO01RC7p7F7jHr-Zxygf1K-tXoYokFe1JI4dFuAWu6da-38aIVazUmrO3NTgSgR6_YEjmeVweFCO07kk4JIO0YPa5OIL6n9MIhMUyjfiaOx6o6lDJlm7_ATM90VRwseXWBgC4_cAtb07A4jOo-KaZVRj5OhYSgoyiHzT0S3xrZ-Ih2wVGqykoMviTqICOHrw71wkPe-Rpo__XGV3Xuvtd47KDPXmRRRj1arO5l6cd8JspdPh4dg5RjLimQjFlgLgvsCZLPqhOa3M15Q-y8L6gbk6AA-i-4kTf9VIb9UyOrKs-hmVGsHWZfNdZFeVrNWZyQwTgMcrgdCR_aalYnB9HLoQLehWldpZLukH5RH2-q0XHu8BLqWlwWHqD_kjAKn0IeoJsWi5TsGLo42rlaecHWtW3QTYZIVCBYFct89YFs2n8wtS9FJTf0y_eo_XDYNyvi99MDpAi9P2bWZ5b8=",
  "id": "rs_0ca0e0d2734ef76b016ab49a12e70c87d0b414855acdfcc4ae",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.415,\"left_y\":-0.12,\"left_z\":0.12},\"note\":\"The wrist view shows the jaws too close to the bowl’s center for a rim grasp. I’ll lift clear and shift toward its left edge before descending again.\"}",
  "call_id": "call_SVhKLSN1BmTpXbaGUUYpORIT",
  "id": "fc_0ca0e0d2734ef76b016ab49a185fa887d09500cb2c249803af",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SVhKLSN1BmTpXbaGUUYpORIT",
  "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]: [-0.4694, 1.5822, 0.7185, 0.3096, -0.4644, -0.2379, 0.9995, -0.0738, 0.8097, 0.6296, -0.416, -0.0837, -0.3599, 0.9972]\nstate[eef_state]: left_x=0.4136 left_y=-0.1171 left_z=0.1089 left_yaw=0.0242 left_pitch=0.0813 left_roll=0.0524 left_gripper=0.9995 right_x=0.2941 right_y=-0.0033 right_z=0.1803 right_yaw=0.1802 right_pitch=-0.0468 right_roll=-0.2283 right_gripper=0.9972\nstate[joint_eff]: [0.335, -7.6376, 9.1556, 1.619, 0.0317, 0.1636, -0.0122, -0.1299, -1.306, 7.4051, 1.7363, -0.0659, -0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15b198797c3310aa3d25dda369892cda8e3a7911cb1d56a78c33bb34a791830b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9a0baa3adc62b73c969d212d6535dc39ff938f8522dc3c2d704d8fc0ff5ba6b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8863038081e9bb79b7f9d8de3284ec7e99d8fd854f314324d33b1af715e18635",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 2.771 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 61 changed as sent

message 69 changed as sent

message 73 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8062, 0.6075, -0.3893, -0.0261, -0.0494, 0.9995, 0.807, 1.6272, 0.915, 0.2871, 0.6731, 0.0216, 0.7961]\nstate[eef_state]: left_x=0.2948 left_y=0.0005 left_z=0.1763 left_yaw=0.0015 left_pitch=-0.0156 left_roll=-0.0051 left_gripper=0.9995 right_x=0.3878 right_y=0.2509 right_z=0.1752 right_yaw=0.2181 right_pitch=0.2221 right_roll=-0.2216 right_gripper=0.7961\nstate[joint_eff]: [-0.0752, -1.1966, 7.1316, 1.7509, -0.0757, -0.0611, -0.0122, -0.1162, -9.3333, 9.2513, 1.9658, 0.2759, 0.0024, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6067, 1.8286, 0.6949, 0.5312, -0.5499, -0.2928, 0.9995, -0.0738, 0.8062, 0.6315, -0.4149, -0.083, -0.3557, 0.9973]\nstate[eef_state]: left_x=0.4057 left_y=-0.1649 left_z=0.0458 left_yaw=-0.0165 left_pitch=0.066 left_roll=0.0692 left_gripper=0.9995 right_x=0.2942 right_y=-0.0035 right_z=0.1823 right_yaw=0.1773 right_pitch=-0.0401 right_roll=-0.2269 right_gripper=0.9973\nstate[joint_eff]: [0.3077, -7.788, 5.0803, 1.8535, -0.1099, 0.0708, -0.0171, -0.1436, -1.2103, 7.3094, 1.9658, 0.0611, 0.1441, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4694, 1.5822, 0.7185, 0.3096, -0.4644, -0.2379, 0.9995, -0.0738, 0.8097, 0.6296, -0.416, -0.0837, -0.3599, 0.9972]\nstate[eef_state]: left_x=0.4136 left_y=-0.1171 left_z=0.1089 left_yaw=0.0242 left_pitch=0.0813 left_roll=0.0524 left_gripper=0.9995 right_x=0.2941 right_y=-0.0033 right_z=0.1803 right_yaw=0.1802 right_pitch=-0.0468 right_roll=-0.2283 right_gripper=0.9972\nstate[joint_eff]: [0.335, -7.6376, 9.1556, 1.619, 0.0317, 0.1636, -0.0122, -0.1299, -1.306, 7.4051, 1.7363, -0.0659, -0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15b198797c3310aa3d25dda369892cda8e3a7911cb1d56a78c33bb34a791830b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9a0baa3adc62b73c969d212d6535dc39ff938f8522dc3c2d704d8fc0ff5ba6b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8863038081e9bb79b7f9d8de3284ec7e99d8fd854f314324d33b1af715e18635",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJocyb8IyeZ0S7CcHPZPEt1FRxXPYTmvB1LPW3UQjGz0ExlAtqABSAHxxMg-DtjwwInqgJTPtdxo8X2CWfiALa3zqlGUjOdehgSJqtyEfCbscSJkbKi7jhJLIDDvS1BLqpOMn6WwKlBlSvGpLMFOaHpng1hKSIlUx10lMIzt6umRqdq8ViPTNmvOD3lUZtKW7ycW7g9ZsH5VhfEGk2QVyEDVB6a-C8RnzyRQri2DBM2opJ5NyC61uW2jV25RvqEydC4_Y73X6T7uMIT3QA5JIhvf4tRu3qmxG-48i-L4LOxidwqj8P_wPLWsJMCjbvav0gnv812eClzzZtn_w5BkGRZxQriMOtbdtEapWGD1620yvc2Ax9REztGZnzxUsmvIw0Jc5Q60bxgbmGrGioVK-pa9REZXfp-0JW1cZZauapnzukjGF812ipqo6-WS7Z2qhDqZEU4lYMhFFt_mqrms8sxzrAPkNz6YEUtmpURx1dVV3hplBSAPlXBB1HFgbHft2K96qax5KERaR0Zo376BIR0MvhcFOLarD2IkdWC_N0kbrHFDoCxc2YbrMWaBGpDScdiT-Ckv4i_HcxWufcAjmaxvqyRaYqtsgZpfkpJaWFPhnxpJ8AlgK-r8-UO94nzr1Vje8KXPIykuN0XwKTVrhS7sKiByOlU5oTbdyxIiPNeOGuSRDO6qK4c4Tj574ggu-VYDXN5c9JmQ9aUGFtQGvlKgqoLQGLjSnV-GiMbrrHGevEFsiPjijWr1FlZublX2LBh1B6B0T9FfSgJaGQ11qb_qHKI6M9gYlXE0brde0cQu-4K0J4g2nUZYZLp-Ro1OzhKRgG5NJ83HhPLXB35-OZSEwtk_sbS8UUvl2aFI76wmjeGRCbRfOZfA2e1eiZh1B5oW1jl2c3Ho06CamWe3HYI7ReqYwO5g-Nj8PR3ZwWogmashM8ExhaAdHPrbY971pru4qj9VnAMb_GwtF13yLHh1c0RvM4I4frfNIjTau-5MswPyo8umjY7aYDEHIUFhRIZmYr8iHcmwGnkeeJJQm43Hglqc1FvP_ioTdCCtMMTNlX8Do8vzdmvsReEQU5mYf70YEMDPaS6l7nCI3vpCPn8CxBAjYYKbQuJuOnU-JaOlpc3INeHEwsEoX-L2v-If092k-LoswMoFyYSfIOuK7PY-S6oEyjjNIGOBlhuhF2avf8qx8RA-KnCB-wQCG8T9cE3Qki6Y27xlIklDlyee8ctY9v9t8uAA0OkFgQ036eRAQ2tE2SED1fGU94nez9Wj20X6_Uf7npFj0oQ8JENoNJjlTVdLLoHf0a7PIDTNzoNuWRA6v_4G1OWKlELrXDTPxX8dLcXRbeuye8VY4xF5W-DQow==",
  "id": "rs_0ca0e0d2734ef76b016ab49a1b24c887d0b76f3993031f07f2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.12,\"left_z\":0.025},\"note\":\"The gripper is now offset toward the left rim. I’ll descend with the jaws open so one fingertip enters the bowl and the other stays outside.\"}",
  "call_id": "call_Ma1NgoZM9orojt9nwVZIzLeH",
  "id": "fc_0ca0e0d2734ef76b016ab49a1bf9f487d09050bf115ccc1cd8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Ma1NgoZM9orojt9nwVZIzLeH",
  "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]: [-0.4648, 1.8771, 0.6346, 0.6209, -0.4591, -0.2325, 0.9995, -0.0738, 0.8116, 0.6277, -0.4194, -0.0841, -0.3603, 0.9973]\nstate[eef_state]: left_x=0.4132 left_y=-0.1156 left_z=0.0183 left_yaw=0.02 left_pitch=0.02 left_roll=0.0862 left_gripper=0.9995 right_x=0.2935 right_y=-0.0032 right_z=0.1782 right_yaw=0.1808 right_pitch=-0.0539 right_roll=-0.2266 right_gripper=0.9973\nstate[joint_eff]: [-0.4034, -7.5692, 3.9863, 1.8779, -0.1636, -0.0855, -0.0122, -0.0889, -1.2376, 7.1863, 1.7314, -0.0611, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:128a62d5ee44be6f10bdb4797afc767550909f8dc1cdaa10b5442d3245926893",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:372275f552159d14fba6adb17110690d0a655936ec987e255f2970364d3697a9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:356508e3703d18227dddf24429270c8b2c77969e363fb0527f0551ff9f8718c6",
      "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 · 3.328 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 65 changed as sent

message 73 changed as sent

message 77 changed as sent

message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6235, 1.5448, 0.7322, 0.2802, -0.5625, -0.2935, 0.9996, -0.0753, 0.8036, 0.6327, -0.3916, -0.0673, -0.3347, 0.9974]\nstate[eef_state]: left_x=0.3936 left_y=-0.1626 left_z=0.128 left_yaw=-0.019 left_pitch=0.1279 left_roll=0.0344 left_gripper=0.9996 right_x=0.2972 right_y=-0.0069 right_z=0.1883 right_yaw=0.1513 right_pitch=-0.0132 right_roll=-0.2242 right_gripper=0.9974\nstate[joint_eff]: [-0.4718, -6.7897, 8.7726, 2.0, -0.3248, 0.0317, -0.0562, -0.0615, -1.812, 10.3179, 1.8535, -0.1832, -0.0366, -0.2759]",
      "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]: [-0.4694, 1.5822, 0.7185, 0.3096, -0.4644, -0.2379, 0.9995, -0.0738, 0.8097, 0.6296, -0.416, -0.0837, -0.3599, 0.9972]\nstate[eef_state]: left_x=0.4136 left_y=-0.1171 left_z=0.1089 left_yaw=0.0242 left_pitch=0.0813 left_roll=0.0524 left_gripper=0.9995 right_x=0.2941 right_y=-0.0033 right_z=0.1803 right_yaw=0.1802 right_pitch=-0.0468 right_roll=-0.2283 right_gripper=0.9972\nstate[joint_eff]: [0.335, -7.6376, 9.1556, 1.619, 0.0317, 0.1636, -0.0122, -0.1299, -1.306, 7.4051, 1.7363, -0.0659, -0.0024, -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 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4648, 1.8771, 0.6346, 0.6209, -0.4591, -0.2325, 0.9995, -0.0738, 0.8116, 0.6277, -0.4194, -0.0841, -0.3603, 0.9973]\nstate[eef_state]: left_x=0.4132 left_y=-0.1156 left_z=0.0183 left_yaw=0.02 left_pitch=0.02 left_roll=0.0862 left_gripper=0.9995 right_x=0.2935 right_y=-0.0032 right_z=0.1782 right_yaw=0.1808 right_pitch=-0.0539 right_roll=-0.2266 right_gripper=0.9973\nstate[joint_eff]: [-0.4034, -7.5692, 3.9863, 1.8779, -0.1636, -0.0855, -0.0122, -0.0889, -1.2376, 7.1863, 1.7314, -0.0611, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:128a62d5ee44be6f10bdb4797afc767550909f8dc1cdaa10b5442d3245926893",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:372275f552159d14fba6adb17110690d0a655936ec987e255f2970364d3697a9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:356508e3703d18227dddf24429270c8b2c77969e363fb0527f0551ff9f8718c6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJogz1TyNIZ5Qvm5PCXyBBf5hnUSdKBqHRSpP-xzTh_m_pPMtyjBrJZ3eGu6x95rWUiR1-iZegYjk_iFm6DxB9c4BcYA-LNgHamDu0aLVCeZkQdAN6sdagfyl4fGQTrKgAltw5h1hMUZ4eRyCthc7Z6eHnbH5o9k13Ic0d33gl8meGHubRfvj9sceYq64wgOjegN0EAYQ-0ourXmDQnoQIFwareoK_FfckrBK_7UqoCcA5Ct32CXj9hbJEMeYOwq5AYTmyA2S6j7B1d9OdXROASyG5b6MCXa27VdGeD2BRqbbj9YF0QfoNmr75mphw7w66rDB0w0F5sESiaArBSYuYID364OJEzVWlqQEcTJhZtIzGYcK2QhIybuFgumWmsJgC8tcHAL2feevdS7ddeEoFXBBQY621QuC9SB-lVUQKJa1_-lIZ-ZKFcFL9B1El_rJpSOCnjJKLXN9iR0DZ4QtdB7z8PMW5FbkowxsGbgIz1m7i66iDLt32JrwZ7a12CYjQT4SmCL4Dh4vDzVcJ7m7qd9zanmkmE00-xX8XVOAplEHcewUK5kXrDlZBaXeezXe8IdIhzCaH9U5vnQVH6iXYBi4jSfTGc8fjjMhdlMouMRnuYk7hC-NxeMb3feFSj1o-7C7zYRE3VPSe5qm1fc5cke70DwiHZ0wbFyz84NGipCfU79rdFuLsSnExjtvEGoJK-OJSWTHICmtZiy9QzgzK6wudecAY_oW9lzzJqYzQuCOY2_jzZeSnMdcm3E9njKnE22LDc8rFz_O3AChryG1V_cNPo0JwkcLz0cc2gaVEPaXTAQkviP4oG5WaryUI_GDj51KQz_yY2TTm23efDI7marOFDkjSKmifaxy7_0p_h2-S8JeZBd0RtdDGpjKa1hvbEylumdYlwJYrBAd-q27k2xU1tESN-J0bT8QoA8aFrgt1l25EYOR7j7X5gZckni_BdGTmnB1aoBAkLIxMGpfIm9xJ1azMvlPLgqN1XmJESIeWynQNq1h-dPWaiZTC0BJWudXUroneJKzl9FCMdEKPwP2F9Mnk29UKB_S0VuXrX9Y5Yo9I7DfY52N4QTSluTM3QdzCBjF1LPlLIZxQeIyiyit8hdKIZa86PnOoqyrHExhpRTv1IlF1ylKxA_CfyKwvg0ctuZfDfq3NOEcG4GxviIIbtzxDe2l2mevG-4iZrLzsUVMg1l0xtvsj_M1bYUCmEut9J2uBRnT_eAeDqVN-d3vMWHrnUH_1XYVjiVxd-NW3ibn1vDiGoTnY1Xx3fwgAA7jj_PF04l7x3YJmS7y8cp7DO6EWT2CTTTzhPQKCjHxHp2Vqm10KfhAgWV7W66OdW2IXd9HxNmMw_RvAg-kIbIQDcDY_vxvY_xXwAEY0x8PV9b5Yt0x6ggoOvtq4uXtjH0CcC2XU2hyqZRy5MzkSvuOA==",
  "id": "rs_0ca0e0d2734ef76b016ab49a1ec4f487d0b57b6fa8fd6dded6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left jaw is outside the bowl and the right jaw is inside, below the lip. I’ll close on the wall to secure the rim.\"}",
  "call_id": "call_eRVkHEjdgL0sqyx72O9XZvCZ",
  "id": "fc_0ca0e0d2734ef76b016ab49a1f78d087d0b63d7013bdd341e1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_eRVkHEjdgL0sqyx72O9XZvCZ",
  "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]: [-0.4648, 1.8683, 0.6365, 0.6704, -0.4656, -0.2512, 0.518, -0.0738, 0.8116, 0.6262, -0.4221, -0.0841, -0.3634, 0.9973]\nstate[eef_state]: left_x=0.4202 left_y=-0.118 left_z=0.0321 left_yaw=0.0367 left_pitch=0.0756 left_roll=0.0446 left_gripper=0.518 right_x=0.2929 right_y=-0.0032 right_z=0.177 right_yaw=0.1825 right_pitch=-0.0583 right_roll=-0.2281 right_gripper=0.9973\nstate[joint_eff]: [-0.0615, -7.0222, 4.5607, 1.199, -0.1538, 0.1636, 1.033, -0.1299, -1.347, 7.159, 1.707, -0.0611, -0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d9b0981872ba005580135ed34ca6da1d8406acb43e35cda355d85a888e7ccbc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fafeddc88ba4b477c3dd2fb115b2ef4e3af5bd5847a263564b332c71dc46532",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bd6251380a9a48d87a1a5251116bbd2ab313c401b535aa6977d75f381e7d9cb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 2.619 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 69 changed as sent

message 77 changed as sent

message 81 changed as sent

message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6067, 1.8286, 0.6949, 0.5312, -0.5499, -0.2928, 0.9995, -0.0738, 0.8062, 0.6315, -0.4149, -0.083, -0.3557, 0.9973]\nstate[eef_state]: left_x=0.4057 left_y=-0.1649 left_z=0.0458 left_yaw=-0.0165 left_pitch=0.066 left_roll=0.0692 left_gripper=0.9995 right_x=0.2942 right_y=-0.0035 right_z=0.1823 right_yaw=0.1773 right_pitch=-0.0401 right_roll=-0.2269 right_gripper=0.9973\nstate[joint_eff]: [0.3077, -7.788, 5.0803, 1.8535, -0.1099, 0.0708, -0.0171, -0.1436, -1.2103, 7.3094, 1.9658, 0.0611, 0.1441, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4648, 1.8771, 0.6346, 0.6209, -0.4591, -0.2325, 0.9995, -0.0738, 0.8116, 0.6277, -0.4194, -0.0841, -0.3603, 0.9973]\nstate[eef_state]: left_x=0.4132 left_y=-0.1156 left_z=0.0183 left_yaw=0.02 left_pitch=0.02 left_roll=0.0862 left_gripper=0.9995 right_x=0.2935 right_y=-0.0032 right_z=0.1782 right_yaw=0.1808 right_pitch=-0.0539 right_roll=-0.2266 right_gripper=0.9973\nstate[joint_eff]: [-0.4034, -7.5692, 3.9863, 1.8779, -0.1636, -0.0855, -0.0122, -0.0889, -1.2376, 7.1863, 1.7314, -0.0611, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4648, 1.8683, 0.6365, 0.6704, -0.4656, -0.2512, 0.518, -0.0738, 0.8116, 0.6262, -0.4221, -0.0841, -0.3634, 0.9973]\nstate[eef_state]: left_x=0.4202 left_y=-0.118 left_z=0.0321 left_yaw=0.0367 left_pitch=0.0756 left_roll=0.0446 left_gripper=0.518 right_x=0.2929 right_y=-0.0032 right_z=0.177 right_yaw=0.1825 right_pitch=-0.0583 right_roll=-0.2281 right_gripper=0.9973\nstate[joint_eff]: [-0.0615, -7.0222, 4.5607, 1.199, -0.1538, 0.1636, 1.033, -0.1299, -1.347, 7.159, 1.707, -0.0611, -0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d9b0981872ba005580135ed34ca6da1d8406acb43e35cda355d85a888e7ccbc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fafeddc88ba4b477c3dd2fb115b2ef4e3af5bd5847a263564b332c71dc46532",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bd6251380a9a48d87a1a5251116bbd2ab313c401b535aa6977d75f381e7d9cb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJokRu5feX0nEnHWGQiWSitG9BxHYdm6MhD9p4Q_n9L5t0y4TJf-BLV5hGNhdrWFanSHjIC7HydBXjK-MiSyEGzRQw2uSRB0yGBf3kqaTfhBl5fsPf9j7ODuajgSQ-wsgL_pux7X_SGsGVjC4tzajC2vbwAtyoLcOb_wecu_uZl5sdSsT99OkFtYIO0jNYxmHy8ThKTH6Q9l2dgSX2kSYATpnE3Nlma51H0rqsYUhWg23IMsbjd-8AnohsggkcMPFP9QZmQzqSdwGrVzV97aNWJUuCKhcUkCKYNzp9aFPCp9SiFGbfVEOMW0SaxxojrMmxawt_5bOzJneJ6tRFy4aDqmsnheyvx2lCc5_ENpwLr62tgzxZfvkpQUOdiNl0-vPcqULzZ20G4sUmyYGhMNOnTdAfBoF6ovQwXy5-spuc85mvVaFze6Gt2N5Zl_2XLYFHv5DZPJbUsVnT0diin6B2R1utQkwuyjBZo6ro_GHUPp1MYyKvrzU2Q5EnmId-RHHGMQ2UHCGGN4efxveBrBXSos5svafsxcam5fAOZ1gVBOnreD8tIGw7XtH79IuMwrrR4wUNt6ck_bbKLziuPIPOKoiTxERRMLm5JdT7GrJyHnI25PXKTdzM9oQ0S5Upk2c3xDo26qsLv4O_LTFsjV0_ow4peBk7RaAt3mg2gNqhl4dTgaddSRltVQ3-0ZrG31PXh0-hfa9H688VU5ztyw4iBjX5eKzMz2Lm984dhNhGNu-KjgUgMRUdEvjw9TPIMQwOhm-Rbx2Ngl626De2zClLZmhfasBA8XMVAhIAJ_gSgxAWiYoyGopt9oyJAAuteNyYOuoAcyrTiMmAfXMIFOfUlgwpvUADZxFti8T9V8nh7veIuEMpgGH_U4TR8Bt7m04-hB0rh60E4bV3oIX-dAIKVRpTn3LqROo6LyIT0fQLF2AQ7fHGkkXksVQn1THOW7HgS3b-LYlh5ti2eCiC12b8Qmyv6dwqSG0LdPt2USDu7xvrPW-pK4KLzxR3qTLtBh2FFVcPCGssLXuE79WU8cUhYBM294-8GUSwaoa95TdyvIX-i_alU-LAAHiwiEW2QmINO5wsccgX7yr_FagYTi7AVAWUtyPbXhX4gkYd_rNw8vjxewNpwj8WdHgW-QP6b2T8uMbl13TC0Thm2iXyKUln7nQuXmkVOtogMoUYn7V0Yx95lgl-17uQqFP3GcyjXvWckm2hW9441DZ2ol0AkHumIdrTlk7RhN-TBJCAoF6hD8vhRQAIUAjbQCrPeKMvGsUuTDcZ7qiKL3U3Ya5AwlbeRK5I8ZKpXcEO_TuqIoMGvUIoqMLAS1f2jKWhmoiuFbXG2z",
  "id": "rs_0ca0e0d2734ef76b016ab49a22ed6887d0998f91f7be5aa3d4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.12,\"left_z\":0.09},\"note\":\"The gripper has stopped at a substantial opening, indicating contact with the bowl. I’ll lift about five centimeters and confirm that the bowl comes with it.\"}",
  "call_id": "call_VZ5GvFfORFPhiLFmzepSXUIR",
  "id": "fc_0ca0e0d2734ef76b016ab49a23461487d0bf094cc1a7aaa029",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VZ5GvFfORFPhiLFmzepSXUIR",
  "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]: [-0.4648, 1.6978, 0.6838, 0.4686, -0.469, -0.2592, 0.4052, -0.0738, 0.8135, 0.6262, -0.4221, -0.0841, -0.3637, 0.9972]\nstate[eef_state]: left_x=0.4206 left_y=-0.1176 left_z=0.0797 left_yaw=0.0445 left_pitch=0.0907 left_roll=0.0313 left_gripper=0.4052 right_x=0.293 right_y=-0.0032 right_z=0.1765 right_yaw=0.1827 right_pitch=-0.0602 right_roll=-0.2279 right_gripper=0.9972\nstate[joint_eff]: [-0.5675, -8.3214, 7.665, 1.6044, -0.1587, 0.0366, -0.0708, -0.1846, -1.5248, 6.9949, 1.7411, -0.0757, -0.0464, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4eb60afe5059e825221cafc0c3bfc70552c53e094df4a6650084bb7736cbeac5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc2691af7905193aabc91577123dc72a77345580fe3d9fcc7cc7106914530a77",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe5c85b79ad030d08222e85e64324fb77bf3c2a90717a62f96d3ba40ba50c58d",
      "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 · 24.75 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 73 changed as sent

message 81 changed as sent

message 85 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4694, 1.5822, 0.7185, 0.3096, -0.4644, -0.2379, 0.9995, -0.0738, 0.8097, 0.6296, -0.416, -0.0837, -0.3599, 0.9972]\nstate[eef_state]: left_x=0.4136 left_y=-0.1171 left_z=0.1089 left_yaw=0.0242 left_pitch=0.0813 left_roll=0.0524 left_gripper=0.9995 right_x=0.2941 right_y=-0.0033 right_z=0.1803 right_yaw=0.1802 right_pitch=-0.0468 right_roll=-0.2283 right_gripper=0.9972\nstate[joint_eff]: [0.335, -7.6376, 9.1556, 1.619, 0.0317, 0.1636, -0.0122, -0.1299, -1.306, 7.4051, 1.7363, -0.0659, -0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4648, 1.8683, 0.6365, 0.6704, -0.4656, -0.2512, 0.518, -0.0738, 0.8116, 0.6262, -0.4221, -0.0841, -0.3634, 0.9973]\nstate[eef_state]: left_x=0.4202 left_y=-0.118 left_z=0.0321 left_yaw=0.0367 left_pitch=0.0756 left_roll=0.0446 left_gripper=0.518 right_x=0.2929 right_y=-0.0032 right_z=0.177 right_yaw=0.1825 right_pitch=-0.0583 right_roll=-0.2281 right_gripper=0.9973\nstate[joint_eff]: [-0.0615, -7.0222, 4.5607, 1.199, -0.1538, 0.1636, 1.033, -0.1299, -1.347, 7.159, 1.707, -0.0611, -0.0024, -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 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4648, 1.6978, 0.6838, 0.4686, -0.469, -0.2592, 0.4052, -0.0738, 0.8135, 0.6262, -0.4221, -0.0841, -0.3637, 0.9972]\nstate[eef_state]: left_x=0.4206 left_y=-0.1176 left_z=0.0797 left_yaw=0.0445 left_pitch=0.0907 left_roll=0.0313 left_gripper=0.4052 right_x=0.293 right_y=-0.0032 right_z=0.1765 right_yaw=0.1827 right_pitch=-0.0602 right_roll=-0.2279 right_gripper=0.9972\nstate[joint_eff]: [-0.5675, -8.3214, 7.665, 1.6044, -0.1587, 0.0366, -0.0708, -0.1846, -1.5248, 6.9949, 1.7411, -0.0757, -0.0464, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4eb60afe5059e825221cafc0c3bfc70552c53e094df4a6650084bb7736cbeac5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc2691af7905193aabc91577123dc72a77345580fe3d9fcc7cc7106914530a77",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe5c85b79ad030d08222e85e64324fb77bf3c2a90717a62f96d3ba40ba50c58d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJon_7KIhQxZEN4YiIE75-8Htz8VZ7uCLHGG1ySib2Y550yTb0MVbMJ-eiqJ7saODakFHdGYQbYW9be9EXUyhuETOgGTIsADLGSOuNtVuNFAwZulXuSbdvp2dN8QMef1bJApelcNdyqNn4KRPv9nhW8XPdOBpnzLSfkrHu-rrLHPnh4PlrPKfXA-4MgEAn-RvwsDUXTR8SVNxnYhPh8uj5LpqsYxHScJ4g9aB0o4fVJ32KMD_lzvGF2xzgUza_AXRktH-5BhU083Wn1GdvGH7K4xilSYNGQtSUQvGYQJClyWapEvUQLt8M1ztxh72J40xQrBBxC7czw3AOuRhzIMqy6AKqp_cDBfYIBi4BQSbTWG5zG2-sEKFn7DEQcknaJSBv5fiUCHAGCx2CmRwkOdt3SgdCIRAPEk_FrKYZC3Qzw96f8-AoDTx8YUV0S_UgfGKI7Q66YstlqBTRyclNtyejkwrfyKdm0Bng0wtOIn7T44ucro3shJl8AfmE3vYhWQ6mMWuUIRS3Lmkzy2A_XGR_rMIVBAVI29ZjbDlmCbNvDTy5N2NHVWu9F47CsCwZtLIxUxW_KphwShN3NDKy1I5xSEoIWqJEpez3DqoYxwi2hIEo_xEAY-tJEHZZ5Nm_mOxV-wZABA3rE-6hlDrjxsrcp-VLDPJKner1jCWq6xGf9-qemwB1p4IrtX4FifoYUT96IWJCK3tenYwjrpptUbSSKuFf8XtfuieLKTDWa27eVkYNqORnbbD6opcpeSrJJm3eRf-EVpv3tHlH9x0RrqaQ7sr1tKO6NiNz8atISKc2sivpQy_sWt0iaccYOJ-S-QsQt3MHwgG4m-fVZ_twNrnfcrcM-bfrk2jSsEnTUWlZqx3FmLhCHoScX5GpIcJipSy-FoUNsjDW8JQKEWFh6S9NrFxYxavU3cw5OqiQ6aAURqbT-i-4t7456qCAf-1KI2gCY54fh-Mw-WaQBuGpG5-eo_CoxNivlcWuX4SVhPehX6PL0qp06NFqA2tAH0lYDN-F-mxSqMTy-Yrnte1Afiu4HvYIt4yF6y1NOTmiIf_JTxLbd_3Ml219TgOX7na56fAAEtNWLn-zlDM0oeiXKcUsEOouuod809vv1BnFj-to7T6lCkpq5aLTeMqU2fj-nar02dRfHW3IgiLQV4abCaqemv45lzwY9xIFz-bQLj5Uce9oLYh3Xf-zTQXdmZsD-HvZS0c-Np4FT35elkG1IyoblkgSmhQqSyqJrx4XD1FKdb19Ws-jb7lgelXxS5iE0BLyCV09J10x4s3_EzWNZR9_364Q==",
  "id": "rs_0ca0e0d2734ef76b016ab49a26212c87d09cdaef1bd8da1df8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.12,\"left_z\":0.19},\"note\":\"The bowl followed the test lift. I’ll raise it to carrying height before moving it over the two-bowl stack.\"}",
  "call_id": "call_9E8AjXe5DTWD3rjOtti8KCmM",
  "id": "fc_0ca0e0d2734ef76b016ab49a268a5087d0be1655001af2f09c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9E8AjXe5DTWD3rjOtti8KCmM",
  "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]: [-0.4679, 1.4929, 0.9104, 0.0204, -0.4725, -0.2634, 0.4044, -0.0738, 0.8162, 0.6262, -0.4225, -0.0841, -0.3637, 0.9972]\nstate[eef_state]: left_x=0.4213 left_y=-0.1188 left_z=0.1695 left_yaw=0.0458 left_pitch=0.0771 left_roll=0.0374 left_gripper=0.4044 right_x=0.2931 right_y=-0.0032 right_z=0.1757 right_yaw=0.1828 right_pitch=-0.0631 right_roll=-0.2271 right_gripper=0.9972\nstate[joint_eff]: [-0.6906, -8.841, 9.1966, 1.6728, -0.2466, -0.0415, -0.0952, -0.0479, -1.5932, 7.2137, 1.6728, -0.0757, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b586a2a95d616722c8a54969c07df7b6da28aa9c197d897c8e0ea7c99f6ade2e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4e0470c5238d2bb429a673cd46263f73664fa20949818e7730a562e52692c6d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b127b8f9182f652057c77423420345e4eaa180d673e8e35a097f56977bd4ba8",
      "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 23 attempt 0 · /responses · status 200 · 9.945 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 77 changed as sent

message 85 changed as sent

message 89 changed as sent

message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4648, 1.8771, 0.6346, 0.6209, -0.4591, -0.2325, 0.9995, -0.0738, 0.8116, 0.6277, -0.4194, -0.0841, -0.3603, 0.9973]\nstate[eef_state]: left_x=0.4132 left_y=-0.1156 left_z=0.0183 left_yaw=0.02 left_pitch=0.02 left_roll=0.0862 left_gripper=0.9995 right_x=0.2935 right_y=-0.0032 right_z=0.1782 right_yaw=0.1808 right_pitch=-0.0539 right_roll=-0.2266 right_gripper=0.9973\nstate[joint_eff]: [-0.4034, -7.5692, 3.9863, 1.8779, -0.1636, -0.0855, -0.0122, -0.0889, -1.2376, 7.1863, 1.7314, -0.0611, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4648, 1.6978, 0.6838, 0.4686, -0.469, -0.2592, 0.4052, -0.0738, 0.8135, 0.6262, -0.4221, -0.0841, -0.3637, 0.9972]\nstate[eef_state]: left_x=0.4206 left_y=-0.1176 left_z=0.0797 left_yaw=0.0445 left_pitch=0.0907 left_roll=0.0313 left_gripper=0.4052 right_x=0.293 right_y=-0.0032 right_z=0.1765 right_yaw=0.1827 right_pitch=-0.0602 right_roll=-0.2279 right_gripper=0.9972\nstate[joint_eff]: [-0.5675, -8.3214, 7.665, 1.6044, -0.1587, 0.0366, -0.0708, -0.1846, -1.5248, 6.9949, 1.7411, -0.0757, -0.0464, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4679, 1.4929, 0.9104, 0.0204, -0.4725, -0.2634, 0.4044, -0.0738, 0.8162, 0.6262, -0.4225, -0.0841, -0.3637, 0.9972]\nstate[eef_state]: left_x=0.4213 left_y=-0.1188 left_z=0.1695 left_yaw=0.0458 left_pitch=0.0771 left_roll=0.0374 left_gripper=0.4044 right_x=0.2931 right_y=-0.0032 right_z=0.1757 right_yaw=0.1828 right_pitch=-0.0631 right_roll=-0.2271 right_gripper=0.9972\nstate[joint_eff]: [-0.6906, -8.841, 9.1966, 1.6728, -0.2466, -0.0415, -0.0952, -0.0479, -1.5932, 7.2137, 1.6728, -0.0757, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b586a2a95d616722c8a54969c07df7b6da28aa9c197d897c8e0ea7c99f6ade2e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4e0470c5238d2bb429a673cd46263f73664fa20949818e7730a562e52692c6d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b127b8f9182f652057c77423420345e4eaa180d673e8e35a097f56977bd4ba8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJpAWnHZ4ViVtANWyPFe7zPNyWrPuCOJVoozJuCGz7d7CvfJ_TN2wVuSPFRCEHYM-zGu0QexmiPCnKMvwIyoBv6tFP_26L1MZwKP0Vs0a4iMjqtXdEMl3yAM53VsIHadFzD4qgutda-iOLNX4Ev8zr2u192N2ngd882kxYXrxRRffZu9bhpZp8evvHZsABFViBwHByCvmkkk4yDp4IYWDSGxHGoqxI8kOEOya7P-yMiX4b_RUoDhg9Gox-hb45fdAbwSD2UpVIHKRd95vl02I5QH_QguEVSAH8BlXEuE3zdsVM3E7FVRlLSb1V5D2yxQJW3BpaewMHNgu3NxYc8kWsBrQVGANutr9guJ7-srQGRgkWjOICB0AYe_mrxW-LWspkyV_4nC118NR_4cfmse11gFKcvBKW9GzHjJZOu-rEQRlGBYQI9e64nrEUANKI5i07TrtFEgdhZ7QCaEpn2AVvU4EBpKdz5kJppxpcD4fIssgKpnrWEUJ9hqysARg2QnC_n2CxUk43ltGTQYgm8QqSI37toPvMKTUk2bTj_XTmRj3X2OyB-e6x8NjErb_LPU4B-nXO8RBX3ZVUoE1TmCqFgFAEP9K8L6GezPm4sZwhOZ-nMXj4ZWnULlScHXgjRIqzIy9BwD5CxJZaKggy02l-VZswR0BjbI134Zx1P8PBL5TPxsUPy7DS7MinayCuHGZFTMHe65ifJfCNtabAuf2u54j3R1INYzPmMIrBJxxpkEB1nXAR1oxjtvkG0ibG_bAyOH2jnC88AEuEsZ3DOhJDmxjVoqcw2UDnYtArryH_g9K2V0LcjeGUTiIDSPEkq0TbffsGiMoewQAXZBht9yInYDk_54zvNfLmvOLyJcZDSNiTDg1tL0yk9t9k6EhDk01s_N8l__meNJV2UxV3E-iy7h-aaW9OvEfY-4lkgWQPs-SZafOCj5OR49GuFPxeiBRwbLrl1LnXNmWBPIt636C44aKrB69cT4Rvzfwgki7Oq2jxnxdwUl87TTPwBSrsx9LrXPsfcpvudjycClJPQc5nFclwbXmDhX2AimN5pQVAecToP1xbM9N6CdH-zYVJlp42VFe6z6-h7UK7Zl_iNrSKU9_1LMRM7YSqhkCIxgbruBp8O3Zzv1_RuYJkSgvHHJShxnKIZjPkJDVcyz_GNO8iK_AVK7vNXSFY6_IA9y7Oo1pCcz-87Jo8d1xxz4V8JobBxJfFT-PM1FicsXSVIu63LyjLVJ-kbUzJrkJcpGNcLjFTBBYfm6hIaU1MnNc2Hw33FabgXajlROdLqB2fxihRTP3RmcI0Km_jypsAKAzqRK6rNQNS96c9mEIzwRmULMYSqy27VLBOZW_GEIzwx8ZL_BRnSWmqDlqnMlyguIQtqzID4QR1tBkJyaSotxXIaLUGF5czb6F6JoYfQTEJxUXZgw5oRNXrev90KOVMtykM9ACePso8cggAqDHiQfy7cg2uQHsAKtZjM5qf4v1ViVzDpBBKDcyoL4v2uWdOIo6hOrOQ-OzMw6gMTTijYNZPO--iOzLLoVpKnPusCCghIz0IJMP5eVIRAqgt6zfZfjnQ1_Xz_F4jnhMvCiDRcsJpyeDVJEaV6C1cQZGT2R_ItAxlIVtZI3xd6HG_T7ZxdgvEBsdaVDR-9P4C1yhLcHINQF855drXn_d0ZyHgKKnDIy041zlqATRpmszRElTLjSMq3K1QmSWjulrkVOp1kVH1SI9XRBD9eheEATIm-XK_jLvUq90AMvmYFJ_OWX6mOo9Khzwru2C-def7N7WADH0jKKsH2E3IpU7YSd22cGckpWaUvII9xlnpGbeWUjlnjCXPQ7ApMXDFzwCLCLV9-LI2Dan7VaSmQjMaeEYyQbSf5NFXWjBuGJ0OM0llQB0nJIB_iy2nZXWo_pzinIKq4HSRUyLFDEVq6FIlpERVVD387ATPYPcsbq0l3SWgunSkToOrwh-GqqcaVYnIdSQRbsAzPLGGaku-rhDqZNqc_umaxoBb3iNg==",
  "id": "rs_0ca0e0d2734ef76b016ab49a2b803887d083c709621998f606",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.225,\"left_z\":0.19},\"note\":\"The remaining bowl is securely lifted. I’ll move it sideways above the pink bowl while maintaining clearance over the stack.\"}",
  "call_id": "call_eX8nfAjd80ZJlsrmQud0vrH2",
  "id": "fc_0ca0e0d2734ef76b016ab49a40110c87d0a501b03a340beb61",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_eX8nfAjd80ZJlsrmQud0vrH2",
  "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]: [-0.7292, 1.6894, 1.187, -0.1795, -0.6659, -0.437, 0.4043, -0.0738, 0.8173, 0.6258, -0.4225, -0.0841, -0.3637, 0.9972]\nstate[eef_state]: left_x=0.416 left_y=-0.2206 left_z=0.1772 left_yaw=0.0259 left_pitch=0.0527 left_roll=0.0472 left_gripper=0.4043 right_x=0.2932 right_y=-0.0032 right_z=0.1752 right_yaw=0.1828 right_pitch=-0.0646 right_roll=-0.2267 right_gripper=0.9972\nstate[joint_eff]: [-0.3624, -8.212, 9.5658, 1.6386, -0.3883, -0.0757, -0.022, -0.1709, -1.4564, 7.0085, 1.6777, -0.0415, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18f44b1aec4ff481302fecdd44354e21b7f85bcf79c2457249f07d91faa0b143",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8387992bc94e8585adac9447ba2ae439a25e99cac9f6b61d5d5cc2ac9f7b801",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5246ca100ff991b5ac12469a81541ac8e8e3cc2ea783a3e927013090349fa122",
      "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 · 6.63 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 81 changed as sent

message 89 changed as sent

message 93 changed as sent

message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4648, 1.8683, 0.6365, 0.6704, -0.4656, -0.2512, 0.518, -0.0738, 0.8116, 0.6262, -0.4221, -0.0841, -0.3634, 0.9973]\nstate[eef_state]: left_x=0.4202 left_y=-0.118 left_z=0.0321 left_yaw=0.0367 left_pitch=0.0756 left_roll=0.0446 left_gripper=0.518 right_x=0.2929 right_y=-0.0032 right_z=0.177 right_yaw=0.1825 right_pitch=-0.0583 right_roll=-0.2281 right_gripper=0.9973\nstate[joint_eff]: [-0.0615, -7.0222, 4.5607, 1.199, -0.1538, 0.1636, 1.033, -0.1299, -1.347, 7.159, 1.707, -0.0611, -0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4679, 1.4929, 0.9104, 0.0204, -0.4725, -0.2634, 0.4044, -0.0738, 0.8162, 0.6262, -0.4225, -0.0841, -0.3637, 0.9972]\nstate[eef_state]: left_x=0.4213 left_y=-0.1188 left_z=0.1695 left_yaw=0.0458 left_pitch=0.0771 left_roll=0.0374 left_gripper=0.4044 right_x=0.2931 right_y=-0.0032 right_z=0.1757 right_yaw=0.1828 right_pitch=-0.0631 right_roll=-0.2271 right_gripper=0.9972\nstate[joint_eff]: [-0.6906, -8.841, 9.1966, 1.6728, -0.2466, -0.0415, -0.0952, -0.0479, -1.5932, 7.2137, 1.6728, -0.0757, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7292, 1.6894, 1.187, -0.1795, -0.6659, -0.437, 0.4043, -0.0738, 0.8173, 0.6258, -0.4225, -0.0841, -0.3637, 0.9972]\nstate[eef_state]: left_x=0.416 left_y=-0.2206 left_z=0.1772 left_yaw=0.0259 left_pitch=0.0527 left_roll=0.0472 left_gripper=0.4043 right_x=0.2932 right_y=-0.0032 right_z=0.1752 right_yaw=0.1828 right_pitch=-0.0646 right_roll=-0.2267 right_gripper=0.9972\nstate[joint_eff]: [-0.3624, -8.212, 9.5658, 1.6386, -0.3883, -0.0757, -0.022, -0.1709, -1.4564, 7.0085, 1.6777, -0.0415, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18f44b1aec4ff481302fecdd44354e21b7f85bcf79c2457249f07d91faa0b143",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8387992bc94e8585adac9447ba2ae439a25e99cac9f6b61d5d5cc2ac9f7b801",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5246ca100ff991b5ac12469a81541ac8e8e3cc2ea783a3e927013090349fa122",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
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  "id": "rs_0ca0e0d2734ef76b016ab49a430eb887d0a897b9f8ef848867",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.225,\"left_z\":0.23},\"note\":\"The bowl did not move sideways with the gripper as expected, so it may have slipped. I’ll lift and draw back slightly to see its position clearly before trying again.\"}",
  "call_id": "call_jmLaiiVmVZM5VIjkOpqsRrWR",
  "id": "fc_0ca0e0d2734ef76b016ab49a4ac10487d08b923d6595008699",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jmLaiiVmVZM5VIjkOpqsRrWR",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8509, 1.5627, 1.2163, -0.4026, -0.7269, -0.5213, 0.4043, -0.0738, 0.8173, 0.6258, -0.4221, -0.0841, -0.3637, 0.9972]\nstate[eef_state]: left_x=0.3657 left_y=-0.2336 left_z=0.2118 left_yaw=-0.0075 left_pitch=0.0373 left_roll=0.0504 left_gripper=0.4043 right_x=0.2932 right_y=-0.0032 right_z=0.1753 right_yaw=0.1828 right_pitch=-0.0642 right_roll=-0.2268 right_gripper=0.9972\nstate[joint_eff]: [-0.294, -8.9641, 9.4017, 1.409, -0.4176, 0.022, -0.0171, -0.1299, -1.3607, 7.2684, 1.746, -0.0708, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cc3fc26a528d70a337c3371cd0874d0af8b87c53cbce3d360fa8e83e9ed3f40",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38e03cc1223fb9db64f0b973fab97893ddfb368f4ac5b609a174334d8f18e754",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7b99d616b98290bda4ab36692992dd6a7ce07e321e3b79244d1bbe00b0f4b22",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 3.459 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 85 changed as sent

message 93 changed as sent

message 97 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4648, 1.6978, 0.6838, 0.4686, -0.469, -0.2592, 0.4052, -0.0738, 0.8135, 0.6262, -0.4221, -0.0841, -0.3637, 0.9972]\nstate[eef_state]: left_x=0.4206 left_y=-0.1176 left_z=0.0797 left_yaw=0.0445 left_pitch=0.0907 left_roll=0.0313 left_gripper=0.4052 right_x=0.293 right_y=-0.0032 right_z=0.1765 right_yaw=0.1827 right_pitch=-0.0602 right_roll=-0.2279 right_gripper=0.9972\nstate[joint_eff]: [-0.5675, -8.3214, 7.665, 1.6044, -0.1587, 0.0366, -0.0708, -0.1846, -1.5248, 6.9949, 1.7411, -0.0757, -0.0464, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7292, 1.6894, 1.187, -0.1795, -0.6659, -0.437, 0.4043, -0.0738, 0.8173, 0.6258, -0.4225, -0.0841, -0.3637, 0.9972]\nstate[eef_state]: left_x=0.416 left_y=-0.2206 left_z=0.1772 left_yaw=0.0259 left_pitch=0.0527 left_roll=0.0472 left_gripper=0.4043 right_x=0.2932 right_y=-0.0032 right_z=0.1752 right_yaw=0.1828 right_pitch=-0.0646 right_roll=-0.2267 right_gripper=0.9972\nstate[joint_eff]: [-0.3624, -8.212, 9.5658, 1.6386, -0.3883, -0.0757, -0.022, -0.1709, -1.4564, 7.0085, 1.6777, -0.0415, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8509, 1.5627, 1.2163, -0.4026, -0.7269, -0.5213, 0.4043, -0.0738, 0.8173, 0.6258, -0.4221, -0.0841, -0.3637, 0.9972]\nstate[eef_state]: left_x=0.3657 left_y=-0.2336 left_z=0.2118 left_yaw=-0.0075 left_pitch=0.0373 left_roll=0.0504 left_gripper=0.4043 right_x=0.2932 right_y=-0.0032 right_z=0.1753 right_yaw=0.1828 right_pitch=-0.0642 right_roll=-0.2268 right_gripper=0.9972\nstate[joint_eff]: [-0.294, -8.9641, 9.4017, 1.409, -0.4176, 0.022, -0.0171, -0.1299, -1.3607, 7.2684, 1.746, -0.0708, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cc3fc26a528d70a337c3371cd0874d0af8b87c53cbce3d360fa8e83e9ed3f40",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38e03cc1223fb9db64f0b973fab97893ddfb368f4ac5b609a174334d8f18e754",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7b99d616b98290bda4ab36692992dd6a7ce07e321e3b79244d1bbe00b0f4b22",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJpSrz9BMRid7vOBhRkEwizFWH3lq_IKLWe3Kianh99vxmmWNm0qdvHC6pzdIXrwNRHLOvzrpe4FtmELGqUQ4O-AxoUwX3uzmpcGmTrGpIemq_H04jVruEZrFzxDAbKlt9GwXlYN2wOLTyQ4hE7ZY2zhPEkwJnC--270CbaoCDvXcX4LyNU5qEq4PiE5jck0rOARivwR9mqdhjBRJ1SUDsRzpaPYu8woImu_AnYBAkAQvhQKHHWnoSZ2oSLhGch17W1yQG1ER4HddlRSizMR-_93PntJ4mlp_SQPyiiknYS9jopt7wKKotrTIL8j65AcKqxwnw1k-WIAvJxTtHlqSJPZAACtLfrhO_6rK8HxqZQOpIX9GguVDvlvoLVckyPizJoa74rgmnB6V3sILnkT7KSj-NJDE5O_HTu1Z0LQlWW50CVSpWFhH6tBT4Dl-NA6Qz6NzyC5kx5Lf5hUoCZs4OIiOG6FI6iVxZRqw0uNhhkhMTZbYzReZMtlAzbe01cszYbDm30yponfc5obsKijWxqjasbp-jt_UclNjzhDIjKEAIRgFzBjo8WwRmYnd8BkiUgt2IhAFQ6TkbHd23nM5jptwvg_8rnWy2MGql9xvjibFYuYzvLQOMu3m4XyYZPRQyyy93MoWjKryX9hPiFq4I9WawJyrkj9hTjB8gK3dOl0yhvxRmuxUOVL_yD8tfHG6jIb2vRdhaWfID3MFmgBb2HeFreb-16ky5REFHuVnXgokMWN-8DzdInYSXsyO0djlB9j2Je1Graufksb2GDy3_fNOVKgnrQDM_dOW9fnOYb_HGN8Jng5sWp-UKPrsplZB_TSfOwyKp-R_5LI3EGnCYlVYKSdy5L9bkN5M3vWMhmlh5VtzOaXeOqr_hLyioAOGXjxvoF2XaweAaA9mrh2qSqYEbrgW5aYPZOckD88LHKaRCMIrTJeCyxgCU3maxduc9l0nn5FyuksYoXNNFznFJeCnfbbuIZ2do0_z-IVxFGrFFtidyJu_GYb0VVxZA9lh569iMUhbQ_LBbw7XXb3PRelH9EoP4vCcbF954kzB68GbzqSD28aJLCrmDPLaLWG_KoKVjBncPSE0ID0annBskVYPVop-vvt_cO7CWfYwbAjBJYIsOgvlvwUaL-0pmqacnJSY5UKB-V9sQHYdprz2Psz4rGp1HcRhEswg-lgyvBFHjI27S2LT8aMRFox90QOXnSXLOf7kttiDPgbU2PfHbawhOELOtJDwXRnA1b3VcUeOpD-iWl8oITeEyq75RXEv_ldfAPU2dYeUmTTLqLiGknI6kOo9lcB5YpB4EnZRzdNw22foGI5rY9ElUD_3Fj6uFBEvAnsHACpwA6b0Nq7ItIzVTbHtKC6umIFhkH3pT-e1yWHspiV7uTicoKhqV4Riy5y1W0AQdriS4b4aFuRNI4cq8B1N3eIcSJHOSYi7Vnc6B1HoRpD7GoIo-Rd-NER6rFV-WaUiE_7XXas6Yj-UD05n9yNMj_wYRorWY3NwQ8lxLSdx8-XgwTv3NlmTD2H0vtyRJyran428HHjIw2SPwGXv9H4jPTeAPqnijWoHCGHDhNfuJ3UUsa49Crmrql9TLDio8v6Iik4eAzD89tRJkUwYoMznAzU3KHdga0Q4yK9zA4JGvC_2kzE4o9QIRPJ1DVhbMDL1xjkOURdC_vWH4lyuL8GkjP8U6qgM7xpv4xPslyOnk0HVNJrejt5An_PUO-qqqUEnDjrsqAVdsC_C17tSD2MEIkKBkkGOnCJ8hoaxoQ17P-iy0tpa7XXvjD6IPp9pcnVZUFd-r-F8HIjaq1MfwU6AyY8u1vWHpEbv2c5TsHNGWIy8QpbSNv9O3nfY6dThin3-nucJwVsDmwKpPStvUXIOHxCX_YD0XJdsBm17p9hCZo9m1uryK7ZzI3zGoJbVggVOMOa_aJHCBcQDZ48jX-alGDYEfNpiAPPOAMUbqPXE7ka230Re_GK-4Qfd_chuFpjidfvXbYpHnvmXFlshUQwJvPMwngkWkIbRPc1iUWQKUHS00FfrSJBPDnncCpBxN5kGgkyehOj2vNlwOGbwqSAPS-E9hywJK3cq0uldJMSC3BnCJhHcoXPHMobrX5zRfCTwbHFpkuQzJ62B0OgMlfDtgq7qEammRGLOF5IXHtAUoBlQkdQRel1HDxfnfQZ704CchDt0e2c9dKVrLqgbF-KoZQYyUXZ2z67dQkPL2c2j1wB6UyJf0KBX21tkGtHuOw7ib-rLtxmjFv1Q3CubyEGL-y_QhUtQwUs1v1e2jJcqDZtz6XG9IXKRb8PgGpkaS_oWeYyS_gGqkJ9GsGGBExSmkWXON3vhFj4_D0bcn8=",
  "id": "rs_0ca0e0d2734ef76b016ab49a4d971487d08bf566b2cb066f4e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.215,\"left_z\":0.12,\"left_pitch\":0.35,\"left_gripper\":1},\"note\":\"The remaining bowl is still separate from the stack. I’ll approach its right rim this time, with a more forward wrist angle to reach it cleanly.\"}",
  "call_id": "call_bRTBcxzIwqILNazCsoWozngh",
  "id": "fc_0ca0e0d2734ef76b016ab49a51653487d088d2723834b55d30",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bRTBcxzIwqILNazCsoWozngh",
  "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]: [-0.8623, 1.5475, 1.2266, -0.4683, -0.7433, -0.5507, 0.9968, -0.0738, 0.8173, 0.6258, -0.4225, -0.0841, -0.3637, 0.9972]\nstate[eef_state]: left_x=0.3579 left_y=-0.2284 left_z=0.2137 left_yaw=0.0077 left_pitch=0.0208 left_roll=0.063 left_gripper=0.9968 right_x=0.2932 right_y=-0.0032 right_z=0.1752 right_yaw=0.1828 right_pitch=-0.0646 right_roll=-0.2267 right_gripper=0.9972\nstate[joint_eff]: [0.1709, -8.4991, 8.841, 1.326, -0.5592, -0.0513, -0.1685, -0.0615, -1.3607, 7.0085, 1.6923, -0.1001, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70b4c6c1f20e9e447a2c0595a5bad148a47ceed4f8b6ff72284b17e16bbc2398",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16d0c74f81c9d4a7c7f65a4cceac7bfb8381b5f83e934b0372e7a6215339974f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8386f2a3eff439dab13ea21f3689c799934152276412e61c4829dffd17ebe494",
      "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 26 attempt 0 · /responses · status 200 · 3.455 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 89 changed as sent

message 97 changed as sent

message 101 changed as sent

message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4679, 1.4929, 0.9104, 0.0204, -0.4725, -0.2634, 0.4044, -0.0738, 0.8162, 0.6262, -0.4225, -0.0841, -0.3637, 0.9972]\nstate[eef_state]: left_x=0.4213 left_y=-0.1188 left_z=0.1695 left_yaw=0.0458 left_pitch=0.0771 left_roll=0.0374 left_gripper=0.4044 right_x=0.2931 right_y=-0.0032 right_z=0.1757 right_yaw=0.1828 right_pitch=-0.0631 right_roll=-0.2271 right_gripper=0.9972\nstate[joint_eff]: [-0.6906, -8.841, 9.1966, 1.6728, -0.2466, -0.0415, -0.0952, -0.0479, -1.5932, 7.2137, 1.6728, -0.0757, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8509, 1.5627, 1.2163, -0.4026, -0.7269, -0.5213, 0.4043, -0.0738, 0.8173, 0.6258, -0.4221, -0.0841, -0.3637, 0.9972]\nstate[eef_state]: left_x=0.3657 left_y=-0.2336 left_z=0.2118 left_yaw=-0.0075 left_pitch=0.0373 left_roll=0.0504 left_gripper=0.4043 right_x=0.2932 right_y=-0.0032 right_z=0.1753 right_yaw=0.1828 right_pitch=-0.0642 right_roll=-0.2268 right_gripper=0.9972\nstate[joint_eff]: [-0.294, -8.9641, 9.4017, 1.409, -0.4176, 0.022, -0.0171, -0.1299, -1.3607, 7.2684, 1.746, -0.0708, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8623, 1.5475, 1.2266, -0.4683, -0.7433, -0.5507, 0.9968, -0.0738, 0.8173, 0.6258, -0.4225, -0.0841, -0.3637, 0.9972]\nstate[eef_state]: left_x=0.3579 left_y=-0.2284 left_z=0.2137 left_yaw=0.0077 left_pitch=0.0208 left_roll=0.063 left_gripper=0.9968 right_x=0.2932 right_y=-0.0032 right_z=0.1752 right_yaw=0.1828 right_pitch=-0.0646 right_roll=-0.2267 right_gripper=0.9972\nstate[joint_eff]: [0.1709, -8.4991, 8.841, 1.326, -0.5592, -0.0513, -0.1685, -0.0615, -1.3607, 7.0085, 1.6923, -0.1001, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70b4c6c1f20e9e447a2c0595a5bad148a47ceed4f8b6ff72284b17e16bbc2398",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16d0c74f81c9d4a7c7f65a4cceac7bfb8381b5f83e934b0372e7a6215339974f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8386f2a3eff439dab13ea21f3689c799934152276412e61c4829dffd17ebe494",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJpX9v8ZIrooTRrWSd0MaX7fDvkmZydtQVQMfdjBX-sZ83FMwviWkU3d81iUdJBakkjs9UO8Q1Fpzo8EZt3Xk4H-rXHKiyVHgHCVhnjYyE_Et9421KbvMUCxu9CT8Z4kB3vaTQxus4TiyaVkZaDc3C4e4aDGCu7iaCjOC59e_adUnNCxqib7E4o-0-6oNT1BquNIt_xIVWBgN24xyFbb8w9eYjuoiszakOhdfwANJxNyLQcBJG2iaw5o4r-A6dGTTUxPGcfRG5B1LjnSbX9UcnCBR71HMyT7l2avhpe8To1NFt92uCWIKsUKW9bQjgclkF_tQ1aeJTu9TO9rEHuLt1-_3HDwMWVk3-7Xr82nLgsXUhSfhf5tc65Cn1rsZdrzlFgqv4UA7asovX8FR6LgE8TbBnF50DwUK8sLhkTOiMC5INJ8jhg0rG3qCmASyzsjjK33v5YWqe__Za_0eeRG3UdLNooTfh5wQQQ92tyvHcbgHQCwf26a3xEUpNnI23prcKFJynEX6d5mAV4k-7mSy2DwRgGVf9PGb7xL-X0ANSeuZMFdqmfr3bKy9OoNls7p0Z-YIa82SmcWx5yb9f_0mEoIU3nJTlM_i-Go2atSdMcchnkBup39hwYFU2oW9RZvdXQ930C61Z-NGDoHBzAE5-a103BsBo8k-Khdpbx7M4JgJt_YVuGpFhSjGWqkMz4ff-PtH7IlNcFOcHhzpOPM2YQOnF-NaCOUQxxjTQmpEK7sFqQq8ZopHG3Cs0Uf-b18bI0h3kDeflDZmHSZkBNh5UdQa2NOPGo1jd9HIXMPEfUpmmle7M25JP59OGPxAxGmSFOIswOp4cEQfULgmvRX5whJ5TTcwX-5B_dXKYeGc8qHPpIWADXqH7bycT7g0Py8_OJLVGTK7NS5iX_Y4TjSFYhTLMpArtOrcjWe0WkSm3FtBIiKeqVMdb9QO56rEDXBtarwFqRDi53HQnoPiP0VvDtzglUSUu9c9-2obJTrfnHmzcuQsSw5kavgxnrMonF0HMGgewOb7_NRNv0RVuICS5TU-F8lEW7wyY_M9Q1Z2KCcqh9tcnipsU6m08G83g_isKY1oQ2BpEOGpOzehjQJbgzeE-43ZS561OY1c4hOdcq8zN1_rmHgpgK9sI1FdZ__cS_05J5FJjydIO97_6DGIWdE3ZvlyrDoA_kNkrUCelKKke-p3043ESEHXj9p6QVddtY0o2B86EnyQcpaOtIELjhjMzttnbWAclzNNRrkbOMTyKIGW0zbeE_P10D0WlCerWoGwsoOGyz_ovK9NAUm4wcu31eJnqj1lU_WXTUvlV9NcP6hmfOJrwRMuKjDnp2FAKp2rB_xjKgdZ9rck3ZMXnyV24n5VOZBuNQonXHOhatjdM2fBj0ZAGONa3z-CRfx1RmCQUny-Ria_hLQ5ZA76fisHer1suZAEvGD3WQy7Aos5a9BA03I3RrTKIYaEXQm1JYqu0aMhVcT0qg3VYR0WNJxSkUW8w6bR58BwVdy20GfNzII2GYFM5lYdy1OoLoAZj57",
  "id": "rs_0ca0e0d2734ef76b016ab49a55190487d09fe79d6d276cd127",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.19,\"left_z\":0.14,\"left_pitch\":0.25},\"note\":\"The arm held its position rather than reaching the farther target. I’ll use a closer intermediate pose to avoid the reach limit.\"}",
  "call_id": "call_OoekZCnexiPCeJZERCDEYwej",
  "id": "fc_0ca0e0d2734ef76b016ab49a56697487d0b825c8b1a09c3716",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OoekZCnexiPCeJZERCDEYwej",
  "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]: [-0.7151, 1.6382, 0.794, 0.3016, -0.7254, -0.3023, 0.9979, -0.0738, 0.82, 0.6243, -0.4225, -0.0841, -0.3637, 0.9973]\nstate[eef_state]: left_x=0.3954 left_y=-0.1834 left_z=0.1279 left_yaw=0.0234 left_pitch=0.1721 left_roll=0.0988 left_gripper=0.9979 right_x=0.2931 right_y=-0.0032 right_z=0.1738 right_yaw=0.1828 right_pitch=-0.0687 right_roll=-0.2256 right_gripper=0.9973\nstate[joint_eff]: [0.3897, -7.1863, 6.6393, 1.9707, -0.0757, 0.1587, 0.0952, -0.0479, -1.6342, 7.4188, 1.6679, -0.0611, -0.0513, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5296168be112830e5258cf15584ae136c72e3a755e951f4c7ec82dab93d24c24",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54f8ae79d209e0e6d7f153642ce615949a14a24062b4130bc44b45140a49c957",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2fdf46ad2ba515aff667d0c7ed304cd692b11799199c0c2a0c6ca637173a22c",
      "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 27 attempt 0 · /responses · status 200 · 4.437 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 93 changed as sent

message 101 changed as sent

message 105 changed as sent

message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7292, 1.6894, 1.187, -0.1795, -0.6659, -0.437, 0.4043, -0.0738, 0.8173, 0.6258, -0.4225, -0.0841, -0.3637, 0.9972]\nstate[eef_state]: left_x=0.416 left_y=-0.2206 left_z=0.1772 left_yaw=0.0259 left_pitch=0.0527 left_roll=0.0472 left_gripper=0.4043 right_x=0.2932 right_y=-0.0032 right_z=0.1752 right_yaw=0.1828 right_pitch=-0.0646 right_roll=-0.2267 right_gripper=0.9972\nstate[joint_eff]: [-0.3624, -8.212, 9.5658, 1.6386, -0.3883, -0.0757, -0.022, -0.1709, -1.4564, 7.0085, 1.6777, -0.0415, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8623, 1.5475, 1.2266, -0.4683, -0.7433, -0.5507, 0.9968, -0.0738, 0.8173, 0.6258, -0.4225, -0.0841, -0.3637, 0.9972]\nstate[eef_state]: left_x=0.3579 left_y=-0.2284 left_z=0.2137 left_yaw=0.0077 left_pitch=0.0208 left_roll=0.063 left_gripper=0.9968 right_x=0.2932 right_y=-0.0032 right_z=0.1752 right_yaw=0.1828 right_pitch=-0.0646 right_roll=-0.2267 right_gripper=0.9972\nstate[joint_eff]: [0.1709, -8.4991, 8.841, 1.326, -0.5592, -0.0513, -0.1685, -0.0615, -1.3607, 7.0085, 1.6923, -0.1001, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7151, 1.6382, 0.794, 0.3016, -0.7254, -0.3023, 0.9979, -0.0738, 0.82, 0.6243, -0.4225, -0.0841, -0.3637, 0.9973]\nstate[eef_state]: left_x=0.3954 left_y=-0.1834 left_z=0.1279 left_yaw=0.0234 left_pitch=0.1721 left_roll=0.0988 left_gripper=0.9979 right_x=0.2931 right_y=-0.0032 right_z=0.1738 right_yaw=0.1828 right_pitch=-0.0687 right_roll=-0.2256 right_gripper=0.9973\nstate[joint_eff]: [0.3897, -7.1863, 6.6393, 1.9707, -0.0757, 0.1587, 0.0952, -0.0479, -1.6342, 7.4188, 1.6679, -0.0611, -0.0513, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5296168be112830e5258cf15584ae136c72e3a755e951f4c7ec82dab93d24c24",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54f8ae79d209e0e6d7f153642ce615949a14a24062b4130bc44b45140a49c957",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2fdf46ad2ba515aff667d0c7ed304cd692b11799199c0c2a0c6ca637173a22c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJpbL2d8gl760NRrXfyamASWd2d4s5QXkPCwTqRQZTQPA5oNqxPtjQfAwLDXGuFRVGlqvYoyd6G8IMADHaUZjxsPOvVbO-pNMOvtrNPbl4wvZDBL64lhut92WFr1iUhsQ5N_ZXc411cA7gvO_KO2yScw5Eo3vccsHZ26u95fg2Bm5IqQe-sGnoKS9kf19i6ZV2bvbNGKSaJ2UV__AGGx1jaD_pshTvWew3FrArGo_VHj9dGfxhGryDJr__g3SwHpu_xd6Ton3kCPISWsICQvqjQUAFWS4xLQCbdFL59yqmUHJcuajinHRV8a7flvIfZ7h1_KvKtCSisdrEIzi2HeENIA_xAjAk0n5IoyNJVMmn2MikT0ZnXgrL6CHtLIp9Y99kTfwFXDY1yAFXedpOJrVT1yDC22pBRMDe2QGdWDDMq9yTKUYypMGJdvFR93JfKPlroIHaWL9UmoC_eqNw-kBkOUuMYP0SJ2fYSGGQSqTW_Qi8MtD2n-9CtlVjlsZ_XrGLnXW9WYn3bvEdFjCJgzBZmuHufvaiVAw8yWOOdyUwjps8wglL6LUonDpB6jXZugoXNJaqUWEm892grW2PdJwX1OQaGSSEhAWwwnh3z4UyUGZls6eaGQs0wa4Wk3qnrikY262n8VHxDJrWFU5zHQqdGQHZ_BcEyQKMmuVJBEBNwmq4Tl3RyhFtmRtGb_CNPRHPFvouT7ttUrjQFEeRNUpC0Oq12ABI9nrWxOmdk59hKDGah-e5RFxqSQTvBZbuh00rZWaC85avyKcfADJUMQXYZ3MjwBptId_YVa0tfSzcj0C_hNvRJjEF4oV9IKOBZI5QtAsv09LHYdeBKVxQySTKXSpzH8CjWnEdlv4TFT13gkPlGuy9vf7V6DNMEtjb1rj-AFhd-FXRrZVyByGbRhXaKSwuUKe7gWtaLwUjAT3mUqnX6IC3dy48MPBxTvna7f-_bOj1cJwEhvDf_YarGMNfKIfCaZ1li7NUdOyex_mwB3XO7jU2Zt4X3ZZy-qeJTImbKXVVxJWL0Hl96UAqMRW_-HtvoGNo4M9N8-tGlcJVJhp85f0cEXrsqUZUnPXf8AB5jHDpNcnoI78TqG7vNv4Usj49xbO0ZALfFRlxlpEhBiGY2syLoYQSltWmrr5igyI_4OZIIwczpQqhBgB9vhpiLSq7bECLPcSwlfWoqOu6KSCAqYjttURh0ME-zKD070JfUjtu3qOSWCYn3g1sOfWPMscEKNAUbFh9IuLbS9OlP_woF1KPQ-eHmd6RC3R0uk1PjuRPdQsMpg09vO4Dpp6mEwf9MVeTQcZ6BNWZm-3tr_CiEorozsh03F1gz7f5Rd8Jhz74UpmbsQdxquBrTre_hFd3uKWrlYC6kNt6yCO0eB0srftwS5GIZNTBcEjud5Nujhls4G7Cv_wTCDVB05FGffdm0LdSJi80qV8UaR9Z2AhJhuPOahge031zY4_5dvPqFf",
  "id": "rs_0ca0e0d2734ef76b016ab49a59412487d0b423bb6a437b4abc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.425,\"left_y\":-0.19,\"left_z\":0.035,\"left_pitch\":0.3},\"note\":\"The right wall of the bowl is now between the jaw positions in the wrist view. I’ll advance slightly and lower beneath the lip.\"}",
  "call_id": "call_4IMFpTtWNo3uuysdwCiLuhtZ",
  "id": "fc_0ca0e0d2734ef76b016ab49a5a791c87d0a8c328d9b2bcff7a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4IMFpTtWNo3uuysdwCiLuhtZ",
  "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]: [-0.7059, 1.6646, 0.7746, 0.4278, -0.7155, -0.276, 0.998, -0.0738, 0.8204, 0.6243, -0.4225, -0.0845, -0.3637, 0.9972]\nstate[eef_state]: left_x=0.4031 left_y=-0.1866 left_z=0.1317 left_yaw=0.021 left_pitch=0.2274 left_roll=0.0652 left_gripper=0.998 right_x=0.2932 right_y=-0.0031 right_z=0.1737 right_yaw=0.1832 right_pitch=-0.069 right_roll=-0.2253 right_gripper=0.9972\nstate[joint_eff]: [-0.1299, -8.0615, 6.3248, 1.8632, -0.1929, 0.1734, 0.0024, -0.1573, -1.388, 7.0769, 1.6679, -0.0708, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f6bdf427d0c8819be1a9b84dd7239052e28fb4d7a48489b51f82b026261d3c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf06454145ac0060a909854d1e2c95b20ed6b7bb722a78d45e76206ba4c565cc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7137a5bd523a0927a1c901ddc1a2da6c1185f3a71b1e906e6ab60552093825df",
      "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 · 8.427 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 97 changed as sent

message 105 changed as sent

message 109 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8509, 1.5627, 1.2163, -0.4026, -0.7269, -0.5213, 0.4043, -0.0738, 0.8173, 0.6258, -0.4221, -0.0841, -0.3637, 0.9972]\nstate[eef_state]: left_x=0.3657 left_y=-0.2336 left_z=0.2118 left_yaw=-0.0075 left_pitch=0.0373 left_roll=0.0504 left_gripper=0.4043 right_x=0.2932 right_y=-0.0032 right_z=0.1753 right_yaw=0.1828 right_pitch=-0.0642 right_roll=-0.2268 right_gripper=0.9972\nstate[joint_eff]: [-0.294, -8.9641, 9.4017, 1.409, -0.4176, 0.022, -0.0171, -0.1299, -1.3607, 7.2684, 1.746, -0.0708, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7151, 1.6382, 0.794, 0.3016, -0.7254, -0.3023, 0.9979, -0.0738, 0.82, 0.6243, -0.4225, -0.0841, -0.3637, 0.9973]\nstate[eef_state]: left_x=0.3954 left_y=-0.1834 left_z=0.1279 left_yaw=0.0234 left_pitch=0.1721 left_roll=0.0988 left_gripper=0.9979 right_x=0.2931 right_y=-0.0032 right_z=0.1738 right_yaw=0.1828 right_pitch=-0.0687 right_roll=-0.2256 right_gripper=0.9973\nstate[joint_eff]: [0.3897, -7.1863, 6.6393, 1.9707, -0.0757, 0.1587, 0.0952, -0.0479, -1.6342, 7.4188, 1.6679, -0.0611, -0.0513, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7059, 1.6646, 0.7746, 0.4278, -0.7155, -0.276, 0.998, -0.0738, 0.8204, 0.6243, -0.4225, -0.0845, -0.3637, 0.9972]\nstate[eef_state]: left_x=0.4031 left_y=-0.1866 left_z=0.1317 left_yaw=0.021 left_pitch=0.2274 left_roll=0.0652 left_gripper=0.998 right_x=0.2932 right_y=-0.0031 right_z=0.1737 right_yaw=0.1832 right_pitch=-0.069 right_roll=-0.2253 right_gripper=0.9972\nstate[joint_eff]: [-0.1299, -8.0615, 6.3248, 1.8632, -0.1929, 0.1734, 0.0024, -0.1573, -1.388, 7.0769, 1.6679, -0.0708, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f6bdf427d0c8819be1a9b84dd7239052e28fb4d7a48489b51f82b026261d3c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf06454145ac0060a909854d1e2c95b20ed6b7bb722a78d45e76206ba4c565cc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7137a5bd523a0927a1c901ddc1a2da6c1185f3a71b1e906e6ab60552093825df",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJpgFvyZKRtn6nCcCLFT53Q1qmkystsT34UFGM8mkbUy9DT8Ux2mpeWqjR8GsrviIuBCY2gXYg_8Ol1zr49uWZSBlC5VyuGvvgmk-hDRiksC-05TEX12VkcUO5vG9tAweGfjurxXFbv0v5kPs2aCCVXpxPuHB-FplMLwB1YkCWPq8RWBGPUVd62jA_cOtT1s9FWonP3V3CFhR-TWtyW95IxERTfligx6Uj5zz8KITH0eir6wF_qUExAWvJ7OvRljSNoWUDZ1GvjmYR_ByRDngRdIS5-ibEjBa7cQYnbYJqsI6IKc9iR_uToRuYVopl8zHFi5YIxpqrA-nBLPTumQdyh4lsMcdUjYirkMT3IuYiz8C7x5-tWKG8Zxzqxj60iXNL2ZoRJhUBuzLKcb9RuLi5C9lcpE5VSMlFNH82reJIoT8x-rrvyFp26JzceSVbveKnoij6Cubkq8AKCuY9y8HoPxn5VZeRLr5Dqa6IRM0ujj50zUbavfK8-UeB0jfD8PuubtrDxFLL_0XUoFuEK0WN7gk-xoClrs3xExXjgNbtnMwfvb2oZIVHijI5F1bNmNDc22Q9b7GfyyYb3OZz53c6qa3mtztby7U4XCTII-cWsf_1UIH1QW3-2tN9IipAzTPyriybm2PiauCaAOo537Xs2Ve7_750pn5ImyLDMugV_Z_wAvJlhOckmVR5SCCT1NgahIjdXBW5HMgc4TMvX2s6HeCKJHb7OZxHjwasrTLQC0b9fWKRS3dmVxzct3imQqithxRiLhVypxqf71iF5hLo4b5bUGHxiuQf6aD5tx8owoRlxNX-ndJwI05x3kTtMEw5nUB3XbClOBHhDadOrZESLnc0FV3Ed0oG0uOrcZwucfitpIrcWZVEqGOaTlXVq1taHcBzHqP1gg7BtLzVyfjvYOAEsCfYz6eUJ1skqE2lyr9g9cp-ctnafZKAwW1jneMNWONtD2ae1tgcYj1kcw2H7KakpgJU4a-afAWHX0f9WUohexOlykXos92HrZA3uN4hPCzww5-BiGMA90osTa3Ui-2W_gyvcCHbrJ1EkX7c5XX8mGAGq4hQEsCyqJa22UlA3r5M5K-wRg1cGs7q5zut0x8LUhA7FXxSBKrckDXGsZ-WP0KRjwsPf27mh8tWhISUOyH3RnXDfVKlB2ADNgXPls1jdhv6GzFqn2WpEVJnAiai9xooa4tdRzsM-0wH133le1Jqfzwq4v9cp8CKc0cLoHRUJEFEC2xM-KQhlTc7uP5pzrupC4Ps5pvHUd5nRBSOuPEXZyBrsQLN8R1rkOrxasAvY_9HASKd_vg1nqt1ZoIdJUo4Mh01pPJv-b1c5Blau4W0oE3LgT6SFOUazyEgiwLTwNCDyvB67IMhHNScdccoxDjRjMkGn_-9i64QvjTqC3SJy-H1L96zC5VyXowow5fW2PwMUsIWT9WNiJXItHbf9ba68MoLe5909V4fFoCbaVwgotrfjwwHLHBFk0Ql08fhgj9Dntozlt9dn8JABcx5-yH2Ro7wfFVWNWBzAj24rxK77nna7mmdbheplYuDTHL0gR8sGJDkeH-Pey0L28oAnXVqC7aPF03UK9nptn_jxXkty7DDtSvNn0AjSuyQcDK84kmsNEoe0VIKj0YX0kfevuG7rfB9k8g4dCU-J6cZQjQotd5GcfvXR3tWoJXpZZfLMPA-TbuU8Q6EUusqzwACOnyeD81xzqFr6aEO8scwn0avgsE1JFxk2DcVRVJPWHYcWJEiWCeiigeoe5RNFgk8W71h678xNXjBVTpPBnsYDl",
  "id": "rs_0ca0e0d2734ef76b016ab49a5d48a487d09777307f11164749",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.18,\"left_z\":0.04,\"left_pitch\":0.45},\"note\":\"The downward target was not reached. I’ll shorten the reach and tip the wrist farther forward to bring the fingertips down beside the bowl.\"}",
  "call_id": "call_9KcN686LasOqGVdknzq1Ieud",
  "id": "fc_0ca0e0d2734ef76b016ab49a5f71cc87d098eefac5f038f9d0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9KcN686LasOqGVdknzq1Ieud",
  "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]: [-0.72, 2.1181, 0.6201, 1.0054, -0.7963, -0.1932, 0.9979, -0.0738, 0.8265, 0.6239, -0.4232, -0.0864, -0.3637, 0.9973]\nstate[eef_state]: left_x=0.3907 left_y=-0.17 left_z=0.006 left_yaw=0.0222 left_pitch=0.2234 left_roll=0.1943 left_gripper=0.9979 right_x=0.2934 right_y=-0.0028 right_z=0.1717 right_yaw=0.1849 right_pitch=-0.0757 right_roll=-0.2224 right_gripper=0.9973\nstate[joint_eff]: [0.0615, -3.6855, 0.6496, -0.7692, 0.0513, 1.0379, -0.0122, 0.0068, -1.7573, 7.0085, 1.7216, -0.0269, -0.0269, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e203f88a0829c153a343c2b331397b4e4b3b6cfa73e2568c85873d99073db936",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65c0e26a07ca451af7fa88b7338a3dcdf694f372c071605db5ba9e354e3bc8e6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a97a0c1a39ea3df244f31884d23607e3a7b39e82ee0be118da46f982ab45376",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 29 attempt 0 · /responses · status 200 · 4.529 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 101 changed as sent

message 109 changed as sent

message 113 changed as sent

message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8623, 1.5475, 1.2266, -0.4683, -0.7433, -0.5507, 0.9968, -0.0738, 0.8173, 0.6258, -0.4225, -0.0841, -0.3637, 0.9972]\nstate[eef_state]: left_x=0.3579 left_y=-0.2284 left_z=0.2137 left_yaw=0.0077 left_pitch=0.0208 left_roll=0.063 left_gripper=0.9968 right_x=0.2932 right_y=-0.0032 right_z=0.1752 right_yaw=0.1828 right_pitch=-0.0646 right_roll=-0.2267 right_gripper=0.9972\nstate[joint_eff]: [0.1709, -8.4991, 8.841, 1.326, -0.5592, -0.0513, -0.1685, -0.0615, -1.3607, 7.0085, 1.6923, -0.1001, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7059, 1.6646, 0.7746, 0.4278, -0.7155, -0.276, 0.998, -0.0738, 0.8204, 0.6243, -0.4225, -0.0845, -0.3637, 0.9972]\nstate[eef_state]: left_x=0.4031 left_y=-0.1866 left_z=0.1317 left_yaw=0.021 left_pitch=0.2274 left_roll=0.0652 left_gripper=0.998 right_x=0.2932 right_y=-0.0031 right_z=0.1737 right_yaw=0.1832 right_pitch=-0.069 right_roll=-0.2253 right_gripper=0.9972\nstate[joint_eff]: [-0.1299, -8.0615, 6.3248, 1.8632, -0.1929, 0.1734, 0.0024, -0.1573, -1.388, 7.0769, 1.6679, -0.0708, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.72, 2.1181, 0.6201, 1.0054, -0.7963, -0.1932, 0.9979, -0.0738, 0.8265, 0.6239, -0.4232, -0.0864, -0.3637, 0.9973]\nstate[eef_state]: left_x=0.3907 left_y=-0.17 left_z=0.006 left_yaw=0.0222 left_pitch=0.2234 left_roll=0.1943 left_gripper=0.9979 right_x=0.2934 right_y=-0.0028 right_z=0.1717 right_yaw=0.1849 right_pitch=-0.0757 right_roll=-0.2224 right_gripper=0.9973\nstate[joint_eff]: [0.0615, -3.6855, 0.6496, -0.7692, 0.0513, 1.0379, -0.0122, 0.0068, -1.7573, 7.0085, 1.7216, -0.0269, -0.0269, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e203f88a0829c153a343c2b331397b4e4b3b6cfa73e2568c85873d99073db936",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65c0e26a07ca451af7fa88b7338a3dcdf694f372c071605db5ba9e354e3bc8e6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a97a0c1a39ea3df244f31884d23607e3a7b39e82ee0be118da46f982ab45376",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJppVFU_VAuQXTKncrtEkPOZaTaqRWBWK3VYbOHT42DFmiPxcUu9m-1W1cjLD-PvDyuV75Qt8m9oUIZIk6jYEcyoAT-pqiptop0Gquak-Dltb6MtseC91_qyrlUYnEkwhsJuBMyij-czEDPU90MPoAjtagLGPk8TXagAs9OmqW3QHAh-koCerVAUK1_WbsRic00mAvgmzGhoF641w0f3CHSmCa3xfX6iGJsni8YEUnxxU3eck6uv5UNL1N--mC7hXgh79zGVZPi4BUXpIkcwOOVIYdLkqlwYwcq22xoLbFWrsuzi7dw_aK93q5qJgyJLk3z1CUbG2VEKz-ooGCpmmQgdgzc4twGa-xOeOTxcRy7xJ7kMoDgg9UNmYrnxzPm_m7fryOGUpaB4yCiUfhgdblSd0MZPKLdQSAxkgHNwqte1_2tAAV8Ne5ubWn-rbgJzCSeY3CA22R7rz71JLnfM9BC6y2v76KlEd1QfUy7KUqz7iL9yoCbQRL589L3Dw9iv_7sH18-1Qqs8j1GdRFsYFZp_0OYX_m8yPExSTOpC_ceszUiRImTLHZAEYHUnz4vWbM_SivQZCQ74EezDP4_Ko2bUE3hyQcWGuYh8VTRS3YOGYP1Kysk5Tx2mVgnjTJBxH_upyk5ef__BBFzxgqtW2hctqZR_ahvPWiXGgBd1OtczS9mpdiHcSvppm39IOLsmwJP1AiSJl-S1fnGDf3zsx3nZTYYlS4ce5Cbip8IU8ioJUoJyHOtx1YRgvazitka3mPEZxramubdQfzJo9IaYvGrP6aYb1vF0yS4FW7SIgsnq9Dpz4_S5y3Ptl2rRP4Rvdg8vuCs0IGg8Ws3Kv41TVK3yB4UT12XYk672TCnkRRgPSmd3RE_KDtcvyxAUMndqPk_IQr6u6Pea9Wz7q3cYyC9Lhv4ZD2bHHdEU-NQDYdYHcDM8B3w1azlN-603BhD12JfnbctsstNariPJLwLNeYVCKH3rYTp61ZBLMJQAJB27tTTl_AY52D3T7wlIvYhtK17Zz0h0-f2BQLnyLSlcNq7pL3TVgUDV01qyInvXxWS_zU-2gxvbG9U9QwA0LY-yKGWWDgbBGa0QvJWMmfJs6jCOjge9C1OGKJYCcU3H7fMy2z7YdMHhU7q50tWwtyCYODGWas37BySXdwCheqCR64XOF83PSmcQXMHQuoDmORGz-wYPkT6-ONjGWA0_DHJJ_tmMF6SM3wXa1Rh7L32aMtLTv6YnBesCoD1Lg-q0s1vDV05yrKRACj1AWMXtW6n93RbZ3lWa7B_Ci_KhOS6AUD6wvAdruD5v07IReoIPNdfMqzW0IeWslvg08MoK9ObDrGkT-XP5ENA4WAglWOznEnIKkxKgi6DfHR4V_U8X9WSwZAMDp3dj_MWLzwqfYLUe4MJNUNgepuHCgvr5I8lIRCp7rqsqSjCHMUJUuDRTRMWXSdHc35uBF7es5QZdddFGBsOwzZlcY2-RA6ka5HL7ChsyUMyPHESi5MYioYIgjANqhyQMhAHudlT_druf366Gh6CWZr6g7BAaC8uSbevbkSJzES1zJ4y4BhyeZJUpExsR_SuOo5TAe7RGWoxnEBVJPZWLf-SdylLHjASkBttrFxAf-MStga67pzcLvS34l2UWvN1P-NH9O2ozN-3N9lY-pyha7Jsug0TbsyULAHCtRpKoi9hYPvsxaBCi2oxtlqwKVQ0ER9pozZMeTgOnYj_ptvHnO3HTbmp5Q7tWaUYGLpU7j0Nbqd4B131HmrRmP8ndsItJQGeyFHJklGlar-D-g-gDZ6STJfVuZnmWVy-NLEwZjHUk7y4tQL-IyB1WBgCdq3bwxYanQdl6Al7ejOV6wXhsFtAOmfbYOWC1v3FUyTjoSgmNcW5wJ0s9ngUXFZsi4VNSP4ofGQVR_uNmE3rW2rI-iPeDQk5jWH98oBcU4cknUa0Mg0LyBmxlk7Dmflii3kNqprkIg1ojaLN5iG6SYHKwonBK-pi_x0gyisXD0GuXc1V5uuCcGvGSYwUUGkkcixM3CxWM-EzS0mqAu_Z8N69j7PAWZXZbh9wqjtX5w0iNtjAOHHdj54vRhVu1_vEIUjsemME1RIK5HKI-sYPCupZT5RhH_7Jv9EYaWYLWU5Pa_LlRGq1PKI-31Wlst96Z10u5w2iypOAzaemN_CsFxJ5iY_5DBSpwIAihHIFwGuxM9aWlA1d-FCzywfZwGPMJGTDG_t2na1PrTJWtcq5HaDUFvP1f0UyLwcM9RHZqE0ywJDD1rNBRaWHAw-5oI4woZv3x6uvyc-15b8EUbAws-sfTp5zQEbaM5em4UHMlHkrOF0-y4gEpNa5lJNSIvrCzCPWwqR-yyXvNsCVIn47MYNb1YuwAVeOw1NuH-TJX4rHFin6QXv1iiFhdY6zYYt0zcya8jvhAQ05GeUwuzi00nhI_IED4H_g2Lt2_mDwQKqvhMYhnawa_trXIlQZcy4IRWWTMD3VhIS-XjNJgb4w_Ib-0h5r06FsXtI4oaq7NgUvEZl6bGrvzFNv8VcuLexEIDavCCd_3zNl-1T68qW3OrKWRYq09gzhxCxdejj7zt9b07scBN_NjSFQoWPLJKvYBx67mgFm2xG-vld-0tKcQy_XWq3JaW-7trrc1eSYhnOUNKe6DAV3k4vXsuCW-WkSaORY_xCBkFOodMMTYYOcUBYcG5bQq8IC2b_4tUbgiRLa3dY-hFyIHvPrNnc_8Fkj8ZxcqvQWCt0lsNnp7KkJBAja3HxUB9WTwgDsyKsEKkza5G07hbPagPwTsQ2M3Chgz0PCai3Ey_ZjjTQH2yPIX9tOd7URT1Q_QMAMykg5zqw6-Mg6VnbaxQ1qE9CBP_qa4tzoGEeL8WkZWykf9RVx7VJpZ-cOsyf2mVJQ8zudoM4Mxik-H2FLLAUFYOjxqBuxFmzRZSnt-tWEBlgz2t4Y1el3TnanfhwY-sIxDOjCg59Q7S02bDD9OGIjuXgC2tZ2HpjTycvH2giXQdb3rViHdzLdXPdGiVs8Nzh9GNiSRptRnbdseBv0bxl-vp2uNLH17aFyyS61BlyvM-8j635RcXY-ctE2h9TTQkilId7C7-Mi2MS_TUCxdIgghAxmabk_x7yA4caJFyQt_E5MXThvD1l84O34bSs_mmIWA43MKjuJ9Xl31H4uREKgXqmzDqv3-qBA=",
  "id": "rs_0ca0e0d2734ef76b016ab49a626ff087d08bff0e10ea7143b1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.435,\"left_y\":-0.14,\"left_z\":0.14,\"left_yaw\":1.45,\"left_pitch\":0.3,\"left_gripper\":1},\"note\":\"The bowl has been nudged farther forward. I’ll approach the rim nearest the robot instead, turning the jaws to pinch that edge without reaching across the whole bowl.\"}",
  "call_id": "call_ODtwbFG1qv8hDsKHmukdW0tE",
  "id": "fc_0ca0e0d2734ef76b016ab49a684dc887d09e33ddfb01a5c05c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ODtwbFG1qv8hDsKHmukdW0tE",
  "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]: [-0.3759, 2.4836, 1.8294, -0.2974, -1.1744, -1.6848, 0.9988, -0.0738, 0.8303, 0.6231, -0.4316, -0.0868, -0.3637, 0.9972]\nstate[eef_state]: left_x=0.5635 left_y=-0.0434 left_z=0.0595 left_yaw=1.33 left_pitch=0.118 left_roll=-0.7048 left_gripper=0.9988 right_x=0.2923 right_y=-0.0027 right_z=0.1686 right_yaw=0.1855 right_pitch=-0.0882 right_roll=-0.2189 right_gripper=0.9972\nstate[joint_eff]: [-1.4427, -15.706, 5.2718, 0.7497, -0.4469, -0.0611, -0.1392, -0.0205, -1.2786, 7.4325, 1.8486, -0.0806, -0.0757, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:661dd45627b12a2479ccb60d745dfceb4337093b143c40c3092367c1b6c0df08",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a10ec65132f43ea1429b2749fb6b2143b3d1886ad52c6b3a2e2db31f602e4f5f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:712acc6784f79f18191dbea2c4515a6c4e60a1c816569bdc6965475a814d523c",
      "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 · 6.03 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 105 changed as sent

message 113 changed as sent

message 117 changed as sent

message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7151, 1.6382, 0.794, 0.3016, -0.7254, -0.3023, 0.9979, -0.0738, 0.82, 0.6243, -0.4225, -0.0841, -0.3637, 0.9973]\nstate[eef_state]: left_x=0.3954 left_y=-0.1834 left_z=0.1279 left_yaw=0.0234 left_pitch=0.1721 left_roll=0.0988 left_gripper=0.9979 right_x=0.2931 right_y=-0.0032 right_z=0.1738 right_yaw=0.1828 right_pitch=-0.0687 right_roll=-0.2256 right_gripper=0.9973\nstate[joint_eff]: [0.3897, -7.1863, 6.6393, 1.9707, -0.0757, 0.1587, 0.0952, -0.0479, -1.6342, 7.4188, 1.6679, -0.0611, -0.0513, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.72, 2.1181, 0.6201, 1.0054, -0.7963, -0.1932, 0.9979, -0.0738, 0.8265, 0.6239, -0.4232, -0.0864, -0.3637, 0.9973]\nstate[eef_state]: left_x=0.3907 left_y=-0.17 left_z=0.006 left_yaw=0.0222 left_pitch=0.2234 left_roll=0.1943 left_gripper=0.9979 right_x=0.2934 right_y=-0.0028 right_z=0.1717 right_yaw=0.1849 right_pitch=-0.0757 right_roll=-0.2224 right_gripper=0.9973\nstate[joint_eff]: [0.0615, -3.6855, 0.6496, -0.7692, 0.0513, 1.0379, -0.0122, 0.0068, -1.7573, 7.0085, 1.7216, -0.0269, -0.0269, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3759, 2.4836, 1.8294, -0.2974, -1.1744, -1.6848, 0.9988, -0.0738, 0.8303, 0.6231, -0.4316, -0.0868, -0.3637, 0.9972]\nstate[eef_state]: left_x=0.5635 left_y=-0.0434 left_z=0.0595 left_yaw=1.33 left_pitch=0.118 left_roll=-0.7048 left_gripper=0.9988 right_x=0.2923 right_y=-0.0027 right_z=0.1686 right_yaw=0.1855 right_pitch=-0.0882 right_roll=-0.2189 right_gripper=0.9972\nstate[joint_eff]: [-1.4427, -15.706, 5.2718, 0.7497, -0.4469, -0.0611, -0.1392, -0.0205, -1.2786, 7.4325, 1.8486, -0.0806, -0.0757, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:661dd45627b12a2479ccb60d745dfceb4337093b143c40c3092367c1b6c0df08",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a10ec65132f43ea1429b2749fb6b2143b3d1886ad52c6b3a2e2db31f602e4f5f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:712acc6784f79f18191dbea2c4515a6c4e60a1c816569bdc6965475a814d523c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJpvZhp_3I4iyAdVIWft06ilzk27s-V-7CMZ9xjZ9GxUqsfsUcN1THJJ7ZHs4mDdvQa3msKeaj-2yiPCIE_xkB95pl5KPKqs0lvmkyTCTA_fkNMpgNWj0NImVSk_B_-bOJhEZMG9AUh71lcsyb_CxpOwvtxoGYKsVXrEV5YGV0nWkpjzBiWu6iFmpXHaSVUR3saRpukIQrSsCPC4_N0B73fQDwr4gMt-lL4XzEAAwZww-NBb95WVvD0bAkbBZT3nxsOC2M2MteRdNbEcb4frokYEjw3p9qjrxM-tiiIbJ-gxWKsCVlTVlhx1YvhlvQlDOw6EI8LZzPcUDDuD6N1ZCh-uqnXLcIcYgCXKgzoDib77o8jNzGfzi-VJCRjTHVxObJWK4kINE0SIorn76DbciifhaxcktRtO2uJJV2GzuI60dxLp1mEBOfoCPTkNhtVsvr0RLRJgxY4UN90Y7sFRAi9MotiW8KKGRkDQyL0m_8SdO2wLePFgnG7yH2somfVawSwTZvMjkCLdesZiKbTM4LVxpaSSUDjZcS66VM0nEgIa5k1iFiZiZ78RZOWoHK47j1yaw6EwUPDBjV7KpehIyQUlS0MYvoVsGqXosJZWLthksDDmrXv7-OSzlxx4ncQW8slHhYEGyEUKiYXPhK1ROKoFzQl54YWgHMmFk4OtRKeIrc2kAjYT1RF96-5Ilot28yXRrFq-dwGzvEgKqJ3eAMeW8GhW0hcda-E0co1cuS9eMsb53dEtqmPQTMwSK27men15FSACqz4HZFRBkm0c9PndSXa-vBKDpHr6edvO71m7inERnjnbG9j61afDq5xijLpUfCr2Bgkv4Idyw9WWL363wrW5n5FtUhv15_AqftsRaKXEyLQeZYqOf3P3DX5JpUSl9H1QVPxAYTAAvzjD4GRwCrnqexPG-FmagvjvTbLy-18iO5JL8RaA6Mmj2QKXn5pF9c-0hV0c7mXK8EGWpiwQVE8vnChEy5EMC0kCuTUlFpV9KtVW0ZjQ8Gdat64Ry8jBzogvc4FMkcxaWdquoB8iU7a1tNnX-mzhdvnCRB5SmLHtvZyiCtZvNwvZkFdo2Ff38zwfQ9WBrh2SIR7KG2ehoXD16N9RPWK1PfuoNpPF1rYxIh6uGrJE7tm31ItXaFHDdaDxVTj0IcZTU82WGCM4nrDxAPPw16MTnfQTatdKnqq0DUg_HlYj7tcKKVMG47A_9tyqzqcvmpFg8GHGhXWAjbXIMchlkarnd9CoEM1gz6-ta73W8IDKFc_DIGxsKdYHDX-ct9FIMvoqvQvy7-D5pqJ-rr_1-yiCMUJ4FpUE9v8CZkS7k_aOr5l3ofyVqKAUOQFZNDpo5EXbF_XAVti33fS3DbOKN60ogHS6BxH19ZGZc3JsaxpZTnKsL_0GPHoO54i8sXxnfvOc3zSzJ2Zwd1W4KCK1x6ZVGkKr5Z04FERLW4He1xulnX_7gOzAZMHUoGZ4S1xjrJ1yJb2H6CEmkwqKw9bzggQyey44f73obp3KETutLR8Ek_I87vw28M-QHPy-ORwngHrZ0Geu2jSiJtLG1tk6zxas5cPkyoEN4k4X-a9bNlmmlN6MxDFZNXhtkJpkMR3G42obiOi4nsIjVg==",
  "id": "rs_0ca0e0d2734ef76b016ab49a6beca887d0bd9915ad80e82ba6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.1,\"left_z\":0.25,\"left_yaw\":0.7,\"left_pitch\":0,\"left_roll\":0,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.2},\"note\":\"The wrist rotation produced a large unexpected position error and displaced the bowls. I’ll raise and retract the arm before making any further contact.\"}",
  "call_id": "call_IVd3E35emVF5cPVjGU2TWEuE",
  "id": "fc_0ca0e0d2734ef76b016ab49a6ddac887d090b1f92352a91634",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IVd3E35emVF5cPVjGU2TWEuE",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.532, 2.6522, 2.1994, -0.9474, -1.1526, -2.0327, 0.9988, -0.0589, 0.8528, 0.7162, -0.535, -0.0834, -0.3634, 0.9972]\nstate[eef_state]: left_x=0.5349 left_y=-0.1233 left_z=0.0433 left_yaw=1.2795 left_pitch=0.0706 left_roll=-0.5645 left_gripper=0.9988 right_x=0.2906 right_y=0.0012 right_z=0.1839 right_yaw=0.1982 right_pitch=-0.1204 right_roll=-0.2122 right_gripper=0.9972\nstate[joint_eff]: [0.1983, -13.9009, 7.5282, 0.3785, -0.6618, -0.1148, -0.0122, 0.212, -0.9504, 10.1675, 1.6874, 0.0366, 0.0562, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:785901656a62239763b9f13aa3dcc10e524f0e2939753f10bb1658703d24e16c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67e9cd2f7ff61442b03a6cfcf70ce452bd73dc55eb11493293d241d76d843ba3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3343806c20faf7152b39435d5b2d731cc8c3a6188bd20a1956de3ecf6a5e996a",
      "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 · 6.574 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 109 changed as sent

message 117 changed as sent

message 121 changed as sent

message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7059, 1.6646, 0.7746, 0.4278, -0.7155, -0.276, 0.998, -0.0738, 0.8204, 0.6243, -0.4225, -0.0845, -0.3637, 0.9972]\nstate[eef_state]: left_x=0.4031 left_y=-0.1866 left_z=0.1317 left_yaw=0.021 left_pitch=0.2274 left_roll=0.0652 left_gripper=0.998 right_x=0.2932 right_y=-0.0031 right_z=0.1737 right_yaw=0.1832 right_pitch=-0.069 right_roll=-0.2253 right_gripper=0.9972\nstate[joint_eff]: [-0.1299, -8.0615, 6.3248, 1.8632, -0.1929, 0.1734, 0.0024, -0.1573, -1.388, 7.0769, 1.6679, -0.0708, -0.0611, -0.0171]",
      "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]: [-0.3759, 2.4836, 1.8294, -0.2974, -1.1744, -1.6848, 0.9988, -0.0738, 0.8303, 0.6231, -0.4316, -0.0868, -0.3637, 0.9972]\nstate[eef_state]: left_x=0.5635 left_y=-0.0434 left_z=0.0595 left_yaw=1.33 left_pitch=0.118 left_roll=-0.7048 left_gripper=0.9988 right_x=0.2923 right_y=-0.0027 right_z=0.1686 right_yaw=0.1855 right_pitch=-0.0882 right_roll=-0.2189 right_gripper=0.9972\nstate[joint_eff]: [-1.4427, -15.706, 5.2718, 0.7497, -0.4469, -0.0611, -0.1392, -0.0205, -1.2786, 7.4325, 1.8486, -0.0806, -0.0757, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.532, 2.6522, 2.1994, -0.9474, -1.1526, -2.0327, 0.9988, -0.0589, 0.8528, 0.7162, -0.535, -0.0834, -0.3634, 0.9972]\nstate[eef_state]: left_x=0.5349 left_y=-0.1233 left_z=0.0433 left_yaw=1.2795 left_pitch=0.0706 left_roll=-0.5645 left_gripper=0.9988 right_x=0.2906 right_y=0.0012 right_z=0.1839 right_yaw=0.1982 right_pitch=-0.1204 right_roll=-0.2122 right_gripper=0.9972\nstate[joint_eff]: [0.1983, -13.9009, 7.5282, 0.3785, -0.6618, -0.1148, -0.0122, 0.212, -0.9504, 10.1675, 1.6874, 0.0366, 0.0562, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:785901656a62239763b9f13aa3dcc10e524f0e2939753f10bb1658703d24e16c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67e9cd2f7ff61442b03a6cfcf70ce452bd73dc55eb11493293d241d76d843ba3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3343806c20faf7152b39435d5b2d731cc8c3a6188bd20a1956de3ecf6a5e996a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0ca0e0d2734ef76b016ab49a724e9487d09987893de64a9c99",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.3,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The remaining bowl is now beside the far-left fence, outside a reliable table-level grasp. I’ll attempt to return the left arm to its clear home orientation rather than risk pushing it farther.\"}",
  "call_id": "call_XpgBdqoard0VUJlElbvTlnaK",
  "id": "fc_0ca0e0d2734ef76b016ab49a74d3b887d0bc3e0b9d58eed013",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XpgBdqoard0VUJlElbvTlnaK",
  "output": [
    {
      "text": "executing move_to over 19 steps (1.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0616, 0.9443, 1.0901, -0.7132, -0.1528, -0.1864, 0.9988, -0.0589, 0.8566, 0.7177, -0.5465, -0.0837, -0.3637, 0.9973]\nstate[eef_state]: left_x=0.3067 left_y=0.0116 left_z=0.2895 left_yaw=0.1465 left_pitch=0.0116 left_roll=-0.0538 left_gripper=0.9988 right_x=0.2893 right_y=0.0013 right_z=0.1814 right_yaw=0.1991 right_pitch=-0.1337 right_roll=-0.2087 right_gripper=0.9973\nstate[joint_eff]: [0.1983, -2.3043, 8.9778, 1.707, -0.0317, 0.2369, -0.0122, 0.0068, -1.8667, 7.0496, 1.7216, -0.0757, -0.0513, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a16ff34632088f62d774b99b88e757f1ef18177474fd00d04f38b8b2c7365a2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f00545e2e7ee8f13ddb02a56f08e74f49736ec692ff7d19d008048853271c360",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c6018df5485968a3ad0f6e6c2b7d7bb8c909074e9939227676b1791141286aa",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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