adhoc

completed
2026-09-23T22:51:04.396666+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (74 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-astra
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
227.8 s
total steps
272
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

Stack the bowls on the table.

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThere are three upright bowls: green on the left, blue in the middle, and pale pink on the right. I’m bringing the left gripper above the green bowl’s outer rim so I can lift it by the edge and place it into the blue bowl.
move_to
left_x0.3900left_y-0.1250left_z0.1500left_gripper1.0000right_x0.2940right_y0.0010right_z0.1800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.7944, 0.6041, -0.3813, -0.0223, -0.0406, 0.9996, -0.0181, 0.7933, 0.6025, -0.3824, -0.0158, -0.0338, 0.9991] state[eef_state]: left_x=0.2946 left_y=0.0017 left_z=0.1796 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2942 right_y=0.0011 right_z=0.179 right_yaw=-0.0002 right_pitch=-0.0 right_roll=0.0003 right_gripper=0.9991 state[joint_eff]: [-0.4444, -1.5932, 10.1402, 1.7753, -0.0317, 0.2759, -0.0611, -0.4991, -1.388, 10.2085, 1.9609, -0.1294, 0.1392, -0.105] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.125,"left_z":0.15,"left_gripper":1,"right_x":0.294,"right_y":0.001,"right_z":0.18},"note":"There are three upright bowls: green on the left, blue in the middle, and pale pink on the right. I’m bringing the left gripper above the green bowl’s outer rim so I can lift it by the edge and place it into the blue bowl."})
tool
executing move_to over 12 steps (1.2s)
step 12
top_cam
camera top_cam step 12
left_cam
camera left_cam step 12
right_cam
camera right_cam step 12
assistant
agent noteThe green bowl is visible below the left wrist, with its right-hand rim just to the right of the jaw line. I’m lowering the open gripper toward that rim and shifting slightly forward and right to straddle the wall rather than the whole bowl.
move_to
left_x0.4100left_y-0.1500left_z0.0550
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.485, 1.3968, 0.7864, -0.0879, -0.3878, -0.3019, 0.9996, -0.0208, 0.7967, 0.6056, -0.3935, -0.0154, -0.0341, 0.9991] state[eef_state]: left_x=0.3765 left_y=-0.1189 left_z=0.1307 left_yaw=-0.0192 left_pitch=-0.0664 left_roll=0.025 left_gripper=0.9996 right_x=0.2933 right_y=0.0002 right_z=0.1772 right_yaw=-0.003 right_pitch=-0.0114 right_roll=-0.0 right_gripper=0.9991 state[joint_eff]: [-0.3624, -6.065, 8.9368, 1.7411, -0.2418, 0.0269, -0.0611, -0.0068, -1.5248, 7.0632, 1.7607, -0.0415, -0.0024, -0.0171] camera 'top_cam' (step 12): [image omitted: streamed camera frame] camera 'left_cam' (step 12): [image omitted: streamed camera frame] camera 'right_cam' (step 12): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.41,"left_y":-0.15,"left_z":0.055},"note":"The green bowl is visible below the left wrist, with its right-hand rim just to the right of the jaw line. I’m lowering the open gripper toward that rim and shifting slightly forward and right to straddle the wall rather than the whole bowl."})
tool
executing move_to over 5 steps (0.5s)
step 17
top_cam
camera top_cam step 17
left_cam
camera left_cam step 17
right_cam
camera right_cam step 17
assistant
agent noteThe open jaws now straddle the green bowl’s right wall, with one jaw inside the bowl and one outside. I’m making a small sideways correction and closing on the rim.
move_to
left_y-0.1600left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5205, 1.718, 0.7712, 0.1577, -0.4061, -0.3214, 0.9995, -0.02, 0.8017, 0.6056, -0.3935, -0.0154, -0.0341, 0.9991] state[eef_state]: left_x=0.3959 left_y=-0.1424 left_z=0.0446 left_yaw=-0.0251 left_pitch=-0.1406 left_roll=0.063 left_gripper=0.9995 right_x=0.2936 right_y=0.0004 right_z=0.1758 right_yaw=-0.0022 right_pitch=-0.0164 right_roll=0.0001 right_gripper=0.9991 state[joint_eff]: [-0.4034, -7.7744, 6.7077, 1.7411, -0.2662, -0.0659, -0.0171, -0.3897, -1.5795, 7.0222, 1.7705, -0.0366, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.16,"left_gripper":0},"note":"The open jaws now straddle the green bowl’s right wall, with one jaw inside the bowl and one outside. I’m making a small sideways correction and closing on the rim."})
tool
executing move_to over 10 steps (1.0s)
step 27
top_cam
camera top_cam step 27
left_cam
camera left_cam step 27
right_cam
camera right_cam step 27
assistant
agent noteThe gripper has closed to a very thin gap, which could be the bowl wall or an empty grasp. I’m lifting only a few centimetres first to check whether the green bowl follows.
move_to
left_x0.3960left_y-0.1600left_z0.1050
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5663, 1.7466, 0.7895, 0.136, -0.4423, -0.3565, 0.0389, -0.0208, 0.8024, 0.6056, -0.3969, -0.0154, -0.0345, 0.9991] state[eef_state]: left_x=0.3909 left_y=-0.1547 left_z=0.0382 left_yaw=-0.0209 left_pitch=-0.1539 left_roll=0.0753 left_gripper=0.0389 right_x=0.2932 right_y=0.0002 right_z=0.1749 right_yaw=-0.0028 right_pitch=-0.0206 right_roll=-0.0002 right_gripper=0.9991 state[joint_eff]: [-0.4034, -7.665, 7.2547, 1.3651, -0.0415, 0.0562, 1.0965, -0.1846, -1.347, 7.0632, 1.7607, -0.0562, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.396,"left_y":-0.16,"left_z":0.105},"note":"The gripper has closed to a very thin gap, which could be the bowl wall or an empty grasp. I’m lifting only a few centimetres first to check whether the green bowl follows."})
tool
executing move_to over 5 steps (0.5s)
step 32
top_cam
camera top_cam step 32
left_cam
camera left_cam step 32
right_cam
camera right_cam step 32
assistant
agent noteThe green rim remains close to the closed jaws, but the overhead view is partly blocked by the wrist. I’m raising to carrying height and moving a short distance toward the blue bowl so the next view can confirm the bowl is travelling with the gripper.
move_to
left_x0.3960left_y-0.2100left_z0.1800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.569, 1.655, 0.9176, -0.1097, -0.4438, -0.366, 0.039, -0.0208, 0.8032, 0.6052, -0.3969, -0.0151, -0.0345, 0.9991] state[eef_state]: left_x=0.3933 left_y=-0.1572 left_z=0.0828 left_yaw=-0.0149 left_pitch=-0.175 left_roll=0.0829 left_gripper=0.039 right_x=0.2932 right_y=0.0002 right_z=0.1745 right_yaw=-0.0031 right_pitch=-0.0217 right_roll=-0.0003 right_gripper=0.9991 state[joint_eff]: [-0.4171, -9.6068, 8.4581, 1.4237, -0.2466, -0.0171, 1.0281, -0.0342, -1.0872, 7.2137, 1.7411, -0.0415, -0.0806, -0.0122] camera 'top_cam' (step 32): [image omitted: streamed camera frame] camera 'left_cam' (step 32): [image omitted: streamed camera frame] camera 'right_cam' (step 32): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.396,"left_y":-0.21,"left_z":0.18},"note":"The green rim remains close to the closed jaws, but the overhead view is partly blocked by the wrist. I’m raising to carrying height and moving a short distance toward the blue bowl so the next view can confirm the bowl is travelling with the gripper."})
tool
executing move_to over 7 steps (0.7s)
step 39
top_cam
camera top_cam step 39
left_cam
camera left_cam step 39
right_cam
camera right_cam step 39
assistant
agent noteThe green bowl is now travelling with the left gripper. I’m moving it over the blue bowl, keeping the rim grip offset to the right so the bowls’ centres—not the gripper—line up.
move_to
left_x0.3960left_y-0.3350left_z0.1900right_x0.2940right_y0.0010right_z0.1800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6834, 1.6665, 1.3014, -0.5133, -0.4976, -0.4675, 0.0426, -0.0219, 0.8043, 0.6052, -0.4118, -0.0154, -0.0341, 0.9991] state[eef_state]: left_x=0.3962 left_y=-0.2093 left_z=0.1701 left_yaw=-0.0298 left_pitch=-0.173 left_roll=0.0593 left_gripper=0.0426 right_x=0.2912 right_y=-0.0001 right_z=0.1712 right_yaw=-0.0041 right_pitch=-0.0378 right_roll=0.0005 right_gripper=0.9991 state[joint_eff]: [-0.5538, -7.5282, 9.1009, 1.2772, -0.4908, 0.0513, 0.8962, -0.1299, -1.347, 7.0222, 1.8632, -0.0562, -0.0317, -0.0122] camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.396,"left_y":-0.335,"left_z":0.19,"right_x":0.294,"right_y":0.001,"right_z":0.18},"note":"The green bowl is now travelling with the left gripper. I’m moving it over the blue bowl, keeping the rim grip offset to the right so the bowls’ centres—not the gripper—line up."})
tool
executing move_to over 12 steps (1.2s)
step 51
top_cam
camera top_cam step 51
left_cam
camera left_cam step 51
right_cam
camera right_cam step 51
assistant
agent noteThe blue bowl is mostly underneath the carried green bowl, with a small blue rim visible to its right. I’m lowering slowly and making a small rightward correction to bring the bowls into nesting alignment.
move_to
left_x0.3960left_y-0.3450left_z0.1000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9039, 2.0312, 1.8385, -0.815, -0.6033, -0.6823, 0.0426, -0.02, 0.8196, 0.6094, -0.4381, -0.0151, -0.0341, 0.9991] state[eef_state]: left_x=0.3935 left_y=-0.332 left_z=0.1784 left_yaw=-0.0413 left_pitch=-0.2003 left_roll=0.0543 left_gripper=0.0426 right_x=0.2888 right_y=0.0005 right_z=0.1637 right_yaw=-0.0025 right_pitch=-0.0751 right_roll=0.0009 right_gripper=0.9991 state[joint_eff]: [-0.5949, -11.0974, 8.9778, 0.9988, -0.6569, -0.0415, 0.9597, 0.253, -1.0051, 10.2085, 1.7705, 0.0269, -0.0122, -0.0122] camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.396,"left_y":-0.345,"left_z":0.10},"note":"The blue bowl is mostly underneath the carried green bowl, with a small blue rim visible to its right. I’m lowering slowly and making a small rightward correction to bring the bowls into nesting alignment."})
tool
executing move_to over 6 steps (0.6s)
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 green bowl is just above the blue bowl’s opening. I’m easing it slightly forward and down so it can settle inside without forcing the rims together.
move_to
left_x0.4110left_y-0.3530left_z0.0750
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9131, 2.0941, 1.6524, -0.6136, -0.5999, -0.6865, 0.0448, -0.02, 0.823, 0.6079, -0.445, -0.0154, -0.0341, 0.9991] state[eef_state]: left_x=0.3908 left_y=-0.3369 left_z=0.1025 left_yaw=-0.0423 left_pitch=-0.2332 left_roll=0.0865 left_gripper=0.0448 right_x=0.2877 right_y=0.0006 right_z=0.1607 right_yaw=-0.0022 right_pitch=-0.087 right_roll=0.0013 right_gripper=0.9991 state[joint_eff]: [-0.6906, -10.6462, 6.4889, 1.3162, -0.4127, -0.105, 0.5739, -0.0752, -1.5248, 7.159, 1.6972, -0.0464, 0.0073, -0.0122] 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":{"left_x":0.411,"left_y":-0.353,"left_z":0.075},"note":"The green bowl is just above the blue bowl’s opening. I’m easing it slightly forward and down so it can settle inside without forcing the rims together."})
tool
executing move_to over 2 steps (0.2s)
step 59
top_cam
camera top_cam step 59
left_cam
camera left_cam step 59
right_cam
camera right_cam step 59
assistant
agent noteThe blue rim now closely follows the green rim, and the descent has stopped above the requested height, indicating support from the lower bowl. I’m opening the gripper to leave the green bowl nested in the blue one.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9077, 2.1563, 1.697, -0.5774, -0.5999, -0.6987, 0.045, -0.02, 0.823, 0.6075, -0.445, -0.0151, -0.0341, 0.9991] state[eef_state]: left_x=0.4027 left_y=-0.3478 left_z=0.0915 left_yaw=-0.0335 left_pitch=-0.2206 left_roll=0.0631 left_gripper=0.045 right_x=0.2876 right_y=0.0005 right_z=0.1606 right_yaw=-0.0025 right_pitch=-0.0874 right_roll=0.0011 right_gripper=0.9991 state[joint_eff]: [0.8137, -9.8667, 7.6376, 0.9158, -0.3004, 0.2076, 0.7692, -0.0342, -1.3333, 6.9949, 1.6386, -0.0415, -0.0317, -0.0073] camera 'top_cam' (step 59): [image omitted: streamed camera frame] camera 'left_cam' (step 59): [image omitted: streamed camera frame] camera 'right_cam' (step 59): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The blue rim now closely follows the green rim, and the descent has stopped above the requested height, indicating support from the lower bowl. I’m opening the gripper to leave the green bowl nested in the blue one."})
tool
executing move_to over 10 steps (1.0s)
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 green bowl has stayed seated after release. I’m lifting straight up to clear both rims before moving the left arm away.
move_to
left_z0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9012, 2.2284, 1.7134, -0.5709, -0.5922, -0.6785, 0.9947, -0.02, 0.8249, 0.6075, -0.4454, -0.0151, -0.0345, 0.9991] state[eef_state]: left_x=0.406 left_y=-0.3483 left_z=0.061 left_yaw=-0.0338 left_pitch=-0.2585 left_roll=0.1118 left_gripper=0.9947 right_x=0.2877 right_y=0.0005 right_z=0.16 right_yaw=-0.0023 right_pitch=-0.0896 right_roll=0.0009 right_gripper=0.9991 state[joint_eff]: [0.0615, -13.6137, 8.0889, 1.1111, -0.3639, -0.0122, -0.0366, -0.1846, -1.3744, 7.0085, 1.6484, -0.0659, -0.0757, -0.0122] camera 'top_cam' (step 69): [image omitted: streamed camera frame] camera 'left_cam' (step 69): [image omitted: streamed camera frame] camera 'right_cam' (step 69): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.2},"note":"The green bowl has stayed seated after release. I’m lifting straight up to clear both rims before moving the left arm away."})
tool
executing move_to over 9 steps (0.9s)
step 78
top_cam
camera top_cam step 78
left_cam
camera left_cam step 78
right_cam
camera right_cam step 78
assistant
agent noteThe left gripper is clear of the stack. I’m parking it back on the left to reveal the two nested bowls and leave the centre free for the right arm.
move_to
left_x0.2940left_y0.0010left_z0.1900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9012, 2.2253, 2.2127, -1.0554, -0.5915, -0.6857, 0.9957, -0.02, 0.8249, 0.6075, -0.4454, -0.0151, -0.0341, 0.9991] state[eef_state]: left_x=0.4095 left_y=-0.3529 left_z=0.1886 left_yaw=-0.0338 left_pitch=-0.247 left_roll=0.0921 left_gripper=0.9957 right_x=0.2877 right_y=0.0005 right_z=0.16 right_yaw=-0.0025 right_pitch=-0.0896 right_roll=0.0012 right_gripper=0.9991 state[joint_eff]: [-0.0752, -11.5761, 8.6496, 0.862, -0.3541, 0.0269, 0.0855, -0.0615, -1.4017, 6.9538, 1.6435, -0.0317, -0.0464, -0.0122] camera 'top_cam' (step 78): [image omitted: streamed camera frame] camera 'left_cam' (step 78): [image omitted: streamed camera frame] camera 'right_cam' (step 78): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.294,"left_y":0.001,"left_z":0.19},"note":"The left gripper is clear of the stack. I’m parking it back on the left to reveal the two nested bowls and leave the centre free for the right arm."})
tool
executing move_to over 32 steps (3.2s)
step 110
top_cam
camera top_cam step 110
left_cam
camera left_cam step 110
right_cam
camera right_cam step 110
assistant
agent noteThe green and blue bowls are nested together in the middle, and the pink bowl remains separate on the right. I’m positioning the right gripper above the pink bowl’s right-hand rim for the same edge grasp.
move_to
right_x0.3900right_y0.1350right_z0.1500right_pitch0.0000right_roll0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0719, 1.0088, 0.9005, -0.7212, -0.1162, -0.0238, 0.9957, -0.02, 0.8295, 0.6075, -0.4454, -0.0151, -0.0345, 0.9991] state[eef_state]: left_x=0.2962 left_y=0.0028 left_z=0.1876 left_yaw=0.0205 left_pitch=-0.2544 left_roll=0.0884 left_gripper=0.9957 right_x=0.2879 right_y=0.0005 right_z=0.1588 right_yaw=-0.0023 right_pitch=-0.0942 right_roll=0.0009 right_gripper=0.9991 state[joint_eff]: [0.1573, -3.0427, 6.8308, 1.4579, 0.0855, 0.0513, -0.0024, -0.1436, -1.4291, 6.9949, 1.6581, -0.0317, -0.0611, -0.0073] camera 'top_cam' (step 110): [image omitted: streamed camera frame] camera 'left_cam' (step 110): [image omitted: streamed camera frame] camera 'right_cam' (step 110): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.135,"right_z":0.15,"right_pitch":0,"right_roll":0,"right_gripper":1},"note":"The green and blue bowls are nested together in the middle, and the pink bowl remains separate on the right. I’m positioning the right gripper above the pink bowl’s right-hand rim for the same edge grasp."})
tool
executing move_to over 12 steps (1.2s)
step 122
top_cam
camera top_cam step 122
left_cam
camera left_cam step 122
right_cam
camera right_cam step 122
assistant
agent noteThe pink bowl is centred in the wrist image, so a full-width grasp would be too wide. I’m shifting to its right wall and lowering the open jaws so one finger goes inside and the other stays outside.
move_to
right_x0.4150right_y0.0800right_z0.0600
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0719, 1.0134, 0.897, -0.7284, -0.1059, -0.0257, 0.9957, 0.4896, 1.4162, 0.7971, -0.1093, 0.3664, 0.2291, 0.9991] state[eef_state]: left_x=0.2947 left_y=0.0011 left_z=0.1836 left_yaw=0.013 left_pitch=-0.2702 left_roll=0.0805 left_gripper=0.9957 right_x=0.3715 right_y=0.1303 right_z=0.1232 right_yaw=0.0446 right_pitch=-0.0982 right_roll=-0.0444 right_gripper=0.9991 state[joint_eff]: [-0.0889, -2.8376, 7.1043, 1.5263, -0.2222, -0.022, -0.0122, 0.1299, -6.2154, 9.3333, 1.8046, 0.4029, 0.2027, -0.105] camera 'top_cam' (step 122): [image omitted: streamed camera frame] camera 'left_cam' (step 122): [image omitted: streamed camera frame] camera 'right_cam' (step 122): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.415,"right_y":0.08,"right_z":0.06},"note":"The pink bowl is centred in the wrist image, so a full-width grasp would be too wide. I’m shifting to its right wall and lowering the open jaws so one finger goes inside and the other stays outside."})
tool
executing move_to over 5 steps (0.5s)
step 127
top_cam
camera top_cam step 127
left_cam
camera left_cam step 127
right_cam
camera right_cam step 127
assistant
agent noteThe pink bowl’s right wall is between the open fingers. I’m shifting slightly farther right and closing on just that wall.
move_to
right_y0.0620right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0719, 1.0145, 0.897, -0.7284, -0.1055, -0.0261, 0.9957, 0.2764, 1.631, 0.7082, 0.1421, 0.2329, 0.1066, 0.9991] state[eef_state]: left_x=0.2948 left_y=0.001 left_z=0.1832 left_yaw=0.0129 left_pitch=-0.2714 left_roll=0.0801 left_gripper=0.9957 right_x=0.3984 right_y=0.0744 right_z=0.0463 right_yaw=0.0053 right_pitch=-0.1829 right_roll=-0.0699 right_gripper=0.9991 state[joint_eff]: [-0.0752, -2.4137, 6.7487, 1.4774, -0.1148, -0.0024, -0.0122, -0.4308, -7.2957, 5.9966, 1.8437, -0.0317, 0.022, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 127): [image omitted: streamed camera frame] camera 'left_cam' (step 127): [image omitted: streamed camera frame] camera 'right_cam' (step 127): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.062,"right_gripper":0},"note":"The pink bowl’s right wall is between the open fingers. I’m shifting slightly farther right and closing on just that wall."})
tool
executing move_to over 10 steps (1.0s)
step 137
top_cam
camera top_cam step 137
left_cam
camera left_cam step 137
right_cam
camera right_cam step 137
assistant
agent noteThe fingers closed fully, so that grasp missed the thin wall; the pink rim is still to the right of the jaw centre. I’m reopening and moving the grasp point farther right before trying again.
move_to
right_x0.4200right_y0.0350right_z0.0650right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0719, 1.0157, 0.897, -0.7284, -0.1051, -0.0261, 0.9957, 0.2634, 1.6516, 0.7036, 0.2157, 0.1921, 0.0696, 0.0099] state[eef_state]: left_x=0.2949 left_y=0.0009 left_z=0.1829 left_yaw=0.0126 left_pitch=-0.2725 left_roll=0.0799 left_gripper=0.9957 right_x=0.4077 right_y=0.0787 right_z=0.0485 right_yaw=0.0487 right_pitch=-0.1439 right_roll=-0.0583 right_gripper=0.0099 state[joint_eff]: [-0.0068, -2.6735, 6.7077, 1.453, -0.1148, -0.0659, -0.0122, -0.3761, -7.5692, 6.1607, 1.8828, 0.0952, 0.0904, 0.8376] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 137): [image omitted: streamed camera frame] camera 'left_cam' (step 137): [image omitted: streamed camera frame] camera 'right_cam' (step 137): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.42,"right_y":0.035,"right_z":0.065,"right_gripper":1},"note":"The fingers closed fully, so that grasp missed the thin wall; the pink rim is still to the right of the jaw centre. I’m reopening and moving the grasp point farther right before trying again."})
tool
executing move_to over 10 steps (1.0s)
step 147
top_cam
camera top_cam step 147
left_cam
camera left_cam step 147
right_cam
camera right_cam step 147
assistant
agent noteThe rim has moved past the jaw centre and is now slightly left of it. I’m correcting back by two centimetres to centre the thin wall between the fingers before closing.
move_to
right_y0.0550right_z0.0650
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0719, 1.0191, 0.897, -0.7284, -0.1051, -0.0261, 0.9957, 0.1143, 1.6428, 0.7078, 0.1505, 0.0864, -0.0322, 0.9949] state[eef_state]: left_x=0.2951 left_y=0.0009 left_z=0.182 left_yaw=0.0127 left_pitch=-0.276 left_roll=0.0802 left_gripper=0.9957 right_x=0.4057 right_y=0.0348 right_z=0.0401 right_yaw=0.0439 right_pitch=-0.2094 right_roll=-0.0685 right_gripper=0.9949 state[joint_eff]: [-0.0342, -2.8786, 6.7214, 1.5116, -0.1245, -0.0464, -0.0073, -0.5675, -9.0598, 8.9641, 1.5751, -0.1197, 0.0611, -0.1294] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 147): [image omitted: streamed camera frame] camera 'left_cam' (step 147): [image omitted: streamed camera frame] camera 'right_cam' (step 147): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.055,"right_z":0.065},"note":"The rim has moved past the jaw centre and is now slightly left of it. I’m correcting back by two centimetres to centre the thin wall between the fingers before closing."})
tool
executing move_to over 2 steps (0.2s)
step 149
top_cam
camera top_cam step 149
left_cam
camera left_cam step 149
right_cam
camera right_cam step 149
assistant
agent noteThe pink wall now runs close to the jaw centre, with the inner finger inside the bowl. I’m closing on this corrected rim position.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0719, 1.0195, 0.8955, -0.7284, -0.1051, -0.0261, 0.9957, 0.149, 1.6279, 0.7277, 0.0811, 0.0994, -0.0181, 0.9962] state[eef_state]: left_x=0.2949 left_y=0.0009 left_z=0.1812 left_yaw=0.0127 left_pitch=-0.2779 left_roll=0.0804 left_gripper=0.9957 right_x=0.3999 right_y=0.0459 right_z=0.0414 right_yaw=0.059 right_pitch=-0.2427 right_roll=-0.0708 right_gripper=0.9962 state[joint_eff]: [-0.1573, -2.6188, 6.8444, 1.4432, -0.1197, -0.0659, -0.0073, 0.7726, -9.5111, 9.265, 1.7558, 0.2125, 0.2369, 0.1245] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 149): [image omitted: streamed camera frame] camera 'left_cam' (step 149): [image omitted: streamed camera frame] camera 'right_cam' (step 149): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The pink wall now runs close to the jaw centre, with the inner finger inside the bowl. I’m closing on this corrected rim position."})
tool
executing move_to over 10 steps (1.0s)
step 159
top_cam
camera top_cam step 159
left_cam
camera left_cam step 159
right_cam
camera right_cam step 159
assistant
agent noteThe second close was also empty, so I’m lifting and reopening to reassess rather than repeating it. The wrist has tilted during the low approach; I’m restoring a vertical tool and approaching farther forward along the bowl’s rim.
move_to
right_x0.4300right_y0.0900right_z0.1600right_gripper1.0000right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0719, 1.0206, 0.8955, -0.7284, -0.1051, -0.0261, 0.9957, 0.1879, 1.6115, 0.7502, 0.0093, 0.1223, 0.0071, 0.0096] state[eef_state]: left_x=0.295 left_y=0.0009 left_z=0.1809 left_yaw=0.0128 left_pitch=-0.279 left_roll=0.0805 left_gripper=0.9957 right_x=0.3939 right_y=0.0566 right_z=0.0444 right_yaw=0.0631 right_pitch=-0.2726 right_roll=-0.0743 right_gripper=0.0096 state[joint_eff]: [-0.1846, -2.6598, 6.8171, 1.453, -0.1294, -0.0659, -0.0073, -0.2803, -8.8547, 8.3077, 1.5897, 0.1685, 0.1197, 0.7595] camera 'top_cam' (step 159): [image omitted: streamed camera frame] camera 'left_cam' (step 159): [image omitted: streamed camera frame] camera 'right_cam' (step 159): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.09,"right_z":0.16,"right_gripper":1,"right_pitch":0,"right_roll":0,"right_yaw":0},"note":"The second close was also empty, so I’m lifting and reopening to reassess rather than repeating it. The wrist has tilted during the low approach; I’m restoring a vertical tool and approaching farther forward along the bowl’s rim."})
tool
executing move_to over 10 steps (1.0s)
step 169
top_cam
camera top_cam step 169
left_cam
camera left_cam step 169
right_cam
camera right_cam step 169
assistant
agent noteThe pink bowl has shifted toward the front of the table and now appears at the bottom of the wrist view. I’m moving back toward its new position while staying above the rim, then I’ll re-align the grasp.
move_to
right_x0.3400right_y0.1300right_z0.1500right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0719, 1.0229, 0.8955, -0.7284, -0.1051, -0.0261, 0.9957, 0.2951, 1.515, 0.8795, -0.054, 0.2123, 0.1104, 0.9953] state[eef_state]: left_x=0.2951 left_y=0.0009 left_z=0.1803 left_yaw=0.0128 left_pitch=-0.2813 left_roll=0.0807 left_gripper=0.9957 right_x=0.4169 right_y=0.0916 right_z=0.1242 right_yaw=0.0424 right_pitch=-0.0983 right_roll=-0.0297 right_gripper=0.9953 state[joint_eff]: [-0.1846, -2.5368, 6.735, 1.4725, -0.0904, -0.0513, -0.0073, 0.0342, -8.4444, 9.9624, 1.873, 0.3199, 0.1783, -0.1978] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 169): [image omitted: streamed camera frame] camera 'left_cam' (step 169): [image omitted: streamed camera frame] camera 'right_cam' (step 169): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.34,"right_y":0.13,"right_z":0.15,"right_pitch":0,"right_roll":0},"note":"The pink bowl has shifted toward the front of the table and now appears at the bottom of the wrist view. I’m moving back toward its new position while staying above the rim, then I’ll re-align the grasp."})
tool
executing move_to over 6 steps (0.6s)
step 175
top_cam
camera top_cam step 175
left_cam
camera left_cam step 175
right_cam
camera right_cam step 175
assistant
agent noteThe pink bowl’s new position is clear in the wrist view. I’m descending onto its right-hand wall with the tool kept vertical, rather than reaching toward its former position.
move_to
right_x0.3500right_y0.0750right_z0.0550right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0719, 1.026, 0.8955, -0.728, -0.1051, -0.0261, 0.9957, 0.5369, 1.2503, 0.7006, -0.0944, 0.3656, 0.2295, 0.9963] state[eef_state]: left_x=0.2954 left_y=0.0009 left_z=0.1795 left_yaw=0.0129 left_pitch=-0.2839 left_roll=0.0809 left_gripper=0.9957 right_x=0.3442 right_y=0.1356 right_z=0.1447 right_yaw=0.0945 right_pitch=-0.0223 right_roll=-0.0074 right_gripper=0.9963 state[joint_eff]: [-0.0889, -2.6188, 6.8444, 1.5214, -0.1197, -0.0562, -0.0073, 0.0889, -4.7385, 6.8444, 1.8632, 0.3248, 0.0855, 0.0904] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 175): [image omitted: streamed camera frame] camera 'left_cam' (step 175): [image omitted: streamed camera frame] camera 'right_cam' (step 175): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.075,"right_z":0.055,"right_pitch":0,"right_roll":0,"right_yaw":0},"note":"The pink bowl’s new position is clear in the wrist view. I’m descending onto its right-hand wall with the tool kept vertical, rather than reaching toward its former position."})
tool
executing move_to over 6 steps (0.6s)
step 181
top_cam
camera top_cam step 181
left_cam
camera left_cam step 181
right_cam
camera right_cam step 181
assistant
agent noteAt grasp height, the right wall is still visibly to the right of the jaw centre. I’m sliding the open gripper sideways until that wall lies between the closing faces.
move_to
right_y0.0250right_z0.0550right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0719, 1.026, 0.8955, -0.7284, -0.1051, -0.0261, 0.9957, 0.3508, 1.417, 0.3927, 0.313, 0.2977, 0.1787, 0.9964] state[eef_state]: left_x=0.2953 left_y=0.0009 left_z=0.1795 left_yaw=0.0129 left_pitch=-0.2843 left_roll=0.0809 left_gripper=0.9957 right_x=0.3352 right_y=0.0713 right_z=0.0389 right_yaw=-0.0103 right_pitch=-0.1013 right_roll=-0.0354 right_gripper=0.9964 state[joint_eff]: [-0.1573, -2.6462, 6.7214, 1.4628, -0.0562, -0.0659, -0.0122, -0.1436, -4.9573, 5.8462, 1.9072, 0.0269, -0.1343, 0.0024] camera 'top_cam' (step 181): [image omitted: streamed camera frame] camera 'left_cam' (step 181): [image omitted: streamed camera frame] camera 'right_cam' (step 181): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.025,"right_z":0.055,"right_pitch":0,"right_roll":0,"right_yaw":0},"note":"At grasp height, the right wall is still visibly to the right of the jaw centre. I’m sliding the open gripper sideways until that wall lies between the closing faces."})
tool
executing move_to over 4 steps (0.4s)
step 185
top_cam
camera top_cam step 185
left_cam
camera left_cam step 185
right_cam
camera right_cam step 185
assistant
agent noteThe pink bowl’s wall is now aligned with the jaw centre, with clear space outside it. I’m closing while maintaining the vertical tool orientation.
move_to
right_gripper0.0000right_pitch0.0000right_roll0.0000right_yaw0.0000right_z0.0550
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0719, 1.0286, 0.8951, -0.7284, -0.1051, -0.0261, 0.9957, 0.1379, 1.3254, 0.289, 0.4053, 0.157, 0.0746, 0.9964] state[eef_state]: left_x=0.2954 left_y=0.0009 left_z=0.1786 left_yaw=0.013 left_pitch=-0.2874 left_roll=0.0812 left_gripper=0.9957 right_x=0.33 right_y=0.0215 right_z=0.0437 right_yaw=-0.0481 right_pitch=-0.0491 right_roll=-0.0125 right_gripper=0.9964 state[joint_eff]: [-0.2256, -2.6462, 6.9128, 1.4139, -0.105, -0.0269, -0.0073, -0.1709, -4.8752, 5.6821, 2.0733, -0.0806, -0.1343, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 185): [image omitted: streamed camera frame] camera 'left_cam' (step 185): [image omitted: streamed camera frame] camera 'right_cam' (step 185): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0,"right_pitch":0,"right_roll":0,"right_yaw":0,"right_z":0.055},"note":"The pink bowl’s wall is now aligned with the jaw centre, with clear space outside it. I’m closing while maintaining the vertical tool orientation."})
tool
executing move_to over 10 steps (1.0s)
step 195
top_cam
camera top_cam step 195
left_cam
camera left_cam step 195
right_cam
camera right_cam step 195
assistant
agent noteThe fingers are closed against the visible rim, although the gap is very small. I’m making a short vertical test lift to determine whether the thin bowl wall is actually held.
move_to
right_z0.1150right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0719, 1.0286, 0.8951, -0.7284, -0.1051, -0.0261, 0.9957, 0.131, 1.3201, 0.281, 0.4007, 0.1371, 0.0628, 0.0154] state[eef_state]: left_x=0.2954 left_y=0.0009 left_z=0.1786 left_yaw=0.013 left_pitch=-0.2874 left_roll=0.0812 left_gripper=0.9957 right_x=0.3272 right_y=0.0224 right_z=0.0411 right_yaw=-0.032 right_pitch=-0.0584 right_roll=-0.0117 right_gripper=0.0154 state[joint_eff]: [-0.2393, -2.6462, 6.8581, 1.4042, -0.0757, -0.0611, -0.0122, 0.1709, -3.8359, 5.8462, 1.7265, 0.0366, -0.0317, 0.6325] camera 'top_cam' (step 195): [image omitted: streamed camera frame] camera 'left_cam' (step 195): [image omitted: streamed camera frame] camera 'right_cam' (step 195): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.115,"right_pitch":0,"right_roll":0,"right_yaw":0},"note":"The fingers are closed against the visible rim, although the gap is very small. I’m making a short vertical test lift to determine whether the thin bowl wall is actually held."})
tool
executing move_to over 5 steps (0.5s)
step 200
top_cam
camera top_cam step 200
left_cam
camera left_cam step 200
right_cam
camera right_cam step 200
assistant
agent noteThe pink bowl rose with the right gripper, confirming that its very thin rim is held. I’m lifting to carrying height and moving toward the two-bowl stack while keeping the left arm parked clear.
move_to
right_x0.3700right_y0.1500right_z0.2000right_pitch0.0000right_roll0.0000right_yaw0.0000left_x0.2940left_y0.0010left_z0.1900left_pitch0.0000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0719, 1.0306, 0.8951, -0.7284, -0.1051, -0.0261, 0.9957, 0.1085, 1.0546, 0.3981, 0.1253, 0.102, 0.0353, 0.0182] state[eef_state]: left_x=0.2956 left_y=0.0009 left_z=0.1781 left_yaw=0.013 left_pitch=-0.2893 left_roll=0.0814 left_gripper=0.9957 right_x=0.3321 right_y=0.0217 right_z=0.1152 right_yaw=-0.0101 right_pitch=0.0449 right_roll=-0.0005 right_gripper=0.0182 state[joint_eff]: [-0.1026, -2.8376, 6.8034, 1.4432, -0.0757, -0.0366, -0.0122, -0.7043, -2.6051, 8.4034, 1.619, -0.1441, -0.0171, 0.7204] camera 'top_cam' (step 200): [image omitted: streamed camera frame] camera 'left_cam' (step 200): [image omitted: streamed camera frame] camera 'right_cam' (step 200): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.37,"right_y":0.15,"right_z":0.2,"right_pitch":0,"right_roll":0,"right_yaw":0,"left_x":0.294,"left_y":0.001,"left_z":0.19,"left_pitch":0,"left_roll":0,"left_yaw":0},"note":"The pink bowl rose with the right gripper, confirming that its very thin rim is held. I’m lifting to carrying height and moving toward the two-bowl stack while keeping the left arm parked clear."})
tool
executing move_to over 11 steps (1.1s)
step 211
top_cam
camera top_cam step 211
left_cam
camera left_cam step 211
assistant
agent noteThe pink bowl is securely raised and approaching the stack from the right. I’m placing its centre above the nested bowls, retaining the same offset for the rim grip.
move_to
right_x0.4050right_y0.2850right_z0.2050right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0296, 0.8097, 0.6537, -0.477, -0.0444, -0.0349, 0.9957, 0.5713, 1.3407, 0.931, -0.2752, 0.4347, 0.2741, 0.0188] state[eef_state]: left_x=0.2884 left_y=0.0029 left_z=0.1786 left_yaw=0.0057 left_pitch=-0.0611 left_roll=0.0189 left_gripper=0.9957 right_x=0.3637 right_y=0.1496 right_z=0.1809 right_yaw=0.0485 right_pitch=-0.0383 right_roll=-0.0273 right_gripper=0.0188 state[joint_eff]: [0.4718, -1.5111, 7.1863, 2.0488, 0.0757, -0.1587, -0.0122, 0.1983, -5.8051, 9.2786, 1.6923, 0.2906, 0.232, 0.8034] camera 'top_cam' (step 211): [image omitted: streamed camera frame] camera 'left_cam' (step 211): [image omitted: streamed camera frame] camera 'right_cam' (step 211): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.405,"right_y":0.285,"right_z":0.205,"right_pitch":0,"right_roll":0,"right_yaw":0},"note":"The pink bowl is securely raised and approaching the stack from the right. I’m placing its centre above the nested bowls, retaining the same offset for the rim grip."})
tool
executing move_to over 12 steps (1.2s)
step 223
assistant
agent noteThe lower bowls are visible just beyond the pink rim, and their openings are nearly aligned. I’m lowering in a controlled step toward the top of the stack.
move_to
right_x0.4050right_y0.2800right_z0.1250right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0299, 0.8154, 0.6476, -0.49, -0.0448, -0.049, 0.9957, 0.8246, 1.7924, 1.4265, -0.4519, 0.6239, 0.4675, 0.0188] state[eef_state]: left_x=0.286 left_y=0.0029 left_z=0.1718 left_yaw=0.0133 left_pitch=-0.0857 left_roll=0.0088 left_gripper=0.9957 right_x=0.3951 right_y=0.2806 right_z=0.1823 right_yaw=0.0486 right_pitch=-0.0615 right_roll=-0.0532 right_gripper=0.0188 state[joint_eff]: [-0.0752, -1.5932, 7.4872, 1.7607, -0.0415, 0.0952, -0.0073, 0.1026, -9.6342, 9.6342, 1.6484, 0.5397, 0.2466, 0.8034] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 223): [image omitted: streamed camera frame] camera 'left_cam' (step 223): [image omitted: streamed camera frame] camera 'right_cam' (step 223): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.405,"right_y":0.28,"right_z":0.125,"right_pitch":0,"right_roll":0,"right_yaw":0},"note":"The lower bowls are visible just beyond the pink rim, and their openings are nearly aligned. I’m lowering in a controlled step toward the top of the stack."})
tool
executing move_to over 4 steps (0.4s)
step 227
assistant
agent noteThe pink bowl is immediately above the stack and its rim closely overlaps the lower bowls. I’m easing it down the last few centimetres with a small centring adjustment, stopping on support rather than pressing.
move_to
right_x0.4000right_y0.2750right_z0.0900right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0299, 0.8154, 0.6476, -0.4919, -0.0452, -0.0494, 0.9957, 0.8223, 1.8534, 1.2362, -0.2474, 0.6434, 0.4828, 0.0213] state[eef_state]: left_x=0.2857 left_y=0.003 left_z=0.1715 left_yaw=0.0139 left_pitch=-0.0876 left_roll=0.0089 left_gripper=0.9957 right_x=0.3917 right_y=0.2713 right_z=0.1119 right_yaw=0.0219 right_pitch=-0.0838 right_roll=-0.0846 right_gripper=0.0213 state[joint_eff]: [-0.0615, -1.3333, 6.9538, 1.6532, -0.0366, -0.0269, -0.0073, -0.4034, -9.9077, 7.5009, 1.7558, 0.3883, 0.1148, 0.5153] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 227): [image omitted: streamed camera frame] camera 'left_cam' (step 227): [image omitted: streamed camera frame] camera 'right_cam' (step 227): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.4,"right_y":0.275,"right_z":0.09,"right_pitch":0,"right_roll":0,"right_yaw":0},"note":"The pink bowl is immediately above the stack and its rim closely overlaps the lower bowls. I’m easing it down the last few centimetres with a small centring adjustment, stopping on support rather than pressing."})
tool
executing move_to over 3 steps (0.3s)
step 230
assistant
agent noteThe descent has stopped above the target height and the rims have settled together, indicating that the stack supports the pink bowl. I’m releasing the rim so it can nest fully.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0299, 0.8173, 0.6476, -0.4931, -0.0452, -0.0494, 0.9957, 0.82, 1.8717, 1.2171, -0.1745, 0.6434, 0.4828, 0.0205] state[eef_state]: left_x=0.2857 left_y=0.003 left_z=0.1707 left_yaw=0.0139 left_pitch=-0.0906 left_roll=0.009 left_gripper=0.9957 right_x=0.3969 right_y=0.2752 right_z=0.1068 right_yaw=0.0215 right_pitch=-0.059 right_roll=-0.0591 right_gripper=0.0205 state[joint_eff]: [-0.0752, -1.265, 6.9538, 1.6386, -0.0708, -0.0611, -0.0073, -0.212, -10.6462, 7.3231, 1.8486, 0.4127, 0.1245, 0.6911] camera 'top_cam' (step 230): [image omitted: streamed camera frame] camera 'left_cam' (step 230): [image omitted: streamed camera frame] camera 'right_cam' (step 230): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The descent has stopped above the target height and the rims have settled together, indicating that the stack supports the pink bowl. I’m releasing the rim so it can nest fully."})
tool
executing move_to over 10 steps (1.0s)
step 240
assistant
agent noteThe pink bowl settled lower into the stack after release. I’m lifting the open fingers straight up to clear the bowls before checking the finished stack from above.
move_to
right_z0.2100right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0299, 0.8173, 0.6476, -0.4927, -0.0452, -0.0494, 0.9958, 0.8196, 1.8717, 1.216, -0.1715, 0.6395, 0.4789, 0.9952] state[eef_state]: left_x=0.2857 left_y=0.003 left_z=0.1708 left_yaw=0.0139 left_pitch=-0.0903 left_roll=0.009 left_gripper=0.9958 right_x=0.3969 right_y=0.2758 right_z=0.1065 right_yaw=0.0259 right_pitch=-0.0598 right_roll=-0.0589 right_gripper=0.9952 state[joint_eff]: [-0.1162, -1.0735, 6.9538, 1.6239, -0.0855, -0.0757, -0.0122, -0.212, -9.7983, 6.4479, 1.4139, 0.2955, -0.022, -0.2076] camera 'top_cam' (step 240): [image omitted: streamed camera frame] camera 'left_cam' (step 240): [image omitted: streamed camera frame] camera 'right_cam' (step 240): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.21,"right_pitch":0,"right_roll":0,"right_yaw":0},"note":"The pink bowl settled lower into the stack after release. I’m lifting the open fingers straight up to clear the bowls before checking the finished stack from above."})
tool
executing move_to over 7 steps (0.7s)
step 247
assistant
agent noteThe fingers are clear and the pink bowl remains on the stack. I’m returning the right arm to its home side so the overhead view can confirm all three bowls are nested and stable.
move_to
right_x0.2940right_y0.0010right_z0.1900right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0299, 0.8173, 0.6476, -0.4927, -0.0452, -0.0494, 0.9958, 0.8246, 1.7931, 1.3987, -0.4232, 0.6437, 0.4797, 0.9963] state[eef_state]: left_x=0.2857 left_y=0.003 left_z=0.1708 left_yaw=0.0139 left_pitch=-0.0903 left_roll=0.009 left_gripper=0.9958 right_x=0.3957 right_y=0.2771 right_z=0.1767 right_yaw=0.0279 right_pitch=-0.0509 right_roll=-0.0536 right_gripper=0.9963 state[joint_eff]: [-0.1299, -1.2923, 6.9812, 1.6288, -0.0952, -0.0562, -0.0171, 0.0479, -11.6171, 9.5658, 1.3504, 0.486, 0.2418, 0.1001] camera 'top_cam' (step 247): [image omitted: streamed camera frame] camera 'left_cam' (step 247): [image omitted: streamed camera frame] camera 'right_cam' (step 247): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.294,"right_y":0.001,"right_z":0.19,"right_pitch":0,"right_roll":0,"right_yaw":0},"note":"The fingers are clear and the pink bowl remains on the stack. I’m returning the right arm to its home side so the overhead view can confirm all three bowls are nested and stable."})
tool
executing move_to over 24 steps (2.4s)
step 271
assistant
agent noteStacked all three bowls together in the centre of the table, with the pink bowl on top, and moved both arms clear.
done
hindsightThese bowls are too wide for a whole-bowl grasp; grasp one wall with one finger inside and one outside. Very thin rim grasps can read below the usual 0.04 empty threshold: the pink bowl was securely held at about 0.018, confirmed by a short lift. Explicitly maintaining zero pitch and roll during successive approach motions reduced accumulated tool tilt. Release when the descent stops on the lower bowl, then lift vertically before retracting.
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0299, 0.823, 0.6476, -0.4934, -0.0452, -0.0498, 0.9957, 0.0071, 0.8097, 0.6537, -0.4164, 0.0578, 0.0051, 0.9964] state[eef_state]: left_x=0.2859 left_y=0.003 left_z=0.1691 left_yaw=0.0141 left_pitch=-0.0967 left_roll=0.009 left_gripper=0.9957 right_x=0.2966 right_y=-0.0045 right_z=0.191 right_yaw=-0.058 right_pitch=0.0017 right_roll=-0.0068 right_gripper=0.9964 state[joint_eff]: [-0.1299, -1.6615, 7.0769, 1.7265, -0.0317, -0.0806, -0.0171, -0.1162, -1.4564, 6.7624, 1.7411, -0.1685, 0.0317, 0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 271): [image omitted: streamed camera frame] camera 'left_cam' (step 271): [image omitted: streamed camera frame] camera 'right_cam' (step 271): [image omitted: streamed camera frame]
assistant
done({"summary":"Stacked all three bowls together in the centre of the table, with the pink bowl on top, and moved both arms clear.","hindsight":"These bowls are too wide for a whole-bowl grasp; grasp one wall with one finger inside and one outside. Very thin rim grasps can read below the usual 0.04 empty threshold: the pink bowl was securely held at about 0.018, confirmed by a short lift. Explicitly maintaining zero pitch and roll during successive approach motions reduced accumulated tool tilt. Release when the descent stops on the lower bowl, then lift vertically before retracting."})
tool
done: Stacked all three bowls together in the centre of the table, with the pink bowl on top, and moved both arms clear.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 10.89 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Stack the bowls on the table.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7944, 0.6041, -0.3813, -0.0223, -0.0406, 0.9996, -0.0181, 0.7933, 0.6025, -0.3824, -0.0158, -0.0338, 0.9991]\nstate[eef_state]: left_x=0.2946 left_y=0.0017 left_z=0.1796 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2942 right_y=0.0011 right_z=0.179 right_yaw=-0.0002 right_pitch=-0.0 right_roll=0.0003 right_gripper=0.9991\nstate[joint_eff]: [-0.4444, -1.5932, 10.1402, 1.7753, -0.0317, 0.2759, -0.0611, -0.4991, -1.388, 10.2085, 1.9609, -0.1294, 0.1392, -0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a3582600d87fbb363730f13e601ee2171a9966465125f8bca8cf86502404af7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f6d88e3c306ad5972b7c184e260c8b50d9074278a61be555df3895f6e689024",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f6fe56885048d0f6946752a443ece9cab35e66bf3f16bf43bde093d0334243d",
      "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 · 9.038 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtFfvcEQ4hZgUsTITCHl_mId8m0m9omGX5PNOjj1CXALAgsja89WYK67yAo5SEy6HcfWrbFV3W4YJe9WaCmK-ywG5U09qtl30c3XsU0xkb6p_WyKK6YN0YC9CckLwt4N2ZgGB9Q2Oe9e51L7SDwQJfzHf_dv0JH-5-f71Bib4u5P8DvPbid4EScKGwFIsu9a2se2WIBHpG85QvEpfNq94uW3_MgArkLDp9klI5uzxvrzymppPxF6JtnuCpX7cfmgtI6UMqF_TJzqhYq1JNv5dG-WtdjNeNu3AscUX4_WjZ1GvXRNh_UNOQCpqdlWZ7DDzXKLgOGV7OMKiIYi6EjjrVtoYGTlRGy_P2mhTtVIBdIY-7JgozNn4qIinF4h930ekgTwZFYkt7PuKrpeg2OVrhbhPwDuvrk55vwP7ydkOp4Zw3F0XvT2A91YsD67DY9G6F7jq0wu6-0UJyWKFUgmbq68n-v8OWnWvhAH00C10wH38uLvWRaC6MjDfW-sJ0rMV5G4Ry084dAzTm223wvY0EguYLS9ox-tzD9TDTYr4p6QOuQaYFz1P6xv5RUMjU_bt7Yu8WlBQmDYjb6_wNwgZK7fCbVxQNKh617Bo5YYa4BajSqinRVftFZhI9dMfiJ8IVjWAPTUpaoX6ycGYqO08m60MUYdnfB7bXStMMx3hCbTpwLQdUJ4q4N0jQm1yRpsE63R8hA2mQtTEnOFaey1SIfXDgnqYX_t2zxC_idVSmyjKUH6i-VZwAKRezXpZOb1s4FLyuK6WZlRMb9Ls9CnXMdYES4FAmVVwBch7VhvT_-5MmbYEOQQeO0ZXFiJIJBXUsXv4w5fioDY6rEB5Mtr6AtR6dfl4TX_rnuEqPROFDIfdWeDgrYgLJmtXy0BQ5gU-POzxsiWEEPEFSNqD7g1uwkL3J7zVJv8zQU_TuVjjPlcWXqVe3jw9zKnQzMFnSP2d2Ba88VQSgaFhK4cVHKpzblGVVq_HSAT26hiQ5eF6YKxKT9Oo4T9o8ZERc21Jej1SzjT7rDH0_8WWjU4eSj859FVSesucM6amoKj6jYq8HIVoq2QzDFw907Kp-aGhVmt-kGnUMeQQBZnZRUnWqRed6URqjUIe9_AZJEmvym8VGCzXrsth1WrTI1rng0xEN4OeaBDedATsWUY5dYjLMa9ZXYsgjRBHDFLkscLjCKXzXahNF4QIChZAsoL5BI0AlqbNZDXjxRhHhEfr8eAupE1WBaN9AnCY-inqae19Jg6nlhWXnisagXRfyvrD1jSQVkZBJXvUEvFg9xl0Z1PKbsE1AInBDWtsdSIHXGieP1Rh1orNKjRMgCS-Nm0MSeUPIbLT1k2VS3MRIQbYKjYO_gQRHvCRaMqbr4xxT4YaTTT5gJAKNL4NX6DKmD4FBCY-cjZZya1Q-sTruQdciaMH9UsYALVL7p8tKdoe4rC_CRlEr7W6OBX5dtcoX6AN4lV4-9aV16AI9KeUf8HR3SpV5xYsSiNgZbpmcdou9X262J8tN758XPR3IAf6aMvVaVD7qS13Dkh14GDDSpAgFbh4-IJ1ysz8NdwmGhCfSIY0vMehRpDjbONILExaAT6PSa2Li2KoDcO-PiCuRPkHuHDEDYaKISUnA_q3KDnWQRVfrdw1W48a-GFOoW35NNgJasoF9MQDEBlnUbaGceBM2JpsZZmlHkaFQw-8659ictE8m5C_o736BVYy4lte1pLqfLQ1Ypg4v0qsChXOyiKJb8Vyvg-_XmtZMLoavXqNLL-WspKY-sbpdv3Q_FN-d_v-W4vhkKv0Dox4nmK69QHUb5bIY6O8uRNhwYTrt2BIlOU1izQz0tr8ZLZ34DyZVjnzL0Fvweb8gBtXKR3irSXP0ZC9yY4dilAAZ4h2PquZg2h7AN7cXj1JjK9zt-iod8K5GSyr8PLlRjLXVZwhBELwrO5d-kVhMLzy5P8sAfToAEE39Z-1E0P5R3rOeVzd7uRVVDPZMneur7gSLTiV6Y83A4RQFr5uC4XFZSfDX1LPSVaubgwlmah5UzFaP7P_j6_zrOjKAev27-SkPir1Be0W13QQ5_7lBVEF1_cSOVZc12JEQk4sBZ8yDQ_NxziJaWW-XJCPfM6HbMf4_s382deS7RkWFsyWrjPAGTdPnpg72KcRr4MA1g3cgqwM7A9Tt0bWthFdkCwOkn6zeCU0_sh1EDqqyiWesWgo1wWwzlwdGRNiEyQxvZ7Y7oojbCEmzkCARqn9ewNHER7NYAOsz1hHyL-kkLG7ow0X7Ib_lz7qqrq8mf655vRatK86MIrxMlBHqDMSYt6ZFUX8YV4YB6ohVeViMYNMu5iYGjMOVl-pFxwN5QdkP65zDd-UF_cmzwoF21zi-QfejpgWAxfaPY9BNSDxndP29xCXe4MlYoxkkENPTyMpwYLhn2hCwVxL8VkJeRCqiYhU_75MH7Zt2KOTHUnBMiFg8VLoEam5SpXweBKhmuCm1y-nk6ck0p_5RnezLov5sSLBawmbLxrO0NnLe1CQthz3Gz61PRZmPw5eIsi0ptAjUS6q5aMolrfmNcwHZPRN5ZS2A8rV-Y72TD4SGl7lnf2JqkH1vLaFy7J9f0wBoRQvgQZCSSnqbKaUjsLVY2Q_Ec87Hv6PmNpZYW7iQjoL8OKGQTfsMnIcJkNOV3kPmoQ7Ao9oLwkpaRoqBwkGhiEb3vEnUm-2aY2zEnw5gVZUeHrRJdGZczHTqAnTAKxZGgO-XvaQPZwrSTR3FyregPsMuKUfkLx7482QJaDjwp64cmhRg0hFhkg4UtcAFiGWO1j9PsTM52tqlRtrffvofCS3JXza-pUmwUuTM8fSgTZZr8UGKLrCGVF3omGU8zJJoo-i2wshyyQgW0c-jS1oIwBPlO-AZeewd4pZ1GNYApPEINpUsu48CLqfpNvfWLCAQOuRvl2q6_JkjljepT_qG3B5ZrShpb3u2Q0DiiAu-SGk0iAXVeNupwcMA4pkTvXA6TDAT0gIDollWqf9IzT53S-vsYdXGv-4E7dVeyxcFAzCy--Cd-VB-Q4kv7agcHtLUI_mpZD5vJDEu_orr2tDWQwQ_DgUnEi3rdVXmpmX2WCbi3UUZrmrSiSRjNWjHbqTvuYoto-6E_wsj_X_ukFnikMCM3alX7GVLs88RMpKuINpCuAMqSWkjnEnt8NA3yuq34FoL_9T1HZHZnr35hEY5k3lPHzf0cmDsQAApzbev_35zktKSgD4X6qdtUL_vNja4bDoAN7DchM=",
  "id": "rs_0f23cb087a0f4d72016ab457e6718887d0ad01d3a0d3c85af4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.125,\"left_z\":0.15,\"left_gripper\":1,\"right_x\":0.294,\"right_y\":0.001,\"right_z\":0.18},\"note\":\"There are three upright bowls: green on the left, blue in the middle, and pale pink on the right. I’m bringing the left gripper above the green bowl’s outer rim so I can lift it by the edge and place it into the blue bowl.\"}",
  "call_id": "call_6amG6wox12sIsisQk65yM6Fo",
  "id": "fc_0f23cb087a0f4d72016ab457ede7d487d09ce11acffad4ffa1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6amG6wox12sIsisQk65yM6Fo",
  "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]: [-0.485, 1.3968, 0.7864, -0.0879, -0.3878, -0.3019, 0.9996, -0.0208, 0.7967, 0.6056, -0.3935, -0.0154, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.3765 left_y=-0.1189 left_z=0.1307 left_yaw=-0.0192 left_pitch=-0.0664 left_roll=0.025 left_gripper=0.9996 right_x=0.2933 right_y=0.0002 right_z=0.1772 right_yaw=-0.003 right_pitch=-0.0114 right_roll=-0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -6.065, 8.9368, 1.7411, -0.2418, 0.0269, -0.0611, -0.0068, -1.5248, 7.0632, 1.7607, -0.0415, -0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed5a6bd69ffc90aec7c88618d15e33e5e44b9ad0fb53eccc7a3b45e6aed65128",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f30c0609a996d8b4bf06f5d9a74f2076fd70b43f5d9a6f16d6dfef3f979741bd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb89f7fc802f4f586a1a42c795c5b8176251f9fbd2d8cf62c09efa0b0a0113b2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 5.24 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 6 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7944, 0.6041, -0.3813, -0.0223, -0.0406, 0.9996, -0.0181, 0.7933, 0.6025, -0.3824, -0.0158, -0.0338, 0.9991]\nstate[eef_state]: left_x=0.2946 left_y=0.0017 left_z=0.1796 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2942 right_y=0.0011 right_z=0.179 right_yaw=-0.0002 right_pitch=-0.0 right_roll=0.0003 right_gripper=0.9991\nstate[joint_eff]: [-0.4444, -1.5932, 10.1402, 1.7753, -0.0317, 0.2759, -0.0611, -0.4991, -1.388, 10.2085, 1.9609, -0.1294, 0.1392, -0.105]",
      "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]: [-0.485, 1.3968, 0.7864, -0.0879, -0.3878, -0.3019, 0.9996, -0.0208, 0.7967, 0.6056, -0.3935, -0.0154, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.3765 left_y=-0.1189 left_z=0.1307 left_yaw=-0.0192 left_pitch=-0.0664 left_roll=0.025 left_gripper=0.9996 right_x=0.2933 right_y=0.0002 right_z=0.1772 right_yaw=-0.003 right_pitch=-0.0114 right_roll=-0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -6.065, 8.9368, 1.7411, -0.2418, 0.0269, -0.0611, -0.0068, -1.5248, 7.0632, 1.7607, -0.0415, -0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed5a6bd69ffc90aec7c88618d15e33e5e44b9ad0fb53eccc7a3b45e6aed65128",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f30c0609a996d8b4bf06f5d9a74f2076fd70b43f5d9a6f16d6dfef3f979741bd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb89f7fc802f4f586a1a42c795c5b8176251f9fbd2d8cf62c09efa0b0a0113b2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFf6rvK6BdbYJzulxfuHnd_0BzsAHc8GZeeEAxjDsYD2Ra67q64-nvMW7yRQd8pOD6ZSglGwzp735rvlpC5k5Raxa7l3rxbDqBFJHxFXUFo2oXEoornIl_puoULlLdIdkKNvcl5bEn1HLxuUL9cJqzhl9VsQIDM3RYS0haY-0-ZSd3KvQzqO1y5J5RJzY5J5o3OTSLGlYpTP8YvlhNmqMx7yEUNn_taoz8iJedsHBwJtRlfPyQ1TjrBeubHODzObOsEkqDNWwZqcFfu1ZxEBwBZc3Vd9ZrGKS3LkK3rOD-6k9LaigRBqB9a82lRYZfl5DQ-3VYjOp1Q9wcy4Mwz3vyiiPIdrUzBir_sK6GKG_aQf0Q2R87KldYR9XrXQF0anavN-j8h6OToooXy3Vv550xenofOkW1Dz0oJBvAOJsVqjfwM0N3oCX0EeMDLcT7QLBmjHaU_w4afn8yrO1wkqNdqIpuR0lREK5CT7iPsd0iMzel0hMostM9jV5L_AmokVTuB8EP41S0vRkaNujzhV_t0dfhupqRVClDpv2ai2XfcNsh-Zu1rvqtYwdqOUQdXAf4TDhLmCad0NR-d1w4RanXECRDC19uxO9vhSUc_ADksR1HTZeh0elI2ET2o5NajYsqQEaUmx_PCDQcNuxSEptO_nLnLbS1VQgTToONnrZzI7Mbjczs21C7XXlPBfzaJHP6or-sxLGN3sSU-QxYUaJkn3VMf6xDDCIRWO40NIYuHkzXnWib-UnAHykfSzADkogOxBaZvzB-VMbrROPg0cn0JuE0fkbkjgwyuoqDgHLFnqTo-txDdX5m_jnqfbuROo8rTPRzPbW54B3Uf7QZv4WFThUBQmbQtCF00skhKdT0KYLtXDR7oDX3Ot_J8BTM5no18Yx0pTDIFjsmi69rmcJXuaZEZqrrgaZzNOesoPvMYXs469fep4xf4sRg75OU2QDx0c3MVDmE4eW40fTVOjQtwJkpZR7vmdqdFpqtosd0GRp6VCp8m_s0THnejLO6AcBk2YQrbyCfYi6KfVSc9KsCxOBi4eptIpKmY6yFAmMufaJd8zswaEURVeCSSFMzx44IC_0UfruCdMOPfdxCozb1ifWssxqbbFxhsF_z9fJ8ahd7xu-rcyE01MVw2rdWG2e6_5j85msETGm2pIV-thK9QlojdmYHk31kbGvu2o5iqC1VnfuOd9-3lo_hJLw2CF16ovb0_UM_Nf5h7-IG3If1lRk7OEFurq7ZawR3es-vl_EBwP4p3UXsXuSTFvqu1SXBSXqh43G_Tx_V1eJGE8gkvrNFDl6lpSdzTbhVgHAtbgKye73KYTUPnp5CtuU4KJBWZZwVaiJ7DM_6cJgSODalS4LE1s1Gz4hAHYRTzNEm63A9FANY_t1_28LsBJk4z0hIODqFtBEwk-aowTxk_7g6Laf9E75NfJ7zFIeyepEgNdyHuxhaljjrFyvz5VqaPB-biWfiav6lmI9J_5SaX9XtagroYrlvkRJPU9idEmpJvG6FL6hxpylrVinSL6AXl9mHlSjc15H-yUssVrllLi70Mp0G4OjJf8NsmqSkBAMxCZoOK3TjB1ukQz5QY_3dwtPhFDIIDwmwh-y3kmhe15g8i7KpFbWVX8dVx00e8J2m-vAt6mriZcexZfyTbuQ-eUkqXZGQ11EcY9veU1vuL6X9wcx-v0stowlDsRMshTUFtpDa6ehXGfBo3-VZh_NiqDGJQhOcPv3pIHvawRiq-SF9RsEv4NpPFxyDXbUDijYpyFl9QNvx2zfBSLwyvcfkF9uLEHP4aMDlzOAnqXDMyzGNk9mHpkfTAv67LzfTgkD0v036ACwySArcA9KvFbqZFwcJU8gTvBjinxjV8lGPo5Ly2_kQFZkt6ZsdLCY85VzLxStD4-unnWpy1CEIW1AmAmwjRnl-japA1_LWC4A4iLvSjhdQPCi2-n5svtq153pIoU-VmKwsnyJc7LZdeHfbJmnk5ylJ2dr1458ht5X-djDvtaB6e_P-HXtQqvc_ynZNhK3F22qrDoyzgvpCmAzFKMRrEQ5Egh8UhqzH1p0y0jhemYkSVhbHu10J8uFvTp5PbLP7_gtrSsfQ2_KdP7R94PaPINK4St9RthVOVra3PBSWQmOoASCU4DPIzOPmH0Md8QRZITI2hMCwyMcif5iMtLAwL5WKgkYHSOvWhRrFv8z20A3yCHo_bPpna9fyFf9WacYYAb8EFscP728AZ6CBOxbjBmJS2hEq4RUz-zTaaDxXY_guEN7k4fdSi8Ot1claEIY32PgMQ-IBeUtqDUrG640OYhdHQVkJqV6Hm0nvgh59dutRqt2IRRNGJnhyx1knSef69dGoCg93aKe1ZNgJcxAwhOhaal0KjIJIzoAR5hoXWFKUojehCJP_Sokzl6qztsKxgPfX6wmiQaLSH3RBP0is3O79ak7FupPBUJQysAktcarRlZTB4-cpp2hjfwBliN-9Ux5GOvHn7FUIxeS36cQtMHSlCSAO2cNunrjoLU7RzZ2xn7zkJb1qFlFu-BHrObe9T5mr7TKXWSI5Wmbw75fZ4gXoSZVqE4z_I4E6SvEeM8Zh3OXl3BJHBtqnGK-FDWDI1si0z2-UTi6damyu_OcfDyTqR78ZWs8bLdRFif-hLw14rI_Ill7imR-sxt9E81Li0U5eYHYlR7_tbzxfWw9xmFXFQY_cT76JdzU1oqPGpYoOIGFCd4QQDNk2edZrdmvDNlly8hbbHh8Cho_0-9ptItkUdSBopPNM_2XH1QoxxDr93yA-RfO63zfmhzGn8l_pYuT0pLpRV1cR6gLX2US8mddc-p_Htn5Ckz9K0m6DJ4wrL8Wozzkar362InEo9BQ5Fa_goemq2Y7qemXV8AYBYDjooz5J0jjQfR3MuqLAPOn32rQ5LO9ClViLDPmZ9qdTIDNv8oWha9MD_yje-TyrxriH6wd8-7Su5hZ6qu8TUMzJ93AoK6JYWFvNC_uoeu7SfopMN0T7Q6DTCYTU_Kq0AUugxbhO32L6AyR2xaF9Y0QsqRVHEdYTF_AexNpoYjV_s4SavSy0e7CH-dkOvbJAN-cC0Daha2kLLNydXRkRE6-TDr3lg3FmN0_xEtin91tPiC49J8wGdhfKyG4H07yD5Zz8qB8fDqvZxMbnLw82yikd7jfEwBDG_cYOtS7Y-jiziAblZ7vWyz8QIplKSdjKNWi32XgzJqUl4K0eLuUcTZnEwVd7oip47w5P10iva97WFdLRj2QfFgw5TJA9f3lJQxfcYDXUuFUl9wkGXO37Yc-uPaC5l0oqlBcH2SNlGi9E8E4ICl0x9AanyMcJH_Cs8hLYsRBfmr8jz0wrDZGBlCJGUxST9n19dAisCIqhBl_wjhHLj2XEn5c1G359o7-9mQxSpVrpKfvpHLaAAcxJ_XMSNFP-5QW2xE2j4pKO3pQMxMN3JOc1qs0F7pZp05WYvy",
  "id": "rs_0f23cb087a0f4d72016ab457f2724087d094a742945eb5a9fe",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_y\":-0.15,\"left_z\":0.055},\"note\":\"The green bowl is visible below the left wrist, with its right-hand rim just to the right of the jaw line. I’m lowering the open gripper toward that rim and shifting slightly forward and right to straddle the wall rather than the whole bowl.\"}",
  "call_id": "call_3dJJGYX44dXFvQkK8eIXHlu0",
  "id": "fc_0f23cb087a0f4d72016ab457f8f1ec87d09121d9761192276e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3dJJGYX44dXFvQkK8eIXHlu0",
  "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]: [-0.5205, 1.718, 0.7712, 0.1577, -0.4061, -0.3214, 0.9995, -0.02, 0.8017, 0.6056, -0.3935, -0.0154, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.3959 left_y=-0.1424 left_z=0.0446 left_yaw=-0.0251 left_pitch=-0.1406 left_roll=0.063 left_gripper=0.9995 right_x=0.2936 right_y=0.0004 right_z=0.1758 right_yaw=-0.0022 right_pitch=-0.0164 right_roll=0.0001 right_gripper=0.9991\nstate[joint_eff]: [-0.4034, -7.7744, 6.7077, 1.7411, -0.2662, -0.0659, -0.0171, -0.3897, -1.5795, 7.0222, 1.7705, -0.0366, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a78809862711e5d7476aee2c0f6e7f4b8594d78eff0c67dd51164b864caa42df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e6a464a65e885398be0255f3c972565273b6fed725343b31076fe45592bb927",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bbb65793ccd987cbdab85e0c4d9974102bf7431f65380dc38f70d8a4402e29b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 3 attempt 0 · /responses · status 200 · 3.102 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]: [-0.485, 1.3968, 0.7864, -0.0879, -0.3878, -0.3019, 0.9996, -0.0208, 0.7967, 0.6056, -0.3935, -0.0154, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.3765 left_y=-0.1189 left_z=0.1307 left_yaw=-0.0192 left_pitch=-0.0664 left_roll=0.025 left_gripper=0.9996 right_x=0.2933 right_y=0.0002 right_z=0.1772 right_yaw=-0.003 right_pitch=-0.0114 right_roll=-0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -6.065, 8.9368, 1.7411, -0.2418, 0.0269, -0.0611, -0.0068, -1.5248, 7.0632, 1.7607, -0.0415, -0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5205, 1.718, 0.7712, 0.1577, -0.4061, -0.3214, 0.9995, -0.02, 0.8017, 0.6056, -0.3935, -0.0154, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.3959 left_y=-0.1424 left_z=0.0446 left_yaw=-0.0251 left_pitch=-0.1406 left_roll=0.063 left_gripper=0.9995 right_x=0.2936 right_y=0.0004 right_z=0.1758 right_yaw=-0.0022 right_pitch=-0.0164 right_roll=0.0001 right_gripper=0.9991\nstate[joint_eff]: [-0.4034, -7.7744, 6.7077, 1.7411, -0.2662, -0.0659, -0.0171, -0.3897, -1.5795, 7.0222, 1.7705, -0.0366, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a78809862711e5d7476aee2c0f6e7f4b8594d78eff0c67dd51164b864caa42df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e6a464a65e885398be0255f3c972565273b6fed725343b31076fe45592bb927",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bbb65793ccd987cbdab85e0c4d9974102bf7431f65380dc38f70d8a4402e29b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFf_K6t71P6mNwfBYmeC5zKkgEgCcNF-e7i8nXAFJbgIa9wHYlq1RaTbip7JbwzHu20yrm7tUNVoxCEt26lWksYIEDXBQDmWETRBZVKF-xxGi4sygDvEAGL8juI-r4T6Ce7IJYfI2jColkYlqKnoMYVLr5zWe5PSKjN7cGLBdT0ZsUlntZ0ifsIRC4ejBgHndedUwi62OGW6vEmoV7BY29nYLeOYwIZ373r_B7jZVo3OodcXElK8VLM6BBlqAGKg5JZyn9_mYFF9SfRKSGc6Pw9SNnr1-qby9-Fzs039LPqzaKkgDxCklWv83Oc3DxtreLgo0ySEC2D9lt5VFXUlWaLpRUxaV01pjshkhiISRkqDrItO76nQSYyvg8uog5cEpSKI4DEM7gMJDjW_fyBxsAznIHOU74-Jp5Hn9aGy6iHw7aXsM0ABSG1KvsTelDhbaACh5551-2wS7V5BxHUYy6yCfUCUJCr7s4Nn4WTEa6eeQIfP5mowRCNz80hteipykkRsCROOwJnhelOcJSlIS9jQcszm8rUjN9sAEa5ys0XxEiZ4mgFvQ0YJEtDT6i9zMeNX4TZhWsiuXUmo4xDfM2E_XvYcDAjqh-h4Hh86GlyscvB43byaUFq_ymxbi8dV1J7OCyuNlxLqoKFvvgOSxlDnjzuuQlN8Tf8t75a1WZJtboifUvT9Pi6HD4ln-LJmP5bz4L6S2hH7NX906TKwJNoZAFTjk6-TV3Hu2kz6SwvB_XZZDY5emdkBej9feGlm5eD9BIHj0ELOV5d_xWI-FI2XeqOdGZqZD-XVD6mawXI_hgmWHRAgA6YtQ3G-nK1dt_lDnEgkM3TpblINaz_w83AYUNdgy55j0h-4PY9CGznqIpHgQJRtK0BIPK4BGQclQOOpVIkJehYXlpYgdvQXISNA8WqWkFqFeYa3kfISLkClw-GQX63fcC5vyR-KCTxlygRSxHQoeRH_U0Bu0mNbAQdqyODpOtpWre7WpI8y35fg_QBdfaZRbH6AhfTUSehMMvBngEqjra4QQO-zDGdKt_Fq8N3sEU96Lg8SBwjt0k5SmMoBY0w1eAdnrZ1xFlt9lbNn3Fogpzzp5afnSVOOjlSp--2sorrHqE1UisqfXnT78PW_qLYVnPjw7pQzDQdg1dgzGjLjLKS3jV7-vlY04wMqz3SQtAbCZsjoLznuUUbKnk8ufErP-o0S8jMeFea6JE5P0-8rkd5RdoS4PatKqcgoLuVZLA6j37sI0p6iifkhswCMdo4zj54C-P2vPXkof5otvdwHpIYV00cEJw6FnL7-FK0JKwpF_dbjqKi8MhUTEM1ciwbSEMAo2FNyapSntOb5SPDqQ7o0eVLZpd4cfIu_UhSWIxNywncRfsvuJ5o_OJEHBOq6ZRbx0ONgKSZfaP7vXKxCaKuWkWvXtd6V7xMQqNw2TmkqM825CFSs1Voyq-G0FwnPnyFoe3vABMHmARqzBWR_MuOVP2f1Klz5Di3cVpzIVW4he37hmlxDLH4ueScvchGTMJ0qTwvICRZVwNS-8p3TbgtyPWaEjOQDY9Ny6NcFyTlNeiraLG9rjrU1BgFFSXbAKcYsyySIXrXegmiXArFgvn1MEuNVwqC0rMjRo6LpiSCJwwwzmVZo-9sdRQYhdHxycH9DRxyaFasY5zm361sxPCbzLdIaGtqiL-NlF_teOxA5muQMfjXHhrsgU0f69DKkxmNh2Cj6lfTcQAx6JYbcmbawK4ETjxuv4bevRq0H2er__iFFwcuRjnGDKd62zqBCKFDIug4Tv5ixWm_LBzWnbdJWntDtfdVsFvbPwFz3x5A8H-xQVYk-fwgNYTkmC-ZVZqpbg3-PqsSm-ClykMeWVE7hKY3Qwl8LHM-ua9WzDcXbVq6WS74eErS8Qi2dTJk5445bW2eoK7hWWsCK",
  "id": "rs_0f23cb087a0f4d72016ab457fc3a1887d0b8a08d75f37dec35",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.16,\"left_gripper\":0},\"note\":\"The open jaws now straddle the green bowl’s right wall, with one jaw inside the bowl and one outside. I’m making a small sideways correction and closing on the rim.\"}",
  "call_id": "call_oXrq5CBuzTSPsfLVGnkaf8Et",
  "id": "fc_0f23cb087a0f4d72016ab457feea6c87d09fb622c56551bf64",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oXrq5CBuzTSPsfLVGnkaf8Et",
  "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]: [-0.5663, 1.7466, 0.7895, 0.136, -0.4423, -0.3565, 0.0389, -0.0208, 0.8024, 0.6056, -0.3969, -0.0154, -0.0345, 0.9991]\nstate[eef_state]: left_x=0.3909 left_y=-0.1547 left_z=0.0382 left_yaw=-0.0209 left_pitch=-0.1539 left_roll=0.0753 left_gripper=0.0389 right_x=0.2932 right_y=0.0002 right_z=0.1749 right_yaw=-0.0028 right_pitch=-0.0206 right_roll=-0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.4034, -7.665, 7.2547, 1.3651, -0.0415, 0.0562, 1.0965, -0.1846, -1.347, 7.0632, 1.7607, -0.0562, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88e90f85c8684afb6a6aa1176a6815ee847ea5892246156f727a369cba0b724a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e4d3f1900c37fee351e58d49f91334ccbee4348d52399f0c577b536a2c92795",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aca011e7f0794223a384b5dc78d707676428997cad3a7d9914e6b58f139090a6",
      "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 · 6.901 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7944, 0.6041, -0.3813, -0.0223, -0.0406, 0.9996, -0.0181, 0.7933, 0.6025, -0.3824, -0.0158, -0.0338, 0.9991]\nstate[eef_state]: left_x=0.2946 left_y=0.0017 left_z=0.1796 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2942 right_y=0.0011 right_z=0.179 right_yaw=-0.0002 right_pitch=-0.0 right_roll=0.0003 right_gripper=0.9991\nstate[joint_eff]: [-0.4444, -1.5932, 10.1402, 1.7753, -0.0317, 0.2759, -0.0611, -0.4991, -1.388, 10.2085, 1.9609, -0.1294, 0.1392, -0.105]",
      "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]: [-0.5205, 1.718, 0.7712, 0.1577, -0.4061, -0.3214, 0.9995, -0.02, 0.8017, 0.6056, -0.3935, -0.0154, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.3959 left_y=-0.1424 left_z=0.0446 left_yaw=-0.0251 left_pitch=-0.1406 left_roll=0.063 left_gripper=0.9995 right_x=0.2936 right_y=0.0004 right_z=0.1758 right_yaw=-0.0022 right_pitch=-0.0164 right_roll=0.0001 right_gripper=0.9991\nstate[joint_eff]: [-0.4034, -7.7744, 6.7077, 1.7411, -0.2662, -0.0659, -0.0171, -0.3897, -1.5795, 7.0222, 1.7705, -0.0366, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5663, 1.7466, 0.7895, 0.136, -0.4423, -0.3565, 0.0389, -0.0208, 0.8024, 0.6056, -0.3969, -0.0154, -0.0345, 0.9991]\nstate[eef_state]: left_x=0.3909 left_y=-0.1547 left_z=0.0382 left_yaw=-0.0209 left_pitch=-0.1539 left_roll=0.0753 left_gripper=0.0389 right_x=0.2932 right_y=0.0002 right_z=0.1749 right_yaw=-0.0028 right_pitch=-0.0206 right_roll=-0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.4034, -7.665, 7.2547, 1.3651, -0.0415, 0.0562, 1.0965, -0.1846, -1.347, 7.0632, 1.7607, -0.0562, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88e90f85c8684afb6a6aa1176a6815ee847ea5892246156f727a369cba0b724a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e4d3f1900c37fee351e58d49f91334ccbee4348d52399f0c577b536a2c92795",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aca011e7f0794223a384b5dc78d707676428997cad3a7d9914e6b58f139090a6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFgDiBb6CxTNlOndZ-SzNq6-Nfvr4BWW-2tO5Tabxei5CCwfLzBRasSNEZjxsavErrpXca972LAkblcipr3Eq9GU-O-tthTXSjxL1LW1iz-A5RzsqYzqC3x5xthgGMcI5ofioVXgoDo1V7mAdAhZampzBwB76CEqTqm84xWHpIK2mkDrwqAIMaAGa4U25x8f_96vkM0MA3tVu0-yVxsXZWUa3smzAbKWtuFFN1zuox59dzhy4W1tm2HzG64AoGBqpCQpLsFa3V_vCNWHarCs0wpovU0MIvp_z_gN1bweUwRkFxoijEe_W9ti6EJEQF_awHHK7iFMEmuFcYpqSrj-WrhviujAC3_8LKWfVqsD-bUSfYNfwO6fan1A1ENOZqWXWo7k_uvpi7xyquo5a-Z_U1c4nGhnkYoPQzR20TpBACgPHguDePcL6TeZIpWkD0OPsXttE57oBxtXk0jfipf3oSx8uiLL_0si1aHqm5_xpmETvoVq4RYJl6sLgmfRk9tvIlgq0oqZcZMEotMnrMtl0c9fka_mJSYWGUmgo8q-7-Q8waq3zY4MaVsCWd8VTPqW_xFcK9ajj8KRbPzC0pKCnSuqAzj8YV6XisHhvUbe5w3RDbKUUdd-QRf7em1JsiLWtVqb7N8QIq_n-NBQFH_TO5jMHmq7xaEsj1o1K914R2DWK69GmdwokijNy4uqiePPWtvPJqfOdHTdorgzZSNuRD2eFu6Nd5iQh6bt4rdbuetH4VKaZ4mOEifs9y7xpfRH4ZzwvuIsNAoRYAEM77KCkGdtW1tWThPvcxWEVTDItKj_DrnmfGXDz-B0aC5aE3fqADrrTihPsowkb6BsPWyPT-Ekv1aySj41MiLhTvZz8NmpIt5B-vWX8dldnAVcWX-Rotd6B0-uPA_Tv1I58aiKUv0FFgb55DKUWooS52430lfiI-NDBGyLARKU1D7KjqiLnbHGx_qlKJ1MVilZY7v_iiyC7FVUNeQgxKQ1RKa8Q-0pTh9_Gw4VShcwnBiMf2Hk60ys0ZhN9COhcbYkd4V-MzUlDEMppCvFglNOzmMOFiVSREXESEeMIV97Qhms8q32dCv35U0Q9C07XADCrLeLmkIMVtdLyjxb2xlg570wKxrgZELWlo9d2JeQemqwuT8aSCheCWNncpCA9f13JzQpabISoGhjb2ymw4GGpDZfIh01Qf80AvBklXebBT9p7_QaIADLLb-WBJra2zEFrT18A6oQKywbj_RC822JkAvonT3WypHUzQXZq8oIXUKrtezrGXkR",
  "id": "rs_0f23cb087a0f4d72016ab4580291fc87d0a5de3ec22d98206d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.396,\"left_y\":-0.16,\"left_z\":0.105},\"note\":\"The gripper has closed to a very thin gap, which could be the bowl wall or an empty grasp. I’m lifting only a few centimetres first to check whether the green bowl follows.\"}",
  "call_id": "call_lwUwJOVfWu4sY3QbCsj62lOb",
  "id": "fc_0f23cb087a0f4d72016ab45802e76c87d08fd4a9f5b81c3837",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lwUwJOVfWu4sY3QbCsj62lOb",
  "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]: [-0.569, 1.655, 0.9176, -0.1097, -0.4438, -0.366, 0.039, -0.0208, 0.8032, 0.6052, -0.3969, -0.0151, -0.0345, 0.9991]\nstate[eef_state]: left_x=0.3933 left_y=-0.1572 left_z=0.0828 left_yaw=-0.0149 left_pitch=-0.175 left_roll=0.0829 left_gripper=0.039 right_x=0.2932 right_y=0.0002 right_z=0.1745 right_yaw=-0.0031 right_pitch=-0.0217 right_roll=-0.0003 right_gripper=0.9991\nstate[joint_eff]: [-0.4171, -9.6068, 8.4581, 1.4237, -0.2466, -0.0171, 1.0281, -0.0342, -1.0872, 7.2137, 1.7411, -0.0415, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc98247b8f853ff2fab35c02a4815daf8501efdba3ad3367e9ce2d0a78492398",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdf29a213dc388858f537d1362ef1db448e654c185239955935b78ae857974c2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e064c08c8aa52842e844435108ec2bfc7e882bbc24295d63a789b6a6e966e766",
      "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 · 9.901 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]: [-0.485, 1.3968, 0.7864, -0.0879, -0.3878, -0.3019, 0.9996, -0.0208, 0.7967, 0.6056, -0.3935, -0.0154, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.3765 left_y=-0.1189 left_z=0.1307 left_yaw=-0.0192 left_pitch=-0.0664 left_roll=0.025 left_gripper=0.9996 right_x=0.2933 right_y=0.0002 right_z=0.1772 right_yaw=-0.003 right_pitch=-0.0114 right_roll=-0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -6.065, 8.9368, 1.7411, -0.2418, 0.0269, -0.0611, -0.0068, -1.5248, 7.0632, 1.7607, -0.0415, -0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5663, 1.7466, 0.7895, 0.136, -0.4423, -0.3565, 0.0389, -0.0208, 0.8024, 0.6056, -0.3969, -0.0154, -0.0345, 0.9991]\nstate[eef_state]: left_x=0.3909 left_y=-0.1547 left_z=0.0382 left_yaw=-0.0209 left_pitch=-0.1539 left_roll=0.0753 left_gripper=0.0389 right_x=0.2932 right_y=0.0002 right_z=0.1749 right_yaw=-0.0028 right_pitch=-0.0206 right_roll=-0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.4034, -7.665, 7.2547, 1.3651, -0.0415, 0.0562, 1.0965, -0.1846, -1.347, 7.0632, 1.7607, -0.0562, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.569, 1.655, 0.9176, -0.1097, -0.4438, -0.366, 0.039, -0.0208, 0.8032, 0.6052, -0.3969, -0.0151, -0.0345, 0.9991]\nstate[eef_state]: left_x=0.3933 left_y=-0.1572 left_z=0.0828 left_yaw=-0.0149 left_pitch=-0.175 left_roll=0.0829 left_gripper=0.039 right_x=0.2932 right_y=0.0002 right_z=0.1745 right_yaw=-0.0031 right_pitch=-0.0217 right_roll=-0.0003 right_gripper=0.9991\nstate[joint_eff]: [-0.4171, -9.6068, 8.4581, 1.4237, -0.2466, -0.0171, 1.0281, -0.0342, -1.0872, 7.2137, 1.7411, -0.0415, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc98247b8f853ff2fab35c02a4815daf8501efdba3ad3367e9ce2d0a78492398",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdf29a213dc388858f537d1362ef1db448e654c185239955935b78ae857974c2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e064c08c8aa52842e844435108ec2bfc7e882bbc24295d63a789b6a6e966e766",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFgLMtpPYWOGBzJhCgh6zFSV80ihbhbq7gGR69fjqCZBmsdfaK-1cClO26xzVr1C1d53kcecBvzNMw8NmOhicB_UdN-Sk--p6W3XaElZBHJ9KKFdEiTQrWxX9fExBTMJZyWg7ZSTst0R_pf9r5j6cGsdr7EpbCA85Eodxjcot6jlW8IAgXhnG_ZrrpC7Rqg16GSPTVQb2ixsdw5QFVMTGks0ZNLbXajW3kZGXle5EZs0_Q2pVDOZj-PSZxQrtveqvVK4BakNg2tLkSqy7I2gLAXXD28exG6D2_EHAOw1lw46RJQwLfM6RfWCwGwq9fgGF01KZc6eRjjOv9d1T67TKV53B5LV9nBdKZjV6dpC0jG3VBkVX6EqnmPZ-BbT8FDkc4hjh6bzedF93sUU0FJjl8MpwwiJ5e_WMKazHB9Bg3WtDvR5pPJOvPU-uxLFbEqFxET9oqfxXf7Z_jRxTptWu6pvPjMCiezV8jHryuB2-ePxe63yMK8Fc2AGHGhDcYhw8uokAhw_ZJPkBOM9MW-Qu0W7Xzv4mtGwRxfwlxTpzrDr1SFI_4IAIiH6xFwLzsOMeLZtcxKSZZdQCtBcFjRLhWkIxWa2CNdUXJ_pMECFNfPm4zJRVWXapfAgKhLm0HohLjgYDeSpyJ8AaPeRGofTeeYPg-BJ7n9nzIzIiAuFHdkior-sxe1RAUxyJqnq3pTEd1EhiqfkUjpIBJBopytrGk-aYMRyCkkjWZ0XXvrfgbMMPvUtQIL7clK9GyhZLZU9LYqx7ktuzToA2ekvwkL5zsDmYA1dtHGgCSBEYt3IH6nVGcjBKDd-4Zt4xUzL1CVjyWqR4tfGuOSNWoOMsw0K7gFxt3OQ4ULO40YwxDRIQfMD67t3_hBbb86_OEi6HOZ8iUd_NuqO0uQVqi5qixCgohB4Fbuwkxo8Y-hn0FirlYFrYSD1KvQBdfbutSP1vaB2W_GSaHAevUrcUNIRKpoWOVCkShsppQn4fpXfYJIdTnQxFG22J2bE6RaWxiCdRz1pzhAuwW8E3Rn9vGRmV_pBrMgCHWwIYwKaK0QmJaTIYYXSWb8ThaNmKudM47CTPY-U1PWald0rhtTwsNaVtsGhQfVeYIhii516RPj0tjvQwsywCJMI9j7xH-jkadsJeKDozxDbP40pXVGjvqRuG1pdlJPdnK4quu9jInE4wFvIKKZDeQuN2k9of2zhvKHaVvp0hTylo9pWGe0Xfi5sTm8HNrV1dqdz1DBtNXqURUx3XdZT_KH7ALAbrDR0wHnrYNvXFggOxidwkPoPALKQKmNXud6cPNAs1bm1AnJO_QllJGYphmZmJ7RTzOang5f0-yugP-EtjPVF9ONYbeTyPsAeJ7McfTLs5Fw9ZovUsi7FzhjfViqZUMOQwRdK-5DNdz1UxykNeMkGcXdFAFlNlGBiWTHaGBUEm8X_DeAkZFpwtxQCjxcbQa3jtH8GxhBz12EPV8gCb-3w2jxZ81HOi6g62vsGcH88pTmg0d9D94htPVFyZpo_6LO0cWivc5H3ovhapPiMi0GnvPpJzp0GadXYbZGC1XWoM3CbFMiwdT7PUfWELln5ANu_e3aKO5TKNrzQQ6CE3-qhKwInAVZ3BADrd7s22eQOjj0s6QaRvP4jWwZRGV2fgXrfnnLPXNrZDmBm-qWsAfG3qPae2YVA4zeG3lFR6-FUCT66tcel9orHXj_aj5_R4714MYPTTZJRgHQ6NnkXfLjJdrRpQQc62kqnQOqWO0DEIbJg-T93k6bYoqK1X2IB6Zd3NZeLkpKgo0T36twANdTeJhA5iOtNFbmxP-zinInbTnTDJg_UI6Z_d1KgMD2ELGWB_JGYM2uRdmM5nAfWb-WVDu1ifrfWgHBqj8h9nOGfq1ZzyMPFUbIlUsLlI3CuLZSi8hkH4TsPXc3W7ZkqAxjO6scvAzkc-1XgVAeBrwIMAJNzOZpovnjsMsRwuKbv7jnCNevxz15JuBsV9teTr7ehNfteqHD0s7jiLeuQwFVDpUh7FfCkM1GLKooQr3zjx9vEE6IXQrM8Z71T0-wjeNaYqKWILb8qtzmWGmunCfBIRZzBROPf_Q4cfRZbii6QnAE3GAhpFM9s4FLPzdBk7TQwDLa5K3eAeVgcVzdP26kZefqjC6vrO9tjQw2_0MFbiIpY73tzeZvEsY_JncajOVQChk1oy90zQ1GTZai1jGYsnEv381vqt2kUrQXZQ4FqqQ-Pc937p89SA0vjJHFCf_CG0t-Ixr_EP-L4Zk3soTrf0sLiHbk2VA1FT9JP17XuF7POnJnKgbTD1EH76B_T8IzaAjP5M38MIebVDBSU6z4T0LvgMv9ksQXL9ZhCa6Y8we4ZcznFVeAEzuF1eSiwTWwGAolyhEAOoHVUCAOe7WUoCjc1MHbFJdUzNqFruc-PQM4nXVV4BeVS0RVUIy5CrZNZcHxIvBsQDPR8vi_1QZC0UGSDSjoxG7MVOAca5Xc=",
  "id": "rs_0f23cb087a0f4d72016ab45805bc5887d0a55de38bbbc824a1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.396,\"left_y\":-0.21,\"left_z\":0.18},\"note\":\"The green rim remains close to the closed jaws, but the overhead view is partly blocked by the wrist. I’m raising to carrying height and moving a short distance toward the blue bowl so the next view can confirm the bowl is travelling with the gripper.\"}",
  "call_id": "call_XAN6mk5LhdGCQjVrqkv2vivF",
  "id": "fc_0f23cb087a0f4d72016ab45809e05087d0833819aa853b77a2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XAN6mk5LhdGCQjVrqkv2vivF",
  "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]: [-0.6834, 1.6665, 1.3014, -0.5133, -0.4976, -0.4675, 0.0426, -0.0219, 0.8043, 0.6052, -0.4118, -0.0154, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.3962 left_y=-0.2093 left_z=0.1701 left_yaw=-0.0298 left_pitch=-0.173 left_roll=0.0593 left_gripper=0.0426 right_x=0.2912 right_y=-0.0001 right_z=0.1712 right_yaw=-0.0041 right_pitch=-0.0378 right_roll=0.0005 right_gripper=0.9991\nstate[joint_eff]: [-0.5538, -7.5282, 9.1009, 1.2772, -0.4908, 0.0513, 0.8962, -0.1299, -1.347, 7.0222, 1.8632, -0.0562, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc2b29e33eb7b0161292798480e46b88f7b35d9aa816b5436f54655e3d9d858d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f6ce31e313c08318a22ccae83a477d781a915edd8ff73604bf016c04d348a1a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40dcf2af6b22bf8fdca6e2def2b38c0794cf1d0d69d189bd3556866ce3ce4816",
      "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 · 4.632 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]: [-0.5205, 1.718, 0.7712, 0.1577, -0.4061, -0.3214, 0.9995, -0.02, 0.8017, 0.6056, -0.3935, -0.0154, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.3959 left_y=-0.1424 left_z=0.0446 left_yaw=-0.0251 left_pitch=-0.1406 left_roll=0.063 left_gripper=0.9995 right_x=0.2936 right_y=0.0004 right_z=0.1758 right_yaw=-0.0022 right_pitch=-0.0164 right_roll=0.0001 right_gripper=0.9991\nstate[joint_eff]: [-0.4034, -7.7744, 6.7077, 1.7411, -0.2662, -0.0659, -0.0171, -0.3897, -1.5795, 7.0222, 1.7705, -0.0366, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.569, 1.655, 0.9176, -0.1097, -0.4438, -0.366, 0.039, -0.0208, 0.8032, 0.6052, -0.3969, -0.0151, -0.0345, 0.9991]\nstate[eef_state]: left_x=0.3933 left_y=-0.1572 left_z=0.0828 left_yaw=-0.0149 left_pitch=-0.175 left_roll=0.0829 left_gripper=0.039 right_x=0.2932 right_y=0.0002 right_z=0.1745 right_yaw=-0.0031 right_pitch=-0.0217 right_roll=-0.0003 right_gripper=0.9991\nstate[joint_eff]: [-0.4171, -9.6068, 8.4581, 1.4237, -0.2466, -0.0171, 1.0281, -0.0342, -1.0872, 7.2137, 1.7411, -0.0415, -0.0806, -0.0122]",
      "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]: [-0.6834, 1.6665, 1.3014, -0.5133, -0.4976, -0.4675, 0.0426, -0.0219, 0.8043, 0.6052, -0.4118, -0.0154, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.3962 left_y=-0.2093 left_z=0.1701 left_yaw=-0.0298 left_pitch=-0.173 left_roll=0.0593 left_gripper=0.0426 right_x=0.2912 right_y=-0.0001 right_z=0.1712 right_yaw=-0.0041 right_pitch=-0.0378 right_roll=0.0005 right_gripper=0.9991\nstate[joint_eff]: [-0.5538, -7.5282, 9.1009, 1.2772, -0.4908, 0.0513, 0.8962, -0.1299, -1.347, 7.0222, 1.8632, -0.0562, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc2b29e33eb7b0161292798480e46b88f7b35d9aa816b5436f54655e3d9d858d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f6ce31e313c08318a22ccae83a477d781a915edd8ff73604bf016c04d348a1a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40dcf2af6b22bf8fdca6e2def2b38c0794cf1d0d69d189bd3556866ce3ce4816",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFgVDJCSQVwNVxcOV2FRl9L1gp0StGH4MhzpYqE6EgMBXDlacRjJ03ylIia9mD6YucIwyRD46fsq0BXxlWpKdO6riKzSOzKHpeAIcVw30yeGnBmd2Wt4HsxB4uU6MIO7eJ6fuT3h-UUnLAicm6Jk5ME43Pcp8QriuGG7YIBKB0Q_2Kn-sVVe55F2vGHTPoi0Zgoih_lqrRuNKiaHDZTC9Z-hCQ-XM2UQh4ofNVbdNC84zDIm60iGnzxyLQwV5O6sNrMepQrr0vVqpsBbFSNoDaDY-N09SifArXyOLocgRSDTMSyj1IqtG61kD6Fjt_kpSTb4WArEDh2lk7r7btuteXm-_q7fuPhmtzCbWpKgAm0UZDlRGkG25p6-yILx0Dzn5z25PFiZpSgiPdrKpTjftK1tl8EYQJPMS-lXgXnwXjgqedBwQpq0vCTeBWROTksYaHNUlmTPD0aixScaHR2LJF2oSIMj98ciR26PiHRRSNfjAMTA5_PCCeel39HnJHxNHEJOXTbMBwqk2lkpXGsbEWIljzO-EyeqNfIM46nxwg0mqjrwDX1h61jUZd4rwMILIt8dsnfA9SJKKw9BYVGropVQb8dC5og3jFg1R7WvWCkLdqJSXIxPEhfZF-ij-5nn-DLUCoZxjD1aneD9ZW1n1pY8I-1U0TuLpx4_qXb-vbaSH6zL_O4Uwlrm3n8qd6PvdzgavgydD-6pV4k-Nh11Ca5dyFDv7j5N5OJa1gNwPh3NOjr7p44Q3z73h6yLQVG3I2HO5LIL5JZ8pnWbnMQdksyMblDJxgdrx4gaILVzSmdszRr3TVN0zRn8d8DEY8JsR0FaJvMb0DC9eaGtikP07m0ChskN-8Le2iT2ibjvIOoLS5gWNkwV-o1kNp4BiHgFlq4AtOArW56-fnhK4N1XqsyxYCsOsYxd5UiERlyQdDRPhxQRgsO3X8osXVwdNxijklSQzffdWKvEc_C1R6THQdths9bJU3YDd4N87Z7DfpybaQPgeP39nbbTkEYRkfk_S4czICR-KL9Ghm87pa4kKvfRlMuQkPAE64AXDTI1Y0uoCVy2ii24sahzm1Bhppgi3n-ikwz5dBnfj2hKZogryEwQQC-PGpMYbDztfMoWru1yNAlzDQ0zI6bGU4bNE0APWR6SpAjNzHvA2HNtSnebWpYdpaVCyeOD317WRph29f9YH5ccSXorO6ff8BSr1xjErVIQJNZ-CYfyP8DcdoyY2AXsSSUp26NEMinakmGaEHXtdh4JVACA_erTlZEb3I6ovTgHZHT4dcMKWVT-k1voCnezWn-W__ybYRkGHTN-ZkCGDD5Z3iXo2mADlU3uHmgdmNho91fyaRlykQTSGCClgmE34cSsbJqdehdL8JZMEyK_6CRq6dAtBoagm2YZ2Ldw01Qz-lvwonSLxikpLAuoT1NIPZsXKcXcblFyuxDHpGCoOyJhCyd4tsF6N_iH3gU0n1hLk4nvTLM_4o9Q2XRwIkZ6q-exSJg9PWkbJTuKOGRbcTGIiHZL95o55AjGon1Brtn8Yz8y-qBH5nQAZQDNHJP_UpFLiHcyNN5cyZ_kxvEH9sHV46UXgzUVHcjWe2J0VGFy0RUGaKxbe1NgmQ7By6A8JRsFi5qA-FLhfvO1FsJoMDB4tscYb3JEHA60mZGWjpyyKptSHhRvsmIQtHL40yli4Qn6-YBd8RztYqDCPLu9rb0agpdAPCxg3TX9NWT1zxbW_gwyoe4S_aoDZ6SVrSMyqhBUL8rkcjS6XjT_x2cgjIbq0EJWA_AvwrX1yncfsy2sQRtp7z4h7BGaxa71j5O6ZuvYPikpeOOtVSws6dxCXMG3WMC6wEYjYth1MdG6LL1izDi3vMafseEz_2IXjGlteRkRxhYpOFI4CzpLg9r7US0SbNQkI35pYoT8hxy0BW3gG-O-7yEz6S64OlwyQ31HvGCIwkNbrPXuej47ymHOISO0q2X09FjbhHz-tsg1JiPxBhSz5qpLbEbwtKhYRGyNkRQ8Fd6ioyLVErEpbVp51i2DFGgGa2J9YsE9emaq4xKaAjL91bqUQN9dO8nPEcHIsnINdYs6raDln8vQCCjoEksVPAClv7W-GpHdAzPgFz6MeuPUxZRdoXjFbs_GZgroaNvBQdrHwJhjkGJRRdNLaKgxIIYlNzmtrce9X2KNlFy-GJXFPsMzvWO15VR8wMaKFCdE3FDiB8LRpP3atxvKdz-DUf4Ivc8T4dYiXAnHpnihh0TkBClGKrwgGn9NBcyYBXkh9OMT_HXfc50pqfPpcgTm5GwuLIHKUU2Dcd99NTYNwh4zoA8cUApmlwUvQYb_cVexU6Dh20FpKkI0wF17eNx8tP-AwOmFSjhYUbsu4M9GFBRflVU4zpcZnePdul7tfBDGpIWuikHmARz4PTRea9scWz0uDoZxAdJewMBfPTzkEAdJuaUJjfGhzlnAjfHowqL2KXXA1987DgWHi8iLYVmgmW5BQr6N3gmGzvWw51GDZsK5s1YKQIf-wbtLBqNvMN05wNMgCrA0UxueT5Ggdri-a0n0lhqbb71yqlnkL58M-mjlttgRQsXoBPLR73urL8eamKY2IcdL7acL0SpXrl7zEn0ZU--BZQmg9OHUlM5DwoFE2WFZ--6nwKVfsvU7PWMa0ptxW5gEKh5D_n_aZaD8HY76Y-HmZ7HSx_usg9dZkHUDzGHC6po9sx7X2ddj8s0i7KhvOg4IEmr9ytpI_u_NN3fiTPC8tSt5EFM8BJ_H4Dfemb6o546BuVVFjwMMHfvYMWI43MhVW33uWCYE2yseDRq3icCb3TJTZc1S7ApS8JIxIFRvQKzjzfhr5MD9-4IAzKV9nU1KQV0MhmZVl28om46gQUjjXAQbv3IPNDkbb5MJBUe08peuCLT1jB9m5TWpcV-2d3KEaWtrE3chYIr1qplmwxhmAC5t_29cNReaLDRGVN7w5OJzxa3k5wXadqlm9wFWWEbq6XxUB_MqvBR-xNIOA76dD-jYrzNwxrFuknBlIgB-XJysZ0aSSAMSw0qlOPAsg651iq2Cq2-eM8qvp5wZpsM3svvjhnoArTFPzBnTgIwR6IMUC8Zbi4JBq2-AgYT5j5n7ET-2b9YOJK0i0shcDrf1MoZO9-AZHOHlJ_EEN5ficAMsp3sI29k8XvCI4E9F4Or9vlOKStbDyQfMYRULaAyXu1wYafCyTqfJ_ap8xYhw4Xqwt_IVS5-dPlTw2QL0ypEkmWHtP2FLc0FyXif18bEFVJITqevq3JQQ2Dut-dFmhNEP8h7Plz2T88kzRfv7a_l6eFQdWtFOqLLmADjpP0syCOySAm8SPxy2V9ACgLVCQGW7XP7lb1VhI5snYnfnRwN6Ucj-3emWjhZg-n4Lrpy1cbTWTLMCUWrrXdowfSgyzJgMMQcGmXi6Bjlp920m50-t1tFLI1C3WDOfziwiig4V_uKFWDIdRxfM",
  "id": "rs_0f23cb087a0f4d72016ab4580cfaa487d0b76ef00e9ac2ab38",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.396,\"left_y\":-0.335,\"left_z\":0.19,\"right_x\":0.294,\"right_y\":0.001,\"right_z\":0.18},\"note\":\"The green bowl is now travelling with the left gripper. I’m moving it over the blue bowl, keeping the rim grip offset to the right so the bowls’ centres—not the gripper—line up.\"}",
  "call_id": "call_mM5BXMsOVU0wQSBiehQObJH0",
  "id": "fc_0f23cb087a0f4d72016ab45814a6bc87d0b680e693445541a9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mM5BXMsOVU0wQSBiehQObJH0",
  "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]: [-0.9039, 2.0312, 1.8385, -0.815, -0.6033, -0.6823, 0.0426, -0.02, 0.8196, 0.6094, -0.4381, -0.0151, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.3935 left_y=-0.332 left_z=0.1784 left_yaw=-0.0413 left_pitch=-0.2003 left_roll=0.0543 left_gripper=0.0426 right_x=0.2888 right_y=0.0005 right_z=0.1637 right_yaw=-0.0025 right_pitch=-0.0751 right_roll=0.0009 right_gripper=0.9991\nstate[joint_eff]: [-0.5949, -11.0974, 8.9778, 0.9988, -0.6569, -0.0415, 0.9597, 0.253, -1.0051, 10.2085, 1.7705, 0.0269, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73f9a16b6c6516aeac2cfb1c5182fc05afb20e5d126cd46269a2469eef9508e8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e71859db861be5845d4faa65ab0ccc0aaf658c5758d0a7929f0866900b230f3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b21e311a16356460c23b2d340d4ae85cd9565fe2a222852288934eb9c25a4e94",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 7 attempt 0 · /responses · status 200 · 10.24 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]: [-0.5663, 1.7466, 0.7895, 0.136, -0.4423, -0.3565, 0.0389, -0.0208, 0.8024, 0.6056, -0.3969, -0.0154, -0.0345, 0.9991]\nstate[eef_state]: left_x=0.3909 left_y=-0.1547 left_z=0.0382 left_yaw=-0.0209 left_pitch=-0.1539 left_roll=0.0753 left_gripper=0.0389 right_x=0.2932 right_y=0.0002 right_z=0.1749 right_yaw=-0.0028 right_pitch=-0.0206 right_roll=-0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.4034, -7.665, 7.2547, 1.3651, -0.0415, 0.0562, 1.0965, -0.1846, -1.347, 7.0632, 1.7607, -0.0562, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6834, 1.6665, 1.3014, -0.5133, -0.4976, -0.4675, 0.0426, -0.0219, 0.8043, 0.6052, -0.4118, -0.0154, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.3962 left_y=-0.2093 left_z=0.1701 left_yaw=-0.0298 left_pitch=-0.173 left_roll=0.0593 left_gripper=0.0426 right_x=0.2912 right_y=-0.0001 right_z=0.1712 right_yaw=-0.0041 right_pitch=-0.0378 right_roll=0.0005 right_gripper=0.9991\nstate[joint_eff]: [-0.5538, -7.5282, 9.1009, 1.2772, -0.4908, 0.0513, 0.8962, -0.1299, -1.347, 7.0222, 1.8632, -0.0562, -0.0317, -0.0122]",
      "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]: [-0.9039, 2.0312, 1.8385, -0.815, -0.6033, -0.6823, 0.0426, -0.02, 0.8196, 0.6094, -0.4381, -0.0151, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.3935 left_y=-0.332 left_z=0.1784 left_yaw=-0.0413 left_pitch=-0.2003 left_roll=0.0543 left_gripper=0.0426 right_x=0.2888 right_y=0.0005 right_z=0.1637 right_yaw=-0.0025 right_pitch=-0.0751 right_roll=0.0009 right_gripper=0.9991\nstate[joint_eff]: [-0.5949, -11.0974, 8.9778, 0.9988, -0.6569, -0.0415, 0.9597, 0.253, -1.0051, 10.2085, 1.7705, 0.0269, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73f9a16b6c6516aeac2cfb1c5182fc05afb20e5d126cd46269a2469eef9508e8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e71859db861be5845d4faa65ab0ccc0aaf658c5758d0a7929f0866900b230f3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b21e311a16356460c23b2d340d4ae85cd9565fe2a222852288934eb9c25a4e94",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFgbIDznWkHajBo_4BmyZRsC5IiO5s88uZ3qMXI9POnEKWEYNSFIhOa4UMfsJTHDaGUm_azq-_AT3xhwey6PrmwNWBNN8CaaojA8HhWhiQxmWwAf3B3dLwSItvqWXtWOXp14kbOIZxHwS2KV9NMFe3MdB1z7dttyU0Dk_FwA_vhrRAJ0OSDBxhzVF44rq8B3pUUWUyof53g-Vkui-O_WEP861Ficz-6nnDs1HXBgA8eecxqRj-uaGCyqc_vokUy7zOcqHbXZc9qU_SXljI9CUegUEQaWNyiErQkikn2FFQextpRRl5aGpG4MIc0T_3T6Fm-z0PU9a5Yq3cau3cba-Rxk3W3ooDt_ADjTkAV3JtJvx6WK3wzqtkm6uBo4ko7tT1qyP-mJCtUk4KM0JnRTL5uBFIa70stxh7yH1EW1gyMABDbdLheQNMI0MoCElYRXtJFJoqoXNkVzt7hEH5PRLfmo6w8IeDDnMaRbvlGl6WxjwEcwzSzNSpi3UAGbqf9DK2EX8sJlKJz1kN5WJaF8qmtDvF16Q01LrHRde8_u0nmq0j68VGjJo0SpvoWz8TKnkL5u0KkWGAT6-V5yQmcfqlachHd0tVf-5cvFerKw4CnJBSm9-7E29ocoKSqa8biiupN0ZGwH95e6-ZQ5RvyQVW3ty0dkXJup8eCfyi7abwk6x7Vnh7Y4y5rRdVhuEuwB9F63shuRYWWA7eaIOcrnuW34owqhm87TvovjKVX7gPPi3E15HA1oJ9pgXz3YcQYAJrUfJrsdAc_D6REWg2UKpvKRZCGJVzHaiOAH8qqizOufuz778jYJs2qRSzaA5bO2PQFnJyp_q4RspQ5aK0wxKYIlK4ffyVa26jkK1tfTH0yvr0VQXPG5Ftu2lrBq8B5v2xFaB2soX8dvjM22Tc-a_AXMWApqjXnmqoxVYxqZNBqlpP08BhFoDoEvrdqYW-GldY7la7EERfDk8e4jLDpLyrr8HRZPVdneh-n_-MA5AiMq8sYrDrweX_A9IaxiNK0-tWllobBMmGm4mrOazm-hP_UnqVuseMGzEdoEGEYhJJIr7mzXljVCfaecd5qK_9C-jB9AXc9-nvKgM7i-xoNKNPFwYyaFX__64tDygReHG5wBZHISIC97JhGpg02WzTnZiyU8nZbnrK529MEuOyyYWLW-aBaks_O8Ymg35YC8mvgZcETeIICqQWsn8V7GLZwSd4zxCGFm-vag9QCxnfGNR7JTmpOmrFhiy7jq1ng6TZl6w1NeDU13q6A6crd0046j81tfo3KDT3sNEyUSV8tFLRG41ZT-rBXAGSeym2ZcmW50BuDzwXFvXGpMnu2dwTtHrqL7Z3vlnWX2WHZ80-rUD4q8XqNV73JkLKEulBOFL5BTovfHm1zZt_IWD6on5-o6rvg6tTSpXPgO9xmF5C7-iP-m5ZLG78R9k7YCpWBfLLxpNZGZ0x2thLT7oLDhO_eARUc2ISrQ50jsloebep1vk-wkCim27-yaeG-vZh7LPYXcVEtXd0emU7_55-2D37Md2fczlP_Iz6EJfTp4R06BPyrjkLPp2VOlPOyje2gW0BXgjBqDcG4eez2t73ZiPNLo7LA1zJAylP5g1wwdmoPkd1iRKc92o0ftRoU060PCzm37yVngFbzkdj_daCdY5FPtAhU-5E94vYxF3gtGMBjaZOvkZLptwPZ1CLGZoTzBsxSYH76PGppNSJwM7VTGbNvPdsJYjRH0aVn5-wKFb1EgbQCFtX7JZ40y0T24ruJ7RaouPu2DS_MWWkdnqcT2mp5KwPZZYW0INtliv3oRK7b8CcfvW7KF_FIWQaDclDdZFsRcIlqdA0XoAD5Bbhqtc-rN1k9M",
  "id": "rs_0f23cb087a0f4d72016ab4581823cc87d0b61811a3a0474659",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.396,\"left_y\":-0.345,\"left_z\":0.10},\"note\":\"The blue bowl is mostly underneath the carried green bowl, with a small blue rim visible to its right. I’m lowering slowly and making a small rightward correction to bring the bowls into nesting alignment.\"}",
  "call_id": "call_2e6ciShytMg9iAlXZYMTFIex",
  "id": "fc_0f23cb087a0f4d72016ab4581a624887d082da5717dd583f11",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2e6ciShytMg9iAlXZYMTFIex",
  "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]: [-0.9131, 2.0941, 1.6524, -0.6136, -0.5999, -0.6865, 0.0448, -0.02, 0.823, 0.6079, -0.445, -0.0154, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.3908 left_y=-0.3369 left_z=0.1025 left_yaw=-0.0423 left_pitch=-0.2332 left_roll=0.0865 left_gripper=0.0448 right_x=0.2877 right_y=0.0006 right_z=0.1607 right_yaw=-0.0022 right_pitch=-0.087 right_roll=0.0013 right_gripper=0.9991\nstate[joint_eff]: [-0.6906, -10.6462, 6.4889, 1.3162, -0.4127, -0.105, 0.5739, -0.0752, -1.5248, 7.159, 1.6972, -0.0464, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65f266d91927d3e86066ac206ce72745f2bd85350753f87ac83a126ebdf2cf28",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a13714d3ea5fbae017da69c34d8c6b98240343fc2a623534032eea3bc30f445",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2678c10afe8ebe8de987809548cf879f03189a3fd0bab41d5869e81db47420b6",
      "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 · 2.453 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]: [-0.569, 1.655, 0.9176, -0.1097, -0.4438, -0.366, 0.039, -0.0208, 0.8032, 0.6052, -0.3969, -0.0151, -0.0345, 0.9991]\nstate[eef_state]: left_x=0.3933 left_y=-0.1572 left_z=0.0828 left_yaw=-0.0149 left_pitch=-0.175 left_roll=0.0829 left_gripper=0.039 right_x=0.2932 right_y=0.0002 right_z=0.1745 right_yaw=-0.0031 right_pitch=-0.0217 right_roll=-0.0003 right_gripper=0.9991\nstate[joint_eff]: [-0.4171, -9.6068, 8.4581, 1.4237, -0.2466, -0.0171, 1.0281, -0.0342, -1.0872, 7.2137, 1.7411, -0.0415, -0.0806, -0.0122]",
      "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]: [-0.9039, 2.0312, 1.8385, -0.815, -0.6033, -0.6823, 0.0426, -0.02, 0.8196, 0.6094, -0.4381, -0.0151, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.3935 left_y=-0.332 left_z=0.1784 left_yaw=-0.0413 left_pitch=-0.2003 left_roll=0.0543 left_gripper=0.0426 right_x=0.2888 right_y=0.0005 right_z=0.1637 right_yaw=-0.0025 right_pitch=-0.0751 right_roll=0.0009 right_gripper=0.9991\nstate[joint_eff]: [-0.5949, -11.0974, 8.9778, 0.9988, -0.6569, -0.0415, 0.9597, 0.253, -1.0051, 10.2085, 1.7705, 0.0269, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9131, 2.0941, 1.6524, -0.6136, -0.5999, -0.6865, 0.0448, -0.02, 0.823, 0.6079, -0.445, -0.0154, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.3908 left_y=-0.3369 left_z=0.1025 left_yaw=-0.0423 left_pitch=-0.2332 left_roll=0.0865 left_gripper=0.0448 right_x=0.2877 right_y=0.0006 right_z=0.1607 right_yaw=-0.0022 right_pitch=-0.087 right_roll=0.0013 right_gripper=0.9991\nstate[joint_eff]: [-0.6906, -10.6462, 6.4889, 1.3162, -0.4127, -0.105, 0.5739, -0.0752, -1.5248, 7.159, 1.6972, -0.0464, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65f266d91927d3e86066ac206ce72745f2bd85350753f87ac83a126ebdf2cf28",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a13714d3ea5fbae017da69c34d8c6b98240343fc2a623534032eea3bc30f445",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2678c10afe8ebe8de987809548cf879f03189a3fd0bab41d5869e81db47420b6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFgmFowSAPCtiTcWso3etQbNBPY_VQ1cPfN2DZUG-nmkfYB4eFxAC5Pn3DWG0I8Qrgb5X9-z7ZbAO_eKXdqEz9mDvhNWuHNt5Lk9PiPn_OmU7d4DhOqxNF8ikC5o-nRmQgqUBJ5f0r2NvbGWP5gIq26nD2fRaZtBlB9u7RLq3-4X6CrG2q4_cKKwGFjHWKWqx5wscvPBp5_yt1ppkONM0whkMvtlN3fWFeqDu5a1lvDTlSp1yczLBryROBNMeXwJS6T3qwOBDYEzxgOdXuRYTJYgBdmzvjMurEvY0a8ykoEYBLFQiypvISam658SzEW_pGgWxe2OjG-G5BXIayIsGreSzWq6p1K5h6TsJQ9MulzAcOUOb1lShx-X9JMZHRcfPn7CU7_1k-EY9nXHOfwvMZ5PWEYVzhM9zM9_-stwgEbKnXEWcYh8RI0jMIzyNIIfEhMhksomWE1xyDOpdFww5T52Xt0VjsT6lZhdFvHaQkezqch6BH5WgR0ENbxa_6sRtdkOGHg4Q9yFhwgOcXFJ93Q_mhzXB2EnUj3GZQhx51eIbkdxgG0Hf_I4IKC9KXQ1tQfTPI4Uceyz4JucMBkeSTWzaQbOY5YDqK5E9XiYxdLYA51ak8JqDQSgV1q_VvAib77eSaO05z5SUo1V0ty2nWUe6-PmzgcpqLmuNwGfJX5dnga3Ej35FuYKirRtGRihRhcid3CxWydqoNvvZh0PDeuHQIj82JWYdI4FC2rXynIoUmF074ACsurj1h43QiGNNHjFP32zCh3vcjahIObnzqEo9hkjDsvpY5vWkJUzGpl12_BmK3Hsn7LrZmuitGCA8n7XDezBm7lBItFodK98x9KNxDVHeihYrFTWy-yqNflH_a6rtL8okf6UU4Q71EKhEngRxGLXlxc-rqqyz3rYVatwx5xjmlYLl1Iog9Nj1EueAWdck4fMOnIoKcW7C5QRF6epkStW9MwXNvtGHM28bO3yciVYK_wfnb_mB8aJWagnlHn9nU8jUpYm3eWdGhvpwRtwDo8az_-B03uSCQg9bcgmhjKP7FnVJn-THEKVIGJ1ijM98CN_zNJnHUFfBlZ3L9UHuAB-0DXpL1e986TYPVckkD2RVC87ZWIEyP3xd0bo2IrLDMELVSUol6TSqUMyPNTSJKwPPV7qu_P8W2kZdBTvgOEUfjlPunsWfBcYwUAGwGCAT_bZBnD9M2IgpcceqCJ-JYWmOcliASFE1wS7lw65IHotIcI8pcorFKe6bjZ7C8rbZUsKfqr-6bO1d1T9IEw4ENJS7tgganX4FWPFzlVjQwMzHOUBuFvygFhfMX65vaNQzK7aEt_zYqbBIOOObXO0QBmC5QXWRA8BHhlZDjBBs1jm0SNNMo33Sn3PA4QGGUQKs9tN2P0m7obSv24z4ZSOlLyQ7ZOy0wKYZT_asSbKSTPlSLcAc4T0gabV05W78o8x0lDfUfkQmG-fyCUXYMS3sd1_udWyXV0Bbe2IwWaeowFDjDbALDqNBLKZTR0R28-Ui8LQAw6pCdJRTYBqw57E9DNeDbZnoNyWssCmILAH6EpbeIPKTwhOvi-aSgF1SJxzlhO8izFQ2043kj7jaMnTrrW108DJ5FmbbcSfVzAH3aJ-Bpxd44yz-h6NYurxftPAoOiAwUbf8dUZ04b_tJAjG3Zur_Oas4vMtuiKvpWkA45rhQC1iFyWJagoBWBb4GdcDQj5X1vjz57BlakcZGqYSUVH2vxmFK1JEAlcNLTtnhjq_K9EniJ7CkB5gRSE9ZFOiRUyCL4BMeBY5yy703VpkwdLdj5hOF5Sx0S-ACobGE8y2UB-y1AHUDTBX6IheTv-AhBhceHqbxUuYN9vfYq9PGFClO9ubORjjfGpXh8D3w2Mpvq6yrY4soLqBxE2h0oC2ZJptMIRteUPlkx7E4ATSBiJwOrQZTeP_40RndWGPpQZlZteddZ4_INzJHxT8PpKY_dJaVMBu9XKX6J0z9djwAs2_z9k82U_hTTA3TGe-pl1IxTNAfXXqytAFG7u1-ten5HgY9OgtXQ5bONhGn2ar6wqwDLTM9amFHGlo9E8IMKnxvAKPtRa84M3NjFTK20ABkdYpVdBwNX6RtzeCwbjXKNEVFizEnCHyY-3jF3jR2I8n-SVvmwRb06xEZ1zaqH17YqCKJZvRTyUCmpIuMPExTpkgCvCMlsXveYxk90EUs591St9Bsk4nzEvobtjlhbt9kYqaYadLkWHxcYLeX_7AlBTsR4Ud2MM1hpeqxL3OBuJ2s7DHW4wrEJaPH3XESAjT3kg9f7EsAAn3_7ucrqGKp20rfwIdDI-jt7QRPQ-bzVb5T5L2oOyFWv3ovi9fAxFxcERMejfbqVC1ZY5-EYKSQpqreIgYdOQ4bXXOeq6CuIyFsmVy0HHfk7rwuh2frHTujyPMVxCyx3WuD_NhO-dQuZfhephMUfa5layAnXs1ypzZA03zK-_yot872nCaXbZlEf91evLG91_UHjynLeCQqkMAvhHtU1w4NAyxr-w84NwVbKwF0HYOuTgq8pNUapFloJDo8Jo3mJzWGW39psfkI1i3sfiUkKhM2NZ-1wiGGYlTHQwjow-Rx2KqTVMANf6xJFmAuFK1o2Xe0-L-5TH89xS_-W9B8qoMIBHHy3k2jE_1NMJMSj4XCkUcOWw73SnsfAaxhSD27Z4vtu2J8YtKFghkK3v7y0bGBwv3Bgr9hJzAF4VXqxTB4D4xx4NGTpFIg2Vt9j71zahovp4uyEwb0kkb_IsER8Ps32vsNEABpuXyyUa86J46eWQZDETwonjHn67Qq5x1H_POfXMKbEbWpcNuAbdxcPM58OWrYz7jDiqyC71asPPjJFzZgVmYd3qfXa_MnFcgIElqEGBiqlBseLjUlXb8jCQSdTHwnMfvvBT5D2DE_uZnAGphlWUTCyszvOb4aRuWkd5K-oGvLDIn3NFbiaeMwXGeAz5TH72B179seo0r6Rlcz5x8lB0ulAYt6pXkLLMCOIGW-JvjhHutE-l3l9zElRZncnsfBmmoxqkoztXvnlKIRUQnucxt1TfohW9JZTBCdmnWkXW5pVZV6Pr1fl3d86YyVVTvjRS0rDGVomd2Bkv6D77yul8TyMMljEHqLh1ChZNijV44L_NiC7n35MmkZwTz45HRMMtDVz5mgXQTNqHkTTZ8qzO4OccL4seGdQ1FyrnJDJI7N1BUD0GxCB_y3jbbe2s4bhzX7lltD2R0D3tgKWZLHgavMzjWa-Mk7tg2yEbrRW10qYk6JufumT62AHaB2zmflAP25IkLRm0p1jmCjW7z318by4FhLiNBFenyTdSpmtVxTktokx4pfqPLG7fJEyxOQDYMpAh1UavOqzqsEbZijziuRmEEaYE_0nUOLsFDrsK5TZeE1veCDAUaeALYwGGIUiewR6lAqkiWGGb_cNFMK7dMVmejE9fq9xhs5Z62kWOz-klURtAijCRAT2cQySUlaFnABZmRRWwggmIlj9sjAJGQFjLP33fmn6h5bPEGnPXsOcU-kJJ6ciW9fQuU9W5L5iIOECcdgWY_CvC_QLt65hPpOAPLGOXs9YunEp4X9cfZkVfdbCw6dcBtxWS5jHk5m_40n81IdUqq3kliWPcwxlvjTNEWT4ockBIo1woxW8ARUHaG4tLGCB-7NOkbtoNDlL0AEIebeinf_j4CV4I2XLq5_Yk-G4ZOJ2V_oCvIkNyUdYJZeM8dmBeo53WBRrlOBa3cA==",
  "id": "rs_0f23cb087a0f4d72016ab4581d2e3887d08e74396c10792c61",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.411,\"left_y\":-0.353,\"left_z\":0.075},\"note\":\"The green bowl is just above the blue bowl’s opening. I’m easing it slightly forward and down so it can settle inside without forcing the rims together.\"}",
  "call_id": "call_4nlCZzuLysLRakvZGAdsMEt7",
  "id": "fc_0f23cb087a0f4d72016ab45825264087d095dfe5f2c25d9bde",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4nlCZzuLysLRakvZGAdsMEt7",
  "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]: [-0.9077, 2.1563, 1.697, -0.5774, -0.5999, -0.6987, 0.045, -0.02, 0.823, 0.6075, -0.445, -0.0151, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4027 left_y=-0.3478 left_z=0.0915 left_yaw=-0.0335 left_pitch=-0.2206 left_roll=0.0631 left_gripper=0.045 right_x=0.2876 right_y=0.0005 right_z=0.1606 right_yaw=-0.0025 right_pitch=-0.0874 right_roll=0.0011 right_gripper=0.9991\nstate[joint_eff]: [0.8137, -9.8667, 7.6376, 0.9158, -0.3004, 0.2076, 0.7692, -0.0342, -1.3333, 6.9949, 1.6386, -0.0415, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0c98484753b9fdcc3baf2e5288a93c867975689b9479b7acce759ada8c8fbfc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3cb4c697eda191930fe4685ab1c5590431c34c3494725a14ae6dcce26e593aa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:260415c65f1ed3ee131ac7f9935245624e903dcf113d5bed4f1a4dad9d7e8252",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 2.591 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]: [-0.6834, 1.6665, 1.3014, -0.5133, -0.4976, -0.4675, 0.0426, -0.0219, 0.8043, 0.6052, -0.4118, -0.0154, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.3962 left_y=-0.2093 left_z=0.1701 left_yaw=-0.0298 left_pitch=-0.173 left_roll=0.0593 left_gripper=0.0426 right_x=0.2912 right_y=-0.0001 right_z=0.1712 right_yaw=-0.0041 right_pitch=-0.0378 right_roll=0.0005 right_gripper=0.9991\nstate[joint_eff]: [-0.5538, -7.5282, 9.1009, 1.2772, -0.4908, 0.0513, 0.8962, -0.1299, -1.347, 7.0222, 1.8632, -0.0562, -0.0317, -0.0122]",
      "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]: [-0.9131, 2.0941, 1.6524, -0.6136, -0.5999, -0.6865, 0.0448, -0.02, 0.823, 0.6079, -0.445, -0.0154, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.3908 left_y=-0.3369 left_z=0.1025 left_yaw=-0.0423 left_pitch=-0.2332 left_roll=0.0865 left_gripper=0.0448 right_x=0.2877 right_y=0.0006 right_z=0.1607 right_yaw=-0.0022 right_pitch=-0.087 right_roll=0.0013 right_gripper=0.9991\nstate[joint_eff]: [-0.6906, -10.6462, 6.4889, 1.3162, -0.4127, -0.105, 0.5739, -0.0752, -1.5248, 7.159, 1.6972, -0.0464, 0.0073, -0.0122]",
      "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]: [-0.9077, 2.1563, 1.697, -0.5774, -0.5999, -0.6987, 0.045, -0.02, 0.823, 0.6075, -0.445, -0.0151, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4027 left_y=-0.3478 left_z=0.0915 left_yaw=-0.0335 left_pitch=-0.2206 left_roll=0.0631 left_gripper=0.045 right_x=0.2876 right_y=0.0005 right_z=0.1606 right_yaw=-0.0025 right_pitch=-0.0874 right_roll=0.0011 right_gripper=0.9991\nstate[joint_eff]: [0.8137, -9.8667, 7.6376, 0.9158, -0.3004, 0.2076, 0.7692, -0.0342, -1.3333, 6.9949, 1.6386, -0.0415, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0c98484753b9fdcc3baf2e5288a93c867975689b9479b7acce759ada8c8fbfc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3cb4c697eda191930fe4685ab1c5590431c34c3494725a14ae6dcce26e593aa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:260415c65f1ed3ee131ac7f9935245624e903dcf113d5bed4f1a4dad9d7e8252",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFgo-P2jvkatpzsI9aJ5jcJeQVnhw2XL2493pNF6bGa8veUi42hJB2UDAu3PLDpMPKY-wjmL6ZmWuYh8g8XFr0OxYKHpnb3NLyhDTzVkyGdc9e1nh6KJGLm-Ju0KbZk19cwv45QFuD4bHIRojy2Uc90GFdQrrVFJwYNr3qWNxOiFDhVF9GBBNXfI-nk0WMeSkqpmxAJIttbyKTUQigt7n9Tn06AlTooY6ddykEJV4Oxpbf5aLYeHYafD3kaaooBpOdmzBYVu4pO8Lldjk_8gwWJwUjVi1dgonfkQVwNaaYiKBAwvkJxQLHu8-lfXqE0--MQkzlCrjSNc_s5HuS5pAAn8YNRbvEkQ175I59Pmh1zJvnBzRRD6S8eypOhCtO9rQ3MluQnIu-ee5fA2hhXAeidUoUo5R3JrPzVNktT-73H3L5POywBoW9XYxJMOFwFHCbl_nulgdIDwyY8W3vwvVQXwmkK7hFpzj6XBrElvppEBRG_H8nWhUFALwA9jp3qqVPrkawOMQL58j3mEFozzPEPooghWiBIq6LCAdtJmq_Vy2uNKghwK-SLtTvrJ0pDEYOYywhf_UESZiLrhj_ZG-WK8LWk4BuIigxyTPq-syuuH599NXTlCyTO0ecAUIrfwOiagHgwx4PrXcJaCH9i2NmtiQvrxim5l4YbqjF3Bfhn6c-KUB9Is-3fLbS0fYV0HOW2TEWpxz9F7u0t1pfujw2kxrRYMqsG719KlWoOL7x1od4zR7hZET_KnU54wY7H6T0cFzmqQu_sVXiv6lOhc9i5zy_6LeEjy7t8EJVupsS6WUM3p4nKCgol_4ExBZPKNCqeEBqYCE0FnSeD2OrG7L4Vi0x5LBbrCCc4gLNxv1pQQn4cCILaaAkK9cSDTCjIBkQrMLBGOavI7hFm4DQLbzvctq8ueLkRpnn-8apftbUaHYzILq0xw25tIVzDbsS9xcHjfQGmXEJnwKQvR7XlMQ8TJ8ohZpyrFn-Du6j9KgPVuySKGvhssnar8o8rCj22h1kS87IGHJgxPCsIAp-9cECqae7vuhSYA4j0fee0E5_CWAuzPVoOSwvMkXaX69jmhwRj0H-S-vRIl-OfY4i8TspH58Id1VwrZueyJ4Mi4lQ-Ban6yLIicS0j0B8U8G30j_5omNab7wGcKNyj0-HHJVauS_TlGAp2Fdr8bSO2jtChtY19Tkb3yMpDu5EaqcBNsm5Zi2frWqyIDi0bvnuxCWseH0Rt_0_n2OFVZ_F90pBMOHRDcF5gzSt0R8_hV3J77bx-p",
  "id": "rs_0f23cb087a0f4d72016ab45827af7887d0bd0d351aaa90fed8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The blue rim now closely follows the green rim, and the descent has stopped above the requested height, indicating support from the lower bowl. I’m opening the gripper to leave the green bowl nested in the blue one.\"}",
  "call_id": "call_jYyivnqEZPjJ8NTUNorminl1",
  "id": "fc_0f23cb087a0f4d72016ab45827fc2887d088852bb899e29edc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jYyivnqEZPjJ8NTUNorminl1",
  "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]: [-0.9012, 2.2284, 1.7134, -0.5709, -0.5922, -0.6785, 0.9947, -0.02, 0.8249, 0.6075, -0.4454, -0.0151, -0.0345, 0.9991]\nstate[eef_state]: left_x=0.406 left_y=-0.3483 left_z=0.061 left_yaw=-0.0338 left_pitch=-0.2585 left_roll=0.1118 left_gripper=0.9947 right_x=0.2877 right_y=0.0005 right_z=0.16 right_yaw=-0.0023 right_pitch=-0.0896 right_roll=0.0009 right_gripper=0.9991\nstate[joint_eff]: [0.0615, -13.6137, 8.0889, 1.1111, -0.3639, -0.0122, -0.0366, -0.1846, -1.3744, 7.0085, 1.6484, -0.0659, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f8a73db5c326051c022a9a9aa1ab8cdf71ba3680153888c92d57489a3d77df3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ecd70973c41db5709fc02a3b0f8eaefb65ecfe0bfb8fe9972b6b3bd63be0ef5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:336864391e4787ab7cc8682eaaa2dfe6e0cb96b2ee89e7ff023bea78b5d9904e",
      "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 · 6 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]: [-0.9039, 2.0312, 1.8385, -0.815, -0.6033, -0.6823, 0.0426, -0.02, 0.8196, 0.6094, -0.4381, -0.0151, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.3935 left_y=-0.332 left_z=0.1784 left_yaw=-0.0413 left_pitch=-0.2003 left_roll=0.0543 left_gripper=0.0426 right_x=0.2888 right_y=0.0005 right_z=0.1637 right_yaw=-0.0025 right_pitch=-0.0751 right_roll=0.0009 right_gripper=0.9991\nstate[joint_eff]: [-0.5949, -11.0974, 8.9778, 0.9988, -0.6569, -0.0415, 0.9597, 0.253, -1.0051, 10.2085, 1.7705, 0.0269, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9077, 2.1563, 1.697, -0.5774, -0.5999, -0.6987, 0.045, -0.02, 0.823, 0.6075, -0.445, -0.0151, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4027 left_y=-0.3478 left_z=0.0915 left_yaw=-0.0335 left_pitch=-0.2206 left_roll=0.0631 left_gripper=0.045 right_x=0.2876 right_y=0.0005 right_z=0.1606 right_yaw=-0.0025 right_pitch=-0.0874 right_roll=0.0011 right_gripper=0.9991\nstate[joint_eff]: [0.8137, -9.8667, 7.6376, 0.9158, -0.3004, 0.2076, 0.7692, -0.0342, -1.3333, 6.9949, 1.6386, -0.0415, -0.0317, -0.0073]",
      "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]: [-0.9012, 2.2284, 1.7134, -0.5709, -0.5922, -0.6785, 0.9947, -0.02, 0.8249, 0.6075, -0.4454, -0.0151, -0.0345, 0.9991]\nstate[eef_state]: left_x=0.406 left_y=-0.3483 left_z=0.061 left_yaw=-0.0338 left_pitch=-0.2585 left_roll=0.1118 left_gripper=0.9947 right_x=0.2877 right_y=0.0005 right_z=0.16 right_yaw=-0.0023 right_pitch=-0.0896 right_roll=0.0009 right_gripper=0.9991\nstate[joint_eff]: [0.0615, -13.6137, 8.0889, 1.1111, -0.3639, -0.0122, -0.0366, -0.1846, -1.3744, 7.0085, 1.6484, -0.0659, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f8a73db5c326051c022a9a9aa1ab8cdf71ba3680153888c92d57489a3d77df3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ecd70973c41db5709fc02a3b0f8eaefb65ecfe0bfb8fe9972b6b3bd63be0ef5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:336864391e4787ab7cc8682eaaa2dfe6e0cb96b2ee89e7ff023bea78b5d9904e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFgsMUrkjRvUtx6MBsI-_72tIViUKuKkRB2ee203dv64yh_DFi1fNK9Mzb2QB8kxOdDk2URmzmggnU-btT775MBcNi-At1V7ANS12i-KgAhKcwKLCdX9ZOSpvRZhHYlpsIUsSy0Ckhr1Tymefeqfy76sEyjVBm0HwFclONZ6iQiUt4L0BvWDS5CPqm6tfy6O0_qKoxbGG8F16OXTEZ_kqV7Rt7aOaH8rJikoR4NXSrwiT_wcaWntnZesgEN0yZoztmedsNDILwO3MaghrNKlokdOWudP-Z9BpdUEEAPfTgABcEi1o10OCIm5poyujW2AVbh-yC30qAizeOAVFsVsPfp-dgMw8dlHN4J_a_EP_PzGMI160fKjEzFyPyJ5WtfYJSR94zOrjouP52mER-tFHS3T16khplRjCCA-uUfGrfQTb3mgBJEWlTxlLFXmqy_-UpI_coxmQEe_jBZsTCForbRH7VkRMhqUES5wFiEWwDHGdrXc3YggVdtWeeh2YwO6eFzad9BOnokMR6iSHZ7sq1-ueYu49FBVlcR7RTvOoei9UP8S79G5nrLRnSQRjYeBVlCU3Jn1fj_2pFiJSatbBRzGk2NIM5BvltmiJiTWJ621PvfCqh0ds1PWlPe4-AKAZjmZuj3HvRDfT8gPjujs19kSk4D036TDFoP-wkXJHQMoTukJc4nLp6cilJvOqfn8ayg0xfxiHh4v07WfWgz6qOa757MF-QdjXkbFkSx7-3Bxq7HYCLdi2ZGf7avY1tvCP1iQHhVR5PgNf5bAlm3hX2zzj3S47YWM5TAlk8tR_5vlTLOb_BDOIgpcm5osAyQ92AqBx32vK0d_VLQHsB6LTHzyzrhafN3BfPvv0TJye1tnNeLtn1AzxjFvA1MHzAkN261djKlsOQFfQIW9rvqlL9si1a_NPwV9jvL-gbueDWPoTKetAtGdhkYHwMV_sjrlZ6rh1qdRr59c0zg11ty40bjT0d5i2GajqMEvvQ228FD0Nz2McGr5Lt-qO2Mb8LYM71Twh98dH02d8ZIXhqdtKRG0OKpw2x38OKUpXc6EWArBhVKBa7v8_zqZrzyu1vc1C0f8M6yMzOJyugwWJeXykZX25_MHTP3AU2VPQczu3qbszHbIeN0AeYb3W3VtCz_TWAAe2V0_3kGiElVtzgj8acbcx2kwivE6Io1CqScmn8DZ6KmZ1ht1xyFAeD4Zinn3TaPSZctLHFCPHYnhP0Jl3MEll4woHPZhC1GcR6D-y_OkqN7_2azk373AYBPCcQWYlibGyTH9WyVwE7pBsqPB_PHKj-hLZyGEnzp_B5MCYO_gKho9H99I1Qep2Nzt_RLNUhY3dk0Osq2VevWgXrTPnSSZ-hOLi96TxX__Y_ztHS6IuxTmt83OFj8_p0uhaRXDyCko",
  "id": "rs_0f23cb087a0f4d72016ab4582b089887d09118080d755693fb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.2},\"note\":\"The green bowl has stayed seated after release. I’m lifting straight up to clear both rims before moving the left arm away.\"}",
  "call_id": "call_AgkUCKcxw8VRRf9Glp4URbDB",
  "id": "fc_0f23cb087a0f4d72016ab4582bbfb887d0b08cd9885cdf4cfd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AgkUCKcxw8VRRf9Glp4URbDB",
  "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]: [-0.9012, 2.2253, 2.2127, -1.0554, -0.5915, -0.6857, 0.9957, -0.02, 0.8249, 0.6075, -0.4454, -0.0151, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4095 left_y=-0.3529 left_z=0.1886 left_yaw=-0.0338 left_pitch=-0.247 left_roll=0.0921 left_gripper=0.9957 right_x=0.2877 right_y=0.0005 right_z=0.16 right_yaw=-0.0025 right_pitch=-0.0896 right_roll=0.0012 right_gripper=0.9991\nstate[joint_eff]: [-0.0752, -11.5761, 8.6496, 0.862, -0.3541, 0.0269, 0.0855, -0.0615, -1.4017, 6.9538, 1.6435, -0.0317, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:733738a63e8b118b305480645a22310fea801206a1f9e736f3ce1d1d32fee0c6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f070aab7fd3a6de57e87756b5d650c56e1126ad5e8a9074605395f44c63ac2a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb017bd7466046ef113e864130e667b8e093ce4e5d6d0c02889608a2e942698a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /responses · status 200 · 2.922 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]: [-0.9131, 2.0941, 1.6524, -0.6136, -0.5999, -0.6865, 0.0448, -0.02, 0.823, 0.6079, -0.445, -0.0154, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.3908 left_y=-0.3369 left_z=0.1025 left_yaw=-0.0423 left_pitch=-0.2332 left_roll=0.0865 left_gripper=0.0448 right_x=0.2877 right_y=0.0006 right_z=0.1607 right_yaw=-0.0022 right_pitch=-0.087 right_roll=0.0013 right_gripper=0.9991\nstate[joint_eff]: [-0.6906, -10.6462, 6.4889, 1.3162, -0.4127, -0.105, 0.5739, -0.0752, -1.5248, 7.159, 1.6972, -0.0464, 0.0073, -0.0122]",
      "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]: [-0.9012, 2.2284, 1.7134, -0.5709, -0.5922, -0.6785, 0.9947, -0.02, 0.8249, 0.6075, -0.4454, -0.0151, -0.0345, 0.9991]\nstate[eef_state]: left_x=0.406 left_y=-0.3483 left_z=0.061 left_yaw=-0.0338 left_pitch=-0.2585 left_roll=0.1118 left_gripper=0.9947 right_x=0.2877 right_y=0.0005 right_z=0.16 right_yaw=-0.0023 right_pitch=-0.0896 right_roll=0.0009 right_gripper=0.9991\nstate[joint_eff]: [0.0615, -13.6137, 8.0889, 1.1111, -0.3639, -0.0122, -0.0366, -0.1846, -1.3744, 7.0085, 1.6484, -0.0659, -0.0757, -0.0122]",
      "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]: [-0.9012, 2.2253, 2.2127, -1.0554, -0.5915, -0.6857, 0.9957, -0.02, 0.8249, 0.6075, -0.4454, -0.0151, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4095 left_y=-0.3529 left_z=0.1886 left_yaw=-0.0338 left_pitch=-0.247 left_roll=0.0921 left_gripper=0.9957 right_x=0.2877 right_y=0.0005 right_z=0.16 right_yaw=-0.0025 right_pitch=-0.0896 right_roll=0.0012 right_gripper=0.9991\nstate[joint_eff]: [-0.0752, -11.5761, 8.6496, 0.862, -0.3541, 0.0269, 0.0855, -0.0615, -1.4017, 6.9538, 1.6435, -0.0317, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:733738a63e8b118b305480645a22310fea801206a1f9e736f3ce1d1d32fee0c6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f070aab7fd3a6de57e87756b5d650c56e1126ad5e8a9074605395f44c63ac2a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb017bd7466046ef113e864130e667b8e093ce4e5d6d0c02889608a2e942698a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFgzu3KvbhoK0BdJCS9eIIdkAqEWUfdGC4mgVhcfeYX7-GMIsFIXjaqtb3wyLqEm8wDbcWpYGQe4WB1cOttccphnjd1oaT6GmtRij6tEXYDTlN2J0uHBNBHslkLuZog347Z77JRkI6vdPvCHk7x4gIfFGBPWwhn-cNA_VmVbxR6SfSgqGOPHjR1_loj-iZZHMqrJMiiBZxs2aOe3RjTOOkh2PjTcag9EtFshX1QwUK-HOH3Y0UB2IxSX5koVTYs1UvVCE9dNKywWVChje6n3PPtnbXt2Il1uCU-hXvVZO0OACaK1oz9RWTyMR6Tv8RXFcDX6w7U_gQm7WZcWhk6uueI8C_ZcSInTQqm0-L_4kNiZlgSjAEg_uau3gruEkrdE1jIY34vpdif7-Ll9fMCvQcmmUby9m5pLU0PfzKqFmrb3_YirwjFHlVq7InvDk1MqPwgShRR3hH3GjHKVqo_2wRjhWsv5GN2MhqlfnfgzAppZsPuOPKQ275-VGkIbIpmuAPdyreRBxvae8QPJ45AJwX2xCCf9LuwqBdpr-c7VyAwpq5U92CRsjC1IWj9b4xZQWOVTrsg8ZpbaREyQI4UV_wzR814glgmRIi_2KrVAbzPmqqwWzUoY0x15TiQqpxqwoHSHg0LrEfQNsXb_RFt1XYkUympj5r_zdXlHpKX-cQgTQ8jHkolJQv7eUTQ75JlJ-zniPj_qegb4dKuITjIvp2jTqjj9GBdzdd-7mvKUpO74B85AfSRvWe035r0NO9RU1hRhD9mkVH0GtMpibq46WiNzgRSDgch39XhUxKHf3Sw9zNOSg8UEYD-AbbqrCYg_W4IcJQDXdzsnmemVJd8pq3b87MUhs8byn0lbp-D7CxljhzEdHt2P3xZUuZL4ub9gZLwJuoHiTEcmL456jnIutpXxIAfl4yZVE8S4OjUR1IY7k7mUII5a-sDdg15hcQeLEk_XDB-UVe15Hwxwuuj4DFYa5w04YWBgBxgWC_G9OLi0gITm1IqhCqb30Jt0YDoRJc6Atgfktwl42KiHO9twngw9Wgfj0GI-kaz813ycmRglWh8pBF6301VQWDdNKa80fW8v72XLaOWo5yyJx3Oc6BPz3LY5hXt-26ORBq-dGECl0mkgskwnDcu1-P6xthhb0KbFhalcdPrfCvBG9-G5QZWOTtdfF4C-eO5N6GWjORsSyiLv-yIwtt-F3Bv3CjkRQthRGvOiOWuQkHUjGgGHKFfQKwIBbju1j_FoAJ8_v7ouYkKOerqb_GcOVbgiRzQIXh3G_P70QHKQR3C1PzGs7QzEsCHEEvB9WISFwAD3Sn0jnbYkmSyMT7FswUNozCN_GLso3euGuPuBzZ7ev6pwAokNPBLfX_rDqbC3QKXBMLrDsusbxRm_-mv079eZtyMvbq2E_XmrH1q_VYhHKbK2mbRm0h_7MMoRnZUx5-PRa0qBOnJ_g6SpLKCJ2dFB_hkD-Dsa_J8NzlHotOOAYSuniRb-PLFeKFpTc55Oaf52aIG1lh-iLdfwjqokiRcZhVkd_GB6utuMvUDK90jfLoJZBiMcns0AvY8AzMGweVLxeIY22WuO5YvwURg8zBeRqsjIK0xaSdQcZ993YX6zKHynrl56A_mXme0tkqY870OVFES-JeMNVzcNwNjV4NaFKyxH8y8lcfQwm7QNSnrDUi6KGcAuKM0p8ypLg9x4cBVa3vfI48UpGRplZ7ZLJTPPqyrHyoTrFdLb1MQeXTps2S1dBKwYSsglnHGbDjBL4uzQH7bnDCb2jzzb2j8qoSeAr08_rcSfIajXTq49SZ36_Qhc1HI9SvY4CTdRKgI5ZX9wSM_IA19pvymWJivbwnNGSLmcRMa3yrjPylDvFmvmb8EM3JrX5d9CTH_joSVD7C4FuLfskAnCkldnRD09knH9AjE4acjk3MAlh0-6Vagn3YfhlaFm2h47rPoA0hyM2c3RInPfOld0GIt_MLBZjbm_kC5UO3AwKmQzOshoeeKaOwfAj6VYA9dLt7o9LWALzsaNUeHP2JMHqI-sJscCrT4_4BT4KJ4PXUk7SMr7AaN7yt-iZZSZj6rrwZMOBz8n_k2rv5tJ6cFkuJl8btPmDz3Ogfvg-FiwEci1FcdKYSd8SYKvOjvAeNOLPP6ItEEL4j1yL-RXUlJqlBaF78mhImaDKGWKSIDBTrK5z2ZbDntUmeQaEMbi3eWT0YItytjXXDSBAuiaSfzewzxAtjlzSjQZNwUiREmSdw2WIu_fZmivQcLW4jw_zmgHjpfoCMKiRuZXXaZDIKSniClgyhuLdkIGxpZBmgkUM_Rp5a-49_9KoEzALAoUQWDKTclvsZgfxYnqsoXiL97ueKvQKGdRiHK4DSekYPapWkqhycHNBlLTrJgUKjq_yquKM0MRcbvi2Z57xqaiMd2Qmxqo36LB9T2sJHaogkB1YqrJe3aswWKIM-cgCpLM69T-pMuMbfM0yw1egYMqZIQ85MEOKInWPF3uJUw4IBVwsbCABlj6fi351mk4-COdhcGz6gJ7yCZNNle24YzRkWZI3YJ8KSnh6UWPhiQeyA34",
  "id": "rs_0f23cb087a0f4d72016ab4582e7cd087d0b7277b908ee629b2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.294,\"left_y\":0.001,\"left_z\":0.19},\"note\":\"The left gripper is clear of the stack. I’m parking it back on the left to reveal the two nested bowls and leave the centre free for the right arm.\"}",
  "call_id": "call_AsxV0fa8sBB5Lph7DUTIEbQA",
  "id": "fc_0f23cb087a0f4d72016ab4583240d087d09c0987e49f75dcab",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AsxV0fa8sBB5Lph7DUTIEbQA",
  "output": [
    {
      "text": "executing move_to over 32 steps (3.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0719, 1.0088, 0.9005, -0.7212, -0.1162, -0.0238, 0.9957, -0.02, 0.8295, 0.6075, -0.4454, -0.0151, -0.0345, 0.9991]\nstate[eef_state]: left_x=0.2962 left_y=0.0028 left_z=0.1876 left_yaw=0.0205 left_pitch=-0.2544 left_roll=0.0884 left_gripper=0.9957 right_x=0.2879 right_y=0.0005 right_z=0.1588 right_yaw=-0.0023 right_pitch=-0.0942 right_roll=0.0009 right_gripper=0.9991\nstate[joint_eff]: [0.1573, -3.0427, 6.8308, 1.4579, 0.0855, 0.0513, -0.0024, -0.1436, -1.4291, 6.9949, 1.6581, -0.0317, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e7d3fa034ae5506685e6496d65b0e3ea651d90928bc0ab7738f1a2690facd29",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da429938ddc55be0c5819d60530208e41d919f17a21ff051bbfcb0762914dce8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6805ad000fd36866f25a6599e613b3cf49fce1353a139336005ffb1c90aaa62a",
      "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 · 4.846 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]: [-0.9077, 2.1563, 1.697, -0.5774, -0.5999, -0.6987, 0.045, -0.02, 0.823, 0.6075, -0.445, -0.0151, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4027 left_y=-0.3478 left_z=0.0915 left_yaw=-0.0335 left_pitch=-0.2206 left_roll=0.0631 left_gripper=0.045 right_x=0.2876 right_y=0.0005 right_z=0.1606 right_yaw=-0.0025 right_pitch=-0.0874 right_roll=0.0011 right_gripper=0.9991\nstate[joint_eff]: [0.8137, -9.8667, 7.6376, 0.9158, -0.3004, 0.2076, 0.7692, -0.0342, -1.3333, 6.9949, 1.6386, -0.0415, -0.0317, -0.0073]",
      "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]: [-0.9012, 2.2253, 2.2127, -1.0554, -0.5915, -0.6857, 0.9957, -0.02, 0.8249, 0.6075, -0.4454, -0.0151, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4095 left_y=-0.3529 left_z=0.1886 left_yaw=-0.0338 left_pitch=-0.247 left_roll=0.0921 left_gripper=0.9957 right_x=0.2877 right_y=0.0005 right_z=0.16 right_yaw=-0.0025 right_pitch=-0.0896 right_roll=0.0012 right_gripper=0.9991\nstate[joint_eff]: [-0.0752, -11.5761, 8.6496, 0.862, -0.3541, 0.0269, 0.0855, -0.0615, -1.4017, 6.9538, 1.6435, -0.0317, -0.0464, -0.0122]",
      "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]: [-0.0719, 1.0088, 0.9005, -0.7212, -0.1162, -0.0238, 0.9957, -0.02, 0.8295, 0.6075, -0.4454, -0.0151, -0.0345, 0.9991]\nstate[eef_state]: left_x=0.2962 left_y=0.0028 left_z=0.1876 left_yaw=0.0205 left_pitch=-0.2544 left_roll=0.0884 left_gripper=0.9957 right_x=0.2879 right_y=0.0005 right_z=0.1588 right_yaw=-0.0023 right_pitch=-0.0942 right_roll=0.0009 right_gripper=0.9991\nstate[joint_eff]: [0.1573, -3.0427, 6.8308, 1.4579, 0.0855, 0.0513, -0.0024, -0.1436, -1.4291, 6.9949, 1.6581, -0.0317, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e7d3fa034ae5506685e6496d65b0e3ea651d90928bc0ab7738f1a2690facd29",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da429938ddc55be0c5819d60530208e41d919f17a21ff051bbfcb0762914dce8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6805ad000fd36866f25a6599e613b3cf49fce1353a139336005ffb1c90aaa62a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFg5RctaOJEhnPGrDy-P1OYePehXf1K9Djk2oE9mbNCscTyAFtWH4ODCbjQkoWDnfLCBzMsH85g94-xF9PrAfzD_iFTqtd08wc6FAxBzs2Ra8GnEw5p4zPiO47FoBBRhFHqgEvgY5VFKbGW2OW2bez4GjofIyqo7va7AUc5Xpv3M5UbHz3hlX-JwYQA9HogOry90JnvI_ZMxIcy9PezaroiWAc4NYTHkmyuDM8a4dCyY4g2B_aZ5p7M83YfmvCEOblbm8ek_I3i9TCpG7-CZopEHNnpwXNVNjtBnJ-QC01Ne6QlQ_eZ8YEj4lyRyGnF0KuEfARJWHcTgKe9XKSI7X4EwIfQ9Y0bKJDVXgVLkR-ILSrzQDHtCwFZwnEUxIKkjHhQg0XuNuFUNxP269mwql1XVmxEWGSoBQkIt2O860vVNJ2AICULOL7L2rI17L0CjDWhBL5nbmD-9-UQzJf6CUIhPZa4LRUDvM7ObJN1327ooha4LAoNmMqXuaXqNm3qvPjKVm9vQI47mZbj4oqPVWXWrpuvm96inyOnyu1C8TAt19sFGxhRsLs3sKaz0UOdmmPry6__V8AsAQNluD-H2SNQTEu4KV-jm-QpSwa_osr0qZ5JdANaOODuxyEQ83WsWb43WBFosC2qQr_RGRqpZ9lhiMWL5k3L0_KlFQ9kK1mr9HIai-RYkmMBgKyGAO7kzL-dKX9mZEYqJVw-tA3qHR8LFh-D5OxG79WLxf2HeeuI_OprTRWTQO1O52vkoaPRMEOPeQwyL_JjYppR0nFeV-2pqko41bYu8oOr8ms4_LGoxdh2y0lKERVU3NfrnmkpsBrviWh6R-3YT9w_xoE6JPVaao65IDQDK6Hmz0p37mFPbiCQRI4Mrg5aVlBUxWNHV3A6v96FvB9nl8JMGCcokxtrpSMiLqVh5xMcrNATcUfEQDSH8QhXemGkvnaQd4kd89cEKDiUEOl-XLOHVQztzNkVRGNAWcBTMGCFyeHmZ9-43EM2TjlABKgTAWRrBUR_xIz9JKCQOp4NWG7q0QdN0igJoZDgOE5iXw_1wf9LDALIwdc-k9p-t870OVMfJ_R8_OTIR_-6OOplcZ8jpSxJOaN6I_HUksfIE5BGRC7640umOE91gA4y30JQdjI0dLDdGb7p7Q-mevTMBXhUPDotKACfXnssO4LaPQZa_6FeJpaN38rdHGOeIrYYtJ1NfFAW63BQgI2Lru1YfXLNCPqI9ldPTcB5UiyLHlOHYe6LMyVX7ndpBIj4ROJbrMTjb0RwmmTNl",
  "id": "rs_0f23cb087a0f4d72016ab45837a1c487d098c152cd997e5899",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.135,\"right_z\":0.15,\"right_pitch\":0,\"right_roll\":0,\"right_gripper\":1},\"note\":\"The green and blue bowls are nested together in the middle, and the pink bowl remains separate on the right. I’m positioning the right gripper above the pink bowl’s right-hand rim for the same edge grasp.\"}",
  "call_id": "call_qT2uy7JXoBi7noPxoj1pTmZ0",
  "id": "fc_0f23cb087a0f4d72016ab45837fcd487d0889e26df80bb5a47",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qT2uy7JXoBi7noPxoj1pTmZ0",
  "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]: [-0.0719, 1.0134, 0.897, -0.7284, -0.1059, -0.0257, 0.9957, 0.4896, 1.4162, 0.7971, -0.1093, 0.3664, 0.2291, 0.9991]\nstate[eef_state]: left_x=0.2947 left_y=0.0011 left_z=0.1836 left_yaw=0.013 left_pitch=-0.2702 left_roll=0.0805 left_gripper=0.9957 right_x=0.3715 right_y=0.1303 right_z=0.1232 right_yaw=0.0446 right_pitch=-0.0982 right_roll=-0.0444 right_gripper=0.9991\nstate[joint_eff]: [-0.0889, -2.8376, 7.1043, 1.5263, -0.2222, -0.022, -0.0122, 0.1299, -6.2154, 9.3333, 1.8046, 0.4029, 0.2027, -0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6605efc3ceaa73eb8063f37ae4e44bf573f61af725f3f48c53701ba2f623200d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8d66a49cffea9a89920ac22ee459fb305f3a4fa0a3d989b7533605b24621136",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c7e298531edb5029be0bdc8e36a42706911678ff3901fbf9a5d015dbbaf3105",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 5.964 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]: [-0.9012, 2.2284, 1.7134, -0.5709, -0.5922, -0.6785, 0.9947, -0.02, 0.8249, 0.6075, -0.4454, -0.0151, -0.0345, 0.9991]\nstate[eef_state]: left_x=0.406 left_y=-0.3483 left_z=0.061 left_yaw=-0.0338 left_pitch=-0.2585 left_roll=0.1118 left_gripper=0.9947 right_x=0.2877 right_y=0.0005 right_z=0.16 right_yaw=-0.0023 right_pitch=-0.0896 right_roll=0.0009 right_gripper=0.9991\nstate[joint_eff]: [0.0615, -13.6137, 8.0889, 1.1111, -0.3639, -0.0122, -0.0366, -0.1846, -1.3744, 7.0085, 1.6484, -0.0659, -0.0757, -0.0122]",
      "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]: [-0.0719, 1.0088, 0.9005, -0.7212, -0.1162, -0.0238, 0.9957, -0.02, 0.8295, 0.6075, -0.4454, -0.0151, -0.0345, 0.9991]\nstate[eef_state]: left_x=0.2962 left_y=0.0028 left_z=0.1876 left_yaw=0.0205 left_pitch=-0.2544 left_roll=0.0884 left_gripper=0.9957 right_x=0.2879 right_y=0.0005 right_z=0.1588 right_yaw=-0.0023 right_pitch=-0.0942 right_roll=0.0009 right_gripper=0.9991\nstate[joint_eff]: [0.1573, -3.0427, 6.8308, 1.4579, 0.0855, 0.0513, -0.0024, -0.1436, -1.4291, 6.9949, 1.6581, -0.0317, -0.0611, -0.0073]",
      "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]: [-0.0719, 1.0134, 0.897, -0.7284, -0.1059, -0.0257, 0.9957, 0.4896, 1.4162, 0.7971, -0.1093, 0.3664, 0.2291, 0.9991]\nstate[eef_state]: left_x=0.2947 left_y=0.0011 left_z=0.1836 left_yaw=0.013 left_pitch=-0.2702 left_roll=0.0805 left_gripper=0.9957 right_x=0.3715 right_y=0.1303 right_z=0.1232 right_yaw=0.0446 right_pitch=-0.0982 right_roll=-0.0444 right_gripper=0.9991\nstate[joint_eff]: [-0.0889, -2.8376, 7.1043, 1.5263, -0.2222, -0.022, -0.0122, 0.1299, -6.2154, 9.3333, 1.8046, 0.4029, 0.2027, -0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6605efc3ceaa73eb8063f37ae4e44bf573f61af725f3f48c53701ba2f623200d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8d66a49cffea9a89920ac22ee459fb305f3a4fa0a3d989b7533605b24621136",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c7e298531edb5029be0bdc8e36a42706911678ff3901fbf9a5d015dbbaf3105",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFg_izZK4KSXMZB0TSwq3B_2ZLNb_tmNhIMH0AjHUY30rn9sRz89nISuWgJVK4gGS4uOhheLvFwrYuqwifKQ7ULozspFo5PAft9ImZBVFHnKKql9C7r_GxtEb5QqPe1U9v3JJJJUuBrUJkyUTvDczFwcmqCOnf89AdYNqVvDNz8Ds30eqmu_nfgeuZOc_U6_ji7V3pgs2dD1KEdLIs8jAyzO49O7PUU6wIV3Fb4eMde1HastCR7rI5X5B_uDdUe9JvQQ4_I8Yts4lFskXirs_O0mpD32WB8h4VrC-jj5RHWuFmWHQAOvq8EZRODquZWaVxMkN1-FIn_0WPWZRdDYcaucZBHFkJcIw8kgbKbF57ZdscM8wGuLPSA6NV6YvWtOcWVVTyUYQCWST65Moswrlzn9evZr-AUybQX11KrGfeDaKyB33GL6ONMB5ezx8DqTsxWSUiNkpl4Nyr5f6Fes8bAD9WUgSNuROVHmCa7zphJWcRXHvtoZn1qRniwPQDIbn2sxT3TEQoOJxasfSSb8TbqRCDktm5rQ3XEkvsh0IIbhpjXEo6Qv6fePE9PyIi-iTJ0K_WnwI-tkaKRA3Lvc8rsQ0BCYYtk9ELN505tDUiS3d064hjkbOYeuhcgMZYYoukRp63wACON9iPkU96WoMI_g5-1CNWFv_DCCQptgpkTk53EkjiJEXrmPGRZDwfIW0Qo5oGMPs54ving5BoQkb2KJVI6BQ3JjD0ugY9UDMm_FlzhL8LAbxDauqjNMgtdCkLE9wPg9WH95UndHCoZHdKuaEcOZ8sp6_cqh4jDKgBczM6DSjBiFvJYpLhCXDR0yGZb_Wo8HEvHy-Ti1O8E4py_0p2-wzaslHW7ACNGaLPfcA9R9V9CJwdFl-8fH2uyGn9DLXgIwKYvtuRv1HPybgrZPJwO2n1F49JnRkfUPTlkVM4yETpvwJgDbuFFgt5rptA0EBSMdB20ts90IUD2HlQWr_zgGhzMKvUGL-oBeRF-XTmpZQfrvpHMhM65h2u0Kijbg3cWhRMpMUlHoOM8snVNiy2pVxRB9KRbHnOjGrUIKPllEqyFcAzEbn-wqMLfQDncwrrL4Ni_H8ycH1HcBTasLl5AdW4OQnrXUdTF9aKsILqGVgA3UePx_DJLpr5ZymjfvuMtYzanvBbVFFznZIGzZbXHX3XNkkb1h9CL2btKfpqzA_BFophXzSs3agR-jn1p5uilYug33DhZnBadsZS9N6xV0acH6-Af1GJZlZogOYm9DlbhtdMYS-UkFb1CYKDt19d8npV9UhzYW7I2tKyzOVZbeBUrk3kIiF7dEHAgSFMaoLiSp_1ddC-TEfr0XyITxsd-mv_fRWKe7RocI0dSxR8GbYj739HGo4ra29oh6xOM64f8NUthArZd280Rw9UYEidlAe5-uWYikCv9MB2mWMvVFA5v4qr74ITDXJVXctSoDu6OXMqFy2P6gaNRNi0VMzHNyBpQ4RR4LCaqNKErTB7IkHXUSfzsL2dGLUWsIsTLW1Es8IVmpE7RPCmTwh-qkjeQU0nkQ4738G1Q3Q0eEkt0_99qTIvreQ5T72l81jAWpNY8dFzu_BjpT8Axx7UnqhmJ3NLwF4kG2vR_hZi9ASMpXD9kvwxoDaxmsH9n5KCA0w9MOVp6Fn8AIbxJkp-NAFk5UU0BBiEZQlKSnEmmoTG_PX0YhVfPDfa_nojxYkOTG8PYnoaTPe0Ynd-1dFFei",
  "id": "rs_0f23cb087a0f4d72016ab4583c8a7887d0acddb2bf03b0084e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.415,\"right_y\":0.08,\"right_z\":0.06},\"note\":\"The pink bowl is centred in the wrist image, so a full-width grasp would be too wide. I’m shifting to its right wall and lowering the open jaws so one finger goes inside and the other stays outside.\"}",
  "call_id": "call_KvkDKTTtIW2TNkPUWc0l2It6",
  "id": "fc_0f23cb087a0f4d72016ab4583e0f4887d09ab7727144d92b98",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KvkDKTTtIW2TNkPUWc0l2It6",
  "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]: [-0.0719, 1.0145, 0.897, -0.7284, -0.1055, -0.0261, 0.9957, 0.2764, 1.631, 0.7082, 0.1421, 0.2329, 0.1066, 0.9991]\nstate[eef_state]: left_x=0.2948 left_y=0.001 left_z=0.1832 left_yaw=0.0129 left_pitch=-0.2714 left_roll=0.0801 left_gripper=0.9957 right_x=0.3984 right_y=0.0744 right_z=0.0463 right_yaw=0.0053 right_pitch=-0.1829 right_roll=-0.0699 right_gripper=0.9991\nstate[joint_eff]: [-0.0752, -2.4137, 6.7487, 1.4774, -0.1148, -0.0024, -0.0122, -0.4308, -7.2957, 5.9966, 1.8437, -0.0317, 0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e228778a2b5fbedc30cb3534e9c051c0fa600f23a1eaaadf2ca6154da6b5970",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90da894cc68ea5afccfeb6e88ea890b0594164898f84b3dec5e825650ad507af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a93c32d3a2509cb261c3e4a46d5a5e1711c7fd7a067c0ec7bfb6781732f56e35",
      "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 · 6.098 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]: [-0.9012, 2.2253, 2.2127, -1.0554, -0.5915, -0.6857, 0.9957, -0.02, 0.8249, 0.6075, -0.4454, -0.0151, -0.0341, 0.9991]\nstate[eef_state]: left_x=0.4095 left_y=-0.3529 left_z=0.1886 left_yaw=-0.0338 left_pitch=-0.247 left_roll=0.0921 left_gripper=0.9957 right_x=0.2877 right_y=0.0005 right_z=0.16 right_yaw=-0.0025 right_pitch=-0.0896 right_roll=0.0012 right_gripper=0.9991\nstate[joint_eff]: [-0.0752, -11.5761, 8.6496, 0.862, -0.3541, 0.0269, 0.0855, -0.0615, -1.4017, 6.9538, 1.6435, -0.0317, -0.0464, -0.0122]",
      "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]: [-0.0719, 1.0134, 0.897, -0.7284, -0.1059, -0.0257, 0.9957, 0.4896, 1.4162, 0.7971, -0.1093, 0.3664, 0.2291, 0.9991]\nstate[eef_state]: left_x=0.2947 left_y=0.0011 left_z=0.1836 left_yaw=0.013 left_pitch=-0.2702 left_roll=0.0805 left_gripper=0.9957 right_x=0.3715 right_y=0.1303 right_z=0.1232 right_yaw=0.0446 right_pitch=-0.0982 right_roll=-0.0444 right_gripper=0.9991\nstate[joint_eff]: [-0.0889, -2.8376, 7.1043, 1.5263, -0.2222, -0.022, -0.0122, 0.1299, -6.2154, 9.3333, 1.8046, 0.4029, 0.2027, -0.105]",
      "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]: [-0.0719, 1.0145, 0.897, -0.7284, -0.1055, -0.0261, 0.9957, 0.2764, 1.631, 0.7082, 0.1421, 0.2329, 0.1066, 0.9991]\nstate[eef_state]: left_x=0.2948 left_y=0.001 left_z=0.1832 left_yaw=0.0129 left_pitch=-0.2714 left_roll=0.0801 left_gripper=0.9957 right_x=0.3984 right_y=0.0744 right_z=0.0463 right_yaw=0.0053 right_pitch=-0.1829 right_roll=-0.0699 right_gripper=0.9991\nstate[joint_eff]: [-0.0752, -2.4137, 6.7487, 1.4774, -0.1148, -0.0024, -0.0122, -0.4308, -7.2957, 5.9966, 1.8437, -0.0317, 0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e228778a2b5fbedc30cb3534e9c051c0fa600f23a1eaaadf2ca6154da6b5970",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90da894cc68ea5afccfeb6e88ea890b0594164898f84b3dec5e825650ad507af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a93c32d3a2509cb261c3e4a46d5a5e1711c7fd7a067c0ec7bfb6781732f56e35",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFhFX1BKAlky7DINN_IOyEN8wz0UWPa0b_D7uVIBoRgHrip69bTp6M2eNSNaD3gLmUsLAFIP0ZnwEFDxIbJvw7PbKCGLvY4ZX8HdurCzrs4n-ZdyOPsrNejqD19m_2BrQiyzxVRpSwXG5K4VEB4izYZUD3N46xwzw-ZqocDEZSdk7IV5IshVYpBAejjYaH5MdS17AQoQTZn7HKJsFCfpkBfpbVHiQ5_0ZWYJcvS1rvBjyKDJQsiv_p5XQEkHoftP2oFUPPtxj8N8BNpzFNsBFu-Izj0t1XIi5yKd8K-xZyINIdiPSQ8wypNcbQOJjWVVuTV2XRLH4E0kwZKpfomZlo91pjISEAKKxpIZ-z70KtzK1V6opVFY_QApeGx2wzdKAXUIc6We4AexeJA4Qpk9hDhm-CK9mKTy_c_i-cQ3TOUeIFa_GTKOa3RzY0VOlXczBEN6oY17q8rC9-bRs_vtUwGYAGcPPSfpnkddXBEx4XH2r_1n2oNdt34SklQq4FAUzXuq1hd714_awiSZSHGJK-wRztevLgy0JyNsYJzJtQLHULEhO-L3sI_alJx6Kqru1f_fjtiey4kba4zD2icXIFB6ESZKahmSBTj6Y2DROCx_gYAlTqQ-LR3cIEuURA8E3zsxRAffaN5cU0KMR1ZCqgxcJCTKoh9g0SW57vqBfyVLOVEirHgyflmI_TDb7ZLq3MCEGibOBziZRvzuQ31exhDGuB97qSnVF9krligmSEOAs2NVmTpge86fkz0i9r9bUSeFuDk-kr9wSZ0_JoxGWbsalMaf2NUp2Nbugdm22MrCfCFN8_k9gd9ii9ddMY64Ja_Bl-k1fmiOv7Fi7vvf0lDm11IDYwXitb9IJTYkdSEsgYEJIpcfIh_FJwOU6d0XBPkI1bgrYpGBtl7-JQY-GaYZfHXFFzpR0muvspxYnIPMx-L6oIhgLRfI1Pk_Nc_4EiXWJwkC4SKyESkg9DjakJ2zxxqRvDjGU1Zf4fC1-JjZhVL9xB0KIkaZTuobHP0AoheSTJUwXZfnrf0qrMvVK69q32P2CXAkgmmKWfLNyh0NX0NVpEB2v_B3YrWABvZqLooNe65vhgCgX2oFKxIqJTStwzlh6vFExozOxaEXbwY0ldUZAs2YsI6wUGBferrLFrbTlO7nSFqe4T5ZxKOfDGyaQ9hAGCsZ9PFIEfsxfucerUF7_BlCyMxYS6tiFZGu2rxXJgcRFpHh8E_9Acwwr6q45GNi1BxMuM8h7abVRrTkyyXGFbyqcbUBcYNHqvgxMjEBQ3jW8AA7vypjawkMZ0cZ-URI1eiuOC_1qCM7Qks1qhK6faaWCws9k3QuUVfjSHT3q7aQvgeMPZzUqafKqHp_AAmOJjGsyLnjQQlKBY_ZAqfcB18inj9SJH0Sio8h1oj7Obd6pj9a8e4wnN-gQBNUXA==",
  "id": "rs_0f23cb087a0f4d72016ab458437cb087d0880a964873528333",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.062,\"right_gripper\":0},\"note\":\"The pink bowl’s right wall is between the open fingers. I’m shifting slightly farther right and closing on just that wall.\"}",
  "call_id": "call_R4ljd2KPx3IZRLJGUPgAiOVH",
  "id": "fc_0f23cb087a0f4d72016ab45844b8ec87d08a6500137a268b4f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_R4ljd2KPx3IZRLJGUPgAiOVH",
  "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]: [-0.0719, 1.0157, 0.897, -0.7284, -0.1051, -0.0261, 0.9957, 0.2634, 1.6516, 0.7036, 0.2157, 0.1921, 0.0696, 0.0099]\nstate[eef_state]: left_x=0.2949 left_y=0.0009 left_z=0.1829 left_yaw=0.0126 left_pitch=-0.2725 left_roll=0.0799 left_gripper=0.9957 right_x=0.4077 right_y=0.0787 right_z=0.0485 right_yaw=0.0487 right_pitch=-0.1439 right_roll=-0.0583 right_gripper=0.0099\nstate[joint_eff]: [-0.0068, -2.6735, 6.7077, 1.453, -0.1148, -0.0659, -0.0122, -0.3761, -7.5692, 6.1607, 1.8828, 0.0952, 0.0904, 0.8376]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2571a5e34f2fdb1055118a2a3ae8160d015e0204242ac47d03c519a38cde25e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad832ac22cbfba354dd717a9fee2d19da7eccb03f3bc573ba3f99faebc936e4d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86e6f3209a6dcb79928140c0c39e62533d1d6e25e32380977aaba5892c072fab",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 15 attempt 0 · /responses · status 200 · 6.188 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]: [-0.0719, 1.0088, 0.9005, -0.7212, -0.1162, -0.0238, 0.9957, -0.02, 0.8295, 0.6075, -0.4454, -0.0151, -0.0345, 0.9991]\nstate[eef_state]: left_x=0.2962 left_y=0.0028 left_z=0.1876 left_yaw=0.0205 left_pitch=-0.2544 left_roll=0.0884 left_gripper=0.9957 right_x=0.2879 right_y=0.0005 right_z=0.1588 right_yaw=-0.0023 right_pitch=-0.0942 right_roll=0.0009 right_gripper=0.9991\nstate[joint_eff]: [0.1573, -3.0427, 6.8308, 1.4579, 0.0855, 0.0513, -0.0024, -0.1436, -1.4291, 6.9949, 1.6581, -0.0317, -0.0611, -0.0073]",
      "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]: [-0.0719, 1.0145, 0.897, -0.7284, -0.1055, -0.0261, 0.9957, 0.2764, 1.631, 0.7082, 0.1421, 0.2329, 0.1066, 0.9991]\nstate[eef_state]: left_x=0.2948 left_y=0.001 left_z=0.1832 left_yaw=0.0129 left_pitch=-0.2714 left_roll=0.0801 left_gripper=0.9957 right_x=0.3984 right_y=0.0744 right_z=0.0463 right_yaw=0.0053 right_pitch=-0.1829 right_roll=-0.0699 right_gripper=0.9991\nstate[joint_eff]: [-0.0752, -2.4137, 6.7487, 1.4774, -0.1148, -0.0024, -0.0122, -0.4308, -7.2957, 5.9966, 1.8437, -0.0317, 0.022, -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 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0719, 1.0157, 0.897, -0.7284, -0.1051, -0.0261, 0.9957, 0.2634, 1.6516, 0.7036, 0.2157, 0.1921, 0.0696, 0.0099]\nstate[eef_state]: left_x=0.2949 left_y=0.0009 left_z=0.1829 left_yaw=0.0126 left_pitch=-0.2725 left_roll=0.0799 left_gripper=0.9957 right_x=0.4077 right_y=0.0787 right_z=0.0485 right_yaw=0.0487 right_pitch=-0.1439 right_roll=-0.0583 right_gripper=0.0099\nstate[joint_eff]: [-0.0068, -2.6735, 6.7077, 1.453, -0.1148, -0.0659, -0.0122, -0.3761, -7.5692, 6.1607, 1.8828, 0.0952, 0.0904, 0.8376]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2571a5e34f2fdb1055118a2a3ae8160d015e0204242ac47d03c519a38cde25e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad832ac22cbfba354dd717a9fee2d19da7eccb03f3bc573ba3f99faebc936e4d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86e6f3209a6dcb79928140c0c39e62533d1d6e25e32380977aaba5892c072fab",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFhMsyYa0UsG1AnFNeLKFNEJJL_JL3AMSwKI_SPQpbBymTaNn17R4k_-Pvv4yogGejkZnBzRx9cFyEA85XoHV49kuXIOlFVFWteCuqyr1jkxEbGwsSoqpGP59gN5b6L2PaBi3kY9hWsw6ldn5JheIpT0EkDZWegPV_o0D13Bky2Xs0JtsLLzWaelNuW_XFdQdpQ-pg-7oyKRuvfTcw4aP5eJLgwhKswxhYeRIhMbr9fkBTgTtULLfOuxagPkULpzU6kXAYIlmIuOvvIsRU5fIqqcjOHnW2MProdmoWl_TXsplXLe8NTIyEhVMw69RHd_Z8xrtwtAh7xg-iwszEiFpzt5VzBokqInHjMfFGb2mIYwuOIWkhJkHbLQrFN02djO2du7zld1TpgwDibt4C0bALyEB66A2HHrXonGivicIXE4zNLg1mvh9bbA3AIGpKQ35QfkJ6K5l4EkP7ivIBUnRaIeBImv8GWPeCNU17GALDaNord9o0aek4Z3A9AK7ttLeOtinGwZWy_6j_069C90YPrF7k50wJwpJjWnJAtrxtlIPhfR7H5mKOpJFqRv9xZT3XHSMaBY5vSHKgBHSZrJ5OqwiWOKBT8_ix0qXQwOL9F63IEXmiceBeTNddwQDjA3Ipj-8k-Z6neErcdkVUryKz7kZuVbSt6k8JNYzhpl9c9W93H8pGutl5hTiExG8IdnRZmDccYjektuGBf0FI-mSqh9NgxnCXKahRom2pIEXccuftX42UZ7LlmTcyNZPQ0rzTFdDimXh5SaCDuLpVQ08MZzj1Tn8JNf48QIgTTCfC51AiSSbOX092L60DxXbmtLmWS-NWLD4eRMwmJyybVzlaHkkWrL1ZBaj2599-38fSPnyO9w__DFAHjOBwhQEo-YJuxr2UzacDJs3uhoBJ5E3is7eCgFuW83Y9ZLlT8JBETgSL6c2HQIVUyBm7yxvZgf42m2BY7pLTYgzV0TQNYO0Vc3Yb6SSA8sAgW6CO52XBhI-3YvaKwx479uAObhLZizw5RPHurhqvG01lYw-nG-Kia5Jl5zuI_zsEMr-_pzfMzxb8efYGopdj3OROjdl10RyVLzBoeymsztgsig9f4gsEuXxFjYK0NxpIikfvm9Npx4DNRwbHIjhaWs1NbjhbiBXxNLAVOKMf7g4YYc_hWWyPWufrw3gl9B4-Tca_mdxiEG7tpDHAbymqRK6iAxKULOdYHyEqbgkoTtRrwtJipdWnvACmEpQQyP8pyryfLQivgArehmC--_trR1XhubDrd41b8ztDi_ecxlg5npFhjwc0UJXAQFTWodnB_MMClXWYh-Da-UHWiuKk8SfOhjMYxo2MmDiQwDxcSOeGfxUpWxkl3ySFC4YGytf2qUqifNDtSLMhR_MPTETpeIUGErZ18k0tZDjn4cPmk5-hoaDf7j25V5p4CDz42PaHM8gRmKPMknPkMxJVhRwQx_IC-BU8GsgCsZ_DJc3C_P4CqZxDvFsnXDnSU3DSHDefwq-BGnTIJwSIESE-D_qi9_lAOdDN6ApFch7RH6yjtzSEMRhJPffwI-hMqqbEFUowE3dVcFqMbvjeXnVyAdhuSCK5kjWCSe3tJueRB3wweGv1BvY1Kptd_hMl3p-gblCNDhzpV8AlJ7XHyyGW5IsueECAvV8GrIBjw4ShklnLmR6yAsklgZohWehFI_P7Dc0NjH_gURwWWcI79PorMPn36E9FUGy50T5Y7MThltADg9n2NZcsdscc6-609BUSLEvkWjQuLpFFcDqsyC0du8WFOFokTVQ6Lr698cqNTMD3SgD7vnPBD4tnpNXqJ_6EVvW_wWzRe1WlcIjjxT-EKR8eIW6FZ_ynI5q7E32BoO4A35iHM6Bd7N5tzqxnHqJ6kiblzSiWvXheSliT-L36meQq6D2b3LxsgiLEY-WPt93VmXjNxEVfmR-6bkWlo5jopgPTLiNzdOJk5CIMb5lRMPQ3y3jJFc4LGRv-TUpz_T16aUBrCpLnpHIp5zy5zMkOTltVLoWEaAGO2lCeLm1TG8O0YEClF1G-YwyK88gAOZ0PD5GK5y-8VQf-NUzcTVXs0Rg0c0s9dCTsXhYTEz2tcUsC5htgD650f0GGYVSeVZiEqYsQBO6MXBx90zpZr7tAYLtnsQoCqamD5VKRLOnSK8oGd9j6J-8cro7ZfA2NeGBG51FZJfMCW1SKJ5yIYf_ydvoXIX8PGOxbtaaqAvNRmU-srmo4HsUJNOA1gJ9ryAvNm8q8GeXWFWIfvPb04RfdRJD_2HetK13Do6hWw=",
  "id": "rs_0f23cb087a0f4d72016ab45847d6dc87d0bbf7b86e8f80117c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.035,\"right_z\":0.065,\"right_gripper\":1},\"note\":\"The fingers closed fully, so that grasp missed the thin wall; the pink rim is still to the right of the jaw centre. I’m reopening and moving the grasp point farther right before trying again.\"}",
  "call_id": "call_vBSkFzHaJ4hnzvrQagOXcbM1",
  "id": "fc_0f23cb087a0f4d72016ab4584b61ec87d0be2b5ff93747e542",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vBSkFzHaJ4hnzvrQagOXcbM1",
  "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]: [-0.0719, 1.0191, 0.897, -0.7284, -0.1051, -0.0261, 0.9957, 0.1143, 1.6428, 0.7078, 0.1505, 0.0864, -0.0322, 0.9949]\nstate[eef_state]: left_x=0.2951 left_y=0.0009 left_z=0.182 left_yaw=0.0127 left_pitch=-0.276 left_roll=0.0802 left_gripper=0.9957 right_x=0.4057 right_y=0.0348 right_z=0.0401 right_yaw=0.0439 right_pitch=-0.2094 right_roll=-0.0685 right_gripper=0.9949\nstate[joint_eff]: [-0.0342, -2.8786, 6.7214, 1.5116, -0.1245, -0.0464, -0.0073, -0.5675, -9.0598, 8.9641, 1.5751, -0.1197, 0.0611, -0.1294]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3aedc2b4f91e0941128d8afc6d9ace960d2b62b290ab6342450945833d9a6f13",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcd9d2dc1f6bc55cdd57c3cd9857e800411ec60742cd3bb7abe0378431ad3a29",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9cf4d055d9fe7778e6b638fa470cce8f1054e0a07d099a5060160443fd3e605",
      "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 · 4.382 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 50 changed as sent

message 58 changed as sent

message 62 changed as sent

message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0719, 1.0134, 0.897, -0.7284, -0.1059, -0.0257, 0.9957, 0.4896, 1.4162, 0.7971, -0.1093, 0.3664, 0.2291, 0.9991]\nstate[eef_state]: left_x=0.2947 left_y=0.0011 left_z=0.1836 left_yaw=0.013 left_pitch=-0.2702 left_roll=0.0805 left_gripper=0.9957 right_x=0.3715 right_y=0.1303 right_z=0.1232 right_yaw=0.0446 right_pitch=-0.0982 right_roll=-0.0444 right_gripper=0.9991\nstate[joint_eff]: [-0.0889, -2.8376, 7.1043, 1.5263, -0.2222, -0.022, -0.0122, 0.1299, -6.2154, 9.3333, 1.8046, 0.4029, 0.2027, -0.105]",
      "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]: [-0.0719, 1.0157, 0.897, -0.7284, -0.1051, -0.0261, 0.9957, 0.2634, 1.6516, 0.7036, 0.2157, 0.1921, 0.0696, 0.0099]\nstate[eef_state]: left_x=0.2949 left_y=0.0009 left_z=0.1829 left_yaw=0.0126 left_pitch=-0.2725 left_roll=0.0799 left_gripper=0.9957 right_x=0.4077 right_y=0.0787 right_z=0.0485 right_yaw=0.0487 right_pitch=-0.1439 right_roll=-0.0583 right_gripper=0.0099\nstate[joint_eff]: [-0.0068, -2.6735, 6.7077, 1.453, -0.1148, -0.0659, -0.0122, -0.3761, -7.5692, 6.1607, 1.8828, 0.0952, 0.0904, 0.8376]\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 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0719, 1.0191, 0.897, -0.7284, -0.1051, -0.0261, 0.9957, 0.1143, 1.6428, 0.7078, 0.1505, 0.0864, -0.0322, 0.9949]\nstate[eef_state]: left_x=0.2951 left_y=0.0009 left_z=0.182 left_yaw=0.0127 left_pitch=-0.276 left_roll=0.0802 left_gripper=0.9957 right_x=0.4057 right_y=0.0348 right_z=0.0401 right_yaw=0.0439 right_pitch=-0.2094 right_roll=-0.0685 right_gripper=0.9949\nstate[joint_eff]: [-0.0342, -2.8786, 6.7214, 1.5116, -0.1245, -0.0464, -0.0073, -0.5675, -9.0598, 8.9641, 1.5751, -0.1197, 0.0611, -0.1294]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3aedc2b4f91e0941128d8afc6d9ace960d2b62b290ab6342450945833d9a6f13",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcd9d2dc1f6bc55cdd57c3cd9857e800411ec60742cd3bb7abe0378431ad3a29",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9cf4d055d9fe7778e6b638fa470cce8f1054e0a07d099a5060160443fd3e605",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFhTZnOQBZSEG6t9aebhiTh0Z9nojtVPBUK4QwiSysD4UJQo2q_6Ug3U-hSsI1qgDIhTsMUVacAR3z_c2ww3tYZEtNf8qNwZK6G4goILUNY-taCrmstRhhnVE-UhN3iBRK_JD3YDGcXQcSWTE6uQc5kXwwXcjxZt_I_03OX7HHeBNzzDUHgGs9n-iBeS48cAWfoM8cl7_JRBwRUHvKENN2YIjEegR-ZHMZ2JZv2vJnJOpA7YZWOwgTRg0YUlwbeaZq_-dp0JP5SaHWnDTSCUHPXZxDmR-pb-4J4yF-SWi3xbBI3AbUsS53Rdv2Lk4BA6MS2rHiiFluCTS_iImqxSd9JDorV6DYCMvF30-qzyFx5TsrDAlfi56rYfWav0fA2j090yGLSzGIHxAS_DJGrRAuMZLlabf1oEd7Eq3DZc53QXDtF4Fa2xf4zW5BzqtQYG_icVn6p2ZAqTl2IaOC0AnPGSPp_xnuiAhwoub0831y_4yKDVF5XHCHydR2vNeHE4igSDnW5CLrFmh-2JphGRoHwp_lrlvKQwgl6_qmkpiFgiMfnOsMfsp6ux5-WKXpY8vANuZexuY9JT0DH8vPv4L9Zz9gBi1oX0E4TPkQqk64gksYlhvmSGSZvoUwWZp-5wMpkAfP2lZZO2EryG8WNWZWvAT0Ie5cw63wAJSXTZN1NX2CHrGBO9L6QFlWnsiYch3dl58enXGoffV3iV3aV5KJgScRuEfeH-hoLdskWlzdFLPI0-iO1XeP9lkosdv6UdOraYAVSWNgNyEoYrKX_N2lFNiBwGVYf2LKPUXMSP0p5Ju5q22dq8FJ3YlK7n7JGtSK6ezVo71BsqDsxhhHHJsfDeawNtOluASVs4B62o8ZBdohyjVywCoXwuOUcv4LMrI3DJB1WWWa8FuG2MQdhAoymq5Z-Mgxg4GLA-QHNyrW-CnSzsEUR-eMjlCzyuUC_43cSggrb6Jtz9H47K6kJ97MDFINgREcrGZZYaM4fT4669O8iExEM0Ub_Nf4-NYxdqdJc5BuX9HFUiHf-HbOBz-uQNeR7n_RqD5sVUXqdKDTfKBfOtA6_1dTGAbJ-7ZUre4SMQI1cl-7JZJdi1BX_wDE4X9FjRViA8xiKamntlhLUlQIqXrYq53ihlxH56S_vhaSC2Mgw68qop3F5DvUe4xyx7YrC7txfFUEX5PRv8kBN_FGQgCw9u5tY8oWErS1bwDqnF0xfk0td7cwjCly1hcVYCfu-S2Z32OU8TGQAx4PpjGs5Hq1jexKplnh4IGHfjO2CgNnO9n62BfvafXDiRsua85hy5GEWn8avkWjGp8etyJXASn302TnZhrUx6hAp3GUKcUgMNIjXBjKtbIcJK0W43HWm_UVsVURXopTYQzKon7ALtzavvdds2oDTAcHLOJI1YQWBDp0gcYqC6UlF5kToxD0AEbzdzkfID-951yPWGIEs_v-XWYqkVaBu6xAOOZCuFuZ-jbqa7q2Oza1nA-OiE2H1d_s2-0Qqgzxp6i6a9sm_kIvS030zJQGtnsO7oAwxEOP8q2pZM54SEinS8lGjTIfa8qoQBncFFrvRzv8xtxcmXOMzpPdbX8tw6ztxkM3_2KxiNi5QgympD64F66AbBPMc-Bg5r6K17b1TbMll-N-BCUiXhL23icAb67-ywfcU5M5ZK83YsVSmYiWcH-UdqMalC6_hGgdNKIuHpz-Ml1jOyqQw1YgIPQcvWTJ4d-kTbH4IXYQkUJ960pfmQzi4KwjC5EVCEI3VhksD1o95hLzQNBhw1gyyRuyi83WyPgWwR3kPdnXtik5MU2VoXUSwjz6rEzV-pE4FGRIa4XQP2VnnHBb0F2sPSDy2m7iM4U7c_Y3FQoRdUp4P6tMKN73qUiPPj228oS3tBcMDiAO49x_kBGTV89EBUF5TBi4diNnu3_XoI0FA0z0uXZIQQJHyVxsACS40xVoBNW-B6stm36A6IBU-KMYlFkbXty4ZZSR4EMbax9ZmF6yMYhVQUL3Nw3VSPGGH6WJlsJ7MIZdw89d9SNLGuJV_avLmSeDrei86N6bmM7zS3u8cLs7CcXAL8rp3Xi0T-RLSMtfTNCv2ILL09BbYdu7EQlDo4mT9eUBbph42K7ckLIZ5CbX3hbkf1hbFW95mlu1v8EhS6hmYbHb-mhFyKQh9q21WtlGRz3BxAzn4sRDT_iPI6QaVwtMemYQ-_nzv5ExoKiLNVhPRhHr8JG0U2JAoYHMPky1QZT5wvO0ITzdOO9FSY2RN-K-zS9rXPYR-ER31OXebLoLRmfVd21w6-uEk_sgzgYZZutPcxOP95AP2fh10G3pNS2Dk-KOxemr2Mi7b7uw9a5sofxIiNO02hbZktsjLzMKQzD11i-fXK1pNSiiT_jQ2QKuQ9VEQy9U71tHzOt53_sSud8Ea6whuI27JM9hXHHveoG5lk",
  "id": "rs_0f23cb087a0f4d72016ab4584ef35487d09e8231b944f00a1d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.055,\"right_z\":0.065},\"note\":\"The rim has moved past the jaw centre and is now slightly left of it. I’m correcting back by two centimetres to centre the thin wall between the fingers before closing.\"}",
  "call_id": "call_ElPZVT2N368MqVuvLBtAWcfL",
  "id": "fc_0f23cb087a0f4d72016ab45852c67c87d083449b913f7f878b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ElPZVT2N368MqVuvLBtAWcfL",
  "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]: [-0.0719, 1.0195, 0.8955, -0.7284, -0.1051, -0.0261, 0.9957, 0.149, 1.6279, 0.7277, 0.0811, 0.0994, -0.0181, 0.9962]\nstate[eef_state]: left_x=0.2949 left_y=0.0009 left_z=0.1812 left_yaw=0.0127 left_pitch=-0.2779 left_roll=0.0804 left_gripper=0.9957 right_x=0.3999 right_y=0.0459 right_z=0.0414 right_yaw=0.059 right_pitch=-0.2427 right_roll=-0.0708 right_gripper=0.9962\nstate[joint_eff]: [-0.1573, -2.6188, 6.8444, 1.4432, -0.1197, -0.0659, -0.0073, 0.7726, -9.5111, 9.265, 1.7558, 0.2125, 0.2369, 0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c169400b6fee2a88220a108501f7f3089ecf2e4e65c19a72b948652045b6472",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bdc7bc0273b312c36c9747f77f03ee026aca99b656fb4aa1a8f72fab5b438b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:482401095d3db0ca1729982d58c0a5a62b6f325b428fec099b855d0569f3c572",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 12.72 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 54 changed as sent

message 62 changed as sent

message 66 changed as sent

message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0719, 1.0145, 0.897, -0.7284, -0.1055, -0.0261, 0.9957, 0.2764, 1.631, 0.7082, 0.1421, 0.2329, 0.1066, 0.9991]\nstate[eef_state]: left_x=0.2948 left_y=0.001 left_z=0.1832 left_yaw=0.0129 left_pitch=-0.2714 left_roll=0.0801 left_gripper=0.9957 right_x=0.3984 right_y=0.0744 right_z=0.0463 right_yaw=0.0053 right_pitch=-0.1829 right_roll=-0.0699 right_gripper=0.9991\nstate[joint_eff]: [-0.0752, -2.4137, 6.7487, 1.4774, -0.1148, -0.0024, -0.0122, -0.4308, -7.2957, 5.9966, 1.8437, -0.0317, 0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0719, 1.0191, 0.897, -0.7284, -0.1051, -0.0261, 0.9957, 0.1143, 1.6428, 0.7078, 0.1505, 0.0864, -0.0322, 0.9949]\nstate[eef_state]: left_x=0.2951 left_y=0.0009 left_z=0.182 left_yaw=0.0127 left_pitch=-0.276 left_roll=0.0802 left_gripper=0.9957 right_x=0.4057 right_y=0.0348 right_z=0.0401 right_yaw=0.0439 right_pitch=-0.2094 right_roll=-0.0685 right_gripper=0.9949\nstate[joint_eff]: [-0.0342, -2.8786, 6.7214, 1.5116, -0.1245, -0.0464, -0.0073, -0.5675, -9.0598, 8.9641, 1.5751, -0.1197, 0.0611, -0.1294]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0719, 1.0195, 0.8955, -0.7284, -0.1051, -0.0261, 0.9957, 0.149, 1.6279, 0.7277, 0.0811, 0.0994, -0.0181, 0.9962]\nstate[eef_state]: left_x=0.2949 left_y=0.0009 left_z=0.1812 left_yaw=0.0127 left_pitch=-0.2779 left_roll=0.0804 left_gripper=0.9957 right_x=0.3999 right_y=0.0459 right_z=0.0414 right_yaw=0.059 right_pitch=-0.2427 right_roll=-0.0708 right_gripper=0.9962\nstate[joint_eff]: [-0.1573, -2.6188, 6.8444, 1.4432, -0.1197, -0.0659, -0.0073, 0.7726, -9.5111, 9.265, 1.7558, 0.2125, 0.2369, 0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c169400b6fee2a88220a108501f7f3089ecf2e4e65c19a72b948652045b6472",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bdc7bc0273b312c36c9747f77f03ee026aca99b656fb4aa1a8f72fab5b438b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:482401095d3db0ca1729982d58c0a5a62b6f325b428fec099b855d0569f3c572",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0f23cb087a0f4d72016ab4585530f087d0a59faa48c41b77ab",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The pink wall now runs close to the jaw centre, with the inner finger inside the bowl. I’m closing on this corrected rim position.\"}",
  "call_id": "call_rfIh3fdfFinSRjGJ1hqlSZ2X",
  "id": "fc_0f23cb087a0f4d72016ab458576a8c87d0bd3d2ce4c64cfd86",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rfIh3fdfFinSRjGJ1hqlSZ2X",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0719, 1.0206, 0.8955, -0.7284, -0.1051, -0.0261, 0.9957, 0.1879, 1.6115, 0.7502, 0.0093, 0.1223, 0.0071, 0.0096]\nstate[eef_state]: left_x=0.295 left_y=0.0009 left_z=0.1809 left_yaw=0.0128 left_pitch=-0.279 left_roll=0.0805 left_gripper=0.9957 right_x=0.3939 right_y=0.0566 right_z=0.0444 right_yaw=0.0631 right_pitch=-0.2726 right_roll=-0.0743 right_gripper=0.0096\nstate[joint_eff]: [-0.1846, -2.6598, 6.8171, 1.453, -0.1294, -0.0659, -0.0073, -0.2803, -8.8547, 8.3077, 1.5897, 0.1685, 0.1197, 0.7595]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c9d7d86acd75c8a1a6e3f248261eea0f1be7598aff3fce5071ba293f7a235f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f54a0f1b236dcd4f0c27c9e06ce2d6ced7b0f6f5a7bb62434c450b409876df3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:076a8c48074ca676a6966d063d0ce3ecc4facc105ae5a6a548ef5ff1dcc2b1fc",
      "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 · 18.23 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 58 changed as sent

message 66 changed as sent

message 70 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0719, 1.0157, 0.897, -0.7284, -0.1051, -0.0261, 0.9957, 0.2634, 1.6516, 0.7036, 0.2157, 0.1921, 0.0696, 0.0099]\nstate[eef_state]: left_x=0.2949 left_y=0.0009 left_z=0.1829 left_yaw=0.0126 left_pitch=-0.2725 left_roll=0.0799 left_gripper=0.9957 right_x=0.4077 right_y=0.0787 right_z=0.0485 right_yaw=0.0487 right_pitch=-0.1439 right_roll=-0.0583 right_gripper=0.0099\nstate[joint_eff]: [-0.0068, -2.6735, 6.7077, 1.453, -0.1148, -0.0659, -0.0122, -0.3761, -7.5692, 6.1607, 1.8828, 0.0952, 0.0904, 0.8376]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0719, 1.0195, 0.8955, -0.7284, -0.1051, -0.0261, 0.9957, 0.149, 1.6279, 0.7277, 0.0811, 0.0994, -0.0181, 0.9962]\nstate[eef_state]: left_x=0.2949 left_y=0.0009 left_z=0.1812 left_yaw=0.0127 left_pitch=-0.2779 left_roll=0.0804 left_gripper=0.9957 right_x=0.3999 right_y=0.0459 right_z=0.0414 right_yaw=0.059 right_pitch=-0.2427 right_roll=-0.0708 right_gripper=0.9962\nstate[joint_eff]: [-0.1573, -2.6188, 6.8444, 1.4432, -0.1197, -0.0659, -0.0073, 0.7726, -9.5111, 9.265, 1.7558, 0.2125, 0.2369, 0.1245]\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 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0719, 1.0206, 0.8955, -0.7284, -0.1051, -0.0261, 0.9957, 0.1879, 1.6115, 0.7502, 0.0093, 0.1223, 0.0071, 0.0096]\nstate[eef_state]: left_x=0.295 left_y=0.0009 left_z=0.1809 left_yaw=0.0128 left_pitch=-0.279 left_roll=0.0805 left_gripper=0.9957 right_x=0.3939 right_y=0.0566 right_z=0.0444 right_yaw=0.0631 right_pitch=-0.2726 right_roll=-0.0743 right_gripper=0.0096\nstate[joint_eff]: [-0.1846, -2.6598, 6.8171, 1.453, -0.1294, -0.0659, -0.0073, -0.2803, -8.8547, 8.3077, 1.5897, 0.1685, 0.1197, 0.7595]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c9d7d86acd75c8a1a6e3f248261eea0f1be7598aff3fce5071ba293f7a235f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f54a0f1b236dcd4f0c27c9e06ce2d6ced7b0f6f5a7bb62434c450b409876df3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:076a8c48074ca676a6966d063d0ce3ecc4facc105ae5a6a548ef5ff1dcc2b1fc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0f23cb087a0f4d72016ab4585a82b487d0a24d1671099befa7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.09,\"right_z\":0.16,\"right_gripper\":1,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The second close was also empty, so I’m lifting and reopening to reassess rather than repeating it. The wrist has tilted during the low approach; I’m restoring a vertical tool and approaching farther forward along the bowl’s rim.\"}",
  "call_id": "call_yHak4DJda59XazuDH6W8XNeC",
  "id": "fc_0f23cb087a0f4d72016ab45863db5887d0ab8ee852b76f5379",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yHak4DJda59XazuDH6W8XNeC",
  "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]: [-0.0719, 1.0229, 0.8955, -0.7284, -0.1051, -0.0261, 0.9957, 0.2951, 1.515, 0.8795, -0.054, 0.2123, 0.1104, 0.9953]\nstate[eef_state]: left_x=0.2951 left_y=0.0009 left_z=0.1803 left_yaw=0.0128 left_pitch=-0.2813 left_roll=0.0807 left_gripper=0.9957 right_x=0.4169 right_y=0.0916 right_z=0.1242 right_yaw=0.0424 right_pitch=-0.0983 right_roll=-0.0297 right_gripper=0.9953\nstate[joint_eff]: [-0.1846, -2.5368, 6.735, 1.4725, -0.0904, -0.0513, -0.0073, 0.0342, -8.4444, 9.9624, 1.873, 0.3199, 0.1783, -0.1978]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9772ac92840c23d76a6252700c55693108b5da38ec3ce867be9a960bce81a89",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c11fb7ade2c017a0f67a109c29ef121fabb7d6410ce87d85a794b116bc067d76",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a235334478a25507be0af05eee4ed83fc199657ea9ef5946affdd91ceda46ef1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 4.851 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 62 changed as sent

message 70 changed as sent

message 74 changed as sent

message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0719, 1.0191, 0.897, -0.7284, -0.1051, -0.0261, 0.9957, 0.1143, 1.6428, 0.7078, 0.1505, 0.0864, -0.0322, 0.9949]\nstate[eef_state]: left_x=0.2951 left_y=0.0009 left_z=0.182 left_yaw=0.0127 left_pitch=-0.276 left_roll=0.0802 left_gripper=0.9957 right_x=0.4057 right_y=0.0348 right_z=0.0401 right_yaw=0.0439 right_pitch=-0.2094 right_roll=-0.0685 right_gripper=0.9949\nstate[joint_eff]: [-0.0342, -2.8786, 6.7214, 1.5116, -0.1245, -0.0464, -0.0073, -0.5675, -9.0598, 8.9641, 1.5751, -0.1197, 0.0611, -0.1294]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0719, 1.0206, 0.8955, -0.7284, -0.1051, -0.0261, 0.9957, 0.1879, 1.6115, 0.7502, 0.0093, 0.1223, 0.0071, 0.0096]\nstate[eef_state]: left_x=0.295 left_y=0.0009 left_z=0.1809 left_yaw=0.0128 left_pitch=-0.279 left_roll=0.0805 left_gripper=0.9957 right_x=0.3939 right_y=0.0566 right_z=0.0444 right_yaw=0.0631 right_pitch=-0.2726 right_roll=-0.0743 right_gripper=0.0096\nstate[joint_eff]: [-0.1846, -2.6598, 6.8171, 1.453, -0.1294, -0.0659, -0.0073, -0.2803, -8.8547, 8.3077, 1.5897, 0.1685, 0.1197, 0.7595]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0719, 1.0229, 0.8955, -0.7284, -0.1051, -0.0261, 0.9957, 0.2951, 1.515, 0.8795, -0.054, 0.2123, 0.1104, 0.9953]\nstate[eef_state]: left_x=0.2951 left_y=0.0009 left_z=0.1803 left_yaw=0.0128 left_pitch=-0.2813 left_roll=0.0807 left_gripper=0.9957 right_x=0.4169 right_y=0.0916 right_z=0.1242 right_yaw=0.0424 right_pitch=-0.0983 right_roll=-0.0297 right_gripper=0.9953\nstate[joint_eff]: [-0.1846, -2.5368, 6.735, 1.4725, -0.0904, -0.0513, -0.0073, 0.0342, -8.4444, 9.9624, 1.873, 0.3199, 0.1783, -0.1978]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9772ac92840c23d76a6252700c55693108b5da38ec3ce867be9a960bce81a89",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c11fb7ade2c017a0f67a109c29ef121fabb7d6410ce87d85a794b116bc067d76",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a235334478a25507be0af05eee4ed83fc199657ea9ef5946affdd91ceda46ef1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFh5KV4wXPL72KQotKEO4TsZXUOL-frKi3CqGbhFXB29yVnGqLePTRWHp5SO-_T6O12wpJ7Na_gIjkhFnKvkmtOtV3nEoJaI23eQxCj8iK4_4b4pHEO3yVdTogfYktIlAu8pelietbnd9RGjIKCoxTmUpwSVcj98ZZGtoPmn2BDwllG3LVRfpxpaFSErk-04lki0u_UQVscg4RtpyiKOKZ6aotpNCAG31CtvhDHpWGQGgQ064Q6IYlvWb5rPotaWCsvcYBVhJKECytKdbFJE03EzuxYA1a10WYSWZPlNsidvL3hMv4ow_SHXM5gz4jV958WDfOVMBWSzgUaZo1VNXSjlDlW6h3fPu-uxNjB6TJr7CuYQCA6rCiNRrSZUyIhM2p66CK-VoyaB_AGqp9Ju5ihQM2ArI_vIWT4U0zHnrfiN_44nfItH6mL2w5M0M6w6QAhOPT5GqERE1IY_v3iDQrt13yK9QAzCeOHZqNYG6HNWSZAvkGwUrh_GhGC7x-oKWyjc6GfhqLlVBdUC8JmpJSrTGQCRHxR089Czrc1N2Vg1SPWVOA5Sldyolb18snBbOci-6Mlr8X8Kd3ff8FxIKCIHHUhuhK08UNTqxt0ZpucPIXmofqXBOC8kVUCxXTPNGHuYEBskIZYxK1B3Gkrg2tiqIm3kvaZwCgwPF3DHBDYFPI7XUzMnVtYTzmT3dYxvnjMz4EX2nve37jyT7MH_WJlmKwE8EbJ4bAo9BLCpJbXp96dKmfXKcd8-wV7JW8BxBawnnncIQHBHFfFoiIuJBdreONhvr3fqBvn4Kz8xMygHMN3V9F-Q-aAZTs3CrLVQBsPBarhqdku4PbARBmpqNaGyTjPVmKuNHbZAPnn5VVo1AqHgDgD59csH0bKkMOptbccbbC3r2JAcL8K03GCeT1JVIQd_oXWgJNmkqG1KKfnArNnZ0GJqfMq3esYUv1vTenqLYBrpLIi0i2ggCFElJNBpgaRSie5FMjBXgf3vi_igR1fhEwkBxclO2PytPAolFX9ShtGSBcNByiGzAtF5ZFwM8vRavaOzMGCTrYoowsj7zZGbDuecjFqsAOxr3JIlWpD8_r72peSdvC4FpfBRspSJmW5l5Zgr-dzYALYLP7l77YGoSKikRvwAA49EzvZ-G2iWg9NMYOvIZN1nNKDab28VVxIIPUuZpz8JIhm4T2sIgk72H81zp7Ofo_hq1uTEAFYYd-PTja6lvHx-hEfhr9U1tScuJBhM1RZdrSicLxQYr10vrfz4bMkkwL3Ij2AUPOyPDrFKdwq7kfvtlHqiiOMGMvDAd9VoiWbp4WwFScGdUUrCsYvrPcy0XJGAie-56uXBofubJlQ6GEcT92j8L3RcLLnO4ON5duqe5fSBhzn1SS5URCATB05KHSvLUpfeAGLgbYG7Z_Onwk0RdP9wJ7B-NbFpureFTW6ifAyvWGsT-SLz0_k1NwC8qsNZSMhHaldB7_619OXBjY94iznU4TxTjX7C2FsNNoIHx6Lk1enohgv0-yV7NHVGYGkaO-Lcn918tUdZZyBTV2SemjPb4ZTzLr79Phm2GkreDLmGW8pOB9nooUZOFS-MsMc-2MOMzw27j6Wf0wF2z5wTXK38JckldcuApMCs5hq0hdGRn6x6fZdXYrqsUM82Zugr9irU5Mt8MJqxRkqDQ0oF_EefXQ0b21PDg0D8GQypHN6itPBpZ_hvuhaNS1T2JezzKp1eihfUyW6jO0ADD-AOleGSNYHSGyX4-4GRcUfvG2DhLRpJJBNVuQOPIClAFd_dzouG4-Gthxsh_m9JoKk4JA0nGznc66blwgKKbLLMLbogl44cW6XP8lw8rrEfaFcy4fNr5rXevxuU811xrjSrSvsocka4VgADU9vIKoEjQwoL1Step040WskcqodhAVcUQ0nhJnbDHFpGT3y9pyVN2RJQm4xC_OGT5hEe87a0zhJaQSvANZxYHGEJtI-QCwcN_QrI0HZhMtjXeLb9MJU9A1XGGmGvkzLgo9f6ORPgs817jKdtiSqAudCjCiHVfywIlfOirphWCdwbqNaw-suRW1LTg8vmR_GKjz8hb-P1j9kFidEhxow6pzycTYj4RXYe5I4hMVJVtq26viBlnUt8AwBoCYcGjv98OokH2wKAm94JkVIhWxalJUmobWQs_Un6RkX0rqT7rEygJWTQbYrwDE8kYxmP_q-ivx1BFkbviYZ_-kT7DIh2wk5ZFQ9PiDvDhD-v5NnJoKi4Ir39GA-HRYYf2F7BlF41YhNEx3W3MpbU0-Ko0iEbG26lfk4dQbimmzfOAGUAqi__OZ-_SsOdMJ122oNn3oHJHfieL7DpwtT1paXdAwoaASz5ODh3IJ10o2gkrUT9H3ICWN8HDQ_2BsZSxL9TZ0xfNMca_T6sxRc3qcY_h2e8ocOAHhPiJ4PIsLBR9DZEhgiSgG6np0n-dx_r201xgq4kmsKJhZwL09wD9cqMxRQUdgj0UFakQ-X4s3hgvsKxwd24VUw2N_L5ChIs8W6yS2lwXFYeB9D-56ExP-LivAxhsWi794Q1VKWoyYeZ-IbenudyfZ4PpKvSC9hYE7iDmeyVKj3AYcSdEcKpFI0WHfAT1MufCq1ExeyOY4ZuMleeK24rBl2lnOYhIIKKHkfCuIYZdFk1vqUeUnG1LGaFpu09Bb6Sa3eyMWrLp4Dy5O7L105bJLB1iJ9dXD2wtLyHTbOQsQQ7-e4s4w3luZ6gZAjkl3inYBwSk7LDqi3lvopFaoUmmtsvaQ2Hae_VI0oyEkJwzPU4uCSgaX90so8fA_o56yWoTzkSIpMsJpLn4_BiJj4HUXz_eALp1Q9obg350qKkYZHn58_qKykuYd8hBR1ZpH7vsSzp22uURnFCnuOot38b3L0OvcsWsZAaDH8gSXQD7EdH6aVw4lCX0C7MYVzlwq4UDIFDPsL2gz-beP1t1s9oFb1E8eEdKmgxFSu8QxloUNDux0IgKzbYvj4TnzsA6xWFkks2Ok1vZ3lmHsoxXfzXNP1aamm8WIHE41wNnOQXJm5k5Zirt6IxAKl7ebN0dC_z_55wP0gezvnmnyWmNmD2KptEuZzGJ31npo6jD52ok8gBGV17ZJ6JJjW3c1sloyHnFEd1lj3v-4C1Xfov268IszkRSa-DErKDFeNoMRxD-Tv4SdbxAF6PEBbFDg77PNB3swIR-TEhyScIDK-B51s-L1rHvBP52oW5A6HDeu-XO1okB7h9mwsP0LmvwlZZqNamSeXyG_zqKuUzqvnyLDm4BGPi6mFKSx8IPOTFxqK8DaxSbduSpZB5g9zejXcfGAyi-vM91RwC9bNORv5z2HM9kNLuGSGO6lpuR0-xl7ifmsq3Cgi6teJ2SgTP_ovcjX1_NLqDBuJ2-M8wNoBrye83B8y1rKULooqQIuygz_Bf214swkWBiSNPzkZyK8-HiIx7a1a5UMvz8MvLKxhSXXa-kILAwxDThRxv2n4pLWOG8_VPTQt5MBEynZoJRbD6VxKfJFHAQmUptCM-rFIz-_K4-bg3x2qFrZhBpmYa7RB7yABGuSoZjWC_FgEVa3jiUKU88RDSWeoqbtDlasBgZKvq8Ry7aX5Jg2nVPw6XHxyFsJcS24qJE9nsLM4WmqotBMhsOhPlnPWQ2hQaqxMr3JBYKqzpLmavKSGWAOP-cUeXyGmXGG_Q9BlEgS5UczVtpOHnabnV2Z4hmmkNn_HIWYo8osRNb_w9JcIHGICTJoisal4TPXjCY2RbqNznALWhhBLni3eaNJ970DSBwbCdSDsmRd1VK1RqqrR-nXvS1n5n4PjiXhF0bfJ6kJ42CL6JabCbZNljRqw30N8tNVcTVLX0Bh_OmVP6eXnRrX3XDgmu8dIkuTwU4ijdUwIU4vVaEo3lYN7vdASI6zNPrb5BAYbTbUBtzb5SRafsdDMy8SDNRP7U8NxM_FxVq8YYDlibh41nfSaK65zwMVATg9T8MvgAf5y8ri3e2nvvBXCGaoHKiiiY7qh2YC3dw_ctqDU=",
  "id": "rs_0f23cb087a0f4d72016ab458683b8487d098e1368641505287",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtFh5yKX0LN4qP63dBaWxmrDzhI_wUlnRLIljzTy4ZUeEI_hVnFvcvMXD2OAl-340PbwnnJUQzjHijoOk7d7hsAImdqLzCwH1nKFP9pvMWhMM9Ffn2ZklEDg7jb66TVSYkJg7zCuiYgRIZTSqltJFdJQlJm84ARUJPAlQ7V_9J42RPzD2z1v24WppyifStPaXabiEnV38KbtdJCHKoF7TC853jUUo4AFXQUdKWho-yzlTxMz-34Ck_fdctXT1xS6Bs16Ws0y0MIiJBjfegvNhtuvTtIjC7TvJKFeDhNKihAs773__cfExjjVdYbFljxvoFHIg2qTudpKtQLYiLP4N9F8rbvhGF8VtFIpB7lqeCr0y9KFalklEACl4GBgPCqPSo996G3UIayNv6H1_PeabhZ9ocvu8l2BQHpcAKFhlo2RkqOFCVvZmgLwQF2NrRaNybQOtfY-RJtlYzhSBJL4TwNB1g3K47R4Ae-s1PM7cp4hqjOmHkJTl6yva6PI1HM0a0BSRfkUO2dSc9_v4qv_cACgjOyQjjf6iFlCb32i9LZnFfNSE_0O6uXtG7FJwMwxsFkooD0l_QoZ7E3ny9u4uxwVo0ifN1ZazyQBH_Fd59oTQ4b5QY6ueTmG0plfrtCiTgOOtmOXfMNuytYT0HSrYuj77kyqZ5y7wEX0VuTLYgsgm0N8B78XLjxNqHXY83Bx3Uoofvd4cwRG5-DvD76Gc7epTMr9rw3GY-WNh_YWHDhucWA9IBzw1j6XHRWlgrGVKzXMAfzlSYuCE9rcoRgeCIT_GJpKOrzr8Uw5HXD0TPQdRhENX_iUPt-yv0xANmU4M0eAtGNYJvcVfrkpNw1-N5vqT0e3KHJGfHey-JDuYNkaZq39gCgGheBpeEUoQ1UtoUnUOX-KbicHr5NtcwYqkX7qvYzn7gvVtbXkIUzW8HNhQW24bs0LMnYn5U7KcbgS3d9w_KnbW1DU9nNC9AZELdjxvTZC9oiXqKX88J-vLqwEomx076ixMA8ys-ql6M3TXfJ5UZ_wdDhA03X-rWLVfY6izoQOcMbicPb0T-JHbo4XCHaSsOob6PxLMfkTqSw8d3MsvZEU7gzFXfCQe10NroMmI7CZNN0k67htSYaeklg7XKLNZTI4DyBEtaeHJw47UEMmBpMifZp-wkZQif1Qolb5KSaAeTUnqZgJvbe8ioNv8woDRzYYGI04Ti5SVpwB1tzTsfhHxf5X4nW6wlHWfzfQPb14oGP-222UlLwgNPDowIAEump6lbTmXCGQS7QZoqZl4W614AG_I-35ssb6EmwISdBvWiSLsM4wSzurmV_7-IjtdZh3BBp6gKggB-6-C8FHn9ngHhSgbk2APj99jYDc4JVu3InGwemTblsFILHnwIFcX2GzfKj74_dI7mgFuznpkT9N6OtL3g8u0uL-JCjpgOet_yOzpR6ibZ4GEHS9NtyTG6SNC7fKqQyy5y6zgNtRurngKKxhorS8QejeD5pt8qg1CPhl1IT1drMpKNx6YDPpvpaklPsAaQAVrreyFrHPS8HrYrAIWj5EgSdiVMkDNd-4A1UPyXPju1uY6I8h184BVCogQ003QPO_RoLwoUt3Gtc02p0mHRmhrbtJRyDWsoZCh8e7BXyBrO2RiRqlGwc0ZH_rLjudPuS5PCFzc2DAMKCumJJ1OkBt2IWOH7dmW65Np8JMf0EPqe0Raqt27huAO5ZWe_ts0gLOPG_A0Ny_nv8ZbwrdFRXe21yryO9qS91a1swMv5jcom429a2lK3wMleOfK7Dkn-nt2LHYNeX4wj4WMJPIM_8uaVEjCD1l8nqrPcVDUrCsoZdP1KV7CI2HCtBxX16Sj9Z0BjoVJDQISkkHUxP9qVPrJcv7q5miYIhuXej4N-vwVZvu55PPiF9xEAgkFfwabCdznnOwNmIktrHC8QYvruONb2JQlChatOrX56uNAR6EIdl8HQM2IWWSF67HNT88TKjl67YwqH0buWUTdBudCjEnWOU_chUO6PIdpLwCN8ao374sL7G1-TYSK2mWROA_I_dRXUJeSdrGaDVMMIEb9Nlm1_18MiyaJ1Hhu1lRs0Hu_VnJzpU2ECdNcSKbSuW1xDCBfIeqy-WrhrwSGOUf-1ZsS5Hpz20cyHu-Pr531tvDHHEKYMhH33EvM3_SijRtikC4zDD9qlW1nIOrK4GRb7dFsITSM3QfHD4MsbxrnmXRSCnKS2ABLUCm6sJwMDZhpfKI4MqLoFmE22ykGarEN4FIarjyg_HtLck1o6TizqctVH5l2x4mvaA5gMKIE2XsQc0PdBDmXMb8fFrMNky2AQ4iMLbXyE4PcYwCbqODtks0JI3zqd3pj6FpM3_iZ6f0s5xx5wBGYInpx2zcWlOnEhLTY9u0p1msRDmYGN3UPZh-kb8imQxoi_SnfzIXw2VJfjsJkMpu-BBp9fH5eg2TwnTQuvVcgOLC9Z-gGdAFfwKJa0ohCQnP-BdB52L8K0-_9VLrnOnFS6HJeePN8HvVDgFPA-ShGkjR4EvqdF1L5qZaqtSlCaFHDhGuv7HdCZrms7IbAM1KJsDteZNuGPLKaD2m5qlDLtLMAsAmltLONs5A0RS-7wkmp7rW0hKhyYstiLfW_lomrLyJ5DBqpbTGYA2CdKoGDsMaJpnI_ukWmCnaoAxdI_va61nBobj5BTB1tqsWNvts7LHmdpmpB9jkFlo8yxxJDpQRLcvafsZ5B_bfD9NmPwYDOL9ZwfUsB1zgQyLbMnFkerN3XrBEt2MHpN9mYn3tyfjXSXGJzOIF-YT708e0Z1jtkXoU9zNCmOaLTtyfhIVTRYFicn7wzviYya9Ncamkdj3_WtM_UK3PjUPTxoqUiaOXxrGMBLNb5XkVkvNSzS0h-LeTzsZhNTTykLWJx4UijKJE1pxHXtQuMm-g660Kpm0v6xiZV0B7jQZy1PcmTm1piCBMJTnXFYwNeBz_d_nDxxrYt-6LYV0dcMieGi03E0YPASCoejDgJ6mysR8sI_JFUPuKjr0bNjZLuZyQvuHGjTrpHJs23slyyiPv_aeta2FZ3hg-tSqO1LGOh7McwvkURh2QDH3UVQwZUpE8ScOZAf_l_4THxZgVzRo5s3qj5lzVWGkW9JDnYXjQu45RZQUgcqFJ_2UGuPtlAS61soOK_UACeGuGoqEt9sRiN1EHnBVKm1K9tGJLbSm-W-jfpuxFgNaQr-44w-YoSeMIvZDS2ph8DdHH2TyILo_8cex4g9xSQ7Mzskf5yKBISgFfC5SXAH71OdZgcvlwDVHNRXSfxAe2-ia08WrNfT7zWxHl-XnDEorEO3vuxpHiy7lJFi5DNIL0mnXOOYRJ9xWKYBkHZkdEcu1o059qsF1nUVVDgkOcMqEJElrVzyWajp52mgioQ_n9EFfIwCwJ9dAXpmXs2YamfRzLTOUBOWSOHbGWCefDI36I=",
  "id": "rs_0f23cb087a0f4d72016ab45870526c87d0b639044da713bd94",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.13,\"right_z\":0.15,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The pink bowl has shifted toward the front of the table and now appears at the bottom of the wrist view. I’m moving back toward its new position while staying above the rim, then I’ll re-align the grasp.\"}",
  "call_id": "call_ce4pOjHxrpxvVSA23FDTm8Vg",
  "id": "fc_0f23cb087a0f4d72016ab45877771487d0997531f55200546b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ce4pOjHxrpxvVSA23FDTm8Vg",
  "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]: [-0.0719, 1.026, 0.8955, -0.728, -0.1051, -0.0261, 0.9957, 0.5369, 1.2503, 0.7006, -0.0944, 0.3656, 0.2295, 0.9963]\nstate[eef_state]: left_x=0.2954 left_y=0.0009 left_z=0.1795 left_yaw=0.0129 left_pitch=-0.2839 left_roll=0.0809 left_gripper=0.9957 right_x=0.3442 right_y=0.1356 right_z=0.1447 right_yaw=0.0945 right_pitch=-0.0223 right_roll=-0.0074 right_gripper=0.9963\nstate[joint_eff]: [-0.0889, -2.6188, 6.8444, 1.5214, -0.1197, -0.0562, -0.0073, 0.0889, -4.7385, 6.8444, 1.8632, 0.3248, 0.0855, 0.0904]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d12349ac321d965a830172380ebd9821d9540502b908bb60c9951a5902e5b44",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04fc695ee99cb4bf5c49cf272c1e50643fc29ecdbceabded41900ced1f7020e0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:911a7c2b55dbe9c7bb8a278cba2dc257ba2b1743b4eb43c615087c23f0849dfe",
      "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 20 attempt 0 · /responses · status 200 · 4.102 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 66 changed as sent

message 74 changed as sent

message 79 changed as sent

message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0719, 1.0195, 0.8955, -0.7284, -0.1051, -0.0261, 0.9957, 0.149, 1.6279, 0.7277, 0.0811, 0.0994, -0.0181, 0.9962]\nstate[eef_state]: left_x=0.2949 left_y=0.0009 left_z=0.1812 left_yaw=0.0127 left_pitch=-0.2779 left_roll=0.0804 left_gripper=0.9957 right_x=0.3999 right_y=0.0459 right_z=0.0414 right_yaw=0.059 right_pitch=-0.2427 right_roll=-0.0708 right_gripper=0.9962\nstate[joint_eff]: [-0.1573, -2.6188, 6.8444, 1.4432, -0.1197, -0.0659, -0.0073, 0.7726, -9.5111, 9.265, 1.7558, 0.2125, 0.2369, 0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0719, 1.0229, 0.8955, -0.7284, -0.1051, -0.0261, 0.9957, 0.2951, 1.515, 0.8795, -0.054, 0.2123, 0.1104, 0.9953]\nstate[eef_state]: left_x=0.2951 left_y=0.0009 left_z=0.1803 left_yaw=0.0128 left_pitch=-0.2813 left_roll=0.0807 left_gripper=0.9957 right_x=0.4169 right_y=0.0916 right_z=0.1242 right_yaw=0.0424 right_pitch=-0.0983 right_roll=-0.0297 right_gripper=0.9953\nstate[joint_eff]: [-0.1846, -2.5368, 6.735, 1.4725, -0.0904, -0.0513, -0.0073, 0.0342, -8.4444, 9.9624, 1.873, 0.3199, 0.1783, -0.1978]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0719, 1.026, 0.8955, -0.728, -0.1051, -0.0261, 0.9957, 0.5369, 1.2503, 0.7006, -0.0944, 0.3656, 0.2295, 0.9963]\nstate[eef_state]: left_x=0.2954 left_y=0.0009 left_z=0.1795 left_yaw=0.0129 left_pitch=-0.2839 left_roll=0.0809 left_gripper=0.9957 right_x=0.3442 right_y=0.1356 right_z=0.1447 right_yaw=0.0945 right_pitch=-0.0223 right_roll=-0.0074 right_gripper=0.9963\nstate[joint_eff]: [-0.0889, -2.6188, 6.8444, 1.5214, -0.1197, -0.0562, -0.0073, 0.0889, -4.7385, 6.8444, 1.8632, 0.3248, 0.0855, 0.0904]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d12349ac321d965a830172380ebd9821d9540502b908bb60c9951a5902e5b44",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04fc695ee99cb4bf5c49cf272c1e50643fc29ecdbceabded41900ced1f7020e0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:911a7c2b55dbe9c7bb8a278cba2dc257ba2b1743b4eb43c615087c23f0849dfe",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFh-LDydVV0eepX6zVwUwP6yQclHYBRzUcGQPMwFBLzTk3jKbt0psqlSLrGDoPa6gLXeGk52-R2wY0ZKsNNa3kCQZhETrOC-GadAob_RO8HSwlmvDQ2YqY6028v3DEczRrEqvnlNKLyZRuWV_1_WnreMAE8CJprP5KdKB6WVMKR9YajLFOB4Nkilq7IxUu-6hT6p4ktOrQGhvuhZV6oKdykDv0nCn7wEglO22-DJNeXv5ylSbF-QMzqKojtYORd9immKL0HlieEHcz6ipwbx0RmDwhLCXIxPyIe0R6Ip6PoWRtYc1SxfsIbBix6h8hB8m0eDvaDrDmpdkl6yzhjafQ_SCXvUCyc2smke3pc5_RscFjE7cNojghVPZkhnIV_xyGKjJ_zIM1fzA6NKH-tZYYRs_I87lOS_gFrhjmbcT0BKRW9XpFXxhV9Ij37nhuxSZNlfWX-hzwHNEaXus1bUn41c9tni6GZG1SfViX6uVcGaGy31bBdMlZ8ol83tJrTyRxdYZ4lIJK8nbs2WevTE1HpWaikWFCEK0hnKZ_83XI8qagQ4CqvjNnNK5zbFpmnboJl0IyfCtecf_EBOP26vNYW5U5KSGt_DAdidMenRcnM7snQMzC6rjeHiBcNg6yQ7Xfw2O3JSANDbDoh7oPkTnM0ynn0uxzgQgkuolQ_aF5PWtw-41hjvFFYXVXuKf3WLAl86eRFDioflmW3DMcPlIUy8ZajHqx0xoMnlA8VMIcaeLNF26Yv8ovYjqsc8QQjddB6xhg6rBUxF5vgZ5mMRxBrxBsYchAmv4_TLn2vqTLKFFeQPSN2FRG6e9ia9gDPUlqtRSTgXFy3ANmYelDZe8AJJChfkhjrxu2s_xRHFETu1OFm7jS8tkQjDxYa7Fw8T_ceFj_rUya85dFmq_gEGfY3cbrq4Bs4IoG4fVzJKtVFrg0kzo_Ii7MA5-KU55zfy-Ck1lw3rJVFaJ9464JBNUO-ii9L3LOvUNRHbEbFnMEfXHWFI9yFvdAXH0iVQ4Pp3UYZi2Fo-2vistgNjB630-5C4M4GSw74QzgW4yo-6CJBA-F9SxNrs0sav1d6Mkr7tQbG5FL0snn4lSEQLro4oRz3QhHFWLkShuNyrC7OFu0u93Tt5uqBdb4XqMv0A26lA48doTQswpnr_fNZ30fr-MmHmdxOFNUSx7JsCeXTdzoqol0e9NfKa3UXZ-VDet5bbQEjIJLNZXacPSpwClpbYRdVKPa7jliudQAbSEWiAU1DylhkT9vOYRQp1YLe1Nvo0seubZDVUCQs10ZlM2B0NWqgS4-RCvp4CrjrTF2PQ2Ee63RJyx6mRrW118Rydr_w4zn0fIyTqAkX9jxaIE3rBTTsjnZPnn1aLc53DOPgK6xDaCGyvtwSBK3imhTdNk-h9SPgZ2dLgTS0kZMiE8Q8xN-p1JqFT9h2MI4bQGsWFSl5LIfdNd0xfgzkEGwbr4qUswx2YE4CV1DXKeap4fq4jxXGaJxuvZkFLpanGkPeNAQl_GVNmZGSY5806VydIRKtUw6y_S5kiimr-piwxbm1MFAK1D-dX66vvJ1eXziG-UUqjLUhB5bDjkb718iPL_udXwgnSawSzRs8eFLbYubYP1SHsd7SX2DoP_Ef7mWbJg5Fn_MGwLh-O6pktgmsEb5ApqF7KhgAcSUJDy1H9P19KIZUYtkHPcA6KjG9eM1BHPOMicZ6mxNcI8unVAME7x9vVoYxITbDUtllI62qD27068NNqLnhxi-laUgJbjFDRgllSBHKafi_xwjnforN0onB_EYWrXCzgSzhbxD6-a-ri2VtPYCytQOlNH_HrfLTbDH3p9n8zOMWqIKDzKPsvKKXVXsX3Lvsmv8c4LoI0zAdy3ge5z7f9ED-vVEFIKozEMhfr5wqNC1qRfNNpxmNe5GWo4Yu6MmEme2OytOgj3Cv-SxR-t3M4zl5qe9StSB62-_BwDSY=",
  "id": "rs_0f23cb087a0f4d72016ab4587ae38887d090dc647809f34fa2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.075,\"right_z\":0.055,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The pink bowl’s new position is clear in the wrist view. I’m descending onto its right-hand wall with the tool kept vertical, rather than reaching toward its former position.\"}",
  "call_id": "call_Jn6qtwMhzu3rfTBbtA4gyByR",
  "id": "fc_0f23cb087a0f4d72016ab4587d49fc87d0b709b8c37f23fd85",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Jn6qtwMhzu3rfTBbtA4gyByR",
  "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]: [-0.0719, 1.026, 0.8955, -0.7284, -0.1051, -0.0261, 0.9957, 0.3508, 1.417, 0.3927, 0.313, 0.2977, 0.1787, 0.9964]\nstate[eef_state]: left_x=0.2953 left_y=0.0009 left_z=0.1795 left_yaw=0.0129 left_pitch=-0.2843 left_roll=0.0809 left_gripper=0.9957 right_x=0.3352 right_y=0.0713 right_z=0.0389 right_yaw=-0.0103 right_pitch=-0.1013 right_roll=-0.0354 right_gripper=0.9964\nstate[joint_eff]: [-0.1573, -2.6462, 6.7214, 1.4628, -0.0562, -0.0659, -0.0122, -0.1436, -4.9573, 5.8462, 1.9072, 0.0269, -0.1343, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c56a1b19f690fc9a799d8cbd7039468504d4df17826249e95f681f34e6d5b619",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c575e3a6f9f6e4a482f8d5980406900ee186edb7ec5d997cb66232f184b2419",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a2501cace2f06d6e1251bebebcf3cd423188f11762a474a21c5c3cab54fd86f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 3.156 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 70 changed as sent

message 79 changed as sent

message 83 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0719, 1.0206, 0.8955, -0.7284, -0.1051, -0.0261, 0.9957, 0.1879, 1.6115, 0.7502, 0.0093, 0.1223, 0.0071, 0.0096]\nstate[eef_state]: left_x=0.295 left_y=0.0009 left_z=0.1809 left_yaw=0.0128 left_pitch=-0.279 left_roll=0.0805 left_gripper=0.9957 right_x=0.3939 right_y=0.0566 right_z=0.0444 right_yaw=0.0631 right_pitch=-0.2726 right_roll=-0.0743 right_gripper=0.0096\nstate[joint_eff]: [-0.1846, -2.6598, 6.8171, 1.453, -0.1294, -0.0659, -0.0073, -0.2803, -8.8547, 8.3077, 1.5897, 0.1685, 0.1197, 0.7595]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0719, 1.026, 0.8955, -0.728, -0.1051, -0.0261, 0.9957, 0.5369, 1.2503, 0.7006, -0.0944, 0.3656, 0.2295, 0.9963]\nstate[eef_state]: left_x=0.2954 left_y=0.0009 left_z=0.1795 left_yaw=0.0129 left_pitch=-0.2839 left_roll=0.0809 left_gripper=0.9957 right_x=0.3442 right_y=0.1356 right_z=0.1447 right_yaw=0.0945 right_pitch=-0.0223 right_roll=-0.0074 right_gripper=0.9963\nstate[joint_eff]: [-0.0889, -2.6188, 6.8444, 1.5214, -0.1197, -0.0562, -0.0073, 0.0889, -4.7385, 6.8444, 1.8632, 0.3248, 0.0855, 0.0904]\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 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0719, 1.026, 0.8955, -0.7284, -0.1051, -0.0261, 0.9957, 0.3508, 1.417, 0.3927, 0.313, 0.2977, 0.1787, 0.9964]\nstate[eef_state]: left_x=0.2953 left_y=0.0009 left_z=0.1795 left_yaw=0.0129 left_pitch=-0.2843 left_roll=0.0809 left_gripper=0.9957 right_x=0.3352 right_y=0.0713 right_z=0.0389 right_yaw=-0.0103 right_pitch=-0.1013 right_roll=-0.0354 right_gripper=0.9964\nstate[joint_eff]: [-0.1573, -2.6462, 6.7214, 1.4628, -0.0562, -0.0659, -0.0122, -0.1436, -4.9573, 5.8462, 1.9072, 0.0269, -0.1343, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c56a1b19f690fc9a799d8cbd7039468504d4df17826249e95f681f34e6d5b619",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c575e3a6f9f6e4a482f8d5980406900ee186edb7ec5d997cb66232f184b2419",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a2501cace2f06d6e1251bebebcf3cd423188f11762a474a21c5c3cab54fd86f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFiDi4WSHbeqv5GSJ2YedSTMEy0T-YgB_CciZ7E0bSk_BDx_27wfWxyal2q3ikfDpTqMo_oXH4PWCEy29F4jQWeCF_rv8iseKIzIpqNhKEk5msAzYJ4FzpvQxm9DbDbBRqB_frbqb2YdeexwXvjK-mNYdRsfvx2ABjQ0Le4OQkwf1EJH0fq0mID7ER0CiRu0W0pcKfRxN_I54Yobt0eDh3Y-BL76a2yLrDgxPt50xjzY5aHP3LfKq0uq2ZTHjHfaaEKI2UfNM1Dwx-37Ufdw5TDzg1Hp5jcGVx8Fu2lFdqzl244cDkGlHk-QLcCEwCFdzX-NIJfj4ts0-aCouDJvagrzxy5QaWoSOmO7EJgiDLAY1JZnD8zmKX882fIqzbWkbnQWKmnQRJ4AJVXSvxooGD6I57_PGD2CJB6y3HiIk3AEY_4f6lyjBA3lG9Qz_2c3prKoBhvfHjOoN5JfSdmr5x56JAlzqg7e5P2uJJ39ivVZFajv7TyMLTte5LChrrlAHaItUJi-V8cRke0m_VW9vm9ek7CLiIsVBuMwcINs7jNTaKe38P7L1uNxoA1ZhG1AacnW7NS-uOnFngULKbnFfuEkNTJtt60uz9levsrU6rFUolAUy8fkq0hTQuo5hBGQFXG_ESOGh12UmdQozFZrtuhrhc3MriXFEhhh_iShqjRlR9exE8jSSlOsTOzFEjCtY_LHWY9ix8ZJZHDIA36aP3vUos7A1LDtnAnVb8oU6R6-YKXDJJqgrvSKlpc0wRVDOg7KxDMmao3rITNZ8pNcoSizb5DqcP-duF5DISrUhaFxdNFasCiGyYAB7YpjUQzQJBCNw_hl2zGrrG_MUSsoYL1MJJlpXdn7DO4p3y8Mhqt6SZgqSRDyc9FEnR1CcAvT91UXmi3agqS3CjEX3IIl08jZz5xFSCdfQn4MOJl-0UPNm_sVLYoYTQ8vgoRxWku3enKwqv214HlKOyyYCHHa4RNc1Y7Hm2OD7OOA-482YWbGJbYnpNPTHCjOXCCYAsdAm_xfE2j82SwpxFruL9oj7YkPdp1GOvpALLEe4qNSxRMufutxT-gEbnYvQHdvpYMTB8yVB3IFSoI8wO4qw8tapUahRGe-m_deXZ98lnk-QMnMCuFyivmG-wy53yopDgOnp2xj8I2gZNpCgDsfaK6lYZtBWpBFooDtMMJQsvqH11KzI4bX98ycjRwYqbKIvQrSrkvGDB_lRfCmfjteLH4oTiiwX1jZ_VOAw7S8KGyRRzvXtOezGbDtg-KAxeAcACFtQ0Ssw7fc_3EyCp-J5_7K-xvu7HDqWr4d2NRQaV2UOnpkSQ8YUMP8K8rrB0GimQEEiiSeo7_zG4wTTT8SoHqvZWH_zB_Zo7OeOx5Ip7gOE7wmne_YYoqbolJ9CTP2d0GsAZs9umPCP0rNXO02flIFj4LIi8zD_rELdnBZayropQWQ-XlsWMHDbJk2uwmzYlTmLT3LqPpUPkTLUQYB04AW5xRW5g==",
  "id": "rs_0f23cb087a0f4d72016ab4588042c087d08dbf45e16908df84",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.025,\"right_z\":0.055,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"At grasp height, the right wall is still visibly to the right of the jaw centre. I’m sliding the open gripper sideways until that wall lies between the closing faces.\"}",
  "call_id": "call_iXz8G78w1w5UZPtiC8f6Eaax",
  "id": "fc_0f23cb087a0f4d72016ab45881d62087d09715ed88cb430009",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iXz8G78w1w5UZPtiC8f6Eaax",
  "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]: [-0.0719, 1.0286, 0.8951, -0.7284, -0.1051, -0.0261, 0.9957, 0.1379, 1.3254, 0.289, 0.4053, 0.157, 0.0746, 0.9964]\nstate[eef_state]: left_x=0.2954 left_y=0.0009 left_z=0.1786 left_yaw=0.013 left_pitch=-0.2874 left_roll=0.0812 left_gripper=0.9957 right_x=0.33 right_y=0.0215 right_z=0.0437 right_yaw=-0.0481 right_pitch=-0.0491 right_roll=-0.0125 right_gripper=0.9964\nstate[joint_eff]: [-0.2256, -2.6462, 6.9128, 1.4139, -0.105, -0.0269, -0.0073, -0.1709, -4.8752, 5.6821, 2.0733, -0.0806, -0.1343, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72ce7bd88ef102a1eac0551d6e06bd46a87fcb11d71753e1ec757810489f7af5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb18a048268f324ead915d3ea46ee74ac36c5b4749a022bcd63a1b5fa124a55b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8248a1bf49875dca9213d957cfb17a1471a159f5012bf5f71956d8c393b54d79",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 22 attempt 0 · /responses · status 200 · 5.413 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 74 changed as sent

message 83 changed as sent

message 87 changed as sent

message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0719, 1.0229, 0.8955, -0.7284, -0.1051, -0.0261, 0.9957, 0.2951, 1.515, 0.8795, -0.054, 0.2123, 0.1104, 0.9953]\nstate[eef_state]: left_x=0.2951 left_y=0.0009 left_z=0.1803 left_yaw=0.0128 left_pitch=-0.2813 left_roll=0.0807 left_gripper=0.9957 right_x=0.4169 right_y=0.0916 right_z=0.1242 right_yaw=0.0424 right_pitch=-0.0983 right_roll=-0.0297 right_gripper=0.9953\nstate[joint_eff]: [-0.1846, -2.5368, 6.735, 1.4725, -0.0904, -0.0513, -0.0073, 0.0342, -8.4444, 9.9624, 1.873, 0.3199, 0.1783, -0.1978]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0719, 1.026, 0.8955, -0.7284, -0.1051, -0.0261, 0.9957, 0.3508, 1.417, 0.3927, 0.313, 0.2977, 0.1787, 0.9964]\nstate[eef_state]: left_x=0.2953 left_y=0.0009 left_z=0.1795 left_yaw=0.0129 left_pitch=-0.2843 left_roll=0.0809 left_gripper=0.9957 right_x=0.3352 right_y=0.0713 right_z=0.0389 right_yaw=-0.0103 right_pitch=-0.1013 right_roll=-0.0354 right_gripper=0.9964\nstate[joint_eff]: [-0.1573, -2.6462, 6.7214, 1.4628, -0.0562, -0.0659, -0.0122, -0.1436, -4.9573, 5.8462, 1.9072, 0.0269, -0.1343, 0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0719, 1.0286, 0.8951, -0.7284, -0.1051, -0.0261, 0.9957, 0.1379, 1.3254, 0.289, 0.4053, 0.157, 0.0746, 0.9964]\nstate[eef_state]: left_x=0.2954 left_y=0.0009 left_z=0.1786 left_yaw=0.013 left_pitch=-0.2874 left_roll=0.0812 left_gripper=0.9957 right_x=0.33 right_y=0.0215 right_z=0.0437 right_yaw=-0.0481 right_pitch=-0.0491 right_roll=-0.0125 right_gripper=0.9964\nstate[joint_eff]: [-0.2256, -2.6462, 6.9128, 1.4139, -0.105, -0.0269, -0.0073, -0.1709, -4.8752, 5.6821, 2.0733, -0.0806, -0.1343, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72ce7bd88ef102a1eac0551d6e06bd46a87fcb11d71753e1ec757810489f7af5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb18a048268f324ead915d3ea46ee74ac36c5b4749a022bcd63a1b5fa124a55b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8248a1bf49875dca9213d957cfb17a1471a159f5012bf5f71956d8c393b54d79",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFiGOOoB99hi7xW6dAfgqD5r6xd8COkMamIjpRr7KzUvW0-IKutHcD4EKMOe2lY8LazigfrM4at2ylzY4yvgHqG-bto0tLSULmVJUTCOHoy10gSSnoiWC6ZIu8cherckIW5nMhrBUyx9SumH0QRRR1LT1-ENF7FW0sYnDTTgNDWtDLyq42PhUNDbBlXWFlUNvRenk8VotcOsBuRV49F3uey7I4VLctwLy3KCy6ppwxzNB7ep5HiSod1rMe6Pxc23HKTz3f5ShNK_yLhXHGP67iGPdsz14ufqoskc2VL9TIvDPhQebznfD9plTdqhovOGCM3GVCVePt3MjTgx7KIWw03dtYD-scdhXdFSNpNUIiyN93-7fQRBGDrvh28Ipjtp39QrH2rm66K3cuB_o6uF02M5vJNU4XopGwnONKJ3kxbsZv488u_nochHg-F99A3Nr9NzVAcvevL8s_Z3Mi4_yD6fGxOgMuMP6wmcqSD60kn1qRHkUOnLse5UFwV3h80EkjrjXRzjqZWbwVLJDSMuVCvVTuF1LSeYOBi2Qw2MwIc6DBkWOHlwbdJMAevaWRL2cOawjRfmPiqbFeTJIxXW-75ly8okcDAB0dyH-ILIuswlK11DQhFnYT4G3B2o-CgskOW2M8SbEXpOCldlr97xNIpBRHEkVAdQVsPe4Wxb7LMWcXrLBXpWr-oQUSEkt2DF-vAf62QN26I1nwYcwtqIglF7RJO6foClbkp9qJcJhVikKKmmG0hnkTfVwLKs3x-2KmcEnBJhrtX_hsWlFlgyVtjEaaZ2wYC1ehV7Qd2CIeU0NGfDb2j4hhlVbJXAUB9w3uzyP-Cvoedp7Sze2WsGVmPpUgj69wj6ZK6NTcGfLksXKBEyMIPLcteMZyyykfnlVd3qlMBXQ_In8OcRc3YP0nhnj7DM_prHNPSdB96k6HoctRIL_-3l_zEmAbjFU1n3TXeX8WtV4yGHYR3XSiOtzhQTVZWiuk1voNKbtXV4olH4iza9-VI39ZJApfU4OwtShsy6zU2EhyjmY_giOhvc5mrUhGlWH58nSWcadOghBRgFhZzU50XMzBVz9XJGlIov-E6nkZmg76afosDJXOeghgtdQ4wPzDgPJWzQPZCNLr889QCsl2ExYHHZNt2AaJQTum5LsWkJZISMyTrX1Eg5iOfD7Gy1Wcvxtz7Q3wRZN7IlAGS0l-gDLsSm0pwOPaZK2zHd70QVkTmfCi_Gjf7V3RHZvE66RkTYW4aSeXlv73iLnhCi_4qWkUOQcOOsyPZSGXUyTOKWrBII41phOnaxDxlOPQdKjaZFpUhlEsRe24KLwUI=",
  "id": "rs_0f23cb087a0f4d72016ab45884bdd087d08ea9c533df5d3b54",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0,\"right_z\":0.055},\"note\":\"The pink bowl’s wall is now aligned with the jaw centre, with clear space outside it. I’m closing while maintaining the vertical tool orientation.\"}",
  "call_id": "call_kwrk8VHU2r4r45aGDMMLHC8N",
  "id": "fc_0f23cb087a0f4d72016ab4588561e087d0b6d87e301b8c9295",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kwrk8VHU2r4r45aGDMMLHC8N",
  "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]: [-0.0719, 1.0286, 0.8951, -0.7284, -0.1051, -0.0261, 0.9957, 0.131, 1.3201, 0.281, 0.4007, 0.1371, 0.0628, 0.0154]\nstate[eef_state]: left_x=0.2954 left_y=0.0009 left_z=0.1786 left_yaw=0.013 left_pitch=-0.2874 left_roll=0.0812 left_gripper=0.9957 right_x=0.3272 right_y=0.0224 right_z=0.0411 right_yaw=-0.032 right_pitch=-0.0584 right_roll=-0.0117 right_gripper=0.0154\nstate[joint_eff]: [-0.2393, -2.6462, 6.8581, 1.4042, -0.0757, -0.0611, -0.0122, 0.1709, -3.8359, 5.8462, 1.7265, 0.0366, -0.0317, 0.6325]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9e968332458709565072e5b03700f58f78285e50910eca289f1b9d1dd476293",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d753555b181e4284c9d2440e1e64cceedd1c53a8bb4cdf9181286e07143db0e7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:759505a4d93c6be483340e6f850fe5ec3e5c13bbb6eddb6ff814a71f46913069",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /responses · status 200 · 9.223 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 79 changed as sent

message 87 changed as sent

message 91 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0719, 1.026, 0.8955, -0.728, -0.1051, -0.0261, 0.9957, 0.5369, 1.2503, 0.7006, -0.0944, 0.3656, 0.2295, 0.9963]\nstate[eef_state]: left_x=0.2954 left_y=0.0009 left_z=0.1795 left_yaw=0.0129 left_pitch=-0.2839 left_roll=0.0809 left_gripper=0.9957 right_x=0.3442 right_y=0.1356 right_z=0.1447 right_yaw=0.0945 right_pitch=-0.0223 right_roll=-0.0074 right_gripper=0.9963\nstate[joint_eff]: [-0.0889, -2.6188, 6.8444, 1.5214, -0.1197, -0.0562, -0.0073, 0.0889, -4.7385, 6.8444, 1.8632, 0.3248, 0.0855, 0.0904]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0719, 1.0286, 0.8951, -0.7284, -0.1051, -0.0261, 0.9957, 0.1379, 1.3254, 0.289, 0.4053, 0.157, 0.0746, 0.9964]\nstate[eef_state]: left_x=0.2954 left_y=0.0009 left_z=0.1786 left_yaw=0.013 left_pitch=-0.2874 left_roll=0.0812 left_gripper=0.9957 right_x=0.33 right_y=0.0215 right_z=0.0437 right_yaw=-0.0481 right_pitch=-0.0491 right_roll=-0.0125 right_gripper=0.9964\nstate[joint_eff]: [-0.2256, -2.6462, 6.9128, 1.4139, -0.105, -0.0269, -0.0073, -0.1709, -4.8752, 5.6821, 2.0733, -0.0806, -0.1343, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0719, 1.0286, 0.8951, -0.7284, -0.1051, -0.0261, 0.9957, 0.131, 1.3201, 0.281, 0.4007, 0.1371, 0.0628, 0.0154]\nstate[eef_state]: left_x=0.2954 left_y=0.0009 left_z=0.1786 left_yaw=0.013 left_pitch=-0.2874 left_roll=0.0812 left_gripper=0.9957 right_x=0.3272 right_y=0.0224 right_z=0.0411 right_yaw=-0.032 right_pitch=-0.0584 right_roll=-0.0117 right_gripper=0.0154\nstate[joint_eff]: [-0.2393, -2.6462, 6.8581, 1.4042, -0.0757, -0.0611, -0.0122, 0.1709, -3.8359, 5.8462, 1.7265, 0.0366, -0.0317, 0.6325]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9e968332458709565072e5b03700f58f78285e50910eca289f1b9d1dd476293",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d753555b181e4284c9d2440e1e64cceedd1c53a8bb4cdf9181286e07143db0e7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:759505a4d93c6be483340e6f850fe5ec3e5c13bbb6eddb6ff814a71f46913069",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFiMtfXB2lk8p3AAv2-2MBF9XD3SjRjv6lQe6U_p_H7fWTquFHJDk-5AnA0YmsxkbtMYRzCyfqZDBxS3diN8dFvhBISrHD94NksuExSkxCgFO_qqhD_x_NSKAHDNRzR7SYnbVBZ_FM2zsgcfPbfk4qPBjEen9jNxOhtuelWyiXJJcxPeDTndhTYqzdn8ZlX8UybYMg5rg43JO8iOIPjcrpB_KZsPI4rVlwl8bJwE74xFLO-VO14_9-Er7yLcfxeFVd5P0n4FGR0x8fdxeqHw-avsW_wQuABU37M2pquEaz8Ker0CCuzS3kq9OaV4bo16VHC13Lyfp-DECLCxzyKy9VWC-OxNsWDGJbY9130CL3fz3uqSjcNlDRhuwVzvqztJwRvFe6O1oJPKgtiiSqBDnqF_PLRAEkXzrK7RxOBsKCH9fhCCmjnZt_Tl7qIvnpiMLlFM4dFghn2_aNj0bdWl_EKCbNR8X_VqJa_9llsLoB_9l_alzxkzAbShcxkcnGfD6nCmIWZ7PVM4zeymgvWaZoLgE6pBk3vJApF1uws6ZvQCKOZYFRN_56JL53fUjIk-iuXfJ7ZgqBpOwjLY_obFEIwSEaJg4p8O8fVNh7UCI5-6GSa70CbZINPzAcgupEV13ug0W0HcSg0ldyUGOQFOwmwBor0I0nFjvEPZIWitWoPvWw3iiaYGq_ptFTK7rmkFk-IhScW5EV6e4RTHmW8fc6b75DO2DHSAvTD9XyoQlgLiTniXNHFrW1KX9nlrVd5mIRGx7vXPreHVf86N6G1GYym7Bs-xggqE5P9upnOeXNdaE1uo83kUN8odOi-e-sI_GeSGexf5xLylSFLHJCsjv3rxoOqB2ODXKAPbCcV_98osJ0LRoGKPDitAz5QD32M4qaem0LjOAHArfANy__DWe9KjAqYIc3MiQ7-Ogg0BVOXcsMQwV5FZwS3mafzNoF72hGyryz9SzkEnTbVl1fEWFsFkY0xbxpurB2oRomcphOhrtWXshvchcSo027l_9Getoj6ySVHHi-dreQjaegBsqGYLgA8M2Z7ipBOLdQhjBhPbjRpqZuOdtCXq_5WQ9K4BhnWqUORmYN72ljeobaOtSdORJU0O8C5AVjGqxeQN0HSVnQWMzQStswspLmjgZgOegrwYy6XbF37c8Oh9_PpuvJKe_CHw6TXU7rfrNKWAWSsdE2Lc219Z1HUH0uX0DrdXK7WivZkVo-66jTDws9d51X-9lFowkVWjDnFJp3gx5L6cFxtuUc9eSyDs0s_9Mxs0MD30SDspMJ9gZZVrB_hKDlV18rfGgvfVvJ2qR2hJ-FsNYLU6CVvGLMYzWrVA3gFiDaA7dYvHGbfVSzKakyhCxio3lstAC1qBfHD9ouqdMEEJhROxvrdJir4j5hUiYEozia0xZyDUbxEX8-9Q7eZaKBpviLC5LEorqvZAUfPV8vw5Peg=",
  "id": "rs_0f23cb087a0f4d72016ab45888ab6887d08a2b99cd78c2d8f7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.115,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The fingers are closed against the visible rim, although the gap is very small. I’m making a short vertical test lift to determine whether the thin bowl wall is actually held.\"}",
  "call_id": "call_okgi5AFgGWelikfMD0yxhv3V",
  "id": "fc_0f23cb087a0f4d72016ab4588a6ee487d0af9353c484696eb9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_okgi5AFgGWelikfMD0yxhv3V",
  "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]: [-0.0719, 1.0306, 0.8951, -0.7284, -0.1051, -0.0261, 0.9957, 0.1085, 1.0546, 0.3981, 0.1253, 0.102, 0.0353, 0.0182]\nstate[eef_state]: left_x=0.2956 left_y=0.0009 left_z=0.1781 left_yaw=0.013 left_pitch=-0.2893 left_roll=0.0814 left_gripper=0.9957 right_x=0.3321 right_y=0.0217 right_z=0.1152 right_yaw=-0.0101 right_pitch=0.0449 right_roll=-0.0005 right_gripper=0.0182\nstate[joint_eff]: [-0.1026, -2.8376, 6.8034, 1.4432, -0.0757, -0.0366, -0.0122, -0.7043, -2.6051, 8.4034, 1.619, -0.1441, -0.0171, 0.7204]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3bb75c66ebe06a74f54dce8ba3f78eb4ee7fd5fe53d75fc3d0b24cfabf75218",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e2e04abd99301b86c10f51ff670224a196763f5e5ff3108a45bb9c4ba4b7b7f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dff5bad09c936dae5e7d0baee185a03bde61b21f6bed6d29e3ede0aa9deea627",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 24 attempt 0 · /responses · status 200 · 4.605 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 83 changed as sent

message 91 changed as sent

message 95 changed as sent

message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0719, 1.026, 0.8955, -0.7284, -0.1051, -0.0261, 0.9957, 0.3508, 1.417, 0.3927, 0.313, 0.2977, 0.1787, 0.9964]\nstate[eef_state]: left_x=0.2953 left_y=0.0009 left_z=0.1795 left_yaw=0.0129 left_pitch=-0.2843 left_roll=0.0809 left_gripper=0.9957 right_x=0.3352 right_y=0.0713 right_z=0.0389 right_yaw=-0.0103 right_pitch=-0.1013 right_roll=-0.0354 right_gripper=0.9964\nstate[joint_eff]: [-0.1573, -2.6462, 6.7214, 1.4628, -0.0562, -0.0659, -0.0122, -0.1436, -4.9573, 5.8462, 1.9072, 0.0269, -0.1343, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0719, 1.0286, 0.8951, -0.7284, -0.1051, -0.0261, 0.9957, 0.131, 1.3201, 0.281, 0.4007, 0.1371, 0.0628, 0.0154]\nstate[eef_state]: left_x=0.2954 left_y=0.0009 left_z=0.1786 left_yaw=0.013 left_pitch=-0.2874 left_roll=0.0812 left_gripper=0.9957 right_x=0.3272 right_y=0.0224 right_z=0.0411 right_yaw=-0.032 right_pitch=-0.0584 right_roll=-0.0117 right_gripper=0.0154\nstate[joint_eff]: [-0.2393, -2.6462, 6.8581, 1.4042, -0.0757, -0.0611, -0.0122, 0.1709, -3.8359, 5.8462, 1.7265, 0.0366, -0.0317, 0.6325]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0719, 1.0306, 0.8951, -0.7284, -0.1051, -0.0261, 0.9957, 0.1085, 1.0546, 0.3981, 0.1253, 0.102, 0.0353, 0.0182]\nstate[eef_state]: left_x=0.2956 left_y=0.0009 left_z=0.1781 left_yaw=0.013 left_pitch=-0.2893 left_roll=0.0814 left_gripper=0.9957 right_x=0.3321 right_y=0.0217 right_z=0.1152 right_yaw=-0.0101 right_pitch=0.0449 right_roll=-0.0005 right_gripper=0.0182\nstate[joint_eff]: [-0.1026, -2.8376, 6.8034, 1.4432, -0.0757, -0.0366, -0.0122, -0.7043, -2.6051, 8.4034, 1.619, -0.1441, -0.0171, 0.7204]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3bb75c66ebe06a74f54dce8ba3f78eb4ee7fd5fe53d75fc3d0b24cfabf75218",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e2e04abd99301b86c10f51ff670224a196763f5e5ff3108a45bb9c4ba4b7b7f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dff5bad09c936dae5e7d0baee185a03bde61b21f6bed6d29e3ede0aa9deea627",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFiWsDI6s3K38lye4Bw6HwE-PvPKbEHvrW2JcpYdsP4F0e_8nrnk9-ATHEiYhIG2VPJBmG9sfmJNf7_d_R-FPganb2LSHxpusgo7M_RzK88ntC7Z89lTaLtxMta3RJPi8UjUbQu8qiibMQpgWwM5xZ7OLk0w1rv5GL4rUTWrTjyveJXBvJnuZ4vmUmHPK_sePt0lmfFU1Z0_rflI5NJG9um3YzSqmQYnf_u5zqimfL2-a9aoRgpVF1AgkPj-u5MjhKK0EJfjzF8xOK8974SP7nr1hPScJlLTsyiMI9-Rc1Fuahv8AXrfAmmZePHu-YMxUEdWrQu1gCAwdFUaTC5IwzqXNAzUmulxj0KhNMgDqZQ2rqgH_r-pSbEGVJUvURVZxIK6L4jztCXXrLnIROxSETFXw1duMkuPWS68fnaO1Icr4gT98GnXCcKILEAwJfVRKrfM8909NyaDkG3x5skrJ-7JTVMnaDxoRD7mO0itjo6ecINK03zYMYiYQF3WMg5tNO54cjQtB9PJpoKiDpzFSwNUEABvtVuQg2H7xKVH558Ndoz2m7xnUWC5IhF3036BgfpWdjrBDyjgjKbVYHFqgTHlH94qA1s165_D5Moh5wMF_A1BWYHAZ3AkS017c2W3-u9WBPK9uCd1w1pwij2E2cOUskuwVKS8jD8qQ54taFr9eE_S8dnBF2840Lt16oYWC2DQbqsmLBlYRU4_0qj0rJTUAw5U3GEak8wzF4-QyxcFWKsYSiqsa7UBUdU6ho91fOUPhsqrMDRYp6ZchClAJ6iGU5oeSQITX4RN-Qa0AcnmAH6VwKFmICYcX-3YbhHkw_1zwUZhMNv8w_OIBfpJdKQQ0o4Iqxpvzhm0cNBKijqnc6L1g_w5kLk7MqdhGKqNDVizJDl1gSyo4h1fUa_DYyS5kfNV5RUZR19X-P5ptV34kEAkLrPip6hpV8QshjOhv-n6JocCJ0RT6iYO6jbNHso4mTM0KZ4pSjxWm9gJ1fVeMNgjMA1z1lb_rv6b9pNkByar_VDvcQkbwGrRdbWc2U-LPvxGJ6x2qBychSu8fIvPIc8w6bzDwwU6IPBKAjYjovRyecTbT9svjgIdXimTwOure_XEjtOWjLUkshLPbM_LRGfLwDCseLqAqVUWyolE9VmGh7Mf6QAU9kEGGQKJV0a94DMPSzlka_OygCVEzgFpQzW7bX8kBoo2lbL_PMFDjAByWMLKDinEKGB0Lxa3EV8-BHFDIXcfYLG4jutVXCWYCmh1s4xHjQ_qbt8RtB5OQmUDpWcisTgB4ky7LbZ-AUmn4mcKe3Qk1hR5bfvnTmQNwFl-SF3jP8VY2dNyYu8vVFrsylZpcFdypBVOhTTKNAsoVuL9hvF_1yVUULqIR_oG47mY4cYfXhP6adkwtSDnHxmZYZ8dGh4VuzFVuY4L23N8Ec4GHCzIDVwOgfvt6-RjIo84nmpLO4wmyzzK0hUfFtmd7CBUMgq0P4V1xTmx7Dtd0CskZ4-QhB5yIdJzoJsvtohL_lpQMWzsqwb3eN6ftd6th9han4TosaGlEr24lpvtApgxnw0t6y1iGGHrNC8pMnmWNS2lFuBz_1YzH6dVZLZQpAyKaSx1QmDDAn860ItJg2uM_FuaSMZRtwB7ASSbSCmBeaLxNdh6a5iQeXiPwGVNvY0TzLan313ZEnsQ-4e-aueGxPi_9T0AaFL2s7a-aJvcypg7jc06Tc2egcfd7Q5jjlO7y90NGNfEq0f5M-Z2LHoRhkPniWdFnWN76qIXlfu7OS6W6ns85WTNXB6Ouo37db8XA9XIKB0KJFvDq9ilKuQ8CIhCoWqk_Z40cv_9hP3taJ14zh06uaaEo3vL_Nr6IcZY13r344sssr5RRxV2r_rBHXYnZy5b1dJVO4_3FUXKwZ2-94YDuNhuqgBD0BwRVSdEROLnMHK5Eyh6ENKUhupezoHu4fF-CZL2kwXKburaQtmVJ6NqvreqTOxm4pp0tLU-V78r0-Qmfkq1Am2iqVvFgcS3RChXFdj9TosmC2NOAwPCxJijuVIYpDZ2NOhGFn6LH6iBIMGM2sieoBJFLvbL4B8L1nQrR9MUTByEzT7IaOCN83Jlqw_wwNyKgM3voGTveDFYXaTxA3zDw9JRd5ZnmQAuNX3xImNCovdObw3J_eki_T3SszlzoVlwAe0RaQFK5nlM0W0RyWEvZ37VLcqWwS81wDxI5fKfrAeY44YT9o2rDpnBOmvSxU6qa76kpqelHyJYhWK037t7AT9zWQMaAPK7EZ5fxC9DdZEj5pX1V7I3dzmv7x_1r35kaeV3lAf9MYv0MlQP6HQ1okpBnySpkyCwi5j57M7YW_holllDTV-rTSThA9t3YWqLP_kFIXXTfGtbQq4jt5h3Nj3Gf1srudJzY04MuXORt5otzqUunsQIa-wchGeKalV1v11E",
  "id": "rs_0f23cb087a0f4d72016ab4589163d487d0be9e8fc27ab123cf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.15,\"right_z\":0.2,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0,\"left_x\":0.294,\"left_y\":0.001,\"left_z\":0.19,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0},\"note\":\"The pink bowl rose with the right gripper, confirming that its very thin rim is held. I’m lifting to carrying height and moving toward the two-bowl stack while keeping the left arm parked clear.\"}",
  "call_id": "call_JsN8yHDxAEyfB5UFOqfVfJXB",
  "id": "fc_0f23cb087a0f4d72016ab4589510cc87d08c96629564f5b7b1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JsN8yHDxAEyfB5UFOqfVfJXB",
  "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]: [-0.0296, 0.8097, 0.6537, -0.477, -0.0444, -0.0349, 0.9957, 0.5713, 1.3407, 0.931, -0.2752, 0.4347, 0.2741, 0.0188]\nstate[eef_state]: left_x=0.2884 left_y=0.0029 left_z=0.1786 left_yaw=0.0057 left_pitch=-0.0611 left_roll=0.0189 left_gripper=0.9957 right_x=0.3637 right_y=0.1496 right_z=0.1809 right_yaw=0.0485 right_pitch=-0.0383 right_roll=-0.0273 right_gripper=0.0188\nstate[joint_eff]: [0.4718, -1.5111, 7.1863, 2.0488, 0.0757, -0.1587, -0.0122, 0.1983, -5.8051, 9.2786, 1.6923, 0.2906, 0.232, 0.8034]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:206060ff08c5054749d29e2d7759e608e02146ff174650b110dbb0cb9468e0fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb31b089ba8d8a08758e119c604e9f9b52989661184545799a7e1271ba2a9047",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b495c697552bd36698c5838752fb8b5152c8c4017e3c3d7176af7c4e81832717",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 25 attempt 0 · /responses · status 200 · 8.622 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 87 changed as sent

message 95 changed as sent

message 99 changed as sent

message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0719, 1.0286, 0.8951, -0.7284, -0.1051, -0.0261, 0.9957, 0.1379, 1.3254, 0.289, 0.4053, 0.157, 0.0746, 0.9964]\nstate[eef_state]: left_x=0.2954 left_y=0.0009 left_z=0.1786 left_yaw=0.013 left_pitch=-0.2874 left_roll=0.0812 left_gripper=0.9957 right_x=0.33 right_y=0.0215 right_z=0.0437 right_yaw=-0.0481 right_pitch=-0.0491 right_roll=-0.0125 right_gripper=0.9964\nstate[joint_eff]: [-0.2256, -2.6462, 6.9128, 1.4139, -0.105, -0.0269, -0.0073, -0.1709, -4.8752, 5.6821, 2.0733, -0.0806, -0.1343, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0719, 1.0306, 0.8951, -0.7284, -0.1051, -0.0261, 0.9957, 0.1085, 1.0546, 0.3981, 0.1253, 0.102, 0.0353, 0.0182]\nstate[eef_state]: left_x=0.2956 left_y=0.0009 left_z=0.1781 left_yaw=0.013 left_pitch=-0.2893 left_roll=0.0814 left_gripper=0.9957 right_x=0.3321 right_y=0.0217 right_z=0.1152 right_yaw=-0.0101 right_pitch=0.0449 right_roll=-0.0005 right_gripper=0.0182\nstate[joint_eff]: [-0.1026, -2.8376, 6.8034, 1.4432, -0.0757, -0.0366, -0.0122, -0.7043, -2.6051, 8.4034, 1.619, -0.1441, -0.0171, 0.7204]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0296, 0.8097, 0.6537, -0.477, -0.0444, -0.0349, 0.9957, 0.5713, 1.3407, 0.931, -0.2752, 0.4347, 0.2741, 0.0188]\nstate[eef_state]: left_x=0.2884 left_y=0.0029 left_z=0.1786 left_yaw=0.0057 left_pitch=-0.0611 left_roll=0.0189 left_gripper=0.9957 right_x=0.3637 right_y=0.1496 right_z=0.1809 right_yaw=0.0485 right_pitch=-0.0383 right_roll=-0.0273 right_gripper=0.0188\nstate[joint_eff]: [0.4718, -1.5111, 7.1863, 2.0488, 0.0757, -0.1587, -0.0122, 0.1983, -5.8051, 9.2786, 1.6923, 0.2906, 0.232, 0.8034]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:206060ff08c5054749d29e2d7759e608e02146ff174650b110dbb0cb9468e0fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb31b089ba8d8a08758e119c604e9f9b52989661184545799a7e1271ba2a9047",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b495c697552bd36698c5838752fb8b5152c8c4017e3c3d7176af7c4e81832717",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFicpqmzB7OE68E5TE7-f9cV5MAI-7s5wiloK8vqhXK1fNVADnHbI0TAj7m9IqyCSUuS5kVQJsKkWfwLh7rrytfJXVAKH2lACAmsr2b2va4lKvwB5BKX9thGUXgXT8Fsk4TL_W3xKExV6Ju9MPhaL13MpJRpwOswnDiyjYCqJ-pvJPi55kyjMUahqbz7tgoky0SOpjRPDEfdTdmrL2E_151L5Hxl-GvqK6LzvuO6Y7UqxiZGiVhVu6OFU6WmVllHjRGdlp4LU2dWLZSIYK-genSV1uAUaWeY1WQqChHhK8wLxJDuPagp6ujGFqMxeirYQJcpoty2lkS5SU29BfQDiWuhZmZquWHTvw-5IdaZx0TzNrCE5v3oryQRIhIGPcMKJY3UZ5Ue3OdL353HMqRnc7pyKXg8XBuyUXOMr0D4avGA7CbdQEniwu81Ila3a9vF856B_EnmGebdo_x886mM_8BrGEMDUrMtzQfHdqrlPkLZyIx00NmFo8SKVkkq79E1McIE83QJhVzslTWR9nq2HRZMBfJbXzNaFJb2IlCcEddFc4vJgcHFgopAuxJ-0BOgRq9O5UmEyG2RdyKv11ZU6cEa06I10e_vfpMGLN-jXiYJOGL__M6b6te-ojVD5k1Me-c8H3hvBb1GkHE85YrzwHaX4v2nIpw3rc2t50LvHYHt1j_RR4N8puxn1OPTtffqnPLosyy4wXGnFRMojXbqJpLkacBp7UCiHSfqis6KLMfHDuKS94dGh_d0gT5jTwt1AGGDZoniglwTTr3b_CBPlDXTtXCuCUke5NYKROQ5YBz88lsjJoTsfityPFZqTavn8g6HY8YfPYF0KXcF1mESMdHGfSOKp9rWSgEsk4ZAp4wkLPqBSJ808Yt4d2ww477YJ84L51U38SHNdGhF8Eyv52WbBCYWZ81g6r64BXXqf-7Ve2VXjHqL3_HELckuZtY8YpzuLZ2Yw-9AucbqQLsP5cD9zBsFmZsd02_4gGGSfDA9oV7gj_D-PScKppN9noluCxunso6wObAoQeVWNoQ1ZyaekhZ80n42RvN6kZ-LzzWpNjhSqPYsLKgzlHGBLaOUh1w-U4yoU-ccI7fFsagPd3t2kksdVK1-mEcMHDFXBLLGzvAh8DYIbTI90VjVxxkzhUzbk-_Z9LbimwxrSmTCG3mBCjFUm9RespGrENeSR_gG7sG3YoQDjj5NdLDGi7ZhI5HrZQnm0rrj8Zsrotj9f5zwLQXMAdi0S1eCkdh2ZZrju_HoO-N-MYu8_5FmGx17V3WBxmg12obCbB16Ogywp3Kv5aBCRNm7tx2Opn_R7MCAvEI-pMRJF6p07-CzenHaCbRW5h_kP0JBrxPwKAYF-Ilytv4WcOKeJB-mjMZVZfBlndllL32lF5CSMPj8PMcgftf-bfK6coc_ZXIjUbS9_1PgAMSFMphyStPix36zhFzaU2E0tjTLTbzb0moz0MoP_ah4djm0IOPq6UIm-hRx_SNkPNWEVL2EticZNrO2n7ZbWQdq8pn0NU5fDNWNouzlQhhUAP5fLW1hgCWUWFoaXuZBmJylzWOZg0KU8pgjOocta_yXSUMACt09wOi7GRJZiNPbEH9tj4Wi9_tnmxWOMVsKKyusKrx7Z_Qv9TAnhZiVzN4TKPiefcq2Odc_gLCWMeVy",
  "id": "rs_0f23cb087a0f4d72016ab45899038887d08a0d9b0dd93b0c4f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_y\":0.285,\"right_z\":0.205,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The pink bowl is securely raised and approaching the stack from the right. I’m placing its centre above the nested bowls, retaining the same offset for the rim grip.\"}",
  "call_id": "call_vrXcJ59jk1mbr70gUQ1oQpXG",
  "id": "fc_0f23cb087a0f4d72016ab4589aeb6c87d0adb6c9c2b2e77499",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vrXcJ59jk1mbr70gUQ1oQpXG",
  "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]: [-0.0299, 0.8154, 0.6476, -0.49, -0.0448, -0.049, 0.9957, 0.8246, 1.7924, 1.4265, -0.4519, 0.6239, 0.4675, 0.0188]\nstate[eef_state]: left_x=0.286 left_y=0.0029 left_z=0.1718 left_yaw=0.0133 left_pitch=-0.0857 left_roll=0.0088 left_gripper=0.9957 right_x=0.3951 right_y=0.2806 right_z=0.1823 right_yaw=0.0486 right_pitch=-0.0615 right_roll=-0.0532 right_gripper=0.0188\nstate[joint_eff]: [-0.0752, -1.5932, 7.4872, 1.7607, -0.0415, 0.0952, -0.0073, 0.1026, -9.6342, 9.6342, 1.6484, 0.5397, 0.2466, 0.8034]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53406bbdaa18ca58f058583be387c3fd1c799a7ba997b0f31df133c3e37001ad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d85337585a91c9a4c4a7da20c9c02aa96247f40774b5ed348012465c6fbf3d1b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ed09b36439f405fcdffbc6fb6a3ff38ffde21fde30bc9f4881aa734706c0b69",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 26 attempt 0 · /responses · status 200 · 8.626 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 91 changed as sent

message 99 changed as sent

message 103 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0719, 1.0286, 0.8951, -0.7284, -0.1051, -0.0261, 0.9957, 0.131, 1.3201, 0.281, 0.4007, 0.1371, 0.0628, 0.0154]\nstate[eef_state]: left_x=0.2954 left_y=0.0009 left_z=0.1786 left_yaw=0.013 left_pitch=-0.2874 left_roll=0.0812 left_gripper=0.9957 right_x=0.3272 right_y=0.0224 right_z=0.0411 right_yaw=-0.032 right_pitch=-0.0584 right_roll=-0.0117 right_gripper=0.0154\nstate[joint_eff]: [-0.2393, -2.6462, 6.8581, 1.4042, -0.0757, -0.0611, -0.0122, 0.1709, -3.8359, 5.8462, 1.7265, 0.0366, -0.0317, 0.6325]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0296, 0.8097, 0.6537, -0.477, -0.0444, -0.0349, 0.9957, 0.5713, 1.3407, 0.931, -0.2752, 0.4347, 0.2741, 0.0188]\nstate[eef_state]: left_x=0.2884 left_y=0.0029 left_z=0.1786 left_yaw=0.0057 left_pitch=-0.0611 left_roll=0.0189 left_gripper=0.9957 right_x=0.3637 right_y=0.1496 right_z=0.1809 right_yaw=0.0485 right_pitch=-0.0383 right_roll=-0.0273 right_gripper=0.0188\nstate[joint_eff]: [0.4718, -1.5111, 7.1863, 2.0488, 0.0757, -0.1587, -0.0122, 0.1983, -5.8051, 9.2786, 1.6923, 0.2906, 0.232, 0.8034]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0299, 0.8154, 0.6476, -0.49, -0.0448, -0.049, 0.9957, 0.8246, 1.7924, 1.4265, -0.4519, 0.6239, 0.4675, 0.0188]\nstate[eef_state]: left_x=0.286 left_y=0.0029 left_z=0.1718 left_yaw=0.0133 left_pitch=-0.0857 left_roll=0.0088 left_gripper=0.9957 right_x=0.3951 right_y=0.2806 right_z=0.1823 right_yaw=0.0486 right_pitch=-0.0615 right_roll=-0.0532 right_gripper=0.0188\nstate[joint_eff]: [-0.0752, -1.5932, 7.4872, 1.7607, -0.0415, 0.0952, -0.0073, 0.1026, -9.6342, 9.6342, 1.6484, 0.5397, 0.2466, 0.8034]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53406bbdaa18ca58f058583be387c3fd1c799a7ba997b0f31df133c3e37001ad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d85337585a91c9a4c4a7da20c9c02aa96247f40774b5ed348012465c6fbf3d1b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ed09b36439f405fcdffbc6fb6a3ff38ffde21fde30bc9f4881aa734706c0b69",
      "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_0f23cb087a0f4d72016ab4589ea86087d08b5576e1d8699780",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_y\":0.28,\"right_z\":0.125,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The lower bowls are visible just beyond the pink rim, and their openings are nearly aligned. I’m lowering in a controlled step toward the top of the stack.\"}",
  "call_id": "call_gpJ2xSqTNYxdzZ4SZF15GgQb",
  "id": "fc_0f23cb087a0f4d72016ab458a4516c87d08ec497a87f049391",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gpJ2xSqTNYxdzZ4SZF15GgQb",
  "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]: [-0.0299, 0.8154, 0.6476, -0.4919, -0.0452, -0.0494, 0.9957, 0.8223, 1.8534, 1.2362, -0.2474, 0.6434, 0.4828, 0.0213]\nstate[eef_state]: left_x=0.2857 left_y=0.003 left_z=0.1715 left_yaw=0.0139 left_pitch=-0.0876 left_roll=0.0089 left_gripper=0.9957 right_x=0.3917 right_y=0.2713 right_z=0.1119 right_yaw=0.0219 right_pitch=-0.0838 right_roll=-0.0846 right_gripper=0.0213\nstate[joint_eff]: [-0.0615, -1.3333, 6.9538, 1.6532, -0.0366, -0.0269, -0.0073, -0.4034, -9.9077, 7.5009, 1.7558, 0.3883, 0.1148, 0.5153]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67fdeea16dfc57e5b8926868971c8d6556f65f17fd447c3830ecfd01814aa507",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89c159ef4067204ce5042af7f2b0f6a53942ef8174876cfebe893d66752704d8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:755936a55f26f5c0ecb2f68530c8aecd28ea1eb42851e05ebc8bdcef5f9e3beb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 3.213 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 95 changed as sent

message 103 changed as sent

message 107 changed as sent

message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0719, 1.0306, 0.8951, -0.7284, -0.1051, -0.0261, 0.9957, 0.1085, 1.0546, 0.3981, 0.1253, 0.102, 0.0353, 0.0182]\nstate[eef_state]: left_x=0.2956 left_y=0.0009 left_z=0.1781 left_yaw=0.013 left_pitch=-0.2893 left_roll=0.0814 left_gripper=0.9957 right_x=0.3321 right_y=0.0217 right_z=0.1152 right_yaw=-0.0101 right_pitch=0.0449 right_roll=-0.0005 right_gripper=0.0182\nstate[joint_eff]: [-0.1026, -2.8376, 6.8034, 1.4432, -0.0757, -0.0366, -0.0122, -0.7043, -2.6051, 8.4034, 1.619, -0.1441, -0.0171, 0.7204]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0299, 0.8154, 0.6476, -0.49, -0.0448, -0.049, 0.9957, 0.8246, 1.7924, 1.4265, -0.4519, 0.6239, 0.4675, 0.0188]\nstate[eef_state]: left_x=0.286 left_y=0.0029 left_z=0.1718 left_yaw=0.0133 left_pitch=-0.0857 left_roll=0.0088 left_gripper=0.9957 right_x=0.3951 right_y=0.2806 right_z=0.1823 right_yaw=0.0486 right_pitch=-0.0615 right_roll=-0.0532 right_gripper=0.0188\nstate[joint_eff]: [-0.0752, -1.5932, 7.4872, 1.7607, -0.0415, 0.0952, -0.0073, 0.1026, -9.6342, 9.6342, 1.6484, 0.5397, 0.2466, 0.8034]\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 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0299, 0.8154, 0.6476, -0.4919, -0.0452, -0.0494, 0.9957, 0.8223, 1.8534, 1.2362, -0.2474, 0.6434, 0.4828, 0.0213]\nstate[eef_state]: left_x=0.2857 left_y=0.003 left_z=0.1715 left_yaw=0.0139 left_pitch=-0.0876 left_roll=0.0089 left_gripper=0.9957 right_x=0.3917 right_y=0.2713 right_z=0.1119 right_yaw=0.0219 right_pitch=-0.0838 right_roll=-0.0846 right_gripper=0.0213\nstate[joint_eff]: [-0.0615, -1.3333, 6.9538, 1.6532, -0.0366, -0.0269, -0.0073, -0.4034, -9.9077, 7.5009, 1.7558, 0.3883, 0.1148, 0.5153]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67fdeea16dfc57e5b8926868971c8d6556f65f17fd447c3830ecfd01814aa507",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89c159ef4067204ce5042af7f2b0f6a53942ef8174876cfebe893d66752704d8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:755936a55f26f5c0ecb2f68530c8aecd28ea1eb42851e05ebc8bdcef5f9e3beb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFiugoP-vpo01nqoc-Vku-yRhKKVna9v_k5aDt_GrllpB_rt_nF_vAkiSv6zj0743Zick2Q1PnM-6HqEbkJ-buUpmjIBssDNEGEyJQYMZ4Mdc9hG0DL54Q9QlNtCo-b9fvxMOLWfIeVKMhDbUr8i8R4GjH1lyHXfPQgXxX7TGKgRassYZHZTD_CHUXSRMPEo0L-KpliUnK0PrNdlXR--cs7przCtKFCxHS6zgPadxDv2ruM9_Frj0hayuIcKlVotlpsGetnKMXTZf0I9oTiygc4nLWveO5nxvy2irlDaCH1NarFnksgT8i5Z9bduvyU3cyd79NKcs1-eoMSyHV7ux-BvFueMfN7uJN2xHQx2_3vKqasi-Dm_RMstwkvCXHAD6TNTB3ZGQxX7CFUx-Lqm81GCPzrEXMlNnZRLVxMnD9aMGszsutW3YWcV7LQBe-YI-7ybTq80ni4DS7S5IdRW9cZKTlbtoZ25V_25jZ4LEVHuIFtk8lY9V-hn8LjBECWkXx95kIa0V86TwTnoqMOHjkYgf3KPhA2afdqGyTiTfOge6PNXMuOe1mxbOpkKByaeKqbmmvk_Jmz_nrhrCGwgoUKtoHXRYRW879eWn2RLkjjrI42csH3Hu2ipQ6kT2uqZsnjA3KgZXuGB8gQkmAlApJj3pOHWOUB7VvR-n34ujokS9H8fkFpckG-_9vP7DCevTPuiynPNknr04sdTEtpRLp24BExCrv7RgeLnVBUgWg74ugWs6gVk13U4mVS95x5xtClzyctC24qO013dAcGsCEzvYkgdK_23LwzMdOjblKOCKTTsdqDxD7n_aGjEM_qs8zOyHuniDqCjuWb1hdN-Ey2zFxMr1TrYvosK7O8678zcdEZiyWTFJU8e3SJiS9wFMCObvsoCn3qaUAvQpoEyNouv89_BLGjt0cbzjxj95biuM2AogsEwYDSN-EcHIsOZB6w61QRmEN7GeHnGgKsakvb0hsDnf50L6zEPLUfH7Ilx2lqRNNStjOW3G4XMZjVgAO4RNwFGS3nQMrgyk6P-lUEc6V42xPXu5dDlmkP4ajqenk5R4sOLRFxH8e6P9stcBU02d4GkjP5nSgjfVE5AixY3E85wS-t4olwdqtI9jRrJXQk1_8_URyKmbPX9o4tz7oGNQaU3jifBYirB44IHwP7l5FOtN7YEwLgbqcauL9A-87-w_C4VPaK1SRMGb_P0R1TfvsmWTY_ovSMg1BMM04twe_thYnC4NfxdlbEFJczain4UyQVkoajRyLC05MOSqGKy35YxDnwHTfyjtfdCQvPQPnap3xHC5mF_gC_TQQq2QyGUOuI3TUclv2rfvtVmAS8yoLdfwck1A3C4b6tGHdEkTGy2o5PdygCg3p76_hKeuck3pXtpXVBcxpGZ2jesSxrYAVP6z38TuPkEs0k-Tn6rqIs0fykDaiFP4WlDhLE7rZwm4PBHEcNMUKY5uG2YcLDv7Usak063raGQn22FU4M5mTveE6gUt-YpBgPR8dtDEzEb3vuVtJh2o3u8jPFdCItZUirni3j7bTG3LHSVehS3MywflWE98poSe18QFzHNLmJRSMeFoqCVr6yysiNVqSDpAOpacOxGdL3S8YyRnx5W3upchx_SBwWYmIkGEVSicpS60ydVHIygAaSLXxS4IX7zKgQPE0lp7HB_IDbZRDF_vRm7oJTrTYNBkTygjlE9JY4_o3DfVwJm91IMOMO-stCYS-lqJ6Qp1XxLv8HyPLaYZ15jYV4PIg154YX-UKukgq-L48aU3HHPKcIRLQAQLQ4taka3C9jymLkVef4qPAR3rjvnJr1N4f8ZuZwXerh-_wOgkfw2zYeyWLlVDMW6-0uSfzUH-weFQGMuPa6_W828AsRWghFJ6UOvr_5WAoP-O3USFqxIR3H5l-IX7SldJgkuZKUftVdaZOUODH0ocluSx_jPELuG8MpZpi8kdFoNbD55QsuyWZq2jgLGeG94DpA1zBXgmGFx01hAa0nbY8ayNtjBpHXc5AFEYn7BKD-VQFPEqOO5ddmOj7vN-oUTBO6x-r3ipwulOXk8BFjoXYdk8pAURebmnFjam3TucWfcsAioD7HT0rKm00i-zW2vN1vBU0aELUsrvx5fsbegA_WqbucgRLcPzclK5tljp_h8EfquVsjBj9Bix_ZA0e2QwLJxPpiafzdFjo31lWprg2FbgZU_XiPqsvybw2btWiQ-vttfeZv-wPB7Ul7e7BMnRaHSjoxOe1_-Hite_zpLKe-OJittzY7gteYqQzJeHXOyu8OMzSIWBbs3n9R0wIBFRFXJz-48ywdidGsHs24iLTg_7iXJkXq2IwMxiOFkorMNB4_oPtorOlVjtx0-u3Lr_8-cJO8oir1Cfo4B1nz-qpwVQQmSFURvZtUjoARPjC-vUKPzaXVSjno9FI0UzlzJgG82FSYAeSxvXCsr-CYcx_nU6QC8vSa7B85L-ucUprQjgJ1-OP0hRcYuTS2_Sb_FnmZnL2a3Fky7zBOmdxH8Z4vKBCIvM6sEYDAuAIrJejkwwbYN0GkXSBaJ8urOJ7WdL3DoXLWeJql9ktWSnuZ409ZP-taYnKYrupJCnIf6UEYM0zolnCqON_OCuW2Q3but3qzvY3pPl21Nx-W_JCAfNuvCEPV8pbGSYeTIXKAFl-dS5F4kSuEQkCrt8EyJs1nU-appsbyoG8O2b0CLRCqzXogIDUXtft_Ocl63_OsSTzbyVX61dFGJnS_zZ2-_QsasQnmzsw1bQxSksjKYyRuYDfwcSy2VyvofeWo47Ckfkq5bhVZygbHfdnMhGqrUOgOuBYLd4QzAL1GDEKoDDghteTYM_w_9LPlVv3WZl5shDDXt5nFpBFiqS9mlFP9X9FPEtXDyKVkn1aan2P4SUr_1RrmrRm41SAHWSr3f9MTg3_wIPtg2WOf3DcSUASODWFGpxO63xeOM3y-aqceagG_fAsUQP61-qMKpaTF6FKffN30yU-Ahw112dF5LkQYoGSMLBJPde6GjZed9hntpZyxAu-XtAg==",
  "id": "rs_0f23cb087a0f4d72016ab458a77d1c87d0b9e26ecf89439d2c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.275,\"right_z\":0.09,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The pink bowl is immediately above the stack and its rim closely overlaps the lower bowls. I’m easing it down the last few centimetres with a small centring adjustment, stopping on support rather than pressing.\"}",
  "call_id": "call_cHseFda6qEF3NrbKqgiCJxfP",
  "id": "fc_0f23cb087a0f4d72016ab458ad1aa887d09f6d9fb8f565fa38",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cHseFda6qEF3NrbKqgiCJxfP",
  "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]: [-0.0299, 0.8173, 0.6476, -0.4931, -0.0452, -0.0494, 0.9957, 0.82, 1.8717, 1.2171, -0.1745, 0.6434, 0.4828, 0.0205]\nstate[eef_state]: left_x=0.2857 left_y=0.003 left_z=0.1707 left_yaw=0.0139 left_pitch=-0.0906 left_roll=0.009 left_gripper=0.9957 right_x=0.3969 right_y=0.2752 right_z=0.1068 right_yaw=0.0215 right_pitch=-0.059 right_roll=-0.0591 right_gripper=0.0205\nstate[joint_eff]: [-0.0752, -1.265, 6.9538, 1.6386, -0.0708, -0.0611, -0.0073, -0.212, -10.6462, 7.3231, 1.8486, 0.4127, 0.1245, 0.6911]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2648623b1f20fb82434517db6a602bd2849105a2a0c69c8f8b866a5b9b068b0f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a52bfff3e8f543d890e8b1049989c96e2c47bb62b257f408258f904a2329496",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c12d865dc03ec88626963e4dab542e9439e8f287d7f308bf43b0917785c27b5",
      "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 28 attempt 0 · /responses · status 200 · 2.914 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 99 changed as sent

message 107 changed as sent

message 111 changed as sent

message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0296, 0.8097, 0.6537, -0.477, -0.0444, -0.0349, 0.9957, 0.5713, 1.3407, 0.931, -0.2752, 0.4347, 0.2741, 0.0188]\nstate[eef_state]: left_x=0.2884 left_y=0.0029 left_z=0.1786 left_yaw=0.0057 left_pitch=-0.0611 left_roll=0.0189 left_gripper=0.9957 right_x=0.3637 right_y=0.1496 right_z=0.1809 right_yaw=0.0485 right_pitch=-0.0383 right_roll=-0.0273 right_gripper=0.0188\nstate[joint_eff]: [0.4718, -1.5111, 7.1863, 2.0488, 0.0757, -0.1587, -0.0122, 0.1983, -5.8051, 9.2786, 1.6923, 0.2906, 0.232, 0.8034]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0299, 0.8154, 0.6476, -0.4919, -0.0452, -0.0494, 0.9957, 0.8223, 1.8534, 1.2362, -0.2474, 0.6434, 0.4828, 0.0213]\nstate[eef_state]: left_x=0.2857 left_y=0.003 left_z=0.1715 left_yaw=0.0139 left_pitch=-0.0876 left_roll=0.0089 left_gripper=0.9957 right_x=0.3917 right_y=0.2713 right_z=0.1119 right_yaw=0.0219 right_pitch=-0.0838 right_roll=-0.0846 right_gripper=0.0213\nstate[joint_eff]: [-0.0615, -1.3333, 6.9538, 1.6532, -0.0366, -0.0269, -0.0073, -0.4034, -9.9077, 7.5009, 1.7558, 0.3883, 0.1148, 0.5153]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0299, 0.8173, 0.6476, -0.4931, -0.0452, -0.0494, 0.9957, 0.82, 1.8717, 1.2171, -0.1745, 0.6434, 0.4828, 0.0205]\nstate[eef_state]: left_x=0.2857 left_y=0.003 left_z=0.1707 left_yaw=0.0139 left_pitch=-0.0906 left_roll=0.009 left_gripper=0.9957 right_x=0.3969 right_y=0.2752 right_z=0.1068 right_yaw=0.0215 right_pitch=-0.059 right_roll=-0.0591 right_gripper=0.0205\nstate[joint_eff]: [-0.0752, -1.265, 6.9538, 1.6386, -0.0708, -0.0611, -0.0073, -0.212, -10.6462, 7.3231, 1.8486, 0.4127, 0.1245, 0.6911]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2648623b1f20fb82434517db6a602bd2849105a2a0c69c8f8b866a5b9b068b0f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a52bfff3e8f543d890e8b1049989c96e2c47bb62b257f408258f904a2329496",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c12d865dc03ec88626963e4dab542e9439e8f287d7f308bf43b0917785c27b5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFiyMRdXybE-_VNSGUEbxiESYg55ZDLK3bodKe-8oK-uWsiE8zUfNeeoAyCz29gKs59kZf43troYqzOWb7itqsJO_WUFpI2fW0lTDYvhgsZ-aE4lLKaCga63AJyhyPoDeQL6ysYIAXzZtubyls6o1-a54jVMEkiTZg5XqoOHXIw278FaInTXjghXswey95LISXRYpFEsEFveG9atFM2VyM-p4GoHZJvWEJOCiSeKOD2ixbQoXn94Nu8uYqUsDk7LzS_Kpv6xE9-L0PDDKupWWkpA91QJYhHeER9uWZNaAhlUiKBp22QY0UsEjy-Z4ThzUQMD2S-VsqMXGAMik02Ru3w9ez9YzUyLvLkEaRsQvsF8h36eg-ZhO9jTK0H3W07U4ambXiJm2vIvZF_NVlEQtcIFgMK6QAwAXXJWk59Omk4ZOd9yZuGvTS9pDTP9pAyXOZHENB7Rk2wvyB-tR6dplPs4BCj7WCIQRn6Cz9T1ebTy3Gic-0HD2gqsJbWjdFeNnu09cIWOzVErczw5-FQECdI9NCxSSDNZHy9r8C_JMn7_eVzjQ2j2TQaxQB9VNF0T2eRbV7ZsF2OnwC-gP8bHkoCPC8X8ElxZ9T62EV8ILPgiGL5Qd5lSQHtzvMFcbxjg19eRRo4-s7Ld9IZA3mChch4jzUAFIKae_eZUoA9hWOyZRsV2HZRThXbA0MBt7FGsw5G1bzp30WRxDz688hyWMB1e4IbPyYJuEYLQ9pvdFCs83239wHHgXgKcZYYYMJ7OyWaPEb3pRimc9W6H11Wo9pq7ZnYTshq7QUat1OaLUtAxvWhFvw1XZyPCQLMgluPOyJM1aqwsu_EezyvphhpXNPeweI6PnV01daUhM22s79M0TJeEYEHKrSNuJWRe1NrVLrFwgNiS_7xrmex5918_j-tbTfnG0PIbGGJRIgcEoFhO3FIsRPpxwaaBIp7B51Pfox2n01dyDOsQakZg14fjZNiHdg6OjPVjKehyWo4IBEGpMkE9BLamF9qFyxc36cNHYKx_hM8bpDEqWBZxIGT8vV5dWOWIRY4Ljr9v4nEQ-aoe2H4Q6v65S78AD4UfmEnwEV1f4fUGHzkOzmTcdSW3R2FWfU116yhp96ZYh-YFDgeowmIn9qOwyIhKYSI6QKrBRrq5GohkYZ5RMmOaLS3Isqxz2akiNsznkRQpDytuM79aomyqi-ljbKdpPbSwHcCnEn2AP4_z68HlTQTSFn8guuamgd2IMJa1yLVkLaIgiR12JMI=",
  "id": "rs_0f23cb087a0f4d72016ab458b0a95087d0a9cda1ce1d5b0ad4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The descent has stopped above the target height and the rims have settled together, indicating that the stack supports the pink bowl. I’m releasing the rim so it can nest fully.\"}",
  "call_id": "call_dnLWDpA0LpWts6XG83SC0HMP",
  "id": "fc_0f23cb087a0f4d72016ab458b0efac87d0b1f84c1cbad3120d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dnLWDpA0LpWts6XG83SC0HMP",
  "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]: [-0.0299, 0.8173, 0.6476, -0.4927, -0.0452, -0.0494, 0.9958, 0.8196, 1.8717, 1.216, -0.1715, 0.6395, 0.4789, 0.9952]\nstate[eef_state]: left_x=0.2857 left_y=0.003 left_z=0.1708 left_yaw=0.0139 left_pitch=-0.0903 left_roll=0.009 left_gripper=0.9958 right_x=0.3969 right_y=0.2758 right_z=0.1065 right_yaw=0.0259 right_pitch=-0.0598 right_roll=-0.0589 right_gripper=0.9952\nstate[joint_eff]: [-0.1162, -1.0735, 6.9538, 1.6239, -0.0855, -0.0757, -0.0122, -0.212, -9.7983, 6.4479, 1.4139, 0.2955, -0.022, -0.2076]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4762bd6a537118cc494dba592f2b27daaa18573b652f153849a4a0bdda202775",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72b3167844af9bf7bd1dbf37a2ff595dd8c3e9b18eb96d41109b2b27474b9dcf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f10a8ed3a87f625f697747eff43c367a99818b8af2570201f6356f50ccff9e22",
      "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 29 attempt 0 · /responses · status 200 · 2.733 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 103 changed as sent

message 111 changed as sent

message 115 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0299, 0.8154, 0.6476, -0.49, -0.0448, -0.049, 0.9957, 0.8246, 1.7924, 1.4265, -0.4519, 0.6239, 0.4675, 0.0188]\nstate[eef_state]: left_x=0.286 left_y=0.0029 left_z=0.1718 left_yaw=0.0133 left_pitch=-0.0857 left_roll=0.0088 left_gripper=0.9957 right_x=0.3951 right_y=0.2806 right_z=0.1823 right_yaw=0.0486 right_pitch=-0.0615 right_roll=-0.0532 right_gripper=0.0188\nstate[joint_eff]: [-0.0752, -1.5932, 7.4872, 1.7607, -0.0415, 0.0952, -0.0073, 0.1026, -9.6342, 9.6342, 1.6484, 0.5397, 0.2466, 0.8034]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0299, 0.8173, 0.6476, -0.4931, -0.0452, -0.0494, 0.9957, 0.82, 1.8717, 1.2171, -0.1745, 0.6434, 0.4828, 0.0205]\nstate[eef_state]: left_x=0.2857 left_y=0.003 left_z=0.1707 left_yaw=0.0139 left_pitch=-0.0906 left_roll=0.009 left_gripper=0.9957 right_x=0.3969 right_y=0.2752 right_z=0.1068 right_yaw=0.0215 right_pitch=-0.059 right_roll=-0.0591 right_gripper=0.0205\nstate[joint_eff]: [-0.0752, -1.265, 6.9538, 1.6386, -0.0708, -0.0611, -0.0073, -0.212, -10.6462, 7.3231, 1.8486, 0.4127, 0.1245, 0.6911]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0299, 0.8173, 0.6476, -0.4927, -0.0452, -0.0494, 0.9958, 0.8196, 1.8717, 1.216, -0.1715, 0.6395, 0.4789, 0.9952]\nstate[eef_state]: left_x=0.2857 left_y=0.003 left_z=0.1708 left_yaw=0.0139 left_pitch=-0.0903 left_roll=0.009 left_gripper=0.9958 right_x=0.3969 right_y=0.2758 right_z=0.1065 right_yaw=0.0259 right_pitch=-0.0598 right_roll=-0.0589 right_gripper=0.9952\nstate[joint_eff]: [-0.1162, -1.0735, 6.9538, 1.6239, -0.0855, -0.0757, -0.0122, -0.212, -9.7983, 6.4479, 1.4139, 0.2955, -0.022, -0.2076]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4762bd6a537118cc494dba592f2b27daaa18573b652f153849a4a0bdda202775",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72b3167844af9bf7bd1dbf37a2ff595dd8c3e9b18eb96d41109b2b27474b9dcf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f10a8ed3a87f625f697747eff43c367a99818b8af2570201f6356f50ccff9e22",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFi2UPWX_2Feq-i71sljoMftEKJWaH6DRUKb7pxGOotYTMALywEd4K5vcgx6bIAANTFFnNKOkPwLpvV7pBdjt2mrCAF5qQuZdIFMJ0HZVMp6yYE55ZPpdzoN1vSjnOEIpOtDoIpgJS0qicGsfUgvifVA6MVQ6CPOdh0LDpFYKTAGbG_ojmj29xbK9zbIMvnkPOXHvOwDr-LE7tEtAmwiXCF0gKqZZtEpKdoXSG_yAbgjp1UCBCys_JyVUW-qwpqKrXYV3ZdAA51drCYCW5ylVh0h5L7moAi0cRzct0CoakP8Oc0YsUbUiOa3vQvSnhnsvabd5KnQVGIY8XVAezf16Y8cE_XWb0JTrrnD4HSyvTf7_gI8ABd9xC8rNrZZuDSOqe2q4BcuF1c-4DilZxpr135Qu-CKEOiCOJcewP7WDmqVbFgfq1jUF_ycOr_FL1HopslDheEt2ny69lKomsfeC9MGmdhdciuSgjYtRiQ0Gd8IsA1WAJ96S9sn5SJi_9QMIXpIBV2x4gShngUIv64lI1wFsuw8-WhCQtLhMEdVuZ_Elc2wTzmZZ0C0i9tt8nBdVh2Ib5xtVHU54CmcTqGFaJoDV_yzkAB9B55_k7mHv8YZEj91H9qmigPAZN7TX2LNuow9uSrXVKv-DbifUvkfIjpe5pnxnqzYvGTXgUT7Es6cQZxOhYNQXtJxkST7GPKGtNho2zWYZ-Xg7va_jN4MaSNQ8XwP8Sb_O6VMin7sC7elvaVhox0ZcOCRW4_BEAChZ-ma08cyZ9fls7-dRk2bqXLjATmVrz3-ZNCUYsaOU1X0pHbx6XspHOtgGbBMfzt6INuDwN2ecTCTw1d9LdtbYTRy-TUhuwEu8BUkw5u1uUYJgxATX82mg4SPJ8UPQ3I3Gx9QBCnzo2bQkczYI6F1WpciotUztEFmaSsIQYWVSvUBsUPoQYH32YtJe6SFDh25CsbNgTCUARZqCArXL6xMHmylqzWosEt5mP0Wn8GsYcu2CP6lY0_FKV__vZcCbDNH2MLwu0yoHZH6d2uv4vi5e-RzBhRG7Ac8zDJEoSZXqA98PDK4OWh23_GssTKrkpvFf3yqyd818SVfWCVUEb7bYfAUxvEUjB0h9oS3tqfql7ebY0yUvtV3ok8CWPSgwaj3YedLrYfcibTV4dfsn5u_ASq_Ez9D47aOgbWWU-Al3Ujq-FOcY2p9UG4KGAFPpq8tVE59UC1Dj3p71Dg3uG55-PTrc5PRSkkHgMvfcx9AoPauD3WFlt9w_gO18uccWffXBXgpDRA1XKLWVBPsQeHUpeJegkhAixhRLZubcthz4ZAcQRY=",
  "id": "rs_0f23cb087a0f4d72016ab458b4bca887d0b81569ffbf0cc6fe",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.21,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The pink bowl settled lower into the stack after release. I’m lifting the open fingers straight up to clear the bowls before checking the finished stack from above.\"}",
  "call_id": "call_RkDfmugBUEVJ2KVqqaGSFqte",
  "id": "fc_0f23cb087a0f4d72016ab458b53a2887d0a35cd365a4f88629",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RkDfmugBUEVJ2KVqqaGSFqte",
  "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]: [-0.0299, 0.8173, 0.6476, -0.4927, -0.0452, -0.0494, 0.9958, 0.8246, 1.7931, 1.3987, -0.4232, 0.6437, 0.4797, 0.9963]\nstate[eef_state]: left_x=0.2857 left_y=0.003 left_z=0.1708 left_yaw=0.0139 left_pitch=-0.0903 left_roll=0.009 left_gripper=0.9958 right_x=0.3957 right_y=0.2771 right_z=0.1767 right_yaw=0.0279 right_pitch=-0.0509 right_roll=-0.0536 right_gripper=0.9963\nstate[joint_eff]: [-0.1299, -1.2923, 6.9812, 1.6288, -0.0952, -0.0562, -0.0171, 0.0479, -11.6171, 9.5658, 1.3504, 0.486, 0.2418, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7217c5d0ff741c72386b7dc68e873f0398fad4eee2c7f7a8bf44b9ca774b0ba0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b79b407a319a50969c1424dd93307b854dbe09387a3cd04bb68b06f128189c7d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dffa2b5b88447aaa03a55a784a23f93748166a48c896d1fd551fb637458dea8c",
      "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 · 5.315 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 107 changed as sent

message 115 changed as sent

message 119 changed as sent

message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0299, 0.8154, 0.6476, -0.4919, -0.0452, -0.0494, 0.9957, 0.8223, 1.8534, 1.2362, -0.2474, 0.6434, 0.4828, 0.0213]\nstate[eef_state]: left_x=0.2857 left_y=0.003 left_z=0.1715 left_yaw=0.0139 left_pitch=-0.0876 left_roll=0.0089 left_gripper=0.9957 right_x=0.3917 right_y=0.2713 right_z=0.1119 right_yaw=0.0219 right_pitch=-0.0838 right_roll=-0.0846 right_gripper=0.0213\nstate[joint_eff]: [-0.0615, -1.3333, 6.9538, 1.6532, -0.0366, -0.0269, -0.0073, -0.4034, -9.9077, 7.5009, 1.7558, 0.3883, 0.1148, 0.5153]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0299, 0.8173, 0.6476, -0.4927, -0.0452, -0.0494, 0.9958, 0.8196, 1.8717, 1.216, -0.1715, 0.6395, 0.4789, 0.9952]\nstate[eef_state]: left_x=0.2857 left_y=0.003 left_z=0.1708 left_yaw=0.0139 left_pitch=-0.0903 left_roll=0.009 left_gripper=0.9958 right_x=0.3969 right_y=0.2758 right_z=0.1065 right_yaw=0.0259 right_pitch=-0.0598 right_roll=-0.0589 right_gripper=0.9952\nstate[joint_eff]: [-0.1162, -1.0735, 6.9538, 1.6239, -0.0855, -0.0757, -0.0122, -0.212, -9.7983, 6.4479, 1.4139, 0.2955, -0.022, -0.2076]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0299, 0.8173, 0.6476, -0.4927, -0.0452, -0.0494, 0.9958, 0.8246, 1.7931, 1.3987, -0.4232, 0.6437, 0.4797, 0.9963]\nstate[eef_state]: left_x=0.2857 left_y=0.003 left_z=0.1708 left_yaw=0.0139 left_pitch=-0.0903 left_roll=0.009 left_gripper=0.9958 right_x=0.3957 right_y=0.2771 right_z=0.1767 right_yaw=0.0279 right_pitch=-0.0509 right_roll=-0.0536 right_gripper=0.9963\nstate[joint_eff]: [-0.1299, -1.2923, 6.9812, 1.6288, -0.0952, -0.0562, -0.0171, 0.0479, -11.6171, 9.5658, 1.3504, 0.486, 0.2418, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7217c5d0ff741c72386b7dc68e873f0398fad4eee2c7f7a8bf44b9ca774b0ba0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b79b407a319a50969c1424dd93307b854dbe09387a3cd04bb68b06f128189c7d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dffa2b5b88447aaa03a55a784a23f93748166a48c896d1fd551fb637458dea8c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "arguments": "{\"targets\":{\"right_x\":0.294,\"right_y\":0.001,\"right_z\":0.19,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The fingers are clear and the pink bowl remains on the stack. I’m returning the right arm to its home side so the overhead view can confirm all three bowls are nested and stable.\"}",
  "call_id": "call_jQcPFkInNPyFqEnXdkKV7z4c",
  "id": "fc_0f23cb087a0f4d72016ab458b8251887d0974538690d89ad68",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jQcPFkInNPyFqEnXdkKV7z4c",
  "output": [
    {
      "text": "executing move_to over 24 steps (2.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0299, 0.823, 0.6476, -0.4934, -0.0452, -0.0498, 0.9957, 0.0071, 0.8097, 0.6537, -0.4164, 0.0578, 0.0051, 0.9964]\nstate[eef_state]: left_x=0.2859 left_y=0.003 left_z=0.1691 left_yaw=0.0141 left_pitch=-0.0967 left_roll=0.009 left_gripper=0.9957 right_x=0.2966 right_y=-0.0045 right_z=0.191 right_yaw=-0.058 right_pitch=0.0017 right_roll=-0.0068 right_gripper=0.9964\nstate[joint_eff]: [-0.1299, -1.6615, 7.0769, 1.7265, -0.0317, -0.0806, -0.0171, -0.1162, -1.4564, 6.7624, 1.7411, -0.1685, 0.0317, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4bc35a0a716a16a58a102a8bfca7e51198f55871ac22963c6cf53e86b554227",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58563b3786aa1f797a6337e34b0852b12a18a9ec0749f8189b177a25809b95cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d6456b45901841b5d5da2cdba8061ee7cc4308dc96491daaac583c95e4b2c49",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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