adhoc

completed
2026-09-24T03:45:35.355611+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
254 s
total steps
392
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 in a row: turquoise, blue, and beige. I’ll approach the turquoise bowl with the left gripper and use the blue bowl as the base of the stack.
move_to
left_x0.3800left_y-0.1800left_z0.1700left_gripper1.0000right_x0.2950right_y0.0000right_z0.1800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0193, 0.7956, 0.6048, -0.3813, -0.0223, -0.041, 0.9996, -0.0216, 0.794, 0.6033, -0.3771, -0.0151, -0.033, 0.9974] state[eef_state]: left_x=0.2948 left_y=0.0019 left_z=0.1797 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2951 right_y=-0.0001 right_z=0.1802 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9974 state[joint_eff]: [-0.6769, -1.5932, 10.0855, 1.7753, -0.0073, 0.2076, -0.0611, -0.1846, -1.4701, 10.1265, 1.8926, -0.0806, 0.1587, -0.2955] 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":0.38,"left_y":-0.18,"left_z":0.17,"left_gripper":1,"right_x":0.295,"right_y":0,"right_z":0.18},"note":"There are three upright bowls in a row: turquoise, blue, and beige. I’ll approach the turquoise bowl with the left gripper and use the blue bowl as the base of the stack."})
tool
executing move_to over 17 steps (1.7s)
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 turquoise bowl is beneath the left hand, with its right-hand rim near the jaw column. I’ll lower the open gripper toward that rim so one finger can enter the bowl and the other stay outside.
move_to
left_x0.3800left_y-0.1800left_z0.0650left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6682, 1.4712, 0.9405, -0.2176, -0.5335, -0.4324, 0.9996, -0.0216, 0.7975, 0.601, -0.3885, -0.0151, -0.0341, 0.9972] state[eef_state]: left_x=0.3706 left_y=-0.1734 left_z=0.1514 left_yaw=-0.0163 left_pitch=-0.0545 left_roll=0.0283 left_gripper=0.9996 right_x=0.2935 right_y=-0.0001 right_z=0.1759 right_yaw=0.0003 right_pitch=-0.0172 right_roll=-0.0008 right_gripper=0.9972 state[joint_eff]: [-0.4581, -7.0085, 9.1829, 1.7363, -0.359, 0.0464, -0.0562, -0.0752, -1.388, 7.1453, 1.8632, -0.0171, -0.0611, -0.0415] 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_x":0.38,"left_y":-0.18,"left_z":0.065,"left_gripper":1},"note":"The turquoise bowl is beneath the left hand, with its right-hand rim near the jaw column. I’ll lower the open gripper toward that rim so one finger can enter the bowl and the other stay outside."})
tool
executing move_to over 6 steps (0.6s)
step 23
top_cam
camera top_cam step 23
left_cam
camera left_cam step 23
right_cam
camera right_cam step 23
assistant
agent noteThe open fingers straddle the turquoise bowl’s right edge, but the fingertips are still near the rim’s top. I’ll lower a little farther and shift slightly outward to pinch the bowl wall.
move_to
left_x0.3800left_y-0.1880left_z0.0300
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6735, 1.6672, 0.7799, 0.0761, -0.532, -0.4381, 0.9996, -0.0216, 0.7986, 0.6003, -0.3927, -0.0151, -0.0341, 0.9972] state[eef_state]: left_x=0.3706 left_y=-0.1765 left_z=0.0616 left_yaw=-0.0166 left_pitch=-0.1049 left_roll=0.0613 left_gripper=0.9996 right_x=0.2929 right_y=-0.0001 right_z=0.1744 right_yaw=0.0003 right_pitch=-0.0233 right_roll=-0.0007 right_gripper=0.9972 state[joint_eff]: [0.2667, -7.159, 5.3128, 1.6874, -0.2271, 0.0513, -0.0562, -0.0205, -1.2103, 7.0906, 1.7558, -0.022, -0.0415, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":-0.188,"left_z":0.03},"note":"The open fingers straddle the turquoise bowl’s right edge, but the fingertips are still near the rim’s top. I’ll lower a little farther and shift slightly outward to pinch the bowl wall."})
tool
executing move_to over 3 steps (0.3s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
agent noteThe turquoise bowl’s wall lies between the fingers at a low grasp height. I’ll close the gripper on the rim before testing a lift.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6796, 1.7844, 0.7731, 0.1776, -0.5323, -0.4397, 0.9995, -0.0216, 0.7998, 0.6003, -0.3931, -0.0151, -0.0341, 0.9972] state[eef_state]: left_x=0.3746 left_y=-0.1828 left_z=0.0298 left_yaw=-0.02 left_pitch=-0.1225 left_roll=0.0742 left_gripper=0.9995 right_x=0.2929 right_y=-0.0001 right_z=0.174 right_yaw=0.0003 right_pitch=-0.0248 right_roll=-0.0006 right_gripper=0.9972 state[joint_eff]: [-0.5675, -8.0342, 7.0769, 1.5556, -0.2369, -0.105, -0.0171, -0.0205, -1.2513, 7.0632, 1.7167, -0.0317, -0.0659, -0.0122] camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The turquoise bowl’s wall lies between the fingers at a low grasp height. I’ll close the gripper on the rim before testing a lift."})
tool
executing move_to over 10 steps (1.0s)
step 36
top_cam
camera top_cam step 36
left_cam
camera left_cam step 36
right_cam
camera right_cam step 36
assistant
agent noteThe gripper stopped at a nonempty opening, but the blue bowl also shifted toward the turquoise bowl during closing. I’ll lift only a few centimetres to check exactly which rim is held.
move_to
left_x0.3900left_y-0.1900left_z0.1200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6807, 1.7897, 0.7986, 0.2672, -0.5667, -0.4511, 0.1128, -0.0216, 0.8009, 0.5999, -0.3931, -0.0151, -0.0341, 0.9972] state[eef_state]: left_x=0.393 left_y=-0.1916 left_z=0.0526 left_yaw=0.006 left_pitch=-0.0212 left_roll=0.0153 left_gripper=0.1128 right_x=0.2929 right_y=-0.0001 right_z=0.1735 right_yaw=0.0003 right_pitch=-0.0263 right_roll=-0.0006 right_gripper=0.9972 state[joint_eff]: [-0.3761, -6.7487, 5.1761, 0.9206, 0.0269, 0.022, 0.6716, -0.0479, -1.306, 7.159, 1.7216, -0.0659, -0.0513, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.19,"left_z":0.12},"note":"The gripper stopped at a nonempty opening, but the blue bowl also shifted toward the turquoise bowl during closing. I’ll lift only a few centimetres to check exactly which rim is held."})
tool
executing move_to over 5 steps (0.5s)
step 41
top_cam
camera top_cam step 41
left_cam
camera left_cam step 41
right_cam
camera right_cam step 41
assistant
agent noteBoth neighboring rims appear to have moved with the gripper, so this is not a clean single-bowl grasp. I’ll lower them back to the table before changing to the turquoise bowl’s outer rim.
move_to
left_z0.0450
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6807, 1.6569, 0.8715, 0.02, -0.5667, -0.4618, 0.1155, -0.0216, 0.8032, 0.5999, -0.3927, -0.0151, -0.0341, 0.9972] state[eef_state]: left_x=0.3856 left_y=-0.1856 left_z=0.0925 left_yaw=0.0127 left_pitch=-0.0531 left_roll=0.033 left_gripper=0.1155 right_x=0.2931 right_y=-0.0001 right_z=0.1729 right_yaw=0.0003 right_pitch=-0.0282 right_roll=-0.0006 right_gripper=0.9972 state[joint_eff]: [-0.2667, -9.7026, 9.4974, 1.6532, -0.2906, 0.0366, 0.2662, -0.0752, -1.4564, 7.0359, 1.7411, -0.0122, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 41): [image omitted: streamed camera frame] camera 'left_cam' (step 41): [image omitted: streamed camera frame] camera 'right_cam' (step 41): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.045},"note":"Both neighboring rims appear to have moved with the gripper, so this is not a clean single-bowl grasp. I’ll lower them back to the table before changing to the turquoise bowl’s outer rim."})
tool
executing move_to over 4 steps (0.4s)
step 45
top_cam
camera top_cam step 45
left_cam
camera left_cam step 45
right_cam
camera right_cam step 45
assistant
agent noteThe bowls are back at table height. I’ll open the fingers to release the adjacent rims without dragging either bowl.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6807, 1.7622, 0.794, 0.1631, -0.5781, -0.4622, 0.1192, -0.0216, 0.8043, 0.5999, -0.3927, -0.0151, -0.0341, 0.9972] state[eef_state]: left_x=0.3814 left_y=-0.18 left_z=0.0463 left_yaw=0.0231 left_pitch=-0.0782 left_roll=0.0645 left_gripper=0.1192 right_x=0.2932 right_y=-0.0001 right_z=0.1726 right_yaw=0.0003 right_pitch=-0.0294 right_roll=-0.0005 right_gripper=0.9972 state[joint_eff]: [-0.0752, -6.2154, 4.7111, 1.3358, -0.0904, -0.0366, 0.3883, -0.0615, -1.2103, 6.9949, 1.7509, -0.0659, -0.0806, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 45): [image omitted: streamed camera frame] camera 'left_cam' (step 45): [image omitted: streamed camera frame] camera 'right_cam' (step 45): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The bowls are back at table height. I’ll open the fingers to release the adjacent rims without dragging either bowl."})
tool
executing move_to over 9 steps (0.9s)
step 54
top_cam
camera top_cam step 54
left_cam
camera left_cam step 54
right_cam
camera right_cam step 54
assistant
agent noteThe turquoise and blue bowls are separate again, though close together. I’ll raise the hand clear of both rims before moving to the exposed left side of the turquoise bowl.
move_to
left_x0.3900left_y-0.1800left_z0.1700
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6807, 1.7645, 0.7933, 0.1612, -0.577, -0.469, 0.9948, -0.0216, 0.8043, 0.5999, -0.3931, -0.0151, -0.0341, 0.9972] state[eef_state]: left_x=0.3808 left_y=-0.1798 left_z=0.0448 left_yaw=0.0262 left_pitch=-0.0823 left_roll=0.0616 left_gripper=0.9948 right_x=0.2931 right_y=-0.0001 right_z=0.1725 right_yaw=0.0003 right_pitch=-0.0298 right_roll=-0.0005 right_gripper=0.9972 state[joint_eff]: [-0.3214, -8.1162, 5.4906, 1.4286, -0.3053, 0.0269, -0.0366, -0.1573, -1.306, 7.1453, 1.7265, -0.0659, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 54): [image omitted: streamed camera frame] camera 'left_cam' (step 54): [image omitted: streamed camera frame] camera 'right_cam' (step 54): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.18,"left_z":0.17},"note":"The turquoise and blue bowls are separate again, though close together. I’ll raise the hand clear of both rims before moving to the exposed left side of the turquoise bowl."})
tool
executing move_to over 9 steps (0.9s)
step 63
top_cam
camera top_cam step 63
left_cam
camera left_cam step 63
right_cam
camera right_cam step 63
assistant
agent noteThe hand is clear of the bowls. I’ll move over the turquoise bowl’s exposed outer rim, away from the blue bowl, to avoid catching two bowls at once.
move_to
left_x0.3900left_y-0.0650left_z0.1500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6712, 1.5921, 1.0874, -0.3134, -0.5728, -0.4694, 0.9957, -0.0216, 0.8043, 0.5999, -0.3931, -0.0151, -0.0341, 0.9972] state[eef_state]: left_x=0.3895 left_y=-0.1825 left_z=0.1506 left_yaw=0.0334 left_pitch=-0.0903 left_roll=0.0642 left_gripper=0.9957 right_x=0.2931 right_y=-0.0001 right_z=0.1725 right_yaw=0.0003 right_pitch=-0.0298 right_roll=-0.0005 right_gripper=0.9972 state[joint_eff]: [0.4308, -9.4427, 8.7863, 1.3162, -0.1587, 0.0904, 0.0806, -0.1846, -1.3197, 6.9949, 1.7265, -0.0171, -0.0513, -0.0171] camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.065,"left_z":0.15},"note":"The hand is clear of the bowls. I’ll move over the turquoise bowl’s exposed outer rim, away from the blue bowl, to avoid catching two bowls at once."})
tool
executing move_to over 11 steps (1.1s)
step 74
top_cam
camera top_cam step 74
left_cam
camera left_cam step 74
right_cam
camera right_cam step 74
assistant
agent noteThe turquoise bowl’s outer wall is now aligned with the jaw column, and the blue bowl is safely to the side. I’ll lower the fingers around this single rim.
move_to
left_x0.3900left_y-0.0650left_z0.0350
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3264, 1.3911, 0.8608, -0.2173, -0.3431, -0.2363, 0.9957, -0.0216, 0.8043, 0.5999, -0.3927, -0.0151, -0.0341, 0.9972] state[eef_state]: left_x=0.3877 left_y=-0.0647 left_z=0.139 left_yaw=0.0692 left_pitch=-0.1252 left_roll=0.0708 left_gripper=0.9957 right_x=0.2932 right_y=-0.0001 right_z=0.1726 right_yaw=0.0003 right_pitch=-0.0294 right_roll=-0.0005 right_gripper=0.9972 state[joint_eff]: [0.253, -7.3368, 6.6393, 1.8144, -0.0806, 0.0952, -0.0024, -0.0479, -1.306, 6.9949, 1.7411, -0.0562, -0.0757, -0.0122] camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.065,"left_z":0.035},"note":"The turquoise bowl’s outer wall is now aligned with the jaw column, and the blue bowl is safely to the side. I’ll lower the fingers around this single rim."})
tool
executing move_to over 7 steps (0.7s)
step 81
top_cam
camera top_cam step 81
left_cam
camera left_cam step 81
right_cam
camera right_cam step 81
assistant
agent noteOne finger is outside the turquoise bowl and the other is inside it. I’ll close on the outer wall, then check that only this bowl lifts.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3271, 1.6257, 0.6273, 0.1844, -0.3367, -0.2321, 0.9957, -0.0216, 0.8051, 0.5999, -0.3927, -0.0151, -0.0341, 0.9972] state[eef_state]: left_x=0.38 left_y=-0.0635 left_z=0.0302 left_yaw=0.0649 left_pitch=-0.1884 left_roll=0.0954 left_gripper=0.9957 right_x=0.2932 right_y=-0.0001 right_z=0.1724 right_yaw=0.0003 right_pitch=-0.0301 right_roll=-0.0005 right_gripper=0.9972 state[joint_eff]: [0.0615, -6.735, 5.1624, 1.6728, -0.2076, -0.0855, -0.0073, -0.0615, -1.3333, 7.0496, 1.7363, -0.0562, -0.0513, -0.0171] camera 'top_cam' (step 81): [image omitted: streamed camera frame] camera 'left_cam' (step 81): [image omitted: streamed camera frame] camera 'right_cam' (step 81): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"One finger is outside the turquoise bowl and the other is inside it. I’ll close on the outer wall, then check that only this bowl lifts."})
tool
executing move_to over 10 steps (1.0s)
step 91
top_cam
camera top_cam step 91
left_cam
camera left_cam step 91
right_cam
camera right_cam step 91
assistant
agent noteThe gripper has retained about a centimetre of material, consistent with a rim grasp. I’ll make a short vertical lift to verify that the turquoise bowl is secure and the blue bowl stays on the table.
move_to
left_x0.3900left_y-0.0650left_z0.1050
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3275, 1.6215, 0.6239, 0.2153, -0.3332, -0.2508, 0.0981, -0.0216, 0.8051, 0.5999, -0.3927, -0.0151, -0.0341, 0.9972] state[eef_state]: left_x=0.3841 left_y=-0.0657 left_z=0.0355 left_yaw=0.0698 left_pitch=-0.1592 left_roll=0.0668 left_gripper=0.0981 right_x=0.2932 right_y=-0.0001 right_z=0.1724 right_yaw=0.0003 right_pitch=-0.0301 right_roll=-0.0005 right_gripper=0.9972 state[joint_eff]: [-0.1573, -6.2701, 6.2838, 1.2234, -0.2369, 0.149, 0.3346, -0.0889, -1.0051, 7.0085, 1.7753, -0.0317, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 91): [image omitted: streamed camera frame] camera 'left_cam' (step 91): [image omitted: streamed camera frame] camera 'right_cam' (step 91): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.065,"left_z":0.105},"note":"The gripper has retained about a centimetre of material, consistent with a rim grasp. I’ll make a short vertical lift to verify that the turquoise bowl is secure and the blue bowl stays on the table."})
tool
executing move_to over 5 steps (0.5s)
step 96
top_cam
camera top_cam step 96
left_cam
camera left_cam step 96
right_cam
camera right_cam step 96
assistant
agent noteThe rim remains caught in the closed fingers, but the overhead view does not yet show a clear lift of the bowl. I’ll raise straight up to clearance height and recheck before moving sideways.
move_to
left_x0.3900left_y-0.0650left_z0.1800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3256, 1.4918, 0.7639, -0.0505, -0.3298, -0.2581, 0.0975, -0.0216, 0.8051, 0.5999, -0.3927, -0.0151, -0.0341, 0.9972] state[eef_state]: left_x=0.3899 left_y=-0.0675 left_z=0.0906 left_yaw=0.0726 left_pitch=-0.1564 left_roll=0.0576 left_gripper=0.0975 right_x=0.2932 right_y=-0.0001 right_z=0.1724 right_yaw=0.0003 right_pitch=-0.0301 right_roll=-0.0005 right_gripper=0.9972 state[joint_eff]: [0.6632, -7.665, 8.4444, 1.4676, -0.1636, 0.105, -0.0806, -0.0342, -1.3197, 7.0085, 1.7363, -0.0122, -0.0708, -0.0122] camera 'top_cam' (step 96): [image omitted: streamed camera frame] camera 'left_cam' (step 96): [image omitted: streamed camera frame] camera 'right_cam' (step 96): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.065,"left_z":0.18},"note":"The rim remains caught in the closed fingers, but the overhead view does not yet show a clear lift of the bowl. I’ll raise straight up to clearance height and recheck before moving sideways."})
tool
executing move_to over 6 steps (0.6s)
step 102
top_cam
camera top_cam step 102
left_cam
camera left_cam step 102
right_cam
camera right_cam step 102
assistant
agent noteThe turquoise bowl is still on the table, so the last grasp did not hold it despite the nonzero gripper reading. I’ll reopen and move a few centimetres farther forward and inward to engage the rim more deeply.
move_to
left_x0.4250left_y-0.0850left_z0.1000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3252, 1.4067, 0.9974, -0.3752, -0.3294, -0.2584, 0.0975, -0.0216, 0.8051, 0.5999, -0.3931, -0.0151, -0.0341, 0.9972] state[eef_state]: left_x=0.3923 left_y=-0.0682 left_z=0.1625 left_yaw=0.0733 left_pitch=-0.1621 left_roll=0.0595 left_gripper=0.0975 right_x=0.2932 right_y=-0.0001 right_z=0.1723 right_yaw=0.0003 right_pitch=-0.0305 right_roll=-0.0005 right_gripper=0.9972 state[joint_eff]: [0.6085, -7.6513, 8.9231, 1.4335, -0.1392, -0.0073, -0.0171, -0.1573, -1.1419, 7.159, 1.7411, -0.0415, -0.0806, -0.0171] camera 'top_cam' (step 102): [image omitted: streamed camera frame] camera 'left_cam' (step 102): [image omitted: streamed camera frame] camera 'right_cam' (step 102): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.425,"left_y":-0.085,"left_z":0.10,"left_gripper":1},"note":"The turquoise bowl is still on the table, so the last grasp did not hold it despite the nonzero gripper reading. I’ll reopen and move a few centimetres farther forward and inward to engage the rim more deeply."})
tool
executing move_to over 10 steps (1.0s)
step 112
top_cam
camera top_cam step 112
left_cam
camera left_cam step 112
right_cam
camera right_cam step 112
assistant
agent noteThe hand is now farther over the turquoise bowl, with the left rim between the open fingers. I’ll descend to a deeper wall grasp rather than just touching the rim’s edge.
move_to
left_x0.4300left_y-0.0850left_z0.0200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3389, 1.6142, 0.944, -0.1574, -0.3363, -0.2783, 0.9954, -0.0216, 0.8097, 0.5999, -0.3931, -0.0151, -0.0345, 0.9972] state[eef_state]: left_x=0.4177 left_y=-0.0816 left_z=0.0963 left_yaw=0.0792 left_pitch=-0.1989 left_roll=0.0668 left_gripper=0.9954 right_x=0.2934 right_y=-0.0001 right_z=0.1711 right_yaw=0.0005 right_pitch=-0.0351 right_roll=-0.0007 right_gripper=0.9972 state[joint_eff]: [-0.3761, -7.0906, 6.2154, 1.7607, -0.2662, 0.0513, -0.105, -0.2803, -1.7026, 7.159, 1.7411, -0.0317, -0.0757, -0.0171] camera 'top_cam' (step 112): [image omitted: streamed camera frame] camera 'left_cam' (step 112): [image omitted: streamed camera frame] camera 'right_cam' (step 112): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.085,"left_z":0.02},"note":"The hand is now farther over the turquoise bowl, with the left rim between the open fingers. I’ll descend to a deeper wall grasp rather than just touching the rim’s edge."})
tool
executing move_to over 5 steps (0.5s)
step 117
top_cam
camera top_cam step 117
left_cam
camera left_cam step 117
right_cam
camera right_cam step 117
assistant
agent noteThe open fingers now clearly straddle the turquoise bowl’s outer wall at table level. I’ll close around that wall.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3386, 1.824, 0.8455, 0.0696, -0.3363, -0.2775, 0.9957, -0.0216, 0.8116, 0.5999, -0.3935, -0.0151, -0.0341, 0.9972] state[eef_state]: left_x=0.4151 left_y=-0.0806 left_z=0.0111 left_yaw=0.0871 left_pitch=-0.2731 left_roll=0.1015 left_gripper=0.9957 right_x=0.2935 right_y=-0.0001 right_z=0.1705 right_yaw=0.0003 right_pitch=-0.0374 right_roll=-0.0004 right_gripper=0.9972 state[joint_eff]: [0.1299, -8.6769, 5.559, 1.7021, -0.1197, 0.0024, 0.022, -0.1709, -1.2376, 7.2137, 1.7607, -0.0269, -0.0464, -0.0171] camera 'top_cam' (step 117): [image omitted: streamed camera frame] camera 'left_cam' (step 117): [image omitted: streamed camera frame] camera 'right_cam' (step 117): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The open fingers now clearly straddle the turquoise bowl’s outer wall at table level. I’ll close around that wall."})
tool
executing move_to over 10 steps (1.0s)
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 wall is pinched between the fingers, and the bowl shifted slightly as the grasp seated. I’ll lift a short distance to confirm that it follows the hand.
move_to
left_x0.4300left_y-0.0850left_z0.1000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3397, 1.8053, 0.8513, 0.1215, -0.3286, -0.3038, 0.1041, -0.0216, 0.812, 0.5999, -0.3927, -0.0154, -0.0341, 0.9972] state[eef_state]: left_x=0.4273 left_y=-0.0867 left_z=0.0282 left_yaw=0.0867 left_pitch=-0.2048 left_roll=0.0449 left_gripper=0.1041 right_x=0.2936 right_y=-0.0 right_z=0.1705 right_yaw=0.0006 right_pitch=-0.037 right_roll=-0.0001 right_gripper=0.9972 state[joint_eff]: [-0.1709, -6.9402, 5.559, 0.8913, -0.2222, 0.2466, 0.4615, -0.1162, -1.306, 7.2, 1.7167, -0.0415, -0.0659, -0.0122] 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":{"left_x":0.43,"left_y":-0.085,"left_z":0.1},"note":"The wall is pinched between the fingers, and the bowl shifted slightly as the grasp seated. I’ll lift a short distance to confirm that it follows the hand."})
tool
executing move_to over 5 steps (0.5s)
step 132
top_cam
camera top_cam step 132
left_cam
camera left_cam step 132
right_cam
camera right_cam step 132
assistant
agent noteThe turquoise bowl has lifted while the blue bowl remains on the table. I’ll raise it to safe carrying height before moving it over the blue bowl.
move_to
left_x0.4300left_y-0.0850left_z0.2050
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3386, 1.6936, 0.9649, -0.1284, -0.329, -0.3115, 0.1039, -0.0216, 0.812, 0.5999, -0.3927, -0.0151, -0.0341, 0.9972] state[eef_state]: left_x=0.4262 left_y=-0.0857 left_z=0.0765 left_yaw=0.0946 left_pitch=-0.2266 left_roll=0.0501 left_gripper=0.1039 right_x=0.2936 right_y=-0.0001 right_z=0.1705 right_yaw=0.0003 right_pitch=-0.037 right_roll=-0.0004 right_gripper=0.9972 state[joint_eff]: [0.5128, -10.1265, 8.8821, 1.5018, -0.1001, 0.1001, -0.0415, -0.0342, -1.2513, 7.3094, 1.7411, -0.0513, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 132): [image omitted: streamed camera frame] camera 'left_cam' (step 132): [image omitted: streamed camera frame] camera 'right_cam' (step 132): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.085,"left_z":0.205},"note":"The turquoise bowl has lifted while the blue bowl remains on the table. I’ll raise it to safe carrying height before moving it over the blue bowl."})
tool
executing move_to over 9 steps (0.9s)
step 141
top_cam
camera top_cam step 141
left_cam
camera left_cam step 141
right_cam
camera right_cam step 141
assistant
agent noteThe turquoise bowl appears raised, but it has shifted within the rim grasp. I’ll keep the fingers fully closed while moving it above the blue bowl.
move_to
left_x0.4200left_y-0.2050left_z0.2050left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3386, 1.6211, 1.3346, -0.5964, -0.329, -0.3149, 0.1039, -0.0216, 0.812, 0.5999, -0.3935, -0.0151, -0.0341, 0.9972] state[eef_state]: left_x=0.4313 left_y=-0.0876 left_z=0.1808 left_yaw=0.0992 left_pitch=-0.25 left_roll=0.0589 left_gripper=0.1039 right_x=0.2935 right_y=-0.0001 right_z=0.1704 right_yaw=0.0003 right_pitch=-0.0378 right_roll=-0.0003 right_gripper=0.9972 state[joint_eff]: [0.3897, -9.9487, 9.1692, 1.4383, -0.1734, 0.0513, -0.0171, -0.1573, -1.1009, 7.0359, 1.707, -0.0317, -0.0659, -0.0171] camera 'top_cam' (step 141): [image omitted: streamed camera frame] camera 'left_cam' (step 141): [image omitted: streamed camera frame] camera 'right_cam' (step 141): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.42,"left_y":-0.205,"left_z":0.205,"left_gripper":0},"note":"The turquoise bowl appears raised, but it has shifted within the rim grasp. I’ll keep the fingers fully closed while moving it above the blue bowl."})
tool
executing move_to over 11 steps (1.1s)
step 152
top_cam
camera top_cam step 152
left_cam
camera left_cam step 152
right_cam
camera right_cam step 152
assistant
agent noteThe turquoise bowl stayed behind, and the fully closed reading confirms the hand is empty. I’ll approach its near rim with the jaws turned front-to-back, which should give a more reliable pinch than the side attempts.
move_to
left_x0.4900left_y-0.1500left_z0.1400left_yaw1.5700left_pitch0.2500left_roll0.0000left_gripper1.0000right_z0.1800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6373, 1.8103, 1.6363, -0.8349, -0.482, -0.572, 0.0063, -0.0216, 0.812, 0.5999, -0.3931, -0.0154, -0.0341, 0.9972] state[eef_state]: left_x=0.4166 left_y=-0.2021 left_z=0.1935 left_yaw=0.0813 left_pitch=-0.2778 left_roll=0.0592 left_gripper=0.0063 right_x=0.2936 right_y=-0.0 right_z=0.1705 right_yaw=0.0006 right_pitch=-0.0374 right_roll=-0.0001 right_gripper=0.9972 state[joint_eff]: [-0.3624, -8.7043, 9.2239, 1.0525, -0.486, 0.0806, 0.4615, -0.0615, -1.347, 7.0085, 1.7118, -0.0659, -0.0122, -0.0171] camera 'top_cam' (step 152): [image omitted: streamed camera frame] camera 'left_cam' (step 152): [image omitted: streamed camera frame] camera 'right_cam' (step 152): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.49,"left_y":-0.15,"left_z":0.14,"left_yaw":1.57,"left_pitch":0.25,"left_roll":0,"left_gripper":1,"right_z":0.18},"note":"The turquoise bowl stayed behind, and the fully closed reading confirms the hand is empty. I’ll approach its near rim with the jaws turned front-to-back, which should give a more reliable pinch than the side attempts."})
tool
executing move_to over 18 steps (1.8s)
step 170
top_cam
camera top_cam step 170
left_cam
camera left_cam step 170
right_cam
camera right_cam step 170
assistant
agent noteThe rotated pose did not track: the hand moved well left of the requested point and dropped lower than intended. I’ll return to a higher, unrotated pose before making another approach.
move_to
left_x0.4300left_y-0.1400left_z0.2200left_yaw0.0000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3145, 2.5355, 2.0869, -1.5558, -1.1183, -2.0617, 0.9968, -0.0216, 0.8173, 0.6006, -0.4236, -0.0151, -0.0341, 0.9972] state[eef_state]: left_x=0.4511 left_y=0.0241 left_z=0.0768 left_yaw=1.4442 left_pitch=0.1638 left_roll=0.0117 left_gripper=0.9968 right_x=0.2896 right_y=0.0 right_z=0.1632 right_yaw=0.0004 right_pitch=-0.0725 right_roll=0.0004 right_gripper=0.9972 state[joint_eff]: [0.4581, -11.8222, 7.1316, -0.5104, -0.7399, -0.3932, -0.022, -0.0752, -1.6068, 10.1538, 1.6386, -0.0562, -0.0611, -0.0171] camera 'top_cam' (step 170): [image omitted: streamed camera frame] camera 'left_cam' (step 170): [image omitted: streamed camera frame] camera 'right_cam' (step 170): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.14,"left_z":0.22,"left_yaw":0,"left_pitch":0,"left_roll":0},"note":"The rotated pose did not track: the hand moved well left of the requested point and dropped lower than intended. I’ll return to a higher, unrotated pose before making another approach."})
tool
executing move_to over 15 steps (1.5s)
step 185
top_cam
camera top_cam step 185
left_cam
camera left_cam step 185
right_cam
camera right_cam step 185
assistant
agent noteThe left wrist has not yet returned to its normal orientation. I’ll retract toward a less extended pose while unwinding it, and reset the idle right arm to its home height.
move_to
left_x0.3200left_y-0.1200left_z0.2500left_yaw0.4000left_pitch0.0000left_roll0.0000right_x0.2950right_y0.0000right_z0.1800right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5068, 2.2189, 1.8317, -1.2697, -1.1011, -1.7378, 0.9973, -0.0216, 0.8204, 0.5991, -0.4374, -0.0151, -0.0341, 0.9972] state[eef_state]: left_x=0.4417 left_y=-0.0609 left_z=0.1363 left_yaw=1.1242 left_pitch=0.1039 left_roll=-0.0386 left_gripper=0.9973 right_x=0.2875 right_y=0.0001 right_z=0.159 right_yaw=0.0004 right_pitch=-0.0908 right_roll=0.0008 right_gripper=0.9972 state[joint_eff]: [0.1983, -11.5214, 5.9145, 0.0806, -0.7741, 0.2076, 0.0464, -0.1846, -1.5248, 7.1179, 1.7656, -0.0073, -0.0513, -0.0122] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 185): [image omitted: streamed camera frame] camera 'left_cam' (step 185): [image omitted: streamed camera frame] camera 'right_cam' (step 185): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.32,"left_y":-0.12,"left_z":0.25,"left_yaw":0.4,"left_pitch":0,"left_roll":0,"right_x":0.295,"right_y":0,"right_z":0.18,"right_yaw":0,"right_pitch":0,"right_roll":0},"note":"The left wrist has not yet returned to its normal orientation. I’ll retract toward a less extended pose while unwinding it, and reset the idle right arm to its home height."})
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 left arm is tracking again, and the turquoise bowl is visible ahead of the fingertips. I’ll approach farther forward with the wrist restored to its original orientation.
move_to
left_x0.4700left_y-0.1400left_z0.1400left_yaw0.0000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7734, 1.4189, 1.2881, -0.9386, -0.915, -1.0527, 0.9974, -0.0216, 0.804, 0.5957, -0.4133, -0.0151, -0.038, 0.9972] state[eef_state]: left_x=0.3266 left_y=-0.1182 left_z=0.2447 left_yaw=0.4685 left_pitch=0.0072 left_roll=-0.0508 left_gripper=0.9974 right_x=0.2897 right_y=0.0 right_z=0.1666 right_yaw=0.0024 right_pitch=-0.0538 right_roll=-0.0031 right_gripper=0.9972 state[joint_eff]: [-0.335, -5.9419, 6.106, 1.0672, -0.5495, 0.2564, -0.0073, -0.1709, -2.0034, 7.7607, 2.0293, -0.022, 0.022, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 195): [image omitted: streamed camera frame] camera 'left_cam' (step 195): [image omitted: streamed camera frame] camera 'right_cam' (step 195): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.47,"left_y":-0.14,"left_z":0.14,"left_yaw":0,"left_pitch":0,"left_roll":0},"note":"The left arm is tracking again, and the turquoise bowl is visible ahead of the fingertips. I’ll approach farther forward with the wrist restored to its original orientation."})
tool
executing move_to over 12 steps (1.2s)
step 207
top_cam
camera top_cam step 207
left_cam
camera left_cam step 207
right_cam
camera right_cam step 207
assistant
agent noteThe turquoise bowl’s right rim is now close to the jaw column. I’ll advance slightly and lower around that rim, keeping the orientation fixed so the fingertips reach the bowl rather than the table in front of it.
move_to
left_x0.4900left_y-0.1700left_z0.0300left_yaw0.0000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4335, 1.7084, 1.0748, -0.0628, -0.4202, -0.3431, 0.9974, -0.0216, 0.8043, 0.5945, -0.416, -0.0151, -0.0418, 0.9972] state[eef_state]: left_x=0.4554 left_y=-0.1274 left_z=0.1285 left_yaw=0.0799 left_pitch=-0.0539 left_roll=0.0095 left_gripper=0.9974 right_x=0.2892 right_y=0.0 right_z=0.1655 right_yaw=0.0044 right_pitch=-0.058 right_roll=-0.0061 right_gripper=0.9972 state[joint_eff]: [0.3077, -8.5128, 7.9521, 1.7753, -0.0757, 0.1734, -0.0122, -0.0752, -1.2103, 7.2684, 1.6923, -0.0269, -0.0317, -0.0171] camera 'top_cam' (step 207): [image omitted: streamed camera frame] camera 'left_cam' (step 207): [image omitted: streamed camera frame] camera 'right_cam' (step 207): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.49,"left_y":-0.17,"left_z":0.03,"left_yaw":0,"left_pitch":0,"left_roll":0},"note":"The turquoise bowl’s right rim is now close to the jaw column. I’ll advance slightly and lower around that rim, keeping the orientation fixed so the fingertips reach the bowl rather than the table in front of it."})
tool
executing move_to over 7 steps (0.7s)
step 214
top_cam
camera top_cam step 214
left_cam
camera left_cam step 214
assistant
agent noteThe turquoise bowl’s right wall runs directly between the fingertips. I’ll close on it at this deeper position.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4667, 2.0346, 1.0351, 0.3088, -0.4019, -0.318, 0.9974, -0.0216, 0.807, 0.5945, -0.4171, -0.0151, -0.0448, 0.9972] state[eef_state]: left_x=0.4797 left_y=-0.1603 left_z=0.0264 left_yaw=0.0183 left_pitch=-0.0548 left_roll=0.0169 left_gripper=0.9974 right_x=0.2891 right_y=0.0 right_z=0.1645 right_yaw=0.0061 right_pitch=-0.0618 right_roll=-0.0085 right_gripper=0.9972 state[joint_eff]: [-0.9094, -9.347, 6.8444, 1.5849, -0.2173, 0.1148, -0.0122, 0.0889, -1.4838, 7.1863, 1.707, -0.0708, -0.0269, -0.0122] camera 'top_cam' (step 214): [image omitted: streamed camera frame] camera 'left_cam' (step 214): [image omitted: streamed camera frame] camera 'right_cam' (step 214): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The turquoise bowl’s right wall runs directly between the fingertips. I’ll close on it at this deeper position."})
tool
executing move_to over 10 steps (1.0s)
step 224
assistant
agent noteThe fingers have closed on a very thin section of the rim, so the opening alone is inconclusive. I’ll lift gently while maintaining the close command and check the bowl’s motion.
move_to
left_x0.4800left_y-0.1600left_z0.1050left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4698, 2.0232, 1.0382, 0.3519, -0.4461, -0.2977, 0.0288, -0.0216, 0.8097, 0.5945, -0.4198, -0.0151, -0.0456, 0.9972] state[eef_state]: left_x=0.4873 left_y=-0.1579 left_z=0.0429 left_yaw=0.0392 left_pitch=0.0084 left_roll=0.0301 left_gripper=0.0288 right_x=0.2889 right_y=0.0 right_z=0.1633 right_yaw=0.0065 right_pitch=-0.0672 right_roll=-0.0089 right_gripper=0.9972 state[joint_eff]: [0.1983, -9.3197, 5.6957, 1.033, 0.4371, -0.398, 0.3687, -0.0205, -1.5385, 7.1726, 1.7021, -0.0757, -0.0513, -0.0171] camera 'top_cam' (step 224): [image omitted: streamed camera frame] camera 'left_cam' (step 224): [image omitted: streamed camera frame] camera 'right_cam' (step 224): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.48,"left_y":-0.16,"left_z":0.105,"left_yaw":0,"left_pitch":0,"left_roll":0,"left_gripper":0},"note":"The fingers have closed on a very thin section of the rim, so the opening alone is inconclusive. I’ll lift gently while maintaining the close command and check the bowl’s motion."})
tool
executing move_to over 5 steps (0.5s)
step 229
assistant
agent noteThis time the turquoise bowl stays fixed relative to the fingers as the hand rises, confirming a rim grasp. I’ll lift it clear of the other bowls.
move_to
left_x0.4700left_y-0.1600left_z0.2050left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4694, 1.8946, 1.055, 0.1711, -0.4076, -0.2996, 0.0416, -0.0216, 0.8108, 0.5945, -0.4221, -0.0151, -0.0486, 0.9972] state[eef_state]: left_x=0.4744 left_y=-0.1581 left_z=0.0762 left_yaw=0.0099 left_pitch=-0.0339 left_roll=0.0248 left_gripper=0.0416 right_x=0.2886 right_y=0.0 right_z=0.1625 right_yaw=0.0082 right_pitch=-0.0706 right_roll=-0.0113 right_gripper=0.9972 state[joint_eff]: [0.4171, -12.041, 9.1009, 1.7998, -0.0073, 0.0904, 1.0281, 0.0615, -1.4291, 7.0085, 1.7167, -0.022, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 229): [image omitted: streamed camera frame] camera 'left_cam' (step 229): [image omitted: streamed camera frame] camera 'right_cam' (step 229): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.47,"left_y":-0.16,"left_z":0.205,"left_yaw":0,"left_pitch":0,"left_roll":0,"left_gripper":0},"note":"This time the turquoise bowl stays fixed relative to the fingers as the hand rises, confirming a rim grasp. I’ll lift it clear of the other bowls."})
tool
executing move_to over 9 steps (0.9s)
step 238
assistant
agent noteThe turquoise bowl is securely suspended by its right rim. I’ll move it toward the blue bowl, keeping enough height for clearance.
move_to
left_x0.3800left_y-0.3350left_z0.2050left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4698, 1.7313, 1.2785, -0.2226, -0.3935, -0.3141, 0.0416, -0.0216, 0.812, 0.5945, -0.4225, -0.0151, -0.049, 0.9972] state[eef_state]: left_x=0.47 left_y=-0.1586 left_z=0.1737 left_yaw=0.0061 left_pitch=-0.0438 left_roll=0.0083 left_gripper=0.0416 right_x=0.2886 right_y=0.0 right_z=0.1621 right_yaw=0.0084 right_pitch=-0.0722 right_roll=-0.0116 right_gripper=0.9972 state[joint_eff]: [-0.4034, -11.7128, 9.6205, 1.7509, -0.2222, 0.1001, 1.0281, -0.1709, -1.1419, 6.9949, 1.6532, -0.0708, -0.0757, -0.0122] camera 'top_cam' (step 238): [image omitted: streamed camera frame] camera 'left_cam' (step 238): [image omitted: streamed camera frame] camera 'right_cam' (step 238): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":-0.335,"left_z":0.205,"left_yaw":0,"left_pitch":0,"left_roll":0,"left_gripper":0},"note":"The turquoise bowl is securely suspended by its right rim. I’ll move it toward the blue bowl, keeping enough height for clearance."})
tool
executing move_to over 16 steps (1.6s)
step 254
assistant
agent noteThe turquoise bowl is above the blue bowl’s location; the hand now obscures the base bowl. I’ll lower straight down to let the bowls nest.
move_to
left_x0.3800left_y-0.3350left_z0.0700left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9638, 1.9083, 1.6089, -0.569, -0.7357, -0.6968, 0.041, -0.0216, 0.8162, 0.5945, -0.4225, -0.0151, -0.0486, 0.9972] state[eef_state]: left_x=0.3793 left_y=-0.3321 left_z=0.1928 left_yaw=-0.0203 left_pitch=-0.0297 left_roll=0.0 left_gripper=0.041 right_x=0.2888 right_y=0.0 right_z=0.161 right_yaw=0.0082 right_pitch=-0.0764 right_roll=-0.0111 right_gripper=0.9972 state[joint_eff]: [-0.4308, -9.9761, 9.2923, 1.199, -0.6716, 0.105, 1.0281, -0.1573, -1.5111, 7.0906, 1.6777, -0.0513, -0.0757, -0.0171] camera 'top_cam' (step 254): [image omitted: streamed camera frame] camera 'left_cam' (step 254): [image omitted: streamed camera frame] camera 'right_cam' (step 254): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":-0.335,"left_z":0.07,"left_yaw":0,"left_pitch":0,"left_roll":0,"left_gripper":0},"note":"The turquoise bowl is above the blue bowl’s location; the hand now obscures the base bowl. I’ll lower straight down to let the bowls nest."})
tool
executing move_to over 8 steps (0.8s)
step 262
assistant
agent noteThe blue rim is visible just beyond the turquoise bowl, suggesting a small offset. I’ll shift slightly toward the base and right while lowering the turquoise bowl into it.
move_to
left_x0.3600left_y-0.3500left_z0.0450left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9745, 2.038, 1.3083, -0.1688, -0.7586, -0.7048, 0.041, -0.0216, 0.8173, 0.5945, -0.4225, -0.0151, -0.0486, 0.9972] state[eef_state]: left_x=0.3759 left_y=-0.3311 left_z=0.0741 left_yaw=-0.011 left_pitch=-0.0326 left_roll=0.0283 left_gripper=0.041 right_x=0.2889 right_y=0.0 right_z=0.1607 right_yaw=0.0082 right_pitch=-0.0775 right_roll=-0.0111 right_gripper=0.9972 state[joint_eff]: [-0.1983, -9.9487, 5.7504, 1.3065, -0.486, -0.0952, 1.0281, -0.1026, -1.1556, 7.0222, 1.7265, -0.0562, -0.0806, -0.0122] camera 'top_cam' (step 262): [image omitted: streamed camera frame] camera 'left_cam' (step 262): [image omitted: streamed camera frame] camera 'right_cam' (step 262): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":-0.35,"left_z":0.045,"left_yaw":0,"left_pitch":0,"left_roll":0,"left_gripper":0},"note":"The blue rim is visible just beyond the turquoise bowl, suggesting a small offset. I’ll shift slightly toward the base and right while lowering the turquoise bowl into it."})
tool
executing move_to over 2 steps (0.2s)
step 264
assistant
agent noteThe descent has stopped above the target height, consistent with the turquoise bowl contacting the blue bowl. I’ll release it so it can settle into the base bowl.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9955, 2.0823, 1.2919, -0.0982, -0.7837, -0.7357, 0.041, -0.0216, 0.8173, 0.5945, -0.4225, -0.0151, -0.049, 0.9972] state[eef_state]: left_x=0.3728 left_y=-0.3391 left_z=0.0589 left_yaw=0.0005 left_pitch=-0.0103 left_roll=0.0053 left_gripper=0.041 right_x=0.2889 right_y=0.0 right_z=0.1607 right_yaw=0.0084 right_pitch=-0.0775 right_roll=-0.0114 right_gripper=0.9972 state[joint_eff]: [-2.1128, -8.8137, 5.3538, 1.409, -0.4225, -0.2027, 1.0281, 0.0205, -1.3744, 6.9812, 1.6532, -0.0757, -0.0855, -0.0122] camera 'top_cam' (step 264): [image omitted: streamed camera frame] camera 'left_cam' (step 264): [image omitted: streamed camera frame] camera 'right_cam' (step 264): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The descent has stopped above the target height, consistent with the turquoise bowl contacting the blue bowl. I’ll release it so it can settle into the base bowl."})
tool
executing move_to over 10 steps (1.0s)
step 274
assistant
agent noteThe turquoise bowl has been released over the blue bowl. I’ll move the left hand clear to inspect the stack while bringing the right hand toward the beige bowl’s exposed outer rim.
move_to
left_x0.2950left_y0.0000left_z0.2200left_yaw0.0000left_pitch0.0000left_roll0.0000right_x0.4300right_y0.1000right_z0.1300right_yaw0.0000right_pitch0.0000right_roll0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-1.0435, 2.1082, 1.29, -0.0734, -0.8097, -0.7826, 0.9949, -0.0216, 0.8173, 0.5945, -0.4225, -0.0151, -0.0486, 0.9972] state[eef_state]: left_x=0.3587 left_y=-0.3547 left_z=0.0517 left_yaw=-0.0058 left_pitch=0.0053 left_roll=-0.0209 left_gripper=0.9949 right_x=0.2889 right_y=0.0 right_z=0.1607 right_yaw=0.0082 right_pitch=-0.0775 right_roll=-0.0111 right_gripper=0.9972 state[joint_eff]: [0.3077, -10.1128, 5.559, 1.3114, -0.4567, -0.0024, -0.1197, -0.0752, -1.347, 6.9812, 1.6825, -0.0269, -0.0269, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 274): [image omitted: streamed camera frame] camera 'left_cam' (step 274): [image omitted: streamed camera frame] camera 'right_cam' (step 274): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.295,"left_y":0,"left_z":0.22,"left_yaw":0,"left_pitch":0,"left_roll":0,"right_x":0.43,"right_y":0.1,"right_z":0.13,"right_yaw":0,"right_pitch":0,"right_roll":0,"right_gripper":1},"note":"The turquoise bowl has been released over the blue bowl. I’ll move the left hand clear to inspect the stack while bringing the right hand toward the beige bowl’s exposed outer rim."})
tool
executing move_to over 32 steps (3.2s)
step 306
assistant
agent noteThe turquoise bowl appears nested in the blue bowl, leaving one two-bowl stack and the beige bowl. I’ll advance and lower the right fingers around the beige bowl’s outer wall.
move_to
right_x0.4650right_y0.1150right_z0.0250right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.057, 0.8318, 0.7296, -0.5072, -0.1028, -0.1089, 0.9957, 0.3275, 1.5391, 0.8051, 0.0586, 0.255, 0.1356, 0.9974] state[eef_state]: left_x=0.2945 left_y=0.0049 left_z=0.2013 left_yaw=0.0667 left_pitch=-0.0338 left_roll=-0.0091 left_gripper=0.9957 right_x=0.4127 right_y=0.0969 right_z=0.1058 right_yaw=0.0303 right_pitch=-0.0825 right_roll=-0.0322 right_gripper=0.9974 state[joint_eff]: [0.0889, -2.0581, 10.2496, 1.7705, -0.0122, 0.2076, 0.0708, 0.4308, -6.2017, 10.0444, 2.0488, 0.3199, 0.1832, -0.2955] camera 'top_cam' (step 306): [image omitted: streamed camera frame] camera 'left_cam' (step 306): [image omitted: streamed camera frame] camera 'right_cam' (step 306): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.465,"right_y":0.115,"right_z":0.025,"right_yaw":0,"right_pitch":0,"right_roll":0},"note":"The turquoise bowl appears nested in the blue bowl, leaving one two-bowl stack and the beige bowl. I’ll advance and lower the right fingers around the beige bowl’s outer wall."})
tool
executing move_to over 6 steps (0.6s)
step 312
assistant
agent noteThe beige bowl’s outer wall is between the open fingers but off-center. I’ll shift slightly outward as the fingers close so they pinch the wall rather than squeeze across the bowl.
move_to
right_y0.0750right_gripper0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0574, 0.8375, 0.7319, -0.5278, -0.0956, -0.1047, 0.9957, 0.3344, 1.9236, 0.8051, 0.445, 0.2733, 0.1402, 0.9972] state[eef_state]: left_x=0.2923 left_y=0.0037 left_z=0.1966 left_yaw=0.0581 left_pitch=-0.0582 left_roll=-0.007 left_gripper=0.9957 right_x=0.4491 right_y=0.1093 right_z=0.016 right_yaw=0.0196 right_pitch=-0.0771 right_roll=-0.0389 right_gripper=0.9972 state[joint_eff]: [-0.0342, -1.894, 6.7487, 1.8926, -0.1343, -0.0904, -0.0024, 0.4855, -7.2, 6.2838, 1.5458, 0.2369, 0.2173, -0.0415] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 312): [image omitted: streamed camera frame] camera 'left_cam' (step 312): [image omitted: streamed camera frame] camera 'right_cam' (step 312): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.075,"right_gripper":0,"right_pitch":0,"right_roll":0},"note":"The beige bowl’s outer wall is between the open fingers but off-center. I’ll shift slightly outward as the fingers close so they pinch the wall rather than squeeze across the bowl."})
tool
executing move_to over 10 steps (1.0s)
step 322
assistant
agent noteThe beige rim is caught, and the bowl tilted as the grasp seated. I’ll lift briefly with the fingers held closed to verify it is secure.
move_to
right_x0.4600right_y0.0800right_z0.1050right_yaw0.0000right_pitch0.0000right_roll0.0000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0574, 0.8379, 0.7319, -0.5385, -0.102, -0.1047, 0.9957, 0.2382, 1.9118, 0.7174, 0.6895, 0.1654, 0.1139, 0.0348] state[eef_state]: left_x=0.2907 left_y=0.0049 left_z=0.1944 left_yaw=0.0636 left_pitch=-0.0687 left_roll=-0.0018 left_gripper=0.9957 right_x=0.4609 right_y=0.0857 right_z=0.037 right_yaw=0.0281 right_pitch=0.07 right_roll=0.0405 right_gripper=0.0348 state[joint_eff]: [-0.1026, -1.1692, 7.1043, 1.746, -0.0171, -0.0659, -0.0122, -1.0598, -7.706, 3.3162, 1.0281, 0.3053, -0.5201, 0.7741] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 322): [image omitted: streamed camera frame] camera 'left_cam' (step 322): [image omitted: streamed camera frame] camera 'right_cam' (step 322): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.46,"right_y":0.08,"right_z":0.105,"right_yaw":0,"right_pitch":0,"right_roll":0,"right_gripper":0},"note":"The beige rim is caught, and the bowl tilted as the grasp seated. I’ll lift briefly with the fingers held closed to verify it is secure."})
tool
executing move_to over 5 steps (0.5s)
step 327
assistant
agent noteThe beige bowl follows the hand and remains secure. I’ll raise it along a clear diagonal path toward the two-bowl stack.
move_to
right_x0.3700right_y0.3100right_z0.2050right_yaw0.0000right_pitch0.0000right_roll0.0000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0574, 0.8406, 0.7319, -0.5392, -0.1024, -0.1047, 0.9957, 0.2417, 1.7222, 0.8272, 0.3111, 0.1787, 0.1017, 0.0392] state[eef_state]: left_x=0.2908 left_y=0.005 left_z=0.1936 left_yaw=0.0639 left_pitch=-0.0721 left_roll=-0.0012 left_gripper=0.9957 right_x=0.4567 right_y=0.0839 right_z=0.0851 right_yaw=0.0274 right_pitch=-0.0056 right_roll=0.0066 right_gripper=0.0392 state[joint_eff]: [-0.0752, -1.6615, 7.0906, 1.7265, -0.0806, -0.0806, -0.0122, -0.3487, -9.7299, 9.0735, 2.0195, 0.3248, 0.0904, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 327): [image omitted: streamed camera frame] camera 'left_cam' (step 327): [image omitted: streamed camera frame] camera 'right_cam' (step 327): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.37,"right_y":0.31,"right_z":0.205,"right_yaw":0,"right_pitch":0,"right_roll":0,"right_gripper":0},"note":"The beige bowl follows the hand and remains secure. I’ll raise it along a clear diagonal path toward the two-bowl stack."})
tool
executing move_to over 19 steps (1.9s)
step 346
assistant
agent noteThe beige bowl is centered above the stack in the overhead view. I’ll lower it vertically until it rests in the turquoise bowl.
move_to
right_x0.3700right_y0.3100right_z0.0550right_yaw0.0000right_pitch0.0000right_roll0.0000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0574, 0.8444, 0.7319, -0.5461, -0.1024, -0.1047, 0.9957, 0.9333, 1.7996, 1.441, -0.4957, 0.7017, 0.5617, 0.0384] state[eef_state]: left_x=0.2901 left_y=0.005 left_z=0.1912 left_yaw=0.064 left_pitch=-0.0827 left_roll=0.0001 left_gripper=0.9957 right_x=0.3655 right_y=0.3079 right_z=0.1849 right_yaw=0.0548 right_pitch=-0.0468 right_roll=-0.0432 right_gripper=0.0384 state[joint_eff]: [-0.0615, -1.2513, 7.0359, 1.7118, -0.0562, -0.0171, -0.0122, 0.1573, -9.3744, 9.4701, 1.5751, 0.5201, 0.2466, 1.033] camera 'top_cam' (step 346): [image omitted: streamed camera frame] camera 'left_cam' (step 346): [image omitted: streamed camera frame] camera 'right_cam' (step 346): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.37,"right_y":0.31,"right_z":0.055,"right_yaw":0,"right_pitch":0,"right_roll":0,"right_gripper":0},"note":"The beige bowl is centered above the stack in the overhead view. I’ll lower it vertically until it rests in the turquoise bowl."})
tool
executing move_to over 9 steps (0.9s)
step 355
assistant
agent noteThe beige bowl has reached the stack at a low placement height. I’ll open the fingers and let it settle.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0574, 0.8444, 0.7319, -0.5465, -0.1024, -0.1047, 0.9957, 0.9409, 1.982, 1.1374, -0.0235, 0.7341, 0.6064, 0.0384] state[eef_state]: left_x=0.2901 left_y=0.005 left_z=0.1911 left_yaw=0.0641 left_pitch=-0.0831 left_roll=0.0002 left_gripper=0.9957 right_x=0.3656 right_y=0.3067 right_z=0.0572 right_yaw=0.0162 right_pitch=-0.035 right_roll=-0.0326 right_gripper=0.0384 state[joint_eff]: [0.0205, -1.4838, 6.8991, 1.6386, -0.0806, -0.0708, -0.0073, 0.1709, -8.6769, 5.8598, 0.9451, 0.1832, -0.0611, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 355): [image omitted: streamed camera frame] camera 'left_cam' (step 355): [image omitted: streamed camera frame] camera 'right_cam' (step 355): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The beige bowl has reached the stack at a low placement height. I’ll open the fingers and let it settle."})
tool
executing move_to over 10 steps (1.0s)
step 365
assistant
agent noteThe beige bowl has been released. I’ll withdraw the right hand and park both arms so the completed stack can be checked without occlusion.
move_to
right_x0.2950right_y0.0000right_z0.2000right_yaw0.0000right_pitch0.0000right_roll0.0000left_x0.2950left_y0.0000left_z0.2000left_yaw0.0000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0574, 0.8444, 0.7319, -0.5465, -0.1024, -0.1047, 0.9957, 0.9417, 1.99, 1.1297, -0.0261, 0.7242, 0.6025, 0.9955] state[eef_state]: left_x=0.2901 left_y=0.005 left_z=0.1911 left_yaw=0.0641 left_pitch=-0.0831 left_roll=0.0002 left_gripper=0.9957 right_x=0.3628 right_y=0.3058 right_z=0.0499 right_yaw=0.0249 right_pitch=-0.0522 right_roll=-0.0457 right_gripper=0.9955 state[joint_eff]: [-0.0342, -1.4701, 6.8991, 1.6728, -0.0659, -0.0757, -0.0122, -0.1299, -10.8786, 6.5573, 1.3358, 0.3541, -0.0366, -0.105] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 365): [image omitted: streamed camera frame] camera 'left_cam' (step 365): [image omitted: streamed camera frame] camera 'right_cam' (step 365): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.295,"right_y":0,"right_z":0.2,"right_yaw":0,"right_pitch":0,"right_roll":0,"left_x":0.295,"left_y":0,"left_z":0.2,"left_yaw":0,"left_pitch":0,"left_roll":0},"note":"The beige bowl has been released. I’ll withdraw the right hand and park both arms so the completed stack can be checked without occlusion."})
tool
executing move_to over 26 steps (2.6s)
step 391
assistant
agent noteStacked the three bowls together, with the beige bowl on top, and parked both arms clear.
done
hindsightFor these thin bowls, pinch one rim with a finger inside and one outside; grasping between adjacent bowls can catch both. Early side approaches were too near the bases and missed the walls. Successful low rim grasps used approximately left (0.49, -0.17, 0.03) for the displaced turquoise bowl and right (0.465, 0.075, 0.025) for the beige bowl. Maintain an explicit gripper=0 during lifting and transport, and explicitly reset yaw/pitch/roll to prevent accumulated orientation drift. These thin rims held at gripper readings around 0.04, so visual lift confirmation was essential. A 1.57-radian yaw at long reach failed to track and required retracting before unwinding.
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0364, 0.8177, 0.6979, -0.4892, -0.0475, -0.0738, 0.9957, 0.0048, 0.815, 0.638, -0.4297, 0.0608, 0.0086, 0.9958] state[eef_state]: left_x=0.2924 left_y=0.0013 left_z=0.194 left_yaw=0.0218 left_pitch=-0.0363 left_roll=-0.0118 left_gripper=0.9957 right_x=0.2933 right_y=-0.0058 right_z=0.1797 right_yaw=-0.0604 right_pitch=-0.0378 right_roll=-0.0085 right_gripper=0.9958 state[joint_eff]: [-0.0068, -2.2906, 6.2701, 2.0195, 0.1392, 0.2173, -0.0122, -0.0889, -1.9077, 10.5641, 1.7607, -0.1197, 0.022, 0.0171] camera 'top_cam' (step 391): [image omitted: streamed camera frame] camera 'left_cam' (step 391): [image omitted: streamed camera frame] camera 'right_cam' (step 391): [image omitted: streamed camera frame]
assistant
done({"summary":"Stacked the three bowls together, with the beige bowl on top, and parked both arms clear.","hindsight":"For these thin bowls, pinch one rim with a finger inside and one outside; grasping between adjacent bowls can catch both. Early side approaches were too near the bases and missed the walls. Successful low rim grasps used approximately left (0.49, -0.17, 0.03) for the displaced turquoise bowl and right (0.465, 0.075, 0.025) for the beige bowl. Maintain an explicit gripper=0 during lifting and transport, and explicitly reset yaw/pitch/roll to prevent accumulated orientation drift. These thin rims held at gripper readings around 0.04, so visual lift confirmation was essential. A 1.57-radian yaw at long reach failed to track and required retracting before unwinding."})
tool
done: Stacked the three bowls together, with the beige bowl on top, and parked both arms clear.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 7.848 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]: [-0.0193, 0.7956, 0.6048, -0.3813, -0.0223, -0.041, 0.9996, -0.0216, 0.794, 0.6033, -0.3771, -0.0151, -0.033, 0.9974]\nstate[eef_state]: left_x=0.2948 left_y=0.0019 left_z=0.1797 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2951 right_y=-0.0001 right_z=0.1802 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9974\nstate[joint_eff]: [-0.6769, -1.5932, 10.0855, 1.7753, -0.0073, 0.2076, -0.0611, -0.1846, -1.4701, 10.1265, 1.8926, -0.0806, 0.1587, -0.2955]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f338c686ab86bb79d3e9945f84e8851fa3660cdfb4b547da9a2c426299a014a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c0b931f034728b5cd2245da45360c77c784d97b3b0a4c410667f5fd9033bf22",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24d65464b4f1c7fdf49a2179ad6aec18b096052cfd0370c9ba056ed677075e8e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 6.689 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
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  "id": "rs_0c7da84283467cc2016ab49ced5f3487d097559d236906b9f9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.18,\"left_z\":0.17,\"left_gripper\":1,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.18},\"note\":\"There are three upright bowls in a row: turquoise, blue, and beige. I’ll approach the turquoise bowl with the left gripper and use the blue bowl as the base of the stack.\"}",
  "call_id": "call_7I6xKsPQr7sHLk7stohbkP3Y",
  "id": "fc_0c7da84283467cc2016ab49cf2d83087d0b79d679be45f35fc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7I6xKsPQr7sHLk7stohbkP3Y",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6682, 1.4712, 0.9405, -0.2176, -0.5335, -0.4324, 0.9996, -0.0216, 0.7975, 0.601, -0.3885, -0.0151, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.3706 left_y=-0.1734 left_z=0.1514 left_yaw=-0.0163 left_pitch=-0.0545 left_roll=0.0283 left_gripper=0.9996 right_x=0.2935 right_y=-0.0001 right_z=0.1759 right_yaw=0.0003 right_pitch=-0.0172 right_roll=-0.0008 right_gripper=0.9972\nstate[joint_eff]: [-0.4581, -7.0085, 9.1829, 1.7363, -0.359, 0.0464, -0.0562, -0.0752, -1.388, 7.1453, 1.8632, -0.0171, -0.0611, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:213be59e61552c4599c939e3ad6f804733c1c1286a5f5aba0fe648d00bb2099f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3426534ff01c83df979b4bc6662c3490963cf7d20a875da642b0e0dc36b88655",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3865e5abe260abfa2611cec26e86f9747868b969a7f87ac0c4a9679c314f5b58",
      "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 · 5.385 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]: [-0.0193, 0.7956, 0.6048, -0.3813, -0.0223, -0.041, 0.9996, -0.0216, 0.794, 0.6033, -0.3771, -0.0151, -0.033, 0.9974]\nstate[eef_state]: left_x=0.2948 left_y=0.0019 left_z=0.1797 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2951 right_y=-0.0001 right_z=0.1802 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9974\nstate[joint_eff]: [-0.6769, -1.5932, 10.0855, 1.7753, -0.0073, 0.2076, -0.0611, -0.1846, -1.4701, 10.1265, 1.8926, -0.0806, 0.1587, -0.2955]",
      "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]: [-0.6682, 1.4712, 0.9405, -0.2176, -0.5335, -0.4324, 0.9996, -0.0216, 0.7975, 0.601, -0.3885, -0.0151, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.3706 left_y=-0.1734 left_z=0.1514 left_yaw=-0.0163 left_pitch=-0.0545 left_roll=0.0283 left_gripper=0.9996 right_x=0.2935 right_y=-0.0001 right_z=0.1759 right_yaw=0.0003 right_pitch=-0.0172 right_roll=-0.0008 right_gripper=0.9972\nstate[joint_eff]: [-0.4581, -7.0085, 9.1829, 1.7363, -0.359, 0.0464, -0.0562, -0.0752, -1.388, 7.1453, 1.8632, -0.0171, -0.0611, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:213be59e61552c4599c939e3ad6f804733c1c1286a5f5aba0fe648d00bb2099f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3426534ff01c83df979b4bc6662c3490963cf7d20a875da642b0e0dc36b88655",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3865e5abe260abfa2611cec26e86f9747868b969a7f87ac0c4a9679c314f5b58",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJz8Hda5QpGZP9TCGLcTplSlHopCqkC3qlc7HpxtOjKN60mb-55Nna9ANMeLPrWskmd76wWUmsmvKnaP6c8CkSt3CU1aZLtu-hdW8F9fk2YTxUJlh8BqZHdfjrGQq_bjasN2klYP5pq6xgM6CxmOWhMvovkBgbyjsq4AA0fI551PStmCkc-CEMZDnpFyvAyo5fkxw-k-rZFmUEr4CAiy1OswXS4puQ9etRoQmH3XWzYfW99xys3ShTAX24U1lKoCI4rX_FbG2WYnDCXJIkzJT6ZbOnqiNCKas5wXDYN13ejM7fAcHDLFijju9oqco4oXr2XvVvtGS54wO-jwxq-TW9tjA4UBy6ClfJS55XmDa-waRZk7-FGGHXrLUsQh66uBQ4ucRZ1Mx5XZ5JqV2qS4H2Y5ieL8x0U0wQtpCGSP5BuqhWz0dRVwOgXAiVkXyjwmUYvPD1zUlepW1SbyxqBo8vk1xc_qthvW63J2_HHBtaW23OCBhyBOfkZPjvx2KIkrHAwg0KQ_ShZIdrAYhZslEv-5qa37Qrm1QCCbnpZf0AQaWk92lQ1L_6rQdaszneZvZEGjQJ0c4pTrZAdvClA2-V4_HDqY-Vu05fqZy1Ybk9EftIu6c2xu-LdY4ULfNnRtwqUkV5lSx-qAeY3EGFHoKXj4CKOWKJvhfPgUoilHJPBHN14vVh2d53BIMgr_OWgeuC3BzexKcbG5uxIfk2dUTjmuIWpwgnoFQQM5mUvJJ-8asX1YEVobG2k96EEBxSOs5lDap5ZT5PTczfMbX0XpaOBvdxTNVQCaTSJWwGI3ZXLDoTMK9YgY2cEDO5b8EvXSkbF9GBEHbhIjlEZPVLheUBe2dYLGOGlpzVWFGJXMSvaCpfoagF4mhar7_J9buNcrZvVF5ICTgWZ61WhUi1HeDIvynE7zPrsUfR5OWT5ql_ng0PD9kBh7Ovfi-ZUkeZryy3CarkICpUVUmvppG6TyH8FouKgjYSXJa-G9KFFLV-CDhS3Sb-Oq7HiQ0twlnonzqGRAlB7mGRZPKOQI9JTAPfCvfEUYMJXYqNlE-fW_eOxFrEaTCL0Bq5rO012qdd5j9G9GgZdEB7Kv6AAt9amNwrQIbEmk5bbNS3P5daVUllGtmlX29RI6Eb33n8FNzyC9UfrNrfB7iYGFTopSUdyipjwFDyiaZct-Ne1qOE3fr49FSunyTYAZnNJ95zH9kVcsjl48_mgz99j2GKhYjw5lNr1sF_443LLlNTSDDhlf5dw2QJd-v70GZCGNeS0Xrjp6PM3qaS5MOsBEuNqpkeorOy3J6ulB-_dpfSHVRJ78ZlP5nZh_SWhifSilYAwV4Rx3ZziHJrG2mO7Vk26DmIRUQ6rTTWlEL-mowqjjg1BI92zH8cBSX29qpe8eU-eV3njyXPv455ll9zNN7Vq4QgrqZV3vWW6lXjr56783qYEiFGQt1t_GzQG3B3NhCRP-8yqHG8XpqG-QDTzFNIwpF5Rypgjf6cOs5aV4zBVFPsBa1Ba_wc4YA3jooYDntAxu9ppCHe06-5bU_R6kaOfrSgcbgn9usUs9FhFASmRwlkIfNZiieCIjw7aqaPpAqwmvTt2sRRHjKsTnFpEsswiZUeapZI-G7M-ot-GhcYTslfAI8jfQfANSyZTVZiq2YDk9YQkK_3CMtSL2b3d_IQoJrdtgO4NCnu0tWIafqmJNZju5Gi7sEl4B029SilfSn_1YogJSz61E7Jd_EEOSHQzlvS3pnKfTelaq6Q2bHoIajIwFpTdiq4PD2hjdm9bn2bUkjhihe8LQksqXdfTTIDzZwSR_qpeim3GNw44c3uOqiZ1Dfj7FXhQdXcpIaUTDlWpbTkzK7qAQ8BwegV3tJsyRJ9LknP75uhfjRLTOrJyZOgd2vxtvKzQERAT-19_9oWYVdyToxSaC6tT3E2RU6PIj2wpT9kPlVj9on69iiYHGY1xUXso2awtOk0-3aJuNyDcushXi-E9hi1fwiW1Br5DtkBDZu0fBjMIHkHxUEIjgPCCgos5gpsWnPOSmMz9KKy8mz4Kyj5UnzqReuyWGI_Vq4B4elyRXaOZRjKN1Z0BxppnYAdxJZoFjsi6_qzF_m9w3T6B8VX5Mzowt4dErZ4yxwmvrRU2hErWx-PU1FWGowlCU10MbGIyBLLAiMlhDkW0Rri9hL4_6PwlEif-0vAowaamfaLyq1jzJgW0rhiAJG-i3mZOMqMdi2XQmGf_PJHVdINEN6Lip3AVkdqIFi5igdZCgZPR_nxVvQYEICaQm8mwP3ctinqeP3wTSBofhVpci2p0vtcXBBAaKA4q8_abik28nMLnIk1Ez0uVZ_knoX1J2ffL1IwSVLNOiJXfm5a6lXJKUgywhMtM0s1Qe2woSgBoPDSCpW4hrgNOCGzICplUoxkBWvd4MSY8wAa1BTrDV5zayxvG6g2kYovF4UB8xlGWEVIL5H2rmVkPXWI7L111EmObD35_ILq6c75XPYXAgYOTvFsGHrjP-i_aW-wWJGe3Cep42kwgA9s2dHAb5MW0QX-YiPEGKFLmWSO6Jb8AXdIn1Mchv1O0G-DLX9CpOUrzLr4XowFMZYvx4fmNIRlv0KQH-Z1RuvuwGij06NGcTSMpzCZQzSz2FbpRMZ_oyZwsP1sTU7LL-yTFCVL9BeMQsyf1pTxc=",
  "id": "rs_0c7da84283467cc2016ab49cf6b92c87d0bf2fd8f797c04640",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.18,\"left_z\":0.065,\"left_gripper\":1},\"note\":\"The turquoise bowl is beneath the left hand, with its right-hand rim near the jaw column. I’ll lower the open gripper toward that rim so one finger can enter the bowl and the other stay outside.\"}",
  "call_id": "call_zBxTigYyNG33guTeGNxzuL1A",
  "id": "fc_0c7da84283467cc2016ab49cfb3d6087d0859320c496cb2655",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zBxTigYyNG33guTeGNxzuL1A",
  "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]: [-0.6735, 1.6672, 0.7799, 0.0761, -0.532, -0.4381, 0.9996, -0.0216, 0.7986, 0.6003, -0.3927, -0.0151, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.3706 left_y=-0.1765 left_z=0.0616 left_yaw=-0.0166 left_pitch=-0.1049 left_roll=0.0613 left_gripper=0.9996 right_x=0.2929 right_y=-0.0001 right_z=0.1744 right_yaw=0.0003 right_pitch=-0.0233 right_roll=-0.0007 right_gripper=0.9972\nstate[joint_eff]: [0.2667, -7.159, 5.3128, 1.6874, -0.2271, 0.0513, -0.0562, -0.0205, -1.2103, 7.0906, 1.7558, -0.022, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db2956118669dba7237f0e5ad6367c4178c390e1f8c8643f00dec4ae02ad260a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56acbfb645d7e18e102e2edcd34f46ef29333d894d007aa30cf3c1d129f1c28a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cbf24cde42befa6f6de049f9e621386f3835d97db695248374f3c2d9824f59a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 3 attempt 0 · /responses · status 200 · 2.268 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]: [-0.6682, 1.4712, 0.9405, -0.2176, -0.5335, -0.4324, 0.9996, -0.0216, 0.7975, 0.601, -0.3885, -0.0151, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.3706 left_y=-0.1734 left_z=0.1514 left_yaw=-0.0163 left_pitch=-0.0545 left_roll=0.0283 left_gripper=0.9996 right_x=0.2935 right_y=-0.0001 right_z=0.1759 right_yaw=0.0003 right_pitch=-0.0172 right_roll=-0.0008 right_gripper=0.9972\nstate[joint_eff]: [-0.4581, -7.0085, 9.1829, 1.7363, -0.359, 0.0464, -0.0562, -0.0752, -1.388, 7.1453, 1.8632, -0.0171, -0.0611, -0.0415]",
      "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]: [-0.6735, 1.6672, 0.7799, 0.0761, -0.532, -0.4381, 0.9996, -0.0216, 0.7986, 0.6003, -0.3927, -0.0151, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.3706 left_y=-0.1765 left_z=0.0616 left_yaw=-0.0166 left_pitch=-0.1049 left_roll=0.0613 left_gripper=0.9996 right_x=0.2929 right_y=-0.0001 right_z=0.1744 right_yaw=0.0003 right_pitch=-0.0233 right_roll=-0.0007 right_gripper=0.9972\nstate[joint_eff]: [0.2667, -7.159, 5.3128, 1.6874, -0.2271, 0.0513, -0.0562, -0.0205, -1.2103, 7.0906, 1.7558, -0.022, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db2956118669dba7237f0e5ad6367c4178c390e1f8c8643f00dec4ae02ad260a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56acbfb645d7e18e102e2edcd34f46ef29333d894d007aa30cf3c1d129f1c28a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cbf24cde42befa6f6de049f9e621386f3835d97db695248374f3c2d9824f59a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJ0Civ4fRYKqBBrzpiu8yZE2gNCG1pTA7nFHZg8TFb_Na3sz58HfPm2_mvrAetSn8ZUzFAuNjMuBS84xhY2Dly1x5zsqiXkZBDFstaNMyXz2Y18IhyINXQQFk62n4taY6zvnDtlEI0kHb8EkqtNUUNMSLJ2rPGyeJNm8J1jWKKwyKECC7sASWkrWrBlG8sp7LIzvPuXSoViAPtE5LrB0bEK_iY54sIOA3qOFIq6fpK5a25KXF_KFeJze483Skz4Yiij0gEuFczHb-55VBYAVZkueziSer2SRDFhfrMLwF_UT1QIxjSzsPwPslx1Yt98r3OQN0RhkyP7LJId2iPo9IxplQEhpLRQzbb0jv9xqVgOXiIxApxU-1RAd8O84vn5EEVqSOUJ54mv5V1Vo7vBoKo_kTfXnUTlwW2mKtGXs6fanGRlD5QHO8g2qVvaImfdurFIpsgTvF8DtpuiskTPq-x4ogc-muGFvaVwovT6Trl5ddIn8_I-rh70b_Q2WjJ31GwA-RIaYsu6YTViFeoqpRRrNu6n8sonnBfJl3xuXKW2_MDCZTjxu6KlayC0_MdPB953Au5szSTrWGV7vwDetdkbV8UUXtitZ5UHrMukKke2gfkiPo0_BDSkTS-V2nhoqxLHrX_1MjjD3t6jTDnGls-41vhkxRPMPARWgh-_RGpTp9aD-y81TP4FL6wuBlLAv4xDRlOKAZ7v8NL2W1miH7xxOpvaZb6HfXtVW0oHgBqz7PUKfwQi0yDapAsF_OWBfMNeK0pvmw3CSNAUA1atfNLHRdJ-z1tq4kj1aE2egoI20KTNC-DkcjqKP1cFwnkquMQpnsC2hKtapUKcz4XXWJ1biyyBa15ipD06cPn4-lD7mSRH20z3U92Tu3Tebn8vpSrJdfrXubSZK1o0Z3sVTWa6ThAl2pKGrt4CffD9ySdX7R0smxzsChH4Wo8_U7iUNoL06rmdfXvZTAJPOWbTFFAo_X_1SZwpVD6A6iteZ9FuiUj9zB8x3eQnxZ2xdvXvwwiDFPjOEd9lNohy4Vy8yymYizSr-f4t7xzxrj7BhEdVVt_W_yNZxNCWoH_KRQXkSfHZBIM9TfaEYGrEwEbYVgG91l_foFwfIqovf53kOJuyO7kyBzee6apNsAUn8oFV_V_49T1lOKVL7jSfarCCl8WB65KNaPCvg7WVsuClhHCFk_WUDq8eM97lzSc0AuaZnofKFV9sw1am47Zlxsc3aw9R4bk5IERHbRXk9FstZ1BjNBiaiKm8yuswPDsOiZULZfIVH-atoSmLk34VcbintAI_7ruGFqf-y4nEino5igaEwPdxsU0Kp2a13QQO7MY5Q0_xPRi9LmR5LPTRrJZtwDSQ7hHE5t9Qua29H8bZ2B66b5rPmIymtxIyjRJzaM_jdkWf_NXCgwaJTjHTwLudFAf2ay-JeKhKpcbQzPMJZcPtpy0G42MOpE8kUMIwm19vy0wIQfDk1iJnbjYZj1ney1MNW6ke2HHgxOVJ4H9YztUqLmB5PNir6gHA0Pj1wJGHUpgb707vKhGfQRKckEquztyczq90PNdhgAXnvBTGrU5VSL9S9IEwWHZ5GFftMOvdq75GUgVlH0OEOb0AHmDRs76cv4G71G8zJ9qNru5-oqrTDRXIWw-3219XVUzZ2x1PpUVTNGh8MEPmR7bLCQUU4I7xkW59lBdTHg07BC7kM7hPoySVPEVYGv44PTn1NidMv3g8acd_k608diaKBlTmEzh_ZQxp0gVrs1l9JR90pUWamCZ_xITSDZuwbjWfSMSC0mfNXdLEK__uN-LKP05qal8E6xxU7UvIRLguZZbVN5YXtiKXXZbtcUG__EoUDtvsqCbQfE7UNJAZtt_Bmy95_bNJtJ6tG2UKlgoDG3xDJidZai-bBgVSbdQnIay5yZLuO6J9ql1QligdcRoreuxwKLA7lk7vil_8ElKrUQTBCtykB-FfolAxYR_bstcmvVuG66IXsf624j_Z9vs6DJPb2LxqCS4C5CgIN9OyzT0GMBYYPM_I4ufhis3D5BfPUsXibijKb4KQfyaD5PoHQPTlPufbp7w==",
  "id": "rs_0c7da84283467cc2016ab49cfdf67c87d087f4539e944854cd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.188,\"left_z\":0.03},\"note\":\"The open fingers straddle the turquoise bowl’s right edge, but the fingertips are still near the rim’s top. I’ll lower a little farther and shift slightly outward to pinch the bowl wall.\"}",
  "call_id": "call_bfc9Rfwmp1KCx1dWUmHJYXcB",
  "id": "fc_0c7da84283467cc2016ab49d01530c87d0bb60d60c16804bb7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bfc9Rfwmp1KCx1dWUmHJYXcB",
  "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]: [-0.6796, 1.7844, 0.7731, 0.1776, -0.5323, -0.4397, 0.9995, -0.0216, 0.7998, 0.6003, -0.3931, -0.0151, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.3746 left_y=-0.1828 left_z=0.0298 left_yaw=-0.02 left_pitch=-0.1225 left_roll=0.0742 left_gripper=0.9995 right_x=0.2929 right_y=-0.0001 right_z=0.174 right_yaw=0.0003 right_pitch=-0.0248 right_roll=-0.0006 right_gripper=0.9972\nstate[joint_eff]: [-0.5675, -8.0342, 7.0769, 1.5556, -0.2369, -0.105, -0.0171, -0.0205, -1.2513, 7.0632, 1.7167, -0.0317, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:649e33e6d93dd388355bc96e884da3181d6628d680ef17f7c775f2fa537b4349",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c462b5ea3a2316f07a9b13831dd41954c5fc7d8406bb248e3a28f3253673b573",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1349414eda4bc8d275572b946bcd77b49bd7dc001f7f3e473f9365a668bac93",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 4 attempt 0 · /responses · status 200 · 4.75 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]: [-0.0193, 0.7956, 0.6048, -0.3813, -0.0223, -0.041, 0.9996, -0.0216, 0.794, 0.6033, -0.3771, -0.0151, -0.033, 0.9974]\nstate[eef_state]: left_x=0.2948 left_y=0.0019 left_z=0.1797 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2951 right_y=-0.0001 right_z=0.1802 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9974\nstate[joint_eff]: [-0.6769, -1.5932, 10.0855, 1.7753, -0.0073, 0.2076, -0.0611, -0.1846, -1.4701, 10.1265, 1.8926, -0.0806, 0.1587, -0.2955]",
      "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]: [-0.6735, 1.6672, 0.7799, 0.0761, -0.532, -0.4381, 0.9996, -0.0216, 0.7986, 0.6003, -0.3927, -0.0151, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.3706 left_y=-0.1765 left_z=0.0616 left_yaw=-0.0166 left_pitch=-0.1049 left_roll=0.0613 left_gripper=0.9996 right_x=0.2929 right_y=-0.0001 right_z=0.1744 right_yaw=0.0003 right_pitch=-0.0233 right_roll=-0.0007 right_gripper=0.9972\nstate[joint_eff]: [0.2667, -7.159, 5.3128, 1.6874, -0.2271, 0.0513, -0.0562, -0.0205, -1.2103, 7.0906, 1.7558, -0.022, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6796, 1.7844, 0.7731, 0.1776, -0.5323, -0.4397, 0.9995, -0.0216, 0.7998, 0.6003, -0.3931, -0.0151, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.3746 left_y=-0.1828 left_z=0.0298 left_yaw=-0.02 left_pitch=-0.1225 left_roll=0.0742 left_gripper=0.9995 right_x=0.2929 right_y=-0.0001 right_z=0.174 right_yaw=0.0003 right_pitch=-0.0248 right_roll=-0.0006 right_gripper=0.9972\nstate[joint_eff]: [-0.5675, -8.0342, 7.0769, 1.5556, -0.2369, -0.105, -0.0171, -0.0205, -1.2513, 7.0632, 1.7167, -0.0317, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:649e33e6d93dd388355bc96e884da3181d6628d680ef17f7c775f2fa537b4349",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c462b5ea3a2316f07a9b13831dd41954c5fc7d8406bb248e3a28f3253673b573",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1349414eda4bc8d275572b946bcd77b49bd7dc001f7f3e473f9365a668bac93",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The turquoise bowl’s wall lies between the fingers at a low grasp height. I’ll close the gripper on the rim before testing a lift.\"}",
  "call_id": "call_4euoYujQ3MChKsjxq8JVKnhZ",
  "id": "fc_0c7da84283467cc2016ab49d03c18087d0a2a021bc53ec0ead",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4euoYujQ3MChKsjxq8JVKnhZ",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6807, 1.7897, 0.7986, 0.2672, -0.5667, -0.4511, 0.1128, -0.0216, 0.8009, 0.5999, -0.3931, -0.0151, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.393 left_y=-0.1916 left_z=0.0526 left_yaw=0.006 left_pitch=-0.0212 left_roll=0.0153 left_gripper=0.1128 right_x=0.2929 right_y=-0.0001 right_z=0.1735 right_yaw=0.0003 right_pitch=-0.0263 right_roll=-0.0006 right_gripper=0.9972\nstate[joint_eff]: [-0.3761, -6.7487, 5.1761, 0.9206, 0.0269, 0.022, 0.6716, -0.0479, -1.306, 7.159, 1.7216, -0.0659, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75842374bc470a342edc1e0f314fdb36508c664cbb764825bf8c91e388ed118c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efc77084c363fefdc0b870b0cea116cfb3123e831d970c9c37d4de553e41f548",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:410530df8d07c54aac04d3db5d2e3895c8707f27504f5d1923f462b97afbfec9",
      "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 · 4.287 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 14 changed as sent

message 17 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6682, 1.4712, 0.9405, -0.2176, -0.5335, -0.4324, 0.9996, -0.0216, 0.7975, 0.601, -0.3885, -0.0151, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.3706 left_y=-0.1734 left_z=0.1514 left_yaw=-0.0163 left_pitch=-0.0545 left_roll=0.0283 left_gripper=0.9996 right_x=0.2935 right_y=-0.0001 right_z=0.1759 right_yaw=0.0003 right_pitch=-0.0172 right_roll=-0.0008 right_gripper=0.9972\nstate[joint_eff]: [-0.4581, -7.0085, 9.1829, 1.7363, -0.359, 0.0464, -0.0562, -0.0752, -1.388, 7.1453, 1.8632, -0.0171, -0.0611, -0.0415]",
      "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]: [-0.6796, 1.7844, 0.7731, 0.1776, -0.5323, -0.4397, 0.9995, -0.0216, 0.7998, 0.6003, -0.3931, -0.0151, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.3746 left_y=-0.1828 left_z=0.0298 left_yaw=-0.02 left_pitch=-0.1225 left_roll=0.0742 left_gripper=0.9995 right_x=0.2929 right_y=-0.0001 right_z=0.174 right_yaw=0.0003 right_pitch=-0.0248 right_roll=-0.0006 right_gripper=0.9972\nstate[joint_eff]: [-0.5675, -8.0342, 7.0769, 1.5556, -0.2369, -0.105, -0.0171, -0.0205, -1.2513, 7.0632, 1.7167, -0.0317, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6807, 1.7897, 0.7986, 0.2672, -0.5667, -0.4511, 0.1128, -0.0216, 0.8009, 0.5999, -0.3931, -0.0151, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.393 left_y=-0.1916 left_z=0.0526 left_yaw=0.006 left_pitch=-0.0212 left_roll=0.0153 left_gripper=0.1128 right_x=0.2929 right_y=-0.0001 right_z=0.1735 right_yaw=0.0003 right_pitch=-0.0263 right_roll=-0.0006 right_gripper=0.9972\nstate[joint_eff]: [-0.3761, -6.7487, 5.1761, 0.9206, 0.0269, 0.022, 0.6716, -0.0479, -1.306, 7.159, 1.7216, -0.0659, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75842374bc470a342edc1e0f314fdb36508c664cbb764825bf8c91e388ed118c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efc77084c363fefdc0b870b0cea116cfb3123e831d970c9c37d4de553e41f548",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:410530df8d07c54aac04d3db5d2e3895c8707f27504f5d1923f462b97afbfec9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJ0KvHxGLrbfWrjtOf4ES9u2FUnBZjL-H4QFmnRPkgstLzZxaXYUqDHBv_RwO_Kw3DCbuscrNJcl5Fl6qTq7paGiS3d6KlNKDWq0CcUfgY2YbXDcPPuzry_LMByt-bombefj4B3-eC6QBk37J7IEQc1cRb4o2PGiwNpecPMPmdI2DRXuKAhKgleP_Aksq6ZYVkxIuhyZ16qsBOkCCEB9D1xHqtEfU0cq73j6oitci45cwAnhOC-FPhi1lOo9wzCAZcz_dezrYS07TX7_oUdhaAdQtuYfCp8_U08AQ2skNiGJ7aqQduGea-FVfQrBfI6MPfhJCe7OivGns79lBg94e3MxqiHuGGYsrZhWGVE5afR35nEomOhrI-YsX_f2IZBdgkWpO6Y1OC4zKGOzvBMGchwwsJ7tf-gYsuXiu82GULBEiHIETbHpxE5zBc4vnxh4P2H7OikM9NYn6nxqGow919jxFG2tgXtTKqyf8m1rp1UHj8XEb89gYGGrq7Vk2muYjwvlkJeH4ezT4NMgL1DpZya29dd-EvnFfSASF3vjiCricPG7AZLwo_f2DP99lUG63uUVEMa2n2M5BgMFhIH_m4v73M0cr27H0vf952plYo1rOCVr-S0DjNx6FfxjDE1gwdhg7Fs_nNV3PsD2vu2q2LIBV1LSon51UAjFzMep6NDLF_0L_vPPC9h3ueYBQxXbQ_07hdWMuZBbRPMSJB_zyzR3dz19PUbQneUMCayjvdBpj_cL7lHgQDKWRZwOKkm5PJj4jLu3yQEDYum8Ms_s_mkDDmFsndl3KI_rHPv34gm3kvSPMZj7CQ6v9YVjCDPAJ6631jgi1RV6v0393QEu5MZ300zu1v4p6wkhxw6IDxm7lWi6CvXO4iLBz_KlOmd1-GHsyvaA7RSuREgL8WPNmideQv2yjUyzE1if8WRwJ8hwJf9cBPT-nh0c52id2qSI2tVkTjjO6Gpm6o0bKKEE1mZPqOQs8H8FjZM8BmqZS-dH4ec8zB6ldLVOieE4lwFb4iIebXzBzSg2LZXekoeK0wq4a2rSJkmnyw1FbVvdnzA0nWrwXoZT_U6r-YSKr-VOmlMVwODWapqX0yHzHAus7R0LQn7JeDUeLJasgx67JW6sX_EAWe5SCgwGaZIw7NEduZB5Jk8bNuT3GgDrhl9VLUFvONnllCC8tBoj8icyaCp30a5HDRpOW2CcagIwGnP2oxCJ4kr97qOQAp0c1YotWIb3BlYy3MO5GWrysSu33o_x4xRdQlLeFo8HIs3EA0iC2BTZkhviYqVlmGRir5KYyq_i7dZPMajJkq1tMQws5_N6oOi7fmRSFOJiwilIrUgwxGD7Mc_RM4IwJvH3aTmVGNcJgI6IFJ3jWKby2RipvRhT4EpsWd4DulofRjSgM8wxcq15FI0ABwg9QezzBC0iCVt7hFPcFUOS2ZFJvkuYjy0zEl5j-K8eXgybgkn9bxuZChEjT_wZE6AkY529HzmJtUEj6uniRXpQ2Vuy1oDXs7XjrpiC78-7UkCCBn4RRAXTYWh5gp5EaTbujSj3LxG3scT6R6YUPcQcPU5Tp10aoKGASbdzhTBwcezbXBkWsurts1NJUOEH4NBX1zC8M1_xJFQ3k-n7C_kcY1K-PdNDeygzrfrkTaaFyHqxPEG0LCo7hmjj1w1zb6WwYBGrrdJ8_mMbQA==",
  "id": "rs_0c7da84283467cc2016ab49d06dc8487d08abd66c4f74a4087",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.19,\"left_z\":0.12},\"note\":\"The gripper stopped at a nonempty opening, but the blue bowl also shifted toward the turquoise bowl during closing. I’ll lift only a few centimetres to check exactly which rim is held.\"}",
  "call_id": "call_gRMmVmYytaFiSwKQJ6EyeuuK",
  "id": "fc_0c7da84283467cc2016ab49d08378c87d0b7ebd6d609194ef4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gRMmVmYytaFiSwKQJ6EyeuuK",
  "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]: [-0.6807, 1.6569, 0.8715, 0.02, -0.5667, -0.4618, 0.1155, -0.0216, 0.8032, 0.5999, -0.3927, -0.0151, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.3856 left_y=-0.1856 left_z=0.0925 left_yaw=0.0127 left_pitch=-0.0531 left_roll=0.033 left_gripper=0.1155 right_x=0.2931 right_y=-0.0001 right_z=0.1729 right_yaw=0.0003 right_pitch=-0.0282 right_roll=-0.0006 right_gripper=0.9972\nstate[joint_eff]: [-0.2667, -9.7026, 9.4974, 1.6532, -0.2906, 0.0366, 0.2662, -0.0752, -1.4564, 7.0359, 1.7411, -0.0122, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a85768856a512ce482800fb06cdbf89dbb1e55f0bab05c08152f709b5d173888",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6883537df61739ae76f7bca147f1b576a911087f615293d69533a9f839fbbabe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58e0ce9bd088d85e60fa94941ab19bfc70dff951d8dede934ad505dd09f7912e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 6 attempt 0 · /responses · status 200 · 2.449 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 10 changed as sent

message 17 changed as sent

message 21 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6735, 1.6672, 0.7799, 0.0761, -0.532, -0.4381, 0.9996, -0.0216, 0.7986, 0.6003, -0.3927, -0.0151, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.3706 left_y=-0.1765 left_z=0.0616 left_yaw=-0.0166 left_pitch=-0.1049 left_roll=0.0613 left_gripper=0.9996 right_x=0.2929 right_y=-0.0001 right_z=0.1744 right_yaw=0.0003 right_pitch=-0.0233 right_roll=-0.0007 right_gripper=0.9972\nstate[joint_eff]: [0.2667, -7.159, 5.3128, 1.6874, -0.2271, 0.0513, -0.0562, -0.0205, -1.2103, 7.0906, 1.7558, -0.022, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6807, 1.7897, 0.7986, 0.2672, -0.5667, -0.4511, 0.1128, -0.0216, 0.8009, 0.5999, -0.3931, -0.0151, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.393 left_y=-0.1916 left_z=0.0526 left_yaw=0.006 left_pitch=-0.0212 left_roll=0.0153 left_gripper=0.1128 right_x=0.2929 right_y=-0.0001 right_z=0.1735 right_yaw=0.0003 right_pitch=-0.0263 right_roll=-0.0006 right_gripper=0.9972\nstate[joint_eff]: [-0.3761, -6.7487, 5.1761, 0.9206, 0.0269, 0.022, 0.6716, -0.0479, -1.306, 7.159, 1.7216, -0.0659, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6807, 1.6569, 0.8715, 0.02, -0.5667, -0.4618, 0.1155, -0.0216, 0.8032, 0.5999, -0.3927, -0.0151, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.3856 left_y=-0.1856 left_z=0.0925 left_yaw=0.0127 left_pitch=-0.0531 left_roll=0.033 left_gripper=0.1155 right_x=0.2931 right_y=-0.0001 right_z=0.1729 right_yaw=0.0003 right_pitch=-0.0282 right_roll=-0.0006 right_gripper=0.9972\nstate[joint_eff]: [-0.2667, -9.7026, 9.4974, 1.6532, -0.2906, 0.0366, 0.2662, -0.0752, -1.4564, 7.0359, 1.7411, -0.0122, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a85768856a512ce482800fb06cdbf89dbb1e55f0bab05c08152f709b5d173888",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6883537df61739ae76f7bca147f1b576a911087f615293d69533a9f839fbbabe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58e0ce9bd088d85e60fa94941ab19bfc70dff951d8dede934ad505dd09f7912e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJ0PzIwcJfYxeD8LN7cxCqqAZ8DYVjyMDBerefvOml-QwzoNAtc68YGrblD1ycoKIGuzG701ehu0zoQAOUyFt39_12exrj0L5Kkf4V2_ilYFcoEmQYYu15GNLLJtWtI9mp5ww-DX5EbzbmGF-jBV97q51uYcHK1F7Qvd3f7GIW1P-atkI7Aix4uI-LHJSfpDove68GynrtrdR013prXYEQU6Ext8PYDGWCyD63QcOUEZBGAwMZUjpn6uqvFNN29rYyI8j7_mamO9SdNeLxh68DpHYlrH1p8qNNqdR957-hX4GwbZQnUQgGTfnhFGiir4DU9L4gIfwI1vRLctx-OGFqwlidLpEcgb5Kk8JPHLeydPxH9E_KDWvOAebdSVIQeKPgqMXJyaD1fTfJe4l2mm_ulBiJ366kWuQL-xh9Ov3mbmS84V7v9G9L4lo8CqvArdNO8JF5niEcwX4oEOiDxPucKSokvacDVN25Vp9BNX5BsRLnufKOOrKs_NmyN6El_M9vcPwudDBfofeA9n2t8gb8nxrC1Lo1EvHL60Xl16lXeiiX5TGIVDjlSvYKHEt76DDc_ej9bJB7YkLwbBFDaJ9wtmrXgLMyofLrhpJ4hJK_aw6jLL9wO2vXKA9ivZ2e25nU7g8IlalZmnJN_wsoqq_Y19iY7FoKColeBBfHaMdzIz25llQE-4tpSABe3gkIDGH39TZjBlT68OO54mhisXS1ciLCC_G7-AOjYHJ1-Ro7RifDM5JDYsbG3GuYzj6x922dw6NTunUqeiTrma9b23Gsdd9TRzLmDweXecpJn6iv9NXeBa0w9egWrhzE8EM_2v9KSTKdWDs8vgPcq7j-AQJVPOekRouH2s5lM_qzEnvvVvy31RSCcqatoujEJxplVbVuxeQKhHGUZ_m7lyU5HLi7GGtaMPPOopybP4x_7PkQsb-ewIHvNwGCzy_K53xRoVQiPM4BtSecQyd_a9tW_H2O2aTqerD1wE6-Zojy-Cmc_BcG3JV-JgAFwB1lg9wRF4klSkIgWyaYuEOfSKYo2nREwhXlkYFbOzCWlMHvG-Z7_-a6lbn0i-uMdTgn5WXaODcDID96inh5epK7YZeeAIiXHSaJyvRXM-zIzZ7yGKiGyP_4e-nsN7tOedXaP6i6SwwoUyThgj4vYO_HOhBvGTd_PhgjFkAuPJck_g3BXrOWa5dDthKbRbrIwKmQBE8CjA5QKjAZ1-U2LG1GQRdcAvZFqqWU8q54XotXjUcA6tOEguW0vKYHO4qF7N4UJ3YDI7wG1QWx46SjKDPJjp40w28rCa5ZlEggfD4iwi-g_w4_iFstqc9EF5egklDZtsZL_thLdX1D9N6dyfCwLqzgKOtgbrSqoWtRLgWMnxZycZnUZc0NsOVc27WD4qYvlrzJXFc0oHZnk7gso-0IjcNruJPcHefapw51dcPgjReLjKrJM3ACoq5HrI8mFb4EupK89HEiEBnWb3KIJxC8CczKpwRrSRhuMN-k5JuH4SDyeogoqGMM3DeK7Hpu1RIqwbtyQq1iOpGDX_2OsOqBQWUpCbF55wOhcxb1EbZeCYO-CP3YVcGroK_urdY3vwauZmRTPHnds7cPiakS-5BHPSjMJrI4aHcb7g4ntZOa5fVaXtEhyBT9wTGX-xw4Iv15_RqJqcK789jEZj4rGTh33hFaWr_ryN6CPaOWFvvqFcojlIksUbmnuRemhizLtIg74Qi3JyAl24XL9WvQPT_Q_FAYt4NBfVInPCBPTNweaYcY_7chojTsOucDgIbitM7ao4Q1cEdv1LqNicv0FwTJS9BaQAtePr44BH5Rt7cA8lpyNzVQG4dy8y2HA95LPYgO-p9g3PxV4hjdVYzHkiB4E15xCpV7iamTFAYpwr4S22oTIEc0RRgVg=",
  "id": "rs_0c7da84283467cc2016ab49d0c3b4087d0baf4f50267d27f90",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.045},\"note\":\"Both neighboring rims appear to have moved with the gripper, so this is not a clean single-bowl grasp. I’ll lower them back to the table before changing to the turquoise bowl’s outer rim.\"}",
  "call_id": "call_TmXsfYgqTuZ2S555sZsTgYx2",
  "id": "fc_0c7da84283467cc2016ab49d0e320487d082b7c201b65e8a7e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TmXsfYgqTuZ2S555sZsTgYx2",
  "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]: [-0.6807, 1.7622, 0.794, 0.1631, -0.5781, -0.4622, 0.1192, -0.0216, 0.8043, 0.5999, -0.3927, -0.0151, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.3814 left_y=-0.18 left_z=0.0463 left_yaw=0.0231 left_pitch=-0.0782 left_roll=0.0645 left_gripper=0.1192 right_x=0.2932 right_y=-0.0001 right_z=0.1726 right_yaw=0.0003 right_pitch=-0.0294 right_roll=-0.0005 right_gripper=0.9972\nstate[joint_eff]: [-0.0752, -6.2154, 4.7111, 1.3358, -0.0904, -0.0366, 0.3883, -0.0615, -1.2103, 6.9949, 1.7509, -0.0659, -0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:321bbb1b08a1d8a9ccbe3ced1411abb288e321b58408cd14473cc3400be75eb5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b7ce2ca2e0bcdfa582d281e494a58491bf30cca72e343659b2a0b6bf8f3560a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:737087f01b8db48cce50c49c5fcbabd3b91ba35608b5445a05d3d526f5f2ea70",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 5.573 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 14 changed as sent

message 21 changed as sent

message 25 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6796, 1.7844, 0.7731, 0.1776, -0.5323, -0.4397, 0.9995, -0.0216, 0.7998, 0.6003, -0.3931, -0.0151, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.3746 left_y=-0.1828 left_z=0.0298 left_yaw=-0.02 left_pitch=-0.1225 left_roll=0.0742 left_gripper=0.9995 right_x=0.2929 right_y=-0.0001 right_z=0.174 right_yaw=0.0003 right_pitch=-0.0248 right_roll=-0.0006 right_gripper=0.9972\nstate[joint_eff]: [-0.5675, -8.0342, 7.0769, 1.5556, -0.2369, -0.105, -0.0171, -0.0205, -1.2513, 7.0632, 1.7167, -0.0317, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6807, 1.6569, 0.8715, 0.02, -0.5667, -0.4618, 0.1155, -0.0216, 0.8032, 0.5999, -0.3927, -0.0151, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.3856 left_y=-0.1856 left_z=0.0925 left_yaw=0.0127 left_pitch=-0.0531 left_roll=0.033 left_gripper=0.1155 right_x=0.2931 right_y=-0.0001 right_z=0.1729 right_yaw=0.0003 right_pitch=-0.0282 right_roll=-0.0006 right_gripper=0.9972\nstate[joint_eff]: [-0.2667, -9.7026, 9.4974, 1.6532, -0.2906, 0.0366, 0.2662, -0.0752, -1.4564, 7.0359, 1.7411, -0.0122, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6807, 1.7622, 0.794, 0.1631, -0.5781, -0.4622, 0.1192, -0.0216, 0.8043, 0.5999, -0.3927, -0.0151, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.3814 left_y=-0.18 left_z=0.0463 left_yaw=0.0231 left_pitch=-0.0782 left_roll=0.0645 left_gripper=0.1192 right_x=0.2932 right_y=-0.0001 right_z=0.1726 right_yaw=0.0003 right_pitch=-0.0294 right_roll=-0.0005 right_gripper=0.9972\nstate[joint_eff]: [-0.0752, -6.2154, 4.7111, 1.3358, -0.0904, -0.0366, 0.3883, -0.0615, -1.2103, 6.9949, 1.7509, -0.0659, -0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:321bbb1b08a1d8a9ccbe3ced1411abb288e321b58408cd14473cc3400be75eb5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b7ce2ca2e0bcdfa582d281e494a58491bf30cca72e343659b2a0b6bf8f3560a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:737087f01b8db48cce50c49c5fcbabd3b91ba35608b5445a05d3d526f5f2ea70",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The bowls are back at table height. I’ll open the fingers to release the adjacent rims without dragging either bowl.\"}",
  "call_id": "call_igG6TNZwLmUxlfywA1687nX9",
  "id": "fc_0c7da84283467cc2016ab49d10e06887d09a617cd4f4634e35",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_igG6TNZwLmUxlfywA1687nX9",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6807, 1.7645, 0.7933, 0.1612, -0.577, -0.469, 0.9948, -0.0216, 0.8043, 0.5999, -0.3931, -0.0151, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.3808 left_y=-0.1798 left_z=0.0448 left_yaw=0.0262 left_pitch=-0.0823 left_roll=0.0616 left_gripper=0.9948 right_x=0.2931 right_y=-0.0001 right_z=0.1725 right_yaw=0.0003 right_pitch=-0.0298 right_roll=-0.0005 right_gripper=0.9972\nstate[joint_eff]: [-0.3214, -8.1162, 5.4906, 1.4286, -0.3053, 0.0269, -0.0366, -0.1573, -1.306, 7.1453, 1.7265, -0.0659, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc905654b3dd0b6383c85b5b9f0ad05a753f9130388a60120a1119515e237a62",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecd6bb14e59afc85f1da47987518229440c423f2dbbe8ad337b9e7f053f6ab01",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16efd158e1783409d23c23fe3cf88461e628a5a56ac7201f7f8b27b38000e49f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 3.649 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 17 changed as sent

message 25 changed as sent

message 28 changed as sent

message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6807, 1.7897, 0.7986, 0.2672, -0.5667, -0.4511, 0.1128, -0.0216, 0.8009, 0.5999, -0.3931, -0.0151, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.393 left_y=-0.1916 left_z=0.0526 left_yaw=0.006 left_pitch=-0.0212 left_roll=0.0153 left_gripper=0.1128 right_x=0.2929 right_y=-0.0001 right_z=0.1735 right_yaw=0.0003 right_pitch=-0.0263 right_roll=-0.0006 right_gripper=0.9972\nstate[joint_eff]: [-0.3761, -6.7487, 5.1761, 0.9206, 0.0269, 0.022, 0.6716, -0.0479, -1.306, 7.159, 1.7216, -0.0659, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6807, 1.7622, 0.794, 0.1631, -0.5781, -0.4622, 0.1192, -0.0216, 0.8043, 0.5999, -0.3927, -0.0151, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.3814 left_y=-0.18 left_z=0.0463 left_yaw=0.0231 left_pitch=-0.0782 left_roll=0.0645 left_gripper=0.1192 right_x=0.2932 right_y=-0.0001 right_z=0.1726 right_yaw=0.0003 right_pitch=-0.0294 right_roll=-0.0005 right_gripper=0.9972\nstate[joint_eff]: [-0.0752, -6.2154, 4.7111, 1.3358, -0.0904, -0.0366, 0.3883, -0.0615, -1.2103, 6.9949, 1.7509, -0.0659, -0.0806, -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 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6807, 1.7645, 0.7933, 0.1612, -0.577, -0.469, 0.9948, -0.0216, 0.8043, 0.5999, -0.3931, -0.0151, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.3808 left_y=-0.1798 left_z=0.0448 left_yaw=0.0262 left_pitch=-0.0823 left_roll=0.0616 left_gripper=0.9948 right_x=0.2931 right_y=-0.0001 right_z=0.1725 right_yaw=0.0003 right_pitch=-0.0298 right_roll=-0.0005 right_gripper=0.9972\nstate[joint_eff]: [-0.3214, -8.1162, 5.4906, 1.4286, -0.3053, 0.0269, -0.0366, -0.1573, -1.306, 7.1453, 1.7265, -0.0659, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc905654b3dd0b6383c85b5b9f0ad05a753f9130388a60120a1119515e237a62",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecd6bb14e59afc85f1da47987518229440c423f2dbbe8ad337b9e7f053f6ab01",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16efd158e1783409d23c23fe3cf88461e628a5a56ac7201f7f8b27b38000e49f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJ0YH1SwVUlc5amhScJyzlC3waSR51fYWtPDLKYvxAj9yh3IkutIOlPfqyV0jeLNf6rhEOT_K9xfSYPKgcV5fjGztnez2usfFzpWBB-ZHVN5KM1uTCFGmN0_EQmCSBcTXz9yYnrBIh5yAzW0AHYrBwZxx9b7egQN-c4gAF-NVQ_BGshmC2gmHSyi0gBG5mvQTBkLpG3CzpYZT9T7elx2pBXH1PEGYDXrkeoJHQOHFQk8QKGvT9F7eDws1xxQyyzaFM-lXngE0jS9h1sh0vPBAnp8j1aGg8TCOlQfINoRFmFwOZuSFvZmRQ164SPiv97JrlEujhE89DYxNXah49q5J_RH--y1CZPMSxr-C_YhpRrJLk2wmeRUpadzxTzgO4QJf1aV7az837I49SmYS1I7c0ftoU8C71FX6Lc4DuENB22dA-_D1v8v6SwqIwfkT3GwJzu5_uCUXeiwdCcPIzGemg-pZvI6eggchBp255pRoZNFTWNZNeEAH6sNSzfN39wwsew1dhVIQM5SUmPO7iH3snaxcbu9Mw-_dRt89CYZKahYEojH3OIgs0liH75Ni66BdSpTEO_BJ8fHHjZCPVFmEj_9Pz6wqoHrGahl9Lm8S7oXKfwAuLxnMzON4B5UQNp8IkDkx1iIQYXIo6Wm_LP6MLTHNbW_wCjYdI5cC80U4hOImjeoNgeWp46rFta0Em2DPi59fTheQnY18ozKVcb_fDy4PQl1WsPsNk9sMWCYB1ISYzewqZGzS9wgHiqzynmIm7l-qURPtB2KFzNmgCpMCQVjc_jKp-Neahu7kJvPhJm0RSux9DsUEXcDQ4WiHDc1PTKYTSyDRtBMc6WKhZClSS5kZzqzJVgiJDURcPW0b0lfMWvvRN-WZQJ6NUePZoKfIu3ogpmnzTabPkUy3JRq-335IRfWOVohtJljm6XzxgVhW8-TBGeNqtV69SDh1RDye6hkVQ70icJnU04oHdOwjcOKjLfuBXepWanLoYaR_r0z2CGYoEikh-7CDcgRH92F3kKXUxbjl8qMeRJRvitI_kZL-YhF9iTe2-QLLPW9ke5G5fRX7DnPLTc44gdByb-XjMM3axt6DM8FwgPHleUW2Et2uhU8JQXkx7_cgv9q26CUxhGC2RMXbIDy1KBqiEHTqwHUU4v5ppN-vwpTS8pjKw_GWOP_IA9hulOBxbHfaYq3AH7hlQKiYGyvMoiXm57jHlQvcbwLyJwWtmxn0uCycCw3wJdYzNstLlqnJ_EE_TqFm672OF9hWIn3Z-lrI6Jex9Ddieqcym9S8Tq9I9SLaiSHikfkMQ5RRa5YIZZq3Y8PAdyq3Fgog4u9u5btytDVWHkJ3YGUFBz1MsUq3V_eCMneVoVi7RvXd8yhhj6lugulA55XD4g58KmhifiiRb93w0uHXstZLWeu1kewhxvjxpC2Pgn-4vriVKRrGGk_7ggXmaHOBoq_3wvReLdudCLDsWqgnRANm4l5AUA5w88YEAT_8RBCNQW2MZ4krszC0xSx8zPvdhV6W7S1dUbsm4VRHb75sBvXPEOq7qyXWu9zrskbjjT4SRu6UKn0XYCdWzg_PZ5FBJq1HFuwn_9-bKFhD-xJXNK36v62LMLAl0dCWOwLBVi87isM6FVO5p2y9l4wBEKzX0COvhKkkup7cm_ZlbrUMDojC7Qjc1gz2PgqT5YaMM6AT8w6O2SeAljIQp6FFVlAmqJTsl5kcueSVLg3N3ncsKUABS3g4ICTBRXxRkaDtUK4Tyc7RkhTaxeY79r-9vHcFYG9I07aDtBCgk9FnGtZ3Ah1WoT7Edz4lsYabw7cHx2x2tz0ATj7evOu6K_ebTt8V6euzH-59hsdpOwWHxlsbXgeC0pA5WoJXeNzB54nq3LC1pzVv6zexX37CXNFm88A5K1vTEKAVluWYT3fWSOIJjcz18vsm8g7i8SzUvxAru9_I2Hm9dMd1cDPj0bVSe-gPV2JKU7j8AVr45HgkZLy6ZeQJKKKqO6s_oK_kbqz87hv0qli97KEhdo-6dLYM3zJs6KL5PDcEwSZeWwwcx8X",
  "id": "rs_0c7da84283467cc2016ab49d13f18c87d0ab717f794ded50aa",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.18,\"left_z\":0.17},\"note\":\"The turquoise and blue bowls are separate again, though close together. I’ll raise the hand clear of both rims before moving to the exposed left side of the turquoise bowl.\"}",
  "call_id": "call_OXYIuc0jYm6pO9Kb84hVDmGh",
  "id": "fc_0c7da84283467cc2016ab49d17646c87d0a5051e3dfe59a053",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OXYIuc0jYm6pO9Kb84hVDmGh",
  "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]: [-0.6712, 1.5921, 1.0874, -0.3134, -0.5728, -0.4694, 0.9957, -0.0216, 0.8043, 0.5999, -0.3931, -0.0151, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.3895 left_y=-0.1825 left_z=0.1506 left_yaw=0.0334 left_pitch=-0.0903 left_roll=0.0642 left_gripper=0.9957 right_x=0.2931 right_y=-0.0001 right_z=0.1725 right_yaw=0.0003 right_pitch=-0.0298 right_roll=-0.0005 right_gripper=0.9972\nstate[joint_eff]: [0.4308, -9.4427, 8.7863, 1.3162, -0.1587, 0.0904, 0.0806, -0.1846, -1.3197, 6.9949, 1.7265, -0.0171, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68bc44bf065e9ec6b3143e2e63acb70da991d9e5ed1c1b18adfce3b60bf42d57",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b54408cd00631113d22d9fcfa5cae2df3c925a3056d1b3988dc5f147cfc43738",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e765f873a2078454a40f1a7b2b74211d20e239e8fa546eb32873b6205bb516cc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 9 attempt 0 · /responses · status 200 · 3.28 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 21 changed as sent

message 28 changed as sent

message 32 changed as sent

message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6807, 1.6569, 0.8715, 0.02, -0.5667, -0.4618, 0.1155, -0.0216, 0.8032, 0.5999, -0.3927, -0.0151, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.3856 left_y=-0.1856 left_z=0.0925 left_yaw=0.0127 left_pitch=-0.0531 left_roll=0.033 left_gripper=0.1155 right_x=0.2931 right_y=-0.0001 right_z=0.1729 right_yaw=0.0003 right_pitch=-0.0282 right_roll=-0.0006 right_gripper=0.9972\nstate[joint_eff]: [-0.2667, -9.7026, 9.4974, 1.6532, -0.2906, 0.0366, 0.2662, -0.0752, -1.4564, 7.0359, 1.7411, -0.0122, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6807, 1.7645, 0.7933, 0.1612, -0.577, -0.469, 0.9948, -0.0216, 0.8043, 0.5999, -0.3931, -0.0151, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.3808 left_y=-0.1798 left_z=0.0448 left_yaw=0.0262 left_pitch=-0.0823 left_roll=0.0616 left_gripper=0.9948 right_x=0.2931 right_y=-0.0001 right_z=0.1725 right_yaw=0.0003 right_pitch=-0.0298 right_roll=-0.0005 right_gripper=0.9972\nstate[joint_eff]: [-0.3214, -8.1162, 5.4906, 1.4286, -0.3053, 0.0269, -0.0366, -0.1573, -1.306, 7.1453, 1.7265, -0.0659, -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 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6712, 1.5921, 1.0874, -0.3134, -0.5728, -0.4694, 0.9957, -0.0216, 0.8043, 0.5999, -0.3931, -0.0151, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.3895 left_y=-0.1825 left_z=0.1506 left_yaw=0.0334 left_pitch=-0.0903 left_roll=0.0642 left_gripper=0.9957 right_x=0.2931 right_y=-0.0001 right_z=0.1725 right_yaw=0.0003 right_pitch=-0.0298 right_roll=-0.0005 right_gripper=0.9972\nstate[joint_eff]: [0.4308, -9.4427, 8.7863, 1.3162, -0.1587, 0.0904, 0.0806, -0.1846, -1.3197, 6.9949, 1.7265, -0.0171, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68bc44bf065e9ec6b3143e2e63acb70da991d9e5ed1c1b18adfce3b60bf42d57",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b54408cd00631113d22d9fcfa5cae2df3c925a3056d1b3988dc5f147cfc43738",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e765f873a2078454a40f1a7b2b74211d20e239e8fa546eb32873b6205bb516cc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJ0cFvfWIIVtC_o9CqR87K6KgaazM4JX9lnLQXCsOq9XN9XUhEp990-pYCzVUwWpb9sO08dQ5a8qFXsGiOgbLKECmg-AeAobQ1-Va4a2MJmSuLt0nnYnk1q7cUDbyh6x1pqgyUchh3vnokUv7_dLKlDLzm7gFOdXjADm8a3Fi13Tan57R6RPUaYBboBiV2pxC469XJTN3lbQEiK3ozqNyCdyIwlc98ameRc02Fk7h2bXBoIrbVTFzaYjMVD1iiaun3-3o-BNO9thvwfckyFyJ1Tg29BaVHfS64C2J-wI5RUpJEGX_xAL5rLXHmq--fgDEZmPlRosDw8yc5W_ul5sUfgA0KvM9vS1jL9bH4Lt-oTYT5fwYNjtxi-4_h3RvX4-7NqR8EWKn9UXihZPKLNUg6x1CMFzYNKLIPXZJIPbnrCpOYAL7hsMAXp9PMWBxOihM2YYib3SNva9FaygS74uN722WkH1wk61M1YvBSUVBTkHEjtk2wza3mOdgL-i3KutleiJbBZSQkdRaH76epIQeJ7zzxT84fJ2LPEKjYrtRpVRz7hci1xZRDB8xmqXawXdIA3vhenpqqX4HolRfVWDVXPL8UfjSFoLJ7z0XCHf8hqIcYfF1bblD554NTlb6bEKwzmN3Nj6lID-4STulRN9wO0CHGGJw4JyhOrNeIMa0-0GP6KZ_S2hbGzwxHwWadWdXmWNzWhLsC9rvl3AI4T3jI1y_dTpvrxNZqCt_RAq9yvXVr2eZWuSOU4Lsa9qUSe3RG1FkCTcoYijzffUgV7oKZyaDCGa3C4W_WvA1jjLIBNRqG7ErmwcZb5Be0eIAYyaNhTQlL7TakU-J7Cy1yBL18Mf21KVJ0c3LhSEPMejV_h9F7eFno8KdWPSURrNfyr_Wfb4JEHaqatrluoC6jvvMyfSxU3bhgizyJssFNhq8wssqiXLJpjqEtGO3WO0-0DX5DTvTDiVseCcZ8QvXG0fR3szFzrip8FFH4EvrToVJiAoO65L3cB8Jq3G8egbBW2orkUH6lTg56JKt6iGKgT8lHbqj8frIi7g46hvrkw3D2X6Ce7LyzqW5XStBRCwZ3jy_GnxzzGG-ozAsBDpUDc2BkNDptdJmj3sO0IhFzvvMVTRZPq1IcyRGF3pmf4aZUwHN8t0dJ7LuYxh0pA5O_2mlGKcPq1IS69UgevRLKHZWjbMrFcMAR5qiDzdB1jY2L9_OkWtccd3PavI1EsHNMm82-HKeIDfBz49ecKHbKDEdUUQedH5N_9gH-4RIyr3O-0Oq1llgyU35Krg_h3YyVOWNMcigjZc2bjPb-G5mzYyXDsdYSVfIbBVzVOps32XSP5gWZ8YBCY8a36dtXdRYGf3roSx79eThZv4Mlkv_r5KhD_i22RIowforcsD0VR0RpPoiO2hwaa6by7W0guvc2iM8aFGHf2v4mdnOJPlAqOUL_NzJDIRSSVKVM41gTaj1ZtfdtJlSoghVCf9PtsnhLswf_odsv5WO6WLth_P8DkIl15qGuzvM0iyCATuwiOsFYvttspQ2x7COPSdeedZjQXybrxLug==",
  "id": "rs_0c7da84283467cc2016ab49d1a628887d0a75def385747385a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.065,\"left_z\":0.15},\"note\":\"The hand is clear of the bowls. I’ll move over the turquoise bowl’s exposed outer rim, away from the blue bowl, to avoid catching two bowls at once.\"}",
  "call_id": "call_xkXQ3jvRbI7kC26NU0ieZGzL",
  "id": "fc_0c7da84283467cc2016ab49d1bc60887d0a563f61909ecd82b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xkXQ3jvRbI7kC26NU0ieZGzL",
  "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]: [-0.3264, 1.3911, 0.8608, -0.2173, -0.3431, -0.2363, 0.9957, -0.0216, 0.8043, 0.5999, -0.3927, -0.0151, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.3877 left_y=-0.0647 left_z=0.139 left_yaw=0.0692 left_pitch=-0.1252 left_roll=0.0708 left_gripper=0.9957 right_x=0.2932 right_y=-0.0001 right_z=0.1726 right_yaw=0.0003 right_pitch=-0.0294 right_roll=-0.0005 right_gripper=0.9972\nstate[joint_eff]: [0.253, -7.3368, 6.6393, 1.8144, -0.0806, 0.0952, -0.0024, -0.0479, -1.306, 6.9949, 1.7411, -0.0562, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a60cddc883ece495c175fe1dfb7fbf6deea2f1e331bfa417ce5408442d1996c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e74985378e8484cbe7058d15f946b52bc9842b61190ee0ca96e8797de9f5fae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d5c87532d852fd224806c9abd86337ca22d437e1b38db45bf3ca2497b3a373d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 2.067 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 25 changed as sent

message 32 changed as sent

message 36 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6807, 1.7622, 0.794, 0.1631, -0.5781, -0.4622, 0.1192, -0.0216, 0.8043, 0.5999, -0.3927, -0.0151, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.3814 left_y=-0.18 left_z=0.0463 left_yaw=0.0231 left_pitch=-0.0782 left_roll=0.0645 left_gripper=0.1192 right_x=0.2932 right_y=-0.0001 right_z=0.1726 right_yaw=0.0003 right_pitch=-0.0294 right_roll=-0.0005 right_gripper=0.9972\nstate[joint_eff]: [-0.0752, -6.2154, 4.7111, 1.3358, -0.0904, -0.0366, 0.3883, -0.0615, -1.2103, 6.9949, 1.7509, -0.0659, -0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6712, 1.5921, 1.0874, -0.3134, -0.5728, -0.4694, 0.9957, -0.0216, 0.8043, 0.5999, -0.3931, -0.0151, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.3895 left_y=-0.1825 left_z=0.1506 left_yaw=0.0334 left_pitch=-0.0903 left_roll=0.0642 left_gripper=0.9957 right_x=0.2931 right_y=-0.0001 right_z=0.1725 right_yaw=0.0003 right_pitch=-0.0298 right_roll=-0.0005 right_gripper=0.9972\nstate[joint_eff]: [0.4308, -9.4427, 8.7863, 1.3162, -0.1587, 0.0904, 0.0806, -0.1846, -1.3197, 6.9949, 1.7265, -0.0171, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3264, 1.3911, 0.8608, -0.2173, -0.3431, -0.2363, 0.9957, -0.0216, 0.8043, 0.5999, -0.3927, -0.0151, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.3877 left_y=-0.0647 left_z=0.139 left_yaw=0.0692 left_pitch=-0.1252 left_roll=0.0708 left_gripper=0.9957 right_x=0.2932 right_y=-0.0001 right_z=0.1726 right_yaw=0.0003 right_pitch=-0.0294 right_roll=-0.0005 right_gripper=0.9972\nstate[joint_eff]: [0.253, -7.3368, 6.6393, 1.8144, -0.0806, 0.0952, -0.0024, -0.0479, -1.306, 6.9949, 1.7411, -0.0562, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a60cddc883ece495c175fe1dfb7fbf6deea2f1e331bfa417ce5408442d1996c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e74985378e8484cbe7058d15f946b52bc9842b61190ee0ca96e8797de9f5fae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d5c87532d852fd224806c9abd86337ca22d437e1b38db45bf3ca2497b3a373d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJ0hEJWe4wZeK8wazeRamvydsX7dYOfSMvCP0ehTfQ9TxIv4DOwso1OzamO3kyrElGvSNQqVQ_45aIIR77_wK_3_5jiwS_NnjN_r4zvtSNP2KXePM_2JQ0n3xRcyteABSIFtQY1Afh5ramZqm5oUF9vzWOkD-2qY1OHP1ZVr7eGgVpO2Vw7zAU4WkesjUCYjKlcAA37FjtWAdnt0jETUg30swdjS6Ro8XGBkJqvVKwPFlH3N8Z6QxXZDOlNGKskFcL73-uy4w2XqEL7G__mA7DYHuJyJvZzESboddLF4Nm_-gYKebe06dtmoGIkCQkb99yWi3fbAjh33ls6yVUKTWmRjpybMJ0KsRyNvsOarRqqj_k0WGEBhAiwJyIAhrRqJ7aI9WrfYvFKfw0D8D6CZmEejz3d7_x3PcdFA_Y0CRAYHWFPP7HB_PwTHpL0AFMb8-hzDj4Dy14Q-BPbPNPej1UxocO9dy8b86roxUcnmdbq29CEsdu01GIZjesgA10FGI0MxRvs272iCAYo3hrUYNyNbCWA4VHW32VxtH2dDfDMOl1Zru_2w0JYiF96PvLqFfCnFWwIPbWkKtupHqXzc6Y-Lmmo83-zCIMENuAjwf0-QnlUtIKyG6BUH3YsXtnrKEJEJMAdVRcviPkQyOm7vPa9LVfUQhnx-7RFt8Jzgbj4r_vqV_JzoUmTkmYSZtXj1HpAw6SludaSba6oFLuA5wWcOGxkU4gKJApUbGBIhbtkPVSCEOSdOV1hcy8npjtGN-cxrKY6cqm-uASAYHyuJdQXuDNsK1h59HLBIKOp5j4F705NEm5LmywBriS3s_OTA6K1pxKVsBMespqa7x4d7w2B5R7TemuTyvCK_FpIINFRfpMcB69ev13CcGVRjU5NIodjNPhF7Q3WDJNnPWd6v7JHNsYsvIpgOM3ATUF7zv1yVmwtPIZ7JMO4SSCdj-KJY2JCbWwXUw6HKjvTzE2ulqF2DS_dPrhu4ifIksm4Nlg6qK0mjQ1BeL3eqF0MZ1AiUYiTU5zlU6HZv4phNs92ramCPYIh_iUzLPhTtpKBx0LlNaaDJr3IKhi4D24E_G12r2sRd4AtW1yoSmyAbdrB5_ZphzG8kD7gq22N4h4hHPay40RIPcE7FYeNV3ltx3B64OIm1FLxUCRxvUTFoH9OZ-l1tgkdECgE7gxXJHQl54jgp9L2KoyFlMSQYuX_Ydeu-oExnWhNbJDm18zIj49d1I6OoiWBAqMOj8tchTcy_G8-B3i-ErFke-2DwpUs_mXf4dEQzMP5o4_6_rrxvORYxWC2Z7YTDpUr1VPZKi_tcnQHnlqU5nNWNeRBm0FkTYj2pafeML8htCzqEqnVMTgM_c0M1J8bA8wMuVaWVtqFycSnbqK7ah_NJ-ayB2bR5XTmj5GaFAXIqhMhdYKAhd5-XLQRlz1ivrRxxHzLlv6yACYUN7Lsrt0u5H3ll3qAlP-TFlKNryHoMImWILNbpWkWCqRgCSK0iDkiOThQzpCTK1Zvyqk0=",
  "id": "rs_0c7da84283467cc2016ab49d1f001c87d09d8b76a49b7772f6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.065,\"left_z\":0.035},\"note\":\"The turquoise bowl’s outer wall is now aligned with the jaw column, and the blue bowl is safely to the side. I’ll lower the fingers around this single rim.\"}",
  "call_id": "call_TqHemDMiLRpiiDrtg6pyiqYF",
  "id": "fc_0c7da84283467cc2016ab49d20258887d09a52f3b81208b6d9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TqHemDMiLRpiiDrtg6pyiqYF",
  "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]: [-0.3271, 1.6257, 0.6273, 0.1844, -0.3367, -0.2321, 0.9957, -0.0216, 0.8051, 0.5999, -0.3927, -0.0151, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.38 left_y=-0.0635 left_z=0.0302 left_yaw=0.0649 left_pitch=-0.1884 left_roll=0.0954 left_gripper=0.9957 right_x=0.2932 right_y=-0.0001 right_z=0.1724 right_yaw=0.0003 right_pitch=-0.0301 right_roll=-0.0005 right_gripper=0.9972\nstate[joint_eff]: [0.0615, -6.735, 5.1624, 1.6728, -0.2076, -0.0855, -0.0073, -0.0615, -1.3333, 7.0496, 1.7363, -0.0562, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc6e42afcbaeacfbb7cf388b70d84fc5eea123fafe7980c2f8a4c5b5be5e6079",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a6961b62e37a40fb553226fe3ee0c214af461217df7c4e443c1cedfcf46e322",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53d7f164993fa993072e74d92a4514ae3ec60ebc3f1bc6fe7567559b41ba83f4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /responses · status 200 · 3.021 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 28 changed as sent

message 36 changed as sent

message 40 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6807, 1.7645, 0.7933, 0.1612, -0.577, -0.469, 0.9948, -0.0216, 0.8043, 0.5999, -0.3931, -0.0151, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.3808 left_y=-0.1798 left_z=0.0448 left_yaw=0.0262 left_pitch=-0.0823 left_roll=0.0616 left_gripper=0.9948 right_x=0.2931 right_y=-0.0001 right_z=0.1725 right_yaw=0.0003 right_pitch=-0.0298 right_roll=-0.0005 right_gripper=0.9972\nstate[joint_eff]: [-0.3214, -8.1162, 5.4906, 1.4286, -0.3053, 0.0269, -0.0366, -0.1573, -1.306, 7.1453, 1.7265, -0.0659, -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 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3264, 1.3911, 0.8608, -0.2173, -0.3431, -0.2363, 0.9957, -0.0216, 0.8043, 0.5999, -0.3927, -0.0151, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.3877 left_y=-0.0647 left_z=0.139 left_yaw=0.0692 left_pitch=-0.1252 left_roll=0.0708 left_gripper=0.9957 right_x=0.2932 right_y=-0.0001 right_z=0.1726 right_yaw=0.0003 right_pitch=-0.0294 right_roll=-0.0005 right_gripper=0.9972\nstate[joint_eff]: [0.253, -7.3368, 6.6393, 1.8144, -0.0806, 0.0952, -0.0024, -0.0479, -1.306, 6.9949, 1.7411, -0.0562, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3271, 1.6257, 0.6273, 0.1844, -0.3367, -0.2321, 0.9957, -0.0216, 0.8051, 0.5999, -0.3927, -0.0151, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.38 left_y=-0.0635 left_z=0.0302 left_yaw=0.0649 left_pitch=-0.1884 left_roll=0.0954 left_gripper=0.9957 right_x=0.2932 right_y=-0.0001 right_z=0.1724 right_yaw=0.0003 right_pitch=-0.0301 right_roll=-0.0005 right_gripper=0.9972\nstate[joint_eff]: [0.0615, -6.735, 5.1624, 1.6728, -0.2076, -0.0855, -0.0073, -0.0615, -1.3333, 7.0496, 1.7363, -0.0562, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc6e42afcbaeacfbb7cf388b70d84fc5eea123fafe7980c2f8a4c5b5be5e6079",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a6961b62e37a40fb553226fe3ee0c214af461217df7c4e443c1cedfcf46e322",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53d7f164993fa993072e74d92a4514ae3ec60ebc3f1bc6fe7567559b41ba83f4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"One finger is outside the turquoise bowl and the other is inside it. I’ll close on the outer wall, then check that only this bowl lifts.\"}",
  "call_id": "call_lvJEm911nWqwNqhSPILcrnd0",
  "id": "fc_0c7da84283467cc2016ab49d22f6d087d095b61ab8374e22fb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lvJEm911nWqwNqhSPILcrnd0",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3275, 1.6215, 0.6239, 0.2153, -0.3332, -0.2508, 0.0981, -0.0216, 0.8051, 0.5999, -0.3927, -0.0151, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.3841 left_y=-0.0657 left_z=0.0355 left_yaw=0.0698 left_pitch=-0.1592 left_roll=0.0668 left_gripper=0.0981 right_x=0.2932 right_y=-0.0001 right_z=0.1724 right_yaw=0.0003 right_pitch=-0.0301 right_roll=-0.0005 right_gripper=0.9972\nstate[joint_eff]: [-0.1573, -6.2701, 6.2838, 1.2234, -0.2369, 0.149, 0.3346, -0.0889, -1.0051, 7.0085, 1.7753, -0.0317, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0fa41ea9ec752d8edeaec4ad791b6c3f4d5e7bb8466a90943259ec758be729a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a9439116515b320c8e632c8e2b29d70fb00071d0c94be6e4c96d25df6c10618",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b58fd0c0077e663f3968c2d539877954b5297dfc472e97ef57b003be70fad9e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 5.743 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 32 changed as sent

message 40 changed as sent

message 43 changed as sent

message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6712, 1.5921, 1.0874, -0.3134, -0.5728, -0.4694, 0.9957, -0.0216, 0.8043, 0.5999, -0.3931, -0.0151, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.3895 left_y=-0.1825 left_z=0.1506 left_yaw=0.0334 left_pitch=-0.0903 left_roll=0.0642 left_gripper=0.9957 right_x=0.2931 right_y=-0.0001 right_z=0.1725 right_yaw=0.0003 right_pitch=-0.0298 right_roll=-0.0005 right_gripper=0.9972\nstate[joint_eff]: [0.4308, -9.4427, 8.7863, 1.3162, -0.1587, 0.0904, 0.0806, -0.1846, -1.3197, 6.9949, 1.7265, -0.0171, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3271, 1.6257, 0.6273, 0.1844, -0.3367, -0.2321, 0.9957, -0.0216, 0.8051, 0.5999, -0.3927, -0.0151, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.38 left_y=-0.0635 left_z=0.0302 left_yaw=0.0649 left_pitch=-0.1884 left_roll=0.0954 left_gripper=0.9957 right_x=0.2932 right_y=-0.0001 right_z=0.1724 right_yaw=0.0003 right_pitch=-0.0301 right_roll=-0.0005 right_gripper=0.9972\nstate[joint_eff]: [0.0615, -6.735, 5.1624, 1.6728, -0.2076, -0.0855, -0.0073, -0.0615, -1.3333, 7.0496, 1.7363, -0.0562, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3275, 1.6215, 0.6239, 0.2153, -0.3332, -0.2508, 0.0981, -0.0216, 0.8051, 0.5999, -0.3927, -0.0151, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.3841 left_y=-0.0657 left_z=0.0355 left_yaw=0.0698 left_pitch=-0.1592 left_roll=0.0668 left_gripper=0.0981 right_x=0.2932 right_y=-0.0001 right_z=0.1724 right_yaw=0.0003 right_pitch=-0.0301 right_roll=-0.0005 right_gripper=0.9972\nstate[joint_eff]: [-0.1573, -6.2701, 6.2838, 1.2234, -0.2369, 0.149, 0.3346, -0.0889, -1.0051, 7.0085, 1.7753, -0.0317, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0fa41ea9ec752d8edeaec4ad791b6c3f4d5e7bb8466a90943259ec758be729a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a9439116515b320c8e632c8e2b29d70fb00071d0c94be6e4c96d25df6c10618",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b58fd0c0077e663f3968c2d539877954b5297dfc472e97ef57b003be70fad9e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.065,\"left_z\":0.105},\"note\":\"The gripper has retained about a centimetre of material, consistent with a rim grasp. I’ll make a short vertical lift to verify that the turquoise bowl is secure and the blue bowl stays on the table.\"}",
  "call_id": "call_ZRgY2Yhg2L3Wui0EcrYGUyvb",
  "id": "fc_0c7da84283467cc2016ab49d26175c87d08cca01bed1062f75",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZRgY2Yhg2L3Wui0EcrYGUyvb",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3256, 1.4918, 0.7639, -0.0505, -0.3298, -0.2581, 0.0975, -0.0216, 0.8051, 0.5999, -0.3927, -0.0151, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.3899 left_y=-0.0675 left_z=0.0906 left_yaw=0.0726 left_pitch=-0.1564 left_roll=0.0576 left_gripper=0.0975 right_x=0.2932 right_y=-0.0001 right_z=0.1724 right_yaw=0.0003 right_pitch=-0.0301 right_roll=-0.0005 right_gripper=0.9972\nstate[joint_eff]: [0.6632, -7.665, 8.4444, 1.4676, -0.1636, 0.105, -0.0806, -0.0342, -1.3197, 7.0085, 1.7363, -0.0122, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e32154522a72583bcb6fe58d5b9c2142ef714f96fab09baf61b607ca000731fd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4d2ccf69ea04dec236df99bea7c66ba12340dcd40a37816da701f7fbe514c6d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f65cce8f2c16595d795922f73725b8dabf44a95c7d12532a4dff1083e280338",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 10.22 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 36 changed as sent

message 43 changed as sent

message 46 changed as sent

message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3264, 1.3911, 0.8608, -0.2173, -0.3431, -0.2363, 0.9957, -0.0216, 0.8043, 0.5999, -0.3927, -0.0151, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.3877 left_y=-0.0647 left_z=0.139 left_yaw=0.0692 left_pitch=-0.1252 left_roll=0.0708 left_gripper=0.9957 right_x=0.2932 right_y=-0.0001 right_z=0.1726 right_yaw=0.0003 right_pitch=-0.0294 right_roll=-0.0005 right_gripper=0.9972\nstate[joint_eff]: [0.253, -7.3368, 6.6393, 1.8144, -0.0806, 0.0952, -0.0024, -0.0479, -1.306, 6.9949, 1.7411, -0.0562, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3275, 1.6215, 0.6239, 0.2153, -0.3332, -0.2508, 0.0981, -0.0216, 0.8051, 0.5999, -0.3927, -0.0151, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.3841 left_y=-0.0657 left_z=0.0355 left_yaw=0.0698 left_pitch=-0.1592 left_roll=0.0668 left_gripper=0.0981 right_x=0.2932 right_y=-0.0001 right_z=0.1724 right_yaw=0.0003 right_pitch=-0.0301 right_roll=-0.0005 right_gripper=0.9972\nstate[joint_eff]: [-0.1573, -6.2701, 6.2838, 1.2234, -0.2369, 0.149, 0.3346, -0.0889, -1.0051, 7.0085, 1.7753, -0.0317, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3256, 1.4918, 0.7639, -0.0505, -0.3298, -0.2581, 0.0975, -0.0216, 0.8051, 0.5999, -0.3927, -0.0151, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.3899 left_y=-0.0675 left_z=0.0906 left_yaw=0.0726 left_pitch=-0.1564 left_roll=0.0576 left_gripper=0.0975 right_x=0.2932 right_y=-0.0001 right_z=0.1724 right_yaw=0.0003 right_pitch=-0.0301 right_roll=-0.0005 right_gripper=0.9972\nstate[joint_eff]: [0.6632, -7.665, 8.4444, 1.4676, -0.1636, 0.105, -0.0806, -0.0342, -1.3197, 7.0085, 1.7363, -0.0122, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e32154522a72583bcb6fe58d5b9c2142ef714f96fab09baf61b607ca000731fd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4d2ccf69ea04dec236df99bea7c66ba12340dcd40a37816da701f7fbe514c6d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f65cce8f2c16595d795922f73725b8dabf44a95c7d12532a4dff1083e280338",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJ0tbTYx2Kr1n-SVleX7Pz4vOaYi-XxcVDvr_6fol964PJ43V4U3rtvPpAee9Gc7p6SvJ8RkLGbU85ttvOJVq1H61fw4Z5FW9N7SVqbu48YvxaVqnCUT8KXqbBS7K_F4HNjRGzLqfwRxQ4TKn6vAzoJIPKTVIm3uYnu4eFbqlqPn83Ns5Q-JNMRKQoVXCYU5MZcPt07-vNEoPsF6odlJ13sSdxodLF2gBzSY6rY8czPUEeMihaoVK9ejJ7Y3b9YCcSoWbPs7BrWLVvkHkFA-JlBl5wDHXRI6uahEOu6ka6SIJnQ4IQVjUu4jidR06OWnU-F4Kd45NZ2v-QPST6fC5YcFn57JXVS32TfqW2siZ6gGnSPlZYOK34G6YJcjfsWmC2NrIhMTwjhNqKI9bf3VjUEBidpcD8_TgKLH7gBN2ovMOssA9-a5YGa1SOY7zESwphdUFrUmMw_Jrda9XQ0K8gf0IN1lnh85reg8NsACZ84tLghknQyZQg1aIn7sJhR0vD70Hz0MiTx5LA_qw8TcfWweUaJuieHnTLuV1al-j3HunIAuUPq1Y0H5jt3jnufkrYpD0VKP5esB4W6BmKKdCys8tQWJN7cGlSTfLkww_WTvtb4IRr8dytq9YqtHzaql9DNOJzWP0kJqw8oys4dqrXjmqXnO7FIHeqDTMvG6-agL3tb1tYpQ_3kq5z1jkv2cQZf31FZc4Bqn7zAnyiuU7Wlyk6_--RS20oxzy2FGRsvTtZ9YkeunPwkOW9hp8zRpaxYYhkovgcot-Dx6r5VHorWFzT_1FlU6m0WawSFSQJwR_BitalmP2KTvOZgwu6_TRbbb_rAjrdMf1Qk4I4J0OuFk812QTAQwNISAZhCDui8L7jDRhP6rGM8jZ97NnNArqAPyvW4_X_CRg-j4uS1PpDjairqAFOwTHCgRd7pdvXxKVrV0DHVsTy2XF_D3Elya8naGOC65GiEE570GUz0_nDhvX8ooaMi3SmtivTm00b3NdFytRuZRpklcQBx2g7Db3QbxOk1fNB63Uyuxnueal90v6tjpjsalXfwkCb0wRA8bd5EwpqO0df-WcCw_TqzWQQGFSGdWuI7tWDyBUIJwnNLpaGgZ3nOgAHB8-rcDrwRbPoM5Hv6tqUo9KELufcl-CRmpyOlKYPm-aKHnjIqdiHNuVydEJWudhXlBMtIkWEM18Pw7DCcdobqHFU-YKp6Mp0eB2v9nmzg0HaiUskq-Ds3wXkx2vN-_8rmfgmH0qy2E53FAQxa01bhjHX1H3Dc7P3HZTnj_goFU7qj-1PpmdYyOrq6Ate6IS1Q76qtRM6n29hDaODRhGiZqlICoiuuiWHSPTqdOetHaq7RLgQY9UDN9ShfVGMUKtnzzgN1vYy0XAZIyr63ckYEcyX4Vs9Hkp2GUgHl9s6jurOI_68PmWkUE5HvHqc_Ckf0-6oLzL9jlPyDo48hMgWtkYhlAFNpfBEMaaPEJIswyDEFMy9pUoZgGjfGi5HLxzW5DXVArtRzFD6jv2PtCDTKW03JqghkraCA9pEKJcECCj4AAxOJeQ5TJh2Vg2TOhmvzet8IYJ5Rzx7B_JSTzXJbgNfzI-N7xEFXSbZwf0GqRv2c5PHhOj4kfuC-8juQpf2w74T0ayjOrsPGQ3d1sARrmMfbIPckLbrIF7bwlFJXO6tHnu7ymJXtA6mtyHVJkH44KtPCpArPsVIbNkaDCNeFc33olG97WL7fwVNu3s4hdUS1fvY3JTRaeHfG4UqLhIuVSZfJR5QLSbIZZLnT2HhxWlpuK6uv-JZ9EgIdZxmXKZ4GlDr7JGe73I5BImagcgFKs0fxkUVZcTMyb3jJ78ZtgWG25RcplbL9WfDN59D1ikf2PyuSW5RiF0-7guYGMx6KwAEPUcNRoGrqY4wssQRGuVEXcomsXg_aSdhh-06yXfOAzWSLhHAlEHOl9bTwT86yr2cVw5z_Mr88szbU85jB-YpHUmhxUIfS4gCZhzz1AS5HG33qUVKyF6tbS5ZIBZTH1WprBNZEuGKVoJt4pFr5aEXYZ8FoZBi9SqmKtTkD6WGP7VZB6j1ZhMOWkjAO_RXiJrY_fuxigVV_kQVEch9gPSy61E1Mbij1G0s8ctW0ROCcTJLaffLcaJf5nTS4oliyJsdGVIx42jCOl7GTgjpXuDzGCQSHIkdR099xF8GCT-n6RMFQNS7cxDZBKOKxOoTcEQ6kboUPp5b4soWWT7Pob7mPOPq2OD4Vn7Scc6fCq5ev43bjXQBn8VdLn0PfZVL_2iDj5xfy8g65VDQK1FEB41xYYWonrNDV8qceRWu6NYvnr4H4-p3ARkJJ2nmQ7edG0b3wI-ccrHOsbGPqdggmCun3cYuWQ7ROi",
  "id": "rs_0c7da84283467cc2016ab49d29b0a887d0a90e8f8b2a405910",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.065,\"left_z\":0.18},\"note\":\"The rim remains caught in the closed fingers, but the overhead view does not yet show a clear lift of the bowl. I’ll raise straight up to clearance height and recheck before moving sideways.\"}",
  "call_id": "call_bguGjx8wEl7SlemKDeRMl590",
  "id": "fc_0c7da84283467cc2016ab49d2ca5bc87d0b5662b1db5c2bcd8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bguGjx8wEl7SlemKDeRMl590",
  "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]: [-0.3252, 1.4067, 0.9974, -0.3752, -0.3294, -0.2584, 0.0975, -0.0216, 0.8051, 0.5999, -0.3931, -0.0151, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.3923 left_y=-0.0682 left_z=0.1625 left_yaw=0.0733 left_pitch=-0.1621 left_roll=0.0595 left_gripper=0.0975 right_x=0.2932 right_y=-0.0001 right_z=0.1723 right_yaw=0.0003 right_pitch=-0.0305 right_roll=-0.0005 right_gripper=0.9972\nstate[joint_eff]: [0.6085, -7.6513, 8.9231, 1.4335, -0.1392, -0.0073, -0.0171, -0.1573, -1.1419, 7.159, 1.7411, -0.0415, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07c7bca976851dc164875f8e0ccdebf4e1c95947a2dd77ce3afa6490dfb5a875",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97452d485c3ea4506d9b3fbeaa2e470923ffaee484c5834341f4d0094f829a32",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bf6c9b2b91b550a7426c64a8b418a57da1966c0f6b74650e672254dc6198371",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /responses · status 200 · 3.116 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 40 changed as sent

message 46 changed as sent

message 50 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3271, 1.6257, 0.6273, 0.1844, -0.3367, -0.2321, 0.9957, -0.0216, 0.8051, 0.5999, -0.3927, -0.0151, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.38 left_y=-0.0635 left_z=0.0302 left_yaw=0.0649 left_pitch=-0.1884 left_roll=0.0954 left_gripper=0.9957 right_x=0.2932 right_y=-0.0001 right_z=0.1724 right_yaw=0.0003 right_pitch=-0.0301 right_roll=-0.0005 right_gripper=0.9972\nstate[joint_eff]: [0.0615, -6.735, 5.1624, 1.6728, -0.2076, -0.0855, -0.0073, -0.0615, -1.3333, 7.0496, 1.7363, -0.0562, -0.0513, -0.0171]",
      "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]: [-0.3256, 1.4918, 0.7639, -0.0505, -0.3298, -0.2581, 0.0975, -0.0216, 0.8051, 0.5999, -0.3927, -0.0151, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.3899 left_y=-0.0675 left_z=0.0906 left_yaw=0.0726 left_pitch=-0.1564 left_roll=0.0576 left_gripper=0.0975 right_x=0.2932 right_y=-0.0001 right_z=0.1724 right_yaw=0.0003 right_pitch=-0.0301 right_roll=-0.0005 right_gripper=0.9972\nstate[joint_eff]: [0.6632, -7.665, 8.4444, 1.4676, -0.1636, 0.105, -0.0806, -0.0342, -1.3197, 7.0085, 1.7363, -0.0122, -0.0708, -0.0122]",
      "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]: [-0.3252, 1.4067, 0.9974, -0.3752, -0.3294, -0.2584, 0.0975, -0.0216, 0.8051, 0.5999, -0.3931, -0.0151, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.3923 left_y=-0.0682 left_z=0.1625 left_yaw=0.0733 left_pitch=-0.1621 left_roll=0.0595 left_gripper=0.0975 right_x=0.2932 right_y=-0.0001 right_z=0.1723 right_yaw=0.0003 right_pitch=-0.0305 right_roll=-0.0005 right_gripper=0.9972\nstate[joint_eff]: [0.6085, -7.6513, 8.9231, 1.4335, -0.1392, -0.0073, -0.0171, -0.1573, -1.1419, 7.159, 1.7411, -0.0415, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07c7bca976851dc164875f8e0ccdebf4e1c95947a2dd77ce3afa6490dfb5a875",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97452d485c3ea4506d9b3fbeaa2e470923ffaee484c5834341f4d0094f829a32",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bf6c9b2b91b550a7426c64a8b418a57da1966c0f6b74650e672254dc6198371",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJ04mWpfA0SK3XhCg3fil-vEa1VnRa-ML0h1l3Kjb4a1ds8Jz8EpwDZ6c4_nlSpKLSJFfVqvU0stpS9ERjgZ8liWtSlmvZ2DRoB5n5c5SKcb09fwmv34bP6_gv4Ov6hfuitVMBuBr25llm5yNNLI-hqyd89edhlgvpY5L09B7MG4e97sWExoZSGIV0pWJKBGd3UgaS8hULC22r6gu00nb2sShxjCNF8XuQ-FiSr7-GdHgC2uCtKLwU-u5ssSFpAOISibliT6Yq1CwVszl2SXT7_sOIK3BV70fevMga0lwca2QWBmJ-M1rTA2qwsKJjp5-ZF9ano3ubLDE5RNu1M2lRlHkzFDkh3p6UtXyltcIQHUzLT8GVsydiaMOWrAEgL-WKX-L-dibzclZTCeaKWn_UZsLPa2NZIMa6uvFsjTsKNX8sAp4tSksAk-Kfh0vMyvohfyCgZWnZTfOJhMah59wif6LKXlXwkN4B4NtMGSQY-nyxpqjBkUpc1qfnT6TjU1XMPTojF5ZlQJdV_J10a4IaNRmb5eLmbcf98NuxbOJOeYccwaT1KJWamFaf7WbkXg8JMEC8MP_f21rmtb8DLVRm8qwsfLSGZf8qfLypCliXFU4kJmO5QVzE4eHhqpxcq8QjUpGVyTYftAZvo0Fszg3utjxL5B0Ih9uONvJbXWx2loJ1Jz3I2ecjEcYS09rf_OgCFcJqk-uby5AwWQFlM1Rw1htUTjjCsJy39_nqWOU2qWgEmfZbce9KX4LgaRfObPGWm8XxoE9O8snUB_qGeuYn7ZjA36DGO2d46yUxwDXfTUWqlq2qFQrG1rvmBMTC0eocUjqXc9ZCgf-t-eUKJljYjBKRk5NUC6za7_Ns7nBO4G1z793BJyrzIwpmEH2IgmAdC-kFvQyfom58xYzlP_qHvj2m_1FjmWmx64LWSpjN08rBagcaCaa8ei1PS_RWQNJV5eEOKmG4igXFmogp0gtIoKvBcb0wb0ZzI6w2uYD4HoOkaNjV4xRItp722GzSCDLlCEiKoowPPCcqVL6QiR3Y-i8c1XHrN9ITVIQf2I3do3IbgBBj7OKObbGhGqUbTZnTLNNBqE4Bo_0LQD48gXNC1jtR94ovLBAl3wUCsSGVcRYHUWGkGpOJt71i54g557Lwbb-uxhf2zDYJ6hG4KtKcsV703F1xU0pOjTZGzfK40V7-NwUEwP8Fats4XOkKfLJImULemELnZzao4Aq4JsT5kZZgI_FX-iHW8PHc9-THlKOunLhBXRNH9tJOB37aU1lnHGbG4xdgV_wOGVXllotvvlCl9HW9iNBh8M4N3XJ1IPvasexsEs7wspdTi1Qxkjy0nJIfSJ9gI7eXMMOBrW67kU-0Y9BWqFFJiRPsTNIMb-0-9Xnj4xSqyIE48m5AbXDzc7AQgp2hrl8sMOqW1wlSTAf5Wx0Tm3sih7tdczVlmNf2n84n-VY43K6lmFmY8SFDJABa3FP1ONiHb0LHuYeWzNIy09jjhdcgte0OD4ztGSGhc8A57qngLS8whqbcGzOJebOlh6jTbvvqUNpy8MgQtGtBr1pOaU2K8q6nNir_fofffd4XEwfHYUXDMQQY-_2y7Xeoousl-j4PkNTJPOGLDbLka3Ah8eQq230G7EsjhdHRJ7MOZ2PwHQcrPKAmfTBqAsZ0I1heM6sCLMIFmXGVyYbXNyIn-xeX3t5GE9ODu9VnZENVzlWmoyNx9RxR3p90j2tJE1OTIUhSY0_9g7HDti7WsSq1brYe09CC_mrSZYconwA-uv8N5CVFbNxzXPHe3Kp-tkcVOb0b_OhP36qt-xbSAw3uybaIX53BeDsV-_shi6nmQyO8jz8MXrpMrlXMQRaqFxNO-R0q2zZxx7eYCxY1O_tQGpzDxy_YN9mw98gLL6S5lOuRo0XKJrtLu1yL1tUArUS213uuAS7jXhWtqsrHj_YnJnIO_VwIAtAZiZYX_HuH6N5yMlnxSIZ9uSoYDwtd9lyK1Ia0mAAQqwi2LerzvmRRbqRMzO8pbJhLurriw2IsAhQT52NED3koHrc3c_fnZ62RovVEJyd_Zsg7h7sxk1HxT1ORkF068vHe7iIhICS_z-Z1sRWlA836FVoOdpOC7T0s1TE1PEtCY1EpkyIK7JgJXK32B3tq_-Ot4igVpxkVYpr_DJ8DsGBIMeASVxwFJTHI-r8zTspvRMH89s1CEhStvvX73ywYxUQ9adb2d_6fhvp1A-8qSzDmr1I1Ufa5ezKa4P_9g2bv8vOGO2F18SxTeiJpb32wvK7JIPSq1xZjNiL-KGZLu0MpfEc4OegCQgxsanA63O9pvmeozbzx811-qVv0whJtCGOODGbj0NYncUs1Xl67HV_NcWIghHuqAVXXFrdkocPMVnDI2AXhLejKjecOVx_cqL-SGjaZV9IYRCGednqk0EV6b8amaIDoUcUtb7Cue5P5Y6NEldJEk3TH5BagDy0F9Pw7USGx1yUMp1lR2erIIE0l_knuMiaL5tU8cW111yK9e5z721eOeqOyZBGobRtBKiwYZ5VXO80h6EEB43HtMbJqXvq-LEMJa0IEpaS1k1YvGfwLEQAeburLjxKDXPy87VOwloqFx06QKpfFIk_RxtD16TiCOTdVddyiFHQ_2C91wbvkWilfeKU8bSNRG5oIGEQeA7WRFV2e-DOueG_jdF4D1yq7Y-lMvLag83aSeYKi5s943r5I5dF-RgfaToKKpvP1qoCxE5I9UsT5B5bI0IvAXA7NQh_VSuqfG9DwRRfc00Zm3pbe7SVZ2X6leH_PUrgWbD3XPds_9RTxUGeqWwVFUsxQOSAk0sfwkpYwibvxiJ2L2P8g9ExH8gWGrT1KfGckLi8BrsoPCtFehr-hO38QTd_uCNuHNB8YcVQvbj2ngF00iyAkpApiYRYIp2mWzElgCuj7tSaChWg5qnDrB_xdnwAHwxLJtZggC3-7c6QtTDQ714wncQtiekoV_YfY7DoJ242JM8MNhAyrG78fAwlshSnlStZkRnHqODA0QvE1Cwox1hHKbVD4okJNfl9qlf8yrSs7CRqCt-wGZztvrjnaKJtKqYXxt_WBfETCOZ1Ak8X7cxrRQfsqe9-xLNkXG_Uv2F2eCprRdOo0BcO8o-uE_wGXXtuPJ0M1kwXWn-0DGe0Jhd8q0IoLOLpePdFvI-L8CuaNvHVBshlGYd83i3h2kXkr9SlmXPPt7YDcqmLdSBsTE0pOjSBsSx7ErIL0EFuCvlzjBBB_q23XmUnA4abIMDY5OkLp3n8Oqs9VjcO-Gg2eb1WFTn3BGdwYPp9dNr1ssYEudof-bncipbu8CdjZ-jr3bJKTqSuvE2d21zvYMbOjIDVYq7E5bJeCyeuqGMcpxsqlcB1aBGMHBzJG4FUraheNY0Fj_OsXxCIH1sfjK_ol3mZ3BKBBNCziP7RY6WezDA2jKPdjM82mG-RfBnK4IS71k7TLWZNyXan2qKogL-YXAvMK3J4o_8iYlyVUYy0gyrzWVf4PJamxU_aMWbQ6Cv68sr",
  "id": "rs_0c7da84283467cc2016ab49d2fab3887d0b8f8e817c1b31e45",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.425,\"left_y\":-0.085,\"left_z\":0.10,\"left_gripper\":1},\"note\":\"The turquoise bowl is still on the table, so the last grasp did not hold it despite the nonzero gripper reading. I’ll reopen and move a few centimetres farther forward and inward to engage the rim more deeply.\"}",
  "call_id": "call_3dPV8dHQVqEh0jnjIFIQsIwt",
  "id": "fc_0c7da84283467cc2016ab49d37472087d0a958328127cc5fcf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3dPV8dHQVqEh0jnjIFIQsIwt",
  "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]: [-0.3389, 1.6142, 0.944, -0.1574, -0.3363, -0.2783, 0.9954, -0.0216, 0.8097, 0.5999, -0.3931, -0.0151, -0.0345, 0.9972]\nstate[eef_state]: left_x=0.4177 left_y=-0.0816 left_z=0.0963 left_yaw=0.0792 left_pitch=-0.1989 left_roll=0.0668 left_gripper=0.9954 right_x=0.2934 right_y=-0.0001 right_z=0.1711 right_yaw=0.0005 right_pitch=-0.0351 right_roll=-0.0007 right_gripper=0.9972\nstate[joint_eff]: [-0.3761, -7.0906, 6.2154, 1.7607, -0.2662, 0.0513, -0.105, -0.2803, -1.7026, 7.159, 1.7411, -0.0317, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:377396c977b24c83c85b0c94f59cbe2fd8672dfc3129dbc3da67855ce86b8d54",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f581e4637d8a2f2feb520c592e3900bbc33e3e34a32ed20aa4d5c197b5d6034",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5eb219d618463e2aaacb32db26dbbfd5f4e1ea00ca545bb118d32c87c2e5b70b",
      "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 · 3.146 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 43 changed as sent

message 50 changed as sent

message 54 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3275, 1.6215, 0.6239, 0.2153, -0.3332, -0.2508, 0.0981, -0.0216, 0.8051, 0.5999, -0.3927, -0.0151, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.3841 left_y=-0.0657 left_z=0.0355 left_yaw=0.0698 left_pitch=-0.1592 left_roll=0.0668 left_gripper=0.0981 right_x=0.2932 right_y=-0.0001 right_z=0.1724 right_yaw=0.0003 right_pitch=-0.0301 right_roll=-0.0005 right_gripper=0.9972\nstate[joint_eff]: [-0.1573, -6.2701, 6.2838, 1.2234, -0.2369, 0.149, 0.3346, -0.0889, -1.0051, 7.0085, 1.7753, -0.0317, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3252, 1.4067, 0.9974, -0.3752, -0.3294, -0.2584, 0.0975, -0.0216, 0.8051, 0.5999, -0.3931, -0.0151, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.3923 left_y=-0.0682 left_z=0.1625 left_yaw=0.0733 left_pitch=-0.1621 left_roll=0.0595 left_gripper=0.0975 right_x=0.2932 right_y=-0.0001 right_z=0.1723 right_yaw=0.0003 right_pitch=-0.0305 right_roll=-0.0005 right_gripper=0.9972\nstate[joint_eff]: [0.6085, -7.6513, 8.9231, 1.4335, -0.1392, -0.0073, -0.0171, -0.1573, -1.1419, 7.159, 1.7411, -0.0415, -0.0806, -0.0171]",
      "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]: [-0.3389, 1.6142, 0.944, -0.1574, -0.3363, -0.2783, 0.9954, -0.0216, 0.8097, 0.5999, -0.3931, -0.0151, -0.0345, 0.9972]\nstate[eef_state]: left_x=0.4177 left_y=-0.0816 left_z=0.0963 left_yaw=0.0792 left_pitch=-0.1989 left_roll=0.0668 left_gripper=0.9954 right_x=0.2934 right_y=-0.0001 right_z=0.1711 right_yaw=0.0005 right_pitch=-0.0351 right_roll=-0.0007 right_gripper=0.9972\nstate[joint_eff]: [-0.3761, -7.0906, 6.2154, 1.7607, -0.2662, 0.0513, -0.105, -0.2803, -1.7026, 7.159, 1.7411, -0.0317, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:377396c977b24c83c85b0c94f59cbe2fd8672dfc3129dbc3da67855ce86b8d54",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f581e4637d8a2f2feb520c592e3900bbc33e3e34a32ed20aa4d5c197b5d6034",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5eb219d618463e2aaacb32db26dbbfd5f4e1ea00ca545bb118d32c87c2e5b70b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJ08ZBLxQxIKDnI2YcYVNsUCdYRT3JHaKtYt-NhHW1fOGLyvpJ04r5nzgUgV6YmiHU5L9xX6m78cHGt4fosRFSUev9Twz7lJ5i0HyNGxx6IIrQpX_tSEa6-SVbXlxQZ1HTXuI2RBrUdfl9QJ7e89uU0cxrIVGJS6Vby7_M8CgUE8YrAQ6oG7U4kMJh8fqzKA_uY8PjNeWf8q2FLM3qORQLUe_Cny0U8kh1Dc9_2xSEv-j3LBa1bKVt2fmYYLraxcTOeWc87W9RAC9kSlEVDEzkudbpLvfgZOhJSFc_v1DFaPkmRClm43_4avI1TIHyQPzQoggg_2DXhZyFo-KIa2OIxh4v9SR0CKGt5SRdNWTjGWoWLIz18EW9MLneFZsASy75JEYUcrcxIOSFzcOkLXKqf-Eud1QepX1IDLChIoveNqMpububzp8nqvRyig2oeMtpliputtK2OenPqoqo34OkiwhtF0gaw3ASPQnccWjZKKCzNqYJsoT7UO7Q0W8aSihCAREK86_-tN7QNedPR8lqYt-IXTvMRedV4YPgDVkta2XRIG1f0d55njdroPij1z7aysC0_mpzAtC-IE7j8dkNIn9cKrBS5dsdafY5U_1MFML7TZ8tFAtuGeFbSj21xvy3gOkm0mxKJHp67xUDPRIssln6GnAbxP4gOeWpmdepbPlL8ktcl_Z0yjqflj7XLr1GkGbUbF9HyUQcLt_g48Vel2NZINOIOfEVrEPgGmR9Qv5nnnThYLo9PE5gUUTsC_rJyAwmj_Hj6AqY9tbIbmlEUJjwQKDORtaK_1YpxZ2hLEEoSQiePZUuPhEvrNSZJe4l7J8BrRR-3vFSrqL0b6qrQmCEJ7wCuTVkjxrYfpHU54THNA6z_bKTNy2jr7QuBQtv2scGmNzbpQfSmjQkgbSgszYxhCD6vbNbE-Ij4j2hhiUjeoo4s-BgZSOoG5F27jw5um7urS2KUORu9ukGHSr8NTGPr-ssZRRoi88NouB8riaCAcxIk5SrD-pPvdUBgdhHQwmNIZXchsVegebbOkz0q9L5-_xNINs9ktMwkweb0jgIQ-dRxJQjB7HJl8NeFg0d9T7MVZJDvzO1wbU984hki0mwvvU4-Nxkz2Dhoo5yDMesemjxuWXaHFpUVetXZB8hECVJzGi3RfsqcqDEGzqfRkGUfOa5x14au6qoD-yatZvEqc-NsOOHGMAz6v3lMODkzj0pN3VNvUBkOvnfRg4hdCFHS9-9RoKD-5Xx1pj19nOJbV3GUS22rNRhjfHDKyWNCWyLl8dmZBnuz7ow83283Ik7-OnRSYxchTzG4UJP8U0k2omD_Q2NHNdKx5cjqy-Uf63kEYg1-UgqlODL12sIt_cA==",
  "id": "rs_0c7da84283467cc2016ab49d3ad9fc87d099b6b7a814932497",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.085,\"left_z\":0.02},\"note\":\"The hand is now farther over the turquoise bowl, with the left rim between the open fingers. I’ll descend to a deeper wall grasp rather than just touching the rim’s edge.\"}",
  "call_id": "call_73wITsv9TaxUcrzxBeZVZ8kj",
  "id": "fc_0c7da84283467cc2016ab49d3b876487d0b97ac8f1b47cb560",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_73wITsv9TaxUcrzxBeZVZ8kj",
  "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]: [-0.3386, 1.824, 0.8455, 0.0696, -0.3363, -0.2775, 0.9957, -0.0216, 0.8116, 0.5999, -0.3935, -0.0151, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.4151 left_y=-0.0806 left_z=0.0111 left_yaw=0.0871 left_pitch=-0.2731 left_roll=0.1015 left_gripper=0.9957 right_x=0.2935 right_y=-0.0001 right_z=0.1705 right_yaw=0.0003 right_pitch=-0.0374 right_roll=-0.0004 right_gripper=0.9972\nstate[joint_eff]: [0.1299, -8.6769, 5.559, 1.7021, -0.1197, 0.0024, 0.022, -0.1709, -1.2376, 7.2137, 1.7607, -0.0269, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b1f0fb1dacffbe6b1c6c7b71421a36e18455dd32fa898a26c29950858e31e25",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7940169e7eacc4f477782392a430cf9ba160e9e97681874a56e35b4b263831f3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acbc2df6f02efbfabf74fcde10195047faaa01b1a63c0481c93724c80552f2d1",
      "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 16 attempt 0 · /responses · status 200 · 2.498 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]: [-0.3256, 1.4918, 0.7639, -0.0505, -0.3298, -0.2581, 0.0975, -0.0216, 0.8051, 0.5999, -0.3927, -0.0151, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.3899 left_y=-0.0675 left_z=0.0906 left_yaw=0.0726 left_pitch=-0.1564 left_roll=0.0576 left_gripper=0.0975 right_x=0.2932 right_y=-0.0001 right_z=0.1724 right_yaw=0.0003 right_pitch=-0.0301 right_roll=-0.0005 right_gripper=0.9972\nstate[joint_eff]: [0.6632, -7.665, 8.4444, 1.4676, -0.1636, 0.105, -0.0806, -0.0342, -1.3197, 7.0085, 1.7363, -0.0122, -0.0708, -0.0122]",
      "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]: [-0.3389, 1.6142, 0.944, -0.1574, -0.3363, -0.2783, 0.9954, -0.0216, 0.8097, 0.5999, -0.3931, -0.0151, -0.0345, 0.9972]\nstate[eef_state]: left_x=0.4177 left_y=-0.0816 left_z=0.0963 left_yaw=0.0792 left_pitch=-0.1989 left_roll=0.0668 left_gripper=0.9954 right_x=0.2934 right_y=-0.0001 right_z=0.1711 right_yaw=0.0005 right_pitch=-0.0351 right_roll=-0.0007 right_gripper=0.9972\nstate[joint_eff]: [-0.3761, -7.0906, 6.2154, 1.7607, -0.2662, 0.0513, -0.105, -0.2803, -1.7026, 7.159, 1.7411, -0.0317, -0.0757, -0.0171]",
      "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]: [-0.3386, 1.824, 0.8455, 0.0696, -0.3363, -0.2775, 0.9957, -0.0216, 0.8116, 0.5999, -0.3935, -0.0151, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.4151 left_y=-0.0806 left_z=0.0111 left_yaw=0.0871 left_pitch=-0.2731 left_roll=0.1015 left_gripper=0.9957 right_x=0.2935 right_y=-0.0001 right_z=0.1705 right_yaw=0.0003 right_pitch=-0.0374 right_roll=-0.0004 right_gripper=0.9972\nstate[joint_eff]: [0.1299, -8.6769, 5.559, 1.7021, -0.1197, 0.0024, 0.022, -0.1709, -1.2376, 7.2137, 1.7607, -0.0269, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b1f0fb1dacffbe6b1c6c7b71421a36e18455dd32fa898a26c29950858e31e25",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7940169e7eacc4f477782392a430cf9ba160e9e97681874a56e35b4b263831f3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acbc2df6f02efbfabf74fcde10195047faaa01b1a63c0481c93724c80552f2d1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJ1AEFSixMuhFAI_1O9DPMcJVD9kTLyBUsibLQxNXcr0WxZVv_CoGwNEsZOrqyYA3i5nXm_orRsOohj5O9XoQy0kElgfS_sSR1Mm5nrPHrmGv9_tdJrj-H4N-wBoil2OzoY9mPabbfVpPrlppSAzp4vDAGfnBH6MEtNXKHpW7UUTWoIF2P-VFUryjJQ86auU88Y2z8b7qO02qp9J64QYbNt6t4J52QOf_ihJ4IcskxTldvFGGs9i1pOgRcjt4D5uY0QqGI1D9AbgNTZWZhLitVsdqPFj2TfGTbRvfOwPqZrF73JrsKOLsKI2fVePAHg8S_WgZNDdLMvc9ShZCKSaQX3leFhq1e8l9JCe4LBSGpidsM7Vy-j8uG7YB78VZcDFm910QEu_zkIr1tbp_N_Jk1AbHhdTm6Hu6tnfiwEJvYvA78HWrPfb-KweJz8vo2fCDADcEMRbaL9i3Qe5XOujfGkx0jCNqbu3DQCsLjk_SkS0rHJRvLSwUquCeEziQ4bLi86ntKgbstRUETzQR-qiNG0J7E-h5PMKQqyjyhvI2D8gDOTRGotN_QIGYVQUy1DXu8qzEfdtYJvMBasrRlwP6CbBPP_JKvnOHf0_jizZwgFmeUBvjxoiKKwuB-fhF4R6YXZ_T-0kncVC7Gks8rveyi5umRYmUB68W4qVmL-AxbSfZ4koFVAqY0WuWKT6xZP8YwVqARbto3OAnnYQ7gx0uxrCAihovVsufxOnjY8fbKevCxI87Au2j_9DixU_HwLjRUEDrYNq8qrAdLxk-14944LkXu_Ut-LuPUwIC46U4ji2B5oThr3nnZie-hUosi14U3Nb6DJzed-Gqv9C39q_nLkN8KTabF7Ryk00abJOPRw4sRvEbSdDfA796u6Ev_xYgOwlePdLxVtzQ6EytYRVDSZHvequ3sbFg0cNx0ubl9nQuT_iYFIWkim680aXPChyxdjzOpv-2xBcNXx0Y0j0JdkW41unzTgNzzPI9bIkYzjaIHxA2Hz741LIJnFYqf2iFofNUZdej_2eixRUf7AwLepoEVWROBKEgq5bCRQYonotWNRp97eTyYn8OZDG9JlGZYtOBWcC9wNVcywWr24_OpM2QtDnObh2sbSUfF8BrIbbnSfSEQl6XHXHdlCOEh64Zw6p8prtS4tpwOcUTbzUYcm9sFkmIJ510Lh7OVWsiXXAXsn0EG3xAQH9m_QQcEQOSvsDOaUa_EDJKuaezqS5J_fE0EH6l_gmeu6sKx9bYDB9P30qoiLNyFGik0B_nj0U99NtDls7msozc2_YvN-jIkhT_uMR7hPkI1l_T4T4vLGT9LpEeIdbvAFhT3C7RGrUZNbBR1I4oHNoER2G9J7Zhza3Sfhh4xfvegVorX4Onn99NB5EF5AnyNHkG-buZHQHq0bDbFZd1lUzfd4sIWXuzT45SwCrX1PZIa7l1clTdxYvGNjHQwYW0rkdGmGQKKOVhpQ4N8Wn7pmM1sHBk2dsibT-3QvPJrCKtZ4OlFkjozFJ7V0=",
  "id": "rs_0c7da84283467cc2016ab49d3ed90887d0ada6a2c23a273717",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The open fingers now clearly straddle the turquoise bowl’s outer wall at table level. I’ll close around that wall.\"}",
  "call_id": "call_2daHN8L9vqVyULPcZQkwYxHw",
  "id": "fc_0c7da84283467cc2016ab49d3f4af887d083bb4491c747e6d3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2daHN8L9vqVyULPcZQkwYxHw",
  "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]: [-0.3397, 1.8053, 0.8513, 0.1215, -0.3286, -0.3038, 0.1041, -0.0216, 0.812, 0.5999, -0.3927, -0.0154, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.4273 left_y=-0.0867 left_z=0.0282 left_yaw=0.0867 left_pitch=-0.2048 left_roll=0.0449 left_gripper=0.1041 right_x=0.2936 right_y=-0.0 right_z=0.1705 right_yaw=0.0006 right_pitch=-0.037 right_roll=-0.0001 right_gripper=0.9972\nstate[joint_eff]: [-0.1709, -6.9402, 5.559, 0.8913, -0.2222, 0.2466, 0.4615, -0.1162, -1.306, 7.2, 1.7167, -0.0415, -0.0659, -0.0122]\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:9e2936b1b128b9f559d5c5c227625e84a77b85e87899b6755f2a557f3f39ad86",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a1d437998f6c04856d4be9329d3f3264dd2b1bfb31cb494844acb2266cf18a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dd1404d1746e2c0546a33d2a85da178cd53ec5641e5a47ff35259dba66eff51",
      "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 · 4.85 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]: [-0.3252, 1.4067, 0.9974, -0.3752, -0.3294, -0.2584, 0.0975, -0.0216, 0.8051, 0.5999, -0.3931, -0.0151, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.3923 left_y=-0.0682 left_z=0.1625 left_yaw=0.0733 left_pitch=-0.1621 left_roll=0.0595 left_gripper=0.0975 right_x=0.2932 right_y=-0.0001 right_z=0.1723 right_yaw=0.0003 right_pitch=-0.0305 right_roll=-0.0005 right_gripper=0.9972\nstate[joint_eff]: [0.6085, -7.6513, 8.9231, 1.4335, -0.1392, -0.0073, -0.0171, -0.1573, -1.1419, 7.159, 1.7411, -0.0415, -0.0806, -0.0171]",
      "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]: [-0.3386, 1.824, 0.8455, 0.0696, -0.3363, -0.2775, 0.9957, -0.0216, 0.8116, 0.5999, -0.3935, -0.0151, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.4151 left_y=-0.0806 left_z=0.0111 left_yaw=0.0871 left_pitch=-0.2731 left_roll=0.1015 left_gripper=0.9957 right_x=0.2935 right_y=-0.0001 right_z=0.1705 right_yaw=0.0003 right_pitch=-0.0374 right_roll=-0.0004 right_gripper=0.9972\nstate[joint_eff]: [0.1299, -8.6769, 5.559, 1.7021, -0.1197, 0.0024, 0.022, -0.1709, -1.2376, 7.2137, 1.7607, -0.0269, -0.0464, -0.0171]",
      "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]: [-0.3397, 1.8053, 0.8513, 0.1215, -0.3286, -0.3038, 0.1041, -0.0216, 0.812, 0.5999, -0.3927, -0.0154, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.4273 left_y=-0.0867 left_z=0.0282 left_yaw=0.0867 left_pitch=-0.2048 left_roll=0.0449 left_gripper=0.1041 right_x=0.2936 right_y=-0.0 right_z=0.1705 right_yaw=0.0006 right_pitch=-0.037 right_roll=-0.0001 right_gripper=0.9972\nstate[joint_eff]: [-0.1709, -6.9402, 5.559, 0.8913, -0.2222, 0.2466, 0.4615, -0.1162, -1.306, 7.2, 1.7167, -0.0415, -0.0659, -0.0122]\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,$blob:9e2936b1b128b9f559d5c5c227625e84a77b85e87899b6755f2a557f3f39ad86",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a1d437998f6c04856d4be9329d3f3264dd2b1bfb31cb494844acb2266cf18a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dd1404d1746e2c0546a33d2a85da178cd53ec5641e5a47ff35259dba66eff51",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.085,\"left_z\":0.1},\"note\":\"The wall is pinched between the fingers, and the bowl shifted slightly as the grasp seated. I’ll lift a short distance to confirm that it follows the hand.\"}",
  "call_id": "call_ZKmm6Z4hl8p5P7H9JkPwMVDN",
  "id": "fc_0c7da84283467cc2016ab49d425d2887d0945d2f49158dc369",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZKmm6Z4hl8p5P7H9JkPwMVDN",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3386, 1.6936, 0.9649, -0.1284, -0.329, -0.3115, 0.1039, -0.0216, 0.812, 0.5999, -0.3927, -0.0151, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.4262 left_y=-0.0857 left_z=0.0765 left_yaw=0.0946 left_pitch=-0.2266 left_roll=0.0501 left_gripper=0.1039 right_x=0.2936 right_y=-0.0001 right_z=0.1705 right_yaw=0.0003 right_pitch=-0.037 right_roll=-0.0004 right_gripper=0.9972\nstate[joint_eff]: [0.5128, -10.1265, 8.8821, 1.5018, -0.1001, 0.1001, -0.0415, -0.0342, -1.2513, 7.3094, 1.7411, -0.0513, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3cac165d375153b73d70aa19cd6bdfba0ecc8afcec876a60c3313478784daab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:087a975d1e5e145a5bc86d352a110eb73b1decbcb0b9763e5b2efce42a216d9c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39b01a9ff5b98b4401fd856112eeb5940b9008ade5d49ee93254067441c7c5ca",
      "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 · 6.756 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 54 changed as sent

message 62 changed as sent

message 65 changed as sent

message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3389, 1.6142, 0.944, -0.1574, -0.3363, -0.2783, 0.9954, -0.0216, 0.8097, 0.5999, -0.3931, -0.0151, -0.0345, 0.9972]\nstate[eef_state]: left_x=0.4177 left_y=-0.0816 left_z=0.0963 left_yaw=0.0792 left_pitch=-0.1989 left_roll=0.0668 left_gripper=0.9954 right_x=0.2934 right_y=-0.0001 right_z=0.1711 right_yaw=0.0005 right_pitch=-0.0351 right_roll=-0.0007 right_gripper=0.9972\nstate[joint_eff]: [-0.3761, -7.0906, 6.2154, 1.7607, -0.2662, 0.0513, -0.105, -0.2803, -1.7026, 7.159, 1.7411, -0.0317, -0.0757, -0.0171]",
      "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]: [-0.3397, 1.8053, 0.8513, 0.1215, -0.3286, -0.3038, 0.1041, -0.0216, 0.812, 0.5999, -0.3927, -0.0154, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.4273 left_y=-0.0867 left_z=0.0282 left_yaw=0.0867 left_pitch=-0.2048 left_roll=0.0449 left_gripper=0.1041 right_x=0.2936 right_y=-0.0 right_z=0.1705 right_yaw=0.0006 right_pitch=-0.037 right_roll=-0.0001 right_gripper=0.9972\nstate[joint_eff]: [-0.1709, -6.9402, 5.559, 0.8913, -0.2222, 0.2466, 0.4615, -0.1162, -1.306, 7.2, 1.7167, -0.0415, -0.0659, -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 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3386, 1.6936, 0.9649, -0.1284, -0.329, -0.3115, 0.1039, -0.0216, 0.812, 0.5999, -0.3927, -0.0151, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.4262 left_y=-0.0857 left_z=0.0765 left_yaw=0.0946 left_pitch=-0.2266 left_roll=0.0501 left_gripper=0.1039 right_x=0.2936 right_y=-0.0001 right_z=0.1705 right_yaw=0.0003 right_pitch=-0.037 right_roll=-0.0004 right_gripper=0.9972\nstate[joint_eff]: [0.5128, -10.1265, 8.8821, 1.5018, -0.1001, 0.1001, -0.0415, -0.0342, -1.2513, 7.3094, 1.7411, -0.0513, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3cac165d375153b73d70aa19cd6bdfba0ecc8afcec876a60c3313478784daab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:087a975d1e5e145a5bc86d352a110eb73b1decbcb0b9763e5b2efce42a216d9c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39b01a9ff5b98b4401fd856112eeb5940b9008ade5d49ee93254067441c7c5ca",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJ1Iix6nzyQebrxupSgUCFebNuAUj8tUGmvLAFV4-r-njfANSTdtRIhY52EAVsej1gImmbeZKKVh_rS8L43YNL3PmmXZ97Qd1M1wbY5bsfxBR6puZ2CDklzU2Wu2OzJX30eJBlAFaVIxe279bcSOqzmjTPKLjXfCxvnk44GiTnkBr6jIRtLr0ZwCgx23FfO-eCOV3maHHEj0EOoXrp9Zz461UevGbEMqL5iHHSGfBp4YRYI93F2IarC61-b7jxwC-ncmTMSVK02zt0YC8et7B_mBxpYifdlrtjugJTkIpisQmYI37_OAJjQ0ePWfpOjTGe49Dgb_dq6DfNWhcrG9LuenBz7xkcbU1JByf_0P20YDFIAlJ3nVH85VVL_KsmpNouix7VBj1GLeiNPBPNU5i_l_OelUWx52TlSumjQ4NG3hinMv_OkgdnNiiSTJEtKwjqbb9wXCvMilIvreCKswbCSdVJT3ZdNdgDpzwY7ceDePqvWTcPshz-SSinmNffGpA6x_TvxEj12yI7J_Q7QRzhHE4ZeT69VaoXh8b5Pu8lBr0FJVuykpPXWiPWa-g_upsbGYSfA_64kVfuUJZG03SCgumLte7e41HRfmK14axeTkl5iWkVQpc8TqmNXiQWwJYJKErCoOECg-YZR4Ll5IqCkUBjF4Nf3Q8rqxPsAwPOYLEjwFlKSorevvVNl7YVSGWxrs5ZyWmh6fvmaHZso3pa_qfUiw1qKUGr9VW800I_jHkNBeqk_yIZ3mVAT6b0d9445eFupdIuhNobt1et7Mk6tHOgxbo8fk_2vZztxvVCAPP3pRegpOP2leg0mrgXcWXe3-qr3tsZ-wDiweRJQo8VDuBOoW2NCk3zoR6DB7b1fFSO1WqA9fbLdv0z7PluAyAIx0AHakaowPO6_eFkhlKxrKRTWR7Gg5NSvvWjq-CKbo4sdQxY8y6nu5wK-PqwNrzHWVHuM83ag19hP6Dln-9KwAFTSvrDOy1fCqjGcfPgDW92mnDptS4MmIjncx4s5eh7j3M9ONhopT4gWjkZgP93xeAnnoD6V3nlIC_-d76c9COqHrSYPtZECwcR4CcRJ0NzIY4XegCh5aieLZMHZ8xqMBpmD_oXf0UL9oFT25O-857TZ1pR-Yol2mRj-W-L44bPHdNkm6PEuTXW2NsXNcc8ayULYu54GpE8jFjrd4wu7Sv5oHahzKuB3EFemSKX1R2l0Mmg4R5ceI4ts2I9jpsfdWfaUM7D0SlfeDfPSpWm4WSq3xKDuua49wRhmT-NSgUwY8967Shiyf3R8rtAxlwFE-KIMwESi25M_fmVFzJ_9XoocwZVPlTfUfqbmJ2PMgnfb4dfDosdlrbXlf4clsZ0cGQYKBJlTzK6Q81bisBafOE2PRxT73SZlrrXVnR8sQ8JHtuKB5UxwDLS09zVqk0cbfCD6lPEyop19LlkfUrzCG9vPsbow-QV6Lz-qXqh5XF_49zGQYN1mmrwL58NtiUmcSBxQH1x7MPQWUU2TTEUrOdfS6cSwg9mFlmtEew5QzFstWW9jzDz8zVMvGMSOhGb_BKmJD9J9XUl3-l0P10kfq1sSZpWmnBlaIlIHU38YfOiFbDI0Br4IMAnZp-pDinXaTOggFMW2o6pfH0cP6cvfHXDXvcb48rPvB0_331_t2To-MR3sLiyPlwVn7OmPvQajfqH3YuxSPzisN5uV0KCzaB6e1qlo7LqvmGfdGm-xgInVRqeTiHMR8kENcU5bPXlrejg==",
  "id": "rs_0c7da84283467cc2016ab49d45a5a487d0b72108961930223d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.085,\"left_z\":0.205},\"note\":\"The turquoise bowl has lifted while the blue bowl remains on the table. I’ll raise it to safe carrying height before moving it over the blue bowl.\"}",
  "call_id": "call_MPLWcZzl4lg2jHQb2ELlRR0l",
  "id": "fc_0c7da84283467cc2016ab49d47bc9c87d0a30d90944980a8bb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MPLWcZzl4lg2jHQb2ELlRR0l",
  "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]: [-0.3386, 1.6211, 1.3346, -0.5964, -0.329, -0.3149, 0.1039, -0.0216, 0.812, 0.5999, -0.3935, -0.0151, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.4313 left_y=-0.0876 left_z=0.1808 left_yaw=0.0992 left_pitch=-0.25 left_roll=0.0589 left_gripper=0.1039 right_x=0.2935 right_y=-0.0001 right_z=0.1704 right_yaw=0.0003 right_pitch=-0.0378 right_roll=-0.0003 right_gripper=0.9972\nstate[joint_eff]: [0.3897, -9.9487, 9.1692, 1.4383, -0.1734, 0.0513, -0.0171, -0.1573, -1.1009, 7.0359, 1.707, -0.0317, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70e9ced79ea3535cc402e1173a1dd7e65e8b232f06ce8137b63a19ad829e106d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c995a432680040201cf2320f204f1f0da8ddaefc8861db7f65affeb0e4e21598",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72fa111052471f74ba71d94fa6d12315a2f3d993370c4bf8ac6a8dce4d74a611",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 14.78 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 58 changed as sent

message 65 changed as sent

message 69 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3386, 1.824, 0.8455, 0.0696, -0.3363, -0.2775, 0.9957, -0.0216, 0.8116, 0.5999, -0.3935, -0.0151, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.4151 left_y=-0.0806 left_z=0.0111 left_yaw=0.0871 left_pitch=-0.2731 left_roll=0.1015 left_gripper=0.9957 right_x=0.2935 right_y=-0.0001 right_z=0.1705 right_yaw=0.0003 right_pitch=-0.0374 right_roll=-0.0004 right_gripper=0.9972\nstate[joint_eff]: [0.1299, -8.6769, 5.559, 1.7021, -0.1197, 0.0024, 0.022, -0.1709, -1.2376, 7.2137, 1.7607, -0.0269, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3386, 1.6936, 0.9649, -0.1284, -0.329, -0.3115, 0.1039, -0.0216, 0.812, 0.5999, -0.3927, -0.0151, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.4262 left_y=-0.0857 left_z=0.0765 left_yaw=0.0946 left_pitch=-0.2266 left_roll=0.0501 left_gripper=0.1039 right_x=0.2936 right_y=-0.0001 right_z=0.1705 right_yaw=0.0003 right_pitch=-0.037 right_roll=-0.0004 right_gripper=0.9972\nstate[joint_eff]: [0.5128, -10.1265, 8.8821, 1.5018, -0.1001, 0.1001, -0.0415, -0.0342, -1.2513, 7.3094, 1.7411, -0.0513, -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 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3386, 1.6211, 1.3346, -0.5964, -0.329, -0.3149, 0.1039, -0.0216, 0.812, 0.5999, -0.3935, -0.0151, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.4313 left_y=-0.0876 left_z=0.1808 left_yaw=0.0992 left_pitch=-0.25 left_roll=0.0589 left_gripper=0.1039 right_x=0.2935 right_y=-0.0001 right_z=0.1704 right_yaw=0.0003 right_pitch=-0.0378 right_roll=-0.0003 right_gripper=0.9972\nstate[joint_eff]: [0.3897, -9.9487, 9.1692, 1.4383, -0.1734, 0.0513, -0.0171, -0.1573, -1.1009, 7.0359, 1.707, -0.0317, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70e9ced79ea3535cc402e1173a1dd7e65e8b232f06ce8137b63a19ad829e106d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c995a432680040201cf2320f204f1f0da8ddaefc8861db7f65affeb0e4e21598",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72fa111052471f74ba71d94fa6d12315a2f3d993370c4bf8ac6a8dce4d74a611",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJ1QukDMUYzjWMTuYzFiRgWod1qUL15_ecDH0hqhK1cB-pwNlQZEaBkMjk_XCPsnBwZtaVfJTEYK7GHdjVqXTeJp_bA5rl-q0vhcJgZHRBq88lN1HcCKNCzwPcCImcdVtmzbOiuJwBh9pQkypSyfw6M7AV65_kcG-cZ3e5ARiB7Z4BpX06kO7C4O3aTpSch6sUOTDia12VrFQ6gyiSyymiV4LzMYjdQn6Q7NlFXuA6Dr7yLllJ68qfU_OWVv_GjhluOdgn_1-eq51uxiD83-z-AQdobd5_bG682qtVyopQGr4cLydhTKZQcXMw-RUarIy_Lzx2DvSnMRP7XLUyNNnZt4QSmCm_wYwTWvTHRR3F8QZe5CyEQWtF8orqbbU6RoIfvGpNDTRpCMUFr-XSBpYCto9prtPo8XVT-gdaVDMCe-AIHnwD1N_8H_JLDZISA8IX_N97RrnFooWwuhDTIVXLoCgGximnHJFwJuAX2iBBxoOIGoRayMLkWPWxno8d8W4wP0tXMcHq5ozR0TMIgDTH_3rBoRmP2KZazrpbgsypw2-fTQ73ocnxdQ-BEYYeSOSi5FYf5RivsvnPJecA_TWn1qoP7vKctbSrBaN_mnacfXNrK8PNNBypLNJxKetwnHKwByIbTatG6PTPrtvZvl9GF99bOYdFa4McP5PbZLpeKZWngY5jm3SEyI5n21wP1rCwd5V7FvXZCiZQjiMpUik8b7ThFNTpTO915b_yXEfOvZ4Ym5OZ3RBDtGilS6QrW5RS0sEAdBYIItoM0Fv6p-a5gLO9kGmZUW4ftbTkzDu-WogviIF9XwIVoSkz4KPYzCipgfWUtn-c_8Vmo6hsTO4Kh2fg1gglSuOtkyIjvxSg2O6fk5u5usb6ouPkfSj6jF9-rjL_NI7Zrv_YSbzU46jrrXjGXYe7B5luIecfbvGDmxzgUb-Vrex_PN-c0xJOn9hutV1ilQZ9V1bqZZVzZe-u21L8X-KX_nwJpL6WocUbCZtNeSivk68b1UZOGnA2xzfzgh1aSmcUPvGEh91zSKL3f6IUPnDprtnp-wIQtHpyhXaRd0Hz3KKvxBmlMj5D614Rb6l9xJz8jUD0ADSjfiIr_auN23PHDI9fXVLLmp8v1A-r-PSdekNa2A2iRI85Uz2izxZP9Wm7wsbVipioDYmGKDlxTxgyFBfqqUutQ3Fc78Omto-yMBxOwoDx3xXBFE0fCH23h7VsVG_-8dNt4L1uxvdlyejT8mol8kJTMYZMl0eD0tBQDEZyGQz-TZXP-l8KDSumAAlXuTpiQKl3Xnuc6NtwND6hj9HWsCQJisjNBHYocafkPV36XtgWZ73Kjo9ubb7nC6GPm2gW1vYWzLhptTA3j-zgHmwuyIL0nl7gM6e0NiAdwbuQPzEzqEy0Knr8o9lFKxWv-qipvjmxUOOZALtzkJnnCr-B1qn5_9EWqpkkCIEHyzh6_BdeQDDbAb-uOrjsDFDjwTlI_SGDONsTrtj3WbltGJTK_GmQscDMgpKsY36Nrp-h-3ldIwNkN--KmWCV1Yshv_joEGy1UTxSqB9FOnIjVH6dchjS6tcHS2hiPjQc0UVrnWraW1_RDmO4eRlln_A_EMTTX8SbG42N2_P61ajTsRLuDzYOXZGfCJwRWz5KqeoL8nkNZkSf5NdZ9ylbvSQt_HJHyFoWJw0my2BaThXG0HH7gL2LtNnqL0gD2sE4eM45uHYy_4SrqUfvii8Up3Xj2Wk4mc-mJLlUcaPGYEQkK5XEY8OtETLxzTlpfmodyzRlIuGklYIS2ByXFpk9k6mokGPNxbm3xNYbNCoVvWX5BoWWKKknTtwlsAmEe6AV4LJT49CI1ZYV1k0Cx27fspw2neQUKtzouvbLEGNBPPw-AzcqrhbCyD-WH5e_DLlzHuG5lJkpeCximK548JU2PiKfXj0VAZd6gdVkvkazKDVN8g86OF4DY7kbQSKHwKtTEjTlD_uZ_AHZxA74oKGPipR7kjX5dYC-SjeQREL-y1hrDee3EZuwxEgLTahNr8KbwF0V9vOhQGaYMC-vfzJ-XOn0tvYRlrNfo4T5dPSHXf0Hc0xomlo-Hem2zFfxxQmC0w2bnGcgNZrA0NzOseSC9uayoEVH-FX6dL_nkUfDl2xi7pD-RAKeHJhz8wP7kvornoMdF5sgjjgUxAh4W4l77d1Ig9s7GLwuOVHQ3BFkiOnnC3UskZPMWuSyle0QOl8XX8TG9N9X5U241rJ428diqir52C4Y5UQuQXsi2N8ZFbKOzVEPmD3Tq9iYVLjly3FChG7x7KbzeeUAK8UjChFVfUzWtEaYqiPSdQqLIWALNCnZW6GMEXyoY34-xn5DqkSRlvWOIJwiUagDP80iJtvojzExn9ePnikSt9tsZc0J8Ik-zOiOQHfAV4cuZTU8OdiESReU7vyVdq9t9BCTtwxBQrbLiZAxwrckmYxf3Qflx-H1Eyn1XagtkgvzK0AqsyarkUuOSvdkx3PPtkXL1c-SPXuPWEvwIGerpPhwJYRB-YCzTyd233jYjTCccW0_s0YJL6UgU3-YvJ2VKg7_8OoSpO9IYBet8p0cNgg1ghHz4EtgvDOQT79F3-jdseCfA=",
  "id": "rs_0c7da84283467cc2016ab49d4b695087d09a708ce35f62d708",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.205,\"left_z\":0.205,\"left_gripper\":0},\"note\":\"The turquoise bowl appears raised, but it has shifted within the rim grasp. I’ll keep the fingers fully closed while moving it above the blue bowl.\"}",
  "call_id": "call_VqHN8TQeEygpDIHsMHPWDqFS",
  "id": "fc_0c7da84283467cc2016ab49d4f4bb887d08a8bc14af8262ccd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VqHN8TQeEygpDIHsMHPWDqFS",
  "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]: [-0.6373, 1.8103, 1.6363, -0.8349, -0.482, -0.572, 0.0063, -0.0216, 0.812, 0.5999, -0.3931, -0.0154, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.4166 left_y=-0.2021 left_z=0.1935 left_yaw=0.0813 left_pitch=-0.2778 left_roll=0.0592 left_gripper=0.0063 right_x=0.2936 right_y=-0.0 right_z=0.1705 right_yaw=0.0006 right_pitch=-0.0374 right_roll=-0.0001 right_gripper=0.9972\nstate[joint_eff]: [-0.3624, -8.7043, 9.2239, 1.0525, -0.486, 0.0806, 0.4615, -0.0615, -1.347, 7.0085, 1.7118, -0.0659, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:746ac14fa4fa94761bbf5624c03f0b7a10f4248c3edf3bfe31cb68a101547e18",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a01598ef226c03737347b11fe92262398d1988ac95028166a5446b67b51588cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e51dd9410b192b3a458d2a5ac12d7893a198d644c7dfb0cdfee6e2f2e3caf19",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 3.194 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 62 changed as sent

message 69 changed as sent

message 73 changed as sent

message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3397, 1.8053, 0.8513, 0.1215, -0.3286, -0.3038, 0.1041, -0.0216, 0.812, 0.5999, -0.3927, -0.0154, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.4273 left_y=-0.0867 left_z=0.0282 left_yaw=0.0867 left_pitch=-0.2048 left_roll=0.0449 left_gripper=0.1041 right_x=0.2936 right_y=-0.0 right_z=0.1705 right_yaw=0.0006 right_pitch=-0.037 right_roll=-0.0001 right_gripper=0.9972\nstate[joint_eff]: [-0.1709, -6.9402, 5.559, 0.8913, -0.2222, 0.2466, 0.4615, -0.1162, -1.306, 7.2, 1.7167, -0.0415, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3386, 1.6211, 1.3346, -0.5964, -0.329, -0.3149, 0.1039, -0.0216, 0.812, 0.5999, -0.3935, -0.0151, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.4313 left_y=-0.0876 left_z=0.1808 left_yaw=0.0992 left_pitch=-0.25 left_roll=0.0589 left_gripper=0.1039 right_x=0.2935 right_y=-0.0001 right_z=0.1704 right_yaw=0.0003 right_pitch=-0.0378 right_roll=-0.0003 right_gripper=0.9972\nstate[joint_eff]: [0.3897, -9.9487, 9.1692, 1.4383, -0.1734, 0.0513, -0.0171, -0.1573, -1.1009, 7.0359, 1.707, -0.0317, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6373, 1.8103, 1.6363, -0.8349, -0.482, -0.572, 0.0063, -0.0216, 0.812, 0.5999, -0.3931, -0.0154, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.4166 left_y=-0.2021 left_z=0.1935 left_yaw=0.0813 left_pitch=-0.2778 left_roll=0.0592 left_gripper=0.0063 right_x=0.2936 right_y=-0.0 right_z=0.1705 right_yaw=0.0006 right_pitch=-0.0374 right_roll=-0.0001 right_gripper=0.9972\nstate[joint_eff]: [-0.3624, -8.7043, 9.2239, 1.0525, -0.486, 0.0806, 0.4615, -0.0615, -1.347, 7.0085, 1.7118, -0.0659, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:746ac14fa4fa94761bbf5624c03f0b7a10f4248c3edf3bfe31cb68a101547e18",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a01598ef226c03737347b11fe92262398d1988ac95028166a5446b67b51588cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e51dd9410b192b3a458d2a5ac12d7893a198d644c7dfb0cdfee6e2f2e3caf19",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJ1gEBr8N7NitrE_1T4vtaWx_sbErlxQ6s6oDp2WaYoZhp9ChKRypLuhNT0sYrJGSK5_LvYLUih1Fn3FuNpFog8gxgDALMZM4jwJzxaDmfxKIkq7l9mq_-6wuaM2cgIqRRt68GJN1EL6Igm-oSaQPA1bJkogA0_orBqXJBXDM1Abad0U3aIcwq_TiJi2QLHheA3sp1ypbdWV0HbHB03OFv0tvMu0GkfRbFuhfwGJdQxl4v2B3uP4yzPacOrE1xLpLJAhM4ZD9130R6lgWJBap-4s86sC_srCgx0_ZRdKi6hRmxUdSpqa9Hkf_ql-aWu7PNukYlgNT_hSFcKQQ-V81z6QVKdvVlifMJ9Y3dlkW9q7C26wnZkz0C0fxCH80tEPbIoKXzWjof-Z-Vf3IN10Jf8WsGmcWMZ0-RmRVrL2e40QZWA2q2T6JTNl3KYZhKFIigDFENRBQ9f6NNbVA-o2SvQdOmy8Yz137PuVmEEWkStNWqWMZ5UZhapnhT9tVhbhhKJTpQuVhXHwIXeztlbl-RyGRWg-s-Wctiypyr-uUIM3h4ENzFz82xweGle7w6fB4ir5AISP9N_PTB6lUoBftXU0BpSqIMkXBBOr8hI_dSh-3GiBaRacMJkO57_upUOezkJpzTz0MsMVAlDCqPTWAxuCmOXBww8GqP28DDuHXHQp3oaiLw0hj8ls0b2WvjZXKlpM0IO9D_79kRBZ_9QYYOYXpWpidIJgpgiFEoYXspd6qbY7E5L26iFq8JlZE2kRtumSrcSTZaNIBl2FLRrefwL0FHc6_5mBLe-lgwdxHTA-_j1u024wLHi3tVQRB9fcJznMiKTe1xI4MqS-eXe7-2obXK7P-o13fHf82O3PzrIQETx7lV8r31OcqdPJcHN1XF40JwdfDNzRT4YP_K3a0mEZcFsib9LZBgWKKOzqnoB8tJMjkdgsJYc1Ctugz1-qW0iLL7zRNWOAkPOt_yEoYJuxr8ksyxpUhGks5EipSdrJiKjZauJA4j6hoBtyhwc2FG55EUngNpWdzCdTdFXUIVJBpEp7tuIGccTWPyePla8JypMo4gpKFaVy5jieRyCLZMC5AnwKMuI_yhWdhVAPSjcLdf8NjQTZJZVtRz23Lrf1AJaj6RLbF939nnvqYaaQIutU7MgEgbvYYJcKaZIlfXlJPKoN71pSVN3Iq9a3JFyR8CnphUX99Pz3lmEhcBc5QMDSecG1vKsmNzxmjeeou-o4ZlN7Z2uCVNJZ5vDtfRQY1yM_i8eHlfi2u0CeRh0vFJAxu039TNig00gMRVYA-RGThBLmHItuxA9uAL_W_UQLFyhirWd6E0owyTf_wD2eQUBzAovrs3t6uRN-Av0sVWBzG2VxIsmpy_WKOs64T2BKYbasFFwzbEfkBO9TDjnxNbkcUxk2A8FGP4wXE7HOR1xSHPdGz87Vm6GRfWH0HRKHKkaV_SGkjkmmyBRPrSj2X8gER5aYV0Ip_CpAqL5xwKuq8X0Uk7zwM8k7GwTuTCwoS3gey8N0XsE9dfHuC_80-wkVg3cGDrM5tYxGAd6kIJR7VKpWvetSIXUQvL5fMi6YvH2G-_bgaXgZAHcYj69yAcNTn0o47BPIBQ3EkCi55zFD80NRq_42rGJNP88GFh4HYLI36tZ7N9ADmgV84kfjriFrtBtvALM6Ce716yroYlNY1cucZ6pP9Qql-UaUOYVBlh-LafWqKSC-yh18p-f5p5Q3tz3N-gpHvziQF2fxl5fQjYcocMiLTAQUftcQVTrF8mkgPNaAVHIQZpVFY3wGpm1oYrX5WyrTetWKIdRc7RMtOPmpjQMLnrO2wZFmB1fH7UctkpCaABKrCs_lTQQwr3hTyO2bsrwgJ7eTRQdTuQic2KG9qY5_QtRUhw6bgWqxFU81lWYKqjrIdi30kzqGBVB2hPuFQ7ugQJFhIHIVfyE8Th3u7zBwjCIONoGZvV67NnMa71Pb36t3UOoTH46eRQUnJBlrn3OUq_mUfaKb-EEgwwYx1gtzVaKE5_0OErcUbLIl7WwW8YNAUcBenT3SAH1vkBeqbMtaiDN_jh2QbGVF2zj2M8RpiAW6G12bajSAJRZKDFGrP5A3-Lpk3_Aov0jNeVgyMs0wkN3FzCUpq5ie5P5jZT8PRTwNOZSHL1lKsBxl0jiR-x5K2FcMGFAv4KenDRcHDCfYpQ8ulrYJqico60-7X1kgL8FH_vWEhnvveXbbfywoXa7dXM-b0-0C9rr1ZsxrMLDKN8utkxLSUMs4N9YhZd48-SobB001emTjkeOoiCt8nHVAxnUmCdP1M0dI61ZUPbNwtR-yNtoRz38oK1Mh1dlq9beYwWFW8v-dTfDgxpprRbq0ugUpqAZH_zdaYZAWHZUZOHaILSohuPQglucyWWdDm1EnKVNNfha1kxddAIl4UH076V81jS4MSoxJP-d3gSEYoh5umgZVH20E2lupW7PWftG-rjV5WIEgztTQJL8bRc8fEcNKiBPYEsM39GT-WwlchctxmzO9BkDRLNYMgm25l3KDUKdm3vtDvv2kBi1sVcxXRKaRS1UZUl8nBz3zOoKElbPfGqjwHpH7_7G8Hlpr9x60shNfBbs98c7DsxhswvGEmy4zF6TN0H64DJ7rpXiWXd0zhSl_mKxmogIjmMCNtHJe-EIviedpW7dRgNpsddSflIJIWxnDyj94oYRrOUKzzS0XzeUhV42SrAodexwScHkMxeTxifYDtkT3StD5hrpJNFwbwOVjAT2x3o7y3C7zvRy-A69ziV3MhUfXp1q2Lq0Fa50v0LwxHbide9FdFXVbh2cXl0GbxU3C4bECC_uO1Yk4ndpHtDZMVkySvUNsfP6UDaLyiFV0QdQdJH21CsRqMa4kSctU0ParyNWcJNcKsP9qVJjmWOvYfpGKOl-uUyIuwZ8mX-oINwRW3EgtfZbwmWJ0v0_WEGQ8ABYZd0EQZOdoL09s3OyFKlLoAaXBKUHErFomrW3qJZINnBRCoiA4EP_Ygk-iNHHXiPH3sn88y3maH42EtSZ_-VzZtJeZR6aoQHp5_1FBqDQeAlYrq7twxSxOi4klKitLRCE4YVKaV6-OPi29Ch7UmY1nICbjP1VQmDmRiZomp6pyHzSju4ojvkOwT237Y9TW2gFemCrtNQ4tqHfNgTmF-kBVhlOSv9c5hQxesRsn11OS5ztR2RFG6ZIKFRRG4kG9mTB2NapRC8tfwuiTQUJSgjXdUC32BNkwDLnQt4H6EmunaoTVauIdsc04I5ub1j7n0LmpAzeE5X0EFPbzM1LWsWbiSoYToDR69vifYZVFtsBAMu8znbBRQbpV36pGI14zJspEYVFO5iRnmRDESkj6y-p_k12bxP76euCSl7H5QJwAwg7dX59dERcobWMohcDa-PO5l6dEP3N3bRYFqk8gWDhVtrcrFchE23nbXXbGbAhQk8yBNRt8jocMTFD-lsfJVvT9_tsGL0qznZ2qzWpq_cDkH7h1iwtHZJcMNoRnhTfz2XnzONQPIIaZE7DUAabcaL8uADeMyQ3ndvTw_GsHlbJbGuBjdhtmmm_1TeavozhZyEhhVHvQLqJIHyEJlSyVO1-PNh6WVxw-FBQB8-eHS5JO0mGaEUJ-G3OpmkcpOjRVX4fBG9M1tF86Mot7v94ENWZtBiz1goRHesV64eC74vSFEisLNNWBeFzfR9MdhfLCA0qDZv9XVw9ZlcJQ8np0",
  "id": "rs_0c7da84283467cc2016ab49d52c37c87d087a07bed5a281dad",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtJ1g_ZDVFjhfnkDImr7dazZHtCUE1d07cLcN3UhwFxRt-VRTbUhRmxtHbr77pVbKyK2hvSXYpka8KjnIEwmkXoFkDvWb-hENjqmZiEjx6i2aBeCZk-OM-rIrS4IZLl9u1dQZ3kIkHzznXbs9luZIh48YoqXr7eZqzi7HVvfNDH112H3xaS_-Fu_m6ToJLzeA5fsvR6Gp9vdX6qUHizSeoxALezKS66KS2JaSMEMzOHcWEAe0KM8rAu7P6pcOrBUxBa1iDS8a1cjXX9jBenEdjvAu1825N7qa5NdZ7MaR8PWPvDZHh0umfTgOW_DduQMf5_crQ9DTNLTnRZ0iJbcnCUP21Hze0qIn9b0OLc2u9ACv3JtUrGf58cpiGdat5t30NifCrUFxPvkpkQrAPQe0QoyGTuCww_970PWjq5VCybQOFmgfufB9_bvbK6RU4triAGe_n81TdtH4_gqqEpFXOxcgWc5zUCArQ_nZ_v6uPB918ltiRvW8-kY7_scOTzj_OK26oTLj4RXkVSbRqUdzHP-rBfFkUYpbX8AxSxybJDlXWHzDQZ-mA2PA-qbCVBzIxlLC40-B0ofdW3X6pdQkHo33pQtoSKRCKEsQlULppeHkjzJCJqZTt6bDOaDE6HQdnE3VgLe52w9y5el0WFqcRRCes3z0uO-_vTH8V4WKOtZ6ykZTZxZ9UvOQsmYi8ZaBC5sbQtfOdZTuDEjzHuJaaBo00em95hfvD9HW8j5kHM51i3ZNJy9QAEaviPtxHipQ4wrP6BtbkAFKXS_CmM5tiaeFkb0PdHzq5L3Dow27ZalM-sVomKDi9vcjWLptVXfbD8Z0wi5sVGHIy2XeJ3Kkndh3Ci3uEEkzJbdoIIq-P9NrMisEkyA7ZKPFtE8MbJCb5mfQCb6AD_pTQIdmfRmAt3MzXJf2eSQw-dvlL0zZ3nTQtXFXMEZjavgZmE3T0cfSFDYngo0BRrZpaNKQlXEzSdopcrV5gD7NFjZH76Erg8y9bYIDwzzPvM88tC2XrY6p9jhIc8BEXl_QxEw-MMv5iKeCDioTWNPD_BEIbA_fSMDj4E4_fJ61JxMEVAi-UVwtPl2apFyudzWbKDUuL8X7uBRyMPcWMZ_D4F8lOsStiNQw9R5SlLTL5tOWG_olO5zD1Iq84QyYLse3kZs61l2y4kmJvPdh9dVIQWoyhLDuEFOvEKs_d3MjrHKWbkaUEqcuF1RyhiDIqUvXla65QbeAzfN4TWQiaYx396mZLOgDJVlgzpxfvwNc-eyu2McaIFtbNoSaEVfiVgvIJqVdDZEFCONI_6l2DMbFVI2pZnznzQNU0V28jUqjgWjv7KWXm1ydLkXyZk-dfEsVJkxWub07iZhEumWLDk2x32P7ZTcVAtqSdTYa3eqo9KkA6XRz2AFfzDlUT7OBVsnfejFu0eEa6EAwKlDsUZdW57dhtYDQ9b8rvOJLl5OKPzSorLTJfXxZ8IAhliD8RRJaa8Cbm4wLbaDZh5qjQhA__utcj8ejVYU_ke68Zb_1_oKmKRE0U-OzoMZgrvcNlj3XnwvFO3yMiqMJtYnE_HDfbCy0uFM2rilG3EO8-K5_eClDzKC4nQ3qDcT0uVncmBo_pSRjt_UFkZGbsE_igYfRkl4wMiHVc98pGx4WJnZ6-WWU3TkzE2rTfhxJprxf6Ua_HVFgHR4GiFib_2uOTClAtZ8NU-ciqpCFPnAytJj6aX1c5t7zTi-DVPYJe3M2fTVpsd2qXrdXFX24MzbULPtpDA_bYTLbljyU9ssp_yG2wePX5-eoZxNDbGbftaCjAWE0-P6HiE0M8M8WOAXRde0_8DCTu8X7_UefcGxh5VAcManClSghEf0D2Q4ILXG98ULi6XS_vrwvdVQZGNdNIC4lRwZPOgh_2uaMbv8_ycl_CRXltvYi5NnEfn5-PsovSHOpUuE4K7v6lGhbd5MHk96mcNlR_WA3qWxmFSSwcREauyR7ol5jJLnjazZ6wcBDA-JQkZ0LD24WLG0Hyf9Zi_awYMqo_ak0jKThFlAkaa2RMTHDycEl8fVRILo0F8JUm3yr8hSHpZ5CIzkgKcV6bgRogeYzP5eK5YoW5OttWWm7U85jK-GAYSK5Ncr9jHQkW340fj69PMoi7Mh_WU0t4A9cRpePfYiQhhi-V1J8aBvtR3hSpsV8TtT6cU3XqBVMWix2Qvp-oDBQMXjU1F75BOWFqR-5CTbtNEnGIlMCq5A0kAlf8Fz3y_r3gtGFBP-w0Bm7PqYvo59OaiuAFspkSnqw9TtPQII_G4QvQRo2Eg9Ce0nsEfnMqwQAsgp742jgcjwSBzEau3N6pbj8Z358FNBoE9QcqD7vjQDLOTjz-V0Wy1CmU9wrHwWo_FLeeSsr96t6kbQDmN7gCmI2-SJxZN6lPcY4x0Hd2TiKeHLthaUSlDRm83w_bkKlT6yFOUiU1URAQcZoWDCBlIjgEQCx8IvG7G6lIPzowKbXzg8=",
  "id": "rs_0c7da84283467cc2016ab49d5a90dc87d0b47af6a638879eff",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":-0.15,\"left_z\":0.14,\"left_yaw\":1.57,\"left_pitch\":0.25,\"left_roll\":0,\"left_gripper\":1,\"right_z\":0.18},\"note\":\"The turquoise bowl stayed behind, and the fully closed reading confirms the hand is empty. I’ll approach its near rim with the jaws turned front-to-back, which should give a more reliable pinch than the side attempts.\"}",
  "call_id": "call_tnNjaYsWTWKul2t2o6hnghzY",
  "id": "fc_0c7da84283467cc2016ab49d5ec5a487d09193e44f03a9c110",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tnNjaYsWTWKul2t2o6hnghzY",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3145, 2.5355, 2.0869, -1.5558, -1.1183, -2.0617, 0.9968, -0.0216, 0.8173, 0.6006, -0.4236, -0.0151, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.4511 left_y=0.0241 left_z=0.0768 left_yaw=1.4442 left_pitch=0.1638 left_roll=0.0117 left_gripper=0.9968 right_x=0.2896 right_y=0.0 right_z=0.1632 right_yaw=0.0004 right_pitch=-0.0725 right_roll=0.0004 right_gripper=0.9972\nstate[joint_eff]: [0.4581, -11.8222, 7.1316, -0.5104, -0.7399, -0.3932, -0.022, -0.0752, -1.6068, 10.1538, 1.6386, -0.0562, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fd2728a44b82356df162f63a555eae7d7e5550b2c048a0463bd7cdea27a57d9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33f0fb5e142b2d9410c694b7c9e0e04fe8179f0d57e6f04cf581172f23211bb6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ec9b37dbe269d4b92cbedeb2080c9e7c1e2dadb68147eca74b2af9b9e1b007b",
      "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 21 attempt 0 · /responses · status 200 · 3.585 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 65 changed as sent

message 73 changed as sent

message 78 changed as sent

message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3386, 1.6936, 0.9649, -0.1284, -0.329, -0.3115, 0.1039, -0.0216, 0.812, 0.5999, -0.3927, -0.0151, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.4262 left_y=-0.0857 left_z=0.0765 left_yaw=0.0946 left_pitch=-0.2266 left_roll=0.0501 left_gripper=0.1039 right_x=0.2936 right_y=-0.0001 right_z=0.1705 right_yaw=0.0003 right_pitch=-0.037 right_roll=-0.0004 right_gripper=0.9972\nstate[joint_eff]: [0.5128, -10.1265, 8.8821, 1.5018, -0.1001, 0.1001, -0.0415, -0.0342, -1.2513, 7.3094, 1.7411, -0.0513, -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 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6373, 1.8103, 1.6363, -0.8349, -0.482, -0.572, 0.0063, -0.0216, 0.812, 0.5999, -0.3931, -0.0154, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.4166 left_y=-0.2021 left_z=0.1935 left_yaw=0.0813 left_pitch=-0.2778 left_roll=0.0592 left_gripper=0.0063 right_x=0.2936 right_y=-0.0 right_z=0.1705 right_yaw=0.0006 right_pitch=-0.0374 right_roll=-0.0001 right_gripper=0.9972\nstate[joint_eff]: [-0.3624, -8.7043, 9.2239, 1.0525, -0.486, 0.0806, 0.4615, -0.0615, -1.347, 7.0085, 1.7118, -0.0659, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3145, 2.5355, 2.0869, -1.5558, -1.1183, -2.0617, 0.9968, -0.0216, 0.8173, 0.6006, -0.4236, -0.0151, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.4511 left_y=0.0241 left_z=0.0768 left_yaw=1.4442 left_pitch=0.1638 left_roll=0.0117 left_gripper=0.9968 right_x=0.2896 right_y=0.0 right_z=0.1632 right_yaw=0.0004 right_pitch=-0.0725 right_roll=0.0004 right_gripper=0.9972\nstate[joint_eff]: [0.4581, -11.8222, 7.1316, -0.5104, -0.7399, -0.3932, -0.022, -0.0752, -1.6068, 10.1538, 1.6386, -0.0562, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fd2728a44b82356df162f63a555eae7d7e5550b2c048a0463bd7cdea27a57d9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33f0fb5e142b2d9410c694b7c9e0e04fe8179f0d57e6f04cf581172f23211bb6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ec9b37dbe269d4b92cbedeb2080c9e7c1e2dadb68147eca74b2af9b9e1b007b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJ1lJkIuWPnafyGT9VwcdWNvdr45UEjyBs6ljoA73dDaNe0wtgINysqeTrW4hYGg-Q56Tg3bVzOb1OUqrrgppj92qEifPpj72zmpfDujE4AibArclxfdHPeEB-LZa-2Mv96M1njndAFhQ-H4NX0FTaSjt0-8VTaONfRT9bctaQZ9sV1-OMYijSS6RxTIUPUfDeWrPg89ulDD5geWs6jXVuoMzZ8hssan4CRubgKxMDgfMn15qfg0fFHxnSMML049Wl9P6yxXA2PoOLUgHsTrZ7qRgPTAvE8mOuxUsvmCC6ve_oOy0uuUPXp2AqG7SxJoQz__hisgUKR54NA9AM9ZGORqgKEOMZ6OEXR0cFYMqZsxLu_flsv8uhr4CWMdy-yzZw5NIptcm5ip8W5qG-XRhCM5GHDGzPxOvfCqzHDVC18r2vMir4SMBsxdc7WUHoBCMR7tk7oIwqHhR7iSjx40MPURKhu3LThuEL3u7uYY86xpxSqxvagCWsBu9rSX45cvTE64cznTmfSYOEvgskdd2c_6XZdMrhF6eN_xbdYQ5mDHikcKdt0tfmZJifkm8JoPh1RH3Ky-2u6Ihx_72e7u_tg0n4JnZt8X026nIUHqKlnHO0NNyj0f5oToipzgx_ZPQU3ht5B5Xsy3aVstc7ccUmMevWqxqac4GodX65rFmhCrSp8V8y0e64KadCkdm5L5ZWYOI69RRZp7ROFGh8RkqF4vVA8TY5oDlYjZEP9HhndupZkZiQcVz0vdE8CCrwyFkPUwEcsNeDfAk_v-P--p53MrQPtEgFNtF6MYaV0rW0NaASdcNNoc1GOapPLUhmiGrM5NPmFjTan3SeEbjqrrY-EoYq2gxpQcWRL2fUhIa99Rqbs4DACs3N6_--8HCH8oFayJl9tjGL8H-uaf8arm-Lu7jdKzRFeOxqGqKN-DWOrc39E-Neac6ERI9g6eJ4LlGkgFXNl4lwWgqz3K-CZSUAZwR0xJfFqmrCbhLR0TVgw6nd4vtIOzIgQYyDhfFfIQVEr_wjCq55dmZn18azL-5SFx0Dkhb7XB91v86qesG7V_Aw9KBDtwgSLfKnggSIvIBKv7p_5HItmk3bB7_W4n9uz5SQGgNsz8awyQX9d1XbgvnTfEmsbB7CAObNeG4185VqCDYB4A1b2Ekai8wiD0hgtF_7XFHtMyBogdG-qyySOLTaKkthKMQ4vYjBqifrbl7k7goGMUHuKnF1OktoyC-kQ18O0cDFqXcd9le5alN9xmoMLNQtm04HRt5O_mLFiYLtP6zcnW03JioU8eXfYHCpVln9GkOwhlLyiIK-Q2SJXjd7c=",
  "id": "rs_0c7da84283467cc2016ab49d63606c87d0b42246a2a9c354c0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.14,\"left_z\":0.22,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The rotated pose did not track: the hand moved well left of the requested point and dropped lower than intended. I’ll return to a higher, unrotated pose before making another approach.\"}",
  "call_id": "call_IH99eEvrFkT7kWFVm1HBMej5",
  "id": "fc_0c7da84283467cc2016ab49d64133c87d0851adfc8f5f4a47d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IH99eEvrFkT7kWFVm1HBMej5",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5068, 2.2189, 1.8317, -1.2697, -1.1011, -1.7378, 0.9973, -0.0216, 0.8204, 0.5991, -0.4374, -0.0151, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.4417 left_y=-0.0609 left_z=0.1363 left_yaw=1.1242 left_pitch=0.1039 left_roll=-0.0386 left_gripper=0.9973 right_x=0.2875 right_y=0.0001 right_z=0.159 right_yaw=0.0004 right_pitch=-0.0908 right_roll=0.0008 right_gripper=0.9972\nstate[joint_eff]: [0.1983, -11.5214, 5.9145, 0.0806, -0.7741, 0.2076, 0.0464, -0.1846, -1.5248, 7.1179, 1.7656, -0.0073, -0.0513, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d4e461cb6eaab05ceba4371d2211f4a60872584fd591af09c1579ab504f01e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14fbbcc2e9aaa87c994ce75f1529959d60ed60ec9d55a4b49e4e718f516c4331",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:128d187eec5f751877df9d0db9b67e1994cb4e3ca9eab2bf9cdd31cf93a3776f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /responses · status 200 · 3.988 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 69 changed as sent

message 78 changed as sent

message 82 changed as sent

message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3386, 1.6211, 1.3346, -0.5964, -0.329, -0.3149, 0.1039, -0.0216, 0.812, 0.5999, -0.3935, -0.0151, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.4313 left_y=-0.0876 left_z=0.1808 left_yaw=0.0992 left_pitch=-0.25 left_roll=0.0589 left_gripper=0.1039 right_x=0.2935 right_y=-0.0001 right_z=0.1704 right_yaw=0.0003 right_pitch=-0.0378 right_roll=-0.0003 right_gripper=0.9972\nstate[joint_eff]: [0.3897, -9.9487, 9.1692, 1.4383, -0.1734, 0.0513, -0.0171, -0.1573, -1.1009, 7.0359, 1.707, -0.0317, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3145, 2.5355, 2.0869, -1.5558, -1.1183, -2.0617, 0.9968, -0.0216, 0.8173, 0.6006, -0.4236, -0.0151, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.4511 left_y=0.0241 left_z=0.0768 left_yaw=1.4442 left_pitch=0.1638 left_roll=0.0117 left_gripper=0.9968 right_x=0.2896 right_y=0.0 right_z=0.1632 right_yaw=0.0004 right_pitch=-0.0725 right_roll=0.0004 right_gripper=0.9972\nstate[joint_eff]: [0.4581, -11.8222, 7.1316, -0.5104, -0.7399, -0.3932, -0.022, -0.0752, -1.6068, 10.1538, 1.6386, -0.0562, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5068, 2.2189, 1.8317, -1.2697, -1.1011, -1.7378, 0.9973, -0.0216, 0.8204, 0.5991, -0.4374, -0.0151, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.4417 left_y=-0.0609 left_z=0.1363 left_yaw=1.1242 left_pitch=0.1039 left_roll=-0.0386 left_gripper=0.9973 right_x=0.2875 right_y=0.0001 right_z=0.159 right_yaw=0.0004 right_pitch=-0.0908 right_roll=0.0008 right_gripper=0.9972\nstate[joint_eff]: [0.1983, -11.5214, 5.9145, 0.0806, -0.7741, 0.2076, 0.0464, -0.1846, -1.5248, 7.1179, 1.7656, -0.0073, -0.0513, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d4e461cb6eaab05ceba4371d2211f4a60872584fd591af09c1579ab504f01e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14fbbcc2e9aaa87c994ce75f1529959d60ed60ec9d55a4b49e4e718f516c4331",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:128d187eec5f751877df9d0db9b67e1994cb4e3ca9eab2bf9cdd31cf93a3776f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJ1q-IPyGeL47CVZ4U1KyuI51mmGOiF-cHtghMT543YknoH6EUeMl761d-naDBHyFsDLAi9feF2P2lwebHS2KAmgS5iCTOZz0MMQpxvrmAvO2t8zGIEadDu-RyitCWx4Vq2riqt4zblar2g_1EJbBvsXLMkzmgEw4mZ4CMReUzKrtEPpfzzEtlH3n6RNKZ1azWncjAi8Xnr7tW5RRc01QxA0R-OJXvklzhmoTcDuv-6efXPTrpJa5F2IrTtvaVmZh0w_fEUDQcW_YZpBSc3pAsj79zbGXlSiwejownsBO4yEbGt_b5a63F73qlS8D3BKkPmANXIwNgzd4rls509vOMKcVnlFmbBvv1KPs9JgiA2bCh5lPbqupI8KqDSiOaj4GQW2IN5elWMD-Aab5NVIJq5px330P7CX2A-eOXTQR7EJH51k0Hi6px9NjR6FBNev_VtrQcP0CGRaeXnkPK5rpAkxq1EpIbYoNczSYNcN6y1N8vVyInsFDEbiUk_-3xU1qz0ootWySDljNOEMCzX9DdVoKCpMPZjQpg55IqNpk9oevXOlQSnd_QF9mF0FzIQqyewUJh1KtQQEuFlbRJM1A6jpwjnQ5oSAwUpwoLZvMhOPjzzs-KL6jdrCFtJ9pA95uPpD6WCNfbRQcTzls6T5VGVOQg8wYRle39K-9P9MH1nTaG8m8iJju7YvqU2UpIUxfXrBKnWuAdAqYuW4R3S3lUkJZd78OSaM-xhkld-ojv9mcJmRT5YZmT29AorvupYASQi98VsdFIqIruVn0_grRnmTVmnTmdWzuL8UQwprvWNb0JUTwlsym5dHllaaelIZ_t305z2QSI5oRfCoHp5t-iahD4dHSMn8DQt6qZ6HOAKN1TQbn-5DxLlCDKlOjJvanKoX2irfWuWFWDy7wJHOt2JH77thXkSB__VBb0G29xdhIORvTOKP9KdnqrG55Ty3urIo-9xhf09Ci7Y2pxfesGrJ0cxX7-5tSOSzN59Ghq0B5vzTLtr_rfFIAMUMxvxvqoD-bLRRWe73E7f_ngc65cLIh3zoCfc6bmycWaRWkwAcvy_YKdxCppvXfImSytqTit1RiBGwP4xgm29vKAHdkqPRarWLoKUoPGpU8p7xq--Ng4LcurL5TLiBjH-MynT7yKl3gCMKiCLi1vJKV16OsMJ8zzOWxj0wXX_0j-Hpn6nD7NctnaPuxFxXJMx9m27g7HKaigVEsTT-T2Fp0GTJ6ie9zroG1bcXhnYwB_ULieKUua_8SVYZfVP0GMs86Z9E7m2Q-48yHaga-N2QkJ6YI4iDmzG2RnmcgJeo5eMWiu0jEdg=",
  "id": "rs_0c7da84283467cc2016ab49d67f45487d0a8c4701a837f0e88",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.12,\"left_z\":0.25,\"left_yaw\":0.4,\"left_pitch\":0,\"left_roll\":0,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.18,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The left wrist has not yet returned to its normal orientation. I’ll retract toward a less extended pose while unwinding it, and reset the idle right arm to its home height.\"}",
  "call_id": "call_K1XSUA6OChFLpvSJqnSkhT4i",
  "id": "fc_0c7da84283467cc2016ab49d6879f487d08b05b161dd647a3f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_K1XSUA6OChFLpvSJqnSkhT4i",
  "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]: [-0.7734, 1.4189, 1.2881, -0.9386, -0.915, -1.0527, 0.9974, -0.0216, 0.804, 0.5957, -0.4133, -0.0151, -0.038, 0.9972]\nstate[eef_state]: left_x=0.3266 left_y=-0.1182 left_z=0.2447 left_yaw=0.4685 left_pitch=0.0072 left_roll=-0.0508 left_gripper=0.9974 right_x=0.2897 right_y=0.0 right_z=0.1666 right_yaw=0.0024 right_pitch=-0.0538 right_roll=-0.0031 right_gripper=0.9972\nstate[joint_eff]: [-0.335, -5.9419, 6.106, 1.0672, -0.5495, 0.2564, -0.0073, -0.1709, -2.0034, 7.7607, 2.0293, -0.022, 0.022, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe531e7c77efc81b0f16d1821fed368c10d9abe4866a344486acf8d1594b3f4a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0d379cd0afe617bf4922e5fdb8863d83c6824a395f32ce454e89030ef37a0b1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb7c35da465b65e2b104ba1e63625a55eb9821e62b8c0e75366c6bd669c480d2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /responses · status 200 · 3.972 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 73 changed as sent

message 82 changed as sent

message 86 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6373, 1.8103, 1.6363, -0.8349, -0.482, -0.572, 0.0063, -0.0216, 0.812, 0.5999, -0.3931, -0.0154, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.4166 left_y=-0.2021 left_z=0.1935 left_yaw=0.0813 left_pitch=-0.2778 left_roll=0.0592 left_gripper=0.0063 right_x=0.2936 right_y=-0.0 right_z=0.1705 right_yaw=0.0006 right_pitch=-0.0374 right_roll=-0.0001 right_gripper=0.9972\nstate[joint_eff]: [-0.3624, -8.7043, 9.2239, 1.0525, -0.486, 0.0806, 0.4615, -0.0615, -1.347, 7.0085, 1.7118, -0.0659, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5068, 2.2189, 1.8317, -1.2697, -1.1011, -1.7378, 0.9973, -0.0216, 0.8204, 0.5991, -0.4374, -0.0151, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.4417 left_y=-0.0609 left_z=0.1363 left_yaw=1.1242 left_pitch=0.1039 left_roll=-0.0386 left_gripper=0.9973 right_x=0.2875 right_y=0.0001 right_z=0.159 right_yaw=0.0004 right_pitch=-0.0908 right_roll=0.0008 right_gripper=0.9972\nstate[joint_eff]: [0.1983, -11.5214, 5.9145, 0.0806, -0.7741, 0.2076, 0.0464, -0.1846, -1.5248, 7.1179, 1.7656, -0.0073, -0.0513, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7734, 1.4189, 1.2881, -0.9386, -0.915, -1.0527, 0.9974, -0.0216, 0.804, 0.5957, -0.4133, -0.0151, -0.038, 0.9972]\nstate[eef_state]: left_x=0.3266 left_y=-0.1182 left_z=0.2447 left_yaw=0.4685 left_pitch=0.0072 left_roll=-0.0508 left_gripper=0.9974 right_x=0.2897 right_y=0.0 right_z=0.1666 right_yaw=0.0024 right_pitch=-0.0538 right_roll=-0.0031 right_gripper=0.9972\nstate[joint_eff]: [-0.335, -5.9419, 6.106, 1.0672, -0.5495, 0.2564, -0.0073, -0.1709, -2.0034, 7.7607, 2.0293, -0.022, 0.022, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe531e7c77efc81b0f16d1821fed368c10d9abe4866a344486acf8d1594b3f4a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0d379cd0afe617bf4922e5fdb8863d83c6824a395f32ce454e89030ef37a0b1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb7c35da465b65e2b104ba1e63625a55eb9821e62b8c0e75366c6bd669c480d2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJ1v1_Yb8t5xrBR5bGg8vF5Rgzi0k9xL-XrUwDML6IBkWd9cWzdDKK7HOVxTQPKzkhctZUJeBQj5W656U8utFw5OppSyLsPDzJB4jd8hiOyz_VFZvOCq-7F3IguvXhAqp362I2wtFdgIupasG4-MizZeQUuWZefRMupQ0zV5-EpPW7dGuybAPUb9zVNm7gQ3S-rnTGkK2llU_d2pQ8BIonY1Y4orXShj4iTAQkUcffQr3GgdcYoEzYl4gXKTFw74Gx9FSyTFNorLvySRMMUVpX6H8sruqLcIIG8dXvWrEuyFFWXqjlH_N8fc8B1312ehXazhh32eGAPzfGYMkiU36IRFWSZNUgQumvL1VwvxxC1dS_mXVGrAVLperMF568Cobg4fkdlSqZsI7dwFn0aBr4tc5xWXofHM9IntijMLJBRryTjpKvWpgSErfLuJZN-7ODMIyR0DLDJerr6NCV0PRhGcsHEdMBocOjDDWA3XIMeqKJxBFuGNAwpaDVOVivDxc5345cgLuV9heRJcEq9mu3zJ7GXiF0TYlEZuN9c7nwkrWATJ4x3vDLvaJAIYKoK7dlcXpz8XL-OFdcY0owyS5EtRAla4zjcoaKgeC-B_Mx7aCCwfmGgz-0dmphfV12hbwyd4nKdex7mgg6bnRdlyP05WCapghzxkq8w1tQixg0msvecdKGcES2T5JgGrzoIpHf-mgmM2V8YgzZj2PPPMjSw3vswFtSZG3rLWKHxAlck5IGqNiEvmwCHkO9D1X-4zm9tITppNkaEX6oqDFqcxAaddb_MQqspGRtjcckILOqDWZUyMXrPeKHxfyMJOBUiPaZBM4EAagPvbW6v2pATK_7IWPNIHuoGIqOswgWZ-E6p5OcpP9qyNmrWapkLgpChVYtk7ytHyJ-x_nEs2a-oC9NAhdvc80ZPzrD1ZK27wiopKXkfkNjUWDDqAGbFT0H4_lixy5pJb-5-5XHkk2ahI1uTLXdTJToGd0_Vdn1_XUSVYGhVNQT1VacVRpCicEhRt-P7bvOljUfFRV_RLThhyLy0QdQSqr6zbm-0-xaYiVM0Y86Z4Z0mSd_yUjl3byEWnlD9ofRuCyAepYDOUFf1oHtMohJYoT2lfIZ7P0C9ytaN5NIleiNm8puuVdDbyeo4wSKMEtViIcL8NliHEYwOFJ-3RA0FAbsbkWvICFEKKtxzbt_BrZc9AIYRoRqjVWftg-UIuCtARtVCLHN_Gk_DT9H1ZQYeVlpSGobWLWXrD0Bj7TwdtteVgRw8BoPygQ83hDO0BDFbl9oyXBeFVuxISUWGivA2NQ9RKmaD_ZZCqNaUdr1g_10nIxPZAVXjtZF-RdXENrrszqNgkYHxKSE5TFBZp0lvyPcc33i0pkOAjuwzdXwJtk-1U-WH-XrbWsHVYDZXpOevxEcpVjBwsBStVEfdibvDRQg0l0I1I5bQ9GX6CmMTFZj_FQAxV5LJOf0w0uBtVU9YdR_bhX6e-oZ33wA24B6wVRB32pHBxroh8Mcba9DGgFXs3W2I_oh56r3JlHwa6EPKM4pN6aJqShpv3y5C55bCRRqBMyPgzT9Ekh1njDwA=",
  "id": "rs_0c7da84283467cc2016ab49d6caaf887d084a3132c1cf656a3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.47,\"left_y\":-0.14,\"left_z\":0.14,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The left arm is tracking again, and the turquoise bowl is visible ahead of the fingertips. I’ll approach farther forward with the wrist restored to its original orientation.\"}",
  "call_id": "call_s8BiQ1tGi9b1WIFG0dyPmAJc",
  "id": "fc_0c7da84283467cc2016ab49d6e178087d0be9c32d949f3204c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_s8BiQ1tGi9b1WIFG0dyPmAJc",
  "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]: [-0.4335, 1.7084, 1.0748, -0.0628, -0.4202, -0.3431, 0.9974, -0.0216, 0.8043, 0.5945, -0.416, -0.0151, -0.0418, 0.9972]\nstate[eef_state]: left_x=0.4554 left_y=-0.1274 left_z=0.1285 left_yaw=0.0799 left_pitch=-0.0539 left_roll=0.0095 left_gripper=0.9974 right_x=0.2892 right_y=0.0 right_z=0.1655 right_yaw=0.0044 right_pitch=-0.058 right_roll=-0.0061 right_gripper=0.9972\nstate[joint_eff]: [0.3077, -8.5128, 7.9521, 1.7753, -0.0757, 0.1734, -0.0122, -0.0752, -1.2103, 7.2684, 1.6923, -0.0269, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e38093f2b616d1fc2c48fb57d0922a783608d0cd1a0eaba923bc41f584284eb3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10b43a76a888fdef403d00ed115f32b14e0261cb6a4904b6d962a955a548f779",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea32f58743b2f35bce72319c21185a3309c706116c1016f60ab0a871f79dbb59",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 2.547 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 78 changed as sent

message 86 changed as sent

message 90 changed as sent

message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3145, 2.5355, 2.0869, -1.5558, -1.1183, -2.0617, 0.9968, -0.0216, 0.8173, 0.6006, -0.4236, -0.0151, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.4511 left_y=0.0241 left_z=0.0768 left_yaw=1.4442 left_pitch=0.1638 left_roll=0.0117 left_gripper=0.9968 right_x=0.2896 right_y=0.0 right_z=0.1632 right_yaw=0.0004 right_pitch=-0.0725 right_roll=0.0004 right_gripper=0.9972\nstate[joint_eff]: [0.4581, -11.8222, 7.1316, -0.5104, -0.7399, -0.3932, -0.022, -0.0752, -1.6068, 10.1538, 1.6386, -0.0562, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7734, 1.4189, 1.2881, -0.9386, -0.915, -1.0527, 0.9974, -0.0216, 0.804, 0.5957, -0.4133, -0.0151, -0.038, 0.9972]\nstate[eef_state]: left_x=0.3266 left_y=-0.1182 left_z=0.2447 left_yaw=0.4685 left_pitch=0.0072 left_roll=-0.0508 left_gripper=0.9974 right_x=0.2897 right_y=0.0 right_z=0.1666 right_yaw=0.0024 right_pitch=-0.0538 right_roll=-0.0031 right_gripper=0.9972\nstate[joint_eff]: [-0.335, -5.9419, 6.106, 1.0672, -0.5495, 0.2564, -0.0073, -0.1709, -2.0034, 7.7607, 2.0293, -0.022, 0.022, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4335, 1.7084, 1.0748, -0.0628, -0.4202, -0.3431, 0.9974, -0.0216, 0.8043, 0.5945, -0.416, -0.0151, -0.0418, 0.9972]\nstate[eef_state]: left_x=0.4554 left_y=-0.1274 left_z=0.1285 left_yaw=0.0799 left_pitch=-0.0539 left_roll=0.0095 left_gripper=0.9974 right_x=0.2892 right_y=0.0 right_z=0.1655 right_yaw=0.0044 right_pitch=-0.058 right_roll=-0.0061 right_gripper=0.9972\nstate[joint_eff]: [0.3077, -8.5128, 7.9521, 1.7753, -0.0757, 0.1734, -0.0122, -0.0752, -1.2103, 7.2684, 1.6923, -0.0269, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e38093f2b616d1fc2c48fb57d0922a783608d0cd1a0eaba923bc41f584284eb3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10b43a76a888fdef403d00ed115f32b14e0261cb6a4904b6d962a955a548f779",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea32f58743b2f35bce72319c21185a3309c706116c1016f60ab0a871f79dbb59",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJ10lFH-l0v7VrkEMuWWrEbjKuztrQ_KojlRRacHhoKwD5HTMKYUKY3G7-OoB1x9Nbt3HyC5MynVp0KHx-Fx2cnHtIghDwXLaH0W_tJ26_y-6jsFAdOebWewJf-yBWc3bZAhI5zlinDoX7_xvZCxkN9fVcMcKgICBxS8EMUg7f5sWPozEJ3FEyyjpO2CjF_gXQ4Xs7QKb_IfnoeCxC9I0gcpZcsVUJ921xJdzx0P1b0yp0aADXUwffgnwyGgG4j7NZof-UPQbXC2ZwmpSvsOcmVcZyHwaTQrOBWYV_lj9mhulSiUb-kX6HKBU9-6D1hYcq3Jh7tnStGMJi2IYojzmnfIv4r1-D1nnSdIYlQ4OA5c5YU_CZ3-ZJnZHdovd7NXJnqLZ0ogoD4JoA6BoVeeZVupjI-oBFFE_-xSM2JlmIKvCRgXPl2w6yXwcNusuHh2ip0BwvzRJH4XQKjlBxuh8HVTR4A0b9Bl9zIipKVGD_mih85G4yntdP3ie-bVZQLjAeET2yqzyR-V9LihmU7fmkykUNcbk4h4tfXqu_lys2vVnEOnNZA7ZxbM9Wf7vmp6ritlZQxQpQHVV1k7WdsFlobRS8B5i39WsJ7K25N8flQ20rgeUCd36tT_C38R8yJQ24dkJZSuKdTjr1LhaQ9Tv1fN704gIj7VGS_HZlrj71lOrjdDzbSsbAhmg2hX12vrG4plUP4bmTH6uhQiiPI0RJt7g6pZCikCJZm5gXjEV2b-4Uq9qxix4MAFzl1ZdCnVNN0wtwN7YALQ4Ab76Q3yxaMuBRDQuJQRo2-gFe9a6IPn3XKURPerMqVCsMLPIVGeEo-L2ogGd0mp97AO8gCSSkPKOeLNk-OlKmpMOW_12GwEQldflVrvvQ2qyz68-KDk3AUxGuQZ9kY_ZLbAs2EAVNA_m1tx41cc3M8ZW8bS8uqmcPLfM7_4J4e8jLgBFz0KjaKxw-47zb-UacaiSSvanAv7B0nwKklo2WsIuA9fC0usw7UAYvA_O-cy1KyulHYfk9etiBi-w6YmPtaMWCWztGYz2PoLeJeONKwTIVSWvyEs_V3Je9CKvsGK-WoTUr_enUHI_rj6GSrI1WDDci6rXYAUSSYTIIoTLIdMnn_4cwsMabNCDBykXo6Is9oXBh7bABP1W7yuZYXjxPnqEK8n1yCwkoF5U1lWeoDRjmF15aDzPj-yKPlz0pP7daDuxgkjfJTUC2PX0rnvPUM4bqUt_ySE73AG2_9hoJ48I8m44WDEPivlDWAk4foijT5rbrCotnaRFuhPFPHtGfWiAw9HNzECkCLnaVS_MamkqiRszz3SuwAM08LdhwEI_FOo__GTChnS78XyHX9QlDdzWqUMG1uK0Vray58i82Qh_2XkCfT3oDESTAUBS_Hey6cDfpEuqPHLKGIGJhj2ynMb6_b-ICxKK2K8ElojyMEk9w5Kjny1nJkBmO3WQWl-vDLD1upVFTRDL7znJDWlHVy6aKEsBQCtjJUphTzjkZmm9cHY4jjQldk=",
  "id": "rs_0c7da84283467cc2016ab49d71a96c87d08c75074d99f95ec2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":-0.17,\"left_z\":0.03,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The turquoise bowl’s right rim is now close to the jaw column. I’ll advance slightly and lower around that rim, keeping the orientation fixed so the fingertips reach the bowl rather than the table in front of it.\"}",
  "call_id": "call_5rcgWMksBoncSJRWayzsGfrU",
  "id": "fc_0c7da84283467cc2016ab49d730c8c87d08db9099f1ae00b40",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5rcgWMksBoncSJRWayzsGfrU",
  "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]: [-0.4667, 2.0346, 1.0351, 0.3088, -0.4019, -0.318, 0.9974, -0.0216, 0.807, 0.5945, -0.4171, -0.0151, -0.0448, 0.9972]\nstate[eef_state]: left_x=0.4797 left_y=-0.1603 left_z=0.0264 left_yaw=0.0183 left_pitch=-0.0548 left_roll=0.0169 left_gripper=0.9974 right_x=0.2891 right_y=0.0 right_z=0.1645 right_yaw=0.0061 right_pitch=-0.0618 right_roll=-0.0085 right_gripper=0.9972\nstate[joint_eff]: [-0.9094, -9.347, 6.8444, 1.5849, -0.2173, 0.1148, -0.0122, 0.0889, -1.4838, 7.1863, 1.707, -0.0708, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d96acdb61a94ac086661e7b8d6f87ad7b2778eaa2c177ac0751aeb13003640f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d9e840b677a68f193cb76b6368835ab4206f66ded1378fc5a8e186e35c2966a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d136f344bba02378e64244c9364468f9a0593563b89408b3e8c9b50194ddc2f3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 3.106 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 82 changed as sent

message 90 changed as sent

message 94 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5068, 2.2189, 1.8317, -1.2697, -1.1011, -1.7378, 0.9973, -0.0216, 0.8204, 0.5991, -0.4374, -0.0151, -0.0341, 0.9972]\nstate[eef_state]: left_x=0.4417 left_y=-0.0609 left_z=0.1363 left_yaw=1.1242 left_pitch=0.1039 left_roll=-0.0386 left_gripper=0.9973 right_x=0.2875 right_y=0.0001 right_z=0.159 right_yaw=0.0004 right_pitch=-0.0908 right_roll=0.0008 right_gripper=0.9972\nstate[joint_eff]: [0.1983, -11.5214, 5.9145, 0.0806, -0.7741, 0.2076, 0.0464, -0.1846, -1.5248, 7.1179, 1.7656, -0.0073, -0.0513, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4335, 1.7084, 1.0748, -0.0628, -0.4202, -0.3431, 0.9974, -0.0216, 0.8043, 0.5945, -0.416, -0.0151, -0.0418, 0.9972]\nstate[eef_state]: left_x=0.4554 left_y=-0.1274 left_z=0.1285 left_yaw=0.0799 left_pitch=-0.0539 left_roll=0.0095 left_gripper=0.9974 right_x=0.2892 right_y=0.0 right_z=0.1655 right_yaw=0.0044 right_pitch=-0.058 right_roll=-0.0061 right_gripper=0.9972\nstate[joint_eff]: [0.3077, -8.5128, 7.9521, 1.7753, -0.0757, 0.1734, -0.0122, -0.0752, -1.2103, 7.2684, 1.6923, -0.0269, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4667, 2.0346, 1.0351, 0.3088, -0.4019, -0.318, 0.9974, -0.0216, 0.807, 0.5945, -0.4171, -0.0151, -0.0448, 0.9972]\nstate[eef_state]: left_x=0.4797 left_y=-0.1603 left_z=0.0264 left_yaw=0.0183 left_pitch=-0.0548 left_roll=0.0169 left_gripper=0.9974 right_x=0.2891 right_y=0.0 right_z=0.1645 right_yaw=0.0061 right_pitch=-0.0618 right_roll=-0.0085 right_gripper=0.9972\nstate[joint_eff]: [-0.9094, -9.347, 6.8444, 1.5849, -0.2173, 0.1148, -0.0122, 0.0889, -1.4838, 7.1863, 1.707, -0.0708, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d96acdb61a94ac086661e7b8d6f87ad7b2778eaa2c177ac0751aeb13003640f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d9e840b677a68f193cb76b6368835ab4206f66ded1378fc5a8e186e35c2966a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d136f344bba02378e64244c9364468f9a0593563b89408b3e8c9b50194ddc2f3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJ13IsodMNVztcf6eE6WvQOmZwUPLpijLGfN2sVIzlwRdy61tw7EDQVBvcjNrKZTh9AiQtyF3nVkQ26m2QUng9t6AAuhEshUHFaKZkpkHqoA1eQhbn89YZMb4WuChPw466esaQeLQmCKXACkngQvTJ69FR4luNde4d3yTRgRbcGQVpt6c6nrenfO7vPeBMLNhyq2a4BVFgiK1KPy9hKHqPUkU8i-M5UQOjgIaRdiODlUwyEcjYKPtYrgBZEQqXt12yzjrzdf-CP-tpesxwLAGuwHl-OEB76YzxOUhZNvb6pc3H3EcmVbdBSGYtC9L2z3V0ppVjh3lp4ElZITAn7GQEWCtnPrvq4yhFeW2qyse2nedx9-gPL-V0LSAuTanVq6pQAKSS0o_Zzp_PWRmlXtE266SeMc4HdMNo2j6lVrfgaX6F_EPI5Jpwmn5zcY7pW-FC9ICZke_slGwEJtwj99axW_Rc3gSfJGnNOIb86jUzBOj2LeHyEe9Dol-40ThlYfACwPSvYxuP7Z5ELKl8ez9nwFMn-lY3QrwkhhSu9E8nQsubVY7k9l_KJpN1ua8HRJJWthgxAkBThlxxMnjwBF8HKgVpGaw_jsagSxVXyjkVegSJCikYt_hnEARiMyFo9-kfj8yeQGP9riUyCu-hDYAzXBAAtiTH-Z76DLUHSixem1-qKRiU8vJ-NUXMmsh0x1Msh2E5B7ZbEQovbsgJ0lNHO7pcWaK06gCDFCLjBHs9KmBRO05upP3poqp8VC_oYEjKIqdN3inYfa--2XaUzrr_2ORTHfoULurhDK_EI5S4nFzou2mXb-Im94PNPeFCsVRttxViyrI8cfbAYmRSZcmpNZWOmZeeQEfjYUmZ6Jf9lEhe8k8AImb-L7mH0ICZTmxdHAD78YlLOH2JWVsS_wYgXko5J6LXl_8cR65gC8JLBK0oTs56nqKdxD6hFmMMOKPJrfEeOJB-qwZ_XV1qSUBT9br324vgGuoSde2CtoG5LpdLDRsX0quYVNlaZ-grIDkHObVr7Rl9WFWJr2OciiYrd8I_20rzZz1gOC-LPHeA1NK9n1TwvB1DqD7FFwI_8kotlYiuNLwvfVJO5EtV2S5_r-WNjRUZtmYBv44DAuY8IlReYwCMFjPY5xQHGwVDs8gcFNZjEChSnTOqcPqVvJanNaZF-PpAdSUx7Heexn26Jxw7ZqcHzvovhZ5eVAlCkv2ch7DV6SgZDZ3iDnaL3A6AJFd0Fnl-GKZ-RG5gUBdN6lv1fw5ovscEIDJS-rFrLKRgLi",
  "id": "rs_0c7da84283467cc2016ab49d763f4487d081db65149070d98f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The turquoise bowl’s right wall runs directly between the fingertips. I’ll close on it at this deeper position.\"}",
  "call_id": "call_0D4qg31SYq456Kb54xKFX89t",
  "id": "fc_0c7da84283467cc2016ab49d76a61887d089e59134a2c2f14b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0D4qg31SYq456Kb54xKFX89t",
  "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]: [-0.4698, 2.0232, 1.0382, 0.3519, -0.4461, -0.2977, 0.0288, -0.0216, 0.8097, 0.5945, -0.4198, -0.0151, -0.0456, 0.9972]\nstate[eef_state]: left_x=0.4873 left_y=-0.1579 left_z=0.0429 left_yaw=0.0392 left_pitch=0.0084 left_roll=0.0301 left_gripper=0.0288 right_x=0.2889 right_y=0.0 right_z=0.1633 right_yaw=0.0065 right_pitch=-0.0672 right_roll=-0.0089 right_gripper=0.9972\nstate[joint_eff]: [0.1983, -9.3197, 5.6957, 1.033, 0.4371, -0.398, 0.3687, -0.0205, -1.5385, 7.1726, 1.7021, -0.0757, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:327207191ea389415aabae648c70875ec93900ca92ec93d325674a1fc8582ab3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f0e60531839826c12274087cbd31f1bc1eb7bbb5d0a1d5acc36340e41f80dec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f29822d8b5cfcbb17b01336469e4ffeb2608556e1e14ee8fd4f2b33ef0bb67ee",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /responses · status 200 · 8.327 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 86 changed as sent

message 94 changed as sent

message 98 changed as sent

message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7734, 1.4189, 1.2881, -0.9386, -0.915, -1.0527, 0.9974, -0.0216, 0.804, 0.5957, -0.4133, -0.0151, -0.038, 0.9972]\nstate[eef_state]: left_x=0.3266 left_y=-0.1182 left_z=0.2447 left_yaw=0.4685 left_pitch=0.0072 left_roll=-0.0508 left_gripper=0.9974 right_x=0.2897 right_y=0.0 right_z=0.1666 right_yaw=0.0024 right_pitch=-0.0538 right_roll=-0.0031 right_gripper=0.9972\nstate[joint_eff]: [-0.335, -5.9419, 6.106, 1.0672, -0.5495, 0.2564, -0.0073, -0.1709, -2.0034, 7.7607, 2.0293, -0.022, 0.022, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4667, 2.0346, 1.0351, 0.3088, -0.4019, -0.318, 0.9974, -0.0216, 0.807, 0.5945, -0.4171, -0.0151, -0.0448, 0.9972]\nstate[eef_state]: left_x=0.4797 left_y=-0.1603 left_z=0.0264 left_yaw=0.0183 left_pitch=-0.0548 left_roll=0.0169 left_gripper=0.9974 right_x=0.2891 right_y=0.0 right_z=0.1645 right_yaw=0.0061 right_pitch=-0.0618 right_roll=-0.0085 right_gripper=0.9972\nstate[joint_eff]: [-0.9094, -9.347, 6.8444, 1.5849, -0.2173, 0.1148, -0.0122, 0.0889, -1.4838, 7.1863, 1.707, -0.0708, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4698, 2.0232, 1.0382, 0.3519, -0.4461, -0.2977, 0.0288, -0.0216, 0.8097, 0.5945, -0.4198, -0.0151, -0.0456, 0.9972]\nstate[eef_state]: left_x=0.4873 left_y=-0.1579 left_z=0.0429 left_yaw=0.0392 left_pitch=0.0084 left_roll=0.0301 left_gripper=0.0288 right_x=0.2889 right_y=0.0 right_z=0.1633 right_yaw=0.0065 right_pitch=-0.0672 right_roll=-0.0089 right_gripper=0.9972\nstate[joint_eff]: [0.1983, -9.3197, 5.6957, 1.033, 0.4371, -0.398, 0.3687, -0.0205, -1.5385, 7.1726, 1.7021, -0.0757, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:327207191ea389415aabae648c70875ec93900ca92ec93d325674a1fc8582ab3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f0e60531839826c12274087cbd31f1bc1eb7bbb5d0a1d5acc36340e41f80dec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f29822d8b5cfcbb17b01336469e4ffeb2608556e1e14ee8fd4f2b33ef0bb67ee",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJ17TWTSOFL6taZ7lL_xKmHv9vQ6RsXrGSrbXnB7u_N2eaNZshfB7fyxyVKLzNR9xlPsFHbdiacZxP0FDJvXbVNDYBP_Ucckv5lYV7xpLxn_9UFKsV2kdfCCuLHt9gie7J0RK0iM-Q4ucrb9ucXg3ZjnmIZXhwV7eKbZGgb4NRvVkcpdnMmyrOJYfzx6nvNTuPpRcOfAqy_yztStet6PKMnD0rCjUqCTY8_GyF7JYNm8nCcd3Dl0llzVaN8fNX5exWVmvMyYab-QGkAgFYtJEZ9WF3l6753rseGRbT3GjZNVKWnHt_pWHIzjYZsdqwtOUH-ynRKgi2V3uSSUOyUxA5h8XSaVrn_XXRNGLoDMcaLoGMwbci8__DIPDHScleFYpgs-WdvaQav7y75t-QymGXPfcn5vCb3DDHs47FNf4KL8BBwreQ4JmCd0qqM6BqRcIBaUNqGjqcB763ePonQzoXoSjVTfhweLSgbcFVKEbNjUgCIFomSio-o3aACmifraLt0ZJ3vv8t1hAD1Eq21YAjTW8epEu6ic4RMBmpt3DdL1k8KGHv4Xkkj8XvsNpx_xpPxbGTqhVu7ryanjmVtV5XNE1G7Qilla4lWEYtIVAz8T70JSCVnh5G2M_2bFVVV-mU68wT19BApuBI11C9sMFpc_pYSjwzGqw9A-RmFST_vrP1xwPh90pfjseciLMVNViNMkqbmadj0v3MWosB-VsWoGZfV1NJTv2Q_YAs5zECHjfKttlm4VL_RN-EwtI6HTbKt9d7UuWqjmlSgeYOHgGAAnc_QsCqcVA7yZqaRKs7q1KYZ71eQ16BwI0U6BsNuJ8gHTJ4GS_BD-uMp9W-HmrLVVDCcakuvA5MyQSLoJYyXoQeXETU1R0JGg4Bm9FOo-qyQsC_V6olDepUsG4IMyG0FAWECFA__q0MD_KQSPVUuZJMuhdsnRwuzXeYlXGKUNxgF10Tufkk0g_pEn5xl0MbPnjmmwAKAwaOQQUPSNrqZktIXZG-F8Yo6M6o5Ohz7Kd7CH4KMaIls2Z8Np3RFbOJO6QzVRz6VPlE3pIyyKn7n0yTQhK_ns8mOdBkiDhULj9mkz-G6NBY5JOccZL0zmLj9KOqKFfKbExD-sBChNBvDYItWoqK-R5wwp41Gn964PhZlSQNUQf3ZfJn5moC6AMZ85tTfo_cQLNOr5AOrNaRy_oysyWs0hKedb7ZshlPhyfPWzwW6631yL8yiJijD7xKJoi7nRzO5Ruui6vBvqnrZKvmNPotULEz1tz_-w5DQ8Bj6leyjiRDNHXPKBvW8is25DVA==",
  "id": "rs_0c7da84283467cc2016ab49d79a42087d091ee6a6f6cc9f226",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_y\":-0.16,\"left_z\":0.105,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":0},\"note\":\"The fingers have closed on a very thin section of the rim, so the opening alone is inconclusive. I’ll lift gently while maintaining the close command and check the bowl’s motion.\"}",
  "call_id": "call_vBG577ddzAhztCCfPx7Uf0JH",
  "id": "fc_0c7da84283467cc2016ab49d7a2a8087d0b74c82a92f9ec736",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vBG577ddzAhztCCfPx7Uf0JH",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4694, 1.8946, 1.055, 0.1711, -0.4076, -0.2996, 0.0416, -0.0216, 0.8108, 0.5945, -0.4221, -0.0151, -0.0486, 0.9972]\nstate[eef_state]: left_x=0.4744 left_y=-0.1581 left_z=0.0762 left_yaw=0.0099 left_pitch=-0.0339 left_roll=0.0248 left_gripper=0.0416 right_x=0.2886 right_y=0.0 right_z=0.1625 right_yaw=0.0082 right_pitch=-0.0706 right_roll=-0.0113 right_gripper=0.9972\nstate[joint_eff]: [0.4171, -12.041, 9.1009, 1.7998, -0.0073, 0.0904, 1.0281, 0.0615, -1.4291, 7.0085, 1.7167, -0.022, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ae4093abe6300fd63ef5275a145166ecb53237ccdd90f9658e2cfd5fbe0bf99",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:766646aa2657ff5db941282366b4e1a9649ab675359a3c914b6be13468472f82",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3185f6e9eb48d9860f27a9dec80e696d87d19a7e1a552afac12555c049eb321",
      "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 · 3.594 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 90 changed as sent

message 98 changed as sent

message 102 changed as sent

message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4335, 1.7084, 1.0748, -0.0628, -0.4202, -0.3431, 0.9974, -0.0216, 0.8043, 0.5945, -0.416, -0.0151, -0.0418, 0.9972]\nstate[eef_state]: left_x=0.4554 left_y=-0.1274 left_z=0.1285 left_yaw=0.0799 left_pitch=-0.0539 left_roll=0.0095 left_gripper=0.9974 right_x=0.2892 right_y=0.0 right_z=0.1655 right_yaw=0.0044 right_pitch=-0.058 right_roll=-0.0061 right_gripper=0.9972\nstate[joint_eff]: [0.3077, -8.5128, 7.9521, 1.7753, -0.0757, 0.1734, -0.0122, -0.0752, -1.2103, 7.2684, 1.6923, -0.0269, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4698, 2.0232, 1.0382, 0.3519, -0.4461, -0.2977, 0.0288, -0.0216, 0.8097, 0.5945, -0.4198, -0.0151, -0.0456, 0.9972]\nstate[eef_state]: left_x=0.4873 left_y=-0.1579 left_z=0.0429 left_yaw=0.0392 left_pitch=0.0084 left_roll=0.0301 left_gripper=0.0288 right_x=0.2889 right_y=0.0 right_z=0.1633 right_yaw=0.0065 right_pitch=-0.0672 right_roll=-0.0089 right_gripper=0.9972\nstate[joint_eff]: [0.1983, -9.3197, 5.6957, 1.033, 0.4371, -0.398, 0.3687, -0.0205, -1.5385, 7.1726, 1.7021, -0.0757, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4694, 1.8946, 1.055, 0.1711, -0.4076, -0.2996, 0.0416, -0.0216, 0.8108, 0.5945, -0.4221, -0.0151, -0.0486, 0.9972]\nstate[eef_state]: left_x=0.4744 left_y=-0.1581 left_z=0.0762 left_yaw=0.0099 left_pitch=-0.0339 left_roll=0.0248 left_gripper=0.0416 right_x=0.2886 right_y=0.0 right_z=0.1625 right_yaw=0.0082 right_pitch=-0.0706 right_roll=-0.0113 right_gripper=0.9972\nstate[joint_eff]: [0.4171, -12.041, 9.1009, 1.7998, -0.0073, 0.0904, 1.0281, 0.0615, -1.4291, 7.0085, 1.7167, -0.022, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ae4093abe6300fd63ef5275a145166ecb53237ccdd90f9658e2cfd5fbe0bf99",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:766646aa2657ff5db941282366b4e1a9649ab675359a3c914b6be13468472f82",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3185f6e9eb48d9860f27a9dec80e696d87d19a7e1a552afac12555c049eb321",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJ2D7l7RAlPnaBHXQFm3oZnH9xXikEAHhjtA8IARAeUbeEXRIpF2poQgbed0n8gOiztkOeHfXzRO0lGCzONbjIwJ0S6tXE60qG6M3eRgMdq59QtW-m_K80f_N5hkHKxW1vuQ0wt4csH2trGE-cOQdUAqV7LwGK_npDS2KmWpIT8zyaLWMTjgt4Tkd_mTlxLYydt8lWB_LBwYnqlczL2vSbRCeRx5oyZ0fDz41oZzWcgF_cATKGaTHUplsQi7XOGTAfKzvGLA7LYIC45D7rXMZhStrgDZ_w-SBh0azpB0aHSS-po5sq4WnW3-42Pag6kVQD_YP2rUNVJLNCeyTDZGAmyDidg3-Stsi3BN127W1jLqD05RHU2IjdRQKHLvzTpDrBucvgf6NfCUo_673qEVB_xaXNUEz3iH39hDKqtzYlA2gtFcPFqg0KPEHfPdNzsGMW-uNZWQCU2w0BkBJ-qs0_ZiJhOiqEISj22_U4Yud3gvdq2aKbk87k0mEnn_fqwozVlTtWH2NW_IC0ajgxzZT6KoakJd3_r0ifIxJsNRt87P7dt3lUxElj19Lj6xJFP3i4AQ35lXvTLxo-vDxgFEjRnI2-R8jAjqfzhqVs0_B21V4Uy0JG2eH8Cr_WvTtUNHpjhlKZL16gBXutnhsLQJ9xvxpqpb0m3z5cCrImyJEZhkKl7tq-GkqoapkGENin0Y7Ry9XsneQat6Xj2HVx4VnIsAxcWtZTxTvH_ueqiu_3M5rzxqKpc7CSxFiXTAbmDKx26esc4UbsgQIVanHeqXfvPEvbdKKvvhpeWZHoUsWGEH8BEAt0gyVgZxmnmmn40u87hzxirXGrq7E3Nf-fKmRL2Mf8eb7AINOzIaHUNOFcS7Q4zvTnZPHu6ZwZkbsNPnUpNCat9R05__s8xUtzv67KoiJgKTXXsd0AgWIMGvlYRNY7fWwdzQfivi9Jn3-HWTaVVnZ4Z1jQUw9XE2MEUNPM0ytRHpp62gEI0LL8GynPevkrvWfdy17TUIOMl4KkuQkBnDaUIXCzuTHlQt6ol9dKSzR6beGikMyE6rxppsTRUdTtJsju34sSAMj5N1k_azmb26Lxbh3_eAcNS753vXo18ffyTF8wyNXlOIzy6FgV0jEwKa-vi_7AEqb84Q25zeGvWqTKyC5StVJcf8wAQ-ucdfjqbWGFghiHR2yqMblaqg5BfYCiM6UY79U-cgOSkH0wJz_GCEzZpp2nYPX7jquZc6E2MNY1OBLCK32O3J5URhZSBSDimKQ5yet5twCpxVigO2fF7aGju6F9Ht4F7meyv3-1_bPKzMzdKvdhz4d-erKw4L61fFvXNrcsfV41SLMdrhSOJEI4ll0WHsR2YFo0NY0SJdJdeHSrfJBRAmzabfRPpgP4NGfZaw-ta1BydNDWinAJ4Vs7cDNDxKrtmvLRYA6mBkB7vtiU4GMtIHeoVesoqVazl-bnst0d_namF74NmMF0Ybs7he42VgVtKyNMmwZFeHDeMd1td2ALe0mJwat3VTyVn2javYohsep1ieRUHgytQ7Qsjm2hFcM-kQVkHWIw28I5KkppuzEebEBA0PNYi5uIqv6I937t208CSs0thYjL6eFb8TBjWik2geW4puDFA1X_rMHT9FzbKQDz9Du85jtqcdspJU0UgLa8tReJnezWk-8oouaJOyTRg0zLL7M_lKUaw3MF-TNn9b7pN73xGBGHmxuo370diU8cSRhMgG83soCprEj7eBAp7LLWPEQ9h3zz0jukpUodQ_tcw-fRJaglKD9wpbVD8v-8800qOR6-bp1FlS-q6mLRbOamcbJAWbcdqE2uHBiYAG6q_jFcIt-Zj3RK83LE9d2eJsKFngLLvxvjXbP1iAlCpFa560Fv8_uspe7cOLyOQ5gyWAGSazgNA54hdsppnfaA42AQBJ2Ion1k2s6bUqPb3W2V_sH4NBL78BEvXdmss3Bv0RbMG1NpLW7JI30IJ5yQhGT4LD-iFqtr8YA_33ASbfXdZD78rSCUNtRpi8SNwg2jXTcTIaWc-6Kg5hbbx54gQmw4cjGqNM2InY6T9_dIhdaOuSJDlC-gd5_931RWWv5yIwuwqT0XRHpUlNMTyYi0yfjTQekGxKgCnDKjKSd2-Df2xMqqoJqP9kU30HKcT7Ko9YBQfHM_5_Yo-7-4RmNtfOP6Z3Y1B66iz6_ky9s9g9LCEwYiqm8bdCw8YMs-b-eD1lgjcXMKCiIzQl4ej57UdmsCkbxtq9zPmAWYH3V7US-UW7hZuM8Lg-rjCkjpZQKGiDNkagQHvXmHIuA78c9vhCaJ4yDwZkoT8e7f4s0P6E_ht4TeSSMVhXTCVXmfBwIt9CukCnG8c8HL85hAGOsK_hrPyZTfPy_Ka1ktC9U97PqRIjIz-kqEL5ls44J9PdMLGlJUNbPF8LpEAZ179gXGmzvCmEHrU5wifWUTZMfn5oUGVI_nsHYV724RGEvfXl61IHOuw3LQABNf0oho5riaCSoDY9",
  "id": "rs_0c7da84283467cc2016ab49d7d151887d0b0e014901c64914f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.47,\"left_y\":-0.16,\"left_z\":0.205,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":0},\"note\":\"This time the turquoise bowl stays fixed relative to the fingers as the hand rises, confirming a rim grasp. I’ll lift it clear of the other bowls.\"}",
  "call_id": "call_LSzmcWd8lqyAB2sOm3bW0QWA",
  "id": "fc_0c7da84283467cc2016ab49d81ea1c87d0b58e156afa0254ff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LSzmcWd8lqyAB2sOm3bW0QWA",
  "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]: [-0.4698, 1.7313, 1.2785, -0.2226, -0.3935, -0.3141, 0.0416, -0.0216, 0.812, 0.5945, -0.4225, -0.0151, -0.049, 0.9972]\nstate[eef_state]: left_x=0.47 left_y=-0.1586 left_z=0.1737 left_yaw=0.0061 left_pitch=-0.0438 left_roll=0.0083 left_gripper=0.0416 right_x=0.2886 right_y=0.0 right_z=0.1621 right_yaw=0.0084 right_pitch=-0.0722 right_roll=-0.0116 right_gripper=0.9972\nstate[joint_eff]: [-0.4034, -11.7128, 9.6205, 1.7509, -0.2222, 0.1001, 1.0281, -0.1709, -1.1419, 6.9949, 1.6532, -0.0708, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:737f29ef84b46c4975d57f45d3f23a1debf3e0c89e963740d255dbe3d994afb9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f1a12d5c59c50449f1d56ff730de5d90eb6da780b20663b143dc7781ea11424",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46fa257ed9e185b270730fb8e88d5323243bb2e65a6db18cc72fb8372a20d879",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 28 attempt 0 · /responses · status 200 · 3.51 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 94 changed as sent

message 102 changed as sent

message 106 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4667, 2.0346, 1.0351, 0.3088, -0.4019, -0.318, 0.9974, -0.0216, 0.807, 0.5945, -0.4171, -0.0151, -0.0448, 0.9972]\nstate[eef_state]: left_x=0.4797 left_y=-0.1603 left_z=0.0264 left_yaw=0.0183 left_pitch=-0.0548 left_roll=0.0169 left_gripper=0.9974 right_x=0.2891 right_y=0.0 right_z=0.1645 right_yaw=0.0061 right_pitch=-0.0618 right_roll=-0.0085 right_gripper=0.9972\nstate[joint_eff]: [-0.9094, -9.347, 6.8444, 1.5849, -0.2173, 0.1148, -0.0122, 0.0889, -1.4838, 7.1863, 1.707, -0.0708, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4694, 1.8946, 1.055, 0.1711, -0.4076, -0.2996, 0.0416, -0.0216, 0.8108, 0.5945, -0.4221, -0.0151, -0.0486, 0.9972]\nstate[eef_state]: left_x=0.4744 left_y=-0.1581 left_z=0.0762 left_yaw=0.0099 left_pitch=-0.0339 left_roll=0.0248 left_gripper=0.0416 right_x=0.2886 right_y=0.0 right_z=0.1625 right_yaw=0.0082 right_pitch=-0.0706 right_roll=-0.0113 right_gripper=0.9972\nstate[joint_eff]: [0.4171, -12.041, 9.1009, 1.7998, -0.0073, 0.0904, 1.0281, 0.0615, -1.4291, 7.0085, 1.7167, -0.022, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4698, 1.7313, 1.2785, -0.2226, -0.3935, -0.3141, 0.0416, -0.0216, 0.812, 0.5945, -0.4225, -0.0151, -0.049, 0.9972]\nstate[eef_state]: left_x=0.47 left_y=-0.1586 left_z=0.1737 left_yaw=0.0061 left_pitch=-0.0438 left_roll=0.0083 left_gripper=0.0416 right_x=0.2886 right_y=0.0 right_z=0.1621 right_yaw=0.0084 right_pitch=-0.0722 right_roll=-0.0116 right_gripper=0.9972\nstate[joint_eff]: [-0.4034, -11.7128, 9.6205, 1.7509, -0.2222, 0.1001, 1.0281, -0.1709, -1.1419, 6.9949, 1.6532, -0.0708, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:737f29ef84b46c4975d57f45d3f23a1debf3e0c89e963740d255dbe3d994afb9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f1a12d5c59c50449f1d56ff730de5d90eb6da780b20663b143dc7781ea11424",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46fa257ed9e185b270730fb8e88d5323243bb2e65a6db18cc72fb8372a20d879",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJ2ISAa0k4_noaSDMdJ6YD_ojqcyyxuSOLK4oI_DK5bFJQueKTVB2Hn9Dje1sXmuLYnFqW_3DihAPLSCyelL3VoeOgkDuTDUWYRgkZwjr7cYTqDexzTYr1B-EUvUhKrqBGuhuHFecQ1L0kzZZb2so6IZsDhgv0-KIeLAJoh2XvOiKeXrb9OZ3js0wOO5iidvL5vOMfY-NMWNc_1OrXnivSgnSxb1KvmpdFUNmmxDyKNdcTN7keYTKxUfToqXPH6fITDSlMCrGRSqgAGPb9UmePpCpLSrvnaKY3tgAXKPa_KyDVFkVR-eoZPvv7Ijy6YfeMyhXDdUh1ZtCXN3nm3Ycrm1CS20t37YQRZlE6hrcvbAYsInb-E57XH9hSYTnaAZucGk9mxohgTjFave6ci4U02T1J09UyffM5Mc1a-U0ooaNUN0CXNCBkgrmo2R_llCMI-FPrdjeEz3F4cQ6vZe-PrwxJkDrcU9LtwmJ0uK07zH_0CEBfb-vhFA0q5G7I7y08fhwTh1XRkEvMkWEsS3kXplIyEHLtltT1DsXK4PRdlAK1bnpf_OIyr0lN9Vcyhx92EF3zyCgH7uSGJGAWG_hmGPQJ9xPc_WUjUxXkyeB7lGAKXQyq47ttb0s0UjM-_-b3am0f_Rkbpjg5uRnHvGlEyZhG0eTJgUpX-SOsbiJePuG8I3vZyjuqs-9J3GwGAHDtGpzQQBck-yIMrXvjZq5nx_dWlVwwgic95yoBZvZJRhLTS_C0OD5ScQ2tii0_Erl8CNk46WBG_Q9uendiflQ7s0lLSDIhgMl_dEVvq4sMEyg26INcaifE_FtAxyh2cEXMYz3ASF7lNJI2aiAKIF5xQsPMwBC89PAK-k8hYs9xZApej1dubfmNH1O6jd8fse5-QHbj4m1u5p2Hj58g-CcNHvPlZLk7-ZdR5D4mT4_o_khxAwGY7f7jHolP7X-zmxioNQhRjwEA3w-giO750a14HiVT8h9Fqo8tABP8wHh1k5qckpjOohqOt_lc0Y_bxKwUTIiP-NBvzIv55o2RBawIcLawXbN5EoCeS8_4rNgs8znYSTHb9kU3NjvDFv3Px7yLd44veKwd3CYOl1CDvAN3T29qWWZPMrCkRiVnaOuIQlZ_WTEt-VZdwU8l_2P-JMPpRSNn3RfxplXHZzed4yCJ1xrwl4FKKDJCXTUPoTNlQIcjSj10K4NJU5uB52cKdMGsv8266wr0Oz535KXE1CkIoTRCHkcJdK6mlJgzR1ZgD_M-gAfVit7LJaMjpsuoKVQ-K8bDBVIyAM8h1n_WpQCVdZId_F5ZpM1wBbqZeAdiiNtMWEt0SkNE8VS8TJ4gSTyztqpD8JQUrvAQnFxIB_UrG1_w==",
  "id": "rs_0c7da84283467cc2016ab49d86aab487d0adf61cf47490038d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.335,\"left_z\":0.205,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":0},\"note\":\"The turquoise bowl is securely suspended by its right rim. I’ll move it toward the blue bowl, keeping enough height for clearance.\"}",
  "call_id": "call_kk7uj7XSD4n9pWM1uobljVWX",
  "id": "fc_0c7da84283467cc2016ab49d874dec87d080d6ea6d68761fd2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kk7uj7XSD4n9pWM1uobljVWX",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9638, 1.9083, 1.6089, -0.569, -0.7357, -0.6968, 0.041, -0.0216, 0.8162, 0.5945, -0.4225, -0.0151, -0.0486, 0.9972]\nstate[eef_state]: left_x=0.3793 left_y=-0.3321 left_z=0.1928 left_yaw=-0.0203 left_pitch=-0.0297 left_roll=0.0 left_gripper=0.041 right_x=0.2888 right_y=0.0 right_z=0.161 right_yaw=0.0082 right_pitch=-0.0764 right_roll=-0.0111 right_gripper=0.9972\nstate[joint_eff]: [-0.4308, -9.9761, 9.2923, 1.199, -0.6716, 0.105, 1.0281, -0.1573, -1.5111, 7.0906, 1.6777, -0.0513, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22c38e98c4d7a520a187b2cae918ff5871f6d9c543383d80ab4d9248e80748c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:013d036a2c389d4336078bcc3adef45161ea1c61c79c9cc86cfd48e99bab151f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:106eecb7acf002c3fc3c5b43e47bcea7b56b06a451ad1d45ee71bed6a5e2d3e7",
      "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 · 4.399 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 98 changed as sent

message 106 changed as sent

message 110 changed as sent

message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4698, 2.0232, 1.0382, 0.3519, -0.4461, -0.2977, 0.0288, -0.0216, 0.8097, 0.5945, -0.4198, -0.0151, -0.0456, 0.9972]\nstate[eef_state]: left_x=0.4873 left_y=-0.1579 left_z=0.0429 left_yaw=0.0392 left_pitch=0.0084 left_roll=0.0301 left_gripper=0.0288 right_x=0.2889 right_y=0.0 right_z=0.1633 right_yaw=0.0065 right_pitch=-0.0672 right_roll=-0.0089 right_gripper=0.9972\nstate[joint_eff]: [0.1983, -9.3197, 5.6957, 1.033, 0.4371, -0.398, 0.3687, -0.0205, -1.5385, 7.1726, 1.7021, -0.0757, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4698, 1.7313, 1.2785, -0.2226, -0.3935, -0.3141, 0.0416, -0.0216, 0.812, 0.5945, -0.4225, -0.0151, -0.049, 0.9972]\nstate[eef_state]: left_x=0.47 left_y=-0.1586 left_z=0.1737 left_yaw=0.0061 left_pitch=-0.0438 left_roll=0.0083 left_gripper=0.0416 right_x=0.2886 right_y=0.0 right_z=0.1621 right_yaw=0.0084 right_pitch=-0.0722 right_roll=-0.0116 right_gripper=0.9972\nstate[joint_eff]: [-0.4034, -11.7128, 9.6205, 1.7509, -0.2222, 0.1001, 1.0281, -0.1709, -1.1419, 6.9949, 1.6532, -0.0708, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9638, 1.9083, 1.6089, -0.569, -0.7357, -0.6968, 0.041, -0.0216, 0.8162, 0.5945, -0.4225, -0.0151, -0.0486, 0.9972]\nstate[eef_state]: left_x=0.3793 left_y=-0.3321 left_z=0.1928 left_yaw=-0.0203 left_pitch=-0.0297 left_roll=0.0 left_gripper=0.041 right_x=0.2888 right_y=0.0 right_z=0.161 right_yaw=0.0082 right_pitch=-0.0764 right_roll=-0.0111 right_gripper=0.9972\nstate[joint_eff]: [-0.4308, -9.9761, 9.2923, 1.199, -0.6716, 0.105, 1.0281, -0.1573, -1.5111, 7.0906, 1.6777, -0.0513, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22c38e98c4d7a520a187b2cae918ff5871f6d9c543383d80ab4d9248e80748c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:013d036a2c389d4336078bcc3adef45161ea1c61c79c9cc86cfd48e99bab151f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:106eecb7acf002c3fc3c5b43e47bcea7b56b06a451ad1d45ee71bed6a5e2d3e7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJ2NTdf15rLkDo35-fWFIoJZnBL3db4cpe9O00RjIAdmFwgeVgApV5EwUcVDepfuW5-p2tdcsRu0dmYh4G_udoRTEvqcucISJPLiqwF7lxxahjiLQnAhI5oiuba9IGmuOiXq3qKsT5Ft8HvmwJzmqv76WiJS9jF7V3hqBp7DwseKpUrWwBE3tRsoy2E4K2WDWsgVGXmwT5xJzJAUix-UPfEC1rdJjunyVfU1CiHqCdnPjizi_Dyl-ZfK4hrwYYk-5p0YBp0Cs6C059-s-LWi3sazoGb9oii1NF_vOychIZQp8OlfKqrK1Dlx5CI7hqngL-EDkomgNHnVsuCoqIzo3_1BvqEQ49WP_0o67aYvxUJYXVG4mkdi9YaZnRD7X9ZAnAqC6TqWv27Lo71BI32NWKKD0PI4AX_Fsf9rW2tbygmJUh9LZ8rk1poy6mnLt4DGA0Rdeq1u70TQr0OewgeDY7HGhavIvI2Os0yd1HSHv5BFJqSqTwOGs29lNP8C5iDuQZUD0976PGzJdgMXiQFQ18leSL_Ut9VSbxJPDpzCBypeFFnX_bOM2QFLzXgxhFziXAWUvoP8XaikOr_KzxHmsFzupaiV-JwZP49oD1F79oAq83AmeBJC4NBjGbybjw-3TXsFUSDytRJZSH0leaKO1ZftS7bQAywqPsZr-d7ln42EuQYN4FSTE9j1KXUIaPncUBqCsNYoRAdmG7nwkbaz8EUTVsxO2qFD62xIT2_UzqWTLr0yjt7lWkxrlrxzw1sHoDMnH-Zsy4iocvZcywAGW_GY8qKAsNXplE2vErHdEwI82iTXY_FmLEFMKIekdzUE5DY88fbecJ4FSU93gK2mmVb-AREzzZANtOmzMBH_GxipI2KmHo7Jmo4JVju-FZY_rLEpWOobder4dvY5YLgeCMGjsormmQDlkpNhXlf51rZlVzMzev5GV1rx_cRltl521gq-FQdp2beXzjb2AEN1Eb5yuzO6-U2jgrhupqJhYR1yhg5Od1KlVtGkfY0VkVohN6vq24EG6bN6RcKUonsj4-MH81L8S47aeaL3BXlOPOCp6m4clZQLJ40d_GuAEdOvctz7IaK5L2A1hlZw9i-TfUJUEcD13vqzMGvLW4fSRJBI4jgiNwXUaQs73HM0WF9LxrorB2o-Ss0lVe82iGJGSLbMkX8aeYCkutsmMoQe1nTmezS7WvvCP7ZC0nRvhxHVk6bH-UbKNyTrirzxk8VcxxXTcPmCnHKO1rsumQPxpdvV-UIM91SLacvLL1KJwP7WMOyGevWuGNrlvLQlDBcQhd9An6Y4j8YlKoxjDBrkzYIB4s4UZ9-K6LUpHVXSDVSxKsIpwtsUFNAWLtF2j8U5JnKsuZemVw8yh960ped0lBCvLNTVtyGAtc4MGOqZygM3gsDH",
  "id": "rs_0c7da84283467cc2016ab49d8bc68087d0ba3b4e8d67e14efd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.335,\"left_z\":0.07,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":0},\"note\":\"The turquoise bowl is above the blue bowl’s location; the hand now obscures the base bowl. I’ll lower straight down to let the bowls nest.\"}",
  "call_id": "call_8RRmvtV2OkjVygSe5csExtNO",
  "id": "fc_0c7da84283467cc2016ab49d8c6c4487d0841cc97681abed62",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8RRmvtV2OkjVygSe5csExtNO",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9745, 2.038, 1.3083, -0.1688, -0.7586, -0.7048, 0.041, -0.0216, 0.8173, 0.5945, -0.4225, -0.0151, -0.0486, 0.9972]\nstate[eef_state]: left_x=0.3759 left_y=-0.3311 left_z=0.0741 left_yaw=-0.011 left_pitch=-0.0326 left_roll=0.0283 left_gripper=0.041 right_x=0.2889 right_y=0.0 right_z=0.1607 right_yaw=0.0082 right_pitch=-0.0775 right_roll=-0.0111 right_gripper=0.9972\nstate[joint_eff]: [-0.1983, -9.9487, 5.7504, 1.3065, -0.486, -0.0952, 1.0281, -0.1026, -1.1556, 7.0222, 1.7265, -0.0562, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75185e229927daedb4e46dd7e588f7eef5ab19d2b98ad24a20e029196343ffa6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5be0722fc517623ff1ffec99c3d7bc20099469dea834b53bcefe083116486ce7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7423b524d6a97c68ccb5b65e94ad402d9738c2bc33f0ebb1a1550232d526b8c3",
      "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 · 2.566 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 102 changed as sent

message 110 changed as sent

message 114 changed as sent

message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4694, 1.8946, 1.055, 0.1711, -0.4076, -0.2996, 0.0416, -0.0216, 0.8108, 0.5945, -0.4221, -0.0151, -0.0486, 0.9972]\nstate[eef_state]: left_x=0.4744 left_y=-0.1581 left_z=0.0762 left_yaw=0.0099 left_pitch=-0.0339 left_roll=0.0248 left_gripper=0.0416 right_x=0.2886 right_y=0.0 right_z=0.1625 right_yaw=0.0082 right_pitch=-0.0706 right_roll=-0.0113 right_gripper=0.9972\nstate[joint_eff]: [0.4171, -12.041, 9.1009, 1.7998, -0.0073, 0.0904, 1.0281, 0.0615, -1.4291, 7.0085, 1.7167, -0.022, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9638, 1.9083, 1.6089, -0.569, -0.7357, -0.6968, 0.041, -0.0216, 0.8162, 0.5945, -0.4225, -0.0151, -0.0486, 0.9972]\nstate[eef_state]: left_x=0.3793 left_y=-0.3321 left_z=0.1928 left_yaw=-0.0203 left_pitch=-0.0297 left_roll=0.0 left_gripper=0.041 right_x=0.2888 right_y=0.0 right_z=0.161 right_yaw=0.0082 right_pitch=-0.0764 right_roll=-0.0111 right_gripper=0.9972\nstate[joint_eff]: [-0.4308, -9.9761, 9.2923, 1.199, -0.6716, 0.105, 1.0281, -0.1573, -1.5111, 7.0906, 1.6777, -0.0513, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9745, 2.038, 1.3083, -0.1688, -0.7586, -0.7048, 0.041, -0.0216, 0.8173, 0.5945, -0.4225, -0.0151, -0.0486, 0.9972]\nstate[eef_state]: left_x=0.3759 left_y=-0.3311 left_z=0.0741 left_yaw=-0.011 left_pitch=-0.0326 left_roll=0.0283 left_gripper=0.041 right_x=0.2889 right_y=0.0 right_z=0.1607 right_yaw=0.0082 right_pitch=-0.0775 right_roll=-0.0111 right_gripper=0.9972\nstate[joint_eff]: [-0.1983, -9.9487, 5.7504, 1.3065, -0.486, -0.0952, 1.0281, -0.1026, -1.1556, 7.0222, 1.7265, -0.0562, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75185e229927daedb4e46dd7e588f7eef5ab19d2b98ad24a20e029196343ffa6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5be0722fc517623ff1ffec99c3d7bc20099469dea834b53bcefe083116486ce7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7423b524d6a97c68ccb5b65e94ad402d9738c2bc33f0ebb1a1550232d526b8c3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJ2S4R7AIJGDRx8a1ocmk9S5L0CBNy_k4WBMDE5WZ2OdqjqkL5OVks_b8qPMLpK55nWwOCgFHv8PWTC04_tf_KNNi-ZTV-GpxP2dBFkihG8nuaL8_QVqUKeKPKMub44nAEGfq8ZS4MfjqmrP5zPq-0jp6QE5srAU-tnAuVl30MCj66T-heVriELLPQoVeT3Etlt-MQV5MSN2lKoa5VQNt5gwoMwUOkiFcV28NcRl0pZAoMMfrh4nMBBWilC4lOEde6zuZTUGpUkhV9Sw1BQobNkZ4kzek3FjKe_uTW29b8i6BHIP_Uxif7xLrDK2EQH5FQ_CmC3gg7oKCYSlkZlDhHgZG2x7PohUct1edS_AibWCioVzp0bb7ICekxVYsbbGnpByLj7DR1pvEhnKD4Sf1y2J6YGpbioMiJMShWxo2nXirBMKrMdfOCo1p_6KrDznwuqt829mATl_ON-ryghELj55v9oD6Jk9TOiFWqKx3M_tYfkSdJ0CQOHmSNqmsieoGyyc9ZQuhcXNqg2qrfVFANPOGfzJKZKxRmzuzgI0mIR4yQ26-hA7I4P7UwOSScOHBjC08m1fvhOMxkq5gn_wONPyrs_VfkH4c1dF84bP2OZlxDNF-Hp8MaGeo4afFs3LVJyjaYAb0is3oWrzmz2OQBLlzgvT7vTCN2_czCwIYdgCSIr0rg85Fk2uEpv0nDVyXPBMfdIbg4ej9UlPC7uQmzp1w_YPZg9eLM_T-mtZdlfGWf7JjrYqPQNOAuVkWurc7vBquBuLzzWt1HlSsEY7JWIeoMoz1bflQPMiEbQcBt-UuMCXC5McBXHor5WOnbi4WK3Ck5JhMMSMyZobNn-AMJ2ld__GP-OZ1I9x8QFdVyFkT19O5GLS7LLG-7CQeFKSd3O3le85yp-zLVyayfJMsxjj0XbsXZiXs1NTYXDf2kGdAQhiktQGyuRaHUQkM3JgIN4LjATBnXsNMrRg08HHUxAEkofmpVNLWfl-tU9h-gbp3Rz_DbJvWpjN3j8i8v-CvnhbJNvwI-dCWrW7QV9n8Yts3xKyrEk0NG2eX81IAuMBJbbVzqrR8WMuxmY_J-r05BspIewv_aYyoX624LKXAy5rl3A9vgkJut9000cL8HJ2BGbUYXrpsDESAReKKe5YNyY0W2k7gZFdKNyJV_5IdZ7-Zw_xZMx1VafW-PECj16LWk7dNNadFAFZeJvM101hAYrxaNhcnqtTRMrHADr3HGAGKlBx7VzG0yUtcuKrmjLfJbw-aH8vI_vIHzDbjkRSuE5Q6HMdMqeQfsy0LRM72lZB62xw2zHPv0c7f5QRFBNymILURHajb5BDt2RK_D6nIIsU0UjwX1yrEBisuuW_82UmjDpDqfz6CB1FCXWfNh6PxRqbNLv_U7JUJjA6AMx3jZ3DMZOxazFnl4MO_xBxRFA0ayOkHYTTzyF9aJoxUnEZY5w0dbIewAjWaXvfxZ0t3Fvx5_LPqUk0O6k4Tj77kLc8h9705_0grTel7JjEu3qpvwha2zWPgHcTmsdzmjigXupxxMjegLFKbPnerCh52XVaMHIi52UNmOh4PlCzaO174jnPiWmXu9HeG_bEoOMVQ2yeCTbe6WVaR6XBKMEzdNL5bj9ikwVvbUVWqBhrWvfp0gRjYPf4J27XjnMLMl_PmFUw9SopJ63uugjJtEApffVk3SOMMG9ERjKjZBCQI57y5jomeUMHMkIhFAUx5yDHuWBSALoFE56Hk--0j6zOtkYKBD7TeHA9Mh46Tln8qikbUjc=",
  "id": "rs_0c7da84283467cc2016ab49d8faefc87d080d2575c75e6fa97",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.35,\"left_z\":0.045,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":0},\"note\":\"The blue rim is visible just beyond the turquoise bowl, suggesting a small offset. I’ll shift slightly toward the base and right while lowering the turquoise bowl into it.\"}",
  "call_id": "call_iTzkThHa4SQdygkDtgHymp7N",
  "id": "fc_0c7da84283467cc2016ab49d91cb5887d0b79915309dd8dead",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iTzkThHa4SQdygkDtgHymp7N",
  "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]: [-0.9955, 2.0823, 1.2919, -0.0982, -0.7837, -0.7357, 0.041, -0.0216, 0.8173, 0.5945, -0.4225, -0.0151, -0.049, 0.9972]\nstate[eef_state]: left_x=0.3728 left_y=-0.3391 left_z=0.0589 left_yaw=0.0005 left_pitch=-0.0103 left_roll=0.0053 left_gripper=0.041 right_x=0.2889 right_y=0.0 right_z=0.1607 right_yaw=0.0084 right_pitch=-0.0775 right_roll=-0.0114 right_gripper=0.9972\nstate[joint_eff]: [-2.1128, -8.8137, 5.3538, 1.409, -0.4225, -0.2027, 1.0281, 0.0205, -1.3744, 6.9812, 1.6532, -0.0757, -0.0855, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d6294c5b3f4614ea94b199ac2060320ea2ff4056adc3cc64d1f3e8427fbe6bf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c578bf606d7aa107b52b1ea426e47e59dfac3e2ff5c33fe26f33bee7f9d70e8d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1f00a8965994cd013dbf8303ed908cfb3da1bd333ee650abbabd404771fdd54",
      "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 31 attempt 0 · /responses · status 200 · 9.07 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 106 changed as sent

message 114 changed as sent

message 118 changed as sent

message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4698, 1.7313, 1.2785, -0.2226, -0.3935, -0.3141, 0.0416, -0.0216, 0.812, 0.5945, -0.4225, -0.0151, -0.049, 0.9972]\nstate[eef_state]: left_x=0.47 left_y=-0.1586 left_z=0.1737 left_yaw=0.0061 left_pitch=-0.0438 left_roll=0.0083 left_gripper=0.0416 right_x=0.2886 right_y=0.0 right_z=0.1621 right_yaw=0.0084 right_pitch=-0.0722 right_roll=-0.0116 right_gripper=0.9972\nstate[joint_eff]: [-0.4034, -11.7128, 9.6205, 1.7509, -0.2222, 0.1001, 1.0281, -0.1709, -1.1419, 6.9949, 1.6532, -0.0708, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9745, 2.038, 1.3083, -0.1688, -0.7586, -0.7048, 0.041, -0.0216, 0.8173, 0.5945, -0.4225, -0.0151, -0.0486, 0.9972]\nstate[eef_state]: left_x=0.3759 left_y=-0.3311 left_z=0.0741 left_yaw=-0.011 left_pitch=-0.0326 left_roll=0.0283 left_gripper=0.041 right_x=0.2889 right_y=0.0 right_z=0.1607 right_yaw=0.0082 right_pitch=-0.0775 right_roll=-0.0111 right_gripper=0.9972\nstate[joint_eff]: [-0.1983, -9.9487, 5.7504, 1.3065, -0.486, -0.0952, 1.0281, -0.1026, -1.1556, 7.0222, 1.7265, -0.0562, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9955, 2.0823, 1.2919, -0.0982, -0.7837, -0.7357, 0.041, -0.0216, 0.8173, 0.5945, -0.4225, -0.0151, -0.049, 0.9972]\nstate[eef_state]: left_x=0.3728 left_y=-0.3391 left_z=0.0589 left_yaw=0.0005 left_pitch=-0.0103 left_roll=0.0053 left_gripper=0.041 right_x=0.2889 right_y=0.0 right_z=0.1607 right_yaw=0.0084 right_pitch=-0.0775 right_roll=-0.0114 right_gripper=0.9972\nstate[joint_eff]: [-2.1128, -8.8137, 5.3538, 1.409, -0.4225, -0.2027, 1.0281, 0.0205, -1.3744, 6.9812, 1.6532, -0.0757, -0.0855, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d6294c5b3f4614ea94b199ac2060320ea2ff4056adc3cc64d1f3e8427fbe6bf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c578bf606d7aa107b52b1ea426e47e59dfac3e2ff5c33fe26f33bee7f9d70e8d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1f00a8965994cd013dbf8303ed908cfb3da1bd333ee650abbabd404771fdd54",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJ2VOS6mx62BilOFwux2AYLjGoFZ7O4KVATiO6D389e6nZuTXL8qvRpKHK8a0TgE4gb6frjqxHda9bjuanbKFYzlIDNxqHl5hRx5pzzZNCCZHvPuAUf2T9WqadB5-KpBRzHFGWBo9y-eLB1qoH5iKmFZAr8Red-4yTVxq_fc3DfXzRf9D8m1TqVudB_r-HoJvf2gUju4pbC24CHF64XklwVXnC_HRCruJr0zj2DxL1GaPxgm-6sGzGtSbbeYqWNKoep-FYBY-abw9_fHzyqAwfkXybKrcjVXGB_zOlDWQVUzo9eqAdKEKr0SNeduYo0rRrqANGRuah-6Lncc13BwbidX4-zQmqLQ6dvkW2H3z1Uq9ZvJFBYRn4q97M3WdZzfoX5lSB5h7a4sq3B6v8UTLOayw0tvNcPq1YZ6zDPswC69IQ4rxcDVqWv2SmnlWIbCYgO_BKp8xa1qN2U6Yc45GqUprPLdBVV1dhwsGGmM7rCr-52Gg-8YGjpxxL7GzfPBcDCm09eOZXZcNGxZrfBJwDv3Oue13jLAVSIuP_Hg3ct1k3QT2b_V2csCpmirsezTQ4A62VtY1EpqNwsPJCAchN0fI2v9Bb3YP6mdch3eBWBtbAvZaXpG76TLa0Adxbd3oO0JyyEUn6cDvoZrJgC7gu8UNjs2MsFNQshAM9Q2cWdhL2pATC9LdIE_o9sMRSx_jzX5o89x7pKXQeXUemz1dmtC2_o6ri-P1k70jt_KLZL8VlOFL5R8o2Avh1CGP4eMMDtoqKGm7V9qIKHF9yHlJhuHWsEQMHjB-MXTjR1lx7YtzJjA8Dhgv_z0Vss1GP0R7zTbMAMwwwWHVhTljkV5k08lvGaANjpe-d5jol6z0T0XEs10rQ0dLo8PzJ_B53PsxvQblKv72dWEabi6r5dkIGspjCH95eY0KGVjbgrejd15nNCZSywohvOJtqL7agB6NKT4pOtr2oY219AHNq2rV8Xhqrj1RBmZ4mAibMjZFdS3EW60PZYajVErFXHxV3p5M6pVOhfWF-VdlplRSQkVdnsBs3Fj5_k9jmpWlH22tDFY7laIVuHsGUQXl8SF_7clx94ryselrGxl6LpSXW9jNX_8gH9dcnd0oV6cgcusMAVpj8SOfYiE-AqtLv7uJXhlHicDWAZ6Iil5JgtG3DMJMc01464ZSffRSmx0Ey30zPR7Iodufs5A9YoyQR5h0Tk0a8xm",
  "id": "rs_0c7da84283467cc2016ab49d94595887d092f2bcdea04fc0fb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The descent has stopped above the target height, consistent with the turquoise bowl contacting the blue bowl. I’ll release it so it can settle into the base bowl.\"}",
  "call_id": "call_y8Y1UbKEn13Mp3jzQKD1JOXW",
  "id": "fc_0c7da84283467cc2016ab49d94955c87d0988efa799bb62a60",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_y8Y1UbKEn13Mp3jzQKD1JOXW",
  "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]: [-1.0435, 2.1082, 1.29, -0.0734, -0.8097, -0.7826, 0.9949, -0.0216, 0.8173, 0.5945, -0.4225, -0.0151, -0.0486, 0.9972]\nstate[eef_state]: left_x=0.3587 left_y=-0.3547 left_z=0.0517 left_yaw=-0.0058 left_pitch=0.0053 left_roll=-0.0209 left_gripper=0.9949 right_x=0.2889 right_y=0.0 right_z=0.1607 right_yaw=0.0082 right_pitch=-0.0775 right_roll=-0.0111 right_gripper=0.9972\nstate[joint_eff]: [0.3077, -10.1128, 5.559, 1.3114, -0.4567, -0.0024, -0.1197, -0.0752, -1.347, 6.9812, 1.6825, -0.0269, -0.0269, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e46478aee1e294de19ee33643ada084bf05b469fe376396101fa10332b85962",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef2861f5d7a86df8d709c8225635566ef6f3e1bfb83962ea1891a73d04c9cd49",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b905140f3cbb284b86099139dc00dea90e408e369e6fe553e702ffaa924197f8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /responses · status 200 · 4.647 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 110 changed as sent

message 118 changed as sent

message 122 changed as sent

message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9638, 1.9083, 1.6089, -0.569, -0.7357, -0.6968, 0.041, -0.0216, 0.8162, 0.5945, -0.4225, -0.0151, -0.0486, 0.9972]\nstate[eef_state]: left_x=0.3793 left_y=-0.3321 left_z=0.1928 left_yaw=-0.0203 left_pitch=-0.0297 left_roll=0.0 left_gripper=0.041 right_x=0.2888 right_y=0.0 right_z=0.161 right_yaw=0.0082 right_pitch=-0.0764 right_roll=-0.0111 right_gripper=0.9972\nstate[joint_eff]: [-0.4308, -9.9761, 9.2923, 1.199, -0.6716, 0.105, 1.0281, -0.1573, -1.5111, 7.0906, 1.6777, -0.0513, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9955, 2.0823, 1.2919, -0.0982, -0.7837, -0.7357, 0.041, -0.0216, 0.8173, 0.5945, -0.4225, -0.0151, -0.049, 0.9972]\nstate[eef_state]: left_x=0.3728 left_y=-0.3391 left_z=0.0589 left_yaw=0.0005 left_pitch=-0.0103 left_roll=0.0053 left_gripper=0.041 right_x=0.2889 right_y=0.0 right_z=0.1607 right_yaw=0.0084 right_pitch=-0.0775 right_roll=-0.0114 right_gripper=0.9972\nstate[joint_eff]: [-2.1128, -8.8137, 5.3538, 1.409, -0.4225, -0.2027, 1.0281, 0.0205, -1.3744, 6.9812, 1.6532, -0.0757, -0.0855, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.0435, 2.1082, 1.29, -0.0734, -0.8097, -0.7826, 0.9949, -0.0216, 0.8173, 0.5945, -0.4225, -0.0151, -0.0486, 0.9972]\nstate[eef_state]: left_x=0.3587 left_y=-0.3547 left_z=0.0517 left_yaw=-0.0058 left_pitch=0.0053 left_roll=-0.0209 left_gripper=0.9949 right_x=0.2889 right_y=0.0 right_z=0.1607 right_yaw=0.0082 right_pitch=-0.0775 right_roll=-0.0111 right_gripper=0.9972\nstate[joint_eff]: [0.3077, -10.1128, 5.559, 1.3114, -0.4567, -0.0024, -0.1197, -0.0752, -1.347, 6.9812, 1.6825, -0.0269, -0.0269, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e46478aee1e294de19ee33643ada084bf05b469fe376396101fa10332b85962",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef2861f5d7a86df8d709c8225635566ef6f3e1bfb83962ea1891a73d04c9cd49",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b905140f3cbb284b86099139dc00dea90e408e369e6fe553e702ffaa924197f8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJ2fsMCqnIqf-BzSyn0CUWP8bXBpxEziGjUb_6btLHva2bQfpBb8rpEqadjBm3IulV7HUvvs45wdG80xhWsDNxmNz0bkm4b9JZJW26G4HV-dou7swre89Yfiqh4Or8LQM4DNktD2cCiAjbgzQbPIAfIucuSW8BB3QRSJrjJ58HQdXvaaQszCUX78gQXLFeN1ksyf1cs6l8J9QmCVaUWFDzIGjqGvwqPZRY0_o2IgqWkvIPbhOZBckxToKdmvbWLRyp4hGXBRrvDfl0TBIrdr4KFcMeXGvFTBFF0mN9dlmkp0DgeaYBr6dZdieZ_k-tfUj4tGwe3juqf8kdFrPjZKmoCsAtzVTFcxAyKxP4dmgQrj9Yp1DJ3Bq-X1xQY9qtVGn2w6He_3l_Sq9GivIieO-mGdiNbLR0ioLtVdxzciBYs6OFf4BuRm-0Q_kXcVzDE1Xc6BlVs8JcRnKWc9Oka5vGLjb7v8aIDZ5Wr9W-5aRu9N6IKW_zGaBMPoKWwz50Sz1oMjNHsRJ1AOK7PDL5HGUtmXx05zW-6NGg9WCehzH4x9tO97Jxo_SIju49DMQBnRIp1sXAozaZuC-7AA3W3Yp7L95vearsoXV3ruUSbPkjqTa1gnlkeupAoz8tlXx-UWoBNv_suqEedeFJSBXS831TJjM06_rtDmQcA89pUZZopri0JojGIFJwuLCOIHuDPGomcL8lMQcpd-mU6MRCnVgY__3xEtekagvRtqNKhfrjmKuokt7TkSgBKIEsw5YIp0bfJsWhnbiNr3ZVFvIFTVstjp-bM1SSsWioh6p0vGlBqeRsgZW18L5VSf6C_xmQf4VYFOlnsOjaTQwL5PQYf7GjVjUvrojG0h4QbNPscpt3vPvstiP9W_VbCU9KBNpcM6VoIEXjPl-Petr2U8c48kvSRGQj4tq7Vu_1kXUJiv2RDEbGNXl1Ps0SZ-6mkZ86n8GKhYcGPHDKSMBfEZ-MCIdv6gKwZqWRi4EmRHFC13XR0wgH5u8Bc9CBO2FXrcV4cJcjt7rz3JDdYVPLhH11fa2xm3eeL7jixkhWX8KzdZGSQ0F9sl9m-t3qTRLGS2Is8jYf6gAWpogRB9Q0sgA_RKJe1XAfvDit_JFOLrmzE6iahMygBxK4_vk6wJlEOHRDt9zUGVjxvC_Ic0zcv5J5AKcfozawWk4erXdnIP8427Z3byakaXWAt3RZJDpvxZnQrP19ggXG2rQTg3h_kQ9OShnx41-dnAO_7rRQoMuSaSvh40LhD3L4KDAiiLJPi_NKwcLCmf1yC1Mx-CV02eda8tG_l4ILnrXatgJafd1scONuKOLrKCZD-meJP3XQJTmfaYyfS3GMV_kmhPvMiw8YpV5lo9rrTu8w0hONvbn5qk9T8zgnuAUN9KM506UwkLOcoEvv-twF84NBcKUJtE7OfjNSP_LW6rv2L1oqH77P9yJQLIeyDcL1biHr76m9OKxTPDt8tchvH39fK3wGb3MOU4qjNDGkpp0GtZzhXDDXbIBnCPu9EOhjEcqfs4Av5H_PoBYharA7D_sej4LLaCg0QRu8-rYz-6kE7jtqian0MW0ZQB7ueTqT8kh0gMo6euVTxr_vi1kwVO0iKIeq0IRhrtDpTDIqof8ON5HOE5hWA2J9Nnap5qcLMr5eQCBT-vAjEHI9JGFtPviYWaPk6be3W2Jai0vqjizaFwjGTWE2pEYn58kdq8Ks1L_69Qk2TdykuMsY1qCJEherokNgpHM2JHdqgbsbA1gigI5ryj7GKRuzfdAZM1iNpnhg56cvEkLL_PUMPRnwYVq3f_FgVbRQy0omQUVi3U4gg_dOmeLkr9-WhKaXLcfYtOviyLAcer3IBa5XYqVtmVnVXFgdEqfLDkqZH7BSwTNZQyUfgkaY0zSxNjrkw8bUEDH6s20BEnyRrezA-_J6NPYfU4tiqxFLckYWi_ac5Vl5-bkh5o7z5EgetWwai16TVy6tnlQ7piYMv_MkC-H2N6nCZ2cdaqDn4uM1fDfW_AeGHnQLBXUiz3YEHFuUClOpfZE0RAKcy75FD-yMsq3K5shGlxPqyNd70momrTkK5AswUTPp4a24_rwPtWUL29cKTXLj7h5qnSSJO0AE9eG7vYTQL6ScHkWQ8Z74evEB5-wgcnySQoGcngKKhXRJlQGB3JShSqzI_uYhnC88SpFM7y_7vpz5Sum0VBNZ020HP861n7klFchw0KwOzHYZXMprOi8VAUy9oivtRykG6X3BR9oPKZwi4gBqRSFARPWw9SVpwNRa2ODDtszR-a8Z2SmoBHq-jS5Ezk7LxuDexshP4x3vK8bveCt22gjuBIO3VPAQ1BmLyIbEtQQR7ScPY0XjyewwCJQnviLNVNlcWirz9L_UFQeGay2rDf37qnU4H2VbWAjeTLhMKHDWyue3IIiDv-S6wsSjPy7HNm41nGBzJwBDyH71YXPskR2-qXIK6Xp-SkDgoz8p9AYjE7lW-6a7drTzo7X_ouJK94SbS4qXun8dvCI7Rk17PjR0obuqYSZ1zx7W0eWli0AkcSDzRecNUZ4Bv06_-Z0XoTNFd3kgiWXRYQLjbxNFnfCGGNiPhW_RD4LnKOp-DPjfHzLxxURGol1__wWhDO6tUYIv054YmUPaMU_VOFejix-TDOGAzjE7x_Q7aVN-SDxIo4QUw5KV7SHMBtlyWffzzV8QFGrryHdKs7ZjLzzmS2sf6-h1qyjod9wpYzN2QOjVtlGoEN1wW51l4A7BoURJJEhRisegAdpiC5OifxfEBnt0keL14FNjANlyhgQxnsxNnkqW6aGsqoyV0FEcrNa7lxoVII6F8GxXRv4OAleAtz6-46CLNklV_SLZr2JB5eJVpN1PnUKaL_1rTLxkA1rfk6MXeKUbKrDu-AuuMJY823TZxRvUXOrnZOFjkjUHQeMnZ784ue3F4E58L2S_hA-CxnXnhc",
  "id": "rs_0c7da84283467cc2016ab49d97cfd887d0979bc7593b9e12a8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.22,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"right_x\":0.43,\"right_y\":0.1,\"right_z\":0.13,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0,\"right_gripper\":1},\"note\":\"The turquoise bowl has been released over the blue bowl. I’ll move the left hand clear to inspect the stack while bringing the right hand toward the beige bowl’s exposed outer rim.\"}",
  "call_id": "call_EAxrmqvjqX8eNmVuq5F7iZGm",
  "id": "fc_0c7da84283467cc2016ab49d9e237887d08a44faae01df7c11",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_EAxrmqvjqX8eNmVuq5F7iZGm",
  "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]: [-0.057, 0.8318, 0.7296, -0.5072, -0.1028, -0.1089, 0.9957, 0.3275, 1.5391, 0.8051, 0.0586, 0.255, 0.1356, 0.9974]\nstate[eef_state]: left_x=0.2945 left_y=0.0049 left_z=0.2013 left_yaw=0.0667 left_pitch=-0.0338 left_roll=-0.0091 left_gripper=0.9957 right_x=0.4127 right_y=0.0969 right_z=0.1058 right_yaw=0.0303 right_pitch=-0.0825 right_roll=-0.0322 right_gripper=0.9974\nstate[joint_eff]: [0.0889, -2.0581, 10.2496, 1.7705, -0.0122, 0.2076, 0.0708, 0.4308, -6.2017, 10.0444, 2.0488, 0.3199, 0.1832, -0.2955]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c5e3008c2a464077452f23104bf0eccfefb6e55c995819dbb750671ede52ad1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a04f3150677327854b9b47804311e3438eef55e668d33ce7a86409f139ab3b0a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57dc68180062fc23858bf144f34cce41cb37a6d6c98aa781893cb4ad38318a99",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /responses · status 200 · 26.71 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 114 changed as sent

message 122 changed as sent

message 126 changed as sent

message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9745, 2.038, 1.3083, -0.1688, -0.7586, -0.7048, 0.041, -0.0216, 0.8173, 0.5945, -0.4225, -0.0151, -0.0486, 0.9972]\nstate[eef_state]: left_x=0.3759 left_y=-0.3311 left_z=0.0741 left_yaw=-0.011 left_pitch=-0.0326 left_roll=0.0283 left_gripper=0.041 right_x=0.2889 right_y=0.0 right_z=0.1607 right_yaw=0.0082 right_pitch=-0.0775 right_roll=-0.0111 right_gripper=0.9972\nstate[joint_eff]: [-0.1983, -9.9487, 5.7504, 1.3065, -0.486, -0.0952, 1.0281, -0.1026, -1.1556, 7.0222, 1.7265, -0.0562, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.0435, 2.1082, 1.29, -0.0734, -0.8097, -0.7826, 0.9949, -0.0216, 0.8173, 0.5945, -0.4225, -0.0151, -0.0486, 0.9972]\nstate[eef_state]: left_x=0.3587 left_y=-0.3547 left_z=0.0517 left_yaw=-0.0058 left_pitch=0.0053 left_roll=-0.0209 left_gripper=0.9949 right_x=0.2889 right_y=0.0 right_z=0.1607 right_yaw=0.0082 right_pitch=-0.0775 right_roll=-0.0111 right_gripper=0.9972\nstate[joint_eff]: [0.3077, -10.1128, 5.559, 1.3114, -0.4567, -0.0024, -0.1197, -0.0752, -1.347, 6.9812, 1.6825, -0.0269, -0.0269, -0.0171]\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 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.057, 0.8318, 0.7296, -0.5072, -0.1028, -0.1089, 0.9957, 0.3275, 1.5391, 0.8051, 0.0586, 0.255, 0.1356, 0.9974]\nstate[eef_state]: left_x=0.2945 left_y=0.0049 left_z=0.2013 left_yaw=0.0667 left_pitch=-0.0338 left_roll=-0.0091 left_gripper=0.9957 right_x=0.4127 right_y=0.0969 right_z=0.1058 right_yaw=0.0303 right_pitch=-0.0825 right_roll=-0.0322 right_gripper=0.9974\nstate[joint_eff]: [0.0889, -2.0581, 10.2496, 1.7705, -0.0122, 0.2076, 0.0708, 0.4308, -6.2017, 10.0444, 2.0488, 0.3199, 0.1832, -0.2955]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c5e3008c2a464077452f23104bf0eccfefb6e55c995819dbb750671ede52ad1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a04f3150677327854b9b47804311e3438eef55e668d33ce7a86409f139ab3b0a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57dc68180062fc23858bf144f34cce41cb37a6d6c98aa781893cb4ad38318a99",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJ2nNPb5SrT7UKFujykov0zo6iozy4hq8tzyl11FZLmpCWRibXsW0p-sUcvPfvGF3nyR7_QviKp61ymbJfsD05KQfeoQhw-SHkSQEPcE0HOtmd73VvDNu0lP7Y0e5Vy1gMGQCzw72TOQTCM9JSqtBHMZBCbUdN0wWH0lmbumIbtpofdberQD5gSmWnbWruDZeOgfs_RCjkyCkzavEcR8GLUPj5EvOlWG125oC2lS7JBIu1oi4HGyPtNTZzn0E8iZZR8KH7P2xWMKDqv45M0lHjgvLWd13eBxkY1lLB87z2Skpbp3F20gwz3ZDExPW08U-YArw0rulB1z_iQHuslFIVuB_b9UNx5_tCumKuapNa-J0BDrI1O7C3tQSVKbTbU57iSQfM0TwtSo4NY4XPXnZ_Cas351lXaRjZKEsKeEoG6wYd5N9HxmDkLnw0Z8aDKyEAmpHShozJCH-JhjCtTR1MqIUqoAzNeSSc653aTXU5yQhMZClygl1dfq-JLritLz0dJ-g756AEYhkrF1wJOZqPQqAY-kE1BgXnBOcMdw7YsAJireN8eXwUDIDG2h29u8GwBYJ88tJ287SAnyMNRf_hArqXNLLiFy1pgeXjGlrbFnbsyDPtGn6rd6HJE9pwHAJGClnLgCRO77Ogll2yKliCKbEejCRiNZaObQZV8ZMxuXqggy4tn6Gb8Z0TDXhvMNxFUjsck-teZkAAgbFIzm2FveqrxWsurQ4c9h0xdLOZ_ttBwRaTQQtmgpSjmasCj7rrk8qXd1_32HrrPXT-0Xoblga18Rg-yYLkMSIXrX-XgevnsHdeO5vTDak4OABdmoqu5WeYrbSPyz5gXncpteRqvr5Jn46X_MSyiVq-IK00yTBmvQDxuxxbYuRRUXbza1kZkzhcCoGM4HWZTo6sNQF5t6cntZvQCvr80IfhE0FTFgRchgGwKoa3UxgxQPIRerZAd_T8HYlA6S0Uq9dbCUmZkEV5gbkMM8ya-m3rbUWEzNdXKbqhJFHAXRitsPmr9B9IEJA4ns3PINE7mK7uU4KYS_CyrwKHSBX3zPqJISlSegyLBYlSKaPQ_UQ1cueBLbd0KRyYQbAHHPbvs4EaxPFF5ya6QGAUZ3Ae8HzGtaZIW1UXVWPXY4YNWV15uNXxycnlUtLkoO8xX_YJQR1NEwpvVigca5RCuIlaWytrMnE1Nwq8wF4VLnvppSKxUaFlJYnkWKoVyXpci3cgVnZySEs9mdAax-_wqTj2dfcjr309XZzkm0H7-tomaD5aA2FUGUkAZpITIObRgvwMTlcd9ortcWoQ8m86MEaIeeAM6mQ37qew-wMB4GVXOVa1Hb4IQLey6XX5Fbr67CLmpsridHWPp-YG8k36IpwiRr_TNgUTCevDrM7IdavMlQu5xeS75XiJ8w_XbxAml9HZAgoa2KoY9b1LFmplJlkGEPH9_j_eqW6TK3D_ic3POjchruwoCuWUeX9JxXqyVZvCyBxlFBsbV1plCBu6yqARBiN72OEqE3lsT2AxRXw22x8PpEMybnMyrwsWInw01EXQPr01JNQ8R_XCaaiU0iD5b4iyWLVocTDUAo1y1gwRu-8uC7Db--5M3J8XCYfYgWldsiPtchz4ML1WFOaF79_d06Wqxi-25f4Tkz1hHzpLQgNz581z1j0jEuqU594MMeJFAAVPMJUN3PYiDDRupmv-WxC-RKY0BZMKJz3zrLcJYVJPrmUn9SjZ27LXkbvcExDCiuw1s3SgoVMA==",
  "id": "rs_0c7da84283467cc2016ab49da43d5087d0a5ed06d464b965c8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.465,\"right_y\":0.115,\"right_z\":0.025,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The turquoise bowl appears nested in the blue bowl, leaving one two-bowl stack and the beige bowl. I’ll advance and lower the right fingers around the beige bowl’s outer wall.\"}",
  "call_id": "call_CpbmZoKyzWRmYWe76fsUHflQ",
  "id": "fc_0c7da84283467cc2016ab49da642a087d08228f9d6a4ea7e56",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CpbmZoKyzWRmYWe76fsUHflQ",
  "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]: [-0.0574, 0.8375, 0.7319, -0.5278, -0.0956, -0.1047, 0.9957, 0.3344, 1.9236, 0.8051, 0.445, 0.2733, 0.1402, 0.9972]\nstate[eef_state]: left_x=0.2923 left_y=0.0037 left_z=0.1966 left_yaw=0.0581 left_pitch=-0.0582 left_roll=-0.007 left_gripper=0.9957 right_x=0.4491 right_y=0.1093 right_z=0.016 right_yaw=0.0196 right_pitch=-0.0771 right_roll=-0.0389 right_gripper=0.9972\nstate[joint_eff]: [-0.0342, -1.894, 6.7487, 1.8926, -0.1343, -0.0904, -0.0024, 0.4855, -7.2, 6.2838, 1.5458, 0.2369, 0.2173, -0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fa764f5d8ce2281cc26dd4d05ffb198de7c26424264aa5f91cc7dedd3bb2ee2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a691c65ffe6725dc10d3ace1331af6eef4730d4ff7aee51a9cf8d1a9ed2bed82",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1dde339b96090a040256ec9c28cce6cf3079920f61d5ee26130aae934a2ee3f8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /responses · status 200 · 4.44 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 118 changed as sent

message 126 changed as sent

message 130 changed as sent

message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9955, 2.0823, 1.2919, -0.0982, -0.7837, -0.7357, 0.041, -0.0216, 0.8173, 0.5945, -0.4225, -0.0151, -0.049, 0.9972]\nstate[eef_state]: left_x=0.3728 left_y=-0.3391 left_z=0.0589 left_yaw=0.0005 left_pitch=-0.0103 left_roll=0.0053 left_gripper=0.041 right_x=0.2889 right_y=0.0 right_z=0.1607 right_yaw=0.0084 right_pitch=-0.0775 right_roll=-0.0114 right_gripper=0.9972\nstate[joint_eff]: [-2.1128, -8.8137, 5.3538, 1.409, -0.4225, -0.2027, 1.0281, 0.0205, -1.3744, 6.9812, 1.6532, -0.0757, -0.0855, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.057, 0.8318, 0.7296, -0.5072, -0.1028, -0.1089, 0.9957, 0.3275, 1.5391, 0.8051, 0.0586, 0.255, 0.1356, 0.9974]\nstate[eef_state]: left_x=0.2945 left_y=0.0049 left_z=0.2013 left_yaw=0.0667 left_pitch=-0.0338 left_roll=-0.0091 left_gripper=0.9957 right_x=0.4127 right_y=0.0969 right_z=0.1058 right_yaw=0.0303 right_pitch=-0.0825 right_roll=-0.0322 right_gripper=0.9974\nstate[joint_eff]: [0.0889, -2.0581, 10.2496, 1.7705, -0.0122, 0.2076, 0.0708, 0.4308, -6.2017, 10.0444, 2.0488, 0.3199, 0.1832, -0.2955]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0574, 0.8375, 0.7319, -0.5278, -0.0956, -0.1047, 0.9957, 0.3344, 1.9236, 0.8051, 0.445, 0.2733, 0.1402, 0.9972]\nstate[eef_state]: left_x=0.2923 left_y=0.0037 left_z=0.1966 left_yaw=0.0581 left_pitch=-0.0582 left_roll=-0.007 left_gripper=0.9957 right_x=0.4491 right_y=0.1093 right_z=0.016 right_yaw=0.0196 right_pitch=-0.0771 right_roll=-0.0389 right_gripper=0.9972\nstate[joint_eff]: [-0.0342, -1.894, 6.7487, 1.8926, -0.1343, -0.0904, -0.0024, 0.4855, -7.2, 6.2838, 1.5458, 0.2369, 0.2173, -0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fa764f5d8ce2281cc26dd4d05ffb198de7c26424264aa5f91cc7dedd3bb2ee2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a691c65ffe6725dc10d3ace1331af6eef4730d4ff7aee51a9cf8d1a9ed2bed82",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1dde339b96090a040256ec9c28cce6cf3079920f61d5ee26130aae934a2ee3f8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJ3Casabn844mmxqHUQSmuDga8OYl2lat8iZjRLqVLi0deecURjBm0HOsxLWHlt722fqZJX4SeUpiFoZrPzNpe81gfYp6ZUKZgazEoYhj1PjNssiYRm-FoQH958QJnAkFkVGMPAc6N2YX_zU8zrBRu-XIJ0WzjmVoYUqj7pzBFysyyArJQQZuLPJmzF-Kk7fe0D4VwYz9EtjHdybd2FQFfHRLRSqVOCY4JepDLCL9nqTydkQwVddeAFTo1rB4yoV0YDgurJhpC8f6yB74LvUsgZp8Jae4I94o7VBgj26AzWdYjThVMNzFv2og7qFc1Mxj9b5WVMIqoaFWFpt_eUJpmYllNdQskz6ydPgnMEJpPh0sZGY472vSBWwQ_4f_rz3uR76iMZmAH5B3p0SRGRI02d_KMZbpMB3aJdkWTryp5qTr7zMInetv9l0AED1NRcAu4w94FvZuifRmu4NFteLpQMHq_rlGqb0-a5xV-yIg4zI7mp2BK10K-WsRutCaXw0JxqSbWVFYs5Dq0wjOcT2nYvprIVJWh8Q6Xyi4i8gwQUqI8kPbNE2qtXf05Sw1VFLwPDcnl_oSUJjp5hAP6j1swu-5i3pi9SIEAui08yZHL21uvL1MCGGLS_7oLjpUxZOfuCx7xbmD6vqUBjW0O-ec4Ffxybc6NbvuI5VbMmp1kqQ3-f2H1bPnRJX24MOyRMeF-EevbaoiwloH2EkkVypXpDLhGVeX2f8ZKTw4jZTP7Rr24l7qPfMKxf7NUU_uyVuxPSDJ14X8eLSfc7XjsY48GePKvNfsOjzqeZHpYJFBwPZCkSpoFosUwNAL3PREr-lt0O4JzwxCml5xnrTPHgVNe9sykoidPYmbr4IoWSolFKr00dnYAN0D8Q-HQoIiomM1No8n_LzYInzLoyoOvsuI_ReUG2jZGwf219bUoxHjNAdAQ48sb-v4RmTa95QwPtMYAwDolTx5TT0G6b1cEVFBCkOvqX9Heg5APVScYiu-0MwJzCLF4i5FU1svrTy_1dzzZ9oA17CZKr5mxUPZdjnnJO55Zm1vSoVDmabv4NpLZujkSK97u0J6AFaqc0s79W0y9_CKzefaLuuAQujOCOncQU3gElOAM8vRUCbn0bp2i0ybrnEQZL0u69ZdrnZy8Tlb0Ic1xJ0lJ1I4uow27qm5S9q53oBvqR0hr-3WLFDDVLxoqYaKxv61TmHcqppXnu913OrCC3e2H4mHbk6LJhyHs9iEyiF-xIRC0osQb7SVrKTE1BrKha842i1pOAsEmFOgS8MUf3deziFlPYRAvdkFaoABgOvWKP69E-HkpDoh9MqE3Bd6w-fsTEAwKqsWU-SzYYgGChjxs3sUERTKCR7MqMSdIfNj6VuI_jxwieMsWIVzAPNjM1c-X_A3Uql1c-YN__8fhTjPqhBUP1bUQxWpS9vTDqLNAPUaRWwyGMmlKtm6gBnsC4o97-MuLaQlJVsp4B8gIcrcDGF_ORRjbV-SetBCIp8a-he61FUg8w8LMgDb2PD6ZhGTz6g-4BqrFp3sIgq446yIbq6RpuSlqLrtm1e-kCFGGOXggBAAijxc0XXG9rqzoJecqaRe15PcRw3-yIiZFkBAhLySBcBrlw4IF8Scx9qKQKTZ61M4S6-6_rZ8ngmT7IJwSBOy-pA1w4ahS6623kbr7HiX8V9pn_pQxkVA9WN_lX4gzJj7eOaggHFNiXJBPmvEHgga4UfhQpe8yXFCaKXfdh5kDE-lQedPNqjm-MMzzLAjTKMhMe51ajdeut8TFH2sDDVva01c875SPL_gjqQ5tlNqL4Si5_utyucoOrreeS70x_nmPxIhRvfJ1KM-sQYHbEx6mPtgTvSGVZMeL4QIjgKw6SQ4VP7iVyNOQeFMfl6RWFN6xEPBKQAQQAQ3JBg1rVh8mqNh1FJSoTyX3ylMENJTADx3aPIPFv9ioljJ6vSm2Yf4pTcb9rvMElEc1jtbAT4KTqONxj9ujbmuWM7uYWE9FwDoSPw6V-ALosXZka1sJ8PoUWmfmVDAxPe_oPwogXhkDcKSgCyyNBNsfL1--5HLLFD75LPLWgvWxdZqzAGDQeep_INZ4YFnoFxMZBoify3-0WIL-YPFDw0fDmQGxHNcxXyc1OB-ZlQuexNVpl1D3_FOZq7s7iX-pJXdHYCA-CKMPOGlgCr1Jwl",
  "id": "rs_0c7da84283467cc2016ab49dab344487d08ab2046f23b67fcf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.075,\"right_gripper\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The beige bowl’s outer wall is between the open fingers but off-center. I’ll shift slightly outward as the fingers close so they pinch the wall rather than squeeze across the bowl.\"}",
  "call_id": "call_ZmFqzNADZDpX3s6BSXryClMj",
  "id": "fc_0c7da84283467cc2016ab49dc14cf487d0a7b75ee54f275bb0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZmFqzNADZDpX3s6BSXryClMj",
  "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]: [-0.0574, 0.8379, 0.7319, -0.5385, -0.102, -0.1047, 0.9957, 0.2382, 1.9118, 0.7174, 0.6895, 0.1654, 0.1139, 0.0348]\nstate[eef_state]: left_x=0.2907 left_y=0.0049 left_z=0.1944 left_yaw=0.0636 left_pitch=-0.0687 left_roll=-0.0018 left_gripper=0.9957 right_x=0.4609 right_y=0.0857 right_z=0.037 right_yaw=0.0281 right_pitch=0.07 right_roll=0.0405 right_gripper=0.0348\nstate[joint_eff]: [-0.1026, -1.1692, 7.1043, 1.746, -0.0171, -0.0659, -0.0122, -1.0598, -7.706, 3.3162, 1.0281, 0.3053, -0.5201, 0.7741]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28a4da7f7ad49454aeb105b17dc8e546649b906c639ab1dee3f83c1aba6fe797",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3133b104a28e1f0ab1e5085b13d79605a7b9a7369c73017e13d74d50fbaabcff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62fdfc81ee65dafe8d367e0a83adbc7210fdeba70c11e6c34887247d0d65a784",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 35 attempt 0 · /responses · status 200 · 6.179 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 122 changed as sent

message 130 changed as sent

message 134 changed as sent

message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.0435, 2.1082, 1.29, -0.0734, -0.8097, -0.7826, 0.9949, -0.0216, 0.8173, 0.5945, -0.4225, -0.0151, -0.0486, 0.9972]\nstate[eef_state]: left_x=0.3587 left_y=-0.3547 left_z=0.0517 left_yaw=-0.0058 left_pitch=0.0053 left_roll=-0.0209 left_gripper=0.9949 right_x=0.2889 right_y=0.0 right_z=0.1607 right_yaw=0.0082 right_pitch=-0.0775 right_roll=-0.0111 right_gripper=0.9972\nstate[joint_eff]: [0.3077, -10.1128, 5.559, 1.3114, -0.4567, -0.0024, -0.1197, -0.0752, -1.347, 6.9812, 1.6825, -0.0269, -0.0269, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0574, 0.8375, 0.7319, -0.5278, -0.0956, -0.1047, 0.9957, 0.3344, 1.9236, 0.8051, 0.445, 0.2733, 0.1402, 0.9972]\nstate[eef_state]: left_x=0.2923 left_y=0.0037 left_z=0.1966 left_yaw=0.0581 left_pitch=-0.0582 left_roll=-0.007 left_gripper=0.9957 right_x=0.4491 right_y=0.1093 right_z=0.016 right_yaw=0.0196 right_pitch=-0.0771 right_roll=-0.0389 right_gripper=0.9972\nstate[joint_eff]: [-0.0342, -1.894, 6.7487, 1.8926, -0.1343, -0.0904, -0.0024, 0.4855, -7.2, 6.2838, 1.5458, 0.2369, 0.2173, -0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0574, 0.8379, 0.7319, -0.5385, -0.102, -0.1047, 0.9957, 0.2382, 1.9118, 0.7174, 0.6895, 0.1654, 0.1139, 0.0348]\nstate[eef_state]: left_x=0.2907 left_y=0.0049 left_z=0.1944 left_yaw=0.0636 left_pitch=-0.0687 left_roll=-0.0018 left_gripper=0.9957 right_x=0.4609 right_y=0.0857 right_z=0.037 right_yaw=0.0281 right_pitch=0.07 right_roll=0.0405 right_gripper=0.0348\nstate[joint_eff]: [-0.1026, -1.1692, 7.1043, 1.746, -0.0171, -0.0659, -0.0122, -1.0598, -7.706, 3.3162, 1.0281, 0.3053, -0.5201, 0.7741]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28a4da7f7ad49454aeb105b17dc8e546649b906c639ab1dee3f83c1aba6fe797",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3133b104a28e1f0ab1e5085b13d79605a7b9a7369c73017e13d74d50fbaabcff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62fdfc81ee65dafe8d367e0a83adbc7210fdeba70c11e6c34887247d0d65a784",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJ3HQJq0srYbIHzQ5qxkok3aTVlGh6XhrmYtyNdNso8N2lTRCOtJRgO8TMQBpncp10_k4IzeJjbSO8YVSPLTog2nhUp6-0hrKwMkfgiIjvZuIrCCw2DiwCqSO47X_KH2geT7V15D__zDI7324VQoBQQh25x-lgLPiUR0VL8J0oOMQEQUIRtaKzsPhTFLOVV-4NHT36ORZCa8jhxogzDztUDozkdD64PGNCmiYdOXXofvAZ6lpi-ypthviJVG7XbEw96Eotv5CunhCuhlGf6XnZuLyps3ThPvgeX9xmvPsiO5L7aSB5lOK_QeuQ6GEurwwFSFeh_XjMkgMqWIednT82cSaPccu953ODM7YFzQQojEa8NUuISngZvK_uEMGsRulHKH-LAjg-TfVDYoQqTkyNeeYXcCxFrtvlo5BDWpQhWJz94i7QESiWLEZ011BCaWSgwgpbqGVEQsrX8_6Ox6B_fPTB-bKbDvIRwHI4HdC8wiZwtp0wYuJgifKi0OHSZDz-BhomnVdC2K7lIlkOqN1u6_phmkXvAbX6aenEiF7Ima-VDnXhCZKhIaDIMQ2JFAy87fzSwACDi7piof4FVJndxpiJO5zvv5z3lpreNhFP7XqnAHRsWaKVlTfMQ-wiZAoTBtsYCU_arNA0-8T-AZ_IJDfHyjqgekCwbthlhXnjaroz4khc9S90PQulP-3BP2wZ4SxAaDUk72TSfOn2muK--vnxTyo8ri7wt9Lt9pRVTpFFT7BEMeKbqSXQ3o0EVPEckSYVrYFyu1t3_1KmiJ7iRBTBhZKog7MSFxpcW9CGRR3ZPgg2P-AGNQVcc6qRTUyTry_DtFAp-PahjS1VfcyXsdpAqyQR2a_GxYCIkJ3gSMIsQbCkwtr1bN-1z4l0UbjHIM1zdg2tA8xlT0HOq6ZbHb87_x1yuy9A0eoQMnYrnZh_nMyrKo7DOdDJF9GUtmNXiQJ-ZagCQlCqrun5qdhNKW_rOnirDak3iN4Vmtk3IVRSapzMJXSS1ZTJ9yjp0M162FqvTYCUUSrTitSPbQgUzInNVd8qLXmy3eaAyd08NIwCiQ-YfzGdjBUs_qKPRBitc7Y3ynGC4naFVHQqwsycvkyNnLRpiu5GvI0inBrYucSaVkWG7jHj8gl7YtGMLINp9RrVUuPPpfFVfe_pgylmShXG0wZFzT_yaPvXMUh4UjJw5saxjPAqrm3H7Z_VEMoivKXMPo_smV-MpOPdDYuFBNPPmnjkvlRPKNuhQTW4b6J4uagZh-fy_pDdftkVIMjIGGh2XHBHQVqivGNGm9YXQuvPRCKt-cENySvlZKh-F6AHzl6CyPMcFSpB6TGNm5R4dYzXRpNzSVIPUlHWsrudmnEmIDKabyRl5bWtnNU2VHQd2js97XNak4ow5MdATYGHTViqZhiWh4EsakVJ27oelg3q4tQsg07fU_mPgDgWwm_cBOXcCpGK3qBTbjjJGVXGY3",
  "id": "rs_0c7da84283467cc2016ab49dc59c5087d0968205756616a8f6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.08,\"right_z\":0.105,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0,\"right_gripper\":0},\"note\":\"The beige rim is caught, and the bowl tilted as the grasp seated. I’ll lift briefly with the fingers held closed to verify it is secure.\"}",
  "call_id": "call_yG6lVahFs6uEFDuMTk83UdwP",
  "id": "fc_0c7da84283467cc2016ab49dc695c487d09316232c4d5502ad",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yG6lVahFs6uEFDuMTk83UdwP",
  "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]: [-0.0574, 0.8406, 0.7319, -0.5392, -0.1024, -0.1047, 0.9957, 0.2417, 1.7222, 0.8272, 0.3111, 0.1787, 0.1017, 0.0392]\nstate[eef_state]: left_x=0.2908 left_y=0.005 left_z=0.1936 left_yaw=0.0639 left_pitch=-0.0721 left_roll=-0.0012 left_gripper=0.9957 right_x=0.4567 right_y=0.0839 right_z=0.0851 right_yaw=0.0274 right_pitch=-0.0056 right_roll=0.0066 right_gripper=0.0392\nstate[joint_eff]: [-0.0752, -1.6615, 7.0906, 1.7265, -0.0806, -0.0806, -0.0122, -0.3487, -9.7299, 9.0735, 2.0195, 0.3248, 0.0904, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a961db07d6037fc2d5988e14eb9bb4d02a59902cc8ee316a308293238cb207c3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ff67abe18f667073280e0f8f452ed5837f699160a411c3960a4cb124b8d1dbd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1efed560e052b8aa1c167eb9632829f8dfaa65c70bc651d2db37bac4dce3e72",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 36 attempt 0 · /responses · status 200 · 3.503 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 126 changed as sent

message 134 changed as sent

message 138 changed as sent

message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.057, 0.8318, 0.7296, -0.5072, -0.1028, -0.1089, 0.9957, 0.3275, 1.5391, 0.8051, 0.0586, 0.255, 0.1356, 0.9974]\nstate[eef_state]: left_x=0.2945 left_y=0.0049 left_z=0.2013 left_yaw=0.0667 left_pitch=-0.0338 left_roll=-0.0091 left_gripper=0.9957 right_x=0.4127 right_y=0.0969 right_z=0.1058 right_yaw=0.0303 right_pitch=-0.0825 right_roll=-0.0322 right_gripper=0.9974\nstate[joint_eff]: [0.0889, -2.0581, 10.2496, 1.7705, -0.0122, 0.2076, 0.0708, 0.4308, -6.2017, 10.0444, 2.0488, 0.3199, 0.1832, -0.2955]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0574, 0.8379, 0.7319, -0.5385, -0.102, -0.1047, 0.9957, 0.2382, 1.9118, 0.7174, 0.6895, 0.1654, 0.1139, 0.0348]\nstate[eef_state]: left_x=0.2907 left_y=0.0049 left_z=0.1944 left_yaw=0.0636 left_pitch=-0.0687 left_roll=-0.0018 left_gripper=0.9957 right_x=0.4609 right_y=0.0857 right_z=0.037 right_yaw=0.0281 right_pitch=0.07 right_roll=0.0405 right_gripper=0.0348\nstate[joint_eff]: [-0.1026, -1.1692, 7.1043, 1.746, -0.0171, -0.0659, -0.0122, -1.0598, -7.706, 3.3162, 1.0281, 0.3053, -0.5201, 0.7741]\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 138 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0574, 0.8406, 0.7319, -0.5392, -0.1024, -0.1047, 0.9957, 0.2417, 1.7222, 0.8272, 0.3111, 0.1787, 0.1017, 0.0392]\nstate[eef_state]: left_x=0.2908 left_y=0.005 left_z=0.1936 left_yaw=0.0639 left_pitch=-0.0721 left_roll=-0.0012 left_gripper=0.9957 right_x=0.4567 right_y=0.0839 right_z=0.0851 right_yaw=0.0274 right_pitch=-0.0056 right_roll=0.0066 right_gripper=0.0392\nstate[joint_eff]: [-0.0752, -1.6615, 7.0906, 1.7265, -0.0806, -0.0806, -0.0122, -0.3487, -9.7299, 9.0735, 2.0195, 0.3248, 0.0904, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a961db07d6037fc2d5988e14eb9bb4d02a59902cc8ee316a308293238cb207c3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ff67abe18f667073280e0f8f452ed5837f699160a411c3960a4cb124b8d1dbd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1efed560e052b8aa1c167eb9632829f8dfaa65c70bc651d2db37bac4dce3e72",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJ3OSyGnvKRsynmOCgdtAKuzn3sKPTg1xi--QPIRShwH1a3vwkXup3yi7-Yy77I1gchUV1439NRbuycg9Lhi2AaoOCXZb7z5Gq1mnQU4XjcD8Re3PUNHriBY50OMndx7fniumPJIAgBSZOjvYYsPW7IFj9DoDMPQN0AhRD8VWeXfwwskSmjQkEAQt3FJGfdtaE4DQcS79rl-7Nio027t2k5wPbn6W2b_YHXb-WQoGcliQ3WOMXxoohNX6N-E8K6DrZjrO33HBpQT7JHzGPDIWH23DTxSe1XleEcajDvg0aUTCmUbkstVU4wrtEX6b9Fst2k3YYOc6sEDqdlSsS2DD1mETmO57Janvx_1dKZxnnZE00uYrursX0RayCyivxr3ZY8CCqjiMwrI8aBp6CQTKcYlZhRyeQS0DgxxRkh5Afsu8iQ8ApXV8_RIqLOZ44MsOVe0DNSA2ejg8voFusLSMN4Hm395om3D8BlbdAT0CzfVMrx1y5_GHt8wOvCW5IbiTJuos54pCIJkvTPh87QH5lTJpWEDp8oKGACqZvW2sSD7ZGYvZmEoXjoHHU-AT0nAFDK1hwQZfYCDzaYXKzGuJmFv4xFbF8SKLqbXBiBQYgG08-eXbzn1HDaA3R7foWix1-EYsXSPrs5jZUtXJ6xZfZLE8BEM7gGZ48zkDb-FLRqvz0R-D4KEaivdcaWaIxLE2FkUrXGNZ_onrV04v_ZnzlD_Y7BY5kVkPPOTCKLTNooOzGELD9b7VynjyEegpPH5Ft-mKX5euzm8evcZ38mDnpnMkleFCkOHY0jlXjvN88VT072XF2urOjguEHu7wL3xa2YE1RRAxOlo_sQ2CH738z-pyAJpVoH3OJvVeBxp4iHHAjBf5kpoJB2MiK-y3I1euzNl2tYhVSJe-sGEFaeQFa1EafNDhbQc8Wf0nZfIYgLzrYjq9d1BLegn29ozoEsh836LVZ0S9068Kowncs8oaCyKyWj78hj4yykFCGbBVJWZcUSEn8ZA3S4o1eHQ47Xsm5h_V5KeKR9pX_8eWzQbiqHgM00MPZB329R7UmTbPJ7go4lofPdcHWAb4E5UucR086g2a5VI6igAAe2YFkj1cQ8q6jdlTYjO0BfsHUskn3-amlZPx7CMtfWwLJbwV3x1GeNcnpHiY0oAQ4bWqaBvGedqB-ryVY2M7VKec44biOQqtaayNSp1XM9nFqQKYeEr3hpSmBoXaTv_s7-Syb3RF6d9gxBMcTwl9eoYdb3TQ49LG2CppRFCstKsn_gP2uhiPs1rjCXN3_9737y2x6AojdWF2K_wj60fppQIDStPJtMV5RiejWvfof_Krv09mngkmqykFYraIVwwi5ygad0oknMc4JiMvbpVOShtvoXi-JEs_g1X8f5qwD75PzgUmrcyoMnAPRSj2hJgigVoYClmBxn_CCKa5gUc0GTA6UBdA0qS9vsPkK5Pe52Qk5qTBxh_U2pMdlF8TZ04Dlnk0HdSEvtzN6oMXxK36CjY7n6sI0MNZ0oLHUMQY9uxOxz9zr_zAXB8ZT-1_ABZzY0Ko5sSoEFMltl43vHnqOlDafez-69AHl1L0it8ecGqfFwJRK9FjRUN1f9kDQ7R1ccYZOyb2AoVXBMT2ieqc567rmRkCiR2NSbUIt3B3sDk6OjQSsGTKWgXS_pHTG3ScWpUjyntkHMe1oEef9-uSJX54LIJDFxW6MMc01QF32sfNouCnRJSCSBcvgnfObVcBt11AfYM_ihpSpWbcvrAyQFElyaGAghmEPE2jI8cXBfAEWh188kqEL5eTDnS8lEGgp5MaH940VDH_Or9mGDIZB_I61KFObsbmkrOaYD4UmRsMmF_ZbCevDEFfrllebXbJf19pKJ9ukXPNOApa8jCcIS8hKhLJl4pub9kFJPEtBmErCV5sYadTv_CTFofAk5WEeWqBUe7KvCzKIQdBVl0cY0VctJ5rBDCzHHEpp3rgNwfpsC7edXStjP_6uVreUXiBZWMHYokE0wlIZsndTIdQE3_WbePVj1t4dmkKYPRgpM524GKoAdtbq2_jhjvEAtAO2VYVPNixa_OHjfNk4RoSya-W0VzZBe4otIvardOZ8r3aUdb9_KG-pRVNwfvXD0-8j9s2oWhvtTtcfBDSRZcfDPS89KZyhfSZaM=",
  "id": "rs_0c7da84283467cc2016ab49dc9bb2487d09913bb75a5a6cb2a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.31,\"right_z\":0.205,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0,\"right_gripper\":0},\"note\":\"The beige bowl follows the hand and remains secure. I’ll raise it along a clear diagonal path toward the two-bowl stack.\"}",
  "call_id": "call_In4PMYisFVxnXPBLbaN1gQU1",
  "id": "fc_0c7da84283467cc2016ab49dcd460887d08141c7cd714b5d69",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_In4PMYisFVxnXPBLbaN1gQU1",
  "output": [
    {
      "text": "executing move_to over 19 steps (1.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0574, 0.8444, 0.7319, -0.5461, -0.1024, -0.1047, 0.9957, 0.9333, 1.7996, 1.441, -0.4957, 0.7017, 0.5617, 0.0384]\nstate[eef_state]: left_x=0.2901 left_y=0.005 left_z=0.1912 left_yaw=0.064 left_pitch=-0.0827 left_roll=0.0001 left_gripper=0.9957 right_x=0.3655 right_y=0.3079 right_z=0.1849 right_yaw=0.0548 right_pitch=-0.0468 right_roll=-0.0432 right_gripper=0.0384\nstate[joint_eff]: [-0.0615, -1.2513, 7.0359, 1.7118, -0.0562, -0.0171, -0.0122, 0.1573, -9.3744, 9.4701, 1.5751, 0.5201, 0.2466, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24a6df902df6c668ccd85846c65293d7dc056cac28ec0e4db9a81d58aa8d48ef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6c6ec98afcb047b2917c5613814dec8ed3f2a321af061bf19164dedc4bb9f22",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fd96a8024ff0b443ea6c8a9d4077af0879f207547b35c4b28cb7674bd9bc694",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 37 attempt 0 · /responses · status 200 · 2.929 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 130 changed as sent

message 138 changed as sent

message 142 changed as sent

message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0574, 0.8375, 0.7319, -0.5278, -0.0956, -0.1047, 0.9957, 0.3344, 1.9236, 0.8051, 0.445, 0.2733, 0.1402, 0.9972]\nstate[eef_state]: left_x=0.2923 left_y=0.0037 left_z=0.1966 left_yaw=0.0581 left_pitch=-0.0582 left_roll=-0.007 left_gripper=0.9957 right_x=0.4491 right_y=0.1093 right_z=0.016 right_yaw=0.0196 right_pitch=-0.0771 right_roll=-0.0389 right_gripper=0.9972\nstate[joint_eff]: [-0.0342, -1.894, 6.7487, 1.8926, -0.1343, -0.0904, -0.0024, 0.4855, -7.2, 6.2838, 1.5458, 0.2369, 0.2173, -0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 138 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0574, 0.8406, 0.7319, -0.5392, -0.1024, -0.1047, 0.9957, 0.2417, 1.7222, 0.8272, 0.3111, 0.1787, 0.1017, 0.0392]\nstate[eef_state]: left_x=0.2908 left_y=0.005 left_z=0.1936 left_yaw=0.0639 left_pitch=-0.0721 left_roll=-0.0012 left_gripper=0.9957 right_x=0.4567 right_y=0.0839 right_z=0.0851 right_yaw=0.0274 right_pitch=-0.0056 right_roll=0.0066 right_gripper=0.0392\nstate[joint_eff]: [-0.0752, -1.6615, 7.0906, 1.7265, -0.0806, -0.0806, -0.0122, -0.3487, -9.7299, 9.0735, 2.0195, 0.3248, 0.0904, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0574, 0.8444, 0.7319, -0.5461, -0.1024, -0.1047, 0.9957, 0.9333, 1.7996, 1.441, -0.4957, 0.7017, 0.5617, 0.0384]\nstate[eef_state]: left_x=0.2901 left_y=0.005 left_z=0.1912 left_yaw=0.064 left_pitch=-0.0827 left_roll=0.0001 left_gripper=0.9957 right_x=0.3655 right_y=0.3079 right_z=0.1849 right_yaw=0.0548 right_pitch=-0.0468 right_roll=-0.0432 right_gripper=0.0384\nstate[joint_eff]: [-0.0615, -1.2513, 7.0359, 1.7118, -0.0562, -0.0171, -0.0122, 0.1573, -9.3744, 9.4701, 1.5751, 0.5201, 0.2466, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24a6df902df6c668ccd85846c65293d7dc056cac28ec0e4db9a81d58aa8d48ef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6c6ec98afcb047b2917c5613814dec8ed3f2a321af061bf19164dedc4bb9f22",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fd96a8024ff0b443ea6c8a9d4077af0879f207547b35c4b28cb7674bd9bc694",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJ3TpkXS5JYp_W16-qefAW0Rq2b09zcM09upd9bq7xewxJUhi5FfHGXFOR-deQwJPYr96ztijiaqWiG0p6jJ49jk3Ea18ZPH1qS-dDSF3tMwcCfBB-NG-F74JZuJaX24p___28Zdq7ahUEpt5i38cTc1y1sUANweiyJhoj51BMXLRmOmbxzgxsjbSQPdUkWIWdhXC57srAxoFzFSsr3n3msOUfzWsFzq4_Zl6yDOOo4J9ZrwJF1yOMWq1PgCuno4E25k3rwSI-gc0GRgEXB7wyqFEseID9SJIo3vsw_2znQlz7xlbBMg0tPrUr9ifMYnHAVtsZ8WZKf5RfNDsr3yYUcrbrMDg_txNt4G994OAyO3Wlty3Y7ji-MIL9tFOyhxYmvV39yXVzHPJSsq7VhT9HnhVynNiSAF5CJAsTGNpACaxzPGYJ9lqErqCDeUTdzWZyeEs0YMSCY99rup7QiKHFgXZQrl0sbF3dXHg75qf4Ly4-4tipBkQD2-F2KKkx6W33Ke6194KWcUyqpAVvPI-5XUOmZt7FbS42HqEA5it4hVRk5kgxfoQv9eAn1r8CLzritdamyS0L1Ms6vTAIrF4ASaeecae_FuFnx3xHVrFTPFGAqtZJQLGKOyfMaHBi072hMVMJMPZ3uX530ZCx4qftICykJCkDYrHANcDDx0cpl5ag9dPT7v6QJDZ8yfONFbEJBXq3SfTsvIE8UiLHm4C8qndUYsfoe1ZLlNVCo-WVZUDWVepWSr5Bvthrpk5hhnvBhr4dWMEXV78ZYcjttqbkkb__9eFW1XdQ4HFU3iyKLtVilGyffS5m2H6XGk-un1Ni3a6EaYZdJi_nFd5JUt-H9wSy6wAA5lFvwIoB77zzSt7mLqSPuhacKGrCjkMHyBbnBEdKpqtFxh6dZ3PQ1QCPBc7D5kp4DVeY7fa1KfKVFhOSEUIo-qH4WuLhv3O0sXGYqnC6MEPZixIiSaANiZOtd-CcxLJzXsZYe0_iCxTzJwOPNWfAhqCAxI-MbAfQHXNUa1wwdv4KDn0jRXJ3yvhvz8leaUYP0KM_Tw6cKdsZNjZc5pWjTtbbfriGOl7RQaKurJ7EciNJM_0WEZ1ujK8rMqXsDrTB1sR9Fj5-tTYrYkYG4uT5zZaiauvFxnPif10eveBxT2gUViM8YnwAOun_kU_zIAJvmn8RBBC0uwEv3lSL2wlMjvjiN35LFDS4L6Jhlgc7ZNtDxoh8eGzcXVZTUnNO4ppq2gvNHDKBRED-q92y2ZK7HXKYTp-P_J2eCpAM2S9Z0yPJPhhbhsfFpW3bpyLAcpKeeXsWUKlxNu23n5IiSEyHeBbLBpdGawYGdEi_qE5SW3Gm538Tlb-8XHlVurVxHZMD-asHbAgy2d8ZcEnR_7uhInpW2wAfUmv9iE9FpTdBPto_7qW3Gv0Ixw-nZjRPYY5JQc0XKbcy0GpxtJEvoZAvDhthVjx3SKBxFu-xYvDaZiw_FfDiWu2VVjhbAnHQ==",
  "id": "rs_0c7da84283467cc2016ab49dd198e887d0bfef5c9f491223f1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.31,\"right_z\":0.055,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0,\"right_gripper\":0},\"note\":\"The beige bowl is centered above the stack in the overhead view. I’ll lower it vertically until it rests in the turquoise bowl.\"}",
  "call_id": "call_FyBQmx6ZgztzFE4aHJPS5WQY",
  "id": "fc_0c7da84283467cc2016ab49dd2c94887d08c2328959d04f4aa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FyBQmx6ZgztzFE4aHJPS5WQY",
  "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]: [-0.0574, 0.8444, 0.7319, -0.5465, -0.1024, -0.1047, 0.9957, 0.9409, 1.982, 1.1374, -0.0235, 0.7341, 0.6064, 0.0384]\nstate[eef_state]: left_x=0.2901 left_y=0.005 left_z=0.1911 left_yaw=0.0641 left_pitch=-0.0831 left_roll=0.0002 left_gripper=0.9957 right_x=0.3656 right_y=0.3067 right_z=0.0572 right_yaw=0.0162 right_pitch=-0.035 right_roll=-0.0326 right_gripper=0.0384\nstate[joint_eff]: [0.0205, -1.4838, 6.8991, 1.6386, -0.0806, -0.0708, -0.0073, 0.1709, -8.6769, 5.8598, 0.9451, 0.1832, -0.0611, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 355):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe6b05874d124cc00ef2f3ade0eee6efc8e142d8f8b61cdf1b0d14d718fb1f12",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 355):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1577f87ff7ba765f73f424c72b446680ee3d0707cdc20fe71869f149cbc74b4d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 355):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdbe9d7d8cd0b0416dd295f5f1bbc4bba1cc8f14a0bd7bdbe1b62fdfedd96f97",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 38 attempt 0 · /responses · status 200 · 2.678 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 134 changed as sent

message 142 changed as sent

message 146 changed as sent

message 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0574, 0.8379, 0.7319, -0.5385, -0.102, -0.1047, 0.9957, 0.2382, 1.9118, 0.7174, 0.6895, 0.1654, 0.1139, 0.0348]\nstate[eef_state]: left_x=0.2907 left_y=0.0049 left_z=0.1944 left_yaw=0.0636 left_pitch=-0.0687 left_roll=-0.0018 left_gripper=0.9957 right_x=0.4609 right_y=0.0857 right_z=0.037 right_yaw=0.0281 right_pitch=0.07 right_roll=0.0405 right_gripper=0.0348\nstate[joint_eff]: [-0.1026, -1.1692, 7.1043, 1.746, -0.0171, -0.0659, -0.0122, -1.0598, -7.706, 3.3162, 1.0281, 0.3053, -0.5201, 0.7741]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0574, 0.8444, 0.7319, -0.5461, -0.1024, -0.1047, 0.9957, 0.9333, 1.7996, 1.441, -0.4957, 0.7017, 0.5617, 0.0384]\nstate[eef_state]: left_x=0.2901 left_y=0.005 left_z=0.1912 left_yaw=0.064 left_pitch=-0.0827 left_roll=0.0001 left_gripper=0.9957 right_x=0.3655 right_y=0.3079 right_z=0.1849 right_yaw=0.0548 right_pitch=-0.0468 right_roll=-0.0432 right_gripper=0.0384\nstate[joint_eff]: [-0.0615, -1.2513, 7.0359, 1.7118, -0.0562, -0.0171, -0.0122, 0.1573, -9.3744, 9.4701, 1.5751, 0.5201, 0.2466, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 146 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0574, 0.8444, 0.7319, -0.5465, -0.1024, -0.1047, 0.9957, 0.9409, 1.982, 1.1374, -0.0235, 0.7341, 0.6064, 0.0384]\nstate[eef_state]: left_x=0.2901 left_y=0.005 left_z=0.1911 left_yaw=0.0641 left_pitch=-0.0831 left_roll=0.0002 left_gripper=0.9957 right_x=0.3656 right_y=0.3067 right_z=0.0572 right_yaw=0.0162 right_pitch=-0.035 right_roll=-0.0326 right_gripper=0.0384\nstate[joint_eff]: [0.0205, -1.4838, 6.8991, 1.6386, -0.0806, -0.0708, -0.0073, 0.1709, -8.6769, 5.8598, 0.9451, 0.1832, -0.0611, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 355):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe6b05874d124cc00ef2f3ade0eee6efc8e142d8f8b61cdf1b0d14d718fb1f12",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 355):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1577f87ff7ba765f73f424c72b446680ee3d0707cdc20fe71869f149cbc74b4d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 355):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdbe9d7d8cd0b0416dd295f5f1bbc4bba1cc8f14a0bd7bdbe1b62fdfedd96f97",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJ3X1sl0j2Xs4jNhEdd08tTaVxfGs3wy9GCbWhBvIVSH4pjJ6DxILeEVi9oP6Z39smOwdyjU_9nPXqQIR3QKxoOeYq-3y5fon_6rKVt8BOPpiwWQcytOuplxAqBCrjYdilg8BeA67aZj1tcdIFh-9qplo9ydihJmNG_ySQnEf6W3vYbAxpdTdjoYbDUbi6nCuAhsKz9JoKSETGzbTaWMkPDjXOGtjEq_s3urTFa64Vbo1qoB0uTgUE7U4C64TZz0G2BKBnHIbiNmPkyrUVXle4rkag7gBuqcNSJuIu-Kk2wJb0tweV32n5UkL8G9hl3ScKaVKzlaQYX_zOzodfX3nob_iVD6G8LXLx3Sn1-o7oJXtSJJU6BKKGEBG9qkCLZ-CSuj8CWD0diMBt6xdFjuNGSQTvgj-cJk63mZE8dQrD876zqDijRLvz2kDZiyAk4AP4Kd2_-JxY12bb399cnIDfIf0q2U0mfCfqW3qUFKehWAyxEn8hd5Tz4kT7_v7hcBb_HQ67ns1wpsTqMOaZEfM18P-Jfu0PLjRBT3VifW7yizvguVFb3KBu-78dodvvXQWVKkBQZBmLZ7-hW-XOJ_y1mS9Cap4lZ_Wjv-4hYq3200Q2A6eUExNY4qcMfiGbsOTanQRJvrqBhCyfzZXf53YU8cBlfROAMThmHsD6pkbQdZe06cehXNJrY_SE_yl9x1breVgz8Id5JhHWw8x9bgUQb5G9nzATQhq7CoC7OmhxChphgiRX0tqwecVrI5jRFh1ZWxmYR8nVvI-Hwk2BvsnPzuf2enbFUb8RkDJDafCmWH_tVZIjAQWZJb30yBBjWZrz7dcA092pU38KcQpnFReGnd0GUkd6b8g-ngwLzmtJlg3TUGbxHwCgVyOa_vg-DYneaTV15iH5s5v6pfVsPrpWSWVExsHwj2hPR_k4XAQ7qvB2aExOLpkrHtqpGdqEr6x5oKBgJZKTAbc2ITF4YVjJab_b4IRWwnxiUcr0Jp5C6-5nixaiNPy9pR8CGbWQ2IwPbiUTIBkf7X0avjzmLPiEhD4dURaFaGKQjH78-LYeQIFnX9C5HZaBzP1NKJF-UXdsjWNnKno9Kv70yfTMOkHGCgm41mPGpp9NOO7-j5_qP029A9kNMYBXmzRFUpYCNupRzXNlupLusus6Q6GIQFGVPOF3kU3s4AqhFbAF3VGpdRUVLpCJXglFYQsM98-xxa8S4d9YkKa1AItElrlgl7u44QLGBbwhCsLUdw1Xk8ranb0JO6k4nlGrJKGZdSBGAhsELIYDssxyp6fWMO7p8L6HaBM-zKxTGrzpcYTSinxuadcjNuv690Ox_4emahZvhR_cOutkeMpaMmvITtO1tSQw0_1ZkEgVXhSTDcmu3gJtuXNbhzpOAjxAEMkQb332RNZELF",
  "id": "rs_0c7da84283467cc2016ab49dd604d887d08716dac5bbacd742",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The beige bowl has reached the stack at a low placement height. I’ll open the fingers and let it settle.\"}",
  "call_id": "call_QjEIRkVaxrUgkva4xAU4W614",
  "id": "fc_0c7da84283467cc2016ab49dd6c8e087d087b6bce42ceb737d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QjEIRkVaxrUgkva4xAU4W614",
  "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]: [-0.0574, 0.8444, 0.7319, -0.5465, -0.1024, -0.1047, 0.9957, 0.9417, 1.99, 1.1297, -0.0261, 0.7242, 0.6025, 0.9955]\nstate[eef_state]: left_x=0.2901 left_y=0.005 left_z=0.1911 left_yaw=0.0641 left_pitch=-0.0831 left_roll=0.0002 left_gripper=0.9957 right_x=0.3628 right_y=0.3058 right_z=0.0499 right_yaw=0.0249 right_pitch=-0.0522 right_roll=-0.0457 right_gripper=0.9955\nstate[joint_eff]: [-0.0342, -1.4701, 6.8991, 1.6728, -0.0659, -0.0757, -0.0122, -0.1299, -10.8786, 6.5573, 1.3358, 0.3541, -0.0366, -0.105]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 365):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61c0c24dd8495c5064f6ed5e5b23ceb56a15def21b863cb1510fe94aab9b890a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 365):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6e1c09c8ef59ea20a89db44db2a39ba20da252e19fb52b81444dbb035b7408c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 365):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:baa367047bca5a4787cfe5ad6c774519d8d10193211344a7584c35722b3a0904",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 39 attempt 0 · /responses · status 200 · 4.593 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 138 changed as sent

message 146 changed as sent

message 150 changed as sent

message 138 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0574, 0.8406, 0.7319, -0.5392, -0.1024, -0.1047, 0.9957, 0.2417, 1.7222, 0.8272, 0.3111, 0.1787, 0.1017, 0.0392]\nstate[eef_state]: left_x=0.2908 left_y=0.005 left_z=0.1936 left_yaw=0.0639 left_pitch=-0.0721 left_roll=-0.0012 left_gripper=0.9957 right_x=0.4567 right_y=0.0839 right_z=0.0851 right_yaw=0.0274 right_pitch=-0.0056 right_roll=0.0066 right_gripper=0.0392\nstate[joint_eff]: [-0.0752, -1.6615, 7.0906, 1.7265, -0.0806, -0.0806, -0.0122, -0.3487, -9.7299, 9.0735, 2.0195, 0.3248, 0.0904, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 146 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0574, 0.8444, 0.7319, -0.5465, -0.1024, -0.1047, 0.9957, 0.9409, 1.982, 1.1374, -0.0235, 0.7341, 0.6064, 0.0384]\nstate[eef_state]: left_x=0.2901 left_y=0.005 left_z=0.1911 left_yaw=0.0641 left_pitch=-0.0831 left_roll=0.0002 left_gripper=0.9957 right_x=0.3656 right_y=0.3067 right_z=0.0572 right_yaw=0.0162 right_pitch=-0.035 right_roll=-0.0326 right_gripper=0.0384\nstate[joint_eff]: [0.0205, -1.4838, 6.8991, 1.6386, -0.0806, -0.0708, -0.0073, 0.1709, -8.6769, 5.8598, 0.9451, 0.1832, -0.0611, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 150 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0574, 0.8444, 0.7319, -0.5465, -0.1024, -0.1047, 0.9957, 0.9417, 1.99, 1.1297, -0.0261, 0.7242, 0.6025, 0.9955]\nstate[eef_state]: left_x=0.2901 left_y=0.005 left_z=0.1911 left_yaw=0.0641 left_pitch=-0.0831 left_roll=0.0002 left_gripper=0.9957 right_x=0.3628 right_y=0.3058 right_z=0.0499 right_yaw=0.0249 right_pitch=-0.0522 right_roll=-0.0457 right_gripper=0.9955\nstate[joint_eff]: [-0.0342, -1.4701, 6.8991, 1.6728, -0.0659, -0.0757, -0.0122, -0.1299, -10.8786, 6.5573, 1.3358, 0.3541, -0.0366, -0.105]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 365):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61c0c24dd8495c5064f6ed5e5b23ceb56a15def21b863cb1510fe94aab9b890a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 365):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6e1c09c8ef59ea20a89db44db2a39ba20da252e19fb52b81444dbb035b7408c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 365):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:baa367047bca5a4787cfe5ad6c774519d8d10193211344a7584c35722b3a0904",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0,\"right_z\":0.2,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.2,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The beige bowl has been released. I’ll withdraw the right hand and park both arms so the completed stack can be checked without occlusion.\"}",
  "call_id": "call_mowFBuRkJu4wIleddOCQFAjQ",
  "id": "fc_0c7da84283467cc2016ab49dd9e0bc87d081149812549f0ddc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mowFBuRkJu4wIleddOCQFAjQ",
  "output": [
    {
      "text": "executing move_to over 26 steps (2.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0364, 0.8177, 0.6979, -0.4892, -0.0475, -0.0738, 0.9957, 0.0048, 0.815, 0.638, -0.4297, 0.0608, 0.0086, 0.9958]\nstate[eef_state]: left_x=0.2924 left_y=0.0013 left_z=0.194 left_yaw=0.0218 left_pitch=-0.0363 left_roll=-0.0118 left_gripper=0.9957 right_x=0.2933 right_y=-0.0058 right_z=0.1797 right_yaw=-0.0604 right_pitch=-0.0378 right_roll=-0.0085 right_gripper=0.9958\nstate[joint_eff]: [-0.0068, -2.2906, 6.2701, 2.0195, 0.1392, 0.2173, -0.0122, -0.0889, -1.9077, 10.5641, 1.7607, -0.1197, 0.022, 0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 391):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bba0ab3fab20d2a4eee5f0a053797636acf724a9b770e89f587a094435a3fa9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 391):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:722e07b53f6fd363f35d05865872227783f86531f5b5a5a51fe9e6f58e54b8a2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 391):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7695134eea5ca64396e59edf916c7246f62b1aab5343d4043e0c38b70a388a75",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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