adhoc

completed
2026-09-24T04:06:50.513741+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
150.7 s
total steps
233
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

Stack the bowls on the table.

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteI see three upright bowls in a row. I’ll approach the left bowl with the left gripper and aim to grasp its rim so it can be nested in the middle bowl.
move_to
left_x0.3500left_y-0.1800left_z0.1500left_gripper1.0000right_x0.2940right_y0.0010right_z0.1800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.7948, 0.6041, -0.3817, -0.0227, -0.041, 0.9996, -0.0177, 0.7933, 0.6014, -0.3809, -0.0158, -0.0338, 0.9969] state[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1794 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2943 right_y=0.0012 right_z=0.1788 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9969 state[joint_eff]: [-0.5402, -1.5932, 10.1128, 1.7753, -0.0317, 0.2271, -0.0611, -0.6496, -1.4017, 10.3726, 1.9121, -0.0855, 0.1441, -0.3297] 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":0.35,"left_y":-0.18,"left_z":0.15,"left_gripper":1,"right_x":0.294,"right_y":0.001,"right_z":0.18},"note":"I see three upright bowls in a row. I’ll approach the left bowl with the left gripper and aim to grasp its rim so it can be nested in the middle bowl."})
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 left bowl is visible beside the gripper’s jaw line. I’ll lower toward its right-hand rim, leaving one finger inside and one outside rather than trying to span the whole bowl.
move_to
left_x0.3600left_y-0.1950left_z0.0650
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7357, 1.4044, 0.8108, -0.1822, -0.58, -0.4797, 0.9996, -0.0196, 0.8001, 0.6018, -0.3931, -0.0154, -0.0345, 0.9966] state[eef_state]: left_x=0.3406 left_y=-0.1729 left_z=0.1327 left_yaw=-0.0221 left_pitch=-0.0541 left_roll=0.032 left_gripper=0.9996 right_x=0.2931 right_y=0.0006 right_z=0.1746 right_yaw=-0.0018 right_pitch=-0.0187 right_roll=-0.0005 right_gripper=0.9966 state[joint_eff]: [-0.4171, -5.9419, 8.9504, 1.6142, -0.4957, -0.0611, -0.0611, -0.0479, -1.8667, 7.5419, 1.7851, -0.0464, -0.0806, -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":0.36,"left_y":-0.195,"left_z":0.065},"note":"The left bowl is visible beside the gripper’s jaw line. I’ll lower toward its right-hand rim, leaving one finger inside and one outside rather than trying to span the whole bowl."})
tool
executing move_to over 5 steps (0.5s)
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
agent noteThe open fingers straddle the bowl’s right rim in the wrist view. I’ll lower a little more so the fingers grip the wall below the lip.
move_to
left_z0.0320
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7456, 1.652, 0.7578, 0.0425, -0.5842, -0.4957, 0.9995, -0.0196, 0.804, 0.6006, -0.3931, -0.0154, -0.0345, 0.9966] state[eef_state]: left_x=0.3513 left_y=-0.1869 left_z=0.0582 left_yaw=-0.0162 left_pitch=-0.1086 left_roll=0.0718 left_gripper=0.9995 right_x=0.2932 right_y=0.0006 right_z=0.173 right_yaw=-0.0018 right_pitch=-0.0237 right_roll=-0.0004 right_gripper=0.9966 state[joint_eff]: [-0.4444, -7.6103, 5.4769, 1.6825, -0.2759, 0.0171, -0.0171, -0.1436, -1.5932, 7.1863, 1.7314, -0.0611, -0.0659, -0.0122] camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.032},"note":"The open fingers straddle the bowl’s right rim in the wrist view. I’ll lower a little more so the fingers grip the wall below the lip."})
tool
executing move_to over 2 steps (0.2s)
step 24
top_cam
camera top_cam step 24
left_cam
camera left_cam step 24
right_cam
camera right_cam step 24
assistant
agent noteThe descent has stopped near the bowl, with the right wall between the fingers. I’ll close on that rim and then check whether it holds.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7456, 1.6966, 0.7368, 0.1398, -0.5842, -0.4984, 0.9995, -0.0196, 0.8043, 0.6003, -0.3935, -0.0154, -0.0345, 0.9966] state[eef_state]: left_x=0.356 left_y=-0.1912 left_z=0.0488 left_yaw=-0.0168 left_pitch=-0.0848 left_roll=0.0485 left_gripper=0.9995 right_x=0.2931 right_y=0.0006 right_z=0.1726 right_yaw=-0.0018 right_pitch=-0.0248 right_roll=-0.0004 right_gripper=0.9966 state[joint_eff]: [-0.212, -5.7915, 4.4786, 1.3358, -0.2564, 0.0024, -0.0122, -0.0889, -1.3333, 7.0769, 1.7314, -0.0513, -0.0269, -0.0122] camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The descent has stopped near the bowl, with the right wall between the fingers. I’ll close on that rim and then check whether it holds."})
tool
executing move_to over 10 steps (1.0s)
step 34
top_cam
camera top_cam step 34
left_cam
camera left_cam step 34
right_cam
camera right_cam step 34
assistant
agent noteThe gripper stopped at a nonzero opening, but the middle bowl also shifted closer during the grasp. I’ll lift only a few centimetres to see exactly what is held before transporting anything.
move_to
left_z0.1100
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7456, 1.7187, 0.7158, 0.1993, -0.5999, -0.4988, 0.1123, -0.0196, 0.8043, 0.6003, -0.3935, -0.0154, -0.0345, 0.9966] state[eef_state]: left_x=0.3575 left_y=-0.1895 left_z=0.0436 left_yaw=-0.006 left_pitch=-0.065 left_roll=0.0457 left_gripper=0.1123 right_x=0.2931 right_y=0.0006 right_z=0.1726 right_yaw=-0.0018 right_pitch=-0.0248 right_roll=-0.0004 right_gripper=0.9966 state[joint_eff]: [-0.212, -6.0239, 4.9983, 1.1306, -0.1197, -0.0024, 0.7204, -0.1846, -1.2103, 7.0632, 1.7167, -0.0415, -0.0269, -0.0171] camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.11},"note":"The gripper stopped at a nonzero opening, but the middle bowl also shifted closer during the grasp. I’ll lift only a few centimetres to see exactly what is held before transporting anything."})
tool
executing move_to over 5 steps (0.5s)
step 39
top_cam
camera top_cam step 39
left_cam
camera left_cam step 39
right_cam
camera right_cam step 39
assistant
agent noteBoth adjacent bowls appear to rise together, so this grasp catches two rims. I’ll set them back down and reposition to the outside rim of the left bowl.
move_to
left_z0.0450
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7456, 1.5848, 0.8085, -0.0521, -0.5995, -0.4992, 0.1142, -0.0196, 0.8043, 0.6003, -0.3931, -0.0154, -0.0345, 0.9966] state[eef_state]: left_x=0.3541 left_y=-0.1864 left_z=0.0882 left_yaw=-0.0048 left_pitch=-0.0835 left_roll=0.0619 left_gripper=0.1142 right_x=0.2932 right_y=0.0006 right_z=0.1727 right_yaw=-0.0018 right_pitch=-0.0244 right_roll=-0.0004 right_gripper=0.9966 state[joint_eff]: [-0.1162, -8.6085, 9.0598, 1.5604, -0.3199, -0.0073, 0.188, 0.0068, -1.0872, 7.0632, 1.7265, -0.0757, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.045},"note":"Both adjacent bowls appear to rise together, so this grasp catches two rims. I’ll set them back down and reposition to the outside rim of the left bowl."})
tool
executing move_to over 3 steps (0.3s)
step 42
top_cam
camera top_cam step 42
left_cam
camera left_cam step 42
right_cam
camera right_cam step 42
assistant
agent noteThe bowls are back at table height. I’ll release both rims before moving the gripper clear.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7452, 1.6817, 0.7391, 0.0601, -0.5995, -0.4988, 0.1163, -0.0196, 0.8051, 0.5999, -0.3939, -0.0154, -0.0345, 0.9966] state[eef_state]: left_x=0.3485 left_y=-0.1811 left_z=0.0448 left_yaw=-0.0009 left_pitch=-0.1235 left_roll=0.099 left_gripper=0.1163 right_x=0.2931 right_y=0.0006 right_z=0.1722 right_yaw=-0.0018 right_pitch=-0.0263 right_roll=-0.0004 right_gripper=0.9966 state[joint_eff]: [-0.0752, -7.8017, 6.0103, 1.6386, -0.2662, -0.0317, 0.2515, -0.0342, -1.3197, 7.2274, 1.6825, -0.0757, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The bowls are back at table height. I’ll release both rims before moving the gripper clear."})
tool
executing move_to over 9 steps (0.9s)
step 51
top_cam
camera top_cam step 51
left_cam
camera left_cam step 51
right_cam
camera right_cam step 51
assistant
agent noteThe bowls are released and upright. I’ll lift away toward the left bowl’s outside edge, where the second bowl cannot be caught by the other finger.
move_to
left_x0.3500left_y-0.0650left_z0.1600
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7452, 1.6943, 0.7265, 0.0628, -0.5995, -0.4992, 0.9946, -0.0196, 0.8055, 0.5999, -0.3931, -0.0154, -0.0345, 0.9966] state[eef_state]: left_x=0.3451 left_y=-0.1779 left_z=0.0365 left_yaw=0.0014 left_pitch=-0.14 left_roll=0.1142 left_gripper=0.9946 right_x=0.2932 right_y=0.0006 right_z=0.1722 right_yaw=-0.0018 right_pitch=-0.0259 right_roll=-0.0004 right_gripper=0.9966 state[joint_eff]: [-0.1436, -8.2393, 6.3385, 1.3016, -0.315, -0.0073, -0.0611, -0.1026, -1.3333, 7.0085, 1.7118, -0.0513, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.065,"left_z":0.16},"note":"The bowls are released and upright. I’ll lift away toward the left bowl’s outside edge, where the second bowl cannot be caught by the other finger."})
tool
executing move_to over 11 steps (1.1s)
step 62
top_cam
camera top_cam step 62
left_cam
camera left_cam step 62
right_cam
camera right_cam step 62
assistant
agent noteThe outside rim is now near the jaw centreline, with clear table to its left. I’ll descend at this position to grasp only the left bowl.
move_to
left_x0.3500left_y-0.0650left_z0.0400left_pitch0.0000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3744, 1.2427, 0.7906, -0.3328, -0.3698, -0.2302, 0.9951, -0.0196, 0.8089, 0.5999, -0.3931, -0.0154, -0.0345, 0.9966] state[eef_state]: left_x=0.3483 left_y=-0.0644 left_z=0.1431 left_yaw=0.0415 left_pitch=-0.1522 left_roll=0.1073 left_gripper=0.9951 right_x=0.2934 right_y=0.0006 right_z=0.1713 right_yaw=-0.0018 right_pitch=-0.0294 right_roll=-0.0003 right_gripper=0.9966 state[joint_eff]: [0.2667, -5.1214, 9.5521, 1.536, -0.1978, 0.1685, 0.0317, -0.0752, -1.4701, 7.0359, 1.7167, -0.0611, -0.0562, -0.0171] camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.065,"left_z":0.04,"left_pitch":0,"left_roll":0,"left_yaw":0},"note":"The outside rim is now near the jaw centreline, with clear table to its left. I’ll descend at this position to grasp only the left bowl."})
tool
executing move_to over 7 steps (0.7s)
step 69
top_cam
camera top_cam step 69
left_cam
camera left_cam step 69
right_cam
camera right_cam step 69
assistant
agent noteOne finger is inside the left bowl and the other is outside its outer wall. I’ll close on that single rim.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3382, 1.4689, 0.3626, 0.3702, -0.305, -0.2131, 0.9951, -0.0196, 0.8116, 0.5999, -0.3939, -0.0154, -0.0345, 0.9966] state[eef_state]: left_x=0.3333 left_y=-0.0572 left_z=0.0224 left_yaw=0.0131 left_pitch=-0.1245 left_roll=0.0601 left_gripper=0.9951 right_x=0.2935 right_y=0.0006 right_z=0.1704 right_yaw=-0.0018 right_pitch=-0.0328 right_roll=-0.0003 right_gripper=0.9966 state[joint_eff]: [0.4718, -5.2308, 5.1214, 1.8388, 0.0024, -0.0513, -0.0073, -0.0615, -1.4974, 7.2274, 1.707, -0.0708, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 69): [image omitted: streamed camera frame] camera 'left_cam' (step 69): [image omitted: streamed camera frame] camera 'right_cam' (step 69): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"One finger is inside the left bowl and the other is outside its outer wall. I’ll close on that single rim."})
tool
executing move_to over 10 steps (1.0s)
step 79
top_cam
camera top_cam step 79
left_cam
camera left_cam step 79
right_cam
camera right_cam step 79
assistant
agent noteThe jaws have closed around about a centimetre of material. I’ll make a short test lift and check that only this bowl moves.
move_to
left_z0.1050
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3393, 1.4586, 0.366, 0.4072, -0.3, -0.2321, 0.0983, -0.0196, 0.8135, 0.5999, -0.3931, -0.0154, -0.0345, 0.9966] state[eef_state]: left_x=0.3406 left_y=-0.061 left_z=0.0334 left_yaw=0.0164 left_pitch=-0.0775 left_roll=0.0245 left_gripper=0.0983 right_x=0.2937 right_y=0.0005 right_z=0.17 right_yaw=-0.0018 right_pitch=-0.0339 right_roll=-0.0002 right_gripper=0.9966 state[joint_eff]: [-0.0889, -3.6718, 5.4496, 1.2967, -0.2369, 0.1978, 0.359, -0.0479, -1.5248, 7.0085, 1.7411, -0.0562, -0.0708, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 79): [image omitted: streamed camera frame] camera 'left_cam' (step 79): [image omitted: streamed camera frame] camera 'right_cam' (step 79): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.105},"note":"The jaws have closed around about a centimetre of material. I’ll make a short test lift and check that only this bowl moves."})
tool
executing move_to over 5 steps (0.5s)
step 84
top_cam
camera top_cam step 84
left_cam
camera left_cam step 84
right_cam
camera right_cam step 84
assistant
agent noteOnly the left bowl rose; the other two remain on the table. I’ll raise it to a safe carrying height before moving over the middle bowl.
move_to
left_z0.1900right_x0.2940right_y0.0010right_z0.1800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3393, 1.2327, 0.5045, 0.0582, -0.3035, -0.2356, 0.0977, -0.0196, 0.8165, 0.5999, -0.3931, -0.0154, -0.0345, 0.9966] state[eef_state]: left_x=0.3416 left_y=-0.0608 left_z=0.0947 left_yaw=0.0207 left_pitch=-0.0624 left_roll=0.0184 left_gripper=0.0977 right_x=0.2938 right_y=0.0005 right_z=0.1692 right_yaw=-0.0018 right_pitch=-0.037 right_roll=-0.0002 right_gripper=0.9966 state[joint_eff]: [-0.0889, -4.7248, 9.0598, 1.6532, -0.1441, -0.0171, -0.0757, -0.0615, -1.3744, 7.0222, 1.7314, -0.0366, -0.0611, -0.0122] camera 'top_cam' (step 84): [image omitted: streamed camera frame] camera 'left_cam' (step 84): [image omitted: streamed camera frame] camera 'right_cam' (step 84): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.19,"right_x":0.294,"right_y":0.001,"right_z":0.18},"note":"Only the left bowl rose; the other two remain on the table. I’ll raise it to a safe carrying height before moving over the middle bowl."})
tool
executing move_to over 7 steps (0.7s)
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 held bowl is clear of the other rims. I’ll move it rightward, positioning its centre above the middle bowl while keeping the rim grasp.
move_to
left_x0.3500left_y-0.1800left_z0.1900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3393, 1.1313, 0.7837, -0.337, -0.3035, -0.2356, 0.0977, -0.0196, 0.8185, 0.6029, -0.4278, -0.0154, -0.0345, 0.9966] state[eef_state]: left_x=0.3426 left_y=-0.0612 left_z=0.1731 left_yaw=0.0211 left_pitch=-0.0759 left_roll=0.0235 left_gripper=0.0977 right_x=0.2893 right_y=0.0006 right_z=0.1631 right_yaw=-0.0018 right_pitch=-0.0706 right_roll=0.0004 right_gripper=0.9966 state[joint_eff]: [-0.0342, -4.9846, 9.4154, 1.6093, -0.149, -0.0708, -0.022, 0.212, -1.0051, 10.6051, 1.7021, -0.022, -0.0269, -0.0122] 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":0.35,"left_y":-0.18,"left_z":0.19},"note":"The held bowl is clear of the other rims. I’ll move it rightward, positioning its centre above the middle bowl while keeping the rim grasp."})
tool
executing move_to over 11 steps (1.1s)
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 held bowl is approximately centred over the middle bowl. I’ll lower it slowly toward the opening, keeping the grip until it is supported.
move_to
left_z0.1000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7292, 1.4151, 1.0382, -0.4728, -0.5621, -0.5201, 0.0977, -0.0196, 0.8185, 0.6056, -0.4412, -0.0154, -0.0345, 0.9966] state[eef_state]: left_x=0.344 left_y=-0.1763 left_z=0.1737 left_yaw=-0.0027 left_pitch=-0.1173 left_roll=0.039 left_gripper=0.0977 right_x=0.2877 right_y=0.0007 right_z=0.1617 right_yaw=-0.0018 right_pitch=-0.0812 right_roll=0.0006 right_gripper=0.9966 state[joint_eff]: [-0.3624, -5.8598, 9.5248, 1.4432, -0.4127, 0.0122, -0.0171, -0.0752, -1.306, 6.8171, 1.7753, -0.0611, -0.0513, -0.0122] camera 'top_cam' (step 102): [image omitted: streamed camera frame] camera 'left_cam' (step 102): [image omitted: streamed camera frame] camera 'right_cam' (step 102): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.10},"note":"The held bowl is approximately centred over the middle bowl. I’ll lower it slowly toward the opening, keeping the grip until it is supported."})
tool
executing move_to over 5 steps (0.5s)
step 107
top_cam
camera top_cam step 107
left_cam
camera left_cam step 107
right_cam
camera right_cam step 107
assistant
agent noteThe bowl is entering the middle bowl’s opening without an obvious sideways offset. I’ll lower the last few centimetres so it seats before releasing.
move_to
left_z0.0550
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7349, 1.494, 0.8211, -0.2497, -0.5697, -0.5388, 0.0976, -0.0196, 0.8185, 0.6044, -0.445, -0.0154, -0.0345, 0.9966] state[eef_state]: left_x=0.334 left_y=-0.1686 left_z=0.0951 left_yaw=0.0143 left_pitch=-0.1665 left_roll=0.0787 left_gripper=0.0976 right_x=0.287 right_y=0.0007 right_z=0.1604 right_yaw=-0.0017 right_pitch=-0.0862 right_roll=0.0007 right_gripper=0.9966 state[joint_eff]: [0.294, -5.7231, 6.694, 1.6239, -0.1587, 0.1783, -0.0171, -0.0479, -1.1692, 7.1179, 1.7314, -0.0415, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 107): [image omitted: streamed camera frame] camera 'left_cam' (step 107): [image omitted: streamed camera frame] camera 'right_cam' (step 107): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.055},"note":"The bowl is entering the middle bowl’s opening without an obvious sideways offset. I’ll lower the last few centimetres so it seats before releasing."})
tool
executing move_to over 3 steps (0.3s)
step 110
top_cam
camera top_cam step 110
left_cam
camera left_cam step 110
right_cam
camera right_cam step 110
assistant
agent noteThe descent has slowed as the bowl meets the one underneath. I’ll open the gripper and let the bowl settle into the stack.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7349, 1.5661, 0.7414, -0.1074, -0.5701, -0.5404, 0.0976, -0.0196, 0.8185, 0.6041, -0.4454, -0.0151, -0.0345, 0.9966] state[eef_state]: left_x=0.3331 left_y=-0.1677 left_z=0.0613 left_yaw=0.0165 left_pitch=-0.1732 left_roll=0.0844 left_gripper=0.0976 right_x=0.2869 right_y=0.0006 right_z=0.1602 right_yaw=-0.0021 right_pitch=-0.087 right_roll=0.0005 right_gripper=0.9966 state[joint_eff]: [-0.0889, -6.5709, 6.188, 1.5849, -0.2808, -0.0073, -0.0073, -0.1026, -1.306, 6.9949, 1.6532, -0.0122, -0.0464, -0.0122] camera 'top_cam' (step 110): [image omitted: streamed camera frame] camera 'left_cam' (step 110): [image omitted: streamed camera frame] camera 'right_cam' (step 110): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The descent has slowed as the bowl meets the one underneath. I’ll open the gripper and let the bowl settle into the stack."})
tool
executing move_to over 10 steps (1.0s)
step 120
top_cam
camera top_cam step 120
left_cam
camera left_cam step 120
right_cam
camera right_cam step 120
assistant
agent noteThe first bowl has been released into the middle bowl. I’ll clear the left arm and approach the remaining pink bowl from its outside rim with the right arm.
move_to
left_x0.2900left_y0.0000left_z0.2000right_x0.3500right_y0.1000right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7353, 1.5951, 0.7155, -0.0837, -0.5705, -0.5468, 0.9955, -0.0196, 0.8185, 0.6041, -0.4454, -0.0154, -0.0345, 0.9966] state[eef_state]: left_x=0.3287 left_y=-0.1638 left_z=0.0459 left_yaw=0.0239 left_pitch=-0.1954 left_roll=0.1016 left_gripper=0.9955 right_x=0.2869 right_y=0.0007 right_z=0.1602 right_yaw=-0.0017 right_pitch=-0.087 right_roll=0.0007 right_gripper=0.9966 state[joint_eff]: [-0.294, -7.241, 6.2291, 1.4335, -0.3394, 0.0464, -0.1538, -0.1436, -1.347, 7.1863, 1.6679, -0.0708, -0.0464, -0.0122] camera 'top_cam' (step 120): [image omitted: streamed camera frame] camera 'left_cam' (step 120): [image omitted: streamed camera frame] camera 'right_cam' (step 120): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":0,"left_z":0.2,"right_x":0.35,"right_y":0.1,"right_z":0.15,"right_gripper":1},"note":"The first bowl has been released into the middle bowl. I’ll clear the left arm and approach the remaining pink bowl from its outside rim with the right arm."})
tool
executing move_to over 15 steps (1.5s)
step 135
top_cam
camera top_cam step 135
left_cam
camera left_cam step 135
right_cam
camera right_cam step 135
assistant
agent noteThe two bowls remain together after the left arm cleared them. The pink bowl’s outside rim is aligned with the right gripper, so I’ll descend to grip its wall.
move_to
right_x0.3500right_y0.1000right_z0.0400right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1272, 0.9592, 0.8436, -0.675, -0.2039, -0.1009, 0.9958, 0.4221, 1.2335, 0.7258, -0.2749, 0.3027, 0.2184, 0.9969] state[eef_state]: left_x=0.2924 left_y=0.0023 left_z=0.1869 left_yaw=0.081 left_pitch=-0.2015 left_roll=0.0917 left_gripper=0.9958 right_x=0.335 right_y=0.0967 right_z=0.1263 right_yaw=0.0315 right_pitch=-0.166 right_roll=-0.0348 right_gripper=0.9969 state[joint_eff]: [0.1983, -2.7829, 9.265, 1.4432, -0.0464, 0.105, 0.0122, 0.2256, -4.3966, 10.2496, 1.8584, 0.3004, 0.2613, -0.3297] camera 'top_cam' (step 135): [image omitted: streamed camera frame] camera 'left_cam' (step 135): [image omitted: streamed camera frame] camera 'right_cam' (step 135): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.1,"right_z":0.04,"right_yaw":0,"right_pitch":0,"right_roll":0},"note":"The two bowls remain together after the left arm cleared them. The pink bowl’s outside rim is aligned with the right gripper, so I’ll descend to grip its wall."})
tool
executing move_to over 6 steps (0.6s)
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 fingers straddle the pink bowl’s outer wall, away from the existing stack. I’ll close gently on this single rim.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1265, 0.9619, 0.8452, -0.693, -0.1955, -0.0978, 0.9958, 0.4397, 1.5185, 0.4084, 0.3447, 0.3412, 0.2283, 0.9966] state[eef_state]: left_x=0.2897 left_y=0.0014 left_z=0.1835 left_yaw=0.0738 left_pitch=-0.2216 left_roll=0.0918 left_gripper=0.9958 right_x=0.3309 right_y=0.0943 right_z=0.0191 right_yaw=0.0133 right_pitch=-0.1394 right_roll=-0.0454 right_gripper=0.9966 state[joint_eff]: [-0.0889, -2.3453, 6.7761, 1.6581, -0.2125, -0.0708, -0.0122, 0.4855, -5.8188, 5.012, 1.7411, 0.359, -0.0464, -0.0464] approver: 1 step(s) modified (delta_clamped). 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":{"right_gripper":0},"note":"The fingers straddle the pink bowl’s outer wall, away from the existing stack. I’ll close gently on this single rim."})
tool
executing move_to over 10 steps (1.0s)
step 151
top_cam
camera top_cam step 151
left_cam
camera left_cam step 151
right_cam
camera right_cam step 151
assistant
agent noteThe gripper has a nonzero opening consistent with a rim grasp. I’ll lift the pink bowl a short distance to verify it is secure.
move_to
right_z0.1050right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1265, 0.963, 0.8452, -0.6956, -0.1951, -0.0975, 0.9958, 0.4423, 1.5047, 0.4114, 0.3988, 0.3248, 0.2371, 0.0904] state[eef_state]: left_x=0.2893 left_y=0.0014 left_z=0.1828 left_yaw=0.0734 left_pitch=-0.2254 left_roll=0.0926 left_gripper=0.9958 right_x=0.3399 right_y=0.1025 right_z=0.0336 right_yaw=0.0277 right_pitch=-0.079 right_roll=0.0006 right_gripper=0.0904 state[joint_eff]: [-0.1026, -2.1812, 6.7487, 1.4921, -0.1294, -0.0366, -0.0122, -0.2803, -3.7812, 5.1624, 0.7888, 0.2906, 0.3297, 1.7021] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 151): [image omitted: streamed camera frame] camera 'left_cam' (step 151): [image omitted: streamed camera frame] camera 'right_cam' (step 151): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.105,"right_yaw":0,"right_pitch":0,"right_roll":0},"note":"The gripper has a nonzero opening consistent with a rim grasp. I’ll lift the pink bowl a short distance to verify it is secure."})
tool
executing move_to over 5 steps (0.5s)
step 156
top_cam
camera top_cam step 156
left_cam
camera left_cam step 156
right_cam
camera right_cam step 156
assistant
agent noteThe pink bowl moved with the gripper and remains upright. I’ll raise it above the two-bowl stack before carrying it across.
move_to
right_z0.2000right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1265, 0.9668, 0.8452, -0.6952, -0.1951, -0.0975, 0.9958, 0.4717, 1.2861, 0.4747, 0.1585, 0.3622, 0.2394, 0.0903] state[eef_state]: left_x=0.2897 left_y=0.0013 left_z=0.1818 left_yaw=0.0736 left_pitch=-0.2288 left_roll=0.0933 left_gripper=0.9958 right_x=0.3342 right_y=0.1042 right_z=0.0862 right_yaw=0.0264 right_pitch=-0.0315 right_roll=-0.0014 right_gripper=0.0903 state[joint_eff]: [-0.0342, -2.5368, 6.7487, 1.4921, -0.1197, -0.0513, -0.0122, 0.4034, -4.9436, 9.0462, 1.7167, 0.3297, 0.0562, -0.0269] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 156): [image omitted: streamed camera frame] camera 'left_cam' (step 156): [image omitted: streamed camera frame] camera 'right_cam' (step 156): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.2,"right_yaw":0,"right_pitch":0,"right_roll":0},"note":"The pink bowl moved with the gripper and remains upright. I’ll raise it above the two-bowl stack before carrying it across."})
tool
executing move_to over 8 steps (0.8s)
step 164
top_cam
camera top_cam step 164
left_cam
camera left_cam step 164
right_cam
camera right_cam step 164
assistant
agent noteThe right arm did not follow the higher target, although the rim remains held. I’ll shorten its reach slightly and use a small forward tilt to find a reachable lifting pose.
move_to
right_x0.3000right_y0.1000right_z0.1700right_pitch0.1500right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1265, 0.9668, 0.8452, -0.696, -0.1951, -0.0975, 0.9958, 0.4713, 1.2636, 0.4904, 0.078, 0.3729, 0.2394, 0.0903] state[eef_state]: left_x=0.2895 left_y=0.0013 left_z=0.1817 left_yaw=0.0736 left_pitch=-0.2295 left_roll=0.0934 left_gripper=0.9958 right_x=0.3284 right_y=0.0992 right_z=0.0853 right_yaw=0.0165 right_pitch=-0.0667 right_roll=-0.0259 right_gripper=0.0903 state[joint_eff]: [-0.1709, -2.2222, 6.7624, 1.4628, -0.1294, -0.0317, -0.0122, 0.1709, -5.5726, 7.9385, 1.6728, 0.0317, 0.0024, -0.0122] camera 'top_cam' (step 164): [image omitted: streamed camera frame] camera 'left_cam' (step 164): [image omitted: streamed camera frame] camera 'right_cam' (step 164): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0.1,"right_z":0.17,"right_pitch":0.15,"right_roll":0,"right_yaw":0},"note":"The right arm did not follow the higher target, although the rim remains held. I’ll shorten its reach slightly and use a small forward tilt to find a reachable lifting pose."})
tool
executing move_to over 8 steps (0.8s)
step 172
top_cam
camera top_cam step 172
left_cam
camera left_cam step 172
right_cam
camera right_cam step 172
assistant
agent noteThe shorter reach allowed the bowl to lift clear. I’ll carry it leftward and slightly forward until its centre is over the existing stack.
move_to
right_x0.3550right_y0.2400right_z0.2000right_pitch0.1000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1265, 0.9726, 0.8452, -0.6998, -0.1951, -0.0978, 0.9958, 0.5938, 0.947, 0.4759, -0.0593, 0.4961, 0.2401, 0.0903] state[eef_state]: left_x=0.2892 left_y=0.0014 left_z=0.1795 left_yaw=0.0743 left_pitch=-0.2389 left_roll=0.0951 left_gripper=0.9958 right_x=0.2986 right_y=0.1045 right_z=0.1547 right_yaw=0.0369 right_pitch=0.1116 right_roll=-0.0076 right_gripper=0.0903 state[joint_eff]: [-0.1846, -2.6735, 6.8171, 1.5311, -0.1245, -0.0317, -0.0122, 0.2256, -2.7282, 8.6906, 1.9121, 0.3736, 0.0562, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 172): [image omitted: streamed camera frame] camera 'left_cam' (step 172): [image omitted: streamed camera frame] camera 'right_cam' (step 172): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.355,"right_y":0.24,"right_z":0.2,"right_pitch":0.1,"right_roll":0,"right_yaw":0},"note":"The shorter reach allowed the bowl to lift clear. I’ll carry it leftward and slightly forward until its centre is over the existing stack."})
tool
executing move_to over 12 steps (1.2s)
step 184
top_cam
camera top_cam step 184
left_cam
camera left_cam step 184
right_cam
camera right_cam step 184
assistant
agent noteThe pink bowl is slightly to the right of the stack. I’ll shift it a little farther left while lowering toward the top bowl’s opening.
move_to
right_x0.3550right_y0.2700right_z0.1150right_pitch0.1000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1265, 0.9764, 0.8452, -0.7029, -0.1951, -0.0975, 0.9958, 0.8646, 1.5185, 1.0241, -0.2306, 0.7074, 0.432, 0.0903] state[eef_state]: left_x=0.289 left_y=0.0014 left_z=0.178 left_yaw=0.0744 left_pitch=-0.2456 left_roll=0.0968 left_gripper=0.9958 right_x=0.3464 right_y=0.2347 right_z=0.1768 right_yaw=0.048 right_pitch=0.0435 right_roll=-0.0577 right_gripper=0.0903 state[joint_eff]: [-0.0205, -2.5504, 6.7487, 1.5165, -0.149, -0.0269, -0.0122, 0.294, -7.3778, 9.3333, 1.6337, 0.5788, 0.2759, -0.0073] camera 'top_cam' (step 184): [image omitted: streamed camera frame] camera 'left_cam' (step 184): [image omitted: streamed camera frame] camera 'right_cam' (step 184): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.355,"right_y":0.27,"right_z":0.115,"right_pitch":0.1,"right_roll":0,"right_yaw":0},"note":"The pink bowl is slightly to the right of the stack. I’ll shift it a little farther left while lowering toward the top bowl’s opening."})
tool
executing move_to over 4 steps (0.4s)
step 188
top_cam
camera top_cam step 188
left_cam
camera left_cam step 188
assistant
agent noteThe pink bowl is over the opening, with a small residual sideways offset visible at the rims. I’ll correct that offset and lower it gently into the stack.
move_to
right_x0.3550right_y0.2820right_z0.0720right_pitch0.1000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1261, 0.9783, 0.8452, -0.7029, -0.1947, -0.0975, 0.9958, 0.9211, 1.7386, 0.9585, -0.0277, 0.7593, 0.4915, 0.0903] state[eef_state]: left_x=0.2891 left_y=0.0014 left_z=0.1775 left_yaw=0.0746 left_pitch=-0.2475 left_roll=0.0969 left_gripper=0.9958 right_x=0.3465 right_y=0.261 right_z=0.0995 right_yaw=0.0375 right_pitch=0.0183 right_roll=-0.0927 right_gripper=0.0903 state[joint_eff]: [-0.0342, -2.3726, 6.8991, 1.4432, -0.1148, -0.0464, -0.0122, 0.4034, -9.9077, 6.4205, 1.7607, 0.5983, 0.0611, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 188): [image omitted: streamed camera frame] camera 'left_cam' (step 188): [image omitted: streamed camera frame] camera 'right_cam' (step 188): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.355,"right_y":0.282,"right_z":0.072,"right_pitch":0.1,"right_roll":0,"right_yaw":0},"note":"The pink bowl is over the opening, with a small residual sideways offset visible at the rims. I’ll correct that offset and lower it gently into the stack."})
tool
executing move_to over 3 steps (0.3s)
step 191
assistant
agent noteThe bowl is supported by the stack and the arm has stopped descending. I’ll release the rim so it can settle naturally into the bowl underneath.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1265, 0.9783, 0.8452, -0.7029, -0.1947, -0.0975, 0.9958, 0.9241, 1.7615, 0.9493, 0.054, 0.7704, 0.5026, 0.0903] state[eef_state]: left_x=0.2891 left_y=0.0013 left_z=0.1775 left_yaw=0.0742 left_pitch=-0.2475 left_roll=0.0969 left_gripper=0.9958 right_x=0.3515 right_y=0.2673 right_z=0.0995 right_yaw=0.0254 right_pitch=0.0559 right_roll=-0.0495 right_gripper=0.0903 state[joint_eff]: [-0.0752, -2.2906, 6.7624, 1.4432, -0.1148, -0.0415, -0.0122, 0.3487, -9.7436, 6.612, 1.6679, 0.442, 0.1538, -0.0122] camera 'top_cam' (step 191): [image omitted: streamed camera frame] camera 'left_cam' (step 191): [image omitted: streamed camera frame] camera 'right_cam' (step 191): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The bowl is supported by the stack and the arm has stopped descending. I’ll release the rim so it can settle naturally into the bowl underneath."})
tool
executing move_to over 10 steps (1.0s)
step 201
assistant
agent noteThe pink bowl remains in place after release. I’ll lift the open fingers straight clear before moving the arm aside to inspect the stack.
move_to
right_x0.3500right_y0.2670right_z0.2100right_pitch0.1000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1265, 0.9783, 0.8452, -0.7029, -0.1951, -0.0975, 0.9958, 0.923, 1.7618, 0.9493, 0.0517, 0.7689, 0.4984, 0.9954] state[eef_state]: left_x=0.2891 left_y=0.0014 left_z=0.1775 left_yaw=0.0745 left_pitch=-0.2475 left_roll=0.0972 left_gripper=0.9958 right_x=0.3515 right_y=0.2669 right_z=0.0989 right_yaw=0.0278 right_pitch=0.0533 right_roll=-0.0546 right_gripper=0.9954 state[joint_eff]: [-0.0752, -2.2632, 6.8171, 1.453, -0.1294, -0.0317, -0.0122, -0.1162, -8.4991, 5.9692, 1.4432, 0.2711, 0.0513, -0.1148] camera 'top_cam' (step 201): [image omitted: streamed camera frame] camera 'left_cam' (step 201): [image omitted: streamed camera frame] camera 'right_cam' (step 201): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.267,"right_z":0.21,"right_pitch":0.1,"right_roll":0,"right_yaw":0},"note":"The pink bowl remains in place after release. I’ll lift the open fingers straight clear before moving the arm aside to inspect the stack."})
tool
executing move_to over 8 steps (0.8s)
step 209
assistant
agent noteThe open gripper is clear of the bowls. I’ll park both arms away from the centre so I can verify that all three bowls form one stable stack.
move_to
right_x0.2900right_y0.0010right_z0.2000right_pitch0.0000right_roll0.0000right_yaw0.0000left_x0.2900left_y0.0000left_z0.2000left_pitch0.0000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1265, 0.9787, 0.8452, -0.7029, -0.1947, -0.0975, 0.9958, 0.9295, 1.6299, 1.1519, -0.281, 0.7727, 0.5053, 0.9958] state[eef_state]: left_x=0.2891 left_y=0.0013 left_z=0.1774 left_yaw=0.0742 left_pitch=-0.2479 left_roll=0.097 left_gripper=0.9958 right_x=0.3493 right_y=0.2677 right_z=0.181 right_yaw=0.0278 right_pitch=0.0568 right_roll=-0.0487 right_gripper=0.9958 state[joint_eff]: [-0.0615, -2.2906, 6.7761, 1.4383, -0.0904, -0.0269, -0.0122, 0.1846, -10.1265, 9.1692, 1.5897, 0.5153, 0.2369, 0.022] camera 'top_cam' (step 209): [image omitted: streamed camera frame] camera 'left_cam' (step 209): [image omitted: streamed camera frame] camera 'right_cam' (step 209): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.29,"right_y":0.001,"right_z":0.2,"right_pitch":0,"right_roll":0,"right_yaw":0,"left_x":0.29,"left_y":0,"left_z":0.2,"left_pitch":0,"left_roll":0,"left_yaw":0},"note":"The open gripper is clear of the bowls. I’ll park both arms away from the centre so I can verify that all three bowls form one stable stack."})
tool
executing move_to over 23 steps (2.3s)
step 232
assistant
agent noteStacked all three bowls together and parked both arms clear of the stack.
done
hindsightGrasp the outside rim of an end bowl: gripping between adjacent bowls caught both rims and lifted both bowls. A single-rim grasp settled near 0.09–0.10 gripper opening. The right arm stalled on a vertical lift around x=0.33; shortening reach to x=0.30 and adding 0.15 rad forward pitch enabled the lift. Release supported bowls before withdrawing so they can settle into the stack.
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0372, 0.794, 0.6888, -0.5045, -0.0513, -0.0673, 0.9958, 0.0097, 0.7952, 0.6781, -0.4637, 0.0612, 0.0086, 0.9958] state[eef_state]: left_x=0.2874 left_y=0.002 left_z=0.1932 left_yaw=0.0208 left_pitch=-0.0366 left_roll=-0.0045 left_gripper=0.9958 right_x=0.2917 right_y=-0.0044 right_z=0.1964 right_yaw=-0.0602 right_pitch=-0.0069 right_roll=-0.0067 right_gripper=0.9958 state[joint_eff]: [0.2803, -1.7846, 6.9538, 1.9463, 0.105, 0.1636, -0.0122, -0.0752, -1.7436, 7.3778, 1.8388, -0.1343, -0.0122, -0.0171] camera 'top_cam' (step 232): [image omitted: streamed camera frame] camera 'left_cam' (step 232): [image omitted: streamed camera frame] camera 'right_cam' (step 232): [image omitted: streamed camera frame]
assistant
done({"summary":"Stacked all three bowls together and parked both arms clear of the stack.","hindsight":"Grasp the outside rim of an end bowl: gripping between adjacent bowls caught both rims and lifted both bowls. A single-rim grasp settled near 0.09–0.10 gripper opening. The right arm stalled on a vertical lift around x=0.33; shortening reach to x=0.30 and adding 0.15 rad forward pitch enabled the lift. Release supported bowls before withdrawing so they can settle into the stack."})
tool
done: Stacked all three bowls together and parked both arms clear of the stack.
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 · 7.453 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Stack the bowls on the table.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7948, 0.6041, -0.3817, -0.0227, -0.041, 0.9996, -0.0177, 0.7933, 0.6014, -0.3809, -0.0158, -0.0338, 0.9969]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1794 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2943 right_y=0.0012 right_z=0.1788 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9969\nstate[joint_eff]: [-0.5402, -1.5932, 10.1128, 1.7753, -0.0317, 0.2271, -0.0611, -0.6496, -1.4017, 10.3726, 1.9121, -0.0855, 0.1441, -0.3297]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24da40a99e5637be43960306129563744716f8d425b28dea3e8c994fec0d174c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7ddc7a3c3ed4a77bd2378190bc5a847b9feaa73753fd4ce6e56ed313457b079",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22edca020463d6f20a3d576d90b27530b56f66d6d67f306e9f3a1f50d315aad5",
      "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 · 8.492 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
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  "id": "rs_0fa31c21bf749d07016ab4a1e8a42487d0a8bced64375e0367",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.18,\"left_z\":0.15,\"left_gripper\":1,\"right_x\":0.294,\"right_y\":0.001,\"right_z\":0.18},\"note\":\"I see three upright bowls in a row. I’ll approach the left bowl with the left gripper and aim to grasp its rim so it can be nested in the middle bowl.\"}",
  "call_id": "call_NrjeSSapELTVks8pHkDdhXz4",
  "id": "fc_0fa31c21bf749d07016ab4a1ed5ffc87d0944dc64f890148e0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NrjeSSapELTVks8pHkDdhXz4",
  "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]: [-0.7357, 1.4044, 0.8108, -0.1822, -0.58, -0.4797, 0.9996, -0.0196, 0.8001, 0.6018, -0.3931, -0.0154, -0.0345, 0.9966]\nstate[eef_state]: left_x=0.3406 left_y=-0.1729 left_z=0.1327 left_yaw=-0.0221 left_pitch=-0.0541 left_roll=0.032 left_gripper=0.9996 right_x=0.2931 right_y=0.0006 right_z=0.1746 right_yaw=-0.0018 right_pitch=-0.0187 right_roll=-0.0005 right_gripper=0.9966\nstate[joint_eff]: [-0.4171, -5.9419, 8.9504, 1.6142, -0.4957, -0.0611, -0.0611, -0.0479, -1.8667, 7.5419, 1.7851, -0.0464, -0.0806, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e31bcc8ada0baa878adb0bb8036e3ffcbe1d045e516667fac8c017e7ac76112",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98ca5c55e68b7a5bb3d380491589c43d4df1bd30c4feb2d29002682c71be17a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05d78a415e72a96da16e06b5d6ed654d2a6392308342628090af214b38da640c",
      "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 · 4.696 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 6 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7948, 0.6041, -0.3817, -0.0227, -0.041, 0.9996, -0.0177, 0.7933, 0.6014, -0.3809, -0.0158, -0.0338, 0.9969]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1794 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2943 right_y=0.0012 right_z=0.1788 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9969\nstate[joint_eff]: [-0.5402, -1.5932, 10.1128, 1.7753, -0.0317, 0.2271, -0.0611, -0.6496, -1.4017, 10.3726, 1.9121, -0.0855, 0.1441, -0.3297]",
      "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]: [-0.7357, 1.4044, 0.8108, -0.1822, -0.58, -0.4797, 0.9996, -0.0196, 0.8001, 0.6018, -0.3931, -0.0154, -0.0345, 0.9966]\nstate[eef_state]: left_x=0.3406 left_y=-0.1729 left_z=0.1327 left_yaw=-0.0221 left_pitch=-0.0541 left_roll=0.032 left_gripper=0.9996 right_x=0.2931 right_y=0.0006 right_z=0.1746 right_yaw=-0.0018 right_pitch=-0.0187 right_roll=-0.0005 right_gripper=0.9966\nstate[joint_eff]: [-0.4171, -5.9419, 8.9504, 1.6142, -0.4957, -0.0611, -0.0611, -0.0479, -1.8667, 7.5419, 1.7851, -0.0464, -0.0806, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e31bcc8ada0baa878adb0bb8036e3ffcbe1d045e516667fac8c017e7ac76112",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98ca5c55e68b7a5bb3d380491589c43d4df1bd30c4feb2d29002682c71be17a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05d78a415e72a96da16e06b5d6ed654d2a6392308342628090af214b38da640c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtKH4M6wCLKfpSJbaWI6SBEMgEzPtdtkEeIgNJe64QLefBLHC1DXs-R3LxgmlxcT4sbtyGAjBCcuQAvDyZt-yB4p2Stl_GEYYezZPQbfUL86wgxg7PGbP1VOJL32VgCnE83NTW381ABNaxiT-Tgoo2W0XRHHSLpxJNfCB2-4_Ez9ogMDqr2oPHa56uFlFYiEl3t6h2U3yzDTIgy0reZXWQKyu0ViQLRV6H-OZew-CJuxCVAnyZARqqYkuBpXtTE2W5AX5zzn78BARXAlO3dczT0FmrX0duhKGzRxgu4YnKu8opv7ySvYZwWCIFu_XikLuz2Yi0eVsGOpLP9pdCPKcJgdOs5QMQAGJRLjKi4QVJdXg97uI-znuTao4p6MKVnTpJzij0N9YUHqCJFm2elR3XUfGZvf4JVD4ggAx4RU2ehH6KekoY5geTqTKgDjCD8_W_HtzaGt3klPMN9Owy0qZ11sRXzBgbH6GBLAmPmAlgceTrEBefFe10YsHG6UKnWOujhmJ-BXLxdEANBRLHzn9Td2C9G6Nr0iODeKuFcjyH6ikyWyryOpigcy0gwvUsPAB4l9FwCQkEjTz_mzLHggReypBuCg0f8a4Bwj4jB0u8N6SKBZ21KYElSw0jB6BPq-HyGRWPNC5jU40nYR1ZGDUb3Qys8VZKu9FaVGuss0s2IP8zBMzC6uYbH_imrmgCMFXvZDWEr4RBYI9TiTO9lzA9umEdg5lcGRwnsG5YalyrqkUfVbOtw9zhp9pWBZOZujHJ3Gwr3uKOxivJn9i0U9GtlR7SqGpI015kDklHqdglehzmKgyOFjaeUp0RYDnibAn7KomMs-hYCz2kObDYA-f3A7ZfiQZpJ-gaIgY9wdGQX-kdvzbezPePwfLO76qvSynjnRed9yBxuD5m_c2GkBptzwieh9PxBeHjzSVtU9AHtoSFUTlxh7mPmKji-1mBX7YmCXPfZ4CG027XgMbTVhPI54WTcvWem0gXC19a7mH6LUW2VxxgjZzsQ1gYi9LIu_C7RN70n1ye8onPPgyOBW-ukAul_ez2Mne6xxkz2mCMizXFbm0Kunglf4u_l0N0gTVYunc0bwXy7b19_kgXV2FS9TWowFuKoclcoVVqmyeSsTkfmU0QzriT5pPVOS6Z64SVHBiOTLWsO8yNN6UxbhAdyVZ9LVd5gPOAbdYZHqgwXa5A331H3eI8WCDweyMgAMb4m1jHzNkuOxyNwOA7KdFlFp6xK7Ql0YXF0BOSfAsgEFAZgGQwajIAEMIqcw9_a9YblxWecrC89iiMlAuTC1WEevumN9tPjfmUpqTtaaeIUqR4IImQm71OrtUJDhI-H7jsejHoC1PypI_KFumL-73dQYKOeckxMBjp9-TopVZnugbFTS8ftRyKsWdpMWSPLRmqYpEAJRbW8fQnEQxiyykwOcEhVUDIPtKtdlHQkRecjiYAwVu9mfuAmwi4zNRu09-U-Y3bwaRNZ6x9yP6wB0ZYvvVR0yU9-N3_XmAQLuyC74PH622HYZy9HiigRqq-9n73-6eQ3p3cS7RZzGDARUMyZD4bNa3NsP6U3_lrfTjqnoBFHIboEbbyrvCPzVfGx796bl44k2KD432Ja3D4jtKnuUm7I2STBPb6ayVqiwbxp-4hWsTxzV5GNy6QFIVUGRiQBnaKe9BMoR11zIaUDhXLuCPEh-EOPaaNoMvQIJdGzdI_aluRjhqog1-bQFLDxkfPf6QcjnwHDDlICD8ZuCCna07YnGBJ14YEb3TsJO45epUlnhMuzHGWL97CoJrroZ3DGfgWMRL2V6i-lXl1Xh10JtVt4sOO9jLPAokjIF6ThV5rrCIAfoHOmA_-n9PiYh6zQ6Nzsgf9kaqJcwaMjFYXq2uxLs6z2oD8nAlZyA1LG9LwT7uL_qFA4yXEN1r3I_x_GZT30JXsQZ0n1lrSQBo8z9U7k7103IAql7jo0bifGk94jIUMHpRtVrVUNcY0UZljNGVNpNBAQzxIAkYhRsmYeEr9NiUFWlOch26vAde6MFM8xuzfJb8MQTW6ysqjwzuu7JMEQoNnOHRQtgVGWZDWlPwu92YuYARK3Ws4ZKpMTnVPp6EM2Iuzy7QhRGYSKUrmujjm06wY16uLmQ-vpSnmoG6L2Ykv3HMHuc1A6jEu22xQLKX21jkLU2-t8Uq1AR4KN3WSFDn79yStN3mbMYJCCaEE4FgXoNiR21L2yHhLIqttLaCv1PgLTVoC04aC7L4WOJuWKjNuobi8QhNskAeTYBoh2-RTvFvsKQ5Zjz8qCH4L4q53gIl79qYjXg6yj63t_HEVgYWNTrZvKRG8JJolt15NaMH3S7kAaGKskp-LhYwJqoH_XsrmkwNeqJXmDcwMjyoSF9mSPZtt-PvUf4jIWSUuKZ67h_LYHNyKZQSelye1U_SvN5O-auE4BaseIHpl7ALKPtGrPTCQd0Vyaz3HymftIUmNjjfUJFgJWQt3g1rBfsu4ft9utDmCLWmG0PQBWv2xTCerBCZVQP8FsmB4xINU_3iwKSNi6xB5l_X4rq1xdB2wcaHXQntirIG4G3isL5ekIr0XFzyAz3W6GUYbiFePH6qZ65SDnmZd6ScLz5gPBZLSEcNwudAP3VLT3xlBluZXQQTmtbxDVj5ui1xbk57CgansxbVcAvrTM1Y70GLE25pHF8Iay4gs3WMVB7cRC7zVLICqOw-G5IJH8xECfAv3-kUTWhwaoTizbr1vy72awtiG5Y_a-Y3JSGwipm-47zwhqwrd3wPDKDyy82bG0gKYvETvrvBUSF1O8-HtFnSAGbkqNxvawSk0zNuAn3Cs4QPYRlsdi38H0HRMFjOZbXdFjaBkw0NDIDH_KS29qqLKi_UnzOSDfiOQS9CVQTKTI3sQbCwZ3ItkhbJDivTaKntl-ySQhua-B8AVN3yXO423nMlY9zCNmPoe4P-b31-U__EpCefuLIHNxuHBr9v0zHtHXc5EySXFwUL1Clz-FItkos=",
  "id": "rs_0fa31c21bf749d07016ab4a1f1e8ac87d0b49d9922da5dc615",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.195,\"left_z\":0.065},\"note\":\"The left bowl is visible beside the gripper’s jaw line. I’ll lower toward its right-hand rim, leaving one finger inside and one outside rather than trying to span the whole bowl.\"}",
  "call_id": "call_BrjfnAelu1CNXMKhUOvOugos",
  "id": "fc_0fa31c21bf749d07016ab4a1f7cbd887d0ba6988a6dd5d8bc6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BrjfnAelu1CNXMKhUOvOugos",
  "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]: [-0.7456, 1.652, 0.7578, 0.0425, -0.5842, -0.4957, 0.9995, -0.0196, 0.804, 0.6006, -0.3931, -0.0154, -0.0345, 0.9966]\nstate[eef_state]: left_x=0.3513 left_y=-0.1869 left_z=0.0582 left_yaw=-0.0162 left_pitch=-0.1086 left_roll=0.0718 left_gripper=0.9995 right_x=0.2932 right_y=0.0006 right_z=0.173 right_yaw=-0.0018 right_pitch=-0.0237 right_roll=-0.0004 right_gripper=0.9966\nstate[joint_eff]: [-0.4444, -7.6103, 5.4769, 1.6825, -0.2759, 0.0171, -0.0171, -0.1436, -1.5932, 7.1863, 1.7314, -0.0611, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2a8aacff55de5842ee4dab1b23276cc60a00d128ccd9e14456d446f186f0497",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9bd21a6311974866677da044cf4a43e85bce548c017f3fa2ca4bfb25b37a28c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c9c4572449385b40a784f3622a77e2a7182800a99b8954a34fd4e668ce9dc1a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /responses · status 200 · 2.356 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]: [-0.7357, 1.4044, 0.8108, -0.1822, -0.58, -0.4797, 0.9996, -0.0196, 0.8001, 0.6018, -0.3931, -0.0154, -0.0345, 0.9966]\nstate[eef_state]: left_x=0.3406 left_y=-0.1729 left_z=0.1327 left_yaw=-0.0221 left_pitch=-0.0541 left_roll=0.032 left_gripper=0.9996 right_x=0.2931 right_y=0.0006 right_z=0.1746 right_yaw=-0.0018 right_pitch=-0.0187 right_roll=-0.0005 right_gripper=0.9966\nstate[joint_eff]: [-0.4171, -5.9419, 8.9504, 1.6142, -0.4957, -0.0611, -0.0611, -0.0479, -1.8667, 7.5419, 1.7851, -0.0464, -0.0806, -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]: [-0.7456, 1.652, 0.7578, 0.0425, -0.5842, -0.4957, 0.9995, -0.0196, 0.804, 0.6006, -0.3931, -0.0154, -0.0345, 0.9966]\nstate[eef_state]: left_x=0.3513 left_y=-0.1869 left_z=0.0582 left_yaw=-0.0162 left_pitch=-0.1086 left_roll=0.0718 left_gripper=0.9995 right_x=0.2932 right_y=0.0006 right_z=0.173 right_yaw=-0.0018 right_pitch=-0.0237 right_roll=-0.0004 right_gripper=0.9966\nstate[joint_eff]: [-0.4444, -7.6103, 5.4769, 1.6825, -0.2759, 0.0171, -0.0171, -0.1436, -1.5932, 7.1863, 1.7314, -0.0611, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2a8aacff55de5842ee4dab1b23276cc60a00d128ccd9e14456d446f186f0497",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9bd21a6311974866677da044cf4a43e85bce548c017f3fa2ca4bfb25b37a28c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c9c4572449385b40a784f3622a77e2a7182800a99b8954a34fd4e668ce9dc1a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtKH9n9bxUtwe-ikGzJN9othaWC78ykJVfQVACd6vfmKscEUnGKqrzNAXo0gxjMQKs1X4Sw7H31uopAdUJYDDQtbCDnrmCw-S6cdWbtdZyyWnJmTWN_3eosYaIwKpPRDLVmCFMszggsJTdEA2IYHiaHwHyy7WNE7FHKl5jIhHV3mwB20MV_j_r58QIN_voNHjPVxgRT2xMjt7tygPoGgz6s7reUx7yjYfjEIC7xGrIdkkTvkzwvtevWwzeJ-niOsOg5x0QRzCGT-T01uJikO_fTEv7itKy2btYydGbjNz0MQVnFDYq8afBdJOmVOANr6cQFJnzB1vQTlL8sqDuS9GLmld3rtR_58Jg325_TILoFNqE6k1T6P2H4Y313Cf8O4K3WgXsmSG0SDWVHXtP1EDL22pZAofLfjIdMJ-ImhT1aoBDh1bRAgwvOUDG9Ea5EIGrjIqBN7t-ZKLYiZT9ipvlSwbt-NmToTWmYNQzsg9cJUMvtZkcGsW71rGiSX9VdjsbqsktMPSI9YHWgCVDx2CH_qrPSr-FYmWKL4QUrkUX56r86M9dVsL7I7Ehm4W-kudi4OS-nT6QsDkAjBxqR6twqqWDC6EDOUBJV_sLayLvKmZzz-wFQkNjgT8-Dvnan6d86w9cJUo4WTV3wWR7lyrZRaZtA0dWsD6NfCex1pXNRXtxtnRsAOPk8CG_x6kBGUHW-t5HASkGbxEAJCyuWl5Hzmyl8ZOVkzJyab_nNJUvzTWP6fHaohWcRKMhVSzcCJmuPnSKEk300psnYX5WIcSiQnbA6b-r6CP3hhGdW6O8xVuXpGlqL-Gz9QqFK57GFkxtqULHVr-8EHtFKrRO9hQ5AehBIIHICU4zUiUhAdyzXUFgTZgcTjmfMco6AtMe8rOv62nLWrDFzyXQAsvintafa4Rxzjf1RwRlm7imI63Vi8yWQfGjzTT3Jx0yo1K-4A1V4BqiayQelB4fgDTEOG5W-JfbXf7m4n_uOnyIHFTMXgavz1LM64ptvUIdSaLnQ8sUSSVyn5i8eX_cTPLRKLoBebQYz5lEtKd8PuFpk4KJueP-MojrcWb8niQgXZgEFbUGv7EPrtVTQ7v00DizHbaMw7WVcyL0iO7mTrwTWLwyNb4pY5HLePsz_wdZar2xFH5oPy05N2w7IpJG_1PYOEgVeWXZvWi9qO-X9oHQkwnraqu3CvvcMzvsU4XkrUVD8opwTDKaEUBhdTlxhpEsz5-dt1wdSXQQ3oO9yBbfT39eeEh5GTqWemuSU2YnYA6SlFHo0PYpvemZH2OmC6kRsFyl3PvIX6X3WOVW4h6BCcv1feER5pOyVTg00v1zbW49TJAbXE5L9x1YjwZX5U8eWh7Mi6jWRLztg5mupZ3MzV-2lOyTDrWHI2KLyyC6rrBPkKFkwS15NMK0v3lkUwVQMG3Ji3SNGNMnKCJyPkh5HKBvsp3Et1u9p6TdzZpIhEuxcyzgznqq_UhxstC09ZZOE0Okc9QAvlMxD06hZ1R0JH93VubJISwHTQjbuGf2VfKJczM75_aSOcbdBVkqs3DQA6ICLrvzXoY1Kxqi-6SRFF8WgLw2Dpw2dB10WPfrTxtxRSLX6uGzdUKDot_1tblsKYzB-g_wNss8sVZdwKazijdeLjfDwxMUAoBhczqhmAycAmnSJxDldQ9i6-qeyA65MZYRuGFQQhzlVHTNFcxGzePL3P23pSYoUsQrN_PLTpr9Zdqpn_-AULwmRz3riY90R8mjI6cP2F4LA8Kxn_Wz-ejN5nAQ1wo-K4xa5Lk6jmfVl53e0gCvgJq_UdmQkvEZbe0XfqoWI6C6stUgOuZGHCH4bKLmqY2dvE1fCyHShNAKp_Lh8bSbQRiWQHkxMVqSvbYRTe_9lULeUW90MRhNSASeb8BAMvhywoLrucofu3suLuOgN8B",
  "id": "rs_0fa31c21bf749d07016ab4a1fa949087d0a21e6dd5df3cb864",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.032},\"note\":\"The open fingers straddle the bowl’s right rim in the wrist view. I’ll lower a little more so the fingers grip the wall below the lip.\"}",
  "call_id": "call_jWK6wlsinUV2lgLyHSFh4jTX",
  "id": "fc_0fa31c21bf749d07016ab4a1fcfeb487d08b8b7fea32441691",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jWK6wlsinUV2lgLyHSFh4jTX",
  "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]: [-0.7456, 1.6966, 0.7368, 0.1398, -0.5842, -0.4984, 0.9995, -0.0196, 0.8043, 0.6003, -0.3935, -0.0154, -0.0345, 0.9966]\nstate[eef_state]: left_x=0.356 left_y=-0.1912 left_z=0.0488 left_yaw=-0.0168 left_pitch=-0.0848 left_roll=0.0485 left_gripper=0.9995 right_x=0.2931 right_y=0.0006 right_z=0.1726 right_yaw=-0.0018 right_pitch=-0.0248 right_roll=-0.0004 right_gripper=0.9966\nstate[joint_eff]: [-0.212, -5.7915, 4.4786, 1.3358, -0.2564, 0.0024, -0.0122, -0.0889, -1.3333, 7.0769, 1.7314, -0.0513, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54fff5a31d68f0ef5963ea9bd0bff7b0bd766dec5f6eca10154e28cdd20166ce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:171370d6256ba6da7b9289d6925ecf6734c8e8456c95d7f0311bcffacd0ab8ca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c524cb36ec7144f60fb13143cd4a2ce6d71e4627d8c84f93ad224233ba7cd4b1",
      "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 · 3.581 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7948, 0.6041, -0.3817, -0.0227, -0.041, 0.9996, -0.0177, 0.7933, 0.6014, -0.3809, -0.0158, -0.0338, 0.9969]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1794 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2943 right_y=0.0012 right_z=0.1788 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9969\nstate[joint_eff]: [-0.5402, -1.5932, 10.1128, 1.7753, -0.0317, 0.2271, -0.0611, -0.6496, -1.4017, 10.3726, 1.9121, -0.0855, 0.1441, -0.3297]",
      "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]: [-0.7456, 1.652, 0.7578, 0.0425, -0.5842, -0.4957, 0.9995, -0.0196, 0.804, 0.6006, -0.3931, -0.0154, -0.0345, 0.9966]\nstate[eef_state]: left_x=0.3513 left_y=-0.1869 left_z=0.0582 left_yaw=-0.0162 left_pitch=-0.1086 left_roll=0.0718 left_gripper=0.9995 right_x=0.2932 right_y=0.0006 right_z=0.173 right_yaw=-0.0018 right_pitch=-0.0237 right_roll=-0.0004 right_gripper=0.9966\nstate[joint_eff]: [-0.4444, -7.6103, 5.4769, 1.6825, -0.2759, 0.0171, -0.0171, -0.1436, -1.5932, 7.1863, 1.7314, -0.0611, -0.0659, -0.0122]",
      "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]: [-0.7456, 1.6966, 0.7368, 0.1398, -0.5842, -0.4984, 0.9995, -0.0196, 0.8043, 0.6003, -0.3935, -0.0154, -0.0345, 0.9966]\nstate[eef_state]: left_x=0.356 left_y=-0.1912 left_z=0.0488 left_yaw=-0.0168 left_pitch=-0.0848 left_roll=0.0485 left_gripper=0.9995 right_x=0.2931 right_y=0.0006 right_z=0.1726 right_yaw=-0.0018 right_pitch=-0.0248 right_roll=-0.0004 right_gripper=0.9966\nstate[joint_eff]: [-0.212, -5.7915, 4.4786, 1.3358, -0.2564, 0.0024, -0.0122, -0.0889, -1.3333, 7.0769, 1.7314, -0.0513, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54fff5a31d68f0ef5963ea9bd0bff7b0bd766dec5f6eca10154e28cdd20166ce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:171370d6256ba6da7b9289d6925ecf6734c8e8456c95d7f0311bcffacd0ab8ca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c524cb36ec7144f60fb13143cd4a2ce6d71e4627d8c84f93ad224233ba7cd4b1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtKIA4tJMfebs4YnhLJgFLQ0s8n1ntYgPoDeVTazyMe_e9SYwbR3Fz_KXfaRKXn4n6yvBA6j9srqWJfeIytJi1nz0SZW-TZfXFmUbbj678QPJZEnlHgtBDlgE5_49rOsyFKaiIHgYrBDycW1Lo7q2gxNxLCVcYo6cltKMX1aTVUCeLt7CcJ0cXpOtQoBgCYprwmBehzefEhcHiDWOKopZxUAtUchjAWxh-EhlByYvpOQnmHG9hEKUZghbXdqeAWgE2B4Y4BHObvf5M88HN7PZdB4nOSxVK2RkvMjvYvuWGfLZT7wvBv3gUkfWWbMtodLk6fVt6c3UWe0hVCPBq6e_gvG6nXGD1Oyb7EkxZ8wbosy0KDyDPEL42f-EiKAF9s0GZ8mzY9nRSuEJPoUtrigmCzwge_7SvsdDdl_hANNwgTkW3qsCcGFFlYiG3LAKv2cefpCQ8ZeDLfn1jQOB1bPrTr04wX2fLGpeVjJl1HsHIFQsM7rqNK8RZCI1XFqygMY7sBSOlCps9WGAA_yGwd50bvYmZbWt7O_Pf2cylBtk5bsgxzGmnJFAmbbzidaGOX_ugCZ1xI27BJoMalG-5Ak4ViM3N6oW_jgzSVB_uteJnVlMkKU6K6bS46OOML1fATJoLTjLq8x5Ng4dFgrLpSp-e2aViGUteKAqP42X5djUwkIR6n3MUhHBP_LSfPNtwad--HB-xJEUWYrStXJr04O2YpaWymNATij4h3hECjcozHugfCAp6ymvXyunXvYspfwFZdSsDYJlI_Lqmkqql3j_9bLrMWdck97md_D714ARJvk6BrvMjzNFwsFqhK5c21VfrZC-xjm7XsLOO2coqL3WuNAukwgX5QD0k41pVZLRAfLe74QGC0kMvqQ7I8yWak_IzsLCcUgCL8TxSlPD_iKHu6Grk_hmjDcuBK7hZ4KuP7SmdEyODysko4Ly7MeJ4c93NJLwndjtgv28X67j90vJcTHJVdjtsAA60v1k4BrUR_ePULiXeYbTl27ofMhjxRGLuDRuQMRszMqxWjk3RHvt-CHU-2ixU49zWJQF6Gq9Uc9x9re9gZPqvEMkinkmxpyoLqjQvem6dn_41MNBHnCos_Gj3eiSYWJzvUNybmQis7pJv2r7O5YO-5_eHPoBSmktc2ZW-93JOlTUcty7_6JBOQE91flcLDOBahlHwjS5_s9cH_l8x3B0CyqkAvE_ANSC1LUfUF07DM-X4-lmqjYO5gD2SR96jFkl1UXJmVZGZ90HvJ60-Dw0TJDUaQMRrNfyuTvyyxr9_vdGOjZEs7tZouNsO3tEF5R_yr7MUrYNOjdPx1E=",
  "id": "rs_0fa31c21bf749d07016ab4a1ff4c4487d0bab194ef2f1bc1f1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The descent has stopped near the bowl, with the right wall between the fingers. I’ll close on that rim and then check whether it holds.\"}",
  "call_id": "call_fxWHHePoMBcPAxZ2ZNTCAIg0",
  "id": "fc_0fa31c21bf749d07016ab4a1ffb6f887d0bbb8a5f138e1cc3b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fxWHHePoMBcPAxZ2ZNTCAIg0",
  "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]: [-0.7456, 1.7187, 0.7158, 0.1993, -0.5999, -0.4988, 0.1123, -0.0196, 0.8043, 0.6003, -0.3935, -0.0154, -0.0345, 0.9966]\nstate[eef_state]: left_x=0.3575 left_y=-0.1895 left_z=0.0436 left_yaw=-0.006 left_pitch=-0.065 left_roll=0.0457 left_gripper=0.1123 right_x=0.2931 right_y=0.0006 right_z=0.1726 right_yaw=-0.0018 right_pitch=-0.0248 right_roll=-0.0004 right_gripper=0.9966\nstate[joint_eff]: [-0.212, -6.0239, 4.9983, 1.1306, -0.1197, -0.0024, 0.7204, -0.1846, -1.2103, 7.0632, 1.7167, -0.0415, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe55ba050feb58e7bd28eb3e5f432018c87918dd665b4aaf994c18eb9970c5ce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d9a537f81a7b5ae6997312a578f1be2165cb6f88f8dff00eb6b22d128488c02",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:868e6c45282ddfb21e25aa0b9b909435714f0ef4c1b6a3a72b825c67c8615335",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 3.171 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 14 changed as sent

message 18 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7357, 1.4044, 0.8108, -0.1822, -0.58, -0.4797, 0.9996, -0.0196, 0.8001, 0.6018, -0.3931, -0.0154, -0.0345, 0.9966]\nstate[eef_state]: left_x=0.3406 left_y=-0.1729 left_z=0.1327 left_yaw=-0.0221 left_pitch=-0.0541 left_roll=0.032 left_gripper=0.9996 right_x=0.2931 right_y=0.0006 right_z=0.1746 right_yaw=-0.0018 right_pitch=-0.0187 right_roll=-0.0005 right_gripper=0.9966\nstate[joint_eff]: [-0.4171, -5.9419, 8.9504, 1.6142, -0.4957, -0.0611, -0.0611, -0.0479, -1.8667, 7.5419, 1.7851, -0.0464, -0.0806, -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]: [-0.7456, 1.6966, 0.7368, 0.1398, -0.5842, -0.4984, 0.9995, -0.0196, 0.8043, 0.6003, -0.3935, -0.0154, -0.0345, 0.9966]\nstate[eef_state]: left_x=0.356 left_y=-0.1912 left_z=0.0488 left_yaw=-0.0168 left_pitch=-0.0848 left_roll=0.0485 left_gripper=0.9995 right_x=0.2931 right_y=0.0006 right_z=0.1726 right_yaw=-0.0018 right_pitch=-0.0248 right_roll=-0.0004 right_gripper=0.9966\nstate[joint_eff]: [-0.212, -5.7915, 4.4786, 1.3358, -0.2564, 0.0024, -0.0122, -0.0889, -1.3333, 7.0769, 1.7314, -0.0513, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7456, 1.7187, 0.7158, 0.1993, -0.5999, -0.4988, 0.1123, -0.0196, 0.8043, 0.6003, -0.3935, -0.0154, -0.0345, 0.9966]\nstate[eef_state]: left_x=0.3575 left_y=-0.1895 left_z=0.0436 left_yaw=-0.006 left_pitch=-0.065 left_roll=0.0457 left_gripper=0.1123 right_x=0.2931 right_y=0.0006 right_z=0.1726 right_yaw=-0.0018 right_pitch=-0.0248 right_roll=-0.0004 right_gripper=0.9966\nstate[joint_eff]: [-0.212, -6.0239, 4.9983, 1.1306, -0.1197, -0.0024, 0.7204, -0.1846, -1.2103, 7.0632, 1.7167, -0.0415, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe55ba050feb58e7bd28eb3e5f432018c87918dd665b4aaf994c18eb9970c5ce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d9a537f81a7b5ae6997312a578f1be2165cb6f88f8dff00eb6b22d128488c02",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:868e6c45282ddfb21e25aa0b9b909435714f0ef4c1b6a3a72b825c67c8615335",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtKIEJ4hV-DabuQglStzKG--edcAMD0F1mv647CAhODjpf35R96RMw4nFfpbgVxhY3mXs13dmY2PObLwYLpDyw1cmhqgtyPHx2BZ3006IkTiUzhpe56vQqPe_HsGGMa6jc2Pzp4M82iZzSaypn-Ps57hn2ePxk498EbebRe0U-gGgBQd2vNzM93iknJcAMWF0RsSDIY_dyHwaYbFEl9piAe78n-eCy4e6x8dRcEhvsjBFJ4wI2rM0lurE2TErxCtuCKfst_Dgx3HZYtsWrh71FtKSrQy-3f6jtMKMYMzRQ21Ss20Zqi_eOfi9MTzmboSXRLw9nkv-zXLKUBie497JT7nL0GAhxOxEVRYK1Kga3TRG-6ENht3KY2PwUXBi_i4MWPOylBa53AMgleG1w_PyXcedwO9-pGBgZRStZa9shQX99x9fF_1M9XuQjOMCMl7eUAiEsQ7SbupqbcQi1bFjMvcYJS6sdPFQwLUwC47g613J77j0aexMorYSaLKW0zDxp-9CgeW8OIKMtBE1pz7-eIjsQ17MTRKLxOrl9kPiU8aCQSO1LcNH_LurbRa2r_f3_nro-JtZIWD7tp1jjqC7uH0qzmxj4EvNMqu24YXkoEpg71dupcttq9r9gjaaqI_gRvmplYPIOJUyBDoR8zvHB97IxwmT-C_w6op6hW-uBx_vB5UcB7zXBW1fXGE28nk15RzGyIcuXnlOXkMBraaYTkc78mmgW1bckzYaLsBFOa2ufJNL1xyGmO7aL3MN7fjA9fEJA0pZt07pyPgViu-wBeSn3qBCkr8JRH3TJ1-oXHKqldu6Wx0eXA7CUlvTkqPhYH5YWJGz_fQNX5YHFnTpUlDVzzxQug3TwmUX6oEcuWQJlGYJyQhMYwMuFVMDxVMy0vyFbd5YihwghAluLzZNeS2qiRzfkLRom-DP_O8Mc94IY8DROC_DlP_zCy4KXV_iUww6BzYCbrWXZgXq9Bz6DF3pGeQU7muUgMM3CF10AmSy64hFL2d74fn3Y6-DJxa-RVYp1SbKGMioeVuQAH547b8PzsfRq86ngDvVoN3hIXU3YqI4s2S3eh9LkgX46BXQruCzi7Vu1gwzHba84bxorpA9vhVwo9JSmDcfCjWSmlzXsqfNwuLcsivR3o3Qgb3bEjSnA1oUdvQY4fEAZqq5widKy2ooETQ5-xiZz6EioNI98WwtD5_XgTrH8_UjvwOOjsItFlI-qYrq_F8mE4vJ46MqgwYOUtmXd7sU26skdsSQ100X4SsWf5RlyJYChr5jySTl2GxmFcwP5Ssb5xNwVkqW6tvolUDbl4zQF5piu0sdABMdod2o64I0Mkp82_hr-_maKav99KjuMP7KKHprSamVel9f2OnaktAmklbyvgJz_9lNA74HoV5VfX-W-PSYxo3oQW2iY3w5Lj2x5o5gu2zkLlFfdEaNKblR5v8F3InJr1sPW-dBfvwiU9vmzN5akt3ZqGJY45OZZn3wxRbJK-22Oh9AFiJ-QnoYKxdFjEsY9iCvcJkqvVs91mXU9_UFnfRpS3tDtdYeOlC_TmIkaXZnqfTDOYYENXvyPcKUpLjyqpW26Zv-8hzDtLhQ34RP31-pXSZ4t0j1h2yVzZN3Lnyan0wC78LBqMd2zbpYIhkrf6OE33p6ydqPEpUgSbpL5vFW",
  "id": "rs_0fa31c21bf749d07016ab4a202ecdc87d0ab6bde81698b3742",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.11},\"note\":\"The gripper stopped at a nonzero opening, but the middle bowl also shifted closer during the grasp. I’ll lift only a few centimetres to see exactly what is held before transporting anything.\"}",
  "call_id": "call_DAja9xVcU94mbfAuxD68Btpw",
  "id": "fc_0fa31c21bf749d07016ab4a20405a087d099f3546737fdf908",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DAja9xVcU94mbfAuxD68Btpw",
  "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]: [-0.7456, 1.5848, 0.8085, -0.0521, -0.5995, -0.4992, 0.1142, -0.0196, 0.8043, 0.6003, -0.3931, -0.0154, -0.0345, 0.9966]\nstate[eef_state]: left_x=0.3541 left_y=-0.1864 left_z=0.0882 left_yaw=-0.0048 left_pitch=-0.0835 left_roll=0.0619 left_gripper=0.1142 right_x=0.2932 right_y=0.0006 right_z=0.1727 right_yaw=-0.0018 right_pitch=-0.0244 right_roll=-0.0004 right_gripper=0.9966\nstate[joint_eff]: [-0.1162, -8.6085, 9.0598, 1.5604, -0.3199, -0.0073, 0.188, 0.0068, -1.0872, 7.0632, 1.7265, -0.0757, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8716841934a9fe6de4782e9eb199057b16c92cca161166abfe75769ea1bfe7f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fae29c309033c1aa58d28c203d665c3e26f3bfe139f42cb2107e290ad8037819",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5b2657963afb0d0ce2bccda9a0851951a301ed14b655e3fcc3904a9422612f3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 2.021 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 10 changed as sent

message 18 changed as sent

message 22 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7456, 1.652, 0.7578, 0.0425, -0.5842, -0.4957, 0.9995, -0.0196, 0.804, 0.6006, -0.3931, -0.0154, -0.0345, 0.9966]\nstate[eef_state]: left_x=0.3513 left_y=-0.1869 left_z=0.0582 left_yaw=-0.0162 left_pitch=-0.1086 left_roll=0.0718 left_gripper=0.9995 right_x=0.2932 right_y=0.0006 right_z=0.173 right_yaw=-0.0018 right_pitch=-0.0237 right_roll=-0.0004 right_gripper=0.9966\nstate[joint_eff]: [-0.4444, -7.6103, 5.4769, 1.6825, -0.2759, 0.0171, -0.0171, -0.1436, -1.5932, 7.1863, 1.7314, -0.0611, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7456, 1.7187, 0.7158, 0.1993, -0.5999, -0.4988, 0.1123, -0.0196, 0.8043, 0.6003, -0.3935, -0.0154, -0.0345, 0.9966]\nstate[eef_state]: left_x=0.3575 left_y=-0.1895 left_z=0.0436 left_yaw=-0.006 left_pitch=-0.065 left_roll=0.0457 left_gripper=0.1123 right_x=0.2931 right_y=0.0006 right_z=0.1726 right_yaw=-0.0018 right_pitch=-0.0248 right_roll=-0.0004 right_gripper=0.9966\nstate[joint_eff]: [-0.212, -6.0239, 4.9983, 1.1306, -0.1197, -0.0024, 0.7204, -0.1846, -1.2103, 7.0632, 1.7167, -0.0415, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7456, 1.5848, 0.8085, -0.0521, -0.5995, -0.4992, 0.1142, -0.0196, 0.8043, 0.6003, -0.3931, -0.0154, -0.0345, 0.9966]\nstate[eef_state]: left_x=0.3541 left_y=-0.1864 left_z=0.0882 left_yaw=-0.0048 left_pitch=-0.0835 left_roll=0.0619 left_gripper=0.1142 right_x=0.2932 right_y=0.0006 right_z=0.1727 right_yaw=-0.0018 right_pitch=-0.0244 right_roll=-0.0004 right_gripper=0.9966\nstate[joint_eff]: [-0.1162, -8.6085, 9.0598, 1.5604, -0.3199, -0.0073, 0.188, 0.0068, -1.0872, 7.0632, 1.7265, -0.0757, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8716841934a9fe6de4782e9eb199057b16c92cca161166abfe75769ea1bfe7f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fae29c309033c1aa58d28c203d665c3e26f3bfe139f42cb2107e290ad8037819",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5b2657963afb0d0ce2bccda9a0851951a301ed14b655e3fcc3904a9422612f3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtKIIxed3Pd7jKGEQt8rpzFj2KKljkoJ0tM7Doy0nO_CZDaU9suuaS82x-v4IPRWC-Vq-08mg2NjEIW9iNZSQZXpxugciZPpciRvGuQea2jA-8i6Z4yEQEkMQs2vsRZWYOWC4VfZQNmQT3_KRmZWqO7sXBeyuYrzbK_QqTaHF7gGNfZlbCu56ZE-jhgiExQzYf88r15ocjb3jKfK2cSFpOIcO5Z6Wm0Y-aw7mFJbXbe177iIGCiG7QjH0SjZAXOTFw6DfOLzSPs0pxF8waEQvg_uL42PGodoMxlv5HSxQoilF_2GBBZMETT3kjlaImgRDrL6hWcLV_BP_NJ2VQEK744HKI6q5KxmnItOTkpyGcMBQusKFB3hQa1n9t0_PhHUoo92QsW0AhxYlkwB7vLAyPKrfWYZHZ1hswP7f8lWxi6e6SBsgoie_M2mCxd7TbJrjMZiqFRsJ5wP71rmdZN35AO48Ca6i-V7wSZufgVKGlDAWJP2RSTWJmMbctKg_oTFVBSbbqVSX4bt2F_zY_gGKHzTa7YAkPs4KxkvECGMVCoOjXLC_upT-FKg2k9YRsgTU7Zp6ZsfJM05wjD9mmmBl-uSBdx8mq4oN-xVKUwwgt6EWQVj8-AhiJMvc8PSotFlEtIXFJaoDtYe1HxiusP87kiK-PhWtKL_hYunQi2ivUe6CFyjTvz7LhSuvpnTT6v_n2dACyEjQ6TaK7gepRNzXXQxFfO9GVkui2QTZ0pQXV2S1rpNe1wrg1y5szBTKU7mZHDxHhjaxeJZ2T_eTuxW03G3pK45QVieUpI23aybaIc3KBo_7pcio-WD3DTJ6chqZ6viCLcFZ15cGZvJrF__J3LS6V8pe2vU2gQtHcF1MbsGzkTv5whvtpfPn6PaVqS8bj4YJsm-rpFGufhnkwMrDx3Mbu9VHBSYGP1f5v8VcJYM31so1UscmPhWhjetMDHonJdL2GiONpcGv5wgm9Dsl4fNLHdiTW4hm9RsthE_1-xPARI1Jn6pv86M4m-8_aMrCm_kTlhbNsTGabzzzPlFQ3Z7S-o7PouLpkh-Nusaa9qGqOq4tLZ19ZMH1VFjzXXqeavOvSuZeSYs6CmwvnI-wKGxG1QkwapLt1rlsA5NcY7SX7D-l_59gceX3N0xBvb42k9sMa5TfZazD6kkdyv3o_QlCx0YzGEpLlWwQRHnB5mXjWPs7i55d-yv5rRfZQddPvIX9oLxKTHlV7t1HdFQjJV5RBZgLJFXFHmXSeZfQynFkJBKmZMd6bnHwthqZCu_GoRfZ3Zza5vwmqCxrUziLbVnQ9GV-PUvWzRGfdrj8tuhXCwgKsLLefnUyp8dJ4g-eQx6qDzKuXEF6-JNCrY3CeRpkJSnS8eGjpZcFppkLJDyrW4U7gm_LFTGEoRTJ77WJ_kYIx7gFRfBm8JLM2sHNsIa7zg==",
  "id": "rs_0fa31c21bf749d07016ab4a206be9487d085af772fa0dfc88f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.045},\"note\":\"Both adjacent bowls appear to rise together, so this grasp catches two rims. I’ll set them back down and reposition to the outside rim of the left bowl.\"}",
  "call_id": "call_Mnf1mP9RDhnA8jYXLC96QGAt",
  "id": "fc_0fa31c21bf749d07016ab4a20760f887d0bfa5b8d56b8b517f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Mnf1mP9RDhnA8jYXLC96QGAt",
  "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]: [-0.7452, 1.6817, 0.7391, 0.0601, -0.5995, -0.4988, 0.1163, -0.0196, 0.8051, 0.5999, -0.3939, -0.0154, -0.0345, 0.9966]\nstate[eef_state]: left_x=0.3485 left_y=-0.1811 left_z=0.0448 left_yaw=-0.0009 left_pitch=-0.1235 left_roll=0.099 left_gripper=0.1163 right_x=0.2931 right_y=0.0006 right_z=0.1722 right_yaw=-0.0018 right_pitch=-0.0263 right_roll=-0.0004 right_gripper=0.9966\nstate[joint_eff]: [-0.0752, -7.8017, 6.0103, 1.6386, -0.2662, -0.0317, 0.2515, -0.0342, -1.3197, 7.2274, 1.6825, -0.0757, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ef9fdc99c60fb5546c717d8461acec564c0f3de611726cca5a1767a2388151f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0655e843abcb470dbd0c9a0c779a5d69ba92336096e3aab487128e08b5188fe2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b86f297237fe3d89ee23a8850c8b9e789854ab48a1ff0f6f5b7b75afeb46068c",
      "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 · 4.433 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 14 changed as sent

message 22 changed as sent

message 26 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7456, 1.6966, 0.7368, 0.1398, -0.5842, -0.4984, 0.9995, -0.0196, 0.8043, 0.6003, -0.3935, -0.0154, -0.0345, 0.9966]\nstate[eef_state]: left_x=0.356 left_y=-0.1912 left_z=0.0488 left_yaw=-0.0168 left_pitch=-0.0848 left_roll=0.0485 left_gripper=0.9995 right_x=0.2931 right_y=0.0006 right_z=0.1726 right_yaw=-0.0018 right_pitch=-0.0248 right_roll=-0.0004 right_gripper=0.9966\nstate[joint_eff]: [-0.212, -5.7915, 4.4786, 1.3358, -0.2564, 0.0024, -0.0122, -0.0889, -1.3333, 7.0769, 1.7314, -0.0513, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7456, 1.5848, 0.8085, -0.0521, -0.5995, -0.4992, 0.1142, -0.0196, 0.8043, 0.6003, -0.3931, -0.0154, -0.0345, 0.9966]\nstate[eef_state]: left_x=0.3541 left_y=-0.1864 left_z=0.0882 left_yaw=-0.0048 left_pitch=-0.0835 left_roll=0.0619 left_gripper=0.1142 right_x=0.2932 right_y=0.0006 right_z=0.1727 right_yaw=-0.0018 right_pitch=-0.0244 right_roll=-0.0004 right_gripper=0.9966\nstate[joint_eff]: [-0.1162, -8.6085, 9.0598, 1.5604, -0.3199, -0.0073, 0.188, 0.0068, -1.0872, 7.0632, 1.7265, -0.0757, -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 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7452, 1.6817, 0.7391, 0.0601, -0.5995, -0.4988, 0.1163, -0.0196, 0.8051, 0.5999, -0.3939, -0.0154, -0.0345, 0.9966]\nstate[eef_state]: left_x=0.3485 left_y=-0.1811 left_z=0.0448 left_yaw=-0.0009 left_pitch=-0.1235 left_roll=0.099 left_gripper=0.1163 right_x=0.2931 right_y=0.0006 right_z=0.1722 right_yaw=-0.0018 right_pitch=-0.0263 right_roll=-0.0004 right_gripper=0.9966\nstate[joint_eff]: [-0.0752, -7.8017, 6.0103, 1.6386, -0.2662, -0.0317, 0.2515, -0.0342, -1.3197, 7.2274, 1.6825, -0.0757, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ef9fdc99c60fb5546c717d8461acec564c0f3de611726cca5a1767a2388151f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0655e843abcb470dbd0c9a0c779a5d69ba92336096e3aab487128e08b5188fe2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b86f297237fe3d89ee23a8850c8b9e789854ab48a1ff0f6f5b7b75afeb46068c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The bowls are back at table height. I’ll release both rims before moving the gripper clear.\"}",
  "call_id": "call_2ft5s2hKerPerR0zXG8iggaU",
  "id": "fc_0fa31c21bf749d07016ab4a20a083c87d0a7f116cdb5994895",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2ft5s2hKerPerR0zXG8iggaU",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7452, 1.6943, 0.7265, 0.0628, -0.5995, -0.4992, 0.9946, -0.0196, 0.8055, 0.5999, -0.3931, -0.0154, -0.0345, 0.9966]\nstate[eef_state]: left_x=0.3451 left_y=-0.1779 left_z=0.0365 left_yaw=0.0014 left_pitch=-0.14 left_roll=0.1142 left_gripper=0.9946 right_x=0.2932 right_y=0.0006 right_z=0.1722 right_yaw=-0.0018 right_pitch=-0.0259 right_roll=-0.0004 right_gripper=0.9966\nstate[joint_eff]: [-0.1436, -8.2393, 6.3385, 1.3016, -0.315, -0.0073, -0.0611, -0.1026, -1.3333, 7.0085, 1.7118, -0.0513, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4eba5a62af1443e85f3657c4f5fa2be9dd4a70756b38a12691a305cb239d962",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fed5dfb9e8a7142eea96d1ae24239be4af8d9d1b594cfb07486c786820102d85",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7971cab1b385be29f2fd386b533768c2faae249c9d34fd7de8c40e2b067145cf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /responses · status 200 · 4.918 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 18 changed as sent

message 26 changed as sent

message 29 changed as sent

message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7456, 1.7187, 0.7158, 0.1993, -0.5999, -0.4988, 0.1123, -0.0196, 0.8043, 0.6003, -0.3935, -0.0154, -0.0345, 0.9966]\nstate[eef_state]: left_x=0.3575 left_y=-0.1895 left_z=0.0436 left_yaw=-0.006 left_pitch=-0.065 left_roll=0.0457 left_gripper=0.1123 right_x=0.2931 right_y=0.0006 right_z=0.1726 right_yaw=-0.0018 right_pitch=-0.0248 right_roll=-0.0004 right_gripper=0.9966\nstate[joint_eff]: [-0.212, -6.0239, 4.9983, 1.1306, -0.1197, -0.0024, 0.7204, -0.1846, -1.2103, 7.0632, 1.7167, -0.0415, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7452, 1.6817, 0.7391, 0.0601, -0.5995, -0.4988, 0.1163, -0.0196, 0.8051, 0.5999, -0.3939, -0.0154, -0.0345, 0.9966]\nstate[eef_state]: left_x=0.3485 left_y=-0.1811 left_z=0.0448 left_yaw=-0.0009 left_pitch=-0.1235 left_roll=0.099 left_gripper=0.1163 right_x=0.2931 right_y=0.0006 right_z=0.1722 right_yaw=-0.0018 right_pitch=-0.0263 right_roll=-0.0004 right_gripper=0.9966\nstate[joint_eff]: [-0.0752, -7.8017, 6.0103, 1.6386, -0.2662, -0.0317, 0.2515, -0.0342, -1.3197, 7.2274, 1.6825, -0.0757, -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 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7452, 1.6943, 0.7265, 0.0628, -0.5995, -0.4992, 0.9946, -0.0196, 0.8055, 0.5999, -0.3931, -0.0154, -0.0345, 0.9966]\nstate[eef_state]: left_x=0.3451 left_y=-0.1779 left_z=0.0365 left_yaw=0.0014 left_pitch=-0.14 left_roll=0.1142 left_gripper=0.9946 right_x=0.2932 right_y=0.0006 right_z=0.1722 right_yaw=-0.0018 right_pitch=-0.0259 right_roll=-0.0004 right_gripper=0.9966\nstate[joint_eff]: [-0.1436, -8.2393, 6.3385, 1.3016, -0.315, -0.0073, -0.0611, -0.1026, -1.3333, 7.0085, 1.7118, -0.0513, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4eba5a62af1443e85f3657c4f5fa2be9dd4a70756b38a12691a305cb239d962",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fed5dfb9e8a7142eea96d1ae24239be4af8d9d1b594cfb07486c786820102d85",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7971cab1b385be29f2fd386b533768c2faae249c9d34fd7de8c40e2b067145cf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtKIQ6NOb6H4lCZQIW4UhBvg_J7ipD_dv3BFRjEAdaMbDHRVZFsMHi8UPldcvqo_gvbLrs1B0Pc5gJIgbA-i1ME7A4nk7NVyygv41TaJfRL7GLYHYxWBiselmxsvRqQ90rP5Xy72v3jJWcPt5r6uLOyVZ2thRmhGkpUY208oU9rOhVL22Fi2KhlL1Jcmcoddcr8n3w0VDEaBCX5mgM6XGFk2as-bBnkABwa8Za1-gTp-u2Su7w3beotym3DNRwQXxP-wA_qb575BtS7iMAtcHTuzimgv3v2M9g3ZJaCvmEgkzdLlYKFkFrwmgo2-xEaKbiRqls-w3UQXgcNOohzFF7Nxru13q4llA_w8RyxSDC6lCZoItqvDSuLv6JYFeJYxK5TihaNoQPAldgz2Ecn1za7lwLgl89ua4Ixjnj8X7bvobTwlVA5bAYwQ8t3YhkxjZwfGeZsQKVpzxwVhEOKS1NzgCHE3Low8iPmrsJ6uPS_XFgBWkZmI74rWmVc3Xvmfr3AXWFTbDidk_iToi4Bumx513Wtlz31RQFEzriHjRUyGMUOl75VUR5TLlfbXk2j8DycNIbJreu_0VrVkpYY_9bR5y_4s9r7iBLY8kLFM-guMZEqekzo8i4CeUrjoMqrDVzpljYVTasYEHYtAwGHbfRa9dh3F497tvhmeG79TLdbKzfgab2SSxO7ASdCa9c6evz-TcIDBmJPFeRcZWzKj_BK294CGiJMWxpajzmXGeMNtBZnePyocqTW3nqqlEb4W6vrR9LEFyaCOgNtIn3_N2cMDddmttUkucjnTaPk3vYJtvt8f1BvECVYKrFUnZn945Z4gxbAj20Qm2OOXnXRY-VxB99Utk-dnAeNEKqpQz60VP4laoHA2ejXO5uSgN3rxi2cjw1wiSik5WM3qdUEQ7JntfT5PejzmHIH9wHGu_U9orIDlQ58qpmnvCQBaPbKIAPHOV4A5NW-XDjAFuU5WFlDYyIxSHifvJu-YdabtxoX_96pb3TrNu1I1gZtTKC0KYYZrv5F90oExHFoMXPeKTvjDIlwiFU1mxTkyuHtVhMxpqdHokJQ4hIsOZwo6o7fEAJ0xV8fPcKLHct9UtGHd51WWFZycQ37H9Tm-ubUeV4XopRTZzqR5emNF2NvDygS4MpbD1ai42FSd7v-Tfng0eJU5EL-XHQSpTofyX-ONdJ1MZNxj5Ko4dLT7pqcU41_BmXsw12SNlyb7aAM64gfeCtzF0PLSXnATO62BekiRIDTgAAtWvmaXVquqCCJm0t0HBZH6ePnUHUfrJlPKDI_vOGteIlmZkwopXDzQ7YbSxJ5ZDZ93BJnQrGWKUskNu6AJH6_QjDsY1qKIIPuHm4x1vp92JNYsymTp-HQh2WJ1cdG2LygGks671dL6ENpJ4ybPxcAIEAred0ohsydwF9KbMKA62bb2Yoqkz7_zOXFb75OfppcVUhHFqtes6lvtJU2ahG84HEuL6HZgaoRcwH24F8FtJu3l7whjOzs7XRxdrRW2euZ4Ik8YTZrjyMC7c66gU6eyPOEz7dFbdbP08-QUV7VZ4dWxVfshPwGnwxs28P5O7RfRnerckdiNhxe2I053yEGVruJA2qXDHdnet9f8dh27A-RcI0hVHyCwZNE7IVQZfc-beyqmSbI9niS67xRvmi0VFHpToWDNy_Mmb_Yr479iEaD_NiVCKfiHkGOGTC_qOALvy9sGWerXlQwW8OCFielzXE7L22b4ZjCrknGctiWoTD7iI4WgDvJDJsuPyB37Kl3GrqbJcPT15N5ur7OnWyaBxHRafcegEe7laSIROgYbyo-VtKPQ0E19lUK1Sb9Sgmx-fAy-8UgDUgCMbZ-NLe3ne",
  "id": "rs_0fa31c21bf749d07016ab4a20cde5c87d08dd005a4caa344f1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.065,\"left_z\":0.16},\"note\":\"The bowls are released and upright. I’ll lift away toward the left bowl’s outside edge, where the second bowl cannot be caught by the other finger.\"}",
  "call_id": "call_7gdLqAhawvHZ4h3XzpCCUTkk",
  "id": "fc_0fa31c21bf749d07016ab4a20efbe487d084e745da6448dc24",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7gdLqAhawvHZ4h3XzpCCUTkk",
  "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]: [-0.3744, 1.2427, 0.7906, -0.3328, -0.3698, -0.2302, 0.9951, -0.0196, 0.8089, 0.5999, -0.3931, -0.0154, -0.0345, 0.9966]\nstate[eef_state]: left_x=0.3483 left_y=-0.0644 left_z=0.1431 left_yaw=0.0415 left_pitch=-0.1522 left_roll=0.1073 left_gripper=0.9951 right_x=0.2934 right_y=0.0006 right_z=0.1713 right_yaw=-0.0018 right_pitch=-0.0294 right_roll=-0.0003 right_gripper=0.9966\nstate[joint_eff]: [0.2667, -5.1214, 9.5521, 1.536, -0.1978, 0.1685, 0.0317, -0.0752, -1.4701, 7.0359, 1.7167, -0.0611, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d324b52f54347660fdb3ad8b450381e3e7aa06dfd80c9588b45527c71223622",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d39d2d4afc8d13db93ae427cfb70a91da327a418294e0af403b2ee370381097",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2942ee75b0ffaaed9a7fa66ae4920beb17473c7b310ed205245eabfea3a8819a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 2.789 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 22 changed as sent

message 29 changed as sent

message 33 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7456, 1.5848, 0.8085, -0.0521, -0.5995, -0.4992, 0.1142, -0.0196, 0.8043, 0.6003, -0.3931, -0.0154, -0.0345, 0.9966]\nstate[eef_state]: left_x=0.3541 left_y=-0.1864 left_z=0.0882 left_yaw=-0.0048 left_pitch=-0.0835 left_roll=0.0619 left_gripper=0.1142 right_x=0.2932 right_y=0.0006 right_z=0.1727 right_yaw=-0.0018 right_pitch=-0.0244 right_roll=-0.0004 right_gripper=0.9966\nstate[joint_eff]: [-0.1162, -8.6085, 9.0598, 1.5604, -0.3199, -0.0073, 0.188, 0.0068, -1.0872, 7.0632, 1.7265, -0.0757, -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 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7452, 1.6943, 0.7265, 0.0628, -0.5995, -0.4992, 0.9946, -0.0196, 0.8055, 0.5999, -0.3931, -0.0154, -0.0345, 0.9966]\nstate[eef_state]: left_x=0.3451 left_y=-0.1779 left_z=0.0365 left_yaw=0.0014 left_pitch=-0.14 left_roll=0.1142 left_gripper=0.9946 right_x=0.2932 right_y=0.0006 right_z=0.1722 right_yaw=-0.0018 right_pitch=-0.0259 right_roll=-0.0004 right_gripper=0.9966\nstate[joint_eff]: [-0.1436, -8.2393, 6.3385, 1.3016, -0.315, -0.0073, -0.0611, -0.1026, -1.3333, 7.0085, 1.7118, -0.0513, -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 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3744, 1.2427, 0.7906, -0.3328, -0.3698, -0.2302, 0.9951, -0.0196, 0.8089, 0.5999, -0.3931, -0.0154, -0.0345, 0.9966]\nstate[eef_state]: left_x=0.3483 left_y=-0.0644 left_z=0.1431 left_yaw=0.0415 left_pitch=-0.1522 left_roll=0.1073 left_gripper=0.9951 right_x=0.2934 right_y=0.0006 right_z=0.1713 right_yaw=-0.0018 right_pitch=-0.0294 right_roll=-0.0003 right_gripper=0.9966\nstate[joint_eff]: [0.2667, -5.1214, 9.5521, 1.536, -0.1978, 0.1685, 0.0317, -0.0752, -1.4701, 7.0359, 1.7167, -0.0611, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d324b52f54347660fdb3ad8b450381e3e7aa06dfd80c9588b45527c71223622",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d39d2d4afc8d13db93ae427cfb70a91da327a418294e0af403b2ee370381097",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2942ee75b0ffaaed9a7fa66ae4920beb17473c7b310ed205245eabfea3a8819a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtKIW5SVKPAIxCFgxUjmyuDRWNLoXtxc_5qWXWDpwzGcF0MnJiiBAPZXv4CKI_me4PSaEQ41u-pqyBQZFvf4TUGqFHfI4ge1YH68pKvqod14SrH2jbGtw8PmPZ8fDN59Dj_PRhtucMAThYQleFbZdN6WSHwI8QFzty2Xfi3uq8jdOMoIkp1KyyqPZNCxR0BkMkHvcV5dw1wf-nhyD0SbwrWNs3lylpnof0EXkwcTGU-XmadyfMf8MfGo_lXN_LNh6A7vSXzWzLiJL7Jsc4SyZuir37R_U43l3yRAv0JGdHah-gi8H-17Rf4-g88qQN6_KBS0-xdt6IqWZRuSsF7p4R0QDi6ckeSYCfxLdRxBLIjOoRZP-NA4v56EwsIjOoesEKx2X-CyGxAw-ght9BcFiLm4j8ai1-YBJN093bKF2mIjdOalFAVcKyMZNoy9-XCv_apfKP9ohaPUVN2MfFlIvtbsi2Ooxqf5V-ULq1agurGwawNhx1jQHDx_s4ylK2WfSFi6IXL_1rriGGBLb3LCEnRls2ST_P-eBJv_F4wvMSHj5k6z5J3pmUG2Xc3MWuyIa-JxhgkMhDQ9ZIEQ3I7nZcgNqIu1cQa6XFTusTHGtv8AnhPe6DURsC1D5vnPKdR1DvtyQsD044SA1RZ7G1GHZXJGglUFqLi1Vx8RCmOQg_gY1LTzY9hWjDhvGpW7hx3CS1Q2xxaThgTXIMBb09_RqtULvLFxB18VtxZHJVF5wc5jVMsKpZEFyb9Fyb_i7WPS2uGCyQkUu1qhfWfw3TH7xcUJKBdZNIQMfEZnNfSY6Si_eaDqu36HpQbQMz7AN1EJTt2Np1VA0at2IY-eQ6T_rMWm6wurpuUb-RbwL1vOautzoOONlCDh8qEQk76SKjzzzxVgpGMqnOy3WqWQkh68tzbOFutKS1Im6yR6Ca-FmqdBfVA5i-bCWVVuuYDN_6TA19a77NiSN3mYdsaQymsz640-hyrvEbS2TXEaZaxkkSlFNwYG2kjTlcEJs2CgymXOYEMdsydS4bV6LGYj_j7CBa7vkxQ8waDmQqmW_-W5mHOt2LMUZVPCxU8UKYUjVVOSCkHEMVR8TZiL_dEQqv-POBYkJxXTzMZqpoVLHy2KtEz1Bh6AJU_3l_og-sUUf2XCMsPLZACb4fK_YFkXArj-pLGs0gtgBmHg7hH8Uhf2BLxM40plSOgERTCGXQ1DNSx1LG28nsdf8pL4ePA3SaclkHvqGRDnF8btI6kWL_hRdaJYZJNSwWy3AtTimGeKkg9FG-_TOzHgyKKgdLjntXnUD1-b7XTb-_-FnEMfhF9bAsuVoqRO4t9yBZOjo-wKnLjh-RdX-jg_21ChTTeIOIz0TmY8SquGjPJPV9-YgSV0uJs5zU7AZOq0ja8KQ9gDJr2V8VEKS1SRqkW3jyEetoOXkFqwS6L8isM17VlVhNg6ZHT8W8hvaSj2f_47z8Kd4KsgC2YhA8xCu_gp9AiLBnpxLBOsY6NBXg4MWKj5b_HZ_rgcWV5eIt_5oBAPCwo34Y6lb1M7gbHta6UP5mFW8l9Ou05tJ2-UqPtHI2TIg73sx9DWbb5gDWQ_uE0SCqTebdGaImSvHxYUfMkip_mD1KV2uP9OUij4SeXY8mcgyMQIv-UdjY3_Di8vulHJONZfHSkNiUUyC4XrNCpJA-XAB5RjjUI9Rsmdmi5NxNhaAr_TwA7ztmKoUH0-FEa9f8FTvT_MDegiH4r_HK_XgTrg5YMmv5g5Jz7YRuvcd3NYPod6RZWAjPe_3Y1-Aw4PsAIczruKc6ajG6I2_2UBT3I3NmTHChSFzbfnxKaDb6OM4OWr526GAlhKDrE7y39oooEGRvHENpWLyizw-D0rObCUYoAshUVw_sg==",
  "id": "rs_0fa31c21bf749d07016ab4a21261f487d0a4472bf9438aec2c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.065,\"left_z\":0.04,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0},\"note\":\"The outside rim is now near the jaw centreline, with clear table to its left. I’ll descend at this position to grasp only the left bowl.\"}",
  "call_id": "call_RQv5Ec8a1Qm466fhnTqWXDjf",
  "id": "fc_0fa31c21bf749d07016ab4a214b92887d086f7acc37363a004",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RQv5Ec8a1Qm466fhnTqWXDjf",
  "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]: [-0.3382, 1.4689, 0.3626, 0.3702, -0.305, -0.2131, 0.9951, -0.0196, 0.8116, 0.5999, -0.3939, -0.0154, -0.0345, 0.9966]\nstate[eef_state]: left_x=0.3333 left_y=-0.0572 left_z=0.0224 left_yaw=0.0131 left_pitch=-0.1245 left_roll=0.0601 left_gripper=0.9951 right_x=0.2935 right_y=0.0006 right_z=0.1704 right_yaw=-0.0018 right_pitch=-0.0328 right_roll=-0.0003 right_gripper=0.9966\nstate[joint_eff]: [0.4718, -5.2308, 5.1214, 1.8388, 0.0024, -0.0513, -0.0073, -0.0615, -1.4974, 7.2274, 1.707, -0.0708, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fbefcd9d0003b74c3637daf26e56098400b347c4dd7c38137922083534e64d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24ba8f05306628a4fea57fa5f06eabdc93f07b5b78623024eed95d9761edece7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:facd409ca1b85b49df1ceec2c4760929f6ade6592a04983bf3123ced9f164815",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 10 attempt 0 · /responses · status 200 · 2.164 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 26 changed as sent

message 33 changed as sent

message 37 changed as sent

message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7452, 1.6817, 0.7391, 0.0601, -0.5995, -0.4988, 0.1163, -0.0196, 0.8051, 0.5999, -0.3939, -0.0154, -0.0345, 0.9966]\nstate[eef_state]: left_x=0.3485 left_y=-0.1811 left_z=0.0448 left_yaw=-0.0009 left_pitch=-0.1235 left_roll=0.099 left_gripper=0.1163 right_x=0.2931 right_y=0.0006 right_z=0.1722 right_yaw=-0.0018 right_pitch=-0.0263 right_roll=-0.0004 right_gripper=0.9966\nstate[joint_eff]: [-0.0752, -7.8017, 6.0103, 1.6386, -0.2662, -0.0317, 0.2515, -0.0342, -1.3197, 7.2274, 1.6825, -0.0757, -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 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3744, 1.2427, 0.7906, -0.3328, -0.3698, -0.2302, 0.9951, -0.0196, 0.8089, 0.5999, -0.3931, -0.0154, -0.0345, 0.9966]\nstate[eef_state]: left_x=0.3483 left_y=-0.0644 left_z=0.1431 left_yaw=0.0415 left_pitch=-0.1522 left_roll=0.1073 left_gripper=0.9951 right_x=0.2934 right_y=0.0006 right_z=0.1713 right_yaw=-0.0018 right_pitch=-0.0294 right_roll=-0.0003 right_gripper=0.9966\nstate[joint_eff]: [0.2667, -5.1214, 9.5521, 1.536, -0.1978, 0.1685, 0.0317, -0.0752, -1.4701, 7.0359, 1.7167, -0.0611, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3382, 1.4689, 0.3626, 0.3702, -0.305, -0.2131, 0.9951, -0.0196, 0.8116, 0.5999, -0.3939, -0.0154, -0.0345, 0.9966]\nstate[eef_state]: left_x=0.3333 left_y=-0.0572 left_z=0.0224 left_yaw=0.0131 left_pitch=-0.1245 left_roll=0.0601 left_gripper=0.9951 right_x=0.2935 right_y=0.0006 right_z=0.1704 right_yaw=-0.0018 right_pitch=-0.0328 right_roll=-0.0003 right_gripper=0.9966\nstate[joint_eff]: [0.4718, -5.2308, 5.1214, 1.8388, 0.0024, -0.0513, -0.0073, -0.0615, -1.4974, 7.2274, 1.707, -0.0708, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fbefcd9d0003b74c3637daf26e56098400b347c4dd7c38137922083534e64d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24ba8f05306628a4fea57fa5f06eabdc93f07b5b78623024eed95d9761edece7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:facd409ca1b85b49df1ceec2c4760929f6ade6592a04983bf3123ced9f164815",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtKIZ-0V-UO5Uncpq7NBu9cZb1nrFKdLbZS8VnUVeTuSuzhr9RBQgt410iZXqYvKoPX85UJBs-Wq3aQI2LojAZ4dLOIhi6-zdqNK1vRT64XigXxIdDP3HBPiPC0BlYB_P6Owacsi_nIUjf3B8wMoTZalZ5U9tN5hTK3WQGfgvGXYvBpgjnXkNvEUhblgxBBaAGJMf-sRDKdps6xp-ydFn6C3XFYVxsnPAxaWF8d7Gxz-jsMtK3hxK5HQ48F6w6IfAVLb7E8_rUtdRJO5K420yEghKGU99Wm8QKCaPuFq_SKf2XLA9Abdo5l5C8fKgTQG22g9ByTnGLe86_PhCJvKMVZ1gApp4PbVlXCyA4rQOCMQbySEr9vkCOEqxT4puGb-vPVGYlmZU_DWcHf8ZqK12auS_Kwz4WwCSRjp54SCeKykKn-2qiJWkqLFAtnpCwyUkOo5GMwN2Nfmr1Z7THow0kPA2gJtHkm6f-HfK3D71Foiyfb0ZwSbxX5WhTR-D1zS6GHuNhUwyrvtabAx5iTWpcDSCvwjHX-iXhawlOsgJLv3PZHPTeCP9FIRUstMmmfejrT6nC5lDrsv-xJMRM05P-SQuUCTiFESZEZDqBgdOqkOIGEHFu5_O2f1wHkOqwp5ZRAvxgVUhFil6TImDkJUAyaQ7Uo4M-_GlIVC9iExCyDcpUGxVmNNnaV7SvviVT7mdLLq6dC29euuyK73iStnf9-CGZcWC12PqWue96sxOipEK6Tb21tBdda7B_OUseJPvlzBpd1qefh0qsa1CgHZ-t33C7BHmRonUF1unuekoJpdYJZCKfInxCt9gRgRH-q8ipIKmhYLP_Eacfgk_CcyVQpWpvOjv61ZClbh8sXjxKIKvlqzWil5VMKRjw-GNcBvnf10LlzfXZsE5STPxazVSrQQUdzx5Mz6ZZWdWZXhRetR4qdC49sDr2HCjwdurU8MVzUOGEU98rl7SawnvnbWeJMdj2EEl2CbLa3DFuYUoNpfOu_y4lpbFiOwA9BA_jTmZQT5FBB8W3M_XuKjHxpmgFs6Q6ehLRpaB6bYEsdxy1xuJBKkVVV89J8Sr6h6PXVE-Ok994bXEYJBv-wROSmm3Laoy7yW5nX_MWFJOMGqY6d_EvMUzA71xKVN5MY-3LAmTe363jJZuTrZS_BxV1aLr1NtdzVo0FHhYPSdUmlrlpzmgwa9c1JVLeYYvlbTYChNWL1ysqxg6xVH06PpZhR6rhHJyg1vWuPMe1oX_4p3hCNgTJSHBAOUQd2UeUDrXFO5fs1Ca",
  "id": "rs_0fa31c21bf749d07016ab4a217d3bc87d09d37e6143b81386b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"One finger is inside the left bowl and the other is outside its outer wall. I’ll close on that single rim.\"}",
  "call_id": "call_fo6QUbhkGKbK5oQpQzLuAxj3",
  "id": "fc_0fa31c21bf749d07016ab4a2182d6c87d09061693d64ba7d64",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fo6QUbhkGKbK5oQpQzLuAxj3",
  "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]: [-0.3393, 1.4586, 0.366, 0.4072, -0.3, -0.2321, 0.0983, -0.0196, 0.8135, 0.5999, -0.3931, -0.0154, -0.0345, 0.9966]\nstate[eef_state]: left_x=0.3406 left_y=-0.061 left_z=0.0334 left_yaw=0.0164 left_pitch=-0.0775 left_roll=0.0245 left_gripper=0.0983 right_x=0.2937 right_y=0.0005 right_z=0.17 right_yaw=-0.0018 right_pitch=-0.0339 right_roll=-0.0002 right_gripper=0.9966\nstate[joint_eff]: [-0.0889, -3.6718, 5.4496, 1.2967, -0.2369, 0.1978, 0.359, -0.0479, -1.5248, 7.0085, 1.7411, -0.0562, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc1dffc1320a05a93d6d8adafed362c3d61d9f2a1b12b0cb8d395f7428a7f21e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd82644e615c2f95eafde8df36a03ff8b3cada20179f8f8b79890a8885468671",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b141e69f3ba1d21d503be2b6e5c4e4c17dbe8b97f25dfe86f45605d4117ae21",
      "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 · 5.467 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 29 changed as sent

message 37 changed as sent

message 41 changed as sent

message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7452, 1.6943, 0.7265, 0.0628, -0.5995, -0.4992, 0.9946, -0.0196, 0.8055, 0.5999, -0.3931, -0.0154, -0.0345, 0.9966]\nstate[eef_state]: left_x=0.3451 left_y=-0.1779 left_z=0.0365 left_yaw=0.0014 left_pitch=-0.14 left_roll=0.1142 left_gripper=0.9946 right_x=0.2932 right_y=0.0006 right_z=0.1722 right_yaw=-0.0018 right_pitch=-0.0259 right_roll=-0.0004 right_gripper=0.9966\nstate[joint_eff]: [-0.1436, -8.2393, 6.3385, 1.3016, -0.315, -0.0073, -0.0611, -0.1026, -1.3333, 7.0085, 1.7118, -0.0513, -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 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3382, 1.4689, 0.3626, 0.3702, -0.305, -0.2131, 0.9951, -0.0196, 0.8116, 0.5999, -0.3939, -0.0154, -0.0345, 0.9966]\nstate[eef_state]: left_x=0.3333 left_y=-0.0572 left_z=0.0224 left_yaw=0.0131 left_pitch=-0.1245 left_roll=0.0601 left_gripper=0.9951 right_x=0.2935 right_y=0.0006 right_z=0.1704 right_yaw=-0.0018 right_pitch=-0.0328 right_roll=-0.0003 right_gripper=0.9966\nstate[joint_eff]: [0.4718, -5.2308, 5.1214, 1.8388, 0.0024, -0.0513, -0.0073, -0.0615, -1.4974, 7.2274, 1.707, -0.0708, -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 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3393, 1.4586, 0.366, 0.4072, -0.3, -0.2321, 0.0983, -0.0196, 0.8135, 0.5999, -0.3931, -0.0154, -0.0345, 0.9966]\nstate[eef_state]: left_x=0.3406 left_y=-0.061 left_z=0.0334 left_yaw=0.0164 left_pitch=-0.0775 left_roll=0.0245 left_gripper=0.0983 right_x=0.2937 right_y=0.0005 right_z=0.17 right_yaw=-0.0018 right_pitch=-0.0339 right_roll=-0.0002 right_gripper=0.9966\nstate[joint_eff]: [-0.0889, -3.6718, 5.4496, 1.2967, -0.2369, 0.1978, 0.359, -0.0479, -1.5248, 7.0085, 1.7411, -0.0562, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc1dffc1320a05a93d6d8adafed362c3d61d9f2a1b12b0cb8d395f7428a7f21e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd82644e615c2f95eafde8df36a03ff8b3cada20179f8f8b79890a8885468671",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b141e69f3ba1d21d503be2b6e5c4e4c17dbe8b97f25dfe86f45605d4117ae21",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "arguments": "{\"targets\":{\"left_z\":0.105},\"note\":\"The jaws have closed around about a centimetre of material. I’ll make a short test lift and check that only this bowl moves.\"}",
  "call_id": "call_8lQf3TBsOWbANN5xmdeKoBjL",
  "id": "fc_0fa31c21bf749d07016ab4a21bae7c87d09e68e6bbb2de87eb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8lQf3TBsOWbANN5xmdeKoBjL",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3393, 1.2327, 0.5045, 0.0582, -0.3035, -0.2356, 0.0977, -0.0196, 0.8165, 0.5999, -0.3931, -0.0154, -0.0345, 0.9966]\nstate[eef_state]: left_x=0.3416 left_y=-0.0608 left_z=0.0947 left_yaw=0.0207 left_pitch=-0.0624 left_roll=0.0184 left_gripper=0.0977 right_x=0.2938 right_y=0.0005 right_z=0.1692 right_yaw=-0.0018 right_pitch=-0.037 right_roll=-0.0002 right_gripper=0.9966\nstate[joint_eff]: [-0.0889, -4.7248, 9.0598, 1.6532, -0.1441, -0.0171, -0.0757, -0.0615, -1.3744, 7.0222, 1.7314, -0.0366, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bd5b51834a4e4ee17994396abdec632fa2cfeb0fa6b48b0a9fe543266559fcb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f493d5a4c205812f0364c3dd12fc1b32f11e1211c18e4c9f6287c31e5c0cdfc6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07bd7d97c0bb11a5e8615c631f3a1cba34917f0041ac8b80f48816742defa33c",
      "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 · 2.262 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 33 changed as sent

message 41 changed as sent

message 44 changed as sent

message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3744, 1.2427, 0.7906, -0.3328, -0.3698, -0.2302, 0.9951, -0.0196, 0.8089, 0.5999, -0.3931, -0.0154, -0.0345, 0.9966]\nstate[eef_state]: left_x=0.3483 left_y=-0.0644 left_z=0.1431 left_yaw=0.0415 left_pitch=-0.1522 left_roll=0.1073 left_gripper=0.9951 right_x=0.2934 right_y=0.0006 right_z=0.1713 right_yaw=-0.0018 right_pitch=-0.0294 right_roll=-0.0003 right_gripper=0.9966\nstate[joint_eff]: [0.2667, -5.1214, 9.5521, 1.536, -0.1978, 0.1685, 0.0317, -0.0752, -1.4701, 7.0359, 1.7167, -0.0611, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3393, 1.4586, 0.366, 0.4072, -0.3, -0.2321, 0.0983, -0.0196, 0.8135, 0.5999, -0.3931, -0.0154, -0.0345, 0.9966]\nstate[eef_state]: left_x=0.3406 left_y=-0.061 left_z=0.0334 left_yaw=0.0164 left_pitch=-0.0775 left_roll=0.0245 left_gripper=0.0983 right_x=0.2937 right_y=0.0005 right_z=0.17 right_yaw=-0.0018 right_pitch=-0.0339 right_roll=-0.0002 right_gripper=0.9966\nstate[joint_eff]: [-0.0889, -3.6718, 5.4496, 1.2967, -0.2369, 0.1978, 0.359, -0.0479, -1.5248, 7.0085, 1.7411, -0.0562, -0.0708, -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 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3393, 1.2327, 0.5045, 0.0582, -0.3035, -0.2356, 0.0977, -0.0196, 0.8165, 0.5999, -0.3931, -0.0154, -0.0345, 0.9966]\nstate[eef_state]: left_x=0.3416 left_y=-0.0608 left_z=0.0947 left_yaw=0.0207 left_pitch=-0.0624 left_roll=0.0184 left_gripper=0.0977 right_x=0.2938 right_y=0.0005 right_z=0.1692 right_yaw=-0.0018 right_pitch=-0.037 right_roll=-0.0002 right_gripper=0.9966\nstate[joint_eff]: [-0.0889, -4.7248, 9.0598, 1.6532, -0.1441, -0.0171, -0.0757, -0.0615, -1.3744, 7.0222, 1.7314, -0.0366, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bd5b51834a4e4ee17994396abdec632fa2cfeb0fa6b48b0a9fe543266559fcb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f493d5a4c205812f0364c3dd12fc1b32f11e1211c18e4c9f6287c31e5c0cdfc6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07bd7d97c0bb11a5e8615c631f3a1cba34917f0041ac8b80f48816742defa33c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtKIiYSDc3nXBUwgX5udzue8TmHpNxAuWf7vE-d0OgabwkLYVvgXgv077M2lIN2gVPvhNXecaBkqsXP9mQMX1OfvpD3nqlY-DCbZdpTQDY4Zx2MQBbD3-33B2LGG_PpbVL734mUyhuXJJl5jfS0LaP_B2rt5eDU7BbiIbOl30vqf8oCbFHwX1eH1UT8XeP0R0Bd9Vye0o9mmFyfqEu0HDSyx_2c2i1U34JBCQEdOlfUzaG8F28Oj2jIkB8G51WEEaTEeqz9mc24KvgmjegEJJX6RHOv6b_ZJ24Y_poLvUANGTpbJet0FfhQTAvpvTsgLPQ5QBqu1tegHjnj2Z2VCxOqrjb2FEdSw6F4jzQp6So8u4SPa1htwnUJw63Q4rBfI0uATVCvlANcNbuqxv5E9dH-jNVj-28w_lEWcLUtKWGkCtlZor5UIb3Yaw1XDi89p8OFanZ-YSmhASRZYLUIM1rOSUSV9wfDU_WWiG5OUEmphjHD3WDHrem_-YRBzJaTtVXZsjseUudqrcz_J6bi0xpp0-aSY0AV1DCKeS5i8OOLuM4SpQgOkbO2pNzI5PNs2IBHs-iXxjGTujj92fb4d4Dr5wXOM1jekKT4MbfjJBZbOqK9qegrDsrzI0ZXw5zbHOBXqP2Y4a1yCFaC1RyoW1zCmoCeK3V-XQf_0eTpLpZeLepdXtubG2HQGAYD7IUKbXeMkhtqoAGEbjmXSPD-w5zU2Z02FfG-LFb2c_e87oeXY96FO8PNxX4QlkhzrzlMe43HePLL7fIZD0O_2fmwYc8YgnmfevuvVheHqyQmH32OSoLd6cThZyD7IOnd097EVRIwoFVQwmqhTJNSDZupF9cZFpei0k1O0nzBdeGV1_53APR2O0081rB-2AlkTYMnXf3Gj6uqVo9jDGCcaGDqpogJEoSHDPP2t82rtDbsxASkqBOsoQX1n3QySE0yzoEpHVEcxfABeksKuSkF4g6vWCxterc090LZ5Mk-uvLMZ2uNqYXmK0X7O6GDizm2YlXKn24GfRWdCtvPEr0uxEy_ZNYLi05Tuk1VQBLrx5jcco91nAHHOCcDMvn4-qDj8lvTNqaVz41fapk_L2qjyeVOUSMt5ghxCudLAsZ-Mcl3D-9lvwt9yIT-e51fb2pC_KxvIff2k_MGXqn7cjJeKJWJ16U5QP9Z-8JQ5m2xOPQdB3lrHXPfhg1FTJGcbRtWOoy54sDBCa0GXMB75KoP56t3lgAjSo60fPYKhNQmroarrxVdt8T-HPy7WNKbhqe7N9KvMOLPMIrUXv9_lKaKv1aqDGf8GDOSigZEF3Jnmom0-tjcpbcFTe_hxj5z7lSSs_JjSTi_1NqbPcGzhhPT5-3XKTaQ6ULj0FP5KmgH4MhAnXq3LUJahQsh_7nrGAGTLmCpF2kKGJyJR7FNBoV2Xn5P8D31rxhTcx_XH22OxADWZYteOqbg6ylrDEnG82IBp1RBZpBo4FoKDBBjtSivBqOJP7Pboi-zcUrTCBRF49LjEKt2giH1gRkB2wuUh8OKzYhgPZtLWlKfrnIrEOcZALDN2s0iXiJSXmeQ9Z1yhKvHwwCJ7jLd1CUg6I4kP20M9Gzj8__w2VTX1QtEFLt0BCwSJJJuOYLO_BROEwrOpaIh3ugvN9i2s_vEF_5zB4or7QOjHjSpJKtgz5TyR_T6MeJRS018Pm67O6WIHQUtm-h0_pYl6mODzYW6pi7jFehVbEtuimJZwH6sZwpSWmsE_OZdOLZo7DLO-9BP4J8_8JspBdnBIkT0f3qAdUQB3_z4pqqb7RTXLRtJZ3aGq_GPbDOOEBaA53XWID6R406qu85fvt8jP_n8gEfZ59qKt_q8Gfk2bT8eV9WKHPWJJpsK7pbR4q5j7rF3td_ziRNP_iiHTdmlCwr705w41-WX26HvzcHfvAKdfqU-JoZpIE4VvPfymDkZZYv4zJc1YDd9I4J_p5XvsszLINC9t3mxkLCqi3Hcdn5si2FQyBEYcSFZdmafGK7mSfbG1VthbHKx3spC1U3lH65uGIS3GQeXXjvo82-QCf74N3iICGJIi5j1q1raSYBgo9C13r-MhG1Ubf2v3GuONm9YI_B-hMgFy5ToBFJylw0UAJJlzG92bh7mmJyxru4khyIg5h-T8FN-q7qnGMsiRWmXXzMHcbiS01ncXoPHJUboGwPNCukp17Ze2766kxHohUemwW2VtvRP9CJAZikpCZzd7xx6AlyB2bUKzENjmkxIkhRdIibXX_dz1yI4ZGiipnkkmEI34O4RJuX4CHW7ubURo=",
  "id": "rs_0fa31c21bf749d07016ab4a21e3b6c87d08f997eca402d2ce9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.19,\"right_x\":0.294,\"right_y\":0.001,\"right_z\":0.18},\"note\":\"Only the left bowl rose; the other two remain on the table. I’ll raise it to a safe carrying height before moving over the middle bowl.\"}",
  "call_id": "call_yAPgs3mADT1akuFEqrSpwjbd",
  "id": "fc_0fa31c21bf749d07016ab4a2218f1887d0bbae66ca06f358e9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yAPgs3mADT1akuFEqrSpwjbd",
  "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]: [-0.3393, 1.1313, 0.7837, -0.337, -0.3035, -0.2356, 0.0977, -0.0196, 0.8185, 0.6029, -0.4278, -0.0154, -0.0345, 0.9966]\nstate[eef_state]: left_x=0.3426 left_y=-0.0612 left_z=0.1731 left_yaw=0.0211 left_pitch=-0.0759 left_roll=0.0235 left_gripper=0.0977 right_x=0.2893 right_y=0.0006 right_z=0.1631 right_yaw=-0.0018 right_pitch=-0.0706 right_roll=0.0004 right_gripper=0.9966\nstate[joint_eff]: [-0.0342, -4.9846, 9.4154, 1.6093, -0.149, -0.0708, -0.022, 0.212, -1.0051, 10.6051, 1.7021, -0.022, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9b2de25d4db112343d6792e7f4a9ae04ec39c9199078ed4387f2767321362c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58e97fd6589e037e4a904b369313e9f25d68f8872954daaf4e3888c527e70c85",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b77cece83b0ccd90b65c055a48c547a90e146a2ecb6be837d5dbe7c07b9dec86",
      "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 · 3.015 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 37 changed as sent

message 44 changed as sent

message 48 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3382, 1.4689, 0.3626, 0.3702, -0.305, -0.2131, 0.9951, -0.0196, 0.8116, 0.5999, -0.3939, -0.0154, -0.0345, 0.9966]\nstate[eef_state]: left_x=0.3333 left_y=-0.0572 left_z=0.0224 left_yaw=0.0131 left_pitch=-0.1245 left_roll=0.0601 left_gripper=0.9951 right_x=0.2935 right_y=0.0006 right_z=0.1704 right_yaw=-0.0018 right_pitch=-0.0328 right_roll=-0.0003 right_gripper=0.9966\nstate[joint_eff]: [0.4718, -5.2308, 5.1214, 1.8388, 0.0024, -0.0513, -0.0073, -0.0615, -1.4974, 7.2274, 1.707, -0.0708, -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 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3393, 1.2327, 0.5045, 0.0582, -0.3035, -0.2356, 0.0977, -0.0196, 0.8165, 0.5999, -0.3931, -0.0154, -0.0345, 0.9966]\nstate[eef_state]: left_x=0.3416 left_y=-0.0608 left_z=0.0947 left_yaw=0.0207 left_pitch=-0.0624 left_roll=0.0184 left_gripper=0.0977 right_x=0.2938 right_y=0.0005 right_z=0.1692 right_yaw=-0.0018 right_pitch=-0.037 right_roll=-0.0002 right_gripper=0.9966\nstate[joint_eff]: [-0.0889, -4.7248, 9.0598, 1.6532, -0.1441, -0.0171, -0.0757, -0.0615, -1.3744, 7.0222, 1.7314, -0.0366, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3393, 1.1313, 0.7837, -0.337, -0.3035, -0.2356, 0.0977, -0.0196, 0.8185, 0.6029, -0.4278, -0.0154, -0.0345, 0.9966]\nstate[eef_state]: left_x=0.3426 left_y=-0.0612 left_z=0.1731 left_yaw=0.0211 left_pitch=-0.0759 left_roll=0.0235 left_gripper=0.0977 right_x=0.2893 right_y=0.0006 right_z=0.1631 right_yaw=-0.0018 right_pitch=-0.0706 right_roll=0.0004 right_gripper=0.9966\nstate[joint_eff]: [-0.0342, -4.9846, 9.4154, 1.6093, -0.149, -0.0708, -0.022, 0.212, -1.0051, 10.6051, 1.7021, -0.022, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9b2de25d4db112343d6792e7f4a9ae04ec39c9199078ed4387f2767321362c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58e97fd6589e037e4a904b369313e9f25d68f8872954daaf4e3888c527e70c85",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b77cece83b0ccd90b65c055a48c547a90e146a2ecb6be837d5dbe7c07b9dec86",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.18,\"left_z\":0.19},\"note\":\"The held bowl is clear of the other rims. I’ll move it rightward, positioning its centre above the middle bowl while keeping the rim grasp.\"}",
  "call_id": "call_uCE1efVqjyVEXxkOX0UjaGcu",
  "id": "fc_0fa31c21bf749d07016ab4a22450d487d0afac56736e327adf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uCE1efVqjyVEXxkOX0UjaGcu",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7292, 1.4151, 1.0382, -0.4728, -0.5621, -0.5201, 0.0977, -0.0196, 0.8185, 0.6056, -0.4412, -0.0154, -0.0345, 0.9966]\nstate[eef_state]: left_x=0.344 left_y=-0.1763 left_z=0.1737 left_yaw=-0.0027 left_pitch=-0.1173 left_roll=0.039 left_gripper=0.0977 right_x=0.2877 right_y=0.0007 right_z=0.1617 right_yaw=-0.0018 right_pitch=-0.0812 right_roll=0.0006 right_gripper=0.9966\nstate[joint_eff]: [-0.3624, -5.8598, 9.5248, 1.4432, -0.4127, 0.0122, -0.0171, -0.0752, -1.306, 6.8171, 1.7753, -0.0611, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51db8f241b186afe853f32b4d05fb4e5cd75577e802e52be5c23847c9f7589a4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab8df0d9a3d1e3cbb7ba0950d5b64d94adb65b1d32effe3e06a47eb0b687eeaf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:155217c9c41b8cb2123aadf6c194998e14f34ee2a25dd8cadb8ed0889d6099e8",
      "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 · 3.442 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 41 changed as sent

message 48 changed as sent

message 51 changed as sent

message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3393, 1.4586, 0.366, 0.4072, -0.3, -0.2321, 0.0983, -0.0196, 0.8135, 0.5999, -0.3931, -0.0154, -0.0345, 0.9966]\nstate[eef_state]: left_x=0.3406 left_y=-0.061 left_z=0.0334 left_yaw=0.0164 left_pitch=-0.0775 left_roll=0.0245 left_gripper=0.0983 right_x=0.2937 right_y=0.0005 right_z=0.17 right_yaw=-0.0018 right_pitch=-0.0339 right_roll=-0.0002 right_gripper=0.9966\nstate[joint_eff]: [-0.0889, -3.6718, 5.4496, 1.2967, -0.2369, 0.1978, 0.359, -0.0479, -1.5248, 7.0085, 1.7411, -0.0562, -0.0708, -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 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3393, 1.1313, 0.7837, -0.337, -0.3035, -0.2356, 0.0977, -0.0196, 0.8185, 0.6029, -0.4278, -0.0154, -0.0345, 0.9966]\nstate[eef_state]: left_x=0.3426 left_y=-0.0612 left_z=0.1731 left_yaw=0.0211 left_pitch=-0.0759 left_roll=0.0235 left_gripper=0.0977 right_x=0.2893 right_y=0.0006 right_z=0.1631 right_yaw=-0.0018 right_pitch=-0.0706 right_roll=0.0004 right_gripper=0.9966\nstate[joint_eff]: [-0.0342, -4.9846, 9.4154, 1.6093, -0.149, -0.0708, -0.022, 0.212, -1.0051, 10.6051, 1.7021, -0.022, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7292, 1.4151, 1.0382, -0.4728, -0.5621, -0.5201, 0.0977, -0.0196, 0.8185, 0.6056, -0.4412, -0.0154, -0.0345, 0.9966]\nstate[eef_state]: left_x=0.344 left_y=-0.1763 left_z=0.1737 left_yaw=-0.0027 left_pitch=-0.1173 left_roll=0.039 left_gripper=0.0977 right_x=0.2877 right_y=0.0007 right_z=0.1617 right_yaw=-0.0018 right_pitch=-0.0812 right_roll=0.0006 right_gripper=0.9966\nstate[joint_eff]: [-0.3624, -5.8598, 9.5248, 1.4432, -0.4127, 0.0122, -0.0171, -0.0752, -1.306, 6.8171, 1.7753, -0.0611, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51db8f241b186afe853f32b4d05fb4e5cd75577e802e52be5c23847c9f7589a4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab8df0d9a3d1e3cbb7ba0950d5b64d94adb65b1d32effe3e06a47eb0b687eeaf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:155217c9c41b8cb2123aadf6c194998e14f34ee2a25dd8cadb8ed0889d6099e8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtKIpjb1UWULyRzAvk5UhVuHYAWQzXOidpZQjUdZFCusOU6uz4PtxJv1fx3R0BkUpCoOrDu7a_cXIzjlirugYo5py9px054ymdTUYXIpOSNbFU77rY74HMfTi52wLUT1ONGeLeEVzhlgoQiqrGHmf-S_PMnsFa6Ca9de_52oJVyIAmsmDBOf6JbMcSgaxeAJwxmXhiwEyCx_xZFcuQYCOW54mzwpVbQkMzXw5-C6RUPcWd3jk16bqqfJJMuo2ZN6logZ31wgvOIe1vIT3q8R8C4pAcwx7A_-9moS1CME43ly5YQL1UGuZSAWkXlwRNjXB_uYVQEhaktYz1JbK4GDW6iKzM2A0TrP1ljEOrECsqv7Kov4N2MhHk-nmbWHJ547hBUYjQDAOwjnhaxR4TIF9j9MI5OzKm1d7f5zRaRm4zuhpIg7t5pXHCzlJ0afMLqcG0KGz2el5OobJd7A_ASbki5VAnfOl4ey7ib8mCDtPWf57ktExVdMRpC1BNrAo2nY2lap18_a3aM4b3MBh_GwygLbM03EU9gwbsHW70bNZncwf5rX9oFfhXSfKHqA7_vTV13ft_3B_WeeTQTQyGjSK4uXBV8KgSTZSVzilpe2A1_JKJau8cn0zoSd975T4uNmBxT897cpKSthwb6zbQp8kdea-HYMhoyv2pm9u9LSD2hPtl33rzSjvOG5eN9DJvW7CDNkkyUWXJL00R2pCP6WT8T53C9uVlgFyxfhdPAKL5SruSS0A0bgaIpG95TXVCEaYwbjpCegHC7fi81UkZ9VaHSanzpnoK9p8DJwYkToENAe_KxoQ9jq7LpL_9HNj8OVt1JPJ0j9POdKeh-NBQIY61rpvOqqaEoWacQ1OI4VvYDeY88YjIO8znP-hmpmiX_88u88s9gdEl_Nyti2kh2h_vGIQfaQPgXrLcp7eOFGZWagDpE8oLq5wfAX40es2WyanIPlP-RO2PoEhvR3p6DxB2kpVHmCTa1gLdM9Lo55H5ecuU-tsW-d9FFnJZuxRls9gP9ZMg__NCV4Iyv8NCFN3g-LA9SWtiZ2N-mPpaM9W0FwQ5k6sahwHnfcu-Kuc0brsM6GhpQmB--rNr8Frm-SU7qq5RN0lADGrM3u-4S9KKg9vyM28S8QXNcYBFO0Gm9KoX9lp075NcdQJLO5i3sdLBkKHm8tQyfwXHcmv7rTjsR9_nBeosKwVdR7CPIxSpFUFAnoegRsDOSM4hJtTAaO_FSmF1AbXh4AW_yGdh2sHzLkneS4H2XjxUpuutVTtOI8sqw3DuhnPyGZ_efi8zjd4OHlSgy7vZigWbXt02YNwn9JNDbPz3rF6yk7rybOFyTfg8s1ziaHL89xvdQcB6SFx71Y3gDSwoGRT20wnQBrINrim9A5xV06gdwuFPheALkW2hkt47B35oqfnIPW0t9VvEi6mV0rWldKMOWSedV1XI6UcYZE2deNNuYCO0BR7ejBkQEbcK16RXDcwEKMM-63CR3XrHo4IJtSRyvOi3yuQrc_u-pk=",
  "id": "rs_0fa31c21bf749d07016ab4a2278e6487d0b4c49ad363a0c3c6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.10},\"note\":\"The held bowl is approximately centred over the middle bowl. I’ll lower it slowly toward the opening, keeping the grip until it is supported.\"}",
  "call_id": "call_rhqB0u6FSWwj6K1zCEduAXpO",
  "id": "fc_0fa31c21bf749d07016ab4a22882e487d087130d71241a52d8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rhqB0u6FSWwj6K1zCEduAXpO",
  "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]: [-0.7349, 1.494, 0.8211, -0.2497, -0.5697, -0.5388, 0.0976, -0.0196, 0.8185, 0.6044, -0.445, -0.0154, -0.0345, 0.9966]\nstate[eef_state]: left_x=0.334 left_y=-0.1686 left_z=0.0951 left_yaw=0.0143 left_pitch=-0.1665 left_roll=0.0787 left_gripper=0.0976 right_x=0.287 right_y=0.0007 right_z=0.1604 right_yaw=-0.0017 right_pitch=-0.0862 right_roll=0.0007 right_gripper=0.9966\nstate[joint_eff]: [0.294, -5.7231, 6.694, 1.6239, -0.1587, 0.1783, -0.0171, -0.0479, -1.1692, 7.1179, 1.7314, -0.0415, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:525b2b45b28b461d87160070c3680adea1c45d428c0ac31c5f0c81412427d15c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95c061a8f45bd2c83f13d074a5f01147c1a4e00b61463ac6c704abecaa0a0cb5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06c7f2c9eea7d640e3239728e45163052f87b8a214b8fa2c2bd8320b10f0e20a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 2.926 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 44 changed as sent

message 51 changed as sent

message 55 changed as sent

message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3393, 1.2327, 0.5045, 0.0582, -0.3035, -0.2356, 0.0977, -0.0196, 0.8165, 0.5999, -0.3931, -0.0154, -0.0345, 0.9966]\nstate[eef_state]: left_x=0.3416 left_y=-0.0608 left_z=0.0947 left_yaw=0.0207 left_pitch=-0.0624 left_roll=0.0184 left_gripper=0.0977 right_x=0.2938 right_y=0.0005 right_z=0.1692 right_yaw=-0.0018 right_pitch=-0.037 right_roll=-0.0002 right_gripper=0.9966\nstate[joint_eff]: [-0.0889, -4.7248, 9.0598, 1.6532, -0.1441, -0.0171, -0.0757, -0.0615, -1.3744, 7.0222, 1.7314, -0.0366, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7292, 1.4151, 1.0382, -0.4728, -0.5621, -0.5201, 0.0977, -0.0196, 0.8185, 0.6056, -0.4412, -0.0154, -0.0345, 0.9966]\nstate[eef_state]: left_x=0.344 left_y=-0.1763 left_z=0.1737 left_yaw=-0.0027 left_pitch=-0.1173 left_roll=0.039 left_gripper=0.0977 right_x=0.2877 right_y=0.0007 right_z=0.1617 right_yaw=-0.0018 right_pitch=-0.0812 right_roll=0.0006 right_gripper=0.9966\nstate[joint_eff]: [-0.3624, -5.8598, 9.5248, 1.4432, -0.4127, 0.0122, -0.0171, -0.0752, -1.306, 6.8171, 1.7753, -0.0611, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7349, 1.494, 0.8211, -0.2497, -0.5697, -0.5388, 0.0976, -0.0196, 0.8185, 0.6044, -0.445, -0.0154, -0.0345, 0.9966]\nstate[eef_state]: left_x=0.334 left_y=-0.1686 left_z=0.0951 left_yaw=0.0143 left_pitch=-0.1665 left_roll=0.0787 left_gripper=0.0976 right_x=0.287 right_y=0.0007 right_z=0.1604 right_yaw=-0.0017 right_pitch=-0.0862 right_roll=0.0007 right_gripper=0.9966\nstate[joint_eff]: [0.294, -5.7231, 6.694, 1.6239, -0.1587, 0.1783, -0.0171, -0.0479, -1.1692, 7.1179, 1.7314, -0.0415, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:525b2b45b28b461d87160070c3680adea1c45d428c0ac31c5f0c81412427d15c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95c061a8f45bd2c83f13d074a5f01147c1a4e00b61463ac6c704abecaa0a0cb5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06c7f2c9eea7d640e3239728e45163052f87b8a214b8fa2c2bd8320b10f0e20a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtKItokMAltVAAIEuvRZA9jtZutZ43vb6u0yWEQyfXYvi3-H_Vy--S_pX7TgKSbat44-XjRKejd6Z1EMKy1RQiO74ACxJjUNbyKmRQRBjU1y56CQ5Ua8KVe6jmCDlpRvIiYL3oaaXKKy4Sdcanc0r0ZcViuXiQJzrEaD-BlAnYTrrzk2lsmn4KQVXta5oGaLVUV1C9TenqA0k_A_LknhMcJpZUUIkdoLqt9Ust3H90Xyh6al3simjeO9uwMJ_UIQSJh0YEzhGvVvsK2l-O_jyENxugbvLADWJyAyd1kavSpckHQpdem_pdKg0UJp8A0E3cSKvHqoMNsAeahrpDORwjcX4rLW22AwWjlln4daYQGBsE8HuwoCbrdM07fsT2rqoBuLOvdhE9vzH_kf5CvuPb6lh3Ca8XyAKLduIlHTEt_XFa5d5eVGwRwaZaNR7T6CJ_kqVlC7nNtpYicIovgARJc1XAo6rAKp4yF4gwV9efMii3nAKg13Q35KwOpAzrOzvh_Vatvp-XSO2QUhGjQLn59R-NqrlbwlY3y1E-5w55vigrOnEqGZ3Hcjk8atfpRrrCmuA9c7YeTq3BlwCSu8akn-DMVJ0F_tbniU9PkospjT_UjIhDKQyGQLy_ndMyLn7uzlndGXisZPPVmIuop8YSLNMuC5iUYpMO1fhG-Y2ND7j96hw7gSrulIIzBzqyo9bXfEGqW0XQFgaddMc8wJTpI_RJnBBWuyUiCwGZ4qwO4WppsVcs_bkXPSk56y8K9VSJ0Oz2f-iG8mqTnLee2x5JgUmoWp-4Q-x1sKL9-ZLimaZIybxF1xiV_hg5M1H1qVJMqLkAm2fD3X1E-bcrTytHIva_B5iQ8fS-umr3vJK_CzJuqkHkujOT17EU6MUcaj-wWhz4ACCJMfbMQCyoSYuZaX6KtENdRRnEcIjZ5ZORVGSCXIX9g6Griwz-8eKpYtNdnXuUtRJKkQWtRProbTDYH7fYGFAPzISXGCzHyG7_mnyIv7zBKBDHhvkqYQ4VapXLRK3H7icUPo0tvStzAgHvEQAc848B8rCMPUQ9N-I2X5feXKYDRfQ6qKCnK7iqufdmdwRseoqfcH9L7DwFjg1zxxkwTPR7by9kBm94JZCtJf9bg7daj45a7tZp2sg_Amzrkee1RvgAkM3ngsYa3BarbdWsV0-0LDXfB-WutAfLBem-rZmYACLYhgLgy3SE1QGIKs5D00_ajheDI0FOWfBm5tlYnZ2HFQCg9b3cAjWbmtZ0bIuM63YwIbnomHh6Udb2XfASgmvMMVY3ALCS9guPpoX6nDxtFTi9b4VfUQOuwl0A7d0TeEgDURhLcvziqOkvFp1dlFWWYVIrEPFaPZhIxWESnxxzNbXTXUDRkXRdCvYRLISBX9WXDkeDtHVFwuCuahtbTlVMvGufg2dHf-hJIxJSzTujPSFcF0eUn6wR0kwBHAd_dyIEZX3XaKI101bDaThbzfMfUIaQlFmtEiUAxB8zgcJMeWBlLcEwMKUaVzqXBY92Jb2Elej1bn5KOWFe0Zxw28wIh_3-zRzvzJjOtkI8KxzzjyGYFUTnfSkb_-TDQAgnKAN73pilvhu1yNyU4ueS6JeOCQo47kXwwUfx5II1ydgrnH6Sknf6uPfBKQndhgLkN4Y7rNnDbh2a0GMbRUn",
  "id": "rs_0fa31c21bf749d07016ab4a22b0a3087d08ea9c242a7b8e808",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.055},\"note\":\"The bowl is entering the middle bowl’s opening without an obvious sideways offset. I’ll lower the last few centimetres so it seats before releasing.\"}",
  "call_id": "call_KcaoZ4SQDyhZ2QX0hMoeARU6",
  "id": "fc_0fa31c21bf749d07016ab4a22c7c9c87d0b49dcc78b22743eb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KcaoZ4SQDyhZ2QX0hMoeARU6",
  "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]: [-0.7349, 1.5661, 0.7414, -0.1074, -0.5701, -0.5404, 0.0976, -0.0196, 0.8185, 0.6041, -0.4454, -0.0151, -0.0345, 0.9966]\nstate[eef_state]: left_x=0.3331 left_y=-0.1677 left_z=0.0613 left_yaw=0.0165 left_pitch=-0.1732 left_roll=0.0844 left_gripper=0.0976 right_x=0.2869 right_y=0.0006 right_z=0.1602 right_yaw=-0.0021 right_pitch=-0.087 right_roll=0.0005 right_gripper=0.9966\nstate[joint_eff]: [-0.0889, -6.5709, 6.188, 1.5849, -0.2808, -0.0073, -0.0073, -0.1026, -1.306, 6.9949, 1.6532, -0.0122, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f36e13aa3bbc8bfea8969b191c27b74da6887950fabf8d32d4c4758366a9e6a2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02911f238e45aaf5303011b2d944ddd9625afdeb328a5a5e7b150bc11be1a189",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21103f67823d51a2658d296e4df76f1578f59ce2cc60e1ac046e0f2e216e11b5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 5.152 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 48 changed as sent

message 55 changed as sent

message 59 changed as sent

message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3393, 1.1313, 0.7837, -0.337, -0.3035, -0.2356, 0.0977, -0.0196, 0.8185, 0.6029, -0.4278, -0.0154, -0.0345, 0.9966]\nstate[eef_state]: left_x=0.3426 left_y=-0.0612 left_z=0.1731 left_yaw=0.0211 left_pitch=-0.0759 left_roll=0.0235 left_gripper=0.0977 right_x=0.2893 right_y=0.0006 right_z=0.1631 right_yaw=-0.0018 right_pitch=-0.0706 right_roll=0.0004 right_gripper=0.9966\nstate[joint_eff]: [-0.0342, -4.9846, 9.4154, 1.6093, -0.149, -0.0708, -0.022, 0.212, -1.0051, 10.6051, 1.7021, -0.022, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7349, 1.494, 0.8211, -0.2497, -0.5697, -0.5388, 0.0976, -0.0196, 0.8185, 0.6044, -0.445, -0.0154, -0.0345, 0.9966]\nstate[eef_state]: left_x=0.334 left_y=-0.1686 left_z=0.0951 left_yaw=0.0143 left_pitch=-0.1665 left_roll=0.0787 left_gripper=0.0976 right_x=0.287 right_y=0.0007 right_z=0.1604 right_yaw=-0.0017 right_pitch=-0.0862 right_roll=0.0007 right_gripper=0.9966\nstate[joint_eff]: [0.294, -5.7231, 6.694, 1.6239, -0.1587, 0.1783, -0.0171, -0.0479, -1.1692, 7.1179, 1.7314, -0.0415, -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 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7349, 1.5661, 0.7414, -0.1074, -0.5701, -0.5404, 0.0976, -0.0196, 0.8185, 0.6041, -0.4454, -0.0151, -0.0345, 0.9966]\nstate[eef_state]: left_x=0.3331 left_y=-0.1677 left_z=0.0613 left_yaw=0.0165 left_pitch=-0.1732 left_roll=0.0844 left_gripper=0.0976 right_x=0.2869 right_y=0.0006 right_z=0.1602 right_yaw=-0.0021 right_pitch=-0.087 right_roll=0.0005 right_gripper=0.9966\nstate[joint_eff]: [-0.0889, -6.5709, 6.188, 1.5849, -0.2808, -0.0073, -0.0073, -0.1026, -1.306, 6.9949, 1.6532, -0.0122, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f36e13aa3bbc8bfea8969b191c27b74da6887950fabf8d32d4c4758366a9e6a2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02911f238e45aaf5303011b2d944ddd9625afdeb328a5a5e7b150bc11be1a189",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21103f67823d51a2658d296e4df76f1578f59ce2cc60e1ac046e0f2e216e11b5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The descent has slowed as the bowl meets the one underneath. I’ll open the gripper and let the bowl settle into the stack.\"}",
  "call_id": "call_rb0jsoTgYsiafjOwkRAv7Aod",
  "id": "fc_0fa31c21bf749d07016ab4a22f923887d0a0b8a5ee591c6f42",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rb0jsoTgYsiafjOwkRAv7Aod",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7353, 1.5951, 0.7155, -0.0837, -0.5705, -0.5468, 0.9955, -0.0196, 0.8185, 0.6041, -0.4454, -0.0154, -0.0345, 0.9966]\nstate[eef_state]: left_x=0.3287 left_y=-0.1638 left_z=0.0459 left_yaw=0.0239 left_pitch=-0.1954 left_roll=0.1016 left_gripper=0.9955 right_x=0.2869 right_y=0.0007 right_z=0.1602 right_yaw=-0.0017 right_pitch=-0.087 right_roll=0.0007 right_gripper=0.9966\nstate[joint_eff]: [-0.294, -7.241, 6.2291, 1.4335, -0.3394, 0.0464, -0.1538, -0.1436, -1.347, 7.1863, 1.6679, -0.0708, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2d30e5c684965d85b9becfd2dd17345d18996c70168cda9c4924f6f594cff49",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b706024ee9af25c4d129ad14e11e77562d26155bcb0dff2ff2049b7776e76c60",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1da29ef54357b5606a4eb4cb0f325ddaac81dd4d439638e5494b48e6663a69a7",
      "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 · 5.732 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 51 changed as sent

message 59 changed as sent

message 62 changed as sent

message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7292, 1.4151, 1.0382, -0.4728, -0.5621, -0.5201, 0.0977, -0.0196, 0.8185, 0.6056, -0.4412, -0.0154, -0.0345, 0.9966]\nstate[eef_state]: left_x=0.344 left_y=-0.1763 left_z=0.1737 left_yaw=-0.0027 left_pitch=-0.1173 left_roll=0.039 left_gripper=0.0977 right_x=0.2877 right_y=0.0007 right_z=0.1617 right_yaw=-0.0018 right_pitch=-0.0812 right_roll=0.0006 right_gripper=0.9966\nstate[joint_eff]: [-0.3624, -5.8598, 9.5248, 1.4432, -0.4127, 0.0122, -0.0171, -0.0752, -1.306, 6.8171, 1.7753, -0.0611, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7349, 1.5661, 0.7414, -0.1074, -0.5701, -0.5404, 0.0976, -0.0196, 0.8185, 0.6041, -0.4454, -0.0151, -0.0345, 0.9966]\nstate[eef_state]: left_x=0.3331 left_y=-0.1677 left_z=0.0613 left_yaw=0.0165 left_pitch=-0.1732 left_roll=0.0844 left_gripper=0.0976 right_x=0.2869 right_y=0.0006 right_z=0.1602 right_yaw=-0.0021 right_pitch=-0.087 right_roll=0.0005 right_gripper=0.9966\nstate[joint_eff]: [-0.0889, -6.5709, 6.188, 1.5849, -0.2808, -0.0073, -0.0073, -0.1026, -1.306, 6.9949, 1.6532, -0.0122, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7353, 1.5951, 0.7155, -0.0837, -0.5705, -0.5468, 0.9955, -0.0196, 0.8185, 0.6041, -0.4454, -0.0154, -0.0345, 0.9966]\nstate[eef_state]: left_x=0.3287 left_y=-0.1638 left_z=0.0459 left_yaw=0.0239 left_pitch=-0.1954 left_roll=0.1016 left_gripper=0.9955 right_x=0.2869 right_y=0.0007 right_z=0.1602 right_yaw=-0.0017 right_pitch=-0.087 right_roll=0.0007 right_gripper=0.9966\nstate[joint_eff]: [-0.294, -7.241, 6.2291, 1.4335, -0.3394, 0.0464, -0.1538, -0.1436, -1.347, 7.1863, 1.6679, -0.0708, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2d30e5c684965d85b9becfd2dd17345d18996c70168cda9c4924f6f594cff49",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b706024ee9af25c4d129ad14e11e77562d26155bcb0dff2ff2049b7776e76c60",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1da29ef54357b5606a4eb4cb0f325ddaac81dd4d439638e5494b48e6663a69a7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtKI24vezVFoRHHnsXlg1n8qgFFuSPp_QL6OZ1kEPvznabxSB3pm-lPjAB8hYR-3EFAz6AzwEIwuosGDJ4xcsOG6ByXrgnP1f0AYSk1Sxg5lY96g3BbVvmt9oBDtTdw4mVg8g73LT6BhTHTTmWR-mqU8jTUCN5dZskuXR212TJY063D_KzgCbxqwIayzVS9Qb1GQcesgPDcR874MKM0lHxyps1dHuOz5Q2XHXL614LJ0RY7T2c18dQJwws0f46Ndmemh2an1VTw41TdnfNjNLOcaJRPzGF1-iHEZu9xAub1aV0_pNIbyOzTL-7roi2oF5vP4sDx73CHpRrL8nCx2NZHa33dJ8O47R8wtPCSCwU2rox6QenWni6aROYBVh8_DSGX6Bu24jBWqvepFYoEcUQpXnfe0dXklgRRQdQLppvt3EsuPaxw636bNNq-JGA1pd89q2IxU5Ca9ECaHvpmdeOgOtPUxBcBrkyP3Q6N3ENAuVxQJs5lKP7wJq9DDsvoU5detYT5hNR4PxWBWIfY8PwgE6F-2IRWJ6tQUvGpMiDzo0YrksxYFgVbKhaSdoTAtg2dlhlQrviUvfbEJku54OWx5uVYOjz9pmTEA3H25jshg0gaifNKZCwZXVE_5uDWhSPQ3ebP08Wm4e_avZv7jtdvc9X_axyiQutgJ70I1yIcbJ_q9PN7z_KjSb1tcmUxj3u_Yd2B_nSNITRtTopHe2me4IAoWH19iqVF2tvi6DXKnCd4-m5iIV7NBvRLRzUTxoRDdPCdrbIMlyXuWcDwP3Hxb0dqqui1qal3yEakSNHqn3JbCCZnN6jjd5TD9y5Aw9QLu93tNz9oOsRopkWXVaHNv6PTVHngJiE0UJmHpC0vsVGZFjmbtFrI-ZRgp5rMOuXoLtEumZheqEFjGnxGDfHAIo7bj5BR4wt3DucAIUphx98OqXY_ti2vr2WoI-YPwpJTH6WVlutyi5vRayZPE6IapSLXUH2fbszU8zAGbNkJK4CFHD3v1SjGg8CuhLsSnZ5PSS6ksvymJ1cN6J4a1gCF2MddOTed-r0STVSs9aGOdajcPKTtCNcjovsLPgvmCDlm3LOPDuxA4s4YtK15Era8bLpcxieq5jusgyTKHPk3VFYGKXx2oMSMoG4i9W-LEjMh-QHMs85ke7qlN3BOuF2zY5FacxtNsVGFtBX7b4T17_BZairV4DLya8uZcd_wATXvIYNzUInRPLcmzNBJWNMPTTQPOVwotrXZO25QIgwxXXyYoq2OSQyi8sYsHcYGdxsplSAYrvscsGrNfnIZf-v3SaPNg7wGWnHa2jQSbLksGuzl2e0A6ybnck5IFdhrbFv-X3pmksLHP9umEo9tiv8xptTSCsfnJFt1n8UjGqssJ6uCmOv11J5xFjQqAwa4F0QXNF4QY_UGYR6PpaB2sx3ANXsqN8rWiP-Fe_IGDeYA8ySHzPd2aaoAg5YWJqAofPzhuxpp503_Z3q6IWAeHJek-v64qtNrPKvT3GAHGG627N9FUv5sL7B0Z6h-lDtswcAomWNqVp1SagTP2PqP4GnIMblGWYKOwz_kTiANjVWW6OF5QZSUwIFDPN-Qt22O-cOiqHI2T7QGtQxigBmBxT20Nbl8fTsjk8eysTch7acjcpK82GPxjMAGG5PrfuqdJDEjWZX-cS0IO3VgPg9NVsn415Xg2xumQYhcXR3_aQdm_TfrnK1iInVHpkZ0VLCKcSpXaMdfyjUibo_rG-R2iTb_sLMw==",
  "id": "rs_0fa31c21bf749d07016ab4a23341b087d095b26d05d217ff57",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0,\"left_z\":0.2,\"right_x\":0.35,\"right_y\":0.1,\"right_z\":0.15,\"right_gripper\":1},\"note\":\"The first bowl has been released into the middle bowl. I’ll clear the left arm and approach the remaining pink bowl from its outside rim with the right arm.\"}",
  "call_id": "call_Cu62tEBWKa2n70uWz0jOvH1b",
  "id": "fc_0fa31c21bf749d07016ab4a2358e4887d0a69c2f044aa06f4f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Cu62tEBWKa2n70uWz0jOvH1b",
  "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]: [-0.1272, 0.9592, 0.8436, -0.675, -0.2039, -0.1009, 0.9958, 0.4221, 1.2335, 0.7258, -0.2749, 0.3027, 0.2184, 0.9969]\nstate[eef_state]: left_x=0.2924 left_y=0.0023 left_z=0.1869 left_yaw=0.081 left_pitch=-0.2015 left_roll=0.0917 left_gripper=0.9958 right_x=0.335 right_y=0.0967 right_z=0.1263 right_yaw=0.0315 right_pitch=-0.166 right_roll=-0.0348 right_gripper=0.9969\nstate[joint_eff]: [0.1983, -2.7829, 9.265, 1.4432, -0.0464, 0.105, 0.0122, 0.2256, -4.3966, 10.2496, 1.8584, 0.3004, 0.2613, -0.3297]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5590bdc48d8c3aa83f1fd66b4d5c978929a10dc18bb5bde4cf9b4690221737f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a728105ebfcdb9c2be36cc35c00ec23d2a54565a6f658f32a1e2423c1fe904e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e78565d94b840f4d0014b9c44248b19a963675efa50d669eda972234d30b62e",
      "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 · 2.762 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 55 changed as sent

message 62 changed as sent

message 66 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7349, 1.494, 0.8211, -0.2497, -0.5697, -0.5388, 0.0976, -0.0196, 0.8185, 0.6044, -0.445, -0.0154, -0.0345, 0.9966]\nstate[eef_state]: left_x=0.334 left_y=-0.1686 left_z=0.0951 left_yaw=0.0143 left_pitch=-0.1665 left_roll=0.0787 left_gripper=0.0976 right_x=0.287 right_y=0.0007 right_z=0.1604 right_yaw=-0.0017 right_pitch=-0.0862 right_roll=0.0007 right_gripper=0.9966\nstate[joint_eff]: [0.294, -5.7231, 6.694, 1.6239, -0.1587, 0.1783, -0.0171, -0.0479, -1.1692, 7.1179, 1.7314, -0.0415, -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 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7353, 1.5951, 0.7155, -0.0837, -0.5705, -0.5468, 0.9955, -0.0196, 0.8185, 0.6041, -0.4454, -0.0154, -0.0345, 0.9966]\nstate[eef_state]: left_x=0.3287 left_y=-0.1638 left_z=0.0459 left_yaw=0.0239 left_pitch=-0.1954 left_roll=0.1016 left_gripper=0.9955 right_x=0.2869 right_y=0.0007 right_z=0.1602 right_yaw=-0.0017 right_pitch=-0.087 right_roll=0.0007 right_gripper=0.9966\nstate[joint_eff]: [-0.294, -7.241, 6.2291, 1.4335, -0.3394, 0.0464, -0.1538, -0.1436, -1.347, 7.1863, 1.6679, -0.0708, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1272, 0.9592, 0.8436, -0.675, -0.2039, -0.1009, 0.9958, 0.4221, 1.2335, 0.7258, -0.2749, 0.3027, 0.2184, 0.9969]\nstate[eef_state]: left_x=0.2924 left_y=0.0023 left_z=0.1869 left_yaw=0.081 left_pitch=-0.2015 left_roll=0.0917 left_gripper=0.9958 right_x=0.335 right_y=0.0967 right_z=0.1263 right_yaw=0.0315 right_pitch=-0.166 right_roll=-0.0348 right_gripper=0.9969\nstate[joint_eff]: [0.1983, -2.7829, 9.265, 1.4432, -0.0464, 0.105, 0.0122, 0.2256, -4.3966, 10.2496, 1.8584, 0.3004, 0.2613, -0.3297]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5590bdc48d8c3aa83f1fd66b4d5c978929a10dc18bb5bde4cf9b4690221737f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a728105ebfcdb9c2be36cc35c00ec23d2a54565a6f658f32a1e2423c1fe904e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e78565d94b840f4d0014b9c44248b19a963675efa50d669eda972234d30b62e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtKI9O3Lh3_EYHZv2kClGXPWCn9O2DOT8hQGLK0f2nQPXVP6Ev1QVwf7Ghrz-5iJdMqRm6WisNFGuudttHHQFPjvmlXsEicbX7FIvNinIRP2Wvvf22PstYbJzCFlloKJlZVCqqJ0LTchPq0TbaasSzZg_nx7S20MNf-1HkMepsILkDt_Hz6CMHpj2gmqhCC0BoKInY7jEnaRJ_bSehNerFVfAJnIo8zgaoaXVVStFI8lFgCWyh2RQgHWBm7UJGpFkGJlXKLzl_Q5vXsGpHGGZTcQMFj_kpYyf_CNDiQd69qfvz5Bc3QjBx4hb7CqNQQiUHpA7J3za1_fMrC71_wZ9DINrAiqBalqYJP_yMwUg8p7bvo44f8Gf_j6jdX5MqzheYsY9msmRm851If4ZfW6tmQMM_3zo8nCzvGsWZdLEM03Yn6z_2TV6NwKwoavtIhw8ejXPICJeUQ1Nxx-3atFkbiQymJtYuvz1LNCx1iXnQ4R3W2Caz-xRFMkOOe3WgMkcfvmSk2SSviwRG2Leh_XFodY_KszBUU4VqfOkC_PUldUQl1prWCyp6EA8azytgOmz8TifHsnhLqQwyfWZCmTNKjdev0YAUjCDccKaWBPTrCjBco3dJi2bKhBBJ-lyKKfgzygK-QJWEsBYVr6U4G5A0VdN1xErW__jKaBKmL89NxbaekBUaoixNHFNokFrojjTyoaLnrBunxziNZjuSRl6W_jTdG1AifZS1KZf6oyZZjyr1hik5l-2pzxVmPyDdW1eD2X8Bd4M59Ix28RyuNgLBoaQvEDGnYnINMLv-2wWFramkQcKKpW33hyoJR47hm-OOy4Ih3Zez6rRgpk8l31pkKdvr7-XBcyeZdthA5TNYX-4MWELn7kfxlPPHxrRiy5kakP4RaL3dN2lcIghQkWemTMIq2MFcHMWJOSLHGmqMVEyjFI8YLNtoJRGOmjgKiUms2C4tmRNrGaKNVDGL-_E6GFF6EMrD2EcbNb9Prcc2SAImXY83zrTP5sF6oxEMB1UbBbGj4pR2sr4IFgM7KhfA05wRNL9OiaMSX5XY01AVtOEGeQmxQP_7sxQeEjSC88B2U4VTIpjUc_SnuUi1LjbOiQpAjtcyMtRKw0l9dqOQmIMo_yRYpZN_bMu0FLcEqXRGE3iGf9SDv8CLUQNBPinQNXsvhyhMG52vTz2wKIP38xBAql50uNImvMBE_Xe81Zk9FJmVhVLh5XQUoccbAClS4hyRp9XRrw78UhTtOUUnfAuA6uBhrTFMkaGhMbnX4GVzR7uiqOoRf58GcD3Dj6QNwuiiFhV3TqvTqqSCP9CxdocQwsZEDMeLDaiSIofpSn7UoL1l6gHXK4c2WJLpyx8AO8NlV_IePA4c7IfLNM_rRRh40fIuBXAsNbHKA42BPWwiAUPxN-4XddOoJ8LUo-bLSflzifYBpqM363D7zJtOMSpHEko-xNnMp9gxgQAva1mU0hE4LSoLMXJviPCZlQWphinbDbJAulAhH1n9577rELriHqsT5JaQSwWbK-uCqLyPFGUaZs8WhmhxqzZhlxye6srLFnMgHWN9_mpvt5gVTuFUqeFun8KsNGo-y2bU_B072DvhhXF_5XJJgqbRq47ecSphybjkOHHCfi2u9LjKW3yip7QhSvrbNcKidosBVyqLMkI89MZoX5dHg3nRiMoBwC3kIF6KzrDqQ2Ny0uNNES200nBbmAqv5IvL3VijEFF0-7ph8CsyqmhQe4sfxbqbX7DUR0u_LePs2az8MmTz0LZ9jM4Xz4X6kwnEIUeuXpyuYqV8ibvcyLZV9AfYct2Mcrfy0Xv3uh_dSASxqcBOX1ZIoKz9UHJ6snBLiHguAhbKKiE4qbWAyjhLU5i_DHKi5dUyxa9mT4INDZronOGrpLl09-8PVk1v1DRTk6kN3eL2TDif-FwtpqiBUT9ANRmW2MQrJ1Wf-txmi4oqM1_8Q_P9jOWL1wVXhD7EHHU3NScZ6GVisf_CnkxZ-qZwDvtuMPCpPopDTrIK6I401F8VoPtR1esD7dpUH4gX8ZP38UNoLrtBXpyPEUB_rtb9yjpEPtp8FEWIgq-q-8wkMp_-varx7PZY-wFVKK0eYoeGVHk0KFrgQY6AKp0313lmlrRydnARw5V21K1EhMzpjdGqtSSN2HSkCWAXUiRycichgHK1qt-jiUGUhHuOC1Dx_ioAi7j2fKw5AQRCtXpBscw6MZKZBsu36Dtb6IOUvXJj9pCXqj618-f1wH1IbLrwiT3GDq3bM5NuEGPREi53th-TaIIpaHC-czgLgPe8W93sCEdDT5x8xoaLIHdijWKSXE-HPJ-ULLrXZLVJtvhTDcZQ9pX4wUmXTsbw7Q31gqR9Q33rFqyJQXFH0ZHj6MdYqGwuanhHX6BdGdg1yvZWogTnPNO-yk=",
  "id": "rs_0fa31c21bf749d07016ab4a2390b7087d0986ae614712e87a1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.1,\"right_z\":0.04,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The two bowls remain together after the left arm cleared them. The pink bowl’s outside rim is aligned with the right gripper, so I’ll descend to grip its wall.\"}",
  "call_id": "call_i6WvGKmORZPs29zGBJl0ehpV",
  "id": "fc_0fa31c21bf749d07016ab4a23c598487d0980deb5a7390e897",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_i6WvGKmORZPs29zGBJl0ehpV",
  "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]: [-0.1265, 0.9619, 0.8452, -0.693, -0.1955, -0.0978, 0.9958, 0.4397, 1.5185, 0.4084, 0.3447, 0.3412, 0.2283, 0.9966]\nstate[eef_state]: left_x=0.2897 left_y=0.0014 left_z=0.1835 left_yaw=0.0738 left_pitch=-0.2216 left_roll=0.0918 left_gripper=0.9958 right_x=0.3309 right_y=0.0943 right_z=0.0191 right_yaw=0.0133 right_pitch=-0.1394 right_roll=-0.0454 right_gripper=0.9966\nstate[joint_eff]: [-0.0889, -2.3453, 6.7761, 1.6581, -0.2125, -0.0708, -0.0122, 0.4855, -5.8188, 5.012, 1.7411, 0.359, -0.0464, -0.0464]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9622ca4f480cc53e46d89fb60c94b9b8280a2ac759a3c6e6e196778df737da49",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef727db211b58f55b4e08a592e1495445ef9d3aee48fe527243f0cb4a5420941",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6786b0cea9778e86176a22955de301dc3e53240709019d5f39bd0ab6160425d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 2.438 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 59 changed as sent

message 66 changed as sent

message 70 changed as sent

message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7349, 1.5661, 0.7414, -0.1074, -0.5701, -0.5404, 0.0976, -0.0196, 0.8185, 0.6041, -0.4454, -0.0151, -0.0345, 0.9966]\nstate[eef_state]: left_x=0.3331 left_y=-0.1677 left_z=0.0613 left_yaw=0.0165 left_pitch=-0.1732 left_roll=0.0844 left_gripper=0.0976 right_x=0.2869 right_y=0.0006 right_z=0.1602 right_yaw=-0.0021 right_pitch=-0.087 right_roll=0.0005 right_gripper=0.9966\nstate[joint_eff]: [-0.0889, -6.5709, 6.188, 1.5849, -0.2808, -0.0073, -0.0073, -0.1026, -1.306, 6.9949, 1.6532, -0.0122, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1272, 0.9592, 0.8436, -0.675, -0.2039, -0.1009, 0.9958, 0.4221, 1.2335, 0.7258, -0.2749, 0.3027, 0.2184, 0.9969]\nstate[eef_state]: left_x=0.2924 left_y=0.0023 left_z=0.1869 left_yaw=0.081 left_pitch=-0.2015 left_roll=0.0917 left_gripper=0.9958 right_x=0.335 right_y=0.0967 right_z=0.1263 right_yaw=0.0315 right_pitch=-0.166 right_roll=-0.0348 right_gripper=0.9969\nstate[joint_eff]: [0.1983, -2.7829, 9.265, 1.4432, -0.0464, 0.105, 0.0122, 0.2256, -4.3966, 10.2496, 1.8584, 0.3004, 0.2613, -0.3297]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1265, 0.9619, 0.8452, -0.693, -0.1955, -0.0978, 0.9958, 0.4397, 1.5185, 0.4084, 0.3447, 0.3412, 0.2283, 0.9966]\nstate[eef_state]: left_x=0.2897 left_y=0.0014 left_z=0.1835 left_yaw=0.0738 left_pitch=-0.2216 left_roll=0.0918 left_gripper=0.9958 right_x=0.3309 right_y=0.0943 right_z=0.0191 right_yaw=0.0133 right_pitch=-0.1394 right_roll=-0.0454 right_gripper=0.9966\nstate[joint_eff]: [-0.0889, -2.3453, 6.7761, 1.6581, -0.2125, -0.0708, -0.0122, 0.4855, -5.8188, 5.012, 1.7411, 0.359, -0.0464, -0.0464]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9622ca4f480cc53e46d89fb60c94b9b8280a2ac759a3c6e6e196778df737da49",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef727db211b58f55b4e08a592e1495445ef9d3aee48fe527243f0cb4a5420941",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6786b0cea9778e86176a22955de301dc3e53240709019d5f39bd0ab6160425d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtKJAvgpE3MIY7REUJ3ka6QzHihs7BAqNcb-jZrGKx8YzAOy2II320cMGUh-jcgosqLhxTzqHkrOiBpc4a5eqso-gYtKilznJuq2kA5b3jEKbJ33Ij3BnFHoQdE-DQi37PIG_jO-GI3H5XUS-3oDs1fckPkGd4TXz-jdJ8AB7XlblXECaUgHz2e5n2Ir2TsrT4PFN7lHH_M2zG5k3OR46i9PtqAsweob4BXCXgwE_3Fyw9pBqvCmAVWO-IkKut7YKivnkBskEikAF4EvfaAICp0DcJPhyXL53io7Jp1RP0qf8v86FV37vk-7d1EL2vOYrfwzp369Vs8grqmp7MOsBM5-UE7jvQOU-rIAH58Zl_CtkEbm4SoeaQu1OOtWtsknYeAwoUDdN_xHO0Fv9x8VKMVXKYUAmKyn6gp9mqerEGBZRbQpOFdeu0z3A7aYypZVoO0AMUU25OeUARfhrY9qu5LVublhQ9eEVt5LvYUqvX_DSNRvuTLRrVsrHy4fMjRf2j09jI6IHRnBDFJxGck60N5r_scNNd7OJzQulkQ1BXgb22EMrYBPYRyTLhwAsj6Mqh8MCuxBB-i722y5n7OS7lCT0VYpumi-ERGY0-nOuwJM0tYtTOn8z3PWobkbOt74ZhDdAXky8J0QhCX-qoOifIsS7YntshxO7IUDQr_bHy-84ubCfpneN2X2JoJZfdKZF2E0zOlcHTG21MWDQOWKHjayX0_6a5oNHPvMTUrf2lok3ZBmp0BRLlxVAXfs4CU_9vAzWfWnAqIP8LCKceRPxLmZ1xqbhY8aISQwC1x_rI7T0XanFGwMhgi6vdkW9REtoGuqKnoVuZ42wuxKXYTZAdl6X4CujtqDWjNscUKQcyic45H-L_Ej7vcaWWqvadQtdkp6do-to09Ixm5LUxh8dFlPPdCg56vy4uwCAGuYuJfWQX-bByOZZvGrOEgo7HPOrdJgWKlj1t-IzClEjiwBMe1StSrjkWsUV9tbZgtj1zRrseSWlfpVBz1-p9l7mIMOKpcJ6xKuPHXhYvdEt9ycuwN_cUJqR-WpKNtHOGgtkVkWMUIqzTA50aJaxfN63QlZWBdGWkvFe2tm4lzvJYIzRWoI6Twl8xLO-lDHDPvmF4sYXVR1jure-Ek8yWuFFr_JtX7iXIO3YuTXDSzHNkmsqLAFH7L523icCPWqClGWp_wmDHTDgJE0ulqzw4e-nyA2z7gGiDIs9T5LLwG09sZKxzzqbRfZdQF2niyE2WnmuD7N_MfHygMzS8cD5NVB_yPpf5RvpTnJoF_aLHVrQzCQb7B-nyiTF4cOpkK8P3HGNgwFHNQA=",
  "id": "rs_0fa31c21bf749d07016ab4a23fbf1487d08aa22159be5eb0d2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The fingers straddle the pink bowl’s outer wall, away from the existing stack. I’ll close gently on this single rim.\"}",
  "call_id": "call_tlh5Bj7l6s4zQXXUdGx85IPH",
  "id": "fc_0fa31c21bf749d07016ab4a240309487d0994a568c686aee08",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tlh5Bj7l6s4zQXXUdGx85IPH",
  "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]: [-0.1265, 0.963, 0.8452, -0.6956, -0.1951, -0.0975, 0.9958, 0.4423, 1.5047, 0.4114, 0.3988, 0.3248, 0.2371, 0.0904]\nstate[eef_state]: left_x=0.2893 left_y=0.0014 left_z=0.1828 left_yaw=0.0734 left_pitch=-0.2254 left_roll=0.0926 left_gripper=0.9958 right_x=0.3399 right_y=0.1025 right_z=0.0336 right_yaw=0.0277 right_pitch=-0.079 right_roll=0.0006 right_gripper=0.0904\nstate[joint_eff]: [-0.1026, -2.1812, 6.7487, 1.4921, -0.1294, -0.0366, -0.0122, -0.2803, -3.7812, 5.1624, 0.7888, 0.2906, 0.3297, 1.7021]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0795e3e9f6becb270c00e2dad603d4e59b1cfd54259f45d0be71570fb391274",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d52d129c5237f93271b0e886744f6f7c29de1e6a272c5d9aa0779727987b4e77",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa9ef71d751315ad941d7c4951b37b52d29aafc47bff8362b3997782d8a15a86",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /responses · status 200 · 7.971 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 62 changed as sent

message 70 changed as sent

message 74 changed as sent

message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7353, 1.5951, 0.7155, -0.0837, -0.5705, -0.5468, 0.9955, -0.0196, 0.8185, 0.6041, -0.4454, -0.0154, -0.0345, 0.9966]\nstate[eef_state]: left_x=0.3287 left_y=-0.1638 left_z=0.0459 left_yaw=0.0239 left_pitch=-0.1954 left_roll=0.1016 left_gripper=0.9955 right_x=0.2869 right_y=0.0007 right_z=0.1602 right_yaw=-0.0017 right_pitch=-0.087 right_roll=0.0007 right_gripper=0.9966\nstate[joint_eff]: [-0.294, -7.241, 6.2291, 1.4335, -0.3394, 0.0464, -0.1538, -0.1436, -1.347, 7.1863, 1.6679, -0.0708, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1265, 0.9619, 0.8452, -0.693, -0.1955, -0.0978, 0.9958, 0.4397, 1.5185, 0.4084, 0.3447, 0.3412, 0.2283, 0.9966]\nstate[eef_state]: left_x=0.2897 left_y=0.0014 left_z=0.1835 left_yaw=0.0738 left_pitch=-0.2216 left_roll=0.0918 left_gripper=0.9958 right_x=0.3309 right_y=0.0943 right_z=0.0191 right_yaw=0.0133 right_pitch=-0.1394 right_roll=-0.0454 right_gripper=0.9966\nstate[joint_eff]: [-0.0889, -2.3453, 6.7761, 1.6581, -0.2125, -0.0708, -0.0122, 0.4855, -5.8188, 5.012, 1.7411, 0.359, -0.0464, -0.0464]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1265, 0.963, 0.8452, -0.6956, -0.1951, -0.0975, 0.9958, 0.4423, 1.5047, 0.4114, 0.3988, 0.3248, 0.2371, 0.0904]\nstate[eef_state]: left_x=0.2893 left_y=0.0014 left_z=0.1828 left_yaw=0.0734 left_pitch=-0.2254 left_roll=0.0926 left_gripper=0.9958 right_x=0.3399 right_y=0.1025 right_z=0.0336 right_yaw=0.0277 right_pitch=-0.079 right_roll=0.0006 right_gripper=0.0904\nstate[joint_eff]: [-0.1026, -2.1812, 6.7487, 1.4921, -0.1294, -0.0366, -0.0122, -0.2803, -3.7812, 5.1624, 0.7888, 0.2906, 0.3297, 1.7021]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0795e3e9f6becb270c00e2dad603d4e59b1cfd54259f45d0be71570fb391274",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d52d129c5237f93271b0e886744f6f7c29de1e6a272c5d9aa0779727987b4e77",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa9ef71d751315ad941d7c4951b37b52d29aafc47bff8362b3997782d8a15a86",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"right_z\":0.105,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The gripper has a nonzero opening consistent with a rim grasp. I’ll lift the pink bowl a short distance to verify it is secure.\"}",
  "call_id": "call_DKY1k7nU0UN9FWPeHrxC7sMp",
  "id": "fc_0fa31c21bf749d07016ab4a243518087d0bed30588cacb32ee",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DKY1k7nU0UN9FWPeHrxC7sMp",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1265, 0.9668, 0.8452, -0.6952, -0.1951, -0.0975, 0.9958, 0.4717, 1.2861, 0.4747, 0.1585, 0.3622, 0.2394, 0.0903]\nstate[eef_state]: left_x=0.2897 left_y=0.0013 left_z=0.1818 left_yaw=0.0736 left_pitch=-0.2288 left_roll=0.0933 left_gripper=0.9958 right_x=0.3342 right_y=0.1042 right_z=0.0862 right_yaw=0.0264 right_pitch=-0.0315 right_roll=-0.0014 right_gripper=0.0903\nstate[joint_eff]: [-0.0342, -2.5368, 6.7487, 1.4921, -0.1197, -0.0513, -0.0122, 0.4034, -4.9436, 9.0462, 1.7167, 0.3297, 0.0562, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffbb8ab2d267ec8e28fe4e969fe296d6f47469b66e4a99fe6020cf6500e56953",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:136d7406ac6a0d564d32dcefc30ca7aacc522db7df82d379f29a58ea7614ad22",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfc2421e7bfddda53e656966af8f4c12c3188cb255b110cf049d974bdbcb647b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 5.076 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 66 changed as sent

message 74 changed as sent

message 77 changed as sent

message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1272, 0.9592, 0.8436, -0.675, -0.2039, -0.1009, 0.9958, 0.4221, 1.2335, 0.7258, -0.2749, 0.3027, 0.2184, 0.9969]\nstate[eef_state]: left_x=0.2924 left_y=0.0023 left_z=0.1869 left_yaw=0.081 left_pitch=-0.2015 left_roll=0.0917 left_gripper=0.9958 right_x=0.335 right_y=0.0967 right_z=0.1263 right_yaw=0.0315 right_pitch=-0.166 right_roll=-0.0348 right_gripper=0.9969\nstate[joint_eff]: [0.1983, -2.7829, 9.265, 1.4432, -0.0464, 0.105, 0.0122, 0.2256, -4.3966, 10.2496, 1.8584, 0.3004, 0.2613, -0.3297]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1265, 0.963, 0.8452, -0.6956, -0.1951, -0.0975, 0.9958, 0.4423, 1.5047, 0.4114, 0.3988, 0.3248, 0.2371, 0.0904]\nstate[eef_state]: left_x=0.2893 left_y=0.0014 left_z=0.1828 left_yaw=0.0734 left_pitch=-0.2254 left_roll=0.0926 left_gripper=0.9958 right_x=0.3399 right_y=0.1025 right_z=0.0336 right_yaw=0.0277 right_pitch=-0.079 right_roll=0.0006 right_gripper=0.0904\nstate[joint_eff]: [-0.1026, -2.1812, 6.7487, 1.4921, -0.1294, -0.0366, -0.0122, -0.2803, -3.7812, 5.1624, 0.7888, 0.2906, 0.3297, 1.7021]\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 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1265, 0.9668, 0.8452, -0.6952, -0.1951, -0.0975, 0.9958, 0.4717, 1.2861, 0.4747, 0.1585, 0.3622, 0.2394, 0.0903]\nstate[eef_state]: left_x=0.2897 left_y=0.0013 left_z=0.1818 left_yaw=0.0736 left_pitch=-0.2288 left_roll=0.0933 left_gripper=0.9958 right_x=0.3342 right_y=0.1042 right_z=0.0862 right_yaw=0.0264 right_pitch=-0.0315 right_roll=-0.0014 right_gripper=0.0903\nstate[joint_eff]: [-0.0342, -2.5368, 6.7487, 1.4921, -0.1197, -0.0513, -0.0122, 0.4034, -4.9436, 9.0462, 1.7167, 0.3297, 0.0562, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffbb8ab2d267ec8e28fe4e969fe296d6f47469b66e4a99fe6020cf6500e56953",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:136d7406ac6a0d564d32dcefc30ca7aacc522db7df82d379f29a58ea7614ad22",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfc2421e7bfddda53e656966af8f4c12c3188cb255b110cf049d974bdbcb647b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtKJMbn3UX1UBE3QItTE5pefkHy0OCGZ73-FPkKhyxQXV-u40qIWvaeJM0585vHkrTh4H00zVBdPlQ0RoJbQM5F5E0qtEBAokH1h-B-1Yc8_Oc60QyOqG5IkBBgc0D1cGbuIRDJb8HEh1iKvu8BRk-VjCvNHIzNbZ4Os7UfK4HOg-sEFXsfH3Qzw5vDorBjfscqSqCWgngOq67UdUmFi65R_vLwnv98aKpFQB0VtwnWv1dXsXGlGxch9R9t3PBpn0FoOzrlbWvZf0SwfrNdEjXGEohn5lfCDbnqgFk__Me9Yu0NO5OtC7URCtWgOzWXfaVkunWDAmKCKdvJHT3L-ThkzbT5hmO5sZcDJ-5p3mJXCJi9-x44SZSbGZgXQrTnl_J4IQZ3Eu-gY6kkQCCBhifFnUku_jhzfOcxNx3buHHT4_ThYr7gHDApt4U3m9GBOoD2TK4o8xhL90N5BYqhb3YV_COeGTtOMqPF6jnvl9fc8Kvo53xJo1U104f_3FqXk36gpI2WUZHin4dHMJw1YoP4ehHORxtwgBuYlzI9PXrSaMboKXwt1wzPcpXH5NvB-tonuJb4NgWyNZOC8wlEbot9wEJ9HxSjZdiGzzV3_349uVTktMCcNOwfCEcUn-RKQ70zW88dORvv9I9Q5P01pAPSa9xcLDQBCCFkm24rihZd-GTU8s1HThREmeZACA-PNWdidfeBcFeIPKz2a_AjhBHAY6sBaC2m-WftglBg5w4Az0Tyig2lC8HJKmkOiiN_-7V6m3bWoej-9-HRkVBc_r7nsqdFclbpkJiji9CSTPiwAIkL2T5xeqI8MthmI1L6oVjWhPZVnNKURvOXhW-2gGifLWgEZt97e9NWl7awSLiG0K97r8lGSzcWRarDdLb5Q2ShLVYsFNOc-50lJxflPIPn9Hoyo_ObSEKO7yhIjHAr-0kp0KfuGPdWpsuvTJ8GHLE6gTqYTERUhpQRimpkrdQjZHxt4YPJeRfSuK92mvMFw3yZ2qm16gM62uCQ30YVeb_qVAm78v4C1QQ4qdnT675qcUl9d6XR9Fusb-Zsg-1zt9OCQTBQqIWz2qSX-R92FWAuXQiaBxh7soA_iKk58pQkpaZP3gNqjWBWlZDkJeA_k08QqtuxsRjqlL9uqII9XN6LYgZizl-Gd0w8Q0YCwcysT1x1FOJOR0vAhF_gxE2o8Neh66nVtFLGsuCT7vFVHP3664AECrTbKb2WLpeIdXTTqjdPHwCbiVrNA48QQZQyj0VV_1cuSQrBSQQdRkP_E9YKfz48OJuSjii1qp2w6wlHtlXRJhNb2ogvF1fTBSk9IAKjyB5npQoTtSoUQ5pTJEumPfZd1IpikPBmSEKAes-eKeH_mY7XWWkehkkgTAt6bXm4qYmoiWv4Qs7X2AMkB7qocsU5p3hKESPFbl7CskSEVc0Vdp64tdjIfg7ez5KHeob4BlI2Ub68NSFPDD6tprrFyuUfMxg3S5ptUkUC8iNbAaccYPhVJx_9WtAwpr9_UldnSwbSgk4OUpMKjWk11u6ppghQ5BTJoBMsqK-0FRpmW9PR3ID1AEOcEmTeUwLGQIlZu93nGR-xVzaqT-OrFei2Xi6XPzukwhm0w9Z-Zy1NyjU92x02Lvtt0wo57wd15JTaF95f0BAifz8ZXkZp-TTYJY6DhG6fYgMkDViI4onW6CzRYbl3vkolCFPO4giULNn996sBJwoW38WRmXYYEauPEw-jGFqC3LWBsbZsFWUwfmBRngh9KO277akh1Kg8RV1YJymp78zN6Lf9ARDc60EhwtEgPZ-ssNzRp674sFV-CHUxGXVz2KDvbq2zUBb9ifR469Yw5JbT3bxqXoj3eHM9ifRmC0ddoA1P8MHV0cXJU4U7Rqg9Ffo3VYAmq_ldbh96-paUD8y8YR1T2vOh2KlE_E97EWVOUDGl3GOXV4b3YDxf8Rv8kcpK7HRroqq6vV4-bfzJudk7jjlvQUlQYGTRBooxCDdhCUgi2VGbGgcOqIoQd64wKevezJyYXH6liEXOeRocn_35jVJtg3Yo_U4CpOuEwauFzQgwJP-uAY0Ii00DPfooqWfXt23C9tqXLndM3em8pJzkmMygzra86QlFF6_Ov68SehRM8XhF74_wvcD4Uhi62bT0WUY3FNd9QIUjmCs9l5ri2Utjf7VNotEEuqWaG1RUfxZGXBzuUwh40DlBNI10uXU-PfQL7dBCoVvuOmrxAGu9glPKuDvf1f0w8_AWf4GrUan5op1PX4yizDysalTDAUyPVtIQcy3Krh647J5Uu5QkwY8AZIhtA9cdUbGE74plZh4AM852wngqI4fXnewJP6mSedob6UrX3HwOzjCLL1uhZkdatD5amYb2ocDHKxpCgoBvizdwzNRYxEiAZxEZ2a5UlvVGfVKAYWJJU=",
  "id": "rs_0fa31c21bf749d07016ab4a2473b5487d0872df47f9c51de3e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.2,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The pink bowl moved with the gripper and remains upright. I’ll raise it above the two-bowl stack before carrying it across.\"}",
  "call_id": "call_CzgG3XP0I6KxRdjxaEJXfjYv",
  "id": "fc_0fa31c21bf749d07016ab4a24bd2b087d0a762beef8a27ad21",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CzgG3XP0I6KxRdjxaEJXfjYv",
  "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]: [-0.1265, 0.9668, 0.8452, -0.696, -0.1951, -0.0975, 0.9958, 0.4713, 1.2636, 0.4904, 0.078, 0.3729, 0.2394, 0.0903]\nstate[eef_state]: left_x=0.2895 left_y=0.0013 left_z=0.1817 left_yaw=0.0736 left_pitch=-0.2295 left_roll=0.0934 left_gripper=0.9958 right_x=0.3284 right_y=0.0992 right_z=0.0853 right_yaw=0.0165 right_pitch=-0.0667 right_roll=-0.0259 right_gripper=0.0903\nstate[joint_eff]: [-0.1709, -2.2222, 6.7624, 1.4628, -0.1294, -0.0317, -0.0122, 0.1709, -5.5726, 7.9385, 1.6728, 0.0317, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe0a24a8be523affbd8ba2804c204a711d0a4e2d57b43cf64a8840119a4eb517",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40f9719d5ff4d403f80278270c302e6eaa3c926a35f286b931fd11c9eb39d876",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cad7f03c102f000ae372f3082d50deabf931a5d4ee4409afca1126368e3d432d",
      "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 · 3.069 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 70 changed as sent

message 77 changed as sent

message 81 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1265, 0.9619, 0.8452, -0.693, -0.1955, -0.0978, 0.9958, 0.4397, 1.5185, 0.4084, 0.3447, 0.3412, 0.2283, 0.9966]\nstate[eef_state]: left_x=0.2897 left_y=0.0014 left_z=0.1835 left_yaw=0.0738 left_pitch=-0.2216 left_roll=0.0918 left_gripper=0.9958 right_x=0.3309 right_y=0.0943 right_z=0.0191 right_yaw=0.0133 right_pitch=-0.1394 right_roll=-0.0454 right_gripper=0.9966\nstate[joint_eff]: [-0.0889, -2.3453, 6.7761, 1.6581, -0.2125, -0.0708, -0.0122, 0.4855, -5.8188, 5.012, 1.7411, 0.359, -0.0464, -0.0464]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1265, 0.9668, 0.8452, -0.6952, -0.1951, -0.0975, 0.9958, 0.4717, 1.2861, 0.4747, 0.1585, 0.3622, 0.2394, 0.0903]\nstate[eef_state]: left_x=0.2897 left_y=0.0013 left_z=0.1818 left_yaw=0.0736 left_pitch=-0.2288 left_roll=0.0933 left_gripper=0.9958 right_x=0.3342 right_y=0.1042 right_z=0.0862 right_yaw=0.0264 right_pitch=-0.0315 right_roll=-0.0014 right_gripper=0.0903\nstate[joint_eff]: [-0.0342, -2.5368, 6.7487, 1.4921, -0.1197, -0.0513, -0.0122, 0.4034, -4.9436, 9.0462, 1.7167, 0.3297, 0.0562, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1265, 0.9668, 0.8452, -0.696, -0.1951, -0.0975, 0.9958, 0.4713, 1.2636, 0.4904, 0.078, 0.3729, 0.2394, 0.0903]\nstate[eef_state]: left_x=0.2895 left_y=0.0013 left_z=0.1817 left_yaw=0.0736 left_pitch=-0.2295 left_roll=0.0934 left_gripper=0.9958 right_x=0.3284 right_y=0.0992 right_z=0.0853 right_yaw=0.0165 right_pitch=-0.0667 right_roll=-0.0259 right_gripper=0.0903\nstate[joint_eff]: [-0.1709, -2.2222, 6.7624, 1.4628, -0.1294, -0.0317, -0.0122, 0.1709, -5.5726, 7.9385, 1.6728, 0.0317, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe0a24a8be523affbd8ba2804c204a711d0a4e2d57b43cf64a8840119a4eb517",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40f9719d5ff4d403f80278270c302e6eaa3c926a35f286b931fd11c9eb39d876",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cad7f03c102f000ae372f3082d50deabf931a5d4ee4409afca1126368e3d432d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtKJS1f0W_2iHb0e6Eg7S62geUh6Uyb--zVtxhy4ZHgKG9FO4vrdZI454uyZtH1Yh16-HhY0YtCGouROUtuev9SCH5d07VmkEIX-pq3kd3yH6CoP485f5VS9UL3U624ehPp0kVt36dMWB1rznqGxcHRpfiCix4ZkJQKX0DUgd_t5snSGFgj_lLdre8cRo3QE5qG7h4ofBBksgyCjZIoAXEPNWIkbjxi5wXlp_uwvV2VGubrZp_2beyczPP-sJsJpMXcV2OqoWMbc602CauBZc5Q4ZG7idYx9eTr-TxP1so8_tR0gfle8Wlbu0IwWsvZv_YhsGaJkD6B_T0P8gZSyBhrZR7Pnd5trx-4Fj0-JZmXKDVMvSzEDCHB3f0j4HdjKN6M0Tp21OJuwaqtKEb3FkmgEapi2rTh8CbYZibh-2yVa1JyF9JU0IwBTYHKgiJNLUMOEDoDunHG-1b8jWq2g3HDOjcjDqTajYDMGqdyhKh0hoHDLI23bRj05cLoht9AJgrikbXaOm6PhGQGVdvxiDOat9BWKYsnDfW_ywptdju7n2USmrThGeIkuvboqYKOzxILzrAZDjFDzE5GwR3XwOsontZR6INT4dbwTY5nrRVXS6cgwKJOkq-gWzQtLCsr-mhnVFc9vzNd29KvVcSw1-E7w5c3ToYbPzGSd8bzxMsSHgTMge7MW_ZD6OM4MfpGu7NrtvwpbxkkgMOrXc2WpUZxCoMakWpqeunN4EmoDkCgnIPoQlXfdBiFzldlXBWLzd-L0gHqsj-bSb5A-VABo0FRTC6QT3vDlJFRgkPJcdRfa1u6BYaXszIYEvCAyRZ1ThmeFkPMnJNglHuvPItQWyoLkxw0CAXLw0H8j6uX07oBeWKnk6cE5gI-ybcpnjtQbaJ65jf8P51OCMTJQJQWWLUL8-v6KvIN2a7ZwIi8Hc5oYKafthFvBmi2m44fatLV6TjIpAFg9eJdcA8dG-GCvnyEWONZ19gO_88V_PKm24OdRVneSpb3yWiy9SpuJmDocGlQ9bG8oxLs1b43MlXkT8ijkvFjjFrgibZxgLHNKwjnBXkEH-jDLwhjPJJ6MqgNxUcYVLy_arv14uCRwTKB7xwTeDNKWihJQ5i4-3vVIsyjv4_DZCpX5duzUXsSwgz6wmShuusSUDSQlI_3SrtOhCIvALfpuFiweDX1yaCe33NjXziucF7CeWkxa2kpdFdw_ive8nml8UAHX7k1mDlyVrp2WRns-lh00JLYpoD7H3sq2lV-fOxFgNinHa8-D3K-C9rrMo_3Rk8St8HgZ4FEjf3LmdwR8rorWdwe9-ns4N_zxHpmLh40cLPFu7hupppme_C6lM2-Bpt5bfEuWeel0Fr3CeAzS1o327QzO1glLdSqDjt7FGoQWutt_Y89AGoAYU1I_iaLAdLF4iNwVPcmx_uHJfbG3OWOAVQn-c7_W6pr9BEJJF9iv8-tGE8jXUb26k8p_B6kTg-Bzlfv17vJiV8z6OmAoTgp8Q_3_YGw39w9rVycV-LGSg_ZpH_CV_qWmq02sPTkXqPB4_aOqRAnlIjOpV93DR4LwT7hzWZs1PLnDzM_WRvHcHfdjnA1pWGRfyPYkjELYNAkb98mx-j5yoQkDARUyTGBvJksBfDKb9muJWJ6dNP2Hd3BmPrwgYDvNPReJM98NChJzxjX59y7qN2EgVZNWh08xJqAaIc_auORRV2IeGLLqtMiL45SOaFTStVHmpDLobnOftzjkLbEx_C_KYIwCZO7Bo6GD80aI4eMN7KVSAk8wCCdIrweJDBz6KeBa4tVoLoj8UaOHyaweJlymBzdnlw5-gIsEtFkk5y8sn1P3SE9eoyb6DG7xaMRRnk9s29E3rcQvCV1udiBlzbHziLgSTidwOYNQbFqZm1Hr9YkUjFyaWoL3srP3lD3LByBkOSBD9vylAxAz8KD2waRVhk_ilYXW2y-wCny0yRvhvHQ8=",
  "id": "rs_0fa31c21bf749d07016ab4a24eb5d087d09bca3bfe210aa191",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.1,\"right_z\":0.17,\"right_pitch\":0.15,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The right arm did not follow the higher target, although the rim remains held. I’ll shorten its reach slightly and use a small forward tilt to find a reachable lifting pose.\"}",
  "call_id": "call_Elg5vj1SZfvdiyMY4Zn6ghft",
  "id": "fc_0fa31c21bf749d07016ab4a2514b2887d0b3230cf5f217cf6a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Elg5vj1SZfvdiyMY4Zn6ghft",
  "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]: [-0.1265, 0.9726, 0.8452, -0.6998, -0.1951, -0.0978, 0.9958, 0.5938, 0.947, 0.4759, -0.0593, 0.4961, 0.2401, 0.0903]\nstate[eef_state]: left_x=0.2892 left_y=0.0014 left_z=0.1795 left_yaw=0.0743 left_pitch=-0.2389 left_roll=0.0951 left_gripper=0.9958 right_x=0.2986 right_y=0.1045 right_z=0.1547 right_yaw=0.0369 right_pitch=0.1116 right_roll=-0.0076 right_gripper=0.0903\nstate[joint_eff]: [-0.1846, -2.6735, 6.8171, 1.5311, -0.1245, -0.0317, -0.0122, 0.2256, -2.7282, 8.6906, 1.9121, 0.3736, 0.0562, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1767c7ef733e9dceaf671ef7001d267c49ddf405995a0cb1cb1d541961b8d61d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1b228e2bf6c8d13357efb08e47c9df76763af087d0405bd1d96a9f7e2fff2ba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1dfd2da5e71cb5cda9b3f6bc9fc589dcf1c866a18dd81051af78f657a9a5aad7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 23 attempt 0 · /responses · status 200 · 6.316 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 74 changed as sent

message 81 changed as sent

message 85 changed as sent

message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1265, 0.963, 0.8452, -0.6956, -0.1951, -0.0975, 0.9958, 0.4423, 1.5047, 0.4114, 0.3988, 0.3248, 0.2371, 0.0904]\nstate[eef_state]: left_x=0.2893 left_y=0.0014 left_z=0.1828 left_yaw=0.0734 left_pitch=-0.2254 left_roll=0.0926 left_gripper=0.9958 right_x=0.3399 right_y=0.1025 right_z=0.0336 right_yaw=0.0277 right_pitch=-0.079 right_roll=0.0006 right_gripper=0.0904\nstate[joint_eff]: [-0.1026, -2.1812, 6.7487, 1.4921, -0.1294, -0.0366, -0.0122, -0.2803, -3.7812, 5.1624, 0.7888, 0.2906, 0.3297, 1.7021]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1265, 0.9668, 0.8452, -0.696, -0.1951, -0.0975, 0.9958, 0.4713, 1.2636, 0.4904, 0.078, 0.3729, 0.2394, 0.0903]\nstate[eef_state]: left_x=0.2895 left_y=0.0013 left_z=0.1817 left_yaw=0.0736 left_pitch=-0.2295 left_roll=0.0934 left_gripper=0.9958 right_x=0.3284 right_y=0.0992 right_z=0.0853 right_yaw=0.0165 right_pitch=-0.0667 right_roll=-0.0259 right_gripper=0.0903\nstate[joint_eff]: [-0.1709, -2.2222, 6.7624, 1.4628, -0.1294, -0.0317, -0.0122, 0.1709, -5.5726, 7.9385, 1.6728, 0.0317, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1265, 0.9726, 0.8452, -0.6998, -0.1951, -0.0978, 0.9958, 0.5938, 0.947, 0.4759, -0.0593, 0.4961, 0.2401, 0.0903]\nstate[eef_state]: left_x=0.2892 left_y=0.0014 left_z=0.1795 left_yaw=0.0743 left_pitch=-0.2389 left_roll=0.0951 left_gripper=0.9958 right_x=0.2986 right_y=0.1045 right_z=0.1547 right_yaw=0.0369 right_pitch=0.1116 right_roll=-0.0076 right_gripper=0.0903\nstate[joint_eff]: [-0.1846, -2.6735, 6.8171, 1.5311, -0.1245, -0.0317, -0.0122, 0.2256, -2.7282, 8.6906, 1.9121, 0.3736, 0.0562, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1767c7ef733e9dceaf671ef7001d267c49ddf405995a0cb1cb1d541961b8d61d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1b228e2bf6c8d13357efb08e47c9df76763af087d0405bd1d96a9f7e2fff2ba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1dfd2da5e71cb5cda9b3f6bc9fc589dcf1c866a18dd81051af78f657a9a5aad7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtKJWrqQSijhKMiOOI4aAxR-y_Wqf0g0qSRIUSqgGPMktKi87ov9wpob_3SPI7gN-smSuchmoGqu-y1vTM8cTVuRKvikHpIRuiByhcRQcgkQJkJzjoQfGs4NigHXAjnJMaIdhHjJ4L8rp7ikFFVvc63B8N9TlXMqQdLWYUTjtFEhn7y8b4ASOxWABwJeaedaj_agmU2b9F4Xqb7q2uj2G4dMKrHxic3yhuuR9_2vea5augbfbuRN1iueylJaO5KqfsWRUg6gYji3H9gu_3YIrnWh0FIMC_unJzOQfHRLwCu__3mWK0Yw3pv7jKZQHZyMauMqerO09T7qSOGn0KH6-LgCfkhr9xveVM1Icktn70_mev-_zxmd5X6lYFkZt71vat_3GUYYBMjhoxNBHCAd8HTPYH3gSjndd74Dk9y7ccZ8X6I3bKdRUCFq1T44oGAgW_j2Fg07qW7OCsLxUL5uCNy-llt3R_AMfXQQZ_azHEgZJ-oy-a3MI0tfEV08qW9u6H0EORJq2v-3ylIISn0q_FWK6Cjye9nHK-gTqIfNJtSE7DFo18CL4vSVIL0rayG0ub18dmAlgNINq3nPZTl1p7_rmN1ITgjVFaazXsFps8XrIJcNr6WvpwitfBjWWQYzSt50x4EsA8k2QD9YWyniLwCFx_Hvs9YHaNhvSWPZ8wzV9gfWDnuyjHMdwjsYb2K36hbZbzzeNQaIPRP_07urg71HjLlmNP1PJjjuaPw3JmDUM8noSvsf7nB7kxZeofntDIIjBYK5rztLzLxnXlxYdGY0AnPX9oTkWSD4FjptBx4e_rWZirZDKl7FD7o-dzXp_fDILBsS6oQ--K6Z_HqsicsdQ60auTQfKl5SqCineGLkcxw7StZF_po2GFYDiBpxip2q0UL9NXxCihlCxFNlVDc1xlI0DQCPId_DZApTPXFu2qwuX2u0yPh9gSmmWirbWxF9fGLgTh6tXcp1bbm2a5DXig7kAR3jDD6EQsHL1mLVH8nG19fuQFHJO4HpZxcuST1jQWv8n88SeMKIj3Z7maubtpCP6ZkOUi2A8qrGxKw0UbB-zD4Uj9knt5N_wATQulSl5g2lc5CJoar6Nt9zEvEaruDAJuK0rNjBg-KeI-P1fFcLV9hOw6H_oW_pahZNfegpWa98yNQW_vFe3AgOd_MeqARwjHY3rbx9hstAwlf7zkZpyWwxEiAbpTXEW70kUmjTW7MnPHaFkvS9cPWzEequNfj0mKxf4v1K7L6pGMYEQ5JtXZT-68lU-4wmkGhITbiFvHl48kWxaKiUI0AbsSmibRw==",
  "id": "rs_0fa31c21bf749d07016ab4a2548c8887d0a2f0746e47efed71",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.355,\"right_y\":0.24,\"right_z\":0.2,\"right_pitch\":0.1,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The shorter reach allowed the bowl to lift clear. I’ll carry it leftward and slightly forward until its centre is over the existing stack.\"}",
  "call_id": "call_xT6bhPqDCOqkprsD9fTngjmX",
  "id": "fc_0fa31c21bf749d07016ab4a25522d487d09b1504772118aa2e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xT6bhPqDCOqkprsD9fTngjmX",
  "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]: [-0.1265, 0.9764, 0.8452, -0.7029, -0.1951, -0.0975, 0.9958, 0.8646, 1.5185, 1.0241, -0.2306, 0.7074, 0.432, 0.0903]\nstate[eef_state]: left_x=0.289 left_y=0.0014 left_z=0.178 left_yaw=0.0744 left_pitch=-0.2456 left_roll=0.0968 left_gripper=0.9958 right_x=0.3464 right_y=0.2347 right_z=0.1768 right_yaw=0.048 right_pitch=0.0435 right_roll=-0.0577 right_gripper=0.0903\nstate[joint_eff]: [-0.0205, -2.5504, 6.7487, 1.5165, -0.149, -0.0269, -0.0122, 0.294, -7.3778, 9.3333, 1.6337, 0.5788, 0.2759, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73799521b59bf5c9739a4bde30bb19ea8ce519857a24416f272c89b269b53d90",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20a95ffcfaeb8b3b19f59bb88bfa661af50ebdc83bbcaa52d9f2a3daec0a2b66",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b26f84f05cc81122755a4d740f5b8d74b48a2abee2861dbdd5c3e8ed3449ded",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /responses · status 200 · 5.275 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 77 changed as sent

message 85 changed as sent

message 89 changed as sent

message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1265, 0.9668, 0.8452, -0.6952, -0.1951, -0.0975, 0.9958, 0.4717, 1.2861, 0.4747, 0.1585, 0.3622, 0.2394, 0.0903]\nstate[eef_state]: left_x=0.2897 left_y=0.0013 left_z=0.1818 left_yaw=0.0736 left_pitch=-0.2288 left_roll=0.0933 left_gripper=0.9958 right_x=0.3342 right_y=0.1042 right_z=0.0862 right_yaw=0.0264 right_pitch=-0.0315 right_roll=-0.0014 right_gripper=0.0903\nstate[joint_eff]: [-0.0342, -2.5368, 6.7487, 1.4921, -0.1197, -0.0513, -0.0122, 0.4034, -4.9436, 9.0462, 1.7167, 0.3297, 0.0562, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1265, 0.9726, 0.8452, -0.6998, -0.1951, -0.0978, 0.9958, 0.5938, 0.947, 0.4759, -0.0593, 0.4961, 0.2401, 0.0903]\nstate[eef_state]: left_x=0.2892 left_y=0.0014 left_z=0.1795 left_yaw=0.0743 left_pitch=-0.2389 left_roll=0.0951 left_gripper=0.9958 right_x=0.2986 right_y=0.1045 right_z=0.1547 right_yaw=0.0369 right_pitch=0.1116 right_roll=-0.0076 right_gripper=0.0903\nstate[joint_eff]: [-0.1846, -2.6735, 6.8171, 1.5311, -0.1245, -0.0317, -0.0122, 0.2256, -2.7282, 8.6906, 1.9121, 0.3736, 0.0562, -0.0073]\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 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1265, 0.9764, 0.8452, -0.7029, -0.1951, -0.0975, 0.9958, 0.8646, 1.5185, 1.0241, -0.2306, 0.7074, 0.432, 0.0903]\nstate[eef_state]: left_x=0.289 left_y=0.0014 left_z=0.178 left_yaw=0.0744 left_pitch=-0.2456 left_roll=0.0968 left_gripper=0.9958 right_x=0.3464 right_y=0.2347 right_z=0.1768 right_yaw=0.048 right_pitch=0.0435 right_roll=-0.0577 right_gripper=0.0903\nstate[joint_eff]: [-0.0205, -2.5504, 6.7487, 1.5165, -0.149, -0.0269, -0.0122, 0.294, -7.3778, 9.3333, 1.6337, 0.5788, 0.2759, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73799521b59bf5c9739a4bde30bb19ea8ce519857a24416f272c89b269b53d90",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20a95ffcfaeb8b3b19f59bb88bfa661af50ebdc83bbcaa52d9f2a3daec0a2b66",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b26f84f05cc81122755a4d740f5b8d74b48a2abee2861dbdd5c3e8ed3449ded",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtKJdLIXSCOEBhqpUOgpVvyIT9HZ_kieA9UCFEFXiAjSyZoLSpq0f9l2_1AoMXqVHbvCGHM8YEa4QzZrAq8sVG-X1R9Bj5n-sG2KLcGPPvyGQa61vdRE5eaEUDeQCR0M-0_7DFMLMocrDXHjpeuvRygeVE-NkyJjLAeaU91DNUPeJ8slqTRIVTN0I550LMfbe5_L1XudJhhRk9saa8Q3kMfkiW1k6frptg_JuxmqT6Iq2y9pEICvt7hP1AX9AoZ_ginldeHgydjJh7TpmXdZMNXdp2yMDDdNEjexeg17miQRPULn9pRZ4J_WKxh8tMYUQj3Lz3Udgq4Hk-KixQD8MBs3qmTXxVBAQ5PYg_I8-HzxXjU851DMNG5kwhOKM4DPsBP2Ah20RZBWFi4I2fzNLibBBjh5BevOGcHljrGX1GVjBFLoPLLUZ6HuUUTnkEWWn5yslOEeZiqvmCYeG2IZIjeq9eTHFZuQD3sNMPLy00k37PTNk1mUAJakRSxd5ayOTghcIF7Q8t-jHIY6Yqp5-We5Fc9dfoK658iCfVGYPMthKh8cSkvK0b3QlxbLkHUmnzoNpMe7ofMwMeij70ToY02nBVF5Axy8GAidqw6tmPAh1dhOtZYcFXYN1jHESe0EIOLIn3O2-0IJTNl3H5tOdQdF7P2Rp1fVl3jnUzGDHEdE1ABUZCDyyF3cls8mngB1GM49ac52_hLt_QVMdcse0rJ8SjvD-vnOMBfaC2Teu9ClzE3vg86fVvvRGhmJ_RNKA1U3K4kYmqpebpz_IHPR5JaqvNTXVBa4m4RdE2fCiXijgakX2G730pc2Ds0_mttHLUtxoRmI8i1GdW-eqM0tc8_5oFtPCTB5ni2DJPWP8jI0HQ88lGe6nPlyCeD72MJ2j5O90AmQs2h9D7uVZnBJ11kvDakqtRqiqE-BGMbTnXIzR1yooVNQYcnVpMX61rbOeH8wlXC5H0GlqzQ8a1OHvIdkOepz17YIjq_6OO70NvIFr8_z17ro7UrBQUdv6xpfiwH_TPT5qdeuthciIqDnSwOXP9pTUqFeYk1hoWpoa7za4ECKElupCd5CQjR1YDbCQIKfy5uZzbMDiQAEsVHJXNMNecZi94wQIsSd0YXPtNTHJP-q8O4aXNEDCeogJfWcYviru91fRhe3NDBfx2HGKktx19C3V4tSgDlW-8JyJbbGJcl43blH5BHAZpcxl8582kayPkmtdeaJ5EeRQxiB_k5MQPMZT3jGKnkSmzfI14QewvbpC8Xu52ukvzXMf8dCMoau4r8_8PgIYfAoxGGhwAI_AV2r2mCVGbzt2fsSpqMnyUs-HTWyHDABxfRnr71kGKZRoT-_lk6k30MZMBAt-EiHcs3Bkjh-qKlA4eAMucrkTidcsRe8_Ai8Akzh4uRIpL5SFy_HOCJPesePDwBY6hDXYcvC8OPTmmWdN5nwUCLIWQKg4J3s6RCjyBQxLjsnaNRKbpbjoIlRtGrqvxFchfW_qo5STl5VcsGqfVLUCFnXciV7dJmSF_IkikvL-sOZjcP8y08RDKPq0kzkjsSDjZnSk42CTWLFoFWOyeAf4Efd5Sd_807jVIb0XItOlHWlXHb3Q59dRCRx3JlzjpSe0PAnJa8z9O4utjB9ETCiebGmqsgQ768QZdU-QkIhnY6FwkAzI-EEP_FNqK8Yvr_4Q9sPJ-h1Xx6wg9WdKtLsJ5BXU28f47BYlmxp-NlvfCP7iX7gtl2GYgPqMChihBI9zk83wXQeerxPC5Muuxh6VQR4w1QbycH1x7jIJAYFzAv8YgYUyXXUZ1RMOLOfL2StMgiMG0bRiviNqFOsubejPOlvjqEnuc2fDe0v4pGf_XejkWnpipOsacUEDy8UgbPnqnkzzsxtDx6HEbQFk1x_HXYlEFiCDc6g5Yq6wGbI92jlgclnA7w1TPE0W7R8KSwvi2m5tX93Ppa4pJzHGeLlt4-iYVDxkPiiIMXBYkF9mLv2ERUiaRNRPFwbJcMeJD6petAnymc0EGJSMjuTO9hDMryOclpOuzj9jjNAsfaIx01SkIeZ7HpIZWA0Jg0bsJ8H0wCjkveEi-p0qnfoLvJotgCum8jUS4folX-QyP_o9r2nRmH9kjs98bw2L3CLD9Mx4nu4w8dsATw837xZ0VUlOMg9uOyIkBf52MOMLid7C58p0BZtxJWYdWopk_aD78UZ3P44yMEdBz-dZ_FwmauF3XIcjunxqWZYCHwj_TQ0sFzgXh1FH",
  "id": "rs_0fa31c21bf749d07016ab4a258be6087d0a51c931027134a74",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.355,\"right_y\":0.27,\"right_z\":0.115,\"right_pitch\":0.1,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The pink bowl is slightly to the right of the stack. I’ll shift it a little farther left while lowering toward the top bowl’s opening.\"}",
  "call_id": "call_zgBWQXtJZB0mCZN8SVMBWQrx",
  "id": "fc_0fa31c21bf749d07016ab4a25cc0f087d0830c1698306916dc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zgBWQXtJZB0mCZN8SVMBWQrx",
  "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]: [-0.1261, 0.9783, 0.8452, -0.7029, -0.1947, -0.0975, 0.9958, 0.9211, 1.7386, 0.9585, -0.0277, 0.7593, 0.4915, 0.0903]\nstate[eef_state]: left_x=0.2891 left_y=0.0014 left_z=0.1775 left_yaw=0.0746 left_pitch=-0.2475 left_roll=0.0969 left_gripper=0.9958 right_x=0.3465 right_y=0.261 right_z=0.0995 right_yaw=0.0375 right_pitch=0.0183 right_roll=-0.0927 right_gripper=0.0903\nstate[joint_eff]: [-0.0342, -2.3726, 6.8991, 1.4432, -0.1148, -0.0464, -0.0122, 0.4034, -9.9077, 6.4205, 1.7607, 0.5983, 0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3dc194cd731cf55a9a0ee75e90c9213509c46fec3e3997198359d6da319a569",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7aa4778cb8c2c58b83c19e507d84985ba213c00031c9c00f0f433c2db09a85f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:990a7cabbc718a8ba51e1ba6fac7e7f2e74b44cb9baaac7fb8fc29e20d244531",
      "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 · 5.261 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 81 changed as sent

message 89 changed as sent

message 93 changed as sent

message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1265, 0.9668, 0.8452, -0.696, -0.1951, -0.0975, 0.9958, 0.4713, 1.2636, 0.4904, 0.078, 0.3729, 0.2394, 0.0903]\nstate[eef_state]: left_x=0.2895 left_y=0.0013 left_z=0.1817 left_yaw=0.0736 left_pitch=-0.2295 left_roll=0.0934 left_gripper=0.9958 right_x=0.3284 right_y=0.0992 right_z=0.0853 right_yaw=0.0165 right_pitch=-0.0667 right_roll=-0.0259 right_gripper=0.0903\nstate[joint_eff]: [-0.1709, -2.2222, 6.7624, 1.4628, -0.1294, -0.0317, -0.0122, 0.1709, -5.5726, 7.9385, 1.6728, 0.0317, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1265, 0.9764, 0.8452, -0.7029, -0.1951, -0.0975, 0.9958, 0.8646, 1.5185, 1.0241, -0.2306, 0.7074, 0.432, 0.0903]\nstate[eef_state]: left_x=0.289 left_y=0.0014 left_z=0.178 left_yaw=0.0744 left_pitch=-0.2456 left_roll=0.0968 left_gripper=0.9958 right_x=0.3464 right_y=0.2347 right_z=0.1768 right_yaw=0.048 right_pitch=0.0435 right_roll=-0.0577 right_gripper=0.0903\nstate[joint_eff]: [-0.0205, -2.5504, 6.7487, 1.5165, -0.149, -0.0269, -0.0122, 0.294, -7.3778, 9.3333, 1.6337, 0.5788, 0.2759, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1261, 0.9783, 0.8452, -0.7029, -0.1947, -0.0975, 0.9958, 0.9211, 1.7386, 0.9585, -0.0277, 0.7593, 0.4915, 0.0903]\nstate[eef_state]: left_x=0.2891 left_y=0.0014 left_z=0.1775 left_yaw=0.0746 left_pitch=-0.2475 left_roll=0.0969 left_gripper=0.9958 right_x=0.3465 right_y=0.261 right_z=0.0995 right_yaw=0.0375 right_pitch=0.0183 right_roll=-0.0927 right_gripper=0.0903\nstate[joint_eff]: [-0.0342, -2.3726, 6.8991, 1.4432, -0.1148, -0.0464, -0.0122, 0.4034, -9.9077, 6.4205, 1.7607, 0.5983, 0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3dc194cd731cf55a9a0ee75e90c9213509c46fec3e3997198359d6da319a569",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7aa4778cb8c2c58b83c19e507d84985ba213c00031c9c00f0f433c2db09a85f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:990a7cabbc718a8ba51e1ba6fac7e7f2e74b44cb9baaac7fb8fc29e20d244531",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtKJjpjm1wj6w6OTyxvRQRbBhSjKz5TJa1AUNYBNrGT6Gf8Kp0HHlPznqskrLtRagKrkvJKZ-hPQ1VjNPBiBD-Qw2sXiy3QFqBBGztLqNnAuQb5OZr4Uf6CiV7MuZYrOqKmf-2FNg2goBDLo7r4f-VjxfAxsuWW8PaoT-yWkY5gcNzTqL0SvGxskpMa4lxtF4N4VyHv62AB_Eb4LE49fkzDc3awFr3N_1CYZ4e2PvwBCNKfrg9hQkjkM1dvPFRPuSoduHmMGSX7fg2P2BpZGGY2kwKNInQ-ePZwffrE9PNgzhOr8FsAYD7KpoDwRBntNXaOQUAWgVmQP2g73TtPQJqtsloPgWsBoIt8EYd7FVY6FVQwRsv-bGOmroO25KJasWYw0rIIWerVF-8yNf6DZEEDCghvIVXWkGdTCV4vW0LDKSXLUTZYZEp3SZ137RS9ms6POXbQj8Iw72jkt3tt2Snv9BqnI-chhmyySg4leWnNZkxMv5vfrngKBj8CaZhE64n8J38CHdGYlX3vbC9JOFGdv1Z-QleFrKHTH5K5FOyoYEaCOr1HNGymqYId41_ilzgcO9Pa3_j7hQqZtmqtR1hLNa4TIAUgL0OAmdj3EfZY4QCxJGz_RN2lYxXaA1LHW3rWz47hbU3G2t_usvmqt6kv-oO9zUScrlpGa9Yeb4W9zIX2HcGB8kDtSytyCB2aPqzKGsZ9YBTOT2CKOna6CH2Jw95ChfF7zFdJu183pJE3Nv8Wb6LhsPtN2Zq_Wq-zRw8BtjZXHFsJQjGcDcVkrg4cUDcVVTyhV8lPFjJbwclkeHfGsH8rbR3O3bWgIWbZ62VMyEenJO72m_eKJyVgOGFPjFLM3gc8zI4kc1EUcrzh6K8YnCbNqr0Qv7qP8lD2WAfz0Nv18CHD7ek4IwxdnDfWcp2ijr8H5GsXLQhCtL5IRJ4su-vg4CcwbhmR95QTioeylYlOkxPz3XkoHPBNdYJztu_HLxY8hYOwZuDDIShuB52CvG8tetNjL1ahxQPXTMOJ3JdBFhreNVTim10SBCLngKU0BIV8rKpqST4UKZkhdDkQzVVLHj_3FcGS6Oa2_EtfJAP5qB_e8LFvLpxP3VAyE1srdTLPymUwLsIQ3jqBZWOnUfjHwaYXMwaCifMh5qVIeixolXhG64afTGuLzbblWurSDtBFweF_2Tl03VXTV9jWKfJm0SMGTUA5hzqQReVRB4h-53dYQ9RpTtjvuiF5NeBFJyvnTDGmmWwz6dyHOzsqz9JahyZEz4rqW07hashJ2iitJjtUnKN-05SYwoauX6_HaZTVFLU_0SKlHJiUHbV3C16SesLQaD6VxyXu3wiPM8jPb2sGuyEKDvhzHgGLNo5Vt9lNbCM7JNH6q0_CnvQy4tN0gb6ZaQK4Ukrlztu14HLThNI6GokXY_lcoF3__WHbBGfN77R9vRAR7_U6VUHvxKB0Efi2tVUqdaLuWP4huPk-CrmiHYVumW7NlzAm33q0e-7j68PeZaB5BY975NDi_neZFueB4gc72dnmk_esfWgzgHb35oHgQ95ZxOKibg2zryrgDkBRMIYslSKsITuEM1xvenwYQAam2Ud1-7x2cH24p5j2Pd1UR5fCa6bbt19pEjJkqsZ0eHojXFhI-4YWC-fRnOY0U-5nOs5xdY9u3eTBd87oWdXDY27EE90vFu76PbuNS9WVzd8K254YQ7BEW1tWejvaqguC54ODWafZZdEtvWeA3OylVHcXLydI06eGRadkvIpLSIlBjRgxSe6Ky3gBdtV8ZOmxwzro7NiPukifBo_kLeQM2f_rLD1Dn6fgrEsndgM6Y1NBFRG2rP5Om20VcWSLsVN25fut1osKBkijgNG0jXeBYCy5GTi1UfFFUZziB4SQLXRglpTPYM6FIghvJFXd3f_gAz28Tr5JZShUFBahGGQU3kLL8__BUXGRI0BlnaNwOU2cr1UQBn_oaIXUZ-depgzZ9RAc5xyd9N",
  "id": "rs_0fa31c21bf749d07016ab4a25f694087d084311f23124625fc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.355,\"right_y\":0.282,\"right_z\":0.072,\"right_pitch\":0.1,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The pink bowl is over the opening, with a small residual sideways offset visible at the rims. I’ll correct that offset and lower it gently into the stack.\"}",
  "call_id": "call_oVtGxkrkuo3S79XJaNjPcjKf",
  "id": "fc_0fa31c21bf749d07016ab4a262370087d0926af1b7c6eaae50",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oVtGxkrkuo3S79XJaNjPcjKf",
  "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]: [-0.1265, 0.9783, 0.8452, -0.7029, -0.1947, -0.0975, 0.9958, 0.9241, 1.7615, 0.9493, 0.054, 0.7704, 0.5026, 0.0903]\nstate[eef_state]: left_x=0.2891 left_y=0.0013 left_z=0.1775 left_yaw=0.0742 left_pitch=-0.2475 left_roll=0.0969 left_gripper=0.9958 right_x=0.3515 right_y=0.2673 right_z=0.0995 right_yaw=0.0254 right_pitch=0.0559 right_roll=-0.0495 right_gripper=0.0903\nstate[joint_eff]: [-0.0752, -2.2906, 6.7624, 1.4432, -0.1148, -0.0415, -0.0122, 0.3487, -9.7436, 6.612, 1.6679, 0.442, 0.1538, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a39fc0648eee78b57e16ff7ee476a14d18df3d896dcd4ffbb3b0672437f9040e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b803fc5dd66a2df308cb02a62fcfef8931be5cbd3021e934ecb18ff693dece4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48a0e7091798aee3114e6fd4c431b8b1780c86440a1fc0bf88375a6940529f95",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 26 attempt 0 · /responses · status 200 · 2.796 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 85 changed as sent

message 93 changed as sent

message 97 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1265, 0.9726, 0.8452, -0.6998, -0.1951, -0.0978, 0.9958, 0.5938, 0.947, 0.4759, -0.0593, 0.4961, 0.2401, 0.0903]\nstate[eef_state]: left_x=0.2892 left_y=0.0014 left_z=0.1795 left_yaw=0.0743 left_pitch=-0.2389 left_roll=0.0951 left_gripper=0.9958 right_x=0.2986 right_y=0.1045 right_z=0.1547 right_yaw=0.0369 right_pitch=0.1116 right_roll=-0.0076 right_gripper=0.0903\nstate[joint_eff]: [-0.1846, -2.6735, 6.8171, 1.5311, -0.1245, -0.0317, -0.0122, 0.2256, -2.7282, 8.6906, 1.9121, 0.3736, 0.0562, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1261, 0.9783, 0.8452, -0.7029, -0.1947, -0.0975, 0.9958, 0.9211, 1.7386, 0.9585, -0.0277, 0.7593, 0.4915, 0.0903]\nstate[eef_state]: left_x=0.2891 left_y=0.0014 left_z=0.1775 left_yaw=0.0746 left_pitch=-0.2475 left_roll=0.0969 left_gripper=0.9958 right_x=0.3465 right_y=0.261 right_z=0.0995 right_yaw=0.0375 right_pitch=0.0183 right_roll=-0.0927 right_gripper=0.0903\nstate[joint_eff]: [-0.0342, -2.3726, 6.8991, 1.4432, -0.1148, -0.0464, -0.0122, 0.4034, -9.9077, 6.4205, 1.7607, 0.5983, 0.0611, -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 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1265, 0.9783, 0.8452, -0.7029, -0.1947, -0.0975, 0.9958, 0.9241, 1.7615, 0.9493, 0.054, 0.7704, 0.5026, 0.0903]\nstate[eef_state]: left_x=0.2891 left_y=0.0013 left_z=0.1775 left_yaw=0.0742 left_pitch=-0.2475 left_roll=0.0969 left_gripper=0.9958 right_x=0.3515 right_y=0.2673 right_z=0.0995 right_yaw=0.0254 right_pitch=0.0559 right_roll=-0.0495 right_gripper=0.0903\nstate[joint_eff]: [-0.0752, -2.2906, 6.7624, 1.4432, -0.1148, -0.0415, -0.0122, 0.3487, -9.7436, 6.612, 1.6679, 0.442, 0.1538, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a39fc0648eee78b57e16ff7ee476a14d18df3d896dcd4ffbb3b0672437f9040e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b803fc5dd66a2df308cb02a62fcfef8931be5cbd3021e934ecb18ff693dece4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48a0e7091798aee3114e6fd4c431b8b1780c86440a1fc0bf88375a6940529f95",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtKJo33KHyMziDKIXswh9kJNUQIwubnvZQz8F4vDm2aE1r-ZzzM8v3MyH9N-6Moc2BFJnNtoYPq9kIXStrgoFAthTu7_8Epe2y6tXb3b1BhQJDaqWvPlzJtOm6sgSyLdaSEYir5XLcGNxRQpeIqEgL98lYrNUlmcvJsv0mBy_CmnzSYMscE1Zwftb2U9kZ-zoB2pKbRUpv9XwRGByl31HaVEYm-iLa3hkHH177xQSCI9_ZdQ3QAw8UZlHyz3UB3mKe13w2aTFAkEiAbt-Jbb5redM1l_GrOE_8rCYSAMLybmCf1tUvF36mbyx4sYOP4D6y6MJhkGKcU0i-GMqoGcIoMH9vFpsw9Woe7tfNMn57JNNu7AQp8N7cuQIut0VrdjKyL66plAeBAaLSmvb_B7U0w47-kEW6fhRuOB_3ou-wxEim6UM5yafpw3Jr9RtyFBqonNhROjvm0aanl0DUPFmAOb4J-IFTRnv7SaSDypgs6mSdAO04uludHE8WMGzdXObfUHglttuESDg-FHPUE3BYpn_PJKq5pNWKMNE7iH-9BmHreB98yuRY03IBEW8kdhtZprBQQ-zF1mVTw2FHJqo2JoYJsQW6atAdyrxCLpkdwrhwenv5jIU7KPJifLQu524BuvhghUhm0Wjm-Hdpi-1rOEkOCh6lScujwye4GRVSsMDRR0hMJSpxhU7jZxLdOJosJMqLvZCRoACMdUsiiWJXaYheiV5Io24Oy-9MeoxwlNUWb-D3pNrjMYeT6ehCgf5eU_E750xM9iAQFnPPFLNDarJNfbY3zXMtcfTSHHrX2LImSWKTIOK1m8nOb0ysAm4lLM1RhYGqpwurNEDxhuRFRBP5L94J19F_IdOIyBjTGs5pHya156j2NE4uG2T3XnLrzHkSeyYok1MirY3-fv-erWH4bV2TzVxzIlv6X8KOIh03CVFeJMAjOArs7VylNT4TmfzEQNveXeGC2kxZSvB8stgKVgbjbpKD4USdFQ1CE27bpR_EwkUIe65Uutwm1KHGfetsGtsG7GrhNkKdb7sxUZyuSQOxFJeHYyDha1aNvRHTrTAWqd-usc9BlkPprYCEOUMkUlKZEOH7Bbe2yThdheTzNo1iVNnCbxMqyS6n4Zd9j3dP-XJuBkgm_y_WZIYqo754QVb02xna2DBx6gVBlJ-Aj7M_HKqn_oLoSWD4qSGQzhMA9JH70ao0wsOxcvVFYkHH7QJmg9jGqvulWR0iJ16IR8GjpInhyvR5VfghCv_63IRDoe9RCV7Pz05iT3C0IxOn7MmQnWFtdNzNtqkdH1MtWo0vB6ZtHgadYQRCVY9a30-OjsQQ9nmzBPyF4O3p7UU3sfhZ8d5amvWsMr0FPHscU_ggtT4_grdpvSnKWKIZ4Sd0IFIYvXcvo1lX2yUJo2HLiNQb_8neVoxCX6WhJ1K03zOVZrNNxI8-ZUGQpozJhYPg63aHFAnUbBXj6gGn_ZMWy65ZyTidohDsM12kp6L6KYH5e-8BzRGl5Kz4Tp_Gu2sq_6LP-N-pQ65c3x0VnhOLMh-tep0ZXf_TJn7QO3QxtA7mZ9J-tIOhKZsyJ1JBzFdJWlsEEnuVqDVw3w5665iMNRllrqUF1fOW9VoTxFHfgMIQbPop7uvAkbWiUfzWe_cwVBjRI3HWeWMLruiV0PlKZgHQrGB4NHvL2XTuCu_iKVWIhBEgnPA3UvScyqnY1HOS7LF3mE9oE_6SqkCDzLSXS-iuaFiurjGD7FfOY9TBNqdTxZ-7vyTNDGmlxEhYwqk0ISXGW0u_GHam1xAc_oktXUSmolXvnEY4M31l5UjAuVk6VAZM3QDrYFnkjeuGphUnfsOuDDJyXL9LU12BoKsE76KyghZQNoe9oqkgrZx5QsTilGgv5LEH21lGV25F3PXxMhikzXW3gsjNwtEr5UhBXaYuU30jVsJ33eOg9rKK0gMu4Chjc48lQG41NjVRbCf4h2qpakyaEc6iImqGLOa1-YZ3wauMynt8NwOFvTjqutxO90xgmZcQ4NHgeQsTqq3r2iQfhR4YgBpd5k_xSauNBlR4BHti0IZ1bWtAmxlj1aqHa3EQ1PLbhmsN0SRJuFm8kUsdqAtjjClk96mvtvReB_oX6Ah3Qut4nQiRaVgrA==",
  "id": "rs_0fa31c21bf749d07016ab4a26516b887d0965a585acdc1463d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The bowl is supported by the stack and the arm has stopped descending. I’ll release the rim so it can settle naturally into the bowl underneath.\"}",
  "call_id": "call_NulAjVB1S9qwdM49nJj8uFG2",
  "id": "fc_0fa31c21bf749d07016ab4a267db8887d08da7e036720c661d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NulAjVB1S9qwdM49nJj8uFG2",
  "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]: [-0.1265, 0.9783, 0.8452, -0.7029, -0.1951, -0.0975, 0.9958, 0.923, 1.7618, 0.9493, 0.0517, 0.7689, 0.4984, 0.9954]\nstate[eef_state]: left_x=0.2891 left_y=0.0014 left_z=0.1775 left_yaw=0.0745 left_pitch=-0.2475 left_roll=0.0972 left_gripper=0.9958 right_x=0.3515 right_y=0.2669 right_z=0.0989 right_yaw=0.0278 right_pitch=0.0533 right_roll=-0.0546 right_gripper=0.9954\nstate[joint_eff]: [-0.0752, -2.2632, 6.8171, 1.453, -0.1294, -0.0317, -0.0122, -0.1162, -8.4991, 5.9692, 1.4432, 0.2711, 0.0513, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c17a55edcf8d0b3f5c1c2f107338e0d0135be270b36a29a84b8e74c07a567847",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68c11cd16c904d46c7a9dc3842289486e5dc2d8a9216e02d1ee0b71a69ce3857",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d13e4489a9d25087d8360863c09ea3452360295e1e316e18e5e9a149f9a1c5a6",
      "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 · 2.769 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 89 changed as sent

message 97 changed as sent

message 101 changed as sent

message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1265, 0.9764, 0.8452, -0.7029, -0.1951, -0.0975, 0.9958, 0.8646, 1.5185, 1.0241, -0.2306, 0.7074, 0.432, 0.0903]\nstate[eef_state]: left_x=0.289 left_y=0.0014 left_z=0.178 left_yaw=0.0744 left_pitch=-0.2456 left_roll=0.0968 left_gripper=0.9958 right_x=0.3464 right_y=0.2347 right_z=0.1768 right_yaw=0.048 right_pitch=0.0435 right_roll=-0.0577 right_gripper=0.0903\nstate[joint_eff]: [-0.0205, -2.5504, 6.7487, 1.5165, -0.149, -0.0269, -0.0122, 0.294, -7.3778, 9.3333, 1.6337, 0.5788, 0.2759, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1265, 0.9783, 0.8452, -0.7029, -0.1947, -0.0975, 0.9958, 0.9241, 1.7615, 0.9493, 0.054, 0.7704, 0.5026, 0.0903]\nstate[eef_state]: left_x=0.2891 left_y=0.0013 left_z=0.1775 left_yaw=0.0742 left_pitch=-0.2475 left_roll=0.0969 left_gripper=0.9958 right_x=0.3515 right_y=0.2673 right_z=0.0995 right_yaw=0.0254 right_pitch=0.0559 right_roll=-0.0495 right_gripper=0.0903\nstate[joint_eff]: [-0.0752, -2.2906, 6.7624, 1.4432, -0.1148, -0.0415, -0.0122, 0.3487, -9.7436, 6.612, 1.6679, 0.442, 0.1538, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1265, 0.9783, 0.8452, -0.7029, -0.1951, -0.0975, 0.9958, 0.923, 1.7618, 0.9493, 0.0517, 0.7689, 0.4984, 0.9954]\nstate[eef_state]: left_x=0.2891 left_y=0.0014 left_z=0.1775 left_yaw=0.0745 left_pitch=-0.2475 left_roll=0.0972 left_gripper=0.9958 right_x=0.3515 right_y=0.2669 right_z=0.0989 right_yaw=0.0278 right_pitch=0.0533 right_roll=-0.0546 right_gripper=0.9954\nstate[joint_eff]: [-0.0752, -2.2632, 6.8171, 1.453, -0.1294, -0.0317, -0.0122, -0.1162, -8.4991, 5.9692, 1.4432, 0.2711, 0.0513, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c17a55edcf8d0b3f5c1c2f107338e0d0135be270b36a29a84b8e74c07a567847",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68c11cd16c904d46c7a9dc3842289486e5dc2d8a9216e02d1ee0b71a69ce3857",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d13e4489a9d25087d8360863c09ea3452360295e1e316e18e5e9a149f9a1c5a6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtKJsGpOzi25HDg-w5AKSFHXviljqBzTtH_r9QLOKZ58Dt6EvlGrZ6Mu2StgDKRpsO2ufG2E3WKvnBRCqNawlWIS3AudmlnFgb4uZU7m3Mn00fapIHSn8xhE53xPFH_QzFd6ZnwpajFQeZM6iFmaTEyIy9MgTZoi3ta6S9DNYqw13VswOGDcgjwBM-fsBmzfZTda8q6CNI7zppWT_Karc22ZSE2cuuhTWUp7zt-seZkAseOxSOIOQnhisbqM0kHy7WYwmGp_jXi62LtsIS1Mn71-1N3W-Tqc9OQPLJJZi-0TzG4rgg1OoHhXii_jrPRfUT4JOetDDLF3VIKwUt7_5MUmUOcauq8NWmHqLZmJSEemh6KfBL0KwpY5GL6KJv-uymsb6MNAGasommxIztyJYOojzjpJ1U-qfw8RKefttDVgiWDuAgwKPWq1rj5RcmK-eg230FE2K6oC5lNR7FR6xvba6eC1QdoA7ZPCZlXT18OMvqkHZVxWYeCCn7d47lKMhw_i-HxJOJHlfMrqIQebFIRN9yMIqXhXIoGFKeRI7ojESW22iFWgvTiVGnVr3Z-w55x9wDyfsvukNPakF6-Hl2UBiLAL3hlcJm-uVn81AA4yTD5askmpWRKZn-fSq_iTELoYBhR5K3LSBW0CDfQ-eRKiaBBMIorLs4_mScrMMXMh61-HZwd7RJ_y1-AIY4FJsn-3xaxZnzQ3RlXW2PM8y4PLxQTLsPEfncSZbyh3VOAbcDsnxtDDg2FHSEKneb6UeFmnPWj7v1YAN_vsAoiLHyC9OSvnQH4ABz55TLciQOiOOg8WI5hyzDZVRp6rzFn4Qfa6-5M8Ycbjr1KvBiZc9cTulIMFF25aF_chU05qPO_OTIgfQKIV43Pr239wRHUDrWyGcoMR9StCe71ZQ0AMLx69DliayUlFpJ5eygwnc3mK3X4D4TJdY8QFfDT325unyKdiP2cfXFjldH9OiKhc-AXopqfhm7tFNAFpk_zO6Q2-3WmCpLKEecWkZofiRk1h3n-UMd3ebWsjSZQEnIjCQTfpVdVeVUO4EOPdBRKDmdFjv0M4lGLfR-HbZOS6AdEFyYLjEoxe1xhnzFghf_4lOS7k0baLXE7NosvCPPNweOz5lrgUQT4Fze5oGxN451VAESz1c91dyDBq-fO_zjNHShUbHgnuR472VcjA2ODQnSfe7-p72QRTfWlRIoEJe4Uk4Gm2lTP0QoAreNltPIa8YmcDN9hWmlhOt53I5jyQbuto3M5xPrK1VCJ4Ej6gtvx9vjcvyWpYUKI6FWf6FwWTkHutLeuTQx5cIzbV8JLFUx0oO9fLF1crj19R43qBD5wbfhCAyAO3ssPlcAzDOy6AFfGoWpQ==",
  "id": "rs_0fa31c21bf749d07016ab4a26ae5b087d097383f19e7ac1cea",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.267,\"right_z\":0.21,\"right_pitch\":0.1,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The pink bowl remains in place after release. I’ll lift the open fingers straight clear before moving the arm aside to inspect the stack.\"}",
  "call_id": "call_aWcwGiwY5NgwA5LfSEIBBZuV",
  "id": "fc_0fa31c21bf749d07016ab4a26babe487d08c22da96fa41e132",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aWcwGiwY5NgwA5LfSEIBBZuV",
  "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]: [-0.1265, 0.9787, 0.8452, -0.7029, -0.1947, -0.0975, 0.9958, 0.9295, 1.6299, 1.1519, -0.281, 0.7727, 0.5053, 0.9958]\nstate[eef_state]: left_x=0.2891 left_y=0.0013 left_z=0.1774 left_yaw=0.0742 left_pitch=-0.2479 left_roll=0.097 left_gripper=0.9958 right_x=0.3493 right_y=0.2677 right_z=0.181 right_yaw=0.0278 right_pitch=0.0568 right_roll=-0.0487 right_gripper=0.9958\nstate[joint_eff]: [-0.0615, -2.2906, 6.7761, 1.4383, -0.0904, -0.0269, -0.0122, 0.1846, -10.1265, 9.1692, 1.5897, 0.5153, 0.2369, 0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:160a20a9d5e4c034952a1537780875d4f552585f46901ee3f0432ed7c5c97143",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00e424cadaaf6e913a41378c20f8947b5fc8246d22299204d2f05364ed604185",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05d5265df713c78000dd456f881ce92e1dde6e0c8cc3da965a3cfff8a3f8db4d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 28 attempt 0 · /responses · status 200 · 3.905 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 93 changed as sent

message 101 changed as sent

message 105 changed as sent

message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1261, 0.9783, 0.8452, -0.7029, -0.1947, -0.0975, 0.9958, 0.9211, 1.7386, 0.9585, -0.0277, 0.7593, 0.4915, 0.0903]\nstate[eef_state]: left_x=0.2891 left_y=0.0014 left_z=0.1775 left_yaw=0.0746 left_pitch=-0.2475 left_roll=0.0969 left_gripper=0.9958 right_x=0.3465 right_y=0.261 right_z=0.0995 right_yaw=0.0375 right_pitch=0.0183 right_roll=-0.0927 right_gripper=0.0903\nstate[joint_eff]: [-0.0342, -2.3726, 6.8991, 1.4432, -0.1148, -0.0464, -0.0122, 0.4034, -9.9077, 6.4205, 1.7607, 0.5983, 0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1265, 0.9783, 0.8452, -0.7029, -0.1951, -0.0975, 0.9958, 0.923, 1.7618, 0.9493, 0.0517, 0.7689, 0.4984, 0.9954]\nstate[eef_state]: left_x=0.2891 left_y=0.0014 left_z=0.1775 left_yaw=0.0745 left_pitch=-0.2475 left_roll=0.0972 left_gripper=0.9958 right_x=0.3515 right_y=0.2669 right_z=0.0989 right_yaw=0.0278 right_pitch=0.0533 right_roll=-0.0546 right_gripper=0.9954\nstate[joint_eff]: [-0.0752, -2.2632, 6.8171, 1.453, -0.1294, -0.0317, -0.0122, -0.1162, -8.4991, 5.9692, 1.4432, 0.2711, 0.0513, -0.1148]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1265, 0.9787, 0.8452, -0.7029, -0.1947, -0.0975, 0.9958, 0.9295, 1.6299, 1.1519, -0.281, 0.7727, 0.5053, 0.9958]\nstate[eef_state]: left_x=0.2891 left_y=0.0013 left_z=0.1774 left_yaw=0.0742 left_pitch=-0.2479 left_roll=0.097 left_gripper=0.9958 right_x=0.3493 right_y=0.2677 right_z=0.181 right_yaw=0.0278 right_pitch=0.0568 right_roll=-0.0487 right_gripper=0.9958\nstate[joint_eff]: [-0.0615, -2.2906, 6.7761, 1.4383, -0.0904, -0.0269, -0.0122, 0.1846, -10.1265, 9.1692, 1.5897, 0.5153, 0.2369, 0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:160a20a9d5e4c034952a1537780875d4f552585f46901ee3f0432ed7c5c97143",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00e424cadaaf6e913a41378c20f8947b5fc8246d22299204d2f05364ed604185",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05d5265df713c78000dd456f881ce92e1dde6e0c8cc3da965a3cfff8a3f8db4d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0.001,\"right_z\":0.2,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0,\"left_x\":0.29,\"left_y\":0,\"left_z\":0.2,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0},\"note\":\"The open gripper is clear of the bowls. I’ll park both arms away from the centre so I can verify that all three bowls form one stable stack.\"}",
  "call_id": "call_6GIjashnlFPQuEls7pfzwDJ0",
  "id": "fc_0fa31c21bf749d07016ab4a26e94d487d0a08f5a5f8adbeb90",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6GIjashnlFPQuEls7pfzwDJ0",
  "output": [
    {
      "text": "executing move_to over 23 steps (2.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0372, 0.794, 0.6888, -0.5045, -0.0513, -0.0673, 0.9958, 0.0097, 0.7952, 0.6781, -0.4637, 0.0612, 0.0086, 0.9958]\nstate[eef_state]: left_x=0.2874 left_y=0.002 left_z=0.1932 left_yaw=0.0208 left_pitch=-0.0366 left_roll=-0.0045 left_gripper=0.9958 right_x=0.2917 right_y=-0.0044 right_z=0.1964 right_yaw=-0.0602 right_pitch=-0.0069 right_roll=-0.0067 right_gripper=0.9958\nstate[joint_eff]: [0.2803, -1.7846, 6.9538, 1.9463, 0.105, 0.1636, -0.0122, -0.0752, -1.7436, 7.3778, 1.8388, -0.1343, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a0964c7946337a7cf4ab2d36654dd5e8f139ff5cbaa95eb0439fbc2b284739a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21491ed74c2ae84c5bb544e44adb8d5cd2becc7f87534858d5f1d4d0817a6b7c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b09dcdcc1ce4ec3dca7b159867303b6efa3544e2fe8897aa21498d92d0abaa3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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