adhoc

completed
2026-09-24T01:19:14.779826+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (77 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
182 s
total steps
244
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
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 fruits around the blue bowl: a green fruit on its right, a yellow fruit on its left, and a dark fruit farther left. I’m bringing the right gripper above the green fruit to align for a gentle grasp.
move_to
right_x0.3200right_y0.0900right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8001, 0.6136, -0.3824, -0.0143, -0.0299, 0.9992, -0.0227, 0.8005, 0.6189, -0.3866, -0.017, -0.033, 0.9994] state[eef_state]: left_x=0.296 left_y=-0.0004 left_z=0.1822 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9992 right_x=0.2961 right_y=-0.0001 right_z=0.1837 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994 state[joint_eff]: [-0.5128, -1.6205, 9.6068, 1.7802, -0.0952, 0.1343, -0.0952, -0.1436, -1.6068, 9.1282, 1.9072, -0.0855, 0.1734, -0.0708] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.32,"right_y":0.09,"right_z":0.15,"right_gripper":1},"note":"I see three fruits around the blue bowl: a green fruit on its right, a yellow fruit on its left, and a dark fruit farther left. I’m bringing the right gripper above the green fruit to align for a gentle grasp."})
tool
executing move_to over 8 steps (0.8s)
step 8
top_cam
camera top_cam step 8
left_cam
camera left_cam step 8
right_cam
camera right_cam step 8
assistant
agent noteThe right gripper is over the green fruit, which is now hidden beneath the fingertips; the blue bowl remains just to its left. I’m lowering straight down to grasp the fruit around its sides.
move_to
right_z0.0350
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8013, 0.6132, -0.3897, -0.0139, -0.0311, 0.9991, 0.469, 1.0664, 0.5896, -0.1844, 0.3706, 0.2214, 0.9994] state[eef_state]: left_x=0.2951 left_y=-0.0004 left_z=0.1802 left_yaw=0.0003 left_pitch=-0.0088 left_roll=-0.001 left_gripper=0.9991 right_x=0.3154 right_y=0.0921 right_z=0.14 right_yaw=0.0308 right_pitch=-0.0416 right_roll=-0.0254 right_gripper=0.9994 state[joint_eff]: [-0.0752, -1.1966, 7.0906, 1.7802, -0.0708, -0.0464, -0.0171, -0.4855, -3.7128, 7.0769, 1.8828, 0.3541, 0.2271, -0.0757] camera 'top_cam' (step 8): [image omitted: streamed camera frame] camera 'left_cam' (step 8): [image omitted: streamed camera frame] camera 'right_cam' (step 8): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.035},"note":"The right gripper is over the green fruit, which is now hidden beneath the fingertips; the blue bowl remains just to its left. I’m lowering straight down to grasp the fruit around its sides."})
tool
executing move_to over 7 steps (0.7s)
step 15
top_cam
camera top_cam step 15
left_cam
camera left_cam step 15
right_cam
camera right_cam step 15
assistant
agent noteThe green fruit sits between the open right jaws near the bottom of the wrist view. I’m closing the gripper to secure it before a short test lift.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4007, -0.0139, -0.0334, 0.9991, 0.4648, 1.3876, 0.3016, 0.4561, 0.4, 0.202, 0.9993] state[eef_state]: left_x=0.2939 left_y=-0.0004 left_z=0.1767 left_yaw=0.0015 left_pitch=-0.0244 left_roll=-0.0025 left_gripper=0.9991 right_x=0.3219 right_y=0.0885 right_z=0.0458 right_yaw=0.0136 right_pitch=-0.0062 right_roll=-0.0441 right_gripper=0.9993 state[joint_eff]: [-0.0615, -1.4701, 7.0906, 1.8242, -0.0366, -0.0513, -0.0073, 0.294, -3.1521, 4.2051, 1.5702, -0.1197, 0.1294, -0.022] camera 'top_cam' (step 15): [image omitted: streamed camera frame] camera 'left_cam' (step 15): [image omitted: streamed camera frame] camera 'right_cam' (step 15): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The green fruit sits between the open right jaws near the bottom of the wrist view. I’m closing the gripper to secure it before a short test lift."})
tool
executing move_to over 10 steps (1.0s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteThe gripper stopped at about 4 cm of jaw spacing, consistent with holding the green fruit. I’m lifting a few centimetres to confirm it comes off the table with the gripper.
move_to
right_z0.1150
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4084, -0.0139, -0.0338, 0.9991, 0.4618, 1.3846, 0.3035, 0.4778, 0.408, 0.1936, 0.4103] state[eef_state]: left_x=0.2928 left_y=-0.0004 left_z=0.1751 left_yaw=0.0017 left_pitch=-0.0321 left_roll=-0.0027 left_gripper=0.9991 right_x=0.3257 right_y=0.0878 right_z=0.0519 right_yaw=0.0084 right_pitch=0.0196 right_roll=-0.0437 right_gripper=0.4103 state[joint_eff]: [-0.1846, -1.3333, 7.0496, 1.79, -0.0513, -0.0757, -0.0122, 0.1299, -3.959, 5.1214, 1.4823, 0.0171, 0.0366, 0.9646] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.115},"note":"The gripper stopped at about 4 cm of jaw spacing, consistent with holding the green fruit. I’m lifting a few centimetres to confirm it comes off the table with the gripper."})
tool
executing move_to over 5 steps (0.5s)
step 30
top_cam
camera top_cam step 30
left_cam
camera left_cam step 30
right_cam
camera right_cam step 30
assistant
agent noteThe green fruit has lifted with the right gripper and is no longer on the table. I’m carrying it above the blue bowl while returning the idle left arm to its parked height.
move_to
right_x0.3950right_y0.1900right_z0.1800left_x0.2960left_y0.0000left_z0.1850
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8085, 0.6132, -0.4217, -0.0135, -0.0338, 0.9991, 0.4618, 1.1568, 0.4404, 0.0746, 0.3954, 0.1909, 0.4127] state[eef_state]: left_x=0.2911 left_y=-0.0004 left_z=0.1717 left_yaw=0.0014 left_pitch=-0.0481 left_roll=-0.0025 left_gripper=0.9991 right_x=0.3195 right_y=0.087 right_z=0.0987 right_yaw=0.0201 right_pitch=-0.0184 right_roll=-0.056 right_gripper=0.4127 state[joint_eff]: [-0.2393, -1.1556, 7.0085, 1.8437, -0.0366, -0.0317, -0.0073, -0.1573, -4.506, 9.1692, 1.6532, 0.2173, -0.0171, 0.2466] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.395,"right_y":0.19,"right_z":0.18,"left_x":0.296,"left_y":0,"left_z":0.185},"note":"The green fruit has lifted with the right gripper and is no longer on the table. I’m carrying it above the blue bowl while returning the idle left arm to its parked height."})
tool
executing move_to over 9 steps (0.9s)
step 39
top_cam
camera top_cam step 39
left_cam
camera left_cam step 39
right_cam
camera right_cam step 39
assistant
agent noteThe green fruit is positioned over the blue bowl’s opening. I’m lowering slightly and releasing it into the bowl.
move_to
right_z0.1300right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0208, 0.8368, 0.6426, -0.4721, -0.0135, -0.0338, 0.9991, 0.6491, 1.552, 1.0687, -0.2707, 0.5201, 0.3069, 0.4155] state[eef_state]: left_x=0.2893 left_y=-0.0 left_z=0.1673 left_yaw=0.0027 left_pitch=-0.0973 left_roll=-0.0013 left_gripper=0.9991 right_x=0.3877 right_y=0.1885 right_z=0.1625 right_yaw=0.0436 right_pitch=-0.0707 right_roll=-0.0865 right_gripper=0.4155 state[joint_eff]: [0.1299, -1.306, 9.4974, 1.8486, 0.0269, -0.0122, -0.0073, -0.0752, -7.6786, 8.8137, 1.7265, 0.3785, 0.1099, 0.2808] 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":{"right_z":0.13,"right_gripper":1},"note":"The green fruit is positioned over the blue bowl’s opening. I’m lowering slightly and releasing it into the bowl."})
tool
executing move_to over 6 steps (0.6s)
step 45
top_cam
camera top_cam step 45
left_cam
camera left_cam step 45
right_cam
camera right_cam step 45
assistant
agent noteThe green fruit is visible inside the blue bowl. The yellow fruit has shifted slightly left of the bowl, so I’m moving above its new position for the next grasp.
move_to
right_x0.3250right_y0.2850right_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8368, 0.6415, -0.4763, -0.0139, -0.0338, 0.9991, 0.6491, 1.5879, 0.9752, -0.165, 0.519, 0.2993, 0.9986] state[eef_state]: left_x=0.2885 left_y=-0.0001 left_z=0.166 left_yaw=0.0026 left_pitch=-0.1026 left_roll=-0.001 left_gripper=0.9991 right_x=0.3844 right_y=0.1862 right_z=0.1275 right_yaw=0.0475 right_pitch=-0.091 right_roll=-0.1055 right_gripper=0.9986 state[joint_eff]: [-0.0615, -1.1829, 7.0906, 1.6825, -0.0366, -0.0562, -0.0171, -0.0752, -7.1179, 6.2974, 1.7509, 0.188, 0.0317, -0.1636] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 45): [image omitted: streamed camera frame] camera 'left_cam' (step 45): [image omitted: streamed camera frame] camera 'right_cam' (step 45): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.325,"right_y":0.285,"right_z":0.15},"note":"The green fruit is visible inside the blue bowl. The yellow fruit has shifted slightly left of the bowl, so I’m moving above its new position for the next grasp."})
tool
executing move_to over 9 steps (0.9s)
step 54
top_cam
camera top_cam step 54
left_cam
camera left_cam step 54
right_cam
camera right_cam step 54
assistant
agent noteThe yellow fruit is centered on the right gripper’s jaw column, with the blue bowl immediately to its right. I’m lowering to the fruit’s mid-height without moving sideways.
move_to
right_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8368, 0.6415, -0.4767, -0.0139, -0.0338, 0.9991, 0.9871, 1.7123, 1.2201, -0.4873, 0.7136, 0.5934, 0.9986] state[eef_state]: left_x=0.2884 left_y=-0.0001 left_z=0.1659 left_yaw=0.0026 left_pitch=-0.103 left_roll=-0.001 left_gripper=0.9991 right_x=0.3222 right_y=0.2846 right_z=0.1416 right_yaw=0.0758 right_pitch=-0.1159 right_roll=-0.1226 right_gripper=0.9986 state[joint_eff]: [-0.1299, -1.3197, 6.9812, 1.6288, -0.0464, -0.0073, -0.0122, 0.335, -7.9111, 8.6769, 1.1258, 0.5055, 0.149, -0.0122] camera 'top_cam' (step 54): [image omitted: streamed camera frame] camera 'left_cam' (step 54): [image omitted: streamed camera frame] camera 'right_cam' (step 54): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.025},"note":"The yellow fruit is centered on the right gripper’s jaw column, with the blue bowl immediately to its right. I’m lowering to the fruit’s mid-height without moving sideways."})
tool
executing move_to over 8 steps (0.8s)
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 open jaws straddle the yellow fruit at table level. I’m closing around it, then I’ll check the jaw spacing and test the lift.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8371, 0.6415, -0.477, -0.0139, -0.0341, 0.9991, 0.9863, 1.9171, 0.9699, -0.0517, 0.7025, 0.5915, 0.9986] state[eef_state]: left_x=0.2884 left_y=-0.0001 left_z=0.1657 left_yaw=0.0028 left_pitch=-0.1038 left_roll=-0.0013 left_gripper=0.9991 right_x=0.3197 right_y=0.2828 right_z=0.0243 right_yaw=0.0809 right_pitch=-0.1353 right_roll=-0.1338 right_gripper=0.9986 state[joint_eff]: [-0.1983, -1.347, 6.9538, 1.6728, -0.0122, -0.0659, -0.0122, 0.0205, -8.6085, 5.0667, 1.4237, 0.398, -0.0464, -0.0122] 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":{"right_gripper":0},"note":"The open jaws straddle the yellow fruit at table level. I’m closing around it, then I’ll check the jaw spacing and test the lift."})
tool
executing move_to over 10 steps (1.0s)
step 72
top_cam
camera top_cam step 72
left_cam
camera left_cam step 72
right_cam
camera right_cam step 72
assistant
agent noteThe jaws have settled around roughly 5.6 cm of fruit rather than closing empty. I’m making a short vertical lift to confirm the yellow fruit is secure.
move_to
right_z0.0950
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8371, 0.6415, -0.4835, -0.0139, -0.0341, 0.9991, 0.9863, 1.9171, 0.9699, -0.0494, 0.6994, 0.5869, 0.5884] state[eef_state]: left_x=0.2874 left_y=-0.0 left_z=0.1645 left_yaw=0.0028 left_pitch=-0.1102 left_roll=-0.0011 left_gripper=0.9991 right_x=0.3197 right_y=0.2836 right_z=0.0243 right_yaw=0.0855 right_pitch=-0.1362 right_roll=-0.1339 right_gripper=0.5884 state[joint_eff]: [-0.335, -1.3333, 7.0906, 1.7558, -0.0562, -0.0757, -0.0122, -0.1709, -9.1556, 5.3128, 1.116, 0.3443, 0.0415, 0.906] camera 'top_cam' (step 72): [image omitted: streamed camera frame] camera 'left_cam' (step 72): [image omitted: streamed camera frame] camera 'right_cam' (step 72): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.095},"note":"The jaws have settled around roughly 5.6 cm of fruit rather than closing empty. I’m making a short vertical lift to confirm the yellow fruit is secure."})
tool
executing move_to over 5 steps (0.5s)
step 77
top_cam
camera top_cam step 77
left_cam
camera left_cam step 77
right_cam
camera right_cam step 77
assistant
agent noteThe yellow fruit rose with the jaws and remains secure. I’m carrying it back above the blue bowl, high enough to clear the rim and the green fruit already inside.
move_to
right_x0.3950right_y0.1900right_z0.1900
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8371, 0.6415, -0.4877, -0.0139, -0.0338, 0.9991, 0.9863, 1.7966, 1.0798, -0.3199, 0.691, 0.5838, 0.5725] state[eef_state]: left_x=0.2867 left_y=-0.0 left_z=0.1637 left_yaw=0.0027 left_pitch=-0.1144 left_roll=-0.0007 left_gripper=0.9991 right_x=0.3161 right_y=0.2803 right_z=0.0762 right_yaw=0.0874 right_pitch=-0.167 right_roll=-0.1635 right_gripper=0.5725 state[joint_eff]: [-0.2393, -1.2786, 6.9538, 1.6777, -0.0366, -0.0366, -0.0122, -0.253, -10.5915, 7.788, 1.116, 0.3394, -0.0024, 1.033] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.395,"right_y":0.19,"right_z":0.19},"note":"The yellow fruit rose with the jaws and remains secure. I’m carrying it back above the blue bowl, high enough to clear the rim and the green fruit already inside."})
tool
executing move_to over 8 steps (0.8s)
step 85
top_cam
camera top_cam step 85
left_cam
camera left_cam step 85
right_cam
camera right_cam step 85
assistant
agent noteThe yellow fruit is directly over the blue bowl. I’m releasing it into the opening beside the green fruit.
move_to
right_z0.1350right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8406, 0.6415, -0.4919, -0.0139, -0.0338, 0.9991, 0.6243, 1.6329, 1.2747, -0.5518, 0.4732, 0.2344, 0.5754] state[eef_state]: left_x=0.2862 left_y=-0.0002 left_z=0.162 left_yaw=0.0019 left_pitch=-0.1221 left_roll=-0.0005 left_gripper=0.9991 right_x=0.3909 right_y=0.1868 right_z=0.1665 right_yaw=0.0813 right_pitch=-0.2262 right_roll=-0.198 right_gripper=0.5754 state[joint_eff]: [-0.0479, -1.6615, 7.0769, 1.6435, -0.0562, -0.0269, -0.0122, 0.0889, -10.359, 8.4718, 1.5116, 0.188, -0.0513, 0.7302] camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.135,"right_gripper":1},"note":"The yellow fruit is directly over the blue bowl. I’m releasing it into the opening beside the green fruit."})
tool
executing move_to over 5 steps (0.5s)
step 90
top_cam
camera top_cam step 90
left_cam
camera left_cam step 90
right_cam
camera right_cam step 90
assistant
agent noteBoth the yellow and green fruits are now visible in the blue bowl; only the dark fruit remains on the table. I’m parking the right arm and bringing the left gripper above that last fruit.
move_to
right_x0.2960right_y0.0000right_z0.1850left_x0.2950left_y-0.2950left_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8406, 0.6415, -0.4938, -0.0139, -0.0338, 0.9991, 0.6243, 1.6485, 1.1782, -0.4564, 0.4728, 0.2264, 0.9986] state[eef_state]: left_x=0.2859 left_y=-0.0002 left_z=0.1616 left_yaw=0.0019 left_pitch=-0.124 left_roll=-0.0005 left_gripper=0.9991 right_x=0.3878 right_y=0.1847 right_z=0.136 right_yaw=0.0839 right_pitch=-0.2417 right_roll=-0.2124 right_gripper=0.9986 state[joint_eff]: [-0.0068, -1.4974, 6.9538, 1.6239, -0.0171, -0.0611, -0.0073, -0.0752, -7.5556, 6.3932, 1.6386, 0.2125, 0.0269, -0.1587] camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.296,"right_y":0,"right_z":0.185,"left_x":0.295,"left_y":-0.295,"left_z":0.15},"note":"Both the yellow and green fruits are now visible in the blue bowl; only the dark fruit remains on the table. I’m parking the right arm and bringing the left gripper above that last fruit."})
tool
executing move_to over 27 steps (2.7s)
step 117
top_cam
camera top_cam step 117
left_cam
camera left_cam step 117
right_cam
camera right_cam step 117
assistant
agent noteThe dark fruit is slightly left of the jaw center and still ahead of the fingertips in the wrist view. I’m correcting that alignment and lowering around its sides.
move_to
left_x0.3200left_y-0.2780left_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.0786, 1.6928, 1.2282, -0.6163, -0.7246, -0.8982, 0.9991, 0.0414, 0.992, 0.87, -0.6788, 0.0986, -0.2218, 0.9986] state[eef_state]: left_x=0.2922 left_y=-0.2895 left_z=0.1395 left_yaw=-0.0 left_pitch=-0.1528 left_roll=0.0129 left_gripper=0.9991 right_x=0.2976 right_y=-0.0015 right_z=0.1863 right_yaw=0.0679 right_pitch=-0.2457 right_roll=-0.2148 right_gripper=0.9986 state[joint_eff]: [-0.6906, -7.9658, 8.3487, 1.1209, -0.5543, 0.022, -0.0122, -0.294, -2.9607, 5.7504, 1.58, -0.0806, -0.0269, -0.0122] camera 'top_cam' (step 117): [image omitted: streamed camera frame] camera 'left_cam' (step 117): [image omitted: streamed camera frame] camera 'right_cam' (step 117): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.32,"left_y":-0.278,"left_z":0.025},"note":"The dark fruit is slightly left of the jaw center and still ahead of the fingertips in the wrist view. I’m correcting that alignment and lowering around its sides."})
tool
executing move_to over 8 steps (0.8s)
step 125
top_cam
camera top_cam step 125
left_cam
camera left_cam step 125
right_cam
camera right_cam step 125
assistant
agent noteThe dark fruit is between the open jaws but a little left of center. I’m shifting about a centimetre toward its center as the gripper closes to avoid squeezing it out sideways.
move_to
left_y-0.2650left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.992, 1.8942, 0.9703, -0.112, -0.6823, -0.8082, 0.9991, 0.0372, 0.9939, 0.87, -0.6819, 0.0925, -0.2287, 0.9986] state[eef_state]: left_x=0.3178 left_y=-0.2762 left_z=0.0249 left_yaw=0.0075 left_pitch=-0.1623 left_roll=0.0228 left_gripper=0.9991 right_x=0.2972 right_y=-0.0017 right_z=0.1852 right_yaw=0.0728 right_pitch=-0.2514 right_roll=-0.215 right_gripper=0.9986 state[joint_eff]: [0.3624, -8.7453, 5.1487, 1.326, -0.3199, 0.0855, -0.0122, 0.1299, -2.5641, 6.8991, 1.5311, 0.0757, 0.0122, -0.0122] camera 'top_cam' (step 125): [image omitted: streamed camera frame] camera 'left_cam' (step 125): [image omitted: streamed camera frame] camera 'right_cam' (step 125): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.265,"left_gripper":0},"note":"The dark fruit is between the open jaws but a little left of center. I’m shifting about a centimetre toward its center as the gripper closes to avoid squeezing it out sideways."})
tool
executing move_to over 10 steps (1.0s)
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 left gripper has stopped at about 4.9 cm of spacing around the dark fruit. I’m lifting it slightly to check that it clears the table securely.
move_to
left_z0.0950
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.9813, 1.8896, 0.9405, -0.0765, -0.6807, -0.8005, 0.5174, 0.0372, 0.9966, 0.87, -0.683, 0.0921, -0.2291, 0.9986] state[eef_state]: left_x=0.3187 left_y=-0.2701 left_z=0.0213 left_yaw=0.0117 left_pitch=-0.1579 left_roll=0.0191 left_gripper=0.5174 right_x=0.2972 right_y=-0.0016 right_z=0.1843 right_yaw=0.0734 right_pitch=-0.2552 right_roll=-0.2148 right_gripper=0.9986 state[joint_eff]: [0.6906, -10.7282, 4.3692, 1.0574, -0.3101, 0.0659, 1.0183, -0.0479, -2.2769, 6.7761, 1.4969, 0.022, -0.0269, -0.0122] 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":{"left_z":0.095},"note":"The left gripper has stopped at about 4.9 cm of spacing around the dark fruit. I’m lifting it slightly to check that it clears the table securely."})
tool
executing move_to over 5 steps (0.5s)
step 140
top_cam
camera top_cam step 140
left_cam
camera left_cam step 140
right_cam
camera right_cam step 140
assistant
agent noteThe last fruit is securely lifted. The blue bowl’s center is beyond the left arm’s sideways limit, so I’ll use the right arm to shift the bowl closer before placing this fruit inside.
move_to
left_z0.1800right_x0.3950right_y0.1300right_z0.1400right_gripper0.6000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.9802, 1.7702, 1.0481, -0.3138, -0.68, -0.8089, 0.5147, 0.0372, 0.9966, 0.87, -0.6834, 0.0921, -0.2291, 0.9986] state[eef_state]: left_x=0.3188 left_y=-0.2697 left_z=0.0755 left_yaw=0.0184 left_pitch=-0.164 left_roll=0.0211 left_gripper=0.5147 right_x=0.2971 right_y=-0.0016 right_z=0.1842 right_yaw=0.0734 right_pitch=-0.2556 right_roll=-0.2148 right_gripper=0.9986 state[joint_eff]: [-0.294, -10.1128, 8.1436, 0.9158, -0.3785, 0.0464, 1.0183, -0.0479, -2.2359, 6.7761, 1.4969, 0.0024, -0.0757, -0.0171] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 140): [image omitted: streamed camera frame] camera 'left_cam' (step 140): [image omitted: streamed camera frame] camera 'right_cam' (step 140): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.18,"right_x":0.395,"right_y":0.13,"right_z":0.14,"right_gripper":0.6},"note":"The last fruit is securely lifted. The blue bowl’s center is beyond the left arm’s sideways limit, so I’ll use the right arm to shift the bowl closer before placing this fruit inside."})
tool
executing move_to over 11 steps (1.1s)
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 blue bowl’s right-hand rim is aligned with the right jaw column. I’m lowering the partly open gripper onto that rim while keeping the held fruit clear in the left hand.
move_to
right_x0.3900right_y0.1300right_z0.0480right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.9802, 1.6955, 1.3148, -0.6933, -0.6724, -0.8165, 0.5175, 0.4595, 1.5471, 1.0641, -0.4751, 0.3473, 0.0589, 0.6024] state[eef_state]: left_x=0.3181 left_y=-0.2705 left_z=0.1556 left_yaw=0.0239 left_pitch=-0.19 left_roll=0.0444 left_gripper=0.5175 right_x=0.3786 right_y=0.1242 right_z=0.1222 right_yaw=0.1076 right_pitch=-0.3347 right_roll=-0.2461 right_gripper=0.6024 state[joint_eff]: [-0.294, -10.8103, 8.8274, 1.0916, -0.4078, 0.0317, 0.8034, 0.2256, -7.5829, 8.7316, 1.4725, 0.2759, 0.1538, 0.1099] 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_x":0.39,"right_y":0.13,"right_z":0.048,"right_yaw":0,"right_pitch":0,"right_roll":0},"note":"The blue bowl’s right-hand rim is aligned with the right jaw column. I’m lowering the partly open gripper onto that rim while keeping the held fruit clear in the left hand."})
tool
executing move_to over 12 steps (1.2s)
step 163
top_cam
camera top_cam step 163
left_cam
camera left_cam step 163
right_cam
camera right_cam step 163
assistant
agent noteThe right jaws straddle the blue bowl’s rim without covering the fruit. I’m closing on the rim so the bowl can be lifted and shifted inward.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.9802, 1.6924, 1.3209, -0.7101, -0.6647, -0.8162, 0.5184, 0.477, 1.6592, 0.6258, 0.4004, 0.3866, 0.2375, 0.6024] state[eef_state]: left_x=0.3164 left_y=-0.2698 left_z=0.1565 left_yaw=0.0207 left_pitch=-0.1998 left_roll=0.0476 left_gripper=0.5184 right_x=0.3921 right_y=0.1317 right_z=0.0571 right_yaw=0.0175 right_pitch=-0.0118 right_roll=-0.0086 right_gripper=0.6024 state[joint_eff]: [-0.2667, -7.9932, 5.9419, 1.199, -0.3639, -0.0611, 0.398, 0.3214, -4.9436, 3.6718, 1.1306, 0.2125, 0.0708, -0.0073] camera 'top_cam' (step 163): [image omitted: streamed camera frame] camera 'left_cam' (step 163): [image omitted: streamed camera frame] camera 'right_cam' (step 163): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The right jaws straddle the blue bowl’s rim without covering the fruit. I’m closing on the rim so the bowl can be lifted and shifted inward."})
tool
executing move_to over 7 steps (0.7s)
step 170
top_cam
camera top_cam step 170
left_cam
camera left_cam step 170
right_cam
camera right_cam step 170
assistant
agent noteThe right gripper has closed to a thin rim-sized gap. I’m lifting the bowl a few centimetres to verify that the rim is actually secured before moving it sideways.
move_to
right_z0.1250right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.9802, 1.6924, 1.3209, -0.7113, -0.6609, -0.8162, 0.5193, 0.4759, 1.6596, 0.6186, 0.4438, 0.3847, 0.244, 0.0455] state[eef_state]: left_x=0.316 left_y=-0.2701 left_z=0.1561 left_yaw=0.0187 left_pitch=-0.2033 left_roll=0.0467 left_gripper=0.5193 right_x=0.3954 right_y=0.1332 right_z=0.0625 right_yaw=0.0144 right_pitch=0.0198 right_roll=0.0138 right_gripper=0.0455 state[joint_eff]: [-0.3487, -8.2393, 6.5846, 1.072, -0.4225, -0.0562, 0.3736, -0.0889, -6.9402, 6.147, 1.2918, 0.105, -0.105, 0.2955] camera 'top_cam' (step 170): [image omitted: streamed camera frame] camera 'left_cam' (step 170): [image omitted: streamed camera frame] camera 'right_cam' (step 170): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.125,"right_pitch":0,"right_roll":0},"note":"The right gripper has closed to a thin rim-sized gap. I’m lifting the bowl a few centimetres to verify that the rim is actually secured before moving it sideways."})
tool
executing move_to over 5 steps (0.5s)
step 175
top_cam
camera top_cam step 175
left_cam
camera left_cam step 175
right_cam
camera right_cam step 175
assistant
agent noteThe bowl did not follow the test lift securely and has shifted toward the front. I’m reopening and realigning with its new rim position for a lower, firmer grasp.
move_to
right_x0.3450right_y0.1250right_z0.0650right_gripper0.5000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.9802, 1.6924, 1.3209, -0.7113, -0.6571, -0.8162, 0.522, 0.4759, 1.5192, 0.7349, 0.1513, 0.3847, 0.2417, 0.0452] state[eef_state]: left_x=0.3156 left_y=-0.2706 left_z=0.1557 left_yaw=0.0165 left_pitch=-0.2061 left_roll=0.0448 left_gripper=0.522 right_x=0.3939 right_y=0.1325 right_z=0.1069 right_yaw=0.0157 right_pitch=-0.0123 right_roll=-0.0041 right_gripper=0.0452 state[joint_eff]: [-0.3897, -8.2256, 6.4752, 1.033, -0.4274, -0.0659, 0.6422, -0.0752, -8.0615, 8.6359, 1.8291, 0.1294, -0.0464, -0.0464] camera 'top_cam' (step 175): [image omitted: streamed camera frame] camera 'left_cam' (step 175): [image omitted: streamed camera frame] camera 'right_cam' (step 175): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.345,"right_y":0.125,"right_z":0.065,"right_gripper":0.5,"right_pitch":0,"right_roll":0},"note":"The bowl did not follow the test lift securely and has shifted toward the front. I’m reopening and realigning with its new rim position for a lower, firmer grasp."})
tool
executing move_to over 5 steps (0.5s)
step 180
top_cam
camera top_cam step 180
left_cam
camera left_cam step 180
right_cam
camera right_cam step 180
assistant
agent noteThe blue rim is now aligned at the fingertips in the wrist view. I’m lowering another four centimetres so the jaw pads engage below the lip rather than just brushing its top.
move_to
right_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.9802, 1.6924, 1.3209, -0.7143, -0.654, -0.8162, 0.5244, 0.5335, 1.4693, 0.4965, 0.3214, 0.4267, 0.2718, 0.4959] state[eef_state]: left_x=0.315 left_y=-0.2705 left_z=0.1551 left_yaw=0.0154 left_pitch=-0.21 left_roll=0.046 left_gripper=0.5244 right_x=0.3492 right_y=0.1255 right_z=0.0661 right_yaw=0.023 right_pitch=-0.0166 right_roll=-0.0097 right_gripper=0.4959 state[joint_eff]: [-0.3897, -8.2256, 6.5026, 1.1453, -0.4225, -0.0464, 0.4469, 0.5949, -5.5726, 4.7521, 1.3065, 0.1587, 0.0464, -0.1245] camera 'top_cam' (step 180): [image omitted: streamed camera frame] camera 'left_cam' (step 180): [image omitted: streamed camera frame] camera 'right_cam' (step 180): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.025},"note":"The blue rim is now aligned at the fingertips in the wrist view. I’m lowering another four centimetres so the jaw pads engage below the lip rather than just brushing its top."})
tool
executing move_to over 3 steps (0.3s)
step 183
top_cam
camera top_cam step 183
left_cam
camera left_cam step 183
right_cam
camera right_cam step 183
assistant
agent noteThe descent stopped on the lip, so one jaw was sitting on the rim rather than beside it. I’m lifting clear, opening wider, and shifting slightly toward the bowl to straddle the edge properly.
move_to
right_y0.1450right_z0.0950right_gripper0.6500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.9802, 1.6924, 1.3209, -0.7151, -0.654, -0.8162, 0.527, 0.5415, 1.4658, 0.4782, 0.355, 0.4301, 0.2783, 0.4968] state[eef_state]: left_x=0.315 left_y=-0.2703 left_z=0.155 left_yaw=0.0155 left_pitch=-0.2104 left_roll=0.0466 left_gripper=0.527 right_x=0.3476 right_y=0.1273 right_z=0.0669 right_yaw=0.0248 right_pitch=0.0007 right_roll=0.0032 right_gripper=0.4968 state[joint_eff]: [-0.3487, -8.1436, 6.4479, 1.0476, -0.3883, -0.0513, 0.2955, 0.0752, -5.6274, 4.7111, 1.6337, 0.1832, 0.0366, 0.0855] camera 'top_cam' (step 183): [image omitted: streamed camera frame] camera 'left_cam' (step 183): [image omitted: streamed camera frame] camera 'right_cam' (step 183): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.145,"right_z":0.095,"right_gripper":0.65},"note":"The descent stopped on the lip, so one jaw was sitting on the rim rather than beside it. I’m lifting clear, opening wider, and shifting slightly toward the bowl to straddle the edge properly."})
tool
executing move_to over 2 steps (0.2s)
step 185
top_cam
camera top_cam step 185
left_cam
camera left_cam step 185
right_cam
camera right_cam step 185
assistant
agent noteThe readback shows the gripper has not cleared the rim yet. I’m making a larger upward retreat so the next approach starts free of contact.
move_to
right_x0.3500right_y0.1500right_z0.1500right_gripper0.7000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.9798, 1.6924, 1.3209, -0.7151, -0.6495, -0.8162, 0.5288, 0.5407, 1.4658, 0.4782, 0.3611, 0.4339, 0.279, 0.6443] state[eef_state]: left_x=0.3146 left_y=-0.2708 left_z=0.1546 left_yaw=0.0133 left_pitch=-0.2138 left_roll=0.0444 left_gripper=0.5288 right_x=0.3485 right_y=0.1268 right_z=0.0682 right_yaw=0.0206 right_pitch=0.0071 right_roll=0.0049 right_gripper=0.6443 state[joint_eff]: [-0.1026, -8.2667, 6.4068, 1.0916, -0.3297, -0.022, 0.1783, 0.0479, -5.641, 4.6974, 1.6777, 0.1783, 0.022, -0.1001] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 185): [image omitted: streamed camera frame] camera 'left_cam' (step 185): [image omitted: streamed camera frame] camera 'right_cam' (step 185): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.15,"right_z":0.15,"right_gripper":0.7,"right_pitch":0,"right_roll":0},"note":"The readback shows the gripper has not cleared the rim yet. I’m making a larger upward retreat so the next approach starts free of contact."})
tool
executing move_to over 6 steps (0.6s)
step 191
top_cam
camera top_cam step 191
left_cam
camera left_cam step 191
right_cam
camera right_cam step 191
assistant
agent noteThe right arm is not tracking its retreat while the arms are close together. I’m separating them and bringing the held dark fruit over the reachable left side of the blue bowl instead.
move_to
left_x0.3450left_y-0.4000left_z0.1900left_pitch0.0000left_roll0.0000right_x0.2900right_y0.0200right_z0.1800
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.9802, 1.6924, 1.3209, -0.7189, -0.646, -0.8162, 0.531, 0.5415, 1.4658, 0.4763, 0.3595, 0.4335, 0.281, 0.699] state[eef_state]: left_x=0.3138 left_y=-0.2707 left_z=0.1539 left_yaw=0.0116 left_pitch=-0.2185 left_roll=0.0459 left_gripper=0.531 right_x=0.3477 right_y=0.1267 right_z=0.0672 right_yaw=0.0206 right_pitch=0.004 right_roll=0.005 right_gripper=0.699 state[joint_eff]: [-0.0342, -8.212, 6.612, 1.072, -0.4176, -0.0464, 0.2125, 0.0615, -5.4632, 4.8342, 1.6239, 0.188, -0.0171, -0.0806] 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":{"left_x":0.345,"left_y":-0.4,"left_z":0.19,"left_pitch":0,"left_roll":0,"right_x":0.29,"right_y":0.02,"right_z":0.18},"note":"The right arm is not tracking its retreat while the arms are close together. I’m separating them and bringing the held dark fruit over the reachable left side of the blue bowl instead."})
tool
executing move_to over 12 steps (1.2s)
step 203
top_cam
camera top_cam step 203
left_cam
camera left_cam step 203
assistant
agent noteThe dark fruit is above the blue bowl’s left side, with the other two fruits still inside. I’m lowering and releasing it from a short height into the bowl.
move_to
left_z0.1100left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.1137, 2.096, 1.8393, -0.7643, -0.8238, -0.8875, 0.5324, 0.1123, 0.7883, 0.5591, -0.3302, 0.1108, 0.0528, 0.6995] state[eef_state]: left_x=0.3419 left_y=-0.3934 left_z=0.1743 left_yaw=0.0069 left_pitch=-0.049 left_roll=0.007 left_gripper=0.5324 right_x=0.2944 right_y=0.0172 right_z=0.1718 right_yaw=-0.0188 right_pitch=0.0125 right_roll=0.0049 right_gripper=0.6995 state[joint_eff]: [-0.9368, -11.7538, 8.9368, 1.0232, -0.7595, 0.1001, 0.1343, -0.1573, -1.3744, 9.4564, 1.7558, -0.0904, -0.0708, 0.0415] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 203): [image omitted: streamed camera frame] camera 'left_cam' (step 203): [image omitted: streamed camera frame] camera 'right_cam' (step 203): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.11,"left_gripper":1},"note":"The dark fruit is above the blue bowl’s left side, with the other two fruits still inside. I’m lowering and releasing it from a short height into the bowl."})
tool
executing move_to over 5 steps (0.5s)
step 208
assistant
agent noteThe dark fruit has been released, but the arms obscure where it settled. I’m parking the left arm to expose the bowl and positioning the right gripper for the eventual rim grasp.
move_to
left_x0.2960left_y0.0000left_z0.1850right_x0.3450right_y0.1600right_z0.1500right_gripper0.7000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.1168, 2.1254, 1.6512, -0.5926, -0.8181, -0.8906, 0.9951, 0.1123, 0.7929, 0.5632, -0.363, 0.0994, 0.0364, 0.6996] state[eef_state]: left_x=0.3369 left_y=-0.3881 left_z=0.111 left_yaw=0.0051 left_pitch=-0.0733 left_roll=0.0437 left_gripper=0.9951 right_x=0.2908 right_y=0.0188 right_z=0.1656 right_yaw=-0.0004 right_pitch=-0.0212 right_roll=-0.0067 right_gripper=0.6996 state[joint_eff]: [0.2393, -11.0701, 6.4615, 1.3358, -0.4322, 0.0073, 0.0073, -0.0479, -1.4427, 6.7214, 2.044, 0.105, 0.1099, -0.0073] camera 'top_cam' (step 208): [image omitted: streamed camera frame] camera 'left_cam' (step 208): [image omitted: streamed camera frame] camera 'right_cam' (step 208): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.296,"left_y":0,"left_z":0.185,"right_x":0.345,"right_y":0.16,"right_z":0.15,"right_gripper":0.7,"right_pitch":0,"right_roll":0},"note":"The dark fruit has been released, but the arms obscure where it settled. I’m parking the left arm to expose the bowl and positioning the right gripper for the eventual rim grasp."})
tool
executing move_to over 35 steps (3.5s)
step 243
assistant
agent noteThe green and yellow fruits are in the blue bowl, but the dark fruit bounced out during release and rolled to the far end of the table, beyond the arms’ table-level reach. I cannot safely retrieve it to complete the required sequence, so I have not poured the bowl.
give_up
hindsightThe blue bowl began beyond the left arm’s sideways limit; use the right arm for all fruit placements rather than releasing from the left arm at its limit. A release over the bowl’s edge can launch a rounded fruit across the table. My first rim grasp at z≈0.06 did not hold the bowl, despite a gripper reading near 0.045; confirm bowl motion visually after lifting. Both arms near the bowl also caused the right arm to stop tracking; parking the left arm restored motion.
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0811, 0.8707, 0.6971, -0.4812, -0.1352, -0.0769, 0.9962, 0.6674, 1.3346, 0.7444, -0.1577, 0.5274, 0.3595, 0.6996] state[eef_state]: left_x=0.2974 left_y=0.0033 left_z=0.1816 left_yaw=0.0684 left_pitch=-0.0792 left_roll=0.038 left_gripper=0.9962 right_x=0.3344 right_y=0.1549 right_z=0.1309 right_yaw=0.0283 right_pitch=-0.0608 right_roll=-0.0445 right_gripper=0.6996 state[joint_eff]: [0.1983, -2.4274, 7.2137, 1.7509, 0.1538, 0.1441, 0.0952, 0.3487, -4.7795, 9.2513, 1.7753, 0.3932, 0.2222, -0.0562] camera 'top_cam' (step 243): [image omitted: streamed camera frame] camera 'left_cam' (step 243): [image omitted: streamed camera frame] camera 'right_cam' (step 243): [image omitted: streamed camera frame]
assistant
give_up({"reason":"The green and yellow fruits are in the blue bowl, but the dark fruit bounced out during release and rolled to the far end of the table, beyond the arms’ table-level reach. I cannot safely retrieve it to complete the required sequence, so I have not poured the bowl.","hindsight":"The blue bowl began beyond the left arm’s sideways limit; use the right arm for all fruit placements rather than releasing from the left arm at its limit. A release over the bowl’s edge can launch a rounded fruit across the table. My first rim grasp at z≈0.06 did not hold the bowl, despite a gripper reading near 0.045; confirm bowl motion visually after lifting. Both arms near the bowl also caused the right arm to stop tracking; parking the left arm restored motion."})
tool
give_up: The green and yellow fruits are in the blue bowl, but the dark fruit bounced out during release and rolled to the far end of the table, beyond the arms’ table-level reach. I cannot safely retrieve it to complete the required sequence, so I have not poured the bowl.
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 · 5.784 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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8001, 0.6136, -0.3824, -0.0143, -0.0299, 0.9992, -0.0227, 0.8005, 0.6189, -0.3866, -0.017, -0.033, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=-0.0004 left_z=0.1822 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9992 right_x=0.2961 right_y=-0.0001 right_z=0.1837 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.5128, -1.6205, 9.6068, 1.7802, -0.0952, 0.1343, -0.0952, -0.1436, -1.6068, 9.1282, 1.9072, -0.0855, 0.1734, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbfadb531f240049835e4df58a4f3d853cba62a4961955a07ee42dd751206d26",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a2a823094556f8955c178bca643f5b97786d4ecc84b672c04c01bf812e32937",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f7f499d05241f18d3d03e6e787062963ff824130ddb3fc6c7f9da645ede2e70",
      "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 · 2.707 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtHqm9PSOCR7U2B5pxJIi2Hq6y2yPddMGfwyy6ra2v2hMvbD1IZ_MqNx4u1CmkEOzsY1b7SFZxYHzNSYWY8naRBWCZ76SMconWpGJb9hiILYpCB1zVRDNUEBXFzhCWZwZSW7aTpNVu_wIyBsvn1xTc7ZvIgcEE53XHn9VqX7sdHI5J1qccVytmKawPw5sE8l6woKB97i6Qg7xm2seyLbqMN9I6QDZJ7oPwhRAVgfS7jIolodrQvHu8EvWgxfBcKg-kkY06H2fscIn3wxMYvXg3Sl3iBHL-hqkLO3ompsQC5XEj9BDzTnIt_5TED4HqaniOuAKl-W7PUT6igH5Y6tuKJmWFrSxu4L-xrfxDD2ahcMj8oLQDY4LGZQ5cemSEHJTv-Zp4JY_BSI9HRUpHFQkvMIZAGec1NJFWjl32lC-zSW5vwupH4JPjHC86w3ps8LuhhATyzHDiUiTtyUyxrNYeht0UOqRZfA7zanz_X0mpWuvXpkIsrL--fnN3ITy219oG3Lu3j0vWaq2XNpxGTShADyZf3TNwnYWcPtxp8RZCX9_2koOjp7n1AnfxZ-ekPrRbP8p2p6AtHEMyCd8Ogpzmth9XdRnbgd8SajWb_v3pZD-YRH7urSTwHqyBmwG1_b1aEsf5cDQsvOuuO61GjJipAudu1xI-bMUVWPQo3hrw53Y1z1RKuSFdsA9h3JLixpdAZkkSYkYLVZ1nAvWNe1isoz-pSCqKtR18S3K6CLeeoqhX-1GVFFIm3gdaeVo2Q9JSCG85oQtuguL2xCrO-I-SD7ecJuf-7giDDlONxCz46H98ctps4uAe_g0UmQ7y5NsmtGhgoau2lbqYYua42JIff4ppknTnKfEJuyOTPX6C6daHZ-BU22bpns5ZOK9EwzSrEN4-yqzUaf-HBIzZaH6B88I4QWzFPYyRNCT9VJsCo2gCib7aYNV8q_TuU3-RuK7DI33CSHkinK9RQMiHAauHckIyF7I2kXamCCS9VNfXwnouzeXh1EjwzHgCWYmJjeiWI1QRHhw2XI53Ctu1PUe75yAZUE9cpR3DfvXADUmY3X-pQg7TAYfjq6nlNHzrtxlX7Gg4iNv_57AzeyXWVkv_Bw9BmmDfmWmC38Wn9p26UV8Zdfolo2WBHdA67NqVKnBiCMfA7L56DLmiBuw7yGr1NhzVfDHm3NUJCvlbQuUq-X7DwLq0hraRZp_u8soA0equoGop7MqGhFf6r21rUPcf-QFCnjhKBaxtBcD3nIhIy-yH16SKS0IfyvS9m_G9qo1XpC3SvUcrcW3PzQs1Ylj_2qJF9Xxye2G5LuNBC2f9QrEkPUijVQQoZwLGdAzx4wu42N0X4jGEDmICd-yM5imwcGgX3kQTotowx410F7_p9Lyu__YIfSh49aTz-ODBu2qD4ml_9VnH6I7HlHRQ_edwfrIyUnmtGbKkUZws24hAknZE-FioyGd-56E0RrZtuu_KCeviwcauD0dqViSEV0UGbpNsNj7Kan1SDI6W2RDp7ntZwIBDdCE5EXd-pDFSoq7E9qAANg9bZi7fRIjRZH8JHZPAZc8CfrLKgt9sy-k9WLAnCFGBeFQMPsX8_e993rYnBMRBkyT1iDROIHNhHt1UspUn_TjyKlKRav1sl-Z1qlnRHaBMjoRh8WtspX5X4Cn8XnZv62o2585GNGzUB1J8eJWbqguabEiosoyRI2ozaan3G07vqCRLBebr5me-sTsfYmYRTGBocbsWOcUc4sAvqY3c7ZD4TSdlOzQXQV5MraEk3QV5zP4nZ6P7Tm-YDwtdH6-2i1IGUUIFOMVxppRlPdT3sT68kSfjv04KaNRDRwgZgieZnKIgZ9Q4OVltgRjVc9qSNMxnyS2-dXwP1TQ15rwTanugPmVmMH27wJt_iz7GLZWdgGhVhfEvFfaZ8bMpDwl9Ri6eYJYW-I0Jyfz4FOwlPm5EGOCqM9gOSMwthXciA05zES6G2uPnzSjZmX1KJIc4q99mEw6oGWk76GlUUWA4NEhHDTHl-YUv3tguciWR4Xmve2ZGxODcZDlvFqoGY6Pt6Dbt_kxV0PHw2ai7n2heKT0ga5bDmkRYgoCiOb4jkZCKan2Sx2F9fnRiFXYzSei5lsAUtwjNWcsT0S5HmDvSA==",
  "id": "rs_0a4dbf1c482c6499016ab47aa1fe9087d0bbbbdf701ac38851",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.09,\"right_z\":0.15,\"right_gripper\":1},\"note\":\"I see three fruits around the blue bowl: a green fruit on its right, a yellow fruit on its left, and a dark fruit farther left. I’m bringing the right gripper above the green fruit to align for a gentle grasp.\"}",
  "call_id": "call_Rad9SK87hV3TB6l0cOmoZv3E",
  "id": "fc_0a4dbf1c482c6499016ab47aa54ce487d098a3d2eea6782d14",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Rad9SK87hV3TB6l0cOmoZv3E",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8013, 0.6132, -0.3897, -0.0139, -0.0311, 0.9991, 0.469, 1.0664, 0.5896, -0.1844, 0.3706, 0.2214, 0.9994]\nstate[eef_state]: left_x=0.2951 left_y=-0.0004 left_z=0.1802 left_yaw=0.0003 left_pitch=-0.0088 left_roll=-0.001 left_gripper=0.9991 right_x=0.3154 right_y=0.0921 right_z=0.14 right_yaw=0.0308 right_pitch=-0.0416 right_roll=-0.0254 right_gripper=0.9994\nstate[joint_eff]: [-0.0752, -1.1966, 7.0906, 1.7802, -0.0708, -0.0464, -0.0171, -0.4855, -3.7128, 7.0769, 1.8828, 0.3541, 0.2271, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99c97b758bebcf18529a6468de3a7e73381bfd08905309e3c7144c5caee3abae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e64c79813e84a1aaa29ae74a85ae5025504adb8844c4f2ac3478155f645715f9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b31e0f72ea706c59a1f715b6b5fb28c5075db043971c7f348f1eeab1e0d0e1d",
      "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 · 2.253 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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8001, 0.6136, -0.3824, -0.0143, -0.0299, 0.9992, -0.0227, 0.8005, 0.6189, -0.3866, -0.017, -0.033, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=-0.0004 left_z=0.1822 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9992 right_x=0.2961 right_y=-0.0001 right_z=0.1837 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.5128, -1.6205, 9.6068, 1.7802, -0.0952, 0.1343, -0.0952, -0.1436, -1.6068, 9.1282, 1.9072, -0.0855, 0.1734, -0.0708]",
      "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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8013, 0.6132, -0.3897, -0.0139, -0.0311, 0.9991, 0.469, 1.0664, 0.5896, -0.1844, 0.3706, 0.2214, 0.9994]\nstate[eef_state]: left_x=0.2951 left_y=-0.0004 left_z=0.1802 left_yaw=0.0003 left_pitch=-0.0088 left_roll=-0.001 left_gripper=0.9991 right_x=0.3154 right_y=0.0921 right_z=0.14 right_yaw=0.0308 right_pitch=-0.0416 right_roll=-0.0254 right_gripper=0.9994\nstate[joint_eff]: [-0.0752, -1.1966, 7.0906, 1.7802, -0.0708, -0.0464, -0.0171, -0.4855, -3.7128, 7.0769, 1.8828, 0.3541, 0.2271, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99c97b758bebcf18529a6468de3a7e73381bfd08905309e3c7144c5caee3abae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e64c79813e84a1aaa29ae74a85ae5025504adb8844c4f2ac3478155f645715f9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b31e0f72ea706c59a1f715b6b5fb28c5075db043971c7f348f1eeab1e0d0e1d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHquc-QwFF2tBsWmZ1RsPKlz7ZidyLnjB47srHKs6-zxod-543gDOp6F8P5DRWrvgBxLSj5fgKfiSJUeFSg8HGVIFGC3sWrgZNdXTli53B1stTlj_8NjwNNFLTCjqfq5MWh7NaoWDkbocRz_naiGKgCB8WhgOobx4zVY_B8ursKQeiZnp6r8zt9uFggkLDInJtBrHj9jUVIVK9q1kKu3PAlH5NbSDmRE8ULLUt49T5jx9Fzccyvps-IYeT1aE7kHT5BJlmYtIHNWtyLahXbZ9Kq5-r0p58Txo7t7sHNhjFi5K8xqt8_0-JhgISyY8MCHASU0bhe0rGPXr692OvrKOLq4EuuxgpaIabtfb6l0ZknEjKSgIHHKkSYbmVKfJhvjVXpClQwucUKKlP9P_c_gQmqWCMVrrOyWNwIk7RfsyOH_hZOf1l6t80KTo7XuRAnWVHtl9fgzafkWvO2vMDQpO9EtDBE8-uZmpoJd0moT4c5VTdgQ0k2HeK_cTC_kHNg40YHgUdFVtwZPn4x4cvVRhOaOZFFVH1THl7ESkoyGpC_V71-APhuvnogIXJThcQh0Vu1kS23icRYP2Z7iMo3jMvX5HO_PjZ__fDbZTEdlNO3zEsNi73ZXO2U4BYssvklOTuo7Onp1wGCvW-go6jSXvBhFZmzyySPUYwPQWquHQ40FUzSd-309rfTaO66oyG8kh1g4wIeNGMEfxvWKnfaarBGjQV2GXLLdNZzVVCeKNka4VgQX1KtuW6dIgwWlYvuo00ivdCWLEIrik1BBEMYgK6Ap6Zkwe6n77s1JfgoJwSshTZFHFHNCXnal4LHbe_xQUAIXghzQ4QeSMx1aJP7hxUgmG3xIrkCzCSGyoSmQvDQuzVhjqk9ti_8pjlTvFJwswmh91c351CEEqE_800wbZ4zcH7NM19yTVgPyUp4I-bmkchxuEYOa5uRC7wNoYw89FQHxzY1_jtpI12j5za9Q9u5r-CsI2svQSUODE_KKoPKURu_KyX-biU7LPGeggZ0akjLipZyMBPP4C4crqaWm848aK1RKcx6zfclkwGv8IJVlkQqrfpDpo0aR19y4AT0bqnhiXYFKyniXYLJuDjep5WdzlIp2ePtoUafifccsLbyxchrttptjEAIJuVcvzhENRajQbikhy0ZKQppK1Z2y_nCO2T3S0oxKPxCujS5FSzcKtealxwGhlw7SZoeTBiJJmBy8oS5SWpEx1ZKdDGNyYehP5h4rT7uxyA-DT94VAK5tdZZ3OJ6C8LlR6_J8sIQ_sct8pOGVPjGubkjxWFM8kKxPdVx_OvHm3CiWuoQo_xEDx3mnFJ35aURuNZ7d1PbbVKWPl0HFai43f82mwJVn6Ec9LQ==",
  "id": "rs_0a4dbf1c482c6499016ab47aad030487d0b80abbf850197116",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.035},\"note\":\"The right gripper is over the green fruit, which is now hidden beneath the fingertips; the blue bowl remains just to its left. I’m lowering straight down to grasp the fruit around its sides.\"}",
  "call_id": "call_sxT8d7Zn81zLaksMe6cQGn2b",
  "id": "fc_0a4dbf1c482c6499016ab47aad7e5887d0bda4623b1e032043",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sxT8d7Zn81zLaksMe6cQGn2b",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4007, -0.0139, -0.0334, 0.9991, 0.4648, 1.3876, 0.3016, 0.4561, 0.4, 0.202, 0.9993]\nstate[eef_state]: left_x=0.2939 left_y=-0.0004 left_z=0.1767 left_yaw=0.0015 left_pitch=-0.0244 left_roll=-0.0025 left_gripper=0.9991 right_x=0.3219 right_y=0.0885 right_z=0.0458 right_yaw=0.0136 right_pitch=-0.0062 right_roll=-0.0441 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, -1.4701, 7.0906, 1.8242, -0.0366, -0.0513, -0.0073, 0.294, -3.1521, 4.2051, 1.5702, -0.1197, 0.1294, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b834f921e7331cd2b3dafe07bc4fedd2a8174e37aaec4fa3175bf4c73d4c1d42",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d0be49e344ec8b8ce2a6f2bff87e67af9d0601c5f4453a0cd749c26ba02dbe2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a52ba2e4a5c44e9fc7ddf11e7e4645d7f40aa27903a4a900d330a1cc1b137f5c",
      "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 · 2.379 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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8013, 0.6132, -0.3897, -0.0139, -0.0311, 0.9991, 0.469, 1.0664, 0.5896, -0.1844, 0.3706, 0.2214, 0.9994]\nstate[eef_state]: left_x=0.2951 left_y=-0.0004 left_z=0.1802 left_yaw=0.0003 left_pitch=-0.0088 left_roll=-0.001 left_gripper=0.9991 right_x=0.3154 right_y=0.0921 right_z=0.14 right_yaw=0.0308 right_pitch=-0.0416 right_roll=-0.0254 right_gripper=0.9994\nstate[joint_eff]: [-0.0752, -1.1966, 7.0906, 1.7802, -0.0708, -0.0464, -0.0171, -0.4855, -3.7128, 7.0769, 1.8828, 0.3541, 0.2271, -0.0757]",
      "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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4007, -0.0139, -0.0334, 0.9991, 0.4648, 1.3876, 0.3016, 0.4561, 0.4, 0.202, 0.9993]\nstate[eef_state]: left_x=0.2939 left_y=-0.0004 left_z=0.1767 left_yaw=0.0015 left_pitch=-0.0244 left_roll=-0.0025 left_gripper=0.9991 right_x=0.3219 right_y=0.0885 right_z=0.0458 right_yaw=0.0136 right_pitch=-0.0062 right_roll=-0.0441 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, -1.4701, 7.0906, 1.8242, -0.0366, -0.0513, -0.0073, 0.294, -3.1521, 4.2051, 1.5702, -0.1197, 0.1294, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b834f921e7331cd2b3dafe07bc4fedd2a8174e37aaec4fa3175bf4c73d4c1d42",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d0be49e344ec8b8ce2a6f2bff87e67af9d0601c5f4453a0cd749c26ba02dbe2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a52ba2e4a5c44e9fc7ddf11e7e4645d7f40aa27903a4a900d330a1cc1b137f5c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The green fruit sits between the open right jaws near the bottom of the wrist view. I’m closing the gripper to secure it before a short test lift.\"}",
  "call_id": "call_mOy6Ivv3SgeOktk0BfYIIJCH",
  "id": "fc_0a4dbf1c482c6499016ab47ab284f487d096979c14c64a98b6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mOy6Ivv3SgeOktk0BfYIIJCH",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4084, -0.0139, -0.0338, 0.9991, 0.4618, 1.3846, 0.3035, 0.4778, 0.408, 0.1936, 0.4103]\nstate[eef_state]: left_x=0.2928 left_y=-0.0004 left_z=0.1751 left_yaw=0.0017 left_pitch=-0.0321 left_roll=-0.0027 left_gripper=0.9991 right_x=0.3257 right_y=0.0878 right_z=0.0519 right_yaw=0.0084 right_pitch=0.0196 right_roll=-0.0437 right_gripper=0.4103\nstate[joint_eff]: [-0.1846, -1.3333, 7.0496, 1.79, -0.0513, -0.0757, -0.0122, 0.1299, -3.959, 5.1214, 1.4823, 0.0171, 0.0366, 0.9646]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30e8015a65d88af4b8766c7ed03aa02f5d9dc5df0aaa334f2d82f190804247be",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26bfde46b40c8559c22a2b7cf5a0726f2afaf1b4e140ff5c5a2c1d68bbe8891d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b108cc191d49f86cda62b7be50aa3e252da8dca276fa9219c0b507d32c52314a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /responses · status 200 · 3.952 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 10 changed as sent

message 13 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8001, 0.6136, -0.3824, -0.0143, -0.0299, 0.9992, -0.0227, 0.8005, 0.6189, -0.3866, -0.017, -0.033, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=-0.0004 left_z=0.1822 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9992 right_x=0.2961 right_y=-0.0001 right_z=0.1837 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.5128, -1.6205, 9.6068, 1.7802, -0.0952, 0.1343, -0.0952, -0.1436, -1.6068, 9.1282, 1.9072, -0.0855, 0.1734, -0.0708]",
      "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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4007, -0.0139, -0.0334, 0.9991, 0.4648, 1.3876, 0.3016, 0.4561, 0.4, 0.202, 0.9993]\nstate[eef_state]: left_x=0.2939 left_y=-0.0004 left_z=0.1767 left_yaw=0.0015 left_pitch=-0.0244 left_roll=-0.0025 left_gripper=0.9991 right_x=0.3219 right_y=0.0885 right_z=0.0458 right_yaw=0.0136 right_pitch=-0.0062 right_roll=-0.0441 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, -1.4701, 7.0906, 1.8242, -0.0366, -0.0513, -0.0073, 0.294, -3.1521, 4.2051, 1.5702, -0.1197, 0.1294, -0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4084, -0.0139, -0.0338, 0.9991, 0.4618, 1.3846, 0.3035, 0.4778, 0.408, 0.1936, 0.4103]\nstate[eef_state]: left_x=0.2928 left_y=-0.0004 left_z=0.1751 left_yaw=0.0017 left_pitch=-0.0321 left_roll=-0.0027 left_gripper=0.9991 right_x=0.3257 right_y=0.0878 right_z=0.0519 right_yaw=0.0084 right_pitch=0.0196 right_roll=-0.0437 right_gripper=0.4103\nstate[joint_eff]: [-0.1846, -1.3333, 7.0496, 1.79, -0.0513, -0.0757, -0.0122, 0.1299, -3.959, 5.1214, 1.4823, 0.0171, 0.0366, 0.9646]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30e8015a65d88af4b8766c7ed03aa02f5d9dc5df0aaa334f2d82f190804247be",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26bfde46b40c8559c22a2b7cf5a0726f2afaf1b4e140ff5c5a2c1d68bbe8891d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b108cc191d49f86cda62b7be50aa3e252da8dca276fa9219c0b507d32c52314a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHq2UJCIg1GsOzr44aB1QaosfTKKveejUE4eMpaOe7EGKAeoFwnYkfvz-qg6pASreOsgHYUDChUDo9XX8lHbf45Za_KkPz4ktb2AKfICyIBaTltuUd1TKLHot3pGqIANCxSF-XUGUltyS3RE5MSK4tOe807prrSYzpQSM96AcDytHWp0PEJZ5q92EuMeppzVfPyzJbUrLlX9wM0yfuNiAGmPLsD9JcXom9gmxPtNK5blcsSZBeJXM_nsctY-smZ8R9GWlQCkSC4OW-LcQ0MWVnd-ADqymu9Y6kNtYRGg49HXXmcRkPbJscHBX7dNMOXMd9XT-cMTcoIyxRyeYPDsM8NjXRX0YK6VHEvFxYIVVYNYT3vfB7ThIu1dg9b49LMsZzXCP8g51eUtaUP3V-uv8aIxRieD1QWystZvXuNAFYmAGOdoyQi5WNypElmYVhEPSgm1fgsgqyJ3dkDp-BT6dP_sPExjl_dZd8mz3k6DtwQS5xQgnxSFW1CBPTPb5ITjMKY8yIouRH4jNVN6v-pcNMgRGhfbumqh7EMVm2vglXspCRQEKSUBDbCwdp0EQh7zyAI3SeutL0rvybVpC1IBhyqZIe56NiUo-Zv2pqq4G5_P6guL6j7fL5nbnNVYtWrq065fIid6OiP69KHSV5fpY2xpoEPErTbdALtmrTyg4CD-8ZYaX60hHg4dcM4B49MiQ_CfJfLgHi18wPDdC93r2Ag0WWeN_28lq2yhUeRep4eGBvBuJP3j8qKIIlm8qb56x1y4TQfriWdZbSRnZ1MH9ffIzIhMQcXqupRy7WJ-Ziz8kuKgNUiIFlrcxX0P9uoX8Qupzhf5O7Yxa-AG-ySVfaqL2zsZaEmUdTXXlgMHRnGMQkTyoGYupvOVp92G1-YyVyOD9-9TEW3944bVj4wSgKqvJo7-58wqXyg7SUFnomPL3Y2CZLOodfYV9oaO-iJ4dgGedmM5XQiAusfCi1DIDZLH9Uhv5yz0FKyHNwilunIKKizV13qGF228Ji5RWo_dAlWHh-wbEvmRres25DgxSN3qa7XIXsXNqMCDmy5qgbUrVaOD8111Yj-2l8T0oghrlcA5o-77RKN0c_ffxxn5BwtEuoboAEReMST_pBwjdGMi4auW4TvNOCLMvY1ArhccKtmkF7qUwQNANRzBd0WKzvRlQE_xzneQJFTrZ72Fhj8FK45pnkHC3yctCev4BAXRTeC65R_hGKyMHknCyNbOrpDb0w==",
  "id": "rs_0a4dbf1c482c6499016ab47ab5996887d09f954f13091838e7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.115},\"note\":\"The gripper stopped at about 4 cm of jaw spacing, consistent with holding the green fruit. I’m lifting a few centimetres to confirm it comes off the table with the gripper.\"}",
  "call_id": "call_iDKKVwTlpsxCkUPOtqtJaf1O",
  "id": "fc_0a4dbf1c482c6499016ab47ab5e8c487d08bec1370e350c776",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iDKKVwTlpsxCkUPOtqtJaf1O",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8085, 0.6132, -0.4217, -0.0135, -0.0338, 0.9991, 0.4618, 1.1568, 0.4404, 0.0746, 0.3954, 0.1909, 0.4127]\nstate[eef_state]: left_x=0.2911 left_y=-0.0004 left_z=0.1717 left_yaw=0.0014 left_pitch=-0.0481 left_roll=-0.0025 left_gripper=0.9991 right_x=0.3195 right_y=0.087 right_z=0.0987 right_yaw=0.0201 right_pitch=-0.0184 right_roll=-0.056 right_gripper=0.4127\nstate[joint_eff]: [-0.2393, -1.1556, 7.0085, 1.8437, -0.0366, -0.0317, -0.0073, -0.1573, -4.506, 9.1692, 1.6532, 0.2173, -0.0171, 0.2466]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec97b8b359a7fa35985c291eb1cfe9ed69a9620cfc217ae40047e971d4a647a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbe16c36e97ba89d1a850500444155c81e92c523a170dddabd0063bee7b31832",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86dd51b226e8119b638fc105da3d471649eca84aedca921e5f097360201ab75a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /responses · status 200 · 3.138 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 13 changed as sent

message 17 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8013, 0.6132, -0.3897, -0.0139, -0.0311, 0.9991, 0.469, 1.0664, 0.5896, -0.1844, 0.3706, 0.2214, 0.9994]\nstate[eef_state]: left_x=0.2951 left_y=-0.0004 left_z=0.1802 left_yaw=0.0003 left_pitch=-0.0088 left_roll=-0.001 left_gripper=0.9991 right_x=0.3154 right_y=0.0921 right_z=0.14 right_yaw=0.0308 right_pitch=-0.0416 right_roll=-0.0254 right_gripper=0.9994\nstate[joint_eff]: [-0.0752, -1.1966, 7.0906, 1.7802, -0.0708, -0.0464, -0.0171, -0.4855, -3.7128, 7.0769, 1.8828, 0.3541, 0.2271, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4084, -0.0139, -0.0338, 0.9991, 0.4618, 1.3846, 0.3035, 0.4778, 0.408, 0.1936, 0.4103]\nstate[eef_state]: left_x=0.2928 left_y=-0.0004 left_z=0.1751 left_yaw=0.0017 left_pitch=-0.0321 left_roll=-0.0027 left_gripper=0.9991 right_x=0.3257 right_y=0.0878 right_z=0.0519 right_yaw=0.0084 right_pitch=0.0196 right_roll=-0.0437 right_gripper=0.4103\nstate[joint_eff]: [-0.1846, -1.3333, 7.0496, 1.79, -0.0513, -0.0757, -0.0122, 0.1299, -3.959, 5.1214, 1.4823, 0.0171, 0.0366, 0.9646]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8085, 0.6132, -0.4217, -0.0135, -0.0338, 0.9991, 0.4618, 1.1568, 0.4404, 0.0746, 0.3954, 0.1909, 0.4127]\nstate[eef_state]: left_x=0.2911 left_y=-0.0004 left_z=0.1717 left_yaw=0.0014 left_pitch=-0.0481 left_roll=-0.0025 left_gripper=0.9991 right_x=0.3195 right_y=0.087 right_z=0.0987 right_yaw=0.0201 right_pitch=-0.0184 right_roll=-0.056 right_gripper=0.4127\nstate[joint_eff]: [-0.2393, -1.1556, 7.0085, 1.8437, -0.0366, -0.0317, -0.0073, -0.1573, -4.506, 9.1692, 1.6532, 0.2173, -0.0171, 0.2466]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec97b8b359a7fa35985c291eb1cfe9ed69a9620cfc217ae40047e971d4a647a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbe16c36e97ba89d1a850500444155c81e92c523a170dddabd0063bee7b31832",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86dd51b226e8119b638fc105da3d471649eca84aedca921e5f097360201ab75a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHq7y0CKQvdPAJrdx3uZHwrLrLILeuLH7g5Nk3u3xTzPdi6jYiQIHEfz0bdM6xRfJCMAdQTiJrjbu-vIxSLYyVxfHFvqptLBfyXEmovhVLPQFmW2fM6PIo5gJgaoyMpfEiYvpfoNxKGNfYTJCyLJnLKqLo-kGxb1H-y00Jt6wW2jbkc2ESIh3b7SC9tnC08gR8yYPT6zvm-x7on4Qx_XrQo1tFavNOwFwhzPhV3PlyZw-xLWBM6p69uYDVsqicM128DFrnT6O_bnEINetoXpR0XleVC_ZS7IY2EPpbsxfTzsrJYi13KXE4_6XFOmKrldyKq0xTanFV5oZfS2SIbrnSKhT1OqqcrvKxh6tjAdMuXnAgXFBRVMcaVa4Asdri4hGpdmbfSzWOHOg1zL7ygEgMWtAWJvtr9Hk4reLdNcfhwi8UNhtZhfnwgedCJtWRfXdAYN3GuOlVJm9PRExrz7WywUEfDxihjiJLG1qj4gXsX_pnMxezOXTUtvGtEee3oTgFs775dHil6znTRB54Y8rMyNSYnfcqhjzdYncabUntT7qKJwqv-Vkk4KmCwlgrpF3-tkfJO-uG3V3Or8SXqJctKhaibsNagCOfFA9PA6K3XorR-HT5yBcPmcBPyVt8ZkuqW-E8m3iH8jpvHoBFewdOu__oCSFpg74M0nNndjyOIplc1GsMGBLmNfSKpiQSnCP6ToB9yV7y-fZa6E0ueY_9P0C3V-zjreCXHBlrzm7fyr65lEll7EDHoI2eyaw_iNWVikaJxC4WI0pRY8eC8J1-dk1xhrQL6EKpjs6wPPXBRk6gXQk2q1twbEjUdsXdyDuY3lp1YknpI84sqPwUVtlSOqSycnnxF7HwcVPZwtH-tKcg4yGPVNo9QP5nIatIL6WhYIQnWx1NwFzAUcUGmHYTV_FFg0wYWxGWkY_e-vQJZknMD_6FE07nNNAUeJLckHx69Px9C5mmH4_A_RWTabJnnu7dOy8wlhJ7tWOBGUpBc4cZ3cZFJwnbalJ_nRbE4qp4VX2UscWEGkXh6eqXYTf6PBdzgQeyGIO_qmEihA87oeUXz8PMvwwRzWZWv2g3gR-D8st5iTELjZ_dvPs9aF3YFLLkznuijCbWvx--yh4vsAKorRgL-O6C06Neoa48mggPWx6SkvuiVM_ppVXCMlgCuPPsYfQv6BXSOdHZRzYAIl-WXugBcEXn1gv6OERIJcfJ-iHytLdLNxv9xK-SzTyPBn-25X9MEn7YGrvrviad7-MN7tLgI4b2bHgZxUkSLDiGwovRGQAnCCHyTYu6LQxmYanXr2SomHixhPGwoGSJfy3A3ju6Ov-GjueY1ezrmcLo99sLaCAJ06SxJxdGk5kX9iDrhy2MkGuyOmlp2jb18wfmGC06A0X2X1BZPmw1-RnZTU_Nu5zvNtertGmZWEfUq0uqKzf2JWk1EeuDncY4sQYvVWlIFAIVh3QH1_jznUBjmQRjmUeYQE9JSym-as78Fee_uOaejVuVZLt7js7x99FoT08fEH8sV7JfcTb4egUmdFidUxjP3jfIAD_v7QzVWi5w==",
  "id": "rs_0a4dbf1c482c6499016ab47ab92abc87d0b17069b6adfabf93",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.395,\"right_y\":0.19,\"right_z\":0.18,\"left_x\":0.296,\"left_y\":0,\"left_z\":0.185},\"note\":\"The green fruit has lifted with the right gripper and is no longer on the table. I’m carrying it above the blue bowl while returning the idle left arm to its parked height.\"}",
  "call_id": "call_3Wfady0tgDzy03BQScF61hZd",
  "id": "fc_0a4dbf1c482c6499016ab47aba9a6087d0b6c38378dd689b37",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3Wfady0tgDzy03BQScF61hZd",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0208, 0.8368, 0.6426, -0.4721, -0.0135, -0.0338, 0.9991, 0.6491, 1.552, 1.0687, -0.2707, 0.5201, 0.3069, 0.4155]\nstate[eef_state]: left_x=0.2893 left_y=-0.0 left_z=0.1673 left_yaw=0.0027 left_pitch=-0.0973 left_roll=-0.0013 left_gripper=0.9991 right_x=0.3877 right_y=0.1885 right_z=0.1625 right_yaw=0.0436 right_pitch=-0.0707 right_roll=-0.0865 right_gripper=0.4155\nstate[joint_eff]: [0.1299, -1.306, 9.4974, 1.8486, 0.0269, -0.0122, -0.0073, -0.0752, -7.6786, 8.8137, 1.7265, 0.3785, 0.1099, 0.2808]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63222a10f6be7e42b2dd21f3bc335f57e18009a0ae6812cc51db27cb60b94793",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c490290f74ae67e1e3ff919ceecdd2ddb717d1cda27cb77285dd20eae95fcf5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4026420a070a8ece08e9fd7df14e0dd3b9e0e88b4729853db935f3942b69b4d6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 4.623 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 10 changed as sent

message 17 changed as sent

message 21 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4007, -0.0139, -0.0334, 0.9991, 0.4648, 1.3876, 0.3016, 0.4561, 0.4, 0.202, 0.9993]\nstate[eef_state]: left_x=0.2939 left_y=-0.0004 left_z=0.1767 left_yaw=0.0015 left_pitch=-0.0244 left_roll=-0.0025 left_gripper=0.9991 right_x=0.3219 right_y=0.0885 right_z=0.0458 right_yaw=0.0136 right_pitch=-0.0062 right_roll=-0.0441 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, -1.4701, 7.0906, 1.8242, -0.0366, -0.0513, -0.0073, 0.294, -3.1521, 4.2051, 1.5702, -0.1197, 0.1294, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8085, 0.6132, -0.4217, -0.0135, -0.0338, 0.9991, 0.4618, 1.1568, 0.4404, 0.0746, 0.3954, 0.1909, 0.4127]\nstate[eef_state]: left_x=0.2911 left_y=-0.0004 left_z=0.1717 left_yaw=0.0014 left_pitch=-0.0481 left_roll=-0.0025 left_gripper=0.9991 right_x=0.3195 right_y=0.087 right_z=0.0987 right_yaw=0.0201 right_pitch=-0.0184 right_roll=-0.056 right_gripper=0.4127\nstate[joint_eff]: [-0.2393, -1.1556, 7.0085, 1.8437, -0.0366, -0.0317, -0.0073, -0.1573, -4.506, 9.1692, 1.6532, 0.2173, -0.0171, 0.2466]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0208, 0.8368, 0.6426, -0.4721, -0.0135, -0.0338, 0.9991, 0.6491, 1.552, 1.0687, -0.2707, 0.5201, 0.3069, 0.4155]\nstate[eef_state]: left_x=0.2893 left_y=-0.0 left_z=0.1673 left_yaw=0.0027 left_pitch=-0.0973 left_roll=-0.0013 left_gripper=0.9991 right_x=0.3877 right_y=0.1885 right_z=0.1625 right_yaw=0.0436 right_pitch=-0.0707 right_roll=-0.0865 right_gripper=0.4155\nstate[joint_eff]: [0.1299, -1.306, 9.4974, 1.8486, 0.0269, -0.0122, -0.0073, -0.0752, -7.6786, 8.8137, 1.7265, 0.3785, 0.1099, 0.2808]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63222a10f6be7e42b2dd21f3bc335f57e18009a0ae6812cc51db27cb60b94793",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c490290f74ae67e1e3ff919ceecdd2ddb717d1cda27cb77285dd20eae95fcf5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4026420a070a8ece08e9fd7df14e0dd3b9e0e88b4729853db935f3942b69b4d6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHrEYNsnLAoLK7fYpL5OIsNQQKNRaE5ZfKsqlqkkZ3NazPl3UpyjaRAQMKJPvWyuK4I54qvp1H_Glc5e-4TBCFr_JOsgHmZgetjONLZCfXI8QRS9C1i0cCMUpmCO66DW48TnEIDdBrgX_udthKjDY5vovaMhGbVGDAaQJjttXv6BW4jGoOqHvzO4-YAkhuLjXA0gS6eQAhHZGfTRZRQsDXdjgMQLZLuwgHyb6gPoy2trpNxW6vvBt9mfMr5UqcuSBFZdjM2MuZtqU7vezXbSFoJiLvlom3Wa2GpCfZ8oJLU6rK6J38knJDOpABatRXYvj7NjEaHgWt5xJjyl8QqyvwcvitsAHejRxAnrCbQM2-mbxNM-t-J5LSEwcejE1R0e1fY1DvheUVTAkuYpZtqlhYHL_z0Ni_m7vg8bnqS1bXzhyFRyCAZFY-6_U62rbPp8tO9Ez37-D1BYrmfJ4iBlZbXOj3k163tEhC5vds1XYYqt7xorLKXtuV-jLNVNYkgIaNjYZqb8TWeZ2pvBmbpk28Izi1msGaXOVkUxpm2Zzxd9CxmjNtBL_Pg41bsVmFslgxsvkx6hXc50ziEP6QuRLLVU6lBtJROdYc45SoPIQvYV11DfhhJRL1VKrW36xAnApcHnSIFSVHVZIdHLU5hcjMbKX0AfAaE4FoCpXl4sPT--5rVbAuHB4gV07BIkOwjIgvL7M9THiy_nyEoWamNd57s1oz06NZ770-S0g5NK-wK5_5MUvjdg8saBWEH3c2_DwBIUHlUZCo74-Mlew2gLaVNUOs93pin8iJPBgGZ_hRinRGrHqqSNZHTiX7bdTtc8QrS_NFB0DW12Q9erl5GO8-0aieyVBG7PPfbpeujh9JSaxJk_bDEBC415uVTeDBrkkwBhJl1_jafYEVsarTNrgFK85kUuM2z8IYi5JPhkyewVAlzGmWrziOenowDjxTDJkRt-NFBKfsQMY0kT9gQoMVoEG8IZvMYQeDgygbT6X279APurqQeR-x_ybdvOEtDM_XZHPG2vQtVxoviv-tf10-8w6Xm_HrX5cL_fKk1hECi5TzrnA6g1ObL5amNlCmahaBR0Q7QkVOfTZvsHdtNnWhhWTGE0LOw2hBJ9HJtdyWdlL8UhTb8c5IRkU8R1UiW5vpkX5qjUUkjPYJAz-FEZeso8uq3rVY56Uusl4TjY7b23i3pnqQ-cPB-4_JkI6qYLFZS28uApuQEVhrBhEJB1jpEJNw3NndQeo295Gc0XU-FZIh3z0bNEI3g3lyoMF_usjfOWwnpuwGYLqsKXlR3sIHpjIUkHiZgEGm5rhbVAtOK1onqX81Q6tiNqmu9C5BjLaMxBTxT2Up9Dao4fHhJvQ3GhzO-TeQ2FXRtsEc7ExTUj0RVrMFd-FKRafnvZ6aiZBzqf7lKaPRAQ04zZn_8-K1UvXYWcSK-1RZwvj_Vbo-bX0WNAUZbXiZ1oDVjFKC4QvD9LMf9D20Qx3vPchxMFDYiyOvT09AfvIh8fEJL3h7NjRQ6Xw-2Ibkrl1gH-YoQQ0xAb",
  "id": "rs_0a4dbf1c482c6499016ab47ac20e8887d0995a2be6ab1cc441",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.13,\"right_gripper\":1},\"note\":\"The green fruit is positioned over the blue bowl’s opening. I’m lowering slightly and releasing it into the bowl.\"}",
  "call_id": "call_mpeYf7X8WX59BfYRz1HkRBSu",
  "id": "fc_0a4dbf1c482c6499016ab47ac346bc87d08e701b267a5ee105",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mpeYf7X8WX59BfYRz1HkRBSu",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8368, 0.6415, -0.4763, -0.0139, -0.0338, 0.9991, 0.6491, 1.5879, 0.9752, -0.165, 0.519, 0.2993, 0.9986]\nstate[eef_state]: left_x=0.2885 left_y=-0.0001 left_z=0.166 left_yaw=0.0026 left_pitch=-0.1026 left_roll=-0.001 left_gripper=0.9991 right_x=0.3844 right_y=0.1862 right_z=0.1275 right_yaw=0.0475 right_pitch=-0.091 right_roll=-0.1055 right_gripper=0.9986\nstate[joint_eff]: [-0.0615, -1.1829, 7.0906, 1.6825, -0.0366, -0.0562, -0.0171, -0.0752, -7.1179, 6.2974, 1.7509, 0.188, 0.0317, -0.1636]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c86199de96cc9c530249dd1dfcf4bcec4d43401589587237051873535f54afc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ccf197fc2d35fb8224b4c31dc21e1ed61878580fd0afa1fd9a9df7b8ffe05c2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4351cdb713f91cbf1d07dd1100b81dc1ca247fa6ab6f38f1e4a90afcea44541",
      "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 · 2.539 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 13 changed as sent

message 21 changed as sent

message 25 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4084, -0.0139, -0.0338, 0.9991, 0.4618, 1.3846, 0.3035, 0.4778, 0.408, 0.1936, 0.4103]\nstate[eef_state]: left_x=0.2928 left_y=-0.0004 left_z=0.1751 left_yaw=0.0017 left_pitch=-0.0321 left_roll=-0.0027 left_gripper=0.9991 right_x=0.3257 right_y=0.0878 right_z=0.0519 right_yaw=0.0084 right_pitch=0.0196 right_roll=-0.0437 right_gripper=0.4103\nstate[joint_eff]: [-0.1846, -1.3333, 7.0496, 1.79, -0.0513, -0.0757, -0.0122, 0.1299, -3.959, 5.1214, 1.4823, 0.0171, 0.0366, 0.9646]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0208, 0.8368, 0.6426, -0.4721, -0.0135, -0.0338, 0.9991, 0.6491, 1.552, 1.0687, -0.2707, 0.5201, 0.3069, 0.4155]\nstate[eef_state]: left_x=0.2893 left_y=-0.0 left_z=0.1673 left_yaw=0.0027 left_pitch=-0.0973 left_roll=-0.0013 left_gripper=0.9991 right_x=0.3877 right_y=0.1885 right_z=0.1625 right_yaw=0.0436 right_pitch=-0.0707 right_roll=-0.0865 right_gripper=0.4155\nstate[joint_eff]: [0.1299, -1.306, 9.4974, 1.8486, 0.0269, -0.0122, -0.0073, -0.0752, -7.6786, 8.8137, 1.7265, 0.3785, 0.1099, 0.2808]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8368, 0.6415, -0.4763, -0.0139, -0.0338, 0.9991, 0.6491, 1.5879, 0.9752, -0.165, 0.519, 0.2993, 0.9986]\nstate[eef_state]: left_x=0.2885 left_y=-0.0001 left_z=0.166 left_yaw=0.0026 left_pitch=-0.1026 left_roll=-0.001 left_gripper=0.9991 right_x=0.3844 right_y=0.1862 right_z=0.1275 right_yaw=0.0475 right_pitch=-0.091 right_roll=-0.1055 right_gripper=0.9986\nstate[joint_eff]: [-0.0615, -1.1829, 7.0906, 1.6825, -0.0366, -0.0562, -0.0171, -0.0752, -7.1179, 6.2974, 1.7509, 0.188, 0.0317, -0.1636]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c86199de96cc9c530249dd1dfcf4bcec4d43401589587237051873535f54afc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ccf197fc2d35fb8224b4c31dc21e1ed61878580fd0afa1fd9a9df7b8ffe05c2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4351cdb713f91cbf1d07dd1100b81dc1ca247fa6ab6f38f1e4a90afcea44541",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHrKycFNH2rfoboVZ4BYWlXDbvRjsJ8cNCZ5ecHrDCy0OR8zckrcD5ff0XQarBKeoVNbTcsh3T9soVcp8sU97W07DVYS0MjY837SRDvBeGgSDJj4ha00u5oGdWk36dUoFGXT_yUleb-GV-8sJ1CtHJ-WouaxtjeqA5lXsBZqKiOkkchVfgQdyBvpv6fEWp-KsHHZVoXaqMOfieyM7U0J873tXh0-r-gIjaN-KN2-fBKfSwNHD6gcfAkb6UICySpYSIsp2M-ZvsUODNQ6Vt-SJMGq39-lnLr2oeYZbNLKHYEvXggVzxvu7c7euon-t3I-1qblpKRdj7_roM9iyG67FiyrSpeuyctCpQMJlYssMYodK4YIgocRAbx38s_ZAhM5Zqzj7NzsKBycxgvycodD8Z4ILh1sz5ZGGDQZ7rZtlIjP1ysUSxBpwvDY2bNpbO5RpMTe0T0oIhSJerznFvIsa6BA5mMjEs0WLpISis4fDBoyTUk4r2kn1Uslsiss-YqV9SQTI4gUmah3w6pM7SexEdBe7onEG14W1S0HgD219FaIHvtPL5DNfBhTcSGjCaPch7K_mVtgppSRau7JR8RK7C1Po4cG_ZDtylayzAsLxoRWFNmfaUU0Kt6TKF3mYsmR8nBSLX26yB95KCtGmwW5-eqNat0OFniymyQ0Pwq11_38g0v2O630St0KRy2o6IOshysOTK-y0gUVpqkokUtKTFBlAxtdCHP4t1PQDYd4_NVj6uuReCo8pgBc6mPO8Cyd2rLLVwNFJHSiRwLo3Bc9jF-OXZ1LGw3lp-c8oKfBob_tQsSa73U7PjIXmRf0_6xmt0RhFUkKk47YZnoCy_JtYoUn3GIRnLTAXSkbJcAGNMxzJf0lCWvKSeFgKRaeVOzJg8TxL8_uz2fCnEAHTnnOePqpfiRxwtE0Oj3AiGkuN7C8_2eUSJGA61r_yoCz1eeUOoXdbdaW4t91IRJgo2NIqXeFHO24-BoORFsTSUpwpFm9eh6WFReq3YRNdHExpPPINLfj4pObUq_s-TkNV8MVHocHRIZWcexkqK9e4r8CQ65FQBm6-l_KCArM3iCNhrywkE7kmRfU-pgs1APdVVYP7PjoAYk76G1G0O3eUzc1CkRpCb015zzyzpvdOgvFmnfWEmPK3QcU4Qz0S8G3LdFdm10v3sVLFW-eXD_KeiplQ0C6H9ZKwSIWxgdZIcb6LfEro1HK_yyXt0e4RDfZ9B0XENwcZZqhUA7Y2qHvs1sCbTOl4S9WTyGqMsvWzPJ_NJqPRaIcz0ipyYI7Y3kYF7OImQpmqRcq_CAk28jf5LV_liE_m1iz9ayKgWPrrjNubwbFG6_JIOZGhSkKUUUvQRnoFLuZepj4f72Ea-Sh89nM75Qx9ChCHvzd_NGvndxzBxy5rp9nNsNuBRwpwQVB-JCtNLcJkq53s-JqXTdoFAxoCetr6i08xgqqLVn2JOQU0L33DlFlsEpcdkAZ4th5lkcRL52cUVP5k80KP9ofjaEyR7JgrcBy4zbrURsC3AgTYCLtfAU-ppNRD7av7UUhdiXLQ8i3V-YoRj9ZhRV4am4w0PyWHAmgTzO9Ptua0blfjuozb4Hnq0avmxerpw7_v-02wDkG_Wq2QH7u02t-tGMG3musRHFqXrX7Z_Au9CZh2pNhavbv4-SGf_jE7xJMblos00LNb5BorKlX27scFlmC1GveXacwWWdy4ShGh602fxQdAXD5rM-knPY3NfYvanKwN2qEDSFwvd1s7g2-2XvH42G6U65-E_u6QONKS2kY259SXgAlPbBm1Fo_K0_hLH5ZQ3gyYlJ3G2Vdc9oNuunhJUSf-oa1hjHZ5rNfQXP_J20bG6XoQF-63dslLNzOd3LLL61hHrOlOg9eoylH73TeKPAn1Is=",
  "id": "rs_0a4dbf1c482c6499016ab47ac74a3c87d099c2d1b361b04320",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.325,\"right_y\":0.285,\"right_z\":0.15},\"note\":\"The green fruit is visible inside the blue bowl. The yellow fruit has shifted slightly left of the bowl, so I’m moving above its new position for the next grasp.\"}",
  "call_id": "call_YapWxxxNICdT9WPNITQObCIW",
  "id": "fc_0a4dbf1c482c6499016ab47ac9bab487d0826c8a2733390bc3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YapWxxxNICdT9WPNITQObCIW",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8368, 0.6415, -0.4767, -0.0139, -0.0338, 0.9991, 0.9871, 1.7123, 1.2201, -0.4873, 0.7136, 0.5934, 0.9986]\nstate[eef_state]: left_x=0.2884 left_y=-0.0001 left_z=0.1659 left_yaw=0.0026 left_pitch=-0.103 left_roll=-0.001 left_gripper=0.9991 right_x=0.3222 right_y=0.2846 right_z=0.1416 right_yaw=0.0758 right_pitch=-0.1159 right_roll=-0.1226 right_gripper=0.9986\nstate[joint_eff]: [-0.1299, -1.3197, 6.9812, 1.6288, -0.0464, -0.0073, -0.0122, 0.335, -7.9111, 8.6769, 1.1258, 0.5055, 0.149, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c78da7349ea81a19c1b02c766e25647bb4eeba3065cbbed31bf478beb1c3a41a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1efff53f71c3ed2b92908e3ddcf270e61082fde4dda4dfca8a8c202b57755466",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b327f7181b754b869a53079072b88fb1069e4f4cdf001904fd06f3d0fdfd5ed4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 4.024 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 17 changed as sent

message 25 changed as sent

message 29 changed as sent

message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8085, 0.6132, -0.4217, -0.0135, -0.0338, 0.9991, 0.4618, 1.1568, 0.4404, 0.0746, 0.3954, 0.1909, 0.4127]\nstate[eef_state]: left_x=0.2911 left_y=-0.0004 left_z=0.1717 left_yaw=0.0014 left_pitch=-0.0481 left_roll=-0.0025 left_gripper=0.9991 right_x=0.3195 right_y=0.087 right_z=0.0987 right_yaw=0.0201 right_pitch=-0.0184 right_roll=-0.056 right_gripper=0.4127\nstate[joint_eff]: [-0.2393, -1.1556, 7.0085, 1.8437, -0.0366, -0.0317, -0.0073, -0.1573, -4.506, 9.1692, 1.6532, 0.2173, -0.0171, 0.2466]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8368, 0.6415, -0.4763, -0.0139, -0.0338, 0.9991, 0.6491, 1.5879, 0.9752, -0.165, 0.519, 0.2993, 0.9986]\nstate[eef_state]: left_x=0.2885 left_y=-0.0001 left_z=0.166 left_yaw=0.0026 left_pitch=-0.1026 left_roll=-0.001 left_gripper=0.9991 right_x=0.3844 right_y=0.1862 right_z=0.1275 right_yaw=0.0475 right_pitch=-0.091 right_roll=-0.1055 right_gripper=0.9986\nstate[joint_eff]: [-0.0615, -1.1829, 7.0906, 1.6825, -0.0366, -0.0562, -0.0171, -0.0752, -7.1179, 6.2974, 1.7509, 0.188, 0.0317, -0.1636]\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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8368, 0.6415, -0.4767, -0.0139, -0.0338, 0.9991, 0.9871, 1.7123, 1.2201, -0.4873, 0.7136, 0.5934, 0.9986]\nstate[eef_state]: left_x=0.2884 left_y=-0.0001 left_z=0.1659 left_yaw=0.0026 left_pitch=-0.103 left_roll=-0.001 left_gripper=0.9991 right_x=0.3222 right_y=0.2846 right_z=0.1416 right_yaw=0.0758 right_pitch=-0.1159 right_roll=-0.1226 right_gripper=0.9986\nstate[joint_eff]: [-0.1299, -1.3197, 6.9812, 1.6288, -0.0464, -0.0073, -0.0122, 0.335, -7.9111, 8.6769, 1.1258, 0.5055, 0.149, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c78da7349ea81a19c1b02c766e25647bb4eeba3065cbbed31bf478beb1c3a41a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1efff53f71c3ed2b92908e3ddcf270e61082fde4dda4dfca8a8c202b57755466",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b327f7181b754b869a53079072b88fb1069e4f4cdf001904fd06f3d0fdfd5ed4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHrOh4pAn5PyQgIcOsfN6NvKHOYYNcc-mTHgotTdi778TB7dJV-qGai2SMIbdSsT2xc63KycENxOlLuz3z6bpYNAKg32V7njgDNiJ3vugcqoVAUcrNsbGMufB5zscS4x10i9TmpltZt-GsGtioQerlFMbXAqjuyD1uzruPtUyamAyezezrfAg3w8swJOl_wMPBOw7ZJYQv9v9V8k2O2ZLs7HWI2e8PRYoWUr8Q4mPDTkFhZ2phUAyubKtVPS7TEiorGOM04LC_fo0tnf-T75pKu6MSFWE2B9QvOmvyCPNfkTyKUOXYkIL3ibqn6E3eC62z9wbL_SfO7F216_5JsDKepN-RErPYImprOJnF1xh6KCMdVhZwaSXcHt_O8skXZTXFLo1MwBDTUqNaIeSMorMf_Z5EBYxPNn_hT6i7OkbHCLGjynxQIOQl3qX05adJork9FCgEcqXoI3CLZjeOyoUfDu-FTKFFgo5litDyBsyK8cOaQSoqmXHpRHRpLFoM_JHKlf89T60RKyUw8QOJWeyqNXqBssyEeP_J-Ps2UerQKoc9KDLJS00iAriKRRoFQeJ2GqVL2edYkkP42UBAKzXeMJseD15VVPSUr84zkaHDmpbBoZzX6Sk5hXYvPurfYN_YMRhgy-O3TfaipTv5WkigWLLJz411XMB8daB1C7OnKOZIxKHmaXCCAjcx-IAKy59axg4wWc6EQSLkWY0NjKjA5fCk1-TCKpqR7xQsbKfFBJ-WGAGaH_CdCjfHYepKEqXwJ2asoHUdVw7p03_7HeEKyE8Z2QXQLqqahB6gOlXWTuNpC3_5rhlq7jHR8U6XTsfINnHk_qLeuRUngXSEbR1JypXwRi6MmF11CXj0WYpeKRHBzpg4kUFbAmpghqwdNQqvBYu66wJhgU_3of7_avnOkqdWOua6McvZN8vhaV2rWerPAMAjX_MFeZ3AKoae9htL2v5kco7RSJPvd5KTwmTkEchuBZ36RhjG7E-S4mbHPmK0WgziNGr8ony3vOTfn3Tmm0RGlkJgog76IVU5MLNEeiQBsgIb6LWqyVc_nFZZzLYLpK9f3hueaiHV9qQ1rFplRgbXsoqA-fQniO_ufzLYr_FNw7Gi7W8eYjID6S7muQdH7rvZ9dgQB-Ixl2MyxAt6uPtoewe06N3LO-jCCvByTWy8Fm_TI3KM8zIXEcW2yc0LaFehYLXbH1oeHA7cxO5ZGw9fBGB_6d8Ijx_Xlw3I5tT2Ffzf1geFHn4HcICUZbBW4=",
  "id": "rs_0a4dbf1c482c6499016ab47acd7df487d0941299f5bdc48abf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.025},\"note\":\"The yellow fruit is centered on the right gripper’s jaw column, with the blue bowl immediately to its right. I’m lowering to the fruit’s mid-height without moving sideways.\"}",
  "call_id": "call_7RZBw4CulXWXDrpY0lsVQNhx",
  "id": "fc_0a4dbf1c482c6499016ab47acdda2c87d0819ab87f60626770",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7RZBw4CulXWXDrpY0lsVQNhx",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8371, 0.6415, -0.477, -0.0139, -0.0341, 0.9991, 0.9863, 1.9171, 0.9699, -0.0517, 0.7025, 0.5915, 0.9986]\nstate[eef_state]: left_x=0.2884 left_y=-0.0001 left_z=0.1657 left_yaw=0.0028 left_pitch=-0.1038 left_roll=-0.0013 left_gripper=0.9991 right_x=0.3197 right_y=0.2828 right_z=0.0243 right_yaw=0.0809 right_pitch=-0.1353 right_roll=-0.1338 right_gripper=0.9986\nstate[joint_eff]: [-0.1983, -1.347, 6.9538, 1.6728, -0.0122, -0.0659, -0.0122, 0.0205, -8.6085, 5.0667, 1.4237, 0.398, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecc1e33159192fff7d75c5d1a59d84eed899d6ce4ec8adc4dd87075fd3cff6d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b7e04466738ed88dac5f9d84d3b37d23589ccb2dbe4a16f2d766b0fcd759b53",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f8aa4db558bf614a8e84498a76e28b95f8dccbf78259b7e15b10640bdcdd0cb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 2.073 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 21 changed as sent

message 29 changed as sent

message 33 changed as sent

message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0208, 0.8368, 0.6426, -0.4721, -0.0135, -0.0338, 0.9991, 0.6491, 1.552, 1.0687, -0.2707, 0.5201, 0.3069, 0.4155]\nstate[eef_state]: left_x=0.2893 left_y=-0.0 left_z=0.1673 left_yaw=0.0027 left_pitch=-0.0973 left_roll=-0.0013 left_gripper=0.9991 right_x=0.3877 right_y=0.1885 right_z=0.1625 right_yaw=0.0436 right_pitch=-0.0707 right_roll=-0.0865 right_gripper=0.4155\nstate[joint_eff]: [0.1299, -1.306, 9.4974, 1.8486, 0.0269, -0.0122, -0.0073, -0.0752, -7.6786, 8.8137, 1.7265, 0.3785, 0.1099, 0.2808]",
      "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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8368, 0.6415, -0.4767, -0.0139, -0.0338, 0.9991, 0.9871, 1.7123, 1.2201, -0.4873, 0.7136, 0.5934, 0.9986]\nstate[eef_state]: left_x=0.2884 left_y=-0.0001 left_z=0.1659 left_yaw=0.0026 left_pitch=-0.103 left_roll=-0.001 left_gripper=0.9991 right_x=0.3222 right_y=0.2846 right_z=0.1416 right_yaw=0.0758 right_pitch=-0.1159 right_roll=-0.1226 right_gripper=0.9986\nstate[joint_eff]: [-0.1299, -1.3197, 6.9812, 1.6288, -0.0464, -0.0073, -0.0122, 0.335, -7.9111, 8.6769, 1.1258, 0.5055, 0.149, -0.0122]",
      "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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8371, 0.6415, -0.477, -0.0139, -0.0341, 0.9991, 0.9863, 1.9171, 0.9699, -0.0517, 0.7025, 0.5915, 0.9986]\nstate[eef_state]: left_x=0.2884 left_y=-0.0001 left_z=0.1657 left_yaw=0.0028 left_pitch=-0.1038 left_roll=-0.0013 left_gripper=0.9991 right_x=0.3197 right_y=0.2828 right_z=0.0243 right_yaw=0.0809 right_pitch=-0.1353 right_roll=-0.1338 right_gripper=0.9986\nstate[joint_eff]: [-0.1983, -1.347, 6.9538, 1.6728, -0.0122, -0.0659, -0.0122, 0.0205, -8.6085, 5.0667, 1.4237, 0.398, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecc1e33159192fff7d75c5d1a59d84eed899d6ce4ec8adc4dd87075fd3cff6d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b7e04466738ed88dac5f9d84d3b37d23589ccb2dbe4a16f2d766b0fcd759b53",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f8aa4db558bf614a8e84498a76e28b95f8dccbf78259b7e15b10640bdcdd0cb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHrVhV5BwSbum0FfnvImkFUAq-pTBccaYsy41rKl4JRBztxRho4DUJaU6IrCqdo-Pw4bq_tGPXO2Weec7Btne68mFiOgO8hMPwiISUBELSeOddida82vZSW-w60vwnXGBAXHn23jn6NyBEhMQJWrmQd8Y38upZ4Y3YaCMYoEWXiawE9HoYE5NEAXAt32RGBsNjMbcebvbqwiFH43u3DPlNXXaF_GEyQ3hLExiihKD6JAXR-a2sBmEQz0bt6VS2ErjDX-36PMMThijRuYnZUrKTRtbZU5Cw0JW58mlIPk4q9afMBfN-WbB0CldGywm8Pr3lCpPf2s6gkRvsJMiPs1A_YdYs2BHbm4Y7fxih-JyZPlbeIQtpImufTc_pDGshfwbIpePVM0d5wvd9dWUsrs9eVZh-z4vCl8PLq-O426JcExwtTSbMPj29zLtjN49NkStOcw16XSdqMgJkDxWT6i9P8m-3I6K-H0Hoe6TlCWfp9C-sol_H5fJvZgU-TNfDab-R8DNKHQyK3kSRhKApSx9vGy-MUcZ7R_uDxXJD080im5ec0IUzeNubGwg9nvuE_blPXa2X8jr-VAqFUf1Y9RWRU_3SgD9zozaIMhO6j8rGb6e5zPjKln02nECI_wzfj5pvBSxZoQcyfJAHt7Ho3qUnRxy6NHLWqochAb7eDdfxDvbkYYNNlxy0BgBqyHoWjHkYnMyevECu9TIqxkijW9uf412FgK4Y7PebLrE7DhP6KXmccEqk8qTbkOdq_W1DU_VY-JEvH4SV6k9WGxCxVAug8ipgi9nitJE8VVTPNFV53rb0kL8dkOrhountEVmDg4Yt0WTDD1FDsN652zdlUhzr6iobj09O12y3h0PizUrgShR6agm1yf2LiLnAPP3LtO5E9vGA8TnRBencq-nEHQOcVydcR3GhId5fpK8_T5wq2_BXQY0L0SHGzQuxdLnu-xCRZv48rw8TuRwFRhWHhf--Z3QA_N0awv-HPEEfyKyyAAeWgbxkTmmOYi6tqC0VwJvC_do7eTckKQG91lFB5laf5hSH-3OFajYuWxcQ_da-nEFt-pnyLjYzOnoNiInxsR5Xd1Bw7qOV1nVie45cI4zT8toZ7PvMFIy6qHgEDYNJikO8GyvTg5Yi6qshEgvC6txUNRC65FGzIZXpqZpk63Y9MdEg52M96bjuuklm1Q9-bKdsGffTpVtbiFET4SxSq2N2ZOwvSDAb-hsEGP98AIwwkD8r2k3qkEKoLved2J0duPwFTgzIcxJHKcBeNOZPBNOMTo3vLUfiFiEoNWUY2rgtkFRHe3gpIVSq6l0gpEW-CjSoUkDwLByPx9HThsszi0ZxDHUaZwMv9l-arPBq8ZGg0HxFPsznOmC_UcLzkW-I7qd2AALODdSsyZSNc7enwBKDiimEhWSderNg6bNufeoxvsbdWa9VSoqUIjc2xbqwsqxrd7Sr7hZ4QsV06ZcgVvrjrgiH01gGq4YUEa4WnR2nKIP0Dd3XAWropEm_HK7WY9pdMvzLBFTdY7S8QpzheE-eXD",
  "id": "rs_0a4dbf1c482c6499016ab47ad2dd8c87d08b2e341f11211706",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The open jaws straddle the yellow fruit at table level. I’m closing around it, then I’ll check the jaw spacing and test the lift.\"}",
  "call_id": "call_4Js09pCoNUX6SlGOMLWd7CZL",
  "id": "fc_0a4dbf1c482c6499016ab47ad4739087d0a716b6faf1e083d4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4Js09pCoNUX6SlGOMLWd7CZL",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8371, 0.6415, -0.4835, -0.0139, -0.0341, 0.9991, 0.9863, 1.9171, 0.9699, -0.0494, 0.6994, 0.5869, 0.5884]\nstate[eef_state]: left_x=0.2874 left_y=-0.0 left_z=0.1645 left_yaw=0.0028 left_pitch=-0.1102 left_roll=-0.0011 left_gripper=0.9991 right_x=0.3197 right_y=0.2836 right_z=0.0243 right_yaw=0.0855 right_pitch=-0.1362 right_roll=-0.1339 right_gripper=0.5884\nstate[joint_eff]: [-0.335, -1.3333, 7.0906, 1.7558, -0.0562, -0.0757, -0.0122, -0.1709, -9.1556, 5.3128, 1.116, 0.3443, 0.0415, 0.906]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6193505a09be04112b5ea93d3ef25a752239f334ceaf6ac0f1da972febd8d1e8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f9bb15db352c6ad9acde274f77c3f7523ed3cb7e99f4b80cdfdc5b107e5ae89",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf19756621398228d8bd420e85970426af922d942ae6645b337d24a30c9238c3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 2.785 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 25 changed as sent

message 33 changed as sent

message 37 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8368, 0.6415, -0.4763, -0.0139, -0.0338, 0.9991, 0.6491, 1.5879, 0.9752, -0.165, 0.519, 0.2993, 0.9986]\nstate[eef_state]: left_x=0.2885 left_y=-0.0001 left_z=0.166 left_yaw=0.0026 left_pitch=-0.1026 left_roll=-0.001 left_gripper=0.9991 right_x=0.3844 right_y=0.1862 right_z=0.1275 right_yaw=0.0475 right_pitch=-0.091 right_roll=-0.1055 right_gripper=0.9986\nstate[joint_eff]: [-0.0615, -1.1829, 7.0906, 1.6825, -0.0366, -0.0562, -0.0171, -0.0752, -7.1179, 6.2974, 1.7509, 0.188, 0.0317, -0.1636]\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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8371, 0.6415, -0.477, -0.0139, -0.0341, 0.9991, 0.9863, 1.9171, 0.9699, -0.0517, 0.7025, 0.5915, 0.9986]\nstate[eef_state]: left_x=0.2884 left_y=-0.0001 left_z=0.1657 left_yaw=0.0028 left_pitch=-0.1038 left_roll=-0.0013 left_gripper=0.9991 right_x=0.3197 right_y=0.2828 right_z=0.0243 right_yaw=0.0809 right_pitch=-0.1353 right_roll=-0.1338 right_gripper=0.9986\nstate[joint_eff]: [-0.1983, -1.347, 6.9538, 1.6728, -0.0122, -0.0659, -0.0122, 0.0205, -8.6085, 5.0667, 1.4237, 0.398, -0.0464, -0.0122]",
      "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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8371, 0.6415, -0.4835, -0.0139, -0.0341, 0.9991, 0.9863, 1.9171, 0.9699, -0.0494, 0.6994, 0.5869, 0.5884]\nstate[eef_state]: left_x=0.2874 left_y=-0.0 left_z=0.1645 left_yaw=0.0028 left_pitch=-0.1102 left_roll=-0.0011 left_gripper=0.9991 right_x=0.3197 right_y=0.2836 right_z=0.0243 right_yaw=0.0855 right_pitch=-0.1362 right_roll=-0.1339 right_gripper=0.5884\nstate[joint_eff]: [-0.335, -1.3333, 7.0906, 1.7558, -0.0562, -0.0757, -0.0122, -0.1709, -9.1556, 5.3128, 1.116, 0.3443, 0.0415, 0.906]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6193505a09be04112b5ea93d3ef25a752239f334ceaf6ac0f1da972febd8d1e8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f9bb15db352c6ad9acde274f77c3f7523ed3cb7e99f4b80cdfdc5b107e5ae89",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf19756621398228d8bd420e85970426af922d942ae6645b337d24a30c9238c3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"right_z\":0.095},\"note\":\"The jaws have settled around roughly 5.6 cm of fruit rather than closing empty. I’m making a short vertical lift to confirm the yellow fruit is secure.\"}",
  "call_id": "call_oe9R9eCxf2UP57xdsNqB346s",
  "id": "fc_0a4dbf1c482c6499016ab47ad772cc87d0a86d4475a834febc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oe9R9eCxf2UP57xdsNqB346s",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8371, 0.6415, -0.4877, -0.0139, -0.0338, 0.9991, 0.9863, 1.7966, 1.0798, -0.3199, 0.691, 0.5838, 0.5725]\nstate[eef_state]: left_x=0.2867 left_y=-0.0 left_z=0.1637 left_yaw=0.0027 left_pitch=-0.1144 left_roll=-0.0007 left_gripper=0.9991 right_x=0.3161 right_y=0.2803 right_z=0.0762 right_yaw=0.0874 right_pitch=-0.167 right_roll=-0.1635 right_gripper=0.5725\nstate[joint_eff]: [-0.2393, -1.2786, 6.9538, 1.6777, -0.0366, -0.0366, -0.0122, -0.253, -10.5915, 7.788, 1.116, 0.3394, -0.0024, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8477e3ccf4d13ab8c57380b80b592051acd6eaab7f41db508a5302064e1e331",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a388e2125cd0c667ce346870954f22592653dce7f55deb0e883378240d64acab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fd37d6fb7eb9e7a54a03eab42df289ceb4909e88c49b75415d5be49aa3d0a98",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 11 attempt 0 · /responses · status 200 · 3.086 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 29 changed as sent

message 37 changed as sent

message 40 changed as sent

message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8368, 0.6415, -0.4767, -0.0139, -0.0338, 0.9991, 0.9871, 1.7123, 1.2201, -0.4873, 0.7136, 0.5934, 0.9986]\nstate[eef_state]: left_x=0.2884 left_y=-0.0001 left_z=0.1659 left_yaw=0.0026 left_pitch=-0.103 left_roll=-0.001 left_gripper=0.9991 right_x=0.3222 right_y=0.2846 right_z=0.1416 right_yaw=0.0758 right_pitch=-0.1159 right_roll=-0.1226 right_gripper=0.9986\nstate[joint_eff]: [-0.1299, -1.3197, 6.9812, 1.6288, -0.0464, -0.0073, -0.0122, 0.335, -7.9111, 8.6769, 1.1258, 0.5055, 0.149, -0.0122]",
      "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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8371, 0.6415, -0.4835, -0.0139, -0.0341, 0.9991, 0.9863, 1.9171, 0.9699, -0.0494, 0.6994, 0.5869, 0.5884]\nstate[eef_state]: left_x=0.2874 left_y=-0.0 left_z=0.1645 left_yaw=0.0028 left_pitch=-0.1102 left_roll=-0.0011 left_gripper=0.9991 right_x=0.3197 right_y=0.2836 right_z=0.0243 right_yaw=0.0855 right_pitch=-0.1362 right_roll=-0.1339 right_gripper=0.5884\nstate[joint_eff]: [-0.335, -1.3333, 7.0906, 1.7558, -0.0562, -0.0757, -0.0122, -0.1709, -9.1556, 5.3128, 1.116, 0.3443, 0.0415, 0.906]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8371, 0.6415, -0.4877, -0.0139, -0.0338, 0.9991, 0.9863, 1.7966, 1.0798, -0.3199, 0.691, 0.5838, 0.5725]\nstate[eef_state]: left_x=0.2867 left_y=-0.0 left_z=0.1637 left_yaw=0.0027 left_pitch=-0.1144 left_roll=-0.0007 left_gripper=0.9991 right_x=0.3161 right_y=0.2803 right_z=0.0762 right_yaw=0.0874 right_pitch=-0.167 right_roll=-0.1635 right_gripper=0.5725\nstate[joint_eff]: [-0.2393, -1.2786, 6.9538, 1.6777, -0.0366, -0.0366, -0.0122, -0.253, -10.5915, 7.788, 1.116, 0.3394, -0.0024, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8477e3ccf4d13ab8c57380b80b592051acd6eaab7f41db508a5302064e1e331",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a388e2125cd0c667ce346870954f22592653dce7f55deb0e883378240d64acab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fd37d6fb7eb9e7a54a03eab42df289ceb4909e88c49b75415d5be49aa3d0a98",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHrcMJtD5lfIXa5wNJ1vfid_CuQ_ErV5FOu6UT6f68OCWOVtJTZHnSo-JiZ6roCV8mEORMC3H3nbDdE82DhERuuWEwCjGEGDrY1D6SPUduCyker_-_yuF8Hf_jTudAn7whXnSIEfWc7lFYGg115X9o5RwT1CxKm_mEV0gPecYwQm32XjzLFelWPElMJ2xZZ-KriX5-yCc5OUDzCfukj_WzpF7NVZiPkNDlw6Cq0AW3FDE1970g1V7KkXLegDC9UH_KqtBz9_w1uZxBd4eOawNDIxvuX7whHgwz_FzthvIszIay1se2Ij7hkBWdRygOHe_Rv4GCAAsMjX7JZ7qruiCBak3fKU0ophW6BtGsq-UHzyLKMhhzrg-kNi8Etx7ywP3gQr-V2xytC1yfmQrbOvYnCb-Rz_1CEXf5NGo1BKaEteyAToT1ZiqR0yaoTYwxIbjcFC4IZQaBl7iGwFSNiFZNJp9Sm9bBj_mX0iPzKsJGYDgiWpjhNOCLw2gAYVVzBFAz76pC3b5h1P6syPYGFMsEl5sfEy3lbnHU_geWZeElsypR597hhgPid6n2f36sugQdTnJQQ9_HBgbwi1tLSWxx8Y9B12vbLHRFE1HqwYtyypwuSRHHm2RzA-73PH1I7utU_V7lPJWnq6e5pua9jhdNIyoFb-vB5AM1d6jaXXrhM_rYWwahe0tVkrKSO-vWmNWhVYPdnmnf7iSimiPJEM-CojV32Y_BazGI5y2_KwhUqGcZUIWyvbc71HGMlj9GbEchsXIaZuIPaOjgkV6REKxV80_WzL6T_95SU1wF47rBg1ro-GXeW8e7aNJM7weniwtdwNTtwRhDy7jS__2Jvfv639_eIPGW4ut3y_76yHMgSl3Rq7IR_Qh4dBX5G8nnp3zwIZLyai9DnfDM7ZmlTYvxnetxnyFaZrg7RwplCXQNFEMKQikMbv8jMghuOgfykfZfuXoZNi3IEdDcQKvRPnTWmDV0cPWhu6hyZrn4NOEh-LuN7fJ8_o14eX63lYvbeoPvB-QaLJOaPvoOpw-4NTnCOvO9Flv3sDRhKzn0sWotd1cgUwAjfNNwTw9OeoBf3OctCHmzK7OpX5w6JSKIpt_wdCLv751NnliPDI-ux077I9wWiZzyFmdFK_lQgH5miKOkaLhu69m4tD-SLfiUE6cuKocovT2cd4Js_JpRCCaKAqmQyz2eaLXZcdtTdPNGjtYsKulo9R54QjseGMnzIO-nsWcor3gdxDN_5UATtc0AZecpy79s-VNYNG4g-S4tg2xROWBcAqHnLsQaU0-uWNUhkyWb4M04lc-ot949yTLUsy-1fxzMnIlUTFPpxaU2eX9pKCtnbvcUBmzPhparvOiMK2nmdyQCTynFvSao7rlPaKmTHqWzKMCFKF-DrIVA-xLwAM",
  "id": "rs_0a4dbf1c482c6499016ab47adb59c887d098de1c471f5597d7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.395,\"right_y\":0.19,\"right_z\":0.19},\"note\":\"The yellow fruit rose with the jaws and remains secure. I’m carrying it back above the blue bowl, high enough to clear the rim and the green fruit already inside.\"}",
  "call_id": "call_uHteDh9k8wv5hklFqEqiKfe1",
  "id": "fc_0a4dbf1c482c6499016ab47adbffc087d0857df4172d65b310",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uHteDh9k8wv5hklFqEqiKfe1",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8406, 0.6415, -0.4919, -0.0139, -0.0338, 0.9991, 0.6243, 1.6329, 1.2747, -0.5518, 0.4732, 0.2344, 0.5754]\nstate[eef_state]: left_x=0.2862 left_y=-0.0002 left_z=0.162 left_yaw=0.0019 left_pitch=-0.1221 left_roll=-0.0005 left_gripper=0.9991 right_x=0.3909 right_y=0.1868 right_z=0.1665 right_yaw=0.0813 right_pitch=-0.2262 right_roll=-0.198 right_gripper=0.5754\nstate[joint_eff]: [-0.0479, -1.6615, 7.0769, 1.6435, -0.0562, -0.0269, -0.0122, 0.0889, -10.359, 8.4718, 1.5116, 0.188, -0.0513, 0.7302]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ecad03860ec6f738b17d148607a7f7fa66e6700c59258277ebe78cef2507425",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc880030630210c575239f13f85ccfc7bdda32ec6d0eed2d17e2b6e988bbc171",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27e3ff35f59237cda6ff59cba655a665e19e713b3b42d63f0c4bb9c1ed9b091c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 3.012 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 33 changed as sent

message 40 changed as sent

message 44 changed as sent

message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8371, 0.6415, -0.477, -0.0139, -0.0341, 0.9991, 0.9863, 1.9171, 0.9699, -0.0517, 0.7025, 0.5915, 0.9986]\nstate[eef_state]: left_x=0.2884 left_y=-0.0001 left_z=0.1657 left_yaw=0.0028 left_pitch=-0.1038 left_roll=-0.0013 left_gripper=0.9991 right_x=0.3197 right_y=0.2828 right_z=0.0243 right_yaw=0.0809 right_pitch=-0.1353 right_roll=-0.1338 right_gripper=0.9986\nstate[joint_eff]: [-0.1983, -1.347, 6.9538, 1.6728, -0.0122, -0.0659, -0.0122, 0.0205, -8.6085, 5.0667, 1.4237, 0.398, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8371, 0.6415, -0.4877, -0.0139, -0.0338, 0.9991, 0.9863, 1.7966, 1.0798, -0.3199, 0.691, 0.5838, 0.5725]\nstate[eef_state]: left_x=0.2867 left_y=-0.0 left_z=0.1637 left_yaw=0.0027 left_pitch=-0.1144 left_roll=-0.0007 left_gripper=0.9991 right_x=0.3161 right_y=0.2803 right_z=0.0762 right_yaw=0.0874 right_pitch=-0.167 right_roll=-0.1635 right_gripper=0.5725\nstate[joint_eff]: [-0.2393, -1.2786, 6.9538, 1.6777, -0.0366, -0.0366, -0.0122, -0.253, -10.5915, 7.788, 1.116, 0.3394, -0.0024, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8406, 0.6415, -0.4919, -0.0139, -0.0338, 0.9991, 0.6243, 1.6329, 1.2747, -0.5518, 0.4732, 0.2344, 0.5754]\nstate[eef_state]: left_x=0.2862 left_y=-0.0002 left_z=0.162 left_yaw=0.0019 left_pitch=-0.1221 left_roll=-0.0005 left_gripper=0.9991 right_x=0.3909 right_y=0.1868 right_z=0.1665 right_yaw=0.0813 right_pitch=-0.2262 right_roll=-0.198 right_gripper=0.5754\nstate[joint_eff]: [-0.0479, -1.6615, 7.0769, 1.6435, -0.0562, -0.0269, -0.0122, 0.0889, -10.359, 8.4718, 1.5116, 0.188, -0.0513, 0.7302]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ecad03860ec6f738b17d148607a7f7fa66e6700c59258277ebe78cef2507425",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc880030630210c575239f13f85ccfc7bdda32ec6d0eed2d17e2b6e988bbc171",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27e3ff35f59237cda6ff59cba655a665e19e713b3b42d63f0c4bb9c1ed9b091c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"right_z\":0.135,\"right_gripper\":1},\"note\":\"The yellow fruit is directly over the blue bowl. I’m releasing it into the opening beside the green fruit.\"}",
  "call_id": "call_kDFkH82YOaIHnfNLnqSfePKH",
  "id": "fc_0a4dbf1c482c6499016ab47ae3364c87d098164c73f417b2b9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kDFkH82YOaIHnfNLnqSfePKH",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8406, 0.6415, -0.4938, -0.0139, -0.0338, 0.9991, 0.6243, 1.6485, 1.1782, -0.4564, 0.4728, 0.2264, 0.9986]\nstate[eef_state]: left_x=0.2859 left_y=-0.0002 left_z=0.1616 left_yaw=0.0019 left_pitch=-0.124 left_roll=-0.0005 left_gripper=0.9991 right_x=0.3878 right_y=0.1847 right_z=0.136 right_yaw=0.0839 right_pitch=-0.2417 right_roll=-0.2124 right_gripper=0.9986\nstate[joint_eff]: [-0.0068, -1.4974, 6.9538, 1.6239, -0.0171, -0.0611, -0.0073, -0.0752, -7.5556, 6.3932, 1.6386, 0.2125, 0.0269, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5ff80b1429d414ac27eb0608024439bea1268b5da4ceb7b2fb3bf15b112bb35",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac7d818a6a81a97fe2a478884b2ca4ebfd15781467004f06c96350abf20b11ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26552c7761fee4113ed97d8837d478919faea57daf3bbec4353ca8f4b812085e",
      "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 · 4.769 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 37 changed as sent

message 44 changed as sent

message 47 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8371, 0.6415, -0.4835, -0.0139, -0.0341, 0.9991, 0.9863, 1.9171, 0.9699, -0.0494, 0.6994, 0.5869, 0.5884]\nstate[eef_state]: left_x=0.2874 left_y=-0.0 left_z=0.1645 left_yaw=0.0028 left_pitch=-0.1102 left_roll=-0.0011 left_gripper=0.9991 right_x=0.3197 right_y=0.2836 right_z=0.0243 right_yaw=0.0855 right_pitch=-0.1362 right_roll=-0.1339 right_gripper=0.5884\nstate[joint_eff]: [-0.335, -1.3333, 7.0906, 1.7558, -0.0562, -0.0757, -0.0122, -0.1709, -9.1556, 5.3128, 1.116, 0.3443, 0.0415, 0.906]",
      "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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8406, 0.6415, -0.4919, -0.0139, -0.0338, 0.9991, 0.6243, 1.6329, 1.2747, -0.5518, 0.4732, 0.2344, 0.5754]\nstate[eef_state]: left_x=0.2862 left_y=-0.0002 left_z=0.162 left_yaw=0.0019 left_pitch=-0.1221 left_roll=-0.0005 left_gripper=0.9991 right_x=0.3909 right_y=0.1868 right_z=0.1665 right_yaw=0.0813 right_pitch=-0.2262 right_roll=-0.198 right_gripper=0.5754\nstate[joint_eff]: [-0.0479, -1.6615, 7.0769, 1.6435, -0.0562, -0.0269, -0.0122, 0.0889, -10.359, 8.4718, 1.5116, 0.188, -0.0513, 0.7302]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8406, 0.6415, -0.4938, -0.0139, -0.0338, 0.9991, 0.6243, 1.6485, 1.1782, -0.4564, 0.4728, 0.2264, 0.9986]\nstate[eef_state]: left_x=0.2859 left_y=-0.0002 left_z=0.1616 left_yaw=0.0019 left_pitch=-0.124 left_roll=-0.0005 left_gripper=0.9991 right_x=0.3878 right_y=0.1847 right_z=0.136 right_yaw=0.0839 right_pitch=-0.2417 right_roll=-0.2124 right_gripper=0.9986\nstate[joint_eff]: [-0.0068, -1.4974, 6.9538, 1.6239, -0.0171, -0.0611, -0.0073, -0.0752, -7.5556, 6.3932, 1.6386, 0.2125, 0.0269, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5ff80b1429d414ac27eb0608024439bea1268b5da4ceb7b2fb3bf15b112bb35",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac7d818a6a81a97fe2a478884b2ca4ebfd15781467004f06c96350abf20b11ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26552c7761fee4113ed97d8837d478919faea57daf3bbec4353ca8f4b812085e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHro1nZJY76sjK2sCzmWOsVRh5PpJdLtKsEGYpm6t6uDPHBZTruzEnsYeHiMo7DaIkZvLgmsxF7lBxafhd409JOa0KjlrNkXW1wxK9T4FWsOE6YfO-vEPOpe0xQDZp3KnfEZwvveXQJoCM75i3hgOTGbN5ibl8DaFId63aqu-dnGj2ImnFReVdmYAty5kc8JsRqTnOiHgR49FVc1Kr53lJZHNtMUECGF3UppHtmBU4Saavb8Ddjd_OZHwOtlAmKA4mpXXX43oRYZmH3NxI_ZODnKNXt3GzmeEuFFaERHn7hZ0wPj9RKf-Sas6HCl0kNoE9cmDPy_X2bMURgXAfvg_VGj483uMucpwRfnKvncpktcPrjXZJxJQjAXqW3Kk6_T6s882Y4wNbBVY75UOdKd4KzhyjOGOujtZ_WYLTKO1VNUK32XJ7SEc7Jr4D1zXLVDQch9S5pHF0rQKXAunG0VjDWy59fId86bt5lODt1_MjbZaHm2O2yY_XE0Z_66svQ39HDp0JCLxhQpwA-cfeIghzzJMuuM4UdtWsh-m6IGNTM3U8_YxWipDbgUYADVqVBqv8Y1FOr6_zFYCDZ5tAYkxnGeDz2DCx73L5WaQ4iGLGRoFB8pbFwAX4B2gQMDv0Ca94CH54kVnEVlJiLO_v7vdeAJHDOD1atojKtfK4YyNHAQTYE65BEMjF0IkW1ERcRP8i_6pnEoNBHCZmoPe0imW0hLzlD8UldsdbLduNb_uMcPQVLnltZk86e46oYSNWIK7Ma54cB6qxMJDB2dOUk3LYRLqjGP_EmRHcarls55NchA9be1t8N7KR0qx1tZDql2EqPl7zb_-jZABTsS2gmL6MMmVY4KgB4MDDvXznZyBhMjGLTT1U-mhXbxySazJ7DUDBLfPt3eCSkvYRxDSSTtnC7Ou-bl7b3dNhvlHv4VPp6a-ESNBDD0oh_XQB3mpmnZ3YnW3SR7BlRpPVoSSUzK4YzqGdCe-OxpMpJgMAjtlUxAyXu2_9gFo--u1Dk3hnTJivkYUA05b2imblbMunDzSfAufxURrjg7sumaSHlQUWQNdwQZkajBLbGH9PzJO0--gNdjms6-iKeXbCHdFYlYyDHltjsClh3fcnv8EjOk_6tV72JzTtQJv0zJ4pyPwFMtHgdPC3f5z8RuwnBivMeIqCy5HNUUgBjor--wdlDmVpUz6Zdt62rVrF04ZdmKzkmcDXHxZNcuY_84oV3U-COOWtUOF11YhjDYg7OhPDWviCxtDF9Xr3dPbrhP7SxSpCXMRZdP",
  "id": "rs_0a4dbf1c482c6499016ab47ae6e92887d0bfc25ab21376860f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.296,\"right_y\":0,\"right_z\":0.185,\"left_x\":0.295,\"left_y\":-0.295,\"left_z\":0.15},\"note\":\"Both the yellow and green fruits are now visible in the blue bowl; only the dark fruit remains on the table. I’m parking the right arm and bringing the left gripper above that last fruit.\"}",
  "call_id": "call_q6JEucYgLxnFfqASpvvRy6DX",
  "id": "fc_0a4dbf1c482c6499016ab47ae7633487d0aa1c66467ce0e28a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_q6JEucYgLxnFfqASpvvRy6DX",
  "output": [
    {
      "text": "executing move_to over 27 steps (2.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0786, 1.6928, 1.2282, -0.6163, -0.7246, -0.8982, 0.9991, 0.0414, 0.992, 0.87, -0.6788, 0.0986, -0.2218, 0.9986]\nstate[eef_state]: left_x=0.2922 left_y=-0.2895 left_z=0.1395 left_yaw=-0.0 left_pitch=-0.1528 left_roll=0.0129 left_gripper=0.9991 right_x=0.2976 right_y=-0.0015 right_z=0.1863 right_yaw=0.0679 right_pitch=-0.2457 right_roll=-0.2148 right_gripper=0.9986\nstate[joint_eff]: [-0.6906, -7.9658, 8.3487, 1.1209, -0.5543, 0.022, -0.0122, -0.294, -2.9607, 5.7504, 1.58, -0.0806, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4411a837fa45254cadc3171facff11904642ac26fcfb0681b748bd54d14a9019",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:126ad18f296ecf821564aee49259113a5b977dfb6f8ac42deb86f4469c53a5c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d1a6b32417f0b8f6dbc0a7b59fa3e98452633c47605e3893039315389cc84b7",
      "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 · 4.327 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 40 changed as sent

message 47 changed as sent

message 51 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8371, 0.6415, -0.4877, -0.0139, -0.0338, 0.9991, 0.9863, 1.7966, 1.0798, -0.3199, 0.691, 0.5838, 0.5725]\nstate[eef_state]: left_x=0.2867 left_y=-0.0 left_z=0.1637 left_yaw=0.0027 left_pitch=-0.1144 left_roll=-0.0007 left_gripper=0.9991 right_x=0.3161 right_y=0.2803 right_z=0.0762 right_yaw=0.0874 right_pitch=-0.167 right_roll=-0.1635 right_gripper=0.5725\nstate[joint_eff]: [-0.2393, -1.2786, 6.9538, 1.6777, -0.0366, -0.0366, -0.0122, -0.253, -10.5915, 7.788, 1.116, 0.3394, -0.0024, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8406, 0.6415, -0.4938, -0.0139, -0.0338, 0.9991, 0.6243, 1.6485, 1.1782, -0.4564, 0.4728, 0.2264, 0.9986]\nstate[eef_state]: left_x=0.2859 left_y=-0.0002 left_z=0.1616 left_yaw=0.0019 left_pitch=-0.124 left_roll=-0.0005 left_gripper=0.9991 right_x=0.3878 right_y=0.1847 right_z=0.136 right_yaw=0.0839 right_pitch=-0.2417 right_roll=-0.2124 right_gripper=0.9986\nstate[joint_eff]: [-0.0068, -1.4974, 6.9538, 1.6239, -0.0171, -0.0611, -0.0073, -0.0752, -7.5556, 6.3932, 1.6386, 0.2125, 0.0269, -0.1587]",
      "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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0786, 1.6928, 1.2282, -0.6163, -0.7246, -0.8982, 0.9991, 0.0414, 0.992, 0.87, -0.6788, 0.0986, -0.2218, 0.9986]\nstate[eef_state]: left_x=0.2922 left_y=-0.2895 left_z=0.1395 left_yaw=-0.0 left_pitch=-0.1528 left_roll=0.0129 left_gripper=0.9991 right_x=0.2976 right_y=-0.0015 right_z=0.1863 right_yaw=0.0679 right_pitch=-0.2457 right_roll=-0.2148 right_gripper=0.9986\nstate[joint_eff]: [-0.6906, -7.9658, 8.3487, 1.1209, -0.5543, 0.022, -0.0122, -0.294, -2.9607, 5.7504, 1.58, -0.0806, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4411a837fa45254cadc3171facff11904642ac26fcfb0681b748bd54d14a9019",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:126ad18f296ecf821564aee49259113a5b977dfb6f8ac42deb86f4469c53a5c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d1a6b32417f0b8f6dbc0a7b59fa3e98452633c47605e3893039315389cc84b7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHr3guBnqkXvfUwYCE5HM3w_dMb1Y9P_pHyCnjeKScYlgKAJwMBARtLW4Xzx7CrbThiefFlOZr2Y3siiAAkmelYitXkVP4aG4yC-kXJMOLUtZ0239NEkbCbTOEWHqZC0OadJv5wQLgHbGOKb3f5b72up8l5jl38vfrTPWuh3DDvxAZNX8OiPmiCL3VybGyMim2PanvgZ9Wy8768vJfK3dIB3UXG6cyxCIzSj1OA0S61UYVY3DgnNEDn-0yu7hDGGOjAFr-PUoK8-MVWF80FOtKLG7v1aSvKdEPWiYlxbrMYmcrv_0PVJa9YPhE-klEcjF7VGIR2mRji8s3bfsdMD0nqndLd7GvFH4BsvVNakHE_rMTdRFxVZM5CVjKQnHsvVj_u0RElQsBkfR39YY6CK0PDccCQcwhzeSvupJLzMKvx-FbTMmWeySbf1ztMmfZY9_hFTPZAne7LwXsKt9uA3tHq0PBCsFc6vyfYrgYvkxjYmsR1hzhGQ1dcP09SUppSGUROoJsdo2ggJDQ0LgOvmKpnTJqDvotpkSm5bjukDp7tH--asUehRhvEJXuqbEsxwWthRfZcm1rWXxufAHONHETUtyVAl5kxx1KPtE0efwKdZ0Xt0Z1Jv1FXTcm0uFw7Xcj8vWZ4wOKYCYrMyRrJAcRl8skcdy8z9k45WTXD-62wSPjZrsseUU5SRGdS3hS95i7bi1BGftSov_qku3c06_arBSOtBeMLwcEqi19AXiUbeGU7Is_B5Oqqyoyum_8s6k_szKZzBQ4J-PtK7Rk2NNmuQ9zKyGoWGHN6zAXxBPpP4F8dSbTQptmX9LAmYHZ1SRBGdj0b9iTKeL0skE63Mizoij_oitbwwnK2Ky_JElKXkkh-ikDbObU7Sszbq3g05h8Z3AkOlTra2NV7LHiyYtKkRBUjYMVJvmtqHypF2QHRul-vzqBj2ykgF5B879T2ybwBxWpDhGZzUjg0O1SGvQNxemzKmSGP87m7DuzScCucWAhafLmx4W70Qv9XX5hZf5kDmcNOiPwwrhiqYtwWWbKcQ4aglBfxSmygPBvelNk-DMpa5IuUyigIXERtKa0a89TyDQuJKohlvP5L9F27BWNpoIqRKwAH60qQJ0dlRiIHX1fb6X3R-jhiZk8qrKLTcMpTlbsZAPA5eYK1lVwhfZfVFWFZNHcZPmoPRM13jpurgJjywArPWx3Ip491W67ZYqUxdm_Yuf-HqYOQFXeul_5CjUeHLHoxSWdnf8X_pG7vtEnjUHbxR7yU3_zR-LdeOcSCmSVkgoTlkZ3VteNzeyYr9NvjihxKIfzKqbxQyHZQFRmtzxbDOu4HfRzIsr1juqxuhXdxArUxnC2dDF64EW2USqGqsh_1O5ChAoT9Ub65_aDUxjyJkSVY_KsnamgfuqOLxR8acN_TGZ6sHN24VwpldhuYNyqreRypnrkLS0s64_DxT4QIZnibwUswA7lRtX1s6Vg9Gj0cXXkYorOx2IN40yG4k63GcRa9UFYgu37zgTZD12eLL0EpDLDYKbR8njGTVUsJql7bp6C8UFHXJmWxvowjkr7DhYJ1ez6XUNs1V3aEGXJoz5dpWUyWGlyO5XFCrA3c8xhRyqa0fMNkgtYGcnYQoA2PyAOwyVxF3cB8629sNaptgTx6920ZgOz2rugNuXjSI5MTs906evQz1qBoAeOjY4gzp1gi2JKe8TgMa6QhflnB2Kpdwjq__PqBnst_efoINBAK9rpBo_sISYOuIz3cW8vzgjpn9wfffb1Wmf8kcQEIQYOuPp6mmRs4UlebPE_tjbsCXp2UIbOgLVkgUpQZr4_WWS4p1Gy-GTPc4IRtkSd43hP6QfL_U6X3fFsLXSpcl3F-TrPYfWbENPR9hI2WyKdNDPYGltr7dyLa957_aZTUVSExR3h3VTRRc0Ar8LYz7f0m5ZFvup7Hx4qEM0w==",
  "id": "rs_0a4dbf1c482c6499016ab47af3ef3487d0aecbcbca633ebbfc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.278,\"left_z\":0.025},\"note\":\"The dark fruit is slightly left of the jaw center and still ahead of the fingertips in the wrist view. I’m correcting that alignment and lowering around its sides.\"}",
  "call_id": "call_JdMa7BSyefe9jf5TCFQyke2q",
  "id": "fc_0a4dbf1c482c6499016ab47af6258487d0a68247c85cf5fcee",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JdMa7BSyefe9jf5TCFQyke2q",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.992, 1.8942, 0.9703, -0.112, -0.6823, -0.8082, 0.9991, 0.0372, 0.9939, 0.87, -0.6819, 0.0925, -0.2287, 0.9986]\nstate[eef_state]: left_x=0.3178 left_y=-0.2762 left_z=0.0249 left_yaw=0.0075 left_pitch=-0.1623 left_roll=0.0228 left_gripper=0.9991 right_x=0.2972 right_y=-0.0017 right_z=0.1852 right_yaw=0.0728 right_pitch=-0.2514 right_roll=-0.215 right_gripper=0.9986\nstate[joint_eff]: [0.3624, -8.7453, 5.1487, 1.326, -0.3199, 0.0855, -0.0122, 0.1299, -2.5641, 6.8991, 1.5311, 0.0757, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0c8fc308fa24ecf7db2533aa4ba95aaef4139df552632e4679de3e92299121f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb003425536630bbec2f8fcdc81f57becc7ab994220a1464bebd647fde349452",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8304f20db9d993a39cef0ba5cab4dda7cad97653bc3b93deffd3eaaeec2de325",
      "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 · 2.28 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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8406, 0.6415, -0.4919, -0.0139, -0.0338, 0.9991, 0.6243, 1.6329, 1.2747, -0.5518, 0.4732, 0.2344, 0.5754]\nstate[eef_state]: left_x=0.2862 left_y=-0.0002 left_z=0.162 left_yaw=0.0019 left_pitch=-0.1221 left_roll=-0.0005 left_gripper=0.9991 right_x=0.3909 right_y=0.1868 right_z=0.1665 right_yaw=0.0813 right_pitch=-0.2262 right_roll=-0.198 right_gripper=0.5754\nstate[joint_eff]: [-0.0479, -1.6615, 7.0769, 1.6435, -0.0562, -0.0269, -0.0122, 0.0889, -10.359, 8.4718, 1.5116, 0.188, -0.0513, 0.7302]",
      "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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0786, 1.6928, 1.2282, -0.6163, -0.7246, -0.8982, 0.9991, 0.0414, 0.992, 0.87, -0.6788, 0.0986, -0.2218, 0.9986]\nstate[eef_state]: left_x=0.2922 left_y=-0.2895 left_z=0.1395 left_yaw=-0.0 left_pitch=-0.1528 left_roll=0.0129 left_gripper=0.9991 right_x=0.2976 right_y=-0.0015 right_z=0.1863 right_yaw=0.0679 right_pitch=-0.2457 right_roll=-0.2148 right_gripper=0.9986\nstate[joint_eff]: [-0.6906, -7.9658, 8.3487, 1.1209, -0.5543, 0.022, -0.0122, -0.294, -2.9607, 5.7504, 1.58, -0.0806, -0.0269, -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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.992, 1.8942, 0.9703, -0.112, -0.6823, -0.8082, 0.9991, 0.0372, 0.9939, 0.87, -0.6819, 0.0925, -0.2287, 0.9986]\nstate[eef_state]: left_x=0.3178 left_y=-0.2762 left_z=0.0249 left_yaw=0.0075 left_pitch=-0.1623 left_roll=0.0228 left_gripper=0.9991 right_x=0.2972 right_y=-0.0017 right_z=0.1852 right_yaw=0.0728 right_pitch=-0.2514 right_roll=-0.215 right_gripper=0.9986\nstate[joint_eff]: [0.3624, -8.7453, 5.1487, 1.326, -0.3199, 0.0855, -0.0122, 0.1299, -2.5641, 6.8991, 1.5311, 0.0757, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0c8fc308fa24ecf7db2533aa4ba95aaef4139df552632e4679de3e92299121f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb003425536630bbec2f8fcdc81f57becc7ab994220a1464bebd647fde349452",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8304f20db9d993a39cef0ba5cab4dda7cad97653bc3b93deffd3eaaeec2de325",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHr9fO9I7pNJMlMhtvQ4HpaIE84Ft13sXoesRX4gSYo2WsGoiUDdf83bIGVmhGAgOVZ2bFBpOC8Rk--76vSJvjCUQJYaXwmQwqmO4KG1K8fKIx4nclmAPmPYRs3L4_a96MkSw-fhBYJ1aoeYfpIuPZShB68JhSsrrJ8sUY1zBx4i3XVf8e6YGnALn1ePl978qD47xchE1N7SVqqfEo3JmeKd34oDdc4UBTYtc21_wQTV3mu9ASbff_yuRbhkkJauBciKpeNRXFFtzvrfxQqasSKQhsonvo8xcZ2Pt_v6W6z-AfcQWZCQ2fgRqEW4I5N5gA5tUYFSt_dH_vGvycpjlpUDJHUCznRCbQzrdZLhQomxfFc7Q_fiDSh-w-pOa-qLKOl5zSr34zdpXpz0rsaYKB_DrZIq7kAkukmi9dozGzeMij9mcUr9uxdWozcFSigDnYBEhgzexO97UqTVyQT5PuRw0OTZy2meBOhy5wW0Nx-wKd3t_JEPmz4yljamNg1wN9rvBpun2LhUSz0RyUr0jkm3XmaXvGt5pLb-gtmPQmxQeFurqHMXvGspC24q-DglTV8Bn-EQxM0gPiniDKXLjcW05qVRTGxOqMxCaDfrJ-A5QhtP1kW4m6dRFiU5NaN-FGj8IgZisBYT6YxI4HZ4ylu9I0lPx8sEFZ1i-CeCtlNNIZV3c_-ZT13oMc8-xxv32j6pUxaORug84SC9Y8hef-4sTGIT9KX5c-5Rmti95kOUrXQk_Lf71heGRErWyma3vj_VoHNMjtciE-iWxKgSzTrh4T_KDjh_PvSnb5gkFwOTdvP_sXg3Qff9MO7BBEs0EcSK5T9SoTGqniJRXPj1Y2NgopWujT7swnqYwL7r4EAMwJFjH2rH-r5SYZMW84Jlp-TyWftPcICkwMr-ZgOPklauJGl0XH5bMmWXfuVKAUf9UMnnNsV_YipS-MI9T07-NBm0SLA7mw3zIfk1fg6W37Mde0QH61Q5p3tf3kaeP6ecC3kPQQ8dBCAdSfdXPyjbGXB04OJzzCqzHNowF5jhuPDg3cQZmhvPARfbwgfa-k6sY0xhbTswNgDaG8khpPFE4cfjrfrMo40jlR8xYt4GFlJjJTgbnijXxciXJXm6KWn1BgSgupxWGDqilgWOEW4hCLoKfyUGCxz1cXDT5VMQWc-s6wz4usivvvVw5Ug0LTfVJTzRkUxX8CQVqVi7zYGNoQU8qqiyLHnLY27ptrTxOLxAct1zyMKNLZBe1mpkh_0jKKy9kErELG9VnScdupsdx-hiKx0wnCCpi1p6sRGdjea5R9U0t0uT8w_TVFipEdqPoiEmkTCGUms4TWd7kASnmjcCW-c1-iXTcSA0pX72ok-YX8AVocVGyiqc3mPge7pnH1DUb6VnbW4arls5HCT3Gm-4Yql3L4-pKbZ_fSlAGwKIlRX17ycvjr9gGdVSju72Qas8hbEe4uleYhvgPNKLOSqzncvzTFyUtGNrsQsenEei_9HQbJaizS92MJ6VKIwajHRHtY5CX0EkeWkOkSRSn13Ge6-lwHOCnpTnTlyjwV5Ioe44qsgBvuEG91T8uPdnR-KX61Z6oHRfgg29Ej8JEqhn",
  "id": "rs_0a4dbf1c482c6499016ab47afad8fc87d093c0c5741c29b58f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.265,\"left_gripper\":0},\"note\":\"The dark fruit is between the open jaws but a little left of center. I’m shifting about a centimetre toward its center as the gripper closes to avoid squeezing it out sideways.\"}",
  "call_id": "call_9HepW8U1yaWwfy2sFfBj0GAV",
  "id": "fc_0a4dbf1c482c6499016ab47afc918887d0b1568c44de8486a7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9HepW8U1yaWwfy2sFfBj0GAV",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9813, 1.8896, 0.9405, -0.0765, -0.6807, -0.8005, 0.5174, 0.0372, 0.9966, 0.87, -0.683, 0.0921, -0.2291, 0.9986]\nstate[eef_state]: left_x=0.3187 left_y=-0.2701 left_z=0.0213 left_yaw=0.0117 left_pitch=-0.1579 left_roll=0.0191 left_gripper=0.5174 right_x=0.2972 right_y=-0.0016 right_z=0.1843 right_yaw=0.0734 right_pitch=-0.2552 right_roll=-0.2148 right_gripper=0.9986\nstate[joint_eff]: [0.6906, -10.7282, 4.3692, 1.0574, -0.3101, 0.0659, 1.0183, -0.0479, -2.2769, 6.7761, 1.4969, 0.022, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf0479683444c7d37e9fa38f0e3c1af24a61804baf0b231bf3e2f9c918923e85",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55c4395c35baa4528be2fe56e9b5551627a8c6ac416ed6ff374c189c61225c41",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89c49c31fed0bdc57b07cf7cf0133a1937f18fe0881780fd09e15b9fcbc02c51",
      "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 · 11.58 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 47 changed as sent

message 55 changed as sent

message 59 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8406, 0.6415, -0.4938, -0.0139, -0.0338, 0.9991, 0.6243, 1.6485, 1.1782, -0.4564, 0.4728, 0.2264, 0.9986]\nstate[eef_state]: left_x=0.2859 left_y=-0.0002 left_z=0.1616 left_yaw=0.0019 left_pitch=-0.124 left_roll=-0.0005 left_gripper=0.9991 right_x=0.3878 right_y=0.1847 right_z=0.136 right_yaw=0.0839 right_pitch=-0.2417 right_roll=-0.2124 right_gripper=0.9986\nstate[joint_eff]: [-0.0068, -1.4974, 6.9538, 1.6239, -0.0171, -0.0611, -0.0073, -0.0752, -7.5556, 6.3932, 1.6386, 0.2125, 0.0269, -0.1587]",
      "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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.992, 1.8942, 0.9703, -0.112, -0.6823, -0.8082, 0.9991, 0.0372, 0.9939, 0.87, -0.6819, 0.0925, -0.2287, 0.9986]\nstate[eef_state]: left_x=0.3178 left_y=-0.2762 left_z=0.0249 left_yaw=0.0075 left_pitch=-0.1623 left_roll=0.0228 left_gripper=0.9991 right_x=0.2972 right_y=-0.0017 right_z=0.1852 right_yaw=0.0728 right_pitch=-0.2514 right_roll=-0.215 right_gripper=0.9986\nstate[joint_eff]: [0.3624, -8.7453, 5.1487, 1.326, -0.3199, 0.0855, -0.0122, 0.1299, -2.5641, 6.8991, 1.5311, 0.0757, 0.0122, -0.0122]",
      "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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9813, 1.8896, 0.9405, -0.0765, -0.6807, -0.8005, 0.5174, 0.0372, 0.9966, 0.87, -0.683, 0.0921, -0.2291, 0.9986]\nstate[eef_state]: left_x=0.3187 left_y=-0.2701 left_z=0.0213 left_yaw=0.0117 left_pitch=-0.1579 left_roll=0.0191 left_gripper=0.5174 right_x=0.2972 right_y=-0.0016 right_z=0.1843 right_yaw=0.0734 right_pitch=-0.2552 right_roll=-0.2148 right_gripper=0.9986\nstate[joint_eff]: [0.6906, -10.7282, 4.3692, 1.0574, -0.3101, 0.0659, 1.0183, -0.0479, -2.2769, 6.7761, 1.4969, 0.022, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf0479683444c7d37e9fa38f0e3c1af24a61804baf0b231bf3e2f9c918923e85",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55c4395c35baa4528be2fe56e9b5551627a8c6ac416ed6ff374c189c61225c41",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89c49c31fed0bdc57b07cf7cf0133a1937f18fe0881780fd09e15b9fcbc02c51",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "arguments": "{\"targets\":{\"left_z\":0.095},\"note\":\"The left gripper has stopped at about 4.9 cm of spacing around the dark fruit. I’m lifting it slightly to check that it clears the table securely.\"}",
  "call_id": "call_hjxvdgKnvrzlsWH1LSIQjiCE",
  "id": "fc_0a4dbf1c482c6499016ab47b00135487d0809d20a6a6c4ba58",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hjxvdgKnvrzlsWH1LSIQjiCE",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9802, 1.7702, 1.0481, -0.3138, -0.68, -0.8089, 0.5147, 0.0372, 0.9966, 0.87, -0.6834, 0.0921, -0.2291, 0.9986]\nstate[eef_state]: left_x=0.3188 left_y=-0.2697 left_z=0.0755 left_yaw=0.0184 left_pitch=-0.164 left_roll=0.0211 left_gripper=0.5147 right_x=0.2971 right_y=-0.0016 right_z=0.1842 right_yaw=0.0734 right_pitch=-0.2556 right_roll=-0.2148 right_gripper=0.9986\nstate[joint_eff]: [-0.294, -10.1128, 8.1436, 0.9158, -0.3785, 0.0464, 1.0183, -0.0479, -2.2359, 6.7761, 1.4969, 0.0024, -0.0757, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fa75e8ecff921f3afa4a708473da6451632aaeb1b2b978bd30d1fdca5f0268c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e392f929c937871cb8629f78f2eccebea6f445b8479955441780cca2ba2f243d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bca1a83f68912ce0841c2327062f316070136772144b56448d647431a50a39d",
      "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 · 5.933 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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0786, 1.6928, 1.2282, -0.6163, -0.7246, -0.8982, 0.9991, 0.0414, 0.992, 0.87, -0.6788, 0.0986, -0.2218, 0.9986]\nstate[eef_state]: left_x=0.2922 left_y=-0.2895 left_z=0.1395 left_yaw=-0.0 left_pitch=-0.1528 left_roll=0.0129 left_gripper=0.9991 right_x=0.2976 right_y=-0.0015 right_z=0.1863 right_yaw=0.0679 right_pitch=-0.2457 right_roll=-0.2148 right_gripper=0.9986\nstate[joint_eff]: [-0.6906, -7.9658, 8.3487, 1.1209, -0.5543, 0.022, -0.0122, -0.294, -2.9607, 5.7504, 1.58, -0.0806, -0.0269, -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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9813, 1.8896, 0.9405, -0.0765, -0.6807, -0.8005, 0.5174, 0.0372, 0.9966, 0.87, -0.683, 0.0921, -0.2291, 0.9986]\nstate[eef_state]: left_x=0.3187 left_y=-0.2701 left_z=0.0213 left_yaw=0.0117 left_pitch=-0.1579 left_roll=0.0191 left_gripper=0.5174 right_x=0.2972 right_y=-0.0016 right_z=0.1843 right_yaw=0.0734 right_pitch=-0.2552 right_roll=-0.2148 right_gripper=0.9986\nstate[joint_eff]: [0.6906, -10.7282, 4.3692, 1.0574, -0.3101, 0.0659, 1.0183, -0.0479, -2.2769, 6.7761, 1.4969, 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 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9802, 1.7702, 1.0481, -0.3138, -0.68, -0.8089, 0.5147, 0.0372, 0.9966, 0.87, -0.6834, 0.0921, -0.2291, 0.9986]\nstate[eef_state]: left_x=0.3188 left_y=-0.2697 left_z=0.0755 left_yaw=0.0184 left_pitch=-0.164 left_roll=0.0211 left_gripper=0.5147 right_x=0.2971 right_y=-0.0016 right_z=0.1842 right_yaw=0.0734 right_pitch=-0.2556 right_roll=-0.2148 right_gripper=0.9986\nstate[joint_eff]: [-0.294, -10.1128, 8.1436, 0.9158, -0.3785, 0.0464, 1.0183, -0.0479, -2.2359, 6.7761, 1.4969, 0.0024, -0.0757, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fa75e8ecff921f3afa4a708473da6451632aaeb1b2b978bd30d1fdca5f0268c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e392f929c937871cb8629f78f2eccebea6f445b8479955441780cca2ba2f243d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bca1a83f68912ce0841c2327062f316070136772144b56448d647431a50a39d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHsNw_lKH0wwgOfpgiTBfIR-jCO5tiMzeif5V-KgLWzJTh_ZPSSpbGDe4qXZC_Fmuy58hPsPcgZpj0Ss7H7U3wGC2Saot_VoVynfDwoSzgx_MPVHVMmxRReXburYzXE_hm5a-zb-OYhUomfNyaNdDSxtfXHfJsFuUMwHB5mELkbutrGbZOb8a5Z7ATRSVgnnBQeWw4IoEWuS8aSuv_KFNJjl0wayTbgcniQDCT_IljVcVAwk28dCD2tkzjEx0no6ji2bZJWkQQTTBBwbdaqltJ0BnkNzME4adJ3qo5SC9Nn9CbU2SeObnwHc4N3Vxz4V2m_7jcvEMKpaYnr2SSYFFsWiP0ECVE0SQrqvGIERoUDTuCEmnZPnP8GpypGp9ns2PhR4zzplptjV8eEAdulMWqdcPVPS2oiiVyXBvjaTRPLzekC5sAyu8dRsN1puOrA7VntiU_qBM-oX44jFT15iFMDHBdMAMB5oepHAlrJgXHp3jJioUcKaNWVkxcqtJ_1wQMxpnFaR7aIxzXWAAwxXkGRtb_HewM1nk_ZUx8D5kKB2iCVMdx4JW8sirFxJvqzG9JkHhWGiQkzN1mZvC9GoIXYscRTv7Uv8X7m3DnZllCCIicWCVguK5K-H-Z22jdIf3AScllxssSCrxXWKmgRaR0Yc10uPfYVGKDpq8oJG63fR_QKqTwE-1Zh6tyEgF8uW46zlG_FnyHcBTDlzVyZWwm_Kf-xTqWCHmizWzt8H6ya52QY7uL6FEQXmyA891--gH-1meJmaC8c7qr_KLLKC_RIfO2RvpUfWcmQwS7EIcnuGG8IWChhgf_70JwDdCPvsMp9J98QSTyBwyzxKTZPJ90eZkw09KCpasHvO4dbe_Es2PP8dFnPZD6_QjyghYn0Keviv2Fe0uFEJarZ2RpxVsFPWGkSMNiCRnqWzZ64nMN_Z5tgmYa46dGgRfT_LF47_1KTHAO1s0rKyRbOiojJ9ng8rkwq9rV1Bp_95PzsbfAgbXGYSBUyPovdr9Jo8OZcV-HKDvn2Lq5Ag24LUl15enwhf1oiioo_WktwO99cBUiUGrr4k8gyxwhfADxkXzWDH1ZGlW-ETh9htMMTAutf7fzRUwUnbKKUSd60voyjLV0MnxksbqwWW4DuRchVBqMIC7sJi5CrblG-eNzApDrBpeF46wlqIpSeXC60OILDnWuEdNv05VXtgLuCdfm0McoGP8FrhHl662HcNRBYHUnADqucLzIz0pnRh65qQrHiY3OZUPGfvG8v5w2lR3RfTw0X5xuzlFOIZ2crF_V8VrbctoqHmSFJtLHQlWwk5C5EopfJSak4-a4QeU276RM1IDipwEMJGzzsUwuujRQKxMLHt3ljf6MS0X8dRcO8801ZavEGeQnUZUIEiRl7swZqGFPcUtM7SoMkvBC9tokcx92195RJNBOrFJ-aFy0JyhUjosp4SwGIyghZpd-gR_9qu5hjd8LjwowPGUk13NHFtN7eRf5siPqRom0EUbkexy5aL6Q5rBaRXV3RgAxg9vqecXDO2eIvTGqWjYa46IT8LQFBFQOJAYNjr7JCFqh56TAGkgpwdwQ3-6LMxW7FwV_DJuw6tz2GGxaM3pnNH68Ta6xSrmrKf3K2OZITqui1RgwdcTMwgG7FPfUMJL7QngoeZfnIvVpWEKHB-q1CaUl8iUNuBAp1GRnM3sh6ghdCBPq9Rzbs0XqUhTkUQ9wy_ULmgLcWKKp-4pRi6ZQWRp98QNuS5HrWDKyt__pGS3tc9vJXr7E68wsgHUXNXNQMF4HtIIlti3rm_C_US7HgQU9v3pd5Ybrc-fssyQ98orUT5_2z4osdwXId6DJ-Vt8YoOvOp7ljH6oOegbW_FbehXp-qScEgnki965jAkJf9z16KQZXTZMGCHKSfN9uBe1CtJXTLRWVRNY-470dJxWEejL2n0Ao85jtLCrWFA-Yac8s1rLN1oEO1LcH3IhHRaUY-1DVmBg18Z4JgIPWqdzwTIeRQgc5JeXWL8mGiODtAIl9COEwi2TwnsR1QaF7TsNwEGu64CPHDyHxEZELp9-Gapk0ndOxOtdsCZBMg8VI9XGsQzlvIQsJwy-Ye__geGyBzb2DtjTWQObKKgdtVyDM28_AHXdVQTNTHt9ATKmNwbgewEqxOMouSrDOrO26qi-s3NTg0KXZXG_ozPt-A9n3UEGW9oKqdqn1NPqaF1HragEAEAYyNtlkgYr0O1Sn_tJ5SwXWKJNXkxZCY11y28HmucjE8yUc803xIRtzC0gsBY3A47hW6rHInnkRbFWYZ1mHaJPRlwD8nE3knXYLxmZ05yTStcGK9sueYEX4zPkJsq4Fxj8KMweq_W80QAbRl8npiMdAkhqp5JB3dSv_zY2RfABroSHtCHSde8pGOlCil6cQRCGup0FjhQGtqw2osHblRhfmjbTFdVqMUZiNPRFD13PsgSVHkXnkDBZYlm6OApk3Uoc2UJUOjTpd4HRT97Ab5_9uQQKaDDvBFCm79CYiykccCiv1vqkmIg1ri9iyh_zt6b-rHqq4MlqLGsow5JX9RIB0_t7kd9-4XTyi5uqPn9xHO1Cv9Wx_GMdcVqvhqsjeFaqesaDcea7X1pojOlkFpNzMDAsGoPJZl4rcTvj6CC547tJCAFHA0qLOVF3GaWFLyI-Wg1Vkx8g2lwAvv4E349QSM40AmZUh5TCYQFmoo6k4fE7SGqvM1PSO4n_7dyiK0h9_j3QgHy8DclOgYU09N8Qs4okkT9R9qK6MogFpZ1B8t3LxefUpsK3z2QXva-g7zpnZrhr5mwcLQYltHoA-oQfxLSbeRe0eCQo3lc75WbCI6HdZLvlbK6NvzX271jzJh0WgBHnBDLqWVXwffH1Xb8VUSHErLTXydmte8fmN2OXENawjWiu18E_qn4XD_hLNDrVp7Wr1ly6fTu9iMj_Y3n5RYTXISzXDtg4oSJ_dbc51YhgtbJqNY95_hkYm3a83ResjxKu09fF7vUAlmloXoyY_pYdvudwQOW7ed4ucQRwTWtRevtfo36gnpCyw2RrAGcrVSNQu4EWQWSgxFcUoojd-Qys5CCohR9aHjkJnmhsg21w6IrA4YOdhAURingli8gfzRB8FUTgnA4N_jAiMKJ2wkMjRHuird9JIkGUHEipUUjIa556BxGvmPswsUbX5D43L0ASNd0R29O4YVIX17SrtGC0tDvBeUKX7nyNr9zmhNBbAxpQjcyWC89nQZQR2VGnqb4T9FSoyO24wnOI-940K75Md2p1d9OD1BNZIXLBJJELtu0Rede7QWoo0mGkJB8xzPQ4BRyDhl6yI9S-FNan1DwPu3MIoiWPp55ps8zZlnV08Jz-akgnJq2oFml7F14ZT4ETWIq8BTl8GVfJSSDmeYj3d2Acqkmpm3PT8rt0NIh7V5dCFI3tMRmBEQ3Vr1VOHcectwwNmkU1BZvtpmO2lCiG-vEkBGQ7gX-_nT_AIx-0kEd6-WzhZh1ENUTQsPmNM6ovovCEdSlpgdvqNVNqPw_kxWGpKV7pmjOWraJgQpyc2iKzVQWr5wT0C4iqrK_AQ37zqyWTkSsSz2nnXEn0NQ30X_MPFCgzox4uhKlTate6zHUfu98kaZUgDBSafx1KefHRxxjPq2J2u2so1P_k2YrF2LKxTvuykBukfMvLqKAbTKi6qNcbKt8CXjnkxkGMPbv-mstWr6QeyDOjrJuo9Y3Rv6mAgDXObCx3XTqAlEv6_NKds1b-n7qCqmhZm8lGJ7F6BklvGWTy4EY-Okxi28z-Yog7oB",
  "id": "rs_0a4dbf1c482c6499016ab47b03a5fc87d0b8e51cef82a5636f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.18,\"right_x\":0.395,\"right_y\":0.13,\"right_z\":0.14,\"right_gripper\":0.6},\"note\":\"The last fruit is securely lifted. The blue bowl’s center is beyond the left arm’s sideways limit, so I’ll use the right arm to shift the bowl closer before placing this fruit inside.\"}",
  "call_id": "call_tZj6f2npk47u8dANrt25s5dv",
  "id": "fc_0a4dbf1c482c6499016ab47b0c8c0087d093c4b24475e6eac0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tZj6f2npk47u8dANrt25s5dv",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9802, 1.6955, 1.3148, -0.6933, -0.6724, -0.8165, 0.5175, 0.4595, 1.5471, 1.0641, -0.4751, 0.3473, 0.0589, 0.6024]\nstate[eef_state]: left_x=0.3181 left_y=-0.2705 left_z=0.1556 left_yaw=0.0239 left_pitch=-0.19 left_roll=0.0444 left_gripper=0.5175 right_x=0.3786 right_y=0.1242 right_z=0.1222 right_yaw=0.1076 right_pitch=-0.3347 right_roll=-0.2461 right_gripper=0.6024\nstate[joint_eff]: [-0.294, -10.8103, 8.8274, 1.0916, -0.4078, 0.0317, 0.8034, 0.2256, -7.5829, 8.7316, 1.4725, 0.2759, 0.1538, 0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90e95ebe8c04e3a76de89352d191fca4e314259db346605eaea1be0dd7267836",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:234f0d2787265a86ea45b96334728e92ea3b2b05ce3d361df0cd89530b2acfda",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa5b21a069498d2b63922fb9091abeca6769c4025dc02af0524801ac6d01e85e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 18 attempt 0 · /responses · status 200 · 3.289 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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.992, 1.8942, 0.9703, -0.112, -0.6823, -0.8082, 0.9991, 0.0372, 0.9939, 0.87, -0.6819, 0.0925, -0.2287, 0.9986]\nstate[eef_state]: left_x=0.3178 left_y=-0.2762 left_z=0.0249 left_yaw=0.0075 left_pitch=-0.1623 left_roll=0.0228 left_gripper=0.9991 right_x=0.2972 right_y=-0.0017 right_z=0.1852 right_yaw=0.0728 right_pitch=-0.2514 right_roll=-0.215 right_gripper=0.9986\nstate[joint_eff]: [0.3624, -8.7453, 5.1487, 1.326, -0.3199, 0.0855, -0.0122, 0.1299, -2.5641, 6.8991, 1.5311, 0.0757, 0.0122, -0.0122]",
      "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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9802, 1.7702, 1.0481, -0.3138, -0.68, -0.8089, 0.5147, 0.0372, 0.9966, 0.87, -0.6834, 0.0921, -0.2291, 0.9986]\nstate[eef_state]: left_x=0.3188 left_y=-0.2697 left_z=0.0755 left_yaw=0.0184 left_pitch=-0.164 left_roll=0.0211 left_gripper=0.5147 right_x=0.2971 right_y=-0.0016 right_z=0.1842 right_yaw=0.0734 right_pitch=-0.2556 right_roll=-0.2148 right_gripper=0.9986\nstate[joint_eff]: [-0.294, -10.1128, 8.1436, 0.9158, -0.3785, 0.0464, 1.0183, -0.0479, -2.2359, 6.7761, 1.4969, 0.0024, -0.0757, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9802, 1.6955, 1.3148, -0.6933, -0.6724, -0.8165, 0.5175, 0.4595, 1.5471, 1.0641, -0.4751, 0.3473, 0.0589, 0.6024]\nstate[eef_state]: left_x=0.3181 left_y=-0.2705 left_z=0.1556 left_yaw=0.0239 left_pitch=-0.19 left_roll=0.0444 left_gripper=0.5175 right_x=0.3786 right_y=0.1242 right_z=0.1222 right_yaw=0.1076 right_pitch=-0.3347 right_roll=-0.2461 right_gripper=0.6024\nstate[joint_eff]: [-0.294, -10.8103, 8.8274, 1.0916, -0.4078, 0.0317, 0.8034, 0.2256, -7.5829, 8.7316, 1.4725, 0.2759, 0.1538, 0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90e95ebe8c04e3a76de89352d191fca4e314259db346605eaea1be0dd7267836",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:234f0d2787265a86ea45b96334728e92ea3b2b05ce3d361df0cd89530b2acfda",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa5b21a069498d2b63922fb9091abeca6769c4025dc02af0524801ac6d01e85e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHsUg_ZVWTmfroNQao1y00TtJbPDawf5nQasPNwSJbbinMANaUPe8Z9JR9F90_NiwZbXjBsO2qsygu_XUa7XR4GsKtH7peGNfPOCKnd4a2431asiIx5vE5p-vmHzlDVrNy1DWNMNXGYXEklTKgp8C1Kxgq1zx1U1ER8HiGCT0uYv7F4FQHARf3WxWP9spD_FJm94-ql5dBrcBdb9t_2GGSblSPxdds3sAoMNGPvfv_sVy-GreArmIE--EwOa5U3kAOYdbKq2VhqjuJCUXpRdMMfRCqr-YUZ0Ag_is3AiSXvUZFD6rRYVSzQlEdj5OrIFcAvi_evmbxoZr2y03uo01ghXNrbiG2xMZQGjzDB0aBZbQiRwZr2COfVhg0HJIt9G7kh-zYU4DQwTMtlFS4YiPwLyEleBXY3WnNEhgpIenY7ne1bOEjX_G4sW5LqqSHcEW9yhqiYEol4TevUvs1tUuRWZvnQcHyyqCeXVxCqk-i61xoNOEcGNJP9ZXgw82JTQSdyGHvDG9tyY0Gpe8_eKcSHkhLlqwz4jAzbzNIdI0bfwTX9dl_Fw3BYjW50fmvY70zzAvi6vKNjOSxJI-rkHQga4cJcwoUO2DYPAd8pGUiidCWocw-HJrjdLtRN86CwcnR9e6EeHl0Y-ztrQtkAwLsTP0pyny-CmbuCFF9Ntx-Khc4lIJ2UnX-XS8YYNoRr-6qxRq0qkdSWEIUIK_Shy7NQhJTvyqnsh8rEJ5951xMH2Q9VFB3v79yKtyKC8B9KGl_UQ8U41SrFkGmMUHGoiwiondZbsqD-x9Bt9kxPBxh9ZCNpA8vzcHdswvaCHYj6B7DprUfFQ1kRJxh6qmxCvMuDjTu_ROxcr5UsgASrexVXsLypuudr2G9RsMSAz3pGDV87wjx06Eao3Q-Uj2r-ZeA4JqpTLXAHjWOxANPdkdqEBHIpVfWXDyR2PGw15-QF6flaBwMNAy9q68tqPzWeYHRNZOMWqNvsfgIBk3XsSiIyzYZ9KbZzZRU5hr6iEZFzaJo5tFhDERKAtUdLOBgwBfatbu0CqyduDLqeaPdutGpjhQhW2RmN7omxDu_OGTAMTIgDvxgB-zRwm9YuZWpNT8DZs8HDdZhxfP3LJvdaWqFaNNNOncQykY-eSNWK7Cp8Qnudl60InbKxqh5WCHmFuLouGJx_lbvBBXOgqpMux9dLGyf20FApytWU3qGpj7rR9m2AkiE1HmiF0FTL657n-FzQ9FU70d8V-_XTNqIH3LPsD7V2lBveLqOAOQHvkZcVEcMj9S4RWIn43FF3HRnHtKXhxjwne_pkr_9kLU79EdA_rpvFO-UAwY0O3krM603On6q6p0KQ4qwHveGHn7hz1BPqEhsg3bgnsgN2Ql6nDq8nxRBTiyOyudTE6CcjqeONEGhH56yws9YwOGxKMorSbYnmXuxd4BhmODDLalq1w86ZQydB1a9rN9SMmLFRoEv-K_V2gcmhHzTwsIBOQWRU-C08qc84XSETYhocwqTm2seIfX5GwRmZ2aIbOOVyL93gud88PCC7DmaXuHIRRkPfAZf23UbM6bwcFE3nn5-p7vgga9T5u38XHgbturpDM006Str92jfPbzqb1Ygn7yIK8brxet7Op8ipJA46-xp2ECKxR3Q9l_dZ4liDTN7DQVjURchRtYa-PxQU7gsZc5eqAnVwpmn2NiajABMNZVg5Xa-JVQaRzf9iS59uw-XG1_KBpC9WAHpTL6_TmJJ9GtBpr3Khz8TBV_6yYThjg-RGKQXnmsB1EmsYtJUCqOed-tILz78udNfb3CRlMwPrbSSfF04tJQQgV_ZUDh2_56Efb-DqVXdylUGamBCbKZ5CL7LT_gPbSpGhE7hl8-qNufhjMtjxoFXuKB6wxLRPdrbKETsaEMrIftgCnWbbviBSQAVtZrhfuYFQFcE9ziQHtmMzYU2K9Xw==",
  "id": "rs_0a4dbf1c482c6499016ab47b111d0087d0a226a300888e415e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.13,\"right_z\":0.048,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The blue bowl’s right-hand rim is aligned with the right jaw column. I’m lowering the partly open gripper onto that rim while keeping the held fruit clear in the left hand.\"}",
  "call_id": "call_sYvIO0piesluJmBJVquHcglQ",
  "id": "fc_0a4dbf1c482c6499016ab47b1393d087d0be7a518a96a7524d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sYvIO0piesluJmBJVquHcglQ",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9802, 1.6924, 1.3209, -0.7101, -0.6647, -0.8162, 0.5184, 0.477, 1.6592, 0.6258, 0.4004, 0.3866, 0.2375, 0.6024]\nstate[eef_state]: left_x=0.3164 left_y=-0.2698 left_z=0.1565 left_yaw=0.0207 left_pitch=-0.1998 left_roll=0.0476 left_gripper=0.5184 right_x=0.3921 right_y=0.1317 right_z=0.0571 right_yaw=0.0175 right_pitch=-0.0118 right_roll=-0.0086 right_gripper=0.6024\nstate[joint_eff]: [-0.2667, -7.9932, 5.9419, 1.199, -0.3639, -0.0611, 0.398, 0.3214, -4.9436, 3.6718, 1.1306, 0.2125, 0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fcb4056928911b3b0f656d625978a4004624f0c1931cce1d058eab49a36e6e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45e9618722a0007c3f583129e3d387926450a5c0e303f60a182ca856d25422a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c11b84b360bb9eab274a88a252b79332bf50e1bba48efcfe1a6f51b69bfc2cb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 2.336 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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9813, 1.8896, 0.9405, -0.0765, -0.6807, -0.8005, 0.5174, 0.0372, 0.9966, 0.87, -0.683, 0.0921, -0.2291, 0.9986]\nstate[eef_state]: left_x=0.3187 left_y=-0.2701 left_z=0.0213 left_yaw=0.0117 left_pitch=-0.1579 left_roll=0.0191 left_gripper=0.5174 right_x=0.2972 right_y=-0.0016 right_z=0.1843 right_yaw=0.0734 right_pitch=-0.2552 right_roll=-0.2148 right_gripper=0.9986\nstate[joint_eff]: [0.6906, -10.7282, 4.3692, 1.0574, -0.3101, 0.0659, 1.0183, -0.0479, -2.2769, 6.7761, 1.4969, 0.022, -0.0269, -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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9802, 1.6955, 1.3148, -0.6933, -0.6724, -0.8165, 0.5175, 0.4595, 1.5471, 1.0641, -0.4751, 0.3473, 0.0589, 0.6024]\nstate[eef_state]: left_x=0.3181 left_y=-0.2705 left_z=0.1556 left_yaw=0.0239 left_pitch=-0.19 left_roll=0.0444 left_gripper=0.5175 right_x=0.3786 right_y=0.1242 right_z=0.1222 right_yaw=0.1076 right_pitch=-0.3347 right_roll=-0.2461 right_gripper=0.6024\nstate[joint_eff]: [-0.294, -10.8103, 8.8274, 1.0916, -0.4078, 0.0317, 0.8034, 0.2256, -7.5829, 8.7316, 1.4725, 0.2759, 0.1538, 0.1099]",
      "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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9802, 1.6924, 1.3209, -0.7101, -0.6647, -0.8162, 0.5184, 0.477, 1.6592, 0.6258, 0.4004, 0.3866, 0.2375, 0.6024]\nstate[eef_state]: left_x=0.3164 left_y=-0.2698 left_z=0.1565 left_yaw=0.0207 left_pitch=-0.1998 left_roll=0.0476 left_gripper=0.5184 right_x=0.3921 right_y=0.1317 right_z=0.0571 right_yaw=0.0175 right_pitch=-0.0118 right_roll=-0.0086 right_gripper=0.6024\nstate[joint_eff]: [-0.2667, -7.9932, 5.9419, 1.199, -0.3639, -0.0611, 0.398, 0.3214, -4.9436, 3.6718, 1.1306, 0.2125, 0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fcb4056928911b3b0f656d625978a4004624f0c1931cce1d058eab49a36e6e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45e9618722a0007c3f583129e3d387926450a5c0e303f60a182ca856d25422a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c11b84b360bb9eab274a88a252b79332bf50e1bba48efcfe1a6f51b69bfc2cb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHsZUNMD6A3adpzz90OQpgFKWk8SBecRnc5Iz74gqLKvELP4u-BqxV-aGSdLjcZU67QANGCupDelLsCUsaqOJv-q450Na6B3_-gX5lgrxpyF8IUnjul8--hBTBuUmYl0kQbw8MQXhc06jSEhqZRHL3dWe-onuAJy74MjzZGjCJi6lhF5Aa5tGOyb2KR_qskQgR-qgrre0CaE_oGL_v0HjxocP6IPpZbMHEpRUQ2ttNChnZVz2dGyW5HzFc0KueBA0I_6QtbYMd1w3b9PSyFKph4DHgPpD2fDqpn-xcupiqA4BPR6fh7QM_U8M-ujoQshGVRhhp_Rw6Om-Ob8eRi4kAr959-rdC4GoW0NykT2GjQMsGWeVKNBX4g9GQ2rmXhdFyAhMvQJwEzZ0_8kfQri5v9OQbWq3rKS8ajAhW5JZdMh3L6kx3SFS7AEFlkx2dgNCRT85s-8OdPfRnq8sBeqrdRgBA94YR-mklIGCImsivssqa6cSZQFHu_ptr6lmp3bj2CMHN8Kzme_jmi6FZ8TfgPHSWNAKuO751j99nceduJAWG6_WumoLInDLUtoTtJLJiXbTJu0aDrhJS1o1lk30GtQZHz-Xql8_HzRKZwAEvkJjE-455lkRrjbIr8Qn8n2ybSKhDUJOO0sFoDC5-EfxUievCCz3jjUqsaVIBygsm4uUgZA8ey9LHpGsjD-azb0wwcDHlyggQ9ZUAQmwri50SYx0ZMDzMmuXuqrfU23afVvtgXDm-ScZOLtThvxHgdwLQk_JcSGckb0UCimOOx_UwhkJKoMaOsjcohFzOZAufcEnNqe4X0E0ev5MeXwcMeSK3BneErkGNZzK0IM9WmpqHXEcCW1sTHrlDogjgbJ81xPTKorUjBjHT4VIe-UqYv433IdGEYKRRIzMDqrfGqFIOhr0vABEQW8VFfQFcPKw5wuBTDVdLayxBos_REhU0UUV7ft8yNuj2A2LbqmAuoCfiLZ2EcQ74qYchVgpQFrGdbC6HqInjnAiY2kUsxTRNXEN_am0xnQoYEJo1Od1os7yLgrbOVmFfKXjoeK7oKq0cKXjNwjtYtSs-Crcv-TJjXwwQ5yb2x2dLJCUs6qfvuB-0XJkUWXudJlHXuaMDKAowVMl2jUxevOwUQJOywTMwCYm2bJRiw65Enn9h0eV1EAwgHz8boQ1lkFpxbgMomGkwHdEolCIys4BIwGf6krUEsUOQ724nqYEPCwSVYvmDDfVx1YuKuinf9tnGnSgCfrMqUbJbDm-7XWbwh1H6yBwsBJ7Q4bYmFRYopLlTu83FKPJU5BCUE8AP1p_INKugPBVRaz1_sogVvfykx0nPJ0dQDRwOYuMIvPYY2Dz_STWNXfFx-7b-RnPvMVfZRLgNMy5cGIUbeIQ-Mr0O7hL9xTUb7OtVVbiPz9dcMgtAGtwM3nv-xQJ7orQ2144yT_KdqIrF0o31D5kmNJz-YznHmMJGgViDVeCWtXwlrrejTH29FwhbsexuY6P3urmE_a-zXLhPqHIwNTCwMiaCH23CZgV8fDps9v",
  "id": "rs_0a4dbf1c482c6499016ab47b1754d887d0878a96989607826a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right jaws straddle the blue bowl’s rim without covering the fruit. I’m closing on the rim so the bowl can be lifted and shifted inward.\"}",
  "call_id": "call_B7NlLmz03TrZOx4upf01MTn5",
  "id": "fc_0a4dbf1c482c6499016ab47b1881a887d0b1fcf2a0153dee17",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_B7NlLmz03TrZOx4upf01MTn5",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9802, 1.6924, 1.3209, -0.7113, -0.6609, -0.8162, 0.5193, 0.4759, 1.6596, 0.6186, 0.4438, 0.3847, 0.244, 0.0455]\nstate[eef_state]: left_x=0.316 left_y=-0.2701 left_z=0.1561 left_yaw=0.0187 left_pitch=-0.2033 left_roll=0.0467 left_gripper=0.5193 right_x=0.3954 right_y=0.1332 right_z=0.0625 right_yaw=0.0144 right_pitch=0.0198 right_roll=0.0138 right_gripper=0.0455\nstate[joint_eff]: [-0.3487, -8.2393, 6.5846, 1.072, -0.4225, -0.0562, 0.3736, -0.0889, -6.9402, 6.147, 1.2918, 0.105, -0.105, 0.2955]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81035abc19ccd614b50730efe58ee35f82130ea09e32c12db4ce6f86a4d5f178",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d23fd40d51f9e3deef5d0f454e1178ed9e69ffce5618dfffb63262a0ea889ef1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:864136bddaf8ba6e9b6d0874399e7fe26b43654df3937cf670618e5f255c35e2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 8.629 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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9802, 1.7702, 1.0481, -0.3138, -0.68, -0.8089, 0.5147, 0.0372, 0.9966, 0.87, -0.6834, 0.0921, -0.2291, 0.9986]\nstate[eef_state]: left_x=0.3188 left_y=-0.2697 left_z=0.0755 left_yaw=0.0184 left_pitch=-0.164 left_roll=0.0211 left_gripper=0.5147 right_x=0.2971 right_y=-0.0016 right_z=0.1842 right_yaw=0.0734 right_pitch=-0.2556 right_roll=-0.2148 right_gripper=0.9986\nstate[joint_eff]: [-0.294, -10.1128, 8.1436, 0.9158, -0.3785, 0.0464, 1.0183, -0.0479, -2.2359, 6.7761, 1.4969, 0.0024, -0.0757, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9802, 1.6924, 1.3209, -0.7101, -0.6647, -0.8162, 0.5184, 0.477, 1.6592, 0.6258, 0.4004, 0.3866, 0.2375, 0.6024]\nstate[eef_state]: left_x=0.3164 left_y=-0.2698 left_z=0.1565 left_yaw=0.0207 left_pitch=-0.1998 left_roll=0.0476 left_gripper=0.5184 right_x=0.3921 right_y=0.1317 right_z=0.0571 right_yaw=0.0175 right_pitch=-0.0118 right_roll=-0.0086 right_gripper=0.6024\nstate[joint_eff]: [-0.2667, -7.9932, 5.9419, 1.199, -0.3639, -0.0611, 0.398, 0.3214, -4.9436, 3.6718, 1.1306, 0.2125, 0.0708, -0.0073]",
      "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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9802, 1.6924, 1.3209, -0.7113, -0.6609, -0.8162, 0.5193, 0.4759, 1.6596, 0.6186, 0.4438, 0.3847, 0.244, 0.0455]\nstate[eef_state]: left_x=0.316 left_y=-0.2701 left_z=0.1561 left_yaw=0.0187 left_pitch=-0.2033 left_roll=0.0467 left_gripper=0.5193 right_x=0.3954 right_y=0.1332 right_z=0.0625 right_yaw=0.0144 right_pitch=0.0198 right_roll=0.0138 right_gripper=0.0455\nstate[joint_eff]: [-0.3487, -8.2393, 6.5846, 1.072, -0.4225, -0.0562, 0.3736, -0.0889, -6.9402, 6.147, 1.2918, 0.105, -0.105, 0.2955]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81035abc19ccd614b50730efe58ee35f82130ea09e32c12db4ce6f86a4d5f178",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d23fd40d51f9e3deef5d0f454e1178ed9e69ffce5618dfffb63262a0ea889ef1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:864136bddaf8ba6e9b6d0874399e7fe26b43654df3937cf670618e5f255c35e2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHscOISZ27SX5ZzlyT0RCw5E43DQylXGdD4HgXSfRh8Il5MJlxjW7AjqFdpA1XM7T2ENlTeOi9p0HzI6VsL98fFZOmGDliQekJwGhrbtLiz8gRH3Ev6X1RHJEZCBbcGsR_VCQ2ip6t2XNIVu526NSd-ANgYT21EVWBexPVYKFG0OkB-Oo31-c9BrqW-b6_tzAljqd8VXByvEyFUmklmo3EuV0TLslBDTfETGUlvAVLSBlvBB_LIUuxYLhLZyGLgXbk-GBbspw2LktbPegnqn6fmZmDyyJg1UQJmrWtYdyAdsvps2Cs76akWTGq_gu6F4U2RoFsowQucIIsPZbQfO8nfyEz9yXyWzPIKhRHcmD9cgKhmv_ds5mQ3nL5fFMACeueTNqJzuPMkPYsiH9616HL1HHLPLRjsG3VOxABTDQkGD19OZ_ZMk0ZbU-qH_nLiStSkExmZyXyJ-xG-vfda9bJmE6NY7vigvXZlhZRZOjgA0dy5lXMowH21lqoUSAL-l_ZtFL4X_ZbWWghGvr90N7MXVF4sO9yEgJngN9fv8Wyz8ts7o9pHz_xdeESnRy35h_zWrskc9LE2BHiEMNj730OAu0b9OoNiEMBbfMNHQ_2BDVdpRscPiaZoEfea1JmkxuF9Qv6dS1SfEYeUgw0atkpGWSez67YiL4MI2eZHM36Yr3-ROl8NMarZb-A45tqb0789KXJxNxa28ZmZtYalozvd7643dTXSXFUU1HjUPZLhRCjpkbvwZrYlNMDeu7ISTq1MKg42_Y2hqETlBPFhJwmOfmK-GiPBT4EnZDHEZf83w1T9M0ETm_WTKYDOfy8QqccmQkZZooDkFcmpsOcjScPJ8R98-AcIMRughl4CgmVCZBLv3z7IhIuKn1kA8LWMOCuuOsIQr8ehQbf7JkV_djDG5WtRii3lSeaLt-qj8lCVLvp8SeKyY60T0irFrPlih6xiWrAlxuIKU2D48S3m-m-dAGlCJqV1eRJBiV-lWDYZCH7MKYjUNdphA2HOq1AllHIk3ITRPWWDKVrB6VCm79Kz7HqlH93r5QMFwJ7zF1PPrp9CjGhTZlzJesurkY4Wn0gLR3ZVsLjmqKf2qCvLrPA8qZb1oBp3xzN8TS36dTZ0W8nB2NPxAHYLmbMh1zriodvOG1rF_bi5hV_6wYKW14gJSTz-jO067dWCmtrhj0KYysQvUpjXqPKFwMIrVcub63H6j",
  "id": "rs_0a4dbf1c482c6499016ab47b1b2c6c87d0aa884efaace290f8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.125,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The right gripper has closed to a thin rim-sized gap. I’m lifting the bowl a few centimetres to verify that the rim is actually secured before moving it sideways.\"}",
  "call_id": "call_7DahupI6qCuWFCNnXRNWg2yt",
  "id": "fc_0a4dbf1c482c6499016ab47b1b5c2487d087fd5ccc28c34066",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7DahupI6qCuWFCNnXRNWg2yt",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9802, 1.6924, 1.3209, -0.7113, -0.6571, -0.8162, 0.522, 0.4759, 1.5192, 0.7349, 0.1513, 0.3847, 0.2417, 0.0452]\nstate[eef_state]: left_x=0.3156 left_y=-0.2706 left_z=0.1557 left_yaw=0.0165 left_pitch=-0.2061 left_roll=0.0448 left_gripper=0.522 right_x=0.3939 right_y=0.1325 right_z=0.1069 right_yaw=0.0157 right_pitch=-0.0123 right_roll=-0.0041 right_gripper=0.0452\nstate[joint_eff]: [-0.3897, -8.2256, 6.4752, 1.033, -0.4274, -0.0659, 0.6422, -0.0752, -8.0615, 8.6359, 1.8291, 0.1294, -0.0464, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de3e8b0957952023fbe64376d65a482654869e4fe2ea9831f3f16d5fcd3f195b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6eb3bce301767c9ba7dc478d8d6795cdb3b41200eb1c21b1fd33c41cd6a81756",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:764911e26a3721b29bf9628b72534c5ce014df53af67cb0bd867f59615e62355",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 2.555 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 66 changed as sent

message 74 changed as sent

message 78 changed as sent

message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9802, 1.6955, 1.3148, -0.6933, -0.6724, -0.8165, 0.5175, 0.4595, 1.5471, 1.0641, -0.4751, 0.3473, 0.0589, 0.6024]\nstate[eef_state]: left_x=0.3181 left_y=-0.2705 left_z=0.1556 left_yaw=0.0239 left_pitch=-0.19 left_roll=0.0444 left_gripper=0.5175 right_x=0.3786 right_y=0.1242 right_z=0.1222 right_yaw=0.1076 right_pitch=-0.3347 right_roll=-0.2461 right_gripper=0.6024\nstate[joint_eff]: [-0.294, -10.8103, 8.8274, 1.0916, -0.4078, 0.0317, 0.8034, 0.2256, -7.5829, 8.7316, 1.4725, 0.2759, 0.1538, 0.1099]",
      "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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9802, 1.6924, 1.3209, -0.7113, -0.6609, -0.8162, 0.5193, 0.4759, 1.6596, 0.6186, 0.4438, 0.3847, 0.244, 0.0455]\nstate[eef_state]: left_x=0.316 left_y=-0.2701 left_z=0.1561 left_yaw=0.0187 left_pitch=-0.2033 left_roll=0.0467 left_gripper=0.5193 right_x=0.3954 right_y=0.1332 right_z=0.0625 right_yaw=0.0144 right_pitch=0.0198 right_roll=0.0138 right_gripper=0.0455\nstate[joint_eff]: [-0.3487, -8.2393, 6.5846, 1.072, -0.4225, -0.0562, 0.3736, -0.0889, -6.9402, 6.147, 1.2918, 0.105, -0.105, 0.2955]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9802, 1.6924, 1.3209, -0.7113, -0.6571, -0.8162, 0.522, 0.4759, 1.5192, 0.7349, 0.1513, 0.3847, 0.2417, 0.0452]\nstate[eef_state]: left_x=0.3156 left_y=-0.2706 left_z=0.1557 left_yaw=0.0165 left_pitch=-0.2061 left_roll=0.0448 left_gripper=0.522 right_x=0.3939 right_y=0.1325 right_z=0.1069 right_yaw=0.0157 right_pitch=-0.0123 right_roll=-0.0041 right_gripper=0.0452\nstate[joint_eff]: [-0.3897, -8.2256, 6.4752, 1.033, -0.4274, -0.0659, 0.6422, -0.0752, -8.0615, 8.6359, 1.8291, 0.1294, -0.0464, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de3e8b0957952023fbe64376d65a482654869e4fe2ea9831f3f16d5fcd3f195b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6eb3bce301767c9ba7dc478d8d6795cdb3b41200eb1c21b1fd33c41cd6a81756",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:764911e26a3721b29bf9628b72534c5ce014df53af67cb0bd867f59615e62355",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
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  "id": "rs_0a4dbf1c482c6499016ab47b1e38c887d0913aec63b9ac1521",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.345,\"right_y\":0.125,\"right_z\":0.065,\"right_gripper\":0.5,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The bowl did not follow the test lift securely and has shifted toward the front. I’m reopening and realigning with its new rim position for a lower, firmer grasp.\"}",
  "call_id": "call_zLh1848bIYecp64Fl8aPVsG5",
  "id": "fc_0a4dbf1c482c6499016ab47b2413f887d080b89a34199ed50e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zLh1848bIYecp64Fl8aPVsG5",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9802, 1.6924, 1.3209, -0.7143, -0.654, -0.8162, 0.5244, 0.5335, 1.4693, 0.4965, 0.3214, 0.4267, 0.2718, 0.4959]\nstate[eef_state]: left_x=0.315 left_y=-0.2705 left_z=0.1551 left_yaw=0.0154 left_pitch=-0.21 left_roll=0.046 left_gripper=0.5244 right_x=0.3492 right_y=0.1255 right_z=0.0661 right_yaw=0.023 right_pitch=-0.0166 right_roll=-0.0097 right_gripper=0.4959\nstate[joint_eff]: [-0.3897, -8.2256, 6.5026, 1.1453, -0.4225, -0.0464, 0.4469, 0.5949, -5.5726, 4.7521, 1.3065, 0.1587, 0.0464, -0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9469cc56c043ec34daaa29d08c565c023da4c8eb5d6be017e553380ef0aa5f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49885e66bccc214f2f6208027c3eda54ec687490e9f4f85a16c13e2729099a21",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f343273e8dc480b1bdf8df2b89011ce89150b23a445c2c23a37ef862648cef28",
      "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 · 4.849 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 70 changed as sent

message 78 changed as sent

message 82 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9802, 1.6924, 1.3209, -0.7101, -0.6647, -0.8162, 0.5184, 0.477, 1.6592, 0.6258, 0.4004, 0.3866, 0.2375, 0.6024]\nstate[eef_state]: left_x=0.3164 left_y=-0.2698 left_z=0.1565 left_yaw=0.0207 left_pitch=-0.1998 left_roll=0.0476 left_gripper=0.5184 right_x=0.3921 right_y=0.1317 right_z=0.0571 right_yaw=0.0175 right_pitch=-0.0118 right_roll=-0.0086 right_gripper=0.6024\nstate[joint_eff]: [-0.2667, -7.9932, 5.9419, 1.199, -0.3639, -0.0611, 0.398, 0.3214, -4.9436, 3.6718, 1.1306, 0.2125, 0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9802, 1.6924, 1.3209, -0.7113, -0.6571, -0.8162, 0.522, 0.4759, 1.5192, 0.7349, 0.1513, 0.3847, 0.2417, 0.0452]\nstate[eef_state]: left_x=0.3156 left_y=-0.2706 left_z=0.1557 left_yaw=0.0165 left_pitch=-0.2061 left_roll=0.0448 left_gripper=0.522 right_x=0.3939 right_y=0.1325 right_z=0.1069 right_yaw=0.0157 right_pitch=-0.0123 right_roll=-0.0041 right_gripper=0.0452\nstate[joint_eff]: [-0.3897, -8.2256, 6.4752, 1.033, -0.4274, -0.0659, 0.6422, -0.0752, -8.0615, 8.6359, 1.8291, 0.1294, -0.0464, -0.0464]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9802, 1.6924, 1.3209, -0.7143, -0.654, -0.8162, 0.5244, 0.5335, 1.4693, 0.4965, 0.3214, 0.4267, 0.2718, 0.4959]\nstate[eef_state]: left_x=0.315 left_y=-0.2705 left_z=0.1551 left_yaw=0.0154 left_pitch=-0.21 left_roll=0.046 left_gripper=0.5244 right_x=0.3492 right_y=0.1255 right_z=0.0661 right_yaw=0.023 right_pitch=-0.0166 right_roll=-0.0097 right_gripper=0.4959\nstate[joint_eff]: [-0.3897, -8.2256, 6.5026, 1.1453, -0.4225, -0.0464, 0.4469, 0.5949, -5.5726, 4.7521, 1.3065, 0.1587, 0.0464, -0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9469cc56c043ec34daaa29d08c565c023da4c8eb5d6be017e553380ef0aa5f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49885e66bccc214f2f6208027c3eda54ec687490e9f4f85a16c13e2729099a21",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f343273e8dc480b1bdf8df2b89011ce89150b23a445c2c23a37ef862648cef28",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHsouDLTWfCa9GgSOBGtrCLk0z_YMyOjrVe1J9PCe4Htxf7uQSmZbvC3dUSvaegNpMdNMkeXQgSgkgbY7O0CS9DDsWxiH5sIvx087bk168X3hiVPld22dmyqWMdV_CFMUY9MlB3aqG4aE0oHe-Y0oynmu6XMMjSZhvPOythtzr92Cvs4dMeOy3bOn5Nm1Jbgo-wrPgqPRpKr94EMxhShrTI0aUjYT0k7sWbWreSo_IYppqkV1lbCm1DTIvvAIqvUI1jVfdxqSqQREExSI8Gd3xcC6tB9uvsvxmmiNi_1_EPwOcvHvJB9w7Rs2fGijFdCW9bf3A1ZWoa82Vx_8bl_vd66I0fKg-ccedtjyLRp2mZ2Gmix9W3F3O11IPJ9nXyIUxzjflhefpL1rMtBckZua5jPqZ4bHDDtdU43KWFaL-IsKRRQOhUBlAtWErQbrb7Yu2uALzXQJgVSHmaREOmApz6-9hue9ISI3DJEtDZy8CZSm_CMdmVr2S18itZlx_1laSCbIrM9XKgTd0V6HBz1A3gECBQog4LI5IMUeiM68PdFVL0PWMWW2iD98taoW8R7HmaVum1njUViTp0qMEqzrNG6gTa4DUw9uAQgUrWPcs-AK8CstrnvZ00uYfV7Fr23un9hqSQ1JRCuSNwmlFgxt6oSn0D-69jk8oXPge_pmf_VHmov1WxTNgqurg8ib1evjMGZM3leuhJwV8PrtXhRkpMnNtsLQTtCr9f19IbGH7UmPeJQoJXi8UyJqITuZvDi9frutCtAeuYeHtXDVm5aMhADgs28GRbQe-rg4Cra5dmYSb6Tk39fRzobU3jSSvB-D3I20izA_fYxJ07Rf7K3TdaUciovDy5oboTiwAZGgamNWWmUSC-PcALOkdVpqPpzXvjHlAKZoqMnO7S4g5MguLvvo02ouOYY_X6C-FtgkV6jLGvSDnFrmM-2ohYRWOToZO1Wb2Hn8Xi4JMLrChDN1rNT3w6mSLGSU3otVvYqggaYAE_YZeTUccRUVptB9_Su4gznOvKYXtoBVyTb8b4CpG4D72XrUwErSfwVdIIbIaJb35WBUWf6d7c7CBZUGlT6MkKjUpu4WFuhY9fq8eLbvSSiDUx5wBZOjYYdmdmxwg_RQeK-BgQlhLGq912WwZGCwwC5adn1uoHx1XFkCFVWWsWLuboYZ20sjVADmwdBgSqR9l-43UsYgFPAZgkwIsgPJdwShIPeWOsjxG3jDlLftQN_ZwY6AQJXJhTcwAar5OiV5_a21ZkKa-HAapcmBPlXth31oq2TjQRm3I73h7WURLVHew==",
  "id": "rs_0a4dbf1c482c6499016ab47b26fdd487d0af30ea20d199dfb3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.025},\"note\":\"The blue rim is now aligned at the fingertips in the wrist view. I’m lowering another four centimetres so the jaw pads engage below the lip rather than just brushing its top.\"}",
  "call_id": "call_S4Fy2bgR7Fe1MbVG7fdWu8Yg",
  "id": "fc_0a4dbf1c482c6499016ab47b27863087d0a780ce37684ab75a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_S4Fy2bgR7Fe1MbVG7fdWu8Yg",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9802, 1.6924, 1.3209, -0.7151, -0.654, -0.8162, 0.527, 0.5415, 1.4658, 0.4782, 0.355, 0.4301, 0.2783, 0.4968]\nstate[eef_state]: left_x=0.315 left_y=-0.2703 left_z=0.155 left_yaw=0.0155 left_pitch=-0.2104 left_roll=0.0466 left_gripper=0.527 right_x=0.3476 right_y=0.1273 right_z=0.0669 right_yaw=0.0248 right_pitch=0.0007 right_roll=0.0032 right_gripper=0.4968\nstate[joint_eff]: [-0.3487, -8.1436, 6.4479, 1.0476, -0.3883, -0.0513, 0.2955, 0.0752, -5.6274, 4.7111, 1.6337, 0.1832, 0.0366, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c82268334cfeadc0f89bde652ca4d7b2b3ebc06eaa1a1586e52e5439d3cf9de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bec059a1bb97ef38be890476f88509ffed72898b3e19a1b522090dae9cc2e3d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70b7b18ca9d0998d49eea62b51c4cc80ebcefb7864a8865f5546a3aa7bd62f88",
      "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 · 3.42 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 74 changed as sent

message 82 changed as sent

message 86 changed as sent

message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9802, 1.6924, 1.3209, -0.7113, -0.6609, -0.8162, 0.5193, 0.4759, 1.6596, 0.6186, 0.4438, 0.3847, 0.244, 0.0455]\nstate[eef_state]: left_x=0.316 left_y=-0.2701 left_z=0.1561 left_yaw=0.0187 left_pitch=-0.2033 left_roll=0.0467 left_gripper=0.5193 right_x=0.3954 right_y=0.1332 right_z=0.0625 right_yaw=0.0144 right_pitch=0.0198 right_roll=0.0138 right_gripper=0.0455\nstate[joint_eff]: [-0.3487, -8.2393, 6.5846, 1.072, -0.4225, -0.0562, 0.3736, -0.0889, -6.9402, 6.147, 1.2918, 0.105, -0.105, 0.2955]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9802, 1.6924, 1.3209, -0.7143, -0.654, -0.8162, 0.5244, 0.5335, 1.4693, 0.4965, 0.3214, 0.4267, 0.2718, 0.4959]\nstate[eef_state]: left_x=0.315 left_y=-0.2705 left_z=0.1551 left_yaw=0.0154 left_pitch=-0.21 left_roll=0.046 left_gripper=0.5244 right_x=0.3492 right_y=0.1255 right_z=0.0661 right_yaw=0.023 right_pitch=-0.0166 right_roll=-0.0097 right_gripper=0.4959\nstate[joint_eff]: [-0.3897, -8.2256, 6.5026, 1.1453, -0.4225, -0.0464, 0.4469, 0.5949, -5.5726, 4.7521, 1.3065, 0.1587, 0.0464, -0.1245]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9802, 1.6924, 1.3209, -0.7151, -0.654, -0.8162, 0.527, 0.5415, 1.4658, 0.4782, 0.355, 0.4301, 0.2783, 0.4968]\nstate[eef_state]: left_x=0.315 left_y=-0.2703 left_z=0.155 left_yaw=0.0155 left_pitch=-0.2104 left_roll=0.0466 left_gripper=0.527 right_x=0.3476 right_y=0.1273 right_z=0.0669 right_yaw=0.0248 right_pitch=0.0007 right_roll=0.0032 right_gripper=0.4968\nstate[joint_eff]: [-0.3487, -8.1436, 6.4479, 1.0476, -0.3883, -0.0513, 0.2955, 0.0752, -5.6274, 4.7111, 1.6337, 0.1832, 0.0366, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c82268334cfeadc0f89bde652ca4d7b2b3ebc06eaa1a1586e52e5439d3cf9de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bec059a1bb97ef38be890476f88509ffed72898b3e19a1b522090dae9cc2e3d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70b7b18ca9d0998d49eea62b51c4cc80ebcefb7864a8865f5546a3aa7bd62f88",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
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  "id": "rs_0a4dbf1c482c6499016ab47b29f37087d09223ac4f647431b7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.145,\"right_z\":0.095,\"right_gripper\":0.65},\"note\":\"The descent stopped on the lip, so one jaw was sitting on the rim rather than beside it. I’m lifting clear, opening wider, and shifting slightly toward the bowl to straddle the edge properly.\"}",
  "call_id": "call_NuL4Q6H4qhOt9tP1XL0T8ss3",
  "id": "fc_0a4dbf1c482c6499016ab47b2c5e0887d0a56fe885c3712ae0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NuL4Q6H4qhOt9tP1XL0T8ss3",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9798, 1.6924, 1.3209, -0.7151, -0.6495, -0.8162, 0.5288, 0.5407, 1.4658, 0.4782, 0.3611, 0.4339, 0.279, 0.6443]\nstate[eef_state]: left_x=0.3146 left_y=-0.2708 left_z=0.1546 left_yaw=0.0133 left_pitch=-0.2138 left_roll=0.0444 left_gripper=0.5288 right_x=0.3485 right_y=0.1268 right_z=0.0682 right_yaw=0.0206 right_pitch=0.0071 right_roll=0.0049 right_gripper=0.6443\nstate[joint_eff]: [-0.1026, -8.2667, 6.4068, 1.0916, -0.3297, -0.022, 0.1783, 0.0479, -5.641, 4.6974, 1.6777, 0.1783, 0.022, -0.1001]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5484651d8141c2174618363a2ab723b93947dcc207c077721a8a91454fa9569f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10d70f1f69b499efa4efae1bcad37b95ca4403a2d239ac5eb547bb68d700c86f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc32ecd0c81ba136141dc5d6c219a9c65a4554d1f1a67c7e15560dc407c302b2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 24 attempt 0 · /responses · status 200 · 6.622 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 78 changed as sent

message 86 changed as sent

message 90 changed as sent

message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9802, 1.6924, 1.3209, -0.7113, -0.6571, -0.8162, 0.522, 0.4759, 1.5192, 0.7349, 0.1513, 0.3847, 0.2417, 0.0452]\nstate[eef_state]: left_x=0.3156 left_y=-0.2706 left_z=0.1557 left_yaw=0.0165 left_pitch=-0.2061 left_roll=0.0448 left_gripper=0.522 right_x=0.3939 right_y=0.1325 right_z=0.1069 right_yaw=0.0157 right_pitch=-0.0123 right_roll=-0.0041 right_gripper=0.0452\nstate[joint_eff]: [-0.3897, -8.2256, 6.4752, 1.033, -0.4274, -0.0659, 0.6422, -0.0752, -8.0615, 8.6359, 1.8291, 0.1294, -0.0464, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9802, 1.6924, 1.3209, -0.7151, -0.654, -0.8162, 0.527, 0.5415, 1.4658, 0.4782, 0.355, 0.4301, 0.2783, 0.4968]\nstate[eef_state]: left_x=0.315 left_y=-0.2703 left_z=0.155 left_yaw=0.0155 left_pitch=-0.2104 left_roll=0.0466 left_gripper=0.527 right_x=0.3476 right_y=0.1273 right_z=0.0669 right_yaw=0.0248 right_pitch=0.0007 right_roll=0.0032 right_gripper=0.4968\nstate[joint_eff]: [-0.3487, -8.1436, 6.4479, 1.0476, -0.3883, -0.0513, 0.2955, 0.0752, -5.6274, 4.7111, 1.6337, 0.1832, 0.0366, 0.0855]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9798, 1.6924, 1.3209, -0.7151, -0.6495, -0.8162, 0.5288, 0.5407, 1.4658, 0.4782, 0.3611, 0.4339, 0.279, 0.6443]\nstate[eef_state]: left_x=0.3146 left_y=-0.2708 left_z=0.1546 left_yaw=0.0133 left_pitch=-0.2138 left_roll=0.0444 left_gripper=0.5288 right_x=0.3485 right_y=0.1268 right_z=0.0682 right_yaw=0.0206 right_pitch=0.0071 right_roll=0.0049 right_gripper=0.6443\nstate[joint_eff]: [-0.1026, -8.2667, 6.4068, 1.0916, -0.3297, -0.022, 0.1783, 0.0479, -5.641, 4.6974, 1.6777, 0.1783, 0.022, -0.1001]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5484651d8141c2174618363a2ab723b93947dcc207c077721a8a91454fa9569f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10d70f1f69b499efa4efae1bcad37b95ca4403a2d239ac5eb547bb68d700c86f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc32ecd0c81ba136141dc5d6c219a9c65a4554d1f1a67c7e15560dc407c302b2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHswzHQFv6ctOZrBRtk1UR9Dw5OQxChgnUcmsT1r9xwiBv6HjIVR382dDGlqBmblmThGzcy-kZYgWHtvvs3DAXLGZXRtiS-WttnsOebM11hJLup2dK-2q0OGCOZZGkbKY7KPDV3Ofowr_VLe3TKKaQnhVgXXiYbcpm_s_up7X_aVQZ45zPx6SzjCT4uPRgRvt4zdYUaKl55mD8ypRcpAkrgOeJVoHdsO1XplVIlL7Kc0Wx5LXKfqXgrYU3nZVNJZ2ztsqBwNjck1OmZAX0nrI9q9JINlH21AKoErJvQC5npxES_JbqS1dBsqa7lyNLGwikMzVZha3Vdx9FalqfL_j_oRDd7LQ8VQ9iDk0Xio27Tlr3CAUPAyUUFJSl2rDPALLyniVkJ9cHCaQ9QEUf1-ZlufXvPp3SLzd08M6noP_7DOStYl4tva3JoBuuPbeJu3GvEhwfvmGiHNZxwUrIlH0Vc71GXAuVRTOuvL5gAAZnGg95cZLJq8GthiFKBkE5G9REiEj6cRkaC055-LBzGpK5WfvA---DHVHS8hGH2_ksLQwjc2_dcsmYhVsyfmdUYXzBHUXCNErhHtTDi0G-7dBUgofGS0s4LrUwYdB48MVWgwjfrOQtis2ERRSjG4e-lBOkGy9w5StlE6ULJmIZRIu8-3Lm3-lMn2B94RZFrSuo1NpQ1cEaCl2NQNcjY12tpkpBit22nQ-3WSE-ES3FYJmPNZHhhQRPiDsmLH4g5_R9OIq_Q4Dr4Qr3Ey5qRK31OBso8OjcOb0ztEg8oMFYwxvNSP3cKw6qf3GyS-xpPO74h2dUJ0mb7-R6j_KwQOVt57qGKJ5End_crOvqke08PLaiRjw9KocCLcFb0qTjc-8JKA2emb06znDDr4UmzVqLr6JK7-lL42o2Tq-aIcSKovA70PgXMV2vMhJfXDtl9kSMfGs1_1yoivOqNFWYFC7JmO0Le7ij6POfikJW6hiRJBucLVW5_xrL_eoR2IpH6_bavIWV5jzs9ijvs7EivN8AZYGDs0o_aPT7Y-H9IDKFrqd-QMmo-1RTS9Hw945uytoXK-DOUWZ2yx0T_KmfgvjBNgGfhVCBu2mdgqnw5QaK2hQu2Y7EyEyY9DvyDRiQYoIrBQCEgS31KP-o26Ta2lPCkQjPMusxfjkZ6wmZGZsQgYjgKL0UwKwwWg1XBHatr3m80BKPbidacLA0pSqEp8D_yqN6f-AkhGsFQkDvkaMM5xEUiJxn03yUATvg6heZEsNcKRbjDDeytisyl9O1s7dmKayKvZDtItokQplGMeImnWyUl5-VHvwDOfsSyLam4yyfiWArQ=",
  "id": "rs_0a4dbf1c482c6499016ab47b2f5eb487d0b6183842e68d2a70",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.15,\"right_z\":0.15,\"right_gripper\":0.7,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The readback shows the gripper has not cleared the rim yet. I’m making a larger upward retreat so the next approach starts free of contact.\"}",
  "call_id": "call_ewOwWvonz621ZGcHr4zuoLRv",
  "id": "fc_0a4dbf1c482c6499016ab47b2fc5f087d091523cd706716598",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ewOwWvonz621ZGcHr4zuoLRv",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9802, 1.6924, 1.3209, -0.7189, -0.646, -0.8162, 0.531, 0.5415, 1.4658, 0.4763, 0.3595, 0.4335, 0.281, 0.699]\nstate[eef_state]: left_x=0.3138 left_y=-0.2707 left_z=0.1539 left_yaw=0.0116 left_pitch=-0.2185 left_roll=0.0459 left_gripper=0.531 right_x=0.3477 right_y=0.1267 right_z=0.0672 right_yaw=0.0206 right_pitch=0.004 right_roll=0.005 right_gripper=0.699\nstate[joint_eff]: [-0.0342, -8.212, 6.612, 1.072, -0.4176, -0.0464, 0.2125, 0.0615, -5.4632, 4.8342, 1.6239, 0.188, -0.0171, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb42e8f53489e6cc386822078a91a25f914ce10083f9fb05202700eee599aa2f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3ec4be43e13e906814225eff84f5384454540b9ec280ba02a12e6dab73f1776",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c57fe9d98a7030cbd80aebfaac21460ac96e7dcbfce7bde06a57ee81f24033b4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 3.994 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 82 changed as sent

message 90 changed as sent

message 94 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9802, 1.6924, 1.3209, -0.7143, -0.654, -0.8162, 0.5244, 0.5335, 1.4693, 0.4965, 0.3214, 0.4267, 0.2718, 0.4959]\nstate[eef_state]: left_x=0.315 left_y=-0.2705 left_z=0.1551 left_yaw=0.0154 left_pitch=-0.21 left_roll=0.046 left_gripper=0.5244 right_x=0.3492 right_y=0.1255 right_z=0.0661 right_yaw=0.023 right_pitch=-0.0166 right_roll=-0.0097 right_gripper=0.4959\nstate[joint_eff]: [-0.3897, -8.2256, 6.5026, 1.1453, -0.4225, -0.0464, 0.4469, 0.5949, -5.5726, 4.7521, 1.3065, 0.1587, 0.0464, -0.1245]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9798, 1.6924, 1.3209, -0.7151, -0.6495, -0.8162, 0.5288, 0.5407, 1.4658, 0.4782, 0.3611, 0.4339, 0.279, 0.6443]\nstate[eef_state]: left_x=0.3146 left_y=-0.2708 left_z=0.1546 left_yaw=0.0133 left_pitch=-0.2138 left_roll=0.0444 left_gripper=0.5288 right_x=0.3485 right_y=0.1268 right_z=0.0682 right_yaw=0.0206 right_pitch=0.0071 right_roll=0.0049 right_gripper=0.6443\nstate[joint_eff]: [-0.1026, -8.2667, 6.4068, 1.0916, -0.3297, -0.022, 0.1783, 0.0479, -5.641, 4.6974, 1.6777, 0.1783, 0.022, -0.1001]\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 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9802, 1.6924, 1.3209, -0.7189, -0.646, -0.8162, 0.531, 0.5415, 1.4658, 0.4763, 0.3595, 0.4335, 0.281, 0.699]\nstate[eef_state]: left_x=0.3138 left_y=-0.2707 left_z=0.1539 left_yaw=0.0116 left_pitch=-0.2185 left_roll=0.0459 left_gripper=0.531 right_x=0.3477 right_y=0.1267 right_z=0.0672 right_yaw=0.0206 right_pitch=0.004 right_roll=0.005 right_gripper=0.699\nstate[joint_eff]: [-0.0342, -8.212, 6.612, 1.072, -0.4176, -0.0464, 0.2125, 0.0615, -5.4632, 4.8342, 1.6239, 0.188, -0.0171, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb42e8f53489e6cc386822078a91a25f914ce10083f9fb05202700eee599aa2f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3ec4be43e13e906814225eff84f5384454540b9ec280ba02a12e6dab73f1776",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c57fe9d98a7030cbd80aebfaac21460ac96e7dcbfce7bde06a57ee81f24033b4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHs4OpE8qY9PCUUs50byw9Oelgdx31EoFpXYLAAcvu16DIyn7NVVm_k0EK1tRBj2JndQ4nkPs42tUpfM9Vp_h1512RxIqekkXXFrhoV-nGFj9ja3WqdUJjv_-x6JULlKM1lKuCqNOgJaFlU6rdtKl7Mk6HHlfycLpa-zMmOgJQTlkazpbxY8YUBADzhMFbfM69DOhkKtX_zOhtu31r8Xmrmas1jtW9JNt2-cmGYuF-u0QLfGc5g9cEHgEw06yk9SiJUjNfRhYlkdDqq26sEBbKrXzPpO879tCK7ODe-C7LPpvgOq6lg9ONF82RIJxsGJUN5zLYfwftYHY-x_lTG2t_oWKMvNZMFizTg_Iu3heVMZ3c2LLWuGUWaj6oZMI7ZMDOh1fNZhqTQjC0DmKuC_6HABhwkTavfUXBDY8wy49JDQJrWK7-RG5wLj6EbUXxOLWJc-URvHXVF0XuLPD4gZ7OXoK8LBhLqMPrhIwcHGmuPhG_o5Nw7P6K40j8S67k3NC5-D14p1Et3CcJvbsbHjBlOGXHV2tIFN9CFqrwHO21_a_K3kZP99_g49dlJ0KWZP1mjh1iGbGzipB79iYTCZEVGMjtFOqG1IKnjXJ0g_vhEEgzu3NhEbjfotV81hB_HgO7ikBgX-vrAUFxsy3KXNOlKzylDq-Yzlf4PLluUYkeHeiR2pv1H5_k9GtsC--YRdP2cPEc1coa7U4Pc0Tx3tyyXhREyXoYBFXSSWlK2BgQxPkqhgQhvZsuHc6JcxcGnuJbnlnAOP-2kaKqrlkHvgjkp5ocHphq2GMWQnekH3ZK6-JZFoVOFsmC3O4DrQ909ZTQ15Pg_C5RpCF7-zYNd1mdRlYEKIIRHRzPpNq4sqBw-PUuoxxnOBaBYYLGtW3qAg7snem3uFjXPAY6VHgiFh4cK2yCNQUp7AVX2DVjZu0y33m2Mac5XU5UXF9wgixDQJOhQL6sf6ZLfCuZQqKoxQ3QiDRYIZlUT-CVScMBqugfpR7lZ-YbpRQwG__ziDa38XNiUnJLr455reGistNuCnRufnP2N2ACQmjQyeG4RPQozrpOKQgqdKpm1J9abZAGdpPIpTVN7NZPJPwY3U7-I1qdmlrIKcgtHbXnwg747UMToiEbNd3mm39cMcnug5TYIR54MNgCo06ZoR3HjEoToFdNpsF7cv2p5SMgTutX4VbrHyoGl9sHDSi9IqliDnRtI9Dg2LMDlsPkrP9qY2vfYdODctd8mRc8rlMBT9ltbJK1OFj3FJheNDG8PeXDd5MRyVkTI59wF-7hRgojr2JJJsZYaNTdQQsOEvwEpNI099arNdB_B7h5NsgCFUr4Z48YLka7q9nuILRia08nUwjoYBlkHFI8oEuPA3LBKwviFeQWBhhveJFpISACuUcD-1CVZq1oQvvyWeW0hjCP9aRbrDrz7poDTdwf7R8A3jcRQr417p4hhf4jOavZUByj5vfz_90xAjMT_prh7HDAwpxtfahcp-zEi9EMs2biVkPFItptzEj8ekHaGYvFT2_Ylo1qxSSb0vUrQgBLSGd9Oj-ryEh3EvhG7IQybMQwt-NR4q0CPLRfg0aEq37-a5X1XP6jv1A6n5RD4UMc7_LuPXX0IEFcr3T68dK0W1-7Ngys2lOCiRq7pDmHy5xrtk_dmWxu46wmtMGqkMlFDKdm98mPyy8S03Et20cEP8FE7JDyzvmfqSst8H83k-URVy4c_6-heRq4x54XfTCpQfdzg7gAEBedVtmvMmNCLD-6jzRGB814mzOp8ZKZitGjcsR2G-i0X6d-TBBSQ8YTEV70wExWsX2NpxdEcXNnO_lUwBE40Bj1nau8u9U0JIuPXUjkbp_uMCULBWuQS7zlB89pZVciouKGNdudPXVLlYJr2vvQMHF3NYNFwRbp6g5TyWrMy5C25i3gsNHp-NCcCghx-lrtVQDXqPPuOcwzW84BD1JoptUp2ihihO50yxdSPpOaT5f8Zgphmf2lnTurFwvparvglcbVMUp1qn49KRktRCiiDpaxraNeCS2K9pg7qUD1Wsw17Va1MjpmjJ6rNgm-78CM2JFxW17LgBu4BKeuXGNEMaxlOVuqXvZuFglhK_dbbS__RFFfmbCqYXkGp8v0lwV-8ApjGZsE_zEEZZh3eQ74zvYwws_nxLOD1ems1V8O_M2XnLuUJF6RuAd_lgh0FXecykh2uysostODqBkK1HlH-Lo0zSqP4BA4OFWm91Lx5ry0FfqKkEPonxO1oBiuMV_0uig2GbyLN-NfsFNS3zqOt2QKl1Y-nyJ9B78n_xLPNIJbqf29sONGpoEJxFAeuGcxRS3W8Ql2N-FdbCyv4IP0T3Q7Ka50BQYLfGZkgzXGTebohK0oaIv0aOfS0gABKp5E2_6Xr5PTjTaXhmGcZ7iC0Az78BwdzHoa35TzZQ0wxZnrTvR1ENI_lxBSXjDIgohe1rERNVJuPg6NHrdp2dtqyhtigyLtnsvUfjX6Amj9X9lEHj4Z2wgvIIVOZNdNfac9Rb2e9PpwYKCL_jyYHcnImzf2zVrBxM5O7Umwz0VljvF4QFrsPIYWCD_b3syWya7G_vk0CZfb6YF_MftJW3xjTBV3zgns0=",
  "id": "rs_0a4dbf1c482c6499016ab47b330bbc87d09a0d1883c02827f8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.345,\"left_y\":-0.4,\"left_z\":0.19,\"left_pitch\":0,\"left_roll\":0,\"right_x\":0.29,\"right_y\":0.02,\"right_z\":0.18},\"note\":\"The right arm is not tracking its retreat while the arms are close together. I’m separating them and bringing the held dark fruit over the reachable left side of the blue bowl instead.\"}",
  "call_id": "call_SAm8Y1dhG1KKsws9Rl07tRbV",
  "id": "fc_0a4dbf1c482c6499016ab47b36dd9887d0b4550367a102839d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SAm8Y1dhG1KKsws9Rl07tRbV",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1137, 2.096, 1.8393, -0.7643, -0.8238, -0.8875, 0.5324, 0.1123, 0.7883, 0.5591, -0.3302, 0.1108, 0.0528, 0.6995]\nstate[eef_state]: left_x=0.3419 left_y=-0.3934 left_z=0.1743 left_yaw=0.0069 left_pitch=-0.049 left_roll=0.007 left_gripper=0.5324 right_x=0.2944 right_y=0.0172 right_z=0.1718 right_yaw=-0.0188 right_pitch=0.0125 right_roll=0.0049 right_gripper=0.6995\nstate[joint_eff]: [-0.9368, -11.7538, 8.9368, 1.0232, -0.7595, 0.1001, 0.1343, -0.1573, -1.3744, 9.4564, 1.7558, -0.0904, -0.0708, 0.0415]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f6a1404205cf77b0074886c8596129a93d139ce6c07e5c6b4c7458089c107f5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa5938ad6b49b0398c600534f7ff2565fd0d829770a0d60948b823e949446a57",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fadc4c363286e36cf86927405c7c0493e6ed72f80ee9de708dad880f2351b0c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /responses · status 200 · 4.788 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 86 changed as sent

message 94 changed as sent

message 98 changed as sent

message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9802, 1.6924, 1.3209, -0.7151, -0.654, -0.8162, 0.527, 0.5415, 1.4658, 0.4782, 0.355, 0.4301, 0.2783, 0.4968]\nstate[eef_state]: left_x=0.315 left_y=-0.2703 left_z=0.155 left_yaw=0.0155 left_pitch=-0.2104 left_roll=0.0466 left_gripper=0.527 right_x=0.3476 right_y=0.1273 right_z=0.0669 right_yaw=0.0248 right_pitch=0.0007 right_roll=0.0032 right_gripper=0.4968\nstate[joint_eff]: [-0.3487, -8.1436, 6.4479, 1.0476, -0.3883, -0.0513, 0.2955, 0.0752, -5.6274, 4.7111, 1.6337, 0.1832, 0.0366, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9802, 1.6924, 1.3209, -0.7189, -0.646, -0.8162, 0.531, 0.5415, 1.4658, 0.4763, 0.3595, 0.4335, 0.281, 0.699]\nstate[eef_state]: left_x=0.3138 left_y=-0.2707 left_z=0.1539 left_yaw=0.0116 left_pitch=-0.2185 left_roll=0.0459 left_gripper=0.531 right_x=0.3477 right_y=0.1267 right_z=0.0672 right_yaw=0.0206 right_pitch=0.004 right_roll=0.005 right_gripper=0.699\nstate[joint_eff]: [-0.0342, -8.212, 6.612, 1.072, -0.4176, -0.0464, 0.2125, 0.0615, -5.4632, 4.8342, 1.6239, 0.188, -0.0171, -0.0806]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1137, 2.096, 1.8393, -0.7643, -0.8238, -0.8875, 0.5324, 0.1123, 0.7883, 0.5591, -0.3302, 0.1108, 0.0528, 0.6995]\nstate[eef_state]: left_x=0.3419 left_y=-0.3934 left_z=0.1743 left_yaw=0.0069 left_pitch=-0.049 left_roll=0.007 left_gripper=0.5324 right_x=0.2944 right_y=0.0172 right_z=0.1718 right_yaw=-0.0188 right_pitch=0.0125 right_roll=0.0049 right_gripper=0.6995\nstate[joint_eff]: [-0.9368, -11.7538, 8.9368, 1.0232, -0.7595, 0.1001, 0.1343, -0.1573, -1.3744, 9.4564, 1.7558, -0.0904, -0.0708, 0.0415]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f6a1404205cf77b0074886c8596129a93d139ce6c07e5c6b4c7458089c107f5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa5938ad6b49b0398c600534f7ff2565fd0d829770a0d60948b823e949446a57",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fadc4c363286e36cf86927405c7c0493e6ed72f80ee9de708dad880f2351b0c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHs9zfTs5rJCzPqc7f7z9jXDraN_GKApm_k34HHUD7U6AsLnu1aIYEcBsgYMQzdcH7sg2gRUX7AqA8NDT9GRv-PFtdOAAEYUQRBIidkxDk-3gMspjKJqLTEriX1duR54-jiYjDtgWjadQnAn122xCNuDthwgiJkFL9ZH-K_DVmCVxahrGzmRJt6L7CIFT-_5nUoUOEFBio8-1lnRLaAVk-wtpUKUCNRkcDlApcD0MdlioJGjfkVgCfXwf84-z-gKXy59xQJv3t9ecpkFxm0J-r1_vgEGST_-y3zKAa_FkjgQXpFc8NZ8ANpYEpzswa-y69oN59wy3GjrBDDcHJTmELBOhNF8rAwRey282lQlRdVTOQgPyG8bG7IYzpyaTOGpvA6w-iUyWxME8oDh2QYHi8ih7swMphPCxJFak6hmhBt0YxwKmRx7k1Aie9c6Wa4ebqT9YJ3QR3PSSRsPVJrhv8QlO0yCTOM_Uv6YFPsl4QTJtyDIlJKOWqmn74kaxvjNp19mv_ZovCOxYzt-jckSan74zaXk1_8taeH3mc6E1EdcIdmrTkVm1JZgaLYhPVNJNdBVNpdzormsHfzX7PQ5Y7N8Q6kF57w1OCHyEW31dIl1P3BakmKxgh8vaSkwQDniu9_9geuI2j3E7MZTyA2_ymnVOV_3a0FDedMbQD6lY-PMup5tk6VPhzJDvfX9K46jyUUOgCftYwvo7EQi0wWf6Xf_LMkaBTKOCvWrBHX-U9Mpri1e8Ozz3-mmchY9DzQ2Aiqj0glkPyxZorNE2oj39WYZE5UHkRI0LNPy6_a9qdtDESP6G9RTqxMB48UMzUBhKD2VwIfc2o6xsbM_qEVTv0IQKiZjOQ0IzHmRPBxL7UTSHxzZzJ-_psyHPAwZRq_h_0lJ1wxLiMgHLSHyTOSfipR-vIhLY0doO3jFMTHOCddKddPJ5ZRXq7d1ochyHkenBZhcIeQ6ggCSHrtjl4go1seN8CIcwJfV6S0GMiLi9f0lyX32sWkFn8fyHMpqBWMDGJpWpnToMrdD6sKF799uGs--LwNd3fzg7hKChCZcDKfvJsINQz56kmx5w44G9d8KBUI7R3yt6MSHMZDEKUrhzQiyf8-c_xRtmb9vhmJqQ54pskoMgL1fp6G1PZnkhqkfF-jQeDLketlSPTzhe7W2XR_kQK9cOFL1IyqM-mMpAfPyLMCCjb9Jw-Sui0NeCvevRRs2Cp5QNGQKew3O0_ssCQo6NrafH41KkRyLVcMcAzWRqBQzx0HiLmxKLx53_1jxh8lqH4O2U-gVfgmlIONNOiUfgJQBYfeEPaIbylWfmHHDn2BaBcdsMaawEImTT_lHWeCYFDNjGQ0ccon0tHlV41DYTjOpGYFIE1VDt1Qsj15k2NpAzZdEkfWoxiz9CFqCIaE4TaevEIcVi-8iy02K4cy-CDxFpSIr9dnvyKdUFV4IGAjSbbNoIJV428N5GlPNfN5Irn1hOEmqVN5hbMf3GGy0doYiY1QqQfGOGDkE5JFVWQD_3qAIScjM1EC-TNL1m9sxmrQrn4-JXTmC_C38C4_RQ6lXJLpuqhbvC4LKy2uIK61asOY4FcHi-t0f-9hjO1mEcBlUITbZpnczEkKT0jnMB0D-jLO3WI0yQvEWuMs6WmLxIFcgOXTFHvOp59euHc5Db7z9_YbpxAIYb8rHg4kHxiUH2Gy7AAuwhmZjJyYYIYLnyH5gzhn_HGpaDiqv6Tb3tbknLUZ_F6V-zZsArPhoyg==",
  "id": "rs_0a4dbf1c482c6499016ab47b3a818087d0974a2b9bda8563c0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.11,\"left_gripper\":1},\"note\":\"The dark fruit is above the blue bowl’s left side, with the other two fruits still inside. I’m lowering and releasing it from a short height into the bowl.\"}",
  "call_id": "call_WiATUaUxyUBXYWVji4XqeS2k",
  "id": "fc_0a4dbf1c482c6499016ab47b3c3a8c87d087f67e9a5c3e7ec5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WiATUaUxyUBXYWVji4XqeS2k",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1168, 2.1254, 1.6512, -0.5926, -0.8181, -0.8906, 0.9951, 0.1123, 0.7929, 0.5632, -0.363, 0.0994, 0.0364, 0.6996]\nstate[eef_state]: left_x=0.3369 left_y=-0.3881 left_z=0.111 left_yaw=0.0051 left_pitch=-0.0733 left_roll=0.0437 left_gripper=0.9951 right_x=0.2908 right_y=0.0188 right_z=0.1656 right_yaw=-0.0004 right_pitch=-0.0212 right_roll=-0.0067 right_gripper=0.6996\nstate[joint_eff]: [0.2393, -11.0701, 6.4615, 1.3358, -0.4322, 0.0073, 0.0073, -0.0479, -1.4427, 6.7214, 2.044, 0.105, 0.1099, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00ba95cad86c900ea810a195cbb0a377af1c7c13bf022f62c01ce2b77b975dc6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a04bf6381859789d3f34b7c733efec29ed054defde7721df9deefc4f671dad78",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eeb8c5b643789e2462fd9bfe89670cb3b40783eb360253939c05283e1295743f",
      "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 · 7.914 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 90 changed as sent

message 98 changed as sent

message 102 changed as sent

message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9798, 1.6924, 1.3209, -0.7151, -0.6495, -0.8162, 0.5288, 0.5407, 1.4658, 0.4782, 0.3611, 0.4339, 0.279, 0.6443]\nstate[eef_state]: left_x=0.3146 left_y=-0.2708 left_z=0.1546 left_yaw=0.0133 left_pitch=-0.2138 left_roll=0.0444 left_gripper=0.5288 right_x=0.3485 right_y=0.1268 right_z=0.0682 right_yaw=0.0206 right_pitch=0.0071 right_roll=0.0049 right_gripper=0.6443\nstate[joint_eff]: [-0.1026, -8.2667, 6.4068, 1.0916, -0.3297, -0.022, 0.1783, 0.0479, -5.641, 4.6974, 1.6777, 0.1783, 0.022, -0.1001]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1137, 2.096, 1.8393, -0.7643, -0.8238, -0.8875, 0.5324, 0.1123, 0.7883, 0.5591, -0.3302, 0.1108, 0.0528, 0.6995]\nstate[eef_state]: left_x=0.3419 left_y=-0.3934 left_z=0.1743 left_yaw=0.0069 left_pitch=-0.049 left_roll=0.007 left_gripper=0.5324 right_x=0.2944 right_y=0.0172 right_z=0.1718 right_yaw=-0.0188 right_pitch=0.0125 right_roll=0.0049 right_gripper=0.6995\nstate[joint_eff]: [-0.9368, -11.7538, 8.9368, 1.0232, -0.7595, 0.1001, 0.1343, -0.1573, -1.3744, 9.4564, 1.7558, -0.0904, -0.0708, 0.0415]\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 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1168, 2.1254, 1.6512, -0.5926, -0.8181, -0.8906, 0.9951, 0.1123, 0.7929, 0.5632, -0.363, 0.0994, 0.0364, 0.6996]\nstate[eef_state]: left_x=0.3369 left_y=-0.3881 left_z=0.111 left_yaw=0.0051 left_pitch=-0.0733 left_roll=0.0437 left_gripper=0.9951 right_x=0.2908 right_y=0.0188 right_z=0.1656 right_yaw=-0.0004 right_pitch=-0.0212 right_roll=-0.0067 right_gripper=0.6996\nstate[joint_eff]: [0.2393, -11.0701, 6.4615, 1.3358, -0.4322, 0.0073, 0.0073, -0.0479, -1.4427, 6.7214, 2.044, 0.105, 0.1099, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00ba95cad86c900ea810a195cbb0a377af1c7c13bf022f62c01ce2b77b975dc6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a04bf6381859789d3f34b7c733efec29ed054defde7721df9deefc4f671dad78",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eeb8c5b643789e2462fd9bfe89670cb3b40783eb360253939c05283e1295743f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHtCGulveAB2XolT8LrAD45fok5ofkqFDQCnT36_XrYrPp7gqjvxLU3LER3UxwPRTAtjeOqcLFzI020jXLc9ciUTIhXO2suc4UaOk8NjfCZ_G_8XqEyf0Jx9OUTLfkUZG1PJn5vbNIdwODA4z0BWcouKNk26DlRb8K1Su3HCmGy4NALXblgVB9G5RbwuNL3CiWf64Ds0jQca6pcBq5Vl2JkLnBTFeyfvSQY2hhQB17oGrE0CwIC-ttom67dh9QRy2U6o2OLP7SAlzo4QkHrlid9wVK0NaEr1G5AqtgnI4IMzV4vV02axh1NHDYPt2TIUJlaGH_p8jypRD07y_AGNoVT6Q6UKfObNpU7-JPokbC8h-Qp66WnlltLfeHrGZS1FDiRDdYlJlXkYe26Ia-EKQL66OX7fCrKvjDPbaRNyNkIgMuFvTP6G2aBeaErbp84LUrvXCV_x0rhD2g9chFTwZkO8Ko8XBcQ6BtsqjPX9syHMVKBzI829voR99U3l8W-ypDtG8UsksI-L7mjoSl3mf_fsSCIC-rPPu3fwavzjAO4eUawZTDDFlpuPP13vSJtQO85fSAatD1DjpO3GKSGMcTuRuQMKr9FrY44kL7QmUPJduonp9wJEsetdRBRu74lrx1VnzLcqarhs6D99i3EY5jSkuY71SgamHhzOhiuk8ia2kUNskmD8YlYLYifwJYugbLEZwQ28dlo3zf60m6U2t-iZvvhiFDpZXcVPdjwF65AdwrybAgwHKcNk4YYKD05rLwGCh8su_aiTgaSKVDTGqLS6YPKcLSDaVIiv7PGu5oMs-SEOjbYtR8nCeopi4scoenfKgteOnkMb4ag6Z91sGjNyIWfKxa5pZMqdU-mP09Apg9ePg4PvgtSD5KZrpG5bwZCb4A3OhgD7gW6w0tJ7aFdsjMFlxdNa4zy9RIEkgWVSm8iXPrvV8CqdLncoOgAhZ5-Go3QL5xccu25jgPGCcmBO6PZ3imBAXU8_G7H2Z6ahsBnhMJ7bbgXkNYz0s7gZfFs1f_d8V7k4FCpefyJVBZ1xPlG0r4F_mg58KqFIosUvOBD0nrQVfOR6jbhzebnmEpGdwtIL3OlTU1_Q07kUmmo-rv60W77zdF58MD36OONCFPwdUAi8wvi4EDzQ9yNaJ-kq62UZXAloH5zCRRDhazriBq-EHH783ffb48xRuDQKQ7HTnt-V_zqeUwkj1PXRpPdQd_VgWVZTUz7vGbMe08fE44waApMFn5r4KipyvH-J-cH1sahwo9irv-gbnNaJ9P-ifbZXZ-Jmg-ymyP2sbPzU3toMcxPRKzUfmhqRGayLk0GLhQ1if-so3nHd-oe7kxonuprdGs39RYN9CqoaEw180NK3eBDhxL41lmm4Ue814dIjFxDiN89LTymXsX1ZFIKY14e2fTSTawrn-hZxeuIjZUJtV0K8CQ_8_oNioJO93A7K0LKJrKUnQ4yCE0pHDjgAAjRqNiih5MXA0QBwKSnA36iLsiXs_QRsoWQgoCRwkDrSsqfYY3Cyurg0-4MTg80c2MvDT7NcIc5FWTCL9eIE1ZcEPF1bXV5jkPQEyH_d0rv-I2JbAUqShszysrlN5yWthMwQlJVCjBkayTSduzF82-8HYGqabH2WDtN8Qkxb2WymxAQOwc_tE1zMOGSr_tfZHDt5rxOQzht9O65rmvMJsvcFYkwcNjZy_bZS2NjeGRmPmCHakLW_gp_m-GsbY80ECxPRPJ4LM7T4CMo0xXZdeUPoBA_-YctputAha2EpUzBB7OsZvn0TC6iQoZIS_F3i",
  "id": "rs_0a4dbf1c482c6499016ab47b3efc6887d0b37a7ba7b30901c7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.296,\"left_y\":0,\"left_z\":0.185,\"right_x\":0.345,\"right_y\":0.16,\"right_z\":0.15,\"right_gripper\":0.7,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The dark fruit has been released, but the arms obscure where it settled. I’m parking the left arm to expose the bowl and positioning the right gripper for the eventual rim grasp.\"}",
  "call_id": "call_BPYEVJa0PAHL0ryqyUqYAoyE",
  "id": "fc_0a4dbf1c482c6499016ab47b411dd087d09b435c0e179ff834",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BPYEVJa0PAHL0ryqyUqYAoyE",
  "output": [
    {
      "text": "executing move_to over 35 steps (3.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0811, 0.8707, 0.6971, -0.4812, -0.1352, -0.0769, 0.9962, 0.6674, 1.3346, 0.7444, -0.1577, 0.5274, 0.3595, 0.6996]\nstate[eef_state]: left_x=0.2974 left_y=0.0033 left_z=0.1816 left_yaw=0.0684 left_pitch=-0.0792 left_roll=0.038 left_gripper=0.9962 right_x=0.3344 right_y=0.1549 right_z=0.1309 right_yaw=0.0283 right_pitch=-0.0608 right_roll=-0.0445 right_gripper=0.6996\nstate[joint_eff]: [0.1983, -2.4274, 7.2137, 1.7509, 0.1538, 0.1441, 0.0952, 0.3487, -4.7795, 9.2513, 1.7753, 0.3932, 0.2222, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e03cde9855f2db065d6a9d1bd5550a14c22c6e27b629649bdf794f5a99d7564f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85151ae47aece5e6ff3730c9a3240faa99641433af8a948c50ce628aa80b26b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f0e5bb26a24585e0f3eb4273ffecbf374de558864040248de4ad9f9d1116f69",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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