adhoc

completed
2026-09-23T23:03:16.852967+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (76 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
234.1 s
total steps
327
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 on the table: a dark fruit near the white bowl, a small yellow fruit, and a larger green fruit beside the blue bowl. I’m moving the right gripper above the yellow fruit to align the first pickup.
move_to
right_x0.3200right_y0.1800right_z0.1500right_gripper1.0000left_x0.2960left_y0.0000left_z0.1840
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]: [-0.0204, 0.8001, 0.6136, -0.3824, -0.0143, -0.0299, 0.9966, -0.0227, 0.8005, 0.6193, -0.387, -0.017, -0.0334, 0.9991] state[eef_state]: left_x=0.296 left_y=0.0001 left_z=0.1822 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9966 right_x=0.2961 right_y=-0.0001 right_z=0.1838 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991 state[joint_eff]: [-0.3624, -1.5932, 9.7436, 1.8486, -0.1001, 0.1392, -0.3736, -0.2803, -1.7983, 9.1145, 1.8242, -0.0806, 0.1392, -0.1001] 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":0.18,"right_z":0.15,"right_gripper":1,"left_x":0.296,"left_y":0,"left_z":0.184},"note":"I see three fruits on the table: a dark fruit near the white bowl, a small yellow fruit, and a larger green fruit beside the blue bowl. I’m moving the right gripper above the yellow fruit to align the first pickup."})
tool
executing move_to over 16 steps (1.6s)
step 16
top_cam
camera top_cam step 16
left_cam
camera left_cam step 16
right_cam
camera right_cam step 16
assistant
agent noteThe yellow fruit is centered between the jaw columns in the wrist view, just ahead of the fingertips. I’m advancing slightly and lowering to grasp around its middle.
move_to
right_x0.3350right_y0.1900right_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]: [-0.0204, 0.8021, 0.6132, -0.4004, -0.0139, -0.0334, 0.996, 0.8005, 1.3334, 0.7555, -0.2207, 0.6197, 0.4587, 0.9991] state[eef_state]: left_x=0.2937 left_y=0.0001 left_z=0.1778 left_yaw=0.0015 left_pitch=-0.0202 left_roll=-0.0027 left_gripper=0.996 right_x=0.3114 right_y=0.1788 right_z=0.1319 right_yaw=0.0369 right_pitch=-0.0553 right_roll=-0.0458 right_gripper=0.9991 state[joint_eff]: [-0.4034, -1.2513, 7.8017, 1.8681, -0.0513, 0.0073, -0.0659, -0.1026, -5.4359, 8.7043, 1.6435, 0.4518, 0.2076, -0.105] camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.335,"right_y":0.19,"right_z":0.025},"note":"The yellow fruit is centered between the jaw columns in the wrist view, just ahead of the fingertips. I’m advancing slightly and lowering to grasp around its middle."})
tool
executing move_to over 7 steps (0.7s)
step 23
top_cam
camera top_cam step 23
left_cam
camera left_cam step 23
right_cam
camera right_cam step 23
assistant
agent noteThe yellow fruit fills the gap between the open jaws at table height. 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]: [-0.0204, 0.8036, 0.6132, -0.4088, -0.0139, -0.0338, 0.996, 0.7681, 1.7298, 0.5961, 0.3161, 0.5892, 0.4339, 0.9991] state[eef_state]: left_x=0.2926 left_y=0.0001 left_z=0.1756 left_yaw=0.0017 left_pitch=-0.0301 left_roll=-0.0028 left_gripper=0.996 right_x=0.3306 right_y=0.1879 right_z=0.018 right_yaw=0.0392 right_pitch=-0.0851 right_roll=-0.0625 right_gripper=0.9991 state[joint_eff]: [-0.1162, -1.4154, 7.0085, 1.8046, -0.0269, -0.0317, -0.0171, -0.2256, -7.3778, 4.8479, 1.6972, 0.2466, -0.0611, -0.022] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The yellow fruit fills the gap between the open jaws at table height. I’m closing the gripper to secure it before a short test lift."})
tool
executing move_to over 10 steps (1.0s)
step 33
top_cam
camera top_cam step 33
left_cam
camera left_cam step 33
right_cam
camera right_cam step 33
assistant
agent noteThe jaws stopped about halfway open, consistent with holding the yellow fruit rather than closing empty. I’m lifting it a few centimeters to confirm that it follows the gripper.
move_to
right_z0.0850left_z0.1840
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]: [-0.02, 0.804, 0.6132, -0.4168, -0.0139, -0.0338, 0.996, 0.7685, 1.7298, 0.5961, 0.3138, 0.5861, 0.4297, 0.5188] state[eef_state]: left_x=0.2915 left_y=0.0002 left_z=0.1739 left_yaw=0.0021 left_pitch=-0.0385 left_roll=-0.0026 left_gripper=0.996 right_x=0.3301 right_y=0.1882 right_z=0.0174 right_yaw=0.0439 right_pitch=-0.0884 right_roll=-0.0657 right_gripper=0.5188 state[joint_eff]: [0.0615, -1.1282, 7.1316, 1.7949, -0.0757, -0.0757, -0.0122, -0.1846, -6.9675, 4.7658, 1.4139, 0.188, 0.0415, 1.033] camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.085,"left_z":0.184},"note":"The jaws stopped about halfway open, consistent with holding the yellow fruit rather than closing empty. I’m lifting it a few centimeters to confirm that it follows the gripper."})
tool
executing move_to over 5 steps (0.5s)
step 38
top_cam
camera top_cam step 38
left_cam
camera left_cam step 38
right_cam
camera right_cam step 38
assistant
agent noteThe yellow fruit has lifted with the gripper. I’m carrying it above the blue bowl with clearance over the rim.
move_to
right_x0.4400right_y0.1200right_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]: [-0.02, 0.8078, 0.6247, -0.4629, -0.0139, -0.0341, 0.996, 0.7685, 1.5364, 0.701, -0.0216, 0.5716, 0.4263, 0.5166] state[eef_state]: left_x=0.2866 left_y=0.0003 left_z=0.1688 left_yaw=0.0024 left_pitch=-0.0771 left_roll=-0.002 left_gripper=0.996 right_x=0.3249 right_y=0.1862 right_z=0.0693 right_yaw=0.0537 right_pitch=-0.1235 right_roll=-0.0848 right_gripper=0.5166 state[joint_eff]: [-0.1436, -0.7863, 9.5521, 1.8339, -0.0366, -0.0269, -0.0122, -0.0342, -7.5282, 7.5966, 1.4481, 0.3394, -0.0024, 1.0037] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.44,"right_y":0.12,"right_z":0.19},"note":"The yellow fruit has lifted with the gripper. I’m carrying it above the blue bowl with clearance over the rim."})
tool
executing move_to over 9 steps (0.9s)
step 47
top_cam
camera top_cam step 47
left_cam
camera left_cam step 47
right_cam
camera right_cam step 47
assistant
agent noteThe carried yellow fruit is above the blue bowl’s opening. I’m lowering it toward the bowl before releasing it.
move_to
right_z0.1000
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]: [-0.0204, 0.8108, 0.6281, -0.4755, -0.0139, -0.0338, 0.996, 0.3748, 1.581, 1.2057, -0.3794, 0.2943, 0.1173, 0.5162] state[eef_state]: left_x=0.2853 left_y=0.0002 left_z=0.1671 left_yaw=0.0018 left_pitch=-0.0893 left_roll=-0.0014 left_gripper=0.996 right_x=0.4333 right_y=0.1193 right_z=0.1783 right_yaw=0.0518 right_pitch=-0.1505 right_roll=-0.0961 right_gripper=0.5162 state[joint_eff]: [-0.2393, -1.0325, 6.7214, 1.8291, -0.0317, -0.0122, -0.0073, -0.2667, -7.159, 8.6085, 1.663, 0.1392, -0.0464, 0.8718] camera 'top_cam' (step 47): [image omitted: streamed camera frame] camera 'left_cam' (step 47): [image omitted: streamed camera frame] camera 'right_cam' (step 47): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.10},"note":"The carried yellow fruit is above the blue bowl’s opening. I’m lowering it toward the bowl before releasing it."})
tool
executing move_to over 6 steps (0.6s)
step 53
top_cam
camera top_cam step 53
left_cam
camera left_cam step 53
right_cam
camera right_cam step 53
assistant
agent noteThe yellow fruit is lowered into the blue bowl’s opening. I’m opening the jaws to leave it in the bowl.
move_to
right_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]: [-0.0204, 0.8124, 0.6281, -0.4763, -0.0139, -0.0341, 0.996, 0.3717, 1.6703, 0.9737, -0.0898, 0.2897, 0.1112, 0.5194] state[eef_state]: left_x=0.2853 left_y=0.0002 left_z=0.1665 left_yaw=0.002 left_pitch=-0.0916 left_roll=-0.0017 left_gripper=0.996 right_x=0.4287 right_y=0.1168 right_z=0.0942 right_yaw=0.0541 right_pitch=-0.1819 right_roll=-0.1077 right_gripper=0.5194 state[joint_eff]: [-0.3487, -1.2786, 7.0222, 1.6435, -0.0366, -0.0611, -0.0122, -0.1026, -8.0205, 6.4068, 1.8339, 0.1197, -0.0073, 0.696] camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The yellow fruit is lowered into the blue bowl’s opening. I’m opening the jaws to leave it in the bowl."})
tool
executing move_to over 5 steps (0.5s)
step 58
top_cam
camera top_cam step 58
left_cam
camera left_cam step 58
right_cam
camera right_cam step 58
assistant
agent noteThe wrist view confirms the yellow fruit is now inside the blue bowl. I’m moving above the green fruit for the next pickup.
move_to
right_x0.2850right_y0.0650right_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]: [-0.0204, 0.8124, 0.6281, -0.4763, -0.0139, -0.0338, 0.996, 0.371, 1.6703, 0.9737, -0.0982, 0.2901, 0.1043, 0.9956] state[eef_state]: left_x=0.2853 left_y=0.0002 left_z=0.1665 left_yaw=0.0018 left_pitch=-0.0916 left_roll=-0.0014 left_gripper=0.996 right_x=0.4274 right_y=0.1159 right_z=0.0928 right_yaw=0.0563 right_pitch=-0.1902 right_roll=-0.1158 right_gripper=0.9956 state[joint_eff]: [-0.335, -1.306, 6.9538, 1.6337, -0.0806, -0.0366, -0.0073, -0.0479, -8.0068, 6.5436, 1.5556, 0.0317, 0.022, -0.0757] camera 'top_cam' (step 58): [image omitted: streamed camera frame] camera 'left_cam' (step 58): [image omitted: streamed camera frame] camera 'right_cam' (step 58): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.285,"right_y":0.065,"right_z":0.15},"note":"The wrist view confirms the yellow fruit is now inside the blue bowl. I’m moving above the green fruit for the next pickup."})
tool
executing move_to over 11 steps (1.1s)
step 69
top_cam
camera top_cam step 69
left_cam
camera left_cam step 69
right_cam
camera right_cam step 69
assistant
agent noteThe green fruit is close to the fingertip line and slightly right of center in the wrist view. I’m shifting right and lowering the jaws around it.
move_to
right_x0.3000right_y0.0450right_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]: [-0.0204, 0.8181, 0.6281, -0.4839, -0.0139, -0.0338, 0.996, 0.3927, 0.9802, 0.7063, -0.4988, 0.2947, 0.1047, 0.9962] state[eef_state]: left_x=0.2844 left_y=0.0002 left_z=0.1635 left_yaw=0.0019 left_pitch=-0.1049 left_roll=-0.0011 left_gripper=0.996 right_x=0.2921 right_y=0.0693 right_z=0.156 right_yaw=0.0753 right_pitch=-0.1681 right_roll=-0.1116 right_gripper=0.9962 state[joint_eff]: [-0.0205, -1.5932, 7.1863, 1.7167, -0.022, -0.0659, -0.0122, 0.0615, -2.0444, 6.0103, 1.58, 0.2711, 0.1538, 0.0464] camera 'top_cam' (step 69): [image omitted: streamed camera frame] camera 'left_cam' (step 69): [image omitted: streamed camera frame] camera 'right_cam' (step 69): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0.045,"right_z":0.025},"note":"The green fruit is close to the fingertip line and slightly right of center in the wrist view. I’m shifting right and lowering the jaws around it."})
tool
executing move_to over 9 steps (0.9s)
step 78
top_cam
camera top_cam step 78
left_cam
camera left_cam step 78
right_cam
camera right_cam step 78
assistant
agent noteThe green fruit is centered between the jaws at a low grasp height. I’m closing around it for a 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]: [-0.02, 0.8192, 0.6281, -0.4915, -0.0139, -0.0338, 0.996, 0.2466, 1.2663, 0.2668, 0.218, 0.1925, 0.0059, 0.9962] state[eef_state]: left_x=0.2833 left_y=0.0004 left_z=0.1618 left_yaw=0.0023 left_pitch=-0.1137 left_roll=-0.0009 left_gripper=0.996 right_x=0.2951 right_y=0.0432 right_z=0.0189 right_yaw=0.0684 right_pitch=-0.2005 right_roll=-0.1165 right_gripper=0.9962 state[joint_eff]: [0.0889, -1.4154, 7.1316, 1.707, -0.0269, -0.0366, -0.0122, -0.0889, -3.7675, 5.3402, 1.8486, 0.0708, -0.0952, -0.0073] camera 'top_cam' (step 78): [image omitted: streamed camera frame] camera 'left_cam' (step 78): [image omitted: streamed camera frame] camera 'right_cam' (step 78): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The green fruit is centered between the jaws at a low grasp height. I’m closing around it for a test lift."})
tool
executing move_to over 10 steps (1.0s)
step 88
top_cam
camera top_cam step 88
left_cam
camera left_cam step 88
right_cam
camera right_cam step 88
assistant
agent noteThe gripper remains open by roughly the green fruit’s width, indicating contact on both sides. I’m lifting it slightly to verify the grasp.
move_to
right_z0.0850
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]: [-0.02, 0.8192, 0.6281, -0.4938, -0.0139, -0.0338, 0.996, 0.2459, 1.2663, 0.2668, 0.2192, 0.189, -0.001, 0.7111] state[eef_state]: left_x=0.2829 left_y=0.0004 left_z=0.1613 left_yaw=0.0023 left_pitch=-0.116 left_roll=-0.0008 left_gripper=0.996 right_x=0.2953 right_y=0.0436 right_z=0.019 right_yaw=0.0743 right_pitch=-0.2002 right_roll=-0.119 right_gripper=0.7111 state[joint_eff]: [-0.0479, -1.1145, 7.1316, 1.6337, -0.0415, -0.0366, -0.0122, -0.0479, -3.2479, 5.4906, 1.4921, 0.0659, -0.0122, 1.0281] camera 'top_cam' (step 88): [image omitted: streamed camera frame] camera 'left_cam' (step 88): [image omitted: streamed camera frame] camera 'right_cam' (step 88): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.085},"note":"The gripper remains open by roughly the green fruit’s width, indicating contact on both sides. I’m lifting it slightly to verify the grasp."})
tool
executing move_to over 5 steps (0.5s)
step 93
top_cam
camera top_cam step 93
left_cam
camera left_cam step 93
right_cam
camera right_cam step 93
assistant
agent noteThe green fruit is raised and remains held securely. I’m carrying it above the blue bowl, alongside the yellow fruit already inside.
move_to
right_x0.4500right_y0.1200right_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]: [-0.0204, 0.8192, 0.6281, -0.4946, -0.0135, -0.0338, 0.996, 0.2459, 1.0485, 0.4313, -0.1871, 0.1852, -0.0013, 0.7069] state[eef_state]: left_x=0.2828 left_y=0.0002 left_z=0.1612 left_yaw=0.0016 left_pitch=-0.1167 left_roll=-0.0011 left_gripper=0.996 right_x=0.2902 right_y=0.043 right_z=0.0725 right_yaw=0.0769 right_pitch=-0.2244 right_roll=-0.1207 right_gripper=0.7069 state[joint_eff]: [-0.0752, -1.0325, 6.9265, 1.6093, -0.0415, -0.0415, -0.0122, -0.1983, -3.0427, 9.1009, 1.4383, 0.0904, -0.0464, 1.0281] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 93): [image omitted: streamed camera frame] camera 'left_cam' (step 93): [image omitted: streamed camera frame] camera 'right_cam' (step 93): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.45,"right_y":0.12,"right_z":0.18},"note":"The green fruit is raised and remains held securely. I’m carrying it above the blue bowl, alongside the yellow fruit already inside."})
tool
executing move_to over 13 steps (1.3s)
step 106
top_cam
camera top_cam step 106
left_cam
camera left_cam step 106
right_cam
camera right_cam step 106
assistant
agent noteThe green fruit is above the blue bowl and the yellow fruit remains inside. I’m lowering the green fruit close to the rim so it will settle gently into the bowl.
move_to
right_z0.1100
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]: [-0.0204, 0.8249, 0.6281, -0.4946, -0.0135, -0.0338, 0.996, 0.3496, 1.684, 1.3304, -0.5442, 0.2348, 0.0452, 0.7106] state[eef_state]: left_x=0.2831 left_y=0.0002 left_z=0.1597 left_yaw=0.0016 left_pitch=-0.1224 left_roll=-0.0009 left_gripper=0.996 right_x=0.4368 right_y=0.1193 right_z=0.1567 right_yaw=0.1071 right_pitch=-0.3049 right_roll=-0.1457 right_gripper=0.7106 state[joint_eff]: [-0.0889, -1.7573, 6.9402, 1.6337, -0.0171, -0.0366, -0.0122, -0.2393, -8.9504, 9.4564, 1.7753, 0.2955, 0.2515, 0.7985] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 106): [image omitted: streamed camera frame] camera 'left_cam' (step 106): [image omitted: streamed camera frame] camera 'right_cam' (step 106): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.11},"note":"The green fruit is above the blue bowl and the yellow fruit remains inside. I’m lowering the green fruit close to the rim so it will settle gently into the bowl."})
tool
executing move_to over 4 steps (0.4s)
step 110
top_cam
camera top_cam step 110
left_cam
camera left_cam step 110
right_cam
camera right_cam step 110
assistant
agent noteThe green fruit is positioned in the blue bowl’s opening. I’m releasing it beside the yellow fruit.
move_to
right_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]: [-0.0212, 0.8322, 0.6281, -0.4984, -0.0139, -0.0338, 0.996, 0.3496, 1.7245, 1.1831, -0.4004, 0.2302, 0.0406, 0.7136] state[eef_state]: left_x=0.2828 left_y=0.0001 left_z=0.157 left_yaw=0.0012 left_pitch=-0.1335 left_roll=-0.0004 left_gripper=0.996 right_x=0.4295 right_y=0.1175 right_z=0.1025 right_yaw=0.1101 right_pitch=-0.3487 right_roll=-0.1561 right_gripper=0.7136 state[joint_eff]: [-0.0205, -1.894, 7.0496, 1.6728, -0.0562, -0.022, -0.0122, -0.3624, -8.841, 6.612, 1.7314, 0.0904, 0.0122, 0.7643] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 110): [image omitted: streamed camera frame] camera 'left_cam' (step 110): [image omitted: streamed camera frame] camera 'right_cam' (step 110): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The green fruit is positioned in the blue bowl’s opening. I’m releasing it beside the yellow fruit."})
tool
executing move_to over 3 steps (0.3s)
step 113
top_cam
camera top_cam step 113
left_cam
camera left_cam step 113
right_cam
camera right_cam step 113
assistant
agent noteThe yellow fruit and green pear are both in the blue bowl. I’m parking the right arm clear and bringing the left gripper above the remaining dark fruit.
move_to
right_x0.2960right_y0.0000right_z0.1900left_x0.3350left_y-0.2750left_z0.1500left_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]: [-0.0212, 0.8322, 0.6281, -0.4988, -0.0139, -0.0338, 0.996, 0.3496, 1.7245, 1.1831, -0.4076, 0.2302, 0.0349, 0.9953] state[eef_state]: left_x=0.2827 left_y=0.0001 left_z=0.157 left_yaw=0.0012 left_pitch=-0.1339 left_roll=-0.0004 left_gripper=0.996 right_x=0.4282 right_y=0.117 right_z=0.1015 right_yaw=0.1127 right_pitch=-0.3563 right_roll=-0.1616 right_gripper=0.9953 state[joint_eff]: [-0.212, -1.4154, 6.9265, 1.5849, -0.0513, -0.0073, -0.0122, -0.1162, -8.2803, 6.6803, 1.4237, 0.0513, 0.1148, 0.0611] camera 'top_cam' (step 113): [image omitted: streamed camera frame] camera 'left_cam' (step 113): [image omitted: streamed camera frame] camera 'right_cam' (step 113): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.296,"right_y":0,"right_z":0.19,"left_x":0.335,"left_y":-0.275,"left_z":0.15,"left_gripper":1},"note":"The yellow fruit and green pear are both in the blue bowl. I’m parking the right arm clear and bringing the left gripper above the remaining dark fruit."})
tool
executing move_to over 25 steps (2.5s)
step 138
top_cam
camera top_cam step 138
left_cam
camera left_cam step 138
right_cam
camera right_cam step 138
assistant
agent noteThe dark fruit is nearly centered in the left wrist view and still a little ahead of the fingertips. I’m advancing slightly and lowering around it.
move_to
left_x0.3550left_y-0.2650left_z0.0180
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]: [-0.9401, 1.6848, 1.2045, -0.5137, -0.6411, -0.7425, 0.9966, 0.0082, 1.1015, 1.0016, -0.8078, 0.0425, -0.2268, 0.9962] state[eef_state]: left_x=0.3303 left_y=-0.2671 left_z=0.137 left_yaw=-0.0088 left_pitch=-0.1677 left_roll=0.0168 left_gripper=0.9966 right_x=0.3022 right_y=-0.0014 right_z=0.1885 right_yaw=0.0889 right_pitch=-0.3506 right_roll=-0.1677 right_gripper=0.9962 state[joint_eff]: [-0.7316, -8.1026, 8.8957, 1.1746, -0.5739, -0.1343, -0.3687, -0.3624, -3.9179, 6.612, 1.3993, -0.1978, -0.022, 0.0757] camera 'top_cam' (step 138): [image omitted: streamed camera frame] camera 'left_cam' (step 138): [image omitted: streamed camera frame] camera 'right_cam' (step 138): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.355,"left_y":-0.265,"left_z":0.018},"note":"The dark fruit is nearly centered in the left wrist view and still a little ahead of the fingertips. I’m advancing slightly and lowering around it."})
tool
executing move_to over 8 steps (0.8s)
step 146
top_cam
camera top_cam step 146
left_cam
camera left_cam step 146
right_cam
camera right_cam step 146
assistant
agent noteAt grasp height the dark fruit is left of the jaw centerline. I’m making a small sideways correction so the jaws will close evenly around it.
move_to
left_y-0.2450
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]: [-0.8848, 1.919, 1.0039, -0.0917, -0.609, -0.6964, 0.996, 0.0048, 1.103, 1.0016, -0.8288, 0.0326, -0.244, 0.9962] state[eef_state]: left_x=0.3482 left_y=-0.2602 left_z=0.021 left_yaw=0.0028 left_pitch=-0.1976 left_roll=0.0446 left_gripper=0.996 right_x=0.2982 right_y=-0.0008 right_z=0.1849 right_yaw=0.1049 right_pitch=-0.3739 right_roll=-0.1682 right_gripper=0.9962 state[joint_eff]: [0.4444, -9.0872, 4.8615, 1.3309, -0.232, 0.0659, -0.0611, 0.0615, -3.3026, 6.7624, 1.536, 0.0952, 0.1538, -0.0073] camera 'top_cam' (step 146): [image omitted: streamed camera frame] camera 'left_cam' (step 146): [image omitted: streamed camera frame] camera 'right_cam' (step 146): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.245},"note":"At grasp height the dark fruit is left of the jaw centerline. I’m making a small sideways correction so the jaws will close evenly around it."})
tool
executing move_to over 2 steps (0.2s)
step 148
top_cam
camera top_cam step 148
left_cam
camera left_cam step 148
right_cam
camera right_cam step 148
assistant
agent noteThe first correction moved less than requested and the fruit is still off-center. I’m lifting slightly while shifting farther left to avoid catching its side with a fingertip.
move_to
left_y-0.2300left_z0.0300
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]: [-0.8719, 1.9312, 0.9661, -0.0307, -0.6014, -0.6865, 0.996, 0.0044, 1.103, 1.0016, -0.8314, 0.0315, -0.2443, 0.9962] state[eef_state]: left_x=0.349 left_y=-0.2543 left_z=0.0109 left_yaw=0.0037 left_pitch=-0.1957 left_roll=0.039 left_gripper=0.996 right_x=0.2977 right_y=-0.0007 right_z=0.1845 right_yaw=0.1059 right_pitch=-0.3765 right_roll=-0.1671 right_gripper=0.9962 state[joint_eff]: [0.8957, -12.2462, 5.1624, 1.1355, -0.2173, 0.0366, -0.0171, -0.0479, -3.0291, 6.5983, 1.3993, -0.0366, -0.0464, -0.0073] camera 'top_cam' (step 148): [image omitted: streamed camera frame] camera 'left_cam' (step 148): [image omitted: streamed camera frame] camera 'right_cam' (step 148): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.23,"left_z":0.03},"note":"The first correction moved less than requested and the fruit is still off-center. I’m lifting slightly while shifting farther left to avoid catching its side with a fingertip."})
tool
executing move_to over 3 steps (0.3s)
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 dark fruit is now centered between the jaws. I’m closing the gripper around it.
move_to
left_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]: [-0.8558, 1.9118, 0.9485, -0.0467, -0.5907, -0.6777, 0.996, 0.0044, 1.1034, 1.0016, -0.8356, 0.0311, -0.247, 0.9962] state[eef_state]: left_x=0.3476 left_y=-0.2448 left_z=0.0105 left_yaw=0.0101 left_pitch=-0.2119 left_roll=0.0506 left_gripper=0.996 right_x=0.2969 right_y=-0.0006 right_z=0.1838 right_yaw=0.108 right_pitch=-0.3812 right_roll=-0.168 right_gripper=0.9962 state[joint_eff]: [-0.4171, -10.4684, 4.9026, 1.2967, -0.3394, 0.0513, -0.0122, -0.0889, -3.1658, 6.5709, 1.3993, -0.0269, -0.0269, -0.0073] 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":{"left_gripper":0},"note":"The dark fruit is now centered between the jaws. I’m closing the gripper around it."})
tool
executing move_to over 10 steps (1.0s)
step 161
top_cam
camera top_cam step 161
left_cam
camera left_cam step 161
right_cam
camera right_cam step 161
assistant
agent noteThe dark fruit is secured in the left gripper. I’m lifting it while positioning the right gripper above the blue bowl’s near rim, so I can bring the bowl within the left arm’s reach.
move_to
left_z0.1700right_x0.4000right_y0.1200right_z0.1400right_yaw1.5700right_pitch0.2500
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]: [-0.8558, 1.9118, 0.9485, -0.0448, -0.5907, -0.6781, 0.5204, 0.0044, 1.1034, 1.0016, -0.836, 0.0315, -0.247, 0.9962] state[eef_state]: left_x=0.3478 left_y=-0.2451 left_z=0.0107 left_yaw=0.01 left_pitch=-0.2106 left_roll=0.0488 left_gripper=0.5204 right_x=0.2968 right_y=-0.0007 right_z=0.1837 right_yaw=0.1077 right_pitch=-0.3817 right_roll=-0.1683 right_gripper=0.9962 state[joint_eff]: [-0.253, -9.0462, 5.4222, 1.2234, -0.3199, -0.0073, 1.0281, 0.0068, -2.9197, 6.5709, 1.3797, 0.0024, -0.0073, -0.0171] camera 'top_cam' (step 161): [image omitted: streamed camera frame] camera 'left_cam' (step 161): [image omitted: streamed camera frame] camera 'right_cam' (step 161): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.17,"right_x":0.40,"right_y":0.12,"right_z":0.14,"right_yaw":1.57,"right_pitch":0.25},"note":"The dark fruit is secured in the left gripper. I’m lifting it while positioning the right gripper above the blue bowl’s near rim, so I can bring the bowl within the left arm’s reach."})
tool
executing move_to over 22 steps (2.2s)
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 dark fruit has lifted successfully. The right jaws are rotated to pinch the blue bowl’s near rim, and I’m lowering them carefully onto that edge.
move_to
right_x0.3900right_y0.1200right_z0.0450
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]: [-0.8555, 1.7065, 1.3041, -0.6575, -0.5838, -0.6815, 0.5207, -0.1379, 2.0613, 1.4967, -0.9253, -1.1931, -1.6897, 0.9962] state[eef_state]: left_x=0.3457 left_y=-0.244 left_z=0.1433 left_yaw=0.0172 left_pitch=-0.2485 left_roll=0.0831 left_gripper=0.5207 right_x=0.4135 right_y=0.112 right_z=0.1299 right_yaw=1.5034 right_pitch=0.1827 right_roll=-0.1739 right_gripper=0.9962 state[joint_eff]: [0.0889, -11.1385, 9.265, 1.1453, -0.3932, 0.0269, 0.8767, 0.4855, -10.8376, 5.8462, -0.1392, -0.906, -0.105, -0.0122] approver: 5 step(s) modified (delta_clamped ×5). 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_x":0.39,"right_y":0.12,"right_z":0.045},"note":"The dark fruit has lifted successfully. The right jaws are rotated to pinch the blue bowl’s near rim, and I’m lowering them carefully onto that edge."})
tool
executing move_to over 6 steps (0.6s)
step 189
top_cam
camera top_cam step 189
left_cam
camera left_cam step 189
right_cam
camera right_cam step 189
assistant
agent noteThe right fingertips are at the blue bowl’s near edge, with the fruits clear of the intended pinch point. I’m closing on the rim.
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]: [-0.8558, 1.6981, 1.3087, -0.6697, -0.5831, -0.6811, 0.5233, -0.131, 2.0979, 1.2373, -0.617, -1.2037, -1.6814, 0.9962] state[eef_state]: left_x=0.3446 left_y=-0.2431 left_z=0.1468 left_yaw=0.016 left_pitch=-0.2486 left_roll=0.0823 left_gripper=0.5233 right_x=0.3891 right_y=0.1186 right_z=0.0608 right_yaw=1.5091 right_pitch=0.1933 right_roll=-0.1791 right_gripper=0.9962 state[joint_eff]: [-0.253, -7.665, 6.1197, 1.2186, -0.315, -0.022, 0.7546, 0.1709, -7.9111, 4.2598, 0.3346, -0.4371, 0.232, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 189): [image omitted: streamed camera frame] camera 'left_cam' (step 189): [image omitted: streamed camera frame] camera 'right_cam' (step 189): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The right fingertips are at the blue bowl’s near edge, with the fruits clear of the intended pinch point. I’m closing on the rim."})
tool
executing move_to over 10 steps (1.0s)
step 199
top_cam
camera top_cam step 199
left_cam
camera left_cam step 199
right_cam
camera right_cam step 199
assistant
agent noteThe right gripper has closed onto a substantial part of the bowl rather than closing empty. I’m making a short lift to check that the bowl and its two fruits move together.
move_to
right_z0.1200
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]: [-0.8555, 1.6981, 1.3087, -0.6704, -0.5831, -0.6811, 0.5239, -0.1291, 2.1075, 1.2293, -0.6071, -1.2091, -1.6752, 0.6094] state[eef_state]: left_x=0.3446 left_y=-0.2428 left_z=0.1467 left_yaw=0.0165 left_pitch=-0.2491 left_roll=0.0829 left_gripper=0.5239 right_x=0.3874 right_y=0.1199 right_z=0.0567 right_yaw=1.5067 right_pitch=0.1997 right_roll=-0.1659 right_gripper=0.6094 state[joint_eff]: [-0.0752, -8.3761, 6.4342, 1.0916, -0.3101, -0.0366, 0.7692, -0.2803, -10.9197, 5.4496, 0.2564, -0.5153, -0.0952, 0.9744] camera 'top_cam' (step 199): [image omitted: streamed camera frame] camera 'left_cam' (step 199): [image omitted: streamed camera frame] camera 'right_cam' (step 199): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.12},"note":"The right gripper has closed onto a substantial part of the bowl rather than closing empty. I’m making a short lift to check that the bowl and its two fruits move together."})
tool
executing move_to over 5 steps (0.5s)
step 204
top_cam
camera top_cam step 204
left_cam
camera left_cam step 204
right_cam
camera right_cam step 204
assistant
agent noteThe blue bowl appears to be lifting with the right gripper. I’m bringing it toward the middle while raising the dark fruit above its future opening, keeping the two grippers separated.
move_to
right_x0.3900right_y0.2800right_z0.1700left_x0.4500left_y-0.3200left_z0.2800
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]: [-0.8555, 1.6981, 1.3087, -0.6704, -0.5831, -0.6811, 0.5263, -0.1287, 2.0312, 1.3033, -0.7685, -1.1824, -1.6756, 0.603] state[eef_state]: left_x=0.3446 left_y=-0.2428 left_z=0.1467 left_yaw=0.0165 left_pitch=-0.2491 left_roll=0.0829 left_gripper=0.5263 right_x=0.3885 right_y=0.1182 right_z=0.0939 right_yaw=1.5028 right_pitch=0.1738 right_roll=-0.1533 right_gripper=0.603 state[joint_eff]: [0.0479, -8.0479, 6.6393, 1.0965, -0.2662, -0.0659, 0.696, -0.1709, -12.2462, 7.0085, 0.1636, -0.8669, -0.0317, 1.0281] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 204): [image omitted: streamed camera frame] camera 'left_cam' (step 204): [image omitted: streamed camera frame] camera 'right_cam' (step 204): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.28,"right_z":0.17,"left_x":0.45,"left_y":-0.32,"left_z":0.28},"note":"The blue bowl appears to be lifting with the right gripper. I’m bringing it toward the middle while raising the dark fruit above its future opening, keeping the two grippers separated."})
tool
executing move_to over 14 steps (1.4s)
step 218
top_cam
camera top_cam step 218
left_cam
camera left_cam step 218
right_cam
camera right_cam step 218
assistant
agent noteThe latest overhead view shows that the right gripper picked up the pear, not the bowl; the bowl stayed on the table. I’m returning the pear over the blue bowl before changing to a rim-only grasp.
move_to
right_x0.3900right_y0.1200right_z0.1400
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]: [-0.778, 2.4542, 2.7514, -1.441, -0.5636, -0.6319, 0.5284, 0.2668, 1.8824, 1.2236, -0.2413, -0.9562, -0.8959, 0.6066] state[eef_state]: left_x=0.4474 left_y=-0.3033 left_z=0.209 left_yaw=0.073 left_pitch=-0.3201 left_roll=0.1713 left_gripper=0.5284 right_x=0.3838 right_y=0.2582 right_z=0.1262 right_yaw=1.4664 right_pitch=0.0979 right_roll=-0.066 right_gripper=0.6066 state[joint_eff]: [-1.4838, -21.053, 6.5573, 1.453, -0.149, 0.1441, 0.5055, 2.6325, -12.3966, 10.2496, 1.9316, -0.7302, 0.1978, 0.7057] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 218): [image omitted: streamed camera frame] camera 'left_cam' (step 218): [image omitted: streamed camera frame] camera 'right_cam' (step 218): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.12,"right_z":0.14},"note":"The latest overhead view shows that the right gripper picked up the pear, not the bowl; the bowl stayed on the table. I’m returning the pear over the blue bowl before changing to a rim-only grasp."})
tool
executing move_to over 12 steps (1.2s)
step 230
top_cam
camera top_cam step 230
assistant
agent noteThe pear is back over the blue bowl, with the yellow fruit visible below it. I’m releasing the pear into the bowl again.
move_to
right_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]: [-0.7773, 2.4786, 2.8864, -1.5608, -0.5465, -0.6281, 0.5314, -0.0937, 1.948, 1.4174, -0.889, -1.0554, -1.5028, 0.6065] state[eef_state]: left_x=0.4367 left_y=-0.2959 left_z=0.2249 left_yaw=0.0634 left_pitch=-0.3382 left_roll=0.1701 left_gripper=0.5314 right_x=0.3955 right_y=0.1208 right_z=0.13 right_yaw=1.4392 right_pitch=0.0573 right_roll=-0.0725 right_gripper=0.6065 state[joint_eff]: [-0.3214, -13.4496, 7.6513, 0.8864, -0.5788, 0.0122, 0.3004, -0.3624, -9.1966, 8.1573, 0.3053, -0.9695, -0.0513, 0.8181] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 230): [image omitted: streamed camera frame] camera 'left_cam' (step 230): [image omitted: streamed camera frame] camera 'right_cam' (step 230): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The pear is back over the blue bowl, with the yellow fruit visible below it. I’m releasing the pear into the bowl again."})
tool
executing move_to over 4 steps (0.4s)
step 234
assistant
agent noteBoth fruits are again in the blue bowl. I’m approaching its left-side rim from outside, with the jaws aligned across the thin wall rather than across the fruit.
move_to
right_x0.4350right_y0.1950right_z0.1400right_yaw0.0000right_pitch0.2500
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]: [-0.7773, 2.4836, 2.8864, -1.5616, -0.5407, -0.6285, 0.533, -0.0933, 1.9602, 1.4254, -0.9016, -1.0477, -1.5257, 0.9954] state[eef_state]: left_x=0.4365 left_y=-0.2969 left_z=0.2218 left_yaw=0.0616 left_pitch=-0.3459 left_roll=0.1706 left_gripper=0.533 right_x=0.3956 right_y=0.1203 right_z=0.1263 right_yaw=1.4499 right_pitch=0.0483 right_roll=-0.0759 right_gripper=0.9954 state[joint_eff]: [-0.3077, -12.7111, 6.5983, 0.8767, -0.3443, -0.0366, 0.1441, 0.1299, -10.7145, 5.094, 0.5153, -0.5788, 0.2173, -0.0073] camera 'top_cam' (step 234): [image omitted: streamed camera frame] camera 'left_cam' (step 234): [image omitted: streamed camera frame] camera 'right_cam' (step 234): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.435,"right_y":0.195,"right_z":0.14,"right_yaw":0,"right_pitch":0.25},"note":"Both fruits are again in the blue bowl. I’m approaching its left-side rim from outside, with the jaws aligned across the thin wall rather than across the fruit."})
tool
executing move_to over 10 steps (1.0s)
step 244
assistant
agent noteThe repositioning disturbed the pear, which is now on the table beyond the bowl. I’m first securing the exposed side rim of the blue bowl; I will need to recover the pear before pouring.
move_to
right_x0.4150right_y0.2050right_z0.0500right_yaw0.0000
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]: [-0.7769, 2.4859, 2.8864, -1.5673, -0.5377, -0.6289, 0.5351, 0.6125, 1.7317, 0.8368, 0.4419, 0.3023, 0.0109, 0.9961] state[eef_state]: left_x=0.4358 left_y=-0.2965 left_z=0.2199 left_yaw=0.0625 left_pitch=-0.3533 left_roll=0.1747 left_gripper=0.5351 right_x=0.4186 right_y=0.2342 right_z=0.1147 right_yaw=0.3411 right_pitch=0.1338 right_roll=-0.1016 right_gripper=0.9961 state[joint_eff]: [0.0068, -12.4786, 6.4889, 0.9304, -0.2906, -0.0366, 0.2125, -0.0889, -9.4017, 6.5573, 2.0342, 0.0904, 0.1392, 0.0659] camera 'top_cam' (step 244): [image omitted: streamed camera frame] camera 'left_cam' (step 244): [image omitted: streamed camera frame] camera 'right_cam' (step 244): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.415,"right_y":0.205,"right_z":0.05,"right_yaw":0},"note":"The repositioning disturbed the pear, which is now on the table beyond the bowl. I’m first securing the exposed side rim of the blue bowl; I will need to recover the pear before pouring."})
tool
executing move_to over 5 steps (0.5s)
step 249
assistant
agent noteThe right arm stopped well above its requested height, so I’m not forcing the descent. I’m moving the left arm and its held fruit farther away to clear the working space.
move_to
left_x0.3400left_y-0.2400left_z0.2100
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]: [-0.7765, 2.4947, 2.8861, -1.5696, -0.5369, -0.6285, 0.5365, 0.6075, 1.7523, 0.7578, 0.5423, 0.3824, 0.0326, 0.9962] state[eef_state]: left_x=0.4361 left_y=-0.2967 left_z=0.2152 left_yaw=0.0653 left_pitch=-0.3615 left_roll=0.1836 left_gripper=0.5365 right_x=0.415 right_y=0.2126 right_z=0.0969 right_yaw=0.257 right_pitch=0.1466 right_roll=-0.1151 right_gripper=0.9962 state[joint_eff]: [-0.3214, -13.3949, 5.6274, 0.9158, -0.3443, -0.0269, 0.1343, 0.1436, -8.4718, 6.1607, 1.9023, 0.0317, -0.149, -0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 249): [image omitted: streamed camera frame] camera 'left_cam' (step 249): [image omitted: streamed camera frame] camera 'right_cam' (step 249): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_y":-0.24,"left_z":0.21},"note":"The right arm stopped well above its requested height, so I’m not forcing the descent. I’m moving the left arm and its held fruit farther away to clear the working space."})
tool
executing move_to over 8 steps (0.8s)
step 257
assistant
agent noteThe right fingertips are bracketing the bowl’s exposed side edge. I’m closing gently on that edge and will check what moves before transporting it.
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]: [-0.8421, 1.8763, 1.7718, -1.1946, -0.5411, -0.693, 0.538, 0.6064, 1.7523, 0.7578, 0.5488, 0.3653, 0.0257, 0.9962] state[eef_state]: left_x=0.3427 left_y=-0.2419 left_z=0.1847 left_yaw=0.078 left_pitch=-0.4283 left_roll=0.2472 left_gripper=0.538 right_x=0.415 right_y=0.2154 right_z=0.0978 right_yaw=0.2736 right_pitch=0.1497 right_roll=-0.1121 right_gripper=0.9962 state[joint_eff]: [-0.6222, -12.7658, 7.2, 1.0769, -0.5348, -0.0708, 0.1343, -0.1436, -8.0615, 5.8462, 1.8584, 0.188, -0.0122, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 257): [image omitted: streamed camera frame] camera 'left_cam' (step 257): [image omitted: streamed camera frame] camera 'right_cam' (step 257): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The right fingertips are bracketing the bowl’s exposed side edge. I’m closing gently on that edge and will check what moves before transporting it."})
tool
executing move_to over 10 steps (1.0s)
step 267
assistant
agent noteThat close was empty, so the jaws were outside and above the rim. I’m opening, shifting a few centimeters toward the bowl, and clearing the left arm farther away for one corrected attempt.
move_to
right_gripper1.0000right_x0.4150right_y0.1800right_z0.0450left_x0.2900left_y-0.1200left_z0.2300
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]: [-0.8429, 1.8797, 1.7592, -1.1885, -0.5373, -0.7036, 0.5394, 0.6064, 1.7523, 0.7578, 0.5407, 0.3611, 0.0181, 0.009] state[eef_state]: left_x=0.3416 left_y=-0.2421 left_z=0.1795 left_yaw=0.085 left_pitch=-0.4358 left_roll=0.2471 left_gripper=0.5394 right_x=0.4141 right_y=0.2156 right_z=0.096 right_yaw=0.2817 right_pitch=0.1411 right_roll=-0.12 right_gripper=0.009 state[joint_eff]: [-0.1983, -9.853, 7.0359, 0.6716, -0.3834, 0.0806, 0.1343, -0.0889, -7.9795, 5.8325, 1.8828, 0.1001, 0.0415, 0.696] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 267): [image omitted: streamed camera frame] camera 'left_cam' (step 267): [image omitted: streamed camera frame] camera 'right_cam' (step 267): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.415,"right_y":0.18,"right_z":0.045,"left_x":0.29,"left_y":-0.12,"left_z":0.23},"note":"That close was empty, so the jaws were outside and above the rim. I’m opening, shifting a few centimeters toward the bowl, and clearing the left arm farther away for one corrected attempt."})
tool
executing move_to over 11 steps (1.1s)
step 278
assistant
agent noteWith the left arm clear, the right gripper reached the intended rim height. I’m closing on the blue bowl’s side wall.
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]: [-0.6804, 1.4544, 1.4666, -1.2362, -0.4885, -0.5484, 0.5408, 0.5102, 1.8767, 0.6289, 0.7734, 0.2787, -0.0284, 0.9955] state[eef_state]: left_x=0.2957 left_y=-0.128 left_z=0.2247 left_yaw=0.099 left_pitch=-0.4346 left_roll=0.2355 left_gripper=0.5408 right_x=0.4127 right_y=0.1794 right_z=0.0411 right_yaw=0.2805 right_pitch=0.1079 right_roll=-0.1323 right_gripper=0.9955 state[joint_eff]: [0.212, -6.5162, 6.0103, 0.906, -0.3053, 0.0611, 0.1343, -0.4171, -7.3778, 4.2598, 1.8828, 0.0513, 0.0415, -0.1734] camera 'top_cam' (step 278): [image omitted: streamed camera frame] camera 'left_cam' (step 278): [image omitted: streamed camera frame] camera 'right_cam' (step 278): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"With the left arm clear, the right gripper reached the intended rim height. I’m closing on the blue bowl’s side wall."})
tool
executing move_to over 10 steps (1.0s)
step 288
assistant
agent noteThe second rim grasp was also empty, and the pear is now far beyond the bowl near the forward reach limit. I’m setting the held dark fruit back on the table and lifting the right gripper clear rather than forcing further contact.
move_to
left_x0.3350left_y-0.2350left_z0.0300right_gripper1.0000right_z0.1700
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]: [-0.6773, 1.4593, 1.4548, -1.248, -0.4778, -0.5468, 0.5416, 0.5083, 1.8816, 0.6224, 0.7731, 0.2714, -0.0345, 0.009] state[eef_state]: left_x=0.2922 left_y=-0.1262 left_z=0.2178 left_yaw=0.1039 left_pitch=-0.4622 left_roll=0.2508 left_gripper=0.5416 right_x=0.4105 right_y=0.1786 right_z=0.0365 right_yaw=0.2882 right_pitch=0.0952 right_roll=-0.1371 right_gripper=0.009 state[joint_eff]: [-0.3077, -5.9282, 7.0632, 0.9353, -0.4322, -0.0611, 0.0659, 0.0615, -8.4034, 5.1077, 1.8437, 0.1587, 0.0317, 0.7009] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 288): [image omitted: streamed camera frame] camera 'left_cam' (step 288): [image omitted: streamed camera frame] camera 'right_cam' (step 288): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.335,"left_y":-0.235,"left_z":0.03,"right_gripper":1,"right_z":0.17},"note":"The second rim grasp was also empty, and the pear is now far beyond the bowl near the forward reach limit. I’m setting the held dark fruit back on the table and lifting the right gripper clear rather than forcing further contact."})
tool
executing move_to over 13 steps (1.3s)
step 301
assistant
agent noteThe dark fruit is back at table height beside the white bowl. I’m opening the left gripper to leave it safely supported before stopping the attempt.
move_to
left_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]: [-0.8288, 1.935, 1.2541, -0.7025, -0.5037, -0.7094, 0.5424, 0.5083, 1.5188, 0.8337, 0.1696, 0.2672, -0.046, 0.9962] state[eef_state]: left_x=0.3249 left_y=-0.2229 left_z=0.0304 left_yaw=0.1156 left_pitch=-0.5055 left_roll=0.2892 left_gripper=0.5424 right_x=0.4082 right_y=0.1782 right_z=0.1487 right_yaw=0.2984 right_pitch=0.0652 right_roll=-0.1516 right_gripper=0.9962 state[joint_eff]: [-0.5812, -9.5521, 7.1179, 0.6227, -0.4811, -0.1441, 0.0659, -0.2393, -8.5128, 9.0051, 1.9414, 0.0611, 0.0611, -0.105] camera 'top_cam' (step 301): [image omitted: streamed camera frame] camera 'left_cam' (step 301): [image omitted: streamed camera frame] camera 'right_cam' (step 301): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The dark fruit is back at table height beside the white bowl. I’m opening the left gripper to leave it safely supported before stopping the attempt."})
tool
executing move_to over 5 steps (0.5s)
step 306
assistant
agent noteThe dark fruit is released on the table, and neither arm is holding an object. I’m parking both arms clear of the bowls and fruits.
move_to
left_x0.2960left_y0.0000left_z0.2000right_x0.2960right_y0.0000right_z0.2000
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]: [-0.8291, 1.9701, 1.2541, -0.6991, -0.4999, -0.7147, 0.9945, 0.5083, 1.5169, 0.8383, 0.1455, 0.2672, -0.0456, 0.9968] state[eef_state]: left_x=0.3229 left_y=-0.2218 left_z=0.0175 left_yaw=0.1311 left_pitch=-0.5261 left_roll=0.3134 left_gripper=0.9945 right_x=0.4066 right_y=0.1772 right_z=0.1465 right_yaw=0.2984 right_pitch=0.048 right_roll=-0.1549 right_gripper=0.9968 state[joint_eff]: [-0.0068, -12.5744, 5.4085, 0.5543, -0.3443, 0.0464, -0.2857, -0.1436, -6.4205, 6.2838, 1.956, 0.0269, -0.0513, 0.0513] camera 'top_cam' (step 306): [image omitted: streamed camera frame] camera 'left_cam' (step 306): [image omitted: streamed camera frame] camera 'right_cam' (step 306): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.296,"left_y":0,"left_z":0.2,"right_x":0.296,"right_y":0,"right_z":0.2},"note":"The dark fruit is released on the table, and neither arm is holding an object. I’m parking both arms clear of the bowls and fruits."})
tool
executing move_to over 20 steps (2.0s)
step 326
assistant
agent noteI could not complete the transfer safely. The yellow fruit is in the blue bowl, but the pear was displaced farther forward during repositioning, and the dark fruit is back on the table beside the white bowl. Two corrected bowl-rim grasps closed empty, so I stopped rather than force contact or attempt an insecure pour. Both arms are parked clear.
give_up
hindsightKeep the idle arm well away from the bowl approach: a right-arm descent stalled about 5 cm high while the left arm hovered nearby, then reached the requested height after the left arm moved away. A roughly 0.60 gripper reading during the first attempted bowl grasp was actually the pear, not the bowl; verify the bowl itself moves before transporting. Rotate and reposition the open gripper well above loaded bowls, since the attempted rim realignment displaced the pear. Orientation readbacks drifted substantially during this trial, so re-check actual pitch, roll, and yaw as well as position.
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]: [-0.2153, 1.3056, 1.2102, -1.0847, -0.3294, -0.1192, 0.9952, -0.2111, 0.8185, 0.6289, -0.3592, -0.3061, -0.3862, 0.9969] state[eef_state]: left_x=0.2969 left_y=-0.0028 left_z=0.184 left_yaw=0.1749 left_pitch=-0.5424 left_roll=0.3109 left_gripper=0.9952 right_x=0.3005 right_y=-0.0063 right_z=0.1933 right_yaw=0.2435 right_pitch=0.0395 right_roll=-0.1575 right_gripper=0.9969 state[joint_eff]: [0.1026, -5.9282, 8.8821, 0.8962, -0.1392, 0.1929, 0.0611, -0.1846, -1.8667, 8.6085, 1.7753, -0.3687, -0.0317, -0.0073] camera 'top_cam' (step 326): [image omitted: streamed camera frame] camera 'left_cam' (step 326): [image omitted: streamed camera frame] camera 'right_cam' (step 326): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I could not complete the transfer safely. The yellow fruit is in the blue bowl, but the pear was displaced farther forward during repositioning, and the dark fruit is back on the table beside the white bowl. Two corrected bowl-rim grasps closed empty, so I stopped rather than force contact or attempt an insecure pour. Both arms are parked clear.","hindsight":"Keep the idle arm well away from the bowl approach: a right-arm descent stalled about 5 cm high while the left arm hovered nearby, then reached the requested height after the left arm moved away. A roughly 0.60 gripper reading during the first attempted bowl grasp was actually the pear, not the bowl; verify the bowl itself moves before transporting. Rotate and reposition the open gripper well above loaded bowls, since the attempted rim realignment displaced the pear. Orientation readbacks drifted substantially during this trial, so re-check actual pitch, roll, and yaw as well as position."})
tool
give_up: I could not complete the transfer safely. The yellow fruit is in the blue bowl, but the pear was displaced farther forward during repositioning, and the dark fruit is back on the table beside the white bowl. Two corrected bowl-rim grasps closed empty, so I stopped rather than force contact or attempt an insecure pour. Both arms are parked clear.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 5.831 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]: [-0.0204, 0.8001, 0.6136, -0.3824, -0.0143, -0.0299, 0.9966, -0.0227, 0.8005, 0.6193, -0.387, -0.017, -0.0334, 0.9991]\nstate[eef_state]: left_x=0.296 left_y=0.0001 left_z=0.1822 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9966 right_x=0.2961 right_y=-0.0001 right_z=0.1838 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -1.5932, 9.7436, 1.8486, -0.1001, 0.1392, -0.3736, -0.2803, -1.7983, 9.1145, 1.8242, -0.0806, 0.1392, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4edcc27b87e670d45b437f8496db339107514a8cea8ba69128a90f391156524",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a091be8f109d93fe11e208a1a5802bc883508e6986419afbf4abee7c059ece6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b215490c0adb28d5bc53062b4d12d155c27eabeab30d0c5a5536cc6760005b3",
      "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 · 5.161 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtFrI_kB_IN5JSO9bP2TnVfbEeMiMLSfM0VLhA9elBGFS_C8RrcVShIB1CPCunH3dEihmKPbzyyz7RwoQgz0Ek19T3x3S1UDPAEhCpObY3R6e-hiuhKUe8wJix0-AE7yY4uM9vkSLifRkLsBpnMtoKg_18jFRwCn3DpsgIJE9nOsRSzGHP9J3drGyAb50aI_WnlF8aCpecebTET400H0v6jJ5zRaEvX6OxWwdYSjpAgMgNgQ65L3ya4y9Hp6Z4ZowoZd5gE3emWYh1Zev5iBp3BFvnGpP5hwvEpX3gE5O9zXtJvu_6nZzJNpKYIe05it1dndh-zP7lUiiSyR-dqShqZ9awOw9xSPZV5GNW8-5LlwsqDRd0b5-8UzqyGDV-yFrlIGJm0RrNxnxkRsfc3Kniw9nKJKI17Np-RJB9MMO4Y-9ymfBsiQH38VQGXtrAQVVGxaOatK-4nXEhAYNzwFTzZYpTnpNKGTv2MLLElKxQckX3LEISuojU2C51UkXRytvfb-1nrC_XXe8xxPcHK9KqWxowzP84TtavdwMxe_RP9fW_DXtlR8O_75JNUOiN8ebyDgEUPfK4oDzJbCHHcq0nipLAK7dzssOqfURUY4b83BPwrbaOilCZd1a1Oiy3zcIB_lS8BRj4rgOC0cknLzDG33onKm5TGNxTG4HV7byhR65pgxxhd8I8fIEBgU4mu5FPB51QU4ChLUt9ab6vKwBQZowRlsxiWx_3ilZ4E4JwV_7nHYqOpV0GdrxEJ-vSB8DRYvhZRVOYLvhGHyKDLQePi1PnnhYfvYuqVU5lMqu1psgB8tnnVroNn7X1rzeakNaQfjgyFkZAgi8EWhqMki7hpXPqTtCI1GWEIj8ltHs5k5JWXfX9N9RWUfXZUPR-WSJqhQSlRRVD8RygdNYaNY7PacBYDtNgFrpza7ixE79sJxfy_IUXo2OQVd6QPEmzi7S3qUGiIMLD-6eC087I5_NWKWScMWLF5sdAaXv4dKwxex5rJ3IN_1og49pW9qHdMijwyZY6PtcxbOIJp6nx36SXW2zfsKbKIl_a3SoJ6Cz7cS9BSbNdf5t7-MpdbRu27KLgnIt6bID-AIKa7yibfDTSB2tFcKtpfKgAOF3uvbjkVZVtp9ZftRkamwDa7gH7mf5kGk1025u0N9XZi67AovBhd2AYjgVvsw3n1wZBhigTjQ5mvCb6_uQ3JM4cE7PcP8Y5HFO5ps5ggIsIIvyH8vp9ogHwld1IPOx66eEeiR4-ASsuOs9Wihx1dnFTt_YvVFTJdS0X6EOkKMQIsUjNdlMnmz-jdGd-Xhidos6H-S2CredfPdgOP7P1R0fvN0aboAGejxNWdzogNCXRXk-il1v1X7kYFLgEQIQW6VRAW41lQx-l6Bs0gr-CmMQtJ0baAdFF9xgf-g9VZoHORVJbck4MsUyF2qns1td359KG24IKHKof3munV7dQdbTXLPGLF5iM1Kpq6SRFN3OI4v_I7nhhcnP7kQAQkWfjjavgZVcmNYD1BX-S2monv7HPlnYqiM8n_ZzVpjaG27Z1bGNQFibrOHJcD-r0tevEN-XBS-HRLffpG5xwvPEWOBH3M3L1VysQcqr32GW9yKNWCGKxpo7K1vv7mcGCJNYv2Dn5hxBm3r1Gl5skTlqHnuccl6oZ7LapHfWZx4CvAw8Dic78zV-MYYzcFmA7u3iJRf4iPLtWPzVI0pDIeHyR_Nr2Xa_JIhFNJl7y8HovNE_pS93QnXzt3NgWJLmaiJQisFk85H27DYZxBwQJKC4RPKeCVhEqFESWWeAhBHrGkdFR1sE-BbrTDE7Dt5GHeKCjUu3HWtjpjfjjhwftGS4j4zo3HBjpWoUpFyd2Y2nHsUiX8Tt8ZEPnsKdvr7Hu28QD_Mp0GdKwIhwzhDWyIp22WEfCZUF0_gNmeZ5XJd5bI3VkLfKN85vP07Oqw==",
  "id": "rs_0b2592eabe56d4ef016ab45ac5112487d0a0ae4abcef2c32bc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.18,\"right_z\":0.15,\"right_gripper\":1,\"left_x\":0.296,\"left_y\":0,\"left_z\":0.184},\"note\":\"I see three fruits on the table: a dark fruit near the white bowl, a small yellow fruit, and a larger green fruit beside the blue bowl. I’m moving the right gripper above the yellow fruit to align the first pickup.\"}",
  "call_id": "call_VwoEmdwrEvwSlHQxRzplwPZh",
  "id": "fc_0b2592eabe56d4ef016ab45ac742ac87d0a3e57683bb08f092",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VwoEmdwrEvwSlHQxRzplwPZh",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "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]: [-0.0204, 0.8021, 0.6132, -0.4004, -0.0139, -0.0334, 0.996, 0.8005, 1.3334, 0.7555, -0.2207, 0.6197, 0.4587, 0.9991]\nstate[eef_state]: left_x=0.2937 left_y=0.0001 left_z=0.1778 left_yaw=0.0015 left_pitch=-0.0202 left_roll=-0.0027 left_gripper=0.996 right_x=0.3114 right_y=0.1788 right_z=0.1319 right_yaw=0.0369 right_pitch=-0.0553 right_roll=-0.0458 right_gripper=0.9991\nstate[joint_eff]: [-0.4034, -1.2513, 7.8017, 1.8681, -0.0513, 0.0073, -0.0659, -0.1026, -5.4359, 8.7043, 1.6435, 0.4518, 0.2076, -0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0b69b9fc0e705bdba9b12850215814a36b1a47301f4313c244621d384098cf4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:503a1cd39e05eb302c35af4f76e2194e86769ff633b2acf6c554c8d3a4c4776e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0e8689bea17f59fb69097ffaf2c7adfbb9ca2a06c7e24387a9dce93000a879a",
      "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 · 2.227 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]: [-0.0204, 0.8001, 0.6136, -0.3824, -0.0143, -0.0299, 0.9966, -0.0227, 0.8005, 0.6193, -0.387, -0.017, -0.0334, 0.9991]\nstate[eef_state]: left_x=0.296 left_y=0.0001 left_z=0.1822 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9966 right_x=0.2961 right_y=-0.0001 right_z=0.1838 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -1.5932, 9.7436, 1.8486, -0.1001, 0.1392, -0.3736, -0.2803, -1.7983, 9.1145, 1.8242, -0.0806, 0.1392, -0.1001]",
      "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]: [-0.0204, 0.8021, 0.6132, -0.4004, -0.0139, -0.0334, 0.996, 0.8005, 1.3334, 0.7555, -0.2207, 0.6197, 0.4587, 0.9991]\nstate[eef_state]: left_x=0.2937 left_y=0.0001 left_z=0.1778 left_yaw=0.0015 left_pitch=-0.0202 left_roll=-0.0027 left_gripper=0.996 right_x=0.3114 right_y=0.1788 right_z=0.1319 right_yaw=0.0369 right_pitch=-0.0553 right_roll=-0.0458 right_gripper=0.9991\nstate[joint_eff]: [-0.4034, -1.2513, 7.8017, 1.8681, -0.0513, 0.0073, -0.0659, -0.1026, -5.4359, 8.7043, 1.6435, 0.4518, 0.2076, -0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0b69b9fc0e705bdba9b12850215814a36b1a47301f4313c244621d384098cf4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:503a1cd39e05eb302c35af4f76e2194e86769ff633b2acf6c554c8d3a4c4776e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0e8689bea17f59fb69097ffaf2c7adfbb9ca2a06c7e24387a9dce93000a879a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFrTdHoyjJkt6ElvsolHdKT78LLDWrnVLwKcW-xM3BZT9pLSgiluYEh2SiW9ok70fz8gflRD9CoJO9d7-fZ_E5V0OR5bAd6OEPsDMFDrLq5lPHrV7CS32vSnh_FsTzKdk50WHENGVWT2f_D8ODjAlmm5oVswlC8mmifnsRFhxey2eVb_8F_zJRrZkaTK5q8t7Xfiu3zEkNZf_94B6_B2vZLxlgdTbbuHmVw6TDSh8pBVWiroLGyHBtSbI9_RcxVKyS5NhLN1Puwp2L6qUoy6yrHZvWTheqTmgvs-p6Swxij8wvcWTtnu5mMaXgm1rhnz524fjXVd6wRIm2GQ_3fLwAuuT1LSid7TWcuquAZ-DcEIM1CyYABCTKSWlcD4HGyvhOPyuca5N5-cy27dom0NKR7hD3twg3xnUS2UuhSil3atTuvO1BI9g3yGGCUETFON36cmox8Hg_cgBPhWaRHPuWTrowVKIrbFKNRbmZdHtdqL8WHB8UmBZBA6JLJFOMZzpFlqHmOn8NHEXkTJu3VN4nM6ZKtKgcN-s8p6pY1BKZeMlrgvqeQUixJdVA1WjM6lbR6fmT4JFzcnWEINwV8UjMIw-l3266acUpKd-ZuRSp76fbNq9MLsamRWpRu-9NNlyVE_U3YSy4XvqD6CYGGPvC5g-04uSt8SVGp9R4_wTHw0qWWxL3XDu-tWx9dc6Cjf-QX9od-kIwOgLY9TTRg7rklWzkxHR1M7eX_riOQG72Nr5CwqzxDZVxq0oqYHMSvBnOwGpmB-TPdFgogYGlSLDdFWK-TQrxbgPk-oxmKlupn8lxWZKwpu4wegBZs7-NkDawOFUjVoYUcB1Ndg0o6RP4TD_EOUk4IzU7IvgcQDS1tF_UZR7VqJV_JgeiMvwbP8Zv_Z23CCpl_FSJcQznOXmEAwPj0QEK-sHWdvoQ-N0MEebr3o3DwNpKFPgEqGG3U1Gtk31atGQAdURwOqBaw0hB0aEIbNR-qOaXpjKe3-oAY5H4G348YmF5HDBRQnjQcB2bPTvacFAR53d0ik7UUDyKMRHLir5fMCd7OXWIeuwsJ6f8r6QNfzFRQHP4oWSCQaZ84gpxs_OiCt4bZPbiN4pz-4i1XWcLYbxJxKM2Z9KqS2E3KSi_q22Q1Qctfxb5Ww7-slYBsqNJhNrOrdZWj8h6f6M8tPlsfMKncYqi1Cy81PeY2aHgYJ9Kh0HRYnzwTIXevXs5qXjb7EWrcFiMRZXNyvj_7naPI779nawYZHmPmxJLWAGGEAnpA7XA1gV_MJo-LzOh_8x7UQaHpnqcFCvFGMJMlzu8JNHSoEQaNkUSX-ABszLHJVSHGU5xER8mKuk68f7oUAj8v1Xred4pJ_m7s-XPYKe5mRQC_n8gCse1okknjWgFU_-VMiNR3zCD5F-DROPpoYg9z5h8wg6WH7vNelilAftBqB9yMivjfVYe-CWDo3lZUcXJJVBa-x16s_CTsj8QZE-Jk0NEwTAD1lGrsRFXXizcaNOcOpGkfhCbW6fqE_ad-u7dqDr9Y3J7te2Z9wsb8Y8v7xtYaNYbkAh-n6i91ojYpo6pPEj0jZmBDXsDw=",
  "id": "rs_0b2592eabe56d4ef016ab45ad1240487d0b48baf717729fdcf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.335,\"right_y\":0.19,\"right_z\":0.025},\"note\":\"The yellow fruit is centered between the jaw columns in the wrist view, just ahead of the fingertips. I’m advancing slightly and lowering to grasp around its middle.\"}",
  "call_id": "call_ZFmynWmBAAzl6VIF31j9pmwO",
  "id": "fc_0b2592eabe56d4ef016ab45ad2ba5087d08ab234174778aa06",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZFmynWmBAAzl6VIF31j9pmwO",
  "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]: [-0.0204, 0.8036, 0.6132, -0.4088, -0.0139, -0.0338, 0.996, 0.7681, 1.7298, 0.5961, 0.3161, 0.5892, 0.4339, 0.9991]\nstate[eef_state]: left_x=0.2926 left_y=0.0001 left_z=0.1756 left_yaw=0.0017 left_pitch=-0.0301 left_roll=-0.0028 left_gripper=0.996 right_x=0.3306 right_y=0.1879 right_z=0.018 right_yaw=0.0392 right_pitch=-0.0851 right_roll=-0.0625 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -1.4154, 7.0085, 1.8046, -0.0269, -0.0317, -0.0171, -0.2256, -7.3778, 4.8479, 1.6972, 0.2466, -0.0611, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67d631d984e7fa836926101067deafb4021c131ce2673bf8f209802a2cc88643",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d24d377d6817030183c25b9f72053f70901945f0bd187cafca9e11fb0ff6d55e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfef4bf44278bd7fdfea455b5442c88aebcb3683a29202e0157739cb4ac12fe4",
      "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 · 2.758 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]: [-0.0204, 0.8021, 0.6132, -0.4004, -0.0139, -0.0334, 0.996, 0.8005, 1.3334, 0.7555, -0.2207, 0.6197, 0.4587, 0.9991]\nstate[eef_state]: left_x=0.2937 left_y=0.0001 left_z=0.1778 left_yaw=0.0015 left_pitch=-0.0202 left_roll=-0.0027 left_gripper=0.996 right_x=0.3114 right_y=0.1788 right_z=0.1319 right_yaw=0.0369 right_pitch=-0.0553 right_roll=-0.0458 right_gripper=0.9991\nstate[joint_eff]: [-0.4034, -1.2513, 7.8017, 1.8681, -0.0513, 0.0073, -0.0659, -0.1026, -5.4359, 8.7043, 1.6435, 0.4518, 0.2076, -0.105]",
      "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]: [-0.0204, 0.8036, 0.6132, -0.4088, -0.0139, -0.0338, 0.996, 0.7681, 1.7298, 0.5961, 0.3161, 0.5892, 0.4339, 0.9991]\nstate[eef_state]: left_x=0.2926 left_y=0.0001 left_z=0.1756 left_yaw=0.0017 left_pitch=-0.0301 left_roll=-0.0028 left_gripper=0.996 right_x=0.3306 right_y=0.1879 right_z=0.018 right_yaw=0.0392 right_pitch=-0.0851 right_roll=-0.0625 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -1.4154, 7.0085, 1.8046, -0.0269, -0.0317, -0.0171, -0.2256, -7.3778, 4.8479, 1.6972, 0.2466, -0.0611, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67d631d984e7fa836926101067deafb4021c131ce2673bf8f209802a2cc88643",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d24d377d6817030183c25b9f72053f70901945f0bd187cafca9e11fb0ff6d55e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfef4bf44278bd7fdfea455b5442c88aebcb3683a29202e0157739cb4ac12fe4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFrYDDak01QCrqRrpu3TNkzdSDal5FVTPrVbtVZxgMhMwqv74PgzaCRh0vebnPxdtU5YZE6BAdxbEHqtJUcIQuclxCCUxe1fOe_7BWVGnJV7rRACwdOSt139dS-y_NnqeMfbGlFvZhBv3dgPja3gg1pCpFxCh6GM-Y646POhoVa1EYo8v4ltDJdDHRhUeiHBzLOQcTrnyWdy-mPDmH4CkpWaZhAPji7VRX0rGqmHrFnH0zlK2-naW2YICHU6AFKe_Le6bddxFB8FrfroWMGkqMqzk2OqGkzN8acQaHeylnWvjw0MF3X1VSGl95x33t_MDZEZmRvur9a4hVnD5iOEAGz5YeFit4XwRewz1tCiKTEz5VaXTQ85zChi83C8t2T2MjLYYxlqkdMHqISf-aGhtshVT4O0DXvqnrWjCsLAuLzhI3t-JmVPJrcZRMveiXjZPgcMTozQL4BDeIgB1h9_qxz02vv7CYn9vDY2OMVsV6-EPOPyFFtGfQYXtcWtsZt_3ONETMh9-lwSbBilhy63yNOvLa1MqPHhssfj3jyFBWYyE5v8K5Pmc19GCDjjQHXeGlVNAzbs33GF_W1rZGQ-clYhsIfNGkcVgxNH0h3OIxevk9JLZOfjghQ0gIi_rszQ9KX3llpNb8ABMYoXXqBqdKZrKQd2RKuZBXVm7xWMDuKquaFmMOukTv3AuabSILeK_oaw1Tz9ppxBKpDnhr7b5AeE51aAMXtMryg9hyf8GoJqPPfDx1S9ovjMt3xJwG2BTL2fiQNjNjArB5K773weAVZwHjftvHl65Z0QgqUgyji_XK9x8ojH4hhE4OuGDX9KIThRiFJ7AbhDfj8LqX0ANR3SW8z-Q6ykT5ujyDFydWT42vV3R8rAxoj3vF1pTS_LX8xTwcyuDBlQC8bz1-IY2maG68C2LjJ3YAJoMlqPisSsyCkO0SWkmJgGCtbd1AfB2k-HEOsyCb-GbvSPzzy0YGZlMkHgwqBByJPTxHOPRf7Y0rgRCspJUTxswx-N2n3iGeG4oUhwFf7IFh-fjzs03xFziLeNtiv3lu7PTLqCyC86Jn09y0-meSDURH4vxsSNnyLJu_3-jltP8SMZ4JI_CWSbSJSyvCW2ilzF8AyUZwqfGHvIVpnjYBSYQtIGlInSdTXXdBLOjgtIZoDqQ8hS6yDZGCG1Jx9IHPryP5zd7o4BzB1McgumfoL_JFKYw71cSu2obrK_UUe__FeuEgMbfCQ5SqHDpxDwCZ3xsI49_WKSImM=",
  "id": "rs_0b2592eabe56d4ef016ab45ad7d64087d0a824fde5801bc428",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The yellow fruit fills the gap between the open jaws at table height. I’m closing the gripper to secure it before a short test lift.\"}",
  "call_id": "call_lsqhWthyQ1XKuNWYfSfclWWa",
  "id": "fc_0b2592eabe56d4ef016ab45ad8315087d0af657f78e5a9c385",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lsqhWthyQ1XKuNWYfSfclWWa",
  "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]: [-0.02, 0.804, 0.6132, -0.4168, -0.0139, -0.0338, 0.996, 0.7685, 1.7298, 0.5961, 0.3138, 0.5861, 0.4297, 0.5188]\nstate[eef_state]: left_x=0.2915 left_y=0.0002 left_z=0.1739 left_yaw=0.0021 left_pitch=-0.0385 left_roll=-0.0026 left_gripper=0.996 right_x=0.3301 right_y=0.1882 right_z=0.0174 right_yaw=0.0439 right_pitch=-0.0884 right_roll=-0.0657 right_gripper=0.5188\nstate[joint_eff]: [0.0615, -1.1282, 7.1316, 1.7949, -0.0757, -0.0757, -0.0122, -0.1846, -6.9675, 4.7658, 1.4139, 0.188, 0.0415, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c71e94274fe91cb2a85b7cf77f488f81a9aac6db64b4e3d908445e1e2e67e3b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c07e98daf61c9fc3cd9c7d6fa9c10d9b2b2792c4a5fd79d3b181a0c94994a408",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b022fd838db74b37222454dd4c19df560c09998657ab2c264e41b574f437a125",
      "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 · 3.793 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0204, 0.8001, 0.6136, -0.3824, -0.0143, -0.0299, 0.9966, -0.0227, 0.8005, 0.6193, -0.387, -0.017, -0.0334, 0.9991]\nstate[eef_state]: left_x=0.296 left_y=0.0001 left_z=0.1822 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9966 right_x=0.2961 right_y=-0.0001 right_z=0.1838 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.3624, -1.5932, 9.7436, 1.8486, -0.1001, 0.1392, -0.3736, -0.2803, -1.7983, 9.1145, 1.8242, -0.0806, 0.1392, -0.1001]",
      "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]: [-0.0204, 0.8036, 0.6132, -0.4088, -0.0139, -0.0338, 0.996, 0.7681, 1.7298, 0.5961, 0.3161, 0.5892, 0.4339, 0.9991]\nstate[eef_state]: left_x=0.2926 left_y=0.0001 left_z=0.1756 left_yaw=0.0017 left_pitch=-0.0301 left_roll=-0.0028 left_gripper=0.996 right_x=0.3306 right_y=0.1879 right_z=0.018 right_yaw=0.0392 right_pitch=-0.0851 right_roll=-0.0625 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -1.4154, 7.0085, 1.8046, -0.0269, -0.0317, -0.0171, -0.2256, -7.3778, 4.8479, 1.6972, 0.2466, -0.0611, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.804, 0.6132, -0.4168, -0.0139, -0.0338, 0.996, 0.7685, 1.7298, 0.5961, 0.3138, 0.5861, 0.4297, 0.5188]\nstate[eef_state]: left_x=0.2915 left_y=0.0002 left_z=0.1739 left_yaw=0.0021 left_pitch=-0.0385 left_roll=-0.0026 left_gripper=0.996 right_x=0.3301 right_y=0.1882 right_z=0.0174 right_yaw=0.0439 right_pitch=-0.0884 right_roll=-0.0657 right_gripper=0.5188\nstate[joint_eff]: [0.0615, -1.1282, 7.1316, 1.7949, -0.0757, -0.0757, -0.0122, -0.1846, -6.9675, 4.7658, 1.4139, 0.188, 0.0415, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c71e94274fe91cb2a85b7cf77f488f81a9aac6db64b4e3d908445e1e2e67e3b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c07e98daf61c9fc3cd9c7d6fa9c10d9b2b2792c4a5fd79d3b181a0c94994a408",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b022fd838db74b37222454dd4c19df560c09998657ab2c264e41b574f437a125",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "arguments": "{\"targets\":{\"right_z\":0.085,\"left_z\":0.184},\"note\":\"The jaws stopped about halfway open, consistent with holding the yellow fruit rather than closing empty. I’m lifting it a few centimeters to confirm that it follows the gripper.\"}",
  "call_id": "call_UOiRK6DRSrdrd39QYUn5Z4vv",
  "id": "fc_0b2592eabe56d4ef016ab45adbc4bc87d09897eacf2bcc67c8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UOiRK6DRSrdrd39QYUn5Z4vv",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8078, 0.6247, -0.4629, -0.0139, -0.0341, 0.996, 0.7685, 1.5364, 0.701, -0.0216, 0.5716, 0.4263, 0.5166]\nstate[eef_state]: left_x=0.2866 left_y=0.0003 left_z=0.1688 left_yaw=0.0024 left_pitch=-0.0771 left_roll=-0.002 left_gripper=0.996 right_x=0.3249 right_y=0.1862 right_z=0.0693 right_yaw=0.0537 right_pitch=-0.1235 right_roll=-0.0848 right_gripper=0.5166\nstate[joint_eff]: [-0.1436, -0.7863, 9.5521, 1.8339, -0.0366, -0.0269, -0.0122, -0.0342, -7.5282, 7.5966, 1.4481, 0.3394, -0.0024, 1.0037]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9996071cd67b0a0fb2f8aec9b7024be2a67598324b89ad086125205b3b294c6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01d7574e7ec37ed9aac349d2f312ad014266288e4a01aa42c2ed1d28a22b4c74",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bc33619ae00aa5aef56246aaaefa8cbb63100669e3f33c9841a36e9de17fe20",
      "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 · 2.752 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 14 changed as sent

message 17 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0204, 0.8021, 0.6132, -0.4004, -0.0139, -0.0334, 0.996, 0.8005, 1.3334, 0.7555, -0.2207, 0.6197, 0.4587, 0.9991]\nstate[eef_state]: left_x=0.2937 left_y=0.0001 left_z=0.1778 left_yaw=0.0015 left_pitch=-0.0202 left_roll=-0.0027 left_gripper=0.996 right_x=0.3114 right_y=0.1788 right_z=0.1319 right_yaw=0.0369 right_pitch=-0.0553 right_roll=-0.0458 right_gripper=0.9991\nstate[joint_eff]: [-0.4034, -1.2513, 7.8017, 1.8681, -0.0513, 0.0073, -0.0659, -0.1026, -5.4359, 8.7043, 1.6435, 0.4518, 0.2076, -0.105]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.804, 0.6132, -0.4168, -0.0139, -0.0338, 0.996, 0.7685, 1.7298, 0.5961, 0.3138, 0.5861, 0.4297, 0.5188]\nstate[eef_state]: left_x=0.2915 left_y=0.0002 left_z=0.1739 left_yaw=0.0021 left_pitch=-0.0385 left_roll=-0.0026 left_gripper=0.996 right_x=0.3301 right_y=0.1882 right_z=0.0174 right_yaw=0.0439 right_pitch=-0.0884 right_roll=-0.0657 right_gripper=0.5188\nstate[joint_eff]: [0.0615, -1.1282, 7.1316, 1.7949, -0.0757, -0.0757, -0.0122, -0.1846, -6.9675, 4.7658, 1.4139, 0.188, 0.0415, 1.033]",
      "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]: [-0.02, 0.8078, 0.6247, -0.4629, -0.0139, -0.0341, 0.996, 0.7685, 1.5364, 0.701, -0.0216, 0.5716, 0.4263, 0.5166]\nstate[eef_state]: left_x=0.2866 left_y=0.0003 left_z=0.1688 left_yaw=0.0024 left_pitch=-0.0771 left_roll=-0.002 left_gripper=0.996 right_x=0.3249 right_y=0.1862 right_z=0.0693 right_yaw=0.0537 right_pitch=-0.1235 right_roll=-0.0848 right_gripper=0.5166\nstate[joint_eff]: [-0.1436, -0.7863, 9.5521, 1.8339, -0.0366, -0.0269, -0.0122, -0.0342, -7.5282, 7.5966, 1.4481, 0.3394, -0.0024, 1.0037]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9996071cd67b0a0fb2f8aec9b7024be2a67598324b89ad086125205b3b294c6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01d7574e7ec37ed9aac349d2f312ad014266288e4a01aa42c2ed1d28a22b4c74",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bc33619ae00aa5aef56246aaaefa8cbb63100669e3f33c9841a36e9de17fe20",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFriOGu_ZeMQOQmUjcNs2-XKzzWReMTeyU61ohujUj3Ofe7rYuXsgpSDRS1dRLXXA0hAHJn_dT7XGOnFJL1QIHaJbOZMycq4OB20sOY07LzHnvtsxjPQcZ23xbQmoRJZ_sMec6mv__B0MqEEmkuhcuiIlVuwMuNSE4-fMieDxoePP1tDbO6kpGRmFezWk3e4GpGTRsRsLQcXdWDIns1V4D3Mk4BX-3a6jmjf7S1Fvd5pngv0omflbnKEwSPHS_4toq2dpJdKCRjzYNW0eTH2zOarUDE7y6A5qmCsVVn0vj27wmNBTBGAUwLMlf21DrO75mk5oy2JsYcmx2lmWxJUcTbWk4xOkTTBIbx5d3_1uVbqnH64ftFRMbtqM4yZ1lWtEIPQeBQBksCT2fBmB0eQrhQMceGnp6Ix343lixIvvCAtokJmHDJ0k08HOxlMyAhRCPxnhLjDN8_cOuphO1YwlHywWmTJKuMgP5VmkTOYq6HiTujPk0_PRfGPhraHFT4-MnUye9Hv2QoJqt72Qj470CTopLVF7eMQgdMCPwd_-F-v-wHoFSAL212ft0gF6wND7urAISTEuYF6O0Cc1GtOjmF4yr7bNs7gNy5ozgpQMH62OBJVZJtmHG_0yW_708ASL60V7zEYz7KfmJL-bpJ-FVZ6d4jFbnK8dR9SYV3XhEYcN-qVAkifiaJ0gyJbhpenWsfkSxWDkDaS8es_ZetbWxAiPMYQoqFhxKrAis8KZ4kofPktyrB8-F-QVDVmLx7qlQy0gtPTiKOmcaPysFKKkRkTSQFrTpIcTaINp9pLFrX8_-2r6haqqcdTwj_aSmqFkDT1lvey4vVo35sM4_nPaw2qh1qInNJo1WT_Ghh_Cz80272bDuNTcPqbGGGPcK9hUahuB9WV7jRIjTWhplswxEckFZDYVlS0vnBlt2Tlch6qG-F7kcKP65EbieHnqwazUiavLy6aDoJzpbHyKRMtrwpamUggbyGiTBoBMDXiy6jkfOp5Zbw1HWpLj1I7VjZvGFMNuu-cEHrkI7gJ1wraIvIAjADnNUhkmSCJPkWs-C5_T4hnfoDG-QiXBhpIY7vQsINuf5KaypVtTaSoOwcAlU3dp5fFLELVb_9VusCOyEyopAQAcE_dIGIU6R6rmM5KssOQgM610HxZbe7CO6Ruc4Asvd7B9S8h7laIzNa0eHjx6eKj-4YROIq-W06nP0JZBQtLz-KWjdlYhEy5-n30gd_SNacpDI0Lu0QSe49DgeOyW7wu5BrYp3B4T4oMEgPG_fXGwXBSU5SIDTdRpCAXm8M38_vJ9XeP1KBnaWXEb2JfcEem2HbTslWMsx55t-tC0mTyUjbRH-GcznzPh-EBFBnWP4KXCl522MknU_56EHjsq16ENPc7NAp7YG0887UWV3WyneN90wfT9mE38E2N9Zqmn5Zp1nSkp3UKlReeGaKT-2T4Sia25-q53g_X3QrrDld9AiercLL5QIRs4gzmz2emBB7ewW6xc5RX6TwWLf1E2mODZmA_1blH7EvqiPkIiRUX",
  "id": "rs_0b2592eabe56d4ef016ab45ae0424087d0b1539cbe587856c1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.12,\"right_z\":0.19},\"note\":\"The yellow fruit has lifted with the gripper. I’m carrying it above the blue bowl with clearance over the rim.\"}",
  "call_id": "call_LNVp73MLpFvg0NmlWRZFZH9P",
  "id": "fc_0b2592eabe56d4ef016ab45ae1184087d0aa4000097e36c895",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LNVp73MLpFvg0NmlWRZFZH9P",
  "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]: [-0.0204, 0.8108, 0.6281, -0.4755, -0.0139, -0.0338, 0.996, 0.3748, 1.581, 1.2057, -0.3794, 0.2943, 0.1173, 0.5162]\nstate[eef_state]: left_x=0.2853 left_y=0.0002 left_z=0.1671 left_yaw=0.0018 left_pitch=-0.0893 left_roll=-0.0014 left_gripper=0.996 right_x=0.4333 right_y=0.1193 right_z=0.1783 right_yaw=0.0518 right_pitch=-0.1505 right_roll=-0.0961 right_gripper=0.5162\nstate[joint_eff]: [-0.2393, -1.0325, 6.7214, 1.8291, -0.0317, -0.0122, -0.0073, -0.2667, -7.159, 8.6085, 1.663, 0.1392, -0.0464, 0.8718]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0213b7f187ebeae98720972714696f78dd0750900525239993b1058dbf929bf2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6b69aed48f10e3eda3d319a2521cb931a244187d211424b016a64621f18810c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:233d8aaa553e25a8da2d28c366fc3ab7d9abc667c6ba472edf19b07d719de56e",
      "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 · 1.989 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]: [-0.0204, 0.8036, 0.6132, -0.4088, -0.0139, -0.0338, 0.996, 0.7681, 1.7298, 0.5961, 0.3161, 0.5892, 0.4339, 0.9991]\nstate[eef_state]: left_x=0.2926 left_y=0.0001 left_z=0.1756 left_yaw=0.0017 left_pitch=-0.0301 left_roll=-0.0028 left_gripper=0.996 right_x=0.3306 right_y=0.1879 right_z=0.018 right_yaw=0.0392 right_pitch=-0.0851 right_roll=-0.0625 right_gripper=0.9991\nstate[joint_eff]: [-0.1162, -1.4154, 7.0085, 1.8046, -0.0269, -0.0317, -0.0171, -0.2256, -7.3778, 4.8479, 1.6972, 0.2466, -0.0611, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8078, 0.6247, -0.4629, -0.0139, -0.0341, 0.996, 0.7685, 1.5364, 0.701, -0.0216, 0.5716, 0.4263, 0.5166]\nstate[eef_state]: left_x=0.2866 left_y=0.0003 left_z=0.1688 left_yaw=0.0024 left_pitch=-0.0771 left_roll=-0.002 left_gripper=0.996 right_x=0.3249 right_y=0.1862 right_z=0.0693 right_yaw=0.0537 right_pitch=-0.1235 right_roll=-0.0848 right_gripper=0.5166\nstate[joint_eff]: [-0.1436, -0.7863, 9.5521, 1.8339, -0.0366, -0.0269, -0.0122, -0.0342, -7.5282, 7.5966, 1.4481, 0.3394, -0.0024, 1.0037]\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 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]: [-0.0204, 0.8108, 0.6281, -0.4755, -0.0139, -0.0338, 0.996, 0.3748, 1.581, 1.2057, -0.3794, 0.2943, 0.1173, 0.5162]\nstate[eef_state]: left_x=0.2853 left_y=0.0002 left_z=0.1671 left_yaw=0.0018 left_pitch=-0.0893 left_roll=-0.0014 left_gripper=0.996 right_x=0.4333 right_y=0.1193 right_z=0.1783 right_yaw=0.0518 right_pitch=-0.1505 right_roll=-0.0961 right_gripper=0.5162\nstate[joint_eff]: [-0.2393, -1.0325, 6.7214, 1.8291, -0.0317, -0.0122, -0.0073, -0.2667, -7.159, 8.6085, 1.663, 0.1392, -0.0464, 0.8718]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0213b7f187ebeae98720972714696f78dd0750900525239993b1058dbf929bf2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6b69aed48f10e3eda3d319a2521cb931a244187d211424b016a64621f18810c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:233d8aaa553e25a8da2d28c366fc3ab7d9abc667c6ba472edf19b07d719de56e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFrmAdVlL0tVRfC7yIzbhF47FuhAng85akB9WdD1hQCB3mvZb9Rogjnw9Dzkfx4YikPNUKZnn6m6Zk4xDp8GjfRbVJeFjLPldm1EcGywBBIucjH4Mc-oz7gAP6dBM-sPqKMBCSFhdlIcp8Ld8JPWhGkfpSjHe23AwoNvhsE2tYl4LYZ7HkToHwc8AU9vw0e7dlhOmkK1Xr5Sxfz0JdIy_o4n2pbnbVwSGAah5nbrKIHXuSBe3MXk0GDGnKYRV_GX4nUJvWdXECKrPDRyoUqDNIjZ8vBWjYLPr3vuxr0viQ4sGxvyQUQbDExDu7T7MhcGgDKJYLyJvkdsIqnvgjwlKeeTUukb-IutQBhzRJXXdgr7ueF72WwVdk2qXnvBQ8nLZduVoUfmKcgfdkXqeThkbhHGKrfLpkKXLnkg6xyLInpBOulfsx3TWO4avtWll0MeD--dh64wZhe4Iix1NJuP0gikyHetZyB_DeT8noHXiYy_zImES36FxCJKzn_xLVRruhJc4UpaoQqObBQtIZjrvBASBGzVELeJcAMHYs5RzosdULPjU-bkt53963SfWXAQTG3_epu0h3roamtUcl_B5uoq_YaiMXC4kNBxMs7xziKHPl5EESkuFGchQErNx-ws-SSVbnnndiW541MeRAeFv5kaimM8tmHR1ICAgkgDoEq6KL8NIdlLqSeXYt0XRPMgI1te7YYiaD5dRzAofq7-JTRb5Xsvt86JBCF6L2gCMPtz-4cXwfX5GyQfpvcFUlDtz8_UyzFDWz--SMSON0tOUzSE_Ls0gDqP4iBxyreuVbNPVwerrGqjFf2vdX187DASaGzPQdrbqmqEBr9P7wrzl5Jw82ujcHIOtxtEsWEc6Oj-LpkZwH5ejKV_zpR5MkACotoX7qu1tTA4igR09AvfuXZpzTaAu2pF8tWGVQrIC-34Bgv_-9ZUO5w5nQAS5McHo9FXWI-jS8vYTLDSpagYDG089Q5-y7IlkO_kOuiFakRmSlYjczbVQhK9MtUPI3I7mPmLfbU8etiXuojjVBKFrLMTCFR9xqIkEWaMIt4VGl4bY3LyqTN9tJtyn49TlkHi90-de0yuYrOwFrRgvtW5l0YSBNeQVq5-A4Ge8Uj77QB8NgQ5a9L5PYilv2Fmz3IjioHmtMdTsmGucGyX8hD3X7s2HU4O1s3d7atURrwv1E__liVATItWMKB9hurPJHaRgc3s_KZVSe1lzXQbDEuPwfLyaDBqwnzFtMJfy6g5K6GLSUSzHDBWSnzfHpcbPGfyEydyKnbqT5dUmc_mgEAkdoE5nV3NPgzFdWdCb4yMfv_JjOALcOMfIq6OrTLXY0EiKDQbJwCnSkDbiPLY7yqUL75VKuTFjnGn6nHSFaUpaKvA_u5U-4SD3btiVUjVwLA4Ezcz",
  "id": "rs_0b2592eabe56d4ef016ab45ae4ddf487d0baa8fc4e725ad71b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.10},\"note\":\"The carried yellow fruit is above the blue bowl’s opening. I’m lowering it toward the bowl before releasing it.\"}",
  "call_id": "call_2m1hJx3AhxHOOnG21bACV6kt",
  "id": "fc_0b2592eabe56d4ef016ab45ae5a12c87d0878b5dcb0ea19ab2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2m1hJx3AhxHOOnG21bACV6kt",
  "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]: [-0.0204, 0.8124, 0.6281, -0.4763, -0.0139, -0.0341, 0.996, 0.3717, 1.6703, 0.9737, -0.0898, 0.2897, 0.1112, 0.5194]\nstate[eef_state]: left_x=0.2853 left_y=0.0002 left_z=0.1665 left_yaw=0.002 left_pitch=-0.0916 left_roll=-0.0017 left_gripper=0.996 right_x=0.4287 right_y=0.1168 right_z=0.0942 right_yaw=0.0541 right_pitch=-0.1819 right_roll=-0.1077 right_gripper=0.5194\nstate[joint_eff]: [-0.3487, -1.2786, 7.0222, 1.6435, -0.0366, -0.0611, -0.0122, -0.1026, -8.0205, 6.4068, 1.8339, 0.1197, -0.0073, 0.696]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03c13bc94024175f58a68246ac2b6ba702ee7a5b16375765385c5ec49faef006",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0922f32a8567f83613946f60b755af8922193c7f05f0c4fd35bc04ded44a5145",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db554fa56b34172bcb4b7b7b5d851bb125ff17abb0e0adf1b0d4462bbc817416",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 3.115 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 14 changed as sent

message 21 changed as sent

message 25 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.804, 0.6132, -0.4168, -0.0139, -0.0338, 0.996, 0.7685, 1.7298, 0.5961, 0.3138, 0.5861, 0.4297, 0.5188]\nstate[eef_state]: left_x=0.2915 left_y=0.0002 left_z=0.1739 left_yaw=0.0021 left_pitch=-0.0385 left_roll=-0.0026 left_gripper=0.996 right_x=0.3301 right_y=0.1882 right_z=0.0174 right_yaw=0.0439 right_pitch=-0.0884 right_roll=-0.0657 right_gripper=0.5188\nstate[joint_eff]: [0.0615, -1.1282, 7.1316, 1.7949, -0.0757, -0.0757, -0.0122, -0.1846, -6.9675, 4.7658, 1.4139, 0.188, 0.0415, 1.033]",
      "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]: [-0.0204, 0.8108, 0.6281, -0.4755, -0.0139, -0.0338, 0.996, 0.3748, 1.581, 1.2057, -0.3794, 0.2943, 0.1173, 0.5162]\nstate[eef_state]: left_x=0.2853 left_y=0.0002 left_z=0.1671 left_yaw=0.0018 left_pitch=-0.0893 left_roll=-0.0014 left_gripper=0.996 right_x=0.4333 right_y=0.1193 right_z=0.1783 right_yaw=0.0518 right_pitch=-0.1505 right_roll=-0.0961 right_gripper=0.5162\nstate[joint_eff]: [-0.2393, -1.0325, 6.7214, 1.8291, -0.0317, -0.0122, -0.0073, -0.2667, -7.159, 8.6085, 1.663, 0.1392, -0.0464, 0.8718]",
      "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]: [-0.0204, 0.8124, 0.6281, -0.4763, -0.0139, -0.0341, 0.996, 0.3717, 1.6703, 0.9737, -0.0898, 0.2897, 0.1112, 0.5194]\nstate[eef_state]: left_x=0.2853 left_y=0.0002 left_z=0.1665 left_yaw=0.002 left_pitch=-0.0916 left_roll=-0.0017 left_gripper=0.996 right_x=0.4287 right_y=0.1168 right_z=0.0942 right_yaw=0.0541 right_pitch=-0.1819 right_roll=-0.1077 right_gripper=0.5194\nstate[joint_eff]: [-0.3487, -1.2786, 7.0222, 1.6435, -0.0366, -0.0611, -0.0122, -0.1026, -8.0205, 6.4068, 1.8339, 0.1197, -0.0073, 0.696]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03c13bc94024175f58a68246ac2b6ba702ee7a5b16375765385c5ec49faef006",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0922f32a8567f83613946f60b755af8922193c7f05f0c4fd35bc04ded44a5145",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db554fa56b34172bcb4b7b7b5d851bb125ff17abb0e0adf1b0d4462bbc817416",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The yellow fruit is lowered into the blue bowl’s opening. I’m opening the jaws to leave it in the bowl.\"}",
  "call_id": "call_i8ZWcoFV3qKGSLmEb8qKFUhk",
  "id": "fc_0b2592eabe56d4ef016ab45aed91a887d08581d02105504278",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_i8ZWcoFV3qKGSLmEb8qKFUhk",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0204, 0.8124, 0.6281, -0.4763, -0.0139, -0.0338, 0.996, 0.371, 1.6703, 0.9737, -0.0982, 0.2901, 0.1043, 0.9956]\nstate[eef_state]: left_x=0.2853 left_y=0.0002 left_z=0.1665 left_yaw=0.0018 left_pitch=-0.0916 left_roll=-0.0014 left_gripper=0.996 right_x=0.4274 right_y=0.1159 right_z=0.0928 right_yaw=0.0563 right_pitch=-0.1902 right_roll=-0.1158 right_gripper=0.9956\nstate[joint_eff]: [-0.335, -1.306, 6.9538, 1.6337, -0.0806, -0.0366, -0.0073, -0.0479, -8.0068, 6.5436, 1.5556, 0.0317, 0.022, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d97ce5dc7d1a819eef9e8cd1a27dd236524062d090a509f6f015df2e66a72099",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25f9182cd6e10280039653ff95faa75bd1ba89e2d6e749a7932c7681851da913",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b27d7cae0bb84659984faba45c904a9544d9796055f0389869e38b23aaaa73d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 8 attempt 0 · /responses · status 200 · 3.688 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 17 changed as sent

message 25 changed as sent

message 28 changed as sent

message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8078, 0.6247, -0.4629, -0.0139, -0.0341, 0.996, 0.7685, 1.5364, 0.701, -0.0216, 0.5716, 0.4263, 0.5166]\nstate[eef_state]: left_x=0.2866 left_y=0.0003 left_z=0.1688 left_yaw=0.0024 left_pitch=-0.0771 left_roll=-0.002 left_gripper=0.996 right_x=0.3249 right_y=0.1862 right_z=0.0693 right_yaw=0.0537 right_pitch=-0.1235 right_roll=-0.0848 right_gripper=0.5166\nstate[joint_eff]: [-0.1436, -0.7863, 9.5521, 1.8339, -0.0366, -0.0269, -0.0122, -0.0342, -7.5282, 7.5966, 1.4481, 0.3394, -0.0024, 1.0037]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.0204, 0.8124, 0.6281, -0.4763, -0.0139, -0.0341, 0.996, 0.3717, 1.6703, 0.9737, -0.0898, 0.2897, 0.1112, 0.5194]\nstate[eef_state]: left_x=0.2853 left_y=0.0002 left_z=0.1665 left_yaw=0.002 left_pitch=-0.0916 left_roll=-0.0017 left_gripper=0.996 right_x=0.4287 right_y=0.1168 right_z=0.0942 right_yaw=0.0541 right_pitch=-0.1819 right_roll=-0.1077 right_gripper=0.5194\nstate[joint_eff]: [-0.3487, -1.2786, 7.0222, 1.6435, -0.0366, -0.0611, -0.0122, -0.1026, -8.0205, 6.4068, 1.8339, 0.1197, -0.0073, 0.696]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0204, 0.8124, 0.6281, -0.4763, -0.0139, -0.0338, 0.996, 0.371, 1.6703, 0.9737, -0.0982, 0.2901, 0.1043, 0.9956]\nstate[eef_state]: left_x=0.2853 left_y=0.0002 left_z=0.1665 left_yaw=0.0018 left_pitch=-0.0916 left_roll=-0.0014 left_gripper=0.996 right_x=0.4274 right_y=0.1159 right_z=0.0928 right_yaw=0.0563 right_pitch=-0.1902 right_roll=-0.1158 right_gripper=0.9956\nstate[joint_eff]: [-0.335, -1.306, 6.9538, 1.6337, -0.0806, -0.0366, -0.0073, -0.0479, -8.0068, 6.5436, 1.5556, 0.0317, 0.022, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d97ce5dc7d1a819eef9e8cd1a27dd236524062d090a509f6f015df2e66a72099",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25f9182cd6e10280039653ff95faa75bd1ba89e2d6e749a7932c7681851da913",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b27d7cae0bb84659984faba45c904a9544d9796055f0389869e38b23aaaa73d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFrxNRHD67phuPIAv5vbp_loagLKxUjiZO47l_jk3q1Y17o1F53c80k2fFrf4kf0MIPtnyaseYgGIgK-0vwDwpFNLL1UKlPN6ZePORNICNHx3VlxIzVtFdd6fSA0A14IRtn-pS_qwKMnu_NI0Zygyll-t34iSMI1xuWR60dJtObYIKwF8MrDYPudL8zEy3DOcy-kJp0FaZWLdenY4Q0nhfkuEwe3-sN7M797JWiLp2ZiYWIxvyP0OyhoBNO2XtIpDKwmqf27pPkSuM3N4OlCLzdQo-ZkyW4EUcMdxLRDmQFKdS5nXL52Du0Vt-6vmHZV2itLkzPTJzdcHIAQEFoCNBcDd8rhwAKq5esn4bG3qb-9qr2IeZNWz8aTKUYGX4VuymWYs1VD1Rm6Nrae3W3-Eo0pwee7Ik_Wp6_pcZL84HktDDGVCEbJjAyaiByv7gHbqi21sY27cPRFQRR13QQKHEsVosG_fkJwaImh5Ihahjv_LwMFV248u3_MIsusV8ALGz1kLM3V61MWkZV8ibCAvIU1ohP6qXOwUix_QJok4IToBMVnd4EtSRLgp8Ry5c8tCPORPvysposvzwGhKnbapX6T6gqRYX-3I7OPreULsUCfDZK2t9AgX8yGzMALs20OAgbBemfOoo8ZYoBDwEVlIvdzQReaNazSJaZceHMSAfod-VTDDfhaYT4nVEN9glYjwuMpyJQ9kQLP6P_bScDJBSgnqVtIVhSD9Y1qZmEPLmhbosLnBjtFoAxdKicYWAHWrhFrV_xNnFn3Vir2LE-xFzJ2nValhJqo9xPrJ4zJQdXM90oaE1KNULSDM8yoaiLTUaVU0JfO5aNsCkDIqGMbtAaZPpSaI_lqcxYN8DQT4YLs2GGcSdeeakVk0Th5kCCfsBeqfAmNX83s-F9VGmmMBS2R5mNpVAwzo-Hc67Rgnyv2HMhP73QHuSpoGDu01zmA43-FqpLTA4hsaBomi-lVBmjFu8zOY8L0ezMA7IRu6_rvyptKWP0J9EDf1X662wbNHWhCxshCRwUsKX8eN9oXAe4A6eV3LdFFzbHgbTYcIh4erudSwVkUFTV83T0gDIydXXU0u_BHq3McfWiBLvklsGbesSjAojAaCCYmvMah0Sb2GRcqThr8NpmHPS3IAjJCeZvAsIlSuqvH1cM8VL00nYaWN7xHiiCZQcrPRf0GxRXnZ_4Qs4aFEHgs_wP0fzHau0z0jIWJnCzASW21dNKoGMNMBO3roDvcrEsaeOugDqFX0u8pC73J_9OK1CIAyCG5iJoYpwivhFdeCQt_KgUTWznI4DLrFg6jsugym1v08fkA6O_XMqmFLt-DyG5G_PQcZZw29b3r3mr8FmaxnIUHPbuS_nDIwgJXhMioBnkjgPE8Q_zGap0jY1vERs8gVCLJrgqZv5mqFepATIsKtsjtJ9RLS_VDx9mNq8UEAvEl43zFRw8=",
  "id": "rs_0b2592eabe56d4ef016ab45aefcd2c87d0b7ce2fc93ce5867d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.285,\"right_y\":0.065,\"right_z\":0.15},\"note\":\"The wrist view confirms the yellow fruit is now inside the blue bowl. I’m moving above the green fruit for the next pickup.\"}",
  "call_id": "call_hXbuCmCJYu0zffkyiaEnyCT4",
  "id": "fc_0b2592eabe56d4ef016ab45af0fef487d09ee710efc321fa75",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hXbuCmCJYu0zffkyiaEnyCT4",
  "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]: [-0.0204, 0.8181, 0.6281, -0.4839, -0.0139, -0.0338, 0.996, 0.3927, 0.9802, 0.7063, -0.4988, 0.2947, 0.1047, 0.9962]\nstate[eef_state]: left_x=0.2844 left_y=0.0002 left_z=0.1635 left_yaw=0.0019 left_pitch=-0.1049 left_roll=-0.0011 left_gripper=0.996 right_x=0.2921 right_y=0.0693 right_z=0.156 right_yaw=0.0753 right_pitch=-0.1681 right_roll=-0.1116 right_gripper=0.9962\nstate[joint_eff]: [-0.0205, -1.5932, 7.1863, 1.7167, -0.022, -0.0659, -0.0122, 0.0615, -2.0444, 6.0103, 1.58, 0.2711, 0.1538, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db8178a4eba9c414a1613ea88f1f11e97cd57bc9bad6c7cfbd789a8fec47b008",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41cdc045f3d27682d9511390a2760630e51c44577b59bfc53d7c6b3eef5ca51e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f24936a518ec8c6372f9ddfba6fc37fabba03d629e9efc2e2c00f8f75a0ba1b8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 3.225 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 21 changed as sent

message 28 changed as sent

message 32 changed as sent

message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0204, 0.8108, 0.6281, -0.4755, -0.0139, -0.0338, 0.996, 0.3748, 1.581, 1.2057, -0.3794, 0.2943, 0.1173, 0.5162]\nstate[eef_state]: left_x=0.2853 left_y=0.0002 left_z=0.1671 left_yaw=0.0018 left_pitch=-0.0893 left_roll=-0.0014 left_gripper=0.996 right_x=0.4333 right_y=0.1193 right_z=0.1783 right_yaw=0.0518 right_pitch=-0.1505 right_roll=-0.0961 right_gripper=0.5162\nstate[joint_eff]: [-0.2393, -1.0325, 6.7214, 1.8291, -0.0317, -0.0122, -0.0073, -0.2667, -7.159, 8.6085, 1.663, 0.1392, -0.0464, 0.8718]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0204, 0.8124, 0.6281, -0.4763, -0.0139, -0.0338, 0.996, 0.371, 1.6703, 0.9737, -0.0982, 0.2901, 0.1043, 0.9956]\nstate[eef_state]: left_x=0.2853 left_y=0.0002 left_z=0.1665 left_yaw=0.0018 left_pitch=-0.0916 left_roll=-0.0014 left_gripper=0.996 right_x=0.4274 right_y=0.1159 right_z=0.0928 right_yaw=0.0563 right_pitch=-0.1902 right_roll=-0.1158 right_gripper=0.9956\nstate[joint_eff]: [-0.335, -1.306, 6.9538, 1.6337, -0.0806, -0.0366, -0.0073, -0.0479, -8.0068, 6.5436, 1.5556, 0.0317, 0.022, -0.0757]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0204, 0.8181, 0.6281, -0.4839, -0.0139, -0.0338, 0.996, 0.3927, 0.9802, 0.7063, -0.4988, 0.2947, 0.1047, 0.9962]\nstate[eef_state]: left_x=0.2844 left_y=0.0002 left_z=0.1635 left_yaw=0.0019 left_pitch=-0.1049 left_roll=-0.0011 left_gripper=0.996 right_x=0.2921 right_y=0.0693 right_z=0.156 right_yaw=0.0753 right_pitch=-0.1681 right_roll=-0.1116 right_gripper=0.9962\nstate[joint_eff]: [-0.0205, -1.5932, 7.1863, 1.7167, -0.022, -0.0659, -0.0122, 0.0615, -2.0444, 6.0103, 1.58, 0.2711, 0.1538, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db8178a4eba9c414a1613ea88f1f11e97cd57bc9bad6c7cfbd789a8fec47b008",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41cdc045f3d27682d9511390a2760630e51c44577b59bfc53d7c6b3eef5ca51e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f24936a518ec8c6372f9ddfba6fc37fabba03d629e9efc2e2c00f8f75a0ba1b8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFr3ooQ5aCeHJ2TwfAeydW9_8J6YNbhBL5Ec9PUQOlc--S3CSTzSmM6lgE4bc9d0ivVl2e2h0s7SOuBS08Vzhy7HYxc9o0LI6kq3qSMkkOm2cALLwR7eNolyScPVBOAs8JzSSKEBZdCxpr2QhSXgEoYPCL2Jx6OLWaScz1homTWcOtUF5Enw39CljkQ1LK5zsEcfJNsG8-FTu5OTIm7jZAL6S28aUrA-Ai90Rr_T43GZ3IvE6tZzdJ07CQ4jj0HZi6H4WT_QZPJwcuv2wOsQ87yxCqW0oeZHA8kAMTFzbmCE8GJfGQrF1ckpvK4GcJqFnoxcgLx7NyriAKPuFlBFlslHDDc63jlgSqc-qSu3IZPCoVsNfGx-PGal8vNYLyFRD2qYxECGfdHAHjZG6mht1MovO438T3L4v74I0wuscWSNwFtRGOP0BFYhxuJ5VE4xFDEwaC2dFlhmt_h08G5Lv0n8e_8MhdqC9_cXj76jVbFDutt7clBajWVo0-NKQ1NMWuU8edznIJji10X8CuCiV_B2oCCSQrdqpD22etBb_OmvXAqx3xN9UNWcR59KdaalekbX8deOmWhk_2sIehbZo2R1-eRpVAXpja5VcFF_okAOR23e777h2rsi-jbuAuGhEwXDvmT5PvVBlT0brL80fKks-0XA_c6ggRtJK8Qz494oT6z0o7ydUPOYG-EOunpm173ZeU3CgBbAQMNUh_t8pOrnG5LaOxbvpkbIElnpgLsoFeLXabYpgoJRaBq1LqlLmn0faHqWB251qMbcHby_tjEMXDjED0LqCQ6rdqox4elm5-9WL-2kTfXp3LOge7Hu28M9erC33ClYVX37cMeJRIOyvjNIbm8urMVAnlndA7Vg4Y2E_67hFvNfvEZo7r-gV3kDF0pvoge3FFet1VteWHYOJq1fWGGBd3TOroeaNH4QxXQd-w62YNSY1CvKGVeBC76q6fckdtI8-BcQXC5b-9w_-xbdbMXkUpdnJeb9fFfficlLLTRbcRmInOXHuWWdj26QzSpQenODX-SdjZOXCTPaAwmkmzX08TgqD2qQlv4IJlJQ6jmpkLUj8na2Ok06ADQ6x4xBhCcmoKwLsciKs1kTGtW9iLBjTIpnKzf6bbv0i4xxxsQIMuoiY4VEKa6C9awiDZ4nm00Jfpr3q46ye35NbyvL2IdMC7bjJ11SiD7MmDTS8NuGmn4pd0OTFWeTv9wLRZj7JE70KByN3FoZEfWWSdbRxvmKvdIeDWZ3E7kpXQBhVAOmwfNciYVwipq9NwMA6Q1oAs6O0oB4W4mBShxhjIz2H6aX0k2gGDiQn3jjSlyCKdQNzXv-E8Aghb5bH62f89OIb9Bn0oBa7xSCXlsTyYAFL_3Fk2ZSwqdgcBwlFSm5er_v5mo9_56HKjC7-kJrEdyuJtcftoQA2t1L2G1QRA==",
  "id": "rs_0b2592eabe56d4ef016ab45af5220487d0a222d10f07c405c2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.045,\"right_z\":0.025},\"note\":\"The green fruit is close to the fingertip line and slightly right of center in the wrist view. I’m shifting right and lowering the jaws around it.\"}",
  "call_id": "call_3hQYvXkZOW2gWk6pIDvx4zO2",
  "id": "fc_0b2592eabe56d4ef016ab45af62c8087d094f968703cb67ae1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3hQYvXkZOW2gWk6pIDvx4zO2",
  "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]: [-0.02, 0.8192, 0.6281, -0.4915, -0.0139, -0.0338, 0.996, 0.2466, 1.2663, 0.2668, 0.218, 0.1925, 0.0059, 0.9962]\nstate[eef_state]: left_x=0.2833 left_y=0.0004 left_z=0.1618 left_yaw=0.0023 left_pitch=-0.1137 left_roll=-0.0009 left_gripper=0.996 right_x=0.2951 right_y=0.0432 right_z=0.0189 right_yaw=0.0684 right_pitch=-0.2005 right_roll=-0.1165 right_gripper=0.9962\nstate[joint_eff]: [0.0889, -1.4154, 7.1316, 1.707, -0.0269, -0.0366, -0.0122, -0.0889, -3.7675, 5.3402, 1.8486, 0.0708, -0.0952, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34a930443b31df4af4372c74d0ab358b0cbf6d24a8c61b2c521a32eadbae0665",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5ce365b7eca26341052d7b2c70c4e2fa2723da5e1b982d77268efdf83e10bdd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c427830577d5913611460886225c0f6f5fde2e60a46b12b83330ab0c0de0b42",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 10 attempt 0 · /responses · status 200 · 2.995 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 25 changed as sent

message 32 changed as sent

message 36 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0204, 0.8124, 0.6281, -0.4763, -0.0139, -0.0341, 0.996, 0.3717, 1.6703, 0.9737, -0.0898, 0.2897, 0.1112, 0.5194]\nstate[eef_state]: left_x=0.2853 left_y=0.0002 left_z=0.1665 left_yaw=0.002 left_pitch=-0.0916 left_roll=-0.0017 left_gripper=0.996 right_x=0.4287 right_y=0.1168 right_z=0.0942 right_yaw=0.0541 right_pitch=-0.1819 right_roll=-0.1077 right_gripper=0.5194\nstate[joint_eff]: [-0.3487, -1.2786, 7.0222, 1.6435, -0.0366, -0.0611, -0.0122, -0.1026, -8.0205, 6.4068, 1.8339, 0.1197, -0.0073, 0.696]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0204, 0.8181, 0.6281, -0.4839, -0.0139, -0.0338, 0.996, 0.3927, 0.9802, 0.7063, -0.4988, 0.2947, 0.1047, 0.9962]\nstate[eef_state]: left_x=0.2844 left_y=0.0002 left_z=0.1635 left_yaw=0.0019 left_pitch=-0.1049 left_roll=-0.0011 left_gripper=0.996 right_x=0.2921 right_y=0.0693 right_z=0.156 right_yaw=0.0753 right_pitch=-0.1681 right_roll=-0.1116 right_gripper=0.9962\nstate[joint_eff]: [-0.0205, -1.5932, 7.1863, 1.7167, -0.022, -0.0659, -0.0122, 0.0615, -2.0444, 6.0103, 1.58, 0.2711, 0.1538, 0.0464]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8192, 0.6281, -0.4915, -0.0139, -0.0338, 0.996, 0.2466, 1.2663, 0.2668, 0.218, 0.1925, 0.0059, 0.9962]\nstate[eef_state]: left_x=0.2833 left_y=0.0004 left_z=0.1618 left_yaw=0.0023 left_pitch=-0.1137 left_roll=-0.0009 left_gripper=0.996 right_x=0.2951 right_y=0.0432 right_z=0.0189 right_yaw=0.0684 right_pitch=-0.2005 right_roll=-0.1165 right_gripper=0.9962\nstate[joint_eff]: [0.0889, -1.4154, 7.1316, 1.707, -0.0269, -0.0366, -0.0122, -0.0889, -3.7675, 5.3402, 1.8486, 0.0708, -0.0952, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34a930443b31df4af4372c74d0ab358b0cbf6d24a8c61b2c521a32eadbae0665",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5ce365b7eca26341052d7b2c70c4e2fa2723da5e1b982d77268efdf83e10bdd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c427830577d5913611460886225c0f6f5fde2e60a46b12b83330ab0c0de0b42",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFsAqYRjVKLvIL1XeetGRfi1Jns65aaJLU6lMppOZWjv_jk4OsIdDzxrdVY82ze32xP44EwdspQLSlnn3PCmUBvOZn2W7ClESc6lNfBt4W2WB4I6daMQSRttH6YacLvcLfyEU5uwKMqWkYTRnADbWxh43PMYLEskVEsG-k9KdxOUp0b4HeFhq-HSchIrdQYno-cQdYcsxSQNZKuceTrl-5spJPmX4I7wOKBhc6S7i07p7Hpl7BBO-FSnP1sx3Zb7vkGZQZBivwUI85pcNUdgMg2UhN9Ye8j6DL2d1MoLtGqgfuXUuFt_g3TFMFAM-o1LUWm-U1e4Sp0XJFLkWrQyGqgvmCGPptLtDuVZyaG2zsYyM7j9HdXATEncKNyT1DM64buqg6_jri23a9CIMHHeapa-uBDx-VYx8mN5ifkkkExAkADueJeRLKIObRUlvPmRmHzDFkznfoyZcONKSgKxfzXs1Fghitmhv7BJnZ6FlG8XXY_WCoRfwXFYIoByKdykESjPay8l--GADLhiaXAt-jZKAw0YoN7Buqx-gR4Np_YvuIXCgnsJSJ0gSwn94m67rTHUsHkkBBHjDEi1Y7ec_Bk7jSTsOsP5b9yMeZ4sVsg_kTCsDZRGJa_Eog9KOG19nYEQR2bnE47LF0WAQw9CdwrgEQg8ycn9CzZAM5hBI7MoGRzgt_la5xfltdHN1D0JuWB63PibEkR9imkjcMujHpYbD7UWi-ELN8n2hvRWCOXJItwDrjoSLosXLCYuoAVv5hwO3xEY1bJpttqynQvxMgd9rVdvDNBWGCrOEjp_OSAr53PMwd9lIfANT718LRTgBOqclVkE2_tgEisWXlwjKpC30b3oYI9EqannDWZ5N820T4HiitIwMIIz9TxNoNL8AlPcXHDGqVUzVs6vmbLL_CnTmxT5HgNM6XBcn1P0cKm6GyVp2vKTqjdeyyD_4x8XxfY2hADvbZERIdiEuY4BAuaWU5wCXr-ED4N9IdE6Z8yQysUOWSCo2-SG9YOOcXG67WMcF1aq2T8Rm6HBPeSiS_gH6nc1nzIl-0Xb2PFD7jMAdiLjsAD-7VqiY74-HnrLx0vhMZ11Ja1m6Tj1jRVoXsc9V94JshcqgTuMSD6l--qOgJsXaOL_DHR9VZ25XlECJRbmtnqL62RjCoOcI4jiFAFsCd-0CbxxxdZIFs8-AmLxcZ0okZ9JXFovjm8IsZ4R7TcsHrSE0zA92W1ic-nN9HgVXg==",
  "id": "rs_0b2592eabe56d4ef016ab45afef0d887d0bed952ba17a0f0aa",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The green fruit is centered between the jaws at a low grasp height. I’m closing around it for a test lift.\"}",
  "call_id": "call_HJ1gYJEhDCd4jiEskMk1miMz",
  "id": "fc_0b2592eabe56d4ef016ab45aff4b0087d0b64ce172bb80a845",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HJ1gYJEhDCd4jiEskMk1miMz",
  "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]: [-0.02, 0.8192, 0.6281, -0.4938, -0.0139, -0.0338, 0.996, 0.2459, 1.2663, 0.2668, 0.2192, 0.189, -0.001, 0.7111]\nstate[eef_state]: left_x=0.2829 left_y=0.0004 left_z=0.1613 left_yaw=0.0023 left_pitch=-0.116 left_roll=-0.0008 left_gripper=0.996 right_x=0.2953 right_y=0.0436 right_z=0.019 right_yaw=0.0743 right_pitch=-0.2002 right_roll=-0.119 right_gripper=0.7111\nstate[joint_eff]: [-0.0479, -1.1145, 7.1316, 1.6337, -0.0415, -0.0366, -0.0122, -0.0479, -3.2479, 5.4906, 1.4921, 0.0659, -0.0122, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e3dd406f2ba55db57f55f929161b4df71be07eaedf4aa62373ce55dd261b78f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c07da2b93d18bdc29bf3b0fe4d8c9be3617e97ab59666cd80794bb713aceccb8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73e8a0c3a3d6108b1482c246de07f69446c75410ee79c744d37a925952cc2148",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 3.532 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 28 changed as sent

message 36 changed as sent

message 40 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0204, 0.8124, 0.6281, -0.4763, -0.0139, -0.0338, 0.996, 0.371, 1.6703, 0.9737, -0.0982, 0.2901, 0.1043, 0.9956]\nstate[eef_state]: left_x=0.2853 left_y=0.0002 left_z=0.1665 left_yaw=0.0018 left_pitch=-0.0916 left_roll=-0.0014 left_gripper=0.996 right_x=0.4274 right_y=0.1159 right_z=0.0928 right_yaw=0.0563 right_pitch=-0.1902 right_roll=-0.1158 right_gripper=0.9956\nstate[joint_eff]: [-0.335, -1.306, 6.9538, 1.6337, -0.0806, -0.0366, -0.0073, -0.0479, -8.0068, 6.5436, 1.5556, 0.0317, 0.022, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8192, 0.6281, -0.4915, -0.0139, -0.0338, 0.996, 0.2466, 1.2663, 0.2668, 0.218, 0.1925, 0.0059, 0.9962]\nstate[eef_state]: left_x=0.2833 left_y=0.0004 left_z=0.1618 left_yaw=0.0023 left_pitch=-0.1137 left_roll=-0.0009 left_gripper=0.996 right_x=0.2951 right_y=0.0432 right_z=0.0189 right_yaw=0.0684 right_pitch=-0.2005 right_roll=-0.1165 right_gripper=0.9962\nstate[joint_eff]: [0.0889, -1.4154, 7.1316, 1.707, -0.0269, -0.0366, -0.0122, -0.0889, -3.7675, 5.3402, 1.8486, 0.0708, -0.0952, -0.0073]",
      "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]: [-0.02, 0.8192, 0.6281, -0.4938, -0.0139, -0.0338, 0.996, 0.2459, 1.2663, 0.2668, 0.2192, 0.189, -0.001, 0.7111]\nstate[eef_state]: left_x=0.2829 left_y=0.0004 left_z=0.1613 left_yaw=0.0023 left_pitch=-0.116 left_roll=-0.0008 left_gripper=0.996 right_x=0.2953 right_y=0.0436 right_z=0.019 right_yaw=0.0743 right_pitch=-0.2002 right_roll=-0.119 right_gripper=0.7111\nstate[joint_eff]: [-0.0479, -1.1145, 7.1316, 1.6337, -0.0415, -0.0366, -0.0122, -0.0479, -3.2479, 5.4906, 1.4921, 0.0659, -0.0122, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e3dd406f2ba55db57f55f929161b4df71be07eaedf4aa62373ce55dd261b78f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c07da2b93d18bdc29bf3b0fe4d8c9be3617e97ab59666cd80794bb713aceccb8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73e8a0c3a3d6108b1482c246de07f69446c75410ee79c744d37a925952cc2148",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"right_z\":0.085},\"note\":\"The gripper remains open by roughly the green fruit’s width, indicating contact on both sides. I’m lifting it slightly to verify the grasp.\"}",
  "call_id": "call_8LNPVDzdJXQPokUkpyyUCWCt",
  "id": "fc_0b2592eabe56d4ef016ab45b02f69c87d0820c9880bf1ee1d9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8LNPVDzdJXQPokUkpyyUCWCt",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0204, 0.8192, 0.6281, -0.4946, -0.0135, -0.0338, 0.996, 0.2459, 1.0485, 0.4313, -0.1871, 0.1852, -0.0013, 0.7069]\nstate[eef_state]: left_x=0.2828 left_y=0.0002 left_z=0.1612 left_yaw=0.0016 left_pitch=-0.1167 left_roll=-0.0011 left_gripper=0.996 right_x=0.2902 right_y=0.043 right_z=0.0725 right_yaw=0.0769 right_pitch=-0.2244 right_roll=-0.1207 right_gripper=0.7069\nstate[joint_eff]: [-0.0752, -1.0325, 6.9265, 1.6093, -0.0415, -0.0415, -0.0122, -0.1983, -3.0427, 9.1009, 1.4383, 0.0904, -0.0464, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca5aa8019ddc33b18d9b5b72c58f7758f4f040596246df058c9dadd15ad6f10c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a9607832ba6209e9c222cc18a5fb6c4f8bd31d29318f5609fcdf2787b1eff66",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a5a2ceca908248d1bf8890777a29136407720649b668eac7b4303099559befe",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 12 attempt 0 · /responses · status 200 · 4.099 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 32 changed as sent

message 40 changed as sent

message 43 changed as sent

message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0204, 0.8181, 0.6281, -0.4839, -0.0139, -0.0338, 0.996, 0.3927, 0.9802, 0.7063, -0.4988, 0.2947, 0.1047, 0.9962]\nstate[eef_state]: left_x=0.2844 left_y=0.0002 left_z=0.1635 left_yaw=0.0019 left_pitch=-0.1049 left_roll=-0.0011 left_gripper=0.996 right_x=0.2921 right_y=0.0693 right_z=0.156 right_yaw=0.0753 right_pitch=-0.1681 right_roll=-0.1116 right_gripper=0.9962\nstate[joint_eff]: [-0.0205, -1.5932, 7.1863, 1.7167, -0.022, -0.0659, -0.0122, 0.0615, -2.0444, 6.0103, 1.58, 0.2711, 0.1538, 0.0464]",
      "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]: [-0.02, 0.8192, 0.6281, -0.4938, -0.0139, -0.0338, 0.996, 0.2459, 1.2663, 0.2668, 0.2192, 0.189, -0.001, 0.7111]\nstate[eef_state]: left_x=0.2829 left_y=0.0004 left_z=0.1613 left_yaw=0.0023 left_pitch=-0.116 left_roll=-0.0008 left_gripper=0.996 right_x=0.2953 right_y=0.0436 right_z=0.019 right_yaw=0.0743 right_pitch=-0.2002 right_roll=-0.119 right_gripper=0.7111\nstate[joint_eff]: [-0.0479, -1.1145, 7.1316, 1.6337, -0.0415, -0.0366, -0.0122, -0.0479, -3.2479, 5.4906, 1.4921, 0.0659, -0.0122, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0204, 0.8192, 0.6281, -0.4946, -0.0135, -0.0338, 0.996, 0.2459, 1.0485, 0.4313, -0.1871, 0.1852, -0.0013, 0.7069]\nstate[eef_state]: left_x=0.2828 left_y=0.0002 left_z=0.1612 left_yaw=0.0016 left_pitch=-0.1167 left_roll=-0.0011 left_gripper=0.996 right_x=0.2902 right_y=0.043 right_z=0.0725 right_yaw=0.0769 right_pitch=-0.2244 right_roll=-0.1207 right_gripper=0.7069\nstate[joint_eff]: [-0.0752, -1.0325, 6.9265, 1.6093, -0.0415, -0.0415, -0.0122, -0.1983, -3.0427, 9.1009, 1.4383, 0.0904, -0.0464, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca5aa8019ddc33b18d9b5b72c58f7758f4f040596246df058c9dadd15ad6f10c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a9607832ba6209e9c222cc18a5fb6c4f8bd31d29318f5609fcdf2787b1eff66",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a5a2ceca908248d1bf8890777a29136407720649b668eac7b4303099559befe",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFsI5Wqn02nJpLvr-pCV9TOHH0aA_4fxY1kJ0cXuLk-c04fj765_HBHfmS_EBVcjO0X8vFhwEgY7LP78ZqoRNLKUW-rwVgSvUiX0j5xTeMV6yln7eIbx_4p-pSNuf-j9e55YXpXF3nZ7-oIJ2qHXQHS6NCumIeyyUoGXMa6uHLgH6A2cJJgpRYFwnWKO_7MiFHgZvvUGs2Hgbc7ap0ls7pFEyxCn2CsIkmSiMlcG53lRcNYUFsvpA5LNnxv2KbpULI6xF_VksujZ-sdoNDViBdojMhr6cL7DGHx_xF8Y9fUyNV6uNNftFQ58TUcn2aG3epHS3rvgiIkKGCkREdAMfhdO9kLVN1eN9m1-8ZbgtysfQNHMTQSmdfcVAhZ6OwKfweM1SJLBztFY9owDrTFtdEbQKbW2Q0JWKkv2HMmI38QPcXf41QvuZPjW41wWrIsyXFBRFjyGzNnSgi5ftk9JhcS_N3ZkNBt4HR9rbv8DjL6gNL9GIOCnPnLbfuvxyI9cm9ejpt7tqCoMp_J3R7rjFNnUXay0spyqrZPYfpR1aVNSzb4ie1fVKaI3hoeAXJV91Ralx41752KyDqse-KsKasuf4lr-dcL7rIa-aT0CtVIo4V68IuOr2P9eOTGh1Nxz7s_bMhtZ34NXJqAPoFURiuuRyQCPD7T6pcB4ZgoXgTy8RTGEEYststHtgYRJgvXBqUJf1pBXosvBem2fJVxE1CNGPT8QCOGz4O26BrrP1iLk6woWcC2oKQlnZsaSKnFkVZXuQVEyJDklge-GB8m_roPAp--okm7Gk7BPD52SJ5VWCz_g54MckI9oOm4viQrSYOVt6GaqJoO_TlZTch4e4wmPPfOYt08TsCVTnELo8UQF5dl-_XrO679no2UPkpUVo9EqqEG7o4YvCPf0s-LWlOn-xJ19tpjufVTUBDh5GCSY8GIflgWhqn7kvHU2E51xVcUdFc5NXQxU51NfROn_2NIxtWDa4Scx6D0E4dq5LTPsYAMSP5A7Z8Hu-zQTkaAfMaDaAGjt7YmaClkkTYSHvuL5FyAqa7UlYQPCsN7fQvggu-2GU1EoNGzPNgp4_3pdCTK3Nn_7lYg_DiM-Lv91BtINgAgsxDn77X7v3ki_x76R1YIa4t1jC64CrwYgCTYCcyeNUNg8VoKRY2gaU7vXo1zSfR_86L-DHfUFGbMso2l91Wpz0U54sIcSj40g08_9kL0zw0IlBZ4ressHA162cAVYRBs6ceIyGMk9a6OkO__PvrlX8HgPh76qZLJaLYD6N4JJKqNrCzAorhu_Y6X-8zTjAeNM4VtLrQBIVCUJ5YjMN9AWgRimh0xmVVTryxnqGt24FwC5vo6aUVs5B4KLEghdDUpTxKwfD6R2GOOrUAfDC8ExlM96mGwdxmHF6Esz6B2h5FQQV3mRFIj6qI4a2bYCglQC3DyCdRBhw61iCQ6cYmcvmaofgdj_AGnUaTWW_sb3t1B28aF4viEdNIvvhU94jLhfNaNxuVE2-Esl9omPmv836mjn4RqPzuDaT-9x_atBW2BgY5pfAbnaZH4U0wva2unNHDEKgj9oG7y7RIBbEYKdbgN5R4eCqX42Zun1QQb834NXSUmsAbhrAgbH3P-Q651rTWUJNJotHV_fIrtsSkrmchF-ZO0HPn_skIQ0GDJ4kAF3D-QU2lrwj-p-UJvvDsy5db6ruaH8cybvnttB_2TF_Nf3Z8AfS0eNWUDilv3W",
  "id": "rs_0b2592eabe56d4ef016ab45b0618fc87d09dea6b4b6e1b6b0b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.45,\"right_y\":0.12,\"right_z\":0.18},\"note\":\"The green fruit is raised and remains held securely. I’m carrying it above the blue bowl, alongside the yellow fruit already inside.\"}",
  "call_id": "call_mVv86X0bOvDOfrDieoD6TY68",
  "id": "fc_0b2592eabe56d4ef016ab45b07a36887d0833fe90d5b624019",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mVv86X0bOvDOfrDieoD6TY68",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "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]: [-0.0204, 0.8249, 0.6281, -0.4946, -0.0135, -0.0338, 0.996, 0.3496, 1.684, 1.3304, -0.5442, 0.2348, 0.0452, 0.7106]\nstate[eef_state]: left_x=0.2831 left_y=0.0002 left_z=0.1597 left_yaw=0.0016 left_pitch=-0.1224 left_roll=-0.0009 left_gripper=0.996 right_x=0.4368 right_y=0.1193 right_z=0.1567 right_yaw=0.1071 right_pitch=-0.3049 right_roll=-0.1457 right_gripper=0.7106\nstate[joint_eff]: [-0.0889, -1.7573, 6.9402, 1.6337, -0.0171, -0.0366, -0.0122, -0.2393, -8.9504, 9.4564, 1.7753, 0.2955, 0.2515, 0.7985]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94337596d48723cdb8bdc50c93f8bedf06b9ce2ad802eaa133590f8db65ba37c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a5d5c62c62c78c3c790bbb05108918b68f8b33926b315b5f6ccf050ed4cb27a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d66bf4608a9668d28c1987625bb54f493c00419bda554604074f798baaaee9eb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 13 attempt 0 · /responses · status 200 · 2.184 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 36 changed as sent

message 43 changed as sent

message 47 changed as sent

message 36 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]: [-0.02, 0.8192, 0.6281, -0.4915, -0.0139, -0.0338, 0.996, 0.2466, 1.2663, 0.2668, 0.218, 0.1925, 0.0059, 0.9962]\nstate[eef_state]: left_x=0.2833 left_y=0.0004 left_z=0.1618 left_yaw=0.0023 left_pitch=-0.1137 left_roll=-0.0009 left_gripper=0.996 right_x=0.2951 right_y=0.0432 right_z=0.0189 right_yaw=0.0684 right_pitch=-0.2005 right_roll=-0.1165 right_gripper=0.9962\nstate[joint_eff]: [0.0889, -1.4154, 7.1316, 1.707, -0.0269, -0.0366, -0.0122, -0.0889, -3.7675, 5.3402, 1.8486, 0.0708, -0.0952, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0204, 0.8192, 0.6281, -0.4946, -0.0135, -0.0338, 0.996, 0.2459, 1.0485, 0.4313, -0.1871, 0.1852, -0.0013, 0.7069]\nstate[eef_state]: left_x=0.2828 left_y=0.0002 left_z=0.1612 left_yaw=0.0016 left_pitch=-0.1167 left_roll=-0.0011 left_gripper=0.996 right_x=0.2902 right_y=0.043 right_z=0.0725 right_yaw=0.0769 right_pitch=-0.2244 right_roll=-0.1207 right_gripper=0.7069\nstate[joint_eff]: [-0.0752, -1.0325, 6.9265, 1.6093, -0.0415, -0.0415, -0.0122, -0.1983, -3.0427, 9.1009, 1.4383, 0.0904, -0.0464, 1.0281]\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 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]: [-0.0204, 0.8249, 0.6281, -0.4946, -0.0135, -0.0338, 0.996, 0.3496, 1.684, 1.3304, -0.5442, 0.2348, 0.0452, 0.7106]\nstate[eef_state]: left_x=0.2831 left_y=0.0002 left_z=0.1597 left_yaw=0.0016 left_pitch=-0.1224 left_roll=-0.0009 left_gripper=0.996 right_x=0.4368 right_y=0.1193 right_z=0.1567 right_yaw=0.1071 right_pitch=-0.3049 right_roll=-0.1457 right_gripper=0.7106\nstate[joint_eff]: [-0.0889, -1.7573, 6.9402, 1.6337, -0.0171, -0.0366, -0.0122, -0.2393, -8.9504, 9.4564, 1.7753, 0.2955, 0.2515, 0.7985]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94337596d48723cdb8bdc50c93f8bedf06b9ce2ad802eaa133590f8db65ba37c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a5d5c62c62c78c3c790bbb05108918b68f8b33926b315b5f6ccf050ed4cb27a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d66bf4608a9668d28c1987625bb54f493c00419bda554604074f798baaaee9eb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFsQm7ZWAXeDm1G01xJo6c1Udrl5bq96PivrsSD6kDYnGnwRv3d54u3Aet4_1tncesrP5U3yzjT-SXAKebUe3aPM-awZB57nFNKJOrRfdq-fvcOkBGs_KBoTpMVSGTOMNKiwVei5FhrL-OnH3NrsfDVU3KysQ5gB4QZjCC03oR4Iifo9oSbkreY2HcYtOHJjoAqu03WYMZiEcazp54O77mgkpVUGuSCjYyCEJHKkRf23FjnXaZooc2t64JavlJq7y8z7lUuN2lPPbMlL0xUqr61zxDwxvyJHzKd-THLphwlMhDQEL-JgxDfJNdfyjEV11rfkGL7A9bNW_Z3quG30igzMsSxm3qSGMxENfT3azHlisKwCjfDiHBb78JkFAVsbDUlOFtS_5uYBWBioFbyI3ZjSfrKX1xZ3tpwi9u1DBb__WTtky_IwFRPhH1TNVAggu_IRME_S_zZxmk7xCUlLqA7-n_eezNDc3DgXb8om99Zo8jPbo4_9Nlz7d2EoPeS-q1kPp2Veg49alOhsmngLHYrHpNEC3ru2XhFUIFrkXco5qOCG_FC0fu3C--xzTJPmiVKWjrHZ9MyVtyhDihgBsnR3vZz5o_ftOQF6BZDLXERjn7mAxsLDN9kMPddwRIn95nLY2SdU68n0oUrP28_SuuK2pf5qIXVDqVcj-2jvsZyfCGXKbgLv4srfSRxqhga8CapsBMVpFbimZFv6WGmHfKiPIMgPhmeg0k-X_sE-Kr9uGCd00fqdCHL2fjwDRy6pjzQf_uv_9nxYKiudmcrZzMa-Fqo9a9tXXc3EgXFY50Zf2cq1vDuMptTTPZMNo8DWJahJAqXIi-v61cRqFvtc58WJYedWcmKBnI2RXFjumue_15vwS-pQPo7lB05x2OdSZCMTxrLw79TCUzqeGcmCqO5AZQNbtpXT6JLHdwZSl6m0thKs3CrZc2l20RKjZrDXH551mIj63F8qPu2LPkAzr2Ye2gvMzqqpGl0apdzGQy152z_aXXPnIAvi9haChkLBPwozq1zfgEyr4W8sduJ6ZEXeeJMEJpRiiTEZP7AeHe9UB7WNOnK0LjtOKbWaNFshMiomiLk7ICPLVjieP0Z7_LFEdyNSOoGRMtJG2IxVFiroLkeoqp8bIP931sbwGai14Nij9QW_nd1Jbu0YhO99rbI2cWU5epMDbsM8AOV_HMzqbwk5KwXqi4lbl11PlFdShQRX_LHY6Tp0yi0vFpyXEO1JEZAJT8GrzCwu0600KSDJlALAKeeUC9vfQv3czj67IpbbzuvPlehM_gNFiyE1mFXxTfsxf2f-pvonhaNzA-Hrr0wyEqXh-UG0I59olECpwP7iYf5q_gvQst5LKwDBWTLdXE1el3XFO3jLt1lAe-p-YYlsKxNfLH9qHcPHQ2BWj_-e_f6fZQeAiev0AWTW968uhft3bqayFy9Uj3HkVlwCFZD8-3U_ll5A_x-5dSCYJahQHa6cZKnRaYiSkdgdI0g0qg==",
  "id": "rs_0b2592eabe56d4ef016ab45b0eda4887d098a2167c66ca0578",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.11},\"note\":\"The green fruit is above the blue bowl and the yellow fruit remains inside. I’m lowering the green fruit close to the rim so it will settle gently into the bowl.\"}",
  "call_id": "call_ujOiW3tSz3vQ77YUfBVR6XJx",
  "id": "fc_0b2592eabe56d4ef016ab45b0fb2c087d0be3d267a1e27f03f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ujOiW3tSz3vQ77YUfBVR6XJx",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "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, 0.8322, 0.6281, -0.4984, -0.0139, -0.0338, 0.996, 0.3496, 1.7245, 1.1831, -0.4004, 0.2302, 0.0406, 0.7136]\nstate[eef_state]: left_x=0.2828 left_y=0.0001 left_z=0.157 left_yaw=0.0012 left_pitch=-0.1335 left_roll=-0.0004 left_gripper=0.996 right_x=0.4295 right_y=0.1175 right_z=0.1025 right_yaw=0.1101 right_pitch=-0.3487 right_roll=-0.1561 right_gripper=0.7136\nstate[joint_eff]: [-0.0205, -1.894, 7.0496, 1.6728, -0.0562, -0.022, -0.0122, -0.3624, -8.841, 6.612, 1.7314, 0.0904, 0.0122, 0.7643]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51ea6cb9ca8e4697de3e9188933056f16f756c880a84c938f33d8d54320e11f5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd756f364d2d226dba8bd8f492522d26759d4b360edf214346408df1636b08aa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c1d75204d90e7ee3eb8c4a41a519459e56f369df13f418b68f72cb77ebe38a3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 14 attempt 0 · /responses · status 200 · 3.34 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]: [-0.02, 0.8192, 0.6281, -0.4938, -0.0139, -0.0338, 0.996, 0.2459, 1.2663, 0.2668, 0.2192, 0.189, -0.001, 0.7111]\nstate[eef_state]: left_x=0.2829 left_y=0.0004 left_z=0.1613 left_yaw=0.0023 left_pitch=-0.116 left_roll=-0.0008 left_gripper=0.996 right_x=0.2953 right_y=0.0436 right_z=0.019 right_yaw=0.0743 right_pitch=-0.2002 right_roll=-0.119 right_gripper=0.7111\nstate[joint_eff]: [-0.0479, -1.1145, 7.1316, 1.6337, -0.0415, -0.0366, -0.0122, -0.0479, -3.2479, 5.4906, 1.4921, 0.0659, -0.0122, 1.0281]",
      "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]: [-0.0204, 0.8249, 0.6281, -0.4946, -0.0135, -0.0338, 0.996, 0.3496, 1.684, 1.3304, -0.5442, 0.2348, 0.0452, 0.7106]\nstate[eef_state]: left_x=0.2831 left_y=0.0002 left_z=0.1597 left_yaw=0.0016 left_pitch=-0.1224 left_roll=-0.0009 left_gripper=0.996 right_x=0.4368 right_y=0.1193 right_z=0.1567 right_yaw=0.1071 right_pitch=-0.3049 right_roll=-0.1457 right_gripper=0.7106\nstate[joint_eff]: [-0.0889, -1.7573, 6.9402, 1.6337, -0.0171, -0.0366, -0.0122, -0.2393, -8.9504, 9.4564, 1.7753, 0.2955, 0.2515, 0.7985]\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 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]: [-0.0212, 0.8322, 0.6281, -0.4984, -0.0139, -0.0338, 0.996, 0.3496, 1.7245, 1.1831, -0.4004, 0.2302, 0.0406, 0.7136]\nstate[eef_state]: left_x=0.2828 left_y=0.0001 left_z=0.157 left_yaw=0.0012 left_pitch=-0.1335 left_roll=-0.0004 left_gripper=0.996 right_x=0.4295 right_y=0.1175 right_z=0.1025 right_yaw=0.1101 right_pitch=-0.3487 right_roll=-0.1561 right_gripper=0.7136\nstate[joint_eff]: [-0.0205, -1.894, 7.0496, 1.6728, -0.0562, -0.022, -0.0122, -0.3624, -8.841, 6.612, 1.7314, 0.0904, 0.0122, 0.7643]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51ea6cb9ca8e4697de3e9188933056f16f756c880a84c938f33d8d54320e11f5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd756f364d2d226dba8bd8f492522d26759d4b360edf214346408df1636b08aa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c1d75204d90e7ee3eb8c4a41a519459e56f369df13f418b68f72cb77ebe38a3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The green fruit is positioned in the blue bowl’s opening. I’m releasing it beside the yellow fruit.\"}",
  "call_id": "call_iStAOEx7F7r53f36gCjcfXBx",
  "id": "fc_0b2592eabe56d4ef016ab45b161eec87d0a82d0fd304dab936",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iStAOEx7F7r53f36gCjcfXBx",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8322, 0.6281, -0.4988, -0.0139, -0.0338, 0.996, 0.3496, 1.7245, 1.1831, -0.4076, 0.2302, 0.0349, 0.9953]\nstate[eef_state]: left_x=0.2827 left_y=0.0001 left_z=0.157 left_yaw=0.0012 left_pitch=-0.1339 left_roll=-0.0004 left_gripper=0.996 right_x=0.4282 right_y=0.117 right_z=0.1015 right_yaw=0.1127 right_pitch=-0.3563 right_roll=-0.1616 right_gripper=0.9953\nstate[joint_eff]: [-0.212, -1.4154, 6.9265, 1.5849, -0.0513, -0.0073, -0.0122, -0.1162, -8.2803, 6.6803, 1.4237, 0.0513, 0.1148, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54e7b026ab393396d871fe3e766d397ab06bc8725a733bd1fac5c7289b2a37f5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e61b2f4d4e6da0ba147a3f045bc6ab2a9656c5aba632c631a59c2a58e7d5b25",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b733da8696611d85416285c273b88b67ca90f2d318fe1929a38726dfc5147a98",
      "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 · 4.42 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 43 changed as sent

message 51 changed as sent

message 54 changed as sent

message 43 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]: [-0.0204, 0.8192, 0.6281, -0.4946, -0.0135, -0.0338, 0.996, 0.2459, 1.0485, 0.4313, -0.1871, 0.1852, -0.0013, 0.7069]\nstate[eef_state]: left_x=0.2828 left_y=0.0002 left_z=0.1612 left_yaw=0.0016 left_pitch=-0.1167 left_roll=-0.0011 left_gripper=0.996 right_x=0.2902 right_y=0.043 right_z=0.0725 right_yaw=0.0769 right_pitch=-0.2244 right_roll=-0.1207 right_gripper=0.7069\nstate[joint_eff]: [-0.0752, -1.0325, 6.9265, 1.6093, -0.0415, -0.0415, -0.0122, -0.1983, -3.0427, 9.1009, 1.4383, 0.0904, -0.0464, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.0212, 0.8322, 0.6281, -0.4984, -0.0139, -0.0338, 0.996, 0.3496, 1.7245, 1.1831, -0.4004, 0.2302, 0.0406, 0.7136]\nstate[eef_state]: left_x=0.2828 left_y=0.0001 left_z=0.157 left_yaw=0.0012 left_pitch=-0.1335 left_roll=-0.0004 left_gripper=0.996 right_x=0.4295 right_y=0.1175 right_z=0.1025 right_yaw=0.1101 right_pitch=-0.3487 right_roll=-0.1561 right_gripper=0.7136\nstate[joint_eff]: [-0.0205, -1.894, 7.0496, 1.6728, -0.0562, -0.022, -0.0122, -0.3624, -8.841, 6.612, 1.7314, 0.0904, 0.0122, 0.7643]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 54 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, 0.8322, 0.6281, -0.4988, -0.0139, -0.0338, 0.996, 0.3496, 1.7245, 1.1831, -0.4076, 0.2302, 0.0349, 0.9953]\nstate[eef_state]: left_x=0.2827 left_y=0.0001 left_z=0.157 left_yaw=0.0012 left_pitch=-0.1339 left_roll=-0.0004 left_gripper=0.996 right_x=0.4282 right_y=0.117 right_z=0.1015 right_yaw=0.1127 right_pitch=-0.3563 right_roll=-0.1616 right_gripper=0.9953\nstate[joint_eff]: [-0.212, -1.4154, 6.9265, 1.5849, -0.0513, -0.0073, -0.0122, -0.1162, -8.2803, 6.6803, 1.4237, 0.0513, 0.1148, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54e7b026ab393396d871fe3e766d397ab06bc8725a733bd1fac5c7289b2a37f5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e61b2f4d4e6da0ba147a3f045bc6ab2a9656c5aba632c631a59c2a58e7d5b25",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b733da8696611d85416285c273b88b67ca90f2d318fe1929a38726dfc5147a98",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFsa8wI98wwqiM2GA00ANAHdPuWcxlir7RaeHCtbYqI5lHY4rlLHPjiPnyDRSJxAOLID3mwLUX7EG9AZwVDWTmsPM7n_iPDsaiUgbOIzM2xedD9eTJ6XJhzAIBXpVjzEeCGqg-w1v1hs6_kO-mQRP5_eRAzqclSkzM4PGpENkJWca2dNUawyyMtEqDT7Wh_QvNA2IUimb4pl1bcnLlMiLJARx6DlV3mmL0V4AISQnJS8-9E0X3zBYTMj9OxuewNthOVGb0SGa3Ws6dAs4qOI6DRuLZyB-bHKbEmQjrHM0Q6DWvXVWVgRj8mSVB3jPxFMag2fioGz5c60CJkPN8PToYIMFphuNTyLcRm0zxuZSFenVmcuV0k8m9DeGc_jlmkHdFNyP-hxnJAgnNhfYSUXdW5LQYR78mzWGdu8eVbWCIz9xatnX95QHY7eOy58dYxceBz1SFiIz_jN48VfBdN07Dzm-KJaRYJuHdG94_SBE0rBYRwVWbE0RNWL6ABepCcdJ2rz-aCyFUNqBDCE9DhBh8m6rnBdBsFl1lQ2aKZQq7etdpQezsStiwjwX--_zUXj4rsAgVlxgsEj6i_jo85o3fQdZzafEuiw4V765XfGAZmoNXtFLx4pkhZ6zi0PZKNDXalyZbxPh0kOhmNOX36BtGgc-GXPRtLDvIhKUo50PW1uij24Stw1RcU3kMk6jpAQYNdpuVrMp5HxHlVCrvkxxfzxAL8PLYvgoBCZzJD_XBEAln2KUJyFkhcvsO3B_KaV4FzsUHx8cFuPghneEKGI5aSEPthRbBICJBRH5Li9lR9XP5oc6FQTDi_-zhx8fOxl8oPAT44Id5Oh2JP1gOySWpLQSfNGZ9pZn4TWAp5o6fm4V64yWWd-HYv2kRgBDt81IcntWBR3Zc6gxoRzkbkHQoAeAL3oI5sGYCm2x4zk6kg471kcmfg3ipBI6nE_K51kwnwkB7wwoTd8rv6PdqNm9znKcPaefPIPBliJhzSujO7Yh1RP1WF47Bh20Ed5DbRDULiaOhMFy52qy5kONNZQUBcqqpmdiL-J74IIDW6LwY5QCarts7hHo1i9rgZvdhq267Rvy3Ywej878JoGHzX_g2EysQ_CvvetbyTkYI3gSNBxQXACM9b6sFKswMhJEe7Z1xi_je35sD9L92moWrJ1OfJiYzQOuXbyWp48k3dz4H9ospZbOuc_AwTV_ZWlKkgBeTnC37gJq7uofsXYwxVqmsrIp-UJJhvDCYeQXtbeVLNseC2KEhpm_yLPArRL-_1Anejzc_zNsMqxsgIbJlUhjQj8wFho4iic1z90IvNJ6alMwdD3FpOWVky9csevxTupvbyHATOoFbABZ7CH5BHg6yeC85FXhiWOMYEOsP7aNTWwG2tbrwWsdfklWk-RC7mXBQ-BNuXCgD0TiJTF5-68xRFPKxM_SSHMfPZJfLAhpNJsunL3xRfZNKY0MjM6DD1iKU8y",
  "id": "rs_0b2592eabe56d4ef016ab45b18324887d0bba16a11ed922745",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.296,\"right_y\":0,\"right_z\":0.19,\"left_x\":0.335,\"left_y\":-0.275,\"left_z\":0.15,\"left_gripper\":1},\"note\":\"The yellow fruit and green pear are both in the blue bowl. I’m parking the right arm clear and bringing the left gripper above the remaining dark fruit.\"}",
  "call_id": "call_jziNTtyHUtMtb8paCCBrNusH",
  "id": "fc_0b2592eabe56d4ef016ab45b192cbc87d09d28613230cfa545",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jziNTtyHUtMtb8paCCBrNusH",
  "output": [
    {
      "text": "executing move_to over 25 steps (2.5s)",
      "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]: [-0.9401, 1.6848, 1.2045, -0.5137, -0.6411, -0.7425, 0.9966, 0.0082, 1.1015, 1.0016, -0.8078, 0.0425, -0.2268, 0.9962]\nstate[eef_state]: left_x=0.3303 left_y=-0.2671 left_z=0.137 left_yaw=-0.0088 left_pitch=-0.1677 left_roll=0.0168 left_gripper=0.9966 right_x=0.3022 right_y=-0.0014 right_z=0.1885 right_yaw=0.0889 right_pitch=-0.3506 right_roll=-0.1677 right_gripper=0.9962\nstate[joint_eff]: [-0.7316, -8.1026, 8.8957, 1.1746, -0.5739, -0.1343, -0.3687, -0.3624, -3.9179, 6.612, 1.3993, -0.1978, -0.022, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2e3c5f68eef6e1618e6d6fbb267051fe15832768fd9fbe1907295a17cbe29d6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a45f5472993eda3e2649866ada6e6969f542c4b1e5427b1f71e6521e850a92a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca7e8a07fa14c435629a683a8fc2d895734645ae2f008ff44dfc8e2af87f5ae8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 4.526 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 47 changed as sent

message 54 changed as sent

message 58 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]: [-0.0204, 0.8249, 0.6281, -0.4946, -0.0135, -0.0338, 0.996, 0.3496, 1.684, 1.3304, -0.5442, 0.2348, 0.0452, 0.7106]\nstate[eef_state]: left_x=0.2831 left_y=0.0002 left_z=0.1597 left_yaw=0.0016 left_pitch=-0.1224 left_roll=-0.0009 left_gripper=0.996 right_x=0.4368 right_y=0.1193 right_z=0.1567 right_yaw=0.1071 right_pitch=-0.3049 right_roll=-0.1457 right_gripper=0.7106\nstate[joint_eff]: [-0.0889, -1.7573, 6.9402, 1.6337, -0.0171, -0.0366, -0.0122, -0.2393, -8.9504, 9.4564, 1.7753, 0.2955, 0.2515, 0.7985]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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, 0.8322, 0.6281, -0.4988, -0.0139, -0.0338, 0.996, 0.3496, 1.7245, 1.1831, -0.4076, 0.2302, 0.0349, 0.9953]\nstate[eef_state]: left_x=0.2827 left_y=0.0001 left_z=0.157 left_yaw=0.0012 left_pitch=-0.1339 left_roll=-0.0004 left_gripper=0.996 right_x=0.4282 right_y=0.117 right_z=0.1015 right_yaw=0.1127 right_pitch=-0.3563 right_roll=-0.1616 right_gripper=0.9953\nstate[joint_eff]: [-0.212, -1.4154, 6.9265, 1.5849, -0.0513, -0.0073, -0.0122, -0.1162, -8.2803, 6.6803, 1.4237, 0.0513, 0.1148, 0.0611]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9401, 1.6848, 1.2045, -0.5137, -0.6411, -0.7425, 0.9966, 0.0082, 1.1015, 1.0016, -0.8078, 0.0425, -0.2268, 0.9962]\nstate[eef_state]: left_x=0.3303 left_y=-0.2671 left_z=0.137 left_yaw=-0.0088 left_pitch=-0.1677 left_roll=0.0168 left_gripper=0.9966 right_x=0.3022 right_y=-0.0014 right_z=0.1885 right_yaw=0.0889 right_pitch=-0.3506 right_roll=-0.1677 right_gripper=0.9962\nstate[joint_eff]: [-0.7316, -8.1026, 8.8957, 1.1746, -0.5739, -0.1343, -0.3687, -0.3624, -3.9179, 6.612, 1.3993, -0.1978, -0.022, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2e3c5f68eef6e1618e6d6fbb267051fe15832768fd9fbe1907295a17cbe29d6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a45f5472993eda3e2649866ada6e6969f542c4b1e5427b1f71e6521e850a92a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca7e8a07fa14c435629a683a8fc2d895734645ae2f008ff44dfc8e2af87f5ae8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFsjrJBjf_lzKcUebx0M-yG3rJDJY3TSy8kKPiFZOnV9vspJSm3WUvysl3aixKbhumfHV2gBBK6swIHywAX3jGHI6BLdg9AnUZZyomjiBG6dXMmqcBIQ-mFrbLEMbVhpV5FqRnKWi9JWFdw8Ba4NWJDQb98gjcoNf1FOck6XEU_eoA4SrrQ01l47JRGbePl2gAY_AHf6yhdaUmdmIwBHkrEueQE700pXo-KE8K_ZIoupd89Nd7MSDaMkguxvvsKxCQ_ShX7pX-dvJEHtFYyO4Veuz7Gfl8rkxK3Kx_mLw9e1EyJoWLbUfy9yYTXUhSaj4YKrHLAou3oBYi1rJVkwP4Lp8tK0EiedDaXzbUA72fcH2oQe2i2dDW_Apt0jVLjtjthgWTjuFxUjZd9VAnM5ZSTdaOQdDbSMsdVdpb6wDIi1e1wVdpvl7Ax-_FzaDIk-WTNoJhDaW_sAalmPhxhJOOxVZFYVFau3Bo-rEVLm1GtxmHhYNgnE99YO6O5AubIETM_7XeARnapPlsQ2r_kxFo9OcvE1OXpcfvAFDXgAM3OrGT8qIci0jXRYEE0sJbTF4ZAPXEJOK0by0HoY-4m3ysXJh72NGbzskSG8MkNyzdeaQX3vts2-Kz5H1fgDftWPZVMacpnaeFeOdV2yWeLQ-cOOxFk895EBu7zaGJgItOEwsIBCtyLFthdpT_KoLoG75YADVWOAG6hOsk6NGDOh2rMnhFWRyAMwI89KafdMzNo3zQhO_l9giA_VqqVPHkm6Sn20Vkjeel1wFblcl7swHnjzJh1a9TtvTRwShByBA4_v9D-q3yPGNxw-3Zxd_Plq3KoDSgb9X5RdBSXlL3caBVCuLQ8WwYg7vlymPGryuwqi6SkC_8sXfxZKNdkO2JBeGPP7KqVEJPJDJ3QOD-G2VEj-XpLbM8pqjOm336hwu9wvWDjBhrNYNHFZU_srCDgcqb7bGUexXG1Qg_c2B0tJXJ9S-lrJJwVZWSeCMad8oQJBq9tgVN4QDL1zeNdvIoOXY3yJTdq4iH5LL3wDZeHtoGo7W8FeIB0E9od3z5r7t-3up-S8MkLH5p9Tc7wLpr_jsZilDNzv0tx9nI6oL0jZq-hWJogOPU75F50mR2-pJ2UCKHPbQI3hLWpaB59tcr0sl5C3FDTnyAUL4OBm8kCoFu8Ei4WfWSs2HtcBGlknFHL4oZVak_-gKBnf3mDwfwwur9--I7L1FFOkWcxZUC1TKGONtCNkquCNLwMhrdGkfT7ulVUJGYlRL8QSVoaGjdO5od6EM3JmlVu7VzTcrFoSHEcBaeHrhESP3Q6h7gzBu7bPDdSOkVr98rXxi7TtVRLR-ifC",
  "id": "rs_0b2592eabe56d4ef016ab45b215c3487d0b6d56a86a61f968c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.355,\"left_y\":-0.265,\"left_z\":0.018},\"note\":\"The dark fruit is nearly centered in the left wrist view and still a little ahead of the fingertips. I’m advancing slightly and lowering around it.\"}",
  "call_id": "call_NzQCyNDgc0IuaTVzs7e9CfwY",
  "id": "fc_0b2592eabe56d4ef016ab45b22577887d0bf2c83082d13dc80",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NzQCyNDgc0IuaTVzs7e9CfwY",
  "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]: [-0.8848, 1.919, 1.0039, -0.0917, -0.609, -0.6964, 0.996, 0.0048, 1.103, 1.0016, -0.8288, 0.0326, -0.244, 0.9962]\nstate[eef_state]: left_x=0.3482 left_y=-0.2602 left_z=0.021 left_yaw=0.0028 left_pitch=-0.1976 left_roll=0.0446 left_gripper=0.996 right_x=0.2982 right_y=-0.0008 right_z=0.1849 right_yaw=0.1049 right_pitch=-0.3739 right_roll=-0.1682 right_gripper=0.9962\nstate[joint_eff]: [0.4444, -9.0872, 4.8615, 1.3309, -0.232, 0.0659, -0.0611, 0.0615, -3.3026, 6.7624, 1.536, 0.0952, 0.1538, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:412d82948e2adbb5486004a12589055e0b617d571c402b7961670fb1094817f6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e333591b0ab664d2037a8de5657c881182ee38fe8710af0a0fbc90bc35ab319",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:221acfc79cc61961ab6ef2088010a29d941f98b52ebefb6eef7513198b21f0ef",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 17 attempt 0 · /responses · status 200 · 3.366 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 51 changed as sent

message 58 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]: [-0.0212, 0.8322, 0.6281, -0.4984, -0.0139, -0.0338, 0.996, 0.3496, 1.7245, 1.1831, -0.4004, 0.2302, 0.0406, 0.7136]\nstate[eef_state]: left_x=0.2828 left_y=0.0001 left_z=0.157 left_yaw=0.0012 left_pitch=-0.1335 left_roll=-0.0004 left_gripper=0.996 right_x=0.4295 right_y=0.1175 right_z=0.1025 right_yaw=0.1101 right_pitch=-0.3487 right_roll=-0.1561 right_gripper=0.7136\nstate[joint_eff]: [-0.0205, -1.894, 7.0496, 1.6728, -0.0562, -0.022, -0.0122, -0.3624, -8.841, 6.612, 1.7314, 0.0904, 0.0122, 0.7643]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9401, 1.6848, 1.2045, -0.5137, -0.6411, -0.7425, 0.9966, 0.0082, 1.1015, 1.0016, -0.8078, 0.0425, -0.2268, 0.9962]\nstate[eef_state]: left_x=0.3303 left_y=-0.2671 left_z=0.137 left_yaw=-0.0088 left_pitch=-0.1677 left_roll=0.0168 left_gripper=0.9966 right_x=0.3022 right_y=-0.0014 right_z=0.1885 right_yaw=0.0889 right_pitch=-0.3506 right_roll=-0.1677 right_gripper=0.9962\nstate[joint_eff]: [-0.7316, -8.1026, 8.8957, 1.1746, -0.5739, -0.1343, -0.3687, -0.3624, -3.9179, 6.612, 1.3993, -0.1978, -0.022, 0.0757]",
      "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]: [-0.8848, 1.919, 1.0039, -0.0917, -0.609, -0.6964, 0.996, 0.0048, 1.103, 1.0016, -0.8288, 0.0326, -0.244, 0.9962]\nstate[eef_state]: left_x=0.3482 left_y=-0.2602 left_z=0.021 left_yaw=0.0028 left_pitch=-0.1976 left_roll=0.0446 left_gripper=0.996 right_x=0.2982 right_y=-0.0008 right_z=0.1849 right_yaw=0.1049 right_pitch=-0.3739 right_roll=-0.1682 right_gripper=0.9962\nstate[joint_eff]: [0.4444, -9.0872, 4.8615, 1.3309, -0.232, 0.0659, -0.0611, 0.0615, -3.3026, 6.7624, 1.536, 0.0952, 0.1538, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:412d82948e2adbb5486004a12589055e0b617d571c402b7961670fb1094817f6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e333591b0ab664d2037a8de5657c881182ee38fe8710af0a0fbc90bc35ab319",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:221acfc79cc61961ab6ef2088010a29d941f98b52ebefb6eef7513198b21f0ef",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFso6qmxvXbJF5j4KRhm-p5G52yb7GYO-hsiwhVpSJKyroG_HHTBLZU7aTx2_47IUpXPLDlYlbzBEw-CkYHHi0_nsNiE_0ZmexVLS21DLG036Mo7Q1MNVAKE--poYkEmsbsTkp9-HRORPmyxWXzkACmODlRAey_wnFm0HJDwxCTRNmXuHqK7961mMh5mW_THrsmfFcaC31jB1OUIIDYdHtEXP1GJrDcSk-Y4CN40zNMXg5L00qgrDLF-ibX_8Qz-r_fDjyBnR4YR5MqFsfIAzgh7vpK8e5xZd37rUqBLcrp5YN13zOcJCsk1CQga38t4bPY2hqRktMtSYLSdHBLCAQjj_WQ9FwmRH_3U78e8jTBYmXvs4cZE2HP9mSRHrg6wQT3NArKeT8H3GbwavCCqM6sAWg9kVyF_FLOl79tr6ew7xFTgVRq0AQBxMCYFXKBbLxLYr7U553GHaGzLIc6t0zXp6t9DevGR3rBYMk9ACI7jzIdx94_s_h7ZpRiYAxuN29Lnh5Wmcd-kNOxw7Vz4KUqyWPrCdhJGxWplaNgtdmQRnay3l8tkmMvK_2WT6msCZvyiJem91WLPF3HDjS7Jvsq0H6UCUXe_NAHUbMWdqZvQlhYUv4pjtiMdaJhNonyiLDq_vY6kUEsX1a6ocUmY-QgTEN9AsGKlHBEIz4Kvj4OlpEuAMZlj6Ut2cNJO1RWh7hJRCfgDrJ02M4zUz-KhOjeVj9s3q2fneMhWWc3lA957iSpRe0ubecQVdANeH3qHy0t_emuP_P-w8qK91PZgA6jbAMWibe4l4LAQscQDeLRudv5ErTNm_UhbBvCwK4jUuliucyO4WML18SNSqs8nBWJTFSSHbTdk3fGbh9bNPqZT9J2QvHBeMGOPbGVysByD-tWwKCgtYO6o_Ivh94uoJuIGLdVBbof1FiXb603jCbd8J3zMQnEpGmOXuGdRzwEPEi7SWAAch6BucDJKiMu-3l7XHuR1YzLOvWuV5YviBiyAbwUI-kjsB9DLFVI5goh0kdRvkadjYdHp8umcPUcObk4CLgIp_UjcwQ8c5mJQjcWO89tiPmDxhx-_AFlAPXA93tpWtTWYrpVeipKn3IXRblRK82eVdDl3ag-z3ke1tK7U0pTJ8OiN5QD2WZgW8X-m2Zr24F30dsdKEBiqk7XyBDtSCAcRlxdXQ1U2d6USWW7LBaQvTYxK5sxApGGwrFEXyjS-Zq3YI0ZQGd6uEfsqpuzeUKsLFT3FodMNT4sbBsVywGylslOEgKrJM9iBjOV_dgQOrImjAwwaFL_j5RhZilrTUDyIE9DshrhV2opUOLyiiiViymCgRZyHXU_LseTCut5gvwS0ma2KOTQJhcvlAaUUK-Qi7NKrsElGQq1pbLAvSNW-Ms-XqMLFr9XTauR2KVuCJNPIN19vKIG_sz-mMi_7LHwsEBV54nH4bUgOUA6Vy9v3ZpXw0dXwgFTyxeFbGTlrhUz7E1p3tL1CoAcDDVRqpOqR0S-7r9nUvDyJ9V3J-n5qvFSf12YiILL9_jDgtpNB0oyMS2Kicxp1kFZztVO4WR6Ztderx327Gcy3inbJta3afnq1_4IVvTqlizsdbD7a3kqKHt3jEiSgi35KfC3XwnTpTn8YV2uROJH0igp4lZbVKehoYY70MdVugJ2B8Yh0",
  "id": "rs_0b2592eabe56d4ef016ab45b265db887d0b545e0e60989dc39",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.245},\"note\":\"At grasp height the dark fruit is left of the jaw centerline. I’m making a small sideways correction so the jaws will close evenly around it.\"}",
  "call_id": "call_TqPfkNNdIxr70CrrQJKXk808",
  "id": "fc_0b2592eabe56d4ef016ab45b28110487d09b2e880a7c6d891a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TqPfkNNdIxr70CrrQJKXk808",
  "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]: [-0.8719, 1.9312, 0.9661, -0.0307, -0.6014, -0.6865, 0.996, 0.0044, 1.103, 1.0016, -0.8314, 0.0315, -0.2443, 0.9962]\nstate[eef_state]: left_x=0.349 left_y=-0.2543 left_z=0.0109 left_yaw=0.0037 left_pitch=-0.1957 left_roll=0.039 left_gripper=0.996 right_x=0.2977 right_y=-0.0007 right_z=0.1845 right_yaw=0.1059 right_pitch=-0.3765 right_roll=-0.1671 right_gripper=0.9962\nstate[joint_eff]: [0.8957, -12.2462, 5.1624, 1.1355, -0.2173, 0.0366, -0.0171, -0.0479, -3.0291, 6.5983, 1.3993, -0.0366, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd1a6c3840b75969c2b534cb66eea20330029d6fae38432a7aa98a970f6fe20b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37781af012e37ef2c9034162f7be2cbb0ff84d7160f9423153cca511eda5e4b9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecf316596c30907c1981aea78737080cfeee32a280ad358fe4901acbf48b26c2",
      "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 · 2.568 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 54 changed as sent

message 62 changed as sent

message 66 changed as sent

message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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, 0.8322, 0.6281, -0.4988, -0.0139, -0.0338, 0.996, 0.3496, 1.7245, 1.1831, -0.4076, 0.2302, 0.0349, 0.9953]\nstate[eef_state]: left_x=0.2827 left_y=0.0001 left_z=0.157 left_yaw=0.0012 left_pitch=-0.1339 left_roll=-0.0004 left_gripper=0.996 right_x=0.4282 right_y=0.117 right_z=0.1015 right_yaw=0.1127 right_pitch=-0.3563 right_roll=-0.1616 right_gripper=0.9953\nstate[joint_eff]: [-0.212, -1.4154, 6.9265, 1.5849, -0.0513, -0.0073, -0.0122, -0.1162, -8.2803, 6.6803, 1.4237, 0.0513, 0.1148, 0.0611]",
      "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]: [-0.8848, 1.919, 1.0039, -0.0917, -0.609, -0.6964, 0.996, 0.0048, 1.103, 1.0016, -0.8288, 0.0326, -0.244, 0.9962]\nstate[eef_state]: left_x=0.3482 left_y=-0.2602 left_z=0.021 left_yaw=0.0028 left_pitch=-0.1976 left_roll=0.0446 left_gripper=0.996 right_x=0.2982 right_y=-0.0008 right_z=0.1849 right_yaw=0.1049 right_pitch=-0.3739 right_roll=-0.1682 right_gripper=0.9962\nstate[joint_eff]: [0.4444, -9.0872, 4.8615, 1.3309, -0.232, 0.0659, -0.0611, 0.0615, -3.3026, 6.7624, 1.536, 0.0952, 0.1538, -0.0073]",
      "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]: [-0.8719, 1.9312, 0.9661, -0.0307, -0.6014, -0.6865, 0.996, 0.0044, 1.103, 1.0016, -0.8314, 0.0315, -0.2443, 0.9962]\nstate[eef_state]: left_x=0.349 left_y=-0.2543 left_z=0.0109 left_yaw=0.0037 left_pitch=-0.1957 left_roll=0.039 left_gripper=0.996 right_x=0.2977 right_y=-0.0007 right_z=0.1845 right_yaw=0.1059 right_pitch=-0.3765 right_roll=-0.1671 right_gripper=0.9962\nstate[joint_eff]: [0.8957, -12.2462, 5.1624, 1.1355, -0.2173, 0.0366, -0.0171, -0.0479, -3.0291, 6.5983, 1.3993, -0.0366, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd1a6c3840b75969c2b534cb66eea20330029d6fae38432a7aa98a970f6fe20b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37781af012e37ef2c9034162f7be2cbb0ff84d7160f9423153cca511eda5e4b9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecf316596c30907c1981aea78737080cfeee32a280ad358fe4901acbf48b26c2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFsshqfGDvvqQqz_XrudsX3A78gSL4rU71mlnOXsQxhKpLp-GI4VtQuRbe77oOP_JvCpF61veeepMVyX8BMf_fbpOKCdRlUo9KXN8wCGcfrII4A_pu1oX1oA0ju_N7mrNQzHDVCIerr8i6UsngZz_3tv_faIaeT3HpumMmAEIybwz5QNuC322PWcQu8RAUwXaZd7Koko4-0wp_ptdCYqIThtubdSDKqx5_lySDmyiiH2P6tA80RlRZVRzjL6wU1Jqj6qHhl3I2-bH1w8n0Swzw0Ct5z1SkvbCV4_rBIKzgnfXPAvrf_i_rLvrZSb9aF5zlIiWgTZvx1Gne-YEhofy29dnz5W4NDfxnpZP7r6cffd0erIYeKK1NEGjy4nuCYmvCnC7SLGJ25EmoCt5aFFQbgnJQ-kjc2c1HN53RIFDKTc7p6AmHZPetFWqvSe6JlA7n3U_aO-TtKeYbzRow9-Zdi7fHpRI7s14sxM-uwjDLaoMPt4UUAAQkpOdEBhksFiNanHjwK2VG2e5tfrehnnDMC2nfPxMvEGEjw6ZI5TIuY3Emwj-TIRz_U8nrIWXJZg_rFp-G0UB_UBdYG09M4Ujmguv5MWHDUAH5HzqOhqDySN5EYQocWYd0T3JXLY9n5g7Pyye1Yfg2ud6HTCMo3z7EJbuhcxNtwP9amXsKg9x9Qjem0JmgltqhTxE8F8C9cmQS5tOhNNX-bBU577Jjrez1jMpbhT9Re-sBB39V3U6qsvfGDlXkziWmZLukJR0t3-KvId0aDO2T9Mjvqu7z3HI238JroInx1_fLMh_2BGNG835OJ7OJ6eYa5ppgADqBLCXJhuBOLI03wn0So7mMG2f4mLpe2hvfCh0oKTcMA_tf2enu8KBQXFiqbQZy_KE615gwrGZalGi6lA4Gk9g6MP5pUzXnYcs1rFSHa9bgxRRK7rQXKkPd6sqpLwifA_WU71QeCdCewL-3wGNjE8fmvrfCi_l0blcTLyD6iPbNl5rWyswki2ROjXCA6Ml1sVY9VpHN4NvswA2oyVCu6IKQDj0nYURUapzQNxPDgY0R4ectAfXujvdwY3n4Hn3b7qlLiCazwfrihhMFW5nntnuLw9xigzEE1PEfpayDihNYpKsDN5c0C0G6CNTvVIwjP7CABv8FBCdEwBzJw_mKUtef9QQ2TEP6yvknk0l79zYmzmS90JpC0q_MebaM5Q25LkFeakuzem0DLkbht6TdRgUXQFKeX00QBNaEFaC55lzqO23GdX5ZtePAZIvQ86VubWcolnv14aO-Y5hTB7YI72JJXJPeSLdn_BHvND6eD9bHivvFB-5dxB_jCC1xkMEeQDbCeyjYgm92G8yajqOxfx0zgKY7-_lucc4r9doRDHpPq-xIYIcRovQc9YiSLiGk6CIXFPjjm1PFHYmGmXYmyczN74UEm6OB9cJ_Lz2mioHavAzkasmzWXnL4YIaL69hFnqrooMq8aHTHzhUjkdfjWwEjUt4kfAC3hMlbQkBfj0DKRyA07wP7Y2zeEq9iOWnZdE2YDnLd9",
  "id": "rs_0b2592eabe56d4ef016ab45b2a127887d09add8e100b4f168d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.23,\"left_z\":0.03},\"note\":\"The first correction moved less than requested and the fruit is still off-center. I’m lifting slightly while shifting farther left to avoid catching its side with a fingertip.\"}",
  "call_id": "call_QAxsEjrLgKcXa7f56ENxGwQM",
  "id": "fc_0b2592eabe56d4ef016ab45b2b261087d0a610e57498ccc975",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QAxsEjrLgKcXa7f56ENxGwQM",
  "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]: [-0.8558, 1.9118, 0.9485, -0.0467, -0.5907, -0.6777, 0.996, 0.0044, 1.1034, 1.0016, -0.8356, 0.0311, -0.247, 0.9962]\nstate[eef_state]: left_x=0.3476 left_y=-0.2448 left_z=0.0105 left_yaw=0.0101 left_pitch=-0.2119 left_roll=0.0506 left_gripper=0.996 right_x=0.2969 right_y=-0.0006 right_z=0.1838 right_yaw=0.108 right_pitch=-0.3812 right_roll=-0.168 right_gripper=0.9962\nstate[joint_eff]: [-0.4171, -10.4684, 4.9026, 1.2967, -0.3394, 0.0513, -0.0122, -0.0889, -3.1658, 6.5709, 1.3993, -0.0269, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcac4092db6f87b4c1796cc5f1a08d7a0de2b6e000bffaa36882acee550ff7d0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb170ee838454cd3f2a20d29a1465e725b6a52930a18d5543bae56fd3aac7afd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c5cb24e5113da222a38484a0c6386fed405f9e04fc16213ea9070a04e492696",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 19 attempt 0 · /responses · status 200 · 10.92 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 58 changed as sent

message 66 changed as sent

message 70 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9401, 1.6848, 1.2045, -0.5137, -0.6411, -0.7425, 0.9966, 0.0082, 1.1015, 1.0016, -0.8078, 0.0425, -0.2268, 0.9962]\nstate[eef_state]: left_x=0.3303 left_y=-0.2671 left_z=0.137 left_yaw=-0.0088 left_pitch=-0.1677 left_roll=0.0168 left_gripper=0.9966 right_x=0.3022 right_y=-0.0014 right_z=0.1885 right_yaw=0.0889 right_pitch=-0.3506 right_roll=-0.1677 right_gripper=0.9962\nstate[joint_eff]: [-0.7316, -8.1026, 8.8957, 1.1746, -0.5739, -0.1343, -0.3687, -0.3624, -3.9179, 6.612, 1.3993, -0.1978, -0.022, 0.0757]",
      "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]: [-0.8719, 1.9312, 0.9661, -0.0307, -0.6014, -0.6865, 0.996, 0.0044, 1.103, 1.0016, -0.8314, 0.0315, -0.2443, 0.9962]\nstate[eef_state]: left_x=0.349 left_y=-0.2543 left_z=0.0109 left_yaw=0.0037 left_pitch=-0.1957 left_roll=0.039 left_gripper=0.996 right_x=0.2977 right_y=-0.0007 right_z=0.1845 right_yaw=0.1059 right_pitch=-0.3765 right_roll=-0.1671 right_gripper=0.9962\nstate[joint_eff]: [0.8957, -12.2462, 5.1624, 1.1355, -0.2173, 0.0366, -0.0171, -0.0479, -3.0291, 6.5983, 1.3993, -0.0366, -0.0464, -0.0073]",
      "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]: [-0.8558, 1.9118, 0.9485, -0.0467, -0.5907, -0.6777, 0.996, 0.0044, 1.1034, 1.0016, -0.8356, 0.0311, -0.247, 0.9962]\nstate[eef_state]: left_x=0.3476 left_y=-0.2448 left_z=0.0105 left_yaw=0.0101 left_pitch=-0.2119 left_roll=0.0506 left_gripper=0.996 right_x=0.2969 right_y=-0.0006 right_z=0.1838 right_yaw=0.108 right_pitch=-0.3812 right_roll=-0.168 right_gripper=0.9962\nstate[joint_eff]: [-0.4171, -10.4684, 4.9026, 1.2967, -0.3394, 0.0513, -0.0122, -0.0889, -3.1658, 6.5709, 1.3993, -0.0269, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcac4092db6f87b4c1796cc5f1a08d7a0de2b6e000bffaa36882acee550ff7d0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb170ee838454cd3f2a20d29a1465e725b6a52930a18d5543bae56fd3aac7afd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c5cb24e5113da222a38484a0c6386fed405f9e04fc16213ea9070a04e492696",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFsuzm2K4IwKXeAv67_csbq8VzFadK8uk9S5KP5LuKbMFnqYLiY-r6fxMWv6sn58n5gxROdbLXbeMWie6NI3Aak-lr9HDrCQvrCUp-XQeF11OMcXp2PV2xgmbAgbRajw-IkAS-wZzh0MB0vNEomRHAKHc-RMUjlH-PmCrtwSHIRCpL67EZ6pKUI3cOya_-MYuwxcP_o1BXtCDfFJ0-Wdp6nQGjzs_Vdp-FjqjqLbBxzRpwccOj2U7KzVOJqZ3opmsbYfcfHf8qUu1961zOBorSG_xwB6EEGNLtNGHmTh-0SMi134tGqumwJTnfIPpiTy9fX7QME2UAA0DSa4mcDD7MZXX3bjrYrZixRlt9WSXMnVDhc_5OJMjJVszJFMHkbgEGxJvUW2kCNDeZaxnM1hZzVmphio3fITDi-g4U_6pOlmcA00FCnEzAeNOAV_Z6NBTGdtjKcPZcL8nCB3EsxHZcMqf4dCKYd9f40cu6MkR8oYm1HF6lgsgfDM6xEUIcjPaLmOAluBt0ubRN1iFX_cNT78QC7x1-1frE7ldN81CcjkqVrne5xbnKkj7fNtvpmkuT14noR9XTSf9H6n0TWXgaNjCBRAVdNI61qHl9F7vG8wKXixVkrRgkkB4L0eCI-iN_940WbvWhrR8e6NfEKMH-hHrHp3NRlsZcJlQErRcu7Bfn_To97GP4A0d7Oy6IzQsvGNXu4waWkTfXBGuZlcSZg1Irc-osjkKCA64WjoWfBFTDlcIbKhkXk4b7cWAlHsvosz5ntQHqEttVTWjsusGo7-FpK93q7TINytojnBSi0pvJfIx6K2JxlPXnXwOcKr2G8bdWfdZimQUf6yO_yg8kK3qOQrisoAnbmLKPhStHftbuRe5BLWXWWxyJh_FmJQHVYCYTQkDRckiG0wp4mrmU8NJwTCVvuOR0LbPNM0YaeaKWP0qbANkEdMLJyAcxphhEXsyXPeio8m1JW4ZBdnX9_YPrfjIjcOZA1oK69RS2KrnmXWSsuThxuDxXEvATMl-Ta9naU-3YhVRPV2mFK8i5KfTXfSGkJOulagCb3NpqAcRYH3S7dwW2Qbzfge6HBV-QlUaR2EekT2Djt0PH1vyDUYegEu14qIVaREjeXEo-nQsk020O7hb0t5Kku0Nq025EXBySoA0kia-GME_EiLoDfsMQ-fHm0j2IVj9ESYXkfn0XUJuSim3SuKV3HVo_Vtbe3g",
  "id": "rs_0b2592eabe56d4ef016ab45b2e2c0887d0a7785b0a2f1e59f9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The dark fruit is now centered between the jaws. I’m closing the gripper around it.\"}",
  "call_id": "call_wIrHhCEw0tqoGXrPReuymt2N",
  "id": "fc_0b2592eabe56d4ef016ab45b2e662087d09edc0bd5a07a44ee",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wIrHhCEw0tqoGXrPReuymt2N",
  "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]: [-0.8558, 1.9118, 0.9485, -0.0448, -0.5907, -0.6781, 0.5204, 0.0044, 1.1034, 1.0016, -0.836, 0.0315, -0.247, 0.9962]\nstate[eef_state]: left_x=0.3478 left_y=-0.2451 left_z=0.0107 left_yaw=0.01 left_pitch=-0.2106 left_roll=0.0488 left_gripper=0.5204 right_x=0.2968 right_y=-0.0007 right_z=0.1837 right_yaw=0.1077 right_pitch=-0.3817 right_roll=-0.1683 right_gripper=0.9962\nstate[joint_eff]: [-0.253, -9.0462, 5.4222, 1.2234, -0.3199, -0.0073, 1.0281, 0.0068, -2.9197, 6.5709, 1.3797, 0.0024, -0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70108383bb164c1cfd3f49a92ca26f57d05de272ad173c213fcb195a1489502d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ab4e25f1ee3f9a9c8d235a0e0bd08a859e59b9e32277237071f7b4fec876cd8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c7b25d5fcf0bf06ad7bc5babf1e8b525e597cb12572d3dfd91634075246086a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 20 attempt 0 · /responses · status 200 · 4.78 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]: [-0.8848, 1.919, 1.0039, -0.0917, -0.609, -0.6964, 0.996, 0.0048, 1.103, 1.0016, -0.8288, 0.0326, -0.244, 0.9962]\nstate[eef_state]: left_x=0.3482 left_y=-0.2602 left_z=0.021 left_yaw=0.0028 left_pitch=-0.1976 left_roll=0.0446 left_gripper=0.996 right_x=0.2982 right_y=-0.0008 right_z=0.1849 right_yaw=0.1049 right_pitch=-0.3739 right_roll=-0.1682 right_gripper=0.9962\nstate[joint_eff]: [0.4444, -9.0872, 4.8615, 1.3309, -0.232, 0.0659, -0.0611, 0.0615, -3.3026, 6.7624, 1.536, 0.0952, 0.1538, -0.0073]",
      "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]: [-0.8558, 1.9118, 0.9485, -0.0467, -0.5907, -0.6777, 0.996, 0.0044, 1.1034, 1.0016, -0.8356, 0.0311, -0.247, 0.9962]\nstate[eef_state]: left_x=0.3476 left_y=-0.2448 left_z=0.0105 left_yaw=0.0101 left_pitch=-0.2119 left_roll=0.0506 left_gripper=0.996 right_x=0.2969 right_y=-0.0006 right_z=0.1838 right_yaw=0.108 right_pitch=-0.3812 right_roll=-0.168 right_gripper=0.9962\nstate[joint_eff]: [-0.4171, -10.4684, 4.9026, 1.2967, -0.3394, 0.0513, -0.0122, -0.0889, -3.1658, 6.5709, 1.3993, -0.0269, -0.0269, -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]: [-0.8558, 1.9118, 0.9485, -0.0448, -0.5907, -0.6781, 0.5204, 0.0044, 1.1034, 1.0016, -0.836, 0.0315, -0.247, 0.9962]\nstate[eef_state]: left_x=0.3478 left_y=-0.2451 left_z=0.0107 left_yaw=0.01 left_pitch=-0.2106 left_roll=0.0488 left_gripper=0.5204 right_x=0.2968 right_y=-0.0007 right_z=0.1837 right_yaw=0.1077 right_pitch=-0.3817 right_roll=-0.1683 right_gripper=0.9962\nstate[joint_eff]: [-0.253, -9.0462, 5.4222, 1.2234, -0.3199, -0.0073, 1.0281, 0.0068, -2.9197, 6.5709, 1.3797, 0.0024, -0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70108383bb164c1cfd3f49a92ca26f57d05de272ad173c213fcb195a1489502d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ab4e25f1ee3f9a9c8d235a0e0bd08a859e59b9e32277237071f7b4fec876cd8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c7b25d5fcf0bf06ad7bc5babf1e8b525e597cb12572d3dfd91634075246086a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFs6B8EcuPUX3k-3HzmQFzRV1EcdHLOIKP0kX2JlXeXx10zADavcxBrB-_7k9LclohBERHN3G2bAT2y5_beM7Wn3R5UZZaWkGwLnK5-mOqW64lDhUcDV1J4413sve-pVcRv9NxJUxM3NNmNO_wg4CDEat9VwOicJYT5fxla_hPCGqb4M-usvDYLZLSS4dBaiLk9CY8EiZOhqdiKW86R2b3QKHHhfeyRPVDsClrwrG0XQ8V1QYXaSMQoBke9Qs_yr-dA0XIfU1pfef-cM4ksjin5G7MTtEZI1ZbxdHUKv0KaRM_WjuhhepjYBHMPnjQYIBQSA0_SkoVFcr7XoZEJ5l7J6EX1PmlcS7rp2iL2Uly_897HG40erOcYnIyRTLxLhztDU05qKoXzPRsASnMIqGcHTw0Kd5AnOAsO8UyVvOrupfF872N3_1VvQmzn4qgypCnXlfwfq_QI-5k5D6v40Cn2Kh1TKk1dFwYyCPpZhYp-wmnilglft3-TXWaXqmQuVDzZeF5b0J00C2v6IMqJ2oty1P_ufdUuWkrdnM1PFolwOHt-Zg-BiQnX_kURs34Z-9KtBmAmmGlFhTxmX808wdmnxyfer550tl078PCMNHYS7wv2O3we8dCgjDA0ibjJ2mWzI5ZoG_ul76EVuXSuG5ZtY92lyZAR6fSY5JtiBs81_y3Qtf59PaP6Z4UYXoh5CDciUMwYozFt8f6_ceArBOLzWEkTp7Uavom_P0FFXb5Ij1Ag_lrabyngF6pF6CxQV_-NyBmAtiADk5b_rbM4lHSb9NjgRFMNxyUCY69ObCgKHh2s6uLZgkx80OBfAXa39Vg8Oq9aQgKMkxjmR0qGPepjIpuyh6-1rCE3Su9jGnjcq9KHXAqqH9jABQOrB2okJVZPTJrR_4mU0SuJpEZb7T8GDalZ2dUhCBFFpEawLrlWPu7X20HnCaPlzTiNvXE17i_LIlxJTnZYsX7D3Jd_0TCy9WX0nOtyWWJQvsxMHp26P5IHvNmUZBuIgMlPt1-Wl3eRsLDeC1O8pWlXCiG2TkGBJ-k74AodJDvCSoMbybZ_dkMMtTKDTJBswC3KoEtkDoRziCCWlba6Uwp1pcYEGh79XcXleUeXowLXaNJo08CDRVDgaBy-SQ78wYDLbhKMGcIWTfcJ9A5sQcXCzkG3fltyBgFsa9R3JslYTFAnxRqEXa2fNzgLuwEyYJmrvBLB6K3fT3G9tW7HcPiIngsxbiTxQyd1KiPppN4SWlIZIrSD4dc9iiGero73hrMCSAQ4L1y2hhOr7NlNnojjA_hLBqISPnv-PSi_yVNR2EKw6Lhfd-aBUOgZGeN1tuzk02m3K4CZU1jIjmvsS6fztuLJpxqdXygHqOxvSs--TLanpE7v1RDEzJ3yBaRsUuVD3BoymBKEKmeSvPI5ZEJQzNFZaQCF0DcBnjujkH2NidaMdNZ9Sb2Ipzyq31vPWfQrJfAxHCa8Fs2D01Pd9LK3hM7HwYC0M0WrIllotEasigr8PTZHhIwk8TcvneydU2B9fsJEKStfNRmzlrGD15QdLUelpzsuSig24JxEknswlF4iXBvnuSessNtYTfC-si5Ba8v8P12hsIPcR6o3OgMuHjOD-GnrcgRzR7qufr2fAg331F0VzPgaNDzT6GRWsZHVfVSKsUg4NTABtuxMCSEr7zstQBmdRtlQfadxgu5Vapl0ruO8kxK8wh4WaPLEUdPNRcm8Rzzf8k1fWWAyKN_FFCuROVn57vXi62zc31VDRBF1KXiQ7wAlEi0UGZpDcLxgKvh6uEiyx1YMv8uIAwfOfWT37_QBmdR_5R6JekjB3YPTt89Blwcr51wOdTN6a5Fqt3sNqHKeVgFAqgRIHqz9P1TgGnhpmyVIwTxbzux8f7p56f3Nremgeao5-r0ENcRZE-Qy7xcpl2gbGH39fmQNDR1v8Ds4T9Y6C2bGd7db8kUuJMeUWbcXHN5VKvGWRvi0OcW4Nf6kcscg0OlrA5TX9q8Jw8SYMvLVhDxoSLNFzUNlnWxaOwZnlayT6WpuYq7mX-pZqu3h3fngXo_k3zTup8LLZ98UBgUx99Q3jCwiZ4VtIGooeOx2qTh4mdZkkLF6MZtJ_8hp33KkrBLVTy2PxCFB18zazCYZtpFD_R1YxbvqkzUUrMJJ27jFS4dxSA9TguwHb18RKN6JXk8FquorK8yY_08fu6qfGoWULF9fjINHnpDR4AuNL_jquUi4wobGXj9LQ9wU-v2Bb-lgPcYITX18dNvz2Is-WVPbUXNEg2nrS83J9VIx6f0IPUGMrmNJLWb65U3fx1hVdw23g3lYwHOu6Vhc3OSKnWIprAlCuE2uDCXAZ_63zb22dUliLH1S0h8pe0u1DCZnJyp_QLcCsOYwYluyZu95-CbUW7MjKuVYfni9xkC6dCu56B5RmK2_U45eeXqobcCGtErkKK9YVsPS8BoTjXzSK_sodethxCf__XvxfYZ0bE7hZPoU1Ne_PPbd-FC-hbYwqdiCZnJYBCU5_rcHMKkCNLN2GDABKAmcytHIu2EcPK2hYauBngNaiEMCcGh3_fu0S0bBh-j7dKvghdt4iBGB-tvWpGrhClQQjgwHUfjje9n3uZhjwFBDjss_e541sry0ClxXQexBzMgbAdPNZ0CxIF4o0WxPAy7uPyssN9jqcHJCXVQeqoZv9FxxNVXkAEtyO9iqM5CkEyp1oNj-b88pZJkdQyl2oJ8Ou2Ucn49-Molkx55q7ujGFJLs73iFI8dhFq07-_hWIp5P5VWg2fhos3qI79HdRhGs0KnGSEw8LdSp6bdJ0fQ5J1c_05yUeFTMOwQb_Rcumz4w9epAgjVvvoDu-qKOH5os2Vzlkj2JhngtDvlx2zTIbK7V3Dp7TZ4waAJSVlDJR_4XQSX1RgQt-R8YI4rdpW8c3Sw2cnzfnHIUu73BAEDH7-8qFnDKfPPa78fpJ_NCAJwtFIcj7GKCFMYxC7_OhFle18Xe9rqqvO2E6MA70W5-CcDW2iCNdb4Nro16oTzI526PV9hswv7Eqfbj1Ii_-37hXrZDO8rWVqbE_4yE9NCCnyBn-k1AfD5Ko53iq56EM4_5aODUa7nthVMUg7TZXa9zfN7Wd_ETxf68c28TYhzdjQnHNiNInee6Pxxx0ShEls6KKqWbP8iw8vXk4aMbTcet7BhdE3DOEA3Xr0tilh6lPDsB3SeMxpeRqtB4xk25XRxIJ62bu2_dAUR4mwkcv3wovMdr7CozAATZEfHHabJfVbye2W8ZEqRhSR8p9gVGMhVX3OcHNo-L74gGHTURD1XuPBbA1CnV41wsEAzuY3fpcB7LsjMTzNbFbB7PHRPiHwSrGUWG-EIokCfFS4TTeMZLCmdw9iUXeYC0d4f-eEykfMDwEJlCXrJiiCMae2vT8J7-wmct2C-AQpBndPSxm7_tOEXvniDUXGhKR5O1VwgzeALCMi6EHkPusy9BVF70Gf_IE1OK2u8prmCR732RV2pNTF5IjptYtFxk9o4uch3AER2jeM_xtSWwgaUEL90-QomjVDlXsiLLHd0_8X_On8CPWdV6v6HljU87NiJ7nK_q6Uiar1ec-XVieu9HxjRZNqbi5MQ3Ob8w4BYWsGKziNgdAK21vmFI=",
  "id": "rs_0b2592eabe56d4ef016ab45b31514c87d08f88344847cce380",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.17,\"right_x\":0.40,\"right_y\":0.12,\"right_z\":0.14,\"right_yaw\":1.57,\"right_pitch\":0.25},\"note\":\"The dark fruit is secured in the left gripper. I’m lifting it while positioning the right gripper above the blue bowl’s near rim, so I can bring the bowl within the left arm’s reach.\"}",
  "call_id": "call_8xT4XgRSnAsv73SB4PZudG7O",
  "id": "fc_0b2592eabe56d4ef016ab45b39a29c87d098b12fe5c174b653",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8xT4XgRSnAsv73SB4PZudG7O",
  "output": [
    {
      "text": "executing move_to over 22 steps (2.2s)",
      "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]: [-0.8555, 1.7065, 1.3041, -0.6575, -0.5838, -0.6815, 0.5207, -0.1379, 2.0613, 1.4967, -0.9253, -1.1931, -1.6897, 0.9962]\nstate[eef_state]: left_x=0.3457 left_y=-0.244 left_z=0.1433 left_yaw=0.0172 left_pitch=-0.2485 left_roll=0.0831 left_gripper=0.5207 right_x=0.4135 right_y=0.112 right_z=0.1299 right_yaw=1.5034 right_pitch=0.1827 right_roll=-0.1739 right_gripper=0.9962\nstate[joint_eff]: [0.0889, -11.1385, 9.265, 1.1453, -0.3932, 0.0269, 0.8767, 0.4855, -10.8376, 5.8462, -0.1392, -0.906, -0.105, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24a8b8f4ddc5f647436e248c4c9e87df2bad0f5e736424b07ceddd18efd24cb0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1601f19a46080a5c89861d3182bfbc99d367d0e7058d71669614a3c1f81e2cd4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98105836529c507d7743cd4fa1fa370625a2904318ada1b248ebae8b5ab49a4e",
      "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 · 2.79 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]: [-0.8719, 1.9312, 0.9661, -0.0307, -0.6014, -0.6865, 0.996, 0.0044, 1.103, 1.0016, -0.8314, 0.0315, -0.2443, 0.9962]\nstate[eef_state]: left_x=0.349 left_y=-0.2543 left_z=0.0109 left_yaw=0.0037 left_pitch=-0.1957 left_roll=0.039 left_gripper=0.996 right_x=0.2977 right_y=-0.0007 right_z=0.1845 right_yaw=0.1059 right_pitch=-0.3765 right_roll=-0.1671 right_gripper=0.9962\nstate[joint_eff]: [0.8957, -12.2462, 5.1624, 1.1355, -0.2173, 0.0366, -0.0171, -0.0479, -3.0291, 6.5983, 1.3993, -0.0366, -0.0464, -0.0073]",
      "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]: [-0.8558, 1.9118, 0.9485, -0.0448, -0.5907, -0.6781, 0.5204, 0.0044, 1.1034, 1.0016, -0.836, 0.0315, -0.247, 0.9962]\nstate[eef_state]: left_x=0.3478 left_y=-0.2451 left_z=0.0107 left_yaw=0.01 left_pitch=-0.2106 left_roll=0.0488 left_gripper=0.5204 right_x=0.2968 right_y=-0.0007 right_z=0.1837 right_yaw=0.1077 right_pitch=-0.3817 right_roll=-0.1683 right_gripper=0.9962\nstate[joint_eff]: [-0.253, -9.0462, 5.4222, 1.2234, -0.3199, -0.0073, 1.0281, 0.0068, -2.9197, 6.5709, 1.3797, 0.0024, -0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8555, 1.7065, 1.3041, -0.6575, -0.5838, -0.6815, 0.5207, -0.1379, 2.0613, 1.4967, -0.9253, -1.1931, -1.6897, 0.9962]\nstate[eef_state]: left_x=0.3457 left_y=-0.244 left_z=0.1433 left_yaw=0.0172 left_pitch=-0.2485 left_roll=0.0831 left_gripper=0.5207 right_x=0.4135 right_y=0.112 right_z=0.1299 right_yaw=1.5034 right_pitch=0.1827 right_roll=-0.1739 right_gripper=0.9962\nstate[joint_eff]: [0.0889, -11.1385, 9.265, 1.1453, -0.3932, 0.0269, 0.8767, 0.4855, -10.8376, 5.8462, -0.1392, -0.906, -0.105, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24a8b8f4ddc5f647436e248c4c9e87df2bad0f5e736424b07ceddd18efd24cb0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1601f19a46080a5c89861d3182bfbc99d367d0e7058d71669614a3c1f81e2cd4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98105836529c507d7743cd4fa1fa370625a2904318ada1b248ebae8b5ab49a4e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFtBEH5s3Lru11Jkd2IynXZ6HfkG4DC8UzE-6a02rXrW_-qQoNvDRRDervGdORYXZhc5Dvit8dw5h-dQRN2nmYlRqDmTgWi7hrHwHFaaQg6bXCuVT4NkoyYl-ochdUUg97mSc_7rxjBzWOJ4EUoBUoUt9yVZsKbnL-6PjmN7k1Vm2TmQCuCC1zTW22q7ewz8VeGA4P1wUzgW5HkPLxGU79ePj_f6IuPraQVf0SQyyvKIaNoULg4BJfvUwjNcf7En3Plx8QlBT5FTmPHP73k37sIR0XVR_p9SY_2boHLB-iCbtSEqod5bxRH_i10-elNFV1MZltIpzlGWqwjPePNSlJeflaimhMTriuICyktaWdcfXjAFiQA5bqoi4kMhzJOAM8FcIy8ycNnOnpFNadmL_DTD3Rn8gBfyAl2mXf4qyyQN8XZeLHr2o-Tp-0W-p1q_ssPuO2B0lcObB4U_Vdx6iAJFvKCnq8OFLGxZvJvMqZhqnCb4V_SkAgFv_EktugICkKxaopnRbA_KI2G7hgd8XzKGRTNRjUHKWoj4yCjKwNMDC0aj84h9DDURb1sHMAXMfv4rumVwajeTg7kwsnbHsZygt1OCIpFLOt4VvEOL8Yl1WWuWc9u9L-KbDGGXHxwCtEiFCl0HSDrM3Tbuz-ALn6tXVdz-siUmVNSuS0YdIWdBs5PIpQ33d51bK2UAAnwFnuwaDkwMoMdFb98KpqPs5EnHvUBg-mJtAhFYHdvqJ4dspc7-E1VQqPHYoGEMxEKENWFcW79j0f9YuYorOwVH-nt92uMx913_C4_ApdYfA0rDFs4iEGJiX8pSailoOOeY5ASj6pPhv5SG2XLEx9tA98IZ45Q78Qn_FQJYWx5h7Nh4L6DwE7J-ymPC5iTcT19eFQjQpYm56wcICArjok3y0hZIhAN-vjxt3j827My7HyqSdyQDKHHNt983HZo6H5KEi6ATL8gbG8b0TiVmzPDIf5n30UaitMwqtjmYv6Hod4KpQ4niKJAgKJ6hQ2XXTSg5PL5t8L5BGhZFggt6XPVEW0hXNltrkPXovlqSWNmTgtgvLQOxwyqYRETb7io3i5_x2qQzP_JJrpGGJ1XStSMVzjozI8N1IMfkf_uwDLReiXsXznqiGx5JSy2wR6mHiwxArtkxKLQMyXeV4HxDK3rGWy0BetlizwOknsCplwYJTHsFV3c0xcuYA9AZMqSMkL43aa7LPhWjJQtr9WH2YXK2tELxPVU_7Lh9nFXATyBPwqJwIO8plCarxvs3A1A5btr2CMxueKuuhfA7SA5QgrFcYe6Amx2MCfuIjildeeO1KW3hFV7EK-7RuT5IgdbLd7nbNvQdmV-D6WuneXUMiC3Qxjx0zbUEnXjwWpO9PnnLfwk2t9SdOQiHuL1Pp4cjfLsYQ36jem3e22_ayagV2wCdqxRCDZWq8SFkxsMkFLlmtwB7jUTMcGb-czLKWoHaNxM3HRjwQSqRyO0SrvwEhLH6PCmnb8eORtplW32XWrWCxMmXQrcs9nLDEJwN412ASPQuCqzPRmmSQGeAGf4utOrjukF4mHVUD5PtSu7SMP8JxCuqp1iGRewcAZo4XEBeUB_DRqFzQbJq4YZcKKfwS99LSD7uaBgSSk_WTdj6H1FBgTBSq3OTfIMXrmawOkQLmow0B0vWi3x_IS-KU9gRu0fwMVyu06e4BJyBDfZ-UL9fDhUGFOJgFxolgjWd2yoUwx4sqhBBoNPCFjT_m_SMCXNbjWVqg8uXxMHZQ7l5JFax4Yj7uIA=",
  "id": "rs_0b2592eabe56d4ef016ab45b3e4d8c87d08abd45f350701a55",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.12,\"right_z\":0.045},\"note\":\"The dark fruit has lifted successfully. The right jaws are rotated to pinch the blue bowl’s near rim, and I’m lowering them carefully onto that edge.\"}",
  "call_id": "call_vt6alDIloIY8fZDXCnG7MOIe",
  "id": "fc_0b2592eabe56d4ef016ab45b4067bc87d0b2e32908f3ad7608",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vt6alDIloIY8fZDXCnG7MOIe",
  "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]: [-0.8558, 1.6981, 1.3087, -0.6697, -0.5831, -0.6811, 0.5233, -0.131, 2.0979, 1.2373, -0.617, -1.2037, -1.6814, 0.9962]\nstate[eef_state]: left_x=0.3446 left_y=-0.2431 left_z=0.1468 left_yaw=0.016 left_pitch=-0.2486 left_roll=0.0823 left_gripper=0.5233 right_x=0.3891 right_y=0.1186 right_z=0.0608 right_yaw=1.5091 right_pitch=0.1933 right_roll=-0.1791 right_gripper=0.9962\nstate[joint_eff]: [-0.253, -7.665, 6.1197, 1.2186, -0.315, -0.022, 0.7546, 0.1709, -7.9111, 4.2598, 0.3346, -0.4371, 0.232, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a426a90514e9fca608e13d31bddfbcc13831c05bcf67007b60c0b6cddceeffaf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cc347a1f0f061a5f5b5c4b2b2bcf4192933d8faa766a924b8d76caae8388f12",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e751fc990a5b4872cd1f8e1a7dd929e284603c06d00da20666b6c4b56bb71e89",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /responses · status 200 · 3.131 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]: [-0.8558, 1.9118, 0.9485, -0.0467, -0.5907, -0.6777, 0.996, 0.0044, 1.1034, 1.0016, -0.8356, 0.0311, -0.247, 0.9962]\nstate[eef_state]: left_x=0.3476 left_y=-0.2448 left_z=0.0105 left_yaw=0.0101 left_pitch=-0.2119 left_roll=0.0506 left_gripper=0.996 right_x=0.2969 right_y=-0.0006 right_z=0.1838 right_yaw=0.108 right_pitch=-0.3812 right_roll=-0.168 right_gripper=0.9962\nstate[joint_eff]: [-0.4171, -10.4684, 4.9026, 1.2967, -0.3394, 0.0513, -0.0122, -0.0889, -3.1658, 6.5709, 1.3993, -0.0269, -0.0269, -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]: [-0.8555, 1.7065, 1.3041, -0.6575, -0.5838, -0.6815, 0.5207, -0.1379, 2.0613, 1.4967, -0.9253, -1.1931, -1.6897, 0.9962]\nstate[eef_state]: left_x=0.3457 left_y=-0.244 left_z=0.1433 left_yaw=0.0172 left_pitch=-0.2485 left_roll=0.0831 left_gripper=0.5207 right_x=0.4135 right_y=0.112 right_z=0.1299 right_yaw=1.5034 right_pitch=0.1827 right_roll=-0.1739 right_gripper=0.9962\nstate[joint_eff]: [0.0889, -11.1385, 9.265, 1.1453, -0.3932, 0.0269, 0.8767, 0.4855, -10.8376, 5.8462, -0.1392, -0.906, -0.105, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.8558, 1.6981, 1.3087, -0.6697, -0.5831, -0.6811, 0.5233, -0.131, 2.0979, 1.2373, -0.617, -1.2037, -1.6814, 0.9962]\nstate[eef_state]: left_x=0.3446 left_y=-0.2431 left_z=0.1468 left_yaw=0.016 left_pitch=-0.2486 left_roll=0.0823 left_gripper=0.5233 right_x=0.3891 right_y=0.1186 right_z=0.0608 right_yaw=1.5091 right_pitch=0.1933 right_roll=-0.1791 right_gripper=0.9962\nstate[joint_eff]: [-0.253, -7.665, 6.1197, 1.2186, -0.315, -0.022, 0.7546, 0.1709, -7.9111, 4.2598, 0.3346, -0.4371, 0.232, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a426a90514e9fca608e13d31bddfbcc13831c05bcf67007b60c0b6cddceeffaf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cc347a1f0f061a5f5b5c4b2b2bcf4192933d8faa766a924b8d76caae8388f12",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e751fc990a5b4872cd1f8e1a7dd929e284603c06d00da20666b6c4b56bb71e89",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFtFde_gkPJLooHp9PQwyK2iNhPW2sZ3zwR6h4oLdxdkpnnkm8E97DzNl_ba19zXnRgLhPF6x5D0m3seo_YY-lKt5_bGxNhKVYGHsNiD8akvd5YDYKXay1CgcMhAXXPA8nZUQJi-TEla-oC7w6svJgGWhd_Bmfj6-ElJTLeARB0exCEHZMBIGPHSGhiqVWSzu6YsdIVxUwpceS40wASWXHQKMkXZsHaroW1K9nNVlWigvf9iueXSt0QUrr539CGTssuqYauOES2rM66ebvD1ncrVFTQana0_NKpEf4dBfhCvBYadNnztm7GC-vbzpSkmyh_iq_JdWp8XIuRS44DO-sRBjc4HGonBKAlptDYEIuuHf9bZnX-oGSEIonqs2T-k_xQFAqAFi7TKWn7mFVmmpKTyACtgG1KxhDtZSkTJJLKRQYPIu37WSIluHfwLtqcljTJz-hMAfvxabgRkbnJ79QJl_LTfgdSlTY86vmDa6EsdLIVDrkOS9y5MTQwYIOBUT6l9DF98NgGhPyRu3kHS-JrypnefCRmjHH1B5NcOrwKfe5IsrkOIH3p0hxYdUINoM-Vme7WcYaAS09ccIYMPX9XawhKivo_bpdNk-OX3r7rTRFRy62Wqm1wZFGpiDwQR1bSjAx2riS3_LOryqPgS6tEQzV7aX7Sj3zHHOBpqdOXJNMHcvrBSnpDwGK5ROxBHcskjsvu7-ZQakwpbl5yNt2xLtp9tTrDVrsKQWQFXD9cw8cbwFTy-kYuo0ntqzPhvN1-_7OeEcHOcbGWGitgLaXdPZ0A1O71vLMhOtW-4ZzqE2Ymf1EFtRVIq4iHkbbsvHT_4xBopQ25g985J_DlyqqhQPbU-lfQOkpYRHj7Whn69wodh2P2Bkv7OIxWaqwU3UyNDspOXHHq3uIIP2Nn_xVj5xh9iMLoLJFUxh4GozPxYBTGJX7fZa6NzRjPQT_T3O4obZl6J4lXWmStnB8c6a-nw9kc6QX7AitsnDvsMdVuXu5WdMdTOwp8xeD8EOxccYq_ZSuYhJjc5AdLyxTnR4n1xQwZOLfH8HUHRHpI7sZTOPVTNis7deTtItnjkTsgYTCaGG8P9v08GNkV8osp7HYA_CrPZIZ3_aLQnna2-KwzUxkcFMtppQLLJkFvzp6UUwZe9eiONvS9tRYRwThajBUJKmytTrfmUYFPrTTTzgg2NXReEPAfjqMU9AsjewxzSBx3VMbNoomQoookANPYPlWisypcPrldAmZ-ysTG03J2g_DLbOyrqEBRaaqV2ZQYQVXDJNwtdQ7at9duWMta39HyMJO8d7NNvfL3d-pl8n37Wry6kmIX3HpJMqz6HN146iURV",
  "id": "rs_0b2592eabe56d4ef016ab45b4396dc87d0b4fc9c29e3cdaa93",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right fingertips are at the blue bowl’s near edge, with the fruits clear of the intended pinch point. I’m closing on the rim.\"}",
  "call_id": "call_JE3LtxtkVQpEixGpUaxbnqOJ",
  "id": "fc_0b2592eabe56d4ef016ab45b440dd887d08c8c22cacc6c61d2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JE3LtxtkVQpEixGpUaxbnqOJ",
  "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]: [-0.8555, 1.6981, 1.3087, -0.6704, -0.5831, -0.6811, 0.5239, -0.1291, 2.1075, 1.2293, -0.6071, -1.2091, -1.6752, 0.6094]\nstate[eef_state]: left_x=0.3446 left_y=-0.2428 left_z=0.1467 left_yaw=0.0165 left_pitch=-0.2491 left_roll=0.0829 left_gripper=0.5239 right_x=0.3874 right_y=0.1199 right_z=0.0567 right_yaw=1.5067 right_pitch=0.1997 right_roll=-0.1659 right_gripper=0.6094\nstate[joint_eff]: [-0.0752, -8.3761, 6.4342, 1.0916, -0.3101, -0.0366, 0.7692, -0.2803, -10.9197, 5.4496, 0.2564, -0.5153, -0.0952, 0.9744]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca7ad1fc0a515ff1683c4ccd6a825fd820b1aa51f8bf920c12ae662513c60412",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7882099fb172d7647032afedd3d5ab37c8207ba859435c45929e55359b22a628",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0229339a427563ab4cf5401c7b01d22534337f726be0b50ceef20a9f62995f1d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /responses · status 200 · 5.879 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]: [-0.8558, 1.9118, 0.9485, -0.0448, -0.5907, -0.6781, 0.5204, 0.0044, 1.1034, 1.0016, -0.836, 0.0315, -0.247, 0.9962]\nstate[eef_state]: left_x=0.3478 left_y=-0.2451 left_z=0.0107 left_yaw=0.01 left_pitch=-0.2106 left_roll=0.0488 left_gripper=0.5204 right_x=0.2968 right_y=-0.0007 right_z=0.1837 right_yaw=0.1077 right_pitch=-0.3817 right_roll=-0.1683 right_gripper=0.9962\nstate[joint_eff]: [-0.253, -9.0462, 5.4222, 1.2234, -0.3199, -0.0073, 1.0281, 0.0068, -2.9197, 6.5709, 1.3797, 0.0024, -0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8558, 1.6981, 1.3087, -0.6697, -0.5831, -0.6811, 0.5233, -0.131, 2.0979, 1.2373, -0.617, -1.2037, -1.6814, 0.9962]\nstate[eef_state]: left_x=0.3446 left_y=-0.2431 left_z=0.1468 left_yaw=0.016 left_pitch=-0.2486 left_roll=0.0823 left_gripper=0.5233 right_x=0.3891 right_y=0.1186 right_z=0.0608 right_yaw=1.5091 right_pitch=0.1933 right_roll=-0.1791 right_gripper=0.9962\nstate[joint_eff]: [-0.253, -7.665, 6.1197, 1.2186, -0.315, -0.022, 0.7546, 0.1709, -7.9111, 4.2598, 0.3346, -0.4371, 0.232, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.8555, 1.6981, 1.3087, -0.6704, -0.5831, -0.6811, 0.5239, -0.1291, 2.1075, 1.2293, -0.6071, -1.2091, -1.6752, 0.6094]\nstate[eef_state]: left_x=0.3446 left_y=-0.2428 left_z=0.1467 left_yaw=0.0165 left_pitch=-0.2491 left_roll=0.0829 left_gripper=0.5239 right_x=0.3874 right_y=0.1199 right_z=0.0567 right_yaw=1.5067 right_pitch=0.1997 right_roll=-0.1659 right_gripper=0.6094\nstate[joint_eff]: [-0.0752, -8.3761, 6.4342, 1.0916, -0.3101, -0.0366, 0.7692, -0.2803, -10.9197, 5.4496, 0.2564, -0.5153, -0.0952, 0.9744]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca7ad1fc0a515ff1683c4ccd6a825fd820b1aa51f8bf920c12ae662513c60412",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7882099fb172d7647032afedd3d5ab37c8207ba859435c45929e55359b22a628",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0229339a427563ab4cf5401c7b01d22534337f726be0b50ceef20a9f62995f1d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFtJ7ITwn7zz2Bg7cQWek8WtI0KnVvZr2TQB2VlpQRUx_vrTRO4rfJd9SZg1Dmqq-5jGGvKYtvgsSH1BhQ93QSt9B15aAIzLHgNmiEUY7j35BRtn2Q8ynhvuJbckPCZNfuatV9yK8mL_uKHkSaKl2_yq6B43kwZTPCEkCBsT9lHv8jrOk7OzXixJRoPLyDFczRTGqhUtS4NAu-5PzYtXviJzZD3jO_EyAF5gYRcgwf4fWNhNq7f3MolAg_1Rk6QTygCWMxWzU3MnKMfJD8mgmm6F_Vcr6K6YoKKjojT77qfOVt6GG6UfQpOeYs47YheZ9MYJfNVw60s7YvD5DKsZpL0lPhaLfxzCuhkGTi7Qfe8p0WrEN5JoiQFeH17Oq4IQWy2OOXzuQJ1wgl1LLoyJnra3cZtV7z9arv9exWP-ihRT5QQ_tJWSXZ96RyJ5rVKZ5QTziGwrOLuPNSpjRaQ86kHinRFdHFkK9wnlU88MmhY7ja2wvl5pvxWs091ypxAFvETdwa2q6wrVxP-pQHM0TQI-MwR_aqF0zVOIbPoDPBF-fVho92GtqpnAVM5BPjZWlZGyQpJfDc7Xx56s-3vcbQXDPOwK1Ap3uRc-TTem4Ehwd6z3vanS8RWb4oAfOf-rEj39y1uQDwwjQb1nOCwRfhHc5jbEzONyfaM9wIKcahNYysgOEYQwAhXsjBelKQus9dg6iplRwtNj9S5MhwLEeDOpILv4cRQr0ttPEnzGoy3B3RShgtkxvqN8292_Jc-KQRSWQhyU7wNbq4-bnvIBhXNIv7mT79mwJameGtYSnraQWbXo54wsvQttPO5bvm32ZkYUEygMG6bCp1k_YF0ClW8ilSNuhYkVAEvfzPty_580LdhgyHNo7lWPO11xuhJ5MOqvUBM8oZsdOF8UAFe9o1svoTrA073GMDe_Er8sW0bH02_lV6N_OvawqzT_XvOPXrLb2RiJAMmkPc4sf9D8qGe6QxkTzzj3pXEjRp59kmNZUyvkTRewGxJmWHjYfT7EhP3kg73W1y1QYVy_RIoQlEG9N6kbXtPNZTkwM3uvfphAauyS-3C5nUEGDMNrhCGwVFn3z-Chv0lHbz1RolcdzDZ8jffyYDua5Gb7Bsn90i9E6U84N74V9Lybv7iQ2qZBqi_zFUl2_JPiyTQKHRbQUJUyy4PapsG7q_V7gjqSexMJM8is_ZCXYQPolL5Dc01Omn8g5hCtOGAwCbYNuBC3B9JX_XWqweZxBhiXN5ZonEzQfpv0tOzaQTbEx74wjNDEKbjHcXYZfwHHu8nfbeqCc53kcr3FKWHjmjxcsCBrBuoYE_0Zq0ETewwhMvXqHTDIC7mL6Hax9OGuxv57OnmeCR3UfvTLbI4FB-UUwINxInAQVpqVG-iW8Z0td5Zc_6hqo7iqsgbqgBnZIsRUHt460ZGctw==",
  "id": "rs_0b2592eabe56d4ef016ab45b47516487d095e13427559dccc6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.12},\"note\":\"The right gripper has closed onto a substantial part of the bowl rather than closing empty. I’m making a short lift to check that the bowl and its two fruits move together.\"}",
  "call_id": "call_45SASkH1aDI8AyPZTK2Bcx2T",
  "id": "fc_0b2592eabe56d4ef016ab45b48261887d090f12d4c65e1b233",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_45SASkH1aDI8AyPZTK2Bcx2T",
  "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]: [-0.8555, 1.6981, 1.3087, -0.6704, -0.5831, -0.6811, 0.5263, -0.1287, 2.0312, 1.3033, -0.7685, -1.1824, -1.6756, 0.603]\nstate[eef_state]: left_x=0.3446 left_y=-0.2428 left_z=0.1467 left_yaw=0.0165 left_pitch=-0.2491 left_roll=0.0829 left_gripper=0.5263 right_x=0.3885 right_y=0.1182 right_z=0.0939 right_yaw=1.5028 right_pitch=0.1738 right_roll=-0.1533 right_gripper=0.603\nstate[joint_eff]: [0.0479, -8.0479, 6.6393, 1.0965, -0.2662, -0.0659, 0.696, -0.1709, -12.2462, 7.0085, 0.1636, -0.8669, -0.0317, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbf8e41e0c8a1496ad13184f9371a1872b9863c90e9dc6f1307cb1da91a7516e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11375657ae105287b92a581166626c6e1139a32c7142416cf26a15ee5f2ff964",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b9d883f9d1aa0a72a85982bd8343c92ca766f66c23b4b9862f816af623fe321",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 11.99 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]: [-0.8555, 1.7065, 1.3041, -0.6575, -0.5838, -0.6815, 0.5207, -0.1379, 2.0613, 1.4967, -0.9253, -1.1931, -1.6897, 0.9962]\nstate[eef_state]: left_x=0.3457 left_y=-0.244 left_z=0.1433 left_yaw=0.0172 left_pitch=-0.2485 left_roll=0.0831 left_gripper=0.5207 right_x=0.4135 right_y=0.112 right_z=0.1299 right_yaw=1.5034 right_pitch=0.1827 right_roll=-0.1739 right_gripper=0.9962\nstate[joint_eff]: [0.0889, -11.1385, 9.265, 1.1453, -0.3932, 0.0269, 0.8767, 0.4855, -10.8376, 5.8462, -0.1392, -0.906, -0.105, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.8555, 1.6981, 1.3087, -0.6704, -0.5831, -0.6811, 0.5239, -0.1291, 2.1075, 1.2293, -0.6071, -1.2091, -1.6752, 0.6094]\nstate[eef_state]: left_x=0.3446 left_y=-0.2428 left_z=0.1467 left_yaw=0.0165 left_pitch=-0.2491 left_roll=0.0829 left_gripper=0.5239 right_x=0.3874 right_y=0.1199 right_z=0.0567 right_yaw=1.5067 right_pitch=0.1997 right_roll=-0.1659 right_gripper=0.6094\nstate[joint_eff]: [-0.0752, -8.3761, 6.4342, 1.0916, -0.3101, -0.0366, 0.7692, -0.2803, -10.9197, 5.4496, 0.2564, -0.5153, -0.0952, 0.9744]",
      "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]: [-0.8555, 1.6981, 1.3087, -0.6704, -0.5831, -0.6811, 0.5263, -0.1287, 2.0312, 1.3033, -0.7685, -1.1824, -1.6756, 0.603]\nstate[eef_state]: left_x=0.3446 left_y=-0.2428 left_z=0.1467 left_yaw=0.0165 left_pitch=-0.2491 left_roll=0.0829 left_gripper=0.5263 right_x=0.3885 right_y=0.1182 right_z=0.0939 right_yaw=1.5028 right_pitch=0.1738 right_roll=-0.1533 right_gripper=0.603\nstate[joint_eff]: [0.0479, -8.0479, 6.6393, 1.0965, -0.2662, -0.0659, 0.696, -0.1709, -12.2462, 7.0085, 0.1636, -0.8669, -0.0317, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbf8e41e0c8a1496ad13184f9371a1872b9863c90e9dc6f1307cb1da91a7516e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11375657ae105287b92a581166626c6e1139a32c7142416cf26a15ee5f2ff964",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b9d883f9d1aa0a72a85982bd8343c92ca766f66c23b4b9862f816af623fe321",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0b2592eabe56d4ef016ab45b4b41c887d0afc54720b8cc2b05",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.28,\"right_z\":0.17,\"left_x\":0.45,\"left_y\":-0.32,\"left_z\":0.28},\"note\":\"The blue bowl appears to be lifting with the right gripper. I’m bringing it toward the middle while raising the dark fruit above its future opening, keeping the two grippers separated.\"}",
  "call_id": "call_p1qerZOONTSZSagwur6eB7lk",
  "id": "fc_0b2592eabe56d4ef016ab45b4e589887d0bb8e8f1d1bcd44fa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_p1qerZOONTSZSagwur6eB7lk",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "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]: [-0.778, 2.4542, 2.7514, -1.441, -0.5636, -0.6319, 0.5284, 0.2668, 1.8824, 1.2236, -0.2413, -0.9562, -0.8959, 0.6066]\nstate[eef_state]: left_x=0.4474 left_y=-0.3033 left_z=0.209 left_yaw=0.073 left_pitch=-0.3201 left_roll=0.1713 left_gripper=0.5284 right_x=0.3838 right_y=0.2582 right_z=0.1262 right_yaw=1.4664 right_pitch=0.0979 right_roll=-0.066 right_gripper=0.6066\nstate[joint_eff]: [-1.4838, -21.053, 6.5573, 1.453, -0.149, 0.1441, 0.5055, 2.6325, -12.3966, 10.2496, 1.9316, -0.7302, 0.1978, 0.7057]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:448a3b551ce66f2aec56b4b279dd863178bbfc426b7c2b6deef9733dae863805",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6baf703d291e7640450f90ea0b06c84c890b5a84b918c6eb2b215a028fa4a136",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f223c5701dfe12a289615a52be57f50cdd6992e0ce85264d3b57152b861aae66",
      "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 · 3.572 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]: [-0.8558, 1.6981, 1.3087, -0.6697, -0.5831, -0.6811, 0.5233, -0.131, 2.0979, 1.2373, -0.617, -1.2037, -1.6814, 0.9962]\nstate[eef_state]: left_x=0.3446 left_y=-0.2431 left_z=0.1468 left_yaw=0.016 left_pitch=-0.2486 left_roll=0.0823 left_gripper=0.5233 right_x=0.3891 right_y=0.1186 right_z=0.0608 right_yaw=1.5091 right_pitch=0.1933 right_roll=-0.1791 right_gripper=0.9962\nstate[joint_eff]: [-0.253, -7.665, 6.1197, 1.2186, -0.315, -0.022, 0.7546, 0.1709, -7.9111, 4.2598, 0.3346, -0.4371, 0.232, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.8555, 1.6981, 1.3087, -0.6704, -0.5831, -0.6811, 0.5263, -0.1287, 2.0312, 1.3033, -0.7685, -1.1824, -1.6756, 0.603]\nstate[eef_state]: left_x=0.3446 left_y=-0.2428 left_z=0.1467 left_yaw=0.0165 left_pitch=-0.2491 left_roll=0.0829 left_gripper=0.5263 right_x=0.3885 right_y=0.1182 right_z=0.0939 right_yaw=1.5028 right_pitch=0.1738 right_roll=-0.1533 right_gripper=0.603\nstate[joint_eff]: [0.0479, -8.0479, 6.6393, 1.0965, -0.2662, -0.0659, 0.696, -0.1709, -12.2462, 7.0085, 0.1636, -0.8669, -0.0317, 1.0281]\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 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]: [-0.778, 2.4542, 2.7514, -1.441, -0.5636, -0.6319, 0.5284, 0.2668, 1.8824, 1.2236, -0.2413, -0.9562, -0.8959, 0.6066]\nstate[eef_state]: left_x=0.4474 left_y=-0.3033 left_z=0.209 left_yaw=0.073 left_pitch=-0.3201 left_roll=0.1713 left_gripper=0.5284 right_x=0.3838 right_y=0.2582 right_z=0.1262 right_yaw=1.4664 right_pitch=0.0979 right_roll=-0.066 right_gripper=0.6066\nstate[joint_eff]: [-1.4838, -21.053, 6.5573, 1.453, -0.149, 0.1441, 0.5055, 2.6325, -12.3966, 10.2496, 1.9316, -0.7302, 0.1978, 0.7057]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:448a3b551ce66f2aec56b4b279dd863178bbfc426b7c2b6deef9733dae863805",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6baf703d291e7640450f90ea0b06c84c890b5a84b918c6eb2b215a028fa4a136",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f223c5701dfe12a289615a52be57f50cdd6992e0ce85264d3b57152b861aae66",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFtcgnpcn0JijjgIwMoeJfq_6epOnVbKOgCGuUtYr_iokBKfExeX32gFTjh8z7DYsk5IeNztdXFNABNGIa_YWzkz2s83GHjdq2TuMW6Hf_vUTB4ILS_Ex234WJnRkiVEDf2Fax1gFBpsAsYpbUSRdFzZz2kscjuH-qmsj_-W2-UqGJHOLY6rFf272gpbIHQDa1RnxAvipuj8MXZahn5c0t1wt18KXhHhjKY4O2hPKFe9YMxf36tu_u7ONLQbET1p3G74yO0F1mLwa_v-wiHc_1L3XjKuGfTaxXEpSDcP18hHsNOHFu-9z3pofn7eFV2yz2yj8lask-VnoDv7ZJlJSusgr8UB8sH1-tUilohEqjHu_1_vyHKyrubfhJF-dIXa8YByQ4E8Bbieu7WCXoq9lr2zFkzN8f_auIahfywZBM2DDBtrSPcyK5wxBxOsVB3VikL4uql-CqU1YdFpRrmTDarb0R4-FRrzJOAh0jgrobO8bvANPjlNv5Juu1dEdI-CBCOZf5Et5YsyQlLyLvtLzVUYTB1n2D0gasnmz3-1C0_dMq-Xm_S-nasq8cykvRdQgHSHt5HCKnrn1PEcqpNoy7ychk5H36Cte7lDEU4dXwMqXO-GyH1yxRZ3Zlg-exNCv1Dt_gWRE-Sf6aWDLrQOWI3TjXGX74njerKRKvhaKxVeVX3GXs-tpxijT_XAWR0CVHg7mlPeE1ozmAq8sce2VK80NR8jSMtuAujrH56O0_X4kjhE6ITJpVVTT9brBrlA0O3URaWt2MaKitkC1kILcZ3eFNdXi3MMMBLrWQTcLBG11sMHtsQAttEA6sTL0cA4xaDsPE0lTa2PBekCe0QlbqUM_xvAKBmvhLiVA-NFzMC_CnWromgrn0jLMW5Z0cMcJKi6oZf6wXwMbXrm9AiBvkQGz9gGYaGEEEbQfgc8HvZPlsgLCdbfnMAqsnHiJBAkBcWlH72QzC7lWCRtwtEgu955w1PDbY4RfaKz9tkJixm2vC2-7fyqBacPzvI6MhcIYJtM6-GVK2bXSwR442J2QW7_SrsKZgDfmOAzykFrWgvdnnFqADsU86FK0bJeJ770HZY9qE0y_fjdrNQ9ZXgcvrgGNVXtM7lfjaJ3U5ctfglC_2bExIf8dpYUa3L4G3FcbY9SyIqS6xR3hgdvDroVm01NZlgg3CZ_ZVynUrJwQDiT6vpXM81WfJ0R6IEPFgqTBhax79W7gNgJ9Jp3yBvWgjvxMCBiRYrTw6ZouUxJ01fhwJoP1izOitTqvfyplXC9bwkVdcAZtfaDBYAzv_V4EcYFD44ivWRLUjNJDh6GVwKTNhnnTim54cQ2uGSVAkp5adjY67m0HLmooFyF79NNV32OUSMOzzIUnp7y_J6Nt1J3aCl8OnSTYcuN1ZyM4yazfeGbxsVPu6iHnuYiJAdZirzSXXxVPSsY-bjzhIa7g4TKwHRh99N0tZ2ToGhv9bfAtIQlBAMIMi9_GagcNKlvwfioWEa05Bn9Eq_INO9Qr9HaJPKRRPV_hNwIMdIVoHbSRng-6-Am0yr4KlZMpxwn6g7gROWlUcUHpZEKXiiE3hLavJESnDGhmYqbNYx_UR1N3UlpBYg2LEPuhgetoCqQ4TzWpft0KvHdGxdLjb9gsW6gC1_X2guTyd_DphMP8LFiUcv3i2Gh_hqHPXY4pgYrBqfhgw6BTn0RifUunxxhCwPSBacfMGJNG0LQarJ8fQhnPWZ88S66aA3YijMvRbcludijzxGlWWsYIkh5k6yLL58KM0ry7m6_v7odPdGBjxF2ZaVk_TpbQGXZBHqzUX9bo8niYtctlKDe310_qBak0GxtuOQYA1vjO_AGKwTgxaG5mgm2L7FWMn1yCl9ipZ5hlCd_-bjHqTrcezjMZn6gzQrz5e7NAaQ9Nbo-cYhmDdxDNuS4BtQvSVqScDP9Ps8e8CiteBNhxwRttW-2pXWLhVbwAvX_LXtKL824q3yVXufudl2WasEmd_dtAJ2IulzwFP8b2zHCPeBlgTynKwLWGymSEqWZreBTGGZWx9tu41a0BcPJ9wjpSweaIQI8M1KbPDqw2tEq33FmUlUSYNJAgpYFtjFtrBIYxeIjdWI1JBHKgOjIkRUFx9qxWM9X-FlvYA5U2I2PISqqyn_yOVvtfkMq5OTzOQogTry6B9FWqdp6InHMJL7ZdoTmfJzMeGCfoGAnEyXPbps2MgwtMO5becMXrTh0xml2QzdajoG46xjUmBfLn7cGzadC6jBuaSsagYhANFKPRNl0kEkEeRORAalBNZu3xKQc7JomJpssl_8AR57rQ5BBBn742SJpmObm2D-3PUT7aXHI7E6TSq6wdajghliFxpVMOnqXrNkxLmbnFZj0C24klDLW17dGmF-ls7lWIoUWQdMtItYHhggsyBAYJQy-lvlQzVdjl0ZgVlz6Mae7-0EJGtLyVCDRQ4MYUx0zztJNnPqhbhr1DLZP5jfFWAq8cwg1ZbodgaM3BfJRZwx_GgQjjfaovz1Zf4qh3lJ51ruM6CU6Fw7WO6_WgUJsFNG0j9F4Gznqge75wTPG2Lhy9qOB0sfGkvdz-9CRQZTHT224OLSd2oyKRSjzAZgVXJIBLPQr1PDHNG9JqfIjiVQTuv06-jT2dMVFTH6M2AO6bM6CX5UcU1X4lGQlCr2nOyVHdXJ6smG5xuJ1EGCwGjXIlKe4-QzNTZwz7igY7gxY6Yjsotf-ICRI7wuIMdZu3LfaqjvNsodkY3o6L2-BpSGDWEqI11-XYBppv4KadKI26KFnJH-7zIN4ryk5Pj44h3380ihStZ7FVKNpldHAn1ZQM9YGwXa2i9hQm_e5qhhQDUdxtzMKZPr2FL1dpWee70dbiOKA7FEi4MiPy79bp2yXb87U3SlrFf0p34m0-_89GqpOJ5AHwV9eGRxXv03Qo1P-0GGiuLuVrs9SLhv_fyxfeOrjg2DpcFkpql9dwnVMBAROlmXxoI8CwMa3JhsImFHEjedYJ0p1Y71KSI4uoaOdYArMLM6ZRJVuba4ZTYmMUIT82mPltqipINJCzZvorCBPMs-mt0bSRlEN1qFYZq-eoeFDHQQ8w1qZyzmIxFRCl3XbPqFDHDaqht5iMdMWr5slV9JhDUiLgs_Q9ctMuQXOC3xzPRVuyEStxKag9isFFflMlvVbrszaEnHkxHbX8z57jvaxMjToV5FdFUom4DMnMhGrcDEo3OZOtNrRK4PEFS8Hi0KxZL2bWrqOqYyWhOH92Qodd_PTNGqYe00q4dYUCHUjsZyntFBWFF6WgWhjf4GIws0mgFDHvIys2woCbncltkzSNZGL2F6UpTP-Xlt6FL6EsJpTGXQ0G5KSVfvKa6VQYZbWTeg_dE-a-5x_d7FvAgy6eTIs_gv_9qAXj7TfCnqAw7xtuSiMH9dkG-Tu2wS5CoJXL3nmkYesz4wPYFX9yH7Fb0ykNxTRMwptqe91fJOXot8dzq6l1-9Qh2QbW9W_R01lgWVH6CY-PV0Nvnj_vzPPr-gY_WXYVieYE0Tc7KRGxQgDOgjZ32hoEHE3eIXrhrgBOolXP_TqLUw6OyyzRkPs8iH_4mBYQ2-Yc152OD8TxmyHboTwOkwdANClKx2Qws3ArBWks24w7NhXOsxE30HvhXaHVixtcLT34s-W",
  "id": "rs_0b2592eabe56d4ef016ab45b52539487d0b9cc5af3bca95937",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.12,\"right_z\":0.14},\"note\":\"The latest overhead view shows that the right gripper picked up the pear, not the bowl; the bowl stayed on the table. I’m returning the pear over the blue bowl before changing to a rim-only grasp.\"}",
  "call_id": "call_mQDApJkI3jKHcboeyIo3Ock3",
  "id": "fc_0b2592eabe56d4ef016ab45b5a605c87d0895d63d39bd20027",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mQDApJkI3jKHcboeyIo3Ock3",
  "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]: [-0.7773, 2.4786, 2.8864, -1.5608, -0.5465, -0.6281, 0.5314, -0.0937, 1.948, 1.4174, -0.889, -1.0554, -1.5028, 0.6065]\nstate[eef_state]: left_x=0.4367 left_y=-0.2959 left_z=0.2249 left_yaw=0.0634 left_pitch=-0.3382 left_roll=0.1701 left_gripper=0.5314 right_x=0.3955 right_y=0.1208 right_z=0.13 right_yaw=1.4392 right_pitch=0.0573 right_roll=-0.0725 right_gripper=0.6065\nstate[joint_eff]: [-0.3214, -13.4496, 7.6513, 0.8864, -0.5788, 0.0122, 0.3004, -0.3624, -9.1966, 8.1573, 0.3053, -0.9695, -0.0513, 0.8181]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f827cd5e7512f9d9930fb25cce4ad952bb70d18f0c04ba4efeafce7862988a21",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b95cb364d91b2d989c2256367bbd08055375bef9bd84be1e276d124c8623811",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4948f0dcefdcae8b11fa5a540c8f0223be1aef720c69ebadbc8dd1e8cd55a673",
      "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 26 attempt 0 · /responses · status 200 · 4.768 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]: [-0.8555, 1.6981, 1.3087, -0.6704, -0.5831, -0.6811, 0.5239, -0.1291, 2.1075, 1.2293, -0.6071, -1.2091, -1.6752, 0.6094]\nstate[eef_state]: left_x=0.3446 left_y=-0.2428 left_z=0.1467 left_yaw=0.0165 left_pitch=-0.2491 left_roll=0.0829 left_gripper=0.5239 right_x=0.3874 right_y=0.1199 right_z=0.0567 right_yaw=1.5067 right_pitch=0.1997 right_roll=-0.1659 right_gripper=0.6094\nstate[joint_eff]: [-0.0752, -8.3761, 6.4342, 1.0916, -0.3101, -0.0366, 0.7692, -0.2803, -10.9197, 5.4496, 0.2564, -0.5153, -0.0952, 0.9744]",
      "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]: [-0.778, 2.4542, 2.7514, -1.441, -0.5636, -0.6319, 0.5284, 0.2668, 1.8824, 1.2236, -0.2413, -0.9562, -0.8959, 0.6066]\nstate[eef_state]: left_x=0.4474 left_y=-0.3033 left_z=0.209 left_yaw=0.073 left_pitch=-0.3201 left_roll=0.1713 left_gripper=0.5284 right_x=0.3838 right_y=0.2582 right_z=0.1262 right_yaw=1.4664 right_pitch=0.0979 right_roll=-0.066 right_gripper=0.6066\nstate[joint_eff]: [-1.4838, -21.053, 6.5573, 1.453, -0.149, 0.1441, 0.5055, 2.6325, -12.3966, 10.2496, 1.9316, -0.7302, 0.1978, 0.7057]\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 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]: [-0.7773, 2.4786, 2.8864, -1.5608, -0.5465, -0.6281, 0.5314, -0.0937, 1.948, 1.4174, -0.889, -1.0554, -1.5028, 0.6065]\nstate[eef_state]: left_x=0.4367 left_y=-0.2959 left_z=0.2249 left_yaw=0.0634 left_pitch=-0.3382 left_roll=0.1701 left_gripper=0.5314 right_x=0.3955 right_y=0.1208 right_z=0.13 right_yaw=1.4392 right_pitch=0.0573 right_roll=-0.0725 right_gripper=0.6065\nstate[joint_eff]: [-0.3214, -13.4496, 7.6513, 0.8864, -0.5788, 0.0122, 0.3004, -0.3624, -9.1966, 8.1573, 0.3053, -0.9695, -0.0513, 0.8181]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f827cd5e7512f9d9930fb25cce4ad952bb70d18f0c04ba4efeafce7862988a21",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b95cb364d91b2d989c2256367bbd08055375bef9bd84be1e276d124c8623811",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4948f0dcefdcae8b11fa5a540c8f0223be1aef720c69ebadbc8dd1e8cd55a673",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The pear is back over the blue bowl, with the yellow fruit visible below it. I’m releasing the pear into the bowl again.\"}",
  "call_id": "call_oZKshSlVt2e0bcE9RSfV4CWe",
  "id": "fc_0b2592eabe56d4ef016ab45b60b6d087d0b9b4594f04252ee6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oZKshSlVt2e0bcE9RSfV4CWe",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7773, 2.4836, 2.8864, -1.5616, -0.5407, -0.6285, 0.533, -0.0933, 1.9602, 1.4254, -0.9016, -1.0477, -1.5257, 0.9954]\nstate[eef_state]: left_x=0.4365 left_y=-0.2969 left_z=0.2218 left_yaw=0.0616 left_pitch=-0.3459 left_roll=0.1706 left_gripper=0.533 right_x=0.3956 right_y=0.1203 right_z=0.1263 right_yaw=1.4499 right_pitch=0.0483 right_roll=-0.0759 right_gripper=0.9954\nstate[joint_eff]: [-0.3077, -12.7111, 6.5983, 0.8767, -0.3443, -0.0366, 0.1441, 0.1299, -10.7145, 5.094, 0.5153, -0.5788, 0.2173, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9058c486965206998cdf3f7f9776a909fc37df3bc1c156553f940f1a66fcaee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22338ad0ae0e9bf5f56594c24b25b0f81119da1096fabcb27726f69ceeb92b90",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86b19dc6c4ac4c66a73fd3272ef51ae7c8953f23811625d16b080c19364a6ae0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /responses · status 200 · 11.06 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 90 changed as sent

message 98 changed as sent

message 101 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]: [-0.8555, 1.6981, 1.3087, -0.6704, -0.5831, -0.6811, 0.5263, -0.1287, 2.0312, 1.3033, -0.7685, -1.1824, -1.6756, 0.603]\nstate[eef_state]: left_x=0.3446 left_y=-0.2428 left_z=0.1467 left_yaw=0.0165 left_pitch=-0.2491 left_roll=0.0829 left_gripper=0.5263 right_x=0.3885 right_y=0.1182 right_z=0.0939 right_yaw=1.5028 right_pitch=0.1738 right_roll=-0.1533 right_gripper=0.603\nstate[joint_eff]: [0.0479, -8.0479, 6.6393, 1.0965, -0.2662, -0.0659, 0.696, -0.1709, -12.2462, 7.0085, 0.1636, -0.8669, -0.0317, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.7773, 2.4786, 2.8864, -1.5608, -0.5465, -0.6281, 0.5314, -0.0937, 1.948, 1.4174, -0.889, -1.0554, -1.5028, 0.6065]\nstate[eef_state]: left_x=0.4367 left_y=-0.2959 left_z=0.2249 left_yaw=0.0634 left_pitch=-0.3382 left_roll=0.1701 left_gripper=0.5314 right_x=0.3955 right_y=0.1208 right_z=0.13 right_yaw=1.4392 right_pitch=0.0573 right_roll=-0.0725 right_gripper=0.6065\nstate[joint_eff]: [-0.3214, -13.4496, 7.6513, 0.8864, -0.5788, 0.0122, 0.3004, -0.3624, -9.1966, 8.1573, 0.3053, -0.9695, -0.0513, 0.8181]\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 101 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]: [-0.7773, 2.4836, 2.8864, -1.5616, -0.5407, -0.6285, 0.533, -0.0933, 1.9602, 1.4254, -0.9016, -1.0477, -1.5257, 0.9954]\nstate[eef_state]: left_x=0.4365 left_y=-0.2969 left_z=0.2218 left_yaw=0.0616 left_pitch=-0.3459 left_roll=0.1706 left_gripper=0.533 right_x=0.3956 right_y=0.1203 right_z=0.1263 right_yaw=1.4499 right_pitch=0.0483 right_roll=-0.0759 right_gripper=0.9954\nstate[joint_eff]: [-0.3077, -12.7111, 6.5983, 0.8767, -0.3443, -0.0366, 0.1441, 0.1299, -10.7145, 5.094, 0.5153, -0.5788, 0.2173, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9058c486965206998cdf3f7f9776a909fc37df3bc1c156553f940f1a66fcaee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22338ad0ae0e9bf5f56594c24b25b0f81119da1096fabcb27726f69ceeb92b90",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86b19dc6c4ac4c66a73fd3272ef51ae7c8953f23811625d16b080c19364a6ae0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFtmL0GYSiZoC2IR7Hm66B9CBIL9wUauZuG11mJjbGZMLUrNN2YDIupijtN2eSDNPbxmxPOoz1GD48vPsoakOHybRIT7kkuusgxke5m1-uD9gA5BujAyxV9hgI3PVmMrpk6K0kquNua8QYFXi8xrITSU_l4Xox5yyMziiyzTSxzKIq363Y2IjRGbcczQUyf--Pk_qU2qWV4CuVpPxV8TnQXooX-WyybRUi9Ay1ClZiJO2TcSwhYiHjqx3bM5CdcMmsH_tGVxcNKA4iwXGonPpwtm_mMvd5aqaHD9Ub-QQd-MCnrTxsSQTk9q96KpZMqU1Xjmb6X-M3PcjZKbmy8v_yjIhtghA79pCLXtlbDx06bs98Ma-inh_WA0whK7tRoXCoQ8OqV5W6xKnCEKktrKmcdddsdXm_8mcI1Cq74rif7aIMj4mG5sIriF41odMEKtXIPaYiqcNs0hgjXP53gBdWHpc5D74UBy_AU3Gn5JiIT0pa1tDutqfpLITi3fHKuUqoyIau2szI8pQy8jhQoESJFRCTB_kzaggwwzvla6wzaK0QhTbXYL5Fc5X4iXEK4UWwVNPR4Zqg8h_XbXHXgVekVHkdMTB_X5xv6LM_YJxK4hh1g7t3at1N2XvYaUMW6hidorKa01rFmq9fAUrWx49vzV_-7mcscMYxpgJ3uJ6jC54M6qEpTfQFEyEn5EcS1QlizBRizKpmrRK7qKmSIogmD73JD0WQtJRaeGK-NivUiAZltxV8xdvOc3u_NvXAlK1A2TFaUk4wVJ7BHJzEujF9ZO_TVSbrEXj6CjUoK6R1La9F7swRVdJDrg-Er40v1nyNVs_Vl1lc9__0H4iL5CydAxDDjorF6ngF6T1mpunXgfMlsXevLbujtjofWGjs9sxSk-QXnALcNEIZQBBv62AHKS12KZzb1WeWkkO6rlNNSpscwwH2dSPgz8aKUusRMxyH4hAFJARM8JTzukm5aoKrjt0vBUkyJuftTb7hms9mXDVWQSPeoME0l9V3w_Gjbu3CA7SwPagj_RZe9gEFRhaXzOAaF_OHlKttbEz3wJ97CQFNDOuHc2_UmF1-Izm0AFrB2aN4aLwucnX9jHwm5Gmc6M308DxVXwmy6adqg-WeHivxTR77x8mvY2h1puNtY_bsUv8vnmRNxjJTxGC_NxH7awZmIStVWPeVNvHoPyxjUf61Vv_Oxcv3DqKmIOy7Cl_VrhOERqlGgG1TGg8Gbp7A3koIjXflRP8KqznCRhDs8ZzIcuJoWWpiP78AQ_HCHLi1gnPCBgKBhcYLPj-IX5Zgzncdw-q6FIFtYwrMbAFTd3E8of68yiXK5gMf38TYqK8i77mt3bZ2xv4kk2uCtv-cRkEDyHcoSD2SpeVlnciqzg4siagnHggq5aGNZ7Igyv4JJEBdbh023a8NyuzEH0Za_8XIGU5HHPU0uoIuHmL1qjJTHgySsUNFmDcI6ne1d2IQm_fooBnFbJtDICzadq7Nsdt3tkKL_fGsuGMuX8yjB8VAuM74Ggf7DOuwmeotAuhgnOM7zby1IA9YilNkvtzriZO_h7N9hTw1Si_OgvZeKWSRYdDwudYlMgHgxsQamqApT9ZZd_2sLXwULJtGgwmsntuks3Tbnq9Oj8tNrt_5vw8yxhGMF3ooOw86knoxiUTYp8COVlHTqxI1l-o7hQp6lpkWQ344incv1w-vWxtR5Nu3w=",
  "id": "rs_0b2592eabe56d4ef016ab45b63584087d0aededaf8624c5b39",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.435,\"right_y\":0.195,\"right_z\":0.14,\"right_yaw\":0,\"right_pitch\":0.25},\"note\":\"Both fruits are again in the blue bowl. I’m approaching its left-side rim from outside, with the jaws aligned across the thin wall rather than across the fruit.\"}",
  "call_id": "call_6OAr2qFuoRyFJRw2UvDpl9yg",
  "id": "fc_0b2592eabe56d4ef016ab45b65639487d0bfb09977f34d7264",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6OAr2qFuoRyFJRw2UvDpl9yg",
  "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]: [-0.7769, 2.4859, 2.8864, -1.5673, -0.5377, -0.6289, 0.5351, 0.6125, 1.7317, 0.8368, 0.4419, 0.3023, 0.0109, 0.9961]\nstate[eef_state]: left_x=0.4358 left_y=-0.2965 left_z=0.2199 left_yaw=0.0625 left_pitch=-0.3533 left_roll=0.1747 left_gripper=0.5351 right_x=0.4186 right_y=0.2342 right_z=0.1147 right_yaw=0.3411 right_pitch=0.1338 right_roll=-0.1016 right_gripper=0.9961\nstate[joint_eff]: [0.0068, -12.4786, 6.4889, 0.9304, -0.2906, -0.0366, 0.2125, -0.0889, -9.4017, 6.5573, 2.0342, 0.0904, 0.1392, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9be2c821630e4a84fe74319f84fc58f2a9f1efccfe03800d725f4a66fb3aed89",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:876066f09f9f3490e880f74fa9f65554bafdbd960f16f312e6448526ded46ffa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4131c018d880d9806b9aa3cdfd47f34b202df0699561bcf3fb1e213d7a18fb73",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 5.332 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 94 changed as sent

message 101 changed as sent

message 105 changed as sent

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]: [-0.778, 2.4542, 2.7514, -1.441, -0.5636, -0.6319, 0.5284, 0.2668, 1.8824, 1.2236, -0.2413, -0.9562, -0.8959, 0.6066]\nstate[eef_state]: left_x=0.4474 left_y=-0.3033 left_z=0.209 left_yaw=0.073 left_pitch=-0.3201 left_roll=0.1713 left_gripper=0.5284 right_x=0.3838 right_y=0.2582 right_z=0.1262 right_yaw=1.4664 right_pitch=0.0979 right_roll=-0.066 right_gripper=0.6066\nstate[joint_eff]: [-1.4838, -21.053, 6.5573, 1.453, -0.149, 0.1441, 0.5055, 2.6325, -12.3966, 10.2496, 1.9316, -0.7302, 0.1978, 0.7057]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7773, 2.4836, 2.8864, -1.5616, -0.5407, -0.6285, 0.533, -0.0933, 1.9602, 1.4254, -0.9016, -1.0477, -1.5257, 0.9954]\nstate[eef_state]: left_x=0.4365 left_y=-0.2969 left_z=0.2218 left_yaw=0.0616 left_pitch=-0.3459 left_roll=0.1706 left_gripper=0.533 right_x=0.3956 right_y=0.1203 right_z=0.1263 right_yaw=1.4499 right_pitch=0.0483 right_roll=-0.0759 right_gripper=0.9954\nstate[joint_eff]: [-0.3077, -12.7111, 6.5983, 0.8767, -0.3443, -0.0366, 0.1441, 0.1299, -10.7145, 5.094, 0.5153, -0.5788, 0.2173, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7769, 2.4859, 2.8864, -1.5673, -0.5377, -0.6289, 0.5351, 0.6125, 1.7317, 0.8368, 0.4419, 0.3023, 0.0109, 0.9961]\nstate[eef_state]: left_x=0.4358 left_y=-0.2965 left_z=0.2199 left_yaw=0.0625 left_pitch=-0.3533 left_roll=0.1747 left_gripper=0.5351 right_x=0.4186 right_y=0.2342 right_z=0.1147 right_yaw=0.3411 right_pitch=0.1338 right_roll=-0.1016 right_gripper=0.9961\nstate[joint_eff]: [0.0068, -12.4786, 6.4889, 0.9304, -0.2906, -0.0366, 0.2125, -0.0889, -9.4017, 6.5573, 2.0342, 0.0904, 0.1392, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9be2c821630e4a84fe74319f84fc58f2a9f1efccfe03800d725f4a66fb3aed89",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:876066f09f9f3490e880f74fa9f65554bafdbd960f16f312e6448526ded46ffa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4131c018d880d9806b9aa3cdfd47f34b202df0699561bcf3fb1e213d7a18fb73",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFtyiU6Cn3Mc7j6BZx5iR5ME2oQKTlufH5lZngwqYaehz_RqCfR3avT6As7vxhX_HaxkUGwI_3QSXY4jj3w93CykVN_KGXvpWR7nDHfzdtW77bWms3Qf7nnIYHhmKW8o7tdw7c71Zf_mxyUwQE9g6R1QXxL0OFEkiQgvvgfYmdEfb5A0lWhcPgmOEAImAY5tZCOGSNJwlFy2LGUTlRqjrK-Vx-m2flxuYP5F-wNKfjdoxYKFElF-tuAsIEaBMzygCp7mDrO5oTqladvdlE81TSPwv54lcYPJDiwZs3TC2VLcRNpRbcSZmm6tkFQYN4WKDeb_zCu7EqFS5pjVDIKDex63QXiBlSlk9Ap-g4KQgqjDsOu6T9Tll3upjRqBgDVhpzie6vV9HagMeG_yurL7L7Xq4fHOf4lzrM3BTyt9wgcYZfCk5ObtcV8G2PXV7p1D2ax4Dn5CzlvGnxOzUhlm8jRRnPXLdL5WVrWji7fub_2M0LAi6GJ4Z7yzIQYnpB1iiy0d4_f9BdziBlnPkp9XgEXN5CGot_w4ZzGRHRHPdaYTwqqP214-EtOCHoeu2OP_Gvs4LspKi4g4x4iTrG50iKwWHsrdTqsOYPUs0pMcjcQ6F5THopH3NU0TcxWbDwAIKCZ3nSQ4kokTcSrEe-QI8xyZtyLYpF4qHErnkUPSuest7UZlHBwG9Cfg218PVnZb_1G4vnpCsCLnNCIj50OISqOW-34-Rk2h9CfdTifDTDMHcV6jab4uYVIYlTON-VIY6zwmjRaza7ajqtfCvJ5DBYYs6IaYT-wYdqKhuWRPnhfd8aKg9pS9Wwyeprk9wP_jIS-hulb1Rmk-U3rWXshQX0UHY_BFVBh0y_DZA-OmmjMyLFuaLj0YSk7vOirZXs45V6I7D0smlw_iAa__FcbHo3_gNy-OFge9ahONWqLqo1KM6P-2qpXj7fFuE2mUFMeYgU7aL_ZHeHKQCDDMkdgP0Of3YNw8QpfrWSin4YjeQeP1_lTAVnOXpPCMFLSTjCzkCGuWXkStPOx2Z-8mqOFLBOM_UlWzZ3VpRwtMaRu6bpE-UQvkFDsqmkNpKcYNBCArb8B3_0NqWgrCCURoyIocgl6yCizkr0N7nVgw0YrVxRRwVHkTQW-h4xPBdVhX9mw1HOvN6K2i9aHexKv1V7PSS91lNhaEm05sSMURSXoHlQ06CGmqXAW1-lrrhm1mgETCN8uJm5zGGRyfxa_8HKAUHbDhE4qRkhC1WUul6j9mr8vwN6LsVQzEv8wIQNQLB7YB0Pwk9tvDtmhkT2zdSgDf_uKTAQlhsSlFBzWeDovpK7plqYxRaPtwnAgV3izSO9EwOsIrEWuOG60FQ4JMKxFK2DLH6zL1JnxYBZx1qkQt4UISJWdFP7wFKkEYfGcv6yZdtVIkZId2uO3LV0diB_IMuvPNQVDhr2lYOXCW6lnFDkeIFKEgrcXMHK3Ne8q9CHViMCJR0Sp2NKl5O15Gk2TgIHg1jqBYn6l7L46sNZUfxI4FZy0w1bXTPHi0hAJ42LVPkvfHjB-RyUhusBz4rtMvG7Exn9_qYFPtn6CBS7YyxlgK-lrI2Gk-WZ1x89MyNmGKlXvIG5Bc96qWfPM_VGEsoKxI6YRMtVykZ7wSog10qn8Lf5Qukho-V-7QBYnOcl8D6CM5HbPiZdivRtmQ7dV4ybXoIuB868CJIOKQ5SOiV8wUnNiQlaBIJQP_2MEGTkSCgC2TNXZogEXYspbDmpOJ7Z0MJ_i6bIW91ujoz-LcseInqGnt-FAY1V1zbn7mzzZQvDh-mOn74QClnlZR3GAnNLyNEQwldV6MjRi0R7WYlaxNS805vpvcFWapRqcd5vv2FbO6xLkiE5_M6RI7FtOzFZwHH3r05LmlFu3Y7BqP5pfknPUrXwXcLhRBdTgKIT9R5nCiSfOfEL4yDGIrDh00M2XVCgSWDpftb44Zin8p_D1Z1aiA7P2MZh8Tur0Si746-2U84_Ci9l8UsCMOa2f6yxq5AdH7D986YZeEk5sERUgxcCWyihdOrpaiwM0BVeofA7uF1doobQo6UwyPclinjUX3b3iEXqTulI802-ogN_MRBBigFIpKs3kBm8t_P8RGjOcCw_GggaTxHBZNszb_1tVKLxtYaRxh5IEIVTwDdcoltKAst75qO91yjFcCC2QFk-60muYMX7nx2joN_aLfQaXySr6DCeg7HFEMUW9s09Be1_kERxPhVs90xAECvlNeUcK8mFrMiIy7nc5zBvvBcreBdcDRhSArvn3JIOUx5Hasj0BHlL1BCf_M2p8pe9IFmUkCyvQJGz4NEEGhcsyOQK_Cu0PqpwTfzatZVwJX60yTZBHe7aUzEYrX4Lj9SpdhPXuv6rtmc6RVQqwcROTjrkMgtrE4XmN-gmHq7ws63tAnV57sZi9oOYpyiBrDbGkKiWibVmek5s9qWmVtmpkomT79bod6VbxdV1r8jUKRuKOv5ShkKUef6XryFlEEZVZzlm4bvD61eQpB4TiezP8SpT-hKX7-4Soglysbxz50X6-uanta0WLDg8OPBVMrI729Jpjgk9S9ge5BZbL6yuomxg8pKTTL8CjtKQ_z5Hpc9HL3vVMvbeMSDxZMsi8-U2Qerbbz1ZCh8blnCbpTtRYpoj1M39wejt5olJxQNxoYIyJepuozpGVuEBAB_EUxglWYL8eUULqTSAwwOuaJnBmi0H9PelikCiCuvI1s7LuO_qf-yOLYeFQnvPE2BKTLt5gQrH1VUoLIKAIHokMFgalau7QHAah6OoavY6OZXUiLP3-ApOSw8ofczpSdNPUMX0m5EiEnWQjx77aDl160NQTili0N7Q14gmqVKGVXIJfXa8dtp6hLQfuc5zJAZ58lu3QNsqgmwPN80bqROmEHPtg_HsFRoaIuZx9Cyd8fiprFMBAl9eIlDdV0sS4UEole8mRl6ZcDf-2gSHVwF0PXqSpbA1nbZ1cn2LqQj5Se4DJt_uwst3lOar9lMdPTF-UA75FArXx_EG1Zqi8xyN8qetH_a-CBSV6RPaUhrJFffm4JnOA54nu0jMtzpBir5iahU2JRU3o1Rj6obHXsYJPcxzgz1Hz1SLAAnGSRWNohFhQZzaLEW4JSJDwqfWJwDD0i9lYHZsar20wAwsa5gANWAJPXa8o9IengtyhHrq2t0cZwabS7oAEVeM9Ht1uIPJ8XNULGUxewjidw8-ysCv_KExW0xsLyeiLSVlINLe1x_WxHoPXjIr3NyfAwhB5KCRx-vk2BNK0j955G05DrIwjdp0ebq12Dz6wq3SZHl5ZQTs2h_cTeE_yHhK0CrVrYWdtBlpYa_RzAnKs3AlTx0DmCBlF24lZDIS9UflkaPmXIdG3bPH908COtPwYoFq-8xWxwHDe_KkWzKZLSjioZJNBhJxocek3pbzksHUeETK3JZT6zSiOK8ullnZMRdYrlUf1wQeyMpv5O2kRyFpM1jPQ8Lul1ODHwMw12x4FHRflgFG08Z5SJDpGR4NuoewWXwigKs_tZEBb2baoZAgdqEMOTlSKJnBY6yTRL5r2gEh9RBM6yNptxDgl3Q3FvTJ3iyA7m6N9-ccel",
  "id": "rs_0b2592eabe56d4ef016ab45b68de2c87d0b337d656b893eedd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.415,\"right_y\":0.205,\"right_z\":0.05,\"right_yaw\":0},\"note\":\"The repositioning disturbed the pear, which is now on the table beyond the bowl. I’m first securing the exposed side rim of the blue bowl; I will need to recover the pear before pouring.\"}",
  "call_id": "call_wiAbBaRfrW6S6Eze78sLFyDK",
  "id": "fc_0b2592eabe56d4ef016ab45b71364c87d0836c36e9b6ec3b6d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wiAbBaRfrW6S6Eze78sLFyDK",
  "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]: [-0.7765, 2.4947, 2.8861, -1.5696, -0.5369, -0.6285, 0.5365, 0.6075, 1.7523, 0.7578, 0.5423, 0.3824, 0.0326, 0.9962]\nstate[eef_state]: left_x=0.4361 left_y=-0.2967 left_z=0.2152 left_yaw=0.0653 left_pitch=-0.3615 left_roll=0.1836 left_gripper=0.5365 right_x=0.415 right_y=0.2126 right_z=0.0969 right_yaw=0.257 right_pitch=0.1466 right_roll=-0.1151 right_gripper=0.9962\nstate[joint_eff]: [-0.3214, -13.3949, 5.6274, 0.9158, -0.3443, -0.0269, 0.1343, 0.1436, -8.4718, 6.1607, 1.9023, 0.0317, -0.149, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39f19c1a1b1f11b525b7c178364321854a6ad6134f98a4944d61f26ccee14e29",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:263fa9bdf365b01200c6312dda29652a32260c106929aca06153de6d65a2e8f4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86155b4d784d662b1ccfd7a129b0c03d63ce94d9092f50e4b4566cb5d34ab32c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /responses · status 200 · 4.664 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 98 changed as sent

message 105 changed as sent

message 109 changed as sent

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]: [-0.7773, 2.4786, 2.8864, -1.5608, -0.5465, -0.6281, 0.5314, -0.0937, 1.948, 1.4174, -0.889, -1.0554, -1.5028, 0.6065]\nstate[eef_state]: left_x=0.4367 left_y=-0.2959 left_z=0.2249 left_yaw=0.0634 left_pitch=-0.3382 left_roll=0.1701 left_gripper=0.5314 right_x=0.3955 right_y=0.1208 right_z=0.13 right_yaw=1.4392 right_pitch=0.0573 right_roll=-0.0725 right_gripper=0.6065\nstate[joint_eff]: [-0.3214, -13.4496, 7.6513, 0.8864, -0.5788, 0.0122, 0.3004, -0.3624, -9.1966, 8.1573, 0.3053, -0.9695, -0.0513, 0.8181]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7769, 2.4859, 2.8864, -1.5673, -0.5377, -0.6289, 0.5351, 0.6125, 1.7317, 0.8368, 0.4419, 0.3023, 0.0109, 0.9961]\nstate[eef_state]: left_x=0.4358 left_y=-0.2965 left_z=0.2199 left_yaw=0.0625 left_pitch=-0.3533 left_roll=0.1747 left_gripper=0.5351 right_x=0.4186 right_y=0.2342 right_z=0.1147 right_yaw=0.3411 right_pitch=0.1338 right_roll=-0.1016 right_gripper=0.9961\nstate[joint_eff]: [0.0068, -12.4786, 6.4889, 0.9304, -0.2906, -0.0366, 0.2125, -0.0889, -9.4017, 6.5573, 2.0342, 0.0904, 0.1392, 0.0659]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7765, 2.4947, 2.8861, -1.5696, -0.5369, -0.6285, 0.5365, 0.6075, 1.7523, 0.7578, 0.5423, 0.3824, 0.0326, 0.9962]\nstate[eef_state]: left_x=0.4361 left_y=-0.2967 left_z=0.2152 left_yaw=0.0653 left_pitch=-0.3615 left_roll=0.1836 left_gripper=0.5365 right_x=0.415 right_y=0.2126 right_z=0.0969 right_yaw=0.257 right_pitch=0.1466 right_roll=-0.1151 right_gripper=0.9962\nstate[joint_eff]: [-0.3214, -13.3949, 5.6274, 0.9158, -0.3443, -0.0269, 0.1343, 0.1436, -8.4718, 6.1607, 1.9023, 0.0317, -0.149, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39f19c1a1b1f11b525b7c178364321854a6ad6134f98a4944d61f26ccee14e29",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:263fa9bdf365b01200c6312dda29652a32260c106929aca06153de6d65a2e8f4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86155b4d784d662b1ccfd7a129b0c03d63ce94d9092f50e4b4566cb5d34ab32c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFt4POr4L_32MHrgfX6AZeI5--WnysRyNJmtWE6vvEbjX8ZcsSmdoSlzFyhCYb_uSxBGY-rOBkqLg4y89e-aU7Av4Qx2zrjio7OZcGpwm7IVOUWYySU650KYXyFr-0TMT7z62F9999Ut3dOECaV3oUkP39puiFQitsBWx3vSemhCTnCpkt9Ljuibmt65Qx4QkjphGxeHaR4OHzq4LEOsMvCHbBecPDmvbLspSU2-0wfwqxZM2ax0volBm4haKYMjN1NLEWUB7giKYo1ROlz3QCRVqsdEx2woOaMc96muPyRVKhmyQNJnlxHovSm9hRjdkZBRaDvn29Oem8VANSIsXlksFAiWOTSW0qiDBUfcsKLHDKuSfzcF37xt9zyg_cgBwpO82W9U1BiHTKGnGsPZDZ1BBq3C4rZMAOMF1IzXaxznZ1HBTAva4_lsJ_8A3vWenLCCeYTGeRTa4JCSUvQwNwTbPCm9a3jAc7youpLPsYBAzTk9Ny_BBUihjU6L6btrGVNaHkjnOyo3Xj-J5xHrSxbKKyNKnJLwgn5HDiC0K_hEzQQbF9HlAxowPTCkJyQirqmaPDZPCsnGPx7OHbYjeIhmGOuR7cNKJ3Xs3MGDWdzXdd5cHwPsp7J1vRsjVel5iyqQWezT-h2xIp_qd4_bgouaK6Shc_n5Ql2uyRFmYtHB_4XrQ7iS32C0jYpEQbJrHVGJmcgrz027bxpOCDP2YW5owB-uZWfDYJG6ZUh4_vvlZFxV4BGWf0CkYxbnWKx4oeTZc_bF6iDp1FDeMuU2S9B5oFwmmx_70WtMfB0ypPNNKaOMKl8BJb2-5qsBjIPHW4_wFTXQqqzF0fTtyQbYvHEEpWijtISKICjVbloyDELo0rhMXis5B0Kd-iHOabIAV8_zsiGm5M_Tt2dVf_l8F1W7zw3Yv9vh7YkGwENYfAKln3ADM4pOLm059mnNRKB4h_JvhnSGSmFRztqgOgHxSrYWfmlDbGgNQD-qb0RyqVxqDM5ZSMPrqzfujb8jfbVTrtSAWXvpNyXZzgSfp-RsTc3mpPBtXgizLtjhvakmKU9Ku3QQYn0rwSn2-hjznTx44b-JM1B_4sK4O4S4b5G_rr4XdDqibxDB7BEzaRAp2qI_4rHNdw1qy7iavMx60Rw5rUSjxVA0MD8rYt0Mh9VgZqLZnkvdAdPOeSaGYDC86IKGtEwv99YyI5bwYL8v0RaItXrQbjMouX7JG407yLPVxYuMNpWhOdm2roxXgk5Sfrvxy_wR0TaxSSHB5hNK2i7MDeuiV4yIb5vxNjbMCsCA9a5NVAybLvPouCOIhHM6E7kGjYIC4JfbktWEZC3da5i1WWeIegALfUEe6ESRZnxvdL1XGq1gJn0EHbXV0LIbEOV2P75ydifXWu6RSg2iyZzDoI_Ut21AFXaXucpcx998OlhSurg6zCTRs2OOhDjckxyUrULBclSkZeLnYnwKagqR_CZiidx2Ikb-KE4KBX7hwxTGZp7ulBF9dshiXfxj2RaUwPXZU9NrRPJ0HYgk96yHKWaxEs2RWjeDji0YjGM7raLHeNE2ZIB38_3mtCxKSHKOP7kIYqbFObvfASLXXQ3MMUyn4eRKtzzzg-zDEkte8xxG9RK0V1RuRXmsrPCP8HrHrxPGYKf14snWQ_MffQrmDiV8b8xdqKALh6HAz9b13Btfuvc8WKf-Bbsi_tQR4-OQT3RFBrtghBJyyRm8t4jmkhZUtNW4nrcaV32FWa5ykWHydX9bzDiYuL6icMEORMnv3PQ=",
  "id": "rs_0b2592eabe56d4ef016ab45b74c03887d0b9b0c776781ce8dd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.24,\"left_z\":0.21},\"note\":\"The right arm stopped well above its requested height, so I’m not forcing the descent. I’m moving the left arm and its held fruit farther away to clear the working space.\"}",
  "call_id": "call_ZPDArdUQnGYcsg1JpyCQP9Rb",
  "id": "fc_0b2592eabe56d4ef016ab45b76fb3c87d09452998cb577a00f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZPDArdUQnGYcsg1JpyCQP9Rb",
  "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]: [-0.8421, 1.8763, 1.7718, -1.1946, -0.5411, -0.693, 0.538, 0.6064, 1.7523, 0.7578, 0.5488, 0.3653, 0.0257, 0.9962]\nstate[eef_state]: left_x=0.3427 left_y=-0.2419 left_z=0.1847 left_yaw=0.078 left_pitch=-0.4283 left_roll=0.2472 left_gripper=0.538 right_x=0.415 right_y=0.2154 right_z=0.0978 right_yaw=0.2736 right_pitch=0.1497 right_roll=-0.1121 right_gripper=0.9962\nstate[joint_eff]: [-0.6222, -12.7658, 7.2, 1.0769, -0.5348, -0.0708, 0.1343, -0.1436, -8.0615, 5.8462, 1.8584, 0.188, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:575bd6f96db084c4c888668b6047331643ceee7de4838f8afb74c5c985c4a32b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00777e46df7e84afe6ed5a9591e396214b0f1886a0fe15e17daee087b9b202ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfb7f931daf4d6b1b237d594ecc9721a6babda93ee1c7a06f47e3b542dad9afa",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 30 attempt 0 · /responses · status 200 · 4.101 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 101 changed as sent

message 109 changed as sent

message 113 changed as sent

message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7773, 2.4836, 2.8864, -1.5616, -0.5407, -0.6285, 0.533, -0.0933, 1.9602, 1.4254, -0.9016, -1.0477, -1.5257, 0.9954]\nstate[eef_state]: left_x=0.4365 left_y=-0.2969 left_z=0.2218 left_yaw=0.0616 left_pitch=-0.3459 left_roll=0.1706 left_gripper=0.533 right_x=0.3956 right_y=0.1203 right_z=0.1263 right_yaw=1.4499 right_pitch=0.0483 right_roll=-0.0759 right_gripper=0.9954\nstate[joint_eff]: [-0.3077, -12.7111, 6.5983, 0.8767, -0.3443, -0.0366, 0.1441, 0.1299, -10.7145, 5.094, 0.5153, -0.5788, 0.2173, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7765, 2.4947, 2.8861, -1.5696, -0.5369, -0.6285, 0.5365, 0.6075, 1.7523, 0.7578, 0.5423, 0.3824, 0.0326, 0.9962]\nstate[eef_state]: left_x=0.4361 left_y=-0.2967 left_z=0.2152 left_yaw=0.0653 left_pitch=-0.3615 left_roll=0.1836 left_gripper=0.5365 right_x=0.415 right_y=0.2126 right_z=0.0969 right_yaw=0.257 right_pitch=0.1466 right_roll=-0.1151 right_gripper=0.9962\nstate[joint_eff]: [-0.3214, -13.3949, 5.6274, 0.9158, -0.3443, -0.0269, 0.1343, 0.1436, -8.4718, 6.1607, 1.9023, 0.0317, -0.149, -0.0024]\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 113 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]: [-0.8421, 1.8763, 1.7718, -1.1946, -0.5411, -0.693, 0.538, 0.6064, 1.7523, 0.7578, 0.5488, 0.3653, 0.0257, 0.9962]\nstate[eef_state]: left_x=0.3427 left_y=-0.2419 left_z=0.1847 left_yaw=0.078 left_pitch=-0.4283 left_roll=0.2472 left_gripper=0.538 right_x=0.415 right_y=0.2154 right_z=0.0978 right_yaw=0.2736 right_pitch=0.1497 right_roll=-0.1121 right_gripper=0.9962\nstate[joint_eff]: [-0.6222, -12.7658, 7.2, 1.0769, -0.5348, -0.0708, 0.1343, -0.1436, -8.0615, 5.8462, 1.8584, 0.188, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:575bd6f96db084c4c888668b6047331643ceee7de4838f8afb74c5c985c4a32b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00777e46df7e84afe6ed5a9591e396214b0f1886a0fe15e17daee087b9b202ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfb7f931daf4d6b1b237d594ecc9721a6babda93ee1c7a06f47e3b542dad9afa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFt98l6YhjuOgjZStHSYxdo5ppY_bvVCVx4IwWm3NHCeFEbbqJxq_jr0HW87v9VpEByrEjFA_xLrdwUV0sRoeME2mDOP6GHyuXN3jfXamc0KQ7a1Tnr9ENSQmFiVJxVR-RBrPzF_72MF9M52Bo8QoMTh3ASWW7sdLQFprIajpRSy8xP3ZlOmGwkUg3vFpIqaO-lB3tS34kqDK-bSfQgFbh2qcyhIj1eNtrblPNh6ygBzZLGt0I_9LPCcsfdXGMdnhoO9kXHFDiz1CwhawQlIkM1gTk04d1a0RgYYwXjcHCUAN9wMDAq2x5UerJNMMYmNftvaAVDPQD90N18idoMWRwVrdXO9zZWcbpJ-WuTO001ewZusGQ4ceYfvExkRQB8nTh3EfyOuTFFAWUcskZpqg7VwjESzERAqGButYcDcvOdKTFpDkLP7QuvZ7rxizk0Zd3In7bbMGDygEs5EaRRhsGcuePM4OkVxpw74u9zKnRcwLtyxo5KwOUp5aef6hP0TCt_CGrD-qkiAm94RDnLHhF7r-Twxjph8U219K0nIXv0_bPMMEB0PM_zCiau9LlKcGUGlqvb6cp3nC-c0OqZZa6XTu52ZVdUcTkrbS9D2L5DX8vp_6ZczCspuJ_h46XH6ujTh8qmjW9fo0Va1dYkOaiMiXSGnYzf1lrhh4yod08iiVWmZtRdXOTxbUe410m7KE8tvMiAFdbZIjM5zo2soIw1NGcdG84UUqG6blj1fr5F8n1bB6AbPko-LBLs7J1uUe3XlZHzNXGTinZs9tyrMdn_I2-e3uricXP-le8e7WDCj8H4lEXEs2M7fEgCJ0bGNCaPmmg06OL0r-e_krsmZ9myj4YM1iywg-fSFre1ZhbNQDJqLpjDavaaHmdEY2pWKtSY0f3j_eA3QQCPfUGDDXqHByCsZ2qBi6FvWadV9sKA6muEkO2z_rXd6lhnJ-OdsG1Ldsbrg3xHOY3zC1063WhR1bGZoaIj0rg0HOJZUhk9a5dl7GkGnuenz0Iqq3nIEdofXpozjbm7PkdGws-iosH5_6_FM6SRa60a0OhLydpOeCyvnU5Ad7vmNCCANeuyOsUmRS-EjhUbspkuraU4REX1QffDLnb88l_X0wYPkV-zyo-Gx5Cn0MEQ4iJ22iI3V0JnqfZss8-oNtRXw-KRJoURP7ZW5KomMRo_rJG6RhvROh7PKaZf3_8XAG8dlYla2bNDsShr4xFm_fXGTFsGm8bi2fT46gsWpUUP_0IwDDMPViOGRHlMhIh8ZxBdR0MD0TY6X-rI35tMj5koCBNGxLaZ_ODonYja9mc3fkoMD07ygUCkOeuYMhcg74ELsB-l1T7FUUskoJOss5GdBNLDfrngQz8BSn2vde_G7Inj9xbD3yc014hyZNntW910LuWHkKvuIOSNIdM-Rr0gkUpdxvPD2IqncAkul3tVoCC17jD2DRtKqqs4HEP9Y5GR4tGAO-quMhbfK_sydlc2LzuBPB3P6Ciy57ey1PB-KbaWhA4fPISaZL1BtEdMrRMaDLdLBMdIb",
  "id": "rs_0b2592eabe56d4ef016ab45b7ab2c087d0ae14e4a81a9bae82",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right fingertips are bracketing the bowl’s exposed side edge. I’m closing gently on that edge and will check what moves before transporting it.\"}",
  "call_id": "call_o05qwsSEByVvSVCaCBpBbcYJ",
  "id": "fc_0b2592eabe56d4ef016ab45b7c41e087d085dcc12c41c807ea",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_o05qwsSEByVvSVCaCBpBbcYJ",
  "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]: [-0.8429, 1.8797, 1.7592, -1.1885, -0.5373, -0.7036, 0.5394, 0.6064, 1.7523, 0.7578, 0.5407, 0.3611, 0.0181, 0.009]\nstate[eef_state]: left_x=0.3416 left_y=-0.2421 left_z=0.1795 left_yaw=0.085 left_pitch=-0.4358 left_roll=0.2471 left_gripper=0.5394 right_x=0.4141 right_y=0.2156 right_z=0.096 right_yaw=0.2817 right_pitch=0.1411 right_roll=-0.12 right_gripper=0.009\nstate[joint_eff]: [-0.1983, -9.853, 7.0359, 0.6716, -0.3834, 0.0806, 0.1343, -0.0889, -7.9795, 5.8325, 1.8828, 0.1001, 0.0415, 0.696]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f74ee204d104a5837a6cf14f8b33ab42f0a81a8666b91a52bf156587bfbf778",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d15ce5136d3201bec0a117a94cfacf451e66bd854363fc242b5e48948c164ab0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83117dc1da223c2e18047779eb2c30c9c0d739d9a77e963c6a2a39e107f64372",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /responses · status 200 · 3.459 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 105 changed as sent

message 113 changed as sent

message 117 changed as sent

message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7769, 2.4859, 2.8864, -1.5673, -0.5377, -0.6289, 0.5351, 0.6125, 1.7317, 0.8368, 0.4419, 0.3023, 0.0109, 0.9961]\nstate[eef_state]: left_x=0.4358 left_y=-0.2965 left_z=0.2199 left_yaw=0.0625 left_pitch=-0.3533 left_roll=0.1747 left_gripper=0.5351 right_x=0.4186 right_y=0.2342 right_z=0.1147 right_yaw=0.3411 right_pitch=0.1338 right_roll=-0.1016 right_gripper=0.9961\nstate[joint_eff]: [0.0068, -12.4786, 6.4889, 0.9304, -0.2906, -0.0366, 0.2125, -0.0889, -9.4017, 6.5573, 2.0342, 0.0904, 0.1392, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8421, 1.8763, 1.7718, -1.1946, -0.5411, -0.693, 0.538, 0.6064, 1.7523, 0.7578, 0.5488, 0.3653, 0.0257, 0.9962]\nstate[eef_state]: left_x=0.3427 left_y=-0.2419 left_z=0.1847 left_yaw=0.078 left_pitch=-0.4283 left_roll=0.2472 left_gripper=0.538 right_x=0.415 right_y=0.2154 right_z=0.0978 right_yaw=0.2736 right_pitch=0.1497 right_roll=-0.1121 right_gripper=0.9962\nstate[joint_eff]: [-0.6222, -12.7658, 7.2, 1.0769, -0.5348, -0.0708, 0.1343, -0.1436, -8.0615, 5.8462, 1.8584, 0.188, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 117 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]: [-0.8429, 1.8797, 1.7592, -1.1885, -0.5373, -0.7036, 0.5394, 0.6064, 1.7523, 0.7578, 0.5407, 0.3611, 0.0181, 0.009]\nstate[eef_state]: left_x=0.3416 left_y=-0.2421 left_z=0.1795 left_yaw=0.085 left_pitch=-0.4358 left_roll=0.2471 left_gripper=0.5394 right_x=0.4141 right_y=0.2156 right_z=0.096 right_yaw=0.2817 right_pitch=0.1411 right_roll=-0.12 right_gripper=0.009\nstate[joint_eff]: [-0.1983, -9.853, 7.0359, 0.6716, -0.3834, 0.0806, 0.1343, -0.0889, -7.9795, 5.8325, 1.8828, 0.1001, 0.0415, 0.696]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f74ee204d104a5837a6cf14f8b33ab42f0a81a8666b91a52bf156587bfbf778",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d15ce5136d3201bec0a117a94cfacf451e66bd854363fc242b5e48948c164ab0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83117dc1da223c2e18047779eb2c30c9c0d739d9a77e963c6a2a39e107f64372",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFuCznXxoZ7umfAvqAN80HcVTEQukKGyC3PYsZr35H4GHs-g-u0mvYvhYmZHE_V_nGpX4fSAnOeddV78ensD9-xm-eRC3mbfTC8AN0y0AxMMjpQ3k-EXWSVtaB10DcVNhk1p8FZdPdgIwEq8hzUbKuw530RxIMo2t4WsM0ogWIg_XXQqAi2608h1EtGGGN8fDyGnr3bo6CTTSA6zEbi1vLzzD3z3X6QpOLcv9f7C4j5NhZepr_IkEYKr8VmZLf50zDaDFTot3SPAPjipmQzRpdZmNvkj3SMZHyuAAPwBUXWkTjLh5UQklCp4F-Y5WkE1U2MeIU3lgJslbw8EXTTLQXkS_qewhvtWuAqWAjBsoPgKQzphc9cGmiGKLnyNO1lJFWv0dyaztMMTI4vH7JhEoosZDHTr08638-p53N0zfJY1FQwXowFRpHCzYr2N2fRua8HUzHjWp_QBiIAvIAcwbLNwnzOjKK4Ntpx5DAn09cbKWj9nuXf5VFCgnd9zTweUVntfadQwqtrUphKGzdV69vEIKuGXbJIZa137fhlWOvZiHO-nXfhEZqQUDdyJ8bkE0UUvNC1jwJmde1m7dBfsBsrMaxsiSFzXk1tDzOCU_kTBFObtUAIUGtMfIzEkim2R9AFHZ93ZQywc2eJhqNTroeWm_H8CB3tFp7fvgD_2zKQq0RGH4TFUPM4q1bkUmwy74jZFFlQ-C_P-3XW_BeEwvDuhEZY0qokRxXALZCuGQLfoZUG0cxB7sPRecqV1ltD-14qlsTbac1VBGXjrLC-bOt4pGcgowBggSmqzoMAD-e6tgUoA5H1D6a6ClF5ggqryXCZlHYtWVCNwT0x-0dSoo6Ad6gCI88fpAaG7ubWdl9MAQcgffd8ENFGa_cNeNL-w3NdYiKv_F9pXdKmUe_Vg6FWVlgV-a2i3JNt1Ji7X52RACYSf3HZMY80lcvfo_-ixEi9AVuplTYqFbsJi00rMvXNt3TBQRdOfeN7HnifE3Ah2NMFewECWxz47DonV-lvfVQH_5snGfsTlSoFtJPSfBI8FZHwsG7ba1LW4vyAscS30kwwSJJcgkkVgNgnObcNJEjO97Emh4o8FsLadFGXd0xWEpBwaxi-oXZo0meThtvBTiKUr3NLqEs-UdcDprvSwYkmriLa49ORsPYksFpWWaQLUZXfCEdP_76-BMcO6MMijQ0-F1oC2_mSVaW6r7SHBZO6QJ-ZjRJjLtkCQJFuy4B-f8Z0R-C9r_FV8IWvcw1jucY6hZfntL6aLRw12DPvK3stEEtKdtfssCm_MmF4Z2oM1kaVceUK_X3ZtfJAdEmDZOQXIlgCyiuxlcdEVZKTZTsX9G3ERXVYanR4yCUwk5Praw1jDdtEOsYglK6jAvd-wE7FIPeEMPRCcPzcsNCj3LmSy6BOgFwYoK_46u5Ij12JB1kHV4M_48XsvCM_wasRGdz4hmP-zuQRLX8HRy_OZTvZLdi5viV4DwPUxHROS9bl9vWFO_wvQSg2hQrpaTjiciZHCFzr1ILJCWH21N4fUioaa",
  "id": "rs_0b2592eabe56d4ef016ab45b80558c87d095e1e68f7ff83ef9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.415,\"right_y\":0.18,\"right_z\":0.045,\"left_x\":0.29,\"left_y\":-0.12,\"left_z\":0.23},\"note\":\"That close was empty, so the jaws were outside and above the rim. I’m opening, shifting a few centimeters toward the bowl, and clearing the left arm farther away for one corrected attempt.\"}",
  "call_id": "call_vtJbnD9b4HVHazt3xdfBzUkq",
  "id": "fc_0b2592eabe56d4ef016ab45b81612087d08c93a79e95d1f582",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vtJbnD9b4HVHazt3xdfBzUkq",
  "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]: [-0.6804, 1.4544, 1.4666, -1.2362, -0.4885, -0.5484, 0.5408, 0.5102, 1.8767, 0.6289, 0.7734, 0.2787, -0.0284, 0.9955]\nstate[eef_state]: left_x=0.2957 left_y=-0.128 left_z=0.2247 left_yaw=0.099 left_pitch=-0.4346 left_roll=0.2355 left_gripper=0.5408 right_x=0.4127 right_y=0.1794 right_z=0.0411 right_yaw=0.2805 right_pitch=0.1079 right_roll=-0.1323 right_gripper=0.9955\nstate[joint_eff]: [0.212, -6.5162, 6.0103, 0.906, -0.3053, 0.0611, 0.1343, -0.4171, -7.3778, 4.2598, 1.8828, 0.0513, 0.0415, -0.1734]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a32a81ca1085c5c050c758aa1713ced1ce0f2c0e8b354f3edbb3351f1de1b24",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:936989864060258503fc8b176cba1beeeb5f0acbae70f75c5fc54a8257c279ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95417ee218407684065b2fd1623baaa52c2954e0380675503a34570db56afc35",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 32 attempt 0 · /responses · status 200 · 10.96 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 109 changed as sent

message 117 changed as sent

message 121 changed as sent

message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7765, 2.4947, 2.8861, -1.5696, -0.5369, -0.6285, 0.5365, 0.6075, 1.7523, 0.7578, 0.5423, 0.3824, 0.0326, 0.9962]\nstate[eef_state]: left_x=0.4361 left_y=-0.2967 left_z=0.2152 left_yaw=0.0653 left_pitch=-0.3615 left_roll=0.1836 left_gripper=0.5365 right_x=0.415 right_y=0.2126 right_z=0.0969 right_yaw=0.257 right_pitch=0.1466 right_roll=-0.1151 right_gripper=0.9962\nstate[joint_eff]: [-0.3214, -13.3949, 5.6274, 0.9158, -0.3443, -0.0269, 0.1343, 0.1436, -8.4718, 6.1607, 1.9023, 0.0317, -0.149, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8429, 1.8797, 1.7592, -1.1885, -0.5373, -0.7036, 0.5394, 0.6064, 1.7523, 0.7578, 0.5407, 0.3611, 0.0181, 0.009]\nstate[eef_state]: left_x=0.3416 left_y=-0.2421 left_z=0.1795 left_yaw=0.085 left_pitch=-0.4358 left_roll=0.2471 left_gripper=0.5394 right_x=0.4141 right_y=0.2156 right_z=0.096 right_yaw=0.2817 right_pitch=0.1411 right_roll=-0.12 right_gripper=0.009\nstate[joint_eff]: [-0.1983, -9.853, 7.0359, 0.6716, -0.3834, 0.0806, 0.1343, -0.0889, -7.9795, 5.8325, 1.8828, 0.1001, 0.0415, 0.696]\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 121 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]: [-0.6804, 1.4544, 1.4666, -1.2362, -0.4885, -0.5484, 0.5408, 0.5102, 1.8767, 0.6289, 0.7734, 0.2787, -0.0284, 0.9955]\nstate[eef_state]: left_x=0.2957 left_y=-0.128 left_z=0.2247 left_yaw=0.099 left_pitch=-0.4346 left_roll=0.2355 left_gripper=0.5408 right_x=0.4127 right_y=0.1794 right_z=0.0411 right_yaw=0.2805 right_pitch=0.1079 right_roll=-0.1323 right_gripper=0.9955\nstate[joint_eff]: [0.212, -6.5162, 6.0103, 0.906, -0.3053, 0.0611, 0.1343, -0.4171, -7.3778, 4.2598, 1.8828, 0.0513, 0.0415, -0.1734]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a32a81ca1085c5c050c758aa1713ced1ce0f2c0e8b354f3edbb3351f1de1b24",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:936989864060258503fc8b176cba1beeeb5f0acbae70f75c5fc54a8257c279ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95417ee218407684065b2fd1623baaa52c2954e0380675503a34570db56afc35",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFuHaosmeCqyVUvugy8pUMlWxUtDu4YT50pGMM_MJdcih4tSjlZ-7z_gKs6l4JETNl4-NfZ-5PSro94qzp15EfWYSoOpuNgsNrgxVey9TUxQQW7OmcsmzJewypCUWx_GUL7HAL-wqqc7727mjjEYWCH63jXi7jtq0Hafw8sRf9zaTbEnWpt-UPCsFNuNLOLwp28OJ6l_FaIwhXhM-oEVdZpgBEJAGZY2m8PLRr21CXfTWNDfxyE2n2lfwg7LPFT22jxSRMBLqSwLOXYLNN0xGRdDki2_L7jiB0xsHqv-10Pz7h3G4aF4ABVNm8lUu2tra-BFaf548UrNZXk4tbv-V5-trwifu6q9Ly7jiA8L9e4nOEiXmEYhuoyQUBvG7KfUfaxJLt3a1tOnZbEdFYrmu-01ofR2pJkkuWOxUjTPPzDjAL0dwo1tHxf0pt9hT3gXV8yEOue2itIInrjJhX-DIdpwJ2yneIg66g_K916V_83YViFnGb3J52ba5zaeM8OJqWa9pgv6QWL6e8dzSeXtFqqlX6XmUd89dkFSjacMmY1xCaM0_wYz5noO1wbVJET5s5q8cZmYDabpSUB19kul7BEXBTtkQae9pVD9E-oCBxNtazT-3jMD66qws-3AD5aWbi-4dB8J-GEt-pAd-HyIQatsR6wKu4qa1naJHXsDheJ6zr93VhDXpurJ9kVLH8hEsZL9djXuHySNpEOeleX4K58blmyzyjhj75E0k2NZ1yW0dnlisL7SrDZ2ds1LqH6e-x8N8DVX8zSJ1Uk2ejYNysX-jUEPA4WJ7P5iE4mbLVJxI9rzluEjmUzlH080iAIyZZFws5yKXmvLC7s0gI_MiSa2fxPEIw9PXyXIdhr_oD3sFmigxvZByoLTwOOTqD38hU51e472zebs2z3cg2yHMnfhyUsodgR3mWksQ_8sxdJZYLB82O9E7hd3Pvs5e67esNs5P3gbh3dAYVVcKgPYWGouc2gIM6w9ZXP3H9iDNtkTelV7CdXvqoi94rRz5scD9YH3FKNxoSIumRU1T92Yo8rc2fiXbQdvV6Q2hDrY2-6W9xzDhh9-5nK4Dnyzl4sHtlXj5JcsB0sDiFSgPbp8UvKspWI206Qt-WuQ9J-M2KhQVjG_DPr1VOAJOPJgA2ROBFnZM_xSL0AAq4RD4pvYNDrSVtu8Y0qRnpSdPgsJgr-sap-K1Rb3P0l5xY765Qk-7602Tr-m-OMAnHWHb6_aztwOXQ==",
  "id": "rs_0b2592eabe56d4ef016ab45b858bbc87d0a15132cd182ebacc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"With the left arm clear, the right gripper reached the intended rim height. I’m closing on the blue bowl’s side wall.\"}",
  "call_id": "call_asseNYjB5wA65NISfJzLQ3kO",
  "id": "fc_0b2592eabe56d4ef016ab45b85d10c87d0a83f68e4202d4955",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_asseNYjB5wA65NISfJzLQ3kO",
  "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]: [-0.6773, 1.4593, 1.4548, -1.248, -0.4778, -0.5468, 0.5416, 0.5083, 1.8816, 0.6224, 0.7731, 0.2714, -0.0345, 0.009]\nstate[eef_state]: left_x=0.2922 left_y=-0.1262 left_z=0.2178 left_yaw=0.1039 left_pitch=-0.4622 left_roll=0.2508 left_gripper=0.5416 right_x=0.4105 right_y=0.1786 right_z=0.0365 right_yaw=0.2882 right_pitch=0.0952 right_roll=-0.1371 right_gripper=0.009\nstate[joint_eff]: [-0.3077, -5.9282, 7.0632, 0.9353, -0.4322, -0.0611, 0.0659, 0.0615, -8.4034, 5.1077, 1.8437, 0.1587, 0.0317, 0.7009]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1898ec4f51abe568aac5c76356b7835dc8e0d77d90b2502427946b50e54b9140",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e94a824fbe92accc55e40c406214519a29244accdf2728c3c0b448d6647f458",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c666b5aa117e7b901880a06c0cc9e83786b7cb5ce6357896e7f08d6e3bafd8a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /responses · status 200 · 4.108 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 113 changed as sent

message 121 changed as sent

message 125 changed as sent

message 113 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]: [-0.8421, 1.8763, 1.7718, -1.1946, -0.5411, -0.693, 0.538, 0.6064, 1.7523, 0.7578, 0.5488, 0.3653, 0.0257, 0.9962]\nstate[eef_state]: left_x=0.3427 left_y=-0.2419 left_z=0.1847 left_yaw=0.078 left_pitch=-0.4283 left_roll=0.2472 left_gripper=0.538 right_x=0.415 right_y=0.2154 right_z=0.0978 right_yaw=0.2736 right_pitch=0.1497 right_roll=-0.1121 right_gripper=0.9962\nstate[joint_eff]: [-0.6222, -12.7658, 7.2, 1.0769, -0.5348, -0.0708, 0.1343, -0.1436, -8.0615, 5.8462, 1.8584, 0.188, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 121 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]: [-0.6804, 1.4544, 1.4666, -1.2362, -0.4885, -0.5484, 0.5408, 0.5102, 1.8767, 0.6289, 0.7734, 0.2787, -0.0284, 0.9955]\nstate[eef_state]: left_x=0.2957 left_y=-0.128 left_z=0.2247 left_yaw=0.099 left_pitch=-0.4346 left_roll=0.2355 left_gripper=0.5408 right_x=0.4127 right_y=0.1794 right_z=0.0411 right_yaw=0.2805 right_pitch=0.1079 right_roll=-0.1323 right_gripper=0.9955\nstate[joint_eff]: [0.212, -6.5162, 6.0103, 0.906, -0.3053, 0.0611, 0.1343, -0.4171, -7.3778, 4.2598, 1.8828, 0.0513, 0.0415, -0.1734]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 125 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]: [-0.6773, 1.4593, 1.4548, -1.248, -0.4778, -0.5468, 0.5416, 0.5083, 1.8816, 0.6224, 0.7731, 0.2714, -0.0345, 0.009]\nstate[eef_state]: left_x=0.2922 left_y=-0.1262 left_z=0.2178 left_yaw=0.1039 left_pitch=-0.4622 left_roll=0.2508 left_gripper=0.5416 right_x=0.4105 right_y=0.1786 right_z=0.0365 right_yaw=0.2882 right_pitch=0.0952 right_roll=-0.1371 right_gripper=0.009\nstate[joint_eff]: [-0.3077, -5.9282, 7.0632, 0.9353, -0.4322, -0.0611, 0.0659, 0.0615, -8.4034, 5.1077, 1.8437, 0.1587, 0.0317, 0.7009]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1898ec4f51abe568aac5c76356b7835dc8e0d77d90b2502427946b50e54b9140",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e94a824fbe92accc55e40c406214519a29244accdf2728c3c0b448d6647f458",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c666b5aa117e7b901880a06c0cc9e83786b7cb5ce6357896e7f08d6e3bafd8a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
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  "id": "rs_0b2592eabe56d4ef016ab45b89ef8487d0a47f116c2cdcd395",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.335,\"left_y\":-0.235,\"left_z\":0.03,\"right_gripper\":1,\"right_z\":0.17},\"note\":\"The second rim grasp was also empty, and the pear is now far beyond the bowl near the forward reach limit. I’m setting the held dark fruit back on the table and lifting the right gripper clear rather than forcing further contact.\"}",
  "call_id": "call_DWGSNIeah53AFpLIagiVCufs",
  "id": "fc_0b2592eabe56d4ef016ab45b916f7887d09cfe5491a6cc8fe4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DWGSNIeah53AFpLIagiVCufs",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "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]: [-0.8288, 1.935, 1.2541, -0.7025, -0.5037, -0.7094, 0.5424, 0.5083, 1.5188, 0.8337, 0.1696, 0.2672, -0.046, 0.9962]\nstate[eef_state]: left_x=0.3249 left_y=-0.2229 left_z=0.0304 left_yaw=0.1156 left_pitch=-0.5055 left_roll=0.2892 left_gripper=0.5424 right_x=0.4082 right_y=0.1782 right_z=0.1487 right_yaw=0.2984 right_pitch=0.0652 right_roll=-0.1516 right_gripper=0.9962\nstate[joint_eff]: [-0.5812, -9.5521, 7.1179, 0.6227, -0.4811, -0.1441, 0.0659, -0.2393, -8.5128, 9.0051, 1.9414, 0.0611, 0.0611, -0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f50deb99728a43c39401fa207293dc427962410f2e920048d8dcd4bd960fede",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3da6bd2749b1b0cb0f70b30b0a2202c634208ce146efe5852bac05f3c9f56dc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7bc5c1e16b1c33df956a7480ce4c5a17839453682a3f0b16991242717c147f2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /responses · status 200 · 2.674 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 117 changed as sent

message 125 changed as sent

message 129 changed as sent

message 117 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]: [-0.8429, 1.8797, 1.7592, -1.1885, -0.5373, -0.7036, 0.5394, 0.6064, 1.7523, 0.7578, 0.5407, 0.3611, 0.0181, 0.009]\nstate[eef_state]: left_x=0.3416 left_y=-0.2421 left_z=0.1795 left_yaw=0.085 left_pitch=-0.4358 left_roll=0.2471 left_gripper=0.5394 right_x=0.4141 right_y=0.2156 right_z=0.096 right_yaw=0.2817 right_pitch=0.1411 right_roll=-0.12 right_gripper=0.009\nstate[joint_eff]: [-0.1983, -9.853, 7.0359, 0.6716, -0.3834, 0.0806, 0.1343, -0.0889, -7.9795, 5.8325, 1.8828, 0.1001, 0.0415, 0.696]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 125 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]: [-0.6773, 1.4593, 1.4548, -1.248, -0.4778, -0.5468, 0.5416, 0.5083, 1.8816, 0.6224, 0.7731, 0.2714, -0.0345, 0.009]\nstate[eef_state]: left_x=0.2922 left_y=-0.1262 left_z=0.2178 left_yaw=0.1039 left_pitch=-0.4622 left_roll=0.2508 left_gripper=0.5416 right_x=0.4105 right_y=0.1786 right_z=0.0365 right_yaw=0.2882 right_pitch=0.0952 right_roll=-0.1371 right_gripper=0.009\nstate[joint_eff]: [-0.3077, -5.9282, 7.0632, 0.9353, -0.4322, -0.0611, 0.0659, 0.0615, -8.4034, 5.1077, 1.8437, 0.1587, 0.0317, 0.7009]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 129 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]: [-0.8288, 1.935, 1.2541, -0.7025, -0.5037, -0.7094, 0.5424, 0.5083, 1.5188, 0.8337, 0.1696, 0.2672, -0.046, 0.9962]\nstate[eef_state]: left_x=0.3249 left_y=-0.2229 left_z=0.0304 left_yaw=0.1156 left_pitch=-0.5055 left_roll=0.2892 left_gripper=0.5424 right_x=0.4082 right_y=0.1782 right_z=0.1487 right_yaw=0.2984 right_pitch=0.0652 right_roll=-0.1516 right_gripper=0.9962\nstate[joint_eff]: [-0.5812, -9.5521, 7.1179, 0.6227, -0.4811, -0.1441, 0.0659, -0.2393, -8.5128, 9.0051, 1.9414, 0.0611, 0.0611, -0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f50deb99728a43c39401fa207293dc427962410f2e920048d8dcd4bd960fede",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3da6bd2749b1b0cb0f70b30b0a2202c634208ce146efe5852bac05f3c9f56dc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7bc5c1e16b1c33df956a7480ce4c5a17839453682a3f0b16991242717c147f2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFuYa2Y55e3kGiylqjlpif5v4Rs6yZ_04HC7MeNlUhfBIRpwHYNuz6IlNXgEeP0YsL5ntcTtXIweOEqn2BCR-oWxyQhKLR3flhvZgq_A0qBFxbgONbW7iKDw7BCvjP7Iqff3bgGUnwzHv7Xj7PugBXm8tQq-Ybzb1WAdus-UVtHy_yK9cC30pXevzKzIDhn9FltYV_Hp-9tTw6O8Ih0ujrhsoBw06wKizgN3tstWiBLAOSGZMcDhAoTFQJCbvdHaTFwdImY2tBObn5SqpCYJn17IW967errvhYX1QkhAZncM1Zrv6VRru4GiHcOVdumQjV0uBkdaTJb5vv66gF9L6fLukBEbBpZPhVUo70Xs4WGBvYHAelLUyGnkTCuswYh_OjSQB0bNYOX95XHKEYeusOffXhdRiIpZtqD8nTD_u02To7jHM8uYkEA1BKbjBlvLeY0X0_rcnNB1_TSmOAK0gi4wC3ANWQQWWIVQB5-1cB_iRH8GtTm_UvAEGuWQLTNbrd5sNaFdZQ0Lc9CapDPyKNwOr9fpVo52ZBaBLX5GrzOxdj2CFMRcR-xx_BMH2BuUnInhe0UR0x5jujdnhX5WSLlbf3_gvUHTQPY7fRZXzKx2PCYW3FIHN90pO9f1lFQS4TqnJ14BdC9c4AebpevFAPBX1mnrH89ZMdhURJt0l9VzKiYJ12w3dCaCoM3xPUxtjWA6gsaLYvv2zGGY5GBBJWp68I_V0wuiCS8es9-M5_hDhrZAGyKznj6QICWbx12wLEZEvLccDc0575aZejYmNIYUKP4yCUq5b5a211Hvo7QN5A-K8bA-5FtS7xMQHp62biC44OICHI88Qv7ZAFF6gVRub6VelDvo2ye0wlDal9Osu6tq7wL16NR65cUkVaLOTuW0bBkKWdfvMENesRdpWwhAfxcUhJis_yZZg6DGNNCPPeb47DgZwMbbiA25cFRSu3HY8n6Kl2Ys97bDaX2KzUd6TN5sDh08Fz2TEWHnznnAs4clCZvogxDKUPNUGwN-MagtGt_xHjnf-evN_47zWT11DbvYKcd5Uwq-sqr4BOJBeVTxMZvhoCZZOLjW6f27iHB1Qcrqvf83xpKi8XV6sBHN6sAenwdc9ZDciG9Xgr0UtUStwxgTWYFbj_d4vtLb06fMDjydKRd45Q37GhuXs869Wi2lt0fcRon8uimupn8qRsLe_ThEOam2MlbX8sLq-rfstTM61S59GM7MPSQGcIIPwFpS1bxj85egYG4Z_JpfxB76Thd4uuJZSafOSYD5soQ7TJZrRr9L5qxCYoAop6Ioz3GKPOT3TGgyuBTrDKdNZxu1jHZfy2pAvIdAnM-Zc8tsE_7pf8IypVILWZsg0RmWloT8f7pJ8JDS8AoK2Hnuuu7DrxEYPNjCVcgyo5HEc6ItyfWLX4eCmcTpr15gf_ZOaprVIxdc8wTw2dAVobNyngEIANYalx6wgqiRHPNmKx89PLhBf7hMnZBFFLJy8Xc1tcpZrljUMjYWrkZlapo8huVPRC3vcPVSGtlFbCB9WzMIf2dxuwMLrADt1Oug5zAsNKsUjvmNJwCuMvqNpFgtS-_-722kn30agOQSpEplg9NnsmXBw7OV60QGnGJv9o2f3F8swebmv8ctDl-BNMIgaHw=",
  "id": "rs_0b2592eabe56d4ef016ab45b95d6cc87d0983920737b797a7b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The dark fruit is back at table height beside the white bowl. I’m opening the left gripper to leave it safely supported before stopping the attempt.\"}",
  "call_id": "call_BJLUFmR3yml0675GtTqkxs31",
  "id": "fc_0b2592eabe56d4ef016ab45b97a04487d0920da926628803f4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BJLUFmR3yml0675GtTqkxs31",
  "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]: [-0.8291, 1.9701, 1.2541, -0.6991, -0.4999, -0.7147, 0.9945, 0.5083, 1.5169, 0.8383, 0.1455, 0.2672, -0.0456, 0.9968]\nstate[eef_state]: left_x=0.3229 left_y=-0.2218 left_z=0.0175 left_yaw=0.1311 left_pitch=-0.5261 left_roll=0.3134 left_gripper=0.9945 right_x=0.4066 right_y=0.1772 right_z=0.1465 right_yaw=0.2984 right_pitch=0.048 right_roll=-0.1549 right_gripper=0.9968\nstate[joint_eff]: [-0.0068, -12.5744, 5.4085, 0.5543, -0.3443, 0.0464, -0.2857, -0.1436, -6.4205, 6.2838, 1.956, 0.0269, -0.0513, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4afc28ffcb55e0f8c8af9dad5a280ad52c94f3310c82781990a06acf36cdef11",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:603ea5078e2594ed0180f477fd385fd5baa7fce465a8ea3a7639062f360337bd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa0b5c40d1b00cd49d0abdd3bbcb9bc7839bd824a777114aca693711ce1c7140",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /responses · status 200 · 6.439 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 121 changed as sent

message 129 changed as sent

message 133 changed as sent

message 121 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]: [-0.6804, 1.4544, 1.4666, -1.2362, -0.4885, -0.5484, 0.5408, 0.5102, 1.8767, 0.6289, 0.7734, 0.2787, -0.0284, 0.9955]\nstate[eef_state]: left_x=0.2957 left_y=-0.128 left_z=0.2247 left_yaw=0.099 left_pitch=-0.4346 left_roll=0.2355 left_gripper=0.5408 right_x=0.4127 right_y=0.1794 right_z=0.0411 right_yaw=0.2805 right_pitch=0.1079 right_roll=-0.1323 right_gripper=0.9955\nstate[joint_eff]: [0.212, -6.5162, 6.0103, 0.906, -0.3053, 0.0611, 0.1343, -0.4171, -7.3778, 4.2598, 1.8828, 0.0513, 0.0415, -0.1734]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 129 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]: [-0.8288, 1.935, 1.2541, -0.7025, -0.5037, -0.7094, 0.5424, 0.5083, 1.5188, 0.8337, 0.1696, 0.2672, -0.046, 0.9962]\nstate[eef_state]: left_x=0.3249 left_y=-0.2229 left_z=0.0304 left_yaw=0.1156 left_pitch=-0.5055 left_roll=0.2892 left_gripper=0.5424 right_x=0.4082 right_y=0.1782 right_z=0.1487 right_yaw=0.2984 right_pitch=0.0652 right_roll=-0.1516 right_gripper=0.9962\nstate[joint_eff]: [-0.5812, -9.5521, 7.1179, 0.6227, -0.4811, -0.1441, 0.0659, -0.2393, -8.5128, 9.0051, 1.9414, 0.0611, 0.0611, -0.105]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 133 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]: [-0.8291, 1.9701, 1.2541, -0.6991, -0.4999, -0.7147, 0.9945, 0.5083, 1.5169, 0.8383, 0.1455, 0.2672, -0.0456, 0.9968]\nstate[eef_state]: left_x=0.3229 left_y=-0.2218 left_z=0.0175 left_yaw=0.1311 left_pitch=-0.5261 left_roll=0.3134 left_gripper=0.9945 right_x=0.4066 right_y=0.1772 right_z=0.1465 right_yaw=0.2984 right_pitch=0.048 right_roll=-0.1549 right_gripper=0.9968\nstate[joint_eff]: [-0.0068, -12.5744, 5.4085, 0.5543, -0.3443, 0.0464, -0.2857, -0.1436, -6.4205, 6.2838, 1.956, 0.0269, -0.0513, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4afc28ffcb55e0f8c8af9dad5a280ad52c94f3310c82781990a06acf36cdef11",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:603ea5078e2594ed0180f477fd385fd5baa7fce465a8ea3a7639062f360337bd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa0b5c40d1b00cd49d0abdd3bbcb9bc7839bd824a777114aca693711ce1c7140",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "arguments": "{\"targets\":{\"left_x\":0.296,\"left_y\":0,\"left_z\":0.2,\"right_x\":0.296,\"right_y\":0,\"right_z\":0.2},\"note\":\"The dark fruit is released on the table, and neither arm is holding an object. I’m parking both arms clear of the bowls and fruits.\"}",
  "call_id": "call_qmSCUWbNnzENH1N5OMfHNxup",
  "id": "fc_0b2592eabe56d4ef016ab45b9a7bcc87d08a33357c36d02ed8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qmSCUWbNnzENH1N5OMfHNxup",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.2153, 1.3056, 1.2102, -1.0847, -0.3294, -0.1192, 0.9952, -0.2111, 0.8185, 0.6289, -0.3592, -0.3061, -0.3862, 0.9969]\nstate[eef_state]: left_x=0.2969 left_y=-0.0028 left_z=0.184 left_yaw=0.1749 left_pitch=-0.5424 left_roll=0.3109 left_gripper=0.9952 right_x=0.3005 right_y=-0.0063 right_z=0.1933 right_yaw=0.2435 right_pitch=0.0395 right_roll=-0.1575 right_gripper=0.9969\nstate[joint_eff]: [0.1026, -5.9282, 8.8821, 0.8962, -0.1392, 0.1929, 0.0611, -0.1846, -1.8667, 8.6085, 1.7753, -0.3687, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22707ed27208dcc6201f1011d872788dcefc341866e238b349fb8307d8203e11",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f16a254df6db4c89c4f4cce9fabb1cc51ef72b5f6653bc23332fccafe099ec4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c7c6222703cd8e85260788d15949842db51aa237ec18af15a7ea89fc8cf7ba1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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