adhoc

completed
2026-09-23T23:46:20.427365+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (78 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
208.2 s
total steps
256
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 a yellow fruit and a green pear beside the blue bowl, with the large white bowl to the left. I’m bringing the right gripper above the pear for the first pickup.
move_to
right_x0.3200right_y0.0550right_z0.1200right_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, 0.8001, 0.6136, -0.3866, -0.0143, -0.0296, 0.9906, -0.0227, 0.8005, 0.6182, -0.3874, -0.017, -0.0124, 0.9991] state[eef_state]: left_x=0.2955 left_y=0.0001 left_z=0.1813 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9906 right_x=0.2959 right_y=-0.0001 right_z=0.1832 right_yaw=0.0005 right_pitch=0.0004 right_roll=-0.0001 right_gripper=0.9991 state[joint_eff]: [-0.6222, -1.7709, 9.5658, 1.8388, -0.1148, 0.1294, -0.5543, -0.1846, -1.7846, 9.3744, 1.873, -0.0659, -0.0513, -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":0.055,"right_z":0.12,"right_gripper":1},"note":"I see a yellow fruit and a green pear beside the blue bowl, with the large white bowl to the left. I’m bringing the right gripper above the pear for the first pickup."})
tool
executing move_to over 5 steps (0.5s)
step 5
top_cam
camera top_cam step 5
left_cam
camera left_cam step 5
right_cam
camera right_cam step 5
assistant
agent noteThe pear is slightly right of the jaw center in the wrist view. I’m shifting right and a little forward while lowering the open gripper around it.
move_to
right_x0.3450right_y0.0250right_z0.0350
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8021, 0.6132, -0.4011, -0.0139, -0.0307, 0.99, 0.2916, 1.0359, 0.4461, -0.0475, 0.2321, 0.1398, 0.9991] state[eef_state]: left_x=0.2936 left_y=0.0002 left_z=0.1776 left_yaw=0.0007 left_pitch=-0.0168 left_roll=-0.0008 left_gripper=0.99 right_x=0.3143 right_y=0.0557 right_z=0.1089 right_yaw=0.0234 right_pitch=-0.0477 right_roll=-0.0223 right_gripper=0.9991 state[joint_eff]: [-0.1983, -1.1966, 7.0769, 1.8974, -0.022, -0.0415, -0.0757, -0.1162, -3.2752, 6.9128, 2.0391, 0.2076, 0.1441, -0.105] camera 'top_cam' (step 5): [image omitted: streamed camera frame] camera 'left_cam' (step 5): [image omitted: streamed camera frame] camera 'right_cam' (step 5): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.345,"right_y":0.025,"right_z":0.035},"note":"The pear is slightly right of the jaw center in the wrist view. I’m shifting right and a little forward while lowering the open gripper around it."})
tool
executing move_to over 5 steps (0.5s)
step 10
top_cam
camera top_cam step 10
left_cam
camera left_cam step 10
right_cam
camera right_cam step 10
assistant
agent noteThe pear is centered between the jaws at table level. 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]: [-0.02, 0.8066, 0.6132, -0.4088, -0.0139, -0.0319, 0.9898, 0.1024, 1.4498, 0.3134, 0.4751, 0.0731, 0.0326, 0.999] state[eef_state]: left_x=0.2928 left_y=0.0002 left_z=0.1748 left_yaw=0.0013 left_pitch=-0.029 left_roll=-0.0015 left_gripper=0.9898 right_x=0.3393 right_y=0.0255 right_z=0.026 right_yaw=0.0253 right_pitch=-0.0894 right_roll=-0.0178 right_gripper=0.999 state[joint_eff]: [0.0479, -1.5521, 7.0222, 1.8046, -0.0513, -0.0317, -0.0317, -0.212, -5.0393, 4.9709, 1.9756, 0.0513, -0.0904, -0.022] camera 'top_cam' (step 10): [image omitted: streamed camera frame] camera 'left_cam' (step 10): [image omitted: streamed camera frame] camera 'right_cam' (step 10): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The pear is centered between the jaws at table level. I’m closing the gripper to secure it before a short test lift."})
tool
executing move_to over 10 steps (1.0s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteThe gripper has stopped at a pear-sized opening rather than closing empty. I’m lifting a few centimeters to check that the pear comes with it.
move_to
right_z0.1050
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, 0.807, 0.6132, -0.4171, -0.0139, -0.0338, 0.9898, 0.1024, 1.4502, 0.3138, 0.4744, 0.0731, 0.0257, 0.7205] state[eef_state]: left_x=0.2917 left_y=0.0002 left_z=0.173 left_yaw=0.0024 left_pitch=-0.0378 left_roll=-0.0029 left_gripper=0.9898 right_x=0.3393 right_y=0.0255 right_z=0.0259 right_yaw=0.029 right_pitch=-0.0902 right_roll=-0.0233 right_gripper=0.7205 state[joint_eff]: [-0.2803, -1.3333, 7.0085, 1.79, -0.0464, -0.0464, -0.0122, -0.0889, -4.465, 5.0803, 1.6728, -0.022, -0.0122, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.105},"note":"The gripper has stopped at a pear-sized opening rather than closing empty. I’m lifting a few centimeters to check that the pear comes with it."})
tool
executing move_to over 6 steps (0.6s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
agent noteThe pear has lifted with the gripper. I’m carrying it above the blue bowl with clearance over the rim, while keeping the left arm parked.
move_to
right_x0.4600right_y0.1050right_z0.2100left_x0.2955left_y0.0000left_z0.1850
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.807, 0.6132, -0.4236, -0.0135, -0.0338, 0.9898, 0.1024, 1.1709, 0.4885, -0.0292, 0.0723, 0.0246, 0.7199] state[eef_state]: left_x=0.2907 left_y=0.0002 left_z=0.1717 left_yaw=0.002 left_pitch=-0.0443 left_roll=-0.003 left_gripper=0.9898 right_x=0.331 right_y=0.0248 right_z=0.0865 right_yaw=0.0298 right_pitch=-0.1397 right_roll=-0.0273 right_gripper=0.7199 state[joint_eff]: [-0.0205, -1.2923, 7.0359, 1.7656, -0.0317, -0.0415, -0.0171, -0.2803, -4.6017, 9.1282, 1.6777, -0.0415, -0.0073, 1.0281] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.46,"right_y":0.105,"right_z":0.21,"left_x":0.2955,"left_y":0,"left_z":0.185},"note":"The pear has lifted with the gripper. I’m carrying it above the blue bowl with clearance over the rim, while keeping the left arm parked."})
tool
executing move_to over 10 steps (1.0s)
step 36
top_cam
camera top_cam step 36
left_cam
camera left_cam step 36
right_cam
camera right_cam step 36
assistant
agent noteThe pear is over the blue bowl in the overhead view. I’m lowering it toward the bowl interior before releasing it.
move_to
right_z0.1150
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8341, 0.6426, -0.4755, -0.0139, -0.0345, 0.9898, 0.2981, 1.647, 1.354, -0.4999, 0.2054, 0.1246, 0.7199] state[eef_state]: left_x=0.2886 left_y=0.0003 left_z=0.1673 left_yaw=0.0029 left_pitch=-0.0938 left_roll=-0.0022 left_gripper=0.9898 right_x=0.4517 right_y=0.1049 right_z=0.1889 right_yaw=0.0556 right_pitch=-0.2031 right_roll=-0.0566 right_gripper=0.7199 state[joint_eff]: [-0.2667, -1.4291, 9.4974, 1.8535, -0.0464, -0.0415, -0.0122, -0.1846, -9.0051, 9.1419, 1.7558, 0.1734, 0.2271, 1.0134] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.115},"note":"The pear is over the blue bowl in the overhead view. I’m lowering it toward the bowl interior before releasing it."})
tool
executing move_to over 5 steps (0.5s)
step 41
top_cam
camera top_cam step 41
left_cam
camera left_cam step 41
right_cam
camera right_cam step 41
assistant
agent noteThe blue bowl is directly beneath the pear. I’m opening the jaws to place the pear inside.
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]: [-0.02, 0.8341, 0.6415, -0.4873, -0.0135, -0.0341, 0.9898, 0.2981, 1.7081, 1.1149, -0.2508, 0.2047, 0.12, 0.7234] state[eef_state]: left_x=0.2866 left_y=0.0002 left_z=0.1646 left_yaw=0.0023 left_pitch=-0.1068 left_roll=-0.0019 left_gripper=0.9898 right_x=0.4438 right_y=0.1026 right_z=0.1048 right_yaw=0.056 right_pitch=-0.2531 right_roll=-0.0719 right_gripper=0.7234 state[joint_eff]: [-0.212, -1.4154, 7.2547, 1.7753, -0.0513, -0.0513, -0.0073, -0.212, -8.8547, 6.7897, 1.9121, 0.022, 0.0073, 0.9109] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 41): [image omitted: streamed camera frame] camera 'left_cam' (step 41): [image omitted: streamed camera frame] camera 'right_cam' (step 41): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The blue bowl is directly beneath the pear. I’m opening the jaws to place the pear inside."})
tool
executing move_to over 3 steps (0.3s)
step 44
top_cam
camera top_cam step 44
left_cam
camera left_cam step 44
right_cam
camera right_cam step 44
assistant
agent noteThe pear has dropped into the blue bowl. I’m lifting clear and moving above the remaining yellow fruit beside it.
move_to
right_x0.3550right_y0.1750right_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]: [-0.02, 0.8341, 0.6415, -0.4911, -0.0135, -0.0341, 0.9898, 0.2981, 1.7081, 1.1149, -0.2588, 0.2054, 0.1158, 0.9956] state[eef_state]: left_x=0.286 left_y=0.0003 left_z=0.1638 left_yaw=0.0024 left_pitch=-0.1106 left_roll=-0.0018 left_gripper=0.9898 right_x=0.4424 right_y=0.102 right_z=0.1036 right_yaw=0.0571 right_pitch=-0.2609 right_roll=-0.0774 right_gripper=0.9956 state[joint_eff]: [-0.1983, -1.388, 6.9402, 1.6532, -0.0513, -0.0757, -0.0122, -0.1983, -8.5128, 6.5026, 1.5263, -0.0073, -0.0122, -0.1832] camera 'top_cam' (step 44): [image omitted: streamed camera frame] camera 'left_cam' (step 44): [image omitted: streamed camera frame] camera 'right_cam' (step 44): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.355,"right_y":0.175,"right_z":0.15},"note":"The pear has dropped into the blue bowl. I’m lifting clear and moving above the remaining yellow fruit beside it."})
tool
executing move_to over 7 steps (0.7s)
step 51
top_cam
camera top_cam step 51
left_cam
camera left_cam step 51
right_cam
camera right_cam step 51
assistant
agent noteThe yellow fruit is centered on the jaw column in the wrist view. I’m moving slightly forward and descending to grasp it near its middle.
move_to
right_x0.3800right_y0.1750right_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]: [-0.02, 0.8341, 0.6415, -0.4938, -0.0139, -0.0338, 0.9898, 0.6106, 1.5375, 1.0889, -0.4873, 0.3683, 0.3241, 0.9962] state[eef_state]: left_x=0.2856 left_y=0.0003 left_z=0.1633 left_yaw=0.0025 left_pitch=-0.1133 left_roll=-0.0012 left_gripper=0.9898 right_x=0.3599 right_y=0.1786 right_z=0.1347 right_yaw=0.1092 right_pitch=-0.2832 right_roll=-0.0878 right_gripper=0.9962 state[joint_eff]: [-0.0342, -1.0735, 7.241, 1.7167, -0.022, -0.0366, -0.0073, 0.1026, -8.9368, 8.4171, 1.4481, 0.3883, 0.1441, 0.0464] camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.38,"right_y":0.175,"right_z":0.03},"note":"The yellow fruit is centered on the jaw column in the wrist view. I’m moving slightly forward and descending to grasp it near its middle."})
tool
executing move_to over 7 steps (0.7s)
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 open jaws now straddle the yellow fruit. I’m closing them to take hold without moving the fruit sideways.
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, 0.8341, 0.6415, -0.4946, -0.0139, -0.0338, 0.9898, 0.5697, 1.7443, 0.8886, -0.1261, 0.3431, 0.2909, 0.9963] state[eef_state]: left_x=0.2855 left_y=0.0003 left_z=0.1632 left_yaw=0.0025 left_pitch=-0.1141 left_roll=-0.0012 left_gripper=0.9898 right_x=0.3694 right_y=0.1703 right_z=0.03 right_yaw=0.1006 right_pitch=-0.3351 right_roll=-0.1134 right_gripper=0.9963 state[joint_eff]: [-0.3077, -1.4017, 6.9402, 1.6435, -0.0806, -0.0464, -0.0073, -0.5402, -7.7197, 5.2991, 1.4042, 0.0513, 0.0024, -0.0073] 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_gripper":0},"note":"The open jaws now straddle the yellow fruit. I’m closing them to take hold without moving the fruit sideways."})
tool
executing move_to over 10 steps (1.0s)
step 68
top_cam
camera top_cam step 68
left_cam
camera left_cam step 68
right_cam
camera right_cam step 68
assistant
agent noteThe jaws closed empty, and the yellow fruit slipped toward the front of the table. I’m reopening and repositioning above its new location before retrying.
move_to
right_x0.2950right_y0.1550right_z0.1000right_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]: [-0.02, 0.8341, 0.6415, -0.4946, -0.0135, -0.0341, 0.9898, 0.5667, 1.7561, 0.878, -0.1284, 0.3614, 0.2722, 0.04] state[eef_state]: left_x=0.2855 left_y=0.0003 left_z=0.1632 left_yaw=0.0024 left_pitch=-0.1141 left_roll=-0.0017 left_gripper=0.9898 right_x=0.3666 right_y=0.1635 right_z=0.0226 right_yaw=0.0892 right_pitch=-0.3516 right_roll=-0.152 right_gripper=0.04 state[joint_eff]: [-0.0615, -1.2786, 7.1179, 1.6532, -0.0366, -0.0513, -0.0073, 0.1436, -8.3214, 6.7761, 1.2674, -0.0659, 0.2759, 1.3504] camera 'top_cam' (step 68): [image omitted: streamed camera frame] camera 'left_cam' (step 68): [image omitted: streamed camera frame] camera 'right_cam' (step 68): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.295,"right_y":0.155,"right_z":0.10,"right_gripper":1},"note":"The jaws closed empty, and the yellow fruit slipped toward the front of the table. I’m reopening and repositioning above its new location before retrying."})
tool
executing move_to over 10 steps (1.0s)
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 yellow fruit is centered again, and the pear is visibly inside the blue bowl. I’m descending straight down and restoring the tool’s upright orientation to avoid another sideways slip.
move_to
right_x0.2950right_y0.1550right_z0.0300right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.836, 0.6415, -0.498, -0.0139, -0.0341, 0.9898, 0.6872, 1.4033, 0.8467, -0.4782, 0.4046, 0.3611, 0.9956] state[eef_state]: left_x=0.285 left_y=0.0003 left_z=0.162 left_yaw=0.0027 left_pitch=-0.1194 left_roll=-0.0013 left_gripper=0.9898 right_x=0.3003 right_y=0.1612 right_z=0.0941 right_yaw=0.1199 right_pitch=-0.3504 right_roll=-0.1435 right_gripper=0.9956 state[joint_eff]: [-0.1573, -1.4017, 6.9675, 1.6679, -0.0415, -0.0659, -0.0073, 0.3487, -6.1744, 6.8581, 1.2381, 0.3004, 0.2515, -0.0855] approver: 10 step(s) modified (delta_clamped ×10). 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_x":0.295,"right_y":0.155,"right_z":0.03,"right_yaw":0,"right_pitch":0,"right_roll":0},"note":"The yellow fruit is centered again, and the pear is visibly inside the blue bowl. I’m descending straight down and restoring the tool’s upright orientation to avoid another sideways slip."})
tool
executing move_to over 12 steps (1.2s)
step 90
top_cam
camera top_cam step 90
left_cam
camera left_cam step 90
right_cam
camera right_cam step 90
assistant
agent noteThe yellow fruit sits a little forward and left of the jaw center. I’m making a small alignment correction and raising the grasp slightly to catch its wider middle.
move_to
right_x0.3150right_y0.1650right_z0.0450right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.836, 0.6415, -0.4984, -0.0139, -0.0338, 0.9898, 0.7921, 1.5276, 0.379, 0.3054, 0.609, 0.49, 0.9962] state[eef_state]: left_x=0.285 left_y=0.0003 left_z=0.1619 left_yaw=0.0025 left_pitch=-0.1198 left_roll=-0.001 left_gripper=0.9898 right_x=0.2848 right_y=0.1499 right_z=0.0164 right_yaw=0.029 right_pitch=-0.0908 right_roll=-0.0629 right_gripper=0.9962 state[joint_eff]: [-0.2667, -1.4564, 7.1453, 1.6581, -0.0317, -0.0513, -0.0122, 0.4034, -5.1487, 4.8205, 1.7167, 0.4908, 0.0952, 0.0562] camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.315,"right_y":0.165,"right_z":0.045,"right_yaw":0,"right_pitch":0,"right_roll":0},"note":"The yellow fruit sits a little forward and left of the jaw center. I’m making a small alignment correction and raising the grasp slightly to catch its wider middle."})
tool
executing move_to over 4 steps (0.4s)
step 94
top_cam
camera top_cam step 94
left_cam
camera left_cam step 94
right_cam
camera right_cam step 94
assistant
agent noteThe yellow fruit is now centered between the jaws. I’m closing only to a fruit-sized opening to reduce the chance of squeezing it out.
move_to
right_gripper0.4300right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8398, 0.6415, -0.4984, -0.0139, -0.0338, 0.9898, 0.7715, 1.544, 0.44, 0.3416, 0.6163, 0.4858, 0.9963] state[eef_state]: left_x=0.2852 left_y=0.0003 left_z=0.1609 left_yaw=0.0025 left_pitch=-0.1236 left_roll=-0.001 left_gripper=0.9898 right_x=0.3065 right_y=0.1607 right_z=0.0363 right_yaw=0.0088 right_pitch=-0.0288 right_roll=-0.0141 right_gripper=0.9963 state[joint_eff]: [-0.2393, -1.7709, 7.1179, 1.6435, -0.0611, -0.0269, -0.0122, -0.4991, -4.1778, 6.6803, 1.6484, 0.3101, -0.0757, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.43,"right_yaw":0,"right_pitch":0,"right_roll":0},"note":"The yellow fruit is now centered between the jaws. I’m closing only to a fruit-sized opening to reduce the chance of squeezing it out."})
tool
executing move_to over 6 steps (0.6s)
step 100
top_cam
camera top_cam step 100
left_cam
camera left_cam step 100
right_cam
camera right_cam step 100
assistant
agent noteThe jaws are touching the yellow fruit at its sides. I’m adding a small amount of grip and making a short lift to verify it is secure.
move_to
right_z0.1100right_gripper0.3000right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8398, 0.6415, -0.4988, -0.0135, -0.0338, 0.9898, 0.7704, 1.5467, 0.4438, 0.3397, 0.6128, 0.4862, 0.4344] state[eef_state]: left_x=0.2851 left_y=0.0003 left_z=0.1608 left_yaw=0.0022 left_pitch=-0.124 left_roll=-0.0012 left_gripper=0.9898 right_x=0.3071 right_y=0.1615 right_z=0.0362 right_yaw=0.01 right_pitch=-0.031 right_roll=-0.0126 right_gripper=0.4344 state[joint_eff]: [-0.1709, -1.4017, 6.9538, 1.619, -0.0269, -0.0269, -0.0171, 0.1299, -5.4222, 4.547, 1.6142, 0.2564, -0.0024, 0.2173] camera 'top_cam' (step 100): [image omitted: streamed camera frame] camera 'left_cam' (step 100): [image omitted: streamed camera frame] camera 'right_cam' (step 100): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.11,"right_gripper":0.3,"right_yaw":0,"right_pitch":0,"right_roll":0},"note":"The jaws are touching the yellow fruit at its sides. I’m adding a small amount of grip and making a short lift to verify it is secure."})
tool
executing move_to over 5 steps (0.5s)
step 105
top_cam
camera top_cam step 105
left_cam
camera left_cam step 105
right_cam
camera right_cam step 105
assistant
agent noteThe height readback shows the last lift did not happen, so I have not confirmed the grasp yet. I’m trying a slightly retracted lifting path rather than repeating the same target.
move_to
right_x0.2950right_y0.1600right_z0.1600right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8452, 0.6415, -0.5098, -0.0139, -0.0338, 0.9898, 0.7704, 1.5467, 0.4435, 0.355, 0.6136, 0.4862, 0.3118] state[eef_state]: left_x=0.2836 left_y=0.0004 left_z=0.1574 left_yaw=0.0026 left_pitch=-0.1404 left_roll=-0.0006 left_gripper=0.9898 right_x=0.3087 right_y=0.1628 right_z=0.0385 right_yaw=0.0097 right_pitch=-0.0199 right_roll=-0.0027 right_gripper=0.3118 state[joint_eff]: [-0.212, -1.935, 6.9265, 1.7411, -0.0464, -0.0366, -0.0073, 0.1436, -5.5043, 4.4103, 1.4823, 0.2271, -0.0415, 0.652] camera 'top_cam' (step 105): [image omitted: streamed camera frame] camera 'left_cam' (step 105): [image omitted: streamed camera frame] camera 'right_cam' (step 105): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.295,"right_y":0.16,"right_z":0.16,"right_yaw":0,"right_pitch":0,"right_roll":0},"note":"The height readback shows the last lift did not happen, so I have not confirmed the grasp yet. I’m trying a slightly retracted lifting path rather than repeating the same target."})
tool
executing move_to over 8 steps (0.8s)
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 has lifted with the jaws, and the pear remains in the blue bowl. I’m carrying the second fruit over the bowl.
move_to
right_x0.4400right_y0.1050right_z0.2000right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8463, 0.6415, -0.5167, -0.0135, -0.0341, 0.9898, 0.8101, 1.2018, 0.6888, -0.2279, 0.6365, 0.4908, 0.3128] state[eef_state]: left_x=0.2825 left_y=0.0003 left_z=0.1558 left_yaw=0.0025 left_pitch=-0.1484 left_roll=-0.0009 left_gripper=0.9898 right_x=0.297 right_y=0.165 right_z=0.1472 right_yaw=0.03 right_pitch=-0.0038 right_roll=-0.005 right_gripper=0.3128 state[joint_eff]: [-0.3214, -1.4154, 7.1043, 1.6923, -0.0269, -0.0611, -0.0122, 0.5402, -4.7248, 8.5538, 1.5507, 0.3932, 0.2515, 0.0952] approver: 1 step(s) modified (delta_clamped). 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":0.44,"right_y":0.105,"right_z":0.20,"right_yaw":0,"right_pitch":0,"right_roll":0},"note":"The yellow fruit has lifted with the jaws, and the pear remains in the blue bowl. I’m carrying the second fruit over the bowl."})
tool
executing move_to over 11 steps (1.1s)
step 124
top_cam
camera top_cam step 124
left_cam
camera left_cam step 124
right_cam
camera right_cam step 124
assistant
agent noteThe yellow fruit is positioned over the blue bowl. I’m lowering it just above the rim so it can settle beside the pear.
move_to
right_z0.1050right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8497, 0.6415, -0.5209, -0.0135, -0.0338, 0.9898, 0.3492, 1.4975, 1.058, -0.2134, 0.3061, 0.2001, 0.3131] state[eef_state]: left_x=0.282 left_y=0.0003 left_z=0.1541 left_yaw=0.0023 left_pitch=-0.156 left_roll=-0.0005 left_gripper=0.9898 right_x=0.4281 right_y=0.103 right_z=0.1806 right_yaw=-0.0129 right_pitch=-0.048 right_roll=-0.0203 right_gripper=0.3131 state[joint_eff]: [-0.1162, -1.7846, 6.9265, 1.5946, -0.0171, -0.0122, -0.0171, -0.2393, -7.159, 8.9915, 1.7998, 0.105, 0.0024, 0.022] camera 'top_cam' (step 124): [image omitted: streamed camera frame] camera 'left_cam' (step 124): [image omitted: streamed camera frame] camera 'right_cam' (step 124): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.105,"right_yaw":0,"right_pitch":0,"right_roll":0},"note":"The yellow fruit is positioned over the blue bowl. I’m lowering it just above the rim so it can settle beside the pear."})
tool
executing move_to over 5 steps (0.5s)
step 129
top_cam
camera top_cam step 129
left_cam
camera left_cam step 129
right_cam
camera right_cam step 129
assistant
agent noteBoth the yellow fruit and the bowl opening are aligned beneath the gripper. I’m releasing the yellow fruit into the blue bowl.
move_to
right_gripper1.0000right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8509, 0.6415, -0.5213, -0.0139, -0.0341, 0.9898, 0.3439, 1.5921, 0.8021, 0.0925, 0.284, 0.1902, 0.3133] state[eef_state]: left_x=0.2819 left_y=0.0004 left_z=0.1537 left_yaw=0.0028 left_pitch=-0.1575 left_roll=-0.0005 left_gripper=0.9898 right_x=0.4151 right_y=0.0999 right_z=0.0903 right_yaw=0.0042 right_pitch=-0.0948 right_roll=-0.0306 right_gripper=0.3133 state[joint_eff]: [-0.0889, -1.6205, 6.9128, 1.6093, -0.0513, -0.0366, -0.0073, -0.212, -7.1863, 6.6803, 1.7314, 0.1441, -0.0317, 0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 129): [image omitted: streamed camera frame] camera 'left_cam' (step 129): [image omitted: streamed camera frame] camera 'right_cam' (step 129): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_yaw":0,"right_pitch":0,"right_roll":0},"note":"Both the yellow fruit and the bowl opening are aligned beneath the gripper. I’m releasing the yellow fruit into the blue bowl."})
tool
executing move_to over 7 steps (0.7s)
step 136
top_cam
camera top_cam step 136
left_cam
camera left_cam step 136
right_cam
camera right_cam step 136
assistant
agent noteBoth fruits are now in the blue bowl. I’m lifting away and moving to the bowl’s right rim, where I can grip the edge for pouring.
move_to
right_x0.4350right_y0.0150right_z0.1700right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8513, 0.6411, -0.5209, -0.0139, -0.0338, 0.9898, 0.3439, 1.6005, 0.7166, 0.2287, 0.2832, 0.1898, 0.9954] state[eef_state]: left_x=0.282 left_y=0.0004 left_z=0.1535 left_yaw=0.0026 left_pitch=-0.1579 left_roll=-0.0002 left_gripper=0.9898 right_x=0.4106 right_y=0.0984 right_z=0.0786 right_yaw=0.0061 right_pitch=-0.055 right_roll=-0.0164 right_gripper=0.9954 state[joint_eff]: [-0.1299, -1.3607, 6.9128, 1.6142, -0.0415, -0.0269, -0.0073, -0.0479, -7.9521, 5.6137, 1.9853, 0.1538, 0.0024, 0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 136): [image omitted: streamed camera frame] camera 'left_cam' (step 136): [image omitted: streamed camera frame] camera 'right_cam' (step 136): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.435,"right_y":0.015,"right_z":0.17,"right_yaw":0,"right_pitch":0,"right_roll":0},"note":"Both fruits are now in the blue bowl. I’m lifting away and moving to the bowl’s right rim, where I can grip the edge for pouring."})
tool
executing move_to over 7 steps (0.7s)
step 143
top_cam
camera top_cam step 143
left_cam
camera left_cam step 143
right_cam
camera right_cam step 143
assistant
agent noteThe overhead view confirms both fruits are in the blue bowl. I’m lowering the open jaws onto its right-hand edge, keeping the fruit-filled center clear.
move_to
right_x0.3850right_y0.0550right_z0.0600right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8577, 0.6411, -0.5354, -0.0139, -0.0338, 0.9898, 0.0597, 1.4693, 0.8764, -0.0139, 0.0731, 0.0402, 0.9961] state[eef_state]: left_x=0.2798 left_y=0.0004 left_z=0.1492 left_yaw=0.0027 left_pitch=-0.1789 left_roll=0.0003 left_gripper=0.9898 right_x=0.4322 right_y=0.0165 right_z=0.1473 right_yaw=-0.0213 right_pitch=-0.0349 right_roll=-0.0073 right_gripper=0.9961 state[joint_eff]: [-0.1983, -1.894, 7.1043, 1.7509, -0.0562, -0.0269, -0.0073, -0.2256, -8.7453, 9.0325, 1.6679, -0.0171, 0.0708, 0.0659] camera 'top_cam' (step 143): [image omitted: streamed camera frame] camera 'left_cam' (step 143): [image omitted: streamed camera frame] camera 'right_cam' (step 143): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.385,"right_y":0.055,"right_z":0.06,"right_yaw":0,"right_pitch":0,"right_roll":0},"note":"The overhead view confirms both fruits are in the blue bowl. I’m lowering the open jaws onto its right-hand edge, keeping the fruit-filled center clear."})
tool
executing move_to over 6 steps (0.6s)
step 149
top_cam
camera top_cam step 149
left_cam
camera left_cam step 149
right_cam
camera right_cam step 149
assistant
agent noteThe blue bowl’s right wall is between the open jaws. I’m closing on that wall so I can lift the bowl without grasping either fruit.
move_to
right_gripper0.0000right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8593, 0.6411, -0.5381, -0.0139, -0.0338, 0.9898, 0.2039, 1.5158, 0.5037, 0.3592, 0.1589, 0.0975, 0.9962] state[eef_state]: left_x=0.2794 left_y=0.0005 left_z=0.1483 left_yaw=0.0027 left_pitch=-0.1831 left_roll=0.0004 left_gripper=0.9898 right_x=0.3776 right_y=0.0532 right_z=0.0513 right_yaw=0.0195 right_pitch=-0.0734 right_roll=-0.0171 right_gripper=0.9962 state[joint_eff]: [-0.0615, -1.5111, 6.8718, 1.5702, -0.0415, -0.0073, -0.0122, 0.212, -5.2581, 6.2017, 1.6435, -0.0122, -0.1343, -0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 149): [image omitted: streamed camera frame] camera 'left_cam' (step 149): [image omitted: streamed camera frame] camera 'right_cam' (step 149): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0,"right_yaw":0,"right_pitch":0,"right_roll":0},"note":"The blue bowl’s right wall is between the open jaws. I’m closing on that wall so I can lift the bowl without grasping either fruit."})
tool
executing move_to over 10 steps (1.0s)
step 159
top_cam
camera top_cam step 159
left_cam
camera left_cam step 159
right_cam
camera right_cam step 159
assistant
agent noteThe gripper closed empty just outside the bowl wall. I’m reopening and moving a few centimeters inward and forward to seat the rim between the fingertips.
move_to
right_x0.4050right_y0.0800right_z0.0650right_gripper1.0000right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8639, 0.6411, -0.543, -0.0139, -0.0341, 0.9898, 0.2134, 1.5318, 0.4454, 0.4767, 0.1638, 0.107, 0.0127] state[eef_state]: left_x=0.2787 left_y=0.0005 left_z=0.1463 left_yaw=0.003 left_pitch=-0.1926 left_roll=0.0004 left_gripper=0.9898 right_x=0.3741 right_y=0.0553 right_z=0.0471 right_yaw=0.0202 right_pitch=-0.0305 right_roll=-0.0041 right_gripper=0.0127 state[joint_eff]: [-0.0752, -1.9487, 6.8718, 1.6093, -0.0415, -0.0659, -0.0073, 0.0479, -4.8615, 4.9026, 2.0391, 0.232, 0.0611, 1.0183] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 159): [image omitted: streamed camera frame] camera 'left_cam' (step 159): [image omitted: streamed camera frame] camera 'right_cam' (step 159): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.405,"right_y":0.08,"right_z":0.065,"right_gripper":1,"right_yaw":0,"right_pitch":0,"right_roll":0},"note":"The gripper closed empty just outside the bowl wall. I’m reopening and moving a few centimeters inward and forward to seat the rim between the fingertips."})
tool
executing move_to over 10 steps (1.0s)
step 169
top_cam
camera top_cam step 169
left_cam
camera left_cam step 169
right_cam
camera right_cam step 169
assistant
agent noteThe jaws are beside the rim but still too high to capture the wall securely. I’m lowering them a short distance along the bowl’s outer edge.
move_to
right_z0.0220right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8642, 0.6411, -0.5438, -0.0135, -0.0341, 0.9898, 0.2863, 1.6005, 0.5678, 0.424, 0.2287, 0.1425, 0.9953] state[eef_state]: left_x=0.2786 left_y=0.0004 left_z=0.146 left_yaw=0.0026 left_pitch=-0.1938 left_roll=0.0001 left_gripper=0.9898 right_x=0.3976 right_y=0.079 right_z=0.058 right_yaw=0.0198 right_pitch=-0.0207 right_roll=-0.0106 right_gripper=0.9953 state[joint_eff]: [-0.1846, -1.5932, 7.0222, 1.58, -0.0366, -0.0464, -0.0122, 0.3214, -5.4496, 7.5829, 1.7167, 0.2222, 0.2271, 0.0904] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 169): [image omitted: streamed camera frame] camera 'left_cam' (step 169): [image omitted: streamed camera frame] camera 'right_cam' (step 169): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.022,"right_yaw":0,"right_pitch":0,"right_roll":0},"note":"The jaws are beside the rim but still too high to capture the wall securely. I’m lowering them a short distance along the bowl’s outer edge."})
tool
executing move_to over 3 steps (0.3s)
step 172
top_cam
camera top_cam step 172
left_cam
camera left_cam step 172
right_cam
camera right_cam step 172
assistant
agent noteThe fingertips are now down alongside the blue bowl wall. I’m closing to clamp the edge, then I’ll check it with a short lift.
move_to
right_gripper0.0000right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8677, 0.6411, -0.5472, -0.0139, -0.0338, 0.9898, 0.2871, 1.7409, 0.5262, 0.5861, 0.2356, 0.1501, 0.9962] state[eef_state]: left_x=0.2781 left_y=0.0005 left_z=0.1445 left_yaw=0.0028 left_pitch=-0.2006 left_roll=0.0008 left_gripper=0.9898 right_x=0.3963 right_y=0.0778 right_z=0.0215 right_yaw=0.0105 right_pitch=-0.0386 right_roll=-0.0135 right_gripper=0.9962 state[joint_eff]: [-0.3624, -1.8256, 6.8581, 1.5409, -0.0659, -0.0611, -0.0073, 0.4991, -7.8017, 4.2872, 2.0684, 0.1978, 0.0855, 0.0855] camera 'top_cam' (step 172): [image omitted: streamed camera frame] camera 'left_cam' (step 172): [image omitted: streamed camera frame] camera 'right_cam' (step 172): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0,"right_yaw":0,"right_pitch":0,"right_roll":0},"note":"The fingertips are now down alongside the blue bowl wall. I’m closing to clamp the edge, then I’ll check it with a short lift."})
tool
executing move_to over 10 steps (1.0s)
step 182
top_cam
camera top_cam step 182
left_cam
camera left_cam step 182
right_cam
camera right_cam step 182
assistant
agent noteThe jaws have stopped at a nonempty opening on the bowl edge. I’m lifting the bowl slightly to confirm the grip while keeping both fruits inside.
move_to
right_z0.1200right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8677, 0.6411, -0.5472, -0.0139, -0.0338, 0.9898, 0.2974, 1.7546, 0.5114, 0.7059, 0.234, 0.1684, 0.1054] state[eef_state]: left_x=0.2781 left_y=0.0005 left_z=0.1445 left_yaw=0.0028 left_pitch=-0.2006 left_roll=0.0008 left_gripper=0.9898 right_x=0.4047 right_y=0.0849 right_z=0.0352 right_yaw=0.0121 right_pitch=0.0487 right_roll=0.0281 right_gripper=0.1054 state[joint_eff]: [-0.0889, -1.5932, 6.8718, 1.5165, -0.0464, -0.0562, -0.0122, -0.3487, -6.0376, 4.0957, 1.3944, 0.2222, -0.0464, 0.6911] camera 'top_cam' (step 182): [image omitted: streamed camera frame] camera 'left_cam' (step 182): [image omitted: streamed camera frame] camera 'right_cam' (step 182): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.12,"right_yaw":0,"right_pitch":0,"right_roll":0},"note":"The jaws have stopped at a nonempty opening on the bowl edge. I’m lifting the bowl slightly to confirm the grip while keeping both fruits inside."})
tool
executing move_to over 6 steps (0.6s)
step 188
assistant
agent noteThe blue bowl and both fruits lifted together. I’m carrying the bowl level toward the large white bowl, with extra height to clear its rim.
move_to
right_x0.4200right_y0.3800right_z0.2500right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8696, 0.6411, -0.5472, -0.0135, -0.0341, 0.9898, 0.3058, 1.4944, 0.6727, 0.2073, 0.2405, 0.1638, 0.1057] state[eef_state]: left_x=0.2782 left_y=0.0004 left_z=0.144 left_yaw=0.0027 left_pitch=-0.2025 left_roll=0.0003 left_gripper=0.9898 right_x=0.4009 right_y=0.0862 right_z=0.0975 right_yaw=0.0178 right_pitch=-0.0242 right_roll=-0.001 right_gripper=0.1057 state[joint_eff]: [-0.0889, -1.7709, 6.8991, 1.5263, -0.0366, -0.0708, -0.0122, 0.1709, -7.8017, 8.9915, 2.2589, 0.2173, 0.0122, 0.0269] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 188): [image omitted: streamed camera frame] camera 'left_cam' (step 188): [image omitted: streamed camera frame] camera 'right_cam' (step 188): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.42,"right_y":0.38,"right_z":0.25,"right_yaw":0,"right_pitch":0,"right_roll":0},"note":"The blue bowl and both fruits lifted together. I’m carrying the bowl level toward the large white bowl, with extra height to clear its rim."})
tool
executing move_to over 25 steps (2.5s)
step 213
assistant
agent noteThe gripper is above the white bowl, but the carried bowl is largely hidden by the wrist. I’m beginning a controlled tilt toward the white bowl and watching for the fruits to transfer.
move_to
right_x0.4200right_y0.3800right_z0.2400right_yaw0.0000right_pitch0.0000right_roll-0.8000
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, 0.8734, 0.6411, -0.5579, -0.0139, -0.0341, 0.9898, 0.9398, 2.1986, 2.2112, -0.8413, 0.7162, 0.5999, 0.1068] state[eef_state]: left_x=0.2764 left_y=0.0005 left_z=0.1412 left_yaw=0.0031 left_pitch=-0.217 left_roll=0.0009 left_gripper=0.9898 right_x=0.4192 right_y=0.3832 right_z=0.239 right_yaw=0.043 right_pitch=-0.0197 right_roll=-0.0167 right_gripper=0.1068 state[joint_eff]: [-0.2667, -1.812, 6.8444, 1.6337, -0.0611, -0.0708, -0.0122, 0.1436, -12.9436, 7.7333, 1.1844, 0.569, 0.2027, 0.1001] camera 'top_cam' (step 213): [image omitted: streamed camera frame] camera 'left_cam' (step 213): [image omitted: streamed camera frame] camera 'right_cam' (step 213): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.42,"right_y":0.38,"right_z":0.24,"right_yaw":0,"right_pitch":0,"right_roll":-0.8},"note":"The gripper is above the white bowl, but the carried bowl is largely hidden by the wrist. I’m beginning a controlled tilt toward the white bowl and watching for the fruits to transfer."})
tool
executing move_to over 10 steps (1.0s)
step 223
assistant
agent noteThe clearer view shows the yellow fruit fell out near the far-right fence, while the pear remains in the blue bowl. I’m stopping the pour and returning the bowl upright to a safe area of the table.
move_to
right_x0.3600right_y0.1800right_z0.1600right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8787, 0.6411, -0.564, -0.0135, -0.0338, 0.9898, 0.9932, 2.6957, 2.9166, -1.4757, 1.0065, 0.4065, 0.1069] state[eef_state]: left_x=0.2755 left_y=0.0005 left_z=0.1388 left_yaw=0.0026 left_pitch=-0.2285 left_roll=0.0012 left_gripper=0.9898 right_x=0.4142 right_y=0.3688 right_z=0.1818 right_yaw=0.0161 right_pitch=-0.1042 right_roll=-0.665 right_gripper=0.1069 state[joint_eff]: [-0.0479, -2.0581, 6.8308, 1.6093, -0.0171, -0.0415, -0.0073, 0.5265, -15.1726, 7.9658, 0.6178, 0.6276, -0.0806, -0.0024] camera 'top_cam' (step 223): [image omitted: streamed camera frame] camera 'left_cam' (step 223): [image omitted: streamed camera frame] camera 'right_cam' (step 223): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.36,"right_y":0.18,"right_z":0.16,"right_yaw":0,"right_pitch":0,"right_roll":0},"note":"The clearer view shows the yellow fruit fell out near the far-right fence, while the pear remains in the blue bowl. I’m stopping the pour and returning the bowl upright to a safe area of the table."})
tool
executing move_to over 16 steps (1.6s)
step 239
assistant
agent noteThe arm did not reach the return pose and has folded into an awkward configuration. I’m first raising and retracting it to regain a controllable path before setting the bowl down.
move_to
right_x0.3200right_y0.1600right_z0.3400right_yaw0.0000right_pitch0.3000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8791, 0.6411, -0.5652, -0.0139, -0.0338, 0.9898, 0.7937, 2.5832, 3.1252, -1.5078, 0.6548, 0.4892, 0.1069] state[eef_state]: left_x=0.2753 left_y=0.0005 left_z=0.1385 left_yaw=0.0029 left_pitch=-0.23 left_roll=0.0015 left_gripper=0.9898 right_x=0.4545 right_y=0.3138 right_z=0.2569 right_yaw=-0.011 right_pitch=-0.1522 right_roll=-0.1763 right_gripper=0.1069 state[joint_eff]: [-0.2256, -1.6342, 6.9128, 1.5702, -0.0513, -0.0366, -0.0073, -1.1282, -18.0034, 6.1744, 1.9512, 0.4469, 0.2906, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 239): [image omitted: streamed camera frame] camera 'left_cam' (step 239): [image omitted: streamed camera frame] camera 'right_cam' (step 239): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.32,"right_y":0.16,"right_z":0.34,"right_yaw":0,"right_pitch":0.3,"right_roll":0},"note":"The arm did not reach the return pose and has folded into an awkward configuration. I’m first raising and retracting it to regain a controllable path before setting the bowl down."})
tool
executing move_to over 16 steps (1.6s)
step 255
assistant
agent noteThe task is incomplete. Both fruits were placed in the blue bowl, but the yellow fruit fell out during bowl transport and is now against the far-right fence, outside the safe pickup area. The pear remains in the blue bowl rather than the white bowl. The right arm is also deviating substantially from commanded return poses, so further autonomous motion is unsafe.
give_up
hindsightExplicitly command yaw, pitch, and roll when maintaining an upright tool; leaving them unspecified allowed orientation drift to accumulate. A rim grasp with a roughly 0.106 gripper reading was not sufficient evidence of stable loaded-bowl transport. Verify the bowl and every fruit after a short lateral test move before attempting the full carry. At the cross-table pouring pose, the arm approached its elbow limit and subsequent Cartesian targets had errors exceeding 10 cm.
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, 0.8806, 0.6411, -0.569, -0.0139, -0.0338, 0.9898, 0.9443, 2.2013, 3.1119, -1.5467, 0.7895, 0.3916, 0.1069] state[eef_state]: left_x=0.2747 left_y=0.0005 left_z=0.1374 left_yaw=0.003 left_pitch=-0.2353 left_roll=0.0016 left_gripper=0.9898 right_x=0.3538 right_y=0.281 right_z=0.4402 right_yaw=0.099 right_pitch=0.1361 right_roll=-0.0829 right_gripper=0.1069 state[joint_eff]: [-0.253, -1.4701, 6.8308, 1.5116, -0.0611, -0.0562, -0.0122, -4.3966, -9.5658, 4.9026, 1.5849, 0.7546, 0.2564, -0.0073] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 255): [image omitted: streamed camera frame] camera 'left_cam' (step 255): [image omitted: streamed camera frame] camera 'right_cam' (step 255): [image omitted: streamed camera frame]
assistant
give_up({"reason":"The task is incomplete. Both fruits were placed in the blue bowl, but the yellow fruit fell out during bowl transport and is now against the far-right fence, outside the safe pickup area. The pear remains in the blue bowl rather than the white bowl. The right arm is also deviating substantially from commanded return poses, so further autonomous motion is unsafe.","hindsight":"Explicitly command yaw, pitch, and roll when maintaining an upright tool; leaving them unspecified allowed orientation drift to accumulate. A rim grasp with a roughly 0.106 gripper reading was not sufficient evidence of stable loaded-bowl transport. Verify the bowl and every fruit after a short lateral test move before attempting the full carry. At the cross-table pouring pose, the arm approached its elbow limit and subsequent Cartesian targets had errors exceeding 10 cm."})
tool
give_up: The task is incomplete. Both fruits were placed in the blue bowl, but the yellow fruit fell out during bowl transport and is now against the far-right fence, outside the safe pickup area. The pear remains in the blue bowl rather than the white bowl. The right arm is also deviating substantially from commanded return poses, so further autonomous motion is unsafe.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 7.002 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, -0.3866, -0.0143, -0.0296, 0.9906, -0.0227, 0.8005, 0.6182, -0.3874, -0.017, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.2955 left_y=0.0001 left_z=0.1813 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9906 right_x=0.2959 right_y=-0.0001 right_z=0.1832 right_yaw=0.0005 right_pitch=0.0004 right_roll=-0.0001 right_gripper=0.9991\nstate[joint_eff]: [-0.6222, -1.7709, 9.5658, 1.8388, -0.1148, 0.1294, -0.5543, -0.1846, -1.7846, 9.3744, 1.873, -0.0659, -0.0513, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e04f6e98c39a3d2339479e6938f3e5df5d48a9f26f145f9ad5536167516e7d6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ec0e8263f0e33ab9bc66d7f1d62205d854b984a753639e1a0c53245b8c39f6a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d648dfdc67356c938d254fce49503e4b91ab501c1ed31acd48700bac3b1ec2f",
      "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 · 5.912 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtGThizCk0KByviDhlqGRRwKJz3BceVVmjQJ4SEjsyorflUNwWSoctMQKycN6Kohi3UruGJHlNVs1nmHgSNbLxpTGW_BDBHrTHusq32zXGcwdHayXyXRQeH9D8TK3fdt43AbwUjRx0uO8wywpSUT4gLDbhG32zBkG1iHIx-25_wb6Dps2X_ACIIUTqFNPz42uYsFF6Z-GEqyPXXrb1YhjVwQJcwFFlhlwTEips3QpvuuBeBPP5tWOZ38PxWclIL4m_3OjQVA1pk5ts9oMUiRswZ4yUNKVTlc_IHx80WHooAtNjE1UyzJ7hdCQ3CAFLC8t_KeYgbnVzTHz5kJ-p7d85etpMB4e4OabOG0mjIubntPwWTkOychSKJVaFV7k3XBfKlqwWCSmoM6fvJRQjaEFjI4sDTQ-DNJv8p5buGOJM_-Y_x_j5NijYaRBWtUbSqoMGUX4krqQ0rlVpBoCTCuhiDifqtVq5HV_1oiG94wFleqsN83KU3kODUKvOsHcR8dttluH8pItl_Z8DARZb7S8GAJKryX5tMgcArNIvBOPeu8UjoLa8Bfqj8Ry2WMIC7GIGwu-9Tra0b5Ror9ZmkUbxhuXONSCm5FkK1NU4DUibIjhAbZY85WAlqjsiQDkM8ecCid55uSOtujfnh3h-xCNBxlpBYv1iiE9nI41YLrDn858Kk93zgerqLTU2ykwhUMvvN7F2g453M8wO12a_JzfFbIBQcm3c2HmzEaqPpqnwnPR1IiuMcfVkoBYpct_Z98uDjuWU0enJam29y51un9w31ACpWPR2I3U5tpRvzgMHtREMhSTBBH6po0DGrTlZoMGi5wM3zGke4zMSV6EN2eb2nXJxb8CvcEJAK4hJVgCCtPYG7Y0Eijm7mIFnbOJCsX5T7YI262UjfzOR59F3RvnQyU1N5yymPFfzL_Y2YTb3kiw5RMeZHmLTXlod6VfBU6Y8JBM-2ZEYA6_ZSW11JpQiEARYsISH7x9dGpkLW40G2j5xCZC94Bx7OLGdpv8eSvqQW0BBPUUrD20qQ7NkU5DHQ0OQxOlOY-fggsKco6H55rmHAdU_jtkV3S3uMid06lMVSjnJS2lYQECRKI1bMYMcA7msqOYMk7mdY6ALhCtpiJ56VorqcoATimR7a5ODtXiBIuiFV7QSGjuBAJXctn8HB5wkcflSpJ4ha-5fy9u_N2-PoIckt7bwsKumMNezg8QNMw9vgf0UJP1nOQYe1aZcwZHUuxCOShQZZUAGuKGN6GmLaGP6Mqwh0fDQmsgjePfm97oWBmBpzDB99IXS-GwtIANQwtkP5iq37ZaMSLH4UtCkSwbB_GjIKGJDY7aC7ThSzIzISrT5S3_WFYbFZl0YCQvyBpTroLhTBWI_CofFMkHDOoUlhZ-d6WUpoWqYqjG8RGZK9XKmoJo4d_WgKYkm26f33yRWld2v3oJTj7v8DIiqzjFOGsiL0DnYajHrEdi7FsfSfidqwjMEe5H3R4U2Dasj7R-tdwjkmT16NTQ81bQlsflex7obBkGVc6dcytBaBkeJARZ9ogjnnvFnZs2Sim5ETnR6T9uciFMHuDgqIjKIQdIaQByKNK8jm1gawmm3Us6LH6Zo286QBhvv5tanoOOXrYKMpPEBLUj6nRit-6GJNiyPCTzRnZeP-vnJT9ENbc4_bKBm7gXk0xgPvVUNiS4EgbjJ4vtJr7idXZ7WYuluVPpbVfx4QOKuUFmwupZZ-5xlGEv8RFjs3gwSJRo2YtfrGN9EDnvCgWSw6VCEEVYqMClq3Nwk_3SWnuXoL_asm9UygyVcZDpSADJxqd5Y_DPK0W_ghOB4TPGC1Jt_XNRPa_lB2-V4bltwzNg2kY6BNIqIMEZSOHV8m57S95mGhUTjQd4BDjwTcxYfWpN7rBB5WYe_l4YaT2eCcgy1cN2qBsXH8mctEMIL1fWw4BCGFfEZrhKpvHwgu4veve8xQLAp40XsiJDNPlTIi6_eLGUxrs2YOCKl6I4pNj1c-oE6WgH0XtgiC175gYRvUygVdNGs-f9rRhqBWyhsS9W-hnWmS7rW2FblH6bVJNuuLQXFA8lWvppr9ZJ7qLKQYrZ4Bq8ypKCmjTbHbwg2N5AWs7J_63SZviV04Sd3abKm2DqLCF2YN5AAaBKrvVa33SLRAOotXknLJpwYtm0oS6HQ8jU28No1StYGfsGR0o8fipaSfmJWck5PVr0eqhU-iBIkdpJEz78TIPWjBPapDCh1t0MQGnfC7_1nLI2jAauKLXY-7o1uKNrrg43zicrcT4Dm9nO73wScYKu43ck64vL7D70iTWJM9fiCw-K8d-lcB-5UxuK0K6TP_OW-2LV_p3weI12vJVAhF2Hb-Xo_GJ_xhHkzVAWNLLJZ8yt2K2JS3W9KTt0ZupuorOvy6vJIUSE303rLufvrZiu7202MD3gSd008zgcGheXDhzyPspe-mrOWbdpYqjrd0MG4aP9xUoEIl4CwQWglE1iB42WOTVtdTlTND2ljXuHHExE15owEpF08RA4rQ==",
  "id": "rs_06fa704fbb869d0b016ab464dbb94c87d0bf485857a7a90dd6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.055,\"right_z\":0.12,\"right_gripper\":1},\"note\":\"I see a yellow fruit and a green pear beside the blue bowl, with the large white bowl to the left. I’m bringing the right gripper above the pear for the first pickup.\"}",
  "call_id": "call_VYKMqDsBK29D30vCyEn0aZ6A",
  "id": "fc_06fa704fbb869d0b016ab464e03fa487d0af2c72cd121921cc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VYKMqDsBK29D30vCyEn0aZ6A",
  "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, 0.8021, 0.6132, -0.4011, -0.0139, -0.0307, 0.99, 0.2916, 1.0359, 0.4461, -0.0475, 0.2321, 0.1398, 0.9991]\nstate[eef_state]: left_x=0.2936 left_y=0.0002 left_z=0.1776 left_yaw=0.0007 left_pitch=-0.0168 left_roll=-0.0008 left_gripper=0.99 right_x=0.3143 right_y=0.0557 right_z=0.1089 right_yaw=0.0234 right_pitch=-0.0477 right_roll=-0.0223 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -1.1966, 7.0769, 1.8974, -0.022, -0.0415, -0.0757, -0.1162, -3.2752, 6.9128, 2.0391, 0.2076, 0.1441, -0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e896460939b584bc7fc5ab492b199a4942e2021d0274fe846eff6feee8d53e28",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a90f8d1e12f958695fd1aec0d9bccf2416f6a30b3776e58ee0a6a71dfc8df03e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82354142c8be8de2e233628cdac156ae1d71528e452b8792a8777cf7bbc56b80",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 2 attempt 0 · /responses · status 200 · 2.476 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, -0.3866, -0.0143, -0.0296, 0.9906, -0.0227, 0.8005, 0.6182, -0.3874, -0.017, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.2955 left_y=0.0001 left_z=0.1813 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9906 right_x=0.2959 right_y=-0.0001 right_z=0.1832 right_yaw=0.0005 right_pitch=0.0004 right_roll=-0.0001 right_gripper=0.9991\nstate[joint_eff]: [-0.6222, -1.7709, 9.5658, 1.8388, -0.1148, 0.1294, -0.5543, -0.1846, -1.7846, 9.3744, 1.873, -0.0659, -0.0513, -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]: [-0.02, 0.8021, 0.6132, -0.4011, -0.0139, -0.0307, 0.99, 0.2916, 1.0359, 0.4461, -0.0475, 0.2321, 0.1398, 0.9991]\nstate[eef_state]: left_x=0.2936 left_y=0.0002 left_z=0.1776 left_yaw=0.0007 left_pitch=-0.0168 left_roll=-0.0008 left_gripper=0.99 right_x=0.3143 right_y=0.0557 right_z=0.1089 right_yaw=0.0234 right_pitch=-0.0477 right_roll=-0.0223 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -1.1966, 7.0769, 1.8974, -0.022, -0.0415, -0.0757, -0.1162, -3.2752, 6.9128, 2.0391, 0.2076, 0.1441, -0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e896460939b584bc7fc5ab492b199a4942e2021d0274fe846eff6feee8d53e28",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a90f8d1e12f958695fd1aec0d9bccf2416f6a30b3776e58ee0a6a71dfc8df03e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82354142c8be8de2e233628cdac156ae1d71528e452b8792a8777cf7bbc56b80",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGTsnHlmRJviHvTmnfGzgUsB-TUVqgoumjeLS575gqRaIiNwDJlN8dqHnAOHodsNs46wxsOD-nTcEaP5ddZS8kSE9ZXARO1kqfd3SybXpdvd3yZXGmUaQ-BM4GZgrr34Mej112PXdHYMn_3F7gve4B9yIA8Ij05m78g6jS1JVV3SgsVWbI9B8_XEBJIDQ6BBhPMHuYccY1zyEzVqJVRz6tzOC3b-rOqi0-HNmWNf0l6IJSECrqVhSTzfUAUp4x8hCXq5MmZwXkbU1ykmAqybcsAouzemTlzW2i60t3ZtzADSwZCpxZONp_GfVKHe2S-mkApicOrSQqzREFzd3LaVzXlQb1_afe8Whxg02-MkclOwNakNvqQrbthEI9jzfJ2CpyuYPehODirAQ_YoauGBB72zoqZjKAnTMFV7GzaXxf7xXBYQ95fQu0E8pCaGvILVw1O9vwUy2Ey9OzL40UKloCxW2cdPhdEpVMGDVtZUESuOSiDHjvovsYJHxofP9__7Rpu_ofcvJ-PmpzFk1P1JQq45lSeaEprgFtlXtKDXaEyLrHWjGscZXZlqvirkGdO_3Y63n9mv2BGrlFgKGcUjgvBt1waWghYZUY3qOM_L2w8NDclXS2se1ynVBwz8ooCm9SVLCZq-Atx7C9isnwXgiHitkL9enjkvePwbK_ng7hIVX_GW3ecR9uC-7nRAVdvAlFtDlrPWpzcfSvOlwJuC52RDaRatlOLxNueEW9uYauclevjVArL_IjveOrR35MClVGb150nwoL9NPBftBRUMgdq6M2HGCu9QP8BV1pPBRodGYRARmL4M3osY0cQSeedmkhVkC6WJMCoWOXxsZuNPfWd73aqbKhvCt3vp9XD_TgsxC45sAx8445dF4x05b2tam0LpwbohFrb6qmfWB4rt07o9ysGmszaWADUc4YbSzeQ2WUKirdD0Y6_WFqN4-Fli3PYycJ7TADuIsLo8FC4bqbSQAahucKl6NWyziOAIEWFtZKbvmQT_6iFukWAo08UUEEblxl6MP-zN8RFAO5JSvvF1GYnlw90iDSX-Xk-h8lvvcd5HPmsH8kGzKcc3hcuytJybGS5xI39BupBvIzZnZbThqLspBhSLmmT1qdZgAxutQD34rEcP16jqVwOVzM_Defp_n9gHH_CxLBBnpkmkgxo9zrrVOvY64JeNMCT77O3plvZLPFVqkXj2FL9rwC7Bv7SrpdxiHtWw5q_kMKyCWWdxVBw8tbCrPgp3F-bvolPtAV_7LIrXsWp19qsaK1BVML1euod3BuBZzRWNrwj3HRCYXXMK_hQaARHcLg9pD2rKhA2VnzhMLZ9Fux_npezeUGcgVjdruOCEqcbSLZuUiOMANjVzOYcTeU7LpvZnsdW1Y3HBWPayX111obRmtl6E6jJIYz7JVKJnMKUlASUa42SLrMi9E7c6T7DN-Oy8HQNNLrCSbxou-2FhwtBj5tddF30_r_ejSRTBznHMSnclJh6T6BNRBP6wf_gUBEA352tWdfFqtw7RrNDDRx6AM8WkG9GFnzzPFnOBJ4bjL_9cvUiLZpcCkp5MANbd4rNKQ73Q9RRS3TkXC2zdq8FLJUNjhaVnSYL6_-ZJSM2oQu2y_-TjzIEGkJkjA2XHj_q2JM5CxDvtYLc0Jzp28jl0dZhU9W5NALVqc905u9qGaPrOn9oRlURLIJFQaW-_-lxZuby5vYxutnzPrqJUr7RFXbQ14HmFvyHFruQPIrA77p1UN_YACAnOVwOXXNsYL4TEIGkN5WNfwbhACoXHpoVI1fIVPELJgQUzEi6KsO48NWpcBvjhsn-7kHn9tRnYy2mHMfVR9poERQwX4ZyzkEHZLPC3qA3Oc758l7vN2-g7Fbo-lL3rV5pqHLnTbyZkxRVao5MI_d2y3jFiYt7WJkSpepQloAZ6gykU5Da3rq_wWR9-LuXu0-RDSqUsgi-W2qTnT3VPTNMBGhWibeXhfg8ShFq3NQtFzMDHEhX3o58n5hKIPXWjJ81UTGJMw4BxOgguCfO5v16NRiiLPVsrJ97w_7zYt2EzVZUw58jKrB2evkYMnY7dHNCW8zRsYa9WgueN0GIgMTjJr-bx_L9-FtOnBbnyiQb6Cwk03YX4hQK9SXlvo_B9xA==",
  "id": "rs_06fa704fbb869d0b016ab464e834f087d0b86ce33546919bd1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.345,\"right_y\":0.025,\"right_z\":0.035},\"note\":\"The pear is slightly right of the jaw center in the wrist view. I’m shifting right and a little forward while lowering the open gripper around it.\"}",
  "call_id": "call_nXsRtZ76T4n7t1Hj5UWk2Bld",
  "id": "fc_06fa704fbb869d0b016ab464eb737c87d0889b59e7907d8b71",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nXsRtZ76T4n7t1Hj5UWk2Bld",
  "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, 0.8066, 0.6132, -0.4088, -0.0139, -0.0319, 0.9898, 0.1024, 1.4498, 0.3134, 0.4751, 0.0731, 0.0326, 0.999]\nstate[eef_state]: left_x=0.2928 left_y=0.0002 left_z=0.1748 left_yaw=0.0013 left_pitch=-0.029 left_roll=-0.0015 left_gripper=0.9898 right_x=0.3393 right_y=0.0255 right_z=0.026 right_yaw=0.0253 right_pitch=-0.0894 right_roll=-0.0178 right_gripper=0.999\nstate[joint_eff]: [0.0479, -1.5521, 7.0222, 1.8046, -0.0513, -0.0317, -0.0317, -0.212, -5.0393, 4.9709, 1.9756, 0.0513, -0.0904, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:866b3af6f6f855c7613bb23d9fc87734cb82241e2b973836c5597bf07739b6be",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1231e344890de9bb80950921d6b099f6ac7afb5424d6c96fc4a55077b9fa42cc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a29c4bc5da58cf56c8c2c036d49c83d137a73802edc63962a2a79bd0cb38ad1f",
      "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 3 attempt 0 · /responses · status 200 · 2.425 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]: [-0.02, 0.8021, 0.6132, -0.4011, -0.0139, -0.0307, 0.99, 0.2916, 1.0359, 0.4461, -0.0475, 0.2321, 0.1398, 0.9991]\nstate[eef_state]: left_x=0.2936 left_y=0.0002 left_z=0.1776 left_yaw=0.0007 left_pitch=-0.0168 left_roll=-0.0008 left_gripper=0.99 right_x=0.3143 right_y=0.0557 right_z=0.1089 right_yaw=0.0234 right_pitch=-0.0477 right_roll=-0.0223 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -1.1966, 7.0769, 1.8974, -0.022, -0.0415, -0.0757, -0.1162, -3.2752, 6.9128, 2.0391, 0.2076, 0.1441, -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]: [-0.02, 0.8066, 0.6132, -0.4088, -0.0139, -0.0319, 0.9898, 0.1024, 1.4498, 0.3134, 0.4751, 0.0731, 0.0326, 0.999]\nstate[eef_state]: left_x=0.2928 left_y=0.0002 left_z=0.1748 left_yaw=0.0013 left_pitch=-0.029 left_roll=-0.0015 left_gripper=0.9898 right_x=0.3393 right_y=0.0255 right_z=0.026 right_yaw=0.0253 right_pitch=-0.0894 right_roll=-0.0178 right_gripper=0.999\nstate[joint_eff]: [0.0479, -1.5521, 7.0222, 1.8046, -0.0513, -0.0317, -0.0317, -0.212, -5.0393, 4.9709, 1.9756, 0.0513, -0.0904, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:866b3af6f6f855c7613bb23d9fc87734cb82241e2b973836c5597bf07739b6be",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1231e344890de9bb80950921d6b099f6ac7afb5424d6c96fc4a55077b9fa42cc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a29c4bc5da58cf56c8c2c036d49c83d137a73802edc63962a2a79bd0cb38ad1f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGTzIw1Nf44LHEou5uPUTmp7Sbc0sN_keYK0mKLPdMP3yb0NP85mUpvrDWlK8PAN-D8zOgRn6fnizkvKPtM7PqIfSzvw3F9ZGxaSdIZ4R-iCSueNp-gFjC9PcA5c8nck13sUJxdV7YAE9QX8vI1Vz20dpt7p5DNNPXRp3NrXXzOdUrjbR8o_0GjJnO3rkR1W7eiDLGIHquadlD0eBzBX3NBjH_8HgAEmNQ964QFfNYFHEV9TPLYkHSRI2w6RBqjR_JMQ08-weVN3XcT0jRwCLUIuiMD8P417jOKo5Qow52fT-C0ZsMJUJ3Ki3UISTBeBVS9_FcL9HM0pFj0KdTZQVrpNVo5IWY1nxJuBItgI3w_VDf-9mSnC0UVBMg3xYwT4QK_X3fOkZidcsLFu4QBQ-RoTojmh-A0VX484AgHb6jWABo5VkLdg883UOqyJkDScYfdyZj6kAJRSSABhl8yA_U9vVZQrIO54VmPycsP9DdDC0pQ9ejCEDZ1cBT9p-mFOB5K2zYcA4fWhVPukHskRTMWDCJ3h2fYZFRMIKAL9jzgRCTIk0hcZJAeHcBNLoJk1dxWtdU-yY3qLKtyfH8oKZW_Gv5ooH6rvT_cyjZ-kVBeJfd-VRdi1ROdABApY1xN9qZ5CsE1z4Dj2SsjdtHIHmyaZNoUGBiIxDGna2Wl9f0AGfpk3Sl1RXiLB7E3AEtv32nklqVNcC0sFYfJwE2qZ9zTn44tW-YP9jAtRIxqbxRsINhs0Yqkkvs1cEnX75RPxkm82IUg8h3lO6LSIAxkLdIAbjQ5XMxJ2LAjObxUK3VXQXg0Q1Cnh1Y6jV21e9ijY9tzEvYJPvYsLGIj7pCWcEFZRgG86iTxJlTb9comxNzBLFnVkUPR79NSRcQrqSpWIL27ZPNQpgtk-nZ2JSIb56VQhOorOyg_-BuhBYOIhXNniB0dOZoRBO0izQpIF_qV0EeKwsfAfia7NlkIP_j2qaKsIb0VVHzBpWiitaFlTVUYwW1UwEYvgfLBM2X4k3LMRukFZHTUrSzvd4MqMC0zSVyiSMY2XifWZaRk4hBDeKzIbFZZd2gPy34cI7K2k9A0lBgUcuu9XCtZJTiAc-kd6MgAuZb1pNiQCwXGfXHFi4opLm8xaRNumORvpbN13tawTPR8k_ZyVq7v0DaF3SndMJqThe9LhKdPyovBMJCuI1ws0ci7MQql9qiYFa3Rfqas4R_tA0Fv6-H8d2mncd9amKFPwxQ==",
  "id": "rs_06fa704fbb869d0b016ab464f23c3c87d08187d96906c7fdac",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The pear is centered between the jaws at table level. I’m closing the gripper to secure it before a short test lift.\"}",
  "call_id": "call_96HBZ2HMQFmlGIUQAcpvQzOC",
  "id": "fc_06fa704fbb869d0b016ab464f28a7887d0b0e535846a01d791",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_96HBZ2HMQFmlGIUQAcpvQzOC",
  "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, 0.807, 0.6132, -0.4171, -0.0139, -0.0338, 0.9898, 0.1024, 1.4502, 0.3138, 0.4744, 0.0731, 0.0257, 0.7205]\nstate[eef_state]: left_x=0.2917 left_y=0.0002 left_z=0.173 left_yaw=0.0024 left_pitch=-0.0378 left_roll=-0.0029 left_gripper=0.9898 right_x=0.3393 right_y=0.0255 right_z=0.0259 right_yaw=0.029 right_pitch=-0.0902 right_roll=-0.0233 right_gripper=0.7205\nstate[joint_eff]: [-0.2803, -1.3333, 7.0085, 1.79, -0.0464, -0.0464, -0.0122, -0.0889, -4.465, 5.0803, 1.6728, -0.022, -0.0122, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14360e9216d4331cb68bdfb43fe29f8354a3b7418139d9cb689388af3192ceb8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac5681568ec7d30afdd78ea5edaca8d0ad9acc4581f3091a845ed79fbd1548b5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b49ca57ffacff730f80f5e50a10569d5434c50af09f8383343f5ac4c9bfe7f6",
      "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 · 4.024 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, -0.3866, -0.0143, -0.0296, 0.9906, -0.0227, 0.8005, 0.6182, -0.3874, -0.017, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.2955 left_y=0.0001 left_z=0.1813 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9906 right_x=0.2959 right_y=-0.0001 right_z=0.1832 right_yaw=0.0005 right_pitch=0.0004 right_roll=-0.0001 right_gripper=0.9991\nstate[joint_eff]: [-0.6222, -1.7709, 9.5658, 1.8388, -0.1148, 0.1294, -0.5543, -0.1846, -1.7846, 9.3744, 1.873, -0.0659, -0.0513, -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]: [-0.02, 0.8066, 0.6132, -0.4088, -0.0139, -0.0319, 0.9898, 0.1024, 1.4498, 0.3134, 0.4751, 0.0731, 0.0326, 0.999]\nstate[eef_state]: left_x=0.2928 left_y=0.0002 left_z=0.1748 left_yaw=0.0013 left_pitch=-0.029 left_roll=-0.0015 left_gripper=0.9898 right_x=0.3393 right_y=0.0255 right_z=0.026 right_yaw=0.0253 right_pitch=-0.0894 right_roll=-0.0178 right_gripper=0.999\nstate[joint_eff]: [0.0479, -1.5521, 7.0222, 1.8046, -0.0513, -0.0317, -0.0317, -0.212, -5.0393, 4.9709, 1.9756, 0.0513, -0.0904, -0.022]",
      "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, 0.807, 0.6132, -0.4171, -0.0139, -0.0338, 0.9898, 0.1024, 1.4502, 0.3138, 0.4744, 0.0731, 0.0257, 0.7205]\nstate[eef_state]: left_x=0.2917 left_y=0.0002 left_z=0.173 left_yaw=0.0024 left_pitch=-0.0378 left_roll=-0.0029 left_gripper=0.9898 right_x=0.3393 right_y=0.0255 right_z=0.0259 right_yaw=0.029 right_pitch=-0.0902 right_roll=-0.0233 right_gripper=0.7205\nstate[joint_eff]: [-0.2803, -1.3333, 7.0085, 1.79, -0.0464, -0.0464, -0.0122, -0.0889, -4.465, 5.0803, 1.6728, -0.022, -0.0122, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14360e9216d4331cb68bdfb43fe29f8354a3b7418139d9cb689388af3192ceb8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac5681568ec7d30afdd78ea5edaca8d0ad9acc4581f3091a845ed79fbd1548b5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b49ca57ffacff730f80f5e50a10569d5434c50af09f8383343f5ac4c9bfe7f6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "arguments": "{\"targets\":{\"right_z\":0.105},\"note\":\"The gripper has stopped at a pear-sized opening rather than closing empty. I’m lifting a few centimeters to check that the pear comes with it.\"}",
  "call_id": "call_uB90uZJWysc2pWsHOFhDh52i",
  "id": "fc_06fa704fbb869d0b016ab464f5adac87d091ede076e57af830",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uB90uZJWysc2pWsHOFhDh52i",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.807, 0.6132, -0.4236, -0.0135, -0.0338, 0.9898, 0.1024, 1.1709, 0.4885, -0.0292, 0.0723, 0.0246, 0.7199]\nstate[eef_state]: left_x=0.2907 left_y=0.0002 left_z=0.1717 left_yaw=0.002 left_pitch=-0.0443 left_roll=-0.003 left_gripper=0.9898 right_x=0.331 right_y=0.0248 right_z=0.0865 right_yaw=0.0298 right_pitch=-0.1397 right_roll=-0.0273 right_gripper=0.7199\nstate[joint_eff]: [-0.0205, -1.2923, 7.0359, 1.7656, -0.0317, -0.0415, -0.0171, -0.2803, -4.6017, 9.1282, 1.6777, -0.0415, -0.0073, 1.0281]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2023046bf7519c698a8d2448eb04ce12c320f17bf7f0f9c1d2789e3b498f4a0e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5560186744f101163fb3f05a6bcd52fa75cc30e7fbb708021e68efa939d6f271",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57e63746b24d9a2dad73bd50aacbf99ad8abcc8c1a1c813a1576cdbce573395d",
      "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 · 2.722 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]: [-0.02, 0.8021, 0.6132, -0.4011, -0.0139, -0.0307, 0.99, 0.2916, 1.0359, 0.4461, -0.0475, 0.2321, 0.1398, 0.9991]\nstate[eef_state]: left_x=0.2936 left_y=0.0002 left_z=0.1776 left_yaw=0.0007 left_pitch=-0.0168 left_roll=-0.0008 left_gripper=0.99 right_x=0.3143 right_y=0.0557 right_z=0.1089 right_yaw=0.0234 right_pitch=-0.0477 right_roll=-0.0223 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -1.1966, 7.0769, 1.8974, -0.022, -0.0415, -0.0757, -0.1162, -3.2752, 6.9128, 2.0391, 0.2076, 0.1441, -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, 0.807, 0.6132, -0.4171, -0.0139, -0.0338, 0.9898, 0.1024, 1.4502, 0.3138, 0.4744, 0.0731, 0.0257, 0.7205]\nstate[eef_state]: left_x=0.2917 left_y=0.0002 left_z=0.173 left_yaw=0.0024 left_pitch=-0.0378 left_roll=-0.0029 left_gripper=0.9898 right_x=0.3393 right_y=0.0255 right_z=0.0259 right_yaw=0.029 right_pitch=-0.0902 right_roll=-0.0233 right_gripper=0.7205\nstate[joint_eff]: [-0.2803, -1.3333, 7.0085, 1.79, -0.0464, -0.0464, -0.0122, -0.0889, -4.465, 5.0803, 1.6728, -0.022, -0.0122, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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, 0.807, 0.6132, -0.4236, -0.0135, -0.0338, 0.9898, 0.1024, 1.1709, 0.4885, -0.0292, 0.0723, 0.0246, 0.7199]\nstate[eef_state]: left_x=0.2907 left_y=0.0002 left_z=0.1717 left_yaw=0.002 left_pitch=-0.0443 left_roll=-0.003 left_gripper=0.9898 right_x=0.331 right_y=0.0248 right_z=0.0865 right_yaw=0.0298 right_pitch=-0.1397 right_roll=-0.0273 right_gripper=0.7199\nstate[joint_eff]: [-0.0205, -1.2923, 7.0359, 1.7656, -0.0317, -0.0415, -0.0171, -0.2803, -4.6017, 9.1282, 1.6777, -0.0415, -0.0073, 1.0281]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2023046bf7519c698a8d2448eb04ce12c320f17bf7f0f9c1d2789e3b498f4a0e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5560186744f101163fb3f05a6bcd52fa75cc30e7fbb708021e68efa939d6f271",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57e63746b24d9a2dad73bd50aacbf99ad8abcc8c1a1c813a1576cdbce573395d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGT7ZHJ7ClG-VvRe3pmpG_fQdo1GGo0LF0vb5GxeWhW67HqAsW9r1w0794HDq9aICVp6VEUUEAM8LZbRpsm2Fy9NOvqif-EaB_UEz-834Nk5hw6KCIutWTFaNGoBT8yGSGB-JWEcqVaf_9ksKDfy4rXGwlOWj6JSXEBr6JFNyEgBy6rc17GfBy6LyeBozmB1-ym-bttuDMgSgkVuT9Ty94-uhHlPo17-JJ3vPob2WeaPX4a50gGAFTiaLf_vJ14rlB-b7nsyDULWWg-8hJUhvqi22zQhUQnv-FZuvnrid-yZLakakyiSVLnJCrcjE-Od4C9xXd9dCrMoyEtNZkxNZoLo4pHnSY3h007cReSc9gGiOmmvY4lxowwQagtbKY1Zn838QSh7PwEAlTurIghtUQVvLZrsMW9n_Wlu-Y01i3g6rXOpWu0Tv80JZy1xd1-N7cK5jctf3NlxSICqaO28OsohrszlZ8t_XM8KQIuzV_qOW4qe-f40iJiBTnHB2-18JCA-KNTLIR-dz4UBT-mFTNXDrZXLdqqrq_UZKJjVVuOU0nOt-n1huZDgMJ8xxlhQrUvvJKYnvs2g2OaKZREq3sySmitVVTpNzxoUt5CukkwDHJV09_wCzh5xMH36nWTo6xCH-N_ZMFh6JoD49ozFQY76Rb38DEYxsqi84wvu8WxJ-lTf9ZsQNP4Eg8_6r5Zq5VGYYIjnOuVRrOuYMIm1M3AhHcF3ikgNCSaUXO1juB_PsrI4iB9q4bpmsCft0MKSrWrz-YTMwOiPms3tIyB2X66JXw0r9RkxOUyS3WRKbNTXQWeoaPqHEpYWWZfr5Bg7E3c8Os9kXAMohGPELFW-S3hG4C0MCAw26OinsPXy5UOS8XyTN-lmn0JW5ty2nRkfT7WFmtFu9rW1rs7Tza6Ztb5sd-RIRc-d2Qpqv5S56Jcq_Ze3o7u_mrqL99dGnI26FfCcG5Z4dbPwgBLbTjzPGwf7PtpRNnmZs-LKP3crtBO_vfI_ABG1IOLTT59aDeVARw-CdrqX9S0Sp4pWr6Sp-H9kE82Gi0xXoUM4e0G6noWxoAJsSjdR_xl2vLMvi58MnQh50fLtmeLvXHqGT8iFMj1M82kOjecmjffgpR5j-k-ySCtip9vLLj_VwBT1bUIo_kGLwjL3h6NOpzxGOLZ_kdUbQg9UqhUlMKCcssXmOnKMBpBNX8mT0BfxZd2O3yjBPYIpo6x_FUG4XlzhP3TgIuyxoDn6e2c76J9WqnydvN-t07K2sFWQdJFnvOr6l8vJ9DfKCLoFjDtoC2Pi8dmeUS3XxtG577lyiVkLnYihPosaQjuw5oIZdMa2uWJTP5c1EFD7lUHB2Fud6D3UtTJRX83EoSVzC9QVUOBsjQcTJU6W-Tm8wLICfwUixHCdK5E2JAYEGijBxQAH6y8mBTil2e99EBmYhv_4CWYS8Iv_8aqepY1hJ24i3vbulNwHfOntyoP0ePh3EtryoYgYb7SuVerl7rLmCijoGqIB_o6rgm9jw6eHXJDHb0D0vBxG4NAHbc_CQyMAK3DufmfStX5EJfNT9zLsKbLX4Q4i33Li--DWm2GIbIkxT5qNgqNN67xDlnTE-dyAtjZ1Zi7kHfNzje6YSiAeYRI7LKQg0sJ1hqjLiaKPh-utGMa4qBOlyrVZA-it8nzMSHS9m2kz7wFtR-DqZDDD_U33QcxYz2RVnrg12yqtmBIQpcQZhArvrKpfCxnfwNrGm3gMrsHb_TQD4uM8IukafUnU8-E-pqUKgS9MJbc9IvTEmt7q0h5RQriGwV58BZJtVmeaMblVLIzHPvWzxA==",
  "id": "rs_06fa704fbb869d0b016ab464f9405087d0beba0d2416ea52ea",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.105,\"right_z\":0.21,\"left_x\":0.2955,\"left_y\":0,\"left_z\":0.185},\"note\":\"The pear has lifted with the gripper. I’m carrying it above the blue bowl with clearance over the rim, while keeping the left arm parked.\"}",
  "call_id": "call_CRcXC5MFwsFiO3NsEdMFK4E3",
  "id": "fc_06fa704fbb869d0b016ab464faedb087d08431b01555194662",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CRcXC5MFwsFiO3NsEdMFK4E3",
  "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, 0.8341, 0.6426, -0.4755, -0.0139, -0.0345, 0.9898, 0.2981, 1.647, 1.354, -0.4999, 0.2054, 0.1246, 0.7199]\nstate[eef_state]: left_x=0.2886 left_y=0.0003 left_z=0.1673 left_yaw=0.0029 left_pitch=-0.0938 left_roll=-0.0022 left_gripper=0.9898 right_x=0.4517 right_y=0.1049 right_z=0.1889 right_yaw=0.0556 right_pitch=-0.2031 right_roll=-0.0566 right_gripper=0.7199\nstate[joint_eff]: [-0.2667, -1.4291, 9.4974, 1.8535, -0.0464, -0.0415, -0.0122, -0.1846, -9.0051, 9.1419, 1.7558, 0.1734, 0.2271, 1.0134]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91da4167694a0aaffba28dda3a501f52d633e30ac20d8adc5afcb27d7798283d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:202c047c45e19e033294eddbf86ac44f6df7145f542eb4920b86418f478cd914",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb950a2833c0fdd708ec105c382268bc31ba7c1391d2fcfec288ca922eac575a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 2.416 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]: [-0.02, 0.8066, 0.6132, -0.4088, -0.0139, -0.0319, 0.9898, 0.1024, 1.4498, 0.3134, 0.4751, 0.0731, 0.0326, 0.999]\nstate[eef_state]: left_x=0.2928 left_y=0.0002 left_z=0.1748 left_yaw=0.0013 left_pitch=-0.029 left_roll=-0.0015 left_gripper=0.9898 right_x=0.3393 right_y=0.0255 right_z=0.026 right_yaw=0.0253 right_pitch=-0.0894 right_roll=-0.0178 right_gripper=0.999\nstate[joint_eff]: [0.0479, -1.5521, 7.0222, 1.8046, -0.0513, -0.0317, -0.0317, -0.212, -5.0393, 4.9709, 1.9756, 0.0513, -0.0904, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.807, 0.6132, -0.4236, -0.0135, -0.0338, 0.9898, 0.1024, 1.1709, 0.4885, -0.0292, 0.0723, 0.0246, 0.7199]\nstate[eef_state]: left_x=0.2907 left_y=0.0002 left_z=0.1717 left_yaw=0.002 left_pitch=-0.0443 left_roll=-0.003 left_gripper=0.9898 right_x=0.331 right_y=0.0248 right_z=0.0865 right_yaw=0.0298 right_pitch=-0.1397 right_roll=-0.0273 right_gripper=0.7199\nstate[joint_eff]: [-0.0205, -1.2923, 7.0359, 1.7656, -0.0317, -0.0415, -0.0171, -0.2803, -4.6017, 9.1282, 1.6777, -0.0415, -0.0073, 1.0281]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "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]: [-0.02, 0.8341, 0.6426, -0.4755, -0.0139, -0.0345, 0.9898, 0.2981, 1.647, 1.354, -0.4999, 0.2054, 0.1246, 0.7199]\nstate[eef_state]: left_x=0.2886 left_y=0.0003 left_z=0.1673 left_yaw=0.0029 left_pitch=-0.0938 left_roll=-0.0022 left_gripper=0.9898 right_x=0.4517 right_y=0.1049 right_z=0.1889 right_yaw=0.0556 right_pitch=-0.2031 right_roll=-0.0566 right_gripper=0.7199\nstate[joint_eff]: [-0.2667, -1.4291, 9.4974, 1.8535, -0.0464, -0.0415, -0.0122, -0.1846, -9.0051, 9.1419, 1.7558, 0.1734, 0.2271, 1.0134]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91da4167694a0aaffba28dda3a501f52d633e30ac20d8adc5afcb27d7798283d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:202c047c45e19e033294eddbf86ac44f6df7145f542eb4920b86418f478cd914",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb950a2833c0fdd708ec105c382268bc31ba7c1391d2fcfec288ca922eac575a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGUE84jjR085bOXWZNT_XmflT_uUCYXeh7TcMlAHzBvD14UDnzNpFJrY10K0WLLvtXhe9oQqafMXZBUj-oASvp_cVariY8DjGrPpKK5184gvnMc24JwMEL0CmAXcFlaEzvIH5qGi0ffqmi9MLvB2Q6iRLuafQ9mgljvnBytZhGzqvPRCOFWFwMoKVOn0cyn3bUTGCDb0M973G6s_G9OITxxQkYSLGqlqvKqqnjsEhjrwjw7Ry844IA_cbLPvFBX98HMyQd-GrICP_O3OP0XXBp_csSY_O_iANLW-kOJdcwpK26eSHrijPwruSkEPadFLyca_mlaJIbjW240l5lmP46FX2Snzy8JGhUd7JgDgO5xRtYDOd2120XR1sHApy3abCj4AYZrEtux5fzeFkOEfMMCscY6zbRab5b1VMZ9ViO5CRz0DisGP3HXbfmZj-ecX97kBge5gO_22ijl_XRV3ZBVAM4NvovD80vyzgJr8gLG2ZI4DEISHiuGu_-KP6-0SV1fo3ILXDQJ9to5XVBTnjevSNxsb9C83hSwAhGoi_xZ3DMkg-6Gcgo0gIu2wEYD0V62sMh27OrVgfjsnyWwieBRPyBtaFUqGsJXKeJvbNIv6fwYI-I4my9mZamtA-jUyut6stQ9DxE0hX-CQ1gLDKnDtIHpX8TUBRZOnal4bznu-Mniq8ylbaBee0LxtRW-ui1mpbdN8A1aWOoISO7ggkkW7g7RUpk2whdjI80Wto02QfZqkSIWVwg5bj01Z_iQKGHSeZqrjx74p5GeX30iwQ_fxMTzri2UIaFIQeUR2G-Fa76uE2j_BSn2fCxJICbDjDz2QRjWbsWam5LuoQ2Z_DcR_cTmubqfv6Cl2UCz4n9ROm_auQOvvSaqtyvradukPVjOYafoHTZFUTRxaRho1X012FlSfjGTGRhHvoeJGJY8jL69WR94ZIdBq61eiMyvzcUrB9cC4zxAx67wGM5x56PYYsqPfbcBcRZgjbyWSUCW4lBC-a2E8g8nYnw9ZhjsT8J_y7RoxyW0FgXz3GN2Kr62Zv8an9VgIG_1nqBng2FBb87dTd6IsCC16xedWDwzH5y50upZpMGO-7g3pOTOn8Bbjs3ejlZvQRJASbZLm3H4CFwMLO7Y0DPxMOhQdsvPKcwHfEBu8GOIvyEUZmtSGiTGUq3OHbD3QipN2ifld27px0uXkZodzHbDOh6GIxoIySGrSgGcCVgAf3lh_KSkELUUlLPcSBjLeIcQuACI0y5Ybc9ZHI-kjSs0TegtzCPcv3T4t4bH5T0Hke22y8z5jLy3Q32b_89_hyTrb71MvZiiwgMs=",
  "id": "rs_06fa704fbb869d0b016ab46503ba5c87d0bfb4a43f79edc67f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.115},\"note\":\"The pear is over the blue bowl in the overhead view. I’m lowering it toward the bowl interior before releasing it.\"}",
  "call_id": "call_m6rkdOR3dshBqGxBx33vDn7W",
  "id": "fc_06fa704fbb869d0b016ab46504260087d09e339aa6592bb129",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_m6rkdOR3dshBqGxBx33vDn7W",
  "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, 0.8341, 0.6415, -0.4873, -0.0135, -0.0341, 0.9898, 0.2981, 1.7081, 1.1149, -0.2508, 0.2047, 0.12, 0.7234]\nstate[eef_state]: left_x=0.2866 left_y=0.0002 left_z=0.1646 left_yaw=0.0023 left_pitch=-0.1068 left_roll=-0.0019 left_gripper=0.9898 right_x=0.4438 right_y=0.1026 right_z=0.1048 right_yaw=0.056 right_pitch=-0.2531 right_roll=-0.0719 right_gripper=0.7234\nstate[joint_eff]: [-0.212, -1.4154, 7.2547, 1.7753, -0.0513, -0.0513, -0.0073, -0.212, -8.8547, 6.7897, 1.9121, 0.022, 0.0073, 0.9109]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2eeb643ead0bd40e45b9e6a7d8b2295dd4123ea8ee986ff3847f2d73b3859f80",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51302a0bf1d327e0a110e6ee2485ac3490db5ec07bb1a0070d081acf8648fdb1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dea1e5d31f26be0e943a1e14303854046dfd3caf40ba23dc1c378892d0ecb7a5",
      "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 · 3.248 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, 0.807, 0.6132, -0.4171, -0.0139, -0.0338, 0.9898, 0.1024, 1.4502, 0.3138, 0.4744, 0.0731, 0.0257, 0.7205]\nstate[eef_state]: left_x=0.2917 left_y=0.0002 left_z=0.173 left_yaw=0.0024 left_pitch=-0.0378 left_roll=-0.0029 left_gripper=0.9898 right_x=0.3393 right_y=0.0255 right_z=0.0259 right_yaw=0.029 right_pitch=-0.0902 right_roll=-0.0233 right_gripper=0.7205\nstate[joint_eff]: [-0.2803, -1.3333, 7.0085, 1.79, -0.0464, -0.0464, -0.0122, -0.0889, -4.465, 5.0803, 1.6728, -0.022, -0.0122, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8341, 0.6426, -0.4755, -0.0139, -0.0345, 0.9898, 0.2981, 1.647, 1.354, -0.4999, 0.2054, 0.1246, 0.7199]\nstate[eef_state]: left_x=0.2886 left_y=0.0003 left_z=0.1673 left_yaw=0.0029 left_pitch=-0.0938 left_roll=-0.0022 left_gripper=0.9898 right_x=0.4517 right_y=0.1049 right_z=0.1889 right_yaw=0.0556 right_pitch=-0.2031 right_roll=-0.0566 right_gripper=0.7199\nstate[joint_eff]: [-0.2667, -1.4291, 9.4974, 1.8535, -0.0464, -0.0415, -0.0122, -0.1846, -9.0051, 9.1419, 1.7558, 0.1734, 0.2271, 1.0134]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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, 0.8341, 0.6415, -0.4873, -0.0135, -0.0341, 0.9898, 0.2981, 1.7081, 1.1149, -0.2508, 0.2047, 0.12, 0.7234]\nstate[eef_state]: left_x=0.2866 left_y=0.0002 left_z=0.1646 left_yaw=0.0023 left_pitch=-0.1068 left_roll=-0.0019 left_gripper=0.9898 right_x=0.4438 right_y=0.1026 right_z=0.1048 right_yaw=0.056 right_pitch=-0.2531 right_roll=-0.0719 right_gripper=0.7234\nstate[joint_eff]: [-0.212, -1.4154, 7.2547, 1.7753, -0.0513, -0.0513, -0.0073, -0.212, -8.8547, 6.7897, 1.9121, 0.022, 0.0073, 0.9109]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2eeb643ead0bd40e45b9e6a7d8b2295dd4123ea8ee986ff3847f2d73b3859f80",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51302a0bf1d327e0a110e6ee2485ac3490db5ec07bb1a0070d081acf8648fdb1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dea1e5d31f26be0e943a1e14303854046dfd3caf40ba23dc1c378892d0ecb7a5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGUL_gPUieb5D-D1-GA05NPLOPO829rQvyVCQdxfwvd5oudiMepLvDDBf-FwlRhBGyT1yROfk54Zx7aELLq-HqIGDWilTe-SizmfPlw97ny_CRD2Sx8c2gEwhfSI3VC4aDzv5yvdy_ocZPR-8x0k_EIbKaId-IkBgC8fp_XAaYO38uckdcL_ZXsq5ZK4JZMDOwrnszI16ab4_3FRsDM6zc_TchLC9Fv17GEbZBIQmdt0LOS9zs9d2z_OG_flP4pbpa1akjQzKCeRyukFzv2Jx0zx5jMc6YSoJWd4BWnIP3qsj1DteruiXpgMtwreHJkl5u08g3geYLXPeIm5Xg6CtOHEfmiIOGoc3HKvR8rT2r-KdrRKoY9MYpQT9ZmORoBfjqDWB-rmJJ5c42xuTh9bTYvV2p6pB-GBD8WO4te_9OJ-u905jl1Sn57XHmZjeMfPHi4lLPtdhw34awixUQrW7VDfvmHW88kJx3foESEM1tRsUKMH-UZbIH7bYAG31Tk5gNex_lLkWCcLmwdnt5km9PQkmRmGwb1Pk4jOdyiguwxyJXkJRtVwXKqG6V3PDMqLZ2KzdmZk8Ry0fEJoav3M-bG1JmYPZU222cy3R_86drqnQfCBq7cXQBEXWqCLVoQh38RyIXwZV_9dCBXo2sn1pjDnheXXN2XVTmLjk61oZqT0kCMmrJlrjE8PT_AAwWdzrjH3Wr9YnxtpTV_r2CXK6WtlGE9xWQJvEdgw9tAPtC06cpoShXKzsASB_tcjeniZwI7PCGqZq06G38B7aSg6hE9DSpvSqHhu16AL8BHb1Y1MjwBEFMSrCzKRe0vKRUkFiWH6ZsNU_50oL2RK8vO3F7AiBnumwREiPFpzEh_WH3jnM_SNTX-ao-glheFlW8NLd8b4vpCGWE9SlLNp8ebxNAKkc-811qNIaPrSzzFf3u4CCbZmrYBNF6LeR1VVgGemQfl_IwL5VYG0sGRu1GjlJmpOjYCotG08kanpUfcGcdOm7Lb5mfp3bb41o-bIPsUv0_GdHX7_3ROzMtpWo8nGOTvnkCIbpdgUC7Qq3Naz9C-6pBfvx8v5YafZg8pqos9zslX69a18iU5RuyLYzD4-vnIsJ0E5qZx7R02GVHYHfKmdrzEHdettJiSkMjo3AnSILV7cveM14bGOUxj3D29450r44sJ3EZTectW6H7gwByiv6EPPtrakBMWs8krABqTA-csR",
  "id": "rs_06fa704fbb869d0b016ab4650a83b887d08ff18870e8e5ff5e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The blue bowl is directly beneath the pear. I’m opening the jaws to place the pear inside.\"}",
  "call_id": "call_vRdceQb1UQmP2BQ6CDXfuUb6",
  "id": "fc_06fa704fbb869d0b016ab4650ab1d487d0931cfce7b5b08ea0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vRdceQb1UQmP2BQ6CDXfuUb6",
  "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]: [-0.02, 0.8341, 0.6415, -0.4911, -0.0135, -0.0341, 0.9898, 0.2981, 1.7081, 1.1149, -0.2588, 0.2054, 0.1158, 0.9956]\nstate[eef_state]: left_x=0.286 left_y=0.0003 left_z=0.1638 left_yaw=0.0024 left_pitch=-0.1106 left_roll=-0.0018 left_gripper=0.9898 right_x=0.4424 right_y=0.102 right_z=0.1036 right_yaw=0.0571 right_pitch=-0.2609 right_roll=-0.0774 right_gripper=0.9956\nstate[joint_eff]: [-0.1983, -1.388, 6.9402, 1.6532, -0.0513, -0.0757, -0.0122, -0.1983, -8.5128, 6.5026, 1.5263, -0.0073, -0.0122, -0.1832]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2f72f36392b046afb7512c202a4e6ef98230a124145a591750bdbeb81df31f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:860a24f0113619fd5bc3d55d24dd1722ce9cff26205e74f19b73a7db9a44280c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02accb0d5f3d1f4c81e09d4ee7d996a68098f31f8b63be08484d736df6bf6344",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 2.495 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 17 changed as sent

message 25 changed as sent

message 29 changed as sent

message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.807, 0.6132, -0.4236, -0.0135, -0.0338, 0.9898, 0.1024, 1.1709, 0.4885, -0.0292, 0.0723, 0.0246, 0.7199]\nstate[eef_state]: left_x=0.2907 left_y=0.0002 left_z=0.1717 left_yaw=0.002 left_pitch=-0.0443 left_roll=-0.003 left_gripper=0.9898 right_x=0.331 right_y=0.0248 right_z=0.0865 right_yaw=0.0298 right_pitch=-0.1397 right_roll=-0.0273 right_gripper=0.7199\nstate[joint_eff]: [-0.0205, -1.2923, 7.0359, 1.7656, -0.0317, -0.0415, -0.0171, -0.2803, -4.6017, 9.1282, 1.6777, -0.0415, -0.0073, 1.0281]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "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]: [-0.02, 0.8341, 0.6415, -0.4873, -0.0135, -0.0341, 0.9898, 0.2981, 1.7081, 1.1149, -0.2508, 0.2047, 0.12, 0.7234]\nstate[eef_state]: left_x=0.2866 left_y=0.0002 left_z=0.1646 left_yaw=0.0023 left_pitch=-0.1068 left_roll=-0.0019 left_gripper=0.9898 right_x=0.4438 right_y=0.1026 right_z=0.1048 right_yaw=0.056 right_pitch=-0.2531 right_roll=-0.0719 right_gripper=0.7234\nstate[joint_eff]: [-0.212, -1.4154, 7.2547, 1.7753, -0.0513, -0.0513, -0.0073, -0.212, -8.8547, 6.7897, 1.9121, 0.022, 0.0073, 0.9109]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8341, 0.6415, -0.4911, -0.0135, -0.0341, 0.9898, 0.2981, 1.7081, 1.1149, -0.2588, 0.2054, 0.1158, 0.9956]\nstate[eef_state]: left_x=0.286 left_y=0.0003 left_z=0.1638 left_yaw=0.0024 left_pitch=-0.1106 left_roll=-0.0018 left_gripper=0.9898 right_x=0.4424 right_y=0.102 right_z=0.1036 right_yaw=0.0571 right_pitch=-0.2609 right_roll=-0.0774 right_gripper=0.9956\nstate[joint_eff]: [-0.1983, -1.388, 6.9402, 1.6532, -0.0513, -0.0757, -0.0122, -0.1983, -8.5128, 6.5026, 1.5263, -0.0073, -0.0122, -0.1832]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2f72f36392b046afb7512c202a4e6ef98230a124145a591750bdbeb81df31f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:860a24f0113619fd5bc3d55d24dd1722ce9cff26205e74f19b73a7db9a44280c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02accb0d5f3d1f4c81e09d4ee7d996a68098f31f8b63be08484d736df6bf6344",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGUO3X7TJLc_9LwBb4Ba3ngweUPeW-_za-iOX7WQaxqsiKpeKB4s54dxPM0BDQuGGocxFhCX-gGIqvoSc7859020y-9BUlVzE_QWHiq0otkkxi0xWb5F8s14tVXnkNqbR9K6BTd4u95dtEq1DldStzxb71LLQI9T1X9Jz95gT6-VyHL4ycwE-c_LKe93X0q8iA8HFp7RfHkuKDiJF4VMgMA9MNu51xI4o7eR7XpP4tJuMnqRWjncAtnS472cR8HG122sLfL03LoAdYby6HCiEpOUt03_IjWjP8CyaLTMMRNI12ZrLWVOsipH5OFJgDRFQpqku9qSm0fBNVcJ5QHcJAoySoP0a24aes1dFtx9dfOirMBHEi3lrrQc0TosPtsa8tCEcMbEJptsjgVkUPrIahF531lXOhzmiFoM_MVAZBybkU8-LcyorN1InXL8A6UxlSsgD36uKTzO5B4H736C_j6AdgYpxpffbLpbqf6Wl6o9n4qEjsAZk4naCqAUeYDt3PDhGV1qpFbdPiFesJod1bPzSUOiPn8hSY6Zji7shn2f_KT0_1GwPkChWbcEmXGxs16OmO_1dO-X0TzC97LhdT9epNrG3hVu-iV5Y4B4Awnnee7u_MQS0cWG47VZEhj_ht5WyNZIRBfzi7rPdMTdu2mBb90W5vWIyAqMaiXW_86HwdZR7J9a7ylcjUc5Ue4Z896ror7MikNYAX_pBCze7KiTtZrEnK1HZTSnzWkPZeGI9B6HErejp4IW-dUHSPdLOgUiBioxjo06gQenYoTcM06B7CsKyz8PvTvQUiySX_r7P5ehej3Hc0iIgtnPz1v89HRQPkyQh5zfE_z_dbDi0_ZOs9REMot0duPeTMb2cMg6Pbd9_JA9SIFefZk_vEdcl2FqAke2seInoyDS8uuya5P37zwOHu_WBfjQtnXHWQK_dGxXy0SK2C8l_Fg00ebsvK_33EAGhQ2DKXeTkVTpUEuUg4soVBuysjc-BqutArrbtkxW8T3dtDh3yqhcOyynHigtzJLc0hSfF2JZ87fZxTc22jF6QrMLO7XC0iHF9GPAGVQxo6xcEz2m5r4oPgW5ej9QeqzIBE4ryVEPiicykQufsewvBt1R7cSdQEL3N5_aayP2gHZ_bnGt0smWOPcQz9wuc_HpTwo3c665z1Brr7toc4GGmvc5iEzNkFGwCqG8WsMtJNsQF3zej6uDeiiE2Bq5Spiw27dvW3NqxIktZu10EGaMGcDB7yZRmmyzSFKHa_qwVTFHUYFocfiJ5B768d6tEpuyHjsy9tb1_Pm4x3YTPPd57u_3aXHuR0Kp8wYgQ2gklbYJJHhPEPHUWVP-dZZfCoBgpwLcfMzk7JMgKzQ-mQ_oU15pEiBm5qc9SImS9kEBR3TiRUEP6DYEROM1zRTvmFKNHIqVUK5Bk5OEkUOEuw==",
  "id": "rs_06fa704fbb869d0b016ab4650cf3b087d0813510831ed37529",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.355,\"right_y\":0.175,\"right_z\":0.15},\"note\":\"The pear has dropped into the blue bowl. I’m lifting clear and moving above the remaining yellow fruit beside it.\"}",
  "call_id": "call_WMn4kLkOnHJVR0zmEY2yuR4N",
  "id": "fc_06fa704fbb869d0b016ab4650e295887d0be8c0ee4cbda0469",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WMn4kLkOnHJVR0zmEY2yuR4N",
  "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]: [-0.02, 0.8341, 0.6415, -0.4938, -0.0139, -0.0338, 0.9898, 0.6106, 1.5375, 1.0889, -0.4873, 0.3683, 0.3241, 0.9962]\nstate[eef_state]: left_x=0.2856 left_y=0.0003 left_z=0.1633 left_yaw=0.0025 left_pitch=-0.1133 left_roll=-0.0012 left_gripper=0.9898 right_x=0.3599 right_y=0.1786 right_z=0.1347 right_yaw=0.1092 right_pitch=-0.2832 right_roll=-0.0878 right_gripper=0.9962\nstate[joint_eff]: [-0.0342, -1.0735, 7.241, 1.7167, -0.022, -0.0366, -0.0073, 0.1026, -8.9368, 8.4171, 1.4481, 0.3883, 0.1441, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d32329165ce5d9b9cea828f2e830e14a2d4ebee369f2ca4488bb1cd933b1bf9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9cfaa86f7610ded132af74e9f7d3d6b79aac29d8a04d480affa330d6e962c47",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d3073086b5c5d77eea9badad6a3f23bdccf44a6b11a4d234ac570dd9fb79730",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 4.816 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 21 changed as sent

message 29 changed as sent

message 33 changed as sent

message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8341, 0.6426, -0.4755, -0.0139, -0.0345, 0.9898, 0.2981, 1.647, 1.354, -0.4999, 0.2054, 0.1246, 0.7199]\nstate[eef_state]: left_x=0.2886 left_y=0.0003 left_z=0.1673 left_yaw=0.0029 left_pitch=-0.0938 left_roll=-0.0022 left_gripper=0.9898 right_x=0.4517 right_y=0.1049 right_z=0.1889 right_yaw=0.0556 right_pitch=-0.2031 right_roll=-0.0566 right_gripper=0.7199\nstate[joint_eff]: [-0.2667, -1.4291, 9.4974, 1.8535, -0.0464, -0.0415, -0.0122, -0.1846, -9.0051, 9.1419, 1.7558, 0.1734, 0.2271, 1.0134]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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, 0.8341, 0.6415, -0.4911, -0.0135, -0.0341, 0.9898, 0.2981, 1.7081, 1.1149, -0.2588, 0.2054, 0.1158, 0.9956]\nstate[eef_state]: left_x=0.286 left_y=0.0003 left_z=0.1638 left_yaw=0.0024 left_pitch=-0.1106 left_roll=-0.0018 left_gripper=0.9898 right_x=0.4424 right_y=0.102 right_z=0.1036 right_yaw=0.0571 right_pitch=-0.2609 right_roll=-0.0774 right_gripper=0.9956\nstate[joint_eff]: [-0.1983, -1.388, 6.9402, 1.6532, -0.0513, -0.0757, -0.0122, -0.1983, -8.5128, 6.5026, 1.5263, -0.0073, -0.0122, -0.1832]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8341, 0.6415, -0.4938, -0.0139, -0.0338, 0.9898, 0.6106, 1.5375, 1.0889, -0.4873, 0.3683, 0.3241, 0.9962]\nstate[eef_state]: left_x=0.2856 left_y=0.0003 left_z=0.1633 left_yaw=0.0025 left_pitch=-0.1133 left_roll=-0.0012 left_gripper=0.9898 right_x=0.3599 right_y=0.1786 right_z=0.1347 right_yaw=0.1092 right_pitch=-0.2832 right_roll=-0.0878 right_gripper=0.9962\nstate[joint_eff]: [-0.0342, -1.0735, 7.241, 1.7167, -0.022, -0.0366, -0.0073, 0.1026, -8.9368, 8.4171, 1.4481, 0.3883, 0.1441, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d32329165ce5d9b9cea828f2e830e14a2d4ebee369f2ca4488bb1cd933b1bf9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9cfaa86f7610ded132af74e9f7d3d6b79aac29d8a04d480affa330d6e962c47",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d3073086b5c5d77eea9badad6a3f23bdccf44a6b11a4d234ac570dd9fb79730",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGUTnAS-LS18KqFBtv7lDcWm0naCAbxkNND2-CBhi6oZ6_JYWT0eN80nchbzgAM_oxX4vhMjE2H4iWureq1qhMaUYmxZ1ciwQm8KfLJ31vrgjXK6R4c_KCDpmSqhka5_yTfpuda13aDlHzNFH-zPa8kzqNT2ukArvPAmMGCSrwS6B3fk1COud03bzG6bC0FilybUd0-iuvdRUBHBj_gCsWLbEcHnfqJki7tkXs9QCj9e7vKZfXXhZI8d9ZJiCI5EGp6NUT5v3obvspxetuM_3Jca1Xo_nlKU_sge_HCQjf4Fu-twzSMvKfRsDIEnos_O1ogpCMHnwJsaJ3i0nMYNvLWT0NzO7H5eKvS6_Z6Vf5k42d9ubB8q1eEXbJs-aFoNkgeTVfApDeeZRNReVqxPPN2FlrDExQLd3tDp6pBEI2Lj6PTPp-Lps0cfgYUzupEXfU2VS3ufI-l1lPBXA0qIdQcQI1WBy0ptnBRTCDJ3DQ25KK-KEzOAsSHeCMqeZ-dGyBSUgJyUb_2COUY5evR1gDULOE9BmYe9Vt4T1SmL1-CC9ppIFzmmxguChm6Vm1QxIYQ-Bm6LCyrtU3DQZwc_hBl-zMHm9Kg3sgKU4j0Cd_SiaBNa3bY2LXanssUsuEOU5RjqCDMdNI9BfFRp6IZrk3gIxGpJNAUsmcuZoRysAFE-P6oh3LPPp1R61KBuJV3ULQPt8VTm9JwFd7T7KjFO-dLs9e4F10Cu5F889l0uvC1iyBPYtfQzXcE-hf6JnThjzDRwbacTLnLQvei9zyKFSqfXmpcBS1vXFmw5vw31zKgmDWpjjY9qJgXkcWTKJCx634KgkH0w5_yWOGRVhTwTZk0A-eki9jg58_ojhLi41YYvLCc36suUQ-F62g_QfjKmxZ55dwztlxtH_Imwvgmzom2bPcKeU7hLB92hysCG-gVJzLlj6d4bX508F4Kz1GWcg8nVrw_W5kk8Xhf4r8oJaS9RP7duboWXJsgxv1HsyU9BAfSf0c3T6yop_cc6LbDu_n0V1PjJMWUCuJ_1krwjbYIc6nqI96l7JvKqP_7AU4Ta9XLwjC3ovUEAXXuK6oa-C1nAm429bc1XV3ORyTY3XBJ36pn80thepAf6wlZbxbJdXae5_0FYYy8P1Wzw-vInqU5jtOeh4cVpYibpX17Umfu7d_Pek_z5T2a_mWxJMLPwAL0hnEqNoFLHjLrXiyaFxA3juihQu7PPpushads9HHxfsj-3HXtCCTGAjQumsREzdKLHX3wgePbpwHc-aQhsy99_",
  "id": "rs_06fa704fbb869d0b016ab46511c7d887d0be2ce72e0876c23a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.175,\"right_z\":0.03},\"note\":\"The yellow fruit is centered on the jaw column in the wrist view. I’m moving slightly forward and descending to grasp it near its middle.\"}",
  "call_id": "call_llk7cUehmJzaH2A6AoxBykGC",
  "id": "fc_06fa704fbb869d0b016ab465123f6887d092b95161cf2874fa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_llk7cUehmJzaH2A6AoxBykGC",
  "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]: [-0.02, 0.8341, 0.6415, -0.4946, -0.0139, -0.0338, 0.9898, 0.5697, 1.7443, 0.8886, -0.1261, 0.3431, 0.2909, 0.9963]\nstate[eef_state]: left_x=0.2855 left_y=0.0003 left_z=0.1632 left_yaw=0.0025 left_pitch=-0.1141 left_roll=-0.0012 left_gripper=0.9898 right_x=0.3694 right_y=0.1703 right_z=0.03 right_yaw=0.1006 right_pitch=-0.3351 right_roll=-0.1134 right_gripper=0.9963\nstate[joint_eff]: [-0.3077, -1.4017, 6.9402, 1.6435, -0.0806, -0.0464, -0.0073, -0.5402, -7.7197, 5.2991, 1.4042, 0.0513, 0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17292412ed10bf0bb5426f0384fad9f62726c31a9d9cb3696efef01ecb513c9c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00addd59a523c3b5ec05e267d55c106c589b7e10888db1f688b1699b96633b9e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0356590e779a9af2c6240154ce2777fb6e455a7c3729f2ec0f6d091349f79573",
      "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 10 attempt 0 · /responses · status 200 · 3.564 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 25 changed as sent

message 33 changed as sent

message 37 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8341, 0.6415, -0.4873, -0.0135, -0.0341, 0.9898, 0.2981, 1.7081, 1.1149, -0.2508, 0.2047, 0.12, 0.7234]\nstate[eef_state]: left_x=0.2866 left_y=0.0002 left_z=0.1646 left_yaw=0.0023 left_pitch=-0.1068 left_roll=-0.0019 left_gripper=0.9898 right_x=0.4438 right_y=0.1026 right_z=0.1048 right_yaw=0.056 right_pitch=-0.2531 right_roll=-0.0719 right_gripper=0.7234\nstate[joint_eff]: [-0.212, -1.4154, 7.2547, 1.7753, -0.0513, -0.0513, -0.0073, -0.212, -8.8547, 6.7897, 1.9121, 0.022, 0.0073, 0.9109]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8341, 0.6415, -0.4938, -0.0139, -0.0338, 0.9898, 0.6106, 1.5375, 1.0889, -0.4873, 0.3683, 0.3241, 0.9962]\nstate[eef_state]: left_x=0.2856 left_y=0.0003 left_z=0.1633 left_yaw=0.0025 left_pitch=-0.1133 left_roll=-0.0012 left_gripper=0.9898 right_x=0.3599 right_y=0.1786 right_z=0.1347 right_yaw=0.1092 right_pitch=-0.2832 right_roll=-0.0878 right_gripper=0.9962\nstate[joint_eff]: [-0.0342, -1.0735, 7.241, 1.7167, -0.022, -0.0366, -0.0073, 0.1026, -8.9368, 8.4171, 1.4481, 0.3883, 0.1441, 0.0464]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8341, 0.6415, -0.4946, -0.0139, -0.0338, 0.9898, 0.5697, 1.7443, 0.8886, -0.1261, 0.3431, 0.2909, 0.9963]\nstate[eef_state]: left_x=0.2855 left_y=0.0003 left_z=0.1632 left_yaw=0.0025 left_pitch=-0.1141 left_roll=-0.0012 left_gripper=0.9898 right_x=0.3694 right_y=0.1703 right_z=0.03 right_yaw=0.1006 right_pitch=-0.3351 right_roll=-0.1134 right_gripper=0.9963\nstate[joint_eff]: [-0.3077, -1.4017, 6.9402, 1.6435, -0.0806, -0.0464, -0.0073, -0.5402, -7.7197, 5.2991, 1.4042, 0.0513, 0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17292412ed10bf0bb5426f0384fad9f62726c31a9d9cb3696efef01ecb513c9c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00addd59a523c3b5ec05e267d55c106c589b7e10888db1f688b1699b96633b9e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0356590e779a9af2c6240154ce2777fb6e455a7c3729f2ec0f6d091349f79573",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGUYKQZGZ_k4nDFESvRzRk3PkSBS4tkawVcbhxXUMvjGpEDMaKE6EGIBV1bF4LCS9nqB2MkDL6yYlaOnIJ0UwHirykMjSXSaLjEdMCXt9atZdv1j78HDXLZN1GQZTkVNxMqx6iwj-TN1xDZ2aNB3GYavSWaBJnVqipqlqeHiOm9La7l4WhwN9z9LJw_xInERC0RrYdTVL0Kx5GpFIaFeRsacqzMjocWNJlGsI7t118PI1I3JGsHSpZE8yeroxyZsy97trxZOLZByAh5Qi_S02FseM1oxRZR6_5TWRkfAlFbtk-drzotMWpEVZYpuZ-bz0OUjvcSRzj_6HTLmUqUs4uUSjsddSDPMTXG79J7R6E8qFgpIr0hRkKLkPTQQhZ8ioPyVmQwsIjwyIGa9g4YjS1jhfT2r5Tii7feRCwQ1eSKTcq37npQroZxdr0UkdpqL9Y8ONPFBb8usNSZWRQnhJixk5X8c1K8fb-1mkj0byGz0p9vYQ9EJuChe5lm3hrydRPdprT2THLOlvNUkr6kgrGK1_BP9_1VC7qY0HrlWg9VlPOKoYaLrepTccs7-oFNdjVwrBmdYAOSYz9WSRTbRSUXOSr3rAB9WeFLk3EZpFl4cBl43zgQbrd6Ol8GTqAl4JXbdqVqH2mO2hy7x9r5ns7gTrz0-R55mCPzuARrFPjhwRnDDqBM9U-8S1AXAW7CnNQi29fsa26f6bbGlM-OlLU0MK6FKBsHayElGw-6pyU90TnWyezajox5v-Qq92Yg9LeIsViXJKs-rRstM307UuCC8mFJ1im9ylMeV5thdxNb1_I5lsXALgCJpKu00ZCJd_IbQTWhFrKnpxL2aAyDtnUbMgILYMmabjGdcVlL4C1s0K-p8RIq09S1IFV5rz8hqU5aClfzsEGDIm0TdP6jpStHaNGlgT9NK1UOaRSUEOuc4iLhyAMYOjefIaLzf541RzdGLdbvzQ6oHSDmTf8Wp3A-6uX9Hy0iP4hkOUFHJcPkTXm-et3Tv5_I3xlcJh4xxBwRXfXXNpTxAZVNeiBbTxMhBPVqSghqOxZ6XinmL3n-h-9hIoWQobtpafn7LjMTitgtupnrR9MQpBrKAYn2CSFAmxUiosgGLmdZdZkTWCV2NdZTrod64a5G-iAD1kN-lBZgQn9aSQW1fN8x1HsClmwnGglJ648ue6dpl0GLv6WM96ilv2YQrwil-fhW49IRDX0VJQFJusdkxbGZAKyi6yd_9p6zmAiqpwjQPguRr716ps4E=",
  "id": "rs_06fa704fbb869d0b016ab465150e6887d09f43679dd65a5419",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The open jaws now straddle the yellow fruit. I’m closing them to take hold without moving the fruit sideways.\"}",
  "call_id": "call_NU9VGUOPdZ5Vnd72W77bIyzu",
  "id": "fc_06fa704fbb869d0b016ab465157b5c87d0924d9601407125db",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NU9VGUOPdZ5Vnd72W77bIyzu",
  "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, 0.8341, 0.6415, -0.4946, -0.0135, -0.0341, 0.9898, 0.5667, 1.7561, 0.878, -0.1284, 0.3614, 0.2722, 0.04]\nstate[eef_state]: left_x=0.2855 left_y=0.0003 left_z=0.1632 left_yaw=0.0024 left_pitch=-0.1141 left_roll=-0.0017 left_gripper=0.9898 right_x=0.3666 right_y=0.1635 right_z=0.0226 right_yaw=0.0892 right_pitch=-0.3516 right_roll=-0.152 right_gripper=0.04\nstate[joint_eff]: [-0.0615, -1.2786, 7.1179, 1.6532, -0.0366, -0.0513, -0.0073, 0.1436, -8.3214, 6.7761, 1.2674, -0.0659, 0.2759, 1.3504]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92d6f5e011df36fd4cf5f6a78a632cf4dbdc59c28aceb1369aea516f9e1dab48",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9668d947769207a34fce9bf3f5247fabb5e856501c9e4911d021ac2b9492ade4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd13f3506ba44279e77bb8679f89c06b518ce661d14200ce3793cc4539d07a14",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 11 attempt 0 · /responses · status 200 · 6.224 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 29 changed as sent

message 37 changed as sent

message 41 changed as sent

message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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, 0.8341, 0.6415, -0.4911, -0.0135, -0.0341, 0.9898, 0.2981, 1.7081, 1.1149, -0.2588, 0.2054, 0.1158, 0.9956]\nstate[eef_state]: left_x=0.286 left_y=0.0003 left_z=0.1638 left_yaw=0.0024 left_pitch=-0.1106 left_roll=-0.0018 left_gripper=0.9898 right_x=0.4424 right_y=0.102 right_z=0.1036 right_yaw=0.0571 right_pitch=-0.2609 right_roll=-0.0774 right_gripper=0.9956\nstate[joint_eff]: [-0.1983, -1.388, 6.9402, 1.6532, -0.0513, -0.0757, -0.0122, -0.1983, -8.5128, 6.5026, 1.5263, -0.0073, -0.0122, -0.1832]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8341, 0.6415, -0.4946, -0.0139, -0.0338, 0.9898, 0.5697, 1.7443, 0.8886, -0.1261, 0.3431, 0.2909, 0.9963]\nstate[eef_state]: left_x=0.2855 left_y=0.0003 left_z=0.1632 left_yaw=0.0025 left_pitch=-0.1141 left_roll=-0.0012 left_gripper=0.9898 right_x=0.3694 right_y=0.1703 right_z=0.03 right_yaw=0.1006 right_pitch=-0.3351 right_roll=-0.1134 right_gripper=0.9963\nstate[joint_eff]: [-0.3077, -1.4017, 6.9402, 1.6435, -0.0806, -0.0464, -0.0073, -0.5402, -7.7197, 5.2991, 1.4042, 0.0513, 0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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, 0.8341, 0.6415, -0.4946, -0.0135, -0.0341, 0.9898, 0.5667, 1.7561, 0.878, -0.1284, 0.3614, 0.2722, 0.04]\nstate[eef_state]: left_x=0.2855 left_y=0.0003 left_z=0.1632 left_yaw=0.0024 left_pitch=-0.1141 left_roll=-0.0017 left_gripper=0.9898 right_x=0.3666 right_y=0.1635 right_z=0.0226 right_yaw=0.0892 right_pitch=-0.3516 right_roll=-0.152 right_gripper=0.04\nstate[joint_eff]: [-0.0615, -1.2786, 7.1179, 1.6532, -0.0366, -0.0513, -0.0073, 0.1436, -8.3214, 6.7761, 1.2674, -0.0659, 0.2759, 1.3504]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92d6f5e011df36fd4cf5f6a78a632cf4dbdc59c28aceb1369aea516f9e1dab48",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9668d947769207a34fce9bf3f5247fabb5e856501c9e4911d021ac2b9492ade4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd13f3506ba44279e77bb8679f89c06b518ce661d14200ce3793cc4539d07a14",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGUcOTakXSf5IoXCuwwIXfZ0vkLzCf40HtGsGU6KyVN9-0yMKQ4_NKGuILS9G3DHASttEGuOshL8u-Wcpa5BmssALOppMIsMcpy78jeBR2NdDX-25qWaXw5wenZc98M5cfG5Wn_R6cer8Yx2WZJNoYgX1JklFFoLnKAIsJlmoDC6Sgo0qTqAVNUEQ3qrrYjjqExQxq5SfEZe94n3VW3d6_zWlsVpv7xq03qmSbzY-KEk9PpN04HCby2izYMnipUE_J-66Mjn1UmN57--OEWG8YQB4_qeUp4ESjKn4rDqHGAF6JKT6hcvaWPu1UJFyYrIjbWFeKG9M78RAM6c2zP_JEftnx6GaURVGeOafpxAGl0BSI08oFArfUwFKeGOZyshn87EC_UffxMUYxQ5P_uyOQKpSllmjW_fIwFTJq7CP1mGwy0CtmW7ruRpMIBve46yJBCIn_uWNDGrOcoeB5NhjbyNjgBAg-hSXWF2DD8De3x2DoL3x05QMW95GGrYPXvGBLt23wJDJRjFuWxnbMtq8Tai2yY96CNjEDF4I6_Ex2ML8EixkI9RHvqcqmNb7qc_P3trwww0asg9-sMvXG2IdYLxIZjrDZqoicog8nu1xvOH0Y3vRCRX5f3iz4QcA1fAE8L5aNq2Jzhwso9gWgMToAkKb7uyvhDH3N-dm0o-69ufOV5DTmOYSq9iEP-4XL033uxyYL2DOZj6DQLTvUxGEoV0vybMHq0G3B61RVCzwoGh-YOptdyLDFdPI25ZYav9IWSn6v63oLqNGXvDo7pElBs3pjBd0H85pmsbkutPzFNNYqZ8hvaqfBWilcI3ptt4ZSNRL8VEk7Yrw2tcYc14ylijknN5c6JnxdRqcFcaMTepOUUXjYMEVJK3mdaaBPR8t2wYprKgYUsl7EFqF00v6sTDChHM6hfsfAf1kQd22Ol3HJVXRpTwh8cPVIwYzXf0itVb5wZnvUE5q51x74TFepLKS656-ck7RGJfI5eoVLXGKoWX3Qw7cRQ5BfTKb2o6tmKFW4uHkdQLwkXsybayEWOEuMgh10RYlbWfOJrqJe1TCOSJ6PvwkJyk1ETO4KJSSpLRxG0EjqlUXjljlL7bdl7WHoja5hj8XaNZuoVZvhzeXIXyRyLOArLamNCdzhUKngPRCV4YRqeHDdLfzXkNBVTLkdyFibhUYTM3EHExssiEp9MdP1LhtY3thW_nQUwv9Ns-asRxfkdhrlDT8Dd0inVnVz9pt5_kopF_fnZ2C_1bxYtM0IvEE2pXoPjCvq-vL8MopJwwgX7clsj1_B2bycePsVSUxpSkeezQsIxPV9722jJFOpDgf2xSl4Or_IB-gQOaIXkrzM4d6TFkrAHFUTNyZ_Q8f6Fd_Jgj0WILErW5F7XBgJ7E2V9O6PxyVulGBf8OCZFjc5uipN_Ddu5l7WkbaDnkD_OIrjaS8IbqN1rYxnISISafw_cHpamEcSicS4ePGVGLmoxo8NEdW1jdLGI1UEIyKPYo1sUoO1zqfpQ4PcUx-YtAlLPXyF5L_PINC2W7PB0JIsq-7_k9bsQI1QHWxA==",
  "id": "rs_06fa704fbb869d0b016ab4651acfc887d0ae800bf5e405ea8f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0.155,\"right_z\":0.10,\"right_gripper\":1},\"note\":\"The jaws closed empty, and the yellow fruit slipped toward the front of the table. I’m reopening and repositioning above its new location before retrying.\"}",
  "call_id": "call_rlpjDB7rNfBdTnTFqryEIFEp",
  "id": "fc_06fa704fbb869d0b016ab4651c01f087d0b304ebaa76605d8d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rlpjDB7rNfBdTnTFqryEIFEp",
  "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, 0.836, 0.6415, -0.498, -0.0139, -0.0341, 0.9898, 0.6872, 1.4033, 0.8467, -0.4782, 0.4046, 0.3611, 0.9956]\nstate[eef_state]: left_x=0.285 left_y=0.0003 left_z=0.162 left_yaw=0.0027 left_pitch=-0.1194 left_roll=-0.0013 left_gripper=0.9898 right_x=0.3003 right_y=0.1612 right_z=0.0941 right_yaw=0.1199 right_pitch=-0.3504 right_roll=-0.1435 right_gripper=0.9956\nstate[joint_eff]: [-0.1573, -1.4017, 6.9675, 1.6679, -0.0415, -0.0659, -0.0073, 0.3487, -6.1744, 6.8581, 1.2381, 0.3004, 0.2515, -0.0855]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19557e9f47ef777e2ca1c57f067b3c220cab1f39e681b58ecd04907d9d8d79fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:872c46da60ac4aecab47ea613cf2cb9809b43069c5dcc0177cfe48a2c6ffffc2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e95a1cabcb2ad859dcd5411315b2f81b3a4466b66419d5d8eb238e3a8db78f79",
      "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 12 attempt 0 · /responses · status 200 · 7.925 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 33 changed as sent

message 41 changed as sent

message 45 changed as sent

message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8341, 0.6415, -0.4938, -0.0139, -0.0338, 0.9898, 0.6106, 1.5375, 1.0889, -0.4873, 0.3683, 0.3241, 0.9962]\nstate[eef_state]: left_x=0.2856 left_y=0.0003 left_z=0.1633 left_yaw=0.0025 left_pitch=-0.1133 left_roll=-0.0012 left_gripper=0.9898 right_x=0.3599 right_y=0.1786 right_z=0.1347 right_yaw=0.1092 right_pitch=-0.2832 right_roll=-0.0878 right_gripper=0.9962\nstate[joint_eff]: [-0.0342, -1.0735, 7.241, 1.7167, -0.022, -0.0366, -0.0073, 0.1026, -8.9368, 8.4171, 1.4481, 0.3883, 0.1441, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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, 0.8341, 0.6415, -0.4946, -0.0135, -0.0341, 0.9898, 0.5667, 1.7561, 0.878, -0.1284, 0.3614, 0.2722, 0.04]\nstate[eef_state]: left_x=0.2855 left_y=0.0003 left_z=0.1632 left_yaw=0.0024 left_pitch=-0.1141 left_roll=-0.0017 left_gripper=0.9898 right_x=0.3666 right_y=0.1635 right_z=0.0226 right_yaw=0.0892 right_pitch=-0.3516 right_roll=-0.152 right_gripper=0.04\nstate[joint_eff]: [-0.0615, -1.2786, 7.1179, 1.6532, -0.0366, -0.0513, -0.0073, 0.1436, -8.3214, 6.7761, 1.2674, -0.0659, 0.2759, 1.3504]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 45 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, 0.836, 0.6415, -0.498, -0.0139, -0.0341, 0.9898, 0.6872, 1.4033, 0.8467, -0.4782, 0.4046, 0.3611, 0.9956]\nstate[eef_state]: left_x=0.285 left_y=0.0003 left_z=0.162 left_yaw=0.0027 left_pitch=-0.1194 left_roll=-0.0013 left_gripper=0.9898 right_x=0.3003 right_y=0.1612 right_z=0.0941 right_yaw=0.1199 right_pitch=-0.3504 right_roll=-0.1435 right_gripper=0.9956\nstate[joint_eff]: [-0.1573, -1.4017, 6.9675, 1.6679, -0.0415, -0.0659, -0.0073, 0.3487, -6.1744, 6.8581, 1.2381, 0.3004, 0.2515, -0.0855]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19557e9f47ef777e2ca1c57f067b3c220cab1f39e681b58ecd04907d9d8d79fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:872c46da60ac4aecab47ea613cf2cb9809b43069c5dcc0177cfe48a2c6ffffc2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e95a1cabcb2ad859dcd5411315b2f81b3a4466b66419d5d8eb238e3a8db78f79",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGUkk7u-ZHqoEuUSSWdFeyt7p2FcuR2HR_n2vWNv47VWAHgYUrdWGJcdb6V572oKlMQ1ySyQk3UkpAWf8dAIGLU8yP4SWQcEIlTPO58bpNEroHl6EDC9x7EYEQU51EsUoYtCcfmEa5Yjju4DeNNPnbDoIsUbtS12wavfOqTQ6nAmymj_ZI10fyLldJ1CbhPWJdoICRiM_rx12l8VEW2USokaKBRgoCFz8H9_UXdWDjSgMd3ygJd06StVKteNINMaUpnpAzer2EFmwdn_BspWJT2lWyMEJZz99KXl44ZLrb2UvfgFbB04OJXahRS_qBjxdd-7HQAmnWDGeeCmirWMA2h97fYP5n3J1Uk2phGWyj1GKi9CVrgGjGUhzwWBtQryaHzx1kV23FyXzKkEVB4ytxAy48WLXonGr0uR8awPsjqqpgkhvbC5xN4osN8BLbPWftTYhGzUfVBdbEUxIJKkNcaTdZS7SB0r9GT790rc8zL9jUY54Q_TCDnzyTdfrTY3g9YT-IE5zPSPTQCaCyPqIfP6t-vAtp_oqS24ML2cu7f3KKTT8WsInJ8WKuzTnUCpF6Cx4DSb3sd_kDJMgFQpccDRhY5MBPcrOSKoh9k87gZUSKJYXnfh2V5KDZEcHa44yQkuLghnDgloxZydcOXF-Jb8abHFGJ4seJY3pWYAQZMAvpvgTMVMh1pIA_EzLLcyp-o2CO_NIWHINKsKms891THtJvsIUtAVU1P2arNlSODeAMEcmS3k28NOz32_1pUCuiRGYjmdpDZrcnyvODG4_eTQoaXQbs-yN_M6bAli7jl5ZI04rOhWPVahlmorkwAVmKP8YAw6iLPlSwrBT-lafkq06FHRZ2AO4Yejxw0_pGD5SonepjCmYdzU3I9qp7INjTe5nzL_f5HoHKCLRHvNmLbOAwMeJ0xtdTCYmDZdRn-am2uCNGkLcjDVs8osN0T_6nTLiquXVCRY5OZw4vY0PBQluFZafV5GMc4dXn_Li77LD0lg9vzRVXjfC_JR4wsEy66xHca8ni9162-vydoQNz41g_Bp4m9OVHQJcXEpRt-elmfqSJ_9vnQRwUrHUlgShL_iSZv0uLN6QnUH1mwNw6_QM_AYHuqVO1RLQUYQpcOH_nf8Qi-ea_YlUDes-XtlKooNpZzx58nRNI90EyOcQ-WN2AayYqZ0PY45n3QdzLAJzB-rDipf5NoAa_5yXN8hkaz6wiDUklkJJZioh3WZFJMMctLQqjpQ0aqX1RQJLn-bgwAczgKowP_LkfE-NnHXEF4T_dg8G02CUBuqto_nK1Arb3NvULAHu6TXEQ0kD7r5GzzEZAyHK9W3IPsNlNkNI3SXTaVxhpAGT1gbP-iP2TSxLkr_WLvB3mYbfbtrw5o7SZIKJiTzYdJg6fN0xnQFfMM96V3KJBfeGkaFPILJH5_--lxdDxr5U2CFmP34swXsql6kufh7u3lRdTj8DKm2PERw0gbIVz-gJsYv8P9zZIGxQzVTmHljQQDW4QdlLUkJu-3f9SyeWWp3yAR53-dgjD2S75gqz3jKjqHNhDkH7i8V-5asCZbLpjIFvaQp1EzR3Wtf18TF-m8n3sqEDrHUyxJBr0O_fLp2HCtnvBZojjHGe55MQizcQmeEBA7IsUndxHjbc5CsrX2VXDAb0DYi3CI4QcFh67nU1r9puggg6DrmrVp_T6Lnr4gLuqQBYdASRm7-q6ndPTlO8YmdVPuQeGGVB0oGDjU9lj7_Dey8FUEt9k9BP3h-n-Z7ymw1xTFx2EEIb5MqpmiiS_nsj9Zf5tXXBrgpnSVZ7Hizyk9uooQBV07hS71foP5TMWTSKiRLzEjcWSgPM0MV6nYcCBAOiE__7KQfMc_RQyrPwRwhHahv-WL7UYymTJdJ84GwElbAtr-4wiarkImivErHf3cIWu8biL-8Xc9p2Pc1pKoDeNGZptrN4Y3IJxIMGbqEgF8MATdnVLyC0C1HDEvWQs7uqPiBxD9KiW5oK2Op_Mm1BPNGKVdAUb4nC2PIlRBLoFG0reMDh6Z3UdhlR2ltTAqvRE_mmPaxMd1BnqbUWNpz1zZTi6k5qQRIclH1fI4YMXdjb80Qx8co-noMATBnL4fnH3mWoP4gR8OgGUFUbwdWDtec_3rhuNtKrBg27gfOfpRtl530Yp5JqamDC7Ge8IetpseKMQnKATnX4M03ywDR9je44Vmhc4ojPHfV8U560xwTdNl_8fv40J0Iw3NUpIFNyT4RNt8pXsxhNKsD9hDbnn17eWeqCwAT2rUATqJwTW4s9rVOEnGxq3ju6PBaZtaPYSXtHE9iAGPWcZc2WCiMGzNkxNLhHyNdDbpuPalWEVbWHooVjjK2BMTEHZgm52Y4gZ3XZ2Zi0AHQPjqeo9qj6WV_8DipTzqyBllKLPr4HkLtC6eMvIdI0Lq-TfdBhSYt61LX",
  "id": "rs_06fa704fbb869d0b016ab4651f582887d0b189aa48dbaedf68",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0.155,\"right_z\":0.03,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The yellow fruit is centered again, and the pear is visibly inside the blue bowl. I’m descending straight down and restoring the tool’s upright orientation to avoid another sideways slip.\"}",
  "call_id": "call_oCN0T4aE5Q9xKk5cMXWiKOCQ",
  "id": "fc_06fa704fbb869d0b016ab465230fc087d0bb7006c286cec067",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oCN0T4aE5Q9xKk5cMXWiKOCQ",
  "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]: [-0.02, 0.836, 0.6415, -0.4984, -0.0139, -0.0338, 0.9898, 0.7921, 1.5276, 0.379, 0.3054, 0.609, 0.49, 0.9962]\nstate[eef_state]: left_x=0.285 left_y=0.0003 left_z=0.1619 left_yaw=0.0025 left_pitch=-0.1198 left_roll=-0.001 left_gripper=0.9898 right_x=0.2848 right_y=0.1499 right_z=0.0164 right_yaw=0.029 right_pitch=-0.0908 right_roll=-0.0629 right_gripper=0.9962\nstate[joint_eff]: [-0.2667, -1.4564, 7.1453, 1.6581, -0.0317, -0.0513, -0.0122, 0.4034, -5.1487, 4.8205, 1.7167, 0.4908, 0.0952, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:497a5cc042c40b9dcac590ba1911576c3d737ae798a8b1486fcb13b540809e00",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5542cf0da57f3152ede4fe4940ec1604b04eb9ffb64dda2781ccc34b7ec3fb9e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da22fd27064d89e937e8092120c428b37933fbdff26090ba9ce7aeddf73c3349",
      "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 13 attempt 0 · /responses · status 200 · 2.277 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 37 changed as sent

message 45 changed as sent

message 49 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8341, 0.6415, -0.4946, -0.0139, -0.0338, 0.9898, 0.5697, 1.7443, 0.8886, -0.1261, 0.3431, 0.2909, 0.9963]\nstate[eef_state]: left_x=0.2855 left_y=0.0003 left_z=0.1632 left_yaw=0.0025 left_pitch=-0.1141 left_roll=-0.0012 left_gripper=0.9898 right_x=0.3694 right_y=0.1703 right_z=0.03 right_yaw=0.1006 right_pitch=-0.3351 right_roll=-0.1134 right_gripper=0.9963\nstate[joint_eff]: [-0.3077, -1.4017, 6.9402, 1.6435, -0.0806, -0.0464, -0.0073, -0.5402, -7.7197, 5.2991, 1.4042, 0.0513, 0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 45 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, 0.836, 0.6415, -0.498, -0.0139, -0.0341, 0.9898, 0.6872, 1.4033, 0.8467, -0.4782, 0.4046, 0.3611, 0.9956]\nstate[eef_state]: left_x=0.285 left_y=0.0003 left_z=0.162 left_yaw=0.0027 left_pitch=-0.1194 left_roll=-0.0013 left_gripper=0.9898 right_x=0.3003 right_y=0.1612 right_z=0.0941 right_yaw=0.1199 right_pitch=-0.3504 right_roll=-0.1435 right_gripper=0.9956\nstate[joint_eff]: [-0.1573, -1.4017, 6.9675, 1.6679, -0.0415, -0.0659, -0.0073, 0.3487, -6.1744, 6.8581, 1.2381, 0.3004, 0.2515, -0.0855]\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 49 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, 0.836, 0.6415, -0.4984, -0.0139, -0.0338, 0.9898, 0.7921, 1.5276, 0.379, 0.3054, 0.609, 0.49, 0.9962]\nstate[eef_state]: left_x=0.285 left_y=0.0003 left_z=0.1619 left_yaw=0.0025 left_pitch=-0.1198 left_roll=-0.001 left_gripper=0.9898 right_x=0.2848 right_y=0.1499 right_z=0.0164 right_yaw=0.029 right_pitch=-0.0908 right_roll=-0.0629 right_gripper=0.9962\nstate[joint_eff]: [-0.2667, -1.4564, 7.1453, 1.6581, -0.0317, -0.0513, -0.0122, 0.4034, -5.1487, 4.8205, 1.7167, 0.4908, 0.0952, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:497a5cc042c40b9dcac590ba1911576c3d737ae798a8b1486fcb13b540809e00",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5542cf0da57f3152ede4fe4940ec1604b04eb9ffb64dda2781ccc34b7ec3fb9e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da22fd27064d89e937e8092120c428b37933fbdff26090ba9ce7aeddf73c3349",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGUtMraO-vP0d9hJZZNY-CH2Nmvf4EI7C1tUGBD_woGiP84G8LdQNDE0j0p_tRJD3A7PtM_iuyiPL0jWJ2HgxYkGV9fH1MfDNns4eIcfx0L5APZ4ZeoXJQQJ8vEc4pLZRjFafeMWdNqJqDmfpBrVOcaQmQj57VLMrY-PUkdbjCg05j5TxCX4sqz5LOkwzUkKi2da7xjdRiA8D5RiQkAJPJFJhXb_33QufSK8Ir2xhUhVH-eDsi--MstQB9J4jxtm4DOVSO_lBQSQG9Q979Im0cOQxwMLMQY0YIQ7v98SP1j9IZyUGiLp2CHbzSCRWyJHasr-IU-oL0VH32dY6be1HU2W8UaMaLeOu1O-YNb6l5CL4r6rptY8Oanaxf9uMD8H7W8ZtP6Zs3R1zw2xMQ28dJ5RSPP0BQ4NizB8COlEynT5m4ycw3FviUbhngeQvTuOBI_1F5gJxmKnC5EubTGZbCRykbpdzNmo6DUNoSNCcZ0WXczCh_vGQM0ou1Q8NDxNe4BSAZw8ON6qL6vchba6j33izY0hbFfzlGFdQ4rsVTCdKyMgbqgyY-BEnKy545-Yh3L0hYI1JbgZvrJLhcAFI4v435MMQ3_gDIts5mbm5bpzTWenDQ6MlNukrr4lDOX27UWMCoAj-OtMLoVsTutioOITqNp69RlqNTFFwoEMXNlaFSb1GFpKHR059DKL8vdOKbf3bqLAL0mgZrC7HEipY7UVFa1VT3UTroYXp1_QmNtHHY7QMmpxRFObBFmCY9p-HNVAQhWYaDSgc9s_g9z1a43tSCH975B58BDHQ3UQ10HWff2nqksCSVzZ2Rlcml2tFbKAk-SMR6pIV7OBMe_7FiUoutSc7Cl6WhDN6HZsgf_Jng4sXb473IufWBBPTZ7wiIKPXRg3YkEZh867SLqPg3v3rvo9cMAUitlyzwTFiLF0doH4UwR8etR6AUsSv7ACiHGIiMAsqOMIShQAoNAWJvCOuw8ii0Vl2vz11c6NUNhm65333UFlb_8mLWXaGLqUtismoFVuwA6M790iHzDYRYFAnrTSi1-w6yP7mabolQi9MNQILKuFaKSNsIwxkdkBCZtNKKqetF_uOOM5sKAMTBaQwkWGDqKrj3UEqJUx0rYcXrk-cORX4qJ_iJhrfKBggJmjSVNRmox8PDD2PzdH4LW0hW_fTUgDB5fAN5MIYh50eFs-uMzjmSo9DOiaf0PsL96xKRQw6naWQxm8pJn8VTEEwo_E3GP9RUC30CkzwKbqpDpo_GORZ0ZeVR9qJbqxOStyVpbJGvspgm9MI1nAuTUERvjWoI3q31r9ZIIGXnRMlyfKuxneMMxr6a3Top8QhlijtzCmFTsKFNWYXVBCzBk1llUP2LmGE6bYJTlB5ZorNhPQzFr4z1Hi_C_xH8yh7nJCU2p-EZN8zk5tXApda5Cp4-5PPTZh2KZ4wLaCFtn6hcbqqUOW9p3GY7aTIZcdPgtDgrxBPRsiH55FFmRHxdcH8nDbE82X25NhyyUmJUnZIpxXMAiYHbE2oL7pw9X3aKVWVOoCvlvwpb9lALxtWhak6uz0m1UT2upiaPjGyvYJKpXkZbIU1Y859Abqn7no5U1Bf93dWZQ46WmBpR2qFEr9e1uEW3lTTQtm1vGDLbqNC7MwZhgR3gIrjt6ccY5B7VcZYc-0IwqGwZbClMysmJgU9wDsyvd6OC5Je-OlU4S9_IOjE7ipZL560uqFku4IKqZZQyIokv0EA6fit0tKObCsJzJ1-4_swEAma57ySE-HfXdXlSCoqfPaLPLBl1xdMpoBo1vrXwdaemLILYEZtt52XtnFez9fZ-yX_fFkzPG-qhozPRBu4hKhx6A7vFroFiqlCj56rpXPj5e736PUUiR9-DvFqs3MW6Cp_uJyxFw4wl345uGkNCFJJ8CMfH-ncsz8wQRh9gIyAN0MusQxwcVEpe0OhvH3Rz4tjcffzlK5jgEUtwwp6IEsJC04mCTAijRW4OTLhmSa0O9wOBKZnEU1yvol4hmVrWPWDDRSEw0mjURCKnQI7SyuuWTFTiDlLcU9T8mOSHXDwEOn9i9tw26Ls3yuHN2LwSmfI8jAgdkqHxrLIesF8aHKA9QqLSCQRF2TgZiqYICaq62FcgJZb-s7vQJLidfDZu_NFSCsvr-gINS--ozR3JQEVP0EtSEETAP9jQIvNg6FkBg9EcFoWuHYADK2bxDzuDQpyZc_f6hQnxFRD_T4XGtLK8OAwKlFmR9tUiSySbNbs0tr9iDKzxXOHEzv7_3KO8DYA1Iier6-9P6fcmqt0-fqN-crCkt56TtsbdhmzTqoc8x5aqBJawrvcLpuGnzJ2qnp1kDQfjFYwurR_zDUX6RL_vl37nwwFO9OppmAhT0ZvpUIACBwHD8u7p_lLC-r3VYlcxFrsBzb_v8=",
  "id": "rs_06fa704fbb869d0b016ab46527335087d0bb428ac123974cdc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.315,\"right_y\":0.165,\"right_z\":0.045,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The yellow fruit sits a little forward and left of the jaw center. I’m making a small alignment correction and raising the grasp slightly to catch its wider middle.\"}",
  "call_id": "call_KsfNfIfJKeFxjCPFYSMDzCZS",
  "id": "fc_06fa704fbb869d0b016ab4652bfe9c87d09cc09ab3565acfab",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KsfNfIfJKeFxjCPFYSMDzCZS",
  "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]: [-0.02, 0.8398, 0.6415, -0.4984, -0.0139, -0.0338, 0.9898, 0.7715, 1.544, 0.44, 0.3416, 0.6163, 0.4858, 0.9963]\nstate[eef_state]: left_x=0.2852 left_y=0.0003 left_z=0.1609 left_yaw=0.0025 left_pitch=-0.1236 left_roll=-0.001 left_gripper=0.9898 right_x=0.3065 right_y=0.1607 right_z=0.0363 right_yaw=0.0088 right_pitch=-0.0288 right_roll=-0.0141 right_gripper=0.9963\nstate[joint_eff]: [-0.2393, -1.7709, 7.1179, 1.6435, -0.0611, -0.0269, -0.0122, -0.4991, -4.1778, 6.6803, 1.6484, 0.3101, -0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d74d38bdce9fda8540471cd1869ff0355e312f9e669c570e8624faec59acc987",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aef7f0feb0c2944f67fdfab25f618f391b1a695ca8aba0a65ed4be38cc6f65c4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:848223d692412d07439f07cc5a78d1aa8d38887290933d00d229db6bc32ab99f",
      "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 · 2.874 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 41 changed as sent

message 49 changed as sent

message 53 changed as sent

message 41 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, 0.8341, 0.6415, -0.4946, -0.0135, -0.0341, 0.9898, 0.5667, 1.7561, 0.878, -0.1284, 0.3614, 0.2722, 0.04]\nstate[eef_state]: left_x=0.2855 left_y=0.0003 left_z=0.1632 left_yaw=0.0024 left_pitch=-0.1141 left_roll=-0.0017 left_gripper=0.9898 right_x=0.3666 right_y=0.1635 right_z=0.0226 right_yaw=0.0892 right_pitch=-0.3516 right_roll=-0.152 right_gripper=0.04\nstate[joint_eff]: [-0.0615, -1.2786, 7.1179, 1.6532, -0.0366, -0.0513, -0.0073, 0.1436, -8.3214, 6.7761, 1.2674, -0.0659, 0.2759, 1.3504]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 49 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, 0.836, 0.6415, -0.4984, -0.0139, -0.0338, 0.9898, 0.7921, 1.5276, 0.379, 0.3054, 0.609, 0.49, 0.9962]\nstate[eef_state]: left_x=0.285 left_y=0.0003 left_z=0.1619 left_yaw=0.0025 left_pitch=-0.1198 left_roll=-0.001 left_gripper=0.9898 right_x=0.2848 right_y=0.1499 right_z=0.0164 right_yaw=0.029 right_pitch=-0.0908 right_roll=-0.0629 right_gripper=0.9962\nstate[joint_eff]: [-0.2667, -1.4564, 7.1453, 1.6581, -0.0317, -0.0513, -0.0122, 0.4034, -5.1487, 4.8205, 1.7167, 0.4908, 0.0952, 0.0562]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 53 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, 0.8398, 0.6415, -0.4984, -0.0139, -0.0338, 0.9898, 0.7715, 1.544, 0.44, 0.3416, 0.6163, 0.4858, 0.9963]\nstate[eef_state]: left_x=0.2852 left_y=0.0003 left_z=0.1609 left_yaw=0.0025 left_pitch=-0.1236 left_roll=-0.001 left_gripper=0.9898 right_x=0.3065 right_y=0.1607 right_z=0.0363 right_yaw=0.0088 right_pitch=-0.0288 right_roll=-0.0141 right_gripper=0.9963\nstate[joint_eff]: [-0.2393, -1.7709, 7.1179, 1.6435, -0.0611, -0.0269, -0.0122, -0.4991, -4.1778, 6.6803, 1.6484, 0.3101, -0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d74d38bdce9fda8540471cd1869ff0355e312f9e669c570e8624faec59acc987",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aef7f0feb0c2944f67fdfab25f618f391b1a695ca8aba0a65ed4be38cc6f65c4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:848223d692412d07439f07cc5a78d1aa8d38887290933d00d229db6bc32ab99f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGUv4crAX-RkIcjnR20aXaxsH9jJ45c79dhBJSzPJFPKINRtl_xNQ7LwW0y8upFimijXljxTfudm52PPqVXIRnvXuVw_4XXZIpVuwEB_tvYDIF4X4qpYpzkRyyN4xIn4JtgcIlzVYCCntiHAs0rHH2ri7g_-avWPSNMwXCq8yEtsfdjQOb4losRsUMWHNjfESH2uWUi9WctGWAUjMkx6j5u01zaVLUDuql2ZCEE6lqnI5aP_q4qq1JxgP9m_C6_fm_0PKxg_ofq1p4Q8vWVKgV8VmMBFXm5Ksqm_VT5ZmwRcA3e21b0kA7mmsP01KvfChEU5HShdYlRGbFvMvf15RQReZegDG0N1sbh8i-Jxf3xOaSKuJ3POyTC0oG-j86LR-KapBqxOj0G7rfXUCKBOFzlor53KIBk9cQf-BPhFSJuEFEozIv6X57MJN84y-AkL3kURW3jerNEgdWBq75WsZAd_28dIBopK_TqcQYAxbAVd1SasYXBRFhzh_bkBiXSlMJhDkohYXbIMOdhCc0KOnQ9nmAkSjdpovRudHAPddgl4NDhZaFTjde2cgWJB05CpNzhfznIeQqvkWXTOdhYbAr3k66NSr-wM-OjKmYY58br403_va1er6hWIvsZGdAvjMFU_YVkV5cC2YvHmXH--HucEEEAPidaoQPjJi9EYRwrdJ9TG4LtImrVL_6h7yMtbv4qCZC25Zc8fDqaenYcTniaCQRYFg1uzR1t1E4NKiEU0po1Mx0RtG4uF4I3B4nJvDF2c4n8Ukuk4bJ6eh3GEjJWQq2tJz2zXIPYTS2o-gbNN0YbpT8T7fiUY_2yi_Ws6RThIOl4J-IDHYNDJAyWIW8vqsvUndbPZC8SeBs0RpFAtkEgd4dvHAOXguYisZx5SrDCV-KRN1XHHbHUa8nKU-_RJS2OmJ9QcAvL3n8Nc7AZNuY7Z2igpTA67cyWakYLj0tj2c549vyzc_gFNZTrPlGAJZAw-L9DvxGJOnJiwkcFRFX1goPvOIxFceLwUpb3QdxaCmdLSF7XAertAIK6Pbh0-FWau5vwjTvQm1rjAyRz2aw39Qa1_lZEGgOdr5Rcsz8gSqIQ9XPaKWs0Z47J4aobAbxHcNhM41k0dSdQXyfUi8313wWTpwhf9zPJRXzk9buhZRbmcbPkRDavn_3ryjmDb9NQNUUj8EZmS_CnOJ75SjuXIm5R7V174axKmt0pWMhiUC2ao_Uu110gNN5uzAFRlnM_J0q1jp1s1n97zaTVtEeQFXSxKP7hH6gDllfAuLCqA09wP-UjZ8hiLIzO9w7f8jg==",
  "id": "rs_06fa704fbb869d0b016ab4652eb8dc87d0bb4900beaa7791c1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.43,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The yellow fruit is now centered between the jaws. I’m closing only to a fruit-sized opening to reduce the chance of squeezing it out.\"}",
  "call_id": "call_bYDjC6X0vQGeftTitJPXZKux",
  "id": "fc_06fa704fbb869d0b016ab4652ef77487d0aebbb8685523ee9c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bYDjC6X0vQGeftTitJPXZKux",
  "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]: [-0.02, 0.8398, 0.6415, -0.4988, -0.0135, -0.0338, 0.9898, 0.7704, 1.5467, 0.4438, 0.3397, 0.6128, 0.4862, 0.4344]\nstate[eef_state]: left_x=0.2851 left_y=0.0003 left_z=0.1608 left_yaw=0.0022 left_pitch=-0.124 left_roll=-0.0012 left_gripper=0.9898 right_x=0.3071 right_y=0.1615 right_z=0.0362 right_yaw=0.01 right_pitch=-0.031 right_roll=-0.0126 right_gripper=0.4344\nstate[joint_eff]: [-0.1709, -1.4017, 6.9538, 1.619, -0.0269, -0.0269, -0.0171, 0.1299, -5.4222, 4.547, 1.6142, 0.2564, -0.0024, 0.2173]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b93a9baf5f0d55b5272c1ce31638f279209cd271012c79824e2ba81d26ec8ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cd252ae058172ab8ec3346411515b670b87c2e69cf343bc448a0bf612741134",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f45df0a90ad046af688fbf4c699260faf002267a611e816a1c83a35634fe168",
      "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 15 attempt 0 · /responses · status 200 · 3.517 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 45 changed as sent

message 53 changed as sent

message 57 changed as sent

message 45 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, 0.836, 0.6415, -0.498, -0.0139, -0.0341, 0.9898, 0.6872, 1.4033, 0.8467, -0.4782, 0.4046, 0.3611, 0.9956]\nstate[eef_state]: left_x=0.285 left_y=0.0003 left_z=0.162 left_yaw=0.0027 left_pitch=-0.1194 left_roll=-0.0013 left_gripper=0.9898 right_x=0.3003 right_y=0.1612 right_z=0.0941 right_yaw=0.1199 right_pitch=-0.3504 right_roll=-0.1435 right_gripper=0.9956\nstate[joint_eff]: [-0.1573, -1.4017, 6.9675, 1.6679, -0.0415, -0.0659, -0.0073, 0.3487, -6.1744, 6.8581, 1.2381, 0.3004, 0.2515, -0.0855]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 53 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, 0.8398, 0.6415, -0.4984, -0.0139, -0.0338, 0.9898, 0.7715, 1.544, 0.44, 0.3416, 0.6163, 0.4858, 0.9963]\nstate[eef_state]: left_x=0.2852 left_y=0.0003 left_z=0.1609 left_yaw=0.0025 left_pitch=-0.1236 left_roll=-0.001 left_gripper=0.9898 right_x=0.3065 right_y=0.1607 right_z=0.0363 right_yaw=0.0088 right_pitch=-0.0288 right_roll=-0.0141 right_gripper=0.9963\nstate[joint_eff]: [-0.2393, -1.7709, 7.1179, 1.6435, -0.0611, -0.0269, -0.0122, -0.4991, -4.1778, 6.6803, 1.6484, 0.3101, -0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 57 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, 0.8398, 0.6415, -0.4988, -0.0135, -0.0338, 0.9898, 0.7704, 1.5467, 0.4438, 0.3397, 0.6128, 0.4862, 0.4344]\nstate[eef_state]: left_x=0.2851 left_y=0.0003 left_z=0.1608 left_yaw=0.0022 left_pitch=-0.124 left_roll=-0.0012 left_gripper=0.9898 right_x=0.3071 right_y=0.1615 right_z=0.0362 right_yaw=0.01 right_pitch=-0.031 right_roll=-0.0126 right_gripper=0.4344\nstate[joint_eff]: [-0.1709, -1.4017, 6.9538, 1.619, -0.0269, -0.0269, -0.0171, 0.1299, -5.4222, 4.547, 1.6142, 0.2564, -0.0024, 0.2173]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b93a9baf5f0d55b5272c1ce31638f279209cd271012c79824e2ba81d26ec8ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cd252ae058172ab8ec3346411515b670b87c2e69cf343bc448a0bf612741134",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f45df0a90ad046af688fbf4c699260faf002267a611e816a1c83a35634fe168",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGUzvrOwtWWChWASuH2TpHG6Jn7UJ6uB_egDtAJUQibieSaU4h-Opci8F9Qm5ZYR0HVrOCfgonFDUp4wTQQ6YDOKelRw5LnzEww3q033NEVZBmZpHQ1ArClebQ_WLF0YXo3BMWPNXghHXF0ndRkNEe0MJQN2cpvCCvvNRyxEHIz_CnO0IOtInh7kB9LDi-Tvlj2mf_RYYox1OCBilJbDcAsKHhJ3Vf0tUY4yo0UQS0L4s8cq3jPwRE8QVTt8UTJ8plMz4ph7wWsDBfil-t0e7KsTgmRG6KV2AtyPxuyyubfPXX_iR1cMuM6XRltNMt5PmMaXvFi50xHSxhVKgB_vxDUjFT7NeGUOlstmYPJarN4DIerPd5ZHdI7gqZDzh2vWp1Mi9MyyNcy1XPsAXDT7YzorVXOKgkKURI5_PWFI93I_t-0itZm_TT2qelvmYyRgd_LpELlYx3b2Tx794WeR3yRrsIm_y0VGc53RV99APAUsVChXGw2nkxXCcEZVYyUrMS8eQkvEgAEHtkPfFSA7FgyFpb6csWNaNbOYg4hnwoWL9e8wVXaNVxH4g_NQ6TUoZ5orA63gT_gjf9CaUuSvjJb8iA6sHFY_Kdl1oji3BGnq-YfPNFWg4UU2lL-mI0v6tD2apaggETmacqereQOO9eir2TMWlzFUGP_BK0W5tIIEBdrV1MYvrWKVZZFq-hi7C0WzvXbHI-tg36ONvDfkL7GE4ZLdlLcG3i_YrsretKXxJt_rvPmzmTuOLUPOpthNyZi_sdAYuT_M5rkAoVsNgteLZRfmpIeBWRXH2vi-GG4czgdRVOm-exix8lNiphdd2eJCHE4QdnrJqF14elPCXXAyeMiRMXjH52u0LLuKjJ__KYiBQkrMO90KdtbLoi7nYzgob0YJgsjBBCyrhDZbbMuzq-_GKEtowWq1YNFoY0sXlzJOXjvRVFPpv1ofNJkpBPaKsamfVD-Rsrh_W-afu_mCrUubQBgl7DShYmYcy6j-sy6Mw_9N9xhFxXJmnce6zCVjq7PhA57ySr-de5NXQVodfgVI-LCcpg51AwU5foBDCVepglBuq5XrCdLA2z_R7ahCfkFT2mzlCyPx9TquzlqoHwcqG4lX6bkoKON4mliUU0ZrApp6b6QG3nSa9ikO9e2ObFSdCB8Mc0btQEhhxWuA-QK2cffjjjIakvPf7y6g7-Jv-N4BIcjWKPYdiJOeN0HxcEVlRPEd8L8likfJey99KDB_Vm3LjnUg_C_WauJXZKX4v4vcHdFnVAmWMZsSRQBvRFXQjgy6Sj9jYRWD3Dbia01sQqJb6wLXeNEQwe2JrTXR9cd_giz4O0eqEKRw7RUFpt7Qv5J9j4HuKnzYbef5qv86iio7PLo0x93ogXIzK0iKdD3cgsr3qEPWteYfQvQO4jxkt4rZgw_YsNY8aY_2tQ==",
  "id": "rs_06fa704fbb869d0b016ab46531a3ac87d0adbc4860e9a17fdc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.11,\"right_gripper\":0.3,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The jaws are touching the yellow fruit at its sides. I’m adding a small amount of grip and making a short lift to verify it is secure.\"}",
  "call_id": "call_nKo62eerfroiGnnUeq6PQIOV",
  "id": "fc_06fa704fbb869d0b016ab465325c4887d0aed665475b451743",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nKo62eerfroiGnnUeq6PQIOV",
  "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, 0.8452, 0.6415, -0.5098, -0.0139, -0.0338, 0.9898, 0.7704, 1.5467, 0.4435, 0.355, 0.6136, 0.4862, 0.3118]\nstate[eef_state]: left_x=0.2836 left_y=0.0004 left_z=0.1574 left_yaw=0.0026 left_pitch=-0.1404 left_roll=-0.0006 left_gripper=0.9898 right_x=0.3087 right_y=0.1628 right_z=0.0385 right_yaw=0.0097 right_pitch=-0.0199 right_roll=-0.0027 right_gripper=0.3118\nstate[joint_eff]: [-0.212, -1.935, 6.9265, 1.7411, -0.0464, -0.0366, -0.0073, 0.1436, -5.5043, 4.4103, 1.4823, 0.2271, -0.0415, 0.652]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5debdeae97523f5cbd0f8500cdbf2bc2616be020c4054b7ed2a9521df7a828ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f818e9926daaaf43347abaf612b46c9e2b20cd1b94a8459bfbcbbd2bac4ef05",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6575c3659eec35a6b82782ce8f4dc76eea2371dceaf3fd4d859e4953884e9779",
      "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 · 2.879 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 49 changed as sent

message 57 changed as sent

message 61 changed as sent

message 49 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, 0.836, 0.6415, -0.4984, -0.0139, -0.0338, 0.9898, 0.7921, 1.5276, 0.379, 0.3054, 0.609, 0.49, 0.9962]\nstate[eef_state]: left_x=0.285 left_y=0.0003 left_z=0.1619 left_yaw=0.0025 left_pitch=-0.1198 left_roll=-0.001 left_gripper=0.9898 right_x=0.2848 right_y=0.1499 right_z=0.0164 right_yaw=0.029 right_pitch=-0.0908 right_roll=-0.0629 right_gripper=0.9962\nstate[joint_eff]: [-0.2667, -1.4564, 7.1453, 1.6581, -0.0317, -0.0513, -0.0122, 0.4034, -5.1487, 4.8205, 1.7167, 0.4908, 0.0952, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 57 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, 0.8398, 0.6415, -0.4988, -0.0135, -0.0338, 0.9898, 0.7704, 1.5467, 0.4438, 0.3397, 0.6128, 0.4862, 0.4344]\nstate[eef_state]: left_x=0.2851 left_y=0.0003 left_z=0.1608 left_yaw=0.0022 left_pitch=-0.124 left_roll=-0.0012 left_gripper=0.9898 right_x=0.3071 right_y=0.1615 right_z=0.0362 right_yaw=0.01 right_pitch=-0.031 right_roll=-0.0126 right_gripper=0.4344\nstate[joint_eff]: [-0.1709, -1.4017, 6.9538, 1.619, -0.0269, -0.0269, -0.0171, 0.1299, -5.4222, 4.547, 1.6142, 0.2564, -0.0024, 0.2173]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 61 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, 0.8452, 0.6415, -0.5098, -0.0139, -0.0338, 0.9898, 0.7704, 1.5467, 0.4435, 0.355, 0.6136, 0.4862, 0.3118]\nstate[eef_state]: left_x=0.2836 left_y=0.0004 left_z=0.1574 left_yaw=0.0026 left_pitch=-0.1404 left_roll=-0.0006 left_gripper=0.9898 right_x=0.3087 right_y=0.1628 right_z=0.0385 right_yaw=0.0097 right_pitch=-0.0199 right_roll=-0.0027 right_gripper=0.3118\nstate[joint_eff]: [-0.212, -1.935, 6.9265, 1.7411, -0.0464, -0.0366, -0.0073, 0.1436, -5.5043, 4.4103, 1.4823, 0.2271, -0.0415, 0.652]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5debdeae97523f5cbd0f8500cdbf2bc2616be020c4054b7ed2a9521df7a828ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f818e9926daaaf43347abaf612b46c9e2b20cd1b94a8459bfbcbbd2bac4ef05",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6575c3659eec35a6b82782ce8f4dc76eea2371dceaf3fd4d859e4953884e9779",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGU33CzGdjIl-r-Wx0Bvn3ANK6Umf3wRa2Aorp5duEeJbaelsyrNPj36-6CEc4qk8WLE9R8iHsDqqOIYfkEeFKQJbJ1i1LktMotEdfImyjqgUxcKFnKk1yPKWQAzEYKKB0ZPt7uF4hsqDKClXu03vFe94hBUH3Ko57XzmZr2i6_8CFM10knRqXsMgQiar1YJTtHeGm8WFNJy2veA6Xc0_vxHZ1qJBwexbIGCJPlxg_yfamY5qwK74_J9yBz4z-SbQ5NYuPtm64OA2tM-xef0AJBodho9_d3AVpWiHSBhL6izUrtcDiPNMekaGeNDYiVVWcoyUdf5P-asCIMq4Gxh_-lVGqrZQsExuja4TFw6N9Nk23fMehoAgAQQZjKN1Po-kwiTgT-v2ScWWloRsGzAyfxLxACtQju7jEjL5Qp5TQ57otfIdIRJT3VM_u7j3xdJFkUGZIZrsIcaXZgk5-NBeD7tBFAqEbMHkjuYYSEMjlWjXm4Z-Qaw_l6qAMvQcef_zmdbrF2--lhZcukADs8iM6znwA1hnkJbz96AT_LfK_Jf3DzhKuJjgiiC3d9bVmqXRPVDna_MTtI1Dmz-AvwZbzYKXucCLgYO0QP5-qmJPnyNKTn0PH68XFwHCv_RSHniUoyb0oZUpDnr4UL8o73xlRYW47xB_SKWhXnFAwUpk7GJkMLD59edOI34k5ISj-I-upROgXX6XNmA9w-OBQ9oy2dOPEEd_QnMiV-Y3UCblCA6cEaiUARQ7zptCeJx1F6DrnvvCGtmSlNQdubLG9hIj-dJ8jA4jU2QTco6D4W3r_JUQ672ih953wkOqOK82eZmKiuth1s6jKPwVDlRyFSG-evWHjVrZ6OBGbggrlGsvO43Uoy37rxZgIMycfaBvNXDzKwhz0tTQY9snDGz_iy1IMdJJUDocUiYu2v0m7VviJrH1fE83u_Cvp0PPj_REfYGtgAFAE5gOZ3kP4Qr9ggcIg0v_DD2WfWoaY77P-UmFcZ0H2vKkFTfDhR0Lo2pwqpay8vlq_Kte4AAvLwplmnmYU5pdgrRdq2lOfLQmq9yAMpLkg1C5dAdmCysH8PIA0RA4PrG42_KhgYvvRI6JStRyzGSszlLO4JFTC6-CQtthX7v9-QkBApvzihRnScAe58qneqNM72Kk_jP4oCVcVeA5gB6aG_xt_0K5s8PjE1q_lxvBhAJwwF1gaAsKN0Kzj1dMBGLXdNG7ujtF31_TYRQgSeYJteJTeDp--Or9pRpEamiibGA6Pw_7OhR0k_eC0ywbCWi2sZR8aqvx6uhi2y0Ajaw82WwYyz2G2viAO04DMVqqfMf7BQ0fSBPfahC14l4-PPjseott9nttRh8opf42BsCudcyT54-4dICJdsaWSG6-qygeGgF1ncSHKCL-Ah9kqt2",
  "id": "rs_06fa704fbb869d0b016ab4653501b487d0bb8c322dd8cfb514",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0.16,\"right_z\":0.16,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The height readback shows the last lift did not happen, so I have not confirmed the grasp yet. I’m trying a slightly retracted lifting path rather than repeating the same target.\"}",
  "call_id": "call_ARzRUruah6KWKvvvMlaFnC8o",
  "id": "fc_06fa704fbb869d0b016ab4653659d887d098486a27c8331272",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ARzRUruah6KWKvvvMlaFnC8o",
  "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]: [-0.02, 0.8463, 0.6415, -0.5167, -0.0135, -0.0341, 0.9898, 0.8101, 1.2018, 0.6888, -0.2279, 0.6365, 0.4908, 0.3128]\nstate[eef_state]: left_x=0.2825 left_y=0.0003 left_z=0.1558 left_yaw=0.0025 left_pitch=-0.1484 left_roll=-0.0009 left_gripper=0.9898 right_x=0.297 right_y=0.165 right_z=0.1472 right_yaw=0.03 right_pitch=-0.0038 right_roll=-0.005 right_gripper=0.3128\nstate[joint_eff]: [-0.3214, -1.4154, 7.1043, 1.6923, -0.0269, -0.0611, -0.0122, 0.5402, -4.7248, 8.5538, 1.5507, 0.3932, 0.2515, 0.0952]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00270a3faa046be905f48da5606cfce0add1d28f2f54c65764712ce861a0b24e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e020904720d3d175fd4b3142c625bed2dc948902f6200c2b7b13f6db309c0da7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06f87094b226b3ed9b5e717375968335e1f269e4106f174a0c911cbe9848545d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 2.349 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 53 changed as sent

message 61 changed as sent

message 65 changed as sent

message 53 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, 0.8398, 0.6415, -0.4984, -0.0139, -0.0338, 0.9898, 0.7715, 1.544, 0.44, 0.3416, 0.6163, 0.4858, 0.9963]\nstate[eef_state]: left_x=0.2852 left_y=0.0003 left_z=0.1609 left_yaw=0.0025 left_pitch=-0.1236 left_roll=-0.001 left_gripper=0.9898 right_x=0.3065 right_y=0.1607 right_z=0.0363 right_yaw=0.0088 right_pitch=-0.0288 right_roll=-0.0141 right_gripper=0.9963\nstate[joint_eff]: [-0.2393, -1.7709, 7.1179, 1.6435, -0.0611, -0.0269, -0.0122, -0.4991, -4.1778, 6.6803, 1.6484, 0.3101, -0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 61 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, 0.8452, 0.6415, -0.5098, -0.0139, -0.0338, 0.9898, 0.7704, 1.5467, 0.4435, 0.355, 0.6136, 0.4862, 0.3118]\nstate[eef_state]: left_x=0.2836 left_y=0.0004 left_z=0.1574 left_yaw=0.0026 left_pitch=-0.1404 left_roll=-0.0006 left_gripper=0.9898 right_x=0.3087 right_y=0.1628 right_z=0.0385 right_yaw=0.0097 right_pitch=-0.0199 right_roll=-0.0027 right_gripper=0.3118\nstate[joint_eff]: [-0.212, -1.935, 6.9265, 1.7411, -0.0464, -0.0366, -0.0073, 0.1436, -5.5043, 4.4103, 1.4823, 0.2271, -0.0415, 0.652]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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, 0.8463, 0.6415, -0.5167, -0.0135, -0.0341, 0.9898, 0.8101, 1.2018, 0.6888, -0.2279, 0.6365, 0.4908, 0.3128]\nstate[eef_state]: left_x=0.2825 left_y=0.0003 left_z=0.1558 left_yaw=0.0025 left_pitch=-0.1484 left_roll=-0.0009 left_gripper=0.9898 right_x=0.297 right_y=0.165 right_z=0.1472 right_yaw=0.03 right_pitch=-0.0038 right_roll=-0.005 right_gripper=0.3128\nstate[joint_eff]: [-0.3214, -1.4154, 7.1043, 1.6923, -0.0269, -0.0611, -0.0122, 0.5402, -4.7248, 8.5538, 1.5507, 0.3932, 0.2515, 0.0952]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00270a3faa046be905f48da5606cfce0add1d28f2f54c65764712ce861a0b24e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e020904720d3d175fd4b3142c625bed2dc948902f6200c2b7b13f6db309c0da7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06f87094b226b3ed9b5e717375968335e1f269e4106f174a0c911cbe9848545d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGU6uDW7xNr5Dl2K72gRolr_1PTRydpPYfDDqbCcITIJ8uX7NaFkVU-A8gGqw3cNmxwpkNqRL6atZBxw6drtGnjCLqs2J7X8Nibzh4G7YuvdVVojUkvKQY7EHLiDEQP5_MRC5qcvgLH_FToS5L6ceTl8W3Ap9DRVJ7zfZJfDTxpUWtSdK12_3GrfOgpsPRrPgdKapQoYwWeDaEJPc990LFnFIKuCAEnKho96LocIwbJzTJLHCtCj_jVqrtklTWTj7GMkxnZ-jABqu41-AIJI8OYgQTEgNkx8onYc7M6wpRMX-3lNlegkzz1t3d7Lma23J4Xlwnrpb2I0PzRLPrA20A5XhKow-j55gPARkcWJVdd_ds059PHGKxzVBj2jsx1ujE5Po4oIGO_qsmikrN0xm6CMTtoqjRCriJvOkJ3vkLNs-GsqPABx-igB0MNlo9tdiYJb6TQWqr_sBwIxRukcZjc9E7BUCVL-sXEDlEyi2kVYVtEw2pDmIsrMsVwGAkaTBBaZAcpS4vq6MpqKEb9HL1G_XifEQbHng-lQ3ErJO5DWvLujLTi3cQvy1lMP20-9usqM5NKGh1Z8CsKJPLTWgUjYf6h8EJc8TkgOrV1u-dekJ61ctG8q3Y6IL-8eNsqa0TTXBJY_tT4ZQe7pxEDlwXN2QpMP866OqEEjuAf61IKc86ytBsLlcd9J7S3GA6GtBxbxXIlACkfcNKCvFH-iEVtxEOw81sS5ZADV_dcsf2iLmsYwCLdwCZC9O28YnLPCTiByTT39GcBO3N4S0Iywp3P3k3SStjoGp8YBI2BD3RMK6BMaW6avsHbOZ31GfwB8wSFaTdxnlFXF23akMs7A3ai3zoXu4f3fx8FfOZ3HJ3F8RZpdWW6ySk6JdBDZoBu1NckK5gmAr1FQxqi2iNFLgEmWODKDRunH8njuDqGiBC4bA6iolBaHO-t_ywkEWc7wsmnRgq1R-Sxsw_aNFMni3yYnXY_lYVWjxJ4KUnvaxXrb9vnsNJLb-bK34Qfyj0sJ8tfTDXvZeJixm-6cC1cco_MQjUb-9mZ8gFQ940_YZLDoyilQr-P-Bgh6YuzTmRo4Fq2U7ZEjL2syOyJmGU82ebGsBmqpPNkPcAOSJs_3ITjYE00Hq87K_WQedWDcGHB8QEdl5jVbgCXDP8wYULufGK0LDGpc0eFoqvHyVueV8SaL9LbvgZHgPWuRGrU87pGsfOqHJ9R2LJ_97fW4Loz7iDuxuATKJRhwATnghXoOye3zLUWLvAaMLxFuCO4ndlBsYH3qlOfS8Eu_qq_rYXPzDzpYz4Emgs6g1yZCuF4qmz_3Qu-HUIlo-pjIpB6la-jGYg8Slp3lGdDt1n9eolqfujdQxD9P8ipQOJMI6e1taFY81Sk=",
  "id": "rs_06fa704fbb869d0b016ab465393b5c87d093d81d8adfc69d22",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.105,\"right_z\":0.20,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The yellow fruit has lifted with the jaws, and the pear remains in the blue bowl. I’m carrying the second fruit over the bowl.\"}",
  "call_id": "call_5fXraBL4MiNhW28c9xqagZUO",
  "id": "fc_06fa704fbb869d0b016ab46539ca8487d08c00c39efab77137",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5fXraBL4MiNhW28c9xqagZUO",
  "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]: [-0.02, 0.8497, 0.6415, -0.5209, -0.0135, -0.0338, 0.9898, 0.3492, 1.4975, 1.058, -0.2134, 0.3061, 0.2001, 0.3131]\nstate[eef_state]: left_x=0.282 left_y=0.0003 left_z=0.1541 left_yaw=0.0023 left_pitch=-0.156 left_roll=-0.0005 left_gripper=0.9898 right_x=0.4281 right_y=0.103 right_z=0.1806 right_yaw=-0.0129 right_pitch=-0.048 right_roll=-0.0203 right_gripper=0.3131\nstate[joint_eff]: [-0.1162, -1.7846, 6.9265, 1.5946, -0.0171, -0.0122, -0.0171, -0.2393, -7.159, 8.9915, 1.7998, 0.105, 0.0024, 0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a52bdaf294aba0972693ce069946411cc557793e07c6dd8e29d58a41c6fc8daa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:973addb07aa8671152dca91de6e4a8d2f39d4c817b557e5dbb94f1159e803890",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c48e2baf0db712e3f627d387f4e6c12ff03497b7ef6b1c08855c3c6e911d2dc",
      "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 · 2.623 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 57 changed as sent

message 65 changed as sent

message 69 changed as sent

message 57 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, 0.8398, 0.6415, -0.4988, -0.0135, -0.0338, 0.9898, 0.7704, 1.5467, 0.4438, 0.3397, 0.6128, 0.4862, 0.4344]\nstate[eef_state]: left_x=0.2851 left_y=0.0003 left_z=0.1608 left_yaw=0.0022 left_pitch=-0.124 left_roll=-0.0012 left_gripper=0.9898 right_x=0.3071 right_y=0.1615 right_z=0.0362 right_yaw=0.01 right_pitch=-0.031 right_roll=-0.0126 right_gripper=0.4344\nstate[joint_eff]: [-0.1709, -1.4017, 6.9538, 1.619, -0.0269, -0.0269, -0.0171, 0.1299, -5.4222, 4.547, 1.6142, 0.2564, -0.0024, 0.2173]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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, 0.8463, 0.6415, -0.5167, -0.0135, -0.0341, 0.9898, 0.8101, 1.2018, 0.6888, -0.2279, 0.6365, 0.4908, 0.3128]\nstate[eef_state]: left_x=0.2825 left_y=0.0003 left_z=0.1558 left_yaw=0.0025 left_pitch=-0.1484 left_roll=-0.0009 left_gripper=0.9898 right_x=0.297 right_y=0.165 right_z=0.1472 right_yaw=0.03 right_pitch=-0.0038 right_roll=-0.005 right_gripper=0.3128\nstate[joint_eff]: [-0.3214, -1.4154, 7.1043, 1.6923, -0.0269, -0.0611, -0.0122, 0.5402, -4.7248, 8.5538, 1.5507, 0.3932, 0.2515, 0.0952]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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, 0.8497, 0.6415, -0.5209, -0.0135, -0.0338, 0.9898, 0.3492, 1.4975, 1.058, -0.2134, 0.3061, 0.2001, 0.3131]\nstate[eef_state]: left_x=0.282 left_y=0.0003 left_z=0.1541 left_yaw=0.0023 left_pitch=-0.156 left_roll=-0.0005 left_gripper=0.9898 right_x=0.4281 right_y=0.103 right_z=0.1806 right_yaw=-0.0129 right_pitch=-0.048 right_roll=-0.0203 right_gripper=0.3131\nstate[joint_eff]: [-0.1162, -1.7846, 6.9265, 1.5946, -0.0171, -0.0122, -0.0171, -0.2393, -7.159, 8.9915, 1.7998, 0.105, 0.0024, 0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a52bdaf294aba0972693ce069946411cc557793e07c6dd8e29d58a41c6fc8daa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:973addb07aa8671152dca91de6e4a8d2f39d4c817b557e5dbb94f1159e803890",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c48e2baf0db712e3f627d387f4e6c12ff03497b7ef6b1c08855c3c6e911d2dc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGU-0Bxjf0FIvcJGVzW3H_pLvbE5aghgamoNSIEXW4eTZWgc3u3NedE0ZihcCmCeJbRjI1PErniaHElXQjomFvp5TDudBZiuKgR4310zfQZCcvDDRPgc_m9SVSOz2oESyMjlb_5nzNUgClXPfoum63EFRLYYNBpeBa-78ZGprjkVChJ6iis_g0DEfowX_vKpAup4jbyno7jAK9LvuKKAY2arGuiH_LKTujOjv5TyFJeFI6C-LVnwK30Lg2xEt8Fnn6JRjbo3Cy_1-r17Io7LZTAKG3AXRpjVKJu1J0f4kLRgeUiiBaL9q783I0A3KDafAvf9frplmogkOTZMQsiobcBBBVJ7aZx_6hIgCcMctBuqAawnfZdsOF8eKgbadptlBfEjHSS4RsZFp13qRih0CxOj_cO5djCLQ7AUESi8mGHkg1dzk54TCIKP5sN_uXm-qaiUMhawFjzb8ZY6HJwHrggMLW6Z0E_XqnIUYfgB4E3ho5Mxs3-HUpqoqDwytDGfljSt9b1GqOILMlI15Wvh4KNNHxf3g1LTf59SBLAjzuU-2bStIOt7hugBj7bhPaxHIiXa6_ERFRrPi9e14jYtGHrFAGE1a76CjhP0ky_rML0PmE7VcNrR71W-XH0wxzcg_apuH0owfkbgQoeA0LdTI5YOU6vt_pQVQRmWmNKlKQ6in5HdYjvDxCDbTz6bQJ2DGtgkBVxHWGvsHQC5U4zVgVa21HQp86hZKZE0iug5iilbEwpd9qmV6u_U9cxLqF9PBr23YrwtPjZM65Hm11zeljhUjOash0DYEL-ASBzBPOxuvZFQNcJp5wlFoIje-L7ii0NmAM1pLqCrnjWDicuaxc8iBd9KBTOvfDZJ8RImlnsCbC2_6E8rFza7O3MUPzUnet7Y3ocd5_yr818RmyJ8kPrt1voxGXSvR0xIoOHzvlQpdYvS6GmBkXB-aqFZGMWlLIWSwitdbfpliYaX9B9cuzYATVwi-PEdAAIuU64PITLCGOUd5j1VS1Vu2hXH5Qbm87USK8WlXhX_AnGUszTD7gmm9BJEwyoTXkGnE2-xdmTX9TcLo5PZwSbhk2L6GtvrDM8xd0gMbE3pSUcI0KHaUbhrAEyo2iBIkbDCvPwUSu2z3lUfJrOHkjYH9IOf4FfQE3ImWMfiKG0He8AvNL6NtPQpUpAfOYNfSzz8oxsde6kzQSgtAR0IwP96CF4lvw75qUf3mOhi1AZ7dJ7xGlKLFbRqVg==",
  "id": "rs_06fa704fbb869d0b016ab4653d199887d0b560b5916eca7d93",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.105,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The yellow fruit is positioned over the blue bowl. I’m lowering it just above the rim so it can settle beside the pear.\"}",
  "call_id": "call_dLJ4wlzSJxCXG0OHKvcFHVnn",
  "id": "fc_06fa704fbb869d0b016ab4653d584087d0bb6b729ebc7c6410",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dLJ4wlzSJxCXG0OHKvcFHVnn",
  "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, 0.8509, 0.6415, -0.5213, -0.0139, -0.0341, 0.9898, 0.3439, 1.5921, 0.8021, 0.0925, 0.284, 0.1902, 0.3133]\nstate[eef_state]: left_x=0.2819 left_y=0.0004 left_z=0.1537 left_yaw=0.0028 left_pitch=-0.1575 left_roll=-0.0005 left_gripper=0.9898 right_x=0.4151 right_y=0.0999 right_z=0.0903 right_yaw=0.0042 right_pitch=-0.0948 right_roll=-0.0306 right_gripper=0.3133\nstate[joint_eff]: [-0.0889, -1.6205, 6.9128, 1.6093, -0.0513, -0.0366, -0.0073, -0.212, -7.1863, 6.6803, 1.7314, 0.1441, -0.0317, 0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e48cdc82def482ac224bd2feaee21fadaa0da868c3120842790e24b265d541e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef9c2dcac773ca59b4a1e8d0bf5be7635c7af71cbdfe998b6e84236a11ca85bc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91e271cba04cf8262667ad29f3454bcb4c79922e290cf04d280d87748e14799a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 19 attempt 0 · /responses · status 200 · 8.736 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 61 changed as sent

message 69 changed as sent

message 73 changed as sent

message 61 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, 0.8452, 0.6415, -0.5098, -0.0139, -0.0338, 0.9898, 0.7704, 1.5467, 0.4435, 0.355, 0.6136, 0.4862, 0.3118]\nstate[eef_state]: left_x=0.2836 left_y=0.0004 left_z=0.1574 left_yaw=0.0026 left_pitch=-0.1404 left_roll=-0.0006 left_gripper=0.9898 right_x=0.3087 right_y=0.1628 right_z=0.0385 right_yaw=0.0097 right_pitch=-0.0199 right_roll=-0.0027 right_gripper=0.3118\nstate[joint_eff]: [-0.212, -1.935, 6.9265, 1.7411, -0.0464, -0.0366, -0.0073, 0.1436, -5.5043, 4.4103, 1.4823, 0.2271, -0.0415, 0.652]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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, 0.8497, 0.6415, -0.5209, -0.0135, -0.0338, 0.9898, 0.3492, 1.4975, 1.058, -0.2134, 0.3061, 0.2001, 0.3131]\nstate[eef_state]: left_x=0.282 left_y=0.0003 left_z=0.1541 left_yaw=0.0023 left_pitch=-0.156 left_roll=-0.0005 left_gripper=0.9898 right_x=0.4281 right_y=0.103 right_z=0.1806 right_yaw=-0.0129 right_pitch=-0.048 right_roll=-0.0203 right_gripper=0.3131\nstate[joint_eff]: [-0.1162, -1.7846, 6.9265, 1.5946, -0.0171, -0.0122, -0.0171, -0.2393, -7.159, 8.9915, 1.7998, 0.105, 0.0024, 0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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, 0.8509, 0.6415, -0.5213, -0.0139, -0.0341, 0.9898, 0.3439, 1.5921, 0.8021, 0.0925, 0.284, 0.1902, 0.3133]\nstate[eef_state]: left_x=0.2819 left_y=0.0004 left_z=0.1537 left_yaw=0.0028 left_pitch=-0.1575 left_roll=-0.0005 left_gripper=0.9898 right_x=0.4151 right_y=0.0999 right_z=0.0903 right_yaw=0.0042 right_pitch=-0.0948 right_roll=-0.0306 right_gripper=0.3133\nstate[joint_eff]: [-0.0889, -1.6205, 6.9128, 1.6093, -0.0513, -0.0366, -0.0073, -0.212, -7.1863, 6.6803, 1.7314, 0.1441, -0.0317, 0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e48cdc82def482ac224bd2feaee21fadaa0da868c3120842790e24b265d541e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef9c2dcac773ca59b4a1e8d0bf5be7635c7af71cbdfe998b6e84236a11ca85bc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91e271cba04cf8262667ad29f3454bcb4c79922e290cf04d280d87748e14799a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGVBJ2bZiGV1lrTNAsQRf_YdMSB-jx0k9wgAMlm87HL9Yzaa2mWEaKzQ4OzZOnW1AtganM0SyGLkJeP7AqIIlvook111_gqtvRE6Fnztwig3BPYX_tXcNoRictN4SJMivDL83Cz802h0bm3WlPwwjiix1Gm1PRWmZorWLNDt5FwnBOHKf0lFz1jnZgOUz1nHXuTr_2qpUt3PSjEtS-npBmwFA-a1fj7p78BiuMRWzForhd12QWPKbbMoFn8L19ZsVp2540pYgkpowS8QPbz2P6OKg3DXR-id7aPKP7lkW8Gf8at1tUjz7HTJHYWMmbVqNJV-b_NvAU3PeuZiInCMG6D-_0IfjZjB3CnXgXyLp_-mtmhlgOdEbP68r-SUvyI2AQ0hdBuT-Us7XKkSp0u1NJCqIQhoFDQrkuIs5I1deYdaJ5wTp-_Sp1brzVecL9nSJmfk8kf9n8HZezUzshbT5vrw0wJzXD9X4yJaVIw2WQAp-GFttM-kzOKmqOAStzFeCp_yAq98cuE9KLzaYsCkmjW-EEM_JHX0CZLkZKtTJ37q_DsIjYupwKt2ZDKaZLXOJtd-Ubp1H-b7PJwH0jOPxqRraiy7c2nCVaVu5rLEjfAoz8urtfK_9i5UEQEO1AsTaiKAw5B1CJtjsdKDCLUIQMpwXfWkuUw3QQOCa5F-CnsNcq1LazCAx9T71xkFXsqEbmyHxTpCsR9jWSqcYzbtiNZbD6zwjiTiqs55lS0xeOKivzs4_4boQMCTOENi4TQYV27DEK6CCcpBk6NGggouVEZPOcnU4kent1r8KDqZOemVfFVMLJS99atzOqn3y6_Jub6maEaHlkHqPdHxe4YiiErdyEDEDfrM8rAc5MW7PDeWrXVHiEk2PQXHKy1velulSNWZfws4OWGycTcsuo7HO3-Fw5IJGUz-yFd5nWJj4_Mv5jHbJDuksEWEuhFm0DC6KSCqCYkZJlLu2hFyJtYi9zjfNeVyZUtTceI7hHCeBdJKdsTMY7MROOrFO1bwNcQOA31qkd4yAkdO1nF2H1r6gsPs2493wQz7p01MF3F8OoMX3dsDkEVEwBImQn0fC8_Bwv4ocT9LAbS28vCGC5e1XPPU1_fxXuUtnJtxjIWnKUTYqeHhn5mOKsJsCl92UTKXo9zHfYnPi-JLoyBxZxx30pOjGBs5bx3FIB7_GfMV93wvdheufXCReIoQmLyUgjtCe9g7ZbDO5CR_BUubFUheb4A3StDRGdgMWhevlE-dwlT0v9scH-4rWBGV2VJG3cJ7o7jh",
  "id": "rs_06fa704fbb869d0b016ab46540122c87d0b8d90e3623156eee",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"Both the yellow fruit and the bowl opening are aligned beneath the gripper. I’m releasing the yellow fruit into the blue bowl.\"}",
  "call_id": "call_dRhj885uvDRobd73VAiCc9hD",
  "id": "fc_06fa704fbb869d0b016ab465406d3c87d0ac7b38b10df6d6c9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dRhj885uvDRobd73VAiCc9hD",
  "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]: [-0.02, 0.8513, 0.6411, -0.5209, -0.0139, -0.0338, 0.9898, 0.3439, 1.6005, 0.7166, 0.2287, 0.2832, 0.1898, 0.9954]\nstate[eef_state]: left_x=0.282 left_y=0.0004 left_z=0.1535 left_yaw=0.0026 left_pitch=-0.1579 left_roll=-0.0002 left_gripper=0.9898 right_x=0.4106 right_y=0.0984 right_z=0.0786 right_yaw=0.0061 right_pitch=-0.055 right_roll=-0.0164 right_gripper=0.9954\nstate[joint_eff]: [-0.1299, -1.3607, 6.9128, 1.6142, -0.0415, -0.0269, -0.0073, -0.0479, -7.9521, 5.6137, 1.9853, 0.1538, 0.0024, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53a66e6095384e28e8019d398b1104f47d81bea30d513c94881f28262251d80a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee8af373aef658e06ea860353e835c24a1cedd1a95d9c6ee97f2d7ce8dc1a93d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4314b0bd81df7475dd87037ec8ae26704f2b0978d767f318575267f7df2754b4",
      "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 · 6.302 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 65 changed as sent

message 73 changed as sent

message 77 changed as sent

message 65 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, 0.8463, 0.6415, -0.5167, -0.0135, -0.0341, 0.9898, 0.8101, 1.2018, 0.6888, -0.2279, 0.6365, 0.4908, 0.3128]\nstate[eef_state]: left_x=0.2825 left_y=0.0003 left_z=0.1558 left_yaw=0.0025 left_pitch=-0.1484 left_roll=-0.0009 left_gripper=0.9898 right_x=0.297 right_y=0.165 right_z=0.1472 right_yaw=0.03 right_pitch=-0.0038 right_roll=-0.005 right_gripper=0.3128\nstate[joint_eff]: [-0.3214, -1.4154, 7.1043, 1.6923, -0.0269, -0.0611, -0.0122, 0.5402, -4.7248, 8.5538, 1.5507, 0.3932, 0.2515, 0.0952]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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, 0.8509, 0.6415, -0.5213, -0.0139, -0.0341, 0.9898, 0.3439, 1.5921, 0.8021, 0.0925, 0.284, 0.1902, 0.3133]\nstate[eef_state]: left_x=0.2819 left_y=0.0004 left_z=0.1537 left_yaw=0.0028 left_pitch=-0.1575 left_roll=-0.0005 left_gripper=0.9898 right_x=0.4151 right_y=0.0999 right_z=0.0903 right_yaw=0.0042 right_pitch=-0.0948 right_roll=-0.0306 right_gripper=0.3133\nstate[joint_eff]: [-0.0889, -1.6205, 6.9128, 1.6093, -0.0513, -0.0366, -0.0073, -0.212, -7.1863, 6.6803, 1.7314, 0.1441, -0.0317, 0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 77 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, 0.8513, 0.6411, -0.5209, -0.0139, -0.0338, 0.9898, 0.3439, 1.6005, 0.7166, 0.2287, 0.2832, 0.1898, 0.9954]\nstate[eef_state]: left_x=0.282 left_y=0.0004 left_z=0.1535 left_yaw=0.0026 left_pitch=-0.1579 left_roll=-0.0002 left_gripper=0.9898 right_x=0.4106 right_y=0.0984 right_z=0.0786 right_yaw=0.0061 right_pitch=-0.055 right_roll=-0.0164 right_gripper=0.9954\nstate[joint_eff]: [-0.1299, -1.3607, 6.9128, 1.6142, -0.0415, -0.0269, -0.0073, -0.0479, -7.9521, 5.6137, 1.9853, 0.1538, 0.0024, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53a66e6095384e28e8019d398b1104f47d81bea30d513c94881f28262251d80a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee8af373aef658e06ea860353e835c24a1cedd1a95d9c6ee97f2d7ce8dc1a93d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4314b0bd81df7475dd87037ec8ae26704f2b0978d767f318575267f7df2754b4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGVKx-bHITqXyF7-hOeBNtTAZVs7vNsZfsKYQqJVL6JjnJNLrmXhC6O7MKUX4-coBYAjcJp014e01TvAEVI06CXlpHKOX7fnFgNYxcY4M5Z6eQJui4Ddd0hSzMKQD2iyipe60Qrp-uonWmgoxmSNW2QEDOrxvFd3vvX3MfaPWpMCRjtQdXQQYO4sgH8fAsjfpOpV6YX7w5O46DlshD__aZJgflhn3TAoe_UjUHKP4wo_NBnQCVEsSWikBEhCEk1IfEGivzLCeQOoPK1JOomCpNn-YFCSYC9bk-r3FJX7mWiwAqxwtpxU8sc0MYWj8duNXyNYMMPg_i5_LP-QlqkzD2jrDAPY3852SHHgCfwx2VaYPgVh1pDaBgaDoadhtkVTjaZKeDnOIcFhy0P2g-KmJrbRRxVgaO2I6NvPoyz0Qitdi_TFWrs8tguJr529xJuRdkmkknjxv6-uzA7DBijHRTdn5UDIjLG-3HFZTj4mwohyjXdFPr1triFv-LccB9ocv8DdozryvN-WXZLa0jurriU-j2KlivOST9F6nn5MRCPfeg-fN58lvKIQL6xy56on0FA_BhhkqJmOKilqDijff4XB7d9RsRWyAEdTc6zMdf-khoYkM9Bn-oc-DZWpwKynoq7mCIMxJiTiLiWtsLM2y7R0jShrloycyz791yLVUEb2lTNiULtLCiFJrkSbK4ftFQj1v1UebxRcUgWzmnlmP3GFBL0UDLCGhgusvvIP2J98PFKZwYdkJ8vapYGjVyMnDwZeogL5mKSL24ZYeCSuYPvsaR4ANJvfwQ3w-y3X5CmhFM0qFzmgL22xCLNePm6uGCNJxpj2vfnY9nKxGJnCeAf_lx2djyqe5KajnxLGHAcjycLj_EiAmWtI8B235sK7onprO_B3uB-TjWY5CJFCU6PsqjaTjrWmTje6PLEhVvkezu0p6vii30u2eae9Atu3sdKfhEWNpZg5nukhlkMXISX6cU63xXUNfWSn_JcWoTmrebKdudx9dnvRAhuDMfkgKmzHRoMCtSI15aiK1Le7G2WqrPaHgk6qjNKYlwmT7eyvTeVTmaFcldTWu4OEETnHjIrlAsdBXUGXtqHNg2qqNAHLTOHjKJDAHcOzTcBoRgxsP1Cw6XXeR2GriU-iYY55wZml10Sl83I8FPR7zfjirBepOFoEDe2w93ijRUByWbtvgoqh8C0PBDZeQLGEmztzANsvIktSsF2sL3QC0IKzONo7bYz7WHKDhdHgK0KmKvp7urqEs68A0r_cmy_eUhKd8ST3V9H5FCmM4vTKo4ap0OBpaLu6WH_HkdMqRKsJ9ZvpiBFVcdYQAYM0gq9LcEiAb2Iu6k3WvsfYasHYUGme0xT-kZG0nP6LW282eRTxMDT6rfvr9xvqlN5W-xSMprHQTWcd9qzAJHvVkbsGE1sBCZfn51H4I92bvahKzOqaGSHBTLJ3DZDCP_ABFhxJ6iH6zOslprWKtcCZibaO3RmG-L7Mg9ynaJOEUW4eXOPUYYFI7YX12wiXklqNWBh52IVbSMuUf6EXPkjdTbemnwbVAovAppBaYw84bT1KnFg6YC0gYmV79GhV1cqqY8XWYDCs2Efrf67uHdGx8xD2bQkruXxjfwMw8Xhztot6Jao5eIw4ng-LXFbykkaOI_2FCk0SM2ZJfcn8ru4qa9PwLH3H2xlW3FKFELMR_4JgMuGbGGsfvU_YWVNlIW6w67AFlNhpKi6Repp0ZVZk95mZBjhV4EQ9-94tSBRpbUZj_T-OyFlVMRB7ktCuJaAMiQcm5-tfcNSrRQ0UfYrKLgKwTDb78-fo2a_aVlAIDFHN6E3Nsh8LYAw08mbyPEyeQBolgdjk7GoIytzYXI9zZlu5stChaWK8DZfgITMaaht3GHm1gwPzTIJs_NQowbVQ_l3YZzCfyerW3pPrcTba6tqRPhwcl60a3Tg8Q8rgPUD8JiY7Q6QKHdnQSk-tpGqGXl1BIJ4bDiDNw9TgubVX0QF6-epQnvzFxY8mt_x6Tj0qJmzc_ofY8Hu_vlnFzi3_YR0uxUxylohI3sL29JdCHRnUvMYvESXNHIiHHEDenbbTsWvdXcbO9TC3Yz86_IILveJmoUNXbHMYPV5Yt8aVX4JVsWFNIVZooNn1Iyqqv_LL1JVNlD5j3Covq4smCrVuQSTKWY9dAIspiVIvZWMrxG4UNmg9L9zxi9yP8ewPnXpfopjqkAms_ebDVl_gURBdU745fF4zRhiElkxDtqPcnDPtDt_KTxEe2UhmhfJeTAcpTSfIobHF3vZlC0iYbGuD6k1MQHm4REc85QPtspoW3KFrMWw57gqcA88yJAqE42yW6ewKbNVvF_WaFy10MGwOBG-LGrGxsYWpt0eHL7POTzaSrExdVeEHuXFRUS7pHl2uAE-Kfa6H46qIuif_cuBQwX_07xu-Glqf0bliI_0m8XkD5w_p68dKQGWFdmzMk_UsRm4Mm_UGYfcOff7noaQHQdFLmnUsAIFa-gNX96fHSW6z6ohY9BkQXEAwtipAv7lRyXCPFJZoFdkMlUcd38-amlHnFFvp5E2jkhTqxVZj5OTDlBBVbhmaILiZhTxAWOn123spLq_RyD1zqvDM-ZLrAhtmF28nOFVTJ2rc_rVIzifb4kkavggS3CjyCVMUtnEo3a7ueUOw4oSM6mL0uZZyUbCkF0tmlXZaJPetuV-nY8qDqJZGZplcy8kxxCJQSQZxFjOmq0pM7PIKLiNamRyWK84cPE6VeKZri3MP8Ugs-j9J_q76kakrFCUAwYjjT9t0-E-wcKv0oakzNYbIl_dwiL7WtoiC1bMasiMcpM-5Omqv_tU3dITlHq25el0Y97LkfSieWQVYwjssJoyHSZtQXpEwssGl_JbL_KX9ujNcZADGvAUOLOqon9Sp1-K9WIXiFbzA5EZ3hWFqaerYGX9ZtFfoCkdXQNW68LwO3hXhp2ZRnXPhKiWWLD4--54a72iRqW4nCRdFsP9XNN1pYMmRkYLTBWaPV-BDlmv2KS0pOjUcM0CzGMIP1RpIbojgQt9SJp9qd9d9AsiX4_nJw5k7rlZ546qsCtpyczY3dclIT_dCRSpIJfmuXYXgeMEkXOyB5qcYGzcmPIAicbkXfXqbMM-qoPPpue2JMUjl-TFxJQvvRl-sjy0UJyC3soRirE1FwhqJ5dEZrqIjsAxAvrhy-azHTUmFJgtj1ys0tZbPXRvB6zTDOmPjHGhoetmPE1qBcWySLhI4LaKNwUSeGKkDh_XGpPZNrWOpZzN4Tv-xonnbrVW5f14hLegR9bN8Hy9VkqBdwc4_5CDnoXNdgBnasUE1ATmEKu-o36SXsNpegh5zpxwDR9CIwTW7l9EIS5fQdg1nrqP9ZeljC9ney-X0W3Hco2NmT39veg3_PHSxjNT4o09Obh54cNuG3DhvJJqep_Og601K86uAbxUaVF9Ns-JScA2Qbu4RjNveq21vFtEbEWjpXJFx2Q==",
  "id": "rs_06fa704fbb869d0b016ab465432ed087d0b5017a49beab296c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.435,\"right_y\":0.015,\"right_z\":0.17,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"Both fruits are now in the blue bowl. I’m lifting away and moving to the bowl’s right rim, where I can grip the edge for pouring.\"}",
  "call_id": "call_Q95ye5gTlwLqohg01N4qMfH6",
  "id": "fc_06fa704fbb869d0b016ab465497c1887d0ab778411a0e1e132",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Q95ye5gTlwLqohg01N4qMfH6",
  "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]: [-0.02, 0.8577, 0.6411, -0.5354, -0.0139, -0.0338, 0.9898, 0.0597, 1.4693, 0.8764, -0.0139, 0.0731, 0.0402, 0.9961]\nstate[eef_state]: left_x=0.2798 left_y=0.0004 left_z=0.1492 left_yaw=0.0027 left_pitch=-0.1789 left_roll=0.0003 left_gripper=0.9898 right_x=0.4322 right_y=0.0165 right_z=0.1473 right_yaw=-0.0213 right_pitch=-0.0349 right_roll=-0.0073 right_gripper=0.9961\nstate[joint_eff]: [-0.1983, -1.894, 7.1043, 1.7509, -0.0562, -0.0269, -0.0073, -0.2256, -8.7453, 9.0325, 1.6679, -0.0171, 0.0708, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecf440100d45de7dafce1df453af658179a5711ccd73eeb4b6a077b6513217ad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b005042b5ed09e7cf3e0d7c7155c0c4a8edf0dff565bcbf4e95d1ae84accacce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71bf9c05ef461ae2443a2a8232ac9bf2c7d7b740f6b08902cf6d9a107a57cafa",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 21 attempt 0 · /responses · status 200 · 4.967 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 69 changed as sent

message 77 changed as sent

message 81 changed as sent

message 69 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, 0.8497, 0.6415, -0.5209, -0.0135, -0.0338, 0.9898, 0.3492, 1.4975, 1.058, -0.2134, 0.3061, 0.2001, 0.3131]\nstate[eef_state]: left_x=0.282 left_y=0.0003 left_z=0.1541 left_yaw=0.0023 left_pitch=-0.156 left_roll=-0.0005 left_gripper=0.9898 right_x=0.4281 right_y=0.103 right_z=0.1806 right_yaw=-0.0129 right_pitch=-0.048 right_roll=-0.0203 right_gripper=0.3131\nstate[joint_eff]: [-0.1162, -1.7846, 6.9265, 1.5946, -0.0171, -0.0122, -0.0171, -0.2393, -7.159, 8.9915, 1.7998, 0.105, 0.0024, 0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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, 0.8513, 0.6411, -0.5209, -0.0139, -0.0338, 0.9898, 0.3439, 1.6005, 0.7166, 0.2287, 0.2832, 0.1898, 0.9954]\nstate[eef_state]: left_x=0.282 left_y=0.0004 left_z=0.1535 left_yaw=0.0026 left_pitch=-0.1579 left_roll=-0.0002 left_gripper=0.9898 right_x=0.4106 right_y=0.0984 right_z=0.0786 right_yaw=0.0061 right_pitch=-0.055 right_roll=-0.0164 right_gripper=0.9954\nstate[joint_eff]: [-0.1299, -1.3607, 6.9128, 1.6142, -0.0415, -0.0269, -0.0073, -0.0479, -7.9521, 5.6137, 1.9853, 0.1538, 0.0024, 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 81 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, 0.8577, 0.6411, -0.5354, -0.0139, -0.0338, 0.9898, 0.0597, 1.4693, 0.8764, -0.0139, 0.0731, 0.0402, 0.9961]\nstate[eef_state]: left_x=0.2798 left_y=0.0004 left_z=0.1492 left_yaw=0.0027 left_pitch=-0.1789 left_roll=0.0003 left_gripper=0.9898 right_x=0.4322 right_y=0.0165 right_z=0.1473 right_yaw=-0.0213 right_pitch=-0.0349 right_roll=-0.0073 right_gripper=0.9961\nstate[joint_eff]: [-0.1983, -1.894, 7.1043, 1.7509, -0.0562, -0.0269, -0.0073, -0.2256, -8.7453, 9.0325, 1.6679, -0.0171, 0.0708, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecf440100d45de7dafce1df453af658179a5711ccd73eeb4b6a077b6513217ad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b005042b5ed09e7cf3e0d7c7155c0c4a8edf0dff565bcbf4e95d1ae84accacce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71bf9c05ef461ae2443a2a8232ac9bf2c7d7b740f6b08902cf6d9a107a57cafa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGVRbz8zJZeaTkg_iLUCIgbhdWgithGXcIbc2J9fGbSkCqk0rSpXD1O64_wHpSmhhjZcfUpTwsuURs3kMJJEDb_8eXGdGtPFjtLbKdLEt1GXGAH0RIvWWlImLLxuNqAczEwevrVIh4M62Fx5o1AES8g78IA2uqvxizqFjU-L9iLZnVRkyqftHh9TlvKTrIMeXsHHkIPzuYwmckkU1kvJYF2e-Btqo3lO0sf_atHRcZkPqoD2et7aeJnMyw0OFevYe76kndwzk9CFFAP8Y2Mckf4aP6isE0RxQIWdHMVMmCxlezt8QhI5x5zyww-QcdeTSmt82MFwa5YRzWCTZs4PX846sbYt427g_vSfp_DxWRqRRgxj5cjLkm3VNIl_D-ru_0_z7_IBg_qmtSAjJraclbMcvjY49_zpE-VEBaSjOObgW0THkE0Hd95LmuD9DDTMd6iuXHNp2gYMae7NLPAvHhsSop6y0oNI6poFSRUpDDDC_EL1gUdJDhksC8r_a03QtRJm7W0tfiNGDscfDb65VQDbtY4DGp3qsmUauINwNWQxqudvVaLCScg7ojUgPKzl3SU91r5_8kAlnUxpBuYgAeK543murx-_Uuf3SkiNJKUC8NAo6p6SR12uOgOfziZhe7fHpFSSv5wqzPcjjDMqnGWbB_9x--aOH0zgmhQtjAiTp47FlMOasrPxgLLjdUWBT2XzwmpXik_w0Qns1YUfuSs-xGtgeWmVplATQ0w4e0jkpk3aWT3oViMMdLJBpqlT4OtFSp94Gz6JvPxyjHfQqcHvPBrN_pSayk1jJUMQbmygJ1B8ayJ7bWBF78eYiUGpsCIaKveL3k2cxSxHws5Y3f_iVOtdIQHgZiabwrlTea5UsAa750-bNOVBDK3lW1jYkcYRCs74SRVjfs2CYdt7oyzA6eOjhp5Xib1ipsLCyFQZJDEs55C02dZz96mI9vfbeQDWmZe-lDfncL0FzoFo9NCGDGlfqdUPgLfBE6GK6pzGqHaQeOR9dSr7X8ZGnMtkZsMAh2vgvlYl9uQhPfSMmATKZ_0uD3RYAQTZMm3-T8cMprDRLiScDdLuBAw-bH9yE6X1ShgbXVz55g-_dGONt8PaqVzI7LDi8e4fl30TCkBuUc0jTUQGeComCDr5mcXVC2MMOAuWzc7oAHYPRZYnBbEox_awRPVZCzchTUypygyR-9jq34FCHU36a6zZNJlI8FInasZot6M5pKwYKb1bjtr5Vrd__QuHlRKqSmaFovsJdAm8N3wkSUtScA3VP9AbfKL-z4gFzO1ap24VGmoCiQvcMOz1YkyFOQCRcTlKLTCkMJvpDInj4KAbi8L7zME6olFqHm3yJPBhAXoTh3Juil1sjfLtdIGfLXQM06ozzJ360ax611hwzZp2ITS84T6VNJN1JFAo3RbGqqK5ZVRSoL9McVQ7XdG5CT9rcb2U0CAy2a7glPAWIM4S5wtEyO87ajzVspqGaijqAzPzrXfy_7ADzYwU9-niDtU_dpp9ROR-exlIXOfhsTciaSyN_j8_lV1KNDVfpPJDE2dDjMe0L_-fiZ7PSeKN9ljdLMdbIX29w12onZprBYWVFrkYSK-OUZaL2HLftfd36zCALBHtZ7kF2kjqU2wVCx-Mvf6Dkmaq_aQcbYnkw7DnSjEG3jtyRyYqtuhH9zffsMOnZ9zJi7MT0lpWAd-cMqd1MQHPtdPLSIBRakFqn9wcKb5fLxQTnYpx_YBSHbYRc_Yl3R2gm7cGV9oIo2CBcGO4lI84r_RDlZX-p7BPIH7nQI1exLT6z86p9Qg3ERC7hWvnAnqhB3c_fdYrpUoW7HbDRrsXQYrz4hAYzv2YPYsqPN3IMPYVBeuilUkAbtf1pjVInCXu0LchcvQ-qybDi96bVmtzG88QyUk7qRsDuPX-kwPva2ArY189jM6Tv8HtgnjmmVEJB_JAKJzrh--Jtous75dqrBzOgOmSqf_d8DpMqirUthohVjtFY7ZdG925RH0TUCUHVFWH_70UsP2-xwfFGQOhduMIdsrKO9wGMCFDpasu35uPxNELivp1u_T7M2Y8mn_M6drUrY_OlyBKLXmwD1FRh0wrqzE=",
  "id": "rs_06fa704fbb869d0b016ab4654c8f9887d0826d76aef6757f04",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.385,\"right_y\":0.055,\"right_z\":0.06,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The overhead view confirms both fruits are in the blue bowl. I’m lowering the open jaws onto its right-hand edge, keeping the fruit-filled center clear.\"}",
  "call_id": "call_cQemwUNYlgdo1VhlbVzwvx4G",
  "id": "fc_06fa704fbb869d0b016ab465504cf087d0bb89535d0c9a46f8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cQemwUNYlgdo1VhlbVzwvx4G",
  "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]: [-0.02, 0.8593, 0.6411, -0.5381, -0.0139, -0.0338, 0.9898, 0.2039, 1.5158, 0.5037, 0.3592, 0.1589, 0.0975, 0.9962]\nstate[eef_state]: left_x=0.2794 left_y=0.0005 left_z=0.1483 left_yaw=0.0027 left_pitch=-0.1831 left_roll=0.0004 left_gripper=0.9898 right_x=0.3776 right_y=0.0532 right_z=0.0513 right_yaw=0.0195 right_pitch=-0.0734 right_roll=-0.0171 right_gripper=0.9962\nstate[joint_eff]: [-0.0615, -1.5111, 6.8718, 1.5702, -0.0415, -0.0073, -0.0122, 0.212, -5.2581, 6.2017, 1.6435, -0.0122, -0.1343, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc691f7869c5879e98bfda0921abd98472c0466e30d17022b7a6a46b1813510d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7774d3fda8bd51b8a03084acde6c0d26b73b2a6c369feac8aed6cf46ec72e5f7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e16cdfc3aca2e0726d82270fcd7f118dc0c32091ed770728e9a7f964ca4c9ce",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 22 attempt 0 · /responses · status 200 · 4.411 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 73 changed as sent

message 81 changed as sent

message 85 changed as sent

message 73 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, 0.8509, 0.6415, -0.5213, -0.0139, -0.0341, 0.9898, 0.3439, 1.5921, 0.8021, 0.0925, 0.284, 0.1902, 0.3133]\nstate[eef_state]: left_x=0.2819 left_y=0.0004 left_z=0.1537 left_yaw=0.0028 left_pitch=-0.1575 left_roll=-0.0005 left_gripper=0.9898 right_x=0.4151 right_y=0.0999 right_z=0.0903 right_yaw=0.0042 right_pitch=-0.0948 right_roll=-0.0306 right_gripper=0.3133\nstate[joint_eff]: [-0.0889, -1.6205, 6.9128, 1.6093, -0.0513, -0.0366, -0.0073, -0.212, -7.1863, 6.6803, 1.7314, 0.1441, -0.0317, 0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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, 0.8577, 0.6411, -0.5354, -0.0139, -0.0338, 0.9898, 0.0597, 1.4693, 0.8764, -0.0139, 0.0731, 0.0402, 0.9961]\nstate[eef_state]: left_x=0.2798 left_y=0.0004 left_z=0.1492 left_yaw=0.0027 left_pitch=-0.1789 left_roll=0.0003 left_gripper=0.9898 right_x=0.4322 right_y=0.0165 right_z=0.1473 right_yaw=-0.0213 right_pitch=-0.0349 right_roll=-0.0073 right_gripper=0.9961\nstate[joint_eff]: [-0.1983, -1.894, 7.1043, 1.7509, -0.0562, -0.0269, -0.0073, -0.2256, -8.7453, 9.0325, 1.6679, -0.0171, 0.0708, 0.0659]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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, 0.8593, 0.6411, -0.5381, -0.0139, -0.0338, 0.9898, 0.2039, 1.5158, 0.5037, 0.3592, 0.1589, 0.0975, 0.9962]\nstate[eef_state]: left_x=0.2794 left_y=0.0005 left_z=0.1483 left_yaw=0.0027 left_pitch=-0.1831 left_roll=0.0004 left_gripper=0.9898 right_x=0.3776 right_y=0.0532 right_z=0.0513 right_yaw=0.0195 right_pitch=-0.0734 right_roll=-0.0171 right_gripper=0.9962\nstate[joint_eff]: [-0.0615, -1.5111, 6.8718, 1.5702, -0.0415, -0.0073, -0.0122, 0.212, -5.2581, 6.2017, 1.6435, -0.0122, -0.1343, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc691f7869c5879e98bfda0921abd98472c0466e30d17022b7a6a46b1813510d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7774d3fda8bd51b8a03084acde6c0d26b73b2a6c369feac8aed6cf46ec72e5f7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e16cdfc3aca2e0726d82270fcd7f118dc0c32091ed770728e9a7f964ca4c9ce",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGVWW8HZ8SIil0NinR8mI18z6kRn36AN2w5_v75QeQSjXkCRds3iBJZDiAZXuaq0aZ00JfOMVUzxptLpBgVVfOC1mqaeeSayluf3_q59WA1bTL1lJ8K0LZ_T9iqaD_LAgsYO5uvlVmAAU3rjSWvpzpjz_Qd1N_KyhlF5OremASUY_cfZhvtg1OcPekS_aDVZleVbUK2KsbbAY8NiQ_enz4WuuVHqd4XpjRd6GJRqpUIVIKWHXe3HlXq2-TmTaw3cE3mtYdxWRSP1-7CD50rkI-Xt4a75LayGT74JfWxqEmFYYsD3vrSlYzXFQwlfklsYWIv0LqHOXEyKYi77Me7Jvkgf9xaiOAsXBQ8VFbJuRZ59yU1ThV-CQjzxG_WbBjva9NsJqC7TYBcv1wPDksQ1IJJD6hFGUGuuRrP0gkzfMvX0QKzpBRqPAazvf6k4lcXl25UZtY5M8KaEEzOfmv1cDVbvovT0SmDYNJGZ_fxZnyj_RmbKbJi00hG81ACPnRggdGYjGK4mFtfRzSQCE2tJoubpdmC0EQd8B415a9DEWvKsG054JE9AowHcIWMOGSoLZpTnoQ9GfVfr-ntFKJX-4pwfjhMapJU1mzMOC8YTzz8Usy9-6O9gJWdl2esSVbXg4DaW1BoYwHd7Ujg6N2h86Wi4AL8gxeJfcAHCcHHm8ccbh6-39MVDBm5Ah0zi0M_ek2UKPpzcQsgC9osD-J5U1I3V32GgCAdD24u58OQspBwUova8mQiUoLBT_mUlpCEcWeGcuCD2aosSX0kf298e8BbJBlUWATJlW1eaxd3U-dWndFnNChdQUQrHwX8IWluRWKOdzQsPvzCfgZI4_6BsPi-Oof1tFr444px3K1SjqkGkk6J0AizrWOqcdgHWmarcfORmQED9XVU3cwuJNr4nusJtF0DuviGxM4tTwDf-Ey2hd2IJnQRpRbPXd_gzkAQxNrEYsg6z_hgeKajm5vQ4uODeUdjk4-y7BbbpbP5iyPfEnpdtISw-t-oWPbN4NGplwO3w2vrDIre72cinR0hWajurUsnkqMVbbbgiSBnrZR9sb7hlgS7j3eY7EaeOkj97teoz3Wwf7YUxXWGwQh3BoKgtzD7z-orMDH_QjVzSo30-eN2vb0P0Zs7T3RWDfBpXl1FrD17jPRc04yRCnNZfSZfIMG24SriJKe7XR5c0EfAYzuBT4bppDWYW0n_LEzq2X4We4LS7bFaTaJ6fEzoFLwM_dW-wCc4Li4o5uyxLFC5N9W912dPTTO3rQ4KMHJgOGciVlfXB51Guwf7-W17Jm962t01rVuprwV1AzxeH_rFJ892SM3hukCqM_Me2Ibl10HMrmfCFd60wS3qcYVmjSG6ccotKQgO95Jcpf0iRH51zIViF08ifIkeJ3WMYuOrSphzVtG76gI6qXzecFZ9zAjViWjCKgvPghFvUYOQOORpaLOgyPQ6RzQSXeWOKHSZuM49B15Z0ULoqOlXMpHaXs33lW50v0OsIU-gQ2WHaOy2dWW-nRfOBawv6YIOodVtveeGPQki1WluBQoE8wEqnAgqAaCn3OYo6wShwAPz-lHZA6MgGLb10antmTPOGWjBZxyCMwGdo5tJMpCFpq7NOMVortD_oZYLJpMdgIFbtJ5F_y5O3sOf9UYDMFmM2-SC8HekhcnZspLDk5RBy9K7K9ISmxstOgh2But6MZCZ3BQpa5yO0pBiGl8tY-3h9wKFHLhZ4ANbmB300S-ohyK8MZDKWK65THU-KmVXD5Mo5twi-fmnEE5IsMZB_YIBY0zGZCNNrENME2HjqGEDp-uBkl2BBtjywVXTgU5oSRORnyTL1hID2bngsfN_cRVm0RY5mOC-x5xRGx_Emh1vXNvrlkyjaEXs9gjiMLH-ELoqgJpcSM9mBTwP4GnuQ9uk8Zf8pzLAr",
  "id": "rs_06fa704fbb869d0b016ab46553742087d08590b78468ffa78e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The blue bowl’s right wall is between the open jaws. I’m closing on that wall so I can lift the bowl without grasping either fruit.\"}",
  "call_id": "call_W3dSTxeyYddYDWsujNMgARuG",
  "id": "fc_06fa704fbb869d0b016ab465561b3487d0872113f7db9a14e9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_W3dSTxeyYddYDWsujNMgARuG",
  "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, 0.8639, 0.6411, -0.543, -0.0139, -0.0341, 0.9898, 0.2134, 1.5318, 0.4454, 0.4767, 0.1638, 0.107, 0.0127]\nstate[eef_state]: left_x=0.2787 left_y=0.0005 left_z=0.1463 left_yaw=0.003 left_pitch=-0.1926 left_roll=0.0004 left_gripper=0.9898 right_x=0.3741 right_y=0.0553 right_z=0.0471 right_yaw=0.0202 right_pitch=-0.0305 right_roll=-0.0041 right_gripper=0.0127\nstate[joint_eff]: [-0.0752, -1.9487, 6.8718, 1.6093, -0.0415, -0.0659, -0.0073, 0.0479, -4.8615, 4.9026, 2.0391, 0.232, 0.0611, 1.0183]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f63978ba06b8bc3ba32d4af64e8e7beaa51e7e40b71dba30aa2c3b064b4414a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc897aa4b22866c0939c53b3fd52515b5bebac2f09e46fb38506dcd9a08d4b0b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0187d51f7317195768029094e5bf59791f88c4a4959eb0f784d608a3a3e623af",
      "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 · 4.944 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 77 changed as sent

message 85 changed as sent

message 89 changed as sent

message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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, 0.8513, 0.6411, -0.5209, -0.0139, -0.0338, 0.9898, 0.3439, 1.6005, 0.7166, 0.2287, 0.2832, 0.1898, 0.9954]\nstate[eef_state]: left_x=0.282 left_y=0.0004 left_z=0.1535 left_yaw=0.0026 left_pitch=-0.1579 left_roll=-0.0002 left_gripper=0.9898 right_x=0.4106 right_y=0.0984 right_z=0.0786 right_yaw=0.0061 right_pitch=-0.055 right_roll=-0.0164 right_gripper=0.9954\nstate[joint_eff]: [-0.1299, -1.3607, 6.9128, 1.6142, -0.0415, -0.0269, -0.0073, -0.0479, -7.9521, 5.6137, 1.9853, 0.1538, 0.0024, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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, 0.8593, 0.6411, -0.5381, -0.0139, -0.0338, 0.9898, 0.2039, 1.5158, 0.5037, 0.3592, 0.1589, 0.0975, 0.9962]\nstate[eef_state]: left_x=0.2794 left_y=0.0005 left_z=0.1483 left_yaw=0.0027 left_pitch=-0.1831 left_roll=0.0004 left_gripper=0.9898 right_x=0.3776 right_y=0.0532 right_z=0.0513 right_yaw=0.0195 right_pitch=-0.0734 right_roll=-0.0171 right_gripper=0.9962\nstate[joint_eff]: [-0.0615, -1.5111, 6.8718, 1.5702, -0.0415, -0.0073, -0.0122, 0.212, -5.2581, 6.2017, 1.6435, -0.0122, -0.1343, -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 89 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, 0.8639, 0.6411, -0.543, -0.0139, -0.0341, 0.9898, 0.2134, 1.5318, 0.4454, 0.4767, 0.1638, 0.107, 0.0127]\nstate[eef_state]: left_x=0.2787 left_y=0.0005 left_z=0.1463 left_yaw=0.003 left_pitch=-0.1926 left_roll=0.0004 left_gripper=0.9898 right_x=0.3741 right_y=0.0553 right_z=0.0471 right_yaw=0.0202 right_pitch=-0.0305 right_roll=-0.0041 right_gripper=0.0127\nstate[joint_eff]: [-0.0752, -1.9487, 6.8718, 1.6093, -0.0415, -0.0659, -0.0073, 0.0479, -4.8615, 4.9026, 2.0391, 0.232, 0.0611, 1.0183]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f63978ba06b8bc3ba32d4af64e8e7beaa51e7e40b71dba30aa2c3b064b4414a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc897aa4b22866c0939c53b3fd52515b5bebac2f09e46fb38506dcd9a08d4b0b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0187d51f7317195768029094e5bf59791f88c4a4959eb0f784d608a3a3e623af",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGVcQR59njNZBEPEpfv2ecNZQ29MeTcyRMVOHvaMzYJE-p0JcghRSBcE_AaLIKJeFSHtBbsy7UhOL_6S1t_a_4QxnFF6xRQulUlg4D8lH0ESEy2SN4F0_LouBK9dLDyQO5GJRmg7VGij_uPeP-_5fBUwSQumyrZuw85U1sPefvJpKsbJdM0PCqZNlWGekGrBWiwgBotW50otmJLiY1_dkyW9LvY1_Vu8EgzRC-KiZCVGutgKTvbHFXtBD1DqbRq21USSIrhWsrEB2eTsmWMRviw_JDwUE4thHsreEGl1fsxNsnbFYUYxNVIatmuxM_4OLRS1ntZxg8HYs-t8fTx8CX2EhHKtfOLZSrjuLaZfCRqdgJiGiJLKs4Kyyp7-lTBO0ayoGOR-PgVkoddIxa9a3EciUQKGmRlSzKjsOHF0EvBHlQ9SkM3fgy7wg0rLJPe-Wo-w_9CwKYNesRDyOhle3dNqilgXsBU-lNchasmUeFzCYKtHIRd1Z6m2tqrK6_vNfX7-G3ANVwwd5HYT6FUwm6rOxUYJxSsdYYzOI2XmAZ1cuRKdHDgTL0YE_aju1mbwaFegTZjiAoahj0PXfyYZSEI4S3SD17P_USoMmkCxSM1mVwLs5Xv-tau-Pn0sYE57sF_q8RJIOAocHYNCLXdbOsM5llVx9iLB-9_OPAl91VxfyawJYzi7IkY-NALO_NgPPmp3pnseBam31JtIfE-R6uzB3KD5NTkggDqkd44pWR2fMyBrmsU_AmUgIMPs0t1GwYeR15qsYFCyO3bhMlYqX8k5MW8YpZzVauiHRcoWs7Wpj2FqW8ol6cJihwi7vRrAG1VMIdO3_wl2KVxsc6g9zSff2FtnLsOG5HQ1TE7qAJujKBpO4lVgsLaPcqELz-4nUaEPJ_YF8PO0n6OaNkdKZ79o4gunH8jy8WVuXZ4fvvHIrPTAIi0c_G8T7kLdnBrrUcM5ZLhcZvaJcmvCPqwBoAbonB1gMJY05Xv1luaxsfBavd6jvf39RREGRpx-C2gIMosKi5mFcNpTeIG2b039cnpr-bHCT4TgbvC7-QXE9h0GjBN5GK1CZaf3dTnu5WOLGQLZ9stkqqbRw6XXb0SoaUO669jxMqwSaFbfyklssyFY3K9X2MVgO1vLLTFzGf76kphUBdh78G9RQ_svBTBh56lNSvv_Q5nAZ7DHPqUgtDLbUJuga4PbHnazcih41zoqYsIh3M_DrdFKnc0AhcyF3K2bQo5XwmcfWKd6GXEnpeIfhVsaPTu2d6fYX9rGilQjjRF1l57tEVhl-ANiIhaq4JeWp0OSlStS_dD-BKK5lfksBghyHlWI0_RqvW4pMfvEc33zJYu3jwFLZZyrV0ufLXdCD0NiUsWeATEbYf0R7B8tFj1ADWs7o8Q2s9rFJTT34RHr0nyeuOVoHWDjftjgeY6lWZnjGuqaR9wzyyGEY4FLJ_PUjT69gEAAso86BhJ31cFSITdfxkwH0-3aEZCdeZrxUhQ0QNytfJhjiVxM46c7lKVTZuHv63vN28MVPFAbvdoz8jwPHqGV_30fJJfm27D4C2OPeRJ8pr_L0rArfqzCmTrzznZP6j8CMw_x-amFkAALwbPH8am3awGJkn96nI4TD9UYmRZ2rPZOmsVIOhuAUFU=",
  "id": "rs_06fa704fbb869d0b016ab465592c4887d0830b1e542347f8c0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_y\":0.08,\"right_z\":0.065,\"right_gripper\":1,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The gripper closed empty just outside the bowl wall. I’m reopening and moving a few centimeters inward and forward to seat the rim between the fingertips.\"}",
  "call_id": "call_ImzSNPLaONZUZHwlCoPlmP3i",
  "id": "fc_06fa704fbb869d0b016ab4655b005887d08d68247618ea895d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ImzSNPLaONZUZHwlCoPlmP3i",
  "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, 0.8642, 0.6411, -0.5438, -0.0135, -0.0341, 0.9898, 0.2863, 1.6005, 0.5678, 0.424, 0.2287, 0.1425, 0.9953]\nstate[eef_state]: left_x=0.2786 left_y=0.0004 left_z=0.146 left_yaw=0.0026 left_pitch=-0.1938 left_roll=0.0001 left_gripper=0.9898 right_x=0.3976 right_y=0.079 right_z=0.058 right_yaw=0.0198 right_pitch=-0.0207 right_roll=-0.0106 right_gripper=0.9953\nstate[joint_eff]: [-0.1846, -1.5932, 7.0222, 1.58, -0.0366, -0.0464, -0.0122, 0.3214, -5.4496, 7.5829, 1.7167, 0.2222, 0.2271, 0.0904]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:580c98fccc44a28b105088bd0ea9ff18b41f56dbcc69eb6401e1b7a46ea779d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe3c011c92557b444c201c9d22bbce738128ee1f370db46af80d1fa7da2861a4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b91afe9697d4f57310fec66635039c250af29e69f896f2570018ac093fa95b40",
      "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 · 9.213 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 81 changed as sent

message 89 changed as sent

message 93 changed as sent

message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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, 0.8577, 0.6411, -0.5354, -0.0139, -0.0338, 0.9898, 0.0597, 1.4693, 0.8764, -0.0139, 0.0731, 0.0402, 0.9961]\nstate[eef_state]: left_x=0.2798 left_y=0.0004 left_z=0.1492 left_yaw=0.0027 left_pitch=-0.1789 left_roll=0.0003 left_gripper=0.9898 right_x=0.4322 right_y=0.0165 right_z=0.1473 right_yaw=-0.0213 right_pitch=-0.0349 right_roll=-0.0073 right_gripper=0.9961\nstate[joint_eff]: [-0.1983, -1.894, 7.1043, 1.7509, -0.0562, -0.0269, -0.0073, -0.2256, -8.7453, 9.0325, 1.6679, -0.0171, 0.0708, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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, 0.8639, 0.6411, -0.543, -0.0139, -0.0341, 0.9898, 0.2134, 1.5318, 0.4454, 0.4767, 0.1638, 0.107, 0.0127]\nstate[eef_state]: left_x=0.2787 left_y=0.0005 left_z=0.1463 left_yaw=0.003 left_pitch=-0.1926 left_roll=0.0004 left_gripper=0.9898 right_x=0.3741 right_y=0.0553 right_z=0.0471 right_yaw=0.0202 right_pitch=-0.0305 right_roll=-0.0041 right_gripper=0.0127\nstate[joint_eff]: [-0.0752, -1.9487, 6.8718, 1.6093, -0.0415, -0.0659, -0.0073, 0.0479, -4.8615, 4.9026, 2.0391, 0.232, 0.0611, 1.0183]\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 93 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, 0.8642, 0.6411, -0.5438, -0.0135, -0.0341, 0.9898, 0.2863, 1.6005, 0.5678, 0.424, 0.2287, 0.1425, 0.9953]\nstate[eef_state]: left_x=0.2786 left_y=0.0004 left_z=0.146 left_yaw=0.0026 left_pitch=-0.1938 left_roll=0.0001 left_gripper=0.9898 right_x=0.3976 right_y=0.079 right_z=0.058 right_yaw=0.0198 right_pitch=-0.0207 right_roll=-0.0106 right_gripper=0.9953\nstate[joint_eff]: [-0.1846, -1.5932, 7.0222, 1.58, -0.0366, -0.0464, -0.0122, 0.3214, -5.4496, 7.5829, 1.7167, 0.2222, 0.2271, 0.0904]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:580c98fccc44a28b105088bd0ea9ff18b41f56dbcc69eb6401e1b7a46ea779d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe3c011c92557b444c201c9d22bbce738128ee1f370db46af80d1fa7da2861a4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b91afe9697d4f57310fec66635039c250af29e69f896f2570018ac093fa95b40",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGVi8QpAsVIdf-lKObqoLwNrY6NqG-ChuHXmRVjVv5N4tWrCLF5lEGSVMx7Z3fwe-9bnds_16eYlQxT_GWnfbRqnwc5N3YC4vJu3WifSuiyv9bWOjLTt3IOVECZ4L6nkfRWgrWlf4ueD7YrSTAKBMaE0zIwIB-FlFOGpHCuYYcUP9ZHnQqSQKtp3drvYgqwyfwgO4kYJfTisL_48nRdjn9-zVJ44ZEldDf4gFIoGH9duOUIAZj4oM3KayBcIhyrvM5qdIN_kqO9_FHbRe0cd_EkRvKt19V85pvxJZ1_FZByHU46YhazezRSz5RZtk6wsa_VvihMttrjS_dGzldjr3S9xVWoxTFmzAZsBHWr_ZS9-q4CK9GMYbmsot4plYZudLJ4eNgmnAGKWFhZ6Xleb5xYXFH-yv89xBOuIugi_fTGFcYFH3yt9pBpDjv-iQDjDGD_ub7IUReGSaEk9D0-C4LTiNqZhpjxzwREKaFqNoPL1_jALl8vRv1anEkYDm-8PNcNZZ0EYiqpGhNbmet1rxbP_xM1IzAzSHQGYQpJG1reB9m791uYKZ__LRluicAJ9u08Qho55dqD-_Q1GxGw5RWOE1ekUNnLpvvV6diwCY_qGoK1DbyNhnzDiUyr-eeEbG_xtpu-mR8KB1PsWlO42HA_T0arYpHT_OgooBrQOKNBDcwRnWdILtFlvYMPR5ZEdtTLX5bSVkK1F42QhbTCvkkzu4wU01sCroZNCsG5fzJmsqrJVGtLFgj14FTDNaX8i_nRel-Q0E4tvompt6EseRkLqyIvKa-y9qc8ir6hQUfAHHmqNX74XsTrS6YIuKQSFOdHUrK18hqdmATFZhlebpUvfEbmNT2RtHJQ6SCAyaAs01Iwcvpw4xLNG_hD2KszNPm0SQcr90Fi7ZMUl_vnKEFfUjYre4yO4R6DhNBOXg5o6fKE1BkOAtTVAZbL4jvyoL2rrGYlFoM2GZDcoT8cnhg4ZA51y-zl-qBPfBj-qZazfPM3ixAVibbGjZWYH6ctVXqQmV_jwGZ22YOtMzcFaTBjmE2DWupgv-JE-5ebqi_5w7YqIsCZ8LiSAuBgEGwhdlMn5gb_Hsz9RV2D3eXTpMMCglVsLZNVf6lk1sugmDD2MA5NndjGlYWr3mBhOWj7JpCW0y4P20kV3C7dwvcuCSbYp05woyFWOjSKCxY45ku0qj3aCFELzDr6xuE04MaP9xf6VkUauXJOzb6kMArTQ_ZI38CuseUcV7oX_1f2KGHZbz5usuMO3LbIjC1hM2_vgm237zSW7HgvYJujFjWTUcEDC4wgJmSR3xTGl0sX3apLQxea00g8wRbEtuq5yEL5neJ0WLNoPqcT5hcPi-9foGX6c5fDn4cR29X3KqNcJhAe1VJT49P629gUvZDW01FEXVQ_tWGMC5OJ1FbNOjwSp3xKwPLZAixocZq1QJhZkZeEpNkinw728EXIoiBOnVCoExyJ8LHF6ms9nTY4_CdMBH8hfrKenEPmmGm6A9Ny2HGa5j6ubZU_eou-XgVdcZqZeILPm0IuXUZjQEUGXD8xvaXEyXIIejA6aLJmkXkJf72ALAH4bV1yfS2CsDvrbsXzs7Ye1Du58Q9LAqnndPfx6VE8oZ-Ft5t6pn13rqptHzi8wGZvWc6AYk8Nf_AS1ywEl-FQ8LWp_1nPnY5wZ4273OqwZNTe_-ESEuL-JEEALOqRn7Vd7nn0kO_3hNqttsP2aJvoRQsx-r4fvkcdlt7lVXXaiMI7LjrE5evJ_B5dkUKo-VovUCubOOnC4NOYEFbPwl00L",
  "id": "rs_06fa704fbb869d0b016ab4655eebf887d0bf98cf624e0a7824",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.022,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The jaws are beside the rim but still too high to capture the wall securely. I’m lowering them a short distance along the bowl’s outer edge.\"}",
  "call_id": "call_J6VgboEK5kCa9R1qWAYDgWWk",
  "id": "fc_06fa704fbb869d0b016ab46560e2f887d085a6472be1fca44f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_J6VgboEK5kCa9R1qWAYDgWWk",
  "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]: [-0.02, 0.8677, 0.6411, -0.5472, -0.0139, -0.0338, 0.9898, 0.2871, 1.7409, 0.5262, 0.5861, 0.2356, 0.1501, 0.9962]\nstate[eef_state]: left_x=0.2781 left_y=0.0005 left_z=0.1445 left_yaw=0.0028 left_pitch=-0.2006 left_roll=0.0008 left_gripper=0.9898 right_x=0.3963 right_y=0.0778 right_z=0.0215 right_yaw=0.0105 right_pitch=-0.0386 right_roll=-0.0135 right_gripper=0.9962\nstate[joint_eff]: [-0.3624, -1.8256, 6.8581, 1.5409, -0.0659, -0.0611, -0.0073, 0.4991, -7.8017, 4.2872, 2.0684, 0.1978, 0.0855, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e24c627a8d9ba140ba0a3b8620756973c9f1828132f4136d9b7672355da84eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbab0964c42c3ecba117fd594e7c518e9ef1cac8e47774b442986709c417545a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d72d9181cd59aa89251ffd6951aa80c2ebb6c553090e4421faf5c4c34bc7466e",
      "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 25 attempt 0 · /responses · status 200 · 3.031 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 85 changed as sent

message 93 changed as sent

message 97 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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, 0.8593, 0.6411, -0.5381, -0.0139, -0.0338, 0.9898, 0.2039, 1.5158, 0.5037, 0.3592, 0.1589, 0.0975, 0.9962]\nstate[eef_state]: left_x=0.2794 left_y=0.0005 left_z=0.1483 left_yaw=0.0027 left_pitch=-0.1831 left_roll=0.0004 left_gripper=0.9898 right_x=0.3776 right_y=0.0532 right_z=0.0513 right_yaw=0.0195 right_pitch=-0.0734 right_roll=-0.0171 right_gripper=0.9962\nstate[joint_eff]: [-0.0615, -1.5111, 6.8718, 1.5702, -0.0415, -0.0073, -0.0122, 0.212, -5.2581, 6.2017, 1.6435, -0.0122, -0.1343, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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, 0.8642, 0.6411, -0.5438, -0.0135, -0.0341, 0.9898, 0.2863, 1.6005, 0.5678, 0.424, 0.2287, 0.1425, 0.9953]\nstate[eef_state]: left_x=0.2786 left_y=0.0004 left_z=0.146 left_yaw=0.0026 left_pitch=-0.1938 left_roll=0.0001 left_gripper=0.9898 right_x=0.3976 right_y=0.079 right_z=0.058 right_yaw=0.0198 right_pitch=-0.0207 right_roll=-0.0106 right_gripper=0.9953\nstate[joint_eff]: [-0.1846, -1.5932, 7.0222, 1.58, -0.0366, -0.0464, -0.0122, 0.3214, -5.4496, 7.5829, 1.7167, 0.2222, 0.2271, 0.0904]\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 97 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, 0.8677, 0.6411, -0.5472, -0.0139, -0.0338, 0.9898, 0.2871, 1.7409, 0.5262, 0.5861, 0.2356, 0.1501, 0.9962]\nstate[eef_state]: left_x=0.2781 left_y=0.0005 left_z=0.1445 left_yaw=0.0028 left_pitch=-0.2006 left_roll=0.0008 left_gripper=0.9898 right_x=0.3963 right_y=0.0778 right_z=0.0215 right_yaw=0.0105 right_pitch=-0.0386 right_roll=-0.0135 right_gripper=0.9962\nstate[joint_eff]: [-0.3624, -1.8256, 6.8581, 1.5409, -0.0659, -0.0611, -0.0073, 0.4991, -7.8017, 4.2872, 2.0684, 0.1978, 0.0855, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e24c627a8d9ba140ba0a3b8620756973c9f1828132f4136d9b7672355da84eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbab0964c42c3ecba117fd594e7c518e9ef1cac8e47774b442986709c417545a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d72d9181cd59aa89251ffd6951aa80c2ebb6c553090e4421faf5c4c34bc7466e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGVrNI6HR-BUxEx33kdm21mUT9AFvf8AkJ-VB_xxkIFSBSe_xWVIU0A1JZfpA1JRxb_fkW3t0FvUpaaZ7aSSPfzrt7Swc8SuF1UCGsrZSYuglxDhKA6bxpUDoOzfPcsa7FcFUVG2hO0LHI6McaH6HSTTIpK-ZC77MHMg-5cIGHhoxBizX-SLUqHy7vj10fkR_7-RcVGj6PkyV0JkC42shpuqgV0xbASQJe3yuBsiAQ4OefskVaaGEHChGvhJsjDtr91ts3vYcOxO5bLosIup90RaA1w49zb1oKuIFaskJ3EjBMCg6NPa9oCk8kNU_JEiDcJVVxtf6DtaIG4AsunJ82kTxOwGKxgzc5AygL4_I3JA5pmCNG33Uldrxuxlewf_NuKj42A9OoTIn0hf8lmTOAP4LZbaO8HITgmQBVizI_0I5VzYGH94iSwbFnuS4jSArZnD7URZ_QshzAweSqcMlOXvFGRWUqCxYLoWYd5GiPyu9ZnnufIRyhQ9P-MukGas_A7UqrnePVXnP8Z2hHNMFBJYWonVIDFaabHeUXPKfLMXX1xrJ0DqooaAscCHnCYbztBxlWIm4V89MuLdIjo0s7fzlHq2RGWoJIa7tHwO_calGZeI2fEh87VKtcYS_xb3iAvtSBLPvV1gU3hpE686LRbAv-Zp-S9kKDnuPcbD8p6QziT5vt_ze_vIZs4CKY-gaMdQggs1GTxbtm5g5ZW8RQUNPNVefURCzJ-TCnogh5HPT7tTNtIUtmvdqzN6YhTc1pPZrNITiIiaQUIdVwGGvBfBr3P_WLezEbdUFvj2YT4DI8NPjrAozKrowyt6YsXa-P_7boDLp_gN9fS-xs0aKD8e016JZ38njbb78f2-xSMwHOTr7lRAr8x8bg4NE6o5XZjq9OZAz6cODGg_A83VSWWLVFPkXY_250MBGkF79Dwi7qK4Dd8atFRaOm1BFy9if3fOHlrzDM8jARlPQJloMB-lfHYeCWQas2aIwvOrDaknm4H2hBcCHOtldx-yv2MaFRqsImiax6yOiQcwAsqLb6eRX-B36E1ST9qeiIV7_SsnLlFY7Hql1vykOD-nQeySOloE3TpedcgManh6QoRwZbRiAZ-JF5NQRTSVW7gD7lg613Enw5WLNHoSng9UaiqVcCLkIQP_HFZlQdPbnNQ06Q-S_HUQRPNjiixrA_4P49dXMPz4ZOaLHGN-UpLR0NUHOQt2AJ7GoOP94WwIB9vmZ48UdXswN1J5DIDpP2kvC6L30RLIqfzYELy1cuVPTSIwWvMqRuWbnFHaFbNPfs3kUT6-1EgmsCgknWtgkMpjD4GGK1Lsv_J7S7ZMvaOOmUzqQPXFtncQ6cw89JFT_Od6qQhtJiQLgosRqWKssiv_lnMNioGE_aOmCr3Txbq6WXCKtIGLZy-sdMRngFK7iDTayjkiqevW5GjEVLzqlAuC6m4OMhR2iqwQ9czOLhCw6ULgpR9nj32fu3R-BzwD3Oc4hYSsktSQZGXjtVx3OcswAs3kAwUU88va0lFMQ79t70lV0WtPqqMfrgzS7lAhb7b0W4UFpdHc3KGn_RGGBIzKUpCpxzZStkI1nzatoy-Bni3fdvoA3dxaI0s3eV6ajBGiF9O7jHxsUYY2UdzSe7vi9HvTKgrNWc1aEDZIA6EuKG8u_aSDeZhF4o4kF1f0DNUMsdWyAtxDh_OiThSW2dmuVfKG9CU=",
  "id": "rs_06fa704fbb869d0b016ab46568f33c87d09a0db24edd237dd0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The fingertips are now down alongside the blue bowl wall. I’m closing to clamp the edge, then I’ll check it with a short lift.\"}",
  "call_id": "call_NDxpGql2R0P095eIXyvTZ9YC",
  "id": "fc_06fa704fbb869d0b016ab4656aa6b887d08c5704fe311c2b7a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NDxpGql2R0P095eIXyvTZ9YC",
  "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, 0.8677, 0.6411, -0.5472, -0.0139, -0.0338, 0.9898, 0.2974, 1.7546, 0.5114, 0.7059, 0.234, 0.1684, 0.1054]\nstate[eef_state]: left_x=0.2781 left_y=0.0005 left_z=0.1445 left_yaw=0.0028 left_pitch=-0.2006 left_roll=0.0008 left_gripper=0.9898 right_x=0.4047 right_y=0.0849 right_z=0.0352 right_yaw=0.0121 right_pitch=0.0487 right_roll=0.0281 right_gripper=0.1054\nstate[joint_eff]: [-0.0889, -1.5932, 6.8718, 1.5165, -0.0464, -0.0562, -0.0122, -0.3487, -6.0376, 4.0957, 1.3944, 0.2222, -0.0464, 0.6911]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f629fd71111441d1002c9e2f224048c7d72e7c6716223928cd2bdbd70cd238c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7f2a4cdf484c3406f79d5531820fca37c924736c10531e37223d5e63f40442a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f160fe76ae44f9792f1e07f64305908078ce4feeda3dda584692a56ed575188",
      "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 · 6.793 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 89 changed as sent

message 97 changed as sent

message 101 changed as sent

message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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, 0.8639, 0.6411, -0.543, -0.0139, -0.0341, 0.9898, 0.2134, 1.5318, 0.4454, 0.4767, 0.1638, 0.107, 0.0127]\nstate[eef_state]: left_x=0.2787 left_y=0.0005 left_z=0.1463 left_yaw=0.003 left_pitch=-0.1926 left_roll=0.0004 left_gripper=0.9898 right_x=0.3741 right_y=0.0553 right_z=0.0471 right_yaw=0.0202 right_pitch=-0.0305 right_roll=-0.0041 right_gripper=0.0127\nstate[joint_eff]: [-0.0752, -1.9487, 6.8718, 1.6093, -0.0415, -0.0659, -0.0073, 0.0479, -4.8615, 4.9026, 2.0391, 0.232, 0.0611, 1.0183]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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, 0.8677, 0.6411, -0.5472, -0.0139, -0.0338, 0.9898, 0.2871, 1.7409, 0.5262, 0.5861, 0.2356, 0.1501, 0.9962]\nstate[eef_state]: left_x=0.2781 left_y=0.0005 left_z=0.1445 left_yaw=0.0028 left_pitch=-0.2006 left_roll=0.0008 left_gripper=0.9898 right_x=0.3963 right_y=0.0778 right_z=0.0215 right_yaw=0.0105 right_pitch=-0.0386 right_roll=-0.0135 right_gripper=0.9962\nstate[joint_eff]: [-0.3624, -1.8256, 6.8581, 1.5409, -0.0659, -0.0611, -0.0073, 0.4991, -7.8017, 4.2872, 2.0684, 0.1978, 0.0855, 0.0855]",
      "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]: [-0.02, 0.8677, 0.6411, -0.5472, -0.0139, -0.0338, 0.9898, 0.2974, 1.7546, 0.5114, 0.7059, 0.234, 0.1684, 0.1054]\nstate[eef_state]: left_x=0.2781 left_y=0.0005 left_z=0.1445 left_yaw=0.0028 left_pitch=-0.2006 left_roll=0.0008 left_gripper=0.9898 right_x=0.4047 right_y=0.0849 right_z=0.0352 right_yaw=0.0121 right_pitch=0.0487 right_roll=0.0281 right_gripper=0.1054\nstate[joint_eff]: [-0.0889, -1.5932, 6.8718, 1.5165, -0.0464, -0.0562, -0.0122, -0.3487, -6.0376, 4.0957, 1.3944, 0.2222, -0.0464, 0.6911]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f629fd71111441d1002c9e2f224048c7d72e7c6716223928cd2bdbd70cd238c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7f2a4cdf484c3406f79d5531820fca37c924736c10531e37223d5e63f40442a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f160fe76ae44f9792f1e07f64305908078ce4feeda3dda584692a56ed575188",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGVvBjLHqlTZUkht6yBwEnYKUb12PgIguT2t5J8Jp7mK5Mbb27DavncB5Vus7nMcdCWrGFxXWcb4NsDrs4hO3oFP6W6X7rmO8DBT-21cgNsfIYDXXBb9iIlhA1lOAY3Esw8upsrO7kw3VsDu-HnSoifGwoorCWQd_rXDwQOF2fa9Kh8xGSAwMjGhiWcjAyWEFXh3rzEYlaqM3yvY1_c4zKS6IzCOB1gAk4jcgmbddz0SNUx0Xj_jLoDdB2uwXI_0UQYZQTHOSYdDdvAwQRYlvjklHQe-5oy0XZT-CsF_EmpLYxntFxpO_cT8_fsVsYVYlQ1YpBo7XKX9M-chYS25P_kvuOMpqKLMIqd2H6IB0VBlKTNUgAxHcvxf9bSa3-ZQgdffr90wnVisj27OqSsbgTf0K4eaTzY7x8FFRCnP3fJwzhfnFQFW7ybldLssmpPyjmFsQmvGs2Ao7jJ0RmmGh9pVaw-aBKbRN6lvRT21Y6ztqvADy1ggCCEmYiA021HFCTGBNidd228UCgRDoDJeNFzsSf527deOUekRvdBUtluLMb5hqytW9lC03aE9_-CDzBws-sSSVCURQYgXfEq74to3pGu3du_DPsVoqOQlVU4PlOsOGtOmQzPRVkXJwBMZtuW4D3Wchxuy1lne9K5O0ecF_FKuLW7niw-V-aMXn58ra9zOl1Jmd80pCHhkqyGrqpuVMPhz1Mf3LGL3aFlNDd5gIwYwL0SRMTA-xGamnQi-8drp8n8wqdcMq8BHTjHmPHGELtkNTDELnCBsJ8wxu_0Myf_FI0hVXHeYI0127HTe130Zqk_vWuTGj06IMT2gwymNbAjaJqkwgVdkFBCGYT4Qhu_EvdxyGOPOt7L2DLYRks67_UEln-zO20SU4IqX6WSv3PFcMTLLKU_u5_2E0PBP1Y8j9J7OjvgwY_WapP16aYVSvbuhxHLtNvNqadyTfmCLxAee1GG0ZgPL2fOP-x000Nok3PQ_0mFyMZiIUFBGXRCf6HeAkQ9JMV_GA6NfHY-vOPaeXE5pHt4jl8EXSoRgkA747fearTrP6JSF8EoUQYkYdqpLFDM57YJP_2Y__caM3XahW_wTnN9plon7jRN_BPmI1SfC3PKuSiLSFpMpt82mMzYeAUus3DEtTGd3F5fkXIqEDUAa1cP4YbDDuSdss7tWgoNErGb1LdZfNeDaM6Yl_7m0PU-dq1mOTesk3pEpdLUfcTJdcTPEj9HRNHSMdv5JtUzfoEUJOoKR6qHi82g=",
  "id": "rs_06fa704fbb869d0b016ab4656e4ce087d0bee835e74c2fdc84",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.12,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The jaws have stopped at a nonempty opening on the bowl edge. I’m lifting the bowl slightly to confirm the grip while keeping both fruits inside.\"}",
  "call_id": "call_3T5V1HTcbamzNLPwrYWIgii1",
  "id": "fc_06fa704fbb869d0b016ab4656e8bd487d0b379d179a776b82c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3T5V1HTcbamzNLPwrYWIgii1",
  "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]: [-0.02, 0.8696, 0.6411, -0.5472, -0.0135, -0.0341, 0.9898, 0.3058, 1.4944, 0.6727, 0.2073, 0.2405, 0.1638, 0.1057]\nstate[eef_state]: left_x=0.2782 left_y=0.0004 left_z=0.144 left_yaw=0.0027 left_pitch=-0.2025 left_roll=0.0003 left_gripper=0.9898 right_x=0.4009 right_y=0.0862 right_z=0.0975 right_yaw=0.0178 right_pitch=-0.0242 right_roll=-0.001 right_gripper=0.1057\nstate[joint_eff]: [-0.0889, -1.7709, 6.8991, 1.5263, -0.0366, -0.0708, -0.0122, 0.1709, -7.8017, 8.9915, 2.2589, 0.2173, 0.0122, 0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52cd539c4f2e063a60fa09513ea3299bd8df76c0975571f1e8c2546bbf3e6b61",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6784c432060cc91717ca43d1f0279128e1bc8e3b7fd2a05c58418b2b2daca3d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78ef647580212f0c1f8c7760636077ac0689d31d9b9fda82ac9ac4e075745a5f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 11.25 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 93 changed as sent

message 101 changed as sent

message 105 changed as sent

message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: 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, 0.8642, 0.6411, -0.5438, -0.0135, -0.0341, 0.9898, 0.2863, 1.6005, 0.5678, 0.424, 0.2287, 0.1425, 0.9953]\nstate[eef_state]: left_x=0.2786 left_y=0.0004 left_z=0.146 left_yaw=0.0026 left_pitch=-0.1938 left_roll=0.0001 left_gripper=0.9898 right_x=0.3976 right_y=0.079 right_z=0.058 right_yaw=0.0198 right_pitch=-0.0207 right_roll=-0.0106 right_gripper=0.9953\nstate[joint_eff]: [-0.1846, -1.5932, 7.0222, 1.58, -0.0366, -0.0464, -0.0122, 0.3214, -5.4496, 7.5829, 1.7167, 0.2222, 0.2271, 0.0904]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.02, 0.8677, 0.6411, -0.5472, -0.0139, -0.0338, 0.9898, 0.2974, 1.7546, 0.5114, 0.7059, 0.234, 0.1684, 0.1054]\nstate[eef_state]: left_x=0.2781 left_y=0.0005 left_z=0.1445 left_yaw=0.0028 left_pitch=-0.2006 left_roll=0.0008 left_gripper=0.9898 right_x=0.4047 right_y=0.0849 right_z=0.0352 right_yaw=0.0121 right_pitch=0.0487 right_roll=0.0281 right_gripper=0.1054\nstate[joint_eff]: [-0.0889, -1.5932, 6.8718, 1.5165, -0.0464, -0.0562, -0.0122, -0.3487, -6.0376, 4.0957, 1.3944, 0.2222, -0.0464, 0.6911]",
      "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]: [-0.02, 0.8696, 0.6411, -0.5472, -0.0135, -0.0341, 0.9898, 0.3058, 1.4944, 0.6727, 0.2073, 0.2405, 0.1638, 0.1057]\nstate[eef_state]: left_x=0.2782 left_y=0.0004 left_z=0.144 left_yaw=0.0027 left_pitch=-0.2025 left_roll=0.0003 left_gripper=0.9898 right_x=0.4009 right_y=0.0862 right_z=0.0975 right_yaw=0.0178 right_pitch=-0.0242 right_roll=-0.001 right_gripper=0.1057\nstate[joint_eff]: [-0.0889, -1.7709, 6.8991, 1.5263, -0.0366, -0.0708, -0.0122, 0.1709, -7.8017, 8.9915, 2.2589, 0.2173, 0.0122, 0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52cd539c4f2e063a60fa09513ea3299bd8df76c0975571f1e8c2546bbf3e6b61",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6784c432060cc91717ca43d1f0279128e1bc8e3b7fd2a05c58418b2b2daca3d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78ef647580212f0c1f8c7760636077ac0689d31d9b9fda82ac9ac4e075745a5f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGV22HsvK8NP5GpRrAQ3WQJ4v2L1iq-ixCWL4DdTKaxFs9KnCkhEiH4SPGB1EQjpPjTaH10ojJpVdgWWJEXp1BF2gfbbW-pU3woOPzfxo3fmeFI1iMKXO66Fs6WiLK2WcYtdCiZn_mwUBwAwEQbyJ1K5xAuW3-irReWGR6FkQy2ahGLmrnevSD74B4i2qyebVVqIIn0XwU7FNEZlSsMfkC2QUPU67due_pd8KGaQjdQQ9Wil8PwdxO4HnUO1vSIGWAf-NJtBVF5O5Kt5VdiudwKq2LR4_ZFPhQNZLeO0mSgLTMbP8QHNFOZrv_vzCxyB6RIV8qYHUnCuiwrXdNTN8yqcu1ngal5FtRobT6pDqzaYpn5ydwJ7RtUEqBWWK-m4zz9nGBTDkgXlsGkBZ0PUqQ3xNH7Aq5fj9Ey9VFMma3YmD8vBLMtlBgnpteOVhPwVvGQwB7WAkqTgKlXAFS6elANcaLZkAdQLGvoNWOI_ZPt--UabVEXwvt3ulnSmFWk5mAfeAofkArhsKc2Fag18gLaaadpZOlfDqnb4sB_x7HAB7SMId8CjUtG7TVlT4Y73IuziaWPY11mLxZHvxU3FGEM_cfJdYDlk_NNcLMOknKolHYNSkks1yC47JkhfLWgh3YwEM6417sqPcRIExwcIJhllncJgpVw8EpBMuvN7XPVyB3Ks7oYPVxpO2V03lF8MBSFXcIKUqBOT93G3WVIqQIScu0MqtHVPeKsm1nvip6jTdcG-y4cBYigh7JOgtxg0Kyfb7pWpPWBDis66qDLwQrgkxC6knXTThXQKN_Y7riZowHa6TQisC1QCP4BRwrhm2iydvu5kALhFKded9keYQDvHo8T15rCXYVWmCO-_zLqYMeVbIm-5R_OHzOgVxDnXX62secE_SflAhJFwdz0R0PptGJ1OIzfv6qVy7b2-I5455lifay02blVuPFinuHy1oKwKCszVFPlhQUn6R1YH1bfkjgYUUfI3GvE7GT8irutzKxqc41b4bWTCPzse1K9XoLu8YXF1YSo74h_taTKfcL1sQdK5kKqGJpgPVUgrJNfTbyeZVcBvRjMgQUV0v0-B8cpFRfWL-VEJYuusBJgqNgLlMgklvT08D8gQempX2_YfGUFiy_JHb28kStLPwc5_s48WkSjow8xL4U-f2E1Xo-LyG09kN0wkOfl_A3brIgWsMoOrA_wk04wM_JutqsC6uuugoDdzMfqG-GxE2ZpLdKZ1QmOYEcKCf9HoOP5YHDY0f-GtJblvoYencPFQ57oY_MjBLxfxcFDXS4YxzkZcYlv2XTd1xFGAaQR_6NbcZpo1f5BfnP8fJTO-i17Dunev4Cd4o3EEVqdPI9E5b2vBzYjZGpIhsUuhjRBDeKn7VJGwLtmyC8DjnDwYThrn_DnNylnJa95-3TnfrGPIgmlO7BJRA-s_dzboSbXvdaByZXfb_e2wRzOXEv0xlAL8Zsha_DjsaKR3Pa4ga6MpZlUCqfJEsYMa2FCSsmHbasQOv3-Wp2voYDlBeP7HEfGozSUF4ZJDITE97S_r4iJ6LNBMXEj0OTiai0QAUAuvSJxT4c56HxCMie0PoBLy2z0xW33mbnRm4qpNc3Z92dtkqOW4XuzZI0Tw1XRcHt8PIZ7jbviH7Erjvxg6wUOVlos5GMxEIe7We_w0Xu-nUKiTofeBnHa2W2AZNS6tM2zKwBZQN0Uo71rsVXpti87V8xGMMI6QOkwQFgrwGoFH_U7_zcs9CyR8dEC44w4upA0puz73L6rqfjZpdIKaMk_Xy42PHRu5I1Rpu4LutlyHr67aG03uqfDq6_1memm-YKEKobnBs10_WBd8keXnZo6-0sJ3XLPHx1YoB1692NFiiMj9T82pTxiIltDNGI7sWxGpoOLJQ1h-cwHeBGFRxwxjePkq1pAJ_9lNz91E2AscoWwgsnFmrTFrCpv7BqpJygo8kH3mI_K64jMe2UDKZ8iYcvgOKw5FZqAcd1AHlzrnWRhkQkttCXrKDt89V8VASoZ7lawzwWwaP3WmusREvHcZKY-3jnQPJwsaNcWogxUK7uMN6XouV8a5esHFvagtAM2IDNER7YxTfSFMLrwANy7WVrPHhfRdn12Tsw2DV46-eNSRQZbPIDZM6FtnnflpJ3GUXbKPiBDiFHZPrlENnLZvJX4e3epmGM6AQGX9M-7DV60qfxHCEsZlIz9UicltpxFskRMWG2AtrfaerLFUvTs1tyjtZf8CitvEAsM-mdIObTDjbLyyEgv9CcxCqSb6dTsJnEiYSNaI1Q4=",
  "id": "rs_06fa704fbb869d0b016ab46571747887d0b923b501d61b894b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.38,\"right_z\":0.25,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The blue bowl and both fruits lifted together. I’m carrying the bowl level toward the large white bowl, with extra height to clear its rim.\"}",
  "call_id": "call_vLVjuX4JCPxDYSyqAHF3tUMc",
  "id": "fc_06fa704fbb869d0b016ab46575c6d487d0956b2f9067f0022a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vLVjuX4JCPxDYSyqAHF3tUMc",
  "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]: [-0.02, 0.8734, 0.6411, -0.5579, -0.0139, -0.0341, 0.9898, 0.9398, 2.1986, 2.2112, -0.8413, 0.7162, 0.5999, 0.1068]\nstate[eef_state]: left_x=0.2764 left_y=0.0005 left_z=0.1412 left_yaw=0.0031 left_pitch=-0.217 left_roll=0.0009 left_gripper=0.9898 right_x=0.4192 right_y=0.3832 right_z=0.239 right_yaw=0.043 right_pitch=-0.0197 right_roll=-0.0167 right_gripper=0.1068\nstate[joint_eff]: [-0.2667, -1.812, 6.8444, 1.6337, -0.0611, -0.0708, -0.0122, 0.1436, -12.9436, 7.7333, 1.1844, 0.569, 0.2027, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4dcf4b4710ebaf91304386b3e0b526f4243aa61315c25e5219d656f2d0a9ca5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0db6243d826ee8325b23b3a2f9c4c01365fd507e212dcc5ab56b27dc092ef171",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b728e1000f0ef2072ea809f3f32057ae7a5b8ade417476b953856ad3f0dbb7b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 28 attempt 0 · /responses · status 200 · 12.08 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 97 changed as sent

message 105 changed as sent

message 109 changed as sent

message 97 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, 0.8677, 0.6411, -0.5472, -0.0139, -0.0338, 0.9898, 0.2871, 1.7409, 0.5262, 0.5861, 0.2356, 0.1501, 0.9962]\nstate[eef_state]: left_x=0.2781 left_y=0.0005 left_z=0.1445 left_yaw=0.0028 left_pitch=-0.2006 left_roll=0.0008 left_gripper=0.9898 right_x=0.3963 right_y=0.0778 right_z=0.0215 right_yaw=0.0105 right_pitch=-0.0386 right_roll=-0.0135 right_gripper=0.9962\nstate[joint_eff]: [-0.3624, -1.8256, 6.8581, 1.5409, -0.0659, -0.0611, -0.0073, 0.4991, -7.8017, 4.2872, 2.0684, 0.1978, 0.0855, 0.0855]",
      "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]: [-0.02, 0.8696, 0.6411, -0.5472, -0.0135, -0.0341, 0.9898, 0.3058, 1.4944, 0.6727, 0.2073, 0.2405, 0.1638, 0.1057]\nstate[eef_state]: left_x=0.2782 left_y=0.0004 left_z=0.144 left_yaw=0.0027 left_pitch=-0.2025 left_roll=0.0003 left_gripper=0.9898 right_x=0.4009 right_y=0.0862 right_z=0.0975 right_yaw=0.0178 right_pitch=-0.0242 right_roll=-0.001 right_gripper=0.1057\nstate[joint_eff]: [-0.0889, -1.7709, 6.8991, 1.5263, -0.0366, -0.0708, -0.0122, 0.1709, -7.8017, 8.9915, 2.2589, 0.2173, 0.0122, 0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.02, 0.8734, 0.6411, -0.5579, -0.0139, -0.0341, 0.9898, 0.9398, 2.1986, 2.2112, -0.8413, 0.7162, 0.5999, 0.1068]\nstate[eef_state]: left_x=0.2764 left_y=0.0005 left_z=0.1412 left_yaw=0.0031 left_pitch=-0.217 left_roll=0.0009 left_gripper=0.9898 right_x=0.4192 right_y=0.3832 right_z=0.239 right_yaw=0.043 right_pitch=-0.0197 right_roll=-0.0167 right_gripper=0.1068\nstate[joint_eff]: [-0.2667, -1.812, 6.8444, 1.6337, -0.0611, -0.0708, -0.0122, 0.1436, -12.9436, 7.7333, 1.1844, 0.569, 0.2027, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4dcf4b4710ebaf91304386b3e0b526f4243aa61315c25e5219d656f2d0a9ca5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0db6243d826ee8325b23b3a2f9c4c01365fd507e212dcc5ab56b27dc092ef171",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b728e1000f0ef2072ea809f3f32057ae7a5b8ade417476b953856ad3f0dbb7b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGWEGK_Td1H1GrNLvtvmB8ZnJyPzrp8j_OPO4eEzcp3wxLu9OEocm_QaqjocE94ZvDCd2e3LPd_bKD-Xu6j50gezcDujYsfso9kT5ioExmxkk13M_hs3bOyd_Ip8rOQdlfA-RLQKw615DQhGq5y0pur-xNh_8a_E1DpcATo4yM_UW2-3AIxbQirVfYsIjfiXTV_1nqPDPDKYRrfuZreWO7okdFvPGGgvDE8ZnsHVudnx10D_Z3jdHPqlnr7vTvVxdfh8YrSykLwvJP8KtJZzuEiCpIGGte3pd-ykPdL4O4Jwi7MhcKOQFQP6dtliGfTDVW4PttO3XCQeCJtnjOO96IJAwa-EqQEe5CblnoEgXJcVMOJwsYFWJdwR_w1c3j4tsvDcQd905PdjoXX3OXzMmsVtbv_9fgSjBEzFm__eKh2Allf59CPEQeLRJlYEImj2MKr_Cchejcca1A01gWXHhWfLS6P38VQhjLe6_lG6up23E3WPJm6XYp7PkDNfknz66VF0xfKeDBGgvWHzKRyzDXYxgnXUNAuqEbJSe8Nfq1EGOkDmKsqsG3dXXd0ibFbci5DuZgI-9iv68tlwRMzAr7NMgTMG8fXSMIZbvDD_gua4arhWX1xY1JWV8NshYRqtsx_w6piqZk0aY80hvdLok4nmd5wn20masdO7pxW_veOGJKTZoHrLqKrMBQXqTDHWyxVENjCMd5Apz642TnsHTCMmPOXHK1N3rvCuFdlMzL1S9j4OzVk8HNr9F7kql3ISHqzR-188GiKGv-Azf2fzs-dLFV_WBLqozs8lzdZ4hvVX_jBqj6SqChH_189xpcpWXrQVXnsTSt_otUTGfnSi4c2lJUnTxbyAskORFeZVP5tRBao31on14qCEwjTuO1KxzdnnUez54rZFUieaQ1wLygiFRkxBR_kNzl3dLkDYae_3i5cEC0y0I4lvF2HdrJyA5om3RXt-CJBL-oP4EwHQd5deVyYfYNVTbl-j34vePSFKzrkG6pmXCdocU6rRkbIT2tH1dUrLF_RN_zZnE3CLGS1i6SDzq4u57yc2SmBiEmCuf1ll7hBDWZiS4maUBxfT5UVNZlyfcIVrbT0J800f8q3xINuwyW5Y3wn6OOBMQWVpI19BxIxAziTNd1-eEckmy5lawlt7SLQqOwSDesvncJRpJvNYzCju8wkUsNuBD1Ll6__9bMC8sAmFiVgYQ8kTJAhH4d_mQqNz52yhVyMze9XnsUHjcya4YpnDhzJJ24-22zWnQqsqkSgKzS0jQnBpMss3CtVrHyvy3JRdzn6ltkMx4RBiWzA4r-n9jj74BdriexD11p9HTzRzg8UotGuv_UsjoThNdLx3gUa8guXIj16lBHdms7Ywj1eIpHDcgJyhudHLcJvnm2IYq9nU0qd4BzowMzBANgqvFrsmJD_H_zem-mrkbDT-uH9z0YMGWV5v9zMAWD9aIZplr46OspsexggrRtBkv165sa3Yc1EK6y4p5ZwSQ7S7o7_YqdzzZKvlh2F8Iw6y34swktEjhpR-XgoHr-5TqigcYmibXzTfuek01QXlNJa8nDbaFAD7QAaXAZ3LAjXYmm7BB8oKlDGHbzJPHMlrYzBZJOsrv7dei-pjJ4CqEk5fRoCSbU71zkRL-S7ZolWiwkVPt9WNLOCMhJ5Zn3tTZ5Zw8lzNcFKjmWFLqZtiRZygkjvSuiO0D_Zknzv7eVhfdd4Rto8N01EYzJZBIQc5VZHiBuzh-uJesENUDJUf4l0KAR3C7VizW8DBBm4tDKjBg9xBxMLfaSVqrwR49KCcOUSX_fTfepLPwsc-clW6lw7xM--sTyTqxMHQPzXrK-v6hZwcLRQGa9KbAiosfAltfXLAr3eZGOyTACA-4mtHDy2JsCMc0LvPFyxt_jCMPt6F7116BP8fgU9hyTMdDIeOIMzL49mfXao_0HtP3EzLb3mOeFQgx3AUt2ysCK8wWRrppfqpAAEI6AEKm0k0ksP_RQDwCFMvU4TEuvbLLb5rA3ijquJv_cLK1JwlxHHIijUyH2WLkorRtQTY_-us33dy4QL-gGqX8Nl09v-kbpsElIcxPZzzO0PZsoaCP9d5d7DxofW6eVOb-DqKsCatpEcLQfsd1IUj9gQZYfBIdjd0PiVsTf2Cbu0WaA2OvGKGGh1GO6K2mXYLE9Kyh52j2I_0Iu3aQFQ8QMQ0_EqlCQVXpy7EklMaTL-l4ascU14Jtmn-Kz8xbjWucA3_CzxriKXG8r2_XZKfkA8A7G_O3af2XpnwFoA1ozFcpbFM_LnSEwglabEZOuEBWmut2P8EbKju1ZbJ_73n4_E2gIVcLaqsmKQ4DagqILGdnKSOykTlnfsM72pTxK4vojqAoNkKiG4Bt5EaH5YBu1egNcfyBuJ7qcuIU-tkAStdwJb6y3-1UUL-wRG427xOGQB5sm-DgTYqNYBNCArP7W91pvS8KwNh0_mBZCfTwSJ_Is9X-YZrSsKq6z2XoO_J-o4M9C5-DO9WtrHXg-83tuJcxBpSYtwk8CT_x6kuJrEGA9sZUDkjCs4cY99FihIDu9AgQPzCpvwZlIthFYey0_MI56iwcMwKgU8fbDsTjoumJNuoZBdW3q0qISDYO6kKWnaN2o8-X6I_QOWg1x-huEHEHHh4A5lxsfuQ9mjmZoomRmb5NyVg-pfTC8rHFWEznlxjpgSSUoqhDrmK69zqZJ8WoOY45D4BxYjtXuuP_-1Q9MXNHFaJfi6RKxUmnxJb2GrmjV96rXCGdz-Ifc967HjECZK0QfedBQr575DiMoxTkzrnu-IkQDWZ5J47wJYx0B8jjbzyhXousOmQ6afyOYM9A4BuH4IU2YURkThIPvLayJZ34NiM_CpEFC9TXnZJzfq0JOIas2wItwpBZ34tVtKbwfhXaw4OtMIwsJIMUvhtavuyA69dg0EGVsh5C4aeQ9zmPaN-pUU9VAsCzr5VAueZ7kUD4C26-M2XXgpUxQGTo-XFvn3Fgg2AU-SNnRAFNZ_5heYtWCKkBFUrDlukHBoQNewKCVU4hOP2mrTCTgkRZTfh3Dnapqx1fXFWKm1Gw4ssjGmCs-0vRnNKdzKBUvJR2wYlc2_4uqgkJgMoHz8R5MUrcshevwt3QhiZpWQgxJ59A25MEK6P8yapAwSQ42t8WPT5-hSbU8jMgadgHBjs3zVKxyf5b-Dc6ijn9aLCEIbHC_ein94lU659gZsoz0GRln0_iFDCrUM5PJxvYhQJYGUVJnan3dCopz-aNPpsEkkC6_YN6IlqYBB3j34vgOLcf1rBRwR8t0M4tRzRIdtW7YZNeY2pxr0S1dud95B0LBTVMWU-xqvQ3S1EIyAa9zQfUb-hiFEtZ4RWc_r-H7aDVroDIszBiCojbcesCMJ9a9yzPd0NZsdlA4Gs12tY51xhodq0Y4X3so_BBwHqvuZigtG2Y-pRi1YRgzyIyLUu68aZSi3GPGW9XqbSZQGQ6cI76SaznDte9uygRRMhRE2hLdr1bWGOCLiomKQAZuIElnKHY_INZpE2RNcCPHWIdefsJ3nhGg==",
  "id": "rs_06fa704fbb869d0b016ab4657bc9d887d08362c2fe87537910",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.38,\"right_z\":0.24,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":-0.8},\"note\":\"The gripper is above the white bowl, but the carried bowl is largely hidden by the wrist. I’m beginning a controlled tilt toward the white bowl and watching for the fruits to transfer.\"}",
  "call_id": "call_gqqVVAgLAYtYuvOzYst70QRQ",
  "id": "fc_06fa704fbb869d0b016ab465836cb887d0bc3cdc8170f0a2b0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gqqVVAgLAYtYuvOzYst70QRQ",
  "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, 0.8787, 0.6411, -0.564, -0.0135, -0.0338, 0.9898, 0.9932, 2.6957, 2.9166, -1.4757, 1.0065, 0.4065, 0.1069]\nstate[eef_state]: left_x=0.2755 left_y=0.0005 left_z=0.1388 left_yaw=0.0026 left_pitch=-0.2285 left_roll=0.0012 left_gripper=0.9898 right_x=0.4142 right_y=0.3688 right_z=0.1818 right_yaw=0.0161 right_pitch=-0.1042 right_roll=-0.665 right_gripper=0.1069\nstate[joint_eff]: [-0.0479, -2.0581, 6.8308, 1.6093, -0.0171, -0.0415, -0.0073, 0.5265, -15.1726, 7.9658, 0.6178, 0.6276, -0.0806, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fb3ad8cb9d51d3895bb10aacfee620f6571e50ba070fad03dafb7918b7c614b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba9291d20272daa31599eba75778d68793ad66c27550d17c9fafd25b7341e3d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44cf259b4e1660bb6c9bc95f44a1f0517e926c0a840e068f583701ab570cd07e",
      "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 · 4.579 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]: [-0.02, 0.8677, 0.6411, -0.5472, -0.0139, -0.0338, 0.9898, 0.2974, 1.7546, 0.5114, 0.7059, 0.234, 0.1684, 0.1054]\nstate[eef_state]: left_x=0.2781 left_y=0.0005 left_z=0.1445 left_yaw=0.0028 left_pitch=-0.2006 left_roll=0.0008 left_gripper=0.9898 right_x=0.4047 right_y=0.0849 right_z=0.0352 right_yaw=0.0121 right_pitch=0.0487 right_roll=0.0281 right_gripper=0.1054\nstate[joint_eff]: [-0.0889, -1.5932, 6.8718, 1.5165, -0.0464, -0.0562, -0.0122, -0.3487, -6.0376, 4.0957, 1.3944, 0.2222, -0.0464, 0.6911]",
      "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]: [-0.02, 0.8734, 0.6411, -0.5579, -0.0139, -0.0341, 0.9898, 0.9398, 2.1986, 2.2112, -0.8413, 0.7162, 0.5999, 0.1068]\nstate[eef_state]: left_x=0.2764 left_y=0.0005 left_z=0.1412 left_yaw=0.0031 left_pitch=-0.217 left_roll=0.0009 left_gripper=0.9898 right_x=0.4192 right_y=0.3832 right_z=0.239 right_yaw=0.043 right_pitch=-0.0197 right_roll=-0.0167 right_gripper=0.1068\nstate[joint_eff]: [-0.2667, -1.812, 6.8444, 1.6337, -0.0611, -0.0708, -0.0122, 0.1436, -12.9436, 7.7333, 1.1844, 0.569, 0.2027, 0.1001]",
      "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]: [-0.02, 0.8787, 0.6411, -0.564, -0.0135, -0.0338, 0.9898, 0.9932, 2.6957, 2.9166, -1.4757, 1.0065, 0.4065, 0.1069]\nstate[eef_state]: left_x=0.2755 left_y=0.0005 left_z=0.1388 left_yaw=0.0026 left_pitch=-0.2285 left_roll=0.0012 left_gripper=0.9898 right_x=0.4142 right_y=0.3688 right_z=0.1818 right_yaw=0.0161 right_pitch=-0.1042 right_roll=-0.665 right_gripper=0.1069\nstate[joint_eff]: [-0.0479, -2.0581, 6.8308, 1.6093, -0.0171, -0.0415, -0.0073, 0.5265, -15.1726, 7.9658, 0.6178, 0.6276, -0.0806, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fb3ad8cb9d51d3895bb10aacfee620f6571e50ba070fad03dafb7918b7c614b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba9291d20272daa31599eba75778d68793ad66c27550d17c9fafd25b7341e3d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44cf259b4e1660bb6c9bc95f44a1f0517e926c0a840e068f583701ab570cd07e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGWRtLSJaRkjhT8N06U_ug_uYxWVinbWltMGLKCL8qSq3ldbLSGxpk2CqHSkExN-pekpTPHsf-Oxu_yyPjM_ClIAmr6QOynQRabkvZWeJ4fAT5mE-jQCN2foXa0BPZnqPvEgsWBAwEOeYAzITtO5Oe0ezdxeuWw3OT-yZSHMg4rmYmOQF2194OJE9yYdCjfcRxEW25e7Em74vXjEa74m0Duk9EEoHAWrI0NwbBvqadtTiFvV0KHkODM5Fs9nJ3RnPsEZxRMHbSm5I3ct2AL-9cXWZEHVFX7IcoleMVU_olEWuofzoASuS2dagFDf8yv6JKKdqzHETkiZp_FrA-7ySXRI_kH3OqDyqH4DVKsn8ONdZGgSRlJiG7W1heWx3PyGUhD0FaC9L9i1HFnYDlaT5HuHZHB_Jy-b3aXwBeTihHUzTLKtH-7d5ZlE6Ymosjcf5Aoll9ixNlJZKqYnJVpW02tILsEnU8OdERfHj1HVvTxOhXBw3ZqzZqEfBsDoq_wkdb01X5fhugYzeXX8k1STma93QRxeqqak0gNcH85PGm1Yco0NiyINsKV9qPXFNJYMcbyU6oTHPk2PzpMlYFHtkRsL_NszB-FoqgfD2SAbjDeb1kZXT5klmLtgHXr6OXJWJisb7NVyF0BxBGWNetu2GExrKkq46sBowb0s_hGSqkxKR9f5D82TRZie6mVbgPAsRJpcKW14LGzzs0AZNFN2vo9Ow2oQvFPTLYop7zHRW6znVh-wb3LKUFjYVEe3Qlr5IzAxEqJYxIQLyV63rq_OF57acocy5R7R1XC8_gqILcI9XIHdAvuDN-rS7osdnUdP1mcw4cQwdhhYdbRoVpRziwHP5UUkfBqSL_pvjR_HvR7UTcwWfbeZ_fbBdxzfaGIGob63PjfgDh-HqLCuqOeP0d3WqAzGP9nTV5FQul72kAbN6pqE52tJlMHm07fwJ9qfkj38fRUCEM1Ni_tAXfoqpqJJXxgAws8QYlLx-iWgXppKNR1gOFxNGv9bsJKR5rEZvAmRYFJfFH6QsP0pNttiZVkACHNAs_DQPAGtty1kJ_p45h8a1mZyLPVcRS4AAzoEilRI6HQARFTPeQxcz9a_s3iVxyeCSShkCcmRlb-L43B-dBcW4OlgqX-rJaeE6dPFiTXgpK1fNrwgl_qs9UofMzUyieJHEEPcrJ-__QiXAMt6FI1pHf25A3xjjgdR6GNR--m9Ffo0MkBPDHBnVqlLpW9hFB7T2ZGvtuwOT79vdJm1roCswqRd9fDStlE8-HG_4aujYTV0dDpngjf64Qk0-uMjQI0NT9mrAIpDRMnAmnpgXCQ8ovP73vtPFRMoaENR3wBncfVER-5NDBpe6Nc1Ylc373CxtS65I9iMUGJAAISFIxjUfHuEezzClVspwjcqqrBKbS0esqKDKrYlwC2xCz3C4y-y4yLKVoYSvR2JNGvoCaEFhvBZj7gg1BDCN53EkJc6AgJtQIad5L7qKR0m-mWzgjFCpwHoeL-GiYMHx-wVg8vZEohQdJuEmwnXVJf7zbm1ELi2esd9SgiugV-s8yVkojT-wQMsMqhzaDCa2bqlvEtE3J-bOT6UBScGvLtia4g1Naal2kZjzG2FuSlsRdw15WTD0KjPn8qCTvh5OJKmPB-MLGWmxNZ_vlGmRI69xX2JbP7E2udvOJRGq3w8QgSYftu7Z6uuiwDXVcIYtS1wA6fQSqsaiIMn_NsiFIkbtWgqDgSDNMtuQomef7ufta5VHHpUIH4AIXWguiMlSzhwgwh7uYpIv3sIt2zv6TldZuOs6b_kIsQiJ4_6Dxdh9mU9vrJ3mqqyor6CfLjV5LVlPu8Yu2ifgMIiDGC_RUouah2RPIrPi3YS1w9s3ARVUaFwc3L24MG9s5eC8NPYN1vf3GGd4JXwJhNKpqgehpWEOon4yV0VeqYrheqXosCjRs7wD6Npxo8wuYRubSuhx65uUYF8abkmbtOca_JxU1TSrZzkDfmPD0H-KZEoFTJ6Aku6kK15oH3WXStOX6pquaCIgpnNrFdLs_gOQpvNRY8JWjO5JfESjVzd1zBZdoBIh_o27Ti9715fTjJTRc-zhQYMgWOnqcQc6xbr0T1KemvdnAjLjDVXvyBfG--eAuFnrJxnu-ZBwpH_EwRTXXRjbe6WD3MZa1bvvWFk8CakA6VLFBpL3jRvJ-vhuLR0ZxaNUkLp_7XHqr7epJQygzZvdKHXm8LHKAUHdY0OI6Z1ttcRovvtVli3_VBvlNk_kKraZHHsQBZIcAJJoXhjQHGJil6yp5iEw_bqdtp7Es3VbEtmteM2R1UEr3RTuzZaUdZpejtI1pJ3OTMf-B4NwhzpSiEJM728aArFsQwh6jAVfhMQMpKpYAIls-tZ7AsATq3JwVJl3xAZzB9aTOlrcm6PEAFEdFsI6IW4uO0TjBcxew3_9dhxO57syzUR2uh_MgMhrJsPeJycBGapo2LWgnb0Sdhm9fRRcr1aevUCUycNin6rnvM7OjSnWEhgaK9w1ykpZvXJmWzIKVS-oQ3_M9OTBRPEot2QXtnIO_eXT9EsYxOcKsFY8ASms73RQcdlIr5IAXw1FfZtJsilJYrwUGAF0Ntq5epPg8HAXFuHANjjV49xxubl5X99miI7M2GgMH19tfhzh47mYEYkT1avPitN4d9ajVTE0GmFqC_MOEjh-thqS7jugEwr7HYBtP-4LGWLU2xcPNlRblS2BJwIrsZaZjx955a0rQHcnLHob_P2YDBgG43Pu_DwNXlrp2zUfzwtfyacIEa8sfwJ-Xb_ZEy1hLdQmN1Hi0_YPa_LflETn4DWMD4FYvcaq6-UxHQ8bigDIR_TPkuoSBCICLg-P4HT924OxJhHDB6Eg6TGIN5gtWWiNIfotj8nzpA4tPrkjv2ucs6cec3HT0mxkkHiOPIVBaiAXHySHaD_1jrBKSbNzUUFfFX4Tc93Xc6yFSG1WBt-PdKOW8H0Jopq9y5JqOrVnwN_zGDO2DN7uwTQlMQ_aLJ6hruUqcZ69kbfY8qeT-FKP9er82G7m8ecZnVci1X3K44o8_FvO3DL5Ol3iebQY3dV928usKzsn25wqT94lLZ3x8qpbvltLZL4VyWxEDSbK4Ts2qFhHyF1t7hJdKUqs97_gRIPGfgzOk2_LrKAj6qcjHYO4tVqCR9BAtZq2KWMntds9tZr49iOUqgZV6EE7VjrJCf3lbvzRk0KbZetFoqtZgh1wQjDfUgCDZP3QP3p9z84c1ON34F41YFWHGNvLdjnl0SFD8I3BL4QIwe__rmlgIGtphA4NO7JTwY8PeeU-yZxuyN2yApiA5rqMqCR6pc_XKzod_L0nvv-EDLdTp7KVAmdUDrqFbhPpF_WyQNooq2zsoUZaHOHIsvQjYCUJkBr_qxeVtGZGnJS6zHMIhz0HxaFhfLI8Gf6JfOHq-TaAnWIf_CPBl2wetkAvpQY8mWRJYc-imt4R717Id-uu5kmABc2WaQVrjovxamKxolltgfrw4t6t8JsRg2Y2pT_fD4Mwhp_-v64GqF5yHYGufbLG36Xw-731H_4gSOeJPYkCLjn5a_ww4Xdagj12fN3NH3qSQCNF71l1_swmGu3dqf6u28KN3Yx_iHcv43Hw13bhRdcV4Ys4BHPoyXdXymPNRQSzpT32HMzPed7kP8mTVEgliuotKirZSpDg21G84wS__8_I5hp_NRdBvXwn8VuQmZLbWJ77Mhlm3pSeivnJQz-lBUA5MXanI6LcHs4k6BHwwml0GsKm3oERrpfyopsUAij8Rk9zk7_Qlrs8C8oOeMvS7QoLlbqs3ygrRmf7dtvK29f9PciGhmf8VKnCkMNzAr3_d1QGFaE3Y9CbJVMQrmRkBXKUqtU2-hPqgGdFjpdcGl8dm6JvO876hUP3vMzBv7oyQH-vKwRhVhPM0GzqIH6LNXCZQ5HILu6rmTQJRBNRCtMKC87lbMSukCJXcKXvxJiAQWYR3OxLTfK9taz6rrTwNuVSpd2u_cMkAbgzUSzlLHLqoeIoYzp7Vh8IqaMOEMCTNme",
  "id": "rs_06fa704fbb869d0b016ab46587a9c887d0a2ce150590c9e12f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.18,\"right_z\":0.16,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The clearer view shows the yellow fruit fell out near the far-right fence, while the pear remains in the blue bowl. I’m stopping the pour and returning the bowl upright to a safe area of the table.\"}",
  "call_id": "call_S9Rj8Sa8O66AfQZMXBUP8ZtV",
  "id": "fc_06fa704fbb869d0b016ab46590736487d0aceb8e21dc890a69",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_S9Rj8Sa8O66AfQZMXBUP8ZtV",
  "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]: [-0.02, 0.8791, 0.6411, -0.5652, -0.0139, -0.0338, 0.9898, 0.7937, 2.5832, 3.1252, -1.5078, 0.6548, 0.4892, 0.1069]\nstate[eef_state]: left_x=0.2753 left_y=0.0005 left_z=0.1385 left_yaw=0.0029 left_pitch=-0.23 left_roll=0.0015 left_gripper=0.9898 right_x=0.4545 right_y=0.3138 right_z=0.2569 right_yaw=-0.011 right_pitch=-0.1522 right_roll=-0.1763 right_gripper=0.1069\nstate[joint_eff]: [-0.2256, -1.6342, 6.9128, 1.5702, -0.0513, -0.0366, -0.0073, -1.1282, -18.0034, 6.1744, 1.9512, 0.4469, 0.2906, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f91943d8ab5e5f370def57b3e91427031859fecdaf17cdbb34f1de5e0ce8f4fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7e433e13f98d991c755d017d2b0cc68484bb32b387c81db7ca10046f9e2d942",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb5f2612cc893529e12e4b5be44d7af4e9d3734dd76a0efd1b7fb095cd37018b",
      "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 · 8.427 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]: [-0.02, 0.8696, 0.6411, -0.5472, -0.0135, -0.0341, 0.9898, 0.3058, 1.4944, 0.6727, 0.2073, 0.2405, 0.1638, 0.1057]\nstate[eef_state]: left_x=0.2782 left_y=0.0004 left_z=0.144 left_yaw=0.0027 left_pitch=-0.2025 left_roll=0.0003 left_gripper=0.9898 right_x=0.4009 right_y=0.0862 right_z=0.0975 right_yaw=0.0178 right_pitch=-0.0242 right_roll=-0.001 right_gripper=0.1057\nstate[joint_eff]: [-0.0889, -1.7709, 6.8991, 1.5263, -0.0366, -0.0708, -0.0122, 0.1709, -7.8017, 8.9915, 2.2589, 0.2173, 0.0122, 0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.02, 0.8787, 0.6411, -0.564, -0.0135, -0.0338, 0.9898, 0.9932, 2.6957, 2.9166, -1.4757, 1.0065, 0.4065, 0.1069]\nstate[eef_state]: left_x=0.2755 left_y=0.0005 left_z=0.1388 left_yaw=0.0026 left_pitch=-0.2285 left_roll=0.0012 left_gripper=0.9898 right_x=0.4142 right_y=0.3688 right_z=0.1818 right_yaw=0.0161 right_pitch=-0.1042 right_roll=-0.665 right_gripper=0.1069\nstate[joint_eff]: [-0.0479, -2.0581, 6.8308, 1.6093, -0.0171, -0.0415, -0.0073, 0.5265, -15.1726, 7.9658, 0.6178, 0.6276, -0.0806, -0.0024]",
      "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]: [-0.02, 0.8791, 0.6411, -0.5652, -0.0139, -0.0338, 0.9898, 0.7937, 2.5832, 3.1252, -1.5078, 0.6548, 0.4892, 0.1069]\nstate[eef_state]: left_x=0.2753 left_y=0.0005 left_z=0.1385 left_yaw=0.0029 left_pitch=-0.23 left_roll=0.0015 left_gripper=0.9898 right_x=0.4545 right_y=0.3138 right_z=0.2569 right_yaw=-0.011 right_pitch=-0.1522 right_roll=-0.1763 right_gripper=0.1069\nstate[joint_eff]: [-0.2256, -1.6342, 6.9128, 1.5702, -0.0513, -0.0366, -0.0073, -1.1282, -18.0034, 6.1744, 1.9512, 0.4469, 0.2906, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f91943d8ab5e5f370def57b3e91427031859fecdaf17cdbb34f1de5e0ce8f4fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7e433e13f98d991c755d017d2b0cc68484bb32b387c81db7ca10046f9e2d942",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb5f2612cc893529e12e4b5be44d7af4e9d3734dd76a0efd1b7fb095cd37018b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGWXfxq5l-IlLZibeCy0wifJ852O61olCgzbVLt9zHZUp-VkeUW30ipOV8_rj5N-qXJfFckqnak7vgQaKiwyxUbKHUe4xflqOQiX446ZHQeYXbiuXQypW20GBkqh2upzq6vWvuCYDyN0PYLO6_8HaI_9xXN5LAOxQwmlZ3XElIHVLeui-C3pgpo6i7yXyN0__NJG5Kb0NL-81m2gnhU0k4H2_BM-VVbm9G9YhOh_8enaZijZRsFm449mwCVkbepixX8ciT50PWof0OEuef2wszw5znzBk0qbSZSBoui2crqQkfdomy5tnUDqsRmzmnFgo2qA9pKkS0xfSgVHiMthPC9qkxa_DjYlJ9HwtLh9b042gXJMDi3P3QMaNR3sdsVp8l9sl0Cn5KCbv0jQKx3--cCnklr7gMvGYs1svWExB-ADWRFAGiJTCTBOTWdw9Vl73Pf3NVm9K-jlF1y9CYzqsvA6PMY_pJ8cRchEtyJJKPVNJTVF5hzvyNB9WRv7DiNqbwqH9y37E3c1fjCbAP6mUSgtF6fWWGsmVYb8Wnhq2g2jDRECIFtFP6pLSAi7b3friKecOJhVqBypvGltoG17oGNMU--FJvRL2pBGSKKwBbM3EfcK4YY_6N9XF49_WZFidCNlI1Ctv-JGa0m97mNX6rKh3MTbtGdVDo-XySMS0AJzy6R4ZihqHe5HLAs5jFqiCNnErtmnxVVgoBout3Q_OUMCv3_6YQVgBB5i2D1CCDZ7MB5oMDWpdA0Wfx-YWKRJNSEBpX-AAfkcQm2x6k5MXCU8clCc6cZY_GIMTFZ7APWgrb671FKTOwRio3DvqlD_LqerfyZq_D-UADcf_cLXWv7NWIwBM_AqwiuMmUpdBBpqkTh6Rvj8rVSI_BCiMb4G41N0YCGryjMcKuu3QYlhdDlH3vrUKdXErlWQ1iCAe5g88fW1W1uFwk0D7NnKMBeRaOZ4JVhvKiWR3inFKwzABta6bgSZ7PoBZigA0YwNZHns5allGegMso6NsFrtPEJesM0KvKhFUh-M9RA9n1SMtG79osTmYR_81ROfoqtmLLazI5biM0GLhCtSA_oSW99mDl7YztfOXhL_bq36w9Yy53fSdon8VGfG9sX1LdXSgcZNOuDf4B6ZxTzme8DsfD28f4ESTfDDPs7yfgz5FWnEjjkHTsDoejxJ2D0Pu63HVGxpokodYPpnaNhIlkzXywu_N9RtUdJleWZ6bX-UjZCRNaj6F-7zn6Us3OWDFy3GAnCgYYIcQ65z44Fn0sHpsieQXXQ0djyTlJCpQSY9gtJQcI1Q8oXlSYsR0rJilpK0j4mGKxqUuLtdjRMmWtYG6eBeHTH8F1c603ZvfirbwWUghHWdWCPEiut5fk5lCHyIbYmcVMiMSgUSSFMa57jmwO6mUFUWMoJGo_mTVCiT7r5XTzytXHSVh9S98zHlBGsZ3xMgwKA0hWmPSVFx_SjXRJCHnab-VEJMO6W6ifzBneFYoQoaJCG5p1bRjjpCO0cH9YR1Et2_-pAMOMj4Esx1aHCqwbZ304bXJ8-Wd9di2GqD82my7Mj1Q5LGeBoRG6nuB0QM0gk=",
  "id": "rs_06fa704fbb869d0b016ab46594f86887d0b614cbcbda855dfa",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.16,\"right_z\":0.34,\"right_yaw\":0,\"right_pitch\":0.3,\"right_roll\":0},\"note\":\"The arm did not reach the return pose and has folded into an awkward configuration. I’m first raising and retracting it to regain a controllable path before setting the bowl down.\"}",
  "call_id": "call_3ffFZuI6b65yn7Y5DSQ0sgZM",
  "id": "fc_06fa704fbb869d0b016ab465968e7087d0998c7bd3dbb14896",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3ffFZuI6b65yn7Y5DSQ0sgZM",
  "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]: [-0.02, 0.8806, 0.6411, -0.569, -0.0139, -0.0338, 0.9898, 0.9443, 2.2013, 3.1119, -1.5467, 0.7895, 0.3916, 0.1069]\nstate[eef_state]: left_x=0.2747 left_y=0.0005 left_z=0.1374 left_yaw=0.003 left_pitch=-0.2353 left_roll=0.0016 left_gripper=0.9898 right_x=0.3538 right_y=0.281 right_z=0.4402 right_yaw=0.099 right_pitch=0.1361 right_roll=-0.0829 right_gripper=0.1069\nstate[joint_eff]: [-0.253, -1.4701, 6.8308, 1.5116, -0.0611, -0.0562, -0.0122, -4.3966, -9.5658, 4.9026, 1.5849, 0.7546, 0.2564, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bc15defab88e486c6234a06c8ac40d79b7e7954e8c126d4ec54024f7c6d932d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42f64f8d744010125610d2e59c037107e20b208c48438e669505ad19a7e609eb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e558d0418a9423108fffff4de91c6c48617d3f5ddc7f41e62f9ea8ad7069d783",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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