adhoc

completed
2026-09-23T23:26:18.007240+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
243 s
total steps
291
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

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: 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 fruit beside the blue bowl, with the large white bowl on the left. I’m positioning the right gripper above the green fruit to pick it up first.
move_to
right_x0.3300right_y0.0650right_z0.1300right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8001, 0.6136, -0.3824, -0.0143, -0.0296, 0.9906, -0.0227, 0.8005, 0.6189, -0.387, -0.0166, -0.0341, 0.9992] state[eef_state]: left_x=0.296 left_y=-0.0002 left_z=0.1822 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9906 right_x=0.2961 right_y=-0.0002 right_z=0.1836 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9992 state[joint_eff]: [-0.5812, -1.7846, 9.6479, 1.7851, -0.0904, 0.1734, -0.5153, -0.294, -1.5932, 9.1692, 1.8339, -0.0708, 0.1832, -0.0952] 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":0.33,"right_y":0.065,"right_z":0.13,"right_gripper":1},"note":"I see a yellow fruit and a green fruit beside the blue bowl, with the large white bowl on the left. I’m positioning the right gripper above the green fruit to pick it up first."})
tool
executing move_to over 6 steps (0.6s)
step 6
top_cam
camera top_cam step 6
left_cam
camera left_cam step 6
right_cam
camera right_cam step 6
assistant
agent noteThe green fruit is to the right of the jaw centre in the wrist view. I’m shifting the gripper right and lowering toward the fruit while keeping the jaws open.
move_to
right_x0.3500right_y0.0000right_z0.0650
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8032, 0.6132, -0.3901, -0.0139, -0.0307, 0.99, 0.3302, 1.0866, 0.5163, -0.0669, 0.2581, 0.1402, 0.9992] state[eef_state]: left_x=0.2952 left_y=-0.0002 left_z=0.1796 left_yaw=0.0003 left_pitch=-0.0111 left_roll=-0.0009 left_gripper=0.99 right_x=0.3251 right_y=0.0676 right_z=0.1207 right_yaw=0.0283 right_pitch=-0.0446 right_roll=-0.0187 right_gripper=0.9992 state[joint_eff]: [-0.3487, -1.347, 7.159, 1.7949, -0.0513, -0.0415, -0.0806, -0.2393, -3.7675, 6.5573, 2.0537, 0.232, 0.1636, -0.0952] camera 'top_cam' (step 6): [image omitted: streamed camera frame] camera 'left_cam' (step 6): [image omitted: streamed camera frame] camera 'right_cam' (step 6): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.0,"right_z":0.065},"note":"The green fruit is to the right of the jaw centre in the wrist view. I’m shifting the gripper right and lowering toward the fruit while keeping the jaws open."})
tool
executing move_to over 6 steps (0.6s)
step 12
top_cam
camera top_cam step 12
left_cam
camera left_cam step 12
right_cam
camera right_cam step 12
assistant
agent noteThe green fruit is now close to the jaw centre and near the bottom of the wrist image. I’m making a small forward correction and lowering the fingertips around its sides.
move_to
right_x0.3730right_y-0.0120right_z0.0180
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8059, 0.6132, -0.4015, -0.0135, -0.0307, 0.9899, -0.0265, 1.3205, 0.3874, 0.2878, -0.0246, -0.0647, 0.9991] state[eef_state]: left_x=0.2938 left_y=-0.0002 left_z=0.1765 left_yaw=-0.0 left_pitch=-0.0252 left_roll=-0.0008 left_gripper=0.9899 right_x=0.346 right_y=-0.0012 right_z=0.0584 right_yaw=0.0195 right_pitch=-0.0767 right_roll=-0.0179 right_gripper=0.9991 state[joint_eff]: [-0.2667, -1.4154, 7.0085, 1.8339, -0.0171, -0.0513, -0.022, 0.0752, -4.4376, 5.7915, 1.8584, -0.1294, -0.1001, -0.022] camera 'top_cam' (step 12): [image omitted: streamed camera frame] camera 'left_cam' (step 12): [image omitted: streamed camera frame] camera 'right_cam' (step 12): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.373,"right_y":-0.012,"right_z":0.018},"note":"The green fruit is now close to the jaw centre and near the bottom of the wrist image. I’m making a small forward correction and lowering the fingertips around its sides."})
tool
executing move_to over 3 steps (0.3s)
step 15
top_cam
camera top_cam step 15
left_cam
camera left_cam step 15
right_cam
camera right_cam step 15
assistant
agent noteThe green fruit is centred between the open 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]: [-0.0212, 0.8104, 0.6132, -0.4149, -0.0135, -0.0307, 0.9899, -0.0631, 1.6005, 0.4122, 0.5583, -0.065, -0.091, 0.9991] state[eef_state]: left_x=0.2922 left_y=-0.0002 left_z=0.1725 left_yaw=-0.0 left_pitch=-0.0431 left_roll=-0.0005 left_gripper=0.9899 right_x=0.3743 right_y=-0.0086 right_z=0.026 right_yaw=0.0311 right_pitch=-0.0601 right_roll=-0.0161 right_gripper=0.9991 state[joint_eff]: [-0.335, -1.2103, 7.0085, 1.8486, -0.0415, -0.0464, -0.0171, -0.5949, -4.7521, 4.5607, 1.1893, -0.0073, -0.0757, -0.0171] camera 'top_cam' (step 15): [image omitted: streamed camera frame] camera 'left_cam' (step 15): [image omitted: streamed camera frame] camera 'right_cam' (step 15): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The green fruit is centred between the open 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 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteThe gripper stopped at an opening of about 6 cm, consistent with holding the green fruit. I’m lifting it a short distance to check the grasp, and restoring the idle arm’s parked height.
move_to
right_z0.0950left_x0.2960left_y0.0000left_z0.1840
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8124, 0.6132, -0.4236, -0.0135, -0.0311, 0.9899, -0.0658, 1.6043, 0.4149, 0.5835, -0.0654, -0.0952, 0.642] state[eef_state]: left_x=0.291 left_y=-0.0002 left_z=0.1702 left_yaw=0.0002 left_pitch=-0.0538 left_roll=-0.0005 left_gripper=0.9899 right_x=0.3785 right_y=-0.0098 right_z=0.0306 right_yaw=0.0309 right_pitch=-0.0362 right_roll=-0.0216 right_gripper=0.642 state[joint_eff]: [-0.0479, -1.4974, 7.1043, 1.746, -0.0269, -0.0757, -0.0171, -0.0205, -5.9419, 4.588, 1.4286, -0.0513, -0.022, 1.0281] camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.095,"left_x":0.296,"left_y":0,"left_z":0.184},"note":"The gripper stopped at an opening of about 6 cm, consistent with holding the green fruit. I’m lifting it a short distance to check the grasp, and restoring the idle arm’s parked height."})
tool
executing move_to over 5 steps (0.5s)
step 30
top_cam
camera top_cam step 30
left_cam
camera left_cam step 30
right_cam
camera right_cam step 30
assistant
agent noteThe green fruit remains held after the test lift. I’m raising it above the blue bowl’s rim and moving toward the bowl centre.
move_to
right_x0.4750right_y0.1350right_z0.2050right_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]: [-0.0208, 0.8452, 0.6437, -0.4751, -0.0139, -0.0334, 0.9898, -0.0658, 1.3651, 0.519, 0.181, -0.065, -0.0982, 0.6418] state[eef_state]: left_x=0.2894 left_y=0.0 left_z=0.165 left_yaw=0.0022 left_pitch=-0.1076 left_roll=-0.0009 left_gripper=0.9898 right_x=0.3676 right_y=-0.0091 right_z=0.0749 right_yaw=0.0326 right_pitch=-0.0951 right_roll=-0.0185 right_gripper=0.6418 state[joint_eff]: [0.0068, -1.8256, 9.5658, 1.8437, -0.0269, 0.022, -0.0171, -0.0615, -6.0103, 8.4034, 1.7753, -0.0659, -0.0122, 1.033] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.475,"right_y":0.135,"right_z":0.205,"right_pitch":0,"right_roll":0},"note":"The green fruit remains held after the test lift. I’m raising it above the blue bowl’s rim and moving toward the bowl centre."})
tool
executing move_to over 13 steps (1.3s)
step 43
top_cam
camera top_cam step 43
left_cam
camera left_cam step 43
right_cam
camera right_cam step 43
assistant
agent noteThe held fruit is above the blue bowl, with the bowl slightly to the right of the gripper. I’m centring the fruit and lowering it just inside the rim before releasing.
move_to
right_x0.4750right_y0.1150right_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]: [-0.0212, 0.8482, 0.6415, -0.4839, -0.0135, -0.0338, 0.9899, 0.3702, 1.6676, 1.2453, -0.2527, 0.2619, 0.1425, 0.6455] state[eef_state]: left_x=0.2879 left_y=-0.0001 left_z=0.1614 left_yaw=0.0018 left_pitch=-0.1217 left_roll=-0.0012 left_gripper=0.9899 right_x=0.4642 right_y=0.135 right_z=0.1788 right_yaw=0.0632 right_pitch=-0.0799 right_roll=-0.0304 right_gripper=0.6455 state[joint_eff]: [-0.0205, -1.7436, 7.1453, 1.7118, -0.0269, -0.0269, -0.0073, -0.0752, -8.9368, 9.6342, 2.0293, 0.2564, 0.2076, 0.7302] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 43): [image omitted: streamed camera frame] camera 'left_cam' (step 43): [image omitted: streamed camera frame] camera 'right_cam' (step 43): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.475,"right_y":0.115,"right_z":0.115},"note":"The held fruit is above the blue bowl, with the bowl slightly to the right of the gripper. I’m centring the fruit and lowering it just inside the rim before releasing."})
tool
executing move_to over 5 steps (0.5s)
step 48
top_cam
camera top_cam step 48
left_cam
camera left_cam step 48
right_cam
camera right_cam step 48
assistant
agent noteThe green fruit is positioned inside the blue bowl’s opening. I’m opening the jaws to leave it in the bowl.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8482, 0.6415, -0.4911, -0.0139, -0.0338, 0.9898, 0.3054, 1.7527, 1.0733, -0.0265, 0.205, 0.1005, 0.6459] state[eef_state]: left_x=0.2867 left_y=-0.0 left_z=0.1601 left_yaw=0.0021 left_pitch=-0.1289 left_roll=-0.0007 left_gripper=0.9898 right_x=0.4686 right_y=0.1138 right_z=0.1069 right_yaw=0.0675 right_pitch=-0.1203 right_roll=-0.0368 right_gripper=0.6459 state[joint_eff]: [-0.0479, -1.5248, 7.1179, 1.7118, -0.022, -0.0611, -0.0171, 0.0615, -8.7863, 6.6803, 2.0098, 0.0855, -0.0464, 0.8181] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 48): [image omitted: streamed camera frame] camera 'left_cam' (step 48): [image omitted: streamed camera frame] camera 'right_cam' (step 48): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The green fruit is positioned inside the blue bowl’s opening. I’m opening the jaws to leave it in the bowl."})
tool
executing move_to over 4 steps (0.4s)
step 52
top_cam
camera top_cam step 52
left_cam
camera left_cam step 52
right_cam
camera right_cam step 52
assistant
agent noteThe green fruit has dropped into the blue bowl. I’m moving above the remaining yellow fruit for the second pickup.
move_to
right_x0.3650right_y0.2200right_z0.1500right_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]: [-0.0212, 0.8482, 0.6415, -0.4919, -0.0139, -0.0338, 0.9898, 0.3054, 1.7527, 1.0733, -0.0341, 0.205, 0.094, 0.9956] state[eef_state]: left_x=0.2866 left_y=-0.0 left_z=0.1599 left_yaw=0.0021 left_pitch=-0.1297 left_roll=-0.0007 left_gripper=0.9898 right_x=0.4674 right_y=0.1134 right_z=0.1055 right_yaw=0.0708 right_pitch=-0.1279 right_roll=-0.0436 right_gripper=0.9956 state[joint_eff]: [-0.253, -1.1966, 6.9675, 1.6044, -0.0464, -0.0366, -0.0122, -0.1299, -8.759, 6.4615, 1.7265, 0.0317, 0.0269, -0.1392] camera 'top_cam' (step 52): [image omitted: streamed camera frame] camera 'left_cam' (step 52): [image omitted: streamed camera frame] camera 'right_cam' (step 52): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.365,"right_y":0.22,"right_z":0.15,"right_pitch":0,"right_roll":0},"note":"The green fruit has dropped into the blue bowl. I’m moving above the remaining yellow fruit for the second pickup."})
tool
executing move_to over 9 steps (0.9s)
step 61
top_cam
camera top_cam step 61
left_cam
camera left_cam step 61
right_cam
camera right_cam step 61
assistant
agent noteThe yellow fruit is near the bottom of the wrist view and slightly right of centre. I’m shifting right, advancing a little, and lowering the open jaws around it.
move_to
right_x0.3900right_y0.1920right_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8509, 0.6415, -0.4942, -0.0139, -0.0338, 0.9898, 0.7574, 1.5642, 0.952, -0.1036, 0.5465, 0.3782, 0.9962] state[eef_state]: left_x=0.2863 left_y=-0.0 left_z=0.1588 left_yaw=0.0021 left_pitch=-0.1346 left_roll=-0.0006 left_gripper=0.9898 right_x=0.3659 right_y=0.2245 right_z=0.1394 right_yaw=0.0942 right_pitch=-0.0269 right_roll=-0.0187 right_gripper=0.9962 state[joint_eff]: [-0.0752, -1.7846, 7.1316, 1.6874, -0.0464, -0.0611, -0.0122, 0.0068, -9.5795, 6.065, 1.5067, 0.398, 0.1392, 0.0562] camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.192,"right_z":0.025},"note":"The yellow fruit is near the bottom of the wrist view and slightly right of centre. I’m shifting right, advancing a little, and lowering the open jaws around it."})
tool
executing move_to over 8 steps (0.8s)
step 69
top_cam
camera top_cam step 69
left_cam
camera left_cam step 69
right_cam
camera right_cam step 69
assistant
agent noteThe gripper is at the yellow fruit’s position, with the fruit now hidden beneath the fingertips. I’m closing the jaws for the pickup.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8513, 0.6415, -0.4946, -0.0135, -0.0338, 0.9898, 0.6357, 1.8202, 0.7277, 0.4095, 0.4568, 0.2874, 0.9963] state[eef_state]: left_x=0.2863 left_y=-0.0001 left_z=0.1586 left_yaw=0.0018 left_pitch=-0.1354 left_roll=-0.0008 left_gripper=0.9898 right_x=0.389 right_y=0.1947 right_z=0.0338 right_yaw=0.092 right_pitch=-0.034 right_roll=-0.0276 right_gripper=0.9963 state[joint_eff]: [-0.1026, -1.5385, 6.9812, 1.619, -0.0464, -0.0513, -0.0122, -0.5128, -7.241, 4.0137, 1.4774, 0.1148, -0.0366, -0.0073] camera 'top_cam' (step 69): [image omitted: streamed camera frame] camera 'left_cam' (step 69): [image omitted: streamed camera frame] camera 'right_cam' (step 69): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The gripper is at the yellow fruit’s position, with the fruit now hidden beneath the fingertips. I’m closing the jaws for the pickup."})
tool
executing move_to over 10 steps (1.0s)
step 79
top_cam
camera top_cam step 79
left_cam
camera left_cam step 79
right_cam
camera right_cam step 79
assistant
agent noteThe jaws closed almost completely, so this was an empty grasp. I’m reopening them and retrying 2 cm farther forward and slightly lower.
move_to
right_gripper1.0000right_x0.4120right_y0.1900right_z0.0050
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.852, 0.6415, -0.4946, -0.0135, -0.0338, 0.9898, 0.6304, 1.8225, 0.7231, 0.4389, 0.4866, 0.263, 0.0355] state[eef_state]: left_x=0.2863 left_y=-0.0001 left_z=0.1584 left_yaw=0.0018 left_pitch=-0.1362 left_roll=-0.0008 left_gripper=0.9898 right_x=0.3933 right_y=0.1892 right_z=0.038 right_yaw=0.0765 right_pitch=-0.0057 right_roll=-0.052 right_gripper=0.0355 state[joint_eff]: [-0.3487, -1.5521, 6.9949, 1.6239, -0.0464, -0.0366, -0.0122, 0.3214, -7.2957, 5.7641, 1.2283, -0.1245, 0.1978, 0.8034] camera 'top_cam' (step 79): [image omitted: streamed camera frame] camera 'left_cam' (step 79): [image omitted: streamed camera frame] camera 'right_cam' (step 79): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.412,"right_y":0.19,"right_z":0.005},"note":"The jaws closed almost completely, so this was an empty grasp. I’m reopening them and retrying 2 cm farther forward and slightly lower."})
tool
executing move_to over 10 steps (1.0s)
step 89
top_cam
camera top_cam step 89
left_cam
camera left_cam step 89
right_cam
camera right_cam step 89
assistant
agent noteThe jaws are now lower and farther forward at the yellow fruit’s location. I’m closing once more, then I’ll check the opening before lifting.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.852, 0.6415, -0.495, -0.0135, -0.0338, 0.9898, 0.6037, 1.9629, 0.7471, 0.5713, 0.4664, 0.2298, 0.9953] state[eef_state]: left_x=0.2863 left_y=-0.0001 left_z=0.1583 left_yaw=0.0018 left_pitch=-0.1366 left_roll=-0.0008 left_gripper=0.9898 right_x=0.4091 right_y=0.1899 right_z=0.0104 right_yaw=0.0837 right_pitch=0.0007 right_roll=-0.0612 right_gripper=0.9953 state[joint_eff]: [-0.3214, -1.3333, 7.0359, 1.5995, -0.0317, -0.0659, -0.0122, -0.5402, -6.7214, 5.8325, 1.6777, 0.1197, 0.1343, 0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 89): [image omitted: streamed camera frame] camera 'left_cam' (step 89): [image omitted: streamed camera frame] camera 'right_cam' (step 89): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The jaws are now lower and farther forward at the yellow fruit’s location. I’m closing once more, then I’ll check the opening before lifting."})
tool
executing move_to over 10 steps (1.0s)
step 99
top_cam
camera top_cam step 99
left_cam
camera left_cam step 99
right_cam
camera right_cam step 99
assistant
agent noteThe jaws have stopped slightly open on this attempt. I’m making a short lift to see whether they hold the yellow fruit or have contacted the nearby bowl.
move_to
right_z0.0900
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8539, 0.6415, -0.4976, -0.0139, -0.0338, 0.9898, 0.5983, 1.9446, 0.749, 0.6128, 0.5072, 0.1974, 0.104] state[eef_state]: left_x=0.2859 left_y=-0.0 left_z=0.1573 left_yaw=0.0022 left_pitch=-0.1411 left_roll=-0.0005 left_gripper=0.9898 right_x=0.4178 right_y=0.1853 right_z=0.0284 right_yaw=0.0621 right_pitch=0.0646 right_roll=-0.0782 right_gripper=0.104 state[joint_eff]: [-0.0205, -1.6342, 6.9265, 1.619, -0.0317, -0.0659, -0.0122, 0.3624, -7.2137, 4.6838, 1.2527, -0.3004, 0.2613, 0.5641] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 99): [image omitted: streamed camera frame] camera 'left_cam' (step 99): [image omitted: streamed camera frame] camera 'right_cam' (step 99): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.09},"note":"The jaws have stopped slightly open on this attempt. I’m making a short lift to see whether they hold the yellow fruit or have contacted the nearby bowl."})
tool
executing move_to over 4 steps (0.4s)
step 103
top_cam
camera top_cam step 103
left_cam
camera left_cam step 103
right_cam
camera right_cam step 103
assistant
agent noteThe yellow fruit appears to have lifted at its narrow end, while the green fruit remains in the bowl. I’m carrying the yellow fruit over the blue bowl for release.
move_to
right_x0.4950right_y0.1450right_z0.1800right_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]: [-0.0212, 0.8547, 0.6415, -0.498, -0.0139, -0.0338, 0.9898, 0.5999, 1.7821, 0.7944, 0.4103, 0.5003, 0.1825, 0.1027] state[eef_state]: left_x=0.2859 left_y=-0.0 left_z=0.157 left_yaw=0.0022 left_pitch=-0.1423 left_roll=-0.0004 left_gripper=0.9898 right_x=0.4165 right_y=0.1865 right_z=0.076 right_yaw=0.0769 right_pitch=0.0666 right_roll=-0.0853 right_gripper=0.1027 state[joint_eff]: [-0.3487, -1.4974, 7.0632, 1.6239, -0.0269, -0.0611, -0.0073, -0.2256, -9.2786, 7.7197, 1.6484, 0.2564, 0.1197, -0.149] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 103): [image omitted: streamed camera frame] camera 'left_cam' (step 103): [image omitted: streamed camera frame] camera 'right_cam' (step 103): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.495,"right_y":0.145,"right_z":0.18,"right_pitch":0,"right_roll":0},"note":"The yellow fruit appears to have lifted at its narrow end, while the green fruit remains in the bowl. I’m carrying the yellow fruit over the blue bowl for release."})
tool
executing move_to over 7 steps (0.7s)
step 110
top_cam
camera top_cam step 110
left_cam
camera left_cam step 110
right_cam
camera right_cam step 110
assistant
agent noteThe cleared overhead view shows the yellow fruit still on the table, so the previous lift did not secure it. It is now closer to the front edge; I’m returning above its updated position with open jaws.
move_to
right_x0.3250right_y0.1900right_z0.0750right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8581, 0.6415, -0.5041, -0.0135, -0.0338, 0.9898, 0.3771, 1.755, 1.2259, -0.0544, 0.2703, 0.1295, 0.1026] state[eef_state]: left_x=0.2851 left_y=-0.0001 left_z=0.155 left_yaw=0.0019 left_pitch=-0.1518 left_roll=-0.0005 left_gripper=0.9898 right_x=0.491 right_y=0.1476 right_z=0.1674 right_yaw=0.0711 right_pitch=0.0087 right_roll=-0.0182 right_gripper=0.1026 state[joint_eff]: [-0.3761, -1.853, 6.9265, 1.6484, -0.0171, -0.0611, -0.0122, -0.5675, -8.9504, 8.6222, 1.8291, 0.0806, 0.0171, -0.022] camera 'top_cam' (step 110): [image omitted: streamed camera frame] camera 'left_cam' (step 110): [image omitted: streamed camera frame] camera 'right_cam' (step 110): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.325,"right_y":0.19,"right_z":0.075,"right_gripper":1},"note":"The cleared overhead view shows the yellow fruit still on the table, so the previous lift did not secure it. It is now closer to the front edge; I’m returning above its updated position with open jaws."})
tool
executing move_to over 13 steps (1.3s)
step 123
top_cam
camera top_cam step 123
left_cam
camera left_cam step 123
right_cam
camera right_cam step 123
assistant
agent noteThe yellow fruit is aligned with the jaw centre near the bottom of the wrist view. I’m descending straight down at this position rather than advancing past it.
move_to
right_x0.3270right_y0.1900right_z0.0120
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8639, 0.6415, -0.5129, -0.0135, -0.0338, 0.9898, 0.7715, 1.5383, 0.5919, 0.202, 0.551, 0.3538, 0.9965] state[eef_state]: left_x=0.2839 left_y=-0.0 left_z=0.1519 left_yaw=0.0019 left_pitch=-0.1663 left_roll=-0.0001 left_gripper=0.9898 right_x=0.3241 right_y=0.1912 right_z=0.0628 right_yaw=0.1173 right_pitch=-0.0482 right_roll=-0.0588 right_gripper=0.9965 state[joint_eff]: [-0.0068, -1.6889, 6.9128, 1.746, -0.0415, -0.0464, -0.0073, 0.1299, -7.6923, 5.9556, 1.8046, 0.4371, 0.2222, -0.0513] camera 'top_cam' (step 123): [image omitted: streamed camera frame] camera 'left_cam' (step 123): [image omitted: streamed camera frame] camera 'right_cam' (step 123): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.327,"right_y":0.19,"right_z":0.012},"note":"The yellow fruit is aligned with the jaw centre near the bottom of the wrist view. I’m descending straight down at this position rather than advancing past it."})
tool
executing move_to over 4 steps (0.4s)
step 127
top_cam
camera top_cam step 127
left_cam
camera left_cam step 127
right_cam
camera right_cam step 127
assistant
agent noteThe yellow fruit is visibly between the jaws at table height. I’m closing the gripper around its body.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8665, 0.6415, -0.5182, -0.0139, -0.0334, 0.9898, 0.7597, 1.7317, 0.5194, 0.4026, 0.5465, 0.3595, 0.9969] state[eef_state]: left_x=0.2831 left_y=0.0001 left_z=0.1502 left_yaw=0.0021 left_pitch=-0.1743 left_roll=0.0006 left_gripper=0.9898 right_x=0.3195 right_y=0.1819 right_z=0.0043 right_yaw=0.1029 right_pitch=-0.1016 right_roll=-0.0915 right_gripper=0.9969 state[joint_eff]: [-0.2256, -1.812, 7.159, 1.5995, -0.0513, -0.0171, -0.0122, -0.253, -7.159, 5.3128, 1.1502, 0.0317, -0.4957, 0.022] camera 'top_cam' (step 127): [image omitted: streamed camera frame] camera 'left_cam' (step 127): [image omitted: streamed camera frame] camera 'right_cam' (step 127): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The yellow fruit is visibly between the jaws at table height. I’m closing the gripper around its body."})
tool
executing move_to over 10 steps (1.0s)
step 137
top_cam
camera top_cam step 137
left_cam
camera left_cam step 137
right_cam
camera right_cam step 137
assistant
agent noteThe jaws now hold a roughly 6 cm width, matching the yellow fruit’s body. I’m lifting a few centimetres to verify that it comes off the table.
move_to
right_z0.0750
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8696, 0.6415, -0.5205, -0.0135, -0.0338, 0.9898, 0.7597, 1.7412, 0.5167, 0.4183, 0.5381, 0.3523, 0.6088] state[eef_state]: left_x=0.2828 left_y=-0.0 left_z=0.149 left_yaw=0.002 left_pitch=-0.1797 left_roll=0.0002 left_gripper=0.9898 right_x=0.3194 right_y=0.1835 right_z=0.0022 right_yaw=0.1133 right_pitch=-0.103 right_roll=-0.0903 right_gripper=0.6088 state[joint_eff]: [-0.212, -1.7709, 6.8991, 1.619, -0.0366, -0.0513, -0.0122, -0.1709, -7.4325, 4.6154, 1.2967, 0.232, 0.0562, 0.9939] camera 'top_cam' (step 137): [image omitted: streamed camera frame] camera 'left_cam' (step 137): [image omitted: streamed camera frame] camera 'right_cam' (step 137): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.075},"note":"The jaws now hold a roughly 6 cm width, matching the yellow fruit’s body. I’m lifting a few centimetres to verify that it comes off the table."})
tool
executing move_to over 5 steps (0.5s)
step 142
top_cam
camera top_cam step 142
left_cam
camera left_cam step 142
right_cam
camera right_cam step 142
assistant
agent noteThe yellow fruit has lifted securely with the gripper. I’m carrying it over the blue bowl, which shifted slightly during the earlier attempt.
move_to
right_x0.4800right_y0.1550right_z0.1850right_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]: [-0.0212, 0.8707, 0.6415, -0.5205, -0.0135, -0.0338, 0.9898, 0.7597, 1.5005, 0.6193, 0.1062, 0.5266, 0.3481, 0.6019] state[eef_state]: left_x=0.2828 left_y=-0.0 left_z=0.1487 left_yaw=0.002 left_pitch=-0.1808 left_roll=0.0002 left_gripper=0.9898 right_x=0.3218 right_y=0.1881 right_z=0.0688 right_yaw=0.1259 right_pitch=-0.0829 right_roll=-0.0683 right_gripper=0.6019 state[joint_eff]: [0.0342, -1.3744, 7.0085, 1.5849, -0.0415, -0.0611, -0.0073, -0.2256, -6.2564, 7.4188, 1.5311, 0.3248, 0.0024, 1.033] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 142): [image omitted: streamed camera frame] camera 'left_cam' (step 142): [image omitted: streamed camera frame] camera 'right_cam' (step 142): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.48,"right_y":0.155,"right_z":0.185,"right_pitch":0,"right_roll":0},"note":"The yellow fruit has lifted securely with the gripper. I’m carrying it over the blue bowl, which shifted slightly during the earlier attempt."})
tool
executing move_to over 13 steps (1.3s)
step 155
top_cam
camera top_cam step 155
left_cam
camera left_cam step 155
right_cam
camera right_cam step 155
assistant
agent noteThe yellow fruit is above the blue bowl alongside the green fruit. I’m lowering it closer to the rim to reduce the drop.
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]: [-0.0212, 0.8734, 0.6415, -0.5205, -0.0139, -0.0338, 0.9898, 0.3923, 1.6939, 1.1946, -0.1192, 0.2317, 0.1184, 0.6018] state[eef_state]: left_x=0.2829 left_y=0.0001 left_z=0.148 left_yaw=0.0023 left_pitch=-0.1835 left_roll=0.0005 left_gripper=0.9898 right_x=0.4702 right_y=0.1545 right_z=0.1692 right_yaw=0.1242 right_pitch=-0.0313 right_roll=-0.0165 right_gripper=0.6018 state[joint_eff]: [-0.3897, -1.8667, 6.9675, 1.5751, -0.0513, -0.0366, -0.0073, -0.4444, -8.5675, 8.9915, 1.7167, 0.0366, -0.0269, 0.8962] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 155): [image omitted: streamed camera frame] camera 'left_cam' (step 155): [image omitted: streamed camera frame] camera 'right_cam' (step 155): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.115},"note":"The yellow fruit is above the blue bowl alongside the green fruit. I’m lowering it closer to the rim to reduce the drop."})
tool
executing move_to over 4 steps (0.4s)
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 yellow fruit is now just above the bowl opening. I’m releasing it into the blue bowl.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.878, 0.6415, -0.5343, -0.0139, -0.0338, 0.9898, 0.3889, 1.7645, 1.0626, 0.0105, 0.2272, 0.1116, 0.6038] state[eef_state]: left_x=0.2807 left_y=0.0001 left_z=0.1443 left_yaw=0.0024 left_pitch=-0.2018 left_roll=0.001 left_gripper=0.9898 right_x=0.461 right_y=0.1498 right_z=0.1044 right_yaw=0.127 right_pitch=-0.1025 right_roll=-0.0384 right_gripper=0.6038 state[joint_eff]: [-0.2667, -1.9897, 6.8855, 1.6972, -0.0317, -0.0513, -0.0073, 0.2256, -9.1692, 7.4325, 2.2295, 0.0757, 0.0415, 0.7643] 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_gripper":1},"note":"The yellow fruit is now just above the bowl opening. I’m releasing it into the blue bowl."})
tool
executing move_to over 4 steps (0.4s)
step 163
top_cam
camera top_cam step 163
left_cam
camera left_cam step 163
right_cam
camera right_cam step 163
assistant
agent noteBoth fruits are visible together in the blue bowl. I’m moving clear and aligning with its right-hand rim so I can lift the bowl without gripping the fruits.
move_to
right_x0.4750right_y0.0750right_z0.1700right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.878, 0.6415, -0.5362, -0.0139, -0.0338, 0.9898, 0.3904, 1.7752, 1.0515, 0.0147, 0.2279, 0.1101, 0.9952] state[eef_state]: left_x=0.2804 left_y=0.0001 left_z=0.144 left_yaw=0.0024 left_pitch=-0.2037 left_roll=0.001 left_gripper=0.9898 right_x=0.4585 right_y=0.1494 right_z=0.0957 right_yaw=0.1282 right_pitch=-0.1193 right_roll=-0.0447 right_gripper=0.9952 state[joint_eff]: [-0.2393, -1.3607, 6.9812, 1.5458, -0.0562, 0.0024, -0.0073, -0.2803, -9.8393, 7.2684, 1.6239, 0.1441, 0.0513, 0.0855] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 163): [image omitted: streamed camera frame] camera 'left_cam' (step 163): [image omitted: streamed camera frame] camera 'right_cam' (step 163): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.475,"right_y":0.075,"right_z":0.17,"right_pitch":0,"right_roll":0,"right_yaw":0},"note":"Both fruits are visible together in the blue bowl. I’m moving clear and aligning with its right-hand rim so I can lift the bowl without gripping the fruits."})
tool
executing move_to over 7 steps (0.7s)
step 170
top_cam
camera top_cam step 170
left_cam
camera left_cam step 170
right_cam
camera right_cam step 170
assistant
agent noteThe blue bowl’s outer rim is aligned near the jaw centre, with both fruits on the inside. I’m lowering the open gripper to straddle just that rim.
move_to
right_x0.4780right_y0.0750right_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]: [-0.0212, 0.8791, 0.6415, -0.5392, -0.0139, -0.0338, 0.9898, 0.231, 1.66, 1.0576, -0.0582, 0.189, 0.0917, 0.9962] state[eef_state]: left_x=0.2799 left_y=0.0001 left_z=0.1431 left_yaw=0.0024 left_pitch=-0.2079 left_roll=0.0011 left_gripper=0.9898 right_x=0.4661 right_y=0.0792 right_z=0.1363 right_yaw=0.0123 right_pitch=-0.0785 right_roll=-0.0235 right_gripper=0.9962 state[joint_eff]: [-0.2667, -1.5385, 6.8718, 1.5604, -0.0562, -0.0415, -0.0122, -0.4308, -10.4, 9.8667, 1.8095, 0.105, -0.0366, 0.0904] camera 'top_cam' (step 170): [image omitted: streamed camera frame] camera 'left_cam' (step 170): [image omitted: streamed camera frame] camera 'right_cam' (step 170): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.478,"right_y":0.075,"right_z":0.035},"note":"The blue bowl’s outer rim is aligned near the jaw centre, with both fruits on the inside. I’m lowering the open gripper to straddle just that rim."})
tool
executing move_to over 7 steps (0.7s)
step 177
top_cam
camera top_cam step 177
left_cam
camera left_cam step 177
right_cam
camera right_cam step 177
assistant
agent noteThe descent stopped above the requested height, indicating contact with the bowl area. I’m not pressing farther; I’ll close gently at this height and test whether the rim is captured.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8791, 0.6415, -0.54, -0.0135, -0.0338, 0.9898, 0.2146, 1.8626, 0.9417, 0.3656, 0.1585, 0.102, 0.9962] state[eef_state]: left_x=0.2798 left_y=0.0001 left_z=0.143 left_yaw=0.0021 left_pitch=-0.2086 left_roll=0.0009 left_gripper=0.9898 right_x=0.4936 right_y=0.0827 right_z=0.0774 right_yaw=0.0166 right_pitch=0.0209 right_roll=0.0238 right_gripper=0.9962 state[joint_eff]: [-0.212, -1.6752, 7.0359, 1.5556, -0.0366, -0.0366, -0.0122, -0.3487, -5.7231, 2.8786, 0.4615, 0.2808, -0.3883, -0.0024] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 177): [image omitted: streamed camera frame] camera 'left_cam' (step 177): [image omitted: streamed camera frame] camera 'right_cam' (step 177): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The descent stopped above the requested height, indicating contact with the bowl area. I’m not pressing farther; I’ll close gently at this height and test whether the rim is captured."})
tool
executing move_to over 10 steps (1.0s)
step 187
top_cam
camera top_cam step 187
left_cam
camera left_cam step 187
right_cam
camera right_cam step 187
assistant
agent noteThat close was empty, and the bowl shifted slightly toward the front. I’m lifting clear and realigning with its new right-rim position using a narrower jaw opening to avoid the fruits.
move_to
right_x0.4250right_y0.1100right_z0.1300right_gripper0.6000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8806, 0.6415, -0.5434, -0.0135, -0.0338, 0.9898, 0.2131, 1.8923, 0.918, 0.358, 0.1551, 0.0937, 0.0091] state[eef_state]: left_x=0.2792 left_y=0.0001 left_z=0.142 left_yaw=0.0021 left_pitch=-0.2136 left_roll=0.001 left_gripper=0.9898 right_x=0.4844 right_y=0.0805 right_z=0.0523 right_yaw=0.0224 right_pitch=-0.0393 right_roll=0.0069 right_gripper=0.0091 state[joint_eff]: [-0.335, -1.7983, 7.2821, 1.5556, -0.0513, -0.0757, -0.0122, 0.1846, -11.7265, 7.8427, 1.7705, 0.0806, 0.0611, 0.6862] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 187): [image omitted: streamed camera frame] camera 'left_cam' (step 187): [image omitted: streamed camera frame] camera 'right_cam' (step 187): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.425,"right_y":0.11,"right_z":0.13,"right_gripper":0.6},"note":"That close was empty, and the bowl shifted slightly toward the front. I’m lifting clear and realigning with its new right-rim position using a narrower jaw opening to avoid the fruits."})
tool
executing move_to over 6 steps (0.6s)
step 193
assistant
agent noteThe right rim is now directly beneath the jaw column, and the fruits are farther to the left. I’m lowering to grip the bowl wall rather than its contents.
move_to
right_x0.4250right_y0.1050right_z0.0450
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8841, 0.6415, -0.5453, -0.0139, -0.0338, 0.9898, 0.3428, 1.5803, 0.8772, 0.0986, 0.234, 0.149, 0.5951] state[eef_state]: left_x=0.279 left_y=0.0001 left_z=0.1408 left_yaw=0.0025 left_pitch=-0.2189 left_roll=0.0014 left_gripper=0.9898 right_x=0.4339 right_y=0.1152 right_z=0.126 right_yaw=0.0564 right_pitch=-0.0172 right_roll=0.0115 right_gripper=0.5951 state[joint_eff]: [-0.3077, -1.6068, 6.8855, 1.619, -0.0611, -0.0366, -0.0122, 0.2393, -8.1983, 6.7897, 1.8046, 0.2759, 0.1099, 0.0366] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 193): [image omitted: streamed camera frame] camera 'left_cam' (step 193): [image omitted: streamed camera frame] camera 'right_cam' (step 193): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.425,"right_y":0.105,"right_z":0.045},"note":"The right rim is now directly beneath the jaw column, and the fruits are farther to the left. I’m lowering to grip the bowl wall rather than its contents."})
tool
executing move_to over 6 steps (0.6s)
step 199
assistant
agent noteThe fingertips now straddle the blue bowl’s right wall at rim height. I’m closing to secure the bowl for lifting.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8845, 0.6415, -0.5465, -0.0135, -0.0338, 0.9898, 0.3233, 1.7325, 0.6918, 0.403, 0.2302, 0.1455, 0.5965] state[eef_state]: left_x=0.2788 left_y=0.0001 left_z=0.1405 left_yaw=0.0022 left_pitch=-0.2205 left_roll=0.0012 left_gripper=0.9898 right_x=0.422 right_y=0.1027 right_z=0.0476 right_yaw=0.0416 right_pitch=-0.0497 right_roll=0.0015 right_gripper=0.5965 state[joint_eff]: [-0.1709, -1.5521, 6.8581, 1.5409, -0.0171, -0.0366, -0.0122, -0.3624, -6.1333, 4.5607, 1.5507, -0.1099, -0.1148, 0.1245] camera 'top_cam' (step 199): [image omitted: streamed camera frame] camera 'left_cam' (step 199): [image omitted: streamed camera frame] camera 'right_cam' (step 199): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The fingertips now straddle the blue bowl’s right wall at rim height. I’m closing to secure the bowl for lifting."})
tool
executing move_to over 6 steps (0.6s)
step 205
assistant
agent noteThe jaws are nearly closed, which could be either an empty grasp or the bowl’s thin wall. I’m testing with a short vertical lift and watching whether the entire bowl follows.
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]: [-0.0212, 0.8845, 0.6415, -0.5468, -0.0135, -0.0338, 0.9898, 0.3237, 1.7439, 0.6765, 0.4175, 0.2188, 0.1463, 0.0216] state[eef_state]: left_x=0.2787 left_y=0.0001 left_z=0.1404 left_yaw=0.0022 left_pitch=-0.2208 left_roll=0.0012 left_gripper=0.9898 right_x=0.4182 right_y=0.1036 right_z=0.0398 right_yaw=0.0509 right_pitch=-0.0633 right_roll=0.0053 right_gripper=0.0216 state[joint_eff]: [-0.1709, -1.7162, 6.9949, 1.5458, -0.0562, -0.0659, -0.0073, -0.0205, -7.7197, 6.8855, 1.4628, 0.232, -0.1685, 0.7643] camera 'top_cam' (step 205): [image omitted: streamed camera frame] camera 'left_cam' (step 205): [image omitted: streamed camera frame] camera 'right_cam' (step 205): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.115},"note":"The jaws are nearly closed, which could be either an empty grasp or the bowl’s thin wall. I’m testing with a short vertical lift and watching whether the entire bowl follows."})
tool
executing move_to over 5 steps (0.5s)
step 210
assistant
agent noteThe blue bowl and both fruits moved together during the lift, confirming a rim grasp. I’m carrying the bowl above the right side of the large white bowl with extra height for clearance.
move_to
right_x0.4550right_y0.3900right_z0.2550right_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]: [-0.0212, 0.8864, 0.6415, -0.5545, -0.0139, -0.0338, 0.9899, 0.3241, 1.581, 0.7834, 0.1074, 0.2123, 0.1375, 0.0301] state[eef_state]: left_x=0.2775 left_y=0.0002 left_z=0.1386 left_yaw=0.0026 left_pitch=-0.2304 left_roll=0.0017 left_gripper=0.9899 right_x=0.4127 right_y=0.1031 right_z=0.0881 right_yaw=0.0606 right_pitch=-0.1034 right_roll=-0.0085 right_gripper=0.0301 state[joint_eff]: [-0.3487, -1.8667, 6.8444, 1.6386, -0.0366, -0.0269, -0.0073, -0.4171, -9.0051, 8.7726, 2.0098, 0.1099, 0.0513, 1.0281] camera 'top_cam' (step 210): [image omitted: streamed camera frame] camera 'left_cam' (step 210): [image omitted: streamed camera frame] camera 'right_cam' (step 210): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.455,"right_y":0.39,"right_z":0.255,"right_pitch":0,"right_roll":0},"note":"The blue bowl and both fruits moved together during the lift, confirming a rim grasp. I’m carrying the bowl above the right side of the large white bowl with extra height for clearance."})
tool
executing move_to over 24 steps (2.4s)
step 234
assistant
agent noteThe loaded blue bowl is suspended over the white bowl’s opening. I’m beginning a controlled tilt toward the white bowl while keeping the rim above it.
move_to
right_roll-0.7500right_z0.2600
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8909, 0.6415, -0.5632, -0.0135, -0.0338, 0.9898, 0.886, 2.3428, 2.4275, -0.8967, 0.6289, 0.4568, 0.0334] state[eef_state]: left_x=0.276 left_y=0.0001 left_z=0.1359 left_yaw=0.0023 left_pitch=-0.2437 left_roll=0.0017 left_gripper=0.9898 right_x=0.4508 right_y=0.3934 right_z=0.2273 right_yaw=0.1162 right_pitch=-0.06 right_roll=-0.0605 right_gripper=0.0334 state[joint_eff]: [-0.212, -2.0444, 6.8308, 1.5604, -0.0073, -0.0464, -0.0171, -0.335, -15.0769, 8.2256, 1.6825, 0.5348, 0.4225, 1.0379] camera 'top_cam' (step 234): [image omitted: streamed camera frame] camera 'left_cam' (step 234): [image omitted: streamed camera frame] camera 'right_cam' (step 234): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_roll":-0.75,"right_z":0.26},"note":"The loaded blue bowl is suspended over the white bowl’s opening. I’m beginning a controlled tilt toward the white bowl while keeping the rim above it."})
tool
executing move_to over 9 steps (0.9s)
step 243
assistant
agent noteThe yellow fruit has fallen into the white bowl; the green fruit remains in the blue bowl. The arm is falling short of its height target, so I’m bringing it slightly closer and increasing the tilt to release the remaining fruit.
move_to
right_x0.4000right_y0.3800right_z0.2500right_roll-1.2000right_pitch0.1000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8928, 0.6415, -0.5652, -0.0139, -0.0338, 0.9898, 0.9264, 2.6781, 2.9536, -1.356, 0.8173, 0.2432, 0.0355] state[eef_state]: left_x=0.2757 left_y=0.0002 left_z=0.1351 left_yaw=0.0027 left_pitch=-0.2475 left_roll=0.0021 left_gripper=0.9898 right_x=0.4398 right_y=0.3768 right_z=0.1861 right_yaw=0.1216 right_pitch=-0.1752 right_roll=-0.5279 right_gripper=0.0355 state[joint_eff]: [-0.1299, -1.7709, 6.8444, 1.5311, -0.0366, -0.0269, -0.0073, 0.0752, -15.4051, 7.6103, 1.1648, 0.6471, 0.0024, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 243): [image omitted: streamed camera frame] camera 'left_cam' (step 243): [image omitted: streamed camera frame] camera 'right_cam' (step 243): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.40,"right_y":0.38,"right_z":0.25,"right_roll":-1.2,"right_pitch":0.1},"note":"The yellow fruit has fallen into the white bowl; the green fruit remains in the blue bowl. The arm is falling short of its height target, so I’m bringing it slightly closer and increasing the tilt to release the remaining fruit."})
tool
executing move_to over 10 steps (1.0s)
step 253
assistant
agent noteThe blue bowl is tilted, but the green fruit is still inside. I’m moving a little closer to the arm’s comfortable reach and tipping the bowl nearly sideways over the white bowl.
move_to
right_x0.3800right_y0.3600right_z0.2500right_roll-1.5500right_pitch0.1000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8928, 0.6415, -0.5652, -0.0139, -0.0334, 0.9898, 1.0882, 2.825, 3.1161, -1.3888, 1.1973, -0.0753, 0.0375] state[eef_state]: left_x=0.2757 left_y=0.0002 left_z=0.1351 left_yaw=0.0025 left_pitch=-0.2475 left_roll=0.0024 left_gripper=0.9898 right_x=0.3976 right_y=0.4122 right_z=0.2023 right_yaw=0.2023 right_pitch=-0.0544 right_roll=-1.0205 right_gripper=0.0375 state[joint_eff]: [-0.1846, -1.4564, 6.8444, 1.5409, -0.0366, -0.0122, -0.0073, -1.7299, -16.3214, 7.4051, 1.1795, 0.9011, 0.105, 0.9841] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 253): [image omitted: streamed camera frame] camera 'left_cam' (step 253): [image omitted: streamed camera frame] camera 'right_cam' (step 253): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.38,"right_y":0.36,"right_z":0.25,"right_roll":-1.55,"right_pitch":0.1},"note":"The blue bowl is tilted, but the green fruit is still inside. I’m moving a little closer to the arm’s comfortable reach and tipping the bowl nearly sideways over the white bowl."})
tool
executing move_to over 7 steps (0.7s)
step 260
assistant
agent noteBoth the yellow and green fruits are now visible in the white bowl, and the blue bowl is empty. I’m returning the blue bowl upright and moving it away from the white bowl before setting it down.
move_to
right_x0.3800right_y0.1900right_z0.2300right_roll0.0000right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8974, 0.6411, -0.577, -0.0139, -0.0338, 0.9898, 1.1034, 2.8315, 3.1191, -1.3815, 1.3045, -0.2089, 0.0389] state[eef_state]: left_x=0.2736 left_y=0.0003 left_z=0.1318 left_yaw=0.0028 left_pitch=-0.2643 left_roll=0.0025 left_gripper=0.9898 right_x=0.3935 right_y=0.4094 right_z=0.2162 right_yaw=0.1978 right_pitch=-0.042 right_roll=-1.1882 right_gripper=0.0389 state[joint_eff]: [-0.0752, -2.0991, 6.8855, 1.5751, -0.0464, -0.0122, -0.0122, 0.0889, -14.3932, 7.3368, 1.0085, 0.6129, 0.0171, 0.9841] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 260): [image omitted: streamed camera frame] camera 'left_cam' (step 260): [image omitted: streamed camera frame] camera 'right_cam' (step 260): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.38,"right_y":0.19,"right_z":0.23,"right_roll":0,"right_pitch":0},"note":"Both the yellow and green fruits are now visible in the white bowl, and the blue bowl is empty. I’m returning the blue bowl upright and moving it away from the white bowl before setting it down."})
tool
executing move_to over 19 steps (1.9s)
step 279
assistant
agent noteThe empty blue bowl is upright and clear of the white bowl, though the arm is higher and farther out than requested. I’m guiding it down toward a clear area on the right side of the table.
move_to
right_x0.4400right_y0.1800right_z0.1700right_roll0.0000right_pitch0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8974, 0.6415, -0.5804, -0.0135, -0.0338, 0.9898, 0.6483, 2.4187, 3.1245, -1.4914, 0.4301, 0.1772, 0.0405] state[eef_state]: left_x=0.273 left_y=-0.0 left_z=0.1314 left_yaw=0.0017 left_pitch=-0.2674 left_roll=0.0023 left_gripper=0.9898 right_x=0.4637 right_y=0.2634 right_z=0.3282 right_yaw=0.1809 right_pitch=-0.138 right_roll=-0.1496 right_gripper=0.0405 state[joint_eff]: [-0.1162, -1.4974, 6.7897, 1.4921, -0.0317, -0.0415, -0.0122, -0.4171, -14.735, 5.6821, 2.0977, 0.2173, 0.5543, 0.9499] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 279): [image omitted: streamed camera frame] camera 'left_cam' (step 279): [image omitted: streamed camera frame] camera 'right_cam' (step 279): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.44,"right_y":0.18,"right_z":0.17,"right_roll":0,"right_pitch":0,"right_yaw":0},"note":"The empty blue bowl is upright and clear of the white bowl, though the arm is higher and farther out than requested. I’m guiding it down toward a clear area on the right side of the table."})
tool
executing move_to over 11 steps (1.1s)
step 290
assistant
agent noteBoth fruits were placed into the blue bowl and then poured into the large white bowl. The empty blue bowl remains held clear of the white bowl.
done
hindsightThe yellow fruit was closer to the base than the first estimate; its successful grasp was near right_x=0.32, right_y=0.185, right_z=0.005. A thin blue-bowl rim grasp read only 0.02–0.04, so the short lift and visible bowl motion were essential to distinguish it from an empty close. Negative right_roll poured toward the white bowl; both fruits released by an actual roll of about -1.19. Tilting at right_y around 0.39 pushed the arm near an extended joint limit, causing large tracking errors and a subsequent stall while trying to lower the empty bowl.
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.9031, 0.6411, -0.5877, -0.0139, -0.0338, 0.9898, 0.6636, 2.4161, 3.1245, -1.5311, 0.4408, 0.2108, 0.0405] state[eef_state]: left_x=0.2717 left_y=0.0001 left_z=0.1286 left_yaw=0.0021 left_pitch=-0.2807 left_roll=0.0029 left_gripper=0.9898 right_x=0.4546 right_y=0.2643 right_z=0.3238 right_yaw=0.167 right_pitch=-0.1645 right_roll=-0.1483 right_gripper=0.0405 state[joint_eff]: [-0.0889, -2.1128, 6.8034, 1.536, -0.0415, -0.0366, -0.0122, -0.1573, -11.6034, 5.5316, 1.663, 0.3101, 0.1734, 0.9646] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 290): [image omitted: streamed camera frame] camera 'left_cam' (step 290): [image omitted: streamed camera frame] camera 'right_cam' (step 290): [image omitted: streamed camera frame]
assistant
done({"summary":"Both fruits were placed into the blue bowl and then poured into the large white bowl. The empty blue bowl remains held clear of the white bowl.","hindsight":"The yellow fruit was closer to the base than the first estimate; its successful grasp was near right_x=0.32, right_y=0.185, right_z=0.005. A thin blue-bowl rim grasp read only 0.02–0.04, so the short lift and visible bowl motion were essential to distinguish it from an empty close. Negative right_roll poured toward the white bowl; both fruits released by an actual roll of about -1.19. Tilting at right_y around 0.39 pushed the arm near an extended joint limit, causing large tracking errors and a subsequent stall while trying to lower the empty bowl."})
tool
done: Both fruits were placed into the blue bowl and then poured into the large white bowl. The empty blue bowl remains held clear of the white bowl.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 5.553 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]: [-0.0212, 0.8001, 0.6136, -0.3824, -0.0143, -0.0296, 0.9906, -0.0227, 0.8005, 0.6189, -0.387, -0.0166, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.296 left_y=-0.0002 left_z=0.1822 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9906 right_x=0.2961 right_y=-0.0002 right_z=0.1836 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.5812, -1.7846, 9.6479, 1.7851, -0.0904, 0.1734, -0.5153, -0.294, -1.5932, 9.1692, 1.8339, -0.0708, 0.1832, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60bf289c4ea476d23b725be491927de5a3c58187661151b477caff7a30ace3cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:834cbf6dbaf04ae9742a42076c9a9fce2ab1a118f64ac46dc0260eda3687cc98",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d277ebb3bbb6177fb274270cca778f2b409c1e2504561ff2fcb4dc887aecba4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 6.001 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtGAtpTDwQ3C_RRFF1mvcHt5P2cM7gbI-eJ5OmXUT48uaxU8GmlF973Lu67nU99on_HaimPbCizQ--ReavbY19zxW-jNriIqlCEI0EzFQJA4jyO2-RJx5oxvYbDVhS6AmNnENtRlRYYGDbK45Z3au184v-MRYwwd4N_DW8NITqHAZgHgmIahDpmT9yOw8f9Kowuapp2mXTSAgdHE_tLXDJtvf4oZgr8QruBw2Hc_m9a66zxFvgV8lrVDrq8_0SZ49v6BC85mmne3sycAYvAmLuN1oJotcqxqdPjdra9192Z8dCMCAai7fwcDQ4DBOnAevFPp_lg7_YP8npWqQm4yGam1HA7bmu1SE8anAPl_FNmvFftbYYXbE9Y5yPpaZG9SXOrQs_IY7Teuko-AXvew958YMScLC2oVBfELBc7bfCBDQHifONnbOHzNTbEDCudSgxAUltqV4KXT8fnuYRtBRKmImjCDB7NIfBn7ZR8gvtK24HFpTPuyccQBHAngtjqbE5o-k3xrvpSPM70KwF-FiQk-mlMV0xNmlLgp6RnzjkNI4m7VM573_VaGQVK1VLRFLX_FMsWPnzRZdWdvgB6CzllLT6iSKS25xeKP8fT2ueXNpjVWGBf7UdHDdZZ7ufecZOoIp2_81-n8jq1eUQ8kCFcSChT17enNC7vXW5BYlN2eDm3X2X8dX1w9LkywFxLhcwtFcYf6kc8dqpia53zSrsHs17JNxeplPC9DsbYCB0BXq3ZUCKPq7_YMAZl7d2HIVP8jM_auft03vgiG8WLJtydQeEGNx2WKoH51k5Y7ECgeOyiO-UtjSydCbZ3yoNPeu-L57KmwFq5m75gCG5YoEHLR1U_2qjJd_jF0em7iD2KEVmhKXZGlqQdFxYUswjeVLG8_KV-7CMNOVubZqY4gjjCW0r87Sk2K61T7lQ9eR58Ws07JAbztMhbwy3p78X9h8TRi1XkupdnBajr2_peVgHYxkcecLXroHEsmJk_oTn37tebPGnPYiRZyd8oJvhYVvncZxzsht-hmbNqCleOH2WOoX-S8nfcX6FmIfBYUhNHzcbIIB4k7ab6FycmCgkV5-_3faxn4PkQ-VZ2VMCp4SonG-WGwfkLNpMgAL803nTUYgF-zS-HMhIQqaiySMnnzSR2NwGufa0BZRq2ooL3P4_M1HsTHb1rjbW7Xw-uCqSUXgtVV6CcvO6sF_dGiQi3BOXusJS8UTrHVkBasp9kJkJIFNzjweB2OUDpj7CrmSASz2_AqcL7TcslDAZw0_bWpOluYFAFx33uKObE31rU0V7XgumFEIuQ0NdCEPsInLdy9ItxiLk3vPFOKlcGQpQShP_Tt7ttHyy4Rrb98PSwjp8jbD_yPNfdzaj5L_LpeGvR0Rch0CiiObbpa6zjj9GM9x0_-eCuTr5_QdWwduJmLgP-mACE6BT4lknrCcKVK9CKnAuwXQakfnVavTkdjbX83iLp_wzAf1VwMOCpPjC5yeJJSDwlXC7Hr68mYxLLak2ONIXwfCzsag8sxMou4LuZ3f-YaPzpkq3ZMN7_ug1CmctIsbyWDMXGaBfO6xYC5bX25vd3zA08L7ZLhneI8D3nEHwMwhvG3qDVg0QSYGobHR_AiUdW0nGNyx7gxhXJ7M5BAHpkoz1aiIxbnvzGbnGLCwCnuMwoxxpOLzE1h3FFod2zrBdpR_Zw-IxDYfm6tPR4a6fT8QPhOw6g4J3sZEstFHNb2qxqDBk0lbTIOmRRW-o3R1JPA-4nDmCfO9F9EmA6CM8Owb3hWoqjb-io12PQoXU0AmuK4x_F80CtE4RX7DVJ2LHuSprCJgYBrcKD6vsn0XlNgh1Sw1YMU5PT-SRd5CGoFG0D-9oQA6kS7tx_bxAjg7AX4v9sktkamJAA4DSyS32TKmjPLHXzDOb5SMdGgwOQsF5mIecawEWqYAK9xX1cad9gbRLm4FfvIPuN6cKmTDyaELfLxDaulbQcmwdtYAFxFeawXurOttksLXLRSpY6RgSopQ_Hv_oh-vva1ATmCbqDcTYrXcipd-NL0_KpgFn0cBrP1Ah4AEQ_e7IxeONJC-zEuFiAtjwouKGjGizIzTQFjLNDsA-HgGlPR0MRxNJueMB1jCfwMZyz--0upRsXTbV-0E-tflVDy-7fJL6F0mp3OErMAeZ024J1pWDfewkCbT6R7TxVzRRHYvd9_vhaYpPQ==",
  "id": "rs_0d500d743bf10afb016ab46029436087d0889d03c1da554c5a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.33,\"right_y\":0.065,\"right_z\":0.13,\"right_gripper\":1},\"note\":\"I see a yellow fruit and a green fruit beside the blue bowl, with the large white bowl on the left. I’m positioning the right gripper above the green fruit to pick it up first.\"}",
  "call_id": "call_0p0PWtrD9xQO7aa75ah5UHEo",
  "id": "fc_0d500d743bf10afb016ab4602c88c087d088fc97be5d3f66a0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0p0PWtrD9xQO7aa75ah5UHEo",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8032, 0.6132, -0.3901, -0.0139, -0.0307, 0.99, 0.3302, 1.0866, 0.5163, -0.0669, 0.2581, 0.1402, 0.9992]\nstate[eef_state]: left_x=0.2952 left_y=-0.0002 left_z=0.1796 left_yaw=0.0003 left_pitch=-0.0111 left_roll=-0.0009 left_gripper=0.99 right_x=0.3251 right_y=0.0676 right_z=0.1207 right_yaw=0.0283 right_pitch=-0.0446 right_roll=-0.0187 right_gripper=0.9992\nstate[joint_eff]: [-0.3487, -1.347, 7.159, 1.7949, -0.0513, -0.0415, -0.0806, -0.2393, -3.7675, 6.5573, 2.0537, 0.232, 0.1636, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:649789e759d0e6f87d26014dceda8a7c24403aa16dfa7035f3a49e13b9617082",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0896434e80cb85fe82acf9e8dfd9bfcb813f8dbfba2c31ed4261ff980b2f6d1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe926754b904e6c0453b04bc8ca4a03ea61f2ca6a37efba4bbe5eb22ff6cf4dd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 3.578 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]: [-0.0212, 0.8001, 0.6136, -0.3824, -0.0143, -0.0296, 0.9906, -0.0227, 0.8005, 0.6189, -0.387, -0.0166, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.296 left_y=-0.0002 left_z=0.1822 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9906 right_x=0.2961 right_y=-0.0002 right_z=0.1836 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.5812, -1.7846, 9.6479, 1.7851, -0.0904, 0.1734, -0.5153, -0.294, -1.5932, 9.1692, 1.8339, -0.0708, 0.1832, -0.0952]",
      "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]: [-0.0212, 0.8032, 0.6132, -0.3901, -0.0139, -0.0307, 0.99, 0.3302, 1.0866, 0.5163, -0.0669, 0.2581, 0.1402, 0.9992]\nstate[eef_state]: left_x=0.2952 left_y=-0.0002 left_z=0.1796 left_yaw=0.0003 left_pitch=-0.0111 left_roll=-0.0009 left_gripper=0.99 right_x=0.3251 right_y=0.0676 right_z=0.1207 right_yaw=0.0283 right_pitch=-0.0446 right_roll=-0.0187 right_gripper=0.9992\nstate[joint_eff]: [-0.3487, -1.347, 7.159, 1.7949, -0.0513, -0.0415, -0.0806, -0.2393, -3.7675, 6.5573, 2.0537, 0.232, 0.1636, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:649789e759d0e6f87d26014dceda8a7c24403aa16dfa7035f3a49e13b9617082",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0896434e80cb85fe82acf9e8dfd9bfcb813f8dbfba2c31ed4261ff980b2f6d1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe926754b904e6c0453b04bc8ca4a03ea61f2ca6a37efba4bbe5eb22ff6cf4dd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGA4dy9MhgvMrk74Mm_6mRz9Ka74hcepxvifwJ9BCbFykMHTK1cW2ZDtGsuHAFZwWiZyDJjZfbEQylS4WJm8GcZccdlrHF31zuQxFT-Sw7gmxRH32hlioe_0FKSDhjgZ87M78UJGvp7C4-ZkXfZuF5ql1vgNz2nuqv7Ddr2lQWu6P_8HBGQQpyRaK0iYll-nFuv4Qjhmm9tSa1JmJUiy6wqn5z7lt-36XqpMtMO6m-815zD1VVNDStcnIBDpIwSl5aPUtAB-aq7KBsRRz1AM-yhA50rxRTZ61xhwoZKikxMqAkd0lYz5opUxLLBRmMBrgwlQ-mws_ynpTk1Cldi2O124VfA5DLnU2snsO-UBqffXk9cZ87sV26qOSrZR4IoGMcLP4iDH6INHK9RBbY1zHvkoSAIBUjvr1OFPwTGVL-4AyzB2URNzqkFi3nxCYbosw5yBg90rRBGomidxOa-McoUJunsy0x3f5fsN6AO4tZVCOv10p4gvCgHvbCEIQH_ty5xyNWjpRd-VWpCsYJaWTCsVNbhaJ0tigg8faPuaDFKQGvalFGOgdeE1shNV8cfoOVrwlx6lUPMAKYQx2ICCWOuYKu7WD2j4KzeVhDFJEKbfNuJ1n8jg3V4E7VsgvVoMU7Qoy8o4rAUTBMJh7Iq3PX5IhJsdSzKwcuJjWQAYFlqCNCU2a9PNUrpaqaNkpgX5aSorF0MnH0woy2X9hTX_y8HYA50rnG8OdhxTvdQMiLYrCXbPoVj322RpKhldJLmF5RLFqG-cGXZy9KEfvu9qNMTcQilW8PSXxE6h6m7NL1HA6Gn_NxTBOV0NJ2ajUM5S_yefaUtDJDAeKQ_fFLzQh4d0sWCEltVFV5eF9D9yHWSVRWrbEyIe6HOA801tdXfF9-NQTmDqBHLbfetPXQclKlq8hQyQgUH-LpvUo708MlhecS5AKFidulDhVrqtrJBYyiLs7JQbgcKQeTEhzyi9RCYGATApsjxuGPNA4kcQBGAu9qBGTEe0AcBNToP9qylDewl_hFao3bQPu4LOrcFsPsBz6iioe89LMrzE_lBJOe_7ApSCGuQkH3QbdmgpnjFnVGn1R_VHfz9EM07fYcuxc_YY7Fs8imyHqpS8KtXTtIkYOuBCMvBB6QDmbzzxyfpXOXj6TjhKg3F5CCmgq1MTkbf9TDFBPvp_egX9xZn9McfLhBbRQ789A4X-YJsrz02q3rhSEbRfcuEYksOsdmwbw6gBvJLHK6C8_PmAtGUncAtpiB0MCWgoEkoYE9hDUu-FESHYzwnxSBxXakDW_T0Ku-ZMjX9kiZWEkIYjSAqkFkI6cvSZ5sumMD2xhIJOiFwYP1GgSzwSvFmjVAzRmgC6zE_SAwywMmSWDCdSMPvyPZzdtqOH5GzyhLj5jogECJ_ink_ALWhwx8Dq8j4y0yOvJUYiqjXVO537Zh3ZkqeisP9wKAk27Z_SoHQCjZ8FG6JzYdPO680SwfamW_2470oiY8PqKV5rl4_5aaB5YkZ12eMHfclnnK7Sko8J4zYnsOrv2thAWY1KelshY_zFQtfbeur0zFr_9AGfB36u9yq9ZDq3PHqdCav4lBjswZgBQQzy844fAsDEfht-F_BozeWk_Sif8QzrlPfyXdBxdckAs5OjMVz5qdwUNvP8pxFjoqm9813gVuHLp3xj0piDpHYpS2MBfte5Znv1xpY1zOBwy3YrvV4Hq2cti3-yp3AMY05WYPRTUEljbDPD_U7XsWftFkUecwoT-mBVxnRcDOgghwXbHFrayf-bI9K_lkY2u9mC3O0pN_nPx9H0GkrllhCE4wVwFiJF72M6mzQMtgUxfFiXCpAVsv9JBaG88ruowqrrYjGsplhy3bUWwtvOsC3FWOA2PbFMt5IWIPKs_nqVEGdC7opSrSVq7wDw4W7OS0Gf93e8mctezk7j-igtH_MyptNskjK_JbuseBJwUvP_imUO7HKD3Ne-4p8iWSMajGfLA1Lt",
  "id": "rs_0d500d743bf10afb016ab46033c0a087d0b43f65fdf8ef1c97",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.0,\"right_z\":0.065},\"note\":\"The green fruit is to the right of the jaw centre in the wrist view. I’m shifting the gripper right and lowering toward the fruit while keeping the jaws open.\"}",
  "call_id": "call_XpID5ue5YsdDt8Bks3Oywj25",
  "id": "fc_0d500d743bf10afb016ab4603740f887d0981f82086dac8399",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XpID5ue5YsdDt8Bks3Oywj25",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8059, 0.6132, -0.4015, -0.0135, -0.0307, 0.9899, -0.0265, 1.3205, 0.3874, 0.2878, -0.0246, -0.0647, 0.9991]\nstate[eef_state]: left_x=0.2938 left_y=-0.0002 left_z=0.1765 left_yaw=-0.0 left_pitch=-0.0252 left_roll=-0.0008 left_gripper=0.9899 right_x=0.346 right_y=-0.0012 right_z=0.0584 right_yaw=0.0195 right_pitch=-0.0767 right_roll=-0.0179 right_gripper=0.9991\nstate[joint_eff]: [-0.2667, -1.4154, 7.0085, 1.8339, -0.0171, -0.0513, -0.022, 0.0752, -4.4376, 5.7915, 1.8584, -0.1294, -0.1001, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4154aa1b360ead0c5d6f75f78b717b3aa3b97e1c2c2aba9bdbd8d313f6844090",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9ef67e22dd39d5574b31ccf5e2a072086214cc2fa4e531e4060f2f584f06c63",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:881471008e756796c789f433f791cf040fa626f2ebaf512aeec6b199fef46472",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /responses · status 200 · 2.447 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]: [-0.0212, 0.8032, 0.6132, -0.3901, -0.0139, -0.0307, 0.99, 0.3302, 1.0866, 0.5163, -0.0669, 0.2581, 0.1402, 0.9992]\nstate[eef_state]: left_x=0.2952 left_y=-0.0002 left_z=0.1796 left_yaw=0.0003 left_pitch=-0.0111 left_roll=-0.0009 left_gripper=0.99 right_x=0.3251 right_y=0.0676 right_z=0.1207 right_yaw=0.0283 right_pitch=-0.0446 right_roll=-0.0187 right_gripper=0.9992\nstate[joint_eff]: [-0.3487, -1.347, 7.159, 1.7949, -0.0513, -0.0415, -0.0806, -0.2393, -3.7675, 6.5573, 2.0537, 0.232, 0.1636, -0.0952]",
      "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]: [-0.0212, 0.8059, 0.6132, -0.4015, -0.0135, -0.0307, 0.9899, -0.0265, 1.3205, 0.3874, 0.2878, -0.0246, -0.0647, 0.9991]\nstate[eef_state]: left_x=0.2938 left_y=-0.0002 left_z=0.1765 left_yaw=-0.0 left_pitch=-0.0252 left_roll=-0.0008 left_gripper=0.9899 right_x=0.346 right_y=-0.0012 right_z=0.0584 right_yaw=0.0195 right_pitch=-0.0767 right_roll=-0.0179 right_gripper=0.9991\nstate[joint_eff]: [-0.2667, -1.4154, 7.0085, 1.8339, -0.0171, -0.0513, -0.022, 0.0752, -4.4376, 5.7915, 1.8584, -0.1294, -0.1001, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4154aa1b360ead0c5d6f75f78b717b3aa3b97e1c2c2aba9bdbd8d313f6844090",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9ef67e22dd39d5574b31ccf5e2a072086214cc2fa4e531e4060f2f584f06c63",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:881471008e756796c789f433f791cf040fa626f2ebaf512aeec6b199fef46472",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGA--tmqh6L1HtyixI2R13LPbEfrgf397zlYoxIo1wkYHQCNQs4XldrwWmfOyZ4s-5-Ph6rQcORPjJ5-PR7GZfvqmx430jf01-esHARijc7LB55rj0_dFGioE_bVk9EoKfHMizrJ2FciwwjqnbfeRc_WjbLAoE7UuXDYDMx6IWh-LwSshgmKJkFsl1E3WBfV755tk8xdQYj1T311i84cxo19Bc2c4Yoy3xjSW3sGkhJiUpmpTIF0L8ixExsrMix6kUYFSdxN6o2dBPzpSOAoN1BdwbdHa7BNypp5yRc6AyFaL7x-75W-MxM5frsxZa1NFj2-PATtFfiOXJVSVAsgfBsfHOyyDxka_l22BjLsjyq3HYcf8yY5hkJWmpYF-N5-sQHg0xey5sH-yV-l2Wtv0XjRmr07myTWWFRPsYpNdEG8OBfWJySzRzJ59lzLXxcH-3owu28BsoRZvxd6HzWHnpJOjWL7z-0JaHrTJdueL7Qr_bpWAqnkqk68NXz2suJ3hMBowgn4Frsuun_ioGYsh3iWhnB2i56cQAfmnmT_vbGoLR9Idc2tMoCNTGGCrddgP--5zcq8IrzSqdAQ-ugU4XIMvQkmTy8qGJDy9yAtFtFqC8gBJOhD7cUrFXXgWX3qCgv5o4mkszptrmgCHNqwYEViDtb1r5jsrTZl9IxKY6o_W8NIAq7l9eqakLxnBMpe8-yW77JP71RD_pE4Tz0OTffGTLueQS2L5tkmHCrpYt8AHbqkSRcobajcyTk8jrDNuHQ7LqxuP2lMwO7ORXlJmnshovXHYXeTyBBmFVwD-aAdMsFsGHM_16z2eUH69uV0QTmxbrUYG4B4jfXQmKj5asyUkgaBM9pKn__Df04LV5MZ2_26FS_ifqICzv6CNnlFcRtNA_27CM5aNunMQV83Iw7mqWiyD2rNq-ESLNw9BagEgo3LlzaajNPHR0pAq-0AFPpImUT7GxfKRaBIuALEoTJpjqN1uA-lmsEVxJtXp7KaX_oUb6CAPzbREe9OuIxAr8erbGDhYqIqdvXk3Fm5i5CctQ8vSE-Epqn4q0uqJEHT5Y3sZdRC1_5EPpw00zrF0zxT9LR6QMCGbxgK092PzAmkkqCDyx7u61I30hMW2sBrWDyig3RWEaT_eeCrse3WlmPCUx4r-wXZVJpvMUa88BePSr9z6Hy7lxsIn3oKR3N_JxOKCyiQJOhRdPn7RWfNbWD0QXPF2rEyh8JOialUx7S_ctjWZKVcMgbWVW1y9MjlGrk-3681uH7EC-ebfwwgivU8T9QhFVl1dII-hN74XyoEJXJP70o1eZ2I-YC2gMNlPtgVu542fhFOvEPpP92CaMK51fM3ii8Tpcs5TJ2CdztrrGvrIIYGvbiKuJEwKEQo9pNxPOkHqQoUDk7rTR0PP0Gtu6KoDkjuA0iJb6eo_Te1Luzg55ISO7B9qaMQlso1WzNzjiIBscKy-qBB9wR2ncuxDaidiRDVKeJ7lerNy85jpLr9mSE79mCKG6Z4nnwc3EU=",
  "id": "rs_0d500d743bf10afb016ab4603c13a087d0b3a244d750d6e69a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.373,\"right_y\":-0.012,\"right_z\":0.018},\"note\":\"The green fruit is now close to the jaw centre and near the bottom of the wrist image. I’m making a small forward correction and lowering the fingertips around its sides.\"}",
  "call_id": "call_0pj4tsla6PlAfzj5xFO50iz2",
  "id": "fc_0d500d743bf10afb016ab4603d262c87d080b740c22bc099a4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0pj4tsla6PlAfzj5xFO50iz2",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8104, 0.6132, -0.4149, -0.0135, -0.0307, 0.9899, -0.0631, 1.6005, 0.4122, 0.5583, -0.065, -0.091, 0.9991]\nstate[eef_state]: left_x=0.2922 left_y=-0.0002 left_z=0.1725 left_yaw=-0.0 left_pitch=-0.0431 left_roll=-0.0005 left_gripper=0.9899 right_x=0.3743 right_y=-0.0086 right_z=0.026 right_yaw=0.0311 right_pitch=-0.0601 right_roll=-0.0161 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -1.2103, 7.0085, 1.8486, -0.0415, -0.0464, -0.0171, -0.5949, -4.7521, 4.5607, 1.1893, -0.0073, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76af3d36ee619a484f376f1a5477e41787e34a3a1b7aef4a270b50ef21d4b2b4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d2151bd34f378e979ec8db8824e9d82f1d369f18af35a7b9578c667e9f3b4ef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:843eff78d77a028d7fab875cfc028b50316bc4d74d80e1eb3c890d56c6f696c0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /responses · status 200 · 3.278 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]: [-0.0212, 0.8001, 0.6136, -0.3824, -0.0143, -0.0296, 0.9906, -0.0227, 0.8005, 0.6189, -0.387, -0.0166, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.296 left_y=-0.0002 left_z=0.1822 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9906 right_x=0.2961 right_y=-0.0002 right_z=0.1836 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.5812, -1.7846, 9.6479, 1.7851, -0.0904, 0.1734, -0.5153, -0.294, -1.5932, 9.1692, 1.8339, -0.0708, 0.1832, -0.0952]",
      "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]: [-0.0212, 0.8059, 0.6132, -0.4015, -0.0135, -0.0307, 0.9899, -0.0265, 1.3205, 0.3874, 0.2878, -0.0246, -0.0647, 0.9991]\nstate[eef_state]: left_x=0.2938 left_y=-0.0002 left_z=0.1765 left_yaw=-0.0 left_pitch=-0.0252 left_roll=-0.0008 left_gripper=0.9899 right_x=0.346 right_y=-0.0012 right_z=0.0584 right_yaw=0.0195 right_pitch=-0.0767 right_roll=-0.0179 right_gripper=0.9991\nstate[joint_eff]: [-0.2667, -1.4154, 7.0085, 1.8339, -0.0171, -0.0513, -0.022, 0.0752, -4.4376, 5.7915, 1.8584, -0.1294, -0.1001, -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]: [-0.0212, 0.8104, 0.6132, -0.4149, -0.0135, -0.0307, 0.9899, -0.0631, 1.6005, 0.4122, 0.5583, -0.065, -0.091, 0.9991]\nstate[eef_state]: left_x=0.2922 left_y=-0.0002 left_z=0.1725 left_yaw=-0.0 left_pitch=-0.0431 left_roll=-0.0005 left_gripper=0.9899 right_x=0.3743 right_y=-0.0086 right_z=0.026 right_yaw=0.0311 right_pitch=-0.0601 right_roll=-0.0161 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -1.2103, 7.0085, 1.8486, -0.0415, -0.0464, -0.0171, -0.5949, -4.7521, 4.5607, 1.1893, -0.0073, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76af3d36ee619a484f376f1a5477e41787e34a3a1b7aef4a270b50ef21d4b2b4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d2151bd34f378e979ec8db8824e9d82f1d369f18af35a7b9578c667e9f3b4ef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:843eff78d77a028d7fab875cfc028b50316bc4d74d80e1eb3c890d56c6f696c0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGBCQDqrmRx6lqDDDBl-LlHaTlI0IkEiV0uyXliraWjF79cP5uBdrsprZ1S0OzZxZRyZQGbjPNHAi0Z9w2KBMDo2ksLrAAjEwrBGnHkkv6QWH_mJluUnretOW7n1Aem4P0L6ZjIg0hpTAa1CUatoXqSpnJJ4GY2rxB7Pp_lhCm_jL6CmbT_DQER2AXERQHnh6Z3c9AK3DTkFtPXWwXpzNbPDn_f3XkPPz6gvMWyhsVsSd0fj9bNqU9FG0j_t2i7VQHqMmMSrm54wunW47rOEpsz_iiIDfUrVDRk_5iNgnsdaf5sn-zSTgcU2it2gMhQVL4VPQFl1EmkPoaBQqPOtnr-U1X5W6k064Fo_wnHwtYXCJRDr8NxzA6V9zufXGz_u-QzFSetun5uHDOGuYA1PUo14wjwx5tIXc77RvqkQ3Xq8BBMvEi2Tlw2lr3n78PbA2N3D7uVgHWXlpq5OztBtDmaOBxqbouEVhD28sCbbEi2pe0DWffNiVdBGueE1gvvVxAkAe7I62yWc4DyzoInHJDl4sfDuhVjXt_rohHXyUnaiIHIuCOJdmvelqAvdrd1Hw_8VXgEzw_TUiGm6451T4-XITaT05z4DW-VElGHQEEjha6w4oe7w1tNbfMVvrmZNrokVHldb46hHs3m5YKm-iT96RLxxt2NAARNsc_KbarSFvwsTYRBpEMHeeflYniIq8lXROwjfmz3d2m1CvBWmt6WuQXM0ZhD3OX7DXjTtvtldTsyU4XJlCRUciaESZZLpZDeLzh_u7X6QoBmC0JU5Y4Z6AoQzkPmpBWLzSk-eD1PPxR3JftZeFZ1aVUb8_tUQWK89guLihmOX6K_7FhAx7kLfDdw8iqccc6zyrUH-auqVjuJ1zrJoRY5XGpObFE27nr7SRvZqN9_KuZ3N0VqKPKhju7wCj0W-APL1N131mUPTLqLi5ndLLiJk5ZSnpyrcIpZ2ErnKF1ukpTAlgM_N2RHGbsg1zYzVT_puh-FilCJfwntUDw5tYN3XFoH69HXhWYef95nKvuWyGEwomwhNiEtAMTeJf1p-oCXIz0vWauFlROtrnXa44czgNmR5gii0IPK3Nr-5eAJkVOqfj_WYpEuqkt5s7v5bjs2inReP9T0uhdfa_ta54oe3hUsNCxWiFsPK9n2VRBxPiyuknMvip7QsqBGjKsASWzpAEc1IYOWHNKbkUKjLMXhaqwQ3x6Yj6R9Bd6Fo2bnF4R12Z1i1QFE2AygEqCvIGR8SXd3Xb9NzTQw=",
  "id": "rs_0d500d743bf10afb016ab46041317087d090c7439a65342ef9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The green fruit is centred between the open jaws at table level. I’m closing the gripper to secure it before a short test lift.\"}",
  "call_id": "call_W5HYKp63DpDeGDBgoSjzg3SU",
  "id": "fc_0d500d743bf10afb016ab460416ecc87d08034e5b1e407643d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_W5HYKp63DpDeGDBgoSjzg3SU",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8124, 0.6132, -0.4236, -0.0135, -0.0311, 0.9899, -0.0658, 1.6043, 0.4149, 0.5835, -0.0654, -0.0952, 0.642]\nstate[eef_state]: left_x=0.291 left_y=-0.0002 left_z=0.1702 left_yaw=0.0002 left_pitch=-0.0538 left_roll=-0.0005 left_gripper=0.9899 right_x=0.3785 right_y=-0.0098 right_z=0.0306 right_yaw=0.0309 right_pitch=-0.0362 right_roll=-0.0216 right_gripper=0.642\nstate[joint_eff]: [-0.0479, -1.4974, 7.1043, 1.746, -0.0269, -0.0757, -0.0171, -0.0205, -5.9419, 4.588, 1.4286, -0.0513, -0.022, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a2995cefa550bc9b692abdf4f8322252d8518c18fe245051b7a67619049f7a6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14f2de67283496e8513d383a0784846510500fba59f1054fd50d007fa30e01ba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac92f98dd72f396ad7e501e727c5dea63240c07b7bc24677189be90f787c170d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 5 attempt 0 · /responses · status 200 · 4.515 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 14 changed as sent

message 18 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8032, 0.6132, -0.3901, -0.0139, -0.0307, 0.99, 0.3302, 1.0866, 0.5163, -0.0669, 0.2581, 0.1402, 0.9992]\nstate[eef_state]: left_x=0.2952 left_y=-0.0002 left_z=0.1796 left_yaw=0.0003 left_pitch=-0.0111 left_roll=-0.0009 left_gripper=0.99 right_x=0.3251 right_y=0.0676 right_z=0.1207 right_yaw=0.0283 right_pitch=-0.0446 right_roll=-0.0187 right_gripper=0.9992\nstate[joint_eff]: [-0.3487, -1.347, 7.159, 1.7949, -0.0513, -0.0415, -0.0806, -0.2393, -3.7675, 6.5573, 2.0537, 0.232, 0.1636, -0.0952]",
      "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]: [-0.0212, 0.8104, 0.6132, -0.4149, -0.0135, -0.0307, 0.9899, -0.0631, 1.6005, 0.4122, 0.5583, -0.065, -0.091, 0.9991]\nstate[eef_state]: left_x=0.2922 left_y=-0.0002 left_z=0.1725 left_yaw=-0.0 left_pitch=-0.0431 left_roll=-0.0005 left_gripper=0.9899 right_x=0.3743 right_y=-0.0086 right_z=0.026 right_yaw=0.0311 right_pitch=-0.0601 right_roll=-0.0161 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -1.2103, 7.0085, 1.8486, -0.0415, -0.0464, -0.0171, -0.5949, -4.7521, 4.5607, 1.1893, -0.0073, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8124, 0.6132, -0.4236, -0.0135, -0.0311, 0.9899, -0.0658, 1.6043, 0.4149, 0.5835, -0.0654, -0.0952, 0.642]\nstate[eef_state]: left_x=0.291 left_y=-0.0002 left_z=0.1702 left_yaw=0.0002 left_pitch=-0.0538 left_roll=-0.0005 left_gripper=0.9899 right_x=0.3785 right_y=-0.0098 right_z=0.0306 right_yaw=0.0309 right_pitch=-0.0362 right_roll=-0.0216 right_gripper=0.642\nstate[joint_eff]: [-0.0479, -1.4974, 7.1043, 1.746, -0.0269, -0.0757, -0.0171, -0.0205, -5.9419, 4.588, 1.4286, -0.0513, -0.022, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a2995cefa550bc9b692abdf4f8322252d8518c18fe245051b7a67619049f7a6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14f2de67283496e8513d383a0784846510500fba59f1054fd50d007fa30e01ba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac92f98dd72f396ad7e501e727c5dea63240c07b7bc24677189be90f787c170d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGBG-nXHU5sKld9zXY6Xt61bPm5N2IxVYOCAkWCEr3ur_9_cDlZBIxk82FUTp3tzZjvar9dOeLHoNzsBwkg-aFZCwZqF5IX6iHJ-1IfysrF4SOnx61NVwzTQYLF1S7qiVXNjDqMqvgahVo0s15Lp0Pm1vxmhPSEIVlflchtMcTcpFixA6WCzI1H33USSJzvVpBiQ-lR1s3MAU6oJ5iREUdRnLHMlPkDAFMaCbEHkKuHVgf3incHWViq7fWp0UU1lMjGyaybS5qomngR4gXf7g_m_SfwToi7QEcK0KIRaQRnt36apCEsYLC19ly6-t9zAlbdd8LNQhMGzzV0iWy5nHga3aiBDDw0ojrBqLJnxmTr--RaAblKClxG2eIVVeS84UDGXzjBN2CgQyqOu1K5KWQdz0t0MBDFtGgd_sct2fVa40cL7YkR7FI2QrujYFIW5VSFpSakvIbgq0AT4pGSVUtH2wXSFUrMel2DPv6K8GtREYVaQvtCABhB55CLrlprr88s_snowdGUpoMlEMJqfqKrQmm5l0CH1T8LbCJhA0xkglnNhMpOPnK0VQF4fuAPj6iBWCRGTdftKusS3J-iutWv-az1xXgWt9XhTvStLlYDF3NKRcrrzQy8kOgiBDDnceAwmfvrv8mmS_gzrBGxGGpSIR8BWNAwLxVEPvia7qjDoGDhQxd6zghtdZ3kepviS78i86z5YUllsR5O428sYj0kGvRpdSdrkd_s_ukHgEhxnojJyvYwwW5LcYWzI6imw_loVHdmZltEGo1dDaTOn9JxLG81nAOpiQQ_m56cwjygmT93cjj63E59CeZVgpSLCwhVbsbsoIA7lP67XnA4Hsy9k1lnG3XyoTE39pwwxqA6qTJRWe1xEmfFQ5-myYzmpIcU9PWXeiapA17ViWldnGw0Uk5jiwXZR8ekaz3_WTWVDwaUN_GdGbA13le8QgV9lthiD0jDXUZ_4DTqL0N5l4yruwqlfkkK8y8gF1yCfqHP2Nqb7U_7zW-U5itt-yRBVQjABhXewVtEWsmR25gaB_jfXYFWaF14LMlc4qlBE_BmlWmvpc5a1uldr9dn9tG6fSi66NVL-2aQv3lJmAKDtQtd6MCKyouDnrz-NdSyzVBmsbHlO_lnaeysP-qXh-_GaGV7eZuUZXcodOAomNU6sQI-65A1_y9V5kTb3J5LSwQO1aLaGlST0uVIvPys1al9t3nfXN1yLRNRyj8cSJgy1J9BQvJifXRUgcnN4nyY5ttphERcj4ZPINk3wRiaSp2dcUYacpzqHMNNx8y9NNlTD3ElbJv71MeamYbFuvAdOI1_fvPs=",
  "id": "rs_0d500d743bf10afb016ab46044d2b487d09ab082d4203e6ad9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.095,\"left_x\":0.296,\"left_y\":0,\"left_z\":0.184},\"note\":\"The gripper stopped at an opening of about 6 cm, consistent with holding the green fruit. I’m lifting it a short distance to check the grasp, and restoring the idle arm’s parked height.\"}",
  "call_id": "call_jcotAkvlWh3XwpOHCMOUC91N",
  "id": "fc_0d500d743bf10afb016ab460453c9487d08bdb9444e3952aaf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jcotAkvlWh3XwpOHCMOUC91N",
  "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]: [-0.0208, 0.8452, 0.6437, -0.4751, -0.0139, -0.0334, 0.9898, -0.0658, 1.3651, 0.519, 0.181, -0.065, -0.0982, 0.6418]\nstate[eef_state]: left_x=0.2894 left_y=0.0 left_z=0.165 left_yaw=0.0022 left_pitch=-0.1076 left_roll=-0.0009 left_gripper=0.9898 right_x=0.3676 right_y=-0.0091 right_z=0.0749 right_yaw=0.0326 right_pitch=-0.0951 right_roll=-0.0185 right_gripper=0.6418\nstate[joint_eff]: [0.0068, -1.8256, 9.5658, 1.8437, -0.0269, 0.022, -0.0171, -0.0615, -6.0103, 8.4034, 1.7753, -0.0659, -0.0122, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:999b0dd79ebbaf3743c4b45561279ab280c047245c91d2fa6af8badf26bd4cac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c05b4c7dbe945aa326e341c0fa8e44d6fd4420c03a3aa9702879313f563a7521",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e14a0793ccd8d03e040bca7746b395a1bee6f3d1b2bb75a2b444feb4be5c03f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 4.372 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 10 changed as sent

message 18 changed as sent

message 22 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8059, 0.6132, -0.4015, -0.0135, -0.0307, 0.9899, -0.0265, 1.3205, 0.3874, 0.2878, -0.0246, -0.0647, 0.9991]\nstate[eef_state]: left_x=0.2938 left_y=-0.0002 left_z=0.1765 left_yaw=-0.0 left_pitch=-0.0252 left_roll=-0.0008 left_gripper=0.9899 right_x=0.346 right_y=-0.0012 right_z=0.0584 right_yaw=0.0195 right_pitch=-0.0767 right_roll=-0.0179 right_gripper=0.9991\nstate[joint_eff]: [-0.2667, -1.4154, 7.0085, 1.8339, -0.0171, -0.0513, -0.022, 0.0752, -4.4376, 5.7915, 1.8584, -0.1294, -0.1001, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8124, 0.6132, -0.4236, -0.0135, -0.0311, 0.9899, -0.0658, 1.6043, 0.4149, 0.5835, -0.0654, -0.0952, 0.642]\nstate[eef_state]: left_x=0.291 left_y=-0.0002 left_z=0.1702 left_yaw=0.0002 left_pitch=-0.0538 left_roll=-0.0005 left_gripper=0.9899 right_x=0.3785 right_y=-0.0098 right_z=0.0306 right_yaw=0.0309 right_pitch=-0.0362 right_roll=-0.0216 right_gripper=0.642\nstate[joint_eff]: [-0.0479, -1.4974, 7.1043, 1.746, -0.0269, -0.0757, -0.0171, -0.0205, -5.9419, 4.588, 1.4286, -0.0513, -0.022, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0208, 0.8452, 0.6437, -0.4751, -0.0139, -0.0334, 0.9898, -0.0658, 1.3651, 0.519, 0.181, -0.065, -0.0982, 0.6418]\nstate[eef_state]: left_x=0.2894 left_y=0.0 left_z=0.165 left_yaw=0.0022 left_pitch=-0.1076 left_roll=-0.0009 left_gripper=0.9898 right_x=0.3676 right_y=-0.0091 right_z=0.0749 right_yaw=0.0326 right_pitch=-0.0951 right_roll=-0.0185 right_gripper=0.6418\nstate[joint_eff]: [0.0068, -1.8256, 9.5658, 1.8437, -0.0269, 0.022, -0.0171, -0.0615, -6.0103, 8.4034, 1.7753, -0.0659, -0.0122, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:999b0dd79ebbaf3743c4b45561279ab280c047245c91d2fa6af8badf26bd4cac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c05b4c7dbe945aa326e341c0fa8e44d6fd4420c03a3aa9702879313f563a7521",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e14a0793ccd8d03e040bca7746b395a1bee6f3d1b2bb75a2b444feb4be5c03f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGBNeFJUlwyjKXfc19PuntmFtC7Quo6xy2c7nkr3BmufNSi3AAa9brkj_YZSL1WsChqzvcBlNrZHXcdwMOO3RPStzLZo75ZMLJzUuIYKJULFuNOMxsavAAgD--yp6crrkIwQ4_pxaN8boW65jiisNkhTjZO6G6dFKwl3GmnWzJ2BX9Fihq6tHxx7qHvItIkOO__xiGRWeFqZiSmGyUYx8M0zVggTroyPQqoI58HUBzt6ACtEiHRg2acXCGVMeOr-i54SnYm5whcUbadBu2XUIvKMF1S48RoNDXK6W5yiApi7DQJcQta958SIuCv0Fsu6IaEIij87OXYVORSzovyl0yPUWfyVwSkKLe2IBAqSeEFAmay2oJdX-bT9gNtKJER4RgVmVyQmfj_4MrlAnEsTFNCq02QLv8TG00DIlBNh2r5S5sjvdDLSbot0GMIFxghWyrNkzYTHL9fiU8vUnoQuVwKCKmtKRMVC2XPtxg2cvDHuWa_9urriINPTF0yW8ay64wyWh44j8jrMg7INt05q3q59PRk2WymMiZutOD4ka3u2TLXo9zCE4UO11CCs9kXktwBKZiqTNHbd-JXmxsMCrTAmRUfIoYMzLYu-9utQm-kyzsugyMaGgTIoFKiSfgCdTY-0llPMGaMHSQCgoCnYqmGYbzrtCMfCXuErj8umONwjToPdJHRy8tnPna21mHIzyqYzZs2baKUcXsug2hrwMsiGwJHiQyvdJcdH1XDxmLZhv0w0WGtB9Gd8Lu5Cg0uHwUrOUlidoC-jXPTd1kNfrTspbP_5x836fxCZRAWC5YFkCRLmJUupQVzegYoR-VqgnshJWjmTkjmrY7YTokFDiPBMFPvmNqc7dg1xf9jdeyK5AOMP3Y9wyHJm6Aht-zi2RcijMatUrDokhWewTQg-4CzQCUHefE_goWzJ9UpYXn9di4KVzObHjfJvL9IcYQHfWagCkQt6jfHh4Euv51vWbM-DggSE5sSatdXXVH49zWZmLeK9aEwp6XFVA3yZ9cvRWxa-xV68ZkpxOiN9_wMSbXj0F2l3OjP94WEWosVqVHIiL0Yslp2xIIDbsgKPrjCCHXKpf7GN6y5_aafegcti4B18aciuE3K3QS8VJU0I_XHUkhYDKL_h0qt4HybPDky5h9lkVwguZrfAzpN5_N79LAp03XPFgcF6MyPPrB-a5KkthEVA-MpfLiXNFsTmCDOL_ZpuDEe0Uvo3YMDRI-wJsFfp9YI30hbjJWTM5Bupup5NOIioFKb3iF69xsfTazB84FfPVjrgYeHIRp-3vf5g_VWT7ZeALUnum-2HkmTSpsMZRs6ZD1YAztERSVbgKvT5ADFBpiX2sPaa5qa-kVXuJ99hywiUId7r0Qw5jArKpqesUNBWITnXqBnepbTzEWMAU3ynBbEykRCYVcOnaERLStdXD5NqmahQy2r48HI6ZPSVjG3P5ATqNkviG8kmeloF44zmVZDIwyd-w9-YvTZRwkGjyKdmz8wNUlFAuNkb0gMPGZZ0mnDzQXV_lPerwRVgBEvI9nJ6z_gpp79zr99730fZDQis5nAe8CXSCxuIREEFvvzMc1JYnd9L0QHMadDaRpFLFBIN4JvRPXi58tJz8vKOC_sxYevWDQpcgwNmWoyOdkwEo3ZnpTjoEVi0ezeCSSWoxoZ10zaoRuAfD8Ff1rShB8QlOhsg8IrELvMVNXu2JV0BdtT-q5kQiN0sRYvU4t_KNpouCuG3vO3_f5emgPHQ3N_p3rvoe6dSUfySyk1YRiJiB5H6jiw4VpCE2RMIHL8Eox-aD_2uOpiExMMQ1l42T8PYC6p9tFDgwn7--5mlNHOhtypG-6my8-ULcBVUInAVL3Nxulv9IATRYoN2nY730EkSlpvHlPMaM0cHLIV5Uug=",
  "id": "rs_0d500d743bf10afb016ab4604a5d7887d0a5a0a823369e3175",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.475,\"right_y\":0.135,\"right_z\":0.205,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The green fruit remains held after the test lift. I’m raising it above the blue bowl’s rim and moving toward the bowl centre.\"}",
  "call_id": "call_4rPqSmzxjHBMfpNCGp4JfmHg",
  "id": "fc_0d500d743bf10afb016ab4604c9a3487d0a11332babc6ad14d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4rPqSmzxjHBMfpNCGp4JfmHg",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8482, 0.6415, -0.4839, -0.0135, -0.0338, 0.9899, 0.3702, 1.6676, 1.2453, -0.2527, 0.2619, 0.1425, 0.6455]\nstate[eef_state]: left_x=0.2879 left_y=-0.0001 left_z=0.1614 left_yaw=0.0018 left_pitch=-0.1217 left_roll=-0.0012 left_gripper=0.9899 right_x=0.4642 right_y=0.135 right_z=0.1788 right_yaw=0.0632 right_pitch=-0.0799 right_roll=-0.0304 right_gripper=0.6455\nstate[joint_eff]: [-0.0205, -1.7436, 7.1453, 1.7118, -0.0269, -0.0269, -0.0073, -0.0752, -8.9368, 9.6342, 2.0293, 0.2564, 0.2076, 0.7302]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:351563af13fa88615db39bac3bfb0e3c64ca3e5e9ddac347bdb0bf47bd2fc0fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e31d299ead6617c6d5486f5f94dae209453dc0836a79d641e43435039b347536",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f966904ce486c96087cf3fb02879793b8f619af43d1168bdf512a5573ded4156",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 7 attempt 0 · /responses · status 200 · 2.381 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 14 changed as sent

message 22 changed as sent

message 26 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8104, 0.6132, -0.4149, -0.0135, -0.0307, 0.9899, -0.0631, 1.6005, 0.4122, 0.5583, -0.065, -0.091, 0.9991]\nstate[eef_state]: left_x=0.2922 left_y=-0.0002 left_z=0.1725 left_yaw=-0.0 left_pitch=-0.0431 left_roll=-0.0005 left_gripper=0.9899 right_x=0.3743 right_y=-0.0086 right_z=0.026 right_yaw=0.0311 right_pitch=-0.0601 right_roll=-0.0161 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -1.2103, 7.0085, 1.8486, -0.0415, -0.0464, -0.0171, -0.5949, -4.7521, 4.5607, 1.1893, -0.0073, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0208, 0.8452, 0.6437, -0.4751, -0.0139, -0.0334, 0.9898, -0.0658, 1.3651, 0.519, 0.181, -0.065, -0.0982, 0.6418]\nstate[eef_state]: left_x=0.2894 left_y=0.0 left_z=0.165 left_yaw=0.0022 left_pitch=-0.1076 left_roll=-0.0009 left_gripper=0.9898 right_x=0.3676 right_y=-0.0091 right_z=0.0749 right_yaw=0.0326 right_pitch=-0.0951 right_roll=-0.0185 right_gripper=0.6418\nstate[joint_eff]: [0.0068, -1.8256, 9.5658, 1.8437, -0.0269, 0.022, -0.0171, -0.0615, -6.0103, 8.4034, 1.7753, -0.0659, -0.0122, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8482, 0.6415, -0.4839, -0.0135, -0.0338, 0.9899, 0.3702, 1.6676, 1.2453, -0.2527, 0.2619, 0.1425, 0.6455]\nstate[eef_state]: left_x=0.2879 left_y=-0.0001 left_z=0.1614 left_yaw=0.0018 left_pitch=-0.1217 left_roll=-0.0012 left_gripper=0.9899 right_x=0.4642 right_y=0.135 right_z=0.1788 right_yaw=0.0632 right_pitch=-0.0799 right_roll=-0.0304 right_gripper=0.6455\nstate[joint_eff]: [-0.0205, -1.7436, 7.1453, 1.7118, -0.0269, -0.0269, -0.0073, -0.0752, -8.9368, 9.6342, 2.0293, 0.2564, 0.2076, 0.7302]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:351563af13fa88615db39bac3bfb0e3c64ca3e5e9ddac347bdb0bf47bd2fc0fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e31d299ead6617c6d5486f5f94dae209453dc0836a79d641e43435039b347536",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f966904ce486c96087cf3fb02879793b8f619af43d1168bdf512a5573ded4156",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGBZB7dIOWgdGZLzYxTVWgWASPvrPB5cQZQ1SGmZPYjob91ShRbzrH0NgYMhIDNM4U3alqYg62f6ycPFzRTeykw3nNY6bewC0wRUx8k2LTK3cpc1IvUGBu7kttKi6DfT7yW2BWGDvGdvZqFV_yq1a3qsYnFANac777Td1bwVFoqkylQYTi8Y9u2nrocdn8KI5yEq8sDttUHQxeeOmwLLVI8E1fYQOI-rbxyXjgiX7ZR79oyD1NThzDRTMDXZe1LKDgj6L7C5jf8x8qDrHjra1oaK71SaIDOdheohzOqgttWvq69jFy9r9OqJR6r-ykF4TS18BOJXrKvyZyLh02CIk4K7hvVAtSjoH5S8A0WI_U2c7Nra8rQz1J8q4ryl86wJUoDW7CbkZedO_4Ol3m-mXn2HN_wjNUfezjHc1bSaUAeYfBgMaT9S11BP52uI6UBDK_jrD1BTW9Mt0JbjWVCxRXgR1vtoFeIs6fdkF-wFP5esdBKCI5zyVd7g8a68ZvaDjonvZxErM6TXrURtmCGw5ut_99C5JqMOOlhJcQV7Gub2UnXUna3d3BvMBue8acbtj8mdFV8yDABdlVBAnPYUpPbWKMwyFrO0jzlopVckDrCRWkISN7Y-U2CexE0EzEtiUiVmZfvKUVFIXCcJNpXyGRnYr6Wo9uCTdSTDDqVZPT8FjWm5S06_7iqy657yDFJXBh7w70UEWmkK14LNg--ZclIHT63T5ZVLElYYG9f6Xa32GeW3cGXAza3WLF18omHiCPfFrXCcdDZE3HprOUfzYz8ObFKrbQAJ8_c8Sky3KRrtaiTBg5Gm5pOiEZZBJE8ptHA4N8R3QRGD3O7fyVbwjvpZJxRe0bZ6qmqKFLwuKRBgbS39nkgblhUPbUpCKJghj3pcpS8q3-Ei3eDIN32K7PXiGP1xmbt_TMrcgZcBuvpodRfqByd35GSi43pd0y1dLCtUwh7tZbit13pL2zf2Nv4OREeu6Hi691u5VqX9sE4LQzLgm8xp0Ct-qHpFvjTUnOE5uWmQyU387ACKRoLGXx50w9XhXtTqX_lHtWH0KAXMFB1EiYwGIc5UZfntva6pDJie9v39gHh7_OufGGK0mfrzz-A0bjFuSkvtXZW204LaflpgihrizA12PBgb3gXdYddKn-6foStgd_prZ_8WPmrprzAoyzhdltx-1JxIh7YMJUW9JwHm1blKtmJE6UZuaGVgG7b5pXhNpHO-xbJkxoc1RjB1NOQuWvxHRZeP_S0av5vHa5hV_xh_pDFux0uzSG0OFMccXc4c2i5ZWbDXdCd0Uy9NWZv07LGqAx-g1ZkpSp7YKBUuWSJ7VXA1T8S685gIvZ0ex1H60T5lz11g_Pvvotwa5sieT-zueKtwud-SmBE7Mw6tTQPxHtELpHT-g3a1KOu_C9ro2EmYy_JkoCtTsxz4q0QR5JzbMR3S-fgBJyKhtmIh0SXM97iomtKoWjgE_M_clLz2Ln3-1dRb9KmgHBxR5ot9gOoKOlSVjbT_jrp6F5X8i9JofK7o02-gsEsmpahSN8k2jZxN_arXGOCEtWSBHinnF-EX9NgyWu8JiK8FjF9s87YFzPAnXj5pG8-3BFuy48PMcjvikf4_ny8AEi73KnIiAI4FXjdt6F3YtXWxjAmFbLWC3SOg2EQ1X1oakTJubogXrOa5rK3O31jutA==",
  "id": "rs_0d500d743bf10afb016ab460569ecc87d0bda6f2c6ba167252",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.475,\"right_y\":0.115,\"right_z\":0.115},\"note\":\"The held fruit is above the blue bowl, with the bowl slightly to the right of the gripper. I’m centring the fruit and lowering it just inside the rim before releasing.\"}",
  "call_id": "call_Qmz0gVHeSRaN02DW3vmSGtNq",
  "id": "fc_0d500d743bf10afb016ab4605874b487d0ae45a1cf706a60aa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Qmz0gVHeSRaN02DW3vmSGtNq",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8482, 0.6415, -0.4911, -0.0139, -0.0338, 0.9898, 0.3054, 1.7527, 1.0733, -0.0265, 0.205, 0.1005, 0.6459]\nstate[eef_state]: left_x=0.2867 left_y=-0.0 left_z=0.1601 left_yaw=0.0021 left_pitch=-0.1289 left_roll=-0.0007 left_gripper=0.9898 right_x=0.4686 right_y=0.1138 right_z=0.1069 right_yaw=0.0675 right_pitch=-0.1203 right_roll=-0.0368 right_gripper=0.6459\nstate[joint_eff]: [-0.0479, -1.5248, 7.1179, 1.7118, -0.022, -0.0611, -0.0171, 0.0615, -8.7863, 6.6803, 2.0098, 0.0855, -0.0464, 0.8181]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad7281b45c56cee473d2b02721ad703aad721e084908984d83b12b23a7a8c451",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e73468c26c1a26ba568d124dd2426f7fe47750b25d076b07dbb7688dbb33ab2e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb9aada4adf999b0e4284b4ccee250f08002696cb7a4b9cbc866719d0800a5a8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 3.843 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 18 changed as sent

message 26 changed as sent

message 30 changed as sent

message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8124, 0.6132, -0.4236, -0.0135, -0.0311, 0.9899, -0.0658, 1.6043, 0.4149, 0.5835, -0.0654, -0.0952, 0.642]\nstate[eef_state]: left_x=0.291 left_y=-0.0002 left_z=0.1702 left_yaw=0.0002 left_pitch=-0.0538 left_roll=-0.0005 left_gripper=0.9899 right_x=0.3785 right_y=-0.0098 right_z=0.0306 right_yaw=0.0309 right_pitch=-0.0362 right_roll=-0.0216 right_gripper=0.642\nstate[joint_eff]: [-0.0479, -1.4974, 7.1043, 1.746, -0.0269, -0.0757, -0.0171, -0.0205, -5.9419, 4.588, 1.4286, -0.0513, -0.022, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8482, 0.6415, -0.4839, -0.0135, -0.0338, 0.9899, 0.3702, 1.6676, 1.2453, -0.2527, 0.2619, 0.1425, 0.6455]\nstate[eef_state]: left_x=0.2879 left_y=-0.0001 left_z=0.1614 left_yaw=0.0018 left_pitch=-0.1217 left_roll=-0.0012 left_gripper=0.9899 right_x=0.4642 right_y=0.135 right_z=0.1788 right_yaw=0.0632 right_pitch=-0.0799 right_roll=-0.0304 right_gripper=0.6455\nstate[joint_eff]: [-0.0205, -1.7436, 7.1453, 1.7118, -0.0269, -0.0269, -0.0073, -0.0752, -8.9368, 9.6342, 2.0293, 0.2564, 0.2076, 0.7302]\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 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8482, 0.6415, -0.4911, -0.0139, -0.0338, 0.9898, 0.3054, 1.7527, 1.0733, -0.0265, 0.205, 0.1005, 0.6459]\nstate[eef_state]: left_x=0.2867 left_y=-0.0 left_z=0.1601 left_yaw=0.0021 left_pitch=-0.1289 left_roll=-0.0007 left_gripper=0.9898 right_x=0.4686 right_y=0.1138 right_z=0.1069 right_yaw=0.0675 right_pitch=-0.1203 right_roll=-0.0368 right_gripper=0.6459\nstate[joint_eff]: [-0.0479, -1.5248, 7.1179, 1.7118, -0.022, -0.0611, -0.0171, 0.0615, -8.7863, 6.6803, 2.0098, 0.0855, -0.0464, 0.8181]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad7281b45c56cee473d2b02721ad703aad721e084908984d83b12b23a7a8c451",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e73468c26c1a26ba568d124dd2426f7fe47750b25d076b07dbb7688dbb33ab2e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb9aada4adf999b0e4284b4ccee250f08002696cb7a4b9cbc866719d0800a5a8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGBgxbRx1ra_GoKhryvenpEo5a9Qyzmt7h9Em0_a4CmCN6qF0OEawZWOBc4OsWY3jPo66NTG1hMTldm4DeKKzVruTWUHOGF4aVVaFljoZzrDXPaT6y5WMUq27l0vFottNcRJi0sx0SOFjcTccm9HL-svJ63Iih7GNjF9-c_mRHxtBbdoMJL73gStqtQ65Aq336RLxTTYJ0lU79OAw1kfh9KRNUnLCvYBAHMt5Mum22QOgxhoor30fzq9OgWFb4DcehT3csA4aZbe4c8eJgEPEa0bu4_S6ewLvevI-DBTaSKe4ZC7PH9V6Yq7HM96mFanzbaVsGB-vyqUWA4UQNGxCszBx3omY9_H6L3xgcDDbV1cWHmtjGqPWQYAHVogs98xVyaE3k4zjnx0CLpN3VyEpS7MpYoHrrjCQK6YQ7Cta7lYMYzQ1VrrJpDCvwADrFRYI3tydzE9u6iVasjOjRvVk5pVISG-FiBcl023uqz8rnmFN37JVW5yco5o0PzWKlKATPQXEIrJnQsG9pCQkx2WiWpasnTm0h9P76iK8ywABFMoziHfYWbItYZggMRacbXtcbjpEAndw8nRCc3PYU_gEEaf-iTFriwz6nEelv7Y-hWsAxV0AiB9y7Hll1tjX_8b9t9izNCrjqL9F7yL1YtkjDbSDgqfKre_rHIpXn8FgWUIRt9HfMFC2UPWaDo_Dg-O42CcIAAvOgZXcRi_hTT670XL_qNmoilWWMDrpO_-g4MHVtoaxHPtZSZjC1-TnauK1_ujeHXrmtPZttEVgRUi0E23ztCtkxaM3UQEOJwpbXKEpnGkKoLHMt2lCEZECv5Xr5BQlrwvT3endH0UQ2FzNeDzsZ2bLDYkpJ8pk_27RtKphMchjtRkacv0THDgXqwpUMVTE9UpI5CiaJy9LBguW9ErNGTCh1S1u0Z9s8Ujx37o0gxuS8bmmTMbVu5S1MsiXFjz4ag4WsvHKbYg_NhQZaXwmqOOmM62zpBXsjyBvnoUXegmt2dkxx4EPpHTCA5lQwe5_4OSNFfEw6ILs2u3T3kCym6JLO2fFEP7OdKA4UkOuZeqzpFZQpFSmggGb5K_dAzCgFfoSOIoHrTQH-H6m65ChzuqJE1Lvi8XLMmtrFhKcEUxh9N9HWcBp1m9mNJVdIDFKbr-fSCoWMI8ZnqKYHMiXx9lJpojjLc6D5KC-uL0PCttcJ07RDdbibKICQi29N2r",
  "id": "rs_0d500d743bf10afb016ab4605ffc5887d0989a209a05b2039e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The green fruit is positioned inside the blue bowl’s opening. I’m opening the jaws to leave it in the bowl.\"}",
  "call_id": "call_JgEE75sJR1BefuDJPBjtt3QD",
  "id": "fc_0d500d743bf10afb016ab4606048b887d0864ff3c0709f3e6a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JgEE75sJR1BefuDJPBjtt3QD",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8482, 0.6415, -0.4919, -0.0139, -0.0338, 0.9898, 0.3054, 1.7527, 1.0733, -0.0341, 0.205, 0.094, 0.9956]\nstate[eef_state]: left_x=0.2866 left_y=-0.0 left_z=0.1599 left_yaw=0.0021 left_pitch=-0.1297 left_roll=-0.0007 left_gripper=0.9898 right_x=0.4674 right_y=0.1134 right_z=0.1055 right_yaw=0.0708 right_pitch=-0.1279 right_roll=-0.0436 right_gripper=0.9956\nstate[joint_eff]: [-0.253, -1.1966, 6.9675, 1.6044, -0.0464, -0.0366, -0.0122, -0.1299, -8.759, 6.4615, 1.7265, 0.0317, 0.0269, -0.1392]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4216a6b5cf15a19cf0a479d8bbfde106a8d48f7648068b78a12dde3405b2965c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b07e3aebbd107921dd215e946d8a45c6da44d18e70322bae5033d9972bf6cd2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53217879caef83d58a706007ba0babc8d7c2ea73e70653fa44f2bbd7d81c9f8d",
      "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 · 5.857 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 22 changed as sent

message 30 changed as sent

message 34 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0208, 0.8452, 0.6437, -0.4751, -0.0139, -0.0334, 0.9898, -0.0658, 1.3651, 0.519, 0.181, -0.065, -0.0982, 0.6418]\nstate[eef_state]: left_x=0.2894 left_y=0.0 left_z=0.165 left_yaw=0.0022 left_pitch=-0.1076 left_roll=-0.0009 left_gripper=0.9898 right_x=0.3676 right_y=-0.0091 right_z=0.0749 right_yaw=0.0326 right_pitch=-0.0951 right_roll=-0.0185 right_gripper=0.6418\nstate[joint_eff]: [0.0068, -1.8256, 9.5658, 1.8437, -0.0269, 0.022, -0.0171, -0.0615, -6.0103, 8.4034, 1.7753, -0.0659, -0.0122, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8482, 0.6415, -0.4911, -0.0139, -0.0338, 0.9898, 0.3054, 1.7527, 1.0733, -0.0265, 0.205, 0.1005, 0.6459]\nstate[eef_state]: left_x=0.2867 left_y=-0.0 left_z=0.1601 left_yaw=0.0021 left_pitch=-0.1289 left_roll=-0.0007 left_gripper=0.9898 right_x=0.4686 right_y=0.1138 right_z=0.1069 right_yaw=0.0675 right_pitch=-0.1203 right_roll=-0.0368 right_gripper=0.6459\nstate[joint_eff]: [-0.0479, -1.5248, 7.1179, 1.7118, -0.022, -0.0611, -0.0171, 0.0615, -8.7863, 6.6803, 2.0098, 0.0855, -0.0464, 0.8181]\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 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8482, 0.6415, -0.4919, -0.0139, -0.0338, 0.9898, 0.3054, 1.7527, 1.0733, -0.0341, 0.205, 0.094, 0.9956]\nstate[eef_state]: left_x=0.2866 left_y=-0.0 left_z=0.1599 left_yaw=0.0021 left_pitch=-0.1297 left_roll=-0.0007 left_gripper=0.9898 right_x=0.4674 right_y=0.1134 right_z=0.1055 right_yaw=0.0708 right_pitch=-0.1279 right_roll=-0.0436 right_gripper=0.9956\nstate[joint_eff]: [-0.253, -1.1966, 6.9675, 1.6044, -0.0464, -0.0366, -0.0122, -0.1299, -8.759, 6.4615, 1.7265, 0.0317, 0.0269, -0.1392]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4216a6b5cf15a19cf0a479d8bbfde106a8d48f7648068b78a12dde3405b2965c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b07e3aebbd107921dd215e946d8a45c6da44d18e70322bae5033d9972bf6cd2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53217879caef83d58a706007ba0babc8d7c2ea73e70653fa44f2bbd7d81c9f8d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGBlxdGfhvAQVveE8Y1728aS-aYL0mKOQ5d84Bf07BCGdEF27Aw_1KO5BuUw4vqcO6SYcp0FUL5xvcbGgmTSoE7tO7Lzg9uOFmwHtP4YKOU5iiLHyky4-eQQjqQxCEHZ3yE6oTpZoF9nw7cFlyrta4Dx__KAjdr3952pRooPeTYgS4gIbZ0ZD6PmVNQudiaxEiLuEOCwSH_ux4W-nAEKBuvcRE2CnJFMtbXarvu_6eihqZlGrJHD25ko5zB0HUznn59urfxq3pMz5KbHicy-xSmbIgbicWrnFeRSJB2NeapBIvHWQ_zL5yJI2L7sttFMsexxTAo5IlDHAsV9UKGmhc2h9MVlm_Wchj5FYekUP3hOv9loKK-ODsRWeDkrO9DFbIFBdFtD1Oy_wXk17cHMMzaIoLHCY-i39ROKHXO9HmJH1Gw7Cu97kusvPsYQcTTRpBlKRaEGVUgSgYhC7iFF8ztacoveE51iewysflf-LYkBf7Yv4plK0Mon1s1NfgCYNyytiZW26nlkjaOa69axqa7GqsojkZEgmXaV4LLxmg2UEXNPmYopRYlFARl7WOUTiR3wNdb_glccgZr6MC9Q_ZLGheVeqzQRa7giRAnEOWfFKjhO3KVUICykgJrEipttknERM8QWQSVSVD6im7UpBOIjCpjQRLk6wh0C2bK0uL7LZBBE0KZkDOmgYziLE0z7BBilp9vzbhdjcBITfRqmcYCin3lIC3EdKD1hd_Aqm-6FaCzGfbDKQeonM3HeACvLAkaFfkx8vHK8mEHkxwrxsryRsS8uJQdpOJwGcMXsT4Se9RlDN4j8lbNAHvKwJwDK8Us0e7mrhTkW_NjAt3loa5U3Y8ZQN1OiB4UwuvXZn_u3WGwlrvUDGYj9Z6jjF7fRCp3-oKkc3xQd4i8nWle1nP7WGexO6IfHIsUMZ5F4y_-Rbw79i7po09V-_E3hQ5I284p8viRquqSDedTxSDDoigU0t2tIoywPM8azG4oJre1QqWQkwDIB6Z7Hed2p16lkPQZD8SehLeWvUfMDAmLvZOhl8S_8SQ9Fo-EU7qodjESes_LB3f1smQ9VFwsogxYkp9E5TNOHnppJSsTmlY2BcbVZkirIHBNUY_gyg2hxhxHQ795iY5ayLcq6lppe-hmLnAwkQAMece6xA8xKAPYIDO1QeGiKjQ4JhsBgGWmHv0_YyKCQzKQY4NC6zyiZJSxBqHHE0F96v50pGvB1B2tPYFwHMj32xOkxU02DwdDAhlVhWKQ8N3SmE862yph7hrebTCKWEUpzVdreDC4mPGNquywKua4bM8YTRjFU9N9irNIFIjwZz7RJl2mMsZzZVZlQq7iJi7ecmPABQrzTsUQmgYkTkaHCTFUfqY2pfVF_l10wRAhCfdagqYb5WJLuzi3iQ_a3l3T22uZl52mUGStgaChTwB9AzwXb82shHhQsMNSI_XHndN5TG9zIomYkY-LffHILdzFBlh-JBrC-IUBHf7KvWtzVvHKepiWBXxtVW-s_RNp8QTtx6vkMaDs-TjwJe3Q8NKxtEqMJHadQ35La5c6xC9QrzD_PRrHN6F5BUIHW6I0eFyyKQp8Db8WScGJR1PWSs-1HSw8Bl9praXPzvntZNiOS3DwQ9soU8KlR-YXPeP1wGP03BfbGfJIjuNeN6EDYwWp7uQ0PukTeYK_7KotgjQ==",
  "id": "rs_0d500d743bf10afb016ab46062ab6887d097c0dad973553081",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.365,\"right_y\":0.22,\"right_z\":0.15,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The green fruit has dropped into the blue bowl. I’m moving above the remaining yellow fruit for the second pickup.\"}",
  "call_id": "call_VjNVaVNbIslvekmiWINLrspf",
  "id": "fc_0d500d743bf10afb016ab4606445b087d0b0ad5f296fce129c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VjNVaVNbIslvekmiWINLrspf",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8509, 0.6415, -0.4942, -0.0139, -0.0338, 0.9898, 0.7574, 1.5642, 0.952, -0.1036, 0.5465, 0.3782, 0.9962]\nstate[eef_state]: left_x=0.2863 left_y=-0.0 left_z=0.1588 left_yaw=0.0021 left_pitch=-0.1346 left_roll=-0.0006 left_gripper=0.9898 right_x=0.3659 right_y=0.2245 right_z=0.1394 right_yaw=0.0942 right_pitch=-0.0269 right_roll=-0.0187 right_gripper=0.9962\nstate[joint_eff]: [-0.0752, -1.7846, 7.1316, 1.6874, -0.0464, -0.0611, -0.0122, 0.0068, -9.5795, 6.065, 1.5067, 0.398, 0.1392, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7642307c6e62307210bcedfd7bf3001e0c7a153c4000d356c909caddf913c44d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:985b6fe602d8a119379074c59b1f001a2a0bcb3d8a473af13577ec077cd87288",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5974c2e3c208b5962403fd22b3d533c3bc6b80be151157c35fda8dc0ef2e9ee6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
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call 10 attempt 0 · /responses · status 200 · 2.269 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 26 changed as sent

message 34 changed as sent

message 38 changed as sent

message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8482, 0.6415, -0.4839, -0.0135, -0.0338, 0.9899, 0.3702, 1.6676, 1.2453, -0.2527, 0.2619, 0.1425, 0.6455]\nstate[eef_state]: left_x=0.2879 left_y=-0.0001 left_z=0.1614 left_yaw=0.0018 left_pitch=-0.1217 left_roll=-0.0012 left_gripper=0.9899 right_x=0.4642 right_y=0.135 right_z=0.1788 right_yaw=0.0632 right_pitch=-0.0799 right_roll=-0.0304 right_gripper=0.6455\nstate[joint_eff]: [-0.0205, -1.7436, 7.1453, 1.7118, -0.0269, -0.0269, -0.0073, -0.0752, -8.9368, 9.6342, 2.0293, 0.2564, 0.2076, 0.7302]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8482, 0.6415, -0.4919, -0.0139, -0.0338, 0.9898, 0.3054, 1.7527, 1.0733, -0.0341, 0.205, 0.094, 0.9956]\nstate[eef_state]: left_x=0.2866 left_y=-0.0 left_z=0.1599 left_yaw=0.0021 left_pitch=-0.1297 left_roll=-0.0007 left_gripper=0.9898 right_x=0.4674 right_y=0.1134 right_z=0.1055 right_yaw=0.0708 right_pitch=-0.1279 right_roll=-0.0436 right_gripper=0.9956\nstate[joint_eff]: [-0.253, -1.1966, 6.9675, 1.6044, -0.0464, -0.0366, -0.0122, -0.1299, -8.759, 6.4615, 1.7265, 0.0317, 0.0269, -0.1392]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8509, 0.6415, -0.4942, -0.0139, -0.0338, 0.9898, 0.7574, 1.5642, 0.952, -0.1036, 0.5465, 0.3782, 0.9962]\nstate[eef_state]: left_x=0.2863 left_y=-0.0 left_z=0.1588 left_yaw=0.0021 left_pitch=-0.1346 left_roll=-0.0006 left_gripper=0.9898 right_x=0.3659 right_y=0.2245 right_z=0.1394 right_yaw=0.0942 right_pitch=-0.0269 right_roll=-0.0187 right_gripper=0.9962\nstate[joint_eff]: [-0.0752, -1.7846, 7.1316, 1.6874, -0.0464, -0.0611, -0.0122, 0.0068, -9.5795, 6.065, 1.5067, 0.398, 0.1392, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7642307c6e62307210bcedfd7bf3001e0c7a153c4000d356c909caddf913c44d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:985b6fe602d8a119379074c59b1f001a2a0bcb3d8a473af13577ec077cd87288",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5974c2e3c208b5962403fd22b3d533c3bc6b80be151157c35fda8dc0ef2e9ee6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGBtS2qGlMxl_tf_5eXIFx4-1KtfQmjVQ0JQxJs5T15Qf9mmu3uvzLBeNnojsKOFjaPM_0ksKmJ8Y2E6mifIbhGD8_-_nww6_G-XoDsLqjX92eRRagE8tvmhdnbm8oUMBerfzawdUekGm9nJ_tvGFSF3OQXBQeSWJT7IKUfcQ6xDZ8vFRt3Cr5mHMzPcokEHrKAKS_enGlSx1BxyRL1c1r0vNpKR5zJjNVwUWppApJfoR6u2nOonOb-Wg-1Zlm1yg_6o2zpB3pfBCkhB7cTrMuFo4st1EzHctNTiXlGfwa_Q_esbzI4uuNGqprznwQFnFYwE4oWtqzcnkGZJ1ZUyodIPk68tfNwNDUeokydcMB8h4rrD45oGgkKEtM9DpJ7R99cF9cFecMgRhO70WUHQMR2cso3pBtnjuY7LPgZ_7OKROOU0KPECPjujCMWMipfIwcejN45I3FGXbxk-nWssz6m-uf6Mq2-8kKI8zN4n8nXjlpsTB3hpl82vbkss4hj23KE_1urAoX46xsfO5np8NgQL23kSHx-xzExQqo2MNiFiJCSK16w6CTuGIvcnA_rONbIQf-nEPU9M2DvX0AdWyKNzZtjlaj8DIR3A7HHdC-gCUGAIzwrYxtJePUeBVXZ4FBKGY-KFB_2mAzWY2bIaP_SFVBl8IP-Gkt93OzgR7G6qpcsEyeUQxNZaZkr27SNyMPa66VTp4iMPuB75Pq74ZyJvt54GrpvUXi_Rkv3w4pmXOo-XABzqNEdSMQswTcwfkIBFAs03rYgjbMQTLUV0fFZ1opIp-KlnCqfsYNVoSo3dELekV6H6d_N-LMCinQWfJdMaFHoj8MbLQjuJDPb14KJrSqOFLI2uEVIOG3suf-LcoQFschdI_FUEim8gKTdvAh2W4evm5cT7tmEKbz-kvBmmM4AEmUByCgtKN8Ngr1d0z-KwO-vnufis518-mkQMXFLt9SLoTcDiRkGXUNT_MAGA7aIcuwKrR6R47T1CndFZ-DUKCqACUuhhQTu9yT_oDYs-lhsHZLRxNzjS9KrzdgMd0e8HO98pKOM1v2xu1mYD0f_rYXDRF0rG5n5RAN77Bts0aBWRIJ_37MJwVuvZ8tvJg0ogIlLU64Nj8MWQTDC43CbFLDxD5Qttwlj5vQ-T7oGx-TmSsV234-N15AI6Yxxwu3dA-RgfYAmUPFTg-Vb_P9Gb3ivlfP3EHsGvQXKzzvjCNJzOuCw3fjUdF15OK3bcSi1pXRRLI3nX2NKGFmkIjHGFL0aQ9z5lSPQbL1moAXMerYr3NBLmXzoyKn2nsotM_DH4VZpdxW8G-AzqzlizCskO4FM_x-MgZHdteP_2aKbN20IobF1GNBx6XHN7WkTWLJ2a9lFaYPcclQw0nxXyjlidKM0bgmsR1q3wNBt8NSU65MRUYsrW9UVSncTMaBKHa6RO_KMgI10XMk4RUQkafU-9M3fWEk2Xut8LzSEkW8pcbD8fwZCUiRtAsdkcf98Q-e0K2dQVveENUP3tWkJnY--52ozR8nfNB-AqDFEqICiszXQjjmG0sbweOiyQd86lUjDtiiCnEoSZLuOsvM4Dv2sYQVejFduRSW6sYGFB1-kL89AHb6jVq6eku7kDS98l1QiWdOXEpeGw-7O6p2gO-ob9rruYQIseYnePtWXkorTmzUcjbemzx6o_90gf7d9cIoWG2ZP7SEHdI6JPuMzijygbGjZj1VkPMvO2lsqco7iJ3PSoDk7Y3EWzum4_RnSXc_oL8JAsbOR3ALNKVkpaKeNf8I4o1K-0AV4k3abyTKxXFEBOUtvnwCWk1ygzRpr_tk0SElYgRgqbTP9LlKAAPh8YMdffSP7hkzNVf7EitQHwrj956x1Va-KOVH1rgw2JcYXK4yP7BaGOl6k1HcRZI3dTM2mFXVoienqGsSc5S_6BwdEfUdJw-o7FWba7-hCjcZ_3ga4DWyfDdCOGHNiep_KD2C-SicSamYNrgUl3ucwiD4BsdQ9X8c82Nt2NmjVkWb4_K4GKL6Utaiarr24bFJ4YDvRV01vYaGX3V50CR6GwD8UhIkkUax2ni2LGY_gbbt633jlx-RfBrMFyjvLO-u7m9ywkhmn6OBU3JFg7lHTX9p49bNthxvdNT84nXb62C2uWNZyiI5owQSmAcAp-2_Q=",
  "id": "rs_0d500d743bf10afb016ab46069aa7887d0b4451e64695c05d5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.192,\"right_z\":0.025},\"note\":\"The yellow fruit is near the bottom of the wrist view and slightly right of centre. I’m shifting right, advancing a little, and lowering the open jaws around it.\"}",
  "call_id": "call_HdK4o9VUZGLOJAbDapaaujay",
  "id": "fc_0d500d743bf10afb016ab4606c84c487d0956899c9492b2142",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HdK4o9VUZGLOJAbDapaaujay",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8513, 0.6415, -0.4946, -0.0135, -0.0338, 0.9898, 0.6357, 1.8202, 0.7277, 0.4095, 0.4568, 0.2874, 0.9963]\nstate[eef_state]: left_x=0.2863 left_y=-0.0001 left_z=0.1586 left_yaw=0.0018 left_pitch=-0.1354 left_roll=-0.0008 left_gripper=0.9898 right_x=0.389 right_y=0.1947 right_z=0.0338 right_yaw=0.092 right_pitch=-0.034 right_roll=-0.0276 right_gripper=0.9963\nstate[joint_eff]: [-0.1026, -1.5385, 6.9812, 1.619, -0.0464, -0.0513, -0.0122, -0.5128, -7.241, 4.0137, 1.4774, 0.1148, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81431776199a301be1a2ce367e2176354e8f38a5ccb788bb29b46cbbe420c02e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b05fb4e24df1063cbbc81f1489984e91c9d1694e10a474ccc039fad43d0cbb0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c11fb7e7a2e63fb45b31191da90d89b7055511225f43a7468578fbfc4d626b1e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /responses · status 200 · 5.216 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 30 changed as sent

message 38 changed as sent

message 42 changed as sent

message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8482, 0.6415, -0.4911, -0.0139, -0.0338, 0.9898, 0.3054, 1.7527, 1.0733, -0.0265, 0.205, 0.1005, 0.6459]\nstate[eef_state]: left_x=0.2867 left_y=-0.0 left_z=0.1601 left_yaw=0.0021 left_pitch=-0.1289 left_roll=-0.0007 left_gripper=0.9898 right_x=0.4686 right_y=0.1138 right_z=0.1069 right_yaw=0.0675 right_pitch=-0.1203 right_roll=-0.0368 right_gripper=0.6459\nstate[joint_eff]: [-0.0479, -1.5248, 7.1179, 1.7118, -0.022, -0.0611, -0.0171, 0.0615, -8.7863, 6.6803, 2.0098, 0.0855, -0.0464, 0.8181]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8509, 0.6415, -0.4942, -0.0139, -0.0338, 0.9898, 0.7574, 1.5642, 0.952, -0.1036, 0.5465, 0.3782, 0.9962]\nstate[eef_state]: left_x=0.2863 left_y=-0.0 left_z=0.1588 left_yaw=0.0021 left_pitch=-0.1346 left_roll=-0.0006 left_gripper=0.9898 right_x=0.3659 right_y=0.2245 right_z=0.1394 right_yaw=0.0942 right_pitch=-0.0269 right_roll=-0.0187 right_gripper=0.9962\nstate[joint_eff]: [-0.0752, -1.7846, 7.1316, 1.6874, -0.0464, -0.0611, -0.0122, 0.0068, -9.5795, 6.065, 1.5067, 0.398, 0.1392, 0.0562]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8513, 0.6415, -0.4946, -0.0135, -0.0338, 0.9898, 0.6357, 1.8202, 0.7277, 0.4095, 0.4568, 0.2874, 0.9963]\nstate[eef_state]: left_x=0.2863 left_y=-0.0001 left_z=0.1586 left_yaw=0.0018 left_pitch=-0.1354 left_roll=-0.0008 left_gripper=0.9898 right_x=0.389 right_y=0.1947 right_z=0.0338 right_yaw=0.092 right_pitch=-0.034 right_roll=-0.0276 right_gripper=0.9963\nstate[joint_eff]: [-0.1026, -1.5385, 6.9812, 1.619, -0.0464, -0.0513, -0.0122, -0.5128, -7.241, 4.0137, 1.4774, 0.1148, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81431776199a301be1a2ce367e2176354e8f38a5ccb788bb29b46cbbe420c02e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b05fb4e24df1063cbbc81f1489984e91c9d1694e10a474ccc039fad43d0cbb0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c11fb7e7a2e63fb45b31191da90d89b7055511225f43a7468578fbfc4d626b1e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGBzINNK-PQDw9JoE_BYgLQgTYs4jBJVww8ahtDX6ybvGck-Ywc5qMa3lmohPCOcoA4gR9U9oAhQD2OkpUbJUQ8zTxJMRlHopGsZ1VeAlZNWLRJBPZUVSUOi5B7UyixaJOs6ZRNRiqGBYyRt2NfaRJj5xJG1-oS4xAu08SoWZFTdCDQHjocjzXtCM2h5wgaCqp4AWELWvEreHjJhBw4M23PfU9ajnTFuAldnR6I3SdE-t_o7epCwL2Lt19rhszF8Pre2E-xV6q5tYw4wC1qbdfFebXFpDN7LdWBDs_YXwkFAO3_HhKS-Wg6-gUlbmCxf2ZuGrn5qldXkRwOeTeFJJfUua3jm6rrEsWG_4cbeALaaLPrrze1Khf2iqyWZ4E-i0JkT26upLgGYJgtCRuGd9nI5ElBn0bh7na8MtFbWZaHmp-li6mPx_Ol1RJU-FsK8PoOLpx34vVQ-QhDjUPkj9Mrb6-rYod-Li7hfKR4lKUdId0l-ev9wKxySn6OQlMHP_QP4nDvOf83V9bxTibyMBPR32dJzYKSzfD3s2cMXkvRc4kKARyqYokVOBp4bqQoDe9OmMdc6w5lkOPDACjt4GX5VoqUnVg8a8V1osr-jzCm-mughSygETYHxXlPfesMrV-4H0hS4w8bCZS57enx-n_ZMQczFPXBzzhH6cnQkLaEmvzS5JO3f9WxmIKp4uj5zfKcUwdF062XoM1Nw0pf2f4VRC7LK3y46Nccw7fqqQRZZw6r0AyK2fqoDGkFbn9LDjvkmMeGYbGzOGYzImWxjEkD4Dr9wAy9FPA7fWrsjfQbmx9GwWwWsBczwJjgyscfrtXfpO10kPFiLkqW8wphoAuAuXm3mgy-5mEDfNfxi8gDdi2Zc9DGcfBcWWIjutTLhMO18DPpXLZl2Hpz1Am1XUraUQ4RSsW2Y7eOzdiiQjsdewV2BfR7sf_O1wWi9rr2YEpEuw7Hb1YBgMedQUxmwhjoIQJMkSTIJ5bFAwkr0g0Xmo3XoywUkoQqlL1luE7he_-vLJBdRo_ko9w1QGFrgp7eNEbW_HPcLA-UNncGySpgKC9hXhCZqvw8TRDYM2_mWqRgPQcLhfNwhuOyEl4o-o_LdljCAASl0erSirfd8YkbBT4NhV0rLeTiRSCEu7_H08kU5M4ExEeOeOhDrFsdju9sM84pMXlk6M49I2YnVS213XW1PKxGaVzxUq_CwBWQrnz4P",
  "id": "rs_0d500d743bf10afb016ab46072b27c87d0acffef46fe7b84df",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The gripper is at the yellow fruit’s position, with the fruit now hidden beneath the fingertips. I’m closing the jaws for the pickup.\"}",
  "call_id": "call_pgLLkAtHFi28rkr55vMA4B8T",
  "id": "fc_0d500d743bf10afb016ab46072f20487d09a3e62647700a598",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pgLLkAtHFi28rkr55vMA4B8T",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.852, 0.6415, -0.4946, -0.0135, -0.0338, 0.9898, 0.6304, 1.8225, 0.7231, 0.4389, 0.4866, 0.263, 0.0355]\nstate[eef_state]: left_x=0.2863 left_y=-0.0001 left_z=0.1584 left_yaw=0.0018 left_pitch=-0.1362 left_roll=-0.0008 left_gripper=0.9898 right_x=0.3933 right_y=0.1892 right_z=0.038 right_yaw=0.0765 right_pitch=-0.0057 right_roll=-0.052 right_gripper=0.0355\nstate[joint_eff]: [-0.3487, -1.5521, 6.9949, 1.6239, -0.0464, -0.0366, -0.0122, 0.3214, -7.2957, 5.7641, 1.2283, -0.1245, 0.1978, 0.8034]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5663746b0277a4f53833681ee0aebbd112e4263c1468b09068ec29d5f107f1b2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a6a5be708dde3cfaf6751fd5e99cb008ffe2ffca9dffdd9174aabe0e65c9a21",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d9147a5f3e3e8dc5131b30b904829b2e0d5ee88486ce42ae13856a0d4d62125",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 12 attempt 0 · /responses · status 200 · 2.593 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 34 changed as sent

message 42 changed as sent

message 46 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8482, 0.6415, -0.4919, -0.0139, -0.0338, 0.9898, 0.3054, 1.7527, 1.0733, -0.0341, 0.205, 0.094, 0.9956]\nstate[eef_state]: left_x=0.2866 left_y=-0.0 left_z=0.1599 left_yaw=0.0021 left_pitch=-0.1297 left_roll=-0.0007 left_gripper=0.9898 right_x=0.4674 right_y=0.1134 right_z=0.1055 right_yaw=0.0708 right_pitch=-0.1279 right_roll=-0.0436 right_gripper=0.9956\nstate[joint_eff]: [-0.253, -1.1966, 6.9675, 1.6044, -0.0464, -0.0366, -0.0122, -0.1299, -8.759, 6.4615, 1.7265, 0.0317, 0.0269, -0.1392]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8513, 0.6415, -0.4946, -0.0135, -0.0338, 0.9898, 0.6357, 1.8202, 0.7277, 0.4095, 0.4568, 0.2874, 0.9963]\nstate[eef_state]: left_x=0.2863 left_y=-0.0001 left_z=0.1586 left_yaw=0.0018 left_pitch=-0.1354 left_roll=-0.0008 left_gripper=0.9898 right_x=0.389 right_y=0.1947 right_z=0.0338 right_yaw=0.092 right_pitch=-0.034 right_roll=-0.0276 right_gripper=0.9963\nstate[joint_eff]: [-0.1026, -1.5385, 6.9812, 1.619, -0.0464, -0.0513, -0.0122, -0.5128, -7.241, 4.0137, 1.4774, 0.1148, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.852, 0.6415, -0.4946, -0.0135, -0.0338, 0.9898, 0.6304, 1.8225, 0.7231, 0.4389, 0.4866, 0.263, 0.0355]\nstate[eef_state]: left_x=0.2863 left_y=-0.0001 left_z=0.1584 left_yaw=0.0018 left_pitch=-0.1362 left_roll=-0.0008 left_gripper=0.9898 right_x=0.3933 right_y=0.1892 right_z=0.038 right_yaw=0.0765 right_pitch=-0.0057 right_roll=-0.052 right_gripper=0.0355\nstate[joint_eff]: [-0.3487, -1.5521, 6.9949, 1.6239, -0.0464, -0.0366, -0.0122, 0.3214, -7.2957, 5.7641, 1.2283, -0.1245, 0.1978, 0.8034]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5663746b0277a4f53833681ee0aebbd112e4263c1468b09068ec29d5f107f1b2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a6a5be708dde3cfaf6751fd5e99cb008ffe2ffca9dffdd9174aabe0e65c9a21",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d9147a5f3e3e8dc5131b30b904829b2e0d5ee88486ce42ae13856a0d4d62125",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGB5x1NSSV8F4IFz-flj90YRHfhTXg9MDyn928x_wFBWi_1zEmyTQMUeqiKQkr_HzAiqAnYaz1WbPTE3J_0obcTgfz0PD6VbG59knLj6EGoU4BAdZG9KqgThBNbETosYji4BoJ6u-Oo6JQjt3zRhEp3tI2vrFQiPzga29x3RvdF36dBdD3S8obo5z8x3dH6I4Rh0kSROdfsqHWgXyDZu1tXW6bTeuzU7tU2vkxb1rjp_h_Brwm-0oZeFd5FLpx8W5hALwDBy-NbIT-YrtoIFAXnr9CI_aq81fKqFOfXb6XJl2J2g5PRQ74y_UkNKjB8MeyV6v1pYQmo2gmnrB3AcODSIqhQ48ZP2g1jT0hVTunUdvern-g-nCZUeyXuGZcNnQqJBbUFzQFxcPZOHosarlZlzpccIi-u0P71GGqLA3UXbzm5skrqmu78gNrnx1NTq_0nJqCfYAv4GHe5RbIMmlPbRaW3gX6jtYsVyL77ArOorkdJnjbTBxs-N0icw0glJTGu4woZa83v6WrgzcJoTU90vHGEZXS-iNg72hYPQIYlwM2kuhrhyxAm8m3Ouoh5XlElwJXcyq6AkLNSI3-oANx-_iFeUP9Yn7QAE8SHL3tw4nmnoosiTpaJfgiwaoTKkPeu1PoXfHZkOze9YdPpHnOJf2quG4EvhjHUctj-imkx1E2URnShnVoW5U16Czp2UvODrSGDNDNXZZnnHGg72NrxEDpg0Div2wbDEGA_KngcPp9qh9ZRw_AorIARak8qCLDDmlG_zGL9pZhL2rikuF4NWdD-BOGwwepFsAlE_NJV0HOy-7-NwmUjtwjYSTwnhTm4H4d5YQhJFvIMGQgTxo8ohXYW2QCccVKq7_OKEHK-T42SsNbQYkm5RPj4La3fgYxe2hZqZdS35OVzzFN5Q_5vi_FVtXPN21n7Rz7BnRJEe-Ix2Zb2I24dhLK5WtQ-b_1PaxsIb-9iy_KWF-2OVKkHqIRBerq-ZVe2738JwJu6tDnTknvuMlqzWWqupPIdbrMWhNEESWYucPrIK0fktLumP1DR7j-_TgvKwKMIkCgObqdfd82HK8rkYfyJHQ804vNdGTJDncRUgTtHivY2r7vgk4gTeLu4HIpomGNBzvPh6B9WSBZLTopmcep3LWeF3h2vv6X3O29CAkpY_iIxj0r3DsdphfSl5K4m9wLzYzAexZ0RDOjcr89RNDuGqX3QMmqwA0Q4taLYUBbq2SX_j6qdSCqzWZu1iJOuNHqGcUDCYqysx3HGeAhx6Ju9rVFDrFHexbQAr-DLEDI9nL8R6Syhn4SVgT3YR3KC9p5h5b0u7lisPzACF5kkcO-ahj8i0kIpUT9o02EsjSuFttBtL6EXhGwgzH-uyKZ3MTfaIExpTa1GudUG56JNE01WxOzyljgxx7YUjeY8TP1i_3jCyETlfaZ8go1YhAvosda7PHVsKVM24AK62zG6c0F663Er0DycGijEZCVFgOIhPw5lKVG3Y4Lofr5spNVzBE36RM68TriUJZXerJpom9LPEq1F25UuG2PIWu5wTakKtL9rF33XpKdumzeDtuKHFxj5ac-7OLbBHRZ3-TZtUYoS3inaUHlSAc_JTr5DGq-yDZ_b-3rqN6fIa49gFrrp4xoUHEyX3Mt_K9rb9nhyrXYuiMc4zQFLUJNUE5qFRB5FQ26Al8kjn-1tKR-BeOWKds_Ru1US0xOfGfSTI5HMVYYxDeVZ1RgnxSOEyK4ub76On-YNaX8xNRu5z826fMUszaGnUuLpXke1LfZELivUoeFQTMTbrOKQhPY-BlAZz9GcibDjYBwavDFzRp2wXLICUotQ9rlEJr3ojJD7ckgYMDepsJcKoA2e5oQUIGbd6wYwlR82yfBtPEyR9XOErbMP9r6GxgATgX6eVjAj-Et8nZLgwEH8ehgPgD4a8zzZ77cRsflQbm6WZJ6keRmngDSuISy7g-dQiw-udgqMGUAP26horn16e8k9IegvZ8ZMx6tN_o1YbU_kJHG26zo_EqGrzeXh5tHfYv3OWHcdDMAhaaMBOfqXUMO2QvFKLosu9OXd5udSsGbbdP_Yg4G3gKBc1d5Nq0URdzS4=",
  "id": "rs_0d500d743bf10afb016ab46075e07487d0ba94ae38653b0619",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.412,\"right_y\":0.19,\"right_z\":0.005},\"note\":\"The jaws closed almost completely, so this was an empty grasp. I’m reopening them and retrying 2 cm farther forward and slightly lower.\"}",
  "call_id": "call_7hpfs4OqN30DML47JE9SxrES",
  "id": "fc_0d500d743bf10afb016ab46079018487d0a89821baf154289b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7hpfs4OqN30DML47JE9SxrES",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.852, 0.6415, -0.495, -0.0135, -0.0338, 0.9898, 0.6037, 1.9629, 0.7471, 0.5713, 0.4664, 0.2298, 0.9953]\nstate[eef_state]: left_x=0.2863 left_y=-0.0001 left_z=0.1583 left_yaw=0.0018 left_pitch=-0.1366 left_roll=-0.0008 left_gripper=0.9898 right_x=0.4091 right_y=0.1899 right_z=0.0104 right_yaw=0.0837 right_pitch=0.0007 right_roll=-0.0612 right_gripper=0.9953\nstate[joint_eff]: [-0.3214, -1.3333, 7.0359, 1.5995, -0.0317, -0.0659, -0.0122, -0.5402, -6.7214, 5.8325, 1.6777, 0.1197, 0.1343, 0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5dcc4c8349703a613dcb0093fe324de7524396b839ac9f0764442ee7c254cf19",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f9a22d815733c6370bf794358cd66b8af1e76bc9e3d3c7a380414f5c4060a99",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0bbb01aea3219562494674ef6d03ef8680e0ec409f1c65ceabb80ea7a502573",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 3.645 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 38 changed as sent

message 46 changed as sent

message 50 changed as sent

message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8509, 0.6415, -0.4942, -0.0139, -0.0338, 0.9898, 0.7574, 1.5642, 0.952, -0.1036, 0.5465, 0.3782, 0.9962]\nstate[eef_state]: left_x=0.2863 left_y=-0.0 left_z=0.1588 left_yaw=0.0021 left_pitch=-0.1346 left_roll=-0.0006 left_gripper=0.9898 right_x=0.3659 right_y=0.2245 right_z=0.1394 right_yaw=0.0942 right_pitch=-0.0269 right_roll=-0.0187 right_gripper=0.9962\nstate[joint_eff]: [-0.0752, -1.7846, 7.1316, 1.6874, -0.0464, -0.0611, -0.0122, 0.0068, -9.5795, 6.065, 1.5067, 0.398, 0.1392, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.852, 0.6415, -0.4946, -0.0135, -0.0338, 0.9898, 0.6304, 1.8225, 0.7231, 0.4389, 0.4866, 0.263, 0.0355]\nstate[eef_state]: left_x=0.2863 left_y=-0.0001 left_z=0.1584 left_yaw=0.0018 left_pitch=-0.1362 left_roll=-0.0008 left_gripper=0.9898 right_x=0.3933 right_y=0.1892 right_z=0.038 right_yaw=0.0765 right_pitch=-0.0057 right_roll=-0.052 right_gripper=0.0355\nstate[joint_eff]: [-0.3487, -1.5521, 6.9949, 1.6239, -0.0464, -0.0366, -0.0122, 0.3214, -7.2957, 5.7641, 1.2283, -0.1245, 0.1978, 0.8034]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.852, 0.6415, -0.495, -0.0135, -0.0338, 0.9898, 0.6037, 1.9629, 0.7471, 0.5713, 0.4664, 0.2298, 0.9953]\nstate[eef_state]: left_x=0.2863 left_y=-0.0001 left_z=0.1583 left_yaw=0.0018 left_pitch=-0.1366 left_roll=-0.0008 left_gripper=0.9898 right_x=0.4091 right_y=0.1899 right_z=0.0104 right_yaw=0.0837 right_pitch=0.0007 right_roll=-0.0612 right_gripper=0.9953\nstate[joint_eff]: [-0.3214, -1.3333, 7.0359, 1.5995, -0.0317, -0.0659, -0.0122, -0.5402, -6.7214, 5.8325, 1.6777, 0.1197, 0.1343, 0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5dcc4c8349703a613dcb0093fe324de7524396b839ac9f0764442ee7c254cf19",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f9a22d815733c6370bf794358cd66b8af1e76bc9e3d3c7a380414f5c4060a99",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0bbb01aea3219562494674ef6d03ef8680e0ec409f1c65ceabb80ea7a502573",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGB9b26uZRUy_SDMiQrPDGYUPH5IT8WIIZOxDcCQFDExoVSEzTVw-LEGZ_neBGWeQ70MS8DnuJlrqjijPVVbzQdUFqANxEtoSiqwupVfxoOLS28Sp309WCJrs_D3iJdgkoH2ZMPo9bvAyd1tsqeo6-bzprjfhYCh2HHZf8eQ1QE0Ffxcb60hFMDf5CIfecGN5awSs2RuZAg-N3WVPBnKJ0UeDvnJ-0CcOwO-s3MXl9dWbu0Xy4ZfJ7yhPR-2L1o8CdllfI_Iv0W2ERHj3iIxDPJxtj7Zv1pNLnAw1yKYejbYc8cjPiQeuYw3zRgJpTARa6Dbdn7Aqvr8ZcWahi1jtCYot7VtmC66EPTw4YgvS9VjGcB9LB4Ol30TNoWOZVu4AVoqSWU0--DllE7tkfFUXZ92VqG_JcA5uLyCQ4ARJyLyrZsTf06v5wcNXhv68AbcLGBoxPnvtOgYtqRGeaR3Yz48yCNA3I9WGIE8cnhNOxbCNYNqAyt_X1jEquCmBxsIwb51aWqra_O-OGCvafMhkL-qct8FBSPNBj_xImdWILLM1wOdN66ypNBYs7pNblRlzjfkTacVBPxSbl-hqfa-6_drJPEdlC0BweXiyUbPJMFJQiM6rGxi4yvAMklmgEss_Eiig9A9WQrZPuizvmjB-IE54OAS9fyObxhNBAIgDhzhZrh7GfrvLTP7XUQlKvMEXErtPWgyOTBCgXN5nukKm9QNCw6ZWgrverVyiAtW4KXag5j_jY7h-_GAq86fFRrEY5pd8zkx-6VBrZlL6tZVDP-ZjBagjMFAaV-2g4k5YybSpQOWdO28r0txydlUk80AFD74rfXs8vVFqS-iOuU0xbPkA6lQDVI4ywTojn3yRRUhkGWKcjuBiiw4HYpLrpuXAZIyoIvLu1Oy3H8nS2hTiqlZZPwS0zMbD5xivULXim5sbmZUJVLFZCYSvP4-goOpsH7EsOIGoCrLd_NgNvFRUPxrAfF2B-ihvdv_FvM5zYxspBy5MbUwJyGtawbqQ14YKHQOjQTe_o7Th6xt-OCrGk2qXtElZAHXDDSE-ltmzL_w-wFSsqjN31ohM-Y04GJsJJOW31PQHl5yadTBRPROlcyp5_aZDFaG3BqI3f9NjiQcXzn2os3kipWx3rN78Tj6ouQ3vYWlvdfv37JPLyVhPbdFMOUTCYXwH0YaDHLMzzXmqHAU35ZG_AmAxpVGscP82YNM7Dl6eQZj-sMAFpKU04w2yMW31hSsz6B9XpefNrz3r_pWa7KmcIIVDKowz8kcpic26NJ-44qPOdG4t3D_EmlXfK8jhtnUw3hd3jPEBZlYEcE6pzV7GinQNP0l0KgaRxKk",
  "id": "rs_0d500d743bf10afb016ab4607c027487d0a03d04e8c00e5766",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The jaws are now lower and farther forward at the yellow fruit’s location. I’m closing once more, then I’ll check the opening before lifting.\"}",
  "call_id": "call_yn2WCjHjREPKjrpR2TY0D9p3",
  "id": "fc_0d500d743bf10afb016ab4607cad2487d0921a06541d3eeec4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yn2WCjHjREPKjrpR2TY0D9p3",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8539, 0.6415, -0.4976, -0.0139, -0.0338, 0.9898, 0.5983, 1.9446, 0.749, 0.6128, 0.5072, 0.1974, 0.104]\nstate[eef_state]: left_x=0.2859 left_y=-0.0 left_z=0.1573 left_yaw=0.0022 left_pitch=-0.1411 left_roll=-0.0005 left_gripper=0.9898 right_x=0.4178 right_y=0.1853 right_z=0.0284 right_yaw=0.0621 right_pitch=0.0646 right_roll=-0.0782 right_gripper=0.104\nstate[joint_eff]: [-0.0205, -1.6342, 6.9265, 1.619, -0.0317, -0.0659, -0.0122, 0.3624, -7.2137, 4.6838, 1.2527, -0.3004, 0.2613, 0.5641]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e659e3b2b6478cbe06dd608c05666ebad7ee98ab052461ff44f9b26a26a08015",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd19f85e1446b2cdb300759e50abf10dcfeaea011d220264bda5656688bcdb4f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe91c1c5d285961884826ceb9547daf969cbd3169bb6257d79c1a78096527ef5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /responses · status 200 · 4.381 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 42 changed as sent

message 50 changed as sent

message 54 changed as sent

message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8513, 0.6415, -0.4946, -0.0135, -0.0338, 0.9898, 0.6357, 1.8202, 0.7277, 0.4095, 0.4568, 0.2874, 0.9963]\nstate[eef_state]: left_x=0.2863 left_y=-0.0001 left_z=0.1586 left_yaw=0.0018 left_pitch=-0.1354 left_roll=-0.0008 left_gripper=0.9898 right_x=0.389 right_y=0.1947 right_z=0.0338 right_yaw=0.092 right_pitch=-0.034 right_roll=-0.0276 right_gripper=0.9963\nstate[joint_eff]: [-0.1026, -1.5385, 6.9812, 1.619, -0.0464, -0.0513, -0.0122, -0.5128, -7.241, 4.0137, 1.4774, 0.1148, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.852, 0.6415, -0.495, -0.0135, -0.0338, 0.9898, 0.6037, 1.9629, 0.7471, 0.5713, 0.4664, 0.2298, 0.9953]\nstate[eef_state]: left_x=0.2863 left_y=-0.0001 left_z=0.1583 left_yaw=0.0018 left_pitch=-0.1366 left_roll=-0.0008 left_gripper=0.9898 right_x=0.4091 right_y=0.1899 right_z=0.0104 right_yaw=0.0837 right_pitch=0.0007 right_roll=-0.0612 right_gripper=0.9953\nstate[joint_eff]: [-0.3214, -1.3333, 7.0359, 1.5995, -0.0317, -0.0659, -0.0122, -0.5402, -6.7214, 5.8325, 1.6777, 0.1197, 0.1343, 0.0073]\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 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8539, 0.6415, -0.4976, -0.0139, -0.0338, 0.9898, 0.5983, 1.9446, 0.749, 0.6128, 0.5072, 0.1974, 0.104]\nstate[eef_state]: left_x=0.2859 left_y=-0.0 left_z=0.1573 left_yaw=0.0022 left_pitch=-0.1411 left_roll=-0.0005 left_gripper=0.9898 right_x=0.4178 right_y=0.1853 right_z=0.0284 right_yaw=0.0621 right_pitch=0.0646 right_roll=-0.0782 right_gripper=0.104\nstate[joint_eff]: [-0.0205, -1.6342, 6.9265, 1.619, -0.0317, -0.0659, -0.0122, 0.3624, -7.2137, 4.6838, 1.2527, -0.3004, 0.2613, 0.5641]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e659e3b2b6478cbe06dd608c05666ebad7ee98ab052461ff44f9b26a26a08015",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd19f85e1446b2cdb300759e50abf10dcfeaea011d220264bda5656688bcdb4f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe91c1c5d285961884826ceb9547daf969cbd3169bb6257d79c1a78096527ef5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGCB-ttyTkWdSPaZN0oj-xhNBPWj4_pfoJKCSPIxQIddkImQqnF12kGEflpkC9E5gJY9M9hBHvOtzYuXjoricZvAmyzoyIjjxgRFiZ7BKibRM4JJ1LuE70MNZybF8LGoaHC8LJtqCFaspvzbqbEFgDk2Uc0xQG-2e8vBOAP7zCn6_R04vuMqGpvV6AsUiEbMUQoMsy3_ylPm2kpw_G7cdL8Gulih3YWS14YYkVWkfv4Piar0r2V9VEs_StUMBd035GxqEBjYlcVpeMXYhFolrBNb0ZlbWieMdm4pFjAEJfjyNvrNvoA3Hs1MHA8K7sbJBrPs20U0hIalecdPtm3Oib1cccjAXHZrVkhpn06GhcAWUYys0NeMVw7vTfMXd2Jx_-N36OQGuW2Zp3fBjaHV8ZgNufqKKpG3UbPXE1zjtBVnvyeiYVO0vjHLlJXiFo1GQJftsxTLZsypOwol9cFUJ1GWHACf4eKZQEGMXJvfxsmUk8ruXtQ4jExrxBfj3RF1Mn4w9Ol8FAaHhFwrsLmomGmiWA_OW4GLxFC_FnNSSjGJ4cT7_Y0eUr9msHWV6dC3l6zQlp_JqHCPWCPVZAyt8AYSSJbbld45R1y4h9P-mCi9tSflOYM0HPu4TjbL7jXljHkTLByQT2pKuFCZjEtzEuPFxw9RvY-BtgAOWAsrrMSFCiP-sZpF9N9_kyWlH1tHwgXzdAfRwRJpoZ6uAZ0zKp71YusH7h-3dcP2O7P6icHWnsCB3md-LcJL3rYdCtCrusTI4o3nSO8iEmgGW7jJZTANJAB6RAAR_qsnfoseXfDIY9LfxaNE6CPTIIEAlo9Iz-QShMQnqRcaKhVWSqyTt0KWwcGuc0XY8DEIyRMYVoWcl7o4uKw1VGArA1DmNgHbDQk7Haj68acw6Qg4-8dzMirbh9FffmBAXwBVnJUS2QPNnLwwhO7Ufz78H8qbhcKtpyyFivWv7Z6q9prOI0McqtcvUs7mhb4eQdQKeTzix4Gkb_Ejf-Gm17DlbHigdh2F7F5_l5My7lHJBvW3kUL0-dtkqQW_lWrImxw4Qb_kn6fiuxlq7ScrW9YDCrffCg2tfVd3n4KmWX_nUJrXWEdd-fH2UEFY4JztTg50oONaeij0BONixdHWEoSK9U7ZG6hHhXVmVyItlzK_0ChXx55EG0CzeGyJrl_GV7mUud3ZI9cj4epBMyLG8x40Erz36XprUTgc_o91P4LslyLsSvvC3RqhqbP_fT8FCRJpqt32r3pE5aYzDjFjKJ9qkW9cvApa41ezE1zePYCzBWDn59JAk3GgzWFG3RjXoSVmP26vVUlwingIZfSjoDTVuHcyR2G6vqZ9HoFd5NVIk1LNtk0HqEGxa4p-qqm6Fn5hJHlhQZz8Wiz4Y8CE8yoIQZq4A1aeo_DfRhdEB7e-R8TXRSVHjyv9tdKBWnmMQvZa_UdrFcHehT202WyvPHmlmTL40R7ynkzJ9V47Ij8kNgu6rZI0P7jEdjKhifnhre2Txh4XC0sQxP_XqvuGKXO7rVNLYcTvqttuw54jdPWltwfDqSwxHnonfWxzZ1tN9cuzjvnFDYKuGhQ=",
  "id": "rs_0d500d743bf10afb016ab4607f8ea487d0b25550564d6c8c59",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.09},\"note\":\"The jaws have stopped slightly open on this attempt. I’m making a short lift to see whether they hold the yellow fruit or have contacted the nearby bowl.\"}",
  "call_id": "call_fxTfaASPJIgmhUesoOWgIEQY",
  "id": "fc_0d500d743bf10afb016ab46080bb4087d0bdc2345691bc33f8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fxTfaASPJIgmhUesoOWgIEQY",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8547, 0.6415, -0.498, -0.0139, -0.0338, 0.9898, 0.5999, 1.7821, 0.7944, 0.4103, 0.5003, 0.1825, 0.1027]\nstate[eef_state]: left_x=0.2859 left_y=-0.0 left_z=0.157 left_yaw=0.0022 left_pitch=-0.1423 left_roll=-0.0004 left_gripper=0.9898 right_x=0.4165 right_y=0.1865 right_z=0.076 right_yaw=0.0769 right_pitch=0.0666 right_roll=-0.0853 right_gripper=0.1027\nstate[joint_eff]: [-0.3487, -1.4974, 7.0632, 1.6239, -0.0269, -0.0611, -0.0073, -0.2256, -9.2786, 7.7197, 1.6484, 0.2564, 0.1197, -0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:362950b71b73df508d22352138ae68aea03f042d1e952641fec63236c92f79f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b27bcf03783d5612e921522cb8d3c7f0ef18a625c120d11eb7d8bea9748d094d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:616975257473216ffe5448c787b0bec6f6d12c3b90fbd0e1596c6e0205261800",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 6.908 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 46 changed as sent

message 54 changed as sent

message 58 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.852, 0.6415, -0.4946, -0.0135, -0.0338, 0.9898, 0.6304, 1.8225, 0.7231, 0.4389, 0.4866, 0.263, 0.0355]\nstate[eef_state]: left_x=0.2863 left_y=-0.0001 left_z=0.1584 left_yaw=0.0018 left_pitch=-0.1362 left_roll=-0.0008 left_gripper=0.9898 right_x=0.3933 right_y=0.1892 right_z=0.038 right_yaw=0.0765 right_pitch=-0.0057 right_roll=-0.052 right_gripper=0.0355\nstate[joint_eff]: [-0.3487, -1.5521, 6.9949, 1.6239, -0.0464, -0.0366, -0.0122, 0.3214, -7.2957, 5.7641, 1.2283, -0.1245, 0.1978, 0.8034]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8539, 0.6415, -0.4976, -0.0139, -0.0338, 0.9898, 0.5983, 1.9446, 0.749, 0.6128, 0.5072, 0.1974, 0.104]\nstate[eef_state]: left_x=0.2859 left_y=-0.0 left_z=0.1573 left_yaw=0.0022 left_pitch=-0.1411 left_roll=-0.0005 left_gripper=0.9898 right_x=0.4178 right_y=0.1853 right_z=0.0284 right_yaw=0.0621 right_pitch=0.0646 right_roll=-0.0782 right_gripper=0.104\nstate[joint_eff]: [-0.0205, -1.6342, 6.9265, 1.619, -0.0317, -0.0659, -0.0122, 0.3624, -7.2137, 4.6838, 1.2527, -0.3004, 0.2613, 0.5641]\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 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8547, 0.6415, -0.498, -0.0139, -0.0338, 0.9898, 0.5999, 1.7821, 0.7944, 0.4103, 0.5003, 0.1825, 0.1027]\nstate[eef_state]: left_x=0.2859 left_y=-0.0 left_z=0.157 left_yaw=0.0022 left_pitch=-0.1423 left_roll=-0.0004 left_gripper=0.9898 right_x=0.4165 right_y=0.1865 right_z=0.076 right_yaw=0.0769 right_pitch=0.0666 right_roll=-0.0853 right_gripper=0.1027\nstate[joint_eff]: [-0.3487, -1.4974, 7.0632, 1.6239, -0.0269, -0.0611, -0.0073, -0.2256, -9.2786, 7.7197, 1.6484, 0.2564, 0.1197, -0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:362950b71b73df508d22352138ae68aea03f042d1e952641fec63236c92f79f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b27bcf03783d5612e921522cb8d3c7f0ef18a625c120d11eb7d8bea9748d094d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:616975257473216ffe5448c787b0bec6f6d12c3b90fbd0e1596c6e0205261800",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGCGksGk9XkLP19hQBnj4HP9R7GUj2MazNIKNfgXAlx-bM6kFxTjzxk-g68x_ov2SZAyM17uuqDpl9GcoNShn1LgGB-NfDP1rfFQj1GQKNpxwIuRtkg4ZTA0nPyN7nWiyqcz62-mOqPbI7Mn-B_bEfhF5oBUISRrcZdYJr3YuTKCaNgQ6XPbqz2K2Hwbjuo9MoLMkSygmWyCdIrwTIy7wTTdQn1OdVdz2T3CuGUWqgzXJmCpRo96FPSBkzIbOXXG-FQTOowiw4m-Zd9nOguNn_xuiayJqtenCXRV9Eo2oCwK8MqmQEOMskfPtlXTlw8bQz8gCZTC6N6lqLLA-CGNHXKftexN-pIwKdhSw8oHi_Fz7nU66Gsjy9kiWwr63JcFMyHrVuTt350BgnI5MCMcY-7-corGg5LPNBX7Y9ljbDHi9dO-ekvFC7HpbGYMmRK1_TFZSjdiXnkT1gOfFtRUE_SxgnQpTvWWHzesvUQX361d7J_Ph3yXvlAc3sy2JrURgY1h302CdLYLJ0M83sVDyjk9_R65dVC5yj-aVtynPRxzPFdNMWEdplrQ9doStuzVV_l98Je3-ZqsNtm4vhlOVYTyi2gRM_sdiIcqdg9hZ5zNuvhqO4ILwGnfr3rCZiF-Zk_rJpmyx6eIn_O9yrNLh2ih1YrrRTo5vfol1mg7flxaIEGcRYqL2ZQ_HS3yUlCUu_forL4NYKFIvc8LcHEZIFP3R8Bmz44_iJ7FSiSLI4wfgBe1f-KLbq-fyRjSD_79ItyDyly4ZuKAsI8xXyZHGUFFmO7g7kBUGDYhbckcrHg5DyfXxxVQW7Eso0dOd2ra9SypASP3qWkpoSwRnLpXUlZsGi4wzCc5U-2M3DX1Jna7zXHBAv2eyGu8V3RThp4-v2ONFHgGGV8MiN8wUmcVfqbIyVhakquUlX6pGoI1YGrT9JtIjgMQ7p5Tj8e-yLT4Eim0bYBHFHCe3-4ycFAj4o762CAtQo3Kce5OAsv8yPt97lyEw9izjWTg9eLfjBYxL6CM7USTKM3k3ty7dQRfuIyWu1zWxyu5ulyg5uYrCzXO-Z73aeGhxfJoj-7LOPqDAP08hiZsTlYp7bsqF7sFV394I97IxPNAJyyV9C6v-AbSGSoewYMCuv84279T4krbGMOoOsFkpEMatjdTUWfEc4_5fG5MLitWS43ePkAWFNOpnq-hEB0_r4Bj4HResItVeC-zydNV4XiXv1HpB1_raqT2D1dvqzUNuXtCHb-OQmLcSqVo2bRp7hbSCaTwERPS4N1-rH3GRx65zMoB1kC2x0iGKfZttuG7E2-Ygqf8BBwpEq06EhufNXCyh49a0fqo5qt1_HiSdIMDdlhK7urKIi8C46b8nlE6lSqFuCIR6YkojGi7By5W1jhEl5Rj3_nhhlJdfcSLn-vm5s4tWJPvyrrLX5PoOlvfhxcRfSkYYD0rhMsVH0ZXSalZ1l9wD6sucfRp8Al3xOv3CYRVGZIS3NkkvsHSfejFnqLLNHYSPaapaGQv48YRfXkgAhTiA70FadPfXq1d1krwzqdv1cliR32PPNTwAshruo3Vlpfvy02mpfowzpx55dqKMHgfX1O_iEzqHGynV_X10L4uLkzUhlHg8GhuovJMHYwSiokGX0lKzBfd7TkpYIUAwbU4ww9W4XmNT5tKZ8uy9Qih6vw58pdoB6MBrURW4kuy5NL-3YPmmr-enQ1FMAkmnz1dsa75eBLdHJ_Xc-zLCFQ0euNEB4RD1g-Dp9EBqapHXSeyqP2eE4fW4VcDpRGqaWlkafizaZ--I67KMLAhkk9TulQxcgc_SYzyGhwOHk6f-XAXzuxvfIS-2KWm5wq5v1_h_gaD5_j_vH342jPT9at5f4ZSoErFRg==",
  "id": "rs_0d500d743bf10afb016ab460838f5487d0a59eb7c9582c43d7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.495,\"right_y\":0.145,\"right_z\":0.18,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The yellow fruit appears to have lifted at its narrow end, while the green fruit remains in the bowl. I’m carrying the yellow fruit over the blue bowl for release.\"}",
  "call_id": "call_wwDI1ABbNGXqii8B7FnuLIpy",
  "id": "fc_0d500d743bf10afb016ab46085911887d0b35f929edd4b33fe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wwDI1ABbNGXqii8B7FnuLIpy",
  "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]: [-0.0212, 0.8581, 0.6415, -0.5041, -0.0135, -0.0338, 0.9898, 0.3771, 1.755, 1.2259, -0.0544, 0.2703, 0.1295, 0.1026]\nstate[eef_state]: left_x=0.2851 left_y=-0.0001 left_z=0.155 left_yaw=0.0019 left_pitch=-0.1518 left_roll=-0.0005 left_gripper=0.9898 right_x=0.491 right_y=0.1476 right_z=0.1674 right_yaw=0.0711 right_pitch=0.0087 right_roll=-0.0182 right_gripper=0.1026\nstate[joint_eff]: [-0.3761, -1.853, 6.9265, 1.6484, -0.0171, -0.0611, -0.0122, -0.5675, -8.9504, 8.6222, 1.8291, 0.0806, 0.0171, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fed194189c37cd02c122728516a5021a21426e7851fc6b6cb0d89ea403b69285",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58fce0bc7f2d1b26ab636a708687c04934454555c7e8374be35636199af45153",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8405d7fdb58fa631f1949944f6da0f3c2fcd1330ed02d156256346a9ef6a63e0",
      "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 · 3.135 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 50 changed as sent

message 58 changed as sent

message 62 changed as sent

message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.852, 0.6415, -0.495, -0.0135, -0.0338, 0.9898, 0.6037, 1.9629, 0.7471, 0.5713, 0.4664, 0.2298, 0.9953]\nstate[eef_state]: left_x=0.2863 left_y=-0.0001 left_z=0.1583 left_yaw=0.0018 left_pitch=-0.1366 left_roll=-0.0008 left_gripper=0.9898 right_x=0.4091 right_y=0.1899 right_z=0.0104 right_yaw=0.0837 right_pitch=0.0007 right_roll=-0.0612 right_gripper=0.9953\nstate[joint_eff]: [-0.3214, -1.3333, 7.0359, 1.5995, -0.0317, -0.0659, -0.0122, -0.5402, -6.7214, 5.8325, 1.6777, 0.1197, 0.1343, 0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8547, 0.6415, -0.498, -0.0139, -0.0338, 0.9898, 0.5999, 1.7821, 0.7944, 0.4103, 0.5003, 0.1825, 0.1027]\nstate[eef_state]: left_x=0.2859 left_y=-0.0 left_z=0.157 left_yaw=0.0022 left_pitch=-0.1423 left_roll=-0.0004 left_gripper=0.9898 right_x=0.4165 right_y=0.1865 right_z=0.076 right_yaw=0.0769 right_pitch=0.0666 right_roll=-0.0853 right_gripper=0.1027\nstate[joint_eff]: [-0.3487, -1.4974, 7.0632, 1.6239, -0.0269, -0.0611, -0.0073, -0.2256, -9.2786, 7.7197, 1.6484, 0.2564, 0.1197, -0.149]\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 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8581, 0.6415, -0.5041, -0.0135, -0.0338, 0.9898, 0.3771, 1.755, 1.2259, -0.0544, 0.2703, 0.1295, 0.1026]\nstate[eef_state]: left_x=0.2851 left_y=-0.0001 left_z=0.155 left_yaw=0.0019 left_pitch=-0.1518 left_roll=-0.0005 left_gripper=0.9898 right_x=0.491 right_y=0.1476 right_z=0.1674 right_yaw=0.0711 right_pitch=0.0087 right_roll=-0.0182 right_gripper=0.1026\nstate[joint_eff]: [-0.3761, -1.853, 6.9265, 1.6484, -0.0171, -0.0611, -0.0122, -0.5675, -8.9504, 8.6222, 1.8291, 0.0806, 0.0171, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fed194189c37cd02c122728516a5021a21426e7851fc6b6cb0d89ea403b69285",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58fce0bc7f2d1b26ab636a708687c04934454555c7e8374be35636199af45153",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8405d7fdb58fa631f1949944f6da0f3c2fcd1330ed02d156256346a9ef6a63e0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGCO0NRotoF58jstXh1GraH1N10jWh3W0DsXLzeX0VGBi2HZmy8GB0eNCuxTdcGQ-hPJ19Li3zKdgIKtQHF9yE8RiJuTmOsPBZCbq0Kvl6uZnAf_2WD8pEG48QBo9yH6ebA5wrEnac8jPTqnAWp_zDUC36AZkbUlJPJQ-z2POZL7dgK2juJ4qIeXG2OV1rLs0p5PwnaOYMgRD6krMDl_x3JeU0g8ScMVWgM8OJEADtVG141cgrN1SjRVE4AJ4aT_NmOAc3ljv6ziINOQ1mAGpdlrdKMSOchh-M0CQoLbcLyZjl6F2UU4BfVu-fKNhW8NeQqBhJpGbfCXWyBU1VxsV15DoajrIUyG3R7aNtSIlcVW8oQ3PT-fiARq6ywACkb_EsygypSRjkLAnVGOHnlFtpokCrcBI3ztbbnnHQiqn6ieV3Zl5lZTaxMTRGRIyEW8jVRUc3j-Owkp-vB6br3Buv1A_yEG20f3BBHRZYMAq38fLKItnhWGz3l1h5pisMAV0hUHFDKh_pCyXkGFRSQ7XnpFePlHQ6e8tCvP9Cu91RscvABrU-PQB6zN1dg6pazC9WrGPz95lAqjpPDrW4AIjZWED6cRi5La5yAkF1wIuwk-ydv9doIgPCtqbRg_cx6-jxCEf3IS1mzPebFf2BnPtERQ34lYsAxSiQhFWm-DNA3wtlPhBfKhbbk45Qvbi3xEn69PATztDhlbRCs802dWhVTqcIq8ypji7PvjO7gTtt0r0JnvhHlNRaflVKta84b5QXCt0sIGf2JTa1nipNe0tCGU3FE__2oksoCBiex_T85s_kRZ8obqF0FVBE211-wTc8Fy80-oR0LyhulEMVpUZ8MCcMOCyvlul3AiCAWZjiiO3zZIeJ88EMma5t4dgAMMrg-n6PdHd-Anjmr0Z3xQFiVjrSno0xKoKzNfJA-u4cT0SGl3pzCPE4KIpPj6liqVdFX9K9SLLMCNbV4hq5bqznEmEioVWmfeYyTOo5hxd_xTJZEpLSheQHVp5fROxiB3bkurbzbyJuH1DvUTIs9uk016b89P2CdtdVMRDn0ipgJghQdFXo1yQuteUlTAO1vxPPEAyO2mxSRPTNZq0iROjRV-PPJbpn_gnuOZHZKPXPiEEj8fYT-xoKMUB3tkJST8-yiIPnlih7WgftVSksd2aKnihm--HNIIHxLW8WiEWFeQGjx9P9jZo_AYtG7n_G4jlpjUeBCt3bAniH4pMLNJWvV0h8EHV75L_q4UYwh5fifMTvaD5tF1sk4vAFfqYqZE6FFyu8b9TUx7O3VY9yaI2uewCV8bqzTn2JPtkm5qTY11le9P0uHrMO6QqyDv7haljzPyyUJorWbxsKJJ1gJgEdfxOHvT_MGLrvA63QDxPQUuqJk2_dOqloeLDzDw3Um6qFHwOyCVISlakNo1JXB6teG_5yOR1Ms66zvwUK11QWsGWr_-CYod-g12Ah3kF_hFJel2xRAdRJQ08BafsyJhbvhTISr-Gbn4xsBc8cZIhCfQwkORVNiev0YsuvHot1ukkhhQpXonPKs1TLI4difthYiBWKFSKZJFpVF1m48MrqsZ21d1fam-VBZoqtzDJZvR6bJbSG4ElG9It42KdigVMxbi555EaKEfQ8TQtUq7DYcVU5hPHHlP1zHL8I3ayOEofD89J77kwIVNdNt1SQ1bnOWeW2LuQGh_ujraIbSMGwNO7hCGRJU0bWbqAbc0Qqx7IQasKmSNwbktTNp39I1GoozNs_BRuM2C3SW0e2WfHMkFUTrNp59GRC918bQhbaf55FM7GsMV5UCs9taXEDojvotKaz6YYWWdC5HsJFzRzaoJ27aP8o6ApAmA9F_2H0n7Fiu1VtIuCkQDs9__wmMCLGhYG73_qhObNTS0gJsxpcdVBVZlyBCSfjVZI0iMw2YU70cNGORNzeid4wcefGXMoXxNf2oW23HqByZnSel2rSaka-Sd7GLVsLHCPouvg9HPqUvE-saorMIR9HPZR55nd5t_pEwrgpqXKNFxh_TsTMcUDzHcy4oSDrT_yuPjSvCyjVEMOEXfNvasFdIqHmUyuwYJiJyALQR52_9v_aa_8p2c48saeTXTFbxFaTF0WneRHHzBiHdMT_Mw1SC-g2x7DXn4zOoc8kZJPWe6aDIm-XOt0jSHDMMrlZ-j0_3vCtfpvZ3jVE4_1yJkhAZ0SmchEJab0ECIqdal6wxKF6GiGLM8yZcBNTxMUgZx7qn8dZnlPqd72TBqM0UdBooENLeYc0-T4luCUpqNtfo83ST72hMRzWMDAbkm6mTZHVp38-hHh05BPHWtbL8Icz64h-ulcNWGrtt4pCDhijRtCMj2TVyZg8-XLmi19Yasd1gDxUty-KbRJObiCroT0jMYu-TKJJ8wsWsf8fWP1pWP5p0AGUlSrJ1fO6C82F4skFkM-EJ9PW0vShgEv38R37M4ZSXxFkO1o1sbAXIK0Op27-vV6ak_Er15G18nQUJUWUgkLfbbK-W5ZS170MFGEzi2vIs8gx64IJc6KeEwx0mB_yEQCBh3OIEQPfuYd8CgQTHwBXMqFhf0",
  "id": "rs_0d500d743bf10afb016ab46088b79087d08b434a113a14cb7e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.325,\"right_y\":0.19,\"right_z\":0.075,\"right_gripper\":1},\"note\":\"The cleared overhead view shows the yellow fruit still on the table, so the previous lift did not secure it. It is now closer to the front edge; I’m returning above its updated position with open jaws.\"}",
  "call_id": "call_9zJlyf4gE1OjC6tj449ctw9T",
  "id": "fc_0d500d743bf10afb016ab4608cec0087d08adcbf38507fbb0b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9zJlyf4gE1OjC6tj449ctw9T",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8639, 0.6415, -0.5129, -0.0135, -0.0338, 0.9898, 0.7715, 1.5383, 0.5919, 0.202, 0.551, 0.3538, 0.9965]\nstate[eef_state]: left_x=0.2839 left_y=-0.0 left_z=0.1519 left_yaw=0.0019 left_pitch=-0.1663 left_roll=-0.0001 left_gripper=0.9898 right_x=0.3241 right_y=0.1912 right_z=0.0628 right_yaw=0.1173 right_pitch=-0.0482 right_roll=-0.0588 right_gripper=0.9965\nstate[joint_eff]: [-0.0068, -1.6889, 6.9128, 1.746, -0.0415, -0.0464, -0.0073, 0.1299, -7.6923, 5.9556, 1.8046, 0.4371, 0.2222, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6222b805e7f797c05a7ea2257bae9cefd1a2f0d9492c73794d064aaa0e9db58",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ef5a1be33da4be2fc1a8f817cc9c7f4be2fa924124ee3afaf439c3e4ff95fca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:277f75416b2abaac6fdc90161b7b25410046e0333e5bddfcf0bf3c71adae3503",
      "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 17 attempt 0 · /responses · status 200 · 2.594 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 54 changed as sent

message 62 changed as sent

message 66 changed as sent

message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8539, 0.6415, -0.4976, -0.0139, -0.0338, 0.9898, 0.5983, 1.9446, 0.749, 0.6128, 0.5072, 0.1974, 0.104]\nstate[eef_state]: left_x=0.2859 left_y=-0.0 left_z=0.1573 left_yaw=0.0022 left_pitch=-0.1411 left_roll=-0.0005 left_gripper=0.9898 right_x=0.4178 right_y=0.1853 right_z=0.0284 right_yaw=0.0621 right_pitch=0.0646 right_roll=-0.0782 right_gripper=0.104\nstate[joint_eff]: [-0.0205, -1.6342, 6.9265, 1.619, -0.0317, -0.0659, -0.0122, 0.3624, -7.2137, 4.6838, 1.2527, -0.3004, 0.2613, 0.5641]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8581, 0.6415, -0.5041, -0.0135, -0.0338, 0.9898, 0.3771, 1.755, 1.2259, -0.0544, 0.2703, 0.1295, 0.1026]\nstate[eef_state]: left_x=0.2851 left_y=-0.0001 left_z=0.155 left_yaw=0.0019 left_pitch=-0.1518 left_roll=-0.0005 left_gripper=0.9898 right_x=0.491 right_y=0.1476 right_z=0.1674 right_yaw=0.0711 right_pitch=0.0087 right_roll=-0.0182 right_gripper=0.1026\nstate[joint_eff]: [-0.3761, -1.853, 6.9265, 1.6484, -0.0171, -0.0611, -0.0122, -0.5675, -8.9504, 8.6222, 1.8291, 0.0806, 0.0171, -0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8639, 0.6415, -0.5129, -0.0135, -0.0338, 0.9898, 0.7715, 1.5383, 0.5919, 0.202, 0.551, 0.3538, 0.9965]\nstate[eef_state]: left_x=0.2839 left_y=-0.0 left_z=0.1519 left_yaw=0.0019 left_pitch=-0.1663 left_roll=-0.0001 left_gripper=0.9898 right_x=0.3241 right_y=0.1912 right_z=0.0628 right_yaw=0.1173 right_pitch=-0.0482 right_roll=-0.0588 right_gripper=0.9965\nstate[joint_eff]: [-0.0068, -1.6889, 6.9128, 1.746, -0.0415, -0.0464, -0.0073, 0.1299, -7.6923, 5.9556, 1.8046, 0.4371, 0.2222, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6222b805e7f797c05a7ea2257bae9cefd1a2f0d9492c73794d064aaa0e9db58",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ef5a1be33da4be2fc1a8f817cc9c7f4be2fa924124ee3afaf439c3e4ff95fca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:277f75416b2abaac6fdc90161b7b25410046e0333e5bddfcf0bf3c71adae3503",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGCSYIrQNeRhmsCwg3ZURYT7qi-XPZGy0A7fqUh7zEDLgJxfBrZTVZFtfoS_OFNXkul7hCe9L5ZWlKWu2RZ94X8UPXBjnb963Yp6R-S7GDWg-pAaRBDWUATSwqB5z_83FXyxvXZr5JAuvcNHig8IBWdIAc9Z0CbVda4mI2TXG56kzI2_hNWI43c173orPQPUyXvAdYdra2WJ_ANYaORYEaZ5O7oSeCT1oFcRQ0138qIl1lDu0OgFlq5mXwhVbg-LscTv5Pw-ukdNPQOx1UcCwuBqsFbfPWiCqRBeMLTp6FBbCRvW5CDBfAkNF95hLg286y2y5OQRAYAinTX0dheTJxgnhmdR_pECYQdCKjW2km2jHvDsFNiNpioOOqC-wY6ezl5xAW0EmR0q227OhCEDaUi7hIxao9T5LzYEafdiJ05WywXuIikPeZSoZuhNDU3c4Uv43uSL0rrBA59Utn6oB-0PO-AJ6bcSdPm2Ah1Tf_1szmajdVzo7qZ7cZ42jBotMx19oNQ7-aIxne0eDJpMY3iqRT2g-NGu-X3CYQxcFeAA2LDR235NoTTtNd3JtmioIVZ3v-vqBFjMXXT5sej1hu95g034SxfkfOemks6lJjdRf17MmZIIBmvtA8vodR7btKcphCPZhqxmf_VlDko1_nS7cv5sYHjCAkNNE27R8dPiNMdVXMQNkRlrfcDKFPj-pdowydizbU35q-h2MN7n-OwQlEt3re0qGpRZjWQ5qIR0aeAYvtEKcCLXnOhzcqG1pH3KqrV2SNLekDsIvC53OG2OBK0SZBPppp_Icq8gsyaGe6_A8sXn91L8wknPkJwL2Ax4An5EOxHi5gnyeKLPzWMjxO8OUDpDEa9B_QBhz1XUMjNvFRDtrrV9B6HVo1zD8QiWCcmXoyg6VdmPwFAoMMuOziMyduNb_OBggN-hfWE3fTAA0sdCApyIMS_N3p5_YY_Q-IkAQpcGwLHercj2CKGifm3R1FeijCCkQp_RgRT8NwecgFyFxJ72dWzgnZY1SCxty5ei7VY6cx7GM3GfnxtxF-hPI7dERJMjWVJTN-Qjo9Y-_Gr0FNs0H0spFRnTC0uDHOPexVQtWP2lPegRzj1VMBJOcPkUnEdCGuvHgqi1Txywjvt_Hv3Jd9ImL6p_KoRUVBExUA5eMb0JOYc_g006e-opXgPmfXlLMKIr_4PRkbuzING2YhNut28TGAUXLBGNimCQjAsVNhAnFyEP1P1TxcTekw4NbwNcIr706IGfTxeoxf3QELW0b17E3GPwRoojRnIuGdVwGu2CFS6TJbB7dpeQBcwZhyNgM6JC3JaESilGKWWQL7lMgwrnqaiB4xZjN6ybxcGtv3oj-qGboRhDjw==",
  "id": "rs_0d500d743bf10afb016ab46090b62c87d08738ed39055ec243",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.327,\"right_y\":0.19,\"right_z\":0.012},\"note\":\"The yellow fruit is aligned with the jaw centre near the bottom of the wrist view. I’m descending straight down at this position rather than advancing past it.\"}",
  "call_id": "call_dx6sMjbf6tlFm1nFFUb2pGi0",
  "id": "fc_0d500d743bf10afb016ab46091917887d089848d4a83a94ea2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dx6sMjbf6tlFm1nFFUb2pGi0",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8665, 0.6415, -0.5182, -0.0139, -0.0334, 0.9898, 0.7597, 1.7317, 0.5194, 0.4026, 0.5465, 0.3595, 0.9969]\nstate[eef_state]: left_x=0.2831 left_y=0.0001 left_z=0.1502 left_yaw=0.0021 left_pitch=-0.1743 left_roll=0.0006 left_gripper=0.9898 right_x=0.3195 right_y=0.1819 right_z=0.0043 right_yaw=0.1029 right_pitch=-0.1016 right_roll=-0.0915 right_gripper=0.9969\nstate[joint_eff]: [-0.2256, -1.812, 7.159, 1.5995, -0.0513, -0.0171, -0.0122, -0.253, -7.159, 5.3128, 1.1502, 0.0317, -0.4957, 0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f76fd6fc8e50406d458843afca0fd6c6285f186e149faf5d4a37767b4e20c38",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30b2ce2faeaafe797d5d1299550d922d394cc2749d2e82daf91f91ea12fe47bd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7af8e7e12529719055c28457e8f435a67a67a05c836ce4d18d6eab7cb8d0e69c",
      "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 18 attempt 0 · /responses · status 200 · 3.542 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 58 changed as sent

message 66 changed as sent

message 70 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8547, 0.6415, -0.498, -0.0139, -0.0338, 0.9898, 0.5999, 1.7821, 0.7944, 0.4103, 0.5003, 0.1825, 0.1027]\nstate[eef_state]: left_x=0.2859 left_y=-0.0 left_z=0.157 left_yaw=0.0022 left_pitch=-0.1423 left_roll=-0.0004 left_gripper=0.9898 right_x=0.4165 right_y=0.1865 right_z=0.076 right_yaw=0.0769 right_pitch=0.0666 right_roll=-0.0853 right_gripper=0.1027\nstate[joint_eff]: [-0.3487, -1.4974, 7.0632, 1.6239, -0.0269, -0.0611, -0.0073, -0.2256, -9.2786, 7.7197, 1.6484, 0.2564, 0.1197, -0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8639, 0.6415, -0.5129, -0.0135, -0.0338, 0.9898, 0.7715, 1.5383, 0.5919, 0.202, 0.551, 0.3538, 0.9965]\nstate[eef_state]: left_x=0.2839 left_y=-0.0 left_z=0.1519 left_yaw=0.0019 left_pitch=-0.1663 left_roll=-0.0001 left_gripper=0.9898 right_x=0.3241 right_y=0.1912 right_z=0.0628 right_yaw=0.1173 right_pitch=-0.0482 right_roll=-0.0588 right_gripper=0.9965\nstate[joint_eff]: [-0.0068, -1.6889, 6.9128, 1.746, -0.0415, -0.0464, -0.0073, 0.1299, -7.6923, 5.9556, 1.8046, 0.4371, 0.2222, -0.0513]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8665, 0.6415, -0.5182, -0.0139, -0.0334, 0.9898, 0.7597, 1.7317, 0.5194, 0.4026, 0.5465, 0.3595, 0.9969]\nstate[eef_state]: left_x=0.2831 left_y=0.0001 left_z=0.1502 left_yaw=0.0021 left_pitch=-0.1743 left_roll=0.0006 left_gripper=0.9898 right_x=0.3195 right_y=0.1819 right_z=0.0043 right_yaw=0.1029 right_pitch=-0.1016 right_roll=-0.0915 right_gripper=0.9969\nstate[joint_eff]: [-0.2256, -1.812, 7.159, 1.5995, -0.0513, -0.0171, -0.0122, -0.253, -7.159, 5.3128, 1.1502, 0.0317, -0.4957, 0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f76fd6fc8e50406d458843afca0fd6c6285f186e149faf5d4a37767b4e20c38",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30b2ce2faeaafe797d5d1299550d922d394cc2749d2e82daf91f91ea12fe47bd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7af8e7e12529719055c28457e8f435a67a67a05c836ce4d18d6eab7cb8d0e69c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGCVVGT_r2iqugK-okkFNxFOVGNYzfrm0vggoEkvyCrF513WytlRg8Atnu8U3Kkh4i7x9hKDABGjwUcpZDq8ULPN_RqZs9wOOk2LxDlp81Jv1rTJm2DB0BNDWX00SWBoAQ5X2DHgy0eJoenXJ9wIetqJ5Fo5np72M8k5xqc7zeqz4Ny7_xkIJd-AheVEUx4GodsItPMY_ExkcmISpaV-OJ8ZHjeUNw8uojumcjcJH1lBZBw-k7NnrbRhJlo0B3F3ZYcrjnqj7mxg5KnEY2pKMDP8ipBXvhRLqhVLqm5EfyYdgVJEbGw6cBfRXlF9sbyZ_7U1H1zgKPpkORL_E8EYNtUQpnkv7mnpzBRss_bT7R5FkmImX5J60tzdFCZ0dOJ2rtku58Q2yiphdXgiw9v4LwSWqN-4QMRmS-_CA0xm2BjL16yP3qW4zosRUwmbz_Yl7wqENMjcdFF88zZ7df-tLLuPERsY_otTSQ3MHfYOLCN4-2GP7lgkBjt8t9Ci0e_C4zy2VABRqhlnyER9-nlV_fwlsJtix7reRstaHKJEm9n1QRlN1sdNwph2Lbp6Mefmk0df16kODAOMyhBR5cZ3a3kv-lsEtrKa3rEU9tJEQZThk6KXKa4v7IJ_rIf3tocFvlR-L_oKjM01vcKGfxbNWyJYc4TZyJW8vAbFHebu88rKBmP0k0mumUEH5NqV544Hnjj-XymPRW5b0LEM60lFWMuGBD9MuxAESVcvfSEvEtpGz9Yx_PpiNGgVGV7iblCBf73eIH3hUOGHd6I5jrYF66gQ-hVWr752gj21aiAJa2wnlMtbIgjDOPR3apol1DxhqfSvSJ3Rd-lCmbgBEHjtv3oIzmpEF0enDSCxjRnQlIwrx8MiUbEkNlCzUDmmm_q71viY3pbALI5Pc-Y10SGkm-e3yQgloe9L-YvGDPhjZqMiM-e2ed90hYGVfn0EUhqY8MXfwYePnz7N2ZjzViQ-Edx2_RxIDdTFH9vzPb_QyFmTj-Cql6M66DK1RyxgGz_JcIOpqLfQqV4sGn8dyJFB-zTEc_7ZAYQ0nHeGO-aPgr41HnI1-5e4paBJxVQmw6fYv_35kIb3DX_mEsis6zFPOMrrW_plbd4KKw1D3jpIGTmAVjBgGdcaBhGoSAlWGVFxbgp_Cv4ImcpImoSCED3ZPqLXt0Rv7UeS254UUDvh13D2lGBtMXEf5giqr5pdJR3lwXAKBmsnIeOOU1BjGVHbhhPKOsDN-JEdJXuQSzRc0_F5vsPk-Mb0HkC0fZOtMv9n-Rxw6SrJNIIvErC-CP5hUYXWRImopxfB2bFpPCxF6v4DI7o=",
  "id": "rs_0d500d743bf10afb016ab460942bd087d0a9853939a36ff41a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The yellow fruit is visibly between the jaws at table height. I’m closing the gripper around its body.\"}",
  "call_id": "call_zJBrQmbN2EZ8veCSAvlCoNVl",
  "id": "fc_0d500d743bf10afb016ab46094cfe087d0bb385a3b8a76fa39",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zJBrQmbN2EZ8veCSAvlCoNVl",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8696, 0.6415, -0.5205, -0.0135, -0.0338, 0.9898, 0.7597, 1.7412, 0.5167, 0.4183, 0.5381, 0.3523, 0.6088]\nstate[eef_state]: left_x=0.2828 left_y=-0.0 left_z=0.149 left_yaw=0.002 left_pitch=-0.1797 left_roll=0.0002 left_gripper=0.9898 right_x=0.3194 right_y=0.1835 right_z=0.0022 right_yaw=0.1133 right_pitch=-0.103 right_roll=-0.0903 right_gripper=0.6088\nstate[joint_eff]: [-0.212, -1.7709, 6.8991, 1.619, -0.0366, -0.0513, -0.0122, -0.1709, -7.4325, 4.6154, 1.2967, 0.232, 0.0562, 0.9939]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0353a16ae79e5d2978171a3a008953b8ab50d154b094251f71d50588417e6da8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a8fe0fd4c8647207359a5b5df1088ba50eb781c505ed013c9aea595bb76d8fc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:feafa39751d027b2eae83b9535c4cfcee7366e4b867d3e58a26cb6cd44c14221",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 7.247 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 62 changed as sent

message 70 changed as sent

message 74 changed as sent

message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8581, 0.6415, -0.5041, -0.0135, -0.0338, 0.9898, 0.3771, 1.755, 1.2259, -0.0544, 0.2703, 0.1295, 0.1026]\nstate[eef_state]: left_x=0.2851 left_y=-0.0001 left_z=0.155 left_yaw=0.0019 left_pitch=-0.1518 left_roll=-0.0005 left_gripper=0.9898 right_x=0.491 right_y=0.1476 right_z=0.1674 right_yaw=0.0711 right_pitch=0.0087 right_roll=-0.0182 right_gripper=0.1026\nstate[joint_eff]: [-0.3761, -1.853, 6.9265, 1.6484, -0.0171, -0.0611, -0.0122, -0.5675, -8.9504, 8.6222, 1.8291, 0.0806, 0.0171, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8665, 0.6415, -0.5182, -0.0139, -0.0334, 0.9898, 0.7597, 1.7317, 0.5194, 0.4026, 0.5465, 0.3595, 0.9969]\nstate[eef_state]: left_x=0.2831 left_y=0.0001 left_z=0.1502 left_yaw=0.0021 left_pitch=-0.1743 left_roll=0.0006 left_gripper=0.9898 right_x=0.3195 right_y=0.1819 right_z=0.0043 right_yaw=0.1029 right_pitch=-0.1016 right_roll=-0.0915 right_gripper=0.9969\nstate[joint_eff]: [-0.2256, -1.812, 7.159, 1.5995, -0.0513, -0.0171, -0.0122, -0.253, -7.159, 5.3128, 1.1502, 0.0317, -0.4957, 0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8696, 0.6415, -0.5205, -0.0135, -0.0338, 0.9898, 0.7597, 1.7412, 0.5167, 0.4183, 0.5381, 0.3523, 0.6088]\nstate[eef_state]: left_x=0.2828 left_y=-0.0 left_z=0.149 left_yaw=0.002 left_pitch=-0.1797 left_roll=0.0002 left_gripper=0.9898 right_x=0.3194 right_y=0.1835 right_z=0.0022 right_yaw=0.1133 right_pitch=-0.103 right_roll=-0.0903 right_gripper=0.6088\nstate[joint_eff]: [-0.212, -1.7709, 6.8991, 1.619, -0.0366, -0.0513, -0.0122, -0.1709, -7.4325, 4.6154, 1.2967, 0.232, 0.0562, 0.9939]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0353a16ae79e5d2978171a3a008953b8ab50d154b094251f71d50588417e6da8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a8fe0fd4c8647207359a5b5df1088ba50eb781c505ed013c9aea595bb76d8fc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:feafa39751d027b2eae83b9535c4cfcee7366e4b867d3e58a26cb6cd44c14221",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGCZkMGqiQZ-rGG4NAsiZ0Gb287tUwQz8tfHCy0TY-IcTnA-MnWslkHkAmTHTRcPmrdWzMCKUoeOu-rgfwkPlYZJXZNqrDCSdSxDN6h3E__T5pFCYLoZU3rek6UiephugAS0O6O-Oj3yQawWFtMg1dVy_ivx3cAJGk9zyXoURiSpnutdQvvjj4tgp86SBYYe7nM1gnvsii3dDLB7Usma1zwduVNhS77Pp_nQ2xswFFf0nCaMMjizPwxEI6ZCyCfuX0b6xpW3sUgvdUbhZRgZzE7wuTujRPZ-Ph3lEz3qXcM8AsHpVIvHIynABB3JkZ2EbZUDIc1MgWgvLKGAStGMwzcCOVhbpWXYtZzjqrsEytWlrejXspqnfjj2eQinkcBkUw4RdJ-MWDGhmy2GsdhlA1H0IlDALQBrVkZz4v-iACqLiyr9KyNRt4qt7wPem0w1q1W3Q9O13bEMeSw8xoUrIge6iwybvBaEkvRrNthci4ly7j6ryLNBgRF1RAD4B8MD-JxehrgwGK3YQlrLFbMWzBsK6yBOCub5nr8AZ-JGPgSVdX-dP31EtL2agRn5bltB25HXOwUJ-oRp6YyF1qgt_PT5vvhsJX7lo_Rx_mZdRm71vmjEMoAFrz0ZU76QpRQWH2hBwh8667Br9fNvhktucKqDQsAKDNg6VURxJ8SK0GbbsmgORpnHapgz5-9WAh5Hdn3sUoDkpWqR7vWjRwA94iowNyVTAzU_h70n2Q0oBx1rJzYNGrLR89y2OPZ23yUtly7DCUZmVQG6aIE7VxMwIuI7WQRMDumInZJmiTgm0Gd1P-1bBFQVbD5k84ygPFdjReT7wu-GAzPFETynrDmp0Jd63ROpvdYtKY2GnBd0I7KSKljs_4vVu1mcX9viflnCBtd4XEycgUVQfnIEJzNLxa8O2JwRJd0h3yhKPygPXaqHyzeRq0uJtp8YmIPwbQQ5U05KTd1LQq8Gg23eVMqcd_6nxkKSRQjkhuIcVu7OKgpo9XfUu-P551LWcIE5du6BCd_jKuK7xYk1mfhYdL-9Zdloj_2Aw6Bei_wJ7cd8EgZyJM07ID6ROaauTvvKGVRtdq-UTFopJ-xYorRCZlNFwj_hpAwBGiU-6fuF_xFCSoJuZtamjSnow6RzdLjEr1GyqTzGDYiVZ2-mdCEN9uAC5c-3eXD8CSPJa2PrSXJ5AZNMQ-WUM7QnjfgOYaF6fZO6WPlgQNuqOyk9GVj54vjmTY1wom4aJ4DsJ4E2vEbTq5TPx0Shgyg-8-6VN1Rhr3J1JulG42Z_XyVVfkEOh-82Nky6DxTlzcgG26Pm4ouLQvypLmlWwFoaSJGrgyTqMGPBtcdissC6mOnwhB7i_uMLOO02np6m8quXK9A9aL8unM8MaBwwx83mm8jJXaor-wluulhdvRDRHznl3ZEj_dgGniyYJUNHkQqW2XDTUeyEsdnaxVK628UHcCFI194EJEMwTPRmp-ZrlsTqyjO8-ZlSbrKuG5OQxrl8pxcRYetKxZQyUZpu5dHBhemdEFySSE_T0UkvKzCjDaOjhOls7m72GubgGA==",
  "id": "rs_0d500d743bf10afb016ab46097b05887d0904eaf4a4d9ea8c6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.075},\"note\":\"The jaws now hold a roughly 6 cm width, matching the yellow fruit’s body. I’m lifting a few centimetres to verify that it comes off the table.\"}",
  "call_id": "call_ipT39RCRBPq7BF8Fg67dlToD",
  "id": "fc_0d500d743bf10afb016ab460990eb487d08f97ec2890a46d8b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ipT39RCRBPq7BF8Fg67dlToD",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8707, 0.6415, -0.5205, -0.0135, -0.0338, 0.9898, 0.7597, 1.5005, 0.6193, 0.1062, 0.5266, 0.3481, 0.6019]\nstate[eef_state]: left_x=0.2828 left_y=-0.0 left_z=0.1487 left_yaw=0.002 left_pitch=-0.1808 left_roll=0.0002 left_gripper=0.9898 right_x=0.3218 right_y=0.1881 right_z=0.0688 right_yaw=0.1259 right_pitch=-0.0829 right_roll=-0.0683 right_gripper=0.6019\nstate[joint_eff]: [0.0342, -1.3744, 7.0085, 1.5849, -0.0415, -0.0611, -0.0073, -0.2256, -6.2564, 7.4188, 1.5311, 0.3248, 0.0024, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb4be93db05cc6cf43c517646ffc396eb66817f151257146aa5f9ee88c635f17",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7aedcd537cc0fbacacc64bdb3d230ec7993348ac30f76aa5b8921b7a904d47a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94b9717a6f7b7f60d5ffb4abe50de30822de184c3f44107ecdf21f4be629033d",
      "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 20 attempt 0 · /responses · status 200 · 2.813 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 66 changed as sent

message 74 changed as sent

message 78 changed as sent

message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8639, 0.6415, -0.5129, -0.0135, -0.0338, 0.9898, 0.7715, 1.5383, 0.5919, 0.202, 0.551, 0.3538, 0.9965]\nstate[eef_state]: left_x=0.2839 left_y=-0.0 left_z=0.1519 left_yaw=0.0019 left_pitch=-0.1663 left_roll=-0.0001 left_gripper=0.9898 right_x=0.3241 right_y=0.1912 right_z=0.0628 right_yaw=0.1173 right_pitch=-0.0482 right_roll=-0.0588 right_gripper=0.9965\nstate[joint_eff]: [-0.0068, -1.6889, 6.9128, 1.746, -0.0415, -0.0464, -0.0073, 0.1299, -7.6923, 5.9556, 1.8046, 0.4371, 0.2222, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8696, 0.6415, -0.5205, -0.0135, -0.0338, 0.9898, 0.7597, 1.7412, 0.5167, 0.4183, 0.5381, 0.3523, 0.6088]\nstate[eef_state]: left_x=0.2828 left_y=-0.0 left_z=0.149 left_yaw=0.002 left_pitch=-0.1797 left_roll=0.0002 left_gripper=0.9898 right_x=0.3194 right_y=0.1835 right_z=0.0022 right_yaw=0.1133 right_pitch=-0.103 right_roll=-0.0903 right_gripper=0.6088\nstate[joint_eff]: [-0.212, -1.7709, 6.8991, 1.619, -0.0366, -0.0513, -0.0122, -0.1709, -7.4325, 4.6154, 1.2967, 0.232, 0.0562, 0.9939]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8707, 0.6415, -0.5205, -0.0135, -0.0338, 0.9898, 0.7597, 1.5005, 0.6193, 0.1062, 0.5266, 0.3481, 0.6019]\nstate[eef_state]: left_x=0.2828 left_y=-0.0 left_z=0.1487 left_yaw=0.002 left_pitch=-0.1808 left_roll=0.0002 left_gripper=0.9898 right_x=0.3218 right_y=0.1881 right_z=0.0688 right_yaw=0.1259 right_pitch=-0.0829 right_roll=-0.0683 right_gripper=0.6019\nstate[joint_eff]: [0.0342, -1.3744, 7.0085, 1.5849, -0.0415, -0.0611, -0.0073, -0.2256, -6.2564, 7.4188, 1.5311, 0.3248, 0.0024, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb4be93db05cc6cf43c517646ffc396eb66817f151257146aa5f9ee88c635f17",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7aedcd537cc0fbacacc64bdb3d230ec7993348ac30f76aa5b8921b7a904d47a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94b9717a6f7b7f60d5ffb4abe50de30822de184c3f44107ecdf21f4be629033d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGChZVOCvVpMRFbGiJZKb0qBZoOgs-NbTFSNpriIndPE7Y_lp8ajj5tD5Y6JlpR9BV3HlM2ZVA014t7mwWekgBraz1Z47uXLh_WdXhK4ZZyzP_yIbxMgV5ks4QeHVQ85tIawty9jokG3ltKAUKFS29MUg3OUQ5meogTPo0gbAwrZhowOZIgn_Didu_Sc5plI5XkgCXpiJ3AE5FRoSn3VMieEOx79GftDI74bnDaAcRcQJnslRSevcNaNwrkS2NsnPtgU8s6lJl12XUNjKIgJlKsOD24iWdNClRL14ktHXwuVMje5kxeTb6NoUXvyvlt3sS7x6uivPVrFaTEtLPMHpp88G0zbWQtptLUAIEn57PMYCHzeFCui1BEmSjpBrJJM7ah21pYwesVpcXoPvqdZnWWXG8psx8YODAvV8tgEQzDjdI32GSOByNr3cDyKQNDWeyFAXSROyrEcgrEXV_D3uq6tAa5vMk6kMZhVfJxmmldy6tm0b209IfoMB4ClSjpweBdLlfvMrjDuG53KSiquqzvckHW46jVBbvXMEPhiBo8WgnF7MzIpxaytdUPUpRIcYYz2gSFYuSp43kHU_Ntpke0sHpJig3mylx57ofG9sjY4uh-C2nlHqZihFw6J_45JlmhNgEAzNMANtzLo2y8q3RG8u8ce5as5XKFX1wynsjNPKT8vR9diZku81iS8VKYFSLu_C9KTLE58L7wHBMYzDisJASSs4muGrR7vdtMcVm0h2xM-5MMq31n6PLoyteC9uWmBlT4WxUWPbwoIE1XSXjjWa37o-NRIx5hhDy2C7KM5lmOPaq_P8pnH2m_yk56qWhjSs12vrCIhDbD4PeydRl5-Qlt9xNHiyy4ElDk-oPr9lu0CLzWV8mMCAMFQaudhdp_9_sCeV-kxanV7qpKoHnSXiTOTq-kP9cGt1m1BJt64Ka3cO_5epPNlfdiiqgMpshymrbb5089xPYAXiWUGEV5OUQ-qZa_a2IIerd_vSROaTVNpvI2GsXLXudSzNl-Mu_qdm4i-cuyB39hji6oNw2W8SSB62q_0pgMdTnLB1sBlsHAuRGX9WfEOgzgPVSikg5nM_JwaARgNCD9fH4xXDhglEC0e9ARMpIC_pnqH-EgFksfdUBu1H69GZfSwj9I0uUfki2R5yU_6WDbFXjRiCPI44zOupPdeJy3Q0XveSaYdaksJUjAoRvA4EcpKDkenLI7U4NrO0CLI4IzjLZaKwI0zJz3lsRoeMVGe7WWI4HNNoqrb3CtRPeOHgv5F37VGnIQk11b6my9ucnB3t47V09v7kgc6jcYGPllcxd4nXrVdGtBLkeQ2c0YOzPvZKxHfQ7Sce6z-SkL-e0EA-saCQ4cguXmfvpDKivSziADgbYT6yOEsV_-pvry8dcXj7sIaXrVkd1LMbfhfGBcMdN7hv9_06kbxRUEtH29GfHnvjZLtk1Gy2jVJG_fXhjABnNdZ6ec7JimPy6umwoxSxG393e1r63g71nnKflX5s2GThWE0o2qA73tidhS7bwC0V6xpgjXwNXqcq2KCiKLpvE4p-0Xlpx6UdOREtwlbEJA2SvjDBL3n2yC0RyxYjDEc9n8jzcFlOFeSQLxx9IoFSeCgn-ADQ5AmQSPijcy1rp9N1SLzdvhGFr_3okeaKgoRJ3TGMfKxCiuo_BVNWlJHVw1hYC9xdqxW1738uD2rzMkS7HceiO_qqMEjFgLoBUXMYRLTwPYd09Z0QCUyB2-dBSVS3JHfNbnWy_G9cjUsfFRIYWJSFY89l6Bbb5pcWKC8C58dJHvq-aIndFgNHJOwiGieYfTyIfdu--S_SpXzYwUzuMrLsNin212sguxkBZmLa0_F-hQxZPdBKm-7KnDafW7f23hEWTKR33IELqCvY4QH-IGe5epxl1_8crJqjEyDqm2O77QLTy2llx7coOkxPl3bEK4A8FD8EVm-wlg1g-rlwou3tEX8KS7UOel_xwKgdeLWqDvQAE65HtTMbIfu2lbD9ht1tUghFi0xBgLPsdWbPadW-NfzU1G0302qE3-wUkA4oeH5hgbiIy1YYEhBOZ48URMEsQvs63kNpVdBhNulo2aDIe2xATbCeZO1132hGu-bgDqYGLaatsUOCFTEfqnLfSZq8ICbPk2SPi7tnHCe1ZHjJDI6Js72HWHQ3Bw3YdBrNboI5loXfHKMz3QkoEmWg17s74MSgH4Rov_6mGldaMS4F90u8HJM88QlK6f-4aV5lCux6VOcuEU5kD3Cxt0GagAlv2RtIRvhGC99uIC97JHf_6XKs5CLazYNoYXbGkQeRW-5kUeWQM5Gl-xNT1sCt9dsZ9HhOsunSPYqe8-04N_0te-s_wFr_0ScmuAmnTUMSOhM1Unao_qQX6EUrqH3FOdBT4SAiYsNfgO2_VZLlvQySGLUChnFr7frHZXnf-5AFbFzD7ozoIB6WnKW5igxb6W7pzLiMRYmjJ4ZqOxoOS8ybXos5ZeVKi-mVPX36FsitXjMS1XHmv9L_rHvRC3hgdDwoHjXe4F2CXxdHFUkwxOqPRzIvm1X_C5xiONOuE19ffAc",
  "id": "rs_0d500d743bf10afb016ab4609be5dc87d0bca8ed880fc63385",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.155,\"right_z\":0.185,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The yellow fruit has lifted securely with the gripper. I’m carrying it over the blue bowl, which shifted slightly during the earlier attempt.\"}",
  "call_id": "call_zJwdWBY7dgrXQ6F7xKmCL6PZ",
  "id": "fc_0d500d743bf10afb016ab460a07e8887d0b2f91b4044262f2b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zJwdWBY7dgrXQ6F7xKmCL6PZ",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8734, 0.6415, -0.5205, -0.0139, -0.0338, 0.9898, 0.3923, 1.6939, 1.1946, -0.1192, 0.2317, 0.1184, 0.6018]\nstate[eef_state]: left_x=0.2829 left_y=0.0001 left_z=0.148 left_yaw=0.0023 left_pitch=-0.1835 left_roll=0.0005 left_gripper=0.9898 right_x=0.4702 right_y=0.1545 right_z=0.1692 right_yaw=0.1242 right_pitch=-0.0313 right_roll=-0.0165 right_gripper=0.6018\nstate[joint_eff]: [-0.3897, -1.8667, 6.9675, 1.5751, -0.0513, -0.0366, -0.0073, -0.4444, -8.5675, 8.9915, 1.7167, 0.0366, -0.0269, 0.8962]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cdde73922946d1b837b813ae8f6365ec0fc9552630e5317ea3d3ab6f2671cc3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e382be4274c106f14f99a349e1aacf581872f1976a42ef53ea73ee867107bb2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11c52133e13a16854bd49691a0a1d280004ef62fd67361ac5c15d9b059dc9ca1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 2.163 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 70 changed as sent

message 78 changed as sent

message 82 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8665, 0.6415, -0.5182, -0.0139, -0.0334, 0.9898, 0.7597, 1.7317, 0.5194, 0.4026, 0.5465, 0.3595, 0.9969]\nstate[eef_state]: left_x=0.2831 left_y=0.0001 left_z=0.1502 left_yaw=0.0021 left_pitch=-0.1743 left_roll=0.0006 left_gripper=0.9898 right_x=0.3195 right_y=0.1819 right_z=0.0043 right_yaw=0.1029 right_pitch=-0.1016 right_roll=-0.0915 right_gripper=0.9969\nstate[joint_eff]: [-0.2256, -1.812, 7.159, 1.5995, -0.0513, -0.0171, -0.0122, -0.253, -7.159, 5.3128, 1.1502, 0.0317, -0.4957, 0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8707, 0.6415, -0.5205, -0.0135, -0.0338, 0.9898, 0.7597, 1.5005, 0.6193, 0.1062, 0.5266, 0.3481, 0.6019]\nstate[eef_state]: left_x=0.2828 left_y=-0.0 left_z=0.1487 left_yaw=0.002 left_pitch=-0.1808 left_roll=0.0002 left_gripper=0.9898 right_x=0.3218 right_y=0.1881 right_z=0.0688 right_yaw=0.1259 right_pitch=-0.0829 right_roll=-0.0683 right_gripper=0.6019\nstate[joint_eff]: [0.0342, -1.3744, 7.0085, 1.5849, -0.0415, -0.0611, -0.0073, -0.2256, -6.2564, 7.4188, 1.5311, 0.3248, 0.0024, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8734, 0.6415, -0.5205, -0.0139, -0.0338, 0.9898, 0.3923, 1.6939, 1.1946, -0.1192, 0.2317, 0.1184, 0.6018]\nstate[eef_state]: left_x=0.2829 left_y=0.0001 left_z=0.148 left_yaw=0.0023 left_pitch=-0.1835 left_roll=0.0005 left_gripper=0.9898 right_x=0.4702 right_y=0.1545 right_z=0.1692 right_yaw=0.1242 right_pitch=-0.0313 right_roll=-0.0165 right_gripper=0.6018\nstate[joint_eff]: [-0.3897, -1.8667, 6.9675, 1.5751, -0.0513, -0.0366, -0.0073, -0.4444, -8.5675, 8.9915, 1.7167, 0.0366, -0.0269, 0.8962]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cdde73922946d1b837b813ae8f6365ec0fc9552630e5317ea3d3ab6f2671cc3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e382be4274c106f14f99a349e1aacf581872f1976a42ef53ea73ee867107bb2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11c52133e13a16854bd49691a0a1d280004ef62fd67361ac5c15d9b059dc9ca1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGCl4eM9F5GkoWdDBBKdKCDvoAtcZGwXyVVU92a-cWtXw_zO2E1WxfWTpvLD-XSvX2TDgJWHdfCesKNMjlhPo9F3jjxz8FXRAMoglhTsRC6gyQRBwcqNEe301Zk3VWww1ksHPZA4cgi3McUsVv5aqkzCiAo7Y4ft7ZHNnaJvfILGCwKNuUrlDTZmtFwqCcAKR1zotwYC5r91AAGsCAmZzntlUH4fxiy2H9_8RIX_sKQbr76dBZpycaEpQ7jmIHFE6A2vEDsnOILPT5HK2wmMPcosJTn3PD3c5CykcOXmhIU_o7RvM1U8T6jZRXrGs-u7ocH7QMPcPzE3VFYotv3AV-TTyZMROwExAUz3Y09xev27Pwp-6JNa0i8F_JvotStFLRFTgtnvSGvOyFxsguHCII4ICd0kTOaQ-bLYhdP9ly3ZqQz38MKXYJhOICV7hT7RYIgw1zIm40Wezf24213AL9EQzfVTRiuuehAOZhZh_8b1Y_8GBgJU4vorkMmFbBQQjRllR7jvPEgvUOq2VPIdk5_KN6vAzBBscYvuGbB52GD6Sppw-t1xcf5MzLHOExqvtlUvPlDa-DIafAllCq3gOWU0OyXWidJFoU8W19iXOGIFiAYdfpF7UCKkNntkHnfDBKHMt_N74C7uKLu2dIBbymqyGVRgC-PvImCKQsLz3z-gynZFUZfZtfDsmGTuFsLIORa7X_RhGLOBnKj9G3F2iu1DRr-MfsRyUnqAh5ZHwlVnlTdp4Evf3WgsFtfDLceLh_8P2K3l1rv-Gub2VJAzTpGu1_4lFI3SPl4rTQM_37xA3WMkeZGagN90qoSjN1lJNB1pnQylmwdro642ycllgmzLIddUhGEbUeFRYpu7RQKY3iaCGmrccxCPRhLlBUCrBLxBzRdrTFmtrJzgadsNx0a5kP8Socy7rD3SwcE0Eyy3sdOsYpWjNsIrBIW7cj-iLCjfKhCPQrRrSPKzKeu9fWvd6hxQqQY6McNHSKcK8-hkQqx5NAbvv4pmFLuIkSgEP-jGdKlUHE8haU8sSOVIFPPlpPmL8L8BmzGe6gk6FNWLslvj1sUi1--63V4ewSYTGZE1EJOvp-i8yF4crbeoafAqRKwLEHKM-rLp9ARsmwSueadAX7pW7PCmOYrlzkyVGBAFTteJu6nUjrYPXZ0-NeAKSk8A_JoBJRidcj1zEdRwZtFUNKPsYzGbsZeYgdIuW3Sp_GCtqTJ5Hlct9sbgPbDK0AVAdf5VjqXz9bwkMq4_vq8ViZhB6SnbO1u9VPPLTbh33vT82ugPoBjxmUcyKKJSjIHHlG_6kO6O3DmPmN6sLbfypaWt-ponOxxKk07-NcLaSJngXN-9T7TDbQHBUcam30_mv7MiQojj0UtIniWFH2i1Z8RoNNfV4Yjmfh-aphvs",
  "id": "rs_0d500d743bf10afb016ab460a4249887d09b9aa0a7b4b7caba",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.115},\"note\":\"The yellow fruit is above the blue bowl alongside the green fruit. I’m lowering it closer to the rim to reduce the drop.\"}",
  "call_id": "call_fTRZ7Ty6HGMmmYHSu2y7qqDm",
  "id": "fc_0d500d743bf10afb016ab460a4f83087d08066670114036d13",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fTRZ7Ty6HGMmmYHSu2y7qqDm",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.878, 0.6415, -0.5343, -0.0139, -0.0338, 0.9898, 0.3889, 1.7645, 1.0626, 0.0105, 0.2272, 0.1116, 0.6038]\nstate[eef_state]: left_x=0.2807 left_y=0.0001 left_z=0.1443 left_yaw=0.0024 left_pitch=-0.2018 left_roll=0.001 left_gripper=0.9898 right_x=0.461 right_y=0.1498 right_z=0.1044 right_yaw=0.127 right_pitch=-0.1025 right_roll=-0.0384 right_gripper=0.6038\nstate[joint_eff]: [-0.2667, -1.9897, 6.8855, 1.6972, -0.0317, -0.0513, -0.0073, 0.2256, -9.1692, 7.4325, 2.2295, 0.0757, 0.0415, 0.7643]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:231ba186ce0d68fd2f288b8639dc9904b9bf0411eafa929bded59749ec525c57",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d5ac3fa1dfeff7942f600cefe080e488f227b5586d6a0205281fdd415d3f900",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0143f0b28483fc46a9220d0e6e0f150d4245cdd3bfa8589ad97d08de6246f1e5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /responses · status 200 · 20.09 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 74 changed as sent

message 82 changed as sent

message 86 changed as sent

message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8696, 0.6415, -0.5205, -0.0135, -0.0338, 0.9898, 0.7597, 1.7412, 0.5167, 0.4183, 0.5381, 0.3523, 0.6088]\nstate[eef_state]: left_x=0.2828 left_y=-0.0 left_z=0.149 left_yaw=0.002 left_pitch=-0.1797 left_roll=0.0002 left_gripper=0.9898 right_x=0.3194 right_y=0.1835 right_z=0.0022 right_yaw=0.1133 right_pitch=-0.103 right_roll=-0.0903 right_gripper=0.6088\nstate[joint_eff]: [-0.212, -1.7709, 6.8991, 1.619, -0.0366, -0.0513, -0.0122, -0.1709, -7.4325, 4.6154, 1.2967, 0.232, 0.0562, 0.9939]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8734, 0.6415, -0.5205, -0.0139, -0.0338, 0.9898, 0.3923, 1.6939, 1.1946, -0.1192, 0.2317, 0.1184, 0.6018]\nstate[eef_state]: left_x=0.2829 left_y=0.0001 left_z=0.148 left_yaw=0.0023 left_pitch=-0.1835 left_roll=0.0005 left_gripper=0.9898 right_x=0.4702 right_y=0.1545 right_z=0.1692 right_yaw=0.1242 right_pitch=-0.0313 right_roll=-0.0165 right_gripper=0.6018\nstate[joint_eff]: [-0.3897, -1.8667, 6.9675, 1.5751, -0.0513, -0.0366, -0.0073, -0.4444, -8.5675, 8.9915, 1.7167, 0.0366, -0.0269, 0.8962]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.878, 0.6415, -0.5343, -0.0139, -0.0338, 0.9898, 0.3889, 1.7645, 1.0626, 0.0105, 0.2272, 0.1116, 0.6038]\nstate[eef_state]: left_x=0.2807 left_y=0.0001 left_z=0.1443 left_yaw=0.0024 left_pitch=-0.2018 left_roll=0.001 left_gripper=0.9898 right_x=0.461 right_y=0.1498 right_z=0.1044 right_yaw=0.127 right_pitch=-0.1025 right_roll=-0.0384 right_gripper=0.6038\nstate[joint_eff]: [-0.2667, -1.9897, 6.8855, 1.6972, -0.0317, -0.0513, -0.0073, 0.2256, -9.1692, 7.4325, 2.2295, 0.0757, 0.0415, 0.7643]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:231ba186ce0d68fd2f288b8639dc9904b9bf0411eafa929bded59749ec525c57",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d5ac3fa1dfeff7942f600cefe080e488f227b5586d6a0205281fdd415d3f900",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0143f0b28483fc46a9220d0e6e0f150d4245cdd3bfa8589ad97d08de6246f1e5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The yellow fruit is now just above the bowl opening. I’m releasing it into the blue bowl.\"}",
  "call_id": "call_ZNGMjOmIGyM6zeMBFvOfpg61",
  "id": "fc_0d500d743bf10afb016ab460a785bc87d0b97f668e104616ee",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZNGMjOmIGyM6zeMBFvOfpg61",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.878, 0.6415, -0.5362, -0.0139, -0.0338, 0.9898, 0.3904, 1.7752, 1.0515, 0.0147, 0.2279, 0.1101, 0.9952]\nstate[eef_state]: left_x=0.2804 left_y=0.0001 left_z=0.144 left_yaw=0.0024 left_pitch=-0.2037 left_roll=0.001 left_gripper=0.9898 right_x=0.4585 right_y=0.1494 right_z=0.0957 right_yaw=0.1282 right_pitch=-0.1193 right_roll=-0.0447 right_gripper=0.9952\nstate[joint_eff]: [-0.2393, -1.3607, 6.9812, 1.5458, -0.0562, 0.0024, -0.0073, -0.2803, -9.8393, 7.2684, 1.6239, 0.1441, 0.0513, 0.0855]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:961928085da939abce60e7f252ab695e4b668815b8be59948be2ee96b65a6d37",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04134e71d9aec2d3a8f9f503a45817fddfd9b5e07f776e5d47b9552374a57f12",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0a126c22b7ffc7d0f0d50260b25b924c388e840bc10b369ac00e4ef3afd0cb5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /responses · status 200 · 3.739 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 78 changed as sent

message 86 changed as sent

message 89 changed as sent

message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8707, 0.6415, -0.5205, -0.0135, -0.0338, 0.9898, 0.7597, 1.5005, 0.6193, 0.1062, 0.5266, 0.3481, 0.6019]\nstate[eef_state]: left_x=0.2828 left_y=-0.0 left_z=0.1487 left_yaw=0.002 left_pitch=-0.1808 left_roll=0.0002 left_gripper=0.9898 right_x=0.3218 right_y=0.1881 right_z=0.0688 right_yaw=0.1259 right_pitch=-0.0829 right_roll=-0.0683 right_gripper=0.6019\nstate[joint_eff]: [0.0342, -1.3744, 7.0085, 1.5849, -0.0415, -0.0611, -0.0073, -0.2256, -6.2564, 7.4188, 1.5311, 0.3248, 0.0024, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.878, 0.6415, -0.5343, -0.0139, -0.0338, 0.9898, 0.3889, 1.7645, 1.0626, 0.0105, 0.2272, 0.1116, 0.6038]\nstate[eef_state]: left_x=0.2807 left_y=0.0001 left_z=0.1443 left_yaw=0.0024 left_pitch=-0.2018 left_roll=0.001 left_gripper=0.9898 right_x=0.461 right_y=0.1498 right_z=0.1044 right_yaw=0.127 right_pitch=-0.1025 right_roll=-0.0384 right_gripper=0.6038\nstate[joint_eff]: [-0.2667, -1.9897, 6.8855, 1.6972, -0.0317, -0.0513, -0.0073, 0.2256, -9.1692, 7.4325, 2.2295, 0.0757, 0.0415, 0.7643]",
      "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]: [-0.0212, 0.878, 0.6415, -0.5362, -0.0139, -0.0338, 0.9898, 0.3904, 1.7752, 1.0515, 0.0147, 0.2279, 0.1101, 0.9952]\nstate[eef_state]: left_x=0.2804 left_y=0.0001 left_z=0.144 left_yaw=0.0024 left_pitch=-0.2037 left_roll=0.001 left_gripper=0.9898 right_x=0.4585 right_y=0.1494 right_z=0.0957 right_yaw=0.1282 right_pitch=-0.1193 right_roll=-0.0447 right_gripper=0.9952\nstate[joint_eff]: [-0.2393, -1.3607, 6.9812, 1.5458, -0.0562, 0.0024, -0.0073, -0.2803, -9.8393, 7.2684, 1.6239, 0.1441, 0.0513, 0.0855]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:961928085da939abce60e7f252ab695e4b668815b8be59948be2ee96b65a6d37",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04134e71d9aec2d3a8f9f503a45817fddfd9b5e07f776e5d47b9552374a57f12",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0a126c22b7ffc7d0f0d50260b25b924c388e840bc10b369ac00e4ef3afd0cb5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGC8fh5nCsdoeAtsxHRDQyELNmB68JfZYRyTVk3fW9aFgzjpRFNQqJBw8150MDIINE5VIIHLudxe3dmRUkO5MijBHugY2yHeQvUimIl39Au15nkr37-kc68h1dB648Y72Ln3qrz44Us1qmX36bFjQEAtLAiJug7QfHIOjzc4MNapqq7wKzrIwHeYKQ373sij1O1-8zCK2AoIJReQVZSYn1nd0ux7kivPSxJsguXgkcsyl_jwv3lVXNBPqeZszvIigoeot3AQGXEwsKFNxWkOIX3Z57N4DtSk6ZzBK6U7i8hfnTmVlnjWahwd3t9sC7UtPifeReH4W7PUn0ps86-FiTV9KxVueEDVKmhkoL9GBND2FaCCfQTA6je4ryC9HEE8LzPedITanS8dW7HEdDT_zpN1RXLfl9fe0OfCsvZ12xaPHO6V2mnMmq9dv1E3jawrMTPNT_-BVBB6jFgFcZhUJYRgzUjlaBUuY48HrJdjNkv4pXfJliJ75zsiehLX4HIfpVOlhs0qwFDTK99EnFqH-nYFi8dy0uGNwUL5uYCOvJQmP-gxto-ToRjXoT9wJ045seOuPz35f5Z6R-YEqOu0edAS-dsLIieORO4kLw44dNJHrqb0WmLY2AEsSqhYX2XhlFpIIYXFWBXWZ9uYSsj0IRNlsvVGo2V5bxAyUd_DyC4OAcYhgeSgVHKcjlR3UTE0hFq7pPnfcUfuQ39LLggalSwfbSxMZxNa2avbZumZq1tjCwHBPXylIXn9FllPYRFpnXpklc9vIN1LQMPQVIkl50tcSVJOJ9tUYcjS8LvQBx_TRQeLsgg3FtOnOpSyWotTZ8RBe1T4FRu0WZQoMicq9rfOsE7oXMSC9DCF_aNzL4JJ5MrofPTqGjNNkQk3MxSxzwX60xYqkcfuRuu3YPIBUMfND8tQ4IICRpuFtw71brWIlM7qPM9PQOZfUEv7I8HZgH_03o7qLvvOUd-_TF9_cH2GTs1ToYmB3ob9qSzc3gKouc5NfWgGR-7IvILSTA5XhGA65G-1eyhflzSQYfQaUw4OqzXu6gHSZTbjq5AJJPTre6qgN-jgVGuyXuDjYf4uT5QIS_uTdRfy1tnoLoaBIhkrXGbOWYoGWcAJQTjjWhuq0LFNSiGktN7shBzv_M7v7M_IHe3Lemx3zFPNCrT86Zt6v2HKXFcc3RLUbbgdGB96lo4uL3Kwo5xx_DUbuHOJ096xRdWRF1Kux8U1VrLtb4dJ3UBVfysTe7gx-QSZAROWN-MaBimWRNKtqzkhOlknRb91Brq_h01Sr9ZaRhiyPya6dfZHYkMgEQ0SELikQfYbrhm1uzE-SZ1-Aj12XprmU16q8ZvZoWv7N8ZUxOL_APS43XitO1nKKZRhaZ96YB_DkwwEzJO6AW1KkjvrnEHArbsTbNu40X8rmGcyRjpkCyYrU7IyeBUr6FKw8x4igqISVRR9p6LEa5A-NtPuIBhTgUW4gBFbvj8YKOb5_d9E2YKLUOcjrUt3EXKdZBEkhk9bp26EOCaJ8_rp0tf4z9LzhHaiIdxhDE87yaTAO2QbaRrIOykrKYseTVzTBfArRWLM_PvdQWl0O8lAuuepbwe4QzozKgu7KCAy7qKue8mjr8EWb-v5D6Yo4bUmJ1QdaCqUYvnGrPFAH8KRz7HZz9cZ1ozAL2M4Buk_36Xl7hnWlxaup_BNZnZySD8qd_vT9-E_gVibLoQ_TGXu0uk62anhCo_4wvJpNKIa0rz7ua00UNkbkR85VNz7yED1fmosAL519LRmY8HyNZ_3Gg9V45Ei3oRNA-C4PbadlBDarPKaF8Hiqlie6iwWDBcWUyny6vnddH_X2ax-dzjISxFPgEZ_goGXhK4xiKYqSD2WIUnUp3K143-mdSkgwIdTMjrbQon-E22_ve3ZnhdwTjYAbgDXD9XCXE4ayFNDW75-b6H5aEXtlLhThYqtZ8Wq0npixVt4uTo4ih-irgegtmHTMTJ2q-UsC7WdMnDWseMWibHUSDJxcRm996UFSpR69GpIMyqRs10uBkNjvXwVgMCE5BYmV-66s7SrQAncUab1a0mL5-jLqQ8ZpE88VFhATbhQ1_HXsAD_1-KZwA61woARuoxkZehjY0x4-mbVhrJkByNzlpCyMZVbxukBUfzBMb1w7t527lc_zNHJY-MTtGmDwH4WUR4qVdFtqDnojVscKUZF0z-J9tTzyQdd9ylrCgAQMY6vwqV-M97WawKM7VyJ4U4ZhUn5qEcngCNjoRQVcgu9LgTPl7BrIOIn_jvAh-p_FxHHDWY7aPExxjCaHknRHtYiOfjGPYOWtQ5ZluS9-7welZaK8p-ctzwfs9kZKMlePlOhrBuG00vI1toJGjDW8zOMyuiyucx5YJJiiASy-95G1CSLvL3X2LG39uYfu9iHBO2JSyrKhi_wWamly2K0B1_ARLydGthDz5o3y8fgrGgOLlhWyIhofKuC9rf9w0_-5IUk47W2lICj4Ylz_wdS9paRdVmWWG4u7jMYgbdqyGQ7xXaLMrzmOiGhf7WiqJareWpoUX8QTioNg41pzswYBCTPOVo-tSr7uPhHpTGAkRrKAgSy0J8IWnhsoK7G35BEO98f_xsa8l9dBSzfvmNZZ4sbz_viylTJIbW4azV9z3ukx3r_7xJzPnKD8fXUyDrdtZahlXBIZDtqmOt75ZFtgrcMd54a3JoIyW5oiBKGmdNoWPRcRE21nxH_sRoQE4NABah6JAefW_WotuPQVXvGtB7h7P_vZVoSaLL4loNZZp0w3JRgrLdKqEcKLEX6VxBOfHmqVQXyVpXeeLTZGvSmwg7VvNdenw0_8HtsoA5KwDJMRtN78TBMzTiW_37hNkEHo-6iJ7VbP-CnkvSXaNLx28gRt5UCzFi8HPjcFXIrhPz5ZrbmUjOHx_QAhJnNWai6TxL8yU-R3aDCBCruo2QkQ67kP3X7sOwIvT5oggsqQfT_UYiCZP9riIhAJIVwsY4ok-2RBY3gkpX4oZbcL40mGRbt-xrTYdIjT1MUb1hVarS-hLHM_0mtBxkPy4pUE-jTkj1mcxyxDAQuupCEj36grXlg6aWd8rdgIGKnNxblAIqlX0EPoRN6zzC6_O_eQGjMIeTxi9UKm_HbwDclCcRekwrd5Mc8PIyDSbbGgte2rALvmlYnfVjvtMDw4GE5v0r0oMOVLYXm1Bo3kIL0UFVejIGxant7a8vvhNyp3X_QQ-rD7rr6UqlpyXENpYUkUj2o1emXDztRy5SFw4ogzGoZZu71pc2akvXcOt7uHR-eO3WMUX7BJKR9Nz_5wmCfSL-GlEThNdeLyHO2RxUmRxiWJuHEeODY3Rt5ULrzj_BYP3sfUKOMA63tb0w-apZx0Rc_u5YyIPGZtSyW9XeZ8F0kHYo5W55TJ0z-3Og3IyY8hlWNGvvfdGjOwi9_u-g31Y5-gHE8e2ccJrw-YRuMzn11HsU8_jP8Of6C9s4IGJPu3W9ckSJmnQHDZsyjxrRADwoG3q2RKCiGzjnSipdIYSHDzQaSwQPQuTw8igK7bxR7Gst0ROPgLHdqMVxoWLhv8LEmJZHYWfpjXDHR5AxG1IEzf-MkvQeabvODHSf1v7joqK5ZS2paRauIb5M6EbhDZ0ZQV4diOU1ZeHe7gflcVhC43xL4sYMAavmS_gUqWi0N_lgt5TiACuUpNTsdapCFVS83OwJh_-jitZpk0eY3lWgLE1k2swHO_F5tD8nwu_uPBnK_q6tqY0IoRYByazdo26J6O3gxFVFML1dxMWFuZ62m_E-dN-nxgDa24tsa6RvNfVl4YehEMG18mga1TU-8tAXareg_Q4mGU6-VOWpKGwQ3fAxZmU7f",
  "id": "rs_0d500d743bf10afb016ab460a9d9d887d0a410f524217af312",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtGC8vTwTbDbchNF_OTVEJYMLKE50hUGMjgDFj77x4g0yqhOVqdxrwXV4lvnrNZ6E9YFflPk6eojp66n9ZKNaffPRtbk--RQ3UAVauCfAYqEyyC1CaroS3Xb0k6TF0-3syA4J96Bz8Pem0ZwOxsLMwMm5m97dD9S53lfutzPEq2AuwsGZCLLyXsjG964XnucsBfyTwkhY75fVRj84mrwi6jlUZiV-ovB2KqvNW1j_Qr2uoXLeGwQRP9gfoBcvshezHBuf64-cVlI_9KC8-nrQN5tSediTRKSnsuhH_oZNu0e9L3a3Nx_X-X1jTDw9vHqIBLQd7i7BtA5BO-XsccEPxmA7CnQzi3vJc0yiLqBu8al9PRFmPrsp7WTrsPpwAPAvF9cesTQBbd4tO5cLo_plhdGRoj9e_gg0SLgcOiLqtLULyVU94VdXbPsIK2AJkhaf9WDD9WF6nXLBOGL-dFPpZsrMBlDElnONrgYSQ_utJq0Htp1qhwK1MLFZaiwJXYj4bBD9HueyRiC_0h_Qa-b3Nnh48ViBVMv7U8s8bArUwLsdyj7RBHQn67mjN9UF-_u_OruAkOFlxoFlJDlDusKZJ5rdKemPzP3RSyl2PZUze2ewykezSyiRZR3CHByjWpljC-aLZgB5uzqU3ls20pR72bAT1rukbePNV-ojl7NDjC1BnsPrUu7RZ-V3UgDWk3vgY53Mvfw1dbUhHlie0LUNEpS8DawjAxodd61v204Tork5YdTuo0iFkfrsJSFUnk-KQjp7-R4WJrL6-SIRWyDK-u9nI0A_2ch47Jx34Py8XxAzTgNE26ixET9FiafEir6n0yWK5L7giD7oerYKATs15wjcFQqfQmrufElOtBXfkTCUHmhHR_w5WzQLm4XgJIESqubddAsPRsdmhemHTeOwuwePKywSOb20pS9EPifguwRNQRPkufP9Pe_pwxfm7lJSnXIucfNBRRjs3lpRbh_9xMyycOcgdzLginwN2b6ls0mGRYjbsjGYMu38VrLuaCZorHcH3MP0B89LuHEaoSKJp3ltBPqYftM9CYUXx9CFO2hb7Y2lUc0AhF4bnJtp4KQGB2WXgqFaQTU28urZD8I4FqVXa0GnMYOpLD77FbnwtAqGXLH9S4vev4yua4tRyTEkouYmIQL4NOYKFQWJCCQ-8E9r3nxaCMgUpDA0eqEfpDQDm0atQKrUSnwr3vsP3d-R2QTD1nbJnx3bt0wFGPUxGbmFAAHW3cF_eW_Ka-E_sULF1zM5UQaqxpSFReRD_G7o0RgkNmy5VcNCBIufmzfJWPYhQ0YeMp1hbwRTiRYi7eNgKeW6hWnLdCgOKQdOIrQgnYcyc3vrlSQmxDUPIeFo4yLV9Tb58wxt7Tk3AxlNNTLl6u1mCzFsIjnM9fZcQzuyeoSiiweTMcV34jwsQ9ZD5eWNlvudpPaRhLPjml3OS1yb75LinT789SoTMT_Q7EIRtpTY5pTZscHq4K2AcqhkAUGmjWFhr4JbKgHY0D1FaFEkeY_yX4GwPoljXdCqjBNCE67sGkqZeo_cvGWKchKII0-J7uiHKMTPQmlK_-F916oeJJLh41Q0Mgzwrq8KoXZ8fSudnf478hgfiT7BmzNhgTNPhq_Jxhvx6T1_AnQ2jB2PcDQdDMoswJbbZHVcDPkHzOGWgGGZCLPoqhG90-vgEDk4TQJZ9aGrAeHHyvdiWYNlEwbKp3zpKe0HS7LvQu9f8QJ5G86whzOP-4r-G5tWulK8XdvgKtt8E6pPdoU1C-9XvH4F0b_o2bPOOUliVM1zDkh8GF7Le8coC6S8Z6ShyC93hGrtKNvkiv6NcPsRWDVM4_TniceAnV81ddvjokKXPXFjSe_5cI-DQkGgSQnPxZBYgBj4ImWnDY1dBAp6c4tBYra_tUun2cQN0mTuGyshZaExFHZxeN5Jtf6GL0j0ZFOUjIBIWxgiL20GsC6zeN_YlZe6cvs4dc5b_8sXZhHSeUNqn9ApvW_Lh9vZHR_BNRyo8J9HLcUmAhzevEek4jQGhtfbqjhXx1QFdHtqInx5tRDQ_YAZtWgFy-M75WWT_a3Vsbgt8vBOrLqiYVzrZdOg5tJyzEbgbwelRbq9lcboescpVhvsQEw1a-S2DgS3T-e5hKMl7_tcJEFX-RtzHSbXIegZtMfl6-G9-A-icSAEd7htLqBAVICn6CgI0iwEcKl0fjk_nOIhhv8CPfsAgU-3qsjHYTLalLzNuDmYgteZTGJFro1Dt-4eTZJxxe3WOmdtpipBQ_FQwWQG6SnjBICrGKYZ9j6O1Pmy_4LNeyjIvWi_cXlEtWERExxpkUyE4iAzIswHrMi8nDuH3_6uL1kGP25FffinbK40nRD-pYwx8kqcaC8Cil9oBCsSm2sUIjtZnr1BUyj-8_G6lj7WdDtAsUteh8yRCJCzYcDfJ2yyB3ZFCoEYCXhWfw5bU75aDEM4RA2ywsYMpFyevaKXzNFcte1QgMSzTsdu-ydmSnkZYWB0FkKPBGOkNsz08s_M9ZiCx8VhR_BEexOLtzPCG7dERfx952O8c1w4iXlkN0ISrT6ZJ5atSceBZYTFmLgZFQvYjRbwVgYg1ugiFvAH_Ja5Z-rV501Lpvv5NMyKW9pMFQjLLh1qgV19dQ9aOkXvJZgMGDMdvqwwJbMCr_4jKxxb7ERrTmHfz5K9uJmBG_kIl1jPYueSvCXGRhIz_hjsx4Zws4hq-cOK4aHep9h1iJFoH72A2PTWSZgFw9b87oyMTctDZbnIoZfhFy21GYzOjCbnFSXqPQwhmQeHte6aN2rvQ55AUS_WDh7l1dgHeU2WJ0bHE5fR614Sj69idgTRoyVdtGRgDgyXmoOeYpXoLYlF_jNy2Rjik89bYQa1vbsZ5GZpoUx89y3R66WbAIw4tQdX20YxXbEexiZPXrYBir6Ft2_ttsPkJIn9FpI9d0RVnwtryTkfsRtqjaila-zgi9z_dl3qDRtA5bu1V909OMc_RbYxzq-phPXQzmVBHlMAkx4gMX25BaM8PzdyEZtl0xnjXzHRUuP56zqizEhLluFCTqA5H4P3CNJ8uPihn8ICJR2nod5E3N8SBD046v6jh7iSu7zMsA_wv0IelHWQikftGY79EbHSUqjqUiWYqo1LNs20amQ9eC5vXqqj-rHtzKY8MGVhQo1YcinB0JNgMhGP0IQnlwFU79VlSlGFN7a2hh6riioPiamQVpTuIt9MZd235TY8cthIGT_Qi9B7IbMRv3y2EygY1rzA8phfdT1jKtpSntNPnJRIKcMp6llwD60VkghNYduUkIzuugBF9b_nrGO1DLpW56TxFyH2iAYNKi_SaNPy6YTh2kAJN4hryhdHyqTLj7z4vfMXl32ejAbZ7vnI_mWYiDZnTjZsJe_-xAJS6SuTUNd2gV_H3XVIFfFhJLqlT6tb3ceTmanmzCK1sovUxC53jsy96jT4Wr16YPUuYWENkL5-_zifHLuXQLMKKa7V0zThUcBzJo5Jk-gkAJvngTGClaMrJR1svGgFvM70067MDMSoA44jCrsOrLKHcoHhucfF3xPwvOTIQlvJjuoBFmOUNIzZAud51R2rO6boEoWmatG7HQ566972PPnUjk4CldPadTkymrNbRXQUcsqVWMe_byQPHqtR10K-wfQHH46qzP6iFUT2jb3TBYYAuLDtSdmXQ6CKWVOlMQiYHKa3g5hyQHyPrKWWsSH2qoJUR-BcytTKsl_l8t6rziGmEyS0vvJDq_Bydcr77sctkNqsoKNiimQ-pSI8En5g2ySQfAD2RMHPE3OHTZpmxr3MFU1ZT8tHCFFEGZj0xMIZf7mIgAbIu3ZF1-69CgbiZJfhLOSImdT8XWDS_8-UX30TVQ==",
  "id": "rs_0d500d743bf10afb016ab460b2446087d0a84ec2458a2e894c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.475,\"right_y\":0.075,\"right_z\":0.17,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"Both fruits are visible together in the blue bowl. I’m moving clear and aligning with its right-hand rim so I can lift the bowl without gripping the fruits.\"}",
  "call_id": "call_ld8bX2QGI0VPYKprWEAzVIqv",
  "id": "fc_0d500d743bf10afb016ab460bb193c87d09a490647f1bc9c5d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ld8bX2QGI0VPYKprWEAzVIqv",
  "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]: [-0.0212, 0.8791, 0.6415, -0.5392, -0.0139, -0.0338, 0.9898, 0.231, 1.66, 1.0576, -0.0582, 0.189, 0.0917, 0.9962]\nstate[eef_state]: left_x=0.2799 left_y=0.0001 left_z=0.1431 left_yaw=0.0024 left_pitch=-0.2079 left_roll=0.0011 left_gripper=0.9898 right_x=0.4661 right_y=0.0792 right_z=0.1363 right_yaw=0.0123 right_pitch=-0.0785 right_roll=-0.0235 right_gripper=0.9962\nstate[joint_eff]: [-0.2667, -1.5385, 6.8718, 1.5604, -0.0562, -0.0415, -0.0122, -0.4308, -10.4, 9.8667, 1.8095, 0.105, -0.0366, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2c12f2af746219f38f5137d1d4850f6cb78f49fc40c463e769cc84180c89437",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f325f8336e40fbe775c7e4dbcd5cdc523955c75d7d3fe0ee438d296a20cc206",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07bac4d24b42d073279cf65d8022d11d30af4a22c5bebf83b30a0582bb31e8ad",
      "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 · 12.48 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 82 changed as sent

message 89 changed as sent

message 94 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8734, 0.6415, -0.5205, -0.0139, -0.0338, 0.9898, 0.3923, 1.6939, 1.1946, -0.1192, 0.2317, 0.1184, 0.6018]\nstate[eef_state]: left_x=0.2829 left_y=0.0001 left_z=0.148 left_yaw=0.0023 left_pitch=-0.1835 left_roll=0.0005 left_gripper=0.9898 right_x=0.4702 right_y=0.1545 right_z=0.1692 right_yaw=0.1242 right_pitch=-0.0313 right_roll=-0.0165 right_gripper=0.6018\nstate[joint_eff]: [-0.3897, -1.8667, 6.9675, 1.5751, -0.0513, -0.0366, -0.0073, -0.4444, -8.5675, 8.9915, 1.7167, 0.0366, -0.0269, 0.8962]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0212, 0.878, 0.6415, -0.5362, -0.0139, -0.0338, 0.9898, 0.3904, 1.7752, 1.0515, 0.0147, 0.2279, 0.1101, 0.9952]\nstate[eef_state]: left_x=0.2804 left_y=0.0001 left_z=0.144 left_yaw=0.0024 left_pitch=-0.2037 left_roll=0.001 left_gripper=0.9898 right_x=0.4585 right_y=0.1494 right_z=0.0957 right_yaw=0.1282 right_pitch=-0.1193 right_roll=-0.0447 right_gripper=0.9952\nstate[joint_eff]: [-0.2393, -1.3607, 6.9812, 1.5458, -0.0562, 0.0024, -0.0073, -0.2803, -9.8393, 7.2684, 1.6239, 0.1441, 0.0513, 0.0855]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8791, 0.6415, -0.5392, -0.0139, -0.0338, 0.9898, 0.231, 1.66, 1.0576, -0.0582, 0.189, 0.0917, 0.9962]\nstate[eef_state]: left_x=0.2799 left_y=0.0001 left_z=0.1431 left_yaw=0.0024 left_pitch=-0.2079 left_roll=0.0011 left_gripper=0.9898 right_x=0.4661 right_y=0.0792 right_z=0.1363 right_yaw=0.0123 right_pitch=-0.0785 right_roll=-0.0235 right_gripper=0.9962\nstate[joint_eff]: [-0.2667, -1.5385, 6.8718, 1.5604, -0.0562, -0.0415, -0.0122, -0.4308, -10.4, 9.8667, 1.8095, 0.105, -0.0366, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2c12f2af746219f38f5137d1d4850f6cb78f49fc40c463e769cc84180c89437",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f325f8336e40fbe775c7e4dbcd5cdc523955c75d7d3fe0ee438d296a20cc206",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07bac4d24b42d073279cf65d8022d11d30af4a22c5bebf83b30a0582bb31e8ad",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGDAUSPZv5vdQq5O9Lz8Hmd2i6wAm0dkYUb7-UFBVpbSH_rGmX4Muldjf2E1eT_NVSCsBCik4lHdyqj-Q4pqrDL8BNz22m5YnnwLQXvasz8ewT86wRm6V2SjzzqebhE1Gs_gh9sCLScNMWF1WYmBlh6ZqN7KkqffosDHUAVuvFG0O_oWAEKTYjnhPQWROonCy-YhOAJed7A_8PCE2LSErjSP4RGc4xT3uIXnu-EWaEOaGfzhM-V_nL_DANNH9fjOYKZySHm9PAApSQGv9Dm1bq9flaKAIh2MRROqtZmauo0XSfgJER3DzcEiuHQCUngy0zF9Eu-EMNFWZBKg881C2kLUT8AvxekVQBlz883NrVNoBKetwLNMAJeV3iRjIjfY1OtLf0nowh-81YWmC-ndEzmkH1_ZHUdkFJHGb8vXCD9B7PcgC7_nesuQMBikKUpgZyd5qzSE7hY7wziwaKAvcIh50CfRmHN9WHTBzL-uFJMnxwFQ5fgPKD3Z4NCUqMOgHQhQ3BVbOs9EBVlJ-s2-WELtmqI_fjfHsmBI2xPcpRb7pZAA0fdcSE5FD36jAgd-K2lDWeSTdXKnuSV0AYpD04KRyTsd9mHSFIORNNEP0nZ1xhD34mdA21hjZE_2XC5QYwkG1eL4PmUA3PocBxBueygEZnl_fI7uKyb8jNN5ueM6CJhRMY2KzM3oqLECOCeEj9G6MKqtc8AIa2LeOUiUnVvrqXzn2b8iro40tKYzGHgtSWeKpLnG8Z5ODaNElQka2zY6iLOXtKWZDzl0tZHdoTv9HDSXkfIZ_OLqqQIsNuw3tCT2GJYQSTjs3YZPUXzW5alQeIkQU-kJiOyPn_EkO4mcZLE2gBQpJXnS8c-48kfSt2Cfr3hxoc_i3ICazScatmqBrbCHw_JSwIG6XPfKuzV802G0aEkW0aN5P1ekzGEknnBf9WY_L7gLmOoe_Qz5QA5M-t2FF-gOIdLBmDv6PTPkXCTrSrB4D_SjustUCO_Qkwe6viLFebqUp0ItIxGzu1XdWDzO8sdx2CJEe9Tc2htzVMk7kXUDI0kr96E8jlW-tJmcKFKHG9UmBl4rCNqPPA896iBPJR0Y2QluIc5op3DyCmW-SGwk-D38_6mm-YffPI8ZVVwL4DRqKZYoikSDlkJt0P2N8Bikp9o7QbGcVOGvvbHKPQ6M7ajFiyGgNF2A5L3eo1AP-vBufGLpv-j-tEDJCwwAd2-skPZYTEYAD5e-PtH4kGbafGemwL_rcCjZk0IzxRxhd9HgUGSyIxSRJh_MhsRivyYfTEdM34iS8YoWcOO6hGceoGzJUDt1hRpNdzvDTXDeqhWNapXkVLDqq_CduotOtU9ZjlbLtkvE6mHk-UIB0jp_gF1bQGGzKwWMP7BeUVmF6_5hW5muVDdiVQsy0UToMWP8zXh0WOEualnCAC0pqdPmE-RFPbl7UMspcT3dRpuZzp9VzwFNS3UmlYlJmik1vJlKif2DdrlRu3BTaHpd2ONMvCSxVDpgIzmkMxvCSPa3NO6N3JnKRhtbhZqrirdhBVNcALh6wIJ8rkd-Nw==",
  "id": "rs_0d500d743bf10afb016ab460be770887d0ab00ccd2cfac2415",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.478,\"right_y\":0.075,\"right_z\":0.035},\"note\":\"The blue bowl’s outer rim is aligned near the jaw centre, with both fruits on the inside. I’m lowering the open gripper to straddle just that rim.\"}",
  "call_id": "call_izMrvHvXwTSe5X50ikkVgoj3",
  "id": "fc_0d500d743bf10afb016ab460bfab9087d0b59bbe9145a78e6d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_izMrvHvXwTSe5X50ikkVgoj3",
  "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]: [-0.0212, 0.8791, 0.6415, -0.54, -0.0135, -0.0338, 0.9898, 0.2146, 1.8626, 0.9417, 0.3656, 0.1585, 0.102, 0.9962]\nstate[eef_state]: left_x=0.2798 left_y=0.0001 left_z=0.143 left_yaw=0.0021 left_pitch=-0.2086 left_roll=0.0009 left_gripper=0.9898 right_x=0.4936 right_y=0.0827 right_z=0.0774 right_yaw=0.0166 right_pitch=0.0209 right_roll=0.0238 right_gripper=0.9962\nstate[joint_eff]: [-0.212, -1.6752, 7.0359, 1.5556, -0.0366, -0.0366, -0.0122, -0.3487, -5.7231, 2.8786, 0.4615, 0.2808, -0.3883, -0.0024]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd0984fe9fcd04018d91803f976e2e78f96b1914e1b5f01465ac3fd84989c41a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cd6bf907634d47f111a90662d16713ef837fe41578d9d9149eb57845daf8086",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3b071daf7f8b7709c2ca0c5a7285748f3fe2eb57c62e3cb0a9972620cc03692",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 5.484 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 86 changed as sent

message 94 changed as sent

message 98 changed as sent

message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.878, 0.6415, -0.5343, -0.0139, -0.0338, 0.9898, 0.3889, 1.7645, 1.0626, 0.0105, 0.2272, 0.1116, 0.6038]\nstate[eef_state]: left_x=0.2807 left_y=0.0001 left_z=0.1443 left_yaw=0.0024 left_pitch=-0.2018 left_roll=0.001 left_gripper=0.9898 right_x=0.461 right_y=0.1498 right_z=0.1044 right_yaw=0.127 right_pitch=-0.1025 right_roll=-0.0384 right_gripper=0.6038\nstate[joint_eff]: [-0.2667, -1.9897, 6.8855, 1.6972, -0.0317, -0.0513, -0.0073, 0.2256, -9.1692, 7.4325, 2.2295, 0.0757, 0.0415, 0.7643]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8791, 0.6415, -0.5392, -0.0139, -0.0338, 0.9898, 0.231, 1.66, 1.0576, -0.0582, 0.189, 0.0917, 0.9962]\nstate[eef_state]: left_x=0.2799 left_y=0.0001 left_z=0.1431 left_yaw=0.0024 left_pitch=-0.2079 left_roll=0.0011 left_gripper=0.9898 right_x=0.4661 right_y=0.0792 right_z=0.1363 right_yaw=0.0123 right_pitch=-0.0785 right_roll=-0.0235 right_gripper=0.9962\nstate[joint_eff]: [-0.2667, -1.5385, 6.8718, 1.5604, -0.0562, -0.0415, -0.0122, -0.4308, -10.4, 9.8667, 1.8095, 0.105, -0.0366, 0.0904]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8791, 0.6415, -0.54, -0.0135, -0.0338, 0.9898, 0.2146, 1.8626, 0.9417, 0.3656, 0.1585, 0.102, 0.9962]\nstate[eef_state]: left_x=0.2798 left_y=0.0001 left_z=0.143 left_yaw=0.0021 left_pitch=-0.2086 left_roll=0.0009 left_gripper=0.9898 right_x=0.4936 right_y=0.0827 right_z=0.0774 right_yaw=0.0166 right_pitch=0.0209 right_roll=0.0238 right_gripper=0.9962\nstate[joint_eff]: [-0.212, -1.6752, 7.0359, 1.5556, -0.0366, -0.0366, -0.0122, -0.3487, -5.7231, 2.8786, 0.4615, 0.2808, -0.3883, -0.0024]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd0984fe9fcd04018d91803f976e2e78f96b1914e1b5f01465ac3fd84989c41a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cd6bf907634d47f111a90662d16713ef837fe41578d9d9149eb57845daf8086",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3b071daf7f8b7709c2ca0c5a7285748f3fe2eb57c62e3cb0a9972620cc03692",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGDOrBtSQ472FpWEsZRWqGfT2VBE4C1koH-5DqCsOGchP2XsIFFtFzUwel1IQ_qGUN-k2uVtIoIZra3XnxMdkqLZ4TgL9zT8zvRniLg4APNiHHKCNr-RcIcNbhnRiUhInevq7uU5sxPUxOddxxgrdLn5YLVjNu41dFFj7pZzUP2fIV270hMfG-tLsnxsr96Oh3YbDp_V8XmJBeu482JoZINgXen4BfM_wnFRObGP7-RWjTX6mw5IaVsaH_7a-kdYIaAbzE9i3C0ALvHG-z87mJLrs2SuZ6MVb9F4spmFhn13kP2icG4nBz5FkYP1ZG6pkG_QE2qOxT3J-EgTf10R1LpXhcEuqJjwnIatAjf3Ty78xGpsbsuBrU-saza9aaK7-kuCA9rAbI24SQPNEH_LrKQ3eF_5lh8-d_b7JubiDfcUpe1YzlcImvuqY9zbXyllLhjTaPT8xJK3bkZ92YBy1WB6RDOgsx7703FkLroO0Jo318tTCJ6lcoEPBKgKh0bvuayM69OBSXvlab6XKOoRh-ZlSzD2OxUjWVjp51q8fq1MuG6l8hvuckMVvPNNn7ktUPfUyLHyXpFw9Qkue-nuNi8IJHLErn5yXV6JYh4rV5_d3x3s16SldQFkN-uWfPuOyXTxs_qpa_vNhMNJk8zSvphHaoMCtsjF3cvYcFebw3LWOzQR4YtzdhSdwi_KvHvlrM-lZdhSOKRMxNT6KCHpA4LyNwgMMHhfFRWVs0wOJa6cr2bSA7E-P5ctZ0TEiDVxL_R_BqjKWI9Aq2VSgzjsOx_nIp-A2gf_fLRIuPhgmESmQvv6Bg09aYI-Gq7rkd-ZfLCQ2guW6At-T-KpaS6GIaGaeU3BvmE4GTh5Imt5eXNdB1h7YU4-y2Onx9ooqk4XUlevt2LJ4yDD9uHvMd4mYefwiyuMzu33FSyixtxt0mXvqxMFIDxuXh9ZAVZwGTNGS8xblAt13LOHJH3ca3Nsw1GQCs71q8UCuACuE17Wbtnl7canKqL7JrWdeCw7dvyBfx_e4W60xEf6qcCue5DPtPmjVWLHfdSxiEOiqDnGv8227L3oajVzE3pWsRDtYE6nV16oF3tIW-R7ZEEGEYJ9JTV3MwyX4RAGu4wOkCvU-rx1L2P00h1jf2uMEr_jCCnp_LljzvUYJRmo-005r0GoT7iPybSRNr2MXgQULFCpHLx05mqx85HaXUj3gm3LmQ3g2kmooJF1BGQ6gVZOpvJhqrNiPly4KZMEAqdCGEoQ8V0faUcDx9RWBwgBn6NEkJecznM2T70m0i02HLZB1ASu-jNXc34chG_Lt_J85QQSBCE9Q-XAt-eQDaQ5fjKTYcMEEOJs_Trj_pTe0h06MJwBv7hC5iReua7gNPm1moBDmOlWRIV9SlFuTdxHLW89LS0lZQhWbtfmJm9DbnxHixDE1XkWNoTDeMvd0uUCuq5dd8fj6wJtonpRUiuwvA8n-aurU_QmKBkQD_lhFnGdtOhR0JA97-ftiCVzn-z5RyzFUolETLoP7vF01mQUKiovTcd6x4LgQND3FNkr_MDezGLZPQuk2d2DjSShA0cQdhzyWQmQLAE-RORO2RY0LOlh5oWMkF62yFbR00k6FpD94ePkgkuC9ZIJwNFTNNGVJ8d5urOhi6mNqGhmblr-g_TgxdBZlJMdGDKKjVSuMJqnKIYYLFW5SmLljPp0xyNfmMZbwatJQAgxLxOV3O5vQtkLXszw_BXnmobvxx40HzGUksZzHkgvt1EkHf-FcUAJftLtbrj8Z3DskHlFSixWw4gzFUWuPC1lPCKJkRkZdAocUA785PPINjvgPdIdqAjHBumz3qq7DzSeiq0uCVWJzjeZRQtFVYak3GamHgE0H4az-Zx6PHeVaxs9ORfeyF8IgkIFwV4CDmsVmXBmVuueQKR58b3Pf74pREwtvlDSra4f4MiYUREyb-Pqeeo_RpKjya8DuvG56muO1Ner4aedZXbzFrXAFkv0UQDC0ZqSOoevojHhPsRfM_25dKNLL4_nvh3VGfY9Kb6Ockc9OFGhk0zOEbv82Db66wj8i4T33-FmHR8v3f1WJN4UogLpxAwtAuQQHNnes-qp9sv6MoWQmIbE-i8tJps5mcm3le6exXzrEhPgibRg7D_YWCG3l1p3ZHIhzpK5vqhlxqcNw8JIYL8j8PHm6mgb3ax_ZTk29wEn5PhftX0wA9Xk_G-W-9VAYg3OaiYuA2p3UCddabeJAyEbuMTyw8MG3okYRyPH53Qap7RHkb9d9MUV1BXsY36tHaEaVZLvYd5m_Hll8BbgFiRqPaTsuX0rQvGmsAOgN5SCaeVpx9EhVTKdFa0x71Erl1k5yknxb3qTExCLYpUUgK1MmjkUkEdbUObo-m1r4uuISO4EIvG9gTJFrH6_C9Ubo0fyUeDAc0EvLD0HKAggTqMMnU9_qWMuUXSCzRRSvZTc0pkZROShpGtxJ1xBBy3WxecA6LMS9rbqddUSpzrxBbkmv7zKgbeL9bYV94GjD-SmmmSXg8vkUN2LbOSozNCN0Ao5pTiLE57e90U95vXbCqCyAMajm_kxTRTQtXIypz2Gz-OHZrtzKeHuH3FrzgVRMuOkMiHnJG15qlqLEaXhNkpNHRdTj0Y1o8MlIpVzZtBNECxDRCxfj0eSkkbZbd2lp1ibuutp7C2hVvmnzQ7BsjXdJQQ1M3nmIyZOUjttIUgHMyqedX-SmsKTjzo_4lETDtjskuzVFVcUUsaqJBv1U4PRGAZC_InK4tOz7WLZbwg3hGJIwwP6i7wwvM9aN5csJFr5WrHqtYskVqi5PjDAl1zMXwL1awOKCUQiLXB1X9ckpOnBgKI3PnSyLYa3IxiawJtAQx6mYVsh9iDktnPREHgaKAmIZ24qcUsrGVzHAF8W8jQy7ViBlI6GaA6nh-2Jivmn40wADgy8wBBsGcwdu5MKwydFVxditHBl5N07qBeU6nCoDvoSm0DgQbWxBcRqFZKdMLBDhOhvmGANQX_mSAoZxeZWLESLzOrbjQEHgmLMzp0aNTOU60nti7hPWThtq2dZhOZnL-cnYtC8FMJ4RWC4NXoOjZQ9Yuk7p3VELJQR6shALeUraX7OViI1jVhvxcsMNgT3CE3j61pChTw2XD1Nc566S4tp2jGMXPLD9L2RbyXRamNOO55dkgls36iESRMlP6sBfFpNQ1MaoK39-3xGcVp9SiOHtHeA7_ixtee1kjTWTKVoUeRr2OBbcfY2IGMqVb8cUQT6OTWJtdm7UsbFWtBi-F91EJcDi8Fvw86Kt9L3i7z-9G0ZBcLVXytwO8oDW5rlftxqcYrqTto4eA3EOAfRDZCj6am90RY9RAzCl9HbbDH3UgrsIcQ78VDU3wgOuqLzPWMqucrGiAfGoifeBuVj7VxG7H0UWVLm1G9z5eFykJNJJ7FLnUmd9glCQofuVq7XBN-nI1SKUFL9AHDd4IyAmdY_r3N-SK4ttQHQrQg9AY4a8up_snnhdWyWoBibK9bLSSjm-C1oMmkljcLaCZHt0IIVZSx3JC-V1KF47fxuX4B5d6JahidzxiU_bnoc7S49TY1jlU6yxg4xZOHr8QK5FbXaHA3Fs7c8paC4PG878jZ4Mdb1VQzP6UTkIOHB2b5g0fR_nZvEShfEwhx1Bdiy5Q6fik3J21kmZipGuU65wwMItwuY05ixpK95fNvtkcprl0iWAXvDTof2ehEex9X7cI84vEzVQHaddJ3rMof2ISCEew==",
  "id": "rs_0d500d743bf10afb016ab460c38ca087d0961fd3877ce07ae8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The descent stopped above the requested height, indicating contact with the bowl area. I’m not pressing farther; I’ll close gently at this height and test whether the rim is captured.\"}",
  "call_id": "call_mDwDPfJKHNvhqRCW76utaTI5",
  "id": "fc_0d500d743bf10afb016ab460cd01a887d08b222fc6d32b5e5d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mDwDPfJKHNvhqRCW76utaTI5",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8806, 0.6415, -0.5434, -0.0135, -0.0338, 0.9898, 0.2131, 1.8923, 0.918, 0.358, 0.1551, 0.0937, 0.0091]\nstate[eef_state]: left_x=0.2792 left_y=0.0001 left_z=0.142 left_yaw=0.0021 left_pitch=-0.2136 left_roll=0.001 left_gripper=0.9898 right_x=0.4844 right_y=0.0805 right_z=0.0523 right_yaw=0.0224 right_pitch=-0.0393 right_roll=0.0069 right_gripper=0.0091\nstate[joint_eff]: [-0.335, -1.7983, 7.2821, 1.5556, -0.0513, -0.0757, -0.0122, 0.1846, -11.7265, 7.8427, 1.7705, 0.0806, 0.0611, 0.6862]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd4e938de8d8d0a62e2d9f1810351d1d486f16893174a1adf5a60327991f840e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4805d1857b1f37ee111939cccb9be7e3793246d5b5f6124b4620c98ff152900d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:919f3be3f13ba9cd245546fe0ca806fd300a6e3867c05be04f78fbabb6f5cb55",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /responses · status 200 · 3.421 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 89 changed as sent

message 98 changed as sent

message 102 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]: [-0.0212, 0.878, 0.6415, -0.5362, -0.0139, -0.0338, 0.9898, 0.3904, 1.7752, 1.0515, 0.0147, 0.2279, 0.1101, 0.9952]\nstate[eef_state]: left_x=0.2804 left_y=0.0001 left_z=0.144 left_yaw=0.0024 left_pitch=-0.2037 left_roll=0.001 left_gripper=0.9898 right_x=0.4585 right_y=0.1494 right_z=0.0957 right_yaw=0.1282 right_pitch=-0.1193 right_roll=-0.0447 right_gripper=0.9952\nstate[joint_eff]: [-0.2393, -1.3607, 6.9812, 1.5458, -0.0562, 0.0024, -0.0073, -0.2803, -9.8393, 7.2684, 1.6239, 0.1441, 0.0513, 0.0855]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8791, 0.6415, -0.54, -0.0135, -0.0338, 0.9898, 0.2146, 1.8626, 0.9417, 0.3656, 0.1585, 0.102, 0.9962]\nstate[eef_state]: left_x=0.2798 left_y=0.0001 left_z=0.143 left_yaw=0.0021 left_pitch=-0.2086 left_roll=0.0009 left_gripper=0.9898 right_x=0.4936 right_y=0.0827 right_z=0.0774 right_yaw=0.0166 right_pitch=0.0209 right_roll=0.0238 right_gripper=0.9962\nstate[joint_eff]: [-0.212, -1.6752, 7.0359, 1.5556, -0.0366, -0.0366, -0.0122, -0.3487, -5.7231, 2.8786, 0.4615, 0.2808, -0.3883, -0.0024]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8806, 0.6415, -0.5434, -0.0135, -0.0338, 0.9898, 0.2131, 1.8923, 0.918, 0.358, 0.1551, 0.0937, 0.0091]\nstate[eef_state]: left_x=0.2792 left_y=0.0001 left_z=0.142 left_yaw=0.0021 left_pitch=-0.2136 left_roll=0.001 left_gripper=0.9898 right_x=0.4844 right_y=0.0805 right_z=0.0523 right_yaw=0.0224 right_pitch=-0.0393 right_roll=0.0069 right_gripper=0.0091\nstate[joint_eff]: [-0.335, -1.7983, 7.2821, 1.5556, -0.0513, -0.0757, -0.0122, 0.1846, -11.7265, 7.8427, 1.7705, 0.0806, 0.0611, 0.6862]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd4e938de8d8d0a62e2d9f1810351d1d486f16893174a1adf5a60327991f840e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4805d1857b1f37ee111939cccb9be7e3793246d5b5f6124b4620c98ff152900d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:919f3be3f13ba9cd245546fe0ca806fd300a6e3867c05be04f78fbabb6f5cb55",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGDUxe_V94DCWkWWjH9hRcFzLO0-yJMt-VlFGXlWbG21Kiu4E3Ovw15BaL0ds58jjDC4CmdyRhu1gLSmmBxze0hc5D2VyDzQeXrVkCtT41lsrA957VyPtLN9HJtlh4UJXJru8TowssLARyQHdXgvWv7nR0dMOldcDK9lWxzKLjwsQLNayuLfsfufNrI20puHFNN4QteQWPUiv4JeVWyiToZwfbp2H-QuTIkH8hmLunr5tbxRm3nxH_BcC6XrAv0aP00b34qlOUvg50Yfm_NMPKbsFi2vRha6GWtWqNZ_EiVVUXDK7aCSlqhxK-ykEsTIs5G-P3QahgAotlXuCw7VZj-dIU1IhNmTlTRgnCJDax9ym2yK6lNCL8gga9YXh7_H-8-xBsda1gc9wMz2XVPPnCmOjX4NdGEndjgdknS7RUf8MSWfeqK8iowVd2fyWYmIjMWLkTFTrbzmQ1a-iiw7QIaUkDl9SgJZaIpsJTClYGme_9PtPyZZeHtV8etg0HUQffkoMYMVxWbbt2lAyuXu4SeMH7gR60y4_HS6XuQ-mb78GFOEKloDGRdMXIkCGHCw1Q_tPQpLyjNn62vPzNwL-oogHfwVFArJTpfg-euwrAEExbXQrgW4qg9jOqep60eOlaOSKHjAxfqglOZGy8c36SsBBHkgbfXG0QzPzJ18K-V3bKigEMEiRw1lWQvfiska1JA910ePuW3_KYXSKXzkJv0SvPK5EjccaVkuRTlzfRdRbbGU5jxD29stzijrgT5txvwRCZawfCwZ87lUsyIfH06ApMQHS_1DU9J4NdVjUB0nY-KneHOmyPXttTga4O7F9-gYvcZMps6L7XpsBYgFxxoWTbpL-rcRetnDY7jWApz92xsLNwOIV2jSPV0iNF885IjluB5On2gDAUcznncAJ4zW47hbbf3PkbBGUeQGS1jaKFEnCWp0OTVaOCgn0eIQDNHKbH7Z_wycpG6upyAo9PH4hGVL7o9DSY5723EMe8iu8cdLCqw84PFYdjQHyuH4XtJFrN9lkqDymQ8B7573ZAyztD2_fZP3qzHu6SNDkFCQprEWZj-0GA667mNfsAMRroFOr8FGoPTCnUNSUs0sRSPptvII_mpCa2ICTbxoN6PoNDnmOz-cGcjPVs1rJLufTXWXpLjxuFcqKAoyQAd7U1l5qliC49HYN7dZoWNP472r-4l8MhWaHfjMXqusCkfrYAlNNSwxDW8R_zVVPjP9nSNq6tJjRtNEjuFX8pTiBLQm8agnpL0kmTO0sVU8bxJPK5TzRkBcjD9ZzGfF7s0h_8cj2b36I9PN5mfvMyuyxYwzP6l5ruudeaCZnGzFp8sQExfZNHts1VqolM7AXUMeRle-gng4lLhD5-xbmRNFJCg0Gci8QsDt1ltLIKPhitYnbzJ3_RJ-6fNdhpF43C_BgzJ_cFQg1XOOz8ai9JCKQfc6c9kApLuT5Cu6AX6Pr3PCcqDWVz_WyW9YYQKRlr2KyE7XonGSDZdFurV0XhH0C8J3xnddlONdy9dGxIKeeTLb1dyXY_mvYfnLkTibA_DKnN_CG-l1hdJHpok7d_x58sT6CCX4Rao440xte-AjwvPsEXoZj6z-1Gb-XAxzqAGXkVWrZ-Wsmwb0VJBHgcWRI1Y9CNl0DbOVXjdS3xQzpx_X--DbKW178j83r4a60qbCYcyPr9v5k8A-7RH-ab0E_crmX1dM9NakCduQOVhJnwkGl7tL5jnXGc4eFMG_NfH1A65pEg==",
  "id": "rs_0d500d743bf10afb016ab460d081e487d08e02ba540b246bbe",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_y\":0.11,\"right_z\":0.13,\"right_gripper\":0.6},\"note\":\"That close was empty, and the bowl shifted slightly toward the front. I’m lifting clear and realigning with its new right-rim position using a narrower jaw opening to avoid the fruits.\"}",
  "call_id": "call_Zzuqs6Tg69IHzQ90jl83JOpX",
  "id": "fc_0d500d743bf10afb016ab460d2e02487d09149bdfe5e15ce7f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Zzuqs6Tg69IHzQ90jl83JOpX",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8841, 0.6415, -0.5453, -0.0139, -0.0338, 0.9898, 0.3428, 1.5803, 0.8772, 0.0986, 0.234, 0.149, 0.5951]\nstate[eef_state]: left_x=0.279 left_y=0.0001 left_z=0.1408 left_yaw=0.0025 left_pitch=-0.2189 left_roll=0.0014 left_gripper=0.9898 right_x=0.4339 right_y=0.1152 right_z=0.126 right_yaw=0.0564 right_pitch=-0.0172 right_roll=0.0115 right_gripper=0.5951\nstate[joint_eff]: [-0.3077, -1.6068, 6.8855, 1.619, -0.0611, -0.0366, -0.0122, 0.2393, -8.1983, 6.7897, 1.8046, 0.2759, 0.1099, 0.0366]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4476b6237a0df6199caf43d6dc77ebef247d89ad2aeb9ef34e53743abb546945",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c15caeae14433e64cfb6dce99839b542c87f0597408cc24c7e2375bb06bc44d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb7516cb3a963b1699e26229218ce42dcbbdb2c2c1a8ab62cfbdae7117acbb06",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 3.262 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 94 changed as sent

message 102 changed as sent

message 106 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8791, 0.6415, -0.5392, -0.0139, -0.0338, 0.9898, 0.231, 1.66, 1.0576, -0.0582, 0.189, 0.0917, 0.9962]\nstate[eef_state]: left_x=0.2799 left_y=0.0001 left_z=0.1431 left_yaw=0.0024 left_pitch=-0.2079 left_roll=0.0011 left_gripper=0.9898 right_x=0.4661 right_y=0.0792 right_z=0.1363 right_yaw=0.0123 right_pitch=-0.0785 right_roll=-0.0235 right_gripper=0.9962\nstate[joint_eff]: [-0.2667, -1.5385, 6.8718, 1.5604, -0.0562, -0.0415, -0.0122, -0.4308, -10.4, 9.8667, 1.8095, 0.105, -0.0366, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8806, 0.6415, -0.5434, -0.0135, -0.0338, 0.9898, 0.2131, 1.8923, 0.918, 0.358, 0.1551, 0.0937, 0.0091]\nstate[eef_state]: left_x=0.2792 left_y=0.0001 left_z=0.142 left_yaw=0.0021 left_pitch=-0.2136 left_roll=0.001 left_gripper=0.9898 right_x=0.4844 right_y=0.0805 right_z=0.0523 right_yaw=0.0224 right_pitch=-0.0393 right_roll=0.0069 right_gripper=0.0091\nstate[joint_eff]: [-0.335, -1.7983, 7.2821, 1.5556, -0.0513, -0.0757, -0.0122, 0.1846, -11.7265, 7.8427, 1.7705, 0.0806, 0.0611, 0.6862]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8841, 0.6415, -0.5453, -0.0139, -0.0338, 0.9898, 0.3428, 1.5803, 0.8772, 0.0986, 0.234, 0.149, 0.5951]\nstate[eef_state]: left_x=0.279 left_y=0.0001 left_z=0.1408 left_yaw=0.0025 left_pitch=-0.2189 left_roll=0.0014 left_gripper=0.9898 right_x=0.4339 right_y=0.1152 right_z=0.126 right_yaw=0.0564 right_pitch=-0.0172 right_roll=0.0115 right_gripper=0.5951\nstate[joint_eff]: [-0.3077, -1.6068, 6.8855, 1.619, -0.0611, -0.0366, -0.0122, 0.2393, -8.1983, 6.7897, 1.8046, 0.2759, 0.1099, 0.0366]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4476b6237a0df6199caf43d6dc77ebef247d89ad2aeb9ef34e53743abb546945",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c15caeae14433e64cfb6dce99839b542c87f0597408cc24c7e2375bb06bc44d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb7516cb3a963b1699e26229218ce42dcbbdb2c2c1a8ab62cfbdae7117acbb06",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGDYC5wcDrG4vt9aDWaCsfG1qnmGi07XzKWwN5rBCibmX--q44pYQjY0pOPUNeO-dvCXV9SOWYAQpl79_PI_mWkz4-J3q5Vi0wxF1jhJbATH6cP10r92-wiMEQAz98lPTViO72M9k2Emxzh0Vgx-zbtSmROgoutdLnhAR6chHRM4mL6S8p6p_13hiRTRLOMNb-WhJAKdilMgDQ8f7Ar-Epk7_uwVZm4S9VluwY2fz4uWbTHEUYA-KhAE4cKrTaJTy7EKRRGriotJkUrEQaKPSkQB3lfaE7F0iU4FAaQfeOje2xne2J0ZqvrC36wAmEgTdwNbNaM-WliBJCU0jM9lEzeTaZH1SjlPl5eABr2khldiUtG-CdOtt7n-0jX5CqEOzWeUFWYCTp2DVZAowZ68Jq1FAsoAiOE76WXBXqVmvtCA45ZvD5h9LRIYtrybFSxtkiPjjkWIQiYV_shktNVh3xQ8ybW4JU7Ciqbww_Ke6V8kWpTawPPF58CHQJHJUFLrunRJAHO1jA9GpSuJ1A-OvWWW5yc0rXhwiMvAmA9IusWJp4ofpKGAUSV989keHe87zllaUNpqKjVsB0EaUECWytb0NX70e0-pwjlzK-BdZlr3BmN04jAN1SPHjAM3ERq5u0_drRPi76iAfeB-08prFh4JjkMGh64nAlGyoDmTug83opnS1XNbED25Y-HnwMmkywzsFgJivDLoYmNPwwWKQLRhSBpuD24AuTrGZ8pfV4hMlTLCO_rTNFOUTxxarRpFJSxPovrhjpmcDgyB1gedDzVfm9FbZMpbnw26cb5fcYxtD0-ulXp3BdnVjzB3g0lc4bmfesKEqUEXZ-LRh8rQdZkfXTPaR6vUB3Wucr09lfTelfl6M3JoUXJFd1yx9JF8M9Xb0HIAEcjAr9KtfOUHSV5x6yLDNDng8nMS-P6ETZTEd6ETrz9qrqmJ8sDzl8ECWIRUZSQbpeApLNeiDdgol1PvpZ5Ndcl5sxum-f_Me5KGv9NgSyZLW7VomQMHFdGcJfjVsdd42IascjDSpBZDBKkmoLatVj_z_96EURIrLLNUdVHFAhut1GN761qbHyV-wxpQUSQMfX_R4k-7F8EFGiNt_UlF9A63Txu_N9qRcE8r5X1CKInvbf_cRzIowIf8hRl1jQhHIdHRI8S-UpC5RUV52bhfOoITey-fis8J1yBmVNERkqL9KTugjaV7ObkYOvWYumxYhSAUX9pAPNuuF_jMfoh8UoZclWcFX59QTHCVnnJvhpaF1oWiPnOgl0fHAxpzbkyyF3RQj9LHRnivqBVRnuNZo5Vob_HGC_N71bR1LZ_v9o5DHit8k3rZkE6MWudYY8RoRixUmwvhOhbY7BkYprbcrMRL7mGFplipc1NjpfnCzbHnLJZtm0FOkTI3nWBOuZ0hUZNjtZ5JqVlFYv2ewu6C_JumR849Px8BEcw6aUMwooCqj5du7moZcqjfo74u0fIMJhOo9y0cizW4VmszxS-ABfPpvQMy6bHb_T4iRoRh1Hgl8maMYSIG-7PRNs7c",
  "id": "rs_0d500d743bf10afb016ab460d6601c87d0a926ae89dbe4db57",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_y\":0.105,\"right_z\":0.045},\"note\":\"The right rim is now directly beneath the jaw column, and the fruits are farther to the left. I’m lowering to grip the bowl wall rather than its contents.\"}",
  "call_id": "call_7TBiT7onSdg3FOAxCMTi8a76",
  "id": "fc_0d500d743bf10afb016ab460d7757087d08151a0551968d9b0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7TBiT7onSdg3FOAxCMTi8a76",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8845, 0.6415, -0.5465, -0.0135, -0.0338, 0.9898, 0.3233, 1.7325, 0.6918, 0.403, 0.2302, 0.1455, 0.5965]\nstate[eef_state]: left_x=0.2788 left_y=0.0001 left_z=0.1405 left_yaw=0.0022 left_pitch=-0.2205 left_roll=0.0012 left_gripper=0.9898 right_x=0.422 right_y=0.1027 right_z=0.0476 right_yaw=0.0416 right_pitch=-0.0497 right_roll=0.0015 right_gripper=0.5965\nstate[joint_eff]: [-0.1709, -1.5521, 6.8581, 1.5409, -0.0171, -0.0366, -0.0122, -0.3624, -6.1333, 4.5607, 1.5507, -0.1099, -0.1148, 0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d69590afa68456a53ebaba1ea45fe4b6816a05d91add55da84dd9e898138e87",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad5c5c4c101373a563d8363c190442cd6bb4958ed8d611c43ce48a56de46f321",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97b83fcdc96ed72bcb9ffadcf92fc3e8652d7f2621da76b338c101ccbe41fde3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 3.476 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 98 changed as sent

message 106 changed as sent

message 110 changed as sent

message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8791, 0.6415, -0.54, -0.0135, -0.0338, 0.9898, 0.2146, 1.8626, 0.9417, 0.3656, 0.1585, 0.102, 0.9962]\nstate[eef_state]: left_x=0.2798 left_y=0.0001 left_z=0.143 left_yaw=0.0021 left_pitch=-0.2086 left_roll=0.0009 left_gripper=0.9898 right_x=0.4936 right_y=0.0827 right_z=0.0774 right_yaw=0.0166 right_pitch=0.0209 right_roll=0.0238 right_gripper=0.9962\nstate[joint_eff]: [-0.212, -1.6752, 7.0359, 1.5556, -0.0366, -0.0366, -0.0122, -0.3487, -5.7231, 2.8786, 0.4615, 0.2808, -0.3883, -0.0024]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8841, 0.6415, -0.5453, -0.0139, -0.0338, 0.9898, 0.3428, 1.5803, 0.8772, 0.0986, 0.234, 0.149, 0.5951]\nstate[eef_state]: left_x=0.279 left_y=0.0001 left_z=0.1408 left_yaw=0.0025 left_pitch=-0.2189 left_roll=0.0014 left_gripper=0.9898 right_x=0.4339 right_y=0.1152 right_z=0.126 right_yaw=0.0564 right_pitch=-0.0172 right_roll=0.0115 right_gripper=0.5951\nstate[joint_eff]: [-0.3077, -1.6068, 6.8855, 1.619, -0.0611, -0.0366, -0.0122, 0.2393, -8.1983, 6.7897, 1.8046, 0.2759, 0.1099, 0.0366]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8845, 0.6415, -0.5465, -0.0135, -0.0338, 0.9898, 0.3233, 1.7325, 0.6918, 0.403, 0.2302, 0.1455, 0.5965]\nstate[eef_state]: left_x=0.2788 left_y=0.0001 left_z=0.1405 left_yaw=0.0022 left_pitch=-0.2205 left_roll=0.0012 left_gripper=0.9898 right_x=0.422 right_y=0.1027 right_z=0.0476 right_yaw=0.0416 right_pitch=-0.0497 right_roll=0.0015 right_gripper=0.5965\nstate[joint_eff]: [-0.1709, -1.5521, 6.8581, 1.5409, -0.0171, -0.0366, -0.0122, -0.3624, -6.1333, 4.5607, 1.5507, -0.1099, -0.1148, 0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d69590afa68456a53ebaba1ea45fe4b6816a05d91add55da84dd9e898138e87",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad5c5c4c101373a563d8363c190442cd6bb4958ed8d611c43ce48a56de46f321",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97b83fcdc96ed72bcb9ffadcf92fc3e8652d7f2621da76b338c101ccbe41fde3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGDcXA0smFydrx8PT8ejYGEjrKz8ccnH_F3l6Cgnxfkf8iXFO4okWAio87-SKoo4g4N9RiDFlmZSTY3cJnC38pxQPvi46Dqwn8pCwaVuIPRuJMNNwmlPb9nKNZhVbeCDvrK0izUhnk6XUa2plAg0QNQIFxmBF8JnDpdSynA0QsQolrsFdSNZM0yVI-u6-jaNlW-FYkwI8bHIxZpPo8oqje4n1fg12LrP8wCdrEeek43DfDWK6Rk4pstY56T0vogwQPd0NutVyAIExAUwkIM6qEK9i19jr6vuZjSVK1KXYkBI0D2On4pAawra7CSvQiKc-GnI9SvuRHkGM2057UIBeUXP1aGNsk1-SK0uTCFg1SDxdVCppQt4eTPxFU9wcNz-PFpmLwLFyHl21VhxF_rN-mGcfekbHqks9hwekNUdnImWMYLlxT3Dj4UltmQsUuBlbkDvrRjaK5dnvrsDDEPOtcZd2kuRtWJFyYNjruMCXYcoRVwEvZoDkFgjqdvdY8OENkXf5si41FeSfZ07RKSm_XrrClZAnCCq017V_WLZIDLgDOZF_KoiPbFLvo1IeJ2by6xeW3KkKvVQXcULMkG2DrAfo4HO5F0C6tu0lmduYZk7ORUalTeOETZ7v3t4mpr6isvq4PkskfP4LXMx51-8lpp7PdOUxEMQxhYTcKojD8jYmBPuI5ERT5nHR_QB5uQ2pVHIqnJFlU0FvBSLRV5ph7NAL5UrbnpZQpwmMkHTeZOsEDgoih6mSYvfE45aIQSuEAQGNJxtkaB21w0JyIjGnHKStTCNPCW0aRw_LST1cz90LqEQ_udKQn5Q-Iczh8AC8gtcQ0vcNnumqoA24uRnsNregBm1ouiw7EmtxpqVuQvUWygipz6sMLSmZYQZ2TrTHT2VBHiDxIFgwKVjIxDHItkXGpQAhvRgEfncapr6qo9p3RlQxKZkg7qBEptR-DMjTZaU86GI67h1sMUe-rS-Uh5J31feUr-PWbHKAvbPB6rc4fZYdniCmHLznsf5c7PTgHFmGWMbEaXKCJsAt2DfWNp0IeHyqaluRDfap8ih94G7qO-kX1hAVfUrRy8kMaTZwL1wyCS9IlVeeZsQmZ-nAacdv2faJpwxavJHedsl2fukuG0VxizE7hVzjr9-kHIuN8g09TB5sVPkEXzcgR3VkTFvF53YY_69w0FtiOfeJ45rbU_BTR3yAYkJy2xR3vMSgEgMUN4ZUtRfxHg32oQCT61T1BrjKI5NYdoLo5U-6bkydXlvELlA5Knx6fFmqM_P7XALg_6JT8ObhCeyUN_MWoqPpLZnnKW8f410MdgygdbhF9Q=",
  "id": "rs_0d500d743bf10afb016ab460da4ad487d0ade771af311429cd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The fingertips now straddle the blue bowl’s right wall at rim height. I’m closing to secure the bowl for lifting.\"}",
  "call_id": "call_33eNnZ0Ti9tjJATdDi6o6pm5",
  "id": "fc_0d500d743bf10afb016ab460db2c4887d0b954daa1d0d027f0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_33eNnZ0Ti9tjJATdDi6o6pm5",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8845, 0.6415, -0.5468, -0.0135, -0.0338, 0.9898, 0.3237, 1.7439, 0.6765, 0.4175, 0.2188, 0.1463, 0.0216]\nstate[eef_state]: left_x=0.2787 left_y=0.0001 left_z=0.1404 left_yaw=0.0022 left_pitch=-0.2208 left_roll=0.0012 left_gripper=0.9898 right_x=0.4182 right_y=0.1036 right_z=0.0398 right_yaw=0.0509 right_pitch=-0.0633 right_roll=0.0053 right_gripper=0.0216\nstate[joint_eff]: [-0.1709, -1.7162, 6.9949, 1.5458, -0.0562, -0.0659, -0.0073, -0.0205, -7.7197, 6.8855, 1.4628, 0.232, -0.1685, 0.7643]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55f818c6ea302c14dc86b3d13806e506d118e8b6d5253077c2dea8a46b709a32",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a5d5fcaf407d671687be3899b7508f9d0c8aa1f4acd3b64693d2bb06c07418f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e6a868893b9e614acac0fe8e8ab2475cf1390695033871aa8be2ea73f33ecd5",
      "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 · 7.687 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 102 changed as sent

message 110 changed as sent

message 114 changed as sent

message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8806, 0.6415, -0.5434, -0.0135, -0.0338, 0.9898, 0.2131, 1.8923, 0.918, 0.358, 0.1551, 0.0937, 0.0091]\nstate[eef_state]: left_x=0.2792 left_y=0.0001 left_z=0.142 left_yaw=0.0021 left_pitch=-0.2136 left_roll=0.001 left_gripper=0.9898 right_x=0.4844 right_y=0.0805 right_z=0.0523 right_yaw=0.0224 right_pitch=-0.0393 right_roll=0.0069 right_gripper=0.0091\nstate[joint_eff]: [-0.335, -1.7983, 7.2821, 1.5556, -0.0513, -0.0757, -0.0122, 0.1846, -11.7265, 7.8427, 1.7705, 0.0806, 0.0611, 0.6862]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8845, 0.6415, -0.5465, -0.0135, -0.0338, 0.9898, 0.3233, 1.7325, 0.6918, 0.403, 0.2302, 0.1455, 0.5965]\nstate[eef_state]: left_x=0.2788 left_y=0.0001 left_z=0.1405 left_yaw=0.0022 left_pitch=-0.2205 left_roll=0.0012 left_gripper=0.9898 right_x=0.422 right_y=0.1027 right_z=0.0476 right_yaw=0.0416 right_pitch=-0.0497 right_roll=0.0015 right_gripper=0.5965\nstate[joint_eff]: [-0.1709, -1.5521, 6.8581, 1.5409, -0.0171, -0.0366, -0.0122, -0.3624, -6.1333, 4.5607, 1.5507, -0.1099, -0.1148, 0.1245]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8845, 0.6415, -0.5468, -0.0135, -0.0338, 0.9898, 0.3237, 1.7439, 0.6765, 0.4175, 0.2188, 0.1463, 0.0216]\nstate[eef_state]: left_x=0.2787 left_y=0.0001 left_z=0.1404 left_yaw=0.0022 left_pitch=-0.2208 left_roll=0.0012 left_gripper=0.9898 right_x=0.4182 right_y=0.1036 right_z=0.0398 right_yaw=0.0509 right_pitch=-0.0633 right_roll=0.0053 right_gripper=0.0216\nstate[joint_eff]: [-0.1709, -1.7162, 6.9949, 1.5458, -0.0562, -0.0659, -0.0073, -0.0205, -7.7197, 6.8855, 1.4628, 0.232, -0.1685, 0.7643]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55f818c6ea302c14dc86b3d13806e506d118e8b6d5253077c2dea8a46b709a32",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a5d5fcaf407d671687be3899b7508f9d0c8aa1f4acd3b64693d2bb06c07418f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e6a868893b9e614acac0fe8e8ab2475cf1390695033871aa8be2ea73f33ecd5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGDgJd8LyKxV-1D2hkMz8Anw5tfUOF0wScYUQDCgPyp-Z71tntpSLOR_bNhZ8tqtgP1qiEUZ0opJlnWzNv-aeyY__Wu8RVYoJzPJzuHE50ImlXAMhod0Np_M81IZaQwz2s5Z3clkMBu7jaYO7E0GrHn676fVLc0KG2Utsr8dwD_31Nx-IQsL64ACsifT864kGlpUrZNK4P4kWtUCSOJdLarL91ZvYvXv5cLo-YMZcGoC7mHL9qINstF_Prn-ywhZFEvG9g6CC9Vm5d6J5rs8BYmBnpaU0iDKnZWCowg_HBRx5oHk5LHJvytJr9y7M9EyimTMB8_wqH15MKDdtoAAT73dnKIZ4FDAnrL0EkfPzqWlHuJaASlL7AO6WqImuBQhKGRGAsMOvgPrjcoKOAWKfNvhhuxXAcK3lilnmGrinxlJT1VWXP41h4u1kPKAsT7Crcuk_K5xMDIpgMyt-BT1e6TWs3Q_A4E1fk_z8xfm2-qriBnFKI-Ef_mLScA_tH-B1PtJjUgS0eIhQv2BTli4s5wJPJZToXsHyRInVjf1xiz-XU1Dbgt2RhVLTSZ9rAQRTXC__3dihoKZkoi6WH9n_Wobamwoa_CozjJs8i9XZEs7kRZwhQuJjA6DFpcI3m_wWsUeV-jG47S-sz2cq5pACsuzIFWFMSDz_FbpnV2CvjIvHzIdUJeuSTX64zFK46n9LD5ifDRvOhg34h-Vb6rUYvQg_YxFIjVzrLf8IdnRi-_RtWfusZwAGnPPS-rwx_dblkhLknjPMDTcgWY8E69QdiYM3QR5PpDDykFsk_1bToO4ZTmR3Yxbgkl_kFsNpeK0CjeeVjOMHuCFA4AH0PhkX67Vv5oqb61ns6PTQtvdOTdM_iIkVufsHBJCHsI8R4tP5w7CqI-vwwH-M5ReguB33RKZzO5tjLhKwGm2LbpIfy823QcTJQQcoICgmBeCvN--kYP1K_GIYrxq5F-xlPhK94zU352NNw3AP5BPTjzZg48b9GrdDcym-x7z59bHhtbidQOZnNoxNzBOLcKG4Ed_mhB_Q6BiAMooVUFEI4NAfSISXJmROiKSXVtt2VYzjKtNYpvmOfljiNn6oVltJGGyOQIAgMO5JBVbJB72BxfZVYJGZ6vSYR_wqGjpjNU9zR9K8ZzcYSJ_9R-SoFlqjMBdVTMQKKQnpR35xo4o2AhXRGoBfqcjJslndqZ8i_BxwTVLE6_vZo5EAyYxZZ7oAh0oUKoDjxoF2JOY_mW_Bxf0IAso4Z4wP32_fw4v9n1WqEXhaF3UOsin40Yzfk9YjvyetC47nvsXT_ZW0FyQ936rhbSixAZKkSaBp6x2gdOZ-jLOSHHFDJ2BTf1h1_rAFt1ZL0wasrMgm0YJefylFwu148jgBDjkrLsFeTneNmPEA98wfDWyNDfbeCjhMK5x_1vLOgXG7Sl6swLG0C1stu1am3c8GTIn1WK8mnSrFyh2dRih3ZtufbL7moHwZFMZ0yIMwga_XA==",
  "id": "rs_0d500d743bf10afb016ab460de40ec87d09ba06c53075ee2c4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.115},\"note\":\"The jaws are nearly closed, which could be either an empty grasp or the bowl’s thin wall. I’m testing with a short vertical lift and watching whether the entire bowl follows.\"}",
  "call_id": "call_3xInk4kVuuOL6VzHOygqoMa7",
  "id": "fc_0d500d743bf10afb016ab460df1bd087d08f6a4b6f461ad016",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3xInk4kVuuOL6VzHOygqoMa7",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8864, 0.6415, -0.5545, -0.0139, -0.0338, 0.9899, 0.3241, 1.581, 0.7834, 0.1074, 0.2123, 0.1375, 0.0301]\nstate[eef_state]: left_x=0.2775 left_y=0.0002 left_z=0.1386 left_yaw=0.0026 left_pitch=-0.2304 left_roll=0.0017 left_gripper=0.9899 right_x=0.4127 right_y=0.1031 right_z=0.0881 right_yaw=0.0606 right_pitch=-0.1034 right_roll=-0.0085 right_gripper=0.0301\nstate[joint_eff]: [-0.3487, -1.8667, 6.8444, 1.6386, -0.0366, -0.0269, -0.0073, -0.4171, -9.0051, 8.7726, 2.0098, 0.1099, 0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cca33d4ff9868201c08908f6a8152d4396a5623d596c615d8a95ff042097b906",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b7ff94ba6c9c4e1c28e0294ca5b644924f702677e472284fcd06404889e6ca5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e5c47d0fe7a8bb38f513f4e52a99ae20e6ce1fcaa9525dc5c1b4a0ebf1da83b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /responses · status 200 · 6.265 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 106 changed as sent

message 114 changed as sent

message 118 changed as sent

message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8841, 0.6415, -0.5453, -0.0139, -0.0338, 0.9898, 0.3428, 1.5803, 0.8772, 0.0986, 0.234, 0.149, 0.5951]\nstate[eef_state]: left_x=0.279 left_y=0.0001 left_z=0.1408 left_yaw=0.0025 left_pitch=-0.2189 left_roll=0.0014 left_gripper=0.9898 right_x=0.4339 right_y=0.1152 right_z=0.126 right_yaw=0.0564 right_pitch=-0.0172 right_roll=0.0115 right_gripper=0.5951\nstate[joint_eff]: [-0.3077, -1.6068, 6.8855, 1.619, -0.0611, -0.0366, -0.0122, 0.2393, -8.1983, 6.7897, 1.8046, 0.2759, 0.1099, 0.0366]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8845, 0.6415, -0.5468, -0.0135, -0.0338, 0.9898, 0.3237, 1.7439, 0.6765, 0.4175, 0.2188, 0.1463, 0.0216]\nstate[eef_state]: left_x=0.2787 left_y=0.0001 left_z=0.1404 left_yaw=0.0022 left_pitch=-0.2208 left_roll=0.0012 left_gripper=0.9898 right_x=0.4182 right_y=0.1036 right_z=0.0398 right_yaw=0.0509 right_pitch=-0.0633 right_roll=0.0053 right_gripper=0.0216\nstate[joint_eff]: [-0.1709, -1.7162, 6.9949, 1.5458, -0.0562, -0.0659, -0.0073, -0.0205, -7.7197, 6.8855, 1.4628, 0.232, -0.1685, 0.7643]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8864, 0.6415, -0.5545, -0.0139, -0.0338, 0.9899, 0.3241, 1.581, 0.7834, 0.1074, 0.2123, 0.1375, 0.0301]\nstate[eef_state]: left_x=0.2775 left_y=0.0002 left_z=0.1386 left_yaw=0.0026 left_pitch=-0.2304 left_roll=0.0017 left_gripper=0.9899 right_x=0.4127 right_y=0.1031 right_z=0.0881 right_yaw=0.0606 right_pitch=-0.1034 right_roll=-0.0085 right_gripper=0.0301\nstate[joint_eff]: [-0.3487, -1.8667, 6.8444, 1.6386, -0.0366, -0.0269, -0.0073, -0.4171, -9.0051, 8.7726, 2.0098, 0.1099, 0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cca33d4ff9868201c08908f6a8152d4396a5623d596c615d8a95ff042097b906",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b7ff94ba6c9c4e1c28e0294ca5b644924f702677e472284fcd06404889e6ca5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e5c47d0fe7a8bb38f513f4e52a99ae20e6ce1fcaa9525dc5c1b4a0ebf1da83b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGDoFnFpCg-65TVeHAKnmTbphGE3iCPYYqfhdOglbOqdDxXvkZjmglJt1VxRh6ANn64fE6Px1pFUK3t34Gcekl2ZOEDyhA6KBlKNGpaXxKthgUy8hRhaD6qLenjQNNffardgdCKBMA9jHY1a8SGt1zmA2Olys8gB3ajPv00eNVX--DVCAaPHgw41iXplzKAsyg-tCw3OqKEF2mQGDVd45QcI1eQqx519RXFMQJpG_CxcsHtZE5D3zohK8clL6CJPSSejU5s2d38glbu5zGLI98SJFPvfQyht5qRrWNV0216W7IgIfmpOXHXfMA4fahdhaiRSyIbTyayg8bQ8Ai34FIzXMrju-js1xGjxlNA5gzzheTK82BBtBx2rxPfCIaY2oaipxsF1EvTMB8LkbZUwxRJaJinGzuROhB8Cq0NJqUjyt1SQTny9Z1EdJso0TFMFnn-Gwir0-XfvX_4AUUnx0f6f7rvmlXIgb8uVdz0KtQNnW-sN3hHSRjjkPRYjbdV2zSQAxJ8xY3wvrDuSCU-5XF4djDRnd37xF9recr253uLmUm4M0ogkS1-KxrNfW_6R4EUAIP94d9WA2X_wxwWW7evW91ZCbR1QFkxRV547L7D_cisJPVNf398DFEE1_4cIQdMuIb0_5CstZpE3xwCyQtNyfLKemQHxlliy8SA_gXd30okO61I2CEDGbfq9NG1WudXO_uduXJUH2ErhRrUu8gY9dvEkec_G-AtQDMZouNtIaLS4HXh_pIQuCl9-IE3iq1_zWfOQ-vFENgRkuSZxHaiXp4Bsf1X2EfxnHsX8zfY2OVxFOJD6uwEA4qxzzl9vJ4gueTa1H8Fq8YjPwR81sz-cVR5RGc2jLYedn8OVlHqShXazNJ5N22qC5f7yi_Ajf5gp6dTjHI-CGWGp5XUqL1yRqGjQydG8YQG3EoYOvVoN33tAlcRkELJkqwGlC3LUqQPd8287_S-PCKIcbQKhlQ78cRnxGxHcRx7QttZwTHW2-DjyYuvkpfu13cEDoL2kaovCp2aqXAzdR3cmuwmbO9kHLTU71B7r2QFv3ByE8CJzOMTjanQVPtgim_l-klV57Jy2CkR7fF8gd03BSpU9ljEY4yMmsvpt-xdTLVeuxySSI4adPXNmmbfwq5O91_oJ6VuTum-P_yXvQ8AvoL8f5sxD2aFtwcDNnV3TM9q_D8uUjw4eIDAfMFJqmUk8LfaywVro0TUXw_mCKOuHFLumV7TpUUoiDpo2lmi_hJ6aTU0CYuoaaei2lpwFetGkRZR3VSHLvAqZ0KdHSfVdJRDCA_HGRsfvKQuExclwooYFeKvdSicap_Zy1ITo5pAaFNk2B6rFm0LNULszAxL2aMUHqJ_w1YsksuNDVcc5ilx9KvFA8bq0TzwyuaTArvhJQxwMzS2rFCIi7qPkP4R7aWuQkibkoL4rn8lnmoIByjLx-KLrFlcMgh7XeTxz3qU6U0z0UQE_1lWs0oW673pOFJEE2PMMx_sF77vHRJqGgp52Yz3YzT3vAbBNcEvl3Hujj46bYGUxV1JCUiay-O8r_YxOUcAgyjQ4JlYJhc_SW1Xj1YPEyQT8Rmtzv9HzCu0woNH_oBQ8MFgf2Wl3u1ZafQJ9Faj0X6NayQeB0TNCAkg4UMXzmfo3ZFTdg6YNpUPY5XaZ_37kyuCK8cW-mIC9Yzdc6VH3oScs9wZ2tiLKINsy88LAzyoDwknaH0fI0eR8OBpDVavBi9pv237f0QEODTEQx0itx_NQvo0Jy-htRJdlrxBcAzUA-ZIjM-nWaoqEGFJunFzq1gEnhsa0Oeb6wRcJ_OoVvKy8mruXY_z0OH53xIWkcaDsgudfRUAPI5-eCecHqJwRm1I8yiySZ7YJ4JifJP5EuPzhp14RW9NGUUEMaLgPEIOh1RXmyzBy_VD8qhm3Jl7as2fiGpB8fiht5TkSmN5DygEcj1RxC5ypUngFEnylvuWKG_F0ijhK87AUKHj9ytmn_Jy4r3YDVfdL5nN-DNCWw9S4nd-iESBEkkTLyLE-kmTHv-afwHC7im2Q1TA53BlMkU4WpjdRM3LNOIwgP_AAwTx0V_MpuTR7tb6o7FLNF5ymo-N8WRsE33mWjO5BnDOn4cEOvcWplnBBmBb8uu5yun8R1nqaj-ZRg-rUZXOTF9W3KKpoR2bXfiLGz40rWASVP_WAK0kVlHi00_CHbJJNGUSe3E2x-X3UKT0iKPf3JyDuv9v0iXD1dK4eOw2booAGnVK6FoaZ6vhxsFK5_KoWQ24KOHBNa_u-vIXOavDISVzmoHscz6KhRDyUFWGbWmLjIkve7cC_x5WymjVF3-wNOH9XKCs8J8P-zbAvxtgbbBCargSE-W7hWCiXoSiXgA1sLXehBOS_KTNJzKmxGs6pcbHSEpXPnJV3jAnc2G7LahzmgnYrrGCl1FCR8lD--B-Od8XBENwKzeiXWoDN_w3x7WNEi6nWqaUfe6cvzG-zUAj52Qa0rvrw_PnKy-JEHPB9eXTf4mC9jsScesmoND5P30a-RKImYiogo4JD3T_m3fVrGc5Dl9cVZPDhZ5Bv-BjVcZbpcjjSt83lq04mje11nvvNsT7KwWDxhnHq5gHsrxVTxgat7WpgQ9DxXaPrXBUCWC7kZA8eIzlF7ZVNMuiN0s5d59-wukVyZvXPprHNgXUxnpi9QeFlVMZsu_DkiX9l",
  "id": "rs_0d500d743bf10afb016ab460e2028087d08b2360362201c402",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.455,\"right_y\":0.39,\"right_z\":0.255,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The blue bowl and both fruits moved together during the lift, confirming a rim grasp. I’m carrying the bowl above the right side of the large white bowl with extra height for clearance.\"}",
  "call_id": "call_T5igVe8aez0oY18UnhnK1mb5",
  "id": "fc_0d500d743bf10afb016ab460e727c087d0ac0448fe3849597d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_T5igVe8aez0oY18UnhnK1mb5",
  "output": [
    {
      "text": "executing move_to over 24 steps (2.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8909, 0.6415, -0.5632, -0.0135, -0.0338, 0.9898, 0.886, 2.3428, 2.4275, -0.8967, 0.6289, 0.4568, 0.0334]\nstate[eef_state]: left_x=0.276 left_y=0.0001 left_z=0.1359 left_yaw=0.0023 left_pitch=-0.2437 left_roll=0.0017 left_gripper=0.9898 right_x=0.4508 right_y=0.3934 right_z=0.2273 right_yaw=0.1162 right_pitch=-0.06 right_roll=-0.0605 right_gripper=0.0334\nstate[joint_eff]: [-0.212, -2.0444, 6.8308, 1.5604, -0.0073, -0.0464, -0.0171, -0.335, -15.0769, 8.2256, 1.6825, 0.5348, 0.4225, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b021ee41110dfa069611a786a31bccbdc2fb48feef1e821d359f4a15c4c246f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bb335938a3a6fbba9ded148dfa9ae6bb428626d09b8b2b712ca35df21c247dd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5250045b18d56e272afa4085b140722242d1d895d52ba7f96df9af26843baa28",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /responses · status 200 · 5.988 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 110 changed as sent

message 118 changed as sent

message 122 changed as sent

message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8845, 0.6415, -0.5465, -0.0135, -0.0338, 0.9898, 0.3233, 1.7325, 0.6918, 0.403, 0.2302, 0.1455, 0.5965]\nstate[eef_state]: left_x=0.2788 left_y=0.0001 left_z=0.1405 left_yaw=0.0022 left_pitch=-0.2205 left_roll=0.0012 left_gripper=0.9898 right_x=0.422 right_y=0.1027 right_z=0.0476 right_yaw=0.0416 right_pitch=-0.0497 right_roll=0.0015 right_gripper=0.5965\nstate[joint_eff]: [-0.1709, -1.5521, 6.8581, 1.5409, -0.0171, -0.0366, -0.0122, -0.3624, -6.1333, 4.5607, 1.5507, -0.1099, -0.1148, 0.1245]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8864, 0.6415, -0.5545, -0.0139, -0.0338, 0.9899, 0.3241, 1.581, 0.7834, 0.1074, 0.2123, 0.1375, 0.0301]\nstate[eef_state]: left_x=0.2775 left_y=0.0002 left_z=0.1386 left_yaw=0.0026 left_pitch=-0.2304 left_roll=0.0017 left_gripper=0.9899 right_x=0.4127 right_y=0.1031 right_z=0.0881 right_yaw=0.0606 right_pitch=-0.1034 right_roll=-0.0085 right_gripper=0.0301\nstate[joint_eff]: [-0.3487, -1.8667, 6.8444, 1.6386, -0.0366, -0.0269, -0.0073, -0.4171, -9.0051, 8.7726, 2.0098, 0.1099, 0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8909, 0.6415, -0.5632, -0.0135, -0.0338, 0.9898, 0.886, 2.3428, 2.4275, -0.8967, 0.6289, 0.4568, 0.0334]\nstate[eef_state]: left_x=0.276 left_y=0.0001 left_z=0.1359 left_yaw=0.0023 left_pitch=-0.2437 left_roll=0.0017 left_gripper=0.9898 right_x=0.4508 right_y=0.3934 right_z=0.2273 right_yaw=0.1162 right_pitch=-0.06 right_roll=-0.0605 right_gripper=0.0334\nstate[joint_eff]: [-0.212, -2.0444, 6.8308, 1.5604, -0.0073, -0.0464, -0.0171, -0.335, -15.0769, 8.2256, 1.6825, 0.5348, 0.4225, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b021ee41110dfa069611a786a31bccbdc2fb48feef1e821d359f4a15c4c246f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bb335938a3a6fbba9ded148dfa9ae6bb428626d09b8b2b712ca35df21c247dd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5250045b18d56e272afa4085b140722242d1d895d52ba7f96df9af26843baa28",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0d500d743bf10afb016ab460ebf36087d0968e10e5a78a3009",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_roll\":-0.75,\"right_z\":0.26},\"note\":\"The loaded blue bowl is suspended over the white bowl’s opening. I’m beginning a controlled tilt toward the white bowl while keeping the rim above it.\"}",
  "call_id": "call_fry6EqDAhDnCIKJsQlTDkgc0",
  "id": "fc_0d500d743bf10afb016ab460efec2087d08f26e19529524e41",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fry6EqDAhDnCIKJsQlTDkgc0",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8928, 0.6415, -0.5652, -0.0139, -0.0338, 0.9898, 0.9264, 2.6781, 2.9536, -1.356, 0.8173, 0.2432, 0.0355]\nstate[eef_state]: left_x=0.2757 left_y=0.0002 left_z=0.1351 left_yaw=0.0027 left_pitch=-0.2475 left_roll=0.0021 left_gripper=0.9898 right_x=0.4398 right_y=0.3768 right_z=0.1861 right_yaw=0.1216 right_pitch=-0.1752 right_roll=-0.5279 right_gripper=0.0355\nstate[joint_eff]: [-0.1299, -1.7709, 6.8444, 1.5311, -0.0366, -0.0269, -0.0073, 0.0752, -15.4051, 7.6103, 1.1648, 0.6471, 0.0024, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d119e7a5e17dcec62f56380899d84efd1af4f4c7a6e9af7bf90f67b0d2a93764",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3998dc0277c73d80701a92675afccfcf0ca281844341dc8494e7b1314ceba44f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c02e782c8e0d0f3a2b9bf7be6341183f58ae7121f9199dbe90b03afc1ea0c34",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /responses · status 200 · 4.34 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 114 changed as sent

message 122 changed as sent

message 126 changed as sent

message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8845, 0.6415, -0.5468, -0.0135, -0.0338, 0.9898, 0.3237, 1.7439, 0.6765, 0.4175, 0.2188, 0.1463, 0.0216]\nstate[eef_state]: left_x=0.2787 left_y=0.0001 left_z=0.1404 left_yaw=0.0022 left_pitch=-0.2208 left_roll=0.0012 left_gripper=0.9898 right_x=0.4182 right_y=0.1036 right_z=0.0398 right_yaw=0.0509 right_pitch=-0.0633 right_roll=0.0053 right_gripper=0.0216\nstate[joint_eff]: [-0.1709, -1.7162, 6.9949, 1.5458, -0.0562, -0.0659, -0.0073, -0.0205, -7.7197, 6.8855, 1.4628, 0.232, -0.1685, 0.7643]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8909, 0.6415, -0.5632, -0.0135, -0.0338, 0.9898, 0.886, 2.3428, 2.4275, -0.8967, 0.6289, 0.4568, 0.0334]\nstate[eef_state]: left_x=0.276 left_y=0.0001 left_z=0.1359 left_yaw=0.0023 left_pitch=-0.2437 left_roll=0.0017 left_gripper=0.9898 right_x=0.4508 right_y=0.3934 right_z=0.2273 right_yaw=0.1162 right_pitch=-0.06 right_roll=-0.0605 right_gripper=0.0334\nstate[joint_eff]: [-0.212, -2.0444, 6.8308, 1.5604, -0.0073, -0.0464, -0.0171, -0.335, -15.0769, 8.2256, 1.6825, 0.5348, 0.4225, 1.0379]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8928, 0.6415, -0.5652, -0.0139, -0.0338, 0.9898, 0.9264, 2.6781, 2.9536, -1.356, 0.8173, 0.2432, 0.0355]\nstate[eef_state]: left_x=0.2757 left_y=0.0002 left_z=0.1351 left_yaw=0.0027 left_pitch=-0.2475 left_roll=0.0021 left_gripper=0.9898 right_x=0.4398 right_y=0.3768 right_z=0.1861 right_yaw=0.1216 right_pitch=-0.1752 right_roll=-0.5279 right_gripper=0.0355\nstate[joint_eff]: [-0.1299, -1.7709, 6.8444, 1.5311, -0.0366, -0.0269, -0.0073, 0.0752, -15.4051, 7.6103, 1.1648, 0.6471, 0.0024, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d119e7a5e17dcec62f56380899d84efd1af4f4c7a6e9af7bf90f67b0d2a93764",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3998dc0277c73d80701a92675afccfcf0ca281844341dc8494e7b1314ceba44f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c02e782c8e0d0f3a2b9bf7be6341183f58ae7121f9199dbe90b03afc1ea0c34",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGD3e21sqF3o_nMmiY1B40wi0kpoK2bYms_cV3olCGeDDvU5NsMTH1T4A4jtUp85Oj27bNCYSe3fUdJLAqDJvP7SGWBV2dYGslwFVkTO947GI9vMP5lsgvB3D8E_QiLlyoLuw6WCG2Ao7VGVs7DD95ciZVE07ao-kRpZb3SuwQJLbjOQ8ynzs9kYuyI-FlFnAa_Q4xbm7_7BcQ0dWNlLQzH9SDeqcB4_PyEg8160gbvGKIJyvfSGbUqyUVQ8JefjC1LFF1VF_mTT5w1DoFtBLcpu7katHbFitA_-geelG6e3aCH88EUczwgafkHr0V2qThJkj1t5xbv8UkskMlhVgsvfEFumO36bSQ0BGiLXnvhyKe6JejRLKSsENylJqg8osPJgRFy479qaf14Z3EyB7bQFkEA9cXRVMg9Phiqn21cvlfy1QpG8z1fyiGhx9acvkyNWTiENviqd4zK3lJGKxlzpVcHqpCgJP3eLRgJM7qSqmBbs0_3TQuE9FJ6hLQZOD4HCZjKOq7fyYskymDHgNgDdVs3cKpzJmk9JRXLDpg0-3Lb6MdkgboCCpv22i13moQ8p3SyakT21Dxd71Buk_iUDe7Z-e0BKZdpfxGOf6kNFGfOyZE1ybcCGYHxJbUoK4rsR-KPl05Xb85XqeJvlXvO-nTZ10jg6Fhj6jQ852ABb2Y6yalTICiY4xDoS14oyrH-OOrPLACuPwUTymykwWwEo86-fnWaTGl1_JH4zKNFqJSM2NS6NxsnahOyEsQyqXyqFB5_FjNSXerUvZxsu2QI2JMzWekzU_umP_AiqjqRrOwpT0cymkAoS8gZFS5mITiwVuzHECxSR8WLiajFXqzvSzagafPZUL3DVhVA2-mJEdCUa0UGlutKJD50Aix9GfCNTapV5-36qwsKSq9FYoKkz1mUIHernaOwWxD5lumA_4Orxh2ekjR9iY7pFBQhUnWGqHoF07uLVrjGC1o3q2tz-wa9M_wx27kfgGp0QKR77hxvxR9c7wPeGeFZAAoN7WXTeEWS46XtS1u3jD5yslCNcedLEzr3F2S3oMeFaFMTfcO8Rhmq3w3_rlxrKV4EQvDYEtEk9ws5pIl2c_n2mPqqDCDegWyHaj3Lgyab_xQpiA77YN2G7WwitAvqIs6wTNSPHSHqclp_cddvVnrb2s15A3Ar0ioEgfxntaYupw17cTOuQePx-3hERydXO1zfn78YPlypJ3mbNowt_SFDS36rDlc31XJR1dGxpAHhuPs58yTEHgTgC8LZRF5HOOGxPN-6XtfNmKx5e6ODgw6LuuvoikhimqNkdIboX9v2-ooqx0A4HHaKir_Uo2M4y3rfZ8ioUY5kHwuQUgbJel25op2E4nBBWI6rYLkygVGSimhzkD5cRjpv4JhEo-LPDWywrCOrSvJaL9RNovOtc0BifJoUMDRN86gy1qrQbuxNq94sDOv0bcyREeqVS2mxo580A4VB8oyiO3ChOj83Dx9Q9_T__g-4XtNTfWBMgHol6dMgKkRaBwOXTcVQlmr3soZmq9-PM_y2M98m_1mpOPp16Bb_oaykf7DpyiXoo3Ym4XOzgsoXHXfi5F94_zo6XlDsToS2_AidU1_pR2ZiFuxB37ea5IH_XG_XhWAAqeKhfUSHDPsZTShUyley_j6_KkhGb7GI2_hFTr15YA43v276FvruTYTqtQWJ37qD4ghcZwpHgwa9RgbEQzoSnckYjIJgmEylZAsCIB4MCS7rTuNfKBBXrOZKmKEUtm1FGhiFsA4lEzTLKHRzxWk-_p6AbnKrt3uj32Fzc3Xjk-83Me2zO3UfROy6ZZiq4hIe-nb-6fRhtHwHG4AK0gRHca4Wxq6oXebo1t5MUkLMnaSyqIYqjjJiYQjJ4PhXmNOO5lGc5fMQyKYFAHKNg0WWnE9E5FEwcvrF1iNW8GgwVidOr_VqPtRTw5ZlWm7FJIXoW4gx70MI384WtRVV-3alegbLsZEkg9JlICAuw4vSc58r6IvDcC54MqXoKFcB5NvNZ64aYsUttK1HvckkWY6nAaTFJzbqNs9z5-oRUMpECflqgTIvvUAgIsw==",
  "id": "rs_0d500d743bf10afb016ab460f39b9087d0baf19bc1835e11ac",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.40,\"right_y\":0.38,\"right_z\":0.25,\"right_roll\":-1.2,\"right_pitch\":0.1},\"note\":\"The yellow fruit has fallen into the white bowl; the green fruit remains in the blue bowl. The arm is falling short of its height target, so I’m bringing it slightly closer and increasing the tilt to release the remaining fruit.\"}",
  "call_id": "call_WNBXbXZitOhx42ZFoYbeTMct",
  "id": "fc_0d500d743bf10afb016ab460f650a487d0a83edb2f3191acc9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WNBXbXZitOhx42ZFoYbeTMct",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8928, 0.6415, -0.5652, -0.0139, -0.0334, 0.9898, 1.0882, 2.825, 3.1161, -1.3888, 1.1973, -0.0753, 0.0375]\nstate[eef_state]: left_x=0.2757 left_y=0.0002 left_z=0.1351 left_yaw=0.0025 left_pitch=-0.2475 left_roll=0.0024 left_gripper=0.9898 right_x=0.3976 right_y=0.4122 right_z=0.2023 right_yaw=0.2023 right_pitch=-0.0544 right_roll=-1.0205 right_gripper=0.0375\nstate[joint_eff]: [-0.1846, -1.4564, 6.8444, 1.5409, -0.0366, -0.0122, -0.0073, -1.7299, -16.3214, 7.4051, 1.1795, 0.9011, 0.105, 0.9841]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd5bc6d4bb0c277f070e65bbf562ec92e16aea11248952fae1cd81fa904d17d2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19fe4b46b66d4553b90d9b7f4550e468e3593669d4a9577509351792d1599ba6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00262b9673822acf5d7ef4ac6b71dfa547adae36178e9e65c96f03a1de4a33e0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 33 attempt 0 · /responses · status 200 · 3.999 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 118 changed as sent

message 126 changed as sent

message 130 changed as sent

message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8864, 0.6415, -0.5545, -0.0139, -0.0338, 0.9899, 0.3241, 1.581, 0.7834, 0.1074, 0.2123, 0.1375, 0.0301]\nstate[eef_state]: left_x=0.2775 left_y=0.0002 left_z=0.1386 left_yaw=0.0026 left_pitch=-0.2304 left_roll=0.0017 left_gripper=0.9899 right_x=0.4127 right_y=0.1031 right_z=0.0881 right_yaw=0.0606 right_pitch=-0.1034 right_roll=-0.0085 right_gripper=0.0301\nstate[joint_eff]: [-0.3487, -1.8667, 6.8444, 1.6386, -0.0366, -0.0269, -0.0073, -0.4171, -9.0051, 8.7726, 2.0098, 0.1099, 0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8928, 0.6415, -0.5652, -0.0139, -0.0338, 0.9898, 0.9264, 2.6781, 2.9536, -1.356, 0.8173, 0.2432, 0.0355]\nstate[eef_state]: left_x=0.2757 left_y=0.0002 left_z=0.1351 left_yaw=0.0027 left_pitch=-0.2475 left_roll=0.0021 left_gripper=0.9898 right_x=0.4398 right_y=0.3768 right_z=0.1861 right_yaw=0.1216 right_pitch=-0.1752 right_roll=-0.5279 right_gripper=0.0355\nstate[joint_eff]: [-0.1299, -1.7709, 6.8444, 1.5311, -0.0366, -0.0269, -0.0073, 0.0752, -15.4051, 7.6103, 1.1648, 0.6471, 0.0024, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8928, 0.6415, -0.5652, -0.0139, -0.0334, 0.9898, 1.0882, 2.825, 3.1161, -1.3888, 1.1973, -0.0753, 0.0375]\nstate[eef_state]: left_x=0.2757 left_y=0.0002 left_z=0.1351 left_yaw=0.0025 left_pitch=-0.2475 left_roll=0.0024 left_gripper=0.9898 right_x=0.3976 right_y=0.4122 right_z=0.2023 right_yaw=0.2023 right_pitch=-0.0544 right_roll=-1.0205 right_gripper=0.0375\nstate[joint_eff]: [-0.1846, -1.4564, 6.8444, 1.5409, -0.0366, -0.0122, -0.0073, -1.7299, -16.3214, 7.4051, 1.1795, 0.9011, 0.105, 0.9841]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd5bc6d4bb0c277f070e65bbf562ec92e16aea11248952fae1cd81fa904d17d2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19fe4b46b66d4553b90d9b7f4550e468e3593669d4a9577509351792d1599ba6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00262b9673822acf5d7ef4ac6b71dfa547adae36178e9e65c96f03a1de4a33e0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGD8YiMAhOTIKi_e86mKm30li_qHTxKzrO6u3Y2JY-lzuc24WI9WCKUXsxtrsSs53IxWa8Y_ez_-4JEjf3n-hAESxX6_kVNcuV36niNd3g7YCpZeANC_XdVH3LF3RoiA4B3HED7SxbQbZAWX109FBbEqMLgDVJrJZ-6Slt-EsWpBSdWfqKAwUEZ0-wgGlGbHz_kJ0jYLtJ4I2CdBdeCbKCHAXkjgDip562Z9MapygRMlvy-3GuQJv4jj0IT0OamzbW2ulS4wRd0dRUVL30xRVvSjy1446YNgFcpWKZmxeuocWCQ5SNkmlC_kXm807pyr0bTDcel3ko3pkf29Liq5Cp_S70CSpGZFP1wPPi9n-0m-YIVUIbypOZV24s9NgVeakCYeQ63BQ4ehNB1CivgSh3ZFxGvJCwYTpXwpgfIz1SF0Uh0QPaaFQ5BZ_KT7pm0jli-FrpzHow7uoHwND8DqQ4gC0t4xVHQPt1eiLzs2U6Msfs12VS7bOynZ8N-QZsgptxgc-cnHpR2uL_Yj79L9IZA7n7gBmJY88bL82YQ6LKcN2WK2zCi6hdt5CUzfoSgfhmTUZUTWPSA6NO3cCpX0EVFT1lXUv1VCtyQg6yQ3JXIDUtCeS4lliEycFARPuTayCNYiagf5KvNlX_89bPMKx0h1kYNfXQ0xMtZf29-ltP-sC3iDb_j3MT_qWlvATh12tHW_JCMSbReMVWgvg26NIkt_60hvISNLF9d4J9YEu2PWE5h5FgkKsTY99dVPciAn7kIAYozzP1vunDzc6iIt7RmA_hnffEH3oThG5kooF8DbbKKwioyjMPQpv_SXk3UxP7TIiihtrushSuUmFWR75gjoHt1KJvbkwRHEhfX8rC13noG06xuUAPt428GgEwIAzBWv72IxDKtLm020bs6l6d4In9zH-UVVHYiswHtlphzlV0dNXLiFP6HFJIUXl9S2LXECQvgcKeSNLe-Ny26SejDOuQJ-f3O1qRaUDRsq2iwfSS0-8L0ckAHUqWuPHhKcVKlax9oWiQRezvGpPVTYnELXGwrizyBahSXxhVd_2Yq8iIHM5aZnPFLVWzw8RKq7ICLvKxPwUqLMt7o_sA46Ktft7r7zsF70uE76UPMVU2wT0aWAoBzYR-fSITcdXuTjiyEaf9_sATi5nChvIhr7BU4l_uyySREVB9xIDL79Q-48ihQWDrpvbc1L2DQLFrOQFeFarCvYLilVyzChJgXV_YBYiPsh8ricVL9K8klr47MZp854bIM2igtAcW2rI8xyQZUUpUB8ETKOxpDtktgpePvBg8NCuH8iBBAVjNOOnncobr-lLzFRokRbWFk8mYVZBOkhT1aytXKmcRlmfPpuv4_xAEX2N_FY6Cw0MLHBWpuP4jYKWsOEH15Q5u_XbFcZAIs1IzWDOsWf9jtccrr9sNUPDFqCFeRWWHEHSTwEOL_fj8_-0BkmTXs0cqZBu5YF7um1kZC2H25pkfuSpb8cHW_p5gYDAi-II0FlxAlEBQeJ1ZM=",
  "id": "rs_0d500d743bf10afb016ab460fa79b487d081c11a073d073245",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.36,\"right_z\":0.25,\"right_roll\":-1.55,\"right_pitch\":0.1},\"note\":\"The blue bowl is tilted, but the green fruit is still inside. I’m moving a little closer to the arm’s comfortable reach and tipping the bowl nearly sideways over the white bowl.\"}",
  "call_id": "call_qP6Qa17R8pPwtVrh9s1ZXmVW",
  "id": "fc_0d500d743bf10afb016ab460fb9f8887d08f7de74ec0e21ab2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qP6Qa17R8pPwtVrh9s1ZXmVW",
  "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]: [-0.0212, 0.8974, 0.6411, -0.577, -0.0139, -0.0338, 0.9898, 1.1034, 2.8315, 3.1191, -1.3815, 1.3045, -0.2089, 0.0389]\nstate[eef_state]: left_x=0.2736 left_y=0.0003 left_z=0.1318 left_yaw=0.0028 left_pitch=-0.2643 left_roll=0.0025 left_gripper=0.9898 right_x=0.3935 right_y=0.4094 right_z=0.2162 right_yaw=0.1978 right_pitch=-0.042 right_roll=-1.1882 right_gripper=0.0389\nstate[joint_eff]: [-0.0752, -2.0991, 6.8855, 1.5751, -0.0464, -0.0122, -0.0122, 0.0889, -14.3932, 7.3368, 1.0085, 0.6129, 0.0171, 0.9841]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5dd8b57722b348bb88c55ea3403eb799f7c490ccf20797ed0e090f9c04de8ce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9aaea84dd7b36d251c3d56e43674ba3ae10a751e64aca3b05ff69e00b4091ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35100ae645a36a28d6047dd6c573adccfa46e607e734baf6506298346514c7cd",
      "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 34 attempt 0 · /responses · status 200 · 7.432 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 122 changed as sent

message 130 changed as sent

message 134 changed as sent

message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8909, 0.6415, -0.5632, -0.0135, -0.0338, 0.9898, 0.886, 2.3428, 2.4275, -0.8967, 0.6289, 0.4568, 0.0334]\nstate[eef_state]: left_x=0.276 left_y=0.0001 left_z=0.1359 left_yaw=0.0023 left_pitch=-0.2437 left_roll=0.0017 left_gripper=0.9898 right_x=0.4508 right_y=0.3934 right_z=0.2273 right_yaw=0.1162 right_pitch=-0.06 right_roll=-0.0605 right_gripper=0.0334\nstate[joint_eff]: [-0.212, -2.0444, 6.8308, 1.5604, -0.0073, -0.0464, -0.0171, -0.335, -15.0769, 8.2256, 1.6825, 0.5348, 0.4225, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8928, 0.6415, -0.5652, -0.0139, -0.0334, 0.9898, 1.0882, 2.825, 3.1161, -1.3888, 1.1973, -0.0753, 0.0375]\nstate[eef_state]: left_x=0.2757 left_y=0.0002 left_z=0.1351 left_yaw=0.0025 left_pitch=-0.2475 left_roll=0.0024 left_gripper=0.9898 right_x=0.3976 right_y=0.4122 right_z=0.2023 right_yaw=0.2023 right_pitch=-0.0544 right_roll=-1.0205 right_gripper=0.0375\nstate[joint_eff]: [-0.1846, -1.4564, 6.8444, 1.5409, -0.0366, -0.0122, -0.0073, -1.7299, -16.3214, 7.4051, 1.1795, 0.9011, 0.105, 0.9841]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8974, 0.6411, -0.577, -0.0139, -0.0338, 0.9898, 1.1034, 2.8315, 3.1191, -1.3815, 1.3045, -0.2089, 0.0389]\nstate[eef_state]: left_x=0.2736 left_y=0.0003 left_z=0.1318 left_yaw=0.0028 left_pitch=-0.2643 left_roll=0.0025 left_gripper=0.9898 right_x=0.3935 right_y=0.4094 right_z=0.2162 right_yaw=0.1978 right_pitch=-0.042 right_roll=-1.1882 right_gripper=0.0389\nstate[joint_eff]: [-0.0752, -2.0991, 6.8855, 1.5751, -0.0464, -0.0122, -0.0122, 0.0889, -14.3932, 7.3368, 1.0085, 0.6129, 0.0171, 0.9841]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5dd8b57722b348bb88c55ea3403eb799f7c490ccf20797ed0e090f9c04de8ce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9aaea84dd7b36d251c3d56e43674ba3ae10a751e64aca3b05ff69e00b4091ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35100ae645a36a28d6047dd6c573adccfa46e607e734baf6506298346514c7cd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGEBS4Zqp9h6rRduXKfOKG1ICPq95B0en4gz0g0dinly7ezOYMM4Ld0vuQs4qm2vZFEk4guXfbW4_h1ldfvbeeC8kZn_xXRzBN5DZitOqnxSCfjOvjLMVILkVqN-TzD-FuIP3UpdUcMx9-htXt9zx_r6YjSnBX31GrTTyG4HGxBN_3Qdkngt3V9iXzY6kuciJrjMLPwmwybf-suJp19HeDuj-l-CAuSh_bUqqM-I9deNJ8Kqn12DVSpyd0Dnfq8tjxZc6NBBb7612T7-uqNf2bDmslzlclrQH4O0lYBrG0-I4vgAO6yPeOSO5xYfmgWv-48vQKkNcU-1x3eAOd5TuJ7YRgSEsNe3TasGe9GY7WodBLLSVrUcnECBbhL0DvQUhRSnY5Y5kUVcLjkMcgQ4d1wTJF3YrmrsUgGx969njFClF5mNkQAtxCVcIHgyBdoEkyY_lLMvQ9MJKdWLClv0XHeLCq2X7KGoHt_qEna0NGY5ewqLM0OuY-l7hzY9dxTmBFXKC6XQrDC0g4b6puNBtdIigev7Nw_Ct7iIUGruCFe9ketz1majFVsUf7-TqG7BSxgIBWXxCLYkP05Ba11oI6oCsyBKun9p6Mrz-E2DfK7zy5ESfT5v8E8c5YBHRxEw1oZwcSpK6qNoc12tX7_y0RBwt9CpgCZkupHjQ155PK3YgJAGvat3eKQkjm4ILSfmMggoDdIL5ju0TC9OVRKfIg1BXU9T6apvV-yuTFSsvhbRNQHQJRyl-SNEAVshHOZMHKzVYm5NbutftZDvHFyrt_aOYUE6xz2PD1U1WeDAVDhdjLZoDb54NBpPjZ-GLbE_1ALwxogAvNJ95ivXXNdijHO7btDIKN9y7lB7XaWuJbB8XY0VHisqAilMkzgF0lOpYmVQZ_GjCepkmY840EldsO8IRat14YB6H6dt0Aw-LuIVd8Q4jutOVGwcMrW3EUbjeB3Y8qewOq5z44Hy6-m188yCy3SrO7XuC6S6uLPagZ6AIAcrcsYEivQ89ScM2DyebpU4ZkFKhM8rkM5NQS_yHRlsmvLa8h5-wjawkSNw_3_G5IXZ3Qgis77Xa7Ok-_kmqzdP_NzqDspdPRep0aMNrdVMLGC_VzfQda6oQlK4Xw7v3a5lNUSHReJiHJ--cRWTqSOBsSc5BwartmQ4YOEWKSyDK7eUvnFkGytHEqJf2aiFxbrun1NlzfEmUx8IzRr8x3DUpAV9iAAg36Ptn99fJ8SVS9bkZEdSgMRKnQsqo_eccYfjHpkqGQoB9t2qxRw9oBlsfwxrVlo6ZUKXhF-sxJT5mjmv6k-hDOmDpD_ymQEPsKLr1aFGl04bsikgC-_F2HNb_nHiA-xf5fnBOp1wnwRK45Ee4iBC-vjPVYrYcm1FpRPeFqwPegf2qxFbKPpRscOHJIyMzqe7DyX6nUA6UcNqfm-cNr7KTdFaHaFhPhYq4WH_LFGCTdM5l-itO85Rfi0IG9lxcxqiDIcc-2blQLwUooGaOrWoCs43nxtTe22GQYprWDVheI322XlwqPO5IPhs6s6M3vLEdoYFfbp_7WWjVR8xra9svFTeHyHRUZ_wD0DeswXz9J6jwimmllmtuBjm",
  "id": "rs_0d500d743bf10afb016ab460ff31cc87d0ab0be7dfd0fa0ce3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.19,\"right_z\":0.23,\"right_roll\":0,\"right_pitch\":0},\"note\":\"Both the yellow and green fruits are now visible in the white bowl, and the blue bowl is empty. I’m returning the blue bowl upright and moving it away from the white bowl before setting it down.\"}",
  "call_id": "call_7fbmgjdIFbaByHGGxTOInMBK",
  "id": "fc_0d500d743bf10afb016ab4610073dc87d0b69dffe48341f58c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7fbmgjdIFbaByHGGxTOInMBK",
  "output": [
    {
      "text": "executing move_to over 19 steps (1.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8974, 0.6415, -0.5804, -0.0135, -0.0338, 0.9898, 0.6483, 2.4187, 3.1245, -1.4914, 0.4301, 0.1772, 0.0405]\nstate[eef_state]: left_x=0.273 left_y=-0.0 left_z=0.1314 left_yaw=0.0017 left_pitch=-0.2674 left_roll=0.0023 left_gripper=0.9898 right_x=0.4637 right_y=0.2634 right_z=0.3282 right_yaw=0.1809 right_pitch=-0.138 right_roll=-0.1496 right_gripper=0.0405\nstate[joint_eff]: [-0.1162, -1.4974, 6.7897, 1.4921, -0.0317, -0.0415, -0.0122, -0.4171, -14.735, 5.6821, 2.0977, 0.2173, 0.5543, 0.9499]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6429518be06fbe927481d7fc7044f09f9a5cca7ff9b0f00cc4ecfdec796353b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1f58aa892346d1f20c17c466fa4ebde4685eefbe6c165fa3beb0056f96493d7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:531eb597e264d33f373527ea5dd0a9b0cd835ad66eed263abc2a6ad3a23371f0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /responses · status 200 · 6.015 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 126 changed as sent

message 134 changed as sent

message 138 changed as sent

message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8928, 0.6415, -0.5652, -0.0139, -0.0338, 0.9898, 0.9264, 2.6781, 2.9536, -1.356, 0.8173, 0.2432, 0.0355]\nstate[eef_state]: left_x=0.2757 left_y=0.0002 left_z=0.1351 left_yaw=0.0027 left_pitch=-0.2475 left_roll=0.0021 left_gripper=0.9898 right_x=0.4398 right_y=0.3768 right_z=0.1861 right_yaw=0.1216 right_pitch=-0.1752 right_roll=-0.5279 right_gripper=0.0355\nstate[joint_eff]: [-0.1299, -1.7709, 6.8444, 1.5311, -0.0366, -0.0269, -0.0073, 0.0752, -15.4051, 7.6103, 1.1648, 0.6471, 0.0024, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8974, 0.6411, -0.577, -0.0139, -0.0338, 0.9898, 1.1034, 2.8315, 3.1191, -1.3815, 1.3045, -0.2089, 0.0389]\nstate[eef_state]: left_x=0.2736 left_y=0.0003 left_z=0.1318 left_yaw=0.0028 left_pitch=-0.2643 left_roll=0.0025 left_gripper=0.9898 right_x=0.3935 right_y=0.4094 right_z=0.2162 right_yaw=0.1978 right_pitch=-0.042 right_roll=-1.1882 right_gripper=0.0389\nstate[joint_eff]: [-0.0752, -2.0991, 6.8855, 1.5751, -0.0464, -0.0122, -0.0122, 0.0889, -14.3932, 7.3368, 1.0085, 0.6129, 0.0171, 0.9841]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 138 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8974, 0.6415, -0.5804, -0.0135, -0.0338, 0.9898, 0.6483, 2.4187, 3.1245, -1.4914, 0.4301, 0.1772, 0.0405]\nstate[eef_state]: left_x=0.273 left_y=-0.0 left_z=0.1314 left_yaw=0.0017 left_pitch=-0.2674 left_roll=0.0023 left_gripper=0.9898 right_x=0.4637 right_y=0.2634 right_z=0.3282 right_yaw=0.1809 right_pitch=-0.138 right_roll=-0.1496 right_gripper=0.0405\nstate[joint_eff]: [-0.1162, -1.4974, 6.7897, 1.4921, -0.0317, -0.0415, -0.0122, -0.4171, -14.735, 5.6821, 2.0977, 0.2173, 0.5543, 0.9499]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6429518be06fbe927481d7fc7044f09f9a5cca7ff9b0f00cc4ecfdec796353b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1f58aa892346d1f20c17c466fa4ebde4685eefbe6c165fa3beb0056f96493d7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:531eb597e264d33f373527ea5dd0a9b0cd835ad66eed263abc2a6ad3a23371f0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGEK8d2PIpkk54TfkMDV42X38R97aZ0tj3J8_B2Izzw4retjdWe2-wUROdaWruPnaCfihLJ7LClPNcaSqcZuP88dSgG9SogMEegzXEskVouz8msTBxIignNUAM9ur-_-YVErxi18_4zB5X9Wm2NnQm6mVvkFQKB6-65gNyIyul-j2AY2tj7IHU4tVvHubiVW_710wtBvJzi4eH2R-aTpGUmUV210UFKrJBQ2-Lw7rq0KBJBe7pWAJpEzCGB9GxYxSXhILOlx1bQL4_92gxOgVngasclx22fQrZBcuyIXGelXBBrGQFu0apCFAn6DhIKkq1q5efxXUt2P7sIg386D1gKuv6i-WmIRlQpMbbZ00POGIF46R61NreflffGps8de232nOeEGfSDCjEe5SMK9t_vpQ2MvxZhwbpP3Zf6zKgqhxK-lHPPYOY5V2KwOT7kUDhYZv5kryVEaPsr9VX5NGLUgCprYjvUEyFO2Q4Fuxur5xWUW2AL4lQZa8ckSd8sFN-nNHl11yO3rm9NZTwjjqRVOAXJK25q9gGmuDCNAi9FL_GC8UGVuxxyEbbdR3ike6mR4-XhJABYvGLftiYb76Um6olL2thJrsTN2h4Rx_FtPzS478g6XDuyWyND0NkEIiiCmhyVl3MsWC9WB0VHhCaN6ChmEhyEGvOJEmE_C4Q_o66iy-XaQX6y0O9_ejkDJTTDA9DiCiD7wzSV4M1gWvrXBVA-xtQP-mf-d2kyay5vACjoHFZDxImPUICZM-NiYcP2NqcwnzT-OQcCl3MbRmsMe8xBUumnxPHa6bWWL_xg9DBteqBBUo7EDqGfnP41kUVhsdFvfPNgcIqRMUGkrRxjt8L-YOlC8qGyiaeZMeOVPBxcdXXBFwXhKhlC2Qpnnv-W4TwrvcP0VQN-hUPQm8lOlNIUyu-Om7bq1UQVcp9sikEC1ANUjrf3nX17Ut06hk4FRlCeLZ8NCjz2oB-eKUSgxmMhA_BkAWJt1Tc1Mfsei8aMp0h2MfOnvhj-G9wbLnsUd78fb04xM19bw1QJHY8zc2HNgzQR2Z3L7PoUx4WItYZ8KPPqx0eOeeUlurCht-XY3rzhBrwjLahHNbhSMgXwCY3gnNCYinga5GjD4YvGOFsBZ9YQbTZcvMvo-ZmoeqkwNfeqM1hp_aX6vWHdauxmIIqiNHcJDGA4daPCWVcfdoTj10jo2tAHDlNigPkGI9qAoutNpPLJoww3iZmBVXDXNBLyyY82gga4nfV4IcGvQ88F6PUkqItJUyfhPgkbXY7KmbHRZ31wop4qOFBeAPzYijoCqadwA8GeNSEMKwbRqHtrEQjz2oA6JyEBufj4YtanEY11lO4jEtEYsS9jo0hgr2d-bKrPQKVuWC4D7fgDpaxlg1xYck7GVXcU6ybPhksOMzkg4WPF4MdF-LDYoQavrM15q5Oxwu6vrQhv0gOIBGFnV5ZEku1ZMmgOYjVA--oJgFuIOpHpAN3Hl5-mCwfPY9YjGwHsWfXd0Bs6cVa-epIwzmccPlt2LAYT0CBw_yHaSDNEml9wHeQNEwdWBmdfbiPKz4OJ0lKggrVhN5gEIssURO_1oC41GtIo9Uv1HCh7tvMgdTSEYsrcihJpe9H8UpE31X7NGbg8LKdYG2YfYUJuFHK5pCUIT9gTvHTMCayfJ5UY-rr-SG5mWlF4zJecB3raQeqeDyFiTv_zJ3pedg8dr7Aa8Fkw9Eflm15kLEr_bCJ72ZtRMpjmwMmIAE4HR7BUJB61DZ2HdQwihVwPgeRN9yn7OeXYLT82zEx_f-6LxAZV1xEvtkQugYWxbHJ_1oumLwW1LgzfxjZhJAC99TBeRVXqq7Lhta2VlWmZjG7VXGrkW0Bd_lMJ2ioM58kTJsE10rALIei2jKcAzVICtjYJBKdsliwsJz2L5mTftiQx8TZIxm__m2YhI0OfC6pGZAWg48F44z8aeQH2zZgAPfum8tAyEGmtT93zb9NuoO9r5zY9b5bz4ldwFZ4q1_9a6YDrzYBI-GDUdDc8DbC5xPWS7NGx4jH2gsdfEh9YX0SxBH5wHj_xsgcN41CrpnwjUffy1k-oNTcj1wgyDkC1yxat5eV0iqvOl4y6ROhSzwnGS81xIk64HYTTUqnJ0d2XY-FlpyaDWQKD9Vz-mGDhH-PZ6dHiQqAUUHX-c1r6ObRIGLD8anZNpK7Ddi72n_9ZBhqxcX0fv84d-DYLZyNq_nb1e_DVSQZLRO07YZg7r40i3-bVY5YemspadPerHfiMt4AbPLpTRQq1VXP2MeTrbuiz1TdLkE6ApZtVM2jQvdlGgTx9bxtS7MiqW9PC9WY08ccN1Em5w6PjIKIgeY3ARrcmFWwdWLZ5O_insfjXcsIAa",
  "id": "rs_0d500d743bf10afb016ab46105999887d0912c6d374e0b98e0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.18,\"right_z\":0.17,\"right_roll\":0,\"right_pitch\":0,\"right_yaw\":0},\"note\":\"The empty blue bowl is upright and clear of the white bowl, though the arm is higher and farther out than requested. I’m guiding it down toward a clear area on the right side of the table.\"}",
  "call_id": "call_JyAreg5pUeuMBV3vNq4GdM61",
  "id": "fc_0d500d743bf10afb016ab46109cef487d0a491ec1670ce6afa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JyAreg5pUeuMBV3vNq4GdM61",
  "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]: [-0.0219, 0.9031, 0.6411, -0.5877, -0.0139, -0.0338, 0.9898, 0.6636, 2.4161, 3.1245, -1.5311, 0.4408, 0.2108, 0.0405]\nstate[eef_state]: left_x=0.2717 left_y=0.0001 left_z=0.1286 left_yaw=0.0021 left_pitch=-0.2807 left_roll=0.0029 left_gripper=0.9898 right_x=0.4546 right_y=0.2643 right_z=0.3238 right_yaw=0.167 right_pitch=-0.1645 right_roll=-0.1483 right_gripper=0.0405\nstate[joint_eff]: [-0.0889, -2.1128, 6.8034, 1.536, -0.0415, -0.0366, -0.0122, -0.1573, -11.6034, 5.5316, 1.663, 0.3101, 0.1734, 0.9646]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c371132021044ad11e2a5682d789ab0c65b080967a431a10bbaf506cddc6e4a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58e1d5795a5c4e996bb4a950873fbdcb6d9d59bc876c3c80829b8d9d4e4af856",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:780d63a56e731afae1a281fa68ba03c38a81dbb9cd95fc60686ff32ba03558b9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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