adhoc

completed
2026-09-23T23:19:29.834567+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
181.9 s
total steps
224
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteI see two fruits beside the blue bowl: a small yellow fruit and a pear-shaped green fruit. I’m approaching the green fruit with the right gripper, keeping the left arm parked.
move_to
right_x0.3600right_y0.1000right_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, 0.9972, -0.0227, 0.8005, 0.6189, -0.3866, -0.017, -0.0193, 0.9994] state[eef_state]: left_x=0.296 left_y=-0.0002 left_z=0.1822 left_yaw=0.0003 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9972 right_x=0.2961 right_y=-0.0001 right_z=0.1837 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9994 state[joint_eff]: [-0.3487, -1.7436, 9.6342, 1.8242, -0.0952, 0.1343, -0.2955, -0.1299, -1.7846, 9.1282, 1.8144, -0.0611, -0.0024, -0.0708] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.36,"right_y":0.10,"right_z":0.13,"right_gripper":1},"note":"I see two fruits beside the blue bowl: a small yellow fruit and a pear-shaped green fruit. I’m approaching the green fruit with the right gripper, keeping the left arm parked."})
tool
executing move_to over 9 steps (0.9s)
step 9
top_cam
camera top_cam step 9
left_cam
camera left_cam step 9
right_cam
camera right_cam step 9
assistant
agent noteThe green fruit is just to the right of the jaw centre in the wrist view. I’m shifting over it and lowering to grip around its middle, away from the blue bowl.
move_to
right_x0.3500right_y0.0550right_z0.0350
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.3973, -0.0139, -0.0307, 0.9968, 0.4301, 1.2877, 0.6102, 0.0025, 0.3439, 0.2108, 0.9994] state[eef_state]: left_x=0.2944 left_y=-0.0004 left_z=0.1774 left_yaw=-0.0001 left_pitch=-0.021 left_roll=-0.0005 left_gripper=0.9968 right_x=0.35 right_y=0.099 right_z=0.1111 right_yaw=0.0268 right_pitch=-0.0614 right_roll=-0.0356 right_gripper=0.9994 state[joint_eff]: [-0.0205, -1.4017, 7.0769, 1.8877, -0.0708, -0.0611, -0.0513, -0.2803, -5.1487, 8.4308, 1.9023, 0.2564, 0.2027, -0.0757] camera 'top_cam' (step 9): [image omitted: streamed camera frame] camera 'left_cam' (step 9): [image omitted: streamed camera frame] camera 'right_cam' (step 9): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.055,"right_z":0.035},"note":"The green fruit is just to the right of the jaw centre in the wrist view. I’m shifting over it and lowering to grip around its middle, away from the blue bowl."})
tool
executing move_to over 5 steps (0.5s)
step 14
top_cam
camera top_cam step 14
left_cam
camera left_cam step 14
right_cam
camera right_cam step 14
assistant
agent noteThe fruit is between the open fingers but still slightly off-centre, and the arm stopped higher than requested. I’m making a small sideways and downward correction before closing.
move_to
right_x0.3500right_y0.0350right_z0.0250right_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]: [-0.0219, 0.8062, 0.6132, -0.408, -0.0139, -0.0311, 0.9968, 0.2363, 1.4551, 0.3977, 0.5728, 0.2455, 0.0624, 0.9994] state[eef_state]: left_x=0.2929 left_y=-0.0004 left_z=0.1751 left_yaw=0.0001 left_pitch=-0.032 left_roll=-0.0006 left_gripper=0.9968 right_x=0.3747 right_y=0.0498 right_z=0.078 right_yaw=-0.0062 right_pitch=0.0983 right_roll=-0.0507 right_gripper=0.9994 state[joint_eff]: [-0.0068, -1.347, 7.0085, 1.8388, -0.0562, -0.0317, -0.0171, 0.1573, -2.7966, 3.0291, 0.7839, -0.4908, 0.2027, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 14): [image omitted: streamed camera frame] camera 'left_cam' (step 14): [image omitted: streamed camera frame] camera 'right_cam' (step 14): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.035,"right_z":0.025,"right_pitch":0},"note":"The fruit is between the open fingers but still slightly off-centre, and the arm stopped higher than requested. I’m making a small sideways and downward correction before closing."})
tool
executing move_to over 4 steps (0.4s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
agent noteThe green fruit now fills the space immediately ahead of the fingertips at table height. I’m closing the jaws to test the grasp.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8062, 0.6132, -0.4202, -0.0139, -0.0311, 0.9968, 0.1833, 1.5745, 0.281, 0.675, 0.1959, 0.0479, 0.9994] state[eef_state]: left_x=0.2912 left_y=-0.0003 left_z=0.1726 left_yaw=0.0001 left_pitch=-0.0442 left_roll=-0.0003 left_gripper=0.9968 right_x=0.344 right_y=0.0324 right_z=0.0158 right_yaw=-0.009 right_pitch=-0.0386 right_roll=-0.0666 right_gripper=0.9994 state[joint_eff]: [-0.0205, -1.2923, 7.0632, 1.8486, -0.0513, -0.0562, -0.0122, 0.0479, -5.5043, 4.6838, 1.9853, -0.0366, 0.0171, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The green fruit now fills the space immediately ahead of the fingertips at table height. I’m closing the jaws to test the grasp."})
tool
executing move_to over 10 steps (1.0s)
step 28
top_cam
camera top_cam step 28
left_cam
camera left_cam step 28
right_cam
camera right_cam step 28
assistant
agent noteThe jaws stopped at a fruit-sized opening rather than closing empty. I’m lifting a few centimetres to check that the green fruit comes with them.
move_to
right_z0.0950
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8062, 0.6132, -0.424, -0.0139, -0.0311, 0.9968, 0.1829, 1.5745, 0.281, 0.6773, 0.1856, 0.0475, 0.8275] state[eef_state]: left_x=0.2906 left_y=-0.0003 left_z=0.1718 left_yaw=0.0001 left_pitch=-0.0481 left_roll=-0.0002 left_gripper=0.9968 right_x=0.3443 right_y=0.0342 right_z=0.0161 right_yaw=-0.0005 right_pitch=-0.0374 right_roll=-0.0606 right_gripper=0.8275 state[joint_eff]: [-0.3214, -1.2376, 6.9812, 1.7363, -0.0366, -0.0464, -0.0122, 0.0205, -5.5043, 4.7932, 1.956, 0.0513, 0.0122, 1.033] camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.095},"note":"The jaws stopped at a fruit-sized opening rather than closing empty. I’m lifting a few centimetres to check that the green fruit comes with them."})
tool
executing move_to over 6 steps (0.6s)
step 34
top_cam
camera top_cam step 34
left_cam
camera left_cam step 34
right_cam
camera right_cam step 34
assistant
agent noteThe green fruit rose with the gripper and the grasp remains steady. I’m carrying it over the blue bowl with clearance above the rim.
move_to
right_x0.4350right_y0.1450right_z0.1900
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8078, 0.6132, -0.4255, -0.0139, -0.0311, 0.9968, 0.1829, 1.2213, 0.4267, 0.152, 0.1844, 0.0429, 0.8274] state[eef_state]: left_x=0.2905 left_y=-0.0003 left_z=0.1711 left_yaw=0.0001 left_pitch=-0.0511 left_roll=-0.0002 left_gripper=0.9968 right_x=0.3389 right_y=0.0334 right_z=0.0813 right_yaw=0.0027 right_pitch=-0.0636 right_roll=-0.0685 right_gripper=0.8274 state[joint_eff]: [-0.1436, -1.4291, 7.1453, 1.6777, -0.0366, -0.0611, -0.0122, -0.1436, -4.2598, 8.6496, 1.746, 0.0366, -0.0366, 1.033] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.435,"right_y":0.145,"right_z":0.19},"note":"The green fruit rose with the gripper and the grasp remains steady. I’m carrying it over the blue bowl with clearance above the rim."})
tool
executing move_to over 10 steps (1.0s)
step 44
top_cam
camera top_cam step 44
left_cam
camera left_cam step 44
right_cam
camera right_cam step 44
assistant
agent noteThe blue bowl is beneath the carried fruit. I’m lowering the fruit toward the opening and making a small centring adjustment before releasing it.
move_to
right_x0.4350right_y0.1600right_z0.1050
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4313, -0.0139, -0.0311, 0.9968, 0.4637, 1.6009, 1.177, -0.3153, 0.3855, 0.2031, 0.8275] state[eef_state]: left_x=0.2899 left_y=-0.0003 left_z=0.1687 left_yaw=0.0001 left_pitch=-0.0614 left_roll=0.0001 left_gripper=0.9968 right_x=0.4295 right_y=0.1445 right_z=0.1725 right_yaw=0.0285 right_pitch=-0.1092 right_roll=-0.0926 right_gripper=0.8275 state[joint_eff]: [-0.253, -1.7026, 7.0496, 1.7363, -0.0659, -0.0317, -0.0073, 0.0615, -7.8974, 9.4291, 1.6972, 0.3004, 0.2515, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 44): [image omitted: streamed camera frame] camera 'left_cam' (step 44): [image omitted: streamed camera frame] camera 'right_cam' (step 44): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.435,"right_y":0.16,"right_z":0.105},"note":"The blue bowl is beneath the carried fruit. I’m lowering the fruit toward the opening and making a small centring adjustment before releasing it."})
tool
executing move_to over 5 steps (0.5s)
step 49
top_cam
camera top_cam step 49
left_cam
camera left_cam step 49
right_cam
camera right_cam step 49
assistant
agent noteThe green fruit is centred over the blue bowl at a low release height. I’m opening the gripper to place it inside.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4419, -0.0139, -0.0311, 0.9968, 0.4938, 1.7336, 1.0344, -0.1005, 0.3893, 0.2031, 0.8275] state[eef_state]: left_x=0.2884 left_y=-0.0003 left_z=0.1663 left_yaw=0.0001 left_pitch=-0.0732 left_roll=0.0003 left_gripper=0.9968 right_x=0.4278 right_y=0.1582 right_z=0.0934 right_yaw=0.0521 right_pitch=-0.163 right_roll=-0.121 right_gripper=0.8275 state[joint_eff]: [-0.1709, -1.306, 7.0496, 1.7558, -0.0513, -0.022, -0.0122, 0.0889, -8.9641, 6.694, 1.9512, 0.3346, 0.2027, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The green fruit is centred over the blue bowl at a low release height. I’m opening the gripper to place it inside."})
tool
executing move_to over 2 steps (0.2s)
step 51
top_cam
camera top_cam step 51
left_cam
camera left_cam step 51
right_cam
camera right_cam step 51
assistant
agent noteThe green fruit has been released into the blue bowl; the small yellow fruit remains on the table to its left. I’m moving above that fruit and restoring the idle arm to its parked height.
move_to
right_x0.3500right_y0.2450right_z0.1600left_x0.2960left_y0.0000left_z0.1900
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4423, -0.0135, -0.0311, 0.9968, 0.4938, 1.7336, 1.0344, -0.102, 0.3882, 0.1982, 0.9934] state[eef_state]: left_x=0.2884 left_y=-0.0003 left_z=0.1662 left_yaw=-0.0002 left_pitch=-0.0736 left_roll=0.0001 left_gripper=0.9968 right_x=0.4276 right_y=0.1583 right_z=0.0931 right_yaw=0.0556 right_pitch=-0.1651 right_roll=-0.1247 right_gripper=0.9934 state[joint_eff]: [-0.2256, -1.2513, 6.9812, 1.663, -0.0562, -0.0562, -0.0073, -0.3624, -8.5812, 6.3111, 1.5311, 0.1001, 0.0757, 0.1538] camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.245,"right_z":0.16,"left_x":0.296,"left_y":0,"left_z":0.19},"note":"The green fruit has been released into the blue bowl; the small yellow fruit remains on the table to its left. I’m moving above that fruit and restoring the idle arm to its parked height."})
tool
executing move_to over 8 steps (0.8s)
step 59
top_cam
camera top_cam step 59
left_cam
camera left_cam step 59
right_cam
camera right_cam step 59
assistant
agent noteThe yellow fruit is slightly left of the jaw centre and still ahead of the fingertips. I’m advancing and lowering with the jaws open to straddle it.
move_to
right_x0.3800right_y0.2620right_z0.0250right_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, 0.857, 0.6792, -0.5213, -0.0135, -0.0338, 0.9968, 0.8162, 1.6791, 1.2079, -0.5243, 0.5838, 0.4606, 0.9943] state[eef_state]: left_x=0.2879 left_y=-0.0001 left_z=0.1687 left_yaw=0.0021 left_pitch=-0.1301 left_roll=-0.0007 left_gripper=0.9968 right_x=0.3508 right_y=0.2362 right_z=0.1344 right_yaw=0.0661 right_pitch=-0.2186 right_roll=-0.1706 right_gripper=0.9943 state[joint_eff]: [0.0342, -1.0325, 10.5094, 1.7851, -0.0366, 0.0415, -0.0073, 1.1556, -10.1538, 9.347, 1.37, 0.4615, 0.1538, 0.0855] camera 'top_cam' (step 59): [image omitted: streamed camera frame] camera 'left_cam' (step 59): [image omitted: streamed camera frame] camera 'right_cam' (step 59): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.38,"right_y":0.262,"right_z":0.025,"right_pitch":0,"right_roll":0},"note":"The yellow fruit is slightly left of the jaw centre and still ahead of the fingertips. I’m advancing and lowering with the jaws open to straddle it."})
tool
executing move_to over 8 steps (0.8s)
step 67
top_cam
camera top_cam step 67
left_cam
camera left_cam step 67
right_cam
camera right_cam step 67
assistant
agent noteThe yellow fruit is at grasp height, just to the right of the jaw centre. I’m correcting that small offset and closing around it.
move_to
right_y0.2380right_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, 0.8612, 0.6823, -0.5301, -0.0135, -0.0338, 0.9968, 0.8162, 1.9427, 0.9001, 0.2203, 0.6064, 0.4603, 0.9944] state[eef_state]: left_x=0.2872 left_y=-0.0001 left_z=0.1672 left_yaw=0.0022 left_pitch=-0.14 left_roll=-0.0005 left_gripper=0.9968 right_x=0.3706 right_y=0.2524 right_z=0.019 right_yaw=0.0683 right_pitch=-0.0796 right_roll=-0.0649 right_gripper=0.9944 state[joint_eff]: [-0.3077, -1.8803, 6.8718, 1.6825, -0.0415, -0.0562, -0.0122, 0.0889, -8.8547, 4.5607, 1.5507, 0.2857, -0.0366, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 67): [image omitted: streamed camera frame] camera 'left_cam' (step 67): [image omitted: streamed camera frame] camera 'right_cam' (step 67): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.238,"right_gripper":0},"note":"The yellow fruit is at grasp height, just to the right of the jaw centre. I’m correcting that small offset and closing around it."})
tool
executing move_to over 10 steps (1.0s)
step 77
top_cam
camera top_cam step 77
left_cam
camera left_cam step 77
right_cam
camera right_cam step 77
assistant
agent noteThe jaws closed almost completely, so that attempt did not hold the yellow fruit. I’m opening and adjusting two centimetres forward for a lower retry.
move_to
right_gripper1.0000right_x0.4030right_y0.2380right_z0.0100
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, 0.8631, 0.6823, -0.5358, -0.0135, -0.0334, 0.9968, 0.7891, 1.9087, 0.8757, 0.3031, 0.6209, 0.4168, 0.0341] state[eef_state]: left_x=0.2864 left_y=-0.0001 left_z=0.1657 left_yaw=0.002 left_pitch=-0.1476 left_roll=-0.0 left_gripper=0.9968 right_x=0.3831 right_y=0.2452 right_z=0.039 right_yaw=0.0566 right_pitch=-0.006 right_roll=-0.0458 right_gripper=0.0341 state[joint_eff]: [-0.1983, -1.4017, 6.8991, 1.707, -0.0317, -0.0171, -0.0073, -0.1299, -8.335, 3.1932, 1.033, -0.1148, 0.1929, 0.8864] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.403,"right_y":0.238,"right_z":0.01},"note":"The jaws closed almost completely, so that attempt did not hold the yellow fruit. I’m opening and adjusting two centimetres forward for a lower retry."})
tool
executing move_to over 10 steps (1.0s)
step 87
top_cam
camera top_cam step 87
left_cam
camera left_cam step 87
right_cam
camera right_cam step 87
assistant
agent noteThe open fingers are at the adjusted table-level position beside the bowl. I’m closing once more, then I’ll verify by lifting if the jaw opening indicates a grasp.
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, 0.8642, 0.6823, -0.5369, -0.0139, -0.0338, 0.9968, 0.7387, 1.9942, 0.8776, 0.4454, 0.5861, 0.3668, 0.9958] state[eef_state]: left_x=0.2862 left_y=-0.0 left_z=0.1651 left_yaw=0.0025 left_pitch=-0.1499 left_roll=0.0 left_gripper=0.9968 right_x=0.4035 right_y=0.2402 right_z=0.0239 right_yaw=0.0592 right_pitch=0.023 right_roll=-0.033 right_gripper=0.9958 state[joint_eff]: [-0.3624, -1.5521, 6.9675, 1.58, -0.0464, -0.0659, -0.0122, -0.6085, -6.8444, 5.7368, 1.4139, 0.0757, 0.1685, -0.1636] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 87): [image omitted: streamed camera frame] camera 'left_cam' (step 87): [image omitted: streamed camera frame] camera 'right_cam' (step 87): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The open fingers are at the adjusted table-level position beside the bowl. I’m closing once more, then I’ll verify by lifting if the jaw opening indicates a grasp."})
tool
executing move_to over 10 steps (1.0s)
step 97
top_cam
camera top_cam step 97
left_cam
camera left_cam step 97
right_cam
camera right_cam step 97
assistant
agent noteThe jaws stopped at a narrow opening, which could be a rim rather than the fruit. I’m making a short lift to identify what is held before moving anything sideways.
move_to
right_z0.1100
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8642, 0.6823, -0.5392, -0.0135, -0.0338, 0.9968, 0.7383, 1.9839, 0.8787, 0.4648, 0.6147, 0.3397, 0.1089] state[eef_state]: left_x=0.2859 left_y=-0.0001 left_z=0.1647 left_yaw=0.0022 left_pitch=-0.1522 left_roll=-0.0002 left_gripper=0.9968 right_x=0.4076 right_y=0.238 right_z=0.0339 right_yaw=0.0504 right_pitch=0.0573 right_roll=-0.0504 right_gripper=0.1089 state[joint_eff]: [-0.0752, -1.5658, 6.9265, 1.5897, -0.0317, -0.0415, -0.0122, -0.0205, -8.6085, 5.012, 1.4432, -0.1099, 0.2564, 0.6667] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.11},"note":"The jaws stopped at a narrow opening, which could be a rim rather than the fruit. I’m making a short lift to identify what is held before moving anything sideways."})
tool
executing move_to over 5 steps (0.5s)
step 102
top_cam
camera top_cam step 102
left_cam
camera left_cam step 102
right_cam
camera right_cam step 102
assistant
agent noteThe blue bowl moved with the gripper, so this is a rim grasp, not the remaining fruit. I’m setting the bowl back down before clearing the view.
move_to
right_z0.0400
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, 0.8642, 0.6823, -0.5396, -0.0135, -0.0338, 0.9968, 0.7391, 1.8305, 0.947, 0.1963, 0.5964, 0.3321, 0.1093] state[eef_state]: left_x=0.2858 left_y=-0.0001 left_z=0.1647 left_yaw=0.0022 left_pitch=-0.1526 left_roll=-0.0002 left_gripper=0.9968 right_x=0.4021 right_y=0.2371 right_z=0.0788 right_yaw=0.0704 right_pitch=0.0134 right_roll=-0.0776 right_gripper=0.1093 state[joint_eff]: [-0.1026, -1.6068, 7.1453, 1.58, -0.0562, -0.0317, -0.0073, -0.2667, -11.6444, 8.4444, 1.8095, 0.3297, 0.0513, 0.0317] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 102): [image omitted: streamed camera frame] camera 'left_cam' (step 102): [image omitted: streamed camera frame] camera 'right_cam' (step 102): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.04},"note":"The blue bowl moved with the gripper, so this is a rim grasp, not the remaining fruit. I’m setting the bowl back down before clearing the view."})
tool
executing move_to over 3 steps (0.3s)
step 105
top_cam
camera top_cam step 105
left_cam
camera left_cam step 105
right_cam
camera right_cam step 105
assistant
agent noteThe bowl is back at table height. I’m releasing its rim so I can approach the remaining yellow fruit separately.
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, 0.865, 0.6823, -0.5404, -0.0139, -0.0334, 0.9968, 0.7383, 1.9194, 0.9115, 0.2779, 0.5858, 0.3313, 0.1093] state[eef_state]: left_x=0.2857 left_y=-0.0 left_z=0.1643 left_yaw=0.0023 left_pitch=-0.1541 left_roll=0.0004 left_gripper=0.9968 right_x=0.3988 right_y=0.2358 right_z=0.0402 right_yaw=0.0781 right_pitch=-0.0245 right_roll=-0.0992 right_gripper=0.1093 state[joint_eff]: [-0.1846, -1.6479, 7.0632, 1.5751, -0.0562, 0.022, -0.0073, -0.0068, -10.4137, 5.559, 1.9072, 0.2955, -0.0122, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 105): [image omitted: streamed camera frame] camera 'left_cam' (step 105): [image omitted: streamed camera frame] camera 'right_cam' (step 105): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The bowl is back at table height. I’m releasing its rim so I can approach the remaining yellow fruit separately."})
tool
executing move_to over 9 steps (0.9s)
step 114
top_cam
camera top_cam step 114
left_cam
camera left_cam step 114
right_cam
camera right_cam step 114
assistant
agent noteI’ve released the bowl, but the gripper still blocks the small fruit in the overhead view. I’m lifting and backing away to locate it accurately rather than repeat the same approach.
move_to
right_x0.3000right_y0.1400right_z0.1700right_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, 0.865, 0.6823, -0.543, -0.0139, -0.0338, 0.9968, 0.7395, 1.9411, 0.8993, 0.2821, 0.5785, 0.3218, 0.9955] state[eef_state]: left_x=0.2853 left_y=0.0 left_z=0.1638 left_yaw=0.0026 left_pitch=-0.1568 left_roll=0.0002 left_gripper=0.9968 right_x=0.3945 right_y=0.234 right_z=0.0269 right_yaw=0.0891 right_pitch=-0.0517 right_roll=-0.1212 right_gripper=0.9955 state[joint_eff]: [-0.0342, -1.4701, 6.9128, 1.5946, -0.0611, -0.0415, -0.0122, -0.2667, -11.0564, 6.188, 1.4921, 0.2857, 0.0806, -0.0366] camera 'top_cam' (step 114): [image omitted: streamed camera frame] camera 'left_cam' (step 114): [image omitted: streamed camera frame] camera 'right_cam' (step 114): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0.14,"right_z":0.17,"right_pitch":0,"right_roll":0},"note":"I’ve released the bowl, but the gripper still blocks the small fruit in the overhead view. I’m lifting and backing away to locate it accurately rather than repeat the same approach."})
tool
executing move_to over 10 steps (1.0s)
step 124
top_cam
camera top_cam step 124
left_cam
camera left_cam step 124
right_cam
camera right_cam step 124
assistant
agent noteThe yellow fruit is now clearly visible in front of the blue bowl, closer to the base than before. I’m approaching this new position from the open side, keeping clear of the bowl’s rim.
move_to
right_x0.2700right_y0.1950right_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, 0.8696, 0.6823, -0.5541, -0.0135, -0.0338, 0.9968, 0.683, 1.1019, 0.675, -0.1928, 0.4999, 0.3252, 0.9964] state[eef_state]: left_x=0.2837 left_y=-0.0 left_z=0.1606 left_yaw=0.0023 left_pitch=-0.1724 left_roll=0.0003 left_gripper=0.9968 right_x=0.3086 right_y=0.1466 right_z=0.1701 right_yaw=0.0927 right_pitch=0.0333 right_roll=0.0036 right_gripper=0.9964 state[joint_eff]: [-0.1573, -1.4564, 6.8855, 1.7607, -0.0171, -0.0513, -0.0122, -0.4171, -2.865, 7.7197, 1.7607, 0.1343, 0.1636, 0.0904] camera 'top_cam' (step 124): [image omitted: streamed camera frame] camera 'left_cam' (step 124): [image omitted: streamed camera frame] camera 'right_cam' (step 124): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.27,"right_y":0.195,"right_z":0.025},"note":"The yellow fruit is now clearly visible in front of the blue bowl, closer to the base than before. I’m approaching this new position from the open side, keeping clear of the bowl’s rim."})
tool
executing move_to over 10 steps (1.0s)
step 134
top_cam
camera top_cam step 134
left_cam
camera left_cam step 134
right_cam
camera right_cam step 134
assistant
agent noteThe yellow fruit is centred nearly between the jaws but remains ahead of the fingertips with visible space below it. I’m advancing four centimetres and making a small leftward correction.
move_to
right_x0.3100right_y0.2070right_z0.0150
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, 0.6823, -0.5587, -0.0135, -0.0338, 0.9968, 0.9623, 1.5848, 0.3717, 0.3889, 0.6846, 0.5114, 0.9965] state[eef_state]: left_x=0.2831 left_y=-0.0 left_z=0.1587 left_yaw=0.0023 left_pitch=-0.1808 left_roll=0.0005 left_gripper=0.9968 right_x=0.2638 right_y=0.1895 right_z=0.0157 right_yaw=0.1312 right_pitch=-0.0383 right_roll=-0.0653 right_gripper=0.9965 state[joint_eff]: [-0.2393, -1.935, 6.8855, 1.6093, -0.0611, -0.0366, -0.0122, 0.2393, -6.147, 4.0137, 1.6239, 0.6325, 0.1832, -0.0024] camera 'top_cam' (step 134): [image omitted: streamed camera frame] camera 'left_cam' (step 134): [image omitted: streamed camera frame] camera 'right_cam' (step 134): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.31,"right_y":0.207,"right_z":0.015},"note":"The yellow fruit is centred nearly between the jaws but remains ahead of the fingertips with visible space below it. I’m advancing four centimetres and making a small leftward correction."})
tool
executing move_to over 4 steps (0.4s)
step 138
top_cam
camera top_cam step 138
left_cam
camera left_cam step 138
right_cam
camera right_cam step 138
assistant
agent noteThe yellow fruit now extends into the fingertip region and is clear of the bowl. I’m closing around it at this corrected position.
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, 0.8768, 0.6823, -0.5632, -0.0139, -0.0338, 0.9968, 0.86, 1.7214, 0.4938, 0.4377, 0.6266, 0.4435, 0.9966] state[eef_state]: left_x=0.2825 left_y=0.0001 left_z=0.157 left_yaw=0.0027 left_pitch=-0.1888 left_roll=0.0009 left_gripper=0.9968 right_x=0.3033 right_y=0.199 right_z=0.0112 right_yaw=0.1079 right_pitch=-0.0466 right_roll=-0.067 right_gripper=0.9966 state[joint_eff]: [-0.1983, -1.347, 6.8581, 1.5995, -0.0806, -0.0708, -0.0122, -0.212, -6.5436, 5.135, 1.5067, 0.2466, -0.0415, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 138): [image omitted: streamed camera frame] camera 'left_cam' (step 138): [image omitted: streamed camera frame] camera 'right_cam' (step 138): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The yellow fruit now extends into the fingertip region and is clear of the bowl. I’m closing around it at this corrected position."})
tool
executing move_to over 10 steps (1.0s)
step 148
top_cam
camera top_cam step 148
left_cam
camera left_cam step 148
right_cam
camera right_cam step 148
assistant
agent noteThe jaws stopped at about five centimetres, consistent with the yellow fruit’s width. I’m lifting it to confirm the grasp before placing it into the blue 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, 0.8791, 0.6823, -0.5652, -0.0139, -0.0334, 0.9968, 0.8543, 1.7336, 0.5076, 0.4438, 0.6044, 0.4103, 0.5262] state[eef_state]: left_x=0.2822 left_y=0.0001 left_z=0.1561 left_yaw=0.0025 left_pitch=-0.193 left_roll=0.0013 left_gripper=0.9968 right_x=0.3061 right_y=0.2041 right_z=0.0105 right_yaw=0.1364 right_pitch=-0.0528 right_roll=-0.0774 right_gripper=0.5262 state[joint_eff]: [-0.3487, -1.5248, 6.8581, 1.6337, -0.0464, -0.0317, -0.0122, -0.2667, -6.5709, 5.3675, 1.5214, 0.1783, 0.0024, 1.0281] camera 'top_cam' (step 148): [image omitted: streamed camera frame] camera 'left_cam' (step 148): [image omitted: streamed camera frame] camera 'right_cam' (step 148): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.09},"note":"The jaws stopped at about five centimetres, consistent with the yellow fruit’s width. I’m lifting it to confirm the grasp before placing it into the blue bowl."})
tool
executing move_to over 6 steps (0.6s)
step 154
top_cam
camera top_cam step 154
left_cam
camera left_cam step 154
right_cam
camera right_cam step 154
assistant
agent noteThe yellow fruit rose with the gripper. I’m carrying it above the blue bowl, which already contains the green fruit.
move_to
right_x0.4350right_y0.1700right_z0.1900
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8799, 0.6823, -0.5655, -0.0139, -0.0338, 0.9968, 0.8543, 1.4715, 0.6262, 0.0803, 0.5972, 0.4068, 0.5302] state[eef_state]: left_x=0.2822 left_y=0.0001 left_z=0.1558 left_yaw=0.0027 left_pitch=-0.1941 left_roll=0.0011 left_gripper=0.9968 right_x=0.3068 right_y=0.2066 right_z=0.0816 right_yaw=0.1442 right_pitch=-0.0433 right_roll=-0.0651 right_gripper=0.5302 state[joint_eff]: [-0.1983, -1.6205, 6.8581, 1.6239, -0.0513, -0.0366, -0.0122, -0.0889, -6.3795, 7.6513, 1.5214, 0.2857, 0.0024, 0.9499] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 154): [image omitted: streamed camera frame] camera 'left_cam' (step 154): [image omitted: streamed camera frame] camera 'right_cam' (step 154): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.435,"right_y":0.17,"right_z":0.19},"note":"The yellow fruit rose with the gripper. I’m carrying it above the blue bowl, which already contains the green fruit."})
tool
executing move_to over 10 steps (1.0s)
step 164
top_cam
camera top_cam step 164
left_cam
camera left_cam step 164
right_cam
camera right_cam step 164
assistant
agent noteThe yellow fruit is directly over the blue bowl with room beside the green fruit. I’m releasing it so both fruits are in the blue bowl before pouring.
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, 0.8818, 0.6823, -0.5751, -0.0139, -0.0338, 0.9968, 0.4953, 1.5814, 1.1301, -0.2161, 0.3344, 0.1551, 0.5309] state[eef_state]: left_x=0.2807 left_y=0.0001 left_z=0.1536 left_yaw=0.0028 left_pitch=-0.2056 left_roll=0.0014 left_gripper=0.9968 right_x=0.4267 right_y=0.1687 right_z=0.1766 right_yaw=0.13 right_pitch=-0.0583 right_roll=-0.0724 right_gripper=0.5309 state[joint_eff]: [-0.1573, -1.3607, 6.8444, 1.6435, -0.022, -0.0708, -0.0122, -0.3897, -7.4598, 8.6359, 1.5018, 0.0171, -0.0659, 1.0037] camera 'top_cam' (step 164): [image omitted: streamed camera frame] camera 'left_cam' (step 164): [image omitted: streamed camera frame] camera 'right_cam' (step 164): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The yellow fruit is directly over the blue bowl with room beside the green fruit. I’m releasing it so both fruits are in the blue bowl before pouring."})
tool
executing move_to over 5 steps (0.5s)
step 169
top_cam
camera top_cam step 169
left_cam
camera left_cam step 169
right_cam
camera right_cam step 169
assistant
agent noteBoth fruits are visible inside the blue bowl. I’m lowering the open gripper around the bowl’s right-hand rim so I can lift it and pour toward the white bowl on the left.
move_to
right_x0.4120right_y0.0750right_z0.0450right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8825, 0.6823, -0.5808, -0.0135, -0.0338, 0.9968, 0.4953, 1.5913, 1.1336, -0.2371, 0.3202, 0.1467, 0.9957] state[eef_state]: left_x=0.2797 left_y=0.0001 left_z=0.1524 left_yaw=0.0025 left_pitch=-0.2121 left_roll=0.0012 left_gripper=0.9968 right_x=0.4245 right_y=0.1702 right_z=0.1694 right_yaw=0.1454 right_pitch=-0.0875 right_roll=-0.0804 right_gripper=0.9957 state[joint_eff]: [-0.2803, -1.7573, 7.0359, 1.5946, -0.0317, -0.0611, -0.0073, -0.3487, -8.5538, 6.5983, 1.7949, 0.1832, 0.1197, -0.0269] camera 'top_cam' (step 169): [image omitted: streamed camera frame] camera 'left_cam' (step 169): [image omitted: streamed camera frame] camera 'right_cam' (step 169): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.412,"right_y":0.075,"right_z":0.045,"right_yaw":0,"right_pitch":0,"right_roll":0},"note":"Both fruits are visible inside the blue bowl. I’m lowering the open gripper around the bowl’s right-hand rim so I can lift it and pour toward the white bowl on the left."})
tool
executing move_to over 9 steps (0.9s)
step 178
top_cam
camera top_cam step 178
left_cam
camera left_cam step 178
right_cam
camera right_cam step 178
assistant
agent noteThe wrist view shows the bowl’s outer rim slightly to the right of the jaw centre, with fruit inside it. I’m shifting outward so the jaws pinch the rim rather than a fruit.
move_to
right_y0.0500right_z0.0400
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, 0.6823, -0.5877, -0.0139, -0.0338, 0.9968, 0.2848, 1.6707, 0.6128, 0.4557, 0.2207, 0.1482, 0.9965] state[eef_state]: left_x=0.2786 left_y=0.0002 left_z=0.1507 left_yaw=0.0028 left_pitch=-0.2208 left_roll=0.0017 left_gripper=0.9968 right_x=0.4118 right_y=0.084 right_z=0.0535 right_yaw=0.0179 right_pitch=-0.0175 right_roll=0.0063 right_gripper=0.9965 state[joint_eff]: [-0.3897, -1.8393, 6.8308, 1.619, -0.0269, -0.0464, -0.0122, -0.6906, -5.4769, 4.6974, 1.033, 0.3492, -0.2027, 0.0708] camera 'top_cam' (step 178): [image omitted: streamed camera frame] camera 'left_cam' (step 178): [image omitted: streamed camera frame] camera 'right_cam' (step 178): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.05,"right_z":0.04},"note":"The wrist view shows the bowl’s outer rim slightly to the right of the jaw centre, with fruit inside it. I’m shifting outward so the jaws pinch the rim rather than a fruit."})
tool
executing move_to over 3 steps (0.3s)
step 181
top_cam
camera top_cam step 181
left_cam
camera left_cam step 181
right_cam
camera right_cam step 181
assistant
agent noteThe fingers are down alongside the bowl’s near-right edge. I’m closing gently on that edge and will verify that the entire bowl lifts before transporting it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8845, 0.6823, -0.5884, -0.0135, -0.0338, 0.9968, 0.1841, 1.6981, 0.5713, 0.5228, 0.1448, 0.1032, 0.9966] state[eef_state]: left_x=0.2784 left_y=0.0001 left_z=0.1506 left_yaw=0.0025 left_pitch=-0.2216 left_roll=0.0015 left_gripper=0.9968 right_x=0.4116 right_y=0.0544 right_z=0.0395 right_yaw=0.005 right_pitch=-0.0287 right_roll=0.0105 right_gripper=0.9966 state[joint_eff]: [-0.1983, -1.5932, 6.8444, 1.5263, -0.0415, -0.022, -0.0122, -0.1846, -7.0359, 4.6701, 1.9853, 0.0269, -0.0366, -0.0073] camera 'top_cam' (step 181): [image omitted: streamed camera frame] camera 'left_cam' (step 181): [image omitted: streamed camera frame] camera 'right_cam' (step 181): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The fingers are down alongside the bowl’s near-right edge. I’m closing gently on that edge and will verify that the entire bowl lifts before transporting it."})
tool
executing move_to over 10 steps (1.0s)
step 191
assistant
agent noteThe jaws have a firm, wide contact, and the bowl is visible beside the fruits. I’m lifting vertically to check whether the rim grasp carries the bowl and both fruits together.
move_to
right_z0.1900
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8856, 0.6823, -0.598, -0.0135, -0.0338, 0.9968, 0.1661, 1.6833, 0.5716, 0.617, 0.099, 0.0933, 0.6987] state[eef_state]: left_x=0.2768 left_y=0.0001 left_z=0.1486 left_yaw=0.0026 left_pitch=-0.2323 left_roll=0.0017 left_gripper=0.9968 right_x=0.425 right_y=0.0572 right_z=0.0648 right_yaw=0.0305 right_pitch=0.0757 right_roll=0.0428 right_gripper=0.6987 state[joint_eff]: [-0.1983, -1.7846, 6.8171, 1.6825, -0.0415, -0.0708, -0.0122, -0.4581, -5.7094, 4.1641, 1.1355, 0.2271, -0.2076, 1.0134] camera 'top_cam' (step 191): [image omitted: streamed camera frame] camera 'left_cam' (step 191): [image omitted: streamed camera frame] camera 'right_cam' (step 191): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.19},"note":"The jaws have a firm, wide contact, and the bowl is visible beside the fruits. I’m lifting vertically to check whether the rim grasp carries the bowl and both fruits together."})
tool
executing move_to over 9 steps (0.9s)
step 200
assistant
agent noteThe bowl tilted during the lift and the yellow fruit escaped toward the far edge of the table. I’m lowering the bowl immediately to leave it stable before assessing whether the fruit is reachable.
move_to
right_z0.0550
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, 0.886, 0.6823, -0.6022, -0.0139, -0.0334, 0.9968, 0.1673, 1.4006, 0.8356, 0.062, 0.0956, 0.0849, 0.6985] state[eef_state]: left_x=0.2761 left_y=0.0002 left_z=0.1478 left_yaw=0.0027 left_pitch=-0.2368 left_roll=0.0024 left_gripper=0.9968 right_x=0.4262 right_y=0.0585 right_z=0.1733 right_yaw=0.0392 right_pitch=0.0674 right_roll=0.0359 right_gripper=0.6985 state[joint_eff]: [-0.1299, -1.6342, 6.8171, 1.5507, -0.0317, -0.0122, -0.0073, -0.4444, -7.5282, 8.7863, 1.8632, 0.0415, 0.0611, -0.0415] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 200): [image omitted: streamed camera frame] camera 'left_cam' (step 200): [image omitted: streamed camera frame] camera 'right_cam' (step 200): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.055},"note":"The bowl tilted during the lift and the yellow fruit escaped toward the far edge of the table. I’m lowering the bowl immediately to leave it stable before assessing whether the fruit is reachable."})
tool
executing move_to over 8 steps (0.8s)
step 208
assistant
agent noteThe blue bowl is back at table height with the green fruit still inside. I’m releasing the bowl; the yellow fruit has rolled to the far boundary, beyond the arm’s table-level reach.
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, 0.8864, 0.6823, -0.606, -0.0139, -0.0338, 0.9968, 0.1673, 1.7035, 0.5827, 0.5495, 0.0978, 0.0853, 0.6985] state[eef_state]: left_x=0.2754 left_y=0.0002 left_z=0.1471 left_yaw=0.003 left_pitch=-0.241 left_roll=0.0022 left_gripper=0.9968 right_x=0.4189 right_y=0.0569 right_z=0.0464 right_yaw=0.0373 right_pitch=-0.0002 right_roll=0.0263 right_gripper=0.6985 state[joint_eff]: [-0.1846, -1.6752, 6.9949, 1.5458, -0.0562, -0.022, -0.0122, -0.3214, -7.0085, 4.8342, 1.6728, 0.0269, -0.0171, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 208): [image omitted: streamed camera frame] camera 'left_cam' (step 208): [image omitted: streamed camera frame] camera 'right_cam' (step 208): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The blue bowl is back at table height with the green fruit still inside. I’m releasing the bowl; the yellow fruit has rolled to the far boundary, beyond the arm’s table-level reach."})
tool
executing move_to over 4 steps (0.4s)
step 212
assistant
agent noteThe bowl is released and the yellow fruit remains at the far fence. I’m parking both arms clear of the objects because that fruit cannot be safely recovered within the allowed workspace.
move_to
right_x0.2960right_y0.0000right_z0.2000right_pitch0.0000right_roll0.0000left_x0.2960left_y0.0000left_z0.2000left_pitch0.0000left_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, 0.6823, -0.6067, -0.0135, -0.0338, 0.9968, 0.1661, 1.7187, 0.5766, 0.5667, 0.0956, 0.0856, 0.9961] state[eef_state]: left_x=0.2753 left_y=0.0002 left_z=0.147 left_yaw=0.0026 left_pitch=-0.2418 left_roll=0.002 left_gripper=0.9968 right_x=0.4182 right_y=0.0567 right_z=0.0416 right_yaw=0.0379 right_pitch=-0.0045 right_roll=0.0273 right_gripper=0.9961 state[joint_eff]: [-0.335, -1.4701, 6.8444, 1.4921, -0.0562, -0.0269, -0.0122, -0.1026, -8.1162, 5.5179, 1.5995, 0.022, -0.022, -0.0659] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 212): [image omitted: streamed camera frame] camera 'left_cam' (step 212): [image omitted: streamed camera frame] camera 'right_cam' (step 212): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.296,"right_y":0,"right_z":0.2,"right_pitch":0,"right_roll":0,"left_x":0.296,"left_y":0,"left_z":0.2,"left_pitch":0,"left_roll":0},"note":"The bowl is released and the yellow fruit remains at the far fence. I’m parking both arms clear of the objects because that fruit cannot be safely recovered within the allowed workspace."})
tool
executing move_to over 11 steps (1.1s)
step 223
assistant
agent noteBoth fruits were placed in the blue bowl, but the bowl tipped during the attempted lift and the yellow fruit rolled to the far fence, beyond the permitted table-level reach. The pouring step was not completed. I released the blue bowl with the green fruit inside and parked both arms; operator assistance is needed to return the yellow fruit within reach.
give_up
hindsightA right-arm pinch at approximately x=0.40, y=0.24, z=0.04 caught the blue bowl's left rim with a settled gripper opening of about 0.11 and lifted it. The later opposite-side grasp had a much larger opening (~0.70), was not a clean rim pinch, and tipped the bowl, ejecting the small fruit. Treat such a wide bowl grasp as suspect and regrasp before lifting. Approaching the small fruit near the bowl can push it toward the base; re-localize after an empty close instead of assuming it remains at its original position.
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8211, 0.6823, -0.4973, -0.0139, -0.0338, 0.9968, -0.0467, 0.8341, 0.6464, -0.345, -0.0471, -0.0387, 0.9971] state[eef_state]: left_x=0.2897 left_y=-0.0001 left_z=0.1843 left_yaw=0.0023 left_pitch=-0.0671 left_roll=-0.002 left_gripper=0.9968 right_x=0.3073 right_y=-0.0024 right_z=0.1957 right_yaw=0.0122 right_pitch=0.036 right_roll=-0.0021 right_gripper=0.9971 state[joint_eff]: [-0.3214, -2.3316, 7.2957, 1.956, -0.0904, -0.0317, -0.0122, -0.2803, -1.6342, 9.2513, 1.6972, -0.1538, -0.0611, 0.0904] camera 'top_cam' (step 223): [image omitted: streamed camera frame] camera 'left_cam' (step 223): [image omitted: streamed camera frame] camera 'right_cam' (step 223): [image omitted: streamed camera frame]
assistant
give_up({"reason":"Both fruits were placed in the blue bowl, but the bowl tipped during the attempted lift and the yellow fruit rolled to the far fence, beyond the permitted table-level reach. The pouring step was not completed. I released the blue bowl with the green fruit inside and parked both arms; operator assistance is needed to return the yellow fruit within reach.","hindsight":"A right-arm pinch at approximately x=0.40, y=0.24, z=0.04 caught the blue bowl's left rim with a settled gripper opening of about 0.11 and lifted it. The later opposite-side grasp had a much larger opening (~0.70), was not a clean rim pinch, and tipped the bowl, ejecting the small fruit. Treat such a wide bowl grasp as suspect and regrasp before lifting. Approaching the small fruit near the bowl can push it toward the base; re-localize after an empty close instead of assuming it remains at its original position."})
tool
give_up: Both fruits were placed in the blue bowl, but the bowl tipped during the attempted lift and the yellow fruit rolled to the far fence, beyond the permitted table-level reach. The pouring step was not completed. I released the blue bowl with the green fruit inside and parked both arms; operator assistance is needed to return the yellow fruit within reach.
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 · 5.919 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, 0.9972, -0.0227, 0.8005, 0.6189, -0.3866, -0.017, -0.0193, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=-0.0002 left_z=0.1822 left_yaw=0.0003 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9972 right_x=0.2961 right_y=-0.0001 right_z=0.1837 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.3487, -1.7436, 9.6342, 1.8242, -0.0952, 0.1343, -0.2955, -0.1299, -1.7846, 9.1282, 1.8144, -0.0611, -0.0024, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00b000996fc75a9e4bda64f7265f29ac8d5e5a55a428c8ab0e8f057f09a319f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63425693db5a041db88e6ef8dc98a8979157a1ceb1572094810f102436ff38f3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:950917d5368cf1e07364e84edb81bc66e2681e30a3637ab10bc9e931fb7a0674",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 5.562 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
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  "id": "rs_0000b7f8d7276998016ab45e911a5087d084b1b0e0c540563d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.10,\"right_z\":0.13,\"right_gripper\":1},\"note\":\"I see two fruits beside the blue bowl: a small yellow fruit and a pear-shaped green fruit. I’m approaching the green fruit with the right gripper, keeping the left arm parked.\"}",
  "call_id": "call_jkf5KXafuxjPzUHPCWm7fF79",
  "id": "fc_0000b7f8d7276998016ab45e94b7e087d09ab4971b38e9ac83",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jkf5KXafuxjPzUHPCWm7fF79",
  "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]: [-0.0219, 0.8059, 0.6132, -0.3973, -0.0139, -0.0307, 0.9968, 0.4301, 1.2877, 0.6102, 0.0025, 0.3439, 0.2108, 0.9994]\nstate[eef_state]: left_x=0.2944 left_y=-0.0004 left_z=0.1774 left_yaw=-0.0001 left_pitch=-0.021 left_roll=-0.0005 left_gripper=0.9968 right_x=0.35 right_y=0.099 right_z=0.1111 right_yaw=0.0268 right_pitch=-0.0614 right_roll=-0.0356 right_gripper=0.9994\nstate[joint_eff]: [-0.0205, -1.4017, 7.0769, 1.8877, -0.0708, -0.0611, -0.0513, -0.2803, -5.1487, 8.4308, 1.9023, 0.2564, 0.2027, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f558170102bc0402b885a7d55b3536ab93d64f9c27facd7a28b4b40c9fc13576",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:718872fe2feca558b074a87959f75b64cefbd0679078b05c9961cba443e00893",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:deaf24165c0eb56c1490363d7a3aa7267254803eb9d65745119b3be100bbf6e2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 2 attempt 0 · /responses · status 200 · 4.655 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, 0.9972, -0.0227, 0.8005, 0.6189, -0.3866, -0.017, -0.0193, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=-0.0002 left_z=0.1822 left_yaw=0.0003 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9972 right_x=0.2961 right_y=-0.0001 right_z=0.1837 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.3487, -1.7436, 9.6342, 1.8242, -0.0952, 0.1343, -0.2955, -0.1299, -1.7846, 9.1282, 1.8144, -0.0611, -0.0024, -0.0708]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.3973, -0.0139, -0.0307, 0.9968, 0.4301, 1.2877, 0.6102, 0.0025, 0.3439, 0.2108, 0.9994]\nstate[eef_state]: left_x=0.2944 left_y=-0.0004 left_z=0.1774 left_yaw=-0.0001 left_pitch=-0.021 left_roll=-0.0005 left_gripper=0.9968 right_x=0.35 right_y=0.099 right_z=0.1111 right_yaw=0.0268 right_pitch=-0.0614 right_roll=-0.0356 right_gripper=0.9994\nstate[joint_eff]: [-0.0205, -1.4017, 7.0769, 1.8877, -0.0708, -0.0611, -0.0513, -0.2803, -5.1487, 8.4308, 1.9023, 0.2564, 0.2027, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f558170102bc0402b885a7d55b3536ab93d64f9c27facd7a28b4b40c9fc13576",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:718872fe2feca558b074a87959f75b64cefbd0679078b05c9961cba443e00893",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:deaf24165c0eb56c1490363d7a3aa7267254803eb9d65745119b3be100bbf6e2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF6jMSJyQpa0spVjpBrOZc1W_omthgBM1u0glZhbycNaOuNP3rUPCsTf0OrhnEcCC_LLvDZhVtwzItHNUJMwwwDhzAqPGr1uW8UNEsZt5xKEziJ3B2KR2NLMsccynZz1mzDlwbnpRwSkEWVffrnAH9T4yqitWjYy98bU8k4Im-dYOsfN3wrtDihg0MMWouFpqotnJr8RfPavLxY7TueUwL15_lxogAfdj31tDaDuUnqoetggZzssoqTNvt9GFpZFWJa0czcdhohwbousrMwzlHaGPfeNmTmBlCGdqVljueRoh6baw6FegwiRFLE-0c5WrssGFnN2hEY-3Qh8WfEqKxq7-5pKGzJyDdacoqUPyoXZl0Fp8K6sCdMIPhhVM62QLM4wokVZpJRV_-7_7W7SQa8was46HmU9Nh_j5q05b4rvMzKvSaS-IPOq8qldu4plDIoeKT_2JhM-ECYB6_KZW_MUjAQZlUIpvOo3qkVMpYerMt7EJ4EP0-BvnYpNdPwczfs5OBslZ6tegYloOakEOOhnSEqevhBZo3kgns-pXEq4uujtXI_C1AJ75uhNkcmvdNR_cCJHQ5TLm337a-XHaYp6-SohnH3qfNWydqGnDU1So-kICCiszpKwwLdAud5egUv0owoq4GYl-ODzv5I6l84SS_4sxEI8vAlPPGyhe6WUY-5buYdNw3jutzLbnfPNGM5n2YqjUGiaYekqdySxBtV4DepBv41zYjAEN_JGvY40vY_iG0XQBeiLoW8UaezfftDyHGhz1ecgzctocgv1WEKZ5FlboE_YWTpovR93QS_D3cF-iQFpM5M5Z04jEFZdjr-dAPnTFAtzKinZ4ru7mrvkRBy3tdORhneTEjO-HgHlVP8gUUh6a8izFfTF8SyB6q4L8T4jQxBFwxL_cryET-8eo-Fb7aMPO3yrpf_YmgAuO5FPTRB5TSIT6E3cCoQS08o3IrJvGmL5sD4LUe-t-r_UXoD3yYYbZcR7feEWLNltO5vKe3YNyhwe826Qkn_cYaaYlcLxUxMC6rYNBZ25153gkrk585AKNYNglha7-ENGvZmTB_O247AWuycHYzfMYp2bAcwqyukGrXMDn-GKQA8I8gmYUJpQA5GZ1cG6EjJKbCa7TECyBp1RGlGIK1y-1eK26IRHI1d3oNYDzhhgOJIv4jdCiCYPXPCOQv5rfMjbc32IL3FHFBdc_H3t-Kivc2sieGWOziyvyk4ThyQNdS7ENkTfkhSounTfBuxJhGtj0VnTOr4UdEKAtnmCeenjlWJHFZJ7NJ5c-0E-T3CNmnUYpJQK2JsvVTD4St3qFShVnWXDQIN4hpE0KW58GBz_lU4E6jHAJdTsS-nXZ1ghfdv4hTcoifHrEzyhq5m3aigi1pFzT25PRpSP_03oW4eKnuPBJLZ4fSRemPrpupx95ainx2DloPz1Cd-r8I-4MxTZ1YaQNMhu8nIObsjuee9I6R3vHcrbe4fY9Hg9nmA8tidvUhsuZOAqPjlLIp6i9oYRjbl-lLwoSs1fxSokavHV5j7UXlAJL89wn5eLkSJZNDnLDJgyf2EawCY_VqCknG-Q4NJMGo1LtKtVdpNIlk6pOk96ylVGgc9hVAoM7l0cEvSH1lr9K6uzJC2Jj4mXZ_FIRWlPQG9YZT_CxsWOhszNtvQQPLKOqI2hcQ30cdhOeR6nfn9SOeiRUFY6JnOfDCrAmOFQMQ9IsWcZ9DupkBZBA2h-tAE-ZL_fedBTvrfX0-wYFxfRXUp9Two9WZm-85sqljDyOxeQ_qqL8B9RfGJJc5LcxNdZQ1D5wDj_zIKS7fWtDQ9MhYliAPVFsBl0elIeVP1j0f_Ip5iYGbqLcO_AW6Ja",
  "id": "rs_0000b7f8d7276998016ab45e9f0a1487d088ddfe91b1e458bd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.055,\"right_z\":0.035},\"note\":\"The green fruit is just to the right of the jaw centre in the wrist view. I’m shifting over it and lowering to grip around its middle, away from the blue bowl.\"}",
  "call_id": "call_Fq7aSaqoKUvsXyv7wViFM2Bg",
  "id": "fc_0000b7f8d7276998016ab45ea1fb5c87d0a2743b4aafaf460e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Fq7aSaqoKUvsXyv7wViFM2Bg",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8062, 0.6132, -0.408, -0.0139, -0.0311, 0.9968, 0.2363, 1.4551, 0.3977, 0.5728, 0.2455, 0.0624, 0.9994]\nstate[eef_state]: left_x=0.2929 left_y=-0.0004 left_z=0.1751 left_yaw=0.0001 left_pitch=-0.032 left_roll=-0.0006 left_gripper=0.9968 right_x=0.3747 right_y=0.0498 right_z=0.078 right_yaw=-0.0062 right_pitch=0.0983 right_roll=-0.0507 right_gripper=0.9994\nstate[joint_eff]: [-0.0068, -1.347, 7.0085, 1.8388, -0.0562, -0.0317, -0.0171, 0.1573, -2.7966, 3.0291, 0.7839, -0.4908, 0.2027, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca8f881ad1fd4b6e7cfedc58723c8b50d89c2adcf68802599a9ca33650277fe7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1c0657c0ff9ba919ee524124756bbc5d9c196642a7236df3fa925333bf5657e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6afc34a1f30bf496caf5dc4f2e3b54eeeff8d966d206a939cf304284acca8a7c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 3 attempt 0 · /responses · status 200 · 5.451 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 10 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.3973, -0.0139, -0.0307, 0.9968, 0.4301, 1.2877, 0.6102, 0.0025, 0.3439, 0.2108, 0.9994]\nstate[eef_state]: left_x=0.2944 left_y=-0.0004 left_z=0.1774 left_yaw=-0.0001 left_pitch=-0.021 left_roll=-0.0005 left_gripper=0.9968 right_x=0.35 right_y=0.099 right_z=0.1111 right_yaw=0.0268 right_pitch=-0.0614 right_roll=-0.0356 right_gripper=0.9994\nstate[joint_eff]: [-0.0205, -1.4017, 7.0769, 1.8877, -0.0708, -0.0611, -0.0513, -0.2803, -5.1487, 8.4308, 1.9023, 0.2564, 0.2027, -0.0757]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8062, 0.6132, -0.408, -0.0139, -0.0311, 0.9968, 0.2363, 1.4551, 0.3977, 0.5728, 0.2455, 0.0624, 0.9994]\nstate[eef_state]: left_x=0.2929 left_y=-0.0004 left_z=0.1751 left_yaw=0.0001 left_pitch=-0.032 left_roll=-0.0006 left_gripper=0.9968 right_x=0.3747 right_y=0.0498 right_z=0.078 right_yaw=-0.0062 right_pitch=0.0983 right_roll=-0.0507 right_gripper=0.9994\nstate[joint_eff]: [-0.0068, -1.347, 7.0085, 1.8388, -0.0562, -0.0317, -0.0171, 0.1573, -2.7966, 3.0291, 0.7839, -0.4908, 0.2027, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca8f881ad1fd4b6e7cfedc58723c8b50d89c2adcf68802599a9ca33650277fe7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1c0657c0ff9ba919ee524124756bbc5d9c196642a7236df3fa925333bf5657e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6afc34a1f30bf496caf5dc4f2e3b54eeeff8d966d206a939cf304284acca8a7c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF6qfYTz1YPlRwkSe_Vm6gNhqXiskI-SlVAU0r2J7Oz5UHM9XbQuYujHAtEXnwi9h106zyBH1TzJkAKVkcZ-BbukT-pj3jlBRqPUOMlGtIdk14Iu4I3eXk6gkxCuad_dQl1Z2PCEbtUUyAY-qe8LNsdP6hFwqmKnhj3fmI0agIQheDPGkdkv32Fn4vR6XAFCyvBYObkVDybr6JHloiCZjYFO8Psn7o1NrNKNlODlR7h3QC5ZTYCnG-mvOZ3-4RuO7FYHG8kmjBWgXSqv-JPN3q_P2OPKKRspsN2GnA_JWnZpNg7_0ERMPi4HOvh-AV5PeBxAhEnQ2jz7MMR4nwRTl866xgcDl-YNJ87suC9Vgw1_8vabZgtnxwu_dEMMR0bSnBYLgSlGMLSR3mScL0AkdSVEIkwf53CZ6QnPTGD_B6QXbf6UZDIS1uX48airIrLN1fS36fbRrVuP6gzL6p6aUBZl0BqveJTGmqc5RIUlkGB-60sYL4C7DOcLBjDFLbDfW9Y1_2qqfkBBfX833oiRXL0HUoc8S1CsEdveoFRbNZHIxG3CFBDfuSNCFLmFKXnrXgOuMJPDfd6pUWb0FE-MH3NiHHu-dXnbn01k3-Dc5KjSlZguMP6GcEgW91WJjBHGy-tH839UoPf4BmxQ1afDz3JINsDG8LOPpIN5SwJZ60pI-WJZEurxeimIyRUeGsWGL3OUB0b4NHVQF0C406uNr3lbYlpImICu8Er0mNIiUf_6e7QhZ75SxSUktVoe4iLYOZRpo_hTur7xvwieF4jhhUvPWD2CGYhLF36H9k2HZIshND3YJ9-LLh-Q_zgRbwdzRUApm7WlpriA4vwrhBvKZAjksCx1k0KLuco33eqgMk5YtQUl_OA5IplUBg7C1ahdSlP3nKPj8Ueqx5rSj_sFWuNWPVI1FOINGK6O8JzfGbZ6FrYNo57GFpRsMGYl0hH0Rmx9X_yrUEVaAXvVzbIKsdrbZEoa_W5dget8jL_7SrL_52N8qbVtgjNJ8JbvZOzUkWieH9WyfqZyw0juOTJmkMAOvxV8UeE5omFf8qjF0maf75SYgDQRB-6_73Lg6mtI8D8W1zrrrfKSt2HdamQHBWvhdi1z-p7ATFwYbwV3GsU7EZpYYtvcSubtXJbFvTdlOis56VPVfbkhCSB_rnGMEg93ZROyYqJAXSG-JESS9z3wjGz7IJOnrvbhhfu3DbJ0W_6d1OJkvS-1j-FwqNWsVKoPj8RaTiRV-ZZwE45hoW2EBVgzqeQsPlDRbtay7eN30yNffXJPk5dkwzX_cuuzikh37RZlHvyBd5DAXZoNQ1j_eXIEQqyuhxk2t9cm5Xe6vgwhHlzQ5-0aEaZmsEbjvGAmV4IjhUDEskyoB-8Tv5BUv1wsjfZunTMrf279dP5P98nutcDwbj-3urBQWnzCd4zNoWBfC8gsdE58EsJylcUsjwnudjyPLEpjwGsVlpeaeIgSc-npIS8TIwyKljWsK_yjXlj34KZl9j0ErdTTpQCNZlCEK_TY-p0zabRcsc3RKUFZRCoVKzZb4ssUKdQ3lQB4amKAxewf25NngqRAErZLAOSMmlEH9_StvagCzlx-CdDUjFfdZjVcBc8icS-tckMoVpZLvjRpAIwW2orXxct0SigBy-UA7b319_AXmmwKnvgQq8QITg-C0YmWSxKlEh-TwxE9jv6iXpPpC0VmD3YO822GJbCglrnILJ-3-xiJMaj7KlRwIm9_dfw8hWdkYHGlM1H-k2qZPj_OESNfiiW_b3C--oeAb8FANEcfklgPGnfTwXdw8TUXNJu9BWFx6FvlHxzn0MmZyykHr_-f3w4244sQJDn8xLE1cuqvyXKITHkBb7G96ZKcT9GOEylnDJTf-0nhCziymE07TooZaMdw3fE=",
  "id": "rs_0000b7f8d7276998016ab45ea70f2087d0bc81d3a5cf4cc6b7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.035,\"right_z\":0.025,\"right_pitch\":0},\"note\":\"The fruit is between the open fingers but still slightly off-centre, and the arm stopped higher than requested. I’m making a small sideways and downward correction before closing.\"}",
  "call_id": "call_RYaiEW0PvpGhm4YBTAOQleAc",
  "id": "fc_0000b7f8d7276998016ab45ea972ec87d0a8aec08be22e7f17",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RYaiEW0PvpGhm4YBTAOQleAc",
  "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]: [-0.0219, 0.8062, 0.6132, -0.4202, -0.0139, -0.0311, 0.9968, 0.1833, 1.5745, 0.281, 0.675, 0.1959, 0.0479, 0.9994]\nstate[eef_state]: left_x=0.2912 left_y=-0.0003 left_z=0.1726 left_yaw=0.0001 left_pitch=-0.0442 left_roll=-0.0003 left_gripper=0.9968 right_x=0.344 right_y=0.0324 right_z=0.0158 right_yaw=-0.009 right_pitch=-0.0386 right_roll=-0.0666 right_gripper=0.9994\nstate[joint_eff]: [-0.0205, -1.2923, 7.0632, 1.8486, -0.0513, -0.0562, -0.0122, 0.0479, -5.5043, 4.6838, 1.9853, -0.0366, 0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea84b6f46081522c6dec2789d493fbf5821f058f853483ac716f2dbc58b9a899",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e475a2d096a1262f13013d048871fe51d0ee769657b5c9e3e04186a6988b1061",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e293229a1fc130574bfdae25065319fa357b7112dd598b1795b88e7d7caa666f",
      "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 · 2.866 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, 0.9972, -0.0227, 0.8005, 0.6189, -0.3866, -0.017, -0.0193, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=-0.0002 left_z=0.1822 left_yaw=0.0003 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9972 right_x=0.2961 right_y=-0.0001 right_z=0.1837 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.3487, -1.7436, 9.6342, 1.8242, -0.0952, 0.1343, -0.2955, -0.1299, -1.7846, 9.1282, 1.8144, -0.0611, -0.0024, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8062, 0.6132, -0.408, -0.0139, -0.0311, 0.9968, 0.2363, 1.4551, 0.3977, 0.5728, 0.2455, 0.0624, 0.9994]\nstate[eef_state]: left_x=0.2929 left_y=-0.0004 left_z=0.1751 left_yaw=0.0001 left_pitch=-0.032 left_roll=-0.0006 left_gripper=0.9968 right_x=0.3747 right_y=0.0498 right_z=0.078 right_yaw=-0.0062 right_pitch=0.0983 right_roll=-0.0507 right_gripper=0.9994\nstate[joint_eff]: [-0.0068, -1.347, 7.0085, 1.8388, -0.0562, -0.0317, -0.0171, 0.1573, -2.7966, 3.0291, 0.7839, -0.4908, 0.2027, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0219, 0.8062, 0.6132, -0.4202, -0.0139, -0.0311, 0.9968, 0.1833, 1.5745, 0.281, 0.675, 0.1959, 0.0479, 0.9994]\nstate[eef_state]: left_x=0.2912 left_y=-0.0003 left_z=0.1726 left_yaw=0.0001 left_pitch=-0.0442 left_roll=-0.0003 left_gripper=0.9968 right_x=0.344 right_y=0.0324 right_z=0.0158 right_yaw=-0.009 right_pitch=-0.0386 right_roll=-0.0666 right_gripper=0.9994\nstate[joint_eff]: [-0.0205, -1.2923, 7.0632, 1.8486, -0.0513, -0.0562, -0.0122, 0.0479, -5.5043, 4.6838, 1.9853, -0.0366, 0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea84b6f46081522c6dec2789d493fbf5821f058f853483ac716f2dbc58b9a899",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e475a2d096a1262f13013d048871fe51d0ee769657b5c9e3e04186a6988b1061",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e293229a1fc130574bfdae25065319fa357b7112dd598b1795b88e7d7caa666f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF6x5khzTNnq0fwTlqsu0yqosCjS3AfCQyxyw2ls03bkLUharpTmrcM9f3r26k4XKZfSMuYQCgoNJJ-bfOGiQ_-VlgBsjqkgLoCC_ntdm8IdGxwcj6jp8BHuZXa-Vsq8uLUF1t8xLAsVexPe339nzebjxD9I1FbTmsmxoD0FgxcDdB3TrFEAXCmPBK2N1VZ81EtLuyCTNNhowOJDIvH6HjdPCKWM4Qkwa59VNGVM_udEoe3JtKkfbPBpB6VDO88SsP3w5yIuLSz60cuHcU6vUWyTht1yIbPt8FZ1vLsmZ64kNie7VELH4zp_-gHvv3dnS-TFhmr_vi6fQv-M_qxV8KlPN9f8-EvNR32kygjuqrqQ2x9AGVRYb3c61Knj1KK0mjdjZ3JL8aahVj36n-NwmUKD9XyFZgnQ4BwHzreQ7hgcdFGyH9ImkocmyZaSGsS3WYPBEhGLnoeQoBBU1Njfp14WGd4sBtfWK8ipO1btcqIF02aiUSv5DkKcq4I_6TKrO4gvIgxch0ZilLTi5ZI27THexCni7icnjn7E0oa5Zl4SD9rKYANCF9L3uNvq8kPJiJi12CG5jpL-c1x9HrSHpRV_YjgICXFVjYd7bnDP_NiEMxqL33Tx57KR1U8dJFfFt96TcIicwdUQ-CHPtccQEW9D2nc40KViy8SCUOio-335LYqaLK05jc6GZ8i_-vDf3AkWXO0GI0X5JpeBdVfN6A2maRhlj1uXDkmzmJOQHpLKTwCJUYyCFxx29UVQTlDDsDeD5jm5vNN88ADOfF0ctK8OraJrrQjsPBAlQRHUFlF7AJXJvYjDj_434vYFRxvz_bGUHzglHqM3i4SBdUHh3WOEqELKnOogQWRk9Co1Ep-f1KSAskCQs6zchCr9BGWc2yE9mfbm5Ef6j_dOdI0sPr_WAjDLm5oodaRQYLQOa2hge1yXyRel9w14yZuXdS4pvAJjyOjszQR64lT1rWL1vYU7OtLXR-0KR1_zdCoecocBssVoAfGNED2hcGXNKGE1zu7ocNlNAnPdF8DFTJ7BLj7TH_FsOUUxYU6liqDmQw7dzgqmYcLUC25dbQJtd1NfOPs-2ALzmvnLONRqWX0QfI49kEd-jo8catfz3zG5Kosl4x7ey79PDC7Q35aFLVkghWlLb2ELZAouWiOM9aCFjdC24gchB4bpUdGojmDrqWSzpsq4cYcED-tgcFbwDvMFfiQWXhB7Emh08k89j2UIfXrx628-yTNCRCQJoMPqYMGG0M8dVh1AbFvvng17zJkvUmUwu2rf_qS4lRSYPhl8NyexwMr2NGnd4TOb636cwDH3cCzBxEcve6JN9RDffAyzkY_iXoPIMJ5OQP2mjnVpxJZS33a6ua6AxSqxPaiQ1KrJx3vys6k-lBKWirZzxeBjEB3hk2jI1OSkdslK0YO_hlJswHNLMKel5k8slIYF5NB7aaCrAJX2PfxZuDH_g_5DztU7kb5Kvuf5SV9F4q7lWQX9J7jT8l62dBCXlzxhojB7BgnfCl_iQ2mwAFO_TnAESJ_wai7ypcjOur0Qbu0pJBEK901dccaxbMtyCMVPqrDeKJZ1wvylClOqu636f7R_dnIErNuG3k0Vaq2f9tHIKUjxxnFZ22NpO-rM-CuiQVL9QWpcc3vLRXkP6HKHzZgXI1mNTSALCQNQv6styav1B4fnPkagJUTAi8JL6IkVQgMzq71PQiCJ6nxzYjqA1Q1uH02J",
  "id": "rs_0000b7f8d7276998016ab45eaedbb487d0b76f487999805b97",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The green fruit now fills the space immediately ahead of the fingertips at table height. I’m closing the jaws to test the grasp.\"}",
  "call_id": "call_faJxHE1955x9rk3d8LIxcvuv",
  "id": "fc_0000b7f8d7276998016ab45eb0b25487d0875fa9bef50d05c3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_faJxHE1955x9rk3d8LIxcvuv",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8062, 0.6132, -0.424, -0.0139, -0.0311, 0.9968, 0.1829, 1.5745, 0.281, 0.6773, 0.1856, 0.0475, 0.8275]\nstate[eef_state]: left_x=0.2906 left_y=-0.0003 left_z=0.1718 left_yaw=0.0001 left_pitch=-0.0481 left_roll=-0.0002 left_gripper=0.9968 right_x=0.3443 right_y=0.0342 right_z=0.0161 right_yaw=-0.0005 right_pitch=-0.0374 right_roll=-0.0606 right_gripper=0.8275\nstate[joint_eff]: [-0.3214, -1.2376, 6.9812, 1.7363, -0.0366, -0.0464, -0.0122, 0.0205, -5.5043, 4.7932, 1.956, 0.0513, 0.0122, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:862c20f614aeb9d19fca9ca01790141fd0f913e0f49893336d2863f79a4c5143",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:296e6e103049d8d0b976e630a7d76943dbe96ec59ba00e97fea670a91ad366fb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e5fd9ced4864f4284c17aa5288bd98f10507ec1a4577a4f6271a630fe0d0572",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 3.653 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]: [-0.0219, 0.8059, 0.6132, -0.3973, -0.0139, -0.0307, 0.9968, 0.4301, 1.2877, 0.6102, 0.0025, 0.3439, 0.2108, 0.9994]\nstate[eef_state]: left_x=0.2944 left_y=-0.0004 left_z=0.1774 left_yaw=-0.0001 left_pitch=-0.021 left_roll=-0.0005 left_gripper=0.9968 right_x=0.35 right_y=0.099 right_z=0.1111 right_yaw=0.0268 right_pitch=-0.0614 right_roll=-0.0356 right_gripper=0.9994\nstate[joint_eff]: [-0.0205, -1.4017, 7.0769, 1.8877, -0.0708, -0.0611, -0.0513, -0.2803, -5.1487, 8.4308, 1.9023, 0.2564, 0.2027, -0.0757]",
      "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]: [-0.0219, 0.8062, 0.6132, -0.4202, -0.0139, -0.0311, 0.9968, 0.1833, 1.5745, 0.281, 0.675, 0.1959, 0.0479, 0.9994]\nstate[eef_state]: left_x=0.2912 left_y=-0.0003 left_z=0.1726 left_yaw=0.0001 left_pitch=-0.0442 left_roll=-0.0003 left_gripper=0.9968 right_x=0.344 right_y=0.0324 right_z=0.0158 right_yaw=-0.009 right_pitch=-0.0386 right_roll=-0.0666 right_gripper=0.9994\nstate[joint_eff]: [-0.0205, -1.2923, 7.0632, 1.8486, -0.0513, -0.0562, -0.0122, 0.0479, -5.5043, 4.6838, 1.9853, -0.0366, 0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0219, 0.8062, 0.6132, -0.424, -0.0139, -0.0311, 0.9968, 0.1829, 1.5745, 0.281, 0.6773, 0.1856, 0.0475, 0.8275]\nstate[eef_state]: left_x=0.2906 left_y=-0.0003 left_z=0.1718 left_yaw=0.0001 left_pitch=-0.0481 left_roll=-0.0002 left_gripper=0.9968 right_x=0.3443 right_y=0.0342 right_z=0.0161 right_yaw=-0.0005 right_pitch=-0.0374 right_roll=-0.0606 right_gripper=0.8275\nstate[joint_eff]: [-0.3214, -1.2376, 6.9812, 1.7363, -0.0366, -0.0464, -0.0122, 0.0205, -5.5043, 4.7932, 1.956, 0.0513, 0.0122, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:862c20f614aeb9d19fca9ca01790141fd0f913e0f49893336d2863f79a4c5143",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:296e6e103049d8d0b976e630a7d76943dbe96ec59ba00e97fea670a91ad366fb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e5fd9ced4864f4284c17aa5288bd98f10507ec1a4577a4f6271a630fe0d0572",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF61alm9CzdzcQ5JoQ9JBqfAoH53F5DVsUbKw-8DrN_z5NktjUDG7C51NB-o3Rz_hIzzuN-91Q5XujCWMUP7nEoGys0S9iTrsw-9WkS8CBwi5OM1O-r7RoT0h_hVVJTQQtI2rlgwDPs7TFRsJFCr5MnVc7gycudRvEA3-PMKklxd9ZGJb5Ec6CfsmzkiYQXpYKXoo2dioE8OQIkQuxfSqy2pSCjriMgkHn0JO7qCyEXhf6MYWjH1s-ZU1Cobv2x3aTN_jje4gINTjjVVYvspXsCQUyOgHBXsd2lemCrgyscE2FsaODLcYCjQpwdlCRxYpX9rz4CyidscfgQksuIO3AdqCnE1hfAdRXUo4PJjDxgfqmM1j2_Y_q_W8rt81ueuJKRe19fv8DB8LZ8-7BK6nrYscY2kRawe6kykbrj2Y5cJQriqDiEsNFKxmBRwxesEgDNe5jZBOIjuEgf6M1_Jl8GXBNKySsHArcfJPx5uVXM9JrA-vSIb7zPHrMdiy23n0trjBp36mc5KmCFCR_wFaksEWlMr7HLB8O8XEwiNGZrQzAST69gsHMT8yNUiog43HDy2GkDScz6e1lYFd7gEWhKVm4fOtSAMsjCGoWenTILIvTFvHIwi4rYhBT-GaumegnmG7Ownh5j6I-PYUVF7whvQisek1Zt7UPwBqE6v1846wlzlaJwjjfdUJ-z_hImeaTZMBWGWzduv9HQh_BFsDTZmgc7tPX-oVSl2KSerAkliwbXbUCbrqB0GLWbSB5lwcJXrYPJKw9gQN7SN2Ik8l2fBbWwaoscLD1Q7LCQ4cz_XYGrTrSMlNpbUBB4CuqfPgwlygpvbM_MpRHDZ12Afet3wzj1hyVUxnRZ5RriFOxnUlWCKbW3JPguKi0PiNhPvgSEiCc1pk4zR9gQT-UxTBHbgED10MHIFrbvZO23SqqqwD_kvKx3xdS6NWNa4zg88YJ5dlLk-Z6LeYMbVQHvr3RxyZPclLZ66OX6WymoBXIoPj8YNfkPOyZlVNCXzGi4JjhSh_JY7jFCSLUNfnFHYWX6TX4OSVEmL2JtGiGHch3FUwJMjRGgihdxbJm_wKYfYR659dY-00ryyinD1jOyZFugM0v0hHe8MZMfXpT1O0MpW5try5w8j7N2VzAMSpX489CSzjYLfswu7pJ5p8x1TMjIGmCi1vjOTUqN718WAnKhJkorwz_wiAL6DVsCn7BOODFNDNwRh-yBko1Xf1SKZJE4ZrA==",
  "id": "rs_0000b7f8d7276998016ab45eb3fddc87d080a4ed481d336e40",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.095},\"note\":\"The jaws stopped at a fruit-sized opening rather than closing empty. I’m lifting a few centimetres to check that the green fruit comes with them.\"}",
  "call_id": "call_P2wL0lVkfQOlB2JXQQFLViin",
  "id": "fc_0000b7f8d7276998016ab45eb44a8087d086e65a943ef94844",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_P2wL0lVkfQOlB2JXQQFLViin",
  "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]: [-0.0219, 0.8078, 0.6132, -0.4255, -0.0139, -0.0311, 0.9968, 0.1829, 1.2213, 0.4267, 0.152, 0.1844, 0.0429, 0.8274]\nstate[eef_state]: left_x=0.2905 left_y=-0.0003 left_z=0.1711 left_yaw=0.0001 left_pitch=-0.0511 left_roll=-0.0002 left_gripper=0.9968 right_x=0.3389 right_y=0.0334 right_z=0.0813 right_yaw=0.0027 right_pitch=-0.0636 right_roll=-0.0685 right_gripper=0.8274\nstate[joint_eff]: [-0.1436, -1.4291, 7.1453, 1.6777, -0.0366, -0.0611, -0.0122, -0.1436, -4.2598, 8.6496, 1.746, 0.0366, -0.0366, 1.033]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d4721cb31962d897eea4e8f9620dba17fa19af450802bff1dd2fad6cf8a2652",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4c517fb677b25e6091c6f1a17ed286c689bb08d7fed6f9f190f62ae91d36d2c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e72af3122d7f58e83ba24a1285321c66d4fc9c8511178ea1773a558baab6e98e",
      "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 · 3.396 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]: [-0.0219, 0.8062, 0.6132, -0.408, -0.0139, -0.0311, 0.9968, 0.2363, 1.4551, 0.3977, 0.5728, 0.2455, 0.0624, 0.9994]\nstate[eef_state]: left_x=0.2929 left_y=-0.0004 left_z=0.1751 left_yaw=0.0001 left_pitch=-0.032 left_roll=-0.0006 left_gripper=0.9968 right_x=0.3747 right_y=0.0498 right_z=0.078 right_yaw=-0.0062 right_pitch=0.0983 right_roll=-0.0507 right_gripper=0.9994\nstate[joint_eff]: [-0.0068, -1.347, 7.0085, 1.8388, -0.0562, -0.0317, -0.0171, 0.1573, -2.7966, 3.0291, 0.7839, -0.4908, 0.2027, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0219, 0.8062, 0.6132, -0.424, -0.0139, -0.0311, 0.9968, 0.1829, 1.5745, 0.281, 0.6773, 0.1856, 0.0475, 0.8275]\nstate[eef_state]: left_x=0.2906 left_y=-0.0003 left_z=0.1718 left_yaw=0.0001 left_pitch=-0.0481 left_roll=-0.0002 left_gripper=0.9968 right_x=0.3443 right_y=0.0342 right_z=0.0161 right_yaw=-0.0005 right_pitch=-0.0374 right_roll=-0.0606 right_gripper=0.8275\nstate[joint_eff]: [-0.3214, -1.2376, 6.9812, 1.7363, -0.0366, -0.0464, -0.0122, 0.0205, -5.5043, 4.7932, 1.956, 0.0513, 0.0122, 1.033]",
      "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]: [-0.0219, 0.8078, 0.6132, -0.4255, -0.0139, -0.0311, 0.9968, 0.1829, 1.2213, 0.4267, 0.152, 0.1844, 0.0429, 0.8274]\nstate[eef_state]: left_x=0.2905 left_y=-0.0003 left_z=0.1711 left_yaw=0.0001 left_pitch=-0.0511 left_roll=-0.0002 left_gripper=0.9968 right_x=0.3389 right_y=0.0334 right_z=0.0813 right_yaw=0.0027 right_pitch=-0.0636 right_roll=-0.0685 right_gripper=0.8274\nstate[joint_eff]: [-0.1436, -1.4291, 7.1453, 1.6777, -0.0366, -0.0611, -0.0122, -0.1436, -4.2598, 8.6496, 1.746, 0.0366, -0.0366, 1.033]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d4721cb31962d897eea4e8f9620dba17fa19af450802bff1dd2fad6cf8a2652",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4c517fb677b25e6091c6f1a17ed286c689bb08d7fed6f9f190f62ae91d36d2c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e72af3122d7f58e83ba24a1285321c66d4fc9c8511178ea1773a558baab6e98e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF66_F3U-kWTp4hTNwLjhMn0KvKBLHf6yAi4cWGpk_QrghZri5mYrj5uHrYB8oBHp0qcE8ErFypmYWS-eN23Bh5YnFDU9MpAU-FheOswyGMtae1BQLPKO-j85mAeUMDiL3VAmwkeeT_nhXWysUzxYi4I0tkwWrln22NpY7h86JdcwP5xdVhILIORHbd-YuG4RQIhQ0NF10QkQDpN44kn6jw6Z1_7qPDeiPzo7pk1ampPjB9f_RMYVPi058qVM0k277bcS_VMHH0K_Ok-iY-jJWrkkr7LvrngL_POyRwNXNOQGTsxMGotUKHeJ3z_xHYZPoSpM8NCc4X_42y2goqBm4G1nX78lLFSHucQyqdACrisrekhoelCLtHzbH-xsXwv22Z6CZOPaxPF8IsHTsOUZy7tcV2pCUyfHUMdHzg55i_wSSlXMzg49idVeM6JSNYvEhd6j9oZi_IY0I3j75o84Nwy1JO2mBqz4ehn4ROptEDJ5IyqAX9odVEQ0l4LNzV65OmxEIHifqk-WJNnGbWYEv_g1Yx51REI0YS6puidqNfy1hBNwfTISsHuxVF4trysy30uT698qv2fQCWzRMDafAL-o187vb7V4uJkpOukMTXICh8VtEArjfRk8X-WX2bDH0y5iypPBvTIhsM0YgKjAhRAZWwHxVK3MLUo0MqL-6-9lk3Ld8J6c6zzVDpkKiQQbCrgal3ZdzBmup9nbBRnoVwGPW-GUBdfMw9sBYxdB9InAFAwreSCiWLbc7wG9Y0Bqrtez_YqUtBw7XAXOKIHaBTpy3pk4lu45y8O4dAlbLi6Q-nrTGzRc-n8fERoOPm262mxGkZdptqk6yNbsO4VHessDzcqjq_XN5Uxhbkba-5YIZBudr7JuPox9HOLQWkpmtrzbCGqsFRoM_kvcSWukrrZgStDAf9dyOqMJFUel4SB8vf0XU79CU4LCbQyvICJBC5Pecl_BQRG3Ueb1xtw3dRQELXnOsesa6ARzFsUWjhMaKxiOgrC2xx-B7Vb_-Krt7bNFZP17Bff83HVWC4CMs8w31I-gRG1yfSNG-NZR5n8FS02GtfMz0lFHeIvlpc4ICXP__jF3IS0vnPWfujx_774snHgqvANamDWW6A3qdXlHUJeAOlblEGb08KtoNtBl2bW_hWbdBnyCW_EbmSSvOlPMREoR6VUVfWCGIQYBOGoo-WCI2-IooGrs6lAnTir3oTeBAtvAfpz4gEacdLJ-kOW9HU8h779WoGE7kahRyPDtzmulMZ2VU62Qdv04mBA8YAkTgkrQe6t8WOme0ZkjR2MwoVKTLd_oUHKJZzwMafCqw2BiHtPxSxDORlbXC5z0YJSKNrDMVu2N-otuCmvCBrDhsOz9hvaoAeem1lVuLyBeghNujp0mjzdhtlkHYzarLed8kze3_cWd4-Wd1k63AbqLZ1mdY2MrFIYsDox1JVLsJ3MuuYWNiBr0BOSbvnIFMPwPt1HHPwKUiKktNEZFzeudlqxhKtAeREtihZgHMOhu5pqH1krxyq-fGo5BE-eJwmZ",
  "id": "rs_0000b7f8d7276998016ab45eb80cac87d0a275a028da68e113",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.435,\"right_y\":0.145,\"right_z\":0.19},\"note\":\"The green fruit rose with the gripper and the grasp remains steady. I’m carrying it over the blue bowl with clearance above the rim.\"}",
  "call_id": "call_yJxzHbpGrRWbIeiSI7em9dz4",
  "id": "fc_0000b7f8d7276998016ab45eb936a887d08b775b194dc5fd72",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yJxzHbpGrRWbIeiSI7em9dz4",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4313, -0.0139, -0.0311, 0.9968, 0.4637, 1.6009, 1.177, -0.3153, 0.3855, 0.2031, 0.8275]\nstate[eef_state]: left_x=0.2899 left_y=-0.0003 left_z=0.1687 left_yaw=0.0001 left_pitch=-0.0614 left_roll=0.0001 left_gripper=0.9968 right_x=0.4295 right_y=0.1445 right_z=0.1725 right_yaw=0.0285 right_pitch=-0.1092 right_roll=-0.0926 right_gripper=0.8275\nstate[joint_eff]: [-0.253, -1.7026, 7.0496, 1.7363, -0.0659, -0.0317, -0.0073, 0.0615, -7.8974, 9.4291, 1.6972, 0.3004, 0.2515, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee1c48e797f1c6b31811bc45ccc062e32098349b171adb3c78bfae9c93034581",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5edd454e1733ac1e614309487cc992c5b1dedcee18d086af2c0f7cec887e2673",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fe143776496a1c75d16693d4d09e8160b4475e2cea81d517d762c435bda20fa",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 2.64 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]: [-0.0219, 0.8062, 0.6132, -0.4202, -0.0139, -0.0311, 0.9968, 0.1833, 1.5745, 0.281, 0.675, 0.1959, 0.0479, 0.9994]\nstate[eef_state]: left_x=0.2912 left_y=-0.0003 left_z=0.1726 left_yaw=0.0001 left_pitch=-0.0442 left_roll=-0.0003 left_gripper=0.9968 right_x=0.344 right_y=0.0324 right_z=0.0158 right_yaw=-0.009 right_pitch=-0.0386 right_roll=-0.0666 right_gripper=0.9994\nstate[joint_eff]: [-0.0205, -1.2923, 7.0632, 1.8486, -0.0513, -0.0562, -0.0122, 0.0479, -5.5043, 4.6838, 1.9853, -0.0366, 0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0219, 0.8078, 0.6132, -0.4255, -0.0139, -0.0311, 0.9968, 0.1829, 1.2213, 0.4267, 0.152, 0.1844, 0.0429, 0.8274]\nstate[eef_state]: left_x=0.2905 left_y=-0.0003 left_z=0.1711 left_yaw=0.0001 left_pitch=-0.0511 left_roll=-0.0002 left_gripper=0.9968 right_x=0.3389 right_y=0.0334 right_z=0.0813 right_yaw=0.0027 right_pitch=-0.0636 right_roll=-0.0685 right_gripper=0.8274\nstate[joint_eff]: [-0.1436, -1.4291, 7.1453, 1.6777, -0.0366, -0.0611, -0.0122, -0.1436, -4.2598, 8.6496, 1.746, 0.0366, -0.0366, 1.033]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0219, 0.8124, 0.6132, -0.4313, -0.0139, -0.0311, 0.9968, 0.4637, 1.6009, 1.177, -0.3153, 0.3855, 0.2031, 0.8275]\nstate[eef_state]: left_x=0.2899 left_y=-0.0003 left_z=0.1687 left_yaw=0.0001 left_pitch=-0.0614 left_roll=0.0001 left_gripper=0.9968 right_x=0.4295 right_y=0.1445 right_z=0.1725 right_yaw=0.0285 right_pitch=-0.1092 right_roll=-0.0926 right_gripper=0.8275\nstate[joint_eff]: [-0.253, -1.7026, 7.0496, 1.7363, -0.0659, -0.0317, -0.0073, 0.0615, -7.8974, 9.4291, 1.6972, 0.3004, 0.2515, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee1c48e797f1c6b31811bc45ccc062e32098349b171adb3c78bfae9c93034581",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5edd454e1733ac1e614309487cc992c5b1dedcee18d086af2c0f7cec887e2673",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fe143776496a1c75d16693d4d09e8160b4475e2cea81d517d762c435bda20fa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF6_8y61tGFbJh9O7EvCfUBj_7MGFm4H4IGon1Cx11DPOAJPXXGZF3gMcooih4xj8HtW6EYdPZRYBizIOfIEPkRkYkNIztVC6SnzoMoACyWI_evOKY_j873bwjCZ5YIJ_sVKskHqs3zU4VKpKYHB-_qLES6ZTO6J8rthLHArzV_6MAgOI12E1M36R2YqCc23XaUMghsQjdkPZCdEhI9FzeJJqpQjPV7_u_wOadU6XnpKCSFOGn_L5QjIoEctm0PSD2Zy5FYsx0K3zlqoYFV_s2_gEDKNewToHXEKZtUZcTGlI9izdKw7N9oL8keEsRDoBS7m6SQ21AIh0AwRdAWA3DBp4tMaLavd9hKepE2-S-IE8xZuh4LlVcalQEPiMWy1CVU-Y2qbhnmA--rVvFs1WUtbrsIXdXJyCIVFhkMXBsCRqBQlZoF1wQ9TRBK60g3FxznL52kyrPqHqyeUMwi7tVILIoPR6BO-Fm9zGUksuHkUSCkM_kweDYnwVn88pTY24iaRLlGtzAMVAN7MFufGP9ATov6-EALv__xCem3bMLdW9tHtyYGMS01kPVJkQP5oh3STrbox6d8nk1P1aS5O3qg5kwEhi_5gZZZPn4sNt7qXjUWFHXSWNcC2zohEbCLC1sv4LUz3AwN3_u4Vme-rRssDbcAmKeE3gEAgfRnzeMRHR65R4YWqYX-iTlP7wqIt32K1dGpcRAq8w9rnGSVBbVwKmo49d52fWSAM4_8-Ts0k8gZRTSnWKwQi2nGQw50QeqPyOqOUB2ADwlj-qM1laoa8_uBsrfYnvXZ3Vcsh8q52RMeaET8qHw7tyWkBKnEXpXiJ7LkAu3PfY6Dl3WqkciWq6msxabn_qUs1XAReqUNL1Fnpa0_7g3KoEsq0_f1HG2z3D70NzJ9UXvuVAjL0qyoeqG7hLSCiKxXk0-TjRYNQo6q1BVyGfZlPkaoaStcxlSw_q3FZL7NIuyENqHvV4J1DNrcPPlA2bWRzOQjIjNa8gPC3eCM_9y5ZsUv_UrgXC8tN3sYztxD9r_mwS2Vo-N5rYSgqZ7_o4zouePYGMW-UciGrJEKZd2St4AUNaqMsclvtbdgp2k2BoganmuOZuPafQv4IbA3HumMeG4uP7gAvVbmEW_K0KqshhO9WjSN8IDBDnaujzpCTRE4TPeboYHjuarL-ZP6lngeEo7Iu7t6TVXhqWEXfnmm0Am26jVCc2FiSq3QVqricMYEtLPNe0pGep7bSI2KaVTSfGF6F9PwBPtd84TDlRCFd5gPOxtO-sU5IJIaA62M94ZTFQ-Arpe02EPJ16bxt0ZzSd2R6haQKj8RvJ2cnS6ljm0GWq23WTTJvpnU-ihUc0tHR4nZBFE1HnlWCDsKImAoJrkvoxSviO80N4LdoJhPTgyrHcMXrz3cGqnS20iWcwaExYWqfZujcYnYINeIKzThRWzw5mb5ZUI9uOeCK4K0Iwv8bNKz_QFiUnCHYR8zuyeAOe0Wls-RQCxnHXWtRD2Tnh6zGw76pWZU=",
  "id": "rs_0000b7f8d7276998016ab45ebd9ba487d0be72407000ac19a8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.435,\"right_y\":0.16,\"right_z\":0.105},\"note\":\"The blue bowl is beneath the carried fruit. I’m lowering the fruit toward the opening and making a small centring adjustment before releasing it.\"}",
  "call_id": "call_IjhkgCpH1wNzZHbiVUiIWV5V",
  "id": "fc_0000b7f8d7276998016ab45ebec50887d09d3badab2a2ac2b9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IjhkgCpH1wNzZHbiVUiIWV5V",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4419, -0.0139, -0.0311, 0.9968, 0.4938, 1.7336, 1.0344, -0.1005, 0.3893, 0.2031, 0.8275]\nstate[eef_state]: left_x=0.2884 left_y=-0.0003 left_z=0.1663 left_yaw=0.0001 left_pitch=-0.0732 left_roll=0.0003 left_gripper=0.9968 right_x=0.4278 right_y=0.1582 right_z=0.0934 right_yaw=0.0521 right_pitch=-0.163 right_roll=-0.121 right_gripper=0.8275\nstate[joint_eff]: [-0.1709, -1.306, 7.0496, 1.7558, -0.0513, -0.022, -0.0122, 0.0889, -8.9641, 6.694, 1.9512, 0.3346, 0.2027, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0d8bf0bb216065ee4bb27c245397a1352a3d294111b5e8572b3ae38a0076459",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c93b2a44c2d87f09d16303532844adf5325b26dd702e0f51bce46f154a0e1a4d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c23680775087822798d73f4f037f47669bdf2a463e25b3bbebd36377ab28adfc",
      "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 · 3.68 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]: [-0.0219, 0.8062, 0.6132, -0.424, -0.0139, -0.0311, 0.9968, 0.1829, 1.5745, 0.281, 0.6773, 0.1856, 0.0475, 0.8275]\nstate[eef_state]: left_x=0.2906 left_y=-0.0003 left_z=0.1718 left_yaw=0.0001 left_pitch=-0.0481 left_roll=-0.0002 left_gripper=0.9968 right_x=0.3443 right_y=0.0342 right_z=0.0161 right_yaw=-0.0005 right_pitch=-0.0374 right_roll=-0.0606 right_gripper=0.8275\nstate[joint_eff]: [-0.3214, -1.2376, 6.9812, 1.7363, -0.0366, -0.0464, -0.0122, 0.0205, -5.5043, 4.7932, 1.956, 0.0513, 0.0122, 1.033]",
      "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]: [-0.0219, 0.8124, 0.6132, -0.4313, -0.0139, -0.0311, 0.9968, 0.4637, 1.6009, 1.177, -0.3153, 0.3855, 0.2031, 0.8275]\nstate[eef_state]: left_x=0.2899 left_y=-0.0003 left_z=0.1687 left_yaw=0.0001 left_pitch=-0.0614 left_roll=0.0001 left_gripper=0.9968 right_x=0.4295 right_y=0.1445 right_z=0.1725 right_yaw=0.0285 right_pitch=-0.1092 right_roll=-0.0926 right_gripper=0.8275\nstate[joint_eff]: [-0.253, -1.7026, 7.0496, 1.7363, -0.0659, -0.0317, -0.0073, 0.0615, -7.8974, 9.4291, 1.6972, 0.3004, 0.2515, 1.0281]\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 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]: [-0.0219, 0.8135, 0.6132, -0.4419, -0.0139, -0.0311, 0.9968, 0.4938, 1.7336, 1.0344, -0.1005, 0.3893, 0.2031, 0.8275]\nstate[eef_state]: left_x=0.2884 left_y=-0.0003 left_z=0.1663 left_yaw=0.0001 left_pitch=-0.0732 left_roll=0.0003 left_gripper=0.9968 right_x=0.4278 right_y=0.1582 right_z=0.0934 right_yaw=0.0521 right_pitch=-0.163 right_roll=-0.121 right_gripper=0.8275\nstate[joint_eff]: [-0.1709, -1.306, 7.0496, 1.7558, -0.0513, -0.022, -0.0122, 0.0889, -8.9641, 6.694, 1.9512, 0.3346, 0.2027, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0d8bf0bb216065ee4bb27c245397a1352a3d294111b5e8572b3ae38a0076459",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c93b2a44c2d87f09d16303532844adf5325b26dd702e0f51bce46f154a0e1a4d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c23680775087822798d73f4f037f47669bdf2a463e25b3bbebd36377ab28adfc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The green fruit is centred over the blue bowl at a low release height. I’m opening the gripper to place it inside.\"}",
  "call_id": "call_UuV4mY6huyYio6LlfaTDH14h",
  "id": "fc_0000b7f8d7276998016ab45ec6981087d080e458eb4acc760e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UuV4mY6huyYio6LlfaTDH14h",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4423, -0.0135, -0.0311, 0.9968, 0.4938, 1.7336, 1.0344, -0.102, 0.3882, 0.1982, 0.9934]\nstate[eef_state]: left_x=0.2884 left_y=-0.0003 left_z=0.1662 left_yaw=-0.0002 left_pitch=-0.0736 left_roll=0.0001 left_gripper=0.9968 right_x=0.4276 right_y=0.1583 right_z=0.0931 right_yaw=0.0556 right_pitch=-0.1651 right_roll=-0.1247 right_gripper=0.9934\nstate[joint_eff]: [-0.2256, -1.2513, 6.9812, 1.663, -0.0562, -0.0562, -0.0073, -0.3624, -8.5812, 6.3111, 1.5311, 0.1001, 0.0757, 0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:422090daf159a49cefbe51246cb98bd0d8b29ad520861ada9d31000f09a3a054",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26674f18acdda891d96b883ba3ddda6f18d64c4fff5332397ab6237fe6a9d18e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a712f41a508353051a05ea62591e5cc8517d5326e3d6a177ddbb46527c6ffc1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 4.481 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 22 changed as sent

message 30 changed as sent

message 33 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]: [-0.0219, 0.8078, 0.6132, -0.4255, -0.0139, -0.0311, 0.9968, 0.1829, 1.2213, 0.4267, 0.152, 0.1844, 0.0429, 0.8274]\nstate[eef_state]: left_x=0.2905 left_y=-0.0003 left_z=0.1711 left_yaw=0.0001 left_pitch=-0.0511 left_roll=-0.0002 left_gripper=0.9968 right_x=0.3389 right_y=0.0334 right_z=0.0813 right_yaw=0.0027 right_pitch=-0.0636 right_roll=-0.0685 right_gripper=0.8274\nstate[joint_eff]: [-0.1436, -1.4291, 7.1453, 1.6777, -0.0366, -0.0611, -0.0122, -0.1436, -4.2598, 8.6496, 1.746, 0.0366, -0.0366, 1.033]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "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]: [-0.0219, 0.8135, 0.6132, -0.4419, -0.0139, -0.0311, 0.9968, 0.4938, 1.7336, 1.0344, -0.1005, 0.3893, 0.2031, 0.8275]\nstate[eef_state]: left_x=0.2884 left_y=-0.0003 left_z=0.1663 left_yaw=0.0001 left_pitch=-0.0732 left_roll=0.0003 left_gripper=0.9968 right_x=0.4278 right_y=0.1582 right_z=0.0934 right_yaw=0.0521 right_pitch=-0.163 right_roll=-0.121 right_gripper=0.8275\nstate[joint_eff]: [-0.1709, -1.306, 7.0496, 1.7558, -0.0513, -0.022, -0.0122, 0.0889, -8.9641, 6.694, 1.9512, 0.3346, 0.2027, 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 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4423, -0.0135, -0.0311, 0.9968, 0.4938, 1.7336, 1.0344, -0.102, 0.3882, 0.1982, 0.9934]\nstate[eef_state]: left_x=0.2884 left_y=-0.0003 left_z=0.1662 left_yaw=-0.0002 left_pitch=-0.0736 left_roll=0.0001 left_gripper=0.9968 right_x=0.4276 right_y=0.1583 right_z=0.0931 right_yaw=0.0556 right_pitch=-0.1651 right_roll=-0.1247 right_gripper=0.9934\nstate[joint_eff]: [-0.2256, -1.2513, 6.9812, 1.663, -0.0562, -0.0562, -0.0073, -0.3624, -8.5812, 6.3111, 1.5311, 0.1001, 0.0757, 0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:422090daf159a49cefbe51246cb98bd0d8b29ad520861ada9d31000f09a3a054",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26674f18acdda891d96b883ba3ddda6f18d64c4fff5332397ab6237fe6a9d18e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a712f41a508353051a05ea62591e5cc8517d5326e3d6a177ddbb46527c6ffc1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF7LjDGZ8H-vDz7ZPzUydA2KMFuH3WxeJUh7HLjP8TKTz2dzhfHj64xfILuavUJq2qAZlYSY9A9YTt9W9DOQ15VflXr4i0Go0rM8wyxcrDS09pjJ7K-E3o9QElSwa9-u35UMVwPOTol5GQMGPugj0Gt7MJjKG18SjFzAv2AwggATz0ppsQYF1sGOqmfP5nfdQB9Thb5Irf8oKtzP1oo_TBywbFwt_9wcm4I2-bMIg2qm6_vZkpxSpL2Rq5Tty5bqmENHfWKtsbh58PnbNcCWbcOVtDXP46RxlTagel3Fp1NEMbPYrfVqRh8MSg5oNCDrjGmhoOZPnbbCpaoLz-dX7s3g4PRnYdWLfj-UdAnJodhvumZiP9muV2jlKZbA7-ZW6f8HHqARfCXBP07tvtvTgJnO1n7qqisFjcmqFFz-PBOX6vUrZIFvYmbK-Iboob9dI1rQqPy0yXfqiLNgT9J9MdGD5sQoSof7mOjorp0AphXAmciEGjAXpH3AxLr_fqksJi6dPZ5vhbyXedAY2M8vIpdTTUo_RQLrPoNVYD5bnyAtRx_AzmG_oc9jJkYv81SxIp-VQEnknGZkf0M7AEg8c6LrT2DFPSWxo79_wRgR9F_iR2jyej0ajIPjrjUOWu2dFhPYEI22g3DDESaF2FaKx31w2Yie7n4pXWQRZQhgtqoDBcrzJjV8beZcCq9za9VVc3FqQJkOeqHco2uRylj2JpmTwjR6pMHtFENvg23QLZzrjdowZVYcNkIftywCys6K4MLbkK_XihMMJG-OrH6O5asuLip9umeFMTGK4wCHIKau1p78rwSoLSOdzOobm5cP1MZkj2aB-vBlNE6HTVSilw4D0VkE53Uf2WtIDmnZqYtElueZQDzPNAhniW395lWMCw97Xjya1BZyY5iX1h-i-DipvVhHo0kynKG68URxf3g2_knZMGnzusxp6tZlLWUxXcPGitTHLoqEZqRyGLKPk_CMBtCZvYnbHddT6m88y4sPKutfEgl_UFSR7y7QpTxcdz_3sROLzL_rNAXUCyhOUdiLT9AKHooDOoW1efFbwcOoH-cw9hF8s36hQ2ZKNVuLJmWGw5v6Q8PBv0_CFxsksiC-9TIzMkUbrjQ0qT2HAowa__UeWUrHShgs9y5WX0-8BVDc33W4vihC_PIx_KIodd7uIOIDR2-qFNpkG0OLZ4bk4bDbDdJLbJzItUQw7t8iMlQwSxWeZaPyFPu0BwyXU0F4MWh_3Goy7B5mOXAtXlo2hv_g5o6E_0-HUTLb0gaykNf9Tfg05t-D6cqjTJSP2TyAArYcU_JeHpUvgSvSElp_LSkmKyGxOJpcl_SXfjyGRnvX",
  "id": "rs_0000b7f8d7276998016ab45ec8e7f887d08bbf4db08582c7e9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.245,\"right_z\":0.16,\"left_x\":0.296,\"left_y\":0,\"left_z\":0.19},\"note\":\"The green fruit has been released into the blue bowl; the small yellow fruit remains on the table to its left. I’m moving above that fruit and restoring the idle arm to its parked height.\"}",
  "call_id": "call_tkjEOrGsJ0YrXJEzIBCbpBx4",
  "id": "fc_0000b7f8d7276998016ab45ec9cb4c87d0b51742afdeb579f2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tkjEOrGsJ0YrXJEzIBCbpBx4",
  "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, 0.857, 0.6792, -0.5213, -0.0135, -0.0338, 0.9968, 0.8162, 1.6791, 1.2079, -0.5243, 0.5838, 0.4606, 0.9943]\nstate[eef_state]: left_x=0.2879 left_y=-0.0001 left_z=0.1687 left_yaw=0.0021 left_pitch=-0.1301 left_roll=-0.0007 left_gripper=0.9968 right_x=0.3508 right_y=0.2362 right_z=0.1344 right_yaw=0.0661 right_pitch=-0.2186 right_roll=-0.1706 right_gripper=0.9943\nstate[joint_eff]: [0.0342, -1.0325, 10.5094, 1.7851, -0.0366, 0.0415, -0.0073, 1.1556, -10.1538, 9.347, 1.37, 0.4615, 0.1538, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12eb3a2d3d4d3a61114fa52cde2bf9e67e461447edf68cbdf79d91eb518617cb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cacb6424a98fb317c0624ccec87f9b8417b1bd9146b101ad606b8a4fdec46c5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18c3b7268786bba3b33a561c8b3bfff0320ea798be310e81953cc17e41d3736e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /responses · status 200 · 3.381 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 26 changed as sent

message 33 changed as sent

message 37 changed as sent

message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8124, 0.6132, -0.4313, -0.0139, -0.0311, 0.9968, 0.4637, 1.6009, 1.177, -0.3153, 0.3855, 0.2031, 0.8275]\nstate[eef_state]: left_x=0.2899 left_y=-0.0003 left_z=0.1687 left_yaw=0.0001 left_pitch=-0.0614 left_roll=0.0001 left_gripper=0.9968 right_x=0.4295 right_y=0.1445 right_z=0.1725 right_yaw=0.0285 right_pitch=-0.1092 right_roll=-0.0926 right_gripper=0.8275\nstate[joint_eff]: [-0.253, -1.7026, 7.0496, 1.7363, -0.0659, -0.0317, -0.0073, 0.0615, -7.8974, 9.4291, 1.6972, 0.3004, 0.2515, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4423, -0.0135, -0.0311, 0.9968, 0.4938, 1.7336, 1.0344, -0.102, 0.3882, 0.1982, 0.9934]\nstate[eef_state]: left_x=0.2884 left_y=-0.0003 left_z=0.1662 left_yaw=-0.0002 left_pitch=-0.0736 left_roll=0.0001 left_gripper=0.9968 right_x=0.4276 right_y=0.1583 right_z=0.0931 right_yaw=0.0556 right_pitch=-0.1651 right_roll=-0.1247 right_gripper=0.9934\nstate[joint_eff]: [-0.2256, -1.2513, 6.9812, 1.663, -0.0562, -0.0562, -0.0073, -0.3624, -8.5812, 6.3111, 1.5311, 0.1001, 0.0757, 0.1538]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.857, 0.6792, -0.5213, -0.0135, -0.0338, 0.9968, 0.8162, 1.6791, 1.2079, -0.5243, 0.5838, 0.4606, 0.9943]\nstate[eef_state]: left_x=0.2879 left_y=-0.0001 left_z=0.1687 left_yaw=0.0021 left_pitch=-0.1301 left_roll=-0.0007 left_gripper=0.9968 right_x=0.3508 right_y=0.2362 right_z=0.1344 right_yaw=0.0661 right_pitch=-0.2186 right_roll=-0.1706 right_gripper=0.9943\nstate[joint_eff]: [0.0342, -1.0325, 10.5094, 1.7851, -0.0366, 0.0415, -0.0073, 1.1556, -10.1538, 9.347, 1.37, 0.4615, 0.1538, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12eb3a2d3d4d3a61114fa52cde2bf9e67e461447edf68cbdf79d91eb518617cb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cacb6424a98fb317c0624ccec87f9b8417b1bd9146b101ad606b8a4fdec46c5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18c3b7268786bba3b33a561c8b3bfff0320ea798be310e81953cc17e41d3736e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF7UjSMONPEqqUCd9H767uRKpjRLkoEL7-eOyng8XSaPlbRm6hvfNlK6szHjmN2IMERP0sKIZH3hFf4mBGWpQn0EXMyxL-cVkuVx_dbf1kh1sNseZgVvag8lKvN5iKGNI1cH7APhgmiRlt5rokbJoOHmQhRsz2012qpInx1-T9KyURlaRH94LL1mrJSarJvdPjfByjM_dTufQKgMp9tC81WovM99WqaUsNCUxpcHBV-Cl2iZn-A9t0dl0l6PirqM7jlVTc8GwNEA04O2jqOt0mQEgyFRq_qszsmhXSg09_3fy9Pq5dwQNUGREFn3O5plQrOH-QwtMwdjnfcKyIWTU7QOFiw_X87biQsl3wj1xQi4TacrhD9OsfsDFyekeun4U6GAXkpDt1mVWNBnH7dIhh4ENp5TB08Jozeqs8Pe1817rvl--x7CUVnj29WZEFxiuKS2eqnCJM4gIy-_WDEsN7Q-ovNZv8AdvcKzAZ7V2MR7qlcVnqH_vM8rPnAcAZ-6kcx-J_106bYjeENpfxBacpKMBpgP7yGLaFhQJmraSqP52GCRp-gMXUVkInvDKM89dpFyqFpJPOLqeFIQOvHb4nzozwkx76zRhpjrAZ6KFc7C0J9f9kdpIrpEs6PUJD0OUaHxrVK0SvgRS1V_Ogur0J7BHKAeAZhDxBI0p0Sza_pcM2cKgp0bMXKOt3lLVOq73lqhkIO2mmneOKaruzmvBIHgiVa3uZlB2G3PG0Z1iJo_2N03TyBASKjU1rwM40QvA-sO-Y8jm1JSalmWyMnVayabG8O0fxT2njGGh1Hx94mBpbrsuAnSWbdEBUSFN0PpL62LlZzS7-oWv95lArSNbu1sJ_2RqPfmsoBTigKG8F7cOX_lqrFPbveiRwLQSaD2xuyfkDfrkUG3FFs4essA0eiR_I8IwBDJQeZqTUfDrMmRcplGxW2bKfEFY2hQyedSKuBaOqI1NGtDSWh2d9m2UxXk5mZO0LFTAFQw4vUmcoLUpBCpZdVQviOd0e2HuMSbYb-KZKCb8P_NKnCos9aCcq6vsvpRReiJK1x3ydBBPavTe2RTlEX42jrS_B9uGpE36xf4JAeSHZ4z38NdZLJ5VOI-MGmi0lG2TZCc5cTeV7fr4TiP-xk944y5Wk2jUKj0OCGmzQT4H72IEdDKmIyLZimraVF0BXRGTJ8p7HqRId4S-cYcGYdao-8ICBlpDYYNSoG5uEZ1rNMWoydYvRvoxTmtoXCz0SIES50VAPsEoryXxGZRjTdx6ptjRMD-8QnkiZgZKHqSif7vyeAVjBkO-wRBCBkR-_p5bU2rkuvx31w9MkY1eyDiV_i9ocKcbOUD7aPcP0o_gHPNA3VQ6sSgAeEfDAq1R0JI414TIpao8eR2MdKMnHNzukKBVFqWi7Lc5-CSmVybiNa6GttjmyEt88Sk-IfWYjNN2UaepNMxZuqyhVqjgI_wDzTWl5AbHEHWq-HhzalnARJveRTvh5RVCmLc5zN8-Iob6sTRnZFhdyGso0dNvEtL_xFC3iHtY4NgzyTQFcCCxKA1QYAM3qRGn9TXkA==",
  "id": "rs_0000b7f8d7276998016ab45ed15ca087d09c6127420c38612f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.262,\"right_z\":0.025,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The yellow fruit is slightly left of the jaw centre and still ahead of the fingertips. I’m advancing and lowering with the jaws open to straddle it.\"}",
  "call_id": "call_H3mqxvfuiqWpQBInwZ3QLuA3",
  "id": "fc_0000b7f8d7276998016ab45ed30c5087d0a7f914131ef65679",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_H3mqxvfuiqWpQBInwZ3QLuA3",
  "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, 0.8612, 0.6823, -0.5301, -0.0135, -0.0338, 0.9968, 0.8162, 1.9427, 0.9001, 0.2203, 0.6064, 0.4603, 0.9944]\nstate[eef_state]: left_x=0.2872 left_y=-0.0001 left_z=0.1672 left_yaw=0.0022 left_pitch=-0.14 left_roll=-0.0005 left_gripper=0.9968 right_x=0.3706 right_y=0.2524 right_z=0.019 right_yaw=0.0683 right_pitch=-0.0796 right_roll=-0.0649 right_gripper=0.9944\nstate[joint_eff]: [-0.3077, -1.8803, 6.8718, 1.6825, -0.0415, -0.0562, -0.0122, 0.0889, -8.8547, 4.5607, 1.5507, 0.2857, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:276ebe25fe7053e7bdac677f311260ac7cdb7686431be492e55cbc63579cb7dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4158b8614c78bbab4731d4e0b49e5f929a6646cfb609f52a4252922033deef4f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:082eea7193289aa0ad152c43eda7b35ffd0390d05ff36428d10e97caaa89146d",
      "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 · 6.535 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 30 changed as sent

message 37 changed as sent

message 41 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]: [-0.0219, 0.8135, 0.6132, -0.4419, -0.0139, -0.0311, 0.9968, 0.4938, 1.7336, 1.0344, -0.1005, 0.3893, 0.2031, 0.8275]\nstate[eef_state]: left_x=0.2884 left_y=-0.0003 left_z=0.1663 left_yaw=0.0001 left_pitch=-0.0732 left_roll=0.0003 left_gripper=0.9968 right_x=0.4278 right_y=0.1582 right_z=0.0934 right_yaw=0.0521 right_pitch=-0.163 right_roll=-0.121 right_gripper=0.8275\nstate[joint_eff]: [-0.1709, -1.306, 7.0496, 1.7558, -0.0513, -0.022, -0.0122, 0.0889, -8.9641, 6.694, 1.9512, 0.3346, 0.2027, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.857, 0.6792, -0.5213, -0.0135, -0.0338, 0.9968, 0.8162, 1.6791, 1.2079, -0.5243, 0.5838, 0.4606, 0.9943]\nstate[eef_state]: left_x=0.2879 left_y=-0.0001 left_z=0.1687 left_yaw=0.0021 left_pitch=-0.1301 left_roll=-0.0007 left_gripper=0.9968 right_x=0.3508 right_y=0.2362 right_z=0.1344 right_yaw=0.0661 right_pitch=-0.2186 right_roll=-0.1706 right_gripper=0.9943\nstate[joint_eff]: [0.0342, -1.0325, 10.5094, 1.7851, -0.0366, 0.0415, -0.0073, 1.1556, -10.1538, 9.347, 1.37, 0.4615, 0.1538, 0.0855]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8612, 0.6823, -0.5301, -0.0135, -0.0338, 0.9968, 0.8162, 1.9427, 0.9001, 0.2203, 0.6064, 0.4603, 0.9944]\nstate[eef_state]: left_x=0.2872 left_y=-0.0001 left_z=0.1672 left_yaw=0.0022 left_pitch=-0.14 left_roll=-0.0005 left_gripper=0.9968 right_x=0.3706 right_y=0.2524 right_z=0.019 right_yaw=0.0683 right_pitch=-0.0796 right_roll=-0.0649 right_gripper=0.9944\nstate[joint_eff]: [-0.3077, -1.8803, 6.8718, 1.6825, -0.0415, -0.0562, -0.0122, 0.0889, -8.8547, 4.5607, 1.5507, 0.2857, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:276ebe25fe7053e7bdac677f311260ac7cdb7686431be492e55cbc63579cb7dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4158b8614c78bbab4731d4e0b49e5f929a6646cfb609f52a4252922033deef4f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:082eea7193289aa0ad152c43eda7b35ffd0390d05ff36428d10e97caaa89146d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF7YSBZ6G8SWmp5mR5qTO2NMlMbmMIbw7at-UleD3m1kaeTshbS1N_iu-DBrlfDDe3JPlUcUGy6sdlXVtWg028Xl1NX1ydDIHYnQkxE_Cd5AriFV7VemHapGc5N8clGcWjCP64sP8rOpGDtKXj4JR77b6ucxyeypNVznDLUm3l0FNiuPrOQPfHHNKvljBsZQf_fZLoHirsA3bjxLaVX51liw4Juj25_ee6gjptnt-Lg2Xquz1zbHInlTB2YTIXM1DP_w94MFaBZjYH9a7yfXKRK73PhN63yL5vNa00Zq0ABNEbWl3xHqBvWiUy4CooYRFHNGczZak0VMha8CpHSX7w8cw_EPu0h-O0YGua1_ZCfPCMkPEsMJyOtSPxvLdEKuXwodXM_HyuPYC0Fu3Pz1wjE-pK5bkz-PqoBfazOadlVUDKJ1UeIiPzqSglNVDrpoSv5-Q8slqdSSI9Bqe7ClyFIRJG3wGTZNUkHIefpV-FCPMP9bWUFuhC17KF2xlFQdPE2ud7SvTrQZVYBhyffpEKOZTXxGDkbcyGI91raS0SkGLjw4DT8VKZfASefHX3clSzoBo7ssDfI5Up6vgdXNXPjjJuRkU1hmJybKJghYYtJ_S3OX2iQN70XRAJtsn1cfKgP_mbyn3Z92Tz15r7p3xrejoNWS3LfNc7fgdPmBQajxo7wMtOer3-rWFrpzs4JrFX_07UTWoX8wBvtYuQ4G7v9g8EFITEyY8rBkCdktMSaGlV_Ab6WjDt0-frMmO_5CoND3LeZubZexKSwk9wUu94YZPzbQraV8ld7cEF0fkwPUwkeYU_m7un_QE0oVXTzfoXFMy5UwRGJslCyf9WXBrl612fAbB-HxLlCAmTxs2df1KMSlviQCSeKwXiSDspr8WDcQZ36iYCtBFPKvmcBNLcg7uQpi2byulcYq72ftAXD7TC0is2Qx1sDpYBZrbLNpe26xZumS3CVHl7PCGOdXJdHFEVi7cFi4UCQqK-anj501VXIcVKKmNJ9P3pAIE1GDEcKuUtFHiFIrqMp96H_FQ-DOsF2nHGQmBDHAH9g4I9d1L3c6A9a-LSUWDyYvPH2kkNFKPnrKno1OFGsAGOW6AXGpMT3LhCoUeuU1fxChf3w7ZpIzMp9Pbhv-m_6T7RK7n1ue0JCPb3AXBhoAp_i8GZ_PyPT1m3JzEb2o1sYLO76S8qFk2WiUbdtjbERf1GZHvuImo060hJ09kngazJ2XUbJRbm_gsRQ3WCN0wi15izmthbGhfV7EbEbZ8CrfJ8cHWL0G19CLsEs9naZHxiL1PaRCc0Ode3UtC3JCoq1vo5mTMGFbkgMQqdACfsusXi_-ItDUFciwUiRR9wRkljv2vZ5oTMEAwbK5BET9XbMTpqwDDoe_FttMl2QOhdSN2ItGagBb52QUkS8O-FNIZIi8yLUN3g==",
  "id": "rs_0000b7f8d7276998016ab45ed679fc87d09c654db5e4b295c0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.238,\"right_gripper\":0},\"note\":\"The yellow fruit is at grasp height, just to the right of the jaw centre. I’m correcting that small offset and closing around it.\"}",
  "call_id": "call_8bRUZZk2yFlpGUrK3kEjufK5",
  "id": "fc_0000b7f8d7276998016ab45ed7a9d887d0a9c23b6b5188dc6c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8bRUZZk2yFlpGUrK3kEjufK5",
  "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, 0.8631, 0.6823, -0.5358, -0.0135, -0.0334, 0.9968, 0.7891, 1.9087, 0.8757, 0.3031, 0.6209, 0.4168, 0.0341]\nstate[eef_state]: left_x=0.2864 left_y=-0.0001 left_z=0.1657 left_yaw=0.002 left_pitch=-0.1476 left_roll=-0.0 left_gripper=0.9968 right_x=0.3831 right_y=0.2452 right_z=0.039 right_yaw=0.0566 right_pitch=-0.006 right_roll=-0.0458 right_gripper=0.0341\nstate[joint_eff]: [-0.1983, -1.4017, 6.8991, 1.707, -0.0317, -0.0171, -0.0073, -0.1299, -8.335, 3.1932, 1.033, -0.1148, 0.1929, 0.8864]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca515b1c019a286f9bd09f2709e598c83c1391fbe318c1ab4c599d6a1d57dc93",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c483bf2e88054dcd05e3842149a0fcff43edcb82d93bdb514992a5943040842",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4d884cbce864621d19e967d1ed3fd634209edd170f295fe4c5c3bb37d6a705c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 2.986 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 33 changed as sent

message 41 changed as sent

message 45 changed as sent

message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4423, -0.0135, -0.0311, 0.9968, 0.4938, 1.7336, 1.0344, -0.102, 0.3882, 0.1982, 0.9934]\nstate[eef_state]: left_x=0.2884 left_y=-0.0003 left_z=0.1662 left_yaw=-0.0002 left_pitch=-0.0736 left_roll=0.0001 left_gripper=0.9968 right_x=0.4276 right_y=0.1583 right_z=0.0931 right_yaw=0.0556 right_pitch=-0.1651 right_roll=-0.1247 right_gripper=0.9934\nstate[joint_eff]: [-0.2256, -1.2513, 6.9812, 1.663, -0.0562, -0.0562, -0.0073, -0.3624, -8.5812, 6.3111, 1.5311, 0.1001, 0.0757, 0.1538]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8612, 0.6823, -0.5301, -0.0135, -0.0338, 0.9968, 0.8162, 1.9427, 0.9001, 0.2203, 0.6064, 0.4603, 0.9944]\nstate[eef_state]: left_x=0.2872 left_y=-0.0001 left_z=0.1672 left_yaw=0.0022 left_pitch=-0.14 left_roll=-0.0005 left_gripper=0.9968 right_x=0.3706 right_y=0.2524 right_z=0.019 right_yaw=0.0683 right_pitch=-0.0796 right_roll=-0.0649 right_gripper=0.9944\nstate[joint_eff]: [-0.3077, -1.8803, 6.8718, 1.6825, -0.0415, -0.0562, -0.0122, 0.0889, -8.8547, 4.5607, 1.5507, 0.2857, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8631, 0.6823, -0.5358, -0.0135, -0.0334, 0.9968, 0.7891, 1.9087, 0.8757, 0.3031, 0.6209, 0.4168, 0.0341]\nstate[eef_state]: left_x=0.2864 left_y=-0.0001 left_z=0.1657 left_yaw=0.002 left_pitch=-0.1476 left_roll=-0.0 left_gripper=0.9968 right_x=0.3831 right_y=0.2452 right_z=0.039 right_yaw=0.0566 right_pitch=-0.006 right_roll=-0.0458 right_gripper=0.0341\nstate[joint_eff]: [-0.1983, -1.4017, 6.8991, 1.707, -0.0317, -0.0171, -0.0073, -0.1299, -8.335, 3.1932, 1.033, -0.1148, 0.1929, 0.8864]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca515b1c019a286f9bd09f2709e598c83c1391fbe318c1ab4c599d6a1d57dc93",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c483bf2e88054dcd05e3842149a0fcff43edcb82d93bdb514992a5943040842",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4d884cbce864621d19e967d1ed3fd634209edd170f295fe4c5c3bb37d6a705c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF7fidI4yqWGO3Xo9Ee-F_ouMnrexv-ieamwJDAXdbAAmqK-qjeIoO-lgEWiAtcXLjTleHwaweCmhx4AvqVpOvyoqoX0U1rfHnlqIRlAHlnU9doeZEL93EK91mp69YN2CqRjD4Q9ewjBAVSP93nGLjQ18RicstW-QW3YI4js602LMPifMoMedsnK0sQLhT9dk6J1em6S8UbLbiENjPMD5Q6NMXSQQwTl3egtKr6-52Y1h0P1yw-DbR0M2ohSyufxTCGu-6wjFddKpWcs1ee8ASHekZSEI3T6O5WOGImLALf5kD7oCtqHyrtv8DKDd64UXZbLJupewuai-O5bP4thNL3F1dFocMItAH8MIPcSMzKdiu24xu5H-spA0SQh8wdvFYUBtwEKFwhyul-GVv7aQ__284Wy1estJQ67saw0IhkyCSXB7JtABjOsF8zQsH36as64315tgZ91XQ-eIvrUu3KxYjDzq4mSRqAsN0thrO2eEnkaNo4Yqbh5gfKRROIp9gPANpIu9BYs65GEcCDcOFid0nOPMwfKXCgHeHW3OA-nParJqKt_yvuiqzCf93tIqOKuyORUdG0-V6yPAacZrb_9sCrL-XKE5CNIBYF-DKMdBfCRZ4MOaYn41tugof4FvELHLV6KviLtXgTGnUobDNX3NYjJCuUtluaVF-QhIvT_IEbUu4w-ZVvTV0LsLm7tdz84OyPF4-qS-8EpqE-_rNumtZTeUJk6_uFvNtmWmNwFdTMFvFWqt0QYAjHcXpg3s6eBg0RNmGilUMN08CG811pTv03zmdeNedqI_SliRWCh6wWSpQXlD9F3QLOZjHgCOrsXm-X2AfiwUTX0TiwBma2mcNNdxO4fiJFfs6_cVJgLUTKE7Lk3LoEHr0jBP-rbbPlMFRPKllnChTzd4EgjGpUqJhC7ZtFU2b25gQ4GJ6F_lnfx4xcIif7RsiuuR6x5qUN50xGDzP489LR-kmK5n93S8HeBTmD6HBvOrRn00hngED06x-teBRlW5mtG2BOjRaKFgZwawgRXHhzCbcyOcVDP43HIAEGnYVi5k6kZDEGrEPKaYtXJGdemtcWxmwIxqUiQt75ihUoPFzWddDKcEB_au9eKTKZ0YDQc3iOB0yAVomEwAr4SNFSIAwCsFBDRKtEW5tfbrCOXtmFmzl3jyF2wRcLbLYRdv70v2UxOpLvAfPiQ6Ihv8V-7txEKgjGmFQ7ySBE8YXaEuXqWtWSIxsmlnu-lFM6uPN8u8vexmMsOFHXcOhEyTJuoeauJH607FM642OdbTNV6UBuEB5lUmFjbPRGYaFgA1M3pFlaRRJMiM-tagsV578aVtVwMlzvFc9Hyli0pYHS_F03H-94zDKwlHVAJegDoP4B467mhFaD-RV9OPu9G3QdwE_bPC4O2kTTtqrtuX_jixOfagWN2VVr0H7vK-RgT0hkcjqM_ABRx1srRASYYeNFIc3LaME5utQpv1OjHOmOFj_8ePYvRFW2uTbp-1VQb3szQy4MVRDJvfw-1DY7sxHQnhkC3shCB3OL9Q3NjZrylCjFDZol_WvUI6gnsXEgF-VSGZuV7-2UgjUlUNkc1Mx0z0PqVRqiS0t8PgmmIuqLDAx4NAbLyNqYYTmfMrlqXK9q1hopqUVE7_haSf9XlUnDS0KaveR6bf19YpkWWBlxPgC5TuDA5FSoXQRDaX7VyYEE8Jgvgjz6jFHpmicF6XKUvaR8viTiUVi893P3-6zA9tZXDysHZq60FOii7SvoknBQ1tWSHkq9XpnFQtQNWdWeDyGyQ7T9DlzMBDnrm52KQHUCUw7pP-E7TPthBIw9YnqgkaIU1UHtwEND5P7fMF923C6PQvcKlZyUuIjf5tYcoYte7P0I5xxRUNOCly1-yIeevdlVns_e_JGtVYJFwMN_U-9CZE2Npi8EWHHzPA9uqGYtVg1bTZJE_LlSTj8plh8_VW7KSpIUw03IIqOWTATB9xDZ23XGUqy0ZdeLuDe58i0UaoubyhS3nFFA48K7kYTLDHT1DiRPQTqfWVbhImLLIZVOmP6HqJiYw5MxKpY7PvstT6UWd1LyDMIew4RGj_03JM-AitkSOr95lreVzWd0MPZsnmAPp8xAxkfOhRZUJpRldawaSoAifKkQWhDvIya_8kwSrSJJFOJh4IstNNZmGzrPmSpmTfAGvb8rrImtMijapiuK3AEK-PDDGtCmynJIgSmjXKVUcA-B0JF1b6dwFGOYxQOJI3V4tLUCP8TaNnkJ0EROPp3c3Wst5Ya-AJMtmSUv_Gz9p1pKAVNIZsKRJeYMBZ74snXsH",
  "id": "rs_0000b7f8d7276998016ab45edb189487d09767968843b7d8c4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.403,\"right_y\":0.238,\"right_z\":0.01},\"note\":\"The jaws closed almost completely, so that attempt did not hold the yellow fruit. I’m opening and adjusting two centimetres forward for a lower retry.\"}",
  "call_id": "call_S8aaACAqRNAu0AN6y8obrt5w",
  "id": "fc_0000b7f8d7276998016ab45eded55487d0a3757df3632f9fa5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_S8aaACAqRNAu0AN6y8obrt5w",
  "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, 0.8642, 0.6823, -0.5369, -0.0139, -0.0338, 0.9968, 0.7387, 1.9942, 0.8776, 0.4454, 0.5861, 0.3668, 0.9958]\nstate[eef_state]: left_x=0.2862 left_y=-0.0 left_z=0.1651 left_yaw=0.0025 left_pitch=-0.1499 left_roll=0.0 left_gripper=0.9968 right_x=0.4035 right_y=0.2402 right_z=0.0239 right_yaw=0.0592 right_pitch=0.023 right_roll=-0.033 right_gripper=0.9958\nstate[joint_eff]: [-0.3624, -1.5521, 6.9675, 1.58, -0.0464, -0.0659, -0.0122, -0.6085, -6.8444, 5.7368, 1.4139, 0.0757, 0.1685, -0.1636]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f2e9b563c4930358dfd47c83387e544ee0b514c551f5b572c12e09e7e96a276",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99409f7cc564268d1b9843edc83d1e8b2efe5c1e460ded6537643ad950ae61e0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d92cc6db367de562ae9293c0fb51c59c557981b856588447ead57706e61d97f9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 3.298 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 37 changed as sent

message 45 changed as sent

message 49 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.857, 0.6792, -0.5213, -0.0135, -0.0338, 0.9968, 0.8162, 1.6791, 1.2079, -0.5243, 0.5838, 0.4606, 0.9943]\nstate[eef_state]: left_x=0.2879 left_y=-0.0001 left_z=0.1687 left_yaw=0.0021 left_pitch=-0.1301 left_roll=-0.0007 left_gripper=0.9968 right_x=0.3508 right_y=0.2362 right_z=0.1344 right_yaw=0.0661 right_pitch=-0.2186 right_roll=-0.1706 right_gripper=0.9943\nstate[joint_eff]: [0.0342, -1.0325, 10.5094, 1.7851, -0.0366, 0.0415, -0.0073, 1.1556, -10.1538, 9.347, 1.37, 0.4615, 0.1538, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8631, 0.6823, -0.5358, -0.0135, -0.0334, 0.9968, 0.7891, 1.9087, 0.8757, 0.3031, 0.6209, 0.4168, 0.0341]\nstate[eef_state]: left_x=0.2864 left_y=-0.0001 left_z=0.1657 left_yaw=0.002 left_pitch=-0.1476 left_roll=-0.0 left_gripper=0.9968 right_x=0.3831 right_y=0.2452 right_z=0.039 right_yaw=0.0566 right_pitch=-0.006 right_roll=-0.0458 right_gripper=0.0341\nstate[joint_eff]: [-0.1983, -1.4017, 6.8991, 1.707, -0.0317, -0.0171, -0.0073, -0.1299, -8.335, 3.1932, 1.033, -0.1148, 0.1929, 0.8864]\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 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8642, 0.6823, -0.5369, -0.0139, -0.0338, 0.9968, 0.7387, 1.9942, 0.8776, 0.4454, 0.5861, 0.3668, 0.9958]\nstate[eef_state]: left_x=0.2862 left_y=-0.0 left_z=0.1651 left_yaw=0.0025 left_pitch=-0.1499 left_roll=0.0 left_gripper=0.9968 right_x=0.4035 right_y=0.2402 right_z=0.0239 right_yaw=0.0592 right_pitch=0.023 right_roll=-0.033 right_gripper=0.9958\nstate[joint_eff]: [-0.3624, -1.5521, 6.9675, 1.58, -0.0464, -0.0659, -0.0122, -0.6085, -6.8444, 5.7368, 1.4139, 0.0757, 0.1685, -0.1636]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f2e9b563c4930358dfd47c83387e544ee0b514c551f5b572c12e09e7e96a276",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99409f7cc564268d1b9843edc83d1e8b2efe5c1e460ded6537643ad950ae61e0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d92cc6db367de562ae9293c0fb51c59c557981b856588447ead57706e61d97f9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF7jxALFWHQgD_UdyrkjZ3Y_ozajtqkU8YJUJaVouS6R5Ltg2KFa253stYF2VF_NUTnD7PH9TsS4uhqnJaiYiESh66trNnKHWKlcZBA_N7gEf3V1g5aKkI7_omacIplQxmsnKVHsTFXSpq83imyY0z9EPd8mmMojegNWcPQD2D1Nr5BOhkcCgTsikiWPbCjB0KGdfqskQ3fT0evs_37XuW9QvrXoIdKmvnMOFB4G9Cg-iwQt8bowSRlQl3HAaPb34pGv78Jnl5-l_2K1_rjrROqOTq5Rc1kupWP-PU7aGJVy6L60Hdsg-eYCNGJkwIo7Dy2t-LYBFZJhHkL8owkAjptJ5fvNF0guLeAi3_C5OEeoc_g1jLhEAlzYMRMwKcTQWsQQTij3k80JproShJSmjSPuHzBFi_M3PH0Q8ljrES0BqPI8eWp50Wuld32CUqHInMoq6dNRzeCAmPLdAAfbjYW4baNloKxLt-89-9gqf-9E3NUyNwwJ-8GobC-S39tghO3I7YdYri5sMNPFAjBl0sahpJar8yA1s7aIwmS9-qvfeNlAfQAzNng8hv2ssyCHNhbuuQs_40DDPuf989YCPETmwQ5TKrkLpvHJvUqWxLjFdSGpvtDLf3o9zDrgnHF0h-FfnHg6m4Q1duwsoSfBPki1J75w8TdCM2zwrXFrFR7HFbtQFyv0HKcgST0TUHn93Bm2WaSwlNT0uudhSOLzs7EoGMdJvbl77_fhbWVw0vZ4cGUgU3ESQ3lkYw-OfANfQnYNFhbLP3wbEkOik9JMRpc7rYEMYrmkJpwvecgINXBQATqYKBVF-CmlQ7bKweP6R_ZF3Uht0YjCGDkhYKWPENw6LwK63EgOw7dsoSuZvHTXy2poYM6BFUspfUGSnnEGfk77aXAjrFammm7UPwhTKDGa1CBu2CUG31q-BVj1tVeTApBnwNdI9upMA45t9NDJhW_c2p8ybuoim2VXso1oAaoIT8912rUOc7B-KV4HCNOcGChOMKbu1MwzKUWi_36TtOdUHTc1Ph5xlpx50_Ix0tUdEBVf576FbS_qZ9veCmxg_LhX1IJ7HCvC3LscEvzfdtOO51qI01I2S0JTX01yFUzXcQOS7eq2b8kSWqPbW5vddbuYhlWDsRbiVTsE5BnvZs64sJYMubybnhGta66w2KZAQ-wg9l0bDpgxGIMUw_gNlHHPz30YczNSTk2cCPRMlzT4Hi8cE9m87LxaYc4Gi5zTlB3oue7mfuZiMo7tAZSU5TGPwQVZr65dqghv41kYgorOvbKZuJ5csAjMAmOBQhRCTg==",
  "id": "rs_0000b7f8d7276998016ab45ee2260887d0aac5941fc91fbc44",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The open fingers are at the adjusted table-level position beside the bowl. I’m closing once more, then I’ll verify by lifting if the jaw opening indicates a grasp.\"}",
  "call_id": "call_bar3BlpToVdzdF2N1bhTc1Ru",
  "id": "fc_0000b7f8d7276998016ab45ee2cd5887d0abfd855714fa6b39",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bar3BlpToVdzdF2N1bhTc1Ru",
  "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, 0.8642, 0.6823, -0.5392, -0.0135, -0.0338, 0.9968, 0.7383, 1.9839, 0.8787, 0.4648, 0.6147, 0.3397, 0.1089]\nstate[eef_state]: left_x=0.2859 left_y=-0.0001 left_z=0.1647 left_yaw=0.0022 left_pitch=-0.1522 left_roll=-0.0002 left_gripper=0.9968 right_x=0.4076 right_y=0.238 right_z=0.0339 right_yaw=0.0504 right_pitch=0.0573 right_roll=-0.0504 right_gripper=0.1089\nstate[joint_eff]: [-0.0752, -1.5658, 6.9265, 1.5897, -0.0317, -0.0415, -0.0122, -0.0205, -8.6085, 5.012, 1.4432, -0.1099, 0.2564, 0.6667]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e987652cca475199acf14c356c4527f4ca947c110bffa5e731f824e00a9b397b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de95c6bb993b83c6fb0d971cce9d27d23907d42618cdcca52c8d0897734287de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90c1fb0dc09d805f2a23599341575d32a66150f2b044c12038e2fe1b9b59c453",
      "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 · 4.254 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 41 changed as sent

message 49 changed as sent

message 53 changed as sent

message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8612, 0.6823, -0.5301, -0.0135, -0.0338, 0.9968, 0.8162, 1.9427, 0.9001, 0.2203, 0.6064, 0.4603, 0.9944]\nstate[eef_state]: left_x=0.2872 left_y=-0.0001 left_z=0.1672 left_yaw=0.0022 left_pitch=-0.14 left_roll=-0.0005 left_gripper=0.9968 right_x=0.3706 right_y=0.2524 right_z=0.019 right_yaw=0.0683 right_pitch=-0.0796 right_roll=-0.0649 right_gripper=0.9944\nstate[joint_eff]: [-0.3077, -1.8803, 6.8718, 1.6825, -0.0415, -0.0562, -0.0122, 0.0889, -8.8547, 4.5607, 1.5507, 0.2857, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8642, 0.6823, -0.5369, -0.0139, -0.0338, 0.9968, 0.7387, 1.9942, 0.8776, 0.4454, 0.5861, 0.3668, 0.9958]\nstate[eef_state]: left_x=0.2862 left_y=-0.0 left_z=0.1651 left_yaw=0.0025 left_pitch=-0.1499 left_roll=0.0 left_gripper=0.9968 right_x=0.4035 right_y=0.2402 right_z=0.0239 right_yaw=0.0592 right_pitch=0.023 right_roll=-0.033 right_gripper=0.9958\nstate[joint_eff]: [-0.3624, -1.5521, 6.9675, 1.58, -0.0464, -0.0659, -0.0122, -0.6085, -6.8444, 5.7368, 1.4139, 0.0757, 0.1685, -0.1636]\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 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8642, 0.6823, -0.5392, -0.0135, -0.0338, 0.9968, 0.7383, 1.9839, 0.8787, 0.4648, 0.6147, 0.3397, 0.1089]\nstate[eef_state]: left_x=0.2859 left_y=-0.0001 left_z=0.1647 left_yaw=0.0022 left_pitch=-0.1522 left_roll=-0.0002 left_gripper=0.9968 right_x=0.4076 right_y=0.238 right_z=0.0339 right_yaw=0.0504 right_pitch=0.0573 right_roll=-0.0504 right_gripper=0.1089\nstate[joint_eff]: [-0.0752, -1.5658, 6.9265, 1.5897, -0.0317, -0.0415, -0.0122, -0.0205, -8.6085, 5.012, 1.4432, -0.1099, 0.2564, 0.6667]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e987652cca475199acf14c356c4527f4ca947c110bffa5e731f824e00a9b397b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de95c6bb993b83c6fb0d971cce9d27d23907d42618cdcca52c8d0897734287de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90c1fb0dc09d805f2a23599341575d32a66150f2b044c12038e2fe1b9b59c453",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF7ot8TqEXV9pS6cdtTpxfY489k0lbxYLfbqSusltwdA6dlcaJA-D_K-hnpsWjvslHWXzEDILBndZhKyfoGORGbWxyKnnyhuTEU4wPeNarY3yYkg-TlDNSfUK-OOfmH-nSNKvZZ9RK56IGbqNxJV4or0IoaDEzTl64owHuEewmv-dHlw8ZRabVfsO4dNQMdA3xEIaBl2pnEkXFdUWOziuceKF6edPHZQy0vu-lqqzfiRrbAYxNs7pFjNmKPXX-MvbOt2Vu1iILWIQnBvx0rPyPYsMdsJERrtLB4g02f-BMaj96RS5dRLVve3Lg_I46fF-WlJ9zQlQCHfmBUf4hurjZQGB4koYzFxGBs7k-v_qM80dW3Ng0J4t5sjaHOlI9kEhzurqHty3FddS4Hu-zPsgP9RrruELADpgMoi0tNmzUyBgfN26XCp0hNkZ3oDvrXXoOvYYOIWldSME0F4n0z2H-s7NF4VkEFm_FyYPmhqzwRtCjWeplOiAQ4OTCnH_jXMJj3F2vpq-zkbhRj163N_smqcWO2ukwvzVgObhR01QBMZ9xz9V9avQa9A-L6pFM434zWF9mz2p6Fo8LADgKRuZ9Yy3PZrCwDgiC73R56A6DT2kSMLatJ1vvKXA998eqWulQlSmFRbQGWTwcHEO3IcSmQd0mOguVGZtWG0sJnV9SvQCJrHhJ4GJRKYSkw41VBckU7GDQ50Wb2-iej8P70CjtVBtBnXUViMnHwrSDaRkpdDocLKa2z-8DBEYNsTxDOO4rUEI6Xwd4o2z7A4TwyHz1pcF6iw-0eq-EIpEs7sGfdyiOI1pz5oCFfwb9jPgNGmXlgQZGRSsiwoEVVv82KWAoiTF243jRA2RGfHWDEsrkb6PYgFIo0Vijup04SLO6STF0pK9TGWk-Y8VCv8K4I2y6N_UFjfa2W9A31WFGmegdIbI-SQJ042UQD-iZcmcf0HZi4C9RUeDFywdpLsL_ES4jGTDnm6DpyL-aDGYcoQBLGlkb3uy-M8cr2okdU7WTz49MBsKOHtvP2rGOvdRBnDrfDi4OuTyhh1hF_Bvofj7TbZrvMen1TWxO58IOUqhSYagH_IjLBFgNuwi6HLVppqepwn08Y67CnxpDAsAyIiQke0WqZnhWnfFEZIditdi_oe9-874n10wxvzQvYMCm_SkzRRXqETYpJKySZA4rEtJd4r6DGYT7y6-4ADqPDagNAcuMtiJgxo6BQIiLry2SdwUsHYobJ_Mm75bA-5zO3hzB1uqmPxL8xIp-tRocyAdwNU6ODTGQhfKgwwaygCQgbUJszS_0jrZ44mSJSw39r2PtpjeKuOomUgvL3wn7FcSOlUTQcYaL10a9jCY-9TqtfuqtJDWgEksQYJNNykuO_ygn-sD4eJUVL4Z11HmlicPjlqlphdepacbL0gK2aRad8mMXGaAo5Fjr1TnPT2nG5_0t4QrUa8wliDbzKghZiWBPINToT_zne5FbsP0w0qFkSyJKnoHG4Vc1BsrON4jK9Bx2LvhFv3eglY2xqpIbkHxW698L76",
  "id": "rs_0000b7f8d7276998016ab45ee6215487d08b62b660be07d37d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.11},\"note\":\"The jaws stopped at a narrow opening, which could be a rim rather than the fruit. I’m making a short lift to identify what is held before moving anything sideways.\"}",
  "call_id": "call_F1ku2yLBV7QWXCuS8EDZp8Fr",
  "id": "fc_0000b7f8d7276998016ab45ee712ac87d09b0df70223aea430",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_F1ku2yLBV7QWXCuS8EDZp8Fr",
  "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, 0.8642, 0.6823, -0.5396, -0.0135, -0.0338, 0.9968, 0.7391, 1.8305, 0.947, 0.1963, 0.5964, 0.3321, 0.1093]\nstate[eef_state]: left_x=0.2858 left_y=-0.0001 left_z=0.1647 left_yaw=0.0022 left_pitch=-0.1526 left_roll=-0.0002 left_gripper=0.9968 right_x=0.4021 right_y=0.2371 right_z=0.0788 right_yaw=0.0704 right_pitch=0.0134 right_roll=-0.0776 right_gripper=0.1093\nstate[joint_eff]: [-0.1026, -1.6068, 7.1453, 1.58, -0.0562, -0.0317, -0.0073, -0.2667, -11.6444, 8.4444, 1.8095, 0.3297, 0.0513, 0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3f5ef79707cec63e4ad813f237292923efd7edcb5779f6cc553cbd20b9846a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb4bfe2fb8c8d02e697eb1389deac4eaafbba8f2cfb0faad32349d7a83f1f5a1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51feed6ff0fb62a3d3c59f7ef9cdf092ae21e9be154fc5f4b4cae4a392d6c8cc",
      "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 · 1.963 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 45 changed as sent

message 53 changed as sent

message 57 changed as sent

message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8631, 0.6823, -0.5358, -0.0135, -0.0334, 0.9968, 0.7891, 1.9087, 0.8757, 0.3031, 0.6209, 0.4168, 0.0341]\nstate[eef_state]: left_x=0.2864 left_y=-0.0001 left_z=0.1657 left_yaw=0.002 left_pitch=-0.1476 left_roll=-0.0 left_gripper=0.9968 right_x=0.3831 right_y=0.2452 right_z=0.039 right_yaw=0.0566 right_pitch=-0.006 right_roll=-0.0458 right_gripper=0.0341\nstate[joint_eff]: [-0.1983, -1.4017, 6.8991, 1.707, -0.0317, -0.0171, -0.0073, -0.1299, -8.335, 3.1932, 1.033, -0.1148, 0.1929, 0.8864]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8642, 0.6823, -0.5392, -0.0135, -0.0338, 0.9968, 0.7383, 1.9839, 0.8787, 0.4648, 0.6147, 0.3397, 0.1089]\nstate[eef_state]: left_x=0.2859 left_y=-0.0001 left_z=0.1647 left_yaw=0.0022 left_pitch=-0.1522 left_roll=-0.0002 left_gripper=0.9968 right_x=0.4076 right_y=0.238 right_z=0.0339 right_yaw=0.0504 right_pitch=0.0573 right_roll=-0.0504 right_gripper=0.1089\nstate[joint_eff]: [-0.0752, -1.5658, 6.9265, 1.5897, -0.0317, -0.0415, -0.0122, -0.0205, -8.6085, 5.012, 1.4432, -0.1099, 0.2564, 0.6667]\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 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8642, 0.6823, -0.5396, -0.0135, -0.0338, 0.9968, 0.7391, 1.8305, 0.947, 0.1963, 0.5964, 0.3321, 0.1093]\nstate[eef_state]: left_x=0.2858 left_y=-0.0001 left_z=0.1647 left_yaw=0.0022 left_pitch=-0.1526 left_roll=-0.0002 left_gripper=0.9968 right_x=0.4021 right_y=0.2371 right_z=0.0788 right_yaw=0.0704 right_pitch=0.0134 right_roll=-0.0776 right_gripper=0.1093\nstate[joint_eff]: [-0.1026, -1.6068, 7.1453, 1.58, -0.0562, -0.0317, -0.0073, -0.2667, -11.6444, 8.4444, 1.8095, 0.3297, 0.0513, 0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3f5ef79707cec63e4ad813f237292923efd7edcb5779f6cc553cbd20b9846a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb4bfe2fb8c8d02e697eb1389deac4eaafbba8f2cfb0faad32349d7a83f1f5a1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51feed6ff0fb62a3d3c59f7ef9cdf092ae21e9be154fc5f4b4cae4a392d6c8cc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF7snwE4iyqM0UaRlD36LzaRp79v5Jb7Olv5-PnuLdtIJqosw-AikDzsuJZPlKwjNEuIcacYBzfbWKtHmBdKIpPIZ_zyCa62w24fu_Ft7TJIslQE6BI5dx2l3YobDcn3U7H2rcZEqeqi2Ovev7mGmahTMXDASndHm93z8aJiaSrpyn4Pldr3dqh8TcJBCvqBjOgJIqaPUftxbXfClTu2fN4o71PyWiLPeLQx5fu7LVYwYUSxHVCZu99gb3uejadpyoFZxesGNiY9GLb66viRnmZBfTg9N0_QABqJMLMTKilsr_WVlCoLHei5Tr-2U2y3HLEFJL5ZPyt9AGhO9o1_SAo1WvKdW0iVy61AP_hIBVFPMg70g6pE_b7nLdDTxovMhE6Wx2ttogEaT3PL0qH9wIcMurPKAGTQ9mxDuOooFy-Gfy2E84TOE80GWDd8M_fH-LsKhxGBSw2VuLQ9GF_jJFa-kmg8X_lHCPUKu2eLtHEoCnCibMw3P_SuOr6MyqEbKoFfd_KI6AvM6FIxPk6wYfc590Fxw1S7RlxrlRyadG-9MUtBmFDwT46Nhl-17hCn0IQGGb3dyyuJUFGQYVDG0GR6s8mq_NXDfMoXFytWTkDBD65K4wzmWZHlERzLWaJC7svaVJv4WaTNU3uKvJQ_97JqXuzWsez-xAyTskumEpjyPhKZSbgN7nSkf17o-E6SO_ofUgxExAjBWi_tOdyejvXfI7BxSX7Qg8ly-ZLHzP4TUUwrdwgHPafq24HyJFnfoAeM9g1fU5EasNDxme1QwIQAvYGK7GEe6urphkXIYkYE2m8birVgX1M3HCbmgbRVLzAqVSXcNXuLzwzr8714GL1vuoydrxemZMBypdYd18Q3mTlLJhuQn20kRwjTtAs7ID7PtUp8tYxQQT3RGcycOyk8qZptsI1bkIq_jDZuxbRDqCrErvBPEmt18fI78xYCehpz7ftgKSHIZLX6IAp3wR5d2uw29ZjR5RsMGNpAshb7Ytr2vk5-yMfKDgi7amkk_gtC5IysotHrp_Z8JN3MGmrSw4y3q5dypHe8TiGI22--tFNZFjxvrUXp5rpUNhWQOXYVACSQassFxmhVnEOClPkGLbvnBh61A0K2AVizUwj2y6w3JEbraFWx371p6kbFMN1BmiImyY660RDIB6VoSyGusdnntDIElRENvIpuYgvDyIfOX5mv6eF_C956eBIi7bwlOLYa22Ckk_KYwpUK3LCGFIP0Q3frPRAM_IT4G7PJJfOdKPdD1wl8wrgEEYetuus7YVSmBBUUNTWkgEEaS7Z-ZA2jL1JkTV3pFc2VXHeDJ-XPYEt8sEh-Fjtps84Pg2etKatYOvsppecEIZiJRdJOuHxHaSp03wBwwJffAEGM_3bIYC5Sa8r5DTf__VFaMJb5GdA5fhDGOVypBucT9szIUUVXKBx-rJ8OJy1nDhUaR0RPxhEZbGskZYLinc2QPLMh2uYKL7MYWcIgFmyJ4OkbVTYf4q1IdW-GCsPi8C8jdKXr6UKz3WO3Q5yL-gEDT1mGDeHNk_beskMqh3iO6Q6DNV4lf6NhJ33tqAvyHBriRq-FAzLK3Bx5loA_ohN10VgThRYjuGz4r8BzJTAfqWxKSNmFkdgXE_Yu1bwuF-4p_S0TnppNjME_AMgS6oj6PErTkDMcezxwzpnvDf2ujFROuoniU-JCjGB7dD1hzruFQjnwL2GnW_EUc_iuc5tIspk5m5F2-FkNP62ZrFYmoe32eBLNGNvAWojYuV4LakshoGU717aIlCp4tzHsC37WGVtH",
  "id": "rs_0000b7f8d7276998016ab45ee9cb3c87d0acabe35970a9ddd2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.04},\"note\":\"The blue bowl moved with the gripper, so this is a rim grasp, not the remaining fruit. I’m setting the bowl back down before clearing the view.\"}",
  "call_id": "call_B5vVLf9676wHiCPjXrJCfNIm",
  "id": "fc_0000b7f8d7276998016ab45eebf35887d08baf87a49278d24f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_B5vVLf9676wHiCPjXrJCfNIm",
  "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, 0.865, 0.6823, -0.5404, -0.0139, -0.0334, 0.9968, 0.7383, 1.9194, 0.9115, 0.2779, 0.5858, 0.3313, 0.1093]\nstate[eef_state]: left_x=0.2857 left_y=-0.0 left_z=0.1643 left_yaw=0.0023 left_pitch=-0.1541 left_roll=0.0004 left_gripper=0.9968 right_x=0.3988 right_y=0.2358 right_z=0.0402 right_yaw=0.0781 right_pitch=-0.0245 right_roll=-0.0992 right_gripper=0.1093\nstate[joint_eff]: [-0.1846, -1.6479, 7.0632, 1.5751, -0.0562, 0.022, -0.0073, -0.0068, -10.4137, 5.559, 1.9072, 0.2955, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b00b10b51ee81eda6b7a1e30f6522f34f653a4955d5d14507be0961e8678b510",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9b5bafa136bcd6c9e61a3f15d6e2c4779246ab8ba760f58d1a33f18752a527e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bae0c44d4ee6cc2ee3a69dd8aa8a1a220b527a96b847afbd3d83923fef4b72ed",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 2.729 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 49 changed as sent

message 57 changed as sent

message 61 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8642, 0.6823, -0.5369, -0.0139, -0.0338, 0.9968, 0.7387, 1.9942, 0.8776, 0.4454, 0.5861, 0.3668, 0.9958]\nstate[eef_state]: left_x=0.2862 left_y=-0.0 left_z=0.1651 left_yaw=0.0025 left_pitch=-0.1499 left_roll=0.0 left_gripper=0.9968 right_x=0.4035 right_y=0.2402 right_z=0.0239 right_yaw=0.0592 right_pitch=0.023 right_roll=-0.033 right_gripper=0.9958\nstate[joint_eff]: [-0.3624, -1.5521, 6.9675, 1.58, -0.0464, -0.0659, -0.0122, -0.6085, -6.8444, 5.7368, 1.4139, 0.0757, 0.1685, -0.1636]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8642, 0.6823, -0.5396, -0.0135, -0.0338, 0.9968, 0.7391, 1.8305, 0.947, 0.1963, 0.5964, 0.3321, 0.1093]\nstate[eef_state]: left_x=0.2858 left_y=-0.0001 left_z=0.1647 left_yaw=0.0022 left_pitch=-0.1526 left_roll=-0.0002 left_gripper=0.9968 right_x=0.4021 right_y=0.2371 right_z=0.0788 right_yaw=0.0704 right_pitch=0.0134 right_roll=-0.0776 right_gripper=0.1093\nstate[joint_eff]: [-0.1026, -1.6068, 7.1453, 1.58, -0.0562, -0.0317, -0.0073, -0.2667, -11.6444, 8.4444, 1.8095, 0.3297, 0.0513, 0.0317]\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 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.865, 0.6823, -0.5404, -0.0139, -0.0334, 0.9968, 0.7383, 1.9194, 0.9115, 0.2779, 0.5858, 0.3313, 0.1093]\nstate[eef_state]: left_x=0.2857 left_y=-0.0 left_z=0.1643 left_yaw=0.0023 left_pitch=-0.1541 left_roll=0.0004 left_gripper=0.9968 right_x=0.3988 right_y=0.2358 right_z=0.0402 right_yaw=0.0781 right_pitch=-0.0245 right_roll=-0.0992 right_gripper=0.1093\nstate[joint_eff]: [-0.1846, -1.6479, 7.0632, 1.5751, -0.0562, 0.022, -0.0073, -0.0068, -10.4137, 5.559, 1.9072, 0.2955, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b00b10b51ee81eda6b7a1e30f6522f34f653a4955d5d14507be0961e8678b510",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9b5bafa136bcd6c9e61a3f15d6e2c4779246ab8ba760f58d1a33f18752a527e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bae0c44d4ee6cc2ee3a69dd8aa8a1a220b527a96b847afbd3d83923fef4b72ed",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The bowl is back at table height. I’m releasing its rim so I can approach the remaining yellow fruit separately.\"}",
  "call_id": "call_2EbRglG11omf7jen2PaEJL4N",
  "id": "fc_0000b7f8d7276998016ab45eee4ac887d0b5db816e6bfaabfa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2EbRglG11omf7jen2PaEJL4N",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.865, 0.6823, -0.543, -0.0139, -0.0338, 0.9968, 0.7395, 1.9411, 0.8993, 0.2821, 0.5785, 0.3218, 0.9955]\nstate[eef_state]: left_x=0.2853 left_y=0.0 left_z=0.1638 left_yaw=0.0026 left_pitch=-0.1568 left_roll=0.0002 left_gripper=0.9968 right_x=0.3945 right_y=0.234 right_z=0.0269 right_yaw=0.0891 right_pitch=-0.0517 right_roll=-0.1212 right_gripper=0.9955\nstate[joint_eff]: [-0.0342, -1.4701, 6.9128, 1.5946, -0.0611, -0.0415, -0.0122, -0.2667, -11.0564, 6.188, 1.4921, 0.2857, 0.0806, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64c0bf36f1359a409a85c96a1744d88343e3806654e534000d4a1454ede06bf4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00cab3f10e7c44beb033cbc93df9139401ea275a21e548cfefa0be8f6567bf1c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0636572c5ff1a5fbb34f6c648672b8b79d19f99ecb19d0f28239d23fe048a51",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 5.749 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 53 changed as sent

message 61 changed as sent

message 64 changed as sent

message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8642, 0.6823, -0.5392, -0.0135, -0.0338, 0.9968, 0.7383, 1.9839, 0.8787, 0.4648, 0.6147, 0.3397, 0.1089]\nstate[eef_state]: left_x=0.2859 left_y=-0.0001 left_z=0.1647 left_yaw=0.0022 left_pitch=-0.1522 left_roll=-0.0002 left_gripper=0.9968 right_x=0.4076 right_y=0.238 right_z=0.0339 right_yaw=0.0504 right_pitch=0.0573 right_roll=-0.0504 right_gripper=0.1089\nstate[joint_eff]: [-0.0752, -1.5658, 6.9265, 1.5897, -0.0317, -0.0415, -0.0122, -0.0205, -8.6085, 5.012, 1.4432, -0.1099, 0.2564, 0.6667]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.865, 0.6823, -0.5404, -0.0139, -0.0334, 0.9968, 0.7383, 1.9194, 0.9115, 0.2779, 0.5858, 0.3313, 0.1093]\nstate[eef_state]: left_x=0.2857 left_y=-0.0 left_z=0.1643 left_yaw=0.0023 left_pitch=-0.1541 left_roll=0.0004 left_gripper=0.9968 right_x=0.3988 right_y=0.2358 right_z=0.0402 right_yaw=0.0781 right_pitch=-0.0245 right_roll=-0.0992 right_gripper=0.1093\nstate[joint_eff]: [-0.1846, -1.6479, 7.0632, 1.5751, -0.0562, 0.022, -0.0073, -0.0068, -10.4137, 5.559, 1.9072, 0.2955, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.865, 0.6823, -0.543, -0.0139, -0.0338, 0.9968, 0.7395, 1.9411, 0.8993, 0.2821, 0.5785, 0.3218, 0.9955]\nstate[eef_state]: left_x=0.2853 left_y=0.0 left_z=0.1638 left_yaw=0.0026 left_pitch=-0.1568 left_roll=0.0002 left_gripper=0.9968 right_x=0.3945 right_y=0.234 right_z=0.0269 right_yaw=0.0891 right_pitch=-0.0517 right_roll=-0.1212 right_gripper=0.9955\nstate[joint_eff]: [-0.0342, -1.4701, 6.9128, 1.5946, -0.0611, -0.0415, -0.0122, -0.2667, -11.0564, 6.188, 1.4921, 0.2857, 0.0806, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64c0bf36f1359a409a85c96a1744d88343e3806654e534000d4a1454ede06bf4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00cab3f10e7c44beb033cbc93df9139401ea275a21e548cfefa0be8f6567bf1c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0636572c5ff1a5fbb34f6c648672b8b79d19f99ecb19d0f28239d23fe048a51",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.14,\"right_z\":0.17,\"right_pitch\":0,\"right_roll\":0},\"note\":\"I’ve released the bowl, but the gripper still blocks the small fruit in the overhead view. I’m lifting and backing away to locate it accurately rather than repeat the same approach.\"}",
  "call_id": "call_8iyqFdgOvwRmM8HZ4OPmgfJp",
  "id": "fc_0000b7f8d7276998016ab45ef1304887d0af3f2e02c26a3e0b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8iyqFdgOvwRmM8HZ4OPmgfJp",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8696, 0.6823, -0.5541, -0.0135, -0.0338, 0.9968, 0.683, 1.1019, 0.675, -0.1928, 0.4999, 0.3252, 0.9964]\nstate[eef_state]: left_x=0.2837 left_y=-0.0 left_z=0.1606 left_yaw=0.0023 left_pitch=-0.1724 left_roll=0.0003 left_gripper=0.9968 right_x=0.3086 right_y=0.1466 right_z=0.1701 right_yaw=0.0927 right_pitch=0.0333 right_roll=0.0036 right_gripper=0.9964\nstate[joint_eff]: [-0.1573, -1.4564, 6.8855, 1.7607, -0.0171, -0.0513, -0.0122, -0.4171, -2.865, 7.7197, 1.7607, 0.1343, 0.1636, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5d0521390e716c8f126233029eac0f2bc2c566bd0582293109a0e2543643883",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:903d5d6bd5296e850a8037c7e3964569be2ea212e26eb1a0a8e2313b95a79adc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b791f0b0851cc1ec5f73c9511481a9b91b55b31dc11131ae0c5fbf80f5480edc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /responses · status 200 · 4.69 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 57 changed as sent

message 64 changed as sent

message 67 changed as sent

message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8642, 0.6823, -0.5396, -0.0135, -0.0338, 0.9968, 0.7391, 1.8305, 0.947, 0.1963, 0.5964, 0.3321, 0.1093]\nstate[eef_state]: left_x=0.2858 left_y=-0.0001 left_z=0.1647 left_yaw=0.0022 left_pitch=-0.1526 left_roll=-0.0002 left_gripper=0.9968 right_x=0.4021 right_y=0.2371 right_z=0.0788 right_yaw=0.0704 right_pitch=0.0134 right_roll=-0.0776 right_gripper=0.1093\nstate[joint_eff]: [-0.1026, -1.6068, 7.1453, 1.58, -0.0562, -0.0317, -0.0073, -0.2667, -11.6444, 8.4444, 1.8095, 0.3297, 0.0513, 0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.865, 0.6823, -0.543, -0.0139, -0.0338, 0.9968, 0.7395, 1.9411, 0.8993, 0.2821, 0.5785, 0.3218, 0.9955]\nstate[eef_state]: left_x=0.2853 left_y=0.0 left_z=0.1638 left_yaw=0.0026 left_pitch=-0.1568 left_roll=0.0002 left_gripper=0.9968 right_x=0.3945 right_y=0.234 right_z=0.0269 right_yaw=0.0891 right_pitch=-0.0517 right_roll=-0.1212 right_gripper=0.9955\nstate[joint_eff]: [-0.0342, -1.4701, 6.9128, 1.5946, -0.0611, -0.0415, -0.0122, -0.2667, -11.0564, 6.188, 1.4921, 0.2857, 0.0806, -0.0366]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.6823, -0.5541, -0.0135, -0.0338, 0.9968, 0.683, 1.1019, 0.675, -0.1928, 0.4999, 0.3252, 0.9964]\nstate[eef_state]: left_x=0.2837 left_y=-0.0 left_z=0.1606 left_yaw=0.0023 left_pitch=-0.1724 left_roll=0.0003 left_gripper=0.9968 right_x=0.3086 right_y=0.1466 right_z=0.1701 right_yaw=0.0927 right_pitch=0.0333 right_roll=0.0036 right_gripper=0.9964\nstate[joint_eff]: [-0.1573, -1.4564, 6.8855, 1.7607, -0.0171, -0.0513, -0.0122, -0.4171, -2.865, 7.7197, 1.7607, 0.1343, 0.1636, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5d0521390e716c8f126233029eac0f2bc2c566bd0582293109a0e2543643883",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:903d5d6bd5296e850a8037c7e3964569be2ea212e26eb1a0a8e2313b95a79adc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b791f0b0851cc1ec5f73c9511481a9b91b55b31dc11131ae0c5fbf80f5480edc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF75KLqPgTuOQCWbPyUgkQXr1ttv-sWvJAJiXVCqxag2sDmJqt4qyiMalDfrO0BwHV7CZwt4wywhE6_hruVI_9cMPp_oIn-DwJvh1ge-TiiWeGfo_iS66H4dR8vpLTXU-lJkrd3Eeyk_vUMijwc9ZmWnWppA0sQnoHpqyXRxQfvnTRlvlSPAdk1TJEZxe24OiFWwNoa7E-1gAxPMDkkMcQbrwbwMHqzz5Bdw7-mUb6vOz_qcTC44js_U1k4GBfHHEiBRNb7H3Ce6QMi101uvLQdJtRZ1-b1n2KMdZZTHcRQHO1D8Yu4JzTe3sDJnLNj-SYtOQVrKAn9WxJQuR-gHThFH0ONe26wumIQrFPm7a5pG6dHmQ9Afl0-MlMiuBec8c24ZDXQz01KYN5S3jKEUI_B8TVNJqLM6jZumgnPZY5ZhySW8ahXxsJL5kqvFu3gC_2NQ8yMACNNNicyJ8kD46EnaEfc70oUviLbCFsu1vlpw1KiZSp5DmsI_mktKqA_reduFQGwUdit94POiGuX3eXugCbkqeHazyLBD8Oemwqumsg9D8zDIdVzpEbDAwdinQkbVPFCJBOwlHUiy2vJdh-hnYnHaBBLE-UZKPiHsP836AcaRpz_rdqq7yEdxbWBthxkuXa1zhKb_6jIj-xllHRaWEr_0psHgkw1gvAgP7Xsfvx7ysb8wuXmlu2xz5-JhvQk6I03C530C5NUHzS66TAcPrBbTY5UId3r09xxmKl9Q6IXC5mc6fbn46W54WvCHNLpOcFdGX2ZX9DpDdqwgvbTIP6GMw4JHuuTHyq8_2EfxvvZ39w6ZL-MwIkW7tm5w8VeEvluD-7p5rQEtqmUQf3R-BAa4eqCN6qD7NumLfUL5wIaeUOV4z_24qkwE1qGmlOpt-uc-VhSpk4Co4XqhNfIthJu8nq5TmOjRozVwgXLaHPI90osrEHb-ShBf0DVplC7eajeHj0CKwBIgQQb7rH3wZbfnSfzW7pLTk_rRxDjppmddbncaKzmajs9gPJrJO6aEnKpktza4PKI4a4VK0BUSuGMmVfiaXGKnYAQ1RRMx_oBaYYzJ_Lfjx1WbJOCIiNBZdwkhAy1f227MhNhrP-c8b7nmBJJfUYWIcWRiZ3OUXCcL9bzqKzzi02kOTZVptZ0bu8Xiynj0TBCbfBzF26UI4WzBjIY5JVOhPcW9a89l1Om4syswYfBUDYfv0HQ_HbTS6N1yGRdav0sJ08jpWlX0sSl9ePDuwmDQQyb5ZlWTmNMvt-oDtPy_1Me1dlyG9PnvfwmjvUZKpVW_Cjzqwmm5gSA2DM_o4sA3bfiAUIWxCyaWhy6_RHSrjaKDlXiOPBthx9GgPl9tADdzTfy3zFvUMiTsqPhGuyK7Q1izTr9tcRCkJoqSUlRmzpDTZXRSoav47o1D12k0tBK5tY-NFVfsrDGtxSYAsUkLuf8Gzntn2zRwOooUF4XvUbBOqYhaq6NE8UGyVRYMy6uu5WW-MdIYMmN0vjK9O7wSkqV4zDcK8wSzwDMU27AyONn2BcPEcmG2_E6inrTDxExRdOrH8p5tng0EPIX3RFaSRRNMqVi-qVJl0gkTuVxg2DRZzW8NYRwq5hWvC5niQoOhp-yWB68mi2QlmXRdom_8b_xChmmtLwaPSuaKTNfJuHP1FGCKcUew7xTpdmbVs1fSQVGxnEy4CdKgW25IfnEj3LcdZfunPrq2X_FOeY7kQBN4NOms9lOaharNuXHOpzXpC1ZGzNxazthIv7q9QApzfncpDHklx-l7TF4TIBRPzSI_ZXcDuXczD2ZQkMI_3iiaOBsi7hgIYB47H_kt3P9fNt1ec-DNpy85S8qFs3A19BZet3pGALtcZmTlw6VXY-ZUu6s6gtcaWklwLqTfaXRtYsdCBisO8NOWB_8Iz7clWqklcBZnGn5F3yKasYVFbg1qDR2q1am1s9H9aLvv1R2gnAVATfwIY3rIrWNNXsiW0NGQd3iiXAkGX5NDRxPPykSaM1hyfYiNwg==",
  "id": "rs_0000b7f8d7276998016ab45ef4e18487d0835410bafad7fd58",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.27,\"right_y\":0.195,\"right_z\":0.025},\"note\":\"The yellow fruit is now clearly visible in front of the blue bowl, closer to the base than before. I’m approaching this new position from the open side, keeping clear of the bowl’s rim.\"}",
  "call_id": "call_4N1c6ZLGF39bdl2Wxkq1gc4k",
  "id": "fc_0000b7f8d7276998016ab45ef82ac887d0a6e2cb1c718ac68a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4N1c6ZLGF39bdl2Wxkq1gc4k",
  "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, 0.8734, 0.6823, -0.5587, -0.0135, -0.0338, 0.9968, 0.9623, 1.5848, 0.3717, 0.3889, 0.6846, 0.5114, 0.9965]\nstate[eef_state]: left_x=0.2831 left_y=-0.0 left_z=0.1587 left_yaw=0.0023 left_pitch=-0.1808 left_roll=0.0005 left_gripper=0.9968 right_x=0.2638 right_y=0.1895 right_z=0.0157 right_yaw=0.1312 right_pitch=-0.0383 right_roll=-0.0653 right_gripper=0.9965\nstate[joint_eff]: [-0.2393, -1.935, 6.8855, 1.6093, -0.0611, -0.0366, -0.0122, 0.2393, -6.147, 4.0137, 1.6239, 0.6325, 0.1832, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18700f0e8cac52a51336e35e32b88bac68f8cd39e62671fbb0735bfe4d0ba3f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ac2f3db21587ab0f268f4ced89ec93803c07dc2b459a60c7b4f9e466e90ff44",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63033aed4ff0c4b73285d91ea27e627c97869c1d5ca998572043f9a84b753d38",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 2.637 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 61 changed as sent

message 67 changed as sent

message 71 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.865, 0.6823, -0.5404, -0.0139, -0.0334, 0.9968, 0.7383, 1.9194, 0.9115, 0.2779, 0.5858, 0.3313, 0.1093]\nstate[eef_state]: left_x=0.2857 left_y=-0.0 left_z=0.1643 left_yaw=0.0023 left_pitch=-0.1541 left_roll=0.0004 left_gripper=0.9968 right_x=0.3988 right_y=0.2358 right_z=0.0402 right_yaw=0.0781 right_pitch=-0.0245 right_roll=-0.0992 right_gripper=0.1093\nstate[joint_eff]: [-0.1846, -1.6479, 7.0632, 1.5751, -0.0562, 0.022, -0.0073, -0.0068, -10.4137, 5.559, 1.9072, 0.2955, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.6823, -0.5541, -0.0135, -0.0338, 0.9968, 0.683, 1.1019, 0.675, -0.1928, 0.4999, 0.3252, 0.9964]\nstate[eef_state]: left_x=0.2837 left_y=-0.0 left_z=0.1606 left_yaw=0.0023 left_pitch=-0.1724 left_roll=0.0003 left_gripper=0.9968 right_x=0.3086 right_y=0.1466 right_z=0.1701 right_yaw=0.0927 right_pitch=0.0333 right_roll=0.0036 right_gripper=0.9964\nstate[joint_eff]: [-0.1573, -1.4564, 6.8855, 1.7607, -0.0171, -0.0513, -0.0122, -0.4171, -2.865, 7.7197, 1.7607, 0.1343, 0.1636, 0.0904]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.6823, -0.5587, -0.0135, -0.0338, 0.9968, 0.9623, 1.5848, 0.3717, 0.3889, 0.6846, 0.5114, 0.9965]\nstate[eef_state]: left_x=0.2831 left_y=-0.0 left_z=0.1587 left_yaw=0.0023 left_pitch=-0.1808 left_roll=0.0005 left_gripper=0.9968 right_x=0.2638 right_y=0.1895 right_z=0.0157 right_yaw=0.1312 right_pitch=-0.0383 right_roll=-0.0653 right_gripper=0.9965\nstate[joint_eff]: [-0.2393, -1.935, 6.8855, 1.6093, -0.0611, -0.0366, -0.0122, 0.2393, -6.147, 4.0137, 1.6239, 0.6325, 0.1832, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18700f0e8cac52a51336e35e32b88bac68f8cd39e62671fbb0735bfe4d0ba3f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ac2f3db21587ab0f268f4ced89ec93803c07dc2b459a60c7b4f9e466e90ff44",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63033aed4ff0c4b73285d91ea27e627c97869c1d5ca998572043f9a84b753d38",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF7-uZ7v5hmDfF2InisSETT48JT7Ijbk1kKBoah9-595rGVRPZl9-IY5TfzZ8HgK4f1z8hVgjT7u9Xh95beLefrhYTVv7WEDHLS1rVjrMChlfynSSwWk9u3g0uwaqtrtWdXmOOIwtST1YtIH0MxYKODORCciAhoxeyN3jaOiSae2MOaoKRzEP8Yqhraya5JFOCxH9F_iAsXBP7UDEYLcxsjHr5shfNWcmHcMJ33b3bTodd5EgkTI3gwciDlMv6o-DWKryoF3ukQW9EGYiis2he4McuYb6Wu85v6HnusWTp9aiQSatutEs_vT96yFnD3o7vKSRVP0Z9VtxTMmLnMB9S1E7z0-vW0UpVWEuWaIHxnm1Dy9MkU9eo7pgruiRyPCE_-8GT9rwabx7l2R9cS2tdQomm6Iib7LF81BsSF72mdWYPZLTbguBhm32WMq2l77dD4tEcpl9Rh_1etHFNzV2j5WmIS7z30cqdvS-hFBDIsRdGhtsGbUq8GfWYyBy17klShyaTi-MS1838lfsd3Hq_9-gg6bAc0p-wnAZr75oJpX2UvGjHq3BC1k7vdDxjZNuFaDzydfyAjqvn2-nQkbfY2_iaqD5CX8T-hGmOves2TK99oGD_MKGMOJ1r3T7pZp0cU-8RaIrVXVBPXTN160N8cAik4GKV_SXtpN_MvT2qEVbgA1Ldc62_QSIYt3LbYuIyQUFdrZj3bRERG1edi82uzP4RVc7AK5EAm9L5jZruFSGrLKDdlLrpiXLPddT3JfvKC81Xe6GYsfP061dZLyyKwZrTFkTFZQmriyvOw_hA8ZkpXGtHHn52n68iFu-cYcr-ZirdfcIEfrpLLNtAz363sMBd8WvYL-dfIU8D4fhet0AsLD_J0I90y_0mYhOLMZfiTCFYNZTHOLjZ96VsUrs4nZdajgB7xPYftW7sD060gebXmwwyO-LQoPw-Z0RNtTvVeDM5MEC-HqOwNTCCIDLGdx1sSCZLisrfdbFOfDnlnVb0HDGJJ08i2iJbykMhMEdKJmhcE-M4Rs0R1gzk-e2m5J1DzNPa0tA25xLRrgyKEa3GaGRJlD5m4o_Lgk4zS56GQvv5jkOEmcfmHJ1CebbXJ-toRW3Cw1i2Q-pzxo17vHwfa9ErtC9w2CtysVG8nusEFyWDgCxDkxLz-XPWbf9kW8hQ67yEolzHS0s4CBpLiC1wnhulUZiG3tedKVbIj72Jb5C4i5aiC-Og2TGYMM9UMGKsT-2N_2wfC1MubuVJXuDw1LZpLcPUNw4kMj5-U0cxwQ9tVgTeuStkZ1wWj3vO7K6IuBI7EZRZq2i7PKAtIAnQk2ytXpYO3y9Bhk72NPOTQIlPRmQLUViL4GqjM491fDnMln3yRj84V24swGaq-m33KpZcdP9sYzhSWuv5hulwy9pSNpykm4rm1lIXgarB73FPzAKmShM0MXaR3sjItnoVh1DIuNWf8kERhOQTpMROb39QWeyGd57TzpaX2UVK3_oTZu8NxZNKm39AMK24vLtJugUCmHGFkBneA0clzowCQwJwqzN21jp9i9DZ-I4cjYW5Zx-7s9yERegoSuoHtqqaGP7FhMCBaqW-qeXvouwTHVzLxvNzg9O4ag8e72YT3zOEpssX1eZcClLNoAjBlhzNOXifa57UV95cYJHKxtXL7zH1rQXR80XzovniXqhamM9lsR5lu5IqyHqIOgRzgDNVSnrRBEj7YIMroDo84itz5vea69ZaqZh0oE54q06MzUmwAd8duUixrLTANwa3nVlEl4i38SHf3DtyU_lfW6VE7ck7lDWkG8WFB3SVsNxxRhyAO4puU-Wt6OuHOb_uq_oRcF2LQWwcMx1qZpkrPjFLqn",
  "id": "rs_0000b7f8d7276998016ab45efb527c87d0befb8e8d85b3a980",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.31,\"right_y\":0.207,\"right_z\":0.015},\"note\":\"The yellow fruit is centred nearly between the jaws but remains ahead of the fingertips with visible space below it. I’m advancing four centimetres and making a small leftward correction.\"}",
  "call_id": "call_e5CKdMJivBe200NrwryRzVay",
  "id": "fc_0000b7f8d7276998016ab45efdbc2c87d08397125cda3215fe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_e5CKdMJivBe200NrwryRzVay",
  "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, 0.8768, 0.6823, -0.5632, -0.0139, -0.0338, 0.9968, 0.86, 1.7214, 0.4938, 0.4377, 0.6266, 0.4435, 0.9966]\nstate[eef_state]: left_x=0.2825 left_y=0.0001 left_z=0.157 left_yaw=0.0027 left_pitch=-0.1888 left_roll=0.0009 left_gripper=0.9968 right_x=0.3033 right_y=0.199 right_z=0.0112 right_yaw=0.1079 right_pitch=-0.0466 right_roll=-0.067 right_gripper=0.9966\nstate[joint_eff]: [-0.1983, -1.347, 6.8581, 1.5995, -0.0806, -0.0708, -0.0122, -0.212, -6.5436, 5.135, 1.5067, 0.2466, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d33b9a94d13ea277f6a24b3d2eed7822aaf1633efdf73fb67bfcb2e34ee0d15",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22c41fa8af9ce293c69850e3b9c889012d6ea83196d491da2417d2cb2dd46d88",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfdeecaf7452657334cf07e10371eef22d7b77c668b372250a7d5b8b2935eaae",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /responses · status 200 · 2.959 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 64 changed as sent

message 71 changed as sent

message 75 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.865, 0.6823, -0.543, -0.0139, -0.0338, 0.9968, 0.7395, 1.9411, 0.8993, 0.2821, 0.5785, 0.3218, 0.9955]\nstate[eef_state]: left_x=0.2853 left_y=0.0 left_z=0.1638 left_yaw=0.0026 left_pitch=-0.1568 left_roll=0.0002 left_gripper=0.9968 right_x=0.3945 right_y=0.234 right_z=0.0269 right_yaw=0.0891 right_pitch=-0.0517 right_roll=-0.1212 right_gripper=0.9955\nstate[joint_eff]: [-0.0342, -1.4701, 6.9128, 1.5946, -0.0611, -0.0415, -0.0122, -0.2667, -11.0564, 6.188, 1.4921, 0.2857, 0.0806, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.6823, -0.5587, -0.0135, -0.0338, 0.9968, 0.9623, 1.5848, 0.3717, 0.3889, 0.6846, 0.5114, 0.9965]\nstate[eef_state]: left_x=0.2831 left_y=-0.0 left_z=0.1587 left_yaw=0.0023 left_pitch=-0.1808 left_roll=0.0005 left_gripper=0.9968 right_x=0.2638 right_y=0.1895 right_z=0.0157 right_yaw=0.1312 right_pitch=-0.0383 right_roll=-0.0653 right_gripper=0.9965\nstate[joint_eff]: [-0.2393, -1.935, 6.8855, 1.6093, -0.0611, -0.0366, -0.0122, 0.2393, -6.147, 4.0137, 1.6239, 0.6325, 0.1832, -0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8768, 0.6823, -0.5632, -0.0139, -0.0338, 0.9968, 0.86, 1.7214, 0.4938, 0.4377, 0.6266, 0.4435, 0.9966]\nstate[eef_state]: left_x=0.2825 left_y=0.0001 left_z=0.157 left_yaw=0.0027 left_pitch=-0.1888 left_roll=0.0009 left_gripper=0.9968 right_x=0.3033 right_y=0.199 right_z=0.0112 right_yaw=0.1079 right_pitch=-0.0466 right_roll=-0.067 right_gripper=0.9966\nstate[joint_eff]: [-0.1983, -1.347, 6.8581, 1.5995, -0.0806, -0.0708, -0.0122, -0.212, -6.5436, 5.135, 1.5067, 0.2466, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d33b9a94d13ea277f6a24b3d2eed7822aaf1633efdf73fb67bfcb2e34ee0d15",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22c41fa8af9ce293c69850e3b9c889012d6ea83196d491da2417d2cb2dd46d88",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfdeecaf7452657334cf07e10371eef22d7b77c668b372250a7d5b8b2935eaae",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF8BKmQETolRDlNOtE5AVYxmykYtwCqhYmCONZoO220vW1eWMmIgcwGGxNUeZEvO8v42-Hyf9SkirQ6PdxLdC19wOLzLZbQkZBu83rXpVCkp8FztLsEQPPusqEmD-5DdGmnFKU5bMSPJHmsUvzZYMrTHtkY50i4M9xSvKkWXjx3CnDNX4K3FaqBwGM9HH_Uw2kp_JNQN8hV2KbRzGzoUV3FRvey-O5AiuvmZJtp0oV1L4EytdOL2NMf8d0eWk8Q9PwdM7TNsxA9mpw-YVe2dF5cJX1AbS4jNevKaL9BnfH0eHsmhEQ3pYC28eD4sBlLp-PKkgQVh5GhwHXZOWd69D6QycLor-I2qfJ4BQjOiGFv36FsmuWnW9ohAfhPitix3Yq8ByyHQ2EmJYwt8BsMLn-agiOyQH663tyqml4B67ohxopa9t3vqqCvyPfCPnnCaC2skOB6bMZELkr15NH35Hbcrvp611kJm9eRMv_K2-w0i5tnottTTUXhPfntBSnnUr0jhbtgrDdg-VyT0KbQLt1pRF29t-qZJ-z1MV_x3phZCrGrhg5VYz7BnTlznZWWwhqCs1VzfLcgJOQMNzDbyd3u_ZNqoh69asu9-RP0ixHTOe8U3VzsY5kLn49-y41ngXtHmlnNrP68__fiTIu8M8-L4nDSLgpIAt2NeiSP3QPpuvne6dS3TBd40h5h93bpH9JbkAuMILfbDT8zBOn-auiMRiZKjfuSYJBZ3j1GQsWdnom5A5INW8TSCpeMb4XAjZei_jJuyP13fL0l-n6GEh9qXO_CWd15_NWEphzJx7iWUDqHOeaRR_E3zIUJIgKLjG3MnmTdie1tyqcrScMiabVlroqKnQgcm0Oy6eL1H4CU8T2cJSuISaRCzZA_qFa5eCpfXuWwd7zlN0MjdQfLMJXfLAk64hFigLW6kTIRtufWVv8vD7JT6kNON_USp4EUuSiCvqMHpMv02oFXGU1b41r6i9GOW-TzQxK9a9UrXkDbnsk-oI780lz0pOCpHtAuEw_4AL5JhpgMbl5kdcKb78jKGqSX-i7xBI6kkbkUugujUhSe-nhiRKDWYx5Lf0NO-2Hhj-ILHSb0vVvm7HvzIJ6N7DbYXmB7AX3t_esyHT4Dr2a4mPQC8hsUCLSbThQLaLyA1TnCR1Rs727V6I_-Q_iCC6jo1UNqrc-gHb-ndzeNOwGTYW4t28TkrU1OwLzarAvUu_S8KjzPO_-nIlsC_vF6gPFOD1BMps0Gemanw7t3oz2U=",
  "id": "rs_0000b7f8d7276998016ab45f00866c87d09149b258d7c4dd29",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The yellow fruit now extends into the fingertip region and is clear of the bowl. I’m closing around it at this corrected position.\"}",
  "call_id": "call_Vq864KsmjlOSDn1LIAW4EAXw",
  "id": "fc_0000b7f8d7276998016ab45f00d2a887d0a17a84c03ec190f1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Vq864KsmjlOSDn1LIAW4EAXw",
  "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, 0.8791, 0.6823, -0.5652, -0.0139, -0.0334, 0.9968, 0.8543, 1.7336, 0.5076, 0.4438, 0.6044, 0.4103, 0.5262]\nstate[eef_state]: left_x=0.2822 left_y=0.0001 left_z=0.1561 left_yaw=0.0025 left_pitch=-0.193 left_roll=0.0013 left_gripper=0.9968 right_x=0.3061 right_y=0.2041 right_z=0.0105 right_yaw=0.1364 right_pitch=-0.0528 right_roll=-0.0774 right_gripper=0.5262\nstate[joint_eff]: [-0.3487, -1.5248, 6.8581, 1.6337, -0.0464, -0.0317, -0.0122, -0.2667, -6.5709, 5.3675, 1.5214, 0.1783, 0.0024, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1b823ff0d7760ccf6ed6fd74c124064e4b041ef1658b22925c009c779668a59",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:568c251703750a587e2f0822eafa26ec92960273cd9d640f685c489d648db367",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85bfd304a9c778117536d5583cdcb00e0df5859b63f4e7e2d66a8a2a5bd72e9e",
      "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 · 10.84 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 67 changed as sent

message 75 changed as sent

message 79 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.6823, -0.5541, -0.0135, -0.0338, 0.9968, 0.683, 1.1019, 0.675, -0.1928, 0.4999, 0.3252, 0.9964]\nstate[eef_state]: left_x=0.2837 left_y=-0.0 left_z=0.1606 left_yaw=0.0023 left_pitch=-0.1724 left_roll=0.0003 left_gripper=0.9968 right_x=0.3086 right_y=0.1466 right_z=0.1701 right_yaw=0.0927 right_pitch=0.0333 right_roll=0.0036 right_gripper=0.9964\nstate[joint_eff]: [-0.1573, -1.4564, 6.8855, 1.7607, -0.0171, -0.0513, -0.0122, -0.4171, -2.865, 7.7197, 1.7607, 0.1343, 0.1636, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8768, 0.6823, -0.5632, -0.0139, -0.0338, 0.9968, 0.86, 1.7214, 0.4938, 0.4377, 0.6266, 0.4435, 0.9966]\nstate[eef_state]: left_x=0.2825 left_y=0.0001 left_z=0.157 left_yaw=0.0027 left_pitch=-0.1888 left_roll=0.0009 left_gripper=0.9968 right_x=0.3033 right_y=0.199 right_z=0.0112 right_yaw=0.1079 right_pitch=-0.0466 right_roll=-0.067 right_gripper=0.9966\nstate[joint_eff]: [-0.1983, -1.347, 6.8581, 1.5995, -0.0806, -0.0708, -0.0122, -0.212, -6.5436, 5.135, 1.5067, 0.2466, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.6823, -0.5652, -0.0139, -0.0334, 0.9968, 0.8543, 1.7336, 0.5076, 0.4438, 0.6044, 0.4103, 0.5262]\nstate[eef_state]: left_x=0.2822 left_y=0.0001 left_z=0.1561 left_yaw=0.0025 left_pitch=-0.193 left_roll=0.0013 left_gripper=0.9968 right_x=0.3061 right_y=0.2041 right_z=0.0105 right_yaw=0.1364 right_pitch=-0.0528 right_roll=-0.0774 right_gripper=0.5262\nstate[joint_eff]: [-0.3487, -1.5248, 6.8581, 1.6337, -0.0464, -0.0317, -0.0122, -0.2667, -6.5709, 5.3675, 1.5214, 0.1783, 0.0024, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1b823ff0d7760ccf6ed6fd74c124064e4b041ef1658b22925c009c779668a59",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:568c251703750a587e2f0822eafa26ec92960273cd9d640f685c489d648db367",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85bfd304a9c778117536d5583cdcb00e0df5859b63f4e7e2d66a8a2a5bd72e9e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"right_z\":0.09},\"note\":\"The jaws stopped at about five centimetres, consistent with the yellow fruit’s width. I’m lifting it to confirm the grasp before placing it into the blue bowl.\"}",
  "call_id": "call_3bx3JddhXbA7MizXpQq2G2Ad",
  "id": "fc_0000b7f8d7276998016ab45f04ad8887d0b348681f7fd0e06d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3bx3JddhXbA7MizXpQq2G2Ad",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8799, 0.6823, -0.5655, -0.0139, -0.0338, 0.9968, 0.8543, 1.4715, 0.6262, 0.0803, 0.5972, 0.4068, 0.5302]\nstate[eef_state]: left_x=0.2822 left_y=0.0001 left_z=0.1558 left_yaw=0.0027 left_pitch=-0.1941 left_roll=0.0011 left_gripper=0.9968 right_x=0.3068 right_y=0.2066 right_z=0.0816 right_yaw=0.1442 right_pitch=-0.0433 right_roll=-0.0651 right_gripper=0.5302\nstate[joint_eff]: [-0.1983, -1.6205, 6.8581, 1.6239, -0.0513, -0.0366, -0.0122, -0.0889, -6.3795, 7.6513, 1.5214, 0.2857, 0.0024, 0.9499]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a82ed856aa288e093d9439f56adbde2161563ab2d709f8fb38eaa94520e8def",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fef486e7592f93fcac8443c5a78b6219fdb9999e079b39448e964a4e851cddf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5aef365cc0c682d0a88e403e7a24a6c7d9199fd439c4e3b0671890cb604eb7b8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /responses · status 200 · 2.696 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 71 changed as sent

message 79 changed as sent

message 82 changed as sent

message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.6823, -0.5587, -0.0135, -0.0338, 0.9968, 0.9623, 1.5848, 0.3717, 0.3889, 0.6846, 0.5114, 0.9965]\nstate[eef_state]: left_x=0.2831 left_y=-0.0 left_z=0.1587 left_yaw=0.0023 left_pitch=-0.1808 left_roll=0.0005 left_gripper=0.9968 right_x=0.2638 right_y=0.1895 right_z=0.0157 right_yaw=0.1312 right_pitch=-0.0383 right_roll=-0.0653 right_gripper=0.9965\nstate[joint_eff]: [-0.2393, -1.935, 6.8855, 1.6093, -0.0611, -0.0366, -0.0122, 0.2393, -6.147, 4.0137, 1.6239, 0.6325, 0.1832, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.6823, -0.5652, -0.0139, -0.0334, 0.9968, 0.8543, 1.7336, 0.5076, 0.4438, 0.6044, 0.4103, 0.5262]\nstate[eef_state]: left_x=0.2822 left_y=0.0001 left_z=0.1561 left_yaw=0.0025 left_pitch=-0.193 left_roll=0.0013 left_gripper=0.9968 right_x=0.3061 right_y=0.2041 right_z=0.0105 right_yaw=0.1364 right_pitch=-0.0528 right_roll=-0.0774 right_gripper=0.5262\nstate[joint_eff]: [-0.3487, -1.5248, 6.8581, 1.6337, -0.0464, -0.0317, -0.0122, -0.2667, -6.5709, 5.3675, 1.5214, 0.1783, 0.0024, 1.0281]",
      "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, 0.8799, 0.6823, -0.5655, -0.0139, -0.0338, 0.9968, 0.8543, 1.4715, 0.6262, 0.0803, 0.5972, 0.4068, 0.5302]\nstate[eef_state]: left_x=0.2822 left_y=0.0001 left_z=0.1558 left_yaw=0.0027 left_pitch=-0.1941 left_roll=0.0011 left_gripper=0.9968 right_x=0.3068 right_y=0.2066 right_z=0.0816 right_yaw=0.1442 right_pitch=-0.0433 right_roll=-0.0651 right_gripper=0.5302\nstate[joint_eff]: [-0.1983, -1.6205, 6.8581, 1.6239, -0.0513, -0.0366, -0.0122, -0.0889, -6.3795, 7.6513, 1.5214, 0.2857, 0.0024, 0.9499]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a82ed856aa288e093d9439f56adbde2161563ab2d709f8fb38eaa94520e8def",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fef486e7592f93fcac8443c5a78b6219fdb9999e079b39448e964a4e851cddf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5aef365cc0c682d0a88e403e7a24a6c7d9199fd439c4e3b0671890cb604eb7b8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF8QMVDoPfVdnADXnosHjn3XoVLMXFBlQQ20Sd57xEY-jHA3LHCghEv5Q08PXdbYcVOubygCJhrywd7YDDGW6lJ7MzIQmPazcgmB98w5LsiiICbSt-v0DiWD-RJinfgQ56jc6sMJ4IM3fIR5YEUHjXiQ7S_s1xlVYUvIhBo3DxG8ZTsxIr0zKQYV0LJL_XzAuC5McUjDC9E7ESmPHMGjXTVUEN8duhgBtKRt3Sb_gwV4eQxI1h0YJoR78RHz3FzBS6ILlaNIIYtOtMik5wCUVil3lO9bVgMyJYbN0phE2Qb0vUCWo5JpUo_GUD5Fe6mu4aoSkAbspsNi6lS4UWfXXEPaFkYh2ifBZgOXTW4MndC6tqv41ti7M4yk-sL_gtCqdlnlxtRD2K9NSRhVFW1Gl6VqgYzsBrmd-Fj2djr5_xPsT_RZGOTp3LGXu3dd-I6YI-r6ia_qVcBtowBOOqlbORrAfSrkte-_kJprGuYiZV0zayrxH0sByHMZ5-93rn24MqwukAV3b4xb14Zm-VBy8M5vJJ-hgdeGU0TxXA3TWvHga079NB6vr15H8HpE9rJTUiy95d1Wje_SjXEeTPxgfG6CQCp0U0vVv6LG0bHpOeDfeCQvf6kYsz1fN0DQRm6UJyDxGEKSEi-6g_Y34sTLBjupmwkMRv3nRPK6fPs_TSsCcS6B2qAg4iUovhILL8IooDq8XZgtEIzNwTIHmIJJAu_W6qdt7A4MFjipksAfLni4PaCZfvg0qoTGBqfOGTb5-Pw0tOex2EQ2LgHDvYKbTBs_ayFAfouFMc8mSBt13ZSzDiPT0LYrbdpDF3RGbmL6TskHV6szlmacSNCmTcss538VOo-tBTT3h69A6r4VtOr5NwZU6tnjM9KFFRsq0IzUSt13XNJbW8vZL5f37BBPnY64xhbcwauwqh0_x3gXE8DQIUOfrjVimEZhciDxyyeNzISXevBRRmk1E9WCOywrs2wqRuv2m3PnU26qAXwLG8deMWbsGr-br8UKadVS_4Nb1CgCX07527wTlMCZ0_UQruIjhJ6oSklezU-gVe985SbTtZ-1r1tLX5Lmf60t4PPpZaWPmbjOFglt6_lS2qcxETth3T3_ryI5GJ7xQKKGEknACD04Ota5q8b1KhgCC8_scpO7k7pob4pFgnJqIj1yaNK3sXM77-1bmoH_ukRlV498RHIgTYs2VmqckNQKZkl6-WOUsJly7b_DnmRXp6AhnRHAjygGecrQ6FjqJtBs-O2D8JZuLjH70yAHHx_pBr_0uw4T5iP-BBMiSftJAZiYc1XN1LJHXElluyUK1IWSiYWuNMBw_J1WCPq1UUL5tVe-Cviazvi5hJcU4j65YIJGXLp62_nRcBV4GwRyfKinP3n40jzdpwEcoyVEpxvT7klsmK6f2uSI_o5CPqcTuqZggI9ojGBr758_OtOxEBWbyq7rRWC34WRkGfTKcjntgNi4ozyn3KB6L2YNjRJE_M8UrJMuVBJ9VZqvr_48kfBT4gcZtamXNrUftorI47sTFxpBnP_YS75wGzdcoNtry2xHEDeWu9JbRwxuO4MP3NuLb_yK_5u2AxbMrmruUStp5089RaBiIkI8_57r7R7B4EscmcDwGpZu5P8LfU26xw1pVnZw-VK-aoXBkyEmjHJLf0hgI88DPlCamPgxdGwid7D1gV58Da59IQps5jUg2nnzPlH0hUC5pmyNdWvZ9flwgpbHzQvjGUiorGut3AJ5hXZ4cyZ0snyv_nJKvucAn_Hh_gJYV-Ok4l0w5HRbLNhLJvCOnCTLJBKSrcrTX8ReXzDIG44s0YGGo424qzCOScauxbWY1LNsbaRVG2TcPrkaoAeBVv-poJX_-_TtLfmgkDPakHIR0N12EmafzdxNSGlJCWfegSp8ePzRHV0QlCH8qy7L5wSGxLwJzkC9bANBwik4EZ2oUvX1t0dvOnca8e7X0Y3cibeJiNHn1enaAGo3m_5M0N8eQ1jysqvhh8tpHsABhrNHz0eadDB3Ztq7kWkurN3PQu3BM3rBxSdNWiuXgbcvPhN26j2q7I5NQeSQ0EcjWDSzqA7tiOxDb1Td6aD7ffslivM7SU9A-oz8pEHcQf6Z02nWCCJ0OvjMEMxDW5E1lCY-_-vGgV26vJDCqXBqqkOlBIPpSx1ncXw916rE4Hl6mwCBkVBU3Gy-OdjVTRixDmLT2ZqvGld_H33IN7yCt5c50NiNwqJYCO8VAd0OsT3xzkMqoG2RMxe9DvI4CNV9-WKYca8pqMtbd3uD7kHqLJreYFt9oU9n-z3e2SV7Bl8QZ5mtls4KZZghHqq-KijTgxqbTZWmK0n8mhGOuUG65aYDM8Q6h4jqpJppgTi71VnHskElC6JlnEkQyRG1nEkj1vK5HXkSQQmWoPcOi-TCPs-NPXcXTfKGUIrsWJp-O0LPB-5SQZF9CHz6JYHDBJeevMIovvR1-Q4odmLXmhtialdVgSsjSCx_j0ZeQNiAbmjSdeZBaSk3VENqmbLqSSQliBGBPd74Gd632xsE35L4gVQaICqi_aglALUxlsZKKsoIEHscxrjQYgUgTbV_x4w-TWuuUQRVxv5G_LIWMmKNHva0hWXa-wCMmZ2Ewa7SXtslBRVp8_ItwTylrjkYkl-x5BlntPNjpobEiYrtbPodn4Z-s0RVRj2ADF2odQDQqf67euiaBVRjyWA8JYj-Kx0YLUrutgBtBjqz44OYzd0alBrtlBQ3BSQ4778Hyn-4OSdY8D5aw6lfLk2Yl2eteozuPnuAOzaKgWcuBlIIugRWm8CA88QyuLclpxmI0Y8C3QnWixpzJR7pPi5gsMa_hwEKYQDDnAiZE6F27RDATCvcKdrdOjIV5QheaeZzFdnG5wINetv6K43DSr96f8-DJlxybIj8LONsy6PfODY1ICv5_GOTkgdoCslXcpd8-Luuxfgi6_hJTTNhr-Qb_8K_lAuvv8sZlOT0x5DAPdfrRUnMejqRgFbNOuSpyCFjfQt27MggFQrHMB1O8RI2XhmKNSV7cgiLHOjP-Mp_X27gCrzvfwo34jnNgPyEghoK_XY-7JAcFwRmpylCysjEPTRyKZ5Y7WqkOWYgvVkhWk44wucjj8VnT2tDHTXzAkSilpIpY4bSrZNkKVbgMw3ZCjQ91NPgmgE0G3qZ6b627hE_X4Z2s7clQvO8iiGa_Ur8hVlF658DohouJ87OEazyNT8OqYyiRHf5-Kk5_D6rg9D4IQdYSPJLHK1IRszVpGCgWZwfRJ0knDpQbxj85a3CE2fzBZ7CkWDlEwz26dw3uF2BIJEn1wo_0ob_azbHo1LYf1RpeV21u7xilFx15xijnxAeivDlHW5KXD4yrcrGEi8cB_nYBhw-FLSDd8C3kwxnM2bn7EcJGXFV4di-HmR5Ka3T9kT4sux3iva8amvGwKkrj5wjBFtapPQalQstyC35T0zmtQgS_dtVlJAtBc0SgA7ZpSiH2SJvjVd3FIJdm5t5LYxndQL9DgSnpZGClCwScZ7KYHQeVuM1h4cSN_dFCQrd4Mv5XcV_hS3obZalcQtd8GhikuxGFgb9kQm2LyDcIzhK4Xt2_koEmVUTJu3XoUkAtFTeFpmTR4w61CwotGqJe-ieR-bMSAHQzzG6WawarXE4RfuCAkZLwF8ca_udtbtGaPqW3n8pjCOXSj31-RAVXUoegChwPAndn2VfitdkV0VhHob3l9B_sZ8P2AiE30wfOHYTtNNFfvEPgZRirP20ypDVdlhf6U9__9E8zmdlEDz19asVx1t_",
  "id": "rs_0000b7f8d7276998016ab45f077fa887d0951607512a8b2787",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.435,\"right_y\":0.17,\"right_z\":0.19},\"note\":\"The yellow fruit rose with the gripper. I’m carrying it above the blue bowl, which already contains the green fruit.\"}",
  "call_id": "call_cwBpHzUZ1Xp3kv0dshWwjBdj",
  "id": "fc_0000b7f8d7276998016ab45f10164087d0925c1b9a8bc963ee",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cwBpHzUZ1Xp3kv0dshWwjBdj",
  "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, 0.8818, 0.6823, -0.5751, -0.0139, -0.0338, 0.9968, 0.4953, 1.5814, 1.1301, -0.2161, 0.3344, 0.1551, 0.5309]\nstate[eef_state]: left_x=0.2807 left_y=0.0001 left_z=0.1536 left_yaw=0.0028 left_pitch=-0.2056 left_roll=0.0014 left_gripper=0.9968 right_x=0.4267 right_y=0.1687 right_z=0.1766 right_yaw=0.13 right_pitch=-0.0583 right_roll=-0.0724 right_gripper=0.5309\nstate[joint_eff]: [-0.1573, -1.3607, 6.8444, 1.6435, -0.022, -0.0708, -0.0122, -0.3897, -7.4598, 8.6359, 1.5018, 0.0171, -0.0659, 1.0037]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0179683b1d3b8c6212c88b4187f197b96030c161f85d0d16c4603bf4126e968f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:084664f34f66db5342fddb3f886a214a32cbe8844922bef2a9cfb87cd86c29a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b659167c2ba2b55cf955aa2ef26ceda7eac1b494143bc580bcd972abb694b9b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /responses · status 200 · 5.619 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 75 changed as sent

message 82 changed as sent

message 86 changed as sent

message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8768, 0.6823, -0.5632, -0.0139, -0.0338, 0.9968, 0.86, 1.7214, 0.4938, 0.4377, 0.6266, 0.4435, 0.9966]\nstate[eef_state]: left_x=0.2825 left_y=0.0001 left_z=0.157 left_yaw=0.0027 left_pitch=-0.1888 left_roll=0.0009 left_gripper=0.9968 right_x=0.3033 right_y=0.199 right_z=0.0112 right_yaw=0.1079 right_pitch=-0.0466 right_roll=-0.067 right_gripper=0.9966\nstate[joint_eff]: [-0.1983, -1.347, 6.8581, 1.5995, -0.0806, -0.0708, -0.0122, -0.212, -6.5436, 5.135, 1.5067, 0.2466, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.8799, 0.6823, -0.5655, -0.0139, -0.0338, 0.9968, 0.8543, 1.4715, 0.6262, 0.0803, 0.5972, 0.4068, 0.5302]\nstate[eef_state]: left_x=0.2822 left_y=0.0001 left_z=0.1558 left_yaw=0.0027 left_pitch=-0.1941 left_roll=0.0011 left_gripper=0.9968 right_x=0.3068 right_y=0.2066 right_z=0.0816 right_yaw=0.1442 right_pitch=-0.0433 right_roll=-0.0651 right_gripper=0.5302\nstate[joint_eff]: [-0.1983, -1.6205, 6.8581, 1.6239, -0.0513, -0.0366, -0.0122, -0.0889, -6.3795, 7.6513, 1.5214, 0.2857, 0.0024, 0.9499]\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 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, 0.8818, 0.6823, -0.5751, -0.0139, -0.0338, 0.9968, 0.4953, 1.5814, 1.1301, -0.2161, 0.3344, 0.1551, 0.5309]\nstate[eef_state]: left_x=0.2807 left_y=0.0001 left_z=0.1536 left_yaw=0.0028 left_pitch=-0.2056 left_roll=0.0014 left_gripper=0.9968 right_x=0.4267 right_y=0.1687 right_z=0.1766 right_yaw=0.13 right_pitch=-0.0583 right_roll=-0.0724 right_gripper=0.5309\nstate[joint_eff]: [-0.1573, -1.3607, 6.8444, 1.6435, -0.022, -0.0708, -0.0122, -0.3897, -7.4598, 8.6359, 1.5018, 0.0171, -0.0659, 1.0037]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0179683b1d3b8c6212c88b4187f197b96030c161f85d0d16c4603bf4126e968f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:084664f34f66db5342fddb3f886a214a32cbe8844922bef2a9cfb87cd86c29a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b659167c2ba2b55cf955aa2ef26ceda7eac1b494143bc580bcd972abb694b9b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF8Uq98pH9CWariEr0wpTiRKExKh3xyEj16SC5ZWlNC_wxyDWKKFHI3p64o-3OSysYc2DpRF2oqR6tGhus1uajfN6xXTTERuIkf6OfKDmOXEa0hK5ShQlNySDDcD4hSDex47mwZB6RU1xPARH8sxTtfqHqdhZEmBNgdHopKl7FLMap1n82rDPdE6nYEi7leeW9m93vgbwcxCFwim9_HdqRy_T8yEhhzYOwWumbBQ_vyYIU35cTaYgk6lcZi7nDMKeHjCBuqA2E3p3WWa8vJ37xwESocIuo0T7Wu-MpNpa55x2F6Ib1l7SbzkArXsCoTPUJV9SdpbFzGsc-xNQ_ukWuqJ6jRbn8D9jccJqbJlMsB829R7Ui9lyNTra-763KRxfDuRpeEsB0Bw0GBurWyNtcjDZ7OyA8R9jYHK_m_7q-nMfTa1TvqSjiCUQKpbTIlB31PbsIpUez6FBSo1vk4IOumYTb5ekpBVSxi8eHfAKBIVMkjI1FWS8-DMlpbxA9EMJHElz9rpG6y1HW0ygdhsb3-E3w37NEA_vyGpAMrIM4r1yB_jTE3RxMyfz8dZEoHrOeYJ5NVz-B4kefsuvpW75pGufm29dnPBL6hCQISd9UXcmwzqtx9LYKzmpRw1uLk9mTewlNcxbO5IUZUXaAqfdjfaB9Rokld4Z3EelASiE9W66PT0h2T4Tefx6JuVOXHhnK7uWQeokkjCAjobzNPip9FCwPFe2csqSwNYHqpo45Wu4EVvyCH4iFurPc8JGH_ZxC03qBO5-EEJyWaOvoZ2cO0fDIxwRh1P-fkAw_1pe_DXCDpkg-R_nzWJa8cq2h1F4EyKxL7BrDcLeUKU5wUtAdKmaggFUKyS1hyI9qgtwqEPSTGxH8uhL9hYS0OHB6Lz1midLJ_aUC3992SDZGiYFSfUSsrcezZYrS1Lle8_TeMSOy9UnDTNTnjN6Nl2XAQzvwRfz9drNqkg2UCklg-YebfhXaG6SpUnQO7jdiBpB4lrDugci9XkTXx2yf2u_cjSG-Ks_lA1jB_dOxPDA74k1olnETQIJK4galYNs8BQIXtGgi3xZ4oJoA6UiWUoQttl91M2bOeh2VQ2JJiK1WRHi0uLSTwvUCd0Brx7KCwKPajIRJ1eC7u6uMrCHFHjsOqKdiM0i7E8FeC_HVekaV7nvDLMdcPjAS6EAKqqkPL60rplgN116ttwSwURouAJcFHjMFMIsiKRSLAkgpV35UH4p-WKgx9Crb9zDlQ7mtoK-AcWH-JtvjiAARx1FubLHI1bUlRW4BFKzDVoRR9wdnpqM94qLxiBtYma2ZZBsB1NAsl3_GE=",
  "id": "rs_0000b7f8d7276998016ab45f13613887d0b652787a1b184643",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The yellow fruit is directly over the blue bowl with room beside the green fruit. I’m releasing it so both fruits are in the blue bowl before pouring.\"}",
  "call_id": "call_oOrp7ofdvfOE0eFeGdb2CtjL",
  "id": "fc_0000b7f8d7276998016ab45f13ccf087d0af307f9014d542be",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oOrp7ofdvfOE0eFeGdb2CtjL",
  "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, 0.8825, 0.6823, -0.5808, -0.0135, -0.0338, 0.9968, 0.4953, 1.5913, 1.1336, -0.2371, 0.3202, 0.1467, 0.9957]\nstate[eef_state]: left_x=0.2797 left_y=0.0001 left_z=0.1524 left_yaw=0.0025 left_pitch=-0.2121 left_roll=0.0012 left_gripper=0.9968 right_x=0.4245 right_y=0.1702 right_z=0.1694 right_yaw=0.1454 right_pitch=-0.0875 right_roll=-0.0804 right_gripper=0.9957\nstate[joint_eff]: [-0.2803, -1.7573, 7.0359, 1.5946, -0.0317, -0.0611, -0.0073, -0.3487, -8.5538, 6.5983, 1.7949, 0.1832, 0.1197, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e388c558798ec3fa6718d23e625ff6d481a554237d08b22af7a1e45fe7ffb8de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1367cca045d57e6151e78e44f38a997273563f16997dbac588ce7654584d6fca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7614160c24bda238133087e739e93c5c8522aa4420c5530c75db212cdc6356b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 24 attempt 0 · /responses · status 200 · 3.745 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 79 changed as sent

message 86 changed as sent

message 90 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.6823, -0.5652, -0.0139, -0.0334, 0.9968, 0.8543, 1.7336, 0.5076, 0.4438, 0.6044, 0.4103, 0.5262]\nstate[eef_state]: left_x=0.2822 left_y=0.0001 left_z=0.1561 left_yaw=0.0025 left_pitch=-0.193 left_roll=0.0013 left_gripper=0.9968 right_x=0.3061 right_y=0.2041 right_z=0.0105 right_yaw=0.1364 right_pitch=-0.0528 right_roll=-0.0774 right_gripper=0.5262\nstate[joint_eff]: [-0.3487, -1.5248, 6.8581, 1.6337, -0.0464, -0.0317, -0.0122, -0.2667, -6.5709, 5.3675, 1.5214, 0.1783, 0.0024, 1.0281]",
      "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, 0.8818, 0.6823, -0.5751, -0.0139, -0.0338, 0.9968, 0.4953, 1.5814, 1.1301, -0.2161, 0.3344, 0.1551, 0.5309]\nstate[eef_state]: left_x=0.2807 left_y=0.0001 left_z=0.1536 left_yaw=0.0028 left_pitch=-0.2056 left_roll=0.0014 left_gripper=0.9968 right_x=0.4267 right_y=0.1687 right_z=0.1766 right_yaw=0.13 right_pitch=-0.0583 right_roll=-0.0724 right_gripper=0.5309\nstate[joint_eff]: [-0.1573, -1.3607, 6.8444, 1.6435, -0.022, -0.0708, -0.0122, -0.3897, -7.4598, 8.6359, 1.5018, 0.0171, -0.0659, 1.0037]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8825, 0.6823, -0.5808, -0.0135, -0.0338, 0.9968, 0.4953, 1.5913, 1.1336, -0.2371, 0.3202, 0.1467, 0.9957]\nstate[eef_state]: left_x=0.2797 left_y=0.0001 left_z=0.1524 left_yaw=0.0025 left_pitch=-0.2121 left_roll=0.0012 left_gripper=0.9968 right_x=0.4245 right_y=0.1702 right_z=0.1694 right_yaw=0.1454 right_pitch=-0.0875 right_roll=-0.0804 right_gripper=0.9957\nstate[joint_eff]: [-0.2803, -1.7573, 7.0359, 1.5946, -0.0317, -0.0611, -0.0073, -0.3487, -8.5538, 6.5983, 1.7949, 0.1832, 0.1197, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e388c558798ec3fa6718d23e625ff6d481a554237d08b22af7a1e45fe7ffb8de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1367cca045d57e6151e78e44f38a997273563f16997dbac588ce7654584d6fca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7614160c24bda238133087e739e93c5c8522aa4420c5530c75db212cdc6356b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF8a0hNeZVlONBu5ogRLWLOWaIWxnBM8KPnxFtO97__7pCYjDGNC-hvpBnD4VIFNyX2BG7487BHH3FUdJo86fPHVF9_7K6e6dr3UK59Fd5y5ZLM639sIP12uYzc9vjtnyguYw2FopHJxyBem7Orc86pe7v0yjVSruMGXpz1D0_Rv34RcIbcgptv2OvvQHJ_AjTV-BGx5MWKY1n7kC4RYNV3v_I_Rvs2VqmC57RWYGfS2cBYibmfhfugWKt55dInJHIXe2kpbLQL5V7k1GSF2eT5w5Yva5l_7VKb16_VKJMFN6jUlfzR1QTMo-AbPWIQZaIpqsKshjxU2_cJtZrh5y9nXKNxI1BisCKcTPSeFTyWIN2d_O5Y1NpqMWMchjUcVDCKHqbepiaipIkfYRbuHTwbjGf7Dh-wen-UNvRB-pPzaoZ6n1IS_ezOaXLfVD2WRIK7XaJ0dL40Zke6-GvAjzrah8hg0Lwv8aVpnNW4rIMjFINl_FSx3qRYXjuek3MkTkx9wSbPy_6HgJLgIBgw-NGpgHpgcLVc0l-T8JZVmFasoJh6Bb9W3n_BHcdrCb9N-qrtDvvg5qSizeZdkDeuVY2-xQ96l0Yeze3D-nwf4PjBPuSKFyppX0GizsRyfac0WTn6zD6RpbOq9_BZzihXcWOfA9UBxarYRq8o8sUWYDTtuSIxpGHMo45eX2pBBc4-GBRvfEFgK7lciiJoNmtv9QByTFXQV-axcO3XJVao-SD_XNoRNJJv67gqhTiPTH6zTk4lzdEHMpNDEBzcBAqoXdolxH-WCWrcmHc72XNDDqe6cta6hrSH64jxREk21ghLUgMhlvbU0iJmoJpiEP3vFYIEYp6P11uJ5Thz_CFCEH8lqX7bVN2KGJR75RK20zuiwQQnleQqFHnnQW3A30cXvMhTxEp4xw9VP2Y03Q7GQq18jlfO7dmPyoMAvpGaVk6f2FGvrXCHDnCjvR3wgAIseY3ktHAXQiwHPz8PEzJF3YIOUulvTh-hL8bS9iFORWnZMAHnEQMyYQTIhtPfPpG-mCfDCFZouC8KEcNcT4SIiMtSube0RRY6c-4VAoZW42M6C7nDpZakbjjFroJlnh2QaJ7LAsaEYpAD9MMLGxtHK_RYyq-2Cz5FvlQXZdmJ6BJ-ViglPpTvqc3Tn9puHJzXEkun2u_somiFwAD6AqeZVTo1fdVqJwFk97kgvwi7PFZ-wRDj85DTgSL8K9sRxuIIuTNnhx911angp3IuYwix3jcUuZWNVcOaVbI0wHFYT5FJPXO2Pv_lAS_Gvk0Nl0zoAhknaUNqZBDzYB7H9i3GiCe5OKIAPTsQ0TYTfRgMk9a-RjereN-znpAOuEVDmFtSCPYjwnSsb3Z4CchoPJ3G0aga48kLaOQLzVdfkZ9UX6_NoK2uvodEV21qhDVplrSvQcdOcS-k1S94djDCF1966IyRkQ24XbzwrHjKN2a-oa0KQVlaXgcAnny2rwPG8G4Ea5Z3pid6GoHx7zmQ7hGWa85AdeBhp5jMtr_PZV3fq5zTyd-jzLPsfwro8UC7YYuIMNlMIIA3KTCWlOXZ1El4PTLcvxAkq5cLz6wUH1P-VCw6wN252e12JjAIR1N1o62eUS-hTKyqJu1qs6tPUt8MeH1lHxz2N4CHuGmgFS5brz2MxhZeq9S7vvX_2HqHMJw6m7CaG7kve5BgJ_I3pPLqciMcEWrMThi51iVP0RmUXp6JiO8DCt5nCtcz9PEzGTFsIsEH3CtKlpyZVNJ40ZmMBNNm_ep1y8TiZf33oLlTdlrTClABwgWw7mOc_AxRjGk-EmLy5G6xnLscUHzztnPhW865H7J--TbT_lM8sY3DMLrlklgRKp1kBG31XOOIxXLaTfuWvwQsGYUklDrdYS1G0qafxlGN8FV-kxo498iUXo3WQU81P",
  "id": "rs_0000b7f8d7276998016ab45f174c2c87d095338fa624df66b5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.412,\"right_y\":0.075,\"right_z\":0.045,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"Both fruits are visible inside the blue bowl. I’m lowering the open gripper around the bowl’s right-hand rim so I can lift it and pour toward the white bowl on the left.\"}",
  "call_id": "call_WSnHZA1ce1cxDMHg6v9j1bG9",
  "id": "fc_0000b7f8d7276998016ab45f19981087d0a04f4e69904b2864",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WSnHZA1ce1cxDMHg6v9j1bG9",
  "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, 0.8845, 0.6823, -0.5877, -0.0139, -0.0338, 0.9968, 0.2848, 1.6707, 0.6128, 0.4557, 0.2207, 0.1482, 0.9965]\nstate[eef_state]: left_x=0.2786 left_y=0.0002 left_z=0.1507 left_yaw=0.0028 left_pitch=-0.2208 left_roll=0.0017 left_gripper=0.9968 right_x=0.4118 right_y=0.084 right_z=0.0535 right_yaw=0.0179 right_pitch=-0.0175 right_roll=0.0063 right_gripper=0.9965\nstate[joint_eff]: [-0.3897, -1.8393, 6.8308, 1.619, -0.0269, -0.0464, -0.0122, -0.6906, -5.4769, 4.6974, 1.033, 0.3492, -0.2027, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c10f6c1c0517caff1245ef6f0a19b4662b19712a93a4c51df45bab63e28b7d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31e59a28546af85c3fa346727809b528b7baffc29eae4d61444716bcd3ef52dc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77455e2b1ae8bc7f0e9f2fb41d77f7a73676b014965acf2331e992449febfe37",
      "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 · 6.121 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 82 changed as sent

message 90 changed as sent

message 94 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8799, 0.6823, -0.5655, -0.0139, -0.0338, 0.9968, 0.8543, 1.4715, 0.6262, 0.0803, 0.5972, 0.4068, 0.5302]\nstate[eef_state]: left_x=0.2822 left_y=0.0001 left_z=0.1558 left_yaw=0.0027 left_pitch=-0.1941 left_roll=0.0011 left_gripper=0.9968 right_x=0.3068 right_y=0.2066 right_z=0.0816 right_yaw=0.1442 right_pitch=-0.0433 right_roll=-0.0651 right_gripper=0.5302\nstate[joint_eff]: [-0.1983, -1.6205, 6.8581, 1.6239, -0.0513, -0.0366, -0.0122, -0.0889, -6.3795, 7.6513, 1.5214, 0.2857, 0.0024, 0.9499]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8825, 0.6823, -0.5808, -0.0135, -0.0338, 0.9968, 0.4953, 1.5913, 1.1336, -0.2371, 0.3202, 0.1467, 0.9957]\nstate[eef_state]: left_x=0.2797 left_y=0.0001 left_z=0.1524 left_yaw=0.0025 left_pitch=-0.2121 left_roll=0.0012 left_gripper=0.9968 right_x=0.4245 right_y=0.1702 right_z=0.1694 right_yaw=0.1454 right_pitch=-0.0875 right_roll=-0.0804 right_gripper=0.9957\nstate[joint_eff]: [-0.2803, -1.7573, 7.0359, 1.5946, -0.0317, -0.0611, -0.0073, -0.3487, -8.5538, 6.5983, 1.7949, 0.1832, 0.1197, -0.0269]",
      "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, 0.8845, 0.6823, -0.5877, -0.0139, -0.0338, 0.9968, 0.2848, 1.6707, 0.6128, 0.4557, 0.2207, 0.1482, 0.9965]\nstate[eef_state]: left_x=0.2786 left_y=0.0002 left_z=0.1507 left_yaw=0.0028 left_pitch=-0.2208 left_roll=0.0017 left_gripper=0.9968 right_x=0.4118 right_y=0.084 right_z=0.0535 right_yaw=0.0179 right_pitch=-0.0175 right_roll=0.0063 right_gripper=0.9965\nstate[joint_eff]: [-0.3897, -1.8393, 6.8308, 1.619, -0.0269, -0.0464, -0.0122, -0.6906, -5.4769, 4.6974, 1.033, 0.3492, -0.2027, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c10f6c1c0517caff1245ef6f0a19b4662b19712a93a4c51df45bab63e28b7d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31e59a28546af85c3fa346727809b528b7baffc29eae4d61444716bcd3ef52dc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77455e2b1ae8bc7f0e9f2fb41d77f7a73676b014965acf2331e992449febfe37",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF8fjnfVwI-0IjGsqTyk3geptgVmSgKFRx0uj3u9mBwhTI2haSd-NxOZc4bTxkVv7eaEtKgSx_-6f0HJ1BeBpqOnXggNxgSYkwj1RRbj_w8Vq5oOxWBCqTnlZajHwiqyxB0F_itYbPLjCVboygymkJrfRHeMl35oYRS0gm5Rr_kRByy2cXmfnvf8VIGqhsUIzmxQpNAj9tNJWz6_K6m7r_jcz2sZScgibS5bNZCypI-VfKIRJLRuzhtUc6ItYTY1mcTrJ4wCnGX24s4j-ju46zFxx8lTSawQ-DpiaD9NV5R5jHZsGZgyjZZfvQWzS4VAKhgs7thqAIxHwXSgOMzrTVM-wyk7DL-JA3fw48UBlMbs2NhCLmXPGmAGgBcWdtHGOaI-o1atu_Km3WL8nyLXvpqCL2Nad3JSiVxK0an2xUXJk1Fe-YdhfgyDC7rvzqg6n8S5dijdM9EOusJsOlVA1LonJi9-TKEQud53ybFb6f8B0Csc4zWEIqgq-4YG2Ntvczq3j1W2m_9Q5WQkYm-gbtCLcHsc6dHIsBXMuLf6ig9ikU0rUxJ4YQeHXfBi1gtYSwTkloO65wb2VwQFM8h6MuBkLgGk4F_jN8X-Aium4npPHHuMHFiKxFFVq0qFFsgN3KP-Z5w1QmKTOFkku9h4qifhpQ_3p5QP8Ch7iRpFczc1wIIRcjFGKB1DOu_Rs_mfyyu3vWm9N5QHs1QrYL_x9whSJgLsk0mnDblgK04CUbic--tXoaf6dfh3OBGuksIbuD9hd5GWoL7hrBefeoLR38PHiA09rs0fMsU4Pse0gGYe47lLzQZqyV1fUTBBnafR6M3dAhxe_GIVukacLjSqeCChncjnZWcheq6Ihf6Y_k19qgz3K_Zx8pyeFKQftD_o4U6z-xounTRyefzD_lzImio0kPEBqvtk_OXNfUc8DGhoLhXSG3D8AJCPbdgr3XWvVRfA1UUC5FhKGd0M0FDmcmM3rghKTrxm9kaQnx2pfIm7ZUPn4ntFwVJ8pRVeK9mv3Sh14itG2l2KiEmxQ5Let_7TX_OehPOrqUW2wdLjSeRt4N_ijprWgXOCNXYRtkDDCk2Iv9R2zox2hOUNKadI8Y-ooAs3frAXK5APQ4fI2PrE5tx4ZV0xkrXPDI-zsf3tkr891CtLrszxOvHWZiXXhMBY2Rm_-xZUR1uVKkHYcSz_9L2-bZY9WSQVHbw0qC_-o9ftQC0aeVPD6NX4SnXu9VTOD-UQ-dDqOmYEReK7DArZVuiFWx0NFAr2IjLZhMWdBmkC0Wl1SeKyPjluQ-JWTEPtvTuJgrq9IxSOWlGU7G7okkBxrpgyduhlbN0mZUxCuFYyzEqAiV_Tgjkvy5psjUhneYASoB57OG4aHxHzwnqJscEd9B0rpN8-sJfuIeiRDPI918LWt3njUVP8j2v3jMSH0Afxr-nFFG-Iamg61VRmh5OngZT5yYbjzYYqfsviH6tzug2CniVVZwLEP1T5EpUO3-U5YOMHjE_cUlT0Cf27OPL_-mdRltjCf93qnCv8lQwdAyVP8KzJO7Whd-2Fl13o7F2IDTeQpD-Kdb06aIB85jUXWeQyaAEhaG49QoomM8jJAZdH98JQxKTgqSIZHUJYS8WJYhSi45xxg7k74Q8p7lbT1m9zcXq2-U0uPLF3F7xewPe0czlvvPq3SSVbhzCFcg==",
  "id": "rs_0000b7f8d7276998016ab45f1ccd4c87d08ed708b4b8b33de7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.05,\"right_z\":0.04},\"note\":\"The wrist view shows the bowl’s outer rim slightly to the right of the jaw centre, with fruit inside it. I’m shifting outward so the jaws pinch the rim rather than a fruit.\"}",
  "call_id": "call_c25bev8RRp23pqkiCvuuPykn",
  "id": "fc_0000b7f8d7276998016ab45f1e495887d096784c328a2efe0b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_c25bev8RRp23pqkiCvuuPykn",
  "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, 0.8845, 0.6823, -0.5884, -0.0135, -0.0338, 0.9968, 0.1841, 1.6981, 0.5713, 0.5228, 0.1448, 0.1032, 0.9966]\nstate[eef_state]: left_x=0.2784 left_y=0.0001 left_z=0.1506 left_yaw=0.0025 left_pitch=-0.2216 left_roll=0.0015 left_gripper=0.9968 right_x=0.4116 right_y=0.0544 right_z=0.0395 right_yaw=0.005 right_pitch=-0.0287 right_roll=0.0105 right_gripper=0.9966\nstate[joint_eff]: [-0.1983, -1.5932, 6.8444, 1.5263, -0.0415, -0.022, -0.0122, -0.1846, -7.0359, 4.6701, 1.9853, 0.0269, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:620e2384757897957948f999c3eecfd88c617c91f53e816ef75ae325e2df8a19",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:526e45dcd370f3be0a269b215ffdc82e2bfeed220c56b0d230cde0cbdc4e33b0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87a5ff609f1f60497e482e7dc9624b7a1dfdae319b457f0957ba4abc1af33657",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 26 attempt 0 · /responses · status 200 · 2.677 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, 0.8818, 0.6823, -0.5751, -0.0139, -0.0338, 0.9968, 0.4953, 1.5814, 1.1301, -0.2161, 0.3344, 0.1551, 0.5309]\nstate[eef_state]: left_x=0.2807 left_y=0.0001 left_z=0.1536 left_yaw=0.0028 left_pitch=-0.2056 left_roll=0.0014 left_gripper=0.9968 right_x=0.4267 right_y=0.1687 right_z=0.1766 right_yaw=0.13 right_pitch=-0.0583 right_roll=-0.0724 right_gripper=0.5309\nstate[joint_eff]: [-0.1573, -1.3607, 6.8444, 1.6435, -0.022, -0.0708, -0.0122, -0.3897, -7.4598, 8.6359, 1.5018, 0.0171, -0.0659, 1.0037]",
      "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, 0.8845, 0.6823, -0.5877, -0.0139, -0.0338, 0.9968, 0.2848, 1.6707, 0.6128, 0.4557, 0.2207, 0.1482, 0.9965]\nstate[eef_state]: left_x=0.2786 left_y=0.0002 left_z=0.1507 left_yaw=0.0028 left_pitch=-0.2208 left_roll=0.0017 left_gripper=0.9968 right_x=0.4118 right_y=0.084 right_z=0.0535 right_yaw=0.0179 right_pitch=-0.0175 right_roll=0.0063 right_gripper=0.9965\nstate[joint_eff]: [-0.3897, -1.8393, 6.8308, 1.619, -0.0269, -0.0464, -0.0122, -0.6906, -5.4769, 4.6974, 1.033, 0.3492, -0.2027, 0.0708]",
      "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, 0.8845, 0.6823, -0.5884, -0.0135, -0.0338, 0.9968, 0.1841, 1.6981, 0.5713, 0.5228, 0.1448, 0.1032, 0.9966]\nstate[eef_state]: left_x=0.2784 left_y=0.0001 left_z=0.1506 left_yaw=0.0025 left_pitch=-0.2216 left_roll=0.0015 left_gripper=0.9968 right_x=0.4116 right_y=0.0544 right_z=0.0395 right_yaw=0.005 right_pitch=-0.0287 right_roll=0.0105 right_gripper=0.9966\nstate[joint_eff]: [-0.1983, -1.5932, 6.8444, 1.5263, -0.0415, -0.022, -0.0122, -0.1846, -7.0359, 4.6701, 1.9853, 0.0269, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:620e2384757897957948f999c3eecfd88c617c91f53e816ef75ae325e2df8a19",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:526e45dcd370f3be0a269b215ffdc82e2bfeed220c56b0d230cde0cbdc4e33b0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87a5ff609f1f60497e482e7dc9624b7a1dfdae319b457f0957ba4abc1af33657",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF8lagv4Zb32IQJi2MvWdoBo-HljR_ub5nq-eEdMSkV6V_6YEVkHMvyNB6cFMXSainRkR40LBFohdF62ZK7NzDm-Nb3HD3OoBbw0OBu_xmjEumwe_MWxu2ozq8dBUK9HEcTqaeb0O2RdkUGzlkaxnHnuc2m0SgjLhyYeuSf3XlKKrZa8sMyrF-dv-eg8WcJ2688aiMFflfWgEJRhfOuLyAZcMvwnBx-6Y5-Tiz-bs06N1gvt3KSOloFa5ll_4OgodpS5YV_LYu3Gi-7SfXdDgAsV8hVoWDsdty_tEm5DSQmi-cdCLjg77AN0OIwCLAS8tmfixFexlKOb6fkYymHO4dVaACQoJp8Wvssdl-ayibYJF5s8A9QyNWJazawy85_tD-bef0gmQVjqyv9MnZZGD-L8Z7ve7m0lEZPCEKWuE9LIYGKi_e6fiMB_wQSdN4tpV8UNLcfgMoK5z2RvtG22ytU1S47_GqkMPqZHOp_gr20ZzQQ_eGgYwYqo5JcwfKiv8dByZeBB0GOGnpcJt5tFDiaVCq_kPrTuUdE0Q-xlfiTwBnY5ng6_XklqUBKvlb_uqybBmmTpdJhnywqqVsogPXIOaklqhkV2iDeZvwVL5WncV_-SDdUH-TM3krgJkZXMWhDEYwnkFgscRvNMXY-Fr8HEmdaqq4hT5FBLk16AlrCM0yVYlvMUqIpiGYiaVL_uFiW4gPIZO_iMlFNRIXCkgCWJmRf_lgHq7ytJjdB4NFHOEj8JFvu-5r52rNPpR8dvW-eBWfQYUEdWN3DZi8LAmbDylSSm_fBJuRgIEfx7QvO7NDXLxiGfEswxuyi-xBKgQMam90uRKspB5Q9MMxjNi2w5Y1LSGbg6AuvTeH1KT8LTT8AHKOkHVR3L-JAJC4LM92gEzr60Nzu8Jo3lhfteuzKH_n0GyLxjZKWFNJIMxICRz5t6LZfzYxR69Bav33ZhHEMLfUWN9ZtFrmfvWZ2R4Mhphe_fzXWO6jQkUTts9hfEDFnKwec-obnXbfrd2XvMPv7H7EjgRz7xyGSNewCkO5sjwUpOMx95ALAiiYLubCY6xZxAMlCeKQemwZMKrpxQaqo2HqTzv0pxFVYf6wpKNTry5FXkL-Qn9ZnuWVn73ygElwvsBrDHastKONdm3PTouKyPIM49cUXOWxsrh9z1bWzXO4yOCNkKQYO5t_XQE8BVNHparOAKGVFQ8bbczOccXP2KwONLQnkACqvONQBmIbnUN98rSoyDSiFQB7k8PuGMLM_g8krEQsC21Y7bW0CLZO0A-Y_7pGl5akCdRigPlby4TarR0ORakWn5mRV2baHyRwcZ8sqbR1vfcU9kuOxIQFFJ09E1uoenYBfjMLkJd8ojhLdT11NspneHoU5kspA6C6dZaV8naiTgwgOsglaQRB_2uRS_4LyIvdngCLMYSYlpZ8-8twlly_2_hJqTdxkUvCVyxZJk5IQUa4--pBxmNKB4zNwC85ZdAfD0_s-N3fLVJulOetNWBhQb2tinBnVc8Ttn4u2oSqsJFv6mPlWJessvEXP4EhweQJ4wULIe8LA3eQemWKUHtb88W3qBs27oQ0BEJsBvbdO_5z_K7TnZEnH-v5nr6d4tkfgEXD8t_L6Ky4ZHkDEd2_lN2TRXmCDaxov7L3gy1gl3nD_8cxidbQxX9JeCcbvKH7XOfzkX4aYrIcLLVW_CKMWK4_BkE6yOGa5oxUsGzMfv_cNz83pqP9gz4Rvd1hOzWsLr7-f5TJMhW9_j3nxhEI71CyqYEGXc8qsaOz5S-XA0zwweN_mV9hweW_lzQq6ZTmmmj3zy1uYkV1SjYpwKjU-ng_kvjC9TFS_vqUXVpFjZ-JFV2KzEF_yn5-7ezHBHTVwfigEUYNNSq9-RTx9Hqj6AUjDvrlOvtRuLYYnOMeR-xe9QrEZanrQ-XAPuAptIcY2_ds6USrghBGJYtd5JrhmtvXVF_NId0aZ1PfnqQKcnVwaz6kEd7m_tw5n8tXOFsOtGd8KB-CYFjNf8rXCDBde0DyOWD18l7UmGhl-kqTF2CUbc9j2TXBB6Fxvq102Y2oxjPTKtbCbETbiCUxvQ1zEZtxbXNLmsqtbXSnEW6p_2tGk-myH-016uW4vZdloPsRCVk_qsJyWwUdPa6cYeR_ty69SnJtlXAVCti2l0DtNrg23tK85eLpf5bu3gSpbMX9FN2xf-Sw-fKcfo4O8KZaTDTl2jBub7vX0hvb5-uIECIWyFu7R_9iH1tBx7cv-Aw3VKusYzK0kaTysFFKV3tLW1f4CuffqXjljE2bGs3XMl5BcAE1PrR5tE",
  "id": "rs_0000b7f8d7276998016ab45f20e9e087d0bb1db355de151288",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The fingers are down alongside the bowl’s near-right edge. I’m closing gently on that edge and will verify that the entire bowl lifts before transporting it.\"}",
  "call_id": "call_pHwTwXC9brNHqVbx7kMLtAtx",
  "id": "fc_0000b7f8d7276998016ab45f24980087d0bbc0867194c24856",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pHwTwXC9brNHqVbx7kMLtAtx",
  "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, 0.8856, 0.6823, -0.598, -0.0135, -0.0338, 0.9968, 0.1661, 1.6833, 0.5716, 0.617, 0.099, 0.0933, 0.6987]\nstate[eef_state]: left_x=0.2768 left_y=0.0001 left_z=0.1486 left_yaw=0.0026 left_pitch=-0.2323 left_roll=0.0017 left_gripper=0.9968 right_x=0.425 right_y=0.0572 right_z=0.0648 right_yaw=0.0305 right_pitch=0.0757 right_roll=0.0428 right_gripper=0.6987\nstate[joint_eff]: [-0.1983, -1.7846, 6.8171, 1.6825, -0.0415, -0.0708, -0.0122, -0.4581, -5.7094, 4.1641, 1.1355, 0.2271, -0.2076, 1.0134]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bef854e881315561c83f5edda833cce367c05abefb0e00b3ebaa0394952f1c2d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bc1e215787f632a633e716694964f4a794cd26f96d6f93b8eaf4fb39f4ee57e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4db60634da9e5de58658e065e0f8a1877680ade2cefae4b818cfb974dbfb531",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 27 attempt 0 · /responses · status 200 · 4.709 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 90 changed as sent

message 98 changed as sent

message 102 changed as sent

message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8825, 0.6823, -0.5808, -0.0135, -0.0338, 0.9968, 0.4953, 1.5913, 1.1336, -0.2371, 0.3202, 0.1467, 0.9957]\nstate[eef_state]: left_x=0.2797 left_y=0.0001 left_z=0.1524 left_yaw=0.0025 left_pitch=-0.2121 left_roll=0.0012 left_gripper=0.9968 right_x=0.4245 right_y=0.1702 right_z=0.1694 right_yaw=0.1454 right_pitch=-0.0875 right_roll=-0.0804 right_gripper=0.9957\nstate[joint_eff]: [-0.2803, -1.7573, 7.0359, 1.5946, -0.0317, -0.0611, -0.0073, -0.3487, -8.5538, 6.5983, 1.7949, 0.1832, 0.1197, -0.0269]",
      "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, 0.8845, 0.6823, -0.5884, -0.0135, -0.0338, 0.9968, 0.1841, 1.6981, 0.5713, 0.5228, 0.1448, 0.1032, 0.9966]\nstate[eef_state]: left_x=0.2784 left_y=0.0001 left_z=0.1506 left_yaw=0.0025 left_pitch=-0.2216 left_roll=0.0015 left_gripper=0.9968 right_x=0.4116 right_y=0.0544 right_z=0.0395 right_yaw=0.005 right_pitch=-0.0287 right_roll=0.0105 right_gripper=0.9966\nstate[joint_eff]: [-0.1983, -1.5932, 6.8444, 1.5263, -0.0415, -0.022, -0.0122, -0.1846, -7.0359, 4.6701, 1.9853, 0.0269, -0.0366, -0.0073]",
      "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, 0.8856, 0.6823, -0.598, -0.0135, -0.0338, 0.9968, 0.1661, 1.6833, 0.5716, 0.617, 0.099, 0.0933, 0.6987]\nstate[eef_state]: left_x=0.2768 left_y=0.0001 left_z=0.1486 left_yaw=0.0026 left_pitch=-0.2323 left_roll=0.0017 left_gripper=0.9968 right_x=0.425 right_y=0.0572 right_z=0.0648 right_yaw=0.0305 right_pitch=0.0757 right_roll=0.0428 right_gripper=0.6987\nstate[joint_eff]: [-0.1983, -1.7846, 6.8171, 1.6825, -0.0415, -0.0708, -0.0122, -0.4581, -5.7094, 4.1641, 1.1355, 0.2271, -0.2076, 1.0134]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bef854e881315561c83f5edda833cce367c05abefb0e00b3ebaa0394952f1c2d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bc1e215787f632a633e716694964f4a794cd26f96d6f93b8eaf4fb39f4ee57e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4db60634da9e5de58658e065e0f8a1877680ade2cefae4b818cfb974dbfb531",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF8p8Eq-5MWzvKSl1xcD2GUX20NcroaHdNzcSKEAXutINAhoyHd_OH8LxJ7fQOmOkFt6d5tKFpJzaQA_fjf3k290Z8h4oWPiKU5yxvFcDR8CYVOKOVeRrc2-Rat8Muam1IRyrT428VxUx3XHN--d8GhwWgvViKlsgPh5RAu5Ov0UN3cYigcX8EN0ops0_LbasdlqaMAavXIiVN1uaCrBsjd6x1hFy9qMQ9FNfL0nprxh6HkYPmdrENmLRaK85DJ4Y-el0Zew4idjDevscvUReGhEbyxu1SFDiAR6LOrz3GXdFjBuG3jtD5TAr00bRsQrSmWWru07PmcHpDQKmuGm3jz34u91XRNKZdbWw1LUHChgIB4ur-h3eSNVHcxnT7kHtfwEOfgROMehut9ulotp_NipVB7GooTMX4ZtGBna1kHWCel2FHuhSXBqRfiUfTh2rkhjLeqgkICcrFZFPloKqVKXbD2WZV10LAwARmYxa7q3y0COflSydsyW-U3_GOQpJLqCZ0Pg2xHupx9JInfJkCglPJqzyhxnJzKlLP2iPkAHkP4zOWMq5sguteYWXo9V5m9bXcSmoz4LudMhVLrNyFrULingH4JLwjP6jk8bTDWQkJolOuwdQF_04vbi5urqqGbILDTPpqNWL8AdnOmQrIPtHJznslo0PzR_VepEramgVMr8_CHoUX_2sReP8XWbuxFsAzMiLPUzZUQGBcjPijT0QGpPtLYnxs0XH2wX9Yl8XO5iu_Ec29uN1-C_NODahg3kno9rpaDeItJM2TduKX-lJok_prBo53-XJf1YxczpEE7h8dIOnouqZTnfnfoYflkQwxMLiOVs2waMiKtoDx8Lv1aZoCnzhLE76hvgxRxZ5AQ-AribQi1GUKVnTNuToI96ovRapGJAwOpg9CKG5TIOaZKxIfbJ26Wf6Oyhe5xu7yClZKtvw2MwH2Z2S2zVd5VJbHlOUjGvNyIQ0AlsJfSEDHotNAwmTa9xsoG1C4Sl5B8wMNrZt8Scu4JPQP18yD2EjleWek24c3epgrclFjq_JoVcw3OoH7ofgGG9zwVNqfLh8YNhV180YznAvIjO6dd6FOqZqffTgT_sBz4bLn2Z9CEM7ZOh1qMH609qiuLZZMWmZ5xvAHlbJ368X2i5HvQfWbXKmn1S7AY3_SYvASilUI3p3ZQ9ZDMHV-PWS4DnJQ5eSIUUBVuJUM9XU3MmzrTQ7zdHY1O4twi6DwRyXYu3AA==",
  "id": "rs_0000b7f8d7276998016ab45f27dd3c87d0942f35a478a2ed53",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.19},\"note\":\"The jaws have a firm, wide contact, and the bowl is visible beside the fruits. I’m lifting vertically to check whether the rim grasp carries the bowl and both fruits together.\"}",
  "call_id": "call_wxeTBsUV90zSl2ZXedQzG1Mw",
  "id": "fc_0000b7f8d7276998016ab45f280bf487d0bcc9b7fe388aeacc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wxeTBsUV90zSl2ZXedQzG1Mw",
  "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, 0.886, 0.6823, -0.6022, -0.0139, -0.0334, 0.9968, 0.1673, 1.4006, 0.8356, 0.062, 0.0956, 0.0849, 0.6985]\nstate[eef_state]: left_x=0.2761 left_y=0.0002 left_z=0.1478 left_yaw=0.0027 left_pitch=-0.2368 left_roll=0.0024 left_gripper=0.9968 right_x=0.4262 right_y=0.0585 right_z=0.1733 right_yaw=0.0392 right_pitch=0.0674 right_roll=0.0359 right_gripper=0.6985\nstate[joint_eff]: [-0.1299, -1.6342, 6.8171, 1.5507, -0.0317, -0.0122, -0.0073, -0.4444, -7.5282, 8.7863, 1.8632, 0.0415, 0.0611, -0.0415]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0373fe77579f19bb73ba1758905738599431dec4c834120aef119ddfc7a94602",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7d8582d6775dd3f4d82f9bebbd08e8bcc3d9229662c3d3776cad97d74e76ab1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18d996c60b027672af2755b6b5a217c126f383882b53343f021691de19b290ff",
      "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 28 attempt 0 · /responses · status 200 · 3.32 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, 0.8845, 0.6823, -0.5877, -0.0139, -0.0338, 0.9968, 0.2848, 1.6707, 0.6128, 0.4557, 0.2207, 0.1482, 0.9965]\nstate[eef_state]: left_x=0.2786 left_y=0.0002 left_z=0.1507 left_yaw=0.0028 left_pitch=-0.2208 left_roll=0.0017 left_gripper=0.9968 right_x=0.4118 right_y=0.084 right_z=0.0535 right_yaw=0.0179 right_pitch=-0.0175 right_roll=0.0063 right_gripper=0.9965\nstate[joint_eff]: [-0.3897, -1.8393, 6.8308, 1.619, -0.0269, -0.0464, -0.0122, -0.6906, -5.4769, 4.6974, 1.033, 0.3492, -0.2027, 0.0708]",
      "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, 0.8856, 0.6823, -0.598, -0.0135, -0.0338, 0.9968, 0.1661, 1.6833, 0.5716, 0.617, 0.099, 0.0933, 0.6987]\nstate[eef_state]: left_x=0.2768 left_y=0.0001 left_z=0.1486 left_yaw=0.0026 left_pitch=-0.2323 left_roll=0.0017 left_gripper=0.9968 right_x=0.425 right_y=0.0572 right_z=0.0648 right_yaw=0.0305 right_pitch=0.0757 right_roll=0.0428 right_gripper=0.6987\nstate[joint_eff]: [-0.1983, -1.7846, 6.8171, 1.6825, -0.0415, -0.0708, -0.0122, -0.4581, -5.7094, 4.1641, 1.1355, 0.2271, -0.2076, 1.0134]",
      "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, 0.886, 0.6823, -0.6022, -0.0139, -0.0334, 0.9968, 0.1673, 1.4006, 0.8356, 0.062, 0.0956, 0.0849, 0.6985]\nstate[eef_state]: left_x=0.2761 left_y=0.0002 left_z=0.1478 left_yaw=0.0027 left_pitch=-0.2368 left_roll=0.0024 left_gripper=0.9968 right_x=0.4262 right_y=0.0585 right_z=0.1733 right_yaw=0.0392 right_pitch=0.0674 right_roll=0.0359 right_gripper=0.6985\nstate[joint_eff]: [-0.1299, -1.6342, 6.8171, 1.5507, -0.0317, -0.0122, -0.0073, -0.4444, -7.5282, 8.7863, 1.8632, 0.0415, 0.0611, -0.0415]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0373fe77579f19bb73ba1758905738599431dec4c834120aef119ddfc7a94602",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7d8582d6775dd3f4d82f9bebbd08e8bcc3d9229662c3d3776cad97d74e76ab1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18d996c60b027672af2755b6b5a217c126f383882b53343f021691de19b290ff",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF8uN-n_AQCCptF4ILlyqZVvxDA9ZLebdzL_jm_X1WfBlqHT7rRBj9XJvEzPheA3eEdWn8Pc9qt6CCARKmqRM1qDtSJghWuGKPnPEcZieHOJlSiI3MaUXD49RgjIo-rM4sHdavIMQ1nyloOEPM1azGbmNu6LCP8oTU0eeKJ1xJAANWR9SQFPjT36x9LStLL9HrgMRfANtxTc1ecFzMGPdFLxD3Rbu7oflX3_G9brMQ2Mw0IJVOVcBBajzHcHZTz3ttSJ6v2qibRVvosGQ-1rCflF7W_RB4N5lFaWD1eDjvsBCtjbl9CN9SKtMwP-nyhzdZcnGZ5hClC2pP3WawlWmpNPgca5Qd9Iu_xynuhrSdt9sTtgBOskiNXmsnxLWVsSEBnHoQnmfXJAeTVrt19caQJjd23OQwAsEQEVvuRI5ivW3qY_0sbutOKH6CCfrhYZCxydhaPWdIVLPM-JxQUWJK3zrenvflSaOGKxTSFdyZw8otoiV-qiwJCsKMZy6Us0eAKiMAxyPmwp5wTP0mnhUEb369_o9H2xNEtFTbuwhc8pOCL4WErjIACmGR_t-WysgxFR8iP_YBEm5_hNLHziT2E9Dh24uYOGos5CtzPlspNQEqr37tINPgYqW_qsMZfR1ZmyMzBzVo3Io2Hn9g52ZpGJmYDwp9pZVWsuBEnHCc9kB3WyfXCehKXm6HDNW9xmZIn7Hpe6Wb81RZF2aXHnW48dD2CxbqbFXjuceYhHczhJA-VAgWULYBoqD8A-RJm8LtMvDNlMaj-IZtiYg8CGmHGH5jGwqq87dwqsEMoEk-US3pVbgqpf99VUAz52SQFZg8JJQ12y0sBsN8Gmn8o2K6vMcjIQQF2XDpz_1HdWKHdl3jKsjA1CO1vvPNFFDYuAlpp0xuCQLRDS94p3LDCyte3vtaifIFB6RLcXCzDh6cJmn4XIwCiHzTyt22lW9CR9Dntmch9TprLKk89E_OLNskwcGNM0BMVbBa2WNGFkSsk4L44Tc5LSLLvTUaOiJkLa8oxfP6nwWgpdkOTqinfITOoOIshAXI5hFmQI4lBRHFrLkBQ3xtppI7RNvYTOhl0GqYcPMEUx8AAtMfIbNV5bEcN65kANFjPH9Dt9b8nM44foR2k84w7-eKtG-0R8H5hTcoWydYpEbJ0OwMHHdTc-eFCH0uOqe639gtkDxriF3qBgJfD6yqQNeALzgIDsWjxRnMDU1wLzYLGslg83gNtlkbSPY-XCYCkhkvoZ4-fBRv46yPZy3V6rHirJQVeN3cgEkH41Uy3Mg9lxfSKi7EbM5HGP_I114BH5aFvx7fGNkIq1BzVSJ4wSyVs_M_6DxliFd9VjFUoRGcbDqXmtNW3pi-V-HMfP8PLJazkKPhNrPbgiwnwlpAOz3rZ_CweteVtMbn6oJcs3v8ZhwoeR2IhufqGR4e9Txm9dJkVt7iPadYyFvSVdPAbFRyn5ec8m51BZ7MunomghEBXKyNx-mi6Jpme0t9TdJ--cMdsYwtwYgrtXFTM_2r3wcz-n4T9bB8XzCoSFAW8hZauievGrrkxgLUjC0lL0pARYOUK3pz5h5pLFEGx9duFE38bNtJjLqOOVE6jaAbGH3JOh-Fpb2hEVaaqf3cNaXHnKr90CeUxhhGH4Cr6PpiJXI8J4FOU25ZVFxlOPHbQQsVtABz8ra1Fy3RP0uGAJVodMFFsdMlrv_5yK-kTOJh3dXw8ppXYU0vUxC7vXtD9I8ZS8QlJwRwpYg-ugFFuBxueUJuZiQJK6_JZmxFBTaZwEqIg3i-Qle2DAdtaEH3AiQcsXGV06xNE8lomTCiEcvOoxDOJZ6TAwAgayX8uFSo9TXlBzJggFn7kTeYvN6n0SKsSlJf4ZRjPrUVtbEWsbNMsF3bSzn5kFxW0vI-Lh8BL6h7ekjoYFZniStIzIPp4XJQvuprvT5DeAf5Z5F40P-rD06kaP8jZcGRzVgyB16jfXCsssi_TqTxmjU_xOn27nBzROai_zqxZTCRMgqz0KnZaqcPmVFr8mmNUWfCpl67sB5K8hllarWSOT7UohvWTSm8g_dxJx-10IQ-L_y9udhQb1oV4PcmsdgBLUTDAvidCXQgsthS9udXLl0M-1bFaAIRaMydMWmFz32sk2yrnHuvqwNxD7vj6VS_IbkEC1HiS6_Di6Xya6Xdx_SZeD",
  "id": "rs_0000b7f8d7276998016ab45f2b77ac87d0bbe0bedf7fed3446",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.055},\"note\":\"The bowl tilted during the lift and the yellow fruit escaped toward the far edge of the table. I’m lowering the bowl immediately to leave it stable before assessing whether the fruit is reachable.\"}",
  "call_id": "call_Bf6u9r125RP7CqtH277gEhQl",
  "id": "fc_0000b7f8d7276998016ab45f2de8b087d0b42331d93d3e81ce",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Bf6u9r125RP7CqtH277gEhQl",
  "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, 0.8864, 0.6823, -0.606, -0.0139, -0.0338, 0.9968, 0.1673, 1.7035, 0.5827, 0.5495, 0.0978, 0.0853, 0.6985]\nstate[eef_state]: left_x=0.2754 left_y=0.0002 left_z=0.1471 left_yaw=0.003 left_pitch=-0.241 left_roll=0.0022 left_gripper=0.9968 right_x=0.4189 right_y=0.0569 right_z=0.0464 right_yaw=0.0373 right_pitch=-0.0002 right_roll=0.0263 right_gripper=0.6985\nstate[joint_eff]: [-0.1846, -1.6752, 6.9949, 1.5458, -0.0562, -0.022, -0.0122, -0.3214, -7.0085, 4.8342, 1.6728, 0.0269, -0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08ce40af41e8380da1e20e91f9d40f84fdd1f5c4b85f4203ecdd1a3259970f08",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbfaca4e204462be2761f12c31aa2a379f226bc2e7c27c88d4dd3c2e1260cd4f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1adde6920da6b3cb2aea1c00179ff01d691f07bcc44a455b297c7a16d5f3f2c",
      "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 · 3.565 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, 0.8845, 0.6823, -0.5884, -0.0135, -0.0338, 0.9968, 0.1841, 1.6981, 0.5713, 0.5228, 0.1448, 0.1032, 0.9966]\nstate[eef_state]: left_x=0.2784 left_y=0.0001 left_z=0.1506 left_yaw=0.0025 left_pitch=-0.2216 left_roll=0.0015 left_gripper=0.9968 right_x=0.4116 right_y=0.0544 right_z=0.0395 right_yaw=0.005 right_pitch=-0.0287 right_roll=0.0105 right_gripper=0.9966\nstate[joint_eff]: [-0.1983, -1.5932, 6.8444, 1.5263, -0.0415, -0.022, -0.0122, -0.1846, -7.0359, 4.6701, 1.9853, 0.0269, -0.0366, -0.0073]",
      "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, 0.886, 0.6823, -0.6022, -0.0139, -0.0334, 0.9968, 0.1673, 1.4006, 0.8356, 0.062, 0.0956, 0.0849, 0.6985]\nstate[eef_state]: left_x=0.2761 left_y=0.0002 left_z=0.1478 left_yaw=0.0027 left_pitch=-0.2368 left_roll=0.0024 left_gripper=0.9968 right_x=0.4262 right_y=0.0585 right_z=0.1733 right_yaw=0.0392 right_pitch=0.0674 right_roll=0.0359 right_gripper=0.6985\nstate[joint_eff]: [-0.1299, -1.6342, 6.8171, 1.5507, -0.0317, -0.0122, -0.0073, -0.4444, -7.5282, 8.7863, 1.8632, 0.0415, 0.0611, -0.0415]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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, 0.8864, 0.6823, -0.606, -0.0139, -0.0338, 0.9968, 0.1673, 1.7035, 0.5827, 0.5495, 0.0978, 0.0853, 0.6985]\nstate[eef_state]: left_x=0.2754 left_y=0.0002 left_z=0.1471 left_yaw=0.003 left_pitch=-0.241 left_roll=0.0022 left_gripper=0.9968 right_x=0.4189 right_y=0.0569 right_z=0.0464 right_yaw=0.0373 right_pitch=-0.0002 right_roll=0.0263 right_gripper=0.6985\nstate[joint_eff]: [-0.1846, -1.6752, 6.9949, 1.5458, -0.0562, -0.022, -0.0122, -0.3214, -7.0085, 4.8342, 1.6728, 0.0269, -0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08ce40af41e8380da1e20e91f9d40f84fdd1f5c4b85f4203ecdd1a3259970f08",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbfaca4e204462be2761f12c31aa2a379f226bc2e7c27c88d4dd3c2e1260cd4f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1adde6920da6b3cb2aea1c00179ff01d691f07bcc44a455b297c7a16d5f3f2c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The blue bowl is back at table height with the green fruit still inside. I’m releasing the bowl; the yellow fruit has rolled to the far boundary, beyond the arm’s table-level reach.\"}",
  "call_id": "call_Cuf6t7fjCdv1YVYBKZBUiCDO",
  "id": "fc_0000b7f8d7276998016ab45f31bfb487d0b00c36e3b25d183f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Cuf6t7fjCdv1YVYBKZBUiCDO",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8864, 0.6823, -0.6067, -0.0135, -0.0338, 0.9968, 0.1661, 1.7187, 0.5766, 0.5667, 0.0956, 0.0856, 0.9961]\nstate[eef_state]: left_x=0.2753 left_y=0.0002 left_z=0.147 left_yaw=0.0026 left_pitch=-0.2418 left_roll=0.002 left_gripper=0.9968 right_x=0.4182 right_y=0.0567 right_z=0.0416 right_yaw=0.0379 right_pitch=-0.0045 right_roll=0.0273 right_gripper=0.9961\nstate[joint_eff]: [-0.335, -1.4701, 6.8444, 1.4921, -0.0562, -0.0269, -0.0122, -0.1026, -8.1162, 5.5179, 1.5995, 0.022, -0.022, -0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e3d3d0c770d2cb3f93dccd5482299e073890b478da3908402f08c68a4d0adf8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f9edd18a14c8893e5c08aa6f1677f8b1df9c4c341817d328ba03da293c07f00",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e40708f48c9d3732af247ca50458a3b42238ae4c2d2c94cdead2112fcd3d20a4",
      "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 · 4.98 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 102 changed as sent

message 110 changed as sent

message 113 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, 0.8856, 0.6823, -0.598, -0.0135, -0.0338, 0.9968, 0.1661, 1.6833, 0.5716, 0.617, 0.099, 0.0933, 0.6987]\nstate[eef_state]: left_x=0.2768 left_y=0.0001 left_z=0.1486 left_yaw=0.0026 left_pitch=-0.2323 left_roll=0.0017 left_gripper=0.9968 right_x=0.425 right_y=0.0572 right_z=0.0648 right_yaw=0.0305 right_pitch=0.0757 right_roll=0.0428 right_gripper=0.6987\nstate[joint_eff]: [-0.1983, -1.7846, 6.8171, 1.6825, -0.0415, -0.0708, -0.0122, -0.4581, -5.7094, 4.1641, 1.1355, 0.2271, -0.2076, 1.0134]",
      "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, 0.8864, 0.6823, -0.606, -0.0139, -0.0338, 0.9968, 0.1673, 1.7035, 0.5827, 0.5495, 0.0978, 0.0853, 0.6985]\nstate[eef_state]: left_x=0.2754 left_y=0.0002 left_z=0.1471 left_yaw=0.003 left_pitch=-0.241 left_roll=0.0022 left_gripper=0.9968 right_x=0.4189 right_y=0.0569 right_z=0.0464 right_yaw=0.0373 right_pitch=-0.0002 right_roll=0.0263 right_gripper=0.6985\nstate[joint_eff]: [-0.1846, -1.6752, 6.9949, 1.5458, -0.0562, -0.022, -0.0122, -0.3214, -7.0085, 4.8342, 1.6728, 0.0269, -0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8864, 0.6823, -0.6067, -0.0135, -0.0338, 0.9968, 0.1661, 1.7187, 0.5766, 0.5667, 0.0956, 0.0856, 0.9961]\nstate[eef_state]: left_x=0.2753 left_y=0.0002 left_z=0.147 left_yaw=0.0026 left_pitch=-0.2418 left_roll=0.002 left_gripper=0.9968 right_x=0.4182 right_y=0.0567 right_z=0.0416 right_yaw=0.0379 right_pitch=-0.0045 right_roll=0.0273 right_gripper=0.9961\nstate[joint_eff]: [-0.335, -1.4701, 6.8444, 1.4921, -0.0562, -0.0269, -0.0122, -0.1026, -8.1162, 5.5179, 1.5995, 0.022, -0.022, -0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e3d3d0c770d2cb3f93dccd5482299e073890b478da3908402f08c68a4d0adf8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f9edd18a14c8893e5c08aa6f1677f8b1df9c4c341817d328ba03da293c07f00",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e40708f48c9d3732af247ca50458a3b42238ae4c2d2c94cdead2112fcd3d20a4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF82Rdokgkm_MEYTrLZV_RDs71wr26I2XOTw5KjmFkTDGEpYU--0C3qyhfDka2e1OhFeC--WtNYECWtstV--XiWYWOwTg47dBjP5GziWbjHmYyS1TDQFG9zRpHDMXExDtv-moxOz4CTm5Nq8XBNyYmnOV7jFwCuzBKpiFyoYYfsd28ITGvwnN9VXXfS4sDTEijsY0B1zR6-nbp7rGtgyN7BHido_ClKCwxQ7Vqir5Dxx57hP0lwaKuB-CGSicNwFpscrLhc5OD9daZHWd9ZU_bmi2Ee-ONvo3WS-lPOWWAOSEqzGu7WpCWYXRcNJkg7iO184qgcCDNH5LTcr-T7tqpF0stcV5xFBelZOEBkKkaoyG9Qri7pl0t0DAsF_LPsbvE47OLqNBhGWijfqUOpR43Dmllqlx4FWubVcxB8F7af7koaQ2RNg3feZ3bJwq_X3lZaVam04x3LswKw-O6ajl5v6Endvtrw1OyUfWHeNs3x606CWr0qg_-Cz_Qcjf_NLNsE49oKdyR9DKm2fHrO5PtPPVx3ZelqYEjwCduhtd9balbBkUddC2prtTjA9qOveBt9RsII65eLvk-TaJAQFKafqEghVOUu9eo43P-5Oyx0TvDVYzD-I9GXE1isDpPJABTlEmlBqn8RZwc6I9iewjQ8aIxiMuIpTTlAZ5mLhUJxovR_IAGAKj_xXDwGZ_XhwYx_tVNWfwfSNlBW4bUV0ThGrD8_RFvVsUFPe9bnYxNtMh5I4T-Jm-Zy16Px82rPGm7pxmtuj7hXtuh9E_b0zlHE1t2fdqo4OPCh_J4H0vUwo5o8Fbwi2pTWwb1kYqUP4jeg1ev4N_gh-7bcMgBaAHurncmqcXU4jcxRQKFbHE04hMshDVHczYEsUxJorzSrMkGYcCXjmHGOzw6t0AYh_7a-bdTfRcQP7lAFoVf-p_r6s-D0YaqMFP1r8K8jcxmefbKgpZE-SiBRh2wF98DW3KnLkvLncZ3HlJow6zBOrMkIuFp6KPuncQkIrd83qQD647GQn2DtUGleGhFwoaTmEKonIqvs-tZg4twO-OU1IxkfQGNdB84YvuZao9WuobShXZUu5qWodVv2yep8w4eaqp3FG1LcxGIH73CtGdWwLsSE3gamq-QCD43N-cNOkTS8c9mq7xJH8tnFnFUYXQgu6h1nc0JeYJ6SUo4VYK46qIyfMhg-FXPMCRXJp2FuAhwCkPL32Uc1heQqIOourUJe2VZthNw==",
  "id": "rs_0000b7f8d7276998016ab45f344fc887d0b669c022d863a8e7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.296,\"right_y\":0,\"right_z\":0.2,\"right_pitch\":0,\"right_roll\":0,\"left_x\":0.296,\"left_y\":0,\"left_z\":0.2,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The bowl is released and the yellow fruit remains at the far fence. I’m parking both arms clear of the objects because that fruit cannot be safely recovered within the allowed workspace.\"}",
  "call_id": "call_YA0gJcZCFP0ZPsRBPVK3mhkY",
  "id": "fc_0000b7f8d7276998016ab45f348ec887d0a806633514bfaadb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YA0gJcZCFP0ZPsRBPVK3mhkY",
  "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]: [-0.0212, 0.8211, 0.6823, -0.4973, -0.0139, -0.0338, 0.9968, -0.0467, 0.8341, 0.6464, -0.345, -0.0471, -0.0387, 0.9971]\nstate[eef_state]: left_x=0.2897 left_y=-0.0001 left_z=0.1843 left_yaw=0.0023 left_pitch=-0.0671 left_roll=-0.002 left_gripper=0.9968 right_x=0.3073 right_y=-0.0024 right_z=0.1957 right_yaw=0.0122 right_pitch=0.036 right_roll=-0.0021 right_gripper=0.9971\nstate[joint_eff]: [-0.3214, -2.3316, 7.2957, 1.956, -0.0904, -0.0317, -0.0122, -0.2803, -1.6342, 9.2513, 1.6972, -0.1538, -0.0611, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3300b20dcbe298b095b3ae2109eb2b27435af9d88f4cdaa93740a2eca6a70984",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58b91ec318021c6e279d93741ea4359bbc0ae20bb0d62d4fb36d29b070a14b4a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b198742124ac51065c5c427231b437bede84704dfbe25f36e047504cdd854352",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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