adhoc

completed
2026-09-24T00:42:52.099905+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (79 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
225.3 s
total steps
276
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteI see three fruits on the table beside the blue bowl and a larger white bowl to the left. I will approach the green fruit with the right gripper first.
move_to
right_x0.4000right_y0.1100right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8001, 0.6136, -0.3824, -0.0143, -0.0299, 0.999, -0.0227, 0.8005, 0.6193, -0.387, -0.0162, -0.0265, 0.9994] state[eef_state]: left_x=0.296 left_y=-0.0002 left_z=0.1822 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.999 right_x=0.2961 right_y=-0.0003 right_z=0.1838 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994 state[joint_eff]: [-0.5812, -1.7846, 9.5658, 1.8242, -0.1245, 0.1392, -0.1148, -0.1709, -1.7983, 9.1282, 1.8632, -0.0659, 0.0757, -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":0.4,"right_y":0.11,"right_z":0.15,"right_gripper":1},"note":"I see three fruits on the table beside the blue bowl and a larger white bowl to the left. I will approach the green fruit with the right gripper first."})
tool
executing move_to over 10 steps (1.0s)
step 10
top_cam
camera top_cam step 10
left_cam
camera left_cam step 10
right_cam
camera right_cam step 10
assistant
agent noteThe wrist view places the green fruit to the right of the jaws, while the blue bowl is to the left. I will shift right and lower toward the fruit's sides.
move_to
right_x0.3650right_y0.0450right_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, 0.8059, 0.6132, -0.3981, -0.0139, -0.0311, 0.9989, 0.4023, 1.4261, 0.7975, -0.0486, 0.321, 0.1844, 0.9994] state[eef_state]: left_x=0.2942 left_y=-0.0002 left_z=0.1772 left_yaw=0.0003 left_pitch=-0.0217 left_roll=-0.0007 left_gripper=0.9989 right_x=0.3892 right_y=0.1089 right_z=0.1289 right_yaw=0.0283 right_pitch=-0.0694 right_roll=-0.0384 right_gripper=0.9994 state[joint_eff]: [-0.3487, -1.7436, 7.159, 1.8779, -0.0611, -0.022, -0.022, -0.0752, -6.4752, 8.6632, 2.0049, 0.2466, 0.2418, -0.0757] camera 'top_cam' (step 10): [image omitted: streamed camera frame] camera 'left_cam' (step 10): [image omitted: streamed camera frame] camera 'right_cam' (step 10): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.365,"right_y":0.045,"right_z":0.055},"note":"The wrist view places the green fruit to the right of the jaws, while the blue bowl is to the left. I will shift right and lower toward the fruit's sides."})
tool
executing move_to over 6 steps (0.6s)
step 16
top_cam
camera top_cam step 16
left_cam
camera left_cam step 16
right_cam
camera right_cam step 16
assistant
agent noteThe green fruit is now at the bottom of the wrist view, slightly left of the jaw centerline. I will make a small sideways correction and lower to grasp its middle.
move_to
right_x0.3650right_y0.0580right_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, 0.807, 0.6132, -0.4084, -0.0139, -0.0334, 0.9989, 0.1814, 1.4456, 0.4519, 0.3149, 0.1513, 0.0551, 0.9994] state[eef_state]: left_x=0.2929 left_y=-0.0002 left_z=0.1748 left_yaw=0.0015 left_pitch=-0.0332 left_roll=-0.0023 left_gripper=0.9989 right_x=0.3598 right_y=0.0426 right_z=0.0478 right_yaw=0.0183 right_pitch=-0.1022 right_roll=-0.0388 right_gripper=0.9994 state[joint_eff]: [-0.1299, -1.388, 7.0085, 1.8242, -0.0513, -0.0317, -0.0122, 0.1709, -5.0803, 5.8598, 1.9609, 0.0269, -0.0073, -0.022] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.365,"right_y":0.058,"right_z":0.025},"note":"The green fruit is now at the bottom of the wrist view, slightly left of the jaw centerline. I will make a small sideways correction and lower to grasp its middle."})
tool
executing move_to over 2 steps (0.2s)
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 is centered between the open jaws at table level. I will close the gripper around it before testing a short lift.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8085, 0.6132, -0.4171, -0.0139, -0.0334, 0.9989, 0.2451, 1.5845, 0.4454, 0.4221, 0.1825, 0.0711, 0.9994] state[eef_state]: left_x=0.2917 left_y=-0.0001 left_z=0.1726 left_yaw=0.0015 left_pitch=-0.0435 left_roll=-0.0021 left_gripper=0.9989 right_x=0.3605 right_y=0.0608 right_z=0.0185 right_yaw=0.0462 right_pitch=-0.1357 right_roll=-0.0531 right_gripper=0.9994 state[joint_eff]: [-0.0068, -1.4291, 7.1316, 1.8193, -0.0269, -0.0366, -0.0122, -0.4034, -6.065, 4.8615, 1.917, 0.1685, 0.1538, -0.0122] 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 is centered between the open jaws at table level. I will close the gripper around it before testing a short lift."})
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 gripper stopped at about seven centimeters wide, consistent with holding the fruit. I will lift it a few centimeters to verify that it comes off the table.
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, 0.8085, 0.6132, -0.4236, -0.0139, -0.0338, 0.9989, 0.2451, 1.5845, 0.4454, 0.4236, 0.1822, 0.0669, 0.7296] state[eef_state]: left_x=0.2908 left_y=-0.0001 left_z=0.1713 left_yaw=0.0018 left_pitch=-0.05 left_roll=-0.0023 left_gripper=0.9989 right_x=0.3607 right_y=0.0609 right_z=0.0188 right_yaw=0.0489 right_pitch=-0.1343 right_roll=-0.0558 right_gripper=0.7296 state[joint_eff]: [-0.212, -0.9915, 7.2137, 1.7314, -0.0415, -0.0464, -0.0122, -0.0342, -5.6684, 5.1214, 1.58, 0.0073, -0.0024, 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":0.09},"note":"The gripper stopped at about seven centimeters wide, consistent with holding the fruit. I will lift it a few centimeters to verify that it comes off the table."})
tool
executing move_to over 5 steps (0.5s)
step 33
top_cam
camera top_cam step 33
left_cam
camera left_cam step 33
right_cam
camera right_cam step 33
assistant
agent noteThe green fruit has lifted with the gripper. I will carry it upward and left over the blue bowl, clearing the rim.
move_to
right_x0.4550right_y0.1550right_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, 0.8085, 0.6132, -0.4244, -0.0139, -0.0338, 0.9989, 0.2451, 1.3552, 0.5739, 0.0383, 0.1783, 0.0666, 0.7296] state[eef_state]: left_x=0.2907 left_y=-0.0001 left_z=0.1711 left_yaw=0.0018 left_pitch=-0.0507 left_roll=-0.0023 left_gripper=0.9989 right_x=0.3555 right_y=0.0603 right_z=0.0751 right_yaw=0.0515 right_pitch=-0.1618 right_roll=-0.059 right_gripper=0.7296 state[joint_eff]: [-0.1436, -1.3333, 6.9949, 1.7705, -0.0073, -0.0757, -0.0122, -0.0479, -5.6274, 8.6769, 1.5946, 0.0757, -0.0611, 1.033] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.455,"right_y":0.155,"right_z":0.19},"note":"The green fruit has lifted with the gripper. I will carry it upward and left over the blue bowl, clearing the rim."})
tool
executing move_to over 8 steps (0.8s)
step 41
top_cam
camera top_cam step 41
left_cam
camera left_cam step 41
right_cam
camera right_cam step 41
assistant
agent noteThe blue bowl is directly beneath the carried fruit, with a small lateral offset. I will center the fruit and lower it close to the bowl before releasing.
move_to
right_z0.1050right_y0.1680
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, 0.8131, 0.6132, -0.4274, -0.0139, -0.0334, 0.9989, 0.437, 1.7195, 1.3716, -0.4808, 0.2955, 0.1738, 0.7316] state[eef_state]: left_x=0.2905 left_y=-0.0001 left_z=0.1693 left_yaw=0.0016 left_pitch=-0.0584 left_roll=-0.0018 left_gripper=0.9989 right_x=0.4475 right_y=0.1562 right_z=0.1699 right_yaw=0.082 right_pitch=-0.2175 right_roll=-0.0845 right_gripper=0.7316 state[joint_eff]: [-0.1573, -1.7162, 7.0085, 1.707, -0.0464, -0.0317, -0.0122, -0.0342, -9.7299, 9.1966, 1.5995, 0.2711, 0.1099, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 41): [image omitted: streamed camera frame] camera 'left_cam' (step 41): [image omitted: streamed camera frame] camera 'right_cam' (step 41): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.105,"right_y":0.168},"note":"The blue bowl is directly beneath the carried fruit, with a small lateral offset. I will center the fruit and lower it close to the bowl before releasing."})
tool
executing move_to over 5 steps (0.5s)
step 46
top_cam
camera top_cam step 46
left_cam
camera left_cam step 46
right_cam
camera right_cam step 46
assistant
agent noteThe green fruit is positioned within the blue bowl's rim. I will open the jaws to leave it in the bowl.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8135, 0.6132, -0.4313, -0.0135, -0.0338, 0.9989, 0.4629, 1.7992, 1.1992, -0.2802, 0.2989, 0.1764, 0.7323] state[eef_state]: left_x=0.29 left_y=-0.0002 left_z=0.1684 left_yaw=0.0015 left_pitch=-0.0626 left_roll=-0.0022 left_gripper=0.9989 right_x=0.4404 right_y=0.1657 right_z=0.0963 right_yaw=0.0992 right_pitch=-0.2647 right_roll=-0.1038 right_gripper=0.7323 state[joint_eff]: [-0.0752, -1.3607, 7.0085, 1.6923, -0.022, -0.0562, -0.0122, 0.0752, -9.4974, 6.7897, 1.7851, 0.2222, 0.1538, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The green fruit is positioned within the blue bowl's rim. I will open the jaws to leave it in the bowl."})
tool
executing move_to over 3 steps (0.3s)
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 resting in the blue bowl. I will move back toward the yellow fruit and keep the idle left arm at its parked height.
move_to
right_x0.3600right_y0.2050right_z0.1400left_x0.2960left_y0.0000left_z0.1820
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, 0.8135, 0.6132, -0.4316, -0.0139, -0.0338, 0.9989, 0.4629, 1.7992, 1.1992, -0.2832, 0.2951, 0.173, 0.996] state[eef_state]: left_x=0.2899 left_y=-0.0001 left_z=0.1683 left_yaw=0.0018 left_pitch=-0.0629 left_roll=-0.002 left_gripper=0.9989 right_x=0.4398 right_y=0.1661 right_z=0.0957 right_yaw=0.104 right_pitch=-0.2688 right_roll=-0.1044 right_gripper=0.996 state[joint_eff]: [-0.1983, -1.2786, 6.9949, 1.6972, -0.0708, -0.0269, -0.0122, -0.0479, -9.2786, 6.5162, 1.4237, 0.1001, -0.0415, -0.2027] 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_x":0.36,"right_y":0.205,"right_z":0.14,"left_x":0.296,"left_y":0,"left_z":0.182},"note":"The green fruit is resting in the blue bowl. I will move back toward the yellow fruit and keep the idle left arm at its parked height."})
tool
executing move_to over 7 steps (0.7s)
step 56
top_cam
camera top_cam step 56
left_cam
camera left_cam step 56
right_cam
camera right_cam step 56
assistant
agent noteThe yellow fruit is visible just left of the jaws, and the green fruit remains in the bowl. I will align over the yellow fruit and descend for a side grasp.
move_to
right_x0.3500right_y0.2440right_z0.0300right_pitch0.2000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0208, 0.8471, 0.6437, -0.4759, -0.0139, -0.0341, 0.9989, 0.6903, 1.6283, 1.1664, -0.5213, 0.4152, 0.342, 0.997] state[eef_state]: left_x=0.2894 left_y=0.0 left_z=0.1643 left_yaw=0.0025 left_pitch=-0.1102 left_roll=-0.0012 left_gripper=0.9989 right_x=0.359 right_y=0.2087 right_z=0.1274 right_yaw=0.1267 right_pitch=-0.3044 right_roll=-0.1252 right_gripper=0.997 state[joint_eff]: [0.0479, -1.5111, 9.8803, 1.7802, -0.0708, -0.0317, -0.0122, -0.1709, -10.2632, 6.3521, 1.2723, 0.3541, 0.1734, 0.0952] camera 'top_cam' (step 56): [image omitted: streamed camera frame] camera 'left_cam' (step 56): [image omitted: streamed camera frame] camera 'right_cam' (step 56): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.244,"right_z":0.03,"right_pitch":0.2},"note":"The yellow fruit is visible just left of the jaws, and the green fruit remains in the bowl. I will align over the yellow fruit and descend for a side grasp."})
tool
executing move_to over 17 steps (1.7s)
step 73
top_cam
camera top_cam step 73
left_cam
camera left_cam step 73
right_cam
camera right_cam step 73
assistant
agent noteThe yellow fruit is now at the fingertip centerline, low in the wrist view. I will close the gripper to secure 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, 0.8474, 0.6415, -0.4877, -0.0135, -0.0338, 0.9989, 0.8845, 1.9572, 0.6491, 0.7189, 0.7448, 0.244, 0.9971] state[eef_state]: left_x=0.2872 left_y=-0.0001 left_z=0.1609 left_yaw=0.0016 left_pitch=-0.1247 left_roll=-0.0008 left_gripper=0.9989 right_x=0.348 right_y=0.2416 right_z=0.0246 right_yaw=0.1404 right_pitch=0.14 right_roll=-0.1527 right_gripper=0.9971 state[joint_eff]: [0.0068, -1.2786, 7.1453, 1.7509, -0.022, -0.0122, -0.0122, 0.5812, -7.4462, 3.2205, 1.6435, 0.2955, -0.0317, 0.0024] camera 'top_cam' (step 73): [image omitted: streamed camera frame] camera 'left_cam' (step 73): [image omitted: streamed camera frame] camera 'right_cam' (step 73): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The yellow fruit is now at the fingertip centerline, low in the wrist view. I will close the gripper to secure it."})
tool
executing move_to over 10 steps (1.0s)
step 83
top_cam
camera top_cam step 83
left_cam
camera left_cam step 83
right_cam
camera right_cam step 83
assistant
agent noteThe jaws stopped about five centimeters apart, indicating a fruit-sized grasp. I will lift the yellow fruit briefly to confirm it is secure.
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, 0.8474, 0.6415, -0.4915, -0.0139, -0.0338, 0.9989, 0.8864, 1.9728, 0.6418, 0.733, 0.7467, 0.2279, 0.5121] state[eef_state]: left_x=0.2866 left_y=-0.0 left_z=0.1602 left_yaw=0.0019 left_pitch=-0.1285 left_roll=-0.0005 left_gripper=0.9989 right_x=0.3462 right_y=0.2402 right_z=0.0189 right_yaw=0.1502 right_pitch=0.1328 right_roll=-0.1742 right_gripper=0.5121 state[joint_eff]: [-0.1026, -1.388, 6.9949, 1.6874, -0.0269, -0.0464, -0.0122, -0.2667, -9.3744, 4.7521, 1.4188, 0.1343, 0.1343, 0.9402] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 83): [image omitted: streamed camera frame] camera 'left_cam' (step 83): [image omitted: streamed camera frame] camera 'right_cam' (step 83): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.09},"note":"The jaws stopped about five centimeters apart, indicating a fruit-sized grasp. I will lift the yellow fruit briefly to confirm it is secure."})
tool
executing move_to over 5 steps (0.5s)
step 88
top_cam
camera top_cam step 88
left_cam
camera left_cam step 88
right_cam
camera right_cam step 88
assistant
agent noteThe yellow fruit has lifted from its table position and remains between the jaws. I will carry it over the blue bowl alongside the green fruit.
move_to
right_x0.4300right_y0.1580right_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, 0.8482, 0.6415, -0.4927, -0.0135, -0.0338, 0.9989, 0.8864, 1.7355, 0.6914, 0.4629, 0.7395, 0.2241, 0.5076] state[eef_state]: left_x=0.2865 left_y=-0.0001 left_z=0.1598 left_yaw=0.0016 left_pitch=-0.1305 left_roll=-0.0007 left_gripper=0.9989 right_x=0.3462 right_y=0.2417 right_z=0.0808 right_yaw=0.1563 right_pitch=0.1422 right_roll=-0.1633 right_gripper=0.5076 state[joint_eff]: [0.0068, -1.1009, 6.9265, 1.663, -0.0562, -0.0317, -0.0122, -0.1026, -8.3761, 7.1316, 1.5165, 0.315, -0.0269, 1.033] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 88): [image omitted: streamed camera frame] camera 'left_cam' (step 88): [image omitted: streamed camera frame] camera 'right_cam' (step 88): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.158,"right_z":0.19},"note":"The yellow fruit has lifted from its table position and remains between the jaws. I will carry it over the blue bowl alongside the green fruit."})
tool
executing move_to over 8 steps (0.8s)
step 96
top_cam
camera top_cam step 96
left_cam
camera left_cam step 96
right_cam
camera right_cam step 96
assistant
agent noteThe yellow fruit is above the blue bowl's opening. I will lower it to reduce the drop and avoid bouncing it out.
move_to
right_z0.1200
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8501, 0.6415, -0.4942, -0.0139, -0.0338, 0.9989, 0.511, 1.5497, 0.9001, 0.1562, 0.4381, 0.0154, 0.5083] state[eef_state]: left_x=0.2863 left_y=-0.0 left_z=0.159 left_yaw=0.0019 left_pitch=-0.1339 left_roll=-0.0003 left_gripper=0.9989 right_x=0.4262 right_y=0.1571 right_z=0.1667 right_yaw=0.1295 right_pitch=0.1152 right_roll=-0.1755 right_gripper=0.5083 state[joint_eff]: [-0.3624, -1.6205, 6.9402, 1.5946, -0.0366, -0.0317, -0.0122, -0.1436, -9.7299, 8.6359, 1.8877, 0.1734, 0.0317, 0.7253] camera 'top_cam' (step 96): [image omitted: streamed camera frame] camera 'left_cam' (step 96): [image omitted: streamed camera frame] camera 'right_cam' (step 96): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.12},"note":"The yellow fruit is above the blue bowl's opening. I will lower it to reduce the drop and avoid bouncing it out."})
tool
executing move_to over 4 steps (0.4s)
step 100
top_cam
camera top_cam step 100
left_cam
camera left_cam step 100
right_cam
camera right_cam step 100
assistant
agent noteThe yellow fruit is inside the blue bowl's rim next to the green fruit. I will release it there.
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, 0.8501, 0.6415, -0.4946, -0.0139, -0.0338, 0.9989, 0.5106, 1.6436, 0.7975, 0.2909, 0.4259, -0.001, 0.5096] state[eef_state]: left_x=0.2862 left_y=-0.0 left_z=0.1589 left_yaw=0.0019 left_pitch=-0.1343 left_roll=-0.0003 left_gripper=0.9989 right_x=0.4204 right_y=0.1559 right_z=0.1101 right_yaw=0.1498 right_pitch=0.0536 right_roll=-0.2068 right_gripper=0.5096 state[joint_eff]: [-0.1299, -1.5385, 7.0632, 1.6044, -0.0513, -0.022, -0.0171, 0.0889, -7.8291, 6.2017, 1.6142, 0.0415, 0.1001, 0.5934] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 100): [image omitted: streamed camera frame] camera 'left_cam' (step 100): [image omitted: streamed camera frame] camera 'right_cam' (step 100): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The yellow fruit is inside the blue bowl's rim next to the green fruit. I will release it there."})
tool
executing move_to over 5 steps (0.5s)
step 105
top_cam
camera top_cam step 105
left_cam
camera left_cam step 105
right_cam
camera right_cam step 105
assistant
agent noteThe green and yellow fruits are in the blue bowl; the dark fruit is the only one left on the table. I will approach it from above with the right gripper.
move_to
right_x0.2950right_y0.3350right_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0208, 0.8516, 0.6415, -0.4946, -0.0135, -0.0338, 0.9989, 0.5102, 1.6474, 0.7925, 0.2871, 0.4236, -0.009, 0.9924] state[eef_state]: left_x=0.2863 left_y=0.0 left_z=0.1585 left_yaw=0.002 left_pitch=-0.1358 left_roll=-0.0005 left_gripper=0.9989 right_x=0.4188 right_y=0.1553 right_z=0.1056 right_yaw=0.1557 right_pitch=0.0405 right_roll=-0.217 right_gripper=0.9924 state[joint_eff]: [0.0068, -1.4838, 6.9402, 1.5995, -0.0171, -0.0513, -0.0073, -0.1846, -7.8154, 6.653, 1.8095, 0.1538, 0.0024, 0.1538] 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_x":0.295,"right_y":0.335,"right_z":0.15},"note":"The green and yellow fruits are in the blue bowl; the dark fruit is the only one left on the table. I will approach it from above with the right gripper."})
tool
executing move_to over 15 steps (1.5s)
step 120
top_cam
camera top_cam step 120
left_cam
camera left_cam step 120
right_cam
camera right_cam step 120
assistant
agent noteThe dark fruit appears slightly left of the jaw centerline. I will correct the alignment and lower the open jaws around its sides.
move_to
right_x0.3000right_y0.3660right_z0.0260right_roll0.1500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.852, 0.6415, -0.495, -0.0139, -0.0334, 0.9989, 1.1446, 1.7809, 1.2064, -0.3271, 0.87, 0.4835, 0.9936] state[eef_state]: left_x=0.2863 left_y=-0.0 left_z=0.1583 left_yaw=0.0017 left_pitch=-0.1366 left_roll=0.0 left_gripper=0.9989 right_x=0.2964 right_y=0.3349 right_z=0.1432 right_yaw=0.2027 right_pitch=0.0204 right_roll=-0.2311 right_gripper=0.9936 state[joint_eff]: [-0.253, -1.5658, 6.9949, 1.5897, -0.0269, -0.0366, -0.0171, 0.1846, -8.3487, 7.9932, 1.2479, 0.5299, 0.1538, 0.1099] camera 'top_cam' (step 120): [image omitted: streamed camera frame] camera 'left_cam' (step 120): [image omitted: streamed camera frame] camera 'right_cam' (step 120): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0.366,"right_z":0.026,"right_roll":0.15},"note":"The dark fruit appears slightly left of the jaw centerline. I will correct the alignment and lower the open jaws around its sides."})
tool
executing move_to over 8 steps (0.8s)
step 128
top_cam
camera top_cam step 128
left_cam
camera left_cam step 128
right_cam
camera right_cam step 128
assistant
agent noteThe dark fruit is centered between the jaws but slightly forward of the grasp point. I will advance a little and close around it.
move_to
right_x0.3150right_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, 0.8528, 0.6415, -0.4946, -0.0135, -0.0338, 0.9989, 1.1152, 2.0003, 0.9634, 0.234, 0.6979, 0.6243, 0.9937] state[eef_state]: left_x=0.2864 left_y=-0.0001 left_z=0.1582 left_yaw=0.0016 left_pitch=-0.1369 left_roll=-0.0005 left_gripper=0.9989 right_x=0.2963 right_y=0.3549 right_z=0.024 right_yaw=0.211 right_pitch=-0.0161 right_roll=0.0446 right_gripper=0.9937 state[joint_eff]: [0.0068, -1.4427, 6.9675, 1.5751, -0.0366, -0.0464, -0.0122, -0.4034, -9.5111, 4.8752, 1.5751, 0.2808, 0.1538, 0.0073] camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.315,"right_gripper":0},"note":"The dark fruit is centered between the jaws but slightly forward of the grasp point. I will advance a little and close around it."})
tool
executing move_to over 10 steps (1.0s)
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 gripper has closed to about five centimeters around the dark fruit. I will make a short lift to check that it is held.
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, 0.8581, 0.6415, -0.4984, -0.0139, -0.0338, 0.9989, 1.0733, 2.0285, 0.9676, 0.242, 0.667, 0.5865, 0.5204] state[eef_state]: left_x=0.286 left_y=-0.0 left_z=0.1561 left_yaw=0.002 left_pitch=-0.1461 left_roll=-0.0 left_gripper=0.9989 right_x=0.3083 right_y=0.3462 right_z=0.0119 right_yaw=0.2107 right_pitch=-0.0431 right_roll=0.0151 right_gripper=0.5204 state[joint_eff]: [-0.1026, -1.8803, 7.1453, 1.6044, -0.0806, -0.0757, -0.0122, -0.5265, -10.0581, 7.4872, 1.4725, 0.2808, 0.0171, 1.033] 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_z":0.09},"note":"The gripper has closed to about five centimeters around the dark fruit. I will make a short lift to check that it is held."})
tool
executing move_to over 6 steps (0.6s)
step 144
top_cam
camera top_cam step 144
left_cam
camera left_cam step 144
right_cam
camera right_cam step 144
assistant
agent noteThe dark fruit has lifted with the gripper, leaving the table clear of fruit. I will carry it over the blue bowl to join the other two.
move_to
right_x0.4230right_y0.1750right_z0.2100
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8642, 0.6411, -0.5114, -0.0135, -0.0338, 0.9989, 1.071, 1.8725, 1.0473, -0.0147, 0.6537, 0.5835, 0.5247] state[eef_state]: left_x=0.2841 left_y=-0.0 left_z=0.1519 left_yaw=0.0017 left_pitch=-0.1655 left_roll=0.0001 left_gripper=0.9989 right_x=0.3064 right_y=0.3445 right_z=0.0684 right_yaw=0.2185 right_pitch=-0.0642 right_roll=0.0032 right_gripper=0.5247 state[joint_eff]: [-0.1026, -1.6068, 6.9675, 1.7753, -0.022, -0.0464, -0.0171, -0.1846, -11.2342, 8.0068, 1.4481, 0.3687, -0.0171, 0.9011] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 144): [image omitted: streamed camera frame] camera 'left_cam' (step 144): [image omitted: streamed camera frame] camera 'right_cam' (step 144): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.423,"right_y":0.175,"right_z":0.21},"note":"The dark fruit has lifted with the gripper, leaving the table clear of fruit. I will carry it over the blue bowl to join the other two."})
tool
executing move_to over 15 steps (1.5s)
step 159
top_cam
camera top_cam step 159
left_cam
camera left_cam step 159
right_cam
camera right_cam step 159
assistant
agent noteThe dark fruit is over the near side of the blue bowl, beside the other fruits. I will lower it carefully before opening the gripper.
move_to
right_z0.1250
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, 0.6411, -0.5171, -0.0135, -0.0338, 0.9989, 0.4755, 1.565, 1.1763, -0.3206, 0.2287, 0.1566, 0.5267] state[eef_state]: left_x=0.2831 left_y=-0.0 left_z=0.1506 left_yaw=0.0018 left_pitch=-0.172 left_roll=0.0003 left_gripper=0.9989 right_x=0.4183 right_y=0.1744 right_z=0.1811 right_yaw=0.1919 right_pitch=-0.1192 right_roll=-0.0147 right_gripper=0.5267 state[joint_eff]: [-0.0479, -1.5248, 6.9128, 1.619, -0.0171, -0.0415, -0.0122, -0.1846, -9.7299, 9.9077, 1.7558, -0.0317, 0.0073, 0.9158] camera 'top_cam' (step 159): [image omitted: streamed camera frame] camera 'left_cam' (step 159): [image omitted: streamed camera frame] camera 'right_cam' (step 159): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.125},"note":"The dark fruit is over the near side of the blue bowl, beside the other fruits. I will lower it carefully before opening the gripper."})
tool
executing move_to over 4 steps (0.4s)
step 163
top_cam
camera top_cam step 163
left_cam
camera left_cam step 163
right_cam
camera right_cam step 163
assistant
agent noteThe dark fruit is positioned in the blue bowl's opening. I will release it, completing the first stage before lifting the bowl.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.865, 0.6411, -0.5205, -0.0135, -0.0338, 0.9989, 0.4751, 1.6184, 1.0142, -0.1902, 0.2119, 0.1413, 0.53] state[eef_state]: left_x=0.2826 left_y=-0.0 left_z=0.15 left_yaw=0.0018 left_pitch=-0.1755 left_roll=0.0004 left_gripper=0.9989 right_x=0.4052 right_y=0.1707 right_z=0.1128 right_yaw=0.2101 right_pitch=-0.2045 right_roll=-0.0384 right_gripper=0.53 state[joint_eff]: [-0.212, -1.4838, 6.8855, 1.6435, -0.0464, -0.0317, -0.0122, -0.1026, -7.9111, 7.3504, 2.21, 0.1978, 0.0855, 0.7692] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 163): [image omitted: streamed camera frame] camera 'left_cam' (step 163): [image omitted: streamed camera frame] camera 'right_cam' (step 163): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The dark fruit is positioned in the blue bowl's opening. I will release it, completing the first stage before lifting the bowl."})
tool
executing move_to over 5 steps (0.5s)
step 168
top_cam
camera top_cam step 168
left_cam
camera left_cam step 168
right_cam
camera right_cam step 168
assistant
agent noteAll three fruits are visible together in the blue bowl. I will raise the gripper and move to the bowl's right rim so I can grasp and pour the bowl itself.
move_to
right_x0.4250right_y0.0850right_z0.1600right_pitch0.3500right_roll0.1500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.865, 0.6411, -0.5209, -0.0135, -0.0338, 0.9989, 0.4759, 1.6329, 1.0, -0.1898, 0.2077, 0.1379, 0.9956] state[eef_state]: left_x=0.2825 left_y=-0.0 left_z=0.1499 left_yaw=0.0018 left_pitch=-0.1758 left_roll=0.0004 left_gripper=0.9989 right_x=0.4015 right_y=0.17 right_z=0.101 right_yaw=0.2147 right_pitch=-0.2326 right_roll=-0.0454 right_gripper=0.9956 state[joint_eff]: [-0.0889, -1.6068, 6.9949, 1.5507, -0.0415, -0.0464, -0.0122, -0.212, -8.9094, 7.5966, 1.4579, 0.0708, -0.0366, -0.1294] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 168): [image omitted: streamed camera frame] camera 'left_cam' (step 168): [image omitted: streamed camera frame] camera 'right_cam' (step 168): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.425,"right_y":0.085,"right_z":0.16,"right_pitch":0.35,"right_roll":0.15},"note":"All three fruits are visible together in the blue bowl. I will raise the gripper and move to the bowl's right rim so I can grasp and pour the bowl itself."})
tool
executing move_to over 20 steps (2.0s)
step 188
top_cam
camera top_cam step 188
left_cam
camera left_cam step 188
right_cam
camera right_cam step 188
assistant
agent noteThe bowl is upright with all three fruits inside, and its right rim is just left of the gripper. I will lower with one jaw inside and one outside that rim.
move_to
right_x0.4250right_y0.1120right_z0.0450right_pitch0.2000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0208, 0.8696, 0.6411, -0.5209, -0.0139, -0.0338, 0.9989, 0.1287, 1.4944, 0.5636, 0.6388, -0.1402, 0.078, 0.9965] state[eef_state]: left_x=0.2827 left_y=0.0002 left_z=0.1487 left_yaw=0.0025 left_pitch=-0.1804 left_roll=0.0008 left_gripper=0.9989 right_x=0.422 right_y=0.0831 right_z=0.1442 right_yaw=0.2027 right_pitch=0.2746 right_roll=0.1346 right_gripper=0.9965 state[joint_eff]: [-0.0068, -1.6752, 6.9538, 1.5995, -0.0366, -0.0464, -0.0122, -0.3214, -5.4632, 5.8188, 2.2002, -0.1538, 0.1392, 0.0757] camera 'top_cam' (step 188): [image omitted: streamed camera frame] camera 'left_cam' (step 188): [image omitted: streamed camera frame] camera 'right_cam' (step 188): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.425,"right_y":0.112,"right_z":0.045,"right_pitch":0.2},"note":"The bowl is upright with all three fruits inside, and its right rim is just left of the gripper. I will lower with one jaw inside and one outside that rim."})
tool
executing move_to over 7 steps (0.7s)
step 195
top_cam
camera top_cam step 195
left_cam
camera left_cam step 195
right_cam
camera right_cam step 195
assistant
agent noteThe descent stopped above the rim, suggesting the widely open inner jaw contacted the fruit. I will lift and narrow the jaw opening before trying the rim again.
move_to
right_z0.1500right_gripper0.4000right_y0.1020right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8734, 0.6411, -0.5213, -0.0139, -0.0338, 0.9989, 0.226, 1.8362, 0.5293, 1.0698, -0.0856, 0.1341, 0.9965] state[eef_state]: left_x=0.2827 left_y=0.0001 left_z=0.1477 left_yaw=0.0021 left_pitch=-0.1846 left_roll=0.0009 left_gripper=0.9989 right_x=0.4349 right_y=0.1192 right_z=0.0883 right_yaw=0.221 right_pitch=0.3245 right_roll=0.1742 right_gripper=0.9965 state[joint_eff]: [-0.1846, -1.8393, 7.0632, 1.5604, -0.0171, -0.0659, -0.0122, 0.3624, -4.2188, 3.0427, 0.3639, 0.2955, -0.4274, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 195): [image omitted: streamed camera frame] camera 'left_cam' (step 195): [image omitted: streamed camera frame] camera 'right_cam' (step 195): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.15,"right_gripper":0.4,"right_y":0.102,"right_pitch":0},"note":"The descent stopped above the rim, suggesting the widely open inner jaw contacted the fruit. I will lift and narrow the jaw opening before trying the rim again."})
tool
executing move_to over 11 steps (1.1s)
step 206
top_cam
camera top_cam step 206
left_cam
camera left_cam step 206
right_cam
camera right_cam step 206
assistant
agent noteThe narrowed jaws are now aligned with the exposed right edge of the blue bowl. I will lower them around the rim without reaching across the fruit.
move_to
right_x0.4250right_y0.1130right_z0.0530
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, 0.8753, 0.6411, -0.5354, -0.0139, -0.0338, 0.9989, 0.1753, 1.544, 0.8494, 0.1467, -0.1326, 0.1009, 0.403] state[eef_state]: left_x=0.2804 left_y=0.0001 left_z=0.1446 left_yaw=0.0022 left_pitch=-0.2006 left_roll=0.0012 left_gripper=0.9989 right_x=0.4374 right_y=0.1048 right_z=0.1376 right_yaw=0.2278 right_pitch=0.0171 right_roll=0.1688 right_gripper=0.403 state[joint_eff]: [-0.0615, -1.7983, 6.9949, 1.6972, -0.0513, -0.022, -0.0122, -0.7179, -9.3333, 8.4718, 1.8681, -0.0708, 0.0171, 0.0366] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 206): [image omitted: streamed camera frame] camera 'left_cam' (step 206): [image omitted: streamed camera frame] camera 'right_cam' (step 206): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.425,"right_y":0.113,"right_z":0.053},"note":"The narrowed jaws are now aligned with the exposed right edge of the blue bowl. I will lower them around the rim without reaching across the fruit."})
tool
executing move_to over 6 steps (0.6s)
step 212
top_cam
camera top_cam step 212
assistant
agent noteThe inner jaw appears to be resting on the rim rather than straddling it. I will shift a small distance toward the bowl so the rim lies between the jaws.
move_to
right_y0.1380right_z0.0750
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8787, 0.6411, -0.5381, -0.0139, -0.0334, 0.9989, 0.2012, 1.6997, 0.6731, 0.5377, -0.1135, 0.1162, 0.4019] state[eef_state]: left_x=0.28 left_y=0.0001 left_z=0.1433 left_yaw=0.002 left_pitch=-0.2067 left_roll=0.0017 left_gripper=0.9989 right_x=0.4353 right_y=0.1129 right_z=0.0801 right_yaw=0.2296 right_pitch=0.0745 right_roll=0.1702 right_gripper=0.4019 state[joint_eff]: [-0.0752, -1.7709, 6.8581, 1.6337, -0.0415, -0.0317, -0.0122, 0.8684, -4.6564, 3.8769, 0.6129, -0.0317, -0.0122, -0.1294] 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_y":0.138,"right_z":0.075},"note":"The inner jaw appears to be resting on the rim rather than straddling it. I will shift a small distance toward the bowl so the rim lies between the jaws."})
tool
executing move_to over 3 steps (0.3s)
step 215
assistant
agent noteThe blue rim is now visible between the two fingertips. I will close the jaws on the bowl's edge.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8791, 0.6411, -0.5426, -0.0139, -0.0338, 0.9989, 0.2661, 1.7218, 0.6762, 0.5972, -0.0647, 0.1326, 0.4017] state[eef_state]: left_x=0.2793 left_y=0.0001 left_z=0.1424 left_yaw=0.0023 left_pitch=-0.2117 left_roll=0.0015 left_gripper=0.9989 right_x=0.4366 right_y=0.1345 right_z=0.0845 right_yaw=0.2443 right_pitch=0.1134 right_roll=0.1626 right_gripper=0.4017 state[joint_eff]: [-0.335, -1.6889, 7.1726, 1.5751, -0.0415, -0.0415, -0.0122, 0.2667, -5.8188, 7.1316, 1.453, 0.0171, 0.1783, -0.0269] camera 'top_cam' (step 215): [image omitted: streamed camera frame] camera 'left_cam' (step 215): [image omitted: streamed camera frame] camera 'right_cam' (step 215): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The blue rim is now visible between the two fingertips. I will close the jaws on the bowl's edge."})
tool
executing move_to over 5 steps (0.5s)
step 220
assistant
agent noteThe jaws closed fully, so the rim was not captured. I will reopen, move slightly forward, and lower the fingertips to engage below the lip.
move_to
right_gripper0.4000right_x0.4500right_y0.1420right_z0.0460
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, 0.6411, -0.543, -0.0135, -0.0338, 0.9989, 0.2844, 1.7264, 0.6815, 0.5781, -0.0536, 0.149, 0.0112] state[eef_state]: left_x=0.2792 left_y=0.0001 left_z=0.1423 left_yaw=0.0019 left_pitch=-0.2121 left_roll=0.0012 left_gripper=0.9989 right_x=0.4341 right_y=0.1405 right_z=0.0803 right_yaw=0.2445 right_pitch=0.0938 right_roll=0.1718 right_gripper=0.0112 state[joint_eff]: [-0.0479, -1.3197, 6.8444, 1.5409, -0.0562, -0.0366, -0.0122, -0.253, -6.5436, 6.2291, 1.7363, 0.0464, 0.0464, 1.0379] camera 'top_cam' (step 220): [image omitted: streamed camera frame] camera 'left_cam' (step 220): [image omitted: streamed camera frame] camera 'right_cam' (step 220): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.4,"right_x":0.45,"right_y":0.142,"right_z":0.046},"note":"The jaws closed fully, so the rim was not captured. I will reopen, move slightly forward, and lower the fingertips to engage below the lip."})
tool
executing move_to over 4 steps (0.4s)
step 224
assistant
agent noteThe bowl shifted slightly left during the retry, and its rim is still left of the jaws. I will lift clear and realign with the rim's new position.
move_to
right_x0.4250right_y0.1780right_z0.1050right_gripper0.5500
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, 0.6411, -0.5503, -0.0135, -0.0338, 0.9989, 0.2844, 1.7302, 0.6815, 0.561, -0.0456, 0.149, 0.3958] state[eef_state]: left_x=0.2781 left_y=0.0001 left_z=0.1397 left_yaw=0.002 left_pitch=-0.2247 left_roll=0.0015 left_gripper=0.9989 right_x=0.4326 right_y=0.1386 right_z=0.0749 right_yaw=0.2377 right_pitch=0.073 right_roll=0.1672 right_gripper=0.3958 state[joint_eff]: [-0.1983, -1.7573, 7.0222, 1.5897, -0.0415, -0.0415, -0.0122, -0.1436, -7.0359, 6.2154, 1.8535, -0.0464, 0.0073, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 224): [image omitted: streamed camera frame] camera 'left_cam' (step 224): [image omitted: streamed camera frame] camera 'right_cam' (step 224): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.425,"right_y":0.178,"right_z":0.105,"right_gripper":0.55},"note":"The bowl shifted slightly left during the retry, and its rim is still left of the jaws. I will lift clear and realign with the rim's new position."})
tool
executing move_to over 4 steps (0.4s)
step 228
assistant
agent noteThe bowl moved again as the jaws approached its side. I will lift well above the fruit and use a narrower, straighter rim approach.
move_to
right_z0.1900right_y0.2100right_gripper0.3200right_yaw-0.2000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8845, 0.6411, -0.5507, -0.0139, -0.0338, 0.9989, 0.3977, 1.697, 0.7311, 0.4587, 0.0303, 0.181, 0.5481] state[eef_state]: left_x=0.278 left_y=0.0002 left_z=0.1396 left_yaw=0.0023 left_pitch=-0.225 left_roll=0.0018 left_gripper=0.9989 right_x=0.4226 right_y=0.1756 right_z=0.0869 right_yaw=0.2696 right_pitch=0.0541 right_roll=0.1575 right_gripper=0.5481 state[joint_eff]: [-0.0889, -1.7026, 6.8308, 1.5409, -0.0464, -0.0269, -0.0122, -0.6359, -9.812, 7.665, 1.7167, 0.2466, 0.1832, 0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 228): [image omitted: streamed camera frame] camera 'left_cam' (step 228): [image omitted: streamed camera frame] camera 'right_cam' (step 228): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.19,"right_y":0.21,"right_gripper":0.32,"right_yaw":-0.2},"note":"The bowl moved again as the jaws approached its side. I will lift well above the fruit and use a narrower, straighter rim approach."})
tool
executing move_to over 7 steps (0.7s)
step 235
assistant
agent noteThe raised view shows the bowl's right rim below and to the right of the gripper. I will descend onto that exposed section with a three-centimeter jaw opening.
move_to
right_x0.4450right_y0.1830right_z0.0550right_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, 0.8845, 0.6411, -0.5549, -0.0135, -0.0338, 0.9989, 0.6781, 1.6779, 1.1736, -0.1089, 0.5583, 0.5228, 0.3217] state[eef_state]: left_x=0.2773 left_y=0.0001 left_z=0.1389 left_yaw=0.002 left_pitch=-0.2292 left_roll=0.0016 left_gripper=0.9989 right_x=0.4238 right_y=0.2258 right_z=0.1822 right_yaw=-0.0685 right_pitch=0.051 right_roll=0.1588 right_gripper=0.3217 state[joint_eff]: [-0.1026, -1.6889, 6.8308, 1.5263, -0.0464, -0.0171, -0.0122, 0.1436, -7.8291, 7.8291, 1.453, 0.4127, 0.2515, 0.0659] camera 'top_cam' (step 235): [image omitted: streamed camera frame] camera 'left_cam' (step 235): [image omitted: streamed camera frame] camera 'right_cam' (step 235): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.445,"right_y":0.183,"right_z":0.055,"right_roll":0},"note":"The raised view shows the bowl's right rim below and to the right of the gripper. I will descend onto that exposed section with a three-centimeter jaw opening."})
tool
executing move_to over 9 steps (0.9s)
step 244
assistant
agent noteThe bowl is behind the fingertips in the wrist view, so the approach is too far forward. I will move back along the right rim to put the bowl wall between the jaws.
move_to
right_x0.4000right_y0.1800right_z0.0520
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, 0.6411, -0.5571, -0.0135, -0.0338, 0.9989, 0.5819, 1.8866, 0.9466, 0.3573, 0.5526, 0.3725, 0.3217] state[eef_state]: left_x=0.2769 left_y=0.0001 left_z=0.1385 left_yaw=0.002 left_pitch=-0.2315 left_roll=0.0017 left_gripper=0.9989 right_x=0.4493 right_y=0.1889 right_z=0.0794 right_yaw=-0.0807 right_pitch=0.0801 right_roll=0.049 right_gripper=0.3217 state[joint_eff]: [-0.0615, -1.4701, 6.8855, 1.5067, -0.0513, -0.0415, -0.0122, -0.3624, -6.694, 3.6855, 1.2137, 0.1245, -0.1587, -0.0122] camera 'top_cam' (step 244): [image omitted: streamed camera frame] camera 'left_cam' (step 244): [image omitted: streamed camera frame] camera 'right_cam' (step 244): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.4,"right_y":0.18,"right_z":0.052},"note":"The bowl is behind the fingertips in the wrist view, so the approach is too far forward. I will move back along the right rim to put the bowl wall between the jaws."})
tool
executing move_to over 4 steps (0.4s)
step 248
assistant
agent noteThe bowl is still blocking the downward motion, indicating a fingertip is landing on the lip. I will offset slightly outward so the jaws can straddle the thin wall.
move_to
right_y0.1550right_z0.0500
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, 0.8902, 0.6411, -0.5621, -0.0139, -0.0334, 0.9989, 0.6353, 1.8172, 0.7666, 0.548, 0.5983, 0.4007, 0.3217] state[eef_state]: left_x=0.2761 left_y=0.0002 left_z=0.1362 left_yaw=0.0022 left_pitch=-0.2422 left_roll=0.0025 left_gripper=0.9989 right_x=0.4173 right_y=0.1885 right_z=0.0814 right_yaw=-0.0857 right_pitch=0.1558 right_roll=0.1077 right_gripper=0.3217 state[joint_eff]: [-0.0479, -2.1812, 6.8855, 1.6044, -0.0366, -0.022, -0.0122, 0.4855, -6.5436, 3.5214, 0.7595, 0.0024, -0.0464, -0.0171] camera 'top_cam' (step 248): [image omitted: streamed camera frame] camera 'left_cam' (step 248): [image omitted: streamed camera frame] camera 'right_cam' (step 248): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.155,"right_z":0.05},"note":"The bowl is still blocking the downward motion, indicating a fingertip is landing on the lip. I will offset slightly outward so the jaws can straddle the thin wall."})
tool
executing move_to over 3 steps (0.3s)
step 251
assistant
agent noteThe wrist view is still looking past the bowl, confirming the fingertips are too far forward. I will move back to the bowl's right side and level the tool before closing.
move_to
right_x0.3450right_y0.1570right_z0.0550right_pitch-0.2000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8902, 0.6411, -0.5625, -0.0139, -0.0338, 0.9989, 0.5632, 1.8328, 0.6895, 0.7437, 0.5491, 0.3836, 0.3217] state[eef_state]: left_x=0.2761 left_y=0.0002 left_z=0.1361 left_yaw=0.0024 left_pitch=-0.2426 left_roll=0.0023 left_gripper=0.9989 right_x=0.4262 right_y=0.1643 right_z=0.0832 right_yaw=-0.12 right_pitch=0.2218 right_roll=0.1759 right_gripper=0.3217 state[joint_eff]: [-0.1299, -1.6205, 6.8308, 1.5311, -0.0659, -0.0415, -0.0073, -0.1436, -4.4239, 3.0427, 0.7302, 0.0659, -0.2418, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 251): [image omitted: streamed camera frame] camera 'left_cam' (step 251): [image omitted: streamed camera frame] camera 'right_cam' (step 251): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.345,"right_y":0.157,"right_z":0.055,"right_pitch":-0.2},"note":"The wrist view is still looking past the bowl, confirming the fingertips are too far forward. I will move back to the bowl's right side and level the tool before closing."})
tool
executing move_to over 15 steps (1.5s)
step 266
assistant
agent noteThe rim approaches are contacting the crowded bowl without producing a secure grasp. I will withdraw the gripper and leave the fruits safely in the blue bowl rather than risk spilling them.
move_to
right_z0.2200right_x0.3300right_y0.0700right_gripper0.6000right_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, 0.8928, 0.6411, -0.5652, -0.0135, -0.0338, 0.9989, 0.6121, 1.5543, 0.6952, 0.234, 0.4397, 0.6151, 0.3217] state[eef_state]: left_x=0.2756 left_y=0.0001 left_z=0.135 left_yaw=0.0021 left_pitch=-0.2479 left_roll=0.0021 left_gripper=0.9989 right_x=0.3748 right_y=0.1756 right_z=0.0952 right_yaw=-0.0872 right_pitch=-0.014 right_roll=0.2813 right_gripper=0.3217 state[joint_eff]: [-0.0615, -1.935, 6.8171, 1.5067, -0.0562, -0.0317, -0.0122, -0.2667, -6.106, 6.188, 1.6923, 0.1636, 0.1441, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 266): [image omitted: streamed camera frame] camera 'left_cam' (step 266): [image omitted: streamed camera frame] camera 'right_cam' (step 266): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.22,"right_x":0.33,"right_y":0.07,"right_gripper":0.6,"right_pitch":0,"right_roll":0},"note":"The rim approaches are contacting the crowded bowl without producing a secure grasp. I will withdraw the gripper and leave the fruits safely in the blue bowl rather than risk spilling them."})
tool
executing move_to over 9 steps (0.9s)
step 275
assistant
agent noteAll three fruits are in the blue bowl, but I could not establish a secure grip on its rim for pouring. I withdrew the gripper and left the loaded bowl upright rather than risk spilling the fruits; the transfer into the white bowl remains incomplete.
give_up
hindsightThe loaded blue bowl has very little exposed rim clearance: repeated side approaches stopped at grasp-point z about 0.08–0.095 m and shifted the bowl instead of straddling its wall. An attempted rim close read 0.011, confirming an empty grasp. Secure an accessible rim-grasp plan before filling this small bowl, and re-localize it after any contact because it slides readily. The initial green fruit was grasped near right (0.365, 0.058, 0.025), yellow near (0.35, 0.244, 0.03), and dark fruit near (0.315, 0.366, 0.026).
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, 0.894, 0.6411, -0.5655, -0.0135, -0.0338, 0.9989, 0.4255, 1.0885, 0.8356, -0.3759, 0.4168, 0.3191, 0.5985] state[eef_state]: left_x=0.2756 left_y=0.0001 left_z=0.1346 left_yaw=0.0021 left_pitch=-0.2494 left_roll=0.0021 left_gripper=0.9989 right_x=0.3352 right_y=0.0773 right_z=0.2066 right_yaw=-0.0982 right_pitch=-0.0002 right_roll=0.0412 right_gripper=0.5985 state[joint_eff]: [-0.1573, -1.8256, 6.9402, 1.5067, -0.0269, -0.0415, -0.0122, -0.294, -3.9043, 9.1419, 1.7802, 0.1343, 0.0122, 0.0366] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 275): [image omitted: streamed camera frame] camera 'left_cam' (step 275): [image omitted: streamed camera frame] camera 'right_cam' (step 275): [image omitted: streamed camera frame]
assistant
give_up({"reason":"All three fruits are in the blue bowl, but I could not establish a secure grip on its rim for pouring. I withdrew the gripper and left the loaded bowl upright rather than risk spilling the fruits; the transfer into the white bowl remains incomplete.","hindsight":"The loaded blue bowl has very little exposed rim clearance: repeated side approaches stopped at grasp-point z about 0.08–0.095 m and shifted the bowl instead of straddling its wall. An attempted rim close read 0.011, confirming an empty grasp. Secure an accessible rim-grasp plan before filling this small bowl, and re-localize it after any contact because it slides readily. The initial green fruit was grasped near right (0.365, 0.058, 0.025), yellow near (0.35, 0.244, 0.03), and dark fruit near (0.315, 0.366, 0.026)."})
tool
give_up: All three fruits are in the blue bowl, but I could not establish a secure grip on its rim for pouring. I withdrew the gripper and left the loaded bowl upright rather than risk spilling the fruits; the transfer into the white bowl remains incomplete.
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 · 5.925 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, -0.0299, 0.999, -0.0227, 0.8005, 0.6193, -0.387, -0.0162, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=-0.0002 left_z=0.1822 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.999 right_x=0.2961 right_y=-0.0003 right_z=0.1838 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.5812, -1.7846, 9.5658, 1.8242, -0.1245, 0.1392, -0.1148, -0.1709, -1.7983, 9.1282, 1.8632, -0.0659, 0.0757, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3dd3ebc8b7482f501416e14df7843dc34ed317016dde227011a90878a11051b4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8afe1815c428edce80eb0896a200f0eca7e2b07a904b45045c185d765326c1fb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68bed7a264da1128c2aba0b78070e61a7bf5d690c15fa7616f587879ebf8cf18",
      "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 · 8.491 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtHIgvV-4MB0ZAd-pGQ8VhzY_1DXlmyWHY86HYwBp2OgO-NrIJ8dQ-PyenAf5yyLBRT4DvKXvdm36UnZ1iyWeRagn5hoT9FSdo0QLlm81dDWb3pLVoo7JSXu-t11b4Jz0onostTnPYVmw9C8Gv958kAXv78PpjcdtHb73nkgOfxomrr6tjy-JbVrEKvKkbDCUMhPEt6Vx1YOIJGFXtLb1oq9E1so9TWixEC3IRjcweN6DqjL5KVVYD2Tsc05hznLi-bAvKLo2ZulFnJJbt2agn_dB2LQyuU7eiHa5AG-U_VfcJnTXq-0aWClTtsDQmUz0RsNq8OAEaaWGtPAmnc6byB2z-B2lwduoL4VLbbX6t-MqqhJ791gEidci-7g_xAanXveo7nKyW9FDULX2vT6TImPOliVGq6tD-BI8Z5r_-GpHsOqewGSOUWjN7TTUWIzZdt_dXL-yMTkok5KBhIEslpyyBzLsXtBvGWbxEp5tj6wGV-z8LRCyqvZ9PWbJNSXUlIsLBESxeYuNhaQzlT3C17yV0glpt4bETDAmlyXFj5o_fbKlP6KaqyoNm6raIdGip6TEU8f-yk4Nuhc72nsc5by_8fZAF8Gy5RVCHdrR2ErB0Cm27aUTSsgiPpFN21vRMSzU6ZlCQugOtIsiygttegPz3DzqI2h-8MBuJr897dfTfIFZW1vZSnlnjFR9GT0N01nsO1s9Lr0pX9Kfo2nm7n_3mQIL6YndCe1q5xOXvg0bs5L4c_evh2VAwMAJskeaxUXjoACO7LRpE6pAnx5x_vhD6WBUbeA-O6bkRwVXfkc5GuOk1St3AxkkFEL5OAIFuSYWPscjOp8yuwfF5fSk5R8nNksmBSTfcPntOZZa2r173ZfG_ZSSYvynDjbJusQO444VGbIX6dh0YFVObbkZ_AiCIMocEHcx4a9uyLQco-apwgmfpvGaw3KHXlWX8RSH1yhcgUWZ_FF-RF6RlD-ChCip4ihMJswJMBKoDj6KkmTphSO0B4boketTn8YlDmZn2kmQqOU348vAKT9xNnkKQ2pFY61lOIdHvsv3Mo8WbNSnXW6YuJZlV8U_A1iBLG7obwr7fTnOqAaIJcCdGWIFXBmum9px--PCaqKM3GacrqLgPZ9Rn0jtq4b8j1JqvYOFo4ij_gmoZu2kEwAkY72rM3Hn_hIlB-bkcXWqpyFWAvy42UefQkxJ14EQjZhtOx8M4XqSQLRX3D7B1HDgDWUTh6sPAPtlrDhhby6S8tJNkIadJU6whev2VI1nuKYiDTxZQhu6ahNEtvxijmGSl6jplJaGpI5D2xD6JNFg2PJ1mVZnXhg5XJU6yaC5PUfApbw62lnxCMCPOJInw1MYQtDt0pvA5Nc1qNHWFb2_yI1KvoVoV7Ip3ijTNK0ucKfW5k3awagWoiw7P86rkp6PV2ZHeMVnGN3NIwcYE67h2YpnUnaQq4rJEz9AEusaTcM2F_7sG9KlxaU-3d6qAig-16eLV-t9DqV4bLO1rICIo7mJgNa2xUmLBjI76qxuyCe8-vKIkPreIzO7n2ZE6V3A88AC5TXmjhUGCyXcdG5pliHtg9zzYJIbPUgYPz4bqfEXlpyaXMjKpj9rY6coXU3PbZPXTRb6y-EqgCe_3UST0egLqfC_OCv5DikujO7Pnjcdt8-8BdN_taSnLkJgDJY4u9gnt0Gz6E0ldz53OvnthhIveGVUFiNeV7UKYAzrKev-a8D9P0FhzpapPsjuUThAv_S6AxHzzEoJrWM0iZyFSi4UdK1PF0EbukjWC01vvU67NuivbCSg11C4F1o7pc_pnnW3DHKuAJgr0dYgTZVVkSPHweylK9ClZqywD2Lt8dXKtGdXeFkWtQgWk8pFXo0quNqPEr5p-6hrIr1RttoE9EnH-9uycaFfoCbpycnCoqWUHsvC78dvLnGFBAgpyoUFUHOBia_tzzxou-NXHhfBwK4lyi31-349ddCXmoQg_aPsNHeVqMFgFuLbmiHjScYMoNoUbFpas3oVj2hYaocDqbn4ihlogonbXXz8D689-JQRez57waEIeVy5vdJhmh_NSP7fVSYoGXHArFRJEox6l-Z8o9h8a3m5GpYIZY3RXI6u-hjUXb6s2Djy00UIch4MecC--DwDSw6c7bL6OaSYUdZW2zfZFL3S0or46bAAkL7oUt6JRpbY",
  "id": "rs_0f7486bd42e7710a016ab4721b4a2487d0a9c6939efa0b8b23",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.11,\"right_z\":0.15,\"right_gripper\":1},\"note\":\"I see three fruits on the table beside the blue bowl and a larger white bowl to the left. I will approach the green fruit with the right gripper first.\"}",
  "call_id": "call_xRwSL8rExfp973ON5RxdWoy4",
  "id": "fc_0f7486bd42e7710a016ab4721ede3887d08d9428247a3398ba",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xRwSL8rExfp973ON5RxdWoy4",
  "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, 0.8059, 0.6132, -0.3981, -0.0139, -0.0311, 0.9989, 0.4023, 1.4261, 0.7975, -0.0486, 0.321, 0.1844, 0.9994]\nstate[eef_state]: left_x=0.2942 left_y=-0.0002 left_z=0.1772 left_yaw=0.0003 left_pitch=-0.0217 left_roll=-0.0007 left_gripper=0.9989 right_x=0.3892 right_y=0.1089 right_z=0.1289 right_yaw=0.0283 right_pitch=-0.0694 right_roll=-0.0384 right_gripper=0.9994\nstate[joint_eff]: [-0.3487, -1.7436, 7.159, 1.8779, -0.0611, -0.022, -0.022, -0.0752, -6.4752, 8.6632, 2.0049, 0.2466, 0.2418, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:295030b9aae0d6f056b7db6189b82b0e2e9ae1d92e0c26777d71a1f035015236",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5f479c85357fa3d2eb43b304bcd941fe2a9f9109121b9465aefe3b5e64cef7a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c02d23374dc2f1901ee16173a8579c31b9a2d23b996829c3f129e01e1affe0b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 4.543 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, -0.0299, 0.999, -0.0227, 0.8005, 0.6193, -0.387, -0.0162, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=-0.0002 left_z=0.1822 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.999 right_x=0.2961 right_y=-0.0003 right_z=0.1838 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.5812, -1.7846, 9.5658, 1.8242, -0.1245, 0.1392, -0.1148, -0.1709, -1.7983, 9.1282, 1.8632, -0.0659, 0.0757, -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]: [-0.0212, 0.8059, 0.6132, -0.3981, -0.0139, -0.0311, 0.9989, 0.4023, 1.4261, 0.7975, -0.0486, 0.321, 0.1844, 0.9994]\nstate[eef_state]: left_x=0.2942 left_y=-0.0002 left_z=0.1772 left_yaw=0.0003 left_pitch=-0.0217 left_roll=-0.0007 left_gripper=0.9989 right_x=0.3892 right_y=0.1089 right_z=0.1289 right_yaw=0.0283 right_pitch=-0.0694 right_roll=-0.0384 right_gripper=0.9994\nstate[joint_eff]: [-0.3487, -1.7436, 7.159, 1.8779, -0.0611, -0.022, -0.022, -0.0752, -6.4752, 8.6632, 2.0049, 0.2466, 0.2418, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:295030b9aae0d6f056b7db6189b82b0e2e9ae1d92e0c26777d71a1f035015236",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5f479c85357fa3d2eb43b304bcd941fe2a9f9109121b9465aefe3b5e64cef7a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c02d23374dc2f1901ee16173a8579c31b9a2d23b996829c3f129e01e1affe0b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHIxMIqYbTboZjpGopu8KLwSQb573MDmp9PZgzhLNa65R8jmygksGyneZay2pt35kNYAMSujMTtPnHi5RiFVX4r-kbcuc4Pt8-fYwHPdWsegcArZjQ-aFTDb9pklK8nn_aryws8eLrAn16RTDgSNdG6VeUaQeTvDuJLT2vRaS_SmugkQtMUZXVEAZqkoAh6tffk4ZZ9qFqBxTOI97AeS7DZf6vrYAthSjhq-WIa1wvGEDZaiLYWW1EwuxMTFxbxScO3KXttLLbcpd--Cex0TMFa1SRw0mepThvowrPaJZwWEN_em1IYNqLENZ5ZkrlWnAHnwzda_vGVR8td0uuwT7irmTZE39UvJVox1xcmgPKkKyre5fgxDlxz_9nkR3IauJRHykiyqsRA6Vj8EggoCGNxPf3SXtUkfh1dcSzKkcXr7svKEkR3dlWfMDB8-YbQW7IFu-I_CNswg42Qc_LaV7LMCkf7XGLmLqIpqod00cAWKJShHU6SuXnqC0TNiTMAcxGk6jdxytp1On6c3mCb_-URDggQm0xxmDpfesYClBSDhrnfbPXl9tYNzUrxQBmDnt9XkzcjKBbOJZOLhz3VGgRiUmICjKH0HeAfiSmIwuTDZc66DCR7CjsDTFYt6NxHlXK4_CxIBp52JAGIF30nnkpZH3QaD1_2s2jMQIToz83HcpxHUnAMIZbMphYts2j-FHJQjsv7ZmVDMXM26SeQs3roWH4t1vb1U2nrNm3jLWHxpMr-u-f8S6y7jPBxmYBCWJyrOXamdAVmnLI6tpUKBNDocd5n2qOIWDTQI0aPstK9pE3uTmuOxSERe9caC0IigfG_ZUdEo2ctei-Oa3f93Yh9yflo_7kGE1bzFs5wbpZtHkM1EYZ69Hff_efCaLXjyBvHMsQIhX15Dic1290ZECtr9y5448h_ltMsnJLDDFPTm5liN6Ha5yQkG6zxDXKZBLlehiRXO3KfR9r1c-nXwbjHLtqyS4x-DxSYBDfv3VTwfbzdUUoYBIsWId1cuRRSL-WeW3UgwVwmO2KL8qe_kn5gMreRwcIYsbxbqOJEM4fOvuub2JTVkr5i9rT5Dp1dI6jXMFYHuBkX9hR0ec316wZUScNAFFS4Dv8b8RiCoV0Q3HgVE1wCZz47majTHtZqMpwBpiCKjnkyRx76ZzD5RWokOz2g--5Tbtg02kCz5hGtflKzwWFnkSxB8RXHJMp1JRzUJ_NseoI8sfLruWgBwG0LSEsGZObnZiwjmJL3Z5WKUPtnrnp0akm51B17MoBlimNuWsW49OFvJPiQ72gH9i4cd0K-5vIyP4OXtDZqAr252ZVo-8Axg3QPvEMR9DDMeCRw2BrbCM0YGCG0dtansVxY0U1e8Gzg5zsUxfcRDszoiL7GkMcXrdpeCi8YECw-Zt4fqKhfZHCdCJrhPvoZt61cEblcy0-xYNDEK97os4ILPqhUbLgqRgBQrMu-xU4L7pjuAUJloWzubUuUROosGVb2akZDshDIldGQwS4E7v8laAOR_2bVkvGM06rqZbGIrvwac_jeNwFNL5WklLnsqr_GFyGkniYcHMOI-xKTUZ4vyTak6efWAWIOldH_N54QLi30-4gqycQ-DjgQVkUSof93EqFfQ0ymJBEVp-4f5yiK6HGmyBFD4UqSDZ93D4XSh0LHTG73XVnHcE5BOyNJNMkP-5YZCQHRQGthnXgQ_CQzXm3hZEVQwiebRa8agEhxClYNl1sXxtaAk_qZNwK8DFKzAQFTFvw1AT0BJkEsJq3mcwUqQzxW7REN2Glgw4RGh4RBM5MQGJrJLnhUAoLLm1826ESVO0FroPSL8E6A62t8al277xiTiXOMf3zjrSw2-BPVu-e16X3vx2Q3CQVCH3qx3myS4k5W1e4ObRYjSRsESggnFVClAoTsyOcLFfos4tu3EJ56ajMRQfKsDgohRf-z4-0LW0K3ofLcdsQVhF84e4wJMmiYqrlsLc22lO3lhE0OmiB-o1DJnXmwdA8ZTI7jlROVnRxc1B058R1CEtODtYN857SwhiPU-_Bh7Om6k8tfJI91jDagrxouHLYQEWF0PhfyhWTSM_aybZoXeX3FEuoUSkO75R7iQ7SsvCUvWR1KkFeZ_8ta03i1zwpV9j2cpZc7l58gjvy33lYjcWzX6ZcWbQahO5t5-IOlLmlvUIPRNiquvxgt025OgXk-BGAFFI_Kz32ci_sk0NRNiMbbKxTW7gSnBi_f10aebu7HUWZJVIhx5DWOkL2NZpYxOQ-jzuTdbuSKA12WP-ou8m9F1qcvdeALxnAf9dPxOBxIPQ-ryq6XIKOkY4z1t0iFE_WJ3gXmYWE0rTJrNJ7T044RYYSE655xp4sn3LuENlWFpBLWQbCU9cMSRzX0_V6NVQDIzcbJRJfmSrOROTThze1f7XHq7PVD8CsThsvqw1214-m4KJV-7EoR6Y15W3-yPYc-sxGr5PRuZrlLEtVi5OUbOi7TRi6cdlJYDIPl1xSr7U4mb9cuxXdR_D0bbAJiaOLAcvH5ei8zBVcBj1qb1r8FULMhbXh973ev86mtVYISjwHt-_SWa4SasvrOzMxYQlyohcm5vTGma_mnjxXmdTowwRgDRtRu8nkAJiZx0goZ_6ftuHHhs9Rok8VgB-D62e2s6bVsbJ5-Z8fyHGryY4BwI1IF9qazu0CIWZI7sqbLXytqVeNAIvx3ASbeFZ87eiYYTZ1uiw5OGXhcdDr7gC-mA9lk4aKIeTYVeXyOnScIFWxPPw5DTo5x4oUFP0tWmolr1P7yX0n1WyrxjToCOxtkE8ulsUhmonqjDgXRRUgcV0cju18ecXrzMDbOUJ8oJG_Z_tcc-tGMoIZq_eBnISXeqwOI=",
  "id": "rs_0f7486bd42e7710a016ab4722a1ff887d0977952fc0e136fd3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.365,\"right_y\":0.045,\"right_z\":0.055},\"note\":\"The wrist view places the green fruit to the right of the jaws, while the blue bowl is to the left. I will shift right and lower toward the fruit's sides.\"}",
  "call_id": "call_osprUVud8uSHWDpXo120NsCV",
  "id": "fc_0f7486bd42e7710a016ab47230822c87d08cf4356017342890",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_osprUVud8uSHWDpXo120NsCV",
  "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, 0.807, 0.6132, -0.4084, -0.0139, -0.0334, 0.9989, 0.1814, 1.4456, 0.4519, 0.3149, 0.1513, 0.0551, 0.9994]\nstate[eef_state]: left_x=0.2929 left_y=-0.0002 left_z=0.1748 left_yaw=0.0015 left_pitch=-0.0332 left_roll=-0.0023 left_gripper=0.9989 right_x=0.3598 right_y=0.0426 right_z=0.0478 right_yaw=0.0183 right_pitch=-0.1022 right_roll=-0.0388 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -1.388, 7.0085, 1.8242, -0.0513, -0.0317, -0.0122, 0.1709, -5.0803, 5.8598, 1.9609, 0.0269, -0.0073, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbb16c5ea7479ad62de52e36eacc92faac7350cf90d01d480d036ee326da8085",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25536e31fcdc1dfcc3a89f349d3f3534caae067a60b362d5d79e946e9830daa7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4ae8717b5a39e8152a623cf9be34b2d6bba75a07cb1c7febe83bae0c80a7751",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /responses · status 200 · 2.178 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 10 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8059, 0.6132, -0.3981, -0.0139, -0.0311, 0.9989, 0.4023, 1.4261, 0.7975, -0.0486, 0.321, 0.1844, 0.9994]\nstate[eef_state]: left_x=0.2942 left_y=-0.0002 left_z=0.1772 left_yaw=0.0003 left_pitch=-0.0217 left_roll=-0.0007 left_gripper=0.9989 right_x=0.3892 right_y=0.1089 right_z=0.1289 right_yaw=0.0283 right_pitch=-0.0694 right_roll=-0.0384 right_gripper=0.9994\nstate[joint_eff]: [-0.3487, -1.7436, 7.159, 1.8779, -0.0611, -0.022, -0.022, -0.0752, -6.4752, 8.6632, 2.0049, 0.2466, 0.2418, -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]: [-0.0212, 0.807, 0.6132, -0.4084, -0.0139, -0.0334, 0.9989, 0.1814, 1.4456, 0.4519, 0.3149, 0.1513, 0.0551, 0.9994]\nstate[eef_state]: left_x=0.2929 left_y=-0.0002 left_z=0.1748 left_yaw=0.0015 left_pitch=-0.0332 left_roll=-0.0023 left_gripper=0.9989 right_x=0.3598 right_y=0.0426 right_z=0.0478 right_yaw=0.0183 right_pitch=-0.1022 right_roll=-0.0388 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -1.388, 7.0085, 1.8242, -0.0513, -0.0317, -0.0122, 0.1709, -5.0803, 5.8598, 1.9609, 0.0269, -0.0073, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbb16c5ea7479ad62de52e36eacc92faac7350cf90d01d480d036ee326da8085",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25536e31fcdc1dfcc3a89f349d3f3534caae067a60b362d5d79e946e9830daa7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4ae8717b5a39e8152a623cf9be34b2d6bba75a07cb1c7febe83bae0c80a7751",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHI4MV-9r7fmdjpQFJynbTKE2fBF8j4aZmNjbXW2ro4Xn2TNRSD5Hv9xohQBkrDY8ifwqlunsXGZsr9oEKVyOQMy2Bi5PVdFz2ej-VLaJkzA5DsR7MjZzo26s5f1X1vcy-bl-_aAhAQ3mXHr8lLPdarawZK67v_5XJJkDS_jDGTUUD9j8q4Yalhj5n87qnH2dN7bcNuJg3tgVF_xXaqXeyW_-oLK2goXkpUvES98wNhcIRqmJm4PWVSrojiffqOYhn2U1LvcDeR7r6xmeboT1YpPEfwToG7BvvS_mUHNQKoIXop1znFBni8Uurh-kEqW1mmc-gpCaU0u-mVe5_qM8B3g7Ej7I9DcED-no0UDiIXIC5jaifFNlMTtYBMAsuN6q_9SjJ5TsgNthWfsoR5uePNf-T1-Sotwjd3VwMzN0_HuDCP3ns0r_2ppwcFWMLu6BjPMetXvkJggRz1HlnYE6Qb9eHNB1PF--JEDvPar2v8zT-nd-8ZLUn7xHGwHUiBn-tGzAbW7nrroktx8KGq99sD2nf5fIqwTYCCz7COP7HvUOL4kLD7DONTQIHEPpMIqlM4qeClvOiLGA4DKylQ5yy3jwCY6i3cOavnJNXaNwZpmA8X--7gejiQtsPptgcr42QvbBWG2_9W2QISg2ZhWHSlmtw7fgc2toitSMvWZl-iIUvv4Hr_vko3V0tN9XfX_NT54x3hIvDH15wOwOSStPpV6_3C1QSa16fd2ORtvx1wi5ZYSmmMG61TxN1DOaQqOzc_bH3WMLLbHLMnd4ySH-NbuS22ppt3hrkmh93VWE-50NpLtYHhUyIZ8u2tYRER4rwACVfJ12TqQU9VGIz70ge6gJqenJ-vy8y7WJCMSI-FymOYiIFtVisrzWVHDKJGEaQh9oJNknRz355tt9f2IZZLKixs0IKWhtQmqCbWfg9kX3HrJNAOjIPKm5aI7UCmc8-Xx7Q1zjS-_kjRFECWbAp18-Mr-0fr2bp6fZe3z25GdUpuXOGyEJU_25KZoCpspIiLcB9tCbljf3Dc_RYzZI9EnXB3ehHM_GYrUPMoXCA-f8VkiAKYtDb9DSFxHgqPPMkshXHaAEzDR0GKKBPvGeB1gHjpJr5ixTgHDWpSyjuq3nG3GcnqXlSGtbh2_7rH_lpcvOjsQmhUHbdcwPNFgK7z6Qr6ZZ7ICV3WXqK3I--laqSCZXzhTemRBlXzS4Hc1Kxz8oVIHio8R2cmFdifH2i4hfCX6A0x5ruHlQx2FKBjhSeIb4LAY5vnUi57YLd-8_72byUOkhL-rqCLVvIDsrhVh2dgVX_Pkw5Xhuf0jdh6elBz_8xZ_ymvSnyPR8ps07oC9hpvoGUmzoGJOBN1pxjAZyskDi85ZAxXBO6w6H9ZXgUzf2Mgh1uTDko84VmZmMIhFx9PfRADrTz_yEhuzlqvtfa_lmpu4JTiRCiQg_U8IXwKp_pIe07CrP6DMHHQEWDZm-9LPvPu3Ha7TnpUoX-Ceg2qPzM_hhQyrCV1F2U-xNEEZqboCiSHUPThpr-VCq9tx0IiuJp559rvFGvxjyI-de-1sIujTO38ceg8XLqUy1Pw_3nqNVE5Bl_RjYxv-CzKu6pFTKXWm57D2h4o3RMFrd-Uyv5ixlDkIa3o2-YLZ8YCUMwOEOEvIuLnrDjKUSOSJ-pY-YqvhOUTnTJIBSo5eSw==",
  "id": "rs_0f7486bd42e7710a016ab47234f2f487d0b33e2e13c84fe073",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.365,\"right_y\":0.058,\"right_z\":0.025},\"note\":\"The green fruit is now at the bottom of the wrist view, slightly left of the jaw centerline. I will make a small sideways correction and lower to grasp its middle.\"}",
  "call_id": "call_BIQIOz2A400NTkJvwHkXEpQD",
  "id": "fc_0f7486bd42e7710a016ab472370bb087d0b89500f15f33eed9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BIQIOz2A400NTkJvwHkXEpQD",
  "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]: [-0.0212, 0.8085, 0.6132, -0.4171, -0.0139, -0.0334, 0.9989, 0.2451, 1.5845, 0.4454, 0.4221, 0.1825, 0.0711, 0.9994]\nstate[eef_state]: left_x=0.2917 left_y=-0.0001 left_z=0.1726 left_yaw=0.0015 left_pitch=-0.0435 left_roll=-0.0021 left_gripper=0.9989 right_x=0.3605 right_y=0.0608 right_z=0.0185 right_yaw=0.0462 right_pitch=-0.1357 right_roll=-0.0531 right_gripper=0.9994\nstate[joint_eff]: [-0.0068, -1.4291, 7.1316, 1.8193, -0.0269, -0.0366, -0.0122, -0.4034, -6.065, 4.8615, 1.917, 0.1685, 0.1538, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc3e02b890373265d6818c0d2943470452f221ade6672bb7628c6c3e9e79cfc5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a2d81a3f68bb363fca3631d7eb57aebc1905bd3ea85dbfb835b4ebc280cc9a2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:306dda862c7e8bdfb10c2e5042b5caa7df46fab1202e681d4a708c4a581bdb4a",
      "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 4 attempt 0 · /responses · status 200 · 3.744 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, -0.0299, 0.999, -0.0227, 0.8005, 0.6193, -0.387, -0.0162, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=-0.0002 left_z=0.1822 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.999 right_x=0.2961 right_y=-0.0003 right_z=0.1838 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.5812, -1.7846, 9.5658, 1.8242, -0.1245, 0.1392, -0.1148, -0.1709, -1.7983, 9.1282, 1.8632, -0.0659, 0.0757, -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]: [-0.0212, 0.807, 0.6132, -0.4084, -0.0139, -0.0334, 0.9989, 0.1814, 1.4456, 0.4519, 0.3149, 0.1513, 0.0551, 0.9994]\nstate[eef_state]: left_x=0.2929 left_y=-0.0002 left_z=0.1748 left_yaw=0.0015 left_pitch=-0.0332 left_roll=-0.0023 left_gripper=0.9989 right_x=0.3598 right_y=0.0426 right_z=0.0478 right_yaw=0.0183 right_pitch=-0.1022 right_roll=-0.0388 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -1.388, 7.0085, 1.8242, -0.0513, -0.0317, -0.0122, 0.1709, -5.0803, 5.8598, 1.9609, 0.0269, -0.0073, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8085, 0.6132, -0.4171, -0.0139, -0.0334, 0.9989, 0.2451, 1.5845, 0.4454, 0.4221, 0.1825, 0.0711, 0.9994]\nstate[eef_state]: left_x=0.2917 left_y=-0.0001 left_z=0.1726 left_yaw=0.0015 left_pitch=-0.0435 left_roll=-0.0021 left_gripper=0.9989 right_x=0.3605 right_y=0.0608 right_z=0.0185 right_yaw=0.0462 right_pitch=-0.1357 right_roll=-0.0531 right_gripper=0.9994\nstate[joint_eff]: [-0.0068, -1.4291, 7.1316, 1.8193, -0.0269, -0.0366, -0.0122, -0.4034, -6.065, 4.8615, 1.917, 0.1685, 0.1538, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc3e02b890373265d6818c0d2943470452f221ade6672bb7628c6c3e9e79cfc5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a2d81a3f68bb363fca3631d7eb57aebc1905bd3ea85dbfb835b4ebc280cc9a2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:306dda862c7e8bdfb10c2e5042b5caa7df46fab1202e681d4a708c4a581bdb4a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The green fruit is centered between the open jaws at table level. I will close the gripper around it before testing a short lift.\"}",
  "call_id": "call_C0DeAZnLkG6xcXIf36XTz06n",
  "id": "fc_0f7486bd42e7710a016ab4723a45e887d09ca5fc5b37d9a635",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_C0DeAZnLkG6xcXIf36XTz06n",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8085, 0.6132, -0.4236, -0.0139, -0.0338, 0.9989, 0.2451, 1.5845, 0.4454, 0.4236, 0.1822, 0.0669, 0.7296]\nstate[eef_state]: left_x=0.2908 left_y=-0.0001 left_z=0.1713 left_yaw=0.0018 left_pitch=-0.05 left_roll=-0.0023 left_gripper=0.9989 right_x=0.3607 right_y=0.0609 right_z=0.0188 right_yaw=0.0489 right_pitch=-0.1343 right_roll=-0.0558 right_gripper=0.7296\nstate[joint_eff]: [-0.212, -0.9915, 7.2137, 1.7314, -0.0415, -0.0464, -0.0122, -0.0342, -5.6684, 5.1214, 1.58, 0.0073, -0.0024, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94102aaf42c5f691434944d2e8554f88367fb8fb097fa3be2b87931dd86c1543",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be5dfc2e1893a7125dde99b050014a18e208c415dde6453ab7299b9963ecb6de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32a070ca472bf80bd859e56be5ccc6f3767fbdf031809636386b8d2ba0ca6392",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /responses · status 200 · 2.59 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 14 changed as sent

message 17 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8059, 0.6132, -0.3981, -0.0139, -0.0311, 0.9989, 0.4023, 1.4261, 0.7975, -0.0486, 0.321, 0.1844, 0.9994]\nstate[eef_state]: left_x=0.2942 left_y=-0.0002 left_z=0.1772 left_yaw=0.0003 left_pitch=-0.0217 left_roll=-0.0007 left_gripper=0.9989 right_x=0.3892 right_y=0.1089 right_z=0.1289 right_yaw=0.0283 right_pitch=-0.0694 right_roll=-0.0384 right_gripper=0.9994\nstate[joint_eff]: [-0.3487, -1.7436, 7.159, 1.8779, -0.0611, -0.022, -0.022, -0.0752, -6.4752, 8.6632, 2.0049, 0.2466, 0.2418, -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]: [-0.0212, 0.8085, 0.6132, -0.4171, -0.0139, -0.0334, 0.9989, 0.2451, 1.5845, 0.4454, 0.4221, 0.1825, 0.0711, 0.9994]\nstate[eef_state]: left_x=0.2917 left_y=-0.0001 left_z=0.1726 left_yaw=0.0015 left_pitch=-0.0435 left_roll=-0.0021 left_gripper=0.9989 right_x=0.3605 right_y=0.0608 right_z=0.0185 right_yaw=0.0462 right_pitch=-0.1357 right_roll=-0.0531 right_gripper=0.9994\nstate[joint_eff]: [-0.0068, -1.4291, 7.1316, 1.8193, -0.0269, -0.0366, -0.0122, -0.4034, -6.065, 4.8615, 1.917, 0.1685, 0.1538, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8085, 0.6132, -0.4236, -0.0139, -0.0338, 0.9989, 0.2451, 1.5845, 0.4454, 0.4236, 0.1822, 0.0669, 0.7296]\nstate[eef_state]: left_x=0.2908 left_y=-0.0001 left_z=0.1713 left_yaw=0.0018 left_pitch=-0.05 left_roll=-0.0023 left_gripper=0.9989 right_x=0.3607 right_y=0.0609 right_z=0.0188 right_yaw=0.0489 right_pitch=-0.1343 right_roll=-0.0558 right_gripper=0.7296\nstate[joint_eff]: [-0.212, -0.9915, 7.2137, 1.7314, -0.0415, -0.0464, -0.0122, -0.0342, -5.6684, 5.1214, 1.58, 0.0073, -0.0024, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94102aaf42c5f691434944d2e8554f88367fb8fb097fa3be2b87931dd86c1543",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be5dfc2e1893a7125dde99b050014a18e208c415dde6453ab7299b9963ecb6de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32a070ca472bf80bd859e56be5ccc6f3767fbdf031809636386b8d2ba0ca6392",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHI__5isnfBQiggk_t6Be5JIL-Eih0RSKeppzh8mAkTbuIFVsSOno-eKwy7j_c9fTNMJZLxPc75t-3_4XU4PHmzg3x6u1ee16ltHXlVzS7CjtNLsP9V_xZiLoao7apn5TRpVbBN5Ce-zneayhBzGzDolQAqDbeGnVcp4BYyrQz9g0WDJ03FtHUoUQtaMMzyyp0fhP4afxIKyqiH_1PyxaFnuO1wg9AUoFn2zKZjJe40hpAoaJKtOiK9eEWMNWgUW7iLmynC7LmK9pafuGmMhA-MjSX3xa-0mMH0PW7uVAhQjwsxlEWo-nyUnLd066yMg1pswTzB_t4goAZ33rMIePPmrO9lIQV0_kclgwQhnEkG9NnoT2O_GvGLLcjXL_aIMJzfjUVhCaeFfpnc_g942pou4pQCjSG8Mx9ObvrQYNueo6-O1na8SUgW_uiJN5JljAoImpoTvEAYUPK78APHdugYB2o9ylKhCyoUGrJtE31cwL59MaCnmOei-0qhItj_SguAWIYxmhmWk11vA6FAkHupwj95uKeOYB9s80YgmNyxIb8Gd-oLeEHzC2I27bcrzAPAVwg_3uXsC6PA1VBuIL0Ygrn4rdpBWlu8aMrVFWmfxNdqM7cD6CdqfhA3kS6la6Qz2i3VR__dwLIPN7IriDDGTx0ja-D3P-n7lbXB0ep28aS7_Yzfpxp83cvn89oIiYy06vHxG4JrwPfkRSbPbPMvPpapSgecxDPzJTLZLBAvFbXx9RCMj0zaitAJeyNPIfGmc9pRL-tJLpacgPKLaOUdMJ3l6ua5lg2Z0CaKGuHPWnHOKBg5oZT5LHFC1-4WAcFaseFcuK-cc2GhcGeUvOxaRMYUADVp5RO84YI_NA0cX19NasU9jqbE8ag6AqzaTbwqtU5Cpm73R3VnQ43aNd3ufYMcyHiHvqRM1RyinDuf0vvlzeSdTpH0ndEXgFmJImBlSRG9kjYTAkLPh508tMMSgAa_-ltzs8CgCXd7177FF1j2ljUve4Wps2_y3sAImMhbkFI2heBPg9FGbQa0IPqJA7E5qLEVoRPXAJqnk8C6B1rQ5vB6MCurg84Ocs25CBTLZ8dbQgnK4H7JQfU2mDe0nkDh7cDnMmlmh72JDHOO8f_WE7efEW3DNLPqCSCvArfzbvYCBYCRCjYgPsuCuAg2iyxLwfn1DbOW_lz7Gpb5kMmlWXdTF5qx_KB2Sr4NqPALh",
  "id": "rs_0f7486bd42e7710a016ab4723eb1b087d09c6d0fde0dd070c3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.09},\"note\":\"The gripper stopped at about seven centimeters wide, consistent with holding the fruit. I will lift it a few centimeters to verify that it comes off the table.\"}",
  "call_id": "call_wBLkzRaxfSya7nkqw0oInSTj",
  "id": "fc_0f7486bd42e7710a016ab4723ee2cc87d081184b4f25bcc889",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wBLkzRaxfSya7nkqw0oInSTj",
  "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, 0.8085, 0.6132, -0.4244, -0.0139, -0.0338, 0.9989, 0.2451, 1.3552, 0.5739, 0.0383, 0.1783, 0.0666, 0.7296]\nstate[eef_state]: left_x=0.2907 left_y=-0.0001 left_z=0.1711 left_yaw=0.0018 left_pitch=-0.0507 left_roll=-0.0023 left_gripper=0.9989 right_x=0.3555 right_y=0.0603 right_z=0.0751 right_yaw=0.0515 right_pitch=-0.1618 right_roll=-0.059 right_gripper=0.7296\nstate[joint_eff]: [-0.1436, -1.3333, 6.9949, 1.7705, -0.0073, -0.0757, -0.0122, -0.0479, -5.6274, 8.6769, 1.5946, 0.0757, -0.0611, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a2e982efee31931b29aa6b1995d947b10367c16040e5169d80de9ddf61bec10",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a43d483752ddaef6707986c4d1f9530e0638ccd343728f3b2702c738041859fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0127e0e0ddd9d7c67f020673ad01e2a945b291acf4ab26bf81166dc861e712bf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 4.371 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 10 changed as sent

message 17 changed as sent

message 21 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.807, 0.6132, -0.4084, -0.0139, -0.0334, 0.9989, 0.1814, 1.4456, 0.4519, 0.3149, 0.1513, 0.0551, 0.9994]\nstate[eef_state]: left_x=0.2929 left_y=-0.0002 left_z=0.1748 left_yaw=0.0015 left_pitch=-0.0332 left_roll=-0.0023 left_gripper=0.9989 right_x=0.3598 right_y=0.0426 right_z=0.0478 right_yaw=0.0183 right_pitch=-0.1022 right_roll=-0.0388 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -1.388, 7.0085, 1.8242, -0.0513, -0.0317, -0.0122, 0.1709, -5.0803, 5.8598, 1.9609, 0.0269, -0.0073, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8085, 0.6132, -0.4236, -0.0139, -0.0338, 0.9989, 0.2451, 1.5845, 0.4454, 0.4236, 0.1822, 0.0669, 0.7296]\nstate[eef_state]: left_x=0.2908 left_y=-0.0001 left_z=0.1713 left_yaw=0.0018 left_pitch=-0.05 left_roll=-0.0023 left_gripper=0.9989 right_x=0.3607 right_y=0.0609 right_z=0.0188 right_yaw=0.0489 right_pitch=-0.1343 right_roll=-0.0558 right_gripper=0.7296\nstate[joint_eff]: [-0.212, -0.9915, 7.2137, 1.7314, -0.0415, -0.0464, -0.0122, -0.0342, -5.6684, 5.1214, 1.58, 0.0073, -0.0024, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8085, 0.6132, -0.4244, -0.0139, -0.0338, 0.9989, 0.2451, 1.3552, 0.5739, 0.0383, 0.1783, 0.0666, 0.7296]\nstate[eef_state]: left_x=0.2907 left_y=-0.0001 left_z=0.1711 left_yaw=0.0018 left_pitch=-0.0507 left_roll=-0.0023 left_gripper=0.9989 right_x=0.3555 right_y=0.0603 right_z=0.0751 right_yaw=0.0515 right_pitch=-0.1618 right_roll=-0.059 right_gripper=0.7296\nstate[joint_eff]: [-0.1436, -1.3333, 6.9949, 1.7705, -0.0073, -0.0757, -0.0122, -0.0479, -5.6274, 8.6769, 1.5946, 0.0757, -0.0611, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a2e982efee31931b29aa6b1995d947b10367c16040e5169d80de9ddf61bec10",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a43d483752ddaef6707986c4d1f9530e0638ccd343728f3b2702c738041859fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0127e0e0ddd9d7c67f020673ad01e2a945b291acf4ab26bf81166dc861e712bf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHJDOzP6oYbgdI2tdeQZplLj0MNNCDMUqaHkE6ropeCwxM2RkUdH75VolgsSbbgwCTaKROafTgeRx9GvUOy-FQJNk8uw2HURnVVT3du68zHWQPGV1pKSJluyw3eGi5Lx28sIN137xGVHdPHIHWYTq_7eJdvcE7Rn_Yjvk4I1vvcPF7DJXtjKQ4xkE14BMAA1X_m6BSSAnr4eNKORQ5qEgU3usq2FefKZ4prtqH59WGrduOAyJH5xI7WBV5tUsGTmP0Z0fqzMJUUMA4yfpC6LRLPeBDO8tEWlBAGn9UiJPsus_udGQwJVoD-n_v98Pdpt_AI0a_0LTenFmauQEkr0wUe_Rh5tpn8XvbzaBwSr5hBBK01NnRz5vDer6CaVyJstn9qksCJ4_dL52fEkz9uJiB6zSGjBkvOdeUxwRpWvGJOWtDEkAHqWyhfMCtJuHSE3Vy6189RJQHrWC_X9X7gZQ5Av9NDNOHhIiS7-BzE_NVgx1hAvU9gR0w3AmnY7aNRsqcuvHZpf5JNMlKfObq3t0N1P_4yiyMfaOx5-65vm2vy-gHnjjseMeipT1gppdTeq0K6ukqz7L5Aq9M-t-XTB9H_Uhp9zpVnimxMf-MMRK50zGYgCtiTyyt1QFyY_RHywX-qo2ZH1kVg3a6ZkQ8JkjE1eUOpzgHskkcxicboNU82_U-tz3UH8XJGWIVg_U0xrSkfGYcgwEhTX6wf4nefQxQ5HYRlGl6WErvh_pDqJGV1lCgaXBKxitnu3-WYL9GgVGLAtt3aG2Hjt-lIATf5QBBflaLAOOe59qeHCnCzAB5Tz0YVCI5_TljmtX1zp-k6p9NmxhNB7AH_zkH6vo9X-nVBnrhCQCfAdWbH_WMzktt-itHW2szeWR8aY7Us_RZAd0x-9yxXw1n8-GUH7xbrpZjWSjZ4PyLy8j-yI3Y63LqwX0E-Q27bO1bBDO7x2p1hvGusNUoiOYmmaQDU7PJhaSbtlDvIHErZT6WZRAG2xz9vb2REEfUPuz1I85XTt2yr3O4IJzLxi1YPALPYomolX70wMf1qlXeqI6hc4ZfNrzBHz-6o09I-hDHkUl1939Ge3vKo6rODmeCqLvfKcOPAKwnNipb--7u5M4LRrR77W5j5wj7AgiKD3l1ZBplCKQw2NRwpINhU9jhi6JnoMBWkF7ShPenkNEbQ7jPgXZUBphSeSUrjlnNNIfy59rIy5aA0ssZOTZM60lC1gcCw0uuRu4O3GpjnC5PzqPMzCTfvKNmKrojMoJgO-ybZMmtJGuy2xuPfjxf4akfCap6H44b-WE2KU3GA4a2G_MWAwslKbC3jrUku0AIVeA9UlyU-N6WFbCR75tTFsx8YdpTAKIY1N16aXdA==",
  "id": "rs_0f7486bd42e7710a016ab47241e87887d0a0f35053b181f642",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.455,\"right_y\":0.155,\"right_z\":0.19},\"note\":\"The green fruit has lifted with the gripper. I will carry it upward and left over the blue bowl, clearing the rim.\"}",
  "call_id": "call_g2oIeDDSRQFjDVfjwN8ZH1Wt",
  "id": "fc_0f7486bd42e7710a016ab4724274b087d0a694b9b44265fe5f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_g2oIeDDSRQFjDVfjwN8ZH1Wt",
  "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, 0.8131, 0.6132, -0.4274, -0.0139, -0.0334, 0.9989, 0.437, 1.7195, 1.3716, -0.4808, 0.2955, 0.1738, 0.7316]\nstate[eef_state]: left_x=0.2905 left_y=-0.0001 left_z=0.1693 left_yaw=0.0016 left_pitch=-0.0584 left_roll=-0.0018 left_gripper=0.9989 right_x=0.4475 right_y=0.1562 right_z=0.1699 right_yaw=0.082 right_pitch=-0.2175 right_roll=-0.0845 right_gripper=0.7316\nstate[joint_eff]: [-0.1573, -1.7162, 7.0085, 1.707, -0.0464, -0.0317, -0.0122, -0.0342, -9.7299, 9.1966, 1.5995, 0.2711, 0.1099, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e61bb97f00344170a6696d6a74834c78e32f68a4e815159eafbc05c6c58300a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7837072943a64788f8eb6db9b6067a92b2915445ac034fc0e1a346a94791840",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64437e55330ee3e6ea276c4b0923c9c1332214d26196aa0ff9ee75cc223e24cb",
      "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 · 2.27 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 14 changed as sent

message 21 changed as sent

message 25 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8085, 0.6132, -0.4171, -0.0139, -0.0334, 0.9989, 0.2451, 1.5845, 0.4454, 0.4221, 0.1825, 0.0711, 0.9994]\nstate[eef_state]: left_x=0.2917 left_y=-0.0001 left_z=0.1726 left_yaw=0.0015 left_pitch=-0.0435 left_roll=-0.0021 left_gripper=0.9989 right_x=0.3605 right_y=0.0608 right_z=0.0185 right_yaw=0.0462 right_pitch=-0.1357 right_roll=-0.0531 right_gripper=0.9994\nstate[joint_eff]: [-0.0068, -1.4291, 7.1316, 1.8193, -0.0269, -0.0366, -0.0122, -0.4034, -6.065, 4.8615, 1.917, 0.1685, 0.1538, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8085, 0.6132, -0.4244, -0.0139, -0.0338, 0.9989, 0.2451, 1.3552, 0.5739, 0.0383, 0.1783, 0.0666, 0.7296]\nstate[eef_state]: left_x=0.2907 left_y=-0.0001 left_z=0.1711 left_yaw=0.0018 left_pitch=-0.0507 left_roll=-0.0023 left_gripper=0.9989 right_x=0.3555 right_y=0.0603 right_z=0.0751 right_yaw=0.0515 right_pitch=-0.1618 right_roll=-0.059 right_gripper=0.7296\nstate[joint_eff]: [-0.1436, -1.3333, 6.9949, 1.7705, -0.0073, -0.0757, -0.0122, -0.0479, -5.6274, 8.6769, 1.5946, 0.0757, -0.0611, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8131, 0.6132, -0.4274, -0.0139, -0.0334, 0.9989, 0.437, 1.7195, 1.3716, -0.4808, 0.2955, 0.1738, 0.7316]\nstate[eef_state]: left_x=0.2905 left_y=-0.0001 left_z=0.1693 left_yaw=0.0016 left_pitch=-0.0584 left_roll=-0.0018 left_gripper=0.9989 right_x=0.4475 right_y=0.1562 right_z=0.1699 right_yaw=0.082 right_pitch=-0.2175 right_roll=-0.0845 right_gripper=0.7316\nstate[joint_eff]: [-0.1573, -1.7162, 7.0085, 1.707, -0.0464, -0.0317, -0.0122, -0.0342, -9.7299, 9.1966, 1.5995, 0.2711, 0.1099, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e61bb97f00344170a6696d6a74834c78e32f68a4e815159eafbc05c6c58300a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7837072943a64788f8eb6db9b6067a92b2915445ac034fc0e1a346a94791840",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64437e55330ee3e6ea276c4b0923c9c1332214d26196aa0ff9ee75cc223e24cb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHJJggwEspa166LzLfWQ-1_Wc3XxDgl4kEJD0jsfTGLgwIkaGS4APRPUPYht1BdSwyvZMg8dGO8fhHSjgIGIpogEOXQ1cMcasgsiCVoq4xKmo_HODFelK0FIy1Tpuiko4ZKXFFr02PUZkVhTLo1D0N-NutyBV8aIzCSTrQJcFO-Rj-1WnGqAJwm5jqoyRHGUoqXaR2P13AKiSRAzx64guFRsNB80A9ZaeA1NKIyNeaRcq3BNT6pJiXslUjnTbtXqgJUe7kV4Yh7Qd3N_ZWSWbYRISmCzs1OU8809h8buWRp2kgczgHDU20pxoE1t_MnY8xH6dJ96m9pqKvyUYiBpBi2Zp5p9Osu7m0mYDiy3obeJv0KU2WZC8RWdtC_G3k2WqORJnUYTsa3Kke2O0cmOEZ-L2WGVIHcNyIcZp_CFOBX9-KJ9qH2adgMJZuVX1S922x5Ce3Xp07vwwygUCYtAMdTxENwrdP4FSv-BRgsSk3X4aPk23JvSAJYxA0tdGeNV3Cg30KS9R2mibTkXquz-lefQ2Yg6IAOHCaGBYVW_83kVdsjemRzj-WE-IrhM0NQq3l1mLnBXwFW4GQhKU64ob6VbN3PWBf9l_mgW-JsRqKoJbox7zzWjPeZ972vR9PXic3OVDdKlpLVI3MTJEZssRzLwQOsSqEG9UlA3kvajl3DSTHObvqMQlIaJJaS8AGIEMzpIIiUyO1b_Fa5ToHI1yDfUMlR9cHenaTTR__eJs9tRr-20NCZOuUdmFBh6ixRvcr3yo_dKhhulvuk4gexx-V3bZdez72MJcGABC_laG6g8KHLLemWALMQ6TA1DESuXryj7zvoJmTn88KdqK39_eKPnsN6Eix83yhrlUbHIRLQn3Ms5tw9IhuLKqYRaL4yXtjS2gQy4SRHrjLv4r4d28E_wwRZS6Z-wiQ84V0bQdUFtyBFilJK75Ph8eauEUDUELUIXlWA_Y1-FZyd2_nKCs2we5NpKDun8vE2oF0hyk-q6L8qPOpXZ3ggoOcko3ohEAHwyN3Ls6MGDasWl5yjJw7bjxCZ9CCi3GzFpsVLGoeyyck92g4coiQgOSCM1G7ps8oMr-upHQS6huCyppFFaJIfeHRDCp_SuoxtIrbbi5DrvVnHJKjhZGbeoQIwIHS7kFx35m5sXbJKyoBVk65wYU9A9jn4fvxkWT2V0xKDLyAUFT_sV4kZVfMx_ty_eYDvRZp7bRvpxe1yd2Pd9oqUBJ79wNSjqqKo8VZMgm7cO2Wi0SXcYVeZvMAxxCC3gXswVRkAh91aNB_du26JcziwcH-3io3utO06amajC5bbCWNmxu65l9f5t3H01LqKDKz8EvRdoDS4cEcmLDCVT5GEZNsIpnBS6U3_SeTFRyZoTkLM6KWQ_Veq2HOlOFPyxwXJEUKni7_xlbL9ZY1vSxoGocMqE895ugObprqExQ7_xfsouQ0WViq4miLOUJVCJBHEIjMKUkD2_1WlK1adXiQbCxvdNGbUGpBczDR0sQ1x1-p5D0AcMHp1CMaastS8Ra4mb7JqNdTNtD_Ac6KuYz5zv6YsbxI4MArq3VENCwKLN2_Dw987bY1oNzjqWdV8uFioxfo0WIUoW5awzT-w14Qmthcqw-_SCOUm-zcP3dGqhN9vf4NTPNls_gX4RP-zn_tQLFdGQcC66fE0RKI-MTg7NAJlDJgbp64IaR_mr2zg3js7OyZNJJz6K7LlL6MYkLudzSH5-iqkWM9A7kXzYiz7QOIW5TA==",
  "id": "rs_0f7486bd42e7710a016ab47246169887d0a8793c23a627c298",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.105,\"right_y\":0.168},\"note\":\"The blue bowl is directly beneath the carried fruit, with a small lateral offset. I will center the fruit and lower it close to the bowl before releasing.\"}",
  "call_id": "call_gHT7tzAtanmN1XTgwuUewtNy",
  "id": "fc_0f7486bd42e7710a016ab47248615487d08726b8097372bce8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gHT7tzAtanmN1XTgwuUewtNy",
  "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, 0.8135, 0.6132, -0.4313, -0.0135, -0.0338, 0.9989, 0.4629, 1.7992, 1.1992, -0.2802, 0.2989, 0.1764, 0.7323]\nstate[eef_state]: left_x=0.29 left_y=-0.0002 left_z=0.1684 left_yaw=0.0015 left_pitch=-0.0626 left_roll=-0.0022 left_gripper=0.9989 right_x=0.4404 right_y=0.1657 right_z=0.0963 right_yaw=0.0992 right_pitch=-0.2647 right_roll=-0.1038 right_gripper=0.7323\nstate[joint_eff]: [-0.0752, -1.3607, 7.0085, 1.6923, -0.022, -0.0562, -0.0122, 0.0752, -9.4974, 6.7897, 1.7851, 0.2222, 0.1538, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64536aae1f8c7383840a3d5aa84d7b521ef5f190a06143c2c9778b102a27b033",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a562de1a806e35cb24c8ebf634bef119e9652a3baf98099e93d17bcd8f5ebdff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:858b45dc4cbe49b1509168ebde04c8d053bb554a516e0f26d876ee1e136fcd28",
      "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 · 3.821 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 17 changed as sent

message 25 changed as sent

message 29 changed as sent

message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8085, 0.6132, -0.4236, -0.0139, -0.0338, 0.9989, 0.2451, 1.5845, 0.4454, 0.4236, 0.1822, 0.0669, 0.7296]\nstate[eef_state]: left_x=0.2908 left_y=-0.0001 left_z=0.1713 left_yaw=0.0018 left_pitch=-0.05 left_roll=-0.0023 left_gripper=0.9989 right_x=0.3607 right_y=0.0609 right_z=0.0188 right_yaw=0.0489 right_pitch=-0.1343 right_roll=-0.0558 right_gripper=0.7296\nstate[joint_eff]: [-0.212, -0.9915, 7.2137, 1.7314, -0.0415, -0.0464, -0.0122, -0.0342, -5.6684, 5.1214, 1.58, 0.0073, -0.0024, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8131, 0.6132, -0.4274, -0.0139, -0.0334, 0.9989, 0.437, 1.7195, 1.3716, -0.4808, 0.2955, 0.1738, 0.7316]\nstate[eef_state]: left_x=0.2905 left_y=-0.0001 left_z=0.1693 left_yaw=0.0016 left_pitch=-0.0584 left_roll=-0.0018 left_gripper=0.9989 right_x=0.4475 right_y=0.1562 right_z=0.1699 right_yaw=0.082 right_pitch=-0.2175 right_roll=-0.0845 right_gripper=0.7316\nstate[joint_eff]: [-0.1573, -1.7162, 7.0085, 1.707, -0.0464, -0.0317, -0.0122, -0.0342, -9.7299, 9.1966, 1.5995, 0.2711, 0.1099, 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 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8135, 0.6132, -0.4313, -0.0135, -0.0338, 0.9989, 0.4629, 1.7992, 1.1992, -0.2802, 0.2989, 0.1764, 0.7323]\nstate[eef_state]: left_x=0.29 left_y=-0.0002 left_z=0.1684 left_yaw=0.0015 left_pitch=-0.0626 left_roll=-0.0022 left_gripper=0.9989 right_x=0.4404 right_y=0.1657 right_z=0.0963 right_yaw=0.0992 right_pitch=-0.2647 right_roll=-0.1038 right_gripper=0.7323\nstate[joint_eff]: [-0.0752, -1.3607, 7.0085, 1.6923, -0.022, -0.0562, -0.0122, 0.0752, -9.4974, 6.7897, 1.7851, 0.2222, 0.1538, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64536aae1f8c7383840a3d5aa84d7b521ef5f190a06143c2c9778b102a27b033",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a562de1a806e35cb24c8ebf634bef119e9652a3baf98099e93d17bcd8f5ebdff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:858b45dc4cbe49b1509168ebde04c8d053bb554a516e0f26d876ee1e136fcd28",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The green fruit is positioned within the blue bowl's rim. I will open the jaws to leave it in the bowl.\"}",
  "call_id": "call_YeqgfFP8wdy4nP7LgSnY4JG1",
  "id": "fc_0f7486bd42e7710a016ab4724fe43c87d090e1fc5c38bf3caf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YeqgfFP8wdy4nP7LgSnY4JG1",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8135, 0.6132, -0.4316, -0.0139, -0.0338, 0.9989, 0.4629, 1.7992, 1.1992, -0.2832, 0.2951, 0.173, 0.996]\nstate[eef_state]: left_x=0.2899 left_y=-0.0001 left_z=0.1683 left_yaw=0.0018 left_pitch=-0.0629 left_roll=-0.002 left_gripper=0.9989 right_x=0.4398 right_y=0.1661 right_z=0.0957 right_yaw=0.104 right_pitch=-0.2688 right_roll=-0.1044 right_gripper=0.996\nstate[joint_eff]: [-0.1983, -1.2786, 6.9949, 1.6972, -0.0708, -0.0269, -0.0122, -0.0479, -9.2786, 6.5162, 1.4237, 0.1001, -0.0415, -0.2027]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ec1d3999127a954e2a616a098f0f5592e8a26772b3d366156ead749ff42ef78",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:931af7926ef9ab92c1c43f084bda86495a11eb657d6fcfbceae22e48677566e5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:747c37fefc39938504a8163efcd19f0aeffb460512d49cdadcad9255b50f11b6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 5.406 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 21 changed as sent

message 29 changed as sent

message 32 changed as sent

message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8085, 0.6132, -0.4244, -0.0139, -0.0338, 0.9989, 0.2451, 1.3552, 0.5739, 0.0383, 0.1783, 0.0666, 0.7296]\nstate[eef_state]: left_x=0.2907 left_y=-0.0001 left_z=0.1711 left_yaw=0.0018 left_pitch=-0.0507 left_roll=-0.0023 left_gripper=0.9989 right_x=0.3555 right_y=0.0603 right_z=0.0751 right_yaw=0.0515 right_pitch=-0.1618 right_roll=-0.059 right_gripper=0.7296\nstate[joint_eff]: [-0.1436, -1.3333, 6.9949, 1.7705, -0.0073, -0.0757, -0.0122, -0.0479, -5.6274, 8.6769, 1.5946, 0.0757, -0.0611, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8135, 0.6132, -0.4313, -0.0135, -0.0338, 0.9989, 0.4629, 1.7992, 1.1992, -0.2802, 0.2989, 0.1764, 0.7323]\nstate[eef_state]: left_x=0.29 left_y=-0.0002 left_z=0.1684 left_yaw=0.0015 left_pitch=-0.0626 left_roll=-0.0022 left_gripper=0.9989 right_x=0.4404 right_y=0.1657 right_z=0.0963 right_yaw=0.0992 right_pitch=-0.2647 right_roll=-0.1038 right_gripper=0.7323\nstate[joint_eff]: [-0.0752, -1.3607, 7.0085, 1.6923, -0.022, -0.0562, -0.0122, 0.0752, -9.4974, 6.7897, 1.7851, 0.2222, 0.1538, 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 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8135, 0.6132, -0.4316, -0.0139, -0.0338, 0.9989, 0.4629, 1.7992, 1.1992, -0.2832, 0.2951, 0.173, 0.996]\nstate[eef_state]: left_x=0.2899 left_y=-0.0001 left_z=0.1683 left_yaw=0.0018 left_pitch=-0.0629 left_roll=-0.002 left_gripper=0.9989 right_x=0.4398 right_y=0.1661 right_z=0.0957 right_yaw=0.104 right_pitch=-0.2688 right_roll=-0.1044 right_gripper=0.996\nstate[joint_eff]: [-0.1983, -1.2786, 6.9949, 1.6972, -0.0708, -0.0269, -0.0122, -0.0479, -9.2786, 6.5162, 1.4237, 0.1001, -0.0415, -0.2027]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ec1d3999127a954e2a616a098f0f5592e8a26772b3d366156ead749ff42ef78",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:931af7926ef9ab92c1c43f084bda86495a11eb657d6fcfbceae22e48677566e5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:747c37fefc39938504a8163efcd19f0aeffb460512d49cdadcad9255b50f11b6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHJU_m7slj45EeZWsCxBb2FfDdbEPxNv2W_vUSl1GPVXNS9TuIi2FPUweX8etnCGhPT2cWQ0Hb3DE0I6FKwv8C_RU4ngSpjREUNjrCxkkiAenZ1aQRCKqg4kCpyrAbwbeMcRdvABCajzC1uB0y2S9cZV2Nec6tT3534yZ4NzGIL1JdVwLCVzM73mRK8qF6DK4rCrGA9qkgs1D81TTvI6Bw8opYdGDw-qiWci0UTag1ySYj_87lsJmXV7kQk7l6c-MMiCqznYhkYpA8FxbMJLLWzElEJy0uedzLWHFrVK8NiHzZVoV1PyG2Iio_cQ7Dm9kddWrHeeOQSGOx6xy-P6QBllCasD_WWxop11IZGin7TNM9i2YCR4RYJxLRXH8XRWngXq0QLsOcld5smnCRX89q9EQOb187yTkb7Yz3Ckp6Ofj5UOqY_5vTf_4aEjLdj5qkVb02DlvfiYD_GXm9yb-f2mzwGrgAqwOGQ6xSKAWMwA3Wx6Rpjmh8Pi079loi37pFdVH2Ddx2rTT1CIkMxbmhYuE6j_dPH4SrD34m_IMNPG72YQ7cak24lA8Us-EB35O5FP-djq6chIqXBozgZPTENp-Fv8hfLrR2R7wHtyBbcllNFqwqJBbK_ngwbPFxIw_Mh7-AQRq3g7G6wrahqkwbh6fDz8Z145JedHht7xUefG3M57R-5A_hTk_q92NhmOLFY6cZBNZU1nJkir5S0NY9MQGpXGM3bt-p5YTak4Z3mM972bpX6rMd1yHMjhdCvdjtEQJxkppqhTchnC-XK--g9gtqAfvMwM-ZYd7nqiR-JNgx2VTd9zWdMpp2FJMI3Zur8vw0-KuX1nTbJMrNXbNac_DzaJxAIQBNC5UFwi593lNdLXFMJHJBt0-TGjlnsKbHzBr4pouFPhkf3Rnk5bxLq42dCwRSkDPwQ08f3P5sXDHjM2CUfwPet2b3vF2Cx-aJ26W2biGx8jVX_Oo03dBZmNcjuoLoyCj-_MLKQALCH70GXwdPo8eZ0KijzR90ezSO0DF2Wy5SdtoBImb61a-4hWFQQXfceBVZM4Bc1Gb1nHk5DJ4cPO9XKPV-DeBqTYoqqG_St5B8bK90Xdfk858m1xsAXwiVgNDjDOFiBAB4AhmwxNgEhtQ8cVRBPwQqBkB4B2gUw9NyTq3oWsAO_GQARDI14UvT81kNdNb4FCvq2uSa38JhgONYDu5vGGeFbtgIpzUQdmpeHTTT5rdaBJEGC8b47Xk4gI2yOKnHThrGetu1TXJ-A9msLUhHy6lrAf3RBUK6_DmILMYXyKQySjJXGaBA_kHkemAlMyCMALyhNlJfLY0lTUlnEELXUT1xVpOfMCUcZFCegpTFaOdLQs9drhlPqW2hdDIC26iy14o-VwmeyqiIsdaEd4SGwwXdxQoX8eA3RjZIiF4ghGYWVdIr2iubDZ4m2Br7WrHCJTgz0xouo-jl-_0RcAvXJ7cIylS5r4SRVosqLzesw3mPXb_ascRXJLQcLEv0Qs0cmVipCkBsg=",
  "id": "rs_0f7486bd42e7710a016ab47252926c87d0b7e7a138a66b5778",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.205,\"right_z\":0.14,\"left_x\":0.296,\"left_y\":0,\"left_z\":0.182},\"note\":\"The green fruit is resting in the blue bowl. I will move back toward the yellow fruit and keep the idle left arm at its parked height.\"}",
  "call_id": "call_arsmKtr6lpYCQO4Y0GHm5Juc",
  "id": "fc_0f7486bd42e7710a016ab4725399ac87d08fd94f65057c8f93",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_arsmKtr6lpYCQO4Y0GHm5Juc",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0208, 0.8471, 0.6437, -0.4759, -0.0139, -0.0341, 0.9989, 0.6903, 1.6283, 1.1664, -0.5213, 0.4152, 0.342, 0.997]\nstate[eef_state]: left_x=0.2894 left_y=0.0 left_z=0.1643 left_yaw=0.0025 left_pitch=-0.1102 left_roll=-0.0012 left_gripper=0.9989 right_x=0.359 right_y=0.2087 right_z=0.1274 right_yaw=0.1267 right_pitch=-0.3044 right_roll=-0.1252 right_gripper=0.997\nstate[joint_eff]: [0.0479, -1.5111, 9.8803, 1.7802, -0.0708, -0.0317, -0.0122, -0.1709, -10.2632, 6.3521, 1.2723, 0.3541, 0.1734, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09477aafe8a02a2b1384e956db714acf999d6644c8f72f74ea967ee7a2368848",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a1e2bdbdc48f8fe31547017ce70f8f693a1476be68ab59f54be064d14cd19df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5107491fc99b14d3c144a10010dc8bf6ff90a2dec3b8b9f4017da0f6cc55ffb0",
      "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 · 2.66 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 25 changed as sent

message 32 changed as sent

message 36 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8131, 0.6132, -0.4274, -0.0139, -0.0334, 0.9989, 0.437, 1.7195, 1.3716, -0.4808, 0.2955, 0.1738, 0.7316]\nstate[eef_state]: left_x=0.2905 left_y=-0.0001 left_z=0.1693 left_yaw=0.0016 left_pitch=-0.0584 left_roll=-0.0018 left_gripper=0.9989 right_x=0.4475 right_y=0.1562 right_z=0.1699 right_yaw=0.082 right_pitch=-0.2175 right_roll=-0.0845 right_gripper=0.7316\nstate[joint_eff]: [-0.1573, -1.7162, 7.0085, 1.707, -0.0464, -0.0317, -0.0122, -0.0342, -9.7299, 9.1966, 1.5995, 0.2711, 0.1099, 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 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8135, 0.6132, -0.4316, -0.0139, -0.0338, 0.9989, 0.4629, 1.7992, 1.1992, -0.2832, 0.2951, 0.173, 0.996]\nstate[eef_state]: left_x=0.2899 left_y=-0.0001 left_z=0.1683 left_yaw=0.0018 left_pitch=-0.0629 left_roll=-0.002 left_gripper=0.9989 right_x=0.4398 right_y=0.1661 right_z=0.0957 right_yaw=0.104 right_pitch=-0.2688 right_roll=-0.1044 right_gripper=0.996\nstate[joint_eff]: [-0.1983, -1.2786, 6.9949, 1.6972, -0.0708, -0.0269, -0.0122, -0.0479, -9.2786, 6.5162, 1.4237, 0.1001, -0.0415, -0.2027]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0208, 0.8471, 0.6437, -0.4759, -0.0139, -0.0341, 0.9989, 0.6903, 1.6283, 1.1664, -0.5213, 0.4152, 0.342, 0.997]\nstate[eef_state]: left_x=0.2894 left_y=0.0 left_z=0.1643 left_yaw=0.0025 left_pitch=-0.1102 left_roll=-0.0012 left_gripper=0.9989 right_x=0.359 right_y=0.2087 right_z=0.1274 right_yaw=0.1267 right_pitch=-0.3044 right_roll=-0.1252 right_gripper=0.997\nstate[joint_eff]: [0.0479, -1.5111, 9.8803, 1.7802, -0.0708, -0.0317, -0.0122, -0.1709, -10.2632, 6.3521, 1.2723, 0.3541, 0.1734, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09477aafe8a02a2b1384e956db714acf999d6644c8f72f74ea967ee7a2368848",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a1e2bdbdc48f8fe31547017ce70f8f693a1476be68ab59f54be064d14cd19df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5107491fc99b14d3c144a10010dc8bf6ff90a2dec3b8b9f4017da0f6cc55ffb0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHJfQNZYMAayDAI3To5XoBvfRTsQqm-EmHgnOZPM2tLaV6_RxUv5imG5Ich6jeOFaheoRjAr5CyP9M43Vl_SBFG8JvKZhl7ZZ5CfUW3e0lqGiXgjNAoPaZbIkX89DakeekJd153vXnm2a_h4EZnEYeJWESc08ZFSZrZ1Cs4vYLU0zOMrojM80YXyrXct8GGa-0VzuZm9d5Tl-5fQ2MK9Yoz97kIID0w_fLTbGJjqAsf6GaiYXIv_7hqCXlUGwhnamLgjGHQ30Z6BpcjUqgGTywZn_Tg9biCyq98HtwrTFlz1Kxpz2S7lwooQOJjhA36vnH_Uupf8SccPbradFErsrQWGAt_gubOrQbYrssoYSXjIK_7BJWRubZvXhxwIvo4H2sB0kqwjFDaGjXms4P8ZeHz2Zfmq8exdgiadBBSc3jVPYFoqr5soq7yjVznKnDLs2HFFQRArJ-n-HSv3dCcPNtzkkF5IBJWt9sLYZz9NItSxAkv5h-lA-ZWIwFS4I5GeOU3FCmN2DAReIXDcQFAf5NO9lz4CBzpMXu6AEyzHcJTx-zQofnGgkR7QxfRFjNqaPb2pG97omsEJ2cQaXZt6Me2fYHZGmBmv4eTDKbYwyja6kuSxRJb_rNlbLwZdHaGXWvcqLyNGcLLQRmC66jvoSHlvWpHbJksJuvjS1v3tzfe9jOt3j8PIkT-ZY_E_YJcpvdwjiLXbHV3eDWNg33rw4ILLug0H3W7mVQt9vVWQdfVs9eRJ0n3vw_BEqF-2d_MasbFijQHtOait-bP-rmkTY4AlPAfAbCj_8hHtFLSSx_V1aVDQM1-Hcy9kJKVbMdfR_cd6aftiPetoGCtXnCtb-d3S8sZZ3-UgVdBEYtmLVawhDiEUg6BSLTRQW3KDdfX0ZmnKZ9H_GGlV7G7FtQWl631BLznHg1AvXpn8CNLC_X18QydwCgEJ0MA91m2ZfhfWaKxEtDfAmtliI7vjZCjm-wCB1fdt58MxmJm4wz0bjdZrnflHuwKNrBCwJ7jEOmgCJ7XkdWgKShkRM1qEVQvOEfL5xYC7hBPFPBw4xyuRAQTCkyfZ8D_8OI2XjsOU27STFBz844JB9rkfNjfU_pxxWizUvcxjSzEVBy8Iq1o7q3uhsnjrsbbEDtRYq7TtcF-l9DS0d8sgf03XGXJdjGNLA6SMAgCl2Ug_gKIjWquF_KoPBUlj9kXzXZFYYO95qipXBb7HshkIn_QRuI2nJ_S6V3z4BgzuDsvX5OYk7dz1iZ8Kl1qg6qpGIFG4lbRWylg16YXwD4OUeREZpW6zqxyV3Z7lvg1eBv8qXFs46XWmtDmHuBLOD_HX0ZlLpffG_nLcXFoLy21NNN93m3EL1elgJHRteIj9sVL_nYEpcjhu260qnyJmieg-sszOgE8g11aEMqJyC3dsyfOqaRWtT2DVAH9snpkkoyQa4a2rATnedxRYlD_QAw0gD2yHmQQ27JkzP1bjaz7wtVeE167WUpt3my5DtnCKSJXQIhgyX0n8UM0-wdbFtJWgj0cBrkOej6U3Zx7j8oKVUhrVAlTEVjbLTp4quw==",
  "id": "rs_0f7486bd42e7710a016ab4725d3ce087d083731abfad5feebd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.244,\"right_z\":0.03,\"right_pitch\":0.2},\"note\":\"The yellow fruit is visible just left of the jaws, and the green fruit remains in the bowl. I will align over the yellow fruit and descend for a side grasp.\"}",
  "call_id": "call_CzI5SMv38Y2uj3TUw2rLZBes",
  "id": "fc_0f7486bd42e7710a016ab4725e832087d08bf658d698a3070b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CzI5SMv38Y2uj3TUw2rLZBes",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8474, 0.6415, -0.4877, -0.0135, -0.0338, 0.9989, 0.8845, 1.9572, 0.6491, 0.7189, 0.7448, 0.244, 0.9971]\nstate[eef_state]: left_x=0.2872 left_y=-0.0001 left_z=0.1609 left_yaw=0.0016 left_pitch=-0.1247 left_roll=-0.0008 left_gripper=0.9989 right_x=0.348 right_y=0.2416 right_z=0.0246 right_yaw=0.1404 right_pitch=0.14 right_roll=-0.1527 right_gripper=0.9971\nstate[joint_eff]: [0.0068, -1.2786, 7.1453, 1.7509, -0.022, -0.0122, -0.0122, 0.5812, -7.4462, 3.2205, 1.6435, 0.2955, -0.0317, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83ccbe9ad92317d9d271979fe7ca6f21576a1dec560ece3febeb19d8ff45929d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbfe97bed4a66bca60a32bb84810d9f1fda0523da7152a7780782939133bf21d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c2e796a78edb7971f66090ed2d13af62384de9368f36cdb82d4d029d442dffd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 11 attempt 0 · /responses · status 200 · 2.032 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 29 changed as sent

message 36 changed as sent

message 40 changed as sent

message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8135, 0.6132, -0.4313, -0.0135, -0.0338, 0.9989, 0.4629, 1.7992, 1.1992, -0.2802, 0.2989, 0.1764, 0.7323]\nstate[eef_state]: left_x=0.29 left_y=-0.0002 left_z=0.1684 left_yaw=0.0015 left_pitch=-0.0626 left_roll=-0.0022 left_gripper=0.9989 right_x=0.4404 right_y=0.1657 right_z=0.0963 right_yaw=0.0992 right_pitch=-0.2647 right_roll=-0.1038 right_gripper=0.7323\nstate[joint_eff]: [-0.0752, -1.3607, 7.0085, 1.6923, -0.022, -0.0562, -0.0122, 0.0752, -9.4974, 6.7897, 1.7851, 0.2222, 0.1538, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0208, 0.8471, 0.6437, -0.4759, -0.0139, -0.0341, 0.9989, 0.6903, 1.6283, 1.1664, -0.5213, 0.4152, 0.342, 0.997]\nstate[eef_state]: left_x=0.2894 left_y=0.0 left_z=0.1643 left_yaw=0.0025 left_pitch=-0.1102 left_roll=-0.0012 left_gripper=0.9989 right_x=0.359 right_y=0.2087 right_z=0.1274 right_yaw=0.1267 right_pitch=-0.3044 right_roll=-0.1252 right_gripper=0.997\nstate[joint_eff]: [0.0479, -1.5111, 9.8803, 1.7802, -0.0708, -0.0317, -0.0122, -0.1709, -10.2632, 6.3521, 1.2723, 0.3541, 0.1734, 0.0952]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8474, 0.6415, -0.4877, -0.0135, -0.0338, 0.9989, 0.8845, 1.9572, 0.6491, 0.7189, 0.7448, 0.244, 0.9971]\nstate[eef_state]: left_x=0.2872 left_y=-0.0001 left_z=0.1609 left_yaw=0.0016 left_pitch=-0.1247 left_roll=-0.0008 left_gripper=0.9989 right_x=0.348 right_y=0.2416 right_z=0.0246 right_yaw=0.1404 right_pitch=0.14 right_roll=-0.1527 right_gripper=0.9971\nstate[joint_eff]: [0.0068, -1.2786, 7.1453, 1.7509, -0.022, -0.0122, -0.0122, 0.5812, -7.4462, 3.2205, 1.6435, 0.2955, -0.0317, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83ccbe9ad92317d9d271979fe7ca6f21576a1dec560ece3febeb19d8ff45929d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbfe97bed4a66bca60a32bb84810d9f1fda0523da7152a7780782939133bf21d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c2e796a78edb7971f66090ed2d13af62384de9368f36cdb82d4d029d442dffd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHJlO9EheiphTQ2ak-mfu6e3W3olBn3q96HRSJFSs9h3QKJt6QPWn53TrIJZUmCmU-oXCeWxVrz4vKl9Dt2dwduWmW4eyGMLebqjxhIw_UAerebb-TTiITMl1uF99XGy5twcQRJrKPtQSucPMah4LD20KLvBHOAn3hFidA7xl79Uan0XXmb7ssh1Y7AsMvyo5NQg2NE6GY01TqFh7xy9K9oj04zK90k6UMkJIcOAq-7zk_lmvlp1DqX59IXKlNSnoBY1HcrbuyWSmSye_nIuy3ZideLErYJMlZETtjJb5veDr23KMVRRQ-Z-m8R2kNqdzhGdcf9PJCWbEJtlVyQHL9lzJskAqaPkgRawCe7esIObRrx5rzG9OI2iUhKe8Rrvw_G3yHRIMO3CK3c6Q8a9FYqw6zLhHVHfn9ZJi2iNGx-0wMY0PJ0JJDrJrEi1cB-NiesQkagturhVwl2Ygf_Up73Cgat4PkT7BiDY1IWFnO6hrvwtmkLDYCr5buJb0w2NDSRJD_w2UfgH2m0FM4_8N_p4NN71u8XXu16-VbzLZnBTDyczTk0f0VrDwprWJ1q69x5-et6T8mWZBxEYHVN9_helE7o2GxNhDrXoQvXoz_s4UnceVVtAO7mvqrTCun3qjZVAW0LHi3PZwFzbFh569gpGbJp8SrclxdTKCG9kEDAXeHk26IhsLnR2CRoUGLQvq7Qj7R6LypGwj1OJQ-OghkU_xdmH_3W_T6FIHUEQsJ-GpRKjoIv2nKIpXc6eyesKrzWDKlr_eoEJ_m3A576TjofWT901lf9lRuIlkCvvi4boO_VJA8u315KBGlXHWVeF5qavu1DPrq8VMfDA4H8rbtGvbLD9Q5wnb9g_g6LduAMf8WbLB4r1XhiY44-PTWSiA4NNFwQ4q0dQ9ohvxXRXVuscvOXvatJv8yizjSMz6rwi9ogsWLtT69H0SJ2YmdgKkGNqPGOlk5HL5k89683FSf981aDeWUfVWYOGHoEjl6BcEkkhBAgjRbWTiFdflocCAlVnqZzXdPsrqdLbXuw0Q8Q6Lx3vvb0DZVBLjY35EGJQhv8D1rEPOFVvbwwlNI5aFQQuDkIBP1W8VSXdcGv4qcpgFfZqDWRn-7j5qZkKKi7tKsOyvXrp4Vqbqs4C_e__73TaXHItqF1hWNl9S2mdrnEAX7fseDiFkpJU5Ggy-v4lmf4qsiJZDKPzzcJigC9YpoBj8-4PCCEiG3rg_bqFuS6lTvscwQEoDtwyBz3AI5cwdsE=",
  "id": "rs_0f7486bd42e7710a016ab472643bdc87d0ad599897fd387ec8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The yellow fruit is now at the fingertip centerline, low in the wrist view. I will close the gripper to secure it.\"}",
  "call_id": "call_YcDuJf6kR4lby20T3e2qLDHZ",
  "id": "fc_0f7486bd42e7710a016ab47264898087d0a35bb34488096ca5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YcDuJf6kR4lby20T3e2qLDHZ",
  "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, 0.8474, 0.6415, -0.4915, -0.0139, -0.0338, 0.9989, 0.8864, 1.9728, 0.6418, 0.733, 0.7467, 0.2279, 0.5121]\nstate[eef_state]: left_x=0.2866 left_y=-0.0 left_z=0.1602 left_yaw=0.0019 left_pitch=-0.1285 left_roll=-0.0005 left_gripper=0.9989 right_x=0.3462 right_y=0.2402 right_z=0.0189 right_yaw=0.1502 right_pitch=0.1328 right_roll=-0.1742 right_gripper=0.5121\nstate[joint_eff]: [-0.1026, -1.388, 6.9949, 1.6874, -0.0269, -0.0464, -0.0122, -0.2667, -9.3744, 4.7521, 1.4188, 0.1343, 0.1343, 0.9402]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1313faa39a047bfd4c59f25e065f4c2609dcb7fea94466f1076c5c0788aa26a4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a30ff2002d80a0d096f4d68f236360bda10f374057e7afa8beae46cf15abc4d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ee246f1084ba703ffd7b443609df6580d637632b726d57a83b4c74b42fbd430",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 3.856 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 32 changed as sent

message 40 changed as sent

message 44 changed as sent

message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8135, 0.6132, -0.4316, -0.0139, -0.0338, 0.9989, 0.4629, 1.7992, 1.1992, -0.2832, 0.2951, 0.173, 0.996]\nstate[eef_state]: left_x=0.2899 left_y=-0.0001 left_z=0.1683 left_yaw=0.0018 left_pitch=-0.0629 left_roll=-0.002 left_gripper=0.9989 right_x=0.4398 right_y=0.1661 right_z=0.0957 right_yaw=0.104 right_pitch=-0.2688 right_roll=-0.1044 right_gripper=0.996\nstate[joint_eff]: [-0.1983, -1.2786, 6.9949, 1.6972, -0.0708, -0.0269, -0.0122, -0.0479, -9.2786, 6.5162, 1.4237, 0.1001, -0.0415, -0.2027]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8474, 0.6415, -0.4877, -0.0135, -0.0338, 0.9989, 0.8845, 1.9572, 0.6491, 0.7189, 0.7448, 0.244, 0.9971]\nstate[eef_state]: left_x=0.2872 left_y=-0.0001 left_z=0.1609 left_yaw=0.0016 left_pitch=-0.1247 left_roll=-0.0008 left_gripper=0.9989 right_x=0.348 right_y=0.2416 right_z=0.0246 right_yaw=0.1404 right_pitch=0.14 right_roll=-0.1527 right_gripper=0.9971\nstate[joint_eff]: [0.0068, -1.2786, 7.1453, 1.7509, -0.022, -0.0122, -0.0122, 0.5812, -7.4462, 3.2205, 1.6435, 0.2955, -0.0317, 0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8474, 0.6415, -0.4915, -0.0139, -0.0338, 0.9989, 0.8864, 1.9728, 0.6418, 0.733, 0.7467, 0.2279, 0.5121]\nstate[eef_state]: left_x=0.2866 left_y=-0.0 left_z=0.1602 left_yaw=0.0019 left_pitch=-0.1285 left_roll=-0.0005 left_gripper=0.9989 right_x=0.3462 right_y=0.2402 right_z=0.0189 right_yaw=0.1502 right_pitch=0.1328 right_roll=-0.1742 right_gripper=0.5121\nstate[joint_eff]: [-0.1026, -1.388, 6.9949, 1.6874, -0.0269, -0.0464, -0.0122, -0.2667, -9.3744, 4.7521, 1.4188, 0.1343, 0.1343, 0.9402]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1313faa39a047bfd4c59f25e065f4c2609dcb7fea94466f1076c5c0788aa26a4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a30ff2002d80a0d096f4d68f236360bda10f374057e7afa8beae46cf15abc4d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ee246f1084ba703ffd7b443609df6580d637632b726d57a83b4c74b42fbd430",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"right_z\":0.09},\"note\":\"The jaws stopped about five centimeters apart, indicating a fruit-sized grasp. I will lift the yellow fruit briefly to confirm it is secure.\"}",
  "call_id": "call_1TdzRSxvycMt1tMnBXCj353N",
  "id": "fc_0f7486bd42e7710a016ab472678fa887d0aa5534d49266de86",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1TdzRSxvycMt1tMnBXCj353N",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8482, 0.6415, -0.4927, -0.0135, -0.0338, 0.9989, 0.8864, 1.7355, 0.6914, 0.4629, 0.7395, 0.2241, 0.5076]\nstate[eef_state]: left_x=0.2865 left_y=-0.0001 left_z=0.1598 left_yaw=0.0016 left_pitch=-0.1305 left_roll=-0.0007 left_gripper=0.9989 right_x=0.3462 right_y=0.2417 right_z=0.0808 right_yaw=0.1563 right_pitch=0.1422 right_roll=-0.1633 right_gripper=0.5076\nstate[joint_eff]: [0.0068, -1.1009, 6.9265, 1.663, -0.0562, -0.0317, -0.0122, -0.1026, -8.3761, 7.1316, 1.5165, 0.315, -0.0269, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11ffe91523d785ed830a14ba002e6cccaf4c11e63a70ff86be58dd713a6d218b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5027c1832a10d97dc2e572e02e559f09ce6d5f3ff2005bc6de8f67aac5d2ff89",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:349be2bae237fd86f0a149fe383102b6deebd88eb5c83bc90479ee057933f6d2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 13 attempt 0 · /responses · status 200 · 2.806 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 36 changed as sent

message 44 changed as sent

message 47 changed as sent

message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0208, 0.8471, 0.6437, -0.4759, -0.0139, -0.0341, 0.9989, 0.6903, 1.6283, 1.1664, -0.5213, 0.4152, 0.342, 0.997]\nstate[eef_state]: left_x=0.2894 left_y=0.0 left_z=0.1643 left_yaw=0.0025 left_pitch=-0.1102 left_roll=-0.0012 left_gripper=0.9989 right_x=0.359 right_y=0.2087 right_z=0.1274 right_yaw=0.1267 right_pitch=-0.3044 right_roll=-0.1252 right_gripper=0.997\nstate[joint_eff]: [0.0479, -1.5111, 9.8803, 1.7802, -0.0708, -0.0317, -0.0122, -0.1709, -10.2632, 6.3521, 1.2723, 0.3541, 0.1734, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8474, 0.6415, -0.4915, -0.0139, -0.0338, 0.9989, 0.8864, 1.9728, 0.6418, 0.733, 0.7467, 0.2279, 0.5121]\nstate[eef_state]: left_x=0.2866 left_y=-0.0 left_z=0.1602 left_yaw=0.0019 left_pitch=-0.1285 left_roll=-0.0005 left_gripper=0.9989 right_x=0.3462 right_y=0.2402 right_z=0.0189 right_yaw=0.1502 right_pitch=0.1328 right_roll=-0.1742 right_gripper=0.5121\nstate[joint_eff]: [-0.1026, -1.388, 6.9949, 1.6874, -0.0269, -0.0464, -0.0122, -0.2667, -9.3744, 4.7521, 1.4188, 0.1343, 0.1343, 0.9402]\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 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8482, 0.6415, -0.4927, -0.0135, -0.0338, 0.9989, 0.8864, 1.7355, 0.6914, 0.4629, 0.7395, 0.2241, 0.5076]\nstate[eef_state]: left_x=0.2865 left_y=-0.0001 left_z=0.1598 left_yaw=0.0016 left_pitch=-0.1305 left_roll=-0.0007 left_gripper=0.9989 right_x=0.3462 right_y=0.2417 right_z=0.0808 right_yaw=0.1563 right_pitch=0.1422 right_roll=-0.1633 right_gripper=0.5076\nstate[joint_eff]: [0.0068, -1.1009, 6.9265, 1.663, -0.0562, -0.0317, -0.0122, -0.1026, -8.3761, 7.1316, 1.5165, 0.315, -0.0269, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11ffe91523d785ed830a14ba002e6cccaf4c11e63a70ff86be58dd713a6d218b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5027c1832a10d97dc2e572e02e559f09ce6d5f3ff2005bc6de8f67aac5d2ff89",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:349be2bae237fd86f0a149fe383102b6deebd88eb5c83bc90479ee057933f6d2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHJsRSS4DPkeX_nhV9FESuZBn4wEKY4pME6cmpKxEIxJsQnosfL0hFdf3oeiQW40KbmrGFpUAcl109IFfYtE0GDSAqkPZyvjAJQICBmxgLHrX_SUr76f8f8AL904lOpqtYPOj12dldvFsYkvg990vn7G3JMOjK_v6s0vE13QECfWfigs2TmdHWsGKxVQ_tfEUWnePlgSRNp6mOBBBmgu32S08Gdoqt4cKsGfN1b7BPOQEZv3bQ1gjwjV8eKDNzRiz9yIhRUB5vnlFxvM_BL9P3C4eGTH0_qHdSEDwfMg1GNk3WqOMh4osA_vYdz8Q3VkFVQ-Ur28MyEuNQCGj8jNBcT5SjRCm6DJCNtKNPh6QNbgHZoC2ImzQVQsFSdfvwQfvWBG5ykYzTwAh0phrdmopLORpOdAZLAM9N1ZNfHC6FUHv3jeP8LWRI2t66nGzdqKRoaL_XHuWig81XsgWN7KDNUGyJsYIwN25JAskyh1qrWvZVlPEFqu6VewHmoPkmvDB5mC5waumSfTGwmJXdv9vkCUtLoW1KdEoL6LlN6o09KU94BgL3QP83qLuYPegbMH8rHycTdKguVCkJA85HUHKyoWiJosku4yaW4qX71lKJuAjZrbgwA-VqSZQkeQzJy_Vpi61kbID3JU0iZ_YPiR4fJTTbLapkB-vLuv2D1sqxd0kAcbvI251-vsb_4XF1tu1c9yUAb_KJ7LmbnF4HawUWLSXppA2RBRRDRcbHqYW1c3XX_qrSL_t0a6wQCW1boviByWNVqOrV91MKFfreuQ96dj6H1qKr5JSxBvcJFLSvYsYCYqJBgl2wYZONvjiqTRklKVHmeKDJmWk8Gm-gV4KfE69QcLvx-F20ZLO8EfgrZrxF41SaTF87or361kPS4Nvh1YBRRlZaKGiBYmRllBSsWL3vUaBMuDxk834iRfzbx-xblkLw3xSAe7pDyr649glYMw_ExVzI_U7B2cbbMFcryvkLgSAbY3EHj4phgJzalOtafnVjvSeT9MrFcSJ68YEHvLfdL_0d313WetMiHstTh2VuqXt63WcDlNUDaYHh4XfEfWIs5XLLVoD4qjjg54rZhQPpRkRVFsEGMJXTahyAoBm47b1zvlJ9a-DwFs1AaplHR0oZXygGv6eToWZisSa_S0TE4rtkxNvU2sdNZuMe3H1SW9TUY4wQ7y_-W9OkYiBdhtJ4ZKwfpvOONhLOCizEnFRnXBbHAS-nb5uvBN0QFK5Y9bCTKT-uhoAE7jk8ixxW2sLxGVuwrMigfZziTCbgnDalpWTmUpy-Z2dpRsV85jkfuA4FreEJZpZ9KAO89KN3BvyaRTqC6ZyDK-1efvxHuJHwNr348i87ImQcq9RDrF3ojwH1Ex1SxJIbULTqKTfLNfXrEM6VfRrdoMQbmnc83YfDVwwjwUaY_G2m2_ueZzZSSPQoBOoTY6aFjgUfMS1tRrLToBdZpg2cvtpEFeEM0SFJNCfEr4rmZo4KX_-lf0ybu2DLdf_jIAlrCciZiyM90=",
  "id": "rs_0f7486bd42e7710a016ab4726a3c1c87d0b6b1cfd9d844d2a3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.158,\"right_z\":0.19},\"note\":\"The yellow fruit has lifted from its table position and remains between the jaws. I will carry it over the blue bowl alongside the green fruit.\"}",
  "call_id": "call_cV7gi4GmQNRSsUmcAGUgp4e5",
  "id": "fc_0f7486bd42e7710a016ab4726b871087d087d937d93ed94c99",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cV7gi4GmQNRSsUmcAGUgp4e5",
  "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, 0.8501, 0.6415, -0.4942, -0.0139, -0.0338, 0.9989, 0.511, 1.5497, 0.9001, 0.1562, 0.4381, 0.0154, 0.5083]\nstate[eef_state]: left_x=0.2863 left_y=-0.0 left_z=0.159 left_yaw=0.0019 left_pitch=-0.1339 left_roll=-0.0003 left_gripper=0.9989 right_x=0.4262 right_y=0.1571 right_z=0.1667 right_yaw=0.1295 right_pitch=0.1152 right_roll=-0.1755 right_gripper=0.5083\nstate[joint_eff]: [-0.3624, -1.6205, 6.9402, 1.5946, -0.0366, -0.0317, -0.0122, -0.1436, -9.7299, 8.6359, 1.8877, 0.1734, 0.0317, 0.7253]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a7b670a32580bf9135d528685cf045b043ec99b5c13b5b8d3215351bdae24ee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:642aee8d042e9045ba4be307b3cf287fe01b8d790c1f0faf74a852dd4ba6011f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3e58ec3818faa72881fe9456da21c92870cf49e331045c9791c617ab12dd467",
      "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 · 2.025 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 40 changed as sent

message 47 changed as sent

message 51 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8474, 0.6415, -0.4877, -0.0135, -0.0338, 0.9989, 0.8845, 1.9572, 0.6491, 0.7189, 0.7448, 0.244, 0.9971]\nstate[eef_state]: left_x=0.2872 left_y=-0.0001 left_z=0.1609 left_yaw=0.0016 left_pitch=-0.1247 left_roll=-0.0008 left_gripper=0.9989 right_x=0.348 right_y=0.2416 right_z=0.0246 right_yaw=0.1404 right_pitch=0.14 right_roll=-0.1527 right_gripper=0.9971\nstate[joint_eff]: [0.0068, -1.2786, 7.1453, 1.7509, -0.022, -0.0122, -0.0122, 0.5812, -7.4462, 3.2205, 1.6435, 0.2955, -0.0317, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8482, 0.6415, -0.4927, -0.0135, -0.0338, 0.9989, 0.8864, 1.7355, 0.6914, 0.4629, 0.7395, 0.2241, 0.5076]\nstate[eef_state]: left_x=0.2865 left_y=-0.0001 left_z=0.1598 left_yaw=0.0016 left_pitch=-0.1305 left_roll=-0.0007 left_gripper=0.9989 right_x=0.3462 right_y=0.2417 right_z=0.0808 right_yaw=0.1563 right_pitch=0.1422 right_roll=-0.1633 right_gripper=0.5076\nstate[joint_eff]: [0.0068, -1.1009, 6.9265, 1.663, -0.0562, -0.0317, -0.0122, -0.1026, -8.3761, 7.1316, 1.5165, 0.315, -0.0269, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8501, 0.6415, -0.4942, -0.0139, -0.0338, 0.9989, 0.511, 1.5497, 0.9001, 0.1562, 0.4381, 0.0154, 0.5083]\nstate[eef_state]: left_x=0.2863 left_y=-0.0 left_z=0.159 left_yaw=0.0019 left_pitch=-0.1339 left_roll=-0.0003 left_gripper=0.9989 right_x=0.4262 right_y=0.1571 right_z=0.1667 right_yaw=0.1295 right_pitch=0.1152 right_roll=-0.1755 right_gripper=0.5083\nstate[joint_eff]: [-0.3624, -1.6205, 6.9402, 1.5946, -0.0366, -0.0317, -0.0122, -0.1436, -9.7299, 8.6359, 1.8877, 0.1734, 0.0317, 0.7253]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a7b670a32580bf9135d528685cf045b043ec99b5c13b5b8d3215351bdae24ee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:642aee8d042e9045ba4be307b3cf287fe01b8d790c1f0faf74a852dd4ba6011f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3e58ec3818faa72881fe9456da21c92870cf49e331045c9791c617ab12dd467",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHJwtm4JdagYFQEVEZR1qBqW6ROz8zpucl53v3GG4nBsKVwFZcocFrl6FSwbBUwUl5-gdJBMq7VM8vbWmDJD1AULBXtZIBjOVSNNvj1D0RfvHJyw0GBI2nE36taTxUEiYmf43lx9t4ogEf6xTeEkwVWE3NtgVeustFkS2UlSyH5jLx4SlSkAS4v5qPG7_TTXX5otr9O4niR_N4aU1xvc0reRAp0KHn5j96F3h494OLPoVvI3u-nC7NRPm1x_Xtj9vE-YhOGe183GePNzIt8CoRH2OMFvJRZfs1Wmet-nhMtWucHSO2SPr77Gg0j4angaOJ9_CSMUihYJZH8FD45CTmMtnUVskytG6vLtTJSZ4HJM_Vwa7ZxQCfLf_dShilJtOMvHRqKmhs5wb6FaLTON1EyMGWj-j6YeEA7aVMLYg1Rp2lzUiirv0ZYvvZ88wUHv4Obp1SIrspbI2kwcfMU2vymGwTMCBZJSEaQXEgqCQ8ahYUnfRHRgaFB__aLbvMUnHFSaPZF14xyvn-p4vbaUpHPIjbt_D8dHy22C5GevzN_6IsPzAm6Vy8n-0ijkFepRs9Vx3XuvvOzwfvp_6zNcKHRqzGlM7pk4-YLnlvJxDyOH-f5YCAXXb2HhIfOxjFqBTThIBrrCsUD8RmthM2At9bL8bz1_QSUdyNEl7TawAHhT6LAntvD5GJa9q_RTZUaky1sVrYIo3h4lARbtxDCMi0Dnc5lvA_aTgYHZ2xPhY6rJCRrY0w6a3ykXJ2DGyhx55wSSI7FY17ruZjcAkDtaw8cqr6g4bto1NoQNbUEJDglRT6eWStuzgxj5y_SKk9gTPy27EB-xBW3MNMRNZBIg8casNKU4u2UuQjdPPfpCyqzdr44H14ijfc9jEaGqSIFvJYRQkHLE4xsOY5mDGWUrO-MnVffYE4RroXsWVbDgDA1SNxJaV-UlGQCLF3diwAj48Z1A_qE0zNlLQrZ-RSvZAx5zS7EstKaw8Tx8iivbhlm1l78KFONkZ8SHEwXYc0uq2L2kB6da7Ak0qTit_xAZTwxNKnxnSRGl8b4bi8dKdaY7TfeVw4HfjfpOfccyoqdk-1P8ApAkvRN1vDH1x36K7pPKG6UAIpZ6hMcOx8JuHgBEEKHlz223C1a4Ai39x11oGVmGYeHFvjcfYBx2CrrTC58jdQXwfHuH7JGi1jWofGTdb4V6R7EjMuTnWpumAZmUYl50AjE8vjUn_b2xXeXixmTYTw==",
  "id": "rs_0f7486bd42e7710a016ab4726f3b2087d0800a685a68428510",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.12},\"note\":\"The yellow fruit is above the blue bowl's opening. I will lower it to reduce the drop and avoid bouncing it out.\"}",
  "call_id": "call_pivc1QnlQZD7BJ1a95UpJJui",
  "id": "fc_0f7486bd42e7710a016ab4726f864087d091368c71920b4a74",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pivc1QnlQZD7BJ1a95UpJJui",
  "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, 0.8501, 0.6415, -0.4946, -0.0139, -0.0338, 0.9989, 0.5106, 1.6436, 0.7975, 0.2909, 0.4259, -0.001, 0.5096]\nstate[eef_state]: left_x=0.2862 left_y=-0.0 left_z=0.1589 left_yaw=0.0019 left_pitch=-0.1343 left_roll=-0.0003 left_gripper=0.9989 right_x=0.4204 right_y=0.1559 right_z=0.1101 right_yaw=0.1498 right_pitch=0.0536 right_roll=-0.2068 right_gripper=0.5096\nstate[joint_eff]: [-0.1299, -1.5385, 7.0632, 1.6044, -0.0513, -0.022, -0.0171, 0.0889, -7.8291, 6.2017, 1.6142, 0.0415, 0.1001, 0.5934]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c7a052981c74e1776983b96c716fe553896d4b7c668afa8d51efc87eabfae71",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3766953d062154e75b97b4fd9e0f9eb28489d80a7f4a838cb1ac2ce4df873261",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e54f0a2cbf8b0e83aa79a67ef2bc228ce51ca972a577c720674db9d2331e2850",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 4.24 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 44 changed as sent

message 51 changed as sent

message 55 changed as sent

message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8474, 0.6415, -0.4915, -0.0139, -0.0338, 0.9989, 0.8864, 1.9728, 0.6418, 0.733, 0.7467, 0.2279, 0.5121]\nstate[eef_state]: left_x=0.2866 left_y=-0.0 left_z=0.1602 left_yaw=0.0019 left_pitch=-0.1285 left_roll=-0.0005 left_gripper=0.9989 right_x=0.3462 right_y=0.2402 right_z=0.0189 right_yaw=0.1502 right_pitch=0.1328 right_roll=-0.1742 right_gripper=0.5121\nstate[joint_eff]: [-0.1026, -1.388, 6.9949, 1.6874, -0.0269, -0.0464, -0.0122, -0.2667, -9.3744, 4.7521, 1.4188, 0.1343, 0.1343, 0.9402]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8501, 0.6415, -0.4942, -0.0139, -0.0338, 0.9989, 0.511, 1.5497, 0.9001, 0.1562, 0.4381, 0.0154, 0.5083]\nstate[eef_state]: left_x=0.2863 left_y=-0.0 left_z=0.159 left_yaw=0.0019 left_pitch=-0.1339 left_roll=-0.0003 left_gripper=0.9989 right_x=0.4262 right_y=0.1571 right_z=0.1667 right_yaw=0.1295 right_pitch=0.1152 right_roll=-0.1755 right_gripper=0.5083\nstate[joint_eff]: [-0.3624, -1.6205, 6.9402, 1.5946, -0.0366, -0.0317, -0.0122, -0.1436, -9.7299, 8.6359, 1.8877, 0.1734, 0.0317, 0.7253]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8501, 0.6415, -0.4946, -0.0139, -0.0338, 0.9989, 0.5106, 1.6436, 0.7975, 0.2909, 0.4259, -0.001, 0.5096]\nstate[eef_state]: left_x=0.2862 left_y=-0.0 left_z=0.1589 left_yaw=0.0019 left_pitch=-0.1343 left_roll=-0.0003 left_gripper=0.9989 right_x=0.4204 right_y=0.1559 right_z=0.1101 right_yaw=0.1498 right_pitch=0.0536 right_roll=-0.2068 right_gripper=0.5096\nstate[joint_eff]: [-0.1299, -1.5385, 7.0632, 1.6044, -0.0513, -0.022, -0.0171, 0.0889, -7.8291, 6.2017, 1.6142, 0.0415, 0.1001, 0.5934]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c7a052981c74e1776983b96c716fe553896d4b7c668afa8d51efc87eabfae71",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3766953d062154e75b97b4fd9e0f9eb28489d80a7f4a838cb1ac2ce4df873261",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e54f0a2cbf8b0e83aa79a67ef2bc228ce51ca972a577c720674db9d2331e2850",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The yellow fruit is inside the blue bowl's rim next to the green fruit. I will release it there.\"}",
  "call_id": "call_tKjwQbXYfQUkIC2MVjL9wrKE",
  "id": "fc_0f7486bd42e7710a016ab47271dce087d09cec5be4e980d1a4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tKjwQbXYfQUkIC2MVjL9wrKE",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0208, 0.8516, 0.6415, -0.4946, -0.0135, -0.0338, 0.9989, 0.5102, 1.6474, 0.7925, 0.2871, 0.4236, -0.009, 0.9924]\nstate[eef_state]: left_x=0.2863 left_y=0.0 left_z=0.1585 left_yaw=0.002 left_pitch=-0.1358 left_roll=-0.0005 left_gripper=0.9989 right_x=0.4188 right_y=0.1553 right_z=0.1056 right_yaw=0.1557 right_pitch=0.0405 right_roll=-0.217 right_gripper=0.9924\nstate[joint_eff]: [0.0068, -1.4838, 6.9402, 1.5995, -0.0171, -0.0513, -0.0073, -0.1846, -7.8154, 6.653, 1.8095, 0.1538, 0.0024, 0.1538]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4d707dcea5f98a7af4821320b8eddd5036e31e168a952ac4599e27e49721494",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36272cb341a33bdc4e4be2e1c6fc5b0315e60893b365f6b816f83128281ff33f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ecde486c01d542fdeb473f1fb0066338fff3a18fc9a1188e64aed4042b61cfa",
      "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 · 2.484 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 47 changed as sent

message 55 changed as sent

message 58 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8482, 0.6415, -0.4927, -0.0135, -0.0338, 0.9989, 0.8864, 1.7355, 0.6914, 0.4629, 0.7395, 0.2241, 0.5076]\nstate[eef_state]: left_x=0.2865 left_y=-0.0001 left_z=0.1598 left_yaw=0.0016 left_pitch=-0.1305 left_roll=-0.0007 left_gripper=0.9989 right_x=0.3462 right_y=0.2417 right_z=0.0808 right_yaw=0.1563 right_pitch=0.1422 right_roll=-0.1633 right_gripper=0.5076\nstate[joint_eff]: [0.0068, -1.1009, 6.9265, 1.663, -0.0562, -0.0317, -0.0122, -0.1026, -8.3761, 7.1316, 1.5165, 0.315, -0.0269, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8501, 0.6415, -0.4946, -0.0139, -0.0338, 0.9989, 0.5106, 1.6436, 0.7975, 0.2909, 0.4259, -0.001, 0.5096]\nstate[eef_state]: left_x=0.2862 left_y=-0.0 left_z=0.1589 left_yaw=0.0019 left_pitch=-0.1343 left_roll=-0.0003 left_gripper=0.9989 right_x=0.4204 right_y=0.1559 right_z=0.1101 right_yaw=0.1498 right_pitch=0.0536 right_roll=-0.2068 right_gripper=0.5096\nstate[joint_eff]: [-0.1299, -1.5385, 7.0632, 1.6044, -0.0513, -0.022, -0.0171, 0.0889, -7.8291, 6.2017, 1.6142, 0.0415, 0.1001, 0.5934]\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 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0208, 0.8516, 0.6415, -0.4946, -0.0135, -0.0338, 0.9989, 0.5102, 1.6474, 0.7925, 0.2871, 0.4236, -0.009, 0.9924]\nstate[eef_state]: left_x=0.2863 left_y=0.0 left_z=0.1585 left_yaw=0.002 left_pitch=-0.1358 left_roll=-0.0005 left_gripper=0.9989 right_x=0.4188 right_y=0.1553 right_z=0.1056 right_yaw=0.1557 right_pitch=0.0405 right_roll=-0.217 right_gripper=0.9924\nstate[joint_eff]: [0.0068, -1.4838, 6.9402, 1.5995, -0.0171, -0.0513, -0.0073, -0.1846, -7.8154, 6.653, 1.8095, 0.1538, 0.0024, 0.1538]\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,$blob:e4d707dcea5f98a7af4821320b8eddd5036e31e168a952ac4599e27e49721494",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36272cb341a33bdc4e4be2e1c6fc5b0315e60893b365f6b816f83128281ff33f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ecde486c01d542fdeb473f1fb0066338fff3a18fc9a1188e64aed4042b61cfa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHJ3UGVDTLuWml0_Bqal6qToj4n-RpfRs00xOjC6Kbm8SDNFPSLMjb5I1BFQ0OF7CDQnqE9bNH2u34EdBOnHcARKn0pklr2Hn54pA1UTYmIquZNvLV9ZPcmRlAl5Cp0EIOlpKG1mdo9LqrxsO4zNQXp8kj88xKZtxFe6IjnM64eAcfGa1Ws6MB8uOgTIqvNiegxQuX-UXPaU1g6Oc_AXeqvI6zr4MtFFUdokmHUXogAVtrDgSCoE5MSbcWcSHZ1VZ2zE4pIvssVOODr7_Lo4tm855Ee2BEHwODQx64BjP-oupkOrmTGNT6be850tx2j2SAS_dEVLfX_fihaE6Lh4aITHhVRSG5yX5Lbu5GpqP7cV24DWeCMqyqXnJcSEd80yod5H8VIv4OtKPkZYoDLVyZXnnFuz7SEs1hdKubM0lRAQKyyNfOmF6yt0k-gZzOFj8x7FAI_DxtEPreaBf6568_oDSXGMCLVhuHWPXo-cpfeuBzStKEIfQ49i5Hu7xAhw26mcw4HvtHncLigG8ywYtPxzlz2iWtO61ozlIwLiwe4cpq2aXIvKsTw-ak75KuoRuhEuC7v-ayxP2Mt_Kph_0lZvizu20n2OgvejRWdUJOMX60VhdtqFXyAdiuWfPL5SD7CXZ3nxx622mCPcRs9PG2qnipZ7bQGTqMdjxz4SPGhT_Tysfx_bboRMu5gKTk9Dsh1OKQYXK4gkGB8eyQXaF-_zSlQ-IUFD1dgXnAzoRFwJLNYv5MfcsXtSV3EJZPN-LGSmSkX0xgcf-8cpFMSCtt-yPwL9Rz0Jq3Qfsc1qCKU-JcCQJgEYncf7TZczdnmkLsYyu173z9-fvnYUFGiUE67tiFIMWIHOA98HCmjqZch--kuJYleE8gCJ5XCEzaR0P3cHjLKJz2yW-dUj1Hh6ScldeYyCzGaJCY-_WNVTXog745b0-HgGGeaqvrSHvpvBRZGx2CRM3E_DelmnUmPJypGLUXsFI-sW9YHTQ3Grhg_Temd4vKPc9C_kzKicIYYj96nLZsB3Ire230ysrjI7bIFcsiyqgi-YOKoAXALrbwpz7cXcjvZh9ucicAo3npyc86cTkqeKJRXTgDE_NmYPjs73OOaqA3nsrwDQyM0lZvwdDCOoD1-Gepb6t9a6KESn3GOhg6DeW_qLA8a49hEB6HGehU0jQZUeamGd4iRvKWXmHHTAeRNj7psFPHJQ47oeKxwsTsOrGk-Eoh6bdsdqH33ncSdLHD2haBRqtfIYELWBjgtWRnPKQJ74ymO5UFDQAwh3EQy1oesdox1lPOh6wMgCc7mImIoDFdBKSTwkhdcitJ-2zqPCEViulzLcj6VLHBzJ5FR7A5nwQG1H12n1kZVbChy2ShFuCn-oipLVWiUPMcM=",
  "id": "rs_0f7486bd42e7710a016ab47274ed1887d09f4501b52c4598f0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0.335,\"right_z\":0.15},\"note\":\"The green and yellow fruits are in the blue bowl; the dark fruit is the only one left on the table. I will approach it from above with the right gripper.\"}",
  "call_id": "call_Cpj6mSmQtgpCNVboD0UFZbsh",
  "id": "fc_0f7486bd42e7710a016ab47275fb2887d09420a632eb7821e2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Cpj6mSmQtgpCNVboD0UFZbsh",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "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, 0.852, 0.6415, -0.495, -0.0139, -0.0334, 0.9989, 1.1446, 1.7809, 1.2064, -0.3271, 0.87, 0.4835, 0.9936]\nstate[eef_state]: left_x=0.2863 left_y=-0.0 left_z=0.1583 left_yaw=0.0017 left_pitch=-0.1366 left_roll=0.0 left_gripper=0.9989 right_x=0.2964 right_y=0.3349 right_z=0.1432 right_yaw=0.2027 right_pitch=0.0204 right_roll=-0.2311 right_gripper=0.9936\nstate[joint_eff]: [-0.253, -1.5658, 6.9949, 1.5897, -0.0269, -0.0366, -0.0171, 0.1846, -8.3487, 7.9932, 1.2479, 0.5299, 0.1538, 0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a7b7f890b9e12e8328f0faa92ca86c813ebc5fa23825c1ab3eb61fdd3265a58",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4698041c570d39bf100b1c0ce6bc70d83e951dc009fef6b9bd41124d91ff7820",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20099a6c3c714d5a5292b4fdb7948e902850cbce1c09cd5293cc5702de7a4261",
      "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 · 4.385 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 51 changed as sent

message 58 changed as sent

message 62 changed as sent

message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8501, 0.6415, -0.4942, -0.0139, -0.0338, 0.9989, 0.511, 1.5497, 0.9001, 0.1562, 0.4381, 0.0154, 0.5083]\nstate[eef_state]: left_x=0.2863 left_y=-0.0 left_z=0.159 left_yaw=0.0019 left_pitch=-0.1339 left_roll=-0.0003 left_gripper=0.9989 right_x=0.4262 right_y=0.1571 right_z=0.1667 right_yaw=0.1295 right_pitch=0.1152 right_roll=-0.1755 right_gripper=0.5083\nstate[joint_eff]: [-0.3624, -1.6205, 6.9402, 1.5946, -0.0366, -0.0317, -0.0122, -0.1436, -9.7299, 8.6359, 1.8877, 0.1734, 0.0317, 0.7253]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0208, 0.8516, 0.6415, -0.4946, -0.0135, -0.0338, 0.9989, 0.5102, 1.6474, 0.7925, 0.2871, 0.4236, -0.009, 0.9924]\nstate[eef_state]: left_x=0.2863 left_y=0.0 left_z=0.1585 left_yaw=0.002 left_pitch=-0.1358 left_roll=-0.0005 left_gripper=0.9989 right_x=0.4188 right_y=0.1553 right_z=0.1056 right_yaw=0.1557 right_pitch=0.0405 right_roll=-0.217 right_gripper=0.9924\nstate[joint_eff]: [0.0068, -1.4838, 6.9402, 1.5995, -0.0171, -0.0513, -0.0073, -0.1846, -7.8154, 6.653, 1.8095, 0.1538, 0.0024, 0.1538]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.852, 0.6415, -0.495, -0.0139, -0.0334, 0.9989, 1.1446, 1.7809, 1.2064, -0.3271, 0.87, 0.4835, 0.9936]\nstate[eef_state]: left_x=0.2863 left_y=-0.0 left_z=0.1583 left_yaw=0.0017 left_pitch=-0.1366 left_roll=0.0 left_gripper=0.9989 right_x=0.2964 right_y=0.3349 right_z=0.1432 right_yaw=0.2027 right_pitch=0.0204 right_roll=-0.2311 right_gripper=0.9936\nstate[joint_eff]: [-0.253, -1.5658, 6.9949, 1.5897, -0.0269, -0.0366, -0.0171, 0.1846, -8.3487, 7.9932, 1.2479, 0.5299, 0.1538, 0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a7b7f890b9e12e8328f0faa92ca86c813ebc5fa23825c1ab3eb61fdd3265a58",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4698041c570d39bf100b1c0ce6bc70d83e951dc009fef6b9bd41124d91ff7820",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20099a6c3c714d5a5292b4fdb7948e902850cbce1c09cd5293cc5702de7a4261",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHJ7kQscCk48p-dDmWB-V7ene3QRPmByR5qUpR9n-mBUfD6WNau8D3UoVdligy3uhGlSft-w58CyrqUhpAEDQeKNJcWa7xEbIJstggzXp9l3EelPXGxiXsUyQo_zPUHW0FhChdhmYXifsTsg2SOuGrL77Fi-rTVN09bE8EwdahYO70VcHIGXDgRcid-_D9HoLdJgslSQhWvmdkpqUQjpansgreWF7Nd85cIzyPVHmDf914A48kTddhKGek8S1vCRO1ULzVX_QYIQ6T4YE1GfYtHS8FOflBizofqcD0e8cmvz5So9G_LyYcpB1iuxWUfdJSVIgZ3wMfMd68gWQivyoB9ilxjD83RquRaArYsgzEO6mttNBSGgGsqs9uBp5TPH-9mwHNcOIzxG2hN8XdfWdzQHyrZu4948FKgWIxqIYa2QmDLg7EQJ2OA3qcfWl8q6aBgPYeyyQVlmvNm7snOy6oNcz2KdYg1Orpood69Q8iUjzcbXMnE1b6LH2VMuB4VJZFjDRHzSIGi8g8B1N3pS4kspmtWPNOhFykVmD3cZ2hLFY22v6ZfBPOA5IPuRXF6hTHJWuCYuMj-N1rDMUMj9_1HtE-GFRaZDklRdQf71VefYziR3G4Rve8MTDc3p2xGVr78QpZuIRoLSAZ-5H3MJ74177V3gTEVoabvJjBD7wChblz6o_cWPptVPu23yZ6_qBECYvnvFruBttGb4gNhXu8iYyScaFD3K9Z4RCcQiSoEIYiIvsmEaRR6I6M6H6_A23TZ8ja_ogSQb4zCDYh7jsnPwbrgQzSMfCZHIbAri4xLTnT03a3CUQRMCPF8ddmKRm_35XI99VFy27tocVf9s-_lIBOWw040mObpO1h43giW7a489W7F5zJsxp1E6grhrPgKC66bpqt42OC5ZOMwSAWvNYh5rl2ixkiHmxFnO6N43sUczWiXDsKKy0SNib29Q5CUTf7-6Y5iYqXv0v1qcS8fris1VdQ-dxw3-G_xykAt_XiqovPilg9mkGJJ90BHSasYVgOGG_LuDFlGG7aDZ454XttYLYixoMMBtWdGq0XaW1u5PHhBLTYGpaQr18hbDQW7xm-Lj5_OzqUdDoSm0yuNFSCAwcCFgzDZeo2xpB4qLdeZt9hU-wMAgdRmohZgdFJelueVD7lKdRk6j771OtfauHZbXrXRvV8Zvy6pRuu5gf-p1Ke1uObrF6wY3OkrDCWuCNEzeaMdrPkSzIsqGjj0sKg==",
  "id": "rs_0f7486bd42e7710a016ab47279e24887d0ac77aeadad74647d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.366,\"right_z\":0.026,\"right_roll\":0.15},\"note\":\"The dark fruit appears slightly left of the jaw centerline. I will correct the alignment and lower the open jaws around its sides.\"}",
  "call_id": "call_kteWCCoR5yophEflH2uXpRAm",
  "id": "fc_0f7486bd42e7710a016ab4727a4a1c87d0b8b9b8426d742fdd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kteWCCoR5yophEflH2uXpRAm",
  "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, 0.8528, 0.6415, -0.4946, -0.0135, -0.0338, 0.9989, 1.1152, 2.0003, 0.9634, 0.234, 0.6979, 0.6243, 0.9937]\nstate[eef_state]: left_x=0.2864 left_y=-0.0001 left_z=0.1582 left_yaw=0.0016 left_pitch=-0.1369 left_roll=-0.0005 left_gripper=0.9989 right_x=0.2963 right_y=0.3549 right_z=0.024 right_yaw=0.211 right_pitch=-0.0161 right_roll=0.0446 right_gripper=0.9937\nstate[joint_eff]: [0.0068, -1.4427, 6.9675, 1.5751, -0.0366, -0.0464, -0.0122, -0.4034, -9.5111, 4.8752, 1.5751, 0.2808, 0.1538, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1df48e7519154b4f661a900b8674635ded69f018e3b0a8b940b4dd6df318f6e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fd2d7df3b061ec1b45387897051f44770bd4dd534239ba3a403ce86e9855d98",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16a7227e48d479961f2c84a5f3c37912ed40d02d8e3dffd9c5f74e83f5a36655",
      "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 18 attempt 0 · /responses · status 200 · 3.714 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 55 changed as sent

message 62 changed as sent

message 66 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8501, 0.6415, -0.4946, -0.0139, -0.0338, 0.9989, 0.5106, 1.6436, 0.7975, 0.2909, 0.4259, -0.001, 0.5096]\nstate[eef_state]: left_x=0.2862 left_y=-0.0 left_z=0.1589 left_yaw=0.0019 left_pitch=-0.1343 left_roll=-0.0003 left_gripper=0.9989 right_x=0.4204 right_y=0.1559 right_z=0.1101 right_yaw=0.1498 right_pitch=0.0536 right_roll=-0.2068 right_gripper=0.5096\nstate[joint_eff]: [-0.1299, -1.5385, 7.0632, 1.6044, -0.0513, -0.022, -0.0171, 0.0889, -7.8291, 6.2017, 1.6142, 0.0415, 0.1001, 0.5934]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.852, 0.6415, -0.495, -0.0139, -0.0334, 0.9989, 1.1446, 1.7809, 1.2064, -0.3271, 0.87, 0.4835, 0.9936]\nstate[eef_state]: left_x=0.2863 left_y=-0.0 left_z=0.1583 left_yaw=0.0017 left_pitch=-0.1366 left_roll=0.0 left_gripper=0.9989 right_x=0.2964 right_y=0.3349 right_z=0.1432 right_yaw=0.2027 right_pitch=0.0204 right_roll=-0.2311 right_gripper=0.9936\nstate[joint_eff]: [-0.253, -1.5658, 6.9949, 1.5897, -0.0269, -0.0366, -0.0171, 0.1846, -8.3487, 7.9932, 1.2479, 0.5299, 0.1538, 0.1099]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8528, 0.6415, -0.4946, -0.0135, -0.0338, 0.9989, 1.1152, 2.0003, 0.9634, 0.234, 0.6979, 0.6243, 0.9937]\nstate[eef_state]: left_x=0.2864 left_y=-0.0001 left_z=0.1582 left_yaw=0.0016 left_pitch=-0.1369 left_roll=-0.0005 left_gripper=0.9989 right_x=0.2963 right_y=0.3549 right_z=0.024 right_yaw=0.211 right_pitch=-0.0161 right_roll=0.0446 right_gripper=0.9937\nstate[joint_eff]: [0.0068, -1.4427, 6.9675, 1.5751, -0.0366, -0.0464, -0.0122, -0.4034, -9.5111, 4.8752, 1.5751, 0.2808, 0.1538, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1df48e7519154b4f661a900b8674635ded69f018e3b0a8b940b4dd6df318f6e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fd2d7df3b061ec1b45387897051f44770bd4dd534239ba3a403ce86e9855d98",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16a7227e48d479961f2c84a5f3c37912ed40d02d8e3dffd9c5f74e83f5a36655",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHKAXXoEgA86JKk_X6_OR3GTPoSa_j2UNentA2PNt4M4bEC2JPX_0cheMgblhccGefedVNVs056_JJhkijzZo7-FL7AmgI4RQ7pU3YqaXsu_gOmwqmkyg0avhMCawZgfKvtAAR1J9BAiYBk3ewru1fgJrQz_1Q1IxxZRxGzNqdugUfccZ7WGzoGX9d1RbbguDRC8FVOLLNWgGULhhcBFGvPpTk_ESqlUOfGH33rZbyY353Gf98Au_P-Hc8wW0xFziPyBmHCEeDG9C6VRo2YhdWNVGrWkaJ0H49wpHV4cpGQOKKqTFqngxutwcvXN_MCK6U0aci5B0Nlv-fu06in73GzViVEbSpGgFROogG5sIvdw0loVbDItMOwyZYzvgLCp-oR51QnowsqfXCvpow1HlTeXR4fdJLrv4sRM5FIkiXV9fqMv1gSxEU0AF3rHXni6nBlQdtiS6TutiGLdD7ddjb8kVW3ZRmmagduD-IJSQgUPMyJMEgO9l8yGR7uga483Nsjhb1_g0YLzchZz6hRb08AIFEvTmySbY0pGmxkGegMiAyuIlmqHKR5OzJ5bDx3G2TV6-U1qRnNjYRWDJPBeSZUVJgrQmUtK1fulWqrgFgtWuBUrtoSdC0h5TtiI7wDWz6R4sVoNG0yyhkyicTaA-19Nth9gOgHg3FjTRr1VRZgpRu5lSljtBrbn4NejSedep_6VftmSeTyZTdZJ1L0VfG3RfyO85p2HWGVRMWyOMqyaOAjRUJ_MkpYAwWAL-LlA1yC97BFRKYsApfQDEZbzV24OiESp7I1hZZV8SNwjMEBCt95YnI3YLwYPbN80SUT2o2HBwz_hcZKCELvdzgMsQ_aMVCRVU0UvrxnheaFIBf7p6XATyMDzJglh2yH-mdF4QDNYhpxH71Ng0N2KFz3jPUtsP-NRTX7OZ-9UZGQUMEYw0n9ZWu7_eWP2CZyt2Bq7XfBVVP6-kwKWQolSXBjW0HHYEraffUemyXNXxzfqOyZANY0tS4YAfpRlsRa7ZIO2rAACuV6c2eeG3-cqaIwnor1CRuZpCEIRPYdquEgSoH_PN_WEbR7Vqsb3VoNDgUiixRE14fiGniH0dki40tQLExc74sShHGB4kq-RScgD9H87S9uyxHlt9NXujS8XNd9BHUUlR2oE6LP8Xmn7KBhKIl9a3bYvxc77TMu4UIM4KLKMaPD5l9IEylIC8hS5DW-tCYOHgjuNV7lBVLx_Xbdwt-dNePSjgzi9Vvr7vsiqsSHdMZBQUCEiTm4_b8ELKHi8i-vHuw7AjIw-qkoAXwIZ6k0MVLkKvpGhLCnp5NL4Zf5ZfYQpECNc2WdEgupo1U0HcDPPch4foaBNQFbcx07GfIjnzV9DcuPLRrBk4ufIqKkWqEqUIGiJIhhWfEpFXGKMNmlM",
  "id": "rs_0f7486bd42e7710a016ab4727e631087d0a7cf34daf249bb30",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.315,\"right_gripper\":0},\"note\":\"The dark fruit is centered between the jaws but slightly forward of the grasp point. I will advance a little and close around it.\"}",
  "call_id": "call_0PQriSPrKkqz3wOAKj66J1qC",
  "id": "fc_0f7486bd42e7710a016ab4727f597087d08b340aa149b3fbc2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0PQriSPrKkqz3wOAKj66J1qC",
  "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, 0.8581, 0.6415, -0.4984, -0.0139, -0.0338, 0.9989, 1.0733, 2.0285, 0.9676, 0.242, 0.667, 0.5865, 0.5204]\nstate[eef_state]: left_x=0.286 left_y=-0.0 left_z=0.1561 left_yaw=0.002 left_pitch=-0.1461 left_roll=-0.0 left_gripper=0.9989 right_x=0.3083 right_y=0.3462 right_z=0.0119 right_yaw=0.2107 right_pitch=-0.0431 right_roll=0.0151 right_gripper=0.5204\nstate[joint_eff]: [-0.1026, -1.8803, 7.1453, 1.6044, -0.0806, -0.0757, -0.0122, -0.5265, -10.0581, 7.4872, 1.4725, 0.2808, 0.0171, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bbbf7a52fb22e3054755d97619ca8a82fe184359b762e13885a489a981c21cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16c2c35b6348aabc07e52734721b3db04491f41637f2246174f1ce4516798e14",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d55eacf94ecd05b04a0c259a1c7adfb37a2c6ea1312b91ee16f1919894e3049d",
      "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 19 attempt 0 · /responses · status 200 · 8.7 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 58 changed as sent

message 66 changed as sent

message 70 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0208, 0.8516, 0.6415, -0.4946, -0.0135, -0.0338, 0.9989, 0.5102, 1.6474, 0.7925, 0.2871, 0.4236, -0.009, 0.9924]\nstate[eef_state]: left_x=0.2863 left_y=0.0 left_z=0.1585 left_yaw=0.002 left_pitch=-0.1358 left_roll=-0.0005 left_gripper=0.9989 right_x=0.4188 right_y=0.1553 right_z=0.1056 right_yaw=0.1557 right_pitch=0.0405 right_roll=-0.217 right_gripper=0.9924\nstate[joint_eff]: [0.0068, -1.4838, 6.9402, 1.5995, -0.0171, -0.0513, -0.0073, -0.1846, -7.8154, 6.653, 1.8095, 0.1538, 0.0024, 0.1538]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8528, 0.6415, -0.4946, -0.0135, -0.0338, 0.9989, 1.1152, 2.0003, 0.9634, 0.234, 0.6979, 0.6243, 0.9937]\nstate[eef_state]: left_x=0.2864 left_y=-0.0001 left_z=0.1582 left_yaw=0.0016 left_pitch=-0.1369 left_roll=-0.0005 left_gripper=0.9989 right_x=0.2963 right_y=0.3549 right_z=0.024 right_yaw=0.211 right_pitch=-0.0161 right_roll=0.0446 right_gripper=0.9937\nstate[joint_eff]: [0.0068, -1.4427, 6.9675, 1.5751, -0.0366, -0.0464, -0.0122, -0.4034, -9.5111, 4.8752, 1.5751, 0.2808, 0.1538, 0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8581, 0.6415, -0.4984, -0.0139, -0.0338, 0.9989, 1.0733, 2.0285, 0.9676, 0.242, 0.667, 0.5865, 0.5204]\nstate[eef_state]: left_x=0.286 left_y=-0.0 left_z=0.1561 left_yaw=0.002 left_pitch=-0.1461 left_roll=-0.0 left_gripper=0.9989 right_x=0.3083 right_y=0.3462 right_z=0.0119 right_yaw=0.2107 right_pitch=-0.0431 right_roll=0.0151 right_gripper=0.5204\nstate[joint_eff]: [-0.1026, -1.8803, 7.1453, 1.6044, -0.0806, -0.0757, -0.0122, -0.5265, -10.0581, 7.4872, 1.4725, 0.2808, 0.0171, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bbbf7a52fb22e3054755d97619ca8a82fe184359b762e13885a489a981c21cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16c2c35b6348aabc07e52734721b3db04491f41637f2246174f1ce4516798e14",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d55eacf94ecd05b04a0c259a1c7adfb37a2c6ea1312b91ee16f1919894e3049d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"right_z\":0.09},\"note\":\"The gripper has closed to about five centimeters around the dark fruit. I will make a short lift to check that it is held.\"}",
  "call_id": "call_sfm3A9qZ7pcgWDBYz1s4Qkq6",
  "id": "fc_0f7486bd42e7710a016ab47282e8b887d0a50c8a323757ab20",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sfm3A9qZ7pcgWDBYz1s4Qkq6",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8642, 0.6411, -0.5114, -0.0135, -0.0338, 0.9989, 1.071, 1.8725, 1.0473, -0.0147, 0.6537, 0.5835, 0.5247]\nstate[eef_state]: left_x=0.2841 left_y=-0.0 left_z=0.1519 left_yaw=0.0017 left_pitch=-0.1655 left_roll=0.0001 left_gripper=0.9989 right_x=0.3064 right_y=0.3445 right_z=0.0684 right_yaw=0.2185 right_pitch=-0.0642 right_roll=0.0032 right_gripper=0.5247\nstate[joint_eff]: [-0.1026, -1.6068, 6.9675, 1.7753, -0.022, -0.0464, -0.0171, -0.1846, -11.2342, 8.0068, 1.4481, 0.3687, -0.0171, 0.9011]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b28db592752ac5bfd3368ba47aa9c192572a68a7d6265788ac257defeb0903eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0e13c9fc7b5dc1a6c0206958962cbec1b3f216f3e50c87b1b326aa0c26f1813",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04046da91c861096635cf04cab34f78d046904c856838772b06beea7a03092da",
      "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 · 2.228 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 62 changed as sent

message 70 changed as sent

message 73 changed as sent

message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.852, 0.6415, -0.495, -0.0139, -0.0334, 0.9989, 1.1446, 1.7809, 1.2064, -0.3271, 0.87, 0.4835, 0.9936]\nstate[eef_state]: left_x=0.2863 left_y=-0.0 left_z=0.1583 left_yaw=0.0017 left_pitch=-0.1366 left_roll=0.0 left_gripper=0.9989 right_x=0.2964 right_y=0.3349 right_z=0.1432 right_yaw=0.2027 right_pitch=0.0204 right_roll=-0.2311 right_gripper=0.9936\nstate[joint_eff]: [-0.253, -1.5658, 6.9949, 1.5897, -0.0269, -0.0366, -0.0171, 0.1846, -8.3487, 7.9932, 1.2479, 0.5299, 0.1538, 0.1099]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8581, 0.6415, -0.4984, -0.0139, -0.0338, 0.9989, 1.0733, 2.0285, 0.9676, 0.242, 0.667, 0.5865, 0.5204]\nstate[eef_state]: left_x=0.286 left_y=-0.0 left_z=0.1561 left_yaw=0.002 left_pitch=-0.1461 left_roll=-0.0 left_gripper=0.9989 right_x=0.3083 right_y=0.3462 right_z=0.0119 right_yaw=0.2107 right_pitch=-0.0431 right_roll=0.0151 right_gripper=0.5204\nstate[joint_eff]: [-0.1026, -1.8803, 7.1453, 1.6044, -0.0806, -0.0757, -0.0122, -0.5265, -10.0581, 7.4872, 1.4725, 0.2808, 0.0171, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8642, 0.6411, -0.5114, -0.0135, -0.0338, 0.9989, 1.071, 1.8725, 1.0473, -0.0147, 0.6537, 0.5835, 0.5247]\nstate[eef_state]: left_x=0.2841 left_y=-0.0 left_z=0.1519 left_yaw=0.0017 left_pitch=-0.1655 left_roll=0.0001 left_gripper=0.9989 right_x=0.3064 right_y=0.3445 right_z=0.0684 right_yaw=0.2185 right_pitch=-0.0642 right_roll=0.0032 right_gripper=0.5247\nstate[joint_eff]: [-0.1026, -1.6068, 6.9675, 1.7753, -0.022, -0.0464, -0.0171, -0.1846, -11.2342, 8.0068, 1.4481, 0.3687, -0.0171, 0.9011]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b28db592752ac5bfd3368ba47aa9c192572a68a7d6265788ac257defeb0903eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0e13c9fc7b5dc1a6c0206958962cbec1b3f216f3e50c87b1b326aa0c26f1813",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04046da91c861096635cf04cab34f78d046904c856838772b06beea7a03092da",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHKOBMxyMcJcanljW3P-hvHaCeGGvAQ8xIwCAcW3mIC88nx2ORUvBpWnRP9VkYkQBDw-PZur-D_Nz6J0dONNelX3oDCM1_ZvVJxXG8V3Hg5Ja8zp2QSVv8BwGWwViJGeo2UoV8uk_hByQxf9p5pDs09Kh066A3u6qfDvL6ieSDH_nadCpJBTC6wahZcVfH3xv3hn_fGEQvUboII_Pb9Ckhm0xmFWJXroWNTwJlO8Wn47esTh52g14GSECgeEgcqBWRiCwtCuL0-3lybRJyRq6bwQyKw_LRuGyONWmkYcQmCmBsRr3zhiHasNl9kSK7JZvey0zC1bpoUys7omBzO0SZpR0NDzok3XZqcSRVwVRckJu27ke095wnAdkSIlJqD_Ds6YDuIuw9BKIlDB7WAXyaztZE-1uXhmK8OvkJrs1RrU14iPemCdIdsVkEDqicXyjASQ-LpJWIU-P7Po5J99HFCfBxcMz_8hxX9DkPUdA7co9zugVP9j2l3qiWgxyJS5M8R-5RVFFrvOT5iE_s9jgKZ8E4aOCP7liemuBuIXkHLF23cM9ZHmbjNiMy5IQxpGCiSZIS-NqXyqAaZvnHrRpXyNn8SBAIKSHPJ5DGxOiojKfv5tjzXb_-F6dX2SZBd2457em2C_a_50sl12WS12DiGVa-qzY154MsTEU2unC1KgdG8R-KZ14R7K22KUyYzmykkICRTStgUdVBlb41roXrV-eXWkP0uW_LjlvmaGpMGFSfl2J8bTPQCoGIeGp2bsYUQKOONOkmuL5bv6iY6dc881iL4urALOo2lm3ri4VFUqG_aXiSeGMMZyp4T7VS-P9Nw87KfAjCiTMSNWHAEgdPYkXKZ6u80p4DCzUMefgNkGljtHeaAnTk4-oH8pk8FtwJnDkdE6yyj_O6_c4VMLjpvWvEc42DYftnKtpv_UsWWjE1NI3U6c0V8OSfqc3I7wldfgvXQi2BRuEDADs217bOo00TnfKy2X03OfojhPRy2fGHP8qE_CyuS8p9RdFekOkyzYkGOoi-XzzVqtK1PSDwksUJW5AbPv7FHjwihi4zrffQor2R8UTF6MMfBR2_XNYQxOdbiCvnAIqRFBPCmGYJLxcRz0cQlsSOSpmQ98u3oMjn_Egc6UGdLSqwOgYVV0d9LoJzB6uVIW68cUr_ClwpHzJBeblKxFLlAJIfOlUTnSKPiIHZw08La_QB2WzVzkATL5b5iemJ_-NC_I8_RZf5ijw4fldHBTC_PlElE4peXHzvfa_9YCRt--0-hjyS26hiCQf3EI1tcUOQN5wVLDqWWbjIP3hdlEIhRhQTl4IwfFpuQjIYOLSL3YKsuQPS_qHrYz5ceH9LHOjfHFkTYsixQLWD09gwVOrQjCn-KiAqlaWZc-S1StEKwz9m4QL7mCumQvamtWUfMeoR_0gqRzmjKI2U_ca5DtkVOrTQNpHRlfpnLikxOr3ojxpZLX8GRFhnvgHkkBg_SOW7cLK0VCR7CgNmI88UmZc17KaD6BGDWDkd6mPra2aA5boipqfwE245EoRMN9uwrdSqonDJ9PyjFP6FzYtpJjcPYYaIbFokSreu9z40rfLenlMGAdfUZFBudu-A_P96TF9w8r3egcP3kvtvbQi9PJGfLBY9JUtTCkO7LhUJAa7717kvdBEpT5iJfEiWyciuwOxqAmaDMpS0G_NS6Y5LavRR0eFDOCCiKhCGJxtThBEN6FP5PpKD0Z-mItAd2v2DbEt0TMnH_liWgHos_9F5Zt3D87k03g_wesfszcO7poayVGN7USS_jG2Bbv9VhBIlhYikrNrI-bVXeJz6DAyALmCx3nhH7s5Si1iBAa2oKNcLU-QKbYC6ccI4rwi6ZgQauRvoL3t3gJVFWDb6-VbQGdB2Ez45sfmZJPzENrnTxt8ojTkT3CraYigDjebV9Y6RySQh96YpTzNt8LWLc37N8rmTi17b7-ywW3WysE3m0EjVCR1rfEirLROwofI0A6m4IALLz3PP6QfAr5lWRBdI9zoFwFrVdwjOuzCvgmtvxgV2tajGiOiTDaO-748cy5tiVHU_d5UflN2-hvezHRkSdZqk_1x30KRlUbdaA6rxjdAcdbg-vAXW9EbipiSf5RE0YnMX8-96ASbRetPrTcNTU5fnyxeEIme4a01aTj_EnuYnPFV_jHJm6P33gimX1bPivoM3Vspj3V3gir4Bw4C4K45lkvWqGZ_GRypbM3lOrYRxLKLv1cothlhEey1LWArwiJXIBgD3-CEhxzeiHGCcKnkbuti7k0FUE31eXqKjS1-sDyBOvrUZOujmSqC2p-gQCEORG3-HAwXOHOZRKu_rl3DMr3EWBeavnz0m4Ix_xUdCnNUTeCXmtbaMrfTVYuajvizB-ncRpiW5tmp1Zwp_vxIAgHldvJhMSfKGwRnCl8O_MkdRonrCPvamnQHUW1IOoYdks1DLljKF-CRJlRlVbY7gpSNYdsH4Fj2UFzGm0zLfc9X-YFC-KWjjlBBq-Bs2qz3EmthuVbL93acRgsGgkWuSSkRDyxsA3UmoAmduTOAe6u7iaiZe7ATGPNAOO5BiBYKNUFh33ppHhaJT1zh6CiupbQt1yeJQ0WfNyZVj2PDJNSLAD8zbZABregZ_7QgcKLOi2d8n2pwP_eYdj_BRgz-6UOnBlyVeKpdAsWiS1-qDi4bL7eZ5W2BpEjJCLSQC-M90hJ2IWUfFwT-A==",
  "id": "rs_0f7486bd42e7710a016ab4728786a087d08e31dd2534e244fc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.423,\"right_y\":0.175,\"right_z\":0.21},\"note\":\"The dark fruit has lifted with the gripper, leaving the table clear of fruit. I will carry it over the blue bowl to join the other two.\"}",
  "call_id": "call_tMvX2VF4LCuFX34wGeANK1nQ",
  "id": "fc_0f7486bd42e7710a016ab4728d3b2887d0bb375f8add416d9e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tMvX2VF4LCuFX34wGeANK1nQ",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "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, 0.865, 0.6411, -0.5171, -0.0135, -0.0338, 0.9989, 0.4755, 1.565, 1.1763, -0.3206, 0.2287, 0.1566, 0.5267]\nstate[eef_state]: left_x=0.2831 left_y=-0.0 left_z=0.1506 left_yaw=0.0018 left_pitch=-0.172 left_roll=0.0003 left_gripper=0.9989 right_x=0.4183 right_y=0.1744 right_z=0.1811 right_yaw=0.1919 right_pitch=-0.1192 right_roll=-0.0147 right_gripper=0.5267\nstate[joint_eff]: [-0.0479, -1.5248, 6.9128, 1.619, -0.0171, -0.0415, -0.0122, -0.1846, -9.7299, 9.9077, 1.7558, -0.0317, 0.0073, 0.9158]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7dcfeb924d487c5df66776211c5afd60c20f02bf6c9e2279c4ad2cb72d21a18d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1eec775dea18f4b2ec59b224e79ee7c817a4c88dfccdf936f0e622051246981f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00478eec2c57737bea9173fa8f8c4aba45c6b46109ffe8cb5233b06466f7984a",
      "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 21 attempt 0 · /responses · status 200 · 2.488 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 66 changed as sent

message 73 changed as sent

message 77 changed as sent

message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8528, 0.6415, -0.4946, -0.0135, -0.0338, 0.9989, 1.1152, 2.0003, 0.9634, 0.234, 0.6979, 0.6243, 0.9937]\nstate[eef_state]: left_x=0.2864 left_y=-0.0001 left_z=0.1582 left_yaw=0.0016 left_pitch=-0.1369 left_roll=-0.0005 left_gripper=0.9989 right_x=0.2963 right_y=0.3549 right_z=0.024 right_yaw=0.211 right_pitch=-0.0161 right_roll=0.0446 right_gripper=0.9937\nstate[joint_eff]: [0.0068, -1.4427, 6.9675, 1.5751, -0.0366, -0.0464, -0.0122, -0.4034, -9.5111, 4.8752, 1.5751, 0.2808, 0.1538, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8642, 0.6411, -0.5114, -0.0135, -0.0338, 0.9989, 1.071, 1.8725, 1.0473, -0.0147, 0.6537, 0.5835, 0.5247]\nstate[eef_state]: left_x=0.2841 left_y=-0.0 left_z=0.1519 left_yaw=0.0017 left_pitch=-0.1655 left_roll=0.0001 left_gripper=0.9989 right_x=0.3064 right_y=0.3445 right_z=0.0684 right_yaw=0.2185 right_pitch=-0.0642 right_roll=0.0032 right_gripper=0.5247\nstate[joint_eff]: [-0.1026, -1.6068, 6.9675, 1.7753, -0.022, -0.0464, -0.0171, -0.1846, -11.2342, 8.0068, 1.4481, 0.3687, -0.0171, 0.9011]\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 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.865, 0.6411, -0.5171, -0.0135, -0.0338, 0.9989, 0.4755, 1.565, 1.1763, -0.3206, 0.2287, 0.1566, 0.5267]\nstate[eef_state]: left_x=0.2831 left_y=-0.0 left_z=0.1506 left_yaw=0.0018 left_pitch=-0.172 left_roll=0.0003 left_gripper=0.9989 right_x=0.4183 right_y=0.1744 right_z=0.1811 right_yaw=0.1919 right_pitch=-0.1192 right_roll=-0.0147 right_gripper=0.5267\nstate[joint_eff]: [-0.0479, -1.5248, 6.9128, 1.619, -0.0171, -0.0415, -0.0122, -0.1846, -9.7299, 9.9077, 1.7558, -0.0317, 0.0073, 0.9158]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7dcfeb924d487c5df66776211c5afd60c20f02bf6c9e2279c4ad2cb72d21a18d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1eec775dea18f4b2ec59b224e79ee7c817a4c88dfccdf936f0e622051246981f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00478eec2c57737bea9173fa8f8c4aba45c6b46109ffe8cb5233b06466f7984a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"right_z\":0.125},\"note\":\"The dark fruit is over the near side of the blue bowl, beside the other fruits. I will lower it carefully before opening the gripper.\"}",
  "call_id": "call_FngQbiUTxV22RqQ6h8k8eKT6",
  "id": "fc_0f7486bd42e7710a016ab47290c9c087d099823ee85771723a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FngQbiUTxV22RqQ6h8k8eKT6",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.865, 0.6411, -0.5205, -0.0135, -0.0338, 0.9989, 0.4751, 1.6184, 1.0142, -0.1902, 0.2119, 0.1413, 0.53]\nstate[eef_state]: left_x=0.2826 left_y=-0.0 left_z=0.15 left_yaw=0.0018 left_pitch=-0.1755 left_roll=0.0004 left_gripper=0.9989 right_x=0.4052 right_y=0.1707 right_z=0.1128 right_yaw=0.2101 right_pitch=-0.2045 right_roll=-0.0384 right_gripper=0.53\nstate[joint_eff]: [-0.212, -1.4838, 6.8855, 1.6435, -0.0464, -0.0317, -0.0122, -0.1026, -7.9111, 7.3504, 2.21, 0.1978, 0.0855, 0.7692]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcb57908df0cb69e6be78c5cbdd045518df76c312334e0d1039da08ba12a3464",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:472703d537e5723a4f3a895aac6387e42da512a450d0843e6b50deb55bc09f99",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab04ac34754d60ac093a9c64cf07160ceef521ca6e2fde0ba1262c4f94258ae7",
      "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 · 5.481 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 70 changed as sent

message 77 changed as sent

message 80 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8581, 0.6415, -0.4984, -0.0139, -0.0338, 0.9989, 1.0733, 2.0285, 0.9676, 0.242, 0.667, 0.5865, 0.5204]\nstate[eef_state]: left_x=0.286 left_y=-0.0 left_z=0.1561 left_yaw=0.002 left_pitch=-0.1461 left_roll=-0.0 left_gripper=0.9989 right_x=0.3083 right_y=0.3462 right_z=0.0119 right_yaw=0.2107 right_pitch=-0.0431 right_roll=0.0151 right_gripper=0.5204\nstate[joint_eff]: [-0.1026, -1.8803, 7.1453, 1.6044, -0.0806, -0.0757, -0.0122, -0.5265, -10.0581, 7.4872, 1.4725, 0.2808, 0.0171, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.865, 0.6411, -0.5171, -0.0135, -0.0338, 0.9989, 0.4755, 1.565, 1.1763, -0.3206, 0.2287, 0.1566, 0.5267]\nstate[eef_state]: left_x=0.2831 left_y=-0.0 left_z=0.1506 left_yaw=0.0018 left_pitch=-0.172 left_roll=0.0003 left_gripper=0.9989 right_x=0.4183 right_y=0.1744 right_z=0.1811 right_yaw=0.1919 right_pitch=-0.1192 right_roll=-0.0147 right_gripper=0.5267\nstate[joint_eff]: [-0.0479, -1.5248, 6.9128, 1.619, -0.0171, -0.0415, -0.0122, -0.1846, -9.7299, 9.9077, 1.7558, -0.0317, 0.0073, 0.9158]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.6411, -0.5205, -0.0135, -0.0338, 0.9989, 0.4751, 1.6184, 1.0142, -0.1902, 0.2119, 0.1413, 0.53]\nstate[eef_state]: left_x=0.2826 left_y=-0.0 left_z=0.15 left_yaw=0.0018 left_pitch=-0.1755 left_roll=0.0004 left_gripper=0.9989 right_x=0.4052 right_y=0.1707 right_z=0.1128 right_yaw=0.2101 right_pitch=-0.2045 right_roll=-0.0384 right_gripper=0.53\nstate[joint_eff]: [-0.212, -1.4838, 6.8855, 1.6435, -0.0464, -0.0317, -0.0122, -0.1026, -7.9111, 7.3504, 2.21, 0.1978, 0.0855, 0.7692]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcb57908df0cb69e6be78c5cbdd045518df76c312334e0d1039da08ba12a3464",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:472703d537e5723a4f3a895aac6387e42da512a450d0843e6b50deb55bc09f99",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab04ac34754d60ac093a9c64cf07160ceef521ca6e2fde0ba1262c4f94258ae7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The dark fruit is positioned in the blue bowl's opening. I will release it, completing the first stage before lifting the bowl.\"}",
  "call_id": "call_TqfIOyucAdW6OKBvidVbytVF",
  "id": "fc_0f7486bd42e7710a016ab47293a78c87d0bceb7ecd0d727dbf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TqfIOyucAdW6OKBvidVbytVF",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.865, 0.6411, -0.5209, -0.0135, -0.0338, 0.9989, 0.4759, 1.6329, 1.0, -0.1898, 0.2077, 0.1379, 0.9956]\nstate[eef_state]: left_x=0.2825 left_y=-0.0 left_z=0.1499 left_yaw=0.0018 left_pitch=-0.1758 left_roll=0.0004 left_gripper=0.9989 right_x=0.4015 right_y=0.17 right_z=0.101 right_yaw=0.2147 right_pitch=-0.2326 right_roll=-0.0454 right_gripper=0.9956\nstate[joint_eff]: [-0.0889, -1.6068, 6.9949, 1.5507, -0.0415, -0.0464, -0.0122, -0.212, -8.9094, 7.5966, 1.4579, 0.0708, -0.0366, -0.1294]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:357f9952d2bfe483d16f8418ce6a13c06d414e847256c13819ab5a7b31f96461",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:237ccb7d240646929ffa9f8fb2ca259615b299837af86f04f904c5bc36bb4f57",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e31539368adaaaaf61fe80460ee67c8871cd38990452adbb2c11699e65bc565",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 23 attempt 0 · /responses · status 200 · 5.251 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 73 changed as sent

message 80 changed as sent

message 83 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8642, 0.6411, -0.5114, -0.0135, -0.0338, 0.9989, 1.071, 1.8725, 1.0473, -0.0147, 0.6537, 0.5835, 0.5247]\nstate[eef_state]: left_x=0.2841 left_y=-0.0 left_z=0.1519 left_yaw=0.0017 left_pitch=-0.1655 left_roll=0.0001 left_gripper=0.9989 right_x=0.3064 right_y=0.3445 right_z=0.0684 right_yaw=0.2185 right_pitch=-0.0642 right_roll=0.0032 right_gripper=0.5247\nstate[joint_eff]: [-0.1026, -1.6068, 6.9675, 1.7753, -0.022, -0.0464, -0.0171, -0.1846, -11.2342, 8.0068, 1.4481, 0.3687, -0.0171, 0.9011]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.6411, -0.5205, -0.0135, -0.0338, 0.9989, 0.4751, 1.6184, 1.0142, -0.1902, 0.2119, 0.1413, 0.53]\nstate[eef_state]: left_x=0.2826 left_y=-0.0 left_z=0.15 left_yaw=0.0018 left_pitch=-0.1755 left_roll=0.0004 left_gripper=0.9989 right_x=0.4052 right_y=0.1707 right_z=0.1128 right_yaw=0.2101 right_pitch=-0.2045 right_roll=-0.0384 right_gripper=0.53\nstate[joint_eff]: [-0.212, -1.4838, 6.8855, 1.6435, -0.0464, -0.0317, -0.0122, -0.1026, -7.9111, 7.3504, 2.21, 0.1978, 0.0855, 0.7692]\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 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.6411, -0.5209, -0.0135, -0.0338, 0.9989, 0.4759, 1.6329, 1.0, -0.1898, 0.2077, 0.1379, 0.9956]\nstate[eef_state]: left_x=0.2825 left_y=-0.0 left_z=0.1499 left_yaw=0.0018 left_pitch=-0.1758 left_roll=0.0004 left_gripper=0.9989 right_x=0.4015 right_y=0.17 right_z=0.101 right_yaw=0.2147 right_pitch=-0.2326 right_roll=-0.0454 right_gripper=0.9956\nstate[joint_eff]: [-0.0889, -1.6068, 6.9949, 1.5507, -0.0415, -0.0464, -0.0122, -0.212, -8.9094, 7.5966, 1.4579, 0.0708, -0.0366, -0.1294]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:357f9952d2bfe483d16f8418ce6a13c06d414e847256c13819ab5a7b31f96461",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:237ccb7d240646929ffa9f8fb2ca259615b299837af86f04f904c5bc36bb4f57",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e31539368adaaaaf61fe80460ee67c8871cd38990452adbb2c11699e65bc565",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHKaA4seQ8V1gSIjs8Vx1y0f-Co-zruQUBkQlInYlZzoS9D1JU2Tu8LGog5R2ShRgAWFXlbRe4snUy_apR0H5ny9cPv3sDG5alMqxWsB-uZ6AzxLBm7QAdP38EwnbypRIFlYRtL3NM84pxXQL6zuuIpx5A0_FhpwK--ETTe6-6fg-1NjX5y88ptuwSzN1Y0qhfu8I8iTJYlWy9GqUSrQh90V0M7LQv_nSqz0BusXHV0fM1Bn71WUd9nXWRYP0EAwIZOjUWgP7fK3VjMsGg0juaL_QVOEjuerQQ6YfelU1MGiXbF818Pm4S-VWoPgalYrmm3EoSzmsjO8C6btsUEVjzM5F6G0Mk2bEzr2tNCo4_tVmDrBeOh1uNvi9bDFMFgBWKBp1YQKLdRvmmioOa3ELEyDe0JK4FGfbeRarQZA0OQrdnWyb8anxAasTmIxBM6EIiYGcUSTC4-7XPgtb4Ll1ECXEXLoPyHUSY1ovGvxJOhxbjlOKfM9vqBhYBYtexA1B2KbmWpTls0Kfk3AhWZSPQfCpIk-UdCtA6sKUldRORZYsgYmhv0WNL83nn6HFN7JyPCZQN3lna2WjQ5S1Su4AJMIt2x0s9avOq0tN-t2eOc69wtmCbqWw8P1sUcWpsonKJ8RDfez8ZmAGMAEu2pPsWiMtzsDeIjdrgVwyfWI7KCClLBeCN_F_iB0EIiJHKbq-TgniadBRn8vHYNhUkD5XuZKraOlMOYjhGJ4-85V5hkcMe5p4bTCUxy4H013gVjXWi5R1kPOeip7YWdjbgMxZT3VzpjKqwXFWy20MGmFWxEXgXY9tFTRmskAKV4nftkovRJ5fzrN_MSF9hzhgjxQcXGIggfhiWgSkzltjics8KsS_97zGUawcAe6VZk7Z1hDca--Le1abxPynnYOGLspBIpff5VYcGKL4V-Ap9d1xlHI5OdhBY2D0DaKYxQKBVKEuI_RbGmGK5gwn6ejPd6jYFF7ZoOMo-nYnPyz15NU36jUcEM0KgBvwwfC9RCLlAPed3gTNP6VSXC0OOaeSlKyB3MC6woSiZI9tgP25UXExOuQmoMbeTyjp1ky6IyH00jsamhsg8is3Z84qquRyjUTuNjvMgb0z_qfyP6BUkfKqnF3Lil3GIggXOyy4RXBqXrs0PoZojx_3k5L-4aZ7TctmH7A899iVE0pS-lMJGKjm-Ed04gADfvtpeoGZg_lIPsyMV_ro0PMvLCPV02ULCKpOud8oMsjoYhWudQPOXaMbF7KQhy-qLkS8s_fCM2aYMVUV7-K0FAPKWPuLDqMCShHKdMYvTwfA1NDo87eAyoSkKQ1VD1lVeI9_8NuiI97mIVQQ9bKjSIvbBKD_vmsVjRh6cdN_MZ2f_jBwvV6WfazzEbgUyngvjGq0Fam8vI7LIKGwuXMOIvnAAcuQNLPEDBRgXuoBj_rFC-oGmrJsJpmMBpR-oj9fBRpB-t3ZqsBj8IRbum5PNZOQ1BPBfJ7HgqwwFguO9tPcXAxzAA5CiFtg-cV5Q9RGVGNcnUQ0ZUB5K5qTr-n_g0tWxkIk1u85_Tqy5BVJcLo5dhuLNvWMpDP1SUYLmuxbKYiX8hkXKMq415uZliauBilOWJUs9hJiXA78S1sgfldIRcG3mzKCRhznrZJ0llo59LOg5tbe_d438AMDRW2V9nCON4O9SZjw7x9ikuHisuOa0Khn5cDVsm0hEVCijnutGQDH42kSVgTNoLywQHvnK_pWfrOAMy1hRy7qLOTWMIrlg5-aRGLbCvV1t_Xm7Knzwy9ceiV03HcuNzakvWF42JyWV30errZIDWEk6V9-sdDSP9W1VPHdwnzP1_xD4tLG9d9f_lxwz8vzOhBu4XFviXoVfT1ss6fxtuNNeSEM4sYGZbt9ajGHWFZJo92Ql8oTu0I32V74DSPZnQIKVna",
  "id": "rs_0f7486bd42e7710a016ab472967da087d0a619e7b625287c26",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_y\":0.085,\"right_z\":0.16,\"right_pitch\":0.35,\"right_roll\":0.15},\"note\":\"All three fruits are visible together in the blue bowl. I will raise the gripper and move to the bowl's right rim so I can grasp and pour the bowl itself.\"}",
  "call_id": "call_agLeYVqPCLcftXH8xjWqQ9ys",
  "id": "fc_0f7486bd42e7710a016ab4729907c487d08d3386dae8e2fdba",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_agLeYVqPCLcftXH8xjWqQ9ys",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0208, 0.8696, 0.6411, -0.5209, -0.0139, -0.0338, 0.9989, 0.1287, 1.4944, 0.5636, 0.6388, -0.1402, 0.078, 0.9965]\nstate[eef_state]: left_x=0.2827 left_y=0.0002 left_z=0.1487 left_yaw=0.0025 left_pitch=-0.1804 left_roll=0.0008 left_gripper=0.9989 right_x=0.422 right_y=0.0831 right_z=0.1442 right_yaw=0.2027 right_pitch=0.2746 right_roll=0.1346 right_gripper=0.9965\nstate[joint_eff]: [-0.0068, -1.6752, 6.9538, 1.5995, -0.0366, -0.0464, -0.0122, -0.3214, -5.4632, 5.8188, 2.2002, -0.1538, 0.1392, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd4b1de0d1f07c5b18fcb9752508e75aa71afd38fa2935fb6db11f429933b5c7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f583c341ba0775589b4de713bd01a00c7fe7d59ed7ed8d0e15ae57d6cbc3a520",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b20fa0441d902a0aea58ae88efdf46695d4d6556b805aeebd6cbd0d832339856",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 5.525 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 77 changed as sent

message 83 changed as sent

message 87 changed as sent

message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.865, 0.6411, -0.5171, -0.0135, -0.0338, 0.9989, 0.4755, 1.565, 1.1763, -0.3206, 0.2287, 0.1566, 0.5267]\nstate[eef_state]: left_x=0.2831 left_y=-0.0 left_z=0.1506 left_yaw=0.0018 left_pitch=-0.172 left_roll=0.0003 left_gripper=0.9989 right_x=0.4183 right_y=0.1744 right_z=0.1811 right_yaw=0.1919 right_pitch=-0.1192 right_roll=-0.0147 right_gripper=0.5267\nstate[joint_eff]: [-0.0479, -1.5248, 6.9128, 1.619, -0.0171, -0.0415, -0.0122, -0.1846, -9.7299, 9.9077, 1.7558, -0.0317, 0.0073, 0.9158]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.6411, -0.5209, -0.0135, -0.0338, 0.9989, 0.4759, 1.6329, 1.0, -0.1898, 0.2077, 0.1379, 0.9956]\nstate[eef_state]: left_x=0.2825 left_y=-0.0 left_z=0.1499 left_yaw=0.0018 left_pitch=-0.1758 left_roll=0.0004 left_gripper=0.9989 right_x=0.4015 right_y=0.17 right_z=0.101 right_yaw=0.2147 right_pitch=-0.2326 right_roll=-0.0454 right_gripper=0.9956\nstate[joint_eff]: [-0.0889, -1.6068, 6.9949, 1.5507, -0.0415, -0.0464, -0.0122, -0.212, -8.9094, 7.5966, 1.4579, 0.0708, -0.0366, -0.1294]\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 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0208, 0.8696, 0.6411, -0.5209, -0.0139, -0.0338, 0.9989, 0.1287, 1.4944, 0.5636, 0.6388, -0.1402, 0.078, 0.9965]\nstate[eef_state]: left_x=0.2827 left_y=0.0002 left_z=0.1487 left_yaw=0.0025 left_pitch=-0.1804 left_roll=0.0008 left_gripper=0.9989 right_x=0.422 right_y=0.0831 right_z=0.1442 right_yaw=0.2027 right_pitch=0.2746 right_roll=0.1346 right_gripper=0.9965\nstate[joint_eff]: [-0.0068, -1.6752, 6.9538, 1.5995, -0.0366, -0.0464, -0.0122, -0.3214, -5.4632, 5.8188, 2.2002, -0.1538, 0.1392, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd4b1de0d1f07c5b18fcb9752508e75aa71afd38fa2935fb6db11f429933b5c7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f583c341ba0775589b4de713bd01a00c7fe7d59ed7ed8d0e15ae57d6cbc3a520",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b20fa0441d902a0aea58ae88efdf46695d4d6556b805aeebd6cbd0d832339856",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHKhVxL43FWxMz2TacxkuEHe6fBQijcThR7vxFUu9sFXhCtRPFu-79mXN4xBPFk4nzjH8Ma7CsDZNGRuX5xW2Ftd7wAxr3nFoIdmiBuDRZsxggFGs0RWv66U8WRg9k6qNnNa5XqeGRVhFFoLhc9idozSk9TBuM-hmOM2JZSkmTFmKrgfluPimDil51EaNhUXnD-Hv8BrqqttiRjRn0glzJpPqjBE9LYljyqQAhP1XzLEBwAZf1dV1gqWuorYf-a60iLMO-KbIUw01uDPEefQ20lctwHABc6EtOmPWSVzp0js-1qZLFrkfzEewDEx-m2HRGXcMjpFxmjOWRFTdMnIqUn55iS5oDTxcU_qaHByiu04RNAeOB_8n4xm8fk29uvuP1Vv8KzHTHbThfCgel-lH-8yeGM4oUeuzricyQFQk5FvUnSZYwdNoO8gh2C4yB3PRZMzWZKk-6LhoiWot9fbhdCeAjtHHPA2rdK_JpRHMfssE2IHnP04vSA_FnSi0sFrWxeB469ApT8T0zpW99HOMpiOBgwPtdOPblkj0e9m0aXnoJGm-XzkggtA4bWFKhZ12oKGZn735c1NJJgjl-tCg9tHVKKNLerpZlGLCUtxBRiU704Lst4A-m4nJBv9k_GzHAAECRDPofi7Tp7_nyBnl2QBya19kBEIRnk9UB2TSlRzGHX4blCmuInfsNt3cy9f3JafldxF3oVYteBpLOKpM1zae7ttexPOAzLC4pnEqjQCPW0MEd13UPP_uI3wYev_bdHhBSKReQpzx-symV8KOugsJ4R_vjMbDoG9JvxH56zgikTeNTS21XGQo8Hesqa8jIfuSu27UeFgiTf5AaVToNZcgzkZcnBcq_QRSvt4yjuySk2dIlQes1aBwS9L1mgFuSBkmPzV0rVmezlSQ-26HNfRz8-IUS-sWxWB27ObVhIr0dyJuD--o5qQZ_ppK8lVhCjOxEsufclNrrOlS1hCNz4R8HxoDub2aYiSzh6XlmbVGoYNEU7Z0E_IHSQv2aHqm5q4pVlAzGLtQMtsPlCDA1qM4W3DgB1kXwHx6v5s_fMzgy3HMqhzsR0ipv79_kTEgCDX139x-3Q55NYRekHKK2lzaocCbf4Sk5VdIy28vGnMX0ZWdM_nOAYhA7k0mRi3iDIQ7c8Kaah5yCGiCRZSEK4CJfxGYQyHh-A7K6jj2SJbvUlC2zk1y9pGDn0mlyCXQ2y_2t1feSB9jr8c90Bq6R_SZuCLstcWg6QPvqFCEPKRr1UGQACWMkoGZpgmvqlZsJojrAgrSiY1dKExEAQrephZk3W2-IsWJ5fQSYgpc4ZUn1l-m8yeCa8xj3S7JJFz9fs2cJ4L8lotxRsJ9TPY5ANOO2JNgY0DusSwvxOvx4YAta_4MmF2xL2OrqrWXpzaBdXvTLFgJdTISAEd3Kasq9d_79WSGp3mCa8ARPwoh-YfgJ9XpUOdMhknrOyYyk7_sH52HnVeKj783grZTlTWyXTDV7A2UEXC7_srDMDDmgSKzk2VpERA_odI1kwPDJKCKTkK7r_myjOtvRdLX5S45Pfvrv6EQ-Xpw-Jl4ry06SJmGa4UMnT4cabf7tZRH4CZD6Ma5eU6owblc39CKD5HqaIhRj6LNgrTeeH0LeYwAXM1ZQrG__Ag8LzZWXe1D9gCaIIk2prLDTgzjTfK8ICXQv84s7CAGzCkC1jmlB6vI5CZHcR-AnBsQVv7nGQMjnjp8pI1Q7fqUTRpBFHmOefm_DzWbB5nsVVeSbQbqosA9_zt5ja6PxqDlopXTn2BD4DppW2Na_pRxOj6ajo62d-s6ryFtvrNbopHluKmvqeoCxDfgxctMgfhXBfm_9d6hupEt1VPxtsCrK8JZp_7kKn5XAXf7FXxYi9QKnBIHTbP6QD1W1HxLBM8cWQD3EW5a9yZ8eWF7-25cnJ2Au6I_MvbauiIU7rBJVJ3GgIS85ZEMggt1YCDXaQtKpdWvmR2ZCSS2oX_",
  "id": "rs_0f7486bd42e7710a016ab4729dafe087d0acb14f522a1d809b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_y\":0.112,\"right_z\":0.045,\"right_pitch\":0.2},\"note\":\"The bowl is upright with all three fruits inside, and its right rim is just left of the gripper. I will lower with one jaw inside and one outside that rim.\"}",
  "call_id": "call_hzsFQp6xa6JFxAqlEY60kWdO",
  "id": "fc_0f7486bd42e7710a016ab472a0739c87d0b46ac404eef7df25",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hzsFQp6xa6JFxAqlEY60kWdO",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8734, 0.6411, -0.5213, -0.0139, -0.0338, 0.9989, 0.226, 1.8362, 0.5293, 1.0698, -0.0856, 0.1341, 0.9965]\nstate[eef_state]: left_x=0.2827 left_y=0.0001 left_z=0.1477 left_yaw=0.0021 left_pitch=-0.1846 left_roll=0.0009 left_gripper=0.9989 right_x=0.4349 right_y=0.1192 right_z=0.0883 right_yaw=0.221 right_pitch=0.3245 right_roll=0.1742 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -1.8393, 7.0632, 1.5604, -0.0171, -0.0659, -0.0122, 0.3624, -4.2188, 3.0427, 0.3639, 0.2955, -0.4274, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cc61a06f603b4e4d9866044846023161a13b3e402cab9f6522eb5aa42b574e8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86070260497e75ded1cba44d8b4de32d66036f1eff1292b80e388f2bf574fce7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de01e0a23fef851fe1571cdec99da6f7d59caa6278153ed277f2a1c84cbacb04",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 3.265 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 80 changed as sent

message 87 changed as sent

message 91 changed as sent

message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.6411, -0.5205, -0.0135, -0.0338, 0.9989, 0.4751, 1.6184, 1.0142, -0.1902, 0.2119, 0.1413, 0.53]\nstate[eef_state]: left_x=0.2826 left_y=-0.0 left_z=0.15 left_yaw=0.0018 left_pitch=-0.1755 left_roll=0.0004 left_gripper=0.9989 right_x=0.4052 right_y=0.1707 right_z=0.1128 right_yaw=0.2101 right_pitch=-0.2045 right_roll=-0.0384 right_gripper=0.53\nstate[joint_eff]: [-0.212, -1.4838, 6.8855, 1.6435, -0.0464, -0.0317, -0.0122, -0.1026, -7.9111, 7.3504, 2.21, 0.1978, 0.0855, 0.7692]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0208, 0.8696, 0.6411, -0.5209, -0.0139, -0.0338, 0.9989, 0.1287, 1.4944, 0.5636, 0.6388, -0.1402, 0.078, 0.9965]\nstate[eef_state]: left_x=0.2827 left_y=0.0002 left_z=0.1487 left_yaw=0.0025 left_pitch=-0.1804 left_roll=0.0008 left_gripper=0.9989 right_x=0.422 right_y=0.0831 right_z=0.1442 right_yaw=0.2027 right_pitch=0.2746 right_roll=0.1346 right_gripper=0.9965\nstate[joint_eff]: [-0.0068, -1.6752, 6.9538, 1.5995, -0.0366, -0.0464, -0.0122, -0.3214, -5.4632, 5.8188, 2.2002, -0.1538, 0.1392, 0.0757]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.6411, -0.5213, -0.0139, -0.0338, 0.9989, 0.226, 1.8362, 0.5293, 1.0698, -0.0856, 0.1341, 0.9965]\nstate[eef_state]: left_x=0.2827 left_y=0.0001 left_z=0.1477 left_yaw=0.0021 left_pitch=-0.1846 left_roll=0.0009 left_gripper=0.9989 right_x=0.4349 right_y=0.1192 right_z=0.0883 right_yaw=0.221 right_pitch=0.3245 right_roll=0.1742 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -1.8393, 7.0632, 1.5604, -0.0171, -0.0659, -0.0122, 0.3624, -4.2188, 3.0427, 0.3639, 0.2955, -0.4274, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cc61a06f603b4e4d9866044846023161a13b3e402cab9f6522eb5aa42b574e8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86070260497e75ded1cba44d8b4de32d66036f1eff1292b80e388f2bf574fce7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de01e0a23fef851fe1571cdec99da6f7d59caa6278153ed277f2a1c84cbacb04",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHKnECsM4jRCLn8EWlGDz7vi3EsLlQKFoVipHM6w9P5buq61MT0uAolNqW3rMFhE0brVZXAb_Ek01HFdqNwhP6sQ0KGvhOjI1gSxH9i6uT6ODfKPuBAUvAEw9T_RmFyLeUov_VOUG10jJ_I3IRIQrr_IzAFyzRxhG6v_tVLSaqZQBWkZecXHMecHb6to_pk62HzeGwUMTAKT8NYKgAuL5cHZwAfjWJHRNpVWT8HS43UbqIQAaX2XVfUc9IHNha_FkNEAJzx4PjGOGPrE4DLJ55mJC3ynRjEhAxrXczdy4WkIpuwdTHctz_uN-ZD5f4XfCVXgxz1MpfpQvnKb6UUZNQx-SVpPmsTufTDncI6p5uYwmE5QoSTozuvp4nDomLu0kevJs3ldQuQfdjBkUo5D1zmNeegjnArubWekOJh8YuHo7_FeDv2dU3sk_Gw4gdAqusTZcZ8fhipxQUutJzuOHaMzk3JEADCUn7-eaHKEe3y2MDh-6bbBlxAtDLTEmzl2sHqbLFFYX1IGdQBcTdtJ9Ymwlck92oUekyGM6-gFMEYugLqJuPZxjG4sXAIvyMTbcsb2RN-G7oavY2oFY5-PiYlqMBKVUaHy161-tS1LgTT-61-QAx9iLHDSXgJLeRB4b8e8HnfjalDfgTAcflL-vmQFLb3QHD7-CmPDxn80e_Rq5f9Dzy1cYMP6ToEtNXS8ycsMK4c5JFvbPWOCT7HXmR-YOrC9Fiukky52fcPgo3ROktJjC5MJMFAVfK513NvevELY0l3T58r4Rtdo5Pu9jXvV7mMqp-LLt0vWo8T-LclhBcs6w6OziWShrZ1hryH_2KKHXbo0Xxx_9-oGVWrVplXE63ZSiUVe8iXB3rbG9OMT0OIYnnWLxjZ9lJX1FOLNC3qoRiYzm0kLZOknooZdw-OjL9_LHtt8VbtPZYEh2yfOBDvat6PgN6ASlSIaqJH6qAIT2K5LtlBofN6THrwSH5hoJFCxeJ6g1eS_UiAyZ_YLB8QHBtii5YBH5QrVR1Tx6jpkEMmIDhaVsm5tPiPoNV_hJmHrKtOL8Pxt_4aVRvyFibD5fs57-Vj9UEpCA1MGDWM84CtP3Z6N33Qsbrh_6f9kaDXuSrM32oIKt7qZGqWy8lTiIa4bvYb8HGaXdPB5yLC3_piX_Rza47EO_If7bgUlqWqiXr2np2KWvWgx6aDrBhvbVecWQw_QB7tlXRqhlFYQWQXEvMaMYTMADysRZLlAzLaRZNPM114COzjoDOhl25f3aYqinvCnkfB1KT55jxhkWA0fWdyVrxdheHO3VPb48cMRJsPsZQxE7Jz72lrXPKPeMOwfXrq-WVuySUo9WvWIxkzmX7Z2wxVbhCnmD-fb4r1_onDrHZsXJkPXQ00afA8UbNGX22V-3p0ho74vCAlWpe2ZXyFawj8f9VcvIEI9gHHGsCBbAdKSvO8YU4-tb_a99uI7lcTTF6JeKCW2yeSggTyZhloha6_Hg3mQrK7lSMJhEkvnjocK2h40bAOHGSJ1UQFexB2CVGXntsm_u5LPeSRpKgNQWfy81EM-Tfst9aIdH_As_D0HtjWzQHRymCBoZfcNd6_6Dasv2oAxOo6iVQ7K8TgB47s9sDITgAA3ka5c96oxWLLXHfAgFsGJmOQ2pjFTmDFwayz5tVN2eG6pznCbEktPF4soLlXzi6ll_LFNOu542ZFyu-qP0eo381mEvhP_TL6L4VHm5fZeo1WJ9z3ErdqUxVd-5slg9GtcWQO4SkamlegZV25dkbL8FKtr8mw9J0uhSuORzV_6UA7Ju8icOIfocoOCHkDXzM-G32SODs5xey-CT1YL_pZJCQVN7SYnXS53FUMwOU5OT8JcREMxo1jXtbENbP-cHAJdHBXBmBlSyfT7TtxZEUPy7bDizRorwf215WW9ihjbnv0c",
  "id": "rs_0f7486bd42e7710a016ab472a4703487d0b808ca9dba9341a4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.15,\"right_gripper\":0.4,\"right_y\":0.102,\"right_pitch\":0},\"note\":\"The descent stopped above the rim, suggesting the widely open inner jaw contacted the fruit. I will lift and narrow the jaw opening before trying the rim again.\"}",
  "call_id": "call_2JCe9AFxzuz9hcSahk6TKaYl",
  "id": "fc_0f7486bd42e7710a016ab472a6c89487d0b449a67577392773",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2JCe9AFxzuz9hcSahk6TKaYl",
  "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, 0.8753, 0.6411, -0.5354, -0.0139, -0.0338, 0.9989, 0.1753, 1.544, 0.8494, 0.1467, -0.1326, 0.1009, 0.403]\nstate[eef_state]: left_x=0.2804 left_y=0.0001 left_z=0.1446 left_yaw=0.0022 left_pitch=-0.2006 left_roll=0.0012 left_gripper=0.9989 right_x=0.4374 right_y=0.1048 right_z=0.1376 right_yaw=0.2278 right_pitch=0.0171 right_roll=0.1688 right_gripper=0.403\nstate[joint_eff]: [-0.0615, -1.7983, 6.9949, 1.6972, -0.0513, -0.022, -0.0122, -0.7179, -9.3333, 8.4718, 1.8681, -0.0708, 0.0171, 0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7454e2a84d95b5aab28cffe25415b543b8c21d47e121fffc63885dba585c32a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebe4903f6a82e090020fea679d7b4e964aa626086fee6e21c50c921cf77c6150",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:278755864c2d8a645bc40f4f08957a6c30bcb98cf11e27e6409f6ce0c0fb6b1e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /responses · status 200 · 5.044 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 83 changed as sent

message 91 changed as sent

message 95 changed as sent

message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.6411, -0.5209, -0.0135, -0.0338, 0.9989, 0.4759, 1.6329, 1.0, -0.1898, 0.2077, 0.1379, 0.9956]\nstate[eef_state]: left_x=0.2825 left_y=-0.0 left_z=0.1499 left_yaw=0.0018 left_pitch=-0.1758 left_roll=0.0004 left_gripper=0.9989 right_x=0.4015 right_y=0.17 right_z=0.101 right_yaw=0.2147 right_pitch=-0.2326 right_roll=-0.0454 right_gripper=0.9956\nstate[joint_eff]: [-0.0889, -1.6068, 6.9949, 1.5507, -0.0415, -0.0464, -0.0122, -0.212, -8.9094, 7.5966, 1.4579, 0.0708, -0.0366, -0.1294]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.6411, -0.5213, -0.0139, -0.0338, 0.9989, 0.226, 1.8362, 0.5293, 1.0698, -0.0856, 0.1341, 0.9965]\nstate[eef_state]: left_x=0.2827 left_y=0.0001 left_z=0.1477 left_yaw=0.0021 left_pitch=-0.1846 left_roll=0.0009 left_gripper=0.9989 right_x=0.4349 right_y=0.1192 right_z=0.0883 right_yaw=0.221 right_pitch=0.3245 right_roll=0.1742 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -1.8393, 7.0632, 1.5604, -0.0171, -0.0659, -0.0122, 0.3624, -4.2188, 3.0427, 0.3639, 0.2955, -0.4274, -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 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8753, 0.6411, -0.5354, -0.0139, -0.0338, 0.9989, 0.1753, 1.544, 0.8494, 0.1467, -0.1326, 0.1009, 0.403]\nstate[eef_state]: left_x=0.2804 left_y=0.0001 left_z=0.1446 left_yaw=0.0022 left_pitch=-0.2006 left_roll=0.0012 left_gripper=0.9989 right_x=0.4374 right_y=0.1048 right_z=0.1376 right_yaw=0.2278 right_pitch=0.0171 right_roll=0.1688 right_gripper=0.403\nstate[joint_eff]: [-0.0615, -1.7983, 6.9949, 1.6972, -0.0513, -0.022, -0.0122, -0.7179, -9.3333, 8.4718, 1.8681, -0.0708, 0.0171, 0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7454e2a84d95b5aab28cffe25415b543b8c21d47e121fffc63885dba585c32a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebe4903f6a82e090020fea679d7b4e964aa626086fee6e21c50c921cf77c6150",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:278755864c2d8a645bc40f4f08957a6c30bcb98cf11e27e6409f6ce0c0fb6b1e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHKsOrkP5qw4CJmwSh_iqibYqnZAOHIQtLAJniBE6S35tzZiWUorJB7w586b9Z9C4Pgd_PFW4aH4XYv6i_eFnJYa3El7jUlsi5kpOArpnLTES6WnFZUuKg1dKxemx12GPlwLXM_EX_fURmVf9n4_Z1_0SjEo3NhWqvM3gQ10dg6CSdhbGAixmPk2Nu_yAX2tXtwG-qom1h0O53DglDoVEKVy25qFT03n8ldfqBdtRGjRdBRByxux6-lWIW_ZCNladqKQXongP9yShe3vpPGvFzKngiheBaK7xKUhfbsDjV_vA8evEke0bM-p77Bz8rwqDlAo48CVYNrSCUkmu--C-kqA7LhRuWvBoNs2_D8k_RhNodXtSLWWZorwUb79bElQApNIjnfH7zN2aEhkboV_4wfhado1VIzkaYLNpd_4p8s8-vevun8w4XnuSmcgt1ZFvE5zfRY9AFwJa8no2md4tUnkr4tyTJNWALxqxprnlHup90efgM65l33Qy34AEXIlaGhxVCnH1eXbwZ90ycHevzT9wU46GDz0kUPFH3WehvtSWjR8agkmPJsldYOC8s5zB9V060D_WiKABKYQZylyGpNb99D1UNNKp-1qyYA-Sami1th-et8Z_MYKJESAhclU2HRwZ2-0ArACsdzpU9J95d1KsLdS1PCJynb9zITFECvgqcJuphKpoKByNuuaW2AhuO_Sccrt3u4rK2CpeOBEGMW4gsF7rsHPSWCAxp3FsecUjOpyL-gG4A010IXxf3O1pKC4-_DA7ZSXcQHntOHb33fkpKCVvmtaZd2OM7Ur5gKENSWh5iTadg759cb1sczkqZrBuv7mWCm40CL76y1ajLGvIqsdKMGAalvcgJ5vQ1UJ20zf2_cswqNtfe-3OxqsvV6bB4NYDF55IpDjFf4vH5hi9W5VU-EefuElwMScIQRwKoSdrM97PhI-YevVNnfNtQlZ-wpLyUicYV6GdUnbyGOohiKb2CQRwLxM5rPApyV1P4gQEpI3LopIsEKnVZTeW45kFLU6Pm9eTLUs7cQl5Awtrm7z9cPVn46OgRQhiTixBVP0PGa80-tGzy-OZoMATq0zwuADjkakQTQBDF1m4Sl_mmul5jWS_3hS42BN4hxS-noMHxaBTyXmVpqdawfJ9WRe3YGxqZDzt3u4KiHqFJjLBXot6jcw8ttkoQXwXs6805BB1LlE62-L3MtQuskVRWFp5AOtgz6e8nQuiAz1K7qZbIrzRiVAHzQf4HRvdFefG5ekSWlSJj3uvN-SKsHUotHTCf0Apj_P2EgrekV2wz2ifCoAL6uyIFW7GmYSnJung0a11vH-i354ApIRnBxAT2_yYiy_ikvIcR9amjq7b5ah9kpcLXU1H32oEbNloeDbb0s=",
  "id": "rs_0f7486bd42e7710a016ab472aa871087d0856741641e450bfb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_y\":0.113,\"right_z\":0.053},\"note\":\"The narrowed jaws are now aligned with the exposed right edge of the blue bowl. I will lower them around the rim without reaching across the fruit.\"}",
  "call_id": "call_2NqwNsKFX6Mx3aSno8oCFb5f",
  "id": "fc_0f7486bd42e7710a016ab472ab0da887d08f09537bb491b483",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2NqwNsKFX6Mx3aSno8oCFb5f",
  "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, 0.8787, 0.6411, -0.5381, -0.0139, -0.0334, 0.9989, 0.2012, 1.6997, 0.6731, 0.5377, -0.1135, 0.1162, 0.4019]\nstate[eef_state]: left_x=0.28 left_y=0.0001 left_z=0.1433 left_yaw=0.002 left_pitch=-0.2067 left_roll=0.0017 left_gripper=0.9989 right_x=0.4353 right_y=0.1129 right_z=0.0801 right_yaw=0.2296 right_pitch=0.0745 right_roll=0.1702 right_gripper=0.4019\nstate[joint_eff]: [-0.0752, -1.7709, 6.8581, 1.6337, -0.0415, -0.0317, -0.0122, 0.8684, -4.6564, 3.8769, 0.6129, -0.0317, -0.0122, -0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e42e55ceeb719289a4d066c1f601746c42df90899e36c027a0e487f69de7d80",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e8cf754a12249d91cd7bbc71b06f882b6ef8c16d466391e0af235b99f36a7c8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c8f9692c05b50bd94c74eecc9dd91dc316eaa7b1d1f95bfcb37c126f72e174b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 27 attempt 0 · /responses · status 200 · 2.636 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 87 changed as sent

message 95 changed as sent

message 99 changed as sent

message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0208, 0.8696, 0.6411, -0.5209, -0.0139, -0.0338, 0.9989, 0.1287, 1.4944, 0.5636, 0.6388, -0.1402, 0.078, 0.9965]\nstate[eef_state]: left_x=0.2827 left_y=0.0002 left_z=0.1487 left_yaw=0.0025 left_pitch=-0.1804 left_roll=0.0008 left_gripper=0.9989 right_x=0.422 right_y=0.0831 right_z=0.1442 right_yaw=0.2027 right_pitch=0.2746 right_roll=0.1346 right_gripper=0.9965\nstate[joint_eff]: [-0.0068, -1.6752, 6.9538, 1.5995, -0.0366, -0.0464, -0.0122, -0.3214, -5.4632, 5.8188, 2.2002, -0.1538, 0.1392, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8753, 0.6411, -0.5354, -0.0139, -0.0338, 0.9989, 0.1753, 1.544, 0.8494, 0.1467, -0.1326, 0.1009, 0.403]\nstate[eef_state]: left_x=0.2804 left_y=0.0001 left_z=0.1446 left_yaw=0.0022 left_pitch=-0.2006 left_roll=0.0012 left_gripper=0.9989 right_x=0.4374 right_y=0.1048 right_z=0.1376 right_yaw=0.2278 right_pitch=0.0171 right_roll=0.1688 right_gripper=0.403\nstate[joint_eff]: [-0.0615, -1.7983, 6.9949, 1.6972, -0.0513, -0.022, -0.0122, -0.7179, -9.3333, 8.4718, 1.8681, -0.0708, 0.0171, 0.0366]\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 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8787, 0.6411, -0.5381, -0.0139, -0.0334, 0.9989, 0.2012, 1.6997, 0.6731, 0.5377, -0.1135, 0.1162, 0.4019]\nstate[eef_state]: left_x=0.28 left_y=0.0001 left_z=0.1433 left_yaw=0.002 left_pitch=-0.2067 left_roll=0.0017 left_gripper=0.9989 right_x=0.4353 right_y=0.1129 right_z=0.0801 right_yaw=0.2296 right_pitch=0.0745 right_roll=0.1702 right_gripper=0.4019\nstate[joint_eff]: [-0.0752, -1.7709, 6.8581, 1.6337, -0.0415, -0.0317, -0.0122, 0.8684, -4.6564, 3.8769, 0.6129, -0.0317, -0.0122, -0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e42e55ceeb719289a4d066c1f601746c42df90899e36c027a0e487f69de7d80",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e8cf754a12249d91cd7bbc71b06f882b6ef8c16d466391e0af235b99f36a7c8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c8f9692c05b50bd94c74eecc9dd91dc316eaa7b1d1f95bfcb37c126f72e174b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHKx85Qc1b4IALOE-O5_OLK71OLE_G1N6GWKIrqk95DYWe9Es_MRZrVySC3SM3Ax7FY0CP1ckxtjoYqitVBWw5yGgtWaDc7R02Onbue5TpvKAv2ff--nxMnclHt9Q3iUqakjHii9XIea50hQ7DTf-vAQg9SJ1QyGF-KEQ_0xOcmo_PpA9ZfnzvT-XKyqM6CYP0Ox66ju-hv_ef9cDZe5D2pqvvouUT8-Wl448NQa7jTvvrIsdk51xRBQjmm4J42SWE8t-LngsC-0Lz0yE0z0GHVIXG5LxWeatFhiZPpZuu-uUeiS4AiftcEVB_tZyWmQKH5B0IStzAgyyKf_5LXzgXavHnAgjVB-QkbtxspZSUji14gB_V6SN0zrdx1za_k-uXJUufr9VtWPACMay0uaTRB8HgYf9RTBEvnU68OndS4Fbash6iSp53mBF2fhhuaWeZz9Vy0HsWHWp6uMfz0ZonmyCJbC-z3uQ_iiz5FUtMOUp8HGbFvCA9W17vGzhHl32LhXwdNDK90GmOs9Hh5OdcOyw_PWjuVe_Rgf4Ug4X6S1Jg__sBTNbsePRJH4oygcgxWHYHoTmRpC-fHFpRo1L9XiGqfBCMREPmxjh8Ts35lTeOpanDw68S5blDXfluNDC7Q6M5vAEhczGVqRpLgaoV7MGqlhOfI0xgXsIIL8L6kXE4GCt7tT2HbynC2GL1KGZbcHks__UGf9BRzsy8b3WKqSofR9pmG_7kM9WAIUdOO8IZsPRC2vManpVsXQIgp4onvaVDgcdEeX9A3p9M02FAR8YhOSymKULZB5ycQklYBGzAjMaCybHWfJIWOK4TK50OC3nSYzAnue1TD-BgJIa8Y65QUcjokelOvHGrBCfnwOI0ku9Jh9tr0lwbScDAD5TBHSJld3N6bghjSF_wGc7FtEobL3RpqMwLmsDU_vnHWaO6xx0t2qG6DaVM86_UronbuBZLuGPAsUBZGZEi-PMiy7D9w0Am0T19dW3uaSQQnmvSYDrojSPQ_mDlLySh5swNWC8PAfhbZrssn644P5twlfSt7XvSTN9UjpvHj82DgC-UmyBmqrQY9XPq6E44x2WfjBO0MquWq6WquCguiGMvlWP0rl6EWqE-foy5MEvxfoZcnzpanXx18A0sCMtUD-k_ZKOERgbsktlt0dIO5XH8V8i_gnIYLfOSl2MhlXWs-95b-m4GzwKP-OtSEZfmz9v0QzhZ00XPFNA8Lp7045sPhK21xGxo92ggc7sa5m4pXIXK7EFxbiIT04l94SZkrxV_4eyOL2ZMT-5srNdA07-hj0DyN_yMYhblUODFKuyUY2B7PKtNypEXWGAUQmvL3jTZyQU0exhEROHD8CC_wFLuUnUngx0zsiOxB0ZYo4RvnBZjRuc9F5-FcNzypvjE27p7HnYMsXfcPDZAOAIlUsJLDEjyepxnjHskfTtDXfThQc4mM-8F-jqlwEfZSV5IQPg1gbtlNXqjm5HMDOfDUxfftH4Jf7t5lTNhWCyanjnwoTHJMNbvfmLR08qppyi4WJMt9r2bO6t_lCuk5ZuxHRIiEnJxzikn-AOnu7mhAKvBXsy7CYbtc0-A20PsL3RI931FE7DhxrzNtAO9dFsmoWf2VUwIuRtgGzBjVaPQkVzespCBNv1mdUFyPGLb50Aml4dtPZwIPJQZa3saQyAnMO6cJ0njqyDwos-FLCGlkUzdAk3LRwf2dNVMbWl26uiFgwTbIIvZxpzq3SEWQFpKDpdCWuLlV3TWq12IsmrohTKPLaH6BjiTV6R7N08fSaIit8zFFDvAy3aMURLM0aSUb_VGZS_Uc2fEgIDYBcwhR_z1aewCVPONt5smovTDb59T-x_OnozeOYjevAKU86C4f7kSzD-OpxhwH-masoxsynMFf1Cq2R6z_-Bf-gPDL_5t4ixLWptZPuJLtewNGpUsvJwIkMaA==",
  "id": "rs_0f7486bd42e7710a016ab472ae12a487d088c4f960d2772f8b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.138,\"right_z\":0.075},\"note\":\"The inner jaw appears to be resting on the rim rather than straddling it. I will shift a small distance toward the bowl so the rim lies between the jaws.\"}",
  "call_id": "call_LqYW4JpsOzd6l6LSEVeYnekR",
  "id": "fc_0f7486bd42e7710a016ab472b092e487d095e2933adfd7884c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LqYW4JpsOzd6l6LSEVeYnekR",
  "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, 0.8791, 0.6411, -0.5426, -0.0139, -0.0338, 0.9989, 0.2661, 1.7218, 0.6762, 0.5972, -0.0647, 0.1326, 0.4017]\nstate[eef_state]: left_x=0.2793 left_y=0.0001 left_z=0.1424 left_yaw=0.0023 left_pitch=-0.2117 left_roll=0.0015 left_gripper=0.9989 right_x=0.4366 right_y=0.1345 right_z=0.0845 right_yaw=0.2443 right_pitch=0.1134 right_roll=0.1626 right_gripper=0.4017\nstate[joint_eff]: [-0.335, -1.6889, 7.1726, 1.5751, -0.0415, -0.0415, -0.0122, 0.2667, -5.8188, 7.1316, 1.453, 0.0171, 0.1783, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6e9fe8150c2b7df825e91fbc09faf0965ff0fa267076e19bfa78fe3d6a79033",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bd62464fb1bb27a2f2a29336e4bb4bbd589706b027660c4e025a1d8685e7378",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62d3c80412563ea90568423bb662d7e0f8f357e1d57e47a47221cbf1481c6490",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 3.959 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 91 changed as sent

message 99 changed as sent

message 103 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.6411, -0.5213, -0.0139, -0.0338, 0.9989, 0.226, 1.8362, 0.5293, 1.0698, -0.0856, 0.1341, 0.9965]\nstate[eef_state]: left_x=0.2827 left_y=0.0001 left_z=0.1477 left_yaw=0.0021 left_pitch=-0.1846 left_roll=0.0009 left_gripper=0.9989 right_x=0.4349 right_y=0.1192 right_z=0.0883 right_yaw=0.221 right_pitch=0.3245 right_roll=0.1742 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -1.8393, 7.0632, 1.5604, -0.0171, -0.0659, -0.0122, 0.3624, -4.2188, 3.0427, 0.3639, 0.2955, -0.4274, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8787, 0.6411, -0.5381, -0.0139, -0.0334, 0.9989, 0.2012, 1.6997, 0.6731, 0.5377, -0.1135, 0.1162, 0.4019]\nstate[eef_state]: left_x=0.28 left_y=0.0001 left_z=0.1433 left_yaw=0.002 left_pitch=-0.2067 left_roll=0.0017 left_gripper=0.9989 right_x=0.4353 right_y=0.1129 right_z=0.0801 right_yaw=0.2296 right_pitch=0.0745 right_roll=0.1702 right_gripper=0.4019\nstate[joint_eff]: [-0.0752, -1.7709, 6.8581, 1.6337, -0.0415, -0.0317, -0.0122, 0.8684, -4.6564, 3.8769, 0.6129, -0.0317, -0.0122, -0.1294]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.6411, -0.5426, -0.0139, -0.0338, 0.9989, 0.2661, 1.7218, 0.6762, 0.5972, -0.0647, 0.1326, 0.4017]\nstate[eef_state]: left_x=0.2793 left_y=0.0001 left_z=0.1424 left_yaw=0.0023 left_pitch=-0.2117 left_roll=0.0015 left_gripper=0.9989 right_x=0.4366 right_y=0.1345 right_z=0.0845 right_yaw=0.2443 right_pitch=0.1134 right_roll=0.1626 right_gripper=0.4017\nstate[joint_eff]: [-0.335, -1.6889, 7.1726, 1.5751, -0.0415, -0.0415, -0.0122, 0.2667, -5.8188, 7.1316, 1.453, 0.0171, 0.1783, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6e9fe8150c2b7df825e91fbc09faf0965ff0fa267076e19bfa78fe3d6a79033",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bd62464fb1bb27a2f2a29336e4bb4bbd589706b027660c4e025a1d8685e7378",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62d3c80412563ea90568423bb662d7e0f8f357e1d57e47a47221cbf1481c6490",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHK0lv3MruGAjYeTDigrWqi5j3Bnr_N1oCwNYwvUUJRhewCGRzjpNEQea_aRlt3_8PwlBuYW5XEOXFnTkjDgSzKvdCIAp3nhGbirBOo26-nFjBT9FSdpsG3j_qWRJeLAjMEkHuKHk1r8J2TvBaQ_a-hkLlzpCxosaRSM3s2Eb2eC4fKSsqL-EyJniqx_jRyRXSr5S5V6oXqdQtq-K0TaCn6xssA4jTHmKmqRItHa3HwReK4wlddikNXJ4xUbZteMSPfEz9YLUYv9kAP9Flrl2nOLvW1FOqsiSeqNIy1NTtXlJMXotOO3XjO_f5AlMO5sP8esH18-GNfwcHLc8Ci2saiKyO9Z2vSWi4GFJyVnIAQwTzMZWj56VwOXOdi6aqLn7aTLRGmcC44SKR6wW2WLC08uFS9B4gyRBgrO6k7qY3kzIShmcx4Hxa5fPDESMGmFUBkvVdFdm_JISunl-rk-jM2xBDZAm1Wm2zWK_jrdcF4f8JJ9iqttrOKmnzHR8QcRu7xongdqKlHfY2_s-S7opeuTGxGidShO51zoEdfQhMsMwbCa1NU7DQxseFrHQpfFDoxHqE1b_SlMMIg0ynW79cj-GJRLXfiu9tPns0KBzQWBOf_bS76zJGnNkRrkvZG08SC7Cx3zT_ejlLdekNVa8olb-fpsAuxeKvarB0zqJ-Ir0KNc4fFJUYAKqc3HpN5_ELfjheqtvJGG0RJVtVGjJIFYDIwF4GMocIeWNOUoxf3Mpk-uz11in1yXg-fblLi1B0bZfG686TRS3udjapyd3_MdaCOVIRen2sRk6LfE0ZPgHwb8Wp5fyVk8LHBdMzUGcDFf13lR4-pcgcYWuAANo6sb2LvGxWC-OQoXpfD4Ce86JZNHXHFF0BOGaC6uTAkBvVzyyF03yRcJ0iafv6skBHkDH9d-xXScVjjVdt70qu-eQLsKsQN-Ovr__orGaUub2QkstMd8TcNzvGjNH6mxUw1rkREG8T62g47MSbuMAZgQbU3o7UoKVfY9YPussGfB7KjIQzn5pb97NrMqEA2mxb9ZJXIQYBC32bGV4szhg099E49XUDTVyj3cBuOWqRrM-xKIhye3f2P4Z0a33W2WpuQW0RAgMo4rfQCG7Vj7NLt7GqH93y48bWP8dnwqfhzTso8trlxxLZeX6ONL_ZkNQjKtpqrzpa3ZusTHTwdHNTwNIMZc_XIUdnEiZWiquGBmIxSDyv7Vf3DOjjAs6HHar17Lp_0f62iIwEzCKSSXzcaJfKA1Vb_FI4AUcT0MuxNLMRbEfWfwaPpFwFUmNv2W9h-_J6TDUxKAfwMG7T0RQDDydCs=",
  "id": "rs_0f7486bd42e7710a016ab472b3562887d0ae38dfb08c1ff544",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The blue rim is now visible between the two fingertips. I will close the jaws on the bowl's edge.\"}",
  "call_id": "call_WLvAM4dqjU4lAngZERfZO2KD",
  "id": "fc_0f7486bd42e7710a016ab472b3a58487d0b1d6e76e1706fada",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WLvAM4dqjU4lAngZERfZO2KD",
  "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, 0.8791, 0.6411, -0.543, -0.0135, -0.0338, 0.9989, 0.2844, 1.7264, 0.6815, 0.5781, -0.0536, 0.149, 0.0112]\nstate[eef_state]: left_x=0.2792 left_y=0.0001 left_z=0.1423 left_yaw=0.0019 left_pitch=-0.2121 left_roll=0.0012 left_gripper=0.9989 right_x=0.4341 right_y=0.1405 right_z=0.0803 right_yaw=0.2445 right_pitch=0.0938 right_roll=0.1718 right_gripper=0.0112\nstate[joint_eff]: [-0.0479, -1.3197, 6.8444, 1.5409, -0.0562, -0.0366, -0.0122, -0.253, -6.5436, 6.2291, 1.7363, 0.0464, 0.0464, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2cf8e3e845ff13927ad966072f33b683349e3fe213735775dcadf541d6f9cba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:917ff6cd53b69ab63cadf0a74fb6e8e752a3ae75edfe755e8f4170a94ae6a85b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a292c096344556850c8542b0d3e5c91f9f2b28aa7fd0aa59cd4e9a7df9aeb329",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /responses · status 200 · 5.739 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 95 changed as sent

message 103 changed as sent

message 107 changed as sent

message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8753, 0.6411, -0.5354, -0.0139, -0.0338, 0.9989, 0.1753, 1.544, 0.8494, 0.1467, -0.1326, 0.1009, 0.403]\nstate[eef_state]: left_x=0.2804 left_y=0.0001 left_z=0.1446 left_yaw=0.0022 left_pitch=-0.2006 left_roll=0.0012 left_gripper=0.9989 right_x=0.4374 right_y=0.1048 right_z=0.1376 right_yaw=0.2278 right_pitch=0.0171 right_roll=0.1688 right_gripper=0.403\nstate[joint_eff]: [-0.0615, -1.7983, 6.9949, 1.6972, -0.0513, -0.022, -0.0122, -0.7179, -9.3333, 8.4718, 1.8681, -0.0708, 0.0171, 0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.6411, -0.5426, -0.0139, -0.0338, 0.9989, 0.2661, 1.7218, 0.6762, 0.5972, -0.0647, 0.1326, 0.4017]\nstate[eef_state]: left_x=0.2793 left_y=0.0001 left_z=0.1424 left_yaw=0.0023 left_pitch=-0.2117 left_roll=0.0015 left_gripper=0.9989 right_x=0.4366 right_y=0.1345 right_z=0.0845 right_yaw=0.2443 right_pitch=0.1134 right_roll=0.1626 right_gripper=0.4017\nstate[joint_eff]: [-0.335, -1.6889, 7.1726, 1.5751, -0.0415, -0.0415, -0.0122, 0.2667, -5.8188, 7.1316, 1.453, 0.0171, 0.1783, -0.0269]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.6411, -0.543, -0.0135, -0.0338, 0.9989, 0.2844, 1.7264, 0.6815, 0.5781, -0.0536, 0.149, 0.0112]\nstate[eef_state]: left_x=0.2792 left_y=0.0001 left_z=0.1423 left_yaw=0.0019 left_pitch=-0.2121 left_roll=0.0012 left_gripper=0.9989 right_x=0.4341 right_y=0.1405 right_z=0.0803 right_yaw=0.2445 right_pitch=0.0938 right_roll=0.1718 right_gripper=0.0112\nstate[joint_eff]: [-0.0479, -1.3197, 6.8444, 1.5409, -0.0562, -0.0366, -0.0122, -0.253, -6.5436, 6.2291, 1.7363, 0.0464, 0.0464, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2cf8e3e845ff13927ad966072f33b683349e3fe213735775dcadf541d6f9cba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:917ff6cd53b69ab63cadf0a74fb6e8e752a3ae75edfe755e8f4170a94ae6a85b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a292c096344556850c8542b0d3e5c91f9f2b28aa7fd0aa59cd4e9a7df9aeb329",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHK4Ok6jAVi2YIL2n_YPSQidbOQcqyEbGVFVe20Rb5_uFJGtBNr0GwXt4M2TvlMW4dSvKGoR1aRwzQplziBVSkR3gRx2H7_JSkidNEh7HWHf2PGVQFo5mRJvQgM3LKbEZ9w49f7E1-11ret4zFwTMEodYOaJBJjwFvu80Z1NAXjuOCbnh4NIo317FWofPT5SPx1WCBkJvt5vAPz0365elgCb9iYfSaxzaWK2ZfieIx0-py2rKbeHKjxFTrlT-dnlgyk3sPWqJsr3VUFPu0ziwLPwk1te5sR2meecz_tAEvjN1Egj_-7r1EzXnmkVI1RaggJkdj_4AFW4jwv3wfl-HNrZluNO9t-HFhi7ieXe8ffIzNP2LOKRZjzJP4tRaH2z1Staovs_ehaKK2jQ3iT_I9AB0EVoKJBoKQZgjt4vuDUOZ88XWnDo1UTgmCeD45Rde9WK4Fd3cv2g4Hs8oCJieGTFSFERQuXUf0avCOeFTHv1jrcKeFUvBAfKmzFMUjxy_twAyldwQ8MNb_XF2bZ04kRe6MkXz8niK3osqa__8D35lEzJgzC5xeTckQEX7olJbrSCgxjrQKjbKnKgGY0n7iIF1afYlmeOFBILDIjS7OXqzElD4ax4sUVx15GlDjal1FR1q3OhMdV_tdWSpi-5aozyxODFtxvPJUgDWqT2J7lzIJbAAeZ1KIqTmxVELVe4vwIjAnm5ltlA-ouA_Vgas8HEPgL4rT6oCFk2PLfDepAo3dpPunmyu7PyBUKa1eKCcc4EMoM_1ZfYuvW9B2jJN5S1khA8eZ7Zqrr6lPEU-KbP9zb5JRxVAYVKlriGMBg1OfO4rQgwmNC1Na1G4ylZmyRPN7H45r3XhsEjyZK5eUDqoc4U35ELZ8F-43P8vO0VPpdrZzJUE5_k4gF46N8EsO2cnbjCEFAEMq4GOAoOfriVBbeoJoYrbo6SucJ-12A9yjPMh2ljC8rQuGa4RUhMnHw3TuEccwLzKSZj9vaL7Jwm4EZz9GUlHChQssVznGKZWTLm34nfEVApq2_UKJkvZo81Ksb99sYbUlqqztCUhricHNGc9qr4ZnxrDtjfnA7CokNRls3yFf2wMNfvvDCA0u20hZwhSwJdlYws8sVdAKe9Tf2JYk3-VUTbUZD-9wX87m-JiuO2YMsLNwGsVxcjMMmszMgYBGMHOwKpf587KweEdx6abP7Oo0QtumN5vgmcCAB8C_l-sVBvlr6VA0ye_Ax9ouxLeElvwVLZTj64D876Ly3v7yfaGRZl6BWWNALDEi_arAyAdQ4WfDnyGMTBGR7vQe9CqzInbN5wQ9e9axtX9Yqpy-gxGUXdfzJ3lvlt7UImoTgkO8a5vZzBjIrg-PT5xxSswZnKlaMHtz77cOkYpTP6ABi3R3tDsiEYjzX27tqJfr1VGFnb8A-BcWWMugbRv9ZctqKhVBU-FBxJmBs070jFNs2lG1cunAZT2oWBtrmuJo4thXrIFUh4N9cFYMsUmOcKOe9r7_o8j4f3P6AbsUiukjGNdqZ_oQ7_2tk4ZHAOuwLNPMTVGPonhfmEuoK7Y58KM0QzTb-0CUPswNDWUTJ5g8i87ntYQgumSCpoeHhLRZ8WaKmjiKRDyIPye4Pn50gJnmwuAtr9x9duHH43OhowDRJw6SbAJJwoqDBic4LeyHmo-ifj2RK4VD3jPhkNzc8A2A8mW8ygEpKPaLjmfuQTMWkgelDENyyNWD9iIQbbe6Uo6g4GnsDQN_Rdr_qn-PFT8z3ojMX394bMKeRkTUSCVmbcws8JBvRTXhC_02H3Ukx7CCw7xnM8DHUn4rm7zqnIAD6xOeNixyOXyyhSGoOEKa0iqqiQdR5sb4c8dRC2FNJVR0Nhq3R0PFleMoUFpg==",
  "id": "rs_0f7486bd42e7710a016ab472b7520887d080850367fad5835d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.4,\"right_x\":0.45,\"right_y\":0.142,\"right_z\":0.046},\"note\":\"The jaws closed fully, so the rim was not captured. I will reopen, move slightly forward, and lower the fingertips to engage below the lip.\"}",
  "call_id": "call_qXI6s69BewQRdnko7kGNiVok",
  "id": "fc_0f7486bd42e7710a016ab472b811a487d0ac1267f736b978c3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qXI6s69BewQRdnko7kGNiVok",
  "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, 0.8845, 0.6411, -0.5503, -0.0135, -0.0338, 0.9989, 0.2844, 1.7302, 0.6815, 0.561, -0.0456, 0.149, 0.3958]\nstate[eef_state]: left_x=0.2781 left_y=0.0001 left_z=0.1397 left_yaw=0.002 left_pitch=-0.2247 left_roll=0.0015 left_gripper=0.9989 right_x=0.4326 right_y=0.1386 right_z=0.0749 right_yaw=0.2377 right_pitch=0.073 right_roll=0.1672 right_gripper=0.3958\nstate[joint_eff]: [-0.1983, -1.7573, 7.0222, 1.5897, -0.0415, -0.0415, -0.0122, -0.1436, -7.0359, 6.2154, 1.8535, -0.0464, 0.0073, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad756b67eed3e82110766e074fb0ae38a034a817cd2005fcd18bc763cd4be016",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:948fbbd8af37b9b0351a2a6150a48c3491a212a01f208b6b3173732b94f17477",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bac53ceed265b3c703c50bb01ca6caef4ad02e060c36c65dd9664a6e435cfebe",
      "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 · 3.828 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 99 changed as sent

message 107 changed as sent

message 111 changed as sent

message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8787, 0.6411, -0.5381, -0.0139, -0.0334, 0.9989, 0.2012, 1.6997, 0.6731, 0.5377, -0.1135, 0.1162, 0.4019]\nstate[eef_state]: left_x=0.28 left_y=0.0001 left_z=0.1433 left_yaw=0.002 left_pitch=-0.2067 left_roll=0.0017 left_gripper=0.9989 right_x=0.4353 right_y=0.1129 right_z=0.0801 right_yaw=0.2296 right_pitch=0.0745 right_roll=0.1702 right_gripper=0.4019\nstate[joint_eff]: [-0.0752, -1.7709, 6.8581, 1.6337, -0.0415, -0.0317, -0.0122, 0.8684, -4.6564, 3.8769, 0.6129, -0.0317, -0.0122, -0.1294]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.6411, -0.543, -0.0135, -0.0338, 0.9989, 0.2844, 1.7264, 0.6815, 0.5781, -0.0536, 0.149, 0.0112]\nstate[eef_state]: left_x=0.2792 left_y=0.0001 left_z=0.1423 left_yaw=0.0019 left_pitch=-0.2121 left_roll=0.0012 left_gripper=0.9989 right_x=0.4341 right_y=0.1405 right_z=0.0803 right_yaw=0.2445 right_pitch=0.0938 right_roll=0.1718 right_gripper=0.0112\nstate[joint_eff]: [-0.0479, -1.3197, 6.8444, 1.5409, -0.0562, -0.0366, -0.0122, -0.253, -6.5436, 6.2291, 1.7363, 0.0464, 0.0464, 1.0379]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.6411, -0.5503, -0.0135, -0.0338, 0.9989, 0.2844, 1.7302, 0.6815, 0.561, -0.0456, 0.149, 0.3958]\nstate[eef_state]: left_x=0.2781 left_y=0.0001 left_z=0.1397 left_yaw=0.002 left_pitch=-0.2247 left_roll=0.0015 left_gripper=0.9989 right_x=0.4326 right_y=0.1386 right_z=0.0749 right_yaw=0.2377 right_pitch=0.073 right_roll=0.1672 right_gripper=0.3958\nstate[joint_eff]: [-0.1983, -1.7573, 7.0222, 1.5897, -0.0415, -0.0415, -0.0122, -0.1436, -7.0359, 6.2154, 1.8535, -0.0464, 0.0073, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad756b67eed3e82110766e074fb0ae38a034a817cd2005fcd18bc763cd4be016",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:948fbbd8af37b9b0351a2a6150a48c3491a212a01f208b6b3173732b94f17477",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bac53ceed265b3c703c50bb01ca6caef4ad02e060c36c65dd9664a6e435cfebe",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHK-XL4nzky2wNbukYYCbR_VLAt9ldU3t7NEUD5bn7sHqOTLJgR18YsF4BT40GLQwsLpVkBmSWw7uDpuW0sNHxVLayG1_K31w0AWa_2CTj4TTw7xUF_JSvCKY9xrnTLi2tBKc6AHG_uQUfCwlfSwR_e_9-otUQDDkOV86tWhx19hYIbtNyuNS7c5LnzU5iNn5pxDL6qlXeiW4u-mBJ8OTMombF7A5v0TmUoTNojFEod_Og5fTeghZatEOVSjGX7Czp2KxuKALqKWNpikdf6L2g6xiFHlVmSsUXpIq958M8NajQwyPY5Bm-vjA_2WGKbjfqU56AQK07F5gLq9Rfo8r_v-pvKSyDwXF4a45pBn_XAmr5C5Kyzro8Re_fgACDYu3Gb8ZF-dUmLXUj8-qZb-pzMZuXjvIoSiGPJMB13zx5C6-iGkkIIV3cAvt3b_lEOqMe_rrzxOgFbfe_5SsRF1-OAz6zFXd1Ie-athYMF3gBqINbG4xOuzPbJ-nApZPw_ZlP2gn1arN9EDvZ2RLpoKuUufyVrrn9RDtfUYk70VVM53s1MYY5MLDq5H95hkyVjoGxrUkbniL6x0pcc1W2x8aU8W4haNvg6p-Q6p9tJapqfyPXP0A0UEDQkoCT4SxLnc7khzVeayW_QpFjt2NDy-A15ASuuOCrRQqW328g_tYlhi2nqHyu8c33h8T3jf2PyMvS5oaeLLn-jJrGXRA24UzdRklExwHfUlrVrjIqIaAazxQYZkMReJAFB9IbwZmt6aK8jnfT7Xz0ubYizYiXywQS0P0cPLoN5D0vG_VtvnBCRLaz9v3AQBUbExcEbGvq_CcxTWpSe6xkLm9Y8OHLsr09wBu76yb2W-4uEOUqc7dYKAbpLVsAdHwStAePcgqGL4lhW_IDkt4qId4pKg51pmKo_JjfheycRNMzHhGSqYiZYKJTM3XcYA2E1zaYvEWVswgYREBoXpRA3CrfVBU_dhQlTJu7v9_9CED2LQ_B1DR9-U5K4CkqirgapCNzig-rbIl8J-CrDJOLOp90rS9J7DnBZlj3lu03AnmgNXgAO9B8lJ2GBhB0GNyv4y8TvQncoOU2NGWZeIuZ-t7ZqaZmKFWFoa-y0QA4ZKcOxAVrNJNlNmnaU476_Grip8Eew6evf9ugiJwKbOtVIMIUsL2rGGoX9wjX2o5KmrwzXViJ_VZd7HhiLECqF7Pquu8Ok9kjTzbO_WTS-xoAd8hLwJv3xoYysc353qA08HZTCjxCDLnfg36XzfXMH12YQ8-1v78si5q5PvMq44S4_d9AdW510EhWECi7zZZkkN1VO_7qavP8UjxDw-ypp8ym6VhSF5dlCURlUusgCQY1jYkgTCFKmpdcxJyBuSJhEX6dZS8bZRz8zuvQAMq_QJY3vt0ABQzXG-KlLzV5LXANY66yLSF4O7AeX8aZatIHKqJt6DF0vTnNTOcg4Va8x9Lnxe7Fc5Wo20zAnAtjPwJDJ1WA04B1_UP4Kdz2YScwri6BJuLJeW-72ckDmRr9YtFgu1kgCppk89LojUC3dpaFUc-U6QhjTg2EVQXjehJqOTdPmZdknl_r9UsMyJZnMp3mBRBGdf73zycZMiT41IXhx6sjmW1T-cwXlHSYVhr0N0VMfiF58gZYFlDb4Ua02ZhehFov7UdNK7KK6w847eeTah5pfieVhr1hHLSKRoDGq7jSzv4Wv_NpLJhP1YLhXLeKlw2nDjUyq2QK5BpJEZyIAePUEFSS_zGbJqhEVpKG96nrDx4vBQzr8okrK7mmKZYp_O4o6X-PHxgKBRL2as-H1Csr_I_BLOTFnnGMD9CpDVJLpSgTxE9zexIcUqNE0yO64LDHSSiIeubdnv-Xna6pnDlXDf5Cx_efsGf3FoHJndghQYEMo4h-2BZur8crhJKG-EV7H1-uj7G3ycMCk8TBaakBvjfB3j-WN0iK5AsoMvVJaqCP-Q1JCHl68K3dzIbuczonCldp0yjjvO",
  "id": "rs_0f7486bd42e7710a016ab472bb611887d0a49ec60684ba38af",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_y\":0.178,\"right_z\":0.105,\"right_gripper\":0.55},\"note\":\"The bowl shifted slightly left during the retry, and its rim is still left of the jaws. I will lift clear and realign with the rim's new position.\"}",
  "call_id": "call_lQBxNRoAYj9gQQc8VWCbkeo6",
  "id": "fc_0f7486bd42e7710a016ab472bdd3e087d082750bf7fac0c29d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lQBxNRoAYj9gQQc8VWCbkeo6",
  "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, 0.8845, 0.6411, -0.5507, -0.0139, -0.0338, 0.9989, 0.3977, 1.697, 0.7311, 0.4587, 0.0303, 0.181, 0.5481]\nstate[eef_state]: left_x=0.278 left_y=0.0002 left_z=0.1396 left_yaw=0.0023 left_pitch=-0.225 left_roll=0.0018 left_gripper=0.9989 right_x=0.4226 right_y=0.1756 right_z=0.0869 right_yaw=0.2696 right_pitch=0.0541 right_roll=0.1575 right_gripper=0.5481\nstate[joint_eff]: [-0.0889, -1.7026, 6.8308, 1.5409, -0.0464, -0.0269, -0.0122, -0.6359, -9.812, 7.665, 1.7167, 0.2466, 0.1832, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:957e69f10297579dce25ede528d9e60f32153259a86370cde6524b3c39d43050",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c9e5ebd2e617d16c4a8bb69a5d70b50316e4c7420023d12f9ff53479a8eb49b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74d1e35cd580cf6cdb4883f7d209dcd85c82abda957139c6f77bc058264f94b5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /responses · status 200 · 10.57 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 103 changed as sent

message 111 changed as sent

message 115 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.6411, -0.5426, -0.0139, -0.0338, 0.9989, 0.2661, 1.7218, 0.6762, 0.5972, -0.0647, 0.1326, 0.4017]\nstate[eef_state]: left_x=0.2793 left_y=0.0001 left_z=0.1424 left_yaw=0.0023 left_pitch=-0.2117 left_roll=0.0015 left_gripper=0.9989 right_x=0.4366 right_y=0.1345 right_z=0.0845 right_yaw=0.2443 right_pitch=0.1134 right_roll=0.1626 right_gripper=0.4017\nstate[joint_eff]: [-0.335, -1.6889, 7.1726, 1.5751, -0.0415, -0.0415, -0.0122, 0.2667, -5.8188, 7.1316, 1.453, 0.0171, 0.1783, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.6411, -0.5503, -0.0135, -0.0338, 0.9989, 0.2844, 1.7302, 0.6815, 0.561, -0.0456, 0.149, 0.3958]\nstate[eef_state]: left_x=0.2781 left_y=0.0001 left_z=0.1397 left_yaw=0.002 left_pitch=-0.2247 left_roll=0.0015 left_gripper=0.9989 right_x=0.4326 right_y=0.1386 right_z=0.0749 right_yaw=0.2377 right_pitch=0.073 right_roll=0.1672 right_gripper=0.3958\nstate[joint_eff]: [-0.1983, -1.7573, 7.0222, 1.5897, -0.0415, -0.0415, -0.0122, -0.1436, -7.0359, 6.2154, 1.8535, -0.0464, 0.0073, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.6411, -0.5507, -0.0139, -0.0338, 0.9989, 0.3977, 1.697, 0.7311, 0.4587, 0.0303, 0.181, 0.5481]\nstate[eef_state]: left_x=0.278 left_y=0.0002 left_z=0.1396 left_yaw=0.0023 left_pitch=-0.225 left_roll=0.0018 left_gripper=0.9989 right_x=0.4226 right_y=0.1756 right_z=0.0869 right_yaw=0.2696 right_pitch=0.0541 right_roll=0.1575 right_gripper=0.5481\nstate[joint_eff]: [-0.0889, -1.7026, 6.8308, 1.5409, -0.0464, -0.0269, -0.0122, -0.6359, -9.812, 7.665, 1.7167, 0.2466, 0.1832, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:957e69f10297579dce25ede528d9e60f32153259a86370cde6524b3c39d43050",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c9e5ebd2e617d16c4a8bb69a5d70b50316e4c7420023d12f9ff53479a8eb49b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74d1e35cd580cf6cdb4883f7d209dcd85c82abda957139c6f77bc058264f94b5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
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  "id": "rs_0f7486bd42e7710a016ab472c0908087d0919dc6d1ea6a8719",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.19,\"right_y\":0.21,\"right_gripper\":0.32,\"right_yaw\":-0.2},\"note\":\"The bowl moved again as the jaws approached its side. I will lift well above the fruit and use a narrower, straighter rim approach.\"}",
  "call_id": "call_HV3nJtgQLU6V64BBAvzUgvMD",
  "id": "fc_0f7486bd42e7710a016ab472c1f8d887d0bf439f223aa12432",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HV3nJtgQLU6V64BBAvzUgvMD",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8845, 0.6411, -0.5549, -0.0135, -0.0338, 0.9989, 0.6781, 1.6779, 1.1736, -0.1089, 0.5583, 0.5228, 0.3217]\nstate[eef_state]: left_x=0.2773 left_y=0.0001 left_z=0.1389 left_yaw=0.002 left_pitch=-0.2292 left_roll=0.0016 left_gripper=0.9989 right_x=0.4238 right_y=0.2258 right_z=0.1822 right_yaw=-0.0685 right_pitch=0.051 right_roll=0.1588 right_gripper=0.3217\nstate[joint_eff]: [-0.1026, -1.6889, 6.8308, 1.5263, -0.0464, -0.0171, -0.0122, 0.1436, -7.8291, 7.8291, 1.453, 0.4127, 0.2515, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34d9f94adbcb81b9f49764730bc55992ae8a24a8589278b8111e1d26691246df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b77cee6ba2a3c1a1876d8445d60db787bcea0a719b4440b12cb298bb447fa5b9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:571e3494d12b87fa8b855d886dbed4d1dd9166aea48c9b6ff24c1b302df80518",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /responses · status 200 · 6.743 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 107 changed as sent

message 115 changed as sent

message 119 changed as sent

message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.6411, -0.543, -0.0135, -0.0338, 0.9989, 0.2844, 1.7264, 0.6815, 0.5781, -0.0536, 0.149, 0.0112]\nstate[eef_state]: left_x=0.2792 left_y=0.0001 left_z=0.1423 left_yaw=0.0019 left_pitch=-0.2121 left_roll=0.0012 left_gripper=0.9989 right_x=0.4341 right_y=0.1405 right_z=0.0803 right_yaw=0.2445 right_pitch=0.0938 right_roll=0.1718 right_gripper=0.0112\nstate[joint_eff]: [-0.0479, -1.3197, 6.8444, 1.5409, -0.0562, -0.0366, -0.0122, -0.253, -6.5436, 6.2291, 1.7363, 0.0464, 0.0464, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.6411, -0.5507, -0.0139, -0.0338, 0.9989, 0.3977, 1.697, 0.7311, 0.4587, 0.0303, 0.181, 0.5481]\nstate[eef_state]: left_x=0.278 left_y=0.0002 left_z=0.1396 left_yaw=0.0023 left_pitch=-0.225 left_roll=0.0018 left_gripper=0.9989 right_x=0.4226 right_y=0.1756 right_z=0.0869 right_yaw=0.2696 right_pitch=0.0541 right_roll=0.1575 right_gripper=0.5481\nstate[joint_eff]: [-0.0889, -1.7026, 6.8308, 1.5409, -0.0464, -0.0269, -0.0122, -0.6359, -9.812, 7.665, 1.7167, 0.2466, 0.1832, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.6411, -0.5549, -0.0135, -0.0338, 0.9989, 0.6781, 1.6779, 1.1736, -0.1089, 0.5583, 0.5228, 0.3217]\nstate[eef_state]: left_x=0.2773 left_y=0.0001 left_z=0.1389 left_yaw=0.002 left_pitch=-0.2292 left_roll=0.0016 left_gripper=0.9989 right_x=0.4238 right_y=0.2258 right_z=0.1822 right_yaw=-0.0685 right_pitch=0.051 right_roll=0.1588 right_gripper=0.3217\nstate[joint_eff]: [-0.1026, -1.6889, 6.8308, 1.5263, -0.0464, -0.0171, -0.0122, 0.1436, -7.8291, 7.8291, 1.453, 0.4127, 0.2515, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34d9f94adbcb81b9f49764730bc55992ae8a24a8589278b8111e1d26691246df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b77cee6ba2a3c1a1876d8445d60db787bcea0a719b4440b12cb298bb447fa5b9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:571e3494d12b87fa8b855d886dbed4d1dd9166aea48c9b6ff24c1b302df80518",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
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  "id": "rs_0f7486bd42e7710a016ab472c652f487d0af4dd9f470ac7c2f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.445,\"right_y\":0.183,\"right_z\":0.055,\"right_roll\":0},\"note\":\"The raised view shows the bowl's right rim below and to the right of the gripper. I will descend onto that exposed section with a three-centimeter jaw opening.\"}",
  "call_id": "call_NvJ3noYEXRenUUn4IBAt4Hxr",
  "id": "fc_0f7486bd42e7710a016ab472ccd3f487d0bbfc13c8f70864d2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NvJ3noYEXRenUUn4IBAt4Hxr",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8845, 0.6411, -0.5571, -0.0135, -0.0338, 0.9989, 0.5819, 1.8866, 0.9466, 0.3573, 0.5526, 0.3725, 0.3217]\nstate[eef_state]: left_x=0.2769 left_y=0.0001 left_z=0.1385 left_yaw=0.002 left_pitch=-0.2315 left_roll=0.0017 left_gripper=0.9989 right_x=0.4493 right_y=0.1889 right_z=0.0794 right_yaw=-0.0807 right_pitch=0.0801 right_roll=0.049 right_gripper=0.3217\nstate[joint_eff]: [-0.0615, -1.4701, 6.8855, 1.5067, -0.0513, -0.0415, -0.0122, -0.3624, -6.694, 3.6855, 1.2137, 0.1245, -0.1587, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e8c82bab2310cdf9a14f615fa85fb3fcff64f0e5060e5df09a9116564c95905",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98660cc39951d688da70e89cc416f3bd80e9066bf34f1aba3ee71dc86b00d864",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f288f35f61f099d87ec5a449d93a290917b20800cd53af898a76d3a371304df7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /responses · status 200 · 4.919 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 111 changed as sent

message 119 changed as sent

message 123 changed as sent

message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.6411, -0.5503, -0.0135, -0.0338, 0.9989, 0.2844, 1.7302, 0.6815, 0.561, -0.0456, 0.149, 0.3958]\nstate[eef_state]: left_x=0.2781 left_y=0.0001 left_z=0.1397 left_yaw=0.002 left_pitch=-0.2247 left_roll=0.0015 left_gripper=0.9989 right_x=0.4326 right_y=0.1386 right_z=0.0749 right_yaw=0.2377 right_pitch=0.073 right_roll=0.1672 right_gripper=0.3958\nstate[joint_eff]: [-0.1983, -1.7573, 7.0222, 1.5897, -0.0415, -0.0415, -0.0122, -0.1436, -7.0359, 6.2154, 1.8535, -0.0464, 0.0073, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.6411, -0.5549, -0.0135, -0.0338, 0.9989, 0.6781, 1.6779, 1.1736, -0.1089, 0.5583, 0.5228, 0.3217]\nstate[eef_state]: left_x=0.2773 left_y=0.0001 left_z=0.1389 left_yaw=0.002 left_pitch=-0.2292 left_roll=0.0016 left_gripper=0.9989 right_x=0.4238 right_y=0.2258 right_z=0.1822 right_yaw=-0.0685 right_pitch=0.051 right_roll=0.1588 right_gripper=0.3217\nstate[joint_eff]: [-0.1026, -1.6889, 6.8308, 1.5263, -0.0464, -0.0171, -0.0122, 0.1436, -7.8291, 7.8291, 1.453, 0.4127, 0.2515, 0.0659]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.6411, -0.5571, -0.0135, -0.0338, 0.9989, 0.5819, 1.8866, 0.9466, 0.3573, 0.5526, 0.3725, 0.3217]\nstate[eef_state]: left_x=0.2769 left_y=0.0001 left_z=0.1385 left_yaw=0.002 left_pitch=-0.2315 left_roll=0.0017 left_gripper=0.9989 right_x=0.4493 right_y=0.1889 right_z=0.0794 right_yaw=-0.0807 right_pitch=0.0801 right_roll=0.049 right_gripper=0.3217\nstate[joint_eff]: [-0.0615, -1.4701, 6.8855, 1.5067, -0.0513, -0.0415, -0.0122, -0.3624, -6.694, 3.6855, 1.2137, 0.1245, -0.1587, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e8c82bab2310cdf9a14f615fa85fb3fcff64f0e5060e5df09a9116564c95905",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98660cc39951d688da70e89cc416f3bd80e9066bf34f1aba3ee71dc86b00d864",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f288f35f61f099d87ec5a449d93a290917b20800cd53af898a76d3a371304df7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHLV1BtrXC4OnluzSaKWuSPLJNBoJPh7y0SrOmtT6KNwBbuAgaA6K26EmY5JLDmkyh3CSdzU94Bf6flCbrGmYV459ewF41RkYufYLysrkOwoBnYIrJ9CWkDzBTqHSvZgCWNuagu09fHv6mDg73h4LTb_D0-yM0CbDrNwziTTaqTMGHY1xV8OeaZr6WZgJLmNxyMENkQhRKgMy7MApXfjZbHqiBR6l2i87Besb5vRinuSUSBEF_otHHUOKYPTTGJk_kMO7aikx5m6iM8nq3eISSZ6fx1aKUVbKLsQNw1LP_pN89FNPebRlB-U3TsUnBf8a22qsri5cIMDiPmdYLUb3iZ4bUmR4XTtR5QB-YKcS-xxr4vJpdCUezhgGzD4RJEkH0MgELTdAE9P2Fq9n27LUhY201g4xTLos3iJFozbgZxT3J8vsgmIoQNDr6gWZKTWbNCamO3G7Nhu6cZwq0RdTA-x4KsJhMJXWJv29KrTaOhiI8uR3KYtsEdnnXuylVNllHwBmIaUm0S87plS-xw4x5LVntlxaIVl970H451WjftcKFlGSHQ5y3BTUC6cIzi-Cd6E3X8lCYQD1futX2T0DO280BgM9yR9eNMxa8fJo6i7R5Z8BQ2ICEH2i9uxJND29keMNjl1rODZHgFU0NwnaQtiJlg01ccIXgiGe0qhSvbC6O33t2Yv0irVfdl_EL0M3mhCd7332c5sL0-Apt7d3GioFWabHrGcSx2xV7vawqbX3yBNQd-3-YpFYFtCHZut-Jm-FO5-sGt6HhCXeQGtcnA_Wk7GLLX-FKNlMVVEywY2QBDnwMD3vUNFQ2RLuqm8HfrPg5Wbk4uwKS4SdqwS1Vqa0W8fdOJjX2N3TLikps4TToAl6DufGxX4Ir4hAZpymtHFqaZpr8itspmhqB8l5iWGqW2YElff_SQGA2niihNF_srXrqXIgA4k5t2X6yqBnLGY93HGso96acWZUaWgSp8q_lEkGzTAvh-pudKCu3gaDEetPvrcYNwfNxLeXFw_80p4imkrJrthddIBaO1WddvZyUQdZLVsCvAxVuH9erv2j_Q2XjhPmbWgravdxd5bLmvoUZ1zN-eR7_GCNNBphsAI04e0mknZTDz4Deb02rKw4FM1vBkRDBGn_elBH1ijMqhE1Fwo_bXIp9B3-uxmmryCprmAQFiGTK3DhnwD2WGdiXZd0iYgvhfpYD6GIkkiIhebNLOpgY8gaG37UT98R5dmLlfoBVts-uu_5L55RsEOYKfMGEfSVGFoq55-QrWKc905jmHYTKe41FI0-944o8nsyGgYBezwxYjfUwejFygVc9o-n_IeyzuAnPqghr7NJOZNO6uTZvvtQJesNt4XAqxkYwswCWKg4niUSYeYJqEnWrE48G3cuPSMRo5hegmIc-V24OPGeIrE44lZx3RNf3NjVFcD0hRu5yL6HW0Nw2PnDtJgV7ubrE69qUJBF4KLZ3c0X97e5zSp_Tp27YtnBpqtszOnA1j0VWkzL1jXYF1ANe6Thdb2FHgB-nQMQgREawxXiKpR24MWu_sNlA6g4wOWNc__zU5VIMta8plwePOKq025utGwEVhsEtKLo74FqQGJmp55yYySs4a97EzZ2j09BbM558Tq9RJQBwsXPvyMFSmpo8ZQXoQOybYU1gXgXaSpHdctNusC-JaHL8m-mpEusXzfEuQbh13h8UwQhUGUeoOvg7BWxw9Bb2Aomf3ZUys7K2vhHj0rA2oKuqei0tKtL5obpUOfA60MzkZ2M3p1Y5H17unKjYGlmNP-fNWvdnkMaRt93l9rgGkO6YEs26jI_I4qQoF6p4ptRu--1fwE2hJPGFXDnyFnwhHLIqMNG3E2x37qvft6o0dE20fxcddOiQmL2IR0eHk1UzRDIfFu94S3RsjS5W1ChsXmPsALOJU93j771LZ4J5FP-IivEOpejj526MLaWkp4JbSHdlEOv3j_Hd-jTczDjbKsXf0w7K2iALdgL71__SQZNgSBOFOJ742rkjfHOLjhLboqdaMjq2D3wiRFW7yYeb9ohrSQ5rsWw6dA-FBxvlplDv0HMqKkIL5UB7MgsbWZQBrrZ5DQTgZ-cvUmeJCh5ZaDddQEuM2AyEQkITORdsdZ-XYI17iay7hhWXgV0mJ0jR1fwuTbuAKERSdxNTMhaqR5ooXd3rArNuO_kcogRp8XKGbwx68iuYTvXDnB49nRVTe2kmo4IqM=",
  "id": "rs_0f7486bd42e7710a016ab472d093f887d0a24687f08ba96ea5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.18,\"right_z\":0.052},\"note\":\"The bowl is behind the fingertips in the wrist view, so the approach is too far forward. I will move back along the right rim to put the bowl wall between the jaws.\"}",
  "call_id": "call_nqGqSKKdYxtKZ229j1nuo6pH",
  "id": "fc_0f7486bd42e7710a016ab472d487a887d0b30ad997c3bb098a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nqGqSKKdYxtKZ229j1nuo6pH",
  "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, 0.8902, 0.6411, -0.5621, -0.0139, -0.0334, 0.9989, 0.6353, 1.8172, 0.7666, 0.548, 0.5983, 0.4007, 0.3217]\nstate[eef_state]: left_x=0.2761 left_y=0.0002 left_z=0.1362 left_yaw=0.0022 left_pitch=-0.2422 left_roll=0.0025 left_gripper=0.9989 right_x=0.4173 right_y=0.1885 right_z=0.0814 right_yaw=-0.0857 right_pitch=0.1558 right_roll=0.1077 right_gripper=0.3217\nstate[joint_eff]: [-0.0479, -2.1812, 6.8855, 1.6044, -0.0366, -0.022, -0.0122, 0.4855, -6.5436, 3.5214, 0.7595, 0.0024, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2891cb91f49cdcffc82bf3bbe19eccbb9610161fe6430d5e94093411abf450b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:129d46d466ad152f102ef3cfcbb501ebe0fa1088234f2584e9cd788f4b88e8e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df527647fd65c1826f933805e5c300756900a4435169c06c6aada8508e5f74da",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /responses · status 200 · 5.306 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 115 changed as sent

message 123 changed as sent

message 127 changed as sent

message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.6411, -0.5507, -0.0139, -0.0338, 0.9989, 0.3977, 1.697, 0.7311, 0.4587, 0.0303, 0.181, 0.5481]\nstate[eef_state]: left_x=0.278 left_y=0.0002 left_z=0.1396 left_yaw=0.0023 left_pitch=-0.225 left_roll=0.0018 left_gripper=0.9989 right_x=0.4226 right_y=0.1756 right_z=0.0869 right_yaw=0.2696 right_pitch=0.0541 right_roll=0.1575 right_gripper=0.5481\nstate[joint_eff]: [-0.0889, -1.7026, 6.8308, 1.5409, -0.0464, -0.0269, -0.0122, -0.6359, -9.812, 7.665, 1.7167, 0.2466, 0.1832, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.6411, -0.5571, -0.0135, -0.0338, 0.9989, 0.5819, 1.8866, 0.9466, 0.3573, 0.5526, 0.3725, 0.3217]\nstate[eef_state]: left_x=0.2769 left_y=0.0001 left_z=0.1385 left_yaw=0.002 left_pitch=-0.2315 left_roll=0.0017 left_gripper=0.9989 right_x=0.4493 right_y=0.1889 right_z=0.0794 right_yaw=-0.0807 right_pitch=0.0801 right_roll=0.049 right_gripper=0.3217\nstate[joint_eff]: [-0.0615, -1.4701, 6.8855, 1.5067, -0.0513, -0.0415, -0.0122, -0.3624, -6.694, 3.6855, 1.2137, 0.1245, -0.1587, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8902, 0.6411, -0.5621, -0.0139, -0.0334, 0.9989, 0.6353, 1.8172, 0.7666, 0.548, 0.5983, 0.4007, 0.3217]\nstate[eef_state]: left_x=0.2761 left_y=0.0002 left_z=0.1362 left_yaw=0.0022 left_pitch=-0.2422 left_roll=0.0025 left_gripper=0.9989 right_x=0.4173 right_y=0.1885 right_z=0.0814 right_yaw=-0.0857 right_pitch=0.1558 right_roll=0.1077 right_gripper=0.3217\nstate[joint_eff]: [-0.0479, -2.1812, 6.8855, 1.6044, -0.0366, -0.022, -0.0122, 0.4855, -6.5436, 3.5214, 0.7595, 0.0024, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2891cb91f49cdcffc82bf3bbe19eccbb9610161fe6430d5e94093411abf450b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:129d46d466ad152f102ef3cfcbb501ebe0fa1088234f2584e9cd788f4b88e8e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df527647fd65c1826f933805e5c300756900a4435169c06c6aada8508e5f74da",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHLbO3rPO6XJRscWtzR0rrd0VBhSCYgYMUxfDuaJUwCc0t_ngdfcUCX_xfAW-1pqZ48aFNQYRgvyjR482R7rQcjs_HD-nY2idvb6HGuOKHVWGQ6npHzK4KIP99Az1XolF1c73F07uhnCI83UAErYlq7xChL2xJn5xe1IzFneipskuC3nNvV0UI7qkvtH14NwPDowxpr4FqiVLRbobrD641x23tJ3mVIkx4XPYROqNdd3eOcJLsmHZuQ2ktLwWiXPDCe6-nbaRRVkJU3WAGDtWNIAH2yRpulafDDWTOi3ySqQsgm68W5Uz3Di0gQ7MCEKKIH1qaDYpMwVHMMUTV-kkz1bgZiHEl_gEb1IxoUjYpYomphDVJ9QKr3LBFcCeLPJ7E0Mljm_BlTGa6tTqAYBZkWQv1yQiUMcWTP5Ha3ZV-LVJAaf8o5Doe5HyQHfiaWP6_LHnS_doKqfKKDT49lUVIm_N5aMmEkJQgVAtgTt9tsQvJBhEP5QQzLD9_OjhDBGFqFap8UeAGWsOknO7wo6KwvSR_bnuVVxe0OcmzRlonwUOXuJ0Eav9JzyPWgt1OYKK6jgDYz3P0d8McfdBEpBPkn7NCkoXLeale_taOF2J6ldCPIIqn53p1AxdGA1fNqI_nDGUPoSREmsrcWOIylgABM8tLuz8OolAHeWB9m-0wpp-cX3P9_vuC63789_fTEfVcHhMZV2_7LIk6fGbcUr--tdEFiOjf8yafQQdhSniJTZ1JhH24eDXwoksz3aBx3MEj67UqdvITNRA4eU9TtXDFAp87f4IwGPQQYVAb48ZVP_bR85AZiXVgxFGRhMaSgpVU1x5Oqq5gX93wSerkN46GrNcwYsCiI1793EwgUkqIjQ-tboRU6RxKPxmvVCXYsuz2DY8VW1DihqJllLUAVmv54YDWvdZt8NgwfGeQySQMqpGF71cwmWHQIeRnkHi3EXw1pl_yFtZ9YBcLeA-YRGo7cQcu6Q82HfE_qCA10yPbvcc7ln_9ktbs2AErs7iNOm6Vd7SjJxENObzDIE4tAPNcC4MVOF4h1x140zNmXuIKNftpNQ2EvW_uTbYpzj5MY3uJwhhpHV6XUF4gZUMOFSteU4ukg4WJu9M9Br1i2On3y-36lT_hTPKfETzSHcqczkKcdNy7YtXkcUlrlc18ijkkotiVi1nJp6na791TnR9pNMFdvQlqUwaZvNNiZf5-si0zQkJmVjr3rbla96Se2CjVTs6OlZvE7uy4ntj5Cd8JF3H9A6Bze0cVi6YjT0CnIcwiryMoZ0E4yAhlckV9maRMouXw5gdQZAQfBJNDWG9KCpvKe2AvossAJ5cQns6R2Vd-k1s49Gl98x-8yVw9sEtei4yJsYjmwgxueCgb4KHh5kMWjiR0qloUL2jbBcejgu7DNvhQ2aQGRDf69m932ML6cO4LJgF4AIAeSiBQQyBc2BA5BL5wstINjbGqNIfvJR7JvNfebTxKhjVqnBQhUGzrYRGrIEfSgxfw5EXghW39JgzQQRgtQty1LXZsXMncbxPPNZFtyQdTQWldwGqzFXDMqJtWz4lzdasjbmGXDjcECdKIKUWdNkGWno-mKxdwJgJsS6fJCLC2wAsS7-09RNe9m2VXLxY9LI_VgQDN_8duTOI8Db7_wQ0XokJX1rXuIpLj8u_vyXQE_0WJaLCtGd6Vs5z8ab-Sl4bR8rAfz3w_B2bIMddXxCjCbx24nMrFImqlCfHHsmeWhXpI_9Bd4xK5c1jMX0JzyW_LdgMc0_yNIbPIuVKPAvqb3awvJIdeTzEEjUoccchPr03lmWSqECj0noeYWqvaR27KPiREk_ZOe1VhQsO5vH4oHN3beWnE_G5R-HMcnwiV2wrq8XM5QZXdv-87aUTuWTN24XneKqDXUPnYQEhPqL-wRhXAJsP0Fv-IBZlG3A_ayMO-7vttjF_y1tw5VlzIJSnTHLPAjwQN45cdJy9oNWBlinI5f91AmzS3tzDhTfGstvvOySxTcph2Fc8WWf10shdghfzIvnacZ2vXVp-AH3I1Ak3Fl1-a8oxKXJRFJXv0OH5ztTvgEftQaqRpFe5yfYs2beT10Cq9dc4k8ixLwBtJnyQKAKzsNdzC41K9cFFRqlfmTvDgT1aXWkug==",
  "id": "rs_0f7486bd42e7710a016ab472d7a11087d0a7110d95b0d7be0a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.155,\"right_z\":0.05},\"note\":\"The bowl is still blocking the downward motion, indicating a fingertip is landing on the lip. I will offset slightly outward so the jaws can straddle the thin wall.\"}",
  "call_id": "call_rnQfgnIs1xtln6xvnEapOioK",
  "id": "fc_0f7486bd42e7710a016ab472da1b3087d086d9c86882985156",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rnQfgnIs1xtln6xvnEapOioK",
  "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, 0.8902, 0.6411, -0.5625, -0.0139, -0.0338, 0.9989, 0.5632, 1.8328, 0.6895, 0.7437, 0.5491, 0.3836, 0.3217]\nstate[eef_state]: left_x=0.2761 left_y=0.0002 left_z=0.1361 left_yaw=0.0024 left_pitch=-0.2426 left_roll=0.0023 left_gripper=0.9989 right_x=0.4262 right_y=0.1643 right_z=0.0832 right_yaw=-0.12 right_pitch=0.2218 right_roll=0.1759 right_gripper=0.3217\nstate[joint_eff]: [-0.1299, -1.6205, 6.8308, 1.5311, -0.0659, -0.0415, -0.0073, -0.1436, -4.4239, 3.0427, 0.7302, 0.0659, -0.2418, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0f489c0b9b3685ae22c4e73ad9541dd39a308446b6e24c708a0746f9e2e5b0d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a9e915b6084b2be3927c58af6cb387f0148c0322458118d249301eaaaf86b4d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8e5310d5fb988903308d7855474d34037fbbed716ea945c75aa3a1d1208e441",
      "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 35 attempt 0 · /responses · status 200 · 9.032 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 119 changed as sent

message 127 changed as sent

message 131 changed as sent

message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.6411, -0.5549, -0.0135, -0.0338, 0.9989, 0.6781, 1.6779, 1.1736, -0.1089, 0.5583, 0.5228, 0.3217]\nstate[eef_state]: left_x=0.2773 left_y=0.0001 left_z=0.1389 left_yaw=0.002 left_pitch=-0.2292 left_roll=0.0016 left_gripper=0.9989 right_x=0.4238 right_y=0.2258 right_z=0.1822 right_yaw=-0.0685 right_pitch=0.051 right_roll=0.1588 right_gripper=0.3217\nstate[joint_eff]: [-0.1026, -1.6889, 6.8308, 1.5263, -0.0464, -0.0171, -0.0122, 0.1436, -7.8291, 7.8291, 1.453, 0.4127, 0.2515, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8902, 0.6411, -0.5621, -0.0139, -0.0334, 0.9989, 0.6353, 1.8172, 0.7666, 0.548, 0.5983, 0.4007, 0.3217]\nstate[eef_state]: left_x=0.2761 left_y=0.0002 left_z=0.1362 left_yaw=0.0022 left_pitch=-0.2422 left_roll=0.0025 left_gripper=0.9989 right_x=0.4173 right_y=0.1885 right_z=0.0814 right_yaw=-0.0857 right_pitch=0.1558 right_roll=0.1077 right_gripper=0.3217\nstate[joint_eff]: [-0.0479, -2.1812, 6.8855, 1.6044, -0.0366, -0.022, -0.0122, 0.4855, -6.5436, 3.5214, 0.7595, 0.0024, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8902, 0.6411, -0.5625, -0.0139, -0.0338, 0.9989, 0.5632, 1.8328, 0.6895, 0.7437, 0.5491, 0.3836, 0.3217]\nstate[eef_state]: left_x=0.2761 left_y=0.0002 left_z=0.1361 left_yaw=0.0024 left_pitch=-0.2426 left_roll=0.0023 left_gripper=0.9989 right_x=0.4262 right_y=0.1643 right_z=0.0832 right_yaw=-0.12 right_pitch=0.2218 right_roll=0.1759 right_gripper=0.3217\nstate[joint_eff]: [-0.1299, -1.6205, 6.8308, 1.5311, -0.0659, -0.0415, -0.0073, -0.1436, -4.4239, 3.0427, 0.7302, 0.0659, -0.2418, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0f489c0b9b3685ae22c4e73ad9541dd39a308446b6e24c708a0746f9e2e5b0d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a9e915b6084b2be3927c58af6cb387f0148c0322458118d249301eaaaf86b4d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8e5310d5fb988903308d7855474d34037fbbed716ea945c75aa3a1d1208e441",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHLgjNzGDWYpYKuL6m3Ym8X2c3xdLHmwIsquqDz9TSBrLM1z9DGslL-epsIR5SeH9Qg3S4f7L2-cOmzTwjYbRBXMYleLmU7XKJMV0x61Dc-6gzoy9nJCzev0FQp9Pg5EGjZ5o5T-D3lw4PKtrv1AYSn3jIw1SOeeeS8rEiyJZwpUMgmv1_9YVuK169CRlCpqPrNr7anF9hHBE_dS8UUBq_jUbXzu5Mm7-M6vl-xrE8YB0sBQrBKF52ukpTwL21cRwEItlq_wDFuzJOOIAjdI0m0e7r46p-ylcZaYcCiyHE8rCtO1XugtkjWFcyOLAIeVlsxHPU1K5FekrSTYmpxKgP-SO_sNOFqTVvFkkdKGVnxc2ZVzWx2Msu9-L9yzifs0mCA8AWLjOmSI5WHVv9Qc0JvT36ZrAM46MOEbTxGkAAHi5l4Uj9B8o8mwxJdg8rFvMcqfpAOcOhIJqfNRowu-2Z8UoHMY1m5TQJ4l57F3EOR5p9juN7nVlNpHBuh_E3ZPfvaja3oI99siU916jd_5-8msm7UP0Kuw8rNqI1eGDzS68rS9jf4YYBB_tK7jMaMf4UvUTAMF-NNMciAfjW5eygExCdmYUnAryX7kUhKmhZkm7tGeLsLDB15KKtfkF10VsOvvFfrIdo5kfn2-aNRwW1i3jZFZRuld2BuSx5RloCdhuxWZaY2jAXOLtlHg5P06PZTkVkw5ZpM5ywQZRMGMTDBWeqSOlNZXHt6cXucoIJdzznrAkDpYfhKvrp-jPvGfI8fatbnJbdGVZIAPLvq8aUZoQKF7B_zHwKBSBPv8ryMaVRA9VNVEAYtIv6mYnQYa9gi8R840bCtRXXfw8-mJfFjkAVf40UB4J1h4o-LWEh4P50FFm8qoYISlvrZ1saHqzbwges6sdQwSX3ZBN5D_ItU4ferBAk40NRjuCN98_m3Ks-yRXfOxETS8JEK-IA17HqVF1Zi_RxzAFkgSR_CkVP6lS1_1FYkHsLF8yMlmmYPxdpDsX_teVrUFxVWGijJrPLzyxe8IGuHa27LzY22_uRj8a-p-KXE5O2K3NQLYiFrtmhIsyYAjnXZGQ-1N1HnVEwuSG959_BxpnoZKsGgPE00af2Ibnsg6dlWzc9U1a1NUaYd0URobCnD6TYfyY6ro47iMpUV9xy92amSapub67C1drSXPJYmapdqvnl1TJAf1r3Xwr9g_m_rQTWQB1erGKMUDZjLf-r4w9x1_n2U7GifsmAbM7XRNfpX87pbkDIuH4FBzNteB9wh5Hn0hjMYm2cMGzb-XkuMBT1jOMWpdK71ZzpZ1g38qVDMLj0igBa1LBiP87MRZH7coczoQzNOGEIQAigWHXn94YisZbkSZAaO9I-n-at-96lJq6K94wD6Ej8YU2QezDxsuIqAQ1KHLkLdZLv7yT6CZ5wOBg6TKZUBdXD_jRe6de_O6Eo17QkcoXV4wGJpPgbCF2Xsq9hF2KmoQ4Z9s_qGL9-33RcwVQkwPSZizOTc3P0nVGoiqlcgiuFUHKxXC5z-ID3pG80wQrOiYbFnYdu8gEd4Ydk22LBPM-fvd-hQukGAtKn9AF2z_8NTuPh82iURzaPaiK_PljyX9aNmUdodBk_8O1I1-SJgMdprWgukozcT4v9Jq6zv98TIt8WlsWRVUE5gokglZpaxhc_l66p2dsfpyv9a7a1R_LBfozZNI4peFli-Ax2XhNilr0aSZLWMUWYk3t6l69dML_K1OeaQF6KWpYBe35s-BwJKUxyF-c_Dtnkpp2IUrd4SCSsbOzqMJ2ydRosfOxmM0mKt9aVFso2IgsfUBWR-_1LDt7hUSF_u7YaAkhzn--MsZ1eyqjE0KN3FNlWXwhW89M_3wdUXu5eoW931_ZjY9lrOuamhMJSjTg5UHo4ZSej7WAWK4gXCqjYNhotsutr14maFcUnAvp576LSoXr0z5YLGFtrieI1fR6g4EkWzW0t9-ZwtqjhZx4cJk7Cwp2BV5l7IfhD1sw6iMy8bRfG39BEKsRjK_ebwLjZUbyZZDOWMihhBcbzd21Zz584lrjwJRBEexH_gFOg89wX0lbumPyaATdv6Gfqp07YM_dt8Tg5o=",
  "id": "rs_0f7486bd42e7710a016ab472dcf45087d0a51cf72b8323dba0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.345,\"right_y\":0.157,\"right_z\":0.055,\"right_pitch\":-0.2},\"note\":\"The wrist view is still looking past the bowl, confirming the fingertips are too far forward. I will move back to the bowl's right side and level the tool before closing.\"}",
  "call_id": "call_5EMPQ6JydU8jqlxLHHDWOZrm",
  "id": "fc_0f7486bd42e7710a016ab472df8b5487d0a9abf3584f3b5022",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5EMPQ6JydU8jqlxLHHDWOZrm",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "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, 0.8928, 0.6411, -0.5652, -0.0135, -0.0338, 0.9989, 0.6121, 1.5543, 0.6952, 0.234, 0.4397, 0.6151, 0.3217]\nstate[eef_state]: left_x=0.2756 left_y=0.0001 left_z=0.135 left_yaw=0.0021 left_pitch=-0.2479 left_roll=0.0021 left_gripper=0.9989 right_x=0.3748 right_y=0.1756 right_z=0.0952 right_yaw=-0.0872 right_pitch=-0.014 right_roll=0.2813 right_gripper=0.3217\nstate[joint_eff]: [-0.0615, -1.935, 6.8171, 1.5067, -0.0562, -0.0317, -0.0122, -0.2667, -6.106, 6.188, 1.6923, 0.1636, 0.1441, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec485eca604394bfeb06c4f315a002b69cbdfa6b856f84e7012f810fe9c7fac9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a917a623e2188dcf8f1d22e9b9b18fe37ed362e817a0630cefb8ab35e4f1ddb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9c2a931ebd8128d1400e39bec478d15a79ed90ba4343f1af1df695b3f6face3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 36 attempt 0 · /responses · status 200 · 6.418 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 123 changed as sent

message 131 changed as sent

message 135 changed as sent

message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.6411, -0.5571, -0.0135, -0.0338, 0.9989, 0.5819, 1.8866, 0.9466, 0.3573, 0.5526, 0.3725, 0.3217]\nstate[eef_state]: left_x=0.2769 left_y=0.0001 left_z=0.1385 left_yaw=0.002 left_pitch=-0.2315 left_roll=0.0017 left_gripper=0.9989 right_x=0.4493 right_y=0.1889 right_z=0.0794 right_yaw=-0.0807 right_pitch=0.0801 right_roll=0.049 right_gripper=0.3217\nstate[joint_eff]: [-0.0615, -1.4701, 6.8855, 1.5067, -0.0513, -0.0415, -0.0122, -0.3624, -6.694, 3.6855, 1.2137, 0.1245, -0.1587, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8902, 0.6411, -0.5625, -0.0139, -0.0338, 0.9989, 0.5632, 1.8328, 0.6895, 0.7437, 0.5491, 0.3836, 0.3217]\nstate[eef_state]: left_x=0.2761 left_y=0.0002 left_z=0.1361 left_yaw=0.0024 left_pitch=-0.2426 left_roll=0.0023 left_gripper=0.9989 right_x=0.4262 right_y=0.1643 right_z=0.0832 right_yaw=-0.12 right_pitch=0.2218 right_roll=0.1759 right_gripper=0.3217\nstate[joint_eff]: [-0.1299, -1.6205, 6.8308, 1.5311, -0.0659, -0.0415, -0.0073, -0.1436, -4.4239, 3.0427, 0.7302, 0.0659, -0.2418, -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 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8928, 0.6411, -0.5652, -0.0135, -0.0338, 0.9989, 0.6121, 1.5543, 0.6952, 0.234, 0.4397, 0.6151, 0.3217]\nstate[eef_state]: left_x=0.2756 left_y=0.0001 left_z=0.135 left_yaw=0.0021 left_pitch=-0.2479 left_roll=0.0021 left_gripper=0.9989 right_x=0.3748 right_y=0.1756 right_z=0.0952 right_yaw=-0.0872 right_pitch=-0.014 right_roll=0.2813 right_gripper=0.3217\nstate[joint_eff]: [-0.0615, -1.935, 6.8171, 1.5067, -0.0562, -0.0317, -0.0122, -0.2667, -6.106, 6.188, 1.6923, 0.1636, 0.1441, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec485eca604394bfeb06c4f315a002b69cbdfa6b856f84e7012f810fe9c7fac9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a917a623e2188dcf8f1d22e9b9b18fe37ed362e817a0630cefb8ab35e4f1ddb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9c2a931ebd8128d1400e39bec478d15a79ed90ba4343f1af1df695b3f6face3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHLrRGovLfpuPKv2GavVSzaXy9KfJsBQc5H5MLWl8Y4567tMduruKYdb1WTKhNFH7LjhzXTz8dJq8UDn0Rf1rLlrP0jIhC_csyQSFyohjd0xssIIELup91l2RIKKFxh22f5wljO0xO2wJHBrwkNVlBa3sDKXg9BXuMTS0_gdcdaUdZoRYrt3ANDxYg8V0SCW891KsOHn_eu8bFNCdceQX-895RPjvY6HvyL0-bpYXPwjnsxTWWxLTw3wZkQhyGUtPT24SRjBixw_zs8-oWl13339VtO3TPlS69qJ4vmc-rnBn3aabu7g_d5Mu-RuAkcBAGacwCprcyXTeKYMH26vLwN05Mah9opmgc0mF9FaAl0d-ylQkiHFzZzAETQR-fC55Wgx9_RAkRkwv2kbzTNuh96hTxfPb_SZNoPSIAM8ZBBlOh3pe0yQZub9XHB3VmoqqBGeYVa7TbjPA0XM9sc5rspIimAeVQJGrRiOVL_irDVBBH1j9paBtVgIUiSJf36TrIlNQuJuN9oRgTBm2CfbDKCSStQBL1hYtaMQ9uZjLdFtGM0dg4M3LnM5hmZH7gux3uRtagRL0yL5xH-WRaTCsOHn7sF7BQWNhTY5zHrRhdQlH8nvkadYvfeO7dxLrt2Ew5pnt6eyDjx0v-aZksJ7t9iaoxBc-mL02FMLzQ09ndfAlt-7zt0m4_T1Z0-9ref0hIXQ2vC8mUotcz0eOkH3EXsjGNBm5nnOb-poZ-XqROYhl0h5XP6w_xJGjaCbHy1K0h0e1o76lAD_MHLS0qvICwlwCk8FypetnUvwOFF-BZ0IECgVBgoP6oqpyb4HlrMciA5eiM0Q-ibNyzCmQucaN5PR7wwteD8rxxlSXAvLjNUNiooY3m4b_1kcI8WKiflM0S3YHK0p9VPc92tw8ISls-_5va2IlPeEK8kLyE_lIZsn3fIQpUhTHcs_cDxczXKH9KHFlldwqvKrEOcCb0wAyeOPsTEqneOX22oKch-mI62fYTQGDFJX8XnhBJiPq-NxHFMq3PxQfKhJWjty4A6Iq1Uzv_0sDvX9V6t3-YmdX8wNG3vNFAuEn7xE2dUseqpwNUO_AOtPGtaTzlDIObKMgpCMuY2yX7RLI81KSBI_EUhTTq9rgDPFm2MEkJKXLNKzQ-zI9KB_e7Kk1jTomkIA2HwkNO_Tprv6GEw-BJVWXI9UxxLsQCrTlKnjmSmyDujc8BieOUEDKqwmqE_fb8VghjEllfmyS8GhSDU3ayQs4W4Je_m-Afm4BuGqm_dMRwtmilCFSDuMekDVc3XdTLHGD6NxHj_i9LQKFZ5S-dTmfmyfxGGghlW51Etptk87c03SabZfddxOfB5GCEUGXqgfjLK6WMzSZBWigiHrwvpAzyPJkfO74LJN1dNEN75ZBgAkbUZN7B8G6PArHL1hs3iBpIB4Zr5m2asIMcyxApLSnixiDtCG1QJ1u2lhRuBKjmrIov2Uh_hFHuye0WbXHBQOcyQa0VaebZs808GGZZZT8o16Baro7bNrDBvstHGN6juoxFkOm1pDhwX7h4udAdaU5wRswGwCtbmrAGRR3MEQAapqYLhWERXOManwxh3Thp2xgsudNdy-5YcHqDsYOs4517HGx2Fuf1a8MuR0nqRG9azg5sdu75yUT1v83bXWa1HKSr--bXTITXSis2F9Kn4wjplZ-AER6m3G5URdw8kBMlhOCSNLBzRdQGWqHtgowwRNhbV296egUCmvN9EclT-7J3dGD4--6prXxE8Lhxg_n1tFHtx6xt0ID_2ehX4w_Byrn4juxyAD0Gbz2Ka_vSoetyDyJgZ8yBy7CFSb1Qldx1b62h7SGtjH9EtkBCfzDe1-MZAO1WiQs5mSA95Eo47UfhD0lGQrWEuejs4vIeLXH7MZVyR138-DblJwERjiQ0gYwPUnQWgwYnqoprg0F5bMoFkAPwcG4IEcXz2-2qy-8huv4adHOu6AszkraRVtfM7TIj9LOFXyhdFMlv9AkjdzAGMwMj_XKOXZWomBjQVBlJOQsyqX-TMf5RsTlrewPCGkh0e7V1YnJDmahqYRlNTIJWAuAoDekYu8M3GElqlK6D0GV3uSColwqHNj5vDEx9Fc2WgPCyiGXxKev9CHwOW-14qHiYSI56u7-y097sXjyIWcmiyLyQSQgFH5e3I6QDI871taRQf392gQzn6JAGny6-qs_DCN-N2GidAtLGNO5lkhrVXw2wpPBhRzYekYis1qNcqhmlJ6kb1O2S6WTLOvU66b3gmKZpv5cLgReYkETTbhIDWrcnJnUoNy_xQpC1fVGC_g_qWw92Ae69PbMVbLcHDmpcViWgRQ5PVglBNRenlL7AOyMTLstTHaoSlKuIP0gQC0K662Z6RPWRgz7EADu_Igb3h6TTm7CAiCFHe-_IkMCZNpQbmCcY2Oxx_CJuvVx3w558UpopRHUx6D5vOiCxJavvrzhSxanlWMy9kcTPxd66TmR56zekZDaLtVLx49_dN7N5RuyJcxwOH_zHtubMQoYH1aA2lPMPcwMz1wcqdsh2XohtT05PeGdKjxVXlaHDOl16927WwRV1T8BvuOovLOjdIPzFaK-fX0WDhQO4fIGjHWNA71yN-pi7pD4Wx5zcM-HjiL1jzvBaFc-jmvckySMGQ-hgDN8Pes1wh-GNL2LA4A0sJSUxkQHz1Gdk_I2WL3m0AEkPtmboUynPlktIj9GRjnfYZZ5Sn3dQrOFruTPPdujqfNyPyx4cS0EeaOZ4OWsgg-sPZOiU-23hz5XZWoPONsclQJ-mdCNxxiaH58v01JI_ckOZTXdQVB2MaL3ODZWMHwoj-DUPQF1Pj_sLkcv1Wnq3ApyAK8g-Apie4aW5M-yYcuNvbh7cnSyRj5nyqY26uUPh-xjYaYqs6QpN_nUrPyhSEoPzki4emCFu4Fo80w4knUq5uuM4wRpND6RWJg0e35GkxVU8YoD4G387TsDNI6LKCMktDh-dVGLOHO2MOpzfcsGB7F-jM5bpLx2gVQHu8eb8_Lwu3VhlwessviieXR3vo7qT7cdBhoFTwEO1jK7F90AspczhiS1KRTBtr1GhLZ2PwT8DF4pDkVc2gpYQ10ZWtgEcaduWMn1EX-dgPXMl6xU95KEjvAx5wcLewPYl4WiR3K1JgLrZsxITTv2pwe3jBPGmvKl5FVNM6bGLzWl-4IMeVON3-sBu-8H5tJ",
  "id": "rs_0f7486bd42e7710a016ab472e3719887d09a662b89120fd017",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.22,\"right_x\":0.33,\"right_y\":0.07,\"right_gripper\":0.6,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The rim approaches are contacting the crowded bowl without producing a secure grasp. I will withdraw the gripper and leave the fruits safely in the blue bowl rather than risk spilling them.\"}",
  "call_id": "call_aqZ9kC0h8swa7QqGPzVBQ5zT",
  "id": "fc_0f7486bd42e7710a016ab472e9a83c87d0b2f3bc816aadf683",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aqZ9kC0h8swa7QqGPzVBQ5zT",
  "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, 0.894, 0.6411, -0.5655, -0.0135, -0.0338, 0.9989, 0.4255, 1.0885, 0.8356, -0.3759, 0.4168, 0.3191, 0.5985]\nstate[eef_state]: left_x=0.2756 left_y=0.0001 left_z=0.1346 left_yaw=0.0021 left_pitch=-0.2494 left_roll=0.0021 left_gripper=0.9989 right_x=0.3352 right_y=0.0773 right_z=0.2066 right_yaw=-0.0982 right_pitch=-0.0002 right_roll=0.0412 right_gripper=0.5985\nstate[joint_eff]: [-0.1573, -1.8256, 6.9402, 1.5067, -0.0269, -0.0415, -0.0122, -0.294, -3.9043, 9.1419, 1.7802, 0.1343, 0.0122, 0.0366]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a57e898f96b536a0789d85abec22849f265b13cab117176badaaaf594b5b3b06",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b06c216244d1b6c09b81a09c99a4a098d9637c92e483ee4fad563fa54f5c27d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 275):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:720a547899dec05858ad306338dfdac9c0457f97965cb4605034293df68e444b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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