adhoc

completed
2026-09-23T23:10:19.804464+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
221.9 s
total steps
301
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteI see two fruits beside the blue bowl: a yellow lemon and a green pear; the large white bowl is to the left. I’m moving the right gripper above the lemon to pick it up first.
move_to
right_x0.3700right_y0.1550right_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]: [-0.0219, 0.8001, 0.6136, -0.3862, -0.0143, -0.0296, 0.9928, -0.0227, 0.8005, 0.6197, -0.3874, -0.0158, -0.033, 0.9991] state[eef_state]: left_x=0.2955 left_y=-0.0004 left_z=0.1814 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9928 right_x=0.2961 right_y=-0.0003 right_z=0.1839 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991 state[joint_eff]: [-0.4855, -1.5385, 9.5521, 1.8779, -0.1099, 0.149, -0.4176, -0.1846, -1.4427, 9.2376, 1.8584, -0.0659, 0.2125, -0.105] 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":0.37,"right_y":0.155,"right_z":0.15,"right_gripper":1},"note":"I see two fruits beside the blue bowl: a yellow lemon and a green pear; the large white bowl is to the left. I’m moving the right gripper above the lemon to pick it up first."})
tool
executing move_to over 13 steps (1.3s)
step 13
top_cam
camera top_cam step 13
left_cam
camera left_cam step 13
right_cam
camera right_cam step 13
assistant
agent noteThe lemon is centered between the jaw columns in the wrist view, just ahead of the fingertips. I’m advancing slightly and lowering to grasp its sides near table level.
move_to
right_x0.3900right_y0.1550right_z0.0300
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.804, 0.6147, -0.4011, -0.0139, -0.0307, 0.9922, 0.6006, 1.412, 0.7994, -0.107, 0.4755, 0.3077, 0.9991] state[eef_state]: left_x=0.2939 left_y=-0.0004 left_z=0.1778 left_yaw=0.0003 left_pitch=-0.0176 left_roll=-0.0008 left_gripper=0.9922 right_x=0.3606 right_y=0.1533 right_z=0.1313 right_yaw=0.0317 right_pitch=-0.0587 right_roll=-0.0412 right_gripper=0.9991 state[joint_eff]: [-0.1573, -1.4701, 6.9538, 1.8681, -0.0366, -0.022, -0.0757, 0.0479, -6.1197, 8.6359, 1.8486, 0.359, 0.2173, -0.105] camera 'top_cam' (step 13): [image omitted: streamed camera frame] camera 'left_cam' (step 13): [image omitted: streamed camera frame] camera 'right_cam' (step 13): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.155,"right_z":0.03},"note":"The lemon is centered between the jaw columns in the wrist view, just ahead of the fingertips. I’m advancing slightly and lowering to grasp its sides near table level."})
tool
executing move_to over 7 steps (0.7s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteThe lemon is centered at the fingertip edge, with the jaws down alongside it. I’m closing 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]: [-0.0219, 0.8078, 0.6147, -0.408, -0.0139, -0.0311, 0.9921, 0.5476, 1.7775, 0.6746, 0.371, 0.4328, 0.2691, 0.9991] state[eef_state]: left_x=0.2932 left_y=-0.0004 left_z=0.1753 left_yaw=0.0005 left_pitch=-0.0282 left_roll=-0.0009 left_gripper=0.9921 right_x=0.3865 right_y=0.1532 right_z=0.0249 right_yaw=0.0326 right_pitch=-0.0849 right_roll=-0.0541 right_gripper=0.9991 state[joint_eff]: [-0.335, -1.6479, 7.1726, 1.7802, -0.0806, -0.0415, -0.0269, -0.1846, -7.5282, 5.0667, 1.8584, 0.1636, -0.0708, -0.022] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The lemon is centered at the fingertip edge, with the jaws down alongside it. I’m closing the gripper to secure it."})
tool
executing move_to over 10 steps (1.0s)
step 30
top_cam
camera top_cam step 30
left_cam
camera left_cam step 30
right_cam
camera right_cam step 30
assistant
agent noteThe gripper closed almost completely, so that grasp was empty, and the blue bowl shifted slightly. I’m lifting and backing off to locate the lemon again before retrying.
move_to
right_x0.3400right_z0.1600right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8078, 0.6147, -0.4168, -0.0139, -0.0307, 0.992, 0.5484, 1.7729, 0.6754, 0.3996, 0.4404, 0.2619, 0.0118] state[eef_state]: left_x=0.292 left_y=-0.0004 left_z=0.1736 left_yaw=0.0003 left_pitch=-0.037 left_roll=-0.0003 left_gripper=0.992 right_x=0.3909 right_y=0.1548 right_z=0.0323 right_yaw=0.0324 right_pitch=-0.0531 right_roll=-0.0475 right_gripper=0.0118 state[joint_eff]: [-0.0615, -1.1419, 7.0222, 1.7802, -0.0073, -0.0269, -0.0171, -0.294, -7.3094, 5.135, 1.3211, 0.0024, 0.0659, 0.9841] camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.34,"right_z":0.16,"right_gripper":1},"note":"The gripper closed almost completely, so that grasp was empty, and the blue bowl shifted slightly. I’m lifting and backing off to locate the lemon again before retrying."})
tool
executing move_to over 10 steps (1.0s)
step 40
top_cam
camera top_cam step 40
left_cam
camera left_cam step 40
right_cam
camera right_cam step 40
assistant
agent noteThe lemon is still on the table and centered in the wrist view. I’m retrying about two centimeters farther forward and slightly lower so the jaws surround it rather than closing short.
move_to
right_x0.4150right_y0.1500right_z0.0150
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8104, 0.6147, -0.4236, -0.0139, -0.0311, 0.992, 0.651, 1.3293, 0.8116, -0.2344, 0.4992, 0.3153, 0.9983] state[eef_state]: left_x=0.2911 left_y=-0.0003 left_z=0.1715 left_yaw=0.0005 left_pitch=-0.0465 left_roll=-0.0004 left_gripper=0.992 right_x=0.3386 right_y=0.1561 right_z=0.1456 right_yaw=0.0583 right_pitch=-0.0769 right_roll=-0.0662 right_gripper=0.9983 state[joint_eff]: [-0.0068, -1.5658, 7.2547, 1.7411, -0.0708, -0.0708, -0.0073, 0.2667, -5.6821, 9.0462, 1.5018, 0.3736, 0.2222, -0.1734] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.415,"right_y":0.15,"right_z":0.015},"note":"The lemon is still on the table and centered in the wrist view. I’m retrying about two centimeters farther forward and slightly lower so the jaws surround it rather than closing short."})
tool
executing move_to over 9 steps (0.9s)
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 fingertips now cover the lemon’s location, with the bowl still just beyond them. I’m closing for the second grasp attempt.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8135, 0.6147, -0.4255, -0.0139, -0.0307, 0.992, 0.4931, 1.8549, 0.7311, 0.4099, 0.3859, 0.1905, 0.9983] state[eef_state]: left_x=0.291 left_y=-0.0003 left_z=0.1702 left_yaw=0.0003 left_pitch=-0.0515 left_roll=-0.0 left_gripper=0.992 right_x=0.4092 right_y=0.1485 right_z=0.0175 right_yaw=0.0587 right_pitch=-0.0863 right_roll=-0.0808 right_gripper=0.9983 state[joint_eff]: [-0.1299, -1.0325, 7.0222, 1.746, -0.0073, -0.0122, -0.0122, -0.5402, -6.0103, 5.8872, 1.4676, 0.1441, 0.0659, -0.0122] camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The fingertips now cover the lemon’s location, with the bowl still just beyond them. I’m closing for the second grasp attempt."})
tool
executing move_to over 10 steps (1.0s)
step 59
top_cam
camera top_cam step 59
left_cam
camera left_cam step 59
right_cam
camera right_cam step 59
assistant
agent noteThe second close also appears nearly empty, so I won’t repeat the same approach. I’m moving clear to re-check both fruits from above and keeping the idle left arm safely raised.
move_to
right_x0.3000right_y0.0800right_z0.2200right_gripper1.0000left_x0.2955left_y0.0000left_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8135, 0.6147, -0.4271, -0.0139, -0.0311, 0.992, 0.49, 1.842, 0.7357, 0.4625, 0.4133, 0.1642, 0.041] state[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1699 left_yaw=0.0005 left_pitch=-0.053 left_roll=-0.0003 left_gripper=0.992 right_x=0.4197 right_y=0.1475 right_z=0.0352 right_yaw=0.0491 right_pitch=-0.0167 right_roll=-0.0881 right_gripper=0.041 state[joint_eff]: [-0.1436, -1.3333, 6.9812, 1.6777, -0.0464, -0.0659, -0.0073, 0.1436, -7.0906, 4.6974, 1.1111, -0.2173, 0.2466, 1.0281] camera 'top_cam' (step 59): [image omitted: streamed camera frame] camera 'left_cam' (step 59): [image omitted: streamed camera frame] camera 'right_cam' (step 59): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.30,"right_y":0.08,"right_z":0.22,"right_gripper":1,"left_x":0.2955,"left_y":0,"left_z":0.20},"note":"The second close also appears nearly empty, so I won’t repeat the same approach. I’m moving clear to re-check both fruits from above and keeping the idle left arm safely raised."})
tool
executing move_to over 12 steps (1.2s)
step 71
top_cam
camera top_cam step 71
left_cam
camera left_cam step 71
right_cam
camera right_cam step 71
assistant
agent noteThe overhead view shows the lemon has rolled a little toward us, while the pear remains to the right of the blue bowl. I’m aligning over the lemon’s new position for a lower, centered grasp.
move_to
right_x0.3700right_y0.1500right_z0.0700
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8501, 0.7132, -0.5327, -0.0139, -0.0338, 0.992, 0.4744, 0.9756, 0.7952, -0.4351, 0.3916, 0.1452, 0.996] state[eef_state]: left_x=0.2903 left_y=-0.0003 left_z=0.1834 left_yaw=0.0021 left_pitch=-0.0969 left_roll=-0.0014 left_gripper=0.992 right_x=0.3089 right_y=0.0868 right_z=0.2111 right_yaw=0.0614 right_pitch=0.0028 right_roll=-0.0808 right_gripper=0.996 state[joint_eff]: [-0.0205, -1.2376, 9.4427, 1.7558, -0.0269, -0.0317, -0.0122, -0.4171, -2.4137, 8.6632, 1.5653, 0.1734, 0.0562, 0.149] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 71): [image omitted: streamed camera frame] camera 'left_cam' (step 71): [image omitted: streamed camera frame] camera 'right_cam' (step 71): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.37,"right_y":0.15,"right_z":0.07},"note":"The overhead view shows the lemon has rolled a little toward us, while the pear remains to the right of the blue bowl. I’m aligning over the lemon’s new position for a lower, centered grasp."})
tool
executing move_to over 10 steps (1.0s)
step 81
top_cam
camera top_cam step 81
left_cam
camera left_cam step 81
right_cam
camera right_cam step 81
assistant
agent noteThe lemon is centered directly at the jaw opening. I’m lowering to table level with only a small forward correction to get below its rounded sides.
move_to
right_x0.3800right_y0.1500right_z-0.0050
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8558, 0.7162, -0.54, -0.0135, -0.0338, 0.992, 0.5747, 1.5631, 0.6067, 0.2241, 0.4568, 0.1921, 0.9968] state[eef_state]: left_x=0.29 left_y=-0.0004 left_z=0.1818 left_yaw=0.0018 left_pitch=-0.1068 left_roll=-0.0014 left_gripper=0.992 right_x=0.358 right_y=0.1433 right_z=0.0577 right_yaw=0.0821 right_pitch=-0.0816 right_roll=-0.1299 right_gripper=0.9968 state[joint_eff]: [-0.253, -1.9897, 6.7761, 1.6825, -0.022, -0.0171, -0.0122, 0.7179, -7.2957, 5.6274, 1.7656, 0.2515, 0.1587, 0.0757] camera 'top_cam' (step 81): [image omitted: streamed camera frame] camera 'left_cam' (step 81): [image omitted: streamed camera frame] camera 'right_cam' (step 81): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.38,"right_y":0.15,"right_z":-0.005},"note":"The lemon is centered directly at the jaw opening. I’m lowering to table level with only a small forward correction to get below its rounded sides."})
tool
executing move_to over 5 steps (0.5s)
step 86
top_cam
camera top_cam step 86
left_cam
camera left_cam step 86
right_cam
camera right_cam step 86
assistant
agent noteThe jaws are at table level around the lemon’s location. I’m closing gently to avoid squeezing the rounded fruit out sideways.
move_to
right_gripper0.2500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8593, 0.7158, -0.5438, -0.0139, -0.0338, 0.992, 0.5537, 1.8378, 0.6079, 0.5125, 0.4488, 0.1825, 0.9968] state[eef_state]: left_x=0.2896 left_y=-0.0003 left_z=0.1799 left_yaw=0.0021 left_pitch=-0.1144 left_roll=-0.001 left_gripper=0.992 right_x=0.3795 right_y=0.1487 right_z=0.0053 right_yaw=0.0731 right_pitch=-0.0716 right_roll=-0.1259 right_gripper=0.9968 state[joint_eff]: [-0.3624, -1.7573, 6.9402, 1.663, -0.0317, -0.022, -0.0122, -0.1983, -5.5726, 4.6291, 0.8718, 0.1001, -0.0952, -0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.25},"note":"The jaws are at table level around the lemon’s location. I’m closing gently to avoid squeezing the rounded fruit out sideways."})
tool
executing move_to over 8 steps (0.8s)
step 94
top_cam
camera top_cam step 94
left_cam
camera left_cam step 94
right_cam
camera right_cam step 94
assistant
agent noteThe gripper stopped with a small opening, but the bowl also shifted, so the grasp needs checking. I’m lifting a few centimeters to see whether the lemon is secured.
move_to
right_z0.1000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8593, 0.7158, -0.5442, -0.0135, -0.0338, 0.992, 0.5526, 1.8126, 0.6258, 0.6128, 0.4782, 0.1638, 0.2616] state[eef_state]: left_x=0.2895 left_y=-0.0004 left_z=0.1799 left_yaw=0.0018 left_pitch=-0.1148 left_roll=-0.0012 left_gripper=0.992 right_x=0.3994 right_y=0.155 right_z=0.0406 right_yaw=0.0587 right_pitch=0.0623 right_roll=-0.0901 right_gripper=0.2616 state[joint_eff]: [-0.253, -1.4427, 7.241, 1.6142, -0.0366, -0.0171, -0.0122, -0.1299, -5.6957, 3.7402, 0.7057, -0.188, 0.1636, 0.2906] camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.1},"note":"The gripper stopped with a small opening, but the bowl also shifted, so the grasp needs checking. I’m lifting a few centimeters to see whether the lemon is secured."})
tool
executing move_to over 4 steps (0.4s)
step 98
top_cam
camera top_cam step 98
left_cam
camera left_cam step 98
right_cam
camera right_cam step 98
assistant
agent noteThe lemon’s former spot is still obscured by the arm, so I cannot yet confirm it is held. I’m lifting higher and tightening the grasp enough to check the actual object thickness.
move_to
right_z0.1900right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8612, 0.7158, -0.5468, -0.0135, -0.0338, 0.992, 0.5541, 1.6386, 0.6827, 0.3866, 0.4667, 0.1635, 0.2617] state[eef_state]: left_x=0.2892 left_y=-0.0004 left_z=0.1789 left_yaw=0.0018 left_pitch=-0.1194 left_roll=-0.0011 left_gripper=0.992 right_x=0.3973 right_y=0.1566 right_z=0.0872 right_yaw=0.0695 right_pitch=0.0634 right_roll=-0.0828 right_gripper=0.2617 state[joint_eff]: [-0.0068, -1.6479, 6.8855, 1.6777, -0.0415, -0.0611, -0.0122, -0.3624, -7.5282, 7.7744, 1.7265, 0.232, -0.0317, -0.0024] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.19,"right_gripper":0},"note":"The lemon’s former spot is still obscured by the arm, so I cannot yet confirm it is held. I’m lifting higher and tightening the grasp enough to check the actual object thickness."})
tool
executing move_to over 7 steps (0.7s)
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 lifted view confirms an empty grasp: the lemon is on the table just left and behind the gripper. I’m correcting toward that visible position rather than advancing toward the bowl again.
move_to
right_x0.3200right_y0.2050right_z0.1000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8642, 0.7158, -0.5472, -0.0139, -0.0338, 0.992, 0.5537, 1.4586, 0.9108, -0.0319, 0.4557, 0.1555, 0.0108] state[eef_state]: left_x=0.2893 left_y=-0.0003 left_z=0.178 left_yaw=0.0021 left_pitch=-0.1228 left_roll=-0.0008 left_gripper=0.992 right_x=0.3982 right_y=0.159 right_z=0.1729 right_yaw=0.0827 right_pitch=0.0511 right_roll=-0.0892 right_gripper=0.0108 state[joint_eff]: [-0.1846, -1.6752, 7.0085, 1.5946, -0.0464, -0.0708, -0.0122, -0.2667, -8.0615, 8.6632, 1.7949, 0.1978, 0.0513, 0.6032] 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":0.32,"right_y":0.205,"right_z":0.10,"right_gripper":1},"note":"The lifted view confirms an empty grasp: the lemon is on the table just left and behind the gripper. I’m correcting toward that visible position rather than advancing toward the bowl again."})
tool
executing move_to over 10 steps (1.0s)
step 115
top_cam
camera top_cam step 115
left_cam
camera left_cam step 115
right_cam
camera right_cam step 115
assistant
agent noteThe lemon is now clearly at the fingertip edge, slightly right of center. I’m correcting sideways and descending without the forward motion that previously carried the jaws past it.
move_to
right_x0.3200right_y0.1850right_z0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.865, 0.7158, -0.5549, -0.0135, -0.0338, 0.992, 0.852, 1.4849, 0.6601, 0.1078, 0.6636, 0.3351, 0.9955] state[eef_state]: left_x=0.2882 left_y=-0.0003 left_z=0.1763 left_yaw=0.0018 left_pitch=-0.1312 left_roll=-0.0008 left_gripper=0.992 right_x=0.3199 right_y=0.2058 right_z=0.0985 right_yaw=0.1246 right_pitch=0.0194 right_roll=-0.1153 right_gripper=0.9955 state[joint_eff]: [-0.2393, -1.5385, 7.0769, 1.7167, -0.0464, -0.0464, -0.0122, 0.1846, -5.3402, 5.9282, 1.8193, 0.525, 0.315, -0.1343] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 115): [image omitted: streamed camera frame] camera 'left_cam' (step 115): [image omitted: streamed camera frame] camera 'right_cam' (step 115): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.32,"right_y":0.185,"right_z":0},"note":"The lemon is now clearly at the fingertip edge, slightly right of center. I’m correcting sideways and descending without the forward motion that previously carried the jaws past it."})
tool
executing move_to over 7 steps (0.7s)
step 122
top_cam
camera top_cam step 122
left_cam
camera left_cam step 122
right_cam
camera right_cam step 122
assistant
agent noteAt table height, the lemon is visibly in front of and slightly right of the jaws. I’m sliding the open gripper forward and right to center its widest part between the fingertips.
move_to
right_x0.3550right_y0.1700right_z0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8661, 0.7158, -0.5587, -0.0139, -0.0338, 0.992, 0.8009, 1.8019, 0.4591, 0.6266, 0.6319, 0.3058, 0.9962] state[eef_state]: left_x=0.2876 left_y=-0.0003 left_z=0.1753 left_yaw=0.0022 left_pitch=-0.1362 left_roll=-0.0005 left_gripper=0.992 right_x=0.3193 right_y=0.1846 right_z=0.0044 right_yaw=0.1128 right_pitch=0.0045 right_roll=-0.1239 right_gripper=0.9962 state[joint_eff]: [-0.0752, -1.6615, 7.2274, 1.663, -0.0611, -0.0415, -0.0122, -0.4581, -5.3402, 2.6872, 0.8132, 0.1001, -0.1783, 0.0562] camera 'top_cam' (step 122): [image omitted: streamed camera frame] camera 'left_cam' (step 122): [image omitted: streamed camera frame] camera 'right_cam' (step 122): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.355,"right_y":0.17,"right_z":0},"note":"At table height, the lemon is visibly in front of and slightly right of the jaws. I’m sliding the open gripper forward and right to center its widest part between the fingertips."})
tool
executing move_to over 3 steps (0.3s)
step 125
top_cam
camera top_cam step 125
left_cam
camera left_cam step 125
right_cam
camera right_cam step 125
assistant
agent noteThe lemon is now centered deep in the jaw opening at table level. I’m closing on it while holding this alignment.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8673, 0.7158, -0.5621, -0.0139, -0.0338, 0.992, 0.6807, 1.8565, 0.4984, 0.7052, 0.5591, 0.2405, 0.9962] state[eef_state]: left_x=0.2872 left_y=-0.0003 left_z=0.1743 left_yaw=0.0022 left_pitch=-0.1408 left_roll=-0.0003 left_gripper=0.992 right_x=0.3516 right_y=0.1688 right_z=0.0051 right_yaw=0.083 right_pitch=0.0233 right_roll=-0.1046 right_gripper=0.9962 state[joint_eff]: [-0.335, -1.6479, 6.8718, 1.6386, -0.0366, -0.022, -0.0073, 0.3624, -6.0239, 4.2872, 1.3748, 0.0757, -0.2076, -0.0073] camera 'top_cam' (step 125): [image omitted: streamed camera frame] camera 'left_cam' (step 125): [image omitted: streamed camera frame] camera 'right_cam' (step 125): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The lemon is now centered deep in the jaw opening at table level. I’m closing on it while holding this alignment."})
tool
executing move_to over 10 steps (1.0s)
step 135
top_cam
camera top_cam step 135
left_cam
camera left_cam step 135
right_cam
camera right_cam step 135
assistant
agent noteThe gripper stopped at about a five-centimeter opening, consistent with the lemon’s width. I’m lifting it a short distance to confirm the grasp before moving to the blue bowl.
move_to
right_z0.0750
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8673, 0.7158, -0.5652, -0.0135, -0.0338, 0.992, 0.6628, 1.8648, 0.5056, 0.7097, 0.5217, 0.2005, 0.5075] state[eef_state]: left_x=0.2867 left_y=-0.0003 left_z=0.1738 left_yaw=0.0019 left_pitch=-0.1438 left_roll=-0.0005 left_gripper=0.992 right_x=0.3551 right_y=0.1701 right_z=0.0029 right_yaw=0.1159 right_pitch=0.0114 right_roll=-0.1178 right_gripper=0.5075 state[joint_eff]: [-0.2803, -1.5658, 6.8718, 1.6777, -0.022, -0.0269, -0.0122, 0.1162, -6.4479, 4.2872, 1.5165, 0.1685, -0.022, 1.0281] camera 'top_cam' (step 135): [image omitted: streamed camera frame] camera 'left_cam' (step 135): [image omitted: streamed camera frame] camera 'right_cam' (step 135): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.075},"note":"The gripper stopped at about a five-centimeter opening, consistent with the lemon’s width. I’m lifting it a short distance to confirm the grasp before moving to the blue bowl."})
tool
executing move_to over 5 steps (0.5s)
step 140
top_cam
camera top_cam step 140
left_cam
camera left_cam step 140
right_cam
camera right_cam step 140
assistant
agent noteThe lemon rose with the gripper and the grasp width stayed stable. I’m carrying it above the blue bowl with enough height to clear the rim.
move_to
right_x0.4900right_y0.1400right_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8696, 0.7158, -0.5655, -0.0139, -0.0338, 0.992, 0.6636, 1.5894, 0.5755, 0.4004, 0.5182, 0.1974, 0.5037] state[eef_state]: left_x=0.2867 left_y=-0.0002 left_z=0.1731 left_yaw=0.0022 left_pitch=-0.1465 left_roll=-0.0002 left_gripper=0.992 right_x=0.3575 right_y=0.173 right_z=0.0711 right_yaw=0.1205 right_pitch=0.0408 right_roll=-0.1001 right_gripper=0.5037 state[joint_eff]: [-0.0068, -1.812, 6.8718, 1.619, -0.0513, -0.0415, -0.0122, -0.3624, -6.7077, 7.1726, 1.5946, 0.2173, -0.0073, 0.8718] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 140): [image omitted: streamed camera frame] camera 'left_cam' (step 140): [image omitted: streamed camera frame] camera 'right_cam' (step 140): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.49,"right_y":0.14,"right_z":0.2},"note":"The lemon rose with the gripper and the grasp width stayed stable. I’m carrying it above the blue bowl with enough height to clear the rim."})
tool
executing move_to over 11 steps (1.1s)
step 151
top_cam
camera top_cam step 151
left_cam
camera left_cam step 151
right_cam
camera right_cam step 151
assistant
agent noteThe lemon is above the blue bowl’s opening. I’m lowering it toward the bowl before releasing it.
move_to
right_z0.1100
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8734, 0.7158, -0.5739, -0.0139, -0.0338, 0.992, 0.3763, 1.6943, 1.2076, -0.0895, 0.2749, 0.0162, 0.507] state[eef_state]: left_x=0.2856 left_y=-0.0002 left_z=0.1705 left_yaw=0.0023 left_pitch=-0.1587 left_roll=0.0001 left_gripper=0.992 right_x=0.48 right_y=0.142 right_z=0.1818 right_yaw=0.1285 right_pitch=0.0115 right_roll=-0.1153 right_gripper=0.507 state[joint_eff]: [-0.2667, -1.7026, 6.8581, 1.6581, -0.0855, -0.0708, -0.0122, -0.6769, -8.5128, 9.0325, 1.9756, 0.105, 0.2027, 0.6911] camera 'top_cam' (step 151): [image omitted: streamed camera frame] camera 'left_cam' (step 151): [image omitted: streamed camera frame] camera 'right_cam' (step 151): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.11},"note":"The lemon is above the blue bowl’s opening. I’m lowering it toward the bowl before releasing it."})
tool
executing move_to over 5 steps (0.5s)
step 156
top_cam
camera top_cam step 156
left_cam
camera left_cam step 156
right_cam
camera right_cam step 156
assistant
agent noteThe wrist view shows the lemon over the near side of the bowl. I’m moving a few centimeters toward its center and opening the jaws to drop the lemon inside.
move_to
right_x0.5150right_y0.1450right_z0.1200right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8742, 0.7158, -0.5808, -0.0139, -0.0338, 0.992, 0.3759, 1.7977, 1.0317, 0.0937, 0.2676, 0.0074, 0.5069] state[eef_state]: left_x=0.2845 left_y=-0.0002 left_z=0.1691 left_yaw=0.0023 left_pitch=-0.1663 left_roll=0.0003 left_gripper=0.992 right_x=0.4677 right_y=0.1382 right_z=0.093 right_yaw=0.138 right_pitch=-0.0835 right_roll=-0.1415 right_gripper=0.5069 state[joint_eff]: [-0.0205, -1.7162, 6.8444, 1.6728, -0.0415, -0.0171, -0.0122, 0.0752, -9.2513, 6.5709, 2.2637, 0.1392, 0.0708, 0.7595] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 156): [image omitted: streamed camera frame] camera 'left_cam' (step 156): [image omitted: streamed camera frame] camera 'right_cam' (step 156): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.515,"right_y":0.145,"right_z":0.12,"right_gripper":1},"note":"The wrist view shows the lemon over the near side of the bowl. I’m moving a few centimeters toward its center and opening the jaws to drop the lemon inside."})
tool
executing move_to over 5 steps (0.5s)
step 161
top_cam
camera top_cam step 161
left_cam
camera left_cam step 161
right_cam
camera right_cam step 161
assistant
agent noteThe yellow lemon is visible inside the blue bowl. I’m moving above the remaining green pear on the right.
move_to
right_x0.3700right_y0.0100right_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]: [-0.0219, 0.8787, 0.7158, -0.5873, -0.0135, -0.0338, 0.992, 0.3557, 1.9045, 1.2602, -0.0391, 0.2417, -0.02, 0.9955] state[eef_state]: left_x=0.2837 left_y=-0.0002 left_z=0.1667 left_yaw=0.002 left_pitch=-0.1774 left_roll=0.0003 left_gripper=0.992 right_x=0.5064 right_y=0.1469 right_z=0.1098 right_yaw=0.1539 right_pitch=-0.1001 right_roll=-0.1498 right_gripper=0.9955 state[joint_eff]: [-0.0752, -1.9897, 6.8855, 1.6581, -0.0269, -0.0415, -0.0122, -0.8274, -10.0581, 8.841, 1.6923, 0.1392, 0.0513, -0.0659] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 161): [image omitted: streamed camera frame] camera 'left_cam' (step 161): [image omitted: streamed camera frame] camera 'right_cam' (step 161): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.37,"right_y":0.01,"right_z":0.15},"note":"The yellow lemon is visible inside the blue bowl. I’m moving above the remaining green pear on the right."})
tool
executing move_to over 12 steps (1.2s)
step 173
top_cam
camera top_cam step 173
left_cam
camera left_cam step 173
right_cam
camera right_cam step 173
assistant
agent noteThe pear is at the bottom center of the wrist view, aligned with the fingertips. I’m lowering straight down to surround its wider body.
move_to
right_x0.3700right_y0.0000right_z0.0050
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8806, 0.7158, -0.5983, -0.0135, -0.0338, 0.992, 0.0139, 1.2522, 0.7555, -0.1577, 0.0032, -0.2111, 0.9962] state[eef_state]: left_x=0.2819 left_y=-0.0002 left_z=0.1642 left_yaw=0.0021 left_pitch=-0.1903 left_roll=0.0006 left_gripper=0.992 right_x=0.3771 right_y=0.0083 right_z=0.1487 right_yaw=0.1164 right_pitch=-0.0947 right_roll=-0.1513 right_gripper=0.9962 state[joint_eff]: [-0.2256, -1.7162, 6.8444, 1.6825, -0.0464, -0.0611, -0.0122, -0.1709, -4.7521, 6.9812, 1.8144, -0.1197, -0.0806, 0.0611] camera 'top_cam' (step 173): [image omitted: streamed camera frame] camera 'left_cam' (step 173): [image omitted: streamed camera frame] camera 'right_cam' (step 173): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.37,"right_y":0,"right_z":0.005},"note":"The pear is at the bottom center of the wrist view, aligned with the fingertips. I’m lowering straight down to surround its wider body."})
tool
executing move_to over 10 steps (1.0s)
step 183
top_cam
camera top_cam step 183
left_cam
camera left_cam step 183
right_cam
camera right_cam step 183
assistant
agent noteThe pear’s broad body is between the jaws but slightly to the right. I’m making a small centering correction and closing around it.
move_to
right_y-0.0150right_x0.3800right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8806, 0.7158, -0.6033, -0.0135, -0.0338, 0.992, -0.0216, 1.6478, 0.4061, 0.548, -0.0292, -0.2279, 0.9962] state[eef_state]: left_x=0.281 left_y=-0.0002 left_z=0.1633 left_yaw=0.0021 left_pitch=-0.1953 left_roll=0.0007 left_gripper=0.992 right_x=0.3661 right_y=0.0009 right_z=0.0052 right_yaw=0.118 right_pitch=-0.1326 right_roll=-0.1394 right_gripper=0.9962 state[joint_eff]: [-0.2803, -1.6342, 6.9812, 1.5653, -0.0366, -0.0415, -0.0122, -0.1709, -4.7248, 3.2342, 1.072, 0.1685, -0.0122, -0.0073] camera 'top_cam' (step 183): [image omitted: streamed camera frame] camera 'left_cam' (step 183): [image omitted: streamed camera frame] camera 'right_cam' (step 183): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":-0.015,"right_x":0.38,"right_gripper":0},"note":"The pear’s broad body is between the jaws but slightly to the right. I’m making a small centering correction and closing around it."})
tool
executing move_to over 10 steps (1.0s)
step 193
top_cam
camera top_cam step 193
left_cam
camera left_cam step 193
right_cam
camera right_cam step 193
assistant
agent noteThe gripper stopped at a wide opening matching the pear’s body. I’m lifting it briefly to verify it moves with the jaws.
move_to
right_z0.0800
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8806, 0.7158, -0.6037, -0.0135, -0.0338, 0.992, -0.0792, 1.6833, 0.4442, 0.5446, -0.0738, -0.2642, 0.729] state[eef_state]: left_x=0.281 left_y=-0.0002 left_z=0.1632 left_yaw=0.0021 left_pitch=-0.1957 left_roll=0.0007 left_gripper=0.992 right_x=0.3756 right_y=-0.0131 right_z=0.0048 right_yaw=0.118 right_pitch=-0.1314 right_roll=-0.1389 right_gripper=0.729 state[joint_eff]: [0.0068, -1.6889, 6.8308, 1.5214, -0.0171, -0.0366, -0.0122, -0.5538, -5.0803, 6.2427, 1.5995, -0.105, -0.0952, 1.033] camera 'top_cam' (step 193): [image omitted: streamed camera frame] camera 'left_cam' (step 193): [image omitted: streamed camera frame] camera 'right_cam' (step 193): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.08},"note":"The gripper stopped at a wide opening matching the pear’s body. I’m lifting it briefly to verify it moves with the jaws."})
tool
executing move_to over 5 steps (0.5s)
step 198
top_cam
camera top_cam step 198
left_cam
camera left_cam step 198
right_cam
camera right_cam step 198
assistant
agent noteThe pear lifted with the gripper, and the lemon remains inside the blue bowl. I’m carrying the pear over the bowl to join it.
move_to
right_x0.5100right_y0.1450right_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.881, 0.7158, -0.6064, -0.0139, -0.0338, 0.992, -0.0807, 1.4212, 0.5549, 0.1875, -0.0765, -0.2707, 0.729] state[eef_state]: left_x=0.2805 left_y=-0.0001 left_z=0.1627 left_yaw=0.0024 left_pitch=-0.1987 left_roll=0.0011 left_gripper=0.992 right_x=0.3769 right_y=-0.0133 right_z=0.0708 right_yaw=0.1218 right_pitch=-0.1162 right_roll=-0.1454 right_gripper=0.729 state[joint_eff]: [-0.0889, -1.4974, 6.8308, 1.58, -0.0562, -0.0513, -0.0073, 0.0068, -6.0786, 7.9932, 1.7753, -0.0366, 0.0415, 1.0281] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 198): [image omitted: streamed camera frame] camera 'left_cam' (step 198): [image omitted: streamed camera frame] camera 'right_cam' (step 198): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.51,"right_y":0.145,"right_z":0.2},"note":"The pear lifted with the gripper, and the lemon remains inside the blue bowl. I’m carrying the pear over the bowl to join it."})
tool
executing move_to over 14 steps (1.4s)
step 212
top_cam
camera top_cam step 212
left_cam
camera left_cam step 212
right_cam
camera right_cam step 212
assistant
agent noteThe pear is above the blue bowl alongside the lemon. I’m lowering it close to the rim for a controlled release.
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]: [-0.0219, 0.8845, 0.7158, -0.609, -0.0139, -0.0338, 0.992, 0.3542, 1.8446, 1.5063, -0.4179, 0.2245, -0.0395, 0.7333] state[eef_state]: left_x=0.2802 left_y=-0.0001 left_z=0.1613 left_yaw=0.0025 left_pitch=-0.2048 left_roll=0.0012 left_gripper=0.992 right_x=0.4989 right_y=0.1464 right_z=0.1753 right_yaw=0.1754 right_pitch=-0.1755 right_roll=-0.1675 right_gripper=0.7333 state[joint_eff]: [-0.1573, -1.9214, 6.8171, 1.5604, -0.0513, -0.0513, -0.0122, -0.253, -10.906, 9.0735, 1.7021, 0.3101, 0.3883, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). 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_z":0.12},"note":"The pear is above the blue bowl alongside the lemon. I’m lowering it close to the rim for a controlled release."})
tool
executing move_to over 4 steps (0.4s)
step 216
top_cam
camera top_cam step 216
assistant
agent noteThe pear is positioned inside the bowl’s opening. I’m releasing it so both fruits are together in the blue bowl.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8845, 0.7158, -0.609, -0.0139, -0.0338, 0.992, 0.3573, 1.8912, 1.3426, -0.3084, 0.2279, -0.0372, 0.7353] state[eef_state]: left_x=0.2802 left_y=-0.0001 left_z=0.1613 left_yaw=0.0025 left_pitch=-0.2048 left_roll=0.0012 left_gripper=0.992 right_x=0.4831 right_y=0.1415 right_z=0.1031 right_yaw=0.1701 right_pitch=-0.2738 right_roll=-0.1871 right_gripper=0.7353 state[joint_eff]: [-0.1709, -1.6889, 6.8308, 1.5556, -0.0317, -0.0366, -0.0122, -0.294, -11.0017, 7.7197, 2.2149, 0.0611, -0.0952, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 216): [image omitted: streamed camera frame] camera 'left_cam' (step 216): [image omitted: streamed camera frame] camera 'right_cam' (step 216): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The pear is positioned inside the bowl’s opening. I’m releasing it so both fruits are together in the blue bowl."})
tool
executing move_to over 3 steps (0.3s)
step 219
assistant
agent noteBoth fruits are now visible in the blue bowl. I’m lifting clear and moving to its right-hand rim, which I can grasp to carry and tip the bowl toward the larger white bowl.
move_to
right_x0.4900right_y0.0650right_z0.2200right_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]: [-0.0219, 0.8845, 0.7158, -0.6098, -0.0135, -0.0338, 0.992, 0.3573, 1.9041, 1.3281, -0.2958, 0.2245, -0.0441, 0.9956] state[eef_state]: left_x=0.2801 left_y=-0.0002 left_z=0.1612 left_yaw=0.0021 left_pitch=-0.2056 left_roll=0.001 left_gripper=0.992 right_x=0.4814 right_y=0.1415 right_z=0.093 right_yaw=0.176 right_pitch=-0.2897 right_roll=-0.192 right_gripper=0.9956 state[joint_eff]: [-0.1162, -1.5795, 7.0222, 1.5165, -0.022, -0.0073, -0.0122, -0.3487, -11.1932, 7.665, 1.4579, 0.0904, 0.0513, -0.1099] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 219): [image omitted: streamed camera frame] camera 'left_cam' (step 219): [image omitted: streamed camera frame] camera 'right_cam' (step 219): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.49,"right_y":0.065,"right_z":0.22,"right_pitch":0,"right_roll":0},"note":"Both fruits are now visible in the blue bowl. I’m lifting clear and moving to its right-hand rim, which I can grasp to carry and tip the bowl toward the larger white bowl."})
tool
executing move_to over 10 steps (1.0s)
step 229
assistant
agent noteThe blue bowl contains both fruits, and its right rim is beside the open jaws. I’m lowering so one finger enters just inside the rim and the other stays outside.
move_to
right_x0.5000right_y0.0850right_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]: [-0.0219, 0.8845, 0.7158, -0.6106, -0.0135, -0.0338, 0.992, 0.1169, 1.6676, 1.2827, -0.2878, -0.0219, -0.0715, 0.9962] state[eef_state]: left_x=0.28 left_y=-0.0002 left_z=0.161 left_yaw=0.0021 left_pitch=-0.2064 left_roll=0.001 left_gripper=0.992 right_x=0.484 right_y=0.0644 right_z=0.1848 right_yaw=0.1658 right_pitch=-0.1047 right_roll=-0.0241 right_gripper=0.9962 state[joint_eff]: [-0.3487, -1.7026, 6.8171, 1.5116, -0.0024, -0.0659, -0.0122, -0.4308, -11.0291, 8.0752, 2.1465, -0.0659, 0.0464, 0.0464] camera 'top_cam' (step 229): [image omitted: streamed camera frame] camera 'left_cam' (step 229): [image omitted: streamed camera frame] camera 'right_cam' (step 229): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.5,"right_y":0.085,"right_z":0.055},"note":"The blue bowl contains both fruits, and its right rim is beside the open jaws. I’m lowering so one finger enters just inside the rim and the other stays outside."})
tool
executing move_to over 9 steps (0.9s)
step 238
assistant
agent noteThe descent stopped at the bowl rim rather than reaching the requested height. I’m closing at this contact point to try to secure the rim without pressing farther down.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8845, 0.7158, -0.6106, -0.0139, -0.0338, 0.992, 0.165, 1.8755, 1.0855, 0.2367, -0.0154, -0.0372, 0.9963] state[eef_state]: left_x=0.28 left_y=-0.0001 left_z=0.161 left_yaw=0.0025 left_pitch=-0.2063 left_roll=0.0013 left_gripper=0.992 right_x=0.5162 right_y=0.0923 right_z=0.1025 right_yaw=0.1896 right_pitch=0.0149 right_roll=-0.0041 right_gripper=0.9963 state[joint_eff]: [-0.1573, -1.4838, 6.8308, 1.5409, -0.0269, -0.0611, -0.0073, 0.1573, -6.6667, 3.3162, 0.5739, 0.2662, -0.2173, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 238): [image omitted: streamed camera frame] camera 'left_cam' (step 238): [image omitted: streamed camera frame] camera 'right_cam' (step 238): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The descent stopped at the bowl rim rather than reaching the requested height. I’m closing at this contact point to try to secure the rim without pressing farther down."})
tool
executing move_to over 10 steps (1.0s)
step 248
assistant
agent noteThe close was empty, and the bowl shifted slightly toward us. I’m opening and repositioning at the nearer section of the right rim for a firmer rim grasp.
move_to
right_x0.4600right_y0.0850right_z0.0550right_gripper0.7000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8848, 0.7158, -0.6106, -0.0139, -0.0338, 0.992, 0.1665, 1.9072, 1.0657, 0.2344, -0.0162, -0.0433, 0.0108] state[eef_state]: left_x=0.28 left_y=-0.0001 left_z=0.1609 left_yaw=0.0025 left_pitch=-0.2067 left_roll=0.0013 left_gripper=0.992 right_x=0.5097 right_y=0.0922 right_z=0.0779 right_yaw=0.1951 right_pitch=-0.0389 right_roll=-0.0074 right_gripper=0.0108 state[joint_eff]: [-0.1026, -1.6068, 6.9265, 1.5556, -0.0317, -0.0269, -0.0122, -0.1573, -12.3009, 7.7607, 1.7509, 0.0122, 0.0122, 0.9011] approver: 1 step(s) modified (delta_clamped). 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_x":0.46,"right_y":0.085,"right_z":0.055,"right_gripper":0.7},"note":"The close was empty, and the bowl shifted slightly toward us. I’m opening and repositioning at the nearer section of the right rim for a firmer rim grasp."})
tool
executing move_to over 7 steps (0.7s)
step 255
assistant
agent noteThe jaws are positioned across the near-right rim. I’m lowering slightly and closing to pinch the bowl wall.
move_to
right_z0.0250right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8864, 0.7158, -0.6132, -0.0139, -0.0338, 0.992, 0.1665, 1.8187, 0.8368, 0.3977, -0.0196, -0.036, 0.6955] state[eef_state]: left_x=0.2796 left_y=-0.0001 left_z=0.1601 left_yaw=0.0025 left_pitch=-0.2109 left_roll=0.0014 left_gripper=0.992 right_x=0.4689 right_y=0.086 right_z=0.0616 right_yaw=0.1941 right_pitch=-0.016 right_roll=-0.0001 right_gripper=0.6955 state[joint_eff]: [-0.212, -1.7026, 6.8171, 1.5653, -0.0757, -0.0317, -0.0073, -0.0205, -9.0325, 4.8752, 1.5263, 0.0415, -0.0757, -0.1245] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 255): [image omitted: streamed camera frame] camera 'left_cam' (step 255): [image omitted: streamed camera frame] camera 'right_cam' (step 255): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.025,"right_gripper":0},"note":"The jaws are positioned across the near-right rim. I’m lowering slightly and closing to pinch the bowl wall."})
tool
executing move_to over 7 steps (0.7s)
step 262
assistant
agent noteThe bowl wall is thin, so the nearly closed reading alone cannot confirm this rim grasp. I’m lifting vertically to check whether the bowl and both fruits come with the gripper.
move_to
right_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8864, 0.7158, -0.6178, -0.0139, -0.0338, 0.992, 0.1638, 1.906, 0.8173, 0.5503, -0.0238, -0.0368, 0.0108] state[eef_state]: left_x=0.2788 left_y=-0.0001 left_z=0.1593 left_yaw=0.0025 left_pitch=-0.2155 left_roll=0.0015 left_gripper=0.992 right_x=0.4778 right_y=0.0869 right_z=0.0457 right_yaw=0.1954 right_pitch=0.0298 right_roll=0.0002 right_gripper=0.0108 state[joint_eff]: [-0.335, -1.6752, 6.8171, 1.536, -0.0366, -0.0366, -0.0122, -0.0889, -6.9402, 3.6444, 1.7265, 0.0073, -0.0464, 0.9402] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 262): [image omitted: streamed camera frame] camera 'left_cam' (step 262): [image omitted: streamed camera frame] camera 'right_cam' (step 262): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.2},"note":"The bowl wall is thin, so the nearly closed reading alone cannot confirm this rim grasp. I’m lifting vertically to check whether the bowl and both fruits come with the gripper."})
tool
executing move_to over 10 steps (1.0s)
step 272
assistant
agent noteThe bowl stayed on the table, so that grasp missed its rim. The clear overhead view shows it has moved toward us; I’m repositioning at the actual right rim, farther back than before.
move_to
right_x0.4250right_y0.0850right_z0.0350right_gripper0.6500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8909, 0.7158, -0.625, -0.0139, -0.0338, 0.992, 0.1627, 1.6318, 1.1164, -0.0471, -0.0238, -0.0444, 0.0112] state[eef_state]: left_x=0.2777 left_y=-0.0 left_z=0.1568 left_yaw=0.0026 left_pitch=-0.2273 left_roll=0.0018 left_gripper=0.992 right_x=0.48 right_y=0.0867 right_z=0.1756 right_yaw=0.1983 right_pitch=0.0058 right_roll=-0.0055 right_gripper=0.0112 state[joint_eff]: [-0.0342, -1.9214, 6.8171, 1.6386, -0.0611, -0.022, -0.0122, -0.1436, -10.4547, 8.7863, 1.7314, -0.0513, 0.0513, 0.398] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 272): [image omitted: streamed camera frame] camera 'left_cam' (step 272): [image omitted: streamed camera frame] camera 'right_cam' (step 272): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.425,"right_y":0.085,"right_z":0.035,"right_gripper":0.65},"note":"The bowl stayed on the table, so that grasp missed its rim. The clear overhead view shows it has moved toward us; I’m repositioning at the actual right rim, farther back than before."})
tool
executing move_to over 10 steps (1.0s)
step 282
assistant
agent noteThe wrist view now shows the bowl’s right wall directly between the fingertips. I’m closing to secure that wall for lifting.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8928, 0.7158, -0.6289, -0.0139, -0.0334, 0.992, 0.1814, 1.7451, 0.6342, 0.556, -0.0158, -0.0326, 0.6469] state[eef_state]: left_x=0.2771 left_y=-0.0 left_z=0.1557 left_yaw=0.0024 left_pitch=-0.233 left_roll=0.0022 left_gripper=0.992 right_x=0.4298 right_y=0.0853 right_z=0.0493 right_yaw=0.2039 right_pitch=0.0133 right_roll=0.0 right_gripper=0.6469 state[joint_eff]: [-0.0752, -1.894, 6.7897, 1.5311, -0.0708, -0.022, -0.0122, 0.2667, -5.053, 3.8769, 1.1209, 0.0952, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 282): [image omitted: streamed camera frame] camera 'left_cam' (step 282): [image omitted: streamed camera frame] camera 'right_cam' (step 282): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The wrist view now shows the bowl’s right wall directly between the fingertips. I’m closing to secure that wall for lifting."})
tool
executing move_to over 7 steps (0.7s)
step 289
assistant
agent noteThe bowl shifted slightly as the fingers closed on its edge. I’m lifting straight up to verify the rim is captured before carrying it.
move_to
right_z0.2200
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8928, 0.7158, -0.6323, -0.0135, -0.0338, 0.992, 0.1814, 1.7515, 0.625, 0.6014, -0.028, -0.0364, 0.011] state[eef_state]: left_x=0.2765 left_y=-0.0001 left_z=0.1551 left_yaw=0.0023 left_pitch=-0.2365 left_roll=0.0017 left_gripper=0.992 right_x=0.4318 right_y=0.0879 right_z=0.0528 right_yaw=0.2163 right_pitch=0.0433 right_roll=0.0022 right_gripper=0.011 state[joint_eff]: [-0.2256, -1.7299, 6.9675, 1.5311, -0.0269, -0.0317, -0.0122, 0.0479, -7.9932, 5.8872, 1.3162, 0.105, 0.0464, 0.9353] camera 'top_cam' (step 289): [image omitted: streamed camera frame] camera 'left_cam' (step 289): [image omitted: streamed camera frame] camera 'right_cam' (step 289): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.22},"note":"The bowl shifted slightly as the fingers closed on its edge. I’m lifting straight up to verify the rim is captured before carrying it."})
tool
executing move_to over 11 steps (1.1s)
step 300
assistant
agent noteBoth fruits are in the blue bowl, but I could not secure a reliable grasp on its thin rim. The lift checks showed the bowl staying on the table, so I’m stopping rather than attempting an uncontrolled pour. The transfer into the large white bowl is not complete.
give_up
hindsightFor this setup, the successful lemon grasp was near right_x=0.355, right_y=0.17, right_z=0; the pear grasp was near right_x=0.38, right_y=-0.015, right_z=0.005. Advancing too far during descent missed or displaced the lemon. Both fruits were placed into the blue bowl near right_x=0.50, right_y=0.145. Contact repeatedly shifted the lightweight bowl toward the bases, so its original location was no longer valid for rim grasps. All attempted rim grasps read about 0.01 and failed lift checks; do not transport or pour without visually confirming that the bowl lifts.
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.897, 0.7158, -0.6361, -0.0135, -0.0338, 0.992, 0.1814, 1.4307, 1.0054, -0.1127, -0.0319, -0.0422, 0.0128] state[eef_state]: left_x=0.276 left_y=-0.0001 left_z=0.1534 left_yaw=0.0024 left_pitch=-0.2445 left_roll=0.0019 left_gripper=0.992 right_x=0.4341 right_y=0.089 right_z=0.2007 right_yaw=0.2225 right_pitch=0.0304 right_roll=-0.0003 right_gripper=0.0128 state[joint_eff]: [-0.1573, -2.0855, 6.7897, 1.5116, -0.0562, -0.022, -0.0122, -0.3761, -7.9795, 9.0598, 1.8046, -0.0317, 0.0024, 0.4371] camera 'top_cam' (step 300): [image omitted: streamed camera frame] camera 'left_cam' (step 300): [image omitted: streamed camera frame] camera 'right_cam' (step 300): [image omitted: streamed camera frame]
assistant
give_up({"reason":"Both fruits are in the blue bowl, but I could not secure a reliable grasp on its thin rim. The lift checks showed the bowl staying on the table, so I’m stopping rather than attempting an uncontrolled pour. The transfer into the large white bowl is not complete.","hindsight":"For this setup, the successful lemon grasp was near right_x=0.355, right_y=0.17, right_z=0; the pear grasp was near right_x=0.38, right_y=-0.015, right_z=0.005. Advancing too far during descent missed or displaced the lemon. Both fruits were placed into the blue bowl near right_x=0.50, right_y=0.145. Contact repeatedly shifted the lightweight bowl toward the bases, so its original location was no longer valid for rim grasps. All attempted rim grasps read about 0.01 and failed lift checks; do not transport or pour without visually confirming that the bowl lifts."})
tool
give_up: Both fruits are in the blue bowl, but I could not secure a reliable grasp on its thin rim. The lift checks showed the bowl staying on the table, so I’m stopping rather than attempting an uncontrolled pour. The transfer into the large white bowl is not complete.
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 · 6.832 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]: [-0.0219, 0.8001, 0.6136, -0.3862, -0.0143, -0.0296, 0.9928, -0.0227, 0.8005, 0.6197, -0.3874, -0.0158, -0.033, 0.9991]\nstate[eef_state]: left_x=0.2955 left_y=-0.0004 left_z=0.1814 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9928 right_x=0.2961 right_y=-0.0003 right_z=0.1839 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.4855, -1.5385, 9.5521, 1.8779, -0.1099, 0.149, -0.4176, -0.1846, -1.4427, 9.2376, 1.8584, -0.0659, 0.2125, -0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:311d8b91881367686c97c7e28a4eda257942f20cfc049380ded91dc446b44a20",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a375d9e67bb5ef6e3eca630d75f7f0537f684bf94b358965f714eae81bc34c60",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad68b846846aa29120b4e5cc3606605d1392a688f39f4789d91ea66297ed8ed6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 1 attempt 0 · /responses · status 200 · 4.118 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtFxwvFlyxRNTJwN1a2ZMb9UYv8LyOGnuUCiSHQIWUrEW4q8U9g8vqKkt5aLx597oUDQ__lA5TqltdBbsTcTxVpHmImRGGtangIbz09xliO6X0qzuS47CMGZ3M9E1zE19YQxTC7A8tmbS-_eo8TZo3DadLjq7WcxHuuCPS6m1kgce2rl82E-UbW-bzhoOq55y0MSLLigwgzhFMwjmucSym6qZHRd_E5cbHckpqyzIFQMwjv2wGvFLHuNJhMplY2GJjnGINnqsW8ZWjIi0eTo3E9s9QSdJqZdYmpSevQN8KYOaoRr18DETSUN5TVMkcs0k23KD9GDfuD-6YKyQYxAnL8Q8-NeHDK9IcCF2jjTqfzvncZO0KLOCPBgGFyZSAVJXx5pNkU5fK44ZmxVeo7WYfe5SYDcAqDap9osR-9DpxK10c6sZIj7xZru6mbKia8pFwysIXZliGLA5jUEcH6BPKTnv9WmRxzN5NuIA05dw8_jCXmKGFyNf6u8umLh2731CI40--dbANUoVFhUWrJ-BvaoSP5RAxZp7kCJdHlWeZtpK-WprF118ZoCNJfhD2A1jwztJom0eR6RIlng79KDY0_lrj1ATr4MbXJCaY10u5HMsMEeGw9-Vnf7VmY9ejWMHIcDOsdJi5a9ibnHlhDfQ2PyzjphgkCAGdMh4fUcDFUQ3vlJ6SJiAne_KPFsYtM9VoNhF9x3wSlcYoiC0HnfoO6fCvyqk46bemRTX3ipVReLADZFMPEej0G-BQLIbqUq58K9DlhAhYDmvCFS-oiqCu-1_L1YXN3fBbOMB4n1r83bAOqFUpNQ-ny1UdgjZmOLkWXq8FZGKgSZQ8b38tCJ0wlEZXc0T5hhSf8Z45BoolmtZBY3FGFRpVbv8cuZqaynM5L4qjli9ENbOmpzwLOKO33oO7VRlFZVFdzyhGCLOCvn_LDK1v7AFDZdcrl4Yo5QoL_C-VQvGPox3xG2N3YQpruloeBzu0XyH4IulKGi0_Pss-EhfTlCa4XB8yUTCQ9CRZA73Il4SC8Z0DsOMoMA1KCMc2q7NgTgZS9lNEZefG-62GYco3k6lFhvHSeu2qT-rDV4OC55it4Vr2eRVTs8OEpbTqVjDS8BZ3MhNGksZWYDZYUE1H6GOf_vmalhEVu5PgaCW-wWDoW-wd6lY7Bw2MuVpQtfvnivsoJvze75TKZUQlDGy9WTXfmsB2sd2FAXPyBuHQr0pqbqm5cke17bTcMAVTBpVhFyGQ7JfcW-emKVLbRgTmpKJQwm9v6eZUIXTUn0i0eDTS6wZaxSpXyaUrvJvcJKY4e75YcZA8S6Zk38p5avqa4S6t4hTxUil1dSlgzJ8YXaIiIP9connzdmR9gobTdw1HfrcT0JeADYAl5b6A4CGXhsiNLvUIDUDpkSBxReNf38KSCD2Xpqrgu1fpKBLblfgMDYkCZ8ay9xXdlaCwvNQEK1f6Yc_lTyNYtlmsWg8LLqjJtjzDP1O14hXB_k3TolveAZpUCHmSCtTSqD6jcHGGap6h3tRMr7HWlRiF6fTq7iUbAJRkaEEroqwBpvA0muXoQsE5x63nVqkn16vj4CBvmhqq8Ph8AT8Xdd0w9gBLHTbzLovPAulxmkfSCw8ZqTjv3jlSm9NDsPxqb6LylqXeLqzraIrqCuh8UrVD8rAIqv9jG9g9zIKCizCMThhkzXtzViHJMwazOIlB3-1kL565ET0sO_SVB4SD9GYxI8WkAkS6j1asLOIExfIXNGsEJASIbgca_tZ8dkVoGcgpyTBr7NM2dQ4VQhoL1wKyYDHyDgpZSAtKEx1wGhAetO7EvOWC9YfRttr4ypMSzHiN-52CxfiEfCJRhPH5T4ho1VKhfAxTMy0zcpDFOzlIIaARS-BZnyJ_bnjA_BTPOAtKo2Mo5zWjHWmOVvjYVAbTCk4uSzwDuumgLLXCjKXFCFPV7nCpKy4P229p0RGwW9dCUyEZfqd3c0tEDyNM_mmu4SDiuRW1uytS-Gfs9oL0BQbMGCw5LaxL_OSw4OZBWYGIdeIA8N_ejUcvOsxrF7D4VRnxnUcQc30D3cg4p8gT3RBd-rhw5m_dWYkTjOGahY8TQ4-UV-f4-sNWmpwe7qG5UDogWIvQKOq6qwnoAXuKLDiVdyhB7Xc3wZfZoK9ZarZALU=",
  "id": "rs_0f5e19c4e84668e3016ab45c6c415087d08e657bd40cb9531b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.155,\"right_z\":0.15,\"right_gripper\":1},\"note\":\"I see two fruits beside the blue bowl: a yellow lemon and a green pear; the large white bowl is to the left. I’m moving the right gripper above the lemon to pick it up first.\"}",
  "call_id": "call_x6KpP2Jg1SEA8S1KEVnZX2HJ",
  "id": "fc_0f5e19c4e84668e3016ab45c6fb9ac87d092765e0d25ec8c67",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_x6KpP2Jg1SEA8S1KEVnZX2HJ",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.804, 0.6147, -0.4011, -0.0139, -0.0307, 0.9922, 0.6006, 1.412, 0.7994, -0.107, 0.4755, 0.3077, 0.9991]\nstate[eef_state]: left_x=0.2939 left_y=-0.0004 left_z=0.1778 left_yaw=0.0003 left_pitch=-0.0176 left_roll=-0.0008 left_gripper=0.9922 right_x=0.3606 right_y=0.1533 right_z=0.1313 right_yaw=0.0317 right_pitch=-0.0587 right_roll=-0.0412 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -1.4701, 6.9538, 1.8681, -0.0366, -0.022, -0.0757, 0.0479, -6.1197, 8.6359, 1.8486, 0.359, 0.2173, -0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:821889809079226f09fa62162e98165a7c3be06c1e7b526554b26d2b3b3628d0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54a994c53abb669561f6b642022e1edcdc2477bed09fb51a25f616a0a59d2124",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae2ed066c4f423ccd70936d5f699e9a36af468f1f60784075baf06343640d269",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 2 attempt 0 · /responses · status 200 · 2.191 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]: [-0.0219, 0.8001, 0.6136, -0.3862, -0.0143, -0.0296, 0.9928, -0.0227, 0.8005, 0.6197, -0.3874, -0.0158, -0.033, 0.9991]\nstate[eef_state]: left_x=0.2955 left_y=-0.0004 left_z=0.1814 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9928 right_x=0.2961 right_y=-0.0003 right_z=0.1839 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.4855, -1.5385, 9.5521, 1.8779, -0.1099, 0.149, -0.4176, -0.1846, -1.4427, 9.2376, 1.8584, -0.0659, 0.2125, -0.105]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.804, 0.6147, -0.4011, -0.0139, -0.0307, 0.9922, 0.6006, 1.412, 0.7994, -0.107, 0.4755, 0.3077, 0.9991]\nstate[eef_state]: left_x=0.2939 left_y=-0.0004 left_z=0.1778 left_yaw=0.0003 left_pitch=-0.0176 left_roll=-0.0008 left_gripper=0.9922 right_x=0.3606 right_y=0.1533 right_z=0.1313 right_yaw=0.0317 right_pitch=-0.0587 right_roll=-0.0412 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -1.4701, 6.9538, 1.8681, -0.0366, -0.022, -0.0757, 0.0479, -6.1197, 8.6359, 1.8486, 0.359, 0.2173, -0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:821889809079226f09fa62162e98165a7c3be06c1e7b526554b26d2b3b3628d0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54a994c53abb669561f6b642022e1edcdc2477bed09fb51a25f616a0a59d2124",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae2ed066c4f423ccd70936d5f699e9a36af468f1f60784075baf06343640d269",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFyAOAOhJCotM-dYuDSbyWph_Y5mN5QjJHIh8ETkNHGqK-0RVBRXY5eWiOXufQpmpUbwx-Uc3pxmoaTsnBU563Fs9aN2NgsObVaag6-l-I-8WUkThMNTnOTy_RBWOlUHtyDaS2upu9_0O8uY6Z_2MkttMSgdOYgOC2WD7nGXYuDmcbPosAI74szOi2vt-2IDslQjKFCF8jnnhQApA3hgTngKweFMV0UT6KjbJat9sENiPdPKfq4uUhHgIsSirgAo-S3OKmDs0V2pF0LLJCsF7xQO9mEyCA2JVeAYOiQ8_q07R1s2x2a07Ipw7-Vw9du4VDZv2_cX0GX4jJsLezXhpVXA-6PRVsRfqGTaLerNLUwWQlPGCBcO9BCq1gDOA2xX-GECfaCxIG6_gkoywad4s8Z5k9L-76cP2QxI-u30vdHLoqM3FO9g-IOePJbp_sE4Iy9c9o1n18LdmswsaXOH_pStu8rjH0el35HIaYYlv-rzgYSIpv_07H2w49wn2-xUUesn1Z_HACSGuhASFYBFKB41l_zJDEKkhPIczu0ujOoJmiksHD0vWlk0R5sjdQa2fKatG5Oz7251FRCHCj1ukbl3VpbdRHlymh_d1d6ZqQ7LIu-ev6ktFbPjC0NCvWtIut_DMOMcGWDDlekxjift-XdkZOGV15md0ING7NxXSNKcwFx5eo3XGOTTsJP0pQ6M6S_nu2JG37Aec2YSPbtL5f77auMx3g2DbCzlTWJImteQY0fT12y_zGtXsAHF2RRKAK9_VmhY9YnWz0lZj3vrCsB4fgaIGSOdXEBQIHQyZDrvLvzrhVNT_xCqgntBN2QwrBP8CvRAAxatYIPqYLEcZoLk04W6qeFqfl17znX8i3lT9TuHhCnRjAEzb7DUUFX2ELimXbJ4qztTRQvaX4HWQiN0uNwLCZEyzy4HCbWaOzmszD7kGAHltXXh-iq9fzh7MkR8_juuW83A33HRXnwjBGE8_KvSl6RzH8s5BIjq5mT5LIVSvHd6y5hxOIHIX354oFDJEsipRPGACkZ2vGFWhEEKHanjtKKfIuytq7O29Rm3lG4kXp8BYBrEopJGV8jghcBVwxVfFrJeMoKfSQ2sDmbnJ_1IZYmnQDjsTV0pSWmehznWIX1tMltJFmO1hiREzMQLZ2kGNAhP9r56YCP11HRBQ889dHE1UyhNdFcAmz84isPoinOOB3PkgmSYmST35A8hjR4ltDLQKaCF_B6Ajp0wvnOmQv6DCuBOGyTL1bT6GD5-3H2DTdiIIDhB3qJaLi6H1oFSRqC9A2l2RPT7RhBQBZZk31zbAHF13mD_w34dzjCzSA3zINXHWD3kBKtYVso8wL3yzb0O4rinjMLy3dkzmRV3kkwF4oA4xqfAD6TkbfOpwOroGL9zy_6uh1qO48Vs9r22NLQwfzjjXtCh39Hke_Y_0FTISmKjbVgm5uViJ0p7JRb6Kvy0AsMLETx96p0QLBHhkrp_U2nJB1RcYbAt2Q==",
  "id": "rs_0f5e19c4e84668e3016ab45c7d58f487d0ac088f1e7970b1e2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.155,\"right_z\":0.03},\"note\":\"The lemon is centered between the jaw columns in the wrist view, just ahead of the fingertips. I’m advancing slightly and lowering to grasp its sides near table level.\"}",
  "call_id": "call_l7AVMfLmM6a2FoZQGuqPLeSc",
  "id": "fc_0f5e19c4e84668e3016ab45c7ead7c87d09b786cfdfe930e52",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_l7AVMfLmM6a2FoZQGuqPLeSc",
  "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]: [-0.0219, 0.8078, 0.6147, -0.408, -0.0139, -0.0311, 0.9921, 0.5476, 1.7775, 0.6746, 0.371, 0.4328, 0.2691, 0.9991]\nstate[eef_state]: left_x=0.2932 left_y=-0.0004 left_z=0.1753 left_yaw=0.0005 left_pitch=-0.0282 left_roll=-0.0009 left_gripper=0.9921 right_x=0.3865 right_y=0.1532 right_z=0.0249 right_yaw=0.0326 right_pitch=-0.0849 right_roll=-0.0541 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -1.6479, 7.1726, 1.7802, -0.0806, -0.0415, -0.0269, -0.1846, -7.5282, 5.0667, 1.8584, 0.1636, -0.0708, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:285f2d56d2ab84e462034d8fc59b7518c288c5c55eb37aca87da5547decac125",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9696519cc7b48452321ed88d17c77c37eb07a6721473269f52f1c60af7afbd24",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62875b269e40abcf619810d42ccc76ae1472fcce7d13026c15b793512162b54a",
      "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 · 3.288 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 10 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.804, 0.6147, -0.4011, -0.0139, -0.0307, 0.9922, 0.6006, 1.412, 0.7994, -0.107, 0.4755, 0.3077, 0.9991]\nstate[eef_state]: left_x=0.2939 left_y=-0.0004 left_z=0.1778 left_yaw=0.0003 left_pitch=-0.0176 left_roll=-0.0008 left_gripper=0.9922 right_x=0.3606 right_y=0.1533 right_z=0.1313 right_yaw=0.0317 right_pitch=-0.0587 right_roll=-0.0412 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -1.4701, 6.9538, 1.8681, -0.0366, -0.022, -0.0757, 0.0479, -6.1197, 8.6359, 1.8486, 0.359, 0.2173, -0.105]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6147, -0.408, -0.0139, -0.0311, 0.9921, 0.5476, 1.7775, 0.6746, 0.371, 0.4328, 0.2691, 0.9991]\nstate[eef_state]: left_x=0.2932 left_y=-0.0004 left_z=0.1753 left_yaw=0.0005 left_pitch=-0.0282 left_roll=-0.0009 left_gripper=0.9921 right_x=0.3865 right_y=0.1532 right_z=0.0249 right_yaw=0.0326 right_pitch=-0.0849 right_roll=-0.0541 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -1.6479, 7.1726, 1.7802, -0.0806, -0.0415, -0.0269, -0.1846, -7.5282, 5.0667, 1.8584, 0.1636, -0.0708, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:285f2d56d2ab84e462034d8fc59b7518c288c5c55eb37aca87da5547decac125",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9696519cc7b48452321ed88d17c77c37eb07a6721473269f52f1c60af7afbd24",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62875b269e40abcf619810d42ccc76ae1472fcce7d13026c15b793512162b54a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The lemon is centered at the fingertip edge, with the jaws down alongside it. I’m closing the gripper to secure it.\"}",
  "call_id": "call_jXDwRLssiEr7wUY6ywLBPE8K",
  "id": "fc_0f5e19c4e84668e3016ab45c84946087d0b7cfdc8dd2a07969",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jXDwRLssiEr7wUY6ywLBPE8K",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6147, -0.4168, -0.0139, -0.0307, 0.992, 0.5484, 1.7729, 0.6754, 0.3996, 0.4404, 0.2619, 0.0118]\nstate[eef_state]: left_x=0.292 left_y=-0.0004 left_z=0.1736 left_yaw=0.0003 left_pitch=-0.037 left_roll=-0.0003 left_gripper=0.992 right_x=0.3909 right_y=0.1548 right_z=0.0323 right_yaw=0.0324 right_pitch=-0.0531 right_roll=-0.0475 right_gripper=0.0118\nstate[joint_eff]: [-0.0615, -1.1419, 7.0222, 1.7802, -0.0073, -0.0269, -0.0171, -0.294, -7.3094, 5.135, 1.3211, 0.0024, 0.0659, 0.9841]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29e064e7edeace9aef67a464171dc9b43b975fa87d43714fef5a61ebbc4b58be",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffb9ccacb0213937c9c9faf2e8eff26114552e18f252fe334585449aaff03fcc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d509e00515feec72abadc330b50c3da3d4de572ae5db8b61f80d8ccb72d338a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /responses · status 200 · 9.03 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 10 changed as sent

message 13 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]: [-0.0219, 0.8001, 0.6136, -0.3862, -0.0143, -0.0296, 0.9928, -0.0227, 0.8005, 0.6197, -0.3874, -0.0158, -0.033, 0.9991]\nstate[eef_state]: left_x=0.2955 left_y=-0.0004 left_z=0.1814 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9928 right_x=0.2961 right_y=-0.0003 right_z=0.1839 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.4855, -1.5385, 9.5521, 1.8779, -0.1099, 0.149, -0.4176, -0.1846, -1.4427, 9.2376, 1.8584, -0.0659, 0.2125, -0.105]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6147, -0.408, -0.0139, -0.0311, 0.9921, 0.5476, 1.7775, 0.6746, 0.371, 0.4328, 0.2691, 0.9991]\nstate[eef_state]: left_x=0.2932 left_y=-0.0004 left_z=0.1753 left_yaw=0.0005 left_pitch=-0.0282 left_roll=-0.0009 left_gripper=0.9921 right_x=0.3865 right_y=0.1532 right_z=0.0249 right_yaw=0.0326 right_pitch=-0.0849 right_roll=-0.0541 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -1.6479, 7.1726, 1.7802, -0.0806, -0.0415, -0.0269, -0.1846, -7.5282, 5.0667, 1.8584, 0.1636, -0.0708, -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 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6147, -0.4168, -0.0139, -0.0307, 0.992, 0.5484, 1.7729, 0.6754, 0.3996, 0.4404, 0.2619, 0.0118]\nstate[eef_state]: left_x=0.292 left_y=-0.0004 left_z=0.1736 left_yaw=0.0003 left_pitch=-0.037 left_roll=-0.0003 left_gripper=0.992 right_x=0.3909 right_y=0.1548 right_z=0.0323 right_yaw=0.0324 right_pitch=-0.0531 right_roll=-0.0475 right_gripper=0.0118\nstate[joint_eff]: [-0.0615, -1.1419, 7.0222, 1.7802, -0.0073, -0.0269, -0.0171, -0.294, -7.3094, 5.135, 1.3211, 0.0024, 0.0659, 0.9841]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29e064e7edeace9aef67a464171dc9b43b975fa87d43714fef5a61ebbc4b58be",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffb9ccacb0213937c9c9faf2e8eff26114552e18f252fe334585449aaff03fcc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d509e00515feec72abadc330b50c3da3d4de572ae5db8b61f80d8ccb72d338a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFyJjpgB4a2WCKF6u87-LhLJBmXa3PW6bh12rd8xgI5RlU98cxcUX7LXXZ_j4v2uagh3DjprsA80XfCTCk8bqsknovKBww-IcuJvGmyJUHdKhxHCaRl9M9WfVg1tJ1CJ3yM19IUNHK_RSU_eB6j71IBGvKbv3yW4mGO6iwX8jY-b8JYO9ExUtu5zR_GL0jrxrWnZtRPL1jXpB7CrCzHcBfPnpxnwLN3nveYvh2Z8dMJu9Opu3M0a-KM_NknPc-v1RQewlW0jUCA014LzQuzN-n-hv3Xo84Izo4Sy6lge8zt76R4ahuZUI8sB8R2MXmpsybgpAZqdjRo2PJmJZKQ8x180gFOOFAuSKAngoxT-n71IXZNz63N_8dIGTPkTETHlU9-Qxwij85RTOZGwHfM3pf_uDxG2cHBv38KJRISTM8aYQYe6GbtfC8uI-hc3RNxjLZwy1fzeb00rLTD95iGdrdACwN9GIwwY6vYr5esSILRROQTAoNTuxueKEU2Jc1dN5Ch3Ca6TuS09mHhQuhJtz4bKqYJ9Rt-Gwgbd-3_ZO9atRl86qpGNypzU5Bt7yXsGDbOnhzNKmOrc-dzqKbCp2H7QtGyamOgC3sirLRcTj3tB2UfK8jjUSnzj6_DqQmYCHb96qRKjSFVnbt-ip-gINOZj1r35yhtL0fLeyUfZuAS6cC7LzTcnon6sCWSc4r24LDOnun_jN2gKaljqMWgp5R7acbqpLtuc-Uu46mjK8zwM9ElsDB8v5zrej-MH0DHXQEiqZw4aHBBX1Le0mNgKYGmK3jKefPkZ1jwC0matKV99TMcZnfyq4A3iuWJn4Dp5JixAfzdX1vMSsEI70D_ZWcKAG2652AT6hj8lgosGYGkzIP8mqx2Q8Ff-lGRN5Ihfw2e0cU93axzG9L3gQE2GbRawtGb6XIq6y79L4VAaZ6lQNVMQhHnbQfc1LbTPK1cmA69YN_AsSqVJ47B1xTbLp1wb1QYwJxOW0lB4bTMx1PovlLTSInnhULyqnnesKb4XxbuVmu4SA2aHxmNfHHkAwtG-nhWTV5k9cmbfMifjWBwp6gld8CAsP67_BoVGwzk6OMROtsExx6M3LFz8_-4cH5_qDTcLgiv8S7dbH-RC6AkmEK2GaOn9Vv5YZ9OA_OHFkM-8Lv0DAiFhD9VRX6VPAHvJZ6fjOKMBfu3nHK9vIDZaxUq_yMcVaUQCrpS7aV_gp_WdTb0ze68nrq6T168E405-TR_v0SiEXh1-2kAeCH7FMr0Ely3XEJHSbbODkmBs_ZmJH5XowD3S_hFNaqZC4vawzPCxzJa4DLUDxPFxGEV_v7AHIJ_1ZIASgw4lzQourRMEWcCfsyuOd4QRroMXJxqzkm4cCex5EUblDTxg7JLqnBSBknUNazuGxiseNW9zl2i0m7r34bD9SU0oKhSHNaifV0nLlWMeH7aRVUZnWL0U6hl4dXJk7WWOBMt_gSVtBGHf3D6Z1iAzlBG5yx2aOe8OO_Kb4VCB0NzifLqA5zX-_eE=",
  "id": "rs_0f5e19c4e84668e3016ab45c87cec487d083d40e64acce938e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_z\":0.16,\"right_gripper\":1},\"note\":\"The gripper closed almost completely, so that grasp was empty, and the blue bowl shifted slightly. I’m lifting and backing off to locate the lemon again before retrying.\"}",
  "call_id": "call_6HVE55VTZtXgZROyUv9LDTf2",
  "id": "fc_0f5e19c4e84668e3016ab45c88dcc087d0ac1abbc91779f987",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6HVE55VTZtXgZROyUv9LDTf2",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8104, 0.6147, -0.4236, -0.0139, -0.0311, 0.992, 0.651, 1.3293, 0.8116, -0.2344, 0.4992, 0.3153, 0.9983]\nstate[eef_state]: left_x=0.2911 left_y=-0.0003 left_z=0.1715 left_yaw=0.0005 left_pitch=-0.0465 left_roll=-0.0004 left_gripper=0.992 right_x=0.3386 right_y=0.1561 right_z=0.1456 right_yaw=0.0583 right_pitch=-0.0769 right_roll=-0.0662 right_gripper=0.9983\nstate[joint_eff]: [-0.0068, -1.5658, 7.2547, 1.7411, -0.0708, -0.0708, -0.0073, 0.2667, -5.6821, 9.0462, 1.5018, 0.3736, 0.2222, -0.1734]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d281468bd02cb875e892d1cd5ed1fbe2e8122c452d2da92b5e39854b816211e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8a318c6ab93a336c882b882784f6e9ae3a00660bd74b7e5d7d9e0d52693da0e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9afe85fff3fd1611a25c94893174cbcaa5c439492da3083c07b7aabf294cc59",
      "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 · 2.68 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 13 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]: [-0.0219, 0.804, 0.6147, -0.4011, -0.0139, -0.0307, 0.9922, 0.6006, 1.412, 0.7994, -0.107, 0.4755, 0.3077, 0.9991]\nstate[eef_state]: left_x=0.2939 left_y=-0.0004 left_z=0.1778 left_yaw=0.0003 left_pitch=-0.0176 left_roll=-0.0008 left_gripper=0.9922 right_x=0.3606 right_y=0.1533 right_z=0.1313 right_yaw=0.0317 right_pitch=-0.0587 right_roll=-0.0412 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -1.4701, 6.9538, 1.8681, -0.0366, -0.022, -0.0757, 0.0479, -6.1197, 8.6359, 1.8486, 0.359, 0.2173, -0.105]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6147, -0.4168, -0.0139, -0.0307, 0.992, 0.5484, 1.7729, 0.6754, 0.3996, 0.4404, 0.2619, 0.0118]\nstate[eef_state]: left_x=0.292 left_y=-0.0004 left_z=0.1736 left_yaw=0.0003 left_pitch=-0.037 left_roll=-0.0003 left_gripper=0.992 right_x=0.3909 right_y=0.1548 right_z=0.0323 right_yaw=0.0324 right_pitch=-0.0531 right_roll=-0.0475 right_gripper=0.0118\nstate[joint_eff]: [-0.0615, -1.1419, 7.0222, 1.7802, -0.0073, -0.0269, -0.0171, -0.294, -7.3094, 5.135, 1.3211, 0.0024, 0.0659, 0.9841]",
      "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]: [-0.0219, 0.8104, 0.6147, -0.4236, -0.0139, -0.0311, 0.992, 0.651, 1.3293, 0.8116, -0.2344, 0.4992, 0.3153, 0.9983]\nstate[eef_state]: left_x=0.2911 left_y=-0.0003 left_z=0.1715 left_yaw=0.0005 left_pitch=-0.0465 left_roll=-0.0004 left_gripper=0.992 right_x=0.3386 right_y=0.1561 right_z=0.1456 right_yaw=0.0583 right_pitch=-0.0769 right_roll=-0.0662 right_gripper=0.9983\nstate[joint_eff]: [-0.0068, -1.5658, 7.2547, 1.7411, -0.0708, -0.0708, -0.0073, 0.2667, -5.6821, 9.0462, 1.5018, 0.3736, 0.2222, -0.1734]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d281468bd02cb875e892d1cd5ed1fbe2e8122c452d2da92b5e39854b816211e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8a318c6ab93a336c882b882784f6e9ae3a00660bd74b7e5d7d9e0d52693da0e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9afe85fff3fd1611a25c94893174cbcaa5c439492da3083c07b7aabf294cc59",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFyUcWoKOOyndw2jRP6ZH0I7yCmi3gTTROYme1VvVjYoyLyMHUIYRMB-ZiH2d2kh3u4x6xccjoU6ocMaR-GnWN3m5jHvfNpFifDbGdjHbSU0SQfp0qphTizg6QowYWQUcXCTF7Xx00m9rwMRg1wqdJELPNeRi7_fdPLZ8VRMIdBYa2XrAgoxqsvLHeR_hSNe0noEVw8meyinrrcPN6lAmWlP9ltBz-00yiyAI0-emalLbZ92TjFiZg40IgH0uZv9BMzvWB8SkyMtzWfbREzhbgxUE3_5mziA-jAndwaoKhG2rxmZfsws0YhNU316qEgNstx0z3A50gVE49aodnRh3RYTYwsox4z3dNFjW0OqyfiqBoxm8nLq2ORFCuMBtWLVTT5BtHl95dynbBIiNNHHRwOI_BWK5-S0EF1-Ejh9QUBq5gdKNPJxVe0Ysnn29sOnMbs9DOuEiv2C9Ew-zbBGK8nm--6xWQmcqlIGIfcXPkQfn78fkTK-6eLmU7e-GeZC9wMh5F-CpQQt07oY9dsNHuDKPyykxu42ZupiG08pi_wcxQbJjedLTKB-nhNrdHT7KegrtY9rJXhqe_oTxJHpuuwMnNCeeqtCta4Dlq_L6WF4jOav8-g8b06YsXKXJ9p2UgGLfKeDBVnSbBbYWUkVxElrO4Xuh80uuTJRBCx1t6pjSKcufNDeKozRwmpZ_hexFhYudF4aV_40aD-_dQikZJcBfBuy4tVUVJY0kOWgI-uZodoX_GLZByR6HO9hcjF6zL8IvSPuCGdAlgdBKBq9mfS1K2fvNLNcKsj3wGU8Zo3vkut1jXeJDLundKGtX2WSDMntO8GHfLyH-S6X66WLAUw5XCtZWinRGfzYWXVlQoK0oVXtsVc5PNQKJ0jo3HFj6DvLwoo6An1A9_AlGWseGgvg7YrVztBi_AkAJEVSY_2TT6rQGEP8myEcSIHpYaidGB-CNYFsxZThh3Rd5o_Vo290uC-w5-yXlDqcfylyBlk3q3I4dDYL0FdvxIS5BnhPQZCac8X9py_EUn72bF3QBGc3NTxCkZE97SnsGXy9xaXvzOlVFskhhRrSfMNF5JutlMy9EiHw5i6dIsWPAyF2OdbeLwj5AbsgwCBVwuIks-wgwvf0swMXnD3OF9dfLW-cL0MHQdyisGrRZ6N5atdaO2Jh5PgkVbS80ipVZVFi85Q-yHON5_ObFCBKwBsydchoGROFvUYIgHVTo3PunKWwnVafNW0z2CGiP61zQSA4WewFUN0arT8VigGbPytkvz2I-RmfgHm-_kHJQTZJUpvqCeYv5kamuASR6w1o_qPzzF9vJlFFZvbMd317F-OTsUz6qeI6E2gRw1smcqnDDDh2-l1dBMhOOtivQZ_gPyKJfHnJp4XFcsKL994UlyVGhEgtDC5dAyzZF7cXG0w0q2KFChC2HptnaHaFk0eNiXVV7vdn1dtlvh8yrlzbnhL901b0FxiR2CoVBGbOT1WVUEtQa6ZXFCU5Cke8xSgXDWlzZClfOZh72m7XtwASHvmctPfjjLi-Si3UFaUs3sUJGGimtb_RSqbR0lLz-Y2bfj1OVn2qejZ-Q44uJxk2esG9F-wjRkT9IqWC5RhzdLw92-ga4PzJHo299O_Cyw_gb13uCPAWDlCeVAr8dBa7-IWZmy0vdII1G3vsQEA4JrXuC5QeOt4v9QWGp3wbEDRl7KhIBdb3bqyNo6neZcCg3wa612i1PsAx20-XeQL--dpt8WoOMMoRMbDaIVnSJBEfMbjl1jfDqXbloT5-N_8Bx_KcnGZNmsJKesy0BH1UoAvFgOgnSRnrP2-ysUIZovbBwiA7Ey1KM742fXmrFg3MJ-KSVGb4Irxx2lDOkAqZ2xfTYb3DM6s_5WupycySTqGVJHBg01AJqOQ0PLv7bd0SBAXMMrl_punU7ACWfU7W_lEkLj_RgwmeKCPPCrbuYIogVKAqA1apgui5E0NcNMVJ8_52iiCM4hDCmkz--bzD405u9MaAyWWi5wAs-VTXGYWgO9uqEwz1zDH8oZmKedV4iZTM7MDMEgORePkSA-OWSM93p_2N97QNjmamR0cx5z-vOXQX1qq2YbIJtTFkZHF-yuSSs5pPoRi2_ROLlxuE8EMoJCjQzyFG3mcOfLhqDKB9oFhBYdKAyWrwMyCVBAnE53yaktP7xfKo00sHZLAusTDFZJdieS4sIPpkVdILQaSunK8iSVYKkopnUneY3VJo6akjvdjqARGZpY6hVVjqIXaoyaXtup_7IWT94-uC-vFtPTPAlN8kevnRoDPG7LodMAPYajL_Xhtoq0jwMBjX0Yfal1jyrcwhPQ5BP0v2WcVRBW9cTqkOoYqiNglkiCVPpj94g2dO1fcsuZCZEVrPuDjG38AnNqohuNOJ1xEHBPr2wsY9znU-m-5-Lsjp6qmwDoeRAYnH9HqH04JTx4D-3mc_jBee3ANDmGnLMmE50zVKVHlXldwvtQzaNQdhpyQ_MHp3JdwTk2HtkZMHBuaQQfmmA5jb9szlDQsT_qp7DXI5GOF11mv_A-dKM-yia9Ygnndoi3iv6wmmRx2JAMUY5uAP3mIjlfvOh1gP-2qWh3BuCtQcWoKcumuOFEX9goFHpV-W6qywVmzHP7U2UwmucgB4pnYA5iQ2Tocol87h0dqAoUMnuVDABKq1uZwQ8tN7NwsKUcqS8d-Xn7rSmVss50z3kWc1h3gAdjGko7XUJMENQGBGy1eTnEgbJnI7z5CvXyQrFySnF1rixPH28SoaK6HmgX7kQg_wwSnvQjP5eB3M09UZ_KJTGxjOkDKJWmqHgs0_ifKFivZVuQXBUK1P3D1RVABWMPCOcxWW9owdHioyRnaOBYnzBZgfsarmR27zzyqAAQJ4Z3GaWEMuG_ULeGm-7Wpc_D_gU-3xHP9xkNZvBbPwgvPyMq-PJ2AUd2k7Yu6_w7nE1tX8biOhtz-671eP-iQisNrxsQIx8CH3kfrtFUlkocGPidtYxjWgEhse-6huiXPp5AiuH3BT3emfMrJ4mvcvdX06NifJ_M2jsA2LyUTy1kWePEfKgVMYYwNOobe7cMithom-PLq_D8YmZ6I9Ujarmy4TG0gz02iI-bCyMS08Vr0JuH4=",
  "id": "rs_0f5e19c4e84668e3016ab45c8d254087d08ae19186f89cfe27",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.415,\"right_y\":0.15,\"right_z\":0.015},\"note\":\"The lemon is still on the table and centered in the wrist view. I’m retrying about two centimeters farther forward and slightly lower so the jaws surround it rather than closing short.\"}",
  "call_id": "call_N28RiJZ8JT9a5h3JQoIFZDoH",
  "id": "fc_0f5e19c4e84668e3016ab45c93646c87d0a7860c8c22e648a8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_N28RiJZ8JT9a5h3JQoIFZDoH",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6147, -0.4255, -0.0139, -0.0307, 0.992, 0.4931, 1.8549, 0.7311, 0.4099, 0.3859, 0.1905, 0.9983]\nstate[eef_state]: left_x=0.291 left_y=-0.0003 left_z=0.1702 left_yaw=0.0003 left_pitch=-0.0515 left_roll=-0.0 left_gripper=0.992 right_x=0.4092 right_y=0.1485 right_z=0.0175 right_yaw=0.0587 right_pitch=-0.0863 right_roll=-0.0808 right_gripper=0.9983\nstate[joint_eff]: [-0.1299, -1.0325, 7.0222, 1.746, -0.0073, -0.0122, -0.0122, -0.5402, -6.0103, 5.8872, 1.4676, 0.1441, 0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c598ae79c1e143a2eb5eff1ff0784855a20d74af3093c0205a13f6dd77e31d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:863178cb5cea4e4ec553469a8e53c5ca72cb2da217fbc765c4338aec9e20b820",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f4c8a4ec3eeacc66b35805a729823da0b8801b0279fa0f6a16b3b2596f94f06",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 3.533 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]: [-0.0219, 0.8078, 0.6147, -0.408, -0.0139, -0.0311, 0.9921, 0.5476, 1.7775, 0.6746, 0.371, 0.4328, 0.2691, 0.9991]\nstate[eef_state]: left_x=0.2932 left_y=-0.0004 left_z=0.1753 left_yaw=0.0005 left_pitch=-0.0282 left_roll=-0.0009 left_gripper=0.9921 right_x=0.3865 right_y=0.1532 right_z=0.0249 right_yaw=0.0326 right_pitch=-0.0849 right_roll=-0.0541 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -1.6479, 7.1726, 1.7802, -0.0806, -0.0415, -0.0269, -0.1846, -7.5282, 5.0667, 1.8584, 0.1636, -0.0708, -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]: [-0.0219, 0.8104, 0.6147, -0.4236, -0.0139, -0.0311, 0.992, 0.651, 1.3293, 0.8116, -0.2344, 0.4992, 0.3153, 0.9983]\nstate[eef_state]: left_x=0.2911 left_y=-0.0003 left_z=0.1715 left_yaw=0.0005 left_pitch=-0.0465 left_roll=-0.0004 left_gripper=0.992 right_x=0.3386 right_y=0.1561 right_z=0.1456 right_yaw=0.0583 right_pitch=-0.0769 right_roll=-0.0662 right_gripper=0.9983\nstate[joint_eff]: [-0.0068, -1.5658, 7.2547, 1.7411, -0.0708, -0.0708, -0.0073, 0.2667, -5.6821, 9.0462, 1.5018, 0.3736, 0.2222, -0.1734]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0219, 0.8135, 0.6147, -0.4255, -0.0139, -0.0307, 0.992, 0.4931, 1.8549, 0.7311, 0.4099, 0.3859, 0.1905, 0.9983]\nstate[eef_state]: left_x=0.291 left_y=-0.0003 left_z=0.1702 left_yaw=0.0003 left_pitch=-0.0515 left_roll=-0.0 left_gripper=0.992 right_x=0.4092 right_y=0.1485 right_z=0.0175 right_yaw=0.0587 right_pitch=-0.0863 right_roll=-0.0808 right_gripper=0.9983\nstate[joint_eff]: [-0.1299, -1.0325, 7.0222, 1.746, -0.0073, -0.0122, -0.0122, -0.5402, -6.0103, 5.8872, 1.4676, 0.1441, 0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c598ae79c1e143a2eb5eff1ff0784855a20d74af3093c0205a13f6dd77e31d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:863178cb5cea4e4ec553469a8e53c5ca72cb2da217fbc765c4338aec9e20b820",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f4c8a4ec3eeacc66b35805a729823da0b8801b0279fa0f6a16b3b2596f94f06",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFycyatxTzHSQ2YrSoZmahLPF00kJW8IU4RHv1e9LqoF4S5q4iInZoFIrwEO6rWBl5ph99tiKLxpK5HWRYac7foZRXm_-q4UgX58Obc4pKfq6o3AZdtT4S_SFoGPZEOGJlVjwnnTaAcN5kQRD5xKFshLSLbiQMpdGdlHf6luA4cVCqFRIJNspf-uK9VHVXRAoK3d4gRlpGh74oHoCvYMJX4H0YxuYyxJ3m068jA9zvBaMPWcLmHhRk70il7XFbwu731qCxIsZRMmtOORWtY7xqLFqrvRf-L8oDS5jCXrrfOkNwTjqAGlzaBBwiunYHTKVEErdES3N3UyE20PdI9THsPm9Sw_hhNrp9tcXqfBDqumv2sFW26gywSFqQmjM2UNrWo8pzHACD8azKQUqdNYR3ndySGU2yLF6okB1W7lSRVYHZjONX3gE6YAelJzSWN9pHhZDYIRRG5SVfwtUYauMjSohqpuzyrYMDiSJa48o5s-YWsr4wRJAkJdljYv543HqY_v43Ns3-T8GoWdPq_NoZfTEqux3tP7biqoX8L8UFZAy9--3xW6WxcRxnwNCXQEYUopK99XWgmkwwsKSirO3BSbqKsSBh2mElDu4is5WdXRGyneMXzAfFLzLApwFs24W_NCYE3M8V4OHxFQijdsIdsBLW-Mj7rAP0CnOKeMpqkRu4yR8tUPSCwr0lP4OJ9he6ndHBadzIdBStRp_jcpMAI_SBW3Nf16BTdnXHmPXnzadG2OZOIFKbS3pMye49nhP5LsUY8IdZkr54KYgXyk_Z2h7jexrKXDaSy9WJ16ZMDJRj9-IqPhefrTFeIbIefEE1i43ckF9Sq7Pyi9w7-mMlQ840HjHLfCMwbjPWMFx0_UohO7KjuuNFZcr75XxLHLIpT3VQ4lSCR0lHrVvLnWJC6eSENGmvvO2Dmy_rd42kvoPxGd-xorWEB7Ges59ohlHL4PSg2MBMoL5BUl5iNqdXZk6kXg2_4n8bWPnkTdxIx999gF3F6RZE_BVG46uUd03fvxgguq7V9bfbvZfdxVbftY0vm9Fw-MZXBKzSpACIVLDzWPl3aorZjZpeoMl8K79ox2jjFydIt6dVRxnO1lNXqKd6fCALPSQ6Iwrim4ExZP6l0Ko9z3ViN2YbklANv-ish9KRev1cztarKQlg3gf5_mWFMDTbHr1LeqN5wl3p_LB-Gi5tdTqmGuid0BdPMrMf6HKst5eAUmFhId-lRPORru-A==",
  "id": "rs_0f5e19c4e84668e3016ab45c9ae9dc87d0b327ae57f0b0be5b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The fingertips now cover the lemon’s location, with the bowl still just beyond them. I’m closing for the second grasp attempt.\"}",
  "call_id": "call_WRKzlMVCKlHUV5SK16iLrB6j",
  "id": "fc_0f5e19c4e84668e3016ab45c9b1ae887d0944c1fa2947108bf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WRKzlMVCKlHUV5SK16iLrB6j",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6147, -0.4271, -0.0139, -0.0311, 0.992, 0.49, 1.842, 0.7357, 0.4625, 0.4133, 0.1642, 0.041]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1699 left_yaw=0.0005 left_pitch=-0.053 left_roll=-0.0003 left_gripper=0.992 right_x=0.4197 right_y=0.1475 right_z=0.0352 right_yaw=0.0491 right_pitch=-0.0167 right_roll=-0.0881 right_gripper=0.041\nstate[joint_eff]: [-0.1436, -1.3333, 6.9812, 1.6777, -0.0464, -0.0659, -0.0073, 0.1436, -7.0906, 4.6974, 1.1111, -0.2173, 0.2466, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0723013fbffc94b03bdc07f810f8abaa0d8b8955648e8c07431e7ab3d3f1033a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e436133b158d0b6b686027cec09cffe544a3d1ad849a36bf144899b0c645f649",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7132ea3983aab9bb1ba76cb055b226c3e8d6955b327503fc2c0ee3b91aeab729",
      "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 7 attempt 0 · /responses · status 200 · 8.433 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 13 changed as sent

message 21 changed as sent

message 25 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6147, -0.4168, -0.0139, -0.0307, 0.992, 0.5484, 1.7729, 0.6754, 0.3996, 0.4404, 0.2619, 0.0118]\nstate[eef_state]: left_x=0.292 left_y=-0.0004 left_z=0.1736 left_yaw=0.0003 left_pitch=-0.037 left_roll=-0.0003 left_gripper=0.992 right_x=0.3909 right_y=0.1548 right_z=0.0323 right_yaw=0.0324 right_pitch=-0.0531 right_roll=-0.0475 right_gripper=0.0118\nstate[joint_eff]: [-0.0615, -1.1419, 7.0222, 1.7802, -0.0073, -0.0269, -0.0171, -0.294, -7.3094, 5.135, 1.3211, 0.0024, 0.0659, 0.9841]",
      "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]: [-0.0219, 0.8135, 0.6147, -0.4255, -0.0139, -0.0307, 0.992, 0.4931, 1.8549, 0.7311, 0.4099, 0.3859, 0.1905, 0.9983]\nstate[eef_state]: left_x=0.291 left_y=-0.0003 left_z=0.1702 left_yaw=0.0003 left_pitch=-0.0515 left_roll=-0.0 left_gripper=0.992 right_x=0.4092 right_y=0.1485 right_z=0.0175 right_yaw=0.0587 right_pitch=-0.0863 right_roll=-0.0808 right_gripper=0.9983\nstate[joint_eff]: [-0.1299, -1.0325, 7.0222, 1.746, -0.0073, -0.0122, -0.0122, -0.5402, -6.0103, 5.8872, 1.4676, 0.1441, 0.0659, -0.0122]",
      "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]: [-0.0219, 0.8135, 0.6147, -0.4271, -0.0139, -0.0311, 0.992, 0.49, 1.842, 0.7357, 0.4625, 0.4133, 0.1642, 0.041]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1699 left_yaw=0.0005 left_pitch=-0.053 left_roll=-0.0003 left_gripper=0.992 right_x=0.4197 right_y=0.1475 right_z=0.0352 right_yaw=0.0491 right_pitch=-0.0167 right_roll=-0.0881 right_gripper=0.041\nstate[joint_eff]: [-0.1436, -1.3333, 6.9812, 1.6777, -0.0464, -0.0659, -0.0073, 0.1436, -7.0906, 4.6974, 1.1111, -0.2173, 0.2466, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0723013fbffc94b03bdc07f810f8abaa0d8b8955648e8c07431e7ab3d3f1033a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e436133b158d0b6b686027cec09cffe544a3d1ad849a36bf144899b0c645f649",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7132ea3983aab9bb1ba76cb055b226c3e8d6955b327503fc2c0ee3b91aeab729",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFyh7cA02FCpBxqU4cZwa-Tx0i3UQtxHUNoneVysiK__db_JK1bZJC3JQh3EUuVDuoP2Tao_NHoZyEqtr-aOuOWBv7u52gi4bSmIslIPrgUQ_jMorFE_1RXimYpAtRRT62DfV-WRbB_uSGjwmw3t0YcV-JQ1NMl7_PbBdr4wKcJCu0N3hb9ao7GxJvk7ti9HsG7hlUpkLhuQH2Eb3l2c0ETKvCn9azYen4EhIHGpTxi8NyupH8tLipeVhtvpFYn1oHRUBopUImOhrYFpTruF-2jVHW_Wo2ZJoEtlqz75-ujcojIub68c8MRz4_cLHfntuJmC-1NkNFtLwmldaIHvEH8X52d7lCS4G-5YM63jtxbeSIOylWai3WsmHQHHYzMHi_qsC7vHF9j2ZRK3uBJd1fOybPf7FwwHa20ViVgTIEWcRDP482qFZSDUeTpHJlxcL-Iuoz9r5qTASR0XpZvvPjgEeMyDf0ndt3XRVYztvoxdj1RZp1CZCa8YMj8sm1QQzOkXbc4xqG0IIvPGlnFu9Ue4SY9IFjlN3nSpKtZKPs4f2xATgxtFx_b2pLEOpn7vrJpvzmIMP69Bbasvjj09sBM9wMXhrndiojOkv1BFsmp-TMOAZybISnPFwbL-6iztyGrhL2c0ltChGgQNHm0lJLqbGu_yyd3fohDa8cGoshjU8Pm2dEGsV_G_PiP1oA38CPuYMEVy4MU1Nloty2MUYhFOENIwLY_lJGakjQ6FokjjT8fneMcDNVYXAX_B0nQSHFSzi0hUZVwhmraB0IdfLWHtgF3dHKVXLNtpxcDeiVOsmJ4DQ7ZCXz1kLrdUfiI7roU24RNbFGyioC6bQE3De4b1EVx1rPXXxhNDFgTIsOpQoLbI9J0XxRzX1wVk05lyRHyJxFmntl75ow9EUNBOp_YQGXi4pH1e1w0z0M12VKS-1b2EMUeOx1Fzg-oVJewYRN9plC8wpC729ZOxL1u3YiFKtfISqf3VU_3rnb-_xRHoe-czTYT0M5RF_fjP6zf1dpPRcdlCRYBAbZULJIwY6y3qFcyuHpCssQU5IBbARwIND2TpS5TlKdaL0wXHHMVYC2swQx9wU0kCivoDhNpK93KaoxFO1B2BGdQQk3q7KWM-Az7gBpYLl0i9x2R8LxmXgjzxzhl12Oa5lKjVIgmXdz-w7x1Uj4QrN8DU1eZlzyLTjxTkgbb1_8qrI72fkBl0OhkuBMqs_3q1tcfXCmxU4x4C8b2GjhsSGQSBMlo5zVdI3ePr5ILOrYPh1YQcnYcJ9Hk58ZUc0cohqGsGCXWqNxrCCv8OgiihT0zuhwihNob7flK4WOdjkIHkUi5TkIMIfz8zhGBTZb9uE5SxH83aZXK52FzhDk9pP5pNTq1n-HKiBYRKA4HSLChl75ax-QEI4JIdIcCwKbGNZUP1Wr20o8pEkGw-7xLxcn0ii4dWdD-aL-1ox-bEcMABBNLuIPK3xUZXRtkNQw6q0BjcY7IAvgYHfA==",
  "id": "rs_0f5e19c4e84668e3016ab45c9f1be887d09635c85b2729006a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.30,\"right_y\":0.08,\"right_z\":0.22,\"right_gripper\":1,\"left_x\":0.2955,\"left_y\":0,\"left_z\":0.20},\"note\":\"The second close also appears nearly empty, so I won’t repeat the same approach. I’m moving clear to re-check both fruits from above and keeping the idle left arm safely raised.\"}",
  "call_id": "call_Zdoik0EGOC2O3YxcK7RMFKgn",
  "id": "fc_0f5e19c4e84668e3016ab45ca01db887d09a3ed6865814b571",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Zdoik0EGOC2O3YxcK7RMFKgn",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8501, 0.7132, -0.5327, -0.0139, -0.0338, 0.992, 0.4744, 0.9756, 0.7952, -0.4351, 0.3916, 0.1452, 0.996]\nstate[eef_state]: left_x=0.2903 left_y=-0.0003 left_z=0.1834 left_yaw=0.0021 left_pitch=-0.0969 left_roll=-0.0014 left_gripper=0.992 right_x=0.3089 right_y=0.0868 right_z=0.2111 right_yaw=0.0614 right_pitch=0.0028 right_roll=-0.0808 right_gripper=0.996\nstate[joint_eff]: [-0.0205, -1.2376, 9.4427, 1.7558, -0.0269, -0.0317, -0.0122, -0.4171, -2.4137, 8.6632, 1.5653, 0.1734, 0.0562, 0.149]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8d6407b253cbde76c58c0d305b866fe21e03bd87fdff16e36b4a5655d295278",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ad7966577f1722fbb847c175600fc7c4bebdecb9f3ff82fa960335fbcbfa0db",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c3ccc32ee4e99edbe967943fabfcaa9a7dbb7f79aa968987f5e8b0d7ce9aa89",
      "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 · 3.123 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]: [-0.0219, 0.8104, 0.6147, -0.4236, -0.0139, -0.0311, 0.992, 0.651, 1.3293, 0.8116, -0.2344, 0.4992, 0.3153, 0.9983]\nstate[eef_state]: left_x=0.2911 left_y=-0.0003 left_z=0.1715 left_yaw=0.0005 left_pitch=-0.0465 left_roll=-0.0004 left_gripper=0.992 right_x=0.3386 right_y=0.1561 right_z=0.1456 right_yaw=0.0583 right_pitch=-0.0769 right_roll=-0.0662 right_gripper=0.9983\nstate[joint_eff]: [-0.0068, -1.5658, 7.2547, 1.7411, -0.0708, -0.0708, -0.0073, 0.2667, -5.6821, 9.0462, 1.5018, 0.3736, 0.2222, -0.1734]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.0219, 0.8135, 0.6147, -0.4271, -0.0139, -0.0311, 0.992, 0.49, 1.842, 0.7357, 0.4625, 0.4133, 0.1642, 0.041]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1699 left_yaw=0.0005 left_pitch=-0.053 left_roll=-0.0003 left_gripper=0.992 right_x=0.4197 right_y=0.1475 right_z=0.0352 right_yaw=0.0491 right_pitch=-0.0167 right_roll=-0.0881 right_gripper=0.041\nstate[joint_eff]: [-0.1436, -1.3333, 6.9812, 1.6777, -0.0464, -0.0659, -0.0073, 0.1436, -7.0906, 4.6974, 1.1111, -0.2173, 0.2466, 1.0281]",
      "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]: [-0.0219, 0.8501, 0.7132, -0.5327, -0.0139, -0.0338, 0.992, 0.4744, 0.9756, 0.7952, -0.4351, 0.3916, 0.1452, 0.996]\nstate[eef_state]: left_x=0.2903 left_y=-0.0003 left_z=0.1834 left_yaw=0.0021 left_pitch=-0.0969 left_roll=-0.0014 left_gripper=0.992 right_x=0.3089 right_y=0.0868 right_z=0.2111 right_yaw=0.0614 right_pitch=0.0028 right_roll=-0.0808 right_gripper=0.996\nstate[joint_eff]: [-0.0205, -1.2376, 9.4427, 1.7558, -0.0269, -0.0317, -0.0122, -0.4171, -2.4137, 8.6632, 1.5653, 0.1734, 0.0562, 0.149]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8d6407b253cbde76c58c0d305b866fe21e03bd87fdff16e36b4a5655d295278",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ad7966577f1722fbb847c175600fc7c4bebdecb9f3ff82fa960335fbcbfa0db",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c3ccc32ee4e99edbe967943fabfcaa9a7dbb7f79aa968987f5e8b0d7ce9aa89",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFyvCEkaZVsZsRgwhgPqR3mEwhC6Y8tJG_ZIg6ya-MBqoiZHGL0XPMW2WfhA4QImakJet88GcpG8Dhs_i8SoeI84q1b7-zeB0wW4m9cHRrZ9gSyJ1tjcaJFETLr9Nxp8hEbj86O-Y4w9OYtrXftZkGOZViEUlI1-t9eucn3NW77GJVYqcLYqkBNvfjNMzG5_QU6qZtalnE4YqHv3WS01NBuSCXnjDW8W0l3YjCbCEsgEYELSksDJtpWT0tQUwuDqORfy59YahzqQlmbCCF4wg31ftsKdV8PntHAxUa8eq87ZavO3M6Ws3PItWJS6sVlRRmxxW6HkoWVaRSTXSkK5AfTR5e42cJUVBq-3y_uErntdeNpuE5YWk-kl9Bbn4td5UK1TN6-HGqSIi3w1prJvnzWK3GZd0ulsAnmjDB0oWq1DcyS_8LtlDYueLsPD7BkliKGYvAk8OrFemdHsu0JRfGilwzq6aBa_5FD7HXUbJnI5F3NOpoR4Djnh816KTpvvxkr1S59F1QsMXT3zXRBCT1sy4F4qpwUZdbFAlkwan2tCGAGo7G2xCbE-_YIUozLtOinNSEc241ppexjATACncRUoZEAhwg-kO-Pnmk-o5crnGVDR1iPS0BHPJJgkhBs0GquF-ZZ8VI9mOz-dK0VhXKwS1VDq0Fh_HJcGgpSqgxXIPXXkaQGzhoqvFaCDfw2eRLkAJGPfuqOHq5AcAGeP_MYdEDxIYnX9loauVZfjxD-x6PVVrNEAE3phjhhaJ0u7CHLhqPbXMpzJikN6fxToqZlod7KVLe3Ut8pD5-a3s8pr7ae25pxKxyG1i3jEcbk_c7hP-q9zl2XVvjkffIOuxg0mDhwzY_uLvkAdliMM8PHAVDHGnvrFG1WVxHkdFSQLs4DUnLmOW95j8XlaYxOxU0Ccl1JIp77WBH3jYm7e3Ujf2SdHO5Vv-5S8YIuZMZAXKLdqCyofN46z7lffUO4QXs8vXHIEuSELiZ_ZF3XsSxOfnoGiKoTpwTG2WKsbmr4cSQ5YoTLtTxfIFA4m8lGzRFKPBnoKg3OiDhc4AFaLwigaP6eAgQMdqR-lam__EKhWLXJJnvOl5LvgVRFrsgvksVwfPdrTKEZssP6S6Am0i0eFyJk7xPHMyuTzvxIFJ6P3QI3Ts7yPwNc2gZcpqTNwJDyeg8eMGC8u-VrIPknq6dak4tGeiYGnxctwgh8U3lkqJ-nmUyoGBIhAU_tVYtWKzXR-7HaKwHxJHSawECFwWd5d4V2jVWtZz0Fnbf76UMGXBWItk_6JgWJ2kkKQt0Tkga4Ihd1LG1jyoOdRoOovjih-OCB39SVIGQl1a-oYzHYOrqotwlr1HK2muiEHgCc2yVDuZtCdw4j2RlqhkDXdiXNWRhwj24BgJ5J1ergVdiChwbuUt2qdrqRm-_ac0OaFt9LrRRCWErJggYdpX59vSYdyiLvwTJ6xaqFBW1ZLTyAQdS9VbpHxk-ZMe9suYMBnyizLhBcIpL_A0nlYpobL4A-3hVa7XNEGdVQcPyyOGY2aMi9Pznlsjru6iOV4LnFsD73YoZjJ221nrosSK9sc4qzrNy_XzQjXYkiMKr3lm-aXDb5-PTzVPAcApBNjXKcIFlSNRHrWuLbxY1ie7kFu9Lf2rwdtpzWGe2RRlIe9ljzcAjn5rkVlht8GTIUwqXv7DdKQ-ZHcPikUpbNCfOcabFmlj7i4khjca4GPOHCpiI7wW6lvINcXNJh9nBKgso4f78OOwqInGrlGDNWnSw3Dl9tV2Dpf9V76ftV57Dhyq3VF52B7sbIVUdfiSVpDbv1S7jfWY6wTIK40PGfPaEWRc7O6_6bEBkn1chaHMcbYOGzWxuLTxe_p_65C27MdzcnKD1vSK5ijXrBUZb6yVvwY_RIlTAT992NSPjpblNSONZ8CEsYHXCsZ_YPL3uoXQRUqRS916k3CGkTqDjAp_vQqp7ed5yDJKk03b82T6H1Iv0FvYyub-ioIvOzPWEAQoXMw83QeVErW-qp7VjaiyXo-1uzr0IT04AruluJdFXuLDu3PJ0Bjwkokt5oswx9Qy1ze6xZlkuE9S_ri5yVKt9dvQZuBZLo2XqoYqpRH3sixEh0AmMaVsAmt4_ynWzXrvt3peIDPoOmxL6DE0I_BC2217QE0Et1OnRRsa8OyXejNMZRQe_nMkCIaz-6DAGja_HN-reZ6GFnJolWTHvPOwLfKjtEFvGvR-QDCxC9bQyrkuB9zpT3EXVdAK108ITBk7N-uBuEhRELh1GPS5GZdW5Gl51jIw-NA-N5N2hFNUnZjSK1zXnJ5eHfAwrKXq1S35Fgwj7lpwVxTPbeFoRE8DLPIV7TKzCzG4hevVRnFIeBRRORvnbRf4wKPff3o9aZDgzXpouAMB2nQeM6GAnCe0yUWcSVW5ApG_-b56xRUi1rrtHt4-e_BsNQbD0nh86SxYgQjiSlalzkK_w7dQ062StBpPuO65zOFbb0MXitLALYTN_lVPIFjvYoEJiKA_iZvGp3fPYOYdPWF2QAz1uK6Wykz93FWtvvOWQ_M9wC8RhFxZnI4SR4Zlzsu2guDzPMKbL9p7xww9fiSf_8IcoaxXWk5z8_h5hYBrikZabzJvSJUv02nOEF33DgGNB1GBWUogDm7APdB3UoqxTltmpBcHbRBjXGikxZmkDc6og0le5CIu_DFUYJ515y5Jw9FHh1WsLUM9xW9oJlQP_mG-_kSrLH44B8ltmLLIz4bXykUv2TAINy7gMsCsP5sGY_M_1sTnaLYaN6VOZ_taghdsBZiMLemXQNF6Cc=",
  "id": "rs_0f5e19c4e84668e3016ab45ca8d55887d080a36541851647c0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.15,\"right_z\":0.07},\"note\":\"The overhead view shows the lemon has rolled a little toward us, while the pear remains to the right of the blue bowl. I’m aligning over the lemon’s new position for a lower, centered grasp.\"}",
  "call_id": "call_jMz85xuJFkFCFgwdlRA45KF3",
  "id": "fc_0f5e19c4e84668e3016ab45caebbf087d089dbb2165a698e08",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jMz85xuJFkFCFgwdlRA45KF3",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8558, 0.7162, -0.54, -0.0135, -0.0338, 0.992, 0.5747, 1.5631, 0.6067, 0.2241, 0.4568, 0.1921, 0.9968]\nstate[eef_state]: left_x=0.29 left_y=-0.0004 left_z=0.1818 left_yaw=0.0018 left_pitch=-0.1068 left_roll=-0.0014 left_gripper=0.992 right_x=0.358 right_y=0.1433 right_z=0.0577 right_yaw=0.0821 right_pitch=-0.0816 right_roll=-0.1299 right_gripper=0.9968\nstate[joint_eff]: [-0.253, -1.9897, 6.7761, 1.6825, -0.022, -0.0171, -0.0122, 0.7179, -7.2957, 5.6274, 1.7656, 0.2515, 0.1587, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e69039f7f29809fed7b86fcf84d37cdcd333af4f0bb296ab20ee0496b4981f7f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8538a35f07974f570e915b444de9b5d7098f8ad1af323ee621c26d43c26812e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d7154e009eb32b0d560a80d368712151ccfaf2a3a61fc4fd994a862f7fdcb87",
      "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 · 2.164 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 21 changed as sent

message 29 changed as sent

message 33 changed as sent

message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6147, -0.4255, -0.0139, -0.0307, 0.992, 0.4931, 1.8549, 0.7311, 0.4099, 0.3859, 0.1905, 0.9983]\nstate[eef_state]: left_x=0.291 left_y=-0.0003 left_z=0.1702 left_yaw=0.0003 left_pitch=-0.0515 left_roll=-0.0 left_gripper=0.992 right_x=0.4092 right_y=0.1485 right_z=0.0175 right_yaw=0.0587 right_pitch=-0.0863 right_roll=-0.0808 right_gripper=0.9983\nstate[joint_eff]: [-0.1299, -1.0325, 7.0222, 1.746, -0.0073, -0.0122, -0.0122, -0.5402, -6.0103, 5.8872, 1.4676, 0.1441, 0.0659, -0.0122]",
      "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]: [-0.0219, 0.8501, 0.7132, -0.5327, -0.0139, -0.0338, 0.992, 0.4744, 0.9756, 0.7952, -0.4351, 0.3916, 0.1452, 0.996]\nstate[eef_state]: left_x=0.2903 left_y=-0.0003 left_z=0.1834 left_yaw=0.0021 left_pitch=-0.0969 left_roll=-0.0014 left_gripper=0.992 right_x=0.3089 right_y=0.0868 right_z=0.2111 right_yaw=0.0614 right_pitch=0.0028 right_roll=-0.0808 right_gripper=0.996\nstate[joint_eff]: [-0.0205, -1.2376, 9.4427, 1.7558, -0.0269, -0.0317, -0.0122, -0.4171, -2.4137, 8.6632, 1.5653, 0.1734, 0.0562, 0.149]\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 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8558, 0.7162, -0.54, -0.0135, -0.0338, 0.992, 0.5747, 1.5631, 0.6067, 0.2241, 0.4568, 0.1921, 0.9968]\nstate[eef_state]: left_x=0.29 left_y=-0.0004 left_z=0.1818 left_yaw=0.0018 left_pitch=-0.1068 left_roll=-0.0014 left_gripper=0.992 right_x=0.358 right_y=0.1433 right_z=0.0577 right_yaw=0.0821 right_pitch=-0.0816 right_roll=-0.1299 right_gripper=0.9968\nstate[joint_eff]: [-0.253, -1.9897, 6.7761, 1.6825, -0.022, -0.0171, -0.0122, 0.7179, -7.2957, 5.6274, 1.7656, 0.2515, 0.1587, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e69039f7f29809fed7b86fcf84d37cdcd333af4f0bb296ab20ee0496b4981f7f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8538a35f07974f570e915b444de9b5d7098f8ad1af323ee621c26d43c26812e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d7154e009eb32b0d560a80d368712151ccfaf2a3a61fc4fd994a862f7fdcb87",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFyzzobMqIoB1p5mzkk_hHsFuBpb902_WQ5Edixufc-HoeibkLXGIT7qbjXPWjecIjjHeLbP1uwtcrmg_uq8l1fdP6exogbJ7aHwyi0tqVj0DO89Qg_RyAb7FyMKatR5FoMr708WrURdoVF7jI2R8kfKMgi7eocskBWiIYoSB82fZmimOqCZWpTARXHqn31HmGq_5vcnzPqFBXgZrt7C4s6S3pwkw2nkmvuVjLVKbCyVeSlEs-tSD2aTgRYh_kCnwITLVbUfsFUhQfKXzKqUcggrwfs_Fej2qkjCBH8-AlX7syS00e668zDFbWpvqKU7yuvMNxssDbnExKYD_-v-PQfBoR9Dd2eGghNy-gOVQ8EAbNrMO9-y9tkpDc91L2qDvMR5vNslEKyzY5oyW8mU4AHtyV2ybEJQAA7rP86jgIzHfvwLyZ4KUzcKAOfRPujsOgatWmIQp6UOfvXSyKgC_IMYrtJEnAy3REdiqwXztVQqw0r37quex5KgK5olho6wGitn9kXrtjtu5jx9jSAiih7Az9WMOxDBJfPUhp6ajqq4RiDfmxZOoT7T8VEg9-6CebhVyDEWzIA0A07YRqjGBBYF5__VmE6ZN9xNruni6MfuMdbKKYJs7C2nPvT4eV74spFpcEIUoCiUvMkj_vOlJyigdr9_q_KF7_ZzFYzt-auTHqd02opKks66hyDaswNZHrfdmK3_vKnlCYQwViA167tM-vYOBu6yCc-aGxVOiBMUFak6pC2CmGz6lU1StCAGV5aG26dHnM9qOFkCm9V5LP1VUa_pzwIL89g4jNsd-zodlJ_SASTm4i4BJZ7W_U6A8lA0S5dQ8afFbq_No7booUiBaXGo5q_HAdy4Muxe3ckav2yDXuaiCbLiqJFu5HB1Hxd2Mkr7u6X7Hx4zt0HK9Ybqyp08tUAnnNdzmyR7wGDKYcYB-ks-tv7m02V-kN_HVWnuas0rMpQqMEowyQyjTiodwaIUI4hib0OigS7Qrl8pPdKLHKIPaU9hdzVKHzag1SB3eQwpI_uU_IQYsReYzpiSZ-K6CmIfPmOENLp5ZepOVXwTw9sgw0Kl_ttiVREGP2M8MxfRnvtdnD4M7mpPyKG_Xkl3jo2Lrt0oqZvzcKmFGfU01PcFWwsfd5fjI6-fGBrneEU0DYmjMR0jScZLA1_resQ1sAcwfxX6SslR4u4kD5q0Rm1hMpXkh8ay6Wi2TaTPHcOLTClDL8WJ-zWFlzjNGYo2pv5SSQJdV2dtUFV9M2fGpPDul8m2gHoh4BfRMboK9FovyU0LrYolt0zufsDGrIXINCphOcGefP7AhNgkEVRiYO2PfNKq9fpa6BcLHoKYwtvRumLej0iViAMq1-U_eogP7xbsf961VDhcJnRuGbuRqAExQJ-ALH2YmzZ29ev9",
  "id": "rs_0f5e19c4e84668e3016ab45cb1febc87d08b915c11592066a5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.15,\"right_z\":-0.005},\"note\":\"The lemon is centered directly at the jaw opening. I’m lowering to table level with only a small forward correction to get below its rounded sides.\"}",
  "call_id": "call_H8aXaPz8SYWtpMzL7CzYmG86",
  "id": "fc_0f5e19c4e84668e3016ab45cb2d55887d0ad03a61ebd5578c5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_H8aXaPz8SYWtpMzL7CzYmG86",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8593, 0.7158, -0.5438, -0.0139, -0.0338, 0.992, 0.5537, 1.8378, 0.6079, 0.5125, 0.4488, 0.1825, 0.9968]\nstate[eef_state]: left_x=0.2896 left_y=-0.0003 left_z=0.1799 left_yaw=0.0021 left_pitch=-0.1144 left_roll=-0.001 left_gripper=0.992 right_x=0.3795 right_y=0.1487 right_z=0.0053 right_yaw=0.0731 right_pitch=-0.0716 right_roll=-0.1259 right_gripper=0.9968\nstate[joint_eff]: [-0.3624, -1.7573, 6.9402, 1.663, -0.0317, -0.022, -0.0122, -0.1983, -5.5726, 4.6291, 0.8718, 0.1001, -0.0952, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c874085bd61ea56abf64f8cd03d1ec0fc0327e4318dc988124c764331a9e2bf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5993fe57eba318c899c4aac71e9080e1cd11215a40519643105f7d0feed7f959",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4f4b32c2596c0818e448452dee7ba97dce57a6e6b2a3c99d39c4812b1ca2ac9",
      "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 · 2.882 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 25 changed as sent

message 33 changed as sent

message 37 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6147, -0.4271, -0.0139, -0.0311, 0.992, 0.49, 1.842, 0.7357, 0.4625, 0.4133, 0.1642, 0.041]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1699 left_yaw=0.0005 left_pitch=-0.053 left_roll=-0.0003 left_gripper=0.992 right_x=0.4197 right_y=0.1475 right_z=0.0352 right_yaw=0.0491 right_pitch=-0.0167 right_roll=-0.0881 right_gripper=0.041\nstate[joint_eff]: [-0.1436, -1.3333, 6.9812, 1.6777, -0.0464, -0.0659, -0.0073, 0.1436, -7.0906, 4.6974, 1.1111, -0.2173, 0.2466, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8558, 0.7162, -0.54, -0.0135, -0.0338, 0.992, 0.5747, 1.5631, 0.6067, 0.2241, 0.4568, 0.1921, 0.9968]\nstate[eef_state]: left_x=0.29 left_y=-0.0004 left_z=0.1818 left_yaw=0.0018 left_pitch=-0.1068 left_roll=-0.0014 left_gripper=0.992 right_x=0.358 right_y=0.1433 right_z=0.0577 right_yaw=0.0821 right_pitch=-0.0816 right_roll=-0.1299 right_gripper=0.9968\nstate[joint_eff]: [-0.253, -1.9897, 6.7761, 1.6825, -0.022, -0.0171, -0.0122, 0.7179, -7.2957, 5.6274, 1.7656, 0.2515, 0.1587, 0.0757]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8593, 0.7158, -0.5438, -0.0139, -0.0338, 0.992, 0.5537, 1.8378, 0.6079, 0.5125, 0.4488, 0.1825, 0.9968]\nstate[eef_state]: left_x=0.2896 left_y=-0.0003 left_z=0.1799 left_yaw=0.0021 left_pitch=-0.1144 left_roll=-0.001 left_gripper=0.992 right_x=0.3795 right_y=0.1487 right_z=0.0053 right_yaw=0.0731 right_pitch=-0.0716 right_roll=-0.1259 right_gripper=0.9968\nstate[joint_eff]: [-0.3624, -1.7573, 6.9402, 1.663, -0.0317, -0.022, -0.0122, -0.1983, -5.5726, 4.6291, 0.8718, 0.1001, -0.0952, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c874085bd61ea56abf64f8cd03d1ec0fc0327e4318dc988124c764331a9e2bf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5993fe57eba318c899c4aac71e9080e1cd11215a40519643105f7d0feed7f959",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4f4b32c2596c0818e448452dee7ba97dce57a6e6b2a3c99d39c4812b1ca2ac9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"right_gripper\":0.25},\"note\":\"The jaws are at table level around the lemon’s location. I’m closing gently to avoid squeezing the rounded fruit out sideways.\"}",
  "call_id": "call_xAw0Xro1QZqmgW4002isJB3P",
  "id": "fc_0f5e19c4e84668e3016ab45cb5999887d0b6390254390c9ebd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xAw0Xro1QZqmgW4002isJB3P",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8593, 0.7158, -0.5442, -0.0135, -0.0338, 0.992, 0.5526, 1.8126, 0.6258, 0.6128, 0.4782, 0.1638, 0.2616]\nstate[eef_state]: left_x=0.2895 left_y=-0.0004 left_z=0.1799 left_yaw=0.0018 left_pitch=-0.1148 left_roll=-0.0012 left_gripper=0.992 right_x=0.3994 right_y=0.155 right_z=0.0406 right_yaw=0.0587 right_pitch=0.0623 right_roll=-0.0901 right_gripper=0.2616\nstate[joint_eff]: [-0.253, -1.4427, 7.241, 1.6142, -0.0366, -0.0171, -0.0122, -0.1299, -5.6957, 3.7402, 0.7057, -0.188, 0.1636, 0.2906]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6af86f900c04411db09f1d1ab86cd3b953b824e64a59a6f623bfb1ec774fc3f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:528976e0facb9ee93cec4887861a8589bb01129475bcbab4984f828ec2bf350b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41d92401b54efac12bc9440b2b8e65963c4a1590c4724062363dabdf267585c5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /responses · status 200 · 5.532 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 29 changed as sent

message 37 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]: [-0.0219, 0.8501, 0.7132, -0.5327, -0.0139, -0.0338, 0.992, 0.4744, 0.9756, 0.7952, -0.4351, 0.3916, 0.1452, 0.996]\nstate[eef_state]: left_x=0.2903 left_y=-0.0003 left_z=0.1834 left_yaw=0.0021 left_pitch=-0.0969 left_roll=-0.0014 left_gripper=0.992 right_x=0.3089 right_y=0.0868 right_z=0.2111 right_yaw=0.0614 right_pitch=0.0028 right_roll=-0.0808 right_gripper=0.996\nstate[joint_eff]: [-0.0205, -1.2376, 9.4427, 1.7558, -0.0269, -0.0317, -0.0122, -0.4171, -2.4137, 8.6632, 1.5653, 0.1734, 0.0562, 0.149]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8593, 0.7158, -0.5438, -0.0139, -0.0338, 0.992, 0.5537, 1.8378, 0.6079, 0.5125, 0.4488, 0.1825, 0.9968]\nstate[eef_state]: left_x=0.2896 left_y=-0.0003 left_z=0.1799 left_yaw=0.0021 left_pitch=-0.1144 left_roll=-0.001 left_gripper=0.992 right_x=0.3795 right_y=0.1487 right_z=0.0053 right_yaw=0.0731 right_pitch=-0.0716 right_roll=-0.1259 right_gripper=0.9968\nstate[joint_eff]: [-0.3624, -1.7573, 6.9402, 1.663, -0.0317, -0.022, -0.0122, -0.1983, -5.5726, 4.6291, 0.8718, 0.1001, -0.0952, -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 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]: [-0.0219, 0.8593, 0.7158, -0.5442, -0.0135, -0.0338, 0.992, 0.5526, 1.8126, 0.6258, 0.6128, 0.4782, 0.1638, 0.2616]\nstate[eef_state]: left_x=0.2895 left_y=-0.0004 left_z=0.1799 left_yaw=0.0018 left_pitch=-0.1148 left_roll=-0.0012 left_gripper=0.992 right_x=0.3994 right_y=0.155 right_z=0.0406 right_yaw=0.0587 right_pitch=0.0623 right_roll=-0.0901 right_gripper=0.2616\nstate[joint_eff]: [-0.253, -1.4427, 7.241, 1.6142, -0.0366, -0.0171, -0.0122, -0.1299, -5.6957, 3.7402, 0.7057, -0.188, 0.1636, 0.2906]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6af86f900c04411db09f1d1ab86cd3b953b824e64a59a6f623bfb1ec774fc3f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:528976e0facb9ee93cec4887861a8589bb01129475bcbab4984f828ec2bf350b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41d92401b54efac12bc9440b2b8e65963c4a1590c4724062363dabdf267585c5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFy69gKQknjXwq1filz6Tle6R-OcfJWEeORiRnv5bCLHj9yOhkmucPcjaoHoaKwdzkaEHDLtLofQc7Z4lmGBR1li9DQzrXPxFVIe_Ua4jUPjKxEfP3FVp1X9IUURjhUVjKl8c8djfg49n0fPMipnqdxy1VNvTyvU_hdREH4n4MD86kDRXX7PZ06HzGS4Ur2vElSrZb8tvkJ-eAI8eYs2RaZcFempREU0O2fGUUUcjeW4FDWiPzvuisnBQdrI4e1vY6UiwJcw32WtWqO17EnSKiGGZQqlZpMkveINOIw7XVFiw4XgCwyoETmpmcND_GHKF0pmvP91dJJzMPHXi5V-3Ew8ncROz1qGXts-DFr0TufWLSq0bGrod3gv7xpXmZPuonrTLxk5h5kafZ9G7MARvYqs0tCMxYJcYU5hzn1OuahGkE9eGwb8CcyLsj9w8N3P789WEfSn9egQDXP8qy4mjSb7vgqtNJ3ybklcHvXIraasujHERkh_N5U-b6uA2sisrzI2M15te4GSsy91OwJjnCyFBpPfTunOkRtsqQeBtQRDwsfC6MtLSyX0-eM11SUO4jgxmO5mop26_OZSHaElOs_mWHoVmcEOt6hniTRX4eXfSWZLzbW7dMK1LPpl9DcuNTG4dmZLYJ4nSyFYZ1aYCewKQ0j2IwUz7oWBTJcqQAb9MbuUy7PnihGA6JCKdmpYfc17vVj3SyJL0NTha4Okk2vKiLGdfxHtNRPokc6zsb-LuNmErCLogJqA2uN35ojv3Jf0uXBTTCCxEMEOuYJzvcpegEdzKcNC1mKjz4K0D_JymEAA_IPKLn8pI9EPYXA-6xo1pLZrz_NhrvNEH379svHp9WNJZ4J0DcvUbMcOOCHsRnVMtE59l4bFBhJgi8H66W7BwYqyNeIrJ6aZinRYNuTlAu3i_K1S2OLPIAvuXO120z5-M02K7dYmiYrCm2kmmziCEdxuoqn2-2Gd20VRlFcXe-yc9ROD-sazoxEYl02s6bTzumyUHLB4S00SoCaIzjju5qvjwWJB2yZFVE1rZAii2_rgRrx5TSpL9xVs7rdSsCz-Tr_ezk0An3-hDtPazJvNXJzS1M4zoZMJKk1PDWX5r6cjZL48-M0m0Eacy_OtL_GBNIeC3kVFX_m6H-K-rJCo3M9XM-AsS47Oq1QRIcRz2ImuYWG_blHjM4IGgW79z189gxIX4yH7vtW7GVY2daRPSA3Y7LlZGMXMrPYbXTgfefBwRn28AIAK4m9zeRmvG8FmdA6NcACh6HwkRM_MY3JGe4bfoDBF60_cEQPmpvhU4OUQRkQBbbbKKqAWdOJcOfYxLYe_4UmkNcth6aarcN1W_VFUR8ihOTMxRSdmidv3ydt9ZFH7ZP6dlRHsAOBqkc5WVyc3BwWhRxF0FLWKNyO7",
  "id": "rs_0f5e19c4e84668e3016ab45cb870f887d083e44ebc1238227d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.1},\"note\":\"The gripper stopped with a small opening, but the bowl also shifted, so the grasp needs checking. I’m lifting a few centimeters to see whether the lemon is secured.\"}",
  "call_id": "call_UAqMO7MzOvocSWKnWA2trsAi",
  "id": "fc_0f5e19c4e84668e3016ab45cb9244c87d0bb9c66a31220deb0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UAqMO7MzOvocSWKnWA2trsAi",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8612, 0.7158, -0.5468, -0.0135, -0.0338, 0.992, 0.5541, 1.6386, 0.6827, 0.3866, 0.4667, 0.1635, 0.2617]\nstate[eef_state]: left_x=0.2892 left_y=-0.0004 left_z=0.1789 left_yaw=0.0018 left_pitch=-0.1194 left_roll=-0.0011 left_gripper=0.992 right_x=0.3973 right_y=0.1566 right_z=0.0872 right_yaw=0.0695 right_pitch=0.0634 right_roll=-0.0828 right_gripper=0.2617\nstate[joint_eff]: [-0.0068, -1.6479, 6.8855, 1.6777, -0.0415, -0.0611, -0.0122, -0.3624, -7.5282, 7.7744, 1.7265, 0.232, -0.0317, -0.0024]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2a1409f25a2444eb38eb5cff84c6f44bea1244c6eb6faba341401a9f1ed40b2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00450268bc21bfdb964d71953a060bc74c86b1e1cfe3d30dc6175de37de06c88",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b22bf79889a899d8583cb113039787059132d34dbcaf5d3fad8789184dc2317d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 4.795 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 33 changed as sent

message 40 changed as sent

message 44 changed as sent

message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8558, 0.7162, -0.54, -0.0135, -0.0338, 0.992, 0.5747, 1.5631, 0.6067, 0.2241, 0.4568, 0.1921, 0.9968]\nstate[eef_state]: left_x=0.29 left_y=-0.0004 left_z=0.1818 left_yaw=0.0018 left_pitch=-0.1068 left_roll=-0.0014 left_gripper=0.992 right_x=0.358 right_y=0.1433 right_z=0.0577 right_yaw=0.0821 right_pitch=-0.0816 right_roll=-0.1299 right_gripper=0.9968\nstate[joint_eff]: [-0.253, -1.9897, 6.7761, 1.6825, -0.022, -0.0171, -0.0122, 0.7179, -7.2957, 5.6274, 1.7656, 0.2515, 0.1587, 0.0757]",
      "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]: [-0.0219, 0.8593, 0.7158, -0.5442, -0.0135, -0.0338, 0.992, 0.5526, 1.8126, 0.6258, 0.6128, 0.4782, 0.1638, 0.2616]\nstate[eef_state]: left_x=0.2895 left_y=-0.0004 left_z=0.1799 left_yaw=0.0018 left_pitch=-0.1148 left_roll=-0.0012 left_gripper=0.992 right_x=0.3994 right_y=0.155 right_z=0.0406 right_yaw=0.0587 right_pitch=0.0623 right_roll=-0.0901 right_gripper=0.2616\nstate[joint_eff]: [-0.253, -1.4427, 7.241, 1.6142, -0.0366, -0.0171, -0.0122, -0.1299, -5.6957, 3.7402, 0.7057, -0.188, 0.1636, 0.2906]",
      "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]: [-0.0219, 0.8612, 0.7158, -0.5468, -0.0135, -0.0338, 0.992, 0.5541, 1.6386, 0.6827, 0.3866, 0.4667, 0.1635, 0.2617]\nstate[eef_state]: left_x=0.2892 left_y=-0.0004 left_z=0.1789 left_yaw=0.0018 left_pitch=-0.1194 left_roll=-0.0011 left_gripper=0.992 right_x=0.3973 right_y=0.1566 right_z=0.0872 right_yaw=0.0695 right_pitch=0.0634 right_roll=-0.0828 right_gripper=0.2617\nstate[joint_eff]: [-0.0068, -1.6479, 6.8855, 1.6777, -0.0415, -0.0611, -0.0122, -0.3624, -7.5282, 7.7744, 1.7265, 0.232, -0.0317, -0.0024]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2a1409f25a2444eb38eb5cff84c6f44bea1244c6eb6faba341401a9f1ed40b2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00450268bc21bfdb964d71953a060bc74c86b1e1cfe3d30dc6175de37de06c88",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b22bf79889a899d8583cb113039787059132d34dbcaf5d3fad8789184dc2317d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFy_uJ0hhK8ZrGeh7jqEiJgGmTbQ6KG-z3-AcyCriiGTAxjeVrWqlcKGoY_NC9qR4k4Un1gMG0bHhwn-sAdjYEfTHNE-RjoKPxYRGeW8iXZ9rbFjpP6t91Xc73dE4ge8_yQszFIVFJ2vZFmg0-5VQWuQKVSvuR9TPjKMK6xNnnDX1fGSfy7ipc9rvz1LN6JoqVpaaijRtOOu00nRkqiu-mHFe9d3xa3eqcxhvJPwn6-zZQbW-VXcHUgi0XSofo-hpLVlSXTX2Ab1xKV-sbmfI42kNwT4UrrDn2phcu5ozRITzi26kgQD4ThW7IDQQIJBVUK3UTja1pZc1bhnFlIRNMOlPzwcOlniG34omxyQg7qIs--bDuniCrS_lIPVj4kOT0tk6-CPeN1r5MNUuQIFGacEuV6UuA3R1AR2bK6o9_XU_k2-oYGl05wNDKw_Psv2zKQ5NOht-W6ZEtdwY7lca8XMgyMftFVg1IdYQUM9AwstU0VrQWWiqbkDZ1nUzvSHqcTE-2b6a1MYI1h9oz62Prddf-LyZcKqdhSPJYGHSY3Qh7lHX3FwOwJERkieWaBZdm_0mNaY3Pi4MCsDJSk1xXmylL-PPVapIkG-efq6oWoEzMhtwuPb7l70-BzXizqOLFeCJMdKx0DaJEpUfY0zwef78LPCkDO62crgcEd05-O-KJSoY6wrcTEg7e3PAuyVsMl65zAi7y-4Uwt7zfRgri3DyJQZ3ROIB5KCoAxojd3LBHkfwRw6UE40DuPsGUAQjwVvLcPCJCv-FSWcANQvhJAOXGN9J4JLOAmmeRNFlWD4xj_XEMOBJ5Lbw7qt2v3lL-debh5Zm6O5nAgnkA31seBoPrIXCmUcgUM-ONWno8UahMkQWfnxYAKlc-RFBeraGEyDx4d4QW_pmTX1WeA7IWNvy4aBpDaJbaPAlgNvnShowL18FvgeHQh6zl84GlUrUml_THBcI5TTjy3qsJ1qk_9woj63RGKrCNiL1NycTVDlAUY7wGPPH2b2Z2nyeakuiP1BmaxqWkWLI0-l44pMKw9DsNbQ95VFiN8u9LpjHQfWpkpop7RpqT7-jqDGHn6O57lMe4p0kFZ-QGTg4bbFyeznBNIILM-JEwL6Zep0SgnnG-Rhou3wX5oOZlGYzUJ6YhPo1Y5PsUBVy5pYzWI9yRcXgmopyBwBmAJI-dlfF7VdZc1voQfDg2P6gr-VzyLVOAeKr4im1R7iJVxXIKVcPuIyRAkespoS_5kBr5WutVGpYA0EgX_sIPUCLN4dE3_EyYDnrdO3b2mZNm5qFjPJ1tqSIMNh89lGdGbGUG8lwkcLpbj22I0ClOSnTocCiRlUWozFmBpxClLRb8eiuu0SWhkapa3fZZJzoFlXFWvIs6-Uym-bwHrk99lskI7KpNhcCxe8MzWi10ijxk1CnMiwxFIeZadDeyisOCaj8zilC0VXqE_bfwSX6HkXhbHKsSz9GWkHp2rZXGhRavsSJp4ZeBU1wRaS4Q8igcKWmUN6fEM1XsrPhLKwff42C5zCj1YuUa0CK6KLTsv3ZC-4zKKq33KOwoQWmgbszO-1zsVxY2XSmlPgu2PpUbkpLHb0AqjlRt3epO2qH409C-qjMoap1qd6ZGez-TQl1lGr3Tkr7YSXxJgzvyMnNEgWetOqoXYrnCaL",
  "id": "rs_0f5e19c4e84668e3016ab45cbd533487d08d1cc4760fc5eb38",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.19,\"right_gripper\":0},\"note\":\"The lemon’s former spot is still obscured by the arm, so I cannot yet confirm it is held. I’m lifting higher and tightening the grasp enough to check the actual object thickness.\"}",
  "call_id": "call_ilTtOnBpSGYRi4SKzyhrF0Va",
  "id": "fc_0f5e19c4e84668e3016ab45cbec98887d0b7b81ef19e2b4a8f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ilTtOnBpSGYRi4SKzyhrF0Va",
  "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]: [-0.0219, 0.8642, 0.7158, -0.5472, -0.0139, -0.0338, 0.992, 0.5537, 1.4586, 0.9108, -0.0319, 0.4557, 0.1555, 0.0108]\nstate[eef_state]: left_x=0.2893 left_y=-0.0003 left_z=0.178 left_yaw=0.0021 left_pitch=-0.1228 left_roll=-0.0008 left_gripper=0.992 right_x=0.3982 right_y=0.159 right_z=0.1729 right_yaw=0.0827 right_pitch=0.0511 right_roll=-0.0892 right_gripper=0.0108\nstate[joint_eff]: [-0.1846, -1.6752, 7.0085, 1.5946, -0.0464, -0.0708, -0.0122, -0.2667, -8.0615, 8.6632, 1.7949, 0.1978, 0.0513, 0.6032]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7341ce00ba65949409d29df5771060476d6e00e1f726cabe804461b81faaffc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7acdeaaf59041f46e414b88dd5b5f8f222bc36d3d930bab1f045bedc322002e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5c60e4d0211f965f0cec3147089e08b4fa3c4c1c4bc4df221c9cb684d5f5cd8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 3.695 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 37 changed as sent

message 44 changed as sent

message 48 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8593, 0.7158, -0.5438, -0.0139, -0.0338, 0.992, 0.5537, 1.8378, 0.6079, 0.5125, 0.4488, 0.1825, 0.9968]\nstate[eef_state]: left_x=0.2896 left_y=-0.0003 left_z=0.1799 left_yaw=0.0021 left_pitch=-0.1144 left_roll=-0.001 left_gripper=0.992 right_x=0.3795 right_y=0.1487 right_z=0.0053 right_yaw=0.0731 right_pitch=-0.0716 right_roll=-0.1259 right_gripper=0.9968\nstate[joint_eff]: [-0.3624, -1.7573, 6.9402, 1.663, -0.0317, -0.022, -0.0122, -0.1983, -5.5726, 4.6291, 0.8718, 0.1001, -0.0952, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0219, 0.8612, 0.7158, -0.5468, -0.0135, -0.0338, 0.992, 0.5541, 1.6386, 0.6827, 0.3866, 0.4667, 0.1635, 0.2617]\nstate[eef_state]: left_x=0.2892 left_y=-0.0004 left_z=0.1789 left_yaw=0.0018 left_pitch=-0.1194 left_roll=-0.0011 left_gripper=0.992 right_x=0.3973 right_y=0.1566 right_z=0.0872 right_yaw=0.0695 right_pitch=0.0634 right_roll=-0.0828 right_gripper=0.2617\nstate[joint_eff]: [-0.0068, -1.6479, 6.8855, 1.6777, -0.0415, -0.0611, -0.0122, -0.3624, -7.5282, 7.7744, 1.7265, 0.232, -0.0317, -0.0024]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8642, 0.7158, -0.5472, -0.0139, -0.0338, 0.992, 0.5537, 1.4586, 0.9108, -0.0319, 0.4557, 0.1555, 0.0108]\nstate[eef_state]: left_x=0.2893 left_y=-0.0003 left_z=0.178 left_yaw=0.0021 left_pitch=-0.1228 left_roll=-0.0008 left_gripper=0.992 right_x=0.3982 right_y=0.159 right_z=0.1729 right_yaw=0.0827 right_pitch=0.0511 right_roll=-0.0892 right_gripper=0.0108\nstate[joint_eff]: [-0.1846, -1.6752, 7.0085, 1.5946, -0.0464, -0.0708, -0.0122, -0.2667, -8.0615, 8.6632, 1.7949, 0.1978, 0.0513, 0.6032]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7341ce00ba65949409d29df5771060476d6e00e1f726cabe804461b81faaffc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7acdeaaf59041f46e414b88dd5b5f8f222bc36d3d930bab1f045bedc322002e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5c60e4d0211f965f0cec3147089e08b4fa3c4c1c4bc4df221c9cb684d5f5cd8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFzFHXKgO-v5ETPcZc9cPYI8KgtwzcpPUXHmJkJZiYS_sZi8ZYwjLrPJUWJ1fQf4MFvp5xkH4yP2hCK7trsV5vEa5Ptmxg0dGxHRC8Ngf8J7MQ31pqfGePxn3rti2lgZNR78wYO1ZV5IVKFR637QyyDoS7k3SDnjqCqVfcRnZZVvDzUYY-Fsl1fng2lMfpVLXL7tOIcfbhrnK76uYqX1BA2wKmQMabaHKA8rpCuDagY-CgB5YQ7Jq3ccMH3HCYewHW6mTq0N3ph8D0aY2nm_PM2d0XRXSAAPYHi3KY0LR2W_QVJgEIkcgsIoMoIU55M3Eb_jAaaqiZ5e_BEl3zLY-CoKw_mGedaEG9Mf25frXPVIqKgU9O-lZQDcH-kQ0e_ux3Nof6kQbeR3PxXRlMvj18Lbp8Ybg_GGPfVwXcLv0cVCcphJsFGlVwt8ydIAXW3DnQ33nHZYqFuPTJ8-n46dQCGwXfchaWD39Ddv-Ffol7puKr6bnyoIYujdtmhGbQnlVUqWE_K2KAhHGpTKaWKZymA_ahFr-YVUKc58Dtm8WvzgO3fQXmv71zrBlngGxs5rhHnCYj6qHoyBjEu6yAYUfvNbTunLuVDBzh85-fMeauTmNol0kaHE1ENrKMmDtpmPaf7sJxoV28o9qWtc-l3i372btJOoM8dKVXSdVNcnctyv2G1PO44cwsiuXZRbuLO3KFZMzlZwa5QidC9VYCgIW0Q0yG7zoZHvtWhEaWr0dv_KclJ0qufwpoC5KjW2blb-PUfoGb1-3tECWXeTPz6JIeAKv0mq5N5-AnLbdtxIK99IVK90SS5JsH-aiLYmzI90eFVptJe_-1K9cJJQQ4Ijh5DiW9YTivJRxTIAXhZmTH17dEQD03oVjk1HER8N0zu_CYeBaA0IuV4Z5nMyoks2aje7u6K7QbWvXrqC0EqvBlpPagBzH1HjLxjYXDEuBNFlOdLZacecNPpkVJnXkaEpXNkLWm_E7zYeWn1Q_mhbZvYdDZMT7ZUe35xCppf3_NKLynM7Phwav3oSHydMQ66CyLRTXt66nIT6suhcwXodtEUc79qBbMKxc7hi58VuUDyolaJuTLEJ5IeOJPp1JLWM5x3I_lf8l_KpN3KEj5fWLoSXv_BKDG18yaikYQjSOBzS_ia5_Ax6lcamz1ih6l-YbtIsw9M3wKFSTLHRA1U890hj9kxbeBYPXfkMPqMCLke7TIZANjZ-gR3glcWbrR260RgQOESWPI6bC8f9QjvEr4MAlF4EA8D6RglTgvSrzcmGxtRG8I5927wV5I5trT-JA7FMoKy5ipyjRbFdy3X6v4BUcvKdq13-PARAyMqqTtj-l7TNXnKT6jJvgMD5DXchKPYI7IMbLdtsOtsriT4i2CdXWzJOd50uZCu236qNFUeiVAFtDjccR3G7YVK6kVxKNyuwMLKSD8YysFGOejCjMlehLgbOYRDm6mSRX2AWqaf5_g74E6F77YsmUA-4hXT6PZYGWJPPE3m5B-_Tg6UDohZa4ncOCXGDjnBUm-BS0q1WVDO0SZrCRLHgnABqKYQdGFHY6D63QnGX6O2vVta4XY94F7IgbU12bEU0746j6-AuCcBq2UeRIsD3AKYPZZRsK_Bd5K_AQWgFWzg8epglDKtoOfVvxVPVaMQIlzjoj1Gl0OdcntRxdg29GdSkl8YcQzhbJ-8bbM88xp3sN-_8pIyr3wy5buHf5sIrYczYNzMk4r0gmjyXuY8ORJtMgC7HmeF_iebFGfOAmeUO5bt4ECt1Yx-dyWkLFfrafDcBpgrMcfVFPN0zv-b0O_izOYa8B5HxnQ==",
  "id": "rs_0f5e19c4e84668e3016ab45cc2081c87d0a05780d00b0e4778",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.205,\"right_z\":0.10,\"right_gripper\":1},\"note\":\"The lifted view confirms an empty grasp: the lemon is on the table just left and behind the gripper. I’m correcting toward that visible position rather than advancing toward the bowl again.\"}",
  "call_id": "call_2QPXBJktPplnGQx8ls3n4fsT",
  "id": "fc_0f5e19c4e84668e3016ab45cc44a0087d09696408fa9d5318c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2QPXBJktPplnGQx8ls3n4fsT",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.865, 0.7158, -0.5549, -0.0135, -0.0338, 0.992, 0.852, 1.4849, 0.6601, 0.1078, 0.6636, 0.3351, 0.9955]\nstate[eef_state]: left_x=0.2882 left_y=-0.0003 left_z=0.1763 left_yaw=0.0018 left_pitch=-0.1312 left_roll=-0.0008 left_gripper=0.992 right_x=0.3199 right_y=0.2058 right_z=0.0985 right_yaw=0.1246 right_pitch=0.0194 right_roll=-0.1153 right_gripper=0.9955\nstate[joint_eff]: [-0.2393, -1.5385, 7.0769, 1.7167, -0.0464, -0.0464, -0.0122, 0.1846, -5.3402, 5.9282, 1.8193, 0.525, 0.315, -0.1343]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f285e9b3a8089ac4abe5b8e68fa9aadf02526122fa47997e7c76dd1134b26b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e56288e552b4bb4d5f9e887a79412b713135b96b45fcf262f4d1ce7c77782b0a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:860320e4649e5833cd6697a7ec0f4bbd24bc3d3653780a2f24fb758c1f42e8ea",
      "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 · 5.874 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 40 changed as sent

message 48 changed as sent

message 52 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]: [-0.0219, 0.8593, 0.7158, -0.5442, -0.0135, -0.0338, 0.992, 0.5526, 1.8126, 0.6258, 0.6128, 0.4782, 0.1638, 0.2616]\nstate[eef_state]: left_x=0.2895 left_y=-0.0004 left_z=0.1799 left_yaw=0.0018 left_pitch=-0.1148 left_roll=-0.0012 left_gripper=0.992 right_x=0.3994 right_y=0.155 right_z=0.0406 right_yaw=0.0587 right_pitch=0.0623 right_roll=-0.0901 right_gripper=0.2616\nstate[joint_eff]: [-0.253, -1.4427, 7.241, 1.6142, -0.0366, -0.0171, -0.0122, -0.1299, -5.6957, 3.7402, 0.7057, -0.188, 0.1636, 0.2906]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8642, 0.7158, -0.5472, -0.0139, -0.0338, 0.992, 0.5537, 1.4586, 0.9108, -0.0319, 0.4557, 0.1555, 0.0108]\nstate[eef_state]: left_x=0.2893 left_y=-0.0003 left_z=0.178 left_yaw=0.0021 left_pitch=-0.1228 left_roll=-0.0008 left_gripper=0.992 right_x=0.3982 right_y=0.159 right_z=0.1729 right_yaw=0.0827 right_pitch=0.0511 right_roll=-0.0892 right_gripper=0.0108\nstate[joint_eff]: [-0.1846, -1.6752, 7.0085, 1.5946, -0.0464, -0.0708, -0.0122, -0.2667, -8.0615, 8.6632, 1.7949, 0.1978, 0.0513, 0.6032]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.865, 0.7158, -0.5549, -0.0135, -0.0338, 0.992, 0.852, 1.4849, 0.6601, 0.1078, 0.6636, 0.3351, 0.9955]\nstate[eef_state]: left_x=0.2882 left_y=-0.0003 left_z=0.1763 left_yaw=0.0018 left_pitch=-0.1312 left_roll=-0.0008 left_gripper=0.992 right_x=0.3199 right_y=0.2058 right_z=0.0985 right_yaw=0.1246 right_pitch=0.0194 right_roll=-0.1153 right_gripper=0.9955\nstate[joint_eff]: [-0.2393, -1.5385, 7.0769, 1.7167, -0.0464, -0.0464, -0.0122, 0.1846, -5.3402, 5.9282, 1.8193, 0.525, 0.315, -0.1343]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f285e9b3a8089ac4abe5b8e68fa9aadf02526122fa47997e7c76dd1134b26b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e56288e552b4bb4d5f9e887a79412b713135b96b45fcf262f4d1ce7c77782b0a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:860320e4649e5833cd6697a7ec0f4bbd24bc3d3653780a2f24fb758c1f42e8ea",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFzJSrEqueJvcQ0GPR1mYWzD1hP-RYGHSUZXIWaETDUiAPqfKYhf1nPVEe7gchMs4sAgsrHx9LZ_s090yWv7hXC-kOQF18Zw2Nxr6HhVxCjkZWseFdUMlnZ7K3NL-zUE5tlEnbng4FQ4xaFtrn1RvzOM9Futbf73ohCdoHWcBHDBlRefLfK2VD0f5eSEJRpHu_QSmK72r6GV6lbLTziBX5ltGkRlUynIj9CF4ky1Z4xmo_UY3z4epi4-AD-8gTHEdP43ylu4_hTRMHRv649DDkAfqfwDn9HhQsjxTc29n3xJTTi1Qlo7wyHT1lpdEZJfLT38xvXFq7MYTHvZBjWfn32sdZ3j654cHK6wio33PP9yy06S4duvTj0RHWpkDLeOUqR_C17Nt8MBSOBSwuTPPi8J9CoDgNZ8uH7SspF0Lr60iU7h-WZof6UFyJ7tbmMqn9-3nTxC7_pUw_F-Ro-Jn6UMr4INRFN1jRdR5Eq253E2SDVd989rFcNXWOEo8B6jpVIEAFb7TKKEFi_rYpL4vGARRGD6Yi_EE3OqxzsNjlFxULdWcZJGpQA_2I8LQjTPMhEoWVXv7hWhwmOsEqxkanYhIoMoHvdNWuXAE0CgWkrT3uoDeITu1RYHyiRT2nijSSCbzC2DZpOf9TsApfxBJ58t-mW5ClQsNOHC3q8uijgA-YpFwScpKMYTeWh0dJ0aKNjjDGvwFBOltURUakNoN9U5QhiNiH0_0DVBq-7-Ft034nVoMJOS5LKd5EqDZLmZ56xru5cxANtlvr8qpKuedU7MikppYnGhOZD0oKkXxfxqpQMEmKG160tW1XHvlIXO5DHKc_qcvfza2uR1-07n1E0SDZF5HeYTUVNSfjoCabqgaKdir9cpaicfPkLO4r9UHLw5H8ExeReRWM_muFIQ18Sv8v64cQqYltm2kXt0vF7sZ2PvG1VvaeTajmD06Xs1TWPq17xvALbHYDdlcNv-CzcxZUFr8dc4jHlzibgVksPWdu2xSrmNxiRmmom7V_AKv9QKhP9-tRtlmv5-EohKrsc2f3hp8t4zxWksH23Cos1xOxY1MwcQL-DaEUauNo2sfuNCp5S794Xlkq0VerY9IGwYUsuXgxWokzO_riXrbfc1FhBMd0E_HvVrJVWMrtX7s_M95Y9WklZL4dO3gzEuE602YlD91NoBLmJWnAOc3HfRrUIa7EvWg9JjSyI3o3NNlSSrCcNghO3y-3-hAFVi0M89MlpNtsmiOA-7_4FPL1G-O86T3AM9lE6553bhswnTbyknnFVrD6cX-lZe7Gt2XqngvGn4ZRgvv-FCkln-seBCVhhYII27m1FgkR8av5wtaiwCAjD0xi8b7S0HcXu-Nj0f6pDUY-b9QLdxvQBJOjxARzys7-gH8Z5LdD-qszN_kFr_Uu5nYDOfdEzCLni9NphWdFyj88dh73YnkjqREO_6CmU=",
  "id": "rs_0f5e19c4e84668e3016ab45cc7b3bc87d0a73d170c78407475",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.185,\"right_z\":0},\"note\":\"The lemon is now clearly at the fingertip edge, slightly right of center. I’m correcting sideways and descending without the forward motion that previously carried the jaws past it.\"}",
  "call_id": "call_0qZJdc7fbraRlEQ2y3GB6xAP",
  "id": "fc_0f5e19c4e84668e3016ab45cc8c24487d0977c075d1d7e79da",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0qZJdc7fbraRlEQ2y3GB6xAP",
  "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]: [-0.0219, 0.8661, 0.7158, -0.5587, -0.0139, -0.0338, 0.992, 0.8009, 1.8019, 0.4591, 0.6266, 0.6319, 0.3058, 0.9962]\nstate[eef_state]: left_x=0.2876 left_y=-0.0003 left_z=0.1753 left_yaw=0.0022 left_pitch=-0.1362 left_roll=-0.0005 left_gripper=0.992 right_x=0.3193 right_y=0.1846 right_z=0.0044 right_yaw=0.1128 right_pitch=0.0045 right_roll=-0.1239 right_gripper=0.9962\nstate[joint_eff]: [-0.0752, -1.6615, 7.2274, 1.663, -0.0611, -0.0415, -0.0122, -0.4581, -5.3402, 2.6872, 0.8132, 0.1001, -0.1783, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:217ba4d3cfcf43d0d1c5cd866e25d1cd460ea1a3bc4b0b4093bcdac66eec6af8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8b043abf62667bb3831977e1da6942323d0338453ec2774a98887b0053eaebc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e21540dc28101eea7424a8811e19206820694e35bf1133926f04b01e7b1221d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 15 attempt 0 · /responses · status 200 · 3.428 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 44 changed as sent

message 52 changed as sent

message 56 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]: [-0.0219, 0.8612, 0.7158, -0.5468, -0.0135, -0.0338, 0.992, 0.5541, 1.6386, 0.6827, 0.3866, 0.4667, 0.1635, 0.2617]\nstate[eef_state]: left_x=0.2892 left_y=-0.0004 left_z=0.1789 left_yaw=0.0018 left_pitch=-0.1194 left_roll=-0.0011 left_gripper=0.992 right_x=0.3973 right_y=0.1566 right_z=0.0872 right_yaw=0.0695 right_pitch=0.0634 right_roll=-0.0828 right_gripper=0.2617\nstate[joint_eff]: [-0.0068, -1.6479, 6.8855, 1.6777, -0.0415, -0.0611, -0.0122, -0.3624, -7.5282, 7.7744, 1.7265, 0.232, -0.0317, -0.0024]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.865, 0.7158, -0.5549, -0.0135, -0.0338, 0.992, 0.852, 1.4849, 0.6601, 0.1078, 0.6636, 0.3351, 0.9955]\nstate[eef_state]: left_x=0.2882 left_y=-0.0003 left_z=0.1763 left_yaw=0.0018 left_pitch=-0.1312 left_roll=-0.0008 left_gripper=0.992 right_x=0.3199 right_y=0.2058 right_z=0.0985 right_yaw=0.1246 right_pitch=0.0194 right_roll=-0.1153 right_gripper=0.9955\nstate[joint_eff]: [-0.2393, -1.5385, 7.0769, 1.7167, -0.0464, -0.0464, -0.0122, 0.1846, -5.3402, 5.9282, 1.8193, 0.525, 0.315, -0.1343]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8661, 0.7158, -0.5587, -0.0139, -0.0338, 0.992, 0.8009, 1.8019, 0.4591, 0.6266, 0.6319, 0.3058, 0.9962]\nstate[eef_state]: left_x=0.2876 left_y=-0.0003 left_z=0.1753 left_yaw=0.0022 left_pitch=-0.1362 left_roll=-0.0005 left_gripper=0.992 right_x=0.3193 right_y=0.1846 right_z=0.0044 right_yaw=0.1128 right_pitch=0.0045 right_roll=-0.1239 right_gripper=0.9962\nstate[joint_eff]: [-0.0752, -1.6615, 7.2274, 1.663, -0.0611, -0.0415, -0.0122, -0.4581, -5.3402, 2.6872, 0.8132, 0.1001, -0.1783, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:217ba4d3cfcf43d0d1c5cd866e25d1cd460ea1a3bc4b0b4093bcdac66eec6af8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8b043abf62667bb3831977e1da6942323d0338453ec2774a98887b0053eaebc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e21540dc28101eea7424a8811e19206820694e35bf1133926f04b01e7b1221d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFzQMNJJ4bhu6BQBzyv-rqxrEqnjpp8Z-xOmjvXCU9bFkN3iyvWaStEtmsqZQd5B7p8UeAj7xzLtWL61_ZVSChuhS9J43jwDSUcy3qJKkbHHfpCPT8Cc3ahDLxv_ZboeZd_fPKaiq3Rb21jRvPzidpCnJSp7GfrEfHniHzbINK_IjRrMz7q-2nk6mwfaAIzZX6iMSQFadFP1y1aW2OAgSQhukPAkoL-NQNBgwYCc6-MMpCxxEdwVREotRvaqgFat2JPUHuS7E56-3I17ZaQrFUm7D6SylmaTHVKz8Z_RNsWEobb40zMmgBJEEsoHZkUAVd0_DlfeYgoFixpzFeP5SWrfeJdQPGPCZUjKJUed0ugbVZi-o8UPJXYCRoy8u7mOk4zLGqhZmCtWCzGFK1DYhBb_3HY8rvWMA9AZQm-WtsOjHjeI-9C_EsO_6RgMXtIZok2DyuhX3lo4hFZwDdHTZ-1dVzFfff14kIOpanoYgwOqUrcan-cXYjZmSsOSzG5mJ2NCwAMemTAOR3hsg478GsjQ93zGBNKOx72cfHBHc9fHhP2j4ffHkfuuVw9uwx0F6h8vs-q-GsBFcNWRFFzLRM8mgtQW-YikLG5DhnlnQuL_t8CNbrygITS-Zo6AXnnRkrh_AYs7Dcrr0Sy6JughA8MsL0HZAiRg11ukC92L-D73iv8OpwEL-e_IGrJFfF-fX1cfzzF1Ogd7Pyyxq4EvQG1Lm3DGhOKuK91MFHvHgYyKeUnDQAmWIIsPrLjpo5y85YnKNipT7gzuzoFq6ajCGRMreUAX5_nVmf_-mjs0mraiIzqTKTZGtMCTboZDK8dUmkwkrccer7rS-uA6tHy3pOppUkCD06AKkCZtQzUlPtDiGj0RrOH5tz1klVROzgBAWR0cr9MMvKoeaKgFfc3KFGtVGrK980_RYM1RxJcrbOwwAcK_kPpC_lHIrMRySco0vZNLQBVT0msYaIl0iwX5Hpqx6Zi74fKmoFNGJibDwbRYRcBysyR0s0oyNRCsKam3lARykPltjYPTGg0DKBZTtWQX5aTpo6PXRmjqCtWIXL_vBZR1f2VLBrQz6zGFCe0JRGj_xjcJ4QYphUxUyu012sWs0RBrR-pvppIVc46vG1d2_rTlOIUUUTNLfjWJC1CMBZfG2LMRKb_53i8Mp0TmUSoR0P6_xRM7G1Q3ueZ7BlLfisKJrmqMHhO4M6w8RGP0Dz2FpVD7BxRzEemY30bepDIh8CysmbVpPO4O5pisAWjjPAl6_-ZcZkWHNiPyKsDyLJ6z4M84N5_TEDdndn9AbMsUqddn-99PHEDCgkO8i44_vVFmF2bBnDRz8lemdsek_aszvM1eghICsyrf0dhVwpWwlYyo0tSfStLBhjrnvKzwEw_Y_5FBar1d7tL8wTojcBNMxFaaaYhaOq7NiJlPemPImC_PTICvgva-rU6DvjuPAEeqxRwh3jvT_clTDuTkXhiWbjPJU4mNgSPlM9X9fpPsk2qb6pMtKwMIdu0WwclGk2fNumHtBC0ItNyOjexiG0gCe6PSyH4p7K_5ro4hqTR2HgCb2CdEV_8Ms9OpkHYpZtHDj95Dia-R44KeE0EOp43lgNR7nmg4TXerM4tH19-hq2V9EJbbhikMY1JJxUVCz3xzxfUzaHVbt9Jzq8Tx9GSFOzefTD5v9aaUG2zreyoC1MrLAB65Q43ljjV9Uw63NoNeRRurK7zeryzUREYrccp22fu_2ihIPhePMgRACDyDRYp0A8kA9FSHNW2EtXeGycKCW6RI6VKSmWx_bFZ3VNpsH4O31LSpvMQbXKmcCIaGBHPz_rXh0PRDFKTCTCtml08dgAt91fgMaTI956XOjA1s7lVMoA0Pkn7mOKCqfS2chRHCIxbmdEYhXLRIdLFZ3w8emjfWjanb9VMrbklif2CFqeBYY-y6K_HChSNmbApl-snccKMee-rlp8hweYjKDCLvhoP_tq0dqKNPCZfPLUb60Gjq6GWTSoGV63M5Q000qLvGW4otxEh7NR4cRcAhigr9eXlMta9cyhkIJNopl40Q",
  "id": "rs_0f5e19c4e84668e3016ab45ccc6c0c87d096d25be08a0a4484",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.355,\"right_y\":0.17,\"right_z\":0},\"note\":\"At table height, the lemon is visibly in front of and slightly right of the jaws. I’m sliding the open gripper forward and right to center its widest part between the fingertips.\"}",
  "call_id": "call_2ysVyeU6ZxeC8IFrLYlwVZpu",
  "id": "fc_0f5e19c4e84668e3016ab45ccf3f8887d0ac194ddbb0b4c917",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2ysVyeU6ZxeC8IFrLYlwVZpu",
  "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]: [-0.0219, 0.8673, 0.7158, -0.5621, -0.0139, -0.0338, 0.992, 0.6807, 1.8565, 0.4984, 0.7052, 0.5591, 0.2405, 0.9962]\nstate[eef_state]: left_x=0.2872 left_y=-0.0003 left_z=0.1743 left_yaw=0.0022 left_pitch=-0.1408 left_roll=-0.0003 left_gripper=0.992 right_x=0.3516 right_y=0.1688 right_z=0.0051 right_yaw=0.083 right_pitch=0.0233 right_roll=-0.1046 right_gripper=0.9962\nstate[joint_eff]: [-0.335, -1.6479, 6.8718, 1.6386, -0.0366, -0.022, -0.0073, 0.3624, -6.0239, 4.2872, 1.3748, 0.0757, -0.2076, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a72f3463f0a8d8a9ba3aedfa0e6d918f25e2db04ca98e1f1e86682b8255b26b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08e36ea238da765964c3ad4ed8557727758c2b31592caeeaf74aca550e427e27",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70fe9fc2b935f3e4bbc118d1938e42f1a6f362885ddc15211cec4edec706fc25",
      "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 · 2.446 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 48 changed as sent

message 56 changed as sent

message 60 changed as sent

message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8642, 0.7158, -0.5472, -0.0139, -0.0338, 0.992, 0.5537, 1.4586, 0.9108, -0.0319, 0.4557, 0.1555, 0.0108]\nstate[eef_state]: left_x=0.2893 left_y=-0.0003 left_z=0.178 left_yaw=0.0021 left_pitch=-0.1228 left_roll=-0.0008 left_gripper=0.992 right_x=0.3982 right_y=0.159 right_z=0.1729 right_yaw=0.0827 right_pitch=0.0511 right_roll=-0.0892 right_gripper=0.0108\nstate[joint_eff]: [-0.1846, -1.6752, 7.0085, 1.5946, -0.0464, -0.0708, -0.0122, -0.2667, -8.0615, 8.6632, 1.7949, 0.1978, 0.0513, 0.6032]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8661, 0.7158, -0.5587, -0.0139, -0.0338, 0.992, 0.8009, 1.8019, 0.4591, 0.6266, 0.6319, 0.3058, 0.9962]\nstate[eef_state]: left_x=0.2876 left_y=-0.0003 left_z=0.1753 left_yaw=0.0022 left_pitch=-0.1362 left_roll=-0.0005 left_gripper=0.992 right_x=0.3193 right_y=0.1846 right_z=0.0044 right_yaw=0.1128 right_pitch=0.0045 right_roll=-0.1239 right_gripper=0.9962\nstate[joint_eff]: [-0.0752, -1.6615, 7.2274, 1.663, -0.0611, -0.0415, -0.0122, -0.4581, -5.3402, 2.6872, 0.8132, 0.1001, -0.1783, 0.0562]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8673, 0.7158, -0.5621, -0.0139, -0.0338, 0.992, 0.6807, 1.8565, 0.4984, 0.7052, 0.5591, 0.2405, 0.9962]\nstate[eef_state]: left_x=0.2872 left_y=-0.0003 left_z=0.1743 left_yaw=0.0022 left_pitch=-0.1408 left_roll=-0.0003 left_gripper=0.992 right_x=0.3516 right_y=0.1688 right_z=0.0051 right_yaw=0.083 right_pitch=0.0233 right_roll=-0.1046 right_gripper=0.9962\nstate[joint_eff]: [-0.335, -1.6479, 6.8718, 1.6386, -0.0366, -0.022, -0.0073, 0.3624, -6.0239, 4.2872, 1.3748, 0.0757, -0.2076, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a72f3463f0a8d8a9ba3aedfa0e6d918f25e2db04ca98e1f1e86682b8255b26b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08e36ea238da765964c3ad4ed8557727758c2b31592caeeaf74aca550e427e27",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70fe9fc2b935f3e4bbc118d1938e42f1a6f362885ddc15211cec4edec706fc25",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFzUysvwmdEEsEp4Yp-X_FGtFpWRiZZM3YNH7j-hg5FPAd4cEWCG7dmna0l5k9eC7HgNex7A21hQZbSKs22awNyRwQ4yxw2bJkD7P54TnCdDuiMAnBsZJHZIrFqKdFuhxxdA_l99_OO-4Irq9O4iYpjFd3aaNa1-TNETTrhmeVw3V0WPs8VtjbG2ajSFIH5V_mqtggRo_I9pJD5EDl8-r6P1lgAq6mEEUirejYhHXlN9wQNb1T8PimG4Rq6E8hkLDiGsuk_eH0kVgwYuOuV1aXxGbEVOM6RfFJvrJmR2wH0D-CY8Zc_CSI3EbYOLFORi7sFvxqI4i1jfzDvqCauV8ybfTENRHcpd4VEUo0NLWmKR4ev0Z3s94vtv3Q-GrwaiVysshsAWDngvwE9Fv8yS7sGpqy9GxwXf7FZZWw23h03BoO4ggTy6nYzw7JvgrieiR7Xq9iDpy9uIXqJOrot91EMwsRaBAYuQmh9A6072bXAHF___gA1ZOucgIx2VOHCJ-813WEn0PoX7EDQBtPy3DAzvhs5z3pmlTkCiaIuJMIEy90XkgDims-64XuIWK9Qc5B6xYzO_0CMArGzFMYNnFRHErcTQ6D4HBrcV-95AVNwWlM_aR7oIiGa_zGX9UcbvD0pee8VH8_O3lPuv8OD6fly6zaMsp3S3FTcTuJKUPb5V4g9u7WWh3ig_JCXi19DNeIfDTcXSJbepcDAk3bVs8N9dnXHp-Z0u-_pY0tdEI43AfE93OTWgyJadd0j__oEYl-xOHJq-Av7O2cqLxQsZFwYRT13d3Cu4VoXqmMNoFW6QPtTnK3CX46LGT2Io16VZ1tCITKM08-1LBH1ywhaxAM4TtJjpm6rfNl9AC2oZ_LmdkV19CJf0se0jzM1whZYnPIS71jiJriKRaDTnqXJxj0r1DbAnB3SI3nAC6-ICMCrgA_8fnBlucEqQSAHDYQdyXhVEx5Pr6i4Q7GwY4S5qcC4hEr4M3N9_Qp6sSCVbkQ2Cfom2QUrwLD_umhgTHwrGHTv0R_EcrfZNKXmLTk9nDcv-PPJQDWvKED0gU8xCuvIBWQ5Z6tszTdvjsHxMFUbcrxZNopyhQkdI7Ji7h_YA9khfjjBHmDE1TBWEORa1dFLYVM6PmUQ_9b2WeJhL0QWFuOLIQKaQmoJ0yBasKNs-iqiThxloj3qj0__0PP_Wf5XcLPm8IDetiJZDYi2WvrCS8qted4Gq2zCvtGp1A92MQFhtjjIahrMnlMeL26Z-PICnpEfhT-6ffrxrd55cEvISMfWur3JDQVFEgSd4A5mo-c5cy5M70VPEuz40oyPVbkfnwgildXWsjWUFALmobOZRR0OBJ4PisYzswpP2S-swaKVKjVFHJ8GJH3grT-VRJhS3aWTt8VQxWg1SNIORx_gI8LcYu4M2qyVk4pWBvbdz-_hmRn0Z_-LxwSGQxzfmtvTcxi4=",
  "id": "rs_0f5e19c4e84668e3016ab45cd20e9087d0b843b3b6fa4d2e67",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The lemon is now centered deep in the jaw opening at table level. I’m closing on it while holding this alignment.\"}",
  "call_id": "call_mcGb4YU0oRVfOHsUcWWSTVXX",
  "id": "fc_0f5e19c4e84668e3016ab45cd3280c87d0a5ce87a20eb7ea2a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mcGb4YU0oRVfOHsUcWWSTVXX",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8673, 0.7158, -0.5652, -0.0135, -0.0338, 0.992, 0.6628, 1.8648, 0.5056, 0.7097, 0.5217, 0.2005, 0.5075]\nstate[eef_state]: left_x=0.2867 left_y=-0.0003 left_z=0.1738 left_yaw=0.0019 left_pitch=-0.1438 left_roll=-0.0005 left_gripper=0.992 right_x=0.3551 right_y=0.1701 right_z=0.0029 right_yaw=0.1159 right_pitch=0.0114 right_roll=-0.1178 right_gripper=0.5075\nstate[joint_eff]: [-0.2803, -1.5658, 6.8718, 1.6777, -0.022, -0.0269, -0.0122, 0.1162, -6.4479, 4.2872, 1.5165, 0.1685, -0.022, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1939d543b1141e859c9dd4a7549d67d6dbc8511c78e5899afb140bf081ae18a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c190c9ceb224c7f1e22045a1b7b7585e1c25aceae272082c03a105a84cfda685",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:248397bf7bbb01a3da8209e2ad3e896cedd7027c92756f1e2b6d48c1c9c702c3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 17 attempt 0 · /responses · status 200 · 3.55 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 52 changed as sent

message 60 changed as sent

message 64 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.865, 0.7158, -0.5549, -0.0135, -0.0338, 0.992, 0.852, 1.4849, 0.6601, 0.1078, 0.6636, 0.3351, 0.9955]\nstate[eef_state]: left_x=0.2882 left_y=-0.0003 left_z=0.1763 left_yaw=0.0018 left_pitch=-0.1312 left_roll=-0.0008 left_gripper=0.992 right_x=0.3199 right_y=0.2058 right_z=0.0985 right_yaw=0.1246 right_pitch=0.0194 right_roll=-0.1153 right_gripper=0.9955\nstate[joint_eff]: [-0.2393, -1.5385, 7.0769, 1.7167, -0.0464, -0.0464, -0.0122, 0.1846, -5.3402, 5.9282, 1.8193, 0.525, 0.315, -0.1343]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8673, 0.7158, -0.5621, -0.0139, -0.0338, 0.992, 0.6807, 1.8565, 0.4984, 0.7052, 0.5591, 0.2405, 0.9962]\nstate[eef_state]: left_x=0.2872 left_y=-0.0003 left_z=0.1743 left_yaw=0.0022 left_pitch=-0.1408 left_roll=-0.0003 left_gripper=0.992 right_x=0.3516 right_y=0.1688 right_z=0.0051 right_yaw=0.083 right_pitch=0.0233 right_roll=-0.1046 right_gripper=0.9962\nstate[joint_eff]: [-0.335, -1.6479, 6.8718, 1.6386, -0.0366, -0.022, -0.0073, 0.3624, -6.0239, 4.2872, 1.3748, 0.0757, -0.2076, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8673, 0.7158, -0.5652, -0.0135, -0.0338, 0.992, 0.6628, 1.8648, 0.5056, 0.7097, 0.5217, 0.2005, 0.5075]\nstate[eef_state]: left_x=0.2867 left_y=-0.0003 left_z=0.1738 left_yaw=0.0019 left_pitch=-0.1438 left_roll=-0.0005 left_gripper=0.992 right_x=0.3551 right_y=0.1701 right_z=0.0029 right_yaw=0.1159 right_pitch=0.0114 right_roll=-0.1178 right_gripper=0.5075\nstate[joint_eff]: [-0.2803, -1.5658, 6.8718, 1.6777, -0.022, -0.0269, -0.0122, 0.1162, -6.4479, 4.2872, 1.5165, 0.1685, -0.022, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1939d543b1141e859c9dd4a7549d67d6dbc8511c78e5899afb140bf081ae18a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c190c9ceb224c7f1e22045a1b7b7585e1c25aceae272082c03a105a84cfda685",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:248397bf7bbb01a3da8209e2ad3e896cedd7027c92756f1e2b6d48c1c9c702c3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"right_z\":0.075},\"note\":\"The gripper stopped at about a five-centimeter opening, consistent with the lemon’s width. I’m lifting it a short distance to confirm the grasp before moving to the blue bowl.\"}",
  "call_id": "call_CRUDolErF4xfc2ZULuarlzUl",
  "id": "fc_0f5e19c4e84668e3016ab45cd67d4487d0b83560b532a865a5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CRUDolErF4xfc2ZULuarlzUl",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8696, 0.7158, -0.5655, -0.0139, -0.0338, 0.992, 0.6636, 1.5894, 0.5755, 0.4004, 0.5182, 0.1974, 0.5037]\nstate[eef_state]: left_x=0.2867 left_y=-0.0002 left_z=0.1731 left_yaw=0.0022 left_pitch=-0.1465 left_roll=-0.0002 left_gripper=0.992 right_x=0.3575 right_y=0.173 right_z=0.0711 right_yaw=0.1205 right_pitch=0.0408 right_roll=-0.1001 right_gripper=0.5037\nstate[joint_eff]: [-0.0068, -1.812, 6.8718, 1.619, -0.0513, -0.0415, -0.0122, -0.3624, -6.7077, 7.1726, 1.5946, 0.2173, -0.0073, 0.8718]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50423a6935ba3774d740972ca798b71c027d4b83134754e1178d5273a0427a52",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:235368b61106296d10538221562598d02f0381bbb8ed4507996d68c625d1eef2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d502ee995e018950c68411181b0a956d4d855160b84079ff3c0e8f41914d9af",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /responses · status 200 · 2.273 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 56 changed as sent

message 64 changed as sent

message 67 changed as sent

message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8661, 0.7158, -0.5587, -0.0139, -0.0338, 0.992, 0.8009, 1.8019, 0.4591, 0.6266, 0.6319, 0.3058, 0.9962]\nstate[eef_state]: left_x=0.2876 left_y=-0.0003 left_z=0.1753 left_yaw=0.0022 left_pitch=-0.1362 left_roll=-0.0005 left_gripper=0.992 right_x=0.3193 right_y=0.1846 right_z=0.0044 right_yaw=0.1128 right_pitch=0.0045 right_roll=-0.1239 right_gripper=0.9962\nstate[joint_eff]: [-0.0752, -1.6615, 7.2274, 1.663, -0.0611, -0.0415, -0.0122, -0.4581, -5.3402, 2.6872, 0.8132, 0.1001, -0.1783, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8673, 0.7158, -0.5652, -0.0135, -0.0338, 0.992, 0.6628, 1.8648, 0.5056, 0.7097, 0.5217, 0.2005, 0.5075]\nstate[eef_state]: left_x=0.2867 left_y=-0.0003 left_z=0.1738 left_yaw=0.0019 left_pitch=-0.1438 left_roll=-0.0005 left_gripper=0.992 right_x=0.3551 right_y=0.1701 right_z=0.0029 right_yaw=0.1159 right_pitch=0.0114 right_roll=-0.1178 right_gripper=0.5075\nstate[joint_eff]: [-0.2803, -1.5658, 6.8718, 1.6777, -0.022, -0.0269, -0.0122, 0.1162, -6.4479, 4.2872, 1.5165, 0.1685, -0.022, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8696, 0.7158, -0.5655, -0.0139, -0.0338, 0.992, 0.6636, 1.5894, 0.5755, 0.4004, 0.5182, 0.1974, 0.5037]\nstate[eef_state]: left_x=0.2867 left_y=-0.0002 left_z=0.1731 left_yaw=0.0022 left_pitch=-0.1465 left_roll=-0.0002 left_gripper=0.992 right_x=0.3575 right_y=0.173 right_z=0.0711 right_yaw=0.1205 right_pitch=0.0408 right_roll=-0.1001 right_gripper=0.5037\nstate[joint_eff]: [-0.0068, -1.812, 6.8718, 1.619, -0.0513, -0.0415, -0.0122, -0.3624, -6.7077, 7.1726, 1.5946, 0.2173, -0.0073, 0.8718]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50423a6935ba3774d740972ca798b71c027d4b83134754e1178d5273a0427a52",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:235368b61106296d10538221562598d02f0381bbb8ed4507996d68c625d1eef2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d502ee995e018950c68411181b0a956d4d855160b84079ff3c0e8f41914d9af",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFzbJkozlaqiNFxyIG8feEq3k-MsdJ-TDWRzZ4WVSJQ1JdmyNI59DOWskWIZ2EAa6-Xl3FFc-G2fvkL94ycjwgNbRK3svgcpz5bfefgVDj786-vxpP9bxqsk0V_LY6YCF4cuBOmC5SEi1b-YX5wIcEkPwQA8aHRhGBMtSfc1qnoJQYpQ5hoOTEqXwEHC9iggHHk6tIadXZCH30KkzHzKeQTRE5MRLw76FvGav_SxMDFs8LjW1ac1O3WEcWaOX0fz9Uwq1MTYbLsv2q1H3XIfJ8rGNbDKUETVrVz36wzPDrtscWvQ5z8-T6y4DbcMLS1zQebcyurrFqts6pV07ym7jJsEzvf7bUSZHgVRrlikj9E_6TvET0GYZTF8-L2c3YbnCVi8AiSj4aj0aM-ezW3xqvbnsjTxeMXiZY8t_W5c4Y2_ErOH-yF8wKIRoFRQpu6CxqK-r6CiCsfRqgh6oMgpiYT1LsbbiIA6z44Wr5AOpkDxAqeADXaV9clY3XH-Mxc2JE-VcqjxQHWr0_MNFNxIimWIEMfKnOazwiYLIvcVPvdKnVIp0xdlXNYIVUZ5pzeynKBOSSPohyD9fYNYIYTr5QhS9n33s8-sSpknWnHPEslMwNXUEwE1vIJft3tJ8aK0DYbw063-gMJvlQANKonBYHsxH1Lq6QZK1-l_YOerureo-5dQ-sZ2XJDgNUmuaLMlsTx-MXdyBaBi1knKBZZz7_Z35z_28t3pLfIPlN9Nf61OPkIZisNXBTLhcAUcOCbvX-zKGcodVBkR1dDFlw8IgYlbS1PGXgEYUVkzKgHnPdMoqkebCFTuLGLX90wUK5phwWQHuudLWNexIZVjasN6A5esRnh-L3p9slgHIOriGOF1bli0oCqV78eyXilRX7BdPJ57AuyRTv6lf_DZbH5iOQHDiFmo0dIQgi8RT6BFR43nEUFi97VNiQASacK3TL-4DS1uKia4ZRtj1B-LNWTEBGvPBz4QXv_x4s_cFhIegf_sUlyRCPzYY3Rwx0m5IRMYWouDw_uCCTedOM6CTHgthBp5ibT6VsqbAco-s2kKwtWTwBEQanl3qJtfuKfj9qRwsVEQznyopMFu7Vsf0Y5FxxO9oG4joUC9p3R00A7ca2UDQxE5_H__HBOUfwPHY-wvrxmWPG-lWNDM1WWvtknqSoZz_jjIiGmP7tAMDE99S6bqhSktu7LHvzagW-QDM8OvpaLnQ1RwMBgVna7K05E5RQjih5ESbDZ5yMwn75-K97pxFsID7Btfx9OYu8rGmwKoV5tRCiDh-PiiNB855ImdwnuKOyASVEvBjq2lipJmt37VCW2hosM5eytBkkDnK3bzSfkd6ikm9R2SQOU3mDw0e8lE53V4-74-xiYI3ZrBvyGm6VFKanHMKPfkz6n12ZY1b20lNdax56uDPEa3W2ot0oP3MyVXEprVA-r7C2UUvFMj27EKcXREYISf9_a6WrgGuT7yUsLHtOK4wH3yTnlpnZnIRU0oNzCdmf63obCXSf1V128kqhq5QMVaeHhTrAy0IRLi",
  "id": "rs_0f5e19c4e84668e3016ab45cd925b487d0a40ede1e1d9509f9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.14,\"right_z\":0.2},\"note\":\"The lemon rose with the gripper and the grasp width stayed stable. I’m carrying it above the blue bowl with enough height to clear the rim.\"}",
  "call_id": "call_eX4Th8LGSFLSzBzPXx1s57SN",
  "id": "fc_0f5e19c4e84668e3016ab45cda7c0c87d087e027b0290ea169",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_eX4Th8LGSFLSzBzPXx1s57SN",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8734, 0.7158, -0.5739, -0.0139, -0.0338, 0.992, 0.3763, 1.6943, 1.2076, -0.0895, 0.2749, 0.0162, 0.507]\nstate[eef_state]: left_x=0.2856 left_y=-0.0002 left_z=0.1705 left_yaw=0.0023 left_pitch=-0.1587 left_roll=0.0001 left_gripper=0.992 right_x=0.48 right_y=0.142 right_z=0.1818 right_yaw=0.1285 right_pitch=0.0115 right_roll=-0.1153 right_gripper=0.507\nstate[joint_eff]: [-0.2667, -1.7026, 6.8581, 1.6581, -0.0855, -0.0708, -0.0122, -0.6769, -8.5128, 9.0325, 1.9756, 0.105, 0.2027, 0.6911]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60bd9a194a3a5417b0797db3aaf7b6f6ad5e5f64f6fa0fbd53478cc7951a6e31",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9a6a3b14be23d35825c00a8d9ee2a49488eb61b624fbeb1fd1c1b0f5b2fb3b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3baa14eab434a95f9f943eba429b1fdd63a52a3a57f9f542bec741e0cce267c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 4.175 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 60 changed as sent

message 67 changed as sent

message 71 changed as sent

message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8673, 0.7158, -0.5621, -0.0139, -0.0338, 0.992, 0.6807, 1.8565, 0.4984, 0.7052, 0.5591, 0.2405, 0.9962]\nstate[eef_state]: left_x=0.2872 left_y=-0.0003 left_z=0.1743 left_yaw=0.0022 left_pitch=-0.1408 left_roll=-0.0003 left_gripper=0.992 right_x=0.3516 right_y=0.1688 right_z=0.0051 right_yaw=0.083 right_pitch=0.0233 right_roll=-0.1046 right_gripper=0.9962\nstate[joint_eff]: [-0.335, -1.6479, 6.8718, 1.6386, -0.0366, -0.022, -0.0073, 0.3624, -6.0239, 4.2872, 1.3748, 0.0757, -0.2076, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8696, 0.7158, -0.5655, -0.0139, -0.0338, 0.992, 0.6636, 1.5894, 0.5755, 0.4004, 0.5182, 0.1974, 0.5037]\nstate[eef_state]: left_x=0.2867 left_y=-0.0002 left_z=0.1731 left_yaw=0.0022 left_pitch=-0.1465 left_roll=-0.0002 left_gripper=0.992 right_x=0.3575 right_y=0.173 right_z=0.0711 right_yaw=0.1205 right_pitch=0.0408 right_roll=-0.1001 right_gripper=0.5037\nstate[joint_eff]: [-0.0068, -1.812, 6.8718, 1.619, -0.0513, -0.0415, -0.0122, -0.3624, -6.7077, 7.1726, 1.5946, 0.2173, -0.0073, 0.8718]\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 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8734, 0.7158, -0.5739, -0.0139, -0.0338, 0.992, 0.3763, 1.6943, 1.2076, -0.0895, 0.2749, 0.0162, 0.507]\nstate[eef_state]: left_x=0.2856 left_y=-0.0002 left_z=0.1705 left_yaw=0.0023 left_pitch=-0.1587 left_roll=0.0001 left_gripper=0.992 right_x=0.48 right_y=0.142 right_z=0.1818 right_yaw=0.1285 right_pitch=0.0115 right_roll=-0.1153 right_gripper=0.507\nstate[joint_eff]: [-0.2667, -1.7026, 6.8581, 1.6581, -0.0855, -0.0708, -0.0122, -0.6769, -8.5128, 9.0325, 1.9756, 0.105, 0.2027, 0.6911]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60bd9a194a3a5417b0797db3aaf7b6f6ad5e5f64f6fa0fbd53478cc7951a6e31",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9a6a3b14be23d35825c00a8d9ee2a49488eb61b624fbeb1fd1c1b0f5b2fb3b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3baa14eab434a95f9f943eba429b1fdd63a52a3a57f9f542bec741e0cce267c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFzeOWWLPwdCNbgTjPemWalr0W5h8gZqbs0EwPX7UqPEy-5dsuYrAzHeTF-QfDYbYcuxV2HBN9AWfGXFkDACqHk59Z4vRd3oj8Qqi14l1YuovtWuJMQtTPjSrIBgaI3vJgnp8S7WNMJD4gtFbjeJUyC6_e2-d4TMSktlkVPqaoUXCbYWGESL0nlSws5HQCEUV_4jCXvZPagDBswcm27_R2ipO_RK045wCfZqxcO2HHwHtqDRsVM0sy9V5-i9UfFL9erBKNkDME0MFOwPMuWyFagwLJMImBmFqJXAk6TaTGQjHscYxa4a5GSYyrcKzIQbcA1-3v4yDK-vbQrMW9-2sdATIqyqnFzsw3ZX2TGInyAeBrRLONIZ5yEgjFIEuqAYK7L10r3r1wvpjui-mb0hDGMkVBQrz9Y7113pToqQBcr4oEEXoNlsmPForp-mROF9ozQ8HNzmpZ0wscCFI9GkDb00F6WtWWIW0xTH6Wu1nytH2dLLZz8GBG9mclMIMQ76YIWuNlXVfR-TC5KYYrS0Ogd5KGdqGvToVyKsmPwopsllbUYFjriWTJGggfV5RutmaIbAyL0V9Ugbn3r-uxGqA3XOVVf7CfwSBMDYHIHBGQHQeZGjH5GfYAg54qEN6Y-XJRsxMYaMm3PFj1jKpzzBgsa0chZrgKH7I9gmS7Z1qrBGq2maQ5F-MXZ66VWod-tdXijwVXbUiRLyqGDrPtSpgING24MzTPu4FwYBDCxWUtMPKGHDVQCCyBO66Bs8Jz3Jp-CkfCkNti64b3lF52BDcZVrqfaqmmlhFdBB2DCW4saKl88k43sCb9oKd0YltRFACGO7DT7KIdGA7Aik9yTDdcmAoSdkizApKmwilpgRhEMS0wGkMJAO3WhT8mBVI4wCWsKWgAOLkx1GHKcW6S5-x0UgzZ3wrLSYm0kNT4GI_pkj4vkD7HVA0MyQ0hOc8a_7eDZo1SHpp0bYtxJ__U8hYm6Uhi-KXhzOHqMxrME02PCTvZLEZO-gSY44dw8dyNpeSugNfycgRUnkLIGL5YeULojZZJ-vvRerkIWn71G5V5qYZGHeRUW39KqUQKLV6S_9RNx_Go2yCbvsqCIGj3pcF7CsuzQbeowZc4BwFiDRa_Nbh6VPLa_Dq8bkcWYM5K42soL1AdCmCrnEk9ocouEL3tsSx2koad0P1wxeDpvAe_N5qpe6837X94NremWFptBuNKwFOsVcVDTlz_VToioc4JP9rURI5fvnKB6WLSUF_gXZZNf69M1jKqjeA7okq29I0lpZw_XJcp1z_4XZij6cTcI4b00ynBhD8WFafZLoxkf3m7I=",
  "id": "rs_0f5e19c4e84668e3016ab45cddb96487d08f5d047e29e2f3e0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.11},\"note\":\"The lemon is above the blue bowl’s opening. I’m lowering it toward the bowl before releasing it.\"}",
  "call_id": "call_CyQXohnBDRV4Y35HjIgtnvJT",
  "id": "fc_0f5e19c4e84668e3016ab45cde32c487d08901fe6c62eb5a83",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CyQXohnBDRV4Y35HjIgtnvJT",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8742, 0.7158, -0.5808, -0.0139, -0.0338, 0.992, 0.3759, 1.7977, 1.0317, 0.0937, 0.2676, 0.0074, 0.5069]\nstate[eef_state]: left_x=0.2845 left_y=-0.0002 left_z=0.1691 left_yaw=0.0023 left_pitch=-0.1663 left_roll=0.0003 left_gripper=0.992 right_x=0.4677 right_y=0.1382 right_z=0.093 right_yaw=0.138 right_pitch=-0.0835 right_roll=-0.1415 right_gripper=0.5069\nstate[joint_eff]: [-0.0205, -1.7162, 6.8444, 1.6728, -0.0415, -0.0171, -0.0122, 0.0752, -9.2513, 6.5709, 2.2637, 0.1392, 0.0708, 0.7595]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e228b6273e87895878727b5943010349a8e16a38597083671ea37bdd6bd63fc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:214ca2ed2f7e4d996a58c8fd18279f43aae418e00673ffe88b3d2ed8407bed2a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dba72faead3349d5bfbaf0dbe2f16846cf17a98fd73507b51ccdff2d9b60d5b3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 4.092 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 64 changed as sent

message 71 changed as sent

message 75 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8673, 0.7158, -0.5652, -0.0135, -0.0338, 0.992, 0.6628, 1.8648, 0.5056, 0.7097, 0.5217, 0.2005, 0.5075]\nstate[eef_state]: left_x=0.2867 left_y=-0.0003 left_z=0.1738 left_yaw=0.0019 left_pitch=-0.1438 left_roll=-0.0005 left_gripper=0.992 right_x=0.3551 right_y=0.1701 right_z=0.0029 right_yaw=0.1159 right_pitch=0.0114 right_roll=-0.1178 right_gripper=0.5075\nstate[joint_eff]: [-0.2803, -1.5658, 6.8718, 1.6777, -0.022, -0.0269, -0.0122, 0.1162, -6.4479, 4.2872, 1.5165, 0.1685, -0.022, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8734, 0.7158, -0.5739, -0.0139, -0.0338, 0.992, 0.3763, 1.6943, 1.2076, -0.0895, 0.2749, 0.0162, 0.507]\nstate[eef_state]: left_x=0.2856 left_y=-0.0002 left_z=0.1705 left_yaw=0.0023 left_pitch=-0.1587 left_roll=0.0001 left_gripper=0.992 right_x=0.48 right_y=0.142 right_z=0.1818 right_yaw=0.1285 right_pitch=0.0115 right_roll=-0.1153 right_gripper=0.507\nstate[joint_eff]: [-0.2667, -1.7026, 6.8581, 1.6581, -0.0855, -0.0708, -0.0122, -0.6769, -8.5128, 9.0325, 1.9756, 0.105, 0.2027, 0.6911]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8742, 0.7158, -0.5808, -0.0139, -0.0338, 0.992, 0.3759, 1.7977, 1.0317, 0.0937, 0.2676, 0.0074, 0.5069]\nstate[eef_state]: left_x=0.2845 left_y=-0.0002 left_z=0.1691 left_yaw=0.0023 left_pitch=-0.1663 left_roll=0.0003 left_gripper=0.992 right_x=0.4677 right_y=0.1382 right_z=0.093 right_yaw=0.138 right_pitch=-0.0835 right_roll=-0.1415 right_gripper=0.5069\nstate[joint_eff]: [-0.0205, -1.7162, 6.8444, 1.6728, -0.0415, -0.0171, -0.0122, 0.0752, -9.2513, 6.5709, 2.2637, 0.1392, 0.0708, 0.7595]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e228b6273e87895878727b5943010349a8e16a38597083671ea37bdd6bd63fc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:214ca2ed2f7e4d996a58c8fd18279f43aae418e00673ffe88b3d2ed8407bed2a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dba72faead3349d5bfbaf0dbe2f16846cf17a98fd73507b51ccdff2d9b60d5b3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFzj1f4mwNnS0jXivGzgA6uzcVjRUepONPvqDTR21QlKZ9ZBmhuv7blljToohvurSFhN3AMTRb4qigc2NMup8bNMgpwDHKoLde6n4PtqooFwVbHtAmVzbi-79M4casDE0wjQYUVG9uRghpoHxqWDtvojnIjTslLBd3m974wvmN3exadf_Rw-cm2CLrMx94q4gKmBUW3IOYs2YPSH4DKiaFB1fNBafqrJRdBkuW1CjyPNnnEKLIYvup7hrAI-8X46Y44QpARwK0xN_mgCehx9a-xScBK3EEY0OmI6SV7Ww6FAnv4GsGpcPKFpqTmgJ-lWUMxr9xMfrNcbRa3-xuNZyAumrKhfIRg-s9KaOxoi5eeDRDlba_zNPci2j8B_5rWSuhHKEgkcDie8EGD11kPyPbu0geCB9FSs3MlKGRoicPCnGhs1GgCOccKIGX0exjxwWrpSgaRJn45Nvmsys1sGcBel-zXwfW5GQCrBVhz2B9Ve2r_VyYPPb3r9YOj7DDmne0FPueKh28IPT5eMmamWK85oaSPOUguWnt-QgEHqb_7WhwzUSueVfLX1h5N9lS9LJ-Nw_2q421ZNx4XqH7b71QyR2vkVUWmV3Nl6ru9fDIpPK5QuR_Q-YlkIf28MZbeNCWAgS-EjeYXfKclsz0CVZ-l_LFO6SATYtPsLvO2qNzVlnvDuFTpfEMhdeWYP8GXkb2h1_gXBF7HM1FRSTemgk9-kOyACraPo4L-2TU6Q9X-X2JVF31tBoCBwSdVKxtrSFL_t8V6QuqoDQFoK5vbWcEpEC9lSHKRr7_f9MixdNUAHO3BBvUCR-ByWyO9hVN2EIu-0b8JPz-JdhEf_mQ6HfClYE5NFWwlgtsckci-0KC8HwH6R4sNtWaPi47LAKoH2caB_d-9M1NP4j_GN37883jMlzuavx5cVwH_XdpFBpzvgb6enYM3-sBhG5BY5d5nMCf7scMzG6ie9pWxN7D63vuB6cnjf0oz6uOdQ-VJJ3cndhDtDMa5mSyPNyRvVdoF-wogjlx8JPvzfYQUG__LgBERC_l8HA6z-fIyD0OJUntA0vF-JgxUHvS6SWbtSYnydlYNedkonfRDBB1_o0-VRRUyos83WdiThv_cxC4EMiykpPW6ZgHYSOwXCNzZ9rjNpQ_wPhrU01zTQg8AXb6s9uKAJUC5At5LU3V3jfCWzQxXipC1jU0bbr1esaqg2-8y6qnGqX18FEJnLBKnK2ALrx4UZRsb3a65IeRmB70QTTUcpFBCT51S60jG3T-lnj9xputI-A9AbnXYEHqMDxFXEgdWhf08wlMrRib3WaC1hTSayhEv0_0rj8sZvxPauqiYEQZ3ih8zMU_rz1ngyYk15C5A9TeIuqpNWGeZCdpnfz2S5Y518A-3Bs4N4_o3SJ9OU_b06RyJar-SG9DzcL16Rz2YPc17-a2DPdQA1IWhyd8qMk3FxpgOUm5g5Njfif4irVgr3BTHhzEeyhUU7eOFYqwOCgCyWikGkmO7UmqnRsIqceQFEieyhl-xnvFcHQiRNYSm1Y0-qfbJZxhm7fWZsZ7U7Ouu8qLoFD1jKDXEaJ-Nt0ubsJLS4Z6L30qOR8sKVLVldA8Dd-ulNzJdXho4c4pher9JB64Y4F2VtYa8-MJIAY-tU_yTrPiCzDDG4ehSRxGXOUQ1xECJeWwBluyN8YiNACQ==",
  "id": "rs_0f5e19c4e84668e3016ab45ce09de487d096b8d68d77304404",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.515,\"right_y\":0.145,\"right_z\":0.12,\"right_gripper\":1},\"note\":\"The wrist view shows the lemon over the near side of the bowl. I’m moving a few centimeters toward its center and opening the jaws to drop the lemon inside.\"}",
  "call_id": "call_hZSgNzmUQgzGR3fTy2MDxtQH",
  "id": "fc_0f5e19c4e84668e3016ab45ce20a0087d0956b86c956fb0974",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hZSgNzmUQgzGR3fTy2MDxtQH",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8787, 0.7158, -0.5873, -0.0135, -0.0338, 0.992, 0.3557, 1.9045, 1.2602, -0.0391, 0.2417, -0.02, 0.9955]\nstate[eef_state]: left_x=0.2837 left_y=-0.0002 left_z=0.1667 left_yaw=0.002 left_pitch=-0.1774 left_roll=0.0003 left_gripper=0.992 right_x=0.5064 right_y=0.1469 right_z=0.1098 right_yaw=0.1539 right_pitch=-0.1001 right_roll=-0.1498 right_gripper=0.9955\nstate[joint_eff]: [-0.0752, -1.9897, 6.8855, 1.6581, -0.0269, -0.0415, -0.0122, -0.8274, -10.0581, 8.841, 1.6923, 0.1392, 0.0513, -0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bb6be9e91b4092897bff065bb0d57c68821f0ebe49c78dc9bd1f31e8455a018",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c7ed628a118afe27022b3a778d7d8c830b3fa27175229c82b2d397fef54f080",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0467db398cbd6c42805ab38399f28b7a0e5bf1698d8aea1f10d1098a9a72b9c1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 4.581 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 67 changed as sent

message 75 changed as sent

message 79 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8696, 0.7158, -0.5655, -0.0139, -0.0338, 0.992, 0.6636, 1.5894, 0.5755, 0.4004, 0.5182, 0.1974, 0.5037]\nstate[eef_state]: left_x=0.2867 left_y=-0.0002 left_z=0.1731 left_yaw=0.0022 left_pitch=-0.1465 left_roll=-0.0002 left_gripper=0.992 right_x=0.3575 right_y=0.173 right_z=0.0711 right_yaw=0.1205 right_pitch=0.0408 right_roll=-0.1001 right_gripper=0.5037\nstate[joint_eff]: [-0.0068, -1.812, 6.8718, 1.619, -0.0513, -0.0415, -0.0122, -0.3624, -6.7077, 7.1726, 1.5946, 0.2173, -0.0073, 0.8718]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8742, 0.7158, -0.5808, -0.0139, -0.0338, 0.992, 0.3759, 1.7977, 1.0317, 0.0937, 0.2676, 0.0074, 0.5069]\nstate[eef_state]: left_x=0.2845 left_y=-0.0002 left_z=0.1691 left_yaw=0.0023 left_pitch=-0.1663 left_roll=0.0003 left_gripper=0.992 right_x=0.4677 right_y=0.1382 right_z=0.093 right_yaw=0.138 right_pitch=-0.0835 right_roll=-0.1415 right_gripper=0.5069\nstate[joint_eff]: [-0.0205, -1.7162, 6.8444, 1.6728, -0.0415, -0.0171, -0.0122, 0.0752, -9.2513, 6.5709, 2.2637, 0.1392, 0.0708, 0.7595]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8787, 0.7158, -0.5873, -0.0135, -0.0338, 0.992, 0.3557, 1.9045, 1.2602, -0.0391, 0.2417, -0.02, 0.9955]\nstate[eef_state]: left_x=0.2837 left_y=-0.0002 left_z=0.1667 left_yaw=0.002 left_pitch=-0.1774 left_roll=0.0003 left_gripper=0.992 right_x=0.5064 right_y=0.1469 right_z=0.1098 right_yaw=0.1539 right_pitch=-0.1001 right_roll=-0.1498 right_gripper=0.9955\nstate[joint_eff]: [-0.0752, -1.9897, 6.8855, 1.6581, -0.0269, -0.0415, -0.0122, -0.8274, -10.0581, 8.841, 1.6923, 0.1392, 0.0513, -0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bb6be9e91b4092897bff065bb0d57c68821f0ebe49c78dc9bd1f31e8455a018",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c7ed628a118afe27022b3a778d7d8c830b3fa27175229c82b2d397fef54f080",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0467db398cbd6c42805ab38399f28b7a0e5bf1698d8aea1f10d1098a9a72b9c1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFzn3GfrUJsGzXKXX1H1H-WwcHq3wtU7tckzLvZ4IkcbuXKSausyaP2wrXWf5fntK3ZgjgdPDIRc5p_aki2ondcwiRrjcYf8hQNBdDIdhJ7WJKskr0qic20y5Wjb-pJG-48mfIUptIX__gcgvmYuMDS-U-qDl_Al5h9pIG2YEIV3SVPDujusMfFiULRXjwM1t2P-w3SsCtVA2G90QZdBVICnRtOXw2Uw21y6Qg673wJpq32nJxVUQ319ddUkzfTNsh6vZ8lKD0etAZSwdlhOpd9s91CmSEm8OM9iEUE2qsk1k89QAfrTzxffvoZFsnJGc8_oUbgjXL7dnWLoJnMPSezRL95aGliu1Y1JduVkohFLkeGpCOMkUf7mCfw0HEsWPppHFUG5BL_mOpOF-s4556k_oJ4znLM_NHK8kDN_F9OXs1szo-uoyplFJc8mDPgwP5yfrzZBymfEudQn2uPwZb2MjAf43D8p_esOzPHW2Pn6nP1iaL5ryL9TRQTFw8hZQuIOfhxWsP4v9kLR6ugdUdr5Q6pwx3-DkKoiRuATOHyMG9ANnPQynLCotIMj6SLuwTpgX3BeI_41DXRf2PuO3ibrXS0_3YF7Aj7BUy_dYJbW_aIpucFEhudjclvFsNz4XRpMFeGk0XDnnb6S8MTjA0DyDgp4c1sBFImSAMhtgRKDYIr4VcBGfbRCf41VuUWfqDX-WIRzAhzcuqok1qfweODCipTR9bTCrhqnYfI2XnP8CjVyC3PMV_FNczpEULz4HNi3MJsX6Voym6n5gz73TAYFLud6lA1VoGoR7Mcx4zVB_2kL3VIuNW0ba8qG_0N8NbYEimQOczwtokHXG0WWhD6wF9OrIpY6lR9ZJeV7Z5EhFrDlTB1fdk9JLYtC-UEVR7gOqcerCcKh5TzVC5vKGgRZd86mEGyQtWkW9yO7jF_J1xTE8WtnPTQaYA8uALWbqZ8BBb82Y89O6DMH3nG9F5MA4PjZTbfe90JVk3i2FJaGT7iCYPpniN309dG-GbDyAacLSomKkKEebLKjSde6k0dXsdupE_qGz6mK4dAN_O28sZTjB4kPQGypF8ObnX5xWDn3nV5l4i0AwhbyfIgsuiRnwp_WSq1uLNpy2-rAdOdA4Eko9zFeyl-7NvE3jNHgQ2s_EkgYci4v3so-eFxUcHwU_IcqUaBUFxYowKenM9GhBYwQLBhR7e46SLCnRqzaQJdgbpPoewRweYezsfCaVqPq3AByhnCecAUtpAyF4b71qSRWc3JqLlk7Eg5VCxxU0Iexl7X8w_X20Uw5jpyisCX3035CqKOFQekDbSn6DxWF4TC3YHEatWRhqqe2_pbrmhBDApYUG5095eixqM1JUMCmYgwqIfi85bHsBi7pQ0JegLln_Y8X2QDruZ0i7a90QBdQQg9LKpNlRctnGdUpRCr8UW5ZAI0kvKBMIbn4RtGQIEp9JILlvs67Jkm-GmHsRjI_wZrS5xQjDjx8w7Sx-qzl2oaae2HCdP9jO3caArAL9KQ=",
  "id": "rs_0f5e19c4e84668e3016ab45ce544b487d0a869f1976830d728",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.01,\"right_z\":0.15},\"note\":\"The yellow lemon is visible inside the blue bowl. I’m moving above the remaining green pear on the right.\"}",
  "call_id": "call_RBBHqCUTJMlLb7XP1psw4DXR",
  "id": "fc_0f5e19c4e84668e3016ab45ce6ba1c87d0ba2ae22e2093a012",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RBBHqCUTJMlLb7XP1psw4DXR",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8806, 0.7158, -0.5983, -0.0135, -0.0338, 0.992, 0.0139, 1.2522, 0.7555, -0.1577, 0.0032, -0.2111, 0.9962]\nstate[eef_state]: left_x=0.2819 left_y=-0.0002 left_z=0.1642 left_yaw=0.0021 left_pitch=-0.1903 left_roll=0.0006 left_gripper=0.992 right_x=0.3771 right_y=0.0083 right_z=0.1487 right_yaw=0.1164 right_pitch=-0.0947 right_roll=-0.1513 right_gripper=0.9962\nstate[joint_eff]: [-0.2256, -1.7162, 6.8444, 1.6825, -0.0464, -0.0611, -0.0122, -0.1709, -4.7521, 6.9812, 1.8144, -0.1197, -0.0806, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87d03c52ca87437a5afc1467f83fff8d6b846e8eb08618d4f4ba552b41ae1b7a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2792bd4fbd2c994a2d827fc5c33a9772df927a56d8646d5eb5c49576d027a04",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca81b6f6734423f8b6a8f1e44bc863e6737b91b026abb42df2778ef525ac9e1e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /responses · status 200 · 2.64 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 71 changed as sent

message 79 changed as sent

message 83 changed as sent

message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8734, 0.7158, -0.5739, -0.0139, -0.0338, 0.992, 0.3763, 1.6943, 1.2076, -0.0895, 0.2749, 0.0162, 0.507]\nstate[eef_state]: left_x=0.2856 left_y=-0.0002 left_z=0.1705 left_yaw=0.0023 left_pitch=-0.1587 left_roll=0.0001 left_gripper=0.992 right_x=0.48 right_y=0.142 right_z=0.1818 right_yaw=0.1285 right_pitch=0.0115 right_roll=-0.1153 right_gripper=0.507\nstate[joint_eff]: [-0.2667, -1.7026, 6.8581, 1.6581, -0.0855, -0.0708, -0.0122, -0.6769, -8.5128, 9.0325, 1.9756, 0.105, 0.2027, 0.6911]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8787, 0.7158, -0.5873, -0.0135, -0.0338, 0.992, 0.3557, 1.9045, 1.2602, -0.0391, 0.2417, -0.02, 0.9955]\nstate[eef_state]: left_x=0.2837 left_y=-0.0002 left_z=0.1667 left_yaw=0.002 left_pitch=-0.1774 left_roll=0.0003 left_gripper=0.992 right_x=0.5064 right_y=0.1469 right_z=0.1098 right_yaw=0.1539 right_pitch=-0.1001 right_roll=-0.1498 right_gripper=0.9955\nstate[joint_eff]: [-0.0752, -1.9897, 6.8855, 1.6581, -0.0269, -0.0415, -0.0122, -0.8274, -10.0581, 8.841, 1.6923, 0.1392, 0.0513, -0.0659]\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]: [-0.0219, 0.8806, 0.7158, -0.5983, -0.0135, -0.0338, 0.992, 0.0139, 1.2522, 0.7555, -0.1577, 0.0032, -0.2111, 0.9962]\nstate[eef_state]: left_x=0.2819 left_y=-0.0002 left_z=0.1642 left_yaw=0.0021 left_pitch=-0.1903 left_roll=0.0006 left_gripper=0.992 right_x=0.3771 right_y=0.0083 right_z=0.1487 right_yaw=0.1164 right_pitch=-0.0947 right_roll=-0.1513 right_gripper=0.9962\nstate[joint_eff]: [-0.2256, -1.7162, 6.8444, 1.6825, -0.0464, -0.0611, -0.0122, -0.1709, -4.7521, 6.9812, 1.8144, -0.1197, -0.0806, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87d03c52ca87437a5afc1467f83fff8d6b846e8eb08618d4f4ba552b41ae1b7a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2792bd4fbd2c994a2d827fc5c33a9772df927a56d8646d5eb5c49576d027a04",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca81b6f6734423f8b6a8f1e44bc863e6737b91b026abb42df2778ef525ac9e1e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFztFaB1EA8NZOS-xb16tpSGxrGvV08Xs6qrGLO-mrUgtjStyzW5jBbj2475ltzMSAZS-r1B02UurazkbYiXVWlak9uLA84J770teOC1ExpYvx8DXCG7HOw_YU4XetIZvyucoVHblqX9AUqHqEMRvUYVniPliHHn1RgDzi7rM855S4_-aJ3nEkbEk-5sJmqNRynOROl4rFID4DiqJeCxr_hUHFHe3-JayAzacRgs4Pi2-10m3AS3X1N2ZOFbuB981BWX_y2KhylKhqR2gMaTdi1DGTiqRurWS-tn3Kq8_kKWYOhXs8TUWbAwRt0-eSdDP2giu5_6_jvFKizT5xLyD1IPMpBi0_AQ3SoZ0MTzEgKKviYKIRYD8DtsgPpv-AjWy-os3IZZIjnBs6iB3paQsuyKYKGPRhgUrvoTw-9SHI8W5qsaSxA2D9UblswC_qf2tmrRSO8sDJe0qnQcTgrl4ZS2dFK9RNAz8REaFAgZtRpuBMqfTLorjaXSrRyYHLAZui_kZh8hKZBLT3G53W5IV8IBrC5VgDIDNuBTR-8jgh7o9Ah60E1egFVPNb1pfRpxz3i8OKN2_3XB02j9pYf6jrjilShP1bxqtUmuDVErarr59kEfDVmqp290wF9IroYm9i-DavaOxluFmcMh_79SYOPt93SEkW1jjypys0zCvNbHoMuQiC5_pkeoMtW-dxNGt85v06yozkcFgLo2EdNVuzVgAAkcp2r-BY6tR4cF8fXmXTIGvZSbTR5yaqZ247IW7DG3pP3WEzBa1EF1xghx8qwTOEszB03BBlnIVutRya1-P3TBKJQGngP57W6k-1IHG_1sHKqpTPv15oqKXtpv-Haru_sY2d173TCLbQ-eBGR_Hw62WIefQSzazPRCIKDmJdP3cV49NWia51JxBeFuXGMHBCgNOZlv1Dgs4ZTycCUM5qdleeuFeJVSUUHRAFI48EfnRs6OLSQxZkINAm-8KMXPXThGHEUid_6eSkfysu33R2oiBXb_K-vT9RCemwUxAaZlogqKSv1e315xCEUyTlC7OFYcLZEa6sHRWqjNF1JpMty7OpiBahWhU8qiGBbOBh_liF2OQvRME7_3LN4P6TC5nlGeXcFql24FlaIzpqXQYu5jcdTZdZjk60rZajV8iiwtKEHOGuJ7d6xAltYF4InWa7brb2qNZJ25SQmBeaIHkXCrGADjIdS_lSOpigrggeU-Uql7NugV0SqMAZMwg0d-l-YkogK15zkFmKI4mhtPo6a99mIrl8J5r4vTmxZsXiHXgPWYe7ukN08ukzHgiQ6GyFM_OHqL7vpqujtKIwRbXJ-KRbM88egpBrFWaueH2c_E_wZPG6UBFWVcIi2JlWlAB7JcNH5F2p5qbfV0lWnjBuezJOCoCGtxNMlzql_CiIWHWb9YZhoSfllFY4FTd7_0gnJAaukHF-KrQjm4fh4OrjA=",
  "id": "rs_0f5e19c4e84668e3016ab45ceaccb887d0af3ca8959a99c0f3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0,\"right_z\":0.005},\"note\":\"The pear is at the bottom center of the wrist view, aligned with the fingertips. I’m lowering straight down to surround its wider body.\"}",
  "call_id": "call_2UamWKtlLWenotOGPjzh4tDy",
  "id": "fc_0f5e19c4e84668e3016ab45cec2c4887d0a806be0097837692",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2UamWKtlLWenotOGPjzh4tDy",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8806, 0.7158, -0.6033, -0.0135, -0.0338, 0.992, -0.0216, 1.6478, 0.4061, 0.548, -0.0292, -0.2279, 0.9962]\nstate[eef_state]: left_x=0.281 left_y=-0.0002 left_z=0.1633 left_yaw=0.0021 left_pitch=-0.1953 left_roll=0.0007 left_gripper=0.992 right_x=0.3661 right_y=0.0009 right_z=0.0052 right_yaw=0.118 right_pitch=-0.1326 right_roll=-0.1394 right_gripper=0.9962\nstate[joint_eff]: [-0.2803, -1.6342, 6.9812, 1.5653, -0.0366, -0.0415, -0.0122, -0.1709, -4.7248, 3.2342, 1.072, 0.1685, -0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47a9b9e57a124e6e0a912a883d85054e7b201c8723b27aa3b39c73512397a0e5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef95ca1a05141b2f844d84c7038b4473269c3d06183f9be68afaa729e272649b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ca9102a142dd98ab7bad63bf8991252c489d5ede487563a66539b923f680c97",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /responses · status 200 · 3.08 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 75 changed as sent

message 83 changed as sent

message 87 changed as sent

message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8742, 0.7158, -0.5808, -0.0139, -0.0338, 0.992, 0.3759, 1.7977, 1.0317, 0.0937, 0.2676, 0.0074, 0.5069]\nstate[eef_state]: left_x=0.2845 left_y=-0.0002 left_z=0.1691 left_yaw=0.0023 left_pitch=-0.1663 left_roll=0.0003 left_gripper=0.992 right_x=0.4677 right_y=0.1382 right_z=0.093 right_yaw=0.138 right_pitch=-0.0835 right_roll=-0.1415 right_gripper=0.5069\nstate[joint_eff]: [-0.0205, -1.7162, 6.8444, 1.6728, -0.0415, -0.0171, -0.0122, 0.0752, -9.2513, 6.5709, 2.2637, 0.1392, 0.0708, 0.7595]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0219, 0.8806, 0.7158, -0.5983, -0.0135, -0.0338, 0.992, 0.0139, 1.2522, 0.7555, -0.1577, 0.0032, -0.2111, 0.9962]\nstate[eef_state]: left_x=0.2819 left_y=-0.0002 left_z=0.1642 left_yaw=0.0021 left_pitch=-0.1903 left_roll=0.0006 left_gripper=0.992 right_x=0.3771 right_y=0.0083 right_z=0.1487 right_yaw=0.1164 right_pitch=-0.0947 right_roll=-0.1513 right_gripper=0.9962\nstate[joint_eff]: [-0.2256, -1.7162, 6.8444, 1.6825, -0.0464, -0.0611, -0.0122, -0.1709, -4.7521, 6.9812, 1.8144, -0.1197, -0.0806, 0.0611]",
      "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]: [-0.0219, 0.8806, 0.7158, -0.6033, -0.0135, -0.0338, 0.992, -0.0216, 1.6478, 0.4061, 0.548, -0.0292, -0.2279, 0.9962]\nstate[eef_state]: left_x=0.281 left_y=-0.0002 left_z=0.1633 left_yaw=0.0021 left_pitch=-0.1953 left_roll=0.0007 left_gripper=0.992 right_x=0.3661 right_y=0.0009 right_z=0.0052 right_yaw=0.118 right_pitch=-0.1326 right_roll=-0.1394 right_gripper=0.9962\nstate[joint_eff]: [-0.2803, -1.6342, 6.9812, 1.5653, -0.0366, -0.0415, -0.0122, -0.1709, -4.7248, 3.2342, 1.072, 0.1685, -0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47a9b9e57a124e6e0a912a883d85054e7b201c8723b27aa3b39c73512397a0e5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef95ca1a05141b2f844d84c7038b4473269c3d06183f9be68afaa729e272649b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ca9102a142dd98ab7bad63bf8991252c489d5ede487563a66539b923f680c97",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFzxBEuSxIZXOzzI-ZjhuUNGUWUt_Fy8BadhWGRJ9O2Qqu2GH69VIatH-5J9OCDZDWOldhAgxKG6JDd0emodZxMtz76z_6VT6RH0MGlop36Rjp4tEOGv8IngBmYuAdQuVvSNLkzd1hdeq0iK8rb6b4T4cOHNX3D1gG-CVV6Q0-dUmdK3WC32jjjXmG8DHU2NFEEQrVA5aWW_WbIVxAV9SXYKBeltaz2m9oUIC03cKXQ9vZiJU1JuoMACWMUR1INIOg64F6MCTQR6B7InuIh_W-XjDd-uYrWO_WboskYglUaBkNX4WdCRiWN2UnAz1HRJRItvGYiH_OGT0X68MJdw75QKkVI3YI4xs4gNsZRlSQQvDwn9If4oyhBjOBue8mYCv7L0Cfy6j2WbwTMe--Bp6F8-jOjg6gA98KtOidkzLdvyYYvnMWNkqPGfn5yuX-k9Zl0uhUA_mtL0Qn-EgQwHy3RqLBtlJjouxojy7Es4IPRvhfZFvp0kSIPIMapIEHcU5VrDcM-jCCs3SZ5OxjB6KeE1DAibcB4rTKsZWlWIJWMBXD5PyEXM5I5B0mOuwWpUzukpcOo12pP4K2oXvRP1Bjj74voViNRFpkvW-642fELVwEh5kartLmrFpnBWv-i1yxMl0obsyRoiQhRCI5PsCIp058vCF_-EeA-fRhdlGrpPmxD-W47pAjFNSp-9e_a06riVNLh7ZaOEG-Suuww4WSjfocCZ-tHDOeh9OFVl9-wsyaYNwwDzZZAm0-eJugvFIO3m6DoD69AsiL7fMLzgTFknfac8WY0pWBF8JvkRshI91oCnvcehUXxGGXRfaQLeIv_hkCdMxnE4L9faZLxWqO8XTsw37a_hmIT-8kL6UiF_b_MW_kQSj9dlJq-mOMst2hYdeTCVYBJKa-O3wPvJPPXisgx3adh-zTq_BcT63oCQ0-yKTHLRiaP7JiDVFx5uyacinmWzXgS-R1qCcQwgEBtmjQZp9YdQqPELoHouK_H1x39Xy8b9vP4yXbUs6BVx7Xy-yyWhyB2oUERWBc3MpHILvibzMZUHUfIWrB8EofM7m1RdomS4IBEpxR4WjUa7AT6P9svASx74rSWwH4TGiS_fcCRpIU3NS7lVD08MC2E8DC_vbT2pHlZ-Q7eqp9QRy8k-RMwqD-LDUE-vGukqWXwJSTTj9JK_Qpo-SkDHOYtPXGkq95IBQAVpODb1Ea6qkZkPsVQUTRUOqAjWn1kSEXjW7eNkXX4fXCxeT0ualyiptJGKACyT8Bg82y1jpA7vni38xbGJcbaW7HN1koiykySwKg==",
  "id": "rs_0f5e19c4e84668e3016ab45cefb93087d096ed675b145b7d10",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":-0.015,\"right_x\":0.38,\"right_gripper\":0},\"note\":\"The pear’s broad body is between the jaws but slightly to the right. I’m making a small centering correction and closing around it.\"}",
  "call_id": "call_khky313rVEuE0ZzKNVWx7SQc",
  "id": "fc_0f5e19c4e84668e3016ab45cf04b9887d091be7d91b801e3c6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_khky313rVEuE0ZzKNVWx7SQc",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8806, 0.7158, -0.6037, -0.0135, -0.0338, 0.992, -0.0792, 1.6833, 0.4442, 0.5446, -0.0738, -0.2642, 0.729]\nstate[eef_state]: left_x=0.281 left_y=-0.0002 left_z=0.1632 left_yaw=0.0021 left_pitch=-0.1957 left_roll=0.0007 left_gripper=0.992 right_x=0.3756 right_y=-0.0131 right_z=0.0048 right_yaw=0.118 right_pitch=-0.1314 right_roll=-0.1389 right_gripper=0.729\nstate[joint_eff]: [0.0068, -1.6889, 6.8308, 1.5214, -0.0171, -0.0366, -0.0122, -0.5538, -5.0803, 6.2427, 1.5995, -0.105, -0.0952, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7adc0185eea842774368ab6e040b499192b3f351bfc35a016908bdf6d17080d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0102a9afe840c931938377ccdc38f81c582a661c4f137147d70e62c63ed841d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:632f0382aa611a4181eeab262b8057e586970be84ccac56dc171cdfe78028b5b",
      "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 24 attempt 0 · /responses · status 200 · 2.352 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 79 changed as sent

message 87 changed as sent

message 91 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8787, 0.7158, -0.5873, -0.0135, -0.0338, 0.992, 0.3557, 1.9045, 1.2602, -0.0391, 0.2417, -0.02, 0.9955]\nstate[eef_state]: left_x=0.2837 left_y=-0.0002 left_z=0.1667 left_yaw=0.002 left_pitch=-0.1774 left_roll=0.0003 left_gripper=0.992 right_x=0.5064 right_y=0.1469 right_z=0.1098 right_yaw=0.1539 right_pitch=-0.1001 right_roll=-0.1498 right_gripper=0.9955\nstate[joint_eff]: [-0.0752, -1.9897, 6.8855, 1.6581, -0.0269, -0.0415, -0.0122, -0.8274, -10.0581, 8.841, 1.6923, 0.1392, 0.0513, -0.0659]\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]: [-0.0219, 0.8806, 0.7158, -0.6033, -0.0135, -0.0338, 0.992, -0.0216, 1.6478, 0.4061, 0.548, -0.0292, -0.2279, 0.9962]\nstate[eef_state]: left_x=0.281 left_y=-0.0002 left_z=0.1633 left_yaw=0.0021 left_pitch=-0.1953 left_roll=0.0007 left_gripper=0.992 right_x=0.3661 right_y=0.0009 right_z=0.0052 right_yaw=0.118 right_pitch=-0.1326 right_roll=-0.1394 right_gripper=0.9962\nstate[joint_eff]: [-0.2803, -1.6342, 6.9812, 1.5653, -0.0366, -0.0415, -0.0122, -0.1709, -4.7248, 3.2342, 1.072, 0.1685, -0.0122, -0.0073]",
      "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]: [-0.0219, 0.8806, 0.7158, -0.6037, -0.0135, -0.0338, 0.992, -0.0792, 1.6833, 0.4442, 0.5446, -0.0738, -0.2642, 0.729]\nstate[eef_state]: left_x=0.281 left_y=-0.0002 left_z=0.1632 left_yaw=0.0021 left_pitch=-0.1957 left_roll=0.0007 left_gripper=0.992 right_x=0.3756 right_y=-0.0131 right_z=0.0048 right_yaw=0.118 right_pitch=-0.1314 right_roll=-0.1389 right_gripper=0.729\nstate[joint_eff]: [0.0068, -1.6889, 6.8308, 1.5214, -0.0171, -0.0366, -0.0122, -0.5538, -5.0803, 6.2427, 1.5995, -0.105, -0.0952, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7adc0185eea842774368ab6e040b499192b3f351bfc35a016908bdf6d17080d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0102a9afe840c931938377ccdc38f81c582a661c4f137147d70e62c63ed841d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:632f0382aa611a4181eeab262b8057e586970be84ccac56dc171cdfe78028b5b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"right_z\":0.08},\"note\":\"The gripper stopped at a wide opening matching the pear’s body. I’m lifting it briefly to verify it moves with the jaws.\"}",
  "call_id": "call_PnY3TfvnscMnUHia4IzIp9eG",
  "id": "fc_0f5e19c4e84668e3016ab45cf43cd887d0ae31902e62b88f88",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PnY3TfvnscMnUHia4IzIp9eG",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.881, 0.7158, -0.6064, -0.0139, -0.0338, 0.992, -0.0807, 1.4212, 0.5549, 0.1875, -0.0765, -0.2707, 0.729]\nstate[eef_state]: left_x=0.2805 left_y=-0.0001 left_z=0.1627 left_yaw=0.0024 left_pitch=-0.1987 left_roll=0.0011 left_gripper=0.992 right_x=0.3769 right_y=-0.0133 right_z=0.0708 right_yaw=0.1218 right_pitch=-0.1162 right_roll=-0.1454 right_gripper=0.729\nstate[joint_eff]: [-0.0889, -1.4974, 6.8308, 1.58, -0.0562, -0.0513, -0.0073, 0.0068, -6.0786, 7.9932, 1.7753, -0.0366, 0.0415, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:669cd7a39eebbd9805b5c60e46d86f3420553c35276557e738e8b5718c973cf9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3587a3d3248456f28df1603c734fc9a6825e8d10e9f2f96f70e7e538b8bb6f4d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:659aa656310c38383657d441aa841f6241a0d37c883b3d10e7c64a8b9a33f54a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 25 attempt 0 · /responses · status 200 · 3.335 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 83 changed as sent

message 91 changed as sent

message 94 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]: [-0.0219, 0.8806, 0.7158, -0.5983, -0.0135, -0.0338, 0.992, 0.0139, 1.2522, 0.7555, -0.1577, 0.0032, -0.2111, 0.9962]\nstate[eef_state]: left_x=0.2819 left_y=-0.0002 left_z=0.1642 left_yaw=0.0021 left_pitch=-0.1903 left_roll=0.0006 left_gripper=0.992 right_x=0.3771 right_y=0.0083 right_z=0.1487 right_yaw=0.1164 right_pitch=-0.0947 right_roll=-0.1513 right_gripper=0.9962\nstate[joint_eff]: [-0.2256, -1.7162, 6.8444, 1.6825, -0.0464, -0.0611, -0.0122, -0.1709, -4.7521, 6.9812, 1.8144, -0.1197, -0.0806, 0.0611]",
      "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]: [-0.0219, 0.8806, 0.7158, -0.6037, -0.0135, -0.0338, 0.992, -0.0792, 1.6833, 0.4442, 0.5446, -0.0738, -0.2642, 0.729]\nstate[eef_state]: left_x=0.281 left_y=-0.0002 left_z=0.1632 left_yaw=0.0021 left_pitch=-0.1957 left_roll=0.0007 left_gripper=0.992 right_x=0.3756 right_y=-0.0131 right_z=0.0048 right_yaw=0.118 right_pitch=-0.1314 right_roll=-0.1389 right_gripper=0.729\nstate[joint_eff]: [0.0068, -1.6889, 6.8308, 1.5214, -0.0171, -0.0366, -0.0122, -0.5538, -5.0803, 6.2427, 1.5995, -0.105, -0.0952, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.881, 0.7158, -0.6064, -0.0139, -0.0338, 0.992, -0.0807, 1.4212, 0.5549, 0.1875, -0.0765, -0.2707, 0.729]\nstate[eef_state]: left_x=0.2805 left_y=-0.0001 left_z=0.1627 left_yaw=0.0024 left_pitch=-0.1987 left_roll=0.0011 left_gripper=0.992 right_x=0.3769 right_y=-0.0133 right_z=0.0708 right_yaw=0.1218 right_pitch=-0.1162 right_roll=-0.1454 right_gripper=0.729\nstate[joint_eff]: [-0.0889, -1.4974, 6.8308, 1.58, -0.0562, -0.0513, -0.0073, 0.0068, -6.0786, 7.9932, 1.7753, -0.0366, 0.0415, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:669cd7a39eebbd9805b5c60e46d86f3420553c35276557e738e8b5718c973cf9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3587a3d3248456f28df1603c734fc9a6825e8d10e9f2f96f70e7e538b8bb6f4d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:659aa656310c38383657d441aa841f6241a0d37c883b3d10e7c64a8b9a33f54a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"right_x\":0.51,\"right_y\":0.145,\"right_z\":0.2},\"note\":\"The pear lifted with the gripper, and the lemon remains inside the blue bowl. I’m carrying the pear over the bowl to join it.\"}",
  "call_id": "call_BvqSzh4DNgJqQVb4JzfHEn83",
  "id": "fc_0f5e19c4e84668e3016ab45cf708dc87d0b4cb82758d9866fd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BvqSzh4DNgJqQVb4JzfHEn83",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8845, 0.7158, -0.609, -0.0139, -0.0338, 0.992, 0.3542, 1.8446, 1.5063, -0.4179, 0.2245, -0.0395, 0.7333]\nstate[eef_state]: left_x=0.2802 left_y=-0.0001 left_z=0.1613 left_yaw=0.0025 left_pitch=-0.2048 left_roll=0.0012 left_gripper=0.992 right_x=0.4989 right_y=0.1464 right_z=0.1753 right_yaw=0.1754 right_pitch=-0.1755 right_roll=-0.1675 right_gripper=0.7333\nstate[joint_eff]: [-0.1573, -1.9214, 6.8171, 1.5604, -0.0513, -0.0513, -0.0122, -0.253, -10.906, 9.0735, 1.7021, 0.3101, 0.3883, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56f8bd1cd2a40bb106f7a90bde740e6769996bef2cd82d9d64b2f585de60690e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1f609e54fc26b6e7baebb4386dfb4fbd6b15a7d2185760b67272a9d55b34599",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ef830259338b449af37cbf4f30f1acf827c21eebc91317dfd719feb28feb873",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 26 attempt 0 · /responses · status 200 · 2.416 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 87 changed as sent

message 94 changed as sent

message 97 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]: [-0.0219, 0.8806, 0.7158, -0.6033, -0.0135, -0.0338, 0.992, -0.0216, 1.6478, 0.4061, 0.548, -0.0292, -0.2279, 0.9962]\nstate[eef_state]: left_x=0.281 left_y=-0.0002 left_z=0.1633 left_yaw=0.0021 left_pitch=-0.1953 left_roll=0.0007 left_gripper=0.992 right_x=0.3661 right_y=0.0009 right_z=0.0052 right_yaw=0.118 right_pitch=-0.1326 right_roll=-0.1394 right_gripper=0.9962\nstate[joint_eff]: [-0.2803, -1.6342, 6.9812, 1.5653, -0.0366, -0.0415, -0.0122, -0.1709, -4.7248, 3.2342, 1.072, 0.1685, -0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.881, 0.7158, -0.6064, -0.0139, -0.0338, 0.992, -0.0807, 1.4212, 0.5549, 0.1875, -0.0765, -0.2707, 0.729]\nstate[eef_state]: left_x=0.2805 left_y=-0.0001 left_z=0.1627 left_yaw=0.0024 left_pitch=-0.1987 left_roll=0.0011 left_gripper=0.992 right_x=0.3769 right_y=-0.0133 right_z=0.0708 right_yaw=0.1218 right_pitch=-0.1162 right_roll=-0.1454 right_gripper=0.729\nstate[joint_eff]: [-0.0889, -1.4974, 6.8308, 1.58, -0.0562, -0.0513, -0.0073, 0.0068, -6.0786, 7.9932, 1.7753, -0.0366, 0.0415, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8845, 0.7158, -0.609, -0.0139, -0.0338, 0.992, 0.3542, 1.8446, 1.5063, -0.4179, 0.2245, -0.0395, 0.7333]\nstate[eef_state]: left_x=0.2802 left_y=-0.0001 left_z=0.1613 left_yaw=0.0025 left_pitch=-0.2048 left_roll=0.0012 left_gripper=0.992 right_x=0.4989 right_y=0.1464 right_z=0.1753 right_yaw=0.1754 right_pitch=-0.1755 right_roll=-0.1675 right_gripper=0.7333\nstate[joint_eff]: [-0.1573, -1.9214, 6.8171, 1.5604, -0.0513, -0.0513, -0.0122, -0.253, -10.906, 9.0735, 1.7021, 0.3101, 0.3883, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56f8bd1cd2a40bb106f7a90bde740e6769996bef2cd82d9d64b2f585de60690e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1f609e54fc26b6e7baebb4386dfb4fbd6b15a7d2185760b67272a9d55b34599",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ef830259338b449af37cbf4f30f1acf827c21eebc91317dfd719feb28feb873",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFz87VUJqF1OnifxTkBtyYEEkQrN84ppbcqqiu3nwfpRtCIE9zWcZCnQ1Tp9eMBqCPVekJW5TXPxNTFgh-LDyXAFeL9q97Xv7IpkUf0kA9uN0eD3iheDd9jLkg6laEhjPmtahl8k5LdijJSRIfpK_dppWruCbzfLNf86g9hYAcfMmKdpr0EsocGBLyxgZVZFvGd7ucJMfUT8SyFK4btU61ZAr0b4MvV2PlWyyZ9JACwf52MgeSWEi8JlMsA-QrUBTjLWolTQUKKuejzAMtat1xKUQ8ynghicRh_atZFJ7OLWaSQjrdOy6yVBUpszvBzUddlwCLrprMXase9B-847cifLFtJBh6YwncROYEyZnYGX4iZrLJl_K8BJv3KSNvAFZjdNvbdWQleuOH1CKGV9lsop84x2383_lJMQcfWriceyrUb225-AtMe-34cuCwNDEyGAfDicWvRhcSHUAKBy9cS9BKGfcn1kiaTqv2M6Aq1dGbMtn82hVK2RK7yiF8CDI4J_athFzw6iApfVVCvk5CaWPldX_oDOFp981Hk9G9jiK10YePZr8cSaxRZsZ0ebcaMpU2fM-83yKTnOlZHpHSkroOnTzmLvpuA2O2bZAJW0K0js6hWwhpWo5s1TFmdgzejTfPG75EVBGIrrYKrMWLdClx_RZ8Ct4FiEHNp2OT7QgZb24NE1z5UolK0Bu3KlUGSaW3s3pEIcm0xJ-GP4aNb1Jvp-l-HPuXyPPYaxvoJcn6jGZ4e7cTCLUJgXkHqTJld8zDjGeaCeFDhR_llT3nn9P7FjTTo0g293zClLGo8oxyaPp2u-gRvR28WzqAQ7b_ZbRCQ-yahgu9k7EZP3BfFoPcgp4J10YlGrTUQPoijgTa_n0BAi2u-2s49V44gioVoZJ1rTzVewF_3kHoA3aNxKgEyHGguQxbjUDs3pIW1VsWfCFGewhV1_ZKdOyDUji2RfTMN2ex8CCQxwUoaZoF7RjOojRMyCTTjpeF4qBJqGBy2G7XY3mdG2MuaPUfHv9y9lV5zgw2dJWBpf-pScQKEmZq53pMsTDGntmYWl7YOAK3UiHkKNaxjPZBI-zejvtI9wdlGooOjyjtghe0H5piG1nV1i_E05s5CTGBZ25jfeBouJHcna0D8MAR1-9AQ-KY_XfBspKF5aIb53LrmhC-yQXpB4fvmPPy_2yRkjV0_gxJ9DX9wT1mT2la0lvwWj-D7T1Y9c34SHGkmacy8hVI8fVi5A3JjfHQ7MJxAsdL4fthW7tPXu4il5mdXlekTjjj2SVQjszckfbPLPyLEREY7SQU76kcdUseBuKaACMuJnxCCCVreg6l6hLckEProcfxfKhzgNTOez0S_J680KDlaaXRD1lKN6UE8yWEWTwQ2EM6v4A1mS8N1vsFvmUF2SQRA4g6Hk0VzebULABRqPQiwLhzAu66Qd-TCHTpG_Ib1RMws=",
  "id": "rs_0f5e19c4e84668e3016ab45cfa951887d0bfd9104e4dc68e2f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.12},\"note\":\"The pear is above the blue bowl alongside the lemon. I’m lowering it close to the rim for a controlled release.\"}",
  "call_id": "call_UAjku5TzbkFxPYU5yZCUmOfd",
  "id": "fc_0f5e19c4e84668e3016ab45cfb870c87d092bffab247e8a541",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UAjku5TzbkFxPYU5yZCUmOfd",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8845, 0.7158, -0.609, -0.0139, -0.0338, 0.992, 0.3573, 1.8912, 1.3426, -0.3084, 0.2279, -0.0372, 0.7353]\nstate[eef_state]: left_x=0.2802 left_y=-0.0001 left_z=0.1613 left_yaw=0.0025 left_pitch=-0.2048 left_roll=0.0012 left_gripper=0.992 right_x=0.4831 right_y=0.1415 right_z=0.1031 right_yaw=0.1701 right_pitch=-0.2738 right_roll=-0.1871 right_gripper=0.7353\nstate[joint_eff]: [-0.1709, -1.6889, 6.8308, 1.5556, -0.0317, -0.0366, -0.0122, -0.294, -11.0017, 7.7197, 2.2149, 0.0611, -0.0952, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46c19027b5d7f86cc4e4aba43f9ef6051bba5bdf5e21df670ca0273aca831925",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6535a5ac8550f117ed86824bbdec28de89d5becbd1f21887231683683870ba65",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29b95a1d0afcffd3ff8a7961af02dbfd6c551051c833e36ca9acdd9a3bde9d6e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 9.116 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 91 changed as sent

message 97 changed as sent

message 101 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]: [-0.0219, 0.8806, 0.7158, -0.6037, -0.0135, -0.0338, 0.992, -0.0792, 1.6833, 0.4442, 0.5446, -0.0738, -0.2642, 0.729]\nstate[eef_state]: left_x=0.281 left_y=-0.0002 left_z=0.1632 left_yaw=0.0021 left_pitch=-0.1957 left_roll=0.0007 left_gripper=0.992 right_x=0.3756 right_y=-0.0131 right_z=0.0048 right_yaw=0.118 right_pitch=-0.1314 right_roll=-0.1389 right_gripper=0.729\nstate[joint_eff]: [0.0068, -1.6889, 6.8308, 1.5214, -0.0171, -0.0366, -0.0122, -0.5538, -5.0803, 6.2427, 1.5995, -0.105, -0.0952, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8845, 0.7158, -0.609, -0.0139, -0.0338, 0.992, 0.3542, 1.8446, 1.5063, -0.4179, 0.2245, -0.0395, 0.7333]\nstate[eef_state]: left_x=0.2802 left_y=-0.0001 left_z=0.1613 left_yaw=0.0025 left_pitch=-0.2048 left_roll=0.0012 left_gripper=0.992 right_x=0.4989 right_y=0.1464 right_z=0.1753 right_yaw=0.1754 right_pitch=-0.1755 right_roll=-0.1675 right_gripper=0.7333\nstate[joint_eff]: [-0.1573, -1.9214, 6.8171, 1.5604, -0.0513, -0.0513, -0.0122, -0.253, -10.906, 9.0735, 1.7021, 0.3101, 0.3883, 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 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8845, 0.7158, -0.609, -0.0139, -0.0338, 0.992, 0.3573, 1.8912, 1.3426, -0.3084, 0.2279, -0.0372, 0.7353]\nstate[eef_state]: left_x=0.2802 left_y=-0.0001 left_z=0.1613 left_yaw=0.0025 left_pitch=-0.2048 left_roll=0.0012 left_gripper=0.992 right_x=0.4831 right_y=0.1415 right_z=0.1031 right_yaw=0.1701 right_pitch=-0.2738 right_roll=-0.1871 right_gripper=0.7353\nstate[joint_eff]: [-0.1709, -1.6889, 6.8308, 1.5556, -0.0317, -0.0366, -0.0122, -0.294, -11.0017, 7.7197, 2.2149, 0.0611, -0.0952, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46c19027b5d7f86cc4e4aba43f9ef6051bba5bdf5e21df670ca0273aca831925",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6535a5ac8550f117ed86824bbdec28de89d5becbd1f21887231683683870ba65",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29b95a1d0afcffd3ff8a7961af02dbfd6c551051c833e36ca9acdd9a3bde9d6e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The pear is positioned inside the bowl’s opening. I’m releasing it so both fruits are together in the blue bowl.\"}",
  "call_id": "call_4o6PXHseMjkLW2cqIg1pc8FK",
  "id": "fc_0f5e19c4e84668e3016ab45cfe5adc87d0accb6fdb4c610928",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4o6PXHseMjkLW2cqIg1pc8FK",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8845, 0.7158, -0.6098, -0.0135, -0.0338, 0.992, 0.3573, 1.9041, 1.3281, -0.2958, 0.2245, -0.0441, 0.9956]\nstate[eef_state]: left_x=0.2801 left_y=-0.0002 left_z=0.1612 left_yaw=0.0021 left_pitch=-0.2056 left_roll=0.001 left_gripper=0.992 right_x=0.4814 right_y=0.1415 right_z=0.093 right_yaw=0.176 right_pitch=-0.2897 right_roll=-0.192 right_gripper=0.9956\nstate[joint_eff]: [-0.1162, -1.5795, 7.0222, 1.5165, -0.022, -0.0073, -0.0122, -0.3487, -11.1932, 7.665, 1.4579, 0.0904, 0.0513, -0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e459e5d34e006aa7f61465a0d522dd39a27dce8b732e1967ba93295181c918db",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58a41da7b5500a7e7006a94e646029e5f42daa865c1af89716bea5c1493f6f38",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:283fc4559dff843af50a26628bc56c6cce2fc27fd100d4b07111d6f93aab724c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /responses · status 200 · 5.068 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 94 changed as sent

message 101 changed as sent

message 104 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.881, 0.7158, -0.6064, -0.0139, -0.0338, 0.992, -0.0807, 1.4212, 0.5549, 0.1875, -0.0765, -0.2707, 0.729]\nstate[eef_state]: left_x=0.2805 left_y=-0.0001 left_z=0.1627 left_yaw=0.0024 left_pitch=-0.1987 left_roll=0.0011 left_gripper=0.992 right_x=0.3769 right_y=-0.0133 right_z=0.0708 right_yaw=0.1218 right_pitch=-0.1162 right_roll=-0.1454 right_gripper=0.729\nstate[joint_eff]: [-0.0889, -1.4974, 6.8308, 1.58, -0.0562, -0.0513, -0.0073, 0.0068, -6.0786, 7.9932, 1.7753, -0.0366, 0.0415, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8845, 0.7158, -0.609, -0.0139, -0.0338, 0.992, 0.3573, 1.8912, 1.3426, -0.3084, 0.2279, -0.0372, 0.7353]\nstate[eef_state]: left_x=0.2802 left_y=-0.0001 left_z=0.1613 left_yaw=0.0025 left_pitch=-0.2048 left_roll=0.0012 left_gripper=0.992 right_x=0.4831 right_y=0.1415 right_z=0.1031 right_yaw=0.1701 right_pitch=-0.2738 right_roll=-0.1871 right_gripper=0.7353\nstate[joint_eff]: [-0.1709, -1.6889, 6.8308, 1.5556, -0.0317, -0.0366, -0.0122, -0.294, -11.0017, 7.7197, 2.2149, 0.0611, -0.0952, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8845, 0.7158, -0.6098, -0.0135, -0.0338, 0.992, 0.3573, 1.9041, 1.3281, -0.2958, 0.2245, -0.0441, 0.9956]\nstate[eef_state]: left_x=0.2801 left_y=-0.0002 left_z=0.1612 left_yaw=0.0021 left_pitch=-0.2056 left_roll=0.001 left_gripper=0.992 right_x=0.4814 right_y=0.1415 right_z=0.093 right_yaw=0.176 right_pitch=-0.2897 right_roll=-0.192 right_gripper=0.9956\nstate[joint_eff]: [-0.1162, -1.5795, 7.0222, 1.5165, -0.022, -0.0073, -0.0122, -0.3487, -11.1932, 7.665, 1.4579, 0.0904, 0.0513, -0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e459e5d34e006aa7f61465a0d522dd39a27dce8b732e1967ba93295181c918db",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58a41da7b5500a7e7006a94e646029e5f42daa865c1af89716bea5c1493f6f38",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:283fc4559dff843af50a26628bc56c6cce2fc27fd100d4b07111d6f93aab724c",
      "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_0f5e19c4e84668e3016ab45d00ead887d0b768fd1296695268",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.065,\"right_z\":0.22,\"right_pitch\":0,\"right_roll\":0},\"note\":\"Both fruits are now visible in the blue bowl. I’m lifting clear and moving to its right-hand rim, which I can grasp to carry and tip the bowl toward the larger white bowl.\"}",
  "call_id": "call_TL93klsTLfoW6ybwwsWevOKD",
  "id": "fc_0f5e19c4e84668e3016ab45d077e5887d0a9e9e88280112811",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TL93klsTLfoW6ybwwsWevOKD",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8845, 0.7158, -0.6106, -0.0135, -0.0338, 0.992, 0.1169, 1.6676, 1.2827, -0.2878, -0.0219, -0.0715, 0.9962]\nstate[eef_state]: left_x=0.28 left_y=-0.0002 left_z=0.161 left_yaw=0.0021 left_pitch=-0.2064 left_roll=0.001 left_gripper=0.992 right_x=0.484 right_y=0.0644 right_z=0.1848 right_yaw=0.1658 right_pitch=-0.1047 right_roll=-0.0241 right_gripper=0.9962\nstate[joint_eff]: [-0.3487, -1.7026, 6.8171, 1.5116, -0.0024, -0.0659, -0.0122, -0.4308, -11.0291, 8.0752, 2.1465, -0.0659, 0.0464, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a275ad6ec6f1740f5d0a837f8c7f11417edd4766453e841d311f1f04c2035843",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f44aee5d62521115675f6e2c933de2bae5599481915dbee076dc89767f9c9ba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6dfbaca4ede78c087fcf6b8f2cfc6a18b4ccf4de32076e02a850ba026d7e38c5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /responses · status 200 · 2.929 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 97 changed as sent

message 104 changed as sent

message 108 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8845, 0.7158, -0.609, -0.0139, -0.0338, 0.992, 0.3542, 1.8446, 1.5063, -0.4179, 0.2245, -0.0395, 0.7333]\nstate[eef_state]: left_x=0.2802 left_y=-0.0001 left_z=0.1613 left_yaw=0.0025 left_pitch=-0.2048 left_roll=0.0012 left_gripper=0.992 right_x=0.4989 right_y=0.1464 right_z=0.1753 right_yaw=0.1754 right_pitch=-0.1755 right_roll=-0.1675 right_gripper=0.7333\nstate[joint_eff]: [-0.1573, -1.9214, 6.8171, 1.5604, -0.0513, -0.0513, -0.0122, -0.253, -10.906, 9.0735, 1.7021, 0.3101, 0.3883, 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 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8845, 0.7158, -0.6098, -0.0135, -0.0338, 0.992, 0.3573, 1.9041, 1.3281, -0.2958, 0.2245, -0.0441, 0.9956]\nstate[eef_state]: left_x=0.2801 left_y=-0.0002 left_z=0.1612 left_yaw=0.0021 left_pitch=-0.2056 left_roll=0.001 left_gripper=0.992 right_x=0.4814 right_y=0.1415 right_z=0.093 right_yaw=0.176 right_pitch=-0.2897 right_roll=-0.192 right_gripper=0.9956\nstate[joint_eff]: [-0.1162, -1.5795, 7.0222, 1.5165, -0.022, -0.0073, -0.0122, -0.3487, -11.1932, 7.665, 1.4579, 0.0904, 0.0513, -0.1099]\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 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8845, 0.7158, -0.6106, -0.0135, -0.0338, 0.992, 0.1169, 1.6676, 1.2827, -0.2878, -0.0219, -0.0715, 0.9962]\nstate[eef_state]: left_x=0.28 left_y=-0.0002 left_z=0.161 left_yaw=0.0021 left_pitch=-0.2064 left_roll=0.001 left_gripper=0.992 right_x=0.484 right_y=0.0644 right_z=0.1848 right_yaw=0.1658 right_pitch=-0.1047 right_roll=-0.0241 right_gripper=0.9962\nstate[joint_eff]: [-0.3487, -1.7026, 6.8171, 1.5116, -0.0024, -0.0659, -0.0122, -0.4308, -11.0291, 8.0752, 2.1465, -0.0659, 0.0464, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a275ad6ec6f1740f5d0a837f8c7f11417edd4766453e841d311f1f04c2035843",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f44aee5d62521115675f6e2c933de2bae5599481915dbee076dc89767f9c9ba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6dfbaca4ede78c087fcf6b8f2cfc6a18b4ccf4de32076e02a850ba026d7e38c5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF0OlQvXwlJZU9NQ5rxtuXMAq7Rw7ULtjGt4ojtn2CdHkGy97RGGDaHF0voabiPgOWixyi2TUj9KfEm6BPGOvBVNjlca_fJKJ1e81LTjOCZialBQnjhLPLJltZLyduXeLFEs0dU1JGg7brS__9E0H3Jq4dlRLt9uQ1K0Fj8Fu1ykUUDHT82oYGcc89Ugm4Pf8-QgggqSK7YrnFHkzxv1JkyYhf2WqtRqXnW1KfVbPxynl6XIJYu6P6zBn-79GueoIx5AJ01zIWZNI18Ar844StIP45ODcRiT63o_6dCBuCDsa_boscb3D0VvsmfNlsetfE5GAoG7VpAXBpkpgpsePTcnHsthnXtjIZpWRk38EifN9TKJ4trOcodDpKe-F4vSZvhddhUV8GbcSlpaws3DMc9SSLwCbtlCKprxFWC8nTDestVspNc-BNKP66-bnY5BlfvL9dIjJRGiwSaXdDpLRKzU8wBhbKjbZhGoQLucCmYdcjE7PzHAJPZyioKgVxMAWBLvxy_rPnYLM2TeyJ118oKPU-_4GUkx2ngy3ykVZniV-X0PVne7SHCSODcBmdNdM-cOzbh1Sn-aHifs5Kw-PzCkKsC19WeShOyijMNLH7K2zY1oZBSqq_sDEjrLZ9NUtgmdPipV4q-ojUTMv5dhH02nfhHP8OSQaNooQDTTElrjJcEENVR_fgnYE1ioxB7N74ueI3nbOKZfVhSoirfkt1zMvEynKcaGkRatkahmTvqjTMyj0ehg4Nmr1GMJkTTtmb3lr07qPEwlPWaPsbnVG8i5ZfgktKbnQp2h5cQh-LeEjbK1FDQqfeJGj7b32M-unm2UpIkaiTGBF3A4Wkx0EcmW4CgPegjtADHKo_tXGE9NoRlqdUoGQecvyhu7JTW_NPSPHJO9dlimYC9eoTsH0FI67vx6skQ7PzFm4yP3WNMCWX4VU_s1YrfJNqJikOwNuzAn--6c9dheyFMueqvUmB_zbj8mBDLYPaN39Z-ufuzyZG85zmd1y4lepouNn9JA6VJrSsv22Q-NZ8GawD_5oYHpwt3BF8d9wM5m1R6qrsMmxTgjFTDHNx-5aTwKNBV1WotWDSsE8gVuy_bWbzr-lWf69BSfIgC_3DzokhMyQz0ymQkjt_KX75hEuYCla6wFlUB_XD20TNAsrnnRdiTAvdhvTZCG3XfQ3OH5p1qUZEyVZSfXqgVJRzVNekCftEgNLLeBI8i5r9qaDfr2CAYQlU9b0sDLVdpj6SSlPRGUvcf_BthhaAkBJQPS-X1Nbfxo9yBVVOV-5el_YJ1O-qDG4RPIHUmhQf-i4cTENwmRpBgCBsDrZ6N15Ixx1F7TpsjUvrvK0pzjyOQLkxfkpOmQ-uBArab1bYCVfGojca3WnDaG6lI106fGKdikAlqv2Vfh6aQe_bp9HNu8hdjqJUWerTB9DMWGgV8Q5cmnz23o2exKZdWvk0VsN_uPs9QtOmA8hlYc1OWypjClFjcDCfLEK6Vs8mIvbckFqRv4Ec7cKJJOpRMSebuZZt0FpankejxcZS6e9uIT5F9O2b1mfDBvEPrgPQ==",
  "id": "rs_0f5e19c4e84668e3016ab45d0bc81487d0b87ecec425117441",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.5,\"right_y\":0.085,\"right_z\":0.055},\"note\":\"The blue bowl contains both fruits, and its right rim is beside the open jaws. I’m lowering so one finger enters just inside the rim and the other stays outside.\"}",
  "call_id": "call_BrjMzXg1BMQPyW7nHrhaXJ4n",
  "id": "fc_0f5e19c4e84668e3016ab45d0dad9887d0b3d5dbc44718c8c1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BrjMzXg1BMQPyW7nHrhaXJ4n",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8845, 0.7158, -0.6106, -0.0139, -0.0338, 0.992, 0.165, 1.8755, 1.0855, 0.2367, -0.0154, -0.0372, 0.9963]\nstate[eef_state]: left_x=0.28 left_y=-0.0001 left_z=0.161 left_yaw=0.0025 left_pitch=-0.2063 left_roll=0.0013 left_gripper=0.992 right_x=0.5162 right_y=0.0923 right_z=0.1025 right_yaw=0.1896 right_pitch=0.0149 right_roll=-0.0041 right_gripper=0.9963\nstate[joint_eff]: [-0.1573, -1.4838, 6.8308, 1.5409, -0.0269, -0.0611, -0.0073, 0.1573, -6.6667, 3.3162, 0.5739, 0.2662, -0.2173, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af0163e75d5fe858697ea426148f2390abfaa9cfebf40e35fb6349bf6c392543",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c306d15474085646f800ab51285f40efe29fca0f5c74f7d6000bc82bcccb839b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f991bf78026a6f8a13a2becd96dbafa2fd6a165331726ca903f9bb8c2c603e58",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 30 attempt 0 · /responses · status 200 · 3.452 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 101 changed as sent

message 108 changed as sent

message 112 changed as sent

message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8845, 0.7158, -0.609, -0.0139, -0.0338, 0.992, 0.3573, 1.8912, 1.3426, -0.3084, 0.2279, -0.0372, 0.7353]\nstate[eef_state]: left_x=0.2802 left_y=-0.0001 left_z=0.1613 left_yaw=0.0025 left_pitch=-0.2048 left_roll=0.0012 left_gripper=0.992 right_x=0.4831 right_y=0.1415 right_z=0.1031 right_yaw=0.1701 right_pitch=-0.2738 right_roll=-0.1871 right_gripper=0.7353\nstate[joint_eff]: [-0.1709, -1.6889, 6.8308, 1.5556, -0.0317, -0.0366, -0.0122, -0.294, -11.0017, 7.7197, 2.2149, 0.0611, -0.0952, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8845, 0.7158, -0.6106, -0.0135, -0.0338, 0.992, 0.1169, 1.6676, 1.2827, -0.2878, -0.0219, -0.0715, 0.9962]\nstate[eef_state]: left_x=0.28 left_y=-0.0002 left_z=0.161 left_yaw=0.0021 left_pitch=-0.2064 left_roll=0.001 left_gripper=0.992 right_x=0.484 right_y=0.0644 right_z=0.1848 right_yaw=0.1658 right_pitch=-0.1047 right_roll=-0.0241 right_gripper=0.9962\nstate[joint_eff]: [-0.3487, -1.7026, 6.8171, 1.5116, -0.0024, -0.0659, -0.0122, -0.4308, -11.0291, 8.0752, 2.1465, -0.0659, 0.0464, 0.0464]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8845, 0.7158, -0.6106, -0.0139, -0.0338, 0.992, 0.165, 1.8755, 1.0855, 0.2367, -0.0154, -0.0372, 0.9963]\nstate[eef_state]: left_x=0.28 left_y=-0.0001 left_z=0.161 left_yaw=0.0025 left_pitch=-0.2063 left_roll=0.0013 left_gripper=0.992 right_x=0.5162 right_y=0.0923 right_z=0.1025 right_yaw=0.1896 right_pitch=0.0149 right_roll=-0.0041 right_gripper=0.9963\nstate[joint_eff]: [-0.1573, -1.4838, 6.8308, 1.5409, -0.0269, -0.0611, -0.0073, 0.1573, -6.6667, 3.3162, 0.5739, 0.2662, -0.2173, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af0163e75d5fe858697ea426148f2390abfaa9cfebf40e35fb6349bf6c392543",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c306d15474085646f800ab51285f40efe29fca0f5c74f7d6000bc82bcccb839b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f991bf78026a6f8a13a2becd96dbafa2fd6a165331726ca903f9bb8c2c603e58",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF0SbQdyWKrhiBwD97vNYoi_pAnW-GEv7eteeCoGckeDUXnKt43Db3-Jldi_7YaWPs3Y6KSg78cymWgFm5JQ1mMi35YO6_oMGot-EOVThJ-G0KhtO5sYKh5yNSseryjARBCRGbTaP1LMTJ8iE-iIwQqwCdtSNuOV_17Rk-wAR8uZ8_bTjapAMDpxu78yedsYkQo8xh0eX_fs_-oxOrlVCbYxe9-5IRMM09R_xdP5fD0i6d5qXeUc7W8KJPtz1rYJf8UrUzXm5U1W9ft3lD-zTGp0HhNav6jI7WYM_mSXRYSSCYT1UYA9CUcjVWM3Iqb0s-6d5Q2-C2B10Z10gpP99vSnaI_chRl2u6lceSD7ZkTWzyYQJvwZnvzJ08rm0Jw_8JpOIEH37a0VPT_EcRWCa3FhytUs-Aj_nF4c4T89DGefQfIZLVmRf7GXZ9JGZ3a707Ab40Pp2pnfl4BYZHtp_rikvqRZAR8KUHysExpw0TJTsSTc3gEhw7VUo3N9UpveO4xpA_0-18xNXNMKRFlXigWVxEzjf7RTFiPyzToji7-olW-hkjgl9ZHLMjtivNWj95bzZmfrr6A6Oe_KKvyQVDdD6sHVJhnjv8TMBb88v-Hk1KX1xtkflYoG_kumLgI4bgXKhWQHQF0xynz1KsxowjShmzA9TlTloeGRx18TK8xoTui5FMt02OADYpl5YHHwIwM7kppw7nMU0g9sInHjUPscBVNAGsjgewy-m5InUOYtjI3BjH7n7G4a53oKWpHV7v2wT6cw_6hz-mf6F_UQWPER9bFTU0jCXOrWCagxoheyOJilYmWSmXw79Hgu7nI6vOmlMXNaLTCN0Whz_0ttqLvMePFHR8wuCMO2GuXSYd7MJE9iXU3S0tH9QQdXybvlQbnjpf9NMvlWehgVYS3h9ggw4q0Cq9a736feyZ9MxWYfxbdRpWFK3twWe_YTpCxnHDW-4njXjdwuFlzvlfY6CF6MLHujkvdZbM2_E5fWgoHMaubpKNI7Bd1tQfMefo6JgdaSJecOffUwiQ_xgzFQydvqW6sgZVo5VAumOM_ZSBGlFLxSdjPFoq_ji-606Nv8RtN6UWaunbo9ArfJPkqhiEcrWDO6HU77nZC2-ygvueRNbnkgymwrnfNJPfpbINoV-aumFODx-qVYNoKrtpLOFvV_UDelTsVnZ4Jzq5b4FrrGIe1V0A0TUj5BSuwyV4ux8y7U76efmI3vLXQlDoY1VLE0W6CrZTnjqwYF3HPsb0e6PdBhtkZNUaPDI0N2VBuqThs-iHOV4IpdKuawNjAY2isvwfy440A1Vk8V0dt_hLUnNbw1nGqqBy7rK-BqbTlMa37PHoxa9jeTLaHrHgrPEZOd7g==",
  "id": "rs_0f5e19c4e84668e3016ab45d10efc087d089895cff209541a5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The descent stopped at the bowl rim rather than reaching the requested height. I’m closing at this contact point to try to secure the rim without pressing farther down.\"}",
  "call_id": "call_P7SPBpUbPGAlrvMWzxk2ltPP",
  "id": "fc_0f5e19c4e84668e3016ab45d1189e487d08697457d92d5732b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_P7SPBpUbPGAlrvMWzxk2ltPP",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8848, 0.7158, -0.6106, -0.0139, -0.0338, 0.992, 0.1665, 1.9072, 1.0657, 0.2344, -0.0162, -0.0433, 0.0108]\nstate[eef_state]: left_x=0.28 left_y=-0.0001 left_z=0.1609 left_yaw=0.0025 left_pitch=-0.2067 left_roll=0.0013 left_gripper=0.992 right_x=0.5097 right_y=0.0922 right_z=0.0779 right_yaw=0.1951 right_pitch=-0.0389 right_roll=-0.0074 right_gripper=0.0108\nstate[joint_eff]: [-0.1026, -1.6068, 6.9265, 1.5556, -0.0317, -0.0269, -0.0122, -0.1573, -12.3009, 7.7607, 1.7509, 0.0122, 0.0122, 0.9011]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89c5be7f1ae3eece69aa39f5ded9bc5048dc644d5fed78dd0581c74700ca23a4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3dcb892a2dda99f76a8fd80428b44d547aae1b9eb711f7e5b5a157c768ee632a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f7b6d289e89e8df46fc05fcf063d56706925bca609ae78bbfab52ae411bb63e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /responses · status 200 · 3.808 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 104 changed as sent

message 112 changed as sent

message 116 changed as sent

message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8845, 0.7158, -0.6098, -0.0135, -0.0338, 0.992, 0.3573, 1.9041, 1.3281, -0.2958, 0.2245, -0.0441, 0.9956]\nstate[eef_state]: left_x=0.2801 left_y=-0.0002 left_z=0.1612 left_yaw=0.0021 left_pitch=-0.2056 left_roll=0.001 left_gripper=0.992 right_x=0.4814 right_y=0.1415 right_z=0.093 right_yaw=0.176 right_pitch=-0.2897 right_roll=-0.192 right_gripper=0.9956\nstate[joint_eff]: [-0.1162, -1.5795, 7.0222, 1.5165, -0.022, -0.0073, -0.0122, -0.3487, -11.1932, 7.665, 1.4579, 0.0904, 0.0513, -0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8845, 0.7158, -0.6106, -0.0139, -0.0338, 0.992, 0.165, 1.8755, 1.0855, 0.2367, -0.0154, -0.0372, 0.9963]\nstate[eef_state]: left_x=0.28 left_y=-0.0001 left_z=0.161 left_yaw=0.0025 left_pitch=-0.2063 left_roll=0.0013 left_gripper=0.992 right_x=0.5162 right_y=0.0923 right_z=0.1025 right_yaw=0.1896 right_pitch=0.0149 right_roll=-0.0041 right_gripper=0.9963\nstate[joint_eff]: [-0.1573, -1.4838, 6.8308, 1.5409, -0.0269, -0.0611, -0.0073, 0.1573, -6.6667, 3.3162, 0.5739, 0.2662, -0.2173, -0.0073]\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 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8848, 0.7158, -0.6106, -0.0139, -0.0338, 0.992, 0.1665, 1.9072, 1.0657, 0.2344, -0.0162, -0.0433, 0.0108]\nstate[eef_state]: left_x=0.28 left_y=-0.0001 left_z=0.1609 left_yaw=0.0025 left_pitch=-0.2067 left_roll=0.0013 left_gripper=0.992 right_x=0.5097 right_y=0.0922 right_z=0.0779 right_yaw=0.1951 right_pitch=-0.0389 right_roll=-0.0074 right_gripper=0.0108\nstate[joint_eff]: [-0.1026, -1.6068, 6.9265, 1.5556, -0.0317, -0.0269, -0.0122, -0.1573, -12.3009, 7.7607, 1.7509, 0.0122, 0.0122, 0.9011]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89c5be7f1ae3eece69aa39f5ded9bc5048dc644d5fed78dd0581c74700ca23a4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3dcb892a2dda99f76a8fd80428b44d547aae1b9eb711f7e5b5a157c768ee632a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f7b6d289e89e8df46fc05fcf063d56706925bca609ae78bbfab52ae411bb63e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF0W3KMOGL6T3eKMspRr2VYQD1T4dfXyZ_F_BiRB79kUJM65UZeF0oa5dc6Dl6VmEaDcKE1SKvgzVOUyYa5qPuBiohsu6kunSTT1JQhLM9prAz_uDicquyiTHkqci2PsfMzSUBjxphHLUNXseyXjOi3X1i-EjPalaAL7rfHrCFk8KhWmmAkc_z5IMoxfRt1hZssknD-owmeFzn7Gjwm4P7YG-AG8MYRaHpGuh-9jxosreIAMEVdsJfN-TD2FyuPiXjgSyLDECsV8VjPxuMUWnMhFz3yPdcDa_rzkunbysMGwB51k3bTUUKHh7UhzvGMqGov7bT4pR6rv4lkS8brtfrXrg9KgnA5dX-xpkWcxlLt1r_v30puMhgLitNg08-E3Rq2Htu7v1-gO_8xLooChNU16vpHWiNrrBzycNHXxQguKQZaoQ_dZNaSLzDyFGUmyG3g4UOXTUCEbj4FlZhf102wqLtwRz2JGe5QA31BdGVxTbRfBlzuRx_EE7k5GNugkSWnkHHvhd59T_mSuSIZZ2Is5gtnMVV-0c5FalYF7IYKxULxbghGPg-4MiqBjyOhT6OWmk3skBgmY7kTGryW9s5KWOfbOUE4O6ESUQ6LnJftvv-B6URs-T5VvRrmSOiXCmnb5cH-aoTfhv31f6zUl7fTSz_Y058-89n7sCtlaM_38Ofh1kel8SYuLvlGOa1yqOil9f1XW3f6Z3ovHUcWXZaKqTe-lEoFreHHd-ehVKc6Lmw6gu86myKG9_na-GPGoJz_pG1wJlS9FMlV2J3f3WAXmUo5onq0OdEQ5IgPvFXE10ATnG8Ino2yabe11RNudwHvr7hl6aYHPAKynL92GuNoedTf8LncXrVvnlkTDp8tqSXEqKMnOpOxbwra7NFLoDLlpWkphEKWxzggllzFmynjZm1fuxPR67UJQUd7BKI5ArPPc_IPuP0hCbZJNdS5kTp-lFC3LEvNPJTAeHBm6DQvBHCaQ7khDAdzlZ0AM1_4JqZFJEWQuImFwORK5EWKep8DJMqf9rQ4s-Y32xyzx-LSPLrKiDMOG2w4EsfCl4d45TY1yvVjXLNvgZQse88aYqiJjsBj5aROu-F2Yb8wk4lEPDKWpRsuRpYpPOlCJF2Btsh95fD5kGkQZIk6ejDZJb3q80wzaHHADidHKfsl1UNhxiKabGISEckUNvI2h7XfJ__1X8dMCHC0wI0jtGYdBQYPbLbIG5w6AlWBEYpr5-y1dsYXlE42t9zVe1UYHKvj4py3njt1KIj516sjkToc1ICd0xIgxlIGBaopl_HC3GENHv1rhB3Fx7GczwogyYdcODNpp7Unoj1Gwyiw-eSRCMnDtLg9UCr_iUMclvsh9H-fVRqyR6yPq093Sv4J2diMDaeMEY_UMou3kTMQX4hlfMrebcEv8SQQnK8_dzkpHgXfDQtkrrkjJ9_vUQEZhZekhL_MZM7DtqpAtUlpT02Wjo1MIkwLvPpAOgkHPNv7BSM1DYXjjcWL-j4LCjMPbZE3fOwyuuiJ6og9xctsZh9mV3SfW",
  "id": "rs_0f5e19c4e84668e3016ab45d149dc087d089b0d867a144d3ab",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.085,\"right_z\":0.055,\"right_gripper\":0.7},\"note\":\"The close was empty, and the bowl shifted slightly toward us. I’m opening and repositioning at the nearer section of the right rim for a firmer rim grasp.\"}",
  "call_id": "call_iNyK7R3fUIg1fSZ8uDlPJee5",
  "id": "fc_0f5e19c4e84668e3016ab45d159f3c87d080d76c8a019c0ee5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iNyK7R3fUIg1fSZ8uDlPJee5",
  "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]: [-0.0219, 0.8864, 0.7158, -0.6132, -0.0139, -0.0338, 0.992, 0.1665, 1.8187, 0.8368, 0.3977, -0.0196, -0.036, 0.6955]\nstate[eef_state]: left_x=0.2796 left_y=-0.0001 left_z=0.1601 left_yaw=0.0025 left_pitch=-0.2109 left_roll=0.0014 left_gripper=0.992 right_x=0.4689 right_y=0.086 right_z=0.0616 right_yaw=0.1941 right_pitch=-0.016 right_roll=-0.0001 right_gripper=0.6955\nstate[joint_eff]: [-0.212, -1.7026, 6.8171, 1.5653, -0.0757, -0.0317, -0.0073, -0.0205, -9.0325, 4.8752, 1.5263, 0.0415, -0.0757, -0.1245]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4844db136bcae909a4aedecbb3ceb323e357d8410e73ae51870daa084a134bd0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40eeca32cc4ef1987a2b3f1441f5f6d7f37bd2b3a91c031bc0eaaa8044c2e7f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e342a8a7812e58dde5b9a09b00017fa9ac0d42d9ea58334264584ba7eccd3214",
      "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 · 3.175 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 108 changed as sent

message 116 changed as sent

message 120 changed as sent

message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8845, 0.7158, -0.6106, -0.0135, -0.0338, 0.992, 0.1169, 1.6676, 1.2827, -0.2878, -0.0219, -0.0715, 0.9962]\nstate[eef_state]: left_x=0.28 left_y=-0.0002 left_z=0.161 left_yaw=0.0021 left_pitch=-0.2064 left_roll=0.001 left_gripper=0.992 right_x=0.484 right_y=0.0644 right_z=0.1848 right_yaw=0.1658 right_pitch=-0.1047 right_roll=-0.0241 right_gripper=0.9962\nstate[joint_eff]: [-0.3487, -1.7026, 6.8171, 1.5116, -0.0024, -0.0659, -0.0122, -0.4308, -11.0291, 8.0752, 2.1465, -0.0659, 0.0464, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8848, 0.7158, -0.6106, -0.0139, -0.0338, 0.992, 0.1665, 1.9072, 1.0657, 0.2344, -0.0162, -0.0433, 0.0108]\nstate[eef_state]: left_x=0.28 left_y=-0.0001 left_z=0.1609 left_yaw=0.0025 left_pitch=-0.2067 left_roll=0.0013 left_gripper=0.992 right_x=0.5097 right_y=0.0922 right_z=0.0779 right_yaw=0.1951 right_pitch=-0.0389 right_roll=-0.0074 right_gripper=0.0108\nstate[joint_eff]: [-0.1026, -1.6068, 6.9265, 1.5556, -0.0317, -0.0269, -0.0122, -0.1573, -12.3009, 7.7607, 1.7509, 0.0122, 0.0122, 0.9011]\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 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8864, 0.7158, -0.6132, -0.0139, -0.0338, 0.992, 0.1665, 1.8187, 0.8368, 0.3977, -0.0196, -0.036, 0.6955]\nstate[eef_state]: left_x=0.2796 left_y=-0.0001 left_z=0.1601 left_yaw=0.0025 left_pitch=-0.2109 left_roll=0.0014 left_gripper=0.992 right_x=0.4689 right_y=0.086 right_z=0.0616 right_yaw=0.1941 right_pitch=-0.016 right_roll=-0.0001 right_gripper=0.6955\nstate[joint_eff]: [-0.212, -1.7026, 6.8171, 1.5653, -0.0757, -0.0317, -0.0073, -0.0205, -9.0325, 4.8752, 1.5263, 0.0415, -0.0757, -0.1245]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4844db136bcae909a4aedecbb3ceb323e357d8410e73ae51870daa084a134bd0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40eeca32cc4ef1987a2b3f1441f5f6d7f37bd2b3a91c031bc0eaaa8044c2e7f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e342a8a7812e58dde5b9a09b00017fa9ac0d42d9ea58334264584ba7eccd3214",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF0b8AcHDKdltU6NUYZhGuhMJYfH7hlBqIHSxO7bh4uiu0F4CpUdTGJu23XxsayO4kreXaHUBDM4LtHOB2jsW4C9OsHCwN86Qhw1rGDjhJVnq8BAOuj1NYdDgzeE47o8x03qJyclHrYYvPjVq39QGUyeTDqG-c25QeTcRLr4sQZLSUdsdP5HkgyvvqvP4RIEScpcSs4IsLF80k3fJ4kJiSn3ZxqkXc16bjskhu-CzSTKgu7tj2PYvvQ3qEAYJxnxuzq79xKhA2pdOKdhTd-lstSBlEeedk4SnjG2onBd-XmYJ0uDKQYOsYwFsabSfLgS0J5K5vIJguoKTiJiwraBzXg8ZorQgBLDHrCRa0Fr832EEUk0gO4erdfRT5MHxIzyka7vYIdYYn0WNC3mdPcQEcgXCnHKi6T21sgMhRb1Wm1sWIaiQJ9iVv_duF8E8MtvYzUi9FdxsvlPwoJQM93Q5xaQ3FAnVVz_SrRrM4FaQPLbUYJ9YgQNe92ROFKiMawaAtO3FQ16XYykX_CcORs0A-h39TRWQJmwLG47WGaCg61O6QttqxuUAwMdomCyaFSwFUYEnbsHE-b0QqKG8b_Awidg3Eu3vcb5odQQ--5MhRiRe460yTTA_YpgrE_p9S7wEXsdakg8vV5Shw6qSzjdfvjJ24ZS-RVuOMlZ7RbJJ2bnHNgvTU_U_Dceeo1jpDqfzqeMarHooWGX_Ach7Xhin0DTRu0XIFRNNAjiREVSb_tK2xQQWFL3Z-d37xa-Axgx9hIpFPLydoDrSR5fEqOXjXfUf4A2RYWtvHyud7AG8JIMOt6TuXfzREGQt8Bn6Z8uig6W9TtEPjrYE8YPYyYUygcV0xOcRAoDR8v05HxcP3l99qMy7G7zNIKOeaDqiflmf_AzUQvjkln2cUbdH_17oIKd4ISdUC60rnpzW9dHG6Owk7BsmFLiuUbZ4f_UmB3bfZ1JSQaoqOc-bLRoUqbC8cjQvYfRhTIFC3ATwOIHG5LD3N4by4X5iyI8vowbp9bKs1xhhPwcgipJBRW-t-9m2Te7lPmMFPLewETQ_V7Yd0td8EEMelOd-6jZwPGdhM57wsl1HFAFyTZBve9gXq3OsppanlxAfec12JuJjf0wxczuD0GRbxxof80brVgKHchkg04UOa1Fd8_baTNEjhKbQ1QFq0BhDUVaKqpt5QcUu44muXduO2f5rmCS3WQ3wKBC4t_yn89agpMq1uKS7lvNmAWLG9trd6ppINbeyTkATS0LyuRBoAjWiGyKAeO7h_x-aemkw9ZY6quxu51KvIN1MSV5mqra5h32Q-rEgPH6y5gZKl4uxc-vRD341C3vOWNoyO5OTDCXAjCM2mNDSKvxSB2mYqM3QB7IhDJG1R8oRlzCGQXFLJQQcBqVT72vFMm6PuNhYiXUaXx6Oq2h6Q40BrpqCQ==",
  "id": "rs_0f5e19c4e84668e3016ab45d19029c87d08b85602cd88802c9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.025,\"right_gripper\":0},\"note\":\"The jaws are positioned across the near-right rim. I’m lowering slightly and closing to pinch the bowl wall.\"}",
  "call_id": "call_Pi3zQUbTM0luS5KnpBOJ9rCk",
  "id": "fc_0f5e19c4e84668e3016ab45d1a589087d0aa809045ecd36989",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Pi3zQUbTM0luS5KnpBOJ9rCk",
  "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]: [-0.0219, 0.8864, 0.7158, -0.6178, -0.0139, -0.0338, 0.992, 0.1638, 1.906, 0.8173, 0.5503, -0.0238, -0.0368, 0.0108]\nstate[eef_state]: left_x=0.2788 left_y=-0.0001 left_z=0.1593 left_yaw=0.0025 left_pitch=-0.2155 left_roll=0.0015 left_gripper=0.992 right_x=0.4778 right_y=0.0869 right_z=0.0457 right_yaw=0.1954 right_pitch=0.0298 right_roll=0.0002 right_gripper=0.0108\nstate[joint_eff]: [-0.335, -1.6752, 6.8171, 1.536, -0.0366, -0.0366, -0.0122, -0.0889, -6.9402, 3.6444, 1.7265, 0.0073, -0.0464, 0.9402]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49d505cb7db848ec32cf87c9eb5bc4a5539a093d26a2a44cca8d8274e81d3bfe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee99cd783e297a0485384178470552629bea9f10501a66ef48056f5fc01c3716",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3340211abe58c2f30c06c86067afc0a9db5daa0f77b53135c1e030b2a8abb4e3",
      "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 · 15 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 112 changed as sent

message 120 changed as sent

message 124 changed as sent

message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8845, 0.7158, -0.6106, -0.0139, -0.0338, 0.992, 0.165, 1.8755, 1.0855, 0.2367, -0.0154, -0.0372, 0.9963]\nstate[eef_state]: left_x=0.28 left_y=-0.0001 left_z=0.161 left_yaw=0.0025 left_pitch=-0.2063 left_roll=0.0013 left_gripper=0.992 right_x=0.5162 right_y=0.0923 right_z=0.1025 right_yaw=0.1896 right_pitch=0.0149 right_roll=-0.0041 right_gripper=0.9963\nstate[joint_eff]: [-0.1573, -1.4838, 6.8308, 1.5409, -0.0269, -0.0611, -0.0073, 0.1573, -6.6667, 3.3162, 0.5739, 0.2662, -0.2173, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8864, 0.7158, -0.6132, -0.0139, -0.0338, 0.992, 0.1665, 1.8187, 0.8368, 0.3977, -0.0196, -0.036, 0.6955]\nstate[eef_state]: left_x=0.2796 left_y=-0.0001 left_z=0.1601 left_yaw=0.0025 left_pitch=-0.2109 left_roll=0.0014 left_gripper=0.992 right_x=0.4689 right_y=0.086 right_z=0.0616 right_yaw=0.1941 right_pitch=-0.016 right_roll=-0.0001 right_gripper=0.6955\nstate[joint_eff]: [-0.212, -1.7026, 6.8171, 1.5653, -0.0757, -0.0317, -0.0073, -0.0205, -9.0325, 4.8752, 1.5263, 0.0415, -0.0757, -0.1245]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8864, 0.7158, -0.6178, -0.0139, -0.0338, 0.992, 0.1638, 1.906, 0.8173, 0.5503, -0.0238, -0.0368, 0.0108]\nstate[eef_state]: left_x=0.2788 left_y=-0.0001 left_z=0.1593 left_yaw=0.0025 left_pitch=-0.2155 left_roll=0.0015 left_gripper=0.992 right_x=0.4778 right_y=0.0869 right_z=0.0457 right_yaw=0.1954 right_pitch=0.0298 right_roll=0.0002 right_gripper=0.0108\nstate[joint_eff]: [-0.335, -1.6752, 6.8171, 1.536, -0.0366, -0.0366, -0.0122, -0.0889, -6.9402, 3.6444, 1.7265, 0.0073, -0.0464, 0.9402]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49d505cb7db848ec32cf87c9eb5bc4a5539a093d26a2a44cca8d8274e81d3bfe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee99cd783e297a0485384178470552629bea9f10501a66ef48056f5fc01c3716",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3340211abe58c2f30c06c86067afc0a9db5daa0f77b53135c1e030b2a8abb4e3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF0fIXe8KpZAYbPRi3bDwF_IxDkxUaB3hVTHckDLYfX-F1efIIgxINip2UhcptrjjwSzytxANC2Jv-7KgT3dEzitXcrtG_glvWd3w6BPTWBjO0rB72ZYa_0q9n75rWS1A2BZWXBXoVWMdsWXpoC05ROg83fJqlOgBFVrc-udFENlXR9e7bDUVjDbthy6J_XIypwpcvu0CLaYWUZVEkHZ8hvme0vxs-amcJ-LTS4pTYrMl-ENyewboyilAFsQ2NmagYA2CioarMdiZYxJrMTPIvXIhARkp3coecz5PEd6wK6in75Ys1YG-dmz2_BLDe0h27V0rpbo-4cXEksJWfRMKHvvthlvCC8cC2NesSe8pWlkG-XofluniHe1gBVCR-iyyOCmDlPKTKMc_WSnMkLkYq8aTLdDgGmz6jvw3e7zJ6bbLSJwZEorR-6cvq053MauCz3lxM6abjbH-ipWDQ2Rx3t7ZJx5h3hIo3MD5crIDKOsetQTeywQnyC06zlpZbQU6oOerLhub2hWaTycolwxgLmcidxhoixTUm0IjbaaxP6EVvg9Myyp-HjKbU5xG3MKH7uPgmTdAeSG9TP1xHsnAmy1fpw71LGbW-FpXTIWW_lBEDRKQpGrmvPrqJ2Tx_8tylM5iLVnyg46XzaDyuRSjVaMFZOAIx9jpnVpUeGt21DyO86z6AHQ0dwvGMlGccr9pSgrwuFS075QdlJLwe4paGrLwJmKSq8N40j5XCqD2kGrjYDbBVOcLMMk0yABp78jx4sAXjm1F2q8rTFNsv-Q5wwHt4yyPWfBiXGW7esjgt2mYdUQQ6qmxsPXKcdq_9MEk-h9wDgcLDAGSz9AFaTGaLS6xLid_K6AiPZWTyGf-TL1Olk6ms1UXA6ql6RSJ3kKKbDH-F-SF6_LVEU-bu_7FZx6ZbZBhsp9ezEevdaXGH5-6YP-Jdtu-f_VJ3LkCxnoYi4lvVdpM-oAoGYE4fvWOPSY6JCDn8jppQJd_kfN-FfjNgqlZqr-iwb7CggHL_jUTbjqm5UqaKUKP04dqG-2EYgoOrMTdmqVF6uPD8nQMatpbqLyNLFCucLBY6In-mBvKMDV-WNakd2AqdMcYOcd70NaW15F_5il9PNGvfOWRaK5VMyVa--O4a1jcDKbLSjGEtmKgq791YA7cs0v0qao9I_tLJN7nBnn1jSDm5zKMaq9Udix9AFALIuSkg7vgPYAOe8yxHefQ_CaD1EYW4YF_4bvzmfAvC9yPmsoFeSRUqUY51qHv7oIowk_aeGOw4nICHwdzgF0Pbi3C92ERLzT91mUtFAyeAaPTp_hqGCvUpLssZG8-5xjygp9Jc_c2v2PAbGNo_WIdH46ZCxrN9CsPwBE6w==",
  "id": "rs_0f5e19c4e84668e3016ab45d1d6ba087d099a762382bde7011",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.2},\"note\":\"The bowl wall is thin, so the nearly closed reading alone cannot confirm this rim grasp. I’m lifting vertically to check whether the bowl and both fruits come with the gripper.\"}",
  "call_id": "call_oQMPQVQVrgQq5XRw6cns62nI",
  "id": "fc_0f5e19c4e84668e3016ab45d1e024887d0904f6819a0fd792d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oQMPQVQVrgQq5XRw6cns62nI",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8909, 0.7158, -0.625, -0.0139, -0.0338, 0.992, 0.1627, 1.6318, 1.1164, -0.0471, -0.0238, -0.0444, 0.0112]\nstate[eef_state]: left_x=0.2777 left_y=-0.0 left_z=0.1568 left_yaw=0.0026 left_pitch=-0.2273 left_roll=0.0018 left_gripper=0.992 right_x=0.48 right_y=0.0867 right_z=0.1756 right_yaw=0.1983 right_pitch=0.0058 right_roll=-0.0055 right_gripper=0.0112\nstate[joint_eff]: [-0.0342, -1.9214, 6.8171, 1.6386, -0.0611, -0.022, -0.0122, -0.1436, -10.4547, 8.7863, 1.7314, -0.0513, 0.0513, 0.398]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ed6ac6358ac997466a2eef50cb0953e99f6669fa52260bbb2931ec59b8ebc43",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fbee82ede9bc43530f37a8f63c3ac70baf1bbfa5ac1a6cf49db66d1cdd73f25",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:854fe0891beb04ff9718007ca394252049304a64fd84c2c46c73afc23d58424b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /responses · status 200 · 2.977 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 116 changed as sent

message 124 changed as sent

message 128 changed as sent

message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8848, 0.7158, -0.6106, -0.0139, -0.0338, 0.992, 0.1665, 1.9072, 1.0657, 0.2344, -0.0162, -0.0433, 0.0108]\nstate[eef_state]: left_x=0.28 left_y=-0.0001 left_z=0.1609 left_yaw=0.0025 left_pitch=-0.2067 left_roll=0.0013 left_gripper=0.992 right_x=0.5097 right_y=0.0922 right_z=0.0779 right_yaw=0.1951 right_pitch=-0.0389 right_roll=-0.0074 right_gripper=0.0108\nstate[joint_eff]: [-0.1026, -1.6068, 6.9265, 1.5556, -0.0317, -0.0269, -0.0122, -0.1573, -12.3009, 7.7607, 1.7509, 0.0122, 0.0122, 0.9011]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8864, 0.7158, -0.6178, -0.0139, -0.0338, 0.992, 0.1638, 1.906, 0.8173, 0.5503, -0.0238, -0.0368, 0.0108]\nstate[eef_state]: left_x=0.2788 left_y=-0.0001 left_z=0.1593 left_yaw=0.0025 left_pitch=-0.2155 left_roll=0.0015 left_gripper=0.992 right_x=0.4778 right_y=0.0869 right_z=0.0457 right_yaw=0.1954 right_pitch=0.0298 right_roll=0.0002 right_gripper=0.0108\nstate[joint_eff]: [-0.335, -1.6752, 6.8171, 1.536, -0.0366, -0.0366, -0.0122, -0.0889, -6.9402, 3.6444, 1.7265, 0.0073, -0.0464, 0.9402]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8909, 0.7158, -0.625, -0.0139, -0.0338, 0.992, 0.1627, 1.6318, 1.1164, -0.0471, -0.0238, -0.0444, 0.0112]\nstate[eef_state]: left_x=0.2777 left_y=-0.0 left_z=0.1568 left_yaw=0.0026 left_pitch=-0.2273 left_roll=0.0018 left_gripper=0.992 right_x=0.48 right_y=0.0867 right_z=0.1756 right_yaw=0.1983 right_pitch=0.0058 right_roll=-0.0055 right_gripper=0.0112\nstate[joint_eff]: [-0.0342, -1.9214, 6.8171, 1.6386, -0.0611, -0.022, -0.0122, -0.1436, -10.4547, 8.7863, 1.7314, -0.0513, 0.0513, 0.398]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ed6ac6358ac997466a2eef50cb0953e99f6669fa52260bbb2931ec59b8ebc43",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fbee82ede9bc43530f37a8f63c3ac70baf1bbfa5ac1a6cf49db66d1cdd73f25",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:854fe0891beb04ff9718007ca394252049304a64fd84c2c46c73afc23d58424b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF0u4TuVwhCrX_8dlxHfGhKD1p-GGWeL6FOi5CayE6SH5L8uKfPhTCPBfICy4H8ZeBc7-9bfb3ie1zUxlQQYXsC-jDxx7zeqPxImokimU8kGz-sMBGHyF_crpOR8R8qVzZti_qyBwGYeLOAM-4khAZsfYEjpWC48UdwMijEBWzlXDNxtSmIaYltCYX85aNbub4vhXu1z-lhQ_6rVhR5oTDNXJQor6mq7gdz8pLgRkOm19kXK3XGPXdK-0NtfoqgsmGEYkKC3ByoigSbhnzbeT_sXS3_kYgo7zsct2Wto-he1Ge_l-6Pe5X-D9z5ZdTKJseEUA0njmPmX1pkqiW6Vv_9hvZaghzFiA0QLM87xWFzuQ53kM2SbXgvZjq-9aoBMqZ4iikC6GpqPlldzb0u-VUkGeY0Yk3sT0sOCH3RbEXIaTAbZjyaRiCBRt4AkpfRxhZz7aYin43jZFoqLCfqZSZKy_z6bjl_Yq4gYjlxJ3SaDq-6fhJ-EVkHML1Ioo2sqgdt4whBXi3kSwLuEQsI3-PnKVE6NE0MkP0EXu7qYANcbqqvZN58ugubLbYyf7ZW2WEbZ92vAZoci-TlzRTd_qbSYjgClpI4bFZ-6hAoDEhG6v82_MG8nV0WUsAye3mIrNXo5dmxlfzT5W0IgZgRRcRmnI9XJNDhLhLOjk_Dtrun9zNb9LJVs5iEsvIT21J_ryvyVFZhXaLcjQafd5s5YfaXVgVxCSUTH_PDeSEFi40W2Xxj3oJbmUHUx9fUaasU-GN78QbodLpiWC-jiHSONQIZWZbBB2D1HNtTlq8c4E4sAnZ7tafQXlVFtnpAkuxdtol5dUfEa3AvQxgUE4DxGIz6ZvW9iHRcaLVKkOyNiEUmfZtOSXN1urT0ivugMgtfOwGB0z76Scoe8-DCCToN7SZkWK_BYPCwmpEwVYxflEHtULowodPn_BIQAyGvdKQD3yWOaoABWtVyTJMOzrURhG9sGeTdcJvSohcuumKp_2X-empPw1V8CCb9NN3ALTWLjWRpx25sGlpNzc96LQgeOrtHVrx4mRrDLFexpr0MFJViGkvgZ1cjXmK9gipjBOjkyxu3fOLaL6fC5a-wDwdwBKLKJHRtZ8_4rX24NWg6utQ-SvFAdYlR-2tHJob7idgzQqacQKXQEL0xbe_TugO8pD_a8RYs8NrNgsM6XuLOQ-etajdUhmPlyLWpwk5GhLUdTKWab2-b1c-y6oG59lsjbP9pxnxFJsQGO9k9wVgYgCpnT00r7JJ3PH82wOzsyRDtJ8tzz62G3bWAG39zE---fwgjvwvqRUrj9XtmHAuy3wHNZ6qjOxEDopZUM7Fbc16sp8SHJunCI9VusTHpyWoba-9ye14gizSW8LbSf-6JCP-FFpryezsFhWCTHS3i9tW_g8JZiOWKzbecv9iYXIOZo80P7hHGa-KzbS6UITLc-Vd9qyvvW4A_10xBt-2uynL7KL3yZgIgM_bQgforGOCHc1EnF3PNhnXykjklJjgq_Co5JUrpyJ-XRK0BTsMRl57dJt8OBrFB3vh-j7heZfhMo2NrLtTQBrTgN0vNHRk5cgCuwOBP1kkhWRguLGOAsMkJxSvSF50zoV8wEWGZYsPWdIolTseFGoy9i5mLUGTL_MSEWp-PmOqwveIuRQ5V1iR57II6Agr-gTjHERAa25B3wK4hV6IUPgJoUAU5XCcQHTvUockpZuUE9_-ni3TFtXFGXeaVj0j99YH7jniWiLZltzFUtsnG_H6LEJqAv0UMu3P3e0eGlnTnRzgsRbgratwr4l8nW7i1iZOPNMdiA-H23SxLIsdjyBSNKVIMgaL3dMD-hXcbn9lzgvZa8aYW7mVkxmNeqnpS6CcnqKLyNiwBgyqQCTuoIP2ySxwEH9proSCTmTS2Q4ByvgwPGilSscTuvzaOGkNXqZcJL6OTU2FF3Tja8K69E8aC8NY7-Ru4mwZ5-f_tMImWW66cHAOUcqo4Zfzok-mfpFuHNF0KlgQ-7I7Sv8ffwpYbMQRMoRP8_qSJNfiLNNk30NbiNNtx9REDIekraRdjjA36AkXXUz5hNeFzc3wdSFtWRIUP8H8oqhDqW4qNR0edBblSJgGBkrXEQ92PsRCXmZ4hqwlHVQ9WUiGAU-9iUVGcqbEJi9qTv7mp-qBgleAus3Wt_86jTRA3ZmPPP_e3SvdzWJvF0-1Vi3kI9kPT0O3Qp5cH5f5OB7e0PHt0VPboIw_QfgwKznowVzKNczNzynVGVfKNUkmic3I2oyv0XMcWc2WFUYK2ZwQWPHMNgSKA6UwXjMSqPRIMItIXbqcWLsN1N5NEamjC6BVYjcoe9zHCNedEhH4QyfoUS67Q3Ac1saDk1uDvhcxsQwTWgeZS5i0IvrCsiU2A9XSucS2DNXS7kJa3sQveb_FGiEVmlA85g3vtqOP5K3RB7AVjmcRGooT9dtBrLVULhJTMsOOpCvxaGjLd5bM71O4nEhSdIlVYSSbJBQNQyVBKeyAKzJOUF08FQlfM0Mp-JoSoimV1YKBI5qkO2t_J1z4WsMZI8hyxml3TS9D069sSsSs1Y-S7A4mWYWCGl3SZ9otcsQ_SO4-8ClLPBW7C1NfU7Y1BRI69WRweGCX4ri1SOjBNtm_MepJZOthVlfr_ymacrT4OSZllcJFVRrXoicU-ako6aS3qSx-l-Clagr4FuHCWjfy4xfxWc7WfRpikOvvS6rRSds0kxTZ-5LiN7MqHZ4VCICAz3dgXQZPp6wRJFhFJmJrSKIm52gL-hisO-PcJesNdIAr-tZynVY5fCDWiBaDi3tYFpJpac0rw_feHtx2KZZchj5rJA6K42p-ZPJA53KOQtv8ZS8RvB2OOrqj82n_M5YlSjmlhg5-9wGGjzEoi5wu7oUw2iiVahRJepIcWyRZ5jTUcBuHYyloz9_a8iEtWbQYq4ZCVwDLkwK4aP8t4ODNi8MImuqh-22O4Q26DnwDdgNYHKiz3iY0dckNEGkq3XxoRBuBG2FThCkqRrrl5TrBssSKmWHqDrUJyr4Homj3edapdOTDCSQ_MtC5CGDzAsXsYAH4GzjRhGPdtStF2OrHXZlBHFzMwmBoCAwRyK3fwnXXs8TxfHnuSjEtCC0JjsBMIcQ6Ne7my8AvLWbX3wy_oKFVxN2ZbQ4R7MkRAEilSC1rP8gIVZBAIrRvCjqLPEUVrfouIbzcZ8oxqLvwZfSTasqHq407Y6h84R3r7EBA==",
  "id": "rs_0f5e19c4e84668e3016ab45d218ca487d0bb889dccdf0759ed",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_y\":0.085,\"right_z\":0.035,\"right_gripper\":0.65},\"note\":\"The bowl stayed on the table, so that grasp missed its rim. The clear overhead view shows it has moved toward us; I’m repositioning at the actual right rim, farther back than before.\"}",
  "call_id": "call_i1EroG78tiLVX9vrYdduhAE8",
  "id": "fc_0f5e19c4e84668e3016ab45d28801c87d0aa5e2eb97bad2b2b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_i1EroG78tiLVX9vrYdduhAE8",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8928, 0.7158, -0.6289, -0.0139, -0.0334, 0.992, 0.1814, 1.7451, 0.6342, 0.556, -0.0158, -0.0326, 0.6469]\nstate[eef_state]: left_x=0.2771 left_y=-0.0 left_z=0.1557 left_yaw=0.0024 left_pitch=-0.233 left_roll=0.0022 left_gripper=0.992 right_x=0.4298 right_y=0.0853 right_z=0.0493 right_yaw=0.2039 right_pitch=0.0133 right_roll=0.0 right_gripper=0.6469\nstate[joint_eff]: [-0.0752, -1.894, 6.7897, 1.5311, -0.0708, -0.022, -0.0122, 0.2667, -5.053, 3.8769, 1.1209, 0.0952, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0308c54b9e974f3d6b2c27d5ab75f85b4213a22f3ecb110f4d67e2f1d4bcb861",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c720b3783159e4127fba270ed364d06ae0bba1f6b60c44f4ff4215c474105793",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd69973462ef5e0073821c230e99f5d88b2c41efd49cce62a9d7c9c00ab6d755",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /responses · status 200 · 3.316 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 120 changed as sent

message 128 changed as sent

message 132 changed as sent

message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8864, 0.7158, -0.6132, -0.0139, -0.0338, 0.992, 0.1665, 1.8187, 0.8368, 0.3977, -0.0196, -0.036, 0.6955]\nstate[eef_state]: left_x=0.2796 left_y=-0.0001 left_z=0.1601 left_yaw=0.0025 left_pitch=-0.2109 left_roll=0.0014 left_gripper=0.992 right_x=0.4689 right_y=0.086 right_z=0.0616 right_yaw=0.1941 right_pitch=-0.016 right_roll=-0.0001 right_gripper=0.6955\nstate[joint_eff]: [-0.212, -1.7026, 6.8171, 1.5653, -0.0757, -0.0317, -0.0073, -0.0205, -9.0325, 4.8752, 1.5263, 0.0415, -0.0757, -0.1245]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8909, 0.7158, -0.625, -0.0139, -0.0338, 0.992, 0.1627, 1.6318, 1.1164, -0.0471, -0.0238, -0.0444, 0.0112]\nstate[eef_state]: left_x=0.2777 left_y=-0.0 left_z=0.1568 left_yaw=0.0026 left_pitch=-0.2273 left_roll=0.0018 left_gripper=0.992 right_x=0.48 right_y=0.0867 right_z=0.1756 right_yaw=0.1983 right_pitch=0.0058 right_roll=-0.0055 right_gripper=0.0112\nstate[joint_eff]: [-0.0342, -1.9214, 6.8171, 1.6386, -0.0611, -0.022, -0.0122, -0.1436, -10.4547, 8.7863, 1.7314, -0.0513, 0.0513, 0.398]\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 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8928, 0.7158, -0.6289, -0.0139, -0.0334, 0.992, 0.1814, 1.7451, 0.6342, 0.556, -0.0158, -0.0326, 0.6469]\nstate[eef_state]: left_x=0.2771 left_y=-0.0 left_z=0.1557 left_yaw=0.0024 left_pitch=-0.233 left_roll=0.0022 left_gripper=0.992 right_x=0.4298 right_y=0.0853 right_z=0.0493 right_yaw=0.2039 right_pitch=0.0133 right_roll=0.0 right_gripper=0.6469\nstate[joint_eff]: [-0.0752, -1.894, 6.7897, 1.5311, -0.0708, -0.022, -0.0122, 0.2667, -5.053, 3.8769, 1.1209, 0.0952, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0308c54b9e974f3d6b2c27d5ab75f85b4213a22f3ecb110f4d67e2f1d4bcb861",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c720b3783159e4127fba270ed364d06ae0bba1f6b60c44f4ff4215c474105793",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd69973462ef5e0073821c230e99f5d88b2c41efd49cce62a9d7c9c00ab6d755",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF0y6jf_1YjJTf3KnbPMqsMtOe4DCOpooGpXyDdDwWBSL068uWC0YnEKtMmj94JqA8_lLqelPBBo0F6ZwhPbZLSBPTW4d5o9IwtI9ihyJQbzhQ0N12J0xz_IVjcP_MN24lvsX5Ik29sDzz63xopSzhOftSCq-6hffQsV-w5lmx-LT1ke7oCeAbs947Nh8_7jJIp-brBP_9LuFrPtoBHg8BaMOZHTZzGnsxYnndp--F_FgbF9tg6KaYJzU8SolnHvQV1HoutxKFvvtXppq0wwoCQNaOEyS90rCh4_2KTps9Qsh96aT2Y3xQQULMAJ_m191ip3bW6RkT6xgRniWaQmWxDIKME41xnFQy4R38WSWVBzAf1uoLnk5hIjgKpgkjKToNrQb9f2gGGZJ4HJtotub8miP0Nnhygy9TtXpvWpc2JCibH__RlVaMkxvR4h9fEnXI47M7wWtCajy5BcoYqbCMOz3RJpI_qf-_JaV7_h_dpj2gxq1yZLAaL4MNC8o9_kPoVe6uCLHhz66RwiFk2oZSvEpXnTlgUyUFCYlYP0Uyh_RSFznpu5D5N1f1kqavCGgpD_iGLBXyUpGBPbT9edcC8rYUksdrbx54bBS1zNks_GbX-CWneSt8WFlAoVAosX2flHrmC-gYBv3Cz1MvOj2bquQh-5KycxmzBD3nxhBtlbATyW5GogcReU1t7HOkB8K_4BrFukCz5NVbz71rmkdoGHjSQHaoRGv_95wtE6SkJV0qwt37KXvSkdqAJQQUNix9vs3dohFaOwO9F146tr8ODNj9E8BXjyQ0sr62cs3Q_elHDhtePz0S_qt4oUbeu6w0ups25shqG0aI9wwddD3ohQsoFAH6PpFknTH_oDIDnUS6ACn1FzamyHlMmgDhvIYDdq5g5Q4VOqF_OVRjJwjMslhOpM__JiF2NDU0705tlLzVAzko0fVpXcYYpP_HVNJxNzkZgRYkmYOG6yVGo1D30aaCAQRQIWn0w9mcysIRWRHoooWNAx0IumtCUGJN19TdHtttA5XjcKPNlOaLPuWUpa6JcZP_ATuQc7-HFJWn8Jche16MLg9HyNllD6E46ook2O64TbVq-bQxLn57PhoaZ7Ghs7AVUyK_7hsdURhAI2kYZ5cAOE8jmQusGlo7yyjHNeujuepUASswhNd7ZnlbMod9eiXje4FSompF3JFN0OxCR_rqFuMDyFAFCjgmK2ttb0pN1k66ta3qO14uxJMI6lndlye60_7DVNn_LFBAoOfmt_z6RdJnzzs7lIlgnsE6mEtkvxfH4BmSIujXvaySumrQ==",
  "id": "rs_0f5e19c4e84668e3016ab45d31761487d0aa746349736f89f9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The wrist view now shows the bowl’s right wall directly between the fingertips. I’m closing to secure that wall for lifting.\"}",
  "call_id": "call_x62wHP1touUYrIhxjJFVpDRu",
  "id": "fc_0f5e19c4e84668e3016ab45d32082c87d0a55131625f16ae62",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_x62wHP1touUYrIhxjJFVpDRu",
  "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]: [-0.0219, 0.8928, 0.7158, -0.6323, -0.0135, -0.0338, 0.992, 0.1814, 1.7515, 0.625, 0.6014, -0.028, -0.0364, 0.011]\nstate[eef_state]: left_x=0.2765 left_y=-0.0001 left_z=0.1551 left_yaw=0.0023 left_pitch=-0.2365 left_roll=0.0017 left_gripper=0.992 right_x=0.4318 right_y=0.0879 right_z=0.0528 right_yaw=0.2163 right_pitch=0.0433 right_roll=0.0022 right_gripper=0.011\nstate[joint_eff]: [-0.2256, -1.7299, 6.9675, 1.5311, -0.0269, -0.0317, -0.0122, 0.0479, -7.9932, 5.8872, 1.3162, 0.105, 0.0464, 0.9353]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73bbcf6bfecfb0ea116be6e3b48ce858beca032c4c5585307ff92b58fa6ecf64",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:608a40ae8f558968c5e581a4581e78765b357517b04178548a614503c9c95ce8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8f3ad1740c21ac08446dedd9a5fe1a8a928532c8a50ee5de21d0a085fd20ca1",
      "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 · 6.806 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 124 changed as sent

message 132 changed as sent

message 136 changed as sent

message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8864, 0.7158, -0.6178, -0.0139, -0.0338, 0.992, 0.1638, 1.906, 0.8173, 0.5503, -0.0238, -0.0368, 0.0108]\nstate[eef_state]: left_x=0.2788 left_y=-0.0001 left_z=0.1593 left_yaw=0.0025 left_pitch=-0.2155 left_roll=0.0015 left_gripper=0.992 right_x=0.4778 right_y=0.0869 right_z=0.0457 right_yaw=0.1954 right_pitch=0.0298 right_roll=0.0002 right_gripper=0.0108\nstate[joint_eff]: [-0.335, -1.6752, 6.8171, 1.536, -0.0366, -0.0366, -0.0122, -0.0889, -6.9402, 3.6444, 1.7265, 0.0073, -0.0464, 0.9402]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8928, 0.7158, -0.6289, -0.0139, -0.0334, 0.992, 0.1814, 1.7451, 0.6342, 0.556, -0.0158, -0.0326, 0.6469]\nstate[eef_state]: left_x=0.2771 left_y=-0.0 left_z=0.1557 left_yaw=0.0024 left_pitch=-0.233 left_roll=0.0022 left_gripper=0.992 right_x=0.4298 right_y=0.0853 right_z=0.0493 right_yaw=0.2039 right_pitch=0.0133 right_roll=0.0 right_gripper=0.6469\nstate[joint_eff]: [-0.0752, -1.894, 6.7897, 1.5311, -0.0708, -0.022, -0.0122, 0.2667, -5.053, 3.8769, 1.1209, 0.0952, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8928, 0.7158, -0.6323, -0.0135, -0.0338, 0.992, 0.1814, 1.7515, 0.625, 0.6014, -0.028, -0.0364, 0.011]\nstate[eef_state]: left_x=0.2765 left_y=-0.0001 left_z=0.1551 left_yaw=0.0023 left_pitch=-0.2365 left_roll=0.0017 left_gripper=0.992 right_x=0.4318 right_y=0.0879 right_z=0.0528 right_yaw=0.2163 right_pitch=0.0433 right_roll=0.0022 right_gripper=0.011\nstate[joint_eff]: [-0.2256, -1.7299, 6.9675, 1.5311, -0.0269, -0.0317, -0.0122, 0.0479, -7.9932, 5.8872, 1.3162, 0.105, 0.0464, 0.9353]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73bbcf6bfecfb0ea116be6e3b48ce858beca032c4c5585307ff92b58fa6ecf64",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:608a40ae8f558968c5e581a4581e78765b357517b04178548a614503c9c95ce8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8f3ad1740c21ac08446dedd9a5fe1a8a928532c8a50ee5de21d0a085fd20ca1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF02IbcwEnVW2FGgnu46r2lbXNofFee2UGMwFTlM8dplGVxuiBgjOry8NamZqgKsdTMVjk-ZcSj9rIK74hN6AoEbMnd4mU6_H6XCzk34YyMSCyWkgP5ZucKvKIsYAR2if18eJc7Dzz2lhPtojenXNQ8TxQZcFeLheSa8Krjzix9kXT6BQnLDPKOAWuUE5r4iKpG8v162CU7QDL4rt8umfuG5LH0PQOjvm92HrlF6AfHXBhftnKF9GLVmm0-qf-RFaHNpTFfvik56C_g8R47au8xsjKHoTsvAke_jeOOBtXkrUIJ_rPKZ9jClDTsw0AySRA0_lY0MGTl5lsz-MrO5_08Yy989goV_taq7NazZqW1ytGcxIznvuL4tiquAOIoLXBpOAjEiVbWXIUIN3DdvOTLsyor4nXptOaMddme8gIejra5JUCx98tb5tr0-MgPMzu-6sdB9n8hln7wqgEN2PabpyQciQG07FljSHDNfsmJqOGj6dCl0CTZiidRnVjUdYOqB_iGk8xESFzOCkdr9HTha7rb6mFZoCco80Ra2rs8i9c5TNLYzI1fWMB2XImEyicXp2ww8nAkwV47UJzKdKV-2BRR1wsJLLdJnMlw7A7HiWBxOVnOZ3ZPmM-neKxuzawl_4Yq9flhPjuhYo97MkdNABfPbstLewKajP6p51tvKhX1XfhEhmVzJPSl4as_G_LoprAWuIiqRdvVs-nzJXKtyBUOEl-C2b6w9s2hPvt2QZcjGicQY4bCJcie5DXyTZ-_f7ZgkFX-8FqqNxaxaV46sz-1YVq23qJSih0jr5BSr_aKNi5u53RfRrp4iPfnx9HDebkzPaaPuz4O_75nFc-7xyqITi0ycvKdWiUNpVNqlb1x2RRIB4bsRjMBX5mxYQVgYYHSVxHc1Qj6QhvFSiBa8epvru463WPvquBVlzNUIvIvrOfLLnN3qtFhnoMYQTOvyK-fWLvNPKT6k4Avan5Gf3zEPrJBvzfZslpd-_s5NlUVXD0i7aXmZERkW2-Yuq1qkzyB9yS7I3dQnW45AXVlM6rp10LVtLFXEdjnvz2SOd-6Yptkm4yx26as2AZiSRINafEC4VDKED-rTXvN1tfjkLqBn3v2cQOka52i_Nl1WetuClh9fjUQtbZ98LAd2O4W3flidoUdv7EMBmYcx2UYC1v1Sd02Qu3qbO5vyx4pYxwF79fMV80mlSAuKh32wwUlTQ4Mfkay0nBKhHEBU7uV5apbk9U10bcM_ynRB-1sG4AjQ4WUeGTlAB8v7OI6fffUrrT4HTrqw8o-ZnX8STSxUheZkIH5XBxMmorlPXI4pe5xz2sEm0ur-uCPiZqYZj1qe",
  "id": "rs_0f5e19c4e84668e3016ab45d35698487d087ead436119732dc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.22},\"note\":\"The bowl shifted slightly as the fingers closed on its edge. I’m lifting straight up to verify the rim is captured before carrying it.\"}",
  "call_id": "call_cLk3WGQbsZTmfyR2cRMaFZqU",
  "id": "fc_0f5e19c4e84668e3016ab45d35f4d887d0aaebb05f8e4b9cb4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cLk3WGQbsZTmfyR2cRMaFZqU",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.897, 0.7158, -0.6361, -0.0135, -0.0338, 0.992, 0.1814, 1.4307, 1.0054, -0.1127, -0.0319, -0.0422, 0.0128]\nstate[eef_state]: left_x=0.276 left_y=-0.0001 left_z=0.1534 left_yaw=0.0024 left_pitch=-0.2445 left_roll=0.0019 left_gripper=0.992 right_x=0.4341 right_y=0.089 right_z=0.2007 right_yaw=0.2225 right_pitch=0.0304 right_roll=-0.0003 right_gripper=0.0128\nstate[joint_eff]: [-0.1573, -2.0855, 6.7897, 1.5116, -0.0562, -0.022, -0.0122, -0.3761, -7.9795, 9.0598, 1.8046, -0.0317, 0.0024, 0.4371]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7eef01c956016c44b629c17942e735673953a0ac2fb1703019470356a9c3ca00",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9edbf735b0ee582184ec0d0b6dbb17e33084b7ee206c5e2e19e1d2abe2e70b7c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b181e15d32f8f8a3262f53369b57d2d72bbc7190522e2b1ea88b2e7729d87b1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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