adhoc

completed
2026-09-24T00:28:10.964603+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (77 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
277.7 s
total steps
405
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteI see three fruits beside the bowls: a green fruit nearest the right gripper, a yellow fruit, and a dark fruit near the middle. I’m positioning the right gripper above the green fruit first.
move_to
right_x0.3000right_y0.0350right_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]: [-0.0284, 0.8001, 0.6144, -0.3824, -0.0288, -0.0086, 0.9908, -0.028, 0.8005, 0.6197, -0.387, -0.0166, -0.0334, 0.9994] state[eef_state]: left_x=0.2961 left_y=0.0003 left_z=0.1826 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9908 right_x=0.2962 right_y=-0.0018 right_z=0.1839 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9994 state[joint_eff]: [0.2803, -1.7846, 9.6889, 1.8242, 0.0513, -0.0904, -0.525, 0.2256, -1.7709, 9.1829, 1.8632, -0.0855, 0.1538, -0.0757] 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":0.3,"right_y":0.035,"right_z":0.10,"right_gripper":1},"note":"I see three fruits beside the bowls: a green fruit nearest the right gripper, a yellow fruit, and a dark fruit near the middle. I’m positioning the right gripper above the green fruit first."})
tool
executing move_to over 6 steps (0.6s)
step 6
top_cam
camera top_cam step 6
left_cam
camera left_cam step 6
right_cam
camera right_cam step 6
assistant
agent noteThe green fruit is visible just right of the jaw centreline. I’m shifting slightly right and lowering the open jaws around its middle.
move_to
right_x0.3150right_y0.0150right_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0288, 0.8021, 0.614, -0.3901, -0.0292, -0.0082, 0.9902, 0.2131, 0.9276, 0.3191, -0.0078, 0.1715, 0.0719, 0.9994] state[eef_state]: left_x=0.2952 left_y=0.0002 left_z=0.1803 left_yaw=-0.0003 left_pitch=-0.0099 left_roll=0.0008 left_gripper=0.9902 right_x=0.2953 right_y=0.0367 right_z=0.0915 right_yaw=0.0264 right_pitch=-0.0385 right_roll=-0.0205 right_gripper=0.9994 state[joint_eff]: [-0.1162, -1.1282, 7.1043, 1.8339, -0.0464, -0.0073, -0.0708, -0.4034, -2.2085, 6.8308, 1.9707, 0.1538, 0.1978, -0.0757] camera 'top_cam' (step 6): [image omitted: streamed camera frame] camera 'left_cam' (step 6): [image omitted: streamed camera frame] camera 'right_cam' (step 6): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.315,"right_y":0.015,"right_z":0.025},"note":"The green fruit is visible just right of the jaw centreline. I’m shifting slightly right and lowering the open jaws around its middle."})
tool
executing move_to over 5 steps (0.5s)
step 11
top_cam
camera top_cam step 11
left_cam
camera left_cam step 11
right_cam
camera right_cam step 11
assistant
agent noteThe open fingers now straddle the green fruit at table level. I’m closing the gripper to secure it before a short test lift.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0288, 0.8066, 0.614, -0.4011, -0.0292, -0.0082, 0.9901, 0.0631, 1.3705, 0.1745, 0.5522, 0.0475, -0.0116, 0.9994] state[eef_state]: left_x=0.294 left_y=0.0003 left_z=0.1767 left_yaw=-0.0003 left_pitch=-0.0255 left_roll=0.0013 left_gripper=0.9901 right_x=0.31 right_y=0.0148 right_z=0.0169 right_yaw=0.0257 right_pitch=-0.0754 right_roll=-0.0188 right_gripper=0.9994 state[joint_eff]: [-0.1983, -1.6889, 7.0359, 1.8535, -0.0366, -0.0513, -0.0269, -0.1026, -4.2051, 4.9709, 1.9121, -0.0073, -0.0855, -0.022] camera 'top_cam' (step 11): [image omitted: streamed camera frame] camera 'left_cam' (step 11): [image omitted: streamed camera frame] camera 'right_cam' (step 11): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The open fingers now straddle the green fruit at table level. I’m closing the gripper to secure it before a short test lift."})
tool
executing move_to over 10 steps (1.0s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent noteThe gripper has stopped at a fruit-sized opening rather than closing empty. I’m lifting a few centimetres to check that the green fruit comes with it.
move_to
right_z0.0850
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]: [-0.0288, 0.807, 0.614, -0.4084, -0.0292, -0.0082, 0.9901, 0.0631, 1.3708, 0.1745, 0.5503, 0.0475, -0.0154, 0.7128] state[eef_state]: left_x=0.293 left_y=0.0003 left_z=0.1752 left_yaw=-0.0002 left_pitch=-0.0332 left_roll=0.0015 left_gripper=0.9901 right_x=0.3097 right_y=0.0148 right_z=0.0164 right_yaw=0.0277 right_pitch=-0.0778 right_roll=-0.0219 right_gripper=0.7128 state[joint_eff]: [-0.1709, -1.2786, 6.9949, 1.8046, -0.0317, -0.0269, -0.0171, -0.0068, -3.5624, 4.9299, 1.663, -0.0073, 0.0073, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.085},"note":"The gripper has stopped at a fruit-sized opening rather than closing empty. I’m lifting a few centimetres to check that the green fruit comes with it."})
tool
executing move_to over 5 steps (0.5s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
agent noteThe green fruit moved with the gripper during the lift. I’m carrying it above the blue bowl with clearance over the rim.
move_to
right_x0.4150right_y0.0900right_z0.1900
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0288, 0.8078, 0.614, -0.4187, -0.0292, -0.0082, 0.9901, 0.0631, 1.0393, 0.3305, 0.0341, 0.0475, -0.0189, 0.7122] state[eef_state]: left_x=0.2916 left_y=0.0003 left_z=0.1729 left_yaw=-0.0002 left_pitch=-0.0442 left_roll=0.0018 left_gripper=0.9901 right_x=0.3036 right_y=0.0144 right_z=0.0718 right_yaw=0.0295 right_pitch=-0.1065 right_roll=-0.0256 right_gripper=0.7122 state[joint_eff]: [-0.0752, -1.388, 6.9949, 1.8388, -0.0171, -0.0317, -0.0122, -0.1573, -2.8376, 8.5265, 1.7753, -0.0171, 0.0171, 1.033] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.415,"right_y":0.09,"right_z":0.19},"note":"The green fruit moved with the gripper during the lift. I’m carrying it above the blue bowl with clearance over the rim."})
tool
executing move_to over 9 steps (0.9s)
step 35
top_cam
camera top_cam step 35
left_cam
camera left_cam step 35
right_cam
camera right_cam step 35
assistant
agent noteThe fruit is above the blue bowl’s opening. I’m lowering it closer to the rim so it will settle into the bowl with a short drop.
move_to
right_z0.1250
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0288, 0.8124, 0.614, -0.424, -0.0292, -0.0082, 0.9901, 0.3023, 1.4536, 1.063, -0.3546, 0.21, 0.1036, 0.7128] state[eef_state]: left_x=0.2911 left_y=0.0004 left_z=0.1706 left_yaw=-0.0002 left_pitch=-0.0541 left_roll=0.0021 left_gripper=0.9901 right_x=0.4081 right_y=0.0925 right_z=0.1718 right_yaw=0.0635 right_pitch=-0.1586 right_roll=-0.0466 right_gripper=0.7128 state[joint_eff]: [-0.212, -1.4974, 6.9812, 1.7509, -0.0464, -0.022, -0.0171, -0.0205, -7.2821, 9.0051, 1.7949, 0.2564, 0.1734, 0.9451] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.125},"note":"The fruit is above the blue bowl’s opening. I’m lowering it closer to the rim so it will settle into the bowl with a short drop."})
tool
executing move_to over 4 steps (0.4s)
step 39
top_cam
camera top_cam step 39
left_cam
camera left_cam step 39
right_cam
camera right_cam step 39
assistant
agent noteThe blue rim is visible around the green fruit below the gripper. I’m releasing the fruit into the bowl.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0288, 0.8124, 0.614, -0.4244, -0.0292, -0.0082, 0.9901, 0.3031, 1.504, 0.91, -0.2016, 0.2054, 0.1013, 0.714] state[eef_state]: left_x=0.2911 left_y=0.0004 left_z=0.1705 left_yaw=-0.0002 left_pitch=-0.0545 left_roll=0.0021 left_gripper=0.9901 right_x=0.4002 right_y=0.0911 right_z=0.1146 right_yaw=0.0671 right_pitch=-0.2084 right_roll=-0.0572 right_gripper=0.714 state[joint_eff]: [-0.1846, -1.0462, 7.1043, 1.6825, -0.0513, -0.0317, -0.0171, -0.1162, -6.9812, 7.0359, 1.9756, 0.0659, -0.0269, 0.8132] camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The blue rim is visible around the green fruit below the gripper. I’m releasing the fruit into the bowl."})
tool
executing move_to over 3 steps (0.3s)
step 42
top_cam
camera top_cam step 42
left_cam
camera left_cam step 42
right_cam
camera right_cam step 42
assistant
agent noteThe green fruit has settled inside the blue bowl. I’m moving above the yellow fruit next and restoring the idle left arm to its parked height.
move_to
right_x0.3350right_y0.1550right_z0.1500left_x0.2960left_y0.0000left_z0.1850
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0288, 0.8127, 0.614, -0.4248, -0.0292, -0.0082, 0.9901, 0.3027, 1.504, 0.91, -0.207, 0.2054, 0.0944, 0.9953] state[eef_state]: left_x=0.291 left_y=0.0004 left_z=0.1703 left_yaw=-0.0002 left_pitch=-0.0553 left_roll=0.0021 left_gripper=0.9901 right_x=0.3993 right_y=0.0907 right_z=0.1137 right_yaw=0.0703 right_pitch=-0.2139 right_roll=-0.0635 right_gripper=0.9953 state[joint_eff]: [-0.0205, -1.0325, 6.9949, 1.6728, -0.0366, -0.0317, -0.0122, -0.0342, -6.653, 6.5846, 1.5702, 0.0611, 0.1245, 0.1294] camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.335,"right_y":0.155,"right_z":0.15,"left_x":0.296,"left_y":0,"left_z":0.185},"note":"The green fruit has settled inside the blue bowl. I’m moving above the yellow fruit next and restoring the idle left arm to its parked height."})
tool
executing move_to over 6 steps (0.6s)
step 48
top_cam
camera top_cam step 48
left_cam
camera left_cam step 48
right_cam
camera right_cam step 48
assistant
agent noteThe yellow fruit is slightly left of the jaw centreline and still forward of the fingertips. I’m aligning over it and lowering to grasp its sides.
move_to
right_x0.3550right_y0.1670right_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0288, 0.8452, 0.6464, -0.4759, -0.0296, -0.0086, 0.9901, 0.6189, 1.3876, 0.9321, -0.4732, 0.4, 0.326, 0.9964] state[eef_state]: left_x=0.2897 left_y=0.0005 left_z=0.166 left_yaw=0.0004 left_pitch=-0.1064 left_roll=0.0035 left_gripper=0.9901 right_x=0.3292 right_y=0.1545 right_z=0.1314 right_yaw=0.0862 right_pitch=-0.2658 right_roll=-0.0892 right_gripper=0.9964 state[joint_eff]: [-0.1299, -1.7709, 9.6889, 1.7998, -0.0708, -0.0659, -0.0171, -0.0889, -7.2274, 8.4718, 1.3748, 0.2857, 0.0952, 0.0952] camera 'top_cam' (step 48): [image omitted: streamed camera frame] camera 'left_cam' (step 48): [image omitted: streamed camera frame] camera 'right_cam' (step 48): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.355,"right_y":0.167,"right_z":0.025},"note":"The yellow fruit is slightly left of the jaw centreline and still forward of the fingertips. I’m aligning over it and lowering to grasp its sides."})
tool
executing move_to over 7 steps (0.7s)
step 55
top_cam
camera top_cam step 55
left_cam
camera left_cam step 55
right_cam
camera right_cam step 55
assistant
agent noteThe yellow fruit is centred between the lowered fingers. I’m closing around 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]: [-0.0288, 0.8471, 0.646, -0.4877, -0.0292, -0.0082, 0.9901, 0.6048, 1.6966, 0.7723, -0.0109, 0.3889, 0.3038, 0.9965] state[eef_state]: left_x=0.2879 left_y=0.0005 left_z=0.1631 left_yaw=-0.0001 left_pitch=-0.1205 left_roll=0.004 left_gripper=0.9901 right_x=0.3546 right_y=0.1681 right_z=0.0267 right_yaw=0.0922 right_pitch=-0.2772 right_roll=-0.0999 right_gripper=0.9965 state[joint_eff]: [-0.1983, -1.347, 6.9812, 1.7802, -0.0464, -0.0464, -0.0171, -0.294, -7.2274, 4.3009, 1.5263, 0.1441, 0.0562, -0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 55): [image omitted: streamed camera frame] camera 'left_cam' (step 55): [image omitted: streamed camera frame] camera 'right_cam' (step 55): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The yellow fruit is centred between the lowered fingers. I’m closing around it."})
tool
executing move_to over 10 steps (1.0s)
step 65
top_cam
camera top_cam step 65
left_cam
camera left_cam step 65
right_cam
camera right_cam step 65
assistant
agent noteThe gripper closed empty, and the yellow fruit slipped toward the front of the table. I’m opening, moving back over its new position, and straightening the tool for a second attempt.
move_to
right_x0.3200right_y0.1730right_z0.0550right_pitch0.0000right_roll0.0000right_yaw0.0000right_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]: [-0.0288, 0.8471, 0.646, -0.4919, -0.0292, -0.0082, 0.9901, 0.6018, 1.6932, 0.7689, -0.004, 0.3965, 0.292, 0.0206] state[eef_state]: left_x=0.2872 left_y=0.0005 left_z=0.1623 left_yaw=-0.0 left_pitch=-0.1247 left_roll=0.0041 left_gripper=0.9901 right_x=0.3559 right_y=0.166 right_z=0.0282 right_yaw=0.0906 right_pitch=-0.2689 right_roll=-0.1102 right_gripper=0.0206 state[joint_eff]: [-0.2803, -1.3197, 7.0632, 1.6923, -0.0659, -0.0269, -0.0171, -0.1299, -6.9265, 5.8735, 1.2381, 0.1099, 0.1343, 0.9988] camera 'top_cam' (step 65): [image omitted: streamed camera frame] camera 'left_cam' (step 65): [image omitted: streamed camera frame] camera 'right_cam' (step 65): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.32,"right_y":0.173,"right_z":0.055,"right_pitch":0,"right_roll":0,"right_yaw":0,"right_gripper":1},"note":"The gripper closed empty, and the yellow fruit slipped toward the front of the table. I’m opening, moving back over its new position, and straightening the tool for a second attempt."})
tool
executing move_to over 10 steps (1.0s)
step 75
top_cam
camera top_cam step 75
left_cam
camera left_cam step 75
right_cam
camera right_cam step 75
assistant
agent noteThe yellow fruit is now beneath the gripper rather than ahead of it. I’m lowering the fingertips to table level before closing again.
move_to
right_z0.0100right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0288, 0.8474, 0.646, -0.4942, -0.0292, -0.0082, 0.9901, 0.7765, 1.5696, 0.524, 0.2646, 0.6151, 0.4538, 0.9985] state[eef_state]: left_x=0.2869 left_y=0.0005 left_z=0.1617 left_yaw=-0.0 left_pitch=-0.1274 left_roll=0.0042 left_gripper=0.9901 right_x=0.3163 right_y=0.1728 right_z=0.0433 right_yaw=0.0255 right_pitch=-0.0456 right_roll=-0.0347 right_gripper=0.9985 state[joint_eff]: [-0.1846, -1.347, 6.9265, 1.6581, -0.0464, -0.0757, -0.0171, 0.335, -7.2547, 5.053, 1.6239, 0.442, 0.1099, -0.1685] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 75): [image omitted: streamed camera frame] camera 'left_cam' (step 75): [image omitted: streamed camera frame] camera 'right_cam' (step 75): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.01,"right_pitch":0,"right_roll":0,"right_yaw":0},"note":"The yellow fruit is now beneath the gripper rather than ahead of it. I’m lowering the fingertips to table level before closing again."})
tool
executing move_to over 3 steps (0.3s)
step 78
top_cam
camera top_cam step 78
left_cam
camera left_cam step 78
right_cam
camera right_cam step 78
assistant
agent noteThe descent stopped at light contact, with the fruit obscured beneath the gripper. I’m closing once more and will check the opening before lifting.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0288, 0.8528, 0.646, -0.4973, -0.0292, -0.0082, 0.9901, 0.7872, 1.7168, 0.4717, 0.5518, 0.6586, 0.4564, 0.9986] state[eef_state]: left_x=0.2867 left_y=0.0005 left_z=0.1597 left_yaw=-0.0 left_pitch=-0.1357 left_roll=0.0044 left_gripper=0.9901 right_x=0.3247 right_y=0.1778 right_z=0.0263 right_yaw=0.0027 right_pitch=0.0379 right_roll=0.0074 right_gripper=0.9986 state[joint_eff]: [-0.1846, -1.5248, 6.9675, 1.663, -0.0757, -0.0317, -0.0171, 0.0752, -4.0274, 2.5094, 1.1404, 0.1001, 0.188, -0.0073] camera 'top_cam' (step 78): [image omitted: streamed camera frame] camera 'left_cam' (step 78): [image omitted: streamed camera frame] camera 'right_cam' (step 78): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The descent stopped at light contact, with the fruit obscured beneath the gripper. I’m closing once more and will check the opening before lifting."})
tool
executing move_to over 10 steps (1.0s)
step 88
top_cam
camera top_cam step 88
left_cam
camera left_cam step 88
right_cam
camera right_cam step 88
assistant
agent noteThe fingers stopped with a small but nonempty gap, consistent with gripping the narrow part of the yellow fruit. I’m making a short lift to verify it is secure.
move_to
right_z0.1000right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0288, 0.8528, 0.646, -0.4984, -0.0292, -0.0082, 0.9901, 0.7883, 1.7245, 0.4648, 0.601, 0.6655, 0.4637, 0.1025] state[eef_state]: left_x=0.2865 left_y=0.0005 left_z=0.1595 left_yaw=0.0 left_pitch=-0.1369 left_roll=0.0045 left_gripper=0.9901 right_x=0.3272 right_y=0.1795 right_z=0.0302 right_yaw=-0.0066 right_pitch=0.0654 right_roll=0.0354 right_gripper=0.1025 state[joint_eff]: [-0.0342, -1.5385, 7.1043, 1.6337, -0.0611, -0.0757, -0.0171, 0.0889, -4.7795, 2.9744, 1.116, -0.022, 0.1832, 1.0281] camera 'top_cam' (step 88): [image omitted: streamed camera frame] camera 'left_cam' (step 88): [image omitted: streamed camera frame] camera 'right_cam' (step 88): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.1,"right_pitch":0,"right_roll":0,"right_yaw":0},"note":"The fingers stopped with a small but nonempty gap, consistent with gripping the narrow part of the yellow fruit. I’m making a short lift to verify it is secure."})
tool
executing move_to over 5 steps (0.5s)
step 93
top_cam
camera top_cam step 93
left_cam
camera left_cam step 93
right_cam
camera right_cam step 93
assistant
agent noteThe yellow fruit appears to be hanging from the gripper, and the blue bowl has shifted slightly toward the table’s front. I’m moving above the bowl’s updated position.
move_to
right_x0.3850right_y0.1300right_z0.1900right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0288, 0.8532, 0.646, -0.4984, -0.0292, -0.0082, 0.9901, 0.7815, 1.4742, 0.6197, 0.1673, 0.6312, 0.4637, 0.1033] state[eef_state]: left_x=0.2865 left_y=0.0005 left_z=0.1594 left_yaw=0.0 left_pitch=-0.1373 left_roll=0.0045 left_gripper=0.9901 right_x=0.3301 right_y=0.1858 right_z=0.0946 right_yaw=0.0136 right_pitch=0.03 right_roll=0.0304 right_gripper=0.1033 state[joint_eff]: [-0.0615, -1.5932, 7.1043, 1.6337, -0.0513, -0.0513, -0.0122, -0.4444, -6.6803, 7.4462, 1.536, 0.2808, 0.0269, 0.0806] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 93): [image omitted: streamed camera frame] camera 'left_cam' (step 93): [image omitted: streamed camera frame] camera 'right_cam' (step 93): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.385,"right_y":0.13,"right_z":0.19,"right_pitch":0,"right_roll":0,"right_yaw":0},"note":"The yellow fruit appears to be hanging from the gripper, and the blue bowl has shifted slightly toward the table’s front. I’m moving above the bowl’s updated position."})
tool
executing move_to over 7 steps (0.7s)
step 100
top_cam
camera top_cam step 100
left_cam
camera left_cam step 100
right_cam
camera right_cam step 100
assistant
agent noteFrom the clearer overhead view, the yellow fruit is still on the table, so that pickup was not successful. I’m opening above the blue bowl to leave any caught fruit or rim safely there before realigning.
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]: [-0.0288, 0.8581, 0.646, -0.5034, -0.0292, -0.0078, 0.9901, 0.5087, 1.3819, 0.9016, -0.1791, 0.4374, 0.2943, 0.1042] state[eef_state]: left_x=0.2859 left_y=0.0005 left_z=0.1572 left_yaw=-0.0002 left_pitch=-0.1472 left_roll=0.0051 left_gripper=0.9901 right_x=0.3818 right_y=0.1313 right_z=0.1705 right_yaw=-0.0168 right_pitch=-0.0206 right_roll=0.0003 right_gripper=0.1042 state[joint_eff]: [-0.0752, -1.9761, 7.3641, 1.6825, -0.0464, -0.0122, -0.0122, -0.1573, -7.2957, 8.7043, 1.7607, 0.188, -0.0952, 0.0757] camera 'top_cam' (step 100): [image omitted: streamed camera frame] camera 'left_cam' (step 100): [image omitted: streamed camera frame] camera 'right_cam' (step 100): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"From the clearer overhead view, the yellow fruit is still on the table, so that pickup was not successful. I’m opening above the blue bowl to leave any caught fruit or rim safely there before realigning."})
tool
executing move_to over 9 steps (0.9s)
step 109
top_cam
camera top_cam step 109
left_cam
camera left_cam step 109
right_cam
camera right_cam step 109
assistant
agent noteThe blue bowl is now left of the fruits, and the green fruit is visible on the table in the right wrist camera. I’m approaching the green fruit with the right arm and the dark fruit with the left, keeping the grippers well separated.
move_to
right_x0.3900right_y0.0500right_z0.0650right_pitch0.0000right_roll0.0000right_yaw0.0000left_x0.3000left_y-0.2900left_z0.0900left_pitch0.0000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0288, 0.8627, 0.646, -0.5129, -0.0292, -0.0082, 0.9901, 0.5087, 1.3804, 0.9039, -0.2039, 0.4221, 0.2798, 0.9955] state[eef_state]: left_x=0.2846 left_y=0.0005 left_z=0.1542 left_yaw=0.0001 left_pitch=-0.1613 left_roll=0.0052 left_gripper=0.9901 right_x=0.3786 right_y=0.1324 right_z=0.1669 right_yaw=0.0029 right_pitch=-0.0437 right_roll=-0.0138 right_gripper=0.9955 state[joint_eff]: [-0.212, -1.6068, 7.0769, 1.7216, -0.0415, -0.0415, -0.0171, -0.0342, -5.6684, 6.8034, 1.7851, 0.2027, 0.0757, -0.0708] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 109): [image omitted: streamed camera frame] camera 'left_cam' (step 109): [image omitted: streamed camera frame] camera 'right_cam' (step 109): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.05,"right_z":0.065,"right_pitch":0,"right_roll":0,"right_yaw":0,"left_x":0.3,"left_y":-0.29,"left_z":0.09,"left_pitch":0,"left_roll":0,"left_yaw":0},"note":"The blue bowl is now left of the fruits, and the green fruit is visible on the table in the right wrist camera. I’m approaching the green fruit with the right arm and the dark fruit with the left, keeping the grippers well separated."})
tool
executing move_to over 26 steps (2.6s)
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 dark fruit is centred in the left wrist view; the green fruit is a little right and forward of the right jaws. I’m lowering both grippers, with a small alignment correction for the green fruit.
move_to
right_x0.4200right_y0.0250right_z0.0250right_pitch0.0000right_roll0.0000right_yaw0.0000left_x0.3000left_y-0.2900left_z0.0100left_pitch0.0000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.0924, 1.7496, 0.9539, -0.1959, -0.823, -0.7948, 0.9901, 0.2005, 1.5196, 0.5121, 0.3901, 0.1841, 0.0959, 0.9964] state[eef_state]: left_x=0.2956 left_y=-0.2808 left_z=0.0797 left_yaw=-0.0174 left_pitch=-0.038 left_roll=0.0309 left_gripper=0.9901 right_x=0.3849 right_y=0.0489 right_z=0.0596 right_yaw=-0.0097 right_pitch=-0.0378 right_roll=-0.0081 right_gripper=0.9964 state[joint_eff]: [-0.4718, -7.9658, 7.4872, 1.2283, -0.7204, -0.1734, -0.0171, -0.2667, -5.0667, 5.6, 2.0342, -0.0415, -0.0122, 0.0904] 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_x":0.42,"right_y":0.025,"right_z":0.025,"right_pitch":0,"right_roll":0,"right_yaw":0,"left_x":0.3,"left_y":-0.29,"left_z":0.01,"left_pitch":0,"left_roll":0,"left_yaw":0},"note":"The dark fruit is centred in the left wrist view; the green fruit is a little right and forward of the right jaws. I’m lowering both grippers, with a small alignment correction for the green fruit."})
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 noteBoth fruits are now between their respective fingers. I’m closing both grippers to secure them.
move_to
left_gripper0.0000right_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]: [-1.0992, 1.9617, 0.8776, 0.0509, -0.8406, -0.8104, 0.9898, 0.0921, 1.7741, 0.519, 0.5804, 0.099, 0.0387, 0.9965] state[eef_state]: left_x=0.2951 left_y=-0.281 left_z=0.0063 left_yaw=-0.0048 left_pitch=-0.0438 left_roll=0.0619 left_gripper=0.9898 right_x=0.3981 right_y=0.0228 right_z=0.0029 right_yaw=-0.0163 right_pitch=-0.1032 right_roll=-0.0126 right_gripper=0.9965 state[joint_eff]: [-0.3897, -9.1145, 4.3829, 1.3358, -0.4371, -0.0611, -0.0415, -0.4991, -7.3915, 6.9949, 2.2344, 0.0611, -0.0317, -0.0024] 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":{"left_gripper":0,"right_gripper":0},"note":"Both fruits are now between their respective fingers. I’m closing both grippers to secure them."})
tool
executing move_to over 10 steps (1.0s)
step 150
top_cam
camera top_cam step 150
left_cam
camera left_cam step 150
right_cam
camera right_cam step 150
assistant
agent noteThe left gripper has a firm fruit-sized opening, but the right closed empty just behind the pear. I’m test-lifting the dark fruit while reopening and moving the right jaws forward and higher around the pear’s body.
move_to
left_z0.0900left_pitch0.0000left_roll0.0000left_yaw0.0000right_x0.4450right_y0.0250right_z0.0550right_pitch0.1500right_roll0.0000right_yaw0.0000right_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]: [-1.1, 1.9736, 0.8749, 0.136, -0.8486, -0.8165, 0.5187, 0.0895, 1.7897, 0.5224, 0.5869, 0.0849, 0.0357, 0.0092] state[eef_state]: left_x=0.3005 left_y=-0.2904 left_z=0.0108 left_yaw=0.0006 left_pitch=-0.0055 left_roll=-0.003 left_gripper=0.5187 right_x=0.3986 right_y=0.0243 right_z=-0.0008 right_yaw=-0.0054 right_pitch=-0.1098 right_roll=-0.0067 right_gripper=0.0092 state[joint_eff]: [-0.5128, -8.4444, 4.4103, 1.2527, -0.4908, -0.0317, 1.0232, 0.1436, -8.335, 4.0957, 1.5556, 0.105, 0.0122, 0.7106] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 150): [image omitted: streamed camera frame] camera 'left_cam' (step 150): [image omitted: streamed camera frame] camera 'right_cam' (step 150): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.09,"left_pitch":0,"left_roll":0,"left_yaw":0,"right_x":0.445,"right_y":0.025,"right_z":0.055,"right_pitch":0.15,"right_roll":0,"right_yaw":0,"right_gripper":1},"note":"The left gripper has a firm fruit-sized opening, but the right closed empty just behind the pear. I’m test-lifting the dark fruit while reopening and moving the right jaws forward and higher around the pear’s body."})
tool
executing move_to over 10 steps (1.0s)
step 160
top_cam
camera top_cam step 160
left_cam
camera left_cam step 160
right_cam
camera right_cam step 160
assistant
agent noteThe dark fruit rose with the left gripper, and the pear is now bracketed by the right fingers. I’m closing on the pear while carrying the dark fruit toward the blue bowl.
move_to
right_gripper0.0000left_x0.4300left_y-0.3600left_z0.1900left_pitch0.0000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.1, 1.8034, 0.9562, -0.1509, -0.8452, -0.82, 0.5188, 0.0875, 1.8095, 0.5545, 0.7662, 0.0731, 0.009, 0.9952] state[eef_state]: left_x=0.2977 left_y=-0.2856 left_z=0.0677 left_yaw=0.001 left_pitch=-0.0241 left_roll=0.0245 left_gripper=0.5188 right_x=0.4323 right_y=0.0286 right_z=0.0388 right_yaw=0.0173 right_pitch=0.0802 right_roll=-0.0067 right_gripper=0.9952 state[joint_eff]: [-0.4581, -10.8239, 8.335, 1.1844, -0.5104, 0.0171, 0.9988, -0.9094, -6.5299, 6.2974, 2.0537, 0.0855, 0.1294, 0.105] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 160): [image omitted: streamed camera frame] camera 'left_cam' (step 160): [image omitted: streamed camera frame] camera 'right_cam' (step 160): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0,"left_x":0.43,"left_y":-0.36,"left_z":0.19,"left_pitch":0,"left_roll":0,"left_yaw":0},"note":"The dark fruit rose with the left gripper, and the pear is now bracketed by the right fingers. I’m closing on the pear while carrying the dark fruit toward the blue bowl."})
tool
executing move_to over 11 steps (1.1s)
step 171
top_cam
camera top_cam step 171
left_cam
camera left_cam step 171
right_cam
camera right_cam step 171
assistant
agent noteThe dark fruit is positioned over the blue bowl, and the right gripper has stopped on the pear’s body. I’m releasing the dark fruit and test-lifting the pear.
move_to
left_gripper1.0000right_z0.1200right_pitch0.1500right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.9226, 2.1021, 1.8076, -0.5137, -0.746, -0.6491, 0.5202, 0.086, 1.8156, 0.5579, 0.7845, 0.0696, 0.0067, 0.5208] state[eef_state]: left_x=0.4267 left_y=-0.3589 left_z=0.1816 left_yaw=0.0227 left_pitch=0.008 left_roll=-0.0349 left_gripper=0.5202 right_x=0.4351 right_y=0.0288 right_z=0.0414 right_yaw=0.0199 right_pitch=0.0957 right_roll=-0.0061 right_gripper=0.5208 state[joint_eff]: [0.3214, -12.3966, 8.1709, 0.9792, -0.2857, 0.3443, 0.906, -0.0068, -8.0205, 4.465, 1.6386, 0.0415, -0.022, 0.8327] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 171): [image omitted: streamed camera frame] camera 'left_cam' (step 171): [image omitted: streamed camera frame] camera 'right_cam' (step 171): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"right_z":0.12,"right_pitch":0.15,"right_roll":0,"right_yaw":0},"note":"The dark fruit is positioned over the blue bowl, and the right gripper has stopped on the pear’s body. I’m releasing the dark fruit and test-lifting the pear."})
tool
executing move_to over 6 steps (0.6s)
step 177
top_cam
camera top_cam step 177
left_cam
camera left_cam step 177
right_cam
camera right_cam step 177
assistant
agent noteThe pear is secure in the right gripper. I’m clearing the left arm away and bringing the pear over the blue bowl for the next placement.
move_to
left_x0.2960left_y0.0000left_z0.2000left_pitch0.0000left_roll0.0000left_yaw0.0000right_x0.4300right_y0.2900right_z0.2000right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.9169, 2.1208, 1.8118, -0.5331, -0.7399, -0.6556, 0.9909, 0.0963, 1.5822, 0.5995, 0.5064, 0.0742, 0.0071, 0.5217] state[eef_state]: left_x=0.4278 left_y=-0.3565 left_z=0.1702 left_yaw=0.0279 left_pitch=-0.0156 left_roll=-0.0155 left_gripper=0.9909 right_x=0.4268 right_y=0.0317 right_z=0.0927 right_yaw=0.0261 right_pitch=0.0928 right_roll=-0.0081 right_gripper=0.5217 state[joint_eff]: [-0.7043, -13.4906, 6.4342, 1.6142, -0.4176, -0.0073, -0.8376, 0.1709, -8.1436, 8.5402, 2.1954, 0.2125, 0.1294, 0.1783] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 177): [image omitted: streamed camera frame] camera 'left_cam' (step 177): [image omitted: streamed camera frame] camera 'right_cam' (step 177): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.296,"left_y":0,"left_z":0.2,"left_pitch":0,"left_roll":0,"left_yaw":0,"right_x":0.43,"right_y":0.29,"right_z":0.2,"right_pitch":0,"right_roll":0,"right_yaw":0},"note":"The pear is secure in the right gripper. I’m clearing the left arm away and bringing the pear over the blue bowl for the next placement."})
tool
executing move_to over 32 steps (3.2s)
step 209
top_cam
camera top_cam step 209
left_cam
camera left_cam step 209
right_cam
camera right_cam step 209
assistant
agent noteThe cleared overhead view shows the dark fruit inside the blue bowl. The pear is now above the same opening, so I’m releasing it into the bowl.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0628, 0.8238, 0.6895, -0.4313, -0.1081, -0.0666, 0.9902, 0.7906, 1.882, 1.5135, -0.4194, 0.6144, 0.4458, 0.5229] state[eef_state]: left_x=0.2999 left_y=0.0039 left_z=0.2009 left_yaw=0.0637 left_pitch=0.0061 left_roll=-0.0067 left_gripper=0.9902 right_x=0.4232 right_y=0.2879 right_z=0.1792 right_yaw=0.0442 right_pitch=-0.0512 right_roll=-0.0455 right_gripper=0.5229 state[joint_eff]: [0.335, -1.894, 6.9812, 1.7753, 0.1148, 0.1538, -0.0904, 0.1709, -10.5504, 9.4291, 1.663, 0.5934, 0.2222, 0.1197] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 209): [image omitted: streamed camera frame] camera 'left_cam' (step 209): [image omitted: streamed camera frame] camera 'right_cam' (step 209): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The cleared overhead view shows the dark fruit inside the blue bowl. The pear is now above the same opening, so I’m releasing it into the bowl."})
tool
executing move_to over 5 steps (0.5s)
step 214
top_cam
camera top_cam step 214
left_cam
camera left_cam step 214
right_cam
camera right_cam step 214
assistant
agent noteI’ve released the pear over the blue bowl. I’m moving away to check where it settles and approaching the remaining yellow fruit at the front of the table.
move_to
right_x0.2500right_y0.2200right_z0.0900right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0612, 0.8295, 0.6857, -0.4492, -0.0975, -0.0605, 0.9901, 0.7948, 1.8908, 1.5223, -0.4366, 0.6113, 0.4377, 0.996] state[eef_state]: left_x=0.2976 left_y=0.0026 left_z=0.1937 left_yaw=0.053 left_pitch=-0.0218 left_roll=-0.0041 left_gripper=0.9901 right_x=0.4215 right_y=0.2899 right_z=0.1757 right_yaw=0.0543 right_pitch=-0.0656 right_roll=-0.062 right_gripper=0.996 state[joint_eff]: [-0.3487, -1.3197, 7.3778, 1.9609, -0.2173, -0.1392, -0.022, -0.4991, -10.906, 6.5026, 1.5702, 0.2271, 0.0611, -0.188] camera 'top_cam' (step 214): [image omitted: streamed camera frame] camera 'left_cam' (step 214): [image omitted: streamed camera frame] camera 'right_cam' (step 214): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.25,"right_y":0.22,"right_z":0.09,"right_pitch":0,"right_roll":0,"right_yaw":0},"note":"I’ve released the pear over the blue bowl. I’m moving away to check where it settles and approaching the remaining yellow fruit at the front of the table."})
tool
executing move_to over 14 steps (1.4s)
step 228
top_cam
camera top_cam step 228
left_cam
camera left_cam step 228
assistant
agent noteThe dark fruit is in the blue bowl, but the pear rolled out and stopped beside the white bowl. I’m lowering over the yellow fruit while positioning the left arm to recover the pear.
move_to
right_z0.0150right_pitch0.0000right_roll0.0000right_yaw0.0000left_x0.5300left_y-0.2850left_z0.1400left_pitch0.3500left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0612, 0.8341, 0.6857, -0.4667, -0.0994, -0.0601, 0.99, 1.1126, 1.4715, 0.6819, -0.2062, 0.8276, 0.7727, 0.997] state[eef_state]: left_x=0.2955 left_y=0.003 left_z=0.1889 left_yaw=0.0544 left_pitch=-0.0437 left_roll=-0.0002 left_gripper=0.99 right_x=0.2515 right_y=0.2239 right_z=0.084 right_yaw=0.0427 right_pitch=-0.0372 right_roll=-0.0437 right_gripper=0.997 state[joint_eff]: [-0.1026, -1.6205, 7.159, 1.9707, -0.0366, -0.0513, -0.0171, 0.1983, -6.4068, 6.3521, 1.3358, 0.5348, 0.1245, 0.0904] camera 'top_cam' (step 228): [image omitted: streamed camera frame] camera 'left_cam' (step 228): [image omitted: streamed camera frame] camera 'right_cam' (step 228): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.015,"right_pitch":0,"right_roll":0,"right_yaw":0,"left_x":0.53,"left_y":-0.285,"left_z":0.14,"left_pitch":0.35,"left_roll":0,"left_yaw":0},"note":"The dark fruit is in the blue bowl, but the pear rolled out and stopped beside the white bowl. I’m lowering over the yellow fruit while positioning the left arm to recover the pear."})
tool
executing move_to over 26 steps (2.6s)
step 254
assistant
agent noteThe right fingers have reached the yellow fruit, and the pear is just beneath the left fingertips. I’m closing the right gripper and lowering the left around the pear’s wider body.
move_to
right_gripper0.0000left_z0.0600left_pitch0.4000left_x0.5350left_y-0.2750
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]: [-0.6735, 2.1757, 1.3689, 0.4622, -0.6613, -0.2001, 0.99, 1.124, 1.6997, 0.5629, 0.1711, 0.9169, 0.7998, 0.9971] state[eef_state]: left_x=0.5235 left_y=-0.2744 left_z=0.1232 left_yaw=0.0074 left_pitch=0.298 left_roll=0.0089 left_gripper=0.99 right_x=0.2582 right_y=0.2227 right_z=0.0309 right_yaw=-0.0101 right_pitch=0.0433 right_roll=-0.0274 right_gripper=0.9971 state[joint_eff]: [-0.8684, -12.4103, 7.9248, 2.0586, -0.1783, 0.2418, -0.0073, 0.6085, -4.0274, 3.1111, 1.2625, -0.2125, 0.3199, 0.0073] camera 'top_cam' (step 254): [image omitted: streamed camera frame] camera 'left_cam' (step 254): [image omitted: streamed camera frame] camera 'right_cam' (step 254): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0,"left_z":0.06,"left_pitch":0.4,"left_x":0.535,"left_y":-0.275},"note":"The right fingers have reached the yellow fruit, and the pear is just beneath the left fingertips. I’m closing the right gripper and lowering the left around the pear’s wider body."})
tool
executing move_to over 10 steps (1.0s)
step 264
assistant
agent noteThe yellow-fruit grasp was empty, so I’m lifting and moving aside to see its exact position. The left arm stopped above its target height near the pear; I’m checking whether the fingers can secure it without pressing further.
move_to
left_gripper0.0000right_x0.2400right_y0.1200right_z0.1300right_gripper1.0000right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.6727, 2.347, 1.3529, 0.8608, -0.6651, -0.1085, 0.99, 1.1221, 1.7023, 0.5579, 0.186, 0.9268, 0.7864, 0.0092] state[eef_state]: left_x=0.5366 left_y=-0.2835 left_z=0.1002 left_yaw=0.0118 left_pitch=0.463 left_roll=-0.0369 left_gripper=0.99 right_x=0.2593 right_y=0.2212 right_z=0.0315 right_yaw=-0.0106 right_pitch=0.0534 right_roll=-0.0359 right_gripper=0.0092 state[joint_eff]: [0.3761, -9.1282, 5.1214, 1.4823, -0.2125, -0.0366, -0.0122, -0.0479, -6.6667, 4.9026, 1.0672, 0.4274, 0.0513, 0.6422] camera 'top_cam' (step 264): [image omitted: streamed camera frame] camera 'left_cam' (step 264): [image omitted: streamed camera frame] camera 'right_cam' (step 264): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0,"right_x":0.24,"right_y":0.12,"right_z":0.13,"right_gripper":1,"right_pitch":0,"right_roll":0,"right_yaw":0},"note":"The yellow-fruit grasp was empty, so I’m lifting and moving aside to see its exact position. The left arm stopped above its target height near the pear; I’m checking whether the fingers can secure it without pressing further."})
tool
executing move_to over 10 steps (1.0s)
step 274
assistant
agent noteBoth empty closes indicate the fingertips were beyond the fruits. I’m moving each gripper back toward its base, aligning the right over the yellow fruit and the left over the pear.
move_to
right_x0.2150right_y0.1850right_z0.0150right_pitch0.0000right_roll0.0000right_yaw0.0000left_x0.4850left_y-0.2500left_z0.0650left_pitch0.3000left_roll0.0000left_yaw0.0000left_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]: [-0.672, 2.3711, 1.3483, 0.8799, -0.6731, -0.112, 0.0093, 0.915, 0.9218, 0.4595, -0.3248, 0.7532, 0.6117, 0.9953] state[eef_state]: left_x=0.5362 left_y=-0.2812 left_z=0.0886 left_yaw=0.0191 left_pitch=0.4563 left_roll=-0.033 left_gripper=0.0093 right_x=0.2435 right_y=0.1243 right_z=0.126 right_yaw=-0.0196 right_pitch=0.0247 right_roll=0.0282 right_gripper=0.9953 state[joint_eff]: [-0.2393, -14.7897, 5.9009, 1.6386, 0.0562, -0.0171, 0.6813, -0.1709, -1.2376, 8.7453, 1.536, 0.2564, -0.0562, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 274): [image omitted: streamed camera frame] camera 'left_cam' (step 274): [image omitted: streamed camera frame] camera 'right_cam' (step 274): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.215,"right_y":0.185,"right_z":0.015,"right_pitch":0,"right_roll":0,"right_yaw":0,"left_x":0.485,"left_y":-0.25,"left_z":0.065,"left_pitch":0.3,"left_roll":0,"left_yaw":0,"left_gripper":1},"note":"Both empty closes indicate the fingertips were beyond the fruits. I’m moving each gripper back toward its base, aligning the right over the yellow fruit and the left over the pear."})
tool
executing move_to over 10 steps (1.0s)
step 284
assistant
agent noteBoth wrist views now show the fruit bodies centred between the fingers. I’m closing both grippers at these corrected positions.
move_to
left_gripper0.0000right_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]: [-0.6891, 2.225, 1.1007, 0.8024, -0.6395, -0.1986, 0.991, 1.2011, 1.5368, 0.3679, 0.0513, 0.8822, 0.9016, 0.9963] state[eef_state]: left_x=0.4874 left_y=-0.2603 left_z=0.0597 left_yaw=-0.0235 left_pitch=0.3114 left_roll=-0.0103 left_gripper=0.991 right_x=0.2112 right_y=0.1776 right_z=0.0101 right_yaw=0.0298 right_pitch=-0.0425 right_roll=-0.0681 right_gripper=0.9963 state[joint_eff]: [0.4308, -14.0239, 4.9299, 1.79, -0.2808, 0.0904, -0.7595, 0.2667, -5.3675, 5.2718, 1.0672, 0.6618, 0.1734, 0.0904] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 284): [image omitted: streamed camera frame] camera 'left_cam' (step 284): [image omitted: streamed camera frame] camera 'right_cam' (step 284): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0,"right_gripper":0},"note":"Both wrist views now show the fruit bodies centred between the fingers. I’m closing both grippers at these corrected positions."})
tool
executing move_to over 10 steps (1.0s)
step 294
assistant
agent noteThe yellow fruit is held with a substantial grip, but the pear slipped forward between the closing tips. I’m test-lifting the yellow fruit and making one forward, tilted approach to the pear’s new position.
move_to
right_z0.0950right_pitch0.0000right_roll0.0000right_yaw0.0000left_x0.5350left_y-0.2500left_z0.0250left_pitch0.6000left_roll0.0000left_yaw0.0000left_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]: [-0.6876, 2.2215, 1.0901, 0.7891, -0.6395, -0.2058, 0.0096, 1.2015, 1.5463, 0.3668, 0.0509, 0.8707, 0.8982, 0.5008] state[eef_state]: left_x=0.4851 left_y=-0.2573 left_z=0.0549 left_yaw=-0.0218 left_pitch=0.2952 left_roll=-0.0043 left_gripper=0.0096 right_x=0.2097 right_y=0.1773 right_z=0.0063 right_yaw=0.0367 right_pitch=-0.0565 right_roll=-0.077 right_gripper=0.5008 state[joint_eff]: [-0.1846, -11.1385, 5.9419, 1.8535, -0.0855, 0.0513, 0.652, -0.212, -5.4085, 4.2325, 0.9353, 0.4957, -0.0415, 0.9402] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 294): [image omitted: streamed camera frame] camera 'left_cam' (step 294): [image omitted: streamed camera frame] camera 'right_cam' (step 294): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.095,"right_pitch":0,"right_roll":0,"right_yaw":0,"left_x":0.535,"left_y":-0.25,"left_z":0.025,"left_pitch":0.6,"left_roll":0,"left_yaw":0,"left_gripper":1},"note":"The yellow fruit is held with a substantial grip, but the pear slipped forward between the closing tips. I’m test-lifting the yellow fruit and making one forward, tilted approach to the pear’s new position."})
tool
executing move_to over 11 steps (1.1s)
step 305
assistant
agent noteThe yellow fruit lifted securely, and the pear is now deeper between the left fingers. I’m carrying the yellow fruit above the blue bowl while closing on the pear.
move_to
left_gripper0.0000right_x0.4000right_y0.2700right_z0.1900right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.6281, 2.5931, 1.285, 1.3304, -0.6388, -0.0063, 0.9909, 1.2175, 1.2346, 0.506, -0.3679, 0.8871, 0.9436, 0.5035] state[eef_state]: left_x=0.5325 left_y=-0.2521 left_z=0.0337 left_yaw=0.0229 left_pitch=0.5858 left_roll=-0.0315 left_gripper=0.9909 right_x=0.2077 right_y=0.1777 right_z=0.0814 right_yaw=0.0221 right_pitch=-0.0292 right_roll=-0.0157 right_gripper=0.5035 state[joint_eff]: [0.8, -10.0034, 4.5744, 1.4579, 0.105, 0.1929, -0.7888, 0.3487, -4.1504, 8.212, 1.0085, 0.6764, 0.1197, 0.5836] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 305): [image omitted: streamed camera frame] camera 'left_cam' (step 305): [image omitted: streamed camera frame] camera 'right_cam' (step 305): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0,"right_x":0.4,"right_y":0.27,"right_z":0.19,"right_pitch":0,"right_roll":0,"right_yaw":0},"note":"The yellow fruit lifted securely, and the pear is now deeper between the left fingers. I’m carrying the yellow fruit above the blue bowl while closing on the pear."})
tool
executing move_to over 15 steps (1.5s)
step 320
assistant
agent noteThe yellow fruit is above the blue bowl, and the left gripper now holds the pear at a wide, nonempty opening. I’m releasing the yellow fruit and lifting the pear to verify the grasp.
move_to
right_gripper1.0000left_z0.1150left_pitch0.6000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.627, 2.6011, 1.2957, 1.3521, -0.6403, -0.0002, 0.7509, 0.8227, 1.7485, 1.3182, -0.3599, 0.6678, 0.511, 0.5042] state[eef_state]: left_x=0.534 left_y=-0.2521 left_z=0.0374 left_yaw=0.0317 left_pitch=0.6052 left_roll=-0.0421 left_gripper=0.7509 right_x=0.3914 right_y=0.2662 right_z=0.176 right_yaw=0.0025 right_pitch=-0.0244 right_roll=-0.0203 right_gripper=0.5042 state[joint_eff]: [-0.4308, -13.5863, 3.453, 1.5116, -0.0317, -0.0904, 0.9988, -0.4171, -9.2513, 8.1026, 1.3553, 0.2955, -0.0952, 0.3932] camera 'top_cam' (step 320): [image omitted: streamed camera frame] camera 'left_cam' (step 320): [image omitted: streamed camera frame] camera 'right_cam' (step 320): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"left_z":0.115,"left_pitch":0.6,"left_roll":0,"left_yaw":0},"note":"The yellow fruit is above the blue bowl, and the left gripper now holds the pear at a wide, nonempty opening. I’m releasing the yellow fruit and lifting the pear to verify the grasp."})
tool
executing move_to over 6 steps (0.6s)
step 326
assistant
agent noteThe pear moved upward with the left gripper. I’m clearing the right arm and bringing the pear over the blue bowl, straightening the tool for a controlled release.
move_to
right_x0.2960right_y0.0000right_z0.2000right_pitch0.0000right_roll0.0000right_yaw0.0000left_x0.3800left_y-0.3700left_z0.2000left_pitch0.0000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.617, 2.4207, 1.2308, 1.1679, -0.6403, 0.0086, 0.7465, 0.8146, 1.7561, 1.3243, -0.3672, 0.6769, 0.5076, 0.9959] state[eef_state]: left_x=0.5338 left_y=-0.2449 left_z=0.0768 left_yaw=0.0091 left_pitch=0.5502 left_roll=0.0175 left_gripper=0.7465 right_x=0.3944 right_y=0.2621 right_z=0.1747 right_yaw=-0.0103 right_pitch=-0.0257 right_roll=-0.0341 right_gripper=0.9959 state[joint_eff]: [-0.6222, -17.1145, 5.6547, 2.0781, 0.0757, 0.1636, 1.0281, 0.5402, -9.6479, 6.2291, 1.2479, 0.0952, -0.0024, -0.1587] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 326): [image omitted: streamed camera frame] camera 'left_cam' (step 326): [image omitted: streamed camera frame] camera 'right_cam' (step 326): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.296,"right_y":0,"right_z":0.2,"right_pitch":0,"right_roll":0,"right_yaw":0,"left_x":0.38,"left_y":-0.37,"left_z":0.2,"left_pitch":0,"left_roll":0,"left_yaw":0},"note":"The pear moved upward with the left gripper. I’m clearing the right arm and bringing the pear over the blue bowl, straightening the tool for a controlled release."})
tool
executing move_to over 22 steps (2.2s)
step 348
assistant
agent noteThe blue bowl contains the dark and yellow fruits, and the pear is held directly above it. I’m releasing the pear to complete the collection step.
move_to
left_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]: [-1.01, 2.046, 1.7576, -0.5621, -0.8028, -0.6804, 0.7504, 0.0135, 0.8234, 0.6918, -0.437, 0.0708, 0.0193, 0.9965] state[eef_state]: left_x=0.3872 left_y=-0.3708 left_z=0.1898 left_yaw=-0.0102 left_pitch=0.0186 left_roll=-0.0029 left_gripper=0.7504 right_x=0.2991 right_y=-0.0049 right_z=0.2005 right_yaw=-0.06 right_pitch=0.0007 right_roll=-0.0024 right_gripper=0.9965 state[joint_eff]: [-0.6906, -11.1248, 9.3197, 1.2967, -0.4322, 0.0708, 0.6862, -0.212, -1.8256, 6.5299, 1.8388, -0.0611, -0.0952, 0.0464] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 348): [image omitted: streamed camera frame] camera 'left_cam' (step 348): [image omitted: streamed camera frame] camera 'right_cam' (step 348): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The blue bowl contains the dark and yellow fruits, and the pear is held directly above it. I’m releasing the pear to complete the collection step."})
tool
executing move_to over 3 steps (0.3s)
step 351
assistant
agent noteThe pear has landed with the other two fruits in the blue bowl. I’m turning the open jaws and lowering onto the near rim so I can lift the bowl itself.
move_to
left_x0.3350left_y-0.3700left_z0.0550left_yaw1.5700left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.0142, 2.046, 1.763, -0.6014, -0.7929, -0.7006, 0.9909, 0.0139, 0.828, 0.6895, -0.4477, 0.0467, -0.0006, 0.9965] state[eef_state]: left_x=0.3824 left_y=-0.3696 left_z=0.186 left_yaw=-0.0101 left_pitch=-0.006 left_roll=0.0045 left_gripper=0.9909 right_x=0.2979 right_y=-0.0005 right_z=0.1959 right_yaw=-0.0287 right_pitch=-0.0177 right_roll=-0.007 right_gripper=0.9965 state[joint_eff]: [0.0479, -11.5761, 6.2701, 1.5653, -0.4811, 0.1636, -0.8571, 0.0068, -1.388, 7.159, 1.8095, 0.0806, 0.0855, -0.0122] camera 'top_cam' (step 351): [image omitted: streamed camera frame] camera 'left_cam' (step 351): [image omitted: streamed camera frame] camera 'right_cam' (step 351): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.335,"left_y":-0.37,"left_z":0.055,"left_yaw":1.57,"left_pitch":0,"left_roll":0},"note":"The pear has landed with the other two fruits in the blue bowl. I’m turning the open jaws and lowering onto the near rim so I can lift the bowl itself."})
tool
executing move_to over 11 steps (1.1s)
step 362
assistant
agent noteThe yaw motion did not hold the commanded position and brought the left gripper beside the white bowl. I’m lifting clear and straightening the tool before attempting any bowl grasp.
move_to
left_z0.2000left_yaw0.0000left_pitch0.0000left_roll0.0000right_x0.3700right_y0.2500right_z0.1500right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.5491, 2.5877, 2.1998, -1.541, -0.8738, -2.0544, 0.99, 0.0158, 0.8337, 0.6746, -0.4732, 0.0479, -0.009, 0.9965] state[eef_state]: left_x=0.4388 left_y=-0.1055 left_z=0.0422 left_yaw=1.3226 left_pitch=-0.0772 left_roll=-0.032 left_gripper=0.99 right_x=0.293 right_y=-0.0002 right_z=0.1824 right_yaw=-0.0234 right_pitch=-0.064 right_roll=-0.0164 right_gripper=0.9965 state[joint_eff]: [0.5675, -11.6171, 3.5214, -0.5153, 0.0513, -0.3199, -0.1001, -0.1709, -1.853, 8.1709, 1.9023, -0.0122, 0.022, -0.0073] camera 'top_cam' (step 362): [image omitted: streamed camera frame] camera 'left_cam' (step 362): [image omitted: streamed camera frame] camera 'right_cam' (step 362): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.2,"left_yaw":0,"left_pitch":0,"left_roll":0,"right_x":0.37,"right_y":0.25,"right_z":0.15,"right_pitch":0,"right_roll":0,"right_yaw":0},"note":"The yaw motion did not hold the commanded position and brought the left gripper beside the white bowl. I’m lifting clear and straightening the tool before attempting any bowl grasp."})
tool
executing move_to over 21 steps (2.1s)
step 383
assistant
agent noteThe clear view shows only the dark fruit in the blue bowl; the pear and yellow fruit are beside it. I can’t complete the collection and pour within the remaining motions, so I’m parking both arms safely.
move_to
left_x0.2960left_y0.0000left_z0.2000left_yaw0.0000left_pitch0.0000left_roll0.0000right_x0.2960right_y0.0000right_z0.2000right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.3756, 1.5375, 1.0973, -0.284, -0.3901, -0.5472, 0.9899, 0.8322, 1.6581, 1.063, -0.2272, 0.6525, 0.4908, 0.9965] state[eef_state]: left_x=0.4291 left_y=-0.0931 left_z=0.1712 left_yaw=0.2457 left_pitch=-0.1021 left_roll=-0.1847 left_gripper=0.9899 right_x=0.3613 right_y=0.2428 right_z=0.1333 right_yaw=0.0329 right_pitch=-0.055 right_roll=-0.0526 right_gripper=0.9965 state[joint_eff]: [0.2667, -9.2786, 6.9675, 1.8681, -0.0415, 0.2027, -0.0171, 0.335, -8.6769, 8.3624, 1.7118, 0.442, 0.2906, -0.0122] approver: 11 step(s) modified (delta_clamped ×11). camera 'top_cam' (step 383): [image omitted: streamed camera frame] camera 'left_cam' (step 383): [image omitted: streamed camera frame] camera 'right_cam' (step 383): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.296,"left_y":0,"left_z":0.2,"left_yaw":0,"left_pitch":0,"left_roll":0,"right_x":0.296,"right_y":0,"right_z":0.2,"right_yaw":0,"right_pitch":0,"right_roll":0},"note":"The clear view shows only the dark fruit in the blue bowl; the pear and yellow fruit are beside it. I can’t complete the collection and pour within the remaining motions, so I’m parking both arms safely."})
tool
executing move_to over 21 steps (2.1s)
step 404
assistant
agent noteThe task is incomplete. Only the dark fruit is in the blue bowl; the pear and yellow fruit remain beside the bowls. I did not pour into the white bowl, and both arms are now parked safely.
give_up
hindsightDo not infer successful placement from an occluded release: lifting clear showed that two fruits missed the small blue bowl. Lower fruit close to the opening and verify each placement before proceeding. Explicitly restore pitch, roll, and yaw during moves; holding measured orientations allowed tilt errors to accumulate. A 1.57-radian left-yaw change near the centre failed badly to preserve position (target x=0.335,y=-0.37; readback x=0.439,y=-0.106) and displaced the scene; use small rotations at clearance and check tracking before descending. Fruit positions changed substantially after failed closes, so re-localize rather than reusing old targets.
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]: [-0.0463, 0.8272, 0.691, -0.4297, -0.0757, -0.0578, 0.9899, 0.0113, 0.8204, 0.6777, -0.4324, 0.0669, 0.0143, 0.9965] state[eef_state]: left_x=0.3006 left_y=0.003 left_z=0.2006 left_yaw=0.0481 left_pitch=0.0039 left_roll=-0.0165 left_gripper=0.9899 right_x=0.2979 right_y=-0.0049 right_z=0.1958 right_yaw=-0.0564 right_pitch=-0.0059 right_roll=-0.005 right_gripper=0.9965 state[joint_eff]: [0.4444, -1.7983, 7.0085, 1.7558, 0.149, 0.0757, -0.0122, -0.1709, -1.7573, 7.6239, 1.7705, -0.0904, -0.0024, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 404): [image omitted: streamed camera frame] camera 'left_cam' (step 404): [image omitted: streamed camera frame] camera 'right_cam' (step 404): [image omitted: streamed camera frame]
assistant
give_up({"reason":"The task is incomplete. Only the dark fruit is in the blue bowl; the pear and yellow fruit remain beside the bowls. I did not pour into the white bowl, and both arms are now parked safely.","hindsight":"Do not infer successful placement from an occluded release: lifting clear showed that two fruits missed the small blue bowl. Lower fruit close to the opening and verify each placement before proceeding. Explicitly restore pitch, roll, and yaw during moves; holding measured orientations allowed tilt errors to accumulate. A 1.57-radian left-yaw change near the centre failed badly to preserve position (target x=0.335,y=-0.37; readback x=0.439,y=-0.106) and displaced the scene; use small rotations at clearance and check tracking before descending. Fruit positions changed substantially after failed closes, so re-localize rather than reusing old targets."})
tool
give_up: The task is incomplete. Only the dark fruit is in the blue bowl; the pear and yellow fruit remain beside the bowls. I did not pour into the white bowl, and both arms are now parked safely.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 7.788 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]: [-0.0284, 0.8001, 0.6144, -0.3824, -0.0288, -0.0086, 0.9908, -0.028, 0.8005, 0.6197, -0.387, -0.0166, -0.0334, 0.9994]\nstate[eef_state]: left_x=0.2961 left_y=0.0003 left_z=0.1826 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9908 right_x=0.2962 right_y=-0.0018 right_z=0.1839 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9994\nstate[joint_eff]: [0.2803, -1.7846, 9.6889, 1.8242, 0.0513, -0.0904, -0.525, 0.2256, -1.7709, 9.1829, 1.8632, -0.0855, 0.1538, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3abf34a5f88db5c825b805010fd84f383e9ce989116757027584f2008aa56519",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5b74d0bd1a2cefc4ce95e620571cd2ccfeb2113fe28a017e33f9fd0f1033150",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0eb8762b75170553ca4a5702a31d7f598f5c975affea98aa885a2e4e6fdad371",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 3.341 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtG6wXJhFIZYi8QUKfluivRQzyvoDWOhIHltaNJb3S1OuT-fK6VDLrkvmguIIzxhOG_yxvUC2_mGnCqY4DrWddl6uTae3QMkRQJ4cnwRLSCvCBC_0oeYNd3FuPHyWevlzBcmXg51J2hqG9iSPkezNvf0yi-7AaloviG5yOLzp4f9LnzrdVgw08_fwXVr-ozNPXOE8b5ZAVkO3fq162TCDbKCh22nuqeEOBVZ2CHTbjx4rtxNC5M_FwLQSO_b6NFxmJ21NO54Q1rl6VoNT4ApSHjnEZ1KqCLnpz2F9GK0DidO96WvmzUw6VmXhDlaC-SPgRUUoM9L4iMQsmJJGizAgvHTLYKjS-F0nagH4zdsWHS_QyXSzA-L4wFwlu7pgHvpZ5z6Eh-YrAnvwzoX-CEtAUGuGkuAPSSag0DNeIo9BAy41jGggV7dZwcBpog4o4bCkfaHI4UYGguOdq7Bc8siEKqKQi6kFBVFnMdRFGQlWLCGlIYE15vHEzad6UZfjyNdJoPZ7kwIfcXC4X5wJvJXkYLrxc4jtE6qb-4FU9cEJxxd7qyKjhvMiAK3Z1DLEIenodMfT2Wk0R4l6UJDkMAFjjf0Y9DTQzyoThvvPU3yhvWC6dQVOAMilf5W92m8oacEvH_6_7b9H9uD9rnWI7I1p7gXse2S8YC7OgmH9-59HUvJzOp0tOMxAvo-8U8HksVV9nLR1aXy5gc7jrXAhY9DcbE0g7Kt4egcknIMJBYS_PlqtrKqS_xpMPLljbKmPeKHXBaiWJGBTqHKv9ZdEhgkkkcB-_yWAk4NCrSLKOsM1Rho2KK4E3sxhZt6GOhVibElCAWoiVSYc1O93UDt6giypHkN_WEsj0ye4IXZ_ekucztxNnFJLlB4mZYdFYV7B4V-Rw30em1Mr0bNJUAlBRqCSfyAbVoie0rZnr6o3dsZ_86Muw5123-4h068rKJWilru6izr4jT1UcwbtuOJROYy3ZA8hZtG6ebUyZI8406aLOuZbRhFGxZYVMGkdYVoAWfUQHtWe_iRqiwWxgve22iH1UR7H-lCXktOr-CLsXNIIZQesaGUhFTXDLHK9uf6LwYT9dbdX-1_5yJDV8MvMww_SZZJxKSA-hok5iVLuOwUgGMkIFzxEvXV6zUnl23g7Hb0bRYZeoEsFwwSQLkcIIYzkOGT5Tb1j0lZsjNd6XiyBLXGjuroV9XVwze7qkbtfnKBFmHwNmtYRlNR1-dRPYiEXMsUHqyZDgCJueV1oyJ6tbUVYZM6FmmZAY2wCMlpcyglDt5356AwSIQ344a0FFfY704nOgkQyvPYJXrsPaKc2_Ifgsuq6njX5poVZabI01NpJeuxW4b6nHK0W8VL65MuXy9MilFqbJQMW8WvqX4qBGpS7K1oJytfqOEKxOeiNxNIQX0pomu1X2ipQjAM0bGUoKii5PgcXy2Z0oauh-NVSOxOeH35q7aFNVPPYW_YHbSYYFJ87ekIK-qyocWpYHe6VarBMAmB4jyXMUktKPoO-eM2ovKWJ2SoR9qHdIial9skpZoC_WLZL-OaF_I51znY_JQQ0iGJvJDoRYwrSI8Xz0oAMhHvxAN6oXFn35ngpLxO16xBKFjBcnEsj_IsRUk5PcHX05T8eTpqYqLFcrLOV-8LpdNylIlAGhfWVRFikGfr12MJLWOL6P8VEix71aCXyohONUPkpdtRCON-WYtnM5jhAFc0C-HRqG-3B9XrZKnU8DOR1qjlKt25fsB0_6V-U4UduCRXvjix3BJK6ptgvO7ji_zd1hUNdQlw2GXT29at4rLydzPOshn9WYUWWzJuEnzLyk-gkdDvMejrJzB1q5m1FIZI2qDLbPfcGdprKNgIGsQ262Yh_MRLRLJn4fgHURjzKRO8o_Dix7ZryS2VYRLi0bsSUZRIutVsm4ZzxGVrOTsou64muIwjOB2pX8yOdB8KV9F1AUU56Eia2TwyF7A3_PpayuxCLRXV5-0nnFYhdR36EAgwalMOtInqExmAHcyTn-Cs3K0ULiySwQHMlpAVIdYhkJhqmvzwOOGwrcTjjGx8jZFkAKhf5PLupthhombaxL89BTGOCbF1rCp-6Bq1dYWoii-7WFw5O8tOYGRuSBNCjs0jicg1GyYkCYMVCw59T-5tJ9C0dPNUTuY0H8b0Snk7XAw_bH0NBG_O6SNA5hEKz4YfGOj03ReRBuBOtiaSOvLdI0g3l0w1F8jBCcvwxrQH6BSVPO9fMZVJsbHKQs2IlgaXiUWXMqgDxd5GEAlIWEDqW2a--pDbzxtw6wBXEIpztzeQbFvjS1fCyBmV7piNKv_qh5rK7DjCqjrdBVi2BSYHWBuCN8Npl7u8-ESom7Zu461dr19vF50uPMu39IqKct83-96IbMl37jjz-o-yLPIWiA_QtQaSvCzUyYzsoVMcAce-PpsJjyf8q2uFJ98m1jw83OnY0V1SOHOHJOfSFCKppIPlfERt90HipDLlrvYEWIv2UXO2Rm-73tbqIhvoH_6imZ66NiB0yUJEGOPqzSv48HMaX6vEJvrpUGVLwkT8rgqHJ8GLId-erKDXPnGh-jFqZ5EALtrRrQ66idKsyal0XTCbsujyp6TcqPnOC_ChqRTmZ3xVwh0WVwoNgsnF7_g3eWRLAljpHrlqB_grT11gbVawlA12rssobHcT3gUp4COgquEENQ4bgzAADFk-0bfmCvNk5LHUyfUFhqOIoSlUUDCKvOaXf_uFZhgm23defInGznWksATEXL1JnGkU5wBfbC0brs025wP5DLdFgZg==",
  "id": "rs_03f214bd7d9e4234016ab46eaa0d0c87d0be4049cfd9bfbd02",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.035,\"right_z\":0.10,\"right_gripper\":1},\"note\":\"I see three fruits beside the bowls: a green fruit nearest the right gripper, a yellow fruit, and a dark fruit near the middle. I’m positioning the right gripper above the green fruit first.\"}",
  "call_id": "call_BQqImPetyJsZs9HsFfCxFs8d",
  "id": "fc_03f214bd7d9e4234016ab46eaf99b887d0a78aa7fd93c1725e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BQqImPetyJsZs9HsFfCxFs8d",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0288, 0.8021, 0.614, -0.3901, -0.0292, -0.0082, 0.9902, 0.2131, 0.9276, 0.3191, -0.0078, 0.1715, 0.0719, 0.9994]\nstate[eef_state]: left_x=0.2952 left_y=0.0002 left_z=0.1803 left_yaw=-0.0003 left_pitch=-0.0099 left_roll=0.0008 left_gripper=0.9902 right_x=0.2953 right_y=0.0367 right_z=0.0915 right_yaw=0.0264 right_pitch=-0.0385 right_roll=-0.0205 right_gripper=0.9994\nstate[joint_eff]: [-0.1162, -1.1282, 7.1043, 1.8339, -0.0464, -0.0073, -0.0708, -0.4034, -2.2085, 6.8308, 1.9707, 0.1538, 0.1978, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:caaced3adc163ffd93f2e772442b9e09bdbb4de0cfe8edb2285aaa6d93471889",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58c1edf58f4b124f44cce13719e465629d424d5f0cf37063f8fcdcbd9304d825",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2858c851220af87913c5dc92f7520682861d41c91d070b7ac2897162bfc6b048",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 3.332 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]: [-0.0284, 0.8001, 0.6144, -0.3824, -0.0288, -0.0086, 0.9908, -0.028, 0.8005, 0.6197, -0.387, -0.0166, -0.0334, 0.9994]\nstate[eef_state]: left_x=0.2961 left_y=0.0003 left_z=0.1826 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9908 right_x=0.2962 right_y=-0.0018 right_z=0.1839 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9994\nstate[joint_eff]: [0.2803, -1.7846, 9.6889, 1.8242, 0.0513, -0.0904, -0.525, 0.2256, -1.7709, 9.1829, 1.8632, -0.0855, 0.1538, -0.0757]",
      "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]: [-0.0288, 0.8021, 0.614, -0.3901, -0.0292, -0.0082, 0.9902, 0.2131, 0.9276, 0.3191, -0.0078, 0.1715, 0.0719, 0.9994]\nstate[eef_state]: left_x=0.2952 left_y=0.0002 left_z=0.1803 left_yaw=-0.0003 left_pitch=-0.0099 left_roll=0.0008 left_gripper=0.9902 right_x=0.2953 right_y=0.0367 right_z=0.0915 right_yaw=0.0264 right_pitch=-0.0385 right_roll=-0.0205 right_gripper=0.9994\nstate[joint_eff]: [-0.1162, -1.1282, 7.1043, 1.8339, -0.0464, -0.0073, -0.0708, -0.4034, -2.2085, 6.8308, 1.9707, 0.1538, 0.1978, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:caaced3adc163ffd93f2e772442b9e09bdbb4de0cfe8edb2285aaa6d93471889",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58c1edf58f4b124f44cce13719e465629d424d5f0cf37063f8fcdcbd9304d825",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2858c851220af87913c5dc92f7520682861d41c91d070b7ac2897162bfc6b048",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtG64bGS0IniyrS7-qjoChioQYsaWviLjwv90PGKFsG9PgTHjIpDBcHVrIOQzgcl8po0DLVNPczB9Nmv1zMwzrnOpQ0rjwm137yCrHRCV66IRoYpfB3WBjZ6iKkXYe3TtV5y9UU281G9Fg03UlEehaoPkIYT77yCyX28MUbl6ZE2IusAKSnepS6vuVp4X-j7AKUDu28-NpYbm0vBS6UG22FVCADmFsRTB3MoqqM90DGh50mtkQBIhnBf7G5Qew9j9s-qHjgvALb5HRPHMcwCNJyrDTlDLGja4jQdARfAVg7t_o9AkBZS1QbUvYPD6xZea-SsKMIsRingtGDPmL7iemoSREGy3hTB1Fk-PGYDnDOU-efchcKNAQR2cVom9YuXgDUUFkgFThEcPMi5x1In3bj85zn4Zi5xGRBs0YpqIyVwRAxlBwWKtDQsYuzFSH3Z8dJAUsnEf9h2A9iCx_k2FkQ1r3gYhaQOCC3ki0qTqtD-s0_NNlc4RlW4zRXK6HXZby1tEvVWfOsRrLtb8AvT_gNdDnsYLj_8tBvxKfkrRS4AJZFRwZCJBOT8InnRZcXh40P8tzTBRzRibm-thhaEyW662Dl6V489OpxfZnJyRfqYvRevuZ2DuXoENnZ8Ori7yhubCGUctdxFAV0eC3A_yp83mhW6UtjgWYhIJOF22BzWeyxJpDXHxO3cciFz5rn7Y7Kjfk-Z13O6eHQbbU0mSUFF0GuHcLwbnbcTtsYlPYOjGdD0Ti1N6qD1L2XrwWrUC3Gj8d1NyD-rLerkBdb5vvqQmHDKCKEntbdBXs1HozQyiUCuHt5Tkr___-1SK19_2n5is2ePyova8_7XVn1ifXTKoDjPV_U8y5MFcuMPTbR7Q_059ta2AyNGOr-b3KehxAsPn1F4y9K7L-f3yMLKnfj8pKloN-VaWTxLJcR3ic2R7I-t6ugxMw29IToY7FwHFjQQ4axtpNWPUmn05bSqnB0JMePJGHK6aEex5tGzOtWBCFYxsDuoInNp_sUjEvMiqKU8wFa6CkugKD6XEo0ma4Y7f7ylbJVxvgiVQVrvXn1HNZrfdrbq5n8UjqkINfvR6JfGe1COSAsTm2cAKgxD7tWJ2cp8YrVWqd8JOCaQa8JQF1QxsfLSxDUNNAPWTQlzagoa1lZpd1ueQXRsRnpgVU0C2MF8ne8Z7MBTXGTGqjX4cQey2tmyD9M3f4sP1neN-KQmc0GJNd-NSZkV9xX3gqtFLb3ujWWyyu5tfHQEhlgC8L7PekF3wj2A6fXrknAExNyLFCBpOAAfS_dorPjMVCNv_7jE9p0ZwccCd7NkyqdNbBZpVaVt_vOr04u72fOXg3chwumOC_eFGaaWV4x3vMsmlj9vA6gM38g-s8Sb5mBDJXqYfxUNXH9QRBb6px6Hql3vPRFtAzzx2IEhlYW_SHh1BwpSO2Dm_i2akvlyXHws26ddsSZFxEX1EAlrYSFgTgImaEUFY0i4gmssaWC0Hsl8lUQ==",
  "id": "rs_03f214bd7d9e4234016ab46eb6db7487d0a74ba0eac385a0eb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.315,\"right_y\":0.015,\"right_z\":0.025},\"note\":\"The green fruit is visible just right of the jaw centreline. I’m shifting slightly right and lowering the open jaws around its middle.\"}",
  "call_id": "call_z3NiMXjRVbG6HmERnpgDhGHZ",
  "id": "fc_03f214bd7d9e4234016ab46eb7f11887d0be2ab09f43b8a8fa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_z3NiMXjRVbG6HmERnpgDhGHZ",
  "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]: [-0.0288, 0.8066, 0.614, -0.4011, -0.0292, -0.0082, 0.9901, 0.0631, 1.3705, 0.1745, 0.5522, 0.0475, -0.0116, 0.9994]\nstate[eef_state]: left_x=0.294 left_y=0.0003 left_z=0.1767 left_yaw=-0.0003 left_pitch=-0.0255 left_roll=0.0013 left_gripper=0.9901 right_x=0.31 right_y=0.0148 right_z=0.0169 right_yaw=0.0257 right_pitch=-0.0754 right_roll=-0.0188 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -1.6889, 7.0359, 1.8535, -0.0366, -0.0513, -0.0269, -0.1026, -4.2051, 4.9709, 1.9121, -0.0073, -0.0855, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:768b77f77f27edb4837839dbc34f14c0a979949f55280b8dfe7b4433ef679e30",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ebaf35417539a3c4346e47a36c8188dc0eb91c01914e6cdd42c038573ce6942",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15e1cffae63b2747e5cf3a4301b93d3ab6cb47bed894f1d5b68cb4c091b5370c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /responses · status 200 · 2.042 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]: [-0.0288, 0.8021, 0.614, -0.3901, -0.0292, -0.0082, 0.9902, 0.2131, 0.9276, 0.3191, -0.0078, 0.1715, 0.0719, 0.9994]\nstate[eef_state]: left_x=0.2952 left_y=0.0002 left_z=0.1803 left_yaw=-0.0003 left_pitch=-0.0099 left_roll=0.0008 left_gripper=0.9902 right_x=0.2953 right_y=0.0367 right_z=0.0915 right_yaw=0.0264 right_pitch=-0.0385 right_roll=-0.0205 right_gripper=0.9994\nstate[joint_eff]: [-0.1162, -1.1282, 7.1043, 1.8339, -0.0464, -0.0073, -0.0708, -0.4034, -2.2085, 6.8308, 1.9707, 0.1538, 0.1978, -0.0757]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0288, 0.8066, 0.614, -0.4011, -0.0292, -0.0082, 0.9901, 0.0631, 1.3705, 0.1745, 0.5522, 0.0475, -0.0116, 0.9994]\nstate[eef_state]: left_x=0.294 left_y=0.0003 left_z=0.1767 left_yaw=-0.0003 left_pitch=-0.0255 left_roll=0.0013 left_gripper=0.9901 right_x=0.31 right_y=0.0148 right_z=0.0169 right_yaw=0.0257 right_pitch=-0.0754 right_roll=-0.0188 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -1.6889, 7.0359, 1.8535, -0.0366, -0.0513, -0.0269, -0.1026, -4.2051, 4.9709, 1.9121, -0.0073, -0.0855, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:768b77f77f27edb4837839dbc34f14c0a979949f55280b8dfe7b4433ef679e30",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ebaf35417539a3c4346e47a36c8188dc0eb91c01914e6cdd42c038573ce6942",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15e1cffae63b2747e5cf3a4301b93d3ab6cb47bed894f1d5b68cb4c091b5370c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtG7AT9VX_oexBSJJR80xYanneLv-9bHm0t1s-L0euFLXLgD08FOVtm5z42Y8RdI2xjuGncDUc9WPllN5PXi1A3kxybMD__Vou0xPYLKIe7OZ8L5spMC5l9f68FXDXTSZsObSqn9gm2ITjv6nPhIMJmbX9-OBrivZTxQdzBhlu2kPxo8E2zhpZQ7T013vAGaTVn-EKKlajBvGxEjb6jVPmD6HJH30FlLZf18A4eJgVsiynyvwUkk4U08x2lkB0BLa4wN7qe80kZAQQv82jaVtHpFOTKZphCr6Z6pLecKD-QKYKTKwyxfuJ2_ZjK7G1awPBwXS-mYgp9M38IZTUfPU4gCLEUzrxyIGRnig6l-iVCgWcEpSXd37k6BHv2FdHoJqNt-krEbVZkalkiVOHOaVgx1SZxmSJnuUQQWQfT1vEmPnEhWcasesEcHU7cNchy_z6nE-IRLR2JQ1zKS0IJM0JO1iZb7XIUBqNqQc8e5wFiPZcOoEQxTf8Ipr6Q66KnHwhVYseTfrWV4RUYKObkK6vCc6Vpnp_dn-EAnbHHFpKcvpSuiIvbKsZ-AsSiOUpQmqS7BeKl8WneTw9pHiG2dTXJ9HChlJTaMULwqs2U2Fi0b04axMdzjpg9Ok8Y3nY5FvnOEWsNnUMTZNm1gYjiL2lHw1tx8mJO_V0pQouADwVj-70-elp2roai2IrkotiT7gs742lGh-IXFtt-uN3zRm0iSzNAYm-AASnVNSgj-r43ACeL99L6-f6r6O_JB-mYg3yloubl2Oji4TRuFIIZbsRBMPGg0bDE2xX-gwiZ_Ike8qK4eSqH4iHB0mynW-cpkX7XH_3F2W5aFcOnSDeJYgPGr9io40WyACooF5BhzNRw1XqKqlSxSY0-zB-D9x4BYjj4B4KzKdehH04_gXKDveq_bLAdaXErBMorxc5JWDgwGYfr2DJU3DxjjiCZZeHvaMydKXIaE1AzuOca0AgHkHq32m_cgwPQllzB8CdkaQ2uX4KfV7FxbjKYUthh6-UcK-yrEHeZyXLzPqe-liREXd4z57vIVwFzl1z_JV17iokezANmhSZaatpK1jsO1chXoMdMiGGE1enjHxm5meAYDrBEGig3_P1PFHmvApcuJ4osT3ikplzmv2nyK-9pizbyH3Xa-2-cm40B8Wtl53zAKRBEcBOm9EZgItCsiSSMBmOdK59B6kc0es-vx-u5VeIanbtsPQHw8hnUhDPLq-07azGn8TFwuzU6tI1j5h7bmhCx4C25DV9NLOyUVTDGDHnpYxz8diAgnfJW4BV7PJn9f2kvp5gDXa2d4g-uGOCJuXLZmYcaBK9y1cdLwRowrczMyql8E-zZsZKgma23EsbxIWshPFLk8APrIcUqrvyCWltJv3KRAXjuLPMhRxsOjFkkzzLOPl2aDSaGpHJomHp3KRNWVnzjNtOVY6K6FG-HxTOCREHVE=",
  "id": "rs_03f214bd7d9e4234016ab46ebe197487d0b98fbfea70b02bba",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The open fingers now straddle the green fruit at table level. I’m closing the gripper to secure it before a short test lift.\"}",
  "call_id": "call_bhMiAEDWbUSon2AhcG3MJCAk",
  "id": "fc_03f214bd7d9e4234016ab46ebf6c1887d0a236bc45ea47c548",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bhMiAEDWbUSon2AhcG3MJCAk",
  "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]: [-0.0288, 0.807, 0.614, -0.4084, -0.0292, -0.0082, 0.9901, 0.0631, 1.3708, 0.1745, 0.5503, 0.0475, -0.0154, 0.7128]\nstate[eef_state]: left_x=0.293 left_y=0.0003 left_z=0.1752 left_yaw=-0.0002 left_pitch=-0.0332 left_roll=0.0015 left_gripper=0.9901 right_x=0.3097 right_y=0.0148 right_z=0.0164 right_yaw=0.0277 right_pitch=-0.0778 right_roll=-0.0219 right_gripper=0.7128\nstate[joint_eff]: [-0.1709, -1.2786, 6.9949, 1.8046, -0.0317, -0.0269, -0.0171, -0.0068, -3.5624, 4.9299, 1.663, -0.0073, 0.0073, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18373414a9f5350169fed56e1b30def022ef5de0c38380df750e14076e75aa93",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f726163a1c376ab37b26699d705164ba08c2aa90ae490511708fb8c0b887e338",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c8c717c80003cb11b865065e0a1a87e549b6ad700a23b00586686c03245e0c6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /responses · status 200 · 4.052 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0284, 0.8001, 0.6144, -0.3824, -0.0288, -0.0086, 0.9908, -0.028, 0.8005, 0.6197, -0.387, -0.0166, -0.0334, 0.9994]\nstate[eef_state]: left_x=0.2961 left_y=0.0003 left_z=0.1826 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9908 right_x=0.2962 right_y=-0.0018 right_z=0.1839 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9994\nstate[joint_eff]: [0.2803, -1.7846, 9.6889, 1.8242, 0.0513, -0.0904, -0.525, 0.2256, -1.7709, 9.1829, 1.8632, -0.0855, 0.1538, -0.0757]",
      "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]: [-0.0288, 0.8066, 0.614, -0.4011, -0.0292, -0.0082, 0.9901, 0.0631, 1.3705, 0.1745, 0.5522, 0.0475, -0.0116, 0.9994]\nstate[eef_state]: left_x=0.294 left_y=0.0003 left_z=0.1767 left_yaw=-0.0003 left_pitch=-0.0255 left_roll=0.0013 left_gripper=0.9901 right_x=0.31 right_y=0.0148 right_z=0.0169 right_yaw=0.0257 right_pitch=-0.0754 right_roll=-0.0188 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -1.6889, 7.0359, 1.8535, -0.0366, -0.0513, -0.0269, -0.1026, -4.2051, 4.9709, 1.9121, -0.0073, -0.0855, -0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0288, 0.807, 0.614, -0.4084, -0.0292, -0.0082, 0.9901, 0.0631, 1.3708, 0.1745, 0.5503, 0.0475, -0.0154, 0.7128]\nstate[eef_state]: left_x=0.293 left_y=0.0003 left_z=0.1752 left_yaw=-0.0002 left_pitch=-0.0332 left_roll=0.0015 left_gripper=0.9901 right_x=0.3097 right_y=0.0148 right_z=0.0164 right_yaw=0.0277 right_pitch=-0.0778 right_roll=-0.0219 right_gripper=0.7128\nstate[joint_eff]: [-0.1709, -1.2786, 6.9949, 1.8046, -0.0317, -0.0269, -0.0171, -0.0068, -3.5624, 4.9299, 1.663, -0.0073, 0.0073, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18373414a9f5350169fed56e1b30def022ef5de0c38380df750e14076e75aa93",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f726163a1c376ab37b26699d705164ba08c2aa90ae490511708fb8c0b887e338",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c8c717c80003cb11b865065e0a1a87e549b6ad700a23b00586686c03245e0c6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "arguments": "{\"targets\":{\"right_z\":0.085},\"note\":\"The gripper has stopped at a fruit-sized opening rather than closing empty. I’m lifting a few centimetres to check that the green fruit comes with it.\"}",
  "call_id": "call_4cMWhUOzPFrXMzRcuPnJozYi",
  "id": "fc_03f214bd7d9e4234016ab46ec258f087d0b051fe84e669ae67",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4cMWhUOzPFrXMzRcuPnJozYi",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0288, 0.8078, 0.614, -0.4187, -0.0292, -0.0082, 0.9901, 0.0631, 1.0393, 0.3305, 0.0341, 0.0475, -0.0189, 0.7122]\nstate[eef_state]: left_x=0.2916 left_y=0.0003 left_z=0.1729 left_yaw=-0.0002 left_pitch=-0.0442 left_roll=0.0018 left_gripper=0.9901 right_x=0.3036 right_y=0.0144 right_z=0.0718 right_yaw=0.0295 right_pitch=-0.1065 right_roll=-0.0256 right_gripper=0.7122\nstate[joint_eff]: [-0.0752, -1.388, 6.9949, 1.8388, -0.0171, -0.0317, -0.0122, -0.1573, -2.8376, 8.5265, 1.7753, -0.0171, 0.0171, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:044db599ac762b32cfe0c173b2ca5ec5b7fa990c653b711fa95b5b37fdf7ae05",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22882fe6af54c2c4417571002f121d69942a6f6b1c930dbe7b8beba64c765301",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfd8a1947e21e1159731fe8cda75b674d02d7e9c8bc5d87ffe30704027a7b900",
      "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 · 4.795 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 14 changed as sent

message 17 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0288, 0.8021, 0.614, -0.3901, -0.0292, -0.0082, 0.9902, 0.2131, 0.9276, 0.3191, -0.0078, 0.1715, 0.0719, 0.9994]\nstate[eef_state]: left_x=0.2952 left_y=0.0002 left_z=0.1803 left_yaw=-0.0003 left_pitch=-0.0099 left_roll=0.0008 left_gripper=0.9902 right_x=0.2953 right_y=0.0367 right_z=0.0915 right_yaw=0.0264 right_pitch=-0.0385 right_roll=-0.0205 right_gripper=0.9994\nstate[joint_eff]: [-0.1162, -1.1282, 7.1043, 1.8339, -0.0464, -0.0073, -0.0708, -0.4034, -2.2085, 6.8308, 1.9707, 0.1538, 0.1978, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0288, 0.807, 0.614, -0.4084, -0.0292, -0.0082, 0.9901, 0.0631, 1.3708, 0.1745, 0.5503, 0.0475, -0.0154, 0.7128]\nstate[eef_state]: left_x=0.293 left_y=0.0003 left_z=0.1752 left_yaw=-0.0002 left_pitch=-0.0332 left_roll=0.0015 left_gripper=0.9901 right_x=0.3097 right_y=0.0148 right_z=0.0164 right_yaw=0.0277 right_pitch=-0.0778 right_roll=-0.0219 right_gripper=0.7128\nstate[joint_eff]: [-0.1709, -1.2786, 6.9949, 1.8046, -0.0317, -0.0269, -0.0171, -0.0068, -3.5624, 4.9299, 1.663, -0.0073, 0.0073, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0288, 0.8078, 0.614, -0.4187, -0.0292, -0.0082, 0.9901, 0.0631, 1.0393, 0.3305, 0.0341, 0.0475, -0.0189, 0.7122]\nstate[eef_state]: left_x=0.2916 left_y=0.0003 left_z=0.1729 left_yaw=-0.0002 left_pitch=-0.0442 left_roll=0.0018 left_gripper=0.9901 right_x=0.3036 right_y=0.0144 right_z=0.0718 right_yaw=0.0295 right_pitch=-0.1065 right_roll=-0.0256 right_gripper=0.7122\nstate[joint_eff]: [-0.0752, -1.388, 6.9949, 1.8388, -0.0171, -0.0317, -0.0122, -0.1573, -2.8376, 8.5265, 1.7753, -0.0171, 0.0171, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:044db599ac762b32cfe0c173b2ca5ec5b7fa990c653b711fa95b5b37fdf7ae05",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22882fe6af54c2c4417571002f121d69942a6f6b1c930dbe7b8beba64c765301",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfd8a1947e21e1159731fe8cda75b674d02d7e9c8bc5d87ffe30704027a7b900",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtG7IlwQuP_65TEycCJNK-sFA1Gij-iyLiRSD7_IW80sOryU-oSCDxTh5v5KuXOMn1jvKWn8ZdtQ5TVzk19VgZDIOFnX7Ahlt_Zz8Fx8b9IbrGfaaiJg7cKUQQILgj2fs04Uf04sHo_Nj4kt79ip0oEY6-Mpc3v3cw4Wv2Z-nojX8saj_H7YxRujq-pwqMb2wmiEPdL0QOwRf19nY2n3vlA8Mt7XoHE_tQME6H09B0MuPr4OVFlKtoAf7OBx6uqb4XiNzgKdpLXiWugAoUwBob17x7Tz6REE9P011WPUI_HzinYG9w7f_4XMK0_ydXBFtF57_l64zlobmBQDtG3uxvbC3dzc0w0YfIHsL3GHC86iOqQ92ulAA8bajuaWzv1N-1r40GD0o-J8EhE7X0yqoMp4XCb85si71KdOOSzM2ymz8tBUXFCE4-roAE0gYB3RVUCNWheAJeeLU73xvno13_3HwbzwQkvjOB-vm73xS4K4DHcBndJSp7dy2OECdfA_ZsAQA0bKStrwgKm5IW7-AJPsF_aN_poopkyKI6_SWg-2np_4JGhzWfCgoDfh9gVPDgGIcHCFiLqbW4AK3Wburp0vVLac1e3hL6oSAtcXKjfV_NtsFpxKw11WjLnVHf_wqSHdkn_MiVoaHLxl4tu3nAFewP4i7mH-UxJnTm1LmZ5Jn8IaXvGSHdQLR21aO2uc5kqIKowkKdc-JWA4Qvo8id9Ap_I7Z38D_jpxB5ijb8E8uKSF4WKwa5mgbUXsQXfQYpemcrjALPG9SLTeOoAiiZNkW7CXiarsJWz233F1UCacM6J7H3_dYHm6zlEqAYGf1FbW59-VhV8jtfuJ7Q9ika3cfG798C9xHP32T-qq4iEFdJqn9-k4R658xpupTAwD4zvSINN0nuvalxY8CXLfVUsZXvPO-1t3Maw0Cx9rBXoahXavDV243h5BuzjRmq3JlzQ35mWWfVZLwcBSx7zdpfHgMoDANbLqchEkwYzlePKUUiEcchvfq4rZkcGlLiyHZswTLV6c4EhtgQLXo_tVkG8b6P7ogQqX6J8yILbgpID_teiOFxllo25bZyZHdO-tBpt0Exsv7KFy9sabGbK3Y5Dw56kGhtYdtJ4oYEQbevhDr40NNgnfr9kL7SYzgH_XJcf9CcubrGkZfi7KYiYo9nNbV9B2qx2-qKpD5e_R8Fgt55xoPF7t8mByMC9QfxYLGnZ8iK902Pt-Db7ApCMIjEDQKUQ81mf94CrKPBrLRVfBDfdjSTmRKWwH7suxqhI6AykJQe0FeW1-LkPb2z68Rf6FgvsYejVC9E0pTB3ykKPVWnuYEXiGjIGvvvsJNMK9YSSm1SgXXKA9jVnyVriP6V8dMaiddC64ovL-w3fqPuANVZX_WS2RA3ABvlR46VUjXYh7iQZ3LjSNvq3_LRGMLeNkYRREGlptVz3zV3ar7Yw49bheWQjHFVu1bDHG7jCiks99uJFZ1nWC-F-MKx88lmIrpwtC_q2D_Q-mcUix3aIjxhIKrj74CuXKgrRrLldNYKtMy",
  "id": "rs_03f214bd7d9e4234016ab46ec5889887d0bf6b3e6207fe8f5e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.415,\"right_y\":0.09,\"right_z\":0.19},\"note\":\"The green fruit moved with the gripper during the lift. I’m carrying it above the blue bowl with clearance over the rim.\"}",
  "call_id": "call_X7pLYdbBx0BpYd1gdP9Q5UKp",
  "id": "fc_03f214bd7d9e4234016ab46ec7022087d090a14b1f20ba85d7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_X7pLYdbBx0BpYd1gdP9Q5UKp",
  "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]: [-0.0288, 0.8124, 0.614, -0.424, -0.0292, -0.0082, 0.9901, 0.3023, 1.4536, 1.063, -0.3546, 0.21, 0.1036, 0.7128]\nstate[eef_state]: left_x=0.2911 left_y=0.0004 left_z=0.1706 left_yaw=-0.0002 left_pitch=-0.0541 left_roll=0.0021 left_gripper=0.9901 right_x=0.4081 right_y=0.0925 right_z=0.1718 right_yaw=0.0635 right_pitch=-0.1586 right_roll=-0.0466 right_gripper=0.7128\nstate[joint_eff]: [-0.212, -1.4974, 6.9812, 1.7509, -0.0464, -0.022, -0.0171, -0.0205, -7.2821, 9.0051, 1.7949, 0.2564, 0.1734, 0.9451]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e67f3752e3f11eaee37b56a979d4047bb45181ca3790cb5526735b3ecc9f096",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0efb4c716a392f915f3e8537a5bcd25bd82ff6cc8c3497d83485144fa6e6b1a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffea944218449aa6b32f7c74cc890f691ee5181a614508b569dac78d15b95037",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 2.169 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]: [-0.0288, 0.8066, 0.614, -0.4011, -0.0292, -0.0082, 0.9901, 0.0631, 1.3705, 0.1745, 0.5522, 0.0475, -0.0116, 0.9994]\nstate[eef_state]: left_x=0.294 left_y=0.0003 left_z=0.1767 left_yaw=-0.0003 left_pitch=-0.0255 left_roll=0.0013 left_gripper=0.9901 right_x=0.31 right_y=0.0148 right_z=0.0169 right_yaw=0.0257 right_pitch=-0.0754 right_roll=-0.0188 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -1.6889, 7.0359, 1.8535, -0.0366, -0.0513, -0.0269, -0.1026, -4.2051, 4.9709, 1.9121, -0.0073, -0.0855, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0288, 0.8078, 0.614, -0.4187, -0.0292, -0.0082, 0.9901, 0.0631, 1.0393, 0.3305, 0.0341, 0.0475, -0.0189, 0.7122]\nstate[eef_state]: left_x=0.2916 left_y=0.0003 left_z=0.1729 left_yaw=-0.0002 left_pitch=-0.0442 left_roll=0.0018 left_gripper=0.9901 right_x=0.3036 right_y=0.0144 right_z=0.0718 right_yaw=0.0295 right_pitch=-0.1065 right_roll=-0.0256 right_gripper=0.7122\nstate[joint_eff]: [-0.0752, -1.388, 6.9949, 1.8388, -0.0171, -0.0317, -0.0122, -0.1573, -2.8376, 8.5265, 1.7753, -0.0171, 0.0171, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0288, 0.8124, 0.614, -0.424, -0.0292, -0.0082, 0.9901, 0.3023, 1.4536, 1.063, -0.3546, 0.21, 0.1036, 0.7128]\nstate[eef_state]: left_x=0.2911 left_y=0.0004 left_z=0.1706 left_yaw=-0.0002 left_pitch=-0.0541 left_roll=0.0021 left_gripper=0.9901 right_x=0.4081 right_y=0.0925 right_z=0.1718 right_yaw=0.0635 right_pitch=-0.1586 right_roll=-0.0466 right_gripper=0.7128\nstate[joint_eff]: [-0.212, -1.4974, 6.9812, 1.7509, -0.0464, -0.022, -0.0171, -0.0205, -7.2821, 9.0051, 1.7949, 0.2564, 0.1734, 0.9451]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e67f3752e3f11eaee37b56a979d4047bb45181ca3790cb5526735b3ecc9f096",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0efb4c716a392f915f3e8537a5bcd25bd82ff6cc8c3497d83485144fa6e6b1a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffea944218449aa6b32f7c74cc890f691ee5181a614508b569dac78d15b95037",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtG7O-p6IjeAKMx08bm2MVMAHIVhsuH1n97tbjcAy_VutmYY9zzPfCvxoegC9BKERQQ2WKLQEFtzo4ww9nAa65fMSde6pU1gQID3KxcT-nxxxc5x2M4PM1en3_29u8zu5HtcDrEEBS-yeVNO7P7W1NpQZpmcVUDiIJ8QuGAwxqYScy1MAuRnb1Nmdxa3_vgnGf7dhUTl4jCtJwuBlJKCgxdpySI4rq3Uil4EkoRRMZ0OIFnCD6ycjjtusobHPGqjdzhtSiuCGecIMGP3OlZ276M7JDm_UZrcZthYLlH8VZxgMqoMNPu33PPYbC8bLV462K_y4gw8cPhnNGHn9_9hAkbojlHXmM0WYdVT5HJJQQj-nx3rdCAuKc1tpfwNQrWDSCrVwq9EdbDgWTl-8UmgvCGvE7i5DFOWG0h6J8vhnRTY-TZR-gyBEl3KpAFDiqmYJkmFa_DpceHw4mHkyhgx5leiZgQ86cpeJ8-VDTgR7gfklv7Vgb1xUb2PdHo2g2ARY6sxmmkbHNB14KERoiAOlIu9-lyXYvSsdmYXTjhrqUxPzxknTyDLNWnFfSAHs9tKbIkE1Ycg_XlsiidZkiiGoxWUiR_hLa1fcMdv6ECaAoNKMBmfTHYZXVXYZ-8nLl4zw7ZqWzKT8etJ_ehgRP41f01jon-CfRydcjES8C7Yi5iFWSMGgsJdD8O3EeG8xJMinSLgA7WFlizatFMHuvofOvLprWdc48TLKKVFOZ0eg1cieEfWXBnzjyUdk3PSlBXF3ZzfyF-VWSzTejnqqfZScXSx_qwSxdwg179maN_qel1-pLBFH2BO2GBP881zTAx__-RtWnhpQ3N7d_Yy2WQTytAQs_-TF5os5aRvhhaNCQNxFJalELF2L647MGQNKIOdWKICUjHuVFc03upUGuQH4CUbyWPAds7E_rOPxEOCHeIyaPRdSKdbt3q7106-Cb427591eG1b1tcA_b8AAIzf0AUxH9K4bNiZCmh-GZ5uPWzh5UP8llOYW1Qbxq323iYAmWFmUChw8Dyz8UfnLMlCh3IEfKME_JgyPyTqQpMxZIsN6Az-gME8ed3NA9Cy_-8oHsaL1uuLmDKWzVYGXTsKIa0U33lgfiaPIrKn_G7e0WUhpd3qjqhdh5b6JcDoxRnz_YirpwKV7_MIU3pFuCSbJeW0nlAqQmIqLgIuBlj4FAELljhXE0yqOLITYu-uizgyDO3JnQ4q9msf6VtlzwlWfttmlo731SqNVeKN57-q9ESNwBGDfbSGmhVuVPpkGiMy9Ugr-xR1rmF-jm_fQlMOMPcLLQ1hmUepsBGMzGqrLjIdwSlV83W8LDUUOSp_bpGepROMiKZtf0ltrO2Ma2Zkg9g1BuC8lNrhoFZbOy4P327oV_fBdMSmLK8Zdte8oGC2U3RDnCmS6OjDStRP35vhQfWPU5rOpwEGw0TzA2d2g5VDRneI9oq1tBESEKxNXAI0RHCNmW--JVYB1qcx_xoOP3I-DQUBrYhjqZF-AcQuyCNpdqOT-3U3_THP0cf6mRoEVY0btNQvCezVqPzgs8H0Ls-SkAcUdM_tEYoIQytosAgRdDxD1VTbs7GD4-mOgzLBQ619V-O8BZ5hFoL6D06z0ZqQb1y_OCcHRSglqAj9M1foeanjVDk2mt_PakztAl1-NavHsQKwx25KfPJI5e0om8MnjcUEDuBGaCR7J4fHGIA4Cykw=",
  "id": "rs_03f214bd7d9e4234016ab46ecc502087d0814467e7b4a34fc0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.125},\"note\":\"The fruit is above the blue bowl’s opening. I’m lowering it closer to the rim so it will settle into the bowl with a short drop.\"}",
  "call_id": "call_hBx3UPU8lrkBKftsrYh7czND",
  "id": "fc_03f214bd7d9e4234016ab46ece1fd487d09dfa55321935de3f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hBx3UPU8lrkBKftsrYh7czND",
  "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]: [-0.0288, 0.8124, 0.614, -0.4244, -0.0292, -0.0082, 0.9901, 0.3031, 1.504, 0.91, -0.2016, 0.2054, 0.1013, 0.714]\nstate[eef_state]: left_x=0.2911 left_y=0.0004 left_z=0.1705 left_yaw=-0.0002 left_pitch=-0.0545 left_roll=0.0021 left_gripper=0.9901 right_x=0.4002 right_y=0.0911 right_z=0.1146 right_yaw=0.0671 right_pitch=-0.2084 right_roll=-0.0572 right_gripper=0.714\nstate[joint_eff]: [-0.1846, -1.0462, 7.1043, 1.6825, -0.0513, -0.0317, -0.0171, -0.1162, -6.9812, 7.0359, 1.9756, 0.0659, -0.0269, 0.8132]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b444f5f3b11ad60c86ad5fe92fa7e80cfc70462a0ffcf9242360502ced6dcfa9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff4d3d98e32699c4150cc38065f4f812d1307c2c233351cdec5824c6249a8e2e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c064b9873c8518bc4eddd8bb32d029ceca893817828e63a56b38c03e60954ce5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 3.152 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 14 changed as sent

message 21 changed as sent

message 25 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0288, 0.807, 0.614, -0.4084, -0.0292, -0.0082, 0.9901, 0.0631, 1.3708, 0.1745, 0.5503, 0.0475, -0.0154, 0.7128]\nstate[eef_state]: left_x=0.293 left_y=0.0003 left_z=0.1752 left_yaw=-0.0002 left_pitch=-0.0332 left_roll=0.0015 left_gripper=0.9901 right_x=0.3097 right_y=0.0148 right_z=0.0164 right_yaw=0.0277 right_pitch=-0.0778 right_roll=-0.0219 right_gripper=0.7128\nstate[joint_eff]: [-0.1709, -1.2786, 6.9949, 1.8046, -0.0317, -0.0269, -0.0171, -0.0068, -3.5624, 4.9299, 1.663, -0.0073, 0.0073, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0288, 0.8124, 0.614, -0.424, -0.0292, -0.0082, 0.9901, 0.3023, 1.4536, 1.063, -0.3546, 0.21, 0.1036, 0.7128]\nstate[eef_state]: left_x=0.2911 left_y=0.0004 left_z=0.1706 left_yaw=-0.0002 left_pitch=-0.0541 left_roll=0.0021 left_gripper=0.9901 right_x=0.4081 right_y=0.0925 right_z=0.1718 right_yaw=0.0635 right_pitch=-0.1586 right_roll=-0.0466 right_gripper=0.7128\nstate[joint_eff]: [-0.212, -1.4974, 6.9812, 1.7509, -0.0464, -0.022, -0.0171, -0.0205, -7.2821, 9.0051, 1.7949, 0.2564, 0.1734, 0.9451]\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 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]: [-0.0288, 0.8124, 0.614, -0.4244, -0.0292, -0.0082, 0.9901, 0.3031, 1.504, 0.91, -0.2016, 0.2054, 0.1013, 0.714]\nstate[eef_state]: left_x=0.2911 left_y=0.0004 left_z=0.1705 left_yaw=-0.0002 left_pitch=-0.0545 left_roll=0.0021 left_gripper=0.9901 right_x=0.4002 right_y=0.0911 right_z=0.1146 right_yaw=0.0671 right_pitch=-0.2084 right_roll=-0.0572 right_gripper=0.714\nstate[joint_eff]: [-0.1846, -1.0462, 7.1043, 1.6825, -0.0513, -0.0317, -0.0171, -0.1162, -6.9812, 7.0359, 1.9756, 0.0659, -0.0269, 0.8132]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b444f5f3b11ad60c86ad5fe92fa7e80cfc70462a0ffcf9242360502ced6dcfa9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff4d3d98e32699c4150cc38065f4f812d1307c2c233351cdec5824c6249a8e2e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c064b9873c8518bc4eddd8bb32d029ceca893817828e63a56b38c03e60954ce5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The blue rim is visible around the green fruit below the gripper. I’m releasing the fruit into the bowl.\"}",
  "call_id": "call_G1DvWFObliVK7QGLdUCp6wVy",
  "id": "fc_03f214bd7d9e4234016ab46ed46de087d0a55d8daf3c08a5f1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_G1DvWFObliVK7QGLdUCp6wVy",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0288, 0.8127, 0.614, -0.4248, -0.0292, -0.0082, 0.9901, 0.3027, 1.504, 0.91, -0.207, 0.2054, 0.0944, 0.9953]\nstate[eef_state]: left_x=0.291 left_y=0.0004 left_z=0.1703 left_yaw=-0.0002 left_pitch=-0.0553 left_roll=0.0021 left_gripper=0.9901 right_x=0.3993 right_y=0.0907 right_z=0.1137 right_yaw=0.0703 right_pitch=-0.2139 right_roll=-0.0635 right_gripper=0.9953\nstate[joint_eff]: [-0.0205, -1.0325, 6.9949, 1.6728, -0.0366, -0.0317, -0.0122, -0.0342, -6.653, 6.5846, 1.5702, 0.0611, 0.1245, 0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cbec4d5272b58432c1fba96a282b45b4b1fbbe4c1a90ce6d2a871a2cc13047d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d298f927ea893a80795d438e51aa63dda77cd70240f6c45d85abfaea3391f63",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65a2ffcc0045c1a02d8105eb2bceced121a24d0c8b77600f11577c93740ca672",
      "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 · 3.443 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 17 changed as sent

message 25 changed as sent

message 28 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]: [-0.0288, 0.8078, 0.614, -0.4187, -0.0292, -0.0082, 0.9901, 0.0631, 1.0393, 0.3305, 0.0341, 0.0475, -0.0189, 0.7122]\nstate[eef_state]: left_x=0.2916 left_y=0.0003 left_z=0.1729 left_yaw=-0.0002 left_pitch=-0.0442 left_roll=0.0018 left_gripper=0.9901 right_x=0.3036 right_y=0.0144 right_z=0.0718 right_yaw=0.0295 right_pitch=-0.1065 right_roll=-0.0256 right_gripper=0.7122\nstate[joint_eff]: [-0.0752, -1.388, 6.9949, 1.8388, -0.0171, -0.0317, -0.0122, -0.1573, -2.8376, 8.5265, 1.7753, -0.0171, 0.0171, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0288, 0.8124, 0.614, -0.4244, -0.0292, -0.0082, 0.9901, 0.3031, 1.504, 0.91, -0.2016, 0.2054, 0.1013, 0.714]\nstate[eef_state]: left_x=0.2911 left_y=0.0004 left_z=0.1705 left_yaw=-0.0002 left_pitch=-0.0545 left_roll=0.0021 left_gripper=0.9901 right_x=0.4002 right_y=0.0911 right_z=0.1146 right_yaw=0.0671 right_pitch=-0.2084 right_roll=-0.0572 right_gripper=0.714\nstate[joint_eff]: [-0.1846, -1.0462, 7.1043, 1.6825, -0.0513, -0.0317, -0.0171, -0.1162, -6.9812, 7.0359, 1.9756, 0.0659, -0.0269, 0.8132]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0288, 0.8127, 0.614, -0.4248, -0.0292, -0.0082, 0.9901, 0.3027, 1.504, 0.91, -0.207, 0.2054, 0.0944, 0.9953]\nstate[eef_state]: left_x=0.291 left_y=0.0004 left_z=0.1703 left_yaw=-0.0002 left_pitch=-0.0553 left_roll=0.0021 left_gripper=0.9901 right_x=0.3993 right_y=0.0907 right_z=0.1137 right_yaw=0.0703 right_pitch=-0.2139 right_roll=-0.0635 right_gripper=0.9953\nstate[joint_eff]: [-0.0205, -1.0325, 6.9949, 1.6728, -0.0366, -0.0317, -0.0122, -0.0342, -6.653, 6.5846, 1.5702, 0.0611, 0.1245, 0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cbec4d5272b58432c1fba96a282b45b4b1fbbe4c1a90ce6d2a871a2cc13047d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d298f927ea893a80795d438e51aa63dda77cd70240f6c45d85abfaea3391f63",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65a2ffcc0045c1a02d8105eb2bceced121a24d0c8b77600f11577c93740ca672",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtG7Yu7nBm71a9b-CyDPnJmLKgyLVx-9TiM69Rm4tNK5k1UgngUoYhhs5YYj2u4frqHxMLq8kBq_4sRqcfNBstA3NNc53704jWPQJRR7r6IJ4oK6WbbuIpqQX15iZkKTkTeZbTK9RGMnSi_JBHcFyt9jAuaTw15J3rybqPOfTIhzIPUVCeZvI-5Py81xLYkH5JdUoW41S6W2EzK5fkr17JcYR4VVLcRVcOio8F-DL166N5wHUQhL4C1yW6InIgPfDO2CFZ-4U-LynakvKUa4UeqIat2ZfnGyfE2MqhlbGd9YAx_pDwY2NptcvzbdXYY08uKxXXL-amQDvWunFNpdywGaSbQ_1Vl31S6zeypVee0bWLsbG2IRjZFof5usGTfNAEEy6dGmT0-k_iZLibV67MTDVHKO9raF5G0sPQDVidgEQgY0EJqYcHZ_bqfv7tAT5TvJ_oEZmEud7Oq7VQfwGYpElZRq8zxXOjfR4ckS1RHzfe_fp8oD1aDGTZLYN9ANTGvbxdiYNw__FVF-BX1k-d1WMVE9t21RGYwrLYbYtFck85wa8-Emicbjbpal-xfd3oYI3dj0c2oAEtac39VMEJTAiw5Ey-2IEcw20Tc29prF20kXUIpKoRVzzHIcH_0uxFdWXyX0XCI3k9iJTN7ti7TvVhk3abNWLRYTdZ9VoJUsMUaMDWcgZaqyv7libnW1sZAgrKB1RNE_PDEB0oZee-KtxlGk6QwDpERJFi83NwDGbMP_R7OynJYk3CwZHMjHQ03YMEWtFtnPv4gYcKx9s13G5NXXz7PwR4tqMwnCZdCz_mFMiA5-G4NM0KN0Bh2pMGNMctolzKG6OlhN7E0FjFcTypcTsMaj6PhKFVY1ewRd2q4NN8xUsERnHVztfv66LW6vIES0IETFhB1GHh_abZuz96yQbVQG9VWCLSU82QYf5_DsdchDlU3nN2nTLdoohoH89tnx1p_TL6vIC_QmFXI_fjEECH0tS3q8Y0kSYrAn5ZtWCBMtPV3LraJ23-TZMSZKwOaoJQPyzldyYlIZJ9h6uOohkbyDLzvb1--Ov34HeHSXUJOUuBUJfcV8610lRT-T2U0Fc7ZHO0-A17WAGHktFSj4ovWPwwogYgA4JMh7IrTJUTkLQ5n9Dbs6eZVNvmv_55h_IuA_j7R6GgLvQ_n7jtJtxrfmTdAE4CgC74mwUY3DnqXzgJ2usraVjHrcXa4oQCjI_zrBNBnV42uyBtE55WBKEPURGJT30y4vutsoc0qvvdnnjExnpd5N_9BniKgSoIae9RetakqVG1eq_mHCvahQeslkszAi_wbgp6W0hfpdC8jiOzjKsdyjI_oq1qszmOUBTnbReB4KWP8Udb5R0QtlijmGaaWO634nkIjKXNSZM6bWt4ionFRq4p31mKgafNFYVg4UJob4gCn1W30K-RQ==",
  "id": "rs_03f214bd7d9e4234016ab46ed6cfb887d09610b536e3aed320",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.335,\"right_y\":0.155,\"right_z\":0.15,\"left_x\":0.296,\"left_y\":0,\"left_z\":0.185},\"note\":\"The green fruit has settled inside the blue bowl. I’m moving above the yellow fruit next and restoring the idle left arm to its parked height.\"}",
  "call_id": "call_ZuD6sMByJU5TxSqC5Z0g33y6",
  "id": "fc_03f214bd7d9e4234016ab46ed7878c87d09ea794025b8412bb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZuD6sMByJU5TxSqC5Z0g33y6",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0288, 0.8452, 0.6464, -0.4759, -0.0296, -0.0086, 0.9901, 0.6189, 1.3876, 0.9321, -0.4732, 0.4, 0.326, 0.9964]\nstate[eef_state]: left_x=0.2897 left_y=0.0005 left_z=0.166 left_yaw=0.0004 left_pitch=-0.1064 left_roll=0.0035 left_gripper=0.9901 right_x=0.3292 right_y=0.1545 right_z=0.1314 right_yaw=0.0862 right_pitch=-0.2658 right_roll=-0.0892 right_gripper=0.9964\nstate[joint_eff]: [-0.1299, -1.7709, 9.6889, 1.7998, -0.0708, -0.0659, -0.0171, -0.0889, -7.2274, 8.4718, 1.3748, 0.2857, 0.0952, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bcb5776521e51f443a177da57c2a06b2d1a1a8976199cc8f3cc4f4f2144d4db",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:177d59c6f60125161cd330e5c4e835f686194859098b0baaec33eb5619ba66a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ceba9764c5b75a7975b36268861c593a1dfe30cf799644cae00e66be363098f",
      "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 9 attempt 0 · /responses · status 200 · 2.2 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 21 changed as sent

message 28 changed as sent

message 32 changed as sent

message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0288, 0.8124, 0.614, -0.424, -0.0292, -0.0082, 0.9901, 0.3023, 1.4536, 1.063, -0.3546, 0.21, 0.1036, 0.7128]\nstate[eef_state]: left_x=0.2911 left_y=0.0004 left_z=0.1706 left_yaw=-0.0002 left_pitch=-0.0541 left_roll=0.0021 left_gripper=0.9901 right_x=0.4081 right_y=0.0925 right_z=0.1718 right_yaw=0.0635 right_pitch=-0.1586 right_roll=-0.0466 right_gripper=0.7128\nstate[joint_eff]: [-0.212, -1.4974, 6.9812, 1.7509, -0.0464, -0.022, -0.0171, -0.0205, -7.2821, 9.0051, 1.7949, 0.2564, 0.1734, 0.9451]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0288, 0.8127, 0.614, -0.4248, -0.0292, -0.0082, 0.9901, 0.3027, 1.504, 0.91, -0.207, 0.2054, 0.0944, 0.9953]\nstate[eef_state]: left_x=0.291 left_y=0.0004 left_z=0.1703 left_yaw=-0.0002 left_pitch=-0.0553 left_roll=0.0021 left_gripper=0.9901 right_x=0.3993 right_y=0.0907 right_z=0.1137 right_yaw=0.0703 right_pitch=-0.2139 right_roll=-0.0635 right_gripper=0.9953\nstate[joint_eff]: [-0.0205, -1.0325, 6.9949, 1.6728, -0.0366, -0.0317, -0.0122, -0.0342, -6.653, 6.5846, 1.5702, 0.0611, 0.1245, 0.1294]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0288, 0.8452, 0.6464, -0.4759, -0.0296, -0.0086, 0.9901, 0.6189, 1.3876, 0.9321, -0.4732, 0.4, 0.326, 0.9964]\nstate[eef_state]: left_x=0.2897 left_y=0.0005 left_z=0.166 left_yaw=0.0004 left_pitch=-0.1064 left_roll=0.0035 left_gripper=0.9901 right_x=0.3292 right_y=0.1545 right_z=0.1314 right_yaw=0.0862 right_pitch=-0.2658 right_roll=-0.0892 right_gripper=0.9964\nstate[joint_eff]: [-0.1299, -1.7709, 9.6889, 1.7998, -0.0708, -0.0659, -0.0171, -0.0889, -7.2274, 8.4718, 1.3748, 0.2857, 0.0952, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bcb5776521e51f443a177da57c2a06b2d1a1a8976199cc8f3cc4f4f2144d4db",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:177d59c6f60125161cd330e5c4e835f686194859098b0baaec33eb5619ba66a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ceba9764c5b75a7975b36268861c593a1dfe30cf799644cae00e66be363098f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtG7eIw5tmx1dcDnnJZGV1q1982A8O20i427NVEruIpNcson-V5TnUqjuVdtFhcO0mnZA3v2-JW_82FSnZOJA4tgwZzWRrMx701IGc-yrDXOWcwrnUpGJ_tBjZTGMs0qOUY4ltU33rpJ3wex2dTRqr3aDxrTxD0KWDiqPTTvWehPrGYKsJtSOVcwSyicD0kgCvfTcAeDcmdpzeHXF4Eeu9HK4g5ghHK4GQmZkcyak_y3L0o9ik1uYabBTqtpEI29ZRe7I6yxxkIxwwMW-X20BP_yGjHvN6iaHLVSftj0WFV7erbYZrhdcaeegdvCh01lNy_E-xOA4MGDNSF3EIhs4pfd5HPr820ihSuFdPB0Frr2bt6Y_5qFDEkbN7aJ0oxwvallURwuzyRV6CUwksoB3Ulm66jb680NeFOirontrySC6T_tDBewwWNQMQkjzO1gaLIy9cV8Lwfvw6xUlFHXzUkc-DMM5bBGkkK09CdVBqLE6QT1b0jNsVcZgUKWcdAF7SN1B8KT8ncJLOOlWD8Jko0xmybxsjAWlySGTXLfVNf7MkC3S0XgE-GUwqzWqxxnxtYG1rzJ2Hei4mWucVT5GIfrJQjJBg4tCi4_tDV5tgZVpPYvaYGHFdutp-MK-949hoRBrGmqByd2MA6La8WKQ4Eat47hR6COJOcbUXYMMPh2YVQeIDM38TDqi9yPet5sVQWZ0FDIYxOtgK9TrsSUocfstC0H5BACgJWsg3C_-Veiw1WefWGuEI_XShRJ4iyZ9lvGUy8KbErimB1lcHjLsh6dPnq4Uvr4gvZxmcO5CfKigDEq3DrJFm6PTuA1fY5FkSxBjjnoNDfvCboFe48SfANsb2OTjmh1Gd4SEVpdgXlYudjkvLZWu7DBm5fYDjDBpISHFOSAMgu7DVjE0rFzSiGRV6sG3vPLQhTGP7-YNtBOayBwZggIBGKGA4ROdhy3cJpzkHUDudAoXmAsdIziI5WoIK74CIjMZvW7iLl0G6Cahzj8Pd-EgwrbhfDatN3fxdP6kLy7W9CC90xJ-Nq22mhVkq4MyfasmcAVvayVXMHtQ0N9n92WFEr7J05iKGK0Qde-YXebUVnsB7P5h65z92US94j6WM4RP_FDb522R_0qAcXBG2Y7oTKEEKDE4bXvg-J_Ir73q2MotvoJthTE3WoTfly9UxMJWMm4zIdpG1_1Ht8r67v4KaQDPECh1Nq6DQZdYUBkrQcvhJ_0yez6zKOFuZyom4L5q301Mt1aOdQYTRYsoXdqPbThdbQG8rLaKRg-cl4bH8tRVPgPeQO6LPl-H6MLaNyabtIKbIJ3fR7otARIV-bUIDRpIGfYGuq6xfPrhajYuKGDZ0HPyKtgLuPEec52l2vfkbHcUTujbEAOjGQv6DTM7CQ4zYJm8Pi0l3YHrwolpXwuQ8yt_892KyI6VLgavKqEIAc1gYgJfpgEOgGyMnUS4F8t1JjMxP3azG1YEgcbqEe48N4G49fZlyKh5t0iqTp2pmIUskJfsNI4HrfOwn46wvdb6Oc286sXM2E-YtkLei6kMmmUYHFojrJE1Yg==",
  "id": "rs_03f214bd7d9e4234016ab46edcca5887d0a71e5158fe3ea32f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.355,\"right_y\":0.167,\"right_z\":0.025},\"note\":\"The yellow fruit is slightly left of the jaw centreline and still forward of the fingertips. I’m aligning over it and lowering to grasp its sides.\"}",
  "call_id": "call_MkJfuiKsqH9mtWZPEENIkZ0P",
  "id": "fc_03f214bd7d9e4234016ab46ede0fa887d0a7984e790502ce71",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MkJfuiKsqH9mtWZPEENIkZ0P",
  "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]: [-0.0288, 0.8471, 0.646, -0.4877, -0.0292, -0.0082, 0.9901, 0.6048, 1.6966, 0.7723, -0.0109, 0.3889, 0.3038, 0.9965]\nstate[eef_state]: left_x=0.2879 left_y=0.0005 left_z=0.1631 left_yaw=-0.0001 left_pitch=-0.1205 left_roll=0.004 left_gripper=0.9901 right_x=0.3546 right_y=0.1681 right_z=0.0267 right_yaw=0.0922 right_pitch=-0.2772 right_roll=-0.0999 right_gripper=0.9965\nstate[joint_eff]: [-0.1983, -1.347, 6.9812, 1.7802, -0.0464, -0.0464, -0.0171, -0.294, -7.2274, 4.3009, 1.5263, 0.1441, 0.0562, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f6e3582fce32af4c584b4882d3b3b879d3d16b0cba488da5b1af4c85a6356cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b9fe66a82b3957fdedd6120b6ef715a74b054cad4c81919b6ba9f71798cfdfd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0796c9998382fde107b3e11929adb19ab558991cde53012ac79ef670b46721eb",
      "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 10 attempt 0 · /responses · status 200 · 8.356 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 25 changed as sent

message 32 changed as sent

message 36 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0288, 0.8124, 0.614, -0.4244, -0.0292, -0.0082, 0.9901, 0.3031, 1.504, 0.91, -0.2016, 0.2054, 0.1013, 0.714]\nstate[eef_state]: left_x=0.2911 left_y=0.0004 left_z=0.1705 left_yaw=-0.0002 left_pitch=-0.0545 left_roll=0.0021 left_gripper=0.9901 right_x=0.4002 right_y=0.0911 right_z=0.1146 right_yaw=0.0671 right_pitch=-0.2084 right_roll=-0.0572 right_gripper=0.714\nstate[joint_eff]: [-0.1846, -1.0462, 7.1043, 1.6825, -0.0513, -0.0317, -0.0171, -0.1162, -6.9812, 7.0359, 1.9756, 0.0659, -0.0269, 0.8132]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0288, 0.8452, 0.6464, -0.4759, -0.0296, -0.0086, 0.9901, 0.6189, 1.3876, 0.9321, -0.4732, 0.4, 0.326, 0.9964]\nstate[eef_state]: left_x=0.2897 left_y=0.0005 left_z=0.166 left_yaw=0.0004 left_pitch=-0.1064 left_roll=0.0035 left_gripper=0.9901 right_x=0.3292 right_y=0.1545 right_z=0.1314 right_yaw=0.0862 right_pitch=-0.2658 right_roll=-0.0892 right_gripper=0.9964\nstate[joint_eff]: [-0.1299, -1.7709, 9.6889, 1.7998, -0.0708, -0.0659, -0.0171, -0.0889, -7.2274, 8.4718, 1.3748, 0.2857, 0.0952, 0.0952]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0288, 0.8471, 0.646, -0.4877, -0.0292, -0.0082, 0.9901, 0.6048, 1.6966, 0.7723, -0.0109, 0.3889, 0.3038, 0.9965]\nstate[eef_state]: left_x=0.2879 left_y=0.0005 left_z=0.1631 left_yaw=-0.0001 left_pitch=-0.1205 left_roll=0.004 left_gripper=0.9901 right_x=0.3546 right_y=0.1681 right_z=0.0267 right_yaw=0.0922 right_pitch=-0.2772 right_roll=-0.0999 right_gripper=0.9965\nstate[joint_eff]: [-0.1983, -1.347, 6.9812, 1.7802, -0.0464, -0.0464, -0.0171, -0.294, -7.2274, 4.3009, 1.5263, 0.1441, 0.0562, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f6e3582fce32af4c584b4882d3b3b879d3d16b0cba488da5b1af4c85a6356cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b9fe66a82b3957fdedd6120b6ef715a74b054cad4c81919b6ba9f71798cfdfd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0796c9998382fde107b3e11929adb19ab558991cde53012ac79ef670b46721eb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtG7koO-_3weucdiezfKXKWW6P8iOY7yUq523tWKwftbVaTGt8vFwyx3Y0KRS2R17zr1m6qX9K4UyYu4BLQ-1HLwMXDxH1jgaJr3-1NMVzcLoWENO-jhn3mI1Ylhx2qrQV6GDRHpptfCISftubYclVKCmiVa7BZ_exkQeOf0bNBsVrXCFxTET14AoENIZYi7F6nc_iCxKpX0YL97cbin3SjpaGnIlr70CzKw5Fz2CJcrk7-wq_5eXwazdlzMmngTtS4InX2cVNOQ6cHhK0fdxT7euDmCUPlZz0KFCz07Q2oyVmJPbI6X91IQ5O03FmHGtKpMHdYpXOSe7jEiKdNYgE44kCm2YS1DpJF6TyL6Q2Rja5SRkTayLP8Jbbin2bC15xPgA-hbQlyl6pYhi1DbAaBK5Jr9NdrmwezFtoj7CYqbZp_pDokIbU5fmBWKBms_OVWrjOmcHydpPCP8LV1ldxoth9iveaIA5PJD6oYM3eL5_fVZQXXj21YGxC5xy3wbmm2AbCopliqpV9HVifLhjtjIvcSeSMqs4Up2zCDBoSuT6dsXzoKsd40JK4Zk3NbgGykuj8QAdnwJg5uvzdQxQ2-lZCxbIFSKXeMgbffG93wd4qB4VmQ-WyS4UdLldWPBqe_sU8L9sCl6sVQ2bcjI0mtmfItwc818qD-wNPOWE0GUxU8FsvZzVsaohF8x0jbcRB8R8k4U6qnX7GlMfZm9PQ86H-3AADoz32LyiuLaVKcrQtzwa30a5NBYWyN-Tz2KD2ey0PTICfU4UtTA52k7NcaQIWJJCOpUhBRhBt76gcVyzjewVRghp4Og60igD3qt6sKzYoPxgiG0wMOHb1sUsmkF4QtINPzrL6HysNZwPsbA9sT16xJsUqGz7JFoD6OUiWfC3D8SQxDlgHn_1l6fLx-6Ab0Ch12sgMFfC9-eYCYvML6LeAb1VsKqMnWnXfS5tKyDzx0fePCURmSLsLVyY4i1_OOt0yFIexzhixAE7gpq1bq5BgH-il-3oVzPbI53YUp9NtPDZy7VOSzZr-HKoiccbXKHO55p2fZ4xThq2PQ3X1nF9OJS4ifPq2WAB7_9TD-Fn7oP6V6mhdsBgbFw2rag43i8F3fy7Ydths07NFHZxss_vhKMCqm1ZE3Zws6OYAQbAW8aGiXxaQvYuJJNmo1xC0pD1FwfnOPa5DqdTgxikwn1rGjygBiIKMVtq9i44Shtee9vEQc2cykyS2ryl5B2rVw==",
  "id": "rs_03f214bd7d9e4234016ab46ee3324887d0952cca296c5e7434",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The yellow fruit is centred between the lowered fingers. I’m closing around it.\"}",
  "call_id": "call_zlBIqIl7rKid35heZmyVeQZW",
  "id": "fc_03f214bd7d9e4234016ab46ee365bc87d0877940ffa9202de3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zlBIqIl7rKid35heZmyVeQZW",
  "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]: [-0.0288, 0.8471, 0.646, -0.4919, -0.0292, -0.0082, 0.9901, 0.6018, 1.6932, 0.7689, -0.004, 0.3965, 0.292, 0.0206]\nstate[eef_state]: left_x=0.2872 left_y=0.0005 left_z=0.1623 left_yaw=-0.0 left_pitch=-0.1247 left_roll=0.0041 left_gripper=0.9901 right_x=0.3559 right_y=0.166 right_z=0.0282 right_yaw=0.0906 right_pitch=-0.2689 right_roll=-0.1102 right_gripper=0.0206\nstate[joint_eff]: [-0.2803, -1.3197, 7.0632, 1.6923, -0.0659, -0.0269, -0.0171, -0.1299, -6.9265, 5.8735, 1.2381, 0.1099, 0.1343, 0.9988]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91beaf6f59250001022943c1f91be51881ea563074936e2dba404e207e12ce34",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:267b81606b4540b202bda35d2cddbd9a00399adee2744ea3f31830933972af2f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48b01f60c5efcf531f487de4c38dd9a8f06dbe5491db1d6c98d2e7f305838c55",
      "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 · 3.242 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 28 changed as sent

message 36 changed as sent

message 40 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0288, 0.8127, 0.614, -0.4248, -0.0292, -0.0082, 0.9901, 0.3027, 1.504, 0.91, -0.207, 0.2054, 0.0944, 0.9953]\nstate[eef_state]: left_x=0.291 left_y=0.0004 left_z=0.1703 left_yaw=-0.0002 left_pitch=-0.0553 left_roll=0.0021 left_gripper=0.9901 right_x=0.3993 right_y=0.0907 right_z=0.1137 right_yaw=0.0703 right_pitch=-0.2139 right_roll=-0.0635 right_gripper=0.9953\nstate[joint_eff]: [-0.0205, -1.0325, 6.9949, 1.6728, -0.0366, -0.0317, -0.0122, -0.0342, -6.653, 6.5846, 1.5702, 0.0611, 0.1245, 0.1294]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0288, 0.8471, 0.646, -0.4877, -0.0292, -0.0082, 0.9901, 0.6048, 1.6966, 0.7723, -0.0109, 0.3889, 0.3038, 0.9965]\nstate[eef_state]: left_x=0.2879 left_y=0.0005 left_z=0.1631 left_yaw=-0.0001 left_pitch=-0.1205 left_roll=0.004 left_gripper=0.9901 right_x=0.3546 right_y=0.1681 right_z=0.0267 right_yaw=0.0922 right_pitch=-0.2772 right_roll=-0.0999 right_gripper=0.9965\nstate[joint_eff]: [-0.1983, -1.347, 6.9812, 1.7802, -0.0464, -0.0464, -0.0171, -0.294, -7.2274, 4.3009, 1.5263, 0.1441, 0.0562, -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]: [-0.0288, 0.8471, 0.646, -0.4919, -0.0292, -0.0082, 0.9901, 0.6018, 1.6932, 0.7689, -0.004, 0.3965, 0.292, 0.0206]\nstate[eef_state]: left_x=0.2872 left_y=0.0005 left_z=0.1623 left_yaw=-0.0 left_pitch=-0.1247 left_roll=0.0041 left_gripper=0.9901 right_x=0.3559 right_y=0.166 right_z=0.0282 right_yaw=0.0906 right_pitch=-0.2689 right_roll=-0.1102 right_gripper=0.0206\nstate[joint_eff]: [-0.2803, -1.3197, 7.0632, 1.6923, -0.0659, -0.0269, -0.0171, -0.1299, -6.9265, 5.8735, 1.2381, 0.1099, 0.1343, 0.9988]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91beaf6f59250001022943c1f91be51881ea563074936e2dba404e207e12ce34",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:267b81606b4540b202bda35d2cddbd9a00399adee2744ea3f31830933972af2f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48b01f60c5efcf531f487de4c38dd9a8f06dbe5491db1d6c98d2e7f305838c55",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtG7tc9luCfntEWHm03NTt-Ziab5GHX8LITHpFzl2Qx6497CDV7gb4niMRDw7-BuRDuQDlx4r2s6CGbylY9RyTC4nUEfwkfkEaNTZENEVyuXjwV7Jz1SmLmP6SnInInG1a8stTuYfZhVmobyX3y8rH7_PYlgvheNdGpSROnJk6kjGUXJg-72mC9Pwa_SIUREZK6ZS0tmLNeLuwbLwZxwmm5TfHSdAKesDhOPuKOw4byFdL6B-XqWcQtBXQMmSEsWkmCcoEaJnHR2M_p8KKncTWSG1RPLjBI6F8wjL-r3d8D7alPgON93YtcIds2DJp97WfIOXiIIbN3Y4dbj3Amwwr8e9s2io38K6NEINLqC3vw10Onp0vfsqD6DXhrgyDQ128o-THbmjs-Glo4f2hB9KvfZFzMJa4ZFItAwcthbOLABKqvWR24JYEtKXHQLsb5RymEIfUTuqIlGWz1tMltLwBizvKn5zK6sW1X1xVSzVFT4UIU6I7EQvWLNj2edBpy5L2_j4iR6Spmp9xmhLFF7KUwJweCkOqgTJCfuUQAjEivEix6JPmhtCmyGXOnWRg11pehw-ggV8sNwXvRoczt-G0s4guVF4Fo-EU1QdHXR9bFKF1Dr-oIrgHsx7_4CULo0KAXviUVcba87FIDRi3OOQQdYFG8LwhT1btY4bsT0Vb-6vyg9gzWz_JHKeQHRqPEVwxHW2eE_WfC0MyDhTIcH_sPGISxw8YZ8QsskJ9znCOefYGQNaKfNqA9ab2caxKoJ6XtItf7-wj0Ffs4P7eQkk8jcVYK589kOc_0i6bCWE6XK5UpNLUszOqQapZpFbcSEECMstT9LhXpmCI_-LLQ2wlp6qL0azZFxeiio22n7QQ-oDNTPZWfqqO5GabLPGQ5bGLF93eNQeGsYT3H8-rD5nWqQBhhlA0clqc3bGLPaAF3WSjJtEcxuRgd4wEiM6B88UR_jcTJoILhyvfwkHXFFaWmIfUf1BgRkIN6lyIR8RI2Sn1FrOh44dSyTNORo4OzqjwEr6_Fz2DRax2u27w73TsbKmfa6ueqSfuBhLbA9Dg9X6aY_F2X5uYxLQQmA1-0UnY0Sr6XgdLSnkTvehNV1F3USyBmKWz-ob7cgqwiUBh0HLhG5spkshTPRaCRkh7TqW5Z2VKz98vsE0VzzARyE1UE4TS4N5Gj3gVCZfLBJWJv8ByNcQbwB1mDRorWmwkhA1VzLJR7nHTX0YYSQJyEWWW4GpmaZgnPSYDiD9DVWM51rymFmHcoCea_gSLzPR8wZlvGO-dryh91r7UffmhfUpp3_LshD2yvbpcAB5YcmPrToaxv8a_0Wgy7S8ZL2NJcGHHjYj4JrPNS-yzcU4SPBrRPDhRa8THIEJFx5m8cZBcU1BDmpnxddIeopvJ-OcmK94K4xEe5Dx82nuKtwyRpPsknkdfNPeHFWwQUdhMKYWrd1wF4EP_b8ZIWtdjUBcWfiYMjSEW4mmokkEUJWy3cmgfigoYrj8It8BCw2V4wZ7ESfpjqttCYpvmJElqamo6WHKQ_Elk7-sWS-cHZerzMpzZHUBZb7SQFzEkknipaUzjJhqIX-1s4mmevkdzKRCDn9p7kh-hil7p9r0qPQutiGCWuYvUnNHDgDzM7QbwDkMzjTDJKzQMdgcMM7hPE-JEaeiBw2urH88AZrfDtPej44ur21zVmYIsXM_PGx3SkgcriEbR3CqFWUBXgfTk-8GtIPGoBjQ_2QCvtaSTNw1PpF_J_N-IgL8pAjv49kRKknsM-Ue2U_LExql040ERzwlSWncMyhkjW2gVLOJ0cVzGHBzAoqQhn3767GaYMItTK7nhXz9JkSy749sQT16ANxKnu0RQB-ukkFCG4My7etPQjLdg2CY3SY2btwio0Kh4eNjeA4mMzx0Xfz9KPCEYZxrh-x3tYVe8gE0-4PAK48O0yBQo5rqPUFQhIJePozcJZtR5ONA7TJJg7a89TyWPVCroWauRRuuHCW2CPthuRvhqURpx_n8n0P3dIJnR5-q99M46gYrSo6ZkrqGhsf88OFvrPOrHvgjd4l1cnnclEm_Lw8gJB8lgwPIb3R-o9hJufcCSMDyInsYpa7h_Ztr1BWJNO1i1TyTXtJ5q_HgdjlPvqyP4N4wl8ZxHk5NAePp4UiaLW2M-WWUCw6u0bnQhl2bhRa8qOfJwUmUfyzJXRMhfJ7JBUgYfq4QWDdLZbvrgO1Kn9L-NL-Sy0aFUg-k7PnrxzLk0aB8CIz-BUjSXZQw6olKuTPyhphM4sj5PpnOjsVB-MO1a3coNKvuG-GEK1WYZFuriuuhYGa_XxCU9h5ll0EvZGHxvBy9aLlMRwtqajKTvcMIT-PAKsSWxxTKVQ4ntlq8xuRLI4uM34adBLyMBdD6veXNyAEfPPwUCfNzDaENFIoUOqGxncEn02WWoiMWG1djxnfwuOsxqRo4SJIch3fYyAVOvNqBJlELUFV_2ruaY5yf4Wn7VbJINoMcthqz9weHLb7t25iWkZ4E4hZo0pjJARw0SFOe4eQavS7Y9izIAdPraNpOT2aB1Vo7ByLLpuK3dU82-YN4601l_761oEhMXGuVi5ZIOg2xGLG8FT_E0PEU4zy6Mjs71Qr5cRQ-DeLXhcwuJKOW7JFf1cThDyyXuuPV0ctqoHLYkh0YVI4no8dM5aOg3egN-DFvRw5V6T-ADPGfDjO1MOYtdENWGXkT-fvLlW9ZYKnJpMKcjZykZtHXmMvoLN-4jY9j480h-hpiSCZN-AdxyjSNA5uyVkImT80VgRFMhpIohdoY4kLbDjPDXhO9jgCI8JZemVNizNQY6DQ-DGm7-J55sFcvbTPSnLbnvVa33mB4epJMIfBc6hnds326bIrUAYNxEItubpQEKuh6UAGQTWsLsavCmjbj6nyIUnOxlzlVtPE0Yz5V7xsTCHmBAca2XVrJZVfoDhtqHDRtRdS-froH-erBNjzYgrcl0J8wpdhbB-w-r0fidUp2jMLW3_P-tV0pI_LuWYgOSWlEzepbvziMn8AW8nDiAMiO3g==",
  "id": "rs_03f214bd7d9e4234016ab46ee6875487d0a8a2940f0e50039e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.173,\"right_z\":0.055,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0,\"right_gripper\":1},\"note\":\"The gripper closed empty, and the yellow fruit slipped toward the front of the table. I’m opening, moving back over its new position, and straightening the tool for a second attempt.\"}",
  "call_id": "call_FbR6XutlLsTfMJQZiFgwcBwa",
  "id": "fc_03f214bd7d9e4234016ab46eeb891c87d0a56079e305b80f94",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FbR6XutlLsTfMJQZiFgwcBwa",
  "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]: [-0.0288, 0.8474, 0.646, -0.4942, -0.0292, -0.0082, 0.9901, 0.7765, 1.5696, 0.524, 0.2646, 0.6151, 0.4538, 0.9985]\nstate[eef_state]: left_x=0.2869 left_y=0.0005 left_z=0.1617 left_yaw=-0.0 left_pitch=-0.1274 left_roll=0.0042 left_gripper=0.9901 right_x=0.3163 right_y=0.1728 right_z=0.0433 right_yaw=0.0255 right_pitch=-0.0456 right_roll=-0.0347 right_gripper=0.9985\nstate[joint_eff]: [-0.1846, -1.347, 6.9265, 1.6581, -0.0464, -0.0757, -0.0171, 0.335, -7.2547, 5.053, 1.6239, 0.442, 0.1099, -0.1685]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00a22f9cf45a9742d54bce37e63731b57fb5130448016bf836cd415367a4ca7e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6ddab944927023bd63e2d3d9f43997dc7c6d72bcaa51036825146b9d92f9c52",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb087d47165c6da4d34f98e4d10f162ba3ca18d690197869a6be8a5186c88e61",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 2.945 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 32 changed as sent

message 40 changed as sent

message 44 changed as sent

message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0288, 0.8452, 0.6464, -0.4759, -0.0296, -0.0086, 0.9901, 0.6189, 1.3876, 0.9321, -0.4732, 0.4, 0.326, 0.9964]\nstate[eef_state]: left_x=0.2897 left_y=0.0005 left_z=0.166 left_yaw=0.0004 left_pitch=-0.1064 left_roll=0.0035 left_gripper=0.9901 right_x=0.3292 right_y=0.1545 right_z=0.1314 right_yaw=0.0862 right_pitch=-0.2658 right_roll=-0.0892 right_gripper=0.9964\nstate[joint_eff]: [-0.1299, -1.7709, 9.6889, 1.7998, -0.0708, -0.0659, -0.0171, -0.0889, -7.2274, 8.4718, 1.3748, 0.2857, 0.0952, 0.0952]",
      "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]: [-0.0288, 0.8471, 0.646, -0.4919, -0.0292, -0.0082, 0.9901, 0.6018, 1.6932, 0.7689, -0.004, 0.3965, 0.292, 0.0206]\nstate[eef_state]: left_x=0.2872 left_y=0.0005 left_z=0.1623 left_yaw=-0.0 left_pitch=-0.1247 left_roll=0.0041 left_gripper=0.9901 right_x=0.3559 right_y=0.166 right_z=0.0282 right_yaw=0.0906 right_pitch=-0.2689 right_roll=-0.1102 right_gripper=0.0206\nstate[joint_eff]: [-0.2803, -1.3197, 7.0632, 1.6923, -0.0659, -0.0269, -0.0171, -0.1299, -6.9265, 5.8735, 1.2381, 0.1099, 0.1343, 0.9988]",
      "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]: [-0.0288, 0.8474, 0.646, -0.4942, -0.0292, -0.0082, 0.9901, 0.7765, 1.5696, 0.524, 0.2646, 0.6151, 0.4538, 0.9985]\nstate[eef_state]: left_x=0.2869 left_y=0.0005 left_z=0.1617 left_yaw=-0.0 left_pitch=-0.1274 left_roll=0.0042 left_gripper=0.9901 right_x=0.3163 right_y=0.1728 right_z=0.0433 right_yaw=0.0255 right_pitch=-0.0456 right_roll=-0.0347 right_gripper=0.9985\nstate[joint_eff]: [-0.1846, -1.347, 6.9265, 1.6581, -0.0464, -0.0757, -0.0171, 0.335, -7.2547, 5.053, 1.6239, 0.442, 0.1099, -0.1685]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00a22f9cf45a9742d54bce37e63731b57fb5130448016bf836cd415367a4ca7e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6ddab944927023bd63e2d3d9f43997dc7c6d72bcaa51036825146b9d92f9c52",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb087d47165c6da4d34f98e4d10f162ba3ca18d690197869a6be8a5186c88e61",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtG7ywVdn2hojWCb8Gm61r3NlNxBVLxzub0ebYSNWvcl3K6x8soPgGwfdm20KENkLQNNxJiNRRDxb3XIVtuzSFreZpGBQ0Aw8NYpyER5fWdv4UZSQrPxx5SKYGxLSDONy8PhSg9E4Qhv2tCIIe-5Oi3Ppf_W1ijBRNN1wW2vps0GUD9jDpjLfurC9HVc_v6vP13QgQBkYTwb2lZ004RtrLRsJzWqgVP0ZA-huhhFhsJ-fuMDopzzmslIQczEvaGDrzNdekaPlhupvUCrfNusbFxvMXkRFiInoqDBHppxkmlPFs6STBudWEcw-aTgeIr4A_tvMPWK7g4stOQpn_5VJ_hlifU3jJjCAZGB7DJSN8C1aIm9D4NdkSfKu71g1JzXrcWvaZ3nFsxhp8hSsszih6ft5ZBBjYSvmghuqtJpdstVmvOBUNynyC6ah_UCLBY8nq5EXMsp0gOCvUzWqat7xqFttZEy65OloRYQz_JGUvYWXTKCKYoh1cBeoKdqJDStYxxr6gLNP8FIsgc4VHUs4NLXqqdE4jymN8AQkIhmckzDcnJn0iMqPKPjP9hbAtpYTq2YX7eKxz9SixlqYpiMSJAc-CV-EY8Laz_XpHZoAQbGCvWLDJ_0rIKRe3yUJH9pzAqfJs8lkj_1UCmZq5cvjO1wUpRAozq-P8hBMTA_baoZjtlAtB9Keo0NwlhZtGchnDGrftVgTvAQZjb0ikapuMDxl4z5UTv7qZOb87ySKSDP6KT2fktxTb7RWWdnXk2wjx2w2GCzJ8MGlK_eEs4X3hwLskXvzolumrP7rkSwT6oJtDf5sL4FxJzYB29NpMyK1o-ZvExW0YHiW4hNUywspGDLKgn-pSQfC2oZLeK2VZG0HRsq0VNmM67anUXFEWUua84vHxPc_JnaymWomUzNAh54D9DYJlz7kIuQa2DjIxE_MdUrvUyXUdqXZ4n1u1uTJ3KCrn_ZXWv2pK8mrLJf6i8wgrpe7HJtd1Tnkqd-A3dTsIpTeQnkhiGISooYprIc2X7FFsBHn18OCThY4sTQJKOwg-XZlUn5wyoVQGOeIcyOIqzLD5QLBHmFMnNwyB_QQjpHrJCBxmAcvk2_VK2_sEbCfg_uzPXVq5ODXbceBps44Y_N9XpYOUl0Hr-mbc-w8T-IVn-fJ6S4kx1uN0wlC3Tj5zxjZRa6Hp39njRmETrQiymiUagYGKpi4xMMiF4AH_BuO76_LmOb4Ja1LnlW6riHdhGezy2YCmra6SKyvlMxNISzvtH7y0u_F_4UWBJRlCZ7-vGBYeBeueHcK9MbVHlMvRSnvxL80ma2BlXLRhxMZRA9XgOo0Wx2cikGIA8pcBakyi6hQx54zmVOQCv2bo9CpVXaVMo4ZdmJAMoa97uvh3d-OzrRxjRbSvOYUT38Wdf7z6T8fCg4YvsC2VQvhTdpr3eV5XfIvR0gn4LlM548XiaY=",
  "id": "rs_03f214bd7d9e4234016ab46ef0984887d083f63ca99230a9da",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.01,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The yellow fruit is now beneath the gripper rather than ahead of it. I’m lowering the fingertips to table level before closing again.\"}",
  "call_id": "call_3BIDHcpuDwkJ27CpcAgUaT7R",
  "id": "fc_03f214bd7d9e4234016ab46ef1b19087d0a13580197f67de90",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3BIDHcpuDwkJ27CpcAgUaT7R",
  "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]: [-0.0288, 0.8528, 0.646, -0.4973, -0.0292, -0.0082, 0.9901, 0.7872, 1.7168, 0.4717, 0.5518, 0.6586, 0.4564, 0.9986]\nstate[eef_state]: left_x=0.2867 left_y=0.0005 left_z=0.1597 left_yaw=-0.0 left_pitch=-0.1357 left_roll=0.0044 left_gripper=0.9901 right_x=0.3247 right_y=0.1778 right_z=0.0263 right_yaw=0.0027 right_pitch=0.0379 right_roll=0.0074 right_gripper=0.9986\nstate[joint_eff]: [-0.1846, -1.5248, 6.9675, 1.663, -0.0757, -0.0317, -0.0171, 0.0752, -4.0274, 2.5094, 1.1404, 0.1001, 0.188, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de42514b49a2c41bf11651dd38820727afa601ed2e8f14758ebba8d7cb6295ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7057977159df3c70a481aa85dce3cfc082dd9195dc0d4e62a64215806b6c203c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0222d1e1cb3e600ac7b4123da5cb26d6f695cf879e93ea90c9c40849cdde6616",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 2.635 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 36 changed as sent

message 44 changed as sent

message 48 changed as sent

message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0288, 0.8471, 0.646, -0.4877, -0.0292, -0.0082, 0.9901, 0.6048, 1.6966, 0.7723, -0.0109, 0.3889, 0.3038, 0.9965]\nstate[eef_state]: left_x=0.2879 left_y=0.0005 left_z=0.1631 left_yaw=-0.0001 left_pitch=-0.1205 left_roll=0.004 left_gripper=0.9901 right_x=0.3546 right_y=0.1681 right_z=0.0267 right_yaw=0.0922 right_pitch=-0.2772 right_roll=-0.0999 right_gripper=0.9965\nstate[joint_eff]: [-0.1983, -1.347, 6.9812, 1.7802, -0.0464, -0.0464, -0.0171, -0.294, -7.2274, 4.3009, 1.5263, 0.1441, 0.0562, -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]: [-0.0288, 0.8474, 0.646, -0.4942, -0.0292, -0.0082, 0.9901, 0.7765, 1.5696, 0.524, 0.2646, 0.6151, 0.4538, 0.9985]\nstate[eef_state]: left_x=0.2869 left_y=0.0005 left_z=0.1617 left_yaw=-0.0 left_pitch=-0.1274 left_roll=0.0042 left_gripper=0.9901 right_x=0.3163 right_y=0.1728 right_z=0.0433 right_yaw=0.0255 right_pitch=-0.0456 right_roll=-0.0347 right_gripper=0.9985\nstate[joint_eff]: [-0.1846, -1.347, 6.9265, 1.6581, -0.0464, -0.0757, -0.0171, 0.335, -7.2547, 5.053, 1.6239, 0.442, 0.1099, -0.1685]\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 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]: [-0.0288, 0.8528, 0.646, -0.4973, -0.0292, -0.0082, 0.9901, 0.7872, 1.7168, 0.4717, 0.5518, 0.6586, 0.4564, 0.9986]\nstate[eef_state]: left_x=0.2867 left_y=0.0005 left_z=0.1597 left_yaw=-0.0 left_pitch=-0.1357 left_roll=0.0044 left_gripper=0.9901 right_x=0.3247 right_y=0.1778 right_z=0.0263 right_yaw=0.0027 right_pitch=0.0379 right_roll=0.0074 right_gripper=0.9986\nstate[joint_eff]: [-0.1846, -1.5248, 6.9675, 1.663, -0.0757, -0.0317, -0.0171, 0.0752, -4.0274, 2.5094, 1.1404, 0.1001, 0.188, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de42514b49a2c41bf11651dd38820727afa601ed2e8f14758ebba8d7cb6295ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7057977159df3c70a481aa85dce3cfc082dd9195dc0d4e62a64215806b6c203c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0222d1e1cb3e600ac7b4123da5cb26d6f695cf879e93ea90c9c40849cdde6616",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtG72ylgg7PJUwQ80qizo2q7sxfIRTlHEjsVfKkiE10fr1B_-J0zGKM-hgcJ0bBmbl_S9xHWFXHW37V54QPI-yjKnULGiNsMMK2HIIdk4-zGuH3_jkf64tPgaVtmL3i6C9KLN9j2IQCDYviikbk-ZyuR-q9Fwwd4-xwJ_vvuVI-1MkwDS-aCJdLkJ1kheaiiQGWqs8XSXZoJC4OiQVbA8eGoN1ZDGC4wql3rEIp0bqb1goJ-TWeorkuIZcGjNEwIRq3ldT-IJGSUvAkUmhB4DadWGAJmx59tbXTudC8_30QHh1-PYAa4d-MLnJdpJd1IM5fO5M2gMMznnTnnaFUn-1G9LNCIU91wxvG7Sdsg1bsuM-lcQRQnmOVa_GtleiIgY0lnhREg1x62uSafPNrFFG9OY19XqeaHJvQ5sidRR8bewLVEt_JHhi5PNRMgNmdn28BekTR8o5gQoVSIWJYXYFSo7WixVNqvjyx_ovR_dFC3LoSZfGZqdNIbyhrYCyn5cwSWHZOOhFMtICoLE_yUjbHRuBiAIr1japdmyZPasoGpgIQrE_T0rO8tKwTocDQX-tAVJch8q40ZNyu4D_uT-33nMK9xUD5k-m2bTmes0nVtsbQkOtEEKVgv44qUpWuVN6GygeoZ-6i7LppszhY5jYteU6eR7OXyCCug8Aobh8-a4sikRxDO06aGivB9iUAs6tzxRGEPDS4Xor_PIIAtl-hR9auKSMzb4c4FHGKbF1CEbfR5cWazmdSlLy9VhD5SnFE1FT5195t5I55uCqSoEP1YpB_PPE_5RXRt9CbSOPpCOR4_clHje58N2KkXO_7GchJYjPYxgqyEN_L66dpTxK-sfHrZQVopuXQ85fPeRAI_E8GTjxPKv8DHx8BLcPtAdmIc30otr6nC9RS2e9cHIXEwl_Hz_hVkOVOvifwefGxuEiWnYnG-L6RlKUSvg0La-LpfU6e4HSxlClVdHgOdgyM4h59-SZoLMzVdJ0r_0YljH81MnftFA0EkxcgmOQjPo5pbQCsLoBsMbcgbdPf0Vdaj39JRK8Q0Bc50Ic6eZQ5F-3uTjkISy0GADsW3FMkQdyTzu0wpSnpQjxvvrFUOCKnSiXY9EHw10v8xwb_GOToYY7VuKY00JlmJ4ds9SD3wPMR8XkdSs7PwxG3W5Cw1etS7GUZD2NrI2l2-hu6BtznV2JEgVM_PZ0eyKgy5mKvAcU6LlC4j6KORCytSXK5op_ITHsB8mF7GnN7hmBbOfttuYZmTb0yfVvfjv9T4Y_AsDs9ydEoYpMdPty6XgJO9q1gmt78PI8q6RKWaneLVf-gyFSpRwjemyb5hu49L26MuV-yy1",
  "id": "rs_03f214bd7d9e4234016ab46ef4c4f887d0ad4cb3634ca06694",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The descent stopped at light contact, with the fruit obscured beneath the gripper. I’m closing once more and will check the opening before lifting.\"}",
  "call_id": "call_UyPEyAuPfEKWRfbAOADdgRwT",
  "id": "fc_03f214bd7d9e4234016ab46ef544d887d0bc01b06b72fec561",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UyPEyAuPfEKWRfbAOADdgRwT",
  "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]: [-0.0288, 0.8528, 0.646, -0.4984, -0.0292, -0.0082, 0.9901, 0.7883, 1.7245, 0.4648, 0.601, 0.6655, 0.4637, 0.1025]\nstate[eef_state]: left_x=0.2865 left_y=0.0005 left_z=0.1595 left_yaw=0.0 left_pitch=-0.1369 left_roll=0.0045 left_gripper=0.9901 right_x=0.3272 right_y=0.1795 right_z=0.0302 right_yaw=-0.0066 right_pitch=0.0654 right_roll=0.0354 right_gripper=0.1025\nstate[joint_eff]: [-0.0342, -1.5385, 7.1043, 1.6337, -0.0611, -0.0757, -0.0171, 0.0889, -4.7795, 2.9744, 1.116, -0.022, 0.1832, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90e72363477f9ae5c0bbb27723addf8c0eb8fa9707aefc83a9884892ae403b8c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e778081baa292ef9e1dd2534c2985173147c03ec9f7fd165e06c4f25c2406e8a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:296332a565f60ba3b8d81ac705e27d3a6bc833c821ec62ff479f8ddf3cb67f36",
      "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 14 attempt 0 · /responses · status 200 · 5.255 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]: [-0.0288, 0.8471, 0.646, -0.4919, -0.0292, -0.0082, 0.9901, 0.6018, 1.6932, 0.7689, -0.004, 0.3965, 0.292, 0.0206]\nstate[eef_state]: left_x=0.2872 left_y=0.0005 left_z=0.1623 left_yaw=-0.0 left_pitch=-0.1247 left_roll=0.0041 left_gripper=0.9901 right_x=0.3559 right_y=0.166 right_z=0.0282 right_yaw=0.0906 right_pitch=-0.2689 right_roll=-0.1102 right_gripper=0.0206\nstate[joint_eff]: [-0.2803, -1.3197, 7.0632, 1.6923, -0.0659, -0.0269, -0.0171, -0.1299, -6.9265, 5.8735, 1.2381, 0.1099, 0.1343, 0.9988]",
      "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]: [-0.0288, 0.8528, 0.646, -0.4973, -0.0292, -0.0082, 0.9901, 0.7872, 1.7168, 0.4717, 0.5518, 0.6586, 0.4564, 0.9986]\nstate[eef_state]: left_x=0.2867 left_y=0.0005 left_z=0.1597 left_yaw=-0.0 left_pitch=-0.1357 left_roll=0.0044 left_gripper=0.9901 right_x=0.3247 right_y=0.1778 right_z=0.0263 right_yaw=0.0027 right_pitch=0.0379 right_roll=0.0074 right_gripper=0.9986\nstate[joint_eff]: [-0.1846, -1.5248, 6.9675, 1.663, -0.0757, -0.0317, -0.0171, 0.0752, -4.0274, 2.5094, 1.1404, 0.1001, 0.188, -0.0073]",
      "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]: [-0.0288, 0.8528, 0.646, -0.4984, -0.0292, -0.0082, 0.9901, 0.7883, 1.7245, 0.4648, 0.601, 0.6655, 0.4637, 0.1025]\nstate[eef_state]: left_x=0.2865 left_y=0.0005 left_z=0.1595 left_yaw=0.0 left_pitch=-0.1369 left_roll=0.0045 left_gripper=0.9901 right_x=0.3272 right_y=0.1795 right_z=0.0302 right_yaw=-0.0066 right_pitch=0.0654 right_roll=0.0354 right_gripper=0.1025\nstate[joint_eff]: [-0.0342, -1.5385, 7.1043, 1.6337, -0.0611, -0.0757, -0.0171, 0.0889, -4.7795, 2.9744, 1.116, -0.022, 0.1832, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90e72363477f9ae5c0bbb27723addf8c0eb8fa9707aefc83a9884892ae403b8c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e778081baa292ef9e1dd2534c2985173147c03ec9f7fd165e06c4f25c2406e8a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:296332a565f60ba3b8d81ac705e27d3a6bc833c821ec62ff479f8ddf3cb67f36",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"right_z\":0.1,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The fingers stopped with a small but nonempty gap, consistent with gripping the narrow part of the yellow fruit. I’m making a short lift to verify it is secure.\"}",
  "call_id": "call_5bD4mTHL6E1mlwxOUio6FutN",
  "id": "fc_03f214bd7d9e4234016ab46efd28fc87d0bfb6860fd46862fc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5bD4mTHL6E1mlwxOUio6FutN",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0288, 0.8532, 0.646, -0.4984, -0.0292, -0.0082, 0.9901, 0.7815, 1.4742, 0.6197, 0.1673, 0.6312, 0.4637, 0.1033]\nstate[eef_state]: left_x=0.2865 left_y=0.0005 left_z=0.1594 left_yaw=0.0 left_pitch=-0.1373 left_roll=0.0045 left_gripper=0.9901 right_x=0.3301 right_y=0.1858 right_z=0.0946 right_yaw=0.0136 right_pitch=0.03 right_roll=0.0304 right_gripper=0.1033\nstate[joint_eff]: [-0.0615, -1.5932, 7.1043, 1.6337, -0.0513, -0.0513, -0.0122, -0.4444, -6.6803, 7.4462, 1.536, 0.2808, 0.0269, 0.0806]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b93088eba5fc7afb6c0646a63cf1e7883892e7bca4773064e084af11ab3e8d5c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aba56eba7c6a9b5ce8b1b095043c617c6236f84ff925e583250a8070f740450f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d33a6914fa3e86390610afe9f87bac2c11039f901dc07f2b1fd058c20719f263",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 7.882 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 44 changed as sent

message 52 changed as sent

message 55 changed as sent

message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0288, 0.8474, 0.646, -0.4942, -0.0292, -0.0082, 0.9901, 0.7765, 1.5696, 0.524, 0.2646, 0.6151, 0.4538, 0.9985]\nstate[eef_state]: left_x=0.2869 left_y=0.0005 left_z=0.1617 left_yaw=-0.0 left_pitch=-0.1274 left_roll=0.0042 left_gripper=0.9901 right_x=0.3163 right_y=0.1728 right_z=0.0433 right_yaw=0.0255 right_pitch=-0.0456 right_roll=-0.0347 right_gripper=0.9985\nstate[joint_eff]: [-0.1846, -1.347, 6.9265, 1.6581, -0.0464, -0.0757, -0.0171, 0.335, -7.2547, 5.053, 1.6239, 0.442, 0.1099, -0.1685]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.0288, 0.8528, 0.646, -0.4984, -0.0292, -0.0082, 0.9901, 0.7883, 1.7245, 0.4648, 0.601, 0.6655, 0.4637, 0.1025]\nstate[eef_state]: left_x=0.2865 left_y=0.0005 left_z=0.1595 left_yaw=0.0 left_pitch=-0.1369 left_roll=0.0045 left_gripper=0.9901 right_x=0.3272 right_y=0.1795 right_z=0.0302 right_yaw=-0.0066 right_pitch=0.0654 right_roll=0.0354 right_gripper=0.1025\nstate[joint_eff]: [-0.0342, -1.5385, 7.1043, 1.6337, -0.0611, -0.0757, -0.0171, 0.0889, -4.7795, 2.9744, 1.116, -0.022, 0.1832, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0288, 0.8532, 0.646, -0.4984, -0.0292, -0.0082, 0.9901, 0.7815, 1.4742, 0.6197, 0.1673, 0.6312, 0.4637, 0.1033]\nstate[eef_state]: left_x=0.2865 left_y=0.0005 left_z=0.1594 left_yaw=0.0 left_pitch=-0.1373 left_roll=0.0045 left_gripper=0.9901 right_x=0.3301 right_y=0.1858 right_z=0.0946 right_yaw=0.0136 right_pitch=0.03 right_roll=0.0304 right_gripper=0.1033\nstate[joint_eff]: [-0.0615, -1.5932, 7.1043, 1.6337, -0.0513, -0.0513, -0.0122, -0.4444, -6.6803, 7.4462, 1.536, 0.2808, 0.0269, 0.0806]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b93088eba5fc7afb6c0646a63cf1e7883892e7bca4773064e084af11ab3e8d5c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aba56eba7c6a9b5ce8b1b095043c617c6236f84ff925e583250a8070f740450f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d33a6914fa3e86390610afe9f87bac2c11039f901dc07f2b1fd058c20719f263",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtG8ESif_fZyXbOBzw8hASHWolPuUge4M01_YIlZeoNvk-pF7Ja8-By0CPwbVJLa_c5r7KiScgpXJBrgurdwpTKn8EVB2kToGx3YTRw_vaG5fJbIVUtVTUulQLctI7uDKRsPfBBJRnsvrGl2X3rEVwN1AYL6y9FYWi5jPOr-Hy5Mrn1mYP9cBzQBPa8vcqBKZS8hoxY4QsCUCOavncw-Sx4Zg9SezWF0AkPyLyrbTBKBzfJr9kQBLNBeoLBrPq39L0IvX2S3vthunVUphoRG5-r6fxAHpyUYgOVgROIfiLZ6nUoh_CXclLLJgRPXIh9VlUy5NmmiXWVYTP6d1tVrM6Bme6VlBaIbJSHeLy0QjJ3v1JTMhNqeQdr8ct40qs3jQJKYn1X4c2cwKIxYMAqruTGgNs5ILO-PYrngYOxosmHRaQkVSy8D64sgl0hqOOEigpjA4DujimoWO7BReNmTVtQ3VQ3vFgPKM_UdUbxoaozKiNs0GtYN3yaByXH48RAgEsrQaoB0F6yg8Nvw5zGqB9U8ZlhvX7jerH4afVhddlrxTYDsV7mc_GkCneqdVR_8FBqk6niIwEj4QCB-22b8uqffyfsCFDVNg6vi9QP26m_Ovg6w1shCiv4sZsxgv2O3Z_EgIP4xiSQg-TEoCa5i_eJ9ClLuX_jHz_lTL8cg49ypzXW893gDsKC9YvwL4PSsnvfYA-HlDtw2FehZp6muu_E20dp2ud19pjXTR4CpwBhSvRCX4fch6aJN1Gk33OGe7_WAtjKiQAoziCh4Kw9BbZamHHcL8DwBQF9WSBW8wWKkmZzbVzHK71wN0klAC-eZTjD8nFp2OUvFn3-dzi9TKXXBAFNlR7Io7DpADVpjdZVrdAi9oAICHmA0x9BuHNH1mSKFrCp8iEspIMyx3zGu_XuF2cHcujN5GGN3MEUjXh7mCpx13pZFo3NJ8k5KApCoEVsnuuZ6ZTDge0_o-DRlmrt-qtuTQzIuQG3LRn3C-rY0nBBpnXQcjGAB3aLIzuTuyo3JY_XfLA8MUWzo4Hg1acCA44wepyCfNsGCqRk61Xn8klFfte_m6yiekfdFZGnWdsoo1ecX89NjIR33PRVmFKlVCPJdJnmLBy5_YmHrPjIoW25HHxELsu88M90c5DSeQKkKPS-CFOo_0WIC5GutkplApCYzmIrb7slQAe3qAhDXh-A_89GJLKIQ2ojwHt9Fz1tuZRA2HU065lXGxPBKA-ki5WxGFin2s86w4ZZvg4c8FXR2wACrRHOs_fkpoBIY8ezHregb_PsFJ2jH203LG4JGhFC0eiNHQKWmLnMnlmNEwSP6mn6SSSv3m5jSmE6bSBZU1cMY57NJbq-A9PYpLbJp4Qsb5fP_4U4XkYXuk4-44NR1is16Ul8xOpziXtXe7fBQ9N1DEzLjfbAdycuuDYZt5Ju22br2VQONy_2HAhuwJAmZRvJRnyCS2BCguL4CRN09eknt42FIU99BECZIzD5nFQLxzqHtfD32SD8jazaU9_KJlycx6mg3xgwFdFPemWTImFuU_VPA29oqZCyEZIYOr3Uw-CsmyYnJzskjtGIkJbQjxt0XyW3ROmqFAV0to4sKcNrbGC6eVZUGl7YMjpYP9VgOSyRrZ7Y7eGcT24xCjEp945QfdB_b8nMsi4DWRwKKfsaScyjRxGRwekgDzKR_fXPKsaSNmiL8VFal6yjPeoLrAGnXt7zLclCnN1_lMIDw2qONrKAYr_znGT0_7X21wk85n6sfaKLmMoLqYhrNp2hgkIkWXve_jzTwrLj93L9BwmoNK1xXf7S5iygAiTdoTUx21tfqcs-2fVYMuCt49_5k=",
  "id": "rs_03f214bd7d9e4234016ab46f00636887d0a889f428406dd1d2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.385,\"right_y\":0.13,\"right_z\":0.19,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The yellow fruit appears to be hanging from the gripper, and the blue bowl has shifted slightly toward the table’s front. I’m moving above the bowl’s updated position.\"}",
  "call_id": "call_6dw4jTjYkAWffaQXcDcrKUY5",
  "id": "fc_03f214bd7d9e4234016ab46f030d4c87d0b208ed48e577f8d6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6dw4jTjYkAWffaQXcDcrKUY5",
  "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]: [-0.0288, 0.8581, 0.646, -0.5034, -0.0292, -0.0078, 0.9901, 0.5087, 1.3819, 0.9016, -0.1791, 0.4374, 0.2943, 0.1042]\nstate[eef_state]: left_x=0.2859 left_y=0.0005 left_z=0.1572 left_yaw=-0.0002 left_pitch=-0.1472 left_roll=0.0051 left_gripper=0.9901 right_x=0.3818 right_y=0.1313 right_z=0.1705 right_yaw=-0.0168 right_pitch=-0.0206 right_roll=0.0003 right_gripper=0.1042\nstate[joint_eff]: [-0.0752, -1.9761, 7.3641, 1.6825, -0.0464, -0.0122, -0.0122, -0.1573, -7.2957, 8.7043, 1.7607, 0.188, -0.0952, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ef63465365361f3dbd283d5197c71618ff7675c1c99f4f482cbe2309fb550cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6167254b03873d29147cd3710d11aaf9b2b59e0727a441e890d62bbce1173e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e518b2b316b674c4aecffa67c2971dd1ce404755cb6cbca711a1833403eb92a5",
      "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 · 18.67 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 48 changed as sent

message 55 changed as sent

message 59 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]: [-0.0288, 0.8528, 0.646, -0.4973, -0.0292, -0.0082, 0.9901, 0.7872, 1.7168, 0.4717, 0.5518, 0.6586, 0.4564, 0.9986]\nstate[eef_state]: left_x=0.2867 left_y=0.0005 left_z=0.1597 left_yaw=-0.0 left_pitch=-0.1357 left_roll=0.0044 left_gripper=0.9901 right_x=0.3247 right_y=0.1778 right_z=0.0263 right_yaw=0.0027 right_pitch=0.0379 right_roll=0.0074 right_gripper=0.9986\nstate[joint_eff]: [-0.1846, -1.5248, 6.9675, 1.663, -0.0757, -0.0317, -0.0171, 0.0752, -4.0274, 2.5094, 1.1404, 0.1001, 0.188, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0288, 0.8532, 0.646, -0.4984, -0.0292, -0.0082, 0.9901, 0.7815, 1.4742, 0.6197, 0.1673, 0.6312, 0.4637, 0.1033]\nstate[eef_state]: left_x=0.2865 left_y=0.0005 left_z=0.1594 left_yaw=0.0 left_pitch=-0.1373 left_roll=0.0045 left_gripper=0.9901 right_x=0.3301 right_y=0.1858 right_z=0.0946 right_yaw=0.0136 right_pitch=0.03 right_roll=0.0304 right_gripper=0.1033\nstate[joint_eff]: [-0.0615, -1.5932, 7.1043, 1.6337, -0.0513, -0.0513, -0.0122, -0.4444, -6.6803, 7.4462, 1.536, 0.2808, 0.0269, 0.0806]\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 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0288, 0.8581, 0.646, -0.5034, -0.0292, -0.0078, 0.9901, 0.5087, 1.3819, 0.9016, -0.1791, 0.4374, 0.2943, 0.1042]\nstate[eef_state]: left_x=0.2859 left_y=0.0005 left_z=0.1572 left_yaw=-0.0002 left_pitch=-0.1472 left_roll=0.0051 left_gripper=0.9901 right_x=0.3818 right_y=0.1313 right_z=0.1705 right_yaw=-0.0168 right_pitch=-0.0206 right_roll=0.0003 right_gripper=0.1042\nstate[joint_eff]: [-0.0752, -1.9761, 7.3641, 1.6825, -0.0464, -0.0122, -0.0122, -0.1573, -7.2957, 8.7043, 1.7607, 0.188, -0.0952, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ef63465365361f3dbd283d5197c71618ff7675c1c99f4f482cbe2309fb550cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6167254b03873d29147cd3710d11aaf9b2b59e0727a441e890d62bbce1173e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e518b2b316b674c4aecffa67c2971dd1ce404755cb6cbca711a1833403eb92a5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_03f214bd7d9e4234016ab46f05d68c87d0ac3dea5783726310",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"From the clearer overhead view, the yellow fruit is still on the table, so that pickup was not successful. I’m opening above the blue bowl to leave any caught fruit or rim safely there before realigning.\"}",
  "call_id": "call_HVEPiZ1d1O11rf95Ef1EPbRD",
  "id": "fc_03f214bd7d9e4234016ab46f0ba78c87d0953ff09c96f26feb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HVEPiZ1d1O11rf95Ef1EPbRD",
  "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]: [-0.0288, 0.8627, 0.646, -0.5129, -0.0292, -0.0082, 0.9901, 0.5087, 1.3804, 0.9039, -0.2039, 0.4221, 0.2798, 0.9955]\nstate[eef_state]: left_x=0.2846 left_y=0.0005 left_z=0.1542 left_yaw=0.0001 left_pitch=-0.1613 left_roll=0.0052 left_gripper=0.9901 right_x=0.3786 right_y=0.1324 right_z=0.1669 right_yaw=0.0029 right_pitch=-0.0437 right_roll=-0.0138 right_gripper=0.9955\nstate[joint_eff]: [-0.212, -1.6068, 7.0769, 1.7216, -0.0415, -0.0415, -0.0171, -0.0342, -5.6684, 6.8034, 1.7851, 0.2027, 0.0757, -0.0708]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16cd325caa1768af45e09fba82358511d7f1f7c82cddae484ca4eb73c98d7347",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d11f5dd0baffaf3f1834f817fb02e4eaeb98a26c7459f53d57306ea0b62bf075",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a9869eff687c27c7afa4b3d1ffb2b710a38d42047f6fb37341a4a8a528310d4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 4.781 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 52 changed as sent

message 59 changed as sent

message 63 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]: [-0.0288, 0.8528, 0.646, -0.4984, -0.0292, -0.0082, 0.9901, 0.7883, 1.7245, 0.4648, 0.601, 0.6655, 0.4637, 0.1025]\nstate[eef_state]: left_x=0.2865 left_y=0.0005 left_z=0.1595 left_yaw=0.0 left_pitch=-0.1369 left_roll=0.0045 left_gripper=0.9901 right_x=0.3272 right_y=0.1795 right_z=0.0302 right_yaw=-0.0066 right_pitch=0.0654 right_roll=0.0354 right_gripper=0.1025\nstate[joint_eff]: [-0.0342, -1.5385, 7.1043, 1.6337, -0.0611, -0.0757, -0.0171, 0.0889, -4.7795, 2.9744, 1.116, -0.022, 0.1832, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0288, 0.8581, 0.646, -0.5034, -0.0292, -0.0078, 0.9901, 0.5087, 1.3819, 0.9016, -0.1791, 0.4374, 0.2943, 0.1042]\nstate[eef_state]: left_x=0.2859 left_y=0.0005 left_z=0.1572 left_yaw=-0.0002 left_pitch=-0.1472 left_roll=0.0051 left_gripper=0.9901 right_x=0.3818 right_y=0.1313 right_z=0.1705 right_yaw=-0.0168 right_pitch=-0.0206 right_roll=0.0003 right_gripper=0.1042\nstate[joint_eff]: [-0.0752, -1.9761, 7.3641, 1.6825, -0.0464, -0.0122, -0.0122, -0.1573, -7.2957, 8.7043, 1.7607, 0.188, -0.0952, 0.0757]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0288, 0.8627, 0.646, -0.5129, -0.0292, -0.0082, 0.9901, 0.5087, 1.3804, 0.9039, -0.2039, 0.4221, 0.2798, 0.9955]\nstate[eef_state]: left_x=0.2846 left_y=0.0005 left_z=0.1542 left_yaw=0.0001 left_pitch=-0.1613 left_roll=0.0052 left_gripper=0.9901 right_x=0.3786 right_y=0.1324 right_z=0.1669 right_yaw=0.0029 right_pitch=-0.0437 right_roll=-0.0138 right_gripper=0.9955\nstate[joint_eff]: [-0.212, -1.6068, 7.0769, 1.7216, -0.0415, -0.0415, -0.0171, -0.0342, -5.6684, 6.8034, 1.7851, 0.2027, 0.0757, -0.0708]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16cd325caa1768af45e09fba82358511d7f1f7c82cddae484ca4eb73c98d7347",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d11f5dd0baffaf3f1834f817fb02e4eaeb98a26c7459f53d57306ea0b62bf075",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a9869eff687c27c7afa4b3d1ffb2b710a38d42047f6fb37341a4a8a528310d4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtG8g1ZvQsHT4MUMBUXfbkSOxVyPXZGH6x7BDGtDrxpJeQyyJlk7kzQx8gHuy5uwGNeNXzuA9DCOBFGSM4wOqq3W1zsjboQUio2mETVH4JQ99UsTy22TYgfEiTb3fWX5_fCDF1XpPA4aTKNHi-hHVRojq4WaXL-1135PmoYPaknzvzTOAv62mkEdHjtxvihHr3OwDMfksu2EAGtGWkhP2ArZdYV76MEgAkbX1micyFV3_ue-agATa5ed3yXn9St3XgA65SPYsUuc9KNcN-QyMzUnzF6hppmDw1kN-F7OHDaXG7tTLI9KCgx8eFqikXlCBBIGjfVs4sqRgXe-1ArQD4Mm8RqIS3BiEK5Ur6-X7KmimIU_dXMctbdAUIkyvrnc1_UzAxFWEjX7XWxRYXtJCi744_BCMEguTM1N0AlXnPf5pbjOpwxTXykGmPd9s9lAPa2lXt-gn4uzI5YmI4LHIoc5HoY3hySAnXIA_UYtNZpUaPSZ7TQzNUvjrte3TKPiKq65c4vMht7lCT_HzCH7RR2zPUOan4wl5bZ87oC9kKPRaOOdpml-lNbe4zwb4qh4G6miUBrqm9E2nWBjFdGOpiUnbOIBC_LFd5cMcPJigDx-E0lGXux-qA2DTQhjPcLN6xlI480BONX3aiefHz7X4_FJrznDpoR62-nYfFVDPiKppN1pSG1pJW1GtmaZAfU29NodORTCU2B5Cu3vnUQhNTAaYWQGJchv6Rg18Iba-U3StYBV3y0wHGT5_PNtHhJgP8e7QfaAEb0a2cM_xWLy3wSFg7e1jk5il4eZnwB4dNzXXe8Kju7Dve-bEPJPzYjXX9kalzxIye12gq47gMlCEaQr1kSdI4XtA-PNws4UWizyyhSZT9gfyIz6KOoorHbfsGvKOcc9JjZqmmIWwpGuSS3b47rggg0nOGB2kR3vjW4Jr1KH1nxhXZmT-jCe5d90Sj4Yjjo3ILuYyPFydwMyjPcHICT_DVx8px67mqYSmaQ0NivkR-2ReLeoD2IlnyJvwr93Z8d4fHPwiVfoovV5SVyj78yNf9Nc7gbswLHlKGDL_Dxq8pQzXQuMY-SxYxs0i4PCJEqg4vQsoKsnrnp-5NR8zuRS5p2ikIbRd1tq2i6iFX_MMsz1b-VHpcqrVcsoOLOROv490C4b0MaeZ71ewZ49cRfCoIdLLknbKz3j6uMfMrgZUSrhpM8VxAmiWoI5_0sc1_vUVSp1wm8sRvRUYlPt1lFcd8iO0XbhpBPbFKb58huaQfRvqwyqUR7WzKicOFi4fiRKfQxzQtZ_XaBNHLQHzi8kb1CGHY1ZF5S8UvUB9qnSPQNYaT4pp7RyT3UMb_7J88DgXuDTgRe5EgKvJ427CeszsXB1zoifJqcvKFaNWMpUM9R5rcoIvG-i3kbEiQpTiAIEhMUByD5hMwItwFGHiEHzYzTyKGiSDB6Bqw0ObFWRBY3UkNODUWdyj0Av92Z8fkqozhTACrm1kdAO4WvyMV94yHuTviNacgxuG2oCdZbnDYym2m5OONcIqUBfLMYQH6lJWWqKoidSejnkLFNj-WXNW4_RvPx2zNAff0G6XLDYhStxJaZouyVsJ3BcpEMtE9Y-rperq0F13AT7Vk479MipUZuPhmI1s-W2ZjNFUcH23HQbv0nto6eEd6xFXMF-w-8PUOw2PkKzq02Ttp2RZcmnxbgdmLD5S9OOVwW6rU2RKfuklmy5qZOyz-3VV1jmH2piahIoj5J743gRsyMGYpwbtvHBc0kJsH0I3AR6_SFDfxWQ2b8UUGcwXtpl5ObZXhUgMdQOyBePW7k4r4-j_nplr1I2jRcuci2MYa9k_r8SUgVwPd7KRB6fzuZLrU6Snbe9X52S4GxHT2YwPgWY5RcUlVn61ErCH2v1vy39r9gA9au-IzHUZ2SlJWfi3L4o2DzE3B_nZ-JxCqieHsPBGdjZhOw_GILooM4xBrv1ZD-NT5X5NimOc4AsYL4A7s_F4FpExtjoNMy6gL1EQgQwm41Gu1vdKsDvAc4uWq6NUlBn1K9g_CQIqjEJYmW-XAZqcQmso8oKzrcoQQfRjpn4VpIG4en7Zbji0E22DjYADJETZ4S8lmMEtcw80IUVbA1gMN22bR0NMIpIjwcEdQen54OT7547r3Fv2i14h9zWdQJrKJqzVvfkaLY0PbdMgzmxF0tdMkVI4gedtBqJNPF0m7fjCNX1xDGM5yZnSQ4dZH2LKwFz2eZ7I-Bk1vRZtJ1o_Rkgh-bCmn1tEWfW_iay7uj6E-8DMg8JVNzPcSjE01fy0q0H24FS2sTf7enWBb5iiG63dGpkAL5quIKDDTDcuJG1OABI4b0y1KHDF7AXU1De8kFk6Kd9Jv2OgTz7S3QRejAHmfxj9hpTWPoRNaWdKbw59u0HpMcQp4e0SS1_kUOIW5Gj4T7hmUlyFlTWTB6d9rnIzQYwfLkv-nkkDNAybHJFby0YIM8mQ2HlfMvhbYwAb2943QfptYD73HHopZhy1E-aBAQ55rA2OqDV4mo_4n7rHMHJ3OthPk2e3KvwPGClx9G51ZMo-uVQLbNYEIi26EXfl1o4-Z0yKHir7p_1FjXxFNs390VZJS3_ej8ldnmx7rhDIeua17qgK9QWD-yJonmBG4mEeULVL6K4YbHTY0P6nP3m7ekRoGre51rK2OCq7UIg82gDM8AAILAptR2efbTnNrXL5mbpXuxWtdotLHqS9O4dI9gt5Z5-uOuagasRnaPyRP339nS4VcH__hW1de9b8z-ZXsJfI4pV-qVeQIvEq0j39taKdZ1BQcMPr_eXYUSFtKjaL8By9Kf7DeCJZSlfy-P8Zma6Xw1brb3fsE6kRtf5aRYxJggZLMtmoEWjYXfMFCoicEv6EZsEZkpWlI9V1D6sW3W-gXi-ZUbC8UuuylJYznWsevc-Fqg7clcCwMILAs-LIhR2n_fbfHmR55qQfMdo3Z4XtPncc1LSvQQBSWzQjgSVRNn0a4Rbp-vyOIPUwYPpyVNsA8Iqr9PFizbxmh_SpFLHYxGKMS4VqPOy4nihQ0iTrzEq1xreH6ahH0YQ33egZtjQAGExwkBtAfmkdNBcEinQTbilwVcsLc_io1qOhYSyHqb_sajlQQizIUGQ61h0aNNKo0s4XrD4Ndt0wKwbm2iQEvAi2A3OobBxJ_wior4_-6nfmMKug0QdMMBqJmRhPeaZyewFUxttvgX1IZciKcd09L8eOwbS3_EOZYZJfBBt1FP7rGuBRDq2sQ5tn16mzqsguQ0-uObQ7OaGahE1PI_yUqbu_XqcxMkow5uAuQS-hao6ryXq0sao-JRqO21I9fcZCI7E1-p_9EMXiVMgyK-X4nbo3KYs9LlpNqbU4K2R7Q0uIvmzYcUYW5aYYpSizpBYlaTjZ19-KK8ITHgwekzGu3VFzEwCmzhTPlADDzh9SDVQZqHrMmt6_k6qrKq8JGRSSaTbhy7Z_86c1fH2O1BomnePY3gDLrxugXB53GJo22zDcloQU4PVUHy6bIfCPccchyfeFQ5pfrgYg3YW5IEQe1NTZ6gCpxCE08_Rwd1VD32CZRM9thlO_PoxxXEoA5kSQYsNC4qsh_S43Ba3ZZ-u85HTOnl6YqCU_4XR8JTktmrC6CotSkVgLoXtbGfI4qxdvtNUytpKYIEOY3wShY4vOH0YEi4b6R0J8Wkkj_G13_WEG0MFgiSH35qb42aYjBDLQDlAaxZDGaT7gaji4pRP0BUWef5FMC6zOxmuMZKUpbAAXRLxxrNgP1rbbWfZxKeJOKE4xTzxm2_fK3OI-22G2vrpAu-ggkqWDm1Y3GCwug2WwLmtzDoIzzQzpMqE8BPRUXvNvkwiSuGeEUC80R0CFjC85KfSQvoi9_Q1_BsccM3MGES_2ytU0Tn039FRIcRcqpBc6hTtaLG45QbWXD7iSNQMbIK8_jLJqIBOqfZISRbo1DFIdxbBz9PQhk0T_9LNjLANCRYN1va_EPni-s7iDToR5n0ITTCRPtCk8EiQRgZssS670oTv04Z39-4ZWkv3HpQIBYMJViZqUbbi6aia1ZYc1yv-z6ApDl1SfJMaDEfTLSfBzTXo=",
  "id": "rs_03f214bd7d9e4234016ab46f0ea97c87d0ad90b9b72ddfb0ef",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtG8gsZD-Wz2H8DJtw3m6kwgcL1PGTXdpz4nUjzqlFrmZdRXS8HP7bsUEVxjtNmJPEnbqUzOHId-_spaTgLstIVaVavprcSUf6UXui3fz9FNcKL1OKPQjrALcY_O4uZrIKEwFT1MisP8VnviccGbe_hfGKBFmriOP-czp5dsSFc_x3e7FUZhec-VKGraXJ00og5gKuIFGN-W_6i1rNG-44W2WLEazuexKPIrWV8krf3w9qkockhY6t8lPVloQV6xjyJFyXpGzfkBZwRaT2lvdAKvfyDrS0rO80JNY29RBQ3gc7VA-NaJPDfDPwN39lh29TH_1egsulWkO8XSRUGUmD44iH3VM8qS_oQFSRtrrA6f8WimZQ1K0uBH2Iu06DkxyTw079FlH5ILfY4RsTCfntcC_YLBgV3LE16MXOCkG28wBsT5Pkl-i286P2pm6NOLjVXzCN-dvGfqxpH_vVg7HSrSSK4-cdMYPT_Uy9AtO9UlLaFQBKjhV6w_NtdYEUQtk1K6tIAiINxcJ0Q-X7rgxnrROp_hCKv4lKJesDbQgkvtZn9x4gibqPb4OBQopP1DF_hXhJ7S-sGtMhVEXezjbcg39-a1jbtAE3sHqdTv8FK2cJMhmvN6xXmw7ZTKU5_58D75WqY8zAKvCKuImAXZd_-B92_j9TpMn-mTOeohReQICRkFETy2o_pMnC81q5sCT6RwBIOR5t2IZul3k3AK3gq-2MQYfZE4lGxDlZAsFfO42eZ29Sf2JZGMrD_-0-0u88yemp5XImhMxhuGmAi97eptiWdTbGunCcaYR3UjAw9GDD7GVDtAE_E74ZSFbD2MS2v9sjl0Jp5XH6L_CC6NhqCm7pNwVhiQ09dhQGS3rb_Ul3rIESsqSBp6fpMndvy9Ax2Kvvrv9gE5YAjNaZXPZwBTCvlb61QxgHvTfv1nOpR4Yqef-f6b2um0AXg8VYFabfFGYvta0yJGGSZBYBFC0CgVr0KEjqt1a1_rk8aTTkGSeqDMREGgHAwvJHeKvu0AHEsmzsxw09Rdpib9ttMFsYNNo1O4oDTvNt5fqn7VEiQAzHrPtdKYOZAjSzwIEuEy-wFYHjss5qA5tquYggs3bM5DF1M1MbcevVGpe5xwta8R3CLbGmgEAWd10ZlzdVhBsqaSQjDlvDPaktVcfryRX2MTlIUDwgooTqmbunki105WHdJJl494agl9nW18YXgtdoeeyE6YnYDX2NLBFHAJdMFRGJVQYxOIoiFaEXNAdB8u9rQgzU8uTgqRgOlYo1oNpLVjwbF5_aYoZuvQxua49K6OzuekODH5c_sCDWyYzIBjaNMqvXkbjoMJImeUi8n5YxwzvbJK31t31b48O3K8uQZXHBF5vFakrnvO4zMXOcx4O9tfbGvhiq623PGotxcP5TfkRqRh20J5ozKPEGXAu1l-zt7XzGNK1xFVdTVh_lvxs1htbJYlXDAX4FX5ckKGB6o9ARuNQUMnPtR-vOmFX49qHcg6Iek0l7qiwZS75ZORlz5E5kpfqG2wr1XKrdNy-am53g1hF96BBvieZST8tt7fqCO3aOWoxzNxnreNjp6LDWD6EdL-pZksprd_xW8zc35bMA7nD7ZMR-L8T-HFT4KEDJMTR_IUwa8O4YE62AL4GReE7EipPNj601PnehD68kjLaH4VHEG2_RHM_oljev6Sxw_qrkhTAjT-VkeXLa65651OeMrT_4LyHYyLDxt37jQWorSpvV13Ce7pqUL5Ml3XMcOMfufUH95CXYJv2cZmgG2ZbsJE2Wj8rotVr352aeclWXomaxccmw-Kdk4lBt9n8WD1b-1ihXcwYE1dG6qvWkkBTHM3yfmClmaysPpBTw-RvWzo5oEliI0JLRXeoPx1nKjs47M6ywq12h8J4TQRMS3isFFz3lCOhIuTmO5BJfUo0X5af51ovM5lgovfrDWmbuMw9hkVUa_3ZHMa-GDbrZHZzvCLg9WNyqF7TvgXUs80gu31SjNLg2NK1RtWivFkmmbI2wouaTN7g1pXMDv4L3PyYCFmjGHM8U-WTmuRghociz_0m73nnfuT8Etnwf-MCRegywvD_kioQyyrvzYziE-JeQx35QDdmVpJD8a09o_3OVpZmhpa5Vv0SbnP04YFIITvalXnVm04PeAsE8lkwEXdDUF2SDpzAuR5OJVLK5TcEWqbsarSMUEwYIlA9CavPrUvSpuH4IhkwTuk_BclQrv57UqkbzxQlnaqCPz2DkAUftLtnG8y-AG16LfQF4IFXFiVAFAEVAZYMiS4AMKwpmbXOG0cQlTHd2tP8GkPNT9hSo5Oz0x-5HJaBTtGf7thh1SDcfsyqUKh20ZyE4rpvUt0K2iU0FldTAv9DYDCDsnB0UFBeaOvQVzFVRqVAnJrU-Bo6t_guXgs62Au4OiEe-8q8MRQwtmMJ4jP-5lj357iAzpGiyFV5DcgeR4PT-qxyGZEfU2YDWX92t_x4sj9zXo1ejISDJE6_TVy8VHmL_AHH6LSSMqugcaRQzxq4ug82V0EdSQNmg2cCbDDfnQx4KA5KodxtrSw2yhyzIf3kz50t0l1aygkoHzkCSIniOufHhQo60TCr61vq7ORUlc5NukVF53H8lXulwdKZ2zOXDu02EuzPS7Fm_sRoXmIWXKCddPUAttPV_-bDCT6uVffc7Ma7VNKEDEc1p1D3Fa6tkOjPbWyvrkArd5AGPMZZhbzmb0jcDnptSKW8fJR412wDqLNwT5IZ_G6b0xeKVE67T1PK9BmWcMrMFHOmd56bT0GliUZuhVyJMbRAn-YKZ3pn1VtcF3TBLK0vLhjUv7cYVCIUCA4spCQOLTkJTZB2c7B_LOfb20tvfQ7o4n_alW8qxNhz9gkJCULL3dUImsjuGurjjDY-j_pV9srkgRjJEi297qFdHLMHor9uNUf74rTg3vGdB_3ss_AeO1ju5C8OMa3i67FY_JooItoSLBD_H4ZzkztUE69dSxEK9LGI5oFsxcr6PqTWO_n_JN9DYgqT-FykrUczbUOECGSyutQ24x_96DHwfMZCRaFPI553kejkYbpxjxfeXr1mQohM1ZrOtLAQ",
  "id": "rs_03f214bd7d9e4234016ab46f17eda087d0ba4fc12a1e1d540b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.05,\"right_z\":0.065,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0,\"left_x\":0.3,\"left_y\":-0.29,\"left_z\":0.09,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0},\"note\":\"The blue bowl is now left of the fruits, and the green fruit is visible on the table in the right wrist camera. I’m approaching the green fruit with the right arm and the dark fruit with the left, keeping the grippers well separated.\"}",
  "call_id": "call_OfloWZFrruRXNo90B7HCSguF",
  "id": "fc_03f214bd7d9e4234016ab46f1e88f487d0a45b3daa702d024f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OfloWZFrruRXNo90B7HCSguF",
  "output": [
    {
      "text": "executing move_to over 26 steps (2.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0924, 1.7496, 0.9539, -0.1959, -0.823, -0.7948, 0.9901, 0.2005, 1.5196, 0.5121, 0.3901, 0.1841, 0.0959, 0.9964]\nstate[eef_state]: left_x=0.2956 left_y=-0.2808 left_z=0.0797 left_yaw=-0.0174 left_pitch=-0.038 left_roll=0.0309 left_gripper=0.9901 right_x=0.3849 right_y=0.0489 right_z=0.0596 right_yaw=-0.0097 right_pitch=-0.0378 right_roll=-0.0081 right_gripper=0.9964\nstate[joint_eff]: [-0.4718, -7.9658, 7.4872, 1.2283, -0.7204, -0.1734, -0.0171, -0.2667, -5.0667, 5.6, 2.0342, -0.0415, -0.0122, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90b2b87cf877730d72d03000d87c76d2b11e7ee4236690e596266b43b7d51b67",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f78f7bca8bffbe4486202cedfed36ec379421a7d2ab8091b2b40b7194ce8b47f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a3b50fde7310473fa29dd4aa0f0e520adc9621178d060061dc4546240c58cef",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 4.075 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 55 changed as sent

message 63 changed as sent

message 68 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0288, 0.8532, 0.646, -0.4984, -0.0292, -0.0082, 0.9901, 0.7815, 1.4742, 0.6197, 0.1673, 0.6312, 0.4637, 0.1033]\nstate[eef_state]: left_x=0.2865 left_y=0.0005 left_z=0.1594 left_yaw=0.0 left_pitch=-0.1373 left_roll=0.0045 left_gripper=0.9901 right_x=0.3301 right_y=0.1858 right_z=0.0946 right_yaw=0.0136 right_pitch=0.03 right_roll=0.0304 right_gripper=0.1033\nstate[joint_eff]: [-0.0615, -1.5932, 7.1043, 1.6337, -0.0513, -0.0513, -0.0122, -0.4444, -6.6803, 7.4462, 1.536, 0.2808, 0.0269, 0.0806]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0288, 0.8627, 0.646, -0.5129, -0.0292, -0.0082, 0.9901, 0.5087, 1.3804, 0.9039, -0.2039, 0.4221, 0.2798, 0.9955]\nstate[eef_state]: left_x=0.2846 left_y=0.0005 left_z=0.1542 left_yaw=0.0001 left_pitch=-0.1613 left_roll=0.0052 left_gripper=0.9901 right_x=0.3786 right_y=0.1324 right_z=0.1669 right_yaw=0.0029 right_pitch=-0.0437 right_roll=-0.0138 right_gripper=0.9955\nstate[joint_eff]: [-0.212, -1.6068, 7.0769, 1.7216, -0.0415, -0.0415, -0.0171, -0.0342, -5.6684, 6.8034, 1.7851, 0.2027, 0.0757, -0.0708]\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 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0924, 1.7496, 0.9539, -0.1959, -0.823, -0.7948, 0.9901, 0.2005, 1.5196, 0.5121, 0.3901, 0.1841, 0.0959, 0.9964]\nstate[eef_state]: left_x=0.2956 left_y=-0.2808 left_z=0.0797 left_yaw=-0.0174 left_pitch=-0.038 left_roll=0.0309 left_gripper=0.9901 right_x=0.3849 right_y=0.0489 right_z=0.0596 right_yaw=-0.0097 right_pitch=-0.0378 right_roll=-0.0081 right_gripper=0.9964\nstate[joint_eff]: [-0.4718, -7.9658, 7.4872, 1.2283, -0.7204, -0.1734, -0.0171, -0.2667, -5.0667, 5.6, 2.0342, -0.0415, -0.0122, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90b2b87cf877730d72d03000d87c76d2b11e7ee4236690e596266b43b7d51b67",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f78f7bca8bffbe4486202cedfed36ec379421a7d2ab8091b2b40b7194ce8b47f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a3b50fde7310473fa29dd4aa0f0e520adc9621178d060061dc4546240c58cef",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtG8nPKWbREOwZQxw8Ay8cA0LldYK1TtuC8j6ZOkypvxS3dpiZ05encKzJZybQakm2V71ES3F6JQ6OLkTQx7U3NdlWlhfCaIgscfnxzSsS_uQUSuHs2TPTYAOSxL3xwg27PkyoHVy9QUEXUAh0I34Yl9yhHK7cGGRroROnRlg85Q5_WQk6Ks2QICulA6z8ZVGLCKyT2O4hxjNurPIolXwd3OzwFdXq_ClZAjXnr76BLBLBEG8iNQm1cWudTTMJMrbwOf7lHMuX6rzoJz-343PVOI5_uZlGKYDAJPDSmjozwK04hB0XPwXY_z4jgkYYsgcN58V_9iwfV8EMdrfaoM0EfNoValWDDgW7ZkNNuycqANEwtJxUGJS5ojdGyeSUMifM5l4-r3jKbRNWW_iYfXR6JRLzsNgNmW3PhxqqHippVmKUzrTlShGU_ZbzqUrWyukTokx9KCq1ZQKZMDkRu9PfZ-YQCDViPccCXImgDQxFIK_zNxGryR83Y93puwmxtQ16SrdyX1GFy4sSNszfabLM2pL6iN_tiNOUQ-P-8BJ0_MqXT3wNoZ1hWeceddo2kzXDJC7mRkLmy8NtDTG6XNkR49VFLHwmkukrpFD5y53f4eCT21HCS0C0K8fHX17XkrryGfxzWIkGPYkngyMtvpeX0FK-BPg82wIeDkaRepQ6O4IU2esNWarg-wwh0VB4z-JKcF5aFg9cn_NeSh_1zkhYqRnNqtSPw9J_tSrszBOnBT6LZoOmEDeogpDHZk10FzdsAagYrg5-0jPf1p-m5uzL0ltGm2c24OYs3A3IJWw223h41sRYKrAXXHbIVBHeJSpcX_vuZCrXfredHgr5Au-xf13uh0Ui9FRYdWK1oYDpWVAzFDXeuFIYGCTa1abFwBkP_zXy28QS3kz_E_R9MQXQ5qB0CsMlLc5nI8mjOt_aR7mIfutkefasJiCYMybVfzXq5O5_MV_XTUH37B2EU_62POCGrn7ghHwMGmx_jqMKKsiCpV3sFfJWprXl9Yzr1FHRJ8dzNlncq4yVJuzemS6q4NR0vj-J1Zh2JHBGkZ0Qpit1d3QaK-Ks9pmSLnKY87iEqtG2WOokMRurl6jsBxF1uFE43Jb2VKDDV1Rt5_1f5Zr6S_vKha4Z6vXGMvk1wqERwSLrj0TIDZ3LmxivM9f7V0Qebn942w10Vy_gfVJcw9I7dfWq22_fRGM3FMQAF8q06vjgoFN6PEAXwNwrKE_tBNtjAf2_c68rIHPgluGWB7Z_3UK2ruIsDQXB4qtcp6orzyjms8bJOmWKJwJ7Hoi7Oi85ENTRNc2BJQ2JFikTjwjWFbytvEoAw0CgUE1MyooDfBp10DBUtbQ8LAmd7wmgwq4SIQ9vut3KbDqhDyfSZC-7G1WKk1Jp1qy2HFaHzPV9B3ZrlU3kq3wu1_00y9WCajzju21xiMy0jeATZHfYm4lKGKPd0JQGG6FURbnZZJwUym3vnTIglFUa3hEnLkFQzOPIIgolUHs6Upj03EXJiuoEm7lLicptHyf8iuVAbeNjN0Q-F1XLdxZyZ3tABX0KAgNj8F5Espgamvzv89UaEG4S8_0cIh3pwVPGgveLiFE2w_Z8nAGk1eoUdUs7VRBrtyDCYMLbhnLADVGCwjb9e4ZgZujEjxoHNeRvIayjBpruRFyPqXV46kB-IZNN-pd1nsfReVINnrKGCJEsHIy00rafCQHO75r06ts_XYnLb79o3Xa",
  "id": "rs_03f214bd7d9e4234016ab46f23f1e087d092e0fef9ef8f3eb0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.025,\"right_z\":0.025,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0,\"left_x\":0.3,\"left_y\":-0.29,\"left_z\":0.01,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0},\"note\":\"The dark fruit is centred in the left wrist view; the green fruit is a little right and forward of the right jaws. I’m lowering both grippers, with a small alignment correction for the green fruit.\"}",
  "call_id": "call_4c5h84opkaJLyVu67vY6CWTJ",
  "id": "fc_03f214bd7d9e4234016ab46f25f81c87d091674a4ba2ee68e7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4c5h84opkaJLyVu67vY6CWTJ",
  "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]: [-1.0992, 1.9617, 0.8776, 0.0509, -0.8406, -0.8104, 0.9898, 0.0921, 1.7741, 0.519, 0.5804, 0.099, 0.0387, 0.9965]\nstate[eef_state]: left_x=0.2951 left_y=-0.281 left_z=0.0063 left_yaw=-0.0048 left_pitch=-0.0438 left_roll=0.0619 left_gripper=0.9898 right_x=0.3981 right_y=0.0228 right_z=0.0029 right_yaw=-0.0163 right_pitch=-0.1032 right_roll=-0.0126 right_gripper=0.9965\nstate[joint_eff]: [-0.3897, -9.1145, 4.3829, 1.3358, -0.4371, -0.0611, -0.0415, -0.4991, -7.3915, 6.9949, 2.2344, 0.0611, -0.0317, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60ee3a774f9d1603c86cc63f238f948065ed1c799337d1978efa115137a10875",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b4b30652355e9cce5714f0f53d5db6dc248ff58446bfb0b081ae63db67ca5c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:090d3886781d50bb499923c7fb6990a8a071903308255332ecc153e6f2576f5d",
      "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 · 4.394 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 59 changed as sent

message 68 changed as sent

message 72 changed as sent

message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0288, 0.8581, 0.646, -0.5034, -0.0292, -0.0078, 0.9901, 0.5087, 1.3819, 0.9016, -0.1791, 0.4374, 0.2943, 0.1042]\nstate[eef_state]: left_x=0.2859 left_y=0.0005 left_z=0.1572 left_yaw=-0.0002 left_pitch=-0.1472 left_roll=0.0051 left_gripper=0.9901 right_x=0.3818 right_y=0.1313 right_z=0.1705 right_yaw=-0.0168 right_pitch=-0.0206 right_roll=0.0003 right_gripper=0.1042\nstate[joint_eff]: [-0.0752, -1.9761, 7.3641, 1.6825, -0.0464, -0.0122, -0.0122, -0.1573, -7.2957, 8.7043, 1.7607, 0.188, -0.0952, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0924, 1.7496, 0.9539, -0.1959, -0.823, -0.7948, 0.9901, 0.2005, 1.5196, 0.5121, 0.3901, 0.1841, 0.0959, 0.9964]\nstate[eef_state]: left_x=0.2956 left_y=-0.2808 left_z=0.0797 left_yaw=-0.0174 left_pitch=-0.038 left_roll=0.0309 left_gripper=0.9901 right_x=0.3849 right_y=0.0489 right_z=0.0596 right_yaw=-0.0097 right_pitch=-0.0378 right_roll=-0.0081 right_gripper=0.9964\nstate[joint_eff]: [-0.4718, -7.9658, 7.4872, 1.2283, -0.7204, -0.1734, -0.0171, -0.2667, -5.0667, 5.6, 2.0342, -0.0415, -0.0122, 0.0904]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0992, 1.9617, 0.8776, 0.0509, -0.8406, -0.8104, 0.9898, 0.0921, 1.7741, 0.519, 0.5804, 0.099, 0.0387, 0.9965]\nstate[eef_state]: left_x=0.2951 left_y=-0.281 left_z=0.0063 left_yaw=-0.0048 left_pitch=-0.0438 left_roll=0.0619 left_gripper=0.9898 right_x=0.3981 right_y=0.0228 right_z=0.0029 right_yaw=-0.0163 right_pitch=-0.1032 right_roll=-0.0126 right_gripper=0.9965\nstate[joint_eff]: [-0.3897, -9.1145, 4.3829, 1.3358, -0.4371, -0.0611, -0.0415, -0.4991, -7.3915, 6.9949, 2.2344, 0.0611, -0.0317, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60ee3a774f9d1603c86cc63f238f948065ed1c799337d1978efa115137a10875",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b4b30652355e9cce5714f0f53d5db6dc248ff58446bfb0b081ae63db67ca5c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:090d3886781d50bb499923c7fb6990a8a071903308255332ecc153e6f2576f5d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtG8r2oLpDNdUxq5sEOxwRaf19aiTxd9YTgj2h__ZEeDwa5IBqsIUHOgiqMsaZg29MY6sU9s7fs9hfXm9UHNaWQlIlvo5uDi-xg9zi40Mnc-PLbaVBesCk-nlBySjDsoLqxn3uoDVHT_FeIfD65xMmoh-yjwGHpYanzhrxKoP-QFObeJINBnTCOL564hAUNq9Q-QgE-jFoLViQE-8MAyJtxdblYAjLLeOrWt4xDBVGZNA3OLgNUsyBr_tN78W810CsHRFVjCnSmGfgB5fn1n4JhOWY-NtiGIpcENNmR5SggCpUA2Tj0zvOABcOkqWApkYFPBZr1rq8a4Zd6enbH8QupdgGhnWfu1rbbPLuCWACOlQIxwS1_3OC8ekElI7F7d_KTomMxV_qR8q0nQO9BP6yzGF3dBTAtWKZZTiwsxbOuUQvEJdkRrsMtx71Lv64UouWxZv8MvTmA4-cNLllJH1qdQjLBcs0JaFsdSGxrs6Q0mHOJ0it5XEXnDhGzSJhy2weaIfm3E9WVLunC8gXsPxIQb-LHkvDDNVTESgOfawVQE_zjX5QkyiBi-vq5IxgTm83lAlwTb_Mo8sxHKhd3td60mjzeUcXzIDYYAwL2J4UQ1wVoYpLWxC8Geh0yZv53tZObcRf5ZwkS4Jigvr-Bb4MBbYdgh-IKaMveSRfDyqsG3NAMAMXb65149RvtFkv6bzmT7g9nt_oCW6yMal4VeRy8Usb4hwZS3nc4vGwRJew0oECt_PaV9FWJ5BWx6yNoNqQYWByCcbaO3bkiYA0w8RmRrbOEygyTKPAZx4hWWUxk3fent1W-ilP1cX8rczwmbK23V-UbhYMadDyGKyXHahlbpjbM-Zhx57mrSmZ1DqFN1MLUuuGBfMIbwp9pW1IXiwRmBEtlvEy1mLn-0iz574dkb79DICI8Cfb3iF4hz7NkZfSF_FfcU30sqo7eDkwGLW9_fgCbCDZZk2Q4JRl0jtMP7Hebpr5xacoC705diGyykXgSa7tmwqzO2gRBhBVHAWdzcEGnGa-9yaBH391abXylC3MLQyxXvTH9H5_xAaaLT8ArCq6VVOhbZkRr4IfKO23VoOHi45CsjfWH3yVYNpVo9Gg51qORkQdoorQoKQ_SfuYL92Ixj73tEOb_Lcghsjf1TetZcHIwEqQjuvLZ9f27RT51KJQlRwEXOM1q19S6XINhR7q7TwFq9pAFfiI9TaimqwMBRi4qITxoi5bJdJ7a8DJ_ST7ET2V6KCWZIbhQB_ODN9Eis5tvwS0zRfpTElwjeQ3DENaDw6msnIcIEuMo9cSfmVCjNmscNwkmtbhy6qOOg_20pNk1qWDQqlQJ-L4tt4NMi5Gcu-7MhFb971d6muCExw45rKK7Wve2g22538n8k=",
  "id": "rs_03f214bd7d9e4234016ab46f2a212c87d0b40076dcba333a37",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_gripper\":0},\"note\":\"Both fruits are now between their respective fingers. I’m closing both grippers to secure them.\"}",
  "call_id": "call_DTOntyvGb9n92GtMXrTfrjnl",
  "id": "fc_03f214bd7d9e4234016ab46f2af0a087d083926222294ce195",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DTOntyvGb9n92GtMXrTfrjnl",
  "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]: [-1.1, 1.9736, 0.8749, 0.136, -0.8486, -0.8165, 0.5187, 0.0895, 1.7897, 0.5224, 0.5869, 0.0849, 0.0357, 0.0092]\nstate[eef_state]: left_x=0.3005 left_y=-0.2904 left_z=0.0108 left_yaw=0.0006 left_pitch=-0.0055 left_roll=-0.003 left_gripper=0.5187 right_x=0.3986 right_y=0.0243 right_z=-0.0008 right_yaw=-0.0054 right_pitch=-0.1098 right_roll=-0.0067 right_gripper=0.0092\nstate[joint_eff]: [-0.5128, -8.4444, 4.4103, 1.2527, -0.4908, -0.0317, 1.0232, 0.1436, -8.335, 4.0957, 1.5556, 0.105, 0.0122, 0.7106]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6518891fd7681afcb3705660e2766dcb595267da3bb3956c21586b29aca9bfc6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95046b68408e3d6dbcf4c8b17ae5cdc2e4891c88d3517db0d2609cc68fe1f2ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6913e84dbc426f6b0cb9cfaf2a8f79cbd2025c0aaa84d8f88843dd50ad8b872",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 20 attempt 0 · /responses · status 200 · 8.599 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 63 changed as sent

message 72 changed as sent

message 76 changed as sent

message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0288, 0.8627, 0.646, -0.5129, -0.0292, -0.0082, 0.9901, 0.5087, 1.3804, 0.9039, -0.2039, 0.4221, 0.2798, 0.9955]\nstate[eef_state]: left_x=0.2846 left_y=0.0005 left_z=0.1542 left_yaw=0.0001 left_pitch=-0.1613 left_roll=0.0052 left_gripper=0.9901 right_x=0.3786 right_y=0.1324 right_z=0.1669 right_yaw=0.0029 right_pitch=-0.0437 right_roll=-0.0138 right_gripper=0.9955\nstate[joint_eff]: [-0.212, -1.6068, 7.0769, 1.7216, -0.0415, -0.0415, -0.0171, -0.0342, -5.6684, 6.8034, 1.7851, 0.2027, 0.0757, -0.0708]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0992, 1.9617, 0.8776, 0.0509, -0.8406, -0.8104, 0.9898, 0.0921, 1.7741, 0.519, 0.5804, 0.099, 0.0387, 0.9965]\nstate[eef_state]: left_x=0.2951 left_y=-0.281 left_z=0.0063 left_yaw=-0.0048 left_pitch=-0.0438 left_roll=0.0619 left_gripper=0.9898 right_x=0.3981 right_y=0.0228 right_z=0.0029 right_yaw=-0.0163 right_pitch=-0.1032 right_roll=-0.0126 right_gripper=0.9965\nstate[joint_eff]: [-0.3897, -9.1145, 4.3829, 1.3358, -0.4371, -0.0611, -0.0415, -0.4991, -7.3915, 6.9949, 2.2344, 0.0611, -0.0317, -0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1, 1.9736, 0.8749, 0.136, -0.8486, -0.8165, 0.5187, 0.0895, 1.7897, 0.5224, 0.5869, 0.0849, 0.0357, 0.0092]\nstate[eef_state]: left_x=0.3005 left_y=-0.2904 left_z=0.0108 left_yaw=0.0006 left_pitch=-0.0055 left_roll=-0.003 left_gripper=0.5187 right_x=0.3986 right_y=0.0243 right_z=-0.0008 right_yaw=-0.0054 right_pitch=-0.1098 right_roll=-0.0067 right_gripper=0.0092\nstate[joint_eff]: [-0.5128, -8.4444, 4.4103, 1.2527, -0.4908, -0.0317, 1.0232, 0.1436, -8.335, 4.0957, 1.5556, 0.105, 0.0122, 0.7106]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6518891fd7681afcb3705660e2766dcb595267da3bb3956c21586b29aca9bfc6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95046b68408e3d6dbcf4c8b17ae5cdc2e4891c88d3517db0d2609cc68fe1f2ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6913e84dbc426f6b0cb9cfaf2a8f79cbd2025c0aaa84d8f88843dd50ad8b872",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtG8xBCeTKOuSr00aYKIFrOuyy7fgnHG4L5gtAoejTnmqNRRvOvPod1AzbOwAYggAS7MHSAixOecHB8_Dwb6pacz67aKA-iQHq3qr4HcDnnfkoDSxUNrwCHImJL_KBjhEpa9anjEfrWBoT8vgKOmuc4LQng8F0n4Ft2Hf2qRgw8E2ZMtdE1hKro1SafXaAM3LhUs4F7ts9GmjagFa4ikwNUMP4MsNBIR1_ERK3l8Gj65R7V4Sq3yDJRhvW-etb4bAIIt6F1HV5DxJigx29g2lwrqWSM9LrsmVw1ibyj1MB6pJqDfJPmSDvxYWqM5gY0TLx5oG5HbFyaUt3Iikh3UaPgq8U2mR79JytZmp3zdB_sRWksEX9Xk23t4ZGYtAPL0kCFWQkw5h1gApNPmqIUKvTqmQIHMsuQGS4l36NbnFEOm0fFIbJqLiAqzYr7DPerro798sohi7Lca1rmE8bbfleNF_pBodGQi3Bh9BVuBbUw0bZzy1GLxF0OAK1Ji4S0Omn-E1LmFNhkD-6iwU6qS9FmR9s4pV7frC92gILu7YQdF_drtE_h61Jl5j6cf28_rynaMw-xVRnwR54zUsBriNybHWuwUhgMu2Qj-rcGlnFxv4VsnAOfkUf5tbW8kQBhXCzlqBeYaGlyaW_AtO2KnlNZuuFfVhaRfn6Rius5OuvpM8LiW5ER4bIvwFMJS6YJaYAlQw8A5SeBPSpOgsCT0sGZ4GMtJV513Lq42hZSsN5ZnHUkFJsJMaKYD4GsHD_Bg-NPdr_9k7BF1wb65V8tT_E2M9svibY0Nh8Lvc_z1zbvHSRKGt3Ps3Am5ZtKkbvZ0dl1o5ancQlQHSHiKwZXIxjKbe2TRJrs74q_AMZagxew8TyJGy69yq6XC2HhBXg8jlRVChnCrXaVc5XE2iH7O6FrJjUFRQJ4h4CtvHATFnQ91D1j-vnD93MTShRdP1sjQ39PPGmnrkBoi7y25OO0UwWUQ4ZQYM9Iz6WOCQJ4eAhHhV4B8hdet8YgGreMVcRN1c5WLyEkYCTQFvJTSQlXM-uv2OmYeoNF6KqIePRU8xFAzwzWmpYT2LgG7kAu8UzJjn1y17H75IGq76uJpiUV1XrQ507vUogR0cXXB1X4VgZo6SYwU0P6oIsPJs_65mv1lW2GuXyVHPrVa_4vg2YXxwZmKYtEmrPPicHC540QC0wf2QNZKDJRGyC9k7IMmpeAOy5mgRFFUuvPfHiV0_hho2PmdPbdfSv2h1awJElO-og4INkqDrCFy4PWeNEehJGevwhx_qDnqYVYp8kCO3ZWKZ_1crFl2AA7-p1X43BpFZvXlLNdbKUWc2s9yaZwWY07wehXST",
  "id": "rs_03f214bd7d9e4234016ab46f2ee59487d084d632a3eb044c08",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.09,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0,\"right_x\":0.445,\"right_y\":0.025,\"right_z\":0.055,\"right_pitch\":0.15,\"right_roll\":0,\"right_yaw\":0,\"right_gripper\":1},\"note\":\"The left gripper has a firm fruit-sized opening, but the right closed empty just behind the pear. I’m test-lifting the dark fruit while reopening and moving the right jaws forward and higher around the pear’s body.\"}",
  "call_id": "call_TmxCu1hPd6cZbsmwIRJRpWZN",
  "id": "fc_03f214bd7d9e4234016ab46f2fad5087d0bd5cc17a5e24f5e4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TmxCu1hPd6cZbsmwIRJRpWZN",
  "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]: [-1.1, 1.8034, 0.9562, -0.1509, -0.8452, -0.82, 0.5188, 0.0875, 1.8095, 0.5545, 0.7662, 0.0731, 0.009, 0.9952]\nstate[eef_state]: left_x=0.2977 left_y=-0.2856 left_z=0.0677 left_yaw=0.001 left_pitch=-0.0241 left_roll=0.0245 left_gripper=0.5188 right_x=0.4323 right_y=0.0286 right_z=0.0388 right_yaw=0.0173 right_pitch=0.0802 right_roll=-0.0067 right_gripper=0.9952\nstate[joint_eff]: [-0.4581, -10.8239, 8.335, 1.1844, -0.5104, 0.0171, 0.9988, -0.9094, -6.5299, 6.2974, 2.0537, 0.0855, 0.1294, 0.105]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c17ef0c541d63d1bdbc3d3f1a15778f24dd6157927747f0eb0a13309f1553118",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe489b87cd4bfce87711b5f9465cc861f392d0523663a1f13477b36a787f8348",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7e272928ce529dee0a72ed7ce0c6f3f674bdb0b47db21f29b95913f7e55e0b9",
      "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 · 4.557 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 68 changed as sent

message 76 changed as sent

message 80 changed as sent

message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0924, 1.7496, 0.9539, -0.1959, -0.823, -0.7948, 0.9901, 0.2005, 1.5196, 0.5121, 0.3901, 0.1841, 0.0959, 0.9964]\nstate[eef_state]: left_x=0.2956 left_y=-0.2808 left_z=0.0797 left_yaw=-0.0174 left_pitch=-0.038 left_roll=0.0309 left_gripper=0.9901 right_x=0.3849 right_y=0.0489 right_z=0.0596 right_yaw=-0.0097 right_pitch=-0.0378 right_roll=-0.0081 right_gripper=0.9964\nstate[joint_eff]: [-0.4718, -7.9658, 7.4872, 1.2283, -0.7204, -0.1734, -0.0171, -0.2667, -5.0667, 5.6, 2.0342, -0.0415, -0.0122, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1, 1.9736, 0.8749, 0.136, -0.8486, -0.8165, 0.5187, 0.0895, 1.7897, 0.5224, 0.5869, 0.0849, 0.0357, 0.0092]\nstate[eef_state]: left_x=0.3005 left_y=-0.2904 left_z=0.0108 left_yaw=0.0006 left_pitch=-0.0055 left_roll=-0.003 left_gripper=0.5187 right_x=0.3986 right_y=0.0243 right_z=-0.0008 right_yaw=-0.0054 right_pitch=-0.1098 right_roll=-0.0067 right_gripper=0.0092\nstate[joint_eff]: [-0.5128, -8.4444, 4.4103, 1.2527, -0.4908, -0.0317, 1.0232, 0.1436, -8.335, 4.0957, 1.5556, 0.105, 0.0122, 0.7106]\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 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1, 1.8034, 0.9562, -0.1509, -0.8452, -0.82, 0.5188, 0.0875, 1.8095, 0.5545, 0.7662, 0.0731, 0.009, 0.9952]\nstate[eef_state]: left_x=0.2977 left_y=-0.2856 left_z=0.0677 left_yaw=0.001 left_pitch=-0.0241 left_roll=0.0245 left_gripper=0.5188 right_x=0.4323 right_y=0.0286 right_z=0.0388 right_yaw=0.0173 right_pitch=0.0802 right_roll=-0.0067 right_gripper=0.9952\nstate[joint_eff]: [-0.4581, -10.8239, 8.335, 1.1844, -0.5104, 0.0171, 0.9988, -0.9094, -6.5299, 6.2974, 2.0537, 0.0855, 0.1294, 0.105]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c17ef0c541d63d1bdbc3d3f1a15778f24dd6157927747f0eb0a13309f1553118",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe489b87cd4bfce87711b5f9465cc861f392d0523663a1f13477b36a787f8348",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7e272928ce529dee0a72ed7ce0c6f3f674bdb0b47db21f29b95913f7e55e0b9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtG86gwk-4ABXel6d35e3jADgYqgOVkLOYnOBCehGvNYO7mSPjRXWRkaPPdUz1JDBrnsYb2S6PaxXbk-toWZRi9dgGXtpUtwRnbaiC2rdXjV2ijrg2RPeBlJlaK8GbnhB_W-TvQ4d2tTwjDc03kL00tQw7irYdse0HYnW6LrStChyAhhr8ztT_rC74LHKQfuFm8UUynUat8gWYIQkLqfKPfP-aozxczDlcgETuGN3pVC6dZ4L2wUqILPNuTQLlNGTFtG6pToxxCVRi-wILyLZKA8EphQx_bVALcPunl2i1mCL0BnwG7obv-bsHPVYxxarRUD9pcSah2nCTJzq4n3ehsHqlq-hrhoTKkQf9gy79WI08YDxPzjl8I_NHm1f3gT9W8Vq8B3ZiXp_kvI3IOJ8pscrIoo6UmAkYdbuRhZ_KDGiRD3beMHTay_ypHehSZF-nTdhoND2bc99f4KsvMATmxdzPAXMvvla16x3uQwr_9qRbZByIzYHWiBszrRQTCPgS0mQTfSI4_6-2JkJtNTGW_tjwuozwYPyA2Xw02KQXwbwXakT-gzdPH8iSDRxvlVeienicymhAtyrcc6HUvfDd42y_Ly8t_XbQyObx7_JNV-yCwY18uDNi0xFepPIXaT3xD4RhZQIO0K4NVjBTp9cjuWsiXo4xitXxFZpYmS9j0hEk4z6_yx7rx34JqGiae_Jsbhxgf71Unz3eIy0GJmYIorTrIhgxrUCE1zn4JzEk2SaeoBv2Jfe4AClIl0fYklAKXFa9wswda5SXPSp0fRDuwn-mrxX3jw4FHLYk3AS5k9CNhiokbAz8QsnyYXeJMZK9sP1KJAyt2ts6Rl3RBsc-lM9aKeTHl3-fdiZqAj5H-z0bzAwuCRfJUFrUxhwGlENHO_wZZICZURW2Hg-C6EYwcbTEXZ2Sj96D6Sl2XHUm0cx-VfGARcwmr69lSqxtQ81M9Tec27ioDCcnyJ5SVQWNLWoorLrHs4v6pQwFH1V1638xU3PFHT-GiWY0hXbKLPLTnqJ3zikZVe4GCdLkmTiUy9YP3pIAuaRhboSvDSNvA_6mgHzCmDa-O9Wh2AHXO1loqomGzobsPLDS8ouh1SGPYLpVW-o8HKkcYeye5VZVa9MSMekohOd8vVtwNcDKcvseMonBJCaKfJJSQyu1zrBdp6uX5bAWEnWUHGVGOHq7HOBKjxnH6xjSYjVSnQqNQN1e-r4GHtqx9OjbO0gaEOOcMN9DuEYEow5sOl52P0lrVy4We2MCnC8-QDUQJVrXBGrwygfdaLDqABy9zizkJibLvxAGvHUUvC3j2BduH5w-emrP5l8EJDfiXFrj_P3S3qK_ybQoT1-NtxBar9gUhpYlIuB7QCSY-9RMV-3lqygm9kqcZqHn2o5tplgKWv5Ey9zqm2CkA6bGe1XidWFWJleN1ZlSPlElUOZlkSReHTQhQF-MyphF-vAm2najW7RaZkXH07imZuo_NHCxD96mA0xz18j1JQES0EHnK9ioj2jYRXAmNUhv4mRNvXGPH46gtOQxhM1yftqzw9sgpsl0AISedVDtzwFy_5mZxWKkSgebl4IN8dzYKHamA-8LV780bYrueWoJOIG40hiBnm-pS2XMDFVKtz3OqzJ2A0U68vxgzaSeChioSOG8dsCo3JB9sieqcVF2WA8aqmCLlpPGxS7lCukDlXkAyJO9Os6_SvEpGYnEIBoISUGSLfRIwxvLgfNg2EuYQUtaIk0h486wx1OST3LHuYgZr7FY9Y29asy4pit5mdQ0Tur9iT-nzpPWeW9mpRo5fgZST0X3abkoBUfr9BPycv1FlNrIBye-QFZyCs2u6lpus6dJaCw64_9aUuRMoGkO1PeIbbFJeEGl7aFu-SEnZDDoBYdqlENnCfUCVxb5dwIR3bIg0fcPlGKyQINeZtgWo4JrTTqjlwEdga3FFMF-7LOcrtlcLihBQ7ZjilpWSwk5m1aIDtWMiUKrIrFBcYWzId2MEpz5Kafr1AKFTxKjWlowDL4Y89A-7mTnlJW9pHnrFOTk5BahicSEa9M_xHeMcAgaGnS56uzhW1cb0tlZ8kJHDCTxVRpLrT5SITWqLH97b-aJkjkwDnsxZhE4VjWM8l6BEZJCqtUVG6DT0pJ5dtT9tVMlH4N0c5AqOgZdMtOPRWvmELauW4JuKISGmNmryMOKqIn1KhGTzUjWpwW77yqCxF16wgf2Lj_7KBgEvuSXAca84Y5SGwtb6BIPV0UHi8Y29G6RgJtQR_byPzSQqilcB962uUG7c3NeAFHZx13OoW5juy0pgIjGCkID63eRJW_MqKuhdG7obtZqGKdugpycSrIqMkhCPPakLQiy3Fkz0kxh8iEBlvgy85zx6gq",
  "id": "rs_03f214bd7d9e4234016ab46f34672887d0b24a074a02f84032",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0,\"left_x\":0.43,\"left_y\":-0.36,\"left_z\":0.19,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0},\"note\":\"The dark fruit rose with the left gripper, and the pear is now bracketed by the right fingers. I’m closing on the pear while carrying the dark fruit toward the blue bowl.\"}",
  "call_id": "call_NaKKthXOVB05jZ2asqm95b6E",
  "id": "fc_03f214bd7d9e4234016ab46f39151487d0a8f23ab79e342af9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NaKKthXOVB05jZ2asqm95b6E",
  "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]: [-0.9226, 2.1021, 1.8076, -0.5137, -0.746, -0.6491, 0.5202, 0.086, 1.8156, 0.5579, 0.7845, 0.0696, 0.0067, 0.5208]\nstate[eef_state]: left_x=0.4267 left_y=-0.3589 left_z=0.1816 left_yaw=0.0227 left_pitch=0.008 left_roll=-0.0349 left_gripper=0.5202 right_x=0.4351 right_y=0.0288 right_z=0.0414 right_yaw=0.0199 right_pitch=0.0957 right_roll=-0.0061 right_gripper=0.5208\nstate[joint_eff]: [0.3214, -12.3966, 8.1709, 0.9792, -0.2857, 0.3443, 0.906, -0.0068, -8.0205, 4.465, 1.6386, 0.0415, -0.022, 0.8327]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a530cc79c8360c48e4904b5ce0a6a45a2643dce4a54f180b58904dc0bc3b89e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18251db36a6a95909a7c97f2cd6cd1d79580b02717d300967b8900c8dfcaa62b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fdc2ed209d4f023b4bf1b0bee91d37b5c3aa4c1d9bc902644421e52984162c3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 22 attempt 0 · /responses · status 200 · 5.795 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 72 changed as sent

message 80 changed as sent

message 84 changed as sent

message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0992, 1.9617, 0.8776, 0.0509, -0.8406, -0.8104, 0.9898, 0.0921, 1.7741, 0.519, 0.5804, 0.099, 0.0387, 0.9965]\nstate[eef_state]: left_x=0.2951 left_y=-0.281 left_z=0.0063 left_yaw=-0.0048 left_pitch=-0.0438 left_roll=0.0619 left_gripper=0.9898 right_x=0.3981 right_y=0.0228 right_z=0.0029 right_yaw=-0.0163 right_pitch=-0.1032 right_roll=-0.0126 right_gripper=0.9965\nstate[joint_eff]: [-0.3897, -9.1145, 4.3829, 1.3358, -0.4371, -0.0611, -0.0415, -0.4991, -7.3915, 6.9949, 2.2344, 0.0611, -0.0317, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1, 1.8034, 0.9562, -0.1509, -0.8452, -0.82, 0.5188, 0.0875, 1.8095, 0.5545, 0.7662, 0.0731, 0.009, 0.9952]\nstate[eef_state]: left_x=0.2977 left_y=-0.2856 left_z=0.0677 left_yaw=0.001 left_pitch=-0.0241 left_roll=0.0245 left_gripper=0.5188 right_x=0.4323 right_y=0.0286 right_z=0.0388 right_yaw=0.0173 right_pitch=0.0802 right_roll=-0.0067 right_gripper=0.9952\nstate[joint_eff]: [-0.4581, -10.8239, 8.335, 1.1844, -0.5104, 0.0171, 0.9988, -0.9094, -6.5299, 6.2974, 2.0537, 0.0855, 0.1294, 0.105]\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 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9226, 2.1021, 1.8076, -0.5137, -0.746, -0.6491, 0.5202, 0.086, 1.8156, 0.5579, 0.7845, 0.0696, 0.0067, 0.5208]\nstate[eef_state]: left_x=0.4267 left_y=-0.3589 left_z=0.1816 left_yaw=0.0227 left_pitch=0.008 left_roll=-0.0349 left_gripper=0.5202 right_x=0.4351 right_y=0.0288 right_z=0.0414 right_yaw=0.0199 right_pitch=0.0957 right_roll=-0.0061 right_gripper=0.5208\nstate[joint_eff]: [0.3214, -12.3966, 8.1709, 0.9792, -0.2857, 0.3443, 0.906, -0.0068, -8.0205, 4.465, 1.6386, 0.0415, -0.022, 0.8327]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a530cc79c8360c48e4904b5ce0a6a45a2643dce4a54f180b58904dc0bc3b89e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18251db36a6a95909a7c97f2cd6cd1d79580b02717d300967b8900c8dfcaa62b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fdc2ed209d4f023b4bf1b0bee91d37b5c3aa4c1d9bc902644421e52984162c3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtG9AyuOj22_30u5nargZhpUePUsKRZsenTg4xmWD605zwp4Kxkkoh9otsoltQIZ6kaP0EYjls2XCL-Yui62pLWOuuA0VHm4pAxdVJfAK7gmqQdQ1tzzbrbcvXACmM-XxnZSSOGwov3RoASu968MzKgCPJgiNQckDy2vWgQt6Et82_6g5DP7frHPPNTErunmpDQe_ZqHlD8h0wQz54yY2icqM-NlhxgrVqULPDYS6H-1Dvfz4U48xzcxSuLMUJQZQTsBoVrMH_9hk681vh3o8BHyW2dzOqtD3_w5tZw5vdg3wokkTHKXVJDaIGvNzVvcrNOopKNES2gZTT0d9BUlPaBBm89PkWnmbkhTnPJS_GCNHVEfvvezzP5ZseW8xyQW2oypVnoeidF4gylVxB6OCfmFG0Nu8gtrM50KEFyaWy74Y3ih2B5Uz6fFXNdSNkCbcAf21FCaH_XJxLoeCAK_ujrd6-qWw2ngB--twZiFtlrfimF0kBvjlZT5CB-w9PnHXSfHvVe3xnZhtBbX5JDmED2IMRBzV9FafLf9bwADoMerxQVUzcnMIK7uKTRZfdS2HpVQWkX37TUkPSePAP9X91x_vTUT4GFWBgBdDgPYEneXzdYrzk-rFOlU9yRDbTiN4c0VtijaZ3ohd3VLDFPTx0LV2ZXOxnp8yAzOcw183aHfeb2iEme5bLUwTWFdGA7gnqMeCMzbU23jIa44EsPCDDIgnGJm5ceFJ0uYPApC2h9P_b3H9DLaLmESmJ_1JL6xqqQDCqKxAR8G36egwBCouZO4k9NcMkuEpsKDHd86_gUvSNJn9iguMd9T7qi84zkcPHcLDlmkztrDMt1k7zm5wdZ_LJK88A4XvhAxS5IdvsOlI70yLEprQFEiTHcAGcLwQ-HJpNmMz15ZCOl6D5g-YiX_S2PCXADqoux1zoOtlwkiTrdiRDVOCqkworZZ1JQs7wNRIZHmPinSyiCWIGE7Au0zDEy94NkdIOegRsexNWVMeDharvFSfvaOBCxLef8g34cPg7N4Vv7LuYiUp9tSA4AsgEuoX4Imk4i8UHr1k7At6IAewL_kn-crRzy-z0Co5gy_xL9PyWWo5_TFC0tdG30rqimvQ2z0lIuPeMW_6yTQqB_ze_iXr293L48iTSjmCGY2f7GktTmbrOXSTqw5Fvb9VnsgmyScil7_Z7c9ApeuhX6GiVGs2owfbKsa87jmI3DDlPsIq0pbnbZaPTo-qftq8cUh3ZRJuBRD3zfB6hU5awtPrY6fze2kElw-YxJmJOw9MzqxySash2IO4HdQfY6jEPJCBFpeYTCazF8oDr0hbdnzicJ1XvjgNxLRMTIj2Zr9VexlNsNOd4FVajJzTKv7TDvYwWXXxQQXVdFVfz3EHnjexczjpzvVGb_k3rGfBAGGz4ZdbfD2NEqqvXI437GybU67EqRUy8slVFLqswT9Hg2zW-x3wg658ymZWB_91oAbEIPAIwtwhCIWNok1rwb_-CHQwE6b8YJYNUsDK4pPTtackUjxnQD42vaCdR702ylcFmY-u_xliIe-M1Zuv1l3JnXwdCWQhMBLQPFp7U2wI81s5SEEtHy6C0l2YOJLm4Ur6StMDG2aBcqYCjynFiU-cg64lPBGYoD3E0_WfM4QeQpngSRFqEs8bvstPunwr_-vIusHD6wDbvcfalSb_fhv5Z7Rg000hCKDXQql8erjaQu9VZM_oFTuA-LdrBmFet_JY",
  "id": "rs_03f214bd7d9e4234016ab46f3d074c87d080071823f391630f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"right_z\":0.12,\"right_pitch\":0.15,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The dark fruit is positioned over the blue bowl, and the right gripper has stopped on the pear’s body. I’m releasing the dark fruit and test-lifting the pear.\"}",
  "call_id": "call_Tdkzg8qrb8uu9pfZCnRBaTir",
  "id": "fc_03f214bd7d9e4234016ab46f3f114087d0823f5c428c5d82d9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Tdkzg8qrb8uu9pfZCnRBaTir",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9169, 2.1208, 1.8118, -0.5331, -0.7399, -0.6556, 0.9909, 0.0963, 1.5822, 0.5995, 0.5064, 0.0742, 0.0071, 0.5217]\nstate[eef_state]: left_x=0.4278 left_y=-0.3565 left_z=0.1702 left_yaw=0.0279 left_pitch=-0.0156 left_roll=-0.0155 left_gripper=0.9909 right_x=0.4268 right_y=0.0317 right_z=0.0927 right_yaw=0.0261 right_pitch=0.0928 right_roll=-0.0081 right_gripper=0.5217\nstate[joint_eff]: [-0.7043, -13.4906, 6.4342, 1.6142, -0.4176, -0.0073, -0.8376, 0.1709, -8.1436, 8.5402, 2.1954, 0.2125, 0.1294, 0.1783]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94d679d08d356130af3cbe7b08c205f16e65d75c7e6b01b8e5045fcff76b1724",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a32e60c903107b716f246d92560b06ad2563f2c4c5f8de36844840ce7304f6e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e436d40222ab9ee59e7af2bf3ea28204a76f220ee354206f319058116d11d30b",
      "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 · 2.91 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 76 changed as sent

message 84 changed as sent

message 88 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1, 1.9736, 0.8749, 0.136, -0.8486, -0.8165, 0.5187, 0.0895, 1.7897, 0.5224, 0.5869, 0.0849, 0.0357, 0.0092]\nstate[eef_state]: left_x=0.3005 left_y=-0.2904 left_z=0.0108 left_yaw=0.0006 left_pitch=-0.0055 left_roll=-0.003 left_gripper=0.5187 right_x=0.3986 right_y=0.0243 right_z=-0.0008 right_yaw=-0.0054 right_pitch=-0.1098 right_roll=-0.0067 right_gripper=0.0092\nstate[joint_eff]: [-0.5128, -8.4444, 4.4103, 1.2527, -0.4908, -0.0317, 1.0232, 0.1436, -8.335, 4.0957, 1.5556, 0.105, 0.0122, 0.7106]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9226, 2.1021, 1.8076, -0.5137, -0.746, -0.6491, 0.5202, 0.086, 1.8156, 0.5579, 0.7845, 0.0696, 0.0067, 0.5208]\nstate[eef_state]: left_x=0.4267 left_y=-0.3589 left_z=0.1816 left_yaw=0.0227 left_pitch=0.008 left_roll=-0.0349 left_gripper=0.5202 right_x=0.4351 right_y=0.0288 right_z=0.0414 right_yaw=0.0199 right_pitch=0.0957 right_roll=-0.0061 right_gripper=0.5208\nstate[joint_eff]: [0.3214, -12.3966, 8.1709, 0.9792, -0.2857, 0.3443, 0.906, -0.0068, -8.0205, 4.465, 1.6386, 0.0415, -0.022, 0.8327]\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 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9169, 2.1208, 1.8118, -0.5331, -0.7399, -0.6556, 0.9909, 0.0963, 1.5822, 0.5995, 0.5064, 0.0742, 0.0071, 0.5217]\nstate[eef_state]: left_x=0.4278 left_y=-0.3565 left_z=0.1702 left_yaw=0.0279 left_pitch=-0.0156 left_roll=-0.0155 left_gripper=0.9909 right_x=0.4268 right_y=0.0317 right_z=0.0927 right_yaw=0.0261 right_pitch=0.0928 right_roll=-0.0081 right_gripper=0.5217\nstate[joint_eff]: [-0.7043, -13.4906, 6.4342, 1.6142, -0.4176, -0.0073, -0.8376, 0.1709, -8.1436, 8.5402, 2.1954, 0.2125, 0.1294, 0.1783]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94d679d08d356130af3cbe7b08c205f16e65d75c7e6b01b8e5045fcff76b1724",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a32e60c903107b716f246d92560b06ad2563f2c4c5f8de36844840ce7304f6e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e436d40222ab9ee59e7af2bf3ea28204a76f220ee354206f319058116d11d30b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtG9GsTKIgXZpvNI9hPqe_LgWOh4VbrN97KUqibgDxC-dIpUZ_3_MGC__zxLa6GOTM4I0eXMCIQwQvnFI36lr5rQszd9yCitQFM-DwUC-mdc5qbHr6UIAWE7SVffkdYt2nLzll7p4Fzvvank040WQNBwzAS1Tbu7OcUW35U0YnXa1S1UlTcZ0HpwIOz9XtGVVMw-1Q91j1lk4-mXvzT0KLgGDIxBp8swKo-oPdg72B5bRUnIV4juTqZPVZSnPkKP3IWxXb2STejw-cqHBMUom3Kx8Dn38uQ2TEAhQi5SASLtMxxFbUEtkRipZmLesFacymQfnIU0ro1QXoilPmidhENLk2Zirre8t_QFN7k4Ey-JvTqWq8tDbCfF_5Bnx8JL6eNyZfear9JTXObEk9AceJhRcEokx8VMP76E6ngYflrMKpK9KPGfMpMXHN3Wk6Jxpcvx2ZNo2iTRRmh3HPjwuF_1r52xey1X558DZXjaMNSLl0SedTh-FTGuWg9b55GED7zHpe0pVgATHLM0xylT40vsuhScaepnTqQoyZqModN3FSXCof85VyxLuTd2vb4mfl25gruCEof5VFkmXqRcls63sFvxaL-WkYY7FtIgSIiIjUni2SVqhnKUAv6mMp-OpiLZ2M3PDevpG1vCHMJlTpv3EPH9itcSmfZ4YttmzpES7A_LM32RgLm9BB32r62SJtoHEwwI_sRrUayjF1in086TkjJG7AIXOXH3pPs5gO_rr3Uttf_M1R0kOCnJqVOLdRJuEVw99LVXvv9cA4HGODrT55sE7Wz-ata_2DAOUB29M3PqydGx0fI6l-8j5UUBfWlxhwl0XeA8S4kqg0gdbo9qboDWHHR2iOfiCweT3yTAXIhLORIvceLR5DlZhLgS5KNVdgn4JRzWnTUt75K_MIk6L3520mUAFDvBT3KIW1qQJ0cAawaEKgST0rxqCDCgzFy_-k6E9aM9oQ-6B-AV7T5LzpSnrvaqCYBeOFKMFqWFJWUlzOthn319uphTZ6hfeulFDggVpd9UvdoYIOh8CIqNqS-129RlC_QfjAxUYvjQuhwYxzRu0fTxZmJvr-8EeaX4Ab1FKw8HLa8FNbKmdFq6FClzvd7mcS6xeKYYFq3deL7-ls6CW_NBUjRie0eknWBKX7n6rooluxgodRTnUFEz3_8So0OF_ZXV7nMBpMikL4NTk2F3JOLUxm8I0NqTu8t1yL2pOH9UMKkqigwSNsooxHWLIBM5r2RA042ZSyMeJMYInbdYRADwSwg7oaVgAd5XYAdjalZg48mCFtOQ46Rr9P77ipicKoUJufQhAWyLVotTiRWUw-wCojmMALAiWk6cxsUhyRy1kRXcFxUxflSe4yTnI7LKsaud3oc8XBRdcWXHs6MNZkwMcD-s3lg95csO5C8t44xQF7-VAWGTlu5ql9-qkRhlTyhEN3gNW3yFDtEOYanPdR3RFkb4fM9TLEv4VFkjfaN8r9RL1a2GCbLGJ6IH_sp3lia3_Tp7SuSxQq3DjJm1-BU6aVrLERkDhZ4YJ9RdDolwJbba6DNlexUD7aKkrqhA0Glt8JLNQ7acs6Z8I_TYr3IgwoV4JR-7u5f4RCCwCe-OCZmNpqILgaY6SfJKCSKr06WbDNm1bP9hkpnBaWpgUTh_mWhezMtF5qMIWeN_HFtsXf_YCtZpNvZrFwgH1uwFUsQyPYIJhWPvYMhK83xSZ1BEN5IxSwqKIlSnCOqaRMs_8OXs76oFd6LwnauJzR_E6SUPadlcInRvLDnke6Y5bM4OssjcYTltWND8Z0dcw9eQIChSLmZdwDraGiHNUjESQUCaKKdfFlv00PvVX1ost_IDC1sbMry_gUD8CjX0cQxP1a12b_hyGm4JRb3cx2L_tYWxaiSwHIkCKR0FjVJCKs1ugnURTm0OykexIGxhcZULqJs9qUS4tN06Zhiff9WwMUojDPzarhUORG_eZQlDvwzddzGcEUgwSp4VJvO5lvrJ0dXCBmzNc0lwG_64YG5zwtY3BZJiqPXnssQ3-4iQuEb2cJplQg2PE0V1hV3MG3dfC_X-GzEH3ecZygUxY-crr464yM3YCBJbKNCONkQMKqQfuwDKqkjXy35NFP-J6fM8LBfeLzXpLAYLbK440eDxTrm-uc6Eu0gUb57W8wUce9Nyx4fYQ4GROx2Ks",
  "id": "rs_03f214bd7d9e4234016ab46f42304c87d093530ff9cdaead2b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.296,\"left_y\":0,\"left_z\":0.2,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0,\"right_x\":0.43,\"right_y\":0.29,\"right_z\":0.2,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The pear is secure in the right gripper. I’m clearing the left arm away and bringing the pear over the blue bowl for the next placement.\"}",
  "call_id": "call_KxTNP6vpcyWuYyKsAyL3BYvV",
  "id": "fc_03f214bd7d9e4234016ab46f452a8c87d0b0ea4709a794be7f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KxTNP6vpcyWuYyKsAyL3BYvV",
  "output": [
    {
      "text": "executing move_to over 32 steps (3.2s)",
      "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]: [-0.0628, 0.8238, 0.6895, -0.4313, -0.1081, -0.0666, 0.9902, 0.7906, 1.882, 1.5135, -0.4194, 0.6144, 0.4458, 0.5229]\nstate[eef_state]: left_x=0.2999 left_y=0.0039 left_z=0.2009 left_yaw=0.0637 left_pitch=0.0061 left_roll=-0.0067 left_gripper=0.9902 right_x=0.4232 right_y=0.2879 right_z=0.1792 right_yaw=0.0442 right_pitch=-0.0512 right_roll=-0.0455 right_gripper=0.5229\nstate[joint_eff]: [0.335, -1.894, 6.9812, 1.7753, 0.1148, 0.1538, -0.0904, 0.1709, -10.5504, 9.4291, 1.663, 0.5934, 0.2222, 0.1197]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d12f6831fb4a4867033b8fd98a181a87b2ecdc08b0f5185cac53f11317553b76",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6014dfbdd673b0b05f1aac68b0c39f8c0fd7ccfa27eb673aa943f380b331b380",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7ea3572c4ca8eaff36d45b4ab6e94eebf2680b2dee8fb5c2e199154d103e6a1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 24 attempt 0 · /responses · status 200 · 5.181 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 80 changed as sent

message 88 changed as sent

message 92 changed as sent

message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.1, 1.8034, 0.9562, -0.1509, -0.8452, -0.82, 0.5188, 0.0875, 1.8095, 0.5545, 0.7662, 0.0731, 0.009, 0.9952]\nstate[eef_state]: left_x=0.2977 left_y=-0.2856 left_z=0.0677 left_yaw=0.001 left_pitch=-0.0241 left_roll=0.0245 left_gripper=0.5188 right_x=0.4323 right_y=0.0286 right_z=0.0388 right_yaw=0.0173 right_pitch=0.0802 right_roll=-0.0067 right_gripper=0.9952\nstate[joint_eff]: [-0.4581, -10.8239, 8.335, 1.1844, -0.5104, 0.0171, 0.9988, -0.9094, -6.5299, 6.2974, 2.0537, 0.0855, 0.1294, 0.105]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9169, 2.1208, 1.8118, -0.5331, -0.7399, -0.6556, 0.9909, 0.0963, 1.5822, 0.5995, 0.5064, 0.0742, 0.0071, 0.5217]\nstate[eef_state]: left_x=0.4278 left_y=-0.3565 left_z=0.1702 left_yaw=0.0279 left_pitch=-0.0156 left_roll=-0.0155 left_gripper=0.9909 right_x=0.4268 right_y=0.0317 right_z=0.0927 right_yaw=0.0261 right_pitch=0.0928 right_roll=-0.0081 right_gripper=0.5217\nstate[joint_eff]: [-0.7043, -13.4906, 6.4342, 1.6142, -0.4176, -0.0073, -0.8376, 0.1709, -8.1436, 8.5402, 2.1954, 0.2125, 0.1294, 0.1783]\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 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0628, 0.8238, 0.6895, -0.4313, -0.1081, -0.0666, 0.9902, 0.7906, 1.882, 1.5135, -0.4194, 0.6144, 0.4458, 0.5229]\nstate[eef_state]: left_x=0.2999 left_y=0.0039 left_z=0.2009 left_yaw=0.0637 left_pitch=0.0061 left_roll=-0.0067 left_gripper=0.9902 right_x=0.4232 right_y=0.2879 right_z=0.1792 right_yaw=0.0442 right_pitch=-0.0512 right_roll=-0.0455 right_gripper=0.5229\nstate[joint_eff]: [0.335, -1.894, 6.9812, 1.7753, 0.1148, 0.1538, -0.0904, 0.1709, -10.5504, 9.4291, 1.663, 0.5934, 0.2222, 0.1197]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d12f6831fb4a4867033b8fd98a181a87b2ecdc08b0f5185cac53f11317553b76",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6014dfbdd673b0b05f1aac68b0c39f8c0fd7ccfa27eb673aa943f380b331b380",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7ea3572c4ca8eaff36d45b4ab6e94eebf2680b2dee8fb5c2e199154d103e6a1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtG9Mw3gx8et8zPDrxxD2KUrqqwkr-QoDfbPNmb2jbLF3Lbh5eIhaOJEBtRrGkk5B-tm9F7h4zTbfkVkSSLKzHlMxQQXkGjKLA9CRlkMYE_Q5wTakSVjZ0nhGglfjKEFnGzPC7R6_hDZmdTt_rtbHO1syvwIYTdxvxOth7tk5YdynmyxH2T6P_ohsFFLSB18R-piYcEtLeEbpXZe1aSO2-vHpQHer8CIYNbBryKgJgoHj9CRkzeuTikMA8QHwSnTcLGC64lFnX3OMq9P_kHbDlpnI4cSMrgsGA1bWthbp-Ijwu9eA8_RN7ey6bPfdjepDe1pRDRMwVVQvm0sR-E-TSwVxJg1Q3QZswzUxBSyzjTS2MGX6jzaaL2YSrGyZ8HWKWVZJDYEl6_zy0JFqCWLf57QZ1u_fFZZdtjbj9ccXarjFNMonskX067dUeksBL8leFkuBmGI9yXiTXUKOl70q7LpssgoKZvmu2pD1rsWKkFUxX2bg1Yk3fjQZ1RrDYUioWf6REBL5p4C-r13L3O4jLIZ3dDm0l5o06MvqzZ8nQ3RXDzWmy-mYU6MVebR7BK70OWyrbCnbLjFUVraQahXE6XiuigIce0syK7RpxpxCiR7lBdcHApoxn3pqPVLqUmsPAr1KFnKvocXGwnbAmrRmTDmGmyOG2zLZ7x4_mj-izW9lNUkV14o4uhS1sVkk87yQ3-tAd2QVG0dF13ys-DXKD3EcV1rut1ORFk9hImYGh4o9u8CETfsCl3Aq_-NPzQmKq5EcM4eonaMoAmDSCA9dF9qtvvmxi6OftzpOVdbBHiPg3UvU0moJLhrK4yXTD-ELwlsPkLQKjeqLm5f7zvdcYl0Qv90yP9391i0mvdIvQiP5Ufso1KXTMCA9XSkRfwNA5-INbsiFOF4kbSDaywl-jx9al8Pvd1c8NbUA44dPetJtWHM_yIUZ_jPFqkjB2nF16bddmioB6mCOG_o08aA0u3BaT7e4HHrWXkpljA6UPKITomOH0ufrqHblygyJOVwjBH76cjUufCztu261JzGi-bskiSPYfdfHBCoPq1Hzors7Xh4OlxNfyszm-sFU45qIac_zpagU3_QgQ_Nw_Qc6alNiDDm9xoA-Lhj-Nf9JS2u9mwVFziSDI5FT7DBQB5hPTU2F_RgoAk3I-UPXw8chkW9eqUteWw4jrO93hTWM26gyKJRDs7O-DnNgxZP3Z5DdOPOG0LK37ngK39M_r6at_tirSjBa4kDyk-r-LeRnt5znXDJcom2WP5nQm19_PGuyfcctP1eJLwQaFeg83aG35lMLRvQ1Lmveex0tKvwzNeGaeW2xQod2mmMBcYp0KGR52Tp62E3tXEIAz4TkcjhDVAxM_g==",
  "id": "rs_03f214bd7d9e4234016ab46f4b226487d0943af4c0e1052a1d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The cleared overhead view shows the dark fruit inside the blue bowl. The pear is now above the same opening, so I’m releasing it into the bowl.\"}",
  "call_id": "call_vb6lATRAPGtpdoEve3BMXlt0",
  "id": "fc_03f214bd7d9e4234016ab46f4bf98087d09a6031f1c83ba2ec",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vb6lATRAPGtpdoEve3BMXlt0",
  "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]: [-0.0612, 0.8295, 0.6857, -0.4492, -0.0975, -0.0605, 0.9901, 0.7948, 1.8908, 1.5223, -0.4366, 0.6113, 0.4377, 0.996]\nstate[eef_state]: left_x=0.2976 left_y=0.0026 left_z=0.1937 left_yaw=0.053 left_pitch=-0.0218 left_roll=-0.0041 left_gripper=0.9901 right_x=0.4215 right_y=0.2899 right_z=0.1757 right_yaw=0.0543 right_pitch=-0.0656 right_roll=-0.062 right_gripper=0.996\nstate[joint_eff]: [-0.3487, -1.3197, 7.3778, 1.9609, -0.2173, -0.1392, -0.022, -0.4991, -10.906, 6.5026, 1.5702, 0.2271, 0.0611, -0.188]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2179150f169cc5e53b6e874538a0ad1db97ef93f92fc5fa9cb85b7ed6879ce05",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e172adf9ceb89053589c909a70fddf6e6c821405d1b821ad6a3fe4d539fa200f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e045dd4fa4067d642714b791e54e5d3517d9932e5f4dd98932b05d1b7be37f0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 25 attempt 0 · /responses · status 200 · 6.355 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 84 changed as sent

message 92 changed as sent

message 96 changed as sent

message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9226, 2.1021, 1.8076, -0.5137, -0.746, -0.6491, 0.5202, 0.086, 1.8156, 0.5579, 0.7845, 0.0696, 0.0067, 0.5208]\nstate[eef_state]: left_x=0.4267 left_y=-0.3589 left_z=0.1816 left_yaw=0.0227 left_pitch=0.008 left_roll=-0.0349 left_gripper=0.5202 right_x=0.4351 right_y=0.0288 right_z=0.0414 right_yaw=0.0199 right_pitch=0.0957 right_roll=-0.0061 right_gripper=0.5208\nstate[joint_eff]: [0.3214, -12.3966, 8.1709, 0.9792, -0.2857, 0.3443, 0.906, -0.0068, -8.0205, 4.465, 1.6386, 0.0415, -0.022, 0.8327]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0628, 0.8238, 0.6895, -0.4313, -0.1081, -0.0666, 0.9902, 0.7906, 1.882, 1.5135, -0.4194, 0.6144, 0.4458, 0.5229]\nstate[eef_state]: left_x=0.2999 left_y=0.0039 left_z=0.2009 left_yaw=0.0637 left_pitch=0.0061 left_roll=-0.0067 left_gripper=0.9902 right_x=0.4232 right_y=0.2879 right_z=0.1792 right_yaw=0.0442 right_pitch=-0.0512 right_roll=-0.0455 right_gripper=0.5229\nstate[joint_eff]: [0.335, -1.894, 6.9812, 1.7753, 0.1148, 0.1538, -0.0904, 0.1709, -10.5504, 9.4291, 1.663, 0.5934, 0.2222, 0.1197]\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 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0612, 0.8295, 0.6857, -0.4492, -0.0975, -0.0605, 0.9901, 0.7948, 1.8908, 1.5223, -0.4366, 0.6113, 0.4377, 0.996]\nstate[eef_state]: left_x=0.2976 left_y=0.0026 left_z=0.1937 left_yaw=0.053 left_pitch=-0.0218 left_roll=-0.0041 left_gripper=0.9901 right_x=0.4215 right_y=0.2899 right_z=0.1757 right_yaw=0.0543 right_pitch=-0.0656 right_roll=-0.062 right_gripper=0.996\nstate[joint_eff]: [-0.3487, -1.3197, 7.3778, 1.9609, -0.2173, -0.1392, -0.022, -0.4991, -10.906, 6.5026, 1.5702, 0.2271, 0.0611, -0.188]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2179150f169cc5e53b6e874538a0ad1db97ef93f92fc5fa9cb85b7ed6879ce05",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e172adf9ceb89053589c909a70fddf6e6c821405d1b821ad6a3fe4d539fa200f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e045dd4fa4067d642714b791e54e5d3517d9932e5f4dd98932b05d1b7be37f0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtG9S1ep18Wlz8jbCw0IecULFb2YVHZpSOP2Y-DCin8OSnEe0DtqZ4yW4wKLz3Vc4w931vT3b44YTII_RGB5u1Um3pWAQAy5DtRnIlrwYwrqQt2qbcGANhiMXjBHrRkdADVE58OmuXEfnK-Uqe0-vJ0NK8XivoKKg_sbFSxBJw3vqoJzUM5ZIuwbz-34rrKb2OpufYSuAIyProif3v8T_m0LdAohkogz0afkg8dba8D_IoVLHRcg15XZb6XGVrCcjk31iDkesfJpSfkkpvwKWkDTSh4Jvm46JPg9sDI2g_WzCVeL33LIILbZR3Vxoh_ntJGqX1srWQKKv63OzLBTpESWhsq_zSksJOMBiBRRIpA1NiAxZRjXzxuTUyQa6cO9zweyW1QfHl_NK7Uict7biza2yH_DZCQ5jVvTEBlECiSuG08y_K4NfcOva5nHzDCqrHyLehKJ_kcgBvL8BCWyXj-roc3-MD4fyixkTV8oeVh-7CUMkXXA0ma_jMbjbdvvjYLBYGjEOst8M_4cFiIHsHBZXojE6GzmyqNdQAEerjtg_rM-DRiS2cKyIWplczLJphxQro9XsWaHnmq4fnk0tkhVhXbbx1ottW_jjZwkceMxq7BzgWF6drGpJOY18F_p5GrOTDc6gOsovSFmJST2CAHKAbqKeYz-ibwkazkWE223B22XZvObUHUT_8uO5vZEvAefvgfLKdtp4J0pDkb4GF5F6soowD3J_DQyI883iE1BzIIU5cNsrK4CG2-pmCCU4kV-25kEqZ_hmCegkL2yz9IEUXIDFDD1NmBzoZFG22XKv6aVrynjCBdCPx57gCRShtxsAbEJ4RFVt4VzifU8oqzzLt3QAkOeqvRKNivBMDjJfgbgaBQR-nzJw7a2nXgluZevPjLj6AiwfvEzbLUO9xyDzv5F9DQi3Rwbs-ajLzRwbuGIjUweu2oDpmP22DA8M3t_7DWb74-K9CFvY9dDGmCLTlQKnJQNXhqtYMyoFcBUO8NkQijEFX68jWoErbbwSzScEG-EQAoPsaSpIDgYTphNqyRpOuIlVzOKdbtnaodIwrnIH_-DmzRWrmVYsXIfdEPrBI1AP7BN2_3MsczdiDqI_Ew_Rdn55mkEZs-cnRIf9C_Bix5s1gNwuQ2axQpSs1v67zRgpC6OMLYoH_t1XWa6T2rPecov10O8AVlaMFrKNMe2SS3_X3SrQlJIe7NheKAfiqFeUsDWpltYwrdrOHKZqnd8mbrrZ2WxS1CMW1tlXt2i3nBDWk2F-Q_H4f5iRcGNgfCL-TVWefSWzW-zloSJXnyf7q_s6G5J4QVgXji-cYjHeXLEWvCniiPx0331fP1kFMzug9ogvGS5b9u53VV-zmeEPrkXE39DRXc6jQO4gnwCCdqV0E-JLLm7fZ0QAAGzAM3fjOw9h1NTcQp9oxf5OTfy5mmwOSbAxb5_kW-8hXbYgtI50JB27kt1NT_x_EqeMMJwvZxSBLGMIkM1w7za0SRhIK2l39q_G-swd6zmT9Al4LLr5dVKwcwP3xpYKekbHlSTuwqvb96AOIGL4Ac1b8Zo8Yfq3mb58sYqC4iBXDC8io3J2MiZW8o6kmaCbHGDBMtF1b-C-pDlxmIfiNoHqEfO0YbDBfKslrnIXU371DYAl2isHWsq-a32ZxijH4izY8T-xo9hvWXSHQguK2xvFEWW2WEDfB1osT4jtiE28Jb7_t8AC7OPagsZ9fKgjz1szRTIOU6zkXPSNupZRDcCcRgJO_jG3dvxmvgx78X6TvMuRWLkOI8LfXStQj6slfBox0R5r9yOLg4B9qpMir5kiY1riK9geaaAWwQ3l5EFNGoF0-2TCgfD40WLQ2aS3s1ziTW7OuF265B3bYRydaZiSA_yg2VVnXRV5ztkftigONy8AGhWXrNKrpqZzKFhxsUu3wEEcIPr9es1COTYKrhLYkaxhcJe823X1nHH82_icl64t_hc8bUPrS8nJ4nSK_2Z7LqttpdYqaxLst9JGgiZZhEEnPWaw5KNb71_Zi1zMzbU=",
  "id": "rs_03f214bd7d9e4234016ab46f4eb86087d0866877a71693e8c6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.25,\"right_y\":0.22,\"right_z\":0.09,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"I’ve released the pear over the blue bowl. I’m moving away to check where it settles and approaching the remaining yellow fruit at the front of the table.\"}",
  "call_id": "call_V2gYnguoj84c3If2r6BHfpbO",
  "id": "fc_03f214bd7d9e4234016ab46f51187887d08ddf5df824a92381",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_V2gYnguoj84c3If2r6BHfpbO",
  "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]: [-0.0612, 0.8341, 0.6857, -0.4667, -0.0994, -0.0601, 0.99, 1.1126, 1.4715, 0.6819, -0.2062, 0.8276, 0.7727, 0.997]\nstate[eef_state]: left_x=0.2955 left_y=0.003 left_z=0.1889 left_yaw=0.0544 left_pitch=-0.0437 left_roll=-0.0002 left_gripper=0.99 right_x=0.2515 right_y=0.2239 right_z=0.084 right_yaw=0.0427 right_pitch=-0.0372 right_roll=-0.0437 right_gripper=0.997\nstate[joint_eff]: [-0.1026, -1.6205, 7.159, 1.9707, -0.0366, -0.0513, -0.0171, 0.1983, -6.4068, 6.3521, 1.3358, 0.5348, 0.1245, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccda9402ac13ecfcdc6b1ff28d30516d98ffd9080213c96703831c49d8150316",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea5576b186027d13a7ec9e0eadb136809e797bb86e7b1f6e0f1b2208d55396c7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c25a97ac203016d718661e4b056818e99e585ce77b6c33d94f123fcebef04350",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /responses · status 200 · 3.436 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 88 changed as sent

message 96 changed as sent

message 100 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9169, 2.1208, 1.8118, -0.5331, -0.7399, -0.6556, 0.9909, 0.0963, 1.5822, 0.5995, 0.5064, 0.0742, 0.0071, 0.5217]\nstate[eef_state]: left_x=0.4278 left_y=-0.3565 left_z=0.1702 left_yaw=0.0279 left_pitch=-0.0156 left_roll=-0.0155 left_gripper=0.9909 right_x=0.4268 right_y=0.0317 right_z=0.0927 right_yaw=0.0261 right_pitch=0.0928 right_roll=-0.0081 right_gripper=0.5217\nstate[joint_eff]: [-0.7043, -13.4906, 6.4342, 1.6142, -0.4176, -0.0073, -0.8376, 0.1709, -8.1436, 8.5402, 2.1954, 0.2125, 0.1294, 0.1783]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0612, 0.8295, 0.6857, -0.4492, -0.0975, -0.0605, 0.9901, 0.7948, 1.8908, 1.5223, -0.4366, 0.6113, 0.4377, 0.996]\nstate[eef_state]: left_x=0.2976 left_y=0.0026 left_z=0.1937 left_yaw=0.053 left_pitch=-0.0218 left_roll=-0.0041 left_gripper=0.9901 right_x=0.4215 right_y=0.2899 right_z=0.1757 right_yaw=0.0543 right_pitch=-0.0656 right_roll=-0.062 right_gripper=0.996\nstate[joint_eff]: [-0.3487, -1.3197, 7.3778, 1.9609, -0.2173, -0.1392, -0.022, -0.4991, -10.906, 6.5026, 1.5702, 0.2271, 0.0611, -0.188]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0612, 0.8341, 0.6857, -0.4667, -0.0994, -0.0601, 0.99, 1.1126, 1.4715, 0.6819, -0.2062, 0.8276, 0.7727, 0.997]\nstate[eef_state]: left_x=0.2955 left_y=0.003 left_z=0.1889 left_yaw=0.0544 left_pitch=-0.0437 left_roll=-0.0002 left_gripper=0.99 right_x=0.2515 right_y=0.2239 right_z=0.084 right_yaw=0.0427 right_pitch=-0.0372 right_roll=-0.0437 right_gripper=0.997\nstate[joint_eff]: [-0.1026, -1.6205, 7.159, 1.9707, -0.0366, -0.0513, -0.0171, 0.1983, -6.4068, 6.3521, 1.3358, 0.5348, 0.1245, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccda9402ac13ecfcdc6b1ff28d30516d98ffd9080213c96703831c49d8150316",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea5576b186027d13a7ec9e0eadb136809e797bb86e7b1f6e0f1b2208d55396c7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c25a97ac203016d718661e4b056818e99e585ce77b6c33d94f123fcebef04350",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtG9Zy3f2PYcPuNiaAOdsq4mOuAUiF5q4fiF2qRQVOqUTjhlTAynjr9KA7JMTnc4SoOKCWE-1ukZ_-IOGMo-869USp2itJSFoEgCK7zTt7-wvgsplxLGLBHo2S6IBwV0d9OxTVsSRg1t40BeRAN8BQ8vLTIN2J0UlWmYk24k9A6PgytnRBc9hyoQARnEos87srikqseDqvLt719IloeH_YAIr6wfoggxBl0x3u7kjNdOn1gRDL7rZ5mLHdHTzYgTEBS1zLraMAor4xDqKbHw8yLTyqsw6CJMNb1dgDnSdMs21c1E0UlZ-XLlF2Aju3p38b_BNVrjWhcfkOe4WWTm-TdkAIHgqBJ5wFEBthYpG0DAjjCehGVgjgrXB889f3885S6BRptqJdnjmcld0R82yIaABfvyLIthmDfJIvdtdrqVPHKH-tI0NpwdO83A42kUOvnHZ8TDCbfzbTOh7c-q5ggK_0g_4GPPopFKj9SGU9yRRhW04dmcuCWu5S3RYGqR1zhqyH4rML7anupvPx-qwCNGCzgoxOtBrYdh92w_YMQxHHOCSKaLF8dJv_3hcJy0BYASFXacN7dGyZBSJTHTK77Hpu9y6yTQ5q8WtQHBgJwBcz9pjNCkSqrqxr2WHu6HuG9JleFlYCeoibrTUieoRJth6U2W1OOonhYq6q5cu1-cOexZ1u1VEexcubU5StrVeovRbrJsevJvNA7pzZNKRAXNYKf_vRU9TOVlb0bGnH8IJic8LQEiAzXnkJ7g4Zg87FWB4hdv5wvQyJCHxtbaDEgmnpDCxYwhEr4MHIBWSp88PzK8cpFml8ffVs2OYzcI8J_1UUP4aeH536u_7xEXhSjQI2ctEXM6DlaVA5jI4iZ4lzkL96sca2Vbek_AwsJNmRPwzTdM5KI3Fs2J3PuAYF-4kR81oeVbOgK9bkUn6jaKxsl24NM0huYTxHi_K63qQsVw4zpaa4qDd-3XctBCIaXu5o7JYhREXRn9ONuLTlMUUpnnV1Nncb3PPY2Q1UyZ38Lw5pJ8HyzeHdsy7ETN4uMtojPWtbB2Siff6bZcRWYM6dR-7c7YF0Q6CVtb7OUlMTmAcsUJ8O7Y0nbgCoTcLty-6F_yJyQBH1eXaIQ_e_Xr7fm0QwgncHgVxUn5MnLfV2Nh5_wFTdM2tqAmDpgXL4CIaHIL3on5q-QMH30QvwiJ8fHZhDZ0SDY3CxZJ_Tg_8IobnzF2fEJLY-iOGLD8TQTjSevKGY1YrW8N9j5E2JN7h0tah4P0FcI_s-5d8Wlm0t0ANDQfGAuYTTxc0l4wdGAVMsufIUoZcwKHX_2CDuaKhOcXPfald8XZcBy0HwHBVMf7T_3QC_ME2w3gOwvduLl5taRK3tEFFSvLeHy-WsZP4UXfgyuqa0QFnQa6vVu6P4zr_QdDoGyC4OCOXv3W-x4vzO58hi-xu-V55pKeNrD6CmIT6F8fQhSG2WMZEPC8eyRe7GXADpb6OuUWJGhJ8ImZGWC1-5Qf2jyYsKeRd3KidtoNyM9QZgb7UxyJ8WN19vq83-pRVCnyCunJAvITpWI6Yjpw9bd9O_g3ow8BiZ5CNCmbLhw4x0PwS4mxuvpimNxKaMIG9BwrLvfvDSCUmk8J_TgKije1GsJB3EU0wlZ-9UBtfrW8xUMWShvUeacBlcxTHTN5rokvzdN-NikRMwj8ImVonFXfcmczzvQEaWuw6x6ESRRxa-cFcg2TGlLM5CR94AavMiZQ4v9sRG17toMQHCl94p9zRICq1agy4PkXVEYEeJgJC6ydXRqHEz-Au39FT0myHgDBqiZuaXlr0E9LPGue_rwbl0VdHrrkQ06sfIsdWJOUqy4gQgpLlNd1NYMMFnwEGdZaVlDrKPYjXxoQa3s5hffRYuAZJHMB70x-UbFBaQHLkhLD5s7jvT8DgroVdf6lsGrzBwL6QtI51m0HF3RucoXUTB_kwJLPs_OGngZPZiGVT6X6SZt49e1z6PaNsGY7Fu-_RMyUZcs8PXh-Zpg==",
  "id": "rs_03f214bd7d9e4234016ab46f55b85887d09d9b624c38d921ef",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.015,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0,\"left_x\":0.53,\"left_y\":-0.285,\"left_z\":0.14,\"left_pitch\":0.35,\"left_roll\":0,\"left_yaw\":0},\"note\":\"The dark fruit is in the blue bowl, but the pear rolled out and stopped beside the white bowl. I’m lowering over the yellow fruit while positioning the left arm to recover the pear.\"}",
  "call_id": "call_0QAyOqONIC1nslGSyRtqPXUh",
  "id": "fc_03f214bd7d9e4234016ab46f58864c87d08a922f11ef4810cf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0QAyOqONIC1nslGSyRtqPXUh",
  "output": [
    {
      "text": "executing move_to over 26 steps (2.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6735, 2.1757, 1.3689, 0.4622, -0.6613, -0.2001, 0.99, 1.124, 1.6997, 0.5629, 0.1711, 0.9169, 0.7998, 0.9971]\nstate[eef_state]: left_x=0.5235 left_y=-0.2744 left_z=0.1232 left_yaw=0.0074 left_pitch=0.298 left_roll=0.0089 left_gripper=0.99 right_x=0.2582 right_y=0.2227 right_z=0.0309 right_yaw=-0.0101 right_pitch=0.0433 right_roll=-0.0274 right_gripper=0.9971\nstate[joint_eff]: [-0.8684, -12.4103, 7.9248, 2.0586, -0.1783, 0.2418, -0.0073, 0.6085, -4.0274, 3.1111, 1.2625, -0.2125, 0.3199, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f14431f3367d9a5706a83d9f742733bb3c793b3af7d646788ec1808aacffbcaf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d040c213601e047e3f3e39e396730d3c0461163ba193174c42f3df086e8b415d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7abefce65f329c1d5220e88257db8c1289272c96ab90e77d15602521a2f9094",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 27 attempt 0 · /responses · status 200 · 5.935 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 92 changed as sent

message 100 changed as sent

message 104 changed as sent

message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0628, 0.8238, 0.6895, -0.4313, -0.1081, -0.0666, 0.9902, 0.7906, 1.882, 1.5135, -0.4194, 0.6144, 0.4458, 0.5229]\nstate[eef_state]: left_x=0.2999 left_y=0.0039 left_z=0.2009 left_yaw=0.0637 left_pitch=0.0061 left_roll=-0.0067 left_gripper=0.9902 right_x=0.4232 right_y=0.2879 right_z=0.1792 right_yaw=0.0442 right_pitch=-0.0512 right_roll=-0.0455 right_gripper=0.5229\nstate[joint_eff]: [0.335, -1.894, 6.9812, 1.7753, 0.1148, 0.1538, -0.0904, 0.1709, -10.5504, 9.4291, 1.663, 0.5934, 0.2222, 0.1197]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0612, 0.8341, 0.6857, -0.4667, -0.0994, -0.0601, 0.99, 1.1126, 1.4715, 0.6819, -0.2062, 0.8276, 0.7727, 0.997]\nstate[eef_state]: left_x=0.2955 left_y=0.003 left_z=0.1889 left_yaw=0.0544 left_pitch=-0.0437 left_roll=-0.0002 left_gripper=0.99 right_x=0.2515 right_y=0.2239 right_z=0.084 right_yaw=0.0427 right_pitch=-0.0372 right_roll=-0.0437 right_gripper=0.997\nstate[joint_eff]: [-0.1026, -1.6205, 7.159, 1.9707, -0.0366, -0.0513, -0.0171, 0.1983, -6.4068, 6.3521, 1.3358, 0.5348, 0.1245, 0.0904]",
      "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]: [-0.6735, 2.1757, 1.3689, 0.4622, -0.6613, -0.2001, 0.99, 1.124, 1.6997, 0.5629, 0.1711, 0.9169, 0.7998, 0.9971]\nstate[eef_state]: left_x=0.5235 left_y=-0.2744 left_z=0.1232 left_yaw=0.0074 left_pitch=0.298 left_roll=0.0089 left_gripper=0.99 right_x=0.2582 right_y=0.2227 right_z=0.0309 right_yaw=-0.0101 right_pitch=0.0433 right_roll=-0.0274 right_gripper=0.9971\nstate[joint_eff]: [-0.8684, -12.4103, 7.9248, 2.0586, -0.1783, 0.2418, -0.0073, 0.6085, -4.0274, 3.1111, 1.2625, -0.2125, 0.3199, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f14431f3367d9a5706a83d9f742733bb3c793b3af7d646788ec1808aacffbcaf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d040c213601e047e3f3e39e396730d3c0461163ba193174c42f3df086e8b415d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7abefce65f329c1d5220e88257db8c1289272c96ab90e77d15602521a2f9094",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtG9fKlh7cHBpVh3OuAF7_35k8DeC8RJDfuocoZkj4HYlW6IUpTqFM7ST6Dmc-Q9WTLirS_cKiNbICS-CnDpY_d4HbnyjggawTK_dhvPGy7aNyf5rb6fPRs6Tg2PpGw3mmKvN7EYW59BpSwPh-PlmdU-m5zhorZ28aCPYIi-iUTeur4-elAvismGx1KCYAYNIEhd_M58MimYv2tA0OfIhODNcDZfAkPLaKJrURMyG91Yb6elQ-0c_AeVA41hJxU1OqjTPfyr07XVjsjxgKc6LIpS3VOPbCOCtwkw5jMGKQs4s4ExcBesVqWwcXM8frqyLGiUcFOqBCQafjCv4I58KRNGOj1TqCrhg3lQBJseClTbnJFA35EwtLaZ3GE0U3RKBHP9z9X6gMA88_YmxZJjDwMF1805DHPix-jdWTa8Fc2jw7ByBvOnvS5arFO2kF4ZLmapAksofKFot4OFtPu-aCGONzFglXPGQZHw2Ibb9Nj5jY5_M2874T6s0hOHkhNyN-N-LrA95fXLgJpPaq9T7iF82otBWnERfBvl7b1i-QnfrHQpyzjHOq-vGZNI9ovrCCUgY3NLug5i-U0oyVlAnf9yG9DfqkgyRcYR6o0JlVkbDmp7IVeprOA61TNlXXf7r173Hkyj_ctwXPtdW15AW5eaqQ-DAnx7cNTWGc8_9nR6hYv0nfhkWYi_mnqPQ3tBbruuzMFa9rmuURM9O907rZQfKecU-NxILvFwOHXLcPoG2VeIDRcxJKxzbZ8sL7fdxxBx5AwcFOFTS1hnowoIELT_AZaW8KdiqnDKKRQCbYKGhNc2Vytwd8D3gO8qY6TFXVtl9VRn4hULvbASkpK9B207IaWc1rSIg24xvRaT3FajjvHhUdT75dVMYH0z1SUmFkPChkRsUpQo41uzk3ut_iH9oAuUk2Dmb7aHVfryH55qysEDq8NIKNx6yLkKw3K3rfCJ6zLAKL_uZBrxlIjvi0prvLyKvJReoeb3lmu84GpFi_-AebSQqm0l9jXcLka9MINYuQ1DkdG3or_HkroNN1VAn8h8UUnM4X_o9RjH37IuELHF-5mk4a_hsW7v5OA3fDWDPN0a5iOe8DNXH5VjXdK_laDTNoWgHiKrcUFMJgNwShoY7_7I74m6Dhz1CkQk_gzURbQHm5s5Y8YQJr7fuAssmzTKfy8LynTvZtH3m4mwleMZkXrtzujEkXJiE5JtzOvE8LTtPTTPFIoesyDgZnpbNU9Uw5iGzREpC0ayELRgxA5NSKA8xZCgitkCjd3CLdlurCg8vzMuvRYO2J-lfzhdIh2fs9pGuiCPeJ4Sbb8w1f5AO0Gh99A8_kzAjLU2mI30l7Eb89kBWDlanAlwxFgHErJFqJ9kF3P6H4CgSquA71lfYgei37YbPVYdsgUIlMbTh",
  "id": "rs_03f214bd7d9e4234016ab46f5e059087d0898c3460ac34fd7a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0,\"left_z\":0.06,\"left_pitch\":0.4,\"left_x\":0.535,\"left_y\":-0.275},\"note\":\"The right fingers have reached the yellow fruit, and the pear is just beneath the left fingertips. I’m closing the right gripper and lowering the left around the pear’s wider body.\"}",
  "call_id": "call_SdGHU5f17dYh9HRP0AS2QD16",
  "id": "fc_03f214bd7d9e4234016ab46f5ed43087d09cefa6709a30938d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SdGHU5f17dYh9HRP0AS2QD16",
  "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]: [-0.6727, 2.347, 1.3529, 0.8608, -0.6651, -0.1085, 0.99, 1.1221, 1.7023, 0.5579, 0.186, 0.9268, 0.7864, 0.0092]\nstate[eef_state]: left_x=0.5366 left_y=-0.2835 left_z=0.1002 left_yaw=0.0118 left_pitch=0.463 left_roll=-0.0369 left_gripper=0.99 right_x=0.2593 right_y=0.2212 right_z=0.0315 right_yaw=-0.0106 right_pitch=0.0534 right_roll=-0.0359 right_gripper=0.0092\nstate[joint_eff]: [0.3761, -9.1282, 5.1214, 1.4823, -0.2125, -0.0366, -0.0122, -0.0479, -6.6667, 4.9026, 1.0672, 0.4274, 0.0513, 0.6422]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbe3611a3039446e659daa46afc0c394b64a484b1d8df2be11ecf0d6741572a4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1056d07a309051683544d60e1b38266aa0344c3718c654e780951591047e68b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ff2284e6800473c5fafc176e62c543c40e286c57593d1665f164fe130a9abd1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 10.41 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 96 changed as sent

message 104 changed as sent

message 108 changed as sent

message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0612, 0.8295, 0.6857, -0.4492, -0.0975, -0.0605, 0.9901, 0.7948, 1.8908, 1.5223, -0.4366, 0.6113, 0.4377, 0.996]\nstate[eef_state]: left_x=0.2976 left_y=0.0026 left_z=0.1937 left_yaw=0.053 left_pitch=-0.0218 left_roll=-0.0041 left_gripper=0.9901 right_x=0.4215 right_y=0.2899 right_z=0.1757 right_yaw=0.0543 right_pitch=-0.0656 right_roll=-0.062 right_gripper=0.996\nstate[joint_eff]: [-0.3487, -1.3197, 7.3778, 1.9609, -0.2173, -0.1392, -0.022, -0.4991, -10.906, 6.5026, 1.5702, 0.2271, 0.0611, -0.188]",
      "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]: [-0.6735, 2.1757, 1.3689, 0.4622, -0.6613, -0.2001, 0.99, 1.124, 1.6997, 0.5629, 0.1711, 0.9169, 0.7998, 0.9971]\nstate[eef_state]: left_x=0.5235 left_y=-0.2744 left_z=0.1232 left_yaw=0.0074 left_pitch=0.298 left_roll=0.0089 left_gripper=0.99 right_x=0.2582 right_y=0.2227 right_z=0.0309 right_yaw=-0.0101 right_pitch=0.0433 right_roll=-0.0274 right_gripper=0.9971\nstate[joint_eff]: [-0.8684, -12.4103, 7.9248, 2.0586, -0.1783, 0.2418, -0.0073, 0.6085, -4.0274, 3.1111, 1.2625, -0.2125, 0.3199, 0.0073]",
      "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]: [-0.6727, 2.347, 1.3529, 0.8608, -0.6651, -0.1085, 0.99, 1.1221, 1.7023, 0.5579, 0.186, 0.9268, 0.7864, 0.0092]\nstate[eef_state]: left_x=0.5366 left_y=-0.2835 left_z=0.1002 left_yaw=0.0118 left_pitch=0.463 left_roll=-0.0369 left_gripper=0.99 right_x=0.2593 right_y=0.2212 right_z=0.0315 right_yaw=-0.0106 right_pitch=0.0534 right_roll=-0.0359 right_gripper=0.0092\nstate[joint_eff]: [0.3761, -9.1282, 5.1214, 1.4823, -0.2125, -0.0366, -0.0122, -0.0479, -6.6667, 4.9026, 1.0672, 0.4274, 0.0513, 0.6422]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbe3611a3039446e659daa46afc0c394b64a484b1d8df2be11ecf0d6741572a4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1056d07a309051683544d60e1b38266aa0344c3718c654e780951591047e68b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ff2284e6800473c5fafc176e62c543c40e286c57593d1665f164fe130a9abd1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtG9mfUdCdJgC4JWPFEeiGXHgOi3TwujQeF-J6MSD5NXoKpQeBMXrz5xZYTIbslj-oAhVd3FxxivZp_HTCZZo2RWGS9xePh8VrbW_-KsCBitwkqJX2nsUJ3FdEiLlWPUg9wSahzkKsLQuPDQ5sMAip56OT1VRMHNGFRlJg7q7W-OlnyP9_4gVxPnZ7M8RI0qaJ_qM1zeVLPqTi3y6ExSUzWmuuppwpee-mGS7KLDSrkvDaiMUD0-di2xI0aWHKoU2PPM5LSucGdEt5Ct12jpzYfSazaThWJK5aMDBgY0HlAIah62bQ3NKjYJmqdPzPa0MOqCd505Nmqw6ItHsk8YE6WDJNAANZoTFNVMyEif8mG0xIKDlDu_T6kXyhWbXZFyaziZY9HN4b4--n23rNygov1A0CpQ0nhvNbfarF11WbIPOEfHW9hBYoxy1pV4FcT9fdsgvoxwy0WRInj9zNSAZ-WD5WJU6s9zRF5xaF528wiR-mOpoue2lt6XSDz97ak5a6qsr7RLunhNasqWM4feKZ8e1kwCYhXER01XtOb1Phy-WBHZ1-npF_0drC2twTZysXDMKKAtKVm_Q6-YYMjShzE8jZaVO1Ol3esdzxrE90oURouGrJhSo1mZw5835sIPjVbI2C1-q48ApRj0xawfAsAYKTHaZZ4s6QE67Y2k4ACi6PKu3QGLRStSk_OtITd_6ZSY9ogXVjktVvjyUywrKC6MPsoj-ShSDQYobjABxpZ4DUVHxopSytchDGcLo31nfAu69PkQ8tQLBcx6n3B5rjx2A4tY237D68KEfIp59ss439f2fiqGhojAPQ1z92hswaWD0z05j7s8QKtUkfh9Ngb2D2vMJvKTdghXKaKd830DiwmL7tnkMKu26oHdmmY4ha2fUkIgCgOPavBjQVa8DNCDNCD5MPonIvpdatbOAdiWv3y13t0Voo4O1OxgM-l9cjUO-RWwk5GzL3XsKn_kfwJzx9ilPQzwcLti-fr8j44CyG8Og52k_Sq7vC9XzsXXUzUIK94bUSSGFKF9acviJhsQYVlGNXHt00M12ZGy8EgSSOoO5mkgGnlio5YqD60SvfKkv0fHaIJSKvK-cDgfOZqMxE52XvQVOYJxMSo_U-kebR2DsguX5b_4YpaZh129wW-kbhsI3deDSwxYNVe2U-lknUE3lb5JZ7rtnKOVU8MKSbYd72mMzAtSDdX_7aZ81KzxfnY9oXGEhRGFoEtu-6z4JiOjDldYiJAn8zUEUoGNuGhTVJ-zA8PnP4_iwpH6pqzwPBwYW1ad0JdyeZvXwvZ0VjUgGKz_aIfwF3Ffr-e3OvPwsO8o4iicvo6PtYoZILhbHFbT108q7mza2MMMwdHVS9FNPK7FGDjgkJ60bJzvnOnw0Hj68Q63KNmYTmI07BHC7mvbfo8q94NWbzrkHDm43qc5u2bRITGWIWKORcK08YqWZsS0lgUe1SMkhLlOYC7Fut-azsoHLlOndJiYZx8bT4SNW4A7G6c3aT-yPWjufdtY5rPnjoFHqOpj4FSq_vUvC58a2UnBM3cbCArv3NizO6_MbI5etoDWD4iYJ2_vKces6zYGoIcqny8c27C-Ma_gw8j4llGWHBwtU6jIU5LlVYvpaUXQ9ZudpBnLmUrWj0Xh0SgCzPyF1hHISJKBx-mU1NlGQGNTI4nGYv8ncrpKGGpgKUA4qVndN2Evn2xoluaVhINYfXlwIWtbWDvIPDP7TmkMT4TRLq8eR5jUYEveMdMzqL_m4P68aYX8Rh3Vhn-fJ2wxTGNt7MnlzJdZY5Ud56XcYQbqgrWZnUv9Mt32RHaVGIJ7D4pb5CjRiMZnyglo=",
  "id": "rs_03f214bd7d9e4234016ab46f62415087d0aba5ea8f63ad0915",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_x\":0.24,\"right_y\":0.12,\"right_z\":0.13,\"right_gripper\":1,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The yellow-fruit grasp was empty, so I’m lifting and moving aside to see its exact position. The left arm stopped above its target height near the pear; I’m checking whether the fingers can secure it without pressing further.\"}",
  "call_id": "call_sM5N3e7qaaWU4e1xfvbwLhMh",
  "id": "fc_03f214bd7d9e4234016ab46f64a47887d0ac484aa8a07d9a4b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sM5N3e7qaaWU4e1xfvbwLhMh",
  "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]: [-0.672, 2.3711, 1.3483, 0.8799, -0.6731, -0.112, 0.0093, 0.915, 0.9218, 0.4595, -0.3248, 0.7532, 0.6117, 0.9953]\nstate[eef_state]: left_x=0.5362 left_y=-0.2812 left_z=0.0886 left_yaw=0.0191 left_pitch=0.4563 left_roll=-0.033 left_gripper=0.0093 right_x=0.2435 right_y=0.1243 right_z=0.126 right_yaw=-0.0196 right_pitch=0.0247 right_roll=0.0282 right_gripper=0.9953\nstate[joint_eff]: [-0.2393, -14.7897, 5.9009, 1.6386, 0.0562, -0.0171, 0.6813, -0.1709, -1.2376, 8.7453, 1.536, 0.2564, -0.0562, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:156e4023f62fe851ae6d2d3c29f99fdb6bce1b346379879de786ae25340a3b29",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:721087f6db1694eb2aa26cdfd35d2d36b8b1aac042246e66248ff8d4388e3447",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6315d3cbb5fb784bb082f03ddba2dd268154265ff7fa1371b425c4b49d48a470",
      "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 · 2.569 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 100 changed as sent

message 108 changed as sent

message 112 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0612, 0.8341, 0.6857, -0.4667, -0.0994, -0.0601, 0.99, 1.1126, 1.4715, 0.6819, -0.2062, 0.8276, 0.7727, 0.997]\nstate[eef_state]: left_x=0.2955 left_y=0.003 left_z=0.1889 left_yaw=0.0544 left_pitch=-0.0437 left_roll=-0.0002 left_gripper=0.99 right_x=0.2515 right_y=0.2239 right_z=0.084 right_yaw=0.0427 right_pitch=-0.0372 right_roll=-0.0437 right_gripper=0.997\nstate[joint_eff]: [-0.1026, -1.6205, 7.159, 1.9707, -0.0366, -0.0513, -0.0171, 0.1983, -6.4068, 6.3521, 1.3358, 0.5348, 0.1245, 0.0904]",
      "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]: [-0.6727, 2.347, 1.3529, 0.8608, -0.6651, -0.1085, 0.99, 1.1221, 1.7023, 0.5579, 0.186, 0.9268, 0.7864, 0.0092]\nstate[eef_state]: left_x=0.5366 left_y=-0.2835 left_z=0.1002 left_yaw=0.0118 left_pitch=0.463 left_roll=-0.0369 left_gripper=0.99 right_x=0.2593 right_y=0.2212 right_z=0.0315 right_yaw=-0.0106 right_pitch=0.0534 right_roll=-0.0359 right_gripper=0.0092\nstate[joint_eff]: [0.3761, -9.1282, 5.1214, 1.4823, -0.2125, -0.0366, -0.0122, -0.0479, -6.6667, 4.9026, 1.0672, 0.4274, 0.0513, 0.6422]",
      "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]: [-0.672, 2.3711, 1.3483, 0.8799, -0.6731, -0.112, 0.0093, 0.915, 0.9218, 0.4595, -0.3248, 0.7532, 0.6117, 0.9953]\nstate[eef_state]: left_x=0.5362 left_y=-0.2812 left_z=0.0886 left_yaw=0.0191 left_pitch=0.4563 left_roll=-0.033 left_gripper=0.0093 right_x=0.2435 right_y=0.1243 right_z=0.126 right_yaw=-0.0196 right_pitch=0.0247 right_roll=0.0282 right_gripper=0.9953\nstate[joint_eff]: [-0.2393, -14.7897, 5.9009, 1.6386, 0.0562, -0.0171, 0.6813, -0.1709, -1.2376, 8.7453, 1.536, 0.2564, -0.0562, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:156e4023f62fe851ae6d2d3c29f99fdb6bce1b346379879de786ae25340a3b29",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:721087f6db1694eb2aa26cdfd35d2d36b8b1aac042246e66248ff8d4388e3447",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6315d3cbb5fb784bb082f03ddba2dd268154265ff7fa1371b425c4b49d48a470",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtG9yvy9UMK0qIjCqqrYhM92d3KDslPMpHs0dWIqozUrJC51qFyXH6_t4tCxNkBS6oiTxw9f1V33aj-kOB3_MH2w8m4kzULgi6w0NoUYBNJOpYvErxzSWEaL4brOh8O3KFVXhUjP8JKpUA5Hu5uGMDVO2PtKf7TAzGjOyOEnCpUDCwKATW3hqegkL8j5LkM6jcjwLVf-wazfUbHE1JQ7uSSf2sBgYojuHxzAX5ja10vOhUUgzZQsvWYK4BX7u30MNWcA0mHXhXTM6tv_QVQ9_kWXIdtqIWcl1CRdsXEix4ZL4XqALijHKR9YHD3EshCqw_R8Fsca34XAhA0AzPZTNFHfPNRM0OyOT3AcSsPr1ot_qqKZI5hwh8vJHqwkYukjBiFQZNOz8BsGKWZQ-nn7cYvQOzNlbypO1xyzXE-G0P4AB8RIV5NKFPvDbOUBgb97FxmeCbVZ8DPYiXWPkKgdpCQT4gNbUtNBjWrb1iHbD05sQNV9bk_yr1Rw0dRZQxcnxw0RITKW4y22bFlFr0hrGw8eZ-r1g45zOQZq-Pk3OOoEMy2m9CNUtQNcfc_yIY1vQ0PDI6XA4t0JRsfKMpYmlnALaNqcn9IaN-Ph4SuZCqytF_pi0hCuiYFawB_3qG1QATgb6-eiWa0irCVDj9c25v6rF1GNKcgJt7mV9f3eu-Uvkpf581idanAqYIYV-jAHAJzeJ-9C64daY1f94qsWP2YmJu8SAwP9oUwT6hvwO33UKSV19KdDYymS7ECdWgTY1j7oM__HcO5BoDvi6w7-6eVzzQjwTpfkT9M9AfqjTLZYCu1teTICc0r88HifT_9lWvQIaCnSReay3GuxvbF26bYM0yXCHYjyY7DBwKTPXZ8Kf6u_8lqS7a8PBHLYXYBFC2-bdNagBgOuirrnJbLAGd_ucMfL7u6e4wnj-wj94ZS4DHkpIvKIZUiXNBHrLYq1mY7xi99LqTuQqnyCojV1_Y_fwofPAxfAbixcE-mkfNeO14vkABymuXSCc5UFZ7XFUzslnLT6PSCE1BKT128lPkrBlRfnjUMJWncYqAYufeCcvd2jzsziHcux6y62TQ88ppre5eWZb4slZQTC7xaGwOu0voD-5IfeQcbQHAoZzBEy_EA517xQJbwYnxk1S2wsET3McB8UHiFN5F7wT0C5jeNOU1Qpp3LES-i0-iZPWrtmRiH4eZKtx6hIDcLhtuG4Rd9ecIP0pQVY2YmKyehowAl3J9lOel5dW0y7ydY9OcdZYLP0p4c8y9GHq_JOK2cR0uS6OWEAhNlrh7A2RyqEvG74tDaOm9jgSZ--frxicupfOVcjfw-6q7g45WzZS46XKBdJp_Imf4prYrZXDeVX2uV_exqWi6aK43X0WlSLGwvs6lsQyTIUItdg3__eFF3_QIUKJYoCXmU39SOB44QEeREuhkajMGvCVLfWqiI6JMuagSbutA4Bn6gUoYGMaPQXm5UaX4kr24XWMqlXE4n53eeQFhVHRU_rQReqn7d_TdmrAckmpZo2PO1CBX_UoNhc6Ivj63ndd5dDSkGsblzN9S3Y3KMwKKla5U0t6GnNf1RzqCQMy2kzSZLk-u5o5zCwrJUK592uIGnDC4nq9nYbJ4_ye5-SwpcY1XmieOUvAk6EKAF_ctF_iRASkM_3RkjGo8IxjqsfWTaBTCiWQcsDVMLb4-AI_sPxo_NJCnhct2TDJBaDKLFkD18-S1oLjYBLsJDSFnpecBIoAIF3QZN3WsHDxhtuy6dOPGADd7gK_PXMYPBZnR2LVbxAPrwCmyAL4dbglsKjRJwCqAR9_QmZ0jGdsM10brqcfoDx-a0z5FpaR0sFAcusZAKM7kZNVL5TyEJKR4c45CP7syzzNOX9DFhCl2nQRr4OGdDWyuWthgU9lY7_-BLmWlvlqUzoSFCkBQ0h6Txl3_0_XN-smCxhpFeag1Ryy8mkk0kZNTWiZISgoaXlwTYztfeTJw-Nht3Q9tw84mYRHqwVuvejOtlrOsRS07f7tZYV6zZX547-AWKVZKnqq6qut1BxYLjgoADDAW4qvAallo0uyCfm-JE6U5QlvQo-wsFVqqidFqmNCnTRWiJq3UkEEnyd_h2p7J12M8gD3ywvCkEwREAM5WH0UsKQbqEJrX0ISlqDGyXS9pzKlay4o_DX9cCvPFmLiOVdiKrANH8kGgLtNuoutQ5mcppAZJi9tVxqmaaxt9JfAqkrCorAOuLx68vgDXGcBLdh1jx3ynF6JYGXBCxbCQDtYEMw4jkLFV-dH4M2WQMaH5xWnYoa58-4KXWhyhkrZXuYHR8JBWoGzIwobTzWbRYB0XtXRNC1K7X-ge26XwVb6KK4gbmcqPrj53daVyzKA87AAstqEtn9zbs5XGaNR9a_zJTn42CJWXWavmUPGztLUa2fCKbluqc9GoMtTCDdI7SM6Cuixxr6vzqSQP-4Nhr4AjE2NBNJjF89KC85Ehtk7db1xRNF7O5TVaebnleyI_iFahqNmwkoqNxZjrLq26zyJ4VZB53PRA_g1v5YJZLC2GnSqrQ1in6MO-MrM7wTFWlzoIYVnH9FYOHb6red_iMfRpo882bnhz6wG7sgxRS6dYrFVNYEAZAcQAETsMgKt5Sro3Ljxf3lUP7aQSoDVf-9SF4Z_-BBg1zQgsY98NwG8T9MDXRg46_SmQncKuxVbSOcfsc4Cr3xg014Gps9s495PDO2rLTmtwRrHuun859yBxcyEF2iWQwY1gU9RDBMepjOywHtRWBBfONq7A7r6fsvU-0aEXIZuVLPro_KWE7A--o_56FvVJIYk2jqh-fkRfZ8wj289dy-03u5rx3_sb_tz_2TSABBZi9op1ybYYuJuA8P3v1IrejsiWUmd6tZEVQv2f7A5Z_7y9TH9rgD7B4fkNncflOVg4ElHrX6697BL5NOvmAf5ha58Sau5lrFbxcJ0eclkJAAiZB3pVhzy6XjbuAVAdTTCzI-yyGt-pObVIUPOrukeKUj5ZcISY2WLGBB8xQglibl-92PZ3i_m2quPrDM7VjCeeRMUCvL8gocJ-vjBmcRu66GlH1H2a-D_jlhg7OSeA3gYFjXVqEDUDiwBAFTjUJrCxi59jO2lVXcOe7WA19n0fmqBScrPzGyf3GNlXGIXq4uu6vl9rz7wlWN_FIKEi2jLGdCcg5Fvvi4iP3BIMOcLefHAanmHUqojAhUZ0_7guHUTjTFArHgiihu-sf2qolu9XW5mjHt00br2aDPBDoDLU7F-L5z9iD6cEQgN3sSsW_95vU4hC6FbddpQDH1Ps-l6YogBWCoegtSje0gPQ4KnQ6pwt60IpjdOSeVjbT45D1bxxN4qEIg6j5oOzvdnV5kFpraatr64CVTvMnlzAL9dWXbZGX4XCZXBnH1dLODLKxCUYyUbbNlCLuxet_NP798n3cI3-BtSjvjG0_WzXu-3LjxuWFmBSJK2DnDY1aCiBsnJDBo2ZVxt6-xnDIL3ZjK8c8krBb-luioStw9p7_CKsShdAQcAYWnFAP4Qi2Xp",
  "id": "rs_03f214bd7d9e4234016ab46f69081087d0a47cbf644a29ee4e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.215,\"right_y\":0.185,\"right_z\":0.015,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0,\"left_x\":0.485,\"left_y\":-0.25,\"left_z\":0.065,\"left_pitch\":0.3,\"left_roll\":0,\"left_yaw\":0,\"left_gripper\":1},\"note\":\"Both empty closes indicate the fingertips were beyond the fruits. I’m moving each gripper back toward its base, aligning the right over the yellow fruit and the left over the pear.\"}",
  "call_id": "call_UTFyoVRMW5olZUED3zNglMcP",
  "id": "fc_03f214bd7d9e4234016ab46f70807887d0acd0fb50e47dca6d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UTFyoVRMW5olZUED3zNglMcP",
  "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]: [-0.6891, 2.225, 1.1007, 0.8024, -0.6395, -0.1986, 0.991, 1.2011, 1.5368, 0.3679, 0.0513, 0.8822, 0.9016, 0.9963]\nstate[eef_state]: left_x=0.4874 left_y=-0.2603 left_z=0.0597 left_yaw=-0.0235 left_pitch=0.3114 left_roll=-0.0103 left_gripper=0.991 right_x=0.2112 right_y=0.1776 right_z=0.0101 right_yaw=0.0298 right_pitch=-0.0425 right_roll=-0.0681 right_gripper=0.9963\nstate[joint_eff]: [0.4308, -14.0239, 4.9299, 1.79, -0.2808, 0.0904, -0.7595, 0.2667, -5.3675, 5.2718, 1.0672, 0.6618, 0.1734, 0.0904]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35337404dffa82f5b5f6a61eb6b57865a52f6c7d62588694907350b12f93e9c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6973dad6d182694f9a50096421eaf34252e4c0f2c04dcc6ed7a9aff381656e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d77514447d93f7d2381c604ebcd4dad5ed9fccf3c0d67b9357be68a6e8d12574",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /responses · status 200 · 6.588 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]: [-0.6735, 2.1757, 1.3689, 0.4622, -0.6613, -0.2001, 0.99, 1.124, 1.6997, 0.5629, 0.1711, 0.9169, 0.7998, 0.9971]\nstate[eef_state]: left_x=0.5235 left_y=-0.2744 left_z=0.1232 left_yaw=0.0074 left_pitch=0.298 left_roll=0.0089 left_gripper=0.99 right_x=0.2582 right_y=0.2227 right_z=0.0309 right_yaw=-0.0101 right_pitch=0.0433 right_roll=-0.0274 right_gripper=0.9971\nstate[joint_eff]: [-0.8684, -12.4103, 7.9248, 2.0586, -0.1783, 0.2418, -0.0073, 0.6085, -4.0274, 3.1111, 1.2625, -0.2125, 0.3199, 0.0073]",
      "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]: [-0.672, 2.3711, 1.3483, 0.8799, -0.6731, -0.112, 0.0093, 0.915, 0.9218, 0.4595, -0.3248, 0.7532, 0.6117, 0.9953]\nstate[eef_state]: left_x=0.5362 left_y=-0.2812 left_z=0.0886 left_yaw=0.0191 left_pitch=0.4563 left_roll=-0.033 left_gripper=0.0093 right_x=0.2435 right_y=0.1243 right_z=0.126 right_yaw=-0.0196 right_pitch=0.0247 right_roll=0.0282 right_gripper=0.9953\nstate[joint_eff]: [-0.2393, -14.7897, 5.9009, 1.6386, 0.0562, -0.0171, 0.6813, -0.1709, -1.2376, 8.7453, 1.536, 0.2564, -0.0562, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.6891, 2.225, 1.1007, 0.8024, -0.6395, -0.1986, 0.991, 1.2011, 1.5368, 0.3679, 0.0513, 0.8822, 0.9016, 0.9963]\nstate[eef_state]: left_x=0.4874 left_y=-0.2603 left_z=0.0597 left_yaw=-0.0235 left_pitch=0.3114 left_roll=-0.0103 left_gripper=0.991 right_x=0.2112 right_y=0.1776 right_z=0.0101 right_yaw=0.0298 right_pitch=-0.0425 right_roll=-0.0681 right_gripper=0.9963\nstate[joint_eff]: [0.4308, -14.0239, 4.9299, 1.79, -0.2808, 0.0904, -0.7595, 0.2667, -5.3675, 5.2718, 1.0672, 0.6618, 0.1734, 0.0904]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35337404dffa82f5b5f6a61eb6b57865a52f6c7d62588694907350b12f93e9c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6973dad6d182694f9a50096421eaf34252e4c0f2c04dcc6ed7a9aff381656e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d77514447d93f7d2381c604ebcd4dad5ed9fccf3c0d67b9357be68a6e8d12574",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtG91Y1kLxW86dWEU6K7FH75g0Ek1u4bYCpwqaycUeTUFFPfECY-TS5M8xXHhtljF7QdwgslAC1Slxu2BX7TqJW6ZIReztrqLRd0P8L_KQ3rf8BnbifCZyYSteKsWCMHPJy2_iHAnDQrX_eeUOhEJw2LM4AcBl4jF83nS6sB_PcLCKbCi3HaNtfdnfvIwwd2FOIAskrXDfhAY1P1a1x8iNFt-7FARlsMppsUtnsvL6gEUfI5ZF24G9dzrvaWdYrs45Jnfe4ortRdUZ-BfUIM9rVecE3eAa0jUz4yA965BjaLBtpDD-EhwgxWkvDXsygZyO0ICbt4KPBmFLWA1fLfH3Qt-fbT2LVNsgFShrdym4ma9HrbTpP7wySfDD0PncReKpbv7Le0MOgf4YHTjFB8RGgj5xKv9xH6Z2YFvELam-Uhi-jqElCdnNJnsHbq3XsUG2cSzzl-JHENCWTsaRO9mOYFhBQemEROwoY5aPhiS3Ltybun5wcdj55bO65T1BsjfhWswEV3oG8g9sievKniTwWZ4mfO-xthSifDCRfmIu8bmi1o_YU6uRrHH4QdUMqKFlM6J_Bs8oCx1cDEYcNyGdHAethhBmM5UWElllQmEnF8Fbtei9nDyBQ84Wlri64uaj6FXfZocukm3K8jrt49Hg4f2TnpU160Wyo7vkU6I-MQw3fZL_XnFLLxpWHvNNTSq99I7f5jQeIQIQBaE-B4aRIsl55g9OgpFmCIyIeqKJNYndCKG4YgVnj5u8UCkFc0of1qSIBPAYS3UFAKucW_El081OYbjzbt0UGK-zHQfZXdrGf9XlgQ-g8-dVDwmO1-gVdlbn1VeLDYS0DD8jrw-aHjDn15RMeCV6MqDoqyMJk63sYIvzKIY3PKtVjxb21IWfawNzj4rFiAo2dNPmsYkqZnp1zjtLC2uIQHNZ9ytarNQd9EGayG4cigdL68OQ1ACjsyEezhLyqWXlC3FWojodDp5gS6dJG3Ikx7pCIsA-1e-vtUuwiH16xLWRaN07wSP1STnM5hRuWuWJv8xvNMVDREjNYQ7RpdSpQ_JKO-aheB6HwC-pDnfTJR5fZXnC7hgB-0DLNI52Am9XIjELxT5NY6bc0g2JI5U-J1ZwPWcQbA1OBYtkITr57dnk1xGnskZTY5f2ZBMinT60FVDbo1TCkEUpakbogh6O8LhXqIL4Az1eHYLL-fktNpcpDo8HmQmZ3jmH-6D4zXtAFLhV8jJwT2sne6iznQT9Mg01PdTWFhUmjcj6wjAYHH7uHiCmrij36yh",
  "id": "rs_03f214bd7d9e4234016ab46f74515c87d09932196cbd10548e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_gripper\":0},\"note\":\"Both wrist views now show the fruit bodies centred between the fingers. I’m closing both grippers at these corrected positions.\"}",
  "call_id": "call_5E11m9WSZBvXpjiSYeLLuE7U",
  "id": "fc_03f214bd7d9e4234016ab46f74910087d083dd24bf6691ab8f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5E11m9WSZBvXpjiSYeLLuE7U",
  "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]: [-0.6876, 2.2215, 1.0901, 0.7891, -0.6395, -0.2058, 0.0096, 1.2015, 1.5463, 0.3668, 0.0509, 0.8707, 0.8982, 0.5008]\nstate[eef_state]: left_x=0.4851 left_y=-0.2573 left_z=0.0549 left_yaw=-0.0218 left_pitch=0.2952 left_roll=-0.0043 left_gripper=0.0096 right_x=0.2097 right_y=0.1773 right_z=0.0063 right_yaw=0.0367 right_pitch=-0.0565 right_roll=-0.077 right_gripper=0.5008\nstate[joint_eff]: [-0.1846, -11.1385, 5.9419, 1.8535, -0.0855, 0.0513, 0.652, -0.212, -5.4085, 4.2325, 0.9353, 0.4957, -0.0415, 0.9402]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3399eaedd6daab7a82bf4900666eda5a897802f0de3f631d4bc74a60c05b7878",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f503279a8e3dcba91edcec3d7ee1a87c8d377131c79a855b43e14f56b72170fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19116ce1dfb5864a375371dd81eb740385d24e45cdf9cf51d4f7a7a06408836e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /responses · status 200 · 5.729 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]: [-0.6727, 2.347, 1.3529, 0.8608, -0.6651, -0.1085, 0.99, 1.1221, 1.7023, 0.5579, 0.186, 0.9268, 0.7864, 0.0092]\nstate[eef_state]: left_x=0.5366 left_y=-0.2835 left_z=0.1002 left_yaw=0.0118 left_pitch=0.463 left_roll=-0.0369 left_gripper=0.99 right_x=0.2593 right_y=0.2212 right_z=0.0315 right_yaw=-0.0106 right_pitch=0.0534 right_roll=-0.0359 right_gripper=0.0092\nstate[joint_eff]: [0.3761, -9.1282, 5.1214, 1.4823, -0.2125, -0.0366, -0.0122, -0.0479, -6.6667, 4.9026, 1.0672, 0.4274, 0.0513, 0.6422]",
      "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]: [-0.6891, 2.225, 1.1007, 0.8024, -0.6395, -0.1986, 0.991, 1.2011, 1.5368, 0.3679, 0.0513, 0.8822, 0.9016, 0.9963]\nstate[eef_state]: left_x=0.4874 left_y=-0.2603 left_z=0.0597 left_yaw=-0.0235 left_pitch=0.3114 left_roll=-0.0103 left_gripper=0.991 right_x=0.2112 right_y=0.1776 right_z=0.0101 right_yaw=0.0298 right_pitch=-0.0425 right_roll=-0.0681 right_gripper=0.9963\nstate[joint_eff]: [0.4308, -14.0239, 4.9299, 1.79, -0.2808, 0.0904, -0.7595, 0.2667, -5.3675, 5.2718, 1.0672, 0.6618, 0.1734, 0.0904]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.6876, 2.2215, 1.0901, 0.7891, -0.6395, -0.2058, 0.0096, 1.2015, 1.5463, 0.3668, 0.0509, 0.8707, 0.8982, 0.5008]\nstate[eef_state]: left_x=0.4851 left_y=-0.2573 left_z=0.0549 left_yaw=-0.0218 left_pitch=0.2952 left_roll=-0.0043 left_gripper=0.0096 right_x=0.2097 right_y=0.1773 right_z=0.0063 right_yaw=0.0367 right_pitch=-0.0565 right_roll=-0.077 right_gripper=0.5008\nstate[joint_eff]: [-0.1846, -11.1385, 5.9419, 1.8535, -0.0855, 0.0513, 0.652, -0.212, -5.4085, 4.2325, 0.9353, 0.4957, -0.0415, 0.9402]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3399eaedd6daab7a82bf4900666eda5a897802f0de3f631d4bc74a60c05b7878",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f503279a8e3dcba91edcec3d7ee1a87c8d377131c79a855b43e14f56b72170fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19116ce1dfb5864a375371dd81eb740385d24e45cdf9cf51d4f7a7a06408836e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtG991EYlmFpbfPJOJfzjJpqhFEHjMYGsIjlj83vzKdtmBihn8Tqb01DWMKaZEDnJmIjHSBwhuRqVctNg2Fa4avt0JzkCExjpc03rF2Hqg3JBFqfJMIRucsvbnfPmV4kPCYIhXtw9OsBP5lGCQr7FR_8TvF3Yvlc_3nuuwUMBfATIw2icbHRD1tGOTpL1BEfCCApGHl28RrxJwD9Z8SQ3Gj-94gmGrPQhhLaP6m0MkJNjQl9estXniPuFLb1wjQt0CCN0QDHI2Nei-7Q1mg9gDfyAZi0PLKV_tSyy667cBkS8hvRJgoDHiGs93ry11juD-hyqP0xg5p1G5T_Bqh0mV9bVMVQBibAGmGlp9KTg7ZxpSvWLQTtXJ067qsu6_2C1CH6eNhCnUNGEya7l6IkAhQNdhPYhNSQe90hnyDNsC-Bassov31bOrZY5qJMHMYVM2ThJHR9yPPwNVXqvV-qMUZwn9sh9eAXBoW3e13V3JQCuCgSebY8X2sPsPhDHjeotTAI-jDxB7n5476rSeylUfm7uAdOwyjGw5zbrfxRGy0qaH-YkPHzcCHuOEYq8w6xFLLR_aky17ha1A3l0nk0M_HZBLrMKOvMPfGaaUbgEWY7EzJx6pRx3fZ44reYkuGHVKsolXnpg0_ySj0NmXXhdsCJEApOSkDyqp-7xyNQYQ9AxYsR1In_I2grRKwYDK2m32YdZegjbbG7CYswe9PdHxJL65YDfo2dhHfK48O4rFJztibCNAQeZa0WCUQA-vT27Kgbh6pZflGTW0KNPZVhMvVW9SM4teWnMfx5QLo5KUe2yLMp3BYeSKWoGG4OXxYQnpEXXPR58T71i6u4NiwDyo_zeu6MNFdIN_0W2MTMCtoEGUoYd5NmBJIA1NohOeF8bU3q_Mc8Gzib2SfHyllXLOXyE-gnBYJoe8hQ-XzFkGPlJzirPfrHilzajDJyCVWHBtJtUGpzDYZM47r858W8jgIJ7bd33IBxkjbg-QWpuXtrTaVNEVE2xQybWQ72eqCl2lE2DxdVxrkSWIOn1zmf2Qa21EhuziCcPucd3CGch05O-jomzwbYHgZ2EG6eV8I67WPucRKA1tkITOJPeXln_yq153ACYjht88Y5CoeUhpuZB2Rw2nFp7mib7uQqxtFdsukCz2A_9pGdHNtAOAVm-XepGrEHe3TgL8T7CYMmrcwVPgUJ7nnxjwQPBxPZ6QBCuyd2TXZYLfl2-HZzMx8XCs3Hb7B_df7FgVY5Vt6aiJEWYoTKqqEvMxuYYRsH7-BCMkpx_JvCSJwI5sKi2fgf7lWAebOAC3fjHu3CVjPv7sHkLFLd8YMIswV0HmUi-ozZ1mbYeD769MWFg-PJoB80RcinN3QBbyC8l_xQqv8K2kymD63_1xCo-6fKIO7e1-EnDVX5G-bGUl1_92TaV2fezPEFoBvfFp1hMBM_pI5sWShx9QQvcT27onubpGRbWksJ03GHIcna4SSr2a3BMJWaA_03cKGYefEIA0HW6tD1ZtFhsay_gHmJbgDInpaQBndOX64nhtAmfey_xr-UuT7rJRZzeuSa4RHYElwI7M4Ux89m2EfqDfaUiuEPLNEUeOnCU_vyHxk9FdNxyfw7IWrmMJIqWOavfkTpzjnkdUUP5EaNMsW2E6nmmRCUPhtvJZIrZZc9wPfGn5IHqj-VCglH_gBbK5r2uO9Yr2oegD1suZs6fKFtWoLzXLjEUFLtmoHZOJh_-U3cGTgTQZ3frF8ofrPj4TVAPkcHAYujc65wtIPLaEXGD5xeD-nK9NWjNSsmcLXFKdF0xiLC05BwJVuRO1LJEK6h7hWwYVviXUa_WWutb0N_jIubpLflF_pHWuY6WDqfO12eKqEC78HotDe6Ub9HV7lzIURCg8fvVXqa6PJMAXD6zvrHtCuaCEkJRlJ8AeEVQM2RXQDGmoPJX-Uj8cGoLaA-XDU7Pz6YSVrs77leE8szObdJ2fzNFpTJ1dYDp_t0zFmGknOxKiyZ_CDgujj4ruNmq1cG3dHfslZxkRhOu-w3f5Ka4lhLTE9ggKakytojo3aylTJG0QYW8R3SeDzagOmZ20T-ysAqVYaD8PAQKpQHCsU76n-s9ipupHJmE-4RB-eOebwPSc8kvMXhNSzkKrUp_SUPk5_RakMSI8tXuhLA=",
  "id": "rs_03f214bd7d9e4234016ab46f78003087d0b0875ffd0cd3110a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.095,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0,\"left_x\":0.535,\"left_y\":-0.25,\"left_z\":0.025,\"left_pitch\":0.6,\"left_roll\":0,\"left_yaw\":0,\"left_gripper\":1},\"note\":\"The yellow fruit is held with a substantial grip, but the pear slipped forward between the closing tips. I’m test-lifting the yellow fruit and making one forward, tilted approach to the pear’s new position.\"}",
  "call_id": "call_oGMWYmBhvwNZZUPS7nHmMo0D",
  "id": "fc_03f214bd7d9e4234016ab46f7b6a4887d0bd5cfb9d4aebaccd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oGMWYmBhvwNZZUPS7nHmMo0D",
  "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]: [-0.6281, 2.5931, 1.285, 1.3304, -0.6388, -0.0063, 0.9909, 1.2175, 1.2346, 0.506, -0.3679, 0.8871, 0.9436, 0.5035]\nstate[eef_state]: left_x=0.5325 left_y=-0.2521 left_z=0.0337 left_yaw=0.0229 left_pitch=0.5858 left_roll=-0.0315 left_gripper=0.9909 right_x=0.2077 right_y=0.1777 right_z=0.0814 right_yaw=0.0221 right_pitch=-0.0292 right_roll=-0.0157 right_gripper=0.5035\nstate[joint_eff]: [0.8, -10.0034, 4.5744, 1.4579, 0.105, 0.1929, -0.7888, 0.3487, -4.1504, 8.212, 1.0085, 0.6764, 0.1197, 0.5836]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e98f169369e3f1c3e4ad41527c78538b7fb17dc78e64f783f0919693d4274a43",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e70b7e0c46577e922fabf847c7129dfff9c9c678ba6b10d2a22e05c74a7c4cd6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d45101060bdb287f67002c67a333bde3fc38044178af18b94e0822f0f3b48130",
      "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 · 3.472 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]: [-0.672, 2.3711, 1.3483, 0.8799, -0.6731, -0.112, 0.0093, 0.915, 0.9218, 0.4595, -0.3248, 0.7532, 0.6117, 0.9953]\nstate[eef_state]: left_x=0.5362 left_y=-0.2812 left_z=0.0886 left_yaw=0.0191 left_pitch=0.4563 left_roll=-0.033 left_gripper=0.0093 right_x=0.2435 right_y=0.1243 right_z=0.126 right_yaw=-0.0196 right_pitch=0.0247 right_roll=0.0282 right_gripper=0.9953\nstate[joint_eff]: [-0.2393, -14.7897, 5.9009, 1.6386, 0.0562, -0.0171, 0.6813, -0.1709, -1.2376, 8.7453, 1.536, 0.2564, -0.0562, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.6876, 2.2215, 1.0901, 0.7891, -0.6395, -0.2058, 0.0096, 1.2015, 1.5463, 0.3668, 0.0509, 0.8707, 0.8982, 0.5008]\nstate[eef_state]: left_x=0.4851 left_y=-0.2573 left_z=0.0549 left_yaw=-0.0218 left_pitch=0.2952 left_roll=-0.0043 left_gripper=0.0096 right_x=0.2097 right_y=0.1773 right_z=0.0063 right_yaw=0.0367 right_pitch=-0.0565 right_roll=-0.077 right_gripper=0.5008\nstate[joint_eff]: [-0.1846, -11.1385, 5.9419, 1.8535, -0.0855, 0.0513, 0.652, -0.212, -5.4085, 4.2325, 0.9353, 0.4957, -0.0415, 0.9402]\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 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]: [-0.6281, 2.5931, 1.285, 1.3304, -0.6388, -0.0063, 0.9909, 1.2175, 1.2346, 0.506, -0.3679, 0.8871, 0.9436, 0.5035]\nstate[eef_state]: left_x=0.5325 left_y=-0.2521 left_z=0.0337 left_yaw=0.0229 left_pitch=0.5858 left_roll=-0.0315 left_gripper=0.9909 right_x=0.2077 right_y=0.1777 right_z=0.0814 right_yaw=0.0221 right_pitch=-0.0292 right_roll=-0.0157 right_gripper=0.5035\nstate[joint_eff]: [0.8, -10.0034, 4.5744, 1.4579, 0.105, 0.1929, -0.7888, 0.3487, -4.1504, 8.212, 1.0085, 0.6764, 0.1197, 0.5836]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e98f169369e3f1c3e4ad41527c78538b7fb17dc78e64f783f0919693d4274a43",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e70b7e0c46577e922fabf847c7129dfff9c9c678ba6b10d2a22e05c74a7c4cd6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d45101060bdb287f67002c67a333bde3fc38044178af18b94e0822f0f3b48130",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtG-D5-An8MXaLURkTQOWxudGGUY2YtcB1A7kdvlKz5dGbiJPNNRQCMpqfmE_vaQgxj3WUioMLyQFw-vu_Oc6gZg3Yh_xsbNLcOJyzWY7i8oyIP-NLD9Ubz0FCquDN7ht3QWx1M3Q6Wviy2-8ZVxi-sth0cjvxUVjm1ZAPE_vtPALVDRnXzKNN0DDTfRHIquuHHSlYdkU5d1mSEPQY1NsNExwnHvCsc25TXLLZZq1GD-HeHlA7EYu-4KzkMUlhk4-aL2Sr5K3cksX0yq9yasgayfHC_ONdEeKNDTyFNVXQNoG9EP1GUtL7-gn5llj9Fcz0wGqrprAr_V3rssi_NZ6Lv6ZTCvbs0YV-WsVmjfO0RSlFwcjF3MZxtqTNJGG4_fMw6L2WdhN1G0uSdgTBlb6JFmjrd1PMfv1xV8Jb1WyqoB1_xzPs59zg-FWH-WKidJCEJCUK0RcbZ7Hi03um_EkXqP1NQs1WeTnU8auagwCXEmIK0CP26TLLkJ5AdNQG30erN99ogrecA6nTAad9WkMgFshb6vvD0dPXvGaLfFp36rHnDs4SDc4AtogJcum18f3G9wBFOAN8Yorayjmn_XXha6-rhSGiV_H59AhQN5M7jtlZrj23okEEC19XLTTQqxMX9mq6mJvmkuytum-eKlnErqDy8DNtG-23QuJOGrFxofmhHkS-qhPuXDjiUUOmEqUPDe0DMlZAkrjKIcCdGi_4uEapca0ZUc7Ifrrcq56OWy7o1agK6JuU_rJuVoyZ-T15_Oe7oK4U5QHAgUPM0lFytD6YBq0qvSCZFAf-mCEoHz1JxR2fQUEEiWn2TkgIT60J7NpR4i0E1kXFdn0FW5l2iXGABBI2aDCumfJd2IdV2HmQLAMmRznLRKXen44ZI_S2ifoB6jCff39_pEwzZlgntvaPy9FqTmq6nWobRTcuqDduqNQko4LuU1lFI6XBZ3_CUSEkto3EO4O-RtwtyFLGdP6DAdz6_go7z44tFco8uAir4h7DS9Qy4RN1qQ7kUXJXzKFuHs3Eqig9iTq1G4dUoEXhQWG167YlnBuC0t4q14pojhO9WBuO-3kRzE6dmzGSDwd6Jkc6-xwvcueKEyJxJaCRwmXc_QXWytQI3dx1Ci_mkVdVyZZK0JAPmqrHtYsCK8-N4JEagJZ35JVwOCPI2Uxd8qYVyP1kJ7JCqKFwGEj2PTC72g6cNsAlqB9YjfOojDgCI9RtBSNQFK3C77B0_Q0m0IBWj4mCIanYo_ZrT0o0iVTo3uII9bWFULO2eDWuLUVmdmbxdXaHdq4CUbearqdqbZrCxbUDpUyzq1u-fwn8AzQBKYNAbb1lLYy7EqpVyeOQonu5chcH1bRGfCF_3lnFEFmWhs4SV3owKnJu_x9tRmZpxb2zb8zbN5DFjwsM-RTmDR04duzc_-Bzzd4HuZ68YwELQmNz3RCTizXHyUh6_kVbDqUWlZd5TPnuWQTTcos5XqNtFaxTTHaMrbu7ODQUU5Wx8E5xGV6v0j9ukK027NnE1Zgm_QJasXnKJ_Hmr4euHQw2FJ_BiwUFk9QQEjQDGc6iNm_r4bIJyioxcO_ftXegiqVfsojvGb616z5gxo_oNj1XAOVxJfDO7xiHyY5fivpZ1SEYsUvTu_J7exYFZ23_Fh4qctUxzhPgfJKexWA6PX52SQuHBv4Cl4DHzBx-Yt2WJh9OpBAnggjrwwlOzP5Rr-g4qBovmhdsHONHE1WnsATJDxO6RQYCN1H-TLXkEVJD6gXKtlNNE6MmYDSjV3KwlyrBi-SL4ZDchpXrr9Z3p3laHDBsJ5CVWJXnw3rYda1YdqlrfnckUOYx403Jg-MC-_VJ-ZkHFDj6hoDBG4klTxtQwz3--HLOy0bo3zj7B3zJ0UhAOhrp7nxA9dgr00=",
  "id": "rs_03f214bd7d9e4234016ab46f7fc0ec87d081b8cfbc6f0de584",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_x\":0.4,\"right_y\":0.27,\"right_z\":0.19,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The yellow fruit lifted securely, and the pear is now deeper between the left fingers. I’m carrying the yellow fruit above the blue bowl while closing on the pear.\"}",
  "call_id": "call_ZUP8JeFGlRDDGCpLVzuMpfVJ",
  "id": "fc_03f214bd7d9e4234016ab46f81ec7487d0b160174bda9e0498",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZUP8JeFGlRDDGCpLVzuMpfVJ",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.627, 2.6011, 1.2957, 1.3521, -0.6403, -0.0002, 0.7509, 0.8227, 1.7485, 1.3182, -0.3599, 0.6678, 0.511, 0.5042]\nstate[eef_state]: left_x=0.534 left_y=-0.2521 left_z=0.0374 left_yaw=0.0317 left_pitch=0.6052 left_roll=-0.0421 left_gripper=0.7509 right_x=0.3914 right_y=0.2662 right_z=0.176 right_yaw=0.0025 right_pitch=-0.0244 right_roll=-0.0203 right_gripper=0.5042\nstate[joint_eff]: [-0.4308, -13.5863, 3.453, 1.5116, -0.0317, -0.0904, 0.9988, -0.4171, -9.2513, 8.1026, 1.3553, 0.2955, -0.0952, 0.3932]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6788bcc25077a58f89cdbaf85ffd81fe1974694fba869f7ba8531e7f2b7e6c43",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f257c340f5045f56c61c834a63d402cfd439fe088333ce6fb569406bc3733c92",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10465ebdc40fd095dd6ad0b32a2c6cf3071dd414255920a182bed6e9c227a98a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 33 attempt 0 · /responses · status 200 · 3.475 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]: [-0.6891, 2.225, 1.1007, 0.8024, -0.6395, -0.1986, 0.991, 1.2011, 1.5368, 0.3679, 0.0513, 0.8822, 0.9016, 0.9963]\nstate[eef_state]: left_x=0.4874 left_y=-0.2603 left_z=0.0597 left_yaw=-0.0235 left_pitch=0.3114 left_roll=-0.0103 left_gripper=0.991 right_x=0.2112 right_y=0.1776 right_z=0.0101 right_yaw=0.0298 right_pitch=-0.0425 right_roll=-0.0681 right_gripper=0.9963\nstate[joint_eff]: [0.4308, -14.0239, 4.9299, 1.79, -0.2808, 0.0904, -0.7595, 0.2667, -5.3675, 5.2718, 1.0672, 0.6618, 0.1734, 0.0904]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.6281, 2.5931, 1.285, 1.3304, -0.6388, -0.0063, 0.9909, 1.2175, 1.2346, 0.506, -0.3679, 0.8871, 0.9436, 0.5035]\nstate[eef_state]: left_x=0.5325 left_y=-0.2521 left_z=0.0337 left_yaw=0.0229 left_pitch=0.5858 left_roll=-0.0315 left_gripper=0.9909 right_x=0.2077 right_y=0.1777 right_z=0.0814 right_yaw=0.0221 right_pitch=-0.0292 right_roll=-0.0157 right_gripper=0.5035\nstate[joint_eff]: [0.8, -10.0034, 4.5744, 1.4579, 0.105, 0.1929, -0.7888, 0.3487, -4.1504, 8.212, 1.0085, 0.6764, 0.1197, 0.5836]\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 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]: [-0.627, 2.6011, 1.2957, 1.3521, -0.6403, -0.0002, 0.7509, 0.8227, 1.7485, 1.3182, -0.3599, 0.6678, 0.511, 0.5042]\nstate[eef_state]: left_x=0.534 left_y=-0.2521 left_z=0.0374 left_yaw=0.0317 left_pitch=0.6052 left_roll=-0.0421 left_gripper=0.7509 right_x=0.3914 right_y=0.2662 right_z=0.176 right_yaw=0.0025 right_pitch=-0.0244 right_roll=-0.0203 right_gripper=0.5042\nstate[joint_eff]: [-0.4308, -13.5863, 3.453, 1.5116, -0.0317, -0.0904, 0.9988, -0.4171, -9.2513, 8.1026, 1.3553, 0.2955, -0.0952, 0.3932]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6788bcc25077a58f89cdbaf85ffd81fe1974694fba869f7ba8531e7f2b7e6c43",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f257c340f5045f56c61c834a63d402cfd439fe088333ce6fb569406bc3733c92",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10465ebdc40fd095dd6ad0b32a2c6cf3071dd414255920a182bed6e9c227a98a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtG-I-k88iO3VbUWSfVmtEMVE8KjXofgmFjE5rIAXxIWKRU9hrGUNAgbgd8xbrQqOCB2sWOb3w62WAX2_Uuw820glYOd30jyt0MlW3edzZCBFbgfOWQ1kuR7k0KT7TMmLMdthcw2yUlMIdndRyaOkILah_sYi0LI_H9jqZMBQbhZO5Qco1dP0NfBlvq6ZJhCGMUocXwfEHKB0lZP8uUEcYdhPZl8BvQiSHxek4kn5qRP9DV5jdFcWCSigp9rgxf-TC_VUAS2Yb7RV26nmVxWEfciEnNXmWnE2GYjPNO4jU-iW8NhKHLjLsvHCZ0FHKOdGsBwf69eBaIbbLkkzVLewcparA1LASPlYkF0F-e_zmQFJEcjNuQWGxJRj6Xd0UEm5i6EafwtDtItcnYqS_Al8M9K6bDY1AjfM3XoAOT1mLo30MKJh-Qzf-nfd8YXSwMQ6z6_qitlz53-Ge-G9a85MXaBslVVn_63uxGCHmlWdeDJ0XNt8oLcAqd22RXmnJQlzx30_84BoB-5r4_vbhmD2d3_B-oNsrQS4V3f95VhmrVjIsgMeoCI1GYRsBgZODv0GS2CZJB5CAR2BhzYwSC9ZmHyRHenobcJjW9hQMuzcQqsKlE742hUUHsQBR1KTdk7m723f4ZNupLtQsKaun4KLaEF5tMYeDJr2K5ydS9wFO1jr3SlWPWx3ZQt1742L_ExVfaj57i8htBvnDudMzM33jtRYffNQ-fF8PSj3P0DffXA2QPVDc2fsod7mZVhRX7nrS-cvN0MNXb2TFuqQ68eBFZl9twTydVkYdah_ufxRWxMNq1HWdRxR8jUmpvWuuQkysXPSiTzmNaHw3_uIRqTvftNzWpg-9oS8Gz4scRdrl_aVLr2y-P1CKlMzL-jQHHQDb_vmqi9Wn0BT22s4Np7b857m3MF9wSsXSyiaYmjkhgAhYEOLmcSOfOihJpCaPvfiI40cXP6uaiIDpHE7b7s6CC_7HjnOqq3qEGjBxZQ479atU_9GmH51qYzTCaTUYlgHwEAnRc6-govneP3Za6gyoGNACv7c2NqH4sr_GKrf_h1mUfxeOqqlHD_up3CoFtcwnLi4qB9fjI2G1xi2ehRj4zYZn3lUr5hd3rrV-SFL3aagiF7GA36P2Bl4tgRhZ9Fn-EuEpceKR7rkCJgs-N2gQ3iO6QVwd78MumCNxGBUoZDSuJX9VL8h0tZn54MglGY0iZMGLxEGExeBysCkMd7AkPPvJ5yOmEZ91E8f7rKaUiaOaRfJ-2Rk3-ES_PoFmZa3pB7TciGMmmtldBsQaUbsxQTj1_HVihTr23rp3DIvqZ1SLlUSvgcYMHblmPTWqP6UD4rRFxjkdipawYbp5eMunuq8PXBXxlRBjsIXlz6v7r2uIZeDmYJ49zTM3Yx6M0ZNFQM-ubpoXthllu41DtyISoGq8nPJ6P0AGrZPOVZM4UaJO9Fk19rmiVEwit8lYD3f_QBV",
  "id": "rs_03f214bd7d9e4234016ab46f86ac7c87d0b8c9e02bfb8214eb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"left_z\":0.115,\"left_pitch\":0.6,\"left_roll\":0,\"left_yaw\":0},\"note\":\"The yellow fruit is above the blue bowl, and the left gripper now holds the pear at a wide, nonempty opening. I’m releasing the yellow fruit and lifting the pear to verify the grasp.\"}",
  "call_id": "call_jpdg5GXgCifZepbaAV2RBIn9",
  "id": "fc_03f214bd7d9e4234016ab46f878a2c87d0bdd9bfc9d01d580b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jpdg5GXgCifZepbaAV2RBIn9",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.617, 2.4207, 1.2308, 1.1679, -0.6403, 0.0086, 0.7465, 0.8146, 1.7561, 1.3243, -0.3672, 0.6769, 0.5076, 0.9959]\nstate[eef_state]: left_x=0.5338 left_y=-0.2449 left_z=0.0768 left_yaw=0.0091 left_pitch=0.5502 left_roll=0.0175 left_gripper=0.7465 right_x=0.3944 right_y=0.2621 right_z=0.1747 right_yaw=-0.0103 right_pitch=-0.0257 right_roll=-0.0341 right_gripper=0.9959\nstate[joint_eff]: [-0.6222, -17.1145, 5.6547, 2.0781, 0.0757, 0.1636, 1.0281, 0.5402, -9.6479, 6.2291, 1.2479, 0.0952, -0.0024, -0.1587]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:176909fcad58a48d62b9f1e25d862ea00af7a52a8a2f010c18347ef5faad7e01",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99718703a10b236c4f6d1240b19c66efb0f5123d3932b36b240b00343f444b61",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a3ce41d2c8299cb3b23a087230863b18eecc9ef5cc28181c84b324e2478dccd",
      "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 34 attempt 0 · /responses · status 200 · 3.436 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]: [-0.6876, 2.2215, 1.0901, 0.7891, -0.6395, -0.2058, 0.0096, 1.2015, 1.5463, 0.3668, 0.0509, 0.8707, 0.8982, 0.5008]\nstate[eef_state]: left_x=0.4851 left_y=-0.2573 left_z=0.0549 left_yaw=-0.0218 left_pitch=0.2952 left_roll=-0.0043 left_gripper=0.0096 right_x=0.2097 right_y=0.1773 right_z=0.0063 right_yaw=0.0367 right_pitch=-0.0565 right_roll=-0.077 right_gripper=0.5008\nstate[joint_eff]: [-0.1846, -11.1385, 5.9419, 1.8535, -0.0855, 0.0513, 0.652, -0.212, -5.4085, 4.2325, 0.9353, 0.4957, -0.0415, 0.9402]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.627, 2.6011, 1.2957, 1.3521, -0.6403, -0.0002, 0.7509, 0.8227, 1.7485, 1.3182, -0.3599, 0.6678, 0.511, 0.5042]\nstate[eef_state]: left_x=0.534 left_y=-0.2521 left_z=0.0374 left_yaw=0.0317 left_pitch=0.6052 left_roll=-0.0421 left_gripper=0.7509 right_x=0.3914 right_y=0.2662 right_z=0.176 right_yaw=0.0025 right_pitch=-0.0244 right_roll=-0.0203 right_gripper=0.5042\nstate[joint_eff]: [-0.4308, -13.5863, 3.453, 1.5116, -0.0317, -0.0904, 0.9988, -0.4171, -9.2513, 8.1026, 1.3553, 0.2955, -0.0952, 0.3932]",
      "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]: [-0.617, 2.4207, 1.2308, 1.1679, -0.6403, 0.0086, 0.7465, 0.8146, 1.7561, 1.3243, -0.3672, 0.6769, 0.5076, 0.9959]\nstate[eef_state]: left_x=0.5338 left_y=-0.2449 left_z=0.0768 left_yaw=0.0091 left_pitch=0.5502 left_roll=0.0175 left_gripper=0.7465 right_x=0.3944 right_y=0.2621 right_z=0.1747 right_yaw=-0.0103 right_pitch=-0.0257 right_roll=-0.0341 right_gripper=0.9959\nstate[joint_eff]: [-0.6222, -17.1145, 5.6547, 2.0781, 0.0757, 0.1636, 1.0281, 0.5402, -9.6479, 6.2291, 1.2479, 0.0952, -0.0024, -0.1587]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:176909fcad58a48d62b9f1e25d862ea00af7a52a8a2f010c18347ef5faad7e01",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99718703a10b236c4f6d1240b19c66efb0f5123d3932b36b240b00343f444b61",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a3ce41d2c8299cb3b23a087230863b18eecc9ef5cc28181c84b324e2478dccd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtG-MXVN2DHmz26SXk3KzQQA_JfUdW_F38sWwGp-8HhKOf1a2unJ7ZMVQqu9mzL5cvAxpQ_qJ2lOzDRh2wGg-7M2fYAWJmws5WZBUMv9VgkpdlykWnCNNE2RpkBxRT4w_W_K4CvprXMvvU_X-jr3D3_oS927jaA6tcA6sZXF3U_tOk_UCtoa_CWTIj8Gu3CMp6gwOwBBBQQ5yVhugOFjfM0ChEGW2a5HVlgu7Kcf5cMMZvvCq_DoFuDuOxlQFRtiScHp_55QbIDUJ-hrxacgTvpektF5mP60a6r-f7RrMEN6hTJp0RhwfhJ4UKzhJS7Tofj6TPnnie2xxI4UyqOez_nRyjS15FkHYy3aowgvuRtFJqrIHixZXllNHXKQcamvHrq8BpBwOYTFjGkOkJ_6JjBJd_SiTIItfr01958jbvbVElxU8rwqt5TSZB8PHkYvVCEuQN5Vpe7stt2RvgrLz6K3FMFxcmbAjCeO42aG0JLYILYbPLFsSV2pP_voL4uyBHcoUfE6n_SJRE0qwTo5JvutoEmpdTpvhwEw1vCBeBQWelzjGuUpPvpx963N4Il8k64OiZPCGR8_fE-mYX1UgVcl989X-qgKhkkp8_QrWWJP1OdwV47Usl8iLtDmHcBix6VEWRfZYlNm-kpR2qZMpTJ17cbFIyyfp1rNg9jQTUjoY9Q8TxeAW2niXjwmsnCL18rSFeZDbFHc21PIlt1RDymOsr3p-Ocokw_25-rGrElP69nwYpsBy9tjpg6z4IRnN0bbZLbNrr-DSEqRGH0DB0400rcunW9JBpuq8tLArunvf5e-SONRTzeEFg1nwrF15WA_G70jSd2iEEbp9JpOuxBscGdpBfFawEaBGzCu3-r0JZtmhx4Huf7cF4uPeV5keqdbvL0LO5nlmBc3vhh2RE_XG0t5UPjCLRgIV-VRDIMjg92o_i7sDAs4XHtZBFxZUSr3f4AR-XuNgNSDDi7haXGiHRO7O2ik6WxjDfU2N6lqKmfud6wgxweVE5CVqZAa_re85edlB2eVH-0XxGw3QC7CLQHJOLHRNgS5wGNTw5QaKYYpRmWID17iVFLRPR7sMY6aXKwzHc7yyOEgXBdYc1iyUjHfu2dOnKZ4VJ1UjKfUnIWACwLatjAcSttjLTiyOkpFx58munKH4iG34EnvjSBQNZP8c__18-DzgRe60YvJLY5HiGAlTAiDSnfzkmiJeyy4x925eK9YxWFKaUqDrjPomQVHLRW73W70i6hgxQlCdUJt2nV1-NyqA1s_GY6xrGKQ5O4sVutQU8EtU2YJ9t29OC8Cw5nCRy6ELNhB3ogr5EipNMx6G4lAyfd_FXf3cAJxlFEoVZl4IpgFyC8hiUrnWzpAHmY0KAsieX8AVN2EiYn-xKcyG8y1dkgrsf4nRZbAQ_vHXJ6uu_cQM1G1UZSDAnIB_n7AZ8FxhCm_VsCpXJbM=",
  "id": "rs_03f214bd7d9e4234016ab46f8a90e087d09f296605e0568f24",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.296,\"right_y\":0,\"right_z\":0.2,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0,\"left_x\":0.38,\"left_y\":-0.37,\"left_z\":0.2,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0},\"note\":\"The pear moved upward with the left gripper. I’m clearing the right arm and bringing the pear over the blue bowl, straightening the tool for a controlled release.\"}",
  "call_id": "call_JXllWLwawsWBgLwRExKt86JT",
  "id": "fc_03f214bd7d9e4234016ab46f8b69c487d09e0f3e8f74d62fc7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JXllWLwawsWBgLwRExKt86JT",
  "output": [
    {
      "text": "executing move_to over 22 steps (2.2s)",
      "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]: [-1.01, 2.046, 1.7576, -0.5621, -0.8028, -0.6804, 0.7504, 0.0135, 0.8234, 0.6918, -0.437, 0.0708, 0.0193, 0.9965]\nstate[eef_state]: left_x=0.3872 left_y=-0.3708 left_z=0.1898 left_yaw=-0.0102 left_pitch=0.0186 left_roll=-0.0029 left_gripper=0.7504 right_x=0.2991 right_y=-0.0049 right_z=0.2005 right_yaw=-0.06 right_pitch=0.0007 right_roll=-0.0024 right_gripper=0.9965\nstate[joint_eff]: [-0.6906, -11.1248, 9.3197, 1.2967, -0.4322, 0.0708, 0.6862, -0.212, -1.8256, 6.5299, 1.8388, -0.0611, -0.0952, 0.0464]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34312bd12d2d77915e2cf92efc12de8ed8ce3f7cf9b6fba295cecafa2313b999",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46a5235a97372921154a8a920f36155a6cf12b4330a26b282d2dad709a87fb44",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2c7609f3e98dc6391b71ecdba66c15b8f160baa9f3b0b7601b327e74ae60bb3",
      "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 · 9.806 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]: [-0.6281, 2.5931, 1.285, 1.3304, -0.6388, -0.0063, 0.9909, 1.2175, 1.2346, 0.506, -0.3679, 0.8871, 0.9436, 0.5035]\nstate[eef_state]: left_x=0.5325 left_y=-0.2521 left_z=0.0337 left_yaw=0.0229 left_pitch=0.5858 left_roll=-0.0315 left_gripper=0.9909 right_x=0.2077 right_y=0.1777 right_z=0.0814 right_yaw=0.0221 right_pitch=-0.0292 right_roll=-0.0157 right_gripper=0.5035\nstate[joint_eff]: [0.8, -10.0034, 4.5744, 1.4579, 0.105, 0.1929, -0.7888, 0.3487, -4.1504, 8.212, 1.0085, 0.6764, 0.1197, 0.5836]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.617, 2.4207, 1.2308, 1.1679, -0.6403, 0.0086, 0.7465, 0.8146, 1.7561, 1.3243, -0.3672, 0.6769, 0.5076, 0.9959]\nstate[eef_state]: left_x=0.5338 left_y=-0.2449 left_z=0.0768 left_yaw=0.0091 left_pitch=0.5502 left_roll=0.0175 left_gripper=0.7465 right_x=0.3944 right_y=0.2621 right_z=0.1747 right_yaw=-0.0103 right_pitch=-0.0257 right_roll=-0.0341 right_gripper=0.9959\nstate[joint_eff]: [-0.6222, -17.1145, 5.6547, 2.0781, 0.0757, 0.1636, 1.0281, 0.5402, -9.6479, 6.2291, 1.2479, 0.0952, -0.0024, -0.1587]\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 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]: [-1.01, 2.046, 1.7576, -0.5621, -0.8028, -0.6804, 0.7504, 0.0135, 0.8234, 0.6918, -0.437, 0.0708, 0.0193, 0.9965]\nstate[eef_state]: left_x=0.3872 left_y=-0.3708 left_z=0.1898 left_yaw=-0.0102 left_pitch=0.0186 left_roll=-0.0029 left_gripper=0.7504 right_x=0.2991 right_y=-0.0049 right_z=0.2005 right_yaw=-0.06 right_pitch=0.0007 right_roll=-0.0024 right_gripper=0.9965\nstate[joint_eff]: [-0.6906, -11.1248, 9.3197, 1.2967, -0.4322, 0.0708, 0.6862, -0.212, -1.8256, 6.5299, 1.8388, -0.0611, -0.0952, 0.0464]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34312bd12d2d77915e2cf92efc12de8ed8ce3f7cf9b6fba295cecafa2313b999",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46a5235a97372921154a8a920f36155a6cf12b4330a26b282d2dad709a87fb44",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2c7609f3e98dc6391b71ecdba66c15b8f160baa9f3b0b7601b327e74ae60bb3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtG-SfLeCmUR5OTwnHJPRBVekUeIDId6hHVabqUbYwEgrMe2Se6hmp4dwHqq-ztjrAHhhZf2tu-TFXx7iRRlmdys6NNhXGrp9gOjTfx3k2i5KcGc5WP8MziImDmbTSp-BwwPLSEWd3cw7koE9NFIW5O1QQqQcoHrLDHX4GKg3wqvS7Boj5VYEfMSgYWVqpngGjhBzE0TUZxTJt6D2Xpv2RoND_sW69ibl6HUYbq68w1rXrmVOjb_Y105yTkxEPaVk0Oor1EFBf8q7B0By7QMXTVRWYomPal-WxzDDkXEn4DtpP-rT_ekEk_2y_mfA0GevtQQhW4ukSh5EUbHBUtKp9192aUR1rCXY_01fXKrlNYwk-OyybJZbZrfGAKJyu_oGF1Xlrq5ZDsd_0i_ZTiL2zncOx9IqlDVPC18NAQJO362FlOBwaCWsk5tdy78_oVsZT6yXxL9_hYIseFVbPgBBZIFXbQmOu-iIe2a1eoEmUEDeQIArdP4Rh1N14A_GMeh4OUl-eKpKXz2PaHG6dh8LSroD4CfOS9yzoTgEFpghtTPrB4a-lAFspo9V8rW4ordqkC4cRptSuh6gBUxBqSVbPR1N2VadT3AmjKvlIa29RqvV7GL-HgWyRD8rlBOR2NAam28iRLb1cDwcK5Udxnw-Wrde0Jh4QUKSKsJ2RK7tr3ki4YUoaF-LdC9fL9QhUG-YgwQFd8AOBQIYrHja3z5gdfxKecDSGoq4USbMzCxGwZLWJ3yg_KPHRTE_tr2cNpHb-ZKckEIrvLG81JlnlkMTy4DMXqWzKoPnw5eGs5Z59PSEs79hkBmUqBqppCGMsCxfN4uBXz1LO0dZaF_cihrn2v6tt7gqfWZvnNqaOd44Jt_kyJ8e2MJ_5ooU4yXZF7Cbp3e0Iqf_FVty0RRy8hsqeCqr2CNUq6CNUOnzAAbzEe9m_X6Op9jT1uxhFqwuyHTw0gU72CCLGjdqUGhFD-hj5WdIkMu8JIFOcdRgarzwxdfdrt7PfjWrEVEzyPsu4CrTdEtoK2Uo_YHsBupPiO21G__saj9BqGXGjLd3o3RTwE3dZrXs1j4AYpj0g45f75nGUnoX0UQWa0DUYLp2EcDOqggClBB9hbvD7EArljdM_-ATQ1GvNIkJoiN7bLl-LdL_F-w3sqVHJCit8eTHucnfnMuRcRGSVeYecFtHgS-JAK-8Y0kOORCzID1QKJqK7AKGP6miyPrQjtijzg0c4b2MMiKdBgzeQoIfjmxXsnCR16w6khv6eNNzpb799COpZzQMetduNfQFGAiQ1lq3aQANZmGbq411YFR9wFKw4zxJ0UbOcaY=",
  "id": "rs_03f214bd7d9e4234016ab46f90444087d0939f46bf58e9ab93",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The blue bowl contains the dark and yellow fruits, and the pear is held directly above it. I’m releasing the pear to complete the collection step.\"}",
  "call_id": "call_IkGE22qKcdri412l78JCgSBY",
  "id": "fc_03f214bd7d9e4234016ab46f90de2c87d085af8df106a7b528",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IkGE22qKcdri412l78JCgSBY",
  "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]: [-1.0142, 2.046, 1.763, -0.6014, -0.7929, -0.7006, 0.9909, 0.0139, 0.828, 0.6895, -0.4477, 0.0467, -0.0006, 0.9965]\nstate[eef_state]: left_x=0.3824 left_y=-0.3696 left_z=0.186 left_yaw=-0.0101 left_pitch=-0.006 left_roll=0.0045 left_gripper=0.9909 right_x=0.2979 right_y=-0.0005 right_z=0.1959 right_yaw=-0.0287 right_pitch=-0.0177 right_roll=-0.007 right_gripper=0.9965\nstate[joint_eff]: [0.0479, -11.5761, 6.2701, 1.5653, -0.4811, 0.1636, -0.8571, 0.0068, -1.388, 7.159, 1.8095, 0.0806, 0.0855, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffcc6566649d724c8195835fc139cfaffbd911398d8daa84cfa7f22b5157b516",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ae060777014399a45edfc50057690f79efe8b0ec078cba65c8d37ec708e6fb8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0254d7135c727ffc1e3ebb45878e70fe7bcb768c63fdff1855e8b5c2e6bba6cf",
      "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 · 8.736 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 128 changed as sent

message 136 changed as sent

message 140 changed as sent

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]: [-0.627, 2.6011, 1.2957, 1.3521, -0.6403, -0.0002, 0.7509, 0.8227, 1.7485, 1.3182, -0.3599, 0.6678, 0.511, 0.5042]\nstate[eef_state]: left_x=0.534 left_y=-0.2521 left_z=0.0374 left_yaw=0.0317 left_pitch=0.6052 left_roll=-0.0421 left_gripper=0.7509 right_x=0.3914 right_y=0.2662 right_z=0.176 right_yaw=0.0025 right_pitch=-0.0244 right_roll=-0.0203 right_gripper=0.5042\nstate[joint_eff]: [-0.4308, -13.5863, 3.453, 1.5116, -0.0317, -0.0904, 0.9988, -0.4171, -9.2513, 8.1026, 1.3553, 0.2955, -0.0952, 0.3932]",
      "type": "input_text"
    },
    {
      "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]: [-1.01, 2.046, 1.7576, -0.5621, -0.8028, -0.6804, 0.7504, 0.0135, 0.8234, 0.6918, -0.437, 0.0708, 0.0193, 0.9965]\nstate[eef_state]: left_x=0.3872 left_y=-0.3708 left_z=0.1898 left_yaw=-0.0102 left_pitch=0.0186 left_roll=-0.0029 left_gripper=0.7504 right_x=0.2991 right_y=-0.0049 right_z=0.2005 right_yaw=-0.06 right_pitch=0.0007 right_roll=-0.0024 right_gripper=0.9965\nstate[joint_eff]: [-0.6906, -11.1248, 9.3197, 1.2967, -0.4322, 0.0708, 0.6862, -0.212, -1.8256, 6.5299, 1.8388, -0.0611, -0.0952, 0.0464]\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 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0142, 2.046, 1.763, -0.6014, -0.7929, -0.7006, 0.9909, 0.0139, 0.828, 0.6895, -0.4477, 0.0467, -0.0006, 0.9965]\nstate[eef_state]: left_x=0.3824 left_y=-0.3696 left_z=0.186 left_yaw=-0.0101 left_pitch=-0.006 left_roll=0.0045 left_gripper=0.9909 right_x=0.2979 right_y=-0.0005 right_z=0.1959 right_yaw=-0.0287 right_pitch=-0.0177 right_roll=-0.007 right_gripper=0.9965\nstate[joint_eff]: [0.0479, -11.5761, 6.2701, 1.5653, -0.4811, 0.1636, -0.8571, 0.0068, -1.388, 7.159, 1.8095, 0.0806, 0.0855, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffcc6566649d724c8195835fc139cfaffbd911398d8daa84cfa7f22b5157b516",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ae060777014399a45edfc50057690f79efe8b0ec078cba65c8d37ec708e6fb8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0254d7135c727ffc1e3ebb45878e70fe7bcb768c63fdff1855e8b5c2e6bba6cf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_03f214bd7d9e4234016ab46f93d63887d0a3a558aac38422a7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.335,\"left_y\":-0.37,\"left_z\":0.055,\"left_yaw\":1.57,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The pear has landed with the other two fruits in the blue bowl. I’m turning the open jaws and lowering onto the near rim so I can lift the bowl itself.\"}",
  "call_id": "call_A4nb5n0LJsbAYkcsgmysGY3I",
  "id": "fc_03f214bd7d9e4234016ab46f9b3cfc87d0969e2913dcf84e57",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_A4nb5n0LJsbAYkcsgmysGY3I",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.5491, 2.5877, 2.1998, -1.541, -0.8738, -2.0544, 0.99, 0.0158, 0.8337, 0.6746, -0.4732, 0.0479, -0.009, 0.9965]\nstate[eef_state]: left_x=0.4388 left_y=-0.1055 left_z=0.0422 left_yaw=1.3226 left_pitch=-0.0772 left_roll=-0.032 left_gripper=0.99 right_x=0.293 right_y=-0.0002 right_z=0.1824 right_yaw=-0.0234 right_pitch=-0.064 right_roll=-0.0164 right_gripper=0.9965\nstate[joint_eff]: [0.5675, -11.6171, 3.5214, -0.5153, 0.0513, -0.3199, -0.1001, -0.1709, -1.853, 8.1709, 1.9023, -0.0122, 0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 362):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54236a64fd09b42f7081d054e8a72757e50a1af02af1751cdc2c10617e9f70fc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 362):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd592885aa256fd32272d549aa931375e176d53e3fc32bc45cd1dcee9ea1a2f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 362):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70cec6a78f543d8357dd944c10241bebb5145d399403efae7d981fa663dfa6bb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 37 attempt 0 · /responses · status 200 · 6.336 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 132 changed as sent

message 140 changed as sent

message 144 changed as sent

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]: [-0.617, 2.4207, 1.2308, 1.1679, -0.6403, 0.0086, 0.7465, 0.8146, 1.7561, 1.3243, -0.3672, 0.6769, 0.5076, 0.9959]\nstate[eef_state]: left_x=0.5338 left_y=-0.2449 left_z=0.0768 left_yaw=0.0091 left_pitch=0.5502 left_roll=0.0175 left_gripper=0.7465 right_x=0.3944 right_y=0.2621 right_z=0.1747 right_yaw=-0.0103 right_pitch=-0.0257 right_roll=-0.0341 right_gripper=0.9959\nstate[joint_eff]: [-0.6222, -17.1145, 5.6547, 2.0781, 0.0757, 0.1636, 1.0281, 0.5402, -9.6479, 6.2291, 1.2479, 0.0952, -0.0024, -0.1587]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0142, 2.046, 1.763, -0.6014, -0.7929, -0.7006, 0.9909, 0.0139, 0.828, 0.6895, -0.4477, 0.0467, -0.0006, 0.9965]\nstate[eef_state]: left_x=0.3824 left_y=-0.3696 left_z=0.186 left_yaw=-0.0101 left_pitch=-0.006 left_roll=0.0045 left_gripper=0.9909 right_x=0.2979 right_y=-0.0005 right_z=0.1959 right_yaw=-0.0287 right_pitch=-0.0177 right_roll=-0.007 right_gripper=0.9965\nstate[joint_eff]: [0.0479, -11.5761, 6.2701, 1.5653, -0.4811, 0.1636, -0.8571, 0.0068, -1.388, 7.159, 1.8095, 0.0806, 0.0855, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.5491, 2.5877, 2.1998, -1.541, -0.8738, -2.0544, 0.99, 0.0158, 0.8337, 0.6746, -0.4732, 0.0479, -0.009, 0.9965]\nstate[eef_state]: left_x=0.4388 left_y=-0.1055 left_z=0.0422 left_yaw=1.3226 left_pitch=-0.0772 left_roll=-0.032 left_gripper=0.99 right_x=0.293 right_y=-0.0002 right_z=0.1824 right_yaw=-0.0234 right_pitch=-0.064 right_roll=-0.0164 right_gripper=0.9965\nstate[joint_eff]: [0.5675, -11.6171, 3.5214, -0.5153, 0.0513, -0.3199, -0.1001, -0.1709, -1.853, 8.1709, 1.9023, -0.0122, 0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 362):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54236a64fd09b42f7081d054e8a72757e50a1af02af1751cdc2c10617e9f70fc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 362):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd592885aa256fd32272d549aa931375e176d53e3fc32bc45cd1dcee9ea1a2f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 362):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70cec6a78f543d8357dd944c10241bebb5145d399403efae7d981fa663dfa6bb",
      "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_03f214bd7d9e4234016ab46f9ecb1c87d0be08cd363a453754",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.2,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"right_x\":0.37,\"right_y\":0.25,\"right_z\":0.15,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The yaw motion did not hold the commanded position and brought the left gripper beside the white bowl. I’m lifting clear and straightening the tool before attempting any bowl grasp.\"}",
  "call_id": "call_t8P8wqJAe5tQFW1yXY3obmwE",
  "id": "fc_03f214bd7d9e4234016ab46fa49a1487d0a62239faa06d947f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_t8P8wqJAe5tQFW1yXY3obmwE",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "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]: [-0.3756, 1.5375, 1.0973, -0.284, -0.3901, -0.5472, 0.9899, 0.8322, 1.6581, 1.063, -0.2272, 0.6525, 0.4908, 0.9965]\nstate[eef_state]: left_x=0.4291 left_y=-0.0931 left_z=0.1712 left_yaw=0.2457 left_pitch=-0.1021 left_roll=-0.1847 left_gripper=0.9899 right_x=0.3613 right_y=0.2428 right_z=0.1333 right_yaw=0.0329 right_pitch=-0.055 right_roll=-0.0526 right_gripper=0.9965\nstate[joint_eff]: [0.2667, -9.2786, 6.9675, 1.8681, -0.0415, 0.2027, -0.0171, 0.335, -8.6769, 8.3624, 1.7118, 0.442, 0.2906, -0.0122]\napprover: 11 step(s) modified (delta_clamped ×11).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 383):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc4eba40b672524e6ab08ec95b15f1fd3327cc163ec1ae9bf5d89e0380a6f19f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 383):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f03c9a58de53217ff9e06cc18b504a50ad942b3d6cf36ffedfaabbef50c43ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 383):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eac31c8664be9c1e1a65b16eb09c8521bf66aeb1b53f5d996b387e929fadb176",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 38 attempt 0 · /responses · status 200 · 5.091 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 136 changed as sent

message 144 changed as sent

message 148 changed as sent

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]: [-1.01, 2.046, 1.7576, -0.5621, -0.8028, -0.6804, 0.7504, 0.0135, 0.8234, 0.6918, -0.437, 0.0708, 0.0193, 0.9965]\nstate[eef_state]: left_x=0.3872 left_y=-0.3708 left_z=0.1898 left_yaw=-0.0102 left_pitch=0.0186 left_roll=-0.0029 left_gripper=0.7504 right_x=0.2991 right_y=-0.0049 right_z=0.2005 right_yaw=-0.06 right_pitch=0.0007 right_roll=-0.0024 right_gripper=0.9965\nstate[joint_eff]: [-0.6906, -11.1248, 9.3197, 1.2967, -0.4322, 0.0708, 0.6862, -0.212, -1.8256, 6.5299, 1.8388, -0.0611, -0.0952, 0.0464]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.5491, 2.5877, 2.1998, -1.541, -0.8738, -2.0544, 0.99, 0.0158, 0.8337, 0.6746, -0.4732, 0.0479, -0.009, 0.9965]\nstate[eef_state]: left_x=0.4388 left_y=-0.1055 left_z=0.0422 left_yaw=1.3226 left_pitch=-0.0772 left_roll=-0.032 left_gripper=0.99 right_x=0.293 right_y=-0.0002 right_z=0.1824 right_yaw=-0.0234 right_pitch=-0.064 right_roll=-0.0164 right_gripper=0.9965\nstate[joint_eff]: [0.5675, -11.6171, 3.5214, -0.5153, 0.0513, -0.3199, -0.1001, -0.1709, -1.853, 8.1709, 1.9023, -0.0122, 0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 148 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.3756, 1.5375, 1.0973, -0.284, -0.3901, -0.5472, 0.9899, 0.8322, 1.6581, 1.063, -0.2272, 0.6525, 0.4908, 0.9965]\nstate[eef_state]: left_x=0.4291 left_y=-0.0931 left_z=0.1712 left_yaw=0.2457 left_pitch=-0.1021 left_roll=-0.1847 left_gripper=0.9899 right_x=0.3613 right_y=0.2428 right_z=0.1333 right_yaw=0.0329 right_pitch=-0.055 right_roll=-0.0526 right_gripper=0.9965\nstate[joint_eff]: [0.2667, -9.2786, 6.9675, 1.8681, -0.0415, 0.2027, -0.0171, 0.335, -8.6769, 8.3624, 1.7118, 0.442, 0.2906, -0.0122]\napprover: 11 step(s) modified (delta_clamped ×11).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 383):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc4eba40b672524e6ab08ec95b15f1fd3327cc163ec1ae9bf5d89e0380a6f19f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 383):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f03c9a58de53217ff9e06cc18b504a50ad942b3d6cf36ffedfaabbef50c43ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 383):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eac31c8664be9c1e1a65b16eb09c8521bf66aeb1b53f5d996b387e929fadb176",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtG-uwIZKYqgfK8-2GiF68N4YM5HI8gc3fqP_JWnwVkMluTY18l4twNVN1gin5nZD2kY7ZjaI_s_OgtED-Bk2mKAr06nU7XPwtkP0OQJ-dWH1QhhA4Cjwl9vGy03iH5XwYs7_dJQ-2DasATTnLms393gFw0afsPRT0Ayy8omp-iIPPEUiQrYpqVFW1Si0Nnc9sgbZnpEFXP0aaLMc45oDwtRbbKQe3oZNrM7_JW6RU3uEfRitZQKUqEwU2fPiu3DhH9zJLXbOQ_A4ysWk9kLJl9pWCqy4bMfC6cR6bGSc2ei5t8YYssdB4TnGTKeWSnzrGaonJ15uf01__1vTWrBaxLVoGvTuIm7S2G8ZowZy5nvmPcZjc4k-KRp2OqbaAJD8bU-UHfxP_RkfsAwWhpmdJPU6x_sJOz5n88mQIxxRQvktI6zFQ5xKoTlYv-gB4hiPUeHSz3Z427bbwE1TdMI-Wpa5kxcTb8WBHIHZAeh8bYG60_ot4h_IvIThD0tFUhahnzsh1TETogUKzZVoL7e952-XOW4FxygaquqoOPd9uxKpbp5kX0lW42FF_55ltYkeQMc2LZlkrPn3ip4FoLA_iPOKr3pSU4mGqkvmvfchr9zOkKYooFnQjXkDHe2fBan--LUlv3ZSP9y5wr2g8VifZ0EvxElLoa61aYStn-c-RI7zf3riVu7U53KCyoTaW3ihiyBkcRNkchuhErpaHBPYpgDca9rRjzAFcUVeN9iqsl3OKBCQGPctXHUTGt9RJsechHxFJ2BJIg5W9tcvtcqFncA5gxpQSlve7qrAAS5O-HZPjd0bCbwhrBMQVgLEmwf6Tm-38NXpDWSX_fSNa087jy1fe0MRO21Zs8q6FgePy6sW4_Z7l20XF468F51UMJCcJqRpRfpwaJhgRoFAa6qA0JOpm5GU8RNnRGZOrd52U2QEF06kpYBjJWgqh5PF9Rg67eHNnXGdfZ47VAhojRJICOOUuu6H8EBT8ZRUCKmstIJrL-5YmYN3pYb5AuI8uknG-_-D8P5fH26iT99BN37wegEE2DpmP0BUSKfDws3qGKsBNGeEbffjuPzm5zIwXM4mhAAq0Mq5KswTdtNj4B49479XJpBbWyKRrzbrgBAkQzIMQ6ZtsB0yMZpj5Z1PnW-AjyW3ewBtU2jxNHcMzyJvUf2fJznkBUb0UQlAMZXsvaWK1dXKfXSGRbD8Y6tTJVzHZhEJXIDAfjbNjDFwBJtIoqlL6bGWMDypaOZFS1dbRAsDsWYy-HRob_LaEW7nOVzeZfnDMYqYBzNHiSCcwtmwFTQyb7KdxU3bWy9axNnoe6F0aiYSOI59xhGdB_YgaPrmfAyZlcr4MNGwWDd-VHQ9ngbkkoJw0N8sSigySURQYKx3Y501R1LhVgUEra6Nr9Jbr5HCAlRTeN0pb9THObBXPS0OFUOZpiFBOmQbj0YD8nRfULhXw20rvikk8Iqd24EqSgCwMJX-_s7jehoq8wQde_vFAq6shWounJsm1VkZkdy5XhHb_rR1JgJrV7BhbC3QevVVMNJaB2dUalMSgLvh-DoQqdZg5DbUScE2P4p56-_3H4VAApT5Pn_XcpTJlXUOY2D07KWPOV5uQmIDZuvQIIaQL_L7guzJ_cwdh5JaTJLIUEatJ0EULIeMjoQwMQiOrnRH3BUjbIsCh5StUhq6aeajtsqRIfbbh2C8Bid9yMjQWPRm1hsdgxUIc6V4pkAr4KdhyUfjC1QZdB-weAdM_QCO2dp95qsX_DUzLINuoF1VXDY65dpV0WGeDVVyM_QjHlEOYsp6UIC317c_4IC31Q8LzLN_5rKITKighHm4zEc87JAAyTmJ3LRq9MOUJczavv7J5GXNB97QqvqLQAtzlAY_NYU_rR3tQ0AZ5X3tNScPbI8UZVCQSCriqGPEzukkMrfuxg3vnahcj-InQCl3ODhTTA==",
  "id": "rs_03f214bd7d9e4234016ab46faa738c87d087e94b0c52a481e1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.296,\"left_y\":0,\"left_z\":0.2,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"right_x\":0.296,\"right_y\":0,\"right_z\":0.2,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The clear view shows only the dark fruit in the blue bowl; the pear and yellow fruit are beside it. I can’t complete the collection and pour within the remaining motions, so I’m parking both arms safely.\"}",
  "call_id": "call_RUIgtQzIUOM25ZmtsYN70Vhl",
  "id": "fc_03f214bd7d9e4234016ab46facf7e487d0812a68e95756961f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RUIgtQzIUOM25ZmtsYN70Vhl",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "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]: [-0.0463, 0.8272, 0.691, -0.4297, -0.0757, -0.0578, 0.9899, 0.0113, 0.8204, 0.6777, -0.4324, 0.0669, 0.0143, 0.9965]\nstate[eef_state]: left_x=0.3006 left_y=0.003 left_z=0.2006 left_yaw=0.0481 left_pitch=0.0039 left_roll=-0.0165 left_gripper=0.9899 right_x=0.2979 right_y=-0.0049 right_z=0.1958 right_yaw=-0.0564 right_pitch=-0.0059 right_roll=-0.005 right_gripper=0.9965\nstate[joint_eff]: [0.4444, -1.7983, 7.0085, 1.7558, 0.149, 0.0757, -0.0122, -0.1709, -1.7573, 7.6239, 1.7705, -0.0904, -0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 404):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9805ef4b6e92015899dad59d8fd6aef00ca269f595e8a66281ded50210bb1b5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 404):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae92caa9cbadd1c0efc9f6cf6be41719f17344d2b69409e4148a85f0c18fe5fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 404):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d99e9a4d3ff07e74074ec476cc68db06541b8005eba078f8f0eee54403bb3a92",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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