adhoc - adhoc_7e262f7d.json

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: 228 s
total steps: 357

operator

scenes

trials

errored

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

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

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

assistant

agent noteI see three fruits on the table: a green fruit beside the right gripper, a yellow fruit near the middle, and a dark fruit beside the white bowl. I’m lowering the right gripper toward the green fruit to collect it first.

move_to

right_x0.3300right_y0.0050right_z0.0650right_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, 0.7994, 0.6136, -0.3824, -0.0143, -0.0299, 0.9932, -0.0227, 0.8005, 0.6189, -0.387, -0.017, -0.0269, 0.9994] state[eef_state]: left_x=0.296 left_y=-0.0023 left_z=0.1824 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9932 right_x=0.2961 right_y=-0.0001 right_z=0.1836 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994 state[joint_eff]: [0.1573, -1.7299, 9.5658, 1.7802, -0.1099, 0.1441, -0.4762, -0.1436, -1.7983, 9.1692, 1.8291, -0.0904, 0.1245, -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":0.33,"right_y":0.005,"right_z":0.065,"right_gripper":1},"note":"I see three fruits on the table: a green fruit beside the right gripper, a yellow fruit near the middle, and a dark fruit beside the white bowl. I’m lowering the right gripper toward the green fruit to collect it first."})

tool

executing move_to over 8 steps (0.8s)

step 8

assistant

agent noteThe green fruit is centered between the open jaws in the wrist view. I’m lowering slightly and closing to a moderate width so the rounded fruit is held without being squeezed out.

move_to

right_x0.3400right_z0.0250right_gripper0.4200

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, 0.8032, 0.6132, -0.3943, -0.0139, -0.0307, 0.9927, 0.0055, 1.2251, 0.279, 0.3393, -0.0013, -0.0265, 0.9994] state[eef_state]: left_x=0.2946 left_y=-0.0023 left_z=0.1787 left_yaw=0.0001 left_pitch=-0.016 left_roll=-0.0004 left_gripper=0.9927 right_x=0.3253 right_y=0.0056 right_z=0.0562 right_yaw=0.0148 right_pitch=-0.0383 right_roll=-0.0077 right_gripper=0.9994 state[joint_eff]: [-0.1573, -1.3333, 7.0769, 1.8535, -0.0464, -0.0317, -0.0708, 0.294, -3.9453, 5.8325, 2.0147, 0.0513, 0.149, -0.0757] camera 'top_cam' (step 8): [image omitted: streamed camera frame] camera 'left_cam' (step 8): [image omitted: streamed camera frame] camera 'right_cam' (step 8): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.34,"right_z":0.025,"right_gripper":0.42},"note":"The green fruit is centered between the open jaws in the wrist view. I’m lowering slightly and closing to a moderate width so the rounded fruit is held without being squeezed out."})

tool

executing move_to over 6 steps (0.6s)

step 14

assistant

agent noteThe right gripper has stopped at about 5.8 cm wide around the green fruit, consistent with a grasp. I’m lifting it a short distance to verify that it follows the jaws, while keeping the idle arm parked.

move_to

right_z0.1100left_x0.2960left_y-0.0020left_z0.1840

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0303, 0.8074, 0.6132, -0.4065, -0.0135, -0.0311, 0.9926, 0.0093, 1.4544, 0.2703, 0.6144, -0.0017, -0.0349, 0.6116] state[eef_state]: left_x=0.2932 left_y=-0.0029 left_z=0.1751 left_yaw=-0.0019 left_pitch=-0.0324 left_roll=-0.0005 left_gripper=0.9926 right_x=0.3452 right_y=0.0071 right_z=0.037 right_yaw=0.0235 right_pitch=-0.0013 right_roll=-0.0149 right_gripper=0.6116 state[joint_eff]: [-0.1846, -1.6615, 7.0085, 1.7949, -0.0415, -0.0513, -0.0269, -0.4034, -2.8786, 4.6838, 1.072, -0.0073, 0.022, 0.8278] camera 'top_cam' (step 14): [image omitted: streamed camera frame] camera 'left_cam' (step 14): [image omitted: streamed camera frame] camera 'right_cam' (step 14): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.11,"left_x":0.296,"left_y":-0.002,"left_z":0.184},"note":"The right gripper has stopped at about 5.8 cm wide around the green fruit, consistent with a grasp. I’m lifting it a short distance to verify that it follows the jaws, while keeping the idle arm parked."})

tool

executing move_to over 5 steps (0.5s)

step 19

assistant

agent noteThe green fruit has lifted with the gripper. I’m carrying it up and toward the center of the blue bowl, keeping it above the bowl’s rim.

move_to

right_x0.4550right_y0.1050right_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]: [-0.0284, 0.8249, 0.6235, -0.432, -0.0135, -0.0311, 0.9926, 0.0093, 1.1549, 0.4244, 0.1165, -0.0051, -0.0383, 0.6143] state[eef_state]: left_x=0.2919 left_y=-0.0023 left_z=0.1698 left_yaw=0.0 left_pitch=-0.0652 left_roll=0.0005 left_gripper=0.9926 right_x=0.3376 right_y=0.0077 right_z=0.0927 right_yaw=0.0283 right_pitch=-0.0456 right_roll=-0.0152 right_gripper=0.6143 state[joint_eff]: [0.294, -1.4291, 9.6479, 1.7118, -0.0073, 0.0024, -0.0171, -0.3487, -4.3556, 8.9504, 1.7753, -0.0122, -0.0171, 0.2662] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.455,"right_y":0.105,"right_z":0.19},"note":"The green fruit has lifted with the gripper. I’m carrying it up and toward the center of the blue bowl, keeping it above the bowl’s rim."})

tool

executing move_to over 10 steps (1.0s)

step 29

assistant

agent noteThe gripper is above the blue bowl, with the green fruit still secured. I’m lowering to just above the opening and shifting slightly inward before releasing.

move_to

right_x0.4550right_y0.1200right_z0.1050

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0284, 0.8303, 0.6243, -0.4423, -0.0139, -0.0311, 0.9925, 0.3103, 1.5879, 1.1358, -0.2642, 0.2138, 0.1139, 0.6165] state[eef_state]: left_x=0.2908 left_y=-0.0022 left_z=0.1667 left_yaw=0.0004 left_pitch=-0.0801 left_roll=0.0011 left_gripper=0.9925 right_x=0.4429 right_y=0.1064 right_z=0.1637 right_yaw=0.0612 right_pitch=-0.1288 right_roll=-0.0404 right_gripper=0.6165 state[joint_eff]: [-0.1026, -1.6342, 7.159, 1.8095, -0.0757, -0.022, -0.0171, -0.4855, -8.4581, 9.4154, 2.0195, 0.3053, 0.2369, 0.2173] camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.455,"right_y":0.12,"right_z":0.105},"note":"The gripper is above the blue bowl, with the green fruit still secured. I’m lowering to just above the opening and shifting slightly inward before releasing."})

tool

executing move_to over 4 steps (0.4s)

step 33

assistant

agent noteThe green fruit is positioned within the blue bowl’s rim. I’m opening the jaws to leave it in the bowl.

move_to

right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0284, 0.8303, 0.6243, -0.4465, -0.0139, -0.0311, 0.9925, 0.3321, 1.7309, 1.0344, -0.075, 0.2134, 0.1162, 0.6186] state[eef_state]: left_x=0.2902 left_y=-0.0022 left_z=0.1658 left_yaw=0.0004 left_pitch=-0.0843 left_roll=0.0013 left_gripper=0.9925 right_x=0.4483 right_y=0.1188 right_z=0.0924 right_yaw=0.0799 right_pitch=-0.1823 right_roll=-0.0523 right_gripper=0.6186 state[joint_eff]: [-0.335, -1.3333, 6.9675, 1.7509, -0.0562, -0.0659, -0.0073, 0.335, -9.3744, 6.5026, 1.9707, 0.2613, 0.1148, 0.2125] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1},"note":"The green fruit is positioned within the blue bowl’s rim. I’m opening the jaws to leave it in the bowl."})

tool

executing move_to over 4 steps (0.4s)

step 37

assistant

agent noteThe green fruit is now resting inside the blue bowl. I’m lifting away and approaching the yellow fruit next.

move_to

right_x0.3350right_y0.2000right_z0.1450

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, 0.8303, 0.6243, -0.4503, -0.0135, -0.0315, 0.9925, 0.3317, 1.7309, 1.0344, -0.0841, 0.2089, 0.1112, 0.9955] state[eef_state]: left_x=0.2896 left_y=-0.0023 left_z=0.1651 left_yaw=0.0003 left_pitch=-0.0881 left_roll=0.0008 left_gripper=0.9925 right_x=0.4468 right_y=0.1189 right_z=0.0907 right_yaw=0.0856 right_pitch=-0.1922 right_roll=-0.0551 right_gripper=0.9955 state[joint_eff]: [-0.0615, -1.4564, 7.0222, 1.6923, -0.0366, -0.0366, -0.0122, -0.294, -8.5402, 6.5573, 1.6337, 0.0904, 0.0806, 0.0855] camera 'top_cam' (step 37): [image omitted: streamed camera frame] camera 'left_cam' (step 37): [image omitted: streamed camera frame] camera 'right_cam' (step 37): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.335,"right_y":0.20,"right_z":0.145},"note":"The green fruit is now resting inside the blue bowl. I’m lifting away and approaching the yellow fruit next."})

tool

executing move_to over 9 steps (0.9s)

step 46

assistant

agent noteThe yellow fruit is aligned with the jaw column in the wrist camera. I’m advancing slightly and lowering the open gripper around it.

move_to

right_x0.3500right_y0.2000right_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]: [-0.0303, 0.8322, 0.6243, -0.4538, -0.0135, -0.0311, 0.9925, 0.7414, 1.4914, 0.9916, -0.4198, 0.4603, 0.4053, 0.9964] state[eef_state]: left_x=0.2892 left_y=-0.0028 left_z=0.1639 left_yaw=-0.0018 left_pitch=-0.0934 left_roll=0.0013 left_gripper=0.9925 right_x=0.3318 right_y=0.2023 right_z=0.129 right_yaw=0.1171 right_pitch=-0.227 right_roll=-0.0759 right_gripper=0.9964 state[joint_eff]: [0.0479, -1.6068, 7.3094, 1.6874, -0.0415, -0.0659, -0.0122, -0.335, -7.9658, 8.5675, 1.3407, 0.4908, 0.1294, 0.0904] camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.35,"right_y":0.2,"right_z":0.025},"note":"The yellow fruit is aligned with the jaw column in the wrist camera. I’m advancing slightly and lowering the open gripper around it."})

tool

executing move_to over 7 steps (0.7s)

step 53

assistant

agent noteThe yellow fruit is between the fingertips, slightly left of center. I’m making a small centering adjustment and closing gently around it.

move_to

right_y0.2080right_gripper0.2800

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]: [-0.0303, 0.8341, 0.6243, -0.4686, -0.0139, -0.0311, 0.9925, 0.6952, 1.7432, 0.7849, 0.0296, 0.429, 0.3664, 0.9965] state[eef_state]: left_x=0.287 left_y=-0.0027 left_z=0.1605 left_yaw=-0.0014 left_pitch=-0.1102 left_roll=0.002 left_gripper=0.9925 right_x=0.3469 right_y=0.1983 right_z=0.0215 right_yaw=0.115 right_pitch=-0.2505 right_roll=-0.0877 right_gripper=0.9965 state[joint_eff]: [-0.1573, -1.4017, 6.9402, 1.7753, -0.0464, -0.0366, -0.0122, -0.1709, -7.9385, 4.9299, 1.4969, 0.1978, -0.0464, -0.0024] camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_y":0.208,"right_gripper":0.28},"note":"The yellow fruit is between the fingertips, slightly left of center. I’m making a small centering adjustment and closing gently around it."})

tool

executing move_to over 8 steps (0.8s)

step 61

assistant

agent noteThe gripper has settled around the yellow fruit at a plausible holding width. I’m lifting to check the grasp and refreshing the idle arm’s parked height.

move_to

right_z0.0950left_x0.2960left_y-0.0020left_z0.2000left_pitch0.0500

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0303, 0.8345, 0.6243, -0.4721, -0.0139, -0.0311, 0.9925, 0.7124, 1.7462, 0.7879, 0.0246, 0.4339, 0.371, 0.4681] state[eef_state]: left_x=0.2865 left_y=-0.0026 left_z=0.1598 left_yaw=-0.0014 left_pitch=-0.114 left_roll=0.0021 left_gripper=0.9925 right_x=0.3437 right_y=0.2034 right_z=0.021 right_yaw=0.1252 right_pitch=-0.2522 right_roll=-0.0908 right_gripper=0.4681 state[joint_eff]: [-0.0752, -1.347, 6.9402, 1.7118, -0.0513, -0.0415, -0.0122, 0.4855, -5.7094, 7.4735, 1.2039, 0.2515, 0.1343, 0.9206] camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.095,"left_x":0.296,"left_y":-0.002,"left_z":0.2,"left_pitch":0.05},"note":"The gripper has settled around the yellow fruit at a plausible holding width. I’m lifting to check the grasp and refreshing the idle arm’s parked height."})

tool

executing move_to over 6 steps (0.6s)

step 67

assistant

agent noteThe yellow fruit has risen with the gripper. I’m carrying it above the blue bowl, where the green fruit is already resting.

move_to

right_x0.4550right_y0.1200right_z0.1900right_pitch0.1500

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0299, 0.7795, 0.6243, -0.4213, -0.0139, -0.0334, 0.9925, 0.7113, 1.6058, 0.9306, -0.3084, 0.4294, 0.3668, 0.47] state[eef_state]: left_x=0.2906 left_y=-0.0027 left_z=0.1846 left_yaw=0.0 left_pitch=-0.0084 left_roll=-0.0028 left_gripper=0.9925 right_x=0.3379 right_y=0.1989 right_z=0.0776 right_yaw=0.1221 right_pitch=-0.2961 right_roll=-0.1192 right_gripper=0.47 state[joint_eff]: [0.1709, -1.7026, 7.8154, 2.1416, -0.0269, 0.0562, -0.0122, 0.0479, -9.0325, 7.9521, 1.2918, 0.1832, 0.0269, 0.1929] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 67): [image omitted: streamed camera frame] camera 'left_cam' (step 67): [image omitted: streamed camera frame] camera 'right_cam' (step 67): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.455,"right_y":0.12,"right_z":0.19,"right_pitch":0.15},"note":"The yellow fruit has risen with the gripper. I’m carrying it above the blue bowl, where the green fruit is already resting."})

tool

executing move_to over 15 steps (1.5s)

step 82

assistant

agent noteThe yellow fruit is directly over the blue bowl’s opening. I’m lowering a little and opening the gripper so it joins the green fruit.

move_to

right_z0.1150right_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]: [-0.0303, 0.7803, 0.6243, -0.4294, -0.0139, -0.0338, 0.9925, 0.3641, 1.5517, 0.9188, 0.0795, 0.2897, -0.004, 0.472] state[eef_state]: left_x=0.2896 left_y=-0.0027 left_z=0.1828 left_yaw=-0.0002 left_pitch=-0.0172 left_roll=-0.0029 left_gripper=0.9925 right_x=0.4389 right_y=0.1171 right_z=0.1538 right_yaw=0.1169 right_pitch=0.0342 right_roll=-0.1405 right_gripper=0.472 state[joint_eff]: [-0.1436, -1.2103, 7.0359, 1.8193, -0.0562, -0.0611, -0.0122, -0.335, -7.8291, 9.7709, 2.1074, -0.0171, -0.0513, 0.1929] camera 'top_cam' (step 82): [image omitted: streamed camera frame] camera 'left_cam' (step 82): [image omitted: streamed camera frame] camera 'right_cam' (step 82): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.115,"right_gripper":1},"note":"The yellow fruit is directly over the blue bowl’s opening. I’m lowering a little and opening the gripper so it joins the green fruit."})

tool

executing move_to over 6 steps (0.6s)

step 88

assistant

agent noteThe green and yellow fruits are in the blue bowl; the dark fruit remains beside the white bowl. I’m parking the right arm and bringing the left gripper toward the remaining fruit.

move_to

left_x0.2900left_y-0.2850left_z0.1300left_gripper1.0000right_x0.2960right_y0.0000right_z0.2000right_pitch0.1000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0303, 0.7807, 0.6243, -0.4316, -0.0135, -0.0338, 0.9925, 0.3599, 1.5745, 0.8867, 0.115, 0.279, -0.0113, 0.9959] state[eef_state]: left_x=0.2893 left_y=-0.0028 left_z=0.1822 left_yaw=-0.0005 left_pitch=-0.0199 left_roll=-0.003 left_gripper=0.9925 right_x=0.4372 right_y=0.1164 right_z=0.137 right_yaw=0.1256 right_pitch=0.0134 right_roll=-0.1458 right_gripper=0.9959 state[joint_eff]: [-0.0205, -1.1556, 6.9812, 1.7314, -0.0269, -0.0513, -0.0122, 0.1436, -7.3778, 6.694, 1.8828, 0.1148, 0.0904, 0.0269] approver: 1 step(s) modified (delta_clamped). 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":{"left_x":0.29,"left_y":-0.285,"left_z":0.13,"left_gripper":1,"right_x":0.296,"right_y":0,"right_z":0.2,"right_pitch":0.1},"note":"The green and yellow fruits are in the blue bowl; the dark fruit remains beside the white bowl. I’m parking the right arm and bringing the left gripper toward the remaining fruit."})

tool

executing move_to over 26 steps (2.6s)

step 114

assistant

agent noteThe dark fruit is visible just left of the left gripper’s centerline. I’m shifting toward it and lowering the open jaws to grasp near its middle.

move_to

left_x0.3050left_y-0.2520left_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]: [-1.1034, 1.6424, 1.0149, -0.3672, -0.807, -0.8383, 0.9933, -0.0559, 0.7498, 0.5888, -0.284, -0.0559, -0.21, 0.9965] state[eef_state]: left_x=0.287 left_y=-0.2776 left_z=0.1189 left_yaw=-0.0132 left_pitch=-0.0505 left_roll=0.0176 left_gripper=0.9933 right_x=0.3012 right_y=-0.0034 right_z=0.206 right_yaw=0.099 right_pitch=0.117 right_roll=-0.1523 right_gripper=0.9965 state[joint_eff]: [-0.6085, -7.9658, 8.0752, 1.0916, -0.6325, -0.0366, -0.7009, -0.1573, -1.1966, 6.2017, 1.7802, -0.105, 0.0024, 0.0464] camera 'top_cam' (step 114): [image omitted: streamed camera frame] camera 'left_cam' (step 114): [image omitted: streamed camera frame] camera 'right_cam' (step 114): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.305,"left_y":-0.252,"left_z":0.025},"note":"The dark fruit is visible just left of the left gripper’s centerline. I’m shifting toward it and lowering the open jaws to grasp near its middle."})

tool

executing move_to over 7 steps (0.7s)

step 121

assistant

agent noteThe dark fruit is within the open jaws but still a little left of center. I’m making a final small alignment correction and closing around it.

move_to

left_y-0.2350left_gripper0.2500

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.018, 1.7943, 0.7658, 0.0433, -0.762, -0.7555, 0.9927, -0.0601, 0.7544, 0.5827, -0.3122, -0.0647, -0.2211, 0.9965] state[eef_state]: left_x=0.2989 left_y=-0.2453 left_z=0.0258 left_yaw=0.0011 left_pitch=-0.0794 left_roll=0.0575 left_gripper=0.9927 right_x=0.2979 right_y=-0.0029 right_z=0.1956 right_yaw=0.1075 right_pitch=0.0783 right_roll=-0.152 right_gripper=0.9965 state[joint_eff]: [0.3214, -7.1863, 5.012, 1.3993, -0.3053, 0.1099, -0.0806, 0.2667, -1.388, 7.8564, 2.0635, 0.0464, 0.0562, -0.0122] camera 'top_cam' (step 121): [image omitted: streamed camera frame] camera 'left_cam' (step 121): [image omitted: streamed camera frame] camera 'right_cam' (step 121): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_y":-0.235,"left_gripper":0.25},"note":"The dark fruit is within the open jaws but still a little left of center. I’m making a final small alignment correction and closing around it."})

tool

executing move_to over 8 steps (0.8s)

step 129

assistant

agent noteThe dark fruit is held at a gripper width of about 5 cm. I’m lifting it to verify the grasp before transferring it to the blue bowl.

move_to

left_z0.0950

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.0039, 1.8, 0.7319, 0.0673, -0.7502, -0.7475, 0.5327, -0.0608, 0.7547, 0.5827, -0.3195, -0.0612, -0.2214, 0.9965] state[eef_state]: left_x=0.297 left_y=-0.2355 left_z=0.0156 left_yaw=0.0052 left_pitch=-0.0963 left_roll=0.072 left_gripper=0.5327 right_x=0.2971 right_y=-0.0037 right_z=0.1939 right_yaw=0.104 right_pitch=0.0705 right_roll=-0.1527 right_gripper=0.9965 state[joint_eff]: [0.3761, -10.1402, 4.4923, 1.2234, -0.3687, 0.1148, 0.9353, -0.1573, -0.7179, 7.1726, 1.8584, -0.0659, -0.0269, -0.0073] camera 'top_cam' (step 129): [image omitted: streamed camera frame] camera 'left_cam' (step 129): [image omitted: streamed camera frame] camera 'right_cam' (step 129): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.095},"note":"The dark fruit is held at a gripper width of about 5 cm. I’m lifting it to verify the grasp before transferring it to the blue bowl."})

tool

executing move_to over 6 steps (0.6s)

step 135

assistant

agent noteThe dark fruit is securely lifted, but the blue bowl is beyond the left arm’s sideways reach. I’m holding the fruit clear while bringing the right gripper toward the blue bowl’s outer rim so I can move the bowl toward the middle.

move_to

left_z0.2000right_x0.4400right_y0.0600right_z0.1450right_pitch0.1000right_gripper0.6500

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.0035, 1.6199, 0.8486, -0.2283, -0.7433, -0.7567, 0.5358, -0.0608, 0.7547, 0.5827, -0.3199, -0.0616, -0.2214, 0.9965] state[eef_state]: left_x=0.2966 left_y=-0.2363 left_z=0.0797 left_yaw=0.0064 left_pitch=-0.1003 left_roll=0.0607 left_gripper=0.5358 right_x=0.297 right_y=-0.0036 right_z=0.1938 right_yaw=0.1043 right_pitch=0.0702 right_roll=-0.1524 right_gripper=0.9965 state[joint_eff]: [-0.1436, -8.335, 8.0889, 1.1258, -0.442, 0.0366, 0.6374, -0.1162, -0.841, 7.0769, 1.8193, -0.0855, -0.0317, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). 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":{"left_z":0.2,"right_x":0.44,"right_y":0.06,"right_z":0.145,"right_pitch":0.1,"right_gripper":0.65},"note":"The dark fruit is securely lifted, but the blue bowl is beyond the left arm’s sideways reach. I’m holding the fruit clear while bringing the right gripper toward the blue bowl’s outer rim so I can move the bowl toward the middle."})

tool

executing move_to over 11 steps (1.1s)

step 146

assistant

agent noteThe blue bowl’s right-hand rim is visible beside the fruit. I’m lowering the gripper so one finger is inside the bowl and the other outside that rim.

move_to

right_x0.4600right_y0.0700right_z0.0550right_gripper0.4500

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]: [-1.0035, 1.512, 1.1751, -0.6857, -0.7399, -0.7643, 0.5379, 0.1883, 1.4937, 0.7345, 0.1955, 0.1375, -0.131, 0.6523] state[eef_state]: left_x=0.2969 left_y=-0.2377 left_z=0.1802 left_yaw=0.0106 left_pitch=-0.1147 left_roll=0.0726 left_gripper=0.5379 right_x=0.4223 right_y=0.0595 right_z=0.1194 right_yaw=0.1364 right_pitch=0.0012 right_roll=-0.1706 right_gripper=0.6523 state[joint_eff]: [-0.0342, -8.2803, 9.1692, 1.1062, -0.4274, 0.0171, 0.569, 0.1983, -7.1453, 8.4581, 2.1074, 0.1685, 0.149, 0.0952] camera 'top_cam' (step 146): [image omitted: streamed camera frame] camera 'left_cam' (step 146): [image omitted: streamed camera frame] camera 'right_cam' (step 146): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.46,"right_y":0.07,"right_z":0.055,"right_gripper":0.45},"note":"The blue bowl’s right-hand rim is visible beside the fruit. I’m lowering the gripper so one finger is inside the bowl and the other outside that rim."})

tool

executing move_to over 5 steps (0.5s)

step 151

assistant

agent noteThe jaws are straddling the blue bowl’s outer rim. I’m closing fully to pinch the thin rim 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]: [-1.0035, 1.5063, 1.1778, -0.6987, -0.7395, -0.7643, 0.5409, 0.1936, 1.7931, 0.7422, 0.4072, 0.1444, -0.1349, 0.4519] state[eef_state]: left_x=0.2958 left_y=-0.236 left_z=0.1817 left_yaw=0.0109 left_pitch=-0.1174 left_roll=0.0764 left_gripper=0.5409 right_x=0.4438 right_y=0.0648 right_z=0.0398 right_yaw=0.1378 right_pitch=-0.079 right_roll=-0.1819 right_gripper=0.4519 state[joint_eff]: [-0.1573, -6.1333, 6.4889, 1.2381, -0.3297, -0.0073, 0.3004, 0.4171, -8.3761, 7.7333, 1.9951, 0.0415, 0.0757, -0.022] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 151): [image omitted: streamed camera frame] camera 'left_cam' (step 151): [image omitted: streamed camera frame] camera 'right_cam' (step 151): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"The jaws are straddling the blue bowl’s outer rim. I’m closing fully to pinch the thin rim before lifting."})

tool

executing move_to over 5 steps (0.5s)

step 156

assistant

agent noteThe jaws have closed to a thin-rim-sized gap, which needs a visual lift check. I’m raising the bowl a few centimeters while keeping it level.

move_to

right_z0.1200

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.0035, 1.5063, 1.1778, -0.6994, -0.7395, -0.7666, 0.5432, 0.1986, 1.8183, 0.749, 0.4763, 0.1257, -0.1276, 0.0371] state[eef_state]: left_x=0.2957 left_y=-0.2359 left_z=0.1816 left_yaw=0.0122 left_pitch=-0.1178 left_roll=0.0752 left_gripper=0.5432 right_x=0.4533 right_y=0.0723 right_z=0.045 right_yaw=0.1549 right_pitch=-0.0282 right_roll=-0.1627 right_gripper=0.0371 state[joint_eff]: [-0.0752, -6.5573, 6.4889, 1.1404, -0.4176, 0.0073, 0.2173, -0.0342, -8.3487, 6.612, 1.7851, 0.3004, -0.022, 0.8132] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 156): [image omitted: streamed camera frame] camera 'left_cam' (step 156): [image omitted: streamed camera frame] camera 'right_cam' (step 156): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.12},"note":"The jaws have closed to a thin-rim-sized gap, which needs a visual lift check. I’m raising the bowl a few centimeters while keeping it level."})

tool

executing move_to over 5 steps (0.5s)

step 161

assistant

agent noteThe right arm barely rose at this extended pose, so I cannot yet confirm the bowl is free of the table. I’m retracting slightly while raising it to give the arm a less stretched lifting posture.

move_to

right_x0.4200right_z0.1800right_pitch0.0500

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.0035, 1.5063, 1.1778, -0.6998, -0.7391, -0.7666, 0.5447, 0.1993, 1.8175, 0.7582, 0.4938, 0.1257, -0.1272, 0.0374] state[eef_state]: left_x=0.2957 left_y=-0.2359 left_z=0.1815 left_yaw=0.012 left_pitch=-0.1182 left_roll=0.0754 left_gripper=0.5447 right_x=0.4585 right_y=0.0737 right_z=0.0524 right_yaw=0.1554 right_pitch=-0.0007 right_roll=-0.1611 right_gripper=0.0374 state[joint_eff]: [0.0752, -6.6256, 6.5026, 1.1453, -0.3297, -0.0317, 0.1441, -0.335, -8.6496, 5.9556, 1.663, 0.1783, -0.0464, 1.033] camera 'top_cam' (step 161): [image omitted: streamed camera frame] camera 'left_cam' (step 161): [image omitted: streamed camera frame] camera 'right_cam' (step 161): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.42,"right_z":0.18,"right_pitch":0.05},"note":"The right arm barely rose at this extended pose, so I cannot yet confirm the bowl is free of the table. I’m retracting slightly while raising it to give the arm a less stretched lifting posture."})

tool

executing move_to over 9 steps (0.9s)

step 170

assistant

agent noteThe blue bowl and both fruits have lifted together, confirming the rim grasp. I’m moving the level bowl toward the middle so the left arm can add the last fruit.

move_to

right_x0.4200right_y0.2800right_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]: [-1.0035, 1.5063, 1.1778, -0.6998, -0.7391, -0.7666, 0.546, 0.2256, 1.4197, 0.8127, 0.0261, 0.1383, -0.1314, 0.038] state[eef_state]: left_x=0.2957 left_y=-0.2359 left_z=0.1815 left_yaw=0.012 left_pitch=-0.1182 left_roll=0.0754 left_gripper=0.546 right_x=0.4147 right_y=0.0739 right_z=0.1483 right_yaw=0.1733 right_pitch=-0.016 right_roll=-0.1722 right_gripper=0.038 state[joint_eff]: [-0.1709, -6.5983, 6.4752, 1.1355, -0.3639, -0.0269, 0.1294, 0.0889, -7.3915, 10.0991, 2.1709, 0.1636, 0.1099, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 170): [image omitted: streamed camera frame] camera 'left_cam' (step 170): [image omitted: streamed camera frame] camera 'right_cam' (step 170): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.42,"right_y":0.28,"right_z":0.19},"note":"The blue bowl and both fruits have lifted together, confirming the rim grasp. I’m moving the level bowl toward the middle so the left arm can add the last fruit."})

tool

executing move_to over 18 steps (1.8s)

step 188

assistant

agent noteThe blue bowl is now beside the white bowl and within the left arm’s reach. I’m lowering it onto the table while retaining the rim grasp, leaving room above it for the final fruit.

move_to

right_z0.0650

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.0035, 1.5063, 1.1778, -0.7021, -0.7395, -0.767, 0.5476, 0.7673, 1.8027, 1.3636, -0.3431, 0.5411, 0.1665, 0.0388] state[eef_state]: left_x=0.2955 left_y=-0.2355 left_z=0.1813 left_yaw=0.0127 left_pitch=-0.1192 left_roll=0.0772 left_gripper=0.5476 right_x=0.4099 right_y=0.2739 right_z=0.1631 right_yaw=0.2226 right_pitch=-0.0988 right_roll=-0.2312 right_gripper=0.0388 state[joint_eff]: [-0.1846, -6.2427, 6.4615, 1.1404, -0.3883, -0.022, 0.1441, 0.2256, -10.2632, 9.8667, 1.7656, 0.3834, 0.3394, 0.9988] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 188): [image omitted: streamed camera frame] camera 'left_cam' (step 188): [image omitted: streamed camera frame] camera 'right_cam' (step 188): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.065},"note":"The blue bowl is now beside the white bowl and within the left arm’s reach. I’m lowering it onto the table while retaining the rim grasp, leaving room above it for the final fruit."})

tool

executing move_to over 7 steps (0.7s)

step 195

assistant

agent noteThe right arm is holding the blue bowl steady near table height. I’m moving the dark fruit above the bowl, with vertical clearance over the right gripper.

move_to

left_x0.4050left_y-0.3250left_z0.2000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.0035, 1.5063, 1.1778, -0.7074, -0.7391, -0.767, 0.549, 0.7685, 1.9148, 1.1454, -0.0608, 0.5377, 0.165, 0.0389] state[eef_state]: left_x=0.2949 left_y=-0.2348 left_z=0.1807 left_yaw=0.013 left_pitch=-0.1223 left_roll=0.0816 left_gripper=0.549 right_x=0.403 right_y=0.2687 right_z=0.0696 right_yaw=0.2241 right_pitch=-0.1414 right_roll=-0.2553 right_gripper=0.0389 state[joint_eff]: [-0.0342, -6.612, 6.5983, 1.1648, -0.3248, -0.0269, 0.1343, -0.1026, -7.9795, 5.5453, 1.5458, 0.2076, 0.0171, 0.6862] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 195): [image omitted: streamed camera frame] camera 'left_cam' (step 195): [image omitted: streamed camera frame] camera 'right_cam' (step 195): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.405,"left_y":-0.325,"left_z":0.2},"note":"The right arm is holding the blue bowl steady near table height. I’m moving the dark fruit above the bowl, with vertical clearance over the right gripper."})

tool

executing move_to over 9 steps (0.9s)

step 204

assistant

agent noteThe arms contacted each other before the left fruit reached the bowl, so I’m backing the left arm up and away. I’m also releasing the blue bowl onto the table so the right arm can clear the placement area.

move_to

left_x0.3000left_y-0.2350left_z0.3000right_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]: [-0.9245, 1.9434, 1.7775, -1.1156, -0.6907, -0.6632, 0.5496, 0.6502, 1.9327, 1.1339, -0.0574, 0.5106, 0.1688, 0.039] state[eef_state]: left_x=0.3495 left_y=-0.2705 left_z=0.1791 left_yaw=0.0556 left_pitch=-0.304 left_roll=0.3436 left_gripper=0.5496 right_x=0.4276 right_y=0.2213 right_z=0.056 right_yaw=0.1225 right_pitch=-0.1735 right_roll=-0.2482 right_gripper=0.039 state[joint_eff]: [2.0718, -4.8615, 10.7829, 4.7057, -0.4029, -0.1392, 0.0464, 9.6205, -11.4256, 6.8991, 1.3407, 0.3541, -0.0513, 1.033] camera 'top_cam' (step 204): [image omitted: streamed camera frame] camera 'left_cam' (step 204): [image omitted: streamed camera frame] camera 'right_cam' (step 204): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.3,"left_y":-0.235,"left_z":0.3,"right_gripper":1},"note":"The arms contacted each other before the left fruit reached the bowl, so I’m backing the left arm up and away. I’m also releasing the blue bowl onto the table so the right arm can clear the placement area."})

tool

executing move_to over 10 steps (1.0s)

step 214

assistant

agent noteThe blue bowl is released and the dark fruit is still held above the table. I’m moving the right arm back to its home side to clear the left arm’s path completely.

move_to

right_x0.2960right_y0.0000right_z0.2300

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]: [-0.9653, 1.874, 2.0796, -1.5166, -0.6868, -0.7223, 0.5504, 0.6476, 1.9358, 1.1336, -0.0719, 0.5114, 0.1627, 0.9953] state[eef_state]: left_x=0.311 left_y=-0.2462 left_z=0.2731 left_yaw=0.0527 left_pitch=-0.3131 left_roll=0.3273 left_gripper=0.5504 right_x=0.4261 right_y=0.2184 right_z=0.0524 right_yaw=0.1208 right_pitch=-0.1896 right_roll=-0.2625 right_gripper=0.9953 state[joint_eff]: [-0.0342, -11.6855, 6.653, 0.5495, -0.5592, 0.0855, 0.0757, -0.0342, -10.2359, 5.9829, 1.5116, 0.2125, 0.0757, 0.1538] approver: 3 step(s) modified (delta_clamped ×3). 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":0.296,"right_y":0,"right_z":0.23},"note":"The blue bowl is released and the dark fruit is still held above the table. I’m moving the right arm back to its home side to clear the left arm’s path completely."})

tool

executing move_to over 19 steps (1.9s)

step 233

assistant

agent noteThe right arm is clear, and the blue bowl still contains the first two fruits. I’m bringing the dark fruit over its center from above.

move_to

left_x0.4300left_y-0.3700left_z0.2150left_pitch0.1500left_roll-0.1500

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.9646, 1.8622, 2.0789, -1.5368, -0.6796, -0.7227, 0.5511, 0.0582, 0.9844, 0.952, -0.7151, 0.1322, -0.2516, 0.9963] state[eef_state]: left_x=0.307 left_y=-0.2417 left_z=0.2753 left_yaw=0.0532 left_pitch=-0.3238 left_roll=0.3313 left_gripper=0.5511 right_x=0.3013 right_y=-0.0022 right_z=0.2174 right_yaw=0.0744 right_pitch=-0.1971 right_roll=-0.266 right_gripper=0.9963 state[joint_eff]: [-0.4308, -7.8154, 5.4769, 0.8718, -0.5104, -0.0024, 0.0611, -0.253, -2.7282, 9.3333, 1.6093, -0.0611, -0.0269, 0.0952] camera 'top_cam' (step 233): [image omitted: streamed camera frame] camera 'left_cam' (step 233): [image omitted: streamed camera frame] camera 'right_cam' (step 233): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.43,"left_y":-0.37,"left_z":0.215,"left_pitch":0.15,"left_roll":-0.15},"note":"The right arm is clear, and the blue bowl still contains the first two fruits. I’m bringing the dark fruit over its center from above."})

tool

executing move_to over 16 steps (1.6s)

step 249

assistant

agent noteThe dark fruit is over the blue bowl but slightly toward its outer edge. I’m shifting inward and lowering it closer to the opening before releasing.

move_to

left_y-0.3450left_z0.1450

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]: [-0.9447, 2.0388, 1.7332, -0.4187, -0.7826, -0.6796, 0.5512, 0.0563, 0.9901, 0.9554, -0.7448, 0.1253, -0.2699, 0.9965] state[eef_state]: left_x=0.4186 left_y=-0.3602 left_z=0.2019 left_yaw=0.0464 left_pitch=0.0756 left_roll=-0.0903 left_gripper=0.5512 right_x=0.2972 right_y=-0.0018 right_z=0.2119 right_yaw=0.0884 right_pitch=-0.2317 right_roll=-0.2737 right_gripper=0.9965 state[joint_eff]: [0.3897, -11.1385, 6.612, 1.8095, -0.4713, 0.1538, -0.0024, 0.0342, -2.4821, 6.4068, 1.8339, 0.0708, 0.1441, -0.0024] camera 'top_cam' (step 249): [image omitted: streamed camera frame] camera 'left_cam' (step 249): [image omitted: streamed camera frame] camera 'right_cam' (step 249): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_y":-0.345,"left_z":0.145},"note":"The dark fruit is over the blue bowl but slightly toward its outer edge. I’m shifting inward and lowering it closer to the opening before releasing."})

tool

executing move_to over 4 steps (0.4s)

step 253

assistant

agent noteThe dark fruit is inside the blue bowl’s opening above the other two fruits. I’m opening the left gripper to complete loading the bowl.

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]: [-0.9295, 2.0422, 1.4998, -0.2436, -0.7685, -0.6727, 0.5512, 0.0563, 0.9913, 0.9543, -0.746, 0.1253, -0.2733, 0.9965] state[eef_state]: left_x=0.4124 left_y=-0.3411 left_z=0.1328 left_yaw=0.0452 left_pitch=0.0336 left_roll=-0.0382 left_gripper=0.5512 right_x=0.297 right_y=-0.0018 right_z=0.2109 right_yaw=0.0902 right_pitch=-0.2357 right_roll=-0.2761 right_gripper=0.9965 state[joint_eff]: [0.3624, -12.3009, 7.5692, 1.9365, -0.3443, 0.0806, -0.0122, -0.0205, -2.1949, 7.0769, 1.5556, 0.0073, -0.0122, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 253): [image omitted: streamed camera frame] camera 'left_cam' (step 253): [image omitted: streamed camera frame] camera 'right_cam' (step 253): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":1},"note":"The dark fruit is inside the blue bowl’s opening above the other two fruits. I’m opening the left gripper to complete loading the bowl."})

tool

executing move_to over 5 steps (0.5s)

step 258

assistant

agent noteAll three fruits are now in the blue bowl. I’m clearing the left arm and positioning the right gripper above the bowl’s outer rim for the pour into the white bowl.

move_to

left_x0.2960left_y-0.0020left_z0.2500left_pitch0.0500left_roll0.0000right_x0.4250right_y0.2200right_z0.1700right_pitch0.2000right_roll0.1000right_gripper0.5000

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]: [-0.923, 2.0422, 1.4826, -0.1928, -0.7666, -0.6735, 0.9923, 0.0559, 0.9913, 0.9543, -0.7467, 0.1253, -0.2733, 0.9965] state[eef_state]: left_x=0.4165 left_y=-0.3413 left_z=0.1333 left_yaw=0.0519 left_pitch=0.0513 left_roll=-0.0674 left_gripper=0.9923 right_x=0.2969 right_y=-0.0019 right_z=0.2107 right_yaw=0.0899 right_pitch=-0.2364 right_roll=-0.276 right_gripper=0.9965 state[joint_eff]: [0.0205, -12.4103, 7.0222, 1.6239, -0.3346, 0.1148, -0.7204, -0.1573, -2.3043, 6.7077, 1.5311, 0.0073, -0.0415, -0.0122] camera 'top_cam' (step 258): [image omitted: streamed camera frame] camera 'left_cam' (step 258): [image omitted: streamed camera frame] camera 'right_cam' (step 258): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.296,"left_y":-0.002,"left_z":0.25,"left_pitch":0.05,"left_roll":0,"right_x":0.425,"right_y":0.22,"right_z":0.17,"right_pitch":0.2,"right_roll":0.1,"right_gripper":0.5},"note":"All three fruits are now in the blue bowl. I’m clearing the left arm and positioning the right gripper above the bowl’s outer rim for the pour into the white bowl."})

tool

executing move_to over 31 steps (3.1s)

step 289

assistant

agent noteThe blue bowl’s outer rim is aligned between the right fingertips, with all three fruits visible inside. I’m lowering the open jaws around that rim.

move_to

right_x0.4350right_y0.2250right_z0.0550right_gripper0.4000

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]: [-0.1135, 0.8303, 0.8257, -0.5343, -0.1806, -0.1368, 0.9919, 0.6281, 1.6306, 0.8883, 0.2226, 0.4309, 0.252, 0.5011] state[eef_state]: left_x=0.2987 left_y=0.0015 left_z=0.2408 left_yaw=0.1124 left_pitch=0.0389 left_roll=-0.0082 left_gripper=0.9919 right_x=0.4112 right_y=0.2118 right_z=0.1398 right_yaw=0.1255 right_pitch=0.1001 right_roll=0.0297 right_gripper=0.5011 state[joint_eff]: [0.3761, -1.8393, 8.7043, 1.9316, 0.0562, 0.1197, -0.0611, 0.253, -7.7744, 9.7162, 2.0879, 0.2271, 0.1587, -0.0269] camera 'top_cam' (step 289): [image omitted: streamed camera frame] camera 'left_cam' (step 289): [image omitted: streamed camera frame] camera 'right_cam' (step 289): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.435,"right_y":0.225,"right_z":0.055,"right_gripper":0.4},"note":"The blue bowl’s outer rim is aligned between the right fingertips, with all three fruits visible inside. I’m lowering the open jaws around that rim."})

tool

executing move_to over 6 steps (0.6s)

step 295

assistant

agent noteThe fingertips are on either side of the blue rim. I’m pinching it firmly so the loaded bowl can be lifted and tilted.

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]: [-0.1116, 0.8337, 0.8257, -0.5541, -0.1711, -0.1314, 0.9918, 0.617, 1.9224, 0.8585, 0.4866, 0.4221, 0.2512, 0.401] state[eef_state]: left_x=0.2967 left_y=0.0006 left_z=0.2356 left_yaw=0.1033 left_pitch=0.0152 left_roll=-0.0034 left_gripper=0.9918 right_x=0.4282 right_y=0.2194 right_z=0.0487 right_yaw=0.1241 right_pitch=0.0473 right_roll=0.0055 right_gripper=0.401 state[joint_eff]: [-0.2256, -1.6068, 6.8444, 1.9219, -0.1978, -0.0757, -0.0171, -0.1162, -9.2103, 5.641, 1.9658, 0.1343, -0.0855, -0.0317] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 295): [image omitted: streamed camera frame] camera 'left_cam' (step 295): [image omitted: streamed camera frame] camera 'right_cam' (step 295): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"The fingertips are on either side of the blue rim. I’m pinching it firmly so the loaded bowl can be lifted and tilted."})

tool

executing move_to over 5 steps (0.5s)

step 300

assistant

agent noteThe closure is very narrow, so the grasp still needs confirmation. I’m lifting and retracting slightly to check that the bowl and all three fruits move together.

move_to

right_x0.4050right_z0.1500

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.112, 0.8341, 0.8257, -0.5583, -0.1711, -0.1314, 0.9918, 0.6178, 1.9373, 0.8589, 0.5125, 0.4122, 0.2478, 0.016] state[eef_state]: left_x=0.2962 left_y=0.0006 left_z=0.2346 left_yaw=0.1029 left_pitch=0.0107 left_roll=-0.0024 left_gripper=0.9918 right_x=0.4296 right_y=0.2228 right_z=0.0467 right_yaw=0.1345 right_pitch=0.0549 right_roll=0.0126 right_gripper=0.016 state[joint_eff]: [-0.0889, -1.1692, 6.8581, 1.746, -0.105, -0.0464, -0.0122, -0.3077, -10.3726, 5.5043, 1.4628, 0.1587, 0.0024, 0.4664] camera 'top_cam' (step 300): [image omitted: streamed camera frame] camera 'left_cam' (step 300): [image omitted: streamed camera frame] camera 'right_cam' (step 300): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.405,"right_z":0.15},"note":"The closure is very narrow, so the grasp still needs confirmation. I’m lifting and retracting slightly to check that the bowl and all three fruits move together."})

tool

executing move_to over 7 steps (0.7s)

step 307

assistant

agent noteThe blue bowl is following the gripper with all three fruits still inside. I’m carrying it high toward the white bowl, positioning its pouring edge above the white bowl’s near side.

move_to

right_x0.4350right_y0.4000right_z0.2900

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]: [-0.1116, 0.8394, 0.8253, -0.5648, -0.1707, -0.1314, 0.9918, 0.6575, 1.6711, 0.9222, 0.102, 0.4267, 0.2474, 0.018] state[eef_state]: left_x=0.2959 left_y=0.0006 left_z=0.2316 left_yaw=0.103 left_pitch=-0.0013 left_roll=-0.0 left_gripper=0.9918 right_x=0.3996 right_y=0.2207 right_z=0.1128 right_yaw=0.1635 right_pitch=-0.0126 right_roll=-0.033 right_gripper=0.018 state[joint_eff]: [-0.0752, -1.7299, 6.9812, 1.8144, -0.0708, -0.0708, -0.0122, 0.2803, -10.4957, 9.6752, 2.1172, 0.4078, 0.1929, 0.8767] camera 'top_cam' (step 307): [image omitted: streamed camera frame] camera 'left_cam' (step 307): [image omitted: streamed camera frame] camera 'right_cam' (step 307): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.435,"right_y":0.4,"right_z":0.29},"note":"The blue bowl is following the gripper with all three fruits still inside. I’m carrying it high toward the white bowl, positioning its pouring edge above the white bowl’s near side."})

tool

executing move_to over 15 steps (1.5s)

step 322

assistant

agent noteThe rim grasp slipped during the transfer, and the yellow fruit has escaped onto the far side of the table. I’m opening the gripper and moving the right arm clear so I can assess the resulting positions safely.

move_to

right_x0.2960right_y0.0000right_z0.2700right_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]: [-0.1116, 0.8448, 0.8253, -0.5789, -0.1711, -0.1314, 0.9918, 0.9096, 2.3486, 2.5443, -0.9653, 0.5983, 0.3908, 0.0191] state[eef_state]: left_x=0.2947 left_y=0.0009 left_z=0.2273 left_yaw=0.1033 left_pitch=-0.0202 left_roll=0.0043 left_gripper=0.9918 right_x=0.4375 right_y=0.4061 right_z=0.2564 right_yaw=0.2027 right_pitch=-0.0462 right_roll=-0.0758 right_gripper=0.0191 state[joint_eff]: [-0.0479, -1.7846, 6.8444, 1.873, -0.0659, -0.0611, -0.0122, -0.0205, -10.906, 4.9573, 0.7497, 0.3834, 0.2759, 0.105] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 322): [image omitted: streamed camera frame] camera 'left_cam' (step 322): [image omitted: streamed camera frame] camera 'right_cam' (step 322): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.296,"right_y":0,"right_z":0.27,"right_gripper":1},"note":"The rim grasp slipped during the transfer, and the yellow fruit has escaped onto the far side of the table. I’m opening the gripper and moving the right arm clear so I can assess the resulting positions safely."})

tool

executing move_to over 34 steps (3.4s)

step 356

assistant

agent noteAll three fruits were placed in the blue bowl, but the bowl-rim grasp slipped during the attempted transfer. The yellow fruit was ejected to the far side of the table, beyond the reachable table-contact area. The fruits were not successfully poured into the white bowl; both arms are now clear.

give_up

hindsightTreat a rim grasp reading below 0.04 as insecure even if the bowl appears to shift during a small lift: a 0.019 reading here slipped and ejected fruit during transport. The first 0.038 rim pinch moved the bowl successfully, but the later thinner closure did not secure it. Clear the idle arm entirely before reaching across the middle; the arm bodies collided despite more than 10 cm between grasp points. The original blue-bowl center was approximately right_x=0.45, right_y=0.12, outside the left arm's sideways reach.

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]: [-0.112, 0.8478, 0.8253, -0.5877, -0.1711, -0.1314, 0.9918, -0.1356, 0.944, 1.0542, -0.7444, -0.1764, -0.2417, 0.9981] state[eef_state]: left_x=0.2938 left_y=0.0008 left_z=0.2247 left_yaw=0.103 left_pitch=-0.0318 left_roll=0.0069 left_gripper=0.9918 right_x=0.3007 right_y=-0.0061 right_z=0.268 right_yaw=0.1371 right_pitch=-0.0566 right_roll=-0.0789 right_gripper=0.9981 state[joint_eff]: [-0.1983, -1.6615, 6.9402, 1.7802, -0.1099, -0.0562, -0.0073, -0.2393, -2.6462, 6.5846, 1.6825, -0.2271, -0.0317, -0.0806] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 356): [image omitted: streamed camera frame] camera 'left_cam' (step 356): [image omitted: streamed camera frame] camera 'right_cam' (step 356): [image omitted: streamed camera frame]

assistant

give_up({"reason":"All three fruits were placed in the blue bowl, but the bowl-rim grasp slipped during the attempted transfer. The yellow fruit was ejected to the far side of the table, beyond the reachable table-contact area. The fruits were not successfully poured into the white bowl; both arms are now clear.","hindsight":"Treat a rim grasp reading below 0.04 as insecure even if the bowl appears to shift during a small lift: a 0.019 reading here slipped and ejected fruit during transport. The first 0.038 rim pinch moved the bowl successfully, but the later thinner closure did not secure it. Clear the idle arm entirely before reaching across the middle; the arm bodies collided despite more than 10 cm between grasp points. The original blue-bowl center was approximately right_x=0.45, right_y=0.12, outside the left arm's sideways reach."})

tool

give_up: All three fruits were placed in the blue bowl, but the bowl-rim grasp slipped during the attempted transfer. The yellow fruit was ejected to the far side of the table, beyond the reachable table-contact area. The fruits were not successfully poured into the white bowl; both arms are now clear.

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 · 7.607 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, 0.7994, 0.6136, -0.3824, -0.0143, -0.0299, 0.9932, -0.0227, 0.8005, 0.6189, -0.387, -0.017, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=-0.0023 left_z=0.1824 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9932 right_x=0.2961 right_y=-0.0001 right_z=0.1836 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [0.1573, -1.7299, 9.5658, 1.7802, -0.1099, 0.1441, -0.4762, -0.1436, -1.7983, 9.1692, 1.8291, -0.0904, 0.1245, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:579f92f5addad20da6188b14d4745a1aa18b21301c02e2b14f6a6e4281fed0f7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0aee516c691abbe0c7c4bbb1fe5e56f6ffb2a60a0b4294cde6fd84252b9a4306",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94c3c97e33a3874b7c5f963f882fdfcb3f01788765d6073b3681d64261b984dc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 1 attempt 0 · /responses · status 200 · 3.656 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

{
  "content": [],
  "encrypted_content": "gAAAAABqtFfr1DQt8k2HcBi-k7P7bVwbEMZM0vwOw6hsbEIwmiK9RRDZp4sTiViwQpinkTHzoXc0XJckafnscP1UhDKmPBOZuUa6f6kUrvFaW5s_92fxs_IVxdl0-R03qrbL9dJJSBuVU-JV4LB6YGMPgIFhkME4mX7pSAPaYyxkFa3TGdQMUeHgO4MwXYgwa2UG4E1wPsNMxfZDNc_g7v9SyZ9dhvjQtF-QXldEjNRlUOGwiAcKydXQoVLyBJrRJe08deIwdy-mKKJFnwh1KQTiAF89k3QLXZbsWi8lgLSBT6RmaXAkMW3EKFlr78Sz5k6WvEM2_4X8CvU-IypVKbmj3dh1X2gnnOqjm1FyP2T9hLCsNp1stCoOvPdbP1m98nbNQ2CUfS1G-Mt2WagYT8d6_al-XLnonT7YJSVUyBu31BoYKhHIblxBBXn0wbGE1w6gnMrcADG1zj0czUOHejSl3zrDAFNdLEbbbC_s9A-quSJ_NO0sGflSsEKO0gAmWgBGQJDVTOU-xwIZjkLVOSrFEUtf5pJuTSjRpbUGVsQX06wPg18AbmDupa-91XQ544Wn-g_-fT1uRsd5b7Od30RIV461geADixmXJk7lnekqPJDgov3SXPibWEVkdG6tajWzGlF7mUVUGHrWI2mjUPKdf3f_0hBl5O5040h3rl9-K8NpSrA6mRPXTBM_Bl6DTN5Af4CFsrwTRtu4iFhVb7rWPpKPa9dvx6Q92ChMNlnInwDA2_COtknXRT9yUQFtxvUM9i8jqPNfILecQonhYHGm0Aq1KhrAKYHbMr8u7rKHk9Hluv6Wpqht18mWKtMd3iwoOzQ_yFIZy2631auVSTDd0wLsdHQ0zZR8RRSHT_UQEmKGnVD8CG7x9f66Z_U5n8fFspXZAF87ZuLOL38YLA_aNlwElhEdVrgSsSbdnC2Gm_gPlr6wxBdHUXDc5AF28c0ACya-9uYzY2jPUOg6VttSwYkmONZRfbjmXG64qgDNTX4450mLVkAI7EmK0HS-wZ75c4hC20YEFq0iuL_oI8N_WixXB1tPna7O53iIkW3BNH0jWDgT7rZHbc77nRjy7kqhonoWDFAuozJ4q7oGmiZGmuWAnQ-L_8DIaFBbHbwzQZpJjeH-Wd2tHo4eKNU9I4cVAjvYfuwultEwL2EZlkzZ0tbKLKS9yUbHXH3-QAw5-ofFYBwz3mQU3e3ZKqvkDPrtB3F4K3sGYTjklw7j_Y78IaHsvU5xS5cH6Reh8hMghMYszu-_xI3NeKidfF6SOSKEUFgUhdNHqhXshj6-43mcLoyKhJXJIIM0yMKcdRuW1epweBvrFNCBe2jD5_y_e2coZ_yCYiJlmlhcz9WutzNOEULD5yQqROObw0DrSDwULergYspCrKMfXLtA-5SkOnJDaULcFiNpkLt2nebWM6OEwgj2eDb4CTbKEpBEQTY2SPgyQCMfuYbWbyNtmU0XeIFlppsOAvOQN6jv5JeGsF_SW6QOK8Bf_mGSCLsSGWVOqeSdymoELkFuqZGl7_3ANukWPGs0lKZOJkHV76Q-n5FswQuHh1jKd1nFZvHkCQ7TndqNCjRMAOrZCjkrO6ENd7h4Z0qRBACLrjoGUkdt9zs8A_9mjmZ460Gl3sseV04l7cg8OmNDGx60fXpB3qds8sAnwUiiE8QD8wQmR4gm0fGUP7mDCoFtbm-s6un-KrDLR_lrSTlAwOIP1sQ4xs4K-kkPntBLpHG3KJ3hsOoDEjCxzhYR8Nbxz6_udseiRkcIR3pth-33ICELKGW2WnDwatK0_MUxEZLgKnEcvmMkKiwo2RVh4-L3gWkWtPwFuF76A2VtRJFaqxcl7AsD7nkzq5yoEPyPqw7QK0DP7oP3zDgC2ccF_0PFB2vxkspuDAlSiLWsGOXvxJkyFTgTXP19OI1CppGcqfmoa2Ycj6dZQnt8mcZ4-dusJLa0Ts-90FiJ5XMe7GG_lVAqSMZphn3o4t43wGdD0t40QQwuHtEaLzgRMeYSn0CHR_wXKFWXH2mq0Qbf0enRXrJEPI2liqoH4acD-b4tDdk6osWxa8DojMMpLnl3pU2oyjYYx920EkYLVm3gLHLoPHzkhcAtmMu9g7lT9FhHQ8tsK7mGlhLXtCM6CEY20ddxMiNwQd7uzgNQt-p6pJJxWTFxOjZstUmtPrJMzt0pwC5Q0eRSvgdL5AKrJhUiU5YsJSvFTkjzb6bTsCADgOlVXQCYz1adDfA5nCAMsqFpH_OfRJKf4BZVlxFUUYY1h64QIBeCXLs79EPfouZ_1ry_-lg0Dtj048Ni_7YBAgWW75lrbU5qY4NNm-cjhFLKJM6ZOycT_MASRW4bUjIt0afyCdFzU0ZWmsbF4NEOAIh0ruuVH6Y4-Sx3cqYJznTO0AL404l2gLkcbk0i7n4sgWmvSOzVbk9I0obPlGEa39SWREqw",
  "id": "rs_01077e37303f509e016ab457e6284487d0857a2b5044654d27",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.33,\"right_y\":0.005,\"right_z\":0.065,\"right_gripper\":1},\"note\":\"I see three fruits on the table: a green fruit beside the right gripper, a yellow fruit near the middle, and a dark fruit beside the white bowl. I’m lowering the right gripper toward the green fruit to collect it first.\"}",
  "call_id": "call_AJfcp5Xk2aPXamNhKG0q4YjR",
  "id": "fc_01077e37303f509e016ab457ea9f2887d08cd13aa62c653bc1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_AJfcp5Xk2aPXamNhKG0q4YjR",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0284, 0.8032, 0.6132, -0.3943, -0.0139, -0.0307, 0.9927, 0.0055, 1.2251, 0.279, 0.3393, -0.0013, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.2946 left_y=-0.0023 left_z=0.1787 left_yaw=0.0001 left_pitch=-0.016 left_roll=-0.0004 left_gripper=0.9927 right_x=0.3253 right_y=0.0056 right_z=0.0562 right_yaw=0.0148 right_pitch=-0.0383 right_roll=-0.0077 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -1.3333, 7.0769, 1.8535, -0.0464, -0.0317, -0.0708, 0.294, -3.9453, 5.8325, 2.0147, 0.0513, 0.149, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88356b3fce35e77c2b31525b0169445870b641b62d18ccdf8c897a40d48a4b1f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60d7ed696e2e7e37615ab82de0088218f8c07d34c5e67ed1546cdac7ab809549",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5244d11ee5ba0ecd5db5a7b60833e3845e37011a35ed496f99d03678d3122de",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 2 attempt 0 · /responses · status 200 · 2.689 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, 0.7994, 0.6136, -0.3824, -0.0143, -0.0299, 0.9932, -0.0227, 0.8005, 0.6189, -0.387, -0.017, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=-0.0023 left_z=0.1824 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9932 right_x=0.2961 right_y=-0.0001 right_z=0.1836 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [0.1573, -1.7299, 9.5658, 1.7802, -0.1099, 0.1441, -0.4762, -0.1436, -1.7983, 9.1692, 1.8291, -0.0904, 0.1245, -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]: [-0.0284, 0.8032, 0.6132, -0.3943, -0.0139, -0.0307, 0.9927, 0.0055, 1.2251, 0.279, 0.3393, -0.0013, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.2946 left_y=-0.0023 left_z=0.1787 left_yaw=0.0001 left_pitch=-0.016 left_roll=-0.0004 left_gripper=0.9927 right_x=0.3253 right_y=0.0056 right_z=0.0562 right_yaw=0.0148 right_pitch=-0.0383 right_roll=-0.0077 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -1.3333, 7.0769, 1.8535, -0.0464, -0.0317, -0.0708, 0.294, -3.9453, 5.8325, 2.0147, 0.0513, 0.149, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88356b3fce35e77c2b31525b0169445870b641b62d18ccdf8c897a40d48a4b1f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60d7ed696e2e7e37615ab82de0088218f8c07d34c5e67ed1546cdac7ab809549",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5244d11ee5ba0ecd5db5a7b60833e3845e37011a35ed496f99d03678d3122de",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFf2ZSg2xRUsMtgEbs8q4r0uzZHj-_6Mb15ylLl7DZmc0QhwmpA_Eza6SctwoTJ0qxNu_lO8z3c9CYYo_sUtHyP3oX7foBCtZDuB_F2yGR-vfTGSVGNfWKdz9RUqmz-GkuLDeuAYz19ojLpc9pezSrM8B0sTtcJVS8Yy0Bujl1rvlYqSWsaO2Y-WTQ3HVtwZtxOukCfDUYObQM6hM5s5Ggx_IN_eUwmKQz0hNjou9FJZDs6uzUEEJtMJgoqdbQjpvW5GA8QdGo7gYzBYACwVoNDPdgRsRMjCi8yJZxi4Me2mEd0gQp_rN2qe6B8ZX7Tn2Xaj0-tYomKi9poGyz4zAZDy-LC2OQPHn10sa7B7_cRKl3HP8fmyAPRw95pU_wCFqg96EPV418d9gIBF4H2YtmyKY2fQ9bIKXyfBMDJ3UWpWo-M-z5COjbwK1VDc0s5-oTUNau5bTf20o2aJyTqsPZtkGZcY4e_W_l5Uli7Te8FWk6K1QUNzJ6mW23-bOJrPWsuu4iP0sMw_JhZgAz5lmetyyfoS3eaNfG57F5Wbv6LDjSnio_zonRxxCidF4t9u8oLA7lY31ZIcsCZAYjQzVeWB0gzM8l0zWlVqjjyOmhR14aPqJSkyMsSEgfggj9_Ib79nU-lzY1-txXR4ZeFcYpz983p1uVzuGzycYI7J7VnpJZbpyjEHRVJUCsHyveWl1n1z1r8CFDT2pVAP1_GPOzYPhCqoWkh8WOuQrvO3IYbROOwSPY6-pytbUFTjV6VasOOsAWxh0tHEGOiyZ7Qc5OcsOsD4VDFT0j_O1TnabBD8Buw3BRU2GwSwQFUzLq-b2OfJboFyrRTf0xdP-9oGwpZg7Bp8r2Xd2xGnTnmGfUI6fCRy7T-R863qt15c6fi20pJ42MTRuOEL6QT_KWG5HzsSy3RDR3cxvUhQokiBuI66MId8IO9E1mvdRc5O2pcOIfjMXNue1iBvvi55KZEBDVcV5SztKKpVk7kLe_lkajs2LQdqpKpTZdVHzT5lMQWli5BY75bNK1Kejvk93KZv7RpkP_DevpUfc79AJHpBxpGgp0V3eVt_NGWwyNR1mEIZEluRnvBRVPmAsARFN4tfWexpoFdTk4tkEBGEgHCdEkGZkcReUcPKT2I9MFd5efBnd6jqyTcbxiWRAuNPIJ6Nxyzg3-fFbpXDrncWWpbMUet_dEn-6J7yss8iQKBfD1keHx3SqCzGkdvDkGqF1eenRFa1rhmny8508OFDywoHm1yu7pn0rJXriji4xE2iPHqOryFvvgA9TvOP34WeIh9NuG7Mx2AVWfHRnl5NdGziVB0mT1U5OHyzidX_0EVId51yGj1SJ8Sa_NJknOpRGsth1S76kb5x3MXQjIxMpM8Z5mU26IQShBwGefuZu9MYxbeTAMoo3HDY2gzCEiTo840LnhBIzTlThm01bUPDk9wpjsDcPCPi5GVMzmjd6hDiGKBQzZC6x6PgTHeKH6ftXQ1YTw6bdy-pO8ybt0c9rNNvlFBbnTDvfAwQ2yV6WhXFZzok3olY",
  "id": "rs_01077e37303f509e016ab457f3bc5887d0b3f0be35481c373c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_z\":0.025,\"right_gripper\":0.42},\"note\":\"The green fruit is centered between the open jaws in the wrist view. I’m lowering slightly and closing to a moderate width so the rounded fruit is held without being squeezed out.\"}",
  "call_id": "call_D2PfokcPh2Z83BTD6louMg9D",
  "id": "fc_01077e37303f509e016ab457f4f08887d0b9c0c6e0ed7fc068",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_D2PfokcPh2Z83BTD6louMg9D",
  "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]: [-0.0303, 0.8074, 0.6132, -0.4065, -0.0135, -0.0311, 0.9926, 0.0093, 1.4544, 0.2703, 0.6144, -0.0017, -0.0349, 0.6116]\nstate[eef_state]: left_x=0.2932 left_y=-0.0029 left_z=0.1751 left_yaw=-0.0019 left_pitch=-0.0324 left_roll=-0.0005 left_gripper=0.9926 right_x=0.3452 right_y=0.0071 right_z=0.037 right_yaw=0.0235 right_pitch=-0.0013 right_roll=-0.0149 right_gripper=0.6116\nstate[joint_eff]: [-0.1846, -1.6615, 7.0085, 1.7949, -0.0415, -0.0513, -0.0269, -0.4034, -2.8786, 4.6838, 1.072, -0.0073, 0.022, 0.8278]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:074d14b5640021804783662e099bb7aaffc7ecaf8303eb1cb7b8233f5194b525",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87ccf678db275e7bab7b610c75fb4b97c65afceb258d753783e612dd1c18a1e5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b708a0f16388675b1dc56a73bad0679ef7a6956431271fd21bb98dd0c2beac0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /responses · status 200 · 3.494 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]: [-0.0284, 0.8032, 0.6132, -0.3943, -0.0139, -0.0307, 0.9927, 0.0055, 1.2251, 0.279, 0.3393, -0.0013, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.2946 left_y=-0.0023 left_z=0.1787 left_yaw=0.0001 left_pitch=-0.016 left_roll=-0.0004 left_gripper=0.9927 right_x=0.3253 right_y=0.0056 right_z=0.0562 right_yaw=0.0148 right_pitch=-0.0383 right_roll=-0.0077 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -1.3333, 7.0769, 1.8535, -0.0464, -0.0317, -0.0708, 0.294, -3.9453, 5.8325, 2.0147, 0.0513, 0.149, -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]: [-0.0303, 0.8074, 0.6132, -0.4065, -0.0135, -0.0311, 0.9926, 0.0093, 1.4544, 0.2703, 0.6144, -0.0017, -0.0349, 0.6116]\nstate[eef_state]: left_x=0.2932 left_y=-0.0029 left_z=0.1751 left_yaw=-0.0019 left_pitch=-0.0324 left_roll=-0.0005 left_gripper=0.9926 right_x=0.3452 right_y=0.0071 right_z=0.037 right_yaw=0.0235 right_pitch=-0.0013 right_roll=-0.0149 right_gripper=0.6116\nstate[joint_eff]: [-0.1846, -1.6615, 7.0085, 1.7949, -0.0415, -0.0513, -0.0269, -0.4034, -2.8786, 4.6838, 1.072, -0.0073, 0.022, 0.8278]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:074d14b5640021804783662e099bb7aaffc7ecaf8303eb1cb7b8233f5194b525",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87ccf678db275e7bab7b610c75fb4b97c65afceb258d753783e612dd1c18a1e5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b708a0f16388675b1dc56a73bad0679ef7a6956431271fd21bb98dd0c2beac0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "arguments": "{\"targets\":{\"right_z\":0.11,\"left_x\":0.296,\"left_y\":-0.002,\"left_z\":0.184},\"note\":\"The right gripper has stopped at about 5.8 cm wide around the green fruit, consistent with a grasp. I’m lifting it a short distance to verify that it follows the jaws, while keeping the idle arm parked.\"}",
  "call_id": "call_BV8Yz9IfCMbL7NVQ6jpPSwIm",
  "id": "fc_01077e37303f509e016ab457f93f0087d0b44c5551a6fcac98",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BV8Yz9IfCMbL7NVQ6jpPSwIm",
  "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]: [-0.0284, 0.8249, 0.6235, -0.432, -0.0135, -0.0311, 0.9926, 0.0093, 1.1549, 0.4244, 0.1165, -0.0051, -0.0383, 0.6143]\nstate[eef_state]: left_x=0.2919 left_y=-0.0023 left_z=0.1698 left_yaw=0.0 left_pitch=-0.0652 left_roll=0.0005 left_gripper=0.9926 right_x=0.3376 right_y=0.0077 right_z=0.0927 right_yaw=0.0283 right_pitch=-0.0456 right_roll=-0.0152 right_gripper=0.6143\nstate[joint_eff]: [0.294, -1.4291, 9.6479, 1.7118, -0.0073, 0.0024, -0.0171, -0.3487, -4.3556, 8.9504, 1.7753, -0.0122, -0.0171, 0.2662]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f44564e62230a01c92d89c6d8fcf56cb6b334e9b0288674cec2afc9bce3342e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d70a6c9ffb2a841768a22470bc7148039456765b39c587f3a4e1e6e5133b98a4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b6f92bba997b77656d630d5cf8a25c92b438908a805d0a06702b2e48c3b1f4f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 4 attempt 0 · /responses · status 200 · 6.759 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 2 changed as sent

message 10 changed as sent

message 13 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0284, 0.7994, 0.6136, -0.3824, -0.0143, -0.0299, 0.9932, -0.0227, 0.8005, 0.6189, -0.387, -0.017, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=-0.0023 left_z=0.1824 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9932 right_x=0.2961 right_y=-0.0001 right_z=0.1836 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [0.1573, -1.7299, 9.5658, 1.7802, -0.1099, 0.1441, -0.4762, -0.1436, -1.7983, 9.1692, 1.8291, -0.0904, 0.1245, -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]: [-0.0303, 0.8074, 0.6132, -0.4065, -0.0135, -0.0311, 0.9926, 0.0093, 1.4544, 0.2703, 0.6144, -0.0017, -0.0349, 0.6116]\nstate[eef_state]: left_x=0.2932 left_y=-0.0029 left_z=0.1751 left_yaw=-0.0019 left_pitch=-0.0324 left_roll=-0.0005 left_gripper=0.9926 right_x=0.3452 right_y=0.0071 right_z=0.037 right_yaw=0.0235 right_pitch=-0.0013 right_roll=-0.0149 right_gripper=0.6116\nstate[joint_eff]: [-0.1846, -1.6615, 7.0085, 1.7949, -0.0415, -0.0513, -0.0269, -0.4034, -2.8786, 4.6838, 1.072, -0.0073, 0.022, 0.8278]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 13 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0284, 0.8249, 0.6235, -0.432, -0.0135, -0.0311, 0.9926, 0.0093, 1.1549, 0.4244, 0.1165, -0.0051, -0.0383, 0.6143]\nstate[eef_state]: left_x=0.2919 left_y=-0.0023 left_z=0.1698 left_yaw=0.0 left_pitch=-0.0652 left_roll=0.0005 left_gripper=0.9926 right_x=0.3376 right_y=0.0077 right_z=0.0927 right_yaw=0.0283 right_pitch=-0.0456 right_roll=-0.0152 right_gripper=0.6143\nstate[joint_eff]: [0.294, -1.4291, 9.6479, 1.7118, -0.0073, 0.0024, -0.0171, -0.3487, -4.3556, 8.9504, 1.7753, -0.0122, -0.0171, 0.2662]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f44564e62230a01c92d89c6d8fcf56cb6b334e9b0288674cec2afc9bce3342e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d70a6c9ffb2a841768a22470bc7148039456765b39c587f3a4e1e6e5133b98a4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b6f92bba997b77656d630d5cf8a25c92b438908a805d0a06702b2e48c3b1f4f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFf_XGcPc-ESvI7l5YnDTQ68oI-__prsM0r-9lV0_b2bqU9U1yhm1c11rLSWePVtpuHx1T5JF5Bq5t3_I-8zZx-30BT0PofH-P26rfMjx4gSgYJnjyH11iXISsHd1RTvK7swoiG0KSHQgcLAOBbKDfb7TbHHpidxJYtCjXXwF8b39IhPkTsfORye_-X8BrJgRd_vOJqbJeBs_CVggID0YlWCIBjsbR0wS4hrTvoKypl6ixm978GNxR1HTsOFu8xRq9eblxoFuRnuTjUhCMDhF_65qBYPvje4uMqqirDY_A01FabzGqhjB7-L7Zvd1bfj4UTLaUP32VH1rGeeJSz9B0IFS7xvtidPDwl0sE0v2GH8CqOJgNMmgM_O4sffzmFVx6hsjkIQ58h7vnbDBmDiKOOALg9zd2ych7EgrrLPXVvFqF1ARJdYKWBJt8xz6i8As0C_2-Kql_KQn1iDh2SiCP2QNrn9hGnGpoOKQQBK0g5MWWco1b_6ipGG6xm2ur4P65BK23FNE79T3VUdlKjGwIcv4PVIlQaHxqguId7py0va0NGohV-YxWFr5jkvIZkan0d3c2adoCM6DcyIqIGnpUnrPetmTmU6sb0jgv850pqcAC6Ih2PZCfLnPjjOWoQjCaLZ99eYCHUAjTTw9bTfB_AOZ-6CS9vgLS2okBH1OCOR8FYN7YjTXbKUG0z7PKa44nbcp-dwXq8LQVUFDr0pzKAWWuL3faYHn72F2FAoXzAMwc7xGmNt6MInmr09ulFcSULygO-7mMtD9oqDTWI1r-TlwTmD7XgWENmcNzQJkquDZR1eoiW16MP7_EMqPfY0vSezfYQe2QYcmgvbauyVnfoD-BeAhiyht7y7sSsbdG2jrKEoppTSKW_VktaOZSQ76C2L6nidFApqQaMLY0TGS4M7yLnEpZ-FGlhkcT5dhxmfEdYsPM1-qDiWEb3at4dwC1T8DeSasulNbWeFXjI7mU883IH0H1NNz-85JdJcmIVqD6UXuFbKl9Iw-3gFBuMr80FeCppMIQjQDbkHK8dGzoV6uABwE3QWjNrbqVFUYuJZIxM864Ga04UF0rgMop_7Z3RluC1NYCxOfGGld4527k6dIYFdq66zcsE03zzSvO_HPVLzF54bQaSCd0I_eXxS-PfeEmHCsEgW4JjQ7GiywTxMm9QPaGzJJydDf0rDNQ0JCoBikvzvtZn9a8LlXf3ZjExFccfuWuejBao2wYd-N-hBoy9_Y_Fx8xFfYMRK_CfXBwgAUiwe9wPp-4uoNrN3vctx_7HUkJptU1Ff-5uYjkdjl-XeEPwNx5dDhBbHru_r9HKSz_qpfznYYVW-nHv83zNUdhUf5TusKv2qgPkOcICqobiYs7n-spYx_NjDSkABWRO98E7x8RS43wzUqvoxtbZ4hHWpjdymVxrW6yc3gIq9aRAH4qRnApjBuGRtj6pKjb6F8WkOBPAxiXgr2_fo0P4gmgZ9lwa9j6qEu3xm9Pv3sbeZPaeBl2kV09Wv7XdcytD9vDO6Jah0rxOVgOEGsHwa",
  "id": "rs_01077e37303f509e016ab457fe106887d0a4ec127b7650a0d5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.455,\"right_y\":0.105,\"right_z\":0.19},\"note\":\"The green fruit has lifted with the gripper. I’m carrying it up and toward the center of the blue bowl, keeping it above the bowl’s rim.\"}",
  "call_id": "call_LbE2c3NiBQuooULYcNYFycQW",
  "id": "fc_01077e37303f509e016ab457ff213087d0878a873d0b10ed88",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LbE2c3NiBQuooULYcNYFycQW",
  "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]: [-0.0284, 0.8303, 0.6243, -0.4423, -0.0139, -0.0311, 0.9925, 0.3103, 1.5879, 1.1358, -0.2642, 0.2138, 0.1139, 0.6165]\nstate[eef_state]: left_x=0.2908 left_y=-0.0022 left_z=0.1667 left_yaw=0.0004 left_pitch=-0.0801 left_roll=0.0011 left_gripper=0.9925 right_x=0.4429 right_y=0.1064 right_z=0.1637 right_yaw=0.0612 right_pitch=-0.1288 right_roll=-0.0404 right_gripper=0.6165\nstate[joint_eff]: [-0.1026, -1.6342, 7.159, 1.8095, -0.0757, -0.022, -0.0171, -0.4855, -8.4581, 9.4154, 2.0195, 0.3053, 0.2369, 0.2173]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bbd227b3c7f28f2c28bbb6a3d80620e5ef1abbbd447ee342f8de303d8206f53",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c494f0409a73aa7ed0d0b7145fc968a2269ddedfd20d260bb12f03e795ea5bf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:196315af8d60a042145d5e9eaa94f78d966893ffb7394eb949a5c77f63d68dd8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 5 attempt 0 · /responses · status 200 · 3.858 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 6 changed as sent

message 13 changed as sent

message 17 changed as sent

message 6 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0284, 0.8032, 0.6132, -0.3943, -0.0139, -0.0307, 0.9927, 0.0055, 1.2251, 0.279, 0.3393, -0.0013, -0.0265, 0.9994]\nstate[eef_state]: left_x=0.2946 left_y=-0.0023 left_z=0.1787 left_yaw=0.0001 left_pitch=-0.016 left_roll=-0.0004 left_gripper=0.9927 right_x=0.3253 right_y=0.0056 right_z=0.0562 right_yaw=0.0148 right_pitch=-0.0383 right_roll=-0.0077 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -1.3333, 7.0769, 1.8535, -0.0464, -0.0317, -0.0708, 0.294, -3.9453, 5.8325, 2.0147, 0.0513, 0.149, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 13 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0284, 0.8249, 0.6235, -0.432, -0.0135, -0.0311, 0.9926, 0.0093, 1.1549, 0.4244, 0.1165, -0.0051, -0.0383, 0.6143]\nstate[eef_state]: left_x=0.2919 left_y=-0.0023 left_z=0.1698 left_yaw=0.0 left_pitch=-0.0652 left_roll=0.0005 left_gripper=0.9926 right_x=0.3376 right_y=0.0077 right_z=0.0927 right_yaw=0.0283 right_pitch=-0.0456 right_roll=-0.0152 right_gripper=0.6143\nstate[joint_eff]: [0.294, -1.4291, 9.6479, 1.7118, -0.0073, 0.0024, -0.0171, -0.3487, -4.3556, 8.9504, 1.7753, -0.0122, -0.0171, 0.2662]\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]: [-0.0284, 0.8303, 0.6243, -0.4423, -0.0139, -0.0311, 0.9925, 0.3103, 1.5879, 1.1358, -0.2642, 0.2138, 0.1139, 0.6165]\nstate[eef_state]: left_x=0.2908 left_y=-0.0022 left_z=0.1667 left_yaw=0.0004 left_pitch=-0.0801 left_roll=0.0011 left_gripper=0.9925 right_x=0.4429 right_y=0.1064 right_z=0.1637 right_yaw=0.0612 right_pitch=-0.1288 right_roll=-0.0404 right_gripper=0.6165\nstate[joint_eff]: [-0.1026, -1.6342, 7.159, 1.8095, -0.0757, -0.022, -0.0171, -0.4855, -8.4581, 9.4154, 2.0195, 0.3053, 0.2369, 0.2173]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bbd227b3c7f28f2c28bbb6a3d80620e5ef1abbbd447ee342f8de303d8206f53",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c494f0409a73aa7ed0d0b7145fc968a2269ddedfd20d260bb12f03e795ea5bf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:196315af8d60a042145d5e9eaa94f78d966893ffb7394eb949a5c77f63d68dd8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFgLNNCsnUElocT4uf95DdIeCbc5U2T-mxPUrogrlNF7V9o2dllDz8xFzIAidnJdbSyziakkqyWHYPMUAAZFvR4NXjHnN8AnkiCDV0Sha23pY-7rB-rjjqGz4XH4xzuENx4RFcHEnPi4vZnu_Lq5o7GNSisKLHpF9pJCBl6Fy8GU--bGsNvAwlIuBvu7RpEX-vc4507D6iu_numbxFXxzqty7wRgM1Hwz2HgkiMUFZdO8HC75VpFqBizoEiTa6EFi9E7u5O0rUQBOFqdrdz8uILJLUFo--I-X3QNEODjEW0PtHJ_vTRthfIGIwmUtvVzWh40KWe2uC8ukzbdmVJbiiFmJVpSTmTpUbALVNK4u08R84SeTmkZSXj0nBfMMvPARFBaAGPGSIjehrTOu-_F5Kt_40HxVvJKnse6DkjCNeuk-qk_gwIf8aGcZLESvgbwpBsysVvSXsfK9Hy_LsBoT-55Ln0Gw45_w64PAFUq14RD8-9n4EltRM5o5DNL5YX_Mn4hY5ZmlOrGoXBK-v2343X_doljd_wsgaVQ_1hR8cThoayG9Cn1omPW6yE-QLy-_ZLo3BL3KWawv6AbvxhQjIU-NV_luk_NLLfZWjOFpzz_IIQaIDwzIypcFSHTC1ZGrPNU1mfbbCHvzfcWpKaHHe7aXSiTawTUNGKU5Es7U9LfuISfNBOAqZqHgaunwxpq4cZz4YdTH9gA3PCkgjj7LxyfTpLD6r8DNLK6QIa7FFkHna9E_0HRqbvDCwFiPEjQUhtt3gmM-YjV_j_dZRYBWwthTQ_g8koPbGGoTtmFQJ5qVheYQUGJqLh0kjBjKeFOZ9ZWTKnA-YZsie3vas7Vqy_lLOviZxQrvzt9u-6-WPqTENtRT9xoYR0T8higdqL25PJ7yb1ycM7lNxscvxG78Lm1_5Dymo_QKocKSFpmKjn9OdwcqrTErSYWqZVRft132zIG4CPDdCNVOLDrwuzfTSvM05v7jlKT8PHU-JghOEM2zhZ3cxuDBp7knKpUrGv4xEC0ybWg2d2bXlaS3haUptwgE0UcQF1Nl4bJxsPo_uF-1bawY6yR5NM6OwxXD_U1ZOO2Z-nHR6sIod2xK44qq0u7JHQ9-Bcn95vhQ0Ze4518EkIjzBORWy_RfJnIEX9rq0krl8wfmIYRYvJrdZDAW7eZloJ2bQKZOJgweSJsvfPsW3h1HeEwqbTWuQXhkmdlXPGz57P-qG5bBqowZAvpfcKxDQsmEo0TCIVMGphEJPgfMCBweiAtSEUH9GvmVP6weqZ06D1hRznEPiFnDKeRoPWEMNK7D4GwOxBTWZYyJSWoyVu8An61tYg5uGaAmYQxzuaOafGZcF5sKS4tDIpw-DRBfJAFg96ckGDXFGx7fIgP0xJF8euyjfXHCx5sUeDQQTWvOlbwFdHrrEaVaIjPGirZGZ13FpGWqLNef0qxlsd1C82GtC2WXz6TM9ZIWG3hVSKzNojizw0uiubAVrMgTAXhjVy_BnWz1OswD-xXnWBlJdgLOkJ2o8U-Fs0sM-Vuq_qul-kz1636Q84nXIpJrc-KZVt-cs05UXmD17SH1FQOrcRzxVP-BMCoSI6xf9fXn3S7hVDTnVTs5X8VlZ70RmykrmZJUfB30e-li6SBhtMd1KvGBeoOicSWGZjSp_CiCPKITr_dvUOBU56EYSyXiScIvD4WHhN4ddyhu8PQ3LnERijDgcMn0u8mIBZLgyVC1yk1UgzscusKmsQmRZ9CVwqDPXIB0FiteKdV0Z8MoWXVkYTi5lHujneFZKho8BrKoGXRcD3FbQj7YypsCSvvYB1ePg38sKUhUlvvNrCWLnXrqBOq4AtgGWtA6ASde6ordrJKoRwmWd9SFGnQADCOamkqhN0ioF7YabjsdAcP6l4SVTjUzluCNEN1fIsSsUgHZRaLFwsuW4AwYHy_qzYn-9VQYCgqQVWBJTUgEZsv5a-P2JuHBfEv1zgvL3n_QCtBrvEX1ErIZ3lBTKGjwvGP2CInB7oQxLwdwhPtO9qIySLodlddIriJUcEpLew00TPdCyQAcjRbkvPJiR_dhS2VVOev15tegzQHw52zADHLpws_v-zAhmLHBRtT6c61g1xBaL4yCBgfB4Q1QMl2v1x5k8WVtUg7mVPN6NGF96xf6BBYVc7NQtJOsx1N3Sz04BxQI8Px8BOQWYtYbHh0f8rX8CVDzXEioV_Ll_jK5oJq-95CQtFk5XRtL5Ag_4OIlkfNTmnk",
  "id": "rs_01077e37303f509e016ab45805cd5087d096f38f04c390cd13",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.455,\"right_y\":0.12,\"right_z\":0.105},\"note\":\"The gripper is above the blue bowl, with the green fruit still secured. I’m lowering to just above the opening and shifting slightly inward before releasing.\"}",
  "call_id": "call_O9oA5w8mE82DFf2uwQyV1jbm",
  "id": "fc_01077e37303f509e016ab4580a20f087d09fe3f6c53fd0cb4d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_O9oA5w8mE82DFf2uwQyV1jbm",
  "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]: [-0.0284, 0.8303, 0.6243, -0.4465, -0.0139, -0.0311, 0.9925, 0.3321, 1.7309, 1.0344, -0.075, 0.2134, 0.1162, 0.6186]\nstate[eef_state]: left_x=0.2902 left_y=-0.0022 left_z=0.1658 left_yaw=0.0004 left_pitch=-0.0843 left_roll=0.0013 left_gripper=0.9925 right_x=0.4483 right_y=0.1188 right_z=0.0924 right_yaw=0.0799 right_pitch=-0.1823 right_roll=-0.0523 right_gripper=0.6186\nstate[joint_eff]: [-0.335, -1.3333, 6.9675, 1.7509, -0.0562, -0.0659, -0.0073, 0.335, -9.3744, 6.5026, 1.9707, 0.2613, 0.1148, 0.2125]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b15f02b69c3ff5512c4e3916a162501a2ea659a6a997bc55d11c5580f80bf11",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f227cbdeb13166470d58e8848709a6115734bc633bfd84d098d501309c7da1ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6f3bd791f2478f885ba8ff85d58bc80058568da0a36b56bd19a0e2f5badd01b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 6 attempt 0 · /responses · status 200 · 3.487 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]: [-0.0303, 0.8074, 0.6132, -0.4065, -0.0135, -0.0311, 0.9926, 0.0093, 1.4544, 0.2703, 0.6144, -0.0017, -0.0349, 0.6116]\nstate[eef_state]: left_x=0.2932 left_y=-0.0029 left_z=0.1751 left_yaw=-0.0019 left_pitch=-0.0324 left_roll=-0.0005 left_gripper=0.9926 right_x=0.3452 right_y=0.0071 right_z=0.037 right_yaw=0.0235 right_pitch=-0.0013 right_roll=-0.0149 right_gripper=0.6116\nstate[joint_eff]: [-0.1846, -1.6615, 7.0085, 1.7949, -0.0415, -0.0513, -0.0269, -0.4034, -2.8786, 4.6838, 1.072, -0.0073, 0.022, 0.8278]",
      "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]: [-0.0284, 0.8303, 0.6243, -0.4423, -0.0139, -0.0311, 0.9925, 0.3103, 1.5879, 1.1358, -0.2642, 0.2138, 0.1139, 0.6165]\nstate[eef_state]: left_x=0.2908 left_y=-0.0022 left_z=0.1667 left_yaw=0.0004 left_pitch=-0.0801 left_roll=0.0011 left_gripper=0.9925 right_x=0.4429 right_y=0.1064 right_z=0.1637 right_yaw=0.0612 right_pitch=-0.1288 right_roll=-0.0404 right_gripper=0.6165\nstate[joint_eff]: [-0.1026, -1.6342, 7.159, 1.8095, -0.0757, -0.022, -0.0171, -0.4855, -8.4581, 9.4154, 2.0195, 0.3053, 0.2369, 0.2173]",
      "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]: [-0.0284, 0.8303, 0.6243, -0.4465, -0.0139, -0.0311, 0.9925, 0.3321, 1.7309, 1.0344, -0.075, 0.2134, 0.1162, 0.6186]\nstate[eef_state]: left_x=0.2902 left_y=-0.0022 left_z=0.1658 left_yaw=0.0004 left_pitch=-0.0843 left_roll=0.0013 left_gripper=0.9925 right_x=0.4483 right_y=0.1188 right_z=0.0924 right_yaw=0.0799 right_pitch=-0.1823 right_roll=-0.0523 right_gripper=0.6186\nstate[joint_eff]: [-0.335, -1.3333, 6.9675, 1.7509, -0.0562, -0.0659, -0.0073, 0.335, -9.3744, 6.5026, 1.9707, 0.2613, 0.1148, 0.2125]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b15f02b69c3ff5512c4e3916a162501a2ea659a6a997bc55d11c5580f80bf11",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f227cbdeb13166470d58e8848709a6115734bc633bfd84d098d501309c7da1ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6f3bd791f2478f885ba8ff85d58bc80058568da0a36b56bd19a0e2f5badd01b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFgT96VMkbwt09wMi3OK35B_n7pR3ft9bEZZSqv9T_DHq7V6xYPxsjr6-R87llOwGKICu7tnPZFPtueoul3DRtKF6rJhw8vPiVjwhVLC-oF97JPy8h0SyZGt-jjhZDf2kQvVWIMNjWKUt4EOFh57Vga8xP4UGaAEaylXGydC9zc1s-IX0TVD8wfCBsMH5qICdaVqoKKugY-DTmIp1rY21EQ-VyirGdiD-3a-XApqSzd84wrKyEC0l3TMg9qK0dPnnZkUMIYmtxYNuZz4yQrhfnXDCEfdB4pcdXjhlhacm6TgycHhA7cV4OuEd480pnJ8dk3uWut2oTaUJzMGPS25jUWk9_7k0Q8LS78x0ZULIpDUUVmoHYd7ckuQonX2TwF_AIF9hhfGrd0aEfJtP_L8ofxLo8O_8KbVOP89Lhnb-y_pywhK_PWdY6KK4ojQWFuhZXvbHeIopzrFbJpB5VZz8NcZIXekvl-Tb8DLvMevEZU_cvLhqCAdDtQfSsFqe_FgjQJp6j1GDetB-DWjBOuyOYBdzUdx5gHfcz5C2TIICZSgcBbvKNwqQ9ft0CpXpm0EyoPgzr58aPbHbXaBvqD3CNHw69MUn5yjnpO0i2MSJEuZWfVRBJuyZYbW06VCltwO1XE0VguTlapl_mxzzGjwCWseUZExk45CtzHvL-WivSoyKZWFvjLto7AoOktuJ7sgNC6nVukhhAGIy4STzham51f4qksQjgBWfjVGldu_vfFqSLYdsK2KsMWTcmoe8Yu_y8PtyV2Bwy0n6mqOaJI5sB4PES_fW2lhV1ieT2B4z-UnwXL0AX6cSOxTkWVkGXt6ZCfK5jzCH1bSKa9bQdJ8eGkiojerAq35GRsu-79jblqxeFgPxKaZ9icoFM3gsGpiyBWpAmRRj8lXMEzhyAiIx0n4Qelfx5eG3B1mfuTJSlzBfClj_woTxO6aQdsyjpyf_sXfNbK8KwZpk2j2cI6JcZqfWy1t6Lk55Z99P5Gqq3sDITk8A0VrJf5VKF98KToNzsVPHWx4vxgQkfkw2h7PMMcUL3o24v-cNqhuxbSzFYWiUt3qr7nXVJw76BhkNXzZxGYRbPXKnyhJwfYVdfPLfKhCpsr3GhAdVGNWkqMIuSinUw7o5i1wwIFANr_Mh2qVCEW-iRS9ME6kIMh-ZV-ndjTlH33XPJqZZzNJp-VfUl-Psv4FKoxN2o7Y-4biovLXE0_TZ1odN_f6E6cq4cFuziRJLmk2KuNv8_51no7iNOXFVUM=",
  "id": "rs_01077e37303f509e016ab45811febc87d09d82cc7c225514c5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The green fruit is positioned within the blue bowl’s rim. I’m opening the jaws to leave it in the bowl.\"}",
  "call_id": "call_i7MOJqwi9OujBxHmOvdLmn3u",
  "id": "fc_01077e37303f509e016ab458122d0087d087425e458a9c48ca",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_i7MOJqwi9OujBxHmOvdLmn3u",
  "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]: [-0.0284, 0.8303, 0.6243, -0.4503, -0.0135, -0.0315, 0.9925, 0.3317, 1.7309, 1.0344, -0.0841, 0.2089, 0.1112, 0.9955]\nstate[eef_state]: left_x=0.2896 left_y=-0.0023 left_z=0.1651 left_yaw=0.0003 left_pitch=-0.0881 left_roll=0.0008 left_gripper=0.9925 right_x=0.4468 right_y=0.1189 right_z=0.0907 right_yaw=0.0856 right_pitch=-0.1922 right_roll=-0.0551 right_gripper=0.9955\nstate[joint_eff]: [-0.0615, -1.4564, 7.0222, 1.6923, -0.0366, -0.0366, -0.0122, -0.294, -8.5402, 6.5573, 1.6337, 0.0904, 0.0806, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20e79e366cd7895bcf098f459f7caf9d3c29230440276ebdb15b9a9b324ba896",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4552c4a7f022a7f5f8f4e39f864975b141edd4d19dc3445c7a95989f351e6693",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e55c620234c7b9250db948c31cf394929e4822efafad4c6a382d0b22c45da9b9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 7 attempt 0 · /responses · status 200 · 2.531 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 13 changed as sent

message 21 changed as sent

message 25 changed as sent

message 13 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0284, 0.8249, 0.6235, -0.432, -0.0135, -0.0311, 0.9926, 0.0093, 1.1549, 0.4244, 0.1165, -0.0051, -0.0383, 0.6143]\nstate[eef_state]: left_x=0.2919 left_y=-0.0023 left_z=0.1698 left_yaw=0.0 left_pitch=-0.0652 left_roll=0.0005 left_gripper=0.9926 right_x=0.3376 right_y=0.0077 right_z=0.0927 right_yaw=0.0283 right_pitch=-0.0456 right_roll=-0.0152 right_gripper=0.6143\nstate[joint_eff]: [0.294, -1.4291, 9.6479, 1.7118, -0.0073, 0.0024, -0.0171, -0.3487, -4.3556, 8.9504, 1.7753, -0.0122, -0.0171, 0.2662]\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]: [-0.0284, 0.8303, 0.6243, -0.4465, -0.0139, -0.0311, 0.9925, 0.3321, 1.7309, 1.0344, -0.075, 0.2134, 0.1162, 0.6186]\nstate[eef_state]: left_x=0.2902 left_y=-0.0022 left_z=0.1658 left_yaw=0.0004 left_pitch=-0.0843 left_roll=0.0013 left_gripper=0.9925 right_x=0.4483 right_y=0.1188 right_z=0.0924 right_yaw=0.0799 right_pitch=-0.1823 right_roll=-0.0523 right_gripper=0.6186\nstate[joint_eff]: [-0.335, -1.3333, 6.9675, 1.7509, -0.0562, -0.0659, -0.0073, 0.335, -9.3744, 6.5026, 1.9707, 0.2613, 0.1148, 0.2125]\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 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]: [-0.0284, 0.8303, 0.6243, -0.4503, -0.0135, -0.0315, 0.9925, 0.3317, 1.7309, 1.0344, -0.0841, 0.2089, 0.1112, 0.9955]\nstate[eef_state]: left_x=0.2896 left_y=-0.0023 left_z=0.1651 left_yaw=0.0003 left_pitch=-0.0881 left_roll=0.0008 left_gripper=0.9925 right_x=0.4468 right_y=0.1189 right_z=0.0907 right_yaw=0.0856 right_pitch=-0.1922 right_roll=-0.0551 right_gripper=0.9955\nstate[joint_eff]: [-0.0615, -1.4564, 7.0222, 1.6923, -0.0366, -0.0366, -0.0122, -0.294, -8.5402, 6.5573, 1.6337, 0.0904, 0.0806, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20e79e366cd7895bcf098f459f7caf9d3c29230440276ebdb15b9a9b324ba896",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4552c4a7f022a7f5f8f4e39f864975b141edd4d19dc3445c7a95989f351e6693",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e55c620234c7b9250db948c31cf394929e4822efafad4c6a382d0b22c45da9b9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
  "encrypted_content": "gAAAAABqtFgWC1dgpTbGm1Ixc4eh3-0KPA2wcVpHKgoiycN2ad2ZcQas5pnhUOyE-WAzXJMgXmbBzCgtzAx9h5KuCRUhZjBStxNUALjXJKPcydJkh8VYClODYw_65Sg0viKGjjVqHHmKd0cbsKzdgF1G4qxgRtya_AqZrRXxQiCE5Yd-57KbwZ9cfzcMjxq8X0KND2JldYfwfJAtMLdCdKsjQ5MPHb7_eIvYqz9krFmbE25Fbj3vAU2Fw6wu4LFe9Rz7p8BSWiXwdfvC1V-3tyHHPSTOwsT96dc1X7u6itjgBuFLaz-e17toBM4GGBBxsjsRl18qILdiFuzJrxKgjHCOuk065oQTKeIYmDJYglMTT13UhqzYhvF6IE9gfHixBvugcXkXI2JAVkrvmSrbAeSeGnD7Bj9gmXVHoW1WN02IeXQsnTMCEXqriEHp6MqKZX08gKOnJr1K7dvQGa_B_ymzzj3R6YVQXKhm-sq0X4MVn9q-kmiO4zdhGqaKNhzwn6luy-CIM_0ShukSb-DWZO-QQYqZlqq_jsx23DHOjhHlj9X81SxIpqo0ukD5N_JdjwBEQ2ZTSdkw5sUPWW4QU7GmQOSPaajPpI4R_AG4VD3i_BCBeExdaY3vATP9gDvJJek8koNRrgCef7dPE0neaqK7dwp7dmYhEqIkdD_FR8SkFl1Wc3wrFCB08LRhVSoNPCFH_IA0vX_46zvv6S0qv8x3oZfOUnKhHTdSfYbCbCINpxjiZC4-KUnNxFHFSo8QwzVmvCRmhS8PwVTazpp9XcW0-eTxfJbB3Tfa72ZFXLWmaiH-jO1H9L9nrCjK-PSfDlLyYu6OszbXPVLyj-LFYJHzzA27_ZgrfZoVsvUaB809puxmf58tohhVNbljkOvEQgwTKELoFBzxBV2tmnutQeE0SgOUhpNOIzuLtGnSx1loL9FwLBqJiFvYdQh3gOucLBae0ttRvmQ5rhjAwB5vcD81vfFe1Yajal-uuQkKwMt5JESsh4BcgKXPbvuMWe1IjDxvif4DSXaAMyvKuc0hPZaVQDk2xL4JNMZKZZk0LNaKtQyRednqRhW23jWmru8pyroL2G6FJYykwsAAKQl6hX7Szq7s9La6KiA6Gwb1DVVbiahn6FC2_xGtmTvF-j69Dniu9tEjg_1292TY-TV-DCRpxq0lJT9FIa0Nkc0ILvh57s6XgkS890r3FSYDmHpjiVeva4buffj6sBt_6WU8xKBCGV_Xne_3TpJygCW5aAzV0RIknVY4Ui3YJYnBl3p8Um0WAYS-4G39w0i5VMenyaxuR0O5uW1jjbmtTciJ8mpPL1f6oSgDJLWHrx88TAHtC_HQTG7VlFGyi62WcAYc7_GXvPyE3ZhbhRytdsmIeTZCC9izpe0gZExL3zxsI1WBR_VcezP4ikUzUzI8syMVC-u5mldliINPkbJEwnHzpNNVcBdexpAZ6ot3ONk6UZ4jKByMqrhNQk1stMP6P4oHGb0IEd-y-OkAAE3akzPwb4e5bZVOMr4WBsk=",
  "id": "rs_01077e37303f509e016ab458150e8c87d0b75d2327c163e6b8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.335,\"right_y\":0.20,\"right_z\":0.145},\"note\":\"The green fruit is now resting inside the blue bowl. I’m lifting away and approaching the yellow fruit next.\"}",
  "call_id": "call_UHaBNQZGduWB9FOwZfMxiz1c",
  "id": "fc_01077e37303f509e016ab458161b1487d0878aad2ff8df8e24",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UHaBNQZGduWB9FOwZfMxiz1c",
  "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]: [-0.0303, 0.8322, 0.6243, -0.4538, -0.0135, -0.0311, 0.9925, 0.7414, 1.4914, 0.9916, -0.4198, 0.4603, 0.4053, 0.9964]\nstate[eef_state]: left_x=0.2892 left_y=-0.0028 left_z=0.1639 left_yaw=-0.0018 left_pitch=-0.0934 left_roll=0.0013 left_gripper=0.9925 right_x=0.3318 right_y=0.2023 right_z=0.129 right_yaw=0.1171 right_pitch=-0.227 right_roll=-0.0759 right_gripper=0.9964\nstate[joint_eff]: [0.0479, -1.6068, 7.3094, 1.6874, -0.0415, -0.0659, -0.0122, -0.335, -7.9658, 8.5675, 1.3407, 0.4908, 0.1294, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a484044b5177516d1ab5e5b295214b9689697d25dbe06c844fa1106602a35b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72930cae2b8fcfd63f140130e527f2cff0d04eacec9aeaeb3d5876b4f187f2fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d0e24685728e70b8e59ca28a2a0b5a8539bbddead86d8b05a46937d4593b28c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 8 attempt 0 · /responses · status 200 · 2.756 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 17 changed as sent

message 25 changed as sent

message 29 changed as sent

message 17 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0284, 0.8303, 0.6243, -0.4423, -0.0139, -0.0311, 0.9925, 0.3103, 1.5879, 1.1358, -0.2642, 0.2138, 0.1139, 0.6165]\nstate[eef_state]: left_x=0.2908 left_y=-0.0022 left_z=0.1667 left_yaw=0.0004 left_pitch=-0.0801 left_roll=0.0011 left_gripper=0.9925 right_x=0.4429 right_y=0.1064 right_z=0.1637 right_yaw=0.0612 right_pitch=-0.1288 right_roll=-0.0404 right_gripper=0.6165\nstate[joint_eff]: [-0.1026, -1.6342, 7.159, 1.8095, -0.0757, -0.022, -0.0171, -0.4855, -8.4581, 9.4154, 2.0195, 0.3053, 0.2369, 0.2173]",
      "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]: [-0.0284, 0.8303, 0.6243, -0.4503, -0.0135, -0.0315, 0.9925, 0.3317, 1.7309, 1.0344, -0.0841, 0.2089, 0.1112, 0.9955]\nstate[eef_state]: left_x=0.2896 left_y=-0.0023 left_z=0.1651 left_yaw=0.0003 left_pitch=-0.0881 left_roll=0.0008 left_gripper=0.9925 right_x=0.4468 right_y=0.1189 right_z=0.0907 right_yaw=0.0856 right_pitch=-0.1922 right_roll=-0.0551 right_gripper=0.9955\nstate[joint_eff]: [-0.0615, -1.4564, 7.0222, 1.6923, -0.0366, -0.0366, -0.0122, -0.294, -8.5402, 6.5573, 1.6337, 0.0904, 0.0806, 0.0855]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 29 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0303, 0.8322, 0.6243, -0.4538, -0.0135, -0.0311, 0.9925, 0.7414, 1.4914, 0.9916, -0.4198, 0.4603, 0.4053, 0.9964]\nstate[eef_state]: left_x=0.2892 left_y=-0.0028 left_z=0.1639 left_yaw=-0.0018 left_pitch=-0.0934 left_roll=0.0013 left_gripper=0.9925 right_x=0.3318 right_y=0.2023 right_z=0.129 right_yaw=0.1171 right_pitch=-0.227 right_roll=-0.0759 right_gripper=0.9964\nstate[joint_eff]: [0.0479, -1.6068, 7.3094, 1.6874, -0.0415, -0.0659, -0.0122, -0.335, -7.9658, 8.5675, 1.3407, 0.4908, 0.1294, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a484044b5177516d1ab5e5b295214b9689697d25dbe06c844fa1106602a35b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72930cae2b8fcfd63f140130e527f2cff0d04eacec9aeaeb3d5876b4f187f2fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d0e24685728e70b8e59ca28a2a0b5a8539bbddead86d8b05a46937d4593b28c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFgbJFMhsn4q7VLUKoOiWu8ShOm44UPIhC2H1ewhAsQZX73MljayH80Ohmgx8YKXNulV1bIE1VNwdhPhsl6mSRmtuwSbuLInQklayIJvfxe1CPqCYes-m1tokQ2sIEfeoLvxn4jzK6ixqnkamfWj0n4Tr3HdWxpAShz355L22sao_i8zM1U3aofq0gE9tTtVTbAPm2dqhTGAu9dRU6cDWpNbSF-YXFkrg9O1Q-3lDw8YVv8EYBB12adJDWQ9PYAcdI6Ul6SkGuVSyZCrNSmx6dAYL9kJmw2pb1M6h-St7aqI7g4xYLX8FrRZABOfjnpICG3wn_z_V1MF3wwHEhISTdCw8V2NG0QeAhBlFhgAS7VMeKcs2KXYa8RCY-gs5BfyDygPk_YLhsra7xpVViRAQd9GOVh08mRpeGJu2dnkkp-COPhdkArdLRLcjjDg_Ni5280Q10m-AUjl891a4K5GeRIN402trLtfJbr-zsFQ6P1rAglYxmhVPZ8_LwcAmRgzqrkTzIYMajXEAwdBP05kGkFlFvMNog7kcqlTrGLG_utQPKjRx2qaJvxOetdD79LPNJ-RVj-UuahsxdHBf9RyVMEOHGS2BfzAIUnzuocwknaxkWZ3mLVb3gyqdTfL8E1djSZne8p7D5RQ9HzpxbcyEkdhqiT1cliUIpvvZRg2Tu5SA2RtJzzgVwA5S2KWsQIO4SaJz0x_1s2WoEEIS-WR7yklVwToCW1xyg3VxFcdT6Z2hsmeU0pD4JWJ6hFiZreKC0qMud27TxaZPx87BY6clK0jjOW5c_Eqff_3XF9Zt-tqQ0ELHkj6nIJ6lra0uETexJyxVTwpBg5j-2punEFjq2foaws7GENAqp7cfstP43K7CQmFS5sKmBa4MLuBAxaj23F82aIpiz0bgJkzSGRdhU1paKA3TG07rDqiNl5KxXcFWIZccahmNTWyu50TvUVEaFV-JcpNiOYltVfv6rHus2N__votLrOtSTBFurzAxrYvJRJB7poME-z5qvD4dqAswTwmJUsIYn7qkE01yttHi68ZIZqgtQDlzIvX7AZkSdzF8z7nusGZvW_qZfPV4-Ddg1DttwMtWY3c4y7Ih1egD0kGJQFQxpeowEE6KpgtvixgNz7BNd7tqQrP4F1R4x-iH_gVQ6IhAGIgu-qZgUNitN3bUBEJifWzKKF-jWdSngia7Hd43tPIG1aa4rPoFwKiU8Xh_vIqaqFmkEwJQcdl6AaR19jevWc1rQzz9PIg2Vtjil4=",
  "id": "rs_01077e37303f509e016ab45819ccf487d0981976395134bceb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.2,\"right_z\":0.025},\"note\":\"The yellow fruit is aligned with the jaw column in the wrist camera. I’m advancing slightly and lowering the open gripper around it.\"}",
  "call_id": "call_tvZ2AQQWjgiAvDTtNT4Y1xwf",
  "id": "fc_01077e37303f509e016ab4581a390087d0815ff865f809a9ef",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tvZ2AQQWjgiAvDTtNT4Y1xwf",
  "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]: [-0.0303, 0.8341, 0.6243, -0.4686, -0.0139, -0.0311, 0.9925, 0.6952, 1.7432, 0.7849, 0.0296, 0.429, 0.3664, 0.9965]\nstate[eef_state]: left_x=0.287 left_y=-0.0027 left_z=0.1605 left_yaw=-0.0014 left_pitch=-0.1102 left_roll=0.002 left_gripper=0.9925 right_x=0.3469 right_y=0.1983 right_z=0.0215 right_yaw=0.115 right_pitch=-0.2505 right_roll=-0.0877 right_gripper=0.9965\nstate[joint_eff]: [-0.1573, -1.4017, 6.9402, 1.7753, -0.0464, -0.0366, -0.0122, -0.1709, -7.9385, 4.9299, 1.4969, 0.1978, -0.0464, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63180ca3e93f3f597a26ac365bec2c53b665e3e75ca3b06e705434a89e0b1dbe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2a5409aa6ef18382a13f7f5c116b9950489141871a39d438db7df91c524b2d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e884db1e7e55f8f3e113dab8fcda6a708cd2a5e82a8a503cceceb415fbc93473",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /responses · status 200 · 2.849 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 21 changed as sent

message 29 changed as sent

message 33 changed as sent

message 21 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0284, 0.8303, 0.6243, -0.4465, -0.0139, -0.0311, 0.9925, 0.3321, 1.7309, 1.0344, -0.075, 0.2134, 0.1162, 0.6186]\nstate[eef_state]: left_x=0.2902 left_y=-0.0022 left_z=0.1658 left_yaw=0.0004 left_pitch=-0.0843 left_roll=0.0013 left_gripper=0.9925 right_x=0.4483 right_y=0.1188 right_z=0.0924 right_yaw=0.0799 right_pitch=-0.1823 right_roll=-0.0523 right_gripper=0.6186\nstate[joint_eff]: [-0.335, -1.3333, 6.9675, 1.7509, -0.0562, -0.0659, -0.0073, 0.335, -9.3744, 6.5026, 1.9707, 0.2613, 0.1148, 0.2125]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 29 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0303, 0.8322, 0.6243, -0.4538, -0.0135, -0.0311, 0.9925, 0.7414, 1.4914, 0.9916, -0.4198, 0.4603, 0.4053, 0.9964]\nstate[eef_state]: left_x=0.2892 left_y=-0.0028 left_z=0.1639 left_yaw=-0.0018 left_pitch=-0.0934 left_roll=0.0013 left_gripper=0.9925 right_x=0.3318 right_y=0.2023 right_z=0.129 right_yaw=0.1171 right_pitch=-0.227 right_roll=-0.0759 right_gripper=0.9964\nstate[joint_eff]: [0.0479, -1.6068, 7.3094, 1.6874, -0.0415, -0.0659, -0.0122, -0.335, -7.9658, 8.5675, 1.3407, 0.4908, 0.1294, 0.0904]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 33 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0303, 0.8341, 0.6243, -0.4686, -0.0139, -0.0311, 0.9925, 0.6952, 1.7432, 0.7849, 0.0296, 0.429, 0.3664, 0.9965]\nstate[eef_state]: left_x=0.287 left_y=-0.0027 left_z=0.1605 left_yaw=-0.0014 left_pitch=-0.1102 left_roll=0.002 left_gripper=0.9925 right_x=0.3469 right_y=0.1983 right_z=0.0215 right_yaw=0.115 right_pitch=-0.2505 right_roll=-0.0877 right_gripper=0.9965\nstate[joint_eff]: [-0.1573, -1.4017, 6.9402, 1.7753, -0.0464, -0.0366, -0.0122, -0.1709, -7.9385, 4.9299, 1.4969, 0.1978, -0.0464, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63180ca3e93f3f597a26ac365bec2c53b665e3e75ca3b06e705434a89e0b1dbe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2a5409aa6ef18382a13f7f5c116b9950489141871a39d438db7df91c524b2d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e884db1e7e55f8f3e113dab8fcda6a708cd2a5e82a8a503cceceb415fbc93473",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFgg7QjIAmyd8MDQBPEeFPU_VGC24pereCHrrA33pSgOgS6y50cvLC4uMp6kAAVBHIDBW5u14UsEwH-VUEjUCbo6bQ4DAouWK_02hWoSpJEr6JOQTjtC0wusmr-JsDFs8tEQbOBteDROMV-0u8U7IMLs9Nn_8Grs4l7xBK2e1oAs8u_gB4_8xkbUPV0YOSxDFo_ViN--CZjTUB4Wa1jhL_Puj-CHUbbUQDxgwxA12PbFBdRESnKS71Br_Q9FYWV5afYvkXnYTlsocwVkJSnHr4eoMlJg_wdOylhqF2Ho3t2cOSXAJpm02JOgD4T8V8th7VNhw5StCaKAK_C0BgMzPGcsWpo6WUl3bkm6TNV999EQAYBY0gZQ8RYWzWz_9Rs-blBvgb7ikuz5Zcx7nhmO_EGBb2U8-2Om1hn3nBd8IkN2PQvB17VsnxbdskVlt7xS5-wjEqpj8waG8_HJtJqgRnQYPwbug6qv2yv5WvpbibqCm5Uh_0R-kjanSKPR_WOSsodwo42DN6XICXark_C7ATAmPSDqkMJJpnM9Z6Vd2_pNcG1XNswKT7LXBv3qfyGt8ciHUIahPvz8J-jVKA_xT9rdD2WVNKpQJSF05zMNc0iu794TCuiUJAnz-kroSHzMgtfwgWn5Pqt-KGTZLYXGT1u9NT4Q9XH04IX6qtfA-cmOSG01AyVlUpWHd48VRsca0g8RNGIlhZF2FUInjaMZP_IEo5mc1M4Ow7Ro5_wcMSuCZEBD6PkX6_Vw2NNbjtiRZzCfUZXxk6f6B9z3ofD1vRhXFEw84SJ1PLqxvNOkACpfPwpobQB8Ba6EPgm-jrBnTFsXo2dPMGynq7jCPfCj1mRIjYWDueHyLxxXzWHKuzWHdJr1IawmD9JPQU7bmnKp3c9Gqfq0EIPKHhVBh4g6nBJ6yKPdRPykmiblireAhHtwK3L3Kb7x5iCe8JCng1kmd_byO4B2PbOnxbkoYCDYoYECJeLDZKF-l0C4uebWgk0i0juh1DEUCr0x-kkwGfH_Vphk3xjGyJeinDlYdtEzaEBLyL1w115jaqEtbEDHT1sv6d9-IH6QDM54vP8_6-1_dDInP4n_0eGQoHZRQ8Ojd7d-oe8cN4z6vpg2qUSEfI0JdS1wOHqCx1Eb2KJC3xzfeNmIKZxvxtNW6-TSutKyZHhXHJbxnht00t_5iBY4KveMpgeZHJ8bbts88GQ5NQKoCZ8As4Fq0MUmVKNucboTpZ2TsAjv8eV2ytVfTWmNPFZvrXo=",
  "id": "rs_01077e37303f509e016ab4581eda3c87d0bd884e324feb65e0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.208,\"right_gripper\":0.28},\"note\":\"The yellow fruit is between the fingertips, slightly left of center. I’m making a small centering adjustment and closing gently around it.\"}",
  "call_id": "call_Rmgib1YKLF835zfdsgSOqHLs",
  "id": "fc_01077e37303f509e016ab4581f73a487d0a3257a381e82cabe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Rmgib1YKLF835zfdsgSOqHLs",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0303, 0.8345, 0.6243, -0.4721, -0.0139, -0.0311, 0.9925, 0.7124, 1.7462, 0.7879, 0.0246, 0.4339, 0.371, 0.4681]\nstate[eef_state]: left_x=0.2865 left_y=-0.0026 left_z=0.1598 left_yaw=-0.0014 left_pitch=-0.114 left_roll=0.0021 left_gripper=0.9925 right_x=0.3437 right_y=0.2034 right_z=0.021 right_yaw=0.1252 right_pitch=-0.2522 right_roll=-0.0908 right_gripper=0.4681\nstate[joint_eff]: [-0.0752, -1.347, 6.9402, 1.7118, -0.0513, -0.0415, -0.0122, 0.4855, -5.7094, 7.4735, 1.2039, 0.2515, 0.1343, 0.9206]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aae4bdeb99bcb4e3a4221c33564396d122d05467828221ad98c39654d2ad4169",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f0faabb6939cceff5cc53e756b51d321af98a47fe4125e9c6a31ceb65a81de5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e5185861b8b0c905d62024f68082d38c890747359d66f66345c8b06c714837a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 10 attempt 0 · /responses · status 200 · 3.454 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 25 changed as sent

message 33 changed as sent

message 37 changed as sent

message 25 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0284, 0.8303, 0.6243, -0.4503, -0.0135, -0.0315, 0.9925, 0.3317, 1.7309, 1.0344, -0.0841, 0.2089, 0.1112, 0.9955]\nstate[eef_state]: left_x=0.2896 left_y=-0.0023 left_z=0.1651 left_yaw=0.0003 left_pitch=-0.0881 left_roll=0.0008 left_gripper=0.9925 right_x=0.4468 right_y=0.1189 right_z=0.0907 right_yaw=0.0856 right_pitch=-0.1922 right_roll=-0.0551 right_gripper=0.9955\nstate[joint_eff]: [-0.0615, -1.4564, 7.0222, 1.6923, -0.0366, -0.0366, -0.0122, -0.294, -8.5402, 6.5573, 1.6337, 0.0904, 0.0806, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 33 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0303, 0.8341, 0.6243, -0.4686, -0.0139, -0.0311, 0.9925, 0.6952, 1.7432, 0.7849, 0.0296, 0.429, 0.3664, 0.9965]\nstate[eef_state]: left_x=0.287 left_y=-0.0027 left_z=0.1605 left_yaw=-0.0014 left_pitch=-0.1102 left_roll=0.002 left_gripper=0.9925 right_x=0.3469 right_y=0.1983 right_z=0.0215 right_yaw=0.115 right_pitch=-0.2505 right_roll=-0.0877 right_gripper=0.9965\nstate[joint_eff]: [-0.1573, -1.4017, 6.9402, 1.7753, -0.0464, -0.0366, -0.0122, -0.1709, -7.9385, 4.9299, 1.4969, 0.1978, -0.0464, -0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0303, 0.8345, 0.6243, -0.4721, -0.0139, -0.0311, 0.9925, 0.7124, 1.7462, 0.7879, 0.0246, 0.4339, 0.371, 0.4681]\nstate[eef_state]: left_x=0.2865 left_y=-0.0026 left_z=0.1598 left_yaw=-0.0014 left_pitch=-0.114 left_roll=0.0021 left_gripper=0.9925 right_x=0.3437 right_y=0.2034 right_z=0.021 right_yaw=0.1252 right_pitch=-0.2522 right_roll=-0.0908 right_gripper=0.4681\nstate[joint_eff]: [-0.0752, -1.347, 6.9402, 1.7118, -0.0513, -0.0415, -0.0122, 0.4855, -5.7094, 7.4735, 1.2039, 0.2515, 0.1343, 0.9206]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aae4bdeb99bcb4e3a4221c33564396d122d05467828221ad98c39654d2ad4169",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f0faabb6939cceff5cc53e756b51d321af98a47fe4125e9c6a31ceb65a81de5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e5185861b8b0c905d62024f68082d38c890747359d66f66345c8b06c714837a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "arguments": "{\"targets\":{\"right_z\":0.095,\"left_x\":0.296,\"left_y\":-0.002,\"left_z\":0.2,\"left_pitch\":0.05},\"note\":\"The gripper has settled around the yellow fruit at a plausible holding width. I’m lifting to check the grasp and refreshing the idle arm’s parked height.\"}",
  "call_id": "call_ojRB2AggFUe6MLP8GiBuFquC",
  "id": "fc_01077e37303f509e016ab45822ce2887d092fd7f285ac69567",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ojRB2AggFUe6MLP8GiBuFquC",
  "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]: [-0.0299, 0.7795, 0.6243, -0.4213, -0.0139, -0.0334, 0.9925, 0.7113, 1.6058, 0.9306, -0.3084, 0.4294, 0.3668, 0.47]\nstate[eef_state]: left_x=0.2906 left_y=-0.0027 left_z=0.1846 left_yaw=0.0 left_pitch=-0.0084 left_roll=-0.0028 left_gripper=0.9925 right_x=0.3379 right_y=0.1989 right_z=0.0776 right_yaw=0.1221 right_pitch=-0.2961 right_roll=-0.1192 right_gripper=0.47\nstate[joint_eff]: [0.1709, -1.7026, 7.8154, 2.1416, -0.0269, 0.0562, -0.0122, 0.0479, -9.0325, 7.9521, 1.2918, 0.1832, 0.0269, 0.1929]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76102633ad7fdcaacbd3eff0312f3b9dbfd905df8933e1765fbc8374391682ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c31f43f315d57121081cca2ff6cd9a1ea3efb8dc17393afe7eee4cdf9f2c643",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c49879473f0bbf1685a62fb7629d0baa537c5eed9ccfa51028e44a2ead24f03f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 11 attempt 0 · /responses · status 200 · 3.139 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 29 changed as sent

message 37 changed as sent

message 40 changed as sent

message 29 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0303, 0.8322, 0.6243, -0.4538, -0.0135, -0.0311, 0.9925, 0.7414, 1.4914, 0.9916, -0.4198, 0.4603, 0.4053, 0.9964]\nstate[eef_state]: left_x=0.2892 left_y=-0.0028 left_z=0.1639 left_yaw=-0.0018 left_pitch=-0.0934 left_roll=0.0013 left_gripper=0.9925 right_x=0.3318 right_y=0.2023 right_z=0.129 right_yaw=0.1171 right_pitch=-0.227 right_roll=-0.0759 right_gripper=0.9964\nstate[joint_eff]: [0.0479, -1.6068, 7.3094, 1.6874, -0.0415, -0.0659, -0.0122, -0.335, -7.9658, 8.5675, 1.3407, 0.4908, 0.1294, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0303, 0.8345, 0.6243, -0.4721, -0.0139, -0.0311, 0.9925, 0.7124, 1.7462, 0.7879, 0.0246, 0.4339, 0.371, 0.4681]\nstate[eef_state]: left_x=0.2865 left_y=-0.0026 left_z=0.1598 left_yaw=-0.0014 left_pitch=-0.114 left_roll=0.0021 left_gripper=0.9925 right_x=0.3437 right_y=0.2034 right_z=0.021 right_yaw=0.1252 right_pitch=-0.2522 right_roll=-0.0908 right_gripper=0.4681\nstate[joint_eff]: [-0.0752, -1.347, 6.9402, 1.7118, -0.0513, -0.0415, -0.0122, 0.4855, -5.7094, 7.4735, 1.2039, 0.2515, 0.1343, 0.9206]",
      "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]: [-0.0299, 0.7795, 0.6243, -0.4213, -0.0139, -0.0334, 0.9925, 0.7113, 1.6058, 0.9306, -0.3084, 0.4294, 0.3668, 0.47]\nstate[eef_state]: left_x=0.2906 left_y=-0.0027 left_z=0.1846 left_yaw=0.0 left_pitch=-0.0084 left_roll=-0.0028 left_gripper=0.9925 right_x=0.3379 right_y=0.1989 right_z=0.0776 right_yaw=0.1221 right_pitch=-0.2961 right_roll=-0.1192 right_gripper=0.47\nstate[joint_eff]: [0.1709, -1.7026, 7.8154, 2.1416, -0.0269, 0.0562, -0.0122, 0.0479, -9.0325, 7.9521, 1.2918, 0.1832, 0.0269, 0.1929]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76102633ad7fdcaacbd3eff0312f3b9dbfd905df8933e1765fbc8374391682ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c31f43f315d57121081cca2ff6cd9a1ea3efb8dc17393afe7eee4cdf9f2c643",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c49879473f0bbf1685a62fb7629d0baa537c5eed9ccfa51028e44a2ead24f03f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFgrpZQdrioyuxLUYnQHldNB9DLRg9eitZj254jKxTyPYpHJ4gGEvPNa3s6CxM10lvwjRJ4lRHBreyw_1t3aZYtz4JUqjIOD-nZCkrbzXt5yQJ4U6MT9ejflz2tt6RfSRrs_XeBntJ-kHkxxYHjcdJQ-h_iDuuLBdtVzFC7mIDekOO98FoUsibmviFedSFVFhUaphPHjXzaXa_Zs2X-V90ZtDSHXuNR3bpReewSw-C1oVyAJ40i0km_8zEOXOktsYpcK6IVdzATIVIwEjSPKtRTwHvNqsCKx2OAHJBKe0H38qg9L-ZVtcfwsRu-k81VOPVBLWgRamKz6X2CkXvMNi_VpERSjyu3O3NMyIghjkLd23sygwI6X-4cRv1nJKw1fV7P8Ppn6__m0neqerM3fEArb-tECccXZSmiY_eHLCVHnvftWtD4xOk9oHx4p1sAK8dqucdQF8kyqDa1_VyEt9C8TJR_OgbhFzvU5wMQ0Ij8KYw3CIPkD3l6DOaqcO6UIrEph5iOcX5xdBHpW-kpZFFZlsILdk3AoHFFK8FbIQfd4O5FE4yZnIdYdLIae1iVe4VBsm--pKT_ZRknQmRJer83NnBgGxTD6k-qUlonnDzBTtjx3ZlJXFdrmrMytallwUS3Oai8dBSqWSNOsYRy4387pCxwxIYRXgIcbXCS-M1gjby0e-qLijox3kD2gxzcGCRm4z7fjEQlcj5yEW2CU6Ii2AyVeuW_kOku2Tvxia88GfUPjjOOmC3R_Itb5cFDRzuj8yQ8d1d8-A03BqDEBcjiFDBPEUMwvdgJ7oDdX_1Zi2DfBnVHOGAfRfvGBfhhcpqkcSmeQJbWk1Z7hOgs4ivd9AbGoQ-EXzmNBluV6bg9tcihkBqzExotphoKy0XvSVGH6IhdghmOOnDDH1y-Lh7lDajCgsjdD6WsM3Gasfg0D3mXD424CI0NZ1zBFkZzNaHsGhEQdb1OJMTUelTBm3bDBMJdncopLsw1rTounbsuxVr-AvEORIGDB_PtedQttHOegaRlZKADcieZhAJGGQ0E1swcqSCSP0OHHEIPcTwYJ5luDTZzp4QSVeNBS80lQrr_qScUA1xVOMPSn0vTq1RJOD7q8FcnrrjgmffDx4tvaa-YLPqc-SDda5vATBA1oxJ2QLPWn0bIWWKcTbCvuTY3NG0xj2JeNuMAkpfJqfGkAYzLfyeVmq7S90RDy5l9Q1AmhZj5q2VhOf-IUxJKqPs3ZLdDeND4rvlSj7BOm1skqkUMHAb0BQ4rAQOhyHvzaop0NNYfUTgFsUaVzu1iyd63JFn1BxOpgVwQweBQUtVJ8cK-Y4aPLNdBGe2lbBw8KVqD34fSIUiKR9mEs83SHkElIBqNek-DG913mBKkgq1wxOVyPmsb2JhdgTfOnm5FxFIi42diD33FlMmaf-k0wPJT_pZ1NN84tn_l9HoabrYtPwdw0PgqmBZnWAaI781-Fr2KY5NCRJuVuKwBkG1UyttnUpi6BTnYNTSMGCuILuPSSaCucfaHNMERoOG1KXqLECqTWf0ZLTp0EzX0tDJLfhPFp_gHcBqBrQ0z-kp1h9G_L8--PUjKtPrGc26N5lf41GDo-DI-938YW9LTTby2_zKKQCoD3PqwiS4PhX-kKR18dh6XabN7XCHsECPwuR97EeOFOELFihXJJc3ZKZyrFt2giS4uFq48ZwKNwY0-ZL_CaltM=",
  "id": "rs_01077e37303f509e016ab458296f9087d09eede29ba68cc04e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.455,\"right_y\":0.12,\"right_z\":0.19,\"right_pitch\":0.15},\"note\":\"The yellow fruit has risen with the gripper. I’m carrying it above the blue bowl, where the green fruit is already resting.\"}",
  "call_id": "call_lx4q0rV8ZHSYAxXogEUgamat",
  "id": "fc_01077e37303f509e016ab4582aae2087d08d02682ef179607e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lx4q0rV8ZHSYAxXogEUgamat",
  "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]: [-0.0303, 0.7803, 0.6243, -0.4294, -0.0139, -0.0338, 0.9925, 0.3641, 1.5517, 0.9188, 0.0795, 0.2897, -0.004, 0.472]\nstate[eef_state]: left_x=0.2896 left_y=-0.0027 left_z=0.1828 left_yaw=-0.0002 left_pitch=-0.0172 left_roll=-0.0029 left_gripper=0.9925 right_x=0.4389 right_y=0.1171 right_z=0.1538 right_yaw=0.1169 right_pitch=0.0342 right_roll=-0.1405 right_gripper=0.472\nstate[joint_eff]: [-0.1436, -1.2103, 7.0359, 1.8193, -0.0562, -0.0611, -0.0122, -0.335, -7.8291, 9.7709, 2.1074, -0.0171, -0.0513, 0.1929]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15326e099a3d6f9557bd8de0e72ed2d0d63cb16c4c0e1dffc898d5aba9419aaf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f42785a2265e978caf4bc90f69cfb355c72b451227dad5886b2ef8de7a9e6741",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e18ae491e073a65df1ef616347e3518d979604cb49169387536252789194ee91",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 12 attempt 0 · /responses · status 200 · 3.735 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 33 changed as sent

message 40 changed as sent

message 44 changed as sent

message 33 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0303, 0.8341, 0.6243, -0.4686, -0.0139, -0.0311, 0.9925, 0.6952, 1.7432, 0.7849, 0.0296, 0.429, 0.3664, 0.9965]\nstate[eef_state]: left_x=0.287 left_y=-0.0027 left_z=0.1605 left_yaw=-0.0014 left_pitch=-0.1102 left_roll=0.002 left_gripper=0.9925 right_x=0.3469 right_y=0.1983 right_z=0.0215 right_yaw=0.115 right_pitch=-0.2505 right_roll=-0.0877 right_gripper=0.9965\nstate[joint_eff]: [-0.1573, -1.4017, 6.9402, 1.7753, -0.0464, -0.0366, -0.0122, -0.1709, -7.9385, 4.9299, 1.4969, 0.1978, -0.0464, -0.0024]",
      "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]: [-0.0299, 0.7795, 0.6243, -0.4213, -0.0139, -0.0334, 0.9925, 0.7113, 1.6058, 0.9306, -0.3084, 0.4294, 0.3668, 0.47]\nstate[eef_state]: left_x=0.2906 left_y=-0.0027 left_z=0.1846 left_yaw=0.0 left_pitch=-0.0084 left_roll=-0.0028 left_gripper=0.9925 right_x=0.3379 right_y=0.1989 right_z=0.0776 right_yaw=0.1221 right_pitch=-0.2961 right_roll=-0.1192 right_gripper=0.47\nstate[joint_eff]: [0.1709, -1.7026, 7.8154, 2.1416, -0.0269, 0.0562, -0.0122, 0.0479, -9.0325, 7.9521, 1.2918, 0.1832, 0.0269, 0.1929]\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 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]: [-0.0303, 0.7803, 0.6243, -0.4294, -0.0139, -0.0338, 0.9925, 0.3641, 1.5517, 0.9188, 0.0795, 0.2897, -0.004, 0.472]\nstate[eef_state]: left_x=0.2896 left_y=-0.0027 left_z=0.1828 left_yaw=-0.0002 left_pitch=-0.0172 left_roll=-0.0029 left_gripper=0.9925 right_x=0.4389 right_y=0.1171 right_z=0.1538 right_yaw=0.1169 right_pitch=0.0342 right_roll=-0.1405 right_gripper=0.472\nstate[joint_eff]: [-0.1436, -1.2103, 7.0359, 1.8193, -0.0562, -0.0611, -0.0122, -0.335, -7.8291, 9.7709, 2.1074, -0.0171, -0.0513, 0.1929]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15326e099a3d6f9557bd8de0e72ed2d0d63cb16c4c0e1dffc898d5aba9419aaf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f42785a2265e978caf4bc90f69cfb355c72b451227dad5886b2ef8de7a9e6741",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e18ae491e073a65df1ef616347e3518d979604cb49169387536252789194ee91",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFgyaHLgVs-4qlbP5j5bUCp4hmYTiqRsisqKPm5q3M8A8hrzFoveh8zwrA2VZQHtSQrfuaXRbph-yvMzNdLe8K7mFbdSdcc3rMrObaJkFicZuUPfq7Sy5zwgp-1iRHIeSD8WhLe7n46pVh7OHSU1Apk3qSP8NKJQY0Jy43iiC0UwbMwLXBQjgMzcxerT6oaKZNcLcikQC1ffBO3T8a24Cv688ZYQsy4ec-xxCAkc7SVPgLVqT4vM5XfF1Ioejk9phnt8vGo_a3_bEG0ikxZv3nt-Zuzs9OEtVS2jK9G25hj7Wjg2McHumeRWUGCdmAGfSLemnMYouFIunjRhxPFXE-bhks62KIGVK7-Nfo2KVBOg75vI9ckaX3ybJpRccaalgYyogMa7Wvm0Neo8D7t--UWJeUXiWo782CXKWZEXtGziJMdghqlo0TikOnsw90YA32233H8Ms0nSa5IdoerXL3DOavF1_DizCa2vz5oGB1iC05h0E-DwephCFRkPAi0PuyB5sGBxJq1uv2qoUdEYf2bCv_zhiiAcdd1tpSDxQyvqSsrBHxL8rDnFTnOvaZarpPpvGUAyhZ6QXyu3f_mm5KXK-9muDZ7s6fnnEi0LJApMQpioYVPOG-5Jj0VL1RHIA4pDa8Mn1b8fuCJRXm_AqYh8Md-KiO8tNU4uJsNBYU4ctfXLAZa_H75HAi2xO9EHm1caaIKzH2VYyiP0InzPdN_v4uepCwINPCKf26UomF8VQpbONPPuv-i9HTc5_juyhJrYJMmXuR5lsQEjM9hIs31DwZCIEk2vDrffJnpDlRJP-2gMZA0nMJ7G8lBW8GB_1HhpgDuugRwnP-8rwFP9lHcXm1ZuB6JnJK6nPdaYF1-fa-96c6OIELhG97NyciS8eb5YliqO-ijYdtGcfqAP_9N9L1iNYed48FzL_dIhDA5yk-dmzh5WudfdB20O5Uq8PhgnlJ78576GzDcnzGCON1Y9PPUDroD86k_QnkBxBtACLSGi6tWUM8oF_ifV9FINYgf21NqvrMU2dpGS9IlrLyksW5Aw9n4hpqxf0oHXMczy-fPq-N4uqwSbxIQzOTNoI2sD5KeSqsel7At6OapMYbGE_D8W8JRgOOwHx4LQ7o1_Gzlku0mi-BWAZCkpBnAjQamQw0JOdnP23XjRraLbPet9FzSV-tKrJzBtzGuqxTlxORGd137L9OfAP9-b-OzSkiMbVV42ZhS1VooVJOw08a6b8TCThF0cr3FIg2DhA6m2UaK9JV2GiEUvreF4vyDL_4e1tOTRYHZt07fcqYsgNqtiv4bBYN44BCActyVncT0jd-KdRO9UdZVwVEH_X0260lAzobSbAkfEGKgIHZeVnpq58P-V85qhDmkW9VI_yazxdqDHY-5qWU_Ec8tdyeCKzmXoZyIdviVS3sitCUk3sPGmdg==",
  "id": "rs_01077e37303f509e016ab45831186487d0a8a480940d4ee987",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.115,\"right_gripper\":1},\"note\":\"The yellow fruit is directly over the blue bowl’s opening. I’m lowering a little and opening the gripper so it joins the green fruit.\"}",
  "call_id": "call_YoLIGPJSxLWdPJN8fvgaPl4o",
  "id": "fc_01077e37303f509e016ab45832247487d0a7bcb9e14b79707c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YoLIGPJSxLWdPJN8fvgaPl4o",
  "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]: [-0.0303, 0.7807, 0.6243, -0.4316, -0.0135, -0.0338, 0.9925, 0.3599, 1.5745, 0.8867, 0.115, 0.279, -0.0113, 0.9959]\nstate[eef_state]: left_x=0.2893 left_y=-0.0028 left_z=0.1822 left_yaw=-0.0005 left_pitch=-0.0199 left_roll=-0.003 left_gripper=0.9925 right_x=0.4372 right_y=0.1164 right_z=0.137 right_yaw=0.1256 right_pitch=0.0134 right_roll=-0.1458 right_gripper=0.9959\nstate[joint_eff]: [-0.0205, -1.1556, 6.9812, 1.7314, -0.0269, -0.0513, -0.0122, 0.1436, -7.3778, 6.694, 1.8828, 0.1148, 0.0904, 0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0de479905c2210c631ce6d3bc69fde2334cc0d9c33aa28c3fdbde0b7c637a3d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:406e8efdcdf1eb8a29ff212a02ba33022267e41e0bd2e90799d08e7f5e8f4ce6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cd979abfcac612b3bebe1591a6af7e5045fb5de81b1d300679bba3f4b655b5d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /responses · status 200 · 3.161 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 37 changed as sent

message 44 changed as sent

message 48 changed as sent

message 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0303, 0.8345, 0.6243, -0.4721, -0.0139, -0.0311, 0.9925, 0.7124, 1.7462, 0.7879, 0.0246, 0.4339, 0.371, 0.4681]\nstate[eef_state]: left_x=0.2865 left_y=-0.0026 left_z=0.1598 left_yaw=-0.0014 left_pitch=-0.114 left_roll=0.0021 left_gripper=0.9925 right_x=0.3437 right_y=0.2034 right_z=0.021 right_yaw=0.1252 right_pitch=-0.2522 right_roll=-0.0908 right_gripper=0.4681\nstate[joint_eff]: [-0.0752, -1.347, 6.9402, 1.7118, -0.0513, -0.0415, -0.0122, 0.4855, -5.7094, 7.4735, 1.2039, 0.2515, 0.1343, 0.9206]",
      "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]: [-0.0303, 0.7803, 0.6243, -0.4294, -0.0139, -0.0338, 0.9925, 0.3641, 1.5517, 0.9188, 0.0795, 0.2897, -0.004, 0.472]\nstate[eef_state]: left_x=0.2896 left_y=-0.0027 left_z=0.1828 left_yaw=-0.0002 left_pitch=-0.0172 left_roll=-0.0029 left_gripper=0.9925 right_x=0.4389 right_y=0.1171 right_z=0.1538 right_yaw=0.1169 right_pitch=0.0342 right_roll=-0.1405 right_gripper=0.472\nstate[joint_eff]: [-0.1436, -1.2103, 7.0359, 1.8193, -0.0562, -0.0611, -0.0122, -0.335, -7.8291, 9.7709, 2.1074, -0.0171, -0.0513, 0.1929]",
      "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]: [-0.0303, 0.7807, 0.6243, -0.4316, -0.0135, -0.0338, 0.9925, 0.3599, 1.5745, 0.8867, 0.115, 0.279, -0.0113, 0.9959]\nstate[eef_state]: left_x=0.2893 left_y=-0.0028 left_z=0.1822 left_yaw=-0.0005 left_pitch=-0.0199 left_roll=-0.003 left_gripper=0.9925 right_x=0.4372 right_y=0.1164 right_z=0.137 right_yaw=0.1256 right_pitch=0.0134 right_roll=-0.1458 right_gripper=0.9959\nstate[joint_eff]: [-0.0205, -1.1556, 6.9812, 1.7314, -0.0269, -0.0513, -0.0122, 0.1436, -7.3778, 6.694, 1.8828, 0.1148, 0.0904, 0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0de479905c2210c631ce6d3bc69fde2334cc0d9c33aa28c3fdbde0b7c637a3d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:406e8efdcdf1eb8a29ff212a02ba33022267e41e0bd2e90799d08e7f5e8f4ce6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cd979abfcac612b3bebe1591a6af7e5045fb5de81b1d300679bba3f4b655b5d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFg3FUBeEuE1F1TG4HlsqFivtTE1qHhVmuVCNtQwffcu7UhrflOHqurV9bLPNrV9q22yuJdK8wmXjrTt6bq8gh0EmM-x8e4-nPL3ru5YZw2ZxmB3x4_H9P_aUqLGM6vfJpLwdFYIbPcMzurMFeusxDSpteDfSv1FTcU2lMaVIi0-xA_H-L1MXX-mYblhwT_TkHgts1455--ZXovp6A_WyxOIpSqfy2t6naCmwE4ttDlFRQajOBozUx70u_KowQc2UBKCMg0fOp2ToOwZx4NRKWAADbgQLvplgFq6koZOQATUK7EvIJast9eno17wEfzpkFa1kAdqHvect-BeZZ6211AQKTCER90gEcAGusx35tm7genqe6TSxceWAQLOgIz_y576Ww8kiq_vEIpb4ay9H2-ZZqkKxHrAjp-W_QZNpRKT-9HObPbz1k8h__bgH9pbErMnXc93OO2U0LiYuNmpcW1mWSGy-2WtUXotWwuYVrh9k3EDDfnEKM6foFkDmt7zS9K8PJe-LHXYwoLVAV9g0Xkk7p6eP7ZWck-RGszUX9iP0L478cdXbY-0mAX6mjxJJu8BI_HYcg1BUIGZHz56ydIGPwN1iiOBdvMijus1TZ8cuqDfxwtTFRsOjdkXGbCrySnG3ZN5g1KyY7rpjGZM9D_zyD5DCOZlOfm9FfASwXUi3H4uzT-dRhLDU_p1hV5hi360lg3_FD9l4Jqsz4tjXNHB2XgJiXBdMVRhIPEV_XQBH3kgyjFM8vHtToj3tR1rCZLpq-dtbqk_PHjR_XoiG-2n4MilBYcUzIo3jZ-BZVlB1dUP1qSwuD7sqE4KO0mmZjAGPCdiO2ronLVwjra4m4YtbTILxxUinddHTv60ADGmY65Egs7q1RyB4ywUZNsbnOPbq7SJuqw-g34lJYS86J11bCeeNEXdPQzCqROL5g4BpwEGrYCg00u4S5hYuqMRtJRMGVOvw3DXGHoBN6t-Z7QdOMPX6kcq1lUEFDFeDtIaT2WrZps1zI36rcGHEdDuzPO_UIMQ5P5DzQike6C0ubonm1WahYwoe-HwDtqxkpPh97vWw-BTBHkF2ZcDdMpV5JgJHhkaum0Vez3ESRNG1w9CYwnq3xJbrPxdtL9jJ5n5zlQ-ubsluZYQ2eR_dvbvV2aYv0qYva7JtPR2KiAV09G0b3o69XGbWIjju0CUu_GrVzDKVBf67Z3SQ4di6fgFfLv-66w0cwP5irUgb3j7yuyVD0GqMu0mtFM3k12L3RncffPRUSCcYZtgGK5vypfseNgcbMuTHjqrBEa6uzYch8Q9YxJNNWlU4h_cS9AB979I11pq7Ogs42andLjinPoodr08PMs3vHp7UBXmps4_3DyoCcLir_s-OalrYOdiybPBB6N7WBUYLP6sXqA4NYojImsJqecS_4FkYMDdsuZSlk_aomg_DQNkhE09f8daTPY9uW5tve6gRUFNKg4TF2IPBAUGIN_uw77kc2FWmNcuwivpWqCird4V7bBR8sHcs21jtc0Z7q8IMW4XNtwNx1HI1cnnXJIYaTaoAkm9JANL8hDT30lo85mk49PXsobQg65N_Bc=",
  "id": "rs_01077e37303f509e016ab45834b5ac87d0bb8e6e0a06a1f062",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":-0.285,\"left_z\":0.13,\"left_gripper\":1,\"right_x\":0.296,\"right_y\":0,\"right_z\":0.2,\"right_pitch\":0.1},\"note\":\"The green and yellow fruits are in the blue bowl; the dark fruit remains beside the white bowl. I’m parking the right arm and bringing the left gripper toward the remaining fruit.\"}",
  "call_id": "call_KZw75O9fml5RELZiRryubmK3",
  "id": "fc_01077e37303f509e016ab458360b8c87d098e416d6baaf042d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KZw75O9fml5RELZiRryubmK3",
  "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]: [-1.1034, 1.6424, 1.0149, -0.3672, -0.807, -0.8383, 0.9933, -0.0559, 0.7498, 0.5888, -0.284, -0.0559, -0.21, 0.9965]\nstate[eef_state]: left_x=0.287 left_y=-0.2776 left_z=0.1189 left_yaw=-0.0132 left_pitch=-0.0505 left_roll=0.0176 left_gripper=0.9933 right_x=0.3012 right_y=-0.0034 right_z=0.206 right_yaw=0.099 right_pitch=0.117 right_roll=-0.1523 right_gripper=0.9965\nstate[joint_eff]: [-0.6085, -7.9658, 8.0752, 1.0916, -0.6325, -0.0366, -0.7009, -0.1573, -1.1966, 6.2017, 1.7802, -0.105, 0.0024, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f9ec5404b2c3f48ea993f2b077c3438c97eaa12b7401d40cbfb765b179b1218",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:792a0d600904d7d6d601c340b4311e0f06cbac1fdc5c9eaf4d4633ea68725b20",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8466e04c5e738305026209693efbc8f5c795022ad0761f89c628f13bcef7e3e3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 14 attempt 0 · /responses · status 200 · 3.561 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]: [-0.0299, 0.7795, 0.6243, -0.4213, -0.0139, -0.0334, 0.9925, 0.7113, 1.6058, 0.9306, -0.3084, 0.4294, 0.3668, 0.47]\nstate[eef_state]: left_x=0.2906 left_y=-0.0027 left_z=0.1846 left_yaw=0.0 left_pitch=-0.0084 left_roll=-0.0028 left_gripper=0.9925 right_x=0.3379 right_y=0.1989 right_z=0.0776 right_yaw=0.1221 right_pitch=-0.2961 right_roll=-0.1192 right_gripper=0.47\nstate[joint_eff]: [0.1709, -1.7026, 7.8154, 2.1416, -0.0269, 0.0562, -0.0122, 0.0479, -9.0325, 7.9521, 1.2918, 0.1832, 0.0269, 0.1929]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0303, 0.7807, 0.6243, -0.4316, -0.0135, -0.0338, 0.9925, 0.3599, 1.5745, 0.8867, 0.115, 0.279, -0.0113, 0.9959]\nstate[eef_state]: left_x=0.2893 left_y=-0.0028 left_z=0.1822 left_yaw=-0.0005 left_pitch=-0.0199 left_roll=-0.003 left_gripper=0.9925 right_x=0.4372 right_y=0.1164 right_z=0.137 right_yaw=0.1256 right_pitch=0.0134 right_roll=-0.1458 right_gripper=0.9959\nstate[joint_eff]: [-0.0205, -1.1556, 6.9812, 1.7314, -0.0269, -0.0513, -0.0122, 0.1436, -7.3778, 6.694, 1.8828, 0.1148, 0.0904, 0.0269]\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 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]: [-1.1034, 1.6424, 1.0149, -0.3672, -0.807, -0.8383, 0.9933, -0.0559, 0.7498, 0.5888, -0.284, -0.0559, -0.21, 0.9965]\nstate[eef_state]: left_x=0.287 left_y=-0.2776 left_z=0.1189 left_yaw=-0.0132 left_pitch=-0.0505 left_roll=0.0176 left_gripper=0.9933 right_x=0.3012 right_y=-0.0034 right_z=0.206 right_yaw=0.099 right_pitch=0.117 right_roll=-0.1523 right_gripper=0.9965\nstate[joint_eff]: [-0.6085, -7.9658, 8.0752, 1.0916, -0.6325, -0.0366, -0.7009, -0.1573, -1.1966, 6.2017, 1.7802, -0.105, 0.0024, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f9ec5404b2c3f48ea993f2b077c3438c97eaa12b7401d40cbfb765b179b1218",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:792a0d600904d7d6d601c340b4311e0f06cbac1fdc5c9eaf4d4633ea68725b20",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8466e04c5e738305026209693efbc8f5c795022ad0761f89c628f13bcef7e3e3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFg8pudmdzAS0l9JiI_XyAuSIwiA7u6pkR2kh-C8BpdsZuxZuDlIG0B6gnyIpoxQvc4EbMc73nul7n4oSDR9kzRAD0eVbDYnbL3vODKD3MWQlMCiJeW5cLKCNFR88XyoFl8nw4I2q9-WcJx_Ek9bKMcvllhpHT_CyjpFfP-TGBYBKBGqIm0mcZBqynzu2ESLJbNkWmrii8NEROwbmuJ5wlFCvZ6ILB6TNNEvVqTtJuki2ca5qYdGy_e_eQhdPMjLZltlbj4UNUTMRZJs26LvlKetMPC-DH87xoXyzxjmcX367BrIiwBOElWDS-B3lhdKDCas5qEMZCBIQlXQ2H1UijJ6ucgK4lmMAmoGAgWmKRVAZfqNTdWkqqdcyt5beAf95Bk8sHTr0N6YeQq1p2bc2U346hGKw-W6DddROP7LcH8gLHj-JEho52BwqMfunZN-4wAWTaY66LUTr5N4kLtAKs8YFtEDqZs4nRHIcWG0XRvXhPNn2tDETyGTxMsrBbMWpIkGH79wDgIDCXNKNfvHIh-WwmcPQjIngMfISFfZlK_ttJIBN31wtgI_F5xuWHFF6P78mVRzbW9iWTvEhMuXQ6UuXcUbsiX2u-ozlYeBJi_5wvcCY0SWwBX5W7l6U-HtQ0bOWzx6RYrWyZzQuqA8aZPr51heYVclEBbW9CRXXkYjI4Azt3ECmq7WVV_REbZfVMA6xtAFTD2qOps4-2YS8gUsCq2UO2zEiTxGrd91PQzJ7D6qehfmDwHaoCDgWDhHYV_E7vZxcp1KJRy_p1ksZvHEkGQvkji3C1Mr8Jh5X11aQYbzsK9Z63fvQKCNcUdqj1dTp3C9VN3TG0_x1fr4lW7Gkn52IX_E8anze7EdbYwKVQ3duMHXrQLKaEpMLBh9Cry07tbSAkOLz_nwsZS77aO1YflRtnZmoY6mr7CIM0rzMLHlB2iz1oeXHFvURr2SaLoROtP7aUMoOqUXt-SqEEBM_YkJn5pN0QvT371UZ5SWlxjrIBePXz97mAyUcjj0Oqy7fsbrMsnhQ0na579xaJbJk4xt5kqjd1O8wwFkqmjmyJSdgiSETcRp-D_Ky6VoB9yzpTo4gi55TM78X5LsDSrC_Br5NrjM1k2xYhWeautbzuZ3RevNmFRnYkJ-sDgYsLnGTPXfVTeLbVapbx7JL0gm7Ipz45TY7cZ2cbEq4i7voVVa4qxq8gmwRCI9zHPcOxyX9D2JLi0-f6VR3e1-bb_7czIihypZjk2A_v5yzaPpof9OLUPgmK3u2FZ2B8q9cplleXP0NbFPH6NzVCmfh1a2n469hUzT_2EzlON3L0EHFwphllRDUsNYYOQ1GkAH9iY6k1sCGfWGnWoK6eUSIKA5gQlDSug1tcthnYeAPL1H2cmHgJ51UfHJYnsUoJRXhfZNO-Q8bhPfplJAKismqiJ6NUn5MsePSJDvIqirH1ePn38=",
  "id": "rs_01077e37303f509e016ab4583af4d487d0b5b5ec3bbb897463",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.305,\"left_y\":-0.252,\"left_z\":0.025},\"note\":\"The dark fruit is visible just left of the left gripper’s centerline. I’m shifting toward it and lowering the open jaws to grasp near its middle.\"}",
  "call_id": "call_QMhUPIUQ6NtREkreLeTllSCB",
  "id": "fc_01077e37303f509e016ab4583be77487d095e7394ab1c06357",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QMhUPIUQ6NtREkreLeTllSCB",
  "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]: [-1.018, 1.7943, 0.7658, 0.0433, -0.762, -0.7555, 0.9927, -0.0601, 0.7544, 0.5827, -0.3122, -0.0647, -0.2211, 0.9965]\nstate[eef_state]: left_x=0.2989 left_y=-0.2453 left_z=0.0258 left_yaw=0.0011 left_pitch=-0.0794 left_roll=0.0575 left_gripper=0.9927 right_x=0.2979 right_y=-0.0029 right_z=0.1956 right_yaw=0.1075 right_pitch=0.0783 right_roll=-0.152 right_gripper=0.9965\nstate[joint_eff]: [0.3214, -7.1863, 5.012, 1.3993, -0.3053, 0.1099, -0.0806, 0.2667, -1.388, 7.8564, 2.0635, 0.0464, 0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98aa5239b8331f2343873a984071adb74656a20a6f4005dc3418dc1a275a233b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ec29f4d9d175b2e412e775ae1699b6a13ca54e2159f2f4db5cdad1e81ae4e6c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d56a55393b170b84e6213d1a4ef8d47ea157f74f7bc032fa65b49f3821b8252",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 15 attempt 0 · /responses · status 200 · 2.114 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 44 changed as sent

message 52 changed as sent

message 56 changed as sent

message 44 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0303, 0.7803, 0.6243, -0.4294, -0.0139, -0.0338, 0.9925, 0.3641, 1.5517, 0.9188, 0.0795, 0.2897, -0.004, 0.472]\nstate[eef_state]: left_x=0.2896 left_y=-0.0027 left_z=0.1828 left_yaw=-0.0002 left_pitch=-0.0172 left_roll=-0.0029 left_gripper=0.9925 right_x=0.4389 right_y=0.1171 right_z=0.1538 right_yaw=0.1169 right_pitch=0.0342 right_roll=-0.1405 right_gripper=0.472\nstate[joint_eff]: [-0.1436, -1.2103, 7.0359, 1.8193, -0.0562, -0.0611, -0.0122, -0.335, -7.8291, 9.7709, 2.1074, -0.0171, -0.0513, 0.1929]",
      "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]: [-1.1034, 1.6424, 1.0149, -0.3672, -0.807, -0.8383, 0.9933, -0.0559, 0.7498, 0.5888, -0.284, -0.0559, -0.21, 0.9965]\nstate[eef_state]: left_x=0.287 left_y=-0.2776 left_z=0.1189 left_yaw=-0.0132 left_pitch=-0.0505 left_roll=0.0176 left_gripper=0.9933 right_x=0.3012 right_y=-0.0034 right_z=0.206 right_yaw=0.099 right_pitch=0.117 right_roll=-0.1523 right_gripper=0.9965\nstate[joint_eff]: [-0.6085, -7.9658, 8.0752, 1.0916, -0.6325, -0.0366, -0.7009, -0.1573, -1.1966, 6.2017, 1.7802, -0.105, 0.0024, 0.0464]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 56 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.018, 1.7943, 0.7658, 0.0433, -0.762, -0.7555, 0.9927, -0.0601, 0.7544, 0.5827, -0.3122, -0.0647, -0.2211, 0.9965]\nstate[eef_state]: left_x=0.2989 left_y=-0.2453 left_z=0.0258 left_yaw=0.0011 left_pitch=-0.0794 left_roll=0.0575 left_gripper=0.9927 right_x=0.2979 right_y=-0.0029 right_z=0.1956 right_yaw=0.1075 right_pitch=0.0783 right_roll=-0.152 right_gripper=0.9965\nstate[joint_eff]: [0.3214, -7.1863, 5.012, 1.3993, -0.3053, 0.1099, -0.0806, 0.2667, -1.388, 7.8564, 2.0635, 0.0464, 0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98aa5239b8331f2343873a984071adb74656a20a6f4005dc3418dc1a275a233b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ec29f4d9d175b2e412e775ae1699b6a13ca54e2159f2f4db5cdad1e81ae4e6c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d56a55393b170b84e6213d1a4ef8d47ea157f74f7bc032fa65b49f3821b8252",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFhB9tfMs4qp3DVKvUNIi2RMtty59Wh6b9TzMLegre0bd5YYpalfcz36XWHiOfnuOGSUWEuOMg6nkoeKNrUbO3WY-svjpbxE6vIXOIV1YzGwpgNqsiqozvKUjbo4xdjMbpI4sGsEyhEH05abYggK47D0irB_5alEyeiAjBGKiadDuAid8gGHmJFqokB4Soh0SEyTRubmvG2mrMKzoKvx1Rw1DKRAK9viB6hbLP-fJA6dQ4LTYLLMOddzQIpM3IccRemwcWDY2IbZF4wPgkkjJ6ej6IdPDHpd2MAC5yA8Ae9PEqroQg7Q7eJxtNF9bcGhVIVwY0C7T0JJzKci4XQe2UHdAZhkAuUk0w-C4LyfhGZROP16I0R3KeY4P0VNqSV_F0awmb0z-XkA7jaJ2vH1uD2fXnWmkasDYyyhDo-YJjeEO8EC0yStf9EU9tL5WiSluYvkx_bwDIx7G5wC7dsKuX8y75wpB8SVHGkyU8wlrd-h-3ZqrKa_aV9TGk4IKg8WpoB-YWTrpLZylDBFycA4bdvhnGQi15E76NSs9vhnxEJgiZVfNW3c-sJZWar0kts1kmCTJSNrQnO8COtrWLDd629CQ6zMQuhCQQmkU9kAUhrFkPtJPHn3JT5bl_owHBpcduf7FRuKHzj0QngEp0r7CFAEUhVpfSvqrfgVdQr833tmJ0UxOihVZQTdWaRrspVFXSGSk2hbDRKWzAEST30-CKG9s2GS5OyIwE6y6aweDKpOVYTTS4GATr8SW1A-WMClSbuvKSbsErYCFSTpUY5SVaigfMAXpmPejY2IR1I1M6iS19Cek2kUZHZR3toTWXtrlb65jmtXowAsZk9AVuL7MmTXw0xjI74odGd4_UjMUwIYiHyf5tpItq8MyIc3jbDaHU4h844HwIp0AkgVsiA7QQYLHd0iblFh46dSvPdbKJlRVorJVibLrnVxxUM5m7r_Zf_aGHw0S5M70ELD4-mVbZmmfERI9cmcfx_1xKjnay6jiNfF7ofmPV4gugOCyfEvp6bwzkvg79DHdBTzjhAknkncTDBSUbE9l3OMYfLXOlqvUVHaxY2yKffu7DtG12R6o8wsLiRbsPzWr6VUhaKjcLaiG66teocEWPh84Y5BaFOWqsf4hXNBOYI4HeT5p7_-TRQJYYbqz4zit2AFcp_QC0uhnkPjH6y4-G7C0nG4K1utqzz2ki8xoLaZfWdoKwiOi-H8ZdlGbnTfl7nXvezm2fnrOjPYxQhUcIaNcK21u3BG26AFLgCf9OgKA8Ruo2SHremSlKAlHA8HK_wdl9ySAW8-yv3G5AAABtMcLjo7wYgKEnw=",
  "id": "rs_01077e37303f509e016ab4583f70e887d08793c576b9aba50e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.235,\"left_gripper\":0.25},\"note\":\"The dark fruit is within the open jaws but still a little left of center. I’m making a final small alignment correction and closing around it.\"}",
  "call_id": "call_tRTKtzUKTkYKyuG8bIml8xwG",
  "id": "fc_01077e37303f509e016ab4584035a087d09fbb8683e591229e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tRTKtzUKTkYKyuG8bIml8xwG",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0039, 1.8, 0.7319, 0.0673, -0.7502, -0.7475, 0.5327, -0.0608, 0.7547, 0.5827, -0.3195, -0.0612, -0.2214, 0.9965]\nstate[eef_state]: left_x=0.297 left_y=-0.2355 left_z=0.0156 left_yaw=0.0052 left_pitch=-0.0963 left_roll=0.072 left_gripper=0.5327 right_x=0.2971 right_y=-0.0037 right_z=0.1939 right_yaw=0.104 right_pitch=0.0705 right_roll=-0.1527 right_gripper=0.9965\nstate[joint_eff]: [0.3761, -10.1402, 4.4923, 1.2234, -0.3687, 0.1148, 0.9353, -0.1573, -0.7179, 7.1726, 1.8584, -0.0659, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e6c26316df64d64d2e5bdebe3dad4ac6557daa11282baca865d5aa71743e75d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb52d6d07f9d272eecbbc864f9d6cb9aa1e2ad786e1afda8f074a960282555ac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91bd35cff01024f85c17f87aff7948a6c8b8e0dd43bf799ef2fd956b53f9430e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 16 attempt 0 · /responses · status 200 · 9.084 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 48 changed as sent

message 56 changed as sent

message 60 changed as sent

message 48 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0303, 0.7807, 0.6243, -0.4316, -0.0135, -0.0338, 0.9925, 0.3599, 1.5745, 0.8867, 0.115, 0.279, -0.0113, 0.9959]\nstate[eef_state]: left_x=0.2893 left_y=-0.0028 left_z=0.1822 left_yaw=-0.0005 left_pitch=-0.0199 left_roll=-0.003 left_gripper=0.9925 right_x=0.4372 right_y=0.1164 right_z=0.137 right_yaw=0.1256 right_pitch=0.0134 right_roll=-0.1458 right_gripper=0.9959\nstate[joint_eff]: [-0.0205, -1.1556, 6.9812, 1.7314, -0.0269, -0.0513, -0.0122, 0.1436, -7.3778, 6.694, 1.8828, 0.1148, 0.0904, 0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 56 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.018, 1.7943, 0.7658, 0.0433, -0.762, -0.7555, 0.9927, -0.0601, 0.7544, 0.5827, -0.3122, -0.0647, -0.2211, 0.9965]\nstate[eef_state]: left_x=0.2989 left_y=-0.2453 left_z=0.0258 left_yaw=0.0011 left_pitch=-0.0794 left_roll=0.0575 left_gripper=0.9927 right_x=0.2979 right_y=-0.0029 right_z=0.1956 right_yaw=0.1075 right_pitch=0.0783 right_roll=-0.152 right_gripper=0.9965\nstate[joint_eff]: [0.3214, -7.1863, 5.012, 1.3993, -0.3053, 0.1099, -0.0806, 0.2667, -1.388, 7.8564, 2.0635, 0.0464, 0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 60 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0039, 1.8, 0.7319, 0.0673, -0.7502, -0.7475, 0.5327, -0.0608, 0.7547, 0.5827, -0.3195, -0.0612, -0.2214, 0.9965]\nstate[eef_state]: left_x=0.297 left_y=-0.2355 left_z=0.0156 left_yaw=0.0052 left_pitch=-0.0963 left_roll=0.072 left_gripper=0.5327 right_x=0.2971 right_y=-0.0037 right_z=0.1939 right_yaw=0.104 right_pitch=0.0705 right_roll=-0.1527 right_gripper=0.9965\nstate[joint_eff]: [0.3761, -10.1402, 4.4923, 1.2234, -0.3687, 0.1148, 0.9353, -0.1573, -0.7179, 7.1726, 1.8584, -0.0659, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e6c26316df64d64d2e5bdebe3dad4ac6557daa11282baca865d5aa71743e75d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb52d6d07f9d272eecbbc864f9d6cb9aa1e2ad786e1afda8f074a960282555ac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91bd35cff01024f85c17f87aff7948a6c8b8e0dd43bf799ef2fd956b53f9430e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "arguments": "{\"targets\":{\"left_z\":0.095},\"note\":\"The dark fruit is held at a gripper width of about 5 cm. I’m lifting it to verify the grasp before transferring it to the blue bowl.\"}",
  "call_id": "call_eModBlw58UOf6CB0v0p2yASz",
  "id": "fc_01077e37303f509e016ab45843337087d086daa9d2f9a83270",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_eModBlw58UOf6CB0v0p2yASz",
  "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]: [-1.0035, 1.6199, 0.8486, -0.2283, -0.7433, -0.7567, 0.5358, -0.0608, 0.7547, 0.5827, -0.3199, -0.0616, -0.2214, 0.9965]\nstate[eef_state]: left_x=0.2966 left_y=-0.2363 left_z=0.0797 left_yaw=0.0064 left_pitch=-0.1003 left_roll=0.0607 left_gripper=0.5358 right_x=0.297 right_y=-0.0036 right_z=0.1938 right_yaw=0.1043 right_pitch=0.0702 right_roll=-0.1524 right_gripper=0.9965\nstate[joint_eff]: [-0.1436, -8.335, 8.0889, 1.1258, -0.442, 0.0366, 0.6374, -0.1162, -0.841, 7.0769, 1.8193, -0.0855, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f561e70d519176bbf233ef6d5e51acbe9cf07704ba4e7c0eeaee574b7a004cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6f2ad90c8eaa37f87d88f29fdadd622155fbc1756af2015c4a5fee151c8463c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56e64aa33af3058a182dd4a4054130177b710163d39710988ae3a7a65725b00e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 17 attempt 0 · /responses · status 200 · 3.986 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 52 changed as sent

message 60 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]: [-1.1034, 1.6424, 1.0149, -0.3672, -0.807, -0.8383, 0.9933, -0.0559, 0.7498, 0.5888, -0.284, -0.0559, -0.21, 0.9965]\nstate[eef_state]: left_x=0.287 left_y=-0.2776 left_z=0.1189 left_yaw=-0.0132 left_pitch=-0.0505 left_roll=0.0176 left_gripper=0.9933 right_x=0.3012 right_y=-0.0034 right_z=0.206 right_yaw=0.099 right_pitch=0.117 right_roll=-0.1523 right_gripper=0.9965\nstate[joint_eff]: [-0.6085, -7.9658, 8.0752, 1.0916, -0.6325, -0.0366, -0.7009, -0.1573, -1.1966, 6.2017, 1.7802, -0.105, 0.0024, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 60 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0039, 1.8, 0.7319, 0.0673, -0.7502, -0.7475, 0.5327, -0.0608, 0.7547, 0.5827, -0.3195, -0.0612, -0.2214, 0.9965]\nstate[eef_state]: left_x=0.297 left_y=-0.2355 left_z=0.0156 left_yaw=0.0052 left_pitch=-0.0963 left_roll=0.072 left_gripper=0.5327 right_x=0.2971 right_y=-0.0037 right_z=0.1939 right_yaw=0.104 right_pitch=0.0705 right_roll=-0.1527 right_gripper=0.9965\nstate[joint_eff]: [0.3761, -10.1402, 4.4923, 1.2234, -0.3687, 0.1148, 0.9353, -0.1573, -0.7179, 7.1726, 1.8584, -0.0659, -0.0269, -0.0073]",
      "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]: [-1.0035, 1.6199, 0.8486, -0.2283, -0.7433, -0.7567, 0.5358, -0.0608, 0.7547, 0.5827, -0.3199, -0.0616, -0.2214, 0.9965]\nstate[eef_state]: left_x=0.2966 left_y=-0.2363 left_z=0.0797 left_yaw=0.0064 left_pitch=-0.1003 left_roll=0.0607 left_gripper=0.5358 right_x=0.297 right_y=-0.0036 right_z=0.1938 right_yaw=0.1043 right_pitch=0.0702 right_roll=-0.1524 right_gripper=0.9965\nstate[joint_eff]: [-0.1436, -8.335, 8.0889, 1.1258, -0.442, 0.0366, 0.6374, -0.1162, -0.841, 7.0769, 1.8193, -0.0855, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f561e70d519176bbf233ef6d5e51acbe9cf07704ba4e7c0eeaee574b7a004cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6f2ad90c8eaa37f87d88f29fdadd622155fbc1756af2015c4a5fee151c8463c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56e64aa33af3058a182dd4a4054130177b710163d39710988ae3a7a65725b00e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_01077e37303f509e016ab45845979c87d090608c3cb4249eb7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.2,\"right_x\":0.44,\"right_y\":0.06,\"right_z\":0.145,\"right_pitch\":0.1,\"right_gripper\":0.65},\"note\":\"The dark fruit is securely lifted, but the blue bowl is beyond the left arm’s sideways reach. I’m holding the fruit clear while bringing the right gripper toward the blue bowl’s outer rim so I can move the bowl toward the middle.\"}",
  "call_id": "call_PulaK327ZTYu8JEtF8ilAOdF",
  "id": "fc_01077e37303f509e016ab4584c433c87d08a3b6816af26a20f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PulaK327ZTYu8JEtF8ilAOdF",
  "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]: [-1.0035, 1.512, 1.1751, -0.6857, -0.7399, -0.7643, 0.5379, 0.1883, 1.4937, 0.7345, 0.1955, 0.1375, -0.131, 0.6523]\nstate[eef_state]: left_x=0.2969 left_y=-0.2377 left_z=0.1802 left_yaw=0.0106 left_pitch=-0.1147 left_roll=0.0726 left_gripper=0.5379 right_x=0.4223 right_y=0.0595 right_z=0.1194 right_yaw=0.1364 right_pitch=0.0012 right_roll=-0.1706 right_gripper=0.6523\nstate[joint_eff]: [-0.0342, -8.2803, 9.1692, 1.1062, -0.4274, 0.0171, 0.569, 0.1983, -7.1453, 8.4581, 2.1074, 0.1685, 0.149, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cfcb10c88e9b869090c6dffeab56da89ad55deed3f08f0585cc638a27324f33",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1230e3c1bed9c195f94c932c68b41f35de52ec9bcb28f4358e45b66c1ba6408",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58e82eb496f1564e61af07351c8d83e9779dac7a961df3905c980583047c5b34",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 18 attempt 0 · /responses · status 200 · 3.132 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 56 changed as sent

message 63 changed as sent

message 67 changed as sent

message 56 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.018, 1.7943, 0.7658, 0.0433, -0.762, -0.7555, 0.9927, -0.0601, 0.7544, 0.5827, -0.3122, -0.0647, -0.2211, 0.9965]\nstate[eef_state]: left_x=0.2989 left_y=-0.2453 left_z=0.0258 left_yaw=0.0011 left_pitch=-0.0794 left_roll=0.0575 left_gripper=0.9927 right_x=0.2979 right_y=-0.0029 right_z=0.1956 right_yaw=0.1075 right_pitch=0.0783 right_roll=-0.152 right_gripper=0.9965\nstate[joint_eff]: [0.3214, -7.1863, 5.012, 1.3993, -0.3053, 0.1099, -0.0806, 0.2667, -1.388, 7.8564, 2.0635, 0.0464, 0.0562, -0.0122]",
      "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]: [-1.0035, 1.6199, 0.8486, -0.2283, -0.7433, -0.7567, 0.5358, -0.0608, 0.7547, 0.5827, -0.3199, -0.0616, -0.2214, 0.9965]\nstate[eef_state]: left_x=0.2966 left_y=-0.2363 left_z=0.0797 left_yaw=0.0064 left_pitch=-0.1003 left_roll=0.0607 left_gripper=0.5358 right_x=0.297 right_y=-0.0036 right_z=0.1938 right_yaw=0.1043 right_pitch=0.0702 right_roll=-0.1524 right_gripper=0.9965\nstate[joint_eff]: [-0.1436, -8.335, 8.0889, 1.1258, -0.442, 0.0366, 0.6374, -0.1162, -0.841, 7.0769, 1.8193, -0.0855, -0.0317, -0.0122]\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 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0035, 1.512, 1.1751, -0.6857, -0.7399, -0.7643, 0.5379, 0.1883, 1.4937, 0.7345, 0.1955, 0.1375, -0.131, 0.6523]\nstate[eef_state]: left_x=0.2969 left_y=-0.2377 left_z=0.1802 left_yaw=0.0106 left_pitch=-0.1147 left_roll=0.0726 left_gripper=0.5379 right_x=0.4223 right_y=0.0595 right_z=0.1194 right_yaw=0.1364 right_pitch=0.0012 right_roll=-0.1706 right_gripper=0.6523\nstate[joint_eff]: [-0.0342, -8.2803, 9.1692, 1.1062, -0.4274, 0.0171, 0.569, 0.1983, -7.1453, 8.4581, 2.1074, 0.1685, 0.149, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cfcb10c88e9b869090c6dffeab56da89ad55deed3f08f0585cc638a27324f33",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1230e3c1bed9c195f94c932c68b41f35de52ec9bcb28f4358e45b66c1ba6408",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58e82eb496f1564e61af07351c8d83e9779dac7a961df3905c980583047c5b34",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFhShOAzTFADgF-Wp4nZkKp2OY8f_wA9aQazFRoeQ9Fp8s6w-ivMH60QoXu21W1_sfYDshNW3Ky-niE_x6kwKBvlxq9Jjq6GKJtW6iVvZROcegCwzKKQioazLr_2uwNrjPatn3nl4rW8_g_UYiULfGMB1B885iAoTIYSyT7MqEsxXHDQCv2f6JFbgmVbr5FpIJhkYaRRCmH16hvkvrHZ_aX21imgeGJRdOg8yktiXAFeNgsrwFlGal38X9ma8JM6dCqzR488fAfZ137aEeg8R6npGAuJXXdBhKfspqXC8e4BqeqJqbo8Ppm60FYhzHUZXKkMObMDaszIkTm9swQi9aSdt0M7MDk6F1LN46AFhG4UGr1x2JSM4VbQjy1iR2ipSyE-rrNwXuSZ4_cZf5Nd5f0P0741IxplUnvL1hltHe0uIvt5bKK7v4J3gvrzRTt0DA-OYOCxUUm9UGNe_3gyuvc9tIK4Pc55TMGvzePOXiB-pvSsP95iMBYm6PrG19UJ1DnA2wbucOsC9cYgoIhpujuTnbE3DnmB2xe7BKVWwQaR-6nzyWzLQKIqO4RyQHIHCOgylAjRtTTSZlNIoGNx25EObLRktal0cgde0xhaJ5Cqti2e6AJ82EsAGBQ7I3-sT3tRJXldl2D8VE1ouGYz5Y10QJNoRINJimnB12LjF2nxwAJndgolHCHWe6O5-0JkyS6xr3Zl6v4rog8fE8dn7XoVr2fIc5U5JV5ALS-iCaH3beqYp64OLlORTHR1SQDKv-ON7PiNVjAkR6kxDcvn6aykcAgDH1D4P3817NBPTJ8ELBJrVFt8rBqJXPrXYj0N0QhwW5mPVjRRCBxJ3V046NfhLuO3_h7oQKghkh1YISPnMfZQ5lxmbtmMmT8FAIe50isdVtfHWJwZ5A-Qypuj4VwxAv9C8SIomvOUZxo6fFGL42shmY4L6PppjiOChkjkrdCUcFO6un9NqGsW1OV5fD354sWoyXNf0pofsJCZ0yEEFJgkEA2RLY6u8fGsVWmNc5WSTn-We1zRc_qTOGklga5vGr8734fDgiohlf_mlXk2eFHpQgBNZJIILdVLwcD9_QLni7UCnhojIjn2RjAlnXQCRdnNfaGBUI0rOFI4mopKkwMQhE7KSmtImIzzVviDHO4hcQ-F45jQAmef3Bner9ZCqK8yV4LAODrrU8e1LYwT4RdvXi1zJBgJqQzWCOBTjAHRVRBvS6fII3uOgi_aoO8vbSvr-dllkvgXJ1FXhgV7VN7yIIB5_SuflsczDyLooEQPsiLMoTrTYhWK4hSo7ttKVQqexJ7F4k-C10C3j950Fwm0yRJYge9qVW9zmcW-5WkpsHiduLgYvg_zLzwtZSALGCr8AYQAtKnAeu3v5Fe-1TAryyc_A56TwqCmPMw30vsmNbBrFDJQ3VHfsI7w9e0w-iE4qYeMDQZrO7nusoAwlH8hz5TBzpL4uh6nZKueRex26SzOzXyukp9FCTk8hFSNZoUUMI1QrVS9VavfGg1Gf72hnedSe8xF3lsLIP-HiCxky3EMZsO-vjJOT91-cXIdE5QGyMnLOuGwMD07ufWMfvClhXkJ17cRQnAkkrr0_Km0",
  "id": "rs_01077e37303f509e016ab4584fe8c487d0bb0ddc95102dfb32",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.07,\"right_z\":0.055,\"right_gripper\":0.45},\"note\":\"The blue bowl’s right-hand rim is visible beside the fruit. I’m lowering the gripper so one finger is inside the bowl and the other outside that rim.\"}",
  "call_id": "call_t5kTnDHRlNo17nP8RB40GA6P",
  "id": "fc_01077e37303f509e016ab458519ec487d0b6bb064f186eb0bd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_t5kTnDHRlNo17nP8RB40GA6P",
  "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]: [-1.0035, 1.5063, 1.1778, -0.6987, -0.7395, -0.7643, 0.5409, 0.1936, 1.7931, 0.7422, 0.4072, 0.1444, -0.1349, 0.4519]\nstate[eef_state]: left_x=0.2958 left_y=-0.236 left_z=0.1817 left_yaw=0.0109 left_pitch=-0.1174 left_roll=0.0764 left_gripper=0.5409 right_x=0.4438 right_y=0.0648 right_z=0.0398 right_yaw=0.1378 right_pitch=-0.079 right_roll=-0.1819 right_gripper=0.4519\nstate[joint_eff]: [-0.1573, -6.1333, 6.4889, 1.2381, -0.3297, -0.0073, 0.3004, 0.4171, -8.3761, 7.7333, 1.9951, 0.0415, 0.0757, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:926a21770ef4ece50601d262a4e01fc0f20f7223cc950cfb6df765b2b2b27d8b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c50a435eda10d8c10ba40ccffc153e1c2142691c4e302f5c2585bc25d41f5e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ed84954ab597f438859f7b67e97c15d1c7d8b83a73aad86419f8f49467d1a37",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 19 attempt 0 · /responses · status 200 · 2.706 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 60 changed as sent

message 67 changed as sent

message 71 changed as sent

message 60 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0039, 1.8, 0.7319, 0.0673, -0.7502, -0.7475, 0.5327, -0.0608, 0.7547, 0.5827, -0.3195, -0.0612, -0.2214, 0.9965]\nstate[eef_state]: left_x=0.297 left_y=-0.2355 left_z=0.0156 left_yaw=0.0052 left_pitch=-0.0963 left_roll=0.072 left_gripper=0.5327 right_x=0.2971 right_y=-0.0037 right_z=0.1939 right_yaw=0.104 right_pitch=0.0705 right_roll=-0.1527 right_gripper=0.9965\nstate[joint_eff]: [0.3761, -10.1402, 4.4923, 1.2234, -0.3687, 0.1148, 0.9353, -0.1573, -0.7179, 7.1726, 1.8584, -0.0659, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0035, 1.512, 1.1751, -0.6857, -0.7399, -0.7643, 0.5379, 0.1883, 1.4937, 0.7345, 0.1955, 0.1375, -0.131, 0.6523]\nstate[eef_state]: left_x=0.2969 left_y=-0.2377 left_z=0.1802 left_yaw=0.0106 left_pitch=-0.1147 left_roll=0.0726 left_gripper=0.5379 right_x=0.4223 right_y=0.0595 right_z=0.1194 right_yaw=0.1364 right_pitch=0.0012 right_roll=-0.1706 right_gripper=0.6523\nstate[joint_eff]: [-0.0342, -8.2803, 9.1692, 1.1062, -0.4274, 0.0171, 0.569, 0.1983, -7.1453, 8.4581, 2.1074, 0.1685, 0.149, 0.0952]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 71 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0035, 1.5063, 1.1778, -0.6987, -0.7395, -0.7643, 0.5409, 0.1936, 1.7931, 0.7422, 0.4072, 0.1444, -0.1349, 0.4519]\nstate[eef_state]: left_x=0.2958 left_y=-0.236 left_z=0.1817 left_yaw=0.0109 left_pitch=-0.1174 left_roll=0.0764 left_gripper=0.5409 right_x=0.4438 right_y=0.0648 right_z=0.0398 right_yaw=0.1378 right_pitch=-0.079 right_roll=-0.1819 right_gripper=0.4519\nstate[joint_eff]: [-0.1573, -6.1333, 6.4889, 1.2381, -0.3297, -0.0073, 0.3004, 0.4171, -8.3761, 7.7333, 1.9951, 0.0415, 0.0757, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:926a21770ef4ece50601d262a4e01fc0f20f7223cc950cfb6df765b2b2b27d8b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c50a435eda10d8c10ba40ccffc153e1c2142691c4e302f5c2585bc25d41f5e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ed84954ab597f438859f7b67e97c15d1c7d8b83a73aad86419f8f49467d1a37",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFhW-qS3mli3fzO-sEW7YfX1aumbWcXahF13EQpGQG49HSl7q0wdDMtN_iDap_RjfqWa5PaszvQpIlpRA-bQwW1S4v6AldV9twGe0FqbMSmJZgvVBnJPvcQkReyzOQkUEOp_aFFxm6jnahq9G-DOMrwHcPhPiIbJcUwc4cTX4gunAs2reRcr1dmsL1hVx3Tao0LsSRELwrWR5qGrZasiqKFQYd07AhVAtwrXTpvcoNfwAGJWXK-aOGO8grHW00zxB-pGEJcHtlwMrzQwCFNQ7JVgpMRIvDX1AHwsZf_gwKItcdNyl5EyzhFBrh4u5Mw5fS_ZJrMS0-KfGrtKzxTxzO0LErlS9hpFSRHqs5SpoDYqmF7lcVbVQSDidGoIJ_2Ev71Opkc88puc0asipx9yAIMzjescqJi-kCgoYhL2YlkaCi66bH6Nuf4kuYmZmUBlYTKhVUyhOtUYhNa8C8rZeuttjvkBvczhSWkIl8ilRCX6IpMfu2-6b6ToiECgoAhynCQqAFNxUG7-lRHLzJFybW6qi0TFM8vFsDbG-t7u6YoaSp_G9lWXu9DKZIzf_HBhba9Sdvf3idtK4FOMWVUjJgEtdzfM2rCOwjhvpO4iEx-V24mcIFLpUW-Bm-1f5wa_7tGF2BeAwWSWZA684lg4pwTsUFITmZouGA8WhiYsQ_-PrcWgl6BHvb59O1H2mtPxnuuBhMJpjlEXfpCQoxrK385rbPADw4JLuIXCR2mPeTw-qsWDzAzqe7w_lbzDCOQVMrUs77waU5GgKWfKd4X7ZGAfleoZBmraQ5RB4HUigTEUDhxPoua1ZYhk5ic6xgcYXkJ2O0m2F-VK3ZgnOz95Oryh65e7Ad-Z2lclYl1D9PCCGODgv69D9JUzpjasYwqhjU0jB-bQjrK32EscKkVVGN0IKET0ZZkXjC7mZQO6UTixPExabf3E3D2rF1TGOks5Drvn-lmHYAGT4PmYi_tG9nGgrnUlPw5LV0fLnXc5zpM5z5W-iOcCwCtL5kxxKI2ENkANVZBW-_EErr6CA13fnQuaMJf_eaeCGW6QyPcxgiLrd97PW6Ax25iOil-T9mH-VmOUNcFj_h9g2QMxoevA3tdtgLRJ-mQEQdg0uviT3pz777hHsRypTlC4gjWgJ7yid2xjorE0yZ9ZXGB5gB4vxCHLgqhgqM-K6cRz1yOOBEFGsj3UfYX3apcaPknq9OOj-GusAlWjaVdSfVxz3v4CSrd-Qmhgaq_cJ4JHrTCSSXoGpYdmT9RwvSZIjVdk_MCS6-I8XAG10NqrGIZ_vvzQq8YqES_sItccJaQB_eMnQ-tC_fA=",
  "id": "rs_01077e37303f509e016ab45854e6c887d0bed587cc5e08f3b2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The jaws are straddling the blue bowl’s outer rim. I’m closing fully to pinch the thin rim before lifting.\"}",
  "call_id": "call_tE4iF19IB9PEhsrLbthwhhiL",
  "id": "fc_01077e37303f509e016ab458557a1887d0917221bb6e47ee63",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tE4iF19IB9PEhsrLbthwhhiL",
  "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]: [-1.0035, 1.5063, 1.1778, -0.6994, -0.7395, -0.7666, 0.5432, 0.1986, 1.8183, 0.749, 0.4763, 0.1257, -0.1276, 0.0371]\nstate[eef_state]: left_x=0.2957 left_y=-0.2359 left_z=0.1816 left_yaw=0.0122 left_pitch=-0.1178 left_roll=0.0752 left_gripper=0.5432 right_x=0.4533 right_y=0.0723 right_z=0.045 right_yaw=0.1549 right_pitch=-0.0282 right_roll=-0.1627 right_gripper=0.0371\nstate[joint_eff]: [-0.0752, -6.5573, 6.4889, 1.1404, -0.4176, 0.0073, 0.2173, -0.0342, -8.3487, 6.612, 1.7851, 0.3004, -0.022, 0.8132]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b7a32e9411d9b93a5fbe93535cc1984d01364e78b36350058975ae87c932d0e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe74d97c078af50820e2a60785b7495556c360d907cae3bf187900f962c0ea10",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fef14d55f2bf9473981d36ea381bff6cbb8ac41d89cedde19bf0e1a7bb51556a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 20 attempt 0 · /responses · status 200 · 5.198 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 63 changed as sent

message 71 changed as sent

message 75 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]: [-1.0035, 1.6199, 0.8486, -0.2283, -0.7433, -0.7567, 0.5358, -0.0608, 0.7547, 0.5827, -0.3199, -0.0616, -0.2214, 0.9965]\nstate[eef_state]: left_x=0.2966 left_y=-0.2363 left_z=0.0797 left_yaw=0.0064 left_pitch=-0.1003 left_roll=0.0607 left_gripper=0.5358 right_x=0.297 right_y=-0.0036 right_z=0.1938 right_yaw=0.1043 right_pitch=0.0702 right_roll=-0.1524 right_gripper=0.9965\nstate[joint_eff]: [-0.1436, -8.335, 8.0889, 1.1258, -0.442, 0.0366, 0.6374, -0.1162, -0.841, 7.0769, 1.8193, -0.0855, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 71 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0035, 1.5063, 1.1778, -0.6987, -0.7395, -0.7643, 0.5409, 0.1936, 1.7931, 0.7422, 0.4072, 0.1444, -0.1349, 0.4519]\nstate[eef_state]: left_x=0.2958 left_y=-0.236 left_z=0.1817 left_yaw=0.0109 left_pitch=-0.1174 left_roll=0.0764 left_gripper=0.5409 right_x=0.4438 right_y=0.0648 right_z=0.0398 right_yaw=0.1378 right_pitch=-0.079 right_roll=-0.1819 right_gripper=0.4519\nstate[joint_eff]: [-0.1573, -6.1333, 6.4889, 1.2381, -0.3297, -0.0073, 0.3004, 0.4171, -8.3761, 7.7333, 1.9951, 0.0415, 0.0757, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 75 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0035, 1.5063, 1.1778, -0.6994, -0.7395, -0.7666, 0.5432, 0.1986, 1.8183, 0.749, 0.4763, 0.1257, -0.1276, 0.0371]\nstate[eef_state]: left_x=0.2957 left_y=-0.2359 left_z=0.1816 left_yaw=0.0122 left_pitch=-0.1178 left_roll=0.0752 left_gripper=0.5432 right_x=0.4533 right_y=0.0723 right_z=0.045 right_yaw=0.1549 right_pitch=-0.0282 right_roll=-0.1627 right_gripper=0.0371\nstate[joint_eff]: [-0.0752, -6.5573, 6.4889, 1.1404, -0.4176, 0.0073, 0.2173, -0.0342, -8.3487, 6.612, 1.7851, 0.3004, -0.022, 0.8132]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b7a32e9411d9b93a5fbe93535cc1984d01364e78b36350058975ae87c932d0e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe74d97c078af50820e2a60785b7495556c360d907cae3bf187900f962c0ea10",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fef14d55f2bf9473981d36ea381bff6cbb8ac41d89cedde19bf0e1a7bb51556a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFhZarS2q6Rpxxj5ZT9OFe9FPf235u0o5CwjXvYjvQLhxWoU7cGIzFg-TzMb_ZLL8200icGrryQ3glNdJ6WAUrl12MTfny3bdOXNVhoFainwGeqW9oXzoLqSZ3AaSiI1BkcP-vhSzmBwA9SQwEutp6FWL6OxnGkY2n4Dtynmqb1bXiPMKane9iinjDZd1bzcDxzKdLQuF-bAJWsfMd7630QN5chlCto4yuGnUySoZFGI9YcTB7raTKnUOizEfajC8WFbClMYckWOyv0EDnrfScaL5bzUHv1k3v39qQQa0xH0fsFSpn9glp8LzTuzutk0Rav4adPJA6sU0OMHwP6ABMx2ZceEEpgzGkF6_2MXiS1WgiZwO3At91L1ddxThkP3jdqI1KLt1e1BUcl9waHt6l8OfLE-K_1doZisIhg785ay7ALSHuqpQ0oTZl-ru8ixxhxz0a0W4fUF9OGXOLxPHUv59yf9EB3GzbD9D7Vo5RPOgBu-IAGIh9HHmk3HOeFx8to3ogb0jl1H9GKyrOBUnrH9Iz-3Hmjom9t00AxaJ6TrxCsWRIxox5lA14auGTm4Xq_Vu8rSxMtUb5uQv_y0mYVfkyxKm2MUd-nrqEMVhgWWqVQIvjuyYiLzDHasgqLVxUBZ4L8-SVfA2TgisB1QVo_wzhSkEDECJbM3V0z7VIdyHOilU5UxYFLF3qFq7Q_HbsRvPNQ-0GYMbCBJANtCP3l-RvTrjPE9AT44_8-5ff5x4HPvBCKr5md2yJZWQB2Y7jPHvNjXoKOeM86g7yPuV417hd8a7gos3kyTVyL0jsE-vfqH2bxldPSZ9V0JIR2jYY6oD5UpMlFpMcV38Zqo-ss0Hu6RafuxI6xgzxBtv6M9jHdAh9u_-mmQt3JC_lTGv2T-XsyElqFobl0iBNelameyzQcgbLZScqareknJzqQcfm4JsOtl_O6awuv8W-9vrPDGoxhg-TPrvq4q7GvQU9Q-ZRXpbZ9rp3-AIe19Q9UEnrxT_UB8z3AT_LLXjFTefnKK_RhCtIrAZKoIdSpImby_weIViLSohD3lD4a6uWRgXKjJhqvOBn90yrkCG7ef6eeR9U486lY6IGKfMAzzWdM3Lo3ZaqwdVoDmDLOt3oXaf8YGf9WSEEQrGTjouJjvLW9kv-Qt8UlLD_b9gOxwb90l5sZ6ks7U4_WRWzCa2QQOi1PDw9zPcENunDufz7g0_0MpEtme88NYrfZXXKSBXRPvJA==",
  "id": "rs_01077e37303f509e016ab45857e93887d0b02231bc72b802b2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.12},\"note\":\"The jaws have closed to a thin-rim-sized gap, which needs a visual lift check. I’m raising the bowl a few centimeters while keeping it level.\"}",
  "call_id": "call_D709K5AMrQKzNYbOD58eDAwm",
  "id": "fc_01077e37303f509e016ab45858271487d086cc3ee0424a246f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_D709K5AMrQKzNYbOD58eDAwm",
  "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]: [-1.0035, 1.5063, 1.1778, -0.6998, -0.7391, -0.7666, 0.5447, 0.1993, 1.8175, 0.7582, 0.4938, 0.1257, -0.1272, 0.0374]\nstate[eef_state]: left_x=0.2957 left_y=-0.2359 left_z=0.1815 left_yaw=0.012 left_pitch=-0.1182 left_roll=0.0754 left_gripper=0.5447 right_x=0.4585 right_y=0.0737 right_z=0.0524 right_yaw=0.1554 right_pitch=-0.0007 right_roll=-0.1611 right_gripper=0.0374\nstate[joint_eff]: [0.0752, -6.6256, 6.5026, 1.1453, -0.3297, -0.0317, 0.1441, -0.335, -8.6496, 5.9556, 1.663, 0.1783, -0.0464, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bec68c6c1a362eb3c5c56f2154e5a57bc6bb46ddb87fb09aea7781bff8e0aa0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:faaa28cba14daa51453cc990afbc34e0c9c9a29e72a624527d77065af634f25f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f95fa5f480b9183ab152dc32c5ed3104ab5c77132bfec554b33210e83ef6319c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /responses · status 200 · 4.009 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 67 changed as sent

message 75 changed as sent

message 79 changed as sent

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0035, 1.512, 1.1751, -0.6857, -0.7399, -0.7643, 0.5379, 0.1883, 1.4937, 0.7345, 0.1955, 0.1375, -0.131, 0.6523]\nstate[eef_state]: left_x=0.2969 left_y=-0.2377 left_z=0.1802 left_yaw=0.0106 left_pitch=-0.1147 left_roll=0.0726 left_gripper=0.5379 right_x=0.4223 right_y=0.0595 right_z=0.1194 right_yaw=0.1364 right_pitch=0.0012 right_roll=-0.1706 right_gripper=0.6523\nstate[joint_eff]: [-0.0342, -8.2803, 9.1692, 1.1062, -0.4274, 0.0171, 0.569, 0.1983, -7.1453, 8.4581, 2.1074, 0.1685, 0.149, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 75 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0035, 1.5063, 1.1778, -0.6994, -0.7395, -0.7666, 0.5432, 0.1986, 1.8183, 0.749, 0.4763, 0.1257, -0.1276, 0.0371]\nstate[eef_state]: left_x=0.2957 left_y=-0.2359 left_z=0.1816 left_yaw=0.0122 left_pitch=-0.1178 left_roll=0.0752 left_gripper=0.5432 right_x=0.4533 right_y=0.0723 right_z=0.045 right_yaw=0.1549 right_pitch=-0.0282 right_roll=-0.1627 right_gripper=0.0371\nstate[joint_eff]: [-0.0752, -6.5573, 6.4889, 1.1404, -0.4176, 0.0073, 0.2173, -0.0342, -8.3487, 6.612, 1.7851, 0.3004, -0.022, 0.8132]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0035, 1.5063, 1.1778, -0.6998, -0.7391, -0.7666, 0.5447, 0.1993, 1.8175, 0.7582, 0.4938, 0.1257, -0.1272, 0.0374]\nstate[eef_state]: left_x=0.2957 left_y=-0.2359 left_z=0.1815 left_yaw=0.012 left_pitch=-0.1182 left_roll=0.0754 left_gripper=0.5447 right_x=0.4585 right_y=0.0737 right_z=0.0524 right_yaw=0.1554 right_pitch=-0.0007 right_roll=-0.1611 right_gripper=0.0374\nstate[joint_eff]: [0.0752, -6.6256, 6.5026, 1.1453, -0.3297, -0.0317, 0.1441, -0.335, -8.6496, 5.9556, 1.663, 0.1783, -0.0464, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bec68c6c1a362eb3c5c56f2154e5a57bc6bb46ddb87fb09aea7781bff8e0aa0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:faaa28cba14daa51453cc990afbc34e0c9c9a29e72a624527d77065af634f25f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f95fa5f480b9183ab152dc32c5ed3104ab5c77132bfec554b33210e83ef6319c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFhedZaq1NCi1EvkvpUogBuk2Wc5O91I0WcnS3DxApXdtZ0yPgR39IZSwM9g0zpjgvakI-QTBXTj7rrDSzrVAY2RG_dlRK0q5dadueDAgqfc8yprExrPTXj4F5PY9yUQ8rEcu_2ZvGKk8z8VnsK21URAeR7b3hAXWSAKrJZ22qGKEw-_ZfSlkwYircJ0Rqx_8AjF44bQAc14Si6XexFeRv7ivDMUZfQ6eg7Cwwi-hbytOjk0up95mz0shrImGFjPjOLqUGmWSQxA6DzJxXvkLZ8nokJsW4U2GpLCeXCUBHdldgxVQhF-O1sULjonQzZ9-_Poxw3Fq7VXggmLQ4blyPHZYgZK9gpscVu_UMlnNRgaqJ9Iyy_oj3ujA_RShCoqjutByA3KnLzoTnbd3tpucXHSkh9OzU3oIrg96xIWssWjxrnCAOToQ9IiQ9x3ArIdE7iRRBxEp5FqWIPJIs4ODX4lsMN4tq0QEAkkVJdTtoMQfkWMuLFQHYJak0hOLXV0LzVbgriUCAfSU_Zji2X9Z97m3oOmPEBmQ-dmDMGOmZu_m4yKvrX4FMG_g1SAKjrD6uomk7cPEwpnlvKMNmJ52ZcUlaZhv-FsZn4fi3R63UIhgpAYT3c6pRbNiL9YtauFBY_CZ00R2R1FCHU6enSQiMTv26oFei-tDCR8-nXK9wQnWiTJjDNzENresnCpsxzxruGUcD4Uss6KzfjdrpJ32D6KImcQNSikFLNzSvLrSF5dyk1dUA9KeNqtyADeU5d9AsNgfNAhHtjKpcHp2gbszAH01Hz6PULmfTrIm-sFHWV49vVKpETDvflpU0jBQYmmzciAGTGnFjg76gR0xQ6Ce4x2JEQqLKw2Rs39OZHuzi2b9h4yKLT6bixmN_Rzax-2W9TzsfQ6v0DlEPRU7uxyNXw5txLDx6Ky2aEQPIDQZTFvNn07HWSrcye7W51Ob2dCZ5Ku1kYfBYE-Tr6MvDuPprDzWehKR2OD3G56ZLIY5ax5FTO0x30NHJAbNST22vb9UrPPkzQp5DcW9XpHXGT8s_blzVfvooirps_E1CPF_q3uMrXPb5cps6c--9gf8pT0HA154TSD8vvk0-3mu2bTbRhPEZ0t4FqzE3TzPN4w1c2pjxntenFtMqdsM3N_1VvRTadLgrGom19xPMnDR0JeagHbfH3PEgdzFR7kZS0r2kmC_sl_pno0dR9wWXMxoSiFXvPQ_jFRkz9lt0efw9gsT6i_7IpNMWGUlcMiMlKmvxbhQ3Xj_Z0OsHbPyFE-HUiXOWUHFgcGWQeYtdpmKMCP-LhrIVbeNKWQs7ekjTnGriOQPZjxzyhlDxGQQtjY5oDQv89vPjYDkvF0_xSRrMhauyLWyuGPrJs4HFDXpI0BqB3L2zZus5cp6PwpiNkXpCeMIyy5wPoPHatuTHLgHs5nkUhom_qNm5wkzegDdbIBm4F8SNqwR0iRvqu72udMKDozh0LjsCl899PhwCSi9LKJC8uQIgXLJYvLM0dD0O2p9pL96GXsGdsJIYEX1epTVmS-jWf4N8VqIZAXsddpMlAMDcYAR9Qd5nTiE4qBQcem73MBpBQ=",
  "id": "rs_01077e37303f509e016ab4585bd89887d0a48315b85bebe956",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_z\":0.18,\"right_pitch\":0.05},\"note\":\"The right arm barely rose at this extended pose, so I cannot yet confirm the bowl is free of the table. I’m retracting slightly while raising it to give the arm a less stretched lifting posture.\"}",
  "call_id": "call_NYg0oYRk3DDSQrtmuyPPOcmC",
  "id": "fc_01077e37303f509e016ab4585d1b6487d0bcc4ee4a1e819752",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NYg0oYRk3DDSQrtmuyPPOcmC",
  "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]: [-1.0035, 1.5063, 1.1778, -0.6998, -0.7391, -0.7666, 0.546, 0.2256, 1.4197, 0.8127, 0.0261, 0.1383, -0.1314, 0.038]\nstate[eef_state]: left_x=0.2957 left_y=-0.2359 left_z=0.1815 left_yaw=0.012 left_pitch=-0.1182 left_roll=0.0754 left_gripper=0.546 right_x=0.4147 right_y=0.0739 right_z=0.1483 right_yaw=0.1733 right_pitch=-0.016 right_roll=-0.1722 right_gripper=0.038\nstate[joint_eff]: [-0.1709, -6.5983, 6.4752, 1.1355, -0.3639, -0.0269, 0.1294, 0.0889, -7.3915, 10.0991, 2.1709, 0.1636, 0.1099, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf05ae9c65c3c7d64cf0823297e1876299a45c8ef7c9ae424d85efeaed3583f1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f04e67bda0f090b5fb5b8d8e4811120c9999a4d476f77d8c661bf421e85daf3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2b302b0153f5a1145bdc6f6907535e9f6d229bcd1d4a567a141cdeecf81cde3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /responses · status 200 · 3.884 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 71 changed as sent

message 79 changed as sent

message 83 changed as sent

message 71 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0035, 1.5063, 1.1778, -0.6987, -0.7395, -0.7643, 0.5409, 0.1936, 1.7931, 0.7422, 0.4072, 0.1444, -0.1349, 0.4519]\nstate[eef_state]: left_x=0.2958 left_y=-0.236 left_z=0.1817 left_yaw=0.0109 left_pitch=-0.1174 left_roll=0.0764 left_gripper=0.5409 right_x=0.4438 right_y=0.0648 right_z=0.0398 right_yaw=0.1378 right_pitch=-0.079 right_roll=-0.1819 right_gripper=0.4519\nstate[joint_eff]: [-0.1573, -6.1333, 6.4889, 1.2381, -0.3297, -0.0073, 0.3004, 0.4171, -8.3761, 7.7333, 1.9951, 0.0415, 0.0757, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0035, 1.5063, 1.1778, -0.6998, -0.7391, -0.7666, 0.5447, 0.1993, 1.8175, 0.7582, 0.4938, 0.1257, -0.1272, 0.0374]\nstate[eef_state]: left_x=0.2957 left_y=-0.2359 left_z=0.1815 left_yaw=0.012 left_pitch=-0.1182 left_roll=0.0754 left_gripper=0.5447 right_x=0.4585 right_y=0.0737 right_z=0.0524 right_yaw=0.1554 right_pitch=-0.0007 right_roll=-0.1611 right_gripper=0.0374\nstate[joint_eff]: [0.0752, -6.6256, 6.5026, 1.1453, -0.3297, -0.0317, 0.1441, -0.335, -8.6496, 5.9556, 1.663, 0.1783, -0.0464, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 83 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0035, 1.5063, 1.1778, -0.6998, -0.7391, -0.7666, 0.546, 0.2256, 1.4197, 0.8127, 0.0261, 0.1383, -0.1314, 0.038]\nstate[eef_state]: left_x=0.2957 left_y=-0.2359 left_z=0.1815 left_yaw=0.012 left_pitch=-0.1182 left_roll=0.0754 left_gripper=0.546 right_x=0.4147 right_y=0.0739 right_z=0.1483 right_yaw=0.1733 right_pitch=-0.016 right_roll=-0.1722 right_gripper=0.038\nstate[joint_eff]: [-0.1709, -6.5983, 6.4752, 1.1355, -0.3639, -0.0269, 0.1294, 0.0889, -7.3915, 10.0991, 2.1709, 0.1636, 0.1099, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf05ae9c65c3c7d64cf0823297e1876299a45c8ef7c9ae424d85efeaed3583f1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f04e67bda0f090b5fb5b8d8e4811120c9999a4d476f77d8c661bf421e85daf3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2b302b0153f5a1145bdc6f6907535e9f6d229bcd1d4a567a141cdeecf81cde3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFhjU-AyzvoH6auEziunlHG6tb8htxy84P32O36XCuhwuWjoLXIIWW29mljELKyhOlqT5g42WdPUVsFrVIwlTDw6xurxj5xnL8aTXSMdG-JjTYD0PTX-RfXncleRLHDIx_i1DRSJKggEbZMiR_lLfppeCB3NBdtrvezx9fBjD-i8hNtNrfe69jE-viYPAtKvRfWQidpGVzHhnrzwPG-CAVE_a_7qZtObYWXQDmCC6ZliYg-seLrPRjXqy_8zBtryN90Ncs76GiySSe86pjX9a7Xx5QvW41jMpUAbDt93ksKVU0XqU19ZLZ_H5gGwIjLyTYX05p4WarFw0r2x8d3k_Fje8mlio470rR621L47UCEDJFwNeFtTqd82Mwkxvs-j47BjaIWrrN8TsRwLngDTtdlNrs84bNmSyVBJL1rrdKovBBv88rLzaY1FC7sdrOoq2QiXJgJHBGmanVCqIheImYQwpNSUVSWG19gFln-fsLqV08yYi3cGtBOiDBnOgCyHZbCQbMI1wCiqCGIFRmWXlqpXiXVJ_NFsTvnRo1tdEJLlZpsFVI_78yrNJ2AysoW9Jaul_n3VfNnkPMpgS5QaKCi44OqMfC7rNgQG9b2BLleDdGFNLNHdrWe60lD0v9gxWZ2mCv4sS4zbXg_i2nqxZScSxSvUwAFcwaj2UViwqtPJzPm9Lyxn4KmrYE4DZe9pEuqLVvxrBQvHpgkUQOk4_DRRqRhv9q1BThpayBq4KhOL-jKyJ0m0a_rNQeg2PjXvPncRy8IGtB7O6qP67JfX70QBnA3-V8KwdnCLeJ4E9oykWOkNbHpaD3e_FXTa427ekigbqi7VAXsNgab0Me8Us_1Of6J-oxmeQFgf6ipacHwgqhAS82sDWHNnNGw6RB5B_G8CKfa9LWcM7B_HOjVRy9ThDXpKeGTtlic70PKLk_AiSFBb7c1fyXl2OPh-l85GjbDHwVCJFuMbWZ57bnxHMjPZUS1Mvhm-Djh5ZsK7saYeGONR_qDdUxyPOjunXErrm2-hgHarQ08WDB12EVwOhGQaPh2YV8BycmR0ozO0Tgbkvr8hOTom9pI2TFwYoda7FXiZc9cwqthm1TQoV69LKk5tWM3Nb1ZEwYVsbR8FupvYWLRL2IWfu457ErCcumWNYh51HzChqM-2lL1sm8jVJHa8p9KiTCML2bOMXHakb2YZGPLCjPsGm1ciZGTyfqSnHnoJEPIZK9Ub2Uaz_bJYpiTTTz7aSRQYhzVNZlN-fdu8lA7PYCQYpQ7dk74O7H27z_lSwYQhY7_OZ5E5MK5PVx74OWdPKiYxcML1wUDcLu3c5BVfIaC53xbElXN-rD9wI19O1F0f6HZN2JnkxVILx8r94xWM1_DHywbjzCJQLqQ-UUwDXzer_aAqsGiWe-KmzO2FXfIWtdmNwwls3Wiqsn5bGrVkH3hP1nnZFUUIBAdHAzFBcXRg2sV_dHT95Rt9D5BDWbztvPMJaOniPA6HuFsLrkxDcFvlU4ayjIzghnAdIw26nvezFLuRu6CxT2mIF4PmzIIHXzZnCpLyNRm98lvk-zotBpwLUDFv2u00tv4zq1JHUSD8bOrzFWpbbv4C1MwRbhQPfEeh3mai1atJlaD6mAJ4tljdPPh_fN6_hYzi1VI=",
  "id": "rs_01077e37303f509e016ab45861516087d0ba3b27477b247c08",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.28,\"right_z\":0.19},\"note\":\"The blue bowl and both fruits have lifted together, confirming the rim grasp. I’m moving the level bowl toward the middle so the left arm can add the last fruit.\"}",
  "call_id": "call_Y2DSTlLJqV8LXC0fifM711BT",
  "id": "fc_01077e37303f509e016ab45862f16887d08e8d134d82103aeb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Y2DSTlLJqV8LXC0fifM711BT",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0035, 1.5063, 1.1778, -0.7021, -0.7395, -0.767, 0.5476, 0.7673, 1.8027, 1.3636, -0.3431, 0.5411, 0.1665, 0.0388]\nstate[eef_state]: left_x=0.2955 left_y=-0.2355 left_z=0.1813 left_yaw=0.0127 left_pitch=-0.1192 left_roll=0.0772 left_gripper=0.5476 right_x=0.4099 right_y=0.2739 right_z=0.1631 right_yaw=0.2226 right_pitch=-0.0988 right_roll=-0.2312 right_gripper=0.0388\nstate[joint_eff]: [-0.1846, -6.2427, 6.4615, 1.1404, -0.3883, -0.022, 0.1441, 0.2256, -10.2632, 9.8667, 1.7656, 0.3834, 0.3394, 0.9988]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a27a529d8aad2cf7628b7a51e0811b86f37dbd4c95520bcce7cf90f7c11a3574",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99cda71dc404eda80b3a11a582e76156d5acbaabf136e0138788314bbc86fd5c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a320c2ae934b5c430bb5729fba478204b991ce9b7f829c21ace2af1af977085",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 23 attempt 0 · /responses · status 200 · 3.922 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 75 changed as sent

message 83 changed as sent

message 87 changed as sent

message 75 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0035, 1.5063, 1.1778, -0.6994, -0.7395, -0.7666, 0.5432, 0.1986, 1.8183, 0.749, 0.4763, 0.1257, -0.1276, 0.0371]\nstate[eef_state]: left_x=0.2957 left_y=-0.2359 left_z=0.1816 left_yaw=0.0122 left_pitch=-0.1178 left_roll=0.0752 left_gripper=0.5432 right_x=0.4533 right_y=0.0723 right_z=0.045 right_yaw=0.1549 right_pitch=-0.0282 right_roll=-0.1627 right_gripper=0.0371\nstate[joint_eff]: [-0.0752, -6.5573, 6.4889, 1.1404, -0.4176, 0.0073, 0.2173, -0.0342, -8.3487, 6.612, 1.7851, 0.3004, -0.022, 0.8132]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 83 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0035, 1.5063, 1.1778, -0.6998, -0.7391, -0.7666, 0.546, 0.2256, 1.4197, 0.8127, 0.0261, 0.1383, -0.1314, 0.038]\nstate[eef_state]: left_x=0.2957 left_y=-0.2359 left_z=0.1815 left_yaw=0.012 left_pitch=-0.1182 left_roll=0.0754 left_gripper=0.546 right_x=0.4147 right_y=0.0739 right_z=0.1483 right_yaw=0.1733 right_pitch=-0.016 right_roll=-0.1722 right_gripper=0.038\nstate[joint_eff]: [-0.1709, -6.5983, 6.4752, 1.1355, -0.3639, -0.0269, 0.1294, 0.0889, -7.3915, 10.0991, 2.1709, 0.1636, 0.1099, 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 87 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0035, 1.5063, 1.1778, -0.7021, -0.7395, -0.767, 0.5476, 0.7673, 1.8027, 1.3636, -0.3431, 0.5411, 0.1665, 0.0388]\nstate[eef_state]: left_x=0.2955 left_y=-0.2355 left_z=0.1813 left_yaw=0.0127 left_pitch=-0.1192 left_roll=0.0772 left_gripper=0.5476 right_x=0.4099 right_y=0.2739 right_z=0.1631 right_yaw=0.2226 right_pitch=-0.0988 right_roll=-0.2312 right_gripper=0.0388\nstate[joint_eff]: [-0.1846, -6.2427, 6.4615, 1.1404, -0.3883, -0.022, 0.1441, 0.2256, -10.2632, 9.8667, 1.7656, 0.3834, 0.3394, 0.9988]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a27a529d8aad2cf7628b7a51e0811b86f37dbd4c95520bcce7cf90f7c11a3574",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99cda71dc404eda80b3a11a582e76156d5acbaabf136e0138788314bbc86fd5c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a320c2ae934b5c430bb5729fba478204b991ce9b7f829c21ace2af1af977085",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFhpGgnfxMVIPU6Cvz_77bEIpDK8yUIYxeNYKjkz3Wq-_ctgZhejHLh_3Bc4IdG4zPyaC_tkfxgCp-04lureM3i63RfZkSLf90cXPV0HiBXyxgw4DD41aN9enxDafELpODV0R_-2x2Xx7cP9_hvgDnSI29aBbtrQ8rya-R-O1D-koyfskXsu6TIabp6LCNSAD3p2MMekkToKyi5aK0J437AYlbv4K9RXXYXT-oMbjRWGtvrKM_JGB35UfysF1DLLXW1Cxf_dzz_6HhWSnA1YkIoSAIbMkmnW_iydvBjjYK5uH_OPbpb5RubhA6N1gaoDF_KXJtnsrsQCqt1fFDS_vZ1GyXyxx1dVGgsFmFXQ25eqFh0Ub3SbYkmiOH0k_xpXduGRx35PusFCvKkA08z2DHRMib0mugJCC6GtlWTsxpSQtZXnCdhFKtwG5wTitN1h3utaVfGLZCL4azXaOBr9Sl7R2NdmLSlt6J467ndXO0y8fsRjNlno_R1-wwst7AXqxzH8r2nxdohwdF8bBLLX_IPr7kQHmAxe4ESich4NpG_Gg7tAah5OwKuJ8wFo1VFlPY79j6tx_cjgcudwYL8FvioC7RAvGQHM8gecW8YgQEE-6RG_iewi-MyiNMy40DkoqqViGabJRd9DjccZ9FZqe4Gu0bbm6_zaQXD2P7stDieKIwWeJ7rIAVcIoiQrlRpA5IstqeKeAWX_x8tUmbGSoFjLWjfvd-ibaTCNwuqVGTZ6p0Hre7YmeNLqwpGtsO-_9v_j_iCRKbkwlqlgtNlDtC4KB0EeJtVffMJ9QwAZTFNgPrS6SJ71YRckW1o_KnoJt_3GFByEg2F-vHQqNzJMsDLrlIEyVfAdqffYkZTDodbyt3yLh0DcxWrxSaQPbUJaKdof0sxQZwYr4J7ArEEt6BhC5DtohiCrGfS_NRYmY9RPClml4pPdbQyS5BLuYYet8muihVUT_3u0LRJnN-DBMKsojYhjWNpuS6BLjuI4zzjcNd97aFOUdnPyETCFU6SYcsWrex8GiOqBy4PvBj0rj-SJoR2GwJVgT1XkLfilcKH4OPNci7kBB3SHCm_GD6f2pUDzZijJiMl3Osw7poXuVr_g8ccAcYJDAa8XojJQsgykBurpZiqlTrhEAdPCQnebcSsNngBaxuSo5dM-8eK1InzfCEBlG9K861YxT8eqIcg-P_Ggy45_ENzLBtSnf51ExYv8FRXOYWNQKTJHge0ChYBR5XKDnr15R2JcJKUiJ767wSGKNG70yNWlBLlUn9JnUOwKaBwKfnFXYleoU7XxJvKK9_jgdnm2XUcZkc1ZsEBo320_xnPU0oDytidNaLdlIiMbu-Cd746p2mMfhb715gjw2YxZifcVH4_k3xH7WKt4SRMrRApSAxixEVP1JZPCrA6HutopUuYNBsJodDIwNojveVIOWX5KNTIuUNhAyR0Qky0RR_u4bTsDHq17JrRs7H-o017hHLLvFMLeC2WF8OVUw5XjXde4BsAUk1F7TnzhQB6GPkGtOo3AAOk85NeET3mmnmqRHgqo3QEkPNDgfG0Dg_wXfD5Wor5H7p4k2XwHmrVSYBTP4bGDCLxcG3WYCtSqH9ZwySInY-2czJsE6u053PsgUgdkpydGCJB8W51fAld57fvogmNw1Ln69hsXPBOHnCeX-RjgimzWC4iOZJfRQQ==",
  "id": "rs_01077e37303f509e016ab45866ccdc87d0a11c625cfb10378a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.065},\"note\":\"The blue bowl is now beside the white bowl and within the left arm’s reach. I’m lowering it onto the table while retaining the rim grasp, leaving room above it for the final fruit.\"}",
  "call_id": "call_iOqltZwX5lo6qR4f7PPWcwmr",
  "id": "fc_01077e37303f509e016ab45868648487d0842cdd0516cebbcf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_iOqltZwX5lo6qR4f7PPWcwmr",
  "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]: [-1.0035, 1.5063, 1.1778, -0.7074, -0.7391, -0.767, 0.549, 0.7685, 1.9148, 1.1454, -0.0608, 0.5377, 0.165, 0.0389]\nstate[eef_state]: left_x=0.2949 left_y=-0.2348 left_z=0.1807 left_yaw=0.013 left_pitch=-0.1223 left_roll=0.0816 left_gripper=0.549 right_x=0.403 right_y=0.2687 right_z=0.0696 right_yaw=0.2241 right_pitch=-0.1414 right_roll=-0.2553 right_gripper=0.0389\nstate[joint_eff]: [-0.0342, -6.612, 6.5983, 1.1648, -0.3248, -0.0269, 0.1343, -0.1026, -7.9795, 5.5453, 1.5458, 0.2076, 0.0171, 0.6862]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d581f0cf686de77fd86a5f713c5c071bebf3e6966c6f8721fd2f69b0d8954c0c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7de3c4fe72873ef78cc396869476172993001be3dc0c547b70c3cee7689ab735",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11bc1c95364bd560396fd6581156df8ec1615444cce3a47e55ea4c324a7b511e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 24 attempt 0 · /responses · status 200 · 5.034 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 79 changed as sent

message 87 changed as sent

message 91 changed as sent

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0035, 1.5063, 1.1778, -0.6998, -0.7391, -0.7666, 0.5447, 0.1993, 1.8175, 0.7582, 0.4938, 0.1257, -0.1272, 0.0374]\nstate[eef_state]: left_x=0.2957 left_y=-0.2359 left_z=0.1815 left_yaw=0.012 left_pitch=-0.1182 left_roll=0.0754 left_gripper=0.5447 right_x=0.4585 right_y=0.0737 right_z=0.0524 right_yaw=0.1554 right_pitch=-0.0007 right_roll=-0.1611 right_gripper=0.0374\nstate[joint_eff]: [0.0752, -6.6256, 6.5026, 1.1453, -0.3297, -0.0317, 0.1441, -0.335, -8.6496, 5.9556, 1.663, 0.1783, -0.0464, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 87 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0035, 1.5063, 1.1778, -0.7021, -0.7395, -0.767, 0.5476, 0.7673, 1.8027, 1.3636, -0.3431, 0.5411, 0.1665, 0.0388]\nstate[eef_state]: left_x=0.2955 left_y=-0.2355 left_z=0.1813 left_yaw=0.0127 left_pitch=-0.1192 left_roll=0.0772 left_gripper=0.5476 right_x=0.4099 right_y=0.2739 right_z=0.1631 right_yaw=0.2226 right_pitch=-0.0988 right_roll=-0.2312 right_gripper=0.0388\nstate[joint_eff]: [-0.1846, -6.2427, 6.4615, 1.1404, -0.3883, -0.022, 0.1441, 0.2256, -10.2632, 9.8667, 1.7656, 0.3834, 0.3394, 0.9988]\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 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0035, 1.5063, 1.1778, -0.7074, -0.7391, -0.767, 0.549, 0.7685, 1.9148, 1.1454, -0.0608, 0.5377, 0.165, 0.0389]\nstate[eef_state]: left_x=0.2949 left_y=-0.2348 left_z=0.1807 left_yaw=0.013 left_pitch=-0.1223 left_roll=0.0816 left_gripper=0.549 right_x=0.403 right_y=0.2687 right_z=0.0696 right_yaw=0.2241 right_pitch=-0.1414 right_roll=-0.2553 right_gripper=0.0389\nstate[joint_eff]: [-0.0342, -6.612, 6.5983, 1.1648, -0.3248, -0.0269, 0.1343, -0.1026, -7.9795, 5.5453, 1.5458, 0.2076, 0.0171, 0.6862]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d581f0cf686de77fd86a5f713c5c071bebf3e6966c6f8721fd2f69b0d8954c0c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7de3c4fe72873ef78cc396869476172993001be3dc0c547b70c3cee7689ab735",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11bc1c95364bd560396fd6581156df8ec1615444cce3a47e55ea4c324a7b511e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFhtwIVQqkgkm71drV6Q8ku5wfetUXM5j_wd5kkY6dcIV7EgUzCEHYlVStllx-2tfBtOLEPREX_z1IQ13YxKHDqccF0kMWSEqh1twcOXzl1OWmHdNuuOddzs-3E_h48LqBZnua_Fvgru0rKRefo_GWRZEAEED3xP7n0s4C3M8MOggG1JlOKd0WKgJotsULNPj8EVCIcoZU-Ga5Qr-d4gvJBOj0FN9qgK3EHCK3aILQYlnl1kJXTDVmyRdMAURmsnoKqXaNJSoLOY1wNe7ssy3elL1OW55OrZzjSNVbC-4tYzj35qhf5hEtpiXWAywZagb5i-HUE7xPcHqRJHIIfVEw_aHsqZ-YQbWDOoGFx3u5QGKMoJNYRAjz-_uVpJsza7Zs2aaMF7kx-y2f5eWliMYIT3KiYk_keYWS1skvjr8hAjVitXRwXcvKBMJwWtmfKC6I-NoCJSG0yPZR0zGXsnqmLfcDiwaVkhwvybi_wA_-NN3nGKIL50zV16cjGhcE0PQjef4suU4EV2z2ADY__dOYYGSuzsBCZC8XgDGKd79o0FE9bPsTjiecOeITnJhoSvjQFvjnKHp77dP6DS2HMELA7dMg1mczwBhElggXo__olMHNnkeV5HcfL-mVrsd8wWm_S9LP9OJusAUGtKQxL6V1FM1W628GwiaeuFW6iFqoU_em9Vkypa9Gx_QEsTt4s5OuqnycnRlfjaczfxzXB2gUMbQ8_dJP2vjQeOr7rjcZN0M-4meNDU5f6pUqpMikocwRIenn9ecF2CFLDXrWAc8jd4znAYNkV6D0X16IH9qq-JAQkaDHHVE1aizhpaH7cZKsHvjvvid6xGU0tVLn409iUfYviQSX2oAuEW8vHMOg_inz0-0kRJqg0Sk59CS_J6Po2cNthwnPSnd0YBiJloAMO9V0OQ3OS33woxcNdsudKch9Xze328UBISR4QqVp-_yZIk1-vwqwWHhLi0Jnj5qqv5FX9LziySwYBmqTAyhzSnCVkTi1dq0ic6gF1aNT3KcLL4eyEAGuzFb4Ms46b1vC3FsirW9AAdQkhNu7jMqyXKd3-2FxYViXFKnDjo1OUjmWMiZ6MrUGKAh7ZC5Z8Np5gF-ZKOjxGIN_uXD8w2lmKnIkZoVtHkNg0JRTQOLbhiGRpxR9O0j42q1sIfGPwayLzdYYrentim_N94yLyX_mzGqO7IGlslZgHxU4vWPeak0fO68ZEutX5dXchfzAaUV6odZmAMVyUdvFSDOZW5zUQ3REtcfd4Y-aFjj7TZ4Fdu9lTVAs-uZsWMzP9qKPF8ApozVZ7ECgTOrH9np_V5V50QqlFttiUaA7MwexflfKuaPXPgEWWGcHAe2WZMah6EIvFMNKEzADph2EObQM92hZhtaJXYEy32ruTIVIhPj52CVPfZZsqJTCpqltg68zCCKvIMsA==",
  "id": "rs_01077e37303f509e016ab4586b9d7087d09ec4f1f1f3748272",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.325,\"left_z\":0.2},\"note\":\"The right arm is holding the blue bowl steady near table height. I’m moving the dark fruit above the bowl, with vertical clearance over the right gripper.\"}",
  "call_id": "call_uWM7RxBJUaXGfu8e6u1Erq39",
  "id": "fc_01077e37303f509e016ab4586cb3a487d0bec50b4c66efc4f8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_uWM7RxBJUaXGfu8e6u1Erq39",
  "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]: [-0.9245, 1.9434, 1.7775, -1.1156, -0.6907, -0.6632, 0.5496, 0.6502, 1.9327, 1.1339, -0.0574, 0.5106, 0.1688, 0.039]\nstate[eef_state]: left_x=0.3495 left_y=-0.2705 left_z=0.1791 left_yaw=0.0556 left_pitch=-0.304 left_roll=0.3436 left_gripper=0.5496 right_x=0.4276 right_y=0.2213 right_z=0.056 right_yaw=0.1225 right_pitch=-0.1735 right_roll=-0.2482 right_gripper=0.039\nstate[joint_eff]: [2.0718, -4.8615, 10.7829, 4.7057, -0.4029, -0.1392, 0.0464, 9.6205, -11.4256, 6.8991, 1.3407, 0.3541, -0.0513, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af3b8aa39a0537663e5e399506d34e5f05ce816b4e96d489acf1a3777ba6566d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b4c03d8f4f3f42c52c277ca1dcafa1258769f914d9e06bc1561a12f835e29a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8f172be52c1c314b4c0713c88cf8c76384337e08f64845e4ea86937ada60a05",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 25 attempt 0 · /responses · status 200 · 4.144 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 83 changed as sent

message 91 changed as sent

message 95 changed as sent

message 83 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0035, 1.5063, 1.1778, -0.6998, -0.7391, -0.7666, 0.546, 0.2256, 1.4197, 0.8127, 0.0261, 0.1383, -0.1314, 0.038]\nstate[eef_state]: left_x=0.2957 left_y=-0.2359 left_z=0.1815 left_yaw=0.012 left_pitch=-0.1182 left_roll=0.0754 left_gripper=0.546 right_x=0.4147 right_y=0.0739 right_z=0.1483 right_yaw=0.1733 right_pitch=-0.016 right_roll=-0.1722 right_gripper=0.038\nstate[joint_eff]: [-0.1709, -6.5983, 6.4752, 1.1355, -0.3639, -0.0269, 0.1294, 0.0889, -7.3915, 10.0991, 2.1709, 0.1636, 0.1099, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0035, 1.5063, 1.1778, -0.7074, -0.7391, -0.767, 0.549, 0.7685, 1.9148, 1.1454, -0.0608, 0.5377, 0.165, 0.0389]\nstate[eef_state]: left_x=0.2949 left_y=-0.2348 left_z=0.1807 left_yaw=0.013 left_pitch=-0.1223 left_roll=0.0816 left_gripper=0.549 right_x=0.403 right_y=0.2687 right_z=0.0696 right_yaw=0.2241 right_pitch=-0.1414 right_roll=-0.2553 right_gripper=0.0389\nstate[joint_eff]: [-0.0342, -6.612, 6.5983, 1.1648, -0.3248, -0.0269, 0.1343, -0.1026, -7.9795, 5.5453, 1.5458, 0.2076, 0.0171, 0.6862]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 95 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9245, 1.9434, 1.7775, -1.1156, -0.6907, -0.6632, 0.5496, 0.6502, 1.9327, 1.1339, -0.0574, 0.5106, 0.1688, 0.039]\nstate[eef_state]: left_x=0.3495 left_y=-0.2705 left_z=0.1791 left_yaw=0.0556 left_pitch=-0.304 left_roll=0.3436 left_gripper=0.5496 right_x=0.4276 right_y=0.2213 right_z=0.056 right_yaw=0.1225 right_pitch=-0.1735 right_roll=-0.2482 right_gripper=0.039\nstate[joint_eff]: [2.0718, -4.8615, 10.7829, 4.7057, -0.4029, -0.1392, 0.0464, 9.6205, -11.4256, 6.8991, 1.3407, 0.3541, -0.0513, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af3b8aa39a0537663e5e399506d34e5f05ce816b4e96d489acf1a3777ba6566d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b4c03d8f4f3f42c52c277ca1dcafa1258769f914d9e06bc1561a12f835e29a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8f172be52c1c314b4c0713c88cf8c76384337e08f64845e4ea86937ada60a05",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFhzhLMXHzy1DdDd1rB0Zd79y7VCivmQJMETPZpXz6AhMJSHqKXZzDarZjt2vPu5OLqxHesMQYm56dfIXI7gauvceo84WnARAJ34NPQuQukKecj6QnxiOAhywsFUWpFEHJpL3PqAKXq5mj7x-vJTl-l7sm3_s03NENiiZNTkIOXnj4wIBZjy9L6OhMsy7csvSIzVU7QkfI4osDl-YxQmM-tdKk0I1OkvW3t15dEcHpGo7PvBBdqKgQOZngnlbZ9W8LdCjZARj9zlzB5ng-Ng79pCU21H8JraHaN81dPQXz8oVZpY3aTCKJamwiaLrtkfYfFlxunKj2BWK8cj5f39PG8V_GQS5ZMmKZCMx9gxXIJlg4G6qCfRReuNru7wl_UpBlzRLB_n31um0-AEWXev9FYZMSbzTrpSCr9xWggBKUiAlBBAzCk_3tCRk1Cb0yL5PRYeeK82UqT1c7r4YvLV6rkIn5pieqEx-kIOJD6YHprbIc61J-4ACKreO_dBYTCA276fkkjfQoNq18FgSiMRpIUQhMKsL6v7S3mLpjzTg6DwrJlvxEqSc6L3A8r5iSWczkB9svKO8NtD6lPU5UYLttUCFDHHpcixOACgZrLEYrYLcoHVw2F6GOFRaEYaFbFTr9Nwf9wya0fciBeoPyl17b85IVPJC7Z11atQh4tkuLZpo5NYxw7Q0lZ-QfaXSgdQ9Rrt6PE70UR_zholYF5NK02nlH2Q49tIqUnRyxtTSgT8S6ZAxZNQuvo2XyKhLLSpq3eP3tLJ3PhkB7gUsays8ryTO_AJ-eB9-XsVczzUpWauKE0g8i5JF_W0vuUc0GtozAYpxz3GHYMMyaxwy7QFGHQFbfa-qhg3WgPPdg6dOD6EEAXGd5VVmUIVB03iHosnPWAounMdt-ipTlTF9gTR_VqJmNktWVVM3zdtrmXVIFWgvfGLY-cO_XKrPy9nyL6kMscix-jyBHQpFPgORPTqrByxlnEPgIvXytZmkD3Bai_FWmk_rtvxSmM57HCRyHjN7UGSWBHisdmKViK4oxjLiy02Mty0IEaRkFZGJVHMiopnswXgPcrJzMMgE_IO5LBELJBepZULJFUHC2IqcTCeVVl9iNylY9QGa8m1swKuTSDP3rI6-wzlsZOAbVcwoBXAE0ETSA1B-LQgsjX3fSjtXBcn34GtV5Mrs6NSbQGn9GhC-iFbMjRSvay7SDdyu6pXevFce7OluFM0JaRxQx1fQEzG9bwDvSDz1NYhyVvUdpAcps0vwp93IhFm8v3BR5nnSHv20YRywrxfjoDxCGBfJYp4oQuKYCGyI_ZBgvPqDn4VHpHWogTKXz_Vd30yb9XpHcsTuc_OJCwPLuVIWuvDJizQMGIqxD7TV2B01LwVfGXuDLuBr0-0JlxKg7udkvDaq3LFASKbPNVwLp9LM7Ye4WLyB4ROXtpbV1hH9jlZzQrt-vel7qOzwyaQ-o2xSlj9pBk5A-a9ISp_F-60LVoUPzgf5h8rhLS3eeXE4e3Lf_SPR0cZkoWOu8sZViYF2PfxREZSPvwe3W2lM1qvjwOQQAsjexntoUmsVvnLVa9bvIGZ0ho=",
  "id": "rs_01077e37303f509e016ab4587058f487d0a3c0fbc352e58412",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.235,\"left_z\":0.3,\"right_gripper\":1},\"note\":\"The arms contacted each other before the left fruit reached the bowl, so I’m backing the left arm up and away. I’m also releasing the blue bowl onto the table so the right arm can clear the placement area.\"}",
  "call_id": "call_En92fc8os7f2QaGrEB9Ci8tl",
  "id": "fc_01077e37303f509e016ab45872011087d0bdeaace3104f8da4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_En92fc8os7f2QaGrEB9Ci8tl",
  "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]: [-0.9653, 1.874, 2.0796, -1.5166, -0.6868, -0.7223, 0.5504, 0.6476, 1.9358, 1.1336, -0.0719, 0.5114, 0.1627, 0.9953]\nstate[eef_state]: left_x=0.311 left_y=-0.2462 left_z=0.2731 left_yaw=0.0527 left_pitch=-0.3131 left_roll=0.3273 left_gripper=0.5504 right_x=0.4261 right_y=0.2184 right_z=0.0524 right_yaw=0.1208 right_pitch=-0.1896 right_roll=-0.2625 right_gripper=0.9953\nstate[joint_eff]: [-0.0342, -11.6855, 6.653, 0.5495, -0.5592, 0.0855, 0.0757, -0.0342, -10.2359, 5.9829, 1.5116, 0.2125, 0.0757, 0.1538]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c309f8fd9d62e3363de9eb7722cdcc8304c7d6954c21ab244455de2240d13db6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d1b5a940c6c101147422cfe2ce9958daf3c7fbbcecc8293506fba338f5d1a69",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07711a0d228c12004a59ef614318d2e4cf5b817080486f067bcd1e1d9880fa95",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 26 attempt 0 · /responses · status 200 · 5.544 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 87 changed as sent

message 95 changed as sent

message 99 changed as sent

message 87 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0035, 1.5063, 1.1778, -0.7021, -0.7395, -0.767, 0.5476, 0.7673, 1.8027, 1.3636, -0.3431, 0.5411, 0.1665, 0.0388]\nstate[eef_state]: left_x=0.2955 left_y=-0.2355 left_z=0.1813 left_yaw=0.0127 left_pitch=-0.1192 left_roll=0.0772 left_gripper=0.5476 right_x=0.4099 right_y=0.2739 right_z=0.1631 right_yaw=0.2226 right_pitch=-0.0988 right_roll=-0.2312 right_gripper=0.0388\nstate[joint_eff]: [-0.1846, -6.2427, 6.4615, 1.1404, -0.3883, -0.022, 0.1441, 0.2256, -10.2632, 9.8667, 1.7656, 0.3834, 0.3394, 0.9988]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 95 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9245, 1.9434, 1.7775, -1.1156, -0.6907, -0.6632, 0.5496, 0.6502, 1.9327, 1.1339, -0.0574, 0.5106, 0.1688, 0.039]\nstate[eef_state]: left_x=0.3495 left_y=-0.2705 left_z=0.1791 left_yaw=0.0556 left_pitch=-0.304 left_roll=0.3436 left_gripper=0.5496 right_x=0.4276 right_y=0.2213 right_z=0.056 right_yaw=0.1225 right_pitch=-0.1735 right_roll=-0.2482 right_gripper=0.039\nstate[joint_eff]: [2.0718, -4.8615, 10.7829, 4.7057, -0.4029, -0.1392, 0.0464, 9.6205, -11.4256, 6.8991, 1.3407, 0.3541, -0.0513, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 99 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9653, 1.874, 2.0796, -1.5166, -0.6868, -0.7223, 0.5504, 0.6476, 1.9358, 1.1336, -0.0719, 0.5114, 0.1627, 0.9953]\nstate[eef_state]: left_x=0.311 left_y=-0.2462 left_z=0.2731 left_yaw=0.0527 left_pitch=-0.3131 left_roll=0.3273 left_gripper=0.5504 right_x=0.4261 right_y=0.2184 right_z=0.0524 right_yaw=0.1208 right_pitch=-0.1896 right_roll=-0.2625 right_gripper=0.9953\nstate[joint_eff]: [-0.0342, -11.6855, 6.653, 0.5495, -0.5592, 0.0855, 0.0757, -0.0342, -10.2359, 5.9829, 1.5116, 0.2125, 0.0757, 0.1538]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c309f8fd9d62e3363de9eb7722cdcc8304c7d6954c21ab244455de2240d13db6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d1b5a940c6c101147422cfe2ce9958daf3c7fbbcecc8293506fba338f5d1a69",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07711a0d228c12004a59ef614318d2e4cf5b817080486f067bcd1e1d9880fa95",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFh4uNurfw6A5xLKpF1LdWE1qpw2lG0y4Wenj4B8DbDPxuwvkXOhUxDZCDoL9wisTv4EYBQWSV35OOKz_9TlsVRPhMDk8r-1YH6DyhgrqPthmEr5zGWDw1YQbw8lo-caCqaoCMA8IzcsPX7jXAQbVZyuSinBiUS0TGdufvTxTOgS4N2TRhcD-As8Qq4ZxD25t2ZrI0hr2dYZHH5sE05rzTrNiBuD7gXoJUhn9ixvhflmSg4j_Gc3cUxh7KSSdOCtEvLagN0WrnJnMDjytE7p9lHEbBhjQ5W-euHwT5B0jTUUyzDdbK0uYV0bH3rOcIJQDh_Mkgij0ZG92S4HxqtJt65X4uCc6nWjUJwRicsFnSJBQ-X9HJiP3FBh755vrCN_vxRSPx-Ogp-ydMFbKqo0OD3Py9AuQjWfSXPhAFDWAqu-lHdvUfElYpaeHEx6S9JmP9DW-EIWaWkKLEd0tuAo5uwYFT-yAqpGSyRgSxmeVZAuVWKbCfrc-jBTbbAdDvsM6LJdAKrjII13jvGpxXYB6xTMjEcf-BhnB2S22bLMCJFp46BDcFmuxD5d2pTrX3HNviEc7UHCzzlNt7cqJlOi72mRLf5HByV1wVggEIGDZW3jA057k36ZlJ_4GYqVOZl9ZBBI9egnQSRl9BLF16QNRbQlmEmsv4kidMIQW5C-Gbky_mJAGwRYoVp1d5U8TH8Y4-BCm6pXr_AlJsuI7vl3kypjSiRVIcYiKp-g4-tQadolZJx4DA7RUu9Q-WquXAFIN3YbsKZCwRBSCUgc1V6TxGlHF1u86uczv0_CAGiarKwUiGCi3Gp5V3SFddMHY433OxKSngAFoya3kuBShQi0gvXJZx6FwSsIXNlFLEEw4xK_2E2Yfc1h20cdELbJLhydlQzs1-fppiCQCXzodri2x6YgXGiOXMzNPql3YkNVj9it6tf9YcUwNf34qX1ZCoVaXfkwPbvr4BYFyib0VFs9KDhTvkW69Or5jL96cSDNZPZHCbuaeGyni8oFQqVA3eC6oVMRkAVXCYB8cdDLEyBMksSXlrew2TwecfMgSnOLizHEPWIGr59yOghmcy89Uik8oBwJ8_1T-eVYxFmLnDgHrOXooJ3-iTIpTOJmNns2rTuKkX3wIAhuYCeSdkPrDayuIZK-m4dsCJC1CSWMlhbTHpsDuxaNBV7G1HjHTCVMCIKt2QcJFpb_p6yWjRrSMl3sUCm7UdM0-RSDPmhjBui83VlzVO7CChllSvYk--vILsbiEZp81Za4Kn433nVYqeTO9yw827E_EwZE4A9TZ9nTc0go1hQy6_ccBdLuY2NcllgOQXABJpb8LZM2E3K27BUMh5W0hCQwmc9o3wuEHZ4FGJsRAEwAgrdohH00_yyS-HZcVWS5HhkkpMtUR9ktBG0MgGiSLBeDmbPcb5WOxysTs5TeBkR7UFDPQBw2dAJlN-g5TISPhncf-o1e0xiEgb8QlZ3iOgKBuEBEkpjcZZD1ZcPqErCpzj2ZTzco1nqdEdSL1WYdNvq0OHJNOo6hqGJkKEJqWWu3lg04DHfFIguQSpJgbTKeXWqOskbYAVf8kh6aFrV9CxdlkT2jxU-vdapsA6UwETfgSra5K_O4u3mkunv_5EqLkKliU7fjkR9cc8XWLUE=",
  "id": "rs_01077e37303f509e016ab458764fcc87d0954296c688ac133f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.296,\"right_y\":0,\"right_z\":0.23},\"note\":\"The blue bowl is released and the dark fruit is still held above the table. I’m moving the right arm back to its home side to clear the left arm’s path completely.\"}",
  "call_id": "call_TNH7X2wzPr62lSCbwIkd25uF",
  "id": "fc_01077e37303f509e016ab45877aa8c87d09653a231e6a60962",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TNH7X2wzPr62lSCbwIkd25uF",
  "output": [
    {
      "text": "executing move_to over 19 steps (1.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9646, 1.8622, 2.0789, -1.5368, -0.6796, -0.7227, 0.5511, 0.0582, 0.9844, 0.952, -0.7151, 0.1322, -0.2516, 0.9963]\nstate[eef_state]: left_x=0.307 left_y=-0.2417 left_z=0.2753 left_yaw=0.0532 left_pitch=-0.3238 left_roll=0.3313 left_gripper=0.5511 right_x=0.3013 right_y=-0.0022 right_z=0.2174 right_yaw=0.0744 right_pitch=-0.1971 right_roll=-0.266 right_gripper=0.9963\nstate[joint_eff]: [-0.4308, -7.8154, 5.4769, 0.8718, -0.5104, -0.0024, 0.0611, -0.253, -2.7282, 9.3333, 1.6093, -0.0611, -0.0269, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5170c0b4904fa56d1439fcbaac20098cc53bb33ba75c2d0958ec75bc1052b80",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af7f8eba7a0766220a5ff0adf49a2b896b56b98327715e3eac81d1d278fd3d0c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57ed0948568822cc3ff2ef06362e933da92d221a483fd079daa91682e97c0ab4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 27 attempt 0 · /responses · status 200 · 6.041 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 91 changed as sent

message 99 changed as sent

message 103 changed as sent

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0035, 1.5063, 1.1778, -0.7074, -0.7391, -0.767, 0.549, 0.7685, 1.9148, 1.1454, -0.0608, 0.5377, 0.165, 0.0389]\nstate[eef_state]: left_x=0.2949 left_y=-0.2348 left_z=0.1807 left_yaw=0.013 left_pitch=-0.1223 left_roll=0.0816 left_gripper=0.549 right_x=0.403 right_y=0.2687 right_z=0.0696 right_yaw=0.2241 right_pitch=-0.1414 right_roll=-0.2553 right_gripper=0.0389\nstate[joint_eff]: [-0.0342, -6.612, 6.5983, 1.1648, -0.3248, -0.0269, 0.1343, -0.1026, -7.9795, 5.5453, 1.5458, 0.2076, 0.0171, 0.6862]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 99 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9653, 1.874, 2.0796, -1.5166, -0.6868, -0.7223, 0.5504, 0.6476, 1.9358, 1.1336, -0.0719, 0.5114, 0.1627, 0.9953]\nstate[eef_state]: left_x=0.311 left_y=-0.2462 left_z=0.2731 left_yaw=0.0527 left_pitch=-0.3131 left_roll=0.3273 left_gripper=0.5504 right_x=0.4261 right_y=0.2184 right_z=0.0524 right_yaw=0.1208 right_pitch=-0.1896 right_roll=-0.2625 right_gripper=0.9953\nstate[joint_eff]: [-0.0342, -11.6855, 6.653, 0.5495, -0.5592, 0.0855, 0.0757, -0.0342, -10.2359, 5.9829, 1.5116, 0.2125, 0.0757, 0.1538]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9646, 1.8622, 2.0789, -1.5368, -0.6796, -0.7227, 0.5511, 0.0582, 0.9844, 0.952, -0.7151, 0.1322, -0.2516, 0.9963]\nstate[eef_state]: left_x=0.307 left_y=-0.2417 left_z=0.2753 left_yaw=0.0532 left_pitch=-0.3238 left_roll=0.3313 left_gripper=0.5511 right_x=0.3013 right_y=-0.0022 right_z=0.2174 right_yaw=0.0744 right_pitch=-0.1971 right_roll=-0.266 right_gripper=0.9963\nstate[joint_eff]: [-0.4308, -7.8154, 5.4769, 0.8718, -0.5104, -0.0024, 0.0611, -0.253, -2.7282, 9.3333, 1.6093, -0.0611, -0.0269, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5170c0b4904fa56d1439fcbaac20098cc53bb33ba75c2d0958ec75bc1052b80",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af7f8eba7a0766220a5ff0adf49a2b896b56b98327715e3eac81d1d278fd3d0c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57ed0948568822cc3ff2ef06362e933da92d221a483fd079daa91682e97c0ab4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFiAFB9wUk3Ivs1UeoGp7tj4t09l9R156TPzugjSbDenbOTcVSd3SUuOPvg1Q_QYluUobg9ciY759ELolw8NhUCuAru2cTce3nLvT-cRCISTDUwmWYPddV7rUrXikf6ESmTzY8NFZN-ESpNE38Yf4UNuMZQCskkZPBXqsOz0ALfhleovwA9P2jG7qokDi01gXs6hAIyCwzc975p934vjg9AQcx9ALqFWHIHcZgMO9xMVsS0Ijgd-A5h8BG6zMEO9zhIGR-9Y5AtvR7kID3KP7-AVBWzTl4I_Bz1wxrODkfsDK5JBwT5LphPijtrw_PVESILeGaXv44yvos8F3tyylFCD6QejOapclewATqnYXcehxFQtByKTeM9JXwVF3_2N1af1G7t0BHdzIGrydipZRkM8xbLolS5ECcScUhcdP_tqoesU1xrOoJyeIywqs6OcUYcoNNooivXHnhW6rcP6vdVkhxfbErjU-BvqOtoGTOesuJhcUfQxCvF7wCWiqtbLiMLzgJ1ucDsbMQwNQlYkfSZQgsGMdcYJnRe63_tquHcmNGgIje7JdW1CBWf2SFx23hPzjaJ3XK8xtVV3T30_1_gQnMJ_iR3_faVHuR5f8pXyYjhfXDx0TwY_ItWr1Yrydge0zQm3BNB_ryBxo2EsECGE3cpBRbxJQ4XZfevSK3GcSFIPhz3vtua3346PNZ0QgV9WAgaDHYahTJxzhlphuGGoEOnESU2ykVFONRtrJWvRa6pAMy4R91txR-WfsaIDK2oiP3BsvXjALmV63OQi5HjoxK_zwwhI6qqhRDp5D9rTPOjAFECbwrSQtGQnQUrLkrjytfQDI6vpMPO1J4zsr7rALu9bXiSwsMUgOftVbGJ3AXhvsRM2wr1H_eJblO8BVyTG28pKDEFQxtI8nlybM1X8ltL63sdby0PlZ6JxrkQviCtndRXDQvqqox5FMaXRmPcoJVImPzbVcWqetubiGsxhowmKi07Hrq_L0Nkbxpb7XAsiUvt-qs1jIPsU9VicU_F54kWjpBNHYQnQM_LCdu5sPH1OQkSJg5uNzRA-G9679ykh395lcAgVAMilzHjojPZD0TdItLWpzBfc6jX5wRSW2bVuWPBbx6uR382hLMeMhSreaJi2u9Bt-u34iKrYfD9FprCguRWCc9CRi41bpzb24eq54A7Wzsv71VOL2xNh_6rPvT3kyzNwd35vEKncRpmgsDa6z-OUyTOSxPbU9pWGvZkVCPMOn51Q4Wf2KBJV74QXge7iu66HjbWGZn9svN4NQB1m_kc-4BScymi5wTfQHxRM2YhrjUpeX5vSmmHkPzoWbK6F6qS6rf7GQNZNPqmrXXZzwBZ1j12tsvSPvy0o5Xm2JTqwnRqDWlLuDxJ6kNMaSgHB2PqJya2IwHjuj88ypd6sjKuvWTiG6MvogC5oiHdR3T9i8wUAs3MZhNYofZoCNcMk29thNKfObr8aNRtD2eCHawxjdRPDvJLdj9bCtNxPJmZWdu0yZhjZVlCBlrBEIf83ymaazH2lVuhrdEX3lOMLlMQ-obko0to5xXv4D-fo-I-YKxVLoEj51TnaLPT41elAEkdyHY-NlxT0VyTaIcIjIs5qgkitRaokpVDohantE8W_1719ip8q1FsLmlK9pGIHQNzy68cMcH7PrTy87tyIjpXsKNqy0ob7GrYT96OX0VbfK4Rx06DtB52Kit20IO_XSZpa0B09E1JvGnxRK-Z_xH6iDbwA4gCQhsWCTV8vQ4R-4rLfTrRSBA524NWi5r4XCgYQY0OCNHPItw4tsMfbcygIWpmr5YkPPVzYhQ==",
  "id": "rs_01077e37303f509e016ab4587c34c487d0bf86fb5a413efb93",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.37,\"left_z\":0.215,\"left_pitch\":0.15,\"left_roll\":-0.15},\"note\":\"The right arm is clear, and the blue bowl still contains the first two fruits. I’m bringing the dark fruit over its center from above.\"}",
  "call_id": "call_UJqR9w3i0WEV1f1RuDbLJ11V",
  "id": "fc_01077e37303f509e016ab4587edf1c87d09de82ad0efdd5c48",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UJqR9w3i0WEV1f1RuDbLJ11V",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "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]: [-0.9447, 2.0388, 1.7332, -0.4187, -0.7826, -0.6796, 0.5512, 0.0563, 0.9901, 0.9554, -0.7448, 0.1253, -0.2699, 0.9965]\nstate[eef_state]: left_x=0.4186 left_y=-0.3602 left_z=0.2019 left_yaw=0.0464 left_pitch=0.0756 left_roll=-0.0903 left_gripper=0.5512 right_x=0.2972 right_y=-0.0018 right_z=0.2119 right_yaw=0.0884 right_pitch=-0.2317 right_roll=-0.2737 right_gripper=0.9965\nstate[joint_eff]: [0.3897, -11.1385, 6.612, 1.8095, -0.4713, 0.1538, -0.0024, 0.0342, -2.4821, 6.4068, 1.8339, 0.0708, 0.1441, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43ca5028236efbad122c9d52d49a97f27f90ce058d8a811119fe42cc11bc1520",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd00aec8f4d9abcfb79357897efe20ff38e4c9e504ad0f52ac3e709ac2c84f16",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76e2a8f0729cb17454faab1f38fad158f90251470db1e0dd2bce8169213be5e7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 28 attempt 0 · /responses · status 200 · 2.786 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 95 changed as sent

message 103 changed as sent

message 107 changed as sent

message 95 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9245, 1.9434, 1.7775, -1.1156, -0.6907, -0.6632, 0.5496, 0.6502, 1.9327, 1.1339, -0.0574, 0.5106, 0.1688, 0.039]\nstate[eef_state]: left_x=0.3495 left_y=-0.2705 left_z=0.1791 left_yaw=0.0556 left_pitch=-0.304 left_roll=0.3436 left_gripper=0.5496 right_x=0.4276 right_y=0.2213 right_z=0.056 right_yaw=0.1225 right_pitch=-0.1735 right_roll=-0.2482 right_gripper=0.039\nstate[joint_eff]: [2.0718, -4.8615, 10.7829, 4.7057, -0.4029, -0.1392, 0.0464, 9.6205, -11.4256, 6.8991, 1.3407, 0.3541, -0.0513, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9646, 1.8622, 2.0789, -1.5368, -0.6796, -0.7227, 0.5511, 0.0582, 0.9844, 0.952, -0.7151, 0.1322, -0.2516, 0.9963]\nstate[eef_state]: left_x=0.307 left_y=-0.2417 left_z=0.2753 left_yaw=0.0532 left_pitch=-0.3238 left_roll=0.3313 left_gripper=0.5511 right_x=0.3013 right_y=-0.0022 right_z=0.2174 right_yaw=0.0744 right_pitch=-0.1971 right_roll=-0.266 right_gripper=0.9963\nstate[joint_eff]: [-0.4308, -7.8154, 5.4769, 0.8718, -0.5104, -0.0024, 0.0611, -0.253, -2.7282, 9.3333, 1.6093, -0.0611, -0.0269, 0.0952]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 107 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9447, 2.0388, 1.7332, -0.4187, -0.7826, -0.6796, 0.5512, 0.0563, 0.9901, 0.9554, -0.7448, 0.1253, -0.2699, 0.9965]\nstate[eef_state]: left_x=0.4186 left_y=-0.3602 left_z=0.2019 left_yaw=0.0464 left_pitch=0.0756 left_roll=-0.0903 left_gripper=0.5512 right_x=0.2972 right_y=-0.0018 right_z=0.2119 right_yaw=0.0884 right_pitch=-0.2317 right_roll=-0.2737 right_gripper=0.9965\nstate[joint_eff]: [0.3897, -11.1385, 6.612, 1.8095, -0.4713, 0.1538, -0.0024, 0.0342, -2.4821, 6.4068, 1.8339, 0.0708, 0.1441, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43ca5028236efbad122c9d52d49a97f27f90ce058d8a811119fe42cc11bc1520",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd00aec8f4d9abcfb79357897efe20ff38e4c9e504ad0f52ac3e709ac2c84f16",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76e2a8f0729cb17454faab1f38fad158f90251470db1e0dd2bce8169213be5e7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFiHWuQNkb8ZWA0FzugQYsN8y2_C53zFIAAGGDlynYB91kDkeEibaIdMTqm1IcvZ5OJBzfLXriGMS7aWAbvhlcgMZsHhqvlDuDTUiRgRlX6FpuaooPivTtLt5-Vy5__sMv8r1hydmY-HfmbhBm9jLQh6eNxOTwS0xdy1dUl00BLrSikANf-MxJWEW9P8nw9y1lJEPzsA-vvhqK2OGozbmA_VpHTa7h9yrvkVlT-orZy2Z7FoB7bVufgH503xZissR4a2b_P5Dw4alFVoOulorQvhT91UEIP2B4yqXlJFnsEGEsyHBa3shvASu7xSBIqCSDRw1puhK4Vn8ANsrgy7g7KE9C4dzYRdVmD9QqF6wQvFKq8fvHxCk7dvMG5jjPFU0VgmInQXLe7aiYeTPnEPtrVJLTxkdQzuP1Yag3jydttNmhSDVdY332UuhdS_DVh9wiOmHGH18P9qsFG3rD3TWl9CvzrFclCpJCAKbOh5as7sgtwjkrYJxpcAMn-wbCjlBSyrqMW5nNEY4PKt90PvG0z7Tgnxs_e1BKh4lkhrE49F8eWdvCKpH0bhuRuyYRphfokvujLejqrroefFUUEngHRsxji3OSzcaT7Ut4yMsDjF-PZFmRI6jnosfe_IfBzBkZlWx-Sy417UgyCeaRB3lvT-euWYH7ae5ddECtytnQ0zUvFhsR2X1rxh6UjHRrXeue5Myy6Z64J1lmMW6hs3gfbHCSbbWrXksU5AKYP7cKIBwR5-B_Jqzv8n4899QP1a70JVYeBoP8ZBBmUPpUeL4V9XAL9bIMEZYER0e38m6lKR8c6ClBVsEEAtk5WJmWm7KM_NsuJVUoJE914rDFdKoChraWFhxMfUlC1UvbciyyAjXwCm5wxXV5I5nTkFQtAbWHKhUzUf6xFdevzZ0Ij8GgQEk-yN3AjjqplZ8cwxyPCnSB_yZGZYkzBR8Hap22vA-B6VLcWDzatjkTrHEMFXW_bUH5srqtNsJK-iFqtT6Gcr182_ZP7-XIQqSenH8STqxg-d_QGAWzo5XZPn05hwFik3qosZ0FgTRnb1JHKZy-pB7iGKcVFmncbT-QJYdJF5J7FnhVPjPFVKqRRyWJ7KgDXsRndXtLgYK-uoKMr0vk_v2zKtPrJkgldaM3mK2s72qOqYY7kLjvSyPmNW8heEg-PPcUwe9Kqhyiipq3K6XyA1UwYta-YmAeq1PnLs5wRfN6E8Ezq9llBpzQOIWHB-xyu_PMqSW1j3f2a841Z91L39gIe7QKdyi13jx8Tw7yPhkotI3AkoYjk1jS2UoyidkFiuOd12mywoQ70X-RktCuYfEr46PVEoQIdc9K7KVcqD6E040k4qglH1MrMwW8sY-QL8-csfIiAzqWzv44mZ6Y3_Pa0EEJYzTtNld-wzvkOLtlt9DYWlnFt09PpPLbvXyXNOzzrDFZCeS8k6BdEbO4ywuKDBEgsngpbmrKMlUhzeokFw7Hge04v8MBCYdOWwO2sPWtCqA0y2Co50ZWlY3DUFFCewX-9-jcXsqdrhEFe2kAeXnQrgdcUsLJB0xla0OE_5FBBLg7Ta5fAvvlexVdcFQrKpBGfo3LZlGHzWnlnmJ1KPd4L_ZEww7XknzUZEWWzMFUDp6dsS4Rkdy9VHIjqT5jZQ68OJ0hI3Uw1hrj_squ-rEYDkR4ZeP1GTQCqtEBheXfiVT43UoRl5sQxrWhHfMvd_908kwxKvNK4J418jAMFELlxw9eXLLhfcvGEUj14B0bsWYO9OYAtpFT8h8bRoR_mE3XV9MIuQrMgOKtoKD37a_8MUXXsBdXZe68eB7x0g9zI8ga58OvXO9bAoGivKNosXrLslVrcdlN45ZOZJjpfggHkLzHPxIlotRoOozzMOfeG5_LjHiJJ4N8zMpody7pCABDS-ARGX-oqVseNgHrhqyadiBPVVkM62VVhKYO03ruIHOBySsv0gVR6YL51ie8nC9LCdnjy6ZeOPcxZEtCE6VEOnKxVaEZ47pNGiA-N8Vovg4Aw5MefnolGzzGdvEmnUu2uPPqyNQyoeu93NiBSa_k37DdEMCNTPOqE9gvmjA_5-MZawqQ88o-JBcwnfwBM_Pn4uZgYPd3d-Eim0af4ST-XddyOJ0DWIBjlknrW4Icg7M91C5NO0kVzEZ5hYROmGl9ONuSgJ9zykdUVZTHJtWT6SrnSrOyvje4cYrdRHTQ==",
  "id": "rs_01077e37303f509e016ab458831fd087d0b4e690ee305171cc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.345,\"left_z\":0.145},\"note\":\"The dark fruit is over the blue bowl but slightly toward its outer edge. I’m shifting inward and lowering it closer to the opening before releasing.\"}",
  "call_id": "call_pG4qj6RFhJDrnhttHFj5jtTB",
  "id": "fc_01077e37303f509e016ab45886cd1887d08f4e72a3dd40bf33",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pG4qj6RFhJDrnhttHFj5jtTB",
  "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]: [-0.9295, 2.0422, 1.4998, -0.2436, -0.7685, -0.6727, 0.5512, 0.0563, 0.9913, 0.9543, -0.746, 0.1253, -0.2733, 0.9965]\nstate[eef_state]: left_x=0.4124 left_y=-0.3411 left_z=0.1328 left_yaw=0.0452 left_pitch=0.0336 left_roll=-0.0382 left_gripper=0.5512 right_x=0.297 right_y=-0.0018 right_z=0.2109 right_yaw=0.0902 right_pitch=-0.2357 right_roll=-0.2761 right_gripper=0.9965\nstate[joint_eff]: [0.3624, -12.3009, 7.5692, 1.9365, -0.3443, 0.0806, -0.0122, -0.0205, -2.1949, 7.0769, 1.5556, 0.0073, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c3c9ab065c0409f61929d032155e046192e7bdc84fa77a078e38f7c7d772ed8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ead74659119e7e1aa6435eee6f036580a437fff2e2a5c1d83e52e8556673531",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff4a24fd18a1b1ce7b00ca6a028c21ad85e9b31a86e141b3910918c2a432c77f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 29 attempt 0 · /responses · status 200 · 10.82 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 99 changed as sent

message 107 changed as sent

message 111 changed as sent

message 99 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9653, 1.874, 2.0796, -1.5166, -0.6868, -0.7223, 0.5504, 0.6476, 1.9358, 1.1336, -0.0719, 0.5114, 0.1627, 0.9953]\nstate[eef_state]: left_x=0.311 left_y=-0.2462 left_z=0.2731 left_yaw=0.0527 left_pitch=-0.3131 left_roll=0.3273 left_gripper=0.5504 right_x=0.4261 right_y=0.2184 right_z=0.0524 right_yaw=0.1208 right_pitch=-0.1896 right_roll=-0.2625 right_gripper=0.9953\nstate[joint_eff]: [-0.0342, -11.6855, 6.653, 0.5495, -0.5592, 0.0855, 0.0757, -0.0342, -10.2359, 5.9829, 1.5116, 0.2125, 0.0757, 0.1538]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 107 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9447, 2.0388, 1.7332, -0.4187, -0.7826, -0.6796, 0.5512, 0.0563, 0.9901, 0.9554, -0.7448, 0.1253, -0.2699, 0.9965]\nstate[eef_state]: left_x=0.4186 left_y=-0.3602 left_z=0.2019 left_yaw=0.0464 left_pitch=0.0756 left_roll=-0.0903 left_gripper=0.5512 right_x=0.2972 right_y=-0.0018 right_z=0.2119 right_yaw=0.0884 right_pitch=-0.2317 right_roll=-0.2737 right_gripper=0.9965\nstate[joint_eff]: [0.3897, -11.1385, 6.612, 1.8095, -0.4713, 0.1538, -0.0024, 0.0342, -2.4821, 6.4068, 1.8339, 0.0708, 0.1441, -0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 111 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9295, 2.0422, 1.4998, -0.2436, -0.7685, -0.6727, 0.5512, 0.0563, 0.9913, 0.9543, -0.746, 0.1253, -0.2733, 0.9965]\nstate[eef_state]: left_x=0.4124 left_y=-0.3411 left_z=0.1328 left_yaw=0.0452 left_pitch=0.0336 left_roll=-0.0382 left_gripper=0.5512 right_x=0.297 right_y=-0.0018 right_z=0.2109 right_yaw=0.0902 right_pitch=-0.2357 right_roll=-0.2761 right_gripper=0.9965\nstate[joint_eff]: [0.3624, -12.3009, 7.5692, 1.9365, -0.3443, 0.0806, -0.0122, -0.0205, -2.1949, 7.0769, 1.5556, 0.0073, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c3c9ab065c0409f61929d032155e046192e7bdc84fa77a078e38f7c7d772ed8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ead74659119e7e1aa6435eee6f036580a437fff2e2a5c1d83e52e8556673531",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff4a24fd18a1b1ce7b00ca6a028c21ad85e9b31a86e141b3910918c2a432c77f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFiKEmhsG2N34e3XBk7ILXTj6ZW__El2jiKI4b_jdVYg8XOfzHeXBxV8ZOu-XLzvqh2noCKgoCM0Hpv-JI-XatbzdmfmZBozglOQN8779he4-E39IZAvtkyKhmpGy2m2aHk5rUkXyTJtrG0HDhZo66qJJrOzaFuB-y5f64oXY5CxAzEcPxgKA-LE_hhRee3n7HbJISSD-sTSXXhdRCyjUC-gbvK1_XS6BEdLla_2ISo5ZJkrTZt5jrHHnM4nML8YinnkgEGIa7b-5ftsVq39ZfWDugo3uOVxgRvurjh8mbMcVNw8JHjKrwrZCpo1oFaAtTjKGxyZOBMtM5tnWfZIN9spheRBpeBA-BgIrxaWLgzFeXGYzxX-aOsUcRGDI4Q_nrsIvXlIq2jxO00p4go9phlRrxPARiOCQdt35wTjjMLvfMSD6PT4v0k9MVy9uoF5Dc3vey0IrZRWICwn96LEUPZsFXwqxB7amsWloMvM0-BX5JYj-65Qw3Pr0VlR7Z-aic3YQ5YdmELyULzJDOvv6EOjkliSwXKi8ahZTG-CZf70Ww2G3XkHsJnU7sEfosGDSdsShziKZ9H0G3gTQZ0rNbVNkIY9Rf_VMHbaycd0CKDD0LVptbDemAxvRi30KIItGRNsndPTYswCuguAAf7sdDWhRh7uhLt5q9_MCYsYFe8Lk8EmJP1azGGrWemm9sqWWryeacvXeA-QuGcs6o_NHARtivewv6yF84cba-ZTMV4yULeyTBusEk0mjl4j9PelPk5A8WnYOOt016Bw2UCDS6Y9AnXWlP_lUOoVXhlZeugiCNaX583UYhfVG1UY5_-VJWfRV5k0EXvDhTtwZU4LJqxXzMrpJIgJUNmsNbZEgsZywix9tvkjTMr_kuwLbZPZw39775A9iuh4DutmBO8nzhYuApbamfbw6RPESHaxiJC4Elg0b_HDFJ7s2opi54wZpirRtJIheeftY81baUkNUs-nwHLIqpuLRkI1Ips2Ir8Qc8wUQTmfclVhlurm_Hzr35DVkjMjihXopnC1gADFELbVnRFKFEV7U_wpApSnGe-ykj8A41qTrEzSn1V9jkgSQZBJkVfk1P-RMxYhFf7eOBg5oCEgAy2ZzCTI5by1NdPtBNThr1YE7rgpMeVe9xZDA5T3IeSQI1CaQtxl91aI9r555qqKYI8QRTu1fBgUWUHiOfhHD_Xy47sqxkgW_DNAPpe-OxJkvuncogCq5xQRGA5onyrRaTHNufLaEI4_6Dudgfw=",
  "id": "rs_01077e37303f509e016ab458898e5087d0bde899927c84d855",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The dark fruit is inside the blue bowl’s opening above the other two fruits. I’m opening the left gripper to complete loading the bowl.\"}",
  "call_id": "call_5C2D7PSaWxf7GjpSKDh2mb5E",
  "id": "fc_01077e37303f509e016ab4588a03c887d0af2a95b62fdb559a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5C2D7PSaWxf7GjpSKDh2mb5E",
  "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]: [-0.923, 2.0422, 1.4826, -0.1928, -0.7666, -0.6735, 0.9923, 0.0559, 0.9913, 0.9543, -0.7467, 0.1253, -0.2733, 0.9965]\nstate[eef_state]: left_x=0.4165 left_y=-0.3413 left_z=0.1333 left_yaw=0.0519 left_pitch=0.0513 left_roll=-0.0674 left_gripper=0.9923 right_x=0.2969 right_y=-0.0019 right_z=0.2107 right_yaw=0.0899 right_pitch=-0.2364 right_roll=-0.276 right_gripper=0.9965\nstate[joint_eff]: [0.0205, -12.4103, 7.0222, 1.6239, -0.3346, 0.1148, -0.7204, -0.1573, -2.3043, 6.7077, 1.5311, 0.0073, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a67751eba96f410c303a05f2b73f18926a974c5b73ea201b1c315567887bee5d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15136dc3cb007a56a449a5c46276d1f177ba76c9d0d62f9521390da93030ea7e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80ee741b6a8e46da0853ee6c2feb7f2cd9ac2afbbf1df544d5f293277e82f149",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 30 attempt 0 · /responses · status 200 · 5.522 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 103 changed as sent

message 111 changed as sent

message 115 changed as sent

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9646, 1.8622, 2.0789, -1.5368, -0.6796, -0.7227, 0.5511, 0.0582, 0.9844, 0.952, -0.7151, 0.1322, -0.2516, 0.9963]\nstate[eef_state]: left_x=0.307 left_y=-0.2417 left_z=0.2753 left_yaw=0.0532 left_pitch=-0.3238 left_roll=0.3313 left_gripper=0.5511 right_x=0.3013 right_y=-0.0022 right_z=0.2174 right_yaw=0.0744 right_pitch=-0.1971 right_roll=-0.266 right_gripper=0.9963\nstate[joint_eff]: [-0.4308, -7.8154, 5.4769, 0.8718, -0.5104, -0.0024, 0.0611, -0.253, -2.7282, 9.3333, 1.6093, -0.0611, -0.0269, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 111 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9295, 2.0422, 1.4998, -0.2436, -0.7685, -0.6727, 0.5512, 0.0563, 0.9913, 0.9543, -0.746, 0.1253, -0.2733, 0.9965]\nstate[eef_state]: left_x=0.4124 left_y=-0.3411 left_z=0.1328 left_yaw=0.0452 left_pitch=0.0336 left_roll=-0.0382 left_gripper=0.5512 right_x=0.297 right_y=-0.0018 right_z=0.2109 right_yaw=0.0902 right_pitch=-0.2357 right_roll=-0.2761 right_gripper=0.9965\nstate[joint_eff]: [0.3624, -12.3009, 7.5692, 1.9365, -0.3443, 0.0806, -0.0122, -0.0205, -2.1949, 7.0769, 1.5556, 0.0073, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 115 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.923, 2.0422, 1.4826, -0.1928, -0.7666, -0.6735, 0.9923, 0.0559, 0.9913, 0.9543, -0.7467, 0.1253, -0.2733, 0.9965]\nstate[eef_state]: left_x=0.4165 left_y=-0.3413 left_z=0.1333 left_yaw=0.0519 left_pitch=0.0513 left_roll=-0.0674 left_gripper=0.9923 right_x=0.2969 right_y=-0.0019 right_z=0.2107 right_yaw=0.0899 right_pitch=-0.2364 right_roll=-0.276 right_gripper=0.9965\nstate[joint_eff]: [0.0205, -12.4103, 7.0222, 1.6239, -0.3346, 0.1148, -0.7204, -0.1573, -2.3043, 6.7077, 1.5311, 0.0073, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a67751eba96f410c303a05f2b73f18926a974c5b73ea201b1c315567887bee5d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15136dc3cb007a56a449a5c46276d1f177ba76c9d0d62f9521390da93030ea7e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80ee741b6a8e46da0853ee6c2feb7f2cd9ac2afbbf1df544d5f293277e82f149",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFiWjINjOa09v5Irl3WBp0652e3ZOoC8s-qMtCuXNoBjtEUTfdNGVdM-jonFam6PmnOc6daFlQDvmB-pLAXh2X93WJNlRGWWLZealuxsQNs9Ebnh5WeQL7ZMS6KosOVybJee30uueDj8a0n6dn54N6v59Cwz7YsIL_TVPK9f4YTb551iQ73r-GkIV_YhBmQ9ENZXbHjCXw0DYON984FKmBCm4JzwpFUZHWvWs9DcDjiWDZY0w13FEb6r5d3uIkFNMc2cUHrpNPtak1OFS2jfEV26b4oWUTk2p4fF4KZ0QKa6_5Og2-5faMgSa55yAtfbeeyoOfa-3Mamx8oBTbgw_ROIMk8vhByBfg_Mpym6SC25OOE-eqhPKvLf4jp0ZZ5UMGhi7oL5wGflRIkqCfA9UTf4FsfONiXGxsop3OrG6iuynNE3rXaNPtFRtpPg82HyGHEkbGhaRvbtHYicro0Tbw1rjm8oGXpvxOJ7Xu9D5hTCd16IYV4hc0SPRd70uwYF1L4DW660d7pANu4SkS9PdSZ4M8sAWb1aqmex5aISta10LSEl9Csn3FrZGWEL1-xWHExDvd9PBTi9cxPzwTxO7z2lTcOgp678zjBv7pik3kHst_NJ7fX3A3Zanv9i7xPkvKe0GpoHk3SFUdW5tkzyl5s608-RGe0Xo7qLeA7C929TY35UMGMcVM9MmtXa1tKepZ72VRmUlpTadGpuZX_yW8-FBnPByXWI55xVsmlDB4n5dfWjA0cuWVx57v3vhlADaOEA_mP7-7J1RynTkpXmLxp2Rzduuyp1NU5FM3JAU7wNCSI78hpU8QORhUVCEYIhRiFmiN0m39agmQgU8rsPruvSQugzQgWZkqeJgXnhDoEpFuIXSdT0vcKsFPX81csgTA8TjUWgKJUhTN_cL9x7BvEoWanxnEBfMdH6RSkxI8aI2jdjYxEtF8QDmi5e7PXaKZN2v3lbdHQKBh4vzWlxPaTdu22zgm42heWpKQuLonCPju9NujkvJTadko2jQFT3jTjkECxQmxHH8mTQeHfNozSJp6rOCOrZlr3DEKALnOH-EA5cKzQNx1IaFtOnPHmrA27aOrjzLtQdSOJKo-Nlzy3TKMvRvMVlJaTrPsvpaBFUCqzmFZUFxsC31P6EFKvjrkCN7qAgLG76RSndk2cHzHCzTC6BtJr3xc-lAZMj0L6E-wElmPrKqgAaBKVgYseRUCwdOLqwvYSGSz0ArCc4yUHSWQbeNItT8ump_Izu_YfygnHo6b9Iu29wSSJRtfgqFg8Y1VKLh-fDBWOVdf0qk0lU7_YZ9BD0HaoK0iJ3Vs9VMDRXECvbYsAvk8b0qBlU7Zo43Azc9gnJfkn_ID-Bkj_ijHDfnOinBwVcF8eOAyWOtYigRK_Ir22ml4owlprA5Ky1XUGe2OoknGNzEXYrvXVt7sAqqDGvzLNcADenP0rJwPp50HjbUv8C0PunVgzUYWp8-hQBVvMIkR4FFqa-0D_cpKQKuF_K7_khC6z2vKjhkmUW6JSjUZJHr0Su3FUXddegc_-3S5j_qjjUMK0j94f1eWBLmZMfvFzjxHYQR9Vr9kN_TxLM8NWq_ut6C_w1lCXUTwQ-vssjm551ILDjLwPuQFg-D8P6Q82SoJXboD9ieT_l601-KR1zEVNwmdiEYgffeQasswso1NLJabm_ApPxepqDBIwIx-0vP2mX37IHkYMAThBj4HXSnfLvzNhNZ77ri-oSscvcE09s4zbeZv-FJwpnwDCN_j7MKSJjCBL2t4hPqp6xE0yLOkzKKAPmqxW_IAgi_8hz-x16a5ea_J81jPyC4p0vfnFJQl-y36OIWZlec7b0cvt0rgsae7jOM6WYVwvHecwgsNev4M-g1YJ4Clv7num7tAfj7dCv_fbY2mPAHow-SG80NFthEYubyadXnmkQt8YlILftkI7dIPYp5o1RbfFbAFBq_5v2yCMVJ9Lm5tsSAcNNTpZaG71USbZeIWy6PVmHuGH8pj8evkimMCgKZ5ECAlUnbXcogvqQq2UbMnfTRdfOtYjixwbvwJP3zQEwEbtGHYbmw8Pyf9toAB37QtYsZN3NmqVdZDYEEfCn68bhxYDE69c7_5pWN8rfveSkrgB4W7G-p07CWN9TiaXYvu2Ig4R_-Z_8L-hrRmKTnMSrSiZs3cimoN5hw_cUAoeQhtZNkah8CQYKjXshOg3DQvPWGVRC2ovrsIAdLCiYjcTInb60HHPN-aiIsCpwfViPqJcfERMKFNN0qWAZo3HzbIfTkAVHoPYi-uwcAtu4sMmx4nU5BgsCkKepAbwl40sSO4Cad5aYf_bOTOO2Bd8bk5AKy0NJfTqz_RM6KqPSPqJR8kXhdbzpKH05uukjQXw5K2O2Nl_PMDml34fe2QSeXc-uoHQN7cmb9zqXKqGw9I1YuDJeka_S7tRQ2O8vvRDumHuJnL_djHd-zuoLtICBWcsJI-eLRVj4jAT7SIWDbSUwyIOcraR5I8k215B-bvHCztA4FNdp3sPNHXyuCyJXmUIMRMK-xlQLlqgpV1BKO-F8T0H7UtIRdZ3PcVyQKokavRZ0BRy_QB_NEgzkJAUBLB3OfZJY1Cul8mKg3MVOjEud2AjXMcKmXSMqEOgTBBORD7yKD63hSJdIarjUZ358IzrSzTGnPc1_aiTTPPsxz3wa-ndp8y9dMpg4UdRETIuGDFePk_qs5jfpwWOfVVpTRmsXIfH60fAktYtIpO9_zl2cZhO31rHWswggB6YUgu3iv0rkvauDa8nF8PkT1yt1qwTSkZD_tqDEKpZHRV2VMagrtJQsBzVFs7k76uFo015R7u7EtpmGSVePl_KCY2bdDuR4eu5D9EGaYNfWVLlKcXT_AweMiXZtyy6Wgp02CBpsOzcSuXi8RXECysl1LNiA931Jyci9ldmA8Z0YG-FM4CGr5e034Db8KGRio0k7YqKSD1STBf2kJUR8O6Le6O_UNEIluZEt7YVlTc73i35L8okQNg3jwPYhYQqCEs6hQxmK6bgiaCOiuZe36HTV37M5ZB1cm8qYhVBwVk9CBDbOdzvV2i3B1U5KSkAHYbaJW6bF_q5VDxQbc5J_tU1iGFAhj5ruSEWOuqTRhjTEyWox9ydIpMxL1ijV47yT3BzWsn68xy2hETm_dpktdRYEq4oI6Ao87Pidht7VkDpHxzO04ds8wm0rMO4zQLzFF6AlXkZkb4zkxunWlVHFCmrrwitSsHKNmnBCNBixRDZgEUSCD_9Mpwhbwf9NBxs6xZLGT-RhcBByWKzO0ray14XvwSRE594EF6T031d7fkIMYniMKRHWkA-yq9QPnb1k8MXwsSUObLW9MNADOEKG9nRxT0Nz88ty9_jr3TuF1yoxmsBVixpgrbhsW0lmsgAaJM6fJFXHKyN2bqgayRn5c5D5xIn870BZVD8Anfv3X8KvCM8lnToWXFsfr2wWtF7GKuN4OH-QZSl4p6nKvUKdCXhmaEuPFo6ty4FSGlsr7eQbN_T-bpaotQhFiTs032LgZI9PyjWA-vDNI5slnslyHUAAWwyNuOQxWqQxhfuK4eAoeXITJbeIHl3Z_YrpxOsni4hSKAbUqJWjcVOnt12vaFReKwSqxrKvE97skwT0F95TIarW8kuim_liOJH3W0xCYntaNyB5gE5QpACn4RiyEpaP3pvZgpyoLJZ43u7l14BRiKR0AcshDTt0MD14IrAB-xHWG01NBiSRQSgjWPLcx-yYCrw6aTq3vmpis3tS6WYOjGc1FtAsj_Yb4_4r1DWFDHWbc8ezBER0fIiOM-Yb2QgN6B8_0MpfqOy6-6NZZRMngxfUt-9JSxJK9De21rABl3sOR_WaDOanbOMFG_ThAmfy4g==",
  "id": "rs_01077e37303f509e016ab4588d118087d085c2ff2a766a63e8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.296,\"left_y\":-0.002,\"left_z\":0.25,\"left_pitch\":0.05,\"left_roll\":0,\"right_x\":0.425,\"right_y\":0.22,\"right_z\":0.17,\"right_pitch\":0.2,\"right_roll\":0.1,\"right_gripper\":0.5},\"note\":\"All three fruits are now in the blue bowl. I’m clearing the left arm and positioning the right gripper above the bowl’s outer rim for the pour into the white bowl.\"}",
  "call_id": "call_dztN6WBbXmSPioE7crh51sBj",
  "id": "fc_01077e37303f509e016ab458947ba087d0ab26d7e8c441dc60",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dztN6WBbXmSPioE7crh51sBj",
  "output": [
    {
      "text": "executing move_to over 31 steps (3.1s)",
      "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]: [-0.1135, 0.8303, 0.8257, -0.5343, -0.1806, -0.1368, 0.9919, 0.6281, 1.6306, 0.8883, 0.2226, 0.4309, 0.252, 0.5011]\nstate[eef_state]: left_x=0.2987 left_y=0.0015 left_z=0.2408 left_yaw=0.1124 left_pitch=0.0389 left_roll=-0.0082 left_gripper=0.9919 right_x=0.4112 right_y=0.2118 right_z=0.1398 right_yaw=0.1255 right_pitch=0.1001 right_roll=0.0297 right_gripper=0.5011\nstate[joint_eff]: [0.3761, -1.8393, 8.7043, 1.9316, 0.0562, 0.1197, -0.0611, 0.253, -7.7744, 9.7162, 2.0879, 0.2271, 0.1587, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2658f51d0c2c08add84555b55f55ab9d0636ec445f796fdf696546f4bd39d4d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2a5dbf396a920e418fd120417720fdbd5aa3f28677d00e8613e3214261fd15f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6dace8adca4e7de7b1c44f3773763059bcf6d89732543534bb8b1bf62aa756f1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 31 attempt 0 · /responses · status 200 · 5.593 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 107 changed as sent

message 115 changed as sent

message 119 changed as sent

message 107 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9447, 2.0388, 1.7332, -0.4187, -0.7826, -0.6796, 0.5512, 0.0563, 0.9901, 0.9554, -0.7448, 0.1253, -0.2699, 0.9965]\nstate[eef_state]: left_x=0.4186 left_y=-0.3602 left_z=0.2019 left_yaw=0.0464 left_pitch=0.0756 left_roll=-0.0903 left_gripper=0.5512 right_x=0.2972 right_y=-0.0018 right_z=0.2119 right_yaw=0.0884 right_pitch=-0.2317 right_roll=-0.2737 right_gripper=0.9965\nstate[joint_eff]: [0.3897, -11.1385, 6.612, 1.8095, -0.4713, 0.1538, -0.0024, 0.0342, -2.4821, 6.4068, 1.8339, 0.0708, 0.1441, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 115 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.923, 2.0422, 1.4826, -0.1928, -0.7666, -0.6735, 0.9923, 0.0559, 0.9913, 0.9543, -0.7467, 0.1253, -0.2733, 0.9965]\nstate[eef_state]: left_x=0.4165 left_y=-0.3413 left_z=0.1333 left_yaw=0.0519 left_pitch=0.0513 left_roll=-0.0674 left_gripper=0.9923 right_x=0.2969 right_y=-0.0019 right_z=0.2107 right_yaw=0.0899 right_pitch=-0.2364 right_roll=-0.276 right_gripper=0.9965\nstate[joint_eff]: [0.0205, -12.4103, 7.0222, 1.6239, -0.3346, 0.1148, -0.7204, -0.1573, -2.3043, 6.7077, 1.5311, 0.0073, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 119 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1135, 0.8303, 0.8257, -0.5343, -0.1806, -0.1368, 0.9919, 0.6281, 1.6306, 0.8883, 0.2226, 0.4309, 0.252, 0.5011]\nstate[eef_state]: left_x=0.2987 left_y=0.0015 left_z=0.2408 left_yaw=0.1124 left_pitch=0.0389 left_roll=-0.0082 left_gripper=0.9919 right_x=0.4112 right_y=0.2118 right_z=0.1398 right_yaw=0.1255 right_pitch=0.1001 right_roll=0.0297 right_gripper=0.5011\nstate[joint_eff]: [0.3761, -1.8393, 8.7043, 1.9316, 0.0562, 0.1197, -0.0611, 0.253, -7.7744, 9.7162, 2.0879, 0.2271, 0.1587, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2658f51d0c2c08add84555b55f55ab9d0636ec445f796fdf696546f4bd39d4d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2a5dbf396a920e418fd120417720fdbd5aa3f28677d00e8613e3214261fd15f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6dace8adca4e7de7b1c44f3773763059bcf6d89732543534bb8b1bf62aa756f1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFiejCyC27JfNs41YA0Fqh5RlYhoSUltRhGTwn9pvptXJV1OC7R9P6drW-HjpVUfcjpQh-QPQUknvDr9f9U43puEYJ8si34pi5uFV2_Kssl0btJ7tOEL2kseawzF9k0Mvn5DXoqsxotR71q8todPyQxzOPIFirMr3zO_i2ieKJ_rbsYnrfkS6m7wrFCq0QqYypuL9NmLs3JTO2wKuQwu_EJa33F_y0Sy6Dm07bmpNGX4VdUb2r3IDF_U_v_wNKZ2mdZYV2kR8MZHMkz-mWfihYzjhTz9PwLiKWVCZG8WyBa5k7Ni0L5ManKtezBq7CqT2PwKzD8XR_Su8-cMW7a7As2GlBEy7UYRDi5q34fgbjjPvKMZEh5DcT_CdX7P0J6v9Cko4fjlsOG7EPTGpD-DdFy7ZojI__va1Ll2Rd1FtijaICG9wx9rKLrQ6bUQGWZvL5VUwwkwVmiOleCAH0kg8w2aqkSKZMhw10RjC_1Qwusdz4SjxyJqrT8-Bpkk4Ut0-K0oHxcgmghl3F7J0iXFl2d9jDL3WpHGEI8bXCSXUd6wQtrk6uvqscyKUhl3Pys5fPpqq4qfqJuVYx8q05dHH5Ll1FyWRyAGsE24fO0lVVnIGazlHPeZ1yxgXTGhPsUNbnNcxLz5aO2NchD-AYlhFKesZwntiuCtOeULc1R5M6pAzvxFwnquvvYJXN3kxA8uXKzRTfgCPo5HXYUZkU306YNjH7oFzqBoK3o1FapiiY3PS3cykbUTQLp5ZduJYyuXJV-WDK1kVjbaWFNlC-umraISVRkXs8ToGb1fIA8ivH1brMJBATRuXsFJxasTK1F0Fpumx7PDzZaelPmwrEywH8wsR4h4vswxw22WMToHQ8QUHWDvyGMrLyKJmPSIEslgKNXi9xPQxD4rX5Qua-T6r3MvQgP-krPQ6uxt68UvSxmmP3QAhH_OTSdllnGa5PdJGjlW_VXVGlR_Iz3qQcytRAIscEP-E0tG1ASUpGaDum0AFtXBXPzIrsY1kqAcrFXlTqgdba1fmndxXG0VZ5r80NC1U3pojNlmVvszxsHkE9jPRXXtMb-YW-pEeBwqvz_2P4SzHmbx9wPtBI_xm8vdUO_8wwjQ5tKYcexRBpDF_DyofvxuQGNKYibZq7MSNyFiK-91CyIjCKvhBcZU2-LQHk70oWK8PQY5-dncw_aOqXLKhdJKHq8GzMH_Y_tDlBD6GLzD8AKxZLcbxdqb-T2cfkNZ__DCt2QBpKDyeUCvwqwhTcDojTxlZgz75GJZiUJGbF0Ko9eHOr6oTL_3_mTc5ZEYXrD0Pgp8oX0Kdhe2yG1kxBT1xUDhJI8wFmK9JVI3pWYM",
  "id": "rs_01077e37303f509e016ab4589cea4087d0a6301f1945414e10",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.435,\"right_y\":0.225,\"right_z\":0.055,\"right_gripper\":0.4},\"note\":\"The blue bowl’s outer rim is aligned between the right fingertips, with all three fruits visible inside. I’m lowering the open jaws around that rim.\"}",
  "call_id": "call_DlWgnTfmk0almw41BDhlJrbW",
  "id": "fc_01077e37303f509e016ab4589d71e887d0bb8f6c402a639880",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_DlWgnTfmk0almw41BDhlJrbW",
  "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]: [-0.1116, 0.8337, 0.8257, -0.5541, -0.1711, -0.1314, 0.9918, 0.617, 1.9224, 0.8585, 0.4866, 0.4221, 0.2512, 0.401]\nstate[eef_state]: left_x=0.2967 left_y=0.0006 left_z=0.2356 left_yaw=0.1033 left_pitch=0.0152 left_roll=-0.0034 left_gripper=0.9918 right_x=0.4282 right_y=0.2194 right_z=0.0487 right_yaw=0.1241 right_pitch=0.0473 right_roll=0.0055 right_gripper=0.401\nstate[joint_eff]: [-0.2256, -1.6068, 6.8444, 1.9219, -0.1978, -0.0757, -0.0171, -0.1162, -9.2103, 5.641, 1.9658, 0.1343, -0.0855, -0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99cb8c836d82d965160b3efaf5ca10c58d848af7d6d63c083eaf31066450de29",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9cf9f2f6c94cda68bb5eb6785a2a32ebc41397868925a8cae7d403dc6150d18",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a60cc546166ae6bedba45f9faf57552feba8df47340e54ffeaef44a37a38b5b6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 32 attempt 0 · /responses · status 200 · 3.31 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 111 changed as sent

message 119 changed as sent

message 123 changed as sent

message 111 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9295, 2.0422, 1.4998, -0.2436, -0.7685, -0.6727, 0.5512, 0.0563, 0.9913, 0.9543, -0.746, 0.1253, -0.2733, 0.9965]\nstate[eef_state]: left_x=0.4124 left_y=-0.3411 left_z=0.1328 left_yaw=0.0452 left_pitch=0.0336 left_roll=-0.0382 left_gripper=0.5512 right_x=0.297 right_y=-0.0018 right_z=0.2109 right_yaw=0.0902 right_pitch=-0.2357 right_roll=-0.2761 right_gripper=0.9965\nstate[joint_eff]: [0.3624, -12.3009, 7.5692, 1.9365, -0.3443, 0.0806, -0.0122, -0.0205, -2.1949, 7.0769, 1.5556, 0.0073, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 119 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1135, 0.8303, 0.8257, -0.5343, -0.1806, -0.1368, 0.9919, 0.6281, 1.6306, 0.8883, 0.2226, 0.4309, 0.252, 0.5011]\nstate[eef_state]: left_x=0.2987 left_y=0.0015 left_z=0.2408 left_yaw=0.1124 left_pitch=0.0389 left_roll=-0.0082 left_gripper=0.9919 right_x=0.4112 right_y=0.2118 right_z=0.1398 right_yaw=0.1255 right_pitch=0.1001 right_roll=0.0297 right_gripper=0.5011\nstate[joint_eff]: [0.3761, -1.8393, 8.7043, 1.9316, 0.0562, 0.1197, -0.0611, 0.253, -7.7744, 9.7162, 2.0879, 0.2271, 0.1587, -0.0269]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 123 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1116, 0.8337, 0.8257, -0.5541, -0.1711, -0.1314, 0.9918, 0.617, 1.9224, 0.8585, 0.4866, 0.4221, 0.2512, 0.401]\nstate[eef_state]: left_x=0.2967 left_y=0.0006 left_z=0.2356 left_yaw=0.1033 left_pitch=0.0152 left_roll=-0.0034 left_gripper=0.9918 right_x=0.4282 right_y=0.2194 right_z=0.0487 right_yaw=0.1241 right_pitch=0.0473 right_roll=0.0055 right_gripper=0.401\nstate[joint_eff]: [-0.2256, -1.6068, 6.8444, 1.9219, -0.1978, -0.0757, -0.0171, -0.1162, -9.2103, 5.641, 1.9658, 0.1343, -0.0855, -0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99cb8c836d82d965160b3efaf5ca10c58d848af7d6d63c083eaf31066450de29",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9cf9f2f6c94cda68bb5eb6785a2a32ebc41397868925a8cae7d403dc6150d18",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a60cc546166ae6bedba45f9faf57552feba8df47340e54ffeaef44a37a38b5b6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The fingertips are on either side of the blue rim. I’m pinching it firmly so the loaded bowl can be lifted and tilted.\"}",
  "call_id": "call_FBfHWvADwwhYfwooOVD6V4Pp",
  "id": "fc_01077e37303f509e016ab458a3421087d0b8a503f3b84d670b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FBfHWvADwwhYfwooOVD6V4Pp",
  "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]: [-0.112, 0.8341, 0.8257, -0.5583, -0.1711, -0.1314, 0.9918, 0.6178, 1.9373, 0.8589, 0.5125, 0.4122, 0.2478, 0.016]\nstate[eef_state]: left_x=0.2962 left_y=0.0006 left_z=0.2346 left_yaw=0.1029 left_pitch=0.0107 left_roll=-0.0024 left_gripper=0.9918 right_x=0.4296 right_y=0.2228 right_z=0.0467 right_yaw=0.1345 right_pitch=0.0549 right_roll=0.0126 right_gripper=0.016\nstate[joint_eff]: [-0.0889, -1.1692, 6.8581, 1.746, -0.105, -0.0464, -0.0122, -0.3077, -10.3726, 5.5043, 1.4628, 0.1587, 0.0024, 0.4664]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb59595ee3e8d1e10bc6a139eb23d5498c59174099184d28194f3fb91954d75d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:119ef4fb2a85b7cd6bf93f13f6308fc30cefed34754c4173907773c9f25b9cde",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:704252f0dff5998fc375d193338f1de30aada08a5fc5a32f636f62cc2df10119",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 33 attempt 0 · /responses · status 200 · 7.207 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 115 changed as sent

message 123 changed as sent

message 126 changed as sent

message 115 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.923, 2.0422, 1.4826, -0.1928, -0.7666, -0.6735, 0.9923, 0.0559, 0.9913, 0.9543, -0.7467, 0.1253, -0.2733, 0.9965]\nstate[eef_state]: left_x=0.4165 left_y=-0.3413 left_z=0.1333 left_yaw=0.0519 left_pitch=0.0513 left_roll=-0.0674 left_gripper=0.9923 right_x=0.2969 right_y=-0.0019 right_z=0.2107 right_yaw=0.0899 right_pitch=-0.2364 right_roll=-0.276 right_gripper=0.9965\nstate[joint_eff]: [0.0205, -12.4103, 7.0222, 1.6239, -0.3346, 0.1148, -0.7204, -0.1573, -2.3043, 6.7077, 1.5311, 0.0073, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 123 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1116, 0.8337, 0.8257, -0.5541, -0.1711, -0.1314, 0.9918, 0.617, 1.9224, 0.8585, 0.4866, 0.4221, 0.2512, 0.401]\nstate[eef_state]: left_x=0.2967 left_y=0.0006 left_z=0.2356 left_yaw=0.1033 left_pitch=0.0152 left_roll=-0.0034 left_gripper=0.9918 right_x=0.4282 right_y=0.2194 right_z=0.0487 right_yaw=0.1241 right_pitch=0.0473 right_roll=0.0055 right_gripper=0.401\nstate[joint_eff]: [-0.2256, -1.6068, 6.8444, 1.9219, -0.1978, -0.0757, -0.0171, -0.1162, -9.2103, 5.641, 1.9658, 0.1343, -0.0855, -0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 126 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.112, 0.8341, 0.8257, -0.5583, -0.1711, -0.1314, 0.9918, 0.6178, 1.9373, 0.8589, 0.5125, 0.4122, 0.2478, 0.016]\nstate[eef_state]: left_x=0.2962 left_y=0.0006 left_z=0.2346 left_yaw=0.1029 left_pitch=0.0107 left_roll=-0.0024 left_gripper=0.9918 right_x=0.4296 right_y=0.2228 right_z=0.0467 right_yaw=0.1345 right_pitch=0.0549 right_roll=0.0126 right_gripper=0.016\nstate[joint_eff]: [-0.0889, -1.1692, 6.8581, 1.746, -0.105, -0.0464, -0.0122, -0.3077, -10.3726, 5.5043, 1.4628, 0.1587, 0.0024, 0.4664]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb59595ee3e8d1e10bc6a139eb23d5498c59174099184d28194f3fb91954d75d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:119ef4fb2a85b7cd6bf93f13f6308fc30cefed34754c4173907773c9f25b9cde",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:704252f0dff5998fc375d193338f1de30aada08a5fc5a32f636f62cc2df10119",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFios499zKLXDCVfb6K9vjz5cYvQ0G8vOOEhEq76vY5QN8oQs_PVKt-GABaB4J5-fUGACa2sQNdXcnjsluwvitqYwPLm3uiuYhr2Atotzw9sb-lTUp9rBqDa4fstNdMBiAAr-v3DJqfNWCugLHoE0oaDsMqoAGBZ0Arr7N6zPvBv-H8iK1f1q1w6ts08ZYwN16jFD9PgqcsVQBUDV1p5TajH4jVjP1I7HrLJztzWd0BH1xGzyJO6IeFtOxWD5BKJVW4ASkTycmYJCCQmvu8vl_BHyQER72Kne0h9CR_R18fYIptKrCEwWzvwnoC5gNEScxNsNvHMIzELS8U_3VjxCEN8IqIUROp1nay-eGD2tPYCPl37hanmIUali2QjvSoHAUWsxi6kNTRjuQdty1GydnnEl_jmxx8JjBubc6zzkIHEVydNO-CD8iMT7ghqutZBw9RjSCGoJe7nzhia5JCugmO4vt394JlXz1FmMNnNTJYlSKT409hsWTVFGxnz4lnr7SYwqDL6nlm9hNAAsUskeG3DgaEZlygihM-zel2dx7Oyksk4kPzoFP_bSheEeJHfc3BUs2sqHM3pi5OrUaEwU1b-jyH4jNULzh6WY9nvOjbQQ3F8QgmRVlC-rUwAlp69Dj9xVGdJlGQ4NOIqNOb5L9YtOeTgZ6tloAAX-_xYpCQVGy7G8e6sZZv2zxF1UBD4iIO_kE21a8iemtcyUjPl0ppT0-eCSmKkUtYYqnK70l_OOAM8Sus5fzjx7tzjdOtSyGSp7IeLrH4wEU9VXZJU2yZ197IkVhVR6QJkEHTGsw4V8t7QGmQdcjKJLPM5x56nbJIdHq0-R_Us-fXRnzYu-NXvLxNqVjIIyqFLK6TH6BiAvQNjg7qHi023WsQn9H4tbi78rEiGEZqLckXrbpR31NM8m63hk1S1K5mWpsJkotlyz0NC8MLhcJ00MzlHjpZY3znRcCed32Lfc2yLeqF5mYSjLGgNHX6aiuvWA-a2rdQFG3a1GWYC4lHuKPu582UcNjd1Y0YNub_a0Knp6L9kIiacF_EYhUbsBSaiJgU76_8WmQYJQOiJw-7C4ZnJpgxIpZJvRk_5TlTfWtc2BB8vjsRgbfQt9tv5rGWoYwXk9-S95jeVQF_0EgLUcVJLq34oHlH0fkRL7k4YFXJsHKurlm0MRXdt2aOTcKwW1YnNhk6HXttaAH6vYCfHdziwBomQMdko0Fsa-F-2uR9YXTTT7boBl2Op1tPczgoU4Q30JTVt0qAnGPtLfWereWySyyYyHM8pUPeDz_3i5CfRB2YcEPusb4u7QdCu8bJs8UoEiCFUQY-2VSEn8NTf1fxgVBgpCk5fGCDNS049sEl8SPP7_du-PlmJKvvdAlgvj1b8jBBMkqQ=",
  "id": "rs_01077e37303f509e016ab458a6a40487d0968f87ea5cc6f873",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_z\":0.15},\"note\":\"The closure is very narrow, so the grasp still needs confirmation. I’m lifting and retracting slightly to check that the bowl and all three fruits move together.\"}",
  "call_id": "call_Nr5NDv4whsAxmrG2ecQ2XBPX",
  "id": "fc_01077e37303f509e016ab458a79b4c87d0bb347360d62e8f80",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Nr5NDv4whsAxmrG2ecQ2XBPX",
  "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]: [-0.1116, 0.8394, 0.8253, -0.5648, -0.1707, -0.1314, 0.9918, 0.6575, 1.6711, 0.9222, 0.102, 0.4267, 0.2474, 0.018]\nstate[eef_state]: left_x=0.2959 left_y=0.0006 left_z=0.2316 left_yaw=0.103 left_pitch=-0.0013 left_roll=-0.0 left_gripper=0.9918 right_x=0.3996 right_y=0.2207 right_z=0.1128 right_yaw=0.1635 right_pitch=-0.0126 right_roll=-0.033 right_gripper=0.018\nstate[joint_eff]: [-0.0752, -1.7299, 6.9812, 1.8144, -0.0708, -0.0708, -0.0122, 0.2803, -10.4957, 9.6752, 2.1172, 0.4078, 0.1929, 0.8767]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df69242a18e9957d0eec1412f0c686fa431265c156a5c6f2c2ae9beeebdf554e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26911744ca5c195e8d76dbe0eb34e5a7cf912d98d80a76a1ec27abe5abdc2048",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b7c5c0cb3e33ceedaf133484ebd1cf248470562306965d42023361d973888f0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 34 attempt 0 · /responses · status 200 · 5.519 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 119 changed as sent

message 126 changed as sent

message 130 changed as sent

message 119 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1135, 0.8303, 0.8257, -0.5343, -0.1806, -0.1368, 0.9919, 0.6281, 1.6306, 0.8883, 0.2226, 0.4309, 0.252, 0.5011]\nstate[eef_state]: left_x=0.2987 left_y=0.0015 left_z=0.2408 left_yaw=0.1124 left_pitch=0.0389 left_roll=-0.0082 left_gripper=0.9919 right_x=0.4112 right_y=0.2118 right_z=0.1398 right_yaw=0.1255 right_pitch=0.1001 right_roll=0.0297 right_gripper=0.5011\nstate[joint_eff]: [0.3761, -1.8393, 8.7043, 1.9316, 0.0562, 0.1197, -0.0611, 0.253, -7.7744, 9.7162, 2.0879, 0.2271, 0.1587, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 126 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.112, 0.8341, 0.8257, -0.5583, -0.1711, -0.1314, 0.9918, 0.6178, 1.9373, 0.8589, 0.5125, 0.4122, 0.2478, 0.016]\nstate[eef_state]: left_x=0.2962 left_y=0.0006 left_z=0.2346 left_yaw=0.1029 left_pitch=0.0107 left_roll=-0.0024 left_gripper=0.9918 right_x=0.4296 right_y=0.2228 right_z=0.0467 right_yaw=0.1345 right_pitch=0.0549 right_roll=0.0126 right_gripper=0.016\nstate[joint_eff]: [-0.0889, -1.1692, 6.8581, 1.746, -0.105, -0.0464, -0.0122, -0.3077, -10.3726, 5.5043, 1.4628, 0.1587, 0.0024, 0.4664]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 130 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1116, 0.8394, 0.8253, -0.5648, -0.1707, -0.1314, 0.9918, 0.6575, 1.6711, 0.9222, 0.102, 0.4267, 0.2474, 0.018]\nstate[eef_state]: left_x=0.2959 left_y=0.0006 left_z=0.2316 left_yaw=0.103 left_pitch=-0.0013 left_roll=-0.0 left_gripper=0.9918 right_x=0.3996 right_y=0.2207 right_z=0.1128 right_yaw=0.1635 right_pitch=-0.0126 right_roll=-0.033 right_gripper=0.018\nstate[joint_eff]: [-0.0752, -1.7299, 6.9812, 1.8144, -0.0708, -0.0708, -0.0122, 0.2803, -10.4957, 9.6752, 2.1172, 0.4078, 0.1929, 0.8767]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df69242a18e9957d0eec1412f0c686fa431265c156a5c6f2c2ae9beeebdf554e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26911744ca5c195e8d76dbe0eb34e5a7cf912d98d80a76a1ec27abe5abdc2048",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b7c5c0cb3e33ceedaf133484ebd1cf248470562306965d42023361d973888f0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFiwFTOKeWivAN5fi229XIHhsH21RCjvQo-5tDHlyw4Zi1CXYaiglzYMS1toSnqXa3zNotVWp5NL4KqNptkixu7O2Jw3fjaXGedzJFOk_1St6TzGdwtemVYemvnvWfu4Pc-YUCaFEAhJEQSzzsRtPpWXKsrpavQnGw0r4RRrBS1qLRpgeTQtd54ji06b1WTCbjqS68fwfED2nRI00xb4bSxB144PAxGrxjdB-DIj78H-HwVZTMJ8xPP7KP_MZd_EQAbrqkVd9IYR6Z2mwe057xPD_X6F5gAKw8zoxqcThN87R3B0Pk_-UUiGHZPxsLTUBLJXEmSif5mW8YNMcUDbMfJ_t6SHjzHpwYk_h-Oq261dLU8RGxrGSCKFbQLF9kSVxrQnHGrNuw9g42qM9-C3rQeF0KMK3Y6QKipzr3IkB0Ltg-C6u2TnusT2EUmuiFGwX14qdXmDeusPTw5GAdjUXwrEwts5PJV9Argxa-gtXtX4xuOKGRDRosP1fJuRmqjiNeTGlz-gbuDOs55E5fVYpq35a4BiqaCtXaqWOlD04CUQrQexEWr81rENqwQoD6N9h1VV3Pp7qctkz2e-ha0G_TZbJ3Hlk8wLXkQkJI8lnL1UemlEUrNxvpATo2GOhMR6McAeERHErUfK3ugAkJtVGQ00xosDq_QJj6DdWJDa4KNCRoodxIfQtiN36SEgulwfkLb6sy3uL67cjyQ9FkPRWxcM-aOYywNObTX01oLK7czQCGVgdEqR6yMmnobqW2GCuiYtRZdpu_Qx5UyANCaJOtkLLDt0d9mhaoC54rkbUNqf9_KNiDn92PmVCs1vE4o4oOrtg8zds7e9PTsOe11dHUnaiADLcrMcbvPC2cQUpknWszkOzGod1HZJxsrFN5eIv8MKsfdI9zjyL0FK-shp86TZODTWnXoZtSr9P5GAAocH-1fxCHmXs_w56DMGhxp5MIK7GjBYYxCkLJupo_w3PRTPCdhdjIncN2UabfHY_XE1tDhOeD8OYKRR69lnCkLdJN4XAQpiULpiZ5e-UUioKmcHFA0dcChFij0KTHb2Nk-pH2O72AIHr_m3a504sZGSWlRzn5s0mureincc8bIx70E3v5iYSYgtt1k6A_eBvKX3NFNJtYXafvYAhw51PbXK9Ja3tXmXOt4nkKjGKDSuVZbHadnaWTXRQUajsmDq67cioCCkyevFpGV75JYrbC0Kww57MTlSfTZru7nEvVkHFfhzXEy1klPrdVac7FkuBN9L5xQRyu6RDs5ODuukiqbbzxEW2SI7ZeKtaNfg3_OAvd1IKNYyf2ew56Lf-1LlQ0GTIHgG-qjQtEI7pLstNS2Tsf3fdZybGSeIOn9FMzskyy0ZslndXu57AxSrHIzBc24QcHCVX_gFu4YbRrBBlEnr1RnYmN_pDnvV9P_bXjfNi5V9kjbfi5qwEG_omi2zYl_oQzCX-NFcN-chVovsmvuQTxidrtW8LMGt93cluG0WfKhgm2LEJw_X0YGEY5wKMCGLdObWvU7W6LVvHCFGXY5ZA-dWYbjdib9cZVfKxWk79jtB5zTRXBuvt_1RUu9pdHMyFO-NO_3HPcw3UV9A_tRDCFiVSnE8kliOAQUrvSOi_dIIa9IfO7xMiNY9URn9O35YTXM8zdqqjti2VZ1EmvBpbtc7WnSIfutQvyUebPuDxE3n05Daqau8TR0nQj74KSUVCklKu3fjsQyxd00CzVkPN_OITtVvZtCMWuivCQZ7WlxKC3Tq-WZiQvympeb2uiJgS_jBCPBSRYFCgCu2vt_T5iNUozUMvbYXACwe88oFfetoyvuPWuvzWg0AUrP0M954mVBnSSCLIlIReQQx-nwIn6kycVAfR6Wgdd4pK-S_BRctbloccigl28LMITwKFVe18XoS0NGjbhkWdWszAZDm6OAnTl4RAn799L1yTOFObrPOhU_a0ipAoQSNZgPOHtZZ9Wo4F8tv5rT1kgc8DD9366dKAbCIVu6V-T3NwfPXEXhstcxNjtVdXzEr1hKXEYjFXea7snqWIZv8u2KOBYUBX4samwybxzraD9UIk_V8rqSZD7AFfriffBOhTMaMtg6tR4kZ_r3AFLMMK0hR4Hp7SjOGHjFQ5JlA5ubLTSzNImDbUZ2fcNaXgtU4lB0BO0tAixKQnyLVaQ35k2UYywZZKfIBkqXkXFyrIyiv3V5XM_47wJHsr0QE7IFx-9T2UBgH8oEBqi9_lBC14hjNePV6vdWEOd8b5FG4G2tBsMy2dIbfnr6OaSqhkH_liofuA3EV4MGlT31SKlKAfLfqA3XvjZ2DwlyF38MDJiP2CnBROkjiMQGPdN90Br2CzgAitGUaQ73M7i8-pNmEwvZgobgDcSfMDUs2gN7F-ofrPhV5T2-HLmGP9hyGulf-xeMP5d0iruX7ygX4Sm2mvBlx7Zn3NNFk",
  "id": "rs_01077e37303f509e016ab458aaa99c87d08534ddf5a368dad8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.435,\"right_y\":0.4,\"right_z\":0.29},\"note\":\"The blue bowl is following the gripper with all three fruits still inside. I’m carrying it high toward the white bowl, positioning its pouring edge above the white bowl’s near side.\"}",
  "call_id": "call_jvuTX7MQpaMEoyKkHX3gx5Sy",
  "id": "fc_01077e37303f509e016ab458af523c87d0a5027dbba35bc4fc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jvuTX7MQpaMEoyKkHX3gx5Sy",
  "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]: [-0.1116, 0.8448, 0.8253, -0.5789, -0.1711, -0.1314, 0.9918, 0.9096, 2.3486, 2.5443, -0.9653, 0.5983, 0.3908, 0.0191]\nstate[eef_state]: left_x=0.2947 left_y=0.0009 left_z=0.2273 left_yaw=0.1033 left_pitch=-0.0202 left_roll=0.0043 left_gripper=0.9918 right_x=0.4375 right_y=0.4061 right_z=0.2564 right_yaw=0.2027 right_pitch=-0.0462 right_roll=-0.0758 right_gripper=0.0191\nstate[joint_eff]: [-0.0479, -1.7846, 6.8444, 1.873, -0.0659, -0.0611, -0.0122, -0.0205, -10.906, 4.9573, 0.7497, 0.3834, 0.2759, 0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11306b03d08bf0a464c9179c8385217919c7b77931573137d427e522e48a3f10",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d148b65feca86fbadb9989ee6bac52486e8ef4d9c3d91a29d508a5e2bb47d8e9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb757f2b2169b59ba62f7955ed88b8d971f2e3eaa90ddd08d5ffed67e6460fd3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 35 attempt 0 · /responses · status 200 · 4.701 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 123 changed as sent

message 130 changed as sent

message 134 changed as sent

message 123 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1116, 0.8337, 0.8257, -0.5541, -0.1711, -0.1314, 0.9918, 0.617, 1.9224, 0.8585, 0.4866, 0.4221, 0.2512, 0.401]\nstate[eef_state]: left_x=0.2967 left_y=0.0006 left_z=0.2356 left_yaw=0.1033 left_pitch=0.0152 left_roll=-0.0034 left_gripper=0.9918 right_x=0.4282 right_y=0.2194 right_z=0.0487 right_yaw=0.1241 right_pitch=0.0473 right_roll=0.0055 right_gripper=0.401\nstate[joint_eff]: [-0.2256, -1.6068, 6.8444, 1.9219, -0.1978, -0.0757, -0.0171, -0.1162, -9.2103, 5.641, 1.9658, 0.1343, -0.0855, -0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 130 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1116, 0.8394, 0.8253, -0.5648, -0.1707, -0.1314, 0.9918, 0.6575, 1.6711, 0.9222, 0.102, 0.4267, 0.2474, 0.018]\nstate[eef_state]: left_x=0.2959 left_y=0.0006 left_z=0.2316 left_yaw=0.103 left_pitch=-0.0013 left_roll=-0.0 left_gripper=0.9918 right_x=0.3996 right_y=0.2207 right_z=0.1128 right_yaw=0.1635 right_pitch=-0.0126 right_roll=-0.033 right_gripper=0.018\nstate[joint_eff]: [-0.0752, -1.7299, 6.9812, 1.8144, -0.0708, -0.0708, -0.0122, 0.2803, -10.4957, 9.6752, 2.1172, 0.4078, 0.1929, 0.8767]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 134 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1116, 0.8448, 0.8253, -0.5789, -0.1711, -0.1314, 0.9918, 0.9096, 2.3486, 2.5443, -0.9653, 0.5983, 0.3908, 0.0191]\nstate[eef_state]: left_x=0.2947 left_y=0.0009 left_z=0.2273 left_yaw=0.1033 left_pitch=-0.0202 left_roll=0.0043 left_gripper=0.9918 right_x=0.4375 right_y=0.4061 right_z=0.2564 right_yaw=0.2027 right_pitch=-0.0462 right_roll=-0.0758 right_gripper=0.0191\nstate[joint_eff]: [-0.0479, -1.7846, 6.8444, 1.873, -0.0659, -0.0611, -0.0122, -0.0205, -10.906, 4.9573, 0.7497, 0.3834, 0.2759, 0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11306b03d08bf0a464c9179c8385217919c7b77931573137d427e522e48a3f10",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d148b65feca86fbadb9989ee6bac52486e8ef4d9c3d91a29d508a5e2bb47d8e9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb757f2b2169b59ba62f7955ed88b8d971f2e3eaa90ddd08d5ffed67e6460fd3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_01077e37303f509e016ab458b3280087d0b63cfa6dd0fc9db5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.296,\"right_y\":0,\"right_z\":0.27,\"right_gripper\":1},\"note\":\"The rim grasp slipped during the transfer, and the yellow fruit has escaped onto the far side of the table. I’m opening the gripper and moving the right arm clear so I can assess the resulting positions safely.\"}",
  "call_id": "call_5rzYewVVvkR7u2GdbAUPBPRn",
  "id": "fc_01077e37303f509e016ab458b62a3c87d0b38096cf22c7235a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5rzYewVVvkR7u2GdbAUPBPRn",
  "output": [
    {
      "text": "executing move_to over 34 steps (3.4s)",
      "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]: [-0.112, 0.8478, 0.8253, -0.5877, -0.1711, -0.1314, 0.9918, -0.1356, 0.944, 1.0542, -0.7444, -0.1764, -0.2417, 0.9981]\nstate[eef_state]: left_x=0.2938 left_y=0.0008 left_z=0.2247 left_yaw=0.103 left_pitch=-0.0318 left_roll=0.0069 left_gripper=0.9918 right_x=0.3007 right_y=-0.0061 right_z=0.268 right_yaw=0.1371 right_pitch=-0.0566 right_roll=-0.0789 right_gripper=0.9981\nstate[joint_eff]: [-0.1983, -1.6615, 6.9402, 1.7802, -0.1099, -0.0562, -0.0073, -0.2393, -2.6462, 6.5846, 1.6825, -0.2271, -0.0317, -0.0806]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 356):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2b0762d675328b2401a2289dcf199b71cfbd0a9d2a635a7de640d4f0c186e53",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 356):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0715428f018504323c4c5794b05f8b1d6ffcd72879e089ee39661596ce75591",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 356):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24b2253531537f1ed0216bb2a581a0ac3cbd1d3afae235ea37abfe558cf304d5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]