adhoc

completed
2026-09-23T22:56:27.738747+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (77 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-astra
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
198.8 s
total steps
349
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteI see three fruits around the bowls: a green fruit on the right, a yellow fruit near the middle, and a dark fruit beside the white bowl. I’m moving the right gripper above the green fruit for the first pickup.
move_to
right_x0.3250right_y0.1100right_z0.1200right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.7994, 0.6132, -0.3828, -0.0143, -0.0299, 0.9965, -0.0227, 0.8005, 0.6197, -0.387, -0.0158, -0.0261, 0.9991] state[eef_state]: left_x=0.2959 left_y=-0.0001 left_z=0.1821 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9965 right_x=0.2962 right_y=-0.0003 right_z=0.1839 right_yaw=0.0002 right_pitch=-0.0 right_roll=-0.0003 right_gripper=0.9991 state[joint_eff]: [-0.253, -1.5521, 9.5795, 1.7851, -0.0855, 0.149, -0.3785, -0.294, -1.4701, 9.0735, 1.8535, -0.0855, 0.0708, -0.1001] 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":0.325,"right_y":0.11,"right_z":0.12,"right_gripper":1},"note":"I see three fruits around the bowls: a green fruit on the right, a yellow fruit near the middle, and a dark fruit beside the white bowl. I’m moving the right gripper above the green fruit for the first pickup."})
tool
executing move_to over 10 steps (1.0s)
step 10
top_cam
camera top_cam step 10
left_cam
camera left_cam step 10
right_cam
camera right_cam step 10
assistant
agent noteThe green fruit is to the right of the jaw center in the wrist view. I’m shifting toward it and lowering to grasp around its sides, clear of the blue bowl.
move_to
right_x0.3200right_y0.0500right_z0.0350
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8013, 0.6132, -0.3981, -0.0139, -0.0311, 0.996, 0.5461, 1.1877, 0.5316, -0.0257, 0.4339, 0.2745, 0.9991] state[eef_state]: left_x=0.2939 left_y=-0.0002 left_z=0.1785 left_yaw=0.0003 left_pitch=-0.0172 left_roll=-0.0008 left_gripper=0.996 right_x=0.3196 right_y=0.1115 right_z=0.1099 right_yaw=0.0328 right_pitch=-0.0415 right_roll=-0.0317 right_gripper=0.9991 state[joint_eff]: [-0.1436, -1.4154, 7.0496, 1.8828, -0.0562, -0.0366, -0.0611, -0.2803, -4.1504, 7.0769, 1.9267, 0.3639, 0.2564, -0.105] camera 'top_cam' (step 10): [image omitted: streamed camera frame] camera 'left_cam' (step 10): [image omitted: streamed camera frame] camera 'right_cam' (step 10): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.32,"right_y":0.05,"right_z":0.035},"note":"The green fruit is to the right of the jaw center in the wrist view. I’m shifting toward it and lowering to grasp around its sides, clear of the blue bowl."})
tool
executing move_to over 6 steps (0.6s)
step 16
top_cam
camera top_cam step 16
left_cam
camera left_cam step 16
right_cam
camera right_cam step 16
assistant
agent noteThe green fruit is now near the fingertips but still slightly right of center, and the arm stopped above the requested height. I’m making a small forward-and-right adjustment to bring the open jaws around it.
move_to
right_x0.3550right_y0.0350right_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8059, 0.6132, -0.408, -0.0139, -0.0334, 0.996, 0.2577, 1.3224, 0.2699, 0.609, 0.2188, 0.0589, 0.999] state[eef_state]: left_x=0.2929 left_y=-0.0002 left_z=0.1752 left_yaw=0.0015 left_pitch=-0.0317 left_roll=-0.0024 left_gripper=0.996 right_x=0.3452 right_y=0.055 right_z=0.0809 right_yaw=0.0356 right_pitch=0.1353 right_roll=-0.0263 right_gripper=0.999 state[joint_eff]: [-0.0752, -1.6342, 7.0085, 1.8535, -0.0513, -0.022, -0.0171, -0.7863, -1.4838, 3.0427, 0.6129, -0.1978, 0.232, -0.0269] camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.355,"right_y":0.035,"right_z":0.025},"note":"The green fruit is now near the fingertips but still slightly right of center, and the arm stopped above the requested height. I’m making a small forward-and-right adjustment to bring the open jaws around it."})
tool
executing move_to over 4 steps (0.4s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteThe right wrist has tilted and moved farther forward than requested, while the green fruit remains near the front of the gripper. I’m backing up to a more compact, upright approach and keeping the idle arm parked.
move_to
right_x0.2850right_y0.0550right_z0.0600right_pitch0.0000right_roll0.0000right_yaw0.0000left_x0.2960left_y0.0000left_z0.1900
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8116, 0.6132, -0.4232, -0.0139, -0.0334, 0.996, 0.1596, 1.7058, 0.2428, 1.2453, 0.1135, -0.0532, 0.999] state[eef_state]: left_x=0.2911 left_y=-0.0001 left_z=0.1705 left_yaw=0.0016 left_pitch=-0.0526 left_roll=-0.0019 left_gripper=0.996 right_x=0.3794 right_y=0.0445 right_z=0.0837 right_yaw=0.0834 right_pitch=0.3502 right_roll=-0.0665 right_gripper=0.999 state[joint_eff]: [-0.0479, -1.6615, 6.9949, 1.8095, -0.0317, -0.0073, -0.0171, -1.347, -1.9624, 0.7726, -0.1245, 0.0024, 0.5592, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.285,"right_y":0.055,"right_z":0.06,"right_pitch":0,"right_roll":0,"right_yaw":0,"left_x":0.296,"left_y":0,"left_z":0.19},"note":"The right wrist has tilted and moved farther forward than requested, while the green fruit remains near the front of the gripper. I’m backing up to a more compact, upright approach and keeping the idle arm parked."})
tool
executing move_to over 12 steps (1.2s)
step 32
top_cam
camera top_cam step 32
left_cam
camera left_cam step 32
right_cam
camera right_cam step 32
assistant
agent noteThe right arm is not following the low approach, so I’m lifting away rather than pressing further. This will clear the fruit and allow a fresh approach from above.
move_to
right_x0.3000right_y0.0550right_z0.1800right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8429, 0.6609, -0.4877, -0.0132, -0.0341, 0.9959, 0.2699, 1.5963, 0.2234, 1.1248, 0.1997, 0.033, 0.999] state[eef_state]: left_x=0.2898 left_y=0.0001 left_z=0.1708 left_yaw=0.0026 left_pitch=-0.1007 left_roll=-0.0019 left_gripper=0.9959 right_x=0.3647 right_y=0.0683 right_z=0.088 right_yaw=0.0691 right_pitch=0.3246 right_roll=-0.0029 right_gripper=0.999 state[joint_eff]: [0.1436, -1.6752, 10.0718, 1.707, -0.0464, -0.0659, -0.0171, -0.0752, -2.7966, 2.1128, 1.1893, 0.1538, 0.1001, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 32): [image omitted: streamed camera frame] camera 'left_cam' (step 32): [image omitted: streamed camera frame] camera 'right_cam' (step 32): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.30,"right_y":0.055,"right_z":0.18,"right_pitch":0},"note":"The right arm is not following the low approach, so I’m lifting away rather than pressing further. This will clear the fruit and allow a fresh approach from above."})
tool
executing move_to over 11 steps (1.1s)
step 43
top_cam
camera top_cam step 43
left_cam
camera left_cam step 43
right_cam
camera right_cam step 43
assistant
agent noteFrom the raised view, the green fruit is still right of the jaw center. I’m correcting that lateral offset and lowering halfway before closing.
move_to
right_x0.3000right_y0.0050right_z0.0850right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8471, 0.6628, -0.4942, -0.0139, -0.0338, 0.9959, 0.2722, 0.8707, 0.58, -0.2325, 0.178, 0.0711, 0.999] state[eef_state]: left_x=0.2893 left_y=0.0003 left_z=0.1692 left_yaw=0.003 left_pitch=-0.1095 left_roll=-0.0009 left_gripper=0.9959 right_x=0.3092 right_y=0.0576 right_z=0.1795 right_yaw=0.0794 right_pitch=0.0535 right_roll=-0.0133 right_gripper=0.999 state[joint_eff]: [-0.0479, -1.8256, 6.8034, 1.6923, -0.0464, -0.0366, -0.0122, -0.4444, -2.4957, 9.2786, 1.707, -0.0073, 0.1538, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 43): [image omitted: streamed camera frame] camera 'left_cam' (step 43): [image omitted: streamed camera frame] camera 'right_cam' (step 43): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0.005,"right_z":0.085,"right_pitch":0},"note":"From the raised view, the green fruit is still right of the jaw center. I’m correcting that lateral offset and lowering halfway before closing."})
tool
executing move_to over 7 steps (0.7s)
step 50
top_cam
camera top_cam step 50
left_cam
camera left_cam step 50
right_cam
camera right_cam step 50
assistant
agent noteThe green fruit is clearly visible just ahead and slightly right of the fingertips. I’m advancing three centimeters and lowering the jaws around its narrower middle.
move_to
right_x0.3300right_y-0.0180right_z0.0350
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8471, 0.6628, -0.4946, -0.0139, -0.0338, 0.9959, -0.0406, 0.931, 0.2737, 0.02, -0.0547, -0.0666, 0.999] state[eef_state]: left_x=0.2892 left_y=0.0003 left_z=0.1692 left_yaw=0.003 left_pitch=-0.1099 left_roll=-0.0009 left_gripper=0.9959 right_x=0.2915 right_y=0.0014 right_z=0.0751 right_yaw=0.037 right_pitch=-0.0685 right_roll=-0.0081 right_gripper=0.999 state[joint_eff]: [-0.0889, -1.5248, 7.1316, 1.6435, -0.0806, -0.0073, -0.0122, -0.2393, -1.9077, 6.9402, 2.1172, -0.1636, -0.0757, -0.0122] camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.33,"right_y":-0.018,"right_z":0.035},"note":"The green fruit is clearly visible just ahead and slightly right of the fingertips. I’m advancing three centimeters and lowering the jaws around its narrower middle."})
tool
executing move_to over 3 steps (0.3s)
step 53
top_cam
camera top_cam step 53
left_cam
camera left_cam step 53
right_cam
camera right_cam step 53
assistant
agent noteThe green fruit is centered between the open jaws at table height. I’m closing the gripper to secure it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.852, 0.6621, -0.4992, -0.0139, -0.0338, 0.9959, -0.1268, 1.3273, 0.2714, 0.2993, -0.1135, -0.1081, 0.999] state[eef_state]: left_x=0.2887 left_y=0.0003 left_z=0.1666 left_yaw=0.003 left_pitch=-0.1202 left_roll=-0.0007 left_gripper=0.9959 right_x=0.3084 right_y=-0.0155 right_z=0.0161 right_yaw=0.025 right_pitch=-0.1829 right_roll=0.0111 right_gripper=0.999 state[joint_eff]: [-0.294, -1.5385, 7.0769, 1.8193, -0.0366, -0.0122, -0.0073, 0.0889, -6.735, 6.106, 2.3907, -0.232, -0.1245, -0.0122] approver: 1 step(s) modified (delta_clamped). 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_gripper":0},"note":"The green fruit is centered between the open jaws at table height. I’m closing the gripper to secure it."})
tool
executing move_to over 10 steps (1.0s)
step 63
top_cam
camera top_cam step 63
left_cam
camera left_cam step 63
right_cam
camera right_cam step 63
assistant
agent noteThe gripper stopped at a substantial opening, consistent with holding the green fruit. I’m lifting it a few centimeters to verify that it moves with the jaws.
move_to
right_z0.0950
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.852, 0.6621, -0.4992, -0.0139, -0.0338, 0.9959, -0.1349, 1.3724, 0.2691, 0.4114, -0.1326, -0.1287, 0.7208] state[eef_state]: left_x=0.2887 left_y=0.0003 left_z=0.1666 left_yaw=0.003 left_pitch=-0.1202 left_roll=-0.0007 left_gripper=0.9959 right_x=0.3216 right_y=-0.0164 right_z=0.0229 right_yaw=0.0427 right_pitch=-0.1168 right_roll=-0.0027 right_gripper=0.7208 state[joint_eff]: [-0.1162, -1.4017, 6.9402, 1.6044, -0.0464, -0.0366, -0.0073, -0.0479, -4.7795, 5.9419, 1.8974, -0.0855, 0.022, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.095},"note":"The gripper stopped at a substantial opening, consistent with holding the green fruit. I’m lifting it a few centimeters to verify that it moves with the jaws."})
tool
executing move_to over 5 steps (0.5s)
step 68
top_cam
camera top_cam step 68
left_cam
camera left_cam step 68
right_cam
camera right_cam step 68
assistant
agent noteThe green fruit rose with the gripper. I’m carrying it above the blue bowl with enough height to clear the rim.
move_to
right_x0.4250right_y0.1500right_z0.1900right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8539, 0.6621, -0.5129, -0.0139, -0.0338, 0.9959, -0.1349, 1.1149, 0.4274, 0.0208, -0.1326, -0.1326, 0.7207] state[eef_state]: left_x=0.2866 left_y=0.0003 left_z=0.1635 left_yaw=0.0031 left_pitch=-0.1358 left_roll=-0.0003 left_gripper=0.9959 right_x=0.3247 right_y=-0.0169 right_z=0.0885 right_yaw=0.0443 right_pitch=-0.0921 right_roll=-0.0102 right_gripper=0.7207 state[joint_eff]: [-0.0752, -1.3744, 7.1863, 1.7753, -0.0171, -0.022, -0.0073, -0.1026, -3.5761, 8.5812, 1.8046, -0.105, -0.0171, 1.0281] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 68): [image omitted: streamed camera frame] camera 'left_cam' (step 68): [image omitted: streamed camera frame] camera 'right_cam' (step 68): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.425,"right_y":0.15,"right_z":0.19,"right_pitch":0},"note":"The green fruit rose with the gripper. I’m carrying it above the blue bowl with enough height to clear the rim."})
tool
executing move_to over 14 steps (1.4s)
step 82
top_cam
camera top_cam step 82
left_cam
camera left_cam step 82
right_cam
camera right_cam step 82
assistant
agent noteThe green fruit is positioned over the blue bowl. I’m lowering it toward the bowl before releasing.
move_to
right_z0.1150
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]: [-0.02, 0.8581, 0.6621, -0.5209, -0.0139, -0.0338, 0.9959, 0.4633, 1.5185, 1.0313, -0.1883, 0.3222, 0.1818, 0.723] state[eef_state]: left_x=0.2855 left_y=0.0003 left_z=0.1609 left_yaw=0.0031 left_pitch=-0.148 left_roll=-0.0 left_gripper=0.9959 right_x=0.4137 right_y=0.1482 right_z=0.1656 right_yaw=0.0906 right_pitch=-0.0678 right_roll=-0.0409 right_gripper=0.723 state[joint_eff]: [-0.1709, -1.894, 7.1043, 1.6532, -0.0562, -0.0366, -0.0073, 0.2393, -7.4872, 9.0325, 1.7998, 0.2808, 0.1734, 1.0232] approver: 2 step(s) modified (delta_clamped ×2). 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},"note":"The green fruit is positioned over the blue bowl. I’m lowering it toward the bowl before releasing."})
tool
executing move_to over 4 steps (0.4s)
step 86
top_cam
camera top_cam step 86
left_cam
camera left_cam step 86
right_cam
camera right_cam step 86
assistant
agent noteThe green fruit is just above the blue bowl’s interior. 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]: [-0.02, 0.8585, 0.6621, -0.5209, -0.0135, -0.0338, 0.9959, 0.4637, 1.5936, 0.8909, -0.0723, 0.3183, 0.1905, 0.7264] state[eef_state]: left_x=0.2855 left_y=0.0003 left_z=0.1608 left_yaw=0.0028 left_pitch=-0.1484 left_roll=-0.0002 left_gripper=0.9959 right_x=0.4004 right_y=0.1424 right_z=0.0971 right_yaw=0.0851 right_pitch=-0.1611 right_roll=-0.0684 right_gripper=0.7264 state[joint_eff]: [-0.212, -1.6068, 6.9265, 1.6239, -0.0464, -0.0464, -0.0122, -0.1162, -8.6085, 7.5966, 2.1856, 0.1538, -0.1392, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The green fruit is just above the blue bowl’s interior. I’m opening the jaws to leave it in the bowl."})
tool
executing move_to over 3 steps (0.3s)
step 89
top_cam
camera top_cam step 89
left_cam
camera left_cam step 89
right_cam
camera right_cam step 89
assistant
agent noteThe green fruit is now resting inside the blue bowl. I’m lifting away and moving above the yellow fruit beside it.
move_to
right_x0.3650right_y0.2500right_z0.1600right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8585, 0.6621, -0.5209, -0.0139, -0.0338, 0.9959, 0.4637, 1.6081, 0.8749, -0.0589, 0.3138, 0.1764, 0.9956] state[eef_state]: left_x=0.2855 left_y=0.0003 left_z=0.1608 left_yaw=0.0031 left_pitch=-0.1484 left_roll=0.0 left_gripper=0.9959 right_x=0.3978 right_y=0.142 right_z=0.0871 right_yaw=0.0955 right_pitch=-0.1789 right_roll=-0.0823 right_gripper=0.9956 state[joint_eff]: [-0.212, -1.4564, 6.9128, 1.6142, -0.0317, -0.0317, -0.0122, -0.2393, -8.4991, 7.5282, 1.4383, 0.105, 0.0952, -0.1734] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 89): [image omitted: streamed camera frame] camera 'left_cam' (step 89): [image omitted: streamed camera frame] camera 'right_cam' (step 89): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.365,"right_y":0.25,"right_z":0.16,"right_pitch":0},"note":"The green fruit is now resting inside the blue bowl. I’m lifting away and moving above the yellow fruit beside it."})
tool
executing move_to over 10 steps (1.0s)
step 99
top_cam
camera top_cam step 99
left_cam
camera left_cam step 99
right_cam
camera right_cam step 99
assistant
agent noteThe yellow fruit is aligned with the jaw center, just in front of the fingertips. I’m lowering the open gripper around it while staying to the left of the blue bowl.
move_to
right_x0.3800right_y0.2500right_z0.0350right_yaw0.0000right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8585, 0.6621, -0.5205, -0.0139, -0.0338, 0.9959, 0.8242, 1.6093, 1.0443, -0.197, 0.593, 0.3492, 0.9962] state[eef_state]: left_x=0.2856 left_y=0.0003 left_z=0.1609 left_yaw=0.0031 left_pitch=-0.148 left_roll=-0.0 left_gripper=0.9959 right_x=0.3591 right_y=0.248 right_z=0.1459 right_yaw=0.1453 right_pitch=-0.0456 right_roll=-0.1024 right_gripper=0.9962 state[joint_eff]: [-0.1162, -1.5521, 6.9402, 1.6337, -0.0708, -0.0366, -0.0122, 0.1709, -6.3111, 8.9368, 1.6386, 0.359, 0.1197, 0.0464] camera 'top_cam' (step 99): [image omitted: streamed camera frame] camera 'left_cam' (step 99): [image omitted: streamed camera frame] camera 'right_cam' (step 99): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.38,"right_y":0.25,"right_z":0.035,"right_yaw":0,"right_pitch":0},"note":"The yellow fruit is aligned with the jaw center, just in front of the fingertips. I’m lowering the open gripper around it while staying to the left of the blue bowl."})
tool
executing move_to over 8 steps (0.8s)
step 107
top_cam
camera top_cam step 107
left_cam
camera left_cam step 107
right_cam
camera right_cam step 107
assistant
agent noteThe yellow fruit sits between the fingertips at table height. I’m closing the jaws for the second pickup.
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]: [-0.02, 0.8604, 0.6621, -0.5213, -0.0139, -0.0338, 0.9959, 0.8345, 1.9354, 0.9485, 0.1486, 0.6895, 0.4274, 0.9962] state[eef_state]: left_x=0.2856 left_y=0.0003 left_z=0.1602 left_yaw=0.0031 left_pitch=-0.1507 left_roll=0.0001 left_gripper=0.9959 right_x=0.3743 right_y=0.251 right_z=0.034 right_yaw=0.0416 right_pitch=-0.0503 right_roll=-0.141 right_gripper=0.9962 state[joint_eff]: [-0.1026, -1.4701, 6.9675, 1.5995, -0.0366, -0.0269, -0.0122, 0.0889, -9.2786, 4.6154, 1.5409, 0.5201, 0.149, -0.0073] camera 'top_cam' (step 107): [image omitted: streamed camera frame] camera 'left_cam' (step 107): [image omitted: streamed camera frame] camera 'right_cam' (step 107): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The yellow fruit sits between the fingertips at table height. I’m closing the jaws for the second pickup."})
tool
executing move_to over 10 steps (1.0s)
step 117
top_cam
camera top_cam step 117
left_cam
camera left_cam step 117
right_cam
camera right_cam step 117
assistant
agent noteThe gripper closed empty, so the yellow fruit was not deep enough between the jaws. I’m opening and advancing two centimeters for one corrected attempt.
move_to
right_gripper1.0000right_x0.4010right_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]: [-0.02, 0.8604, 0.6621, -0.5209, -0.0139, -0.0338, 0.9959, 0.8341, 1.9419, 0.944, 0.1722, 0.7021, 0.4191, 0.0102] state[eef_state]: left_x=0.2856 left_y=0.0003 left_z=0.1603 left_yaw=0.0031 left_pitch=-0.1503 left_roll=0.0001 left_gripper=0.9959 right_x=0.3761 right_y=0.2502 right_z=0.0342 right_yaw=0.0373 right_pitch=-0.0355 right_roll=-0.1455 right_gripper=0.0102 state[joint_eff]: [-0.1846, -1.5658, 6.9812, 1.6142, -0.0513, -0.0513, -0.0122, -0.0205, -9.9077, 5.6821, 1.2039, 0.0757, 0.0757, 0.9011] camera 'top_cam' (step 117): [image omitted: streamed camera frame] camera 'left_cam' (step 117): [image omitted: streamed camera frame] camera 'right_cam' (step 117): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.401,"right_z":0.025},"note":"The gripper closed empty, so the yellow fruit was not deep enough between the jaws. I’m opening and advancing two centimeters for one corrected attempt."})
tool
executing move_to over 10 steps (1.0s)
step 127
top_cam
camera top_cam step 127
left_cam
camera left_cam step 127
right_cam
camera right_cam step 127
assistant
agent noteThe corrected approach places the fingertips farther around the yellow fruit. I’m closing again, then I’ll check whether the grasp is secure.
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]: [-0.02, 0.8604, 0.6621, -0.5213, -0.0139, -0.0338, 0.9959, 0.7891, 2.0022, 0.9836, 0.1989, 0.6693, 0.3656, 0.9953] state[eef_state]: left_x=0.2856 left_y=0.0003 left_z=0.1602 left_yaw=0.0031 left_pitch=-0.1507 left_roll=0.0001 left_gripper=0.9959 right_x=0.394 right_y=0.2464 right_z=0.0224 right_yaw=0.0439 right_pitch=-0.0526 right_roll=-0.1677 right_gripper=0.9953 state[joint_eff]: [-0.1162, -1.5385, 6.9538, 1.6288, -0.0806, -0.0513, -0.0122, -0.5128, -8.5538, 7.2274, 1.5458, 0.2125, 0.0269, -0.0904] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 127): [image omitted: streamed camera frame] camera 'left_cam' (step 127): [image omitted: streamed camera frame] camera 'right_cam' (step 127): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The corrected approach places the fingertips farther around the yellow fruit. I’m closing again, then I’ll check whether the grasp is secure."})
tool
executing move_to over 10 steps (1.0s)
step 137
top_cam
camera top_cam step 137
left_cam
camera left_cam step 137
right_cam
camera right_cam step 137
assistant
agent noteThe second close was also empty. I’m moving the right arm clear so I can locate the yellow fruit precisely rather than repeating the same approach.
move_to
right_x0.3000right_y0.0000right_z0.2000right_gripper1.0000right_roll0.0000right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8639, 0.6621, -0.5209, -0.0135, -0.0338, 0.9959, 0.7887, 2.0056, 0.9833, 0.1944, 0.6678, 0.3592, 0.0106] state[eef_state]: left_x=0.2858 left_y=0.0003 left_z=0.1594 left_yaw=0.0028 left_pitch=-0.1537 left_roll=-0.0001 left_gripper=0.9959 right_x=0.3932 right_y=0.2457 right_z=0.02 right_yaw=0.0477 right_pitch=-0.0601 right_roll=-0.1779 right_gripper=0.0106 state[joint_eff]: [-0.0205, -1.6615, 7.1316, 1.6337, -0.0366, -0.0464, -0.0122, -0.212, -10.1402, 5.2171, 1.4774, 0.2173, 0.0611, 0.6813] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 137): [image omitted: streamed camera frame] camera 'left_cam' (step 137): [image omitted: streamed camera frame] camera 'right_cam' (step 137): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0,"right_z":0.2,"right_gripper":1,"right_roll":0,"right_pitch":0},"note":"The second close was also empty. I’m moving the right arm clear so I can locate the yellow fruit precisely rather than repeating the same approach."})
tool
executing move_to over 21 steps (2.1s)
step 158
top_cam
camera top_cam step 158
left_cam
camera left_cam step 158
right_cam
camera right_cam step 158
assistant
agent noteWith the right arm clear, I can see the yellow fruit has shifted toward the front of the table. I’m first picking up the dark fruit with the left arm, away from the bowls.
move_to
left_x0.3000left_y-0.2350left_z0.1200left_pitch0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8696, 0.6621, -0.5354, -0.0139, -0.0338, 0.9959, -0.0383, 0.8425, 0.6548, -0.3916, -0.0105, -0.0387, 0.9977] state[eef_state]: left_x=0.2836 left_y=0.0004 left_z=0.1552 left_yaw=0.0032 left_pitch=-0.1739 left_roll=0.0006 left_gripper=0.9959 right_x=0.3028 right_y=-0.0062 right_z=0.1874 right_yaw=-0.0132 right_pitch=-0.0116 right_roll=-0.0135 right_gripper=0.9977 state[joint_eff]: [-0.2256, -1.9077, 7.0222, 1.7656, -0.0415, -0.022, -0.0122, -0.1709, -1.7983, 9.3607, 1.6874, -0.105, 0.0269, -0.0171] camera 'top_cam' (step 158): [image omitted: streamed camera frame] camera 'left_cam' (step 158): [image omitted: streamed camera frame] camera 'right_cam' (step 158): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":-0.235,"left_z":0.12,"left_pitch":0,"left_gripper":1},"note":"With the right arm clear, I can see the yellow fruit has shifted toward the front of the table. I’m first picking up the dark fruit with the left arm, away from the bowls."})
tool
executing move_to over 21 steps (2.1s)
step 179
top_cam
camera top_cam step 179
left_cam
camera left_cam step 179
right_cam
camera right_cam step 179
assistant
agent noteThe dark fruit is centered in the left wrist view and directly beneath the approach position. I’m descending vertically to put the jaws around it without shifting it.
move_to
left_x0.3000left_y-0.2350left_z0.0150
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.0, 1.5085, 0.807, -0.2298, -0.7544, -0.7158, 0.9965, -0.0376, 0.8471, 0.6609, -0.4164, -0.0189, -0.0605, 0.9982] state[eef_state]: left_x=0.2929 left_y=-0.2256 left_z=0.1038 left_yaw=-0.0173 left_pitch=-0.056 left_roll=0.0402 left_gripper=0.9965 right_x=0.3005 right_y=-0.0044 right_z=0.1838 right_yaw=0.0064 right_pitch=-0.035 right_roll=-0.0261 right_gripper=0.9982 state[joint_eff]: [-0.4444, -6.5709, 8.4581, 1.3748, -0.6911, -0.0464, -0.3736, -0.1709, -1.935, 6.5299, 1.9902, 0.0611, 0.1734, 0.0415] camera 'top_cam' (step 179): [image omitted: streamed camera frame] camera 'left_cam' (step 179): [image omitted: streamed camera frame] camera 'right_cam' (step 179): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":-0.235,"left_z":0.015},"note":"The dark fruit is centered in the left wrist view and directly beneath the approach position. I’m descending vertically to put the jaws around it without shifting it."})
tool
executing move_to over 6 steps (0.6s)
step 185
top_cam
camera top_cam step 185
left_cam
camera left_cam step 185
right_cam
camera right_cam step 185
assistant
agent noteThe dark fruit is enclosed by the open jaws. I’m closing the left gripper to secure it.
move_to
left_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]: [-1.0016, 1.7798, 0.6914, 0.0956, -0.7467, -0.7227, 0.996, -0.0376, 0.8471, 0.6609, -0.4206, -0.02, -0.0612, 0.9982] state[eef_state]: left_x=0.2931 left_y=-0.2288 left_z=0.0139 left_yaw=-0.0159 left_pitch=-0.095 left_roll=0.0825 left_gripper=0.996 right_x=0.2999 right_y=-0.0041 right_z=0.1829 right_yaw=0.0078 right_pitch=-0.0392 right_roll=-0.0259 right_gripper=0.9982 state[joint_eff]: [0.1983, -7.4051, 4.3009, 1.2869, -0.3736, 0.0757, -0.0611, -0.1983, -1.5932, 7.0222, 1.7705, -0.0269, -0.022, -0.0073] camera 'top_cam' (step 185): [image omitted: streamed camera frame] camera 'left_cam' (step 185): [image omitted: streamed camera frame] camera 'right_cam' (step 185): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The dark fruit is enclosed by the open jaws. I’m closing the left gripper to secure it."})
tool
executing move_to over 10 steps (1.0s)
step 195
top_cam
camera top_cam step 195
left_cam
camera left_cam step 195
right_cam
camera right_cam step 195
assistant
agent noteThe dark fruit slipped forward as the jaws closed, leaving an empty grasp. I’m reopening and moving forward to straddle its new position more fully.
move_to
left_x0.3600left_y-0.2400left_z0.0250left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.0016, 1.8053, 0.6807, 0.0933, -0.7433, -0.7265, 0.0098, -0.0376, 0.8471, 0.6609, -0.4274, -0.02, -0.0643, 0.9983] state[eef_state]: left_x=0.2891 left_y=-0.2234 left_z=0.0021 left_yaw=-0.0124 left_pitch=-0.1185 left_roll=0.1103 left_gripper=0.0098 right_x=0.2989 right_y=-0.0041 right_z=0.1816 right_yaw=0.0094 right_pitch=-0.0461 right_roll=-0.0281 right_gripper=0.9983 state[joint_eff]: [-0.0615, -9.4701, 5.3949, 1.1355, -0.3736, 0.0171, 0.696, -0.1709, -1.5795, 7.2137, 1.8046, -0.0269, -0.0513, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 195): [image omitted: streamed camera frame] camera 'left_cam' (step 195): [image omitted: streamed camera frame] camera 'right_cam' (step 195): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":-0.24,"left_z":0.025,"left_gripper":1},"note":"The dark fruit slipped forward as the jaws closed, leaving an empty grasp. I’m reopening and moving forward to straddle its new position more fully."})
tool
executing move_to over 10 steps (1.0s)
step 205
top_cam
camera top_cam step 205
left_cam
camera left_cam step 205
right_cam
camera right_cam step 205
assistant
agent noteThe dark fruit now sits deeper between the fingers instead of ahead of their tips. I’m closing for the corrected grasp.
move_to
left_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]: [-0.8642, 1.8862, 0.8864, 0.0483, -0.6598, -0.598, 0.9946, -0.0376, 0.8471, 0.6609, -0.4393, -0.02, -0.0643, 0.9983] state[eef_state]: left_x=0.349 left_y=-0.2365 left_z=0.0187 left_yaw=-0.0038 left_pitch=-0.1333 left_roll=0.1032 left_gripper=0.9946 right_x=0.2972 right_y=-0.004 right_z=0.1792 right_yaw=0.0095 right_pitch=-0.0579 right_roll=-0.0275 right_gripper=0.9983 state[joint_eff]: [0.9368, -7.8291, 7.5009, 1.2967, -0.3883, 0.315, -0.2418, -0.1983, -1.5932, 7.0359, 1.7851, -0.0659, -0.0415, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 205): [image omitted: streamed camera frame] camera 'left_cam' (step 205): [image omitted: streamed camera frame] camera 'right_cam' (step 205): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The dark fruit now sits deeper between the fingers instead of ahead of their tips. I’m closing for the corrected grasp."})
tool
executing move_to over 10 steps (1.0s)
step 215
top_cam
camera top_cam step 215
left_cam
camera left_cam step 215
right_cam
camera right_cam step 215
assistant
agent noteThe left gripper has stopped at a fruit-sized opening. I’m lifting slightly to confirm the dark fruit is secure before carrying it to the blue bowl.
move_to
left_z0.0900
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.8604, 1.8927, 0.8925, 0.0479, -0.6575, -0.6018, 0.5255, -0.0376, 0.8471, 0.6609, -0.44, -0.02, -0.0639, 0.9983] state[eef_state]: left_x=0.3507 left_y=-0.2366 left_z=0.0178 left_yaw=0.0007 left_pitch=-0.135 left_roll=0.0997 left_gripper=0.5255 right_x=0.2971 right_y=-0.004 right_z=0.179 right_yaw=0.0092 right_pitch=-0.0587 right_roll=-0.0272 right_gripper=0.9983 state[joint_eff]: [-0.294, -9.306, 4.8342, 1.2772, -0.3834, 0.0366, 1.033, -0.1846, -1.5795, 7.0222, 1.7118, -0.0464, -0.0464, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 215): [image omitted: streamed camera frame] camera 'left_cam' (step 215): [image omitted: streamed camera frame] camera 'right_cam' (step 215): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.09},"note":"The left gripper has stopped at a fruit-sized opening. I’m lifting slightly to confirm the dark fruit is secure before carrying it to the blue bowl."})
tool
executing move_to over 5 steps (0.5s)
step 220
top_cam
camera top_cam step 220
left_cam
camera left_cam step 220
right_cam
camera right_cam step 220
assistant
agent noteThe dark fruit lifted with the jaws. I’m carrying it over the near side of the blue bowl, keeping clear of the white bowl.
move_to
left_x0.4450left_y-0.3950left_z0.1900left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.8604, 1.7607, 0.9882, -0.189, -0.6571, -0.6098, 0.5251, -0.0372, 0.8471, 0.6609, -0.4469, -0.02, -0.0643, 0.9983] state[eef_state]: left_x=0.3501 left_y=-0.2361 left_z=0.0712 left_yaw=0.0057 left_pitch=-0.1408 left_roll=0.1003 left_gripper=0.5251 right_x=0.2961 right_y=-0.0039 right_z=0.1777 right_yaw=0.0099 right_pitch=-0.0655 right_roll=-0.0272 right_gripper=0.9983 state[joint_eff]: [-0.212, -9.8393, 7.8701, 1.2283, -0.3687, 0.0317, 1.033, -0.0615, -1.4564, 6.9949, 1.7216, -0.0464, -0.0366, -0.0171] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 220): [image omitted: streamed camera frame] camera 'left_cam' (step 220): [image omitted: streamed camera frame] camera 'right_cam' (step 220): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.445,"left_y":-0.395,"left_z":0.19,"left_pitch":0},"note":"The dark fruit lifted with the jaws. I’m carrying it over the near side of the blue bowl, keeping clear of the white bowl."})
tool
executing move_to over 15 steps (1.5s)
step 235
top_cam
camera top_cam step 235
left_cam
camera left_cam step 235
assistant
agent noteThe fruit is above the blue bowl’s left side. I’m moving slightly farther over its opening and lowering before release.
move_to
left_x0.4800left_y-0.4000left_z0.1300
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]: [-0.9367, 2.3455, 2.2036, -0.7322, -0.7715, -0.6281, 0.5251, -0.0376, 0.849, 0.6609, -0.4545, -0.02, -0.0643, 0.9983] state[eef_state]: left_x=0.4469 left_y=-0.3937 left_z=0.1747 left_yaw=0.008 left_pitch=-0.0147 left_roll=0.0731 left_gripper=0.5251 right_x=0.2951 right_y=-0.004 right_z=0.1756 right_yaw=0.0095 right_pitch=-0.075 right_roll=-0.0267 right_gripper=0.9983 state[joint_eff]: [-1.0325, -15.0906, 8.0615, 0.8669, -0.6374, 0.1392, 1.0281, -0.1436, -1.7026, 6.9812, 1.7509, -0.0415, -0.0562, -0.0171] camera 'top_cam' (step 235): [image omitted: streamed camera frame] camera 'left_cam' (step 235): [image omitted: streamed camera frame] camera 'right_cam' (step 235): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.48,"left_y":-0.4,"left_z":0.13},"note":"The fruit is above the blue bowl’s left side. I’m moving slightly farther over its opening and lowering before release."})
tool
executing move_to over 3 steps (0.3s)
step 238
assistant
agent noteThe dark fruit is over the blue bowl’s opening. I’m releasing it into 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]: [-0.9104, 2.4287, 2.241, -0.6788, -0.7597, -0.6167, 0.5264, -0.0376, 0.849, 0.6609, -0.4549, -0.02, -0.0643, 0.9983] state[eef_state]: left_x=0.4669 left_y=-0.397 left_z=0.147 left_yaw=0.0204 left_pitch=-0.0178 left_roll=0.0712 left_gripper=0.5264 right_x=0.2951 right_y=-0.004 right_z=0.1755 right_yaw=0.0095 right_pitch=-0.0754 right_roll=-0.0267 right_gripper=0.9983 state[joint_eff]: [0.7179, -12.9573, 7.2957, 1.3211, -0.1783, 0.1832, 1.033, -0.0752, -1.4974, 6.9812, 1.6532, -0.0415, -0.0611, -0.0171] camera 'top_cam' (step 238): [image omitted: streamed camera frame] camera 'left_cam' (step 238): [image omitted: streamed camera frame] camera 'right_cam' (step 238): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The dark fruit is over the blue bowl’s opening. I’m releasing it into the bowl."})
tool
executing move_to over 5 steps (0.5s)
step 243
assistant
agent noteThe dark fruit bounced out to the left of the blue bowl instead of staying inside. I’m parking the left arm so the right arm can reach both remaining fruits more directly.
move_to
left_x0.2960left_y0.0000left_z0.2000left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.8902, 2.5069, 2.2375, -0.6388, -0.7406, -0.5983, 0.9944, -0.0372, 0.849, 0.6609, -0.4549, -0.02, -0.0643, 0.9983] state[eef_state]: left_x=0.4781 left_y=-0.3953 left_z=0.1033 left_yaw=0.0196 left_pitch=-0.0556 left_roll=0.1104 left_gripper=0.9944 right_x=0.2951 right_y=-0.0038 right_z=0.1755 right_yaw=0.0099 right_pitch=-0.0754 right_roll=-0.0267 right_gripper=0.9983 state[joint_eff]: [-0.1436, -17.5658, 7.3915, 1.5018, -0.3346, 0.1197, -0.1685, -0.1573, -1.388, 7.0085, 1.6532, -0.022, -0.0659, -0.0171] camera 'top_cam' (step 243): [image omitted: streamed camera frame] camera 'left_cam' (step 243): [image omitted: streamed camera frame] camera 'right_cam' (step 243): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.296,"left_y":0,"left_z":0.2,"left_pitch":0},"note":"The dark fruit bounced out to the left of the blue bowl instead of staying inside. I’m parking the left arm so the right arm can reach both remaining fruits more directly."})
tool
executing move_to over 36 steps (3.6s)
step 279
assistant
agent noteThe yellow fruit is now clearly in front of the blue bowl. I’m approaching its updated position with the right gripper, avoiding the bowl rim.
move_to
right_x0.3300right_y0.2200right_z0.0350right_pitch0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.1364, 0.8299, 0.6926, -0.4278, -0.231, -0.0475, 0.9951, -0.0376, 0.8543, 0.6609, -0.4728, -0.0196, -0.0643, 0.9983] state[eef_state]: left_x=0.3005 left_y=0.0032 left_z=0.2032 left_yaw=0.0762 left_pitch=0.0178 left_roll=0.1001 left_gripper=0.9951 right_x=0.2927 right_y=-0.0039 right_z=0.1706 right_yaw=0.0093 right_pitch=-0.0987 right_roll=-0.0258 right_gripper=0.9983 state[joint_eff]: [-0.0342, -1.4838, 6.8034, 1.6728, 0.1148, 0.1587, 0.0611, -0.3624, -1.8803, 7.3641, 1.8144, -0.0611, -0.0806, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 279): [image omitted: streamed camera frame] camera 'left_cam' (step 279): [image omitted: streamed camera frame] camera 'right_cam' (step 279): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.33,"right_y":0.22,"right_z":0.035,"right_pitch":0,"right_gripper":1},"note":"The yellow fruit is now clearly in front of the blue bowl. I’m approaching its updated position with the right gripper, avoiding the bowl rim."})
tool
executing move_to over 19 steps (1.9s)
step 298
assistant
agent noteThe yellow fruit is now between the open fingers at its new location. I’m closing the gripper around it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.1352, 0.8337, 0.6888, -0.4423, -0.2249, -0.0494, 0.9952, 0.8627, 1.7527, 0.6418, 0.2623, 0.667, 0.4984, 0.9983] state[eef_state]: left_x=0.2986 left_y=0.0027 left_z=0.1974 left_yaw=0.0732 left_pitch=-0.0045 left_roll=0.0999 left_gripper=0.9952 right_x=0.3199 right_y=0.2111 right_z=0.0222 right_yaw=0.047 right_pitch=-0.0651 right_roll=-0.0792 right_gripper=0.9983 state[joint_eff]: [-0.1709, -1.7573, 7.2821, 1.8339, -0.1587, 0.0171, -0.0073, 0.2256, -7.7607, 6.2291, 1.536, 0.5788, 0.149, -0.1832] camera 'top_cam' (step 298): [image omitted: streamed camera frame] camera 'left_cam' (step 298): [image omitted: streamed camera frame] camera 'right_cam' (step 298): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The yellow fruit is now between the open fingers at its new location. I’m closing the gripper around it."})
tool
executing move_to over 10 steps (1.0s)
step 308
assistant
agent noteThe gripper opening indicates a secure hold on the yellow fruit. I’m lifting it to verify the pickup before moving over the bowl.
move_to
right_z0.0950
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.1352, 0.8341, 0.6888, -0.4465, -0.2272, -0.0498, 0.9952, 0.8619, 1.7725, 0.6464, 0.263, 0.6647, 0.4938, 0.4389] state[eef_state]: left_x=0.298 left_y=0.0032 left_z=0.1965 left_yaw=0.0754 left_pitch=-0.0087 left_roll=0.1018 left_gripper=0.9952 right_x=0.3198 right_y=0.2111 right_z=0.0165 right_yaw=0.0496 right_pitch=-0.0766 right_roll=-0.0922 right_gripper=0.4389 state[joint_eff]: [-0.1162, -1.4291, 7.0359, 1.7363, -0.0952, -0.0513, -0.0122, -0.0342, -8.9368, 4.3692, 1.3504, 0.2222, -0.0171, 1.0281] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 308): [image omitted: streamed camera frame] camera 'left_cam' (step 308): [image omitted: streamed camera frame] camera 'right_cam' (step 308): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.095},"note":"The gripper opening indicates a secure hold on the yellow fruit. I’m lifting it to verify the pickup before moving over the bowl."})
tool
executing move_to over 6 steps (0.6s)
step 314
assistant
agent noteThe yellow fruit lifted successfully. I’m carrying it over the center of the blue bowl, which shifted slightly during the earlier attempts.
move_to
right_x0.4750right_y0.1850right_z0.1800right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.1352, 0.8379, 0.6888, -0.45, -0.2272, -0.0521, 0.9952, 0.8619, 1.5677, 0.7612, -0.0532, 0.654, 0.4889, 0.4431] state[eef_state]: left_x=0.2979 left_y=0.0032 left_z=0.1947 left_yaw=0.0766 left_pitch=-0.0156 left_roll=0.1014 left_gripper=0.9952 right_x=0.3193 right_y=0.2127 right_z=0.0815 right_yaw=0.0598 right_pitch=-0.0803 right_roll=-0.0881 right_gripper=0.4431 state[joint_eff]: [-0.0615, -1.7846, 7.1726, 1.7607, -0.1099, -0.0122, -0.0122, -0.212, -7.665, 8.0889, 1.4042, 0.3834, 0.0171, 1.033] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 314): [image omitted: streamed camera frame] camera 'left_cam' (step 314): [image omitted: streamed camera frame] camera 'right_cam' (step 314): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.475,"right_y":0.185,"right_z":0.18,"right_pitch":0},"note":"The yellow fruit lifted successfully. I’m carrying it over the center of the blue bowl, which shifted slightly during the earlier attempts."})
tool
executing move_to over 12 steps (1.2s)
step 326
assistant
agent noteThe yellow fruit is directly above the blue bowl. I’m opening the gripper to drop it into the bowl beside the green fruit.
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]: [-0.1352, 0.8448, 0.6888, -0.4557, -0.2276, -0.0521, 0.9952, 0.519, 1.7584, 1.2621, -0.1753, 0.4313, 0.1802, 0.4464] state[eef_state]: left_x=0.2976 left_y=0.0033 left_z=0.1917 left_yaw=0.077 left_pitch=-0.0279 left_roll=0.1042 left_gripper=0.9952 right_x=0.4637 right_y=0.184 right_z=0.1642 right_yaw=0.0586 right_pitch=-0.0369 right_roll=-0.1029 right_gripper=0.4464 state[joint_eff]: [-0.1436, -2.0855, 7.1726, 1.7656, -0.1245, -0.0269, -0.0122, -0.5128, -8.8547, 8.8137, 1.7021, 0.1197, -0.0024, 1.0281] camera 'top_cam' (step 326): [image omitted: streamed camera frame] camera 'left_cam' (step 326): [image omitted: streamed camera frame] camera 'right_cam' (step 326): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The yellow fruit is directly above the blue bowl. I’m opening the gripper to drop it into the bowl beside the green fruit."})
tool
executing move_to over 6 steps (0.6s)
step 332
assistant
agent noteI’ve released the yellow fruit over the blue bowl. I’m moving the right arm clear to verify the result and leave the work area unobstructed.
move_to
right_x0.2960right_y0.0000right_z0.2000right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.1352, 0.8452, 0.6884, -0.4683, -0.2276, -0.0525, 0.9952, 0.5152, 1.7638, 1.2644, -0.1856, 0.4213, 0.1715, 0.9956] state[eef_state]: left_x=0.2959 left_y=0.0036 left_z=0.189 left_yaw=0.0773 left_pitch=-0.0409 left_roll=0.1067 left_gripper=0.9952 right_x=0.4634 right_y=0.1835 right_z=0.1603 right_yaw=0.0672 right_pitch=-0.0521 right_roll=-0.1103 right_gripper=0.9956 state[joint_eff]: [-0.0068, -1.5385, 6.9538, 1.8144, -0.149, -0.0708, -0.0122, 0.1436, -9.7162, 6.6256, 1.6923, 0.2125, 0.1099, 0.0659] camera 'top_cam' (step 332): [image omitted: streamed camera frame] camera 'left_cam' (step 332): [image omitted: streamed camera frame] camera 'right_cam' (step 332): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.296,"right_y":0,"right_z":0.2,"right_pitch":0},"note":"I’ve released the yellow fruit over the blue bowl. I’m moving the right arm clear to verify the result and leave the work area unobstructed."})
tool
executing move_to over 16 steps (1.6s)
step 348
assistant
agent noteThe green and yellow fruits are in the blue bowl, but the dark fruit bounced out and remains on the table between the bowls. I could not complete its recovery and the pouring step within this trial’s motion budget. Both arms are retracted; no pouring was attempted.
give_up
hindsightThe bowls and yellow fruit shifted during close approaches, so original pickup coordinates became unreliable. The successful yellow pickup was near right (0.32, 0.21, 0.02); its earlier farther-forward grasps were empty. The blue bowl’s updated center was approximately right (0.47, 0.185). The left arm’s cross-table y limit prevented a centered release into that bowl: a dark-fruit release from left (0.48, -0.40) bounced outside. Use the right arm for centered deposits, or reposition the blue bowl closer to the middle before collecting the fruits. Account for the call budget before spending repeated approaches on a single fruit.
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]: [-0.1352, 0.8513, 0.6846, -0.4747, -0.2272, -0.0525, 0.9952, 0.0074, 0.8276, 0.688, -0.4026, 0.057, -0.1108, 0.9962] state[eef_state]: left_x=0.2949 left_y=0.0036 left_z=0.1843 left_yaw=0.0771 left_pitch=-0.057 left_roll=0.11 left_gripper=0.9952 right_x=0.3036 right_y=-0.0042 right_z=0.2047 right_yaw=0.0143 right_pitch=0.0222 right_roll=-0.111 right_gripper=0.9962 state[joint_eff]: [-0.1436, -2.0444, 7.3094, 1.7802, -0.1197, -0.0611, -0.0171, -0.1709, -1.347, 6.7487, 1.8486, -0.105, -0.1148, 0.0464] camera 'top_cam' (step 348): [image omitted: streamed camera frame] camera 'left_cam' (step 348): [image omitted: streamed camera frame] camera 'right_cam' (step 348): [image omitted: streamed camera frame]
assistant
give_up({"reason":"The green and yellow fruits are in the blue bowl, but the dark fruit bounced out and remains on the table between the bowls. I could not complete its recovery and the pouring step within this trial’s motion budget. Both arms are retracted; no pouring was attempted.","hindsight":"The bowls and yellow fruit shifted during close approaches, so original pickup coordinates became unreliable. The successful yellow pickup was near right (0.32, 0.21, 0.02); its earlier farther-forward grasps were empty. The blue bowl’s updated center was approximately right (0.47, 0.185). The left arm’s cross-table y limit prevented a centered release into that bowl: a dark-fruit release from left (0.48, -0.40) bounced outside. Use the right arm for centered deposits, or reposition the blue bowl closer to the middle before collecting the fruits. Account for the call budget before spending repeated approaches on a single fruit."})
tool
give_up: The green and yellow fruits are in the blue bowl, but the dark fruit bounced out and remains on the table between the bowls. I could not complete its recovery and the pouring step within this trial’s motion budget. Both arms are retracted; no pouring was attempted.
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 · 4.684 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.7994, 0.6132, -0.3828, -0.0143, -0.0299, 0.9965, -0.0227, 0.8005, 0.6197, -0.387, -0.0158, -0.0261, 0.9991]\nstate[eef_state]: left_x=0.2959 left_y=-0.0001 left_z=0.1821 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9965 right_x=0.2962 right_y=-0.0003 right_z=0.1839 right_yaw=0.0002 right_pitch=-0.0 right_roll=-0.0003 right_gripper=0.9991\nstate[joint_eff]: [-0.253, -1.5521, 9.5795, 1.7851, -0.0855, 0.149, -0.3785, -0.294, -1.4701, 9.0735, 1.8535, -0.0855, 0.0708, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c817f83dbd7401801c4360a026e0a2ab11c49182d8e8a80bd938c26ec3d36e6f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2333404f6552c2d8a007e5367dc186d114e40fab4121e344fadb680b576ea4bb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:735961af9726c96d73399a620912e25f862583554c65ffe04f40985016b32cd6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 1 attempt 0 · /responses · status 200 · 6.972 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtFkubG1DzGUKadhB58FURKMNjWbeMlPUPsOYNUyjpVqX6-IpE9ck-tAOcWilPdma9q3BzcCzIHPUXW6oPtJV5tHL-wW9kufW6WwC0JsUhfPwySDbVlnGShRCwTzEr_rM4NQ371pq-6QjocZlxqLmexIlEttCg0DOIAz2xs-d0D-klUiz0rFw-paS6Ku5gQ1-riON2OtDq25M8OMYbjFpU0NtriCOiBFMfBeYiOkmTEZwbPpQqsMNwiAjd4BvZHrArOMAsNwXKoSEq93ejecqCN1k8bhK61FLKgq1-V2EVepXsfggoUeZl3ZVnD5-H6LyW6sAzMCIZsdzv3u-ju8HCU6MH_y2_senfSjkhwpO2fCxt33t4qGHttqDy7OMq13CHBGZpeYoK0Fo3xIkoAkatkPldSuFwk5mljGVZf6fpP3J6sYZE1AaAQNttX2geCG5Ubd6lDFL6VJk0gcIYKUDkSO4biyPlGgNjDbz1JmSPgo9JkBdonkIvmQyN2b-k86IuHA41vbmFslZKREwXlRxkiabISrKIHr6JHzwt-G17VOd59Vjku04F2eJn-VC7dIIxY3waQVmE03w7g-sAQPt6FF97kgfa8J6e296O86HctfvuXixfz0CVIDHeO2-t-wyqKINMYAF-dFBSK8vzMwO0wDmhgTtGn73WBUf-Y4KY1lgpr2hBnamLrLOkcJjgd4rpLNKWKVCQrCI-AxOAq-DG_UcD6Ic_2mI_girEFR8d1dhIHFA4kWmEQIbr3R43FcuWOOQThTAKl4DMxSUFQzXhaAlkimMkGTPfnq9PN9lO3-qtGebpqqX7wm8AniAkE22Y71CuuQW8GUBCDDbIFGe3zwa-TocG7xTT4o9sMO39zU5FxXCMdEUj6yRNbxC_qr3CwIonG-mT0-Pd3pt9zXUi4_B8YJ0fy3-_HMTTpd33TnaCAUV_7ZkSRGH1JIfXDRUal8BsJdwb2zY6315NIqRE0OPp04PPYBOeu5VTaEaMEus2ZSMEaAWZCVtDxdbhmNg2OyH2EulxWv-74feOgq5hGegtQrFkJa6ButgJsNwjEu3hdCCYzf8rJpmvdy54iG499b5ouIXf0fO8Z60fDwehlBOBdRLkUl6Qp7vh9lCy3IosLAkdYcid6Bu9k80P4Yu9-yd7uBjRVhdjscDaD4P3kYcJMQCvERjS3KLNEAbGF-J9R30R-hGx_kDvqCInmL0TBrxHmM99h7BSLFSi8BchEfnBk7fEibBUuccEPDwJQ6O2Smow2zb1wTwEywwu9RLFMGY7buYPDI6SXBzbYdXeNMLlCsbB33byijfznqvSuH-LEw8bEMGF6pArAO1nyiew0OrrnAFu1cRecOoY91SR_ZJXcvkgZu3H9KKcPm8RE_GSqmITfKxhtud3UUyjBo25lxUuEdVWIsz8JLx0q0hrAEXMFdCCx9O1w2kxzucooQ1R-_eedWCNBPNwvpbQWOrB22daBv5d878Frf-I34sgT_xDsPfS-pK7DD6jR4h-DF_GqFDQkXh2IsCAEiMK3KBmHQDQ9Bt4mWh8Oz7Q9kpOk7slUPbYyiUrYtuVtZb-jYyb5qUALN3Qmpx9gcqbZxLDY3rlWai0jNBpyHLRgNhEvV_QH8slYiy1-jVmJL3VblwWOZYdItsk3WTUgN0MSJZoZt8ubtGLxl-0IvojCm48hF9RO8-FlumU7zHNm6PxBnqoj2IHDqiyh-X-IOM6__vPZ0UFRWvDBlW4slf8N4rzf2gMEkbgdMNsps-c2j62-DhpnHn6nadbmDhkw-jryMkkpST",
  "id": "rs_010e539e5f3137f3016ab4592b1dc487d0a133c7e217654495",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.325,\"right_y\":0.11,\"right_z\":0.12,\"right_gripper\":1},\"note\":\"I see three fruits around the bowls: a green fruit on the right, a yellow fruit near the middle, and a dark fruit beside the white bowl. I’m moving the right gripper above the green fruit for the first pickup.\"}",
  "call_id": "call_hfMuOf8VM9gn22OvIilBWeRi",
  "id": "fc_010e539e5f3137f3016ab4592d435887d0bde4bb4c53277bdb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hfMuOf8VM9gn22OvIilBWeRi",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8013, 0.6132, -0.3981, -0.0139, -0.0311, 0.996, 0.5461, 1.1877, 0.5316, -0.0257, 0.4339, 0.2745, 0.9991]\nstate[eef_state]: left_x=0.2939 left_y=-0.0002 left_z=0.1785 left_yaw=0.0003 left_pitch=-0.0172 left_roll=-0.0008 left_gripper=0.996 right_x=0.3196 right_y=0.1115 right_z=0.1099 right_yaw=0.0328 right_pitch=-0.0415 right_roll=-0.0317 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -1.4154, 7.0496, 1.8828, -0.0562, -0.0366, -0.0611, -0.2803, -4.1504, 7.0769, 1.9267, 0.3639, 0.2564, -0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b51163b6f818f7c5a572736dcfe87de729f153492d8de40f0e7d7309c512d94a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ac0429bb2bfd5372a45ea79f69cef35bd34c660cf95afa3a3f52b3b744b819b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9055ba47920e5d397763e5d8ee9c3a602ddb3d9a158463edfc2541409d72e6ad",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /responses · status 200 · 4.385 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 6 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.7994, 0.6132, -0.3828, -0.0143, -0.0299, 0.9965, -0.0227, 0.8005, 0.6197, -0.387, -0.0158, -0.0261, 0.9991]\nstate[eef_state]: left_x=0.2959 left_y=-0.0001 left_z=0.1821 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9965 right_x=0.2962 right_y=-0.0003 right_z=0.1839 right_yaw=0.0002 right_pitch=-0.0 right_roll=-0.0003 right_gripper=0.9991\nstate[joint_eff]: [-0.253, -1.5521, 9.5795, 1.7851, -0.0855, 0.149, -0.3785, -0.294, -1.4701, 9.0735, 1.8535, -0.0855, 0.0708, -0.1001]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8013, 0.6132, -0.3981, -0.0139, -0.0311, 0.996, 0.5461, 1.1877, 0.5316, -0.0257, 0.4339, 0.2745, 0.9991]\nstate[eef_state]: left_x=0.2939 left_y=-0.0002 left_z=0.1785 left_yaw=0.0003 left_pitch=-0.0172 left_roll=-0.0008 left_gripper=0.996 right_x=0.3196 right_y=0.1115 right_z=0.1099 right_yaw=0.0328 right_pitch=-0.0415 right_roll=-0.0317 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -1.4154, 7.0496, 1.8828, -0.0562, -0.0366, -0.0611, -0.2803, -4.1504, 7.0769, 1.9267, 0.3639, 0.2564, -0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b51163b6f818f7c5a572736dcfe87de729f153492d8de40f0e7d7309c512d94a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ac0429bb2bfd5372a45ea79f69cef35bd34c660cf95afa3a3f52b3b744b819b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9055ba47920e5d397763e5d8ee9c3a602ddb3d9a158463edfc2541409d72e6ad",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFk8TD0PzlL_0DVNPadkikoKmf2L4QpbJuO9kegQDC7qlONCASdLIj_7G0Dzz8B3V3b1uCKGTJwkrTkF3x9lm8kk3TVN0Tb2kOgjiU8c5zPG6JXjNdRM88Q_Yi3cKSYt3zVuQ9tI3Cut5YyoxTZmBAx1cJR0M7ju_sFrRTxVUY9f7t2ChlhD5JK7rOinR9Ker_7BgKEVVGtgA6ZcJfQhQM8lV1LVZv6XOw0kvPvb6maULZ1PGHQBO9Va0OiW1CmihGihH4bKcAmCOpxt8EVi8g8gvF8V_hg57wEXLJvtZhCWXIFSjIcGPJUajt7Z9HjfoX3ruEDldG9WPGcsz3wdDjzYluxd3Yh9TS59-cxd9IuWaEAgw43hmjjsljs9VBZC5gEhXxtUg61T2ReIHlvwfvZkzEC_WQompcDm6NkTwxeVjhPaea6mriOzw74NGz4z4DJcWovcWPhPY7VGYOeAHxd1L8NMJ53MSJN7o4CSDAO2OsNsKybyx9QoFxyS1Iwzo-3N_Qh8uSOz4w_ropb3WTaUv4N4qeQH9W2nZMK48y-lSYzImJtof_LDYkXeuzZD7Ey_NSGWv1H4Q6huq3tMrfj9qrBGMk2RP1Ktndn-W6oF0gbJNbbrq1mF9TCh20owujpmSy7RFcLNn-mt6kWaR-cuDKJ3rgFvJsBYJgVgEkO9_2UwcnqMfqiajzaHehBUueGpaWdiTu7R1OZQsUjE8J37P6jmTluL_8oQ0drIuJJmUO86zFwyGBy4JhWdZxn2vM0Z7c0WFBHzCr7NG2P6F_6Ja4zNemMxEh-3PGs_D2oGbAh4n_hjsfNeyQwtDC8aeQqlJ2UcVazmAZinAuuVaev1hneZe1sEkovbWnejG3C6FgFRATJahGYDUWeU3kwAVgIu6Un2Wq_dM8cQ1ZQj6-71TUVcmKVgiZ4ebD4jrhLAimgPHpWtj39M0xcBeCJSPBEmd-R6c_NVfib_bbuz9NQgc8OBvZyasuLhzetrQCDg2yZfY5k-p5DHbonfFasWZnvUuqKcioV-bSz5DH0DtHfHM_pb2iP6BnKb219CIGm6qdE8afIwWBdM_NwX4-rG7emhx4MHOX7kbeyX-G_F6e9dX2jASSurRmnE1_g3W9PJ-i6UAKLY1_matYm4_7Y3S3AhP96MrVkXik8UGhXE3hJOoGfRkkwKQnG8wW-R635d_IMooyfG8eoqSkoi54QBvezBxeOuWl2gh3I2a2k23Oqnhaah8xgGYRhrY5wZpds177FkXW73P_nxier5NPQ91BTSSq5N6m75saSxz_CBcZQ8G0vRk1akSOandYQ6QEKd4UOTGCI-J3QBagCD3k2h_53YvoqaaSK7U2R4ts0-cEK6Cn_8LEW5vg1AQUmqf-VFc7pzr1mZXUTIu2xKxmn-Kd59tghQuR7ABb8mW7RvXWxpCovvszYchL3Lem3d_OxlpHvF1u_5OqGM8H3S2Lju9wqkIBwxLQrSJqVPNvTRoxVA4SvvkbiwBTeoTLB8oZovvBT8ZDPea3eNSg0SQTg0AE8-mEnytwiBBHCL6VOwp-K7RSnQ762nQWrln04zxNesqEfmAeaaDPS0S7Za9IbSJBpTwalYLUKN1WOZEO2AFFVeMegnXt7fBisSaXh71ZyyHxQ5zl-EyHmZsXGzaV7wLK81xZVZt-MpLV8xMIL0eHY8fFzafKpWmzqRYdE0_A17r9E6hiOlXNhMrA28UE7kqkBi5A8BTaCNWVpILCeDGR58TxU_xAhgbt6qUl2Wnz7UK_MKh744p4U19uFPHlvwoevMo8AkGh6yCNfG0h1d8I_7LMBnebGvFKoKvUUPqN8NzMJ4anYRNL7xMsnBb8mT00oARxv8PXVA0pwsAZtMFbB7E9smnBVR16i_riDPflCplI8eGbJy7B_8bmQSGrfMdwQN1BKsPGnghk0ee2k7GDHzItglOcmfGZiQh9CURFGe9LucJ2wjBthr_xWP32AcgXfZKcIuhIDHxQxwd7lsU3ecLe2w2TKum4i8TNly2AHYXGWFedMBcAa9vkJK6HSV91SrfoGwGveoh7xIBoy7z1GLB9dm91eDXCiDNFJUoDnXRp5UZKEbfHU05C3kUkVhAg_P",
  "id": "rs_010e539e5f3137f3016ab4593766cc87d097936c57b6a64003",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.05,\"right_z\":0.035},\"note\":\"The green fruit is to the right of the jaw center in the wrist view. I’m shifting toward it and lowering to grasp around its sides, clear of the blue bowl.\"}",
  "call_id": "call_KwseAMzyCssIHsx8Ee2piI8P",
  "id": "fc_010e539e5f3137f3016ab4593be28087d0877d4ff1cfb938c6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KwseAMzyCssIHsx8Ee2piI8P",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8059, 0.6132, -0.408, -0.0139, -0.0334, 0.996, 0.2577, 1.3224, 0.2699, 0.609, 0.2188, 0.0589, 0.999]\nstate[eef_state]: left_x=0.2929 left_y=-0.0002 left_z=0.1752 left_yaw=0.0015 left_pitch=-0.0317 left_roll=-0.0024 left_gripper=0.996 right_x=0.3452 right_y=0.055 right_z=0.0809 right_yaw=0.0356 right_pitch=0.1353 right_roll=-0.0263 right_gripper=0.999\nstate[joint_eff]: [-0.0752, -1.6342, 7.0085, 1.8535, -0.0513, -0.022, -0.0171, -0.7863, -1.4838, 3.0427, 0.6129, -0.1978, 0.232, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d81377e59709b15fbd2e8932cb9b04f5cea9579189eddb15a730c1f6f548868e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:958e1523d3f517f27ab98e251982084d5174dd140ce4f9091ea22fe31cdd0671",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14af918d12b9506d8a6575b9b371c11ab2aedc361b884bd70d606e08ce3769d1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /responses · status 200 · 5.173 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 10 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8013, 0.6132, -0.3981, -0.0139, -0.0311, 0.996, 0.5461, 1.1877, 0.5316, -0.0257, 0.4339, 0.2745, 0.9991]\nstate[eef_state]: left_x=0.2939 left_y=-0.0002 left_z=0.1785 left_yaw=0.0003 left_pitch=-0.0172 left_roll=-0.0008 left_gripper=0.996 right_x=0.3196 right_y=0.1115 right_z=0.1099 right_yaw=0.0328 right_pitch=-0.0415 right_roll=-0.0317 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -1.4154, 7.0496, 1.8828, -0.0562, -0.0366, -0.0611, -0.2803, -4.1504, 7.0769, 1.9267, 0.3639, 0.2564, -0.105]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8059, 0.6132, -0.408, -0.0139, -0.0334, 0.996, 0.2577, 1.3224, 0.2699, 0.609, 0.2188, 0.0589, 0.999]\nstate[eef_state]: left_x=0.2929 left_y=-0.0002 left_z=0.1752 left_yaw=0.0015 left_pitch=-0.0317 left_roll=-0.0024 left_gripper=0.996 right_x=0.3452 right_y=0.055 right_z=0.0809 right_yaw=0.0356 right_pitch=0.1353 right_roll=-0.0263 right_gripper=0.999\nstate[joint_eff]: [-0.0752, -1.6342, 7.0085, 1.8535, -0.0513, -0.022, -0.0171, -0.7863, -1.4838, 3.0427, 0.6129, -0.1978, 0.232, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d81377e59709b15fbd2e8932cb9b04f5cea9579189eddb15a730c1f6f548868e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:958e1523d3f517f27ab98e251982084d5174dd140ce4f9091ea22fe31cdd0671",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14af918d12b9506d8a6575b9b371c11ab2aedc361b884bd70d606e08ce3769d1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFlEbfx8Q6nrBlT6HN0JXTwMyHVPGm3nrJ3zAFTnGYJcAorsbOZzM4CwiylEJKcUPsTs5wc-lTOxKV2SlumSRu74Vv4FRyXYR7KsxPwij1gldJ1rL4hcct2fsYrZMFXCjnOzOYthZI1DUlaW65iOr23zu0I154GLjwAMZTUIyOIMEcZDZ2Wk3cRfQvfE-GVwt2MW06zypn0D7gJfRmIRzjVJeD9KX83vfugJoImFoYoPWDaimGuPhNpV8WroQOV1uqRe3ELbv2QdGu9IXE_7C3GqIJZVZXUs7dpRkpNVgvC1hXfcNHvjoluL6YoM7vnapTqNZmi9geGcIvAz-rD9j7CYFeAJIt5jEIDpZjX-cVp0YjWyD7UQWT0PS3glqJOGGtBkRG0ElYOJuErWe8ttZQ7A2lNOTPsN2FPj_-ZXLInKfXoPIcJh2OMLHVpHWowtcav8CMXTDK19MsqI12J1oNHQhyoLAGm1Bb4Rh4-qwioOZOw5UW1Hc8jCLDMjaFWt7OpvWz43zMut6oqPevCJSfATGQgz_4v5gZtTVFQ19szC341IuovAjimx-_SyUr3bPoa541b888KNj8k6Kv2ljHd2r64Hzm4BNMslcF624yMcSGq_XxvwbgVbOgdTiz7rHtYLsXL_hEX5T7e2Msc5hEzNAPoXw9hs8eYKODk0HIeBnGS2MzPIMvNMRiUhEM8lKSpgKt7UPXabOfYegNshmdqcTCSKYPKdaXqa7glSFbGC_bkKxpOiPM8VkHX5x6f-mqOWZnCR7ELhR2nYcbs_mXfMFt9rRCXth1pGHBGXVqvbEfIzDdwPFht6yoiYp087VEbRBJUBFTG6CPMk_eqU4EJNX8h7BKgT6x6ZKuBa2bLrIoKu2XXoNJrqKsjokB0UAai51MsKFXXNmlQ_-9e7D_1qucoORPvAKbxZXuFqtLvzIzmUOLq_QHwvowJsw9uxAS5yab4zRrsMOtIawU1XIOxa0oWyJCyD5Z1daTp3fIKKXIk9f3o-4bVvZ_YB_n7Ut79H2K68LqaLvXseNYxiBu5vicETKVjcBdTRSaT0Tr4hHH6KjPfaNfgE4T1bBk9SHoqTkNSHgoBbeADFjoJ_brxG8Cv_KvXDmTnaqxOnedqnFlvZ8EwslDSgfAEOHwOCuO7VdaU9WYDfwlOnj4jbJmBoVInPxD3s7XsookAWjLK_e53hiDoZ_n91_8ZuHuJDj6oTQuJidtsSZefdFxviUOev5HMB7XiKJUFEE6eNTKtr2AMwz22hCcd20BFYby_s6uYuiL-DLRJ95c5xoevZZJjdGA1SJMT5sKyUYjE4ZOpCjwJojoVCu9L7wQN8vduEijHMGU8wGRhvu0Vjh2tqUJTfgoT9_CAt-wzCcVAaWmXNbylG-mh2jGvFrv5pKweQJuHKISHUBR2IiAnJmjbEck3e5q7BIQpmYiWywvQl4fDHPhSOEILIniBpfn_SgiPsB7lgVjx6aCJ6YcxM8hj3XS2pvR2CdMDuLoe5R1fXOZP7gIRz3UDhuJRx4AvNyNu2A-2j8pAHGGJQIAYSjHMbkx0T2B10RxDHgSfoUznyMAZDwetazH-TXe_kisDobUPrSDgdTT8yKL0KhhUaAOC9kg9l4Zd28mAxGG0UJCGQVI92DI8yKqTovONECKi4dCYxY4W3DoUw-f7I0gB5J4r6DIPfa6LNjYhTf69OdROzo10u_C4cRR51SsblJ9mQN48NdAdv",
  "id": "rs_010e539e5f3137f3016ab45941728c87d0901d1b4ac286d3d9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.355,\"right_y\":0.035,\"right_z\":0.025},\"note\":\"The green fruit is now near the fingertips but still slightly right of center, and the arm stopped above the requested height. I’m making a small forward-and-right adjustment to bring the open jaws around it.\"}",
  "call_id": "call_9ONIeLH1EyWWbB74AdXfBKxq",
  "id": "fc_010e539e5f3137f3016ab459433cf087d0b8fc1c6689d6fe1b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9ONIeLH1EyWWbB74AdXfBKxq",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8116, 0.6132, -0.4232, -0.0139, -0.0334, 0.996, 0.1596, 1.7058, 0.2428, 1.2453, 0.1135, -0.0532, 0.999]\nstate[eef_state]: left_x=0.2911 left_y=-0.0001 left_z=0.1705 left_yaw=0.0016 left_pitch=-0.0526 left_roll=-0.0019 left_gripper=0.996 right_x=0.3794 right_y=0.0445 right_z=0.0837 right_yaw=0.0834 right_pitch=0.3502 right_roll=-0.0665 right_gripper=0.999\nstate[joint_eff]: [-0.0479, -1.6615, 6.9949, 1.8095, -0.0317, -0.0073, -0.0171, -1.347, -1.9624, 0.7726, -0.1245, 0.0024, 0.5592, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:211368deb4080ef1f51babf73cf99aa28105efd3ea9b34754f126547fb7b9ae4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a336b3af9c7cd6a6961242e0eaf186b3251fd0977a373904d77cc7487c32f1fe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28fc365e52bb3d66a152fc26ee38bbdfc8e3af7676e4feb374c7254dc5c5cf39",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 3.111 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.7994, 0.6132, -0.3828, -0.0143, -0.0299, 0.9965, -0.0227, 0.8005, 0.6197, -0.387, -0.0158, -0.0261, 0.9991]\nstate[eef_state]: left_x=0.2959 left_y=-0.0001 left_z=0.1821 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9965 right_x=0.2962 right_y=-0.0003 right_z=0.1839 right_yaw=0.0002 right_pitch=-0.0 right_roll=-0.0003 right_gripper=0.9991\nstate[joint_eff]: [-0.253, -1.5521, 9.5795, 1.7851, -0.0855, 0.149, -0.3785, -0.294, -1.4701, 9.0735, 1.8535, -0.0855, 0.0708, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8059, 0.6132, -0.408, -0.0139, -0.0334, 0.996, 0.2577, 1.3224, 0.2699, 0.609, 0.2188, 0.0589, 0.999]\nstate[eef_state]: left_x=0.2929 left_y=-0.0002 left_z=0.1752 left_yaw=0.0015 left_pitch=-0.0317 left_roll=-0.0024 left_gripper=0.996 right_x=0.3452 right_y=0.055 right_z=0.0809 right_yaw=0.0356 right_pitch=0.1353 right_roll=-0.0263 right_gripper=0.999\nstate[joint_eff]: [-0.0752, -1.6342, 7.0085, 1.8535, -0.0513, -0.022, -0.0171, -0.7863, -1.4838, 3.0427, 0.6129, -0.1978, 0.232, -0.0269]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8116, 0.6132, -0.4232, -0.0139, -0.0334, 0.996, 0.1596, 1.7058, 0.2428, 1.2453, 0.1135, -0.0532, 0.999]\nstate[eef_state]: left_x=0.2911 left_y=-0.0001 left_z=0.1705 left_yaw=0.0016 left_pitch=-0.0526 left_roll=-0.0019 left_gripper=0.996 right_x=0.3794 right_y=0.0445 right_z=0.0837 right_yaw=0.0834 right_pitch=0.3502 right_roll=-0.0665 right_gripper=0.999\nstate[joint_eff]: [-0.0479, -1.6615, 6.9949, 1.8095, -0.0317, -0.0073, -0.0171, -1.347, -1.9624, 0.7726, -0.1245, 0.0024, 0.5592, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:211368deb4080ef1f51babf73cf99aa28105efd3ea9b34754f126547fb7b9ae4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a336b3af9c7cd6a6961242e0eaf186b3251fd0977a373904d77cc7487c32f1fe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28fc365e52bb3d66a152fc26ee38bbdfc8e3af7676e4feb374c7254dc5c5cf39",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFlNevhmFM4GK8vy_nQ55W7mN0ohmFmdGYlR-HIRhmDlCWSfWZFrJGP3tKlY-_fGc-4YZaVK1fqBaEuFfORJ7UaOF9nTYth7WGlXkNSZjqOYkH5DmbmXrjCrodXuJSi5_ZrDcuV-4usECpMVUMQeWxG3YchIqCs4HhTquuvLAZvktnoxD607U6mqLC42lbCTqxoJo-eQZXWWqJ7WLlcBncMzWZwBVR2668-sj4xErSxafqnO0OMtqxNAWjrmTvJ60duEZt0GBY7e19Q4tUL1vhTe24Y38L18SzZD8EEQ9-_tYDpusDP0U9rOLUoV9XeIfWN-tdz4buhUqpfLps0BUilJn9_AkQ8rpyNnMLuF_0y68q4EFGPH0lmqNnjr-YltCw8ohNHELvWxmFRKtBpOU_V6eBtBo00ahoC-4OwTaP37oAI5rzJ9ctx5lTShss0303dy301VA_wZcG7_DOSQRcEUSmjKRq0jaGi7ycl27_d8LLET7QfHIwtZHKMlYd_FxQCWW4Cha4h7CZv8Gxh1dAxfZhAtnBd7F4j2kp9WwaX21HQJtMbDsVcvGBRqV8E6kRgYn4AzI88l_U-9GLD3SNSKnank9ySmayZ39sGEUe4HU3rrs6EyBmucE8Xlej9TOmRvRlsg-3VSSIixoO0iAr7FC8gS3-sdBs56nNs0iJL5PMyieGojc3vipCJYQH5xvqpcGSXsNr7OkYHPP5VTCFEYZqVfojlbe6mSBNAY6tBm4TRqcEEm-Qs-I58WlNg781F_YCmF_lF0F0GQi8eaF3mq3H9ESJiG_q3zbsy06PTzDTDXhwPb5TiRH67BlF08l5Bgh6z0kabzAOSzOqiY5NIrRDvNND8wC8p7Fx9uB08eCD23tjZsezeWLNVzxTHy3A25IERvre-3zpyBGYuhY7zRiMMlm49c07Sbm6efbnCyL6Kfdtsgdma4Hy0q47uRYbbG43-YNOEpDGnnf6TjzzCj7WAgTqOKM41piZIqQi971Dp4PwYDZsBtYla4-dHblnBAASD9uPaDHrjY-xy_RnYbCIu__briVw9uJ2Mp4sl8bHRoyaz96pfTt_svANqxVyoUw2dDMNjXXgV3JYmMuKQZZG479RsFOduy_vX_w5JnnVqRhiyoCJsNURFKnT_nGarHX5EKtSJ4II05HaBJqq0u05fybXeSNYzlRcLvyvVcYh2HZY9Hy7J_8uAOBS7v1ZNW65WixlGg0rn0Ms1rsTXdCB0O7atXWx0B9sO3-TwIg1l5SHCy4AV3KRHtFnBvThft5sxK86z10oqCPC4Rxl8x4_W8F6kXjbuuzEBb4CDw0M2xWE2bJAxdhSlETjYXvddC2EZxp7IGkKEforSwIhtwKHD9NEzpeRMy6DOVSC08f8Ovi48qp8NhfFLTEDTQT41BY_LW93qt_QggCri2wioQ1LJm6zbIFu8G1RlsEe1SQWq_8O8zcozIpjSZ5LERwKuuI1OU70bHSdwXn9rzxqZS9gkehGSajpY2KyGKv9DLjM6uA0h4KZr72bktQpj8tN54iQhr5H4Wq0Kj8ebPP37xKrs2qH7VQiinMcbXXbDeQiGHWXsGhLxlSC262VwOs0oNKpw2vUm7c6zrpWpk8nmeubLcu37pxh6YJ6KfuOQCWPHukbuInijm1K0M007oxO5SXobUt9DW_1iARUZcs3PF1f8OZuc-1HQYbTne68p9M5PrV2uxuICYeyLFuBEA-ZKFVOmJzFsasMDSZbUB-bhqhDw9TGevWvXxWi50SMvNjj6TSxSP8NUA6b0N1YfE5O8Jz_Gr5yDw7TzbuVlbYUNBabTlOM5rvqImrgqGey1d8YAjKK-qAxOcUWSK5i2bsnneCAINZj7UnQ_mjqEq2f0wK7bobLwN5p-E4CwpxkhgMXezu5DDu2f5zyUeL9iiHGNZ",
  "id": "rs_010e539e5f3137f3016ab4594987f087d0ad3c678c9b5a95ee",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.285,\"right_y\":0.055,\"right_z\":0.06,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0,\"left_x\":0.296,\"left_y\":0,\"left_z\":0.19},\"note\":\"The right wrist has tilted and moved farther forward than requested, while the green fruit remains near the front of the gripper. I’m backing up to a more compact, upright approach and keeping the idle arm parked.\"}",
  "call_id": "call_PaMPwpasjd6AQsl15Wt1Azmc",
  "id": "fc_010e539e5f3137f3016ab4594bdbfc87d0a65e409dd4399a14",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PaMPwpasjd6AQsl15Wt1Azmc",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8429, 0.6609, -0.4877, -0.0132, -0.0341, 0.9959, 0.2699, 1.5963, 0.2234, 1.1248, 0.1997, 0.033, 0.999]\nstate[eef_state]: left_x=0.2898 left_y=0.0001 left_z=0.1708 left_yaw=0.0026 left_pitch=-0.1007 left_roll=-0.0019 left_gripper=0.9959 right_x=0.3647 right_y=0.0683 right_z=0.088 right_yaw=0.0691 right_pitch=0.3246 right_roll=-0.0029 right_gripper=0.999\nstate[joint_eff]: [0.1436, -1.6752, 10.0718, 1.707, -0.0464, -0.0659, -0.0171, -0.0752, -2.7966, 2.1128, 1.1893, 0.1538, 0.1001, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d260a2a682de297aec228bbf7b3589b0ba84b1125a399b86abd8ab7f868f7f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1ed8f686f1369081ec61addf218e8cf427db47536399e2b735fa9fc9b552ca1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecf70811ec9dd495c3d17cd07a92c0ac9cf92ed47be27e41ba2d170f66490621",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 3.44 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 14 changed as sent

message 18 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8013, 0.6132, -0.3981, -0.0139, -0.0311, 0.996, 0.5461, 1.1877, 0.5316, -0.0257, 0.4339, 0.2745, 0.9991]\nstate[eef_state]: left_x=0.2939 left_y=-0.0002 left_z=0.1785 left_yaw=0.0003 left_pitch=-0.0172 left_roll=-0.0008 left_gripper=0.996 right_x=0.3196 right_y=0.1115 right_z=0.1099 right_yaw=0.0328 right_pitch=-0.0415 right_roll=-0.0317 right_gripper=0.9991\nstate[joint_eff]: [-0.1436, -1.4154, 7.0496, 1.8828, -0.0562, -0.0366, -0.0611, -0.2803, -4.1504, 7.0769, 1.9267, 0.3639, 0.2564, -0.105]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8116, 0.6132, -0.4232, -0.0139, -0.0334, 0.996, 0.1596, 1.7058, 0.2428, 1.2453, 0.1135, -0.0532, 0.999]\nstate[eef_state]: left_x=0.2911 left_y=-0.0001 left_z=0.1705 left_yaw=0.0016 left_pitch=-0.0526 left_roll=-0.0019 left_gripper=0.996 right_x=0.3794 right_y=0.0445 right_z=0.0837 right_yaw=0.0834 right_pitch=0.3502 right_roll=-0.0665 right_gripper=0.999\nstate[joint_eff]: [-0.0479, -1.6615, 6.9949, 1.8095, -0.0317, -0.0073, -0.0171, -1.347, -1.9624, 0.7726, -0.1245, 0.0024, 0.5592, -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 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8429, 0.6609, -0.4877, -0.0132, -0.0341, 0.9959, 0.2699, 1.5963, 0.2234, 1.1248, 0.1997, 0.033, 0.999]\nstate[eef_state]: left_x=0.2898 left_y=0.0001 left_z=0.1708 left_yaw=0.0026 left_pitch=-0.1007 left_roll=-0.0019 left_gripper=0.9959 right_x=0.3647 right_y=0.0683 right_z=0.088 right_yaw=0.0691 right_pitch=0.3246 right_roll=-0.0029 right_gripper=0.999\nstate[joint_eff]: [0.1436, -1.6752, 10.0718, 1.707, -0.0464, -0.0659, -0.0171, -0.0752, -2.7966, 2.1128, 1.1893, 0.1538, 0.1001, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d260a2a682de297aec228bbf7b3589b0ba84b1125a399b86abd8ab7f868f7f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1ed8f686f1369081ec61addf218e8cf427db47536399e2b735fa9fc9b552ca1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecf70811ec9dd495c3d17cd07a92c0ac9cf92ed47be27e41ba2d170f66490621",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFlY7kyd3QIoJh1Us-JpHF89dzgBFBtfo1u19kA42ecyTadHojEB4wdubky3bd9xcCSiDLtd3N8X-ULW0jFUMxvUaRTySHAq0BqEC_ZsgFL1l3kdeE51IHAeqXXTHlgNVbVPoqr2YM31Hmgn0W_QO2WKwOJUfLvPvqKbbfeLYQdGnl-7Ug33FsosXU291pVD6ftPZYouI0ISUbG4e2TYXJHvQhWBrTbZafgXxxW7NkGCWQqkfLGmnzEuJTPsBHEqI-dYhhAGK8FAFJO2GzTLzVAQsTmDeKAnWR39EB4FaLMrLDOqc4aq4tQCsGX57Wo3hR09aeIyxcWNY2qnv0_h7j-dNul0YRhyFOZeKYZHCd079vYJO7fASZQvyGXh8mIqRDUAXK-kIOPF4Kn4SWbD2q-XE5QG1ZR11Z0XP0Y7rF_jpvronH1hSoqQHVhDUHj2OR0AN7xYZKWl8YyhyeXEJLfMZiVB1aCSHZcb1HLiNLV2LsHKC_7rXx2EzJlZg10mYP243RXpQgnI8B90ibItlqtMUP6jts3xYKG2PYoF0QYuWPlqpSdipVDd9SZkyqN3baMK5sZsINlaEHChsKtoEqnJdEujXrYk_TZ1cbuXoCwmiaULNgrs4ZIn5RhHUGhoxx-9_nbxohp8eBRAlzbt99jfvZzIWvabF1IAJvNSkLpWo85BK6qnAMsJyrghq2XpDJhr51FaijFtbbN6XObYHgQ-XdAzE1ELPTkp59yrdQ26x6tH-Au2L4iZxxI7EwlM-UWFWV4XAeJq1wp5FyNeNcucsNzNH5s9whBM8qvjllrCjgk68B_9t2o5OMlBeoGYYnulaGG95R9bh6mVIdGwBraP3EPD6P-FziOV59dSNuBtOCmQ-EhEJGmzPasSic2ahoOyhhgnoJFPM1LXgr_fDxfUoYcoO5whNU5eJdhCPYPJUcO2TVIIqpDar6z9PRAcuOsxOt2oP5fLNkE6ZS01v_HhSMjBgW4hcBQZj7VRmqujOX2zJDVHztz3jBsiisGePSE2pjx1nvASTKBcqiDXiDHBEcHemZ_0NF_jFsDX1gU0jUghOfDrfJwbR_VU4RkgX3Cca5t0iUMN_ux2OkFkxIZqMgu_zR_ynPfF4az6l5Q5Q9cxEChI4f7wVxixT_5iwVnYSUOwAmP2NEmI-ifMTTfb-WBDdzfcdGVe2yS1J2BCkhbZRWTSrnapYkTNhdioVg_Hb_QO-tv_XLW3oSb6v1xAte515WZL8LpDDkTFajHqYNxMQQOjEqSrCbUpKZjgOsgQ",
  "id": "rs_010e539e5f3137f3016ab45956687087d0a1c590f2b891b2b1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.30,\"right_y\":0.055,\"right_z\":0.18,\"right_pitch\":0},\"note\":\"The right arm is not following the low approach, so I’m lifting away rather than pressing further. This will clear the fruit and allow a fresh approach from above.\"}",
  "call_id": "call_PzXgCkDnl475XAC5iFyhIaG2",
  "id": "fc_010e539e5f3137f3016ab4595729c487d0b2e42e3bbedce312",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PzXgCkDnl475XAC5iFyhIaG2",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8471, 0.6628, -0.4942, -0.0139, -0.0338, 0.9959, 0.2722, 0.8707, 0.58, -0.2325, 0.178, 0.0711, 0.999]\nstate[eef_state]: left_x=0.2893 left_y=0.0003 left_z=0.1692 left_yaw=0.003 left_pitch=-0.1095 left_roll=-0.0009 left_gripper=0.9959 right_x=0.3092 right_y=0.0576 right_z=0.1795 right_yaw=0.0794 right_pitch=0.0535 right_roll=-0.0133 right_gripper=0.999\nstate[joint_eff]: [-0.0479, -1.8256, 6.8034, 1.6923, -0.0464, -0.0366, -0.0122, -0.4444, -2.4957, 9.2786, 1.707, -0.0073, 0.1538, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5b56c93df47bf91f7f9676e51ca22b94cfa48ea6bf08cb645cd31953a2567b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:daaa3c494327345c8328743ef3a65548187ed7dd866c60f67d993fbd0352654c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92612a171eea05fd1eaf69a649f2c40d09641a682c69852014863cbbe39eed38",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /responses · status 200 · 2.806 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 10 changed as sent

message 18 changed as sent

message 22 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8059, 0.6132, -0.408, -0.0139, -0.0334, 0.996, 0.2577, 1.3224, 0.2699, 0.609, 0.2188, 0.0589, 0.999]\nstate[eef_state]: left_x=0.2929 left_y=-0.0002 left_z=0.1752 left_yaw=0.0015 left_pitch=-0.0317 left_roll=-0.0024 left_gripper=0.996 right_x=0.3452 right_y=0.055 right_z=0.0809 right_yaw=0.0356 right_pitch=0.1353 right_roll=-0.0263 right_gripper=0.999\nstate[joint_eff]: [-0.0752, -1.6342, 7.0085, 1.8535, -0.0513, -0.022, -0.0171, -0.7863, -1.4838, 3.0427, 0.6129, -0.1978, 0.232, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8429, 0.6609, -0.4877, -0.0132, -0.0341, 0.9959, 0.2699, 1.5963, 0.2234, 1.1248, 0.1997, 0.033, 0.999]\nstate[eef_state]: left_x=0.2898 left_y=0.0001 left_z=0.1708 left_yaw=0.0026 left_pitch=-0.1007 left_roll=-0.0019 left_gripper=0.9959 right_x=0.3647 right_y=0.0683 right_z=0.088 right_yaw=0.0691 right_pitch=0.3246 right_roll=-0.0029 right_gripper=0.999\nstate[joint_eff]: [0.1436, -1.6752, 10.0718, 1.707, -0.0464, -0.0659, -0.0171, -0.0752, -2.7966, 2.1128, 1.1893, 0.1538, 0.1001, -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 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8471, 0.6628, -0.4942, -0.0139, -0.0338, 0.9959, 0.2722, 0.8707, 0.58, -0.2325, 0.178, 0.0711, 0.999]\nstate[eef_state]: left_x=0.2893 left_y=0.0003 left_z=0.1692 left_yaw=0.003 left_pitch=-0.1095 left_roll=-0.0009 left_gripper=0.9959 right_x=0.3092 right_y=0.0576 right_z=0.1795 right_yaw=0.0794 right_pitch=0.0535 right_roll=-0.0133 right_gripper=0.999\nstate[joint_eff]: [-0.0479, -1.8256, 6.8034, 1.6923, -0.0464, -0.0366, -0.0122, -0.4444, -2.4957, 9.2786, 1.707, -0.0073, 0.1538, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5b56c93df47bf91f7f9676e51ca22b94cfa48ea6bf08cb645cd31953a2567b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:daaa3c494327345c8328743ef3a65548187ed7dd866c60f67d993fbd0352654c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92612a171eea05fd1eaf69a649f2c40d09641a682c69852014863cbbe39eed38",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFlcI3XX1VPStz2u6gjhOCRxcrEcJdxfp2R9dI08NKCLL9OgajManvz0OrJOVGTiUmb-gkQQy71wSYhRWc5boE7gbWa6N25gpd54mEl_81zZhQK9akKjkArQpO1Ho09fhkikAE2pAMhyCeKNs1G0ZVcVWekd2E0zzcuAzUKVZ2Jb1JzDJJEousJiMiIw6rBv-4uDsxnh8yh7RQqI8vweYI0wmPBwEQSssI758CSQ5zy6GXSepWD64zzoBitDN54g5Ed_5rXQ14jG1f1_Kecif0uD666CwCHh-gmOzyK9YNFjoqIoH7qh46yVJvPyM7W14tNe18fZjZJou1ZaB6QWR4vvxY5_NFPhGCg77eOshYxZ0DxX8DWgHfPjGYzxPLEQPGuCRraVPlQFoVZEcabO0ywN4y3ocHQq78yq0p5JoYIv-rd3K6p4x8c_IkkVQeAE5CD-ubU-MJKUb29ck6ZLn1j42ZBfyuuOyJB-VlH0Q-CraRi4UY8LVveBzb4CqLGZSQJTbTlEV3E0M_hgGu1_KP6y8E1iQTRgt_05l_71mj3kqOyTHBnwk2-sgzL7bXBbWE5IzkrAOUiNGzFcmS1YneKsTwQ3u8eTddulDE2fSxR3rCQWIpMjt54tjKy1a2avlZ5dCDDn7ipZXMXyjPxvNwc2OvWk1ppk7YepZ93x50Ow03AFPiNMBGXk4RZ4avJpxvKTumlyelrw8KXwyoC4s3C3fwdgcG3Y-OUaYF2pOWAlKSuSC-bXlO0MaLQDcu5G0TvZjBlDvvB60lhuw83GPpq_xNxfdbj8grUjK3WWxle3gNb-VZj2E2Ls9Kddz6zyDzjgyjA9zvtUsT1Yjmrl2dA0_hQUxZyPQTlh5NqzkrC_2VcMR8t2mZB-251llq9WrfZe__KMupr7yDqD2XLvboUidAKrByEGlqdS-0t7YxRwlWimoC6lnclnVquntDdnXK1mPuiu7c05o5rdRu8e8QHG8evnKOHwHRZy-eTVh9MGnK1Y24vW7Gl3w0kFiqinKb5Shov5n8HChbROG7iEpNC6o0H826W5QFBAzBAzLPvVJQfCbmQLRyJHgBu3K68qh_CR-RRWvA7d03AVBnjX7z6Wgv2kkPDExMufxyt6YMFxcUaxa2zNuhoyPJLrLza9HMHIys0vllNHi2puBREistnHvoB6aOi0zLG7zBkQ983hTpeAI7owEmVFVZZ05b8ectVnAHVDSgSIcOjLA_-TnkkqA7jaxqZ0qa42nh9mCGt1vQxw_AYMZuB9j0xdtnumnKcCISrQCEaOx-ObQtDNOoA0ZVq7sN-HF7zT-buRHIaV82CXDn2or2SE5mXbt9xjvXcm1sOA2GEs2tpVOZynBKhg5Jas3d7v7JEjjJycaIN0sLGdMeSoQbEOT2hHNiGM2Y9q4tKxwp4a3WEOS8ZMCy-AkYrxHagaIfR7VzGkGwNQwl0OdFwbujr4oSloFKH11xP0nziJUQL1tLU5f2dVxhs094xsh5FcIu9xg9Mbi9II598=",
  "id": "rs_010e539e5f3137f3016ab4595a7cc087d09948704626e7f23c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.005,\"right_z\":0.085,\"right_pitch\":0},\"note\":\"From the raised view, the green fruit is still right of the jaw center. I’m correcting that lateral offset and lowering halfway before closing.\"}",
  "call_id": "call_UD0YRGJLVzSAzDpLbd9M7MaI",
  "id": "fc_010e539e5f3137f3016ab4595bd68c87d0a923bf49d60ab1d3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UD0YRGJLVzSAzDpLbd9M7MaI",
  "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]: [-0.02, 0.8471, 0.6628, -0.4946, -0.0139, -0.0338, 0.9959, -0.0406, 0.931, 0.2737, 0.02, -0.0547, -0.0666, 0.999]\nstate[eef_state]: left_x=0.2892 left_y=0.0003 left_z=0.1692 left_yaw=0.003 left_pitch=-0.1099 left_roll=-0.0009 left_gripper=0.9959 right_x=0.2915 right_y=0.0014 right_z=0.0751 right_yaw=0.037 right_pitch=-0.0685 right_roll=-0.0081 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -1.5248, 7.1316, 1.6435, -0.0806, -0.0073, -0.0122, -0.2393, -1.9077, 6.9402, 2.1172, -0.1636, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4382413d43a9a048a161849420e0eb0ccf5f9ca7cebc707f0ef6b911f7c1b5ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2ee07b54dd0258219ddf8effd547e03ae474437a5aea3f09b2d7cb3dddd1121",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78006f9a0a12b6bda85afac46b7664e8d03776996de9a24e98b34598ce994b24",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /responses · status 200 · 2.056 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 14 changed as sent

message 22 changed as sent

message 26 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8116, 0.6132, -0.4232, -0.0139, -0.0334, 0.996, 0.1596, 1.7058, 0.2428, 1.2453, 0.1135, -0.0532, 0.999]\nstate[eef_state]: left_x=0.2911 left_y=-0.0001 left_z=0.1705 left_yaw=0.0016 left_pitch=-0.0526 left_roll=-0.0019 left_gripper=0.996 right_x=0.3794 right_y=0.0445 right_z=0.0837 right_yaw=0.0834 right_pitch=0.3502 right_roll=-0.0665 right_gripper=0.999\nstate[joint_eff]: [-0.0479, -1.6615, 6.9949, 1.8095, -0.0317, -0.0073, -0.0171, -1.347, -1.9624, 0.7726, -0.1245, 0.0024, 0.5592, -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 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8471, 0.6628, -0.4942, -0.0139, -0.0338, 0.9959, 0.2722, 0.8707, 0.58, -0.2325, 0.178, 0.0711, 0.999]\nstate[eef_state]: left_x=0.2893 left_y=0.0003 left_z=0.1692 left_yaw=0.003 left_pitch=-0.1095 left_roll=-0.0009 left_gripper=0.9959 right_x=0.3092 right_y=0.0576 right_z=0.1795 right_yaw=0.0794 right_pitch=0.0535 right_roll=-0.0133 right_gripper=0.999\nstate[joint_eff]: [-0.0479, -1.8256, 6.8034, 1.6923, -0.0464, -0.0366, -0.0122, -0.4444, -2.4957, 9.2786, 1.707, -0.0073, 0.1538, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8471, 0.6628, -0.4946, -0.0139, -0.0338, 0.9959, -0.0406, 0.931, 0.2737, 0.02, -0.0547, -0.0666, 0.999]\nstate[eef_state]: left_x=0.2892 left_y=0.0003 left_z=0.1692 left_yaw=0.003 left_pitch=-0.1099 left_roll=-0.0009 left_gripper=0.9959 right_x=0.2915 right_y=0.0014 right_z=0.0751 right_yaw=0.037 right_pitch=-0.0685 right_roll=-0.0081 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -1.5248, 7.1316, 1.6435, -0.0806, -0.0073, -0.0122, -0.2393, -1.9077, 6.9402, 2.1172, -0.1636, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4382413d43a9a048a161849420e0eb0ccf5f9ca7cebc707f0ef6b911f7c1b5ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2ee07b54dd0258219ddf8effd547e03ae474437a5aea3f09b2d7cb3dddd1121",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78006f9a0a12b6bda85afac46b7664e8d03776996de9a24e98b34598ce994b24",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFlgz6JRDX2RUhMVh5CEQt9fRcs-eWDW30Db-fYUNLMpy2cIB900dvju_8w51oPJhwu2P-48UsYbcPF6fAtd194DoE0vubXUpHf58mJpwcyOCZdQEShOyEQimFTT8G2Q5hX_MqoELVS41iO_VODv0iKuGlpvKc7SJ2bNEabkVAW7abide8T7xw7CSOaPhFe4FB0uALNEgFpSDEcwjurwW6HFV99OLHRIPpAsKq0wCrcDWCuS_Hsv_Dz4_8LhyaMyNPrSlR0OCIq0-6YApuT1lXfOWHay9ihn624Ytw9u2EQwLnSInOvioIssN4MFktccJGGtPX5ZBfeJc_Pb0g8rx1lTah9UwWgNmNL2Cv66_BwkEPK3ONehJaAIVrH21YSAKKI2GoYGppudy9rJ_lVx6HLPX7Gqow9mPGq0aJAnu9I-etNicFpcETfqOXg9n3Q3QXBt9r3OwufR2LNDxKn9wAKfxLYJ7nfzAKKGhGkIojHAzEerbl6J9viB4ySk8gS8vL1dPRsoaIYPGAIhIPt4xF3EGAV7rQsc5Is0cN9msgOzuemYogIDbqGhoiqroeIhqOsrEIQFN6mkGrJfjwOJJQxAG0KynrMUt_bZO6d7EG0Hi-z9cKbD7MExTNv3bAhInvBospTp2vcPVkgmtWpgsQYbMHOGWrLMWTVYSrIFogX6lVgRWpJ9nOW5eO3POmS4KQ2HOsEQRIcIkWt5Jz0LUbuLYFyRp-8J97KwPrHVkex67e_APX6sIUmigLTOKnyImJ_YyNs407yy7RRMAKuY7xt4KxCg6zg_OyhNQYi6Oy8OO_Q0cKOSJpapuQsY58gG4ekD9pbMs196CXyOKv380lFqJRUSo8aJuo4VfYyxH6M8PCg2JxxcaQgoa0FyMviY7xq_ycoKSUdn1FmCPrd32tx-g1C0xYXJa3rViWOvLev-XlbxpnIKOfEv5tl4LmmWbJq1kwmk6Q8imf4PvDlWnLnPqRewvclFEIHfkpY7rFdM8CsNDETc9S1yIK4wVo4qrX0UMKJB1rDyTkNdQppT8Mb_QrgTDr3MMR2jmwCTYYURy8_2B8a3-yz7GAw_hSjHB_F3ssiAhbqHT0I9qLrxip0diFK6CB3os6xyBilNZnTABdCueEv4OBpamTeG3CEtdUynmXYsjdKNmmWWLxj01Gey1F1nkJNJe6Oc_ITY8grT5AqU-GNmE7Gqqx8uqTblGItkzDxnbo5zLLTTbZs4dCnYan496iz9vZipQI43_uJqWUFCx06Uys1vUlhpCkYXAWbOz9ooo4J3gH1th0amG8KgRnsRMKkJEOdXiuQNG19OXZA=",
  "id": "rs_010e539e5f3137f3016ab4595e8b3887d0b1a09d299cbd49a4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.33,\"right_y\":-0.018,\"right_z\":0.035},\"note\":\"The green fruit is clearly visible just ahead and slightly right of the fingertips. I’m advancing three centimeters and lowering the jaws around its narrower middle.\"}",
  "call_id": "call_fTqscmH2jWrmwS8PpeeIj899",
  "id": "fc_010e539e5f3137f3016ab4595f412487d0a52de179a99e236b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fTqscmH2jWrmwS8PpeeIj899",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.852, 0.6621, -0.4992, -0.0139, -0.0338, 0.9959, -0.1268, 1.3273, 0.2714, 0.2993, -0.1135, -0.1081, 0.999]\nstate[eef_state]: left_x=0.2887 left_y=0.0003 left_z=0.1666 left_yaw=0.003 left_pitch=-0.1202 left_roll=-0.0007 left_gripper=0.9959 right_x=0.3084 right_y=-0.0155 right_z=0.0161 right_yaw=0.025 right_pitch=-0.1829 right_roll=0.0111 right_gripper=0.999\nstate[joint_eff]: [-0.294, -1.5385, 7.0769, 1.8193, -0.0366, -0.0122, -0.0073, 0.0889, -6.735, 6.106, 2.3907, -0.232, -0.1245, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:714b4ffe3092dfb805bff0b89159470d5737510b88d2482ed1ee7b054abb0822",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d25cd6f30c3d686fe15b108e77a0b0b14b868f42d4df0269f38663fce482490b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90c1e3922faa990991d812116426e82995d4d8ced842aeb04e5d39ad62b0dc6e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /responses · status 200 · 2.4 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 18 changed as sent

message 26 changed as sent

message 30 changed as sent

message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8429, 0.6609, -0.4877, -0.0132, -0.0341, 0.9959, 0.2699, 1.5963, 0.2234, 1.1248, 0.1997, 0.033, 0.999]\nstate[eef_state]: left_x=0.2898 left_y=0.0001 left_z=0.1708 left_yaw=0.0026 left_pitch=-0.1007 left_roll=-0.0019 left_gripper=0.9959 right_x=0.3647 right_y=0.0683 right_z=0.088 right_yaw=0.0691 right_pitch=0.3246 right_roll=-0.0029 right_gripper=0.999\nstate[joint_eff]: [0.1436, -1.6752, 10.0718, 1.707, -0.0464, -0.0659, -0.0171, -0.0752, -2.7966, 2.1128, 1.1893, 0.1538, 0.1001, -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 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8471, 0.6628, -0.4946, -0.0139, -0.0338, 0.9959, -0.0406, 0.931, 0.2737, 0.02, -0.0547, -0.0666, 0.999]\nstate[eef_state]: left_x=0.2892 left_y=0.0003 left_z=0.1692 left_yaw=0.003 left_pitch=-0.1099 left_roll=-0.0009 left_gripper=0.9959 right_x=0.2915 right_y=0.0014 right_z=0.0751 right_yaw=0.037 right_pitch=-0.0685 right_roll=-0.0081 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -1.5248, 7.1316, 1.6435, -0.0806, -0.0073, -0.0122, -0.2393, -1.9077, 6.9402, 2.1172, -0.1636, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.852, 0.6621, -0.4992, -0.0139, -0.0338, 0.9959, -0.1268, 1.3273, 0.2714, 0.2993, -0.1135, -0.1081, 0.999]\nstate[eef_state]: left_x=0.2887 left_y=0.0003 left_z=0.1666 left_yaw=0.003 left_pitch=-0.1202 left_roll=-0.0007 left_gripper=0.9959 right_x=0.3084 right_y=-0.0155 right_z=0.0161 right_yaw=0.025 right_pitch=-0.1829 right_roll=0.0111 right_gripper=0.999\nstate[joint_eff]: [-0.294, -1.5385, 7.0769, 1.8193, -0.0366, -0.0122, -0.0073, 0.0889, -6.735, 6.106, 2.3907, -0.232, -0.1245, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:714b4ffe3092dfb805bff0b89159470d5737510b88d2482ed1ee7b054abb0822",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d25cd6f30c3d686fe15b108e77a0b0b14b868f42d4df0269f38663fce482490b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90c1e3922faa990991d812116426e82995d4d8ced842aeb04e5d39ad62b0dc6e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFliIpr1y8VQccV4rD2hNLC3x4dYvuRrFci-a8oq5TiwWdnCsA19YToG9YOOdZnd2pl8y5TdMbD7IGq6NmEwlshvctOg9t7xEuND45SE7bPj_mlyaBuPoXkjIR4hN2yj2-yuJ1gW3_QBb7wByjUOWOpIUlsM-eJVO8esBqU0h1RTt7p1gD8uu2EiYkiyLhHhKl2wSxsa8f3l2ZvnbmUlR3K9RD4dutza7onDsoF0M8MK6OLUG_rpp2qaoFQlZuaaqtP0vxaNOs5J5lysM_eLVXzGObxCsY2RsB0-TO3075zmovNyzGM6z-29oUhMvjBbJEn4SYnyB8beUdM8oPDN5UwOtBmMWFAQzKPha5cYHBj_KJA9Wxm20RMCjUrSvjO8b1S7L5PPEO8oQeKYNPndPu7Wy8rHokopEEi0Gan_MUDbFadO9gtg3T4WUcrJB4D2H84RASV7GcX2mqKDJz5-8zBS5UKlcrWx__JQbt0kF12Is1ZWqaE-Qev5_CuXV-hVftQVbB3eMAPEK7YtlYPf9xWcyDf6r08Srs05VppTqOwS8-LVCFgfPf0R8WkAC3IiZoNuDCNUieZ0R5axkEdcUCIZ1Bd_y54-xJO3oPmyvtnJY1p0hagFM3HpxX7n6KLIDDo41BFy000HKhlqS4vcwzMy8zTpsgbyVZT_ZCHIp9g9YfSTDTV4yZtFUe-d077W-aqFSCd2pqRaPwwsy7ivtBgTFYyrPtR5fHUg9v5X-8_N1-Z80CQgnERiRewhVVsKcaxA-NZOTkDCQw3iFOYaMlbzcVynyKMXIOktqmaYHfVtFb-CbqXzYI9rxN2OrsUEMAIT5ZcHwvkx5JZF1TAl5pzHeDMNawVi604F9nBdCskqLKSYF-2B--VuTPzActCKmz0VyNWf0jWke-XpzyIuFW61GkoODi-SQnX6Lsmab2qdKcqaGhEOB0uRkXfogIijmu5LvnuiQ-OV3tyTjbAXm4-sEtzwNP89WQ77djFuKwNKT2Dic0-72uD9GM17FngQx6NDiXRRht-UaUAqH0OvbH38zidBAXymDBgMtU1ZvT2rOYV7XUPX2YG9WVDeCS52BNuch4bHWAs7knUF0ehqhLDyoUfVKeVMdQjmX7-0ErO0wjYg5D5DFqIx14j1sHOA40MVdzbi7p_9m1pRx7GJ9C4feogTNuNKkaM9s_jwi8VAXIx2OsJoxUw7R8EIX_kpZVwg",
  "id": "rs_010e539e5f3137f3016ab45961a07c87d0b9ed092c1ce6f210",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The green fruit is centered between the open jaws at table height. I’m closing the gripper to secure it.\"}",
  "call_id": "call_HaQiCVSBoNNRfd6iWpGH9Egl",
  "id": "fc_010e539e5f3137f3016ab45961defc87d095a24bc2166f7908",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HaQiCVSBoNNRfd6iWpGH9Egl",
  "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]: [-0.02, 0.852, 0.6621, -0.4992, -0.0139, -0.0338, 0.9959, -0.1349, 1.3724, 0.2691, 0.4114, -0.1326, -0.1287, 0.7208]\nstate[eef_state]: left_x=0.2887 left_y=0.0003 left_z=0.1666 left_yaw=0.003 left_pitch=-0.1202 left_roll=-0.0007 left_gripper=0.9959 right_x=0.3216 right_y=-0.0164 right_z=0.0229 right_yaw=0.0427 right_pitch=-0.1168 right_roll=-0.0027 right_gripper=0.7208\nstate[joint_eff]: [-0.1162, -1.4017, 6.9402, 1.6044, -0.0464, -0.0366, -0.0073, -0.0479, -4.7795, 5.9419, 1.8974, -0.0855, 0.022, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26bb66719d53439e666f2128d5d1c960804a17b6842e2e6b6502b3472cd8b200",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac89a841933309310e42f4b1ae64bca466791997607448310d5fb4dff01be94b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d14a157c912d486cea3625e71ec69a09c69b5962d453d50ee194731b9fb3fa44",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 3.146 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 22 changed as sent

message 30 changed as sent

message 34 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8471, 0.6628, -0.4942, -0.0139, -0.0338, 0.9959, 0.2722, 0.8707, 0.58, -0.2325, 0.178, 0.0711, 0.999]\nstate[eef_state]: left_x=0.2893 left_y=0.0003 left_z=0.1692 left_yaw=0.003 left_pitch=-0.1095 left_roll=-0.0009 left_gripper=0.9959 right_x=0.3092 right_y=0.0576 right_z=0.1795 right_yaw=0.0794 right_pitch=0.0535 right_roll=-0.0133 right_gripper=0.999\nstate[joint_eff]: [-0.0479, -1.8256, 6.8034, 1.6923, -0.0464, -0.0366, -0.0122, -0.4444, -2.4957, 9.2786, 1.707, -0.0073, 0.1538, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.852, 0.6621, -0.4992, -0.0139, -0.0338, 0.9959, -0.1268, 1.3273, 0.2714, 0.2993, -0.1135, -0.1081, 0.999]\nstate[eef_state]: left_x=0.2887 left_y=0.0003 left_z=0.1666 left_yaw=0.003 left_pitch=-0.1202 left_roll=-0.0007 left_gripper=0.9959 right_x=0.3084 right_y=-0.0155 right_z=0.0161 right_yaw=0.025 right_pitch=-0.1829 right_roll=0.0111 right_gripper=0.999\nstate[joint_eff]: [-0.294, -1.5385, 7.0769, 1.8193, -0.0366, -0.0122, -0.0073, 0.0889, -6.735, 6.106, 2.3907, -0.232, -0.1245, -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 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.852, 0.6621, -0.4992, -0.0139, -0.0338, 0.9959, -0.1349, 1.3724, 0.2691, 0.4114, -0.1326, -0.1287, 0.7208]\nstate[eef_state]: left_x=0.2887 left_y=0.0003 left_z=0.1666 left_yaw=0.003 left_pitch=-0.1202 left_roll=-0.0007 left_gripper=0.9959 right_x=0.3216 right_y=-0.0164 right_z=0.0229 right_yaw=0.0427 right_pitch=-0.1168 right_roll=-0.0027 right_gripper=0.7208\nstate[joint_eff]: [-0.1162, -1.4017, 6.9402, 1.6044, -0.0464, -0.0366, -0.0073, -0.0479, -4.7795, 5.9419, 1.8974, -0.0855, 0.022, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26bb66719d53439e666f2128d5d1c960804a17b6842e2e6b6502b3472cd8b200",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac89a841933309310e42f4b1ae64bca466791997607448310d5fb4dff01be94b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d14a157c912d486cea3625e71ec69a09c69b5962d453d50ee194731b9fb3fa44",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFllUX4NfKLZRRxnmWyfYfFAzd85Na4j9beNt2caeIReG1b8cFDroAm_Zk3myZXJp2dA3W7ShAUhcnhhX6anDE6LRo0vQ8gZCjW9qU_iAFzTAszf_voZZTPN1jLPFdCEozW2ue44xtFrC8yWCHG40qLOpslUKY1ZvIvt4-Q7W-pu7-Gff0T6N1xTrSwMBkp6cxKyz_pA07JAvGTm133GJIeGNRuEXqzcqgyhjYknn5-mlbpKIcHExAFCPbJJ1LJsElE1s1Qknz7RIExgq1uVGdqRR2zS1GYIm_mI4apSxgTg--KDtVdBU-QyWHVlqDKzLTl8en7y4eswvAL7Ad1nKW_OaIzdLJAUjFnNwNnuv8SyThCtGqCwPcWsJWiteM9KqZMKMpi7vyPfIYqw97vnccVbPqPi0_Y94HTigU1Pkaa7JdB5--dSxIFDTDJ2trmDB82HabvvYCOFZzWMhUExXCnAet2OUS2788tKgnEWqzF7RuyB5sFQHUSESxxPoTj5013-Id4-7vieSOl_zzigvVR0kpLxwXkZtpgyucZe8nNyZPuSZNBkQ1ksw-HelIX3vDbSa654Q2Vrl88uZOeRO14JhCuFUCE3dIKX8hyR9EheAVHvQTmnKhDAAczz6DeI0dMrFtm4fQ4xjQx60OhQNu59hHn029vcN5aRSLQMEzuEOUeydbY_taQa4Akbch2-rI0k0S0AIQTbWqnjD3Z7iVTZZUqVDe218tSmiuwDzvgaLtiBIRxe1aHaEIyjWkrAtwYcgUltNfwI9zeGNCiWsIhlJbiFUW0Qj0yYv53HXWKpasLqzVCIzarpxyJU-8sPklRjzaTf1y7YAegN8UmPkLY9wddhdc7R8kZWVkvFrkb_pDHPE3q5dJIwW3uM44xz7cf6LVksjNvWDprHHb0AaSxIieKSsE7FfASM_YpxzJtM7eT1W004Qq4yWTjc-ETMJRBukzS73Y03pmBQBkeqP7-BqsLPgOoZbiyDWoPvSP8KiNt1lBdNjR2pifXhji-nERrc2gocG6FZKOjtwKt0gqsoLXgCdluRD1cIqNC4YntKn3pMPkEo-b6tTRLIaA9cT89G7Q0YCvdfdV9VcmXlKowv_aY-W77wJvNZFhPJZf0u7OTN1x4jfz31E0PYuvXorYN4TttDvgQ0f7dZlQF-AE3TzBrRCcJU5kMTezCUB-FcUoSxALoijniDg0mW7crLoZ8LDxqSuxDWD1wBBPYiqe0H_10TkMZCOFCTKA_PkvD13p0omWV4Zp6m8cJtbSmEejZa2K8SItT5WdkF338FW12h9t2RABpAIHkFPWBIZwLFLwU=",
  "id": "rs_010e539e5f3137f3016ab4596482ec87d087a5917a1403413f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.095},\"note\":\"The gripper stopped at a substantial opening, consistent with holding the green fruit. I’m lifting it a few centimeters to verify that it moves with the jaws.\"}",
  "call_id": "call_TFUsbmpAg9bCglIvIDxiJTrL",
  "id": "fc_010e539e5f3137f3016ab459650b7887d0b4758f3cd527690d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TFUsbmpAg9bCglIvIDxiJTrL",
  "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]: [-0.02, 0.8539, 0.6621, -0.5129, -0.0139, -0.0338, 0.9959, -0.1349, 1.1149, 0.4274, 0.0208, -0.1326, -0.1326, 0.7207]\nstate[eef_state]: left_x=0.2866 left_y=0.0003 left_z=0.1635 left_yaw=0.0031 left_pitch=-0.1358 left_roll=-0.0003 left_gripper=0.9959 right_x=0.3247 right_y=-0.0169 right_z=0.0885 right_yaw=0.0443 right_pitch=-0.0921 right_roll=-0.0102 right_gripper=0.7207\nstate[joint_eff]: [-0.0752, -1.3744, 7.1863, 1.7753, -0.0171, -0.022, -0.0073, -0.1026, -3.5761, 8.5812, 1.8046, -0.105, -0.0171, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c36779152f57a289b427cbf727be63beb99cdae92c85729104cf1ebba2e75403",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40940b4da70815245a9b6bb5c4f9b918401f03c06dda27cdc1e89478c1d6267d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2480fd3e2a515feda1b74971883faf6ac26df2d43f211b1b23ba392df8734222",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 3.282 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 26 changed as sent

message 34 changed as sent

message 38 changed as sent

message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8471, 0.6628, -0.4946, -0.0139, -0.0338, 0.9959, -0.0406, 0.931, 0.2737, 0.02, -0.0547, -0.0666, 0.999]\nstate[eef_state]: left_x=0.2892 left_y=0.0003 left_z=0.1692 left_yaw=0.003 left_pitch=-0.1099 left_roll=-0.0009 left_gripper=0.9959 right_x=0.2915 right_y=0.0014 right_z=0.0751 right_yaw=0.037 right_pitch=-0.0685 right_roll=-0.0081 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -1.5248, 7.1316, 1.6435, -0.0806, -0.0073, -0.0122, -0.2393, -1.9077, 6.9402, 2.1172, -0.1636, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.852, 0.6621, -0.4992, -0.0139, -0.0338, 0.9959, -0.1349, 1.3724, 0.2691, 0.4114, -0.1326, -0.1287, 0.7208]\nstate[eef_state]: left_x=0.2887 left_y=0.0003 left_z=0.1666 left_yaw=0.003 left_pitch=-0.1202 left_roll=-0.0007 left_gripper=0.9959 right_x=0.3216 right_y=-0.0164 right_z=0.0229 right_yaw=0.0427 right_pitch=-0.1168 right_roll=-0.0027 right_gripper=0.7208\nstate[joint_eff]: [-0.1162, -1.4017, 6.9402, 1.6044, -0.0464, -0.0366, -0.0073, -0.0479, -4.7795, 5.9419, 1.8974, -0.0855, 0.022, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8539, 0.6621, -0.5129, -0.0139, -0.0338, 0.9959, -0.1349, 1.1149, 0.4274, 0.0208, -0.1326, -0.1326, 0.7207]\nstate[eef_state]: left_x=0.2866 left_y=0.0003 left_z=0.1635 left_yaw=0.0031 left_pitch=-0.1358 left_roll=-0.0003 left_gripper=0.9959 right_x=0.3247 right_y=-0.0169 right_z=0.0885 right_yaw=0.0443 right_pitch=-0.0921 right_roll=-0.0102 right_gripper=0.7207\nstate[joint_eff]: [-0.0752, -1.3744, 7.1863, 1.7753, -0.0171, -0.022, -0.0073, -0.1026, -3.5761, 8.5812, 1.8046, -0.105, -0.0171, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c36779152f57a289b427cbf727be63beb99cdae92c85729104cf1ebba2e75403",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40940b4da70815245a9b6bb5c4f9b918401f03c06dda27cdc1e89478c1d6267d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2480fd3e2a515feda1b74971883faf6ac26df2d43f211b1b23ba392df8734222",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFlpQjqPUOo5lNEULTL38vdaKXa8SdqQh9bPPre4m323o_xaIIc_buv_TasejBLCsYR0JGTUIg7iT5hHQGpx6-DicDqJ-pqOj5cS9VeCHsJnJO-8DTS4fFwrnOcC_f7Bnx6AV7nv2bT1nmaKCFLGhbQRkVaX_O0zgcZkeeoNSJGTMXVtwNDOrkK_7TxVJIDZNCspzWIF-xek25uIS9PNoXe3qAaieYfSWSUzG1MTt_4Yyk-LwVTllFbwOJpd6kGfD2i1T1LIvMkgv64RunZ3j3jvg_mYLagjMdKS4HVYbViGj1d_qY8VY1Th9xgR7RRXzRhhgOZl9LFo9aIXhlnfCBVM8yFTfvftewTstiHkWG6CubYo9WuhXG7p7KR3UumaEbNOw--0kXbiWsurMFXXG2CPf-Gw9twz_YyOH-eQumECSFbpNdjaM-iLqNG-4PtxQvamBZkQCloo0O2-oJdXEZZ7Z50oBesj1lHaVepXqGww3bqHFgkaiNF0L4UjWMFFRetct8fPZdTCbwu5o1gf5LWTvQUDJlmXis8WfJjmhtAlLF2hTI2A8CIcIEaM-mcQmrTK6fOhG8xiyfi9cF0r6mcBuokdh6KHM5Nt66i6caQj83tqhoR9_U1mXi1QD0UBLsIyuCpMuOB_5ycEo1KWiajYz2ei7iB45_wAb6BTWbYxBka2eKWjAE2B2Vr5r74Rn0PcZwfZSK3KW3pHEcTh2a2Mz-p646UDbjsYGIhknuzSurrXNYwmm00jHNlnhXU_MLXBW9pJ-50f6INq6s0YNX8IS1qgX1LNMVMvw-m9ngNNGm95im-CZj9M14cdNe_KLP2ONGmXGNEBfH10HL8u8ejaxttlOXPMUHHlxWMYNGiYWla95sOZOTQbunfI26yPUfCtmebEWyoCYW4XNK7wO2xZ3FesVJEshFkbUn24KaQrHhZNeFCuvNW9VN0lRrxYW9ylGb1Px7lez5i9EZj7iQjnbcvZW-Rom8kBuRK_GWu8B7XfGsIopkloHYlNo93TTjlSMfstgFaA3GvBSHg4HmYR1kspD_l0BzHLMcnWJ5b_RKQpn8v4QzxokqdnW2uvn2GtuCImzNm6JqO23HdWYH0FK5kpxaUJfag0VJjFA62OYPDxbq9VUh-YbhbrwvPrlkH4hSZzklwuAvhAq9e5dqeTVKj6QDK9xKaj4sSF2742jdl_bgmDrOEUg-hRg9FuKjwI-76aRq4oedUKmayOFxirE5ewohVd-V578Ud44wlM3QRQ32CE171yPcG2ehquExhtSWNNxPT3FbDDkzre7CotTfGDUTOEPOGfM6avHgqv-_bWirg7YLm_T6mtfCq-6gak_C_qtkXfY31RAwWlP7VtM600BTWYQLrn-HPLKHoAuAGnWAwLFiVxVH7ShchgESvg_SRwhDj2P8nD17sUCi6A6g==",
  "id": "rs_010e539e5f3137f3016ab45967503087d086f261c94576400e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_y\":0.15,\"right_z\":0.19,\"right_pitch\":0},\"note\":\"The green fruit rose with the gripper. I’m carrying it above the blue bowl with enough height to clear the rim.\"}",
  "call_id": "call_xpMGI9hB81gMNT1610Zes6y1",
  "id": "fc_010e539e5f3137f3016ab4596835b487d0be8b0938cb5c1726",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xpMGI9hB81gMNT1610Zes6y1",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8581, 0.6621, -0.5209, -0.0139, -0.0338, 0.9959, 0.4633, 1.5185, 1.0313, -0.1883, 0.3222, 0.1818, 0.723]\nstate[eef_state]: left_x=0.2855 left_y=0.0003 left_z=0.1609 left_yaw=0.0031 left_pitch=-0.148 left_roll=-0.0 left_gripper=0.9959 right_x=0.4137 right_y=0.1482 right_z=0.1656 right_yaw=0.0906 right_pitch=-0.0678 right_roll=-0.0409 right_gripper=0.723\nstate[joint_eff]: [-0.1709, -1.894, 7.1043, 1.6532, -0.0562, -0.0366, -0.0073, 0.2393, -7.4872, 9.0325, 1.7998, 0.2808, 0.1734, 1.0232]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebd56011b00d6fdadec12774cf91dc706c0b2afe45a0a6b5fa88940794c6f0e5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bc4249cb32b80116c15c796616b4d584bab81a8bf931e715177a012787d6c0c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d4f5a111298a2c36ead5feb11141e435f00024822e80012d8a11c7cc0356a28",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 2.082 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 30 changed as sent

message 38 changed as sent

message 42 changed as sent

message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.852, 0.6621, -0.4992, -0.0139, -0.0338, 0.9959, -0.1268, 1.3273, 0.2714, 0.2993, -0.1135, -0.1081, 0.999]\nstate[eef_state]: left_x=0.2887 left_y=0.0003 left_z=0.1666 left_yaw=0.003 left_pitch=-0.1202 left_roll=-0.0007 left_gripper=0.9959 right_x=0.3084 right_y=-0.0155 right_z=0.0161 right_yaw=0.025 right_pitch=-0.1829 right_roll=0.0111 right_gripper=0.999\nstate[joint_eff]: [-0.294, -1.5385, 7.0769, 1.8193, -0.0366, -0.0122, -0.0073, 0.0889, -6.735, 6.106, 2.3907, -0.232, -0.1245, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8539, 0.6621, -0.5129, -0.0139, -0.0338, 0.9959, -0.1349, 1.1149, 0.4274, 0.0208, -0.1326, -0.1326, 0.7207]\nstate[eef_state]: left_x=0.2866 left_y=0.0003 left_z=0.1635 left_yaw=0.0031 left_pitch=-0.1358 left_roll=-0.0003 left_gripper=0.9959 right_x=0.3247 right_y=-0.0169 right_z=0.0885 right_yaw=0.0443 right_pitch=-0.0921 right_roll=-0.0102 right_gripper=0.7207\nstate[joint_eff]: [-0.0752, -1.3744, 7.1863, 1.7753, -0.0171, -0.022, -0.0073, -0.1026, -3.5761, 8.5812, 1.8046, -0.105, -0.0171, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8581, 0.6621, -0.5209, -0.0139, -0.0338, 0.9959, 0.4633, 1.5185, 1.0313, -0.1883, 0.3222, 0.1818, 0.723]\nstate[eef_state]: left_x=0.2855 left_y=0.0003 left_z=0.1609 left_yaw=0.0031 left_pitch=-0.148 left_roll=-0.0 left_gripper=0.9959 right_x=0.4137 right_y=0.1482 right_z=0.1656 right_yaw=0.0906 right_pitch=-0.0678 right_roll=-0.0409 right_gripper=0.723\nstate[joint_eff]: [-0.1709, -1.894, 7.1043, 1.6532, -0.0562, -0.0366, -0.0073, 0.2393, -7.4872, 9.0325, 1.7998, 0.2808, 0.1734, 1.0232]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebd56011b00d6fdadec12774cf91dc706c0b2afe45a0a6b5fa88940794c6f0e5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bc4249cb32b80116c15c796616b4d584bab81a8bf931e715177a012787d6c0c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d4f5a111298a2c36ead5feb11141e435f00024822e80012d8a11c7cc0356a28",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFltHoSL_2YQ8qf29GO6CxdgTcCID6ww7XTQq3zivbPdofyAfLWYtgmUyuIiysadtwIMobWSFIz7f1EJXKE4tOni5dSladxzOdDBgz8AqK20_ovF8yznxklRkyo__eUj5snE7ZRyXSeVJNqPkEYtrV_q9y5rfAjVzxH3dsvu6OVtHKTOoJqYfAZUWrHx2XpDMV1IDjZchxacwgMLY-P3yaVAuXURiwNhew1Ezk0gxdIf6q85y3TIvX4ALTYsWT3JoybhDvYaMfgMD0Zew_N3pp3EiPmyrgYsmbRZj610SgMTV8U3rcfWbiAL0guYmUhV_p0kYzsXo_OaZ6fONksbxN57aRVSweO2hbJyCCLxoQ0medy-Ola2ZIzxuNRmkQRG3eOnlQ0R1xDqDgmDgA8fRK1cItEY4G77cCW7MphG1ee3eUEGXni7n75eYw9wpYC_mdQzfsWKiWDsgohV5lpkU9D3tKTL-yhvchi9jU-ivwJZQONmkQnrT5cOXn4K24D4S5zLxNvMHe8Uxlx_of6jYiPS42AVD6_LFtiooSoF-tfX3gTjEaGELsl8lxCTsfrYRY-fqTKLr1MElzgyT3umGho9ReXsRkVP8jK_dPgKIuO37YIMLxGk0D3AojMf-PrKRrd5_DfvlMN0F9HLQC71rWbfNXamTFthOKI8njcru4OE8vlXtR4pAT96yXsIOlY6F2i9WhhpwoV3A-8dZKmh3ES8CbHwORyewM1w6cRpyJOSBaAPJvqKaos3mPlz4anbhRF4TOdKvyQ3u9oqmzfWlvhU-htF3k6GknYu-Saws73BAXUBpBTL9nLzNxbdko9vKQZCZ2yHdp_pHss7GsW_Q37ZGOFAuDTk_kxVwaw342Z-LYvb1oKawmIni_ST3_ZL4-cbXSZ2gkjAWz4ilIgBBVI4IgZ-68eprD5S8v7N0Ro_wMc3-y9IsEKdpRw-b0BcgTK3sElza3SKDwm2Bhpum7J16DR0AbRz-oo_W1cDpUAPV0Is0zwl95by7O3rB1pagcCYNBrQDqUAkNatwhlXDwk8iCZlDjUEIt04hAxgG-iJ-I8o3jgh_Vx7mCJa_od9-2AIn7cfMxMVDl-Z5qo0xHB2VrD7pPs0KtIrhMpjsJRiGca4jxmZO2XMSl_pAWip8aIOTxRx-uDSl7Qym1XGNzcnf-4ArCo7TNl1ACVrUL0ddeJr8oP0FSiUR4G8vf6qMEJMZVq1w5S-NmtVd84O3bcQHjPdqDR7Y9KGikap9jHjQrVv9BzTpgFeBUDrZd9mQXclLzlsLJR8eiohU8_WlpQZ2hYcWyq1TxTixm3hxjKSDqJ29_VRa_UDFGm_rbW7n9ao4ra8ACODHFmE38A_rvjNiGbE_5K0Qjz3LWdZ1wUkBcFxYQflsa0CwA7Z11mJcpBhltwnAVt_i0bSUvpcfwdlliDrDhKBFDu-uxeUZPYyz5zINzBsW0-cCw-p03yMQdvX",
  "id": "rs_010e539e5f3137f3016ab4596c0cb487d0886bbf579f3e9ea6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.115},\"note\":\"The green fruit is positioned over the blue bowl. I’m lowering it toward the bowl before releasing.\"}",
  "call_id": "call_gGQfi7jDR3eAJW8J3WzYLJzl",
  "id": "fc_010e539e5f3137f3016ab4596d3dac87d09fe97125a1fe656a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gGQfi7jDR3eAJW8J3WzYLJzl",
  "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]: [-0.02, 0.8585, 0.6621, -0.5209, -0.0135, -0.0338, 0.9959, 0.4637, 1.5936, 0.8909, -0.0723, 0.3183, 0.1905, 0.7264]\nstate[eef_state]: left_x=0.2855 left_y=0.0003 left_z=0.1608 left_yaw=0.0028 left_pitch=-0.1484 left_roll=-0.0002 left_gripper=0.9959 right_x=0.4004 right_y=0.1424 right_z=0.0971 right_yaw=0.0851 right_pitch=-0.1611 right_roll=-0.0684 right_gripper=0.7264\nstate[joint_eff]: [-0.212, -1.6068, 6.9265, 1.6239, -0.0464, -0.0464, -0.0122, -0.1162, -8.6085, 7.5966, 2.1856, 0.1538, -0.1392, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:067365c102540ab85ff77260a4dd77737414b6dd4c841cc913dccea0db25e2e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60cd94c91a412d2d2caf7f942528b37a1c22768363e8dd48fbd76f8d9bbbde1e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96bf65ddb0ccaa0dfa587b0b63337a2372503adb11afd7fdad446f4ee568789a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 3.866 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 34 changed as sent

message 42 changed as sent

message 46 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.852, 0.6621, -0.4992, -0.0139, -0.0338, 0.9959, -0.1349, 1.3724, 0.2691, 0.4114, -0.1326, -0.1287, 0.7208]\nstate[eef_state]: left_x=0.2887 left_y=0.0003 left_z=0.1666 left_yaw=0.003 left_pitch=-0.1202 left_roll=-0.0007 left_gripper=0.9959 right_x=0.3216 right_y=-0.0164 right_z=0.0229 right_yaw=0.0427 right_pitch=-0.1168 right_roll=-0.0027 right_gripper=0.7208\nstate[joint_eff]: [-0.1162, -1.4017, 6.9402, 1.6044, -0.0464, -0.0366, -0.0073, -0.0479, -4.7795, 5.9419, 1.8974, -0.0855, 0.022, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8581, 0.6621, -0.5209, -0.0139, -0.0338, 0.9959, 0.4633, 1.5185, 1.0313, -0.1883, 0.3222, 0.1818, 0.723]\nstate[eef_state]: left_x=0.2855 left_y=0.0003 left_z=0.1609 left_yaw=0.0031 left_pitch=-0.148 left_roll=-0.0 left_gripper=0.9959 right_x=0.4137 right_y=0.1482 right_z=0.1656 right_yaw=0.0906 right_pitch=-0.0678 right_roll=-0.0409 right_gripper=0.723\nstate[joint_eff]: [-0.1709, -1.894, 7.1043, 1.6532, -0.0562, -0.0366, -0.0073, 0.2393, -7.4872, 9.0325, 1.7998, 0.2808, 0.1734, 1.0232]\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 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8585, 0.6621, -0.5209, -0.0135, -0.0338, 0.9959, 0.4637, 1.5936, 0.8909, -0.0723, 0.3183, 0.1905, 0.7264]\nstate[eef_state]: left_x=0.2855 left_y=0.0003 left_z=0.1608 left_yaw=0.0028 left_pitch=-0.1484 left_roll=-0.0002 left_gripper=0.9959 right_x=0.4004 right_y=0.1424 right_z=0.0971 right_yaw=0.0851 right_pitch=-0.1611 right_roll=-0.0684 right_gripper=0.7264\nstate[joint_eff]: [-0.212, -1.6068, 6.9265, 1.6239, -0.0464, -0.0464, -0.0122, -0.1162, -8.6085, 7.5966, 2.1856, 0.1538, -0.1392, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:067365c102540ab85ff77260a4dd77737414b6dd4c841cc913dccea0db25e2e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60cd94c91a412d2d2caf7f942528b37a1c22768363e8dd48fbd76f8d9bbbde1e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96bf65ddb0ccaa0dfa587b0b63337a2372503adb11afd7fdad446f4ee568789a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The green fruit is just above the blue bowl’s interior. I’m opening the jaws to leave it in the bowl.\"}",
  "call_id": "call_7PVRFwh3RZyjc9KJte8eWNVI",
  "id": "fc_010e539e5f3137f3016ab4596f879487d0842e67fe1bc9d9f8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7PVRFwh3RZyjc9KJte8eWNVI",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8585, 0.6621, -0.5209, -0.0139, -0.0338, 0.9959, 0.4637, 1.6081, 0.8749, -0.0589, 0.3138, 0.1764, 0.9956]\nstate[eef_state]: left_x=0.2855 left_y=0.0003 left_z=0.1608 left_yaw=0.0031 left_pitch=-0.1484 left_roll=0.0 left_gripper=0.9959 right_x=0.3978 right_y=0.142 right_z=0.0871 right_yaw=0.0955 right_pitch=-0.1789 right_roll=-0.0823 right_gripper=0.9956\nstate[joint_eff]: [-0.212, -1.4564, 6.9128, 1.6142, -0.0317, -0.0317, -0.0122, -0.2393, -8.4991, 7.5282, 1.4383, 0.105, 0.0952, -0.1734]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2769754d88ae973543af5c5a133a803865c314331911fe25efe01f5025ef7b7c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26cda5635c4042cb13f82d32ced043ba395b57ac48e0aedcb36e0f17625ae8de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:182115651a3152dbaa6158e8e2a7c2afe79b30bb0339be8f0dd0da85a6b93477",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 2.626 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 38 changed as sent

message 46 changed as sent

message 49 changed as sent

message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8539, 0.6621, -0.5129, -0.0139, -0.0338, 0.9959, -0.1349, 1.1149, 0.4274, 0.0208, -0.1326, -0.1326, 0.7207]\nstate[eef_state]: left_x=0.2866 left_y=0.0003 left_z=0.1635 left_yaw=0.0031 left_pitch=-0.1358 left_roll=-0.0003 left_gripper=0.9959 right_x=0.3247 right_y=-0.0169 right_z=0.0885 right_yaw=0.0443 right_pitch=-0.0921 right_roll=-0.0102 right_gripper=0.7207\nstate[joint_eff]: [-0.0752, -1.3744, 7.1863, 1.7753, -0.0171, -0.022, -0.0073, -0.1026, -3.5761, 8.5812, 1.8046, -0.105, -0.0171, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8585, 0.6621, -0.5209, -0.0135, -0.0338, 0.9959, 0.4637, 1.5936, 0.8909, -0.0723, 0.3183, 0.1905, 0.7264]\nstate[eef_state]: left_x=0.2855 left_y=0.0003 left_z=0.1608 left_yaw=0.0028 left_pitch=-0.1484 left_roll=-0.0002 left_gripper=0.9959 right_x=0.4004 right_y=0.1424 right_z=0.0971 right_yaw=0.0851 right_pitch=-0.1611 right_roll=-0.0684 right_gripper=0.7264\nstate[joint_eff]: [-0.212, -1.6068, 6.9265, 1.6239, -0.0464, -0.0464, -0.0122, -0.1162, -8.6085, 7.5966, 2.1856, 0.1538, -0.1392, 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 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8585, 0.6621, -0.5209, -0.0139, -0.0338, 0.9959, 0.4637, 1.6081, 0.8749, -0.0589, 0.3138, 0.1764, 0.9956]\nstate[eef_state]: left_x=0.2855 left_y=0.0003 left_z=0.1608 left_yaw=0.0031 left_pitch=-0.1484 left_roll=0.0 left_gripper=0.9959 right_x=0.3978 right_y=0.142 right_z=0.0871 right_yaw=0.0955 right_pitch=-0.1789 right_roll=-0.0823 right_gripper=0.9956\nstate[joint_eff]: [-0.212, -1.4564, 6.9128, 1.6142, -0.0317, -0.0317, -0.0122, -0.2393, -8.4991, 7.5282, 1.4383, 0.105, 0.0952, -0.1734]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2769754d88ae973543af5c5a133a803865c314331911fe25efe01f5025ef7b7c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26cda5635c4042cb13f82d32ced043ba395b57ac48e0aedcb36e0f17625ae8de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:182115651a3152dbaa6158e8e2a7c2afe79b30bb0339be8f0dd0da85a6b93477",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFl0ovslLQuv94kMl-F6rNdvjuX2Ke1DwNYE-t_1CYlot9aHtwZlIhd4xf9uuHoUR4g2RgEwNbXK1N91uQsf3D97vZhWX0JvyWlDqFucl62G4hoKSmykpKZFwZx-rDRIxxGLnfU5OvV8aJdf5DudCntYTvgF9nJHvppz3a_b-e5zI7tHrz29uLqHUs_4dcY0Mju1OY7T9lZ_1gsrvmxgN1VWf-xs5_D6gxp1t2166OnLHlqaTILLWrr5jgnswEY1-XwUv8-_w21DzzaqNVemA1PUY38MZaidT7ozPcjDyIR_zku-HTnarzUy1AqqZtUZYmZX3fVFN7SHRJn7qSYkLmVI8bfrXahI4CH1bZ-90JO-N7Di6vN5f3EbKKNpbJKX-swL8vh8h26MeXWvyXQf8J0nPQR1ku55qrNJgT6BiCAJ-CNgU7gk3KHJZ_BGiqPFvSbR5RPyvyOyMws2aJ5R0YZnc7W3JVvyt3hKHKAgCUyJxh0d6CAZj12JMUKYH83KVqKrsXBEAo5hOmxa9XiIqAZE_N854tqPeCS5IqgaskcnfrJNh7SttJh23bTwBptWd9FVlpF-TxuzlcEr38ORBz12JdfZLJbiVOWgZu3wzuF24Bxbe-q-sv_jeYeDbU1jt8XKyASUiLgnH4TO973nve0HtF_vybSJUCDc1I8-KcOu9iflnXWoBS1_KLl7vQAVLCz9FmqqSah9StMxWO_MRc1iCGjnTrdzK3CWP_a6qgyVc-T39BOVrwZ5v_1YIW20Hhzk68-8jwsCgXrmkcEm3hi-UhNm8O2x8XTDwSsIZ_ME_FKY9SjvMKUQyCElfSMHylvnPUmYoj3scqK3YJnKILbkj2gKqq4eI4Se8G3ASctAIklKxsWzQMdtlJOIsoQ9UREAVeWwVVurhOZWjjHeWkhFdFWYHPIQvYWzcHEQX2Sg2UpWZnas1UXMQcXlvYAGjjigIi-M9jn6z23cECwVLl7NLDvTivSeSKwv7nXMp5R4HtL4_sGiaTYcY7ffx21-E7qrzjj6k1LUdXPkUa48thm7N2_bUeLR1BKfzBXeOwHIRDQ0KM1UIe9orrAA_oqaSz8no0MlrYuf5e3ZTizBhFGvgGkdCWpTSeb9T3jAfOzJlpKdwX-ZK3cdqLK5V7zWJcsIGqQoxMVY9J15xSRS9EVImYsZSIMi6Taax-WnpD98ZNUIYQAxQG11qswniDW8tJ10fv9UCWD-c_mjuOMQCMS9CnJOEojL4Dlj-OjyW85b7cTcnZhTezRfBNhuS0HwVIZmF6fWbWahs2BFJExqN4CwcHyHzwW7lJyi4V9BNomxmaPy60PEltd6d6DlJQJV5VolR5ktCNmOojK-G0JoOKjtG0ovKWWiURKlH9yoticxzMeYedE3KmOQw3Cq6od3X-tJyr52xMTAk_-XscebQFtjmrQdaPu7__Yl65h3i1r1ktQ=",
  "id": "rs_010e539e5f3137f3016ab459722b3087d0a8fe662881d1f112",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.365,\"right_y\":0.25,\"right_z\":0.16,\"right_pitch\":0},\"note\":\"The green fruit is now resting inside the blue bowl. I’m lifting away and moving above the yellow fruit beside it.\"}",
  "call_id": "call_Br6XUGgCeclmmPgOoJjQQ3PK",
  "id": "fc_010e539e5f3137f3016ab45973c34887d0a53752126d2cbc82",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Br6XUGgCeclmmPgOoJjQQ3PK",
  "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]: [-0.02, 0.8585, 0.6621, -0.5205, -0.0139, -0.0338, 0.9959, 0.8242, 1.6093, 1.0443, -0.197, 0.593, 0.3492, 0.9962]\nstate[eef_state]: left_x=0.2856 left_y=0.0003 left_z=0.1609 left_yaw=0.0031 left_pitch=-0.148 left_roll=-0.0 left_gripper=0.9959 right_x=0.3591 right_y=0.248 right_z=0.1459 right_yaw=0.1453 right_pitch=-0.0456 right_roll=-0.1024 right_gripper=0.9962\nstate[joint_eff]: [-0.1162, -1.5521, 6.9402, 1.6337, -0.0708, -0.0366, -0.0122, 0.1709, -6.3111, 8.9368, 1.6386, 0.359, 0.1197, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cfb63b1a0269daa16cee04aa673bf41291684b9f3510f6e52ffe2a2a646da42",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa7d1027eff4b0e2df1fd6821c3e0ea6f56ac76e8155c8357cb52e85606f24d7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4e1af4f5bbbaaf412d8ef175d1dc9e7893c245e85078b84ac3b948003c526d8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 2.886 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 42 changed as sent

message 49 changed as sent

message 53 changed as sent

message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8581, 0.6621, -0.5209, -0.0139, -0.0338, 0.9959, 0.4633, 1.5185, 1.0313, -0.1883, 0.3222, 0.1818, 0.723]\nstate[eef_state]: left_x=0.2855 left_y=0.0003 left_z=0.1609 left_yaw=0.0031 left_pitch=-0.148 left_roll=-0.0 left_gripper=0.9959 right_x=0.4137 right_y=0.1482 right_z=0.1656 right_yaw=0.0906 right_pitch=-0.0678 right_roll=-0.0409 right_gripper=0.723\nstate[joint_eff]: [-0.1709, -1.894, 7.1043, 1.6532, -0.0562, -0.0366, -0.0073, 0.2393, -7.4872, 9.0325, 1.7998, 0.2808, 0.1734, 1.0232]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8585, 0.6621, -0.5209, -0.0139, -0.0338, 0.9959, 0.4637, 1.6081, 0.8749, -0.0589, 0.3138, 0.1764, 0.9956]\nstate[eef_state]: left_x=0.2855 left_y=0.0003 left_z=0.1608 left_yaw=0.0031 left_pitch=-0.1484 left_roll=0.0 left_gripper=0.9959 right_x=0.3978 right_y=0.142 right_z=0.0871 right_yaw=0.0955 right_pitch=-0.1789 right_roll=-0.0823 right_gripper=0.9956\nstate[joint_eff]: [-0.212, -1.4564, 6.9128, 1.6142, -0.0317, -0.0317, -0.0122, -0.2393, -8.4991, 7.5282, 1.4383, 0.105, 0.0952, -0.1734]\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 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8585, 0.6621, -0.5205, -0.0139, -0.0338, 0.9959, 0.8242, 1.6093, 1.0443, -0.197, 0.593, 0.3492, 0.9962]\nstate[eef_state]: left_x=0.2856 left_y=0.0003 left_z=0.1609 left_yaw=0.0031 left_pitch=-0.148 left_roll=-0.0 left_gripper=0.9959 right_x=0.3591 right_y=0.248 right_z=0.1459 right_yaw=0.1453 right_pitch=-0.0456 right_roll=-0.1024 right_gripper=0.9962\nstate[joint_eff]: [-0.1162, -1.5521, 6.9402, 1.6337, -0.0708, -0.0366, -0.0122, 0.1709, -6.3111, 8.9368, 1.6386, 0.359, 0.1197, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cfb63b1a0269daa16cee04aa673bf41291684b9f3510f6e52ffe2a2a646da42",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa7d1027eff4b0e2df1fd6821c3e0ea6f56ac76e8155c8357cb52e85606f24d7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4e1af4f5bbbaaf412d8ef175d1dc9e7893c245e85078b84ac3b948003c526d8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFl3Wl1ey4G08FlBkOhZ51Ytq6wSI2R5bC3fO7zO9HgXmjrySJMwip1GR2LTNGbh6qU6c2M68qoXkQAFzEWH-bXvtYIb8GaO25DKrJdCVKGkzPopo9WQ0vshi_yMAzq54kTbZ2CiGZhU7653M3q4M5feS0-GNqgWXzmxkNSr4MhGuHcUvc-17ba8kF4SWqSRXDQhW_eH91d7yRMsx8Yhg0x_ezzh_M89-NUJqjvbb8550NUGWRhIWN1QW6CLTS8ZDIxi6IG3wCwU9StpfAleisJamhYUB9S58MEcwdeINCkdsjUaSNSYDkLYtVuBvrpOwUNqaUShgKTRXTJp_ip7d2zV8FJY4ftTrSOFsJ-8WneS-L5VkZ0ytTjJvrsh1P9umtgNsVODVgsvR2yJ6AI4W9PGqyRBqBSQW_utIY8s32RsurV0bu_DwPPaoSqjFx0rBI7yh6J4w0IF3T5tf7YmeCdFFEjqrB7t12P062FUOvqobGTxf60KKgDCFhxVNVw6iYn0crp9TOIqf7W7PLDSSmhvGGDQrS6WugamDCHseO2IfYBNImlYGMVo-_o0fbND9VLpbgt_4nJ_Q4C3tVP9XUeSgtzfq9TXnPEw9z5qbU5C-9u8YEy9bCa-ShaBkEu8WNV2Ul5q4qNkwPKpC1Dhl5yXKwjr_1qU0oFie2_H-vXqhqoo8c1BhRJO72SdN5te1UChG3yIpAj9tSGgLnklvakz5DZzin6UeKx1IIK629ijKu2D788IVtfo8vqRtlGKIs3Y9MBpx-o6qemtI-2ha9e6xAMQu2fFM0yhHjLFBFsT2iM3PE35bXv7HPK_DiWcSAOImPjknBRUZEV6ehs-u2VoZ0dX-m2xlwxKNbwp015l-iyOfaVacsaDkRq1WggP80kyJCzGIiIcgcR4NXH24tZNeYAtD20HFhRU1mu1-6TVJiuWKRWpyBjbjwZZBedK2x4sp6NBYVpauzQFJf6BvV5n9lsBjDuRwtW7cKbBCOYw48mcZmkpSfDJ1nEdSiWiFjNdPtKhK3zEzY-0GgTt8p7gRn3-CcZ2r0hSZxCKSN9YnhRJ5XmZdP53sf0Ioa2WHTlKWdkY5-75SJxdBO6ylySVglxSA9_sU7YimqbU0s3WDrFM_n2vflKrW3iJ19-QgVg29KJPqpb1SpdAn99mF5etoB9ru5XPcCVqrLPKLYwNhz8GUu89DbZ2NVeMcU41m_97QDFftKUZsSBmDYfFishxuwQN8yVxfL16zsZGue1Mjs4E4Vf-NcF5nBAbfAhUEAe7",
  "id": "rs_010e539e5f3137f3016ab45976a41887d0bac6da91afc470f3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.25,\"right_z\":0.035,\"right_yaw\":0,\"right_pitch\":0},\"note\":\"The yellow fruit is aligned with the jaw center, just in front of the fingertips. I’m lowering the open gripper around it while staying to the left of the blue bowl.\"}",
  "call_id": "call_LTvNubn2fGA5iCKxgIDcuSdH",
  "id": "fc_010e539e5f3137f3016ab45976f0a087d0a9c3b318e76b4117",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LTvNubn2fGA5iCKxgIDcuSdH",
  "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]: [-0.02, 0.8604, 0.6621, -0.5213, -0.0139, -0.0338, 0.9959, 0.8345, 1.9354, 0.9485, 0.1486, 0.6895, 0.4274, 0.9962]\nstate[eef_state]: left_x=0.2856 left_y=0.0003 left_z=0.1602 left_yaw=0.0031 left_pitch=-0.1507 left_roll=0.0001 left_gripper=0.9959 right_x=0.3743 right_y=0.251 right_z=0.034 right_yaw=0.0416 right_pitch=-0.0503 right_roll=-0.141 right_gripper=0.9962\nstate[joint_eff]: [-0.1026, -1.4701, 6.9675, 1.5995, -0.0366, -0.0269, -0.0122, 0.0889, -9.2786, 4.6154, 1.5409, 0.5201, 0.149, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e257bfe7410fc68de14fd60affd44c36631e7567008bf7c2fc1a159f587aac8e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef4311040794e70872da970e568cabeb6c96d81ff78f656b4e833d351330f703",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d4e1252dbe7ac3c070cea46a522b5917f8f09cc443258401a77e5c1a84f621b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 2.849 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 46 changed as sent

message 53 changed as sent

message 57 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8585, 0.6621, -0.5209, -0.0135, -0.0338, 0.9959, 0.4637, 1.5936, 0.8909, -0.0723, 0.3183, 0.1905, 0.7264]\nstate[eef_state]: left_x=0.2855 left_y=0.0003 left_z=0.1608 left_yaw=0.0028 left_pitch=-0.1484 left_roll=-0.0002 left_gripper=0.9959 right_x=0.4004 right_y=0.1424 right_z=0.0971 right_yaw=0.0851 right_pitch=-0.1611 right_roll=-0.0684 right_gripper=0.7264\nstate[joint_eff]: [-0.212, -1.6068, 6.9265, 1.6239, -0.0464, -0.0464, -0.0122, -0.1162, -8.6085, 7.5966, 2.1856, 0.1538, -0.1392, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8585, 0.6621, -0.5205, -0.0139, -0.0338, 0.9959, 0.8242, 1.6093, 1.0443, -0.197, 0.593, 0.3492, 0.9962]\nstate[eef_state]: left_x=0.2856 left_y=0.0003 left_z=0.1609 left_yaw=0.0031 left_pitch=-0.148 left_roll=-0.0 left_gripper=0.9959 right_x=0.3591 right_y=0.248 right_z=0.1459 right_yaw=0.1453 right_pitch=-0.0456 right_roll=-0.1024 right_gripper=0.9962\nstate[joint_eff]: [-0.1162, -1.5521, 6.9402, 1.6337, -0.0708, -0.0366, -0.0122, 0.1709, -6.3111, 8.9368, 1.6386, 0.359, 0.1197, 0.0464]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8604, 0.6621, -0.5213, -0.0139, -0.0338, 0.9959, 0.8345, 1.9354, 0.9485, 0.1486, 0.6895, 0.4274, 0.9962]\nstate[eef_state]: left_x=0.2856 left_y=0.0003 left_z=0.1602 left_yaw=0.0031 left_pitch=-0.1507 left_roll=0.0001 left_gripper=0.9959 right_x=0.3743 right_y=0.251 right_z=0.034 right_yaw=0.0416 right_pitch=-0.0503 right_roll=-0.141 right_gripper=0.9962\nstate[joint_eff]: [-0.1026, -1.4701, 6.9675, 1.5995, -0.0366, -0.0269, -0.0122, 0.0889, -9.2786, 4.6154, 1.5409, 0.5201, 0.149, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e257bfe7410fc68de14fd60affd44c36631e7567008bf7c2fc1a159f587aac8e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef4311040794e70872da970e568cabeb6c96d81ff78f656b4e833d351330f703",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d4e1252dbe7ac3c070cea46a522b5917f8f09cc443258401a77e5c1a84f621b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFl7mDTF-HS-EyesqWf9ytHONCq_K6wW6NIJsNs7Bb41NPWygxjEUpHgIEZ80BF4Nqa9kcVlEAKJFbe5EU-odYIkeCyHjMwQrE5_XNHqpf2l1HKYkcy_CWyOpwIuVEDrzXFloDBVP24-tYCNq_BehEEubauHTTZJJQGH2bYGvtL3BQ6h1kKkY34MNZj4MNn0W3-vO2HdkTgYIqzYjKhepfMTiTd1LnrvW-g9sHZK0Brd35ap7hljAXzLbigcWv_CwKjOSj25xk8AXpGC_A5BVF34f8UCVoH_KKg0s389zkWOlnHRZDQeFz_R-27lmB5SJy9BlkHOoOAwzXi-YOcijvk_aX8bKrDs3O55EoC2K8WHlNlUhg9TCD_MImnl8PqYpPdDdpqFWnhajKxVyOpT_EI7XdAx-8Cr35bwyWdqrN1H78oZvyOKJ-7DWReTCP7XPAsVqX8GTtul8guqxtkeZ92_b7X3neYQMPB4-aG5sAvXVwB99sjycVyA42C-0D5v6KJmk4TGVmBxTKsxZzHkbHAePBF-CsG1p4orZ2MLEUpILorZedT6hAs5ePqLxbdc1b_mh7KPx6CtKuc3CWBX6VvaTrYCw1gXTPIJWEh-bLWe2zPOLBlnowE9pgouJd1F8jcqCJZJo-jvrvaXEn0B4F7I1tUFd0drit3V5KoCVWSlwdgdKZ3JVKYZpXzVcI6PWkRYt0a5IlJc3tHoYr-eutBwRSfPYDcz5pV0YzbP5lrNf-8I-e0HzH3ItJxvrOa2_oMbObwAf4gn6Hr-hDo_eazT7_pwGaQceDdj5PzCxrmmn8-a3Hy44yTNtkqqzLcnh7F-hStyi8zYg9TekTVr125BkvD-ybFFjYYxv5mWlMRkymh_mCeQfNd6wGzgVZPYhFQQ3vMcl9xUN73UB3w65uqt2pz5_WdB7q6SRr37AIYgjERpFQQvkD-S-nbamRFM4ZxJH7nxIXgdzqdhINdKiLUy-YDyOUOJPiAnrBlfmg9XvVHGhP2HZ-mZZj73zVDiliY8DlD5y-vgi7TEwdq2G_6vZYf-IPWzkeZU_y3sjOVu46GVfn7PgvBzQ4E5e8FCBCDBzLkb1fXNyhR2xUExOdk6XyKJNIMA8rMGk_U02fEvnsENlw-GnFgOA71tf6S3RIDhMVQDZMoXgTsZrw7cDlpXcZlEu8RqbpdQzfWUFwOU3oFXkWWUKENDT3mvd3RSsGeiYBI1-9viZB6lO1qDG4N1RA==",
  "id": "rs_010e539e5f3137f3016ab4597a797887d0ad24c837112155f6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The yellow fruit sits between the fingertips at table height. I’m closing the jaws for the second pickup.\"}",
  "call_id": "call_S0F699k4aYdz89hm3N7zDDIT",
  "id": "fc_010e539e5f3137f3016ab4597ab11087d0b777766c41d40fc5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_S0F699k4aYdz89hm3N7zDDIT",
  "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]: [-0.02, 0.8604, 0.6621, -0.5209, -0.0139, -0.0338, 0.9959, 0.8341, 1.9419, 0.944, 0.1722, 0.7021, 0.4191, 0.0102]\nstate[eef_state]: left_x=0.2856 left_y=0.0003 left_z=0.1603 left_yaw=0.0031 left_pitch=-0.1503 left_roll=0.0001 left_gripper=0.9959 right_x=0.3761 right_y=0.2502 right_z=0.0342 right_yaw=0.0373 right_pitch=-0.0355 right_roll=-0.1455 right_gripper=0.0102\nstate[joint_eff]: [-0.1846, -1.5658, 6.9812, 1.6142, -0.0513, -0.0513, -0.0122, -0.0205, -9.9077, 5.6821, 1.2039, 0.0757, 0.0757, 0.9011]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3201c33dc3d389fd9927adb599369195e053fbc27cf40f2ab174df42fee24ddb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2decbaa776c96f0295def172566d0f36aa7564242842baf77301593eec140d9f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b88c184d165eb373af068414af3af24d46b60607ea28fbb9e90b7149db7a16e9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 3.824 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 49 changed as sent

message 57 changed as sent

message 61 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8585, 0.6621, -0.5209, -0.0139, -0.0338, 0.9959, 0.4637, 1.6081, 0.8749, -0.0589, 0.3138, 0.1764, 0.9956]\nstate[eef_state]: left_x=0.2855 left_y=0.0003 left_z=0.1608 left_yaw=0.0031 left_pitch=-0.1484 left_roll=0.0 left_gripper=0.9959 right_x=0.3978 right_y=0.142 right_z=0.0871 right_yaw=0.0955 right_pitch=-0.1789 right_roll=-0.0823 right_gripper=0.9956\nstate[joint_eff]: [-0.212, -1.4564, 6.9128, 1.6142, -0.0317, -0.0317, -0.0122, -0.2393, -8.4991, 7.5282, 1.4383, 0.105, 0.0952, -0.1734]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8604, 0.6621, -0.5213, -0.0139, -0.0338, 0.9959, 0.8345, 1.9354, 0.9485, 0.1486, 0.6895, 0.4274, 0.9962]\nstate[eef_state]: left_x=0.2856 left_y=0.0003 left_z=0.1602 left_yaw=0.0031 left_pitch=-0.1507 left_roll=0.0001 left_gripper=0.9959 right_x=0.3743 right_y=0.251 right_z=0.034 right_yaw=0.0416 right_pitch=-0.0503 right_roll=-0.141 right_gripper=0.9962\nstate[joint_eff]: [-0.1026, -1.4701, 6.9675, 1.5995, -0.0366, -0.0269, -0.0122, 0.0889, -9.2786, 4.6154, 1.5409, 0.5201, 0.149, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8604, 0.6621, -0.5209, -0.0139, -0.0338, 0.9959, 0.8341, 1.9419, 0.944, 0.1722, 0.7021, 0.4191, 0.0102]\nstate[eef_state]: left_x=0.2856 left_y=0.0003 left_z=0.1603 left_yaw=0.0031 left_pitch=-0.1503 left_roll=0.0001 left_gripper=0.9959 right_x=0.3761 right_y=0.2502 right_z=0.0342 right_yaw=0.0373 right_pitch=-0.0355 right_roll=-0.1455 right_gripper=0.0102\nstate[joint_eff]: [-0.1846, -1.5658, 6.9812, 1.6142, -0.0513, -0.0513, -0.0122, -0.0205, -9.9077, 5.6821, 1.2039, 0.0757, 0.0757, 0.9011]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3201c33dc3d389fd9927adb599369195e053fbc27cf40f2ab174df42fee24ddb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2decbaa776c96f0295def172566d0f36aa7564242842baf77301593eec140d9f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b88c184d165eb373af068414af3af24d46b60607ea28fbb9e90b7149db7a16e9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFl_T3NNb64RDj4SYYRs0WiH3iH-ER3ckNMrKbrptemGwUE5vjXHtFvM4vAJxk1ppcQ0QuWbubIj8eqetxozBBoXB6vshkD7fm7nA2jSlIO8MpCpj4KsfS-njmLPVn9TufxQquUlwwefsxtQ_iOtJGu8OoNUyRqSWSBGLiKkWjyti0QM38WrVbghJjp9eb_X-VPYfZ0mKMSHS1r33_uvAq1G7K0wDusgFeSHnilQRZuOnBh1WijV6mLewtRYpTKdwNqy4n_NmofbutllS-Gni39n_tPYWF5oBwYmBeJs7bnEqcgSXh7nagzP7U44OTy7oVFIEKCEcI4REXop0FPvvhabtAA2DbjvdONjd1wEeL01Uuz30PpmeVznk95j-BsPP_mGPuQrZywbYPwNtSTdgAaRYyb3YNglDNa24pmRa2sl0l3aVvRpN0s5ptFneLzAIKMsdqITxajvpYVaFWc-YYB85HIiCo_Q6ajglUInNA9E4BQgcEn-C2dcQWEpUGwqViK89JvEg0k31bb5bIizh_0J2WHjnPcjBnbUCbr7ffPsT96JQNii169ItwbdPr_aN100n39m_0a2NF8I2UVYCk5dMsVgC8WJh1Zm5IdZGWN-1WQMCWFSaXdc9UDhcbaD6yvuOiebtR5B7JdVKc3AN0OXxRVQg3ww4BG6ZDayleQisNoOjwwIHSACvEovzNYGAw5khK3zd0yRjAA53LyWQYim-NGDV_0WfafGPLy_FfFm1WaRSpjGKcswgSEIb9Ra6-wR8xZENXBWByQoD3hNLPkOkbGg8jzXniboEiOzUt46fNraNnY6hWTOp0UtVhPwaUN8GpdZA9BVuZ89YvtHOak1JYki7dZTHdCBM41RV4Xm7Ev_871076Nl5GPr-n3Ry2UZRo0YPqYbcbNR8Wp25bnkWX5wDdkKtMbsY2zCP2MGYIvDNFsHc34lWUhs1JaajzFxaZ4H1KzagdXa6hZPDIZlD3GYHl-SD0I0vtNtczS0CVL4tusnr-LoHcebEdv9TVWoDs2ViWp2tuazvytmF9Q0L38c5KTMTwp_31WzODgWi_PuJmLpduHftLCplbOkXaAo8djGK7_gzN2UFZtZTnL2TI27QSpQGHeqd--NM1brh8oHZ_i1PGdaK_bYPKYhbknDo7asDFIAmz7PjLg80GQnQcm0CYd0wf0jExn0EpGiCFaCJDXYmSn9-cTdhp9X4_2bv97SV56_9YS75sX4sEjBOb8f1TJPLh4uQ3MMl6p0gQd8Zbkleu9nnAI-tyuuadI9OSnN55vhMeoj4f2Jf6KgmG0n6AbQoWPOGcSlW5Vcgn38vGCqC9zKLLHPVsdMBfVeSbx5vSGSjjHbDqY9te9QmL8AU7bBLm3gmdBMDL4-7J7Mp-b8uHlBSSVhmF7t1mZMihAWGi0ruBcIgZRpmZQtPG5kvSma0UABxGIxiQvWa-w=",
  "id": "rs_010e539e5f3137f3016ab4597da9d887d0b15ac0edbab05688",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.401,\"right_z\":0.025},\"note\":\"The gripper closed empty, so the yellow fruit was not deep enough between the jaws. I’m opening and advancing two centimeters for one corrected attempt.\"}",
  "call_id": "call_w8tdmk5BhFUUoiMBddmMIEWk",
  "id": "fc_010e539e5f3137f3016ab4597e70e887d080ef6c5948463f59",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_w8tdmk5BhFUUoiMBddmMIEWk",
  "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]: [-0.02, 0.8604, 0.6621, -0.5213, -0.0139, -0.0338, 0.9959, 0.7891, 2.0022, 0.9836, 0.1989, 0.6693, 0.3656, 0.9953]\nstate[eef_state]: left_x=0.2856 left_y=0.0003 left_z=0.1602 left_yaw=0.0031 left_pitch=-0.1507 left_roll=0.0001 left_gripper=0.9959 right_x=0.394 right_y=0.2464 right_z=0.0224 right_yaw=0.0439 right_pitch=-0.0526 right_roll=-0.1677 right_gripper=0.9953\nstate[joint_eff]: [-0.1162, -1.5385, 6.9538, 1.6288, -0.0806, -0.0513, -0.0122, -0.5128, -8.5538, 7.2274, 1.5458, 0.2125, 0.0269, -0.0904]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d836b9642addff386e8caab91a89fbbdc3bb7ae76eb3354972235bb7dd81b88",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:074593431bfd95b7556b65bb07a1876e3043d058087dc6757fd6762ffc98a00f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75561037999b3dae9331460b087778def58eecfb324af71722e8cbc461d720dc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 2.674 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 53 changed as sent

message 61 changed as sent

message 65 changed as sent

message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8585, 0.6621, -0.5205, -0.0139, -0.0338, 0.9959, 0.8242, 1.6093, 1.0443, -0.197, 0.593, 0.3492, 0.9962]\nstate[eef_state]: left_x=0.2856 left_y=0.0003 left_z=0.1609 left_yaw=0.0031 left_pitch=-0.148 left_roll=-0.0 left_gripper=0.9959 right_x=0.3591 right_y=0.248 right_z=0.1459 right_yaw=0.1453 right_pitch=-0.0456 right_roll=-0.1024 right_gripper=0.9962\nstate[joint_eff]: [-0.1162, -1.5521, 6.9402, 1.6337, -0.0708, -0.0366, -0.0122, 0.1709, -6.3111, 8.9368, 1.6386, 0.359, 0.1197, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8604, 0.6621, -0.5209, -0.0139, -0.0338, 0.9959, 0.8341, 1.9419, 0.944, 0.1722, 0.7021, 0.4191, 0.0102]\nstate[eef_state]: left_x=0.2856 left_y=0.0003 left_z=0.1603 left_yaw=0.0031 left_pitch=-0.1503 left_roll=0.0001 left_gripper=0.9959 right_x=0.3761 right_y=0.2502 right_z=0.0342 right_yaw=0.0373 right_pitch=-0.0355 right_roll=-0.1455 right_gripper=0.0102\nstate[joint_eff]: [-0.1846, -1.5658, 6.9812, 1.6142, -0.0513, -0.0513, -0.0122, -0.0205, -9.9077, 5.6821, 1.2039, 0.0757, 0.0757, 0.9011]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8604, 0.6621, -0.5213, -0.0139, -0.0338, 0.9959, 0.7891, 2.0022, 0.9836, 0.1989, 0.6693, 0.3656, 0.9953]\nstate[eef_state]: left_x=0.2856 left_y=0.0003 left_z=0.1602 left_yaw=0.0031 left_pitch=-0.1507 left_roll=0.0001 left_gripper=0.9959 right_x=0.394 right_y=0.2464 right_z=0.0224 right_yaw=0.0439 right_pitch=-0.0526 right_roll=-0.1677 right_gripper=0.9953\nstate[joint_eff]: [-0.1162, -1.5385, 6.9538, 1.6288, -0.0806, -0.0513, -0.0122, -0.5128, -8.5538, 7.2274, 1.5458, 0.2125, 0.0269, -0.0904]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d836b9642addff386e8caab91a89fbbdc3bb7ae76eb3354972235bb7dd81b88",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:074593431bfd95b7556b65bb07a1876e3043d058087dc6757fd6762ffc98a00f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75561037999b3dae9331460b087778def58eecfb324af71722e8cbc461d720dc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFmEZB6TzYIzlWMRccrIuqJy9sbbg4x8NQiPNibSh_SG14P3VXZO-sKN23Uq60xKkVKckFcn-4620tLTw0PRKA7zSlz7dJdbCR3Xalitf5495-M39GYg82a_NbzDr_O0Kggtx_yQV5294_TfCzOA3WjWQghjVYt2i9GnXJoBcM9Mp6LxGjLDW55P4YUS_w0Q8wY_wUP4TZazJkh4GE6ZQ0hDVhLsUpA8bZmn88V0NTgnBwcHIMLAkFZXfYMnYb82UE7E9pPq3x7IkWLKmLqsfwbIIp9oIkgf6dd0SAdT-jBuLoy0YFWpfgy7uYCWHYR3MSK5xGR74PIK3bC7WdZodJeMuJVJ1yPgjPUN6TW4OQpWpMcDk7V01No0wMPH136f26r3dOe35vV64gn7GIyX8OoTzP0YD5lvZ_ClyIT73Wcj3IFkgQ4AygVD39pZTFmG_ea_SEqM7FZ354v_g2kSx8mByHukdM6bFa5Dkl4tlj5YCuasCukxxXoXLyNawevWBAj08NjeqpZSTzDnwtLVDZzDFkYxOc-gKrpAi6X4Kcj-E7sOjbovd8pvzy8CEIcUjR34-B3xQpYYq7KUmraITR6U2FmKAQTlITujAJV-5sqF49KVIqvaV0Pp4wr1L3JRnEqnimDN9vulMXrOm_IF6BnOGh_9toykiv2T76heEwSgDB_mZNjm3jbJEAdoGx--BhQUwQR7VNRDO8fnwU7qTbt8cC7wWiZuJHjfJYxlw9I8UhzCvQxHyHidJv08xf4AtPJzWohz5Sc9Ygoyer8ucBp9oLS8EjsBbHNeehuQS428hj-X6UviDrEXDGzGcLS8agApdvBkWD2SGe86w5HwwcrP6JUjx39lqiO970vZsO0ggYvPcOnOKildjqPG1WPASr8vNSULP55r0M9BXgZ6vjI5tbWMrZ3Q0C80QH9wmaz64SmrOLODLAb2NVDJoJ-Z4dWUZKucKSSngYmtfhI5CRkHT4S3kH0-qxAbkTJLwnuBs5yvVSzyBK7n3hXCnnyZ-mGmySlB0MYH1FgdVS3yN-bRJsthyDHYr2DQIjMLd9eAT5R-AqIDoqtB8IglMZR2AxUnSODg2SunglEhanEJPROvLT3czmEEh3J5yCjYpZCT_q1rhmVvThQQQFsBDwwT0jzZiT0A4l1xMIi6dZnobdsw-V_gW0vtuedPQu3tBSjo-LHbcIYTtfw2UWrS4XS1YRTmjazOpaw8_zc0cOkkvfiR8Ac8I2Ea6jCuIRWUlS162e4eEuzJOoM437Y7T_w2xgfa6wEYLVtRXm8HBRqEIZa2EQ==",
  "id": "rs_010e539e5f3137f3016ab45981893c87d08db79cc0ec4a7d9e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The corrected approach places the fingertips farther around the yellow fruit. I’m closing again, then I’ll check whether the grasp is secure.\"}",
  "call_id": "call_pj9RpRCHlQ5924kaDnTAZOGa",
  "id": "fc_010e539e5f3137f3016ab459822da087d082287e231b9347ff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pj9RpRCHlQ5924kaDnTAZOGa",
  "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]: [-0.02, 0.8639, 0.6621, -0.5209, -0.0135, -0.0338, 0.9959, 0.7887, 2.0056, 0.9833, 0.1944, 0.6678, 0.3592, 0.0106]\nstate[eef_state]: left_x=0.2858 left_y=0.0003 left_z=0.1594 left_yaw=0.0028 left_pitch=-0.1537 left_roll=-0.0001 left_gripper=0.9959 right_x=0.3932 right_y=0.2457 right_z=0.02 right_yaw=0.0477 right_pitch=-0.0601 right_roll=-0.1779 right_gripper=0.0106\nstate[joint_eff]: [-0.0205, -1.6615, 7.1316, 1.6337, -0.0366, -0.0464, -0.0122, -0.212, -10.1402, 5.2171, 1.4774, 0.2173, 0.0611, 0.6813]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36554f7662d022f08c97d687321d2c676cf09891d2602bf1951c8f6b4be5b62e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29fc341a62c3ac8dcae8c6a27de4d079a97f7de49eb41bdd50df25a33142ef58",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af6d31177fe086215ea96b56e0767b409937a1f73c1f46ce5d0948610135bbb3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 3.859 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 57 changed as sent

message 65 changed as sent

message 69 changed as sent

message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8604, 0.6621, -0.5213, -0.0139, -0.0338, 0.9959, 0.8345, 1.9354, 0.9485, 0.1486, 0.6895, 0.4274, 0.9962]\nstate[eef_state]: left_x=0.2856 left_y=0.0003 left_z=0.1602 left_yaw=0.0031 left_pitch=-0.1507 left_roll=0.0001 left_gripper=0.9959 right_x=0.3743 right_y=0.251 right_z=0.034 right_yaw=0.0416 right_pitch=-0.0503 right_roll=-0.141 right_gripper=0.9962\nstate[joint_eff]: [-0.1026, -1.4701, 6.9675, 1.5995, -0.0366, -0.0269, -0.0122, 0.0889, -9.2786, 4.6154, 1.5409, 0.5201, 0.149, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8604, 0.6621, -0.5213, -0.0139, -0.0338, 0.9959, 0.7891, 2.0022, 0.9836, 0.1989, 0.6693, 0.3656, 0.9953]\nstate[eef_state]: left_x=0.2856 left_y=0.0003 left_z=0.1602 left_yaw=0.0031 left_pitch=-0.1507 left_roll=0.0001 left_gripper=0.9959 right_x=0.394 right_y=0.2464 right_z=0.0224 right_yaw=0.0439 right_pitch=-0.0526 right_roll=-0.1677 right_gripper=0.9953\nstate[joint_eff]: [-0.1162, -1.5385, 6.9538, 1.6288, -0.0806, -0.0513, -0.0122, -0.5128, -8.5538, 7.2274, 1.5458, 0.2125, 0.0269, -0.0904]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8639, 0.6621, -0.5209, -0.0135, -0.0338, 0.9959, 0.7887, 2.0056, 0.9833, 0.1944, 0.6678, 0.3592, 0.0106]\nstate[eef_state]: left_x=0.2858 left_y=0.0003 left_z=0.1594 left_yaw=0.0028 left_pitch=-0.1537 left_roll=-0.0001 left_gripper=0.9959 right_x=0.3932 right_y=0.2457 right_z=0.02 right_yaw=0.0477 right_pitch=-0.0601 right_roll=-0.1779 right_gripper=0.0106\nstate[joint_eff]: [-0.0205, -1.6615, 7.1316, 1.6337, -0.0366, -0.0464, -0.0122, -0.212, -10.1402, 5.2171, 1.4774, 0.2173, 0.0611, 0.6813]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36554f7662d022f08c97d687321d2c676cf09891d2602bf1951c8f6b4be5b62e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29fc341a62c3ac8dcae8c6a27de4d079a97f7de49eb41bdd50df25a33142ef58",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af6d31177fe086215ea96b56e0767b409937a1f73c1f46ce5d0948610135bbb3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFmHciwhtpmMNhAazuid8AVAN0OPRrDEgGTHW9Ha6CDbRYPOsrKBaxUNqqueKmEE5uKhUdbrcI9kgmKm_eqHOfKauNifyATTN5Fl7BqhMZnOM1Pew1Zofkzcq-YqBbqIIdbyimJQ-PBz1vVxJ-K8reeRa4tPOMcEjrM1khSX3OUN98N5vvYxVPuzch723RKveufv5Xy-7C_WxKQkm8IsWJtMQ7H0WqyUUSP8AfollP134pEpCRnarSdExu0dMYSy1LFthkHKCUtqxXZUMLF3_OdIhq4ruWlYP08mjNzq_s1ypAAoUmj1LR4zfoSWkveDwi6u76xB76rmdKJRMPOmHeK9u3dc4H5UB13o2w_MlaY6ul4GJ68-zFPSJ-n2r0n0RmCzo2otA41F75Vj5tEG7PckWKC8TIaWHf0zOFjqYZClh30_aTpleqTz4rRUA8FIEY5qCA-F7C1Kfh96tkrhKQiqUWxJEXEGZZxdXRNiexNgPcFxdhSPazMC5O8Y1K0tBaSYwJn9lsI_QGardVLjFEoxiwiapGP3N5MkSC_kfmkVJO3keXEcppFTsEn0SIuPGivakMDWTGnyb20_IzerbmyTMtZnysw_WDW9-I8PedSKoQ7TL3B6XSMMEWRI0Pm1wz0Km-45kXOI4lzbXgbxqt04ZG-s4irGekone-Hm63faYVxbxkVTcQg_jNB91ZTXNrujqAZUM3QGmL2_SFPVbWpwxqEoGBI1x5nXtmw3WzRSupo3xAGeARrRp9-SwJY4n7JI7a8xo2K7pBwJ1vF3ElaKiCV3XLQ4hWEAlvqsKN_5g149J8hhI9ecL_xxi2b6I41Eyu4Jrn5Lx9LMsK6hK9fPHgnuGfaE7X2nFFusdq9MhHGj0SIaDnhPZ6T9rOlAafiOMs3AzaaVIeeO2Bna-n2f15Iaurhq1PpSWXRuQ8lxRlgN5qtjsxxlb4GGilByyfhhDmQOJ1KNv0yOhfYe1F3EcAiMoVOm8k_49g8c0jpTPCGQ_2QciESzCmNlMQ8WI4oCs2F5LLXYwZ5PQjCYbhAFo-MreEWuVB4-nVcFUof7DqCg1nAZ4idyVKF53KQ-p7sBnab1shD1ekCQEAilQbB7pyHmY3R0l4iVHw-pZRcjAm9Yy12hPlFdh_NKhSAauH6SuKEltnfftzS4BYYO26UIhWFDwAghCMndx2UCSRwXiCMN_6kblnf770QGOBAby02OdDqZBGwDDlh9NYfhLeV5yYrCzy4TJosWa8nAfEPg0e8=",
  "id": "rs_010e539e5f3137f3016ab4598657a087d0bb5ee37d0ae661d2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0,\"right_z\":0.2,\"right_gripper\":1,\"right_roll\":0,\"right_pitch\":0},\"note\":\"The second close was also empty. I’m moving the right arm clear so I can locate the yellow fruit precisely rather than repeating the same approach.\"}",
  "call_id": "call_igMUjavk6UerJTlRuu70d9Cx",
  "id": "fc_010e539e5f3137f3016ab45986a3c487d0b023643bdd1bda45",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_igMUjavk6UerJTlRuu70d9Cx",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8696, 0.6621, -0.5354, -0.0139, -0.0338, 0.9959, -0.0383, 0.8425, 0.6548, -0.3916, -0.0105, -0.0387, 0.9977]\nstate[eef_state]: left_x=0.2836 left_y=0.0004 left_z=0.1552 left_yaw=0.0032 left_pitch=-0.1739 left_roll=0.0006 left_gripper=0.9959 right_x=0.3028 right_y=-0.0062 right_z=0.1874 right_yaw=-0.0132 right_pitch=-0.0116 right_roll=-0.0135 right_gripper=0.9977\nstate[joint_eff]: [-0.2256, -1.9077, 7.0222, 1.7656, -0.0415, -0.022, -0.0122, -0.1709, -1.7983, 9.3607, 1.6874, -0.105, 0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:005ec1942fff6e1fd9f637a9730b2cc90f3842d57acf06d3faeea4bfd2dcda11",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8208f23cc2e5a49667b49303775adf912f13b478c884a4c1dd23325de091b8d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7ee8135cdf90a3618c4638a0b855f5e6711af53ad9bb4970378278e1797f5e3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 4.671 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 61 changed as sent

message 69 changed as sent

message 73 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8604, 0.6621, -0.5209, -0.0139, -0.0338, 0.9959, 0.8341, 1.9419, 0.944, 0.1722, 0.7021, 0.4191, 0.0102]\nstate[eef_state]: left_x=0.2856 left_y=0.0003 left_z=0.1603 left_yaw=0.0031 left_pitch=-0.1503 left_roll=0.0001 left_gripper=0.9959 right_x=0.3761 right_y=0.2502 right_z=0.0342 right_yaw=0.0373 right_pitch=-0.0355 right_roll=-0.1455 right_gripper=0.0102\nstate[joint_eff]: [-0.1846, -1.5658, 6.9812, 1.6142, -0.0513, -0.0513, -0.0122, -0.0205, -9.9077, 5.6821, 1.2039, 0.0757, 0.0757, 0.9011]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8639, 0.6621, -0.5209, -0.0135, -0.0338, 0.9959, 0.7887, 2.0056, 0.9833, 0.1944, 0.6678, 0.3592, 0.0106]\nstate[eef_state]: left_x=0.2858 left_y=0.0003 left_z=0.1594 left_yaw=0.0028 left_pitch=-0.1537 left_roll=-0.0001 left_gripper=0.9959 right_x=0.3932 right_y=0.2457 right_z=0.02 right_yaw=0.0477 right_pitch=-0.0601 right_roll=-0.1779 right_gripper=0.0106\nstate[joint_eff]: [-0.0205, -1.6615, 7.1316, 1.6337, -0.0366, -0.0464, -0.0122, -0.212, -10.1402, 5.2171, 1.4774, 0.2173, 0.0611, 0.6813]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8696, 0.6621, -0.5354, -0.0139, -0.0338, 0.9959, -0.0383, 0.8425, 0.6548, -0.3916, -0.0105, -0.0387, 0.9977]\nstate[eef_state]: left_x=0.2836 left_y=0.0004 left_z=0.1552 left_yaw=0.0032 left_pitch=-0.1739 left_roll=0.0006 left_gripper=0.9959 right_x=0.3028 right_y=-0.0062 right_z=0.1874 right_yaw=-0.0132 right_pitch=-0.0116 right_roll=-0.0135 right_gripper=0.9977\nstate[joint_eff]: [-0.2256, -1.9077, 7.0222, 1.7656, -0.0415, -0.022, -0.0122, -0.1709, -1.7983, 9.3607, 1.6874, -0.105, 0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:005ec1942fff6e1fd9f637a9730b2cc90f3842d57acf06d3faeea4bfd2dcda11",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8208f23cc2e5a49667b49303775adf912f13b478c884a4c1dd23325de091b8d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7ee8135cdf90a3618c4638a0b855f5e6711af53ad9bb4970378278e1797f5e3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFmNwP4ikmnClrXjq5aXwzS_0JXO0a1xdqff6ipOARhmAyOtasUckNbthfULxKtt7IKZDNxZfKZ8zitCPqjlDAGEhXGgRWTptOHJ4uiKFfE10pXe5JcfST_XNZahMejUJDVJwsgNShTkureHanpElI7HIr49ZVKn6JggO4AgHndV931YoYR2AhIx9lHkHrg1Mg_355sF0J3b5cE2eMIgluetHRHD73DH_mpFYaEB5svWMWWPt6td3R1rywgKs_YsHBcJ4Q54Fdstl4AzHCdM1vU_Acv3JK15QXnlyl5hZuW2GRimSRI3FjJ2NM1Rv4CvCwgftuaDOuTefd-_TAPWYKMFeB12Q-zc2b2drBS_G2c7tVq4BTgd-0sH_e00_Mtvpc88b0jAwVGAcJ099qwEdzMPlPAClTflQ_E46pOF1SjKjiYapnr6epnh2DcRERUAS4eYBw2_YgYLkZysUH0SSJ-plzCxyz1LOPPyrla8ZCDBVPKMxIg3MXl2CUh6KayzadxlpaY3ApHFXJxZ-KlCvsTSnLgua34uMpjjjS3iUN2PZIRjSsRuHVNVz25Hu8PZ7Wfpj3okCN1wVfKkz4ZVY18ky1_Dyj7hQa3suXp8TpXiHLTCpr6Sul-ZW-cE4vTA0ef8q7OYnELLXbeKRBkx1QHw98aG2rlsgIF3zOQO6Rx3gk4YVko-YjoIvuQ1i_yoiKn9Dkdk8gCNGm62GD6Isgc855Rjdm02TD4pKM0j4RnoNEm4kWi8JN0wKSgDzw3a01comQld-x2NL4PtMKtF7BjVIn8W2wX-u_2SKiQcn_bJh8a6GFoGKZXNprNYJ1LiGdsKMFvn2zpJ99mun06JniopsCeRUfEUuQ-9K8tCRX-d82ZOJvYssVBe4Q-LP0982uOX34vXBYsQnH5nwwvdIWPqkWh0ZyRDNkIN4bi7rMPeSJIzbRI3eYimFpcQ5zq_27eT9MhI2UaRGOFy0TfawFrOtIdzrNy5inMPJ-tt4jnaZh6yC1umJwtDazxYTnDlGQz9s3IS1KNELeoFHOe-4eBkbGGRUt7F8mU7Nu-JuXt38hUNux6oSIzkmaGNQmVW7zQx7mLlZN4j7dLS48r6awIWKJR3JeEZrV5dFvI-vgnQ6_cmJDodI3x_PIcps-vj73IMcETHs5PTyzih3wAmGVcaJv7kl3AYcu8GvFPooUSxWjkkeA5GIScFxq5d2nmQ9mH8B0_ayWswNAAipIk7ilZZxNOnd2E9G7GfvyyWyTZI-_OgbKvAuX-NBm-mxN2E4wBtF-LF-B-aMhAr77rHXGHiidtgDspx8GrpaHNOd1sPkv1DpK_f9cXgw49B0cLycFHOF5W52N7qJIstQTapsDs5BK1gFU9Zbj_QUdWD9LMai4qVtsntyzc0Y35zs8dXk-nzKcnfSMTUNHbl8ZxvTpoqQ5ctz2M86o7sgIunoU2pFyZ_0AOK4s6umTAwOAwVHHIfENcCfk-2_oDD3wwcVSzFjSS5EPHCKr7jC2z6-sj95To=",
  "id": "rs_010e539e5f3137f3016ab4598b12f487d0889ed9fa73f419cc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.235,\"left_z\":0.12,\"left_pitch\":0,\"left_gripper\":1},\"note\":\"With the right arm clear, I can see the yellow fruit has shifted toward the front of the table. I’m first picking up the dark fruit with the left arm, away from the bowls.\"}",
  "call_id": "call_m5tZLDcJswAKAaeCRS18Tjk2",
  "id": "fc_010e539e5f3137f3016ab4598c411887d0896512d25a6be444",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_m5tZLDcJswAKAaeCRS18Tjk2",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0, 1.5085, 0.807, -0.2298, -0.7544, -0.7158, 0.9965, -0.0376, 0.8471, 0.6609, -0.4164, -0.0189, -0.0605, 0.9982]\nstate[eef_state]: left_x=0.2929 left_y=-0.2256 left_z=0.1038 left_yaw=-0.0173 left_pitch=-0.056 left_roll=0.0402 left_gripper=0.9965 right_x=0.3005 right_y=-0.0044 right_z=0.1838 right_yaw=0.0064 right_pitch=-0.035 right_roll=-0.0261 right_gripper=0.9982\nstate[joint_eff]: [-0.4444, -6.5709, 8.4581, 1.3748, -0.6911, -0.0464, -0.3736, -0.1709, -1.935, 6.5299, 1.9902, 0.0611, 0.1734, 0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d08a21d186119aac6710092a58540d99bfecea5d789591a1927fe84f09c40a2d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:148bd090477619a7c8e09a6bffa8c97978f63b4eacac90347711530df6bd1981",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e744de7435ecca6112b4818f90e647e0e2b039b529978a78e8214c52a8abbadc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /responses · status 200 · 2.263 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 65 changed as sent

message 73 changed as sent

message 77 changed as sent

message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8604, 0.6621, -0.5213, -0.0139, -0.0338, 0.9959, 0.7891, 2.0022, 0.9836, 0.1989, 0.6693, 0.3656, 0.9953]\nstate[eef_state]: left_x=0.2856 left_y=0.0003 left_z=0.1602 left_yaw=0.0031 left_pitch=-0.1507 left_roll=0.0001 left_gripper=0.9959 right_x=0.394 right_y=0.2464 right_z=0.0224 right_yaw=0.0439 right_pitch=-0.0526 right_roll=-0.1677 right_gripper=0.9953\nstate[joint_eff]: [-0.1162, -1.5385, 6.9538, 1.6288, -0.0806, -0.0513, -0.0122, -0.5128, -8.5538, 7.2274, 1.5458, 0.2125, 0.0269, -0.0904]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8696, 0.6621, -0.5354, -0.0139, -0.0338, 0.9959, -0.0383, 0.8425, 0.6548, -0.3916, -0.0105, -0.0387, 0.9977]\nstate[eef_state]: left_x=0.2836 left_y=0.0004 left_z=0.1552 left_yaw=0.0032 left_pitch=-0.1739 left_roll=0.0006 left_gripper=0.9959 right_x=0.3028 right_y=-0.0062 right_z=0.1874 right_yaw=-0.0132 right_pitch=-0.0116 right_roll=-0.0135 right_gripper=0.9977\nstate[joint_eff]: [-0.2256, -1.9077, 7.0222, 1.7656, -0.0415, -0.022, -0.0122, -0.1709, -1.7983, 9.3607, 1.6874, -0.105, 0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0, 1.5085, 0.807, -0.2298, -0.7544, -0.7158, 0.9965, -0.0376, 0.8471, 0.6609, -0.4164, -0.0189, -0.0605, 0.9982]\nstate[eef_state]: left_x=0.2929 left_y=-0.2256 left_z=0.1038 left_yaw=-0.0173 left_pitch=-0.056 left_roll=0.0402 left_gripper=0.9965 right_x=0.3005 right_y=-0.0044 right_z=0.1838 right_yaw=0.0064 right_pitch=-0.035 right_roll=-0.0261 right_gripper=0.9982\nstate[joint_eff]: [-0.4444, -6.5709, 8.4581, 1.3748, -0.6911, -0.0464, -0.3736, -0.1709, -1.935, 6.5299, 1.9902, 0.0611, 0.1734, 0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d08a21d186119aac6710092a58540d99bfecea5d789591a1927fe84f09c40a2d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:148bd090477619a7c8e09a6bffa8c97978f63b4eacac90347711530df6bd1981",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e744de7435ecca6112b4818f90e647e0e2b039b529978a78e8214c52a8abbadc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFmU0lcYLgkrfK1ttieYxurMiJ_A7MmvSF0zkfS-CjbAYyuaxDwwxvVp8LVdBJ8-XUlhdfT3XL0nf9iPyR-iypJf53Q9bqX39z5iMWRIcUArQsvpf1ZgJt-ALOmZ6LQMz7dLrXuPPiZaZdgF1njST8C-NzRkMg6oVyzv2yJbUHIbgnMKDiVxNvd3wjRaN1xHWpyb4-R7S0fMGEKwvyCOmxTcU964-o26D8H4GuyJcS6FK-bpno8D2mhmaN6QOqZkesa1PrjYzPubOsOPFex6qRkHCfe_F1GtaYqGaeTwifMk2dkoLU0trquz9pxzkRytO2uQLuVWdaydGou8d8Y1X63FtX7OyRFp0q_EptulLQIoqrAm-x7_DfFepFGSACIqeqJDU_zGJ-QtaHCUycKJcuwx0OHDGDbXoFH6f-8y6THm5LKw6izgBGc8UxL3flEkCHV8g9BEe1haKC0vvHzfSM-vIuJYC7YrA9Yyd6g0dLepWj5qX44geVHewwTkPdSu4tOiFk501pb_fAC5UncJMOActiNE6U4t37_i8e67ae-qFTMfb2DowY6FMNAI42fvttjQUPQUQon09MQr6dj-PABS9PtX8Rz_RYD8BaPFZh9i5KBERtkXKCDGTn-s5UuzL3C5uatgzLIoEvqNxKAl_8ncmTyT8e3Bl6TVX9TkDz4rydw_H42P6z0RwaTcjzgzy0irznr9iJub_YZPcq1FBvX7mcg9-PPB8JxQrwJDmXumzAYlGf9wBjV6RtyM0EBd9d9aQQHT3FSN7iZZItKMLs1ukg_aPtH0fvy407SfnUclJGFQFwUwCtizemqDN2D1OP8Ef4Mta5eUJ6kCFVWmD2S7xBWZhnq59ItM6VygVwsQSmaaT_21znADXKd7KkBGoDy_00EA1-TjNb3788T7O1o1qiUbSXQ7ePNnQqogKilRvouYDFKxP5Kg5dd4SpRlawqtu2sQvMhbJbDQQKdIvzg6aM-C0onVt-tQZOCel9hLgE_UQtK90ONBu_F3HmqVK4syrj1ZLTexoM-GNiUq3UY0SopJK28-Ht26mHH186Blpu7zgWmlwuYuykL7JyB75udVWBmE_q4ROxeqy7hCaLogkucVj5ivF7H9HyXbQXV_6N_KRW-j-KA6GCSiSsmW22zIvg6aeij9aPxpn2e4i2GiBNPzJJo4e7QQRrTdGoPlYx6fjuvbX-s77kGL1OOHlXQIgMdt5w_pzxPNJKlZJt0iXhH9l9StWsJ9LoricvZwUL3aDOlCMuQLwl7YC9joyjAZh52TTZy9OLxNBwZsiE-yYDT2FpsT1s8VjQrw69hcj2f-HCMtcNA3PXrU-wpbh8YSHKYGerLzhkp-4zUZ7wUsfOuoMgy9y6sA0ls7Z-G6T_0Qey4F0sDoY5AULYlsbThAxBLwm5TWKrK7WQpgoHcSl4YG_1ZT9jEaP4giC6F0rcfI0RJBM32w4zULOutbS7EjI-Xfb15i2JI-zofqdVFtGU_irnrkr_pcZZmpKptUtM8WoJnV0zI1Y536a18mGRpE7z6c83hiuAxW2pBGrEMCzWT-tz5ez_JTqJci4JbhVgfgihJCh9ZDuZjXVTnvjzHsmlSfBp1_nfRt6tPvBYFEIXURErzg3FWsiEubeLQK0oqGnWsSwCP09SMCTVePr1RbKAbJkwSyBEv0jgLOOWY2YMdcIOo_UjFiPCc-PDwgiEXzGZEmtNA5UVG8a3QN2cVZ_8FonpepaTS7W4vx47zvhOqhs8Hk78oa5hDLq7WuVkPJ7-lxwPp4qNbLJuMntefvc-d94gYu_weKcwhXgdGgeJn0Yjz4Y1ZJcyt7_XCghbXxAZpebT2MvJolzTZXJ4_5hwc_5Ft-050ByQYN8IXQ3sVQZEs6kqT1xOmyX5NwzWIT6kyiTFXkC_7PHuRqozxgVaA_NDFpDdM9GQPXytMJgjX8k316O6DFhY1U9ffePQ9GOtn0OOet4kbNSjcKJ7vR9maQYRm17K-zWChKr63wCvicN1TRZUqEInj3_ror3lDSRf0_yB4ICWHO3SnoJRLzedFCbn6nWhmxcM7iCtjIhxwSId9E1cs1dI1nu87Ag5VXf6V8bPjP3jdPXZW6y69RLKQZb9sEi3JChHBmlEQf5SxTp2xI7BzvkRBBCa2cgczJv82h07cStBu0zllD-9dcxdN-MGap5BlpsAhKDmGQ4DNV0q-VYiIDTWGct7TgaV4=",
  "id": "rs_010e539e5f3137f3016ab45990d99c87d090eb8948eb82099c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.235,\"left_z\":0.015},\"note\":\"The dark fruit is centered in the left wrist view and directly beneath the approach position. I’m descending vertically to put the jaws around it without shifting it.\"}",
  "call_id": "call_7UhSjQhw5PiLtlWa3O08MaXv",
  "id": "fc_010e539e5f3137f3016ab45993366087d0b2c9a245eac13fb9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7UhSjQhw5PiLtlWa3O08MaXv",
  "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]: [-1.0016, 1.7798, 0.6914, 0.0956, -0.7467, -0.7227, 0.996, -0.0376, 0.8471, 0.6609, -0.4206, -0.02, -0.0612, 0.9982]\nstate[eef_state]: left_x=0.2931 left_y=-0.2288 left_z=0.0139 left_yaw=-0.0159 left_pitch=-0.095 left_roll=0.0825 left_gripper=0.996 right_x=0.2999 right_y=-0.0041 right_z=0.1829 right_yaw=0.0078 right_pitch=-0.0392 right_roll=-0.0259 right_gripper=0.9982\nstate[joint_eff]: [0.1983, -7.4051, 4.3009, 1.2869, -0.3736, 0.0757, -0.0611, -0.1983, -1.5932, 7.0222, 1.7705, -0.0269, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c60f13d398e2131894e6691169cea282540fedbe28419e0ab598510abbca264",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccb38e8ba1f8428e9750fc9a96e2c54a802a9344b71dc3dd65fd6493cd807599",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bcf31b80aeb8d1a1f87c23345db774a605455f6914a859df8df0c3ba8f175f7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /responses · status 200 · 3.18 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 69 changed as sent

message 77 changed as sent

message 81 changed as sent

message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8639, 0.6621, -0.5209, -0.0135, -0.0338, 0.9959, 0.7887, 2.0056, 0.9833, 0.1944, 0.6678, 0.3592, 0.0106]\nstate[eef_state]: left_x=0.2858 left_y=0.0003 left_z=0.1594 left_yaw=0.0028 left_pitch=-0.1537 left_roll=-0.0001 left_gripper=0.9959 right_x=0.3932 right_y=0.2457 right_z=0.02 right_yaw=0.0477 right_pitch=-0.0601 right_roll=-0.1779 right_gripper=0.0106\nstate[joint_eff]: [-0.0205, -1.6615, 7.1316, 1.6337, -0.0366, -0.0464, -0.0122, -0.212, -10.1402, 5.2171, 1.4774, 0.2173, 0.0611, 0.6813]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0, 1.5085, 0.807, -0.2298, -0.7544, -0.7158, 0.9965, -0.0376, 0.8471, 0.6609, -0.4164, -0.0189, -0.0605, 0.9982]\nstate[eef_state]: left_x=0.2929 left_y=-0.2256 left_z=0.1038 left_yaw=-0.0173 left_pitch=-0.056 left_roll=0.0402 left_gripper=0.9965 right_x=0.3005 right_y=-0.0044 right_z=0.1838 right_yaw=0.0064 right_pitch=-0.035 right_roll=-0.0261 right_gripper=0.9982\nstate[joint_eff]: [-0.4444, -6.5709, 8.4581, 1.3748, -0.6911, -0.0464, -0.3736, -0.1709, -1.935, 6.5299, 1.9902, 0.0611, 0.1734, 0.0415]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0016, 1.7798, 0.6914, 0.0956, -0.7467, -0.7227, 0.996, -0.0376, 0.8471, 0.6609, -0.4206, -0.02, -0.0612, 0.9982]\nstate[eef_state]: left_x=0.2931 left_y=-0.2288 left_z=0.0139 left_yaw=-0.0159 left_pitch=-0.095 left_roll=0.0825 left_gripper=0.996 right_x=0.2999 right_y=-0.0041 right_z=0.1829 right_yaw=0.0078 right_pitch=-0.0392 right_roll=-0.0259 right_gripper=0.9982\nstate[joint_eff]: [0.1983, -7.4051, 4.3009, 1.2869, -0.3736, 0.0757, -0.0611, -0.1983, -1.5932, 7.0222, 1.7705, -0.0269, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c60f13d398e2131894e6691169cea282540fedbe28419e0ab598510abbca264",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccb38e8ba1f8428e9750fc9a96e2c54a802a9344b71dc3dd65fd6493cd807599",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bcf31b80aeb8d1a1f87c23345db774a605455f6914a859df8df0c3ba8f175f7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFmX2ExP2RgOHKxpqsk0e7Xmj6NLum0sugqtorvrWFdbQq8bp14wX2CGpU1gsnlcCWcrZ1zyzQvvzfW86PC-0G_thWyL7qqbBkAOrE0ouSU40rLwDd7OaOEdHxUmNoRU96D391zpHxycTs5AqddHSPVCKczj3IOrFgHV2cNTXcYY5SzeeTx8opKQDGI-T7pKXqKeX01ObRqDX4CpIwEgHEjEPmbvU2jS16qOm0vyLEmTAuFsnGoZd_mR71IHH_rmikol0Et8i9CPVsduL8wBM4sqHVTd10p3uLpinheP_a1-oe0bNN4Ar8UtSoeHvOQXBmmLYrnRydYoKyYED3ryHqe5G7TkemWg7-FT8bZCyt6dn9ulnLRtngZGuwE_MHfNuYR4oXdLGrSzBSMmJY3ov1OiZkjnVFc96Mv5-wWjCyGfx3gufQfidVnKXughyNmxnY9MRVbGqaQE0rkNZPfCYiOo8ic1UzziBC6GKn_hpLJL6w7ipqcXD4SWeRCA8g2XMi_G-OYr_oF7XkzD22iMN2_eV6pGAUWc2KNQuG2wrqxZp4f0n0N8zIRuYgFsLv1A_zPifvPcVR1uP58RcMUZ7p6dc8L6LGmuMXeLomXzAzPvcdUX7lOD09y_4v40qtYal4-RwEtidbtvby6cm1u48InU-F2850aAjCdrx4WDp2MfopAidmHNUUmT0tM98Vgtu5pEf5Sizw-3IW5WaZlfebcORnii9X2sdGi7k_S2Gr_BC__BWHAL6nvxGhspgUiYAymcZt9Jm2FAqJ7DmmBDAJ3id3OEIl-4xY9HrFaj8tZrcyrnzeuyoWiLACZ2qmmWXX0To1fOzmWBoKEHwy_4u-ea3sEWzaKlsVTXQME_lTFk2MekVSPI2XQSA4RSrQb1tPQ0n5hFZFz8Tj7YPZKg9iyFdi_8MPksAGvOboH7p_etGztsO0BG6nU2qUsfaR4ufQWdL7UK9PtrPgfa7cRNyyLUhmk6qEjh1Z4nRqc99_oWJ8mtpAZ3N_5wuNC3yP4IjX8f4LQzQfJmJprbjcdczEim0v4PfQq7uhANkPyYBYS8kar6o9R67CB3_oEknapw_veAXLj-Hg3uA32KZdIaUcv_f9QfgGfwx0auZTDYtoXKWXWyu0zU-1q7erWQ4cPaUV8EzN3A7JhFoGf0iT_vIygcfx_Ml2wL-XmDjC9SIAZMpSpXOowpG0Gbqnf5FQqXPKdUHVSpYAfY6Mh90WmaNV7Ptg==",
  "id": "rs_010e539e5f3137f3016ab45996038887d0a8b152b927ac8344",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The dark fruit is enclosed by the open jaws. I’m closing the left gripper to secure it.\"}",
  "call_id": "call_HipnVAGurLzG33le77firttP",
  "id": "fc_010e539e5f3137f3016ab45996600887d095ca4f9f459d8c72",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HipnVAGurLzG33le77firttP",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0016, 1.8053, 0.6807, 0.0933, -0.7433, -0.7265, 0.0098, -0.0376, 0.8471, 0.6609, -0.4274, -0.02, -0.0643, 0.9983]\nstate[eef_state]: left_x=0.2891 left_y=-0.2234 left_z=0.0021 left_yaw=-0.0124 left_pitch=-0.1185 left_roll=0.1103 left_gripper=0.0098 right_x=0.2989 right_y=-0.0041 right_z=0.1816 right_yaw=0.0094 right_pitch=-0.0461 right_roll=-0.0281 right_gripper=0.9983\nstate[joint_eff]: [-0.0615, -9.4701, 5.3949, 1.1355, -0.3736, 0.0171, 0.696, -0.1709, -1.5795, 7.2137, 1.8046, -0.0269, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2ae9e1b6657395286d25841e807a1e3941e4deedeb102e68b2c5ea3d69b1f7e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bce49f9afc5730a865d773fa50ba3d762c4dc64683534b4399344cc3a511489c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97f7c37ce276b945e90a496612dca06f0f75187835b70d0bbc30942cb168ee55",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /responses · status 200 · 2.195 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 73 changed as sent

message 81 changed as sent

message 85 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8696, 0.6621, -0.5354, -0.0139, -0.0338, 0.9959, -0.0383, 0.8425, 0.6548, -0.3916, -0.0105, -0.0387, 0.9977]\nstate[eef_state]: left_x=0.2836 left_y=0.0004 left_z=0.1552 left_yaw=0.0032 left_pitch=-0.1739 left_roll=0.0006 left_gripper=0.9959 right_x=0.3028 right_y=-0.0062 right_z=0.1874 right_yaw=-0.0132 right_pitch=-0.0116 right_roll=-0.0135 right_gripper=0.9977\nstate[joint_eff]: [-0.2256, -1.9077, 7.0222, 1.7656, -0.0415, -0.022, -0.0122, -0.1709, -1.7983, 9.3607, 1.6874, -0.105, 0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0016, 1.7798, 0.6914, 0.0956, -0.7467, -0.7227, 0.996, -0.0376, 0.8471, 0.6609, -0.4206, -0.02, -0.0612, 0.9982]\nstate[eef_state]: left_x=0.2931 left_y=-0.2288 left_z=0.0139 left_yaw=-0.0159 left_pitch=-0.095 left_roll=0.0825 left_gripper=0.996 right_x=0.2999 right_y=-0.0041 right_z=0.1829 right_yaw=0.0078 right_pitch=-0.0392 right_roll=-0.0259 right_gripper=0.9982\nstate[joint_eff]: [0.1983, -7.4051, 4.3009, 1.2869, -0.3736, 0.0757, -0.0611, -0.1983, -1.5932, 7.0222, 1.7705, -0.0269, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0016, 1.8053, 0.6807, 0.0933, -0.7433, -0.7265, 0.0098, -0.0376, 0.8471, 0.6609, -0.4274, -0.02, -0.0643, 0.9983]\nstate[eef_state]: left_x=0.2891 left_y=-0.2234 left_z=0.0021 left_yaw=-0.0124 left_pitch=-0.1185 left_roll=0.1103 left_gripper=0.0098 right_x=0.2989 right_y=-0.0041 right_z=0.1816 right_yaw=0.0094 right_pitch=-0.0461 right_roll=-0.0281 right_gripper=0.9983\nstate[joint_eff]: [-0.0615, -9.4701, 5.3949, 1.1355, -0.3736, 0.0171, 0.696, -0.1709, -1.5795, 7.2137, 1.8046, -0.0269, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2ae9e1b6657395286d25841e807a1e3941e4deedeb102e68b2c5ea3d69b1f7e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bce49f9afc5730a865d773fa50ba3d762c4dc64683534b4399344cc3a511489c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97f7c37ce276b945e90a496612dca06f0f75187835b70d0bbc30942cb168ee55",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFmbilPO91bZy7mtpgKIN3VKFfRelyuIFhIgE0FPA96M9_IGyBD5fv81Rm-_c5jYktHlCaiPo1r2pExSM_yVi-B_6fclB9RSpCQJxGJ8HeQ-8jly50nYBcaFMm7fSL8jvJ7vSJo5wmFzFf3SNglMcKdz-K1mTLSxeV8tEWTY5_7Dzy-htThGrkEIi8qcRnx7c-rT1XW9MArJf7TlgWwguUZmXZRguPwAffqHmEvJ7Z-7M-7PcPWAoSwYSBplyYiNAI0gSTekxAJt_CNIMYELT2CEs6oVdO6Uqy08RJp-lIOi4CGXlVToA7V96LMWoWHHW57uSRdbIccsuZ5k5yFvqT_-Y49svbck_WcZsQkcwykPmFMDqRWoDLjshTgfn4uY32MVtTaLhgU-7c7UKcQhDOT4_YWbFtr_4ej1P6rG4rEo4Xk-vbH-DQ7g22ai2OVFscns-9sw2zczQj1u4WalXAD7E7Voa8XnYj4JOO7fDbpt0FuL6xYKPq94ahHPN3XQllT5ky4GjPifRoArM8_A1r1oS074-N_rcbBGTWm3758Yq63sv6I6QRkbV0tT7sznod_dERRbIobMjuIYswhiKJea3NfVoKmUTYMdjyRTYgG5tBsPkwdACYgl2IthXembzJDIKNNuQl7TNnobEp7zyVdQB7enJBv3_SdaN15Zn0iXFeyOKaRudrwEc0Un3jbbIEXifimqSFAnc4Ei9aBGcKFTd0jHk7sm2d7X98gksTcRPaowDnxn0sfNtqxT7oLx5FwxI8iaeLpFPvfEYdfw2Coot4SHkWAOd9w5pP7LZwLl82oyBMSeZr0up17KEJsHJWvLkyEx69S_ij9KG4mZ124dtndghs0hpHhGQTPOT2ki822wAq29FhaG8RmeeIVzT4X9sQy4dlJCHIdL7FUGvs98gH9ReiKCer-0U0C-L-HP3nqGA3zjpjlvmavdmbTc1BUX4XyYclDFG3I4BqvAcqMJNZ7tZfNknn8S34uWTU7gUfFrWJWugkqrD9i30uQmjqgG1Ee36hn5Tp5H2RScIM-FwytfAKUE-P1aN6_m-KHPr8_BO28Z1JiGzyTo2BSRJG7-8q03SrHmlsO60gQTJU7hUpCXw-Y4m8kCPWWh_8WI61uInrKzwJUHQgayk7XjzzqPfKehdqCM1ziXeHfPhFlXyyWbpOxqa63MV8wXjg-i52sI351v-rkTxVgBKtCPmFBzSIvH_LoSKK1Ff9CON6JM4LvtyDKrSr2fX92ppOpkIxgx7wx7jLxYfuJpOfyNyQt6Gn97HEsfswTicZaO_z3_9tnIsZdbF_3u6MfnUe30KfC28W1pkqJ6T0cRRuO_g5FHMXdZwsD2UzXG3e3DyYSK6cgwWV7YjAgBuHeHhzy_9xBKnAnE-ZHuSGpYT5xIcj9p",
  "id": "rs_010e539e5f3137f3016ab4599975c887d09640012fd1ce6333",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.24,\"left_z\":0.025,\"left_gripper\":1},\"note\":\"The dark fruit slipped forward as the jaws closed, leaving an empty grasp. I’m reopening and moving forward to straddle its new position more fully.\"}",
  "call_id": "call_bxxLwTyRfif6ANSghSOEiuAo",
  "id": "fc_010e539e5f3137f3016ab4599a184087d0bcaf8a26e60f13ce",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bxxLwTyRfif6ANSghSOEiuAo",
  "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]: [-0.8642, 1.8862, 0.8864, 0.0483, -0.6598, -0.598, 0.9946, -0.0376, 0.8471, 0.6609, -0.4393, -0.02, -0.0643, 0.9983]\nstate[eef_state]: left_x=0.349 left_y=-0.2365 left_z=0.0187 left_yaw=-0.0038 left_pitch=-0.1333 left_roll=0.1032 left_gripper=0.9946 right_x=0.2972 right_y=-0.004 right_z=0.1792 right_yaw=0.0095 right_pitch=-0.0579 right_roll=-0.0275 right_gripper=0.9983\nstate[joint_eff]: [0.9368, -7.8291, 7.5009, 1.2967, -0.3883, 0.315, -0.2418, -0.1983, -1.5932, 7.0359, 1.7851, -0.0659, -0.0415, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:272cc5680cd86ec60eca1eb6284f6c3845e011673f850e03ada8d7e11a8a0f8c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c57b40300be8b0cbf2a4d2c035af49bd73336efc529b067eaba0c65bbbbbcd8b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a432bce20669137e3b6e1da79aa5d54a6f54f2ffad9949adb66d7777b5c21fbf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /responses · status 200 · 5.416 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 77 changed as sent

message 85 changed as sent

message 89 changed as sent

message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0, 1.5085, 0.807, -0.2298, -0.7544, -0.7158, 0.9965, -0.0376, 0.8471, 0.6609, -0.4164, -0.0189, -0.0605, 0.9982]\nstate[eef_state]: left_x=0.2929 left_y=-0.2256 left_z=0.1038 left_yaw=-0.0173 left_pitch=-0.056 left_roll=0.0402 left_gripper=0.9965 right_x=0.3005 right_y=-0.0044 right_z=0.1838 right_yaw=0.0064 right_pitch=-0.035 right_roll=-0.0261 right_gripper=0.9982\nstate[joint_eff]: [-0.4444, -6.5709, 8.4581, 1.3748, -0.6911, -0.0464, -0.3736, -0.1709, -1.935, 6.5299, 1.9902, 0.0611, 0.1734, 0.0415]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0016, 1.8053, 0.6807, 0.0933, -0.7433, -0.7265, 0.0098, -0.0376, 0.8471, 0.6609, -0.4274, -0.02, -0.0643, 0.9983]\nstate[eef_state]: left_x=0.2891 left_y=-0.2234 left_z=0.0021 left_yaw=-0.0124 left_pitch=-0.1185 left_roll=0.1103 left_gripper=0.0098 right_x=0.2989 right_y=-0.0041 right_z=0.1816 right_yaw=0.0094 right_pitch=-0.0461 right_roll=-0.0281 right_gripper=0.9983\nstate[joint_eff]: [-0.0615, -9.4701, 5.3949, 1.1355, -0.3736, 0.0171, 0.696, -0.1709, -1.5795, 7.2137, 1.8046, -0.0269, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8642, 1.8862, 0.8864, 0.0483, -0.6598, -0.598, 0.9946, -0.0376, 0.8471, 0.6609, -0.4393, -0.02, -0.0643, 0.9983]\nstate[eef_state]: left_x=0.349 left_y=-0.2365 left_z=0.0187 left_yaw=-0.0038 left_pitch=-0.1333 left_roll=0.1032 left_gripper=0.9946 right_x=0.2972 right_y=-0.004 right_z=0.1792 right_yaw=0.0095 right_pitch=-0.0579 right_roll=-0.0275 right_gripper=0.9983\nstate[joint_eff]: [0.9368, -7.8291, 7.5009, 1.2967, -0.3883, 0.315, -0.2418, -0.1983, -1.5932, 7.0359, 1.7851, -0.0659, -0.0415, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:272cc5680cd86ec60eca1eb6284f6c3845e011673f850e03ada8d7e11a8a0f8c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c57b40300be8b0cbf2a4d2c035af49bd73336efc529b067eaba0c65bbbbbcd8b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a432bce20669137e3b6e1da79aa5d54a6f54f2ffad9949adb66d7777b5c21fbf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The dark fruit now sits deeper between the fingers instead of ahead of their tips. I’m closing for the corrected grasp.\"}",
  "call_id": "call_9pym4SjvjnCvzwfqTgXmMyYm",
  "id": "fc_010e539e5f3137f3016ab4599d7da087d0a63c56d7d860df3d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9pym4SjvjnCvzwfqTgXmMyYm",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8604, 1.8927, 0.8925, 0.0479, -0.6575, -0.6018, 0.5255, -0.0376, 0.8471, 0.6609, -0.44, -0.02, -0.0639, 0.9983]\nstate[eef_state]: left_x=0.3507 left_y=-0.2366 left_z=0.0178 left_yaw=0.0007 left_pitch=-0.135 left_roll=0.0997 left_gripper=0.5255 right_x=0.2971 right_y=-0.004 right_z=0.179 right_yaw=0.0092 right_pitch=-0.0587 right_roll=-0.0272 right_gripper=0.9983\nstate[joint_eff]: [-0.294, -9.306, 4.8342, 1.2772, -0.3834, 0.0366, 1.033, -0.1846, -1.5795, 7.0222, 1.7118, -0.0464, -0.0464, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd0975bee23dd3d0bd019e3f07926cd6ca6e7c786ec817f2e8e682c9a1b9ae1e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acb12cc31c86a70119798c2a0fe638b1afb33b69a5ce092f292d0cac47dd315b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec3db837145c82d107f60e0a5fed004e038766f154fd45b2e8a255558c98252e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /responses · status 200 · 2.523 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 81 changed as sent

message 89 changed as sent

message 92 changed as sent

message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0016, 1.7798, 0.6914, 0.0956, -0.7467, -0.7227, 0.996, -0.0376, 0.8471, 0.6609, -0.4206, -0.02, -0.0612, 0.9982]\nstate[eef_state]: left_x=0.2931 left_y=-0.2288 left_z=0.0139 left_yaw=-0.0159 left_pitch=-0.095 left_roll=0.0825 left_gripper=0.996 right_x=0.2999 right_y=-0.0041 right_z=0.1829 right_yaw=0.0078 right_pitch=-0.0392 right_roll=-0.0259 right_gripper=0.9982\nstate[joint_eff]: [0.1983, -7.4051, 4.3009, 1.2869, -0.3736, 0.0757, -0.0611, -0.1983, -1.5932, 7.0222, 1.7705, -0.0269, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8642, 1.8862, 0.8864, 0.0483, -0.6598, -0.598, 0.9946, -0.0376, 0.8471, 0.6609, -0.4393, -0.02, -0.0643, 0.9983]\nstate[eef_state]: left_x=0.349 left_y=-0.2365 left_z=0.0187 left_yaw=-0.0038 left_pitch=-0.1333 left_roll=0.1032 left_gripper=0.9946 right_x=0.2972 right_y=-0.004 right_z=0.1792 right_yaw=0.0095 right_pitch=-0.0579 right_roll=-0.0275 right_gripper=0.9983\nstate[joint_eff]: [0.9368, -7.8291, 7.5009, 1.2967, -0.3883, 0.315, -0.2418, -0.1983, -1.5932, 7.0359, 1.7851, -0.0659, -0.0415, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8604, 1.8927, 0.8925, 0.0479, -0.6575, -0.6018, 0.5255, -0.0376, 0.8471, 0.6609, -0.44, -0.02, -0.0639, 0.9983]\nstate[eef_state]: left_x=0.3507 left_y=-0.2366 left_z=0.0178 left_yaw=0.0007 left_pitch=-0.135 left_roll=0.0997 left_gripper=0.5255 right_x=0.2971 right_y=-0.004 right_z=0.179 right_yaw=0.0092 right_pitch=-0.0587 right_roll=-0.0272 right_gripper=0.9983\nstate[joint_eff]: [-0.294, -9.306, 4.8342, 1.2772, -0.3834, 0.0366, 1.033, -0.1846, -1.5795, 7.0222, 1.7118, -0.0464, -0.0464, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd0975bee23dd3d0bd019e3f07926cd6ca6e7c786ec817f2e8e682c9a1b9ae1e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acb12cc31c86a70119798c2a0fe638b1afb33b69a5ce092f292d0cac47dd315b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec3db837145c82d107f60e0a5fed004e038766f154fd45b2e8a255558c98252e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFmk4XH2AytYXWdh8ytyZglVdCg2H0iEGbGvJeDkuJexdNkUewIAwhUClsT-56zDjRd9ON0dAfoqNAQGQymvSRuMLrXQk6J8lOqPPmMkHRCoTmoTT9nox00H5zIvLFLxrzs4psfaCp9TVBDhwrLQBKqoQRLd4kLwi7vRiJrH0FHUDV04kFtXzaBLW1jXO6m3L7gg2n4nztSVcYkRtAE9sT7Jd_CBxhAwbgRgO12oQwlF5cjOmLipxiVy_6ccHRZykS1s9_yXX6ddRMvkDfu5HaD6z2MYGRJhRzEG_yuPVoQ_1cu6tdZO-qbeYziZSijxYWjG0W0I3UPRRGxLTycHa6bjHYSm5wtPyYVtmRQBQ2LncurzyUP9qR1sGLjgLq-9RDN_uQhWQsZv8VvLQXyG-3wl53cowI6Fk-7e1oHZM7jowT4A6I_S551zgsXyuGfBGQMxx6NJdUuOSBMrgdLZJhAsMhrlju86EBcukMMrz0MobjiUFcSb2OUdZ6XhIsciI0ggQzuC6THvy_xQYV-Ip2MTPqXF5-sr6fxPABXXiabsr8XRPRi4yVzHd4ZCkbj1swSmaWFufj_jh-bxiZXl5tYaPbON8A9t_qnDQh7bEfnDWFxNHa4gh0qHE8Bp5UpKCDW3NKec4vcBfUBzk29S1GRpvJ3Vb73GtqShMufOaejItJ_Zz-Svh4X5CyhD3GerFfUmzaAShsIlrd1-CTPkTMpQfXTt27oiKnm3GY_y4MxKrj3ibo0U0JrEMqblc41UjNdlf6h_UozYQ2LW4nkP71yzfzVlGW6D0BkBrJ9Ujg7fOWbotOaDRQGgA2UWfnimwt7rscre5mYmDtNQ5WoordBhQ9smqt9AucLmG_TLXV22w8HsYyAyM0Z2LvzYBvbhYFm_4jeziu7kyA6R4DtjYa1VCRkSvPPPVXWm0k1xdu8AcqiE0DT6UBocm0k1VNI3BbPk79olc5-1p10vISVK4pz3mUInXz9-wf6guZ1TCO-TuKjqdml-JHgQhdnbYsQ2Swkhh1SjSgN1ncNKIxpFaPRXK4RbpR-8Mq-lR2c_a1lypzZ2f6gQj0LEEmP5ED9MNIMFcWDYmVHrsExxCDf9sHOPJvHVFGo-Y_70HW18jnNfhNuRxKlqcskBQw0XBUKEELQkhcK6lnE6qk5ZepR8-xBP9d23BRZFdx-Fc7NGJUqxvRkZPPTib9_vX56du3LlFQXw1lWYXK6FBB3uQkdnOglUDpPQ9muTKOjQMH0siH5zFilHZyeuX4Z2tX5_BPMpr4TDOnbJTsLEma83TJ5kQWEf5_bbVSiUeRGcVOV93AFoOTZTjeTF1IBRFQT3fOud2CHpED80i60gnQiSX1qykvut7W8gAMMq6vOqQyXeREh_yOn1cQaO5w6Y14mo6LhY1E00j9Y3gEIRIYWnEQk7fXnL8MAHe5C4NkCyfG5rGMvPf4Xmeip9WqGrIp5yG2cMuFjbI-PoVntkNv8dr7QXpY-Ls1OYkPfJa3pcoHslUetEyByAsiy6oukJ0P-HrYHEPguZu2JRffjBzLhW4_0xkL4lISi6WqQORrFDpKXJH9lsUm_J-CuGpjC6dqXIX6ew5CUeXH1a48mPswWJVpcbaNAlgA0Lr9XIoMTbR5vPxAv6RM40E4gXh-Oqa2Vjy0iGkZ0zCV_aYQSmqzDN1cAYrkc8V8w0Err-S9vQXWqC5CBXhJQyfehZEDSAVzFEjLeQRxs6kBVPmXZReKy-qWg3BJs443mJPuKC9qEtKjsrwdIbp05qlq9w7b3kWq8REMHFQSs1Wu-ua1cLvQmWzl5eBIi29QNMLEoFwSjoRGLYkZ5vH8r6v0V5y8fUoT4uCzBvmnAU",
  "id": "rs_010e539e5f3137f3016ab459a0a65887d087f42d8bd8063239",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.09},\"note\":\"The left gripper has stopped at a fruit-sized opening. I’m lifting slightly to confirm the dark fruit is secure before carrying it to the blue bowl.\"}",
  "call_id": "call_gTtbu1LpsI0czrjcW74Rtccw",
  "id": "fc_010e539e5f3137f3016ab459a352ac87d09061ac4ea114bc4a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gTtbu1LpsI0czrjcW74Rtccw",
  "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]: [-0.8604, 1.7607, 0.9882, -0.189, -0.6571, -0.6098, 0.5251, -0.0372, 0.8471, 0.6609, -0.4469, -0.02, -0.0643, 0.9983]\nstate[eef_state]: left_x=0.3501 left_y=-0.2361 left_z=0.0712 left_yaw=0.0057 left_pitch=-0.1408 left_roll=0.1003 left_gripper=0.5251 right_x=0.2961 right_y=-0.0039 right_z=0.1777 right_yaw=0.0099 right_pitch=-0.0655 right_roll=-0.0272 right_gripper=0.9983\nstate[joint_eff]: [-0.212, -9.8393, 7.8701, 1.2283, -0.3687, 0.0317, 1.033, -0.0615, -1.4564, 6.9949, 1.7216, -0.0464, -0.0366, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f291599d0f897335f7f73d8ce33ceebe7c4b5e3d4b88deb928babfa983232b8b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de5fee762e662d98740f13bbe9319bb5c754410f97fed8306ff1823d0f1afe7f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:349f88e298764659262d9352d2d19317ef9a3a9351a03541569aa937a7a30f6a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /responses · status 200 · 6.288 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 85 changed as sent

message 92 changed as sent

message 96 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0016, 1.8053, 0.6807, 0.0933, -0.7433, -0.7265, 0.0098, -0.0376, 0.8471, 0.6609, -0.4274, -0.02, -0.0643, 0.9983]\nstate[eef_state]: left_x=0.2891 left_y=-0.2234 left_z=0.0021 left_yaw=-0.0124 left_pitch=-0.1185 left_roll=0.1103 left_gripper=0.0098 right_x=0.2989 right_y=-0.0041 right_z=0.1816 right_yaw=0.0094 right_pitch=-0.0461 right_roll=-0.0281 right_gripper=0.9983\nstate[joint_eff]: [-0.0615, -9.4701, 5.3949, 1.1355, -0.3736, 0.0171, 0.696, -0.1709, -1.5795, 7.2137, 1.8046, -0.0269, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8604, 1.8927, 0.8925, 0.0479, -0.6575, -0.6018, 0.5255, -0.0376, 0.8471, 0.6609, -0.44, -0.02, -0.0639, 0.9983]\nstate[eef_state]: left_x=0.3507 left_y=-0.2366 left_z=0.0178 left_yaw=0.0007 left_pitch=-0.135 left_roll=0.0997 left_gripper=0.5255 right_x=0.2971 right_y=-0.004 right_z=0.179 right_yaw=0.0092 right_pitch=-0.0587 right_roll=-0.0272 right_gripper=0.9983\nstate[joint_eff]: [-0.294, -9.306, 4.8342, 1.2772, -0.3834, 0.0366, 1.033, -0.1846, -1.5795, 7.0222, 1.7118, -0.0464, -0.0464, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8604, 1.7607, 0.9882, -0.189, -0.6571, -0.6098, 0.5251, -0.0372, 0.8471, 0.6609, -0.4469, -0.02, -0.0643, 0.9983]\nstate[eef_state]: left_x=0.3501 left_y=-0.2361 left_z=0.0712 left_yaw=0.0057 left_pitch=-0.1408 left_roll=0.1003 left_gripper=0.5251 right_x=0.2961 right_y=-0.0039 right_z=0.1777 right_yaw=0.0099 right_pitch=-0.0655 right_roll=-0.0272 right_gripper=0.9983\nstate[joint_eff]: [-0.212, -9.8393, 7.8701, 1.2283, -0.3687, 0.0317, 1.033, -0.0615, -1.4564, 6.9949, 1.7216, -0.0464, -0.0366, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f291599d0f897335f7f73d8ce33ceebe7c4b5e3d4b88deb928babfa983232b8b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de5fee762e662d98740f13bbe9319bb5c754410f97fed8306ff1823d0f1afe7f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:349f88e298764659262d9352d2d19317ef9a3a9351a03541569aa937a7a30f6a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"left_x\":0.445,\"left_y\":-0.395,\"left_z\":0.19,\"left_pitch\":0},\"note\":\"The dark fruit lifted with the jaws. I’m carrying it over the near side of the blue bowl, keeping clear of the white bowl.\"}",
  "call_id": "call_Ct87zVMuRpYr1sNC4T6Zoure",
  "id": "fc_010e539e5f3137f3016ab459a6a78c87d08a60b1f9f9b42fa6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Ct87zVMuRpYr1sNC4T6Zoure",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9367, 2.3455, 2.2036, -0.7322, -0.7715, -0.6281, 0.5251, -0.0376, 0.849, 0.6609, -0.4545, -0.02, -0.0643, 0.9983]\nstate[eef_state]: left_x=0.4469 left_y=-0.3937 left_z=0.1747 left_yaw=0.008 left_pitch=-0.0147 left_roll=0.0731 left_gripper=0.5251 right_x=0.2951 right_y=-0.004 right_z=0.1756 right_yaw=0.0095 right_pitch=-0.075 right_roll=-0.0267 right_gripper=0.9983\nstate[joint_eff]: [-1.0325, -15.0906, 8.0615, 0.8669, -0.6374, 0.1392, 1.0281, -0.1436, -1.7026, 6.9812, 1.7509, -0.0415, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4903f41410eabb7e96e3d4c24e03aea6533085da40afad81fd60327b22715065",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28e668b31b7f2c5ea427a0e3ab9fea39ba4f8d000f0e64b73d7a48e694853785",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4553d152f67b3b4bc12ed16d972d4fe8b3334614e7759e7e2b8f1818e74a02f7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /responses · status 200 · 2.224 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 89 changed as sent

message 96 changed as sent

message 99 changed as sent

message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8642, 1.8862, 0.8864, 0.0483, -0.6598, -0.598, 0.9946, -0.0376, 0.8471, 0.6609, -0.4393, -0.02, -0.0643, 0.9983]\nstate[eef_state]: left_x=0.349 left_y=-0.2365 left_z=0.0187 left_yaw=-0.0038 left_pitch=-0.1333 left_roll=0.1032 left_gripper=0.9946 right_x=0.2972 right_y=-0.004 right_z=0.1792 right_yaw=0.0095 right_pitch=-0.0579 right_roll=-0.0275 right_gripper=0.9983\nstate[joint_eff]: [0.9368, -7.8291, 7.5009, 1.2967, -0.3883, 0.315, -0.2418, -0.1983, -1.5932, 7.0359, 1.7851, -0.0659, -0.0415, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8604, 1.7607, 0.9882, -0.189, -0.6571, -0.6098, 0.5251, -0.0372, 0.8471, 0.6609, -0.4469, -0.02, -0.0643, 0.9983]\nstate[eef_state]: left_x=0.3501 left_y=-0.2361 left_z=0.0712 left_yaw=0.0057 left_pitch=-0.1408 left_roll=0.1003 left_gripper=0.5251 right_x=0.2961 right_y=-0.0039 right_z=0.1777 right_yaw=0.0099 right_pitch=-0.0655 right_roll=-0.0272 right_gripper=0.9983\nstate[joint_eff]: [-0.212, -9.8393, 7.8701, 1.2283, -0.3687, 0.0317, 1.033, -0.0615, -1.4564, 6.9949, 1.7216, -0.0464, -0.0366, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.9367, 2.3455, 2.2036, -0.7322, -0.7715, -0.6281, 0.5251, -0.0376, 0.849, 0.6609, -0.4545, -0.02, -0.0643, 0.9983]\nstate[eef_state]: left_x=0.4469 left_y=-0.3937 left_z=0.1747 left_yaw=0.008 left_pitch=-0.0147 left_roll=0.0731 left_gripper=0.5251 right_x=0.2951 right_y=-0.004 right_z=0.1756 right_yaw=0.0095 right_pitch=-0.075 right_roll=-0.0267 right_gripper=0.9983\nstate[joint_eff]: [-1.0325, -15.0906, 8.0615, 0.8669, -0.6374, 0.1392, 1.0281, -0.1436, -1.7026, 6.9812, 1.7509, -0.0415, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4903f41410eabb7e96e3d4c24e03aea6533085da40afad81fd60327b22715065",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28e668b31b7f2c5ea427a0e3ab9fea39ba4f8d000f0e64b73d7a48e694853785",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4553d152f67b3b4bc12ed16d972d4fe8b3334614e7759e7e2b8f1818e74a02f7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFmv7TNUscnA8cGdgmx1jHMAV9yrFglFrwXJaHCP-OAlRg47RfactpwbIbZC9W-T9ENXSzfdNGlQXvnFUz-n6Hq_0JxWy2oiTxYo85Aq1TvnHM_ZTGerJbNHio5nkRQjSSrDHszx1oMjTMu6XvWB6jE-1hpS7TVgoN2XLFmh0yxAfyvcCQHkxWgMbJ1cn1hIQzztzpXwX7M4gUCM6tYIGxX2-0k8_UTb6GOx2c7LFn4vBYyVnDCXsR7LJ2fweXUZlnSHlQyBEiUCUCVxHXXTJsmZufF1ChQ7aI8RRUni8q6nbH9jZDe4YuM7mKAbth5VFBnkSbZTnq9pWGVHa9qliceSu4uQjD4k4cx1HwCi4JxAlyT_eoHXbDCH3hdePMDN3xziwNYiIo9zfeKHov_Xp2eyih5Xwa1hhpvd7uXGwud0KtRlBh33kUHioPY3dBW6CaizDke7JMeaKNB2wa485v_OQtNbSTaX7MHikti-JnCPRnNfeeOg7PqBfeSfOUZbjmuHiAp699mfOVBQhw5_9OIPdaFYcnlU4TLlvZ5Egx5EN2rhqeZopXfMITyhaVfLwK-Kfxpx4cPXGAoHzgZjEaWfUkqZQ-2whcAsLXwV3mWvvvm1hKsLApqCsPfDGt7gx-D4ilYuNXd4pgrhHMpnwQdnX_Bj67xsQm8zOWM3bMrTdqgoPS2JDM_LMFQJAKh4TqHysKqCstlKmvLVZ69JT2GM6JuDBGuF6rf3w8b0aCyrLgUaHz73JQ2SxGM6YQ8Xn_P55OPkEPJSb4yEYfUQpVEGQ0fiXTwDqmEde6EiYVJeb7CXNTTTeFYahx5GLozoimSC3o5aLAEurUovNY6n1EFe6YOHVEM7nQy10ZtLWtusVdqh3q3JSQaPq02z_J7CmVtu_uNKy2N1jn2jgAQi0tYW4j2j01DC_rGIIi036C2pdXV8dbddbkl1SQAFPSWDDp5vD0LuZg4UYslMQD_GeZrzzIFJ-t98JBhIP6pdCdDn4re4MDsUXcV4Nm15wahcjClihLlD0OmO3gRXrHC90dd6cZ7-NYvK-aRBz0wZTypnReAtimB-bDOKL9gz3VK1cc_sXAfDf-zy_b4gwNjZahfj994XJaNJVi6MbdvH_ZQA98ltFpoH8ojwd9NE1fOXby6NqPgun_QzEdwhoH-hYMiXILKYy7qFI5TTzYmjX4xSHPPM5h734U-hgxsw12bpiA-O5TdokEEqWlgCBrFDOaL4ast0tpVrQW7VB4zleACdLnJ6HgmXvEr1xGLxHtl-F4vEgvmXEO_V42KHzrNHVQHgZM9NEHl6BUjpbwzVBxmWxNIuRm8iyL_yim6e6-HpOd8miZtp78YTc_wRqM34NFTC-EXnzjbiW-eNlmDoU445PnCUV8cI6W6emxoGVH6Ry51DCX2Ra4kMFzdfczY6Qfhd6DoAqgfaD1T8LffjXTZLrFYAvX7DcgeM5zVFg2cijIjyPZUTYTK_Lv52uEPgeJUTiUo2nnwjqHKBYaQUhbgsyaAfISTQrqjFSvSRBotEcL3ZWhO4ljqPcZV_5ZrlbFopQkSrckRuh3lkWZ-2n9u6bXeaNEQ3_Bbrwee1GXxW9JE6DnDddtJxT4Ykjcvj1j91Y8IzjfvOKYaOdsVXRXUemO6NOY_PJZhCxmHCNXf7kujn1n0i2lssWKVDzPR1l-qF4UPmdFNg_-ryc-Hreeb1tfTKgLP9cvRf6MXHvPkdkM_CT4beyi_KypRmEJ5wPNYgtTD80xcEAZA0MoEXibGrYIj9BbBxSvG9XDog0gRyIpvPJbV55v_6CAvqCujP4_--Lmj4LvxP6ZEJKGnSAbHCyD6UpZrTkWgGV4PeRdmupcQ7IJz3TxeS0iRu00-VUQ3qTqF4XQlW-Hpsis4gBYLiBiTyeW-iyrpMgnp2WS-e8JIE70ADCdBR7sCTy3kXWXCbTJw_HYVLswPIsFQFSXNmEHjrTEVQySldaoMrf2io78qgk5DVaOcVywbFCbl5vSrHLCr_WkQpFpiNuxVDeaY991apeljAbunZZpOK42hAqZUrOwdUfvArSKPr22E0kk5Oj9LkL5LhT_LVW98XPO27aQFILFXcQCmNt0XxynloHmjV4IXxd4l7Uw4whmFf61zhqjpvPdLh499xrgaAic4M1UCOOtQJeAr5tYpqVRDZBQ2wodt7TBJF4dspjDbRJjc1X35xye2VssKjTxYBvmwN9v5vg8eHxLcq2KkRj2wKEzdxqMZyyo4bbSGkOqMKPTe1Vw==",
  "id": "rs_010e539e5f3137f3016ab459aa52ac87d090669415dbe450da",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_y\":-0.4,\"left_z\":0.13},\"note\":\"The fruit is above the blue bowl’s left side. I’m moving slightly farther over its opening and lowering before release.\"}",
  "call_id": "call_U2DkMorbyI8DHOcQqJ2CvAKe",
  "id": "fc_010e539e5f3137f3016ab459adf23487d099c0620a2d4fde13",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_U2DkMorbyI8DHOcQqJ2CvAKe",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9104, 2.4287, 2.241, -0.6788, -0.7597, -0.6167, 0.5264, -0.0376, 0.849, 0.6609, -0.4549, -0.02, -0.0643, 0.9983]\nstate[eef_state]: left_x=0.4669 left_y=-0.397 left_z=0.147 left_yaw=0.0204 left_pitch=-0.0178 left_roll=0.0712 left_gripper=0.5264 right_x=0.2951 right_y=-0.004 right_z=0.1755 right_yaw=0.0095 right_pitch=-0.0754 right_roll=-0.0267 right_gripper=0.9983\nstate[joint_eff]: [0.7179, -12.9573, 7.2957, 1.3211, -0.1783, 0.1832, 1.033, -0.0752, -1.4974, 6.9812, 1.6532, -0.0415, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f9a942e62d1ad8d3bd6c38ea6da97d190811d7529235f287b6448166127f25c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e735b82af35cfdaa4637dde95d929ce17aa41823e0c9e455b0eb800213047a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74898ca59d884b7848c499b2c5b3438daec06eb1addf821914c87dc4bcf84765",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /responses · status 200 · 6.891 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 92 changed as sent

message 99 changed as sent

message 103 changed as sent

message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8604, 1.8927, 0.8925, 0.0479, -0.6575, -0.6018, 0.5255, -0.0376, 0.8471, 0.6609, -0.44, -0.02, -0.0639, 0.9983]\nstate[eef_state]: left_x=0.3507 left_y=-0.2366 left_z=0.0178 left_yaw=0.0007 left_pitch=-0.135 left_roll=0.0997 left_gripper=0.5255 right_x=0.2971 right_y=-0.004 right_z=0.179 right_yaw=0.0092 right_pitch=-0.0587 right_roll=-0.0272 right_gripper=0.9983\nstate[joint_eff]: [-0.294, -9.306, 4.8342, 1.2772, -0.3834, 0.0366, 1.033, -0.1846, -1.5795, 7.0222, 1.7118, -0.0464, -0.0464, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.9367, 2.3455, 2.2036, -0.7322, -0.7715, -0.6281, 0.5251, -0.0376, 0.849, 0.6609, -0.4545, -0.02, -0.0643, 0.9983]\nstate[eef_state]: left_x=0.4469 left_y=-0.3937 left_z=0.1747 left_yaw=0.008 left_pitch=-0.0147 left_roll=0.0731 left_gripper=0.5251 right_x=0.2951 right_y=-0.004 right_z=0.1756 right_yaw=0.0095 right_pitch=-0.075 right_roll=-0.0267 right_gripper=0.9983\nstate[joint_eff]: [-1.0325, -15.0906, 8.0615, 0.8669, -0.6374, 0.1392, 1.0281, -0.1436, -1.7026, 6.9812, 1.7509, -0.0415, -0.0562, -0.0171]",
      "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]: [-0.9104, 2.4287, 2.241, -0.6788, -0.7597, -0.6167, 0.5264, -0.0376, 0.849, 0.6609, -0.4549, -0.02, -0.0643, 0.9983]\nstate[eef_state]: left_x=0.4669 left_y=-0.397 left_z=0.147 left_yaw=0.0204 left_pitch=-0.0178 left_roll=0.0712 left_gripper=0.5264 right_x=0.2951 right_y=-0.004 right_z=0.1755 right_yaw=0.0095 right_pitch=-0.0754 right_roll=-0.0267 right_gripper=0.9983\nstate[joint_eff]: [0.7179, -12.9573, 7.2957, 1.3211, -0.1783, 0.1832, 1.033, -0.0752, -1.4974, 6.9812, 1.6532, -0.0415, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f9a942e62d1ad8d3bd6c38ea6da97d190811d7529235f287b6448166127f25c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e735b82af35cfdaa4637dde95d929ce17aa41823e0c9e455b0eb800213047a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74898ca59d884b7848c499b2c5b3438daec06eb1addf821914c87dc4bcf84765",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFmxGh717sewA0oUKmaP2xxmc4KavnLTp2bs2hQ9zYq-x5mXjjIrIrs_rDZ5lngNQbf0CLDRpi0R4KauWlZcerfYJ5Shy-gYixsW5McUNjxjJ9RlWCS-NnLU8b9cejQrNx01A9Zyh7zPO3kG_X7n-g12l4GSWkFNdgvjtmfIEzxtumL3-zDvmiis89ybfMZdW-hndLJ-Tgob3Fkg-333cGk_4oU59Iuzr_LvIY86ldSp9zNiTYFF6zxo4R_EaZ8ogwMp0j6-NhxLMqI2VsaL5kiVLIFd2g69GD2lZW3-y6qI39U0FBVVjb1PExYTHBHfFrQBDAPIXrLbDAH7iHz3iqbc2eLjvYwjqaBg7en13TN80fYWmdCn_4oDJzeVkvBC7agL7BoH0r881CuKVB5uh9TMKRh1QvB5XpT61EGy73rix5u0JFWxy4PynB0PhRtfgiZFP2LiS33WtxWGTCVdtbkOZ6pb16MJ6s_R93EaOBLQWHl_l3fGlDOGWP34hveX32neVnXa4aDxnn8Je54aNmOfk7Z8_yO13kDH21RImQ_-QqZ3cKnt5NypO2nC-N4hjvkuF5SI4wMh8rO93-Dtd9rs8FND_pySitKAnk7pifGMwP53daAYDj7kGUytzrf8jMU5cNFUSHfiKjtl6x4L7_Kr-Ii4QOBVmsEg47VmfPvk5Q8LmjmoOnuB5a3TLLD9wL3_uGMA9FzmY5aHKfj9qUkE62i5tsGusYut0DQeCkDTVY65zT-VOM_7x3_c_95MSzpEGLldYkZSehW-k03dflUQJKUjIsx9_M6bhuX8xDNTrrJdnKFYa17zTtnhPu6-Fasjj0nNdPn0WD8tTM4btWzTgZ_GcIiESu4FavGuhE8MEn6OBBwAvSkXkSzHbC46dbBQxgfv3OvzfIIpjCc_X7xjQSco_CrYgDEm7jRsln35NvITbElQtpnzTNE_J2dhfANlz-5mrjoh5t31swXiibpz8Vh69gGv2EYgMoC0TlpIrjW5nG9_M5LBu3njlkMn4AGvZZF5_Uzaw_fJa0ahEgQR_1soRiiUFJYX7Thj8MjS_1_LNOyGEJ7bFyU7wj3BkK07xOsoFlOF-UG3ab8In2F8vBgmnUx67zLgcaw7gv4Euy7vdrOyKJBp2ayNXp238kNIkBYymzofyVKNMm1VUbWxJJq5B2EhHGyANstNYb_jQPRX_jhb2X8NvMmjigmNPk5W",
  "id": "rs_010e539e5f3137f3016ab459b121a887d0a5c443461e72829e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The dark fruit is over the blue bowl’s opening. I’m releasing it into the bowl.\"}",
  "call_id": "call_xQ9mswzOO3EjeVlZMrKQ5uu3",
  "id": "fc_010e539e5f3137f3016ab459b1469c87d089ee641687954bd9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xQ9mswzOO3EjeVlZMrKQ5uu3",
  "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]: [-0.8902, 2.5069, 2.2375, -0.6388, -0.7406, -0.5983, 0.9944, -0.0372, 0.849, 0.6609, -0.4549, -0.02, -0.0643, 0.9983]\nstate[eef_state]: left_x=0.4781 left_y=-0.3953 left_z=0.1033 left_yaw=0.0196 left_pitch=-0.0556 left_roll=0.1104 left_gripper=0.9944 right_x=0.2951 right_y=-0.0038 right_z=0.1755 right_yaw=0.0099 right_pitch=-0.0754 right_roll=-0.0267 right_gripper=0.9983\nstate[joint_eff]: [-0.1436, -17.5658, 7.3915, 1.5018, -0.3346, 0.1197, -0.1685, -0.1573, -1.388, 7.0085, 1.6532, -0.022, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3c521d8d5c5cf75347eaa639186b2f0740457b2c6c3ccb38ae34f7e6492c8e4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:feb20ed458fe7da349749a95305761c1928d2ddc826a905ba3130255bf462966",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cef4d4d457c552ad45d01140294b34a047ac0a2e8ebd64f94994d2d1e41f000",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /responses · status 200 · 2.812 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 96 changed as sent

message 103 changed as sent

message 107 changed as sent

message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8604, 1.7607, 0.9882, -0.189, -0.6571, -0.6098, 0.5251, -0.0372, 0.8471, 0.6609, -0.4469, -0.02, -0.0643, 0.9983]\nstate[eef_state]: left_x=0.3501 left_y=-0.2361 left_z=0.0712 left_yaw=0.0057 left_pitch=-0.1408 left_roll=0.1003 left_gripper=0.5251 right_x=0.2961 right_y=-0.0039 right_z=0.1777 right_yaw=0.0099 right_pitch=-0.0655 right_roll=-0.0272 right_gripper=0.9983\nstate[joint_eff]: [-0.212, -9.8393, 7.8701, 1.2283, -0.3687, 0.0317, 1.033, -0.0615, -1.4564, 6.9949, 1.7216, -0.0464, -0.0366, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.9104, 2.4287, 2.241, -0.6788, -0.7597, -0.6167, 0.5264, -0.0376, 0.849, 0.6609, -0.4549, -0.02, -0.0643, 0.9983]\nstate[eef_state]: left_x=0.4669 left_y=-0.397 left_z=0.147 left_yaw=0.0204 left_pitch=-0.0178 left_roll=0.0712 left_gripper=0.5264 right_x=0.2951 right_y=-0.004 right_z=0.1755 right_yaw=0.0095 right_pitch=-0.0754 right_roll=-0.0267 right_gripper=0.9983\nstate[joint_eff]: [0.7179, -12.9573, 7.2957, 1.3211, -0.1783, 0.1832, 1.033, -0.0752, -1.4974, 6.9812, 1.6532, -0.0415, -0.0611, -0.0171]",
      "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]: [-0.8902, 2.5069, 2.2375, -0.6388, -0.7406, -0.5983, 0.9944, -0.0372, 0.849, 0.6609, -0.4549, -0.02, -0.0643, 0.9983]\nstate[eef_state]: left_x=0.4781 left_y=-0.3953 left_z=0.1033 left_yaw=0.0196 left_pitch=-0.0556 left_roll=0.1104 left_gripper=0.9944 right_x=0.2951 right_y=-0.0038 right_z=0.1755 right_yaw=0.0099 right_pitch=-0.0754 right_roll=-0.0267 right_gripper=0.9983\nstate[joint_eff]: [-0.1436, -17.5658, 7.3915, 1.5018, -0.3346, 0.1197, -0.1685, -0.1573, -1.388, 7.0085, 1.6532, -0.022, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3c521d8d5c5cf75347eaa639186b2f0740457b2c6c3ccb38ae34f7e6492c8e4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:feb20ed458fe7da349749a95305761c1928d2ddc826a905ba3130255bf462966",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cef4d4d457c552ad45d01140294b34a047ac0a2e8ebd64f94994d2d1e41f000",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFm5_yUMEYnYUehAj9nUDmMY-6waNP4lVG9XG69W_m9Io8-ZMH2XdbymArki5Vhr0Q6x4RKLUv9Rhz_CzJrdz-Gvp_b2JKKX6ilzED2h3eB8kSukORdqb_K-0y_DHin4u4xtNcYjckTw8XUL1RzIEu0uXMhQAh1McU_YTsr2qiStfo1phQ9M6mR9zXlqY9voZqD-OUXKvAD0WPE0_kbYKk43y-YmNGgbKFGWzasifMRf826wDrQAWSHgCjsIZsYA-JcvZmKidxN_eqPdzQIKKe9d1-_O_w_VDrW2lvVDNoN3vKsiTyi65BAy32yJaXXDMATg35V7WGWGASMIrShIRniTyYVxmJdSxCEHqH2_VLXubNRf2GtYCl6GuJMLHGe_WXJVGPjhQbuxp1KmMBvE0wwrTl_Bh7K4ZdFm-SEjQ8QGuA4f3B6xO8hWVZO3kGaQeh4cgX-C8OJqLrGWS89QHVYnucQFNVhLVo2PcXX7fQckrKSjIPF4fdqQQ5mCVdsBRmjcj4gIOpsuqnFyyHfCFvWSI1kdbi9TENhO-uOb4cJ7ckQl6xbexhORkvJJxUKDil0vpj4No8ZvqWSGHOYwN-TnyXQD7Ff8Maku8oHRMsOfqbvidAk4VLNf8cUW4umb1yWyiPczZX0jZc-LXyhyDv_Dz7FY4dBCeVczsiE3uwNARCV0n7QsZw4ArO1NcIUqXfNrrxbSJZ-JPFOIXtxeq345IRUuks0Ukof0qRxydks1YeSCYIROb9T9x6t-pmIKx-KOkOSbA2KLbLEHKrPCmlP9cx-w05USSlD4fPfJJLr_WSk68-CE9yAuOqoAXoWWnJjA403TrhhzzYL_bB4fdlEjRPPDUkrGSErHmc16ENIjdI6IgG8-fFXxQv6zuwZvS3laIEXwpjxFGrypTmt2RYTtCSSJNaiMukzAnuWxPLytrMoZHa-VBH7yTarojNCXL6Jm1veKWPVD08wM9hx0grvsPVPbUYiRwo2jX7GjHfcljCEAl9UrloAY_ZPEiniPFoltbnUVCexbOLJFt0j_sJ8Jj9ILc_kEx3x_v0Qc1WM6kOwGMtvfH3q1zjsIwGi3WG_2WCwPYpIllSizsubRIOjBMyTNeQieOTK5QZChBx3zeNlpbJnPXyty1GLp2ofppbnBOax6GNLFk_74tIFuzOK8Jp1zlNyM13P5E3O7z992IH-5I8zBc2Fx-i_SI8LLi6APxzT19CpyD6cuQJXZ31H-3M61qgDV0XtGDnj3tniotdkeOWQiZne5RBheJa9V_HgwVZeMgV54OCm4SmTOEKe0KGnK2DnFoEX_Lcrhyey6N9nfQxKFVPaZU3NJjcEEpfIfK6BaUR2eHSIRKiL_60wy7c8P8d0E5OlfLxyRDFFNSBn2E8rPUhsClpBvE_axWeA3uPdVPvC54-yfEE3lLsQSZ9ZnHmP5bTINGtsXWHQckJ4x6LyS8PQIyL9B9mAQvYXaThm8KC_iCzo6G4Ob7DsnRFxMj6Zj1vFkReptr0LA-i86khr4dNWPkOMcTxdxnKKfv8zBGB5eY9oACze3lU2_KWBdYy0yHGKG6N9NXl6_8UnZRjrEUUc7yvoPinfa8ttRV-ul0kCJQVbDbRQunzPs2-P1gTzhR4ZPatetr9L7REic86y7zGdV9DxC_tfaXwQcl4H-1NsKQZs5S8_jgwNhNoQMoCEfP9ACfsrTe1ywRWZfWezZa4UqcsG3LKtUinEGMh7lwlcKitVxlG4qX8WD1jZT-NZt9ScxoVk2dBnbrk2h_W84GrwoVm0p6zM_kZocMrQUuyQy_jqMSV_sSsAkLvfCAs6fAXqYvb7yBBc0ThAZQd0jlmSaAMA8AN-5G20805SoI8gF5qZ-RCIy01GVhr_U9xBJbltj9kaN910U97_5UqKWZQVzJe8KZ6QwMHVh-uOzQw_0VWpUvk1LjlwoVPgN8TBl1QoxdMcrBq4KU9MUHCpFxsjCzTUh5OnZhTFHGgOZtStKwQ2tbRxFFTo--0WcFEAjhp-oT2KA9KMFU7pWXIRiIywJ97SpgIY8wJWupHmm9OUVekjDFVxSrnUl6T0t5RZhcP7T62-dkIOYaJOIOAg0wc2opZqXgfUzK2mi4XsKDw_MMRQM5FPfCXUKdduST7FunIgpvn3veGlmVHJ-GwjIJpfI7fWHbA1AhIEmbxH7ylXwKnkqnTzvoE_SdYVVKlfd7Y9tQXiCiJOsagWDVPoDj7grpCBal5x16v5HXnQSSMFTeA42gXNgTBvKzUrJghD8AKsYsR5WH9OIqCSW-tjP8-RPOZbTjqJiGQ9uaHIYLFHiPaAazyDNp8eE8bBwqgw5GJFMSZri5y6F9YzZcfVeqtO-q7BNxpMw6ch5aOZBJRsrDZXmmACIRx4hYSlAWYbtCU0rqoRiRwkne8wX9Zf6hc6CcFoRODQr8eBCsvlV7aoCPPAVo5pLLD2ShpEYJFxDh9hnDe9oxniM_JK1SeviQNLSgcbKsHv2t8JrYjRBrhg4Y3wI0ncJlZNwtgofLkggEALMp2J4MoXU1hOBmsP48rJ-RVhrQjGYIhXHSeHB-muMH2k8KitNE-MRsBtQAxMzCD1W3JlW5WAHP_rmRNNM8YnsmSCfng-3o-SxJ_HKZOx4EzKUXhk22Qlp14rNQqQOBrFUPY4Sy_9atf2gTYRoX68ixnzXcYnsWa6McdcpB6Kxjl0IL87xCD3v6g==",
  "id": "rs_010e539e5f3137f3016ab459b3d5dc87d0a0f39cae94c913a5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.296,\"left_y\":0,\"left_z\":0.2,\"left_pitch\":0},\"note\":\"The dark fruit bounced out to the left of the blue bowl instead of staying inside. I’m parking the left arm so the right arm can reach both remaining fruits more directly.\"}",
  "call_id": "call_zekxG8ZjdlgQLIge05wUTGP2",
  "id": "fc_010e539e5f3137f3016ab459b807ec87d08f0609dbff49d2cb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zekxG8ZjdlgQLIge05wUTGP2",
  "output": [
    {
      "text": "executing move_to over 36 steps (3.6s)",
      "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]: [-0.1364, 0.8299, 0.6926, -0.4278, -0.231, -0.0475, 0.9951, -0.0376, 0.8543, 0.6609, -0.4728, -0.0196, -0.0643, 0.9983]\nstate[eef_state]: left_x=0.3005 left_y=0.0032 left_z=0.2032 left_yaw=0.0762 left_pitch=0.0178 left_roll=0.1001 left_gripper=0.9951 right_x=0.2927 right_y=-0.0039 right_z=0.1706 right_yaw=0.0093 right_pitch=-0.0987 right_roll=-0.0258 right_gripper=0.9983\nstate[joint_eff]: [-0.0342, -1.4838, 6.8034, 1.6728, 0.1148, 0.1587, 0.0611, -0.3624, -1.8803, 7.3641, 1.8144, -0.0611, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca8152acfa03e8ee8aa3c2f917150a84ed490983dccd16e110e1451fd3a4b5d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34548812979b5559727c0af71dfe2e1aaac7dfad9d75f7f0c8d36da90464df43",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d123c16502007e3ae171b94578084bd7315c0f393cde1f76582d81dc4bcb6c15",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /responses · status 200 · 2.421 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]: [-0.9367, 2.3455, 2.2036, -0.7322, -0.7715, -0.6281, 0.5251, -0.0376, 0.849, 0.6609, -0.4545, -0.02, -0.0643, 0.9983]\nstate[eef_state]: left_x=0.4469 left_y=-0.3937 left_z=0.1747 left_yaw=0.008 left_pitch=-0.0147 left_roll=0.0731 left_gripper=0.5251 right_x=0.2951 right_y=-0.004 right_z=0.1756 right_yaw=0.0095 right_pitch=-0.075 right_roll=-0.0267 right_gripper=0.9983\nstate[joint_eff]: [-1.0325, -15.0906, 8.0615, 0.8669, -0.6374, 0.1392, 1.0281, -0.1436, -1.7026, 6.9812, 1.7509, -0.0415, -0.0562, -0.0171]",
      "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]: [-0.8902, 2.5069, 2.2375, -0.6388, -0.7406, -0.5983, 0.9944, -0.0372, 0.849, 0.6609, -0.4549, -0.02, -0.0643, 0.9983]\nstate[eef_state]: left_x=0.4781 left_y=-0.3953 left_z=0.1033 left_yaw=0.0196 left_pitch=-0.0556 left_roll=0.1104 left_gripper=0.9944 right_x=0.2951 right_y=-0.0038 right_z=0.1755 right_yaw=0.0099 right_pitch=-0.0754 right_roll=-0.0267 right_gripper=0.9983\nstate[joint_eff]: [-0.1436, -17.5658, 7.3915, 1.5018, -0.3346, 0.1197, -0.1685, -0.1573, -1.388, 7.0085, 1.6532, -0.022, -0.0659, -0.0171]",
      "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]: [-0.1364, 0.8299, 0.6926, -0.4278, -0.231, -0.0475, 0.9951, -0.0376, 0.8543, 0.6609, -0.4728, -0.0196, -0.0643, 0.9983]\nstate[eef_state]: left_x=0.3005 left_y=0.0032 left_z=0.2032 left_yaw=0.0762 left_pitch=0.0178 left_roll=0.1001 left_gripper=0.9951 right_x=0.2927 right_y=-0.0039 right_z=0.1706 right_yaw=0.0093 right_pitch=-0.0987 right_roll=-0.0258 right_gripper=0.9983\nstate[joint_eff]: [-0.0342, -1.4838, 6.8034, 1.6728, 0.1148, 0.1587, 0.0611, -0.3624, -1.8803, 7.3641, 1.8144, -0.0611, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca8152acfa03e8ee8aa3c2f917150a84ed490983dccd16e110e1451fd3a4b5d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34548812979b5559727c0af71dfe2e1aaac7dfad9d75f7f0c8d36da90464df43",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d123c16502007e3ae171b94578084bd7315c0f393cde1f76582d81dc4bcb6c15",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFm_g5LEj4HQe7fiWtyM_r9nibydaJBH-t1becUUlAN5Vg-mds3cAae8wdqnVM1uC-0fl-mNC-8XCgS88DLnZany0O4KmzmhtAs9bLVD09--4WhgmQv3iDPbhLFGIdjNMmrrUXSNdkDNe7EcANLi78hhg99ReSK9eMdk96QWuNq2JtPwdH9Qg9yVtSspsOVIpRgc4cU0UUUdYjQa9y1o_xtQ1pznX85jqfiZdVhHug1LsOjQWNRlyQC9AxO4eFjkH7EoV-UtSZX0lmNG5toM1PMohoCWCJEqDRRkbPfQDObTlFXJ-LjeWrDe_8p5ATF2Eu3MbnNckyAtA900r-ZZs9di_qA-Wuze52sdzvaQH6JwK68NygzDJe6QS2C3XI45ppqZdm8ouw0QM12sbfsy_a33lpbN1Jcb7v-G1JRb31biLYMWMvDgxq2aYqXr5qQVfYNLbFnvpgEK1tdZ2lJkEmKieEaAmEO7dpuvR_HUDg42rIipzZysQ2ZxGisBynwy3L2kQmuWqjAJpF3m4wtvhvJE-UYXo-FrK77pGiOGHU8uZ8HE7VEAfX4zk8-bylRnHq5pe1BhkHXgRC6IZkRfBKOwRUeq7r9u35Ejo3Dyfmd2aWc5nfprotYFjgcSWiOIUtwiQFb7Ca5Mq-YpwGKdOpE3rHKtP_0CO_Dqm06kO5kqnGR24n7Awe2-0snjioB281GdvapkZObAlgle4c5ROkGiN_CB_TXASYX2jgup32Dc8NEQQZWkLHG7JTLL-_D99TMuvkVau2Sa9maz4ExAUyvxff51EY7k6tFiWkx1SHTASgCB8p9kQPraA4Q4RD-6I0Vb98iX13SyncZ5MElWaD3I42gPZV7sCWpDo-xza4fum3g_0eMAtcTvJ_Ezzz-zWxMELix86SDxmWU0XWAIkR21dUy5dgVS6f2eBVkPJFHYaKNNkRDgjJv9BNIDp5kcw6Uc9hnt91IshpoMMGRQ-wFzwM-8XxQj98x6XfbBttalJW91jcggx1DI-P3KeblWII5kM3vBbiiWh_yFRZRH9AqvLZOMfwQA1KkbxO-_bhkidQADulr-NaF8WmxvUM3PusQnaH_7Snu-5qYwJidGVi0IYXHqPNXydOSAHLd6ag_BZAjcsuL81BAZ1oOMdHz73lQ0zi3_H7ha8kVTyCCYU7bbm4zRafaIDtdHxRzYhTi1fLMxtcsVbiRQx5qLQfzAkIk_xJMdk-viy5eA81CdD9PDsntKRfXXpaqx8lp4UNh5Nr780YskvWigMy2qyVvN7wwEUA404OgASUQwN7wLvgqwAOVjITUr_95BByWbdps7KdQ=",
  "id": "rs_010e539e5f3137f3016ab459be075087d0adb0a8777b9fb78a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.33,\"right_y\":0.22,\"right_z\":0.035,\"right_pitch\":0,\"right_gripper\":1},\"note\":\"The yellow fruit is now clearly in front of the blue bowl. I’m approaching its updated position with the right gripper, avoiding the bowl rim.\"}",
  "call_id": "call_C92GpZXv8IUcOiOufrM9naS3",
  "id": "fc_010e539e5f3137f3016ab459be6fa887d09550e8cd8858f414",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_C92GpZXv8IUcOiOufrM9naS3",
  "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]: [-0.1352, 0.8337, 0.6888, -0.4423, -0.2249, -0.0494, 0.9952, 0.8627, 1.7527, 0.6418, 0.2623, 0.667, 0.4984, 0.9983]\nstate[eef_state]: left_x=0.2986 left_y=0.0027 left_z=0.1974 left_yaw=0.0732 left_pitch=-0.0045 left_roll=0.0999 left_gripper=0.9952 right_x=0.3199 right_y=0.2111 right_z=0.0222 right_yaw=0.047 right_pitch=-0.0651 right_roll=-0.0792 right_gripper=0.9983\nstate[joint_eff]: [-0.1709, -1.7573, 7.2821, 1.8339, -0.1587, 0.0171, -0.0073, 0.2256, -7.7607, 6.2291, 1.536, 0.5788, 0.149, -0.1832]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f916dbe7965e2ff28e192b6529b3d9586dab62c6222e979a913d4070b34e38f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd957ffed6e07ecf4141dc4131d8b7542002d1f1f51f18e7df971fce6a3648f3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cbddeb4c861324733b67a62c29020e455d682bd1ceb4c58008e9f4e745ae59f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /responses · status 200 · 7.528 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]: [-0.9104, 2.4287, 2.241, -0.6788, -0.7597, -0.6167, 0.5264, -0.0376, 0.849, 0.6609, -0.4549, -0.02, -0.0643, 0.9983]\nstate[eef_state]: left_x=0.4669 left_y=-0.397 left_z=0.147 left_yaw=0.0204 left_pitch=-0.0178 left_roll=0.0712 left_gripper=0.5264 right_x=0.2951 right_y=-0.004 right_z=0.1755 right_yaw=0.0095 right_pitch=-0.0754 right_roll=-0.0267 right_gripper=0.9983\nstate[joint_eff]: [0.7179, -12.9573, 7.2957, 1.3211, -0.1783, 0.1832, 1.033, -0.0752, -1.4974, 6.9812, 1.6532, -0.0415, -0.0611, -0.0171]",
      "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]: [-0.1364, 0.8299, 0.6926, -0.4278, -0.231, -0.0475, 0.9951, -0.0376, 0.8543, 0.6609, -0.4728, -0.0196, -0.0643, 0.9983]\nstate[eef_state]: left_x=0.3005 left_y=0.0032 left_z=0.2032 left_yaw=0.0762 left_pitch=0.0178 left_roll=0.1001 left_gripper=0.9951 right_x=0.2927 right_y=-0.0039 right_z=0.1706 right_yaw=0.0093 right_pitch=-0.0987 right_roll=-0.0258 right_gripper=0.9983\nstate[joint_eff]: [-0.0342, -1.4838, 6.8034, 1.6728, 0.1148, 0.1587, 0.0611, -0.3624, -1.8803, 7.3641, 1.8144, -0.0611, -0.0806, -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]: [-0.1352, 0.8337, 0.6888, -0.4423, -0.2249, -0.0494, 0.9952, 0.8627, 1.7527, 0.6418, 0.2623, 0.667, 0.4984, 0.9983]\nstate[eef_state]: left_x=0.2986 left_y=0.0027 left_z=0.1974 left_yaw=0.0732 left_pitch=-0.0045 left_roll=0.0999 left_gripper=0.9952 right_x=0.3199 right_y=0.2111 right_z=0.0222 right_yaw=0.047 right_pitch=-0.0651 right_roll=-0.0792 right_gripper=0.9983\nstate[joint_eff]: [-0.1709, -1.7573, 7.2821, 1.8339, -0.1587, 0.0171, -0.0073, 0.2256, -7.7607, 6.2291, 1.536, 0.5788, 0.149, -0.1832]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f916dbe7965e2ff28e192b6529b3d9586dab62c6222e979a913d4070b34e38f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd957ffed6e07ecf4141dc4131d8b7542002d1f1f51f18e7df971fce6a3648f3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cbddeb4c861324733b67a62c29020e455d682bd1ceb4c58008e9f4e745ae59f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFnDGCcyH7HpseN6SJacAV8XX7zSxJk6HzYpmFZgYV75OnmwTX2SiZm7tgE5PKxa8707hYS9NY4pvUzjGxTS3tarFoEml3mgQ714uMrDcmopzkomsHyFf0y0rOPPS23Sn0gBSkQanWTup0OjhyLmqpDG0bw9RB-kaMNnoioETt7DlgSVZcIEr823as2nMAmZiXG81laVjIn62SQr0Aggr2xUmvxC_JeJdtFp2ExGM4Y46-vPM98oKLqUmUgJA_scBeNJvCE5YZ5b2qFAXgjuTnUgJlfIZ6LAlF9fj_QW3BF46Wwb2ZxSz2cN26CqGMw1nJaNNJior7TwmJeHofeNEykiQoZUpykbcR1eela-yoDan5sxlOZetH9hH9kyg_0hr4QAlYFmtgKYdgiUryQRkA8GTe28vgnuypdtAPk5o-E2uga75R5K05NZNv8vmfL9J8svpISYVI-i8RQbQpEyg1IJT2Gcl8mVVRlx0CbsUvP9TQcvAlVt30s_jP2NBAPgYTJRdFsYVDU5-Obs1RJZ0aii6LrBr9FAwDeWN7-wUqGCHOSqJH5fsKsRCCX1DaAEwd4vaKPdnxJhIIuaGMHXwHgjIGXAhorgito6oUJ8r_bIR20otnOmZ4QcSAUIVMOehwLBz6GbgjMLLyhMTDKo3E3293QbQYzSPQ7LpmgKjpqGKioBNkvDJFoovY0IV1UBN3lrG7tKxKQ4VhDDRzpmMn1aNH5WLfU22H1YfbLb-xOEi7W1UqphrNls4mzRr6Ya9HjS7SQyqo-vFlIJ9hG1aDNozV4_R__m2BtTIwIjJ5r-nmo_YMAMvYiGtbRvVZ3r4j8u2OagWDoRwZkFhG1DGyaveLu3CzvR5K1nslYMRS9Qu3Fn04AxvpJTO9YdZ3zrMbMduiy-nHgy4Tck0uXLgP0ivP5-eAvFfcBuFxTD3B2kwntKqzKmt6XshL0dPadlSowrC-Us8sIBXpPyNdNnLW8FSHiuMAGiILbJGUGRU0zfx-hQtcIQY3e95_Py-rLm41PewW0nOO6ew-Sup6fU0mNuh9M0R8qJcCpf2pb3iCX5o8dI6KccloZ3nBm29vPSM2PBKot_vKCXc4iuTPnvxyB6irh6OqI5iwF27mCi2Eo1bB2_RztXXyEyd2QWaF7BrZKuo3Kwjtl-ezc4gQhN1M04FmoGFfdJVTVG_EAvLwQXdisVoQGDY9_Xym9kac9WFELZeI7zyRJIgVclF30XoPMOLA==",
  "id": "rs_010e539e5f3137f3016ab459c2b2b887d0bd715035044a6601",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The yellow fruit is now between the open fingers at its new location. I’m closing the gripper around it.\"}",
  "call_id": "call_fbCwHl3ThT8TQabuqecT3f1v",
  "id": "fc_010e539e5f3137f3016ab459c2ff3087d0a0aefb7242543e7d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fbCwHl3ThT8TQabuqecT3f1v",
  "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]: [-0.1352, 0.8341, 0.6888, -0.4465, -0.2272, -0.0498, 0.9952, 0.8619, 1.7725, 0.6464, 0.263, 0.6647, 0.4938, 0.4389]\nstate[eef_state]: left_x=0.298 left_y=0.0032 left_z=0.1965 left_yaw=0.0754 left_pitch=-0.0087 left_roll=0.1018 left_gripper=0.9952 right_x=0.3198 right_y=0.2111 right_z=0.0165 right_yaw=0.0496 right_pitch=-0.0766 right_roll=-0.0922 right_gripper=0.4389\nstate[joint_eff]: [-0.1162, -1.4291, 7.0359, 1.7363, -0.0952, -0.0513, -0.0122, -0.0342, -8.9368, 4.3692, 1.3504, 0.2222, -0.0171, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ba617c2aee96ad7184d9a9fad4ade31ea013ff49da3dba93e4a7a917ca00235",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea093109eba5d63a841d5a5f419d446547a60af73e26f48bacd55af548ea7364",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0164642ebabbafebda7de173dbdc5dafa1f7e85b719c73b2c8368473e4764d5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /responses · status 200 · 4.521 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]: [-0.8902, 2.5069, 2.2375, -0.6388, -0.7406, -0.5983, 0.9944, -0.0372, 0.849, 0.6609, -0.4549, -0.02, -0.0643, 0.9983]\nstate[eef_state]: left_x=0.4781 left_y=-0.3953 left_z=0.1033 left_yaw=0.0196 left_pitch=-0.0556 left_roll=0.1104 left_gripper=0.9944 right_x=0.2951 right_y=-0.0038 right_z=0.1755 right_yaw=0.0099 right_pitch=-0.0754 right_roll=-0.0267 right_gripper=0.9983\nstate[joint_eff]: [-0.1436, -17.5658, 7.3915, 1.5018, -0.3346, 0.1197, -0.1685, -0.1573, -1.388, 7.0085, 1.6532, -0.022, -0.0659, -0.0171]",
      "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]: [-0.1352, 0.8337, 0.6888, -0.4423, -0.2249, -0.0494, 0.9952, 0.8627, 1.7527, 0.6418, 0.2623, 0.667, 0.4984, 0.9983]\nstate[eef_state]: left_x=0.2986 left_y=0.0027 left_z=0.1974 left_yaw=0.0732 left_pitch=-0.0045 left_roll=0.0999 left_gripper=0.9952 right_x=0.3199 right_y=0.2111 right_z=0.0222 right_yaw=0.047 right_pitch=-0.0651 right_roll=-0.0792 right_gripper=0.9983\nstate[joint_eff]: [-0.1709, -1.7573, 7.2821, 1.8339, -0.1587, 0.0171, -0.0073, 0.2256, -7.7607, 6.2291, 1.536, 0.5788, 0.149, -0.1832]",
      "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]: [-0.1352, 0.8341, 0.6888, -0.4465, -0.2272, -0.0498, 0.9952, 0.8619, 1.7725, 0.6464, 0.263, 0.6647, 0.4938, 0.4389]\nstate[eef_state]: left_x=0.298 left_y=0.0032 left_z=0.1965 left_yaw=0.0754 left_pitch=-0.0087 left_roll=0.1018 left_gripper=0.9952 right_x=0.3198 right_y=0.2111 right_z=0.0165 right_yaw=0.0496 right_pitch=-0.0766 right_roll=-0.0922 right_gripper=0.4389\nstate[joint_eff]: [-0.1162, -1.4291, 7.0359, 1.7363, -0.0952, -0.0513, -0.0122, -0.0342, -8.9368, 4.3692, 1.3504, 0.2222, -0.0171, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ba617c2aee96ad7184d9a9fad4ade31ea013ff49da3dba93e4a7a917ca00235",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea093109eba5d63a841d5a5f419d446547a60af73e26f48bacd55af548ea7364",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0164642ebabbafebda7de173dbdc5dafa1f7e85b719c73b2c8368473e4764d5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFnMmz8CVNYRQdLYJprmS4V185a_Ei4stN3qiWmnLu1kpUfR4bGyLY6Ii8eGhk7E7VpHT-CurftQo4tt37g4qaTk49R9-oqOwAToA6kPg_JKaQR_zts2uhjjwoEZQGnXDSzI4Sxi_pD_ORWALQMshrsFmFDqfxEAF7eCjWq0wNuP4HmVN_klrk2JH_wrd-vecgoHctrWOX6GzJxSNP2wCZtWuZwtdIgf6GGkECLscfVXMDo1iJKpw8QZ21lpS20uiycth71xRby1uBGwBD3xxPxouHn5BJsij-iUW6RtOx77WlQYbGwVIieNuLuK9AhVjIBdJWZISH77cn6-nWhjJL8Vl1zKDwpZOYRITeNpe5k43_RCNU6xhbXNnL9jriI2StWNskMyVOkQcU5MWLRQwW987_FgWFK1XRdeiW-pTlemuYJt-UCivU9iXTe2iaJuDYvzvovmrgQwLzQVHvxnY3N3lb57MpnBj_rBMCle68XxMKp57acGFZ6pYnvuxkSYgRKc3zTHQJyR2cqRYjPFlK6T5EfPSEKJQLBy25ZGe_2rzUyASHcOjk6JTEjyinMFKvi2brFBuSUiBxbjheS5udLmoH1MBFlDjXeAAgYeFFeFuvfDN4dV-m7R6b6C0HieIw5W22vlqaAIcWfo4Phso3n9xKbW_LfoT9t6QZS6n45UGaJP6dzg7EosyPkg8S4tB_Lg_CHzut-2Ej_898bfLxpuBxReRoGhb3F6z4aMkW8D_2wo5hXFLtKfVLSFz4yDbjcFtPNGK_P6avMXj5IwMg7OSBsM2_ZtiLjHKo2JD8aUKLbJzS0Ecj04gp84y5nIl_aZ-olGHwjEtxMHqwGOFMI3B-mRBAhEwHs1MZYNXtCIVifqAcG2p4g67hDBAxaiHSEeEcseMgYnjjh7AAixECrbJKyOEWlxEEL0KbDoLLNun4K2vZbDBIoV4ADYeuUgjLIAcAytF-f07JNdUtUUYeGNjk-QfvxamFuc-TPP-fTtyjri_wH8AXJx0MVCXfLoVt-3akHwQz2b4ICOViAiHN3oYvlQk5PVh7vXNQhjHLiIURcnW6pigeF5v2vPhm1fytLSE2lLyzsBO5AyuVMtopCpmEOBz_5hXbo7sWsoLoUf4XvYDcp8rcEWClZLrec-GYWLCBC0culQ4MUKdKI0NXzLnf24BANAgnNtu2yEKHtGU72JcGBB48aXAJt10lSEu8Dmc_PIpsK7AUhLy_wILwbvtRY2PhMht3lFbJmuFa1LPhTyMfhRnUMGOJFyrhrsLJGGgOr1qkS2ffHD231q6Hj-gZxPHoIHjyDaTAolgX8EocKp5OepzyT0JTwNeCj6OTuxu0Va6Trx4LKJJQm0dTaRf4os-8vf57AkANhqfLw_89WpF-FwtIPCtaUukEshyNW4Br1Qs5uud5R-x2Mc2qmK9yYCQMSvjHwHc5suBRbvDgUaGxsfHN_OdIcl6ZYubmBKrSFDgUisbn6H6tzI0mGm1QuIJL4y_rPQWrGVucAIH_YC9L1HEdxoKpDTaij46TNUcqA37me8qGk6Lp9lbCyBBIxqhlUlTYkTkT59nSL-S4uYgOffD0ojlLGXgVg6lmpDw07xAYDmtmuL6uhQ1jlOZR2fSDAt6D5fgeAMqfccXg5h25ycFScgZK0ufTeyyLQwyn4c7O5dyDdZpuFHjl72RA6mcw_2kIkoraOnfv9vhZBcPM3PEA_7gIh9OhWQw32_fhoF0vzEgh7esSQCRZUlpwk60Dm9jZhnSF18teAIGz0IpD6U1y1r2bhNjG1y26HauZD1lbJZ2m7eAn6bYflQKZtM600OX2Xz5K9O380ODdo9jhb-49d-k4D4mzvbffsv00ldbdY6TPfSERMZxY5QIoaOqLhOYuoADdN2wTFKUoy8LMH0v1feOoX6wC_R4VoSJ81v3wC1Vdujl3S4Q72YZ8hy4DRFjyHu2BiuYhWq8U-QOQ_z2PJkFG-PNlXQ0JWLkq9LntbvZW7qcMgcMfCdkpV7IB5u15gqeuenNsl70TGfXGNfpodT6_P08Pu7zx4WogW_X5G36vyGBcYcN8s-eSgvU-CBT32nO3cHMdgR2XhowLT32nFTJlnbCJQxf6hHXAVVfMNlHyShkylJvv2eKZRaoNfKia78c7zP4SCwfZ827g3Fk1J5gVBFtjz0FDuecTB_lxpsAjeqIN2RVTBWgOVfTc1YcE_CD7x79zMKvpBgX0sBVCZKcf7v0C3zGVJEH7AuAibgFNnFAyBkjJQiFkPugv5bzmWpnMVdvov8Kw42lGFFjmNxE2vdmLJvObIV0OQZW1BcvPb7i6Hjq7yzA2arFm6880-VJjV42vJ6Kee8S45hSo6jNqLgA-CKmr082fWMjPJQDbJtBHg0C6JWjkwvnmwBTQv1rJbd_7R5fET9hO0gCyfDCVIRFdNKmo9XD0J4qQ-ZWvcYlCcbr5uKLxaH_e45xDvgk6w7bpNOHa1ytVPgxg8LRU12LJJWNzV-qaouk8uXzUmnLupZTH4wD2XExjdnzl5NRukYNzMwdlNAJiCCBgWl15kc3IZI3Il0HOvDsScJBYqvCQxeOmsZEd2RivIwsRjU6qzGuNcaZneIRFZ7hWM3POdlAZNjlgDgEeSCYqsQlukRyTI8Uh-zGzfP2Qx0Et9UpmAyfppDUymsd_V-jQQLS-mprMgJh3ao_uodjycJepP1oKAio7rY7Ndr-sNo6YJABbG-Z-3GvRP7T2zD-czaLKX_VEOInqccpMANqKylRFsBadHBgVNBtuHstPpcNVwFXHa5Wrc3cfsg7eU5Y2X2bGyDkeGlCAIb",
  "id": "rs_010e539e5f3137f3016ab459c688ec87d09cf3616047087390",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.095},\"note\":\"The gripper opening indicates a secure hold on the yellow fruit. I’m lifting it to verify the pickup before moving over the bowl.\"}",
  "call_id": "call_ztw8bBiTp335e3fAczDtsfPd",
  "id": "fc_010e539e5f3137f3016ab459cb14a087d08c552e5986d492ab",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ztw8bBiTp335e3fAczDtsfPd",
  "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]: [-0.1352, 0.8379, 0.6888, -0.45, -0.2272, -0.0521, 0.9952, 0.8619, 1.5677, 0.7612, -0.0532, 0.654, 0.4889, 0.4431]\nstate[eef_state]: left_x=0.2979 left_y=0.0032 left_z=0.1947 left_yaw=0.0766 left_pitch=-0.0156 left_roll=0.1014 left_gripper=0.9952 right_x=0.3193 right_y=0.2127 right_z=0.0815 right_yaw=0.0598 right_pitch=-0.0803 right_roll=-0.0881 right_gripper=0.4431\nstate[joint_eff]: [-0.0615, -1.7846, 7.1726, 1.7607, -0.1099, -0.0122, -0.0122, -0.212, -7.665, 8.0889, 1.4042, 0.3834, 0.0171, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4881c48d7cb7a2bcf3c6c4af198b7d10b39b3a9bb813e0881b34b10622ca13b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:814886c4935b5315c9fefb38c08c5642837829a1fea7cae0d2ebce700f441baa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2960d1c7b0b5b9144660914c815a9199bff0a143bbf582402222049ec9199cf3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 32 attempt 0 · /responses · status 200 · 2.513 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]: [-0.1364, 0.8299, 0.6926, -0.4278, -0.231, -0.0475, 0.9951, -0.0376, 0.8543, 0.6609, -0.4728, -0.0196, -0.0643, 0.9983]\nstate[eef_state]: left_x=0.3005 left_y=0.0032 left_z=0.2032 left_yaw=0.0762 left_pitch=0.0178 left_roll=0.1001 left_gripper=0.9951 right_x=0.2927 right_y=-0.0039 right_z=0.1706 right_yaw=0.0093 right_pitch=-0.0987 right_roll=-0.0258 right_gripper=0.9983\nstate[joint_eff]: [-0.0342, -1.4838, 6.8034, 1.6728, 0.1148, 0.1587, 0.0611, -0.3624, -1.8803, 7.3641, 1.8144, -0.0611, -0.0806, -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]: [-0.1352, 0.8341, 0.6888, -0.4465, -0.2272, -0.0498, 0.9952, 0.8619, 1.7725, 0.6464, 0.263, 0.6647, 0.4938, 0.4389]\nstate[eef_state]: left_x=0.298 left_y=0.0032 left_z=0.1965 left_yaw=0.0754 left_pitch=-0.0087 left_roll=0.1018 left_gripper=0.9952 right_x=0.3198 right_y=0.2111 right_z=0.0165 right_yaw=0.0496 right_pitch=-0.0766 right_roll=-0.0922 right_gripper=0.4389\nstate[joint_eff]: [-0.1162, -1.4291, 7.0359, 1.7363, -0.0952, -0.0513, -0.0122, -0.0342, -8.9368, 4.3692, 1.3504, 0.2222, -0.0171, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.1352, 0.8379, 0.6888, -0.45, -0.2272, -0.0521, 0.9952, 0.8619, 1.5677, 0.7612, -0.0532, 0.654, 0.4889, 0.4431]\nstate[eef_state]: left_x=0.2979 left_y=0.0032 left_z=0.1947 left_yaw=0.0766 left_pitch=-0.0156 left_roll=0.1014 left_gripper=0.9952 right_x=0.3193 right_y=0.2127 right_z=0.0815 right_yaw=0.0598 right_pitch=-0.0803 right_roll=-0.0881 right_gripper=0.4431\nstate[joint_eff]: [-0.0615, -1.7846, 7.1726, 1.7607, -0.1099, -0.0122, -0.0122, -0.212, -7.665, 8.0889, 1.4042, 0.3834, 0.0171, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4881c48d7cb7a2bcf3c6c4af198b7d10b39b3a9bb813e0881b34b10622ca13b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:814886c4935b5315c9fefb38c08c5642837829a1fea7cae0d2ebce700f441baa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2960d1c7b0b5b9144660914c815a9199bff0a143bbf582402222049ec9199cf3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFnRji_cayE-zDzVNSdZsCzCKw2CiTiYTLeJ7A44xNoHoIwxQMP2hSbTxLRaEikh6oLqS-5j1zm2tsTORcOgp5IeF4E_6L0VK_q1GdOVfTr9LoNlrZE3JcLS1RAmqqY29fore_bXYQ4npF6TTKunFC7aHZ2YS3Fbo0RxLMQCeuNhGSHXKRU3gw9ESG8N9c-uGYLq_p-dYgBPVrNDfERlnmTKIqHTokQt5Sh-GA1wfuz8zlCdf2j733iIkwMXHxklRPjV8_Ay5TLtajnrv1pcN09sn6sSg4eVQOZ9CFve99YeX3q0XTne-gyRp4x_ATiLqHzK2LbSL6aXQ-q5TVGToDATJG3xrKwmm_Yd6UYIKD_3vr03xryRSMIm1iUYGkPuH30gI05rUqQyOFUCAq5fOO71zL-BhW3MUgMvICIAx-ilWopD0tLW3ptvyZcbaGXReoiVan8ZBNmT1jmSkhbmWmxQAtrDr7ZA-6eMQRF89bfRhIXQCdhqleZvmV8zzlVH0igj1QX5Q6v919z--YE2udeBZxN2ixM0w1ROjpqca2IRvNNcNbgej6gD0KAjeNNvuOXe-9kLdztu5g52IIICr5b3pOv_-OVXZXLvsxR26_gBuLMVXLTG-EHcfX2dJfrMkrxN6RqXaYAqj7j6YDo0kwD7aupOuuSKPjW-7iivMNREjW-NAJ5V7nZzvjrg7r60e-KUNOiPUE_iMV_21CSs6f7g2PJBs9rXGApFoHIC0SEgsuF7tHxFTS4PB11iwtaHYoHSkcLkYV-_mnbhlqRT9ZYgr4kTQb9KmCAZFpuCtjSFHfIWieSeTSiZRLXjInMrV2ejYCSv5kvrJxgZDc9cvEcMcRqsxGaasQozbQBSOC6QFPlG8NlypoJ9Q2LPfZ0XkHFfJhMTwy1mPFaSP1IcX-6Y37CUdnoJe3pQncZ4khFJ8Xaz0N9G87rmvud1pC4YulIpSycPKwcPMp88hp-fNAkO5aIESQ2zLXU4FCtqOfY_hOmG2KzS3xbtyBYeW253AaFvjhipjOSfRovn7s-dYfuGFrkJ4SgCFQfd2hakVTyfEqxJnCgEixd5dofXp8To9YEE7_iec3rkSWJ2yxS9IH3LRKntSLTSXvt1efjsxifYSeccB0F2N_tnlZzssYrneKqPiCZSzUpVSzQ40gN4oOCZfUOBFe8TLyS_WvhCjiNSwMS4pIfv3_y14vaGqfEP_7zjItfbQDb6sPL7czSCWR3CtSFmuDTW5hWVk2IOkPyk7NZK56W7-3PelJyIlm9vXWS-JIrR_yTGTKi4xdtgxYJVJKzVLEkNSGE6NTjHV6Ey78PMGTVQ2HnwuLkDdmDmoj_0soHW1Uc1qyZy7bRiNgeEIeAKYN_ygcVl1lVRBBsPLF8wRk6PMXwQKMnRyAMRoYCZHz_8r3uTjDXmqPsdNve2qadLRJ-Psut_yFLdhf-ZAb5x4xBaWM7EfdF7RGpVCW6v-EX7GlKTG0tUtRl2ab5-oB1y_GiZ652ecKrqWszfzTns3vzoBA3s4eQR0DmAENDYM7mLnqgTrR6KZzmHUK3KirOMieUT_xwMp7xyuN2c4zg=",
  "id": "rs_010e539e5f3137f3016ab459ce63a887d0be0f6504482242be",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.475,\"right_y\":0.185,\"right_z\":0.18,\"right_pitch\":0},\"note\":\"The yellow fruit lifted successfully. I’m carrying it over the center of the blue bowl, which shifted slightly during the earlier attempts.\"}",
  "call_id": "call_e94faOIisIHgBtHOUbNPbl1K",
  "id": "fc_010e539e5f3137f3016ab459cfe97887d0a06ce526a9ec57e3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_e94faOIisIHgBtHOUbNPbl1K",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1352, 0.8448, 0.6888, -0.4557, -0.2276, -0.0521, 0.9952, 0.519, 1.7584, 1.2621, -0.1753, 0.4313, 0.1802, 0.4464]\nstate[eef_state]: left_x=0.2976 left_y=0.0033 left_z=0.1917 left_yaw=0.077 left_pitch=-0.0279 left_roll=0.1042 left_gripper=0.9952 right_x=0.4637 right_y=0.184 right_z=0.1642 right_yaw=0.0586 right_pitch=-0.0369 right_roll=-0.1029 right_gripper=0.4464\nstate[joint_eff]: [-0.1436, -2.0855, 7.1726, 1.7656, -0.1245, -0.0269, -0.0122, -0.5128, -8.8547, 8.8137, 1.7021, 0.1197, -0.0024, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6769c9289b09a40105aff1697ccc4511851e57f54c5c3d06a349186a8e8fca45",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:135a3648f17e1e3f47df012f3c101e68673fef1c756f5b8d5a1a0ba1054c97f1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:709451d72d7b5583ea47fe186309b555685724fc08933e072bf1a6c05ee69868",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 33 attempt 0 · /responses · status 200 · 9.202 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 115 changed as sent

message 123 changed as sent

message 127 changed as sent

message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1352, 0.8337, 0.6888, -0.4423, -0.2249, -0.0494, 0.9952, 0.8627, 1.7527, 0.6418, 0.2623, 0.667, 0.4984, 0.9983]\nstate[eef_state]: left_x=0.2986 left_y=0.0027 left_z=0.1974 left_yaw=0.0732 left_pitch=-0.0045 left_roll=0.0999 left_gripper=0.9952 right_x=0.3199 right_y=0.2111 right_z=0.0222 right_yaw=0.047 right_pitch=-0.0651 right_roll=-0.0792 right_gripper=0.9983\nstate[joint_eff]: [-0.1709, -1.7573, 7.2821, 1.8339, -0.1587, 0.0171, -0.0073, 0.2256, -7.7607, 6.2291, 1.536, 0.5788, 0.149, -0.1832]",
      "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]: [-0.1352, 0.8379, 0.6888, -0.45, -0.2272, -0.0521, 0.9952, 0.8619, 1.5677, 0.7612, -0.0532, 0.654, 0.4889, 0.4431]\nstate[eef_state]: left_x=0.2979 left_y=0.0032 left_z=0.1947 left_yaw=0.0766 left_pitch=-0.0156 left_roll=0.1014 left_gripper=0.9952 right_x=0.3193 right_y=0.2127 right_z=0.0815 right_yaw=0.0598 right_pitch=-0.0803 right_roll=-0.0881 right_gripper=0.4431\nstate[joint_eff]: [-0.0615, -1.7846, 7.1726, 1.7607, -0.1099, -0.0122, -0.0122, -0.212, -7.665, 8.0889, 1.4042, 0.3834, 0.0171, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1352, 0.8448, 0.6888, -0.4557, -0.2276, -0.0521, 0.9952, 0.519, 1.7584, 1.2621, -0.1753, 0.4313, 0.1802, 0.4464]\nstate[eef_state]: left_x=0.2976 left_y=0.0033 left_z=0.1917 left_yaw=0.077 left_pitch=-0.0279 left_roll=0.1042 left_gripper=0.9952 right_x=0.4637 right_y=0.184 right_z=0.1642 right_yaw=0.0586 right_pitch=-0.0369 right_roll=-0.1029 right_gripper=0.4464\nstate[joint_eff]: [-0.1436, -2.0855, 7.1726, 1.7656, -0.1245, -0.0269, -0.0122, -0.5128, -8.8547, 8.8137, 1.7021, 0.1197, -0.0024, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6769c9289b09a40105aff1697ccc4511851e57f54c5c3d06a349186a8e8fca45",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:135a3648f17e1e3f47df012f3c101e68673fef1c756f5b8d5a1a0ba1054c97f1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:709451d72d7b5583ea47fe186309b555685724fc08933e072bf1a6c05ee69868",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFnUPEYOKxew1CUwRSx7-jObP4Bij1QGP-OMs-CkqS67CX43e4qAi_Zkpqy4Yw2DLraiFk9riEElpydTkFKZocNxNb8Dp251_SOP-wfwIMB41HXUcyRw7hQC0VbielpxedHGW8pUpggOH0c6jnTtP5yJjSVCHLebHwWyKEEipO_uekWQieCJCXhcIeZmxEAIJDd5pMVONkq6Izj3_R4GfePf6b9pnG9mDzNaouuiSQOklX92O1JvqCvIxo1VGmwwERJifM_bC8OjwE6bFPj785mzws3cHFL_95XBVodjcpeszI6ybu6utNhnlIFT36zHRXVcB1GNb12ruQ3zty1C87j4E1OL2f7XCZd853HbOFf8FbOVLid84OQxyg6ExD2RVtqxfcNWPBC3gYnMdp9dCJpble8Ts7Yw6dYsTsD89JiIUopN8i562qlWrPJ1-8I9x4ELspOWBpJO2SHbEFT7o00uc8FYvBSQ3lmxzKD4Fiw00ymgK4oxMsUybxZ-6VIifitm1KPHbNBDu2ETU2r6QPm5B6QHuVASqKRaTS9z767SFG36naEbGSGxJ8zX1GjxPewWzYIZAUxrPb8XzTtRPyHs80aWhdU0sW_17xgGBxo9IHF8LGH4z5mil_hJCwo5qcKIb9ZabZ17VOuCe3K3oJ2jzN4Ilig9SB1_453lx7wbHE3YUQYE1W9tknYb-q2hRuCiKI9a4-DVLsMo15HwGA5sFD1RQLhKLSj0GRtNHaj6zFWVZwsATvfTMvhlMxrUmEBwGo80zJYGKdMaAfLca6ba2U_zGQe5GrjztD3wNF6A4blfV8d0ObdgWAd50QvkyF6nDpHYH5NBlVmFnkFDBL4XL2A22mQZlUPiAqV4z5RCoWJPG3Tp8-BmeDlOfEcg-wRXCWpa-ZLzfpL-aF7cLynDeJZzkV4PDEZwRbomyhrINHnbmaPle-LtFuyzeYHMb-kKBbrW1v_EYxaRbX42-sxUN4OIubu5yXdPRo-NBqk5sLtVATPucZNMY-37MKQkzkrgJK-_QAoF7nXLoIrSSq09C8LA1VZXsTaefCFONvzHkXEmG4mYx_SU6Hvnnz9QARfhhpg-AkPJKDjcVp6TMYbZLzvgx12bHOkjLIkVibhMCZ9TmUqmP-8UdTXWnhuVNg-ve4o8dv683lKPA2FF6gLfgMF3pr4cSYtBOhR_SWVKc8NMiXfVNuWnOhoMTdYEk8tC",
  "id": "rs_010e539e5f3137f3016ab459d3d27c87d090d8d4ffb0833353",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The yellow fruit is directly above the blue bowl. I’m opening the gripper to drop it into the bowl beside the green fruit.\"}",
  "call_id": "call_zD4DLTPWd33Mv9dfjkWBUIhr",
  "id": "fc_010e539e5f3137f3016ab459d4024c87d09b5f0d7cdd6d5270",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zD4DLTPWd33Mv9dfjkWBUIhr",
  "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]: [-0.1352, 0.8452, 0.6884, -0.4683, -0.2276, -0.0525, 0.9952, 0.5152, 1.7638, 1.2644, -0.1856, 0.4213, 0.1715, 0.9956]\nstate[eef_state]: left_x=0.2959 left_y=0.0036 left_z=0.189 left_yaw=0.0773 left_pitch=-0.0409 left_roll=0.1067 left_gripper=0.9952 right_x=0.4634 right_y=0.1835 right_z=0.1603 right_yaw=0.0672 right_pitch=-0.0521 right_roll=-0.1103 right_gripper=0.9956\nstate[joint_eff]: [-0.0068, -1.5385, 6.9538, 1.8144, -0.149, -0.0708, -0.0122, 0.1436, -9.7162, 6.6256, 1.6923, 0.2125, 0.1099, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:756343b94bbfb8be7b2f4b759d43f375f1874d4cd3e388d951ab5a1e1343a972",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8855086f575621c071a9c675769bc14347df58ada1e2db7a5755c890adfa827",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a2ba4e3aafb9bc8763da1c06b0dc43d0330bc471998dbfc3dd29409010227ab",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 34 attempt 0 · /responses · status 200 · 7.45 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 119 changed as sent

message 127 changed as sent

message 131 changed as sent

message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1352, 0.8341, 0.6888, -0.4465, -0.2272, -0.0498, 0.9952, 0.8619, 1.7725, 0.6464, 0.263, 0.6647, 0.4938, 0.4389]\nstate[eef_state]: left_x=0.298 left_y=0.0032 left_z=0.1965 left_yaw=0.0754 left_pitch=-0.0087 left_roll=0.1018 left_gripper=0.9952 right_x=0.3198 right_y=0.2111 right_z=0.0165 right_yaw=0.0496 right_pitch=-0.0766 right_roll=-0.0922 right_gripper=0.4389\nstate[joint_eff]: [-0.1162, -1.4291, 7.0359, 1.7363, -0.0952, -0.0513, -0.0122, -0.0342, -8.9368, 4.3692, 1.3504, 0.2222, -0.0171, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1352, 0.8448, 0.6888, -0.4557, -0.2276, -0.0521, 0.9952, 0.519, 1.7584, 1.2621, -0.1753, 0.4313, 0.1802, 0.4464]\nstate[eef_state]: left_x=0.2976 left_y=0.0033 left_z=0.1917 left_yaw=0.077 left_pitch=-0.0279 left_roll=0.1042 left_gripper=0.9952 right_x=0.4637 right_y=0.184 right_z=0.1642 right_yaw=0.0586 right_pitch=-0.0369 right_roll=-0.1029 right_gripper=0.4464\nstate[joint_eff]: [-0.1436, -2.0855, 7.1726, 1.7656, -0.1245, -0.0269, -0.0122, -0.5128, -8.8547, 8.8137, 1.7021, 0.1197, -0.0024, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1352, 0.8452, 0.6884, -0.4683, -0.2276, -0.0525, 0.9952, 0.5152, 1.7638, 1.2644, -0.1856, 0.4213, 0.1715, 0.9956]\nstate[eef_state]: left_x=0.2959 left_y=0.0036 left_z=0.189 left_yaw=0.0773 left_pitch=-0.0409 left_roll=0.1067 left_gripper=0.9952 right_x=0.4634 right_y=0.1835 right_z=0.1603 right_yaw=0.0672 right_pitch=-0.0521 right_roll=-0.1103 right_gripper=0.9956\nstate[joint_eff]: [-0.0068, -1.5385, 6.9538, 1.8144, -0.149, -0.0708, -0.0122, 0.1436, -9.7162, 6.6256, 1.6923, 0.2125, 0.1099, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:756343b94bbfb8be7b2f4b759d43f375f1874d4cd3e388d951ab5a1e1343a972",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8855086f575621c071a9c675769bc14347df58ada1e2db7a5755c890adfa827",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a2ba4e3aafb9bc8763da1c06b0dc43d0330bc471998dbfc3dd29409010227ab",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFnepkCPe3Y396sHrYv4r18VLBN96QhltmQBNlRA_E6L4-77o8kL0bQjACaCHZ9zZGn42evx39lcAXm4cuT0y4BW8PcGWMOfsdgcArqwJCLPgAwoG0xc2IgvMCDEr0SwUMfauj7rBqsgT9MnRowFTJxA_wK_GjR0b_P1Ze8no8TwhUf3OO2AIepdA2SLIKvDKTP2pmSiX4p9DfC_-TH5Oic7FZcViEgAyt4VgBPRqjEVCajm8yz4wsKTpc-2RPJzs6_IlqnV7ur--adMZgVI7zLHbPFJHIetpZ9lJqa3cfRoMtAiyBOn1aMcunmkM6v0iKCKI5AvMb7BycVLdikoW8ZYCV6XRkcITL60lx_DNSKHuXhOfYWM-BafvTjZasYc1ADJ3EttY8QtYOzN3w7K-fr9Lc9T4qLvaGaMk6qjushYT2ccOitZpoNcU7T7IymgsN76zR0pdbjOpmz8fLPI9wNR771v1f6tjRj3f7besz5KS24R8xfQglbNjeMzVMqVBBtpfIRxbpfMxoXAa38ij-guoQDKxQTeWe2vVZ_YgL76KSa1Q_xYLWRy3vF2nptD3ejhstYbZrrXhynDlj1bj5Zzz2gr0DVCFItVjTQ9U1oqUvu-QGaNTnK29vgCSihtrvXISgO1FmoGFHxbfHUptgNvuxwIbEf_i6AD9QDLnro4hnk7XYEfeK1Dt-jWtWQrSwyg9SPqz92W4kGwLliJ1EcmB9OvmayT2FI0KQXqRHK5Q74DwxSrxTjUogK-A5F414XbRa6UxOTO8PEYGVGM9ossu_6SEAo9cEugSqoDnOleq0xxFBPR99WfocKXXPcb7Vm-_0tsEST8r2acEKuNhz78_I3S5WvXOmud9T_MWryUebiDckkM8QUGc02F22VhR2rDJt2urXE7vmDEAwHpJNrUDVNHvCgGMMOkk9qu8U6-1Y29Qi3z3DwflHnMeuJxShs76PNqruEkOorUciSs2VyRBEaBH90D369HB3ZdxE9I2p1R7o8DLHLM5JagsGjgy5fuxMLkO1iqBA-pdeXS8RvVPpwe6zg4mdi7JxzpGFqZmzu4lo0g8DsFdDl4jl0VLL3qStNolWXgZ3RbbT-Hp19HtBqzkfDsL22FyuA8lW1j4eMeQZxW9HBVZfBeFJvFVm--ZqK-okpx2hnlwnK1GvvfuXCBlZoFIF0gCZCOYKRi2duuvVZKnxiAv8pu-0_K2UERrE_qrjN87SM7jkPPVQD5wgjltqrz_8h2WZKVvyAn_7OMRdPOWdJZnIuFE1uU3A8BEj237CZlUHvOMCAYZnbVZUtD7i-AYYmwX7upxXqOlEY4thO7r1Tf6wr1i_l4jMQjbh0Vi9PF77U-x_LDmQQOvA4uSrUZZeP69UMiX3uc3ZziNNE5cZ-tj6lRDJkyLRPABrxfaucvi9zyHYYQ7bp8Z7YFxv8XYBMb3bca8rdGN6Pma9c98T17Ap-gCNFZblE_cDpHWA3XoxZwaTKian3zmke86-LkT6uno_StIFf_M3It9_NUqWtG0kJFki67tHQhhs6w3I5El7KWZMU9FUipvLcW_ChPL7xDxMG0K0Xu0OyOxAyCO3Vb_Tyctvn1slYWvzd8yAiCe_osNleoehtN8f8_0R5l2NdlN9IumPmsGX2oyYZV6epUjIQsSoCpmHAwpd1BhFCEf9kvFavbCB9LvH1Xr-n7oS9xcZbbP-fyGGaeqjEl3vAAetBrnSt2CittpAKJ4A4gnk9Nrxk1PetMm23kKjqrjEcWF4QkKGq2iQtX6fdHGKEd_k2KwkOC7SeYf8CA2U_KvVKaj0T1hz45_Z07Gvci3ocUMRtnKlAldVuJ3_R4SmdiWUym-mi8qllBK0O-79_8ouMxeBbKZe286NuGEh5wJMUbXN_sM5_2ptW9sVjB4qcFfDx5JOsvIZ_Qwfvfklz4yWLQGeN9dp8Q8heq_Zk8_oHflWR9KpyOdPPeRXcYFmQDQHtSfyexi5Eq1ONk135FW4fRDhdnk_8rzw1oZrplZf-auDUzIjpDm6DAtrRpzkzDkr5ALPJeqoIzGPTSOze3IBoxmuuXuwizLp1wTxn2W4QE7bBN1ssGjZzLAhADQv1OmZS19a6nF-Cwy_Kqf5kt898q5beBU7a4ymzyeTMWucFow3UKINBzuVJ23MCCJCnajQDaUthTu-JAdWsEhyLjBQiCl6iOSBkdk2OlWGIcrOdlER_1AI9AifINK4HXnfy9PNd1rOza3bORGrEE225EycS9y-g8wbQ07PYc0vlGMEyhWLi4hUNsYt_IwDlwBEhuVDt-p7khiveOpDwHLvbCOOZXKecVsvXXbmnFMAV343sk_krWaMXjDt8-zQQVXeprGDgz0hqb_M5rIPVz8cf8la7IgI1vRAEne08j-AekoZIC571Qr8LKwgx_9SaPAtF4cUi1f7QAXcwtTw6MPSZGdYXSTxnco0hzpWyBthoezT_2xs28RzF5BVTLpp_M9-i8VEIz34k0fBy8u4zolrWaUu27L6yCuIF_CchfR4mIfa-GuIUWlKmB7z28k5odFYHCufyt8SCUFlhvApLBqxK36yob4zXXGI5R4W5fuwqjgaslrG2kn1I1N6ZQwJqhNCFVnoUuz-VRUZV-86Rvow4pXBYlGW7995g453RdSzzER1NODsftybbhAvvkK8FZ3WoDl4qID_ffpe7eBK2UcZlmUGdr0mhABifsz-U1n5VUO-lDA2rRs5oPZk78IaMZgEO1-O-bZuhezi1gZ2EL9--M75iDI6HOknlKNTO-4lCZFF96_m3ADQE2b1TJ62NRSehE8-yA5G7qPabRSIIUu3lGZe9py7Jv49UVJBRz4mgKPNlmil1qYO53UMDz68bEFkM1P8eQqL3yrMkEt3dAJsqNrr20frx2xO0wibJp8wh4K5UH2GVhMvFYkutooagWWilL-3Z_9YgBKN4MCLE2LLZ5iTK_lOCe_6FLG9vvhW9X6msq2DngTsS9362EgL5ewWrmEvGuiSzBL6WoYbUs8ZHxk0-PcrQLyRTfiHJInd7x6MqoD1unBLC3QeJzvKO-HqIQMBcJ7CkIL6nDAa2BOcbbze9o1J9ZeSYTtVvQr5YsBmBQZMjvSuH4ygv5B8dgfXBn36vsn60Nczxjz6pv7ZtJF3RoAsLoumhFI8L6212Wx_iSOMrT3mh2cd1TvJXhO9QYjtUbkauSWVNdrpPTXC9cvzXgGWZvkpmcU27Astd59TJhXgGUC4ArvJngbOYIgPbwltFRWgElT2XflYuS2bpiQCF2D4idZwWhHvZWKfEdUKGQVfaIepRw1iqadAPel0dLPs_BbPjWMgujt_kqhaQOCbCrMfBJY2jLH73MbeKzDEG54ZDFLkBPkXpulFTGNdBGFVt6SadsZfpyxDe52NzdQoACQD-8KSmB-lAy8FQlAJlkfD48ZmgRObYpvdIg6CsXAs1gJ227xAcHF2JONk6qsMV5Z2PcuMECTaOIo75wJQrFqRD48yxYW4e6hbniVAG37T3OEj8Rk5e5HjjdkdhEWBcc01Uat9FbMdt0vgFPazZxouZOQlna-ghgIHAjy3-38wjx-Q34YiXE6hHIFg2RE_iXymamerGa7E8ImUL7KUMYy4CezqOA42Rg04UGfpbQEPRHK1pVTtbuDja_3WKxm1wSEjtVq1xVOLeBkiaTeGrfKW4kaJMbD8I=",
  "id": "rs_010e539e5f3137f3016ab459d6ad1487d098bf001fbe246f9e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.296,\"right_y\":0,\"right_z\":0.2,\"right_pitch\":0},\"note\":\"I’ve released the yellow fruit over the blue bowl. I’m moving the right arm clear to verify the result and leave the work area unobstructed.\"}",
  "call_id": "call_GhGKfEzQfgYk5Ppa6OBXJOy2",
  "id": "fc_010e539e5f3137f3016ab459dda4dc87d09d10f8445cb55ed9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GhGKfEzQfgYk5Ppa6OBXJOy2",
  "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]: [-0.1352, 0.8513, 0.6846, -0.4747, -0.2272, -0.0525, 0.9952, 0.0074, 0.8276, 0.688, -0.4026, 0.057, -0.1108, 0.9962]\nstate[eef_state]: left_x=0.2949 left_y=0.0036 left_z=0.1843 left_yaw=0.0771 left_pitch=-0.057 left_roll=0.11 left_gripper=0.9952 right_x=0.3036 right_y=-0.0042 right_z=0.2047 right_yaw=0.0143 right_pitch=0.0222 right_roll=-0.111 right_gripper=0.9962\nstate[joint_eff]: [-0.1436, -2.0444, 7.3094, 1.7802, -0.1197, -0.0611, -0.0171, -0.1709, -1.347, 6.7487, 1.8486, -0.105, -0.1148, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6d642c02341fada7b3c136cd1b4947ae9a7c8b913c08e442e11d56c1f115bdd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9466f14879f5c7f404b49a7e61ff58cd7aecdddcdeeaca54c26d3d906c98871",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e371bced466373f243df9ff915c36eb7a7227bbd3d3fc1aa280fe23c219e2f5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]