adhoc

completed
2026-09-23T23:58:21.211925+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (78 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
296.7 s
total steps
437
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteI see three fruits on the table, with the blue bowl beside them and the larger white bowl to the left. I’m bringing the right gripper over the green fruit first.
move_to
right_x0.3500right_y0.0650right_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]: [-0.0246, 0.8001, 0.6136, -0.3824, -0.0139, -0.0299, 0.9918, -0.0227, 0.8005, 0.6197, -0.387, -0.0166, -0.0124, 0.9994] state[eef_state]: left_x=0.296 left_y=-0.0012 left_z=0.1822 left_yaw=0.0 left_pitch=0.0 left_roll=-0.0 left_gripper=0.9918 right_x=0.2962 right_y=-0.0002 right_z=0.1839 right_yaw=-0.0001 right_pitch=-0.0 right_roll=-0.0005 right_gripper=0.9994 state[joint_eff]: [-0.1299, -1.7846, 9.8256, 1.8242, -0.1148, 0.1099, -0.4908, -0.1709, -1.5521, 9.306, 1.8193, -0.0659, -0.0611, -0.0708] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.065,"right_z":0.12,"right_gripper":1},"note":"I see three fruits on the table, with the blue bowl beside them and the larger white bowl to the left. I’m bringing the right gripper over the green fruit first."})
tool
executing move_to over 6 steps (0.6s)
step 6
top_cam
camera top_cam step 6
left_cam
camera left_cam step 6
right_cam
camera right_cam step 6
assistant
agent noteThe green fruit is at the lower-right edge of the wrist view, so the gripper is too far to its left. I’m shifting right and lowering to grasp its sides.
move_to
right_x0.3350right_y0.0050right_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]: [-0.025, 0.8032, 0.6132, -0.3981, -0.0139, -0.0311, 0.9912, 0.2974, 1.2053, 0.5297, 0.0422, 0.2352, 0.1425, 0.9994] state[eef_state]: left_x=0.2941 left_y=-0.0013 left_z=0.1779 left_yaw=0.0002 left_pitch=-0.0191 left_roll=-0.0005 left_gripper=0.9912 right_x=0.3451 right_y=0.0665 right_z=0.1092 right_yaw=0.0249 right_pitch=-0.0458 right_roll=-0.021 right_gripper=0.9994 state[joint_eff]: [-0.1846, -1.5111, 7.3231, 1.8779, -0.0269, -0.0464, -0.0757, -0.1436, -4.547, 6.7487, 2.0537, 0.2173, 0.1343, -0.0757] camera 'top_cam' (step 6): [image omitted: streamed camera frame] camera 'left_cam' (step 6): [image omitted: streamed camera frame] camera 'right_cam' (step 6): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.335,"right_y":0.005,"right_z":0.025},"note":"The green fruit is at the lower-right edge of the wrist view, so the gripper is too far to its left. I’m shifting right and lowering to grasp its sides."})
tool
executing move_to over 6 steps (0.6s)
step 12
top_cam
camera top_cam step 12
left_cam
camera left_cam step 12
right_cam
camera right_cam step 12
assistant
agent noteThe green fruit is now centered between the open fingertips at table height. I’m closing the gripper around it before a short test lift.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0246, 0.807, 0.6132, -0.408, -0.0139, -0.0311, 0.9912, -0.001, 1.4597, 0.2474, 0.5625, 0.0055, -0.0208, 0.9993] state[eef_state]: left_x=0.2929 left_y=-0.0012 left_z=0.1749 left_yaw=0.0006 left_pitch=-0.0328 left_roll=-0.0001 left_gripper=0.9912 right_x=0.3294 right_y=0.0023 right_z=0.0169 right_yaw=0.0075 right_pitch=-0.0823 right_roll=-0.0188 right_gripper=0.9993 state[joint_eff]: [-0.0342, -1.5248, 6.9949, 1.8291, -0.0464, -0.0757, -0.022, 0.253, -4.7248, 4.9983, 1.9512, 0.0415, -0.1832, -0.022] camera 'top_cam' (step 12): [image omitted: streamed camera frame] camera 'left_cam' (step 12): [image omitted: streamed camera frame] camera 'right_cam' (step 12): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The green fruit is now centered between the open fingertips at table height. I’m closing the gripper around it before a short test lift."})
tool
executing move_to over 10 steps (1.0s)
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
agent noteThe gripper stopped well short of empty closure, consistent with holding the green fruit. I’m lifting it a few centimeters to check that it follows the gripper.
move_to
right_z0.0850
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0246, 0.8078, 0.6132, -0.4168, -0.0139, -0.0319, 0.9911, -0.0006, 1.4597, 0.2474, 0.5709, -0.0006, -0.0269, 0.8483] state[eef_state]: left_x=0.2918 left_y=-0.0011 left_z=0.1729 left_yaw=0.0011 left_pitch=-0.0423 left_roll=-0.0005 left_gripper=0.9911 right_x=0.3307 right_y=0.0035 right_z=0.0185 right_yaw=0.0163 right_pitch=-0.0739 right_roll=-0.0201 right_gripper=0.8483 state[joint_eff]: [-0.1026, -1.3197, 7.1316, 1.8193, -0.0806, -0.0659, -0.0171, -0.212, -4.3556, 4.6701, 1.6239, 0.0464, 0.0024, 1.033] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.085},"note":"The gripper stopped well short of empty closure, consistent with holding the green fruit. I’m lifting it a few centimeters to check that it follows the gripper."})
tool
executing move_to over 5 steps (0.5s)
step 27
top_cam
camera top_cam step 27
left_cam
camera left_cam step 27
right_cam
camera right_cam step 27
assistant
agent noteThe green fruit lifted with the gripper. I’m carrying it above the blue bowl and refreshing the idle arm’s parked pose.
move_to
right_x0.4350right_y0.1050right_z0.1900left_x0.2960left_y0.0000left_z0.1840
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0246, 0.8108, 0.6132, -0.424, -0.0139, -0.0334, 0.9911, -0.0006, 1.1595, 0.3801, 0.1169, -0.0013, -0.028, 0.8483] state[eef_state]: left_x=0.2909 left_y=-0.0011 left_z=0.1706 left_yaw=0.0019 left_pitch=-0.0527 left_roll=-0.0015 left_gripper=0.9911 right_x=0.3256 right_y=0.0036 right_z=0.0729 right_yaw=0.0176 right_pitch=-0.0949 right_roll=-0.0202 right_gripper=0.8483 state[joint_eff]: [-0.1299, -1.5521, 7.241, 1.7558, -0.0415, -0.0073, -0.0122, -0.1162, -3.9453, 8.4718, 1.6728, -0.0073, -0.0024, 1.0281] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.435,"right_y":0.105,"right_z":0.19,"left_x":0.296,"left_y":0,"left_z":0.184},"note":"The green fruit lifted with the gripper. I’m carrying it above the blue bowl and refreshing the idle arm’s parked pose."})
tool
executing move_to over 9 steps (0.9s)
step 36
top_cam
camera top_cam step 36
left_cam
camera left_cam step 36
right_cam
camera right_cam step 36
assistant
agent noteThe blue bowl is aligned beneath the held fruit in the wrist view. I’m lowering the fruit toward the bowl before releasing it.
move_to
right_z0.1050
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8406, 0.6434, -0.4751, -0.0135, -0.0338, 0.9911, 0.3302, 1.5398, 1.1343, -0.342, 0.2398, 0.1509, 0.8531] state[eef_state]: left_x=0.2891 left_y=-0.0004 left_z=0.166 left_yaw=0.0045 left_pitch=-0.1034 left_roll=-0.0007 left_gripper=0.9911 right_x=0.4267 right_y=0.1057 right_z=0.1702 right_yaw=0.0461 right_pitch=-0.1545 right_roll=-0.0487 right_gripper=0.8531 state[joint_eff]: [0.0889, -1.5658, 9.4838, 1.8291, 0.022, 0.0073, -0.0073, -0.1026, -7.8291, 9.0735, 1.8242, 0.2515, 0.2711, 1.0281] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.105},"note":"The blue bowl is aligned beneath the held fruit in the wrist view. I’m lowering the fruit toward the bowl before releasing it."})
tool
executing move_to over 5 steps (0.5s)
step 41
top_cam
camera top_cam step 41
left_cam
camera left_cam step 41
right_cam
camera right_cam step 41
assistant
agent noteThe green fruit is just above the blue bowl’s opening. I’m opening the jaws to place it inside.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8406, 0.6415, -0.4843, -0.0139, -0.0338, 0.9911, 0.3302, 1.6165, 0.9428, -0.1162, 0.2317, 0.1463, 0.8531] state[eef_state]: left_x=0.2874 left_y=-0.0003 left_z=0.1634 left_yaw=0.0049 left_pitch=-0.1144 left_roll=-0.0001 left_gripper=0.9911 right_x=0.4201 right_y=0.1049 right_z=0.098 right_yaw=0.0533 right_pitch=-0.1969 right_roll=-0.0586 right_gripper=0.8531 state[joint_eff]: [-0.1162, -1.4564, 7.159, 1.6972, -0.0757, -0.0269, -0.0073, -0.0752, -7.5556, 6.2974, 1.9365, 0.1832, -0.0171, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 41): [image omitted: streamed camera frame] camera 'left_cam' (step 41): [image omitted: streamed camera frame] camera 'right_cam' (step 41): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The green fruit is just above the blue bowl’s opening. I’m opening the jaws to place it inside."})
tool
executing move_to over 2 steps (0.2s)
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 noteThe jaws are open after releasing the green fruit. I’m lifting away and moving over the yellow fruit next, restoring the tool to vertical.
move_to
right_x0.3300right_y0.1700right_z0.1500right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8406, 0.6415, -0.4854, -0.0135, -0.0338, 0.9912, 0.3302, 1.6165, 0.9428, -0.1215, 0.2314, 0.1425, 0.9949] state[eef_state]: left_x=0.2872 left_y=-0.0003 left_z=0.1632 left_yaw=0.0046 left_pitch=-0.1156 left_roll=-0.0004 left_gripper=0.9912 right_x=0.4192 right_y=0.1046 right_z=0.0971 right_yaw=0.0554 right_pitch=-0.2023 right_roll=-0.0626 right_gripper=0.9949 state[joint_eff]: [-0.335, -1.2923, 7.0632, 1.6532, -0.0464, -0.0317, -0.0073, -0.0479, -7.5556, 6.4342, 1.5653, 0.022, 0.0122, -0.0366] 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":0.33,"right_y":0.17,"right_z":0.15,"right_pitch":0,"right_roll":0,"right_yaw":0},"note":"The jaws are open after releasing the green fruit. I’m lifting away and moving over the yellow fruit next, restoring the tool to vertical."})
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 visibly inside the blue bowl, and the yellow fruit is centered just ahead of the fingertips. I’m lowering around the yellow fruit for the next grasp.
move_to
right_x0.3350right_y0.1800right_z0.0250right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8452, 0.6415, -0.4919, -0.0139, -0.0338, 0.9911, 0.7429, 1.3396, 0.7753, -0.1619, 0.5793, 0.4355, 0.9956] state[eef_state]: left_x=0.2864 left_y=-0.0002 left_z=0.1607 left_yaw=0.0049 left_pitch=-0.1266 left_roll=0.0002 left_gripper=0.9911 right_x=0.3293 right_y=0.1761 right_z=0.1441 right_yaw=0.0353 right_pitch=-0.0215 right_roll=-0.0131 right_gripper=0.9956 state[joint_eff]: [-0.2393, -1.8803, 6.9402, 1.6777, -0.0317, -0.0659, -0.0171, -0.3487, -6.3795, 6.5436, 1.4872, 0.3492, 0.1783, 0.0659] 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":0.335,"right_y":0.18,"right_z":0.025,"right_pitch":0,"right_roll":0,"right_yaw":0},"note":"The green fruit is visibly inside the blue bowl, and the yellow fruit is centered just ahead of the fingertips. I’m lowering around the yellow fruit for the next grasp."})
tool
executing move_to over 8 steps (0.8s)
step 58
top_cam
camera top_cam step 58
left_cam
camera left_cam step 58
right_cam
camera right_cam step 58
assistant
agent noteThe fingertips are down beside the yellow fruit at table height. I’m closing the jaws to secure it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8471, 0.6415, -0.4942, -0.0135, -0.0338, 0.9911, 0.7517, 1.7252, 0.54, 0.4496, 0.6205, 0.4461, 0.9957] state[eef_state]: left_x=0.2862 left_y=-0.0003 left_z=0.1598 left_yaw=0.0046 left_pitch=-0.1308 left_roll=0.0 left_gripper=0.9911 right_x=0.3357 right_y=0.1782 right_z=0.0251 right_yaw=0.0072 right_pitch=-0.0102 right_roll=-0.0311 right_gripper=0.9957 state[joint_eff]: [-0.0889, -1.5521, 6.9402, 1.619, -0.0366, -0.0708, -0.0122, 0.1162, -6.0239, 4.1094, 1.6337, 0.2027, 0.1929, -0.0073] camera 'top_cam' (step 58): [image omitted: streamed camera frame] camera 'left_cam' (step 58): [image omitted: streamed camera frame] camera 'right_cam' (step 58): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The fingertips are down beside the yellow fruit at table height. I’m closing the jaws to secure it."})
tool
executing move_to over 10 steps (1.0s)
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 gripper closed empty, so the yellow fruit was not between the fingertips. I’m reopening and shifting slightly toward the visible fruit for one corrected attempt.
move_to
right_gripper1.0000right_x0.3100right_y0.2050right_z0.0120right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8494, 0.6415, -0.4946, -0.0139, -0.0338, 0.9911, 0.7502, 1.7203, 0.543, 0.49, 0.6357, 0.4339, 0.0091] state[eef_state]: left_x=0.2862 left_y=-0.0002 left_z=0.1591 left_yaw=0.005 left_pitch=-0.1335 left_roll=0.0004 left_gripper=0.9911 right_x=0.3418 right_y=0.1801 right_z=0.0353 right_yaw=0.0004 right_pitch=0.0319 right_roll=-0.0158 right_gripper=0.0091 state[joint_eff]: [-0.1436, -1.5521, 7.0906, 1.6239, -0.0415, -0.0415, -0.0122, -0.1026, -6.3795, 4.4376, 1.1111, 0.0269, 0.0806, 0.9451] 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_gripper":1,"right_x":0.31,"right_y":0.205,"right_z":0.012,"right_pitch":0,"right_roll":0,"right_yaw":0},"note":"The gripper closed empty, so the yellow fruit was not between the fingertips. I’m reopening and shifting slightly toward the visible fruit for one corrected attempt."})
tool
executing move_to over 10 steps (1.0s)
step 78
top_cam
camera top_cam step 78
left_cam
camera left_cam step 78
right_cam
camera right_cam step 78
assistant
agent noteThe gripper has shifted toward the yellow fruit and the descent stopped slightly above the target. I’m closing once more to test this corrected alignment.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0227, 0.8528, 0.6411, -0.4984, -0.0135, -0.0338, 0.9911, 0.8883, 1.7599, 0.5507, 0.4973, 0.7364, 0.5426, 0.9986] state[eef_state]: left_x=0.2857 left_y=-0.0005 left_z=0.1573 left_yaw=0.0039 left_pitch=-0.1411 left_roll=0.0003 left_gripper=0.9911 right_x=0.3193 right_y=0.2104 right_z=0.0322 right_yaw=0.0058 right_pitch=0.0624 right_roll=0.0161 right_gripper=0.9986 state[joint_eff]: [-0.0615, -1.8256, 6.9402, 1.663, -0.022, -0.0562, -0.0122, 0.1299, -4.588, 3.8769, 1.0183, 0.0611, 0.4274, -0.1587] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 78): [image omitted: streamed camera frame] camera 'left_cam' (step 78): [image omitted: streamed camera frame] camera 'right_cam' (step 78): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The gripper has shifted toward the yellow fruit and the descent stopped slightly above the target. I’m closing once more to test this corrected alignment."})
tool
executing move_to over 10 steps (1.0s)
step 88
top_cam
camera top_cam step 88
left_cam
camera left_cam step 88
right_cam
camera right_cam step 88
assistant
agent noteThe second closure was also empty. I’m moving clear to locate the yellow fruit again rather than repeating a blind grasp.
move_to
right_x0.2960right_y0.0000right_z0.2000right_pitch0.0000right_roll0.0000right_yaw0.0000right_gripper1.0000left_x0.2960left_y0.0000left_z0.1900left_pitch0.0000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0227, 0.8528, 0.6411, -0.4988, -0.0135, -0.0338, 0.9911, 0.8864, 1.758, 0.551, 0.5087, 0.7555, 0.5312, 0.0144] state[eef_state]: left_x=0.2856 left_y=-0.0005 left_z=0.1572 left_yaw=0.0039 left_pitch=-0.1415 left_roll=0.0003 left_gripper=0.9911 right_x=0.3216 right_y=0.2082 right_z=0.0362 right_yaw=-0.0046 right_pitch=0.0807 right_roll=0.0088 right_gripper=0.0144 state[joint_eff]: [-0.1436, -1.347, 7.1043, 1.5849, -0.0317, -0.0122, -0.0073, -0.0342, -6.6393, 4.7521, 1.3553, 0.0269, 0.0757, 0.4908] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 88): [image omitted: streamed camera frame] camera 'left_cam' (step 88): [image omitted: streamed camera frame] camera 'right_cam' (step 88): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.296,"right_y":0,"right_z":0.2,"right_pitch":0,"right_roll":0,"right_yaw":0,"right_gripper":1,"left_x":0.296,"left_y":0,"left_z":0.19,"left_pitch":0,"left_roll":0,"left_yaw":0},"note":"The second closure was also empty. I’m moving clear to locate the yellow fruit again rather than repeating a blind grasp."})
tool
executing move_to over 18 steps (1.8s)
step 106
top_cam
camera top_cam step 106
left_cam
camera left_cam step 106
right_cam
camera right_cam step 106
assistant
agent noteWith the arm clear, the yellow fruit is visible nearer the front of the table than the earlier grasp positions. I’m approaching that corrected location.
move_to
right_x0.2500right_y0.1850right_z0.1000right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8158, 0.6411, -0.4553, -0.0135, -0.0334, 0.9911, 0.0071, 0.8177, 0.6453, -0.4023, 0.0589, 0.0322, 0.9973] state[eef_state]: left_x=0.2903 left_y=-0.0004 left_z=0.1756 left_yaw=0.0042 left_pitch=-0.061 left_roll=-0.0015 left_gripper=0.9911 right_x=0.2981 right_y=-0.0047 right_z=0.1879 right_yaw=-0.058 right_pitch=-0.0058 right_roll=-0.0039 right_gripper=0.9973 state[joint_eff]: [0.4034, -2.3316, 7.4325, 2.083, 0.0317, 0.0415, -0.0122, -0.1573, -1.894, 9.2239, 1.6484, -0.0269, 0.0366, -0.0366] camera 'top_cam' (step 106): [image omitted: streamed camera frame] camera 'left_cam' (step 106): [image omitted: streamed camera frame] camera 'right_cam' (step 106): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.25,"right_y":0.185,"right_z":0.10,"right_pitch":0,"right_roll":0,"right_yaw":0},"note":"With the arm clear, the yellow fruit is visible nearer the front of the table than the earlier grasp positions. I’m approaching that corrected location."})
tool
executing move_to over 16 steps (1.6s)
step 122
top_cam
camera top_cam step 122
left_cam
camera left_cam step 122
right_cam
camera right_cam step 122
assistant
agent noteThe yellow fruit is clearly visible just left of the jaw centerline. I’m centering over it and lowering to its lower sides.
move_to
right_x0.2650right_y0.2080right_z0.0150right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8188, 0.6411, -0.469, -0.0135, -0.0338, 0.9911, 1.0389, 1.264, 0.5392, -0.2329, 0.7761, 0.6983, 0.9979] state[eef_state]: left_x=0.2885 left_y=-0.0003 left_z=0.172 left_yaw=0.0045 left_pitch=-0.0778 left_roll=-0.0014 left_gripper=0.9911 right_x=0.2437 right_y=0.1772 right_z=0.0859 right_yaw=0.046 right_pitch=-0.0572 right_roll=-0.0679 right_gripper=0.9979 state[joint_eff]: [-0.1709, -1.5521, 7.159, 1.7656, -0.0415, -0.022, -0.0073, 0.1846, -4.7111, 8.1026, 1.37, 0.5983, 0.1343, 0.0513] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 122): [image omitted: streamed camera frame] camera 'left_cam' (step 122): [image omitted: streamed camera frame] camera 'right_cam' (step 122): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.265,"right_y":0.208,"right_z":0.015,"right_pitch":0,"right_roll":0,"right_yaw":0},"note":"The yellow fruit is clearly visible just left of the jaw centerline. I’m centering over it and lowering to its lower sides."})
tool
executing move_to over 5 steps (0.5s)
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 yellow fruit is now centered between the fingertips at table level. I’m closing the jaws 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]: [-0.0219, 0.8246, 0.6411, -0.4763, -0.0135, -0.0338, 0.9911, 1.0443, 1.6741, 0.4847, 0.1703, 0.7956, 0.7349, 0.9979] state[eef_state]: left_x=0.2877 left_y=-0.0003 left_z=0.1691 left_yaw=0.0045 left_pitch=-0.0908 left_roll=-0.001 left_gripper=0.9911 right_x=0.2545 right_y=0.194 right_z=0.0047 right_yaw=0.017 right_pitch=-0.0744 right_roll=-0.0991 right_gripper=0.9979 state[joint_eff]: [-0.1299, -1.8256, 6.9402, 1.7118, -0.0464, -0.0415, -0.0073, 0.0889, -7.2957, 4.8342, 1.2967, 0.5006, 0.1343, -0.0073] 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 yellow fruit is now centered between the fingertips at table level. I’m closing the jaws around it."})
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 gripper now holds a substantial width rather than closing empty. I’m making a short lift to confirm the yellow fruit is secure.
move_to
right_z0.0800right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8246, 0.6411, -0.4763, -0.0135, -0.0338, 0.9911, 1.0443, 1.6997, 0.4839, 0.2916, 0.8078, 0.7444, 0.6247] state[eef_state]: left_x=0.2877 left_y=-0.0003 left_z=0.1691 left_yaw=0.0045 left_pitch=-0.0908 left_roll=-0.001 left_gripper=0.9911 right_x=0.2636 right_y=0.2067 right_z=0.0117 right_yaw=0.0084 right_pitch=-0.0166 right_roll=-0.0149 right_gripper=0.6247 state[joint_eff]: [-0.212, -1.3197, 6.9675, 1.6386, -0.0073, -0.0464, -0.0122, 0.1299, -6.2154, 4.2598, 1.3602, 0.4518, 0.0073, 1.033] approver: 1 step(s) modified (delta_clamped). 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_z":0.08,"right_pitch":0,"right_roll":0,"right_yaw":0},"note":"The gripper now holds a substantial width rather than closing empty. I’m making a short lift to confirm the yellow fruit is secure."})
tool
executing move_to over 5 steps (0.5s)
step 142
top_cam
camera top_cam step 142
left_cam
camera left_cam step 142
right_cam
camera right_cam step 142
assistant
agent noteThe yellow fruit has lifted with the gripper. I’m carrying it above the blue bowl alongside the green fruit.
move_to
right_x0.4150right_y0.1150right_z0.1800right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8257, 0.6411, -0.4763, -0.0135, -0.0338, 0.9911, 1.0454, 1.4673, 0.5701, 0.0132, 0.8078, 0.7444, 0.6244] state[eef_state]: left_x=0.2878 left_y=-0.0003 left_z=0.1688 left_yaw=0.0045 left_pitch=-0.0919 left_roll=-0.001 left_gripper=0.9911 right_x=0.265 right_y=0.2097 right_z=0.0721 right_yaw=0.0098 right_pitch=0.0038 right_roll=0.0195 right_gripper=0.6244 state[joint_eff]: [-0.0205, -0.9778, 7.1043, 1.6777, -0.0317, -0.0464, -0.0122, 0.5128, -5.6274, 7.2957, 1.2283, 0.4518, 0.0757, 1.0281] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 142): [image omitted: streamed camera frame] camera 'left_cam' (step 142): [image omitted: streamed camera frame] camera 'right_cam' (step 142): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.415,"right_y":0.115,"right_z":0.18,"right_pitch":0,"right_roll":0,"right_yaw":0},"note":"The yellow fruit has lifted with the gripper. I’m carrying it above the blue bowl alongside the green fruit."})
tool
executing move_to over 12 steps (1.2s)
step 154
top_cam
camera top_cam step 154
left_cam
camera left_cam step 154
right_cam
camera right_cam step 154
assistant
agent noteThe held yellow fruit is above the blue bowl. I’m lowering it for a controlled release rather than dropping it from carrying height.
move_to
right_z0.1050right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8299, 0.6411, -0.4908, -0.0135, -0.0338, 0.9911, 0.4122, 1.438, 0.9302, -0.12, 0.3672, 0.2493, 0.6268] state[eef_state]: left_x=0.2858 left_y=-0.0003 left_z=0.1648 left_yaw=0.0046 left_pitch=-0.1106 left_roll=-0.0005 left_gripper=0.9911 right_x=0.4075 right_y=0.1129 right_z=0.1692 right_yaw=-0.0265 right_pitch=-0.0124 right_roll=-0.0036 right_gripper=0.6268 state[joint_eff]: [-0.0889, -1.7573, 6.9128, 1.8046, -0.0513, -0.0757, -0.0122, -0.1709, -6.0376, 8.4034, 1.6288, 0.1538, 0.0171, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 154): [image omitted: streamed camera frame] camera 'left_cam' (step 154): [image omitted: streamed camera frame] camera 'right_cam' (step 154): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.105,"right_pitch":0,"right_roll":0,"right_yaw":0},"note":"The held yellow fruit is above the blue bowl. I’m lowering it for a controlled release rather than dropping it from carrying height."})
tool
executing move_to over 5 steps (0.5s)
step 159
top_cam
camera top_cam step 159
left_cam
camera left_cam step 159
right_cam
camera right_cam step 159
assistant
agent noteThe yellow fruit is lowered into the blue bowl’s opening. I’m releasing it now.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8303, 0.6411, -0.4919, -0.0135, -0.0338, 0.9911, 0.4019, 1.536, 0.7406, 0.0978, 0.3351, 0.2237, 0.6304] state[eef_state]: left_x=0.2856 left_y=-0.0003 left_z=0.1645 left_yaw=0.0046 left_pitch=-0.1121 left_roll=-0.0005 left_gripper=0.9911 right_x=0.3958 right_y=0.109 right_z=0.0909 right_yaw=0.0017 right_pitch=-0.0845 right_roll=-0.0349 right_gripper=0.6304 state[joint_eff]: [-0.0615, -1.4427, 6.9265, 1.6484, -0.0513, -0.0366, -0.0122, -0.4308, -6.2974, 6.4889, 2.044, 0.1734, -0.0024, 0.6764] camera 'top_cam' (step 159): [image omitted: streamed camera frame] camera 'left_cam' (step 159): [image omitted: streamed camera frame] camera 'right_cam' (step 159): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The yellow fruit is lowered into the blue bowl’s opening. I’m releasing it now."})
tool
executing move_to over 4 steps (0.4s)
step 163
top_cam
camera top_cam step 163
left_cam
camera left_cam step 163
right_cam
camera right_cam step 163
assistant
agent noteI’m moving the right arm clear so the bowl can be checked, while bringing the left gripper toward the remaining dark fruit.
move_to
right_x0.2960right_y0.0000right_z0.2000right_pitch0.0000right_roll0.0000right_yaw0.0000left_x0.3300left_y-0.3000left_z0.1400left_pitch0.0000left_roll0.0000left_yaw0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8303, 0.6411, -0.4919, -0.0135, -0.0334, 0.9911, 0.4019, 1.5459, 0.728, 0.1684, 0.3351, 0.2169, 0.9958] state[eef_state]: left_x=0.2856 left_y=-0.0003 left_z=0.1645 left_yaw=0.0044 left_pitch=-0.1121 left_roll=-0.0002 left_gripper=0.9911 right_x=0.4019 right_y=0.1116 right_z=0.0951 right_yaw=0.0066 right_pitch=-0.0403 right_roll=-0.0218 right_gripper=0.9958 state[joint_eff]: [-0.1299, -1.4017, 7.0359, 1.6484, -0.022, -0.0171, -0.0073, -0.3761, -7.0085, 6.4889, 1.9805, 0.0464, 0.0464, -0.0757] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 163): [image omitted: streamed camera frame] camera 'left_cam' (step 163): [image omitted: streamed camera frame] camera 'right_cam' (step 163): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.296,"right_y":0,"right_z":0.2,"right_pitch":0,"right_roll":0,"right_yaw":0,"left_x":0.33,"left_y":-0.30,"left_z":0.14,"left_pitch":0,"left_roll":0,"left_yaw":0,"left_gripper":1},"note":"I’m moving the right arm clear so the bowl can be checked, while bringing the left gripper toward the remaining dark fruit."})
tool
executing move_to over 27 steps (2.7s)
step 190
top_cam
camera top_cam step 190
left_cam
camera left_cam step 190
right_cam
camera right_cam step 190
assistant
agent noteThe yellow fruit escaped during release and is now far beyond the blue bowl. I’m checking whether it can still be reached, with the left arm moved safely out of the way.
move_to
left_x0.2960left_y0.0000left_z0.1900left_pitch0.0000left_roll0.0000left_yaw0.0000right_x0.5500right_y0.0250right_z0.1500right_pitch0.4500right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.0252, 1.7336, 1.1332, -0.3176, -0.7776, -0.7422, 0.9918, -0.012, 0.8227, 0.6468, -0.4255, 0.0128, 0.0051, 0.9965] state[eef_state]: left_x=0.3259 left_y=-0.291 left_z=0.1281 left_yaw=-0.0106 left_pitch=-0.0328 left_roll=0.0179 left_gripper=0.9918 right_x=0.2957 right_y=-0.0022 right_z=0.1823 right_yaw=-0.0236 right_pitch=-0.0336 right_roll=-0.0019 right_gripper=0.9965 state[joint_eff]: [-0.6085, -8.2256, 8.7316, 1.2527, -0.5348, -0.1099, -0.4469, -0.294, -1.9214, 10.2222, 1.8584, -0.105, -0.1294, 0.0562] camera 'top_cam' (step 190): [image omitted: streamed camera frame] camera 'left_cam' (step 190): [image omitted: streamed camera frame] camera 'right_cam' (step 190): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.296,"left_y":0,"left_z":0.19,"left_pitch":0,"left_roll":0,"left_yaw":0,"right_x":0.55,"right_y":0.025,"right_z":0.15,"right_pitch":0.45,"right_roll":0,"right_yaw":0},"note":"The yellow fruit escaped during release and is now far beyond the blue bowl. I’m checking whether it can still be reached, with the left arm moved safely out of the way."})
tool
executing move_to over 26 steps (2.6s)
step 216
top_cam
camera top_cam step 216
left_cam
camera left_cam step 216
right_cam
camera right_cam step 216
assistant
agent noteThe yellow fruit is centered near the bottom of the wrist view, so a reach may still be possible. I’m advancing a short distance and lowering with the tool tilted forward.
move_to
right_x0.5800right_y0.0450right_z0.0350right_pitch0.5000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0475, 0.8143, 0.6369, -0.4057, -0.0864, -0.083, 0.9912, 0.0563, 1.9633, 0.9344, 0.82, 0.0326, -0.0082, 0.9965] state[eef_state]: left_x=0.2966 left_y=0.0048 left_z=0.1845 left_yaw=0.0667 left_pitch=-0.0118 left_roll=-0.0041 left_gripper=0.9912 right_x=0.5395 right_y=0.0282 right_z=0.1261 right_yaw=0.0337 right_pitch=0.3589 right_roll=-0.0155 right_gripper=0.9965 state[joint_eff]: [0.2256, -1.935, 7.706, 1.9463, 0.1685, 0.0952, -0.0757, 0.0889, -9.6479, 7.5145, 2.3272, 0.2027, 0.149, -0.0073] camera 'top_cam' (step 216): [image omitted: streamed camera frame] camera 'left_cam' (step 216): [image omitted: streamed camera frame] camera 'right_cam' (step 216): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.58,"right_y":0.045,"right_z":0.035,"right_pitch":0.5,"right_roll":0,"right_yaw":0},"note":"The yellow fruit is centered near the bottom of the wrist view, so a reach may still be possible. I’m advancing a short distance and lowering with the tool tilted forward."})
tool
executing move_to over 6 steps (0.6s)
step 222
top_cam
camera top_cam step 222
left_cam
camera left_cam step 222
right_cam
camera right_cam step 222
assistant
agent noteThe yellow fruit is between the forward-tilted fingertips. I’m closing only to approximately its width to reduce the chance of squeezing it away again.
move_to
right_gripper0.5500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0444, 0.8185, 0.6361, -0.4236, -0.0784, -0.0788, 0.9911, 0.1017, 2.4229, 1.0744, 1.1767, 0.0746, -0.0013, 0.9965] state[eef_state]: left_x=0.2944 left_y=0.0043 left_z=0.1793 left_yaw=0.0608 left_pitch=-0.035 left_roll=-0.0026 left_gripper=0.9911 right_x=0.5721 right_y=0.0487 right_z=0.0182 right_yaw=0.0364 right_pitch=0.3963 right_roll=-0.015 right_gripper=0.9965 state[joint_eff]: [-0.5265, -1.306, 7.0906, 2.0293, -0.149, -0.0855, -0.0171, 0.1709, -10.6188, 4.6701, 2.3223, 0.2857, 0.022, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 222): [image omitted: streamed camera frame] camera 'left_cam' (step 222): [image omitted: streamed camera frame] camera 'right_cam' (step 222): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.55},"note":"The yellow fruit is between the forward-tilted fingertips. I’m closing only to approximately its width to reduce the chance of squeezing it away again."})
tool
executing move_to over 5 steps (0.5s)
step 227
top_cam
camera top_cam step 227
left_cam
camera left_cam step 227
right_cam
camera right_cam step 227
assistant
agent noteThe jaws have stopped around the yellow fruit without fully closing. I’m lifting and drawing it back slightly to verify the recovery.
move_to
right_x0.5300right_z0.1800right_pitch0.4500right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0444, 0.8188, 0.6353, -0.4236, -0.0814, -0.0788, 0.9912, 0.1028, 2.4428, 1.0843, 1.2076, 0.0738, -0.0013, 0.6527] state[eef_state]: left_x=0.2943 left_y=0.0049 left_z=0.1788 left_yaw=0.0634 left_pitch=-0.0359 left_roll=-0.0008 left_gripper=0.9912 right_x=0.5741 right_y=0.0497 right_z=0.0182 right_yaw=0.0376 right_pitch=0.4172 right_roll=-0.0134 right_gripper=0.6527 state[joint_eff]: [-0.0479, -1.388, 7.0496, 1.7363, -0.0269, -0.0855, -0.0073, -0.0752, -13.559, 3.3846, 1.5653, -0.0073, -0.0757, 0.8474] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 227): [image omitted: streamed camera frame] camera 'left_cam' (step 227): [image omitted: streamed camera frame] camera 'right_cam' (step 227): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.53,"right_z":0.18,"right_pitch":0.45,"right_roll":0,"right_yaw":0},"note":"The jaws have stopped around the yellow fruit without fully closing. I’m lifting and drawing it back slightly to verify the recovery."})
tool
executing move_to over 11 steps (1.1s)
step 238
top_cam
camera top_cam step 238
left_cam
camera left_cam step 238
right_cam
camera right_cam step 238
assistant
agent noteThe yellow fruit is securely lifted again. I’m bringing it back over the center of the blue bowl, using the bowl’s current position rather than the earlier release point.
move_to
right_x0.3550right_y0.1350right_z0.1700right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0444, 0.8246, 0.6353, -0.4259, -0.0814, -0.0784, 0.9911, 0.1284, 1.8843, 0.9302, 0.8383, 0.1081, -0.001, 0.6547] state[eef_state]: left_x=0.2944 left_y=0.0049 left_z=0.1768 left_yaw=0.0632 left_pitch=-0.0439 left_roll=0.0004 left_gripper=0.9911 right_x=0.534 right_y=0.0533 right_z=0.1699 right_yaw=0.0297 right_pitch=0.4526 right_roll=-0.0149 right_gripper=0.6547 state[joint_eff]: [0.0205, -1.5795, 6.9812, 1.7265, -0.0317, -0.022, -0.0171, 0.335, -10.6325, 5.9282, 1.9219, 0.1245, 0.0952, 0.1978] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 238): [image omitted: streamed camera frame] camera 'left_cam' (step 238): [image omitted: streamed camera frame] camera 'right_cam' (step 238): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.355,"right_y":0.135,"right_z":0.17,"right_pitch":0,"right_roll":0,"right_yaw":0},"note":"The yellow fruit is securely lifted again. I’m bringing it back over the center of the blue bowl, using the bowl’s current position rather than the earlier release point."})
tool
executing move_to over 16 steps (1.6s)
step 254
assistant
agent noteThe yellow fruit is now centered directly above the blue bowl in the overhead view. I’m lowering it into the bowl so it is supported before release.
move_to
right_z0.0750right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0441, 0.831, 0.6338, -0.4408, -0.0818, -0.0788, 0.9911, 0.5537, 1.3098, 0.7784, -0.0975, 0.4351, 0.2764, 0.6576] state[eef_state]: left_x=0.2924 left_y=0.0052 left_z=0.1714 left_yaw=0.0643 left_pitch=-0.0666 left_roll=0.0028 left_gripper=0.9911 right_x=0.3604 right_y=0.1395 right_z=0.1593 right_yaw=0.0454 right_pitch=0.005 right_roll=-0.0168 right_gripper=0.6576 state[joint_eff]: [-0.0479, -1.5932, 7.1043, 1.8926, -0.0904, -0.0415, -0.0122, 0.1709, -6.6393, 9.6615, 1.8486, 0.3199, 0.1538, 0.2906] camera 'top_cam' (step 254): [image omitted: streamed camera frame] camera 'left_cam' (step 254): [image omitted: streamed camera frame] camera 'right_cam' (step 254): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.075,"right_pitch":0,"right_roll":0,"right_yaw":0},"note":"The yellow fruit is now centered directly above the blue bowl in the overhead view. I’m lowering it into the bowl so it is supported before release."})
tool
executing move_to over 6 steps (0.6s)
step 260
assistant
agent noteThe yellow fruit is seated within the blue rim. I’m opening the gripper while holding this low position.
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]: [-0.0437, 0.8322, 0.6338, -0.4461, -0.0818, -0.0788, 0.9911, 0.5667, 1.4994, 0.5835, 0.1936, 0.4576, 0.3107, 0.6596] state[eef_state]: left_x=0.2917 left_y=0.0053 left_z=0.17 left_yaw=0.0647 left_pitch=-0.0731 left_roll=0.0035 left_gripper=0.9911 right_x=0.3518 right_y=0.1356 right_z=0.0666 right_yaw=0.0204 right_pitch=-0.0681 right_roll=-0.0477 right_gripper=0.6596 state[joint_eff]: [-0.0615, -1.4838, 7.1043, 1.6972, -0.0562, -0.0513, -0.0122, 0.1436, -5.8735, 5.4769, 1.6093, 0.2418, 0.1197, 0.1978] camera 'top_cam' (step 260): [image omitted: streamed camera frame] camera 'left_cam' (step 260): [image omitted: streamed camera frame] camera 'right_cam' (step 260): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The yellow fruit is seated within the blue rim. I’m opening the gripper while holding this low position."})
tool
executing move_to over 4 steps (0.4s)
step 264
assistant
agent noteThe yellow fruit has been released inside the blue bowl. I’m moving the right arm clear and positioning the left fingertips around the remaining dark fruit.
move_to
right_x0.2960right_y0.0000right_z0.2000right_pitch0.0000right_roll0.0000right_yaw0.0000left_x0.3350left_y-0.3350left_z0.0250left_pitch0.0000left_roll0.0000left_yaw0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0437, 0.8322, 0.6338, -0.4477, -0.0818, -0.0788, 0.9911, 0.5667, 1.5131, 0.5766, 0.1997, 0.4553, 0.3061, 0.9958] state[eef_state]: left_x=0.2914 left_y=0.0053 left_z=0.1697 left_yaw=0.0647 left_pitch=-0.0746 left_roll=0.0037 left_gripper=0.9911 right_x=0.3501 right_y=0.1349 right_z=0.0602 right_yaw=0.0241 right_pitch=-0.0814 right_roll=-0.0576 right_gripper=0.9958 state[joint_eff]: [-0.1299, -1.4564, 6.9949, 1.6679, -0.0904, -0.0806, -0.0073, -0.0342, -6.9265, 6.2291, 1.5409, 0.1685, 0.0317, -0.1392] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 264): [image omitted: streamed camera frame] camera 'left_cam' (step 264): [image omitted: streamed camera frame] camera 'right_cam' (step 264): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.296,"right_y":0,"right_z":0.2,"right_pitch":0,"right_roll":0,"right_yaw":0,"left_x":0.335,"left_y":-0.335,"left_z":0.025,"left_pitch":0,"left_roll":0,"left_yaw":0,"left_gripper":1},"note":"The yellow fruit has been released inside the blue bowl. I’m moving the right arm clear and positioning the left fingertips around the remaining dark fruit."})
tool
executing move_to over 31 steps (3.1s)
step 295
assistant
agent noteThe dark fruit is near the centerline, but the left arm cannot carry it as far right as the blue bowl. I’m switching to the right arm, which can reach both locations.
move_to
left_x0.2960left_y0.0000left_z0.1900left_pitch0.0000left_roll0.0000left_yaw0.0000right_x0.3350right_y0.3500right_z0.1700right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.0611, 2.0678, 1.092, 0.0284, -0.8085, -0.7868, 0.9919, -0.0116, 0.8188, 0.6502, -0.4351, 0.0158, 0.0021, 0.9965] state[eef_state]: left_x=0.3318 left_y=-0.3244 left_z=0.019 left_yaw=-0.0029 left_pitch=-0.0262 left_roll=0.0189 left_gripper=0.9919 right_x=0.2945 right_y=-0.0026 right_z=0.183 right_yaw=-0.0242 right_pitch=-0.0359 right_roll=-0.0062 right_gripper=0.9965 state[joint_eff]: [-0.841, -10.5231, 6.6667, 1.2723, -0.5788, -0.0904, -0.5543, -0.2667, -2.0855, 9.9897, 1.8877, -0.1685, 0.0122, 0.0513] camera 'top_cam' (step 295): [image omitted: streamed camera frame] camera 'left_cam' (step 295): [image omitted: streamed camera frame] camera 'right_cam' (step 295): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.296,"left_y":0,"left_z":0.19,"left_pitch":0,"left_roll":0,"left_yaw":0,"right_x":0.335,"right_y":0.35,"right_z":0.17,"right_pitch":0,"right_roll":0,"right_yaw":0},"note":"The dark fruit is near the centerline, but the left arm cannot carry it as far right as the blue bowl. I’m switching to the right arm, which can reach both locations."})
tool
executing move_to over 30 steps (3.0s)
step 325
assistant
agent noteThe dark fruit is aligned with the right gripper’s centerline. I’m lowering straight down around it.
move_to
right_z0.0250right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0471, 0.8154, 0.601, -0.3904, -0.0856, -0.0853, 0.9912, 1.0672, 1.8893, 1.457, -0.5255, 0.8043, 0.7475, 0.9965] state[eef_state]: left_x=0.2943 left_y=0.0048 left_z=0.1709 left_yaw=0.0677 left_pitch=-0.0334 left_roll=-0.004 left_gripper=0.9912 right_x=0.3308 right_y=0.3442 right_z=0.1572 right_yaw=0.031 right_pitch=-0.0361 right_roll=-0.0399 right_gripper=0.9965 state[joint_eff]: [0.2667, -2.0855, 10.5504, 1.7216, 0.105, 0.1734, -0.0855, 0.3761, -10.3316, 8.4718, 1.1355, 0.652, 0.2222, -0.0024] camera 'top_cam' (step 325): [image omitted: streamed camera frame] camera 'left_cam' (step 325): [image omitted: streamed camera frame] camera 'right_cam' (step 325): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.025,"right_pitch":0,"right_roll":0,"right_yaw":0},"note":"The dark fruit is aligned with the right gripper’s centerline. I’m lowering straight down around it."})
tool
executing move_to over 9 steps (0.9s)
step 334
assistant
agent noteThe dark fruit is between the open fingertips. I’m closing to a moderate width to hold it without squeezing excessively.
move_to
right_gripper0.4000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0444, 0.8188, 0.6037, -0.4152, -0.0746, -0.0795, 0.9911, 1.0718, 2.0899, 1.179, -0.0692, 0.815, 0.7609, 0.9965] state[eef_state]: left_x=0.2913 left_y=0.0038 left_z=0.1661 left_yaw=0.0581 left_pitch=-0.0595 left_roll=-0.0029 left_gripper=0.9911 right_x=0.3275 right_y=0.3397 right_z=0.0257 right_yaw=0.0214 right_pitch=-0.0394 right_roll=-0.0528 right_gripper=0.9965 state[joint_eff]: [-0.294, -1.6479, 6.7761, 1.9267, -0.1685, -0.1343, -0.0171, 0.3077, -10.3179, 5.1077, 1.2772, 0.5006, 0.2027, -0.0171] camera 'top_cam' (step 334): [image omitted: streamed camera frame] camera 'left_cam' (step 334): [image omitted: streamed camera frame] camera 'right_cam' (step 334): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.4},"note":"The dark fruit is between the open fingertips. I’m closing to a moderate width to hold it without squeezing excessively."})
tool
executing move_to over 6 steps (0.6s)
step 340
assistant
agent noteThe gripper has stopped against the dark fruit. I’m lifting it clear of the table and checking that it remains held.
move_to
right_z0.1800right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0444, 0.8188, 0.6037, -0.4232, -0.0742, -0.083, 0.9911, 1.0706, 2.1128, 1.1675, -0.0647, 0.8078, 0.7593, 0.5136] state[eef_state]: left_x=0.2902 left_y=0.0038 left_z=0.1645 left_yaw=0.0597 left_pitch=-0.0675 left_roll=-0.0051 left_gripper=0.9911 right_x=0.3249 right_y=0.3358 right_z=0.0121 right_yaw=0.0239 right_pitch=-0.0596 right_roll=-0.0768 right_gripper=0.5136 state[joint_eff]: [0.0068, -1.347, 7.2684, 1.7363, -0.0806, -0.0269, -0.0073, -0.0889, -12.6427, 6.1607, 1.0916, 0.3883, -0.0317, 0.8327] camera 'top_cam' (step 340): [image omitted: streamed camera frame] camera 'left_cam' (step 340): [image omitted: streamed camera frame] camera 'right_cam' (step 340): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.18,"right_pitch":0,"right_roll":0,"right_yaw":0},"note":"The gripper has stopped against the dark fruit. I’m lifting it clear of the table and checking that it remains held."})
tool
executing move_to over 11 steps (1.1s)
step 351
assistant
agent noteThe dark fruit lifted successfully, and the green and yellow fruits are both visible in the blue bowl. I’m carrying the last fruit over the bowl’s center.
move_to
right_x0.3550right_y0.1350right_z0.1400right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0437, 0.8188, 0.6037, -0.424, -0.0738, -0.083, 0.9911, 1.0744, 1.8748, 1.4063, -0.5167, 0.8124, 0.765, 0.5153] state[eef_state]: left_x=0.29 left_y=0.004 left_z=0.1644 left_yaw=0.0602 left_pitch=-0.0683 left_roll=-0.0052 left_gripper=0.9911 right_x=0.3242 right_y=0.3369 right_z=0.1473 right_yaw=0.0232 right_pitch=-0.0437 right_roll=-0.0526 right_gripper=0.5153 state[joint_eff]: [-0.1026, -1.388, 6.9949, 1.6874, -0.0073, -0.0269, -0.0073, 0.3214, -12.7248, 8.8821, 1.2088, 0.5885, 0.2027, 0.6422] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 351): [image omitted: streamed camera frame] camera 'left_cam' (step 351): [image omitted: streamed camera frame] camera 'right_cam' (step 351): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.355,"right_y":0.135,"right_z":0.14,"right_pitch":0,"right_roll":0,"right_yaw":0},"note":"The dark fruit lifted successfully, and the green and yellow fruits are both visible in the blue bowl. I’m carrying the last fruit over the bowl’s center."})
tool
executing move_to over 17 steps (1.7s)
step 368
assistant
agent noteThe last fruit is centered over the blue bowl, above the other two fruits. I’m releasing it into the bowl.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0437, 0.8238, 0.6037, -0.4252, -0.0742, -0.083, 0.9911, 0.5827, 1.3491, 0.7223, -0.0929, 0.5018, 0.3622, 0.5176] state[eef_state]: left_x=0.2901 left_y=0.004 left_z=0.1628 left_yaw=0.0605 left_pitch=-0.0743 left_roll=-0.0044 left_gripper=0.9911 right_x=0.3494 right_y=0.1328 right_z=0.1263 right_yaw=-0.0259 right_pitch=-0.0487 right_roll=-0.029 right_gripper=0.5176 state[joint_eff]: [-0.1709, -1.5795, 6.9949, 1.7021, -0.105, -0.0562, -0.0122, -0.1436, -6.2154, 6.7214, 2.0879, 0.2222, 0.0024, 0.5641] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 368): [image omitted: streamed camera frame] camera 'left_cam' (step 368): [image omitted: streamed camera frame] camera 'right_cam' (step 368): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The last fruit is centered over the blue bowl, above the other two fruits. I’m releasing it into the bowl."})
tool
executing move_to over 5 steps (0.5s)
step 373
assistant
agent noteThe fruits have been released into the blue bowl. I’m positioning the open jaws across its right-hand rim so I can lift and pour the bowl.
move_to
right_x0.3550right_y0.0550right_z0.0400right_pitch0.0000right_roll0.0000right_yaw0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0437, 0.8257, 0.6037, -0.4309, -0.0738, -0.083, 0.9911, 0.5804, 1.3483, 0.7185, -0.0994, 0.4847, 0.3511, 0.9958] state[eef_state]: left_x=0.2894 left_y=0.004 left_z=0.1612 left_yaw=0.0603 left_pitch=-0.0819 left_roll=-0.0038 left_gripper=0.9911 right_x=0.3476 right_y=0.1338 right_z=0.123 right_yaw=-0.0091 right_pitch=-0.0632 right_roll=-0.0339 right_gripper=0.9958 state[joint_eff]: [-0.0889, -1.1966, 7.159, 1.7705, -0.0366, -0.0269, -0.0122, 0.0068, -5.012, 6.8308, 1.5702, 0.3541, 0.0611, -0.1783] camera 'top_cam' (step 373): [image omitted: streamed camera frame] camera 'left_cam' (step 373): [image omitted: streamed camera frame] camera 'right_cam' (step 373): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.355,"right_y":0.055,"right_z":0.04,"right_pitch":0,"right_roll":0,"right_yaw":0,"right_gripper":1},"note":"The fruits have been released into the blue bowl. I’m positioning the open jaws across its right-hand rim so I can lift and pour the bowl."})
tool
executing move_to over 7 steps (0.7s)
step 380
assistant
agent noteThe gripper is straddling the blue bowl’s rim, and the descent stopped at contact. I’m closing gently against the rim to secure the bowl.
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]: [-0.0437, 0.8253, 0.6037, -0.432, -0.0742, -0.083, 0.9911, 0.2699, 1.4677, 0.3775, 0.535, 0.2352, 0.1928, 0.9986] state[eef_state]: left_x=0.2892 left_y=0.0041 left_z=0.1611 left_yaw=0.0606 left_pitch=-0.0827 left_roll=-0.0035 left_gripper=0.9911 right_x=0.3618 right_y=0.0611 right_z=0.0578 right_yaw=-0.0295 right_pitch=0.029 right_roll=0.0433 right_gripper=0.9986 state[joint_eff]: [-0.0205, -1.3744, 6.9949, 1.6386, -0.0904, -0.0073, -0.0073, -0.2803, -3.0154, 3.4393, 0.4322, 0.3346, -0.4225, -0.1636] camera 'top_cam' (step 380): [image omitted: streamed camera frame] camera 'left_cam' (step 380): [image omitted: streamed camera frame] camera 'right_cam' (step 380): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The gripper is straddling the blue bowl’s rim, and the descent stopped at contact. I’m closing gently against the rim to secure the bowl."})
tool
executing move_to over 10 steps (1.0s)
step 390
assistant
agent noteThe gripper has closed against the blue bowl’s rim. I’m lifting it and bringing it above the right side of the large white bowl, keeping the blue bowl upright during the transfer.
move_to
right_x0.4600right_y0.3800right_z0.2500right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0437, 0.8265, 0.6037, -0.4324, -0.0742, -0.083, 0.9911, 0.2718, 1.4715, 0.3748, 0.5785, 0.2153, 0.194, 0.3396] state[eef_state]: left_x=0.2892 left_y=0.0041 left_z=0.1607 left_yaw=0.0606 left_pitch=-0.0842 left_roll=-0.0033 left_gripper=0.9911 right_x=0.3656 right_y=0.0664 right_z=0.0641 right_yaw=-0.0121 right_pitch=0.0615 right_roll=0.0646 right_gripper=0.3396 state[joint_eff]: [-0.0889, -1.4427, 7.1043, 1.6386, -0.0708, -0.0562, -0.0122, -0.3624, -5.2308, 5.4769, 1.3016, 0.2076, -0.0708, 1.0281] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 390): [image omitted: streamed camera frame] camera 'left_cam' (step 390): [image omitted: streamed camera frame] camera 'right_cam' (step 390): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.46,"right_y":0.38,"right_z":0.25,"right_pitch":0,"right_roll":0,"right_yaw":0},"note":"The gripper has closed against the blue bowl’s rim. I’m lifting it and bringing it above the right side of the large white bowl, keeping the blue bowl upright during the transfer."})
tool
executing move_to over 27 steps (2.7s)
step 417
assistant
agent noteThe blue bowl lifted with the gripper and is now above the white bowl’s near-right side. I’m tipping it toward the white bowl to pour out the fruits.
move_to
right_roll-1.5000right_pitch0.0000right_yaw0.0000right_z0.2500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0437, 0.8318, 0.6037, -0.4423, -0.0738, -0.083, 0.9911, 0.8753, 2.3463, 2.426, -0.8661, 0.6758, 0.5434, 0.341] state[eef_state]: left_x=0.2879 left_y=0.004 left_z=0.1573 left_yaw=0.0604 left_pitch=-0.0994 left_roll=-0.002 left_gripper=0.9911 right_x=0.4609 right_y=0.3854 right_z=0.2328 right_yaw=0.0376 right_pitch=-0.0174 right_roll=-0.0127 right_gripper=0.341 state[joint_eff]: [-0.2393, -1.8803, 7.0906, 1.7851, -0.0855, -0.0464, -0.0122, 0.1436, -14.3385, 7.3641, 0.9548, 0.4908, 0.2759, 0.7741] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 417): [image omitted: streamed camera frame] camera 'left_cam' (step 417): [image omitted: streamed camera frame] camera 'right_cam' (step 417): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_roll":-1.5,"right_pitch":0,"right_yaw":0,"right_z":0.25},"note":"The blue bowl lifted with the gripper and is now above the white bowl’s near-right side. I’m tipping it toward the white bowl to pour out the fruits."})
tool
executing move_to over 19 steps (1.9s)
step 436
assistant
agent noteI could not complete the pour. The latest view shows the blue bowl still on the table with the dark fruit inside; the gripper caught another fruit rather than securely holding the bowl’s rim. I’m stopping rather than continuing an uncontrolled pour.
give_up
hindsightThe blue bowl’s center was approximately right_x=0.355, right_y=0.135. A rim-grasp attempt at right_x=0.355, right_y=0.055, right_z=0.04 caught a fruit instead of the bowl, so a nonempty gripper reading was not sufficient verification. Explicitly confirm the bowl itself lifts before transporting. The yellow fruit could be recovered at approximately right_x=0.58, right_y=0.045, right_z=0.035 with forward pitch 0.5; the oblique overhead view had made it appear farther away than it was.
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]: [-0.0437, 0.8349, 0.6037, -0.4465, -0.0738, -0.083, 0.9911, 0.9623, 2.7873, 2.9005, -0.9672, 1.2629, -0.0452, 0.3414] state[eef_state]: left_x=0.2874 left_y=0.0041 left_z=0.1557 left_yaw=0.0605 left_pitch=-0.1066 left_roll=-0.0012 left_gripper=0.9911 right_x=0.4699 right_y=0.3862 right_z=0.1979 right_yaw=0.029 right_pitch=0.1419 right_roll=-0.855 right_gripper=0.3414 state[joint_eff]: [-0.1846, -1.7026, 6.9949, 1.6972, -0.0611, -0.0562, -0.0122, 0.335, -16.6496, 6.4479, 1.5556, 0.8913, -0.0317, 0.7448] camera 'top_cam' (step 436): [image omitted: streamed camera frame] camera 'left_cam' (step 436): [image omitted: streamed camera frame] camera 'right_cam' (step 436): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I could not complete the pour. The latest view shows the blue bowl still on the table with the dark fruit inside; the gripper caught another fruit rather than securely holding the bowl’s rim. I’m stopping rather than continuing an uncontrolled pour.","hindsight":"The blue bowl’s center was approximately right_x=0.355, right_y=0.135. A rim-grasp attempt at right_x=0.355, right_y=0.055, right_z=0.04 caught a fruit instead of the bowl, so a nonempty gripper reading was not sufficient verification. Explicitly confirm the bowl itself lifts before transporting. The yellow fruit could be recovered at approximately right_x=0.58, right_y=0.045, right_z=0.035 with forward pitch 0.5; the oblique overhead view had made it appear farther away than it was."})
tool
give_up: I could not complete the pour. The latest view shows the blue bowl still on the table with the dark fruit inside; the gripper caught another fruit rather than securely holding the bowl’s rim. I’m stopping rather than continuing an uncontrolled pour.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 6.836 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]: [-0.0246, 0.8001, 0.6136, -0.3824, -0.0139, -0.0299, 0.9918, -0.0227, 0.8005, 0.6197, -0.387, -0.0166, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=-0.0012 left_z=0.1822 left_yaw=0.0 left_pitch=0.0 left_roll=-0.0 left_gripper=0.9918 right_x=0.2962 right_y=-0.0002 right_z=0.1839 right_yaw=-0.0001 right_pitch=-0.0 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -1.7846, 9.8256, 1.8242, -0.1148, 0.1099, -0.4908, -0.1709, -1.5521, 9.306, 1.8193, -0.0659, -0.0611, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e370bde6f6ec594764712beb4b4f6499d9b5f466a0fe16c80251679e698c0f72",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f31511beb6b6e253774b95836582854e6cbd0f7418f73d83d728bd8176ba4b08",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a38595ec77eb3973f166527c86762e1944693e34e3d32c655f16af4f8316e70",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 4.032 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtGexPLJTN1YJqOA_VspBjFRMuvfeHAExGeUtrY29LVMJ6wJWYqBiLCJDJJaTs4VrdYut0SUAdIHrtxW3Jm6Uy9TE7wVcZ-RoQIcnpLUlWKF9oHboSYRUYRK3pIa5C4OS6-Dx5r_Eq2SI4f4hJMfAXAoozyYD4R3eFPg5fhE1iR3f_SZLJERRtDBskQFpqMJLOmyX0mjh9GM8OevMyulHhr5m9gM_834sJbblyTM02L4X8RV06iGs7FS4pJ0HwxDuvPLVU6eawZvjVWxObZ9vR7pEnWS4pjbJT18VT4Kb-LVsuFzQ6M71PN-ffrdaUlo4bJPfEcvHvCFIae4Em5X0m-YHPCsBeJFACHir5iflN8gQCZTr9dhXyXx-OlMgPHWYBFtDhwxKZ1SC-qVyMOd8WbUmuvchZxV7LygYpHfFLs8mS1tvlM4FW-YaPerq0kYkHSTYhdl8743uVxkOmkf19IwbhrnMa3xwPStzFsg3h2WqguBqxgAko-Gg0Es_EwajyJaDs5iyr7ER3EVbG_hJ-6vfr_K7P8gCMK6RtBXxSRFwQNlQ47-s3ULmNvSLYgnuDGw_TDOMJV9HG6Q2ZB0RSDZr0J4fmOjROXmnpu947j2a1IlgDigbrwBBr6UKgYz1GL_A4ZEfAtV3Tq-8EStzm9inXzMsTpoJnDAWh71ELQaUbaVpOB9zEBBxk0RILbGrmk7Z5MRPH8YAMLbkkVamSacakN7istd2QvfePhKTZYo8ujTCg08jnk-5UfFOzmkjk0bIhXQ3X2-0ZDGiUSPMY5qutlcShknmu7zDDrSMsuBVeSgaaa0X_wr276ro3MYcWi0fjkXzEztxhAbWPr70iMP4q7aD6aGsxiBqraqyPIexUE_q97qhgP6kI-1wE0c53WgCT2rvkzK-fJuDkSYaRueoHNw8-Mpdax2vzveELT04d9K0SS2Ye5HTfP7xs_9Hj42z5jS0MpzAUloxGsyFdJnltHsR4BQTY7Hnxcqxq86-air1UeWlIU1ThXLRaL5MxV-iNGq9x47453SDKh0oB1C4odRg5Y8AJzttML1F0ocu2ErvNK8oDtKdPyJyBeUBd65KIG-dvP1aJjBxFepyohuNWD_v3QYpCT6oJO1R-WS1r0IMEYXtqnmrlb9hFcTiM4wFZ9vR-z4uCl1vedo3vJI9UrNnrPWFHoAp0czLR82kpPoi8nmOIzqRvB_ujq-X3rvq0m1R3hdxpVJjKPUfkmxamxSUjRAQr7AWq5dmQis_UaCDbFJXNmtT_mkeq8rNWBKCXv-DpsyTpj6qZB0DyIPZwQL_mf70u1mmPHRo2zadWaAjo1Jeu6rchcgEAXyeWCYBQ3TD2mjTnFqiimy-kw3woJ78HAtNHwjvIzzaAHB38y_vNajk6jnPR9U9yYlctEfhIqU0Q51t4WGoIpMyiWwc87VIRrXqEauaKFQoCoLUT8F_HP_EPDr6rg-cnGMOU5-9YpqPXEr2y42vNo7Frhxy7if8zaWLAbBPgJtW0cDmanFEWEjuQb3fLl-UnrP2MneaUu4elQf2JOFPvzCWxwhuD-xzkuVVs9xC-o7B_zjgdgnvzkCIokQLm0YPPlz48ielotqtoK7OTKrlKnjKhTGfDUvYrUasoxPTN-8Hs12-xueF4msXHHT2aApXltmyUA9vRC_lmE7kEPZFWq8XcNPvFSIW4gl5sE3zu6NriA7Ili6uu2MfwG687sC-Qnvwp_GTmmymIRQPP_EFvn8t_g3-g2DPOTbgnwQ781uDBhYraFF4hWMtgxjO9OX7Cu9uHp_fJSjxx50AycG9rQN3yZmJc5RX5MbqHorXaBEaaItkHuNea9-mRCVqMOLxWRJZA6RKfiIRG4wu6SHDspX7oPKq-__BN-KlP1eCUR3IqovGdaJbbs9TObJe9OVMH0S1Ozc2_T2poEE3gAwvme2r03gzfPLz-1V7hbNRfCDTyDP1SI6tIO27HoM7zcDA5trzKNhIu8NpwXqJkuH22gTkl7iTQ5K47hIMvxNB3bn8SlrUO_dmfggxaEmoxYicV4feKGjeqrxikEbGiL4o3-lJIr2Xebxnv6gGYpwgq7Z_gznSn0z-27kNl565vWxQBc3s-J1XtAsyNOEd1svRqFIg5xcc2yO8wzzh7GZawzQCmhVQJ2SA4_xWOSdvdtMLF1Y1ZnEagWTAkzMndHw4YSr87dYwLu2IHCeDCH-Zd7Q3gdjufTXz8Ef1Ptym0KUNARyqyPa0fTLZtXCVl1KhtQ2ErBgrmTeye3kBAZhAP9aAdtNt9jk0W_78QMw7gt-e76nBiBi39-geSen_Kac99zCGRM-Pf6GRDCe2LTOMeQ69x3NCbAg=",
  "id": "rs_00434e83ff3765ac016ab467ad0bb487d09e4774d33ad38baf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.065,\"right_z\":0.12,\"right_gripper\":1},\"note\":\"I see three fruits on the table, with the blue bowl beside them and the larger white bowl to the left. I’m bringing the right gripper over the green fruit first.\"}",
  "call_id": "call_oFaRzm7zcksEroUlDbapfUxQ",
  "id": "fc_00434e83ff3765ac016ab467b0e7d887d0bc3dfcb3076d6203",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oFaRzm7zcksEroUlDbapfUxQ",
  "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]: [-0.025, 0.8032, 0.6132, -0.3981, -0.0139, -0.0311, 0.9912, 0.2974, 1.2053, 0.5297, 0.0422, 0.2352, 0.1425, 0.9994]\nstate[eef_state]: left_x=0.2941 left_y=-0.0013 left_z=0.1779 left_yaw=0.0002 left_pitch=-0.0191 left_roll=-0.0005 left_gripper=0.9912 right_x=0.3451 right_y=0.0665 right_z=0.1092 right_yaw=0.0249 right_pitch=-0.0458 right_roll=-0.021 right_gripper=0.9994\nstate[joint_eff]: [-0.1846, -1.5111, 7.3231, 1.8779, -0.0269, -0.0464, -0.0757, -0.1436, -4.547, 6.7487, 2.0537, 0.2173, 0.1343, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a97abed46fec1e0e84e1bba87454fb5825b5e5236039b0b204f31b506f2fa5f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:854f9f043b6ab46a6ee7ed0dbbb898d43ccd17a0d5ea3fb620ad0666204e7b97",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:565fd76520f3b20a063509216ae40bc1e1cf4766f655f2b7783ab95af35bcba3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 2.615 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]: [-0.0246, 0.8001, 0.6136, -0.3824, -0.0139, -0.0299, 0.9918, -0.0227, 0.8005, 0.6197, -0.387, -0.0166, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=-0.0012 left_z=0.1822 left_yaw=0.0 left_pitch=0.0 left_roll=-0.0 left_gripper=0.9918 right_x=0.2962 right_y=-0.0002 right_z=0.1839 right_yaw=-0.0001 right_pitch=-0.0 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -1.7846, 9.8256, 1.8242, -0.1148, 0.1099, -0.4908, -0.1709, -1.5521, 9.306, 1.8193, -0.0659, -0.0611, -0.0708]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.025, 0.8032, 0.6132, -0.3981, -0.0139, -0.0311, 0.9912, 0.2974, 1.2053, 0.5297, 0.0422, 0.2352, 0.1425, 0.9994]\nstate[eef_state]: left_x=0.2941 left_y=-0.0013 left_z=0.1779 left_yaw=0.0002 left_pitch=-0.0191 left_roll=-0.0005 left_gripper=0.9912 right_x=0.3451 right_y=0.0665 right_z=0.1092 right_yaw=0.0249 right_pitch=-0.0458 right_roll=-0.021 right_gripper=0.9994\nstate[joint_eff]: [-0.1846, -1.5111, 7.3231, 1.8779, -0.0269, -0.0464, -0.0757, -0.1436, -4.547, 6.7487, 2.0537, 0.2173, 0.1343, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a97abed46fec1e0e84e1bba87454fb5825b5e5236039b0b204f31b506f2fa5f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:854f9f043b6ab46a6ee7ed0dbbb898d43ccd17a0d5ea3fb620ad0666204e7b97",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:565fd76520f3b20a063509216ae40bc1e1cf4766f655f2b7783ab95af35bcba3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGe7oycKwHgE7H4tAjMxikp8iaBt34DqrjEF0FmjhHB_ijew5gu2JFCn1xUR0oryxxO9LgzRVPTww4_B6V3k-oYdBZQezZEfLa0ITAaxdUSvxLtSXfYuS8FmcUm632Hk9hL1sfG_rpTtAXHxfplhX2REtDdBVc2oTJICR02AXvG4VlX_MRdJcnzNoAB7lveHuUQk_LQFYGcV0vVDxPHYLzZplgzvrxSYF_jFSrvdUnBPnNJT_T1332ubEbRoTxbX2pFPFw9xJUekXSTmaQnBom6FC8_Q3DbvTnTb0itnY3Xw_RXBnAWEjDQzqH19krQtoDgqn6griwRHUTa-57BIOMqtAT8HrVHbjoxE0Ahox5lqQrV_yg9O5s9Tl7zQaX5EvgjjTMLSaVXV4KaKNadX-kLUKoSIaI0XfAFclbC6ZgSHBDr0PXuC-8g_YoB0Y9ggEOgogjgjDU8BLRTmjg52BEToj1LOPSHmQFPe8BPKgVE0bRltVBsHjl3_u6MIaShxRTeg450Hyparomyb-MSIQU-pRkhOsEDYvdm-KveXhRuOJYZ3q9vq5U7B8sSFKii3-MgaQ01ZoJwIC2SqfyS6ONv1LFJJwfUhbHG7gBitjNS4SX_MUnSuk52nvhY37IHU4NjPE1_xfyTmlyykzmn3NgJH1cuBnzBQW5dGbFnishTALw5mFvXmc6Mxn6gSYm_0NHGsZn2irP_J0AuWl1tBts7brYyv53IQ61-EgLL8RXAXZiXgGA52a4n7oyRYjb0NGesECwOSrtj-ZcTmgVgZDHP7cywIZCiytpOBn8BQuPFfZzTGUDpKvTXQvsJBitHPpA0mWKaL3Fhiq3SGxUDCuar4XiJ51yl6smPkOQRepS0yO6ORkSMwOZbbcSs1ZHoVXYL_UvXzZ2Xt0XwX1H1nSlar86SWJ_KJg32PS6l1UmeNnHXkG9vjcrl4x3Cedg6U2YAnDdgLkxUBIeXqT-Xx7J9YuKx1I3PW6LUUKs7-YX9DNOdqZYO1kbE-bVlNLBS197OTyDtRCMb9vZ3NTqqG8Ze_OiR6IAjzHSoEln6AsyT0LTymCt-t-nPHkU8m9BEMmPO9IczGbvXcDlNoZUB8tjdzpvLBvFgYy_fJkre354RQ2wRBi5ubpFtLYoSJWtNpVmi0BFAGylVQBu0gUVmMythE4l54Q3ko8oPE1Dke8OKXssn0ShgTHxQvnr_iTnZlAS-vz3d7is92qxmQdmnRHJ8kBLjCqi2sOJZ1g_OWfzpEPjV_xUgB1u8STW92cia34odAP6SCDEnaUIppZGtDTp1lm9akv3bsZEy4ePy8qI0vgLhiug4hpfygoyu6LBK46p7bo3L2toHpnV28oET5oGcqjuH4PgFoq6k-cLrzPIjtRYGQ6hq6A8WJxhh97LzU-QYBFlkzFj97Wz9JCRUAo7oIE9HIaktT9Yr1zxwZAcujo_mlKc4PqaPUd9pvmFHS2wZM8R33MtSXV-g9dwla1lKEeIi-a36aS3bMkshNr8oBzr0p8dzPmhCIFIEdSpXQVIk3kEl3oouCyJCX_llC7LnyqV4thBqQFhAKNqh7PZnPOuI_6rnFkY4SpDYFwhslcnSXh9OHwIoCz3f7X5MxsTcZEZuCeW49w7LfcheEUDL9lYC9WaWkGzJz2SBa9DQ_JVQs1coEvvVVcYxwYjWUH9o8bfEpZo7EJmLCrw_vWnqjJBCLGuKq709fIYAJtv8DuCxNTT3iEIdckGPk0ZJkKoLSRQxgrt8xchcgOQvEroksL93QdR-Bi5QdhqAwWRt1bsE_",
  "id": "rs_00434e83ff3765ac016ab467b83d0487d0b4f779460310829b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.335,\"right_y\":0.005,\"right_z\":0.025},\"note\":\"The green fruit is at the lower-right edge of the wrist view, so the gripper is too far to its left. I’m shifting right and lowering to grasp its sides.\"}",
  "call_id": "call_ROdZ7KzFi57xcwCPGK87nEXa",
  "id": "fc_00434e83ff3765ac016ab467ba156c87d08404053276be3b3f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ROdZ7KzFi57xcwCPGK87nEXa",
  "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]: [-0.0246, 0.807, 0.6132, -0.408, -0.0139, -0.0311, 0.9912, -0.001, 1.4597, 0.2474, 0.5625, 0.0055, -0.0208, 0.9993]\nstate[eef_state]: left_x=0.2929 left_y=-0.0012 left_z=0.1749 left_yaw=0.0006 left_pitch=-0.0328 left_roll=-0.0001 left_gripper=0.9912 right_x=0.3294 right_y=0.0023 right_z=0.0169 right_yaw=0.0075 right_pitch=-0.0823 right_roll=-0.0188 right_gripper=0.9993\nstate[joint_eff]: [-0.0342, -1.5248, 6.9949, 1.8291, -0.0464, -0.0757, -0.022, 0.253, -4.7248, 4.9983, 1.9512, 0.0415, -0.1832, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c70e3e2f7580e51df9ac53b7125c3e39ad21901899cef4493d508a27f86335d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a5ba9832b55acc9bce31f365485342fed0f99485d55508fdb47a9dc31c2fb1e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8674de1a980ce3c872086f39a3380113d1c34601bd492a60d84e20b51765e32e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 3 attempt 0 · /responses · status 200 · 2.347 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]: [-0.025, 0.8032, 0.6132, -0.3981, -0.0139, -0.0311, 0.9912, 0.2974, 1.2053, 0.5297, 0.0422, 0.2352, 0.1425, 0.9994]\nstate[eef_state]: left_x=0.2941 left_y=-0.0013 left_z=0.1779 left_yaw=0.0002 left_pitch=-0.0191 left_roll=-0.0005 left_gripper=0.9912 right_x=0.3451 right_y=0.0665 right_z=0.1092 right_yaw=0.0249 right_pitch=-0.0458 right_roll=-0.021 right_gripper=0.9994\nstate[joint_eff]: [-0.1846, -1.5111, 7.3231, 1.8779, -0.0269, -0.0464, -0.0757, -0.1436, -4.547, 6.7487, 2.0537, 0.2173, 0.1343, -0.0757]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0246, 0.807, 0.6132, -0.408, -0.0139, -0.0311, 0.9912, -0.001, 1.4597, 0.2474, 0.5625, 0.0055, -0.0208, 0.9993]\nstate[eef_state]: left_x=0.2929 left_y=-0.0012 left_z=0.1749 left_yaw=0.0006 left_pitch=-0.0328 left_roll=-0.0001 left_gripper=0.9912 right_x=0.3294 right_y=0.0023 right_z=0.0169 right_yaw=0.0075 right_pitch=-0.0823 right_roll=-0.0188 right_gripper=0.9993\nstate[joint_eff]: [-0.0342, -1.5248, 6.9949, 1.8291, -0.0464, -0.0757, -0.022, 0.253, -4.7248, 4.9983, 1.9512, 0.0415, -0.1832, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c70e3e2f7580e51df9ac53b7125c3e39ad21901899cef4493d508a27f86335d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a5ba9832b55acc9bce31f365485342fed0f99485d55508fdb47a9dc31c2fb1e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8674de1a980ce3c872086f39a3380113d1c34601bd492a60d84e20b51765e32e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGfA9afJYhko-LPIMjAVPsVLVruVac9_GMU0-GPI3V8fPbbTEjqA-vX5FgBJNu_qETEHmVytB-ooz8k7CIJ8giwbOKOABEZiQQCG5__PnzuZAvC-MkqdtI584U5bdNVUBdXojZ03OYBIfxeTLBmBvy8ja3uscirqlR4AsRn11tdkTvhddvW7gGpurkM4Uo7bGtpWlgcr0DYymBPefgA0hoa8pe-kv3LFb8dwzSGFdcgZl4UxRu_fKrnYzI3A07rFz8u2qsmlr-OZ9mRwJEucJ2k516XRDazQHz2M-L_scRQBJ2u6jgEFkmnEtOGj4DPR-iXDTxxBl9GCb1duavOgmqSedeQJYmBd4UQzDrEISTlrJJ3CWxG0XED1vTa7vfRs8OZG-HC1O4mcbVG1fUjzhG0iIwEK1BnDGs5HkfxKjl0N9H1jIXf1_2sy2L6S37Rw3LUpfOLQ-wG0bE8k4q645ABU5NAX1nCuvMZ6BU6wuP95H3fWjonG-83-3dmobw2-JHSipcPw84GQvRZtml8yPMuEntRj5xjT1ebEQo3LZoPy67KUMX5Vo60j2LjD-JTHoh1o_pZUSoELi6LtbGlUfHUCOXHQJkIt_i0sC2vZQmwVf8CcpHgX4FM38bhc_v9Ue-htn_u8AfycWdlC9PR7vCUnQKRM_Dbd6KNhIFKo81whSLjxea91t_c9Bh4XbKpQ-Pe1okCYf2RB5nVwcbqdwwatbQO_Ldng5B45Syg3vBNwNlbTc2mDpfy350lsBBqSgdhTtI-ShmtwYFgL-0KHMq9NTPRcVxn38hP3akUCOxEygr2KKDWjWWModM-R613ZT5T0aPj0cY_3VeFUeACkARQLDD06tnwoIZa3seybA8g2h4CmzaGRBqBjIHL1mgo_9WGgECIZnDg3eOtkdNjcgcUeFTF2xPmLPHc-GUqEMNmkPZ9W07wiIyzEsfsrc6b8rvTu3nhz4KIV0w7Ly1qbJeVkktDUoVnsGvN4K-ENsvn53_0mvfDR6APhMi-3uZPQ2FJ2txuLXMjsd18fIYS9INbI7JiQOk-zvkF8nSaGH_Pxm1E9J3rC-7yhUAB030hLpSmlwJ_pUUbP2z0kIqPZHTFhrmjTPq7BrgSc4sGx0J7qnKcIPTv70WdFhYes1HOgZfiwCNka-M3YH7IjHgRkB9s7NJQacQDxmj3YjU7MAeaYmUUjF9buiQFcPjv3zKzJnKdKINcsoi7RbWYi9a-XnOavpqU0Rj_PkMWBPhoO9fLlfwt3PUNDLbLxdKnFPBI98g9g",
  "id": "rs_00434e83ff3765ac016ab467bec3c887d0843166772ba5dd4a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The green fruit is now centered between the open fingertips at table height. I’m closing the gripper around it before a short test lift.\"}",
  "call_id": "call_8AKwlaCJB0xTsdvFLwINGncB",
  "id": "fc_00434e83ff3765ac016ab467bf215c87d0befc818931c86b15",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8AKwlaCJB0xTsdvFLwINGncB",
  "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]: [-0.0246, 0.8078, 0.6132, -0.4168, -0.0139, -0.0319, 0.9911, -0.0006, 1.4597, 0.2474, 0.5709, -0.0006, -0.0269, 0.8483]\nstate[eef_state]: left_x=0.2918 left_y=-0.0011 left_z=0.1729 left_yaw=0.0011 left_pitch=-0.0423 left_roll=-0.0005 left_gripper=0.9911 right_x=0.3307 right_y=0.0035 right_z=0.0185 right_yaw=0.0163 right_pitch=-0.0739 right_roll=-0.0201 right_gripper=0.8483\nstate[joint_eff]: [-0.1026, -1.3197, 7.1316, 1.8193, -0.0806, -0.0659, -0.0171, -0.212, -4.3556, 4.6701, 1.6239, 0.0464, 0.0024, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ceeb02697611110ca8390e5cdea9a53b71b8689b9a9d31310e25e6d5274f3985",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5c0314902ce38cc31025b86c551dd476629e2fc38a898e6169a458f4e189c59",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f3433a1f4acd852bab631ed5bc1c8036d030673bf2c5589917e3f7b427e2f67",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /responses · status 200 · 3.982 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]: [-0.0246, 0.8001, 0.6136, -0.3824, -0.0139, -0.0299, 0.9918, -0.0227, 0.8005, 0.6197, -0.387, -0.0166, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=-0.0012 left_z=0.1822 left_yaw=0.0 left_pitch=0.0 left_roll=-0.0 left_gripper=0.9918 right_x=0.2962 right_y=-0.0002 right_z=0.1839 right_yaw=-0.0001 right_pitch=-0.0 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -1.7846, 9.8256, 1.8242, -0.1148, 0.1099, -0.4908, -0.1709, -1.5521, 9.306, 1.8193, -0.0659, -0.0611, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0246, 0.807, 0.6132, -0.408, -0.0139, -0.0311, 0.9912, -0.001, 1.4597, 0.2474, 0.5625, 0.0055, -0.0208, 0.9993]\nstate[eef_state]: left_x=0.2929 left_y=-0.0012 left_z=0.1749 left_yaw=0.0006 left_pitch=-0.0328 left_roll=-0.0001 left_gripper=0.9912 right_x=0.3294 right_y=0.0023 right_z=0.0169 right_yaw=0.0075 right_pitch=-0.0823 right_roll=-0.0188 right_gripper=0.9993\nstate[joint_eff]: [-0.0342, -1.5248, 6.9949, 1.8291, -0.0464, -0.0757, -0.022, 0.253, -4.7248, 4.9983, 1.9512, 0.0415, -0.1832, -0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0246, 0.8078, 0.6132, -0.4168, -0.0139, -0.0319, 0.9911, -0.0006, 1.4597, 0.2474, 0.5709, -0.0006, -0.0269, 0.8483]\nstate[eef_state]: left_x=0.2918 left_y=-0.0011 left_z=0.1729 left_yaw=0.0011 left_pitch=-0.0423 left_roll=-0.0005 left_gripper=0.9911 right_x=0.3307 right_y=0.0035 right_z=0.0185 right_yaw=0.0163 right_pitch=-0.0739 right_roll=-0.0201 right_gripper=0.8483\nstate[joint_eff]: [-0.1026, -1.3197, 7.1316, 1.8193, -0.0806, -0.0659, -0.0171, -0.212, -4.3556, 4.6701, 1.6239, 0.0464, 0.0024, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ceeb02697611110ca8390e5cdea9a53b71b8689b9a9d31310e25e6d5274f3985",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5c0314902ce38cc31025b86c551dd476629e2fc38a898e6169a458f4e189c59",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f3433a1f4acd852bab631ed5bc1c8036d030673bf2c5589917e3f7b427e2f67",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "arguments": "{\"targets\":{\"right_z\":0.085},\"note\":\"The gripper stopped well short of empty closure, consistent with holding the green fruit. I’m lifting it a few centimeters to check that it follows the gripper.\"}",
  "call_id": "call_sp8pC6AvortZlivRBNwzdrof",
  "id": "fc_00434e83ff3765ac016ab467c2649087d0a3780c2e45168287",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sp8pC6AvortZlivRBNwzdrof",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0246, 0.8108, 0.6132, -0.424, -0.0139, -0.0334, 0.9911, -0.0006, 1.1595, 0.3801, 0.1169, -0.0013, -0.028, 0.8483]\nstate[eef_state]: left_x=0.2909 left_y=-0.0011 left_z=0.1706 left_yaw=0.0019 left_pitch=-0.0527 left_roll=-0.0015 left_gripper=0.9911 right_x=0.3256 right_y=0.0036 right_z=0.0729 right_yaw=0.0176 right_pitch=-0.0949 right_roll=-0.0202 right_gripper=0.8483\nstate[joint_eff]: [-0.1299, -1.5521, 7.241, 1.7558, -0.0415, -0.0073, -0.0122, -0.1162, -3.9453, 8.4718, 1.6728, -0.0073, -0.0024, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e44ade913098c1e029071fdc65597d3be000a5342c91c0febf88adfbb85eef3d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:967d830a0dbf368dc195e4e376fca6927246f8822032e036d8025be00eb0bd76",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcf3cb24032d54011a55f6467243273853d63767a10193aeaee389825b1c319a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 5.516 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 14 changed as sent

message 17 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.025, 0.8032, 0.6132, -0.3981, -0.0139, -0.0311, 0.9912, 0.2974, 1.2053, 0.5297, 0.0422, 0.2352, 0.1425, 0.9994]\nstate[eef_state]: left_x=0.2941 left_y=-0.0013 left_z=0.1779 left_yaw=0.0002 left_pitch=-0.0191 left_roll=-0.0005 left_gripper=0.9912 right_x=0.3451 right_y=0.0665 right_z=0.1092 right_yaw=0.0249 right_pitch=-0.0458 right_roll=-0.021 right_gripper=0.9994\nstate[joint_eff]: [-0.1846, -1.5111, 7.3231, 1.8779, -0.0269, -0.0464, -0.0757, -0.1436, -4.547, 6.7487, 2.0537, 0.2173, 0.1343, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0246, 0.8078, 0.6132, -0.4168, -0.0139, -0.0319, 0.9911, -0.0006, 1.4597, 0.2474, 0.5709, -0.0006, -0.0269, 0.8483]\nstate[eef_state]: left_x=0.2918 left_y=-0.0011 left_z=0.1729 left_yaw=0.0011 left_pitch=-0.0423 left_roll=-0.0005 left_gripper=0.9911 right_x=0.3307 right_y=0.0035 right_z=0.0185 right_yaw=0.0163 right_pitch=-0.0739 right_roll=-0.0201 right_gripper=0.8483\nstate[joint_eff]: [-0.1026, -1.3197, 7.1316, 1.8193, -0.0806, -0.0659, -0.0171, -0.212, -4.3556, 4.6701, 1.6239, 0.0464, 0.0024, 1.033]\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 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0246, 0.8108, 0.6132, -0.424, -0.0139, -0.0334, 0.9911, -0.0006, 1.1595, 0.3801, 0.1169, -0.0013, -0.028, 0.8483]\nstate[eef_state]: left_x=0.2909 left_y=-0.0011 left_z=0.1706 left_yaw=0.0019 left_pitch=-0.0527 left_roll=-0.0015 left_gripper=0.9911 right_x=0.3256 right_y=0.0036 right_z=0.0729 right_yaw=0.0176 right_pitch=-0.0949 right_roll=-0.0202 right_gripper=0.8483\nstate[joint_eff]: [-0.1299, -1.5521, 7.241, 1.7558, -0.0415, -0.0073, -0.0122, -0.1162, -3.9453, 8.4718, 1.6728, -0.0073, -0.0024, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e44ade913098c1e029071fdc65597d3be000a5342c91c0febf88adfbb85eef3d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:967d830a0dbf368dc195e4e376fca6927246f8822032e036d8025be00eb0bd76",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcf3cb24032d54011a55f6467243273853d63767a10193aeaee389825b1c319a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGfInfCAB0xoQglDeXv3mDzq59W3dk70rLYvBDcIndKWxQLv2rUqSlrnsbA8gfazIGLzS3JIv4lA8ATAvMxZSIi_W0o4ns6diyZ4nHofqzQg5CkJWrrk1n4wwKSamNksqYdmQ5cJgthck8jvzOpNWQgoXvNo6cl5Knj7qrXHp5UXVrUZMWZxwgQRUtPfHLOkAvJlIiqxT40DEzLddR5Mzn5p1CwsZb_AolfENhOJY-I7PNijixfWLozGUNusmujd8hkp2i1QsqcUVAOymg2sgjlhWHPbDCdcmmZwvDbt7Bu4uIKYdFgPTEjd28IUHTrU3A8D67PXS2MXxEKP61nO9Ig9rCIiYQXYe6s8HHBfOiE3r8vrC4FDBqjMP0tTFsUUwNmcaYf_tXg8mCsMJrHXfnxY9ctm1B9UoejG5sw0ftqejgr3PXB0_AhGD--vqwrfVclW4R1fbMCPG7-9jFCtgMl_xjcJcWlDUeQy2QRNIn7E3i1Nnfq9P5xAgl-A9-0CwggiY2Q1P5cuBQ5BHMFYvuyce4Vs2wkOFLbSwvWx2M5OBIpRYY7h-IRN-xIGw2V04nXfmI6dB_ZKnmGmBaQkpcGMXzSPJiWOv50QZ9YgFfBZM-iRJCgaTHoH_v8fRqj6bVMGXucWKynz9wraMCLcjP4AAF3A01kM0KaYQdICI7WmhlpcorkcKqO4Wj85Degp9YmyZnof6W9BVSoMPygDdjSx5UPe0_IWIQoqsquoUlCvV4eNkARj7TK9VyRAbAFATqx9srectOiQNuUjO4O1Jgqcnel_4ZeuBPs-9YXT-AFQOUAK61Zl5KWMPb4GL-a_YowFAsAtbXyyIaP1oPKHswqvyzGYTPL0EqhQhwFw0nikCLr48Dt0wL8Y3pujRiK5oMQ8nhZJbMORQqDtaI8WWuJeAfyNw31-QHKNsJiGoVjvv7eSC90n4DgJongn2iSdHwh5nDaKS2MZYDxi-7XZRmIjcOENNTKz-cR6VJnmy_jwrx7v0PA-3B6Wa7XVJZBSMFOAnhc1nhqKbjsPjONwpVcOudYxpt4F3iYgcxBWX7vWRJGJG5uCvxr9kjaBI2Ht0JVVvs3Q99ywV8LdrkPdo7zqZP5_cMhK-D-dgwLLVqBkYy6i6cfuBgXJHsxRb5wOHTnyPLJErv2tVwSLd-AGpAzKzwLR41TbIb1OfjP9km31p3qLxP2zvV7jWoYsXZ90yBSZ5h8EbjAc-BzFdHHIfjnI8-RfDkkY9QlM5IHBGr7ZP8yJsLYVvPKoJBPbLrVhVr7vpb-Uag6LCQNt5t-oE3NANAkd9y6z70AOxSINZ6mPBxDSxkQrKh9R5Fax3A55dbBYMNjkuUgFbEu8ZOor9OwEy5kEbYa3iWdZijpjnBAA6PRwP5poE0wN9xqzXFOKsvhCRIRoVCdBew5c1nnV27Dm3A0I8AxOv5g4dmm03jirU5Tg0_liwRoVhdkd0E1iFDS1",
  "id": "rs_00434e83ff3765ac016ab467c5ff9887d09f992cf0803aaf69",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.435,\"right_y\":0.105,\"right_z\":0.19,\"left_x\":0.296,\"left_y\":0,\"left_z\":0.184},\"note\":\"The green fruit lifted with the gripper. I’m carrying it above the blue bowl and refreshing the idle arm’s parked pose.\"}",
  "call_id": "call_EdK7fJzSBWvB4ikI1diAZajw",
  "id": "fc_00434e83ff3765ac016ab467c7162487d0b7de39af1e2b5741",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_EdK7fJzSBWvB4ikI1diAZajw",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8406, 0.6434, -0.4751, -0.0135, -0.0338, 0.9911, 0.3302, 1.5398, 1.1343, -0.342, 0.2398, 0.1509, 0.8531]\nstate[eef_state]: left_x=0.2891 left_y=-0.0004 left_z=0.166 left_yaw=0.0045 left_pitch=-0.1034 left_roll=-0.0007 left_gripper=0.9911 right_x=0.4267 right_y=0.1057 right_z=0.1702 right_yaw=0.0461 right_pitch=-0.1545 right_roll=-0.0487 right_gripper=0.8531\nstate[joint_eff]: [0.0889, -1.5658, 9.4838, 1.8291, 0.022, 0.0073, -0.0073, -0.1026, -7.8291, 9.0735, 1.8242, 0.2515, 0.2711, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:607eaed8ddda321c9097fff51eb5388f3be780fcd8e4f5eea52fafcfdf83d492",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eedcb3d6f503c1402e2b12dac769fdb59768302092852b87398bcd5daa89a480",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:086ff01c625105e8789b9dc5474dd00ea6a270d745492bca2f634853ce6c3100",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 3.247 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 10 changed as sent

message 17 changed as sent

message 21 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0246, 0.807, 0.6132, -0.408, -0.0139, -0.0311, 0.9912, -0.001, 1.4597, 0.2474, 0.5625, 0.0055, -0.0208, 0.9993]\nstate[eef_state]: left_x=0.2929 left_y=-0.0012 left_z=0.1749 left_yaw=0.0006 left_pitch=-0.0328 left_roll=-0.0001 left_gripper=0.9912 right_x=0.3294 right_y=0.0023 right_z=0.0169 right_yaw=0.0075 right_pitch=-0.0823 right_roll=-0.0188 right_gripper=0.9993\nstate[joint_eff]: [-0.0342, -1.5248, 6.9949, 1.8291, -0.0464, -0.0757, -0.022, 0.253, -4.7248, 4.9983, 1.9512, 0.0415, -0.1832, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0246, 0.8108, 0.6132, -0.424, -0.0139, -0.0334, 0.9911, -0.0006, 1.1595, 0.3801, 0.1169, -0.0013, -0.028, 0.8483]\nstate[eef_state]: left_x=0.2909 left_y=-0.0011 left_z=0.1706 left_yaw=0.0019 left_pitch=-0.0527 left_roll=-0.0015 left_gripper=0.9911 right_x=0.3256 right_y=0.0036 right_z=0.0729 right_yaw=0.0176 right_pitch=-0.0949 right_roll=-0.0202 right_gripper=0.8483\nstate[joint_eff]: [-0.1299, -1.5521, 7.241, 1.7558, -0.0415, -0.0073, -0.0122, -0.1162, -3.9453, 8.4718, 1.6728, -0.0073, -0.0024, 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 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8406, 0.6434, -0.4751, -0.0135, -0.0338, 0.9911, 0.3302, 1.5398, 1.1343, -0.342, 0.2398, 0.1509, 0.8531]\nstate[eef_state]: left_x=0.2891 left_y=-0.0004 left_z=0.166 left_yaw=0.0045 left_pitch=-0.1034 left_roll=-0.0007 left_gripper=0.9911 right_x=0.4267 right_y=0.1057 right_z=0.1702 right_yaw=0.0461 right_pitch=-0.1545 right_roll=-0.0487 right_gripper=0.8531\nstate[joint_eff]: [0.0889, -1.5658, 9.4838, 1.8291, 0.022, 0.0073, -0.0073, -0.1026, -7.8291, 9.0735, 1.8242, 0.2515, 0.2711, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:607eaed8ddda321c9097fff51eb5388f3be780fcd8e4f5eea52fafcfdf83d492",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eedcb3d6f503c1402e2b12dac769fdb59768302092852b87398bcd5daa89a480",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:086ff01c625105e8789b9dc5474dd00ea6a270d745492bca2f634853ce6c3100",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGfS3A7xjjH7ZaP8yo9J-FiVZGTtEsa-6hZP1Lg70FMR2pLKlhuprkLbI2JW49z3TN_zlGMKbyw2Bt46jE3O2XL4AKUZ609tQEqScPzZTmonnp7eiiTdH6eUcIjM8Pi-uDMTFvsL37oXBVNRcq5brdR41Yl-BNGXvpct5Bv0GCM4az0xLm2eNLn-UUIOYTZUTXy56Yoqg_oScgnUDWlCk24Dno1_XLl5ChDGQMjywst-TMhAmImENLesFDJ_zvaTLElVWyevHJphNyLZRYqtIqn6B6JUG5tBJiN9iQb0WY-wFuIdNr3WETini8o4q-AqvQLRvT3hWCY5sBR_M-9Z4Mg69SRNDS8JypULp8L2RRYXr9DP6lj2W-eCeoki-u8EWNkIkdAlBuOZm9ZQULm2H0Xnw2WQmmBdf7uMw8hduJZiH9DSEYHxKERaEBHLwJVTAFjkVnab0wDQi5bgxpM0kKE0U6qFtRCb2S4ea_xJCgDCjSAr2Y3O49E-uYStJXpTHSxpHj30zeXE7kMC3jhTHYSCx65-MtfUAt_OQbgsIPCdruXw5cQuTDazO7afwtTEJY8sfoTBUTh1uf2xO84IDnQg19NEKe6vGFnF6rkdAiy54po4NKDrYjM2wR2Hqfb1WjdpjJjsDRGRi11Ky6MrvYS_E5_Uja_ilC_MAb6yy8IooKX6QHQNigVKU6dcz8Bb--PcrMzz66P6VHTRmhccW2ms4Xdan2Ra9cBYkWO7H620EfSiLj-TY5wIC4MN2xQR5zmy8ve_bWkZ-bQ9tDx6uS301Wi-DC8yD96m3eVRgsHA7tLvpptmIqHQtG3nJzwIEUZiQk_dJ4-R0dvG3d54WK5LPtbal7F_aUz7-W0rhhD0V9bQqXS2xOmz8b5TctheG-uHDodfQ7yc5YBBgMTlnoQWTbfSIXVqP08Zek-eNAJQJH6MN6Toodk5ba-b-zruc7sRWcMLCCTQvOTIh3ahZEQJrvktn8EbRX3u69O7DGxYEeBwjHyhpaYpRMGNuotL45bainJ3PmDvy0QtwWM81R6IFHMjcutE2PZbPv5QjAqyj1iprTUG20yUkJXQDEhpu3bP5obk26shWjwZXWKgW4ogLVz-R4oeKy0_aZjYMW-B5KEiP1ufFO2_4riE9NqQIu1BRZP4KAkjgNU1G6_ydf5kRYB3cH-VvXuqnSZlejHFcuOBKA2cSUSoJuG3xksIN8XGhDTdCVeQiYhB6k3I8SMBNLK7NNaUWB2c2Y10zLs-zCk0Fqjbro4rJVhET8JJQTf0Lso65uJF538jjrRecBB4dRnT6PT6OFGzo6t9ezgzjsnTT2XwpnVSWAqN0mb0MtPKuXxUiu1NWxckH8jJpN13sNyC33P7XWebLzyfTd0_oNRslAq4fkxDSenYxBCk0BsItfxilmSmn2CimHKHKcvdB3784Xqu7oWHnwXZa_QTO8M8wxbweM7bZQc-Yex5TgbZBdjOX9IJVa32Uoho_NJnrySzGU9eUQhzWW8It4RYMyQKJyhJdcmYKtwo5iJ91LTdGv39AJ-FJWZOgHpOzApwXin4hhkXS3-uSUjqj4Hv4e8xZYwPNFCvxLi5ouzWfxXrsElSKnF5258V_XsvEh0cXK4Zjzo0_soKr8QJUa82QKIm1La7fQ-wI_iBBwTlcxvys8N2Z0Zcn72AjucFsJmOadBOShwxyQxNRVpST7qbSBNeBBEa0OePUh25-95Olx_Uk3sSLG2TlogcLlx0kp2AlL47f0i9V3HQ7Wmlntg67oVc5tqvSzcv-idoWh_XTkJT4L0QnT_43nE6DiLQCAAN6eS7ntLIxVrKlKdS0JoRHGgyhLAoxy_odla6LWelBDgA3wpxlm5L34giuRRnwttcnXPsYnuIK6U2pGyOfzI7VUHc46bz2YpVsYyPD-RBPbi00bytAGUv2x02dYXS70q-ug==",
  "id": "rs_00434e83ff3765ac016ab467cf795c87d0bfe81976edd85196",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.105},\"note\":\"The blue bowl is aligned beneath the held fruit in the wrist view. I’m lowering the fruit toward the bowl before releasing it.\"}",
  "call_id": "call_TwGUWEATXksHmmujBy68mnK2",
  "id": "fc_00434e83ff3765ac016ab467d25b5487d0a49f74bf4870b01d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TwGUWEATXksHmmujBy68mnK2",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8406, 0.6415, -0.4843, -0.0139, -0.0338, 0.9911, 0.3302, 1.6165, 0.9428, -0.1162, 0.2317, 0.1463, 0.8531]\nstate[eef_state]: left_x=0.2874 left_y=-0.0003 left_z=0.1634 left_yaw=0.0049 left_pitch=-0.1144 left_roll=-0.0001 left_gripper=0.9911 right_x=0.4201 right_y=0.1049 right_z=0.098 right_yaw=0.0533 right_pitch=-0.1969 right_roll=-0.0586 right_gripper=0.8531\nstate[joint_eff]: [-0.1162, -1.4564, 7.159, 1.6972, -0.0757, -0.0269, -0.0073, -0.0752, -7.5556, 6.2974, 1.9365, 0.1832, -0.0171, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:965f2e370725aee531b9c742f7b737b9d6a0a877aca4e64102df7485ddf53f72",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d78e9b6bbc92b77292b434d77ad760fa157b238e2f10b1a1d1bb6f1e2b1240b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21032c90d9aee1b71f1d45048220683321b24e968b6d75959f8645f876a440f7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 6.02 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 14 changed as sent

message 21 changed as sent

message 25 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0246, 0.8078, 0.6132, -0.4168, -0.0139, -0.0319, 0.9911, -0.0006, 1.4597, 0.2474, 0.5709, -0.0006, -0.0269, 0.8483]\nstate[eef_state]: left_x=0.2918 left_y=-0.0011 left_z=0.1729 left_yaw=0.0011 left_pitch=-0.0423 left_roll=-0.0005 left_gripper=0.9911 right_x=0.3307 right_y=0.0035 right_z=0.0185 right_yaw=0.0163 right_pitch=-0.0739 right_roll=-0.0201 right_gripper=0.8483\nstate[joint_eff]: [-0.1026, -1.3197, 7.1316, 1.8193, -0.0806, -0.0659, -0.0171, -0.212, -4.3556, 4.6701, 1.6239, 0.0464, 0.0024, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8406, 0.6434, -0.4751, -0.0135, -0.0338, 0.9911, 0.3302, 1.5398, 1.1343, -0.342, 0.2398, 0.1509, 0.8531]\nstate[eef_state]: left_x=0.2891 left_y=-0.0004 left_z=0.166 left_yaw=0.0045 left_pitch=-0.1034 left_roll=-0.0007 left_gripper=0.9911 right_x=0.4267 right_y=0.1057 right_z=0.1702 right_yaw=0.0461 right_pitch=-0.1545 right_roll=-0.0487 right_gripper=0.8531\nstate[joint_eff]: [0.0889, -1.5658, 9.4838, 1.8291, 0.022, 0.0073, -0.0073, -0.1026, -7.8291, 9.0735, 1.8242, 0.2515, 0.2711, 1.0281]\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 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8406, 0.6415, -0.4843, -0.0139, -0.0338, 0.9911, 0.3302, 1.6165, 0.9428, -0.1162, 0.2317, 0.1463, 0.8531]\nstate[eef_state]: left_x=0.2874 left_y=-0.0003 left_z=0.1634 left_yaw=0.0049 left_pitch=-0.1144 left_roll=-0.0001 left_gripper=0.9911 right_x=0.4201 right_y=0.1049 right_z=0.098 right_yaw=0.0533 right_pitch=-0.1969 right_roll=-0.0586 right_gripper=0.8531\nstate[joint_eff]: [-0.1162, -1.4564, 7.159, 1.6972, -0.0757, -0.0269, -0.0073, -0.0752, -7.5556, 6.2974, 1.9365, 0.1832, -0.0171, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:965f2e370725aee531b9c742f7b737b9d6a0a877aca4e64102df7485ddf53f72",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d78e9b6bbc92b77292b434d77ad760fa157b238e2f10b1a1d1bb6f1e2b1240b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21032c90d9aee1b71f1d45048220683321b24e968b6d75959f8645f876a440f7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGfakFysTl9ISH7n72gOD3HhY0_DNEbRuwWEo_ljh_zj2I1ir41qsTu7vwGHQTbZYILQKUUwQ7cO6863fj3M5euSZD7VVnsc0d6NIjVDAgTR0SycpuU3w5bXuSTlLB5ggGEEdu28hizdEa3BlGgN1-cfBstXm5F_P3-cpiGKMXliZiHhWQr12a20E0jBK9Avhr83RueT1gcAMGKpTtLcsOi_2b9oRv5O5GmcqcvihzEKVRmh9E2fGJfeUjuYgQy27C3VMGbfaasy1VBP4UuqORxX0OyMNWIrXiT53XMHgK2ybf5VxNTj2lc8RQnzpT1ym3XZZHzOzhBTHtNyCsAKoAJrqeHLbzaLhzML1o1PyrcMX_3OFknhPNfCQUS9Jk0Ze78O1BfIeRQRm-pcHzvPAO3gErXejj4rMK6PaUruF9KoJDDZxSMBDqe6qD8BE2uYZbO8kCrXCgoOU45OeL5rS1HO_bVTXvXON4F04x3quxsTb1J91m7KpfS17tOUwcscsnN748BffItD1BsPBEStq_YciyRZjUfefowXyq_UiyjiRDTuTZiKrXdJp_GRivSLNe9BTwr7Yw1oUwkzeNErGfdKy_-YdpfIFggHUytHQaPNRr_3nmXuUfMxjj0ZpgCxw5Caui-jAnX1tdItzwqZig5FBCXA-Efrys6zT1eSulf7CGVLHVFhSRnqNFNR0Vq3ZG2bDBTEpCIyW1zKRYpCOe_H9bwhPNLZQFBDtaSD-UId_Xa5l71hT2_qRuxrhQDFIKGA2i1Q5OeM7e9WhK2SMqXYAElf8W7Lh81mFkIQdY9ZsC-zlr8hQakwKOjyZLbhvvxqECI7oiWfH7RObK_XH9kB7wCEAFXbGHtSIZFB4Ju8rZZ3_Wy9A47BDV_uWbhVOzcdIxjhfmaZ5c_0Sx0XOlWrvNivtwkroe08iCR5aPbsnKyARslkMc-sQN3vYUyHALmQ-NWaAfILQ2A0OceTEpA1b2oV-82MfFovNhPl4R6jfqMjDX3gB3cjW7zWMu3ix6MgTHT7Y89ljJUiWIWpBBF0CMI6dCfYJ_JOOoqWg3BXNTxBYdFnBcRA_wKCiVgnm0hVbsydLUSLsYs81HiiuWo55g9T3su94AhTcTa_wZNjPerSlGV5QyHaCGZmlMmekukiViZVjABQAdCkxT4M9P3MUQ2L77ngHZ0C_sHfnyosRJMpTnk2llQfNy37TI1kYwiU3ZyUMFWRmGVMRMS4Zl7XqN9rDh7WeSVC-4ityscP2eUU5LIY3rz-X2NxtpSzXgz8vm_AAIY3rvwnHtWx7iBhX9Fo5Uts3abZSwOdu7u7jHL-OEJcMDl3tAVw4p7IOphdShupLkBgu5JXVNasmBDKro4HywK8sQqMRN0jrfev9xo=",
  "id": "rs_00434e83ff3765ac016ab467d8da3c87d0992b6adb2121ace1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The green fruit is just above the blue bowl’s opening. I’m opening the jaws to place it inside.\"}",
  "call_id": "call_z6P8rlz5lhQxLzFKVsx5mLPV",
  "id": "fc_00434e83ff3765ac016ab467d9ba3c87d0bd40f77c7e9bd37a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_z6P8rlz5lhQxLzFKVsx5mLPV",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8406, 0.6415, -0.4854, -0.0135, -0.0338, 0.9912, 0.3302, 1.6165, 0.9428, -0.1215, 0.2314, 0.1425, 0.9949]\nstate[eef_state]: left_x=0.2872 left_y=-0.0003 left_z=0.1632 left_yaw=0.0046 left_pitch=-0.1156 left_roll=-0.0004 left_gripper=0.9912 right_x=0.4192 right_y=0.1046 right_z=0.0971 right_yaw=0.0554 right_pitch=-0.2023 right_roll=-0.0626 right_gripper=0.9949\nstate[joint_eff]: [-0.335, -1.2923, 7.0632, 1.6532, -0.0464, -0.0317, -0.0073, -0.0479, -7.5556, 6.4342, 1.5653, 0.022, 0.0122, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58e6f28ebfe39639fe243e3c05002747a0c8286a0c865a67756be5a557f24414",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c547b049b7fcc24323b42b855f120903f5e27573f8cd259eb0e96e0ff1fb4260",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2439438979f0fd8aa3df06f8c50a6611ea2f967cda40936edb1e9c5865ec14a1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 8 attempt 0 · /responses · status 200 · 3.748 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 17 changed as sent

message 25 changed as sent

message 29 changed as sent

message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0246, 0.8108, 0.6132, -0.424, -0.0139, -0.0334, 0.9911, -0.0006, 1.1595, 0.3801, 0.1169, -0.0013, -0.028, 0.8483]\nstate[eef_state]: left_x=0.2909 left_y=-0.0011 left_z=0.1706 left_yaw=0.0019 left_pitch=-0.0527 left_roll=-0.0015 left_gripper=0.9911 right_x=0.3256 right_y=0.0036 right_z=0.0729 right_yaw=0.0176 right_pitch=-0.0949 right_roll=-0.0202 right_gripper=0.8483\nstate[joint_eff]: [-0.1299, -1.5521, 7.241, 1.7558, -0.0415, -0.0073, -0.0122, -0.1162, -3.9453, 8.4718, 1.6728, -0.0073, -0.0024, 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 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8406, 0.6415, -0.4843, -0.0139, -0.0338, 0.9911, 0.3302, 1.6165, 0.9428, -0.1162, 0.2317, 0.1463, 0.8531]\nstate[eef_state]: left_x=0.2874 left_y=-0.0003 left_z=0.1634 left_yaw=0.0049 left_pitch=-0.1144 left_roll=-0.0001 left_gripper=0.9911 right_x=0.4201 right_y=0.1049 right_z=0.098 right_yaw=0.0533 right_pitch=-0.1969 right_roll=-0.0586 right_gripper=0.8531\nstate[joint_eff]: [-0.1162, -1.4564, 7.159, 1.6972, -0.0757, -0.0269, -0.0073, -0.0752, -7.5556, 6.2974, 1.9365, 0.1832, -0.0171, 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 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8406, 0.6415, -0.4854, -0.0135, -0.0338, 0.9912, 0.3302, 1.6165, 0.9428, -0.1215, 0.2314, 0.1425, 0.9949]\nstate[eef_state]: left_x=0.2872 left_y=-0.0003 left_z=0.1632 left_yaw=0.0046 left_pitch=-0.1156 left_roll=-0.0004 left_gripper=0.9912 right_x=0.4192 right_y=0.1046 right_z=0.0971 right_yaw=0.0554 right_pitch=-0.2023 right_roll=-0.0626 right_gripper=0.9949\nstate[joint_eff]: [-0.335, -1.2923, 7.0632, 1.6532, -0.0464, -0.0317, -0.0073, -0.0479, -7.5556, 6.4342, 1.5653, 0.022, 0.0122, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58e6f28ebfe39639fe243e3c05002747a0c8286a0c865a67756be5a557f24414",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c547b049b7fcc24323b42b855f120903f5e27573f8cd259eb0e96e0ff1fb4260",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2439438979f0fd8aa3df06f8c50a6611ea2f967cda40936edb1e9c5865ec14a1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGfgKSWv6VH7nAb9RDbs5Pxa1mwoeaKxgIMw3f5zI7qQBOyhNd4r14-nvCT4a24vmPq0WDbxofVcLGyNfSFpqFxkFfYUCZjdyhUPtb4s4OXHQqw4bDRCZIl0RJooq53eoU7TTwbe_gK6rCLelRq3hy7zUfxBbmV3LMEyXgM8GmC2xAStCqQAvX8OVJjS5GmRGHhg0JzSvp2LQDcsZ_EYVD-EdUtzGvgl72ZR4oVGubdTKii8MkpIRR1WVaF-7Xwh-h8IIwkf4nJMDn3FI2YR6n5GYUuknzjFTuzJ01xVCkaXZsfT7eoLAAHGG28fgVa5KW-OKTZg4UElMdtQPIqp5ws2dbZeIUfR0b2icAaMrKscGF7q3ifgy0WDwDdjtsD_rKXfJV9R56RetHFVEvtaEz7YCnJyPC8wT4bVoEs7ZQeqNcpQWXBW4T4-LtHUjVcAQLt9OQN83jTP6R56o8JU8qhuoesaVz0b7chx3GkaAYE-TAiWHs5uk-QR60EKHLpGiS7GBTfrBVY-o4mifAcSt61a0Y60xNX2amDRN2X-mPTHsF4pYkVRX7iKHOmskOR-jbqBqvL1JfZsEFg-3s-M8_OvoERUF2CjVmrqxgrVM2Rjj9RiOVMyd8b19HbHp8v1Ue7UL4SaF0bUjZMfInnmQnylaqKMmVDL0S84tDB2CL3Np8a7eJ5CzU-YtnSIqfPw38No_BCfPj7l8Lta1lEcodRCOzN9hYbsDgaAHnAS-s0i7a9G5-ufe65qwYrQ6SzDEPalMpOcj8HiiKv0Ow2I4sOKv3FUizPmUfsAKX0eo97zzFIlXX1IXp-iBKEpeCqDuE1ncTklHwHeWYyT2zwB6z06zP2udq1ZoMxs0EA1cBkF3kTtciMAJLVQ97CE4rxT38dMl9Pxx-fZFsV8qOsGq6wCpZQMDtkRbdeO3f94x9fjca8uZ_6Ywjsri6p7sAr0eNuEFwziJN0hYWMHw16H6m8ABTi-eLlb79AwQZmLzF7U8lhi4YXorlsFuzl0BCa7w7HN1oYn76qoPUd6s77MJGQ6zYhu_dg80nw6fKwXQieOHaTmXeb6-hHsedl4aqY5H_beI7JBjEKf1NYDoWoquPfqCNhQVLgyxt4F1znSS8AMipD-xLd3eIEzoEJYKRziIu7M3hSjmQydkH9Mf9kGql0hXTjFp64IOpotG0doww3Z_PhLEUdcgr7-SheYjYDrynOx_bZtgbgvVm8Xbi1abNsBTfioT7l4Rd_IYQUyFdTgB_aXyNdKY3dZ4YEY9KcZv1T4P5pqif6hPXJk2MTisb1-5GciNQt9BO9InO1lAkSffGBThxTBH6KYBthd_VkNNucqXcanFUJNyve8WOb9FAzH1niapO-8rKG3YOwXu35czJBg5phHUUoosdUL8XD_Vf_QD9O5aYa0u8krkcaBfQQXyi5yn7vaY6bna3M8UdthlXEtIiTYRGtx1wW78IoUZHjrBLgKIyrtTdJTmBsQhs6tKKyKsH5dsh_tm9BvDZC880vTjm5VSqSIlqxPCQP9ljIqSB72gRm0pnp5vDblXh7gGEJU3bmi8PrL5ASwSNMrbhx3bAFVmOk78COO1-gB8OGnOBjHEc1quHlu1uWkAlHabjfxu4KRq-H-4B0q58h9oymgp3Z4XWfOvJER4__7iGuHSBQy6HNb_Gssjbkfd6sknofn8ojHsdWvkWbgn703tpApaALF_ffmA6_NoWhEI50kJn40reVkC4o5Um_YagBZqahL0DKnc-FiA3p8x_OCfEWCKxBjMwkBhPxvOyyGcVmOVOCQOEmsjWX0H_-nFv5Ik53Pb05E8Tik55Ql9pbQt2lxP5Z-3nhAsYZZYPUIOF1ozskrF0vGkrssev_LZBs9SrMQ-FkyTAtlull6rkVVj54HfGrLIYGXiL0AuTqCvFM0_5fSO-XDFJE8aO2e4OBY-cvnmutWZKEro5geg8p99JWcFCKsULP8qbCETkgBtKnTDxVYRCi6QCZjjegM0QKvHqU7PBnU8pUQejLUzpksIy2whKsx-iOVQYqvAlhJKbcKfHnfX2JWkYjyQTwgkr6pG8NDszw_UFdk75LYKCVsNh1QGBFhgRtGP3B5R9C3bZlzZ0jsloK2MFD8_UixT9YVIIYip9KZzhMpryZ6UkTcGSycinfEuv6kxPb9_I8bApAULnksXtulWhFGDDWf3jkvdrkv_jbJ_sbT25NHKPKL_Eo=",
  "id": "rs_00434e83ff3765ac016ab467dc08bc87d0bd93e69af37c7248",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.33,\"right_y\":0.17,\"right_z\":0.15,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The jaws are open after releasing the green fruit. I’m lifting away and moving over the yellow fruit next, restoring the tool to vertical.\"}",
  "call_id": "call_ibJnnh8vR8oP2W3LttMjxIvj",
  "id": "fc_00434e83ff3765ac016ab467df27e487d086b5e55582e2708f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ibJnnh8vR8oP2W3LttMjxIvj",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8452, 0.6415, -0.4919, -0.0139, -0.0338, 0.9911, 0.7429, 1.3396, 0.7753, -0.1619, 0.5793, 0.4355, 0.9956]\nstate[eef_state]: left_x=0.2864 left_y=-0.0002 left_z=0.1607 left_yaw=0.0049 left_pitch=-0.1266 left_roll=0.0002 left_gripper=0.9911 right_x=0.3293 right_y=0.1761 right_z=0.1441 right_yaw=0.0353 right_pitch=-0.0215 right_roll=-0.0131 right_gripper=0.9956\nstate[joint_eff]: [-0.2393, -1.8803, 6.9402, 1.6777, -0.0317, -0.0659, -0.0171, -0.3487, -6.3795, 6.5436, 1.4872, 0.3492, 0.1783, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21f5e918568ad9742759f7e886ab19198a7ebc61594ec5426662644f636803b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f11ca9e6d9be5614cd2d52fc10afbda343a8078eb50afb6f624ebe8f732107a8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2b54555d51bfb35fb3a6ab438170a2d6887884ab306d344d5226002eb365efc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 6.152 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 21 changed as sent

message 29 changed as sent

message 33 changed as sent

message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8406, 0.6434, -0.4751, -0.0135, -0.0338, 0.9911, 0.3302, 1.5398, 1.1343, -0.342, 0.2398, 0.1509, 0.8531]\nstate[eef_state]: left_x=0.2891 left_y=-0.0004 left_z=0.166 left_yaw=0.0045 left_pitch=-0.1034 left_roll=-0.0007 left_gripper=0.9911 right_x=0.4267 right_y=0.1057 right_z=0.1702 right_yaw=0.0461 right_pitch=-0.1545 right_roll=-0.0487 right_gripper=0.8531\nstate[joint_eff]: [0.0889, -1.5658, 9.4838, 1.8291, 0.022, 0.0073, -0.0073, -0.1026, -7.8291, 9.0735, 1.8242, 0.2515, 0.2711, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8406, 0.6415, -0.4854, -0.0135, -0.0338, 0.9912, 0.3302, 1.6165, 0.9428, -0.1215, 0.2314, 0.1425, 0.9949]\nstate[eef_state]: left_x=0.2872 left_y=-0.0003 left_z=0.1632 left_yaw=0.0046 left_pitch=-0.1156 left_roll=-0.0004 left_gripper=0.9912 right_x=0.4192 right_y=0.1046 right_z=0.0971 right_yaw=0.0554 right_pitch=-0.2023 right_roll=-0.0626 right_gripper=0.9949\nstate[joint_eff]: [-0.335, -1.2923, 7.0632, 1.6532, -0.0464, -0.0317, -0.0073, -0.0479, -7.5556, 6.4342, 1.5653, 0.022, 0.0122, -0.0366]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8452, 0.6415, -0.4919, -0.0139, -0.0338, 0.9911, 0.7429, 1.3396, 0.7753, -0.1619, 0.5793, 0.4355, 0.9956]\nstate[eef_state]: left_x=0.2864 left_y=-0.0002 left_z=0.1607 left_yaw=0.0049 left_pitch=-0.1266 left_roll=0.0002 left_gripper=0.9911 right_x=0.3293 right_y=0.1761 right_z=0.1441 right_yaw=0.0353 right_pitch=-0.0215 right_roll=-0.0131 right_gripper=0.9956\nstate[joint_eff]: [-0.2393, -1.8803, 6.9402, 1.6777, -0.0317, -0.0659, -0.0171, -0.3487, -6.3795, 6.5436, 1.4872, 0.3492, 0.1783, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21f5e918568ad9742759f7e886ab19198a7ebc61594ec5426662644f636803b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f11ca9e6d9be5614cd2d52fc10afbda343a8078eb50afb6f624ebe8f732107a8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2b54555d51bfb35fb3a6ab438170a2d6887884ab306d344d5226002eb365efc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGfmF-6bGymNCz6uaDJkkN_dfFiqk0h2IEZ0pPB7XUxkxRvR_jh425s1KD5XAxfLByRoudEOJBWOleIivJJCxD6knmSrUJ3oaVPb7Gaoxkewv9T4CrC0YcU7qjk7Fg7aZ1KQkio1jZI7N_j-jhLbQj18jcERELnoabgapjyP2dKVLlL-f6negtvHJy5On_ol9GtnYx2Q_Z5EhcPIxjYN4xiYUNCUEaiL2VrAW-OWeBlk8B7vTOJFGuV2d0IpMY5cO-Wochh9e3H20ZRxkspeb6VSptzptxDaDTwyjz4LfdVTt4WQFWYeyWgTB7ZUKdgRFqZ8wsQGDbn5vIi-qR-eDA1j7CJdcnRV4SZuWHG6Y6_r1WQy62hjW790VtfmtEL4jfXc-R_5t7zxiEni8zslr4QqG9nfx9e53ucoFbxqef2_qyYaIzcgmw9yRHUTiQNUbdZwUAtjcaczhsau1zLZQpCVMLm5LlEAm3-I5o9atR3k3x7A7kHr5iV8Xh0NZz_JWi5UFNEj8BF1AY6TUQD_FhA_NJQdO2hXbBM4S9PWj4MKGI-vkVCTfOyiYp6sqrQJUbgQs0YW0vrc85JlUkt13ivzERMKmhXBlZtCDjq-HfPheWimbXs2rne7ZIy2orzuGfyOlR_03ykRXXEqr0BPZIRJRWmCqERVFvM-On-pmveJD2vL2xDeAcohg87iszgIR6BXbXQZi8dKQkwu9x6TJR4sQl0PKnNp6sRE27LJux6h1nLj7lQDA8H8EtYn1CeV6m3YH-Pcb4qoVHh-Yik9-UpNfDS9bVPdRvS8z6YmuQ7eCNXpi5SlK1P6lBZaYQ0XP5O5_BVi3rivcAXRAx-SFTcX-9aOXAiiBZMkxSlAlM8wdP6tQxzx8SI8x1H1W2ekyBg62zAadQOySvgJlMDAAzeJY08W5pDDFlwdT3vYv57Oz0TJRrTVPbfDBwY89lmJHhq-GALyGd0ORVfbwWuGqOd-UnWjmHoKC9_8dAjjykMjPqAjfsjBLCg0fz9VWVH74V1jWuoNFlYTZiA6vU4f7L11jHb_qCYEY54UPPgU8vs1dRtWQdVqF_igOWUY18bdac4lMpTfoaQjZfZc0pzX-yjDZcb-SruoOxwd22s4w3GxufHXm8s2qclXv9uctVK9ADoAmhPUs8IHzElxTj_IPRAviaPQz8hKu1IBYfqf8-wP1u-7su2NdkVjeLMXAFTzcayFJ_DH6vX033zNDTIIXujgUGdrP1XVbn3CmdxsgZoLyKTQYlWUeRFQL3NO0FvG78wSO80CBD-S_qVa8dR_RTKWLHsb0gGs1jXaKuxaUeSig-uMBQA4bdR_iRpkYkQMC6jj6kK41A8XqrqT3PNNaMl45i30h5KnL1F0910vzq6E5_azeOSbfmEewSoXx_QKpiIapIIcfXfNm3Suz8_x3As0N_ESiqGytytOK7zOVUW1GhTbx-TvWN5E1jJREVy3FSM1cUnLTRUf7vd5dzVU9MCgKJe7hWEoqV083_T0JD9vispm-u9THoWOjM3CcqVeJk_LNcohxftFTOd-EO6kwTMycQ==",
  "id": "rs_00434e83ff3765ac016ab467e397ac87d0a6f4543fc3d53891",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.335,\"right_y\":0.18,\"right_z\":0.025,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The green fruit is visibly inside the blue bowl, and the yellow fruit is centered just ahead of the fingertips. I’m lowering around the yellow fruit for the next grasp.\"}",
  "call_id": "call_bnRNcleJuuwRU5CpAJTQCu3X",
  "id": "fc_00434e83ff3765ac016ab467e4e89887d08a5100b9d41543f2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bnRNcleJuuwRU5CpAJTQCu3X",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8471, 0.6415, -0.4942, -0.0135, -0.0338, 0.9911, 0.7517, 1.7252, 0.54, 0.4496, 0.6205, 0.4461, 0.9957]\nstate[eef_state]: left_x=0.2862 left_y=-0.0003 left_z=0.1598 left_yaw=0.0046 left_pitch=-0.1308 left_roll=0.0 left_gripper=0.9911 right_x=0.3357 right_y=0.1782 right_z=0.0251 right_yaw=0.0072 right_pitch=-0.0102 right_roll=-0.0311 right_gripper=0.9957\nstate[joint_eff]: [-0.0889, -1.5521, 6.9402, 1.619, -0.0366, -0.0708, -0.0122, 0.1162, -6.0239, 4.1094, 1.6337, 0.2027, 0.1929, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37333865add5017fc015607662db2d6390adb5c1eae6f6f87a9519644669d9ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:718d456487175e2e9b763ddf14fe48883f8e6d2650424174973c2af980b60a34",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:010bb134a53f463d83806bcd15da1fac0d462754d9549bcf9c3711a875b2e7dd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 6.014 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 25 changed as sent

message 33 changed as sent

message 37 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8406, 0.6415, -0.4843, -0.0139, -0.0338, 0.9911, 0.3302, 1.6165, 0.9428, -0.1162, 0.2317, 0.1463, 0.8531]\nstate[eef_state]: left_x=0.2874 left_y=-0.0003 left_z=0.1634 left_yaw=0.0049 left_pitch=-0.1144 left_roll=-0.0001 left_gripper=0.9911 right_x=0.4201 right_y=0.1049 right_z=0.098 right_yaw=0.0533 right_pitch=-0.1969 right_roll=-0.0586 right_gripper=0.8531\nstate[joint_eff]: [-0.1162, -1.4564, 7.159, 1.6972, -0.0757, -0.0269, -0.0073, -0.0752, -7.5556, 6.2974, 1.9365, 0.1832, -0.0171, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8452, 0.6415, -0.4919, -0.0139, -0.0338, 0.9911, 0.7429, 1.3396, 0.7753, -0.1619, 0.5793, 0.4355, 0.9956]\nstate[eef_state]: left_x=0.2864 left_y=-0.0002 left_z=0.1607 left_yaw=0.0049 left_pitch=-0.1266 left_roll=0.0002 left_gripper=0.9911 right_x=0.3293 right_y=0.1761 right_z=0.1441 right_yaw=0.0353 right_pitch=-0.0215 right_roll=-0.0131 right_gripper=0.9956\nstate[joint_eff]: [-0.2393, -1.8803, 6.9402, 1.6777, -0.0317, -0.0659, -0.0171, -0.3487, -6.3795, 6.5436, 1.4872, 0.3492, 0.1783, 0.0659]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8471, 0.6415, -0.4942, -0.0135, -0.0338, 0.9911, 0.7517, 1.7252, 0.54, 0.4496, 0.6205, 0.4461, 0.9957]\nstate[eef_state]: left_x=0.2862 left_y=-0.0003 left_z=0.1598 left_yaw=0.0046 left_pitch=-0.1308 left_roll=0.0 left_gripper=0.9911 right_x=0.3357 right_y=0.1782 right_z=0.0251 right_yaw=0.0072 right_pitch=-0.0102 right_roll=-0.0311 right_gripper=0.9957\nstate[joint_eff]: [-0.0889, -1.5521, 6.9402, 1.619, -0.0366, -0.0708, -0.0122, 0.1162, -6.0239, 4.1094, 1.6337, 0.2027, 0.1929, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37333865add5017fc015607662db2d6390adb5c1eae6f6f87a9519644669d9ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:718d456487175e2e9b763ddf14fe48883f8e6d2650424174973c2af980b60a34",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:010bb134a53f463d83806bcd15da1fac0d462754d9549bcf9c3711a875b2e7dd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGfv8SaWKzLOC0NhdiiK53Bltjz5KqJAVYO4_kB755u4LFDPa5-62nuvib-m5xR6IPYV63AYRGw1LLE97yCnjWZSQyIVNuIC_Eu0JiuCGTkdezJm3LKv4tWlU414RdKOTGgVegpvKzTRsjQ0SXnnYOowvauCB1rl-joA6RzIiU3SI7jYnZijvldwZoVpCLt9Pc2Hh2KalGmL6yWOaFtQvLWVSexeUHLmG3f_28xagpgSpb6Vgck8u8ySmwPMofoDBxywyOc5stR9ScVJ_SzVfEnVXrP7zvxTMLY6cVKXywILUgSSc_ZOIOEHznxl0EO54cI6ED5i7swrudXx1PL5H5OgXRbaIZQc0ygWVt2kY2Ub8NKdsy33VxJpw8hL03xKx-PEciuYt4OIHe0ePVBNr5_fkMCReWFc7XqhqUgE2W_kaiOS1tFwarX_rG8f38l0OfdFDKmNjykrbHuwVOQZrcCuRTMfrPYwE3tHQz8la6W3nZxGqf02JYFqJkj6OqTgRfSVpRo8XDM8cQstsR-yhtlaffH5VXZMc8BwVj65G6gv7aFpiX8BFFV73OKKESTOTMJt0AeA6KSU0xHFFbwIo5oOj3Eds1hRZvQFttLzBRbmwQkSbFImfMlEnG-pXq7juzw8w0tO70Q3C4zLyKlar26PiFuBJtw1wO3-QXld2YtQ41pjyCSn95r2sKcCWDotUwesnocxI3B6yL8V6uAFqhrYHLgg_CZSPR9LySg487I5igSybOMwrz37IvMdvRdqZu99RsvsS89zF6gOR5ixebUzsCcKK0NkmKFYivo8HmyAyWCrKeY5YDt8sfL5-ehMslWnH4n-cwgkPv_F7I-PdyD1VBngI7uGdELMwPHZ3ZzR39IwvKlQ7WwFoMi1s8PJgKkb4T5krmce_l7QOXoyxREV7q12BHvtoKJ0njOeyr00n1d_5oH-P_Xb1ObGtbqOvLbBDJmeuIyQaqvK-j7cKYWe7UHJtacYt-d1qkvGGfMuTmGxWritgB12Tw_OcQ4dkWrflWY0mgOGhUMhnlVOot2A1eIhmKUIyzGQkv-HEEaZaDO9cfwRhlqaEZCDGQ_XWrj-KYbXAlVhhxLhEA142TjfiT4GVsDigfJX5jhnT2sPMT7QP6-UQu6cu44R_LYrl4-zZhPQ3t05Y3kv_ewpu2Mxi5HeYK3tH_PbKkjZelJtm3F85oFecW_d_w3ViYIh-LZRLJTrVFy6IZ4mzn3Av8ebBiCJu-ZQgX3A-n_vICzMRtVlvfWXFAqOVwtIQngYIccJsG6QwaBCtnewO6diMMBLl2XHdQrRMFurQc98X40rq_dzaH9x3t_od8euBivX8_-ZXdNZno0t4-AZYZLMYne-5bFLDrETuJsx5PFbGom4iEzeYwp-EdTcz3Z93TBJyAlirclLFozfD8NoMC5WU5Cs88_zuK7kZo2p69XhfEWkSFnpPjya4BF2IF6HxcN5By2Q_rnV7Wh_WyHc4tAB-vztT07NkOPu0g8KisdC87Qwwnh09s1CekbANUKu5Z_UTBe9jYZypGnKvxzeeEbZty8a0vGkyLj46pjNWbvVNJFZjyk-DNhveHgcFrfETD60mpgqk-2deCqFQk4RDIVMHTO0qHgesoS5qIovVv-4D5aWjZcoewUYtvJ1DCz8MOfi7Mx_xaACSnDT1GDadTWep-ZjM9NYwQ8YAdmbipZGYdbtA0IBX1rimY1ljyphop0ZuTIM2J89z65I05iq1DGpIziXzwmaC0PBaJ_e8Ic1oGem1RJRcbh79FuPpeJ8n7u6HyWnEUohr6w09WsntKButN2Ma6_6Y8Dsa4X_rP5A1yP2-lk-D_L7nU7JML8cF2j7Bikivw7U5ffiDlZg11VSJ49VQghCp9Cx4R0syF0wvMDgAZY8TeX7OWcdylrtof14eHJFHNwb-72ss5g2cT9WJTAMtKgfjbDMOTJ_9pKCN72kyCltAo3lorg39esCWC17Jkh9aCHZ4hYOUoTzhbOwzU-c32RA2Llx3-OdAIOI4j3_H9tcmb6nFW_taIzwzl1NvL8BdOpDUnVt9BYtshbHh9-I_6_rPdnOckm5n1SbqkoKSqydGC_Etb-6akWOKxRjgIwcBWZpoMS8pIu5iI5a3G4n8voOegZo-AzP4NrqsbZedzfrc_aYw4yHNchQ_Sn-lIDtUnkFNNRE3ASJw99k7SRlcuT_pjiPqvZjhV7YHYis7u-TBlr6EYGlF5IuQs3QjmMkBaYuxkj0dSJLe5xRyUpG_yaISsEFOAG2DvWLzovn469dn1RpdtmeSkGAwUm6-Fss",
  "id": "rs_00434e83ff3765ac016ab467eb334087d0b6f2434f23e5dc66",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The fingertips are down beside the yellow fruit at table height. I’m closing the jaws to secure it.\"}",
  "call_id": "call_8ngKgxW04xbGdXRugTNP3z0N",
  "id": "fc_00434e83ff3765ac016ab467ef0a7c87d0ba5f9174391a732b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8ngKgxW04xbGdXRugTNP3z0N",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8494, 0.6415, -0.4946, -0.0139, -0.0338, 0.9911, 0.7502, 1.7203, 0.543, 0.49, 0.6357, 0.4339, 0.0091]\nstate[eef_state]: left_x=0.2862 left_y=-0.0002 left_z=0.1591 left_yaw=0.005 left_pitch=-0.1335 left_roll=0.0004 left_gripper=0.9911 right_x=0.3418 right_y=0.1801 right_z=0.0353 right_yaw=0.0004 right_pitch=0.0319 right_roll=-0.0158 right_gripper=0.0091\nstate[joint_eff]: [-0.1436, -1.5521, 7.0906, 1.6239, -0.0415, -0.0415, -0.0122, -0.1026, -6.3795, 4.4376, 1.1111, 0.0269, 0.0806, 0.9451]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0863966005f2dbbdfccfbca6cf5cf54508b2a56f48a8c25d6ad562808277ee37",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:551268a17dd3df4ca5f069c3ec69131d153c26993654c5cf27d2c78ab92646b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59f14ab81f85b6249998d802ff67cf9da308b4fce8d5ed37ce0d30148f11882d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /responses · status 200 · 4.053 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 29 changed as sent

message 37 changed as sent

message 41 changed as sent

message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8406, 0.6415, -0.4854, -0.0135, -0.0338, 0.9912, 0.3302, 1.6165, 0.9428, -0.1215, 0.2314, 0.1425, 0.9949]\nstate[eef_state]: left_x=0.2872 left_y=-0.0003 left_z=0.1632 left_yaw=0.0046 left_pitch=-0.1156 left_roll=-0.0004 left_gripper=0.9912 right_x=0.4192 right_y=0.1046 right_z=0.0971 right_yaw=0.0554 right_pitch=-0.2023 right_roll=-0.0626 right_gripper=0.9949\nstate[joint_eff]: [-0.335, -1.2923, 7.0632, 1.6532, -0.0464, -0.0317, -0.0073, -0.0479, -7.5556, 6.4342, 1.5653, 0.022, 0.0122, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8471, 0.6415, -0.4942, -0.0135, -0.0338, 0.9911, 0.7517, 1.7252, 0.54, 0.4496, 0.6205, 0.4461, 0.9957]\nstate[eef_state]: left_x=0.2862 left_y=-0.0003 left_z=0.1598 left_yaw=0.0046 left_pitch=-0.1308 left_roll=0.0 left_gripper=0.9911 right_x=0.3357 right_y=0.1782 right_z=0.0251 right_yaw=0.0072 right_pitch=-0.0102 right_roll=-0.0311 right_gripper=0.9957\nstate[joint_eff]: [-0.0889, -1.5521, 6.9402, 1.619, -0.0366, -0.0708, -0.0122, 0.1162, -6.0239, 4.1094, 1.6337, 0.2027, 0.1929, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8494, 0.6415, -0.4946, -0.0139, -0.0338, 0.9911, 0.7502, 1.7203, 0.543, 0.49, 0.6357, 0.4339, 0.0091]\nstate[eef_state]: left_x=0.2862 left_y=-0.0002 left_z=0.1591 left_yaw=0.005 left_pitch=-0.1335 left_roll=0.0004 left_gripper=0.9911 right_x=0.3418 right_y=0.1801 right_z=0.0353 right_yaw=0.0004 right_pitch=0.0319 right_roll=-0.0158 right_gripper=0.0091\nstate[joint_eff]: [-0.1436, -1.5521, 7.0906, 1.6239, -0.0415, -0.0415, -0.0122, -0.1026, -6.3795, 4.4376, 1.1111, 0.0269, 0.0806, 0.9451]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0863966005f2dbbdfccfbca6cf5cf54508b2a56f48a8c25d6ad562808277ee37",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:551268a17dd3df4ca5f069c3ec69131d153c26993654c5cf27d2c78ab92646b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59f14ab81f85b6249998d802ff67cf9da308b4fce8d5ed37ce0d30148f11882d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGf3H8D9mitO-9jJsvVsf7Y43SpvXZhZvifRj00cVO6N_OdsQKPyqeplhqUGbcVQjAsEJkANVTsye7hw9BKYw-J8LKC-Y8Jb2hpp-HDN073H9DHXpcEQh5R67yYRdZd1eYJ4-1YB-UNc98jqTj24DMqF4-lWEpTWnrQBPsHwz8ZDrbheYtP4sNtxHST6rvFknUxjJaas6ZSaUrG8lcL7ZFyuKfVfpFmLplfAyiYstjXJa9BBHptoLfk335LBXL6s5aM7uzHeNqgbT8VELmFMwdF4ToIv5cgMFn-L-THvnxeZqh6wgk-ycr6z_uDI_1E6NadAdXlsC5Ju8hlXBqc3h_xKgARCm358xfNg5fjFlxolyjMGmZHun14b2gKbzgGzdQOEjUjQ7zI-goHiI_KZcg2TyhBIIiK96Y0FAnr43bv1RXqtCsK4jEfTUmkxQOOu_BluUg_MyIMDAKaFtPgal4ea8aTSBhEiH-zmUDkNitR1gY8lOEq6xtGaZIQ7k2JvtqwhGcUrpghUjxPhpQ9KNxDzsD6WmSGCqcxUxMH5oJboR8rNHpqiyyqcmJLzDe7Lo0nKtRVcrO3oiVa8LC95sNoihc6eSl79ZXy1CgbzkCFRBdm1td5SE4aHoyyn1HlEbz0JaNW7Efdax2OqlVtvLm3ZxGP_g-y_7GXLEWUo3gcEdg4qfxPCNYbC6ybmfgiMnxUAA9eOzxkxi3ThJQJVpcxy2y8q0nqLKK-Yy5YONMcYy3-yBj7pB5fw5qf2Sf02XPSHp3e_-RRdNIY8kKCgLsHaJgfe7DotfboQZHS1vvGbuNhiCqqxF9jnhArtNlZMryDEJIRS5ND-jx6S1nMI4X895CTRsYywdYGnkyJjOz619yQBOskWJf4yYc-M5MYb4bIH3QTEZPVtRvOGUpd9gJIAyUZkfIMOPC9eAT76ADsWF41oNtqQPLWWD-ZbtibMjtNflpoiLbBk0s54mRizT24A_em5B3PKnmk1fVaPOQ2A9YKmR-881PXgfxtvGzOfYSOvSKxQaxx2la5iLqWmm-KRPHL3wFn8b0uDs1qYkPKD8KBIM52PTWAw_yS0C1ACJhEkAiD5iAuwi-4nTnw_qolKiILTFUA8NDLs8N60B_n4C7IgU_bW1-gwO5rmJeQrfj8DD0WnhIlbhhKOsIyEAuNWc7iiPUWDx8NhSkZ8KbZOItOQFwXTVuMEZr5NeraAYjoB65TEG5s8xnlp6v7ygciDwjKt5SoYnH_CfxxXPxfN5KQiUNwuy-LVyIPtz-0TtZGfIq8dK0Vd1a4Ir3BDOpY6O-BsEf-aB0D2gwJ586DJNfG3hDaU5E0g2j97ZLO6oD4slcBSqaBKq5eEgHGQIO1dWm8DuyyjXkzexLkZqJEEOa5fHnlflCm6-53X_VWAPdIFtq3pXE-vT_6UNUowm8SGRSGMxZublYKnD2-EXv56oZXGXd8OmQUJzAGz2y4PvZlhr50kPtRMKPG_asusrng9DHLbR4UrN67f6rRH3EoNMMHxDobWAYhIGQ2XWPFQ9bABzEmZ0Ncb3N61GTfXlZs54WKjY-hT9r-ANVWBb0NMDjZx3LGGe_WZEa76Z_gFcIBSuNhhpnZXU2wfI2hEQkMsTO9eeBM6C7L6i_Jfu1hh-OCuvoRBX3mgsxgSzFJMFJWwmtqhqAnEaGztXhwW4PN6MwckMx1Zy8RhvPkzbHYkzNI75hbzrBTCUCoOOFUzbAC3OSu-IUOlc-iver0PRcMzX_z-HDJvHfDRktEbG6e2MKKXz_rTBMkKz05ka9e_chyFwg1s5T072UA0y9I3mXdwVHnzgTBtCfYBqBNSGKHa7zch3xkJnFbZKNnZQCWpE2UKESvOtnbuXow1erFn1Nt1tlUq9XgksjQU3UYOYW_jWOeYU2qSJIFGRYiVpyM3R8Icol5ZDqd5td9OddFGGjbQlpiOgp1Tfd-ZZzfaD7K677_BEuj1tXnMOjM_sMRYN26q52wxKVyZ-xg3zDHx9F4T2io2UYhEV1THPhE7PeT-Hgkra1-vk3GyrKRsRa0Ei1XpWwf3H2miDmBABA-8LReG0W4GWFwACIOS56QinffIFptSANYxfiGib-1VqB1sQ_fY0pBfOO74kt8i-rEJRImTCj3RQbjaO8ZBifkzMfEIuBY=",
  "id": "rs_00434e83ff3765ac016ab467f3224087d0ace3008d8624d5eb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.31,\"right_y\":0.205,\"right_z\":0.012,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The gripper closed empty, so the yellow fruit was not between the fingertips. I’m reopening and shifting slightly toward the visible fruit for one corrected attempt.\"}",
  "call_id": "call_Qg5w3xeHYj5xFySsLnqOtcTg",
  "id": "fc_00434e83ff3765ac016ab467f64fc087d0b44abd508daac91f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Qg5w3xeHYj5xFySsLnqOtcTg",
  "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]: [-0.0227, 0.8528, 0.6411, -0.4984, -0.0135, -0.0338, 0.9911, 0.8883, 1.7599, 0.5507, 0.4973, 0.7364, 0.5426, 0.9986]\nstate[eef_state]: left_x=0.2857 left_y=-0.0005 left_z=0.1573 left_yaw=0.0039 left_pitch=-0.1411 left_roll=0.0003 left_gripper=0.9911 right_x=0.3193 right_y=0.2104 right_z=0.0322 right_yaw=0.0058 right_pitch=0.0624 right_roll=0.0161 right_gripper=0.9986\nstate[joint_eff]: [-0.0615, -1.8256, 6.9402, 1.663, -0.022, -0.0562, -0.0122, 0.1299, -4.588, 3.8769, 1.0183, 0.0611, 0.4274, -0.1587]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:431218c0ab371c20e6e4b0ee6ffcf6b6e88fe7eb42ff9922c2d8439f7f382620",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21ed3c977ce19113b487fbab4f25f3d12bf4e31dd1199ae99e479843729addfd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6179f67f4593d0718aede6936b79737efb03628cef90e93e15fb6884a2ab628",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 3.481 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 33 changed as sent

message 41 changed as sent

message 45 changed as sent

message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8452, 0.6415, -0.4919, -0.0139, -0.0338, 0.9911, 0.7429, 1.3396, 0.7753, -0.1619, 0.5793, 0.4355, 0.9956]\nstate[eef_state]: left_x=0.2864 left_y=-0.0002 left_z=0.1607 left_yaw=0.0049 left_pitch=-0.1266 left_roll=0.0002 left_gripper=0.9911 right_x=0.3293 right_y=0.1761 right_z=0.1441 right_yaw=0.0353 right_pitch=-0.0215 right_roll=-0.0131 right_gripper=0.9956\nstate[joint_eff]: [-0.2393, -1.8803, 6.9402, 1.6777, -0.0317, -0.0659, -0.0171, -0.3487, -6.3795, 6.5436, 1.4872, 0.3492, 0.1783, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8494, 0.6415, -0.4946, -0.0139, -0.0338, 0.9911, 0.7502, 1.7203, 0.543, 0.49, 0.6357, 0.4339, 0.0091]\nstate[eef_state]: left_x=0.2862 left_y=-0.0002 left_z=0.1591 left_yaw=0.005 left_pitch=-0.1335 left_roll=0.0004 left_gripper=0.9911 right_x=0.3418 right_y=0.1801 right_z=0.0353 right_yaw=0.0004 right_pitch=0.0319 right_roll=-0.0158 right_gripper=0.0091\nstate[joint_eff]: [-0.1436, -1.5521, 7.0906, 1.6239, -0.0415, -0.0415, -0.0122, -0.1026, -6.3795, 4.4376, 1.1111, 0.0269, 0.0806, 0.9451]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0227, 0.8528, 0.6411, -0.4984, -0.0135, -0.0338, 0.9911, 0.8883, 1.7599, 0.5507, 0.4973, 0.7364, 0.5426, 0.9986]\nstate[eef_state]: left_x=0.2857 left_y=-0.0005 left_z=0.1573 left_yaw=0.0039 left_pitch=-0.1411 left_roll=0.0003 left_gripper=0.9911 right_x=0.3193 right_y=0.2104 right_z=0.0322 right_yaw=0.0058 right_pitch=0.0624 right_roll=0.0161 right_gripper=0.9986\nstate[joint_eff]: [-0.0615, -1.8256, 6.9402, 1.663, -0.022, -0.0562, -0.0122, 0.1299, -4.588, 3.8769, 1.0183, 0.0611, 0.4274, -0.1587]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:431218c0ab371c20e6e4b0ee6ffcf6b6e88fe7eb42ff9922c2d8439f7f382620",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21ed3c977ce19113b487fbab4f25f3d12bf4e31dd1199ae99e479843729addfd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6179f67f4593d0718aede6936b79737efb03628cef90e93e15fb6884a2ab628",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGgBeSEUN3Rh_xn4xWdK7XZxfNp1lZl-UI3R2ceS_QUE41GzNC2K8ISr1qTe1eXt7QS0Z3l87G5b3N3Wzv5qZ1maHXWpt_QXf5_upng47I7c6R4LF-i7hGbtOxnEM4eBHExzXGi5X8ZxGU3xCaTVWeeKddDe2RmsBV2m8QhsEVOygVxeBxj-mBCVq31sji5QmV5oam_c1ICh54obwa_duQr9pAILpC994olsB1cXS6fIKUVv3h2lKTZp4XUbEtmAmFtjSbKLsgAur9BxH_qb4UCo3Cp5RA8EV9dIDuiP8fmoVfuPjXY81-_O2EpQn1c_dBpWWuStayWs0Rk-A8OINtFc9t3ov9tB8gEi78WKesV-ZqiPEP3NiCM0QL6qLkBeoCtQozigixCUlxuCD1wmxj8Pb0JQ5MbglWgDPOLQ14b45iDpL6hgyCY02ifmR6yX3fjGp26psiZjz-ZZCavwY67W4dCrYih-YYj-lVJGGHVx4ie4b8K94Nf2U1-Rr4fdvuBxh6M1TPvQhvkNfDNx595nB3IV3doJNulQyu19bIG95rA9tGcdSiH97NDiJrVvh5OVxKNptpLk_4NnEUKGlJX-AUpB_NfqnpJ5zFBbR_GOOAeVGC0HPD3f699xX2MqRGeBzpEpBNyu1CNseTBoe0NKhQtWDeclrkzcW6YEbgVaL4bQWH9SJo17FBMQl0c0ia4OpYgvL9dKMjh0XGTtnibtn8CauRUpLQSmO3XYXOj0mfC16iH-lSIC8sOzW_kty--U2y2vpUXw0VP-eCGgvKUgcstgxmLH47bTxNBOSmWK0BLR0Dzh6AzAntDw2Kb4Uy3yoFeKi32K2lu9H1nZkCnvulDELYOQG24aS4b6uwYgWMBa7dnkbb9Ll332n8ZnJn3PuRT6dhrRibfL7Tk3t5Vgk3eBN8OLLO0w5aIgCaoV5HLwEiZLAAt_WICqalNH8lKo33QY0hSySN-K_otFYX-h8Io_Xh_6ywbrSEA0K1skAy3w6Ignms15pBlBD27xl0lGHGh2cpEYk8WL-ZnMYCAA5CoFLtbK0HY7u_jCptb7gyzGgH-023WS5H4bT8SvAACLrKBEWjb_lPZ_nAiJlphyoL0mO0jeeQnx8CuW0iPY6dzbFIeDEXaMDTHDyJrxrjq3SWNTmbkjo-0Cx6t2OIFq2NMiy8llWneE36RtJJMS7lWqVJQ2Wlv2SP6YPXEUBPlPBQ4v8U6hI_GtwUTl0TAQm6W_D2m8RxAdzMEA3Qy58URpD9V3EC4BGkl_9NOriNz1VJvxUdjZK0cIekY291bfvyrMH6TA_SpQGWRVDFWFBXe7OIlGu84db4bGEqlbdTFZpa0zJtur3RjEuUzmruBxlzfN7ICO64yNPBnmiF_Sq8AXFDvgTzy_6REp0OHHqwZCgnjN76VYhXBgIl7D1fbOQFlHxGO5nrJBHvuFO44JlQL0cwBKje8Cuk-w_E8NVOF3hPFtwLZwnb0OHbRHh5mvnpJ1YvBrlHskJxGMetKECMiIte7u5cBGPYpVtmnkwc7VySOB-1nvH7Ue4RmL8AN8KYRuUnG0q7q4BeuWu8WQD9lOPKvYbDBKilNi9Pan-cyU7suhNujlAtbwasc2xEfxQJWeE91fVS_etGjzcdaFPADx97xUzQIJDQgnDPpiqoSt75fQ2h4b63HYEHJnVGZT3umDBAqqFon1JS_m4nGcnjUMpTfD-cJ58Qk5WWz_n1ZZDeBkB2S-C4JvD-nSKwYp50zshX6jFBC_a6dFwQ_xAqN0oMJGYGutPrIZu-gJm8T8y_pKkl74L2ID7TrZPwJRAA==",
  "id": "rs_00434e83ff3765ac016ab467fe91c087d099bd2a747d879679",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The gripper has shifted toward the yellow fruit and the descent stopped slightly above the target. I’m closing once more to test this corrected alignment.\"}",
  "call_id": "call_FPFiVLUR5chQE1QZ5QWiCmLW",
  "id": "fc_00434e83ff3765ac016ab46800834087d0819265762bf7fd42",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FPFiVLUR5chQE1QZ5QWiCmLW",
  "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]: [-0.0227, 0.8528, 0.6411, -0.4988, -0.0135, -0.0338, 0.9911, 0.8864, 1.758, 0.551, 0.5087, 0.7555, 0.5312, 0.0144]\nstate[eef_state]: left_x=0.2856 left_y=-0.0005 left_z=0.1572 left_yaw=0.0039 left_pitch=-0.1415 left_roll=0.0003 left_gripper=0.9911 right_x=0.3216 right_y=0.2082 right_z=0.0362 right_yaw=-0.0046 right_pitch=0.0807 right_roll=0.0088 right_gripper=0.0144\nstate[joint_eff]: [-0.1436, -1.347, 7.1043, 1.5849, -0.0317, -0.0122, -0.0073, -0.0342, -6.6393, 4.7521, 1.3553, 0.0269, 0.0757, 0.4908]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6311fdcf04e8d06bbfa13f028c30c891d4c9090d5834ee252f37866983fce73",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0cf6c50193b8bec775fbe631810a4623f492a6448bda23bf100b2db40805a15",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eed29490bf19007690a9a949643fcc7f01feb1cb84fa2e540799796ce6185faa",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 5.488 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 37 changed as sent

message 45 changed as sent

message 49 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8471, 0.6415, -0.4942, -0.0135, -0.0338, 0.9911, 0.7517, 1.7252, 0.54, 0.4496, 0.6205, 0.4461, 0.9957]\nstate[eef_state]: left_x=0.2862 left_y=-0.0003 left_z=0.1598 left_yaw=0.0046 left_pitch=-0.1308 left_roll=0.0 left_gripper=0.9911 right_x=0.3357 right_y=0.1782 right_z=0.0251 right_yaw=0.0072 right_pitch=-0.0102 right_roll=-0.0311 right_gripper=0.9957\nstate[joint_eff]: [-0.0889, -1.5521, 6.9402, 1.619, -0.0366, -0.0708, -0.0122, 0.1162, -6.0239, 4.1094, 1.6337, 0.2027, 0.1929, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0227, 0.8528, 0.6411, -0.4984, -0.0135, -0.0338, 0.9911, 0.8883, 1.7599, 0.5507, 0.4973, 0.7364, 0.5426, 0.9986]\nstate[eef_state]: left_x=0.2857 left_y=-0.0005 left_z=0.1573 left_yaw=0.0039 left_pitch=-0.1411 left_roll=0.0003 left_gripper=0.9911 right_x=0.3193 right_y=0.2104 right_z=0.0322 right_yaw=0.0058 right_pitch=0.0624 right_roll=0.0161 right_gripper=0.9986\nstate[joint_eff]: [-0.0615, -1.8256, 6.9402, 1.663, -0.022, -0.0562, -0.0122, 0.1299, -4.588, 3.8769, 1.0183, 0.0611, 0.4274, -0.1587]\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 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]: [-0.0227, 0.8528, 0.6411, -0.4988, -0.0135, -0.0338, 0.9911, 0.8864, 1.758, 0.551, 0.5087, 0.7555, 0.5312, 0.0144]\nstate[eef_state]: left_x=0.2856 left_y=-0.0005 left_z=0.1572 left_yaw=0.0039 left_pitch=-0.1415 left_roll=0.0003 left_gripper=0.9911 right_x=0.3216 right_y=0.2082 right_z=0.0362 right_yaw=-0.0046 right_pitch=0.0807 right_roll=0.0088 right_gripper=0.0144\nstate[joint_eff]: [-0.1436, -1.347, 7.1043, 1.5849, -0.0317, -0.0122, -0.0073, -0.0342, -6.6393, 4.7521, 1.3553, 0.0269, 0.0757, 0.4908]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6311fdcf04e8d06bbfa13f028c30c891d4c9090d5834ee252f37866983fce73",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0cf6c50193b8bec775fbe631810a4623f492a6448bda23bf100b2db40805a15",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eed29490bf19007690a9a949643fcc7f01feb1cb84fa2e540799796ce6185faa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGgFGPnFK4KAAZlRl6K93Cr5sI3RJxhePZwthvVwEYeE_qIVkt9XPfWN17pftbpprzIu1cX2_e4AW5DyP_h1Os61WtYAMojzirZcHBPt3j3aWZwZFpUSQSEs0-ShlidndM7uz1Ghf-zL5dwVTgnz_EyA_y8mpAC39mupmZ4X4caxjVaLVabiMbs6tAxHjh-4Ua0uObZcMMuhcHlbcGfYCagE-cHmIuq2jsaYeJ8OMv9Z6S5YyOkSI6I4SOiVMQMM1o_-xE3pM3zO3EZjyVfdY1OrObxcXo70wiGOdFJKIyCrp_EJrWzPAFa58zkxCo75hGdH_RQcq7bCGZ4Zr18VuVK34t7jKFscc9-V2T4HkSpZpHOPEQn6ebwBmVaZOVytFdl22X9Lw4J4Bdbymbafmgi3TORaPU0BM6LfoED25kJDbxPQcHVMOVVxAhBV_IxmDORxVuj27FJ0S5exQ5U5-DPRyjGPw6e7CS4WVnVOZYV530bB-5c5lXU3AECptK3s4jWUsslXvxq-lQOvPgcRhxt20XG5WjhJYlaI5m4wMeXz7RGwf0Hi1KNXBDgXWATwJ3pn_-7dUH3eYdS8_McUxsEYZtoZQXZeYEFC1gUkjDp2DX_PMHCkgRNP9GnJ62q1I2qKFE0zA8YmfWDho09ET4GmAjw501CJ9uQvVbvHYrj7g-Q0EPWMBH9kklsINkd2-2r_au3PH-bP3HsoubE3xo3X4wM4idbPvTHP21F-RJtrcXkfYicdCTb9mSVobU4NGR-VC0me1n8JLa7ijoiJopjTL7pUxzR8PgzAc_bbskzu8Wn-FRtSaq2CvnQxi0rStcox3dc7IYRiofYiKhxWgDMBfVstFa48lkgTLKfYjQkUj4SP9k4W1MWPzNi1kgbaDEM7m_E4Ig21uQPj2OEaJBPG0Eomn-cWq_Q48x0-gHNmVvY3dHqqYlKXEDsMwxn17ROLThlCChULUEooQkPdJ-98rYwZXcTGhoDrnC4PpjoZsyWYa2_9ricy5mH1u6i1HXo1VuymSlDITgsmGFOKbdTGwNhsmHbEymbSHRz29-9y2iHJNwIErMtgoFZFnXadafKII2J12VCTpctLGAKFaWTy2ar0Gfl7CQqSCaVbas2KH006zt8_RAmLFsTHzs4ub612aJ0ywEagY537duSUXedNoqSgxJhOimaRR92zJYaoK7Ajbb3Qy4qVrpmDlNgFt_CG--GjUqPWpngb6Q_l__rnGlK6qcsobYUYOaNnGsYDIO_mXM-jB-tpdnEL0hk9pVfpU5iHBlA63Fx400_sklTWBY-OLkJqis2rkwVWjiMmisZ4VQAf42-Kl47yUtCdAcJz",
  "id": "rs_00434e83ff3765ac016ab468035aa887d091dc3106304e13fd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.296,\"right_y\":0,\"right_z\":0.2,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0,\"right_gripper\":1,\"left_x\":0.296,\"left_y\":0,\"left_z\":0.19,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0},\"note\":\"The second closure was also empty. I’m moving clear to locate the yellow fruit again rather than repeating a blind grasp.\"}",
  "call_id": "call_tU8m81kk02ackN4WeToY9E4z",
  "id": "fc_00434e83ff3765ac016ab4680440f887d0a3e0706f8dc8a9cd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tU8m81kk02ackN4WeToY9E4z",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8158, 0.6411, -0.4553, -0.0135, -0.0334, 0.9911, 0.0071, 0.8177, 0.6453, -0.4023, 0.0589, 0.0322, 0.9973]\nstate[eef_state]: left_x=0.2903 left_y=-0.0004 left_z=0.1756 left_yaw=0.0042 left_pitch=-0.061 left_roll=-0.0015 left_gripper=0.9911 right_x=0.2981 right_y=-0.0047 right_z=0.1879 right_yaw=-0.058 right_pitch=-0.0058 right_roll=-0.0039 right_gripper=0.9973\nstate[joint_eff]: [0.4034, -2.3316, 7.4325, 2.083, 0.0317, 0.0415, -0.0122, -0.1573, -1.894, 9.2239, 1.6484, -0.0269, 0.0366, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90cc159df338a62ae30a7d08770d5917b0cc77285f6b3c71e7e71c958d7d5e22",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cde16e3a04dd4f85941a4490bc89c6b706b3b838fd33a0f2ecd1d03877dc84ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f12ad2cbca0a2857a8e53af17ab3d873f6d43e787c710fb6823e881d999f206a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /responses · status 200 · 3.994 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 41 changed as sent

message 49 changed as sent

message 53 changed as sent

message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8494, 0.6415, -0.4946, -0.0139, -0.0338, 0.9911, 0.7502, 1.7203, 0.543, 0.49, 0.6357, 0.4339, 0.0091]\nstate[eef_state]: left_x=0.2862 left_y=-0.0002 left_z=0.1591 left_yaw=0.005 left_pitch=-0.1335 left_roll=0.0004 left_gripper=0.9911 right_x=0.3418 right_y=0.1801 right_z=0.0353 right_yaw=0.0004 right_pitch=0.0319 right_roll=-0.0158 right_gripper=0.0091\nstate[joint_eff]: [-0.1436, -1.5521, 7.0906, 1.6239, -0.0415, -0.0415, -0.0122, -0.1026, -6.3795, 4.4376, 1.1111, 0.0269, 0.0806, 0.9451]",
      "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]: [-0.0227, 0.8528, 0.6411, -0.4988, -0.0135, -0.0338, 0.9911, 0.8864, 1.758, 0.551, 0.5087, 0.7555, 0.5312, 0.0144]\nstate[eef_state]: left_x=0.2856 left_y=-0.0005 left_z=0.1572 left_yaw=0.0039 left_pitch=-0.1415 left_roll=0.0003 left_gripper=0.9911 right_x=0.3216 right_y=0.2082 right_z=0.0362 right_yaw=-0.0046 right_pitch=0.0807 right_roll=0.0088 right_gripper=0.0144\nstate[joint_eff]: [-0.1436, -1.347, 7.1043, 1.5849, -0.0317, -0.0122, -0.0073, -0.0342, -6.6393, 4.7521, 1.3553, 0.0269, 0.0757, 0.4908]\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 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]: [-0.0219, 0.8158, 0.6411, -0.4553, -0.0135, -0.0334, 0.9911, 0.0071, 0.8177, 0.6453, -0.4023, 0.0589, 0.0322, 0.9973]\nstate[eef_state]: left_x=0.2903 left_y=-0.0004 left_z=0.1756 left_yaw=0.0042 left_pitch=-0.061 left_roll=-0.0015 left_gripper=0.9911 right_x=0.2981 right_y=-0.0047 right_z=0.1879 right_yaw=-0.058 right_pitch=-0.0058 right_roll=-0.0039 right_gripper=0.9973\nstate[joint_eff]: [0.4034, -2.3316, 7.4325, 2.083, 0.0317, 0.0415, -0.0122, -0.1573, -1.894, 9.2239, 1.6484, -0.0269, 0.0366, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90cc159df338a62ae30a7d08770d5917b0cc77285f6b3c71e7e71c958d7d5e22",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cde16e3a04dd4f85941a4490bc89c6b706b3b838fd33a0f2ecd1d03877dc84ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f12ad2cbca0a2857a8e53af17ab3d873f6d43e787c710fb6823e881d999f206a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGgMJPxUMe4Nypa3BlUGucBCXzSTCTxe-VAq5RbKKLtPAZHwEaGW17r4rkXWiUwNYAZ_kTdacj6Tl-GMWTJjnt1fDeTT-W2luo2DyewDMBWvbbKQk1uA-qwoT2nwuebCiT8usaIN3Tmf6_mvmV1BiSKRhhJ_Dk9pUHcXLXGNT0S21_uGBLPAxJtWbanzeyOIQJMhkjaRsUxWcseTxvxOBdHdFdY8QrnGyZEYEzLR7hgVU5lYsWziDzi5lJe4AC9cQE1ksTzPBvMi7Gg6WqaKufsfjnLCs7QnoV5f2I_uRk_D6IeUCh1Z1PhK8v0h9y8g8lXUKnapMYUC4-gxg98Z74suj6wrXXXneMCfMRIByFKsXRp3vEgBI8GPUzUn6sSYiUr-f2POlmQx7DupOVXmHYcS4cQG7BBAqxJvRFFd-X93Z1rv5jJfblMYgBSMuNQx5hn13oJgoDDgkQiyyipMVrhK7uIiqvb_Im6KdmIv0LRXt5SYfiiv22LoVuOUwHYq3CF-XyKINiJLxULmBImLr0etyvLW2buhEk7BZA8O0SfkuVeDbSE6nOengW4c955iuFEGhYJtHjqE81OFDcCxN1XM-SzJVvmlKcMKlf9Igsx_tOhv-snojR9BFSIbGuEqLDJ3M-EEcwBhC6Y281uC_XoR4a67alaWunVkjhjfP244HRZdEusnWj_CwhTgBW8L46O_2HjJub84YzXEXHiYp_iX6Hh2l5BLfDJy5XNcyiIqjFGJzNCXa904b_KxfI8I1a_ZIdbPl-oCvZOdSk6i6B5siuyJI0Jvn4XRT9NsDVPUvKkSVizb2ZWjH_8Vn8cvEKOwUBa4Sn4z4TDfUvkdeRgihgajaPQlY1B5oprhd1oOl_9p6-OQEzdaWUqr5206iHA79T9WFn_R4hybhPfaYMGZ2up8mkuLorkUQOFFvBHt0xOu1pA7YoaYTk-GleJVCE2WIPabKO2eM6u8cyVs6SUWkllkYC1hE35R32q_-IFXWVRkqXefr8468GRfuauxermzTjuW2KJAefG-Bk7rrvqdbOWQt3e7joviD-4FXjSphx-lQ23jUwOF0BQEiJ8RnCbCEYBczYFk1FZ3THwK_9i3ZQyYPFv6G5FUJ9YeHRBzNcfexfqSPmNni5PO1DA2vOmzlqzPO-WWkT-t9fMHl-Vu1kgAKw6WBsFNAbn63T0BIIl2Hif8a-OIKU5WNV-0p52Oc5NG2IZYHCr4pZKNOFX-nZf3fw4mLhJ9FZpvBgp6gBoYnQsS-lY15sfdtbed95UfP4LVaGfXzWjPmyDiKqebHfyfbvFoswVpNT8UsBeHNNu8ibw9Aw8a0EaHcRcg2rrEFJHwybHm-QcaXZLC9X3PJLE7z3_aYh_PlksMfReuHilJcCrCAGWEadAbTVpJkKIbZ0ZkmmPEB2F9T5l9yb1nbyYhm9aiteZ7kuArZNFqc7NrylxC5qdR0BbQVCAPBGi8JIq_u3dQPo1_1MSKUcekIj90J5IFTloahS1hiOKo-RY4fkergH_easSCl9acsPqB6J1Pr_PUT1g7nA1yjfuUpQI2hpUbVHnltqokaf-O4LPxnGgm-wWoZUr3ioFGd8RSLPOnWwDB1y1Uf7sgkoFGGgzwheEgdEqRv2nhkHfT8dc-x6Uj-FmVdufhRjmWVHbtMNmUx-1MAc69r5ek2Q-Zhf5ygnmfttWKm9ighzuAR2YF7l4_iNxGR1RYi0_AoQQ1j_hUyUhCe1ZE4hqQqqnkbgkfD5Ce8U6RTI_NP19GQzXGlMVjS5Y6s19LKC2J2Dlfs6-zwQ3RywHiqFsZHfgEmAPYxsmrtNtSdsvWnfTh9uJkRb_4uIO9EWTSLGTOapTJUnO1XsU_aaeBursJvhB4-IvE5x5F6zAyfhMg9IwPyn5VkMdPTzbGWFJbHPFvPF8p",
  "id": "rs_00434e83ff3765ac016ab468098ed887d0b5bb736235a2b4d0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.25,\"right_y\":0.185,\"right_z\":0.10,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"With the arm clear, the yellow fruit is visible nearer the front of the table than the earlier grasp positions. I’m approaching that corrected location.\"}",
  "call_id": "call_49LLpKOAFM967fRMcKG5hqPl",
  "id": "fc_00434e83ff3765ac016ab4680ba8bc87d09c0dad44be9c84b0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_49LLpKOAFM967fRMcKG5hqPl",
  "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]: [-0.0219, 0.8188, 0.6411, -0.469, -0.0135, -0.0338, 0.9911, 1.0389, 1.264, 0.5392, -0.2329, 0.7761, 0.6983, 0.9979]\nstate[eef_state]: left_x=0.2885 left_y=-0.0003 left_z=0.172 left_yaw=0.0045 left_pitch=-0.0778 left_roll=-0.0014 left_gripper=0.9911 right_x=0.2437 right_y=0.1772 right_z=0.0859 right_yaw=0.046 right_pitch=-0.0572 right_roll=-0.0679 right_gripper=0.9979\nstate[joint_eff]: [-0.1709, -1.5521, 7.159, 1.7656, -0.0415, -0.022, -0.0073, 0.1846, -4.7111, 8.1026, 1.37, 0.5983, 0.1343, 0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af8afec1b786a066e5fdc77569de088f28d40332d9fdea0748d555cf8c055f71",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca9d4f7317c0e68c1556c28e1dfd98857c5950ae26df9001b34d01446ba26b8c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2c2ed225d97aced33fbfa6897442542d461ced71830eba6f8c44d483cd1f68d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 15 attempt 0 · /responses · status 200 · 2.332 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 45 changed as sent

message 53 changed as sent

message 57 changed as sent

message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0227, 0.8528, 0.6411, -0.4984, -0.0135, -0.0338, 0.9911, 0.8883, 1.7599, 0.5507, 0.4973, 0.7364, 0.5426, 0.9986]\nstate[eef_state]: left_x=0.2857 left_y=-0.0005 left_z=0.1573 left_yaw=0.0039 left_pitch=-0.1411 left_roll=0.0003 left_gripper=0.9911 right_x=0.3193 right_y=0.2104 right_z=0.0322 right_yaw=0.0058 right_pitch=0.0624 right_roll=0.0161 right_gripper=0.9986\nstate[joint_eff]: [-0.0615, -1.8256, 6.9402, 1.663, -0.022, -0.0562, -0.0122, 0.1299, -4.588, 3.8769, 1.0183, 0.0611, 0.4274, -0.1587]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.0219, 0.8158, 0.6411, -0.4553, -0.0135, -0.0334, 0.9911, 0.0071, 0.8177, 0.6453, -0.4023, 0.0589, 0.0322, 0.9973]\nstate[eef_state]: left_x=0.2903 left_y=-0.0004 left_z=0.1756 left_yaw=0.0042 left_pitch=-0.061 left_roll=-0.0015 left_gripper=0.9911 right_x=0.2981 right_y=-0.0047 right_z=0.1879 right_yaw=-0.058 right_pitch=-0.0058 right_roll=-0.0039 right_gripper=0.9973\nstate[joint_eff]: [0.4034, -2.3316, 7.4325, 2.083, 0.0317, 0.0415, -0.0122, -0.1573, -1.894, 9.2239, 1.6484, -0.0269, 0.0366, -0.0366]",
      "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]: [-0.0219, 0.8188, 0.6411, -0.469, -0.0135, -0.0338, 0.9911, 1.0389, 1.264, 0.5392, -0.2329, 0.7761, 0.6983, 0.9979]\nstate[eef_state]: left_x=0.2885 left_y=-0.0003 left_z=0.172 left_yaw=0.0045 left_pitch=-0.0778 left_roll=-0.0014 left_gripper=0.9911 right_x=0.2437 right_y=0.1772 right_z=0.0859 right_yaw=0.046 right_pitch=-0.0572 right_roll=-0.0679 right_gripper=0.9979\nstate[joint_eff]: [-0.1709, -1.5521, 7.159, 1.7656, -0.0415, -0.022, -0.0073, 0.1846, -4.7111, 8.1026, 1.37, 0.5983, 0.1343, 0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af8afec1b786a066e5fdc77569de088f28d40332d9fdea0748d555cf8c055f71",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca9d4f7317c0e68c1556c28e1dfd98857c5950ae26df9001b34d01446ba26b8c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2c2ed225d97aced33fbfa6897442542d461ced71830eba6f8c44d483cd1f68d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGgS2fNs9RongOle2tLuUmmkGWWlxm3yHSrhOMIehE8tQQBUAr-7EYrbVR9BRGmwVU3aII18bT5q6nHJhQPcbfBKm5o-CAcao9MvDRnwhOT0KTuRB4cez9CKWi-lM0L8r_-uRfgauuIUYIP_gdKS-jsTIgyalotMrxM7TPVuTjO8LpFUmWa2PKtPv_CVgRVhxRfoQ3BUqHXorf5SvaMcX4-EK0H9kvK4EELG3vvYp8MlnQM0wRggWbX36FfEn5rGKZ0BIrlgcFYABdWME4oSraOZmK1RFJ1lYGLHMtq68KdLU9kmuxdZ-qfc8HpOfpFyCmn38MD-Tjc9tyeAt_F_dRDKKa7-Y8a0mBHqs558bufyTbPI4NxyNgp550ROd5HZ09TXErrajgZBJy9SvctPMj1w_cpwBFLKU4KXZEyfpXiKm54iJdfXTxkicOQmlK9pS0KV0_uOwnlmjoKC8uH7nyKI5nrZBM4j8VYkKgRSaOjYu8KZsnzSOH-7qIxpOddkCXn3nmkzvG6d_zIJp3mdddIVw6SrG2RDZ10-6mxvbX_AeLoH3tEnzfOehdtkaLmysfdm7IAnTHQZT9ZWsFYaLr6iwkjV6uDFNLPn2kmEeC10sExrL0tf8fsGASNSJXzc_ZE_1h4KH8tj9Pp1u50DAsy5VFSf2035wW7DD62ZOxNbXB_b6KPo_SpgJ3_aqW_IWq90-vUQco22eGD_tdeKXzZYB7jQa_PTcGwIWiuDOSI9XpT4fFrtoi76vjRHSaQ5HpqtWXtvgb79C3w3m62iyt_239ipW7WU8-Gm-9na4Y7ZpOQASwQ6zTnqnBKBN5snXeQ74E7HclNT9431VtahjiO9iRVcKGts9b9xXwmiJV-9LgvZhTufQhNNSzV08lhUb9nNzuftTy4kdArmrjF6ocLlWqGjXi6cJVARJ5rFbxcjuIJN7NVUVBW1Ta8FuZjWf0VGQw3_9ujsOijyz1veSs20LeSwzfXGAPCVYJeZx0zjpJP-y2dG1ybTXAj-GjVIenxNxN9raIfbG8SolSAbQFom32CJ_nd3fGlWGm-MqlQ5vzk8758bOdLdYfAoxfga-bxTnhbbllA8KqB0Ojf7gz1kLCWHUUHWl7dVUF9CTOlqOnTnBiBR4g2--z1VGJKFIavTqjvKkV94OCpVuCRTmf8ha_PnCQPF6YuvwPSHf0noK5r3I71wSNLIcSuLJBRCibA5v7DlMLS8KTnIq8K-pe_RjrzUFHBcoJaIa2HejwqqqRIpJDrAA6S_Tq_uOyzVMcl1kTPyTzgxOJJm894tp1oDrbpR5VMmiQt2LiT--l4AZ06a8eCESYosjJw3Z1-QRTtXg7vIUROmXkGsBe2TSgw8ex0DuW-UjeiIHss4Baidpvpy8RV-4wWl4p9-OaZ80sXL5ptE_wUh31D5Wk_kPV22bfrNxO5-0qfTnve57jXhu4UBru-sszEQpgFM241z-Z_t",
  "id": "rs_00434e83ff3765ac016ab46810194887d0a3ae749c3830cdf9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.265,\"right_y\":0.208,\"right_z\":0.015,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The yellow fruit is clearly visible just left of the jaw centerline. I’m centering over it and lowering to its lower sides.\"}",
  "call_id": "call_AB5ISTdV3dKzjX9wzMloy4hc",
  "id": "fc_00434e83ff3765ac016ab468110c6487d0bb84c196346af7be",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AB5ISTdV3dKzjX9wzMloy4hc",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8246, 0.6411, -0.4763, -0.0135, -0.0338, 0.9911, 1.0443, 1.6741, 0.4847, 0.1703, 0.7956, 0.7349, 0.9979]\nstate[eef_state]: left_x=0.2877 left_y=-0.0003 left_z=0.1691 left_yaw=0.0045 left_pitch=-0.0908 left_roll=-0.001 left_gripper=0.9911 right_x=0.2545 right_y=0.194 right_z=0.0047 right_yaw=0.017 right_pitch=-0.0744 right_roll=-0.0991 right_gripper=0.9979\nstate[joint_eff]: [-0.1299, -1.8256, 6.9402, 1.7118, -0.0464, -0.0415, -0.0073, 0.0889, -7.2957, 4.8342, 1.2967, 0.5006, 0.1343, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7186c31450b95b0359ec41187dc6ac87981bae7ddd19dafa85abb2c190fd55f6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f96a82814050411dd22f86851473d27edc7bce81272705bdaae32021a49539db",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7c3da276732aab72b866c82885fcf3b84be874c294af60cb6ee61c48e087011",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 3.454 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]: [-0.0227, 0.8528, 0.6411, -0.4988, -0.0135, -0.0338, 0.9911, 0.8864, 1.758, 0.551, 0.5087, 0.7555, 0.5312, 0.0144]\nstate[eef_state]: left_x=0.2856 left_y=-0.0005 left_z=0.1572 left_yaw=0.0039 left_pitch=-0.1415 left_roll=0.0003 left_gripper=0.9911 right_x=0.3216 right_y=0.2082 right_z=0.0362 right_yaw=-0.0046 right_pitch=0.0807 right_roll=0.0088 right_gripper=0.0144\nstate[joint_eff]: [-0.1436, -1.347, 7.1043, 1.5849, -0.0317, -0.0122, -0.0073, -0.0342, -6.6393, 4.7521, 1.3553, 0.0269, 0.0757, 0.4908]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.0219, 0.8188, 0.6411, -0.469, -0.0135, -0.0338, 0.9911, 1.0389, 1.264, 0.5392, -0.2329, 0.7761, 0.6983, 0.9979]\nstate[eef_state]: left_x=0.2885 left_y=-0.0003 left_z=0.172 left_yaw=0.0045 left_pitch=-0.0778 left_roll=-0.0014 left_gripper=0.9911 right_x=0.2437 right_y=0.1772 right_z=0.0859 right_yaw=0.046 right_pitch=-0.0572 right_roll=-0.0679 right_gripper=0.9979\nstate[joint_eff]: [-0.1709, -1.5521, 7.159, 1.7656, -0.0415, -0.022, -0.0073, 0.1846, -4.7111, 8.1026, 1.37, 0.5983, 0.1343, 0.0513]\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 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]: [-0.0219, 0.8246, 0.6411, -0.4763, -0.0135, -0.0338, 0.9911, 1.0443, 1.6741, 0.4847, 0.1703, 0.7956, 0.7349, 0.9979]\nstate[eef_state]: left_x=0.2877 left_y=-0.0003 left_z=0.1691 left_yaw=0.0045 left_pitch=-0.0908 left_roll=-0.001 left_gripper=0.9911 right_x=0.2545 right_y=0.194 right_z=0.0047 right_yaw=0.017 right_pitch=-0.0744 right_roll=-0.0991 right_gripper=0.9979\nstate[joint_eff]: [-0.1299, -1.8256, 6.9402, 1.7118, -0.0464, -0.0415, -0.0073, 0.0889, -7.2957, 4.8342, 1.2967, 0.5006, 0.1343, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7186c31450b95b0359ec41187dc6ac87981bae7ddd19dafa85abb2c190fd55f6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f96a82814050411dd22f86851473d27edc7bce81272705bdaae32021a49539db",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7c3da276732aab72b866c82885fcf3b84be874c294af60cb6ee61c48e087011",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The yellow fruit is now centered between the fingertips at table level. I’m closing the jaws around it.\"}",
  "call_id": "call_aptIJNEJC62Y9nj4OnQzz6pL",
  "id": "fc_00434e83ff3765ac016ab4681486e487d0b7a62caf28fb0cfd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aptIJNEJC62Y9nj4OnQzz6pL",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8246, 0.6411, -0.4763, -0.0135, -0.0338, 0.9911, 1.0443, 1.6997, 0.4839, 0.2916, 0.8078, 0.7444, 0.6247]\nstate[eef_state]: left_x=0.2877 left_y=-0.0003 left_z=0.1691 left_yaw=0.0045 left_pitch=-0.0908 left_roll=-0.001 left_gripper=0.9911 right_x=0.2636 right_y=0.2067 right_z=0.0117 right_yaw=0.0084 right_pitch=-0.0166 right_roll=-0.0149 right_gripper=0.6247\nstate[joint_eff]: [-0.212, -1.3197, 6.9675, 1.6386, -0.0073, -0.0464, -0.0122, 0.1299, -6.2154, 4.2598, 1.3602, 0.4518, 0.0073, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e1ee07fba52808648a992e5d8778d2d3322cab25803184c0640951cb753c1d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5655d417a2b4c20b95f4d5d70ea46a89bb2a2ef454382fc24f568330c29000d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99186799a3bdbb5a4c96cc27ba51feaa7b92cdcec0325453b74207d7397af928",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 17 attempt 0 · /responses · status 200 · 4.403 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 53 changed as sent

message 61 changed as sent

message 64 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]: [-0.0219, 0.8158, 0.6411, -0.4553, -0.0135, -0.0334, 0.9911, 0.0071, 0.8177, 0.6453, -0.4023, 0.0589, 0.0322, 0.9973]\nstate[eef_state]: left_x=0.2903 left_y=-0.0004 left_z=0.1756 left_yaw=0.0042 left_pitch=-0.061 left_roll=-0.0015 left_gripper=0.9911 right_x=0.2981 right_y=-0.0047 right_z=0.1879 right_yaw=-0.058 right_pitch=-0.0058 right_roll=-0.0039 right_gripper=0.9973\nstate[joint_eff]: [0.4034, -2.3316, 7.4325, 2.083, 0.0317, 0.0415, -0.0122, -0.1573, -1.894, 9.2239, 1.6484, -0.0269, 0.0366, -0.0366]",
      "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]: [-0.0219, 0.8246, 0.6411, -0.4763, -0.0135, -0.0338, 0.9911, 1.0443, 1.6741, 0.4847, 0.1703, 0.7956, 0.7349, 0.9979]\nstate[eef_state]: left_x=0.2877 left_y=-0.0003 left_z=0.1691 left_yaw=0.0045 left_pitch=-0.0908 left_roll=-0.001 left_gripper=0.9911 right_x=0.2545 right_y=0.194 right_z=0.0047 right_yaw=0.017 right_pitch=-0.0744 right_roll=-0.0991 right_gripper=0.9979\nstate[joint_eff]: [-0.1299, -1.8256, 6.9402, 1.7118, -0.0464, -0.0415, -0.0073, 0.0889, -7.2957, 4.8342, 1.2967, 0.5006, 0.1343, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8246, 0.6411, -0.4763, -0.0135, -0.0338, 0.9911, 1.0443, 1.6997, 0.4839, 0.2916, 0.8078, 0.7444, 0.6247]\nstate[eef_state]: left_x=0.2877 left_y=-0.0003 left_z=0.1691 left_yaw=0.0045 left_pitch=-0.0908 left_roll=-0.001 left_gripper=0.9911 right_x=0.2636 right_y=0.2067 right_z=0.0117 right_yaw=0.0084 right_pitch=-0.0166 right_roll=-0.0149 right_gripper=0.6247\nstate[joint_eff]: [-0.212, -1.3197, 6.9675, 1.6386, -0.0073, -0.0464, -0.0122, 0.1299, -6.2154, 4.2598, 1.3602, 0.4518, 0.0073, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e1ee07fba52808648a992e5d8778d2d3322cab25803184c0640951cb753c1d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5655d417a2b4c20b95f4d5d70ea46a89bb2a2ef454382fc24f568330c29000d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99186799a3bdbb5a4c96cc27ba51feaa7b92cdcec0325453b74207d7397af928",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGgZ64muGOzbjJkqjaYNjgYGL1v-KkB6V8-LhK8e_01GefnXBm3qxD8GA_GDhBQtlJCJy4NJPpOUG9Zd6wbu4IlsbqBN2HhLmqNkguFuFZMZRT22TYIRqPfMN_8d6zorNNYF1kJFBkS_TmSvkdYQJ0BxRv1hi4mtDXpswb3Tfe4k1rQtYJ1aq4838l2fCryja2GFoBjFpqmg7oox7oNS4vJLnkplUVdCcay24rjb0menqRAI9YY0h4lqvj_qfOvLUulmV0paOp_adsLJWzyQU8IZA9b4zxDQtyTW8nrzKRIa1OI_96frUPHXNiebNmKTApPs-ZpAA7abSm6gnRM5AxOKGrpPhkmVDPkais0UGVAwacaiE6tgATuEHPXC0xfYf-Te5qEc9GgHreMXnAP0TqYNHC-Q-1wbypuJ9YgKtcDI5eNygbxQlMixwKjAadBOaQhKLKeogf9kaq829JlE7Sguo69G03FYIs9ACaMu3Ut9Qi8lxqR-ITktJguvURrOnItS-yE5K5SQqIepqH4Xoqt2x4T5zA4irA2dFQ4OqD6ogiKfkFy5C1zXvMqYgdKRVqvON2LS2NooyhaYYIMaYytHfrF4zHClpM6O3KIT4yJ_vDQ0vlrQw-pM4lpY8v9gcwAIL5qqxl5a4CSsEQ_qwrtCTaaVW4i6e6g91zXse064tRkhhwi1qi965oreZ0O6ehI-FQzqazqnHEQQmM7FijSfzw-89U3wmQkPOvEyH8hhIM2e9DKuCYNovxMmdY7QBVXLtldULkcmgsAccw0E9DPX2NQsgCsM5Vj7wvfE-fYdQQIy6GlsnTBPzeg22v7TIXE53mmUM69MufbbRmpvlvpSdLQBcsUaxKnQO5EIkN7zCeFF-0agQNnkaZESjb6NWCuJ34WqpVzC4D_zwWfE-JyJPpOUYlYbX9PLRKiyT9iL4n8CLXV56pHVP4-vxihXlYf4wu5rbCEkKvsK3ltjfo8tOpBkXV_M8LWQveXtacrAvJFHvzfKTSCGFSiK2JLNo_Ti-feQTgaKV9BslnpPh8-T99B0kErDUqq_tRVOo6TUS_szn0OOW-iCQWewjASMf7yZhgLU2MGwD8n4VSvucBetyVtrIyvaGAbXR3bXX3HbZC2uyQf66BHOtVdLavUmLclV9frkn3Uqc123ec0HSlsVFxa12kHdqvclCBVjLGVXwHdq5rY5jguadguc-ieXD7__Qzp3UgxatIiTMM-hfoy6Sbb6_urm48kJjM61hvddGB98ZTKVjecF6tNksyQOmeVV-UGkEAYsNdmjYDKntyceBiLP8JI3bOf2-Qev_66G-inAiA-ngKCU-LBhMD62MCCLOMRghCgPHwFYXfbFV8xZY54TSEHgWJQ0tEqujcJ6y_Tw5j2BZKNP4etNGW2crwcKNiCZ5PRiVeoDIC0nzOlyiYQVuDwsjHGBJ9rlNgxrQQGRiURr4BOu8PrAdRgNa8ssO8zK5t1DDrhaV2hhhX_gTw==",
  "id": "rs_00434e83ff3765ac016ab468178ee487d0bbd2dd0da4dba601",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.08,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The gripper now holds a substantial width rather than closing empty. I’m making a short lift to confirm the yellow fruit is secure.\"}",
  "call_id": "call_RXKtGRvy3aYQui9Vl19KvWwn",
  "id": "fc_00434e83ff3765ac016ab468188d2887d0913639d80a5dd004",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RXKtGRvy3aYQui9Vl19KvWwn",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8257, 0.6411, -0.4763, -0.0135, -0.0338, 0.9911, 1.0454, 1.4673, 0.5701, 0.0132, 0.8078, 0.7444, 0.6244]\nstate[eef_state]: left_x=0.2878 left_y=-0.0003 left_z=0.1688 left_yaw=0.0045 left_pitch=-0.0919 left_roll=-0.001 left_gripper=0.9911 right_x=0.265 right_y=0.2097 right_z=0.0721 right_yaw=0.0098 right_pitch=0.0038 right_roll=0.0195 right_gripper=0.6244\nstate[joint_eff]: [-0.0205, -0.9778, 7.1043, 1.6777, -0.0317, -0.0464, -0.0122, 0.5128, -5.6274, 7.2957, 1.2283, 0.4518, 0.0757, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e99eaca4dfa3aab7839861b7a0f712fadc4758f7d249737cee366d65309ce24b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f80ac51af6643fc317e382d056ff7fe734e78e0674eaa18af26e43dbaea8700",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cfe331470e9e36518e0a4adc0ffb6d55f4b327c70b176c1856336d3cc99b750",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /responses · status 200 · 4.95 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 57 changed as sent

message 64 changed as sent

message 68 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]: [-0.0219, 0.8188, 0.6411, -0.469, -0.0135, -0.0338, 0.9911, 1.0389, 1.264, 0.5392, -0.2329, 0.7761, 0.6983, 0.9979]\nstate[eef_state]: left_x=0.2885 left_y=-0.0003 left_z=0.172 left_yaw=0.0045 left_pitch=-0.0778 left_roll=-0.0014 left_gripper=0.9911 right_x=0.2437 right_y=0.1772 right_z=0.0859 right_yaw=0.046 right_pitch=-0.0572 right_roll=-0.0679 right_gripper=0.9979\nstate[joint_eff]: [-0.1709, -1.5521, 7.159, 1.7656, -0.0415, -0.022, -0.0073, 0.1846, -4.7111, 8.1026, 1.37, 0.5983, 0.1343, 0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8246, 0.6411, -0.4763, -0.0135, -0.0338, 0.9911, 1.0443, 1.6997, 0.4839, 0.2916, 0.8078, 0.7444, 0.6247]\nstate[eef_state]: left_x=0.2877 left_y=-0.0003 left_z=0.1691 left_yaw=0.0045 left_pitch=-0.0908 left_roll=-0.001 left_gripper=0.9911 right_x=0.2636 right_y=0.2067 right_z=0.0117 right_yaw=0.0084 right_pitch=-0.0166 right_roll=-0.0149 right_gripper=0.6247\nstate[joint_eff]: [-0.212, -1.3197, 6.9675, 1.6386, -0.0073, -0.0464, -0.0122, 0.1299, -6.2154, 4.2598, 1.3602, 0.4518, 0.0073, 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 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8257, 0.6411, -0.4763, -0.0135, -0.0338, 0.9911, 1.0454, 1.4673, 0.5701, 0.0132, 0.8078, 0.7444, 0.6244]\nstate[eef_state]: left_x=0.2878 left_y=-0.0003 left_z=0.1688 left_yaw=0.0045 left_pitch=-0.0919 left_roll=-0.001 left_gripper=0.9911 right_x=0.265 right_y=0.2097 right_z=0.0721 right_yaw=0.0098 right_pitch=0.0038 right_roll=0.0195 right_gripper=0.6244\nstate[joint_eff]: [-0.0205, -0.9778, 7.1043, 1.6777, -0.0317, -0.0464, -0.0122, 0.5128, -5.6274, 7.2957, 1.2283, 0.4518, 0.0757, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e99eaca4dfa3aab7839861b7a0f712fadc4758f7d249737cee366d65309ce24b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f80ac51af6643fc317e382d056ff7fe734e78e0674eaa18af26e43dbaea8700",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cfe331470e9e36518e0a4adc0ffb6d55f4b327c70b176c1856336d3cc99b750",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGgem-Ea1yabXn8Dt0ZbzJND7LQlYW5V_6b-cgFvQwWtmn9m4Kr_MEzEXKtbK2ZbyTLHrJurhHR5d0VJ7LOP2MrFJ6Imume_-3t8LxLEEZ80Y_gvrMWu-sJZAxGtY5yfLE7bBQjmoMEK-gGhj_a_ZfUadKDiKrBS1-uhB0nOnCudFQGexrRAQzkKTk_Imd1JsYAUtyQ9TDR8YyO3Ojijh4eWFpua9ilsfY1FzVIR616b6QC4iAySht5fiHL5Z_ZvM51DqIlxGSoBeaQzw-SpkPfeO7Cy0QBUBznjGTdnTg_uU9HB61E3e-zmKbYO9YgPGcO_Cx2kCubyBsJCzQfXLIcqPsYiUJFFwPK4Qjx4wfhXVDoEiD0bmE-0K0Q2Oud9s9xJjq_oQsBcRk9uBKW9obYI5Cv-nC8YusRXQ_wn8YZ8lqRJTnrc1cFVX9kOoAeIuoXITH9-VDag9_NZS0uSrjo7llMKmYgFV6qAVDZAI8yPOH41pEaJXa5F4BW6o6XGY6-oiwkpwyPB59WorFCfFW-hKOhp-7rijUXGIkmc_8aniqOTqvw2lIvYTqLmSWMw8C9sxk4nRDZpz3h2IF3V-2Wigx-c_JkyJ8FS66tnDqMnG_4ViyZp2VxnXnywkkX-huDDkZvF_1kDd0j5x2Pur--TWjur2rE3CqwHBheb_qW55n8cX2JvdYVw4MN23S8Yjwrjrw-aP9rqkuMGkaiBFbreIbtOFWqYwmTSlyPFjNfvv8Ne8ndot11vMQ_6ET9Y8gxGT72eBomrfROAsvD-8NqXt9v1zECsyVqlT_3ejqLKzHOG0s684F4lkILGPCxiAKrzKaFYuaYShRvacs0cRRWIgPF5POvZRtkAth_AXlVxgDf-CakVR8YP8KxF1SVAcXL5CJwBTOcmj7XdEBaddx7j4bNQ0cxGkGPgCebW1ULzHO_YW1GpVjmxUT9LUaxAmakHnPh9SjUCIvjIn-DkGAxFGZzDMdIC7owqVj4Rf3G1Tjejbi778i4y3s21DF0no7cy5esxJy38NxZUQFuEtIw2-ufGoj8KIcYBc0xyJbs4E2RiAh55R2TiWJpfPtMEisT5CJohyOOZRrYxzrZAo-FzOGjgbhrRTP59unjDxINCAWKUqIqU4kByMqSgB1yDQlMUiixwSP6_B82xj33CFHg5EYpX5xKmaPYqTdL9PIPfm2YGUpe0rxGdyGN7wd2B6HnwfzyQck4jkLY4Xhy6NqwTQ-RIA5MF6-NXcXIbx79y6KMIzTLTmOfj-ZSxvl5O9hCafj6i_2pDerRcX8BcNofYPfNwTZ9NbGvK8VsFdtTj18q7C4KePTaVYUEYUwTZ4ffXUbdVEZJTQTdev7E7buyrw3W_sM7q1ANaMgxACzbmt8fsWKT9lTHe9esBljG32s4EVzfx31dnbtXSAnf92U5lYbt5AlY-KTdofRo-UVwrVor9Sqc4AMFanrQw2caPqC9Wn4yIUWSinlvbdNvwEsNGJU1ZYpwdhfwx7vW4anAzi9ljawkUDBuD5QCa0mJ71--OGC2L2QtstiNVkx3Y_QZCjjI6s08oEI_shEuMjOj-fU8-A0WQvCSYWODQFl5rS6Uh",
  "id": "rs_00434e83ff3765ac016ab4681bf80c87d08fde42760119d4e4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.415,\"right_y\":0.115,\"right_z\":0.18,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The yellow fruit has lifted with the gripper. I’m carrying it above the blue bowl alongside the green fruit.\"}",
  "call_id": "call_n6oysWoptAlsDzMrVjGpSf36",
  "id": "fc_00434e83ff3765ac016ab4681d794087d0ac8e7d643540df31",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_n6oysWoptAlsDzMrVjGpSf36",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8299, 0.6411, -0.4908, -0.0135, -0.0338, 0.9911, 0.4122, 1.438, 0.9302, -0.12, 0.3672, 0.2493, 0.6268]\nstate[eef_state]: left_x=0.2858 left_y=-0.0003 left_z=0.1648 left_yaw=0.0046 left_pitch=-0.1106 left_roll=-0.0005 left_gripper=0.9911 right_x=0.4075 right_y=0.1129 right_z=0.1692 right_yaw=-0.0265 right_pitch=-0.0124 right_roll=-0.0036 right_gripper=0.6268\nstate[joint_eff]: [-0.0889, -1.7573, 6.9128, 1.8046, -0.0513, -0.0757, -0.0122, -0.1709, -6.0376, 8.4034, 1.6288, 0.1538, 0.0171, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5781e3677d9688c6d1be23b7c25a986a22b04736087e27cc22cc4204ee49768a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:252368167037dd4e97ceb2d80382770cc1dbfdcd2a5bc559dcc41e586e46b95d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b30ae6615b9ccfc318a6d68435ad981e1132f278c01a6625b7876d3e9c6bebd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 2.584 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 61 changed as sent

message 68 changed as sent

message 72 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]: [-0.0219, 0.8246, 0.6411, -0.4763, -0.0135, -0.0338, 0.9911, 1.0443, 1.6741, 0.4847, 0.1703, 0.7956, 0.7349, 0.9979]\nstate[eef_state]: left_x=0.2877 left_y=-0.0003 left_z=0.1691 left_yaw=0.0045 left_pitch=-0.0908 left_roll=-0.001 left_gripper=0.9911 right_x=0.2545 right_y=0.194 right_z=0.0047 right_yaw=0.017 right_pitch=-0.0744 right_roll=-0.0991 right_gripper=0.9979\nstate[joint_eff]: [-0.1299, -1.8256, 6.9402, 1.7118, -0.0464, -0.0415, -0.0073, 0.0889, -7.2957, 4.8342, 1.2967, 0.5006, 0.1343, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8257, 0.6411, -0.4763, -0.0135, -0.0338, 0.9911, 1.0454, 1.4673, 0.5701, 0.0132, 0.8078, 0.7444, 0.6244]\nstate[eef_state]: left_x=0.2878 left_y=-0.0003 left_z=0.1688 left_yaw=0.0045 left_pitch=-0.0919 left_roll=-0.001 left_gripper=0.9911 right_x=0.265 right_y=0.2097 right_z=0.0721 right_yaw=0.0098 right_pitch=0.0038 right_roll=0.0195 right_gripper=0.6244\nstate[joint_eff]: [-0.0205, -0.9778, 7.1043, 1.6777, -0.0317, -0.0464, -0.0122, 0.5128, -5.6274, 7.2957, 1.2283, 0.4518, 0.0757, 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 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8299, 0.6411, -0.4908, -0.0135, -0.0338, 0.9911, 0.4122, 1.438, 0.9302, -0.12, 0.3672, 0.2493, 0.6268]\nstate[eef_state]: left_x=0.2858 left_y=-0.0003 left_z=0.1648 left_yaw=0.0046 left_pitch=-0.1106 left_roll=-0.0005 left_gripper=0.9911 right_x=0.4075 right_y=0.1129 right_z=0.1692 right_yaw=-0.0265 right_pitch=-0.0124 right_roll=-0.0036 right_gripper=0.6268\nstate[joint_eff]: [-0.0889, -1.7573, 6.9128, 1.8046, -0.0513, -0.0757, -0.0122, -0.1709, -6.0376, 8.4034, 1.6288, 0.1538, 0.0171, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5781e3677d9688c6d1be23b7c25a986a22b04736087e27cc22cc4204ee49768a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:252368167037dd4e97ceb2d80382770cc1dbfdcd2a5bc559dcc41e586e46b95d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b30ae6615b9ccfc318a6d68435ad981e1132f278c01a6625b7876d3e9c6bebd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGgkpHCyuRNsUGRtRaeVQmcrbgaIgha4zTCQXHsclZO7I8Nxgwm4VYGWGbsDu1anMr7jWIw1bXKa_zXJR9g5xY8UE7yjM9dbpoHJwIhkhZJXlqp_c5id9gnLQ1kUIsF-VUgYUw5m7p4qD8aRT54dfWlf1KDrTaEt4O6x_c2gJXO_PRkBmb30HgpDqbV30AdTqEpPiD_VFllz3phlJTTrn7H7WmWo27kQDvGIKtqBmr91qaOFLyiAuIVA84MfuvfRMSJKcB_j878C61ZIkCneHE0Bgg9NvpI9kM6osKHgfPwIzAP9U81AOQfTW5nYS5VQ5_jhgy7gJhJtPqg1xfb7AQb4HESPHj8qNIOfchn6esMA3b5aSdOZqEM5w7bFLSeoKZ8yrqFNGucpYIF3S1ebzc2eSm_FsT1lKLKBUPua7Z3RghHgEHJJ3qL2BBKhHEX6vZMb9dvRQbluvd5kZV4lY5OyciaTd-UClzDhr0LpynEYBseHH_B9Wsme0sJ33BYaM3KDDUnygeqY9Uelx_ClByGbbgl_d7h9c2di64Y_AoHndlSkLTJKtHLZc1bLUB4vg1CPROwbIClScNNeqp2m4OwNEg9lXpPkmLqsy-UUNEgAcC47H11ert0qzp9TAoTp88dpLpm_cRs-EbSyInRe8GLSx8GkCC-0smIqiuChYCskKvb0tA2ad1YGcQYVm4cQA_7j9Fj2wpoabR4a-FbfDnn4KV-dZVgTjWJAseFsNgh3688fLGY9zyFquWdjYXuS6etayeCzT2nvtnXkv19vV38n9Du5oMGS_E0N8uIWsFIibSlaJr-WcJLGsGzNjEQ8zQ1k4toJDStmcmnBPppQ2A0NdkLCY_QxVuOwYSwh9VEsXp7qXk6nOOkstqCO8CyXSxyiM4jY_vLBLoW3JZZRB0-aUAmiiVupRIJ-TdzW7kw8KoNQlF57RNeKmle8jNp6lMlstjhhIYo7yfrnJ0BC8hJZMnSvl5iB6z4ohWJqiHW75SzF_qhTzS_BlmD_DO9-pIxHlycQftgvE_PfgfitMLGpQnDsSOJ8lQ_SurKG7eo1O1iOsgqn59_qQ6DtseZvnRHeDE1kagAB--KM_G7y-l-u0GxAsEcVT8aVmGSNTTgFjSfZcG1x7cgQ5oND19PQxttKKoZ5btIwP_Or3yYgyp1-JfMYfmSIzgSQPD-m9-vg_Sw6bpk3qbHCXOm42SFSpHthZfvBVkj6d1hTn1uwhiLN4pApdvmTKQFO0HusjpBRUdysGqcVhxURDldwkRjn0zs-r3QF97jdEb3J8voETZSsAFujds-uDn2eW-iDBu7oCkf1bj9FxWhi4KYWJHWgBO5NDia1Nz3YTGIM8B5p9ngi_fD9e54G8MHgchn2S-y-kxI=",
  "id": "rs_00434e83ff3765ac016ab46822ada487d0b033efc343adacd8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.105,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The held yellow fruit is above the blue bowl. I’m lowering it for a controlled release rather than dropping it from carrying height.\"}",
  "call_id": "call_tQLpov6SffMt6G8H6BqFeek5",
  "id": "fc_00434e83ff3765ac016ab4682375cc87d085fceef4493c34ba",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tQLpov6SffMt6G8H6BqFeek5",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8303, 0.6411, -0.4919, -0.0135, -0.0338, 0.9911, 0.4019, 1.536, 0.7406, 0.0978, 0.3351, 0.2237, 0.6304]\nstate[eef_state]: left_x=0.2856 left_y=-0.0003 left_z=0.1645 left_yaw=0.0046 left_pitch=-0.1121 left_roll=-0.0005 left_gripper=0.9911 right_x=0.3958 right_y=0.109 right_z=0.0909 right_yaw=0.0017 right_pitch=-0.0845 right_roll=-0.0349 right_gripper=0.6304\nstate[joint_eff]: [-0.0615, -1.4427, 6.9265, 1.6484, -0.0513, -0.0366, -0.0122, -0.4308, -6.2974, 6.4889, 2.044, 0.1734, -0.0024, 0.6764]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f20b7e809e2ba56937f954111ca77e7e9294943d41b16a3805ebbdfeda19dd0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edda881b8efddb04f2ec5ad8ed8f3595381ef24d94800d6db716ad6c0cd662d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6253f916ad479e64dc888253f96d4348c63c4484a4b2c48ee77adbb2c65c9093",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 4.798 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 64 changed as sent

message 72 changed as sent

message 76 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8246, 0.6411, -0.4763, -0.0135, -0.0338, 0.9911, 1.0443, 1.6997, 0.4839, 0.2916, 0.8078, 0.7444, 0.6247]\nstate[eef_state]: left_x=0.2877 left_y=-0.0003 left_z=0.1691 left_yaw=0.0045 left_pitch=-0.0908 left_roll=-0.001 left_gripper=0.9911 right_x=0.2636 right_y=0.2067 right_z=0.0117 right_yaw=0.0084 right_pitch=-0.0166 right_roll=-0.0149 right_gripper=0.6247\nstate[joint_eff]: [-0.212, -1.3197, 6.9675, 1.6386, -0.0073, -0.0464, -0.0122, 0.1299, -6.2154, 4.2598, 1.3602, 0.4518, 0.0073, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8299, 0.6411, -0.4908, -0.0135, -0.0338, 0.9911, 0.4122, 1.438, 0.9302, -0.12, 0.3672, 0.2493, 0.6268]\nstate[eef_state]: left_x=0.2858 left_y=-0.0003 left_z=0.1648 left_yaw=0.0046 left_pitch=-0.1106 left_roll=-0.0005 left_gripper=0.9911 right_x=0.4075 right_y=0.1129 right_z=0.1692 right_yaw=-0.0265 right_pitch=-0.0124 right_roll=-0.0036 right_gripper=0.6268\nstate[joint_eff]: [-0.0889, -1.7573, 6.9128, 1.8046, -0.0513, -0.0757, -0.0122, -0.1709, -6.0376, 8.4034, 1.6288, 0.1538, 0.0171, 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 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8303, 0.6411, -0.4919, -0.0135, -0.0338, 0.9911, 0.4019, 1.536, 0.7406, 0.0978, 0.3351, 0.2237, 0.6304]\nstate[eef_state]: left_x=0.2856 left_y=-0.0003 left_z=0.1645 left_yaw=0.0046 left_pitch=-0.1121 left_roll=-0.0005 left_gripper=0.9911 right_x=0.3958 right_y=0.109 right_z=0.0909 right_yaw=0.0017 right_pitch=-0.0845 right_roll=-0.0349 right_gripper=0.6304\nstate[joint_eff]: [-0.0615, -1.4427, 6.9265, 1.6484, -0.0513, -0.0366, -0.0122, -0.4308, -6.2974, 6.4889, 2.044, 0.1734, -0.0024, 0.6764]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f20b7e809e2ba56937f954111ca77e7e9294943d41b16a3805ebbdfeda19dd0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edda881b8efddb04f2ec5ad8ed8f3595381ef24d94800d6db716ad6c0cd662d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6253f916ad479e64dc888253f96d4348c63c4484a4b2c48ee77adbb2c65c9093",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The yellow fruit is lowered into the blue bowl’s opening. I’m releasing it now.\"}",
  "call_id": "call_84e2gzKjpHy30Ks6Qztc4d4K",
  "id": "fc_00434e83ff3765ac016ab46826a1d087d08c71550ef529e7d4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_84e2gzKjpHy30Ks6Qztc4d4K",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8303, 0.6411, -0.4919, -0.0135, -0.0334, 0.9911, 0.4019, 1.5459, 0.728, 0.1684, 0.3351, 0.2169, 0.9958]\nstate[eef_state]: left_x=0.2856 left_y=-0.0003 left_z=0.1645 left_yaw=0.0044 left_pitch=-0.1121 left_roll=-0.0002 left_gripper=0.9911 right_x=0.4019 right_y=0.1116 right_z=0.0951 right_yaw=0.0066 right_pitch=-0.0403 right_roll=-0.0218 right_gripper=0.9958\nstate[joint_eff]: [-0.1299, -1.4017, 7.0359, 1.6484, -0.022, -0.0171, -0.0073, -0.3761, -7.0085, 6.4889, 1.9805, 0.0464, 0.0464, -0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbe20fdb0e6194ab8a1c9caf9ca184580f407f505d64dc151de29cdf4a4913af",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3862172bba4069b071783fe4e3ab630a254edb01f524464a85f165d693b1649c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f8d6645cc190cafecc84ce4d28e112bbd91e2aa1ad16156bcafab68af06afcf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 20.53 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 68 changed as sent

message 76 changed as sent

message 79 changed as sent

message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8257, 0.6411, -0.4763, -0.0135, -0.0338, 0.9911, 1.0454, 1.4673, 0.5701, 0.0132, 0.8078, 0.7444, 0.6244]\nstate[eef_state]: left_x=0.2878 left_y=-0.0003 left_z=0.1688 left_yaw=0.0045 left_pitch=-0.0919 left_roll=-0.001 left_gripper=0.9911 right_x=0.265 right_y=0.2097 right_z=0.0721 right_yaw=0.0098 right_pitch=0.0038 right_roll=0.0195 right_gripper=0.6244\nstate[joint_eff]: [-0.0205, -0.9778, 7.1043, 1.6777, -0.0317, -0.0464, -0.0122, 0.5128, -5.6274, 7.2957, 1.2283, 0.4518, 0.0757, 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 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8303, 0.6411, -0.4919, -0.0135, -0.0338, 0.9911, 0.4019, 1.536, 0.7406, 0.0978, 0.3351, 0.2237, 0.6304]\nstate[eef_state]: left_x=0.2856 left_y=-0.0003 left_z=0.1645 left_yaw=0.0046 left_pitch=-0.1121 left_roll=-0.0005 left_gripper=0.9911 right_x=0.3958 right_y=0.109 right_z=0.0909 right_yaw=0.0017 right_pitch=-0.0845 right_roll=-0.0349 right_gripper=0.6304\nstate[joint_eff]: [-0.0615, -1.4427, 6.9265, 1.6484, -0.0513, -0.0366, -0.0122, -0.4308, -6.2974, 6.4889, 2.044, 0.1734, -0.0024, 0.6764]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8303, 0.6411, -0.4919, -0.0135, -0.0334, 0.9911, 0.4019, 1.5459, 0.728, 0.1684, 0.3351, 0.2169, 0.9958]\nstate[eef_state]: left_x=0.2856 left_y=-0.0003 left_z=0.1645 left_yaw=0.0044 left_pitch=-0.1121 left_roll=-0.0002 left_gripper=0.9911 right_x=0.4019 right_y=0.1116 right_z=0.0951 right_yaw=0.0066 right_pitch=-0.0403 right_roll=-0.0218 right_gripper=0.9958\nstate[joint_eff]: [-0.1299, -1.4017, 7.0359, 1.6484, -0.022, -0.0171, -0.0073, -0.3761, -7.0085, 6.4889, 1.9805, 0.0464, 0.0464, -0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbe20fdb0e6194ab8a1c9caf9ca184580f407f505d64dc151de29cdf4a4913af",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3862172bba4069b071783fe4e3ab630a254edb01f524464a85f165d693b1649c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f8d6645cc190cafecc84ce4d28e112bbd91e2aa1ad16156bcafab68af06afcf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGgs8dbcOaqIIJtYN8YZU4TuhYmQhO6UJ7WO4DldnYT9uaNc_HYExIlEcsHmEWhO_xRUQA19V4BlCkeDwPTu67tnQgP98Fh7QNiT7qzzqO5YuYIA1f5LPjNmuCKWPYPOz0mGEkn4HHRyZv_0eOvAyFPBtRAa1HZ3FPgxdozVoHcZCEf8EJpQhTTbrmFKJWe3oR81CTWumZPCELaQR26X_CXztYYVtr9c6BMgv0Lhqd4wuWetPvRhFOkNcuvVXQpnqRvlkcTdPuXemNrpKd8GTaIe9tYG16ubDR7zV1j9dl1xFJz-qiosCVj8po4zQl4N_EJSVz9AOudm8332NmPmMoqGWU8T6CnM37pPEp1SqtbqYYoj_o_oevP2RR-9H8eHjPSYXcEOPWlxeqEvjX6_1rWnjsSBeG4CIxNmcA6v90i8p7rE4BvKorKFGCSH4smrUTY3waq81FQqGRW2XHgX-QZLq0iRF8T4scfm1eh81_XJXc9rdEsonIFttM0iEAww6Hj3Lvt3LQVa-8kzkDZZb01Xo71f77U2_adq7vFWxGe-puGtJ5sdikIM1F3FdFcfYs2P-Urd2QBSBJ8i56QLfbPwGmO-NJmHOMnsTxnY3HZDYZfjmJ5rP70A_FH7hfShAJXFlQTVjsMZvnQvrf0iSPvYQspDo9dLvULzutiEPF2E4MHbNciYjsFAEY02_K3ubn853egeZ-ae3amoGnVelk-m53An4mdO3gpIqveh02-EEc9x51FCL69WB71aR2gmoH4rVzMryS0anzPtRkKeLYqrZoQPIbAMoed7bMMLvjVzXgNaVK26zwdI8o7ml47DrPWnYk7A-g9t9TkR8cfSGHEDj9edmHqlMYG40ZwsPeq-soLbhXevYmRXzfqpfKrEB_qP4z4_oYp9zYnOy57cj4O4wiwM-Iea_vPU2_SHCqoEZ-hoFIco-7aHzGCvS3qeKs0VrlCBlZ3en7404U-XO_V713IUSNbmpxlp2mZU7a7JlpvgARkCae_dvTG7g5PXO9qa6bUDnhSnOx_8kHnlGhHoeAQfkM2H--l85p3YaPlJA5JQwhb9CsL_H_4XHNbAqEQwMZJUJuPUfudEX9P-FWkKhVHxy6KsjtiUqOMjm4b_IWmmQC1DQ7QWDQqAtlqQiajojFA-pfBbLueHEDbQGK-i3qVoi33fZoN6e50eTA7VrLwgnvOnlxEc6eAXQmRM6w0XBJzNySkVjMTWJkTYfzHc0c9LgzN94Ziv4AvsHFYyLuHHgW3Qsbcdk5jDyay8AKP6b5Gf8ukne4nCIUUKe9xKsGV0rRYCGBfCaPFnYCMbUm9PXMsmJLSI0VR8jJ4kLw_BiQvq_IXi9Erit55n_1siz_mDuEs_ELP29Mtle3O-utxEp7VnGhg1-ZtttG6dBlPY4YU06Zgw5n46GJvJAQjGyr2WoyNXDIAm7tb5w1ayakabj6_FT2YdxvZmdfOKwRERI9-mCP9AoO4vcG_ZG9Uh4WeGItziQB4QYKyBeC1XUvGUg2vum6HV6YKcbGUPYquBK156K76j77vJUslR1Bco-7kZPNrKz2mRvJuZw3dy-fjQ1if285Rj4dvCMO46-Y6dQoIcTH3vxLPjNO6slw1z6Yv5y5b8IHO72Kl5c-ZPYjcDAwgeaKDbEzS3bQz4lBVWRhYOdxZChUmR6EvpBPdPCOgDE1VUy2_AgAldut6oErY=",
  "id": "rs_00434e83ff3765ac016ab46829811487d0bad6c880e373047c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.296,\"right_y\":0,\"right_z\":0.2,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0,\"left_x\":0.33,\"left_y\":-0.30,\"left_z\":0.14,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0,\"left_gripper\":1},\"note\":\"I’m moving the right arm clear so the bowl can be checked, while bringing the left gripper toward the remaining dark fruit.\"}",
  "call_id": "call_vRXVXMpW49JJ393ovkNr9LMP",
  "id": "fc_00434e83ff3765ac016ab4682b4a8487d096df5b216c23a055",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vRXVXMpW49JJ393ovkNr9LMP",
  "output": [
    {
      "text": "executing move_to over 27 steps (2.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0252, 1.7336, 1.1332, -0.3176, -0.7776, -0.7422, 0.9918, -0.012, 0.8227, 0.6468, -0.4255, 0.0128, 0.0051, 0.9965]\nstate[eef_state]: left_x=0.3259 left_y=-0.291 left_z=0.1281 left_yaw=-0.0106 left_pitch=-0.0328 left_roll=0.0179 left_gripper=0.9918 right_x=0.2957 right_y=-0.0022 right_z=0.1823 right_yaw=-0.0236 right_pitch=-0.0336 right_roll=-0.0019 right_gripper=0.9965\nstate[joint_eff]: [-0.6085, -8.2256, 8.7316, 1.2527, -0.5348, -0.1099, -0.4469, -0.294, -1.9214, 10.2222, 1.8584, -0.105, -0.1294, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0d6a5ae5bc8552e22b6de2903fa7da8a5f3614b6345dde29ea2406cc071bf95",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:935ad31d2a986eb262545d2b5072b80074495cb26500d2f39c1c4f63b5c7d2f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:846c63c36d8f3c4478a3de7b4e15e483822b9b0a7d6c814b9690f3e76580c148",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /responses · status 200 · 7.707 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 72 changed as sent

message 79 changed as sent

message 83 changed as sent

message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8299, 0.6411, -0.4908, -0.0135, -0.0338, 0.9911, 0.4122, 1.438, 0.9302, -0.12, 0.3672, 0.2493, 0.6268]\nstate[eef_state]: left_x=0.2858 left_y=-0.0003 left_z=0.1648 left_yaw=0.0046 left_pitch=-0.1106 left_roll=-0.0005 left_gripper=0.9911 right_x=0.4075 right_y=0.1129 right_z=0.1692 right_yaw=-0.0265 right_pitch=-0.0124 right_roll=-0.0036 right_gripper=0.6268\nstate[joint_eff]: [-0.0889, -1.7573, 6.9128, 1.8046, -0.0513, -0.0757, -0.0122, -0.1709, -6.0376, 8.4034, 1.6288, 0.1538, 0.0171, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8303, 0.6411, -0.4919, -0.0135, -0.0334, 0.9911, 0.4019, 1.5459, 0.728, 0.1684, 0.3351, 0.2169, 0.9958]\nstate[eef_state]: left_x=0.2856 left_y=-0.0003 left_z=0.1645 left_yaw=0.0044 left_pitch=-0.1121 left_roll=-0.0002 left_gripper=0.9911 right_x=0.4019 right_y=0.1116 right_z=0.0951 right_yaw=0.0066 right_pitch=-0.0403 right_roll=-0.0218 right_gripper=0.9958\nstate[joint_eff]: [-0.1299, -1.4017, 7.0359, 1.6484, -0.022, -0.0171, -0.0073, -0.3761, -7.0085, 6.4889, 1.9805, 0.0464, 0.0464, -0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0252, 1.7336, 1.1332, -0.3176, -0.7776, -0.7422, 0.9918, -0.012, 0.8227, 0.6468, -0.4255, 0.0128, 0.0051, 0.9965]\nstate[eef_state]: left_x=0.3259 left_y=-0.291 left_z=0.1281 left_yaw=-0.0106 left_pitch=-0.0328 left_roll=0.0179 left_gripper=0.9918 right_x=0.2957 right_y=-0.0022 right_z=0.1823 right_yaw=-0.0236 right_pitch=-0.0336 right_roll=-0.0019 right_gripper=0.9965\nstate[joint_eff]: [-0.6085, -8.2256, 8.7316, 1.2527, -0.5348, -0.1099, -0.4469, -0.294, -1.9214, 10.2222, 1.8584, -0.105, -0.1294, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0d6a5ae5bc8552e22b6de2903fa7da8a5f3614b6345dde29ea2406cc071bf95",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:935ad31d2a986eb262545d2b5072b80074495cb26500d2f39c1c4f63b5c7d2f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:846c63c36d8f3c4478a3de7b4e15e483822b9b0a7d6c814b9690f3e76580c148",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGhDxfR_p7kwD-8cTKYa9o1kZKWxLka-E13PXLZ32xtf02EyfhyY1lRUOY6w0GvvC1jw8mqmpsmLfixF3YDzruFNYCPv3vmhSklDJIMgBlzTfFlj0KZYi2ORLjIvR6NhW0PTHc6aXFRmuIfcsGDdDAqBa23XBzCcdxLxrrXzLlCxZRgCng_FjZYi_g43ilV0PMIiPA_alFETBu3HK7_Bans8ZA78muRWxprwUeDsZ8_iTDzos7B2QZPl8rt06xKuztny71UHIB5JcCm_wjCUkMVGFWEQxpbbHMz50NWhW-n-K7LhP5G9PQi7HaiLUmrOK27OvxePxsWidlRGXOqLtKbAwykLaBaQpn4tQRQJvNqRmuk00G8Xz_lLRoTgRveFKoLgno7_kknB7aghV5MmyCNyS2EWBjzsZmXYp0weElDR1II_yAD7Mh5aQNLmGPii75pxgIhAd7hhXdp38OsDV9KRKhh-mPwTzM5UcDK4Y0__epRWLjJv2MndC460UvwLOAQQzD_tv9qmTiCGw6OSVrkiD0C9Fy94kBr8xqmIXPdbfBw_bKWQ-p4bGtxqiV3Lt5AGdUVLIg09dTSQP9Jbw1iGU95mw_6dCgarUheP2Y9hMhoo8PkN6tORB5V_7ANWpBd_lbYFXaKqWM3c5o1dzH6WIl5OBDZeqfyDkY50-5l9SslpSqifHerd4U9qBvZFkrJTTgvg_fLsl7zuUMfz9kokvAOS273VKcq7gUJ77JntfCY7U6a07DgFNvksnNSYdKrM9VIhYXaIKSEfiBU-sx27NkzyCzFNIN5Jg8staNtEY8tm2YCQEBO5PDKiLRW2zob_iZIutrV0CIvCRaWSsgqi6CCS2fvHXR1xvzZVp9plHZfD01ssnTk7M085QeZxnRHCQnHjvneIPqtIRZyQoGydR7PRNYbGB96lXA5Pjaen4SJbFQJ_sjXl5KYNqmBBsq_Xo773N42MZh8FxQx8v2AP7Lcp895_0J6wIAGYw_HIL3eYso3GP_SF21drmGZgwWUdRzZpDSsm7xFfgsUVSX3fCwIXdGVGNGGJAYPhuT7Iv8ExbFn_Ycxi16q0Hmp1U0C27JWoB_6IgQw58u1c4PWAbMWjwkn5pAln6AP4E3GRsUBydQUVwtDKy3QGT6FYb6y6TNYHoKVsQmOvtt196n_nba7811qeepOGISokQncrD7WHx2q5EXflPSEgyt6ZklUGLz9pbhX6T2mskISGBMFEU0Sv-Z0CnYjTYbKw50Iz3_5fJGDj183g-z3aM2Lg4NjJUdt2_Tsf_gsYPSQtJTUUB7WQ6qVd9segalfwEWLiH3XFAiZhrhKAt15b0hAvC9t35WEn_jveo-Owauck1hzG2-n4u_XS49MPj3SF6HLzmivVzPnVEqd2me3OXY24eqAIqsO5W4fQhfM9bAtlvUJIPuXC5n79UCxsObCA9Xay-Jbqo1ZwSAC-6Gd4RGEOLQcovkRHHMH0X-sK9D6X98Y8lVIZYdfDUMBHKWzn-5x5Bx14bXJdANcuOd9kg6mtvjQkyrcqy6tWcU4Fmer7124Py_cmwOuvfDB5WqI3ofPiyz4RQVrZd1Wv2RyPNYLqwVMIvhfgVwdnURLXDDE3NGrJUcmJ2uPolj33oYhiGTlmBc5RpnwaXGTO1sLBnYGlo9wkeOmxo5unCnzUKgSMK_3QEYG171EZTJ9Pg10AOabHEWzr2OLg8Y_HeI6gXqfPPKM9v7qaSjONqB6_6jOrbN1PhFxLaBetESZzJfDXfah4f9RqKZyXhrT1wo0AGz108JXNTXca_V1fe_Kyvrezrr3zmxDLaol30v20sNUC37xC_hdZMtVFduqIxmJOgNS6mSybXTTCkQIu9Q7bPhL50bgoIH2NYCrHOzwpoWOUxmRmYF8oQofpYOn4fID9yB95Gd3iCMnatBkXEpNZH-EEZArnPfUPij11pjDswE3MwePd_oY3NvLgjOAyGLS97OO9flIHbUROTEQszopQtNjItUSvZrLxoo8JABvZnCZxedrUWzotn_jj1JpNr2YE3MxIF87QnuXxLSIvM59a8bOaqY2NhIj_vA6zSUBB_25x0AWaCiF3EwrRJ43I33ODIAGe3-vpEupzI8jaKIFOyw9T94bh_ajuzglORp9kcXNn3rDFF4QDD_88BnYbdcwzQqpmrBAeqJo5e1L43TN279qPyU0W7KSPHFkXPvs5nOh0fdKb066KgwJGvv9tP7w_NJYYFh0O206cQrsNG6fcqGY4M7mSs-eKTRTyRhL6t6oO26HVu-be8v2_s0HFqljrxbi5yUd9cdHoRVmEmVBiyP7wnnlamnJpf0KrtRAEz_eCZUCAU48qIZEINfrdni5ehKyOIO4dbTwwZgAAfLx5iNTmr75Uvw7Jw3cyt2VM_gXfF9JmIK6jWpt-8FFFx1qEFzesyRogmT3YFUOmtnnbMF2Si8VXXNz__tc7vtJLJIPCHPAnyYM86vdvocLCsCiE-wYPuwfes9C6EDR51DWDo-qDGfwJ067Ye1kDiOIHEp6Q2DNkjx-s9AKG1rkleW53wkcNVffoqnebPDj1zKy9zZJKEV4Vui48543nX05Elu9o02Vnajw_yhd5tMOCN7jcTFzeNrPg-9y4W630OYIgOp5H0e0q1v7WcCIvgfiW0ZfSizsBdZQZSFJOsuklUyMAYdABBrRI6VjUughImMFjpp9J-7e7Ojs8LASj-uFhCxaFvCa0OT5ZPEDC4p37u6MUsNPIa9fTAxWvGnvhULKgzWaKkOWfZ_dLhP6X9_3IE5yd1oBGWBOOrEJUfHOPE1pzDstxaUr0OZgK5yohl066TiP9C51sVnVQUvAtfAZzr2ir8v19ang7mgmEtriF0kP10drUzybTUOt1QOxpszm9scKtD8DNwMf3933qNNaKcCdLxADv4MAmyEuSQrGIvnP0PKTCph6p4sggP5KNqgDa3Yxt451ns636Hz9ds5KpC5H_icPEjVqufyLnfiuugJWqcqWqlnXNxebrHsdLv9AQjIKkwgD9FI6ffPYKXLyficIf1GUo5CasoFB2hRIiMYQK1mAfJNqZp_fB8PTT0DS3ESdcm0TPAvxVrh08bZdZqTiNTmbavu3WBF53dpQyruDaaREKbwiQofn5FSA3qFVOPqlHZWREa2Z_X1h-COcO_G6r5-Pz6rmHQe403T7Hq9QFErgr-vup06g0jKa5scqbfnTe8b8sgIFArDY1OsLR6-Q6mmV-xqJwHaAkVfQK-kZl0PgBD_y4ZtY3PeD1oYEemOCmcilz4dMDsR8AU13j8sV8rnhIY8VIrUS5bLUxbZtEU-uLeFydj_DqOOItGa9yuyslP6lGXLPN08yskm_jqBwy-ArhCOjxzxVfoSMZ6dTw-X9PS-ZeJrPHEQ363wGsPCD3IbBdd468M0zgCG_Zy5Bc28mk9KPQzcdg0qK3wkiFS_unMy7dzy6AGQw8Kg5BbMvcwmz4Yt-7zWgSLurlV1iozYAShT8D-r1bKj9EmV0EB8FvtI_VGZuB-kfFTHxzV1cZNn1lKyz3OYaRUeOpA_DtV6zKwt1MgqIqXVYjDOWBBMy8IooNTvUCS_TOEqA0B8bD1kk6sBkV3HlyUdLKfiIcwNAwufe46SkNnD0kpmJAc9-OHRfzpMrPDJBAh80-coNUYxRL9SX-CjP6iEkk1zSgSVlpda9QiNdOYN7IpxbtdWU4vbV2fb2vobSFu5QW3yhv65BClbCPtcAQ4oxPpJmvID7oq_B8YfTLI_Rz82feLX3-6VAAMWeklCupyMjt0srFTIH_2xv7ONX3wgwU8JSoEpoIxWoYLnpBBfdO8rNC6XeelDQLLx7sobbmSNRiwIEQyJLDtBai6UD6b9E_qkZDpaCLw8C0cE5gAgI6D-LVUhaNKYTzpCJJVANQnISRIkuTeziFbf2Wux1feTK2W5n5H3X07gMitNhwy6MbpfbPmYeHE1FdM683mN4_hJBXhjkUtA0MIkZarRAE92ntugwK0KdNByZVU-OPQELg2r7RyFswgmUarGONdBZ_5z_KtVzFN_Tf8iTtGkt-7kZgiE4q40-11pD_bsKOYBdeXsmehaeQtYvGyRKKqexS9wkLsZexx7WHjUic6u5cuZNNoHu4vb4mnAnQHg87q6LH9B4V5HnKF-NXWhAxXb3_QyAE2i0wSH9yuNhla8MYuH8rO6_Ektm-RLLy7uDi-HlKO5quiXN9pHr00pt1Sw4auLPR8R3GYDheCgsXmCgKbsgu0YNPc5Yh55jW6SIOz8ix6frB9dl1F7ui",
  "id": "rs_00434e83ff3765ac016ab4683087d087d0ada155dc61380196",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtGhD8Z7IcqDWN4NV8ZJznkMq2Nm8GjwOTeXB0jcKtgi3g3pRb1eL36IrN0tvHtlSPk8QtkZ4VVWvx_XHNxBCJXUsfKWO6gbzXY1wRTpmwLy4Xd1st0xddUnvEShvWtdule3GnIVEleskzVe-UvQqAULnpehwt_aN9q4CZw7qsG20Ad8yuR2n0pe5BF_RsZLbvC0aA5ePEvxLc02QyDrfGsxq-hm57k8ctEfKP9IhOarHxu8R1aT1JeB2_LRETI6sog96QFKGfcmX4eN7fDmYs_2ArKfcrkseiZoU_lDCgvmY17Xvg-8ZWM8aCMduA6iOhifZ-a31IyOrLkrcJNElb0x_PkA0hP9ffSg2I0k7hNhmDBSLMPLjpcmtwZXPpnzPqT5KIUNYK0OSbqi9J_-kNrVYi_X4fH7Yd6zPSpJWDM21B1u5wCcWSmDM3w7pXkl5ANL-RwTQHml8o9vYRvDV8SwzI9VbA5BreO0tkKBaoyOuiZUWkJXP58FyGBiCHTeDIjuHTpmqVF3F5QRRxmixg8Tn_w96FzdY2mcbu9QkMjaBKj0YHoplHO0LwzihJUX59PZKCePOCCaDljBRDRQ48hpa3Iij793rwOkzYz1oFcYEIoyyl1IS8c-SZ1-kFvEDK-e2MN6SUyzMQvneMCU-GthboFfl2-Y5CPpahwc16-gPyVEnPky7R7hyhaWqam66q_qOUbDfSRnSkrUCU0qHm0VBF3JZNh_LNb6UN57doAn9I_76Vf3mLY-6u48I0p3wQQp58cGvfiPlaEv2WQs4FLf00-Iu46GKHFkBcX1mDV-PdulSSe9P98KUXQEOtvR6X6aye1IbthBAdTzUHwRNovQZTtowvsL4zIeJlqAJoofUvnMFhgfnOlEO3bAAOtWpXup95zHOZCcbp2H93OxRNQ2zLJgv7y9hQI2BPkRwGzCaykKBc7ZAnc_GrBDuKwyAH361N8W0Cr50XJeQANTOJ5_FlUC3Z2jSkABWZUTq_IfXk8PbDFRp3-UmVKcSYF-HzSVh5s_POeg_NriJfXn7QzMBwL_6NLjgjbMGFjgiLUSHRsFU68CMktSwkwWyRE-8j9ZDEvBiV1NMT3BhN1frJf6lw2Tf9hMUGI4IgDRRXsalsauI-dgErxlv1mFU-bYFPKW9PFtAJ2wZ_dJb8nXB1JakvvZ0xN03DZHwNV87xNI_riTPRr_xMYfDHtluFQGN1BIT7g5o_6piMqqMH6JOnMHP45JGh-jf1khfIaO3ZcLZrFu-Sba8BeFj25K4nh3YQpqtjy3JwB09SH5wJbfg1Mo-VZWipVxYN3Y3VVgm5a67kG9fs5fq_UVWwkUGMiQlveZ0JBtOxsG7ypzIVNDqllwcaCxXmFt5AG-H4WrHpVs0IUFXOigvbjfI1Gxg6drVHuIjkx-38DrHZQmICuAep3dOFQqIDelk8t0iJR8zJOpljQOB98HbhKuszwPEhtUG2uStd9qrESeXnPSqGZyr1qCbivkiddVjJ1hw8qqq5PSa-nKdWe0QNwGjW5qHmL_4JzGEmFxiAZUlloC6QqpUT8uINEu0-nyk7DrFb5YExkb8ssVAXuK34f84Jn9ZdHCu2hFkYtJyL5j6ChUSzl7roeXhrEplK_aHcWbGbS4oakSdwITJC9RidhWvWMCEhttqDUBnN9GB95XoJKjvIkrX1GFjL8SDBTVuopB7P2jOK9sY9JENT_kkuPrZqq06QGkQ-AtEwZmYSQRIedfie0unFWlVvMwL5tWs3-BFy3y0bTrkcg30F2f_0uW1bH6KwOWD-rfx4_7GXkPuJLEC4-Ztg86UGcE597a9867J671oYJ9oDUsiugaggMz2RwryxBO9qSfXCPCjZvzapA4cjg0qjgTRABlGz0RbL3SlFRKu0IJuBdNqLFdBtb2qPj3WUTg79Ek6ljHThxpw5_NV3UWxJ-fZFD7tJ_LC-BY4yZ90I3qgzfiHGWM710sLqXIa4wjcZJCZXR0NXfpKKRdaWBMI4NYNooQtpao9tUpUpm_rjcVdXRYMw-GAV_cCJsM0Xu7clZVGvZFcSR1m0baFwbtnVh4zWkdGSGukE7wu7AHbX_r3-kjfldTXIZDSxhKM52NiPaplguJ3PjGTbV4xVJDMRe8EAOiO2fTlViK1paOlipPBrsAIyhiVEj_B1TTBGiLvli7oPz4_g20JWKwmU7W9KxO5vJuESbKEHhvvmfuCdh8xe6xsDiCh94WnMRcNs8LyFAL52HU7Nl55-1Z-U3q4SP2TtY3SCqzgP39VdF849pZUJNzrDlgoydVgahXrqIsGiN5lZS0CwH7wZSuUU2D3hvtA21yJPHG-kKr-sXlqfeOPpIbTII90ldXTfUTbxcF-rO9hBaE0_5fkxybVnMUdJ4N-0NpWsFBTQjlVsO3IFf2oU5G-51W_oFUfq4xVa3Rxwu27F9mIJaqYT2HDO-d5UdzbBGql9q1aD24tuf-N8SeJYP3LdxV6sALzTpJgqyqoQpEc4VDmVWBzVyME-el5ebZ-iy9LduxxmW6qR-Mv91sMTgjhF_ZqGHULpn8NzGWnEUZyXsllyVTQExhbIAiZGg1CzZ6cPwFIBhlzGRI9ZUuh4o30SNf-_iH2j48pJA-XDfg_1FPE_c8hhkhPn4ibbypGcXHeu3iqMsQ0htkNcMvyKJbz0zC5oLbOEFokmF0uS6hBZo2qf753fPWCe7Jcubwcrn1NNanF5CyuB8Yw8JvBnOjffHKzwzRpJIJHC3oNxf91EWdXOES0amHxvvZY6O8PcrN0x7dZ_V69wdSFA9CUIFZhFyitnKppKVRRT0Al3UZZ6Rsy7NDZga2oKT-AY07YcDLWsYmwUL7ARYoYOuCXC3QWvkboabky_c9V5Ssr7BdOy6lG8eTsFxwDrFy8J78wz9c0yAON3uEB5CFlOcVGgE2ymjfHTr_VSNzFN3_GBw0ZNbSS7XYDRwduzuXZTU3VFJQ5AeOK0FG1ChjqyIT5rg5kyg2NKqN1KL054nvAsix3gC-DibgjLoWkrbtkB7OVvIqyWNejYecJ_9VvTpnjVPL8UGqUYv_mnV8rw_Q6BkmW6iAbLEKAf9SP8OEb9kBmyEnSvns_q9oOhp4JO14DYvTQtE7Q3Ni0KSyq9IZ8gBz_bkyfbxrNGzEP8Y-2V_sFCXTHjlycltOXTyqxBVRcZkFldZjG5zJqAuJ1AtFEqrAy8rnExRI7nN5JWbQAOaX3A_ndrf3AYlVbhr7EFumgc277BWc2kt_c9ZOmZhOIF8znE-Fxe1I8Nz_MjKZA7rQlyytMKFrAKSsHmXC9HA5U3sOdUenx_4mqr4mNyDhQgvfxiTeKFyjht2A3wqx6aHFnYYaiDKz-oKegcaqq4B0xmZ9vZjHDV63C9MAqJ3QX6xrUt9Jcbowijiwppk1XcOvYpUM1OI2fDjqaLRlI_swXu7kjKs7FpUpNpVisfSclNMM7IceJzR8dW16DuLKuwGpiA9twQCJN6dIbcHebYkn0_SUQP2EFLDlW6-iRJ0o6h7uyvkVBhNyyQRFy7edg_2zs48UIbvNWF7ZiFCAlx6H8XJoQvH0jex0QZZG8MVcGpV7NB8l6Wi-4PJ-0Kf9ON35ITgy_wor-2LcBPRxDT0mMEYM4rRbs9Vdy247t1WS_wQjHFKiEqBilVynFdMppz3eDQnsI8eMkeM8vo9At0pdj6MZd3uj_LMdAJgEMe893_U5aO2ztRtxbH2jgTwPBrAMxugs068Ly5xTkcoSt4e9EBhkvE7gZhNegykZHIZUn6qAiaB-nIjLstaKb8TUaH1Ow4TnaqyMUP-ndV7JbnlnUvlsvghsC5FIceM7Jl73-_h3Q5kFDWq4eOhcsXreVgnCuFw==",
  "id": "rs_00434e83ff3765ac016ab46839e06c87d08ee367f7cceb0060",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.296,\"left_y\":0,\"left_z\":0.19,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0,\"right_x\":0.55,\"right_y\":0.025,\"right_z\":0.15,\"right_pitch\":0.45,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The yellow fruit escaped during release and is now far beyond the blue bowl. I’m checking whether it can still be reached, with the left arm moved safely out of the way.\"}",
  "call_id": "call_lRjAtApoGry83oI7TrjLTHB2",
  "id": "fc_00434e83ff3765ac016ab46842509087d0bdd4011913164398",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lRjAtApoGry83oI7TrjLTHB2",
  "output": [
    {
      "text": "executing move_to over 26 steps (2.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0475, 0.8143, 0.6369, -0.4057, -0.0864, -0.083, 0.9912, 0.0563, 1.9633, 0.9344, 0.82, 0.0326, -0.0082, 0.9965]\nstate[eef_state]: left_x=0.2966 left_y=0.0048 left_z=0.1845 left_yaw=0.0667 left_pitch=-0.0118 left_roll=-0.0041 left_gripper=0.9912 right_x=0.5395 right_y=0.0282 right_z=0.1261 right_yaw=0.0337 right_pitch=0.3589 right_roll=-0.0155 right_gripper=0.9965\nstate[joint_eff]: [0.2256, -1.935, 7.706, 1.9463, 0.1685, 0.0952, -0.0757, 0.0889, -9.6479, 7.5145, 2.3272, 0.2027, 0.149, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bea860b58196079d5ceceecd0973545bd8323bf633d3ac8a8c936f0c4e0520fd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:869fd2de9b7f84b094dc63f8296d32b0d8ec79cf973ec815c5d88cb0fd69791d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e556c9755b18aa0ac2d99fddb231b84e73b8b1c52b80d0dc2b8baab2ecfc235",
      "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 · 4.088 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 76 changed as sent

message 83 changed as sent

message 88 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8303, 0.6411, -0.4919, -0.0135, -0.0338, 0.9911, 0.4019, 1.536, 0.7406, 0.0978, 0.3351, 0.2237, 0.6304]\nstate[eef_state]: left_x=0.2856 left_y=-0.0003 left_z=0.1645 left_yaw=0.0046 left_pitch=-0.1121 left_roll=-0.0005 left_gripper=0.9911 right_x=0.3958 right_y=0.109 right_z=0.0909 right_yaw=0.0017 right_pitch=-0.0845 right_roll=-0.0349 right_gripper=0.6304\nstate[joint_eff]: [-0.0615, -1.4427, 6.9265, 1.6484, -0.0513, -0.0366, -0.0122, -0.4308, -6.2974, 6.4889, 2.044, 0.1734, -0.0024, 0.6764]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0252, 1.7336, 1.1332, -0.3176, -0.7776, -0.7422, 0.9918, -0.012, 0.8227, 0.6468, -0.4255, 0.0128, 0.0051, 0.9965]\nstate[eef_state]: left_x=0.3259 left_y=-0.291 left_z=0.1281 left_yaw=-0.0106 left_pitch=-0.0328 left_roll=0.0179 left_gripper=0.9918 right_x=0.2957 right_y=-0.0022 right_z=0.1823 right_yaw=-0.0236 right_pitch=-0.0336 right_roll=-0.0019 right_gripper=0.9965\nstate[joint_eff]: [-0.6085, -8.2256, 8.7316, 1.2527, -0.5348, -0.1099, -0.4469, -0.294, -1.9214, 10.2222, 1.8584, -0.105, -0.1294, 0.0562]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0475, 0.8143, 0.6369, -0.4057, -0.0864, -0.083, 0.9912, 0.0563, 1.9633, 0.9344, 0.82, 0.0326, -0.0082, 0.9965]\nstate[eef_state]: left_x=0.2966 left_y=0.0048 left_z=0.1845 left_yaw=0.0667 left_pitch=-0.0118 left_roll=-0.0041 left_gripper=0.9912 right_x=0.5395 right_y=0.0282 right_z=0.1261 right_yaw=0.0337 right_pitch=0.3589 right_roll=-0.0155 right_gripper=0.9965\nstate[joint_eff]: [0.2256, -1.935, 7.706, 1.9463, 0.1685, 0.0952, -0.0757, 0.0889, -9.6479, 7.5145, 2.3272, 0.2027, 0.149, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bea860b58196079d5ceceecd0973545bd8323bf633d3ac8a8c936f0c4e0520fd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:869fd2de9b7f84b094dc63f8296d32b0d8ec79cf973ec815c5d88cb0fd69791d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e556c9755b18aa0ac2d99fddb231b84e73b8b1c52b80d0dc2b8baab2ecfc235",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGhNCXxOv1Wj71woEHZyEOvI2XT333nxVfJy_xC5cs8Xb97zFmzjE9UZ0CfY8IubZOc_8JLYRGfgI2ZowkRJvZVZxTM4x57mLBMym8nj4uiJSnwMrEkugHFdtzf4BF_4XM0Uy0WLmqyvPDPPiBpaNNvmuL78ZzBIrILRF2KJ-KnQbq2FUvWUqFi_pXfz_-LQnPyMVG5xv1lzOktb68Bwn_YUBuV-ONJ-QTLPrmJiP4X3DP7h3uv39fWg8MJGyJwpOBsKPTpH-2JHGW5uv4FvFf6palg2-oBfUeItykfJ8l-3O9T9TI4QLVg6L2KRxF8NHUyxp8G4RxvTLtmHtcdMaJwYvQmNlwGjCir0SfCezL2OfpTsSxrvNJT0saxh2B5E99IZHBBJF0OuebGZrk_G1gnMmXQcpIqOKW26BIOHCYV8j2uenRSo82foOOcSFYYb21gE0leXC4SOlcsWBU3_cLZk1m0XiCg-3aK_1NLydFF_SPbEneRVBtczRhCmdWBZE_rsQS_ThiFWK5PdNMU3_tD40zhdYeQEjRYUeongViNXPrMVE1Y7xXuu09IvzS_P2qtD4FXDpy7oAC8urujoKSubpisO_Csyv0shLwPKXAo12S5WRCk1yo0LOnssFgC_gvuJrqll4UydMVuiRU_ibfsea5doUu5NHZ3tpt1801LatRm28-l_uSOCQuNMszlGl5IiswG9kulwkm2yxfo1niOxr6y49-3ivbgj5bH_S5grokjDOA9Htl-7FmHyZkwl_X09f2TA55SFAA4pEwTK_K1efarO-OoypQOBhLH1Y0VXdYUPsqef9AtrPxPF5WXk5zlU5Sv--ZqHgC6dc2mO_wKWoAa5kXf4Iup7pltMBbUHGMvuQ4MYxSnHcYYSLQehDVC5Y4sE9yb0pyQ-Lwsid7TLpK9cToN1vitYoWQ4uIchbTPylgsG9Hb09ht8kyIyNUmgdttM-or9WLZ9anjv6zNc_20yTrOKVyAz0Xyyy5T-XyhEQ9nxglj3eCGjqZcS8n6cafwUUezNcGQt0qOEXZyvSG2AMvI5dqnkeYkmlzQAHSxqTOLKuYwg_ozXHCtiEN2hxigpQN8CTJNyd6dIEaTmBE3LnT06Sqxc3CtN81gQJs5duarD1Ab3ckN8hQ1haTUz1-c1j2EmSWAFzaOUtPrpiCOH_76Ii6loo1j6hgxg2ZLu-ZUgqnszzrqRMZIdYmUD9ONQvup0E4ER_fPaB7-8Y9LV4441DRGJ0FA9T-uDlgXpx6qo71S56cfx66__59jGXBqPcl64W3uEvbERhsoMAIRNCy4u_W8tqLpUEbH60E68v95Y9MeB_jw9H8oMhE5luVuZa5qNUVNDamfJ2G8ljsuAsYlzfiO8tIbfMyWn2es7tKMPNpP36WZ02YDawR9JZSlFCCnpA3FH8G6M0PHCd9fuKWi8I8FVxMflsAoVJP4jLjFLiXDXhV5WLT_7xX7ZFCF7GsVdMd0s7bqF-iyWyslfcnsv1iMx-FgZS-e3SaOxk0vguAbR2OtnWMJ_rPc7LXgSHcxtiYxgAotnwdeuotbZw2X6PUUZDqIo7h1TylD9CZDQKPWu1zcx0ypdKDt4mQEPQxFLPjsXQXLARaT_KTfholef4gl7yNLg11yFRTMy1Xow-jj6B6lqpEdDVqIirPGJoT7evOw-rT6y9Y8qlzf69UiQvG6YWicQSsbK-xqSRHZHWVq1joXXwOAL9DDIAnOE-53QdDLDR-qv_5RKqRjlVwCF2bqNVjF_BFFg2s29M3NlULKonONQCKro4jbkJ4lacEr88AjvUBk6rKhY6odwfwz-l_M-L3HTOmxqdsC9Ap05HTyrMZFLdQ_IgEvIRLAuj_WfCNQn7HeTE7EPL8FgYTWhF4I5nDayagb0hrCpxtG6L4rUMJOyX1lzG6CnNAITWjWVFGuGrVKYJaF6UDOc5fRXyac-qKvvYikfX-XsAyAO47p8ruGx-jWno9Gt1x8IuqFapihevXnnXSlsbsOkKwiVAGgPKIMAobYvDnRK_Mceq3fLWUUa2XXLIJY46lumnlV2CtV5X5LL-2CaXbsRwakIFf6F-bYr7x4ILWIIPKseIeEy_QSDMBRiyr0b0Hjk2tvUKhXHHjC_prRAdQDgh8VUJXOdInCNKwzkkE1ErWGETbIKodx7yLDY8HD6OMSxwAqtBoY8DAa2X6fa7uxl-u9NXZiRM8z72jNzYC-Dg-9NJWy6zr6CzPfdmM8SWe5CaFCsbYH06t5LCaM4l5Le9xPyOXBKZotvAjx2OPQ=",
  "id": "rs_00434e83ff3765ac016ab468485dcc87d089a3dfefc0d3791e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.58,\"right_y\":0.045,\"right_z\":0.035,\"right_pitch\":0.5,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The yellow fruit is centered near the bottom of the wrist view, so a reach may still be possible. I’m advancing a short distance and lowering with the tool tilted forward.\"}",
  "call_id": "call_2ESX7FVzVBft1EmEvDPEYRHC",
  "id": "fc_00434e83ff3765ac016ab4684c560487d09546aaeb0a2ab4e3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2ESX7FVzVBft1EmEvDPEYRHC",
  "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]: [-0.0444, 0.8185, 0.6361, -0.4236, -0.0784, -0.0788, 0.9911, 0.1017, 2.4229, 1.0744, 1.1767, 0.0746, -0.0013, 0.9965]\nstate[eef_state]: left_x=0.2944 left_y=0.0043 left_z=0.1793 left_yaw=0.0608 left_pitch=-0.035 left_roll=-0.0026 left_gripper=0.9911 right_x=0.5721 right_y=0.0487 right_z=0.0182 right_yaw=0.0364 right_pitch=0.3963 right_roll=-0.015 right_gripper=0.9965\nstate[joint_eff]: [-0.5265, -1.306, 7.0906, 2.0293, -0.149, -0.0855, -0.0171, 0.1709, -10.6188, 4.6701, 2.3223, 0.2857, 0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b41d229e14990611aec2649749d496be737ce9601ac6395e14e20055ea213226",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd252c7021039a262a1ee2b8663eab359f884bb00868a86892fd0ecb49a78b0b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3ed66b70abbebaf31300171982f27582943c7fadefab3a8790ed52d41520c9d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 3.698 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 79 changed as sent

message 88 changed as sent

message 92 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8303, 0.6411, -0.4919, -0.0135, -0.0334, 0.9911, 0.4019, 1.5459, 0.728, 0.1684, 0.3351, 0.2169, 0.9958]\nstate[eef_state]: left_x=0.2856 left_y=-0.0003 left_z=0.1645 left_yaw=0.0044 left_pitch=-0.1121 left_roll=-0.0002 left_gripper=0.9911 right_x=0.4019 right_y=0.1116 right_z=0.0951 right_yaw=0.0066 right_pitch=-0.0403 right_roll=-0.0218 right_gripper=0.9958\nstate[joint_eff]: [-0.1299, -1.4017, 7.0359, 1.6484, -0.022, -0.0171, -0.0073, -0.3761, -7.0085, 6.4889, 1.9805, 0.0464, 0.0464, -0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0475, 0.8143, 0.6369, -0.4057, -0.0864, -0.083, 0.9912, 0.0563, 1.9633, 0.9344, 0.82, 0.0326, -0.0082, 0.9965]\nstate[eef_state]: left_x=0.2966 left_y=0.0048 left_z=0.1845 left_yaw=0.0667 left_pitch=-0.0118 left_roll=-0.0041 left_gripper=0.9912 right_x=0.5395 right_y=0.0282 right_z=0.1261 right_yaw=0.0337 right_pitch=0.3589 right_roll=-0.0155 right_gripper=0.9965\nstate[joint_eff]: [0.2256, -1.935, 7.706, 1.9463, 0.1685, 0.0952, -0.0757, 0.0889, -9.6479, 7.5145, 2.3272, 0.2027, 0.149, -0.0073]",
      "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]: [-0.0444, 0.8185, 0.6361, -0.4236, -0.0784, -0.0788, 0.9911, 0.1017, 2.4229, 1.0744, 1.1767, 0.0746, -0.0013, 0.9965]\nstate[eef_state]: left_x=0.2944 left_y=0.0043 left_z=0.1793 left_yaw=0.0608 left_pitch=-0.035 left_roll=-0.0026 left_gripper=0.9911 right_x=0.5721 right_y=0.0487 right_z=0.0182 right_yaw=0.0364 right_pitch=0.3963 right_roll=-0.015 right_gripper=0.9965\nstate[joint_eff]: [-0.5265, -1.306, 7.0906, 2.0293, -0.149, -0.0855, -0.0171, 0.1709, -10.6188, 4.6701, 2.3223, 0.2857, 0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b41d229e14990611aec2649749d496be737ce9601ac6395e14e20055ea213226",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd252c7021039a262a1ee2b8663eab359f884bb00868a86892fd0ecb49a78b0b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3ed66b70abbebaf31300171982f27582943c7fadefab3a8790ed52d41520c9d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGhSWoFKdkDfY47hyStI74HzjL4a3M3NC7lzwrZSoHd2c6dNlii2-pCe4C_CPgxAH_LthE6VOT5R1TgMc7POOXi0n3_te2o29kn1xW3Ebgn8pqoyTvPxAa_g2axh8LnLVDp7eVR9PKBasB5vSs1LwcV4g9-O0LQ7e9eznnKvymFHNW0wEh_-VoGAkLfoP4pEJspoGgUpiim_0ucCFMk-RwWYjqadeHcqaYEyM42K-oZhV1Vw6m-KniACpJz4i2JfraY6T1J9_vUUOo1wfz0f3tenNssq1RfF3_vL2R9AnC0JtiaCCbf_aClnEMkuhX5YIreSOgJPguzXMin4j2nkfpCfydb4E60M7vz-VP-gYDt3zZNGE6H6fcy9xbMrhwTsXXZ6Cp-99AwWXjiqhbOf3D_90xzKZaPwxJIlP-BeLRXJkJcoNzEMWBdtThkmy51oZuoInHYd3zTFpsoAs9wwTd397FlZOXxXNLWxJkCSkCyCWQ71HPuKkNPGN9jgkpL90LDKQeFSh_t6cWPLT5tcAg1_YmHZEvcWaJ7jMKBNlRhnW1mRIOXpP-vlTEGIi7s1UHkBvToKt8mV70mO8MvFjVOLb1zZQYkLOdxCLu1zjgz1UWMAVn4rYWEdslYEoqU2ETL6sBKGonxHGoFV0ZJEgFtWUKPCClQcBD79C8hfPA5AWreEjwCa8KIkoUmUSRlf3fekNR0LXVvkTi0PlotXiZEGYmlThCD4sNZOnrc9HO8dLSygB1J7KbpxMCPRSH-XmEyOD6NqqEwW7RrG79so7QKMUjRNnT6aMb-A_HH1pA6382J1f45v8kVgpa5EImcnrBVAqmeYk6pNNsyDhs6kLqpBoqts-czSNq89hdFcG0HKxCFQxLejVKrHp9bDAZWNab36oLE2WFWYubuDoATxyqSd-UegQkVVT4dyY3M2RDbbrUhinWqCH3auj3fXRY2Uayq4lYqGR9djgpdktjk3rO7kQZKwhC0IZfuFzr8hkC-vU5-xcGUrv7ut_X1-WvSeyCtfbHcNNf1iv5I6q8bSstd1A0zidtViaEj4npngP5MJjGGWILJ_wjhLtSsxaLKMVlq3UrWdOz0URq3DbjVeMzZyHEuvRS7Qzt32Xj9fFt96bTCLaCwSvX6ypZSKd0_RU_4tNtE2FQzh3jn7UcQTtKTwtvGnLnCE6R3paPC8wKfb-EQ5s3GskMiXQJl2AaqtmauuHB7uyF5OimSqMJNn5B8f1dAlQE15MqcSwrbFSiz8iO6FSrHSUW509QQ2HGkICDC72_O6bWptp0xigo9-nnUueEGHExZceQ2GurtC8ae46lhwKHiP2IL_t6IPJL7hYi_bdt2mVRwcr6pMESVAtR4YZoI99T07oTaaK2XxiWD8CYfZa-NO08xwMF4Oa47CDUnorkM3pmjsv-jGqgkMBNxoUpP25V8jZbx5aJylaFzcQdK91hq6sTvGeuOMoiSdcjQ7iZ4OAGkAUlbvuI_u0s6baeX787N4JWhXTx3IWfoPboCbh2eRf477d-89RxhAJt-Sodgdz5uYXTp8r-aoQ5OINChBkuzyoKhwO20X8JgOHJadVS93wPHMvBMhNmxAfZdPlF87i13e8usd2cd3qdzTCA==",
  "id": "rs_00434e83ff3765ac016ab4684fca0c87d08c7b3a1f686ca336",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.55},\"note\":\"The yellow fruit is between the forward-tilted fingertips. I’m closing only to approximately its width to reduce the chance of squeezing it away again.\"}",
  "call_id": "call_qqNN8o4KOX8DeX6OH554E6Rg",
  "id": "fc_00434e83ff3765ac016ab46851865c87d0b551e6f6eb569699",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qqNN8o4KOX8DeX6OH554E6Rg",
  "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]: [-0.0444, 0.8188, 0.6353, -0.4236, -0.0814, -0.0788, 0.9912, 0.1028, 2.4428, 1.0843, 1.2076, 0.0738, -0.0013, 0.6527]\nstate[eef_state]: left_x=0.2943 left_y=0.0049 left_z=0.1788 left_yaw=0.0634 left_pitch=-0.0359 left_roll=-0.0008 left_gripper=0.9912 right_x=0.5741 right_y=0.0497 right_z=0.0182 right_yaw=0.0376 right_pitch=0.4172 right_roll=-0.0134 right_gripper=0.6527\nstate[joint_eff]: [-0.0479, -1.388, 7.0496, 1.7363, -0.0269, -0.0855, -0.0073, -0.0752, -13.559, 3.3846, 1.5653, -0.0073, -0.0757, 0.8474]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35a62aa88c757dc9bf1b6a8ecd59fa61ede39f6fda5e64a8ca736a8463c11e12",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1923365ce7d59921268cd48ef53c062ad28ac6add0da1c9dde6a43f1f09f694c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d33726b621a2d5fccf133b837c9c7637573d8b60567a4335a3366631066ecb8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 6.436 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 83 changed as sent

message 92 changed as sent

message 96 changed as sent

message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0252, 1.7336, 1.1332, -0.3176, -0.7776, -0.7422, 0.9918, -0.012, 0.8227, 0.6468, -0.4255, 0.0128, 0.0051, 0.9965]\nstate[eef_state]: left_x=0.3259 left_y=-0.291 left_z=0.1281 left_yaw=-0.0106 left_pitch=-0.0328 left_roll=0.0179 left_gripper=0.9918 right_x=0.2957 right_y=-0.0022 right_z=0.1823 right_yaw=-0.0236 right_pitch=-0.0336 right_roll=-0.0019 right_gripper=0.9965\nstate[joint_eff]: [-0.6085, -8.2256, 8.7316, 1.2527, -0.5348, -0.1099, -0.4469, -0.294, -1.9214, 10.2222, 1.8584, -0.105, -0.1294, 0.0562]",
      "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]: [-0.0444, 0.8185, 0.6361, -0.4236, -0.0784, -0.0788, 0.9911, 0.1017, 2.4229, 1.0744, 1.1767, 0.0746, -0.0013, 0.9965]\nstate[eef_state]: left_x=0.2944 left_y=0.0043 left_z=0.1793 left_yaw=0.0608 left_pitch=-0.035 left_roll=-0.0026 left_gripper=0.9911 right_x=0.5721 right_y=0.0487 right_z=0.0182 right_yaw=0.0364 right_pitch=0.3963 right_roll=-0.015 right_gripper=0.9965\nstate[joint_eff]: [-0.5265, -1.306, 7.0906, 2.0293, -0.149, -0.0855, -0.0171, 0.1709, -10.6188, 4.6701, 2.3223, 0.2857, 0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0444, 0.8188, 0.6353, -0.4236, -0.0814, -0.0788, 0.9912, 0.1028, 2.4428, 1.0843, 1.2076, 0.0738, -0.0013, 0.6527]\nstate[eef_state]: left_x=0.2943 left_y=0.0049 left_z=0.1788 left_yaw=0.0634 left_pitch=-0.0359 left_roll=-0.0008 left_gripper=0.9912 right_x=0.5741 right_y=0.0497 right_z=0.0182 right_yaw=0.0376 right_pitch=0.4172 right_roll=-0.0134 right_gripper=0.6527\nstate[joint_eff]: [-0.0479, -1.388, 7.0496, 1.7363, -0.0269, -0.0855, -0.0073, -0.0752, -13.559, 3.3846, 1.5653, -0.0073, -0.0757, 0.8474]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35a62aa88c757dc9bf1b6a8ecd59fa61ede39f6fda5e64a8ca736a8463c11e12",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1923365ce7d59921268cd48ef53c062ad28ac6add0da1c9dde6a43f1f09f694c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d33726b621a2d5fccf133b837c9c7637573d8b60567a4335a3366631066ecb8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGhW7wnZcE9ThOhcOjmtEHx9w_U8Zmk1ie9IDMix0vUJjgwR7_PyWbfpqmNhN6YM5YSB5woNODdw5foql36omLVIZRWuOMJPemohxw8wR01l5Do14SZj0cb-L-2K7PohZIw7hoxA7snR44qin7z7bpx_HwNRwP5XCxwNXfVjdZqniIOG5UBp9rBFvanM84vEgmg4bBBUeJqawwU5tGFOShhhAc0ogS_ekq6U8LJNEJKNoAC1KznHoRNPspgV9Bi5Cb7ZuMRIpn2-4hthyIigkqw-rBFCdNaBz5bpz65-yTxnaVzYvaG1IVnBW1KngQcKSNlPsvw8tsj-zST6SP1q8CXyTEUHledwI9O6--5OXdn-j8h_YnhiW6Yk9uiRe_i1-SGhEJWiTWP6Orx1dpywZuku-h02U6EtTfvX_j9E4Mk4CBkThv5BWgnDNrWZ8XL6J0J3CkLISnqfSXsvOKdXp-FH5YqROt0k5eZF3E_AH97wtr_I6ZgeLi8mpCbigk4YTzDBM9f4HQMWleAfab9OlOqTA09236PMOR2mFFyM7-d7hgPL_7RtqhNU2UNnn79fUO-wAWEsX2W2LNJZ5E6Glp4A5MSgfmszUnDoOjBA90FG3SkVoMGfzvjCqICNf_k6JGlnkho1YJPehfplwIO6GMWsV8-j3kj9s8W0Kwtt3GJaWiLCmViZ4ADqjJTgm0NQYx88pWbkoqDhKmxHpGXkZArtiDmqj-8JTuHXOwNEU3YggTYVcl07gi2qeOuXChBULl5wvc8d02ChJ8eCP58Cg9HIo2kavaEwDJLbdxD502Voa-HpP8oU7VX78tgdpOSkUNskj5sxpjBEsSbTiWM3XuDEJbdY-w0GHwV84OPuRojrJtgXQDZjwByZ4YnIO0tjc5VBuof9TjdVxf5iZ6xshdfuG_X5VLra_9UkMMNn_q2QIPPz2cmZ0rEoCQyD_MLF5Gtol0uYmE_BuyQ79Z8vw_ac45378AqEIDG96o4NR8wXGCrbgBNjfMk4p2K_m0629TTbvyzdT_PAVqAzByuGPPtKsViwWZ3F27-v3-ldly0D4z_4fND08i9ElXmzMcjyZBp3ltRGFtvCzxNyjqDiadNyiUpdtEXVWIxtmG9Le6Gf42pK2s2urvNuj1Pxe07uBX9jyeneT3So0k66ardE3fmbYNkenhQ57s3VvdKco1GI5VToVW2vRY8dAfaoQAJsrXiwvnQY4-Pbp5W3sWnCfafqpOLpOj3tIPwKrevowuf3nrnh9BN0aHDfQaniUyr3CcE6xasYNkc8zePdcGJMOaANZckiBXIdTKH9s5l1_jJrCu9KdkOIdfXCIon1HUfe0PiGC-FexRh3tXHjzi-Ve4zUF5tJ3SXj59XjXr8xvuTXPt1ZFT32s84YcOpJhwUa7LR3PgtMcEmpUeqUR-OLYDPFQA==",
  "id": "rs_00434e83ff3765ac016ab46854685087d0ab27c60047147372",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.53,\"right_z\":0.18,\"right_pitch\":0.45,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The jaws have stopped around the yellow fruit without fully closing. I’m lifting and drawing it back slightly to verify the recovery.\"}",
  "call_id": "call_tHtQJWD7uH3bCFGZbJVDO9v7",
  "id": "fc_00434e83ff3765ac016ab46855842087d0b3ac1f7ef4097cf2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tHtQJWD7uH3bCFGZbJVDO9v7",
  "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]: [-0.0444, 0.8246, 0.6353, -0.4259, -0.0814, -0.0784, 0.9911, 0.1284, 1.8843, 0.9302, 0.8383, 0.1081, -0.001, 0.6547]\nstate[eef_state]: left_x=0.2944 left_y=0.0049 left_z=0.1768 left_yaw=0.0632 left_pitch=-0.0439 left_roll=0.0004 left_gripper=0.9911 right_x=0.534 right_y=0.0533 right_z=0.1699 right_yaw=0.0297 right_pitch=0.4526 right_roll=-0.0149 right_gripper=0.6547\nstate[joint_eff]: [0.0205, -1.5795, 6.9812, 1.7265, -0.0317, -0.022, -0.0171, 0.335, -10.6325, 5.9282, 1.9219, 0.1245, 0.0952, 0.1978]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68bbd4ac714e53eb1a1565cb2640869380fffc6caf8bf0cc5f2c3126c6f18352",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c95202a71a6bfd8807c9fbab5c0053735dce0660fd5ef2a33a75f66212041c46",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8067c2cd2fed4cd20a16d5c448e491651735fd2572aa673c2f0bebb9b08b10b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /responses · status 200 · 6.85 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 88 changed as sent

message 96 changed as sent

message 100 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0475, 0.8143, 0.6369, -0.4057, -0.0864, -0.083, 0.9912, 0.0563, 1.9633, 0.9344, 0.82, 0.0326, -0.0082, 0.9965]\nstate[eef_state]: left_x=0.2966 left_y=0.0048 left_z=0.1845 left_yaw=0.0667 left_pitch=-0.0118 left_roll=-0.0041 left_gripper=0.9912 right_x=0.5395 right_y=0.0282 right_z=0.1261 right_yaw=0.0337 right_pitch=0.3589 right_roll=-0.0155 right_gripper=0.9965\nstate[joint_eff]: [0.2256, -1.935, 7.706, 1.9463, 0.1685, 0.0952, -0.0757, 0.0889, -9.6479, 7.5145, 2.3272, 0.2027, 0.149, -0.0073]",
      "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]: [-0.0444, 0.8188, 0.6353, -0.4236, -0.0814, -0.0788, 0.9912, 0.1028, 2.4428, 1.0843, 1.2076, 0.0738, -0.0013, 0.6527]\nstate[eef_state]: left_x=0.2943 left_y=0.0049 left_z=0.1788 left_yaw=0.0634 left_pitch=-0.0359 left_roll=-0.0008 left_gripper=0.9912 right_x=0.5741 right_y=0.0497 right_z=0.0182 right_yaw=0.0376 right_pitch=0.4172 right_roll=-0.0134 right_gripper=0.6527\nstate[joint_eff]: [-0.0479, -1.388, 7.0496, 1.7363, -0.0269, -0.0855, -0.0073, -0.0752, -13.559, 3.3846, 1.5653, -0.0073, -0.0757, 0.8474]\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 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0444, 0.8246, 0.6353, -0.4259, -0.0814, -0.0784, 0.9911, 0.1284, 1.8843, 0.9302, 0.8383, 0.1081, -0.001, 0.6547]\nstate[eef_state]: left_x=0.2944 left_y=0.0049 left_z=0.1768 left_yaw=0.0632 left_pitch=-0.0439 left_roll=0.0004 left_gripper=0.9911 right_x=0.534 right_y=0.0533 right_z=0.1699 right_yaw=0.0297 right_pitch=0.4526 right_roll=-0.0149 right_gripper=0.6547\nstate[joint_eff]: [0.0205, -1.5795, 6.9812, 1.7265, -0.0317, -0.022, -0.0171, 0.335, -10.6325, 5.9282, 1.9219, 0.1245, 0.0952, 0.1978]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68bbd4ac714e53eb1a1565cb2640869380fffc6caf8bf0cc5f2c3126c6f18352",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c95202a71a6bfd8807c9fbab5c0053735dce0660fd5ef2a33a75f66212041c46",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8067c2cd2fed4cd20a16d5c448e491651735fd2572aa673c2f0bebb9b08b10b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGheXkjKdDgriCG-9-_8iVt1n8gmea4fxPcMykboWG8ea-lC7ly1d5fHwOiFgpy9t6FPbaIKnJOK0zm1FzgIJ0MrQIF9YHfMuXoApJ1uxi1orRUCsSz0DHr3ZAQfOhVc9yjroYmjbM6A3aJdaFztt0G41YJ2rb9hXzwoox1pvQBTVgmdf4S39YFEKI8A582w2Xydi5kixlE_I2DW6q-kqUNn14bAiajVRt6GrXRWAnAhaKby3m8BAUtCAHC4RMr2_q-UqKr9GsJeTNIIvG3tkYeMwSpKQ3CCY5vSqphP_0L-LltwU0x-RO9ykc6sMXCMzxPyz68bJZYvr4W-OtG-4PSrmxI01ghI9HUdC1Nble13JRuNV30eWjenHTXO9_I654Kze6uR9SudChD3dOmx17WRzNOZSzjeyYrd8RouszKor7eRjCSTqEY-x_fL9IZnDbIGm4ciC4KgkZKUPy-BoFXXtuLB_2hzT970N72Zgwi7z1Cx0tUR-InoT3QnC88URWfc_DHCczrAl5_JG9GRvx7d63lev3305h5YMDpeBPxDyb3TtivG8tm1EtUWrlfa7B9RLJtaIxHUYd2dovLcWJIZMmkimqeo9OBSe6rw6tHArW048z3nJFJIDfA-n-TcH46_UrGARKSxWilGBSkV3UF6MqM916y9G_66bqhXCBc6-1sBZG1jlGATQIHLSevqZgCPrQTKj7q96hI-4ZxqQ_E24CY1mH8UaloaVN1FMfG7ZLyanDqCkLyUvi6GNjr52ednBkakwz3xqk65TTxNz6HSNaqWUbpbAPkrF2Z0G4x9lm-gOT1_09gPx3nOmX_YmjlNiPuGpk09OmNnpYVJXIZZTA407Xl93TQRK_gx9ViCxNxwOfkHNTt1mpN0jg4XczR_w2fObVGNQOZCnRdoCS1bXjPHBrlxl0U8GxL2LEVQDrDtIWtVcLJ8sJ7klbIuiVIP-bs5-PF9FBLdCxjXtYkhB6gw71dWli5KjQrl76BDPGhs5mDMNASiF2gA7bEiDDQDcy4Hq5iuV33nCOme0rxPO6s3qa0S1OV5wKy7w6sNgHiwbfMk4vzUvfbiOuyHdTPLLeWPzLnaK1ZgSxxhzuH4lsY4AXShRgU96S3p86KAuBprKP_WPBORAipKbeApCOs22xvNeEynDWm43-424wui2vf6B-i8YT4dPtxR5lM_Kw54VHDwUV0dCZT9Krenl35kD2fruaAcnAiY0ZLxNzm_fnuTeiq9tmuCd0-Znfl4nzjclSKtrk9DLnu331B07Jm0iL6GY2xoAepm30Od_RfKOntHdfL8FpLkdZOyDgKsZUCJAljUvO7x1U1yJBLYy4zppLehHPROLotpWlzcNWJCa4R_iivIQ-e8dkmMv6rbVtI0nayzL77HyYCAZ3Wr6uwfMZj_qO4oJ6wLCfdzq7g4Lj78X7mW3z-KZno8SBsNSguj-nr5Wc0vG8rgbqyYXuw2ilguhIf6GlNd9IzVR9eefGaNfDmXucCNIEn6ZepqlGLu8vZtNoRYdB9g0McEuqKqxVpJBxhP3udGmcR7Zdqoy91Vvp7N-m-xxVh50WxEOTjC5f-VzH8WD7f7rm1Nq_aq_etc6htvshkwP6fu_Eh7Y3Hq-4hj3DAL5e_W8YwnQ3QqVexUcXAuN66n7L3fr5EWl4qsAug-DLnhJGeHViyty1R3-w6tqCKbNYLtdLG6Helf-5Mp20B_8F-uiv-RB_UKEiJ1xa1IAwUw2tAU6vwq9LQoK18uwpoim2DUOcLjNaJQe76VPsLvJQvTXgW5tPwyOf5-6sSlOa3U6EwrhmIB21zM2qBOMHv5s9EqvV0z6OhueXk5z1TAvOJ9VQwZLXO4-E8PiY81tSJ_sqwhJsCjkK0bny-L83Lt0kInxCODqjDhp0W80ydZwoh2kt_AAxsRccJlVdzEwCpEWMQ8qvu6lJrkP_oEXjhJEM6ft21xUcQJBidW34qfObzT2gQouvoP",
  "id": "rs_00434e83ff3765ac016ab46859402887d09e574ce60fa370c0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.355,\"right_y\":0.135,\"right_z\":0.17,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The yellow fruit is securely lifted again. I’m bringing it back over the center of the blue bowl, using the bowl’s current position rather than the earlier release point.\"}",
  "call_id": "call_4kJseXy0j0Hz4fqd6IwQQ780",
  "id": "fc_00434e83ff3765ac016ab4685ca14487d08a653d4711c805d5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4kJseXy0j0Hz4fqd6IwQQ780",
  "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]: [-0.0441, 0.831, 0.6338, -0.4408, -0.0818, -0.0788, 0.9911, 0.5537, 1.3098, 0.7784, -0.0975, 0.4351, 0.2764, 0.6576]\nstate[eef_state]: left_x=0.2924 left_y=0.0052 left_z=0.1714 left_yaw=0.0643 left_pitch=-0.0666 left_roll=0.0028 left_gripper=0.9911 right_x=0.3604 right_y=0.1395 right_z=0.1593 right_yaw=0.0454 right_pitch=0.005 right_roll=-0.0168 right_gripper=0.6576\nstate[joint_eff]: [-0.0479, -1.5932, 7.1043, 1.8926, -0.0904, -0.0415, -0.0122, 0.1709, -6.6393, 9.6615, 1.8486, 0.3199, 0.1538, 0.2906]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:396cd0fcdc0a56d23b45e0cd9621d461f043a1e216027ca5a4d9895c045cf142",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac9ffab2f8a061bd6fd6f0f52534025d4c3786e6fe1da05bdebec42c981a7406",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1989f6b1e1c6280d3610911b087768037be733fdffb3dcc9f14c6a0ab90830b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 2.238 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 92 changed as sent

message 100 changed as sent

message 104 changed as sent

message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0444, 0.8185, 0.6361, -0.4236, -0.0784, -0.0788, 0.9911, 0.1017, 2.4229, 1.0744, 1.1767, 0.0746, -0.0013, 0.9965]\nstate[eef_state]: left_x=0.2944 left_y=0.0043 left_z=0.1793 left_yaw=0.0608 left_pitch=-0.035 left_roll=-0.0026 left_gripper=0.9911 right_x=0.5721 right_y=0.0487 right_z=0.0182 right_yaw=0.0364 right_pitch=0.3963 right_roll=-0.015 right_gripper=0.9965\nstate[joint_eff]: [-0.5265, -1.306, 7.0906, 2.0293, -0.149, -0.0855, -0.0171, 0.1709, -10.6188, 4.6701, 2.3223, 0.2857, 0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0444, 0.8246, 0.6353, -0.4259, -0.0814, -0.0784, 0.9911, 0.1284, 1.8843, 0.9302, 0.8383, 0.1081, -0.001, 0.6547]\nstate[eef_state]: left_x=0.2944 left_y=0.0049 left_z=0.1768 left_yaw=0.0632 left_pitch=-0.0439 left_roll=0.0004 left_gripper=0.9911 right_x=0.534 right_y=0.0533 right_z=0.1699 right_yaw=0.0297 right_pitch=0.4526 right_roll=-0.0149 right_gripper=0.6547\nstate[joint_eff]: [0.0205, -1.5795, 6.9812, 1.7265, -0.0317, -0.022, -0.0171, 0.335, -10.6325, 5.9282, 1.9219, 0.1245, 0.0952, 0.1978]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0441, 0.831, 0.6338, -0.4408, -0.0818, -0.0788, 0.9911, 0.5537, 1.3098, 0.7784, -0.0975, 0.4351, 0.2764, 0.6576]\nstate[eef_state]: left_x=0.2924 left_y=0.0052 left_z=0.1714 left_yaw=0.0643 left_pitch=-0.0666 left_roll=0.0028 left_gripper=0.9911 right_x=0.3604 right_y=0.1395 right_z=0.1593 right_yaw=0.0454 right_pitch=0.005 right_roll=-0.0168 right_gripper=0.6576\nstate[joint_eff]: [-0.0479, -1.5932, 7.1043, 1.8926, -0.0904, -0.0415, -0.0122, 0.1709, -6.6393, 9.6615, 1.8486, 0.3199, 0.1538, 0.2906]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:396cd0fcdc0a56d23b45e0cd9621d461f043a1e216027ca5a4d9895c045cf142",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac9ffab2f8a061bd6fd6f0f52534025d4c3786e6fe1da05bdebec42c981a7406",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1989f6b1e1c6280d3610911b087768037be733fdffb3dcc9f14c6a0ab90830b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGhmzwTaBK_cW-i_EKcVZywr0blkIc3RMP2YtIZ43EKbiru3oP7-FfZ3RAhgYbe3QUfIxvljAxwG7gMwqLWNdr8cQvH_5-mzKpRq8t_tkMj-cr006UYZtDlQwegAehk5k3CkRkPltvFKpPDT6X04hzgYfQHI1WAsKC0P_bQu_lWI-1dk3gxQP8XZUqbH1l0fj4NqrzoVxNZj5FT7ClEiy2O72MSssKgGHVPxyzKjImSkw0wMnTQ6RHdV3U18KJ7qWQVCOEXTdAQ4kY-3TDU835UR4CXU4gGO0XtMPj6CS5GHsdA1wHMuJhTfLYQ5OKCjPH35FYF61w_INgIZw6O4wFuJBbSoBZx8dATL2lY8MQY2AV3Q8msJS9Y-FO9Hq0I4ZBjnSuKcmGuJNhQExVrJuFQxeCAGsNKqq0lipln_H1cdFL8zUodd42Y39QmAc2uFPAUP0N8PkG1VYWsEsn05-ILqvZTAw79SLE4iRPl3ITwjk8El_eYNuF-XVsJMvGNI9u7XUOqhMItmcgos6bJJa4i1u1y_d8A1ARwbvSNoS14wKOh_JrSUcQ09E8eMoEH3kV6138m7XY1EcE6RU6mLHjNzw-WJ65dGwQTRfLGGZAOU1kBMXZcoJRAMLv3mY2EAqRqUnKx5G7s10vFb4rXmns5N1I0Z2rt8AvGt2qmws4vZKh7CotUdqiGHcY9iaUbwE-K_u7QFWV0kGa1G5vTNQJUEjSpFzAhOdwN7OyRoBcBAKpbFoGPtxuJlksIORftb0tI8AndCpKbOU0PP6PdqNMe92eF1IdKL8SYGwBLs9BnC_MlvZf7_J0e9HWJhmni-lpwcylsqoFaXh4x6CxdFbG7zqGRT2eYdhQBDHjCFQ-kntTvAVn9G7cblkt7IKeWIfLlhKgujQDepXS24-sdpBNr9QdX5YbRObSA2c23JL9GI4XG1URNMI0U-0fAgHBsZkhq4i6z5QvFjEyUNAfBZLjb-DFqwYY9yLj-L0ScRxRanl3g7aTipuDej52oBy6KpTc7Xzl445m53JYIAyj54_VhISJ6oDdRwbfJ9bhNIY6kDll2jyEya4SwEOncZAjlFn0g3ShPHKjhuzR8x_yrTo8yRjn2A4CURfTc5qCtO-a9MsmElXF3cohGM9P3T-IXh0_1nt34WSh-GipD8SKWgazxJRkEIdzQBw11MW2iGGIkMytJJMTz5PG_haf0fiI22gGULuYAHU5W61vHJE57U8x-0uCpKDa8U3p49WA3wPHKoWIWg6o5VW-8Nr0a1Ug9nt3Jl8vJAOSejisNLjj4vOGxrGDXbHA-7Qu_iJULMyIAy7Rf1d2CouiV210K_I2O69aazRR3Dm0-fONlUVUKHtOtxQw==",
  "id": "rs_00434e83ff3765ac016ab46864cfe487d09ae258bd982f9cf2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.075,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The yellow fruit is now centered directly above the blue bowl in the overhead view. I’m lowering it into the bowl so it is supported before release.\"}",
  "call_id": "call_ockD2fvM2PYEtMgoM5W6sbfx",
  "id": "fc_00434e83ff3765ac016ab46865875487d0a0954252f0bb589c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ockD2fvM2PYEtMgoM5W6sbfx",
  "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]: [-0.0437, 0.8322, 0.6338, -0.4461, -0.0818, -0.0788, 0.9911, 0.5667, 1.4994, 0.5835, 0.1936, 0.4576, 0.3107, 0.6596]\nstate[eef_state]: left_x=0.2917 left_y=0.0053 left_z=0.17 left_yaw=0.0647 left_pitch=-0.0731 left_roll=0.0035 left_gripper=0.9911 right_x=0.3518 right_y=0.1356 right_z=0.0666 right_yaw=0.0204 right_pitch=-0.0681 right_roll=-0.0477 right_gripper=0.6596\nstate[joint_eff]: [-0.0615, -1.4838, 7.1043, 1.6972, -0.0562, -0.0513, -0.0122, 0.1436, -5.8735, 5.4769, 1.6093, 0.2418, 0.1197, 0.1978]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad37c365a8677f8a29340e88969f3d09954a3dd771f8f57db67c0d17717df1eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdaa1cd616cf3dfd20432128690bb2451b5c9129ead6d5867f7d82669bc600ae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7d57a5cb1326fba8759e5919caef462412e6b9949c4c61e8697e4fa4c721535",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 28 attempt 0 · /responses · status 200 · 7.746 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 96 changed as sent

message 104 changed as sent

message 108 changed as sent

message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0444, 0.8188, 0.6353, -0.4236, -0.0814, -0.0788, 0.9912, 0.1028, 2.4428, 1.0843, 1.2076, 0.0738, -0.0013, 0.6527]\nstate[eef_state]: left_x=0.2943 left_y=0.0049 left_z=0.1788 left_yaw=0.0634 left_pitch=-0.0359 left_roll=-0.0008 left_gripper=0.9912 right_x=0.5741 right_y=0.0497 right_z=0.0182 right_yaw=0.0376 right_pitch=0.4172 right_roll=-0.0134 right_gripper=0.6527\nstate[joint_eff]: [-0.0479, -1.388, 7.0496, 1.7363, -0.0269, -0.0855, -0.0073, -0.0752, -13.559, 3.3846, 1.5653, -0.0073, -0.0757, 0.8474]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0441, 0.831, 0.6338, -0.4408, -0.0818, -0.0788, 0.9911, 0.5537, 1.3098, 0.7784, -0.0975, 0.4351, 0.2764, 0.6576]\nstate[eef_state]: left_x=0.2924 left_y=0.0052 left_z=0.1714 left_yaw=0.0643 left_pitch=-0.0666 left_roll=0.0028 left_gripper=0.9911 right_x=0.3604 right_y=0.1395 right_z=0.1593 right_yaw=0.0454 right_pitch=0.005 right_roll=-0.0168 right_gripper=0.6576\nstate[joint_eff]: [-0.0479, -1.5932, 7.1043, 1.8926, -0.0904, -0.0415, -0.0122, 0.1709, -6.6393, 9.6615, 1.8486, 0.3199, 0.1538, 0.2906]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0437, 0.8322, 0.6338, -0.4461, -0.0818, -0.0788, 0.9911, 0.5667, 1.4994, 0.5835, 0.1936, 0.4576, 0.3107, 0.6596]\nstate[eef_state]: left_x=0.2917 left_y=0.0053 left_z=0.17 left_yaw=0.0647 left_pitch=-0.0731 left_roll=0.0035 left_gripper=0.9911 right_x=0.3518 right_y=0.1356 right_z=0.0666 right_yaw=0.0204 right_pitch=-0.0681 right_roll=-0.0477 right_gripper=0.6596\nstate[joint_eff]: [-0.0615, -1.4838, 7.1043, 1.6972, -0.0562, -0.0513, -0.0122, 0.1436, -5.8735, 5.4769, 1.6093, 0.2418, 0.1197, 0.1978]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad37c365a8677f8a29340e88969f3d09954a3dd771f8f57db67c0d17717df1eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdaa1cd616cf3dfd20432128690bb2451b5c9129ead6d5867f7d82669bc600ae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7d57a5cb1326fba8759e5919caef462412e6b9949c4c61e8697e4fa4c721535",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The yellow fruit is seated within the blue rim. I’m opening the gripper while holding this low position.\"}",
  "call_id": "call_q0agQVhx2ibv6GW31VzUdysK",
  "id": "fc_00434e83ff3765ac016ab468687a0887d0aad04a1f7e8570b3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_q0agQVhx2ibv6GW31VzUdysK",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0437, 0.8322, 0.6338, -0.4477, -0.0818, -0.0788, 0.9911, 0.5667, 1.5131, 0.5766, 0.1997, 0.4553, 0.3061, 0.9958]\nstate[eef_state]: left_x=0.2914 left_y=0.0053 left_z=0.1697 left_yaw=0.0647 left_pitch=-0.0746 left_roll=0.0037 left_gripper=0.9911 right_x=0.3501 right_y=0.1349 right_z=0.0602 right_yaw=0.0241 right_pitch=-0.0814 right_roll=-0.0576 right_gripper=0.9958\nstate[joint_eff]: [-0.1299, -1.4564, 6.9949, 1.6679, -0.0904, -0.0806, -0.0073, -0.0342, -6.9265, 6.2291, 1.5409, 0.1685, 0.0317, -0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3f1d1b37faa31184e738cca1b3749a91e26848718b2d04097c2395958536685",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f2593e14bafa8bc7ba0c6ae8a30baa43bf7b5ce0a68b0a1354b01b9b6fd5dea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41a167005bb49e9c8a47e4062a4fb8d5e5983c6f0bf69254bb449787469eb0f6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 29 attempt 0 · /responses · status 200 · 18.72 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 100 changed as sent

message 108 changed as sent

message 111 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0444, 0.8246, 0.6353, -0.4259, -0.0814, -0.0784, 0.9911, 0.1284, 1.8843, 0.9302, 0.8383, 0.1081, -0.001, 0.6547]\nstate[eef_state]: left_x=0.2944 left_y=0.0049 left_z=0.1768 left_yaw=0.0632 left_pitch=-0.0439 left_roll=0.0004 left_gripper=0.9911 right_x=0.534 right_y=0.0533 right_z=0.1699 right_yaw=0.0297 right_pitch=0.4526 right_roll=-0.0149 right_gripper=0.6547\nstate[joint_eff]: [0.0205, -1.5795, 6.9812, 1.7265, -0.0317, -0.022, -0.0171, 0.335, -10.6325, 5.9282, 1.9219, 0.1245, 0.0952, 0.1978]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0437, 0.8322, 0.6338, -0.4461, -0.0818, -0.0788, 0.9911, 0.5667, 1.4994, 0.5835, 0.1936, 0.4576, 0.3107, 0.6596]\nstate[eef_state]: left_x=0.2917 left_y=0.0053 left_z=0.17 left_yaw=0.0647 left_pitch=-0.0731 left_roll=0.0035 left_gripper=0.9911 right_x=0.3518 right_y=0.1356 right_z=0.0666 right_yaw=0.0204 right_pitch=-0.0681 right_roll=-0.0477 right_gripper=0.6596\nstate[joint_eff]: [-0.0615, -1.4838, 7.1043, 1.6972, -0.0562, -0.0513, -0.0122, 0.1436, -5.8735, 5.4769, 1.6093, 0.2418, 0.1197, 0.1978]",
      "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]: [-0.0437, 0.8322, 0.6338, -0.4477, -0.0818, -0.0788, 0.9911, 0.5667, 1.5131, 0.5766, 0.1997, 0.4553, 0.3061, 0.9958]\nstate[eef_state]: left_x=0.2914 left_y=0.0053 left_z=0.1697 left_yaw=0.0647 left_pitch=-0.0746 left_roll=0.0037 left_gripper=0.9911 right_x=0.3501 right_y=0.1349 right_z=0.0602 right_yaw=0.0241 right_pitch=-0.0814 right_roll=-0.0576 right_gripper=0.9958\nstate[joint_eff]: [-0.1299, -1.4564, 6.9949, 1.6679, -0.0904, -0.0806, -0.0073, -0.0342, -6.9265, 6.2291, 1.5409, 0.1685, 0.0317, -0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3f1d1b37faa31184e738cca1b3749a91e26848718b2d04097c2395958536685",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f2593e14bafa8bc7ba0c6ae8a30baa43bf7b5ce0a68b0a1354b01b9b6fd5dea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41a167005bb49e9c8a47e4062a4fb8d5e5983c6f0bf69254bb449787469eb0f6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGhxXQAzLtIQcFN9mrcoq0O3Aox-vRMdXjMO6ysXnpeyuyexhwlPLpo6NTmEcV42K1eXtQt9bdOND40aLLc6zg63GrUHQucb4gw83_Pvy6I7nEzMt1FL51lEr_xAacv2Fh4uwkwWLzJNstZ-Fz3s--W8Y9Wda4RN2LR_W0Vmu2dz47VA3Q1kOV3n7h6wMvDq-PrZMs5WOZGW66K15cCa_R229F7uQYPKz9YquFVt6mubCfdjazcbVwsQYKw_TV2Yo9Mj2t8B0FJvdW0WdSXfgdMuhyV2tApRzjGzTVBG_apWG7aKrWfvhnD5FI7nIy6jOFhWrNdQb8xUJTbcioXHMjuetrZGflPhHrIoVnXRSSi549LmQz6sTyOY5YTPvrDBDw6WMTqdpibmcsCARsSjTwU9An-UjLJrGn3on8Ir6YEtsTmb5OcyNo1wRzGRGNxMwgs9OMQybdZhcjKacLsHmUsG7OHsY3Xk9MWw_OGvSj96FK_nYlg6Rtu6RGplDa0q6uhdiPK4MyCQfu03M_MiEqPR50_d5vQIRfXC_dd4HAC9mWTyBaE0xAhlx8h8-vEVuigi6e0v4hP9f-KdtOab-vWzei-zjXsfIKFOeF15iahiYmJ47hg2FFlIz8jpT_XfcfJfbXh8AHLuPbDlP9USYLyqezTYAm2PH-lbDymoI_duwCvRA6Q3tfM6Er8o4vgZZKU2AapzSiuNZeRcXG7oERc2tlURP6gghCwREEkqWvT0T971H1EZLAkgn-hquprTfjQrV-z9-nTjWoi0KBq6Ut_lnKbEjhLMJ_Yd-Ib2X6NaNaBOjKLcbGFHSrtND_gPNKpTJzvX9sfFDKSwRS-_WJxj5J6f2AiMXZ8UzjNqGZpzDMKup9XpqwGIEMCfTlh5pKx4oUBVXgWTH_y3CfusLW0HWy2b01XL23V26Vx2U17sVGazTbDLFCk4nhmO2MOIswGzEbzmWqyu6I8tngUzAlmOaiBsSxbgU62ONk08KO5Z2quQKwTA5zhhKRbsrGHKrE9jirOUBOeV1vDG8VuvPp0_1OhYXg50onb-5uCYgsDDnqbYOgc9328FP3cYGiTMizDWJsaR9Ip1Ftac6Ca5mnPyupBremR5fZ2l5-lgwggt643EsOLYH9feYOQrkoS6tta379EjU9V7uU9gk6pHoKLusc81hEyFoh6U1JeGwobEisiqKxmvqgN8tdDC9DRJ48VFK95rr9joOY5IHRaN8Ge8Wq2nnbupMuDpmkdISMbeGtPUtFnVx5e3XH-WvtoNFHWt3YAU8uCnzTtDLd5hMcCXfZopHtOwCa1L_aYIUslgO8bThWl5lCHdZ6aKgpXs0Hrmv6aJjO-hY3hva1ZrdEZuW-NPRkXEEzVZejthmPNGtIPFvDyxu-0Zkm_pW-ZjTqxszPtksOhGQl_G6TFe05-z4-XHfHc1-DUcU8OaLslXcS8oDBiIC754DR2tBIy_k84pK70FFxJoHgcGQ9U_1NiFPBvTM3DiOXL-VZX-pUdufVFmom-YygA9SoNtnvZdw50cqn0ExwNCpcs8g6sXN4oFgndI82HtMf4sHrkHxr8W-DdzUoeqVbWm4sme38cKGl6im_Qh47umexMlJBvaW7ziA3IB91VTEPC0dno7afs3A7fD8-0xGt7ps_pv4GqHc8GGfmjvVwxqkxFRYPDPMipigFFSwKn1QUG_gwGCJ0GxR1ibXUPz-50gOsjfwlUkx4svdY4CJm9WkyuQg3tfGjaJ5MU016srddKHm7oUliM5FIH6F-QQhNHuzdGDNUa5sqLjsjEoOduKMyB4_CHXV4LilSEibpXvmZbz9IXjIgVgN9HFXpsLrexcqHsV3DagiFSeOvU_WOu8YOtfUkzij8YYrEPTx9EgpLNz6l58DKlCyD0O527csIeznmCaCJ0z6XWUxkxG2gx0S73CzIez2F0RuJMOwkxnCRUqiIkQl1DK7-g55vhSCAOzYT9lExJ4MD00EyiPBDR1Y6ex7agjmein705kw_H3JyO9Z7JorrBkBITogpHdYSefCe4z6Fl8uSKeBHVZrXivuJ7tZXpur-BJyB4A6iOrfv6tBOtA1F7eumvR5MUF3F3wmNVchgy-OIbOCf9857Yw15cuFbg8VaKNJ_XRuA0nDV4261K86Izuh7dqxr_AhQv28Plvgc1X8aVB-LCyMC-M18s_vWYRmFJvsiZgcqicr3VfFCNkMbia0KzKAcy2iNCyYRN6_m7H9YjvkmopuCrzElwSEW50gtQphNoW4Nkw79qSBP4Z_UXR6ldGg2ZtYxgyCFrEBhF29bZOawefQnPSfNGFdLhgwf5k0DEdV2zewlKRJl9o8qhmv7plrObvHS-6566zN1Stvul7eQHm6JyywQQLEU89jpAPkZI8ew_uPbFYZS-pSPENbvlsLeEe77yujWlOhWvHvghRjx-0FkFnsAWaxXF3WtUeVDCndzU1XzLm3UAU2oij1ZE=",
  "id": "rs_00434e83ff3765ac016ab4686b2f3087d0b9c73a2ae7fed364",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.296,\"right_y\":0,\"right_z\":0.2,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0,\"left_x\":0.335,\"left_y\":-0.335,\"left_z\":0.025,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0,\"left_gripper\":1},\"note\":\"The yellow fruit has been released inside the blue bowl. I’m moving the right arm clear and positioning the left fingertips around the remaining dark fruit.\"}",
  "call_id": "call_AmrTOcjP9RD9r4QGfgn56yQF",
  "id": "fc_00434e83ff3765ac016ab4686fbb2c87d0b4845fb3515e064a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AmrTOcjP9RD9r4QGfgn56yQF",
  "output": [
    {
      "text": "executing move_to over 31 steps (3.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0611, 2.0678, 1.092, 0.0284, -0.8085, -0.7868, 0.9919, -0.0116, 0.8188, 0.6502, -0.4351, 0.0158, 0.0021, 0.9965]\nstate[eef_state]: left_x=0.3318 left_y=-0.3244 left_z=0.019 left_yaw=-0.0029 left_pitch=-0.0262 left_roll=0.0189 left_gripper=0.9919 right_x=0.2945 right_y=-0.0026 right_z=0.183 right_yaw=-0.0242 right_pitch=-0.0359 right_roll=-0.0062 right_gripper=0.9965\nstate[joint_eff]: [-0.841, -10.5231, 6.6667, 1.2723, -0.5788, -0.0904, -0.5543, -0.2667, -2.0855, 9.9897, 1.8877, -0.1685, 0.0122, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4212ca4b59dfbff520f11482279c5a2903802ab40a7fb4e8db55da564f345e91",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d51d79ab1eba2048c9e306a3e12321fdebf7f819bc56a0194f73279e9fcad8ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17085947c83bc18eaa9dcce94175bc0339609b8da41b1d933674779a51c32c9f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /responses · status 200 · 4.086 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 104 changed as sent

message 111 changed as sent

message 115 changed as sent

message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0441, 0.831, 0.6338, -0.4408, -0.0818, -0.0788, 0.9911, 0.5537, 1.3098, 0.7784, -0.0975, 0.4351, 0.2764, 0.6576]\nstate[eef_state]: left_x=0.2924 left_y=0.0052 left_z=0.1714 left_yaw=0.0643 left_pitch=-0.0666 left_roll=0.0028 left_gripper=0.9911 right_x=0.3604 right_y=0.1395 right_z=0.1593 right_yaw=0.0454 right_pitch=0.005 right_roll=-0.0168 right_gripper=0.6576\nstate[joint_eff]: [-0.0479, -1.5932, 7.1043, 1.8926, -0.0904, -0.0415, -0.0122, 0.1709, -6.6393, 9.6615, 1.8486, 0.3199, 0.1538, 0.2906]",
      "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]: [-0.0437, 0.8322, 0.6338, -0.4477, -0.0818, -0.0788, 0.9911, 0.5667, 1.5131, 0.5766, 0.1997, 0.4553, 0.3061, 0.9958]\nstate[eef_state]: left_x=0.2914 left_y=0.0053 left_z=0.1697 left_yaw=0.0647 left_pitch=-0.0746 left_roll=0.0037 left_gripper=0.9911 right_x=0.3501 right_y=0.1349 right_z=0.0602 right_yaw=0.0241 right_pitch=-0.0814 right_roll=-0.0576 right_gripper=0.9958\nstate[joint_eff]: [-0.1299, -1.4564, 6.9949, 1.6679, -0.0904, -0.0806, -0.0073, -0.0342, -6.9265, 6.2291, 1.5409, 0.1685, 0.0317, -0.1392]\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]: [-1.0611, 2.0678, 1.092, 0.0284, -0.8085, -0.7868, 0.9919, -0.0116, 0.8188, 0.6502, -0.4351, 0.0158, 0.0021, 0.9965]\nstate[eef_state]: left_x=0.3318 left_y=-0.3244 left_z=0.019 left_yaw=-0.0029 left_pitch=-0.0262 left_roll=0.0189 left_gripper=0.9919 right_x=0.2945 right_y=-0.0026 right_z=0.183 right_yaw=-0.0242 right_pitch=-0.0359 right_roll=-0.0062 right_gripper=0.9965\nstate[joint_eff]: [-0.841, -10.5231, 6.6667, 1.2723, -0.5788, -0.0904, -0.5543, -0.2667, -2.0855, 9.9897, 1.8877, -0.1685, 0.0122, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4212ca4b59dfbff520f11482279c5a2903802ab40a7fb4e8db55da564f345e91",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d51d79ab1eba2048c9e306a3e12321fdebf7f819bc56a0194f73279e9fcad8ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17085947c83bc18eaa9dcce94175bc0339609b8da41b1d933674779a51c32c9f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGiHdCIEm66t5Al-YKqFIiEnIkUavb-04Lhy-nxV-6FPMwp8yTfGfVxJsM5SNxXAu33V4NYX6yuDw0XmbwCV2AbHdcgZHRLubUevdXca6LWAW4H3gYVANfNTALvWaF98Gv0R-4joOLuVuOdsml5F3JLVN1zaEXQORU7aMm0GxVhOJd9qwl7jmP1NvA32oPW3S6cG17IifAE-wBN0BYyJxfFWUk3nGheubU515-osye7FY4nylWLd61c-YixOFXfyqSoAtonvPBrWNWOP3FPp8VqiqYA46zCdn_dNGW3RNToesXbFAAvWevIByicHA4atwqkl3ozgFo8aZOTnBpF7fisRnzTi-xAo2I80UOyoWyMC36-9pMLTpWCsMqZU59Fyn8sfD6W2Mn7dhKowg5VCHQ-gF0gnWvUOoGUfJd5QyVXgJzVUUK9HOHXQhE7vRao9B4z9n0A_6ERqB7SSmBJphHGHXx6c76JD_Ch41AzmKVmKvIp8IACdkwYl5ZogMq85Ak5A1AkcQwWY3x-tWvRta1ap0lr25Qg0j22X0MfAbTaVME6LveCrKu2pmQA0cW3QocgK1kUUbeO-Uw-CF8JsxCXqifUM2CJEbt9dsXWflYEGq2dcBas2DufdckQ1HdBDvYyIxesG5WK2lf7BscZefdGDSRW6Buu1wsvmqIeHoox45QchPrlTjkTqLAnbPLoXjZiYGX6Pe6Ii5I4nWx1Ltbfn9VmNJCHO2SgftzW9h7fqY5dH-LdZAsOdKQIcXEeQQr6tTfjlXFn4yOfPitxXiRGfJ4qxCCCA2bzh0ctPD_IcxIZsLLYbP6Kh2pczGZrVwF5B4cM9dltPMQpAYmIFw5OJsl71Lm6zlVL3M5O8AKGJQNW10Ij79I1tWbxe4qeW6lfEJZP_WFO9UVTTrCGv3gI5kPT4o9re7Qs7imba0WLGBauUJoq64gb_79r6Hk_Rwq5Ui3Tk20hoKjiSutfr215m2OUNKG_n6RbxMVnlEshFAoBodefmmUveiM0BzMkWC5NiurrGVfxjrYOLGuy-phAup5apkfePOlbDf2VgRGjKKNoI9kvalWzQx3aSxdSwYOG1IdqRC2SMkObVWQAEWESyvF5Tt-iIurz--3RTrNmX2YJ_pYlINiNWq0YDUYSWYaDqM6rHrlnzXxTO_XwqVqQAVyn4EVAyu0m-U-DuZIBxwogcy_8PJ400RBRGgmcdODuz60cI_Uz8vFdtFwzyUp7AaHLRXZr1QVic7WS9-ALiwCr85ELMO-isXybja7e34NjB5coxZxpJtUYCzwgwSMrDySVUTEwuePj008dzrIaHsptGMcAZvQHIr0nBx5e0fgqANue3bMBsvakDzzq2kctAg69Nn0QYjQYpgU2Iz2N2M-IFhwbgOfoN6vWuWfbBKQNDARCd7oPETS6fBHtJA_aurTGs3f96ygPP2kKB81YVp_btrEjG1XwhYlxXI3V0NUeq-gPemQeDlhj51mtA0LDYx6LAWEp0bWzfBLQPT6zRz4LeJ4HXleCqBf47NNcKVVIYCPHithrEvCOK-3ff4Z7dN8MqazysNsDd_75lp5RT4K7lV2yBEjiTbpEepK6xpxnfJZrxz5tUjnQXaq9UNI6zDS2Ai7_VVWazZCJgmmivqBl0lIMp6o4LJa01MPPAs6QRoKn1ISMiHNvr8dHVErJ3ofG5h0yPmAqPriqVdzq2Cb00PshI0Esuky-vwq7_bVPYLEoirU8VlnZmUqXqezHqKjgrsiCo5CC8b3NQ7OOBCv0dsLO2IKWls7UWxLFV79lUWDr1h8fYjZdEq9qIshU9RyY7dMUk8nuqzz7ruA1RdkRwqf0-T0RMgStFJM_G9MSs8q2ZAWGLKndoRpythSkuXEpX69DZUA3wpPo5s1NKUnEkmBZhbT1ypHpO-W7ht6aScjKHZRTDF8ZvIrrfpkYQNagGYX8HO0v-hL3jElg2nRCWOHGya9c2MhlEgZKlKE95ACkxi48BfxorxcuqnmGzzLaSNf4LsLP4l9e39mSiu0rT7MK4rFV6Dm2JJerEWpnCojZmQfjTqGsQdjizHFwT59tFj1cRAyHhSN_ONLksjS2morLTsNj89omumY_uy8AOenmdiTPqczOB_PpctQj1G399Pe_92BGo-kdLVwc1GUIf00-be3pZYnhrShAZOUgmO1CRJq3KvmsvupjXFB7IPGYMN479cBEfYMovKqF5J4PsvcNSGYgDd44uANhGD7tHBAv1vYVGfS2qrAB0DpHr3ERN4DiLrAqLr_xmd7eTgWY7vo7CUQGq0ajTb-PWe_ckT_nLyLHjMbzK3-iTjdET2LnFhbAAb8GEIxvalSWvh5wMkvDiGfB9VyjTcAvPv7es7NGqV7OmAubFB8z79nHwC7Y4gPIgNyAbjRw7S9INK1COY8fIre0AuhH5E7JGpFVns6ZklV_OOUct7hWQaPNpfx6W4dSLr3YHotdefso_5BAUe7pD8qD5-3-QriTnijqM3M2hlKoXpJuDM58ESGHa_citLbQOQ5L9Wor6o7U9Nk0C9JL080nlPeQ1H68EnVoXoDho3IKZ0-oRsjACn-rdoQH33WuyKGdXAunt99NOJfsPZR6N8EVl8bwYa4Sj8DsOPcfWT3Gf_vtgYxcZk3yLFSek2oBbkCnlRPMscUVonbxDFO7GnJC6_PMZyfTPTgRijtE9iN5T68c4YUI4h8JG_LTNwWHad1wY4NAxsSSL663gtFyn6S62b8xX71woTGnFyxNtJHz5xJaxlFVtZ_zxR6BjVg50vOfoEqlc0zg9i-9x3JR6jt-_m9qfHawzZKLNL9NQztn_s-On8Kn7idCF_AXCQO5C6ETkO0yDTZA45o9w-HvG5zWstEJxoTxQpvJsxpXdbZ0cGcV4cKgO2KFzTXbzjV_b_Blzmo3A7YcJRgOLAEIuga2KOvw7W0ohMwPNd8eVJTSLOaDTiFUfopgtdeTf0FM-4DJPe-CnROVZWE9OmC9p-RGhdhBPf6OzF0QWwy1rvCLSuECMorp_8PSJod3SA-gBbCkjhhD-N67XHdSUedVD5R61ns6Hmx6Hi5n11LrBDi_2XwAitKqTn9ubTLViKIhpJ_0e0P1Dl0SI5EXDB8v8Xp9qHKtDavjdwAf4JkrlbYt-nJQPF3vHqxaIJxVEBN1i85zYRtwqr3_7tHOX5pD_QoDRWZOuCkZbdifBXZ617rIRkGFH-AW4EGm2YB6WdMS3XGgM01paEzWbtVyyiY_zurmwsBAknSpoJqTjixUqmc_5XV7mBL0ssCXoxtnh18EUA8BazoiRayCRHQ3Rc26v4JWVTMNU5UBxXSea5tImfDlLED4VV5dtkg3SkeZyf8GekRmiPLU4ygvC3-OLMppqQm4mWxIx4jxDPMaWmcI5VWTzuVK0AuO94p5v-79kQwjDb1p256TQKwbo8iklIlO6eie8heh888gqM5fyy7Uhsfar0TfZvYBRD8HsV3frX_nDZnDOcSSRSoYxeknL2xf8AdIYfX0emaD4IAKi6BsMZhO0ef4QeGZe459HimsmOA30nVI1Yn83QQkRLeOFP-6o5A5yTBIo-NRVt9NYmj9bxhrHZBTzHYFZJnMiVb4pDMSYd3WMfIH_4IfGansVq9pIdwzqUOeIL7_fyUACyuqa2gROG576RQW8ihuC0bFkLOqGZWhfPn2wZ52xQuS4xLPjldE1HhbStvQYmq7MeiPeO8lxP-YLQ6kqr0E85GAuQ0jhZJ8IN6sJcP-gftCtz_ZvyFb3c1QZnpDK52_rkZIjOSn4loknD32ZzP01cG9Ipw9AreRG8lCSoS5rgs3DQOAtUaXS_diqeG2KTCgnd3lifFXiydlBVefYOTfHuj_xNTXGi-qKu1hf2KinMbshxP9D6w8nPp117VV-Ir0Yjv6pxKFHWPUAuoyT_EPqsIF7Ps0PPgzGLmjhZkvAq-Q=",
  "id": "rs_00434e83ff3765ac016ab46875f17087d0bde4b4212b48ebce",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtGiHTFEkY2KXm4tFReXFVlE3cD1rmUHv6bkutomZEGxP1SdVvO3dzTkZs5wfSkWYVa7LVOugSSgr44CtsHOZiOy5wlV48_as2dRNN91g3mqgcWeeQqLnFpEFQgUmLNJqi2hnP_Xs2QTmMw89K6WQjV4eKD3FDbQL3t9BGe18e6E2IDwCqMRw-njYaxXG4WMB7o12g5XNfQWwTvQRnEwF6BJGJqWezXT4mrcQNZOG-oyEXdSy5eCwkxZrJSMOr1hSRMq7oAopdhI1-UMnaTRYt6K6EkeUjRLjzx8KrMIZNHRkw1OO_wFC6pC4fFEM2G_M5FyXp9g2pnC_YDEt7oLIrPIb_uMWd7tTGjylm7DuZsyLUWKZetDeHmo0XQrJglJ14dMoBf26gBJ0uCshDjoKrrN4PA3boRPhxDGcatBQpEGW0cRU2tdgGOQZw5dDARYKXaSgfbBNcewIsjix2e4dp3S_1KZ09WMGEiXjXpPBELTfxIW8AL_3__YnEUQccV9AYEu6iNtiSA72OkCS6dOlIrMsvdkyxaOXrOW_Rm4PGr2U8tieUtlEfbchJlUIuOkhJHnRK6uc7PZxZwHqT1cll1cIrRfnGocqh4169attAWiNl29Nr5ljrqrW7us12-LqepH1YFmoEwo8hZ2Qd0BvbRFScZo_DOBtJNATY4oLDCDtFFko6bXIs6WpA4Gs3VeDve_m7gFhl4tHpfX-PJQ29P8y-XHoO0hIMmSHDUmiOck1EY45shFSE8cWUS6BVjsEXkyYkUoVoJ2pR9txoz_CNeGmpauAt_72gxhVvsfwLc62wtSsepK3SC6WPfY2ium_SgYbM6ZdV9pHgMYLOgrzeDFKlKqZQNklc5Pt7nzrWAg4qQziIz9JE4_zst-JUx2pxEriB87-Tz_57kVBDrTyIpRbOXdYTu7d1H84cydB53DKJ8QbP4rLojBIB0d0GwUk4o2OCZJwD_9Yj-vqbuQZpDuEMBf6g2jdo89sl5DfE68PRvK3GudwKLXLKi--IrG2HhUQYLn9g2fEVFMjtVvNvBmZBC75RFHxh_CvxR-S3otb91XOX3iuY6nDxtF6tz_modluI_QxN6mpfAPzTwUCw2fjPbkUhASNeptafkX85gZrv6FosNce5-dTDVyXNKT-pUALp-rR2an9oJ2_CRes-EiymqDJ_YSv75QJZgaxlGTQAHi9o-ktcLqmGPvhQFC1ZCYbZqlgGXw_vPgSvzZSXpvPhvo3P60KHIkibX2eEFQTZcGq1FWgbpFfRryXN-uI6-vcJw3Dlp5qrktiQOrUxPYm51oDrN3y31VQYHsa2Oj3bUmPuc9nNG9YRY9AsxDWwVysDj1cI98P4eGtdkteeZeA5koxx3v_exwsnsimjMOmCMrh4MuH2BkKpNLisrUzeVCcrE1OHqQCl3--nmf-l2hVbQujXhISozvWCDdmyu2qk7sgQBoz7ajCddhwGBGZP0f3XAdqU13qURIDbb3-8N6JQU-C_POiwdhhds-70ggRXrNCSi172Z1BEZz1B-PzyYqg-5TpT8_3kQzSru9UdpYEeyxNFfmzxCcHD6vrlFhULsNuEg4Ak6E41XQVkagTwQVmeOheYFZzJSiibFOK2Vwb-lURqmdQ00d7Dq-YuJR8bPUGnB-iBEuo-NSYLoUtMk8AWWXysOMAwW2OvmmLiEGzPAQqL1wnEbQpZR-DGG2GPMykFCRg7k-wPXi_UOgCuUqiI7IVwbVfp7OZnYh3_srOeP2tLSpwE7jKwphazJf3x1vdC7IT-NuH44WSuzXFjbnUFxAJwpm3manEtTxFu_Ve69s1FY-YUYNq84DuzEpyMSqxHcKKu4CC6-2cbATvY84iD6SArkuwrf1J2jcMbOb_utOrhUyRmEt25t7f8pZmInvO7iSoQYY68RI5ACTFHmj_nuISLDT4WVeumGgM1FCqK5CW1xQ-Ee8kfXAXoRrrjEhD1mYmMdrF0UWWbqMw47sXIu2tgy95FOqaYWliuF59djqKiA-oQg8epd7TS92cFuvnmPIuMxMeCG4h6iQfzXTJ6-D2Rmq6MHhs9cS5UsQcPEnwLIPV6DWGiUapfVakpR7LqTGxpf_Olq93deR0hfDObCnHQGzNcF9Ekf8pSUuxyvsZ8S8GKQn54uCVBRXyKeGYHm9S-oDXYnKUSP_OOrRYVZj82lc2R08zzI5kvsstcOt-iExAOw8g_4L8aGcqdIrrc3ygFP8b5ZRxm2GEmzmVrxd1UCH14wclimfwCsSDD_stXQR0evcCFSPUyOU-Tp31A30YyUZyj3Y6cdzQIp9gQDvsGNi4eHPa_PDZbiH5Vz4_vG4QXJGX4WNzFmE7uW2RHUB7_3gcmhr-v89mIC8aA4qzXlol9cWluLJ5fSPshGXj5HaWmigJT9tdst5w5lmrQK1WqkxdGtl0t2fPfghMwX7KAdBN8AeBTpGblvFOIGpxmbBf6YYj5z1617zpSMRwiilAmsOA64i5UdrZjRsOQu-nNQyfl81VqgRjgupS4YD-fsKdfmXKdEwiwjECafaqaxs6L_PdIcl0rA7SlB2tgJ1Y67xTSC864UXLzJckoR-QsagjEMvQMP9IVK5EfE8uPIQ1-tZxQwgrU2mFG_NxZ90rncht-mthd3lh74So_fwJo-IO-t4tCWp2FISy7hvrC2uRhLni5C9P9i-Emn_iPJX1K1w3r5NMSLvf82ZbGBLJ-x8tjNW_U5hcDV7HPynpzz-Ho-8iXiUHd4kr4xsPdVRUpmHpqaufcLltEjPch3TjsE2AS0H9Us1Cy6CjT9qfwyZwobzDhsZSKRChnOCRWlc_PWflJvQc684yQrpA9DtdD_y7R8KKoi43If9tZ57oxr0gBbAYGxaBI4Q4hqqXCKx6O-VWvUNSUbQWi9lvccDdlGJkZLrbZ8YxyXKG0qZFg9Rtgco_3lWDAVq7oLemZr4TQG9VQ6cy1WNVbDorxYCPB-qGx1J72d0AuOz8Gfvp1HxyLaA63ZZTvRzLrPMcki0qWeVWWiBTTYQbPT6xRJAZoo0wEYOteAi7IqLrX1x3OotAjR8-_satQmWCbNfa_bdY8acbigKnmvkTa4tXR_Xkpxo-HgKDx0w2sDgw2jCQvR00Rf1CsqeP6dlB9belGlZ_BERPsnlEp1hiyawK9FHDfJzM_d2pDcN3fsgY1MwUig3nU3cc9yeoWnsA1Dc07Yndcnh2BRPIITt9zLd4w_Ip8TsO3p9rqnpzOOwCA5h_CaGWwFv3wV0Sij0p47ZpKQVDeNSBQo1SreI84VM5xN6xmk4YmZmH1mrNPksMhVivB9BpqkMUB3gi3P01iH9STp31paLgwf6eaCRsjc9NO9j70v5IPi2xGKC7lnNDHSvU2or80FLfQ0kH3IfRDUZn1L9ba0iCwQ3ZETre_gV6b75VjwNkCeuJZxCWuOeskqWWCtFuw0-Y5svhcEm7c21ueDR7iIa85O52uTwCQG9So7XR6enaOvraUXlY3mKprPDgJYtDmNtWM_mkIxtVcvdQ",
  "id": "rs_00434e83ff3765ac016ab4687ea14c87d0b8e98436c2d05aa1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.296,\"left_y\":0,\"left_z\":0.19,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0,\"right_x\":0.335,\"right_y\":0.35,\"right_z\":0.17,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The dark fruit is near the centerline, but the left arm cannot carry it as far right as the blue bowl. I’m switching to the right arm, which can reach both locations.\"}",
  "call_id": "call_7N85p05dyQEJtZVgwUrKNvG1",
  "id": "fc_00434e83ff3765ac016ab468858a2087d08b70056d8e3d5cdf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7N85p05dyQEJtZVgwUrKNvG1",
  "output": [
    {
      "text": "executing move_to over 30 steps (3.0s)",
      "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]: [-0.0471, 0.8154, 0.601, -0.3904, -0.0856, -0.0853, 0.9912, 1.0672, 1.8893, 1.457, -0.5255, 0.8043, 0.7475, 0.9965]\nstate[eef_state]: left_x=0.2943 left_y=0.0048 left_z=0.1709 left_yaw=0.0677 left_pitch=-0.0334 left_roll=-0.004 left_gripper=0.9912 right_x=0.3308 right_y=0.3442 right_z=0.1572 right_yaw=0.031 right_pitch=-0.0361 right_roll=-0.0399 right_gripper=0.9965\nstate[joint_eff]: [0.2667, -2.0855, 10.5504, 1.7216, 0.105, 0.1734, -0.0855, 0.3761, -10.3316, 8.4718, 1.1355, 0.652, 0.2222, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:537ed03002cb654c612c81b79d890e33565d9153b4fe2bd236d188e5304f7d6f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:734ab15e2010d48604265fb6a1d0543004900d1ee50a9ec436ce95d3975ac90f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07c51acd05d6166f5b4f1c161aa403c528b73fbc0762b605df2ffc22ffe7b722",
      "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 · 2.308 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 108 changed as sent

message 115 changed as sent

message 120 changed as sent

message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0437, 0.8322, 0.6338, -0.4461, -0.0818, -0.0788, 0.9911, 0.5667, 1.4994, 0.5835, 0.1936, 0.4576, 0.3107, 0.6596]\nstate[eef_state]: left_x=0.2917 left_y=0.0053 left_z=0.17 left_yaw=0.0647 left_pitch=-0.0731 left_roll=0.0035 left_gripper=0.9911 right_x=0.3518 right_y=0.1356 right_z=0.0666 right_yaw=0.0204 right_pitch=-0.0681 right_roll=-0.0477 right_gripper=0.6596\nstate[joint_eff]: [-0.0615, -1.4838, 7.1043, 1.6972, -0.0562, -0.0513, -0.0122, 0.1436, -5.8735, 5.4769, 1.6093, 0.2418, 0.1197, 0.1978]",
      "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]: [-1.0611, 2.0678, 1.092, 0.0284, -0.8085, -0.7868, 0.9919, -0.0116, 0.8188, 0.6502, -0.4351, 0.0158, 0.0021, 0.9965]\nstate[eef_state]: left_x=0.3318 left_y=-0.3244 left_z=0.019 left_yaw=-0.0029 left_pitch=-0.0262 left_roll=0.0189 left_gripper=0.9919 right_x=0.2945 right_y=-0.0026 right_z=0.183 right_yaw=-0.0242 right_pitch=-0.0359 right_roll=-0.0062 right_gripper=0.9965\nstate[joint_eff]: [-0.841, -10.5231, 6.6667, 1.2723, -0.5788, -0.0904, -0.5543, -0.2667, -2.0855, 9.9897, 1.8877, -0.1685, 0.0122, 0.0513]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0471, 0.8154, 0.601, -0.3904, -0.0856, -0.0853, 0.9912, 1.0672, 1.8893, 1.457, -0.5255, 0.8043, 0.7475, 0.9965]\nstate[eef_state]: left_x=0.2943 left_y=0.0048 left_z=0.1709 left_yaw=0.0677 left_pitch=-0.0334 left_roll=-0.004 left_gripper=0.9912 right_x=0.3308 right_y=0.3442 right_z=0.1572 right_yaw=0.031 right_pitch=-0.0361 right_roll=-0.0399 right_gripper=0.9965\nstate[joint_eff]: [0.2667, -2.0855, 10.5504, 1.7216, 0.105, 0.1734, -0.0855, 0.3761, -10.3316, 8.4718, 1.1355, 0.652, 0.2222, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:537ed03002cb654c612c81b79d890e33565d9153b4fe2bd236d188e5304f7d6f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:734ab15e2010d48604265fb6a1d0543004900d1ee50a9ec436ce95d3975ac90f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07c51acd05d6166f5b4f1c161aa403c528b73fbc0762b605df2ffc22ffe7b722",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
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  "id": "rs_00434e83ff3765ac016ab4688bf5e487d0b76b2bc32a8abb33",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.025,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The dark fruit is aligned with the right gripper’s centerline. I’m lowering straight down around it.\"}",
  "call_id": "call_jXAE8HCp1ZijqIYDr1kEni8o",
  "id": "fc_00434e83ff3765ac016ab4688cc05087d0bf48047037ff85cd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jXAE8HCp1ZijqIYDr1kEni8o",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0444, 0.8188, 0.6037, -0.4152, -0.0746, -0.0795, 0.9911, 1.0718, 2.0899, 1.179, -0.0692, 0.815, 0.7609, 0.9965]\nstate[eef_state]: left_x=0.2913 left_y=0.0038 left_z=0.1661 left_yaw=0.0581 left_pitch=-0.0595 left_roll=-0.0029 left_gripper=0.9911 right_x=0.3275 right_y=0.3397 right_z=0.0257 right_yaw=0.0214 right_pitch=-0.0394 right_roll=-0.0528 right_gripper=0.9965\nstate[joint_eff]: [-0.294, -1.6479, 6.7761, 1.9267, -0.1685, -0.1343, -0.0171, 0.3077, -10.3179, 5.1077, 1.2772, 0.5006, 0.2027, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:115b8b20f8be4c64c7219396aed172e5522af13fbdbe31bb44f0d18eaf31a3af",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bb69a33e4a2b01af2caa29339ad57c0ef2ca914de58d9fc190ca366f07a5967",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8036f2e75964c4e2b6c593a3dbc55d709c94ce6f9cd269d64aecdde9004829e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /responses · status 200 · 2.339 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 111 changed as sent

message 120 changed as sent

message 124 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]: [-0.0437, 0.8322, 0.6338, -0.4477, -0.0818, -0.0788, 0.9911, 0.5667, 1.5131, 0.5766, 0.1997, 0.4553, 0.3061, 0.9958]\nstate[eef_state]: left_x=0.2914 left_y=0.0053 left_z=0.1697 left_yaw=0.0647 left_pitch=-0.0746 left_roll=0.0037 left_gripper=0.9911 right_x=0.3501 right_y=0.1349 right_z=0.0602 right_yaw=0.0241 right_pitch=-0.0814 right_roll=-0.0576 right_gripper=0.9958\nstate[joint_eff]: [-0.1299, -1.4564, 6.9949, 1.6679, -0.0904, -0.0806, -0.0073, -0.0342, -6.9265, 6.2291, 1.5409, 0.1685, 0.0317, -0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0471, 0.8154, 0.601, -0.3904, -0.0856, -0.0853, 0.9912, 1.0672, 1.8893, 1.457, -0.5255, 0.8043, 0.7475, 0.9965]\nstate[eef_state]: left_x=0.2943 left_y=0.0048 left_z=0.1709 left_yaw=0.0677 left_pitch=-0.0334 left_roll=-0.004 left_gripper=0.9912 right_x=0.3308 right_y=0.3442 right_z=0.1572 right_yaw=0.031 right_pitch=-0.0361 right_roll=-0.0399 right_gripper=0.9965\nstate[joint_eff]: [0.2667, -2.0855, 10.5504, 1.7216, 0.105, 0.1734, -0.0855, 0.3761, -10.3316, 8.4718, 1.1355, 0.652, 0.2222, -0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0444, 0.8188, 0.6037, -0.4152, -0.0746, -0.0795, 0.9911, 1.0718, 2.0899, 1.179, -0.0692, 0.815, 0.7609, 0.9965]\nstate[eef_state]: left_x=0.2913 left_y=0.0038 left_z=0.1661 left_yaw=0.0581 left_pitch=-0.0595 left_roll=-0.0029 left_gripper=0.9911 right_x=0.3275 right_y=0.3397 right_z=0.0257 right_yaw=0.0214 right_pitch=-0.0394 right_roll=-0.0528 right_gripper=0.9965\nstate[joint_eff]: [-0.294, -1.6479, 6.7761, 1.9267, -0.1685, -0.1343, -0.0171, 0.3077, -10.3179, 5.1077, 1.2772, 0.5006, 0.2027, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:115b8b20f8be4c64c7219396aed172e5522af13fbdbe31bb44f0d18eaf31a3af",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bb69a33e4a2b01af2caa29339ad57c0ef2ca914de58d9fc190ca366f07a5967",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8036f2e75964c4e2b6c593a3dbc55d709c94ce6f9cd269d64aecdde9004829e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
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  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"right_gripper\":0.4},\"note\":\"The dark fruit is between the open fingertips. I’m closing to a moderate width to hold it without squeezing excessively.\"}",
  "call_id": "call_YDqUp4rY1LTSHGZYQ50pSPqj",
  "id": "fc_00434e83ff3765ac016ab46890826087d09e8d66ac1363eb50",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YDqUp4rY1LTSHGZYQ50pSPqj",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0444, 0.8188, 0.6037, -0.4232, -0.0742, -0.083, 0.9911, 1.0706, 2.1128, 1.1675, -0.0647, 0.8078, 0.7593, 0.5136]\nstate[eef_state]: left_x=0.2902 left_y=0.0038 left_z=0.1645 left_yaw=0.0597 left_pitch=-0.0675 left_roll=-0.0051 left_gripper=0.9911 right_x=0.3249 right_y=0.3358 right_z=0.0121 right_yaw=0.0239 right_pitch=-0.0596 right_roll=-0.0768 right_gripper=0.5136\nstate[joint_eff]: [0.0068, -1.347, 7.2684, 1.7363, -0.0806, -0.0269, -0.0073, -0.0889, -12.6427, 6.1607, 1.0916, 0.3883, -0.0317, 0.8327]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5406130f916f72ceb1583070e3e025c5f78e55d405fadb31c55a89ffa9a95db0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfe0224643ffbf2d04ab57502230035da30f1ee8f73569874476fc7a778cd079",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ec9d720d28176307e3dd3c6dafb094fba9447bb72617a2ef22986b22d06a34f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /responses · status 200 · 4.593 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 115 changed as sent

message 124 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]: [-1.0611, 2.0678, 1.092, 0.0284, -0.8085, -0.7868, 0.9919, -0.0116, 0.8188, 0.6502, -0.4351, 0.0158, 0.0021, 0.9965]\nstate[eef_state]: left_x=0.3318 left_y=-0.3244 left_z=0.019 left_yaw=-0.0029 left_pitch=-0.0262 left_roll=0.0189 left_gripper=0.9919 right_x=0.2945 right_y=-0.0026 right_z=0.183 right_yaw=-0.0242 right_pitch=-0.0359 right_roll=-0.0062 right_gripper=0.9965\nstate[joint_eff]: [-0.841, -10.5231, 6.6667, 1.2723, -0.5788, -0.0904, -0.5543, -0.2667, -2.0855, 9.9897, 1.8877, -0.1685, 0.0122, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0444, 0.8188, 0.6037, -0.4152, -0.0746, -0.0795, 0.9911, 1.0718, 2.0899, 1.179, -0.0692, 0.815, 0.7609, 0.9965]\nstate[eef_state]: left_x=0.2913 left_y=0.0038 left_z=0.1661 left_yaw=0.0581 left_pitch=-0.0595 left_roll=-0.0029 left_gripper=0.9911 right_x=0.3275 right_y=0.3397 right_z=0.0257 right_yaw=0.0214 right_pitch=-0.0394 right_roll=-0.0528 right_gripper=0.9965\nstate[joint_eff]: [-0.294, -1.6479, 6.7761, 1.9267, -0.1685, -0.1343, -0.0171, 0.3077, -10.3179, 5.1077, 1.2772, 0.5006, 0.2027, -0.0171]",
      "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]: [-0.0444, 0.8188, 0.6037, -0.4232, -0.0742, -0.083, 0.9911, 1.0706, 2.1128, 1.1675, -0.0647, 0.8078, 0.7593, 0.5136]\nstate[eef_state]: left_x=0.2902 left_y=0.0038 left_z=0.1645 left_yaw=0.0597 left_pitch=-0.0675 left_roll=-0.0051 left_gripper=0.9911 right_x=0.3249 right_y=0.3358 right_z=0.0121 right_yaw=0.0239 right_pitch=-0.0596 right_roll=-0.0768 right_gripper=0.5136\nstate[joint_eff]: [0.0068, -1.347, 7.2684, 1.7363, -0.0806, -0.0269, -0.0073, -0.0889, -12.6427, 6.1607, 1.0916, 0.3883, -0.0317, 0.8327]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5406130f916f72ceb1583070e3e025c5f78e55d405fadb31c55a89ffa9a95db0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfe0224643ffbf2d04ab57502230035da30f1ee8f73569874476fc7a778cd079",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ec9d720d28176307e3dd3c6dafb094fba9447bb72617a2ef22986b22d06a34f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"right_z\":0.18,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The gripper has stopped against the dark fruit. I’m lifting it clear of the table and checking that it remains held.\"}",
  "call_id": "call_MYLTMsiCy29tekN4r6dvFclB",
  "id": "fc_00434e83ff3765ac016ab4689336d087d080d4f34a52e92518",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MYLTMsiCy29tekN4r6dvFclB",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0437, 0.8188, 0.6037, -0.424, -0.0738, -0.083, 0.9911, 1.0744, 1.8748, 1.4063, -0.5167, 0.8124, 0.765, 0.5153]\nstate[eef_state]: left_x=0.29 left_y=0.004 left_z=0.1644 left_yaw=0.0602 left_pitch=-0.0683 left_roll=-0.0052 left_gripper=0.9911 right_x=0.3242 right_y=0.3369 right_z=0.1473 right_yaw=0.0232 right_pitch=-0.0437 right_roll=-0.0526 right_gripper=0.5153\nstate[joint_eff]: [-0.1026, -1.388, 6.9949, 1.6874, -0.0073, -0.0269, -0.0073, 0.3214, -12.7248, 8.8821, 1.2088, 0.5885, 0.2027, 0.6422]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be9dc9624828cd5b12e55dc9fb00e9dd94aea4c454399edc7c580f5cbbe1bc2d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a46f54f039625d15726e603c282d680a55fd58bd9bcd35b2aaa6d524b6899f55",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ea3053a887caa9934f8373d4f12d2824a019551af076cbc839bdc86e5ac3a9b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /responses · status 200 · 3.364 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 120 changed as sent

message 127 changed as sent

message 130 changed as sent

message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0471, 0.8154, 0.601, -0.3904, -0.0856, -0.0853, 0.9912, 1.0672, 1.8893, 1.457, -0.5255, 0.8043, 0.7475, 0.9965]\nstate[eef_state]: left_x=0.2943 left_y=0.0048 left_z=0.1709 left_yaw=0.0677 left_pitch=-0.0334 left_roll=-0.004 left_gripper=0.9912 right_x=0.3308 right_y=0.3442 right_z=0.1572 right_yaw=0.031 right_pitch=-0.0361 right_roll=-0.0399 right_gripper=0.9965\nstate[joint_eff]: [0.2667, -2.0855, 10.5504, 1.7216, 0.105, 0.1734, -0.0855, 0.3761, -10.3316, 8.4718, 1.1355, 0.652, 0.2222, -0.0024]",
      "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]: [-0.0444, 0.8188, 0.6037, -0.4232, -0.0742, -0.083, 0.9911, 1.0706, 2.1128, 1.1675, -0.0647, 0.8078, 0.7593, 0.5136]\nstate[eef_state]: left_x=0.2902 left_y=0.0038 left_z=0.1645 left_yaw=0.0597 left_pitch=-0.0675 left_roll=-0.0051 left_gripper=0.9911 right_x=0.3249 right_y=0.3358 right_z=0.0121 right_yaw=0.0239 right_pitch=-0.0596 right_roll=-0.0768 right_gripper=0.5136\nstate[joint_eff]: [0.0068, -1.347, 7.2684, 1.7363, -0.0806, -0.0269, -0.0073, -0.0889, -12.6427, 6.1607, 1.0916, 0.3883, -0.0317, 0.8327]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0437, 0.8188, 0.6037, -0.424, -0.0738, -0.083, 0.9911, 1.0744, 1.8748, 1.4063, -0.5167, 0.8124, 0.765, 0.5153]\nstate[eef_state]: left_x=0.29 left_y=0.004 left_z=0.1644 left_yaw=0.0602 left_pitch=-0.0683 left_roll=-0.0052 left_gripper=0.9911 right_x=0.3242 right_y=0.3369 right_z=0.1473 right_yaw=0.0232 right_pitch=-0.0437 right_roll=-0.0526 right_gripper=0.5153\nstate[joint_eff]: [-0.1026, -1.388, 6.9949, 1.6874, -0.0073, -0.0269, -0.0073, 0.3214, -12.7248, 8.8821, 1.2088, 0.5885, 0.2027, 0.6422]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be9dc9624828cd5b12e55dc9fb00e9dd94aea4c454399edc7c580f5cbbe1bc2d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a46f54f039625d15726e603c282d680a55fd58bd9bcd35b2aaa6d524b6899f55",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ea3053a887caa9934f8373d4f12d2824a019551af076cbc839bdc86e5ac3a9b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGiZSi_nEGiBPnBbKqKVJ9uocU6f1mTKna_EvKe2exjzxkU5yTGv7yOo_zA8FIusZPMJYqEFSdVAYy23gH6H6UbnaTQQT0pdDJ1fK04OhCtQPLQBQOY96RfITZDXK-KKRU3eo77QoVMJNvh8v2ADXLesdOjtpAQVa7BA4_8QidjAri3VYome3LYI_Wl77FzUzDE9x7KnXi4EiDsG-pZOStSvdbYeQY8eDmEUPbmAFVSwXQlUbFEpDDBMOqlFPIKH4zdsKpsclcDQDJ5td-mP94SUZ1B7mGPx6LTJpGC0km49H4QOrU_khareMhxJqyapz2vbUWb9DpSxviiwOCSsCQLfUpCJJfrcQ5dEjg8lujvQtjJWXD4xRzRBc1S6ZSxsCoiVpFBi491eSN70DMB4ZoYOa2KT3V9oPXciFfIJ6-j9IZuAmauPvwl97sGQapnqdOVbQsWCN_ULh0giiVLJW-OK5kPNsrM_J801863g9-0l6W6c2PgfQHQpp2TtREmmsklgd5lp0rwXS2amHq8DZO1loBgvAjDbps2rs8ncdpwHdpu0i0Gx9UDYgkbdovPSreEUjT5rlnjDtkj1Xn-CyoTN4-Zk9LcGtJEV2_5wVPisDawNug9ExCuTiE4AGFzbpDfhg_fiG6YRZMxHTI6SLZbeQiyFLHBL0jNXkNNtmHjeFSb47t8SBPWm5JyLCjeyVKv3aXAxYD4viPMyUAqBThTbnUN1rMiVPHaw8Y0stov0RXHL6qFFdEZWrHanqrPHhRHuTPZuwPC3VJFaGf320oxd4QA0U9UlU2EtqHihlun1PUnzYtfIQUuCEVZtCSXEET7sRE__zM3TFs4r_jjZRD5V3sM2bWfRwM_PArUzdB5qj3_v26INBIXMi_rh3XJ6uXGdxxMSVujrOMhcM1ox_gyASwsSNhAFjd48Zg1TRuRthpe3XxI6VciNKsEzmdjROq4YsYwiE1UXwWJPc3qSRMEpS23qcKSdYKf4o1zTlFupl4ZTlyLi2iXL-UW_9yFWcoD0I1KyTj1GTn4Pzj3UgmswqEBvE9MauruB7KNP1djxgp1PARkXULXPmnZQ-gNfEUX94U-xD8hk_tVTlr2bA3S7QepP0KBcGOI_2qV6FYq6xPtRP4ZuIxTpwHWuO-SqM-thX5vsV34Zya3ZazTlRq0mK1IA_GG8tFjyMMgkIPvP1Yack8e1tzC7SLJHfwKfa1Jg9QsTCnrlCtODsXPdaFZ42Pp_bb-hX9Ybnyej9DApAdYkmlHfV_m6h15QvHyR4c9vukwPsqOVWKATGa_AaEMbRM2vIAIJVgClq5WjDkYc4NeSCVCD_pUPoiNAnC9Bmuu8mXI5J404RXn28NehaU0_d3KlbGV19JICsCvcBsaHPjge4vgVDD-QkKT-PONiBsrt7Tgeuzqi16Nm8CjPj9IFc750jJuOOL5oN149U5TIGlNWjTpM3ptztmYN3il6aUbBKzxYw8lXcJ8UTV6-wMoIkT0rVNuhPaBalGF4oceTNRedYDFFvG1pwRuCiGNlGbl923JZPIgIH005n_As3jYMYi-5bOKUqGGpd2axghqrjE_Y360_esG3Dmfygoz3MoPsN_erJBAGyz6TG6p5Scp4YA==",
  "id": "rs_00434e83ff3765ac016ab46896ed4487d0a94db3fa5e586dd7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.355,\"right_y\":0.135,\"right_z\":0.14,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The dark fruit lifted successfully, and the green and yellow fruits are both visible in the blue bowl. I’m carrying the last fruit over the bowl’s center.\"}",
  "call_id": "call_1a6nOtnVm2X8TOM2cK2PmAab",
  "id": "fc_00434e83ff3765ac016ab46898af3c87d08d3bc835ba0514ce",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1a6nOtnVm2X8TOM2cK2PmAab",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0437, 0.8238, 0.6037, -0.4252, -0.0742, -0.083, 0.9911, 0.5827, 1.3491, 0.7223, -0.0929, 0.5018, 0.3622, 0.5176]\nstate[eef_state]: left_x=0.2901 left_y=0.004 left_z=0.1628 left_yaw=0.0605 left_pitch=-0.0743 left_roll=-0.0044 left_gripper=0.9911 right_x=0.3494 right_y=0.1328 right_z=0.1263 right_yaw=-0.0259 right_pitch=-0.0487 right_roll=-0.029 right_gripper=0.5176\nstate[joint_eff]: [-0.1709, -1.5795, 6.9949, 1.7021, -0.105, -0.0562, -0.0122, -0.1436, -6.2154, 6.7214, 2.0879, 0.2222, 0.0024, 0.5641]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 368):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b3ceffacae25ad302edbba03d9cafd3950f6fb0bfe2a6ee97758e95d735d5c6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 368):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60feed907fe0318ff59686ce6b98b5aece0bd3b9e1b7a4e6bffe01036e3b7d8e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 368):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e269bdb7473ab7fed16bb95b9a72c972317f0ea90f3fd1a9ab8f122c89a008e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /responses · status 200 · 9.461 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 124 changed as sent

message 130 changed as sent

message 134 changed as sent

message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0444, 0.8188, 0.6037, -0.4152, -0.0746, -0.0795, 0.9911, 1.0718, 2.0899, 1.179, -0.0692, 0.815, 0.7609, 0.9965]\nstate[eef_state]: left_x=0.2913 left_y=0.0038 left_z=0.1661 left_yaw=0.0581 left_pitch=-0.0595 left_roll=-0.0029 left_gripper=0.9911 right_x=0.3275 right_y=0.3397 right_z=0.0257 right_yaw=0.0214 right_pitch=-0.0394 right_roll=-0.0528 right_gripper=0.9965\nstate[joint_eff]: [-0.294, -1.6479, 6.7761, 1.9267, -0.1685, -0.1343, -0.0171, 0.3077, -10.3179, 5.1077, 1.2772, 0.5006, 0.2027, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0437, 0.8188, 0.6037, -0.424, -0.0738, -0.083, 0.9911, 1.0744, 1.8748, 1.4063, -0.5167, 0.8124, 0.765, 0.5153]\nstate[eef_state]: left_x=0.29 left_y=0.004 left_z=0.1644 left_yaw=0.0602 left_pitch=-0.0683 left_roll=-0.0052 left_gripper=0.9911 right_x=0.3242 right_y=0.3369 right_z=0.1473 right_yaw=0.0232 right_pitch=-0.0437 right_roll=-0.0526 right_gripper=0.5153\nstate[joint_eff]: [-0.1026, -1.388, 6.9949, 1.6874, -0.0073, -0.0269, -0.0073, 0.3214, -12.7248, 8.8821, 1.2088, 0.5885, 0.2027, 0.6422]\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 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0437, 0.8238, 0.6037, -0.4252, -0.0742, -0.083, 0.9911, 0.5827, 1.3491, 0.7223, -0.0929, 0.5018, 0.3622, 0.5176]\nstate[eef_state]: left_x=0.2901 left_y=0.004 left_z=0.1628 left_yaw=0.0605 left_pitch=-0.0743 left_roll=-0.0044 left_gripper=0.9911 right_x=0.3494 right_y=0.1328 right_z=0.1263 right_yaw=-0.0259 right_pitch=-0.0487 right_roll=-0.029 right_gripper=0.5176\nstate[joint_eff]: [-0.1709, -1.5795, 6.9949, 1.7021, -0.105, -0.0562, -0.0122, -0.1436, -6.2154, 6.7214, 2.0879, 0.2222, 0.0024, 0.5641]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 368):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b3ceffacae25ad302edbba03d9cafd3950f6fb0bfe2a6ee97758e95d735d5c6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 368):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60feed907fe0318ff59686ce6b98b5aece0bd3b9e1b7a4e6bffe01036e3b7d8e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 368):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e269bdb7473ab7fed16bb95b9a72c972317f0ea90f3fd1a9ab8f122c89a008e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The last fruit is centered over the blue bowl, above the other two fruits. I’m releasing it into the bowl.\"}",
  "call_id": "call_TtksbkHGO08wu7c3K7EqCc4I",
  "id": "fc_00434e83ff3765ac016ab4689d69c087d0bf2cb4c48f06430b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TtksbkHGO08wu7c3K7EqCc4I",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0437, 0.8257, 0.6037, -0.4309, -0.0738, -0.083, 0.9911, 0.5804, 1.3483, 0.7185, -0.0994, 0.4847, 0.3511, 0.9958]\nstate[eef_state]: left_x=0.2894 left_y=0.004 left_z=0.1612 left_yaw=0.0603 left_pitch=-0.0819 left_roll=-0.0038 left_gripper=0.9911 right_x=0.3476 right_y=0.1338 right_z=0.123 right_yaw=-0.0091 right_pitch=-0.0632 right_roll=-0.0339 right_gripper=0.9958\nstate[joint_eff]: [-0.0889, -1.1966, 7.159, 1.7705, -0.0366, -0.0269, -0.0122, 0.0068, -5.012, 6.8308, 1.5702, 0.3541, 0.0611, -0.1783]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 373):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cedc3b4119836c6fd9744d9d8707e1cf2e5afb0116896c4d723169b19d905e41",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 373):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33313ea216eff99859f792a25c539d8ec28e72290542c5a8aeb86d87beb0db9f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 373):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:385f43a8014fec20a8703e4bb4f661ce1182024f98b312b52082824a2ad85eae",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 36 attempt 0 · /responses · status 200 · 4.338 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 127 changed as sent

message 134 changed as sent

message 137 changed as sent

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]: [-0.0444, 0.8188, 0.6037, -0.4232, -0.0742, -0.083, 0.9911, 1.0706, 2.1128, 1.1675, -0.0647, 0.8078, 0.7593, 0.5136]\nstate[eef_state]: left_x=0.2902 left_y=0.0038 left_z=0.1645 left_yaw=0.0597 left_pitch=-0.0675 left_roll=-0.0051 left_gripper=0.9911 right_x=0.3249 right_y=0.3358 right_z=0.0121 right_yaw=0.0239 right_pitch=-0.0596 right_roll=-0.0768 right_gripper=0.5136\nstate[joint_eff]: [0.0068, -1.347, 7.2684, 1.7363, -0.0806, -0.0269, -0.0073, -0.0889, -12.6427, 6.1607, 1.0916, 0.3883, -0.0317, 0.8327]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0437, 0.8238, 0.6037, -0.4252, -0.0742, -0.083, 0.9911, 0.5827, 1.3491, 0.7223, -0.0929, 0.5018, 0.3622, 0.5176]\nstate[eef_state]: left_x=0.2901 left_y=0.004 left_z=0.1628 left_yaw=0.0605 left_pitch=-0.0743 left_roll=-0.0044 left_gripper=0.9911 right_x=0.3494 right_y=0.1328 right_z=0.1263 right_yaw=-0.0259 right_pitch=-0.0487 right_roll=-0.029 right_gripper=0.5176\nstate[joint_eff]: [-0.1709, -1.5795, 6.9949, 1.7021, -0.105, -0.0562, -0.0122, -0.1436, -6.2154, 6.7214, 2.0879, 0.2222, 0.0024, 0.5641]\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 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0437, 0.8257, 0.6037, -0.4309, -0.0738, -0.083, 0.9911, 0.5804, 1.3483, 0.7185, -0.0994, 0.4847, 0.3511, 0.9958]\nstate[eef_state]: left_x=0.2894 left_y=0.004 left_z=0.1612 left_yaw=0.0603 left_pitch=-0.0819 left_roll=-0.0038 left_gripper=0.9911 right_x=0.3476 right_y=0.1338 right_z=0.123 right_yaw=-0.0091 right_pitch=-0.0632 right_roll=-0.0339 right_gripper=0.9958\nstate[joint_eff]: [-0.0889, -1.1966, 7.159, 1.7705, -0.0366, -0.0269, -0.0122, 0.0068, -5.012, 6.8308, 1.5702, 0.3541, 0.0611, -0.1783]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 373):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cedc3b4119836c6fd9744d9d8707e1cf2e5afb0116896c4d723169b19d905e41",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 373):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33313ea216eff99859f792a25c539d8ec28e72290542c5a8aeb86d87beb0db9f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 373):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:385f43a8014fec20a8703e4bb4f661ce1182024f98b312b52082824a2ad85eae",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGiombOwXvptO5WevBkXPkbLUL_Q0F-6fS6whgbG-nJrMP9J36gSkt5ozR_9LfLzPxuu7_FMH6FMtir7ELtKSgXZBJpPAM-d5UqOi8FhwCilo-_PS0K9ArCAQ949iFAI6LLppiQwGthbRENsjDfEGNTGxeiGhctzYeZt-ugSWA6EMeSKf1Wyx_FzR5O7Q4fxYD-cSPq6JVYLWpM-cHSZ5s4XwjR5jBR7i3PgmtQluXyC5Ci12LRYetUSMdeXghWQ5JE2Nd9o4UjLH0Qo-kRQyBAR8TWaovW9uRroLJauo6deLE7bBaG72IunmgKmD0-NCoXskGl4PIE6WKzef02VVwZrldpn7JCOzyf0kUfapLHNWPkwP5l-vg9k-TNNu_GaqnDsiLIBmKXTMio1AdB7ySo1enmgjcv9KArv82eqSbyTqcOww1Qy268Ca8REcFw7t1g3cFcSvE4jTBagl8IJpjPoCz7spwRuEnyQzHKtcpTAiSZq3J4joudklqXGdpikRTUFk4_HPrc595N8NJKV4vftQ5R-MzZ-gHNUC3pQWuZTW6GwGCO9HXU3ID_52e_4raJ3lQ7Yo_46TEvL1Mjv_EMAMrCgU87uzyy1wV13tJ54bneUakIlKi7LYpS6RvL09lrchpTuOG4HPT7dAmjbDn1Rm6z9jQcHh82EDjYx3cRmwaa8c-l4ou5yKhBEx_hKZVxGU9UmhdeeYrJ3Ek1vOgFkk4AJWaXdstpqpY_-C1Q3pl3Zcw-VaKAWWRdHDq5RHhSEbdzo-uzidyrutbMq1T7MtsLNN4sb7Gl0P-aoZaWhiopenfm3s_bYcIHKJXtlWWAsrH1aR52cRbQUZCjLcqfaiVapxBt_PYSH0edj1gdPaGSPlzTSSaSXCf_6oJXn724GB-Q6LgNtHlXsuxXUbdB-ClWAeA10NKbxiriWfZhPFxu0iEwVQ7ssOnm_OmHto4fNiOC9cnBK72ZjpZwYPR40n5D9uC2bbphBXO6dXa6JiAevBCbKZD6CNc8hdXUQea4EXb-4bhvYVBYtARSHJ-zyL9Jm_oUm--e2IV3xiMalv9b9qTlYPsdwRE7VDY8MFDYZah7tupRRscK7jFNeaulKtXwArbKzi2Fsq8UkAqwUrk0TXKJ5AX7oBnXs0t-07vXui5ADVr9q12wT7s7C3scehmbB2R5lqN_2yO2cQi_znvFgik5gziHfBP5YxYckdRSIa4deL99AuEuOjBuPCpzLUaBcWYpBFKHCcOWkk18B4btTvswWw5d7FhsQu_78ImZFNsUmAOolREpX9gFyhOT30pSTj_GjgIIuZuwfR2DpWrCadhHc7QFKkGtaTg-vFi_9RLqc5ERuDXAiKfZyYSMfQWbPNmJF0uW-ylfDsbGlaJ-cp8mQ4IDQPLtfLyBzi496myVE2IvpEwqPWubkuOgvEKdkphCSgIjQFInjlU0gFfd5UlhFXg508MyKv0aQ17R82hE9Vb5yKUX3QmLw6NyjaG6CuoTzntwBadzqghA6ZvZynv__XqnUPn3uA8B_HE6HMMaBH6jZWSgBCGOIk3UVWmPnvsOSZ2kZ4_kWLLGOexJrZcOdUsqtFfyDaDGuVXoE74X-kzn8w0uqRwfpqXnJIA7Q64VI6YgxwTIxQaZkD8H_eSoYKpnmkHlnH9wi_ZOmiYui6rNoFwxp9IAO2r9-i5fgpXanTk7iPn9uKuT5QDOzeFLDAsPelw2pGvpMDkYG6FlzPL-QY4Vvm9Z5JRh9gtR3du_JXp0Aq_rNq9KaSpFPrMuWsVHdk9-ElCcz7ZI5nPUZVFKRhGyD5zrROX_rqAhobcTJiR2_rW-UiSzqllxjkRReCGO_mTxRx_M_FJQG-pVvLJqPFHeZ208nQ4349zdIVI9092qR2P0iusaL5KiTrED2fKQFwroZG7qLYTG0fcrNeF4JFezHHK3ZWuAFin-s8J3w8eM3KqVeS6QmuRNBKDBIISw9vTv_Ly80wEeM4Axa5cPqQU4OQiCzpG2iA-MKtvK9cww0yH9XqXnp91Ff0mS71lLStGxOU4mtcKnqEBeCOvCjRmi_Ud0KBgOccFMyOqH0b7zgyhZLAMoYPWkKYE7W15kyDmDt3ASFvSKK2fIY0YQ8duENSdy_mEIkLee85rYLzsLVV-bytyrvqrvCc76SlveHWXcXLOJld2fZYlySyjm-VSEL06e7cCJ4b830rbQnrXfI7vlwYapvh3vtHPQrF64V-69_AWJ-Ag5M-ZpplL8X66Mb763F-Qk1Igw7DTnO6rzToQ3K6LN69NX3cPadcg6nSDTgpP-XPOEdOBjPGbBpT9I54qcFdJaxb18IyP7OE8mm51Lqyd5WjhNc-GtS4QX9htZ8zuXUzzlvDWw9HpaXLkklRtnmoPuVP-MqfNZ3Ft9H890MRoaSGUphaSkIg7AsSf17b7xpd1sRzxTnM9_7PP79JrI4AATD-0nqEybux3-ltTK6GFSXEIyyuD2DDRq9C1zb-uT6_xSZ4Yh3KRa5jKWTM34ptQxKhw==",
  "id": "rs_00434e83ff3765ac016ab468a2748c87d091078dfeb78723e2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.355,\"right_y\":0.055,\"right_z\":0.04,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0,\"right_gripper\":1},\"note\":\"The fruits have been released into the blue bowl. I’m positioning the open jaws across its right-hand rim so I can lift and pour the bowl.\"}",
  "call_id": "call_6LAG4DIXowUEevqpqMK6syjp",
  "id": "fc_00434e83ff3765ac016ab468a6d76c87d08aeee42b48dae2f8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6LAG4DIXowUEevqpqMK6syjp",
  "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]: [-0.0437, 0.8253, 0.6037, -0.432, -0.0742, -0.083, 0.9911, 0.2699, 1.4677, 0.3775, 0.535, 0.2352, 0.1928, 0.9986]\nstate[eef_state]: left_x=0.2892 left_y=0.0041 left_z=0.1611 left_yaw=0.0606 left_pitch=-0.0827 left_roll=-0.0035 left_gripper=0.9911 right_x=0.3618 right_y=0.0611 right_z=0.0578 right_yaw=-0.0295 right_pitch=0.029 right_roll=0.0433 right_gripper=0.9986\nstate[joint_eff]: [-0.0205, -1.3744, 6.9949, 1.6386, -0.0904, -0.0073, -0.0073, -0.2803, -3.0154, 3.4393, 0.4322, 0.3346, -0.4225, -0.1636]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 380):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c252386a2726124c1d81e6dd931d294b82f7273ac53d491327a88af0e2f36ac6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 380):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ce1fda8b4c31d8eb69456d41184596d1ce9bd21a2622313311f5aef452e60df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 380):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f90bea73dc77d10353e6d3a7e5e3313a77893b935b6a58e4932ec34004affe35",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 37 attempt 0 · /responses · status 200 · 9.15 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 130 changed as sent

message 137 changed as sent

message 141 changed as sent

message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0437, 0.8188, 0.6037, -0.424, -0.0738, -0.083, 0.9911, 1.0744, 1.8748, 1.4063, -0.5167, 0.8124, 0.765, 0.5153]\nstate[eef_state]: left_x=0.29 left_y=0.004 left_z=0.1644 left_yaw=0.0602 left_pitch=-0.0683 left_roll=-0.0052 left_gripper=0.9911 right_x=0.3242 right_y=0.3369 right_z=0.1473 right_yaw=0.0232 right_pitch=-0.0437 right_roll=-0.0526 right_gripper=0.5153\nstate[joint_eff]: [-0.1026, -1.388, 6.9949, 1.6874, -0.0073, -0.0269, -0.0073, 0.3214, -12.7248, 8.8821, 1.2088, 0.5885, 0.2027, 0.6422]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0437, 0.8257, 0.6037, -0.4309, -0.0738, -0.083, 0.9911, 0.5804, 1.3483, 0.7185, -0.0994, 0.4847, 0.3511, 0.9958]\nstate[eef_state]: left_x=0.2894 left_y=0.004 left_z=0.1612 left_yaw=0.0603 left_pitch=-0.0819 left_roll=-0.0038 left_gripper=0.9911 right_x=0.3476 right_y=0.1338 right_z=0.123 right_yaw=-0.0091 right_pitch=-0.0632 right_roll=-0.0339 right_gripper=0.9958\nstate[joint_eff]: [-0.0889, -1.1966, 7.159, 1.7705, -0.0366, -0.0269, -0.0122, 0.0068, -5.012, 6.8308, 1.5702, 0.3541, 0.0611, -0.1783]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 141 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0437, 0.8253, 0.6037, -0.432, -0.0742, -0.083, 0.9911, 0.2699, 1.4677, 0.3775, 0.535, 0.2352, 0.1928, 0.9986]\nstate[eef_state]: left_x=0.2892 left_y=0.0041 left_z=0.1611 left_yaw=0.0606 left_pitch=-0.0827 left_roll=-0.0035 left_gripper=0.9911 right_x=0.3618 right_y=0.0611 right_z=0.0578 right_yaw=-0.0295 right_pitch=0.029 right_roll=0.0433 right_gripper=0.9986\nstate[joint_eff]: [-0.0205, -1.3744, 6.9949, 1.6386, -0.0904, -0.0073, -0.0073, -0.2803, -3.0154, 3.4393, 0.4322, 0.3346, -0.4225, -0.1636]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 380):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c252386a2726124c1d81e6dd931d294b82f7273ac53d491327a88af0e2f36ac6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 380):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ce1fda8b4c31d8eb69456d41184596d1ce9bd21a2622313311f5aef452e60df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 380):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f90bea73dc77d10353e6d3a7e5e3313a77893b935b6a58e4932ec34004affe35",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGitSb4FL6ScDxneqonKLfNPwSMGWGi1QpQRLMQ2LMJM-AjINH8PAaE2oCkZ97eiPTRLrXe3Qq91qvP__WT3YcyIkbzGFER621W6EDyBFzIo39eKmut1vVLvjIP3tnjr4y76a2kMlHBFDyaiT5OhTMz0xVYfLdfFNNa2fyFnuzg5a63X8Nc_pGSJUTEa1N8aIHgUG4MERuEbjmKzNBUU9CZQPJI2XAizfAXqng60zWx5FR-498IRYALxNXyuk7hzwevQkWYmmav6Rpa0jeTfXDi2IvJG0WoCzPGe-zsUvJn_yQF5zP09H42UGk5eeqeYh0cot8fVQOYUxpWEkiBp4LKpbaqTil3YCKpPAR7WEiTkfD2X4PIr7LTEg9NO-60EDdIk5YLyzACQe8QfXjDpdFgj9MSAppXN22gQG3zyNrW4zK7wjp0duLWpqUG6e79K8gXuIRsildisax9tA5RijdE--oHCWJVSl5kBUy3MaL5gL3LaJdzIiBf4VXUNIadDef0MmECx6iXmva-WSXf2psGMBBgLFxJlPyq1bLJw8cI0kRSf-GQjVJXNpatXtJ33FzUYtWa-lRvyXUwp1-f0wRNTW2OmT3LhRasbdR9NoX3R558jmBAq8R8uS4EYkR_nXmFl7yRqddfB2mweapNBaRSGcqQmSQbx3SZZbRqOTOZraccLOGBhLD4nT7YC3pMuo8-5r78-xPyXzkG_zlabV4QEo5gXtJ50mLy8uiTqF5u1VdyKofVWEFKm_ssb2RwTMEhpRLTdRp3Npk6EIR0Ocpd7XElqYQpxFjeePcpaSVOhAOJnEke1G8VKBpPXz4FZGXDQCgAW3S59oW1xYZys9fPn8ElK0J5OosdxvbRkLkpm_SLNFGcZt5-16IpJYAfmx8H_i_8y8pRuLV2NnMXcbGb5ZanpH7Z-_tEQADbM_Pzz7TDRUkCDvJowtVO8ouK0gQjc9kqP46hCXttBe5YN2O6XafLtAgz63jrvgVUvPlmDYkSWyBDFia7TW-lHXu4tSiQwtp5PkkCv0SFmD1CT-9DpIXoomtAwQturriMwXxkDBO9H6HkFhngPp8HxMgGfmpxjPAt4xS5agIpau4meYRcJBaUlyRJVAOchxksmrSglaLP2A8bCO15zdsXgxh7eqEfBi4esownmhL2l009NpFQVwUXYVv_4FjyLq0ydStFDhZziclCzxxOTD0fRB2r7s5I2ezaehisT4KbNz3w6r1XgeW_ZsirNTPFCjN_mBM5AFRrRdx0fzQhHuMUEuZvZr9GhxFSETUsu-aQ_1YhutKFG_zArcP17TCrAt_PvJgEXfYiXwePkFh93-WfMf5xZeF8mTjIZeXcBLVOsxZWC2JfBP-T82GwN3JyS9hXgEJ6XtQf-2vqixciKAVZaFzJHf9wpq-OHeTW3mAFHzCKLMZUB0sjQjGxOfUaG5BJiO331DqbiosoqG0CjatzL_FsaevK7mOZjRawJSy8oo0ZII_CaCOM-MLN1eY7bm2vT-fB0vOMmPAKnEIlvB2rOJcR4bXP2dLpVsQA8STH1p3wFWIlGuDqY_INkwls7gTSGsxCQN3PEgnA-leUnNa9qLi0CwjlmP_Yy9VVGpYE-3A9baUr9PSrZqNLRFNNkVFTkrk0pIr55hSj21nowyN_48m__GPxPk5AEQUcZm_OSX5WS_-C5XQ==",
  "id": "rs_00434e83ff3765ac016ab468aae41087d0a94cfb26a4638bbd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The gripper is straddling the blue bowl’s rim, and the descent stopped at contact. I’m closing gently against the rim to secure the bowl.\"}",
  "call_id": "call_jrIfgbLQCKawycYfOmjxQ6OP",
  "id": "fc_00434e83ff3765ac016ab468ac9b8087d0abc6210fc4b375df",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jrIfgbLQCKawycYfOmjxQ6OP",
  "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]: [-0.0437, 0.8265, 0.6037, -0.4324, -0.0742, -0.083, 0.9911, 0.2718, 1.4715, 0.3748, 0.5785, 0.2153, 0.194, 0.3396]\nstate[eef_state]: left_x=0.2892 left_y=0.0041 left_z=0.1607 left_yaw=0.0606 left_pitch=-0.0842 left_roll=-0.0033 left_gripper=0.9911 right_x=0.3656 right_y=0.0664 right_z=0.0641 right_yaw=-0.0121 right_pitch=0.0615 right_roll=0.0646 right_gripper=0.3396\nstate[joint_eff]: [-0.0889, -1.4427, 7.1043, 1.6386, -0.0708, -0.0562, -0.0122, -0.3624, -5.2308, 5.4769, 1.3016, 0.2076, -0.0708, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 390):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bca869bfd9797796d0f8440cb3c49c1677c2c078f7727322cbe79ef307bc479a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 390):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b77c5b67e0e82d8379210c3cd81c266cb3beb80ffbddf5fc322662bb83e7014",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 390):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e1bcb134733a13ac5f58399b5e76feebc07465a14e1a654cf78e7b75ba8c113",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 38 attempt 0 · /responses · status 200 · 2.865 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 134 changed as sent

message 141 changed as sent

message 145 changed as sent

message 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0437, 0.8238, 0.6037, -0.4252, -0.0742, -0.083, 0.9911, 0.5827, 1.3491, 0.7223, -0.0929, 0.5018, 0.3622, 0.5176]\nstate[eef_state]: left_x=0.2901 left_y=0.004 left_z=0.1628 left_yaw=0.0605 left_pitch=-0.0743 left_roll=-0.0044 left_gripper=0.9911 right_x=0.3494 right_y=0.1328 right_z=0.1263 right_yaw=-0.0259 right_pitch=-0.0487 right_roll=-0.029 right_gripper=0.5176\nstate[joint_eff]: [-0.1709, -1.5795, 6.9949, 1.7021, -0.105, -0.0562, -0.0122, -0.1436, -6.2154, 6.7214, 2.0879, 0.2222, 0.0024, 0.5641]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 141 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0437, 0.8253, 0.6037, -0.432, -0.0742, -0.083, 0.9911, 0.2699, 1.4677, 0.3775, 0.535, 0.2352, 0.1928, 0.9986]\nstate[eef_state]: left_x=0.2892 left_y=0.0041 left_z=0.1611 left_yaw=0.0606 left_pitch=-0.0827 left_roll=-0.0035 left_gripper=0.9911 right_x=0.3618 right_y=0.0611 right_z=0.0578 right_yaw=-0.0295 right_pitch=0.029 right_roll=0.0433 right_gripper=0.9986\nstate[joint_eff]: [-0.0205, -1.3744, 6.9949, 1.6386, -0.0904, -0.0073, -0.0073, -0.2803, -3.0154, 3.4393, 0.4322, 0.3346, -0.4225, -0.1636]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0437, 0.8265, 0.6037, -0.4324, -0.0742, -0.083, 0.9911, 0.2718, 1.4715, 0.3748, 0.5785, 0.2153, 0.194, 0.3396]\nstate[eef_state]: left_x=0.2892 left_y=0.0041 left_z=0.1607 left_yaw=0.0606 left_pitch=-0.0842 left_roll=-0.0033 left_gripper=0.9911 right_x=0.3656 right_y=0.0664 right_z=0.0641 right_yaw=-0.0121 right_pitch=0.0615 right_roll=0.0646 right_gripper=0.3396\nstate[joint_eff]: [-0.0889, -1.4427, 7.1043, 1.6386, -0.0708, -0.0562, -0.0122, -0.3624, -5.2308, 5.4769, 1.3016, 0.2076, -0.0708, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 390):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bca869bfd9797796d0f8440cb3c49c1677c2c078f7727322cbe79ef307bc479a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 390):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b77c5b67e0e82d8379210c3cd81c266cb3beb80ffbddf5fc322662bb83e7014",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 390):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e1bcb134733a13ac5f58399b5e76feebc07465a14e1a654cf78e7b75ba8c113",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGi39CcBWiL-UGlUKm0KUrxexiOqkHIcY81nJcvuMVjnsg89FZPnZ4CBZpuFRZvyDtN9Vq1P4mc86tXXiHAHi4vbyGBErg9Z3UkjaajixxU8XbPypbdPe8ZK4e3O0PM5ubsv3-yKsl36OWOoL9gAzrLaqfTcvHix0JmbXyfL1azG0LrD2WHJsgEKofFFvVcQwEpu4pEhXBhwGH1HHYZoz_lVEbzi1U_keOtsyUUNYS0hycOJIjxhKArT1Rg9wra8lsA_Ion6w5C5LBVAtXc3Awr82z3fr_glWMIpiVbrvQexZa0NOA9G3dSYcwdwkKiuBbonYXDoMvx0PT2CYnl4CRsGyqVXLgK8ubYNmg4l5f8QuIBTWuiXVQNtHRXYno85GWF0lOKASfiN72IjeVeH-SrCHVfdptCCUCIavlyptNJBx92hngmMUecTgoOBaFtVRlt_X0IDBtlkVFOiwy2kbAR5osTeaoXVweQWWizcezGHddVkywsGPlFl0SPxXWiDH8ooP2qX2TgzeYTN3iTHtsBVO7--_KFASdqKpb9S5EIUi7FsLeGpB3dDO0eUSuYwvPbm7t02tC4ylTaQ4u3bcBXVhhRNry2eS0eZz59bLitkULDOHV4fpvmN3flkpI72oJia9Sum0Nrfor-6gNekzdnNkdB0WsfK2f-KAIQGIAUcUYIJomsurpA686neO2keNINpmm2cU7ow_ip9616Df3VRc5N-hEGtxWR2M90aSaVgaPoeVciBW1mHuCQGtHWjMTwxCK0Qmzl92o2Zmh5BlV4vN6nhdRVRCDGllA1P5-t9wftzr9VNgvf6ypLaDKL8wmkZwWU28-i-wCgXA2ckyOOGEYp9C9c0rPnE8_9IwqLiU_iOd534moom0LBVQJ6FzGq-kD-w7-QNQKJ7r3ozXulg-7KpsGvBM_J8D2X7PBBlhCK52wMy-g4bkMxXDHawW-B2yJXNaFlGP_fKipzDvfvfl127RDOa5hP3d8fTQPgtD0wGudTR__EZzbRtBtCjVMy7i8HMxxWaOpaKUbVIyAHhxnOWhmltYOKZDpbo-QJfoIPYexv5KkOI0J2XaosCNCTN_PlgCqMvB5H0g5fqfxbnXgwXuYw6H5Gy928XCAjEojx8peESgaKFVkU9ce-Sg0SmFsFOhFnTkGRmFy-35GbYoAS3Z9kOuWCT17SdyyQattFuyHJ1NyifLDvzEJqmsFB0mNlU4B2O3_HcfiSZCvinskDVwFY7Q6IHT-8UhSmIgu0r0QAkjvcFl9DSlLL2vFOD-iyh1Zwu3icyoyLJxzpnwW3KKXtsYRXcK6TH-1rYc-OhK0KA8CHdJSxWN3IRzmW-t58nK7CPK5qYxgEulsxImhezCa7LJRY-jB0rKflfzXPp17IHiO_KoBu6C4xTL6TDzKT44WHR4tCcugihzK-MpEdFSV3Jsf8vvTtd1coR3K1BeQi7JPlfZtIJ7Rf-8LKYzMXQ5XLfOrv6IZR5LNEh_o5qSUL9m08wSTFPeBj1A7qcSwhFh-EY2BZ8CZMS9s1nTmqXFciQuJrId6kro5qGiEUImSVvegpT-PbulO782cNuMbNjgXT9P8k4r4A483vPs4ma05oJ_IkLRxEs5aWHIIF0oqcBkVnVJ1EGJ2Im2Zg_vSgonzVxvVw7pIi7dm8YKmWtVdZwxodOVtY6ekmf1jlpqMz54CrGLCLxS-PTXmhnuyRfqKkafMrqTa_YnUW7ZZnHGlWBeaxDoEdabqGAFwaICYMvn30KmwJJXZXgVCFP_w_dyeNf8B-K9MTpgOwuHqs8fookDfOk1SYwIiJj_FUupdoUIFzl9bUqQLtJdZmcNHE5f7JnVYB0XtpQgA8kMWUYWREvlpPj4yO5b9h3sWKYqC5w2Y53KaB0GWpnHGLRxP4c3391zJkJtBFTQ2R86wkPwGTAE99-xMNG-cOcs5lbmIVz9Ipr6wd_5IISgm1n7gMHVJs6D9UYh5rrekJzBUfGlvY8I72nYOMX6_YNwEVrFq-ZgN1cXSy-LHKjEBfDKuqFbrz5ZkP06GJ3b16NKWeleX2gQzbBP8VIdmJz2x6A77599hK8sd9zRqqz3KfhRAeIYhYTb_fWHwaxLcio8DUC9QmE-jfszEcI8qirAlSuyTOW7RGdl2EulXzBv3oJefJa3mkQH_PLvp8U-5BcRRsNJ1m_jXrbzSl5z0ZGBui-WecKy1zuwYSw3EEj2NNvjKE9jwPsI90hTH-5MbxNXSEBemP8H96-1bkHDBkXkwH4vQwnN30NMVoHSqMnTjo-l7y7CoXOxZ8N336d6A0aSjScivzI9RCvQ-OuC3uGlRE6kiG8q08zDsOaDIyoaHzzFrL8S3v5ha3mhnQQn1yaYhqwSMt8F4ZuNehUKP37rIUwqrEXZEU6wv2R0ZTqgd4a6U9wJA0vlvNsDrrcVJ7vusoSEeBKhYaE3BuHEZY-CnigQWRPuTn-KQorBeW5lw9lt5eGBgwmuvn4yZ-OAh194TPSRGxhvauhUPUiKW61AXox9NLMTgj_dQTOGzYqqvrIbRUcQk1teP7OkSjhD4BlrliAhDd-ZTpK12P7CysEPtGsCU-onJSbGCq14bLfpYrh7shEAIgwDo0bEnXsjCcvF69Z1dYj8oprQMWTivrgD6x9_xDMrrvP6oXZ7cH9N-vCcoUc3PGcrIkiaTC1eZVIXdOwwbJsX7fl7y5-Nqs_z7JgfwSU2Wn2EkaXAAvez_wTD44LEHG_pYBNsaqlzu71HuFv7IfGc8TjXxKwuscG_6nNeFL_BTpgY462ngGW5brWQa7v1CXSkObBy0iPSUXUGj-mto86pkByRfgcSFw9mTrt5bh_KDxxx6IIBqfBcoDdtBeLTqRcBG5yoVK6-Of_wwFT7d7wOD4ATvpg59KpTs32-PToxZ6C6tnCFOeZH1t_GoTHIQ8NeTCZQCsIy5D9IRlTzZQMqjGn-rXjHKs86AaUtFoZioHkk3kgOzqqVpDPJ40JKgnq4O5J4pxD4hdvEh-YSpiD65Lyai8dfR1EqC9ygWI9FGjLqxGxbuOLDA0Yuq4JndtSGAqQhYxuM8w0ROLR6TstDVG43fYLUjpjaxv11fOvsD3P0z76sSifKXNDifQQaEGm5AffUJUsOYx1xjJceVhTeicjLQ2bsl_3Pw==",
  "id": "rs_00434e83ff3765ac016ab468b029e887d0a49121ceaba8bc4d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.38,\"right_z\":0.25,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The gripper has closed against the blue bowl’s rim. I’m lifting it and bringing it above the right side of the large white bowl, keeping the blue bowl upright during the transfer.\"}",
  "call_id": "call_80y4nGmpikhN2Q8eqSRqY2Ih",
  "id": "fc_00434e83ff3765ac016ab468b64a1887d09808cbaaeac0cfe1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_80y4nGmpikhN2Q8eqSRqY2Ih",
  "output": [
    {
      "text": "executing move_to over 27 steps (2.7s)",
      "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]: [-0.0437, 0.8318, 0.6037, -0.4423, -0.0738, -0.083, 0.9911, 0.8753, 2.3463, 2.426, -0.8661, 0.6758, 0.5434, 0.341]\nstate[eef_state]: left_x=0.2879 left_y=0.004 left_z=0.1573 left_yaw=0.0604 left_pitch=-0.0994 left_roll=-0.002 left_gripper=0.9911 right_x=0.4609 right_y=0.3854 right_z=0.2328 right_yaw=0.0376 right_pitch=-0.0174 right_roll=-0.0127 right_gripper=0.341\nstate[joint_eff]: [-0.2393, -1.8803, 7.0906, 1.7851, -0.0855, -0.0464, -0.0122, 0.1436, -14.3385, 7.3641, 0.9548, 0.4908, 0.2759, 0.7741]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 417):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3a3493bf87db67f2244912285b3b9f12622bed6650ef0904cd67c1892da7950",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 417):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a4948a5e33e57f3cfff92fae1828fd039af43f95180473cc5ac1deb626dfc5a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 417):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d68ad2b91e24ae790f69101189717e79dfa9c4cc95127bbc3bfe06977ae8549",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 39 attempt 0 · /responses · status 200 · 11.84 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 137 changed as sent

message 145 changed as sent

message 149 changed as sent

message 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0437, 0.8257, 0.6037, -0.4309, -0.0738, -0.083, 0.9911, 0.5804, 1.3483, 0.7185, -0.0994, 0.4847, 0.3511, 0.9958]\nstate[eef_state]: left_x=0.2894 left_y=0.004 left_z=0.1612 left_yaw=0.0603 left_pitch=-0.0819 left_roll=-0.0038 left_gripper=0.9911 right_x=0.3476 right_y=0.1338 right_z=0.123 right_yaw=-0.0091 right_pitch=-0.0632 right_roll=-0.0339 right_gripper=0.9958\nstate[joint_eff]: [-0.0889, -1.1966, 7.159, 1.7705, -0.0366, -0.0269, -0.0122, 0.0068, -5.012, 6.8308, 1.5702, 0.3541, 0.0611, -0.1783]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0437, 0.8265, 0.6037, -0.4324, -0.0742, -0.083, 0.9911, 0.2718, 1.4715, 0.3748, 0.5785, 0.2153, 0.194, 0.3396]\nstate[eef_state]: left_x=0.2892 left_y=0.0041 left_z=0.1607 left_yaw=0.0606 left_pitch=-0.0842 left_roll=-0.0033 left_gripper=0.9911 right_x=0.3656 right_y=0.0664 right_z=0.0641 right_yaw=-0.0121 right_pitch=0.0615 right_roll=0.0646 right_gripper=0.3396\nstate[joint_eff]: [-0.0889, -1.4427, 7.1043, 1.6386, -0.0708, -0.0562, -0.0122, -0.3624, -5.2308, 5.4769, 1.3016, 0.2076, -0.0708, 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 149 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0437, 0.8318, 0.6037, -0.4423, -0.0738, -0.083, 0.9911, 0.8753, 2.3463, 2.426, -0.8661, 0.6758, 0.5434, 0.341]\nstate[eef_state]: left_x=0.2879 left_y=0.004 left_z=0.1573 left_yaw=0.0604 left_pitch=-0.0994 left_roll=-0.002 left_gripper=0.9911 right_x=0.4609 right_y=0.3854 right_z=0.2328 right_yaw=0.0376 right_pitch=-0.0174 right_roll=-0.0127 right_gripper=0.341\nstate[joint_eff]: [-0.2393, -1.8803, 7.0906, 1.7851, -0.0855, -0.0464, -0.0122, 0.1436, -14.3385, 7.3641, 0.9548, 0.4908, 0.2759, 0.7741]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 417):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3a3493bf87db67f2244912285b3b9f12622bed6650ef0904cd67c1892da7950",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 417):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a4948a5e33e57f3cfff92fae1828fd039af43f95180473cc5ac1deb626dfc5a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 417):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d68ad2b91e24ae790f69101189717e79dfa9c4cc95127bbc3bfe06977ae8549",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGi9dPXvaF2jV-aunPbGAOzXijv0eYcaCIPqC55PM5kwwt8HJkHlUDSZCbwTNhI0MgUaXiqBMIHEjAa8-U3WipG8Ug8QlAmHVtTwnY5b_4z4U5mDiVYfi5f1uW05nJRnmR2vGpJ1CPAisrRE37TFyJITnjWaemuBfUfoev6IhQd-XXa8moB8Su-8WL2vgDyMRXQymfzNanjnDegP3L6cheoNLr9RI00FN8EdD_KzH4O2HX_lYBQEcaV1bSM-k1Xfs8nxZEIBg11H473pdmOaty1GZQ8mpr5r25G20U7d5cieRvMEXm46680y7-Zy1ZpDbH-CVm15alIzL8YWtZCYJy0b-0NeTjN0bZtcHzzDxROyZ5XfGjT5d0SeGrSNuHsxxWPAtnGYLwFrk-udxOgnQOtYaYxOcUin8VAtI3Ecds3V2oq0HlRejjrQtiuokjL_dBGj6PqxawR1QG9c3QSiPPXGFUKTDNmzP5ETc93aaINj_SciVo-xEBxTkBDvbhP3XOxU_lbEn1ujAZfwCaQ2Xikufu3WHaHrHYeg8Y6DAATYK15FyEWoyCglssdZ4vTldCKSJkYGUqYZjKa8__8P5151yoA_p-gE-kdAxFwbVfA8KJBcc_c5ODHUq3HC6abxnPP3GskvGGjiyjpinF3Gp3h2Ya1KeK8t9uyp3WYL7cpPugVbBt3a2YrfimKJwOaVW0gSxLkqLdtwev3x20LaPQSTe2ii1hgRD38aOkP2LDFCYkH7uXVuuqkXHiVW21Hag27GdRUrB5o04E7aUZ_ilmzosM1zk1JebzSot3h6YUxmSAkaa1FfaJaI37uwy-gzqA2tGBXdQvYxXL46YT39UGxLM9o-BLwJOzdnx19vA5-WGC_8RPhtz4dSTWXHouB2cvus_1AdTdBqh5SlEATh1kNtoNlarJ6R0RcXNg5Uax8neKpZE4JsfxlFSLt8kVlEd3veuczb_S63XaWjFR2S3S_kOLto56stJqNbDU0uuy-RhENQRXDNPt4x7IXUpt2Sqz9th75ayB64-BU8DQ_7hNOGylPllOOn_O44EGcW_SCjP7Fujp0dvsBhdH8HCwjpYSMukUAvsh_eygbddpmCQBE624Ht_d8pnR-KJvgKYt6xaEvTt_zI2dVtTol1zvmiMGfYFRI9llOAqvCX-MI5xcwebjJmDAG0MyoeC3xy7NTwTM4oWiDaz71VqjDHKBTYtQRqievBSAogFBvcdMqgrjHqrHltegduBLeoxlLrsP9i0nGQMku-tGhjZWDKKYBoS6mHTpdrAnZ06WAC4Ib9g_xnXi5yjfRBpEaRAis5OtJfnCE=",
  "id": "rs_00434e83ff3765ac016ab468bba01487d0bb453bece1828e78",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_roll\":-1.5,\"right_pitch\":0,\"right_yaw\":0,\"right_z\":0.25},\"note\":\"The blue bowl lifted with the gripper and is now above the white bowl’s near-right side. I’m tipping it toward the white bowl to pour out the fruits.\"}",
  "call_id": "call_UzpNal03RzoWBnRR0FRSEL33",
  "id": "fc_00434e83ff3765ac016ab468bc191487d0ae7f645d32e6305f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UzpNal03RzoWBnRR0FRSEL33",
  "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]: [-0.0437, 0.8349, 0.6037, -0.4465, -0.0738, -0.083, 0.9911, 0.9623, 2.7873, 2.9005, -0.9672, 1.2629, -0.0452, 0.3414]\nstate[eef_state]: left_x=0.2874 left_y=0.0041 left_z=0.1557 left_yaw=0.0605 left_pitch=-0.1066 left_roll=-0.0012 left_gripper=0.9911 right_x=0.4699 right_y=0.3862 right_z=0.1979 right_yaw=0.029 right_pitch=0.1419 right_roll=-0.855 right_gripper=0.3414\nstate[joint_eff]: [-0.1846, -1.7026, 6.9949, 1.6972, -0.0611, -0.0562, -0.0122, 0.335, -16.6496, 6.4479, 1.5556, 0.8913, -0.0317, 0.7448]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 436):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78cd712191b8273ecca4da565437e900076cd58115629554b59c6d3c531a47a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 436):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5779dab1fb4faeaae9d831b05fc9ee606a3af58d2cdc404854d56e4dc700060b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 436):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:281d556af3dec217ea10316bc94d4ac398ed8a37dd1004271766d2a947a5e98c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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