adhoc

completed
2026-09-24T01:10:38.676486+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (76 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
126.3 s
total steps
133
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 the blue bowl on the right, the large white bowl on the left, and fruit spread between and beside them. I’m bringing the right gripper above the yellow fruit first.
move_to
right_x0.3700right_y0.1800right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8001, 0.6136, -0.3824, -0.0143, -0.0299, 0.9911, -0.0227, 0.8005, 0.6186, -0.387, -0.017, -0.0269, 0.9994] state[eef_state]: left_x=0.296 left_y=0.0002 left_z=0.1822 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9911 right_x=0.296 right_y=-0.0001 right_z=0.1834 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994 state[joint_eff]: [-0.6769, -1.7846, 9.7709, 1.8339, -0.1245, 0.1148, -0.5739, -0.3487, -1.7299, 9.3744, 1.8242, -0.0855, 0.0806, -0.0757] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.37,"right_y":0.18,"right_z":0.15,"right_gripper":1},"note":"I see the blue bowl on the right, the large white bowl on the left, and fruit spread between and beside them. I’m bringing the right gripper above the yellow fruit first."})
tool
executing move_to over 16 steps (1.6s)
step 16
top_cam
camera top_cam step 16
left_cam
camera left_cam step 16
right_cam
camera right_cam step 16
assistant
agent noteThe yellow fruit is near the bottom of the wrist view, slightly right of the jaw column. I’m shifting right a little and lowering around its sides.
move_to
right_x0.3750right_y0.1600right_z0.0220
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8043, 0.6132, -0.3943, -0.0135, -0.0307, 0.9905, 0.672, 1.4761, 0.8593, -0.1276, 0.527, 0.3607, 0.9994] state[eef_state]: left_x=0.2947 left_y=0.0001 left_z=0.1784 left_yaw=-0.0002 left_pitch=-0.0164 left_roll=-0.0007 left_gripper=0.9905 right_x=0.361 right_y=0.1783 right_z=0.1312 right_yaw=0.036 right_pitch=-0.0576 right_roll=-0.0463 right_gripper=0.9994 state[joint_eff]: [0.0479, -1.0462, 7.2, 1.873, -0.0269, -0.0464, -0.0708, -0.1846, -6.3385, 9.0598, 1.7656, 0.4615, 0.2808, -0.0757] camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.375,"right_y":0.16,"right_z":0.022},"note":"The yellow fruit is near the bottom of the wrist view, slightly right of the jaw column. I’m shifting right a little and lowering around its sides."})
tool
executing move_to over 8 steps (0.8s)
step 24
top_cam
camera top_cam step 24
left_cam
camera left_cam step 24
right_cam
camera right_cam step 24
assistant
agent noteThe yellow fruit is centered between the open jaws at table height. I’m closing gently around it before checking the 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]: [-0.02, 0.8059, 0.6132, -0.4049, -0.0139, -0.0307, 0.9905, 0.5926, 1.7756, 0.6289, 0.4061, 0.466, 0.3027, 0.9994] state[eef_state]: left_x=0.2933 left_y=0.0002 left_z=0.1758 left_yaw=0.0001 left_pitch=-0.0286 left_roll=-0.0003 left_gripper=0.9905 right_x=0.372 right_y=0.1591 right_z=0.0182 right_yaw=0.0354 right_pitch=-0.0794 right_roll=-0.0566 right_gripper=0.9994 state[joint_eff]: [-0.2256, -1.4427, 7.0906, 1.873, -0.0464, -0.0708, -0.022, -0.294, -7.4188, 4.5197, 1.8339, 0.1441, -0.1001, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The yellow fruit is centered between the open jaws at table height. I’m closing gently around it before checking the lift."})
tool
executing move_to over 10 steps (1.0s)
step 34
top_cam
camera top_cam step 34
left_cam
camera left_cam step 34
right_cam
camera right_cam step 34
assistant
agent noteThe gripper has stopped at a fruit-sized opening rather than closing empty. I’m lifting the yellow fruit a short distance to confirm it is secure, and keeping the idle arm parked.
move_to
right_z0.0900left_x0.2960left_y0.0000left_z0.1850
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8059, 0.6132, -0.4164, -0.0135, -0.0307, 0.9905, 0.5926, 1.7752, 0.6289, 0.4068, 0.4698, 0.2955, 0.3172] state[eef_state]: left_x=0.2917 left_y=0.0001 left_z=0.1735 left_yaw=-0.0002 left_pitch=-0.0401 left_roll=-0.0003 left_gripper=0.9905 right_x=0.3723 right_y=0.1586 right_z=0.0187 right_yaw=0.0364 right_pitch=-0.0773 right_roll=-0.064 right_gripper=0.3172 state[joint_eff]: [-0.0068, -1.2923, 7.1316, 1.8681, -0.0269, -0.0562, -0.0171, -0.0615, -7.3778, 4.8479, 1.536, 0.0659, 0.0122, 0.9988] camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.09,"left_x":0.296,"left_y":0,"left_z":0.185},"note":"The gripper has stopped at a fruit-sized opening rather than closing empty. I’m lifting the yellow fruit a short distance to confirm it is secure, and keeping the idle arm parked."})
tool
executing move_to over 5 steps (0.5s)
step 39
top_cam
camera top_cam step 39
left_cam
camera left_cam step 39
right_cam
camera right_cam step 39
assistant
agent noteThe yellow fruit has lifted with the jaws. I’m carrying it above the center of the blue bowl with clearance over the rim.
move_to
right_x0.4650right_y0.1250right_z0.1800
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8326, 0.6342, -0.4534, -0.0139, -0.0338, 0.9904, 0.5926, 1.565, 0.7361, 0.046, 0.466, 0.2955, 0.3191] state[eef_state]: left_x=0.2907 left_y=0.0002 left_z=0.1683 left_yaw=0.0018 left_pitch=-0.0828 left_roll=-0.0016 left_gripper=0.9904 right_x=0.3657 right_y=0.1549 right_z=0.0753 right_yaw=0.0371 right_pitch=-0.1156 right_roll=-0.0848 right_gripper=0.3191 state[joint_eff]: [-0.0342, -1.3744, 9.5248, 1.7802, -0.0659, -0.0269, -0.0122, -0.0479, -7.7744, 7.6103, 1.5604, 0.149, -0.0415, 0.1832] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.465,"right_y":0.125,"right_z":0.18},"note":"The yellow fruit has lifted with the jaws. I’m carrying it above the center of the blue bowl with clearance over the rim."})
tool
executing move_to over 8 steps (0.8s)
step 47
top_cam
camera top_cam step 47
left_cam
camera left_cam step 47
right_cam
camera right_cam step 47
assistant
agent noteThe held fruit is above the blue bowl’s opening. I’m lowering slightly and releasing it into the bowl.
move_to
right_z0.1250right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8364, 0.6342, -0.4683, -0.0135, -0.0338, 0.9904, 0.3668, 1.6814, 1.2671, -0.3202, 0.2993, 0.1261, 0.3205] state[eef_state]: left_x=0.2886 left_y=0.0002 left_z=0.1644 left_yaw=0.0015 left_pitch=-0.1015 left_roll=-0.0014 left_gripper=0.9904 right_x=0.4607 right_y=0.125 right_z=0.1707 right_yaw=0.0394 right_pitch=-0.1293 right_roll=-0.091 right_gripper=0.3205 state[joint_eff]: [-0.2256, -1.1419, 7.0222, 1.79, -0.0317, -0.0659, -0.0073, -0.4034, -7.8427, 9.1009, 1.4579, 0.1001, 0.022, 0.1441] camera 'top_cam' (step 47): [image omitted: streamed camera frame] camera 'left_cam' (step 47): [image omitted: streamed camera frame] camera 'right_cam' (step 47): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.125,"right_gripper":1},"note":"The held fruit is above the blue bowl’s opening. I’m lowering slightly and releasing it into the bowl."})
tool
executing move_to over 7 steps (0.7s)
step 54
top_cam
camera top_cam step 54
left_cam
camera left_cam step 54
right_cam
camera right_cam step 54
assistant
agent noteThe yellow fruit is now visible inside the blue bowl. I’m moving to the green fruit on the bowl’s right side.
move_to
right_x0.3850right_y0.0350right_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8368, 0.6342, -0.4751, -0.0139, -0.0334, 0.9904, 0.3645, 1.7248, 1.1336, -0.1719, 0.297, 0.1188, 0.9986] state[eef_state]: left_x=0.2876 left_y=0.0003 left_z=0.163 left_yaw=0.0017 left_pitch=-0.1087 left_roll=-0.0007 left_gripper=0.9904 right_x=0.4564 right_y=0.1227 right_z=0.1211 right_yaw=0.0416 right_pitch=-0.1573 right_roll=-0.1043 right_gripper=0.9986 state[joint_eff]: [0.0205, -1.3744, 6.9675, 1.7753, -0.0366, -0.0415, -0.0073, 0.1573, -8.3624, 6.4479, 1.8584, 0.0659, 0.0073, -0.1587] camera 'top_cam' (step 54): [image omitted: streamed camera frame] camera 'left_cam' (step 54): [image omitted: streamed camera frame] camera 'right_cam' (step 54): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.385,"right_y":0.035,"right_z":0.15},"note":"The yellow fruit is now visible inside the blue bowl. I’m moving to the green fruit on the bowl’s right side."})
tool
executing move_to over 8 steps (0.8s)
step 62
top_cam
camera top_cam step 62
left_cam
camera left_cam step 62
right_cam
camera right_cam step 62
assistant
agent noteThe green fruit appears to the right of the jaw column, with the yellow fruit clearly in the bowl. I’m shifting the gripper right and lowering to grasp the green fruit around its middle.
move_to
right_x0.3900right_y0.0020right_z0.0300
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.841, 0.6342, -0.4763, -0.0139, -0.0334, 0.9904, 0.1532, 1.3598, 0.8803, -0.2577, 0.1585, -0.0124, 0.9986] state[eef_state]: left_x=0.2876 left_y=0.0003 left_z=0.1616 left_yaw=0.0017 left_pitch=-0.1141 left_roll=-0.0006 left_gripper=0.9904 right_x=0.39 right_y=0.0356 right_z=0.1461 right_yaw=0.0186 right_pitch=-0.1612 right_roll=-0.1045 right_gripper=0.9986 state[joint_eff]: [-0.212, -1.2376, 7.2547, 1.6777, -0.0366, -0.0415, -0.0073, -0.1846, -6.2154, 6.7077, 1.8095, 0.0073, -0.0708, -0.022] camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.002,"right_z":0.03},"note":"The green fruit appears to the right of the jaw column, with the yellow fruit clearly in the bowl. I’m shifting the gripper right and lowering to grasp the green fruit around its middle."})
tool
executing move_to over 8 steps (0.8s)
step 70
top_cam
camera top_cam step 70
left_cam
camera left_cam step 70
right_cam
camera right_cam step 70
assistant
agent noteThe gripper is positioned around the green fruit, which is now below the wrist camera’s view. 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]: [-0.02, 0.8413, 0.6342, -0.4763, -0.0135, -0.0338, 0.9904, 0.0334, 1.5856, 0.5941, 0.297, 0.0776, -0.1066, 0.9986] state[eef_state]: left_x=0.2876 left_y=0.0002 left_z=0.1615 left_yaw=0.0016 left_pitch=-0.1144 left_roll=-0.0012 left_gripper=0.9904 right_x=0.3976 right_y=0.0032 right_z=0.0464 right_yaw=0.019 right_pitch=-0.1284 right_roll=-0.1199 right_gripper=0.9986 state[joint_eff]: [-0.1709, -1.5248, 7.0632, 1.6044, -0.0073, -0.0708, -0.0122, -0.8821, -4.7111, 3.412, 1.1062, -0.1001, 0.232, -0.0122] camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The gripper is positioned around the green fruit, which is now below the wrist camera’s view. I’m closing the jaws to secure it."})
tool
executing move_to over 10 steps (1.0s)
step 80
top_cam
camera top_cam step 80
left_cam
camera left_cam step 80
right_cam
camera right_cam step 80
assistant
agent noteThe jaws closed empty, and a small part of the green fruit remains visible just beyond them. I’m reopening, moving slightly outward and right, and lowering for one corrected grasp.
move_to
right_gripper1.0000right_x0.4100right_y-0.0120right_z0.0050
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8417, 0.6342, -0.4763, -0.0135, -0.0338, 0.9904, 0.0315, 1.5898, 0.5858, 0.3019, 0.0658, -0.1055, 0.0198] state[eef_state]: left_x=0.2877 left_y=0.0002 left_z=0.1614 left_yaw=0.0016 left_pitch=-0.1148 left_roll=-0.0012 left_gripper=0.9904 right_x=0.3954 right_y=0.0044 right_z=0.0425 right_yaw=0.0266 right_pitch=-0.136 right_roll=-0.1114 right_gripper=0.0198 state[joint_eff]: [-0.0615, -1.4427, 7.0222, 1.6288, -0.0611, -0.0562, -0.0073, -0.1436, -6.2974, 6.612, 1.3407, 0.1392, -0.0806, 0.8425] camera 'top_cam' (step 80): [image omitted: streamed camera frame] camera 'left_cam' (step 80): [image omitted: streamed camera frame] camera 'right_cam' (step 80): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.41,"right_y":-0.012,"right_z":0.005},"note":"The jaws closed empty, and a small part of the green fruit remains visible just beyond them. I’m reopening, moving slightly outward and right, and lowering for one corrected grasp."})
tool
executing move_to over 10 steps (1.0s)
step 90
top_cam
camera top_cam step 90
left_cam
camera left_cam step 90
right_cam
camera right_cam step 90
assistant
agent noteThe green fruit has shifted toward the table’s right edge rather than entering the jaws. I’m moving above its new position to check whether it is still safely reachable.
move_to
right_x0.4050right_y-0.0600right_z0.0900
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8413, 0.6342, -0.4763, -0.0139, -0.0338, 0.9904, -0.0238, 1.7599, 0.5842, 0.4763, 0.0166, -0.1429, 0.9953] state[eef_state]: left_x=0.2876 left_y=0.0003 left_z=0.1615 left_yaw=0.0019 left_pitch=-0.1144 left_roll=-0.0009 left_gripper=0.9904 right_x=0.4081 right_y=-0.0091 right_z=0.0096 right_yaw=0.0334 right_pitch=-0.1348 right_roll=-0.1082 right_gripper=0.9953 state[joint_eff]: [-0.2393, -1.4701, 7.0222, 1.6288, -0.0659, -0.0757, -0.0073, -0.5265, -5.3128, 5.5179, 1.536, 0.0708, -0.0415, 0.0415] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.405,"right_y":-0.06,"right_z":0.09},"note":"The green fruit has shifted toward the table’s right edge rather than entering the jaws. I’m moving above its new position to check whether it is still safely reachable."})
tool
executing move_to over 6 steps (0.6s)
step 96
top_cam
camera top_cam step 96
left_cam
camera left_cam step 96
right_cam
camera right_cam step 96
assistant
agent noteThe green fruit is just inside the right table edge and slightly nearer the base than the gripper. I’m lowering at that position, keeping the jaws clear of the edge.
move_to
right_x0.3750right_y-0.0550right_z0.0120
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8452, 0.6342, -0.4767, -0.0135, -0.0338, 0.9904, -0.2066, 1.5318, 0.7193, 0.0864, -0.1108, -0.255, 0.9963] state[eef_state]: left_x=0.2878 left_y=0.0002 left_z=0.1604 left_yaw=0.0016 left_pitch=-0.1186 left_roll=-0.0011 left_gripper=0.9904 right_x=0.4016 right_y=-0.0605 right_z=0.0762 right_yaw=0.0205 right_pitch=-0.1562 right_roll=-0.1068 right_gripper=0.9963 state[joint_eff]: [-0.0615, -1.7983, 7.1316, 1.6142, -0.0366, -0.0757, -0.0122, -0.2256, -7.6513, 8.1162, 1.58, -0.2369, -0.0952, 0.1001] camera 'top_cam' (step 96): [image omitted: streamed camera frame] camera 'left_cam' (step 96): [image omitted: streamed camera frame] camera 'right_cam' (step 96): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.375,"right_y":-0.055,"right_z":0.012},"note":"The green fruit is just inside the right table edge and slightly nearer the base than the gripper. I’m lowering at that position, keeping the jaws clear of the edge."})
tool
executing move_to over 5 steps (0.5s)
step 101
top_cam
camera top_cam step 101
left_cam
camera left_cam step 101
right_cam
camera right_cam step 101
assistant
agent noteThe jaws are now low enough to surround the green fruit at its new position. I’m testing the grasp before lifting.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8463, 0.6342, -0.4767, -0.0139, -0.0334, 0.9904, -0.2058, 1.647, 0.4976, 0.4038, -0.1158, -0.2543, 0.9965] state[eef_state]: left_x=0.2878 left_y=0.0003 left_z=0.1601 left_yaw=0.0017 left_pitch=-0.1198 left_roll=-0.0005 left_gripper=0.9904 right_x=0.3725 right_y=-0.0533 right_z=0.0098 right_yaw=0.0258 right_pitch=-0.1743 right_roll=-0.0984 right_gripper=0.9965 state[joint_eff]: [-0.1436, -1.5111, 6.9812, 1.5995, -0.0562, -0.0464, -0.0122, -0.4034, -5.7641, 4.8889, 1.6679, 0.0269, -0.0904, 0.0024] camera 'top_cam' (step 101): [image omitted: streamed camera frame] camera 'left_cam' (step 101): [image omitted: streamed camera frame] camera 'right_cam' (step 101): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The jaws are now low enough to surround the green fruit at its new position. I’m testing the grasp before lifting."})
tool
executing move_to over 10 steps (1.0s)
step 111
top_cam
camera top_cam step 111
left_cam
camera left_cam step 111
right_cam
camera right_cam step 111
assistant
agent noteThat close did not produce a reliable fruit-sized grasp, and the nearby bowl has shifted. I’m lifting away to reveal the fruit and bowl positions before making another attempt.
move_to
right_x0.2800right_y0.0000right_z0.2400right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8463, 0.6342, -0.477, -0.0139, -0.0334, 0.9904, -0.2005, 1.6241, 0.5102, 0.4816, -0.1757, -0.2245, 0.0419] state[eef_state]: left_x=0.2878 left_y=0.0003 left_z=0.16 left_yaw=0.0017 left_pitch=-0.1202 left_roll=-0.0005 left_gripper=0.9904 right_x=0.392 right_y=-0.0445 right_z=0.0382 right_yaw=0.0624 right_pitch=-0.0538 right_roll=-0.0659 right_gripper=0.0419 state[joint_eff]: [-0.1983, -1.5248, 6.9675, 1.6142, -0.0659, -0.0464, -0.0073, -0.3761, -4.0137, 4.1094, 0.6081, 0.6813, -0.3492, 1.116] camera 'top_cam' (step 111): [image omitted: streamed camera frame] camera 'left_cam' (step 111): [image omitted: streamed camera frame] camera 'right_cam' (step 111): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.28,"right_y":0,"right_z":0.24,"right_gripper":1},"note":"That close did not produce a reliable fruit-sized grasp, and the nearby bowl has shifted. I’m lifting away to reveal the fruit and bowl positions before making another attempt."})
tool
executing move_to over 14 steps (1.4s)
step 125
top_cam
camera top_cam step 125
left_cam
camera left_cam step 125
right_cam
camera right_cam step 125
assistant
agent noteWith the arm lifted, the green fruit is visible to the right of the bowl and nearer the base than my earlier approach. I’m checking it from above at the right arm’s workspace edge.
move_to
right_x0.3200right_y-0.0750right_z0.1400
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.852, 0.6338, -0.4911, -0.0139, -0.0338, 0.9904, -0.0509, 0.8337, 0.8528, -0.6247, -0.0708, -0.1635, 0.9967] state[eef_state]: left_x=0.2857 left_y=0.0003 left_z=0.1557 left_yaw=0.0019 left_pitch=-0.1404 left_roll=-0.0003 left_gripper=0.9904 right_x=0.2894 right_y=0.0013 right_z=0.2321 right_yaw=0.0907 right_pitch=-0.0373 right_roll=-0.081 right_gripper=0.9967 state[joint_eff]: [-0.1299, -1.5658, 6.9538, 1.7411, -0.0757, -0.0269, -0.0122, 0.2803, -1.7983, 8.5538, 1.7363, 0.1392, 0.2808, 0.0024] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 125): [image omitted: streamed camera frame] camera 'left_cam' (step 125): [image omitted: streamed camera frame] camera 'right_cam' (step 125): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.32,"right_y":-0.075,"right_z":0.14},"note":"With the arm lifted, the green fruit is visible to the right of the bowl and nearer the base than my earlier approach. I’m checking it from above at the right arm’s workspace edge."})
tool
executing move_to over 7 steps (0.7s)
step 132
top_cam
camera top_cam step 132
left_cam
camera left_cam step 132
right_cam
camera right_cam step 132
assistant
agent noteThe yellow fruit is in the blue bowl, but the green fruit is now against the right-side fence and remains beyond the jaw center with the right arm already near its allowed lateral limit. I cannot safely grasp it within the workspace bounds, so I cannot complete the all-fruits transfer and pour. Please move the green fruit and blue bowl inward before retrying.
give_up
hindsightThe green fruit was farther right and nearer the base than my initial overhead estimate; the arm and blue bowl hid its position. My low approaches shifted the blue bowl and left the fruit at the fence. On this layout, use the unobstructed right wrist view to localize the green fruit before descending, and do not continue a low lateral correction beside the bowl. At right_y=-0.075 and right_z≈0.13, the green fruit remained well right of the jaw column, indicating it was outside the reachable grasp-center region.
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8528, 0.6338, -0.4938, -0.0139, -0.0338, 0.9904, -0.4339, 1.0473, 0.5968, -0.2848, -0.3405, -0.3676, 0.9972] state[eef_state]: left_x=0.2853 left_y=0.0003 left_z=0.155 left_yaw=0.002 left_pitch=-0.1438 left_roll=-0.0003 left_gripper=0.9904 right_x=0.3078 right_y=-0.0737 right_z=0.1294 right_yaw=0.0458 right_pitch=-0.1165 right_roll=-0.0451 right_gripper=0.9972 state[joint_eff]: [-0.1709, -1.5932, 7.0496, 1.6142, -0.0415, -0.022, -0.0122, -0.1299, -3.4393, 7.0222, 1.79, -0.315, -0.0122, 0.0366] camera 'top_cam' (step 132): [image omitted: streamed camera frame] camera 'left_cam' (step 132): [image omitted: streamed camera frame] camera 'right_cam' (step 132): [image omitted: streamed camera frame]
assistant
give_up({"reason":"The yellow fruit is in the blue bowl, but the green fruit is now against the right-side fence and remains beyond the jaw center with the right arm already near its allowed lateral limit. I cannot safely grasp it within the workspace bounds, so I cannot complete the all-fruits transfer and pour. Please move the green fruit and blue bowl inward before retrying.","hindsight":"The green fruit was farther right and nearer the base than my initial overhead estimate; the arm and blue bowl hid its position. My low approaches shifted the blue bowl and left the fruit at the fence. On this layout, use the unobstructed right wrist view to localize the green fruit before descending, and do not continue a low lateral correction beside the bowl. At right_y=-0.075 and right_z≈0.13, the green fruit remained well right of the jaw column, indicating it was outside the reachable grasp-center region."})
tool
give_up: The yellow fruit is in the blue bowl, but the green fruit is now against the right-side fence and remains beyond the jaw center with the right arm already near its allowed lateral limit. I cannot safely grasp it within the workspace bounds, so I cannot complete the all-fruits transfer and pour. Please move the green fruit and blue bowl inward before retrying.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 7.045 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]: [-0.02, 0.8001, 0.6136, -0.3824, -0.0143, -0.0299, 0.9911, -0.0227, 0.8005, 0.6186, -0.387, -0.017, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=0.0002 left_z=0.1822 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9911 right_x=0.296 right_y=-0.0001 right_z=0.1834 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.6769, -1.7846, 9.7709, 1.8339, -0.1245, 0.1148, -0.5739, -0.3487, -1.7299, 9.3744, 1.8242, -0.0855, 0.0806, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:127e7fcc5427e28a228d81065040ece9d7fb0ec47f0d88618574e71a6e9868f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d66319c1dd2f2eb71bc65d14477a33797496fc3613b4d82309316374610b660",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:296c3df165f1705f409ca2000aef78fe97bba7cffcee7c53f3623a3578a4b104",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
wire blob 127e7fcc5427
wire blob 2d66319c1dd2
wire blob 296c3df165f1
call 1 attempt 0 · /responses · status 200 · 3.713 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtHijgf_8Yv1i2xPSql9PlwUqzrN8PLfK71F_M8JOdDSTeicr6_eYkex1h5Qkl64KDpHUrRMJr-ons2oemBjeOcECQtxcBNFgAaB9w8d1UjzzYVzLepeNk_DgLjBDECjUKobGiu3gkcWRRmK76cenwq2-z0RD4OxaFdIZy_4iUIrIR0KO_T1liBF5i1EZTEi1zqUwy70-oVPVbD44rcBA0OiioqfSAO-6JBJjETQLMzetUTicLx40VDUg2yGrVEXVYq0eS9dAu5__pOk31Ue5w5yv66l1tcjnKUGpf9gqZiearS7lmfuXZHobDMMeD5VG_wX6ylbASZp-qrRPfxqLIUYF2fXljkSQQh3VdmHA-vsV9XJ1Yae1VE2_jRue4zC13e9y1b9JuPnVvIwNYv41rgxgdGTD0ajQVRIfczTNzw0piMHz9FDLcbIKkufq7Rn0NZAVPssJ-N51ok9-w-2MYE5Z2f4rcfSwE4f0VwCcKh-nSmbT0r7q91Ww_y2REiFgse51YiRTlszCL3gySfIeJ7AW-Imx7F2882bWFPjscmHsKJTzLf_E0G75djfYqhhf-u3PMV3XhnZnQJQs12l-9xm4SWKsGhZfBZ2uZTUlxNPiZpzQA8sYpjPmeuP4hsXYpoSXfsAw9vviIMMenCDIeOk88PQ-B_NDXEy8Xos_3wW6knZ-odHDIGlasM8h0E93RVa5OXZSXOPCXAj-r-SjfdHJ0v5wlRvjBfgVArNGi-DIPZhcN7iNPHMveX9qSa_iZoyB7vU5S_iEB6tNBfWyfvLpQa6KqYTp00AUQ-gZ2FDXSb1BQceTYWs4nbGp7F0PVNumihOoIf2EkdECPMg0-rYV9OxJ1X37AoRcPNsdKwcsyDX67VZlN7hAVLjGj75s9BIJeLH0EdLPvBwWD1NW3MT8vh3wMiFtSzgqceTa9DLUdU0LFHSvjI6gRRRH3WeUSbm2XkHjfcmq6SLZA9RCAIFOTozwpJA_Hwfo0W6Eq-0ZsFbZgk3jM6IZmjqt7fkYNz3jmRGcJaifuLctP7CtXABRDlhRDAxa2GicNPCZ_m9R3Rarulj4s7kJPQqSSipxOIiessYKDhmOsoFgbtoRGGoMV1D4b7jd_gI0aGA76UW37K9oIAznpCWbpvLyhfTG5SstqLwSah9pE3DBUs3XYVs0Ko5Y0SW-O3g03bvw4LsdytCcCWIQmWC-qKbFtvh_39nsmx41TDs6yMevna5f_7i4v-zKp8gCa22ePN2br0SXHY92ICKlEtrvGT40wDX7QfZ0AQhIQPfpPRRy1hxnBk4kkOdykjIC5zfwi3bPI-CON5F_ZXRYIZ-AyzS0kHMNkNg1u1ycrC3ecIkOJoUT_4ENOnUar9kuX4mPfHM1fJkgP2-IgP3IJaQVg6KgJuPDt5qoMpj8MFP94EDwAskc1wYMweLqBL4XB3sW3YLrE3k3TTx-RdQfy-apv6MxzFLhDose_lsqDuk6eNas7AjkoDEyFRQJJTecFFnZkskSWS2YQOKA6vRtOiUqnoWdXOn85YZy3cCHAHNBTCu6ZsBFM9z3c2jE_T9uDjAR51kv0CZdUyFqrfBHipbbzApCwHAKXFt3SQXBv4w8FJTEEuV5wfDoeoGHqX7nJFhKT8McyicsmTPuB8spE1-iVMhuMurWxaLkZ21bc-gKrfE05qqRUtfSsMNu3npsmu2dLVfAElFc2GDEWMy4kXdw9WSH4GeYv5-cOSWQJSsdXt4jcSWHWIls7e5Lj9NWRKXpkqWgLrfoRm8ROsQuDo51cvmVgEqBDduol0MzbaN3iuankOTDgl-7NsYSplq_kODDBkVEI5q4A3-6oBIPiMsY5aAf1eT79lE4LkdtO-dTxlkws685x7coB10rburiwTCBsLGg_PS97TRjy11aSG8SRsjB8HewXjCSUE52qK91lFm759A8MHrHAeGLVYuKN5oolylgRcdafFGrh_B5RtcV7bJUTndk_L1VDARmg8yi3FNu_CkFSY9Q_BfXdCBuMIT6rf5UkZPYcSU5rXleU_zKZQibJ5Saf-WjYdxE5aQZ8mxGYCWjT2oQnC6EyovDHFn-fu6bbI47BxxAoB-BnxiqiqPIMgbjvfOgUUnUxPIfhxpUYUAqdNldXXhZKpLBLcULR9yU8RhOHzTxyJQFYL2bUiwdHnxwO2RJ",
  "id": "rs_0c9399c9e36c8c27016ab4789df7bc87d0ac520b19fb7b2731",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.18,\"right_z\":0.15,\"right_gripper\":1},\"note\":\"I see the blue bowl on the right, the large white bowl on the left, and fruit spread between and beside them. I’m bringing the right gripper above the yellow fruit first.\"}",
  "call_id": "call_T1gfQdjKZUUBMcfc1lAC3Ve4",
  "id": "fc_0c9399c9e36c8c27016ab478a26fd487d088f62620f1af1a05",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_T1gfQdjKZUUBMcfc1lAC3Ve4",
  "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]: [-0.02, 0.8043, 0.6132, -0.3943, -0.0135, -0.0307, 0.9905, 0.672, 1.4761, 0.8593, -0.1276, 0.527, 0.3607, 0.9994]\nstate[eef_state]: left_x=0.2947 left_y=0.0001 left_z=0.1784 left_yaw=-0.0002 left_pitch=-0.0164 left_roll=-0.0007 left_gripper=0.9905 right_x=0.361 right_y=0.1783 right_z=0.1312 right_yaw=0.036 right_pitch=-0.0576 right_roll=-0.0463 right_gripper=0.9994\nstate[joint_eff]: [0.0479, -1.0462, 7.2, 1.873, -0.0269, -0.0464, -0.0708, -0.1846, -6.3385, 9.0598, 1.7656, 0.4615, 0.2808, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b631b366f9103bec1a95cccc6c82a7b35aaa3286e327c89557d6c0e4a1c8fe6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fb7f2247f64853023759c0a3699864310138e64456ebe16553ce677c23f1499",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d712ddeeb6cb208ad9f947ca4474576206358e8a39d17465119ec60d3eb8c8a5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
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wire blob 5b631b366f91
wire blob 0fb7f2247f64
wire blob d712ddeeb6cb
call 2 attempt 0 · /responses · status 200 · 2.842 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]: [-0.02, 0.8001, 0.6136, -0.3824, -0.0143, -0.0299, 0.9911, -0.0227, 0.8005, 0.6186, -0.387, -0.017, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=0.0002 left_z=0.1822 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9911 right_x=0.296 right_y=-0.0001 right_z=0.1834 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.6769, -1.7846, 9.7709, 1.8339, -0.1245, 0.1148, -0.5739, -0.3487, -1.7299, 9.3744, 1.8242, -0.0855, 0.0806, -0.0757]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8043, 0.6132, -0.3943, -0.0135, -0.0307, 0.9905, 0.672, 1.4761, 0.8593, -0.1276, 0.527, 0.3607, 0.9994]\nstate[eef_state]: left_x=0.2947 left_y=0.0001 left_z=0.1784 left_yaw=-0.0002 left_pitch=-0.0164 left_roll=-0.0007 left_gripper=0.9905 right_x=0.361 right_y=0.1783 right_z=0.1312 right_yaw=0.036 right_pitch=-0.0576 right_roll=-0.0463 right_gripper=0.9994\nstate[joint_eff]: [0.0479, -1.0462, 7.2, 1.873, -0.0269, -0.0464, -0.0708, -0.1846, -6.3385, 9.0598, 1.7656, 0.4615, 0.2808, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b631b366f9103bec1a95cccc6c82a7b35aaa3286e327c89557d6c0e4a1c8fe6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fb7f2247f64853023759c0a3699864310138e64456ebe16553ce677c23f1499",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d712ddeeb6cb208ad9f947ca4474576206358e8a39d17465119ec60d3eb8c8a5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHiyr823DyVoSulz5SwMiJkaYcathakTavsjTZAAWWD4rpTS-yAP-GCUJcUzkTVKN9ubW5KBiZUMvjdMew62NGWc6BWYfyGHvHJ8NhW_ZMBq_1c48xEhsHNFsa7fxQdI52L7-58VxAT9ugJGbjxDqoPoYYn-ROwjQ_khJ_L42fZVK0U05e-GWzj_i6T9HjWC8yZIiTdI835cEkzw8E5JPjvKeP-R1aovxwmzEHroq6Oflg5o7gruYNzrVOYiX_wcJIan3YE6Eau2s75vt-6VJdpr0lx-B6_4cPmQp-w3FL9FUvnTtX2OG4PtMRjtN2BPnNm0pC-BHFw1kSpOtYna5dZvl9YjyF9GIYb0vim4uGhCLH4zwVpKiHhe0ew3NN4lASG_Fb6CmlMdNjPNpqM1eVvTJ4YqIAFiYM25R3-J9jYuRMNJUPqD8G8kqwZMcOHptz12DWAT66fYxpd0EAkIFevM1MFi4RzYQyv3QQW8hEMOHExvhZqOpjxLun06uHmkMV_PYmRXLR7-X0qUZ9dPpIITp4DkNHwp5YoZyMfCErDDzHR-Lb4ppQd4XlGT9-UPkC37tSSPrto_Nqix9_hSiRRtQMcaAYqgorw1A6WzWwNwKRBdF_GJ-s0Y3gIPWMEnpgOUTazvOkYvnU8uLpf0QvS7FWn5ceFo3EcPFxplGFqWTqO6Ie-aplo0zqVu69mnSEyvcQHD0-HU5QZjO7qSE0tLrrZ85k0At071_1QH20n6LTQVteqSlPHqniLG9qZG9DdxVHR9H-JfR-auzNhBTicj15xg3cgHpotZ56SoZW6GVVI8MEyMUmPsK-DNBEELOEBRv-cOh75gRudD7R845YpkqD7qKkJ3qu4_tlgHCViFxSs_syHdZVyISawKRDoJ3KRzaK2slwDl0G-unPPZcJSgjBGzICb7SDWKg31QExJPhu8wxCWO-omihEhsxuZw353xFykL1MjAX3FzETysow1mQX7quowhbWFGyq5C0L3tQGNCSHw18aUZmXubcTxWdZ4lIN0g8bcDWbPK3xE9p3pRK2fYuPWEL3uc793JWLym342wFUbuX3P_ggEps5pI2DvACxchUUqD98pEEbPsPAolB4tF0-Y41jXsZ-bxzRS73MqFxurPzUjyas3-vNTXMbhGhX8HdF7dX4l-d08lhma31ttvoujTE4gdeFcoMSl0lVUyFOVZb735TUz2RRsIo9_NL6t-ai1RuAb8R48360Rr13xEJyuv5WTFcaeY8oPKo6aAWd4zXe8toB30ld8gYUSl85qgP0wGff8qk3YYfKZw0ogoZkDqCfc-Hymgg5bw4_mbcaZK0SurLmN_AGy8R5Yg1WN_0wBYHPB9CoMo-QTd64RQ4vgiLA21JPVdyTFZPbgdaL6Q_Uvzh6IwtHJRixZAyp9-dNWNkWE416XQDy239BUYjK7r6WVOiM7wNADs0poslDhHieC7w6NFuTOzs6WljsKN5VYrlvcFoFaX7-ii8A==",
  "id": "rs_0c9399c9e36c8c27016ab478b03cb487d0926d4ce184ffc090",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.375,\"right_y\":0.16,\"right_z\":0.022},\"note\":\"The yellow fruit is near the bottom of the wrist view, slightly right of the jaw column. I’m shifting right a little and lowering around its sides.\"}",
  "call_id": "call_iTXVtjXBifx9pcfPUgeyS2N3",
  "id": "fc_0c9399c9e36c8c27016ab478b17e8887d0a509344e37293bad",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iTXVtjXBifx9pcfPUgeyS2N3",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8059, 0.6132, -0.4049, -0.0139, -0.0307, 0.9905, 0.5926, 1.7756, 0.6289, 0.4061, 0.466, 0.3027, 0.9994]\nstate[eef_state]: left_x=0.2933 left_y=0.0002 left_z=0.1758 left_yaw=0.0001 left_pitch=-0.0286 left_roll=-0.0003 left_gripper=0.9905 right_x=0.372 right_y=0.1591 right_z=0.0182 right_yaw=0.0354 right_pitch=-0.0794 right_roll=-0.0566 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -1.4427, 7.0906, 1.873, -0.0464, -0.0708, -0.022, -0.294, -7.4188, 4.5197, 1.8339, 0.1441, -0.1001, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b99ff785f2a35ecd516ed23887f08d8e8747fafc75a1558b591036f2b8f13b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42d2de8eb80d2207b0e89c6fb0e57ef66b098e4248598b4b0176376ca5b1823c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fbd27a981cf046aae2e582f0e2bdea21e878ecd17a0a916eded565e93582dad",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
wire blob 2b99ff785f2a
wire blob 42d2de8eb80d
wire blob 6fbd27a981cf
call 3 attempt 0 · /responses · status 200 · 3.344 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]: [-0.02, 0.8043, 0.6132, -0.3943, -0.0135, -0.0307, 0.9905, 0.672, 1.4761, 0.8593, -0.1276, 0.527, 0.3607, 0.9994]\nstate[eef_state]: left_x=0.2947 left_y=0.0001 left_z=0.1784 left_yaw=-0.0002 left_pitch=-0.0164 left_roll=-0.0007 left_gripper=0.9905 right_x=0.361 right_y=0.1783 right_z=0.1312 right_yaw=0.036 right_pitch=-0.0576 right_roll=-0.0463 right_gripper=0.9994\nstate[joint_eff]: [0.0479, -1.0462, 7.2, 1.873, -0.0269, -0.0464, -0.0708, -0.1846, -6.3385, 9.0598, 1.7656, 0.4615, 0.2808, -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]: [-0.02, 0.8059, 0.6132, -0.4049, -0.0139, -0.0307, 0.9905, 0.5926, 1.7756, 0.6289, 0.4061, 0.466, 0.3027, 0.9994]\nstate[eef_state]: left_x=0.2933 left_y=0.0002 left_z=0.1758 left_yaw=0.0001 left_pitch=-0.0286 left_roll=-0.0003 left_gripper=0.9905 right_x=0.372 right_y=0.1591 right_z=0.0182 right_yaw=0.0354 right_pitch=-0.0794 right_roll=-0.0566 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -1.4427, 7.0906, 1.873, -0.0464, -0.0708, -0.022, -0.294, -7.4188, 4.5197, 1.8339, 0.1441, -0.1001, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b99ff785f2a35ecd516ed23887f08d8e8747fafc75a1558b591036f2b8f13b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42d2de8eb80d2207b0e89c6fb0e57ef66b098e4248598b4b0176376ca5b1823c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fbd27a981cf046aae2e582f0e2bdea21e878ecd17a0a916eded565e93582dad",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHi5X84ei7Ysg3wW1tiYcbuRebsesAI5sSRx7X-X8iItSUQ1csnJdGmP5LsnYcMOLTOakuJIMieAxGWMr6HJGQH0jMZcgJ0M7zdleh9udM1DhiMbxD2L13s_lT1Jgo7KWNlJo8ch-3DJvRHjKjFAbOiYJ86KE1gEijZv7EvIbQyenMbt7OZ8GS3h1_tDFGasVSRFc5finam-5l4-LWDybz-NJhN86rRx19C8i_32Yn9PDi3H2o4NMNRPFoAWp0LCCxVW0mqWILgKN53g0jpDjywxVsLjBGsu50mDOWBN3ch3MvQntadS83ycxrYTyOwoLzw3j1ZcH2E8Rgph1q1UZCe7yQTDxZhP7_O2zLzPwVZAOxZN2pqRLpxtAlBkt4OUSFT7h4v46o7CTBhHI35P2rw7NTgq1ktdWDE8GkwMaLA3Pxm8gjPGU6E5VlctspuW0KX6O0dq-SpKsPSd3pTgBaECv09ndOu8M072QQNF60XFFZ6lF_UxgEmo_g-U1AVaPJTsvtwfFHfgAx3akev5gAwX2jVllkjMIBc74TXHL9RTldcJ-lcXy_mOT6NIYNiVxL6ZdBMHoSYoZcdscF1y3h-xMvorCPq0I-o9HxK-4zL00oDtORansTpMaNmb2xqCxPHspIxbr778w1f4vDx_qDzaQ_QCN807GWIn3VqX9AVAdOz4jJEtwZXhulWuZXejWwUKODEa8nQWmTFr93RYnsxIoUP8AszO0fI47m39-InAi-TgHurhsunSybKQ7IoKQ2JA2kyep8djO12cBu0d5LMqvzq4Rl1oocilBhrS9BQ41DAezapYTZT6px_6m9A1zm_znssjT6dNHrsUrVQuYEuplAirQS4yTBTHH442temrFmdtPB6vUnYaUX1Nd2xXrNGNHqT2MTRczjCcXKZwe4UZh6lffdQnTUO3-1npYOOYQ0rNmn7G4af13lTdE3w3iTdzTfcswPNe9xBGXfZV84Gw-NwY8VaQlXNvyrrAvDq6nDcKMdH_kBrx0OOwZ3PdBJNcHl3z2aYMknOUbePqOdCCXbJN188TemiizRgXxUVOxYErmOpE6GhrYPCoty-5YR5_6d3TgtsNiqh6NB3JQcMI3aYQU0VrJqEC-v6BxzCO6M4QO2y_wY6tDyHvMh8cr9UfHgdsA_jK4Z_LJLrgzjNs7Fo-sEXNIfGjD01fNy-ctmh2GvPp-v-AwgP15BrIKGXMd-OzuCsDSmlvT8XZ-Dcosq_pHeD_x9pvMGgUAWWnRZADrk4laZMjUVrkGjRNyWo3IR0U0CD4KJa952AxWI61XaHi0f0Z75OlWt34SHhu_zaIfSubyYoNsa9aXU370gdjPuD0mZBaV_OVFU78ckuoumfa4ln_h4cI6pLK5yDoMceR-jOGBfoG6EghcT9IL1rP4aVRhTd5ml5gR0rwgHDWOIqyn-1_-VImdUKZvoCR2lSIKXXXQbdn317eVWZR5PIkO6TYT-KsYbp4DbOs_zFZrbmc66x8KUohvAdC8J8lZ028fVSdtrRPiJeo5hO_OE1E",
  "id": "rs_0c9399c9e36c8c27016ab478b83eec87d0843294293f542f16",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The yellow fruit is centered between the open jaws at table height. I’m closing gently around it before checking the lift.\"}",
  "call_id": "call_wQEe4tyLp0InKVwVA0JrJY2N",
  "id": "fc_0c9399c9e36c8c27016ab478b925b087d08a2e8c3ed9417cb4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wQEe4tyLp0InKVwVA0JrJY2N",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8059, 0.6132, -0.4164, -0.0135, -0.0307, 0.9905, 0.5926, 1.7752, 0.6289, 0.4068, 0.4698, 0.2955, 0.3172]\nstate[eef_state]: left_x=0.2917 left_y=0.0001 left_z=0.1735 left_yaw=-0.0002 left_pitch=-0.0401 left_roll=-0.0003 left_gripper=0.9905 right_x=0.3723 right_y=0.1586 right_z=0.0187 right_yaw=0.0364 right_pitch=-0.0773 right_roll=-0.064 right_gripper=0.3172\nstate[joint_eff]: [-0.0068, -1.2923, 7.1316, 1.8681, -0.0269, -0.0562, -0.0171, -0.0615, -7.3778, 4.8479, 1.536, 0.0659, 0.0122, 0.9988]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f963a59592112a741b5d8977ed110161e9bacdddc8f595d9742384343e95ff5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1a8b21071116352cdcfffb235fc5dabd2636e337def013bbdc78660bc27c55d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b907f5e233bad610875c8c2fa10d1a0bbd13839a5e27fa233707df2788880f89",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
wire blob 4f963a595921
wire blob d1a8b2107111
wire blob b907f5e233ba
call 4 attempt 0 · /responses · status 200 · 3.001 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]: [-0.02, 0.8001, 0.6136, -0.3824, -0.0143, -0.0299, 0.9911, -0.0227, 0.8005, 0.6186, -0.387, -0.017, -0.0269, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=0.0002 left_z=0.1822 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9911 right_x=0.296 right_y=-0.0001 right_z=0.1834 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.6769, -1.7846, 9.7709, 1.8339, -0.1245, 0.1148, -0.5739, -0.3487, -1.7299, 9.3744, 1.8242, -0.0855, 0.0806, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8059, 0.6132, -0.4049, -0.0139, -0.0307, 0.9905, 0.5926, 1.7756, 0.6289, 0.4061, 0.466, 0.3027, 0.9994]\nstate[eef_state]: left_x=0.2933 left_y=0.0002 left_z=0.1758 left_yaw=0.0001 left_pitch=-0.0286 left_roll=-0.0003 left_gripper=0.9905 right_x=0.372 right_y=0.1591 right_z=0.0182 right_yaw=0.0354 right_pitch=-0.0794 right_roll=-0.0566 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -1.4427, 7.0906, 1.873, -0.0464, -0.0708, -0.022, -0.294, -7.4188, 4.5197, 1.8339, 0.1441, -0.1001, -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 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]: [-0.02, 0.8059, 0.6132, -0.4164, -0.0135, -0.0307, 0.9905, 0.5926, 1.7752, 0.6289, 0.4068, 0.4698, 0.2955, 0.3172]\nstate[eef_state]: left_x=0.2917 left_y=0.0001 left_z=0.1735 left_yaw=-0.0002 left_pitch=-0.0401 left_roll=-0.0003 left_gripper=0.9905 right_x=0.3723 right_y=0.1586 right_z=0.0187 right_yaw=0.0364 right_pitch=-0.0773 right_roll=-0.064 right_gripper=0.3172\nstate[joint_eff]: [-0.0068, -1.2923, 7.1316, 1.8681, -0.0269, -0.0562, -0.0171, -0.0615, -7.3778, 4.8479, 1.536, 0.0659, 0.0122, 0.9988]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f963a59592112a741b5d8977ed110161e9bacdddc8f595d9742384343e95ff5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1a8b21071116352cdcfffb235fc5dabd2636e337def013bbdc78660bc27c55d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b907f5e233bad610875c8c2fa10d1a0bbd13839a5e27fa233707df2788880f89",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob 4f963a595921]
[blob d1a8b2107111]
[blob b907f5e233ba]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHi-7mK0uxKRA_wA7SWdrbLT67_v65qcxS2PUWQRU3XMULKgM9byY00m2D7NhBwuhtnJduY0XmygIF5_dJp0l4sSUf6kwqMc9sdlee_cu5JQIDi_Vqp78OPuumJ8VF0aEcHgcKWyDXodeLqymdvb0zXE1apW_1tTQeVGjN8IUBWBPMqpXKLLKyw3vBpSPKWNvu4DT9kAsebtM4Xof7Mz--lSxDflHdffRsmsqCJyQwR7c87f2d7fbSvGa9A1mRNkT-N6pnMZ395wCUEn0CjeyjitPiWTUcUtsdBeuAw_GGZOEqsKXTAgAyCWE01g85QHMKX1KeMv0wQeqLQTEsQMYgI5-_81eCvyAZVmsVcPmrGI5bKBGzvC8VwMpWMAKZ1kozoHR5B3LYwoTCU0ns1CQsQMnSumzQp9MvFRiCvRnXNbw3Or1GahaV1tkfya8b83LHP-olTOvpyBjRRmlE1dtMnP1nNFI6SZb86nSJTP_jUxfe6WGhWAJlAWIFby_4ZLzCuJ-g5TLHFshtCWPvWJOL-dXYrQ1OUHymUMUCLsSLGG1D1hZEPsMUIsWNU8Zty2PrbmkaO3RlARjEyLr7yce6p9lDkJpUGR_oQhxU1X7prRKHQDyodMjW4TvPlLghiIEXIKIgEoIFPFRfn8v7hB9CSc8SvBoRXu7uvVafdHo57qE87NaSvW1iDndbtMaXyZkVWHz-KL2-_PBuYy3akQcAJdB3Ks8ERxA5aNOUZ5WJ1qztNKSovwb9_QcgNNx_7NmzQm_HxR9ppho2m0bJgHy8Vhjnonc97OpGd0sBpI9HN9NfOorWW6eegkrDBY-zVu8_ZPAjgf2EX69t2Dj4KB-mbXtWJQkfY_O2xmKGKmZRoExsiUN2fjnpQ_4Uxv1gMo_ypr3tjLhb5iAkoXxNs3r1E8a9f9Bh6gT_WBSa7D93pqP5EPTwvVaGVbO039fpP7a8maFP3EYNQXEDeCmoMq5RFFRd_znEtzCxOxjXT3Cmto_18fsiimwwM-pFVSJfSd-m8DdCrGwlWFCKKe9JGFOEijaI5NZcaFyLFHcnJ13SCCN81G5hnDz9iSZk6SjaKo6SsA8oxo4F5CM7FOZ5b-c0aXNjfUm_gIvfYs9aSbFayrQf07efr2dNzPz1q_D2SEK69GnxG8cshXfjBVcc4kXnOAK2tZxNc4u_ap8bB_LRXi2tcDzMFLCEwCOpFWSiNyqPO-L7Ye7YIKuYuyoVP4UGsi69WxMIwfH7YtxYHpViy7gd2iEXG9ClmrAwSLqs_tN98W_qVYZKuY3JT1SivUB8vwU5wfV3iJ-X1eJGPqtsXY3rE=",
  "id": "rs_0c9399c9e36c8c27016ab478bc30ac87d0b221439d4472dc7e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.09,\"left_x\":0.296,\"left_y\":0,\"left_z\":0.185},\"note\":\"The gripper has stopped at a fruit-sized opening rather than closing empty. I’m lifting the yellow fruit a short distance to confirm it is secure, and keeping the idle arm parked.\"}",
  "call_id": "call_hPjnXJcHSF5IJ0tK20C9VWCo",
  "id": "fc_0c9399c9e36c8c27016ab478bcfb4087d0af7473707446dcf1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hPjnXJcHSF5IJ0tK20C9VWCo",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8326, 0.6342, -0.4534, -0.0139, -0.0338, 0.9904, 0.5926, 1.565, 0.7361, 0.046, 0.466, 0.2955, 0.3191]\nstate[eef_state]: left_x=0.2907 left_y=0.0002 left_z=0.1683 left_yaw=0.0018 left_pitch=-0.0828 left_roll=-0.0016 left_gripper=0.9904 right_x=0.3657 right_y=0.1549 right_z=0.0753 right_yaw=0.0371 right_pitch=-0.1156 right_roll=-0.0848 right_gripper=0.3191\nstate[joint_eff]: [-0.0342, -1.3744, 9.5248, 1.7802, -0.0659, -0.0269, -0.0122, -0.0479, -7.7744, 7.6103, 1.5604, 0.149, -0.0415, 0.1832]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5c54287aa9f34157292fdc2927cca9ef2d304cb334cd981ff21bd00d11f1b60",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66e4cf2612a79fb7798a2d7ae76fd44f5ab6fcc085b7d1ee2c9598a412e7b5ab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c92f09f33b3d1c5d8c457e397f0d1084ea2476a1a8c76e0b7bf06de119976d1f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
wire blob b5c54287aa9f
wire blob 66e4cf2612a7
wire blob c92f09f33b3d
call 5 attempt 0 · /responses · status 200 · 2.764 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 14 changed as sent

message 18 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8043, 0.6132, -0.3943, -0.0135, -0.0307, 0.9905, 0.672, 1.4761, 0.8593, -0.1276, 0.527, 0.3607, 0.9994]\nstate[eef_state]: left_x=0.2947 left_y=0.0001 left_z=0.1784 left_yaw=-0.0002 left_pitch=-0.0164 left_roll=-0.0007 left_gripper=0.9905 right_x=0.361 right_y=0.1783 right_z=0.1312 right_yaw=0.036 right_pitch=-0.0576 right_roll=-0.0463 right_gripper=0.9994\nstate[joint_eff]: [0.0479, -1.0462, 7.2, 1.873, -0.0269, -0.0464, -0.0708, -0.1846, -6.3385, 9.0598, 1.7656, 0.4615, 0.2808, -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]: [-0.02, 0.8059, 0.6132, -0.4164, -0.0135, -0.0307, 0.9905, 0.5926, 1.7752, 0.6289, 0.4068, 0.4698, 0.2955, 0.3172]\nstate[eef_state]: left_x=0.2917 left_y=0.0001 left_z=0.1735 left_yaw=-0.0002 left_pitch=-0.0401 left_roll=-0.0003 left_gripper=0.9905 right_x=0.3723 right_y=0.1586 right_z=0.0187 right_yaw=0.0364 right_pitch=-0.0773 right_roll=-0.064 right_gripper=0.3172\nstate[joint_eff]: [-0.0068, -1.2923, 7.1316, 1.8681, -0.0269, -0.0562, -0.0171, -0.0615, -7.3778, 4.8479, 1.536, 0.0659, 0.0122, 0.9988]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8326, 0.6342, -0.4534, -0.0139, -0.0338, 0.9904, 0.5926, 1.565, 0.7361, 0.046, 0.466, 0.2955, 0.3191]\nstate[eef_state]: left_x=0.2907 left_y=0.0002 left_z=0.1683 left_yaw=0.0018 left_pitch=-0.0828 left_roll=-0.0016 left_gripper=0.9904 right_x=0.3657 right_y=0.1549 right_z=0.0753 right_yaw=0.0371 right_pitch=-0.1156 right_roll=-0.0848 right_gripper=0.3191\nstate[joint_eff]: [-0.0342, -1.3744, 9.5248, 1.7802, -0.0659, -0.0269, -0.0122, -0.0479, -7.7744, 7.6103, 1.5604, 0.149, -0.0415, 0.1832]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5c54287aa9f34157292fdc2927cca9ef2d304cb334cd981ff21bd00d11f1b60",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66e4cf2612a79fb7798a2d7ae76fd44f5ab6fcc085b7d1ee2c9598a412e7b5ab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c92f09f33b3d1c5d8c457e397f0d1084ea2476a1a8c76e0b7bf06de119976d1f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob b5c54287aa9f]
[blob 66e4cf2612a7]
[blob c92f09f33b3d]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHjDbWaO5RTYF0F0hSmJ0CjQ0RlsFmpM4Ku40F6G2g9Ow0_inADHYY3eMUP9fWaEcBfacvnOITvYk0KD7pYnvx44pEFrarSHHbN0OGwh24KqZcCBpj13BMPH9wGlp9gNZso5_PZURKN0mhMNdn_dMoNbrVVQ3dMwfj7oYYiP_GjAJYnycKD50aUm035AAAkCS9f8p5zvo2YoQSOu4Vfj48-hBl5PePHjZxv3amnl-XqBsKp0AS_6RxRW4WA6MgsnU1dvOlexUOGAtXlHJYUMk8nowltc8QmP_j0t5JSpRF67XQ7MMR_gUjfbaSyXHLClDvBJvad9NyGbTJi-MSRgGGcltyc3AY9hC3v4POi-X3_mdQLWpP18qaqkuo5QJOBtwquzJUhuTyXWYS04trXL7klTH8qO3_aY8K1qZ54lD2zYfsis7JDianLG1aMhrDTb_-B1Lcq5VhrJvKfoJ4GSxOLJRKVO31v9RJWAd7NnLV3k6kJEZQIQIiPVl3VrvPpADCVLoHb5d-9lg6chVi5yNJBaDGKEKSGs4elfjkxRb54x8A_yYdVV21zXtwWaogzseJyh_6UcUKOmKgE4TyGO84HglhjOsWwFrAnomWLoS34sUy5sjB6IYoTHVb8Ga519cc_DA4yX7xviXk1EZwxMRnlb91W9KjijVUcPcSd1J97MKg_nYidXajSy8pbzyyP9nCKUGFJ9AuSk7x66Rk8st8MPNYfrmYa-ghGbplt79ZWLbYHMZIgs9O1mtXTslp_0Sj9z5pAhrhTIf_ufTlFVTQH2yys5y1BIayxkYdz9BFWT8A3c4FxzPVcJcd0rhOvVWhuf1zRJWF61d3B7JPADs0-ADgfOjBmvC08OSqfbFGG92rQnOmnTlCw7O8ZlGjEnyIoSEwUIbb9P6hByxP92XtLHuRBzMcRbSRm7d8rWVLKBVI8C-b31DwSRpfS8wIBPQATO6AOQl6RVhsNghYX-LddHlqwKxNXrqf9BJnl2MqVqcjL91R8q5kNwwxPGmhds-aZbWkQJHxRwETH3BRTzw2NvD09xjpQvVkOSfzwK7_UUSaVQEDAAj02IS9YwoOOjmnfVPL6YmdFtpJ3NWb6EAql6dEHTjEz1ltYCYB1JEpoQtSVTwqNNDiBZzDDhrBBn8YRAkx7UWPQZMTpP-71nJDo8ZbaAR9c9Php-b2lveAjApZr4ly-iNJlEA7ohnAJmXu9d-auBEaJt-iSuEfeP4J8PkNOUkpGtAPeECl9hLaGQWUXhJWIyPEtT2P74QxXfz3wvhzXKlc5XQt2Ow0FOGnLhoTB83BFtSv8Jsnpe54JOB2SnwQzDfIjtjctKgYPPu3vTLnsKyGNdJ_N2T6W8gaM-1wlOIFfUTvHr7sUmC80USxweeapMFUMeceJCv4sUQQzD",
  "id": "rs_0c9399c9e36c8c27016ab478c20f7087d0bd811fc36d24bc1a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.465,\"right_y\":0.125,\"right_z\":0.18},\"note\":\"The yellow fruit has lifted with the jaws. I’m carrying it above the center of the blue bowl with clearance over the rim.\"}",
  "call_id": "call_2wMSsMmDcvozkLTsDOF2lKqi",
  "id": "fc_0c9399c9e36c8c27016ab478c2d4e087d0be3b7a3bf8117623",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2wMSsMmDcvozkLTsDOF2lKqi",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8364, 0.6342, -0.4683, -0.0135, -0.0338, 0.9904, 0.3668, 1.6814, 1.2671, -0.3202, 0.2993, 0.1261, 0.3205]\nstate[eef_state]: left_x=0.2886 left_y=0.0002 left_z=0.1644 left_yaw=0.0015 left_pitch=-0.1015 left_roll=-0.0014 left_gripper=0.9904 right_x=0.4607 right_y=0.125 right_z=0.1707 right_yaw=0.0394 right_pitch=-0.1293 right_roll=-0.091 right_gripper=0.3205\nstate[joint_eff]: [-0.2256, -1.1419, 7.0222, 1.79, -0.0317, -0.0659, -0.0073, -0.4034, -7.8427, 9.1009, 1.4579, 0.1001, 0.022, 0.1441]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fee5f4d41537309b4e4fd26563344c0bdde6787ccc604c63661ff4487cddd36",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efaa567f89d5327a95d7e25ad71bc9b97cb28fcbf07a619d820791dbdd3cb76e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2595f93d1f6f123ea38d25b86b53d0ff93f003f85770ed3bd34dbcf7134ed0a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
wire blob 2fee5f4d4153
wire blob efaa567f89d5
wire blob d2595f93d1f6
call 6 attempt 0 · /responses · status 200 · 3.439 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 10 changed as sent

message 18 changed as sent

message 22 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8059, 0.6132, -0.4049, -0.0139, -0.0307, 0.9905, 0.5926, 1.7756, 0.6289, 0.4061, 0.466, 0.3027, 0.9994]\nstate[eef_state]: left_x=0.2933 left_y=0.0002 left_z=0.1758 left_yaw=0.0001 left_pitch=-0.0286 left_roll=-0.0003 left_gripper=0.9905 right_x=0.372 right_y=0.1591 right_z=0.0182 right_yaw=0.0354 right_pitch=-0.0794 right_roll=-0.0566 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -1.4427, 7.0906, 1.873, -0.0464, -0.0708, -0.022, -0.294, -7.4188, 4.5197, 1.8339, 0.1441, -0.1001, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8326, 0.6342, -0.4534, -0.0139, -0.0338, 0.9904, 0.5926, 1.565, 0.7361, 0.046, 0.466, 0.2955, 0.3191]\nstate[eef_state]: left_x=0.2907 left_y=0.0002 left_z=0.1683 left_yaw=0.0018 left_pitch=-0.0828 left_roll=-0.0016 left_gripper=0.9904 right_x=0.3657 right_y=0.1549 right_z=0.0753 right_yaw=0.0371 right_pitch=-0.1156 right_roll=-0.0848 right_gripper=0.3191\nstate[joint_eff]: [-0.0342, -1.3744, 9.5248, 1.7802, -0.0659, -0.0269, -0.0122, -0.0479, -7.7744, 7.6103, 1.5604, 0.149, -0.0415, 0.1832]\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 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8364, 0.6342, -0.4683, -0.0135, -0.0338, 0.9904, 0.3668, 1.6814, 1.2671, -0.3202, 0.2993, 0.1261, 0.3205]\nstate[eef_state]: left_x=0.2886 left_y=0.0002 left_z=0.1644 left_yaw=0.0015 left_pitch=-0.1015 left_roll=-0.0014 left_gripper=0.9904 right_x=0.4607 right_y=0.125 right_z=0.1707 right_yaw=0.0394 right_pitch=-0.1293 right_roll=-0.091 right_gripper=0.3205\nstate[joint_eff]: [-0.2256, -1.1419, 7.0222, 1.79, -0.0317, -0.0659, -0.0073, -0.4034, -7.8427, 9.1009, 1.4579, 0.1001, 0.022, 0.1441]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fee5f4d41537309b4e4fd26563344c0bdde6787ccc604c63661ff4487cddd36",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efaa567f89d5327a95d7e25ad71bc9b97cb28fcbf07a619d820791dbdd3cb76e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2595f93d1f6f123ea38d25b86b53d0ff93f003f85770ed3bd34dbcf7134ed0a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob 2fee5f4d4153]
[blob efaa567f89d5]
[blob d2595f93d1f6]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHjHQcl82jNNgsidIrJGKcy4q2itZlQ8UNXhoHQ7-4DYGLgw_UHpNgub0IQPfguEc2mxjQ2ZkWa5QYkpiNw3UR9Yvl9SRDVFDe1Ovbmo3SeGU6AVqUdXXVgdA8SvGuKcyqF0Nb6Fri4HAM9ihu-BTovoWUzza0ZzScplUWc7AmlX1XtY8pGtv2dGNwaxXrJGeUFInuMpvfWQag4eJTLRsFfnWnkBTMY_HJiWJFHrEI9dbs-3oOjBcfnLfTqcqO0ZB6bIdxTQfIJWR__K5FCWHfNarwLGIXtmIGyTsJH8pYRtbl8R-jCY50Rlgs1zM05noRCJrd-sfwH0Hpx5vKJxf4JUJM4YPatRV_2V3jxIz1c3lU6DDk0zu4w5BGChYPnXqfv6zKTeQJV6eMqhfpmUrAiYCUI6sdcJeCzwBO7cgx2RtPYCPYMk4hDI69PWQOHEtjBj1chwshDK8b03FW1mmJRHu5MP5p4u-Ribrffz34M3jO_7MAgUI46gflXWZ49-MYuFQgZDExLbWZdo35rw-7jEFLDct_EIYW4B0Kkq1KUGT2OWVfnbwQWK7L4-PhnAPwnpAn2pZ6iBAuZZh_vo2GnDh0mp7f8Jhlf9t2jqsLXIlW-gHUuGBg3h1a3iE-Vd5tSQKppbMWFh-zxb_FI3_rD6SzgEl4h0xXyAOWYh07alLqNaoAa7az1Rjts9ebbzGLwLd6-ItGTcjTzmgh4r3Bag1GUZ4lvREj99dIGQgxodtmbBvLD7fQsD2q6fLY1HC1M-wD0T6EQK2cXGchiYzOrOc-Vh7JN4Kd5VmbbPnBroPZ-VT8EKQCltf7LPeO5CWHT7wz4hG89UaKZn68t4xyLee9ED-Hefogcc_6XmUnS2JrqSvA7MimZkkXNASQ9XS2HgK_82zzAXGm58e2cziC5Lp3bDOH7ViQ_hrlURBjqMVn388qNP4D60iRcWXl46wmtKex72ZBZioPz6bOVbo5tkGI6p66GHOWBRF7xNac74f2KYrQOAlSCvT91bnQ33fzadpDhSGJq47v0m0RUI7pPx3AvYfqEBOhJ_KOftbuZNrRJFnEni-t2Jy5jn5hEfMdrIMxE0zySJbFF82JEDVayI6ppG7Mbkj7ty8SVb3KMrEG8XxH5nhq-eYnFLvqQ7lGRc4MRoZeu2iu405IvdNXHpTo2oLnwNoMukFUDS9n5i76DD5_ybSyANVLtJmQKsovP7G_eDY1bfzyy6wjPYoWNlSGFe3el_n4s6uhYQTiS39lj7Yn4qYkJFMFCar5hXP51GOtCVh_mj8PW7XsNW7cYCUpPrpj0vSH9yYSKTelhPe2PMTOar6_49GyJKQh3C5SaX_oRZrYlnV3DB8uApRUIeo-SU4Xxefla9wWak7SgQbi7QUwE8RW49xKDrmWgtarA754AWmHkBs5DcMPV2K5X923cDiemwvSpErd6Z6gUguvw=",
  "id": "rs_0c9399c9e36c8c27016ab478c6476887d0bc13fb53611d8e0b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.125,\"right_gripper\":1},\"note\":\"The held fruit is above the blue bowl’s opening. I’m lowering slightly and releasing it into the bowl.\"}",
  "call_id": "call_OeTLFy3toSC4iWBmHU3vdnP7",
  "id": "fc_0c9399c9e36c8c27016ab478c728f887d0ae518a82762be2f9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OeTLFy3toSC4iWBmHU3vdnP7",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8368, 0.6342, -0.4751, -0.0139, -0.0334, 0.9904, 0.3645, 1.7248, 1.1336, -0.1719, 0.297, 0.1188, 0.9986]\nstate[eef_state]: left_x=0.2876 left_y=0.0003 left_z=0.163 left_yaw=0.0017 left_pitch=-0.1087 left_roll=-0.0007 left_gripper=0.9904 right_x=0.4564 right_y=0.1227 right_z=0.1211 right_yaw=0.0416 right_pitch=-0.1573 right_roll=-0.1043 right_gripper=0.9986\nstate[joint_eff]: [0.0205, -1.3744, 6.9675, 1.7753, -0.0366, -0.0415, -0.0073, 0.1573, -8.3624, 6.4479, 1.8584, 0.0659, 0.0073, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9318445917f420531a6820a94c5a80ede7c61168bb011111db691d35cb64770",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ec1f2e748d7773f6f10871238700e063bfa784e26f70a0ef1f2a03257ea8703",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d113fb55025c6981958267b4fbbf84e5a8086f6cc6347aae3e09cacb27cc4d1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
wire blob a9318445917f
wire blob 1ec1f2e748d7
wire blob 1d113fb55025
call 7 attempt 0 · /responses · status 200 · 3.426 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 14 changed as sent

message 22 changed as sent

message 26 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8059, 0.6132, -0.4164, -0.0135, -0.0307, 0.9905, 0.5926, 1.7752, 0.6289, 0.4068, 0.4698, 0.2955, 0.3172]\nstate[eef_state]: left_x=0.2917 left_y=0.0001 left_z=0.1735 left_yaw=-0.0002 left_pitch=-0.0401 left_roll=-0.0003 left_gripper=0.9905 right_x=0.3723 right_y=0.1586 right_z=0.0187 right_yaw=0.0364 right_pitch=-0.0773 right_roll=-0.064 right_gripper=0.3172\nstate[joint_eff]: [-0.0068, -1.2923, 7.1316, 1.8681, -0.0269, -0.0562, -0.0171, -0.0615, -7.3778, 4.8479, 1.536, 0.0659, 0.0122, 0.9988]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8364, 0.6342, -0.4683, -0.0135, -0.0338, 0.9904, 0.3668, 1.6814, 1.2671, -0.3202, 0.2993, 0.1261, 0.3205]\nstate[eef_state]: left_x=0.2886 left_y=0.0002 left_z=0.1644 left_yaw=0.0015 left_pitch=-0.1015 left_roll=-0.0014 left_gripper=0.9904 right_x=0.4607 right_y=0.125 right_z=0.1707 right_yaw=0.0394 right_pitch=-0.1293 right_roll=-0.091 right_gripper=0.3205\nstate[joint_eff]: [-0.2256, -1.1419, 7.0222, 1.79, -0.0317, -0.0659, -0.0073, -0.4034, -7.8427, 9.1009, 1.4579, 0.1001, 0.022, 0.1441]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8368, 0.6342, -0.4751, -0.0139, -0.0334, 0.9904, 0.3645, 1.7248, 1.1336, -0.1719, 0.297, 0.1188, 0.9986]\nstate[eef_state]: left_x=0.2876 left_y=0.0003 left_z=0.163 left_yaw=0.0017 left_pitch=-0.1087 left_roll=-0.0007 left_gripper=0.9904 right_x=0.4564 right_y=0.1227 right_z=0.1211 right_yaw=0.0416 right_pitch=-0.1573 right_roll=-0.1043 right_gripper=0.9986\nstate[joint_eff]: [0.0205, -1.3744, 6.9675, 1.7753, -0.0366, -0.0415, -0.0073, 0.1573, -8.3624, 6.4479, 1.8584, 0.0659, 0.0073, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9318445917f420531a6820a94c5a80ede7c61168bb011111db691d35cb64770",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ec1f2e748d7773f6f10871238700e063bfa784e26f70a0ef1f2a03257ea8703",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d113fb55025c6981958267b4fbbf84e5a8086f6cc6347aae3e09cacb27cc4d1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob a9318445917f]
[blob 1ec1f2e748d7]
[blob 1d113fb55025]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHjO-EP9r4YqqWnAdEysR43f9wdovqHEgfWiueTnTuolSuDLiIi_GFu4z3-Ni0KHWeirfo_BWVaDrFqUAzlV8u2X6gtbKYjpb1pxNBOAolscAhD8GXQp5U7qDVixeis8ZFyEDxlwFkB_7CdMg9NKIV2rxDr2j4hkoVBzMDRF8DAmLRltWZw0rhiygj7bdZ9w32K6jIeGosgrKcWiO7gP_rMPhvUjYVvItMA4oJf0ALSl5MjuDY9JRqNiNfqLeb7be_o4qj9Sl5r67iGhsvyCvd1ztTU1vjtNHaYvHcMf5oKKjAV_qugRMYe0fkxyzEB71Y_ELxuJDOi43YcfhxwNoePTovrPY6R-4NiNNbSyqeqtG4Z5IBA2WTmy8a8wUet4sxThwaG6rgCzlzKWfK45vJKs-D0OwYCiMNKzLXdjm5sFeRQDdIPOkLl0TG_Nk22s4tDFkX3Q_ydJsCXD3-5vfxKqRohj65TLwIrInEKaNwGfBA2cqUOU6jU6XjwsSyttBWWR_vc9qANjzufNSlkcLOV1oF8Ff1n8vUE-yrSh3-ApQyBjI1PUxLP7JVqqmxpvLtdv6abxRQP196D_Htlw4efWJp09wzrSBpZng69P9l4VEMFWWEnr4T0A8_cbCEJsW_FZcZXVeG_D9QwomcT9YEk-zPyVbjMt2-sn2fUnjPt-3Y9_-xKsaaeIZa8QYS6Qnt8J-d7oonjTaqon3zAZ1L-4FPwliR_Cq1uUpUBGRJGpX7OR3b9ExW9M02aI2r0WiVJfGHlo1IXeB-McKrsI-huMgn7BqR0B6di-9qO-x26tapjGx1eJ_DN-9AjIyVI7mYXSPRtXX9Lg9pe-XivXz-ZRwlctO7JI4ztGSlHm55Sf05TxHs1QDmd7f8SKQGsLkzs0qrVR6muXt1oVqovGkMGyFv0nK75Nsekrexyt4soF6vooImdO10IVangGzU4pYOm0gFZDwojWt9lYdvmqJL4DtQc01NLX1MuLAc9igzWx6-8qQWON-D8ptZUPk92Pdurdadt5mAzwr8Te12699sZ6lCkK7THlh9WbgbIV62_ApYi--d30_DXccOCvjbIc1Ck9xdsUuuXg-YIsBeFXAwMASXpxbU8YWWw7yG_prd4g8yhKoBVP3nVlaB_WKQCtqYVH9K_U7KiyXPiXKQg2HgP-T736r9HWioCzobKiYKEPVze1Y-Di_iwFXgBPxqd5RwgjiRvCZVTfyo9BicrUL5z6mm8ltctj_WO-SlCVVmHvtMrQLxLX2PkP7_kyb8ivA-dw8wvfFnrTzx5i1dxKuaf5keSgncCPFBXfRR7whWrzixPXCISKmke59Svm5GUG88rF8hhmASeLSWBeS_oP4AuTpcVpxo-k4gC4BfcrR9flNcgKVayiiSboyQfBTxMjJocpLArhm-GmcSg8uAh4xMkaTcX25ivjCTOC9OWEbVePUZEY3KeZzAEy76QxfK_E3KhWtQRiWHvxmhewsJ1mqdDt-soG-CoPBDE0MQdsGxfYV9JrceabLGUAu2r4WmLCUUDtJcIQZ1AYxqnwyB0OzV0RSg==",
  "id": "rs_0c9399c9e36c8c27016ab478cc8b2087d0bb8044301d38c098",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.385,\"right_y\":0.035,\"right_z\":0.15},\"note\":\"The yellow fruit is now visible inside the blue bowl. I’m moving to the green fruit on the bowl’s right side.\"}",
  "call_id": "call_Q4MbBjclh8wjkayFTQvzhCNZ",
  "id": "fc_0c9399c9e36c8c27016ab478ce12c487d0b475b01bd4bffeba",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Q4MbBjclh8wjkayFTQvzhCNZ",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.841, 0.6342, -0.4763, -0.0139, -0.0334, 0.9904, 0.1532, 1.3598, 0.8803, -0.2577, 0.1585, -0.0124, 0.9986]\nstate[eef_state]: left_x=0.2876 left_y=0.0003 left_z=0.1616 left_yaw=0.0017 left_pitch=-0.1141 left_roll=-0.0006 left_gripper=0.9904 right_x=0.39 right_y=0.0356 right_z=0.1461 right_yaw=0.0186 right_pitch=-0.1612 right_roll=-0.1045 right_gripper=0.9986\nstate[joint_eff]: [-0.212, -1.2376, 7.2547, 1.6777, -0.0366, -0.0415, -0.0073, -0.1846, -6.2154, 6.7077, 1.8095, 0.0073, -0.0708, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fef1ef3f51f73ee30d55184446ecd307ffc887d5bb27d35e5b78fb0b0a050902",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c09ea05a5b2f72f99a0456feca9aa1fa9dd344927598d7157f6cd90410e8a92",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:680457a65a5fdc0e07c09ef4c895b86ae290417b3741f6bcd2c602436979241a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
wire blob fef1ef3f51f7
wire blob 4c09ea05a5b2
wire blob 680457a65a5f
call 8 attempt 0 · /responses · status 200 · 2.778 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 18 changed as sent

message 26 changed as sent

message 30 changed as sent

message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8326, 0.6342, -0.4534, -0.0139, -0.0338, 0.9904, 0.5926, 1.565, 0.7361, 0.046, 0.466, 0.2955, 0.3191]\nstate[eef_state]: left_x=0.2907 left_y=0.0002 left_z=0.1683 left_yaw=0.0018 left_pitch=-0.0828 left_roll=-0.0016 left_gripper=0.9904 right_x=0.3657 right_y=0.1549 right_z=0.0753 right_yaw=0.0371 right_pitch=-0.1156 right_roll=-0.0848 right_gripper=0.3191\nstate[joint_eff]: [-0.0342, -1.3744, 9.5248, 1.7802, -0.0659, -0.0269, -0.0122, -0.0479, -7.7744, 7.6103, 1.5604, 0.149, -0.0415, 0.1832]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8368, 0.6342, -0.4751, -0.0139, -0.0334, 0.9904, 0.3645, 1.7248, 1.1336, -0.1719, 0.297, 0.1188, 0.9986]\nstate[eef_state]: left_x=0.2876 left_y=0.0003 left_z=0.163 left_yaw=0.0017 left_pitch=-0.1087 left_roll=-0.0007 left_gripper=0.9904 right_x=0.4564 right_y=0.1227 right_z=0.1211 right_yaw=0.0416 right_pitch=-0.1573 right_roll=-0.1043 right_gripper=0.9986\nstate[joint_eff]: [0.0205, -1.3744, 6.9675, 1.7753, -0.0366, -0.0415, -0.0073, 0.1573, -8.3624, 6.4479, 1.8584, 0.0659, 0.0073, -0.1587]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.841, 0.6342, -0.4763, -0.0139, -0.0334, 0.9904, 0.1532, 1.3598, 0.8803, -0.2577, 0.1585, -0.0124, 0.9986]\nstate[eef_state]: left_x=0.2876 left_y=0.0003 left_z=0.1616 left_yaw=0.0017 left_pitch=-0.1141 left_roll=-0.0006 left_gripper=0.9904 right_x=0.39 right_y=0.0356 right_z=0.1461 right_yaw=0.0186 right_pitch=-0.1612 right_roll=-0.1045 right_gripper=0.9986\nstate[joint_eff]: [-0.212, -1.2376, 7.2547, 1.6777, -0.0366, -0.0415, -0.0073, -0.1846, -6.2154, 6.7077, 1.8095, 0.0073, -0.0708, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fef1ef3f51f73ee30d55184446ecd307ffc887d5bb27d35e5b78fb0b0a050902",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c09ea05a5b2f72f99a0456feca9aa1fa9dd344927598d7157f6cd90410e8a92",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:680457a65a5fdc0e07c09ef4c895b86ae290417b3741f6bcd2c602436979241a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob fef1ef3f51f7]
[blob 4c09ea05a5b2]
[blob 680457a65a5f]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHjU-lmKKq6-9FHf7pgwEwgCL0cvdiV-JQRYx0NX-BakMxxYwAPUu6QOSV7eEN23e-Eaf1p3gd3R4T1Qsy4zker4c-D7Yvs6AyqvCStBaJhgxFmn6kjp0nnEFGnPvGbt6D4LdBlAcMO32Mk28ik116igdmHKZTcviaus00Z0AIwVJLqjrqipNR7usSEwq-rYiPyom8gyh7orhIXiDGV0_BzVebuRAk-6p4FM9SUDOWeuV0TBryLrQkDTFQUYhdNc138o4eO9Z36Q3N1bVbkufA6Sx_zjUa-sLV0SFM8UJCMvnaq4IQZpjKLHsIqJYu0RY-gDJxa3iLBkL7jwQsufNI-jGCSHIAHkx4yWSgjg9M6zQHAKP_zpPr3uhs7X_iJj6jpfaAWQ91eW9d0-7cb7ymHbDVzz0H1F6FDSgP3pbQ82VF6xwyqcpROwQEiSU4QsiLbhfmKLY7FYj8Tzx-Mf4FwOw2XmNMFWgXuI7IdgjOsIUkQ5lvQrRzL0qEsNyejxtP6ICdLnqklNwm_U69Oe8eUGlr7jFgbBRtZLJ4gr-axPxXR9GPHsQSn6uIijqteNCQUJOBoiEJt3mk4HndXPgtmo_Xkz_MEwb8ZNTLrZhh1Fz4hxANE5MDVYLAPa6Pb1ZtK94XrUejubolxebaz0GUDV6-lw3OBu_JWNYxIQcZflqRpzCsv_XG0Wh3SgtgYbGYZkEQ-tAgACcKJR1N4p79QkYoSLA_M-5e71cr8fBcfFB8L8JkZsLvaMln1_ME90HI2Y6dJrD2pwL9E9N3DXv1TpMyybgLF7KQ4itDKzBzRwwuqHsB0ne1Yis_CgVy5JVr-Dr2wgFcqu5dequlkIGHBTN1VBMgIKmx8RjbM5Rc1jyNP8EFGWy1-wd6CegybNMrc-cyJiSIQeC_Cn1Bl02E7n9utWkd4JqkGsnrqi1yBML18ATI8uNU9E9lKWqp1eGHTWuRTO03mUIN16QZQjh3Gg3CJAqqK61H6w2Qr-cX3BrkrBRx0Z26lt6jiwt6hmumP_GNGIv4GcKjUsOMli3R-PWlHcHIGTnI_oXpF93_Yl_KlUvSWzQ1-vNy9Wqr3_YVXe5iHhqh4rl716NX0z2xTNgCXdCWo4cWVy1kFLZRvJjVxy2IQFzrGtbqwcMJCOZRMLcckBMZyIdnRN7mlTDFb0nvQ5kIA9fgFr64C9s2HjF66SSj0TDiKAODZtYhyvJmuHyvNo1fRu0_9QOBczk6owSguUJlM1b30yuSPSUElYCqkKS1CZdhVmGpbmEdxYK3C-mmEi-CkdW12XTWpnZ9hiBH5sgFF5tqf1I5iWYvyoQwZzL_-2HEOT5w5QD3QMkQKW1ZqzcWpeBWA_RNgXjWeLH418OOlR1Z65jCGw9Jmzm3fny9d2EOgvf6G833ympAj-XGTflKF0DlodtIihBTeolsSMq39S-x-rmSlspoZR_uMK_nLYpUl0jNzO_aBRWuwHxUZm-BiO-8UKO_6TBN5j6gvw4b1gPgj-XYremhQ0dNlyBRo3JHu7Sb37iQkH9RCsn_8YhrJ3z_Duwsgv-V3IOjZPZbFX_XlP-WCxKH1MLDM=",
  "id": "rs_0c9399c9e36c8c27016ab478d201d887d0bd001fe8403afb50",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.002,\"right_z\":0.03},\"note\":\"The green fruit appears to the right of the jaw column, with the yellow fruit clearly in the bowl. I’m shifting the gripper right and lowering to grasp the green fruit around its middle.\"}",
  "call_id": "call_THYys7Htj2FUQjOnkQMzEcuq",
  "id": "fc_0c9399c9e36c8c27016ab478d332ac87d0b171c9ff02622129",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_THYys7Htj2FUQjOnkQMzEcuq",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8413, 0.6342, -0.4763, -0.0135, -0.0338, 0.9904, 0.0334, 1.5856, 0.5941, 0.297, 0.0776, -0.1066, 0.9986]\nstate[eef_state]: left_x=0.2876 left_y=0.0002 left_z=0.1615 left_yaw=0.0016 left_pitch=-0.1144 left_roll=-0.0012 left_gripper=0.9904 right_x=0.3976 right_y=0.0032 right_z=0.0464 right_yaw=0.019 right_pitch=-0.1284 right_roll=-0.1199 right_gripper=0.9986\nstate[joint_eff]: [-0.1709, -1.5248, 7.0632, 1.6044, -0.0073, -0.0708, -0.0122, -0.8821, -4.7111, 3.412, 1.1062, -0.1001, 0.232, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc91614492587b9878985aa271265cc05f609f40dbafbe14fe722a0fe14edb4c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:823beee466b0846a77405685c099da815648209239d0d04ea2f61a57080a97a1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4510c6cb5c2f66abb9221e7ef2ac7dae9220536b3e6f7bdfede3c1d46eab9516",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
wire blob cc9161449258
wire blob 823beee466b0
wire blob 4510c6cb5c2f
call 9 attempt 0 · /responses · status 200 · 8.837 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 22 changed as sent

message 30 changed as sent

message 34 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8364, 0.6342, -0.4683, -0.0135, -0.0338, 0.9904, 0.3668, 1.6814, 1.2671, -0.3202, 0.2993, 0.1261, 0.3205]\nstate[eef_state]: left_x=0.2886 left_y=0.0002 left_z=0.1644 left_yaw=0.0015 left_pitch=-0.1015 left_roll=-0.0014 left_gripper=0.9904 right_x=0.4607 right_y=0.125 right_z=0.1707 right_yaw=0.0394 right_pitch=-0.1293 right_roll=-0.091 right_gripper=0.3205\nstate[joint_eff]: [-0.2256, -1.1419, 7.0222, 1.79, -0.0317, -0.0659, -0.0073, -0.4034, -7.8427, 9.1009, 1.4579, 0.1001, 0.022, 0.1441]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.841, 0.6342, -0.4763, -0.0139, -0.0334, 0.9904, 0.1532, 1.3598, 0.8803, -0.2577, 0.1585, -0.0124, 0.9986]\nstate[eef_state]: left_x=0.2876 left_y=0.0003 left_z=0.1616 left_yaw=0.0017 left_pitch=-0.1141 left_roll=-0.0006 left_gripper=0.9904 right_x=0.39 right_y=0.0356 right_z=0.1461 right_yaw=0.0186 right_pitch=-0.1612 right_roll=-0.1045 right_gripper=0.9986\nstate[joint_eff]: [-0.212, -1.2376, 7.2547, 1.6777, -0.0366, -0.0415, -0.0073, -0.1846, -6.2154, 6.7077, 1.8095, 0.0073, -0.0708, -0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8413, 0.6342, -0.4763, -0.0135, -0.0338, 0.9904, 0.0334, 1.5856, 0.5941, 0.297, 0.0776, -0.1066, 0.9986]\nstate[eef_state]: left_x=0.2876 left_y=0.0002 left_z=0.1615 left_yaw=0.0016 left_pitch=-0.1144 left_roll=-0.0012 left_gripper=0.9904 right_x=0.3976 right_y=0.0032 right_z=0.0464 right_yaw=0.019 right_pitch=-0.1284 right_roll=-0.1199 right_gripper=0.9986\nstate[joint_eff]: [-0.1709, -1.5248, 7.0632, 1.6044, -0.0073, -0.0708, -0.0122, -0.8821, -4.7111, 3.412, 1.1062, -0.1001, 0.232, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc91614492587b9878985aa271265cc05f609f40dbafbe14fe722a0fe14edb4c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:823beee466b0846a77405685c099da815648209239d0d04ea2f61a57080a97a1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4510c6cb5c2f66abb9221e7ef2ac7dae9220536b3e6f7bdfede3c1d46eab9516",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob cc9161449258]
[blob 823beee466b0]
[blob 4510c6cb5c2f]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHjadctLcXTlG3X_x97Me63kIjpeoYoi_LVZJRoDkC_AG0P6Frk9Qu035H9d1p7J1kZ6WPqvHgvTbJYscjRiOD8WG0taWjlzSHSrL7xdmEzlpnz-dUf9pF0OSjouLwtMmnCH9raJo9WMAW39QU5n-e0ATwESj5jApsYBPDx1FBO0vAOwNvvpbHaXBsAe4BN0dQFkYxRBDtgASeVAiZFkjVxoMhBZUzx1CtkUk3ZKGggt_N31betjMle45uNLHTGFGnWNOzsvTqKUqyh8l-f4gPrjqPrsJTL_vofKbv18kY-iu9NR-J10wtbUZvHwRwOntV3Xnzm40Vy7hI0sqpxGGdp55j2cXrK8LC-fDWyfCdfJkbmygJ-NRVxMsN6CO3n6BvC1PhnylABV0_Tvu8uc7ND5R2qCxMfMxLS_bmJJYAe8FYaipJVoa6xHgdR79dGEust2Ju-Cfx3vcih65ouwIDIIRMQ1v3wo0WVahtR7yB8iynnHVki7w4CD5I2AvGR9Ew0QbNPdLxRO8saMac8Se_NpmD7qIEMVB65yUcOq4kKMMJrcAh6yBNCv72ncZ-s9Qj-8Hlru1DNFxOGKOI8pW7jusu_UKUOZ-LYqoluynMde5c2MLReVLqYxzCsJwAce3rSPH5OtAV4SzwYfsKIZtO0DsB-MQnZE09wxc8BWSBAFWrhr97qM-4XBGauZ8ZwV1iznnFimeo160JK9ucvv7QLU1_VRBvHj7crpn7nboz7Zmz8cntvuF3FTRWvuhESaGfcmsVW5IWshbDDs9bTR-yi6eUkByEQ_tGL-6mxEhxphe4V83aMzL09zzu6QrWg8j_K2bP-t4Qw1tVmSSm0KIcGauro0ZxG6J1K45Syj5BlkFTp0K39CzJPyRa2h0ZAyg8jJda_W6wrHKAdYNHQKyuQaMdcelQSX9mxD571Zfk0iTTfm_n8IDkb1v7IQn6lIwdkzTmZ-a_fLwXCurF7Zk926wxI2q1bQe6eas5dhxBchfy2yxwcTHJwBOgBHYkUelZjZsAu-K8gQ-onlYZ1TycxnonDtVV-THyRpwy0x8sDAsWOepmgfDMB8JsE3mkKrTtbzdHtBgjhLW2DMi-BXm12GIO-EXTCZ2ee33WkaqhUlP2QmHHaiH4w5wZ_itfKsjcRgxSV7SFgWDGYLwn7ABgb4g1jm-OIRTX-3Km6FyKKqFmGJiTzguRJPkmwuBbBXYjIUoC6e681QACJ4sVaVZcI54Kq897TWpt11zaxt0gHO-DxQPBOnfIheWsePaKPjjBtQXAPs-LOrdip32LQfZrZ9pq10NTJSFFzHx1ifSqsSXHs=",
  "id": "rs_0c9399c9e36c8c27016ab478d94d9087d0ab61ebd728bbc536",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The gripper is positioned around the green fruit, which is now below the wrist camera’s view. I’m closing the jaws to secure it.\"}",
  "call_id": "call_RgzyRqmQAZI01Xo15ULEivLb",
  "id": "fc_0c9399c9e36c8c27016ab478da004887d0a9963f2c4988b002",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RgzyRqmQAZI01Xo15ULEivLb",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8417, 0.6342, -0.4763, -0.0135, -0.0338, 0.9904, 0.0315, 1.5898, 0.5858, 0.3019, 0.0658, -0.1055, 0.0198]\nstate[eef_state]: left_x=0.2877 left_y=0.0002 left_z=0.1614 left_yaw=0.0016 left_pitch=-0.1148 left_roll=-0.0012 left_gripper=0.9904 right_x=0.3954 right_y=0.0044 right_z=0.0425 right_yaw=0.0266 right_pitch=-0.136 right_roll=-0.1114 right_gripper=0.0198\nstate[joint_eff]: [-0.0615, -1.4427, 7.0222, 1.6288, -0.0611, -0.0562, -0.0073, -0.1436, -6.2974, 6.612, 1.3407, 0.1392, -0.0806, 0.8425]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:967b6b701c6b017764a277d3b9224bd24bb675ebc47c7229dc5bca8d11f3e601",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd32e4a0819e487211c896c6c629000ce0f1cbab8aec09c65f4ba7ebb742cc08",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b11174c95eb293f9e5dceff54ba1c519b568cde4f47b37ca53a65bb6ac4922e3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
wire blob 967b6b701c6b
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 5.098 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 26 changed as sent

message 34 changed as sent

message 38 changed as sent

message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8368, 0.6342, -0.4751, -0.0139, -0.0334, 0.9904, 0.3645, 1.7248, 1.1336, -0.1719, 0.297, 0.1188, 0.9986]\nstate[eef_state]: left_x=0.2876 left_y=0.0003 left_z=0.163 left_yaw=0.0017 left_pitch=-0.1087 left_roll=-0.0007 left_gripper=0.9904 right_x=0.4564 right_y=0.1227 right_z=0.1211 right_yaw=0.0416 right_pitch=-0.1573 right_roll=-0.1043 right_gripper=0.9986\nstate[joint_eff]: [0.0205, -1.3744, 6.9675, 1.7753, -0.0366, -0.0415, -0.0073, 0.1573, -8.3624, 6.4479, 1.8584, 0.0659, 0.0073, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8413, 0.6342, -0.4763, -0.0135, -0.0338, 0.9904, 0.0334, 1.5856, 0.5941, 0.297, 0.0776, -0.1066, 0.9986]\nstate[eef_state]: left_x=0.2876 left_y=0.0002 left_z=0.1615 left_yaw=0.0016 left_pitch=-0.1144 left_roll=-0.0012 left_gripper=0.9904 right_x=0.3976 right_y=0.0032 right_z=0.0464 right_yaw=0.019 right_pitch=-0.1284 right_roll=-0.1199 right_gripper=0.9986\nstate[joint_eff]: [-0.1709, -1.5248, 7.0632, 1.6044, -0.0073, -0.0708, -0.0122, -0.8821, -4.7111, 3.412, 1.1062, -0.1001, 0.232, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8417, 0.6342, -0.4763, -0.0135, -0.0338, 0.9904, 0.0315, 1.5898, 0.5858, 0.3019, 0.0658, -0.1055, 0.0198]\nstate[eef_state]: left_x=0.2877 left_y=0.0002 left_z=0.1614 left_yaw=0.0016 left_pitch=-0.1148 left_roll=-0.0012 left_gripper=0.9904 right_x=0.3954 right_y=0.0044 right_z=0.0425 right_yaw=0.0266 right_pitch=-0.136 right_roll=-0.1114 right_gripper=0.0198\nstate[joint_eff]: [-0.0615, -1.4427, 7.0222, 1.6288, -0.0611, -0.0562, -0.0073, -0.1436, -6.2974, 6.612, 1.3407, 0.1392, -0.0806, 0.8425]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:967b6b701c6b017764a277d3b9224bd24bb675ebc47c7229dc5bca8d11f3e601",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd32e4a0819e487211c896c6c629000ce0f1cbab8aec09c65f4ba7ebb742cc08",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b11174c95eb293f9e5dceff54ba1c519b568cde4f47b37ca53a65bb6ac4922e3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob 967b6b701c6b]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHjlsXCv0tMjO2A1stNzoNGSLONRUvDQvHh1Y9P7ceSvBablyTdMCJ4Vt1uihjyekvbPT_VcpKuJwnXuzBsA5FPiiqf_Do1FmmYT6a4VPY8p9thro6Ekdu2HcgBlUcnrftYnsuHq3FLRhXRemrq9If9nJkkdKjK8Db9RfY9v8gcunOh-jgkOIl6a6deRi_SOBOF-wEAE57HpM3wLTkYnQEsKAURgRekqyP19hhIoeCdZBAeGpEGifmDrc5ULHUHEAktsdnqTKb2wDsdVVZMd45uek7OHo0_FGYpS8VFki3bzt8L0U0a4cB8YKd7069defIb6-4L5tL5L-rxbHkJILXjiT8NFgZR9He0ao_V8WnlnqC-NL0CW560FluHCOxD2ZFKWGJoaseuzFm-u2ZDI3OojLnIil7ANI8dz-oWSi4YWwQBkteXUIPKSCnkf25Xckt1TckomNMYtobXqChRyFDvEGEiagKmExPUjoSKwJgk5uRwIXKsjUHoE7n74iinqkDXgANaq4xUJbcr-k9FQNbBCk2tsP-8nb4ywm-YHnrKhw0fFe-MfIUjoBFg4nxMyqcyud2SsoPsy06PeIjLZIod03CXsInhoO4ONY0OkWGonodkO7cXx1eCn29D6Y51PK45pZdiWuVTpR1w9WF3_Vx4AyjlzTnEJj-Xb-2Blu5mmEml6Qaczayl7FxZFkx9FzRWfa8Okf70bEjIJu7aoNvL-ZV9N7KSXM4PUbaIsFQpglMPGCSryuloDQVW8ec0diBwCw5FsI7nSkN93dHxTdpIoF6VW5J4ty2AcFOhZ1-eZqEtB4z-99J-Iwq7YW0CNonzX4pHVwZ6_E7vFOCReeyrre2NExYPWnywjwDMXCgZJouhA5VXEEWHslp9pxvVYRdu0m5Ek_DhFfXtyRPG2iBiGBjJDcELuOqa3h9aUptY92OrYdr0iWrnBEWCfrGppizwdjuuWcOCrGlbH6Lw6AHhi5JQoQZQIX0GUeOH6zGXh3ZRWk04rHyjmhjQNaKyTGqbxjF1Wfro-Q-R-0Je405pWvqkj3aBgoGjYOEsCPu8FdckRp7ApXxRn5h8lupByUwxp6uCOOy1kMssYTnlH6fYYuQf8Z1o90_ZMddeJv8JWjbTxHnbirhifZ8WQOxCaLcK9XfXs7gMZBY0JWW2l6rK4Y7Wjqd5NIPsYLxTOaUaoh3X7TlurQp3yR0jw7JThTHJecY9Z-YzF5uUpmT-eWEk1nBy_LxTahGofbucleB81l5hLjSDbkbB0eSguT4oD_O8eCQ3cUozVaDuMxp2ACsqC0pXAVs_KogtukFd60xzsMZTuZdOvfnh7fQC8NA4gyZphSq2QQI0tkFWIu1n85ivTTVXZliFRpQW6MMKvmPUBQ5HnOZmhs0pRJYbD4qUyRsA0Vw5l_yQBR8nUe9gfYxYj3S3B9ZhREuVI3U0ZZ66_T0YsxgZ9TorlDYZe9cM38y7iY4Z9X3aOn-Oh-NE20rVkUDopu7eMnRVIRYPm6PFFXLC7lUnKM5FOzJHAMffbmcOe75reneUyVfBXF8cKWbe9loCK7D3O-2i7jhgJ_tCmRYGVOm-kJn54zA1AH10enSLQsrjTPwCzZDHhR60PFMBMpFrRfI_JMZE9sAR-FRqwFIpnnUODdv4l8gwdYNzHxWu9zJVKrXm3RD9SbSADFYQscrZkQMJ-qMzMC5JAxgGpi7I34FpIDrzdhEPwXe7QxkEh_RvA9N2zasEYN_4LCx2a0vHpze2YsksZHDabZF93p1aPdHEQO9mMwmk0Oj8k4OHxzkpZSwToM8YJ1aZK3nma5hQu_zvKaYt2LGDBII4yCxkSAQGvC0resuKja86RzjGvDt1tcNL5hEc4lxBRGeira2fnpjxOzwFFHpKrH1-Rb8khZd2aSjYu8oRf7tUTHrC1XE6YbWM_NbZ3O4Sup-beP4BvyVohDGE_bNM5o1WeENk=",
  "id": "rs_0c9399c9e36c8c27016ab478de4a8887d08b25ec8037fb560e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.41,\"right_y\":-0.012,\"right_z\":0.005},\"note\":\"The jaws closed empty, and a small part of the green fruit remains visible just beyond them. I’m reopening, moving slightly outward and right, and lowering for one corrected grasp.\"}",
  "call_id": "call_QH4e5DKDxgkORx300wOxx64P",
  "id": "fc_0c9399c9e36c8c27016ab478e1d3c487d0bdc9f8ae3a1f4e95",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QH4e5DKDxgkORx300wOxx64P",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8413, 0.6342, -0.4763, -0.0139, -0.0338, 0.9904, -0.0238, 1.7599, 0.5842, 0.4763, 0.0166, -0.1429, 0.9953]\nstate[eef_state]: left_x=0.2876 left_y=0.0003 left_z=0.1615 left_yaw=0.0019 left_pitch=-0.1144 left_roll=-0.0009 left_gripper=0.9904 right_x=0.4081 right_y=-0.0091 right_z=0.0096 right_yaw=0.0334 right_pitch=-0.1348 right_roll=-0.1082 right_gripper=0.9953\nstate[joint_eff]: [-0.2393, -1.4701, 7.0222, 1.6288, -0.0659, -0.0757, -0.0073, -0.5265, -5.3128, 5.5179, 1.536, 0.0708, -0.0415, 0.0415]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb310861fef8aeaa40b193ccdd5203725086f75c1dc4b02a811286e0535f8678",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26bcefaaa5495c1b9ceb0c97021ca1ece6e94556fdb66608cd0bfacd57a7fef8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d44acc85e24411f6ce343e6c59d692ee63257fc215ec9bc354461575241d817f",
      "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 · 7.013 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 30 changed as sent

message 38 changed as sent

message 42 changed as sent

message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.841, 0.6342, -0.4763, -0.0139, -0.0334, 0.9904, 0.1532, 1.3598, 0.8803, -0.2577, 0.1585, -0.0124, 0.9986]\nstate[eef_state]: left_x=0.2876 left_y=0.0003 left_z=0.1616 left_yaw=0.0017 left_pitch=-0.1141 left_roll=-0.0006 left_gripper=0.9904 right_x=0.39 right_y=0.0356 right_z=0.1461 right_yaw=0.0186 right_pitch=-0.1612 right_roll=-0.1045 right_gripper=0.9986\nstate[joint_eff]: [-0.212, -1.2376, 7.2547, 1.6777, -0.0366, -0.0415, -0.0073, -0.1846, -6.2154, 6.7077, 1.8095, 0.0073, -0.0708, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8417, 0.6342, -0.4763, -0.0135, -0.0338, 0.9904, 0.0315, 1.5898, 0.5858, 0.3019, 0.0658, -0.1055, 0.0198]\nstate[eef_state]: left_x=0.2877 left_y=0.0002 left_z=0.1614 left_yaw=0.0016 left_pitch=-0.1148 left_roll=-0.0012 left_gripper=0.9904 right_x=0.3954 right_y=0.0044 right_z=0.0425 right_yaw=0.0266 right_pitch=-0.136 right_roll=-0.1114 right_gripper=0.0198\nstate[joint_eff]: [-0.0615, -1.4427, 7.0222, 1.6288, -0.0611, -0.0562, -0.0073, -0.1436, -6.2974, 6.612, 1.3407, 0.1392, -0.0806, 0.8425]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8413, 0.6342, -0.4763, -0.0139, -0.0338, 0.9904, -0.0238, 1.7599, 0.5842, 0.4763, 0.0166, -0.1429, 0.9953]\nstate[eef_state]: left_x=0.2876 left_y=0.0003 left_z=0.1615 left_yaw=0.0019 left_pitch=-0.1144 left_roll=-0.0009 left_gripper=0.9904 right_x=0.4081 right_y=-0.0091 right_z=0.0096 right_yaw=0.0334 right_pitch=-0.1348 right_roll=-0.1082 right_gripper=0.9953\nstate[joint_eff]: [-0.2393, -1.4701, 7.0222, 1.6288, -0.0659, -0.0757, -0.0073, -0.5265, -5.3128, 5.5179, 1.536, 0.0708, -0.0415, 0.0415]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb310861fef8aeaa40b193ccdd5203725086f75c1dc4b02a811286e0535f8678",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26bcefaaa5495c1b9ceb0c97021ca1ece6e94556fdb66608cd0bfacd57a7fef8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d44acc85e24411f6ce343e6c59d692ee63257fc215ec9bc354461575241d817f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHjsyoRYq_wJ4bVxHmEogGUb1gv4rfxWyU2E1Kln-mCRU270nC8xMuLPuQAIx9PLZDARoLTSdORgttVgYrMqbiwJRbUIvcBJH2N7w2EP3amKUUjW6r_jel5A0F8bvpvYHCU71vtEJBAnSsSN_N6aaG6tntmoYS-onKjtSEeMKvdHVYhpAzKLlzl8F1GSKGxN6o52wpeKkWCQTdq--hemoIvJ3oxP_S4KJq5hH4sWEmOwcAtY573FfsOCvV2nlqm7Txq_9_-EzNDwZyAIsAcFwgfUT8nxDXSK6ciznNpjZdVRk88A4h8eVL5oKS7qm00e0rnqZV6TicuESrpl8yPl1JJfEc0lR4dXeImPAWadoc75hUwtO8WhYT50cSjommAOOmhflET5bGm3ZNeqUGdOOLIz85XFZ_ncmXuwqZvqvfQ3JKFlL1hDqN_y09zwPeSRIMj3WKavm67fRqxDjyspr9XBidQRl8srNgqTJeOK8ztUTZw41vtstVc6utS5Luk7owi1nhZIq4SwKdXTdhYOWfsbQBB7eBJtQjoGg60fjFpZa4ff-yxW0vziMeahQTipy3_0egLslfc1x7ns4eEDw6dVm8JiIHzxwkiMIuQeFj8hclxZb4btiCpTxL3Ngz9CKC4BKsalelz-xrR1MSlxfYmpigCcUogk_3nlRUXBcdaBzmmvJfgG97fMjkdymJwRhhUB-aGusBKy-tKba9N2rj_qTs9U9b02X9LodYYo3BKNMp7kmC2MKiF1s0KxwGUHJ_lVAlKEuP2ES2eM9rvvecX__xEhjH8yZVbzQ_9eeYyOzlta-4zzHP_qN7Uc1ZYfO_rwO8qRZgbf7mNx3J1Rcq58iGsq6OJdOioH38I79u8HpwJinJS-ATa8ytCE-R1o0v0N5z7UZCBmwdQ_jLqC6U1nAHvY9P6GofEwUuFvg6DTYNkQHqnud2vNS6ZXMuBBxOpmFlGQDHH6JNFuYdGKmZT7A-r9g6BA8oa7ksNE3GrwJKE9Zya4ycwLNf4NAnccEBBkUBoF8Vk3H5I-EiRalgPiu1K1wKYfcUXhJnjXOvIaf8Dq9h9_lDHnDiFp8ayaUHXfMTRpzK3NZJD0TqGb5A7dj6re2WTkinME9zimGWW6CXKv_FqapbHnb8jyd7NA9kJkYZrhVtfJvCIHNOGrwXKBq2ALU3uSH8ijSEOhJYOuvUzI5nqv6DLGisXMKGOzqgjkvoLaBm3WlJUcO-ifwRph4WdRHlGp1iAL23AchoAJxETqFEyhsX51jHV2UslgQtW5JVrGglrRSarJ-BLNh5bNuxVneiUw0gZRs6ewN3IjtM0FH6AZv17JxsNak4mZLefI2VgqV4Yj5CZr1801h00hH7182KvRcvEc4abc5ZyKvPSEwrhh3Jhxd1ky2ah7zgSJVGXoi1_S6vbXna9zU6p5yTEK99SjCsivwtvyMC5wal1u5PuRJH5MdIv2xXAa-ToF7U8Dmd79DDP9IdXNWcPqAG91c57V3Sb5qv1cA-IdQmSnn9zU_ma5Fimi7HQ7zEmC2Tjy6pZTPxViFUAmIVnr-VuiDLoawrCJ2yvXSIW-mnvCxF3O0yaoa5H4E5uHntFowSGLnIxLwFKIfjEC7Nd0J2WsZd5790RHHM_IxHmAEWKDsRFlTgU3YIZWpEBobrLR85mZk9IyzMagPRUzncW3h_l_uGo9g1b3ai3_gM445djWV0DanOJFnZRbNRu9q22eg-eZS71sn2pdsFm1QJiBV7X0EZJxHRx34U8oWsfRgPMuZK6A47L1i1vydtEflg_8",
  "id": "rs_0c9399c9e36c8c27016ab478e8e41887d0baa540fdc03b8108",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_y\":-0.06,\"right_z\":0.09},\"note\":\"The green fruit has shifted toward the table’s right edge rather than entering the jaws. I’m moving above its new position to check whether it is still safely reachable.\"}",
  "call_id": "call_ZQ9BvTdCUcPtqJVn7lqxwqBm",
  "id": "fc_0c9399c9e36c8c27016ab478eb1c7c87d08ba8360111d53712",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZQ9BvTdCUcPtqJVn7lqxwqBm",
  "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]: [-0.02, 0.8452, 0.6342, -0.4767, -0.0135, -0.0338, 0.9904, -0.2066, 1.5318, 0.7193, 0.0864, -0.1108, -0.255, 0.9963]\nstate[eef_state]: left_x=0.2878 left_y=0.0002 left_z=0.1604 left_yaw=0.0016 left_pitch=-0.1186 left_roll=-0.0011 left_gripper=0.9904 right_x=0.4016 right_y=-0.0605 right_z=0.0762 right_yaw=0.0205 right_pitch=-0.1562 right_roll=-0.1068 right_gripper=0.9963\nstate[joint_eff]: [-0.0615, -1.7983, 7.1316, 1.6142, -0.0366, -0.0757, -0.0122, -0.2256, -7.6513, 8.1162, 1.58, -0.2369, -0.0952, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2bbd9f3b2c4d4e78afa057e9ad606087a43640c9bb7b507b34ca41bf65f39d1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83badd25ed42c96387d29d03a4e97c21ff5552ecb4c063c75d3946b0f2a15886",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0e30427f5afc54acc6f7c98c92e39a0c3ff857d33379dde4e23d35cc06656a9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 4.414 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 34 changed as sent

message 42 changed as sent

message 46 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8413, 0.6342, -0.4763, -0.0135, -0.0338, 0.9904, 0.0334, 1.5856, 0.5941, 0.297, 0.0776, -0.1066, 0.9986]\nstate[eef_state]: left_x=0.2876 left_y=0.0002 left_z=0.1615 left_yaw=0.0016 left_pitch=-0.1144 left_roll=-0.0012 left_gripper=0.9904 right_x=0.3976 right_y=0.0032 right_z=0.0464 right_yaw=0.019 right_pitch=-0.1284 right_roll=-0.1199 right_gripper=0.9986\nstate[joint_eff]: [-0.1709, -1.5248, 7.0632, 1.6044, -0.0073, -0.0708, -0.0122, -0.8821, -4.7111, 3.412, 1.1062, -0.1001, 0.232, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8413, 0.6342, -0.4763, -0.0139, -0.0338, 0.9904, -0.0238, 1.7599, 0.5842, 0.4763, 0.0166, -0.1429, 0.9953]\nstate[eef_state]: left_x=0.2876 left_y=0.0003 left_z=0.1615 left_yaw=0.0019 left_pitch=-0.1144 left_roll=-0.0009 left_gripper=0.9904 right_x=0.4081 right_y=-0.0091 right_z=0.0096 right_yaw=0.0334 right_pitch=-0.1348 right_roll=-0.1082 right_gripper=0.9953\nstate[joint_eff]: [-0.2393, -1.4701, 7.0222, 1.6288, -0.0659, -0.0757, -0.0073, -0.5265, -5.3128, 5.5179, 1.536, 0.0708, -0.0415, 0.0415]\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 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8452, 0.6342, -0.4767, -0.0135, -0.0338, 0.9904, -0.2066, 1.5318, 0.7193, 0.0864, -0.1108, -0.255, 0.9963]\nstate[eef_state]: left_x=0.2878 left_y=0.0002 left_z=0.1604 left_yaw=0.0016 left_pitch=-0.1186 left_roll=-0.0011 left_gripper=0.9904 right_x=0.4016 right_y=-0.0605 right_z=0.0762 right_yaw=0.0205 right_pitch=-0.1562 right_roll=-0.1068 right_gripper=0.9963\nstate[joint_eff]: [-0.0615, -1.7983, 7.1316, 1.6142, -0.0366, -0.0757, -0.0122, -0.2256, -7.6513, 8.1162, 1.58, -0.2369, -0.0952, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2bbd9f3b2c4d4e78afa057e9ad606087a43640c9bb7b507b34ca41bf65f39d1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83badd25ed42c96387d29d03a4e97c21ff5552ecb4c063c75d3946b0f2a15886",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0e30427f5afc54acc6f7c98c92e39a0c3ff857d33379dde4e23d35cc06656a9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHj0kWtjV98_l0HtX89IToxZ-rLGG26M2ZNv734ctFBo5emmuS3nC_AvoFvdsfykmMqf1OOXhDMh349uAMrDPRWehujSmz2vqSsU7-tweM9UzYnG_xgCvAjx3ELFlNhwgv8uWIjN5v6_LDgCTmenfuPoF8rqzZqJeGH-MFM8HEAUoU1-DsI93J4tPJHOjSILD3B8EVV23PDnphUjmoBcWyWXZDeGCnGV1zC2p4eUOd1Ga61V8tpmLD7RZxAEqywcXJNDRVljiq5SqhFE94vYIUNs6C3n63JZKunV1valYkuGvs2Xfh7UnN8Wgfrd9f5AWNr8cNFfkVFlobiarTG7doYgDW5guLMmtltu7bbv3pME8SnmV5LbGkkIhltiLzWskwtozCvMpknFvyCGBhuR0LQ_p-_V__lZ_GFXWvC124-Crk7masmMF19HKpUCIiXx5jhSU_B3GId6Ds4yD6fzw-W3BSE-K7EObxjtaUjP8qnL7t71gLcIkCFSrs9US9sfLUubECSfJDPnnhJUY8evW8G93xTlj-oP1Xz7hyuRW7Ho2eHFyQZBZdYDoRkhgoaGsEhCmlG1o2GGjpYhAU8bGg5EWM0pNg0lQszaxNa_LV39v26QaYEm6e6h35_5yf3FO-7aFmzHE_izCY8Ezz5IBZLRbRTexv8DbxxeoVkNsTSLxGBstDtC70J1SKY7x8TFHL_ChWn5SUdMbYIbuD4xc8U63FIqoh-p-RXvvC2Tfzv-n60Nht1TgZqr5vjvHXDglTN1iieCYmXsVDbRBwfS3BmQ7M0FNnAlso3WrLyy20-t9p2LduiQbeYVS8YWVLnIdZ9WqUuLsO-QUturxdahd4uuRRE4GoRDsC0rQRvXFeR28fi_MpOjCNXTZQEQBMQH8Efup6HNTSc5byYooN_VEZEOwDdHjm-p8jjEMYxK6dBzLBixN1zWD4lI-ldBez3sF5CUHSDnfzQi7YS-NGWgwWCHFydlu2oaPeDntxV-6pbixpPukN_v1zphQ3GLZFhtF0x9BYSy8MFy10RsbOxSzRCn-ViBxZ1N3z7SspuwFXzeg0qbGpZWq7NHRLlFO4QjzxMmhWczg4iU9npojSzkiQy_gMJC0Q2B00WpcMrRk9SUD06BtURLZ9WT5pLgJIvq3kUqmzrbxQLSMV-5LQ02__TYUrOG3hNRLXxYHDNNI9wtStJpj7apVEzNqKu9Cx4iWrC4uVqDqcn1_MiPnS0m4aFGjm-TwpPHoNQGFR6fpR_26YPqOzBhy1_dKreXPqO3VQaCWyyZYKliR7UStZppGWqibkNWjUxQsglwV-1MSDQ_V30iqvWtyc0msAtRudLdpZKGCivhV2CC0uiX53Er2OVRZRTPKEhrQBbGIdq2hSl8T1Y7CLm1H31S720KnqsRZzjet7EkCtqqyPDB8gofjAUkz_mklZbeI-vrDCsHq3bK64z_3eMl2VbBmHY_XlHkgx-RKPM5tb6cqOzndBzEUeTTzCvne2ifNFyJryZFgQLB4aT73YW163fyaR3-W3iDvJCQaTaCQ50kpg7BLefcWR8M2bn44B64sycJj10JfUWKCXF_D4B9W_RmgfZezvFUjq5ei8DUJVFHYdjJYJtErLBGulreVez9bWOZDRH7eKg_Q_AbYBRqgd10aq0AkYEyj3DCJx5tilk3rXYJ8Gf38sTV8vgVo-_Vdnnr8EBx4ELPiytRoHcttlfQt_I8HTl7DKAgl-0KNZ0Q-pxdMbfBXSiqAdxYIOObVn0XwjHS21L1ESTFpDSg7YY0vnUUIPm9BCf84vxwgf5NIHlVjID-7EUgtdAoI04YkXZP7ybd7OabPeguEJy27Nj897rgJVOQcTvbqNXn6xIowHN_SHgb6wmC9Vo9Z1sbJyo7BShk6Td2mCaamrmbBb8x0MJrRK3wwwB5E3l1L0qzwKFiHoXysDZ6-7xjDCtboUTFA-m9j0HHuYfHm2Oyq1gK0TprYNhfkcAwUocFtSC-VRcJk9zgSQEOpgw73Sb_2lG5pPACEbttDnCqbzMLhD4j3HkbMV-pq_2Ypqm7rQH4GJE4l5hatLqNG2-Q43BrON80JLiesdnWbdVtCXwTN_RrezqQiCZjYshp7--Q43oYUEdS8ts40OEkTFJV19zg-Zq2x_yJwTHJ1TEGRxH7Ry0YhvLrd02JnNyzMqvIBNoTewGmBja3x4siSW1R6aTybQJ_ZkUovyhp1TtrMtQvT5nhLu2TwgLmxSX8O7DaM1d1z3ZZqjL7gVlxNDwH3Gj1tKIC4hbrFBOXqYhYjq3ihPnXCXdPtne72Izwvd3khrGsUGILA27Jp4sPQhnwcWeUmMQdjcIeiCsOM_L9BtDdVrKxUsMWKN5db5sf24XV_6Xyded2FZOrlpURPhxhIGGPqmDR7PO48cW5bQFS3LWEK-VqoIAP5tVYNzLjWk8klbDyzAl1GOqsXpgZv4i9oUYQagEEYANso9TDn9c9n11aJXimc8wKX7737OyceitFLi2ZyotLfTjRJsAKPiiZhiELgcYtqhTaNN4XcFUtRBjsfOWcVCzldMsxMfxdfrd2d5B9uMjXp0kVayjAwZhcXzU1KkoP_n7EDv6VnIk=",
  "id": "rs_0c9399c9e36c8c27016ab478ee6ef887d0896a54b3a95b6aac",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.375,\"right_y\":-0.055,\"right_z\":0.012},\"note\":\"The green fruit is just inside the right table edge and slightly nearer the base than the gripper. I’m lowering at that position, keeping the jaws clear of the edge.\"}",
  "call_id": "call_WZPi22vuZNa5TOF2KhVye7hg",
  "id": "fc_0c9399c9e36c8c27016ab478f314a087d085578f06afed5790",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WZPi22vuZNa5TOF2KhVye7hg",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8463, 0.6342, -0.4767, -0.0139, -0.0334, 0.9904, -0.2058, 1.647, 0.4976, 0.4038, -0.1158, -0.2543, 0.9965]\nstate[eef_state]: left_x=0.2878 left_y=0.0003 left_z=0.1601 left_yaw=0.0017 left_pitch=-0.1198 left_roll=-0.0005 left_gripper=0.9904 right_x=0.3725 right_y=-0.0533 right_z=0.0098 right_yaw=0.0258 right_pitch=-0.1743 right_roll=-0.0984 right_gripper=0.9965\nstate[joint_eff]: [-0.1436, -1.5111, 6.9812, 1.5995, -0.0562, -0.0464, -0.0122, -0.4034, -5.7641, 4.8889, 1.6679, 0.0269, -0.0904, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df713c1ce38db5f6755c1b55f4281a1955360590d99d69900153a94ec0c7938c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43410775862eb1ec0f521598623fab3c64714c58244012e26a3e420f748baebd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:272b962a4ea78d045fb9fba78b452dc649271f272bd8685fe5861c2df3f145f4",
      "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 · 3.638 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 38 changed as sent

message 46 changed as sent

message 50 changed as sent

message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8417, 0.6342, -0.4763, -0.0135, -0.0338, 0.9904, 0.0315, 1.5898, 0.5858, 0.3019, 0.0658, -0.1055, 0.0198]\nstate[eef_state]: left_x=0.2877 left_y=0.0002 left_z=0.1614 left_yaw=0.0016 left_pitch=-0.1148 left_roll=-0.0012 left_gripper=0.9904 right_x=0.3954 right_y=0.0044 right_z=0.0425 right_yaw=0.0266 right_pitch=-0.136 right_roll=-0.1114 right_gripper=0.0198\nstate[joint_eff]: [-0.0615, -1.4427, 7.0222, 1.6288, -0.0611, -0.0562, -0.0073, -0.1436, -6.2974, 6.612, 1.3407, 0.1392, -0.0806, 0.8425]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8452, 0.6342, -0.4767, -0.0135, -0.0338, 0.9904, -0.2066, 1.5318, 0.7193, 0.0864, -0.1108, -0.255, 0.9963]\nstate[eef_state]: left_x=0.2878 left_y=0.0002 left_z=0.1604 left_yaw=0.0016 left_pitch=-0.1186 left_roll=-0.0011 left_gripper=0.9904 right_x=0.4016 right_y=-0.0605 right_z=0.0762 right_yaw=0.0205 right_pitch=-0.1562 right_roll=-0.1068 right_gripper=0.9963\nstate[joint_eff]: [-0.0615, -1.7983, 7.1316, 1.6142, -0.0366, -0.0757, -0.0122, -0.2256, -7.6513, 8.1162, 1.58, -0.2369, -0.0952, 0.1001]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8463, 0.6342, -0.4767, -0.0139, -0.0334, 0.9904, -0.2058, 1.647, 0.4976, 0.4038, -0.1158, -0.2543, 0.9965]\nstate[eef_state]: left_x=0.2878 left_y=0.0003 left_z=0.1601 left_yaw=0.0017 left_pitch=-0.1198 left_roll=-0.0005 left_gripper=0.9904 right_x=0.3725 right_y=-0.0533 right_z=0.0098 right_yaw=0.0258 right_pitch=-0.1743 right_roll=-0.0984 right_gripper=0.9965\nstate[joint_eff]: [-0.1436, -1.5111, 6.9812, 1.5995, -0.0562, -0.0464, -0.0122, -0.4034, -5.7641, 4.8889, 1.6679, 0.0269, -0.0904, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df713c1ce38db5f6755c1b55f4281a1955360590d99d69900153a94ec0c7938c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43410775862eb1ec0f521598623fab3c64714c58244012e26a3e420f748baebd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:272b962a4ea78d045fb9fba78b452dc649271f272bd8685fe5861c2df3f145f4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHj6Mk60nog9a24cOsp3n0SSG8qpABOyUHcPUdsaeTBL_c2Da0RIXHIoYP81ZfmMBvTwUAzQZv47CfhC5-PwaNuivk58OBVY6EC5KJeVISnlIg-XjMSQFX_nUs39r9U0XM-w_Z9QwoU5UnY0XMGBfq8gro7-AypPyE6VpD5W8b2EL1YXHZgZLkC7kVmOYQg4wH3pD5C1VqhJbKuezQKtc7JSFPrRVgTSimHZj6N7YKrEvJJ1W2bWNTEL_37__GYOBgJ2JyukXFFAn_iFrJOXAZ_xs2p7p_R47Yvpxzn4GltlC9sZbiKt5D8bPCNrOmGpFWQT-lZMD-cqA6rN1DJakjAkXXlJr0-6CelsnvZNzDauk1ooDyRhvKZpSuduoM5T56mOglcypIyfTIfwpCYP8MkZK2jQhSmOP_NVD5GUCc2QJ_1-CpHUfISHy3EXPnjwJhizC1LKMK6Vwhs9er6eRP4rfnynMQeoTuVXI0hp9d1jvxU_TXOTnfgXRSznNqcKeG0PjvZ70BA6V-LQZRlmfM-HC-qXIBH0SQcYacfhiakvPEztpr-kmmxpnpfa5GcpGiHxCqyN6YJXWpk287T7uCQP_jrkDX89LYqVlPV0omucGLGtSb-FN2dnS16OZJbtO6k3JnvJ5-HkD45lDdWRkawoYcwBeQryA5ci9KKi_ouV39kO6ZTXqRVRrjp6LE24vrCPOyTloaHe7PleNwhSrOeXg1erp37c5d3EB0z9LUTAlPe1j0CHSJjH8vK9a6OuKWXUCeE782upZCHd1yqLB3NXzU_9qK0hJNeEmQw1auzDZzFxg2cFPMn-_B5wKZfVH71z33GWuc_oxM83TYJ_l2if4HQR3IWIyORIL_2zFstm5IfpZeO9yABujgvjQ_pvb0MV6tK_JBrpqcWOjq0AT2iIVvyrzhoQ3Zcfyt3S8imoRYxNYvusoCNWqC3VdXZdIzg58JxUzesDEnvSE4WnyiJLfCTuDetNhYuT2ILWJFKQ3BuNGAjC7cYWSIlqLIXFSn2skhffuJFBj-B8X4gp0w5iEyC222KIUnripvsSohchsWmOCdQaPfDBEBwaPJ2WtfqgrB_oGqIip9I94JuZcmU2KZJFVmKehpjQT7ChbYLz_VntHX1oLIxRoJmc7Pg-4tWn90DSQVwjo-7axbm0tjcqf8gwceO9DHtnog0mBGJiddDIZPUYVDkNJtwez1MqTc9tiNOoDtNuCHlYEXRufl-HQifvR_Qv83rdUFv04KMU7E-f5fpvO5HlkrC_Ch-BMdXr7nAEXN7PBu5vvTK8sREXfikYjLSPfyynRiEtxqqYi8aRuHBLxmOwjUvXwxgh_DzBelc0qOkyxHEvZv9UiFXEdRxJ89eeyKMxrUrIZQN0WQaHj2BIftqirSrOfdGOSt3Y5pVsfE_3CRn85m5bSYrByEMSC37McAkrxRRIDMQ2DZiIF6pAIyAen9O0l6x7Vgh4YBstnJg_s-4KIPmKyhGhLw==",
  "id": "rs_0c9399c9e36c8c27016ab478f8918487d096d74cfd3d59a293",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The jaws are now low enough to surround the green fruit at its new position. I’m testing the grasp before lifting.\"}",
  "call_id": "call_Ni9gEK1Fj6YlFh6Gcwodhqp1",
  "id": "fc_0c9399c9e36c8c27016ab478f9d7b887d093d15ae9d730bc4b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Ni9gEK1Fj6YlFh6Gcwodhqp1",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8463, 0.6342, -0.477, -0.0139, -0.0334, 0.9904, -0.2005, 1.6241, 0.5102, 0.4816, -0.1757, -0.2245, 0.0419]\nstate[eef_state]: left_x=0.2878 left_y=0.0003 left_z=0.16 left_yaw=0.0017 left_pitch=-0.1202 left_roll=-0.0005 left_gripper=0.9904 right_x=0.392 right_y=-0.0445 right_z=0.0382 right_yaw=0.0624 right_pitch=-0.0538 right_roll=-0.0659 right_gripper=0.0419\nstate[joint_eff]: [-0.1983, -1.5248, 6.9675, 1.6142, -0.0659, -0.0464, -0.0073, -0.3761, -4.0137, 4.1094, 0.6081, 0.6813, -0.3492, 1.116]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86feaa3478538efeb3d794af0c7ef230fbebcc45e876a3b757bacd32eae2e68f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2c7f5a881d58916f80a53c60d2ac1909caa86ba0b865806e6a83ddb8b8920fe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81fcf9d62d6e5b1f0ee7c21b83fe3a98298652eddb94ffa86cbec514a50dd649",
      "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 · 6.623 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 42 changed as sent

message 50 changed as sent

message 54 changed as sent

message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8413, 0.6342, -0.4763, -0.0139, -0.0338, 0.9904, -0.0238, 1.7599, 0.5842, 0.4763, 0.0166, -0.1429, 0.9953]\nstate[eef_state]: left_x=0.2876 left_y=0.0003 left_z=0.1615 left_yaw=0.0019 left_pitch=-0.1144 left_roll=-0.0009 left_gripper=0.9904 right_x=0.4081 right_y=-0.0091 right_z=0.0096 right_yaw=0.0334 right_pitch=-0.1348 right_roll=-0.1082 right_gripper=0.9953\nstate[joint_eff]: [-0.2393, -1.4701, 7.0222, 1.6288, -0.0659, -0.0757, -0.0073, -0.5265, -5.3128, 5.5179, 1.536, 0.0708, -0.0415, 0.0415]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8463, 0.6342, -0.4767, -0.0139, -0.0334, 0.9904, -0.2058, 1.647, 0.4976, 0.4038, -0.1158, -0.2543, 0.9965]\nstate[eef_state]: left_x=0.2878 left_y=0.0003 left_z=0.1601 left_yaw=0.0017 left_pitch=-0.1198 left_roll=-0.0005 left_gripper=0.9904 right_x=0.3725 right_y=-0.0533 right_z=0.0098 right_yaw=0.0258 right_pitch=-0.1743 right_roll=-0.0984 right_gripper=0.9965\nstate[joint_eff]: [-0.1436, -1.5111, 6.9812, 1.5995, -0.0562, -0.0464, -0.0122, -0.4034, -5.7641, 4.8889, 1.6679, 0.0269, -0.0904, 0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8463, 0.6342, -0.477, -0.0139, -0.0334, 0.9904, -0.2005, 1.6241, 0.5102, 0.4816, -0.1757, -0.2245, 0.0419]\nstate[eef_state]: left_x=0.2878 left_y=0.0003 left_z=0.16 left_yaw=0.0017 left_pitch=-0.1202 left_roll=-0.0005 left_gripper=0.9904 right_x=0.392 right_y=-0.0445 right_z=0.0382 right_yaw=0.0624 right_pitch=-0.0538 right_roll=-0.0659 right_gripper=0.0419\nstate[joint_eff]: [-0.1983, -1.5248, 6.9675, 1.6142, -0.0659, -0.0464, -0.0073, -0.3761, -4.0137, 4.1094, 0.6081, 0.6813, -0.3492, 1.116]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86feaa3478538efeb3d794af0c7ef230fbebcc45e876a3b757bacd32eae2e68f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2c7f5a881d58916f80a53c60d2ac1909caa86ba0b865806e6a83ddb8b8920fe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81fcf9d62d6e5b1f0ee7c21b83fe3a98298652eddb94ffa86cbec514a50dd649",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHj_6CJlcVs86njY9DsHZ_EZc8cu4G9Tv9tqMGmjmIXOAXQZNvaU0NQfM2LrPkY76t_FlcqxSTx-C2OfI05Wjtxp3T0Ip3yQxAzuslHL9NcXEnk1W8bF1p8oE3aBe_4eOCP4tBtBv2SD7Xcms1kNIYxLyHrqXbiTzT0owLX059QU5mOkdL437ijhf8jgeiRZWpG6UK55wB62AVSsT0xblDt_EwCc6tI6il8IBn0CklZdn5oBpH7Od2JAakdTiVBAbXgdrHTTzYargS8cSrxYPiO285KgnnmFoEReKnNOn-xpC0ZY09MIUk6ycZwhzF7vLzyI6FFAAxZuQdMggsK0p2v7O6e_uSwLbpfcXV4NvAUJo46O0IHrO3FN9GJI5XAoLxPsh-e1vrBL-NNu_HjfGMqttV60J-exP8oVtd8_awZQU2PKEPundt4lTOEzTzZYiwXbDzN1IyWX_ED7BBqWT0mcDHzi5NFiWdUY3_Czv1dTt_VCB2lTPb0sZr9h8WqMatDscjEqk6l2DA4ntREldEGOA3MfrackxJXrlJwXWD9IR5LzNvsA7b7pZ1x1LBThwcEv7o8t3WP5wp-03QcfJV_w16XVp0GAB87KaQKD8kXaScD8VNrhEikSZSqCNJs-bevvGZ685Uct2pr-z_sHFCOSKXinUZGmgoKYRURzdyAJczKuG-Ymu14de-mbMXJRzV_OTI0fj4P1Ii_QyJ5PTVqsj-bDdv5HhONNYFAT9aCwRstU19s8fMIbGU6CTUZlRZYGaGOmn8MVcootr2dJGXqBuSr_VH2Ir8HHhafVngu8-iCY3knIElPEnDfE4Bj-qZC1D-B34zPdchFjqO38OuG9DyHgfozdbxVoUz6PHyGZcYJldiq49zAQDQkmCS4Hz3czWDmJ8zGOuzHQiUxRTFyhYXXI0HV7_M7GRQOcplLCjqzFJ7PUBK_1hhKJQejzUQU2oB7nKGCYZHDU8oCOkJzMnG1vXYzJ_-eHoo-FuoTTq0DJ0jn0cldeXu0PER-sN1VMBQ7RfoQ8KBrZPGLq9fCI5w46NDsi56QK8xDai-mn8QVX-pYO7m9kpwq_84q5N8j0_0LbgcZNr5GWtmc0q_p29CnmUX6DMTUZluQ41Dh8IX4hne_hKDufEWwEI519y9330wB8wH5KxEuxAhVCJqA6eonmLoNXZCcy64NlF3p_he-ZFVtkz42aSotcFfIEZZ_Cc8Cim1zZzMalN05r1zK1gjm6kd07xKv6YZM9AZ3UvU8CKYAEzaYfR6ahxg9dd69dSO2oxxfMDOhs7L8L1IAtcwsiUDfgwdx994OaJyIGuFEvCH0SjCQrNe-bGsjmGonRfON5XXDOMxAr0upXxz9jna2_UQAvgCdiaiHw3hXhgI0R6HYfkF_aYG8Qre-Fv4VbFyO8wIwCdHNLCzhG5E7V3LnlQcfOn8Qh99Qh-UeaK9Aso875b4uDPKHuqCTO0ro63XnK5Pigz6BwGIXw6y2hhA==",
  "id": "rs_0c9399c9e36c8c27016ab478fdb2c087d0b391c5a76c568c1c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.28,\"right_y\":0,\"right_z\":0.24,\"right_gripper\":1},\"note\":\"That close did not produce a reliable fruit-sized grasp, and the nearby bowl has shifted. I’m lifting away to reveal the fruit and bowl positions before making another attempt.\"}",
  "call_id": "call_schlRgAoocg39bbvNJryQUaW",
  "id": "fc_0c9399c9e36c8c27016ab478fed45087d0996a70891179a6fc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_schlRgAoocg39bbvNJryQUaW",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.852, 0.6338, -0.4911, -0.0139, -0.0338, 0.9904, -0.0509, 0.8337, 0.8528, -0.6247, -0.0708, -0.1635, 0.9967]\nstate[eef_state]: left_x=0.2857 left_y=0.0003 left_z=0.1557 left_yaw=0.0019 left_pitch=-0.1404 left_roll=-0.0003 left_gripper=0.9904 right_x=0.2894 right_y=0.0013 right_z=0.2321 right_yaw=0.0907 right_pitch=-0.0373 right_roll=-0.081 right_gripper=0.9967\nstate[joint_eff]: [-0.1299, -1.5658, 6.9538, 1.7411, -0.0757, -0.0269, -0.0122, 0.2803, -1.7983, 8.5538, 1.7363, 0.1392, 0.2808, 0.0024]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:923e2d14d2a5bb053e4c8464b539e6058e1da5d027b43f053d54401455147c13",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65c9d91e831b5a17e5f23a0a0d2c850a55841450a9f90c6ee61f2e19e7afffaa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa9e654022cbd3eb283b443ddddfa6734763efb78d078831af38c1bf3c70460d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 9.345 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 46 changed as sent

message 54 changed as sent

message 58 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8452, 0.6342, -0.4767, -0.0135, -0.0338, 0.9904, -0.2066, 1.5318, 0.7193, 0.0864, -0.1108, -0.255, 0.9963]\nstate[eef_state]: left_x=0.2878 left_y=0.0002 left_z=0.1604 left_yaw=0.0016 left_pitch=-0.1186 left_roll=-0.0011 left_gripper=0.9904 right_x=0.4016 right_y=-0.0605 right_z=0.0762 right_yaw=0.0205 right_pitch=-0.1562 right_roll=-0.1068 right_gripper=0.9963\nstate[joint_eff]: [-0.0615, -1.7983, 7.1316, 1.6142, -0.0366, -0.0757, -0.0122, -0.2256, -7.6513, 8.1162, 1.58, -0.2369, -0.0952, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8463, 0.6342, -0.477, -0.0139, -0.0334, 0.9904, -0.2005, 1.6241, 0.5102, 0.4816, -0.1757, -0.2245, 0.0419]\nstate[eef_state]: left_x=0.2878 left_y=0.0003 left_z=0.16 left_yaw=0.0017 left_pitch=-0.1202 left_roll=-0.0005 left_gripper=0.9904 right_x=0.392 right_y=-0.0445 right_z=0.0382 right_yaw=0.0624 right_pitch=-0.0538 right_roll=-0.0659 right_gripper=0.0419\nstate[joint_eff]: [-0.1983, -1.5248, 6.9675, 1.6142, -0.0659, -0.0464, -0.0073, -0.3761, -4.0137, 4.1094, 0.6081, 0.6813, -0.3492, 1.116]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.852, 0.6338, -0.4911, -0.0139, -0.0338, 0.9904, -0.0509, 0.8337, 0.8528, -0.6247, -0.0708, -0.1635, 0.9967]\nstate[eef_state]: left_x=0.2857 left_y=0.0003 left_z=0.1557 left_yaw=0.0019 left_pitch=-0.1404 left_roll=-0.0003 left_gripper=0.9904 right_x=0.2894 right_y=0.0013 right_z=0.2321 right_yaw=0.0907 right_pitch=-0.0373 right_roll=-0.081 right_gripper=0.9967\nstate[joint_eff]: [-0.1299, -1.5658, 6.9538, 1.7411, -0.0757, -0.0269, -0.0122, 0.2803, -1.7983, 8.5538, 1.7363, 0.1392, 0.2808, 0.0024]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:923e2d14d2a5bb053e4c8464b539e6058e1da5d027b43f053d54401455147c13",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65c9d91e831b5a17e5f23a0a0d2c850a55841450a9f90c6ee61f2e19e7afffaa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa9e654022cbd3eb283b443ddddfa6734763efb78d078831af38c1bf3c70460d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0c9399c9e36c8c27016ab47902bc8487d0a45b350840a422f9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":-0.075,\"right_z\":0.14},\"note\":\"With the arm lifted, the green fruit is visible to the right of the bowl and nearer the base than my earlier approach. I’m checking it from above at the right arm’s workspace edge.\"}",
  "call_id": "call_fByZ9uh1XKjmf9v9F2xNqyKE",
  "id": "fc_0c9399c9e36c8c27016ab47906c8c487d08a5ab596c5dafc91",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fByZ9uh1XKjmf9v9F2xNqyKE",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8528, 0.6338, -0.4938, -0.0139, -0.0338, 0.9904, -0.4339, 1.0473, 0.5968, -0.2848, -0.3405, -0.3676, 0.9972]\nstate[eef_state]: left_x=0.2853 left_y=0.0003 left_z=0.155 left_yaw=0.002 left_pitch=-0.1438 left_roll=-0.0003 left_gripper=0.9904 right_x=0.3078 right_y=-0.0737 right_z=0.1294 right_yaw=0.0458 right_pitch=-0.1165 right_roll=-0.0451 right_gripper=0.9972\nstate[joint_eff]: [-0.1709, -1.5932, 7.0496, 1.6142, -0.0415, -0.022, -0.0122, -0.1299, -3.4393, 7.0222, 1.79, -0.315, -0.0122, 0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4b11c5c078ec20877f9d6086cbd857c1f38ef1d315bd7e0afc814508587209d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d9ca17faeb10d17cf6f2fb5d4a26e1afb5a817af32d7601dda88332b0d0bb82",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b5b88a1d468e886303adca7b9f3bc1b16a51c3cf2ab1b5cb0b477b29421fe42",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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