adhoc

completed
2026-09-23T23:31:15.882661+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (78 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-astra
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
251.6 s
total steps
337
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 two fruits beside the blue bowl and the empty white bowl to the left. I am positioning the right gripper above the green fruit first.
move_to
right_x0.3300right_y0.0350right_z0.1500right_gripper1.0000left_x0.2950left_y0.0000left_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8001, 0.6136, -0.3862, -0.0143, -0.0296, 0.9905, -0.0227, 0.8001, 0.6193, -0.387, -0.0166, -0.0124, 0.9993] state[eef_state]: left_x=0.2955 left_y=0.0002 left_z=0.1814 left_yaw=0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9905 right_x=0.2961 right_y=-0.0002 right_z=0.1839 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9993 state[joint_eff]: [-0.3077, -1.6205, 9.6068, 1.8144, -0.1197, 0.1441, -0.6227, -0.1983, -1.7846, 9.265, 1.8242, -0.0513, -0.0415, -0.0855] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.33,"right_y":0.035,"right_z":0.15,"right_gripper":1,"left_x":0.295,"left_y":0,"left_z":0.2},"note":"I see two fruits beside the blue bowl and the empty white bowl to the left. I am positioning the right gripper above the green fruit first."})
tool
executing move_to over 3 steps (0.3s)
step 3
top_cam
camera top_cam step 3
left_cam
camera left_cam step 3
right_cam
camera right_cam step 3
assistant
agent noteThe green fruit is just to the right of the gripper’s center line in the wrist view. I will shift slightly right and lower the open jaws around it.
move_to
right_x0.3500right_y0.0180right_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8078, 0.6575, -0.4686, -0.0139, -0.0338, 0.9899, 0.1741, 1.0164, 0.5594, -0.1596, 0.1345, 0.0715, 0.9993] state[eef_state]: left_x=0.2899 left_y=0.0002 left_z=0.1825 left_yaw=0.002 left_pitch=-0.0465 left_roll=-0.0027 left_gripper=0.9899 right_x=0.326 right_y=0.037 right_z=0.1406 right_yaw=0.024 right_pitch=-0.0427 right_roll=-0.0177 right_gripper=0.9993 state[joint_eff]: [-0.3487, -1.2103, 9.6752, 1.8242, -0.0708, -0.0024, -0.0806, -0.0479, -3.5897, 7.1726, 2.0244, 0.1636, 0.188, -0.0904] camera 'top_cam' (step 3): [image omitted: streamed camera frame] camera 'left_cam' (step 3): [image omitted: streamed camera frame] camera 'right_cam' (step 3): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.018,"right_z":0.025},"note":"The green fruit is just to the right of the gripper’s center line in the wrist view. I will shift slightly right and lower the open jaws around it."})
tool
executing move_to over 8 steps (0.8s)
step 11
top_cam
camera top_cam step 11
left_cam
camera left_cam step 11
right_cam
camera right_cam step 11
assistant
agent noteThe open jaws now straddle the green fruit at table height. I will close them to secure it before a short test lift.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8124, 0.6567, -0.4759, -0.0139, -0.0338, 0.9898, 0.065, 1.528, 0.3077, 0.5793, 0.0475, 0.0139, 0.9992] state[eef_state]: left_x=0.2891 left_y=0.0003 left_z=0.1794 left_yaw=0.002 left_pitch=-0.0591 left_roll=-0.0024 left_gripper=0.9898 right_x=0.3465 right_y=0.0178 right_z=0.019 right_yaw=0.0191 right_pitch=-0.0726 right_roll=-0.0158 right_gripper=0.9992 state[joint_eff]: [-0.0615, -1.5248, 7.0906, 1.7265, -0.0464, -0.022, -0.022, -0.335, -5.2444, 4.5607, 2.0, -0.0659, -0.0806, -0.022] camera 'top_cam' (step 11): [image omitted: streamed camera frame] camera 'left_cam' (step 11): [image omitted: streamed camera frame] camera 'right_cam' (step 11): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The open jaws now straddle the green fruit at table height. I will close them to secure it before a short test lift."})
tool
executing move_to over 10 steps (1.0s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent noteThe gripper stopped at about 6 cm of opening, consistent with holding the fruit. I will lift a few centimeters to confirm that it comes off the table.
move_to
right_z0.0950
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8124, 0.6563, -0.4763, -0.0139, -0.0338, 0.9897, 0.0631, 1.5185, 0.3149, 0.617, 0.0322, 0.0174, 0.6313] state[eef_state]: left_x=0.289 left_y=0.0003 left_z=0.1792 left_yaw=0.002 left_pitch=-0.0599 left_roll=-0.0024 left_gripper=0.9897 right_x=0.3551 right_y=0.0203 right_z=0.0322 right_yaw=0.0283 right_pitch=-0.0184 right_roll=-0.002 right_gripper=0.6313 state[joint_eff]: [-0.2667, -1.1829, 6.9675, 1.7167, -0.0562, -0.0611, -0.0171, 0.0342, -4.1641, 4.4239, 1.3944, 0.1099, -0.0513, 1.033] camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.095},"note":"The gripper stopped at about 6 cm of opening, consistent with holding the fruit. I will lift a few centimeters to confirm that it comes off the table."})
tool
executing move_to over 5 steps (0.5s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
agent noteThe green fruit has lifted with the gripper. I will carry it up and left over the blue bowl, keeping it above the rim.
move_to
right_x0.3900right_y0.1300right_z0.1900
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8135, 0.6563, -0.4763, -0.0139, -0.0338, 0.9897, 0.0631, 1.2541, 0.4278, 0.2108, 0.0284, 0.0139, 0.6313] state[eef_state]: left_x=0.2891 left_y=0.0003 left_z=0.1789 left_yaw=0.002 left_pitch=-0.061 left_roll=-0.0024 left_gripper=0.9897 right_x=0.3488 right_y=0.0206 right_z=0.0811 right_yaw=0.0334 right_pitch=-0.0475 right_roll=-0.0036 right_gripper=0.6313 state[joint_eff]: [-0.0889, -1.1966, 6.9812, 1.6532, -0.0708, -0.0317, -0.0122, -0.2803, -4.5333, 8.6359, 1.7705, -0.0073, -0.0073, 1.033] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.13,"right_z":0.19},"note":"The green fruit has lifted with the gripper. I will carry it up and left over the blue bowl, keeping it above the rim."})
tool
executing move_to over 10 steps (1.0s)
step 36
top_cam
camera top_cam step 36
left_cam
camera left_cam step 36
right_cam
camera right_cam step 36
assistant
agent noteThe blue bowl is centered sideways in the wrist view but still a little ahead of the fruit. I will move forward slightly and lower the fruit just above the bowl.
move_to
right_x0.4250right_y0.1300right_z0.1100
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, 0.8135, 0.6563, -0.4763, -0.0139, -0.0338, 0.9897, 0.4618, 1.3888, 0.968, -0.305, 0.329, 0.2291, 0.6313] state[eef_state]: left_x=0.2891 left_y=0.0003 left_z=0.1789 left_yaw=0.002 left_pitch=-0.061 left_roll=-0.0024 left_gripper=0.9897 right_x=0.3801 right_y=0.1294 right_z=0.169 right_yaw=0.0624 right_pitch=-0.112 right_roll=-0.0377 right_gripper=0.6313 state[joint_eff]: [-0.335, -1.1282, 7.0906, 1.6777, -0.0415, -0.0415, -0.0122, -0.2667, -6.2017, 9.5111, 1.9267, 0.2759, 0.188, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.425,"right_y":0.13,"right_z":0.11},"note":"The blue bowl is centered sideways in the wrist view but still a little ahead of the fruit. I will move forward slightly and lower the fruit just above the bowl."})
tool
executing move_to over 4 steps (0.4s)
step 40
top_cam
camera top_cam step 40
left_cam
camera left_cam step 40
right_cam
camera right_cam step 40
assistant
agent noteThe fruit is positioned over the blue bowl at a low release height. I will open the jaws so it drops into the bowl.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8143, 0.6563, -0.4767, -0.0139, -0.0338, 0.9897, 0.4019, 1.6344, 0.9363, -0.0708, 0.2756, 0.1829, 0.6313] state[eef_state]: left_x=0.289 left_y=0.0003 left_z=0.1786 left_yaw=0.002 left_pitch=-0.0622 left_roll=-0.0024 left_gripper=0.9897 right_x=0.4183 right_y=0.1295 right_z=0.0972 right_yaw=0.0693 right_pitch=-0.1664 right_roll=-0.0545 right_gripper=0.6313 state[joint_eff]: [-0.3487, -1.3607, 7.1726, 1.6581, -0.0611, -0.0366, -0.0073, -0.212, -8.7726, 6.147, 1.9756, 0.1294, -0.0464, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The fruit is positioned over the blue bowl at a low release height. I will open the jaws so it drops into the bowl."})
tool
executing move_to over 4 steps (0.4s)
step 44
top_cam
camera top_cam step 44
left_cam
camera left_cam step 44
right_cam
camera right_cam step 44
assistant
agent noteThe green fruit is now visible inside the blue bowl. I will lift clear and move toward the remaining yellow fruit on the bowl’s left.
move_to
right_x0.4000right_y0.2350right_z0.1750
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, 0.8143, 0.6563, -0.4763, -0.0139, -0.0338, 0.9897, 0.4019, 1.6344, 0.9363, -0.0792, 0.2756, 0.1749, 0.9957] state[eef_state]: left_x=0.2891 left_y=0.0003 left_z=0.1787 left_yaw=0.002 left_pitch=-0.0618 left_roll=-0.0024 left_gripper=0.9897 right_x=0.417 right_y=0.1289 right_z=0.0957 right_yaw=0.0732 right_pitch=-0.1747 right_roll=-0.0633 right_gripper=0.9957 state[joint_eff]: [-0.3624, -1.1966, 6.9675, 1.6825, -0.0611, -0.0806, -0.0122, -0.1573, -7.6923, 6.3521, 1.58, 0.0611, 0.1148, 0.022] camera 'top_cam' (step 44): [image omitted: streamed camera frame] camera 'left_cam' (step 44): [image omitted: streamed camera frame] camera 'right_cam' (step 44): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.4,"right_y":0.235,"right_z":0.175},"note":"The green fruit is now visible inside the blue bowl. I will lift clear and move toward the remaining yellow fruit on the bowl’s left."})
tool
executing move_to over 9 steps (0.9s)
step 53
top_cam
camera top_cam step 53
left_cam
camera left_cam step 53
right_cam
camera right_cam step 53
assistant
agent noteThe yellow fruit is near the jaw center line and clear of the bowl. I will lower the open gripper around its narrow middle.
move_to
right_x0.4100right_y0.2250right_z0.0180
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, 0.8143, 0.6563, -0.4767, -0.0139, -0.0338, 0.9897, 0.6903, 1.7111, 1.3373, -0.4763, 0.4438, 0.3618, 0.9963] state[eef_state]: left_x=0.289 left_y=0.0003 left_z=0.1786 left_yaw=0.002 left_pitch=-0.0622 left_roll=-0.0024 left_gripper=0.9897 right_x=0.3995 right_y=0.2362 right_z=0.1674 right_yaw=0.1184 right_pitch=-0.1799 right_roll=-0.0677 right_gripper=0.9963 state[joint_eff]: [-0.3487, -1.1145, 6.9812, 1.6679, -0.0464, -0.0366, -0.0122, 0.1709, -8.1162, 8.2667, 1.2625, 0.3199, 0.3101, 0.0562] camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.41,"right_y":0.225,"right_z":0.018},"note":"The yellow fruit is near the jaw center line and clear of the bowl. I will lower the open gripper around its narrow middle."})
tool
executing move_to over 10 steps (1.0s)
step 63
top_cam
camera top_cam step 63
left_cam
camera left_cam step 63
right_cam
camera right_cam step 63
assistant
agent noteThe yellow fruit is between the jaws at table level. I will close gently against it and check the resulting opening.
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, 0.8177, 0.6563, -0.4881, -0.0139, -0.0338, 0.9897, 0.6502, 1.9366, 1.0008, 0.0425, 0.4133, 0.3298, 0.9964] state[eef_state]: left_x=0.2876 left_y=0.0003 left_z=0.1754 left_yaw=0.002 left_pitch=-0.0771 left_roll=-0.002 left_gripper=0.9897 right_x=0.4017 right_y=0.2209 right_z=0.0164 right_yaw=0.1149 right_pitch=-0.2303 right_roll=-0.094 right_gripper=0.9964 state[joint_eff]: [-0.1709, -1.0188, 6.9402, 1.79, -0.0464, -0.0415, -0.0122, -0.6085, -9.306, 5.094, 1.58, 0.1538, -0.0171, -0.0073] camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The yellow fruit is between the jaws at table level. I will close gently against it and check the resulting opening."})
tool
executing move_to over 10 steps (1.0s)
step 73
top_cam
camera top_cam step 73
left_cam
camera left_cam step 73
right_cam
camera right_cam step 73
assistant
agent noteThe jaws stopped about 4 cm apart, indicating a grasp on the yellow fruit. I will make a short lift to verify it is secure.
move_to
right_z0.0850
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8192, 0.6563, -0.4923, -0.0135, -0.0338, 0.9897, 0.6506, 1.956, 0.989, 0.0437, 0.4107, 0.329, 0.4187] state[eef_state]: left_x=0.287 left_y=0.0002 left_z=0.1742 left_yaw=0.0017 left_pitch=-0.0828 left_roll=-0.0021 left_gripper=0.9897 right_x=0.3968 right_y=0.2179 right_z=0.0041 right_yaw=0.114 right_pitch=-0.2573 right_roll=-0.1085 right_gripper=0.4187 state[joint_eff]: [-0.2256, -1.3197, 7.0906, 1.7216, -0.0171, -0.0317, -0.0122, -0.0615, -11.1385, 6.4615, 1.326, 0.1685, -0.0659, 1.0281] camera 'top_cam' (step 73): [image omitted: streamed camera frame] camera 'left_cam' (step 73): [image omitted: streamed camera frame] camera 'right_cam' (step 73): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.085},"note":"The jaws stopped about 4 cm apart, indicating a grasp on the yellow fruit. I will make a short lift to verify it is secure."})
tool
executing move_to over 6 steps (0.6s)
step 79
top_cam
camera top_cam step 79
left_cam
camera left_cam step 79
right_cam
camera right_cam step 79
assistant
agent noteThe yellow fruit rose with the gripper and is no longer on the table. I will carry it above the blue bowl alongside the green fruit.
move_to
right_x0.4300right_y0.1050right_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, 0.8192, 0.6563, -0.4934, -0.0135, -0.0338, 0.9897, 0.6514, 1.8225, 1.1065, -0.223, 0.4065, 0.3286, 0.4222] state[eef_state]: left_x=0.2869 left_y=0.0002 left_z=0.174 left_yaw=0.0017 left_pitch=-0.0839 left_roll=-0.0021 left_gripper=0.9897 right_x=0.3958 right_y=0.2184 right_z=0.0648 right_yaw=0.1161 right_pitch=-0.2725 right_roll=-0.1141 right_gripper=0.4222 state[joint_eff]: [-0.2803, -1.265, 6.9402, 1.663, -0.0464, -0.0562, -0.0122, -0.2256, -10.8786, 8.1983, 1.2381, 0.2222, -0.0269, 0.6911] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 79): [image omitted: streamed camera frame] camera 'left_cam' (step 79): [image omitted: streamed camera frame] camera 'right_cam' (step 79): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.105,"right_z":0.185},"note":"The yellow fruit rose with the gripper and is no longer on the table. I will carry it above the blue bowl alongside the green fruit."})
tool
executing move_to over 10 steps (1.0s)
step 89
top_cam
camera top_cam step 89
left_cam
camera left_cam step 89
right_cam
camera right_cam step 89
assistant
agent noteThe yellow fruit is directly above the blue bowl. I will lower it close to the rim to keep the release controlled.
move_to
right_z0.1150
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8192, 0.6563, -0.4942, -0.0139, -0.0338, 0.9897, 0.3199, 1.6398, 1.3006, -0.5598, 0.2138, 0.0727, 0.4227] state[eef_state]: left_x=0.2868 left_y=0.0003 left_z=0.1738 left_yaw=0.002 left_pitch=-0.0847 left_roll=-0.0019 left_gripper=0.9897 right_x=0.4286 right_y=0.1063 right_z=0.1606 right_yaw=0.0918 right_pitch=-0.3097 right_roll=-0.1249 right_gripper=0.4227 state[joint_eff]: [-0.253, -1.3333, 7.1863, 1.6923, -0.0513, -0.0415, -0.0122, -0.212, -10.4957, 8.7179, 1.4383, 0.0562, -0.0171, 0.6667] camera 'top_cam' (step 89): [image omitted: streamed camera frame] camera 'left_cam' (step 89): [image omitted: streamed camera frame] camera 'right_cam' (step 89): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.115},"note":"The yellow fruit is directly above the blue bowl. I will lower it close to the rim to keep the release controlled."})
tool
executing move_to over 3 steps (0.3s)
step 92
top_cam
camera top_cam step 92
left_cam
camera left_cam step 92
right_cam
camera right_cam step 92
assistant
agent noteThe yellow fruit is resting over the bowl opening. I will release it to complete collecting both fruits in the blue bowl.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.82, 0.6563, -0.4942, -0.0139, -0.0338, 0.9897, 0.3187, 1.6611, 1.1744, -0.4633, 0.205, 0.0525, 0.423] state[eef_state]: left_x=0.2868 left_y=0.0003 left_z=0.1736 left_yaw=0.002 left_pitch=-0.0854 left_roll=-0.0019 left_gripper=0.9897 right_x=0.4183 right_y=0.1039 right_z=0.1158 right_yaw=0.1058 right_pitch=-0.3626 right_roll=-0.1428 right_gripper=0.423 state[joint_eff]: [0.0615, -0.8, 6.9812, 1.663, -0.0708, -0.0366, -0.0122, 0.2803, -8.2256, 7.3368, 1.873, 0.1197, 0.1685, 0.6422] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 92): [image omitted: streamed camera frame] camera 'left_cam' (step 92): [image omitted: streamed camera frame] camera 'right_cam' (step 92): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The yellow fruit is resting over the bowl opening. I will release it to complete collecting both fruits in the blue bowl."})
tool
executing move_to over 6 steps (0.6s)
step 98
top_cam
camera top_cam step 98
left_cam
camera left_cam step 98
right_cam
camera right_cam step 98
assistant
agent noteBoth fruits are in the blue bowl. I will lift clear and line up with the bowl’s right-hand rim so I can grasp the bowl rather than squeeze across its full width.
move_to
right_x0.4300right_y0.0250right_z0.1700right_pitch0.1000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8211, 0.6563, -0.4946, -0.0135, -0.0338, 0.9897, 0.3187, 1.6852, 1.1469, -0.4683, 0.2043, 0.0437, 0.9956] state[eef_state]: left_x=0.2868 left_y=0.0002 left_z=0.1732 left_yaw=0.0017 left_pitch=-0.087 left_roll=-0.0021 left_gripper=0.9897 right_x=0.4101 right_y=0.1014 right_z=0.095 right_yaw=0.1066 right_pitch=-0.4187 right_roll=-0.1605 right_gripper=0.9956 state[joint_eff]: [-0.3487, -1.4291, 6.9538, 1.6484, -0.0317, -0.0366, -0.0073, -0.0342, -10.1128, 8.7316, 1.3016, 0.0317, 0.0513, -0.0513] camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.025,"right_z":0.17,"right_pitch":0.1},"note":"Both fruits are in the blue bowl. I will lift clear and line up with the bowl’s right-hand rim so I can grasp the bowl rather than squeeze across its full width."})
tool
executing move_to over 18 steps (1.8s)
step 116
top_cam
camera top_cam step 116
left_cam
camera left_cam step 116
right_cam
camera right_cam step 116
assistant
agent noteThe bowl’s outer rim is just left of the open gripper, with both fruits visible inside. I will lower so one finger enters beside the rim and the other stays outside it.
move_to
right_x0.4300right_y0.0500right_z0.0450right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8257, 0.6563, -0.4984, -0.0135, -0.0338, 0.9897, 0.0814, 1.4246, 0.7925, 0.0834, 0.0731, -0.144, 0.9963] state[eef_state]: left_x=0.2865 left_y=0.0002 left_z=0.1713 left_yaw=0.0017 left_pitch=-0.0954 left_roll=-0.0019 left_gripper=0.9897 right_x=0.4243 right_y=0.0253 right_z=0.1486 right_yaw=0.0986 right_pitch=0.0122 right_roll=-0.1595 right_gripper=0.9963 state[joint_eff]: [-0.212, -1.5795, 7.1316, 1.6777, -0.0464, -0.0562, -0.0073, -0.4034, -7.7744, 6.5709, 2.0, -0.0317, -0.105, 0.0611] camera 'top_cam' (step 116): [image omitted: streamed camera frame] camera 'left_cam' (step 116): [image omitted: streamed camera frame] camera 'right_cam' (step 116): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.05,"right_z":0.045,"right_roll":0},"note":"The bowl’s outer rim is just left of the open gripper, with both fruits visible inside. I will lower so one finger enters beside the rim and the other stays outside it."})
tool
executing move_to over 7 steps (0.7s)
step 123
top_cam
camera top_cam step 123
left_cam
camera left_cam step 123
right_cam
camera right_cam step 123
assistant
agent noteThe fingers are positioned on opposite sides of the blue bowl’s right rim. I will close to pinch the rim securely.
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, 0.8257, 0.6563, -0.4992, -0.0139, -0.0338, 0.9897, 0.1165, 1.7123, 0.6277, 0.5076, 0.0048, -0.0174, 0.9963] state[eef_state]: left_x=0.2864 left_y=0.0003 left_z=0.1711 left_yaw=0.0021 left_pitch=-0.0961 left_roll=-0.0016 left_gripper=0.9897 right_x=0.4284 right_y=0.0529 right_z=0.0504 right_yaw=0.1236 right_pitch=-0.0094 right_roll=-0.0158 right_gripper=0.9963 state[joint_eff]: [-0.2393, -1.3744, 6.9675, 1.6679, -0.0171, -0.0269, -0.0073, -0.1436, -6.3658, 4.2598, 1.1111, 0.2808, -0.1245, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 123): [image omitted: streamed camera frame] camera 'left_cam' (step 123): [image omitted: streamed camera frame] camera 'right_cam' (step 123): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The fingers are positioned on opposite sides of the blue bowl’s right rim. I will close to pinch the rim securely."})
tool
executing move_to over 10 steps (1.0s)
step 133
top_cam
camera top_cam step 133
left_cam
camera left_cam step 133
right_cam
camera right_cam step 133
assistant
agent noteThe gripper has closed against an object at the rim. I will lift the bowl only a few centimeters first to check that the bowl and both fruits move together.
move_to
right_z0.1150
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8284, 0.6563, -0.506, -0.0139, -0.0338, 0.9897, 0.1177, 1.7164, 0.625, 0.5549, -0.0097, -0.0105, 0.3809] state[eef_state]: left_x=0.2855 left_y=0.0003 left_z=0.1691 left_yaw=0.0021 left_pitch=-0.1057 left_roll=-0.0014 left_gripper=0.9897 right_x=0.4331 right_y=0.0565 right_z=0.0576 right_yaw=0.1333 right_pitch=0.0312 right_roll=-0.0028 right_gripper=0.3809 state[joint_eff]: [-0.212, -1.5385, 6.9402, 1.7265, -0.0513, -0.0562, -0.0122, -0.4718, -7.665, 5.4906, 1.3407, 0.0806, -0.1392, 0.8327] camera 'top_cam' (step 133): [image omitted: streamed camera frame] camera 'left_cam' (step 133): [image omitted: streamed camera frame] camera 'right_cam' (step 133): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.115},"note":"The gripper has closed against an object at the rim. I will lift the bowl only a few centimeters first to check that the bowl and both fruits move together."})
tool
executing move_to over 4 steps (0.4s)
step 137
top_cam
camera top_cam step 137
left_cam
camera left_cam step 137
right_cam
camera right_cam step 137
assistant
agent noteThe blue bowl and both fruits are lifting together. I will raise the load above the white bowl’s rim and refresh the idle arm’s parked position before moving across.
move_to
right_z0.2300left_x0.2950left_y0.0000left_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8288, 0.6563, -0.5137, -0.0139, -0.0338, 0.9897, 0.1177, 1.5764, 0.6933, 0.3233, -0.0132, -0.0109, 0.3806] state[eef_state]: left_x=0.2843 left_y=0.0004 left_z=0.1675 left_yaw=0.0021 left_pitch=-0.1137 left_roll=-0.0012 left_gripper=0.9897 right_x=0.4289 right_y=0.0567 right_z=0.0939 right_yaw=0.1363 right_pitch=0.008 right_roll=-0.0009 right_gripper=0.3806 state[joint_eff]: [-0.0479, -1.2923, 7.3094, 1.7411, -0.0464, -0.0366, -0.0073, -0.212, -8.2393, 8.3624, 2.0098, 0.0073, -0.0317, 0.0806] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 137): [image omitted: streamed camera frame] camera 'left_cam' (step 137): [image omitted: streamed camera frame] camera 'right_cam' (step 137): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.23,"left_x":0.295,"left_y":0,"left_z":0.2},"note":"The blue bowl and both fruits are lifting together. I will raise the load above the white bowl’s rim and refresh the idle arm’s parked position before moving across."})
tool
executing move_to over 9 steps (0.9s)
step 146
top_cam
camera top_cam step 146
left_cam
camera left_cam step 146
right_cam
camera right_cam step 146
assistant
agent noteThe higher lift shows that the bowl is not securely following the gripper; the green fruit appears caught instead. I will lower back over the blue bowl before releasing and regrasping the outer rim.
move_to
right_x0.4350right_y0.0800right_z0.0850
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.894, 0.765, -0.6056, -0.0135, -0.0341, 0.9897, 0.1177, 1.4166, 1.0519, -0.2352, -0.0135, -0.0113, 0.3814] state[eef_state]: left_x=0.2886 left_y=0.0002 left_z=0.1806 left_yaw=0.0021 left_pitch=-0.1621 left_roll=-0.0007 left_gripper=0.9897 right_x=0.4298 right_y=0.0568 right_z=0.2024 right_yaw=0.1369 right_pitch=-0.0321 right_roll=-0.0003 right_gripper=0.3814 state[joint_eff]: [-0.212, -1.5248, 9.9487, 1.6532, -0.022, -0.0757, -0.0073, -0.2393, -8.5675, 9.5932, 2.0049, -0.022, -0.0269, 0.0757] camera 'top_cam' (step 146): [image omitted: streamed camera frame] camera 'left_cam' (step 146): [image omitted: streamed camera frame] camera 'right_cam' (step 146): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.435,"right_y":0.08,"right_z":0.085},"note":"The higher lift shows that the bowl is not securely following the gripper; the green fruit appears caught instead. I will lower back over the blue bowl before releasing and regrasping the outer rim."})
tool
executing move_to over 8 steps (0.8s)
step 154
top_cam
camera top_cam step 154
left_cam
camera left_cam step 154
right_cam
camera right_cam step 154
assistant
agent noteThe green fruit is back over the blue bowl. I will release it so that both fruits remain in the bowl while I reposition outside the rim.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8974, 0.7654, -0.6083, -0.0139, -0.0341, 0.9897, 0.1886, 1.6196, 0.7658, 0.1871, 0.0326, 0.012, 0.3814] state[eef_state]: left_x=0.2884 left_y=0.0003 left_z=0.1794 left_yaw=0.0025 left_pitch=-0.1678 left_roll=-0.0003 left_gripper=0.9897 right_x=0.4258 right_y=0.0791 right_z=0.0781 right_yaw=0.1562 right_pitch=-0.0985 right_roll=-0.0093 right_gripper=0.3814 state[joint_eff]: [-0.0752, -1.9077, 7.241, 1.5702, -0.022, -0.0806, -0.0122, 0.4034, -7.1043, 6.106, 2.0586, 0.1197, 0.1734, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 154): [image omitted: streamed camera frame] camera 'left_cam' (step 154): [image omitted: streamed camera frame] camera 'right_cam' (step 154): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The green fruit is back over the blue bowl. I will release it so that both fruits remain in the bowl while I reposition outside the rim."})
tool
executing move_to over 7 steps (0.7s)
step 161
top_cam
camera top_cam step 161
left_cam
camera left_cam step 161
right_cam
camera right_cam step 161
assistant
agent noteThe fruits are back in the blue bowl, but the previous grasp was too far inside it. I will move farther to the bowl’s outer right edge, away from the fruit.
move_to
right_x0.4400right_y-0.0180right_z0.1450right_pitch0.1500right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8974, 0.765, -0.6098, -0.0135, -0.0341, 0.9897, 0.189, 1.6402, 0.7528, 0.1848, 0.0288, 0.0078, 0.9958] state[eef_state]: left_x=0.2881 left_y=0.0002 left_z=0.1789 left_yaw=0.0022 left_pitch=-0.1697 left_roll=-0.0005 left_gripper=0.9897 right_x=0.4206 right_y=0.0789 right_z=0.0641 right_yaw=0.162 right_pitch=-0.1345 right_roll=-0.0112 right_gripper=0.9958 state[joint_eff]: [-0.2667, -1.7436, 6.9265, 1.6093, -0.0513, -0.0757, -0.0122, -0.253, -8.9231, 6.9402, 1.6142, 0.0024, -0.0366, -0.2027] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 161): [image omitted: streamed camera frame] camera 'left_cam' (step 161): [image omitted: streamed camera frame] camera 'right_cam' (step 161): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.44,"right_y":-0.018,"right_z":0.145,"right_pitch":0.15,"right_yaw":0},"note":"The fruits are back in the blue bowl, but the previous grasp was too far inside it. I will move farther to the bowl’s outer right edge, away from the fruit."})
tool
executing move_to over 10 steps (1.0s)
step 171
top_cam
camera top_cam step 171
left_cam
camera left_cam step 171
right_cam
camera right_cam step 171
assistant
agent noteThe blue rim is visible to the left of the gripper, while the upright fruit stays farther inside. I will lower onto the outer rim with only the inner fingertip entering the bowl.
move_to
right_x0.4400right_y0.0050right_z0.0280
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, 0.8974, 0.765, -0.6106, -0.0139, -0.0338, 0.9897, -0.0612, 1.5185, 0.7074, 0.305, -0.0475, -0.0376, 0.9963] state[eef_state]: left_x=0.288 left_y=0.0003 left_z=0.1788 left_yaw=0.0023 left_pitch=-0.1705 left_roll=0.0001 left_gripper=0.9897 right_x=0.4342 right_y=-0.0146 right_z=0.12 right_yaw=0.0009 right_pitch=0.0623 right_roll=-0.0087 right_gripper=0.9963 state[joint_eff]: [-0.3624, -1.5795, 6.8308, 1.58, -0.0611, -0.0513, -0.0073, -0.253, -8.3214, 6.3111, 2.2344, -0.1538, -0.0269, 0.0464] camera 'top_cam' (step 171): [image omitted: streamed camera frame] camera 'left_cam' (step 171): [image omitted: streamed camera frame] camera 'right_cam' (step 171): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.44,"right_y":0.005,"right_z":0.028},"note":"The blue rim is visible to the left of the gripper, while the upright fruit stays farther inside. I will lower onto the outer rim with only the inner fingertip entering the bowl."})
tool
executing move_to over 6 steps (0.6s)
step 177
top_cam
camera top_cam step 177
left_cam
camera left_cam step 177
right_cam
camera right_cam step 177
assistant
agent noteThe descent stopped above the target, indicating a fingertip touched the bowl or its contents. I will shift outward and slightly back to clear that contact before closing on the rim.
move_to
right_x0.4300right_y-0.0200right_z0.0350
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8993, 0.7647, -0.6113, -0.0139, -0.0338, 0.9897, 0.0036, 1.7985, 0.6224, 0.7895, -0.0319, 0.0246, 0.9963] state[eef_state]: left_x=0.2879 left_y=0.0003 left_z=0.178 left_yaw=0.0023 left_pitch=-0.1735 left_roll=0.0001 left_gripper=0.9897 right_x=0.4578 right_y=0.0109 right_z=0.0733 right_yaw=0.0192 right_pitch=0.181 right_roll=0.0364 right_gripper=0.9963 state[joint_eff]: [-0.0068, -1.9077, 6.9812, 1.5604, -0.0415, -0.0317, -0.0122, 0.1573, -4.2188, 2.5368, 0.188, 0.3541, -0.6227, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 177): [image omitted: streamed camera frame] camera 'left_cam' (step 177): [image omitted: streamed camera frame] camera 'right_cam' (step 177): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":-0.02,"right_z":0.035},"note":"The descent stopped above the target, indicating a fingertip touched the bowl or its contents. I will shift outward and slightly back to clear that contact before closing on the rim."})
tool
executing move_to over 3 steps (0.3s)
step 180
top_cam
camera top_cam step 180
left_cam
camera left_cam step 180
right_cam
camera right_cam step 180
assistant
agent noteThe side approach is still catching on the rim rather than straddling it. I will lift clear and turn the jaws to approach the bowl’s near rim instead.
move_to
right_x0.3650right_y0.0700right_z0.1600right_yaw1.5700right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.9005, 0.7647, -0.6136, -0.0139, -0.0338, 0.9897, -0.0952, 1.8484, 0.5228, 1.0386, -0.1165, 0.0368, 0.9964] state[eef_state]: left_x=0.2876 left_y=0.0003 left_z=0.1772 left_yaw=0.0023 left_pitch=-0.177 left_roll=0.0002 left_gripper=0.9897 right_x=0.446 right_y=-0.0183 right_z=0.0735 right_yaw=-0.0117 right_pitch=0.2814 right_roll=0.0719 right_gripper=0.9964 state[joint_eff]: [-0.0205, -1.8256, 6.8308, 1.6435, -0.0611, -0.0171, -0.0122, 0.4171, -3.8359, 3.0017, 0.7692, 0.0513, -0.6374, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 180): [image omitted: streamed camera frame] camera 'left_cam' (step 180): [image omitted: streamed camera frame] camera 'right_cam' (step 180): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.365,"right_y":0.07,"right_z":0.16,"right_yaw":1.57,"right_pitch":0},"note":"The side approach is still catching on the rim rather than straddling it. I will lift clear and turn the jaws to approach the bowl’s near rim instead."})
tool
executing move_to over 11 steps (1.1s)
step 191
top_cam
camera top_cam step 191
left_cam
camera left_cam step 191
right_cam
camera right_cam step 191
assistant
agent noteThe combined lift and turn did not track, so I will separate those motions. First I will raise the gripper straight up in its current orientation to clear the bowl safely.
move_to
right_x0.4300right_y-0.0200right_z0.1700right_yaw0.0000right_pitch0.1500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.9005, 0.7647, -0.625, -0.0139, -0.0338, 0.9897, -0.1131, 1.8992, 0.4896, 1.05, -0.136, -0.0082, 0.9964] state[eef_state]: left_x=0.2857 left_y=0.0003 left_z=0.1752 left_yaw=0.0023 left_pitch=-0.1884 left_roll=0.0005 left_gripper=0.9897 right_x=0.4337 right_y=-0.0216 right_z=0.0437 right_yaw=0.0103 right_pitch=0.2113 right_roll=0.0419 right_gripper=0.9964 state[joint_eff]: [-0.1436, -1.7983, 6.8308, 1.707, -0.0708, -0.0464, -0.0122, 0.1983, -7.0085, 3.6034, 1.6728, -0.0757, -0.1832, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 191): [image omitted: streamed camera frame] camera 'left_cam' (step 191): [image omitted: streamed camera frame] camera 'right_cam' (step 191): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":-0.02,"right_z":0.17,"right_yaw":0,"right_pitch":0.15},"note":"The combined lift and turn did not track, so I will separate those motions. First I will raise the gripper straight up in its current orientation to clear the bowl safely."})
tool
executing move_to over 9 steps (0.9s)
step 200
assistant
agent noteThe gripper is clear, and the blue bowl has shifted slightly toward the front of the table. I will approach its near rim and rotate the jaws in a smaller step.
move_to
right_x0.3350right_y0.1150right_z0.1600right_yaw0.8000right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0204, 0.9051, 0.7647, -0.6323, -0.0135, -0.0341, 0.9897, -0.1055, 1.4254, 0.7048, 0.3138, -0.1509, -0.036, 0.9964] state[eef_state]: left_x=0.2847 left_y=0.0002 left_z=0.1727 left_yaw=0.0019 left_pitch=-0.2003 left_roll=0.0002 left_gripper=0.9897 right_x=0.4312 right_y=-0.0153 right_z=0.16 right_yaw=0.0447 right_pitch=0.1656 right_roll=0.0277 right_gripper=0.9964 state[joint_eff]: [-0.2667, -2.1812, 6.9949, 1.5995, -0.0611, -0.0708, -0.0122, 0.4444, -6.7487, 8.3487, 1.8535, 0.0073, 0.1197, -0.0171] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 200): [image omitted: streamed camera frame] camera 'left_cam' (step 200): [image omitted: streamed camera frame] camera 'right_cam' (step 200): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.335,"right_y":0.115,"right_z":0.16,"right_yaw":0.8,"right_pitch":0},"note":"The gripper is clear, and the blue bowl has shifted slightly toward the front of the table. I will approach its near rim and rotate the jaws in a smaller step."})
tool
executing move_to over 11 steps (1.1s)
step 211
assistant
agent noteThe rotation is limiting the arm’s motion, so I will keep its original jaw orientation and first reposition above the bowl’s near side.
move_to
right_x0.3450right_y0.1150right_z0.1700right_yaw0.0000right_pitch0.1000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.9051, 0.7647, -0.6327, -0.0135, -0.0338, 0.9897, -0.102, 1.4052, 0.696, 0.2459, -0.207, -0.0631, 0.9964] state[eef_state]: left_x=0.2847 left_y=0.0003 left_z=0.1726 left_yaw=0.0021 left_pitch=-0.2006 left_roll=0.0005 left_gripper=0.9897 right_x=0.4209 right_y=-0.003 right_z=0.15 right_yaw=0.109 right_pitch=0.1148 right_roll=0.0366 right_gripper=0.9964 state[joint_eff]: [-0.1709, -1.8256, 6.8308, 1.5458, -0.0415, -0.022, -0.0122, -0.253, -6.8444, 6.4752, 2.0147, -0.1197, -0.0659, -0.0171] camera 'top_cam' (step 211): [image omitted: streamed camera frame] camera 'left_cam' (step 211): [image omitted: streamed camera frame] camera 'right_cam' (step 211): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.345,"right_y":0.115,"right_z":0.17,"right_yaw":0,"right_pitch":0.1},"note":"The rotation is limiting the arm’s motion, so I will keep its original jaw orientation and first reposition above the bowl’s near side."})
tool
executing move_to over 10 steps (1.0s)
step 221
assistant
agent noteFrom this closer view I can separate the bowl rim from the upright pineapple and the yellow fruit. I will align with the right rim at the bowl’s new position and lower beside it.
move_to
right_x0.3550right_y0.0600right_z0.0400
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.9089, 0.7647, -0.6476, -0.0135, -0.0338, 0.9897, 0.4953, 1.1793, 0.6228, 0.0303, 0.3515, 0.2214, 0.9964] state[eef_state]: left_x=0.2823 left_y=0.0 left_z=0.169 left_yaw=0.001 left_pitch=-0.2193 left_roll=0.0009 left_gripper=0.9897 right_x=0.3467 right_y=0.1223 right_z=0.1592 right_yaw=0.083 right_pitch=0.0766 right_roll=0.0224 right_gripper=0.9964 state[joint_eff]: [0.0068, -1.9897, 6.8034, 1.663, -0.0317, -0.022, -0.0122, 0.1436, -5.4632, 8.335, 1.8535, 0.2662, 0.1148, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 221): [image omitted: streamed camera frame] camera 'left_cam' (step 221): [image omitted: streamed camera frame] camera 'right_cam' (step 221): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.355,"right_y":0.06,"right_z":0.04},"note":"From this closer view I can separate the bowl rim from the upright pineapple and the yellow fruit. I will align with the right rim at the bowl’s new position and lower beside it."})
tool
executing move_to over 8 steps (0.8s)
step 229
assistant
agent noteThe close view shows that the rim is farther right than the first alignment. I will move the jaw center outward to the visible right wall of the bowl, keeping clear of the fruits.
move_to
right_x0.3750right_y-0.0120right_z0.0420
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.9108, 0.7647, -0.6521, -0.0139, -0.0338, 0.9897, 0.218, 1.536, 0.2874, 0.6815, 0.123, 0.1104, 0.9964] state[eef_state]: left_x=0.2816 left_y=0.0001 left_z=0.1677 left_yaw=0.0014 left_pitch=-0.2258 left_roll=0.0013 left_gripper=0.9897 right_x=0.348 right_y=0.0586 right_z=0.0308 right_yaw=0.0567 right_pitch=0.0053 right_roll=0.0288 right_gripper=0.9964 state[joint_eff]: [-0.1026, -1.9214, 6.8308, 1.5653, -0.0708, -0.0122, -0.0122, -0.294, -4.8752, 3.7812, 1.5458, 0.1148, -0.3687, -0.0122] camera 'top_cam' (step 229): [image omitted: streamed camera frame] camera 'left_cam' (step 229): [image omitted: streamed camera frame] camera 'right_cam' (step 229): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.375,"right_y":-0.012,"right_z":0.042},"note":"The close view shows that the rim is farther right than the first alignment. I will move the jaw center outward to the visible right wall of the bowl, keeping clear of the fruits."})
tool
executing move_to over 6 steps (0.6s)
step 235
assistant
agent noteThe bowl slid when the inner finger contacted it. I will lift above the rim before moving farther outward, so the next descent does not push the bowl again.
move_to
right_x0.3900right_y-0.0700right_z0.1600
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.9108, 0.7647, -0.6521, -0.0139, -0.0338, 0.9897, -0.0971, 1.552, 0.3618, 0.6121, -0.1158, -0.0376, 0.9964] state[eef_state]: left_x=0.2816 left_y=0.0001 left_z=0.1677 left_yaw=0.0014 left_pitch=-0.2258 left_roll=0.0013 left_gripper=0.9897 right_x=0.3681 right_y=-0.0117 right_z=0.0368 right_yaw=0.0224 right_pitch=-0.0063 right_roll=0.033 right_gripper=0.9964 state[joint_eff]: [-0.1573, -1.8393, 6.9538, 1.4823, -0.0659, -0.0708, -0.0122, -0.1983, -4.3419, 6.8444, 1.873, -0.1197, -0.0611, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 235): [image omitted: streamed camera frame] camera 'left_cam' (step 235): [image omitted: streamed camera frame] camera 'right_cam' (step 235): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":-0.07,"right_z":0.16},"note":"The bowl slid when the inner finger contacted it. I will lift above the rim before moving farther outward, so the next descent does not push the bowl again."})
tool
executing move_to over 8 steps (0.8s)
step 243
assistant
agent noteThe bowl’s outer right rim is now aligned under the jaw center, with the pear and lemon to the left. I will descend straight down without shifting the bowl sideways.
move_to
right_z0.0430
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.9119, 0.7647, -0.6521, -0.0135, -0.0338, 0.9897, -0.3088, 1.3415, 0.7422, 0.0013, -0.2733, -0.1513, 0.9964] state[eef_state]: left_x=0.2817 left_y=0.0 left_z=0.1674 left_yaw=0.0011 left_pitch=-0.2269 left_roll=0.0011 left_gripper=0.9897 right_x=0.3917 right_y=-0.0711 right_z=0.1454 right_yaw=0.0035 right_pitch=-0.0053 right_roll=0.027 right_gripper=0.9964 state[joint_eff]: [0.0068, -1.7436, 6.8034, 1.5214, -0.0269, -0.0171, -0.0122, -0.3214, -7.1043, 8.6359, 1.6386, -0.2759, -0.0269, -0.0122] camera 'top_cam' (step 243): [image omitted: streamed camera frame] camera 'left_cam' (step 243): [image omitted: streamed camera frame] camera 'right_cam' (step 243): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.043},"note":"The bowl’s outer right rim is now aligned under the jaw center, with the pear and lemon to the left. I will descend straight down without shifting the bowl sideways."})
tool
executing move_to over 7 steps (0.7s)
step 250
assistant
agent noteThe wide-open inner finger is contacting a fruit before it can reach the rim. I will lift and narrow the jaw opening so the fingertips can straddle only the bowl wall.
move_to
right_z0.1400right_y-0.0550right_gripper0.3500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.9134, 0.7647, -0.6525, -0.0135, -0.0338, 0.9897, -0.3107, 1.5932, 0.5423, 0.5236, -0.3031, -0.1383, 0.9964] state[eef_state]: left_x=0.2817 left_y=0.0 left_z=0.1669 left_yaw=0.0011 left_pitch=-0.2289 left_roll=0.0011 left_gripper=0.9897 right_x=0.4039 right_y=-0.0705 right_z=0.0732 right_yaw=0.02 right_pitch=0.0665 right_roll=0.0309 right_gripper=0.9964 state[joint_eff]: [-0.0615, -1.9624, 6.8034, 1.4969, -0.0269, -0.0122, -0.0122, 0.1709, -4.0684, 2.8923, 0.3785, 0.3394, -0.1929, -0.0122] camera 'top_cam' (step 250): [image omitted: streamed camera frame] camera 'left_cam' (step 250): [image omitted: streamed camera frame] camera 'right_cam' (step 250): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.14,"right_y":-0.055,"right_gripper":0.35},"note":"The wide-open inner finger is contacting a fruit before it can reach the rim. I will lift and narrow the jaw opening so the fingertips can straddle only the bowl wall."})
tool
executing move_to over 7 steps (0.7s)
step 257
assistant
agent noteThe narrowed jaws now line up with the rim without spanning the pear. I will lower them onto the bowl wall.
move_to
right_z0.0350
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.9134, 0.7647, -0.6556, -0.0139, -0.0341, 0.9897, -0.2569, 1.4036, 0.6449, 0.2264, -0.2691, -0.1246, 0.3544] state[eef_state]: left_x=0.2811 left_y=0.0001 left_z=0.1664 left_yaw=0.0016 left_pitch=-0.2319 left_roll=0.0012 left_gripper=0.9897 right_x=0.4021 right_y=-0.0534 right_z=0.1255 right_yaw=0.038 right_pitch=0.0563 right_roll=0.0281 right_gripper=0.3544 state[joint_eff]: [-0.1983, -1.8667, 7.0222, 1.536, -0.0659, -0.0708, -0.0122, 0.4034, -6.8171, 8.9368, 1.7509, -0.0415, 0.0611, 0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 257): [image omitted: streamed camera frame] camera 'left_cam' (step 257): [image omitted: streamed camera frame] camera 'right_cam' (step 257): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.035},"note":"The narrowed jaws now line up with the rim without spanning the pear. I will lower them onto the bowl wall."})
tool
executing move_to over 6 steps (0.6s)
step 263
assistant
agent noteThe fingertips reached the bowl wall without stopping on a fruit. I will close them around this thin section of rim.
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]: [-0.0212, 0.9154, 0.7647, -0.6571, -0.0139, -0.0338, 0.9897, -0.2581, 1.7065, 0.4908, 0.6319, -0.2779, -0.123, 0.3539] state[eef_state]: left_x=0.281 left_y=0.0001 left_z=0.1657 left_yaw=0.0014 left_pitch=-0.2353 left_roll=0.0015 left_gripper=0.9897 right_x=0.3976 right_y=-0.0511 right_z=0.0326 right_yaw=0.0429 right_pitch=0.0084 right_roll=0.049 right_gripper=0.3539 state[joint_eff]: [-0.0615, -1.9761, 6.8718, 1.5165, -0.0708, -0.0464, -0.0122, 0.0479, -5.5726, 3.6171, 1.3309, 0.232, -0.0611, -0.0659] camera 'top_cam' (step 263): [image omitted: streamed camera frame] camera 'left_cam' (step 263): [image omitted: streamed camera frame] camera 'right_cam' (step 263): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The fingertips reached the bowl wall without stopping on a fruit. I will close them around this thin section of rim."})
tool
executing move_to over 4 steps (0.4s)
step 267
assistant
agent noteThe jaws are nearly closed on the thin rim. I will test the grasp by lifting the bowl and checking that both fruits rise with it.
move_to
right_z0.1250
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.9154, 0.7647, -0.6594, -0.0139, -0.0338, 0.9897, -0.2581, 1.7111, 0.4866, 0.675, -0.2897, -0.1165, 0.0381] state[eef_state]: left_x=0.2805 left_y=0.0001 left_z=0.1653 left_yaw=0.0014 left_pitch=-0.2376 left_roll=0.0016 left_gripper=0.9897 right_x=0.4013 right_y=-0.05 right_z=0.0385 right_yaw=0.0495 right_pitch=0.0429 right_roll=0.0504 right_gripper=0.0381 state[joint_eff]: [-0.1026, -1.8667, 6.7897, 1.5018, -0.0513, -0.0317, -0.0122, -0.0205, -6.9675, 5.2581, 1.326, -0.0073, -0.1148, 0.862] camera 'top_cam' (step 267): [image omitted: streamed camera frame] camera 'left_cam' (step 267): [image omitted: streamed camera frame] camera 'right_cam' (step 267): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.125},"note":"The jaws are nearly closed on the thin rim. I will test the grasp by lifting the bowl and checking that both fruits rise with it."})
tool
executing move_to over 6 steps (0.6s)
step 273
assistant
agent noteThe blue bowl and both fruits have risen together, confirming the rim grasp. I will carry the bowl up and across to the white bowl, keeping the load upright and clear of its rim.
move_to
right_x0.4300right_y0.3900right_z0.2500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.9173, 0.7647, -0.667, -0.0135, -0.0338, 0.9897, -0.2581, 1.4403, 0.6113, 0.2493, -0.2882, -0.1249, 0.0416] state[eef_state]: left_x=0.2793 left_y=0.0001 left_z=0.1635 left_yaw=0.0012 left_pitch=-0.2472 left_roll=0.0015 left_gripper=0.9897 right_x=0.3965 right_y=-0.049 right_z=0.1027 right_yaw=0.0524 right_pitch=0.0141 right_roll=0.0515 right_gripper=0.0416 state[joint_eff]: [-0.1573, -1.9214, 6.9538, 1.6093, -0.0562, -0.0366, -0.0122, -0.2256, -7.2137, 9.0872, 2.1221, -0.1538, 0.0269, 1.033] camera 'top_cam' (step 273): [image omitted: streamed camera frame] camera 'left_cam' (step 273): [image omitted: streamed camera frame] camera 'right_cam' (step 273): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.39,"right_z":0.25},"note":"The blue bowl and both fruits have risen together, confirming the rim grasp. I will carry the bowl up and across to the white bowl, keeping the load upright and clear of its rim."})
tool
executing move_to over 37 steps (3.7s)
step 310
assistant
agent noteThe blue bowl is above the white bowl’s right side. I will tip its far lip down into the white bowl so the fruits roll toward the opening.
move_to
right_x0.4600right_y0.4000right_z0.2500right_roll-1.1000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.9211, 0.7647, -0.6712, -0.0139, -0.0338, 0.9897, 0.9207, 2.1918, 2.1494, -0.7635, 0.651, 0.5434, 0.0421] state[eef_state]: left_x=0.2787 left_y=0.0001 left_z=0.1618 left_yaw=0.0015 left_pitch=-0.2552 left_roll=0.002 left_gripper=0.9897 right_x=0.4254 right_y=0.3886 right_z=0.2245 right_yaw=0.1 right_pitch=-0.0436 right_roll=-0.0148 right_gripper=0.0421 state[joint_eff]: [-0.1162, -2.0855, 6.9128, 1.4921, -0.0659, -0.0562, -0.0122, 0.1162, -13.6547, 8.7043, 1.58, 0.4274, 0.4127, 1.0281] camera 'top_cam' (step 310): [image omitted: streamed camera frame] camera 'left_cam' (step 310): [image omitted: streamed camera frame] camera 'right_cam' (step 310): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.46,"right_y":0.4,"right_z":0.25,"right_roll":-1.1},"note":"The blue bowl is above the white bowl’s right side. I will tip its far lip down into the white bowl so the fruits roll toward the opening."})
tool
executing move_to over 14 steps (1.4s)
step 324
assistant
agent noteThe bowl is tilted, but the fruits are still inside and the arm is near its reach limit. I will draw it slightly back and increase the tilt so the contents can fall into the white bowl.
move_to
right_x0.3950right_y0.4000right_z0.2400right_roll-1.5700
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.9257, 0.7647, -0.6746, -0.0135, -0.0338, 0.9897, 0.9577, 2.7094, 2.9028, -1.3373, 0.9089, 0.2451, 0.0421] state[eef_state]: left_x=0.2783 left_y=0.0001 left_z=0.16 left_yaw=0.0013 left_pitch=-0.2632 left_roll=0.0019 left_gripper=0.9897 right_x=0.4347 right_y=0.382 right_z=0.1661 right_yaw=0.1031 right_pitch=-0.1638 right_roll=-0.647 right_gripper=0.0421 state[joint_eff]: [-0.1299, -2.1538, 6.7897, 1.5458, -0.0317, -0.0269, -0.0122, 0.1983, -15.8974, 7.9248, 0.5934, 0.6911, -0.1245, 1.033] camera 'top_cam' (step 324): [image omitted: streamed camera frame] camera 'left_cam' (step 324): [image omitted: streamed camera frame] camera 'right_cam' (step 324): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.395,"right_y":0.4,"right_z":0.24,"right_roll":-1.57},"note":"The bowl is tilted, but the fruits are still inside and the arm is near its reach limit. I will draw it slightly back and increase the tilt so the contents can fall into the white bowl."})
tool
executing move_to over 12 steps (1.2s)
step 336
assistant
agent noteBoth fruits were collected in the blue bowl, and the bowl was lifted over the white bowl. I could not complete the pour: the arm stopped short of the requested tilt near its reach limit, and the fruits still appear inside the blue bowl. The robot is still holding the tilted bowl and needs operator assistance.
give_up
hindsightFor this bowl, a fully open gripper hits the fruits or pushes the bowl before reaching its rim. A roughly 0.35 gripper opening allowed a successful thin-rim grasp; the settled reading was only 0.04, so verify by lifting rather than assuming that reading is empty. Large yaw changes failed to track, while translation at the original yaw worked. At right x about 0.40–0.46 and y 0.40, loaded roll commands lost substantial height and reached only about -1.15 radians for a -1.57 target. Bring the white bowl closer or plan a regrasp before pouring.
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.9257, 0.7647, -0.6769, -0.0139, -0.0338, 0.9897, 1.0321, 2.7625, 3.0009, -1.5505, 1.1854, -0.02, 0.0451] state[eef_state]: left_x=0.2779 left_y=0.0002 left_z=0.1597 left_yaw=0.0016 left_pitch=-0.2655 left_roll=0.0022 left_gripper=0.9897 right_x=0.4062 right_y=0.3676 right_z=0.1941 right_yaw=0.1221 right_pitch=-0.181 right_roll=-1.1552 right_gripper=0.0451 state[joint_eff]: [-0.1846, -1.9214, 6.8034, 1.5067, -0.0806, -0.0269, -0.0122, -0.1162, -13.5179, 6.8034, 0.5446, 0.7888, -0.1099, 0.779] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 336): [image omitted: streamed camera frame] camera 'left_cam' (step 336): [image omitted: streamed camera frame] camera 'right_cam' (step 336): [image omitted: streamed camera frame]
assistant
give_up({"reason":"Both fruits were collected in the blue bowl, and the bowl was lifted over the white bowl. I could not complete the pour: the arm stopped short of the requested tilt near its reach limit, and the fruits still appear inside the blue bowl. The robot is still holding the tilted bowl and needs operator assistance.","hindsight":"For this bowl, a fully open gripper hits the fruits or pushes the bowl before reaching its rim. A roughly 0.35 gripper opening allowed a successful thin-rim grasp; the settled reading was only 0.04, so verify by lifting rather than assuming that reading is empty. Large yaw changes failed to track, while translation at the original yaw worked. At right x about 0.40–0.46 and y 0.40, loaded roll commands lost substantial height and reached only about -1.15 radians for a -1.57 target. Bring the white bowl closer or plan a regrasp before pouring."})
tool
give_up: Both fruits were collected in the blue bowl, and the bowl was lifted over the white bowl. I could not complete the pour: the arm stopped short of the requested tilt near its reach limit, and the fruits still appear inside the blue bowl. The robot is still holding the tilted bowl and needs operator assistance.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 6.573 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, -0.3862, -0.0143, -0.0296, 0.9905, -0.0227, 0.8001, 0.6193, -0.387, -0.0166, -0.0124, 0.9993]\nstate[eef_state]: left_x=0.2955 left_y=0.0002 left_z=0.1814 left_yaw=0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9905 right_x=0.2961 right_y=-0.0002 right_z=0.1839 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9993\nstate[joint_eff]: [-0.3077, -1.6205, 9.6068, 1.8144, -0.1197, 0.1441, -0.6227, -0.1983, -1.7846, 9.265, 1.8242, -0.0513, -0.0415, -0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e7d8242140dbc2ea6f95c4d9afaf051bbd0fc3785a3d534c3fa475516828e3a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f200497dcfb99193a28ecf0018718eb53ae6a918696b7eb024d4351476ba6f8b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14f177c0893c03b3dc51cb1eb211c7a42314002aac698083e5700ee7cf117279",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 4.005 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtGFYrbAzcycWwjutsY2WVenGcvGstl1HtM3dN2I84BcpNBsHOLvO4BdfjFRPHeccU0w-xRHCC6gJ3C9KHfI2H5gqEWUzQ1BBJJ6i3vjK09jTp7XJRnaahQfZiR24RHzjKzOjiItrmbcsA6uXNyr_5khoiNdWlHqi8p5fMPogLniPnkHHAyl2Vg4nYUHZfd15LMs6AYad-nM7nbooRpIZhBWEZPwt2-KhwbBnaXgT77KDHN-mbBcoGiuMEFD-8qVQCDHEsLKUAEip0KLWw6UPHLJ9iXurOmehGbqG8O5kBiJUqjqum2NYjiMGkORTlal-4YOadSmpZRydQicNOzycYxasqawV6OlMf-IRnvwigOIH5XEUI-u4K9l9MjrelZvy8klnqXV4cS-xA9VehXqGAFDF4Hj9M-qXHHajLcP1Lpx8sKOORdtZq33MxQaiVGPt-9ZPjI-pUD2uuQsRtp-GKnOWya7YeAeaFuFT8IKUH3P1TsKJrn5VQL41a-CFcJ5ZYQt3texHqxDFu0Q-N5QL4zY51MrzAyHRvMyjKJDPE3EqwBMDQabAZk1m7t89OmQUI2l8iKVOlNfhXNcn9p6tiWONK28d9ezXx8ZNsuCK9TL2BxyDRMMplwMEZcjTlhU8DtW0HU6uCSI0PfqgEdrAVQ1_AFY7WXNYVwRegmxJYC60VfEcoMAiF4le7GRHGsqkY-qit3BkrfGPFrzFsScx4H59y1HCWgjQWkNj6fE6A4wQi_iTubdPH-P8Ze51zuhf2GECOPl94_w3WoTiX4MFNexBCHSdq9-lazd0dEFDfu1iwwekitrZbWIEo7yMPB1DKg9x5ehqsKB_PWFn2zzwZkxQ6Utl9fW6ZXwoS7Z_ADzlFSSW8VIHP7AANxvz4Y0t3i8IvJI11SVQANOcD9JeZP7e08Q8vm2pDz2efbG6hszdgxSJPV9JnGzTNVB-HPjhKpKSXMth4olWG1q6gPPeJrEsdZQrvNo97fXoqRF7M21xVz6jki4CARUs9SQBs8BPWH3BVvlXlTILD95fUj0rCX7n9SOHO8rUDvq0XQmuPbaqe-DWCDo46suL4_l4XdJeWwfvAywYbabzpSmhX11GnJnGoUggipyZktuerY-bn5whNMidDSAgMHJRCgNcBGfcmW_vH9kT6sc5gBT9vmXlba5GsJlt-vzI-UvJjGMLyySmueNhc7TPlS3593dqiDvxI7o9oSfJvlfi-t4kDnrk4nQ6wPsLoe4cvbC2sxxTopZMrwYDtFr4bjG70ss15OjwyvulQWNapBT_hmzS3doVj_41Ufi5zbRNo8E8icAHYctq1DmXLfTGpiEuux1hLL4nI3goPhNYflCDR64XOZ9yUwDVfHkF8otbSzHZ3SfxNCWRs1XvJrBM2zqtJQXez9ai_w8tKRVkfMI6Jt4BxrPn29-QGJX5v4N3JZ811k1hFudHLg9DainREb3xywTccMEweNmhFXAdU6D2dwPxptXp5ZYZ38o378w93OGQxPVswxmxeqtqD3l8SXEV-opIBl07SQ4Uc7VlqydioW4PbFeNlC5_oQGtpHcpUk16WSlYivmwDwsTVBi_I_ZSSh9U5d2YoXZrwtfbtvWsxuo-QCGOgeeU2xNDfxX1_tvvyHAzKmM-L8qxlqSDcC0AXMYE8KrBhWzGVjlBNuT1Er9uh_MyPOZ7AL-wti-4QAamFq85XUuIykH-Yd-ToNZmBqBD28KgpDA_7lN4UjJzRDRSA2K6Y6FZzh2IA7hdzGDyGUd08AReBfLmXvgxdXQVmtLdegQvp4kaM0k4qlwfelT6iTvkJRcMldJ0nOe5bHz0ZFIG6LNjtDzaor12KboY7PP6ChGRtpOO57knDKa0UfP5k4KJvJimuuF1QBmwiDB9e0Qo267tjeI3k300dDgyBw6cINs8vEzdABn42l2_I_Tvv1CQr5tBSwVTaCvTgL4DUv3Cq5cpWwSAGlIN0Jmm69_v0rmUV0wUMvCiTUfWrdybxkZPGat2pwkx5seOyvNqMZtGeviFDkY29wuxH_OseD5mbgzhi-NizEiNm7JpH4yKkCyHdkIDuoqqAJU4kzul7rLTK5ng87zFEQQaTlS_0uvt-8_wIaCz21mzj-FYX8IPgFbKmO6cRWQ-moEsHx-kqGcVs9BXO88=",
  "id": "rs_05a69784554a2b24016ab46153290c87d0ba04f9dde860e2b2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.33,\"right_y\":0.035,\"right_z\":0.15,\"right_gripper\":1,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.2},\"note\":\"I see two fruits beside the blue bowl and the empty white bowl to the left. I am positioning the right gripper above the green fruit first.\"}",
  "call_id": "call_stVNgxYzDuiKKUVD3Nn089Qr",
  "id": "fc_05a69784554a2b24016ab46156d78c87d0a5467773539ca71e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_stVNgxYzDuiKKUVD3Nn089Qr",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8078, 0.6575, -0.4686, -0.0139, -0.0338, 0.9899, 0.1741, 1.0164, 0.5594, -0.1596, 0.1345, 0.0715, 0.9993]\nstate[eef_state]: left_x=0.2899 left_y=0.0002 left_z=0.1825 left_yaw=0.002 left_pitch=-0.0465 left_roll=-0.0027 left_gripper=0.9899 right_x=0.326 right_y=0.037 right_z=0.1406 right_yaw=0.024 right_pitch=-0.0427 right_roll=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.3487, -1.2103, 9.6752, 1.8242, -0.0708, -0.0024, -0.0806, -0.0479, -3.5897, 7.1726, 2.0244, 0.1636, 0.188, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 3):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:376fbdae4603b3bde577c52bd9d7e4e0facad53433fc265fb949e62537c71ebf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 3):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1da86fbc1f60e79f451a6bf66115a214306c33fa2e1067bd95871721b54d1368",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 3):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:183a7e8565d70c4a4b4c49b7c1ffc85a9f958b9f978f0ae6385ccc0548381203",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 3.789 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, -0.3862, -0.0143, -0.0296, 0.9905, -0.0227, 0.8001, 0.6193, -0.387, -0.0166, -0.0124, 0.9993]\nstate[eef_state]: left_x=0.2955 left_y=0.0002 left_z=0.1814 left_yaw=0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9905 right_x=0.2961 right_y=-0.0002 right_z=0.1839 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9993\nstate[joint_eff]: [-0.3077, -1.6205, 9.6068, 1.8144, -0.1197, 0.1441, -0.6227, -0.1983, -1.7846, 9.265, 1.8242, -0.0513, -0.0415, -0.0855]",
      "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, 0.8078, 0.6575, -0.4686, -0.0139, -0.0338, 0.9899, 0.1741, 1.0164, 0.5594, -0.1596, 0.1345, 0.0715, 0.9993]\nstate[eef_state]: left_x=0.2899 left_y=0.0002 left_z=0.1825 left_yaw=0.002 left_pitch=-0.0465 left_roll=-0.0027 left_gripper=0.9899 right_x=0.326 right_y=0.037 right_z=0.1406 right_yaw=0.024 right_pitch=-0.0427 right_roll=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.3487, -1.2103, 9.6752, 1.8242, -0.0708, -0.0024, -0.0806, -0.0479, -3.5897, 7.1726, 2.0244, 0.1636, 0.188, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 3):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:376fbdae4603b3bde577c52bd9d7e4e0facad53433fc265fb949e62537c71ebf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 3):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1da86fbc1f60e79f451a6bf66115a214306c33fa2e1067bd95871721b54d1368",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 3):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:183a7e8565d70c4a4b4c49b7c1ffc85a9f958b9f978f0ae6385ccc0548381203",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGFf0yAzGAIZPFW-9HwS-gHvIBfAOBqjEeAELpiotI6CmiTURVwEeMi8a_2Pr_4zHogbH2IcGuRwpow-p3K7msWA98ki-XEfKIG2fruFtng-1zL3l38OimDN-GxXXVEfkIKHUskqpq56tJv0McOcHV8owKa1zu2eBYabxpxlHzGSjZ-TR_l8e6qYv5f5CoVop57af1xSUstwPEAJC6U0lS1bkQ5IzHZnrbeiAVpqqAeFGpgR2UdMpPg9RySitgwRdGkCKNfhdqoSdcqxqMHpIBsCHTYas_TAEyrFyz7z9LAQkccAqdESgKNd7PFwRd493FxwcviKpcKX-Df6VrAtrvQRc-lvsw2dqqV1qaMRjnyFrw2EGtwhI4JD7Gu87bTMDkp54SVLQCH_09jJjvro69f8IU85lo-F9DPA-_5vU4EdkCwb2SmLIsGZ50PuIHrnF2CGatfesfvZSfgNhabH9tGATCdMELM91MrH9_yJMFp7V1PF_-EMKBQuteyPXxadesVQuQDFbaFepPwNz1YKu1LJTxNqOW0S9j1VKzZfwNhWKNE9YKJHf0GTO0s9q-XuM4--8AXGqjanYwcpo-XKY3TfcSWZnS9iz4gmXMYd7XyxbgmlNnbwQVBWrLCufQhjy084p3G1f-dSYBPMv3O0MqOkaqXAfrQBL3AuJEzQmM9MfcY7aUibErDiIzSuc6RhYL9u6WkGhHT81HQOZypVUmPh1QhGiNZBIE_iuuWzCl-JESnsIG4MEnZrzE_HVvrq6jcgOSd028BV1KTM_yHYgEZsZjpeuj39UhKU27wqAQ_Y79Cq452cud2O9K55TK3KOsZLlXCP19IfV9u0VgXZYkALQOXHz2bzlNaPOQb06reDy8e--vG7wyYZYxnSJU1u1tcYUkgzK5zcmcJFGX9zuqLCg6FLNk7YjR01jkExsqgLCGR65zhpPAZjJZwga1cHhssseUTPu78LNqRggTM-Xi6FXWx5rPsTf3WHFv7Wnby_Zb5NYt1WIsqBJ5u5ogU8-U8Ghk3SKdvqBTCSOLiv8fddSSbHacaLHkP5gsmS3F6h2UMrFN16EVcZKtTFYVEvk430wXOhCIoCPe0uJ5ox6KAbxy2aYkIHnVFWo7D9DjdCQqxJ5bFhLSeQIgSAWw_-grVkMSVhO0TfmLVHyYYvVZYK6DK0sP_nstGh4GJ3B-jSBW7pUxV9Ipy1yett9SGDsAY4WFkQlF_BPw4G2n12zg-x54auZ3e6b77s_8-mWqUBAHskbHNarCLX135Ks96_lfgqLI_eikyXf-gOGLHf2z8F4yuuj-IvCo5R-iFNMU8KV4a_nKLnSG2BPQB-jZXOXSzhOk2UfTxoaDvds-3FYlCz2u4b8MPABaYOxbgshmIczdL6g38i6tGKan5vHDWTBo3DZzAjufXOFaPQQX23LlK_HHa3pTFa6HWU29dKLmfOGfCtDtlfgYFyCQIFBhAK200PYU0fp8ZH5BXGxM9f4r1qg194fHbx1NDn2jXkNA4AqNzE5VZGrW3Dn8hBvbGJtIIP",
  "id": "rs_05a69784554a2b24016ab4615cd85487d0bba7533751534b8f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.018,\"right_z\":0.025},\"note\":\"The green fruit is just to the right of the gripper’s center line in the wrist view. I will shift slightly right and lower the open jaws around it.\"}",
  "call_id": "call_4xaXkzJb0PRFK98q2fNIGeTo",
  "id": "fc_05a69784554a2b24016ab4615e94a087d0a5823f2c81452b8c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4xaXkzJb0PRFK98q2fNIGeTo",
  "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, 0.8124, 0.6567, -0.4759, -0.0139, -0.0338, 0.9898, 0.065, 1.528, 0.3077, 0.5793, 0.0475, 0.0139, 0.9992]\nstate[eef_state]: left_x=0.2891 left_y=0.0003 left_z=0.1794 left_yaw=0.002 left_pitch=-0.0591 left_roll=-0.0024 left_gripper=0.9898 right_x=0.3465 right_y=0.0178 right_z=0.019 right_yaw=0.0191 right_pitch=-0.0726 right_roll=-0.0158 right_gripper=0.9992\nstate[joint_eff]: [-0.0615, -1.5248, 7.0906, 1.7265, -0.0464, -0.022, -0.022, -0.335, -5.2444, 4.5607, 2.0, -0.0659, -0.0806, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fcc96ef742cac4345254b107b8bbe1e858e0fea8d5b35440ec065f2fe657440",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e21c8b8794aba5c2d8a4823cc6a9a32b6a22166c2541a896f6d91c8246e5182b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3fc5ae1428af11170b0e0a0bc82b819052c8b4caf80bf93b6a3b4951864c33c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 3 attempt 0 · /responses · status 200 · 3.184 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, 0.8078, 0.6575, -0.4686, -0.0139, -0.0338, 0.9899, 0.1741, 1.0164, 0.5594, -0.1596, 0.1345, 0.0715, 0.9993]\nstate[eef_state]: left_x=0.2899 left_y=0.0002 left_z=0.1825 left_yaw=0.002 left_pitch=-0.0465 left_roll=-0.0027 left_gripper=0.9899 right_x=0.326 right_y=0.037 right_z=0.1406 right_yaw=0.024 right_pitch=-0.0427 right_roll=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.3487, -1.2103, 9.6752, 1.8242, -0.0708, -0.0024, -0.0806, -0.0479, -3.5897, 7.1726, 2.0244, 0.1636, 0.188, -0.0904]",
      "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, 0.8124, 0.6567, -0.4759, -0.0139, -0.0338, 0.9898, 0.065, 1.528, 0.3077, 0.5793, 0.0475, 0.0139, 0.9992]\nstate[eef_state]: left_x=0.2891 left_y=0.0003 left_z=0.1794 left_yaw=0.002 left_pitch=-0.0591 left_roll=-0.0024 left_gripper=0.9898 right_x=0.3465 right_y=0.0178 right_z=0.019 right_yaw=0.0191 right_pitch=-0.0726 right_roll=-0.0158 right_gripper=0.9992\nstate[joint_eff]: [-0.0615, -1.5248, 7.0906, 1.7265, -0.0464, -0.022, -0.022, -0.335, -5.2444, 4.5607, 2.0, -0.0659, -0.0806, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fcc96ef742cac4345254b107b8bbe1e858e0fea8d5b35440ec065f2fe657440",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e21c8b8794aba5c2d8a4823cc6a9a32b6a22166c2541a896f6d91c8246e5182b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3fc5ae1428af11170b0e0a0bc82b819052c8b4caf80bf93b6a3b4951864c33c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGFphhT4qv6xifxojIMySD3t8WOGpu2kArWOVYMmvLryNOeVyNgtwRPLLZmWGYXbDoVBTzAjboz4q3vTG9AvmXczs0QQmIvE9EIa2AbbX56LnwnXcRiyBHH3TOFSRXhAWzcTXvtvVx9f084cPyxL7clHz968T64d8144FV62Gsmiv4BC8DLpvpwI1GAkJym9hjXYuOrzhOBBmk3URv0hFCh_Zcb_9aX58DEvx03rLu7RhceWnUh4aVBldKeeUEv_j6MHjwm6FPTAZAE1ZYWAfJ8ZRmg0ZBHfoald9xDCScO0RV25fIMOAqNvjM1ZOyPBte10OdhjQOOwMLFOT2g1uvVI8OMwZKfOPQ-3bu_Eefvn0KCFzHPsPFDryeZ46GXNS5DSTvruHATG2uNhZMLcF_-aN6dJkiFpcwqfQL1e7G84FqYn707mnhM8BZMFvPcGbTdvrkXkZ3Biha5HItKYeyZZg5hMQWKWt8qMDxNj5lNCmJ-ytI6BZBF9QMfqk1AVbnaXdwZZzpFWDfDeGET8dlLrRwCTnXsqqZLKGrXSCAnC88J3WSRWM4rZe3dlzuITX_4wntblbiuQeAhi8htLm3ArvCMW50izqcdw-IW8mwG-LldLqEreMgBhy4-C0sbPpQB84pdssNySnWei7k4NeOnqJvSTzGyGmgz5GKkpVRDP1NEDFFqqzDGNgZEpgX3ZWMwuYsPyvXWDtfAfwOJNDG23gKNeT27Z1AHvQRb4HDUdklQXSESLJ1IzME-Po7SK8PLETuxsnS3T8PtsxH8v2HQU7-54_Ug5QhScRWhjLjonXS4jrAE9m7jn0UCxce674_ERl2uOYQy13G9pOtlUhqS0Ehzh2u8v005o7ZHBwwP1aQ3MQ9MH4wDi5l2ruuUvB5zEFRb36Gg5IoLZf3X6zQJDsocWdr8jF_fpwkpwDgv9p10lrlKLyPxEKMWbGKoko3BKYbqBbW8YO94Kqwz9KXAQAzMMdTeF878qZp9fK9yzZAAEhcFeigX8DgHZfnISR_RvwCkHm5KSOBWnARDbD47KU0tt_MS9kKBJVESe68G598aQ9XEZ51_wOk3GpsTNk3j3akRdQE8bapxC36ruUiXPFCzbzrPC-ZmId0XIRkYQPdbkdFq2ltJiAzxWDAWZzjzuVniCFrxa9rm27OGwHTno0J1KosRWRPNC1c_WUVpy0IrzHaXM75lwpsGWMLHUS__wsXB_YwCWHG4lLax_vFEU239pZQonbfFBIu2XSyV6rg1N3DRoN6pcNFmnBuo_jHRhPDOpZoq5ClVNjWYvgFk5ELM4jA2dOQlWY2mGKOkdNyOoEHnyv2n1YP5d61ToFsUf1Iu2ntqAHWLOepY6iCpDzDJJS4XDB-RzoUw9APQMKLQ=",
  "id": "rs_05a69784554a2b24016ab4616737ec87d0bc6f623cf2e9c784",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The open jaws now straddle the green fruit at table height. I will close them to secure it before a short test lift.\"}",
  "call_id": "call_YhVljfjfHT4PwwOWKjidfchJ",
  "id": "fc_05a69784554a2b24016ab461681d2087d09115cef2ee466604",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YhVljfjfHT4PwwOWKjidfchJ",
  "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, 0.8124, 0.6563, -0.4763, -0.0139, -0.0338, 0.9897, 0.0631, 1.5185, 0.3149, 0.617, 0.0322, 0.0174, 0.6313]\nstate[eef_state]: left_x=0.289 left_y=0.0003 left_z=0.1792 left_yaw=0.002 left_pitch=-0.0599 left_roll=-0.0024 left_gripper=0.9897 right_x=0.3551 right_y=0.0203 right_z=0.0322 right_yaw=0.0283 right_pitch=-0.0184 right_roll=-0.002 right_gripper=0.6313\nstate[joint_eff]: [-0.2667, -1.1829, 6.9675, 1.7167, -0.0562, -0.0611, -0.0171, 0.0342, -4.1641, 4.4239, 1.3944, 0.1099, -0.0513, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22ce655aabc083b476c7f615841bc98a42315d50e8b6f316403592dc6b2fe3ac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dca47513d590fbb8f411a032972310f157552603ea8de2be4bf23b65de84bb9e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cca67b53cfba1bdfe0bb1567761c5f7d6017e8b7c60872dc68826d18889afd6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /responses · status 200 · 3.321 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, -0.3862, -0.0143, -0.0296, 0.9905, -0.0227, 0.8001, 0.6193, -0.387, -0.0166, -0.0124, 0.9993]\nstate[eef_state]: left_x=0.2955 left_y=0.0002 left_z=0.1814 left_yaw=0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9905 right_x=0.2961 right_y=-0.0002 right_z=0.1839 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9993\nstate[joint_eff]: [-0.3077, -1.6205, 9.6068, 1.8144, -0.1197, 0.1441, -0.6227, -0.1983, -1.7846, 9.265, 1.8242, -0.0513, -0.0415, -0.0855]",
      "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, 0.8124, 0.6567, -0.4759, -0.0139, -0.0338, 0.9898, 0.065, 1.528, 0.3077, 0.5793, 0.0475, 0.0139, 0.9992]\nstate[eef_state]: left_x=0.2891 left_y=0.0003 left_z=0.1794 left_yaw=0.002 left_pitch=-0.0591 left_roll=-0.0024 left_gripper=0.9898 right_x=0.3465 right_y=0.0178 right_z=0.019 right_yaw=0.0191 right_pitch=-0.0726 right_roll=-0.0158 right_gripper=0.9992\nstate[joint_eff]: [-0.0615, -1.5248, 7.0906, 1.7265, -0.0464, -0.022, -0.022, -0.335, -5.2444, 4.5607, 2.0, -0.0659, -0.0806, -0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8124, 0.6563, -0.4763, -0.0139, -0.0338, 0.9897, 0.0631, 1.5185, 0.3149, 0.617, 0.0322, 0.0174, 0.6313]\nstate[eef_state]: left_x=0.289 left_y=0.0003 left_z=0.1792 left_yaw=0.002 left_pitch=-0.0599 left_roll=-0.0024 left_gripper=0.9897 right_x=0.3551 right_y=0.0203 right_z=0.0322 right_yaw=0.0283 right_pitch=-0.0184 right_roll=-0.002 right_gripper=0.6313\nstate[joint_eff]: [-0.2667, -1.1829, 6.9675, 1.7167, -0.0562, -0.0611, -0.0171, 0.0342, -4.1641, 4.4239, 1.3944, 0.1099, -0.0513, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22ce655aabc083b476c7f615841bc98a42315d50e8b6f316403592dc6b2fe3ac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dca47513d590fbb8f411a032972310f157552603ea8de2be4bf23b65de84bb9e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cca67b53cfba1bdfe0bb1567761c5f7d6017e8b7c60872dc68826d18889afd6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGFyqRTZX7_Jeg9desJqLIirSDoplxDH2SGuXJnhki36Isfr7nAA_a-duoxl_bJh0XUJLThMAnkn8ECHFx4V9YjLfRMvnm4tuO-XONstXWerJVPY_PTSHOTdhFgzm4mlRUiIPvqA0aDxB5Ivgx91p_KvmazZBgV64k4Zyp4v3lDwq06mMD8i4pfr3jJ5GDVWNWualY-rybkF5j-IFJ4AqGk0WB95IE_1_Q4O_6O6Y8JmS-a7IoSDQTfm57MaXYAGbos27hDh1fQpTFq2rWOUJOn1YEewAOR8qrw2Xon1-DuKO6yOW1Ced5CJKupfbRcBGayFkssVACHZ3xnWxDOuhgtg2av4B9G0TXslrrqJqqw8EaKZjziVhG3OZiPzMDPffDiYxlJqfn0UcKUPeJBS3lm_UA_zLMhB59m7qqpSYs_fePa8ZEk48FQSZEYafkcyaTn0jOXeKCVJKA1TseTP9HVzgsclPOkmWSPGr7vbFl9G3vSDtXr7jyKeEVGg03DFSOma4Fvk6OY2KVYAMlQsiM92obJm5e0BNvKr5Ds65n4l28H0Ed8fnGN4LzmZdQMIx9BDo6pr2egTEZiYLF5sry1yeFZOIvN6o-r5rHtUJtQWwGpoSNtcO6PRsQfAk8GJwfEhjiNpHOnyuH_5aC1MKmudEqARvfbm3SfuSugoG6Qj0SpPhBbO8TPCYSrjvILhFIpYFOBOBxE-FGEQVhJMtf_zN0EgzCY5ulyGsMZjDaeKBwZ2w_oDzOzEVZCM99GPb6vLNPwzGZeTFPusZ0GfV8ZzL4A7DV6raDVSycmzgz0Tooj1Qtps6GL_Or0lh5JJ0gVFoqdJKtPd2RBTYF0HYZdtzlgja7G7UOSLat1Upm3CuEQGeEc-mDSd8uhY7Rzqlh0Bee7JicH4Y1wC1gYkO7ibGZ7lsMqundGQyQfpL8_q4KQzRnoTk3tMVhSMk_6RH7yBZHzUHEIyWPhp4ynl4FLbbQe4wDoqWaZzWT0Lbyj62tFotXVtBAk2Pd6HPTguBwr7Vm5kwKy4YzGQCnNg8K7ytrt3IYT8rUYj8NAwQpgFUohI6nAtfhNMwBQhMJu5z2j_U4xB35dZQGMLwrEmnJMsN7aQqhMrT46To_JBKGo3BWRJWQAiZ2od_8tuhL9GW5eEtw6aVk6vsbuUQC9T1h3yVDUDOgsRMtmIQPBy4CY7-OaO1ybDhJqJInHBZhDBQcn0fz8X6z4U52lxWnPZqg_O_vkxvE54QKOSLMW3ulaewnyvT50srjQS0nERqHJVJj5-RI3-BnxSq7hkxa6xrgma18eTGwMKXuBm0i9C2NVS47b8WCupx56u3MGNywr_1Yp8",
  "id": "rs_05a69784554a2b24016ab46171a8d487d0844c5f19017d6d96",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.095},\"note\":\"The gripper stopped at about 6 cm of opening, consistent with holding the fruit. I will lift a few centimeters to confirm that it comes off the table.\"}",
  "call_id": "call_OoodKoMOaX7ieq1qgYufz84r",
  "id": "fc_05a69784554a2b24016ab461723fcc87d0afc8c0d74a4fee8b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OoodKoMOaX7ieq1qgYufz84r",
  "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, 0.8135, 0.6563, -0.4763, -0.0139, -0.0338, 0.9897, 0.0631, 1.2541, 0.4278, 0.2108, 0.0284, 0.0139, 0.6313]\nstate[eef_state]: left_x=0.2891 left_y=0.0003 left_z=0.1789 left_yaw=0.002 left_pitch=-0.061 left_roll=-0.0024 left_gripper=0.9897 right_x=0.3488 right_y=0.0206 right_z=0.0811 right_yaw=0.0334 right_pitch=-0.0475 right_roll=-0.0036 right_gripper=0.6313\nstate[joint_eff]: [-0.0889, -1.1966, 6.9812, 1.6532, -0.0708, -0.0317, -0.0122, -0.2803, -4.5333, 8.6359, 1.7705, -0.0073, -0.0073, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:263ce78a887357bc5515a621737b8747bf0b9e32c5e2dacd812bf5e681816946",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d7a9776665faaee14f03cfcb7c1a583936da34a6b0216176fce23eac3be4b01",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:845e7ea0544cb82ac3aff27e40f48bd08772dbb454b5fdaeac68faf64cf4b556",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
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call 5 attempt 0 · /responses · status 200 · 7.938 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, 0.8078, 0.6575, -0.4686, -0.0139, -0.0338, 0.9899, 0.1741, 1.0164, 0.5594, -0.1596, 0.1345, 0.0715, 0.9993]\nstate[eef_state]: left_x=0.2899 left_y=0.0002 left_z=0.1825 left_yaw=0.002 left_pitch=-0.0465 left_roll=-0.0027 left_gripper=0.9899 right_x=0.326 right_y=0.037 right_z=0.1406 right_yaw=0.024 right_pitch=-0.0427 right_roll=-0.0177 right_gripper=0.9993\nstate[joint_eff]: [-0.3487, -1.2103, 9.6752, 1.8242, -0.0708, -0.0024, -0.0806, -0.0479, -3.5897, 7.1726, 2.0244, 0.1636, 0.188, -0.0904]",
      "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, 0.8124, 0.6563, -0.4763, -0.0139, -0.0338, 0.9897, 0.0631, 1.5185, 0.3149, 0.617, 0.0322, 0.0174, 0.6313]\nstate[eef_state]: left_x=0.289 left_y=0.0003 left_z=0.1792 left_yaw=0.002 left_pitch=-0.0599 left_roll=-0.0024 left_gripper=0.9897 right_x=0.3551 right_y=0.0203 right_z=0.0322 right_yaw=0.0283 right_pitch=-0.0184 right_roll=-0.002 right_gripper=0.6313\nstate[joint_eff]: [-0.2667, -1.1829, 6.9675, 1.7167, -0.0562, -0.0611, -0.0171, 0.0342, -4.1641, 4.4239, 1.3944, 0.1099, -0.0513, 1.033]",
      "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, 0.8135, 0.6563, -0.4763, -0.0139, -0.0338, 0.9897, 0.0631, 1.2541, 0.4278, 0.2108, 0.0284, 0.0139, 0.6313]\nstate[eef_state]: left_x=0.2891 left_y=0.0003 left_z=0.1789 left_yaw=0.002 left_pitch=-0.061 left_roll=-0.0024 left_gripper=0.9897 right_x=0.3488 right_y=0.0206 right_z=0.0811 right_yaw=0.0334 right_pitch=-0.0475 right_roll=-0.0036 right_gripper=0.6313\nstate[joint_eff]: [-0.0889, -1.1966, 6.9812, 1.6532, -0.0708, -0.0317, -0.0122, -0.2803, -4.5333, 8.6359, 1.7705, -0.0073, -0.0073, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:263ce78a887357bc5515a621737b8747bf0b9e32c5e2dacd812bf5e681816946",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d7a9776665faaee14f03cfcb7c1a583936da34a6b0216176fce23eac3be4b01",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:845e7ea0544cb82ac3aff27e40f48bd08772dbb454b5fdaeac68faf64cf4b556",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGF3vbkltjuWN5y13Ddy3QGdZGYAcwJ5Nz9SClmi2P6NRfvMe33xmiDOOt1dH8GoF7-h-Z4AxwAGtS33kERmMpJ7-yiSpstLXxofy5K1bW-DnzmMAbH3PD-5-jewO44mhL7UiD5xQb22VtRfOrQsb4JMs9NWaGPi7ygNFG2TkojY1RN-6d3IdWwyF1SnPdWeZK3n57sb9tGr0EN3fIKi9rtGBugCL0WnTFeDZyvv4Rn78TNVfjpmUIYuSu8trPgByz2_w9AGeUhupTBDK-vK76gCA1VxhY3XOjObtOzo7TLrdF1m7wSyXp-pAJVtKhIABU2GvoGURPDIs_lVcb3iz6-0lwro2aOotxWRl3H22D4uslAzrkmgbqCxphLYYq6ErKuDdkUW292FFte5YysgLZWUjw4B7ayvDPWeryzfgCtkVyJwx2-D0-NgVYbr4vpBpVU6-yok-CgJEgg4w9MFxeGpcCw1MAov924bwyare-i8blBZG0BaEYByKS63ifEfWxTD02kvhodB46rgJCu8xEmR3_X3C_H5yaDymD8vqsGTgECtCRAKA5DoRaQGJxAkK9uO7vsYOW4NIF9m5Y5tsOhJ27691_qItEGr_7dbMUPQxdUhcZHYN9S8WxP7oJ2n5ND9Im3VaLwDKLKRo5JsZYw_4TdiCiRX497Zrei5I9rQP18Y5uVMcPOXRPMz80Cdk9LELKmpipGgiKio08K1g_OmxTXk38JE70LkEB81gPcLaZ-MGz3fyiDzUWoR50df0X6rAUoPkYgz3bne2ofGmWY7QTx589GOl47zJ362CMZGW2y2yg7AKzQwykFVh0qGiLQ9l-3lCrE7b1RXXKvKr16mVOy6aRFvOoPnSx5HeFc7EXLFMWIZiJqsVrJZIqUn4SlVKmgH4jTS7hZlIN4zylcTWFjcXCSbMeVVuyDecrw7jZXJQ2pLg_fg5h7JPkZEzgI8myLen00fB-YiCAdC4SMh2t3wGBNHnCHvOQq1RMRo1Fg1o6a4gl5VWOATk9TC574mMQ2FqPZyeqmuRrqvOWWhlTKwwUUFOst4uKGRZo1ZScdtPwnwjw08idrn0k-htXVoqkSnS-7Hhbz3jGYljR_0OHAJzjcPk5w7BTO71b-Jp7IFA97V-kJwFmJEJFT-iCMw1w3aJBEba-rAjM0gxzeEqv8icC4Y_ndQ0U5cYn7d3kRWn0s9Wrezeyf_fuxkQK8-aszPoHi7kDlmYnC5SJmex3aGpiRn8WnOZJtQaAXvvudt9uaAWARW-IL4vYYsquOAFS8qgnTRjSmAwWiZYn-_3qNdOKxX-MX8ywCaGaOpx-mjh7DhC2apdGP74e8vP-TnihhSpGoQIjl1GiUIJ4nQtmy99XQEf22AatFRVsldvP8NccHy8ByTcGzgP9gDQ4BZaTniUdIzbE9E7jwWHf39dN3hk2lqk2xcjjDneK2UFS1S-Yn5ON93hnk3li2VNJXK",
  "id": "rs_05a69784554a2b24016ab46175120087d0a901334d560157df",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.13,\"right_z\":0.19},\"note\":\"The green fruit has lifted with the gripper. I will carry it up and left over the blue bowl, keeping it above the rim.\"}",
  "call_id": "call_guo9y0VIOgnWt6r0rmfYD4A3",
  "id": "fc_05a69784554a2b24016ab46176391087d098a9de7ad24f3aa9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_guo9y0VIOgnWt6r0rmfYD4A3",
  "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, 0.8135, 0.6563, -0.4763, -0.0139, -0.0338, 0.9897, 0.4618, 1.3888, 0.968, -0.305, 0.329, 0.2291, 0.6313]\nstate[eef_state]: left_x=0.2891 left_y=0.0003 left_z=0.1789 left_yaw=0.002 left_pitch=-0.061 left_roll=-0.0024 left_gripper=0.9897 right_x=0.3801 right_y=0.1294 right_z=0.169 right_yaw=0.0624 right_pitch=-0.112 right_roll=-0.0377 right_gripper=0.6313\nstate[joint_eff]: [-0.335, -1.1282, 7.0906, 1.6777, -0.0415, -0.0415, -0.0122, -0.2667, -6.2017, 9.5111, 1.9267, 0.2759, 0.188, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00524066c7eace286a814ec0418d0425394b2ea7ff34a917eda59af3784af333",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e25dae7924851614a23b0483b719cf12a3832da67d04c11bb321fe98aed7d1b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b337587529e5824283b7843ca2e1d3ec7a4d70b0dd8060e260c990e33f568883",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 2.054 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, 0.8124, 0.6567, -0.4759, -0.0139, -0.0338, 0.9898, 0.065, 1.528, 0.3077, 0.5793, 0.0475, 0.0139, 0.9992]\nstate[eef_state]: left_x=0.2891 left_y=0.0003 left_z=0.1794 left_yaw=0.002 left_pitch=-0.0591 left_roll=-0.0024 left_gripper=0.9898 right_x=0.3465 right_y=0.0178 right_z=0.019 right_yaw=0.0191 right_pitch=-0.0726 right_roll=-0.0158 right_gripper=0.9992\nstate[joint_eff]: [-0.0615, -1.5248, 7.0906, 1.7265, -0.0464, -0.022, -0.022, -0.335, -5.2444, 4.5607, 2.0, -0.0659, -0.0806, -0.022]",
      "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, 0.8135, 0.6563, -0.4763, -0.0139, -0.0338, 0.9897, 0.0631, 1.2541, 0.4278, 0.2108, 0.0284, 0.0139, 0.6313]\nstate[eef_state]: left_x=0.2891 left_y=0.0003 left_z=0.1789 left_yaw=0.002 left_pitch=-0.061 left_roll=-0.0024 left_gripper=0.9897 right_x=0.3488 right_y=0.0206 right_z=0.0811 right_yaw=0.0334 right_pitch=-0.0475 right_roll=-0.0036 right_gripper=0.6313\nstate[joint_eff]: [-0.0889, -1.1966, 6.9812, 1.6532, -0.0708, -0.0317, -0.0122, -0.2803, -4.5333, 8.6359, 1.7705, -0.0073, -0.0073, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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, 0.8135, 0.6563, -0.4763, -0.0139, -0.0338, 0.9897, 0.4618, 1.3888, 0.968, -0.305, 0.329, 0.2291, 0.6313]\nstate[eef_state]: left_x=0.2891 left_y=0.0003 left_z=0.1789 left_yaw=0.002 left_pitch=-0.061 left_roll=-0.0024 left_gripper=0.9897 right_x=0.3801 right_y=0.1294 right_z=0.169 right_yaw=0.0624 right_pitch=-0.112 right_roll=-0.0377 right_gripper=0.6313\nstate[joint_eff]: [-0.335, -1.1282, 7.0906, 1.6777, -0.0415, -0.0415, -0.0122, -0.2667, -6.2017, 9.5111, 1.9267, 0.2759, 0.188, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00524066c7eace286a814ec0418d0425394b2ea7ff34a917eda59af3784af333",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e25dae7924851614a23b0483b719cf12a3832da67d04c11bb321fe98aed7d1b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b337587529e5824283b7843ca2e1d3ec7a4d70b0dd8060e260c990e33f568883",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGGCBMHVnQRmfl7j8Aoug9dq1N-uoieLtSBReVgi-l_l6zOOPE2SuBhagLFGfjfeMClAxqedpQE9sXVmkppJZwPWovWRS-AokDOhO9YOXLQ8M0stYAswNljqlYNPDAHQfOjPcXMqzKFM2XaBI4eyr8yVrrNRnzedQZTuwwg2OoldA29MssdSKLWUM1wkNPDmsvCwNygq1soyLgJrU7d4h5zQeqGY0dhmck9vzn-YHRQ7H8ZFjF6zhwJ8WAEhQmR620j8yOjfB-928qaliXwq1WwrNbyQsiESyi606OroBIm2xlD4Av0ViGzQTyVBsYHNHUTfXIVgCrb3CRTae9W4xp0WPSdg70xkGp48wQmOjTLDSBRsGBo0xy1s43UbbKV7bswBf48tp3Ed0I5AMgqglkuQ06K1YJl9-_MkAgia_JOXt1ZoHoRaoNzW-N-8lqBfAOB7Yo5gWxQA50dTPK9cSijWmoO4mOzsP7CYTL0WlxTLww6z4c82DPZFhoOei3STxZVj8szYJld5cjcVLUW5LWMOQIvJ1TBz_uNZ50To97Z_QN5oQ5HFTSWbW8-5IQ46LsKe8kqjFaKRdEtx2lSrLvS5XHiojsRGCEwtR1NYQAES2Xdg0jprRyQv6BbK9X40Pus2nLwN5N10vlHz6oOazyeFa9-EF11rJKcSyFTdmLwgjUs7uwdbzLLcLIcg_X5LwhFT2QfzLHQsHX6LwwmY_3JLgAcvDmsUqq9Zi46ABbWFpzQ4IAlntcoAPL2HSxbcuhfQTq5zRVoPf8FaDx6U81vsO7pLocjYovragnyzAabjL_qnwve3VDRmaPbExfCPjSNmdEe1H6iilzI19SX-B4Sy5EsUbnjGvN1rfLJ6QujPsorGU9U-NucgIHS0ouB8eFL55NT5JgBZIlfs-iXSeT70Qkld2WHp5j6Y7M1jKKaL69RsVx1bHnWloazvgw3GgHRnT2M3MLT28KzoQcVRLSkAlPf6MsoOOFtt4h6YkpdkrDbZaJnCiu6HlTUSZYOLcxelLPH0H9SK_0-SRHofeTSw8um39xQkmy0Ny2SMa2-q7jvf7MKqJ3ZUEjYABapfIVuOLBIm55Cesq4ecNlKKG6GR0wc9yc3rzhtczA0xzgh23kr7g5ohDiOdRvncvDbR16Fnvn7O7W9DhjFXru3FMDr0aoOSuFdtXAymW1CTsjjbWdw0ICctirl56MhsXl8KD91SB63--A7xeUhSAV-JY8IUCnpX1kz8xLqRdgAge6MdZF7Vpqg2taV9cFjmrkSYHCWlhg67-X1hX3m2HZoQfGDgrGd51FAVrYNRtJaz6jKWbTRQU-4ogU8PTfl8KSHuz1Z2YaBqC5aDiAKrLhz7OM3iQ1c8qXRzxwAoyPFNxQH9XF3UQMun6sDDNhpbzJnDAHE9Ce8RpLQaYkIKAXr_BhiNaTKONvg0P9DmqQkPLmJdnvbn4bRodP5FJ7-m7MtAfOkZ2h4mwF-BQPHGN83ceYutKgm4YXy4QS5iScI6PQ99ZpdN3LmkBD8jLtygjwKi8rQhEbwX8QLMPUcHciLn9dI8pZxNqOkprZ5aqQD0MQ0kpEM6AWbs0rMwV4OcNdg8VCbzDaHNdWJ5Tp3c6RuTTttyFQlpG3tfrXHE4RfB3n0iJKx5_J3dOx92qxD8QNnpp4Mxm-_RIbWQ2vJDiHEdAwQxXYDLpfAzpWI9t6p1Ky8fSbQbciNxUsNXQz4o88fGvgVAZPNlfr7s9wMEJobGjaxODrU8xG7NHyaASmDVgMspWSVFls9U7RRub9ENGhR1QL8FZ9nPtSvsfVKi0g8lMrLV0FHk-ZyKxO2El0TbTJNcKhtncsRrAb9OAijpW6BJIT0xdZM5NFKnWgGDjvJf730BEKB22hant6XK5-iRU7kXpwJ2tcoOPxJAnJ_upch3jK8aRjKJqMkjiQ3QWvAXvecn5J2DMSExuXl3x93-M5AbyebnBO2CK57G4dO6_yYYEwBynEeZvXd8s3kFki5agO0Hwib_lTCnJs5yO-OzTEboBCv9kg4iTelQznauBpmWSpmiTZ5nXS6jjcu0KdbfW_rfDN9J1L9GDWVN_tQjKGtLBeKgc8ELOlgPjNYXxklb0T1z-7UEhck4Paz8zHlWT_X02LFTcw47MYiCOl4lvbT6xG1NmIlSTdN2BhTbOngUYoSN3gNZclehCAW0FXHSys7KMtEwhZNIhjOwyWvw9Kb-ZP7eRa66endQu1iyC6KeY7YXiZl_yT7aXPW9irL53hkKavjPolTX08JXMWfeOnSmWcptHHhfqb4KtrFf5-Iq5hK-hcDuVptDfSQBTn0iufYz0hgGKwU6JxccH3j8KqNc1KP5Yv9QlHF9Sop0dSzkWvZ44OXN1_V1EHgMRF_vlbGEhhTNNlsXtDqMk7Crsmpt83Fieh5uf5xQ8Q6lzwSZ7FrmDbC6P6NNoTcwzIuQumn6dHZ2QcDfoedpeypd8SJJhTJR_zEqtVsJ30tcMfH3Id9Gkkm6jfdMf4oAtpJGC4Zv3sEv_1_QAEXiTl5fPaQZ1CRpsOndYIUXUiZKb-mVYKS80VKB4J28Rquyj-FDuS6MJ_LJjB-d-1ph5VgTTlzSgo_u3bzpnWMM1emhmExlArPwZdV2TuD6NcLV_6TXGW8UWsBQ0AesL9vxwGHitbThQ2C_cTVIlyj2-4HKnSMCeLCe7T79nElgTqwCtlOvEVH5g==",
  "id": "rs_05a69784554a2b24016ab4617ce58c87d0864ef35d397320f2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_y\":0.13,\"right_z\":0.11},\"note\":\"The blue bowl is centered sideways in the wrist view but still a little ahead of the fruit. I will move forward slightly and lower the fruit just above the bowl.\"}",
  "call_id": "call_g65TDv2y6nl2QGm9aq3Enc6q",
  "id": "fc_05a69784554a2b24016ab461820d4487d0bbf63db8c47ef887",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_g65TDv2y6nl2QGm9aq3Enc6q",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8143, 0.6563, -0.4767, -0.0139, -0.0338, 0.9897, 0.4019, 1.6344, 0.9363, -0.0708, 0.2756, 0.1829, 0.6313]\nstate[eef_state]: left_x=0.289 left_y=0.0003 left_z=0.1786 left_yaw=0.002 left_pitch=-0.0622 left_roll=-0.0024 left_gripper=0.9897 right_x=0.4183 right_y=0.1295 right_z=0.0972 right_yaw=0.0693 right_pitch=-0.1664 right_roll=-0.0545 right_gripper=0.6313\nstate[joint_eff]: [-0.3487, -1.3607, 7.1726, 1.6581, -0.0611, -0.0366, -0.0073, -0.212, -8.7726, 6.147, 1.9756, 0.1294, -0.0464, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f2938748aa09f6c380b22b9937860fbe33e59c314c6fc832d171d6622a0c3f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:475fcae7e2b3ce799b8379d1e752c4957707bb4f2a488da2d0431324c9a12091",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16913a49c07be85f5947e53cf0944bbb683cf94464419ebffc791017cc51b36a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 3.154 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, 0.8124, 0.6563, -0.4763, -0.0139, -0.0338, 0.9897, 0.0631, 1.5185, 0.3149, 0.617, 0.0322, 0.0174, 0.6313]\nstate[eef_state]: left_x=0.289 left_y=0.0003 left_z=0.1792 left_yaw=0.002 left_pitch=-0.0599 left_roll=-0.0024 left_gripper=0.9897 right_x=0.3551 right_y=0.0203 right_z=0.0322 right_yaw=0.0283 right_pitch=-0.0184 right_roll=-0.002 right_gripper=0.6313\nstate[joint_eff]: [-0.2667, -1.1829, 6.9675, 1.7167, -0.0562, -0.0611, -0.0171, 0.0342, -4.1641, 4.4239, 1.3944, 0.1099, -0.0513, 1.033]",
      "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, 0.8135, 0.6563, -0.4763, -0.0139, -0.0338, 0.9897, 0.4618, 1.3888, 0.968, -0.305, 0.329, 0.2291, 0.6313]\nstate[eef_state]: left_x=0.2891 left_y=0.0003 left_z=0.1789 left_yaw=0.002 left_pitch=-0.061 left_roll=-0.0024 left_gripper=0.9897 right_x=0.3801 right_y=0.1294 right_z=0.169 right_yaw=0.0624 right_pitch=-0.112 right_roll=-0.0377 right_gripper=0.6313\nstate[joint_eff]: [-0.335, -1.1282, 7.0906, 1.6777, -0.0415, -0.0415, -0.0122, -0.2667, -6.2017, 9.5111, 1.9267, 0.2759, 0.188, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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, 0.8143, 0.6563, -0.4767, -0.0139, -0.0338, 0.9897, 0.4019, 1.6344, 0.9363, -0.0708, 0.2756, 0.1829, 0.6313]\nstate[eef_state]: left_x=0.289 left_y=0.0003 left_z=0.1786 left_yaw=0.002 left_pitch=-0.0622 left_roll=-0.0024 left_gripper=0.9897 right_x=0.4183 right_y=0.1295 right_z=0.0972 right_yaw=0.0693 right_pitch=-0.1664 right_roll=-0.0545 right_gripper=0.6313\nstate[joint_eff]: [-0.3487, -1.3607, 7.1726, 1.6581, -0.0611, -0.0366, -0.0073, -0.212, -8.7726, 6.147, 1.9756, 0.1294, -0.0464, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f2938748aa09f6c380b22b9937860fbe33e59c314c6fc832d171d6622a0c3f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:475fcae7e2b3ce799b8379d1e752c4957707bb4f2a488da2d0431324c9a12091",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16913a49c07be85f5947e53cf0944bbb683cf94464419ebffc791017cc51b36a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The fruit is positioned over the blue bowl at a low release height. I will open the jaws so it drops into the bowl.\"}",
  "call_id": "call_JcUKuaCnjqkcer4h6Z2CSw2Y",
  "id": "fc_05a69784554a2b24016ab4618852f487d0b0f7e2e2af767a95",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JcUKuaCnjqkcer4h6Z2CSw2Y",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8143, 0.6563, -0.4763, -0.0139, -0.0338, 0.9897, 0.4019, 1.6344, 0.9363, -0.0792, 0.2756, 0.1749, 0.9957]\nstate[eef_state]: left_x=0.2891 left_y=0.0003 left_z=0.1787 left_yaw=0.002 left_pitch=-0.0618 left_roll=-0.0024 left_gripper=0.9897 right_x=0.417 right_y=0.1289 right_z=0.0957 right_yaw=0.0732 right_pitch=-0.1747 right_roll=-0.0633 right_gripper=0.9957\nstate[joint_eff]: [-0.3624, -1.1966, 6.9675, 1.6825, -0.0611, -0.0806, -0.0122, -0.1573, -7.6923, 6.3521, 1.58, 0.0611, 0.1148, 0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b84d8957ef259e51ad71047ea5c376f9351b64709b3dfe21aee8035ac715b68",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f697f4b66c553bff8847ca2157e3a8f68ced5ed0d595479e2edaa23283ff739b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d71b93488f4a2b06f89054cdaee78c593562f91758c7b75984195835fc79e6bc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 3.001 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 18 changed as sent

message 26 changed as sent

message 29 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, 0.8135, 0.6563, -0.4763, -0.0139, -0.0338, 0.9897, 0.0631, 1.2541, 0.4278, 0.2108, 0.0284, 0.0139, 0.6313]\nstate[eef_state]: left_x=0.2891 left_y=0.0003 left_z=0.1789 left_yaw=0.002 left_pitch=-0.061 left_roll=-0.0024 left_gripper=0.9897 right_x=0.3488 right_y=0.0206 right_z=0.0811 right_yaw=0.0334 right_pitch=-0.0475 right_roll=-0.0036 right_gripper=0.6313\nstate[joint_eff]: [-0.0889, -1.1966, 6.9812, 1.6532, -0.0708, -0.0317, -0.0122, -0.2803, -4.5333, 8.6359, 1.7705, -0.0073, -0.0073, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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, 0.8143, 0.6563, -0.4767, -0.0139, -0.0338, 0.9897, 0.4019, 1.6344, 0.9363, -0.0708, 0.2756, 0.1829, 0.6313]\nstate[eef_state]: left_x=0.289 left_y=0.0003 left_z=0.1786 left_yaw=0.002 left_pitch=-0.0622 left_roll=-0.0024 left_gripper=0.9897 right_x=0.4183 right_y=0.1295 right_z=0.0972 right_yaw=0.0693 right_pitch=-0.1664 right_roll=-0.0545 right_gripper=0.6313\nstate[joint_eff]: [-0.3487, -1.3607, 7.1726, 1.6581, -0.0611, -0.0366, -0.0073, -0.212, -8.7726, 6.147, 1.9756, 0.1294, -0.0464, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8143, 0.6563, -0.4763, -0.0139, -0.0338, 0.9897, 0.4019, 1.6344, 0.9363, -0.0792, 0.2756, 0.1749, 0.9957]\nstate[eef_state]: left_x=0.2891 left_y=0.0003 left_z=0.1787 left_yaw=0.002 left_pitch=-0.0618 left_roll=-0.0024 left_gripper=0.9897 right_x=0.417 right_y=0.1289 right_z=0.0957 right_yaw=0.0732 right_pitch=-0.1747 right_roll=-0.0633 right_gripper=0.9957\nstate[joint_eff]: [-0.3624, -1.1966, 6.9675, 1.6825, -0.0611, -0.0806, -0.0122, -0.1573, -7.6923, 6.3521, 1.58, 0.0611, 0.1148, 0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b84d8957ef259e51ad71047ea5c376f9351b64709b3dfe21aee8035ac715b68",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f697f4b66c553bff8847ca2157e3a8f68ced5ed0d595479e2edaa23283ff739b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d71b93488f4a2b06f89054cdaee78c593562f91758c7b75984195835fc79e6bc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGGM_Wh43DSob68JzYNZplYSo4Qid3lZztTUSS9cyDqBSXGAP2tBf1OH-Q5v0vHeDXp7Eg6zRvtuHNLJlnAGWaGgtufKRzBRI4kvsZUeYOqYP40Qe8mE2HwG7qmiQu990m4r3MKGDwBiLf_sAG9zOpT2JE6simcTxV8D3kWF-YIahsu0Z8s5ttprd6yUx_gg0Xz1gyI_eYkQYBw_rCUqawO7p4nNMUOLoaCGxKJuPNovlRLc5VIJM2y99NxRCP52JHzezilDwlDE8lDEleei8WaihDGE8hGwAIjlPIqDMLamPE8Z4y2mV1-wZrhOwQZ0knuXXzwCFFbP1RyTpYxedItZqC8zr5ni1Xh9j_9fNWFfqKQqO9CEQdg_gxcqpf68_4851tzaSACWIdBpR1aeVZWYy1FVMMUTC7jyvVSvVLtSF5nuQJeCSFv1LFLwYMPnQFswFhW00_9bozFqtrxALvAuNSIdRJxwn1pk_RqcD5QhRIx8wjwBQ591U4rxPQDOzUGk2VFD3B2KxpiT2gQ8TmKc90lc1YMzrwRPPfi1UdsW8OZiQGRgJqF5Hhj3uzEggLmGm8c5j5SQkpkpU9qB0CM_7umAWaRfLWM3SJXUh5qMcSmc6M-JHO5oeMZEuv9jJdh1H6xHJzr7c0ZroxGjdj3HvxfsaaVqLcQSsgIN8yY9lyup7OYbiNyiCnQUMV3VQERuo3aaoE9_QZeka4v-oGBL2Q9vdI0-isGq72ebqHIuBwyRRb1KF497PITuvwaHir25HFIunelCc4BqmMP5X27SMVyxYvowYPzunaBk9YZDLGyH5JhZXifIpgFb5ToN9r42LSAj_2FJ_3TfZYqAPSXTnbdy3ocUAt-7N09TZDOSIDMBBWoMCKWTRpiiodPvy5YBrHsDWoGZb1Wpdmc5CrStyDfj5vdXW5xqZXh9FF5kTAskUceA4fTbhEI_CVumlcLbh_DRPJwlmcs3owlO46aKzFDZj2xbL2nNqIC2rNuleS1po_UBLjC2n6I5oilLQri6B69OprAw_x_wmxrst-a1-JYnWB_GU-3eCJo81daYCmjeBlodIKq8G4oUDTfS2B_QmIvOP5Qh5v4R033STq1QFGdyo3Q5GcUs6IVFPToIGm-9rv7WcYv1i2v14ysRwy7VWd4qOY5zfi4ns7ItdC3obL-JnYS8mT5Kj-tFD8bZZbVAsxSpMqzQ4LCKJHzzu2y7eMYEd-JU-n32DWk0Gmk-wXTHDt4iZ7ebOTDltcLMQ6-IO-a86oJzCYLMRMM0qmXsM2Vo3xhGDXzXaTMi-tLKTOv1Lst_4CVQzXzKwYjpfkshsomn5M4cqsdD6UlyDYQJ-U_sKsx_xcBSySwOYXe-0iFBx6BVmPAz57Cmocb7CWpibezbiLIIhc1w6hGo9z35",
  "id": "rs_05a69784554a2b24016ab4618acbbc87d0bb31945da583a8bf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.235,\"right_z\":0.175},\"note\":\"The green fruit is now visible inside the blue bowl. I will lift clear and move toward the remaining yellow fruit on the bowl’s left.\"}",
  "call_id": "call_KZIeaHuzZsayLpT4C5dX7d1N",
  "id": "fc_05a69784554a2b24016ab4618b78fc87d08c11d4a44ec65500",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KZIeaHuzZsayLpT4C5dX7d1N",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8143, 0.6563, -0.4767, -0.0139, -0.0338, 0.9897, 0.6903, 1.7111, 1.3373, -0.4763, 0.4438, 0.3618, 0.9963]\nstate[eef_state]: left_x=0.289 left_y=0.0003 left_z=0.1786 left_yaw=0.002 left_pitch=-0.0622 left_roll=-0.0024 left_gripper=0.9897 right_x=0.3995 right_y=0.2362 right_z=0.1674 right_yaw=0.1184 right_pitch=-0.1799 right_roll=-0.0677 right_gripper=0.9963\nstate[joint_eff]: [-0.3487, -1.1145, 6.9812, 1.6679, -0.0464, -0.0366, -0.0122, 0.1709, -8.1162, 8.2667, 1.2625, 0.3199, 0.3101, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4032479e205b071c8d0c58ecb35fe825e2a633c95e2103f8aca191e11400c0c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:970f42712cbff14d4f52b8a2b7c87652742a691a78746baf8bfa7aff16177c8b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d61ec0c34306156ec4079cecfe2ce851278ebd779e6fa505ae3b12e2b8f0e9c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 2.239 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 22 changed as sent

message 29 changed as sent

message 33 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, 0.8135, 0.6563, -0.4763, -0.0139, -0.0338, 0.9897, 0.4618, 1.3888, 0.968, -0.305, 0.329, 0.2291, 0.6313]\nstate[eef_state]: left_x=0.2891 left_y=0.0003 left_z=0.1789 left_yaw=0.002 left_pitch=-0.061 left_roll=-0.0024 left_gripper=0.9897 right_x=0.3801 right_y=0.1294 right_z=0.169 right_yaw=0.0624 right_pitch=-0.112 right_roll=-0.0377 right_gripper=0.6313\nstate[joint_eff]: [-0.335, -1.1282, 7.0906, 1.6777, -0.0415, -0.0415, -0.0122, -0.2667, -6.2017, 9.5111, 1.9267, 0.2759, 0.188, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8143, 0.6563, -0.4763, -0.0139, -0.0338, 0.9897, 0.4019, 1.6344, 0.9363, -0.0792, 0.2756, 0.1749, 0.9957]\nstate[eef_state]: left_x=0.2891 left_y=0.0003 left_z=0.1787 left_yaw=0.002 left_pitch=-0.0618 left_roll=-0.0024 left_gripper=0.9897 right_x=0.417 right_y=0.1289 right_z=0.0957 right_yaw=0.0732 right_pitch=-0.1747 right_roll=-0.0633 right_gripper=0.9957\nstate[joint_eff]: [-0.3624, -1.1966, 6.9675, 1.6825, -0.0611, -0.0806, -0.0122, -0.1573, -7.6923, 6.3521, 1.58, 0.0611, 0.1148, 0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8143, 0.6563, -0.4767, -0.0139, -0.0338, 0.9897, 0.6903, 1.7111, 1.3373, -0.4763, 0.4438, 0.3618, 0.9963]\nstate[eef_state]: left_x=0.289 left_y=0.0003 left_z=0.1786 left_yaw=0.002 left_pitch=-0.0622 left_roll=-0.0024 left_gripper=0.9897 right_x=0.3995 right_y=0.2362 right_z=0.1674 right_yaw=0.1184 right_pitch=-0.1799 right_roll=-0.0677 right_gripper=0.9963\nstate[joint_eff]: [-0.3487, -1.1145, 6.9812, 1.6679, -0.0464, -0.0366, -0.0122, 0.1709, -8.1162, 8.2667, 1.2625, 0.3199, 0.3101, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4032479e205b071c8d0c58ecb35fe825e2a633c95e2103f8aca191e11400c0c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:970f42712cbff14d4f52b8a2b7c87652742a691a78746baf8bfa7aff16177c8b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d61ec0c34306156ec4079cecfe2ce851278ebd779e6fa505ae3b12e2b8f0e9c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGGQjEiwbW5jhdZ5fL-7IO4rJaulAV1a5cnnk8FAnzwvqNwvUyESGyE88wyOOSqIDDxoEb9DXLqsxlOGby_FGc8zLCG-obfEcMdEn2nYa1PIyKDFKrxixyyu-Os-0NOd_ifulX85XXAj58X013hIpleViWLR6KVKm7i4aMm3RsJV6iRGFzw1BpnYaH5tgYwrDJy2o3l-tkQ1KJlj0-UJA6mPXS9TmbW0anLwIlKIvu2QbZo6it394J5vgkicHZfTOSSe9rB2Uw6GvTwV-8cmkR7rBBvbc8vF05VvLSen2fyM_ox0-Av8PXJHZRzsdXbOpt3S9BBNNn8lzR_1JOtiKMVgn8Gl78hJX9j2GP_MRagxH08nsW0cheLbqAXqqkSZ2yTZNHpo6Wa2eKCcSTvL-bS5GFzQtsgRqw4zn2FRo8IYSljNZLqTO9dnDk8yIwM_IVk2aOALb4fdl8FxsefWaPnXhIiZCxdj1AA6dPnyOe0br73Pi87dufH8YEbN9wQBPwgJi-a4SySQXyFwMLGCFIEy12TwJOIvgR6P-hLfnqoudMngmIJIXZOCdmmFOPzNzu-bWY_I4qmFD5EuHWdlZqTAWlzYjndg_p6xZYnlUsvtywWiucgMQrm_UTHcGcNCbT6I7BZ9JwhorTiEo9d1xXyUmT2tl0dVKubbOPtNk7nG6dvU6tSheP9k_zxIovjqcD3co7XpkchDTI82yYKHHfLBmBbIny2MF3td1qA3lJqnFEDZQN5p6C2r5aPX4hgK1qtwj9eGDJgak0drp8UVLVV90MFFB9i2Raa5WAExaNQt-doyq_hTNPC3nf3wyFZTB1TCinNC5_xB-_vyLk6hICJnf3YgBMdGavy2wqlskab26CKpmEoMNDC96-QD6I5LGLQDi8Mh0dFKfVw817_8Ax4PojjyP64TNeD9P_uwZeEaoyLTnp6xpqaQJ4A1aAxv-H_Gav2K13ROdI75dndfx5ERLLSftAl9bE4j1L09FLJFu1jYC6aQYHVn3qSJP7NE_7Eq2V_BRnmZbrLhM4mqFENevEMlzzwkORb2yo7xC_POkEfXdDF6ivIkRU6zpXhwllpoTEPCQfdKnXdxvSigVYC73w1ptoAhCi7JMyNyjIX7oKDYD3R3Vv8ziMSfF-myLzSsM2293ZVWNlJD-KKt4kvckZkbyCBYagBFG4G3k_UefgUwdnim-s2BJRkHyZJYY0tOE_2fjAFa5oofQXUo8gmc-fAZkkBlnlBKy9nUpnOwQrBhUl5SddV5I0MDGrBxWUiSPO1yhe4q2FY-06MoRfBt-_g13xMenbTXx845XQ6R8CCo-_npAin8KPbBE9gHP6T-",
  "id": "rs_05a69784554a2b24016ab4618e974487d0834101b495686eb9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.41,\"right_y\":0.225,\"right_z\":0.018},\"note\":\"The yellow fruit is near the jaw center line and clear of the bowl. I will lower the open gripper around its narrow middle.\"}",
  "call_id": "call_kXqLlNTc8qZ66as2PODNfyif",
  "id": "fc_05a69784554a2b24016ab4618f448487d09eb539185b94684e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kXqLlNTc8qZ66as2PODNfyif",
  "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, 0.8177, 0.6563, -0.4881, -0.0139, -0.0338, 0.9897, 0.6502, 1.9366, 1.0008, 0.0425, 0.4133, 0.3298, 0.9964]\nstate[eef_state]: left_x=0.2876 left_y=0.0003 left_z=0.1754 left_yaw=0.002 left_pitch=-0.0771 left_roll=-0.002 left_gripper=0.9897 right_x=0.4017 right_y=0.2209 right_z=0.0164 right_yaw=0.1149 right_pitch=-0.2303 right_roll=-0.094 right_gripper=0.9964\nstate[joint_eff]: [-0.1709, -1.0188, 6.9402, 1.79, -0.0464, -0.0415, -0.0122, -0.6085, -9.306, 5.094, 1.58, 0.1538, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04142f17b6f0f3b9a8848c2e7b782537252679e7d36f78d122f58452e0fb094e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f61862401339d5b7321eddb7b2206dfb8ffcdfa3bfd160968e07d6da3f999c7d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de29183754fe2987307eb66dd222051fcfecccc596427a15f294b11772626ebe",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 2.377 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 26 changed as sent

message 33 changed as sent

message 37 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, 0.8143, 0.6563, -0.4767, -0.0139, -0.0338, 0.9897, 0.4019, 1.6344, 0.9363, -0.0708, 0.2756, 0.1829, 0.6313]\nstate[eef_state]: left_x=0.289 left_y=0.0003 left_z=0.1786 left_yaw=0.002 left_pitch=-0.0622 left_roll=-0.0024 left_gripper=0.9897 right_x=0.4183 right_y=0.1295 right_z=0.0972 right_yaw=0.0693 right_pitch=-0.1664 right_roll=-0.0545 right_gripper=0.6313\nstate[joint_eff]: [-0.3487, -1.3607, 7.1726, 1.6581, -0.0611, -0.0366, -0.0073, -0.212, -8.7726, 6.147, 1.9756, 0.1294, -0.0464, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8143, 0.6563, -0.4767, -0.0139, -0.0338, 0.9897, 0.6903, 1.7111, 1.3373, -0.4763, 0.4438, 0.3618, 0.9963]\nstate[eef_state]: left_x=0.289 left_y=0.0003 left_z=0.1786 left_yaw=0.002 left_pitch=-0.0622 left_roll=-0.0024 left_gripper=0.9897 right_x=0.3995 right_y=0.2362 right_z=0.1674 right_yaw=0.1184 right_pitch=-0.1799 right_roll=-0.0677 right_gripper=0.9963\nstate[joint_eff]: [-0.3487, -1.1145, 6.9812, 1.6679, -0.0464, -0.0366, -0.0122, 0.1709, -8.1162, 8.2667, 1.2625, 0.3199, 0.3101, 0.0562]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8177, 0.6563, -0.4881, -0.0139, -0.0338, 0.9897, 0.6502, 1.9366, 1.0008, 0.0425, 0.4133, 0.3298, 0.9964]\nstate[eef_state]: left_x=0.2876 left_y=0.0003 left_z=0.1754 left_yaw=0.002 left_pitch=-0.0771 left_roll=-0.002 left_gripper=0.9897 right_x=0.4017 right_y=0.2209 right_z=0.0164 right_yaw=0.1149 right_pitch=-0.2303 right_roll=-0.094 right_gripper=0.9964\nstate[joint_eff]: [-0.1709, -1.0188, 6.9402, 1.79, -0.0464, -0.0415, -0.0122, -0.6085, -9.306, 5.094, 1.58, 0.1538, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04142f17b6f0f3b9a8848c2e7b782537252679e7d36f78d122f58452e0fb094e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f61862401339d5b7321eddb7b2206dfb8ffcdfa3bfd160968e07d6da3f999c7d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de29183754fe2987307eb66dd222051fcfecccc596427a15f294b11772626ebe",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The yellow fruit is between the jaws at table level. I will close gently against it and check the resulting opening.\"}",
  "call_id": "call_b7FvZPmmnkzxKrsjvCekZfPu",
  "id": "fc_05a69784554a2b24016ab46192b46087d089bb09fb742166c1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_b7FvZPmmnkzxKrsjvCekZfPu",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8192, 0.6563, -0.4923, -0.0135, -0.0338, 0.9897, 0.6506, 1.956, 0.989, 0.0437, 0.4107, 0.329, 0.4187]\nstate[eef_state]: left_x=0.287 left_y=0.0002 left_z=0.1742 left_yaw=0.0017 left_pitch=-0.0828 left_roll=-0.0021 left_gripper=0.9897 right_x=0.3968 right_y=0.2179 right_z=0.0041 right_yaw=0.114 right_pitch=-0.2573 right_roll=-0.1085 right_gripper=0.4187\nstate[joint_eff]: [-0.2256, -1.3197, 7.0906, 1.7216, -0.0171, -0.0317, -0.0122, -0.0615, -11.1385, 6.4615, 1.326, 0.1685, -0.0659, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df88a4410784ca40ba8b232dbda5c73721a5aa233df3720e35392e9cdc0e000b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1eaa5e233602fa6e45e2782d96bc5396ce5c748a838a1e899628ecfe969e2f34",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9d4266c09fc76dba8521925671b666258b071401d72b350bf472404d92ae6f7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 3.513 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 29 changed as sent

message 37 changed as sent

message 40 changed as sent

message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8143, 0.6563, -0.4763, -0.0139, -0.0338, 0.9897, 0.4019, 1.6344, 0.9363, -0.0792, 0.2756, 0.1749, 0.9957]\nstate[eef_state]: left_x=0.2891 left_y=0.0003 left_z=0.1787 left_yaw=0.002 left_pitch=-0.0618 left_roll=-0.0024 left_gripper=0.9897 right_x=0.417 right_y=0.1289 right_z=0.0957 right_yaw=0.0732 right_pitch=-0.1747 right_roll=-0.0633 right_gripper=0.9957\nstate[joint_eff]: [-0.3624, -1.1966, 6.9675, 1.6825, -0.0611, -0.0806, -0.0122, -0.1573, -7.6923, 6.3521, 1.58, 0.0611, 0.1148, 0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8177, 0.6563, -0.4881, -0.0139, -0.0338, 0.9897, 0.6502, 1.9366, 1.0008, 0.0425, 0.4133, 0.3298, 0.9964]\nstate[eef_state]: left_x=0.2876 left_y=0.0003 left_z=0.1754 left_yaw=0.002 left_pitch=-0.0771 left_roll=-0.002 left_gripper=0.9897 right_x=0.4017 right_y=0.2209 right_z=0.0164 right_yaw=0.1149 right_pitch=-0.2303 right_roll=-0.094 right_gripper=0.9964\nstate[joint_eff]: [-0.1709, -1.0188, 6.9402, 1.79, -0.0464, -0.0415, -0.0122, -0.6085, -9.306, 5.094, 1.58, 0.1538, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8192, 0.6563, -0.4923, -0.0135, -0.0338, 0.9897, 0.6506, 1.956, 0.989, 0.0437, 0.4107, 0.329, 0.4187]\nstate[eef_state]: left_x=0.287 left_y=0.0002 left_z=0.1742 left_yaw=0.0017 left_pitch=-0.0828 left_roll=-0.0021 left_gripper=0.9897 right_x=0.3968 right_y=0.2179 right_z=0.0041 right_yaw=0.114 right_pitch=-0.2573 right_roll=-0.1085 right_gripper=0.4187\nstate[joint_eff]: [-0.2256, -1.3197, 7.0906, 1.7216, -0.0171, -0.0317, -0.0122, -0.0615, -11.1385, 6.4615, 1.326, 0.1685, -0.0659, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df88a4410784ca40ba8b232dbda5c73721a5aa233df3720e35392e9cdc0e000b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1eaa5e233602fa6e45e2782d96bc5396ce5c748a838a1e899628ecfe969e2f34",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9d4266c09fc76dba8521925671b666258b071401d72b350bf472404d92ae6f7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"right_z\":0.085},\"note\":\"The jaws stopped about 4 cm apart, indicating a grasp on the yellow fruit. I will make a short lift to verify it is secure.\"}",
  "call_id": "call_6qQtH8b6t8AZCRN0zsJmEeZa",
  "id": "fc_05a69784554a2b24016ab46195c0e487d0b7e85b8c1c2d9f7a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6qQtH8b6t8AZCRN0zsJmEeZa",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8192, 0.6563, -0.4934, -0.0135, -0.0338, 0.9897, 0.6514, 1.8225, 1.1065, -0.223, 0.4065, 0.3286, 0.4222]\nstate[eef_state]: left_x=0.2869 left_y=0.0002 left_z=0.174 left_yaw=0.0017 left_pitch=-0.0839 left_roll=-0.0021 left_gripper=0.9897 right_x=0.3958 right_y=0.2184 right_z=0.0648 right_yaw=0.1161 right_pitch=-0.2725 right_roll=-0.1141 right_gripper=0.4222\nstate[joint_eff]: [-0.2803, -1.265, 6.9402, 1.663, -0.0464, -0.0562, -0.0122, -0.2256, -10.8786, 8.1983, 1.2381, 0.2222, -0.0269, 0.6911]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad8fa3864389e6076e43c8146aa216db7649a7f7fb48bae8c505fa9c6597d35d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91d53907b86f8efe01a9880b1660e748e967d72ba43ab9e1b6cc32a32d918998",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3751cd86fa9d61b537fa87726eba9264c46faf3c5cc4ac2ca371c40116e8bec",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 12 attempt 0 · /responses · status 200 · 2.634 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 33 changed as sent

message 40 changed as sent

message 43 changed as sent

message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8143, 0.6563, -0.4767, -0.0139, -0.0338, 0.9897, 0.6903, 1.7111, 1.3373, -0.4763, 0.4438, 0.3618, 0.9963]\nstate[eef_state]: left_x=0.289 left_y=0.0003 left_z=0.1786 left_yaw=0.002 left_pitch=-0.0622 left_roll=-0.0024 left_gripper=0.9897 right_x=0.3995 right_y=0.2362 right_z=0.1674 right_yaw=0.1184 right_pitch=-0.1799 right_roll=-0.0677 right_gripper=0.9963\nstate[joint_eff]: [-0.3487, -1.1145, 6.9812, 1.6679, -0.0464, -0.0366, -0.0122, 0.1709, -8.1162, 8.2667, 1.2625, 0.3199, 0.3101, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8192, 0.6563, -0.4923, -0.0135, -0.0338, 0.9897, 0.6506, 1.956, 0.989, 0.0437, 0.4107, 0.329, 0.4187]\nstate[eef_state]: left_x=0.287 left_y=0.0002 left_z=0.1742 left_yaw=0.0017 left_pitch=-0.0828 left_roll=-0.0021 left_gripper=0.9897 right_x=0.3968 right_y=0.2179 right_z=0.0041 right_yaw=0.114 right_pitch=-0.2573 right_roll=-0.1085 right_gripper=0.4187\nstate[joint_eff]: [-0.2256, -1.3197, 7.0906, 1.7216, -0.0171, -0.0317, -0.0122, -0.0615, -11.1385, 6.4615, 1.326, 0.1685, -0.0659, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8192, 0.6563, -0.4934, -0.0135, -0.0338, 0.9897, 0.6514, 1.8225, 1.1065, -0.223, 0.4065, 0.3286, 0.4222]\nstate[eef_state]: left_x=0.2869 left_y=0.0002 left_z=0.174 left_yaw=0.0017 left_pitch=-0.0839 left_roll=-0.0021 left_gripper=0.9897 right_x=0.3958 right_y=0.2184 right_z=0.0648 right_yaw=0.1161 right_pitch=-0.2725 right_roll=-0.1141 right_gripper=0.4222\nstate[joint_eff]: [-0.2803, -1.265, 6.9402, 1.663, -0.0464, -0.0562, -0.0122, -0.2256, -10.8786, 8.1983, 1.2381, 0.2222, -0.0269, 0.6911]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad8fa3864389e6076e43c8146aa216db7649a7f7fb48bae8c505fa9c6597d35d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91d53907b86f8efe01a9880b1660e748e967d72ba43ab9e1b6cc32a32d918998",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3751cd86fa9d61b537fa87726eba9264c46faf3c5cc4ac2ca371c40116e8bec",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGGafMZQaRpYM0ej7EGZufmC3yBr_r11LhjAlJwcdA2495tumLjm6y9zH4Hugg17Rxa9MNfpdhfBoM6WQWrWjTuUWhGdczgNBJhYfGGEqJBQP2RLQBvWsOHjx5KFkZU9Di1Nvol_jfLTSt3XgMgC8glXPsTBrd7nmbHr8AQAqe3zX5fqxSRYu-dIF2FHRbxycDeCMkkYy_6CQrNVbfyac6uxVuRi-Puj-8DjG76QnUEYXnzbTSQJ0l2Ks9dZqadopcVsTSkGJhqSk-9_n-cj0LVYV-VYiQxWvOFfVvnHft9Y7Cvvq0ggPSxHvvVwrLH5XGru_HhRehX_sUJ51HkFKWEbgwjKCw5182Y_lEQy4d0yqfjtn1wf7djAhxOyWkulmzjhio5HUIFlSk2awt6h98PcBuvnQDabDfo0tdad_DCWVkZnB8lA_nGldz8iTccq2jnK5uZSIwfbSjZcsRugFxCWGTNUWiW_-nxPTUbRvIlRCkcRI-YHzYFtx6xbtuZjjnVyjVo82zt_mvqps4Dd4ULmYKmuIAdYFnX34b9u9Obq3sEa2Gs4Yop4SWZNdhqsA3KYErXcZ3EuarMrRw01lcg3L7liHg3cP5ymGDBmm0tdhEidD_u9TFR7s8oQn_m0rHK0a5eU-pqsNiCtVm7L2_yer9Dcy-ZCuGlEeNC-_cPKwl5VuR8Nh2B0ukBx_1XEHxMma5y1zS8a2QoB5KirrqYebuYDlW-y9v_IpcBhIC7YYZAVXNDiy65TCCqIxLFcKHIZBXmLm4Wn-1cFTLI6awujOMBTL3pzYYQb62cNnjQljieui8kToBSeBaRG_2ztYCfjjUdkMOwMOlj4m9b2do_aHmZodCE85CJ6Ieyj74YGi-vgO98IilBMdpdxt6gHxH2Lj_msYwAj4EB9zO_Ccfa1AGIt63YHfRKB9ZfDgJhmJx9-XQ8ft8DYinmvEJHyCpMCnZrA1fzkz9Ly590uq_DKE02QYDNuJ0GfsO9iX16vJ-5wpjqvqtMpaT-WbD5A-9HX_nTjkO4BeCIhRJEmIYCVJ6NDUqnuFY_Xgl3r-aFOYjygyxlRQrwz_TdSxBUI355EH-9BP41sNLNJEvgcWlnLDlAQ5HXSBOdXmRAsG053wjpaBqpdLjzQ24cuJ-86QluuLOjXZvekyNjrrOS3bWROahofKlTA_LddlCTHimZ_bqzHpXABIxpuKCpnZmN2b7St8FQcSD8Tgt2ucZvHb7CbFZh8lx4og2ErWwiEl-XJvi_xwkn8b7qWbwAHR6PZhnNgq5ZaL3qphypl5FKhO_heBAG8H6mWaTviRiPcSSbR47-lm16qwIZp4B038Cqgsoh0FC6pWDGVrYSO2o6TqNMcL1QFmNj9sWv3pKgV_BUPX6RFqGkYr54gAmu-dKfd4_1wwQwiKmqv-Lypu1Us-gayCLi2hr2GBeF1PVdF9tDiIzr6Bts-ICAa4ExpxmqKTnLbHCgtCH0bWa8ZIQCpyd-6IS3sYM-fluwrV-S7r_RKRsnbZ0t3nC-Zmn1LGoCm38YqT9b9Vg0YJIOFUf4AXoy-Awf_bJDwlXvl34BRpW24IRk91xiCtw3JePl9V4YjAuiLPtJdDzRjd_tcA6YGRjstN12_j-zUWtT28Vv5MQ6Qmko=",
  "id": "rs_05a69784554a2b24016ab46198bf7887d09a3259cd10181b74",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.105,\"right_z\":0.185},\"note\":\"The yellow fruit rose with the gripper and is no longer on the table. I will carry it above the blue bowl alongside the green fruit.\"}",
  "call_id": "call_3bcKCBVZCVRDY5RdftVLBDIu",
  "id": "fc_05a69784554a2b24016ab4619a177487d086472c3ac1b3753c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3bcKCBVZCVRDY5RdftVLBDIu",
  "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, 0.8192, 0.6563, -0.4942, -0.0139, -0.0338, 0.9897, 0.3199, 1.6398, 1.3006, -0.5598, 0.2138, 0.0727, 0.4227]\nstate[eef_state]: left_x=0.2868 left_y=0.0003 left_z=0.1738 left_yaw=0.002 left_pitch=-0.0847 left_roll=-0.0019 left_gripper=0.9897 right_x=0.4286 right_y=0.1063 right_z=0.1606 right_yaw=0.0918 right_pitch=-0.3097 right_roll=-0.1249 right_gripper=0.4227\nstate[joint_eff]: [-0.253, -1.3333, 7.1863, 1.6923, -0.0513, -0.0415, -0.0122, -0.212, -10.4957, 8.7179, 1.4383, 0.0562, -0.0171, 0.6667]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d00cf8d3b2c6ea8e1f69d3bbe9d822c7d7c618508c0aa0d63a67c7c565c033a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dff5d6500c1c5e6b9d6303ae777d441d0c3c5a0ae6b3ddb7d717eefd76c1606e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5940c34a280a9a6525239a677b56ebece9bff00709df6e03be3f9debd34d9a9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 13 attempt 0 · /responses · status 200 · 2.746 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 37 changed as sent

message 43 changed as sent

message 47 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8177, 0.6563, -0.4881, -0.0139, -0.0338, 0.9897, 0.6502, 1.9366, 1.0008, 0.0425, 0.4133, 0.3298, 0.9964]\nstate[eef_state]: left_x=0.2876 left_y=0.0003 left_z=0.1754 left_yaw=0.002 left_pitch=-0.0771 left_roll=-0.002 left_gripper=0.9897 right_x=0.4017 right_y=0.2209 right_z=0.0164 right_yaw=0.1149 right_pitch=-0.2303 right_roll=-0.094 right_gripper=0.9964\nstate[joint_eff]: [-0.1709, -1.0188, 6.9402, 1.79, -0.0464, -0.0415, -0.0122, -0.6085, -9.306, 5.094, 1.58, 0.1538, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8192, 0.6563, -0.4934, -0.0135, -0.0338, 0.9897, 0.6514, 1.8225, 1.1065, -0.223, 0.4065, 0.3286, 0.4222]\nstate[eef_state]: left_x=0.2869 left_y=0.0002 left_z=0.174 left_yaw=0.0017 left_pitch=-0.0839 left_roll=-0.0021 left_gripper=0.9897 right_x=0.3958 right_y=0.2184 right_z=0.0648 right_yaw=0.1161 right_pitch=-0.2725 right_roll=-0.1141 right_gripper=0.4222\nstate[joint_eff]: [-0.2803, -1.265, 6.9402, 1.663, -0.0464, -0.0562, -0.0122, -0.2256, -10.8786, 8.1983, 1.2381, 0.2222, -0.0269, 0.6911]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8192, 0.6563, -0.4942, -0.0139, -0.0338, 0.9897, 0.3199, 1.6398, 1.3006, -0.5598, 0.2138, 0.0727, 0.4227]\nstate[eef_state]: left_x=0.2868 left_y=0.0003 left_z=0.1738 left_yaw=0.002 left_pitch=-0.0847 left_roll=-0.0019 left_gripper=0.9897 right_x=0.4286 right_y=0.1063 right_z=0.1606 right_yaw=0.0918 right_pitch=-0.3097 right_roll=-0.1249 right_gripper=0.4227\nstate[joint_eff]: [-0.253, -1.3333, 7.1863, 1.6923, -0.0513, -0.0415, -0.0122, -0.212, -10.4957, 8.7179, 1.4383, 0.0562, -0.0171, 0.6667]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d00cf8d3b2c6ea8e1f69d3bbe9d822c7d7c618508c0aa0d63a67c7c565c033a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dff5d6500c1c5e6b9d6303ae777d441d0c3c5a0ae6b3ddb7d717eefd76c1606e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5940c34a280a9a6525239a677b56ebece9bff00709df6e03be3f9debd34d9a9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGGeEt6435AmP9iBRGk_ayM1rYl3hc5EZWqTitT347Y2NDDmnV6Vr92v0SKnF8e0dpX1XKdW_67hAgQJRcws1CYmkZ_Y_uTkwjwq_txs5hEE2Ewwr9xykOShm8rJfDi_XWPnDG0UhT5EP-DVbAOxzi6BeGV4itUgheGvKg6KN-NOUopgh14wt4rJobnTM-w67K-lf4y3Mt54mxTtWFJiCYp-p2ck2xWjNSqzuRqBNpMJE3Zr9bxr_9s0pE2rMTQJDeO27BuEoZvjTCngVjPTU76Vgw0tr-gVCLvVK-dNAEWGBGwaldO7sWv-WQsAfEahM3zL6TejKsM1iVXxE0ILcvY2gbu_AUeqLO8vYBbbsknqFeDqRnCu1aFbpBNLPFo1RlDFBF5TpcuzY-F5qzbOZdlYxfqHmsnqpTg6gIwfPlQJ3x36H_Lbz5l38SfrQrKqsyZeEFn37qsLEGDqMQQ-IlpUHwhy8Tz-_Mg5aYa-QpCnalhd934kLFd8skGiue9prRzZLQklqj7uu_1uJrafEwG_K1V6P5d-oW7Dxam9LLmjljBWmubcEoeIu8TjpMwJ2dsVF1BL6I4nkln4j3UicrvjRZrgX1RELHhxbYsfW2cPILOCFGej5373X-E0AmjaQfuXNg0L4SzjTr3-FR9_5ZKjA5nMXRYtBjQvS17x5HH6BxyrBTqeGvJ3VaquyajR6a1SokzmmzznDBEEfIO1G8vb5Vw6oofhtSsy89J8aPJpnR6-ZPhnhkdNwjmSIuHZPJsGAx0WozUhq0jRE-pD3Jd4IkmzEbqXJn9aZAPG1trB6lOTU6mkrj7v1i5liuWZsc6KbNnRBskSslH4jqHZYuDtnmoortILeceaF2KWoHkzZpqTlmTpTggGgNNJhlAW_N-pZF9lp6Pi-P5cdHmJyz9ypZWXRBK1Gqe-mYlOkSyvg22jKdGcd3Sdp7HHL8ZqfsFUZVKSzr1PkUSOaXpcsIY_i8WV8Aegy0S35BwCPsxQb6yqOqjnGgEVvHx_KV_i2vXqDER2lN2qJKtseQA0m2brp-zmDdZaZuGb0E9typ4LLxG_I23vBwVG9C6icVVgYQRYRXOb5_NVm3xrs8uEjD_v866OZkyjU60C6kTMHUmrbNZZANivde2dy1rGorMY9eFJXWSgIYDQ5Um18fU1uMpxiHVY70u-MeK2NPwSHwvQ_oI2hvDPYYF4qL-ntpqAIVutInzJdUV3E7Pmief4ORUHac2CGRfBsqWgNTT2wXhopbtqswfXNNU9AdJ3FbaTtZc3",
  "id": "rs_05a69784554a2b24016ab4619d2bf487d0878c2a78d81729af",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.115},\"note\":\"The yellow fruit is directly above the blue bowl. I will lower it close to the rim to keep the release controlled.\"}",
  "call_id": "call_qMagH1q9hHYQhU9Ixb9cq0xy",
  "id": "fc_05a69784554a2b24016ab4619daac487d099f7614a244cf02e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qMagH1q9hHYQhU9Ixb9cq0xy",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.82, 0.6563, -0.4942, -0.0139, -0.0338, 0.9897, 0.3187, 1.6611, 1.1744, -0.4633, 0.205, 0.0525, 0.423]\nstate[eef_state]: left_x=0.2868 left_y=0.0003 left_z=0.1736 left_yaw=0.002 left_pitch=-0.0854 left_roll=-0.0019 left_gripper=0.9897 right_x=0.4183 right_y=0.1039 right_z=0.1158 right_yaw=0.1058 right_pitch=-0.3626 right_roll=-0.1428 right_gripper=0.423\nstate[joint_eff]: [0.0615, -0.8, 6.9812, 1.663, -0.0708, -0.0366, -0.0122, 0.2803, -8.2256, 7.3368, 1.873, 0.1197, 0.1685, 0.6422]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2c99a38e13d0fef08d7fc4c65c67accf96c738827c2a4b7cabeddec81620b34",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6c3de5a54435f01ae0f907ccc290c485237b3058db51cff32aceab51baaa647",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4d92ac0b10d6529c76fdcc8da08005a17701516aaf01d52816164129a131db8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 14 attempt 0 · /responses · status 200 · 8.405 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 40 changed as sent

message 47 changed as sent

message 51 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8192, 0.6563, -0.4923, -0.0135, -0.0338, 0.9897, 0.6506, 1.956, 0.989, 0.0437, 0.4107, 0.329, 0.4187]\nstate[eef_state]: left_x=0.287 left_y=0.0002 left_z=0.1742 left_yaw=0.0017 left_pitch=-0.0828 left_roll=-0.0021 left_gripper=0.9897 right_x=0.3968 right_y=0.2179 right_z=0.0041 right_yaw=0.114 right_pitch=-0.2573 right_roll=-0.1085 right_gripper=0.4187\nstate[joint_eff]: [-0.2256, -1.3197, 7.0906, 1.7216, -0.0171, -0.0317, -0.0122, -0.0615, -11.1385, 6.4615, 1.326, 0.1685, -0.0659, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8192, 0.6563, -0.4942, -0.0139, -0.0338, 0.9897, 0.3199, 1.6398, 1.3006, -0.5598, 0.2138, 0.0727, 0.4227]\nstate[eef_state]: left_x=0.2868 left_y=0.0003 left_z=0.1738 left_yaw=0.002 left_pitch=-0.0847 left_roll=-0.0019 left_gripper=0.9897 right_x=0.4286 right_y=0.1063 right_z=0.1606 right_yaw=0.0918 right_pitch=-0.3097 right_roll=-0.1249 right_gripper=0.4227\nstate[joint_eff]: [-0.253, -1.3333, 7.1863, 1.6923, -0.0513, -0.0415, -0.0122, -0.212, -10.4957, 8.7179, 1.4383, 0.0562, -0.0171, 0.6667]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.82, 0.6563, -0.4942, -0.0139, -0.0338, 0.9897, 0.3187, 1.6611, 1.1744, -0.4633, 0.205, 0.0525, 0.423]\nstate[eef_state]: left_x=0.2868 left_y=0.0003 left_z=0.1736 left_yaw=0.002 left_pitch=-0.0854 left_roll=-0.0019 left_gripper=0.9897 right_x=0.4183 right_y=0.1039 right_z=0.1158 right_yaw=0.1058 right_pitch=-0.3626 right_roll=-0.1428 right_gripper=0.423\nstate[joint_eff]: [0.0615, -0.8, 6.9812, 1.663, -0.0708, -0.0366, -0.0122, 0.2803, -8.2256, 7.3368, 1.873, 0.1197, 0.1685, 0.6422]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2c99a38e13d0fef08d7fc4c65c67accf96c738827c2a4b7cabeddec81620b34",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6c3de5a54435f01ae0f907ccc290c485237b3058db51cff32aceab51baaa647",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4d92ac0b10d6529c76fdcc8da08005a17701516aaf01d52816164129a131db8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGGhGebq2k_tjV0qGzPZRnXwY6C7QylTzPT8FChm9J-S1jvfeRdoKeFzdXG5jpJ06jALnuuVctvevsx4oMg1WuYIDoEPSUwwFxQMGGKSS_0LWmspHXOk_LIP5wB46Ks3gjELw8EBwIm6u7zekFd2AfHAvjhb7HZ7zMg652X9V0nthI7WaIcQdId34rGY72DbH6W83muHo5jZVVTbRHTeQOTEMtET4mnBmlUgWjtWyly-VT3jxR1CAzChEusHtCwImPtHCbkB_M_zebxJfIxh_fnLhoBeYnxHGzYh9SrvEsG38hpcGCS-tKBfECKROtlQysbYOEMIySDABoxvYrVwJ8-9bPh9ZrZHSeBwBvUYElBiRMfDGu872A0aO8bGG_OmoR4IGmbC39ZKoSc28lLH3S5OaCACSzQb3EovEwd2g4I0iVXndLJ4GGnF_dfFwDFWxrIPj-LIPISXdqyF3RKc7xIsDBGLJcZLQ0HD5zc6wYcW4eC8MdY-EpyIy1E-vhU65JB8N4C8NFob0y2uBqnoNFe9xZkP9r8qKx-K39Z8GY-vyw4TIhGU1BMQP6ex5FRO1MbeJ1uugDLJOz9y4ceiclYUV2SlihmWksR3BSRecXdu4txR-NBbZcQtrXJjcXqAwm7OgHqiVu5jTNgtGY9AXuS5ivyZpMXm99oWaRrCCmIRopmOKuDLt-hYEwRLJVFJFteupVwQqJFrRCieNzhn3y2W4yrfuHuO9zWbCiwfzNTfss2o2hJkRUd7ErP6N3Sb__Bi0rq-uz4NiDoMMqUp298j5Mkw-6xTo39LherTwvFVaRmyJQU7fiqVoDKXJaaeuR540mVTKyOIEyEqow7Q9cv-wezp-xREa-3fWs6TZF-yttNM1wXHopzuJFBSexDkeEU1dzrCePee7u0L2gp8yP0QKnJwcYwn88_Pl91ruSqrfJ8zqLUn2SD_wpzVgBeJUevRa-QIP-QKRefwmt1Ta8GsJRCzLQ_ukOJLIruewAQPhtLWi1QAeEBmSwKkY1sRQuFMJKVbIJO4Ff5XYfKjk_9l2az178P8yaeDLsgXVMGzUEwqwy3DGkiWMq6nA8DsAwLneAufRxh2FhDxutnLACDuYah27J2OyieluTdFDhMz93gReOWrge9APDWTa9WdXZfmGM9Txom4HRz3-yAiYEGbo15FaFAsXhZRW1f3Cn27MdYul20s-Je8b8PPXzQhVl87vnpMK8T2sMGu6wrFchIRxQ==",
  "id": "rs_05a69784554a2b24016ab461a0739887d0a30939b4038a8731",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The yellow fruit is resting over the bowl opening. I will release it to complete collecting both fruits in the blue bowl.\"}",
  "call_id": "call_wMERrIY1WvNV0671F0f7HJii",
  "id": "fc_05a69784554a2b24016ab461a0b06887d0b750717c7f532c43",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wMERrIY1WvNV0671F0f7HJii",
  "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, 0.8211, 0.6563, -0.4946, -0.0135, -0.0338, 0.9897, 0.3187, 1.6852, 1.1469, -0.4683, 0.2043, 0.0437, 0.9956]\nstate[eef_state]: left_x=0.2868 left_y=0.0002 left_z=0.1732 left_yaw=0.0017 left_pitch=-0.087 left_roll=-0.0021 left_gripper=0.9897 right_x=0.4101 right_y=0.1014 right_z=0.095 right_yaw=0.1066 right_pitch=-0.4187 right_roll=-0.1605 right_gripper=0.9956\nstate[joint_eff]: [-0.3487, -1.4291, 6.9538, 1.6484, -0.0317, -0.0366, -0.0073, -0.0342, -10.1128, 8.7316, 1.3016, 0.0317, 0.0513, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b59f3436eac8e452039afd2e275c16317ddee6cbb48b78bb8fef6f35be3cb93",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b7db03d45f6b2b2797721fcd60baffa1604dc7452cb5093629004f6a38e1014",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88d17356df3a99202db51e3906b1dad2ab277fe857acb50fb610784ccce1a5fb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 5.052 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 43 changed as sent

message 51 changed as sent

message 55 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8192, 0.6563, -0.4934, -0.0135, -0.0338, 0.9897, 0.6514, 1.8225, 1.1065, -0.223, 0.4065, 0.3286, 0.4222]\nstate[eef_state]: left_x=0.2869 left_y=0.0002 left_z=0.174 left_yaw=0.0017 left_pitch=-0.0839 left_roll=-0.0021 left_gripper=0.9897 right_x=0.3958 right_y=0.2184 right_z=0.0648 right_yaw=0.1161 right_pitch=-0.2725 right_roll=-0.1141 right_gripper=0.4222\nstate[joint_eff]: [-0.2803, -1.265, 6.9402, 1.663, -0.0464, -0.0562, -0.0122, -0.2256, -10.8786, 8.1983, 1.2381, 0.2222, -0.0269, 0.6911]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.82, 0.6563, -0.4942, -0.0139, -0.0338, 0.9897, 0.3187, 1.6611, 1.1744, -0.4633, 0.205, 0.0525, 0.423]\nstate[eef_state]: left_x=0.2868 left_y=0.0003 left_z=0.1736 left_yaw=0.002 left_pitch=-0.0854 left_roll=-0.0019 left_gripper=0.9897 right_x=0.4183 right_y=0.1039 right_z=0.1158 right_yaw=0.1058 right_pitch=-0.3626 right_roll=-0.1428 right_gripper=0.423\nstate[joint_eff]: [0.0615, -0.8, 6.9812, 1.663, -0.0708, -0.0366, -0.0122, 0.2803, -8.2256, 7.3368, 1.873, 0.1197, 0.1685, 0.6422]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8211, 0.6563, -0.4946, -0.0135, -0.0338, 0.9897, 0.3187, 1.6852, 1.1469, -0.4683, 0.2043, 0.0437, 0.9956]\nstate[eef_state]: left_x=0.2868 left_y=0.0002 left_z=0.1732 left_yaw=0.0017 left_pitch=-0.087 left_roll=-0.0021 left_gripper=0.9897 right_x=0.4101 right_y=0.1014 right_z=0.095 right_yaw=0.1066 right_pitch=-0.4187 right_roll=-0.1605 right_gripper=0.9956\nstate[joint_eff]: [-0.3487, -1.4291, 6.9538, 1.6484, -0.0317, -0.0366, -0.0073, -0.0342, -10.1128, 8.7316, 1.3016, 0.0317, 0.0513, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b59f3436eac8e452039afd2e275c16317ddee6cbb48b78bb8fef6f35be3cb93",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b7db03d45f6b2b2797721fcd60baffa1604dc7452cb5093629004f6a38e1014",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88d17356df3a99202db51e3906b1dad2ab277fe857acb50fb610784ccce1a5fb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGGqqrivSxon5PP6gu5xaDDj4G1Ai35kIB5wvirrZ0uZA8r2SSv4Tezlz4urvO3CIIngNXuE0Dnob9QTrDWSlV57Af8jcaFlbkBzTQj5cjE0oBBMY60pqPEEerAW90aXgFvIYF2QiDXEIyY3575E_y-arCfEzeieo1A0K9CtUBUhRAUBK8gI0MgHKaEJ9LbvExlf6h-_y7WNIDc5tN_D0zDuNGJ74ErzZlgo1sxwbt0FJ8yE9Tp1jQ8iP9O5QS3ZMyOkrigW1LNUVMwtPMza1mr7-AbbNiHEIWOCiQJYK7tpcBZ3YpYUTBKYoLhcPFF7ZwPq6ophJDJMzvUM9dzFgd5Q5dp4MBOf8oK-lzSsnG4FlhlknADKFd6aryfv_5ZLj_KrRi1VNRep0UuvJCFlGZ6vn1B4vP-ny2Uo7JqwtJE_V82K1t0IVOR1ICb0i_zTSKoze6SaYR1Wvn14I8f86VMUbdarLq-E69Hy3aUjAUhfUfnXn7yAfIUdYyx8JHnO1kLqqnMECvcTih7hDJOyEGVuESwQilM3JNY-a9zfSBCZ2NG3vn9lICCa9C4ktLTpfO0zvG1iRxJnG_T6uk6PcIMY9-je4lKNW7RZ9PtPKxl2QnavUknoWKld_R3Umf2mJQFJaPKG-ESbbyn8lTjCYBnrx-25i1Qyo5dek8n9HtblD4l7qir2yBM4vOe1wvfPQTOVJnZusV1BIQozPry60M9zqMCthTWxk_93N1qf4J-1TThI-AwqlhygZxFDoLJoz2BctiC2hg_cOc8kU3nBveRnyEuiDKMSQ93RhoqwnrVDmvWJs6kiYMQkFwYrb8acRwkkeTUj4BFty4SyPlQAZ6TeIExxL2UGs-XdWrv0rcbDGfqG_pTL0JyNRQjmNDojtRPXGLyaquprHmau4uIXiTeE3cKI9rxYmwxV5mc7MIHd-RDJgJOY7qxnBdOCAQDP4cDDDHPew9Uw5Ola_p1_WS_zlEU3SWcsLKBdS17BHHlg2y2ZUxd7KTTHWNE6xKZs_sS8Cscy-vCjxIxNbcESbvke-ms9UFqS0d1LTsi2Oup58GXnqv1fjknLrIw3uPXuhtdLhPEHfkw8lJvFF2WWIh4nqxWPcIvFfLaeHBNVISLfi4GfKAOsrhKW-hb1KduAbOEvRr-rmUMD9-TCtq7O5wcSh2deF5LA7cT7VZsNddw9FNYB8eLKPLuARspGIxkC_Jbt1hnjJWiTNSe-jPKP9oOdz-Qy_9Z3d3Q03BVg-0_HBCwjiSrGxMWPBTAJIa7ZgaEDcVBvQKw-bCjK_6DP6YCSxo_Xxh9JCtDkzPMaXHxa0nt6KMv3GxIgO4FNDTutUlzwctX70bIUEhg1kPmBmteYaqTpVwEDpjssEwV2t4WRrf5JgIcXFuMeatDpixfjfuEfarXyBEQOaQ_oj5Wr1AuZbIThbH3P6dySLPpWnmesmMAb0bgQhEQbahPOJnsH7Xwr6lCPxnfbh_eP_CVYg0XwZtGV3BB8XnPDlJ8HKdoynIM-In92uC6cFks5ixiflQP1GhbNj169l3SDX-pDx8HOAo8w09vEvUJmHhcOcauWqFn5_0njYSE-_Nm1VXQWPcKU2caUUwe5lxpbXMKCOvM4-ndT1JKduovxt_n84FezLiBHLl0o8KYem_5PpmxnItXSBjIo3r1zT9uLyeZpUPdEKagzoHUnOG2a9np6K9_SfbYD0Fg-vDZrtDjMSK-7iVxjnRasTRhgYPF7KVVkaWcDt-qYeS6lzYKJra7kNgZaciQ5gObGXW0tj_D7wV-h8Rk73QR2HcPBURQuFnZo6k3GzKf7HqVhofJudQ7EdPSzytA5VWzCjm3ltPGhA898Zhvtn80UsNjd8nnNaQqIsjMW2y0F4ZVEf-ZFOAtirGZbwkHhiCIFpYn8dblZVZ5EGF6hJoIDV-n16hAT88_ehLJHB-d24BH3n0UK1vEcsUtfc7sm1vPDCNSffMmAGowJ5GsH9h7s5go6TUw1LqSAQBJbtLExlY_hwOW1b2XHbG3sLo3QLkO-t1ubWxIBdtBzXOpS5u4KM9bKWZgBqwFWmhW7DbDkPFoJScdjFIlQ2sbUiWtyWum2tJIjJR3rmw4raH3YAmx1c0791jkah6JlA0AdIeuOUw6NpRm_Qrdd2GDSG12ge6lIk2VsfVylgzuYu6SNKV-_JitMaT_G-fErkiUiVPnvMIZLhhR9VgvSFuGBCw8zpaLTMSNiik6t47GtEY9cBntEfFI1pdYMYxtJRJSr74AULVeNNCc9s6LBongXItJMNB67UGRDiCbTIiRhYyKIfrZHclaRaPOCuF4s1ByLbck4ohU556AvSDnzzeS9LlKFWg4BBiTymqeEKiLOnegR61JWbDz8QlfijckZKvClGbc0BPXUI_fXDnKDG1dq5FvoaJIDNfRa6rXG8d0HGVhMH5E_irqzyUlsDDq_jcZatSRMrHZf_GCQA8qlpkDRSgerkNP5qMkPaRdClg8kTTeYp7ifLjwiIOdeFpUisPOkTfs-W9Ek_YIgncXBSjECfcUo_DuLBY_MA6QXuYOYqjT0UFpZXe3Ghcn_E6jhtiKpTYQvEC6xleOrLr2Rky9223djZuoH9Ks6UrvrVCpIutb-4XuzR9aJ-7qBfftZ00BGRPP_aRRHdloX7yMb-SU3npdXls2E4AlRIq0F7mG9Iil1HPxNyajIpwALHhg0tq1NyBxRu7fsGTsRrgLLXuGM1w8tK0RecOJXRjQUZMoberoqcPlDiLBwBvFL2PeUMp8_P1CPw-FLuBIVvhaE5RgXjPePuKfECIuH4IQYw38zOIrNIq5oE_YeImiGbpV79jqyNmcsMdYbfdGQhvpGcEI47b8OrTJlj5w2YXExlxW6YNSh1mdEWAJkOhhXQeJoFeZGBbBYCVXUOOib22ez4NZ-XZZ-Uji3eZZgAadFIEqxdHzfivMYiTiU5jIV54DYWpGYdWjepnpL9weLUn78WKGcFY9clZkoSRuLUWPkG1uDfJffXf4IRSlbTi1T_1Tm6si7ZPwzBbKUY7y1xg1uS56cvJQOc3uGhu6sWvRwLj_COo-UkKii2khX_OeLh4qx4R0ddgTKgjQY1hJW9oQlhe2J0OE7fOqVwB-2QD14hH861q5qCNl5HHMbd8dYaGwzWQ3u066RYNOE4MeRyMbfW0B3rVaDQO5iNrHY4zEwN9saqJHu",
  "id": "rs_05a69784554a2b24016ab461a31e7487d08ceb93e0a3ee3f97",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.025,\"right_z\":0.17,\"right_pitch\":0.1},\"note\":\"Both fruits are in the blue bowl. I will lift clear and line up with the bowl’s right-hand rim so I can grasp the bowl rather than squeeze across its full width.\"}",
  "call_id": "call_FvdwB7C0CIq9ttgdXkAOVkZN",
  "id": "fc_05a69784554a2b24016ab461a93bbc87d0bb132db0e44ec676",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FvdwB7C0CIq9ttgdXkAOVkZN",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8257, 0.6563, -0.4984, -0.0135, -0.0338, 0.9897, 0.0814, 1.4246, 0.7925, 0.0834, 0.0731, -0.144, 0.9963]\nstate[eef_state]: left_x=0.2865 left_y=0.0002 left_z=0.1713 left_yaw=0.0017 left_pitch=-0.0954 left_roll=-0.0019 left_gripper=0.9897 right_x=0.4243 right_y=0.0253 right_z=0.1486 right_yaw=0.0986 right_pitch=0.0122 right_roll=-0.1595 right_gripper=0.9963\nstate[joint_eff]: [-0.212, -1.5795, 7.1316, 1.6777, -0.0464, -0.0562, -0.0073, -0.4034, -7.7744, 6.5709, 2.0, -0.0317, -0.105, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ddbab2fde9f3beb7290faa16c0dd9d3a755a0926856fda3c2aa9c7189ce82ce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22aa64c4f62275a3804b59779f5313742ac43a1ec853cb8003621547538b299b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75dcde4e175e153abd5ad383dc3bc289c147cb1475342ab51dfdb45b4579353e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 2.503 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 47 changed as sent

message 55 changed as sent

message 59 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8192, 0.6563, -0.4942, -0.0139, -0.0338, 0.9897, 0.3199, 1.6398, 1.3006, -0.5598, 0.2138, 0.0727, 0.4227]\nstate[eef_state]: left_x=0.2868 left_y=0.0003 left_z=0.1738 left_yaw=0.002 left_pitch=-0.0847 left_roll=-0.0019 left_gripper=0.9897 right_x=0.4286 right_y=0.1063 right_z=0.1606 right_yaw=0.0918 right_pitch=-0.3097 right_roll=-0.1249 right_gripper=0.4227\nstate[joint_eff]: [-0.253, -1.3333, 7.1863, 1.6923, -0.0513, -0.0415, -0.0122, -0.212, -10.4957, 8.7179, 1.4383, 0.0562, -0.0171, 0.6667]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8211, 0.6563, -0.4946, -0.0135, -0.0338, 0.9897, 0.3187, 1.6852, 1.1469, -0.4683, 0.2043, 0.0437, 0.9956]\nstate[eef_state]: left_x=0.2868 left_y=0.0002 left_z=0.1732 left_yaw=0.0017 left_pitch=-0.087 left_roll=-0.0021 left_gripper=0.9897 right_x=0.4101 right_y=0.1014 right_z=0.095 right_yaw=0.1066 right_pitch=-0.4187 right_roll=-0.1605 right_gripper=0.9956\nstate[joint_eff]: [-0.3487, -1.4291, 6.9538, 1.6484, -0.0317, -0.0366, -0.0073, -0.0342, -10.1128, 8.7316, 1.3016, 0.0317, 0.0513, -0.0513]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8257, 0.6563, -0.4984, -0.0135, -0.0338, 0.9897, 0.0814, 1.4246, 0.7925, 0.0834, 0.0731, -0.144, 0.9963]\nstate[eef_state]: left_x=0.2865 left_y=0.0002 left_z=0.1713 left_yaw=0.0017 left_pitch=-0.0954 left_roll=-0.0019 left_gripper=0.9897 right_x=0.4243 right_y=0.0253 right_z=0.1486 right_yaw=0.0986 right_pitch=0.0122 right_roll=-0.1595 right_gripper=0.9963\nstate[joint_eff]: [-0.212, -1.5795, 7.1316, 1.6777, -0.0464, -0.0562, -0.0073, -0.4034, -7.7744, 6.5709, 2.0, -0.0317, -0.105, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ddbab2fde9f3beb7290faa16c0dd9d3a755a0926856fda3c2aa9c7189ce82ce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22aa64c4f62275a3804b59779f5313742ac43a1ec853cb8003621547538b299b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75dcde4e175e153abd5ad383dc3bc289c147cb1475342ab51dfdb45b4579353e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGGx7ytU1-6uQQ7woIZJeblGJVoDk6obs9e2Jp2BPPSkFS57J26tR1R-yBvACwl71YeoQOzKe4z_10VCyvHKmwi_ULGiTJUUKpqKAOHPzGOp66UbQTpZdR6zOyLEXQm0EftyF1tIj5hN1CoaCn9970UgQzHjlqMBObW4T4RziccnUbdsGGV1UuD5jtsIOYypUOt-ksbY639jJqv0NhnP4fjNi-HIOR6uVAIqg3HnDLEQcuox72Q_u9nFHoI2GwzUR4IVZsvzqIoe0ACpQA0YpwwXkq5K_hrz3ZkJqMq8Da3rYzQcdWnadIgVcOANAX9u-ZDP-wQTm1MGUyFuiAgFG9mFSrCk04nQvZnOK14PBvedpI3OmuKGklme-mS6nPGHLuW9QHMsbOE2Ab6mUNpE96Gy5H37BcztXtxcSpKUBQlecqmEZXjPFI2kRgxz9OeaykSQ65gkXXn97oei2Db8D8DX7jzRfHIcMOZ-CmhCAbIjlZSkcC_KD-ffFzzW4zysPwXnDR6JZ9hK9KzECXhWfCf5G9DV_3uuUWrsGWMRiir4qMyTmah8XBT_cB-vWA0n5YS3hddHCe1lL4AGQLcPyU2Ogg0IXvF8L5-SzsB4dLkQX2ybJG-AYIbNVwtNBBfA__tG7YL9_H4MkrpR1IrEluBiRfpntKiYruLqMPX-hJ5aJGPUt71nn2CbVj7OZeEzYnNXYFF3rUD21PI2PWHePfirwv2jH4mDlrADmyJIbJdpa7iAoGFpKipi6jRh6iwMW7vhIX-yW8dygQEZfip50mTBb3oyJXFtA1AyG4FD2tkazYCMf81RxhdubfJUzPtNLC8UdMAxKKinjqymX0gieUwxxn7yEeuqeXCpseOmgPjJoZ-z16k0Vu-d4fzKRDMmMe1qhWuBT5SZlfmx8IJNwlQ2vp5k9MBK0YkMmnmL5oBRbgJdNm6YJPeT93yll-s6R58k2IrSx0vfmImsYdBXuqaCA1LiapW-tWmrZ7835lb6Ky33JepzoGri6RaT7trK46GuBF4Zs5TKcgRdr_aJ9TKQdhV5j-RYSTFya51KPHNr1INrpO-hTq-BLELKov2xM_BnsAwbBApI6zXvLotyNkKdGmxDORSmZjLcP9ClY0kOwLXgXBSlAhokXhYGL9Dck2M120ytzQdJ_8c9M-3-qGaWTEa7pnaMi1kkXP6pEcQ9QRRPecIwqlj0jqr-LqWsS4tKTC_OwMG-ZddbvacA9eECKpXi6HYleslIoJWKxb29gfV8cXpwJGlOpdH4IcBKrtEWV0-6UX5HOKFIZVWs3DGoVacvQF0D1QSwHjKAmw-0ITsCKjHrJ57mS9kHP6uh_fsdcvtmmx_Nc2pP7rKJtOcSiEHUOf4JMlL9g-cWLL1wOujO7M8wvhpRY5OCk0EWbzJOysOl8z0jw7njBNcb5bCSFhafEa0jYK-HWTq45-HBvEBN76fL6Lg_ssxi9ZtxKM1YnI_0Tebdy_eOD-jsoZC5YWEqQF6aTVTLXQH1n0X3pJmgYItFIA_GaZ1ckrbr3t-lBEToktXg_VrLdl8ara55DiIQvbuyhbS6Gp5YX85W1psNDWxbtYfC0MtiKX5ygFMwfK0PkLM6tTKNpxRW5o1yYvJcqsYUJfHdSBiuxsczNnMDCQ1Tlcn-KAikW48wEsqgAFxB4j7GHDTnDmKC3hymb5NkHe4RlfIsVzDg3Bj68S89mPhjotY1RPME94t_KfemZLuQeCtSB4_rd6FyV_zYNUxPmeFc_ddO4o9iKD5KecELTfESfe9Ic1XGT9SdzFK5yrjoV1WMohht4qFarahmHw==",
  "id": "rs_05a69784554a2b24016ab461ad7f8087d0bd8347cc1f5f3e7c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.05,\"right_z\":0.045,\"right_roll\":0},\"note\":\"The bowl’s outer rim is just left of the open gripper, with both fruits visible inside. I will lower so one finger enters beside the rim and the other stays outside it.\"}",
  "call_id": "call_gVlgZaNJhOjxYuXO4X8qjwTb",
  "id": "fc_05a69784554a2b24016ab461afcf1887d0a94935920667638e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gVlgZaNJhOjxYuXO4X8qjwTb",
  "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, 0.8257, 0.6563, -0.4992, -0.0139, -0.0338, 0.9897, 0.1165, 1.7123, 0.6277, 0.5076, 0.0048, -0.0174, 0.9963]\nstate[eef_state]: left_x=0.2864 left_y=0.0003 left_z=0.1711 left_yaw=0.0021 left_pitch=-0.0961 left_roll=-0.0016 left_gripper=0.9897 right_x=0.4284 right_y=0.0529 right_z=0.0504 right_yaw=0.1236 right_pitch=-0.0094 right_roll=-0.0158 right_gripper=0.9963\nstate[joint_eff]: [-0.2393, -1.3744, 6.9675, 1.6679, -0.0171, -0.0269, -0.0073, -0.1436, -6.3658, 4.2598, 1.1111, 0.2808, -0.1245, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b7634f5f75cd71683ba26e0d4af637422d642a5564c49d18a55a3c196dae0a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:947c2353ba35e0d0514fa18b8f2fc34b08e8ffbbe0d1a5e23100f7c95854c5b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d1ac0d1344d42108a94fc2a12a2afbc21a6278901c551839f801ed917545b33",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 2.48 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 51 changed as sent

message 59 changed as sent

message 63 changed as sent

message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.82, 0.6563, -0.4942, -0.0139, -0.0338, 0.9897, 0.3187, 1.6611, 1.1744, -0.4633, 0.205, 0.0525, 0.423]\nstate[eef_state]: left_x=0.2868 left_y=0.0003 left_z=0.1736 left_yaw=0.002 left_pitch=-0.0854 left_roll=-0.0019 left_gripper=0.9897 right_x=0.4183 right_y=0.1039 right_z=0.1158 right_yaw=0.1058 right_pitch=-0.3626 right_roll=-0.1428 right_gripper=0.423\nstate[joint_eff]: [0.0615, -0.8, 6.9812, 1.663, -0.0708, -0.0366, -0.0122, 0.2803, -8.2256, 7.3368, 1.873, 0.1197, 0.1685, 0.6422]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8257, 0.6563, -0.4984, -0.0135, -0.0338, 0.9897, 0.0814, 1.4246, 0.7925, 0.0834, 0.0731, -0.144, 0.9963]\nstate[eef_state]: left_x=0.2865 left_y=0.0002 left_z=0.1713 left_yaw=0.0017 left_pitch=-0.0954 left_roll=-0.0019 left_gripper=0.9897 right_x=0.4243 right_y=0.0253 right_z=0.1486 right_yaw=0.0986 right_pitch=0.0122 right_roll=-0.1595 right_gripper=0.9963\nstate[joint_eff]: [-0.212, -1.5795, 7.1316, 1.6777, -0.0464, -0.0562, -0.0073, -0.4034, -7.7744, 6.5709, 2.0, -0.0317, -0.105, 0.0611]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8257, 0.6563, -0.4992, -0.0139, -0.0338, 0.9897, 0.1165, 1.7123, 0.6277, 0.5076, 0.0048, -0.0174, 0.9963]\nstate[eef_state]: left_x=0.2864 left_y=0.0003 left_z=0.1711 left_yaw=0.0021 left_pitch=-0.0961 left_roll=-0.0016 left_gripper=0.9897 right_x=0.4284 right_y=0.0529 right_z=0.0504 right_yaw=0.1236 right_pitch=-0.0094 right_roll=-0.0158 right_gripper=0.9963\nstate[joint_eff]: [-0.2393, -1.3744, 6.9675, 1.6679, -0.0171, -0.0269, -0.0073, -0.1436, -6.3658, 4.2598, 1.1111, 0.2808, -0.1245, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b7634f5f75cd71683ba26e0d4af637422d642a5564c49d18a55a3c196dae0a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:947c2353ba35e0d0514fa18b8f2fc34b08e8ffbbe0d1a5e23100f7c95854c5b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d1ac0d1344d42108a94fc2a12a2afbc21a6278901c551839f801ed917545b33",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGG0FIGiL0tdSWZosf267HgNcbr-YQAfO3ZTpEfuunEdPgobmQu5SyDdivJUHYt63oKX24jO9XJWcVGlHmLEPM0wcXF4jG4p8VrQHevUnZt1pe62ktuYTG0XmtTZ1P2q7vlrdyVRh-mn4o1mv-Wh76L-T_faGMXp_5nMoFY-Wz01ItWRd-3uNlchEbNZ0aMeGJr5WR_PGDJGP2JRXhIG6Dr7STHFI5MM8EhEmq4u_9k5-bc88NWmm2PZpqL-QWY6wNTowUixMDNU6Rtel4EaGU_Zm615dOqArxm-b70TSRCIMkMO2dWWgRlgjBx0qsVEih97g-DpnpsF8lgfbTRog1m8LnPIXF1J88dBfvm5d7jwXmU5xOQQvh6ERRk1mfehvW3yGzMY1tOrsdDplmqRVd3AYSOmyAt77SY2Srqc1-uzx8wSyR4m_bQhHxEJJsFlqtOrSWkM1-xmxZ9LoDxp071yz2q6qMy3UUPOna4GW8AH4Wv9GxXZzu7kNTdq_gmS694PXgoKIaOSjZ8EWhpqnlyNHHOpNltdEz6ztkraU6fBdY_yUmTGnZkf4sUyGCp2qRxVx3GTswDV3UgtDYSzb_YL9Fl-JPHXb3uCPV8M0fcyDWch-HX9Cq3XlU7iRTuWeXmvSXTMKfg8AtdHZg_aQcgyTRBxmIEinv7Yk8KW5gQ1OlGxd0uPEKYH41j8aSWfeQtAXETpHZ1dwS59dr9GegKxeAkhkkPjUxU88ivK2zGaH83XBSkb7iqT4Av1SKg4bl3ApBFvVGaW6__e5l2vMRTRqBaLWffcEDB1QNNXb_x6MdazDxDKOWMMUszwvHb90JuEyH5vH9B8W9fdyV2ZoRsFuoODrpgrYbuqcqpQfXF7-nNk389LUlK7K1fVXYa7cH_KvuqstbeGHAjmns-8JWi18jEvClrETpcsIJJDm8OUZhMb3iXHZWvjNfumkvZhzKxhhValNco4V6BsJOMPVQZ1ZxtbO0s_Ibxmi8eF1kz5rGSEN9HAsDQwqfINSlwGNvhrHajP0Hc06zZl-dUqRnj3YbWqyxRF8Px6bs2q5mmprtjzpcPsCjC7qPKeNo5Sal4RKhv4Q5JrBvTMX5SAntFcPlbI-opuUeXwZ9mg1XOyRrjTtCDb9aVezimM80TSESs-VUfbT2ozq-cYVa0nLqExBFLN42X8AnfC6l9sTgJ7Q4Xy9cpiVF5c76_iNt6SrjaWiJQt56FuIMrPPsosV_W16g==",
  "id": "rs_05a69784554a2b24016ab461b3538087d0892cf9cea0982723",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The fingers are positioned on opposite sides of the blue bowl’s right rim. I will close to pinch the rim securely.\"}",
  "call_id": "call_TXn1jrFtYpjfQnn6GQiTIL4s",
  "id": "fc_05a69784554a2b24016ab461b390f487d0a4ef26897794d3ec",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TXn1jrFtYpjfQnn6GQiTIL4s",
  "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, 0.8284, 0.6563, -0.506, -0.0139, -0.0338, 0.9897, 0.1177, 1.7164, 0.625, 0.5549, -0.0097, -0.0105, 0.3809]\nstate[eef_state]: left_x=0.2855 left_y=0.0003 left_z=0.1691 left_yaw=0.0021 left_pitch=-0.1057 left_roll=-0.0014 left_gripper=0.9897 right_x=0.4331 right_y=0.0565 right_z=0.0576 right_yaw=0.1333 right_pitch=0.0312 right_roll=-0.0028 right_gripper=0.3809\nstate[joint_eff]: [-0.212, -1.5385, 6.9402, 1.7265, -0.0513, -0.0562, -0.0122, -0.4718, -7.665, 5.4906, 1.3407, 0.0806, -0.1392, 0.8327]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69858e43c3788e13bdbb8a57178c7c629952be74a4cb7b4f458ebf6098651559",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b2b0286af9bb961bd2f72e0b7ef5f84a11ce2304e7d2d7b16bd6d7353171bb5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2de1bd90795cbfd734ec08456f3e696614f60b2941514ecf3fc45d5b6851593d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 4.173 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 55 changed as sent

message 63 changed as sent

message 67 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8211, 0.6563, -0.4946, -0.0135, -0.0338, 0.9897, 0.3187, 1.6852, 1.1469, -0.4683, 0.2043, 0.0437, 0.9956]\nstate[eef_state]: left_x=0.2868 left_y=0.0002 left_z=0.1732 left_yaw=0.0017 left_pitch=-0.087 left_roll=-0.0021 left_gripper=0.9897 right_x=0.4101 right_y=0.1014 right_z=0.095 right_yaw=0.1066 right_pitch=-0.4187 right_roll=-0.1605 right_gripper=0.9956\nstate[joint_eff]: [-0.3487, -1.4291, 6.9538, 1.6484, -0.0317, -0.0366, -0.0073, -0.0342, -10.1128, 8.7316, 1.3016, 0.0317, 0.0513, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8257, 0.6563, -0.4992, -0.0139, -0.0338, 0.9897, 0.1165, 1.7123, 0.6277, 0.5076, 0.0048, -0.0174, 0.9963]\nstate[eef_state]: left_x=0.2864 left_y=0.0003 left_z=0.1711 left_yaw=0.0021 left_pitch=-0.0961 left_roll=-0.0016 left_gripper=0.9897 right_x=0.4284 right_y=0.0529 right_z=0.0504 right_yaw=0.1236 right_pitch=-0.0094 right_roll=-0.0158 right_gripper=0.9963\nstate[joint_eff]: [-0.2393, -1.3744, 6.9675, 1.6679, -0.0171, -0.0269, -0.0073, -0.1436, -6.3658, 4.2598, 1.1111, 0.2808, -0.1245, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8284, 0.6563, -0.506, -0.0139, -0.0338, 0.9897, 0.1177, 1.7164, 0.625, 0.5549, -0.0097, -0.0105, 0.3809]\nstate[eef_state]: left_x=0.2855 left_y=0.0003 left_z=0.1691 left_yaw=0.0021 left_pitch=-0.1057 left_roll=-0.0014 left_gripper=0.9897 right_x=0.4331 right_y=0.0565 right_z=0.0576 right_yaw=0.1333 right_pitch=0.0312 right_roll=-0.0028 right_gripper=0.3809\nstate[joint_eff]: [-0.212, -1.5385, 6.9402, 1.7265, -0.0513, -0.0562, -0.0122, -0.4718, -7.665, 5.4906, 1.3407, 0.0806, -0.1392, 0.8327]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69858e43c3788e13bdbb8a57178c7c629952be74a4cb7b4f458ebf6098651559",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b2b0286af9bb961bd2f72e0b7ef5f84a11ce2304e7d2d7b16bd6d7353171bb5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2de1bd90795cbfd734ec08456f3e696614f60b2941514ecf3fc45d5b6851593d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGG3xuQNeC-Ibvyes8kfCf_dyT4iIYUvZH-OtmDY_n3opoBenO_lEMlE1Wf7Oi3CVX5xh3hVKX5mCtolSl0tzL8TesNrrITjfOfjgSoUylExbCmsU-bmVGS3127LQ5_vbMztn8Ra3XFTFl4yy7r6gW_R91EYnZLX4vInPxd3tyJ_T2iTvjig_8nF8-z3yuh2ApcgZhqLW7rOyiSnob3zHdnOtSUhzvCheQ6mG5qikSxlqAx5r2sQiMe4m6FJV3mmOd0gpCbhAfYx9PT5g3AE6-JwnE07mQjFULePn3KwJN3fAMxyW0OcBp1SHWYJieRGas1Dz-UBQejg1QjCZCRuVpvx-DCwQMrD8BBoH7YJ4yieQqDoEp5XgtWF4Su9zB832vFS4SYSMht8Uh8IQnqwnOOfkI6chOcDVDdnpdWRlhiu3F1RKP7XBrhx-lSh8oY1myaTmrPmbiWrT9gS4GWqL4IL5KfgRsaDGlGqJ4fRGiQVwngITRWr4x3Lnj_xSoMAKYQGWAqVImDuHRynJRNT7gd8opuUprujcjLnUmj3VHpunTXS46Mj6lskWIOAdDs_N7ioFaPpOTstBCe_VVwRYBgQxjb4G6d-T7GLC9QNrs3pNuXCwxnXW-WYdJdG9iERPMdgnH5FlcHTF2gYPN2YMD4daV8YfEz0fzIldMVqt8CRisnGYVdTMynrNt6QluzYGw1GYpDg_OBOmx9FLatoGBfKXXKWDrWkOuUtyAJ_3UbbJe8HV0KemvYiL-hqDyOAGISMg63H0l1Ol_XjeI5S-VRxIOCP0cbOKGh176hsDJxyXVxWO-jvd6ZlVMRFC06JMloBEXczlVJYpRPMsllWx9l2j9aWvaln5L_jzypLqJXv7935UaDqVIBakn60rQm3Gk_FrIPg14NqJYt-_D6hCovj7y7gl3bgLv9D2YHMIgoRgCRD157uzqrvJyhCT5rJUf69r2JhV6WvSwcmpH44PaJGfB5NnXu_iaHnZg2vlNpbWu8T0M9XX4kXSiHp45oXdDPWcpa9poSgocJttODTdgdoQ8H2j__65t8YMGqBNwuDw2qnb2OyQAH7PU5VN2QYWsy63NsCksjw4Lfhn8vVwPORX5XnJJGqjQZJe37fYlEcWntV_Wg9DsvnNk4QcxR_rvUpFwbo6ZGD7FoQ90gBGJlWlT8KU2QlAGxvrf_CADXfkGlhU0SdFC1bKad0NJUeHU3nEvAzliBcuuQe8Usk3rhj7cwnRBff86OSVCjzTcsALTLmlSuSjC-O0Pm_b_-Ntr9-SIhGorfjPrjwyUfuHYpabKubxLYxv6l4fNIOISdGFbjXHGtX-bsGuKZ7nx6H3LZL",
  "id": "rs_05a69784554a2b24016ab461b678cc87d0980e44102a5b5520",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.115},\"note\":\"The gripper has closed against an object at the rim. I will lift the bowl only a few centimeters first to check that the bowl and both fruits move together.\"}",
  "call_id": "call_E1ax7YsmrBQQZrucErfBh0dF",
  "id": "fc_05a69784554a2b24016ab461b6fe9887d09fcad938239a2671",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_E1ax7YsmrBQQZrucErfBh0dF",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8288, 0.6563, -0.5137, -0.0139, -0.0338, 0.9897, 0.1177, 1.5764, 0.6933, 0.3233, -0.0132, -0.0109, 0.3806]\nstate[eef_state]: left_x=0.2843 left_y=0.0004 left_z=0.1675 left_yaw=0.0021 left_pitch=-0.1137 left_roll=-0.0012 left_gripper=0.9897 right_x=0.4289 right_y=0.0567 right_z=0.0939 right_yaw=0.1363 right_pitch=0.008 right_roll=-0.0009 right_gripper=0.3806\nstate[joint_eff]: [-0.0479, -1.2923, 7.3094, 1.7411, -0.0464, -0.0366, -0.0073, -0.212, -8.2393, 8.3624, 2.0098, 0.0073, -0.0317, 0.0806]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a46e5dc715860aa656b8cc6f635d1576cafe4a294e32f91ff27e4e41f525f9f1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6bf2609a655bc52020bd34d4d647f3f30bbe5723a7be761926a9cea04daf2a9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9d30a7911540a3ff9d3f7d3fb5352b459bb6b41b49a3984aee78e11e6492256",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 9.657 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 59 changed as sent

message 67 changed as sent

message 71 changed as sent

message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8257, 0.6563, -0.4984, -0.0135, -0.0338, 0.9897, 0.0814, 1.4246, 0.7925, 0.0834, 0.0731, -0.144, 0.9963]\nstate[eef_state]: left_x=0.2865 left_y=0.0002 left_z=0.1713 left_yaw=0.0017 left_pitch=-0.0954 left_roll=-0.0019 left_gripper=0.9897 right_x=0.4243 right_y=0.0253 right_z=0.1486 right_yaw=0.0986 right_pitch=0.0122 right_roll=-0.1595 right_gripper=0.9963\nstate[joint_eff]: [-0.212, -1.5795, 7.1316, 1.6777, -0.0464, -0.0562, -0.0073, -0.4034, -7.7744, 6.5709, 2.0, -0.0317, -0.105, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8284, 0.6563, -0.506, -0.0139, -0.0338, 0.9897, 0.1177, 1.7164, 0.625, 0.5549, -0.0097, -0.0105, 0.3809]\nstate[eef_state]: left_x=0.2855 left_y=0.0003 left_z=0.1691 left_yaw=0.0021 left_pitch=-0.1057 left_roll=-0.0014 left_gripper=0.9897 right_x=0.4331 right_y=0.0565 right_z=0.0576 right_yaw=0.1333 right_pitch=0.0312 right_roll=-0.0028 right_gripper=0.3809\nstate[joint_eff]: [-0.212, -1.5385, 6.9402, 1.7265, -0.0513, -0.0562, -0.0122, -0.4718, -7.665, 5.4906, 1.3407, 0.0806, -0.1392, 0.8327]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8288, 0.6563, -0.5137, -0.0139, -0.0338, 0.9897, 0.1177, 1.5764, 0.6933, 0.3233, -0.0132, -0.0109, 0.3806]\nstate[eef_state]: left_x=0.2843 left_y=0.0004 left_z=0.1675 left_yaw=0.0021 left_pitch=-0.1137 left_roll=-0.0012 left_gripper=0.9897 right_x=0.4289 right_y=0.0567 right_z=0.0939 right_yaw=0.1363 right_pitch=0.008 right_roll=-0.0009 right_gripper=0.3806\nstate[joint_eff]: [-0.0479, -1.2923, 7.3094, 1.7411, -0.0464, -0.0366, -0.0073, -0.212, -8.2393, 8.3624, 2.0098, 0.0073, -0.0317, 0.0806]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a46e5dc715860aa656b8cc6f635d1576cafe4a294e32f91ff27e4e41f525f9f1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6bf2609a655bc52020bd34d4d647f3f30bbe5723a7be761926a9cea04daf2a9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9d30a7911540a3ff9d3f7d3fb5352b459bb6b41b49a3984aee78e11e6492256",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGG8UJj6BdkorvF-Ps6IvlI1sKfdVrBp2NCheAWc_d-Kk_1Y1gWtsxhcMD_hG-mfKC7mXdhQqJMzPZlMpDTb_uj28U1rRJKAmGW44O2dWQjeNz6Uf06nrtfhU0Qwlyo6eWuHK6Zmg5FEXBjFqvPKKqQ4L_ytOqsSdYCVqtg0gNUActAvQ8wRXBS-1qFpFZELiucSmKJGixbB1z9p2_XF6Y7XNRe0PfH6xczzUgXAuR8WGJWIK70LLLYJXEAndPDctRAbyzvFnzSImrHwt4RFISKX0YH2GUtjAGkL_NS97iK-QXJ2UKnHTwwB63f1P2Scw6MUgZBTcA9_Wz7cdt2Yr32YiqLsTDw0nHlESFKJ5NsoF6kjDIWJ-pkBRpv6su8mkqO0gCKl86520Kpym09eRBtf0-FsZ7J9E384J8NQcP153yds6FBWT00Rq7c2pegPOjInA6_5tbZkqgod1s8wh1udY43z-1TJcL4y-mCwZCNVHpxS-t8d8qkPXeaRL859htTdX79YZ_UTORW3RjojNWI29BitnP83Bjv-OH0_c00rnaX6x-2OaxgeoyMizzRp-8F8Oszwrz-xmgUAFzuGCOFv4kux6c3ajPf4sl797aApaXjRWGwYOiabGim_GL6oNP8MQJWKnSoUTrheQy9VkpVirOQbbmIfgLaqeFHqqKtBD-yApdnZzPOArZxBgc5Awy2qMaSflEJgkm0CBdBXlveojCj5v_LavrvNp53pf0Ph0k1jDaaX-w8Xc_udbRa5S-xbdRI4kIFNwA701rzGa7VarmFMTl5sQkhHWDZaHPx-9ywiNkbVdvw-xkZ_ebNs7TSMO9NFG-pUcnJr1VfKtNlNCz9jlgXYN3ZjWF__zHrh4gV4fdQr1gPk86N5WPxUygxjb3igYudTYZ7jB0osmvUKdfhbnCRF7wAkvT9Mq9MRzw_xhXu42_wSF5QEjaqVapNAP93QYmkE7aAQu3SdgII87De4n4TlBTavZUnroaI89sua11bQg9Pc9dRTPVlkQKXabHA7MemAB5-9noZXEK_CkVcPA3l34uH_J49J_twqRlYCYlPm-eJGpr9Afhj5-jfQwxEGVE_8spb5pqNiMiqusPWMWIdhJMiVjZ9qo_3BRXC9_8gm8eVJzPix6jv4c8BiAucKLpvmkY-LZUQeQR97W_sx4QcuUgz-IdCI2BR4duqh4esJoJTqBBT_-mQz4N83jG9IKel-R7hJYYH8YKzQhprOn4nkaGHZJYiqVQXFq_qFJAvuaOskTcffPs7KaGcKm0nT40kC4SygsQWgWRNfdmbZyIbw7v0coFZdzOm5kzVSUr7T7p_9VzfE7KhNwVzqr6_PePsn0mEqhEkFfFqRFnBvbNW-Yftx2JXleMSKvvgJS1KDfUwzqTEANpV4_2byFV0uV3dotYhslSyXeQQNqg3uXXpk0Uz-sCFLxDSl3vjcFZ4ZCE2i0uySFRg6yb_ghVr8FoBTqHswoQTq--OIsAnj81kfZv8QHRGG25kyo6FR_YeD8Bg7RAn1ds93vbqPxEKTw6Kh5s--LWBTnYmSlcc_rAOFZv8IGF1A3Yxree40MbIGUC4JvnZEdx2AKggQFImqVsA1YmwWSf3xmyI-jTW3DVT3Msp-mkGWG0HV7xaPZ4G27meTbbpgK10hycwm1SlF3ryGVBCFYxOYTkzGrnZYpwQcoWEkxscKZPn-MjDvQV54tUDBNAHFCm5BJg_SVNu1b7LPaX23pLCJctfV7TUpsmHazi8oTRuLRRZ1YJ-9_XQheJGdg5GLSWnT6Li4dFoP3IW4oOJQLM5L7ZZ-Lg==",
  "id": "rs_05a69784554a2b24016ab461b93b3c87d0a07ea3b04d7d3188",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.23,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.2},\"note\":\"The blue bowl and both fruits are lifting together. I will raise the load above the white bowl’s rim and refresh the idle arm’s parked position before moving across.\"}",
  "call_id": "call_7wu13LorSPIYmY7lE837xXrR",
  "id": "fc_05a69784554a2b24016ab461bb348887d0a30891f339874bd8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7wu13LorSPIYmY7lE837xXrR",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.894, 0.765, -0.6056, -0.0135, -0.0341, 0.9897, 0.1177, 1.4166, 1.0519, -0.2352, -0.0135, -0.0113, 0.3814]\nstate[eef_state]: left_x=0.2886 left_y=0.0002 left_z=0.1806 left_yaw=0.0021 left_pitch=-0.1621 left_roll=-0.0007 left_gripper=0.9897 right_x=0.4298 right_y=0.0568 right_z=0.2024 right_yaw=0.1369 right_pitch=-0.0321 right_roll=-0.0003 right_gripper=0.3814\nstate[joint_eff]: [-0.212, -1.5248, 9.9487, 1.6532, -0.022, -0.0757, -0.0073, -0.2393, -8.5675, 9.5932, 2.0049, -0.022, -0.0269, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:259383a1736cc7a97f8c01dae2883e462eef879015cb8905519f29c73ef58858",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:793877c2fb9958a5ea7def395f090aedb0822263d4064b46a13ca3df8976f3a8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b718bc96b500cb222ee1e731ebe356627f40e369e6fbe65466f4c364d1f00c40",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 2.551 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 63 changed as sent

message 71 changed as sent

message 75 changed as sent

message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8257, 0.6563, -0.4992, -0.0139, -0.0338, 0.9897, 0.1165, 1.7123, 0.6277, 0.5076, 0.0048, -0.0174, 0.9963]\nstate[eef_state]: left_x=0.2864 left_y=0.0003 left_z=0.1711 left_yaw=0.0021 left_pitch=-0.0961 left_roll=-0.0016 left_gripper=0.9897 right_x=0.4284 right_y=0.0529 right_z=0.0504 right_yaw=0.1236 right_pitch=-0.0094 right_roll=-0.0158 right_gripper=0.9963\nstate[joint_eff]: [-0.2393, -1.3744, 6.9675, 1.6679, -0.0171, -0.0269, -0.0073, -0.1436, -6.3658, 4.2598, 1.1111, 0.2808, -0.1245, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8288, 0.6563, -0.5137, -0.0139, -0.0338, 0.9897, 0.1177, 1.5764, 0.6933, 0.3233, -0.0132, -0.0109, 0.3806]\nstate[eef_state]: left_x=0.2843 left_y=0.0004 left_z=0.1675 left_yaw=0.0021 left_pitch=-0.1137 left_roll=-0.0012 left_gripper=0.9897 right_x=0.4289 right_y=0.0567 right_z=0.0939 right_yaw=0.1363 right_pitch=0.008 right_roll=-0.0009 right_gripper=0.3806\nstate[joint_eff]: [-0.0479, -1.2923, 7.3094, 1.7411, -0.0464, -0.0366, -0.0073, -0.212, -8.2393, 8.3624, 2.0098, 0.0073, -0.0317, 0.0806]\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 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.894, 0.765, -0.6056, -0.0135, -0.0341, 0.9897, 0.1177, 1.4166, 1.0519, -0.2352, -0.0135, -0.0113, 0.3814]\nstate[eef_state]: left_x=0.2886 left_y=0.0002 left_z=0.1806 left_yaw=0.0021 left_pitch=-0.1621 left_roll=-0.0007 left_gripper=0.9897 right_x=0.4298 right_y=0.0568 right_z=0.2024 right_yaw=0.1369 right_pitch=-0.0321 right_roll=-0.0003 right_gripper=0.3814\nstate[joint_eff]: [-0.212, -1.5248, 9.9487, 1.6532, -0.022, -0.0757, -0.0073, -0.2393, -8.5675, 9.5932, 2.0049, -0.022, -0.0269, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:259383a1736cc7a97f8c01dae2883e462eef879015cb8905519f29c73ef58858",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:793877c2fb9958a5ea7def395f090aedb0822263d4064b46a13ca3df8976f3a8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b718bc96b500cb222ee1e731ebe356627f40e369e6fbe65466f4c364d1f00c40",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGHGtUPvtgqtCZ_Ets0ePy1bJ0I2ZL8tfiA01bQwxX_ULAgAHurr5mceGRDQDx1ojS_RbwNXetiViZeXFd1jcpWq3Dqk7-r-j5zIRg0DNKdGh64SreHccDxKJxkiQ7hAEXyqa0fMb77KmBy2jimqCJoHJzRkr94pCkMCM13VLyL-lajSnmtBK60iLKOOMs_zd1nypO2Ohv6ufvmwNF0nNe4nP1TJST_YXLTs26DzjHTZhZLZCdaCdHvIvwEHaQhtuSoOauo9ILjOf7yrRKqbNRyBTLSVHotr3MRLS8ZPU20RBwpN-I4jxfpMqpEKfGxxBIl2-cKnpkSsIHerHeeQujiSYZbq2yBYD-ZXCmKO5q6DOwC0Gr-VoOiGq4oWPJzJ2NEDzYZxTr5Hbm26LB6APFovviubzvdo5LBKH1JEe64TwJ8v6aDkSlaeGWAmsa9lqZFZhhBqEVjs3bpW4lPYYqO_sNOgFrKkmUBWaBo1dx6qDF7dtgBP7em3V95ZdvZlX1QsXUYhwSdQ8pOjBNyLEOPTySET-yqywCQujpdFl3UUMB2ge83EhstMHohUQLI2XjK0QaV8emsugBCyO87ChUycXylJgiLkuf-VkQvt_8RAXaKjtP19ooZrG36j7yVI0n4L_PuOgpkoDO9P7amJO-XZ9B1Ed5j78Zi97rIl5ECfWLTBOBMHNgC-tTnL9HgikFmU8fUdQWqB2xoO7_NCFCSwuvaTF7fRkZC2aEVAsEdfUy2KTglIIYH83PC9du1OP7u7keWTDpZRMdUnxJnJEyfMbIzqMkj1joLsV021M8tNGnqAhqkzmzaX9IQ2iIXD4cMLXze_An2tnl8EkdP6Wy7Up4Cpgoh7GvRyMYnyAddo-x2bFUdnzu3CXZWG1yH0AvivFOCTM46oHXNnJtwP82AHI_kqM2nIxc-rk3T268uU1nr5C0gnubCirk0QzS33YCqcrrkePR4FXtPeKLy7wv7G5btpgxSWGq9Sn9uuvJzeQGFjq6NZ-WP97kggvrROi7zKVU2pJhEc8astjCIM6hB8iF5QStaEkWpW0SZr4P6PtJ-WiRa-g803K8uXwIq2lxJkwGGZdruGfEfpFgqXLD9xfQF8q8tF2dNvURb62-28rLfJmAsIc3H4k_BzzqNpoeINmaIWjAZ-XJEAE77dnYyzqXUMkaqQfzF8Bny6hTALWw2nm3HANsiwSiS0XGPpOV8r6CYQt-cv_Macdh9L7X5ks_gyltCCGsPA4XStZz5dFLw_GyhNRQBr0xDRgX30fkpQz1d9xfQWaktUoFXF96fh95amRWqNwqmXN554bj5fKJH5PL4A5KtbIbBCV17zpHDeXHQWUjDxdqrmfKV5QskZ4uPF4C26afhHaDkv73f1gE7QQVWnDtLovQG8-PqnovNpuKg9h5On7a3-5q5Vps0AduuWOZL4Qv6EhAnPfp9BUBH9GQc8qwBbMkXAam5OumXKguiW7f12rWbbOxyMRuyJhEiyMstAnAS9trodCt5uRlnhDL0IzTIrhQuAsa5I1iElSulNp0f8UojUC9y7AYpFXY6t18GP5dDBrupQzKC7aUPdN1YCVIkZHR-WPMDEHe1EJDhHF92T1gKgLFO-ld9N2g99IlLyCEUl7MtRAkNVVSlw_6LT_YYCG9yLxld-ODn7psP6KHuiLXcjZdCTbzuoAWJwQZ7bw9_jcSKyNUMTeLwoHLIipvwTXkR9-MIfMFmKjsW7TJHTFtwdkkXNHamOCZwrtne9USafYxfVSx56-oXs0AQf5pXOCIotUhFm_DzBb5IVzLvBHrpSyQvNWhZ7MuMX2KQnextIwyCpHfwbmROEOfk0rvmTglFDnw4B8h7J8e9oxyFWcKjN5oV60NGBoxsCx06wSw3PeGLHsYS-XR4OmPn4HgMduSK-nQK2oZ3spS-Ffovjwl73RtrGA0gzYno-vglQ6IDPi7kWk2aVdEa17MbWTS_eUbymhkC_wdJJTqXa6HJ3XEFtyswJ9yRlIzxZ8EDcPcEy4eBuyIfmaIS6XBPndIpPokcjFm3jU_o8UxAFLVuWTdsitg8Oe_sEGmh0qxRUS6QTmbyX7rRdjZTy2zaUknx2mVYH9CZVVOFL7l38nBGFDtK8YIFFdnE2SDR8RAnnQIShAUWSvqnp3pvAYUxXjHSs_R9Dwc5Y5r6Ain3Z_FjFCIC0L1v7O1NwU3pJCxgbTeP0s0PJTMqflwWyuw1gxVpvUWfHjjsXHwdataF9wdKMp7IO2CFvZk8RSN8n6XAiXYQjAYwXe-y75fjpno49IWbJnWz-3adQIxYpjIoc0BjflCLadv0V3FZjTMz8HfL6YYq90U475enWShUEmTEFpwOLgvZXsNC52Cnw0fRkrOwDODC09neTDTBptPX_FsLLDBlwOy_uewY7UPUCJc9WcqrFCj63OuoEFCtDyCcQDhRpAmWAQyo4Sr5dyREUHNNDS0FOD-vA-3uqAFl0chdjhyYAwVcCntPvFLNvzp0p5KzXiP0QpaDIt7iypE-FDNR5SfO3Vn_o0DkAnSDiI4sIt5D5VViVRBeuFomAIyUMj8gbdiBamVtbI7nzcDbyhspSeYmDLAH7SmGjOaZcEvHPOliob2aNPpVwPbOwqdjD_zGEClxbDcmdf-eyD-H-DF7bKZWJMXsVdgQvER_8oL7AL6_P18ApHefQth8nX_SMvXcmBakaDC4dGlk7HL0gjwuakfqRd3gobyfFG8cXa_3ZWeJAS6GVIY4iMpSxk25jLe8oSDQLAI278zhoOWCpsD0lusB5C2E0sre_p6wpSTo5So9o0d0sdENUH55rJ0DpZCA1la1F0w7OedbswQKnkF0Zn7p_5mQwxlHQ71cZizLB-VjAPMsbLhsEwdZ2GPKuO7Z-2wIO344uK1l07Y2uSoe82B6hr5mGirZVmK1zl78KmSCeDssNlNzQZea2SXRW9LPm-_MpqLO7cphXLBLjIbY62Ncu8sEmXVuIdVVDGY0we7YtDdw8UYlj7SIQbUHQd9HWzIpn7COLlEZjHM8HcWqH9GHVaL7BAav-1jNm5BpxJWDe7cpg74OQk-2yKBaLvuSY6ovVzblEOe-Jjc_XmH34yUnh3yuvT2iJ6h_Sij4YQdFbzTRx9DzxPiqajaKDcXyxKolQpyVa-fkD7-Pf6mAPoi8WcnQvxKUfEATwblOErHh4i8jM4ELfriF8GqzZ3Z2sIaWocp5KBxGiFclhcK33cfRGrtDfEPnhFk4iBub1XLRlS8xdz2ihyXzYb3j17UsH_xkMsJD8_hQ9w0RbrGdg_KVyVpnNo0wE1CcB163keLLD0ZfixUvMKYBk3c7QL0dMIOjDQr6AkuvoRVNEIbY6tF7kKXQnI4tz8KiAS7bIlR7e1oDWua-G_RzvVjvV4OeySynvndNuNlchRx6UiK-q3w2h5D-LSYebUs_KxBXXt-VeeUazyYbW5ddv",
  "id": "rs_05a69784554a2b24016ab461be631487d0b5f3aa349b752940",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.435,\"right_y\":0.08,\"right_z\":0.085},\"note\":\"The higher lift shows that the bowl is not securely following the gripper; the green fruit appears caught instead. I will lower back over the blue bowl before releasing and regrasping the outer rim.\"}",
  "call_id": "call_xdmyy9D0QqYs4qiwppMfFL4g",
  "id": "fc_05a69784554a2b24016ab461c58d4087d0bac060179533d864",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xdmyy9D0QqYs4qiwppMfFL4g",
  "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, 0.8974, 0.7654, -0.6083, -0.0139, -0.0341, 0.9897, 0.1886, 1.6196, 0.7658, 0.1871, 0.0326, 0.012, 0.3814]\nstate[eef_state]: left_x=0.2884 left_y=0.0003 left_z=0.1794 left_yaw=0.0025 left_pitch=-0.1678 left_roll=-0.0003 left_gripper=0.9897 right_x=0.4258 right_y=0.0791 right_z=0.0781 right_yaw=0.1562 right_pitch=-0.0985 right_roll=-0.0093 right_gripper=0.3814\nstate[joint_eff]: [-0.0752, -1.9077, 7.241, 1.5702, -0.022, -0.0806, -0.0122, 0.4034, -7.1043, 6.106, 2.0586, 0.1197, 0.1734, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3eefce7d3d102355d82cf422316d21e9d5824dee18bf35644f82845c8277680e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ddce8acd261365bb5481e45ef899fa585ae1ffe4b4ee811e5bf24b7de7cfc3d1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:736a464705c23f21ee734b823b23cd24adfee10ae29a9dec42e7a37cc7b126d6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /responses · status 200 · 4.419 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 67 changed as sent

message 75 changed as sent

message 79 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8284, 0.6563, -0.506, -0.0139, -0.0338, 0.9897, 0.1177, 1.7164, 0.625, 0.5549, -0.0097, -0.0105, 0.3809]\nstate[eef_state]: left_x=0.2855 left_y=0.0003 left_z=0.1691 left_yaw=0.0021 left_pitch=-0.1057 left_roll=-0.0014 left_gripper=0.9897 right_x=0.4331 right_y=0.0565 right_z=0.0576 right_yaw=0.1333 right_pitch=0.0312 right_roll=-0.0028 right_gripper=0.3809\nstate[joint_eff]: [-0.212, -1.5385, 6.9402, 1.7265, -0.0513, -0.0562, -0.0122, -0.4718, -7.665, 5.4906, 1.3407, 0.0806, -0.1392, 0.8327]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.894, 0.765, -0.6056, -0.0135, -0.0341, 0.9897, 0.1177, 1.4166, 1.0519, -0.2352, -0.0135, -0.0113, 0.3814]\nstate[eef_state]: left_x=0.2886 left_y=0.0002 left_z=0.1806 left_yaw=0.0021 left_pitch=-0.1621 left_roll=-0.0007 left_gripper=0.9897 right_x=0.4298 right_y=0.0568 right_z=0.2024 right_yaw=0.1369 right_pitch=-0.0321 right_roll=-0.0003 right_gripper=0.3814\nstate[joint_eff]: [-0.212, -1.5248, 9.9487, 1.6532, -0.022, -0.0757, -0.0073, -0.2393, -8.5675, 9.5932, 2.0049, -0.022, -0.0269, 0.0757]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8974, 0.7654, -0.6083, -0.0139, -0.0341, 0.9897, 0.1886, 1.6196, 0.7658, 0.1871, 0.0326, 0.012, 0.3814]\nstate[eef_state]: left_x=0.2884 left_y=0.0003 left_z=0.1794 left_yaw=0.0025 left_pitch=-0.1678 left_roll=-0.0003 left_gripper=0.9897 right_x=0.4258 right_y=0.0791 right_z=0.0781 right_yaw=0.1562 right_pitch=-0.0985 right_roll=-0.0093 right_gripper=0.3814\nstate[joint_eff]: [-0.0752, -1.9077, 7.241, 1.5702, -0.022, -0.0806, -0.0122, 0.4034, -7.1043, 6.106, 2.0586, 0.1197, 0.1734, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3eefce7d3d102355d82cf422316d21e9d5824dee18bf35644f82845c8277680e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ddce8acd261365bb5481e45ef899fa585ae1ffe4b4ee811e5bf24b7de7cfc3d1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:736a464705c23f21ee734b823b23cd24adfee10ae29a9dec42e7a37cc7b126d6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The green fruit is back over the blue bowl. I will release it so that both fruits remain in the bowl while I reposition outside the rim.\"}",
  "call_id": "call_OZwJZ5ObcQM4sid55KqOZttJ",
  "id": "fc_05a69784554a2b24016ab461c919ac87d0b6da1284614299c9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OZwJZ5ObcQM4sid55KqOZttJ",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8974, 0.765, -0.6098, -0.0135, -0.0341, 0.9897, 0.189, 1.6402, 0.7528, 0.1848, 0.0288, 0.0078, 0.9958]\nstate[eef_state]: left_x=0.2881 left_y=0.0002 left_z=0.1789 left_yaw=0.0022 left_pitch=-0.1697 left_roll=-0.0005 left_gripper=0.9897 right_x=0.4206 right_y=0.0789 right_z=0.0641 right_yaw=0.162 right_pitch=-0.1345 right_roll=-0.0112 right_gripper=0.9958\nstate[joint_eff]: [-0.2667, -1.7436, 6.9265, 1.6093, -0.0513, -0.0757, -0.0122, -0.253, -8.9231, 6.9402, 1.6142, 0.0024, -0.0366, -0.2027]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70d112fbb6e1b3851301f4a4ded712d5e4833d23149ec0ff46eb1affa9b90cbc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89cfef9fce0ce257b927bb57ed240690a3c4c3a289d58757dc8981570fd06511",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44afcf990f103743375580001ac4a5b07333f2fc21fc8f8a55a62399346c4711",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /responses · status 200 · 7.608 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 71 changed as sent

message 79 changed as sent

message 82 changed as sent

message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8288, 0.6563, -0.5137, -0.0139, -0.0338, 0.9897, 0.1177, 1.5764, 0.6933, 0.3233, -0.0132, -0.0109, 0.3806]\nstate[eef_state]: left_x=0.2843 left_y=0.0004 left_z=0.1675 left_yaw=0.0021 left_pitch=-0.1137 left_roll=-0.0012 left_gripper=0.9897 right_x=0.4289 right_y=0.0567 right_z=0.0939 right_yaw=0.1363 right_pitch=0.008 right_roll=-0.0009 right_gripper=0.3806\nstate[joint_eff]: [-0.0479, -1.2923, 7.3094, 1.7411, -0.0464, -0.0366, -0.0073, -0.212, -8.2393, 8.3624, 2.0098, 0.0073, -0.0317, 0.0806]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8974, 0.7654, -0.6083, -0.0139, -0.0341, 0.9897, 0.1886, 1.6196, 0.7658, 0.1871, 0.0326, 0.012, 0.3814]\nstate[eef_state]: left_x=0.2884 left_y=0.0003 left_z=0.1794 left_yaw=0.0025 left_pitch=-0.1678 left_roll=-0.0003 left_gripper=0.9897 right_x=0.4258 right_y=0.0791 right_z=0.0781 right_yaw=0.1562 right_pitch=-0.0985 right_roll=-0.0093 right_gripper=0.3814\nstate[joint_eff]: [-0.0752, -1.9077, 7.241, 1.5702, -0.022, -0.0806, -0.0122, 0.4034, -7.1043, 6.106, 2.0586, 0.1197, 0.1734, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8974, 0.765, -0.6098, -0.0135, -0.0341, 0.9897, 0.189, 1.6402, 0.7528, 0.1848, 0.0288, 0.0078, 0.9958]\nstate[eef_state]: left_x=0.2881 left_y=0.0002 left_z=0.1789 left_yaw=0.0022 left_pitch=-0.1697 left_roll=-0.0005 left_gripper=0.9897 right_x=0.4206 right_y=0.0789 right_z=0.0641 right_yaw=0.162 right_pitch=-0.1345 right_roll=-0.0112 right_gripper=0.9958\nstate[joint_eff]: [-0.2667, -1.7436, 6.9265, 1.6093, -0.0513, -0.0757, -0.0122, -0.253, -8.9231, 6.9402, 1.6142, 0.0024, -0.0366, -0.2027]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70d112fbb6e1b3851301f4a4ded712d5e4833d23149ec0ff46eb1affa9b90cbc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89cfef9fce0ce257b927bb57ed240690a3c4c3a289d58757dc8981570fd06511",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44afcf990f103743375580001ac4a5b07333f2fc21fc8f8a55a62399346c4711",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGHOmK1H1Lh2gNm2DJBfeo0UGWpO0907oliTKsbEOPmdAF0EOLjxjHM5Oxf0G5LMjmRlj9i4tboixlSf_dcI7XQ0rec9dSJ6H7IzYjYlh_lZaK78zrxXKAxpa_c1Uqv57DNvpxKotQv_avTvfD1sNQhfGEw-Cg0PZ5y5tbs7SM76HKrGla9-xq3T1dJgb9UoAEETQ0qRbmh-yjKnEsmZSh0Cc0wSirCUAMjCKwkO3ZEISa7zCthOYscL9Gx5CQVQzn5YIQmvL_1Xu6bWX8dA9pD6nqyl3fYjlGZcdMW-QVcoiyWhjhrohAIO8C2fiE_BVekUkmGrBTCtaD_DO3NpKOwZPuxS1dx_su526xO0YBrMfw5058uX-ztH60WM5TPjI0GLIRWw7U_xGTvSg30Flb4iwxUnFeAGmI-ng4xZsY8QzEb08EoVJVULk88d9rThf9yllVRRs3K4jcMqYxbl78YeX2gFDfsE6cEpi9-N0OQIfzBkwmfjwMTOsLJErrNrnvUKltVO7V8YCycmT5XpT3BmrPedW9Re46_2I89uMknIob2brJFBraFJ7EGm6sXd9pd72-3GbyT1XtxGUukC98gTlsGVaTOYaG4CDHWGRz9wL7rjA3f5OLb4OVnKjWMbWYpg3YlB_d5giDYnoMVXUmUFH6-dRp1UHksYoqJP5yfWmxypRc-IXyVa_-ESz9L2QQ5Sp4rwwKJD-T4MtUIbTPhvTXdwjor3EqZ98JcfL7B-Zjt6qxMu3_A2wJMCwryQr4a6MXlNsyTjwYnr1FDwFv_JD3cxJKuCszX5zK-RPWhiQw80gqYhbsmtGLDEn9vwFZizrRJ09xfGITZb0dteFe1F-TS01Za7N5vxhqTgbyvnh6rXsFQ667Bicm52Z5ZUzD0TaQ-qnjVUHwUbzp3fDtP0PE41k1ZStGB111ozzkGlHOewQp2M2UHIbp5rN7f8h9u77ElIIeF3gOCxtePv4ZOF7fhOdxxOPuwQPC4lTCk6RX17g16d_kdiIb5kORPPgqmPMn7K0dMGiEn0UcJ3wyV9f7nac_9_hn0saFysfysfIgr9yJkowvW3q99Ihz03nNCuP1tOPyipRopfCN61vc93dgHmITROBg3TAkhlBc9-BjoDtE2S6-BRq8GESyqIiihnsCrI_kKNal5WQOEdszo27NiTFdaQPMQGHmVNL9IQNtblDw89oJpE0RQ02B8lrqfCoJuc2W0sgwpImhtHzlaGQLT-VaKLyyMVeO3Dq2gZ4zApBcWZfjSTeGq28WVVSFl22k3nloY3qMK_-F4r67vZTIn84mcbsCqAzfUPA4E9zGE_f1u8zgHXpsZQYxqakEw1nbIu87bGqeQlJ561Sw6Pxiuy2RXZ--ymHDXR5nw8Hh1V7RPIYVktK3heObQ_u4VZTm9KbLOteEwrG8KzFkYx6rAmK0QOHH62xQP9i-5cK-8qXe142xrhn8Je2LDsVhV2kEf8y3cbPwuDVl1HayRbUMcwm1KIxxHwlCqsfb7yYY-FGhveWGhQO403KO53RNFQnwvewlKjLuC0bpBrTv0vwhb59P6V4E86wZrZqaNwCe_o6J8x03yRzygmc4itktqREb3POqMwFix-Dy4TrvLjo6WLPMKcHZFisv9E7412yQ42IiXWoAI6jECIs1SUJq5x0aoEukHXGeWbEAD4jCDBhFf0uZFLX3hm8VYdMNlSxR08hlxEo8IwFmOOZvBhD_3_kUWLp4LvpWhxpGDEfoYajdOPABVi_Luu2wlEvdJu5G4cEhpwFpspnTrRmuRQPhAdY43U9XpXbHDRq_QwO0-zIx5131pPZvbm-6FK9XP88HTHYS7SZjozYi4ha25vjD2fW3M4JTMI6AXmfzmg99eVww==",
  "id": "rs_05a69784554a2b24016ab461cbf09887d09d1d5127880ece64",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":-0.018,\"right_z\":0.145,\"right_pitch\":0.15,\"right_yaw\":0},\"note\":\"The fruits are back in the blue bowl, but the previous grasp was too far inside it. I will move farther to the bowl’s outer right edge, away from the fruit.\"}",
  "call_id": "call_cgSJTw1DITtco1B2FjEP6ruj",
  "id": "fc_05a69784554a2b24016ab461cdd2b087d092cc14c263e001d5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cgSJTw1DITtco1B2FjEP6ruj",
  "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, 0.8974, 0.765, -0.6106, -0.0139, -0.0338, 0.9897, -0.0612, 1.5185, 0.7074, 0.305, -0.0475, -0.0376, 0.9963]\nstate[eef_state]: left_x=0.288 left_y=0.0003 left_z=0.1788 left_yaw=0.0023 left_pitch=-0.1705 left_roll=0.0001 left_gripper=0.9897 right_x=0.4342 right_y=-0.0146 right_z=0.12 right_yaw=0.0009 right_pitch=0.0623 right_roll=-0.0087 right_gripper=0.9963\nstate[joint_eff]: [-0.3624, -1.5795, 6.8308, 1.58, -0.0611, -0.0513, -0.0073, -0.253, -8.3214, 6.3111, 2.2344, -0.1538, -0.0269, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5c8ea531ea37f2d5d7e27dfc300da865b2788f6f099ac294809ed1c51b714f1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87ecd9e9687900c58c5df1fb0338a552b2cd7b79d39e5e1fdba2ec70d8b3e67d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:452651dec769dd610472a48468582bb8fda424afded390fd305c980ace6a8389",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /responses · status 200 · 4.518 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 75 changed as sent

message 82 changed as sent

message 86 changed as sent

message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.894, 0.765, -0.6056, -0.0135, -0.0341, 0.9897, 0.1177, 1.4166, 1.0519, -0.2352, -0.0135, -0.0113, 0.3814]\nstate[eef_state]: left_x=0.2886 left_y=0.0002 left_z=0.1806 left_yaw=0.0021 left_pitch=-0.1621 left_roll=-0.0007 left_gripper=0.9897 right_x=0.4298 right_y=0.0568 right_z=0.2024 right_yaw=0.1369 right_pitch=-0.0321 right_roll=-0.0003 right_gripper=0.3814\nstate[joint_eff]: [-0.212, -1.5248, 9.9487, 1.6532, -0.022, -0.0757, -0.0073, -0.2393, -8.5675, 9.5932, 2.0049, -0.022, -0.0269, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8974, 0.765, -0.6098, -0.0135, -0.0341, 0.9897, 0.189, 1.6402, 0.7528, 0.1848, 0.0288, 0.0078, 0.9958]\nstate[eef_state]: left_x=0.2881 left_y=0.0002 left_z=0.1789 left_yaw=0.0022 left_pitch=-0.1697 left_roll=-0.0005 left_gripper=0.9897 right_x=0.4206 right_y=0.0789 right_z=0.0641 right_yaw=0.162 right_pitch=-0.1345 right_roll=-0.0112 right_gripper=0.9958\nstate[joint_eff]: [-0.2667, -1.7436, 6.9265, 1.6093, -0.0513, -0.0757, -0.0122, -0.253, -8.9231, 6.9402, 1.6142, 0.0024, -0.0366, -0.2027]\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 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8974, 0.765, -0.6106, -0.0139, -0.0338, 0.9897, -0.0612, 1.5185, 0.7074, 0.305, -0.0475, -0.0376, 0.9963]\nstate[eef_state]: left_x=0.288 left_y=0.0003 left_z=0.1788 left_yaw=0.0023 left_pitch=-0.1705 left_roll=0.0001 left_gripper=0.9897 right_x=0.4342 right_y=-0.0146 right_z=0.12 right_yaw=0.0009 right_pitch=0.0623 right_roll=-0.0087 right_gripper=0.9963\nstate[joint_eff]: [-0.3624, -1.5795, 6.8308, 1.58, -0.0611, -0.0513, -0.0073, -0.253, -8.3214, 6.3111, 2.2344, -0.1538, -0.0269, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5c8ea531ea37f2d5d7e27dfc300da865b2788f6f099ac294809ed1c51b714f1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87ecd9e9687900c58c5df1fb0338a552b2cd7b79d39e5e1fdba2ec70d8b3e67d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:452651dec769dd610472a48468582bb8fda424afded390fd305c980ace6a8389",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGHXGoQuv4-9_jNRz58_qCRLVDNEPT2RtXa49hD-DShfcGJhT-pXkqJCxaNr9zhogi6jc5eOwIx8rneYzL5OpGzzE7kWiwuwAg9g9i9mEBwJ1BbgStzlq6mU5mHe7zuB7IRdUN505eRuZRF_B_JuVdDlpvT_wEizFfWZZn3Vez4ceyvOtqidSf8SUz_jHxBshkDXol4WaPkwhbCgIE3MTFR2kQ1JZGrnk674oGNQjrzWIZqfKcbNeGjGpZalWXKZSBY37b5bqAgjkCuVpNwfwHTBxm6CO6WRLz-AqYnZNFWl_ZkaWN7JwtpXDa0DtArbIRR3RTQNXiE2I5SkIiY1JjYSb2fVna4OxhIJzRAjyCdWevRcdvcoxD3etfekTyvqBn3Z5DBEsPIo10T8F0SS44UE38TeulIdxt8lPqZ-HVCjVG6oZtjyFgawCkMB64TRpPxiPhQPmvevoLb27a2osRz6j0_m-_HR7ihxoE13ibgACihIh2K7P71V-bIlOLwrfC-yncnl9JzbZeqlq1HLQEsbL7gwcIdIWb85xKJL4i0mrq65RWkPRT8wR0QGZ2QdueU1pBA8O7eT-dtmFC62XSt3w-yj-G5nrRdv_R3LMaY1xhnY9y2n1rnIB2U_kK3inUeXvj1QsEZFkzvREw2YnMyKCgjJOy3LHfdXcRayWz59oFvXO2ErYeoNZjg8usf2ul-IDDXuQqY4Ea2SdAa_mN4bFjq2yd7RWhdPH_ao_zcdsj3onINpoQblnPyvBFdOX35SSWo9RY-Q4lZC4S5aJE5ecEkCs8kHkFAwpRQxDRmqw7l1Qnc9pdOypls109aoeB4ldEBOSlZXRrWMO6ClLXl1lx65XarzPg38PGOKmY9FlCInSM1VVixamIv_WnXca77D9QLMmw5xbz3U0xFRRt2K-oh3xDIOaAnBVYnh1WWP3k13Md_sL1ugF76mTR-yROAddn5v2a5S7NN5kzFsKCSBXQBNKn1JbKzfB9pysQQH2APaFHsIRR7vVSr-lxawQeqvUMDcDpGx5Kexy3jie3T4yc65B8S0jS77IX2xN2LpueLGMSItC2j1T0ybj0TCtNTISUk5VBb2TRb_ufjBaK44T4TkBEsNo5Jfh2-JCUBHralxyYVzh_kNTtdIdNUk0YoPz1ckpu8bOFE_AjZccs7VECBv424vQiELTzWpM-3npoWrK7t5b2-XKLCD95cSBaP86PyON66jdI4UwfUdhOFsbJX7Q7VLv03r1tWlPlI3eyyDj-2eKKKSS8WPVgnFpffCLx1mGt5Zyep09_eoL_5Mmxa7zz9ab9oRGtXNjK8pxty7bqbeKWNXUFWBWZ578eL1jnk7G1ILo8qsQSOafPOoCQWRr4jZCXsVemv0V2S8znxgarzHAuYhWjbMJg4jTY34PTl8r5UrmmJ0c0_tLn6N91NME3UZYvsQEyrFSYAdIndJ0n7sXLKQX2dMV2UddxNOHJWCjE09PYzE4HGEpjtngrv-3QW7Xaugq_HpeN5I4q_-Kizaqp068xJsHarYCyfFVIs8od24v0bIyxPVw2SxTbLRZiBrbLPVproKx6pdVAzvrJSSQXuInEyeMC3UZ1hAfKbLg77nlAWOADjunO3UwCQyypJ67YcZtmh2YX-rWFlu-v59PmHOlRa0JtL8uLEatOp518YCn3elNQ9oMKNUOfYNeTbuTnWaYZAEQbbatFnu81pa6IcD5yVKPYH9-yRB3mGdfh4gQhDnPCFG_FeAPGZZGno5TMQxCsxuY3EdeUoXzO4zJermVyward5RGO1CwegrgNEyVywPOPzBpKqxHGc8HaRKlFxSRTTDpqN7Z9L1DLtXc2UnCc0gim_r2zm21OtEE8922JV130CpfdfmAoklxYYnQEjovdzlkzVp1d8aSycU-cusB1hBOoTb82p3EtdM6vx6tV_USUEnq3X6gmu0HA0baxxoSAz-tZqbJLTWGpMn3Sl2wa7iTVSX43QIA5qnihVmuslapyKhxSBaNED4hyw7RDW_cLwWXAJq_Vr2IhIwORhUcXco5fchH69j4t50V4ZQlxugA02B1J_z2Mv9eHeStjbIMmZMpotGRWsSpcipy8P3Cuy0xYgIf6acp7rKdzkqUfAqOgV2mLrSlEllra5WCglTy1LFcck74BCCYm6M8VWAfyer7lFUiILo-1OfkR39k1CKp76-uO53V3WtlDd3YfxG6vx4m3RYrTzBu3AnsgK3NV_pmwbmwkKuoGoZg0nS2NfHMbKD1m5shdzaD0zvqTiHbxhAhW3rf7lnYFigOjMhCm5b_6hqdAjqsZeZJXa_QcgC3y-GhaN4A9amPtm_MTGxvsFI2pzSPHNv4icGER_ZXGZPK94J-iEEcH-PL4eWXqyoIFiGb9XVwCTb-qv-Zq74OiDPKZ1jZ7mV1yuKFGshrBaTlK3zHx1pMlXAyreHC6GbrPFe3QtOVs9a4Co7waFfX0DflFytmaYZNPOSdZhFX841k7lZjrPsyffCo6uzL-EA-HBmHte1TKbF5krnjXxxO7GE90lyuZk=",
  "id": "rs_05a69784554a2b24016ab461d169b887d0bbf796599d5ae86a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.005,\"right_z\":0.028},\"note\":\"The blue rim is visible to the left of the gripper, while the upright fruit stays farther inside. I will lower onto the outer rim with only the inner fingertip entering the bowl.\"}",
  "call_id": "call_Kj0w3JtAfWvSVXUk6cJB8vUP",
  "id": "fc_05a69784554a2b24016ab461d61e3c87d09d870a91977d3bfa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Kj0w3JtAfWvSVXUk6cJB8vUP",
  "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, 0.8993, 0.7647, -0.6113, -0.0139, -0.0338, 0.9897, 0.0036, 1.7985, 0.6224, 0.7895, -0.0319, 0.0246, 0.9963]\nstate[eef_state]: left_x=0.2879 left_y=0.0003 left_z=0.178 left_yaw=0.0023 left_pitch=-0.1735 left_roll=0.0001 left_gripper=0.9897 right_x=0.4578 right_y=0.0109 right_z=0.0733 right_yaw=0.0192 right_pitch=0.181 right_roll=0.0364 right_gripper=0.9963\nstate[joint_eff]: [-0.0068, -1.9077, 6.9812, 1.5604, -0.0415, -0.0317, -0.0122, 0.1573, -4.2188, 2.5368, 0.188, 0.3541, -0.6227, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7978bab3d03f6fb1fdcb5aaedc87c902874400c363c29f5fd4535224f80223d2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51593c7fbb7a612a0fcca2db62aac5b1a7f9b9da0c6f288d12235d221d4527bb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba4e876393de0b54ad4e1bc2b91d45b4118cfccb20926ba8ea28aafcafa85d4f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 24 attempt 0 · /responses · status 200 · 5.882 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 79 changed as sent

message 86 changed as sent

message 90 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8974, 0.7654, -0.6083, -0.0139, -0.0341, 0.9897, 0.1886, 1.6196, 0.7658, 0.1871, 0.0326, 0.012, 0.3814]\nstate[eef_state]: left_x=0.2884 left_y=0.0003 left_z=0.1794 left_yaw=0.0025 left_pitch=-0.1678 left_roll=-0.0003 left_gripper=0.9897 right_x=0.4258 right_y=0.0791 right_z=0.0781 right_yaw=0.1562 right_pitch=-0.0985 right_roll=-0.0093 right_gripper=0.3814\nstate[joint_eff]: [-0.0752, -1.9077, 7.241, 1.5702, -0.022, -0.0806, -0.0122, 0.4034, -7.1043, 6.106, 2.0586, 0.1197, 0.1734, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8974, 0.765, -0.6106, -0.0139, -0.0338, 0.9897, -0.0612, 1.5185, 0.7074, 0.305, -0.0475, -0.0376, 0.9963]\nstate[eef_state]: left_x=0.288 left_y=0.0003 left_z=0.1788 left_yaw=0.0023 left_pitch=-0.1705 left_roll=0.0001 left_gripper=0.9897 right_x=0.4342 right_y=-0.0146 right_z=0.12 right_yaw=0.0009 right_pitch=0.0623 right_roll=-0.0087 right_gripper=0.9963\nstate[joint_eff]: [-0.3624, -1.5795, 6.8308, 1.58, -0.0611, -0.0513, -0.0073, -0.253, -8.3214, 6.3111, 2.2344, -0.1538, -0.0269, 0.0464]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8993, 0.7647, -0.6113, -0.0139, -0.0338, 0.9897, 0.0036, 1.7985, 0.6224, 0.7895, -0.0319, 0.0246, 0.9963]\nstate[eef_state]: left_x=0.2879 left_y=0.0003 left_z=0.178 left_yaw=0.0023 left_pitch=-0.1735 left_roll=0.0001 left_gripper=0.9897 right_x=0.4578 right_y=0.0109 right_z=0.0733 right_yaw=0.0192 right_pitch=0.181 right_roll=0.0364 right_gripper=0.9963\nstate[joint_eff]: [-0.0068, -1.9077, 6.9812, 1.5604, -0.0415, -0.0317, -0.0122, 0.1573, -4.2188, 2.5368, 0.188, 0.3541, -0.6227, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7978bab3d03f6fb1fdcb5aaedc87c902874400c363c29f5fd4535224f80223d2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51593c7fbb7a612a0fcca2db62aac5b1a7f9b9da0c6f288d12235d221d4527bb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba4e876393de0b54ad4e1bc2b91d45b4118cfccb20926ba8ea28aafcafa85d4f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGHcoMAgcmfunf30OfTBhDKb26OfJIcIQ43b85xUziarc4cxS8ZCR6iOi6dC5Q0Nbop7XvraZf31iYTUmbIEqXrIJUBRk0KskxY-uR4sCifAVCrtqzJtMmaxmYr95NPxQBk7tFZc1YmjnQRZeX55IjKegMa77vGqQLDF4e3CsUAHMWr8AKPojuZmmgU9FaKQY-tjLwuqChbS8Tgv97oPGRXaXpTy0l7c4zdgF9e3Rj3396Bw6GFQecIepsOoKdpbsDL7OJP_lmlh3S9t8KRMirf3s1Ky3EdJ52krFGlGzdMcnK5zwS_JGAiPHopNsznR_1TY2hOAADvYVj9Ay7DeXvVTCPRyCkgjQ6SMoML006FOzQZdlrdmRYlkIEc7k1y18g6zYan06o1MU2IuEwhLM_9qfwWdzZ-0NbwYiH6e-9jpKrQnLeEZHhYFBHIHRJ6whEjdAH6TySurc9sIQp1Hj4VnKp0-t8Zz4O0GsZD0mj5NrcNrhn8qEzy28xhhSFZJjDg8zbKTrpY3rjUQkypR6KrRvdhPLJA-XRvpmo-zwZTgmeKeUMgdemI_kx-7a7yYdZ02MwTKoXJMcL9-8NZPs5Knj5jqfB61h3_0f_ueYZXZ3Rfv4GAit5sizqbjzAsCdtC3NXnZZUEQ66jBJax_tEGUzYV6-Aul-bRBFzAxkD1fW8IHMzAYUsU6tNiaFqOE5Zh6wS8wJr24qVQS-5UKBUvtIhAM5_egagu84Cep8nijIp1RUytCgU5hucdGXbzNTlc7-l2666EX70o-W8O9aPxxRM5M4i-Nhwl01B67WgLlkBq7fTDe_AsA-ALTIW8Gev3kioElPyvobpk0waVcFPxg95Ncj5nDqc2L1voXhFAYE30rXToDpfGB6Vi0OjEr1zdXDb4sObFrdjaUgbQ1pQJh073sAPYfm979m-1RPdyqssEvw7V9EQ4uRRuIpyn-uHxcKRlrOoqcAqpSUjUrt44_N-VTKQ5VM-bLM895GDl4921ysQGGmeELA9U4a1EX5gfl0bRowsabvV7SBvWG0PBqUfRWRUmUfJf5u_GAjlbhuKEt_pwGoe6SrmLr44skrTTlJyEM_GBTMvcQKUXbc3MYZDNAfFXWEa5JUBMbLzwk0l5FjdhOAuK0BbuG6kDINBYgw6-eIt0mcCLBRWyVHM3BhATdFL511Ysh9z9BM6kHMh0m2kA7cMN28pQAYnBK3eyLXsWS8Yff5fnaXBIqgF5bczmxBQBZsfUBFL73X_Qh3uuOktcUMlJS6sLfmlLoL-jWuTEqp5as6m49YaPM68W2hXWFBUtyiHBHntU8HuqQEJjYlXH1DvKInJE6MA_EkCUd9PJbc25hIRDJMZVe1buRTcjRT5uEHneOfX4p1pIm8H5jlVkcxhmYTMpw04ZEL-G0MyP_K03Wrudv0I4UCcXfG7x6ZaKK7h_eJqas_g8cmRr8j1MmBqv7UKhA10atUf6sGv3kIS5rEVaDC34ka8NH0iqgpuQ1ssV0UAm7TVfqDb4nz5eieCwKCNUaR9wEt7109Bgc8aOTqu6tWxgcP27weLu953RTla7ejyZlR20VP1o50uSRtIninpTezlJEOk9E44MydDJ3mx8CO0vw2_qAcpG_l1a9muS6GR2DXulbseP9OGVIp0vMCVEoMsGjUgNhx7TUegv9Ld76EFcNGu1Dm_O-2dN2DEL_IxezAsgYo6wJUVeNJk4S8xOAbBmzTrn7A-QzXJCauHJ7czpnYa5S-lGNDY2lEgfpLaiMYvF5gkAL8WLv6OqJ5QN8RkNAc4yGZXsn1ImdNdjFPIpBxgxnAAWTEMyI4KX65jPQpV9mP1lIlaRN9giKNTZAD5zxG_Jhqn47Np-w3_V63wDH7UbA7L5A1RMkTOITWKuF_Suyr1YUqZoz3Pjt8AqGF0edJIfnGRxZbKBkiba2gO0LPhMM8peeMXrLaqX4xbj5fpJYDULugXLXLAxi_lZ6hiJzxlht",
  "id": "rs_05a69784554a2b24016ab461d96a3c87d0881c4729ce2e4d03",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":-0.02,\"right_z\":0.035},\"note\":\"The descent stopped above the target, indicating a fingertip touched the bowl or its contents. I will shift outward and slightly back to clear that contact before closing on the rim.\"}",
  "call_id": "call_wh2jmSTfBoMcWN0QgN8Fq6e0",
  "id": "fc_05a69784554a2b24016ab461dba85487d0a4e59cbb7cf669a2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wh2jmSTfBoMcWN0QgN8Fq6e0",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.9005, 0.7647, -0.6136, -0.0139, -0.0338, 0.9897, -0.0952, 1.8484, 0.5228, 1.0386, -0.1165, 0.0368, 0.9964]\nstate[eef_state]: left_x=0.2876 left_y=0.0003 left_z=0.1772 left_yaw=0.0023 left_pitch=-0.177 left_roll=0.0002 left_gripper=0.9897 right_x=0.446 right_y=-0.0183 right_z=0.0735 right_yaw=-0.0117 right_pitch=0.2814 right_roll=0.0719 right_gripper=0.9964\nstate[joint_eff]: [-0.0205, -1.8256, 6.8308, 1.6435, -0.0611, -0.0171, -0.0122, 0.4171, -3.8359, 3.0017, 0.7692, 0.0513, -0.6374, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc1fbb1cd2234b4626fc5658cc843a7fdf9c63fb8f4ec101499d86d3aee7d623",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b55e038b9a9f41a0885ceffaf72b0121cfc11b2f01252c9aac9e8478e62f2433",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:774ab7b2ba394ef90e17198508ff894d7617e69d88aab349f49920b97cd02812",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 4.104 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 82 changed as sent

message 90 changed as sent

message 94 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8974, 0.765, -0.6098, -0.0135, -0.0341, 0.9897, 0.189, 1.6402, 0.7528, 0.1848, 0.0288, 0.0078, 0.9958]\nstate[eef_state]: left_x=0.2881 left_y=0.0002 left_z=0.1789 left_yaw=0.0022 left_pitch=-0.1697 left_roll=-0.0005 left_gripper=0.9897 right_x=0.4206 right_y=0.0789 right_z=0.0641 right_yaw=0.162 right_pitch=-0.1345 right_roll=-0.0112 right_gripper=0.9958\nstate[joint_eff]: [-0.2667, -1.7436, 6.9265, 1.6093, -0.0513, -0.0757, -0.0122, -0.253, -8.9231, 6.9402, 1.6142, 0.0024, -0.0366, -0.2027]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8993, 0.7647, -0.6113, -0.0139, -0.0338, 0.9897, 0.0036, 1.7985, 0.6224, 0.7895, -0.0319, 0.0246, 0.9963]\nstate[eef_state]: left_x=0.2879 left_y=0.0003 left_z=0.178 left_yaw=0.0023 left_pitch=-0.1735 left_roll=0.0001 left_gripper=0.9897 right_x=0.4578 right_y=0.0109 right_z=0.0733 right_yaw=0.0192 right_pitch=0.181 right_roll=0.0364 right_gripper=0.9963\nstate[joint_eff]: [-0.0068, -1.9077, 6.9812, 1.5604, -0.0415, -0.0317, -0.0122, 0.1573, -4.2188, 2.5368, 0.188, 0.3541, -0.6227, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.9005, 0.7647, -0.6136, -0.0139, -0.0338, 0.9897, -0.0952, 1.8484, 0.5228, 1.0386, -0.1165, 0.0368, 0.9964]\nstate[eef_state]: left_x=0.2876 left_y=0.0003 left_z=0.1772 left_yaw=0.0023 left_pitch=-0.177 left_roll=0.0002 left_gripper=0.9897 right_x=0.446 right_y=-0.0183 right_z=0.0735 right_yaw=-0.0117 right_pitch=0.2814 right_roll=0.0719 right_gripper=0.9964\nstate[joint_eff]: [-0.0205, -1.8256, 6.8308, 1.6435, -0.0611, -0.0171, -0.0122, 0.4171, -3.8359, 3.0017, 0.7692, 0.0513, -0.6374, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc1fbb1cd2234b4626fc5658cc843a7fdf9c63fb8f4ec101499d86d3aee7d623",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b55e038b9a9f41a0885ceffaf72b0121cfc11b2f01252c9aac9e8478e62f2433",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:774ab7b2ba394ef90e17198508ff894d7617e69d88aab349f49920b97cd02812",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGHiB16pHdyXhr073TqExBZ5doUblgchcZNzgkwmlwK0Ir2B5q1L8JIRlAyV-KPXwoh5vD26e1wu9BqXFotbagUEhrAlVqaux_uKpuK0UQ8HgTaYLP966T_KZq3xzjk2w6nshFKEl6aolelZzlBWjl7-6gxJ0Bq74JQ-RDqlxQrp1vcHn5XeJnT4dxbXeiSUHjmPTJL7ITSayIEAFRhQ8QqSsbgPDIYAYGwcANRGvRNdWkVJC-tvebCJmBhZaEfa8OfMYqFEKfroy8C2Bnzl_gay9SNk6FCZ75lP1eyl6yN1m198KsRN2Pj4x7VcsZu5yAlXgbCsUCcUiHnutxbckIY5d6vtzFspXTq4fAiJodCrQBAjP1VwsNYB3LV988WOOZyHSgEpc05u1TXa5-j_LdxTzGrtCKaod3u2F70qR2uwra3UJ_jpy2Cbhw5NTaHo1ZxDk2JBNRqLVKxXM0yGc1afo1mHw_V24ww3APofh8cxMVyPDDifz4Pmb3wQy58kTaATmxbNBGiUCSFxFt8NZ6lcpEfBW0QDNs4OjrNZYkxQdEpOR0EtaXz6xgjaMgOJycX_7VH9H7zglf03FrMYL7ifpZaftDe7zuufSk8B8Rjr_6MpcFM2jzMZEvBRMg5jR3eJcbnk-kwW8c3BGZWStkEBV-3XoQc9UHazs53k7JVZ5CHEX3o0-xC7ZBklsJ2LNGrALxOuUSkZ1MmFPbQvzfOOb9yhv9BYGod6cHYa7LeBf2YkKfawiqvskqePt_sXg0Kr_RUMFJ3aOfZbagTgjfJWKQF6EXYbhfDOVe9LWzm2aM9lhU4iZqBrkURz7bT388EjGc7LTIOayuYRRz2M0PNU15CiwigBf4A7a64be9TGFP4lDLu_WEANEn-nlmse2lNeRC1J6tZgXzUBj0LX60ESfoeGrzw7dOYDQu0kZUskN86zH_so1ZJxMTkfDSUr4OSaj71f015jroLIxKgh_M6nxE-3uYq_NBWrWYS10vggHI15v0OqI-yITBN29vpV4rai250XH4q18uK6EHWhCyUDnxQw3Ksnrj6s-fuE_U3c3ul6kuuG5Eul7oM1mHxHiTopOBGVnr8s69US-c02JFsZ6B0d-6hrB_9JGDQ_mMEPsnvDxFng2XY45exFYCV3HQ6QdHjaehB2uOXltCsSKzSEZALFxQzeCvOcOU1GBNodbS0hfVj4OLT_dYT1i2BH2q2eV-lcFywn15FDQiYj2yrOz1mxghVjw4velv0vyEh3SSLSWRwEjjfgRnkuBH1Uc16zUV2LMzb5d6QnNS6TR_16GswZIa3JxT6ocJ_FqqKikd-CX-Lc1pb4YHmEFQsL_tQr1jrx9qo0zVOEskRa43kEpkpARPdO8TQXVZz2Ez4arVaqvnAO1-GLd9equ4j5AV0reSflOW327fZuidrdXDDhQngaYuPELMpPtTy-VWpQaCROkZl07HslZ9GSbWJrb1ENX3-0KPjN9HLR4n1F3K4odoliUthiq67H7n0fxACELmQrERedy4aV-NYgwZS8i6FLT1FjyeVnuxUr7gOXI_TdwUA1esHhPDHVHEx6TIm99OJMNZ1CVWHcxP2K2hFsDLBYvK1Xjf-tSCGM53gEQa6X4SvmnzVuZ1qtrPJ93zvBM2foGM7c0eGIwYgoDzyAiXCcujfwFRK2KNNT-8mIs3CLzIgCde7WIbg0Y-uo39ZqUugZcjGWD8PX05SGuwKLi3h5dGmnLbmagiRKi_b2OHR9uT6z3DaViI-qvJEhhBgRVAosHrYPo3gwXPohVUlCDzG-iKEGPVrGBdDu4TlNnBZ1bN-uRKQ-pNhi3Yg9w024g7ZRVyJGxzHlOiHgTT4IM-6D2sLd9SzIUveQSrQmp_7IJtH4xD6xiQuJC0wJ9-M0dBhfHsSV_mYHthEdsB2RLtcbvqt3pw1bDeOQvToEi85zozVxC9zjk-xQRyaKeOAyv0Rycd4G7rv7390Oow6IfTHov16camQxxAnqydL7pktEi1sMJhuUAaKiJXYd1Oqeh6OaR2zxDW19vjasntWGjUTJK680m9AeChO-27xdPiSthLSRF8i_kjecUK0zDNeFz2k=",
  "id": "rs_05a69784554a2b24016ab461de326487d09be3bccb26d74d17",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.365,\"right_y\":0.07,\"right_z\":0.16,\"right_yaw\":1.57,\"right_pitch\":0},\"note\":\"The side approach is still catching on the rim rather than straddling it. I will lift clear and turn the jaws to approach the bowl’s near rim instead.\"}",
  "call_id": "call_xnx3Nj0noA6VkNayExyrRYLC",
  "id": "fc_05a69784554a2b24016ab461e1754c87d09a91b66dea5c2afb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xnx3Nj0noA6VkNayExyrRYLC",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.9005, 0.7647, -0.625, -0.0139, -0.0338, 0.9897, -0.1131, 1.8992, 0.4896, 1.05, -0.136, -0.0082, 0.9964]\nstate[eef_state]: left_x=0.2857 left_y=0.0003 left_z=0.1752 left_yaw=0.0023 left_pitch=-0.1884 left_roll=0.0005 left_gripper=0.9897 right_x=0.4337 right_y=-0.0216 right_z=0.0437 right_yaw=0.0103 right_pitch=0.2113 right_roll=0.0419 right_gripper=0.9964\nstate[joint_eff]: [-0.1436, -1.7983, 6.8308, 1.707, -0.0708, -0.0464, -0.0122, 0.1983, -7.0085, 3.6034, 1.6728, -0.0757, -0.1832, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9385a9c4b9bff42b88e306ac32898ddb2cf5b6a41f2ff508ba92dbb3fbbb62c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:667cc4dd9958182099f99728af395b450645da2f92edaa6069fd8c68b4622ab5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c479c2762492318f9034ef6626e26a0e3e8f5227b452bc9ab3632b4326a49d4f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /responses · status 200 · 6.893 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 86 changed as sent

message 94 changed as sent

message 98 changed as sent

message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8974, 0.765, -0.6106, -0.0139, -0.0338, 0.9897, -0.0612, 1.5185, 0.7074, 0.305, -0.0475, -0.0376, 0.9963]\nstate[eef_state]: left_x=0.288 left_y=0.0003 left_z=0.1788 left_yaw=0.0023 left_pitch=-0.1705 left_roll=0.0001 left_gripper=0.9897 right_x=0.4342 right_y=-0.0146 right_z=0.12 right_yaw=0.0009 right_pitch=0.0623 right_roll=-0.0087 right_gripper=0.9963\nstate[joint_eff]: [-0.3624, -1.5795, 6.8308, 1.58, -0.0611, -0.0513, -0.0073, -0.253, -8.3214, 6.3111, 2.2344, -0.1538, -0.0269, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.9005, 0.7647, -0.6136, -0.0139, -0.0338, 0.9897, -0.0952, 1.8484, 0.5228, 1.0386, -0.1165, 0.0368, 0.9964]\nstate[eef_state]: left_x=0.2876 left_y=0.0003 left_z=0.1772 left_yaw=0.0023 left_pitch=-0.177 left_roll=0.0002 left_gripper=0.9897 right_x=0.446 right_y=-0.0183 right_z=0.0735 right_yaw=-0.0117 right_pitch=0.2814 right_roll=0.0719 right_gripper=0.9964\nstate[joint_eff]: [-0.0205, -1.8256, 6.8308, 1.6435, -0.0611, -0.0171, -0.0122, 0.4171, -3.8359, 3.0017, 0.7692, 0.0513, -0.6374, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.9005, 0.7647, -0.625, -0.0139, -0.0338, 0.9897, -0.1131, 1.8992, 0.4896, 1.05, -0.136, -0.0082, 0.9964]\nstate[eef_state]: left_x=0.2857 left_y=0.0003 left_z=0.1752 left_yaw=0.0023 left_pitch=-0.1884 left_roll=0.0005 left_gripper=0.9897 right_x=0.4337 right_y=-0.0216 right_z=0.0437 right_yaw=0.0103 right_pitch=0.2113 right_roll=0.0419 right_gripper=0.9964\nstate[joint_eff]: [-0.1436, -1.7983, 6.8308, 1.707, -0.0708, -0.0464, -0.0122, 0.1983, -7.0085, 3.6034, 1.6728, -0.0757, -0.1832, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9385a9c4b9bff42b88e306ac32898ddb2cf5b6a41f2ff508ba92dbb3fbbb62c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:667cc4dd9958182099f99728af395b450645da2f92edaa6069fd8c68b4622ab5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c479c2762492318f9034ef6626e26a0e3e8f5227b452bc9ab3632b4326a49d4f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGHmQj_0-WAODJg4U4wL93CmpFVAGe5FstKT3cJ6Om5apuyhgr9_dP7Y3gIFG_lKb444Q8ad-9s4OtSa082y5SeQudPGU39RLSrWvn9TutQnxchzuhEuybBp_Qqr8gHKAIgpaz_VLVHHTBo5K_GdnwOhFo5pbqDoWWvUK51_iwJt5ajlYHK-QSgpCCbOyTvmPOyqVXpbDEXH36sSLYNkRcaUMgj1qVOe_RnjlZDrWPB5necwtgcN6nL8CvS0QKmzLwcous-eZnxlc5SMtRmynTBBxNxaHqOwdCFicv2nLgTIj-pAIUpjW2zMN0R3J1jFiWHymIwWmAys6Iwkaol2HLd7gtiPcUjiwKRVe1iAo5tYXB6qMMeTha-knglucUh7gl4yBcZP1OYswKLS3Pzm_GFKyBK94aO2I5MyZ7o8fBOnBXrvNn39H1bRzmg12TkAsbgXTRyNDGrfJ_Djqn_DOhpBM6PcV_VkvNJByFxle8Cyf_bTitqSi44ljvALg8MRt_KyA3rXe8JCODLZvVnhznScRlZxvTjJW5xBeOvnG7jZMXtnxYpivNaiB5KfLOv_wBlNVgzCbNOdtXy5rlFToSmZzbgoIChgoED4Oorse0hC3M0Pul66Jdhm07o-TDww7rcJIqB5xn403IrnccC-ISZbQO8Paohxopu7LZGNaZzXp7_CmlT_f7MFoAsM-w-sL4fvFkufPj4SEpFHBAoSgKGovGgihG-9yXAdmcCQbopw8QhXjUAE_VATNhkS968Mz8OY_HeoLDY5mAjzeLDrt7HE8wGGB4WmSgDw2B3d9Eth_EJOc3do_5MH8N_-jeKcNz-wNwkWGhkdb9jhRq00rY5WPHRle379o3LwXQrjfhVM6Zq5_Jzux14alL4GtYSdz7Y0j5kkWkT-roYV-ba3l8wpGVKkt-4InsJ83H9sZka497foGM0OPsCsNW1TEWru2O-FXC0-0pL1gcBked7Dmv9tJnOT8pmG-eqcHoITHqvDh1SbrxjaeI3_HlEE4fkD1tp_B5xwSwBybgesybAqHIdNKWjcLqvbUXSYimnNWYc6GpRhF4oXZ8iybqbVu7nzsMDu0Xr7K8eUnPeU5zygN2AdZCX8RJIq_yC_BCDDnodG9g8h1y7tZioik5IjfArV-CoVhQtSEE10NlsWg2HKJLrRpO0-LZTYVm6ETyhHUFnuZHPkBteplfj3oWLp2bUL_0Zc_Nz22xYIxjLCPqb_QVO17lsL7lJPBPUm6Aa3PdrRG31h0AuO-A-6U9_cpDBRkcTC4tcOx8LDQEFexShs4rBCIbm-qcCxl1BGoJRhqswu36zr_BWIkSGayOmKbCK_FrU5KiXcxT7OjVVHHrODu79Jp64GKTWoZ_yLl0KK2iYhyiRcfejN7l7SI0YbkR31vRo6",
  "id": "rs_05a69784554a2b24016ab461e5273c87d0a1869387feca6782",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":-0.02,\"right_z\":0.17,\"right_yaw\":0,\"right_pitch\":0.15},\"note\":\"The combined lift and turn did not track, so I will separate those motions. First I will raise the gripper straight up in its current orientation to clear the bowl safely.\"}",
  "call_id": "call_JsO0KiTASkXAl4rRA7CU0SYh",
  "id": "fc_05a69784554a2b24016ab461e5cee487d0a13b7ac2f4a99009",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JsO0KiTASkXAl4rRA7CU0SYh",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0204, 0.9051, 0.7647, -0.6323, -0.0135, -0.0341, 0.9897, -0.1055, 1.4254, 0.7048, 0.3138, -0.1509, -0.036, 0.9964]\nstate[eef_state]: left_x=0.2847 left_y=0.0002 left_z=0.1727 left_yaw=0.0019 left_pitch=-0.2003 left_roll=0.0002 left_gripper=0.9897 right_x=0.4312 right_y=-0.0153 right_z=0.16 right_yaw=0.0447 right_pitch=0.1656 right_roll=0.0277 right_gripper=0.9964\nstate[joint_eff]: [-0.2667, -2.1812, 6.9949, 1.5995, -0.0611, -0.0708, -0.0122, 0.4444, -6.7487, 8.3487, 1.8535, 0.0073, 0.1197, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e8b8925e2e0df6973d0d89b8c9de5eaee3faf4526c49feddc5cd8c8f12efe70",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2efe4ee9b0f74d72be4e23e13557ee9f00cc27de5f8359a02662286bb69c6ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd840915fa2cfdd60be5a23be004e59bd04b18a9c229f72f90bdc0d59e467571",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 6.159 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 90 changed as sent

message 98 changed as sent

message 102 changed as sent

message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.8993, 0.7647, -0.6113, -0.0139, -0.0338, 0.9897, 0.0036, 1.7985, 0.6224, 0.7895, -0.0319, 0.0246, 0.9963]\nstate[eef_state]: left_x=0.2879 left_y=0.0003 left_z=0.178 left_yaw=0.0023 left_pitch=-0.1735 left_roll=0.0001 left_gripper=0.9897 right_x=0.4578 right_y=0.0109 right_z=0.0733 right_yaw=0.0192 right_pitch=0.181 right_roll=0.0364 right_gripper=0.9963\nstate[joint_eff]: [-0.0068, -1.9077, 6.9812, 1.5604, -0.0415, -0.0317, -0.0122, 0.1573, -4.2188, 2.5368, 0.188, 0.3541, -0.6227, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.9005, 0.7647, -0.625, -0.0139, -0.0338, 0.9897, -0.1131, 1.8992, 0.4896, 1.05, -0.136, -0.0082, 0.9964]\nstate[eef_state]: left_x=0.2857 left_y=0.0003 left_z=0.1752 left_yaw=0.0023 left_pitch=-0.1884 left_roll=0.0005 left_gripper=0.9897 right_x=0.4337 right_y=-0.0216 right_z=0.0437 right_yaw=0.0103 right_pitch=0.2113 right_roll=0.0419 right_gripper=0.9964\nstate[joint_eff]: [-0.1436, -1.7983, 6.8308, 1.707, -0.0708, -0.0464, -0.0122, 0.1983, -7.0085, 3.6034, 1.6728, -0.0757, -0.1832, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0204, 0.9051, 0.7647, -0.6323, -0.0135, -0.0341, 0.9897, -0.1055, 1.4254, 0.7048, 0.3138, -0.1509, -0.036, 0.9964]\nstate[eef_state]: left_x=0.2847 left_y=0.0002 left_z=0.1727 left_yaw=0.0019 left_pitch=-0.2003 left_roll=0.0002 left_gripper=0.9897 right_x=0.4312 right_y=-0.0153 right_z=0.16 right_yaw=0.0447 right_pitch=0.1656 right_roll=0.0277 right_gripper=0.9964\nstate[joint_eff]: [-0.2667, -2.1812, 6.9949, 1.5995, -0.0611, -0.0708, -0.0122, 0.4444, -6.7487, 8.3487, 1.8535, 0.0073, 0.1197, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e8b8925e2e0df6973d0d89b8c9de5eaee3faf4526c49feddc5cd8c8f12efe70",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2efe4ee9b0f74d72be4e23e13557ee9f00cc27de5f8359a02662286bb69c6ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd840915fa2cfdd60be5a23be004e59bd04b18a9c229f72f90bdc0d59e467571",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGHvmSUXFq8jjC9ItXr0ubKZbpi6bXMAQEK66KgYp-3hniB5kFwmfErp1oVkH0ve0Z2XwVCyFIu-wOqpRl_KccEZZNNDbabqFS6ZQjkpDr6YAaEaHixurHcg1NXUm5ORVi8d-5LKBR--ZvKW4CNqqn5t7K-LnILtCXYCtAC0myP6fYZwg41i6Eb4jhNlojZdioCSd-XCrR6qScL_O7VfaVIbWaELSI7wDFVqDJ1-Terwb3ocYFCdbY_D8yfjiYHpjbia25e4yEZNmDRFgRsFikBabVrF_OLq_LnI_eW1wsqQwjNVsjIGzJ6t9Wg4YQQWbQaA1eMttf6nTNzHn6xTCSZvPK-LaU-M7ReypEmIGSEltYo6zzLU2zDdw1PrGS5J51gETEc2AD5H7eshsm6l4CQcvSgdelyL84Nbhq_t0g7CXtqjHnoREaEEibMbp_NHHTZDVk3kU5dFtb_Mblog07xxD2YIQCOwtIdt3peOc6OQrFLCrCzdl0mQlZ-c8anapDOPYbmVmpWQ6rgXVXpULAFE7qNXrFAmu_It4ImQ1i6PGETvaVqypfQJ5BOFCz35nV9pwAF3usA3zKWAVr0Rjl_jaiErcXLCql2x1HMQTuCkHbyuW4_18l9iQ2dtEitQuPYSgEjTZi1owk_i3OIcFI_iFGsAYhvZMD9HgF_lP6W9r4AycUx5kFp4FqU_hjGTsYyW8G-fKcU2Y9hqLRMH42zNqGqvrAl-KdWgCZdIQMLvDz--TRsAemhz092T-BYfbeNjNbYL0w37wDkwUwdsX3szyllhokDiSkHtOkeg8tAzTXtvt7X1URY7qfskyKqDV1cOR6n8_c4vdf1pwkBWJmMiI9onG3mW_frX8d6nwQr5VTYY9kIJ6rAprkCSUtID0WYEC5VyRjNaBFnAEvZLTMW-nxE3ojsoTaJ2b2hrMZhRaCAbDt3yvIt1HRD9mcfwrhqsO4A8PoCFdwiW7Bgpzsop9rZ9YmHJgGUOhONx3UXqRzqPZZNOMbpIuI8AyFzbom6Raiz1prE0pf9Fzvj7SzBqB-AHZqWc7lMB8_2Z2FVtocEl2JSYMkgXLV8rYHuGhnBfekfgoS9jRJTjTyqZa3iZZDnhMEYBPbR7txNP0df24vyk7iDEkVaj8tfjN0O0HaFdwlNQ5KtYv3ABbRj05_IhRRq-9-vEXzV_cLuS6R8ybS-HAKE01Uy7CJqdQQbeNToLP6b91BU2R9YJwwZMFG_j-Rf59WDjn_HFYqKvH6EWKXdE0WF_3SNVJy6wKNgH5zruSI7emU1A2JNErve507zw0uMhX8biRuAV_snXd7BY-ZjLRD5Gan8YFoRxlHf3-EbWz7fvT60j6Kylj0qjzYahJW1dUhGzngt88zmsYO8mlth7AaSHNyOG_5t9Jh9Xk9rvbIhl6M8JGiyoNZSw483vFj_fgbu_sOGXOGKunV0-aLII5DAFiHMyBDAho5o_1UzTNJu0gXdmz__vHbd2vXMJcZMhGJWM_jtAHdx0-wg42o3HGEX0dMScPtmdPrZEvq7WpoqQuy-rWRz1VSkxSTCbuazF407kHdPZV8La2ql1ZVgyQZWXdSz4ATJlsZ3ELDLJ-R7mHUoKTVOHbMkQ4W9s-f73NRAXJ_Lteo0hG44ViVCrbOpUzitHRGxuVIpA_I2yzRBEqVwdnQUiijacgk9ILsNkVRvVwUqWuy_A5BqU2PAR64n2X8V8mHcQLLIcaVtxcpUmTv3VDakT_FbhTHmHfHqf5vjbhkl_3_Ct-GdhIKUliVK44r1b1Hyx5PvhpHWRRz9gzqB3OdW3j9FAiXFmBdgdSiZ0vaYEYJ8J_HsV_ufYkigDSytaRdygrFj89K7ttpd9oU5IHR1Ya39UAj_do6o4AYhaA5OclADJpLO8jFKEJqAG7pna-d83zKzBKuh8Uqszdt2C6QL5mBj2ThBDTpK73I4gt4N66dg2YJ6uP4Jd5E1CFOJEKekJIfU-HWYfvPWJq_t6eFnp40aRwAGsUpoIiprd3Zo5kZUkDxLq2S5IksbQxzagrsMcuEAM3nJ4ibMdudm9C5jFpbR4uwPyI-TxStc42UdD-Pcrumr8HG-SJmUgr6woPqsG-0U74-wWHdIGqsBVM7VzB1zwT2esceARjrj5ydX7lkDu2ijZthwCKGQKhXxuH3tRQUU5mHdVCyUxfkr8cgW72sYQve1xU2JB3A67bUx5Gwp55MByUvSbs02T-Y-kdnOjIt4rymMJTngAe5JGs17ZX_RwCiF42oQghRSvglLYdEOw9kA1Ra_nVYP6Z7OspeFsu8IvPBQKucmAZ7e0XIald3rwlACI4XdW1OK6iNMnaBzaJAgmFzh3nVik3BYQUAhhEUjJjtgx4YpFM3mb0KHHp_yVBX84mvGV4l3_ZXRvekveuG-R0ROYUoVMEUi81wEKaV02Oe_h68uk3ywYizEZ32hT5hQtFo4dbO-G3fsNKUtvlNIM9IeO7scf9lsvZ-G3Yh5JyrDbuKTu3LNI-cBNDGw6UMVfXOJN3vlLeVoPxV43m--uL5w=",
  "id": "rs_05a69784554a2b24016ab461ea1c3c87d09187324f5971c420",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.335,\"right_y\":0.115,\"right_z\":0.16,\"right_yaw\":0.8,\"right_pitch\":0},\"note\":\"The gripper is clear, and the blue bowl has shifted slightly toward the front of the table. I will approach its near rim and rotate the jaws in a smaller step.\"}",
  "call_id": "call_ltOWiy6doDQJGICq96lmh9m2",
  "id": "fc_05a69784554a2b24016ab461ee558487d0a0d97f36a1881d4c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ltOWiy6doDQJGICq96lmh9m2",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.9051, 0.7647, -0.6327, -0.0135, -0.0338, 0.9897, -0.102, 1.4052, 0.696, 0.2459, -0.207, -0.0631, 0.9964]\nstate[eef_state]: left_x=0.2847 left_y=0.0003 left_z=0.1726 left_yaw=0.0021 left_pitch=-0.2006 left_roll=0.0005 left_gripper=0.9897 right_x=0.4209 right_y=-0.003 right_z=0.15 right_yaw=0.109 right_pitch=0.1148 right_roll=0.0366 right_gripper=0.9964\nstate[joint_eff]: [-0.1709, -1.8256, 6.8308, 1.5458, -0.0415, -0.022, -0.0122, -0.253, -6.8444, 6.4752, 2.0147, -0.1197, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4d1371b75d5da83174e73b24730c7c51b723cd6be919258061f3406d58e21fc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b014fb30c674d7823b63df9a41a4bbf558758d012bcdc67e7b0647bdc1a0c26",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e4674ce60928de135ddb8a3ca044b8d7fbd3199eb94ca45cd8f7a4210669e5d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 5.704 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 94 changed as sent

message 102 changed as sent

message 106 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.9005, 0.7647, -0.6136, -0.0139, -0.0338, 0.9897, -0.0952, 1.8484, 0.5228, 1.0386, -0.1165, 0.0368, 0.9964]\nstate[eef_state]: left_x=0.2876 left_y=0.0003 left_z=0.1772 left_yaw=0.0023 left_pitch=-0.177 left_roll=0.0002 left_gripper=0.9897 right_x=0.446 right_y=-0.0183 right_z=0.0735 right_yaw=-0.0117 right_pitch=0.2814 right_roll=0.0719 right_gripper=0.9964\nstate[joint_eff]: [-0.0205, -1.8256, 6.8308, 1.6435, -0.0611, -0.0171, -0.0122, 0.4171, -3.8359, 3.0017, 0.7692, 0.0513, -0.6374, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0204, 0.9051, 0.7647, -0.6323, -0.0135, -0.0341, 0.9897, -0.1055, 1.4254, 0.7048, 0.3138, -0.1509, -0.036, 0.9964]\nstate[eef_state]: left_x=0.2847 left_y=0.0002 left_z=0.1727 left_yaw=0.0019 left_pitch=-0.2003 left_roll=0.0002 left_gripper=0.9897 right_x=0.4312 right_y=-0.0153 right_z=0.16 right_yaw=0.0447 right_pitch=0.1656 right_roll=0.0277 right_gripper=0.9964\nstate[joint_eff]: [-0.2667, -2.1812, 6.9949, 1.5995, -0.0611, -0.0708, -0.0122, 0.4444, -6.7487, 8.3487, 1.8535, 0.0073, 0.1197, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.9051, 0.7647, -0.6327, -0.0135, -0.0338, 0.9897, -0.102, 1.4052, 0.696, 0.2459, -0.207, -0.0631, 0.9964]\nstate[eef_state]: left_x=0.2847 left_y=0.0003 left_z=0.1726 left_yaw=0.0021 left_pitch=-0.2006 left_roll=0.0005 left_gripper=0.9897 right_x=0.4209 right_y=-0.003 right_z=0.15 right_yaw=0.109 right_pitch=0.1148 right_roll=0.0366 right_gripper=0.9964\nstate[joint_eff]: [-0.1709, -1.8256, 6.8308, 1.5458, -0.0415, -0.022, -0.0122, -0.253, -6.8444, 6.4752, 2.0147, -0.1197, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4d1371b75d5da83174e73b24730c7c51b723cd6be919258061f3406d58e21fc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b014fb30c674d7823b63df9a41a4bbf558758d012bcdc67e7b0647bdc1a0c26",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e4674ce60928de135ddb8a3ca044b8d7fbd3199eb94ca45cd8f7a4210669e5d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGH2KM0F3MZkTjxMQST-tPEsWQele6jQSLV4lfDUZ88KOCbZO-YWL3uIuXEvCbVAVMcjCtFBtd5qxDaDwXa3dvCSj5yF-PurltwKy89up2MtFZHO6whFkAf_1cJZHPYX6Sld16K2xMbnaHCacVJhn3pJdnTi7SPnJ9x72K3DDy1VUyW9dwbkPtcj5NsPcI5RAw-XmcMXtZ0yRmkLcbJX8RJmSFIECdBrFTR_RfH9VB0yG8webP0PXKKT8EPhVlqdilzK2lYt_Fovb-gYJAQZA_0Ae_FMwV1ThJd8YGwuPzev-v8n73HxUCbxAPU-SbsFMhxOtRjaqwi3lvfRrBuz_P0WtRf39yFsjs3SRTBn-9sHer_ByJ3mxJ8YVmMa0v9Tt6Xsn0MSPJdj14gUArpj_CgMIPoYS-DkGddjanTs7ErmoU5jFdxJ7D4v4TlBrGXrM8vjbwXUlOEGjTuJjivjFs4nMTEenASnhvA5o-5BtFLUIpyBb-ueracJU25Hjw5CxAhbRE4Q_wmpKbiqfeDWUUp3hcuq1JMwAabzg5P5bXH3xJi-DJzhTkvBtd6QmGF_R5MfHCMNHeJDAm0j0n_g7EuxBEX3kHeVTKNzOqz611DuA7LoAvrL9Q5WjwfhL9qG-KZ2qsX-w-HKyelfn5T1ofqTTkW8GjiQgcBv9HffR4z2Kj-c-W-1mVSmr1_co_OHT4hIIgGK2tIn2kRVTdaXBQ8DtUl4aS7rDITmcSho9yHC5fKvbGQRgOYKdLzRhMHLDVQ480SY0MehO2lxg9ZwnoNn-IxX4Hu3TsvmdlgoMcDU5WtLFnoQQ6ibcraeVxNYYV9oLtP0FxBmuYOnjzrVXsZEka9qQTatxnOOzRtJsdFsbdALwBST8iXuCuTDHjqskan7-0k00jttqnwnh71XKt5_IAuX0NV3NxY5xljJHt5YqqtcZZzRU7muU6Kl_RbSg-9PVpUBABS3kOV9KD2EUSVb6CmiTi-U1TLEr2wosHafwXwSf0jaZtj2hXvFeoG6BHhZ8RrkxLLbD-T-ZWOAapmjM2wSq3qskLEG5Bagbs4XrsDcFSNtzpiZq9H0xOuV2_Apsm23qIAuGwUGT-1SEwl0UwtX2DlWQmlNiETUUbNvdrYLHcDSHwyPjZwV8zhcaZqtGwS7s0pSShE8j-Fj8_xyqUhbqRGSuI5NYNNotDnnS_SdQlVZQ7sJcY7V6Jyc0OesanJg4PkrheYlFds4bgHXGqyGydg04mMxOzYP4GuIi-REG-8bR1GROPQXP81DkQPVwme39OCi8SOMmBoR-B9dVZef5OPkRzJBYYG-K0iJAHEObPhMWctbMWjIp8KQXbPPnRssbAJOq-O-_ND1OeGL_Q==",
  "id": "rs_05a69784554a2b24016ab461f4c7a487d096968c2159558167",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.345,\"right_y\":0.115,\"right_z\":0.17,\"right_yaw\":0,\"right_pitch\":0.1},\"note\":\"The rotation is limiting the arm’s motion, so I will keep its original jaw orientation and first reposition above the bowl’s near side.\"}",
  "call_id": "call_g3uFxboSPEhVwdsw7SJj6a1R",
  "id": "fc_05a69784554a2b24016ab461f581f887d0bb542651c329454c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_g3uFxboSPEhVwdsw7SJj6a1R",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.9089, 0.7647, -0.6476, -0.0135, -0.0338, 0.9897, 0.4953, 1.1793, 0.6228, 0.0303, 0.3515, 0.2214, 0.9964]\nstate[eef_state]: left_x=0.2823 left_y=0.0 left_z=0.169 left_yaw=0.001 left_pitch=-0.2193 left_roll=0.0009 left_gripper=0.9897 right_x=0.3467 right_y=0.1223 right_z=0.1592 right_yaw=0.083 right_pitch=0.0766 right_roll=0.0224 right_gripper=0.9964\nstate[joint_eff]: [0.0068, -1.9897, 6.8034, 1.663, -0.0317, -0.022, -0.0122, 0.1436, -5.4632, 8.335, 1.8535, 0.2662, 0.1148, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6054a9f9550010be243df2e581824c1912ddcce732907827517a6ae76a57416",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d409985af932f584dfcd7734a3fe980a5435d43c4d4ea2da63daeaa95ac07da8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad63486de81020144136fd1c2525e52bf9ca0a7563e3fb5e2c5a9cd2ef9bbea3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /responses · status 200 · 5.123 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 98 changed as sent

message 106 changed as sent

message 110 changed as sent

message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.9005, 0.7647, -0.625, -0.0139, -0.0338, 0.9897, -0.1131, 1.8992, 0.4896, 1.05, -0.136, -0.0082, 0.9964]\nstate[eef_state]: left_x=0.2857 left_y=0.0003 left_z=0.1752 left_yaw=0.0023 left_pitch=-0.1884 left_roll=0.0005 left_gripper=0.9897 right_x=0.4337 right_y=-0.0216 right_z=0.0437 right_yaw=0.0103 right_pitch=0.2113 right_roll=0.0419 right_gripper=0.9964\nstate[joint_eff]: [-0.1436, -1.7983, 6.8308, 1.707, -0.0708, -0.0464, -0.0122, 0.1983, -7.0085, 3.6034, 1.6728, -0.0757, -0.1832, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.9051, 0.7647, -0.6327, -0.0135, -0.0338, 0.9897, -0.102, 1.4052, 0.696, 0.2459, -0.207, -0.0631, 0.9964]\nstate[eef_state]: left_x=0.2847 left_y=0.0003 left_z=0.1726 left_yaw=0.0021 left_pitch=-0.2006 left_roll=0.0005 left_gripper=0.9897 right_x=0.4209 right_y=-0.003 right_z=0.15 right_yaw=0.109 right_pitch=0.1148 right_roll=0.0366 right_gripper=0.9964\nstate[joint_eff]: [-0.1709, -1.8256, 6.8308, 1.5458, -0.0415, -0.022, -0.0122, -0.253, -6.8444, 6.4752, 2.0147, -0.1197, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.9089, 0.7647, -0.6476, -0.0135, -0.0338, 0.9897, 0.4953, 1.1793, 0.6228, 0.0303, 0.3515, 0.2214, 0.9964]\nstate[eef_state]: left_x=0.2823 left_y=0.0 left_z=0.169 left_yaw=0.001 left_pitch=-0.2193 left_roll=0.0009 left_gripper=0.9897 right_x=0.3467 right_y=0.1223 right_z=0.1592 right_yaw=0.083 right_pitch=0.0766 right_roll=0.0224 right_gripper=0.9964\nstate[joint_eff]: [0.0068, -1.9897, 6.8034, 1.663, -0.0317, -0.022, -0.0122, 0.1436, -5.4632, 8.335, 1.8535, 0.2662, 0.1148, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6054a9f9550010be243df2e581824c1912ddcce732907827517a6ae76a57416",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d409985af932f584dfcd7734a3fe980a5435d43c4d4ea2da63daeaa95ac07da8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad63486de81020144136fd1c2525e52bf9ca0a7563e3fb5e2c5a9cd2ef9bbea3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGH9oe2Ig7AcE7VmjOILff1OIot0pk637XSIgZrst8xZjvs8uQYcf45hEP9i1Rp6wI6FeAlMHIxyyydUr7WdokwSTmwrF-Vex-Qkgb707FhTbd8LsbiarXuczNnN3seKvwrtOBYVPKyMFNOt93r2fCfPXRoo2eKI_3EF2zFEoctKRbUcRlvQKPWRrJVDpcQW2omH4XMzsh-ghlJt6Hkz06Nqsr7ewX47MAqRtBiHzw3UDERjl0lIZbbjQRtcuK5v8XTjlN_n3JijxjF7mAZMzvyXgg3wwh7JFC-reA__Yy54hDWpmdSWTmqPAQvInsXekWSWwSnWs4xBwhUzEdsj-v57jZqDDpk9cYevLJJf-_qJ9oc6biXN4xj9bWnZmQO7jLAiL2vNKEmijOg1gEhQscH0XJfAW0m4gLN1tvnHiV4pJPI9qUOZBfcSYHjuWWSNNCUSdxrena2WUWLK-Ps7bbwKIy9V7DbkNRYDDX65oRQKiAp9jz-puWNpy03nzJ08O247w_tRblJCzf3wIO9Y-vvy1eXGLlVXM1E2cZDI4Qx7ihVcY6tu3hiv-woU_9VVgCVKUGzjc9rd8VMGpbDUjs24i5kJKt3u5L4KHpTvUCgPB2s2uVf2Bf2wuqC4MDBzV8qhs8q_5L3FjTYu7FOVYOx7stqra1o7tUPBYwAncj8JUCbBibs5mcL8gnvSCZAfFd6ERdUcfbnXnYIyNenqipCEQ6HMM5XufdwhP3kkI2VFVjNBV0hMhYF9I6xPt4KTS2RM0_TJsCOskjeFopk1Ib33_p216ydq3Y7Yh9HOECi8z4x-NpJEXO8OxNoceASAAp8kSWjonvSK5cJ0NTsN0JV2CK3OgBMwai-IPfBMS6NGrxxiVvLrXX8rYl0GJd2HrFLCG0KH3lVf2Em7rc7Rfhquxpe5kxl1TPwz1P4sp5klAabsiVldg-zOi6toov5i2s8vNlO3sf3oPiuUdt7Klt-lBgN03yR9H6sBr0M33nTAVjytUZh5lEYu_THbjJJXyUVZGmrrY8hGdASU4OBasn5_aJwDtwpfyTEUS1ZMivNZ0IIkyd7ay7cXOkK7aKLNTDf0Vrmo5JznAdo1Epl1eo7rD-hNgNT4JagKiEyHntO6sLVBVVjPW4E2tsViaOnKlL7dQPdW0dT0JPKDbQbyytVeLE5OuzYacI8Rm_w8tmJHTxUzwExIpt4cp6OAFqhjB9g0_rK-NEEW00fkVmA3wVB6mRZfkPbb9wE94i0omsE8cBrevpdvs2_ceEn0tQpGS9w7hsquAuCNvRNlXqkiUWw7PQ63_JCpBvRfR-v7_i-tUOzypxaEEWCJEzoXHQS32QchF1lHkQ6Rfi1opnEMO6jAn4Q_69wemmJfiCIDBNhmKHR83eW9yi2N2kP_9MLCHDtgCoASbMSoWqRmO-1LYES8s4yXoZxJdHep4jSzC0lkI7kGbWfzKiXY-Jc9C1Qd1gcn2cD7PI7Syin5JBhxXQD-lgQW3qTq45tQbpP-SeZCVgiRlExmiUjTC4nH-K3A0C-4jU5g8zGGUku7WAIFQixVWbVQaK3Tfkk14TiiEO2mLkR1PBwPBmJ04HZnh6kY367GWmx7qi6H3IYvyGqYDUxgkK_fsyoBUoB5T0iAkN2gAuNszLIi6fpCDnKce71bQozoBi0Bj2rYWzu5kJVrwTF4WGmCmLZx2UB8zibYSnU0s9l2sAAnUEwIlrGagi19Q4eMAG9NrmjmKYe7bE7YHaUsg9ukSYySw9mTUn5i9DY3qd7A41K_PtX8eb82DXnyMVItSDTpl0vOLDc4bx2Fa7-CM8hwhRUz1MTtoRiOrUML_HeIILaHJqkeJ2pg-F0vfhej_8XQewkPJXXrNb1L4THjZbyPnTOfFUmnTBY4AiHEEAmDOiUu3wwau9_oz6_Z2dwQwF5-IdkGcHbyx0Zi1KzRtQ==",
  "id": "rs_05a69784554a2b24016ab461f9588487d0ad579de13f9d02f2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.355,\"right_y\":0.06,\"right_z\":0.04},\"note\":\"From this closer view I can separate the bowl rim from the upright pineapple and the yellow fruit. I will align with the right rim at the bowl’s new position and lower beside it.\"}",
  "call_id": "call_YAaqZKpRETu7fpYbGjeRjpgH",
  "id": "fc_05a69784554a2b24016ab461fc1b7487d0ac8a107d923b7a96",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YAaqZKpRETu7fpYbGjeRjpgH",
  "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]: [-0.0212, 0.9108, 0.7647, -0.6521, -0.0139, -0.0338, 0.9897, 0.218, 1.536, 0.2874, 0.6815, 0.123, 0.1104, 0.9964]\nstate[eef_state]: left_x=0.2816 left_y=0.0001 left_z=0.1677 left_yaw=0.0014 left_pitch=-0.2258 left_roll=0.0013 left_gripper=0.9897 right_x=0.348 right_y=0.0586 right_z=0.0308 right_yaw=0.0567 right_pitch=0.0053 right_roll=0.0288 right_gripper=0.9964\nstate[joint_eff]: [-0.1026, -1.9214, 6.8308, 1.5653, -0.0708, -0.0122, -0.0122, -0.294, -4.8752, 3.7812, 1.5458, 0.1148, -0.3687, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a0376efdf8176a53439464b000924dba663d4a82f3e0a077347091e5fdd0c1a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c5df09e17dca864db8eaae9036e327fbbd983462f55d321bc95d7c4788f399f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99652d2448a554ef9e9651d7c59d28213731a5825a3f0db274fbc363bad5bfa0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /responses · status 200 · 4.182 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 102 changed as sent

message 110 changed as sent

message 114 changed as sent

message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0204, 0.9051, 0.7647, -0.6323, -0.0135, -0.0341, 0.9897, -0.1055, 1.4254, 0.7048, 0.3138, -0.1509, -0.036, 0.9964]\nstate[eef_state]: left_x=0.2847 left_y=0.0002 left_z=0.1727 left_yaw=0.0019 left_pitch=-0.2003 left_roll=0.0002 left_gripper=0.9897 right_x=0.4312 right_y=-0.0153 right_z=0.16 right_yaw=0.0447 right_pitch=0.1656 right_roll=0.0277 right_gripper=0.9964\nstate[joint_eff]: [-0.2667, -2.1812, 6.9949, 1.5995, -0.0611, -0.0708, -0.0122, 0.4444, -6.7487, 8.3487, 1.8535, 0.0073, 0.1197, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.9089, 0.7647, -0.6476, -0.0135, -0.0338, 0.9897, 0.4953, 1.1793, 0.6228, 0.0303, 0.3515, 0.2214, 0.9964]\nstate[eef_state]: left_x=0.2823 left_y=0.0 left_z=0.169 left_yaw=0.001 left_pitch=-0.2193 left_roll=0.0009 left_gripper=0.9897 right_x=0.3467 right_y=0.1223 right_z=0.1592 right_yaw=0.083 right_pitch=0.0766 right_roll=0.0224 right_gripper=0.9964\nstate[joint_eff]: [0.0068, -1.9897, 6.8034, 1.663, -0.0317, -0.022, -0.0122, 0.1436, -5.4632, 8.335, 1.8535, 0.2662, 0.1148, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.9108, 0.7647, -0.6521, -0.0139, -0.0338, 0.9897, 0.218, 1.536, 0.2874, 0.6815, 0.123, 0.1104, 0.9964]\nstate[eef_state]: left_x=0.2816 left_y=0.0001 left_z=0.1677 left_yaw=0.0014 left_pitch=-0.2258 left_roll=0.0013 left_gripper=0.9897 right_x=0.348 right_y=0.0586 right_z=0.0308 right_yaw=0.0567 right_pitch=0.0053 right_roll=0.0288 right_gripper=0.9964\nstate[joint_eff]: [-0.1026, -1.9214, 6.8308, 1.5653, -0.0708, -0.0122, -0.0122, -0.294, -4.8752, 3.7812, 1.5458, 0.1148, -0.3687, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a0376efdf8176a53439464b000924dba663d4a82f3e0a077347091e5fdd0c1a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c5df09e17dca864db8eaae9036e327fbbd983462f55d321bc95d7c4788f399f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99652d2448a554ef9e9651d7c59d28213731a5825a3f0db274fbc363bad5bfa0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGID11Jy9_VC2xj9WEo0buSGDwXjngJ7nqlwCoVIf-hzTwLN3rfvSN1EdmrhfZkE08Elwiw4pRto5gecADnskaOfNRaltd1V4cPiDmgok1Y1-9Ng1nvUUtAF9ruWHBnCTd3WUz83l1Oe6KC32XuN4LVCL8GEXqjGaw2IR96M-ssPge23xPhrtbrVV1snf8k3ucVUxiEQwyyCkpKwq_FCbAd57a5fVfrSwoWx76wVdIsJr__qQpTmbwqldDMP7xXHV8ndE-z5Wh-y_7s3a-PMDq5LWHvkftNJINtb9duXuyqDScLOlqzVjWYXfqIizuDEHEm3X9pQY1DMus6KR5nY4KNE1VrO7nqtP78dYG8E65pyC2XYHWR59nS08GNvuy2ci_bWA564sZbr5Q_2lzLISiPeh2KixugQloPCvwn0GIyuJyAjZXmOS20AvEB6IeydqEwKNrEzQxLiLmGxzRqK9TxYId8UHbDmCZ_uK-j3wyl-8inZwTkkbtrCJ8bNxR7XFFFeS989QQCM0ovFRfY1S0jRk-yL1youAmNnxZWvTyly5MVTdlxpaYSGrQ2ZXydFY9TuJ2cYkqZLAYwCt46hoq0yAwLe9V5YHWyvG6BXCYumLoVJyxaZzP9tb1EsqprOMmIAcE5erAKVzrA2ONrYtUNXrMLxjYvwpWXj7p5a4MvUVe_LRzpvMp__9u8TPPt-bVJveLhBJ0hIKJ40Op7-LxBARbkzUD9uyHSf1Dp6zysvlgoJ3aCeRYmltsQIqKS3f8tEvAqlSGjTlIYSztweTPAOOeKXJocUDY_4H86MVFxbK6-JsIzGbLq3jM2jsZDLbR7ViKjrEbNRPuUdeqvpMOtOVsGK7ysutDUEF0iVWbneTeTpLv2d38qEABdjcCKk58aMtoCDp0SoACBUqlE5v35JGbFBPrNBUN6OOp8c2IR4NLou7wWsKwytMUV-7TeUG6N0bN-7fog4r267pzxrHGecM9yEYpac3NG5ycuSn0mWlwBRRjF4bVwZZhkpz6_JbCKc6cNn_BzgYtx4tKsWJbyw_CVB0LQBPmMCX1a-szIR2EPYMO-XFwhWoZu5ucxOfCivQonzWbJYnHcSeJ5Wji79i1ljSCv8z6Ml2IKRaGaHlMhnqfY5Q4LOnH7PliAm0yDzi7F1YzyjDV5qvjgUbQjejYmYnClhw7c3VZTP2t8tZ1kLD8usbDS6XjRr4AxWocxgOXeM5JDlMIzCli8LEKebM0QDh42ma5fqHWYMf41vE69HlEKnr-ZdTRbnIS6vckbXaSwVT_9swSaUIfG6jn3Yey3RY5Z8wLA-0jvNpSSc6EXzjzui9rHSJAgOBOf2LMv4HvNDMykpmCIUb8k27H6Qrty-4Ndm9YnGNYnwSbt6aXII8ACgs4QlQZNOfWcSQc4DIvb9PoUR51R1ycQWxBgwxkqec9nYKYoPjuSMqtabSgNEd5cpJIfPx_qqqnYeewajdf0mDVkgw_sCrUC5qT13IqvFVtSE6ggkcVqvC63SmVXAcEVR7oy_De3kkOAu_TRtafOEkRkxs6IjZviaIxY3rxMnX5-xfev5Kxr57IKcDme2fuu5Ri07VnATj02RU3S0Dw_5_Aw_dAHBK_XecjQWNS7DzhXrfObsR8x8VvqW0BurVVjwMAmGjAYurJO7vH5RIqUP4zHRK6VUia7WJiVYOlLbCWGEPsG6GUfL4NkXrIOG5f3cu_WSNMZxHoojCXGeDti3UMplw1Ya8aZiBM6TXSzyoLMaPPjVzP9XpRUstYXtQka1vDQyIw7z2N6esoHGgB3jZSm_EYYm-cNVKZlmnw_SCsYMffyXuYVLPFewfLo=",
  "id": "rs_05a69784554a2b24016ab461ff608087d0a19803c0d6f7dcba",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.375,\"right_y\":-0.012,\"right_z\":0.042},\"note\":\"The close view shows that the rim is farther right than the first alignment. I will move the jaw center outward to the visible right wall of the bowl, keeping clear of the fruits.\"}",
  "call_id": "call_TmZQeBgpMzwNo4MxDRtleLpt",
  "id": "fc_05a69784554a2b24016ab4620205a087d0bb5fc60f80b94492",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TmZQeBgpMzwNo4MxDRtleLpt",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.9108, 0.7647, -0.6521, -0.0139, -0.0338, 0.9897, -0.0971, 1.552, 0.3618, 0.6121, -0.1158, -0.0376, 0.9964]\nstate[eef_state]: left_x=0.2816 left_y=0.0001 left_z=0.1677 left_yaw=0.0014 left_pitch=-0.2258 left_roll=0.0013 left_gripper=0.9897 right_x=0.3681 right_y=-0.0117 right_z=0.0368 right_yaw=0.0224 right_pitch=-0.0063 right_roll=0.033 right_gripper=0.9964\nstate[joint_eff]: [-0.1573, -1.8393, 6.9538, 1.4823, -0.0659, -0.0708, -0.0122, -0.1983, -4.3419, 6.8444, 1.873, -0.1197, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e330043a86a17827b78c61992d97f401e7c8dfd16437b948a31907970d2777d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8497ad9337df03ade84757fa2c41de1cf5645b8eada1d1b34e5685181fb104d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ae0c92b75b7e1f2ddf19612d5a2a39c4df60523e6a08f237d0399b85eaf4b1e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /responses · status 200 · 3.008 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 106 changed as sent

message 114 changed as sent

message 118 changed as sent

message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place 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, 0.9051, 0.7647, -0.6327, -0.0135, -0.0338, 0.9897, -0.102, 1.4052, 0.696, 0.2459, -0.207, -0.0631, 0.9964]\nstate[eef_state]: left_x=0.2847 left_y=0.0003 left_z=0.1726 left_yaw=0.0021 left_pitch=-0.2006 left_roll=0.0005 left_gripper=0.9897 right_x=0.4209 right_y=-0.003 right_z=0.15 right_yaw=0.109 right_pitch=0.1148 right_roll=0.0366 right_gripper=0.9964\nstate[joint_eff]: [-0.1709, -1.8256, 6.8308, 1.5458, -0.0415, -0.022, -0.0122, -0.253, -6.8444, 6.4752, 2.0147, -0.1197, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.9108, 0.7647, -0.6521, -0.0139, -0.0338, 0.9897, 0.218, 1.536, 0.2874, 0.6815, 0.123, 0.1104, 0.9964]\nstate[eef_state]: left_x=0.2816 left_y=0.0001 left_z=0.1677 left_yaw=0.0014 left_pitch=-0.2258 left_roll=0.0013 left_gripper=0.9897 right_x=0.348 right_y=0.0586 right_z=0.0308 right_yaw=0.0567 right_pitch=0.0053 right_roll=0.0288 right_gripper=0.9964\nstate[joint_eff]: [-0.1026, -1.9214, 6.8308, 1.5653, -0.0708, -0.0122, -0.0122, -0.294, -4.8752, 3.7812, 1.5458, 0.1148, -0.3687, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.9108, 0.7647, -0.6521, -0.0139, -0.0338, 0.9897, -0.0971, 1.552, 0.3618, 0.6121, -0.1158, -0.0376, 0.9964]\nstate[eef_state]: left_x=0.2816 left_y=0.0001 left_z=0.1677 left_yaw=0.0014 left_pitch=-0.2258 left_roll=0.0013 left_gripper=0.9897 right_x=0.3681 right_y=-0.0117 right_z=0.0368 right_yaw=0.0224 right_pitch=-0.0063 right_roll=0.033 right_gripper=0.9964\nstate[joint_eff]: [-0.1573, -1.8393, 6.9538, 1.4823, -0.0659, -0.0708, -0.0122, -0.1983, -4.3419, 6.8444, 1.873, -0.1197, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e330043a86a17827b78c61992d97f401e7c8dfd16437b948a31907970d2777d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8497ad9337df03ade84757fa2c41de1cf5645b8eada1d1b34e5685181fb104d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ae0c92b75b7e1f2ddf19612d5a2a39c4df60523e6a08f237d0399b85eaf4b1e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGIHI5pDhWkqGJDkFbw3ch0eBYdb-nPLTHI-iZusbpM3DjxC3k_4iK78FY_EIG_NEcavrHoYGVYyWLBU2lOduSuOlOzfh4x4VO6r-bxLwHnaw_NnTwwvc6wyCN9v_R1ro21hii_4CVZy_DwILq6hhM7wWI0h1YAMalyP5yQUR0jRUYwr2cBwbx2BcF4FUqFOZ9s93dKMqJbryTKEjOJVUxpganB4mSNcCC5S97llxgcbYFKYR0W0eEznSpGlRbvji7Oo9axzypqVCVkQxwmOtXEXIf06jrmD8qvpvhdEhJVCHyNmWbmlAyAUR5BlciVqe4eXqaMlAjIbqOJ5MU9xnXfKXj4OlDIdlaaPYrXX3jCuqw1B2gTak-Dr8NzJHtCEhfzZjNV_OujL9NpCmthnW-4hNOpKxMUv29wjz8QDRAfbGabhwl61YIA1uvVFLSS8DF_g-rqsroXgjIelcFfBnRghtd6oEIFN7wS2Gx7NDLQ0gFe_hPFanLM_XErXpV03giwr1XOcg5_g6bjFfgZ4SHGOAyCcy9dGemGvZ1g4KzpmqI_bTVNuUYmIo1X-c0OlRg1hvWxJuMX20GegVbl0eVGyHXHgH5nmNmbFxXSExh8KtO8v9PLX7Pndn65ugyqFkEcJbMMGWNfINKQPzH36139_QnFX_AA_YuU3tvCO4DAyMfGbI4vttttEUhUcFCjiV2asMQFWbdcphc8bbuRM1k7QVWa99FJGXe4I5bZ3nGll-zHilqsNdhZS0s6WkOm2XgOxj8zyGkA6OBeoj9dcuxcVg3A1FmWKIIwzjMVHqRJrazq-LW58vJy97jseWHVVmzWn4desvAYa7nuVwJrC0tyTX68JlljY_8slk-P4ROgXdkT8-jYDfgRmi-xjJ5rgdmce_pPDulgoD5pjNvItgMa4SvOC_g2cs7_1Pvw2MUvHPLppRZIe6IrCCCcXE9K0hoe2KUhE31AoVaO0mdTHbcHYu14O_U_F-hEOh4e3fNSLrXgcjiyHh9tWQa1o6ldKp6eMc_S6HU8hFKT_3zIG9d0WQcsyoCSCB-SQNKhAJ7qJCvHML3_lm63CgdS0mhaSh1PTZISn3v2LrqmcGj1mckpbVLMazL_puuhT-jVWsny8KU_q34Z4zO5gD4S4hKtqny0pr73BOMETrg84pTHvjEYeCWIT8hKGuQtMy-ZulVVPT0g8unWwavugd0Ma_d1JC2g_mTBJzSCNQ71R8XAoemqRaAPEg6wn2tJIlLwj5Vwijhiue8bCEGz64yTqMxrDwjT7CZUYNUnvoWyNVxOlhR-7q_PvfAK0SECuLe-Nu4yLx-VYQSxkpIke_jLC4pyOhQ-xK196ENOvDE04eGqcuEtg7dChN2ZwDAarDmqJ890gHXj1XB7_9XJuNROk2twss9DJd-mWT-o6i_wDSem82eAKEpONSrXtVRkpFA2lkRXS1xUFQ_Mzt6T8DEed0SC56evA219kxcG1VRwQX9k3Vx72H0D5jHs4Y-QC2MM1XDgxkpWN6Jylr9tSpfYL7yC3pwNXrqwQpkqjontIN31q0BARCm1N5jMYfRq-Gw6nBAqFH6h0LHQ5wtD4OuEZiqWqlR9w2dwdpIr1O4qDlQpNbEPq9xzbmOIO2neFA5JpDls5Gx499Ho-aQYKAXiXlsgKFtcxQVZDXiF0EGxVHytQswlc30u5IbWQgd2_Rbc_nDJRG4PB_nk4Fc0ZP6s9L2GCwc6aV2rH4ChFebCVRQ7te8pkCw==",
  "id": "rs_05a69784554a2b24016ab46205000487d0aad5e0480d8afdf7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":-0.07,\"right_z\":0.16},\"note\":\"The bowl slid when the inner finger contacted it. I will lift above the rim before moving farther outward, so the next descent does not push the bowl again.\"}",
  "call_id": "call_MYRAUGDbRyTpx1shSfMYd8As",
  "id": "fc_05a69784554a2b24016ab46206faf087d087614ff8cee83cd8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MYRAUGDbRyTpx1shSfMYd8As",
  "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]: [-0.0212, 0.9119, 0.7647, -0.6521, -0.0135, -0.0338, 0.9897, -0.3088, 1.3415, 0.7422, 0.0013, -0.2733, -0.1513, 0.9964]\nstate[eef_state]: left_x=0.2817 left_y=0.0 left_z=0.1674 left_yaw=0.0011 left_pitch=-0.2269 left_roll=0.0011 left_gripper=0.9897 right_x=0.3917 right_y=-0.0711 right_z=0.1454 right_yaw=0.0035 right_pitch=-0.0053 right_roll=0.027 right_gripper=0.9964\nstate[joint_eff]: [0.0068, -1.7436, 6.8034, 1.5214, -0.0269, -0.0171, -0.0122, -0.3214, -7.1043, 8.6359, 1.6386, -0.2759, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3dff1778f18eb295f99cf5740fbf1221f61d522027efbfabb57a72165bb08771",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a28a792daacec494b41efff212e081ab8f34f4a89337a31657071338f7deb5b7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e29cf49cc4a7a25d87235cc4b8eadc7525fe4adf540bf936ef3ab9a9e53bfea7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /responses · status 200 · 11.01 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 110 changed as sent

message 118 changed as sent

message 122 changed as sent

message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.9089, 0.7647, -0.6476, -0.0135, -0.0338, 0.9897, 0.4953, 1.1793, 0.6228, 0.0303, 0.3515, 0.2214, 0.9964]\nstate[eef_state]: left_x=0.2823 left_y=0.0 left_z=0.169 left_yaw=0.001 left_pitch=-0.2193 left_roll=0.0009 left_gripper=0.9897 right_x=0.3467 right_y=0.1223 right_z=0.1592 right_yaw=0.083 right_pitch=0.0766 right_roll=0.0224 right_gripper=0.9964\nstate[joint_eff]: [0.0068, -1.9897, 6.8034, 1.663, -0.0317, -0.022, -0.0122, 0.1436, -5.4632, 8.335, 1.8535, 0.2662, 0.1148, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.9108, 0.7647, -0.6521, -0.0139, -0.0338, 0.9897, -0.0971, 1.552, 0.3618, 0.6121, -0.1158, -0.0376, 0.9964]\nstate[eef_state]: left_x=0.2816 left_y=0.0001 left_z=0.1677 left_yaw=0.0014 left_pitch=-0.2258 left_roll=0.0013 left_gripper=0.9897 right_x=0.3681 right_y=-0.0117 right_z=0.0368 right_yaw=0.0224 right_pitch=-0.0063 right_roll=0.033 right_gripper=0.9964\nstate[joint_eff]: [-0.1573, -1.8393, 6.9538, 1.4823, -0.0659, -0.0708, -0.0122, -0.1983, -4.3419, 6.8444, 1.873, -0.1197, -0.0611, -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 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.9119, 0.7647, -0.6521, -0.0135, -0.0338, 0.9897, -0.3088, 1.3415, 0.7422, 0.0013, -0.2733, -0.1513, 0.9964]\nstate[eef_state]: left_x=0.2817 left_y=0.0 left_z=0.1674 left_yaw=0.0011 left_pitch=-0.2269 left_roll=0.0011 left_gripper=0.9897 right_x=0.3917 right_y=-0.0711 right_z=0.1454 right_yaw=0.0035 right_pitch=-0.0053 right_roll=0.027 right_gripper=0.9964\nstate[joint_eff]: [0.0068, -1.7436, 6.8034, 1.5214, -0.0269, -0.0171, -0.0122, -0.3214, -7.1043, 8.6359, 1.6386, -0.2759, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3dff1778f18eb295f99cf5740fbf1221f61d522027efbfabb57a72165bb08771",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a28a792daacec494b41efff212e081ab8f34f4a89337a31657071338f7deb5b7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e29cf49cc4a7a25d87235cc4b8eadc7525fe4adf540bf936ef3ab9a9e53bfea7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGILJTOPXmzbkyEjzVoV8g692U-ciCuMGTZGI4FGXrssoE4cQF6q0Akmjn1CRRbNeiLCe4BKUGo-9hWSvs8VrHDuW8zREIDVpULO7Eo6jlFHYR2y569Cay1vpaRXYq8s8GgQeQ08LGW2--gM3HfRXU71PU0D4IanXXENDoYnfkbtBOcOluMSRsz3raOylETIGgRW6NU3btuKUihtnVLpAC6LvcgeUH0t91-LPxuttJe5eAXiC52u-CW2zkVHxGohtOR-CmCT61a48-R1E8vz-bBFFr_q-jO0Je7EskxiP2T04U5JiIItHs5sBJlGGOgBB2NS0RqQ22LL-cotwWUQSfAXEZFFMqhuBkRuSg6Rqru4OOgr7Khb-REqvjV1ykU8FQPTCH7cczFW6PMEubiUVOFb4oCfP3F73_8T39hJxn3U-V6owD_9sBaqf6hkX_dOfNirnCr6VS73ACqSFOcBLpsv39MKlf5LW8H5SyavEjkIUmzR_yTOpoWTz3DQs3uyw3aO-Yz8oXR2u6juj9WNsmiOVs8ZL5FkWv5G8V_OAZTsZgokPTELnCdiV6TyX61oSbpsXbAD1XMwcz7gw0CU5nh5MCdyBX3IJK2SbGmUCkAUEzdx29-rbUZtejUvMoLjeMGEN6vLWhFLA_h8jFaLzlePQrupWYxefToakbICoHi4SRiqOeJW2F6NylwUUzMbyJy69qQbEA1WigKR71tHB3EYSj1R-S8dAUOEg8k2UfC1eLxuiBTiSf149iKoz-FuLpgbZNNrtO7B52el2KVMeOksBCVHBqSuaLMEkXx3dFGYJB6KkM3lZomjpIa0M0h4b6jdZUEd3rW60yoEcX-EjdgqkXkRFpfOSFEPWcyJ-VslOTdyf7ykSL2xYrDVzQDYMszcq--GksWB8lY8lDxI9NmIyJXC7V9un5FGtApmhLau_a4k6lDkdKvHiWzybCO4neeRCAopeQ_jhEQzSEc1mdphDzafUXbuLGC8Oy20hPGfqf6PDeaAbbUP_TDjWsdAM5y-axI95EGjmZot00cOrsBcer0DbB9w7Skk4_9CJUPjejMZYiHHw6imQ3rBvSCfcu5Qb_8HFyckv-75no2kp3B6POwE5tahVOwQQh3zv3wz_OHtd7OuOl71gk0iNdThun1rwXzBN9a79gvArLoMMyYYnQwL6w1_n3Q33lKfeQabCNmItgIbIcs36yBHJvkrmPnFNEgA-SMDU5jVZ6W14BtjNc10hNNAjJHUJ1v4rJCJmpXZfG4VDMVHQSDmeiOXxf83t5eZGHp5YyTb3nl-s7hw_g22GRLJYkjmfsOK63O2ogf7OXWPeWtejsH_RM5iU08p7tsZx6pcr-TqiX2hfCnL94WQvaFbsd1LNDipTihqDGqjYNoilW8YldhESRSL_GjoMLWhvnvPhNY6ldeKYQje9CW3wscjCti953cpZ1msNxbAxcJd-68UXEIwKuVIB05y",
  "id": "rs_05a69784554a2b24016ab46209fce087d093d2329406e745d2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.043},\"note\":\"The bowl’s outer right rim is now aligned under the jaw center, with the pear and lemon to the left. I will descend straight down without shifting the bowl sideways.\"}",
  "call_id": "call_uJwsj74HRmcqSzFdO5B84zi9",
  "id": "fc_05a69784554a2b24016ab4620abc9087d0bcbc15f2e0fa86e8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uJwsj74HRmcqSzFdO5B84zi9",
  "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]: [-0.0212, 0.9134, 0.7647, -0.6525, -0.0135, -0.0338, 0.9897, -0.3107, 1.5932, 0.5423, 0.5236, -0.3031, -0.1383, 0.9964]\nstate[eef_state]: left_x=0.2817 left_y=0.0 left_z=0.1669 left_yaw=0.0011 left_pitch=-0.2289 left_roll=0.0011 left_gripper=0.9897 right_x=0.4039 right_y=-0.0705 right_z=0.0732 right_yaw=0.02 right_pitch=0.0665 right_roll=0.0309 right_gripper=0.9964\nstate[joint_eff]: [-0.0615, -1.9624, 6.8034, 1.4969, -0.0269, -0.0122, -0.0122, 0.1709, -4.0684, 2.8923, 0.3785, 0.3394, -0.1929, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d29742d5c0ad60aa0d1a83340d2e653e3398b5da46e4fb00dac1f6c85bedab0e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94ca195048555575ff762dff5a77fb8090b35eecc1dbf9fa524819c101273c66",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77a7fb936698bbb00705feb5a3ee2b21c8b5aaa30c125ac75a88982849fe1f7e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /responses · status 200 · 2.361 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 114 changed as sent

message 122 changed as sent

message 126 changed as sent

message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.9108, 0.7647, -0.6521, -0.0139, -0.0338, 0.9897, 0.218, 1.536, 0.2874, 0.6815, 0.123, 0.1104, 0.9964]\nstate[eef_state]: left_x=0.2816 left_y=0.0001 left_z=0.1677 left_yaw=0.0014 left_pitch=-0.2258 left_roll=0.0013 left_gripper=0.9897 right_x=0.348 right_y=0.0586 right_z=0.0308 right_yaw=0.0567 right_pitch=0.0053 right_roll=0.0288 right_gripper=0.9964\nstate[joint_eff]: [-0.1026, -1.9214, 6.8308, 1.5653, -0.0708, -0.0122, -0.0122, -0.294, -4.8752, 3.7812, 1.5458, 0.1148, -0.3687, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.9119, 0.7647, -0.6521, -0.0135, -0.0338, 0.9897, -0.3088, 1.3415, 0.7422, 0.0013, -0.2733, -0.1513, 0.9964]\nstate[eef_state]: left_x=0.2817 left_y=0.0 left_z=0.1674 left_yaw=0.0011 left_pitch=-0.2269 left_roll=0.0011 left_gripper=0.9897 right_x=0.3917 right_y=-0.0711 right_z=0.1454 right_yaw=0.0035 right_pitch=-0.0053 right_roll=0.027 right_gripper=0.9964\nstate[joint_eff]: [0.0068, -1.7436, 6.8034, 1.5214, -0.0269, -0.0171, -0.0122, -0.3214, -7.1043, 8.6359, 1.6386, -0.2759, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.9134, 0.7647, -0.6525, -0.0135, -0.0338, 0.9897, -0.3107, 1.5932, 0.5423, 0.5236, -0.3031, -0.1383, 0.9964]\nstate[eef_state]: left_x=0.2817 left_y=0.0 left_z=0.1669 left_yaw=0.0011 left_pitch=-0.2289 left_roll=0.0011 left_gripper=0.9897 right_x=0.4039 right_y=-0.0705 right_z=0.0732 right_yaw=0.02 right_pitch=0.0665 right_roll=0.0309 right_gripper=0.9964\nstate[joint_eff]: [-0.0615, -1.9624, 6.8034, 1.4969, -0.0269, -0.0122, -0.0122, 0.1709, -4.0684, 2.8923, 0.3785, 0.3394, -0.1929, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d29742d5c0ad60aa0d1a83340d2e653e3398b5da46e4fb00dac1f6c85bedab0e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94ca195048555575ff762dff5a77fb8090b35eecc1dbf9fa524819c101273c66",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77a7fb936698bbb00705feb5a3ee2b21c8b5aaa30c125ac75a88982849fe1f7e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGIXaXsbQx9y3pFS_sf8vjn73FmBA27dzLOUXJOaBd7n8rXWvfODVIPPGxZfJN05KIntP1gbqceZKFyvf2gHO3Lk4O7vrYNTJ5XoIKgwOhNt1WQSuLwmObM-rgz_lY5mCsBfWbD9G7kld8NFzJC8sI5YsINtKJUjPr4dibAsrSI6W-5GW-ZwYCbZqFwBDYUIkku6e8BBxnFfws1yL8TfpNECjIFHLcTo1mR-bIjCICYtv2BXLuJK8-KqfsjgFNH5HGLIQQAI6qK-TeE88uRN7o2xT7qkdTVs65q6Eb0_GhoRuXR_SuRTRd9JTtQErV3pDgnWE3WHcNhunbLJ7ayvmotXx4FpoWWIAayOhyoTIFWhEvHFfr8m9y7UeLyyeXjjuLR9di60cLmUKw6_puMSq6fgbtU_WzqMTA8izmJRUT3oe9EMCS1MCI3zXBOA9rYLCKEeA2rmwjh7p51NwoXCyDMODsx5NitU3CjPkFtBTBKUUH4Hhqw0JHGDAOPC3GsO0ZWgKadeHJwibmtS5HUNeFtYvIMwQOwgIsFkgyWUCFM9G-Af8gF7VjJJlzSbP71yHRaHNszjeZGPvPStmpJpCBO9Kpnf8cog4mXYBTrzzY13NppAzr1zOkMc3P4O5h29IRoWIgZOkmHyndaPluU66tNsbBadoDPcXZMfIEp-dQZYJA7cphlqusnfO3E1oC3NXx7sGm5IV_3qUQqJnhEyakw_qAjJNJ48Z2LZWv8P1MdiC3QJUJye-QYVZf2Tnbh0QDN2Z-OFkwFhFtD2CguYlKxGxYV5JtWoMAgU9PTcXQXopnct1m0zpjgeu0VpEImvbYFTjrf2xIOBmw-38sLBsfDMAcO3Kk3Rucfle_BIOpes2YFeyutCFe5f2CJJeApFITKOFFyikhF5MvtrMm5b6UVVm2iZ_mvd_-8lid4qp1GgJ-cvybAbiBUaOLfbRrSq4Oy4CoSBu3gJA4eNY0jbgfluy9dQfxZBDwBW_TgeAxXhAfH0OxURjShM6drSYh5M1w5H3RRng5mrs5WMsGciK5Nh5umbDmuEN0j7sgV2Fxu79p9YHXhEcQc_aA7hD_ygTnH1XuAgy7Bw42x43Nrv8yqLymXQTR1rB39qG52uJORs0yHhhSMVRCZRem1u78uMsIADF7lMJEaFD-eoDe4bN6GW_g51ku2mbwSpZ1QThm0s-O9rxBXBrlBX8hYt8ehGPTlHKKQMUqPce9fJx0O2MCxniNZBABzKQnECaQPS03faTafNuKgmyW8r8VGqvPEVxIxhTkTZbkRP_q211DDbIx5iTTjWlUZ6AhPmCo0WxPJFVVguaRKj99LWSlq0RMaxzR0a9fztGpg90mpJOvRfWDJ44I73FQszxWT-S_wcVp9rgeyI0wWgr8JCkOIcC0DmN9fnnQiQX0YlK8eXUCA0bZm5i6FT4-FUwr9bkn6PEo5qOTXzXOLfcE3-0tQUj3Azft95I5RxLjxeu8jhpK-Kc9nkVOilfAiFBRX6t1ABRPsMOUh5xf4cNJeCbEDJGXIgeRnp5TtZeuf6Uy5xUvJz5t0SX57JLqKD8d2ZhSY-tm06tK1YwFjIaGqbMab-Ik1q0CIPnxkACl2EkmX6rC-fzvsUKWY3pPEbCVftOBFsFoVOkFiAdGLshrM60idqdwrEiAOrWIkt9WZv5CWx-raNAXuvbjyYFD5P-YzuSR2EP2P8KrW3OEfYuyQQq133qya9H4D5kCJTtz8hPOu4aXS1hA1pKmZ2KnfR_gGwoXkLuitaeQAxpTRWdsI_ra_2uaSrbXNWVCWWRqHRcnRtyaRrNiXDtyBMABPGy_fibrugP2bYuL48kd3r9hwvN_nEHkD0xlZhbfIfNUzz8KxIWoUaWfxHRi8segnmJBqKaphTOFvsKNrcmWrjmmksdLU6WxiPjNW4kqtqcrdCVaMEbVhGXttPh8N4k0xaknR52JF6-HzbMVb6eqVjRqKoyt6XEafq2vsE6aaZBaGOPqsMn2VeJm8OD11BWuwbYEsdbVcFCnZ_rx5RRMIzM_jaFBNGp0BK9ppIpjjPA6dkGtG1NtTu-hiliJBvOxZ-12Ro8NJHx7NYJ2O_RyRP_dfCjR5NI-VYFfr0G4XHWslHy1NTxsmQrxzdNGIGoSKfokn9svp9AbZOuCQYbRDyY8NCZCzC1wE1PuGEtYNI3D_-4wZjj6vlVfwMxgh_laOv0sG-O5zna6wFEG0UXis1DYNjEURtubwoybyhuLPXuR0tvAiPgf1Dy3nSEG8oKGEmrbsfiUibr5EaCMoOisWGd2xLQtnu1qY0y-y0oRKFHVH_KATe3wpqpCZmOgdB257wjSH2xACC34tPRwOrltrOBwx3-7w2eNCkHOajNqwjZbTBojw6NvnLHVJOSJM4Sbeu2Iqhc8Z0owpxqcg3YevZtTOInTFQYBPhJmC5CtYoqKGUrGQwYKrV5sUee1iz0o7i399-RijWizOgHPL0pH88qWZ6yNouTDk9fRUSWYBnE0SB2kQwLdBKR1MpXrTs76T0Pc-FXR6jmy7hJZTWjppGivnqbHNOj44tWuauRy-RF86omqJ3d0hIeOHJ-6mxswCWSRITrIbUrLtMsjcpChbJvXw9fPwzfzfnv8srrfUgocjS9xJ7fUjSXWaJxKxc1lCPH7ZFPYv5bHZPjLcbaomV-UoPf37cBFAna6STCBiwgg9oXTgDrmA7mWtlVWtVJ4j81p0e8uIzw063vtRIPQtR7xkE8i0B6ezovPBeI0qBDc9ZCjmeBmD6dV07348XNk648SFYu_8JNMBQJfuQL5JOnLEKpIvXeY0EhBPvbv1GRcTIbmpsJ5irqabTPrO7LMBcMXDUF1yhkOr4NI0RYdSiUlwZk9J9soQil9Y6mSjQ8fpoHcoypGEIFXhQdscSPQq_g-IDwWL4cpCLE0jDFgyuXrRaUUWXwIhlejLdSLL6U9cbjb1nh38h98Mme1JzQlW-i7gicQFKLjyJfcHGb1xQ8eDN0HX7-5IfkkzcBW7kf4VBBhShtwi8C29so7lDxkKQm4GbI0DFfSIFBASMBvyTPlRJDxdePfKZO-aAztQqg1GysVDLWRDXIg4C93bq0hoNwIuJ8lk8Fh5_B8CPYnqVWy0oQJswyYrkGs6O8GGIgDVDbE-j7yA5rFjYUTgeiudTtXBfxxCXBapIT6TKXMBga_z2h3ZiW7L777N3xBHPFgpqY12D8d5Nb9-bl2flIr9LyGFQWlx9daZTNkA=",
  "id": "rs_05a69784554a2b24016ab4620ee6bc87d08b9c5069cc91dede",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.14,\"right_y\":-0.055,\"right_gripper\":0.35},\"note\":\"The wide-open inner finger is contacting a fruit before it can reach the rim. I will lift and narrow the jaw opening so the fingertips can straddle only the bowl wall.\"}",
  "call_id": "call_0wu8k929KEQtXTaB9eLh3aTF",
  "id": "fc_05a69784554a2b24016ab462160f1c87d0a8f2d3002d736ccb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0wu8k929KEQtXTaB9eLh3aTF",
  "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]: [-0.0212, 0.9134, 0.7647, -0.6556, -0.0139, -0.0341, 0.9897, -0.2569, 1.4036, 0.6449, 0.2264, -0.2691, -0.1246, 0.3544]\nstate[eef_state]: left_x=0.2811 left_y=0.0001 left_z=0.1664 left_yaw=0.0016 left_pitch=-0.2319 left_roll=0.0012 left_gripper=0.9897 right_x=0.4021 right_y=-0.0534 right_z=0.1255 right_yaw=0.038 right_pitch=0.0563 right_roll=0.0281 right_gripper=0.3544\nstate[joint_eff]: [-0.1983, -1.8667, 7.0222, 1.536, -0.0659, -0.0708, -0.0122, 0.4034, -6.8171, 8.9368, 1.7509, -0.0415, 0.0611, 0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab4897fe8818815cf9d8646fdf9594f9ab9f48118d3288f09f5ca10143e1c10c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e978068423c07a5c00a504f71dee280a45a135069ffb4a79c02940feaaf54cbb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5233dc4f4e5453057d652637472b026df750b57e6ecebb4d7be3ef21d11bde50",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /responses · status 200 · 3.068 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 118 changed as sent

message 126 changed as sent

message 130 changed as sent

message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.9108, 0.7647, -0.6521, -0.0139, -0.0338, 0.9897, -0.0971, 1.552, 0.3618, 0.6121, -0.1158, -0.0376, 0.9964]\nstate[eef_state]: left_x=0.2816 left_y=0.0001 left_z=0.1677 left_yaw=0.0014 left_pitch=-0.2258 left_roll=0.0013 left_gripper=0.9897 right_x=0.3681 right_y=-0.0117 right_z=0.0368 right_yaw=0.0224 right_pitch=-0.0063 right_roll=0.033 right_gripper=0.9964\nstate[joint_eff]: [-0.1573, -1.8393, 6.9538, 1.4823, -0.0659, -0.0708, -0.0122, -0.1983, -4.3419, 6.8444, 1.873, -0.1197, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.9134, 0.7647, -0.6525, -0.0135, -0.0338, 0.9897, -0.3107, 1.5932, 0.5423, 0.5236, -0.3031, -0.1383, 0.9964]\nstate[eef_state]: left_x=0.2817 left_y=0.0 left_z=0.1669 left_yaw=0.0011 left_pitch=-0.2289 left_roll=0.0011 left_gripper=0.9897 right_x=0.4039 right_y=-0.0705 right_z=0.0732 right_yaw=0.02 right_pitch=0.0665 right_roll=0.0309 right_gripper=0.9964\nstate[joint_eff]: [-0.0615, -1.9624, 6.8034, 1.4969, -0.0269, -0.0122, -0.0122, 0.1709, -4.0684, 2.8923, 0.3785, 0.3394, -0.1929, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.9134, 0.7647, -0.6556, -0.0139, -0.0341, 0.9897, -0.2569, 1.4036, 0.6449, 0.2264, -0.2691, -0.1246, 0.3544]\nstate[eef_state]: left_x=0.2811 left_y=0.0001 left_z=0.1664 left_yaw=0.0016 left_pitch=-0.2319 left_roll=0.0012 left_gripper=0.9897 right_x=0.4021 right_y=-0.0534 right_z=0.1255 right_yaw=0.038 right_pitch=0.0563 right_roll=0.0281 right_gripper=0.3544\nstate[joint_eff]: [-0.1983, -1.8667, 7.0222, 1.536, -0.0659, -0.0708, -0.0122, 0.4034, -6.8171, 8.9368, 1.7509, -0.0415, 0.0611, 0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab4897fe8818815cf9d8646fdf9594f9ab9f48118d3288f09f5ca10143e1c10c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e978068423c07a5c00a504f71dee280a45a135069ffb4a79c02940feaaf54cbb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5233dc4f4e5453057d652637472b026df750b57e6ecebb4d7be3ef21d11bde50",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGIarrssOJSPhdVFwERpAmxShPlUZ6DDlxruU06y-iq01ayF0flBg0e-ZjhLLK6uTyRJ2hGmNGseEGMPCGgV2WJ-hWnGX-bXJ1M9fDGH6XWz7C_PJkmtoGOpkNb7UdGBS3IZ8gvPDxoZ4LYcD79lAfhPI14a4jZCTHN6I3XKGI-vtuYBOmxQ-UYjmCOz3xGTRFWd-qyko_3tsyYXSBSxWB_Ne71r9lBQZuh7TrWQUysm9ZL_s93lPSQiwmlx8Ioqj0aPVqgRmodjqsxk4XsCW04zYsR7xJuRILAs91fYMQKexh3THERK9oweYVNYyAESOS8YrUETu_JvjSYQoabtxD831OMF2w2dzbUCflAT5CXD9ZGdeavChCRCRTEQ_hayeVZ3E0TaatMDqn4bcW5nhs7OjKY8HEC3PLB7XCtseVdh7S_60Up8a_BhQD5S0_QfUstyNo0mCLOvZ0tXHhgRBKU_ILncHg9qtV_PuYHveOnngfFRPqJwGaZi3TdtldX5kcOhWZX86j6UnBYshs9CWZlHlB4v1XEK8yDuJNy9Jb75Ty1pIfs7ZytF8U1Wliyl14medwy-YcQ616xsB5tDt3_tra_ztQk6fGWqEo9LyJCszNDyctOu-XTMrZNutLJzDXHbOGwhgickP-w0F8clQzNr1ewVHhnvRq0cOGgHnsqNf6Bi5Sw-m6uWZs_T_CQLQX96Koz74r_o3W_IQlmXZTA6K51BL0TKg9uz10xUMRvimbgbQsKzQL9ytsyzeoVsVVnrryEaN_pzKa82GTq6FBFjyGihxfF9m2O4sPAgED6JtUf0KMLOBcoHd_OKq4xm9zsN_2NiZ1ewKDbHkF6f-xWel-JJjzt2CWA8x2vXTV1V6KjoPzZIxuRSwPwlHlFZQ3BOsJ-e7n9dmDU_8OBT3c9FL5a3Ya1BNiLEe2YJnLsLcbnjuEYtS2jJRxWTPYBTlt5BxTIGXHxBvSeNYcUN_sxhcvyFZMgcAKkCxLCvQBo3Cnr6GLanw2mGeKkT_1B1mL-A_a7e9_PMjItw2JWn_qolF5lWwi5LYnYHVTcNnjBg18CQY13TmZi3JapNQ_Z4GnOkwcr2bxSqgsC4Ukxn3lZBf6t8A2NxQUnGH7F2hnI0jV4_kEWeZ7INn4Pt8ZAG6SXRey_y4RhGf0iJlPmAb-UQbDEIpTMo2vcnARG0X83EGrr5nIPd-6bQC9b5svhHdTPBU_o4aOuRcvQ88DxxGzjZv5cMNssRkpzHnseGoPcFeqU=",
  "id": "rs_05a69784554a2b24016ab4621934e087d0bc0ca5826b5f9974",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.035},\"note\":\"The narrowed jaws now line up with the rim without spanning the pear. I will lower them onto the bowl wall.\"}",
  "call_id": "call_RJgBkjkzIVYO8nWT7HgcLoFi",
  "id": "fc_05a69784554a2b24016ab46219815c87d0b1b7b1d534af3082",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RJgBkjkzIVYO8nWT7HgcLoFi",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.9154, 0.7647, -0.6571, -0.0139, -0.0338, 0.9897, -0.2581, 1.7065, 0.4908, 0.6319, -0.2779, -0.123, 0.3539]\nstate[eef_state]: left_x=0.281 left_y=0.0001 left_z=0.1657 left_yaw=0.0014 left_pitch=-0.2353 left_roll=0.0015 left_gripper=0.9897 right_x=0.3976 right_y=-0.0511 right_z=0.0326 right_yaw=0.0429 right_pitch=0.0084 right_roll=0.049 right_gripper=0.3539\nstate[joint_eff]: [-0.0615, -1.9761, 6.8718, 1.5165, -0.0708, -0.0464, -0.0122, 0.0479, -5.5726, 3.6171, 1.3309, 0.232, -0.0611, -0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abc30fd3af195361c728f0ee35f350829fce9549535240f26c5d655bc32d7413",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81a5825710bcefa6605f9e918b44968d798a00990a767b3bd202849d1426b035",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84f97806746da067488106a7eeff8f2ec0f8987c637d522018670e53c68a1ebf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 35 attempt 0 · /responses · status 200 · 4.104 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 122 changed as sent

message 130 changed as sent

message 134 changed as sent

message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.9119, 0.7647, -0.6521, -0.0135, -0.0338, 0.9897, -0.3088, 1.3415, 0.7422, 0.0013, -0.2733, -0.1513, 0.9964]\nstate[eef_state]: left_x=0.2817 left_y=0.0 left_z=0.1674 left_yaw=0.0011 left_pitch=-0.2269 left_roll=0.0011 left_gripper=0.9897 right_x=0.3917 right_y=-0.0711 right_z=0.1454 right_yaw=0.0035 right_pitch=-0.0053 right_roll=0.027 right_gripper=0.9964\nstate[joint_eff]: [0.0068, -1.7436, 6.8034, 1.5214, -0.0269, -0.0171, -0.0122, -0.3214, -7.1043, 8.6359, 1.6386, -0.2759, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.9134, 0.7647, -0.6556, -0.0139, -0.0341, 0.9897, -0.2569, 1.4036, 0.6449, 0.2264, -0.2691, -0.1246, 0.3544]\nstate[eef_state]: left_x=0.2811 left_y=0.0001 left_z=0.1664 left_yaw=0.0016 left_pitch=-0.2319 left_roll=0.0012 left_gripper=0.9897 right_x=0.4021 right_y=-0.0534 right_z=0.1255 right_yaw=0.038 right_pitch=0.0563 right_roll=0.0281 right_gripper=0.3544\nstate[joint_eff]: [-0.1983, -1.8667, 7.0222, 1.536, -0.0659, -0.0708, -0.0122, 0.4034, -6.8171, 8.9368, 1.7509, -0.0415, 0.0611, 0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.9154, 0.7647, -0.6571, -0.0139, -0.0338, 0.9897, -0.2581, 1.7065, 0.4908, 0.6319, -0.2779, -0.123, 0.3539]\nstate[eef_state]: left_x=0.281 left_y=0.0001 left_z=0.1657 left_yaw=0.0014 left_pitch=-0.2353 left_roll=0.0015 left_gripper=0.9897 right_x=0.3976 right_y=-0.0511 right_z=0.0326 right_yaw=0.0429 right_pitch=0.0084 right_roll=0.049 right_gripper=0.3539\nstate[joint_eff]: [-0.0615, -1.9761, 6.8718, 1.5165, -0.0708, -0.0464, -0.0122, 0.0479, -5.5726, 3.6171, 1.3309, 0.232, -0.0611, -0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abc30fd3af195361c728f0ee35f350829fce9549535240f26c5d655bc32d7413",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81a5825710bcefa6605f9e918b44968d798a00990a767b3bd202849d1426b035",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84f97806746da067488106a7eeff8f2ec0f8987c637d522018670e53c68a1ebf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The fingertips reached the bowl wall without stopping on a fruit. I will close them around this thin section of rim.\"}",
  "call_id": "call_3kIXxyKeR3EOskLmUYTRosA9",
  "id": "fc_05a69784554a2b24016ab4621cbfe887d0bd5acb2a71a3ba81",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3kIXxyKeR3EOskLmUYTRosA9",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.9154, 0.7647, -0.6594, -0.0139, -0.0338, 0.9897, -0.2581, 1.7111, 0.4866, 0.675, -0.2897, -0.1165, 0.0381]\nstate[eef_state]: left_x=0.2805 left_y=0.0001 left_z=0.1653 left_yaw=0.0014 left_pitch=-0.2376 left_roll=0.0016 left_gripper=0.9897 right_x=0.4013 right_y=-0.05 right_z=0.0385 right_yaw=0.0495 right_pitch=0.0429 right_roll=0.0504 right_gripper=0.0381\nstate[joint_eff]: [-0.1026, -1.8667, 6.7897, 1.5018, -0.0513, -0.0317, -0.0122, -0.0205, -6.9675, 5.2581, 1.326, -0.0073, -0.1148, 0.862]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06b46bda41ec90057d0d56978b5d10f7b3c9d205da8b2637e2987b1ad1f83b7c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5a494160e9c9cbc79587fb6951707359ddcaa991a528b3a1e6ca464e3a91b76",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cc64539b818faf8e174d31ea4e1de69cf7eaf159e000d6c034955607dca96af",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 36 attempt 0 · /responses · status 200 · 8.007 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 126 changed as sent

message 134 changed as sent

message 137 changed as sent

message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.9134, 0.7647, -0.6525, -0.0135, -0.0338, 0.9897, -0.3107, 1.5932, 0.5423, 0.5236, -0.3031, -0.1383, 0.9964]\nstate[eef_state]: left_x=0.2817 left_y=0.0 left_z=0.1669 left_yaw=0.0011 left_pitch=-0.2289 left_roll=0.0011 left_gripper=0.9897 right_x=0.4039 right_y=-0.0705 right_z=0.0732 right_yaw=0.02 right_pitch=0.0665 right_roll=0.0309 right_gripper=0.9964\nstate[joint_eff]: [-0.0615, -1.9624, 6.8034, 1.4969, -0.0269, -0.0122, -0.0122, 0.1709, -4.0684, 2.8923, 0.3785, 0.3394, -0.1929, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.9154, 0.7647, -0.6571, -0.0139, -0.0338, 0.9897, -0.2581, 1.7065, 0.4908, 0.6319, -0.2779, -0.123, 0.3539]\nstate[eef_state]: left_x=0.281 left_y=0.0001 left_z=0.1657 left_yaw=0.0014 left_pitch=-0.2353 left_roll=0.0015 left_gripper=0.9897 right_x=0.3976 right_y=-0.0511 right_z=0.0326 right_yaw=0.0429 right_pitch=0.0084 right_roll=0.049 right_gripper=0.3539\nstate[joint_eff]: [-0.0615, -1.9761, 6.8718, 1.5165, -0.0708, -0.0464, -0.0122, 0.0479, -5.5726, 3.6171, 1.3309, 0.232, -0.0611, -0.0659]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.9154, 0.7647, -0.6594, -0.0139, -0.0338, 0.9897, -0.2581, 1.7111, 0.4866, 0.675, -0.2897, -0.1165, 0.0381]\nstate[eef_state]: left_x=0.2805 left_y=0.0001 left_z=0.1653 left_yaw=0.0014 left_pitch=-0.2376 left_roll=0.0016 left_gripper=0.9897 right_x=0.4013 right_y=-0.05 right_z=0.0385 right_yaw=0.0495 right_pitch=0.0429 right_roll=0.0504 right_gripper=0.0381\nstate[joint_eff]: [-0.1026, -1.8667, 6.7897, 1.5018, -0.0513, -0.0317, -0.0122, -0.0205, -6.9675, 5.2581, 1.326, -0.0073, -0.1148, 0.862]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06b46bda41ec90057d0d56978b5d10f7b3c9d205da8b2637e2987b1ad1f83b7c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5a494160e9c9cbc79587fb6951707359ddcaa991a528b3a1e6ca464e3a91b76",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cc64539b818faf8e174d31ea4e1de69cf7eaf159e000d6c034955607dca96af",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGIi0VNY7cuM9xEmrb7o0FM0B2UzSrJFgWscAiZ_Npbf4-NTS-ENFkWBKgreu8aZTYhP2nCOwbXB5_sqRP5RhLAaqZONGtY_csBWjDl-TvW9O8DqJdioQPxwQXe5DFkThCa9KV6iiboRgvTOCZJcrxjNdDr-XjZwZ2m0Zqp1IItLyNIFmr0QWWyYD1bP5pFtOLK9qNGhLJWoSFPgbCUkp5kq_ed2X69qxPgK3RzR2NipMxqUCuTNRSCxB771-N-Ud2BroROTNjsl3ylIZ0D-_pKucP62EVcTS9GiLAMJde2Le8NCWFwaqw6OLWQ4Ac-fotTWIP9ccMtPa98u6eQA5_D5PiV7cYVxYUdMbd62w556Q0f7nPkOtK-w1F8JNnwZxqByIjIdWXy3OjOfez6AD5U8vWQJTUM8rDUixraSQAhfKfF-xlzU9uw2Mvz3pLSy-aho_Bu7jKcx62i2nABP15db74lgXaLFMsEv9EfkfWNjED-rfnKTiTTDAx6UnPdXYm_U8TOKXpbnHLQpEyDvMaqWLJiSeH-raCFOi_78C1YCTCAq5GnA9SRGxLaqjeNsDNlWYD3GzgUgXKIyNVi6ocggjQNDPegelNHl48cKiPERvqPznG9fIk-VQOpQqgMU__OGL9qyz_J96us9NCjchk2Zv15nFsPiAcTqG8IAokd6v8igJqDYVUzRj7nJiZzNblINVS7oQof4i9OaVu5aN4olGLegXYKCqz6Jeezh17Ha0bhsshmXN5w553FuEiZwKBJhG-7vKBN0LSZSsnVSpCcHL-MNgvuQPQvM0lXM9HGPfB1SO6IveBTZGo7w_1FpahIYrzkrsssyiv8Z4T8P5d6IyLZY-bUexOdBHrbBzYZ4afuQTJUPouXSY1HEK8hhRQmkaaFj9Pry4I7C71h0IFb59nk_rCBlBCZLN4zRnEtoRVQJa89IAjdvOXl5YXqySR2S0cZ_fhZxfIGADrjki6-TRB3tI6hDIPDXsJAwUmPdNtoD4jXoUWc9zOv66Us3pGrPcWIMvW8axi32msLsfHo_FBU89b0wt61auVErT70EZLM9Nxtqz9yH2EjeAZyJBd0NPQMNnAB_VlSKbRbUx-IyQLC8Ju7-G2yK3W7cy8gUnK9_65v-dq3XSQYTh5cDGTiY_btCtaq4QsD0-MIML5MdnJR5UkkJqam95H4N5-V_pxohH9BN0xOMUYwe5J3l7Y3HgODggzxerh92-MilSvtsXDVKRIC_gJN_qek_dwkoWXyV5lQGiafgU8SVJj6-HbHQ",
  "id": "rs_05a69784554a2b24016ab4621fc7cc87d09f9850e119e13505",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.125},\"note\":\"The jaws are nearly closed on the thin rim. I will test the grasp by lifting the bowl and checking that both fruits rise with it.\"}",
  "call_id": "call_Jrv9zk1oehWCQJc3B61xIi1k",
  "id": "fc_05a69784554a2b24016ab4622035b887d0b238fe5fe9246159",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Jrv9zk1oehWCQJc3B61xIi1k",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.9173, 0.7647, -0.667, -0.0135, -0.0338, 0.9897, -0.2581, 1.4403, 0.6113, 0.2493, -0.2882, -0.1249, 0.0416]\nstate[eef_state]: left_x=0.2793 left_y=0.0001 left_z=0.1635 left_yaw=0.0012 left_pitch=-0.2472 left_roll=0.0015 left_gripper=0.9897 right_x=0.3965 right_y=-0.049 right_z=0.1027 right_yaw=0.0524 right_pitch=0.0141 right_roll=0.0515 right_gripper=0.0416\nstate[joint_eff]: [-0.1573, -1.9214, 6.9538, 1.6093, -0.0562, -0.0366, -0.0122, -0.2256, -7.2137, 9.0872, 2.1221, -0.1538, 0.0269, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15cb824625ac55521065732a7d90a2fd045fbbe1b56c7603678119baa0c74ea0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f46d611136303d88328252666499547da45c43b55fc19df443783355081728c7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28a69417504d59e75467d53869c285ad05dcd04199fa1306b1a7c2a55b1412f4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 37 attempt 0 · /responses · status 200 · 8.589 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 130 changed as sent

message 137 changed as sent

message 141 changed as sent

message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.9134, 0.7647, -0.6556, -0.0139, -0.0341, 0.9897, -0.2569, 1.4036, 0.6449, 0.2264, -0.2691, -0.1246, 0.3544]\nstate[eef_state]: left_x=0.2811 left_y=0.0001 left_z=0.1664 left_yaw=0.0016 left_pitch=-0.2319 left_roll=0.0012 left_gripper=0.9897 right_x=0.4021 right_y=-0.0534 right_z=0.1255 right_yaw=0.038 right_pitch=0.0563 right_roll=0.0281 right_gripper=0.3544\nstate[joint_eff]: [-0.1983, -1.8667, 7.0222, 1.536, -0.0659, -0.0708, -0.0122, 0.4034, -6.8171, 8.9368, 1.7509, -0.0415, 0.0611, 0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.9154, 0.7647, -0.6594, -0.0139, -0.0338, 0.9897, -0.2581, 1.7111, 0.4866, 0.675, -0.2897, -0.1165, 0.0381]\nstate[eef_state]: left_x=0.2805 left_y=0.0001 left_z=0.1653 left_yaw=0.0014 left_pitch=-0.2376 left_roll=0.0016 left_gripper=0.9897 right_x=0.4013 right_y=-0.05 right_z=0.0385 right_yaw=0.0495 right_pitch=0.0429 right_roll=0.0504 right_gripper=0.0381\nstate[joint_eff]: [-0.1026, -1.8667, 6.7897, 1.5018, -0.0513, -0.0317, -0.0122, -0.0205, -6.9675, 5.2581, 1.326, -0.0073, -0.1148, 0.862]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 141 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.9173, 0.7647, -0.667, -0.0135, -0.0338, 0.9897, -0.2581, 1.4403, 0.6113, 0.2493, -0.2882, -0.1249, 0.0416]\nstate[eef_state]: left_x=0.2793 left_y=0.0001 left_z=0.1635 left_yaw=0.0012 left_pitch=-0.2472 left_roll=0.0015 left_gripper=0.9897 right_x=0.3965 right_y=-0.049 right_z=0.1027 right_yaw=0.0524 right_pitch=0.0141 right_roll=0.0515 right_gripper=0.0416\nstate[joint_eff]: [-0.1573, -1.9214, 6.9538, 1.6093, -0.0562, -0.0366, -0.0122, -0.2256, -7.2137, 9.0872, 2.1221, -0.1538, 0.0269, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15cb824625ac55521065732a7d90a2fd045fbbe1b56c7603678119baa0c74ea0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f46d611136303d88328252666499547da45c43b55fc19df443783355081728c7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28a69417504d59e75467d53869c285ad05dcd04199fa1306b1a7c2a55b1412f4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGIqUwJ4cqG6No5dkXxfJen4oR1Cb5CjP_qx8clltMAuJR5ttA2VVTjXZn--VvuNekJznhE-YRf4RN-E4ZsC_TF8XOn0YC6zkQQ0LaJlEwauvVwBok8JUwrza9e_CDmSL_NwMvjpak-ED_4HawuQBPYy7XtGKjmBwtiTMTqa2oB_N-_E3Y1fz-AzPHk6aLoLecC1cQbZFPRUXedndUVE4XGYxOwR4OeUVGMceQbAMoUaSIfvtP9DnGo6pj82Bd3UK7bfRBP0haFZX3xWctssZJDAttfeEQI3UeqjtUEvaktULb7BjD9QN5DOxKc6Vl5UQP_ADt0xy5-5CTeEx_Wwwc-9umcoKkDju1gkYQQMwDsROKoftAk1RKl405RHby7gNYO39hWcCN4tkr4hDk67ChhmoZuRE5o7dgwu1xTAlen8NtITd_j0yaaTp3nVmx_AI9AOCVco6LQ9Yx0h2jf2tJdDZVQdU_ugZLe5a5kGqpF_tXdAp0fUss-rKSFtfK6TZId9-WYneG7dTwUVYyCBZPpGjpyaM-N2Go9DP5Z1LY9ANaTckwgF9ov14dUsrwab6R2XzXFyXi-EpVongN6sKIPC4RHUZMO5D2LipTA8YT_JCNla0dkFYWK78J7fJqxkGvr3TmuH5Cd3oNMmU0MCOYc2o4eHahuUVKsGbyh45LDZT72IFhUQLi0Zy5OS2eh1TGoF0nh8QccDkmZrzq1dzixmEFCHHRpbzwZpcMLOpoD2BkAWxs_zS_Gvv768kIX8emPxvsxPqUkVWnuL2MefDvY7h8c6JMG25RmQfXOtUqYN2_5FcCJBiH194RvQdKo-fNBXpR6ELYSweJ71w9gsUgnQp_QdCBRe4qsoffxs_TxwuqqFJzxsj0hkAJorI4dbtefsTuO0S-vR_18zjQUWnRz8pe9hlK-SJz7rU14IO5fT4tMNcDj-ASPMbMbvgzFgbW20p7Bj8Vv1rqWJZ32ST6KywF1aUpRbktT3XP18unZya32JIFTHJhNC7z9ic6BJ2SyUgQyeXJr4rI5tkUsTs5gpFAD2RjYLaaaPTLcSreQ3EI4WLJoDXpxkW9CavSL9ioywLp-0O8ZHRdNiSkGsgvIJvCClHgEAe1YOfPdSqdbJZWP09t1X2BopZyyDmsdaUgmZNE2C2YOPxyf1JkJreOk9PGfhWD-QNtMEBBGTYLrPrDYXVABCq7n_3BQOunuTqdsG0jL4u5dqvGzi8ZPtNWauA1EwenrRH5bEzHJbjbmN6rlP-YGCOMV8JRpx4WLB6IMf6aqdX19aXN7vMFYRKS_WeL5MJex6t2lUOhrlGTnAHtgIXFXbJgVMUQJkUVUXif-2FF4xy8VoReetTddRYniLGqK9wJPsevOQ7bKa6i5E1zIR3dcHzvm-KLt21r2tDZkUJywT3joVo-aB6UJJhMaFrgggmzG7VEd_aT7ealLM1UpXFMXL1uswQEvpDNvGk6t_sAJDF2wf0l8w-uj3RX4yfJWsFKkyC_m8p2WMjD4NMO9Gbs-8AnCdLc0zSNBtoEdxQawx_j3GUH69B9ijXSewssFrEz5nqO_-78yxvxEsjdw_TquyALSbAkExuSKi_Zzod-2Mf5G_DLpB7XgmDINpk5-B0KnEJE3z3JaCL8MjZKXme3gRYDSRGQ1bdzVWPf_spLoy3ObVfbw0Rot7-qZzPs9qld4AOdyYqbUYDjkd3N0I2s6fwoDO0obLtAnDKidkHF_YhyLqo5tTwVpwQ42Yb2VcAdLoNJgkw7XWT2YBOul4JMtw7Hf7y2ElHRNx6XadGNUfkD9c3T3Wi7KGcIp4-qTjxxVl0d6BFF07eJj5MTxeFYlVEhRD8w3olhOO8k4PziYxm2JsTMNbx2K4dfilj5PFbvIJG4gCNOhKxgdtw66IB3az4-qj5wsQovo46JJJlm_4C9aVzYhdZKe_LuNAxgj2InsxvT2dC8YxmZlvBUDzCIOQSLEMcsI20wQ-sGnARELYkPSAxvfj98Y434SpId1Q9GH85XC6m54NpXrznnydG6Yo0xOhaoGFA6KpWX9Q1-cvqA0WP0BnG9dYZnhlkQ2nkS0BmihGxGfTJgGqXkv7Kell90_yiPeDIFd7eFznKY9c6LUA8tqrmNxfpXQQAQlsWVXmeUqHmtjd8xKBMThcTSqXFYSEC_r1OkQA3as8MVcGqirQGVi0QCuunENS_jSJ8es2D_bVtRvvtaLiF-XPK_t9ethkOq3ihaxSH0-leitp4hjVaFqDNaHtnTKqAwf2twIXSHQnMD8fJIeK_5VF6XQzdW4qj4Drjk6Wcra-Z4MRvOjQjWK-bPgkZYcca5T7xqGn9FXJAcBdlIwVSEu9_WZ8oDgWRovxGvU-GzB5CHBiqNLWFFl656RjXZVKzA5lgeqwf-jYmnZY9j2WZoYfrWb1m4tRBfPRCw0j7ehHJ-6ZQzRv-LoevF2OmMlHei7NDn6194HqSqZaa3WnQy-J5CbRigPvUO-uzIaQArgACJeALPgMBm3v5QlSH-0jBA==",
  "id": "rs_05a69784554a2b24016ab4622495e087d0a97511b1f92845e5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.39,\"right_z\":0.25},\"note\":\"The blue bowl and both fruits have risen together, confirming the rim grasp. I will carry the bowl up and across to the white bowl, keeping the load upright and clear of its rim.\"}",
  "call_id": "call_wykk0w5naN5Adj34CgjJm01p",
  "id": "fc_05a69784554a2b24016ab46229cfa487d09beeffa0095bbafe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wykk0w5naN5Adj34CgjJm01p",
  "output": [
    {
      "text": "executing move_to over 37 steps (3.7s)",
      "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]: [-0.0212, 0.9211, 0.7647, -0.6712, -0.0139, -0.0338, 0.9897, 0.9207, 2.1918, 2.1494, -0.7635, 0.651, 0.5434, 0.0421]\nstate[eef_state]: left_x=0.2787 left_y=0.0001 left_z=0.1618 left_yaw=0.0015 left_pitch=-0.2552 left_roll=0.002 left_gripper=0.9897 right_x=0.4254 right_y=0.3886 right_z=0.2245 right_yaw=0.1 right_pitch=-0.0436 right_roll=-0.0148 right_gripper=0.0421\nstate[joint_eff]: [-0.1162, -2.0855, 6.9128, 1.4921, -0.0659, -0.0562, -0.0122, 0.1162, -13.6547, 8.7043, 1.58, 0.4274, 0.4127, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7eabd9629b9b8720c5b9aa34fde4c5254b9bff0d30052d53fc282ab2e897238f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:213aa0f06d62850d506ba26cb76e9b2f0e741873c26d804eac7611d930381d39",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b17c7f9301ab7011555d3eaba5e940a760a11aaa7e15ab8e87b31023187687a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 38 attempt 0 · /responses · status 200 · 3.821 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 134 changed as sent

message 141 changed as sent

message 145 changed as sent

message 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.9154, 0.7647, -0.6571, -0.0139, -0.0338, 0.9897, -0.2581, 1.7065, 0.4908, 0.6319, -0.2779, -0.123, 0.3539]\nstate[eef_state]: left_x=0.281 left_y=0.0001 left_z=0.1657 left_yaw=0.0014 left_pitch=-0.2353 left_roll=0.0015 left_gripper=0.9897 right_x=0.3976 right_y=-0.0511 right_z=0.0326 right_yaw=0.0429 right_pitch=0.0084 right_roll=0.049 right_gripper=0.3539\nstate[joint_eff]: [-0.0615, -1.9761, 6.8718, 1.5165, -0.0708, -0.0464, -0.0122, 0.0479, -5.5726, 3.6171, 1.3309, 0.232, -0.0611, -0.0659]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 141 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.9173, 0.7647, -0.667, -0.0135, -0.0338, 0.9897, -0.2581, 1.4403, 0.6113, 0.2493, -0.2882, -0.1249, 0.0416]\nstate[eef_state]: left_x=0.2793 left_y=0.0001 left_z=0.1635 left_yaw=0.0012 left_pitch=-0.2472 left_roll=0.0015 left_gripper=0.9897 right_x=0.3965 right_y=-0.049 right_z=0.1027 right_yaw=0.0524 right_pitch=0.0141 right_roll=0.0515 right_gripper=0.0416\nstate[joint_eff]: [-0.1573, -1.9214, 6.9538, 1.6093, -0.0562, -0.0366, -0.0122, -0.2256, -7.2137, 9.0872, 2.1221, -0.1538, 0.0269, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.9211, 0.7647, -0.6712, -0.0139, -0.0338, 0.9897, 0.9207, 2.1918, 2.1494, -0.7635, 0.651, 0.5434, 0.0421]\nstate[eef_state]: left_x=0.2787 left_y=0.0001 left_z=0.1618 left_yaw=0.0015 left_pitch=-0.2552 left_roll=0.002 left_gripper=0.9897 right_x=0.4254 right_y=0.3886 right_z=0.2245 right_yaw=0.1 right_pitch=-0.0436 right_roll=-0.0148 right_gripper=0.0421\nstate[joint_eff]: [-0.1162, -2.0855, 6.9128, 1.4921, -0.0659, -0.0562, -0.0122, 0.1162, -13.6547, 8.7043, 1.58, 0.4274, 0.4127, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7eabd9629b9b8720c5b9aa34fde4c5254b9bff0d30052d53fc282ab2e897238f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:213aa0f06d62850d506ba26cb76e9b2f0e741873c26d804eac7611d930381d39",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b17c7f9301ab7011555d3eaba5e940a760a11aaa7e15ab8e87b31023187687a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGI2xGlpcFArOII46PxF_RPlJEHfIjHXNConpeo5U-5X7AQfQsqdFQW8lVIFMEdokKhiv3MftQK44i4bjQE_mDxHGIfdb0eH6bEWVYgE4XMLaVFxnPXhotCwLNYX4oiRJ0ml6O9X8l1tu14EU5h6zMyvkBoLjcaYEflGDPtnMiVnOMQgrh3FISW2zKL5BfWcVZN8Shemibg3LRKfYmaG6Y5-lL-4l5fanemKb717fDzhsfoVN9Cdy0wbZZ0TrmAIGwD-7q7cGzy3Go-7rsaUbUTHfDq3DspCnMMQTl1LmJXgF3AHpIA0bHop9H7Hp2IqLwES0XvwbXP9ErUpOy-HFg-HSiralqFqNKLO0NtFS_IZhZsQUmlGDncgpcgiSQdVtUNN3MAiDc6lqVzKvQMCSb5Bv_v1Ct0-lcQRZ8cDu3FPepfaJL7ykYbrekCc02nE9UoXoabuyLMv7llZCHHOp6RQzc6AgAOmJ_CsGmy9nLbykZmdqjWwlWVoY6UsTlbJB42vx7lUoih2Znb73cjiNOnvli8egVseaZT9aOW0qG-QWgqp5EQM45UhA-8_xBIs9AHQwqiRSEzmyeBqstp-TTI1euElSfi6_BmGmR6ET7H5a1ahElHXf_9fG7Lfd-Jh1qUtnoy5qqppEnm30vpH2nneAqeKpUIxIeJMB5D54OHHSBK_0-e4MlChpBA3Ydw6Yb9BC98g1VSSvmtv8vosydRqUyVJGXYBpLy8Z_3xzzTgvrloDbP5wvtNS0WyRyNkBU5mIMxUYpw-pK21-zRB9IkQTyCnyqC6C_Az5Wip--SPokjLTjqTpTOSe6Xp_rINPLyybiNJgDNO3bHGNLROun6vGaZEc8-GR6NsRMCgyKmbSp_ZoLf_0cMUs_PQo_KM4O0imbcIOZW24i5gHqek3CnNpAYJSCNx1p4Rby9R3_aDhzZsFji0-_gtyXPtsAEoXwQbwZds8JqG-jvsj8rcK4ZciOoOgVuAVKWR7ZLyWtSpT_BqHECMIxJc5cqpZTLIfuj6URvMPZ1_0Hkn8YcoLYLJApzr55k6-honXM1tqkaPPfI45l0A17GCvwN_MN8jBkgHMxq4C2hIJObtmBR7CUtaogOM6Vqw0vAn0S8I2DfsTiWU1S44oGbzKjjA3inb1MuiCxj3RSUYkbHWCjG9rDYUC-hcG35O-RfG_q3KUNFQOUmWiAglC6dMudcBSO9mqILYKNCDILsZ5iLL0ksJ6vXFnJerSyCpmRoEzK1XXK1EBM8bljwhuQLpHbs8HmDHrbQgNX2UmMjBV3R2xa6YvGCW9yu0c_pyr9m0bBHy8EAXYmzFVc07DQmgmKmS8we5xTLdWJGfbZ1srHsJJCP7kDvoxXOL33ekkXZSPl2QpJBo4birnCQvzlFUg9Y6bDE6LrbB-tXrE8JVXYNnur_BX_E-l7pSa1eIu6QXEkCauj0k-9MzZLM_OXjy2SgthQUOHf3wE-YA7wbCgnWG7p0FDdwk3vjR2d9rQuzdvnkBe05rJCRh1uXinpLCiciF_DytVhWkpmhLcOBBDa5b4gSYSS53AB5i2r5KHOu6Gmmr9YiOS6H3zAlbkWmGa7Pw9o3Vp0-H7sEgQt7JlhDF0T10NslgxkywbfKaYFBW-xwXCw6TLg_sKYweu13IurC2WSgFqP0_zDn3u06rjW3XbgZqqtVtMJEq7dGX0HfbN_R16sf4PSgsyvmJtNcmqt2b7S8O7RHA12ACa7mBkrjcjpj-W0kmz_AJvUTX8XLvyOr4J-Uz84TwwBIyJ8WrF80Qn1OKdm27tI55bvLwO1Xag8U3rzsAmcCpcVsGshsiXXliPbhlfviupkwRH_saOK-_w9HOACVZtNAK7aXSs-p1Jq65HgB8CwcvkIKQUHhog3gjI4pVor_pvP_IS5x3QOKwEK3DDyP4uriU-0SJcUazdHdiMfcQGERvBEuQjiNiZHRGOZUajFiKYISDEaOH7hSBAJsyKR0nDpqjsRzIBZPZ8JsrCNNUAXVOyp_OzClLM91UJ1YFQU9Gk414dUicnExQlHeRPWIU8W3ZmZTp82vdd9KPifvFlXwZaSoAzoxmZu_Gh5-gK8TKkZpduHIFhPdVOdicrJZhsAhMEsM-EpvAgNdxreNlB8t3-n-REw2XQP65pRu3aFHkSvV6lMc7N1fkvBLQMo7B7FNi1Ki5VdQyYKeeAsfLS-m6Gb1HzZ8vacc_KqhNwFWoCs-wOlS2VWozpxdDjjfyIDBcp17up36rtFfgtIVhzsAgOQZYYNT_Q3GgYShgf3Dn910C6v3sCidUD0lBE9eTF4QO3bio9E_fDotHZCsssFCsAL3KD_03Os2MwpwaZkhM91ldxld2xRGisIrsbX_cffvF7r33u14SAv1UgOnR6XwF2x3jWPWY0U_i0DTk8ba2TJyT3gh6D26blx4fjImXXA4TkRCaSDtlSh33j--GyEX-LRcpzGK4x066HaOTLhAxfc4tcVh5RykJsgGihPrLRMLW2nCXvetj2J-lnYD8Qg-SkWAD2hMTgced_9_nDXWCzx7jmr58_vFQVToh_7BGpIJ2km4GU3YAUQW1ud7pf5qWYleKoGKb4G1nSGNE3h05lrNADo70pVzDtU7JRiwB7CbSCGYGJMQMU_XAAINf2VXIUfTH8A6_WR6_PNu_k1srqkPL510SZ_woRJu89kUupFA-8WIAwT94EquHSoO_3Xq9OcvQjTJXSbJCoInZb0RISIiMvrhPZMbJWDXy-p_zK1Eqtd7pBARVymqoc3G1BTLTWCyeaCw4Wb0KBDd-1vMHUXSDHP2IhdEhsDcyy9eIskUoiyr_2WGEW1OzrPJ_5PrVB6zH4P876w-b0O61pgJZPjh__PfYBFdDBrpid9cYNQhmQyBrZY-RMOmPu8TzzF1DXv1fgQijiyWBFeBnIN2YL6vENap7R43T_SevwXG24_lHTEBVq9aWLLOPocrW9w==",
  "id": "rs_05a69784554a2b24016ab4622fdcec87d09b59f116098fc321",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.4,\"right_z\":0.25,\"right_roll\":-1.1},\"note\":\"The blue bowl is above the white bowl’s right side. I will tip its far lip down into the white bowl so the fruits roll toward the opening.\"}",
  "call_id": "call_WpSmnNwmRDzbssIbWAJlL6pI",
  "id": "fc_05a69784554a2b24016ab46235f31087d08e69f673d3186579",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WpSmnNwmRDzbssIbWAJlL6pI",
  "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]: [-0.0212, 0.9257, 0.7647, -0.6746, -0.0135, -0.0338, 0.9897, 0.9577, 2.7094, 2.9028, -1.3373, 0.9089, 0.2451, 0.0421]\nstate[eef_state]: left_x=0.2783 left_y=0.0001 left_z=0.16 left_yaw=0.0013 left_pitch=-0.2632 left_roll=0.0019 left_gripper=0.9897 right_x=0.4347 right_y=0.382 right_z=0.1661 right_yaw=0.1031 right_pitch=-0.1638 right_roll=-0.647 right_gripper=0.0421\nstate[joint_eff]: [-0.1299, -2.1538, 6.7897, 1.5458, -0.0317, -0.0269, -0.0122, 0.1983, -15.8974, 7.9248, 0.5934, 0.6911, -0.1245, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce9f443dc6dc61dbe279bdef66098396a2a917733179cc9f3c7a40d80568ec19",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1219c4525825cc1bd24a865cfd36b84c0f4cb580cba1746c0d7bfbe0c52ae68",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2579aef863560362f3183944d9deea9a9bddd062089a25bf5d0c3898e338a507",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 39 attempt 0 · /responses · status 200 · 7.196 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 137 changed as sent

message 145 changed as sent

message 149 changed as sent

message 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.9154, 0.7647, -0.6594, -0.0139, -0.0338, 0.9897, -0.2581, 1.7111, 0.4866, 0.675, -0.2897, -0.1165, 0.0381]\nstate[eef_state]: left_x=0.2805 left_y=0.0001 left_z=0.1653 left_yaw=0.0014 left_pitch=-0.2376 left_roll=0.0016 left_gripper=0.9897 right_x=0.4013 right_y=-0.05 right_z=0.0385 right_yaw=0.0495 right_pitch=0.0429 right_roll=0.0504 right_gripper=0.0381\nstate[joint_eff]: [-0.1026, -1.8667, 6.7897, 1.5018, -0.0513, -0.0317, -0.0122, -0.0205, -6.9675, 5.2581, 1.326, -0.0073, -0.1148, 0.862]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.9211, 0.7647, -0.6712, -0.0139, -0.0338, 0.9897, 0.9207, 2.1918, 2.1494, -0.7635, 0.651, 0.5434, 0.0421]\nstate[eef_state]: left_x=0.2787 left_y=0.0001 left_z=0.1618 left_yaw=0.0015 left_pitch=-0.2552 left_roll=0.002 left_gripper=0.9897 right_x=0.4254 right_y=0.3886 right_z=0.2245 right_yaw=0.1 right_pitch=-0.0436 right_roll=-0.0148 right_gripper=0.0421\nstate[joint_eff]: [-0.1162, -2.0855, 6.9128, 1.4921, -0.0659, -0.0562, -0.0122, 0.1162, -13.6547, 8.7043, 1.58, 0.4274, 0.4127, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 149 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.9257, 0.7647, -0.6746, -0.0135, -0.0338, 0.9897, 0.9577, 2.7094, 2.9028, -1.3373, 0.9089, 0.2451, 0.0421]\nstate[eef_state]: left_x=0.2783 left_y=0.0001 left_z=0.16 left_yaw=0.0013 left_pitch=-0.2632 left_roll=0.0019 left_gripper=0.9897 right_x=0.4347 right_y=0.382 right_z=0.1661 right_yaw=0.1031 right_pitch=-0.1638 right_roll=-0.647 right_gripper=0.0421\nstate[joint_eff]: [-0.1299, -2.1538, 6.7897, 1.5458, -0.0317, -0.0269, -0.0122, 0.1983, -15.8974, 7.9248, 0.5934, 0.6911, -0.1245, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce9f443dc6dc61dbe279bdef66098396a2a917733179cc9f3c7a40d80568ec19",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1219c4525825cc1bd24a865cfd36b84c0f4cb580cba1746c0d7bfbe0c52ae68",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2579aef863560362f3183944d9deea9a9bddd062089a25bf5d0c3898e338a507",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGI8i_OcrfoFdYhgHf1Cvre6lIcCOHI7nsBAHE8bZqQ-xIpoYYKPrXY4yqmxQnA4vr2zw5cafWLpqEc11bfneeeCoJhvVzZAT6ibJiaScBcxoqIgRPYym_IGtKPL2JkIa0rCG-fS2bPnHXDg_K0wWA0GF-1vDepjpD61OxYiyLULZQL_XkrUjeUd10iQfi0NtB8C1r67bA7Obp7FV4CCWQYifejZ5wi8q9aAJuzmdIjT8qwNED5lsiuNiRj37IGSqWwt8CKyS_LhM6iW1c7z9iB27fjkPn-wIkp05rh_JCA_JThON8Ari-lYjlcat7zUiQk6BadZdJeprxPan8Jir02kwg3-B23WxO5Hd7iNh3F8_Lpl084Im7M5_MUUykUYgjBL0jLnp1ZZeaWprkihDeabVpqJK-Ts46ixb1d_SPevcs5NEPernpl-w7Fs6HKlleaqfrnb4FEp1VFt_cdrLGTQq8qUpsv4DSmsKL6l6gqP6JaNmt8M7lBkviggAeqc8pjlkYtwpNiA_0OmGw_BOP6ouEHEmAY_pESza8S417xw8VnmQD_dhR22x3i-UF1V49vb8efDDbcw_JbPqbvnOcnidiCBKr4pRYBRTH2w4KYyWJ7njgy5dL2Gc-JRGwMxzSswJaG2MF9400i-Tpoz0_3MRqsUvACR8zSvQ_cq92KsQFaxP5_xRPsAarzKKQ1TcAk-yMBlQ4Vrv5kbfwNpd9GiCW0i-nlvVjH-7p9IG_lYQHBlet553Wy_jadxBL913Tfdl44PqL0FBmRz_FE3rupMVyrEsRdvhSGwpvkt_Za_pbOnh9Eam1G_C4Z-_xTgIIF0HOX64j9mQzUBfkqMhf3_8M6Ff9CqlNJ5uurLmXsOq5Z13Ahxn8DmM_HFkgNFkUYIQr46qEmh_NZ3BwPGM_UqX_KYpSDsyl0xXPjj8M_FHCBJnqppiO-HSNPK3l_ObNxpWE7ofgs_O34zyqZ8YTDtged82AGVzug-C2Nmt5Xmspu8AZF83FicJy-RezWrhXuI4b-pSP40CvggWwdmIy4OknVjyCndc4j5QrO3U1le1v_nvZmW3TLrZh3EraNrI7bKlFb1UhAcDYRySt8hufTI69qk2wzTtveXcO2b3chokm5uWm5VGMiqtitvtF5uyZ7Sfa4WrpUNXFISoa8uAjYx0uYfQkUvO8_RX6h1hQLjKN8NksM7igi9uBA4OWssV1s2xk5qd2Zw4KmGr2VWtX8rLUcXDpmZX3RLqF9dKukqTMMG7e4x6BPdEUoT5kphT_yf2RjNErR7QXAEErAek-2izct-X5esFvOPSdLv3S_CnkGMdUGupM2ktfOVEhtlRvTOEVLX3_vhFPYCj6WWsRuL6rL11JT5A0h2jEGxwuCCD9PuhYmB3um4hl1mu9KVuzWFVv6G0K9UDXlGR5WeQJhfMSizStKk0HDrZh-16ENKedBHLf3bNMnMheWw55L3aEWEtkcCmpc70BRJ7W4O3oGv6LucTV50u3FeXZXC6LoQJiTVkXxUe4gQqpPv6RqzJt49SvtH4mZHFjv3ugPbJHrHChOoo_PaeVQkNX6LdCb83E5L2EYHl_AJDQcI8sS33YKM",
  "id": "rs_05a69784554a2b24016ab46239b35887d0b1ab5744c3f7de7e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.395,\"right_y\":0.4,\"right_z\":0.24,\"right_roll\":-1.57},\"note\":\"The bowl is tilted, but the fruits are still inside and the arm is near its reach limit. I will draw it slightly back and increase the tilt so the contents can fall into the white bowl.\"}",
  "call_id": "call_ZoSdhxYWW2ySouCL9Vu6UGbY",
  "id": "fc_05a69784554a2b24016ab4623b2aa487d0832f3994628e9068",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZoSdhxYWW2ySouCL9Vu6UGbY",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.9257, 0.7647, -0.6769, -0.0139, -0.0338, 0.9897, 1.0321, 2.7625, 3.0009, -1.5505, 1.1854, -0.02, 0.0451]\nstate[eef_state]: left_x=0.2779 left_y=0.0002 left_z=0.1597 left_yaw=0.0016 left_pitch=-0.2655 left_roll=0.0022 left_gripper=0.9897 right_x=0.4062 right_y=0.3676 right_z=0.1941 right_yaw=0.1221 right_pitch=-0.181 right_roll=-1.1552 right_gripper=0.0451\nstate[joint_eff]: [-0.1846, -1.9214, 6.8034, 1.5067, -0.0806, -0.0269, -0.0122, -0.1162, -13.5179, 6.8034, 0.5446, 0.7888, -0.1099, 0.779]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 336):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:420ffe09b1a12188fdca84dd8dad76539e58d8d679c83580bb0447cfed926745",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 336):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd6210117aefa78258dae40b230028ac5a869150cf95b88da7301b663dbdd46c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 336):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2b5815406038b56417a56960293b68e90c727591b4513331518eba6cee45603",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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