adhoc

completed
2026-09-24T01:14:11.158086+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (77 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-astra
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
203.6 s
total steps
333
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteI see three fruits beside the bowls: a green fruit near the right arm, a yellow fruit beside the blue bowl, and a dark fruit nearer the white bowl. I’m approaching the green fruit first with the right gripper open.
move_to
right_x0.3200right_y0.0550right_z0.1200right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8001, 0.6136, -0.3828, -0.0143, -0.0296, 0.999, -0.0227, 0.8005, 0.6182, -0.387, -0.0158, -0.033, 0.9994] state[eef_state]: left_x=0.296 left_y=0.0002 left_z=0.1821 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.999 right_x=0.296 right_y=-0.0003 right_z=0.1832 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994 state[joint_eff]: [-0.4855, -1.6205, 9.5658, 1.8095, -0.149, 0.1636, -0.1148, -0.1162, -1.7983, 9.4017, 1.8242, -0.0757, 0.2076, -0.0757] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.32,"right_y":0.055,"right_z":0.12,"right_gripper":1},"note":"I see three fruits beside the bowls: a green fruit near the right arm, a yellow fruit beside the blue bowl, and a dark fruit nearer the white bowl. I’m approaching the green fruit first with the right gripper open."})
tool
executing move_to over 5 steps (0.5s)
step 5
top_cam
camera top_cam step 5
left_cam
camera left_cam step 5
right_cam
camera right_cam step 5
assistant
agent noteThe green fruit is near the bottom of the wrist view but slightly right of the jaw centre. I’m shifting right a little and lowering the open jaws around it.
move_to
right_x0.3200right_y0.0300right_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8059, 0.6132, -0.3981, -0.0139, -0.0307, 0.999, 0.2955, 1.0378, 0.4465, -0.0441, 0.2325, 0.1173, 0.9994] state[eef_state]: left_x=0.2942 left_y=-0.0002 left_z=0.1772 left_yaw=-0.0008 left_pitch=-0.0214 left_roll=-0.0007 left_gripper=0.999 right_x=0.3146 right_y=0.057 right_z=0.1092 right_yaw=0.0284 right_pitch=-0.0466 right_roll=-0.0228 right_gripper=0.9994 state[joint_eff]: [-0.1299, -1.7299, 7.1316, 1.8828, -0.0611, -0.0513, -0.0122, -0.1573, -3.412, 7.0085, 2.0244, 0.2564, 0.1929, -0.0757] camera 'top_cam' (step 5): [image omitted: streamed camera frame] camera 'left_cam' (step 5): [image omitted: streamed camera frame] camera 'right_cam' (step 5): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.32,"right_y":0.03,"right_z":0.025},"note":"The green fruit is near the bottom of the wrist view but slightly right of the jaw centre. I’m shifting right a little and lowering the open jaws around it."})
tool
executing move_to over 6 steps (0.6s)
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 close-up shows the green fruit still to the right of the open jaws. I’m making a small lateral correction before closing so the rounded fruit is not pushed sideways.
move_to
right_x0.3050right_y0.0000right_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8097, 0.6132, -0.4084, -0.0139, -0.0311, 0.999, 0.141, 1.3933, 0.2089, 0.5339, 0.1066, 0.033, 0.9994] state[eef_state]: left_x=0.2931 left_y=-0.0002 left_z=0.1741 left_yaw=-0.0006 left_pitch=-0.0355 left_roll=-0.0008 left_gripper=0.999 right_x=0.3159 right_y=0.0295 right_z=0.0188 right_yaw=0.0247 right_pitch=-0.0772 right_roll=-0.0197 right_gripper=0.9994 state[joint_eff]: [-0.1299, -1.1556, 7.2, 1.8095, -0.0464, -0.0513, -0.0122, -0.3077, -3.9863, 4.6838, 1.9707, -0.0171, -0.0904, -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_x":0.305,"right_y":0.0,"right_z":0.025},"note":"The close-up shows the green fruit still to the right of the open jaws. I’m making a small lateral correction before closing so the rounded fruit is not pushed sideways."})
tool
executing move_to over 3 steps (0.3s)
step 14
top_cam
camera top_cam step 14
left_cam
camera left_cam step 14
right_cam
camera right_cam step 14
assistant
agent noteThe green fruit is now centred on the jaw column at grasp height. I’m closing the gripper around it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8124, 0.6132, -0.416, -0.0139, -0.0307, 0.9989, -0.0242, 1.2846, 0.1837, 0.4717, -0.001, -0.0456, 0.9994] state[eef_state]: left_x=0.2921 left_y=-0.0001 left_z=0.1718 left_yaw=-0.0008 left_pitch=-0.0458 left_roll=-0.0002 left_gripper=0.9989 right_x=0.3095 right_y=-0.0037 right_z=0.0289 right_yaw=-0.0072 right_pitch=-0.0601 right_roll=-0.0176 right_gripper=0.9994 state[joint_eff]: [-0.1983, -1.5111, 7.2137, 1.7851, -0.0415, -0.022, -0.0171, 0.1573, -3.4393, 4.547, 1.6044, -0.1245, -0.0317, -0.0171] camera 'top_cam' (step 14): [image omitted: streamed camera frame] camera 'left_cam' (step 14): [image omitted: streamed camera frame] camera 'right_cam' (step 14): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The green fruit is now centred on the jaw column at grasp height. I’m closing the gripper around it."})
tool
executing move_to over 10 steps (1.0s)
step 24
top_cam
camera top_cam step 24
left_cam
camera left_cam step 24
right_cam
camera right_cam step 24
assistant
agent noteThe gripper stopped at a fruit-sized opening rather than closing empty. I’m lifting the green fruit to verify the grasp, while returning the idle left arm to its parked height.
move_to
right_z0.1000left_x0.2960left_y0.0000left_z0.1820
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, 0.8124, 0.6132, -0.4236, -0.0139, -0.0311, 0.9989, -0.0265, 1.2781, 0.1898, 0.5117, -0.0128, -0.0532, 0.5565] state[eef_state]: left_x=0.291 left_y=-0.0001 left_z=0.1702 left_yaw=-0.0006 left_pitch=-0.0534 left_roll=-0.0004 left_gripper=0.9989 right_x=0.3177 right_y=-0.0026 right_z=0.0412 right_yaw=0.0045 right_pitch=-0.0075 right_roll=-0.0184 right_gripper=0.5565 state[joint_eff]: [-0.2256, -1.0872, 7.2, 1.7363, -0.0464, -0.0122, -0.0073, 0.1573, -2.7556, 4.8205, 1.3211, 0.0855, 0.022, 1.033] camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.10,"left_x":0.296,"left_y":0.0,"left_z":0.182},"note":"The gripper stopped at a fruit-sized opening rather than closing empty. I’m lifting the green fruit to verify the grasp, while returning the idle left arm to its parked height."})
tool
executing move_to over 4 steps (0.4s)
step 28
top_cam
camera top_cam step 28
left_cam
camera left_cam step 28
right_cam
camera right_cam step 28
assistant
agent noteThe green fruit rose with the gripper and remains securely held. I’m carrying it above the blue bowl with clearance over the rim.
move_to
right_x0.4000right_y0.1200right_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]: [-0.0219, 0.8413, 0.638, -0.4675, -0.0135, -0.0334, 0.9989, -0.0265, 1.0191, 0.3336, 0.0582, -0.0135, -0.0536, 0.5545] state[eef_state]: left_x=0.2896 left_y=-0.0004 left_z=0.1649 left_yaw=-0.0004 left_pitch=-0.1015 left_roll=-0.0014 left_gripper=0.9989 right_x=0.3092 right_y=-0.0022 right_z=0.0835 right_yaw=0.0054 right_pitch=-0.0582 right_roll=-0.0167 right_gripper=0.5545 state[joint_eff]: [0.0342, -1.6479, 9.6068, 1.8437, -0.0122, 0.0122, -0.0073, -0.1983, -2.8786, 8.6359, 1.873, -0.0366, -0.0464, 1.0281] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.4,"right_y":0.12,"right_z":0.19},"note":"The green fruit rose with the gripper and remains securely held. I’m carrying it above the blue bowl with clearance over the rim."})
tool
executing move_to over 11 steps (1.1s)
step 39
top_cam
camera top_cam step 39
left_cam
camera left_cam step 39
right_cam
camera right_cam step 39
assistant
agent noteThe blue bowl is directly beneath the carried fruit. I’m lowering the fruit into its opening before releasing it.
move_to
right_z0.1050
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8455, 0.6373, -0.4755, -0.0135, -0.0338, 0.9989, 0.4301, 1.4269, 1.005, -0.3229, 0.3298, 0.2024, 0.5581] state[eef_state]: left_x=0.2884 left_y=-0.0003 left_z=0.1619 left_yaw=-0.0001 left_pitch=-0.1144 left_roll=-0.0015 left_gripper=0.9989 right_x=0.3902 right_y=0.12 right_z=0.167 right_yaw=0.0336 right_pitch=-0.128 right_roll=-0.0497 right_gripper=0.5581 state[joint_eff]: [-0.335, -1.7983, 7.0222, 1.707, -0.0269, -0.0708, -0.0122, -0.3214, -6.6256, 9.2786, 1.8974, 0.3443, 0.1538, 0.6813] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.105},"note":"The blue bowl is directly beneath the carried fruit. I’m lowering the fruit into its opening before releasing it."})
tool
executing move_to over 5 steps (0.5s)
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 within the blue bowl’s opening, with the bowl surrounding it in the wrist view. I’m opening the jaws to leave it in the bowl.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8471, 0.6369, -0.4763, -0.0135, -0.0338, 0.9989, 0.4301, 1.515, 0.8165, -0.1001, 0.3206, 0.1989, 0.559] state[eef_state]: left_x=0.2883 left_y=-0.0003 left_z=0.1612 left_yaw=-0.0001 left_pitch=-0.1171 left_roll=-0.0014 left_gripper=0.9989 right_x=0.3829 right_y=0.1184 right_z=0.0938 right_yaw=0.0397 right_pitch=-0.1803 right_roll=-0.0672 right_gripper=0.559 state[joint_eff]: [-0.1846, -1.6752, 6.9812, 1.6728, -0.0415, -0.0708, -0.0122, -0.253, -7.1043, 6.3521, 1.9365, 0.1783, 0.0171, 0.8327] approver: 1 step(s) modified (delta_clamped). 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_gripper":1},"note":"The green fruit is within the blue bowl’s opening, with the bowl surrounding it in the wrist view. I’m opening the jaws to leave it in the bowl."})
tool
executing move_to over 5 steps (0.5s)
step 49
top_cam
camera top_cam step 49
left_cam
camera left_cam step 49
right_cam
camera right_cam step 49
assistant
agent noteThe green fruit is visibly resting in the blue bowl. I’m clearing the right arm and bringing the left gripper above the dark fruit beside the white bowl.
move_to
right_x0.2960right_y0.0000right_z0.2000left_x0.3000left_y-0.3000left_z0.1400left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8471, 0.6369, -0.4763, -0.0135, -0.0338, 0.9989, 0.4301, 1.515, 0.8165, -0.1051, 0.318, 0.1932, 0.9959] state[eef_state]: left_x=0.2883 left_y=-0.0003 left_z=0.1612 left_yaw=-0.0001 left_pitch=-0.1171 left_roll=-0.0014 left_gripper=0.9989 right_x=0.3821 right_y=0.1185 right_z=0.0929 right_yaw=0.0447 right_pitch=-0.1858 right_roll=-0.0716 right_gripper=0.9959 state[joint_eff]: [-0.335, -1.347, 7.1179, 1.6288, -0.0171, -0.0366, -0.0122, -0.212, -6.3385, 6.5299, 1.5311, 0.1343, 0.0122, -0.2125] camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.296,"right_y":0,"right_z":0.2,"left_x":0.3,"left_y":-0.3,"left_z":0.14,"left_gripper":1},"note":"The green fruit is visibly resting in the blue bowl. I’m clearing the right arm and bringing the left gripper above the dark fruit beside the white bowl."})
tool
executing move_to over 27 steps (2.7s)
step 76
top_cam
camera top_cam step 76
left_cam
camera left_cam step 76
right_cam
camera right_cam step 76
assistant
agent noteThe dark fruit is slightly left of the jaw column and still ahead of the fingertips in the wrist view. I’m shifting left and forward as I lower to its grasp height.
move_to
left_x0.3250left_y-0.2750left_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.0714, 1.7145, 1.2026, -0.5545, -0.7193, -0.8764, 0.999, -0.0029, 0.9665, 0.8482, -0.6617, 0.025, -0.1009, 0.9965] state[eef_state]: left_x=0.2963 left_y=-0.2927 left_z=0.128 left_yaw=-0.0112 left_pitch=-0.1497 left_roll=0.0137 left_gripper=0.999 right_x=0.2958 right_y=-0.0017 right_z=0.1866 right_yaw=0.0226 right_pitch=-0.2127 right_roll=-0.0738 right_gripper=0.9965 state[joint_eff]: [-0.6085, -8.2393, 8.6906, 1.0085, -0.6471, 0.0024, -0.1148, -0.2393, -2.8239, 9.4427, 1.5995, -0.1148, -0.1099, 0.0464] camera 'top_cam' (step 76): [image omitted: streamed camera frame] camera 'left_cam' (step 76): [image omitted: streamed camera frame] camera 'right_cam' (step 76): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.325,"left_y":-0.275,"left_z":0.025},"note":"The dark fruit is slightly left of the jaw column and still ahead of the fingertips in the wrist view. I’m shifting left and forward as I lower to its grasp height."})
tool
executing move_to over 7 steps (0.7s)
step 83
top_cam
camera top_cam step 83
left_cam
camera left_cam step 83
right_cam
camera right_cam step 83
assistant
agent noteThe dark fruit is between the fingers but a little left of centre. I’m making a final small centring adjustment and closing around it.
move_to
left_y-0.2580left_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]: [-0.9775, 1.8671, 0.971, -0.149, -0.6815, -0.7887, 0.999, -0.0059, 0.9688, 0.8524, -0.6785, 0.0139, -0.1135, 0.9966] state[eef_state]: left_x=0.3194 left_y=-0.2682 left_z=0.0315 left_yaw=0.0105 left_pitch=-0.1678 left_roll=0.0442 left_gripper=0.999 right_x=0.2937 right_y=-0.0006 right_z=0.1848 right_yaw=0.0361 right_pitch=-0.2279 right_roll=-0.0744 right_gripper=0.9966 state[joint_eff]: [0.1709, -7.7607, 5.0667, 1.243, -0.2759, 0.1392, -0.0171, 0.1573, -2.2359, 6.6256, 1.6484, 0.1099, 0.0855, -0.0122] camera 'top_cam' (step 83): [image omitted: streamed camera frame] camera 'left_cam' (step 83): [image omitted: streamed camera frame] camera 'right_cam' (step 83): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.258,"left_gripper":0},"note":"The dark fruit is between the fingers but a little left of centre. I’m making a final small centring adjustment and closing around it."})
tool
executing move_to over 10 steps (1.0s)
step 93
top_cam
camera top_cam step 93
left_cam
camera left_cam step 93
right_cam
camera right_cam step 93
assistant
agent noteThe left gripper has a fruit-sized opening, so I’m lifting to check the dark fruit. The blue bowl is outside the left arm’s lateral reach; I’m approaching its left rim with the right arm so I can bring it closer to the centre.
move_to
left_z0.1000right_x0.4000right_y0.1850right_z0.1400right_pitch0.0000right_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]: [-0.968, 1.8816, 0.9401, -0.1303, -0.6647, -0.7815, 0.5188, -0.0059, 0.9688, 0.8524, -0.6792, 0.0135, -0.1143, 0.9966] state[eef_state]: left_x=0.3158 left_y=-0.2603 left_z=0.0171 left_yaw=0.0104 left_pitch=-0.195 left_roll=0.064 left_gripper=0.5188 right_x=0.2935 right_y=-0.0005 right_z=0.1847 right_yaw=0.0369 right_pitch=-0.2286 right_roll=-0.0746 right_gripper=0.9966 state[joint_eff]: [0.5402, -12.1504, 4.7385, 1.1062, -0.4176, 0.105, 1.0281, -0.212, -2.2496, 6.7624, 1.4969, -0.0415, -0.0122, -0.0171] camera 'top_cam' (step 93): [image omitted: streamed camera frame] camera 'left_cam' (step 93): [image omitted: streamed camera frame] camera 'right_cam' (step 93): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.1,"right_x":0.4,"right_y":0.185,"right_z":0.14,"right_pitch":0,"right_roll":0},"note":"The left gripper has a fruit-sized opening, so I’m lifting to check the dark fruit. The blue bowl is outside the left arm’s lateral reach; I’m approaching its left rim with the right arm so I can bring it closer to the centre."})
tool
executing move_to over 16 steps (1.6s)
step 109
top_cam
camera top_cam step 109
left_cam
camera left_cam step 109
right_cam
camera right_cam step 109
assistant
agent noteThe dark fruit lifted with the left gripper. The blue bowl’s near-left wall is aligned with the right jaws, so I’m lowering onto that rim while keeping the held fruit higher and clear.
move_to
right_z0.0450left_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]: [-0.9665, 1.7477, 1.0782, -0.4484, -0.6571, -0.7925, 0.5217, 0.6025, 1.5581, 0.8986, -0.086, 0.4412, 0.2817, 0.9966] state[eef_state]: left_x=0.312 left_y=-0.2556 left_z=0.0782 left_yaw=0.0219 left_pitch=-0.2258 left_roll=0.0914 left_gripper=0.5217 right_x=0.3834 right_y=0.1766 right_z=0.1175 right_yaw=0.0736 right_pitch=-0.0924 right_roll=-0.0559 right_gripper=0.9966 state[joint_eff]: [-0.4308, -10.7692, 8.4444, 0.9353, -0.4615, 0.105, 0.7595, 0.335, -7.1043, 8.8137, 1.8242, 0.3443, 0.3053, -0.0171] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 109): [image omitted: streamed camera frame] camera 'left_cam' (step 109): [image omitted: streamed camera frame] camera 'right_cam' (step 109): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.045,"left_z":0.16},"note":"The dark fruit lifted with the left gripper. The blue bowl’s near-left wall is aligned with the right jaws, so I’m lowering onto that rim while keeping the held fruit higher and clear."})
tool
executing move_to over 6 steps (0.6s)
step 115
top_cam
camera top_cam step 115
left_cam
camera left_cam step 115
right_cam
camera right_cam step 115
assistant
agent noteThe right fingertips now straddle the blue bowl’s side wall. I’m closing on the rim to move the bowl without spilling its fruit.
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]: [-0.9665, 1.7, 1.2797, -0.7132, -0.6495, -0.8017, 0.5245, 0.6064, 1.7096, 0.762, 0.1761, 0.4408, 0.2771, 0.9966] state[eef_state]: left_x=0.3132 left_y=-0.2593 left_z=0.1378 left_yaw=0.0259 left_pitch=-0.2397 left_roll=0.0944 left_gripper=0.5245 right_x=0.3803 right_y=0.1764 right_z=0.0494 right_yaw=0.0788 right_pitch=-0.1152 right_roll=-0.0724 right_gripper=0.9966 state[joint_eff]: [-0.3624, -10.3043, 8.4034, 0.8425, -0.3883, 0.0855, 0.569, -0.4855, -6.5436, 4.8479, 1.4628, 0.1734, 0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 115): [image omitted: streamed camera frame] camera 'left_cam' (step 115): [image omitted: streamed camera frame] camera 'right_cam' (step 115): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The right fingertips now straddle the blue bowl’s side wall. I’m closing on the rim to move the bowl without spilling its fruit."})
tool
executing move_to over 10 steps (1.0s)
step 125
top_cam
camera top_cam step 125
left_cam
camera left_cam step 125
right_cam
camera right_cam step 125
assistant
agent noteThe jaws closed almost fully, so the rim grasp is uncertain. I’m making a short vertical lift to see whether the blue bowl follows before attempting to carry it.
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]: [-0.9661, 1.6978, 1.2865, -0.7284, -0.6456, -0.8043, 0.5257, 0.6056, 1.7271, 0.7475, 0.1753, 0.4381, 0.2703, 0.0232] state[eef_state]: left_x=0.3122 left_y=-0.2585 left_z=0.1392 left_yaw=0.027 left_pitch=-0.2458 left_roll=0.0958 left_gripper=0.5257 right_x=0.3753 right_y=0.1731 right_z=0.0372 right_yaw=0.0817 right_pitch=-0.1448 right_roll=-0.0927 right_gripper=0.0232 state[joint_eff]: [-0.0889, -8.0479, 5.7641, 1.1111, -0.3687, 0.022, 0.4322, -0.1162, -8.6906, 6.694, 1.4921, 0.149, 0.0171, 0.8718] camera 'top_cam' (step 125): [image omitted: streamed camera frame] camera 'left_cam' (step 125): [image omitted: streamed camera frame] camera 'right_cam' (step 125): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.115},"note":"The jaws closed almost fully, so the rim grasp is uncertain. I’m making a short vertical lift to see whether the blue bowl follows before attempting to carry it."})
tool
executing move_to over 6 steps (0.6s)
step 131
top_cam
camera top_cam step 131
left_cam
camera left_cam step 131
right_cam
camera right_cam step 131
assistant
agent noteThe blue bowl rose with the gripper despite the thin rim giving a near-closed reading. I’m moving it toward the table centre so both arms can reach its opening.
move_to
right_x0.3950right_y0.3200right_z0.1450
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.9661, 1.6978, 1.2865, -0.7296, -0.6384, -0.8047, 0.5259, 0.6056, 1.5871, 0.8783, -0.1345, 0.4213, 0.2695, 0.0304] state[eef_state]: left_x=0.3114 left_y=-0.2592 left_z=0.1384 left_yaw=0.0235 left_pitch=-0.2519 left_roll=0.0928 left_gripper=0.5259 right_x=0.3706 right_y=0.1731 right_z=0.0895 right_yaw=0.0921 right_pitch=-0.1848 right_roll=-0.102 right_gripper=0.0304 state[joint_eff]: [-0.0752, -8.2256, 6.3111, 0.9792, -0.4371, -0.0562, 0.7057, -0.0889, -9.1009, 9.0188, 1.5751, 0.3346, -0.0317, 1.0281] camera 'top_cam' (step 131): [image omitted: streamed camera frame] camera 'left_cam' (step 131): [image omitted: streamed camera frame] camera 'right_cam' (step 131): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.395,"right_y":0.32,"right_z":0.145},"note":"The blue bowl rose with the gripper despite the thin rim giving a near-closed reading. I’m moving it toward the table centre so both arms can reach its opening."})
tool
executing move_to over 13 steps (1.3s)
step 144
top_cam
camera top_cam step 144
left_cam
camera left_cam step 144
right_cam
camera right_cam step 144
assistant
agent noteThe arms crowded each other before the bowl reached its target, and the left arm was displaced. I’m withdrawing the left arm with the dark fruit to create clear space before continuing.
move_to
left_x0.2700left_y-0.1200left_z0.2100
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]: [-0.8402, 1.6138, 1.2911, -0.7029, -0.63, -0.812, 0.5268, 0.7605, 1.9415, 1.4967, -0.5724, 0.5354, 0.469, 0.0352] state[eef_state]: left_x=0.3425 left_y=-0.2209 left_z=0.1731 left_yaw=0.1268 left_pitch=-0.1935 left_roll=-0.0146 left_gripper=0.5268 right_x=0.4069 right_y=0.2677 right_z=0.1181 right_yaw=0.0289 right_pitch=-0.2594 right_roll=-0.1383 right_gripper=0.0352 state[joint_eff]: [-10.0991, -0.4171, 6.3658, 0.7057, -0.4176, 0.0269, 0.6569, 8.3487, -8.8547, 13.3812, 1.3016, 0.5543, 0.1636, 1.033] camera 'top_cam' (step 144): [image omitted: streamed camera frame] camera 'left_cam' (step 144): [image omitted: streamed camera frame] camera 'right_cam' (step 144): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.27,"left_y":-0.12,"left_z":0.21},"note":"The arms crowded each other before the bowl reached its target, and the left arm was displaced. I’m withdrawing the left arm with the dark fruit to create clear space before continuing."})
tool
executing move_to over 9 steps (0.9s)
step 153
top_cam
camera top_cam step 153
left_cam
camera left_cam step 153
right_cam
camera right_cam step 153
assistant
agent noteThe left arm is now clear and the green fruit remains inside the held blue bowl. I’m setting the bowl down nearer the centre, keeping it upright.
move_to
right_x0.3800right_y0.3300right_z0.0650right_pitch0.0000right_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]: [-0.778, 1.1687, 1.0561, -0.8661, -0.5964, -0.7647, 0.5293, 0.7582, 1.9793, 1.4937, -0.5926, 0.5186, 0.4786, 0.0352] state[eef_state]: left_x=0.277 left_y=-0.1286 left_z=0.2078 left_yaw=0.1344 left_pitch=-0.1879 left_roll=-0.0353 left_gripper=0.5293 right_x=0.4028 right_y=0.2658 right_z=0.0962 right_yaw=0.0208 right_pitch=-0.3136 right_roll=-0.1631 right_gripper=0.0352 state[joint_eff]: [0.294, -4.1778, 6.4479, 1.4139, -0.2857, 0.1294, 0.2418, 0.0889, -13.7778, 6.5846, 1.3358, 0.3394, -0.149, 1.033] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 153): [image omitted: streamed camera frame] camera 'left_cam' (step 153): [image omitted: streamed camera frame] camera 'right_cam' (step 153): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.38,"right_y":0.33,"right_z":0.065,"right_pitch":0,"right_roll":0},"note":"The left arm is now clear and the green fruit remains inside the held blue bowl. I’m setting the bowl down nearer the centre, keeping it upright."})
tool
executing move_to over 11 steps (1.1s)
step 164
top_cam
camera top_cam step 164
left_cam
camera left_cam step 164
right_cam
camera right_cam step 164
assistant
agent noteThe blue bowl is back on the table at the centre, with the green fruit still inside. I’m releasing its 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]: [-0.7773, 1.1744, 1.0523, -0.886, -0.5896, -0.7666, 0.532, 0.9379, 2.0415, 1.2423, -0.1024, 0.6853, 0.5884, 0.0352] state[eef_state]: left_x=0.274 left_y=-0.1268 left_z=0.2019 left_yaw=0.1365 left_pitch=-0.2105 left_roll=-0.0166 left_gripper=0.532 right_x=0.3723 right_y=0.3245 right_z=0.0514 right_yaw=0.0545 right_pitch=-0.0844 right_roll=-0.0504 right_gripper=0.0352 state[joint_eff]: [-0.1299, -4.0821, 6.8308, 1.3455, -0.3736, -0.0513, 0.2711, 0.2667, -10.6325, 5.9556, 1.7411, 0.569, 0.1099, 1.033] camera 'top_cam' (step 164): [image omitted: streamed camera frame] camera 'left_cam' (step 164): [image omitted: streamed camera frame] camera 'right_cam' (step 164): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The blue bowl is back on the table at the centre, with the green fruit still inside. I’m releasing its rim."})
tool
executing move_to over 10 steps (1.0s)
step 174
top_cam
camera top_cam step 174
left_cam
camera left_cam step 174
right_cam
camera right_cam step 174
assistant
agent noteThe blue bowl is released, but the right arm still blocks the left arm’s path. I’m parking the right arm before bringing the dark fruit over the bowl.
move_to
right_x0.3000right_y0.0300right_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]: [-0.7769, 1.1744, 1.0523, -0.8871, -0.5861, -0.7666, 0.5334, 0.9386, 2.0449, 1.2346, -0.104, 0.6765, 0.5835, 0.9954] state[eef_state]: left_x=0.2737 left_y=-0.127 left_z=0.2015 left_yaw=0.1348 left_pitch=-0.2135 left_roll=-0.0175 left_gripper=0.5334 right_x=0.3698 right_y=0.3238 right_z=0.0463 right_yaw=0.0628 right_pitch=-0.0979 right_roll=-0.0596 right_gripper=0.9954 state[joint_eff]: [0.1709, -3.6444, 6.5709, 1.199, -0.3834, -0.0464, 0.1441, -0.0889, -11.0974, 6.5436, 1.2869, 0.2808, 0.0269, -0.1001] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 174): [image omitted: streamed camera frame] camera 'left_cam' (step 174): [image omitted: streamed camera frame] camera 'right_cam' (step 174): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0.03,"right_z":0.2},"note":"The blue bowl is released, but the right arm still blocks the left arm’s path. I’m parking the right arm before bringing the dark fruit over the bowl."})
tool
executing move_to over 25 steps (2.5s)
step 199
top_cam
camera top_cam step 199
left_cam
camera left_cam step 199
right_cam
camera right_cam step 199
assistant
agent noteThe bowl is now accessible to the left arm, and the dark fruit remains held. I’m carrying it above the blue bowl.
move_to
left_x0.3800left_y-0.3900left_z0.1800left_pitch0.0000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.7765, 1.1782, 1.0508, -0.8948, -0.5827, -0.767, 0.535, 0.1707, 0.9291, 0.7589, -0.5304, 0.1589, 0.0265, 0.9964] state[eef_state]: left_x=0.2726 left_y=-0.1265 left_z=0.1988 left_yaw=0.1355 left_pitch=-0.2237 left_roll=-0.0091 left_gripper=0.535 right_x=0.3004 right_y=0.0271 right_z=0.1837 right_yaw=0.0132 right_pitch=-0.1224 right_roll=-0.0642 right_gripper=0.9964 state[joint_eff]: [-0.1573, -3.7949, 6.6256, 1.243, -0.3541, -0.0562, 0.149, -0.1846, -2.7829, 10.1538, 1.8681, -0.0073, -0.0757, 0.0904] camera 'top_cam' (step 199): [image omitted: streamed camera frame] camera 'left_cam' (step 199): [image omitted: streamed camera frame] camera 'right_cam' (step 199): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":-0.39,"left_z":0.18,"left_pitch":0,"left_roll":0,"left_yaw":0},"note":"The bowl is now accessible to the left arm, and the dark fruit remains held. I’m carrying it above the blue bowl."})
tool
executing move_to over 24 steps (2.4s)
step 223
top_cam
camera top_cam step 223
left_cam
camera left_cam step 223
right_cam
camera right_cam step 223
assistant
agent noteThe blue bowl is slightly ahead of the held dark fruit. I’m advancing a few centimetres and lowering the fruit into the bowl’s opening.
move_to
left_x0.4100left_y-0.3800left_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]: [-1.0344, 2.1048, 1.8038, -0.6453, -0.7887, -0.7921, 0.5365, 0.1703, 0.9314, 0.7597, -0.5514, 0.1482, 0.0109, 0.9965] state[eef_state]: left_x=0.3765 left_y=-0.381 left_z=0.1662 left_yaw=0.0101 left_pitch=-0.0393 left_roll=0.0048 left_gripper=0.5365 right_x=0.2972 right_y=0.0283 right_z=0.1793 right_yaw=0.0299 right_pitch=-0.1464 right_roll=-0.0726 right_gripper=0.9965 state[joint_eff]: [-0.8547, -11.8632, 8.7863, 1.2088, -0.6227, 0.1294, 0.1441, -0.0205, -2.1538, 7.0496, 1.8144, 0.1001, 0.1392, 0.0024] camera 'top_cam' (step 223): [image omitted: streamed camera frame] camera 'left_cam' (step 223): [image omitted: streamed camera frame] camera 'right_cam' (step 223): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.41,"left_y":-0.38,"left_z":0.11},"note":"The blue bowl is slightly ahead of the held dark fruit. I’m advancing a few centimetres and lowering the fruit into the bowl’s opening."})
tool
executing move_to over 4 steps (0.4s)
step 227
top_cam
camera top_cam step 227
left_cam
camera left_cam step 227
right_cam
camera right_cam step 227
assistant
agent noteThe dark fruit is over the blue bowl beside the green fruit. I’m releasing it into the bowl.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.9764, 2.1899, 1.7298, -0.4957, -0.7593, -0.7517, 0.5379, 0.1699, 0.9318, 0.7597, -0.5526, 0.1478, 0.0097, 0.9965] state[eef_state]: left_x=0.4026 left_y=-0.3721 left_z=0.1102 left_yaw=0.029 left_pitch=-0.065 left_roll=0.0335 left_gripper=0.5379 right_x=0.2971 right_y=0.0282 right_z=0.179 right_yaw=0.0304 right_pitch=-0.148 right_roll=-0.0735 right_gripper=0.9965 state[joint_eff]: [-0.1162, -12.5197, 6.5162, 1.4823, -0.2418, 0.149, 0.1294, -0.0342, -1.894, 6.9128, 1.6386, 0.0122, -0.0562, -0.0122] camera 'top_cam' (step 227): [image omitted: streamed camera frame] camera 'left_cam' (step 227): [image omitted: streamed camera frame] camera 'right_cam' (step 227): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The dark fruit is over the blue bowl beside the green fruit. I’m releasing it into the bowl."})
tool
executing move_to over 5 steps (0.5s)
step 232
top_cam
camera top_cam step 232
left_cam
camera left_cam step 232
right_cam
camera right_cam step 232
assistant
agent noteThe dark fruit appears to have landed just outside the bowl’s near edge rather than settling inside. I’m lowering the left gripper to recover it before proceeding.
move_to
left_x0.3500left_y-0.4000left_z0.0300
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.9707, 2.2089, 1.7252, -0.4362, -0.7536, -0.733, 0.9929, 0.1699, 0.9321, 0.7597, -0.5526, 0.1478, 0.0093, 0.9965] state[eef_state]: left_x=0.4091 left_y=-0.3775 left_z=0.1051 left_yaw=0.0194 left_pitch=-0.0497 left_roll=0.016 left_gripper=0.9929 right_x=0.2971 right_y=0.0282 right_z=0.1789 right_yaw=0.0306 right_pitch=-0.1483 right_roll=-0.0738 right_gripper=0.9965 state[joint_eff]: [-0.3897, -13.3402, 6.5436, 1.4139, -0.3883, 0.0171, 0.1441, -0.0752, -1.894, 7.1179, 1.5946, -0.0024, -0.0659, -0.0122] camera 'top_cam' (step 232): [image omitted: streamed camera frame] camera 'left_cam' (step 232): [image omitted: streamed camera frame] camera 'right_cam' (step 232): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.4,"left_z":0.03},"note":"The dark fruit appears to have landed just outside the bowl’s near edge rather than settling inside. I’m lowering the left gripper to recover it before proceeding."})
tool
executing move_to over 5 steps (0.5s)
step 237
top_cam
camera top_cam step 237
left_cam
camera left_cam step 237
right_cam
camera right_cam step 237
assistant
agent noteThe left arm could not reach the low recovery pose at that lateral extension. I’m withdrawing it and using the closer right arm to recover the dark fruit.
move_to
left_x0.2800left_y-0.1000left_z0.2000right_x0.3400right_y0.2550right_z0.1300
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.9707, 2.2089, 1.7252, -0.4366, -0.7475, -0.7322, 0.9945, 0.1699, 0.9321, 0.7597, -0.5522, 0.1478, 0.0071, 0.9965] state[eef_state]: left_x=0.4087 left_y=-0.3783 left_z=0.1045 left_yaw=0.0151 left_pitch=-0.0539 left_roll=0.0142 left_gripper=0.9945 right_x=0.2972 right_y=0.0282 right_z=0.1789 right_yaw=0.0319 right_pitch=-0.1481 right_roll=-0.0755 right_gripper=0.9965 state[joint_eff]: [-0.3897, -13.3265, 6.5983, 1.3993, -0.398, 0.0513, 0.1538, -0.0068, -2.0581, 6.9128, 1.5995, 0.0122, -0.022, -0.0073] camera 'top_cam' (step 237): [image omitted: streamed camera frame] camera 'left_cam' (step 237): [image omitted: streamed camera frame] camera 'right_cam' (step 237): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.28,"left_y":-0.1,"left_z":0.2,"right_x":0.34,"right_y":0.255,"right_z":0.13},"note":"The left arm could not reach the low recovery pose at that lateral extension. I’m withdrawing it and using the closer right arm to recover the dark fruit."})
tool
executing move_to over 25 steps (2.5s)
step 262
top_cam
camera top_cam step 262
left_cam
camera left_cam step 262
assistant
agent noteThe dark fruit is visible just left of the right jaw column, with the yellow fruit farther right. I’m centring the right gripper over the dark fruit and lowering around it.
move_to
right_x0.3400right_y0.2780right_z0.0300right_pitch0.0000right_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]: [-0.6815, 0.9871, 0.8169, -0.5636, -0.5655, -0.4892, 0.9946, 0.8803, 1.6711, 1.1175, -0.4412, 0.6102, 0.5434, 0.9965] state[eef_state]: left_x=0.2864 left_y=-0.1058 left_z=0.2033 left_yaw=0.0388 left_pitch=-0.0318 left_roll=-0.0153 left_gripper=0.9946 right_x=0.3322 right_y=0.2488 right_z=0.1169 right_yaw=0.061 right_pitch=-0.1938 right_roll=-0.1149 right_gripper=0.9965 state[joint_eff]: [0.2803, -2.5231, 6.653, 1.5263, -0.1148, 0.1636, -0.0024, 0.1709, -8.0615, 8.6632, 1.3211, 0.5543, 0.3053, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 262): [image omitted: streamed camera frame] camera 'left_cam' (step 262): [image omitted: streamed camera frame] camera 'right_cam' (step 262): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.34,"right_y":0.278,"right_z":0.03,"right_pitch":0,"right_roll":0},"note":"The dark fruit is visible just left of the right jaw column, with the yellow fruit farther right. I’m centring the right gripper over the dark fruit and lowering around it."})
tool
executing move_to over 7 steps (0.7s)
step 269
assistant
agent noteThe dark fruit is centred between the right fingertips at table height. I’m closing to recover it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.6792, 0.992, 0.8139, -0.5797, -0.5529, -0.4908, 0.9946, 0.9356, 1.8999, 0.8677, 0.1333, 0.6807, 0.5579, 0.9965] state[eef_state]: left_x=0.2842 left_y=-0.1056 left_z=0.1973 left_yaw=0.0331 left_pitch=-0.0555 left_roll=-0.0072 left_gripper=0.9946 right_x=0.3308 right_y=0.2675 right_z=0.0201 right_yaw=0.0719 right_pitch=-0.0865 right_roll=-0.0703 right_gripper=0.9965 state[joint_eff]: [-0.4308, -2.8103, 7.0359, 1.6288, -0.3883, -0.0415, -0.0073, 0.4444, -8.9094, 4.6701, 1.5653, 0.5153, -0.0415, -0.0073] camera 'top_cam' (step 269): [image omitted: streamed camera frame] camera 'left_cam' (step 269): [image omitted: streamed camera frame] camera 'right_cam' (step 269): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The dark fruit is centred between the right fingertips at table height. I’m closing to recover it."})
tool
executing move_to over 10 steps (1.0s)
step 279
assistant
agent noteThe right gripper has closed to the dark fruit’s width. I’m lifting it clear of the table to verify recovery before placing it deeper into the bowl.
move_to
right_z0.1700
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]: [-0.6788, 0.992, 0.8139, -0.5804, -0.5522, -0.4911, 0.9946, 0.9348, 1.924, 0.8543, 0.1444, 0.6769, 0.5575, 0.5055] state[eef_state]: left_x=0.2842 left_y=-0.1056 left_z=0.1971 left_yaw=0.0331 left_pitch=-0.0564 left_roll=-0.0075 left_gripper=0.9946 right_x=0.3277 right_y=0.2636 right_z=0.0078 right_yaw=0.0719 right_pitch=-0.1059 right_roll=-0.0887 right_gripper=0.5055 state[joint_eff]: [-0.0889, -2.4137, 6.9402, 1.536, -0.2613, -0.0757, -0.022, -0.1026, -10.6735, 5.9692, 1.1502, 0.2515, -0.0317, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 279): [image omitted: streamed camera frame] camera 'left_cam' (step 279): [image omitted: streamed camera frame] camera 'right_cam' (step 279): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.17},"note":"The right gripper has closed to the dark fruit’s width. I’m lifting it clear of the table to verify recovery before placing it deeper into the bowl."})
tool
executing move_to over 11 steps (1.1s)
step 290
assistant
agent noteThe dark fruit lifted successfully. I’m moving farther over the blue bowl this time so the release is well inside the rim, not at its near edge.
move_to
right_x0.4700right_y0.2750right_z0.1450
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.6785, 0.992, 0.8139, -0.5808, -0.5522, -0.4946, 0.9946, 0.9348, 1.6505, 1.1763, -0.4717, 0.6724, 0.5571, 0.5063] state[eef_state]: left_x=0.2842 left_y=-0.1054 left_z=0.1971 left_yaw=0.0354 left_pitch=-0.0567 left_roll=-0.01 left_gripper=0.9946 right_x=0.3281 right_y=0.2652 right_z=0.1479 right_yaw=0.0733 right_pitch=-0.1221 right_roll=-0.1023 right_gripper=0.5063 state[joint_eff]: [-0.3761, -2.1812, 6.8308, 1.5214, -0.2271, 0.0073, -0.0122, -0.1436, -9.9624, 8.7043, 1.2821, 0.3687, -0.0171, 0.5836] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 290): [image omitted: streamed camera frame] camera 'left_cam' (step 290): [image omitted: streamed camera frame] camera 'right_cam' (step 290): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.47,"right_y":0.275,"right_z":0.145},"note":"The dark fruit lifted successfully. I’m moving farther over the blue bowl this time so the release is well inside the rim, not at its near edge."})
tool
executing move_to over 11 steps (1.1s)
step 301
assistant
agent noteThe bowl’s opening is directly beneath the dark fruit now. I’m releasing the fruit inside.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.6781, 0.9939, 0.8139, -0.5816, -0.5522, -0.495, 0.9946, 0.6933, 2.0144, 1.57, -0.4438, 0.5137, 0.3298, 0.5093] state[eef_state]: left_x=0.2842 left_y=-0.1054 left_z=0.1964 left_yaw=0.036 left_pitch=-0.0588 left_roll=-0.0085 left_gripper=0.9946 right_x=0.4543 right_y=0.2693 right_z=0.1257 right_yaw=0.0718 right_pitch=-0.1807 right_roll=-0.142 right_gripper=0.5093 state[joint_eff]: [-0.1709, -2.5504, 6.7897, 1.5018, -0.2759, -0.0122, -0.0122, -0.6496, -11.6855, 8.8, 1.6874, 0.1783, 0.022, 0.3004] camera 'top_cam' (step 301): [image omitted: streamed camera frame] camera 'left_cam' (step 301): [image omitted: streamed camera frame] camera 'right_cam' (step 301): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The bowl’s opening is directly beneath the dark fruit now. I’m releasing the fruit inside."})
tool
executing move_to over 5 steps (0.5s)
step 306
assistant
agent noteThe dark fruit is dropping into the blue bowl, leaving only the yellow fruit on the table. I’m moving the open right gripper down around that last fruit.
move_to
right_x0.3300right_y0.1850right_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]: [-0.6781, 0.9939, 0.8139, -0.5812, -0.5522, -0.495, 0.9946, 0.6899, 2.0293, 1.5749, -0.4503, 0.4999, 0.3241, 0.9956] state[eef_state]: left_x=0.2843 left_y=-0.1054 left_z=0.1965 left_yaw=0.036 left_pitch=-0.0585 left_roll=-0.0088 left_gripper=0.9946 right_x=0.4546 right_y=0.27 right_z=0.1183 right_yaw=0.0799 right_pitch=-0.2008 right_roll=-0.147 right_gripper=0.9956 state[joint_eff]: [-0.1436, -2.3316, 6.9675, 1.5165, -0.2222, -0.0611, -0.0122, 0.1162, -12.6017, 6.2291, 1.3651, 0.315, 0.022, -0.1245] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 306): [image omitted: streamed camera frame] camera 'left_cam' (step 306): [image omitted: streamed camera frame] camera 'right_cam' (step 306): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.33,"right_y":0.185,"right_z":0.035},"note":"The dark fruit is dropping into the blue bowl, leaving only the yellow fruit on the table. I’m moving the open right gripper down around that last fruit."})
tool
executing move_to over 10 steps (1.0s)
step 316
assistant
agent noteThe dark fruit bounced out of the crowded blue bowl and rolled toward the far edge of the table. I’m parking both arms to inspect its final position without pushing the remaining fruit.
move_to
right_x0.2960right_y0.0000right_z0.2000left_x0.2960left_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]: [-0.6777, 0.9966, 0.8139, -0.5838, -0.5518, -0.4946, 0.9946, 0.7338, 1.6741, 0.7414, -0.0322, 0.5209, 0.3561, 0.9964] state[eef_state]: left_x=0.2842 left_y=-0.1052 left_z=0.1953 left_yaw=0.0361 left_pitch=-0.0627 left_roll=-0.0052 left_gripper=0.9946 right_x=0.3302 right_y=0.1842 right_z=0.0301 right_yaw=0.0829 right_pitch=-0.2367 right_roll=-0.1742 right_gripper=0.9964 state[joint_eff]: [-0.294, -2.6735, 6.8034, 1.5653, -0.2613, -0.0269, -0.0073, 0.3077, -7.665, 6.1607, 1.6044, 0.3248, 0.1148, 0.0806] camera 'top_cam' (step 316): [image omitted: streamed camera frame] camera 'left_cam' (step 316): [image omitted: streamed camera frame] camera 'right_cam' (step 316): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.296,"right_y":0,"right_z":0.2,"left_x":0.296,"left_y":0,"left_z":0.2},"note":"The dark fruit bounced out of the crowded blue bowl and rolled toward the far edge of the table. I’m parking both arms to inspect its final position without pushing the remaining fruit."})
tool
executing move_to over 16 steps (1.6s)
step 332
assistant
agent noteI could not complete the sequence. The green fruit is in the blue bowl, but the dark fruit bounced out during placement and rolled to the far side of the table, apparently beyond safe table-level reach. The yellow fruit remains beside the blue bowl. Both arms are parked; I have not attempted the pour. The dark fruit needs to be moved back into reach before retrying.
give_up
hindsightFor this setup, the blue bowl initially lies beyond the left arm’s lateral reach and needs repositioning. A thin bowl-rim grasp can read only 0.02–0.035 yet hold securely; verify by a short lift. Keep the other arm fully withdrawn when carrying the bowl across the centre—10 cm between grasp points did not prevent forearm interference here. The blue bowl is shallow and the large green fruit leaves little room: releasing another fruit from above the rim can bounce it far out of reach. Lower subsequent fruits into free space inside the bowl rather than dropping them.
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]: [-0.0696, 0.8654, 0.7521, -0.5575, -0.1131, -0.1226, 0.9946, 0.0433, 1.0042, 0.8818, -0.6865, 0.1059, -0.1612, 0.9965] state[eef_state]: left_x=0.2925 left_y=0.0032 left_z=0.1924 left_yaw=0.0844 left_pitch=-0.0965 left_roll=-0.0099 left_gripper=0.9946 right_x=0.2989 right_y=-0.0021 right_z=0.1867 right_yaw=0.0317 right_pitch=-0.2463 right_roll=-0.1761 right_gripper=0.9965 state[joint_eff]: [0.294, -2.2496, 6.9402, 1.9512, 0.1197, 0.2271, -0.0073, -0.2803, -3.3026, 9.2376, 1.5067, -0.0708, -0.0366, -0.0024] camera 'top_cam' (step 332): [image omitted: streamed camera frame] camera 'left_cam' (step 332): [image omitted: streamed camera frame] camera 'right_cam' (step 332): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I could not complete the sequence. The green fruit is in the blue bowl, but the dark fruit bounced out during placement and rolled to the far side of the table, apparently beyond safe table-level reach. The yellow fruit remains beside the blue bowl. Both arms are parked; I have not attempted the pour. The dark fruit needs to be moved back into reach before retrying.","hindsight":"For this setup, the blue bowl initially lies beyond the left arm’s lateral reach and needs repositioning. A thin bowl-rim grasp can read only 0.02–0.035 yet hold securely; verify by a short lift. Keep the other arm fully withdrawn when carrying the bowl across the centre—10 cm between grasp points did not prevent forearm interference here. The blue bowl is shallow and the large green fruit leaves little room: releasing another fruit from above the rim can bounce it far out of reach. Lower subsequent fruits into free space inside the bowl rather than dropping them."})
tool
give_up: I could not complete the sequence. The green fruit is in the blue bowl, but the dark fruit bounced out during placement and rolled to the far side of the table, apparently beyond safe table-level reach. The yellow fruit remains beside the blue bowl. Both arms are parked; I have not attempted the pour. The dark fruit needs to be moved back into reach before retrying.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 6.139 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, -0.3828, -0.0143, -0.0296, 0.999, -0.0227, 0.8005, 0.6182, -0.387, -0.0158, -0.033, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=0.0002 left_z=0.1821 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.999 right_x=0.296 right_y=-0.0003 right_z=0.1832 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.4855, -1.6205, 9.5658, 1.8095, -0.149, 0.1636, -0.1148, -0.1162, -1.7983, 9.4017, 1.8242, -0.0757, 0.2076, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11d4584d22ce2cf3620f8d48d45615e9c84ecca54b6a9290f819221cfb11ccab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06aa56df82513dc40e952098d3a06134211deffa9a8cc838a3fd6d9b64519015",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c351c668cb7e88a0149b2e96ef54bc5e996eaf0cbcd18f34d4a35bc0e227c05f",
      "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 · 5.097 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtHl34w5VWdFxO1JNVUa2cYVL0_HDeQ2GtrYHmd9DXQx3lpMI0u7XNgmbDq2RP4uW05Df-cmLqrlmiqULvgtsQP0RnnoTlSDy8Nd3HtOi_F0L1ZkDeJCDJQroEGrIOYtfW1_22Hs9g4Tft6SwAXbRHfOKgTwwE9vDEJ8WyLFjuUoOhc1nXMCGJ3QKS0V-IGKV2K_mdBtnvK1bWmjVA6K8IHiE0qypIH6JpWpkVjzc88SZ6syh2XM5lBuxaSX9X2IxBUsX5XTsKU7kJnCLBkav4NDYQPbMWcqb4lX4ccE_78fq6jH8jIslyxeD0EMTCg13Y4I1UJh0QjSDsUQEh4WnNYM10NwPY7AIeiNaVwLrYhw4hukx3ruhgzdB0Q7uQYbrGxZBCCoFRoFC-PxWHhvMURTpHxp2wObFCExXogHT_RUl2YS8h5u-6nXwdpuToHLTQYlSjH-ENKf-fEWbs_CO3XfvL0cLZvEL4k9mEybCa_ZMuBvQQLL4ILnFADHEPSjoFHJqVVPQR3JsZDHZ7qY1eOMC-Jl7xuRxiJpYd31tqFaRsCtBi_0rWFdO0pEdY2goJO8oVv6Gk82lyZDnaRP0W39IQkiYKvmGgr-p_AxuJ1ssLuPQiXqFmYwD6_IUtqSvSXcJ0pHuHM4p9btZUALZNFoLCILmzkDadbxaTzQhtZIUpT00JXIKlUYMHzf5VwKz0rHazLjxbgFTTWlfyPsRyu5jFsWglp8eL6UOgxt7GsQatvTlqKo0Jtp7NgefMDQhrJXpjh0KZ27gg8jey05Z6CXGySi82QFgBn_105rxA4N1XB-0g2jXdLWUM8N2VrbsQyfyNl6J8EPCVOat7IVe4wuB93UEv1BbfETTNiXiZDh3K0tGlZceNqI2C_Sx4jSx87X38wgFbyW-RXdUQXAcflvG3SJ8EavlZ_DR2LJdu7_EddCTqMDK5oUxBNlNam4NaPI0JIM7ZbycTCZ1a4KIHKqhARQri27fUC99AFklpTgaW0xDMZElG6IdmzKDPOJC32uiI4UsHWWrOdr6Bk9ScbT4DU1z3AQKooLz6EvKmiDRt5-40mBrwSs_eLXZaPFqQvqaclfiGre_nJjKQ8BCgE2VhpX1Kr09EQwEO_Rndc1dzwShI2NsEVVN5bBmdpJ1F7eBRxxXYf8f_mUNy95DiuKzugbXdQ-iK2_OJwJ6HR0FMp9EtEwWdcHIEkpWKi9vLJDc3KZzObOrC7GRJt5WAvejLauqXid1SDBScomIvxkrJ1Fn_ElO_VtF0GWKDyISwjAOhhJPOzjosjwx_beploQwmKMj8JKTl2pmn3F9FzFInGPas7nHvTmOT1ofMbKWzDCuykx4cqVqUkTnSk8h1Jcjt9FVBQaXTTANXw8DXn7HIcC09r_J4Q8GphdIoGZZvouG5pyIMXtQ8PbZ7GjmDUbedC3Y9Jvih-ea2DXT5jVcJOCW2wKA_AVqh_uECe6T_o1D7TZ0RT1xT17m_SYRdQghu7lBC49JEvQtqMLj_6-mOhiGm4VfjetyR7DRXIgmp78m6A15bPsMPMK87c07Ucp5KhPMV9EEDW7E0VovBml8MinNqa-hd75WCFGhvUZzVbCJc2A7IFB3C55HDQbqXWis1BSfOTO5iOAo4MoG8rSogGzwE75QyZG7Bi16Z4Aa27r4oo125S2C1HTg_e7kFODC0poD0NgUDZkWznYVvjA0_Q9P2mDLVZ4dNX78yJZN5ZJQN_PjdzjFNww85rpV9evQWiIuPRLxNUGvEHEmHvxBUseOYdUJo_YGY3vuv84iaJoy6eoaOphxg2FjwpzN5NRj1SDUw1XyamBdjkVMlM_rTAcROLHU7ltabwmUpyliuqduAupSIXwBN74m-Xju1utX9Zd6zJNQfFooyE_3d4AqU-UfaEVz69wcW0snH20IgACuycdCMP3NZ8PUQRxOJf-wMpiUoDcEgg2dMv30KhxZarNC7640orQxNkMwBxLr80gM5oUkG6umQ-lL82IIiLrOJ4TylANsVJX9GNmvrJ_VL0zMicRZGRRmLnVjD6-jhBjLPwCzM54gfRJWQtyiXt8zmtWkMnuGFQ98LOKzKbbgVpkro7mjmfMVueguaHFMVFjsrqErQudfnMX9h5iY_kT6gs-2vLWEdU4fvetbI3jw1vS3s4tY4zeQTq6_q9dEngTaq4HCCZ2FZaSk266LEZrXFg==",
  "id": "rs_0c236c321c7a2a95016ab4797255b087d086faa57cbd968c7b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.055,\"right_z\":0.12,\"right_gripper\":1},\"note\":\"I see three fruits beside the bowls: a green fruit near the right arm, a yellow fruit beside the blue bowl, and a dark fruit nearer the white bowl. I’m approaching the green fruit first with the right gripper open.\"}",
  "call_id": "call_Xh6FPNmfp2e8mvvRboIN1siu",
  "id": "fc_0c236c321c7a2a95016ab479761c8887d08061833923753196",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Xh6FPNmfp2e8mvvRboIN1siu",
  "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]: [-0.0212, 0.8059, 0.6132, -0.3981, -0.0139, -0.0307, 0.999, 0.2955, 1.0378, 0.4465, -0.0441, 0.2325, 0.1173, 0.9994]\nstate[eef_state]: left_x=0.2942 left_y=-0.0002 left_z=0.1772 left_yaw=-0.0008 left_pitch=-0.0214 left_roll=-0.0007 left_gripper=0.999 right_x=0.3146 right_y=0.057 right_z=0.1092 right_yaw=0.0284 right_pitch=-0.0466 right_roll=-0.0228 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -1.7299, 7.1316, 1.8828, -0.0611, -0.0513, -0.0122, -0.1573, -3.412, 7.0085, 2.0244, 0.2564, 0.1929, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16bd5966574b4d472e5bf74e6f8244f539a9d67111a22e5feff2cb256cce6630",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:811c12a8d87514228abb6a576b422f5b1f34ea0c6258bb404c1282f02261069d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4446b8d04e0077297ba7a7cca91e960e108013485276e64047eaca36009c9939",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 2 attempt 0 · /responses · status 200 · 4.737 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, -0.3828, -0.0143, -0.0296, 0.999, -0.0227, 0.8005, 0.6182, -0.387, -0.0158, -0.033, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=0.0002 left_z=0.1821 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.999 right_x=0.296 right_y=-0.0003 right_z=0.1832 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.4855, -1.6205, 9.5658, 1.8095, -0.149, 0.1636, -0.1148, -0.1162, -1.7983, 9.4017, 1.8242, -0.0757, 0.2076, -0.0757]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8059, 0.6132, -0.3981, -0.0139, -0.0307, 0.999, 0.2955, 1.0378, 0.4465, -0.0441, 0.2325, 0.1173, 0.9994]\nstate[eef_state]: left_x=0.2942 left_y=-0.0002 left_z=0.1772 left_yaw=-0.0008 left_pitch=-0.0214 left_roll=-0.0007 left_gripper=0.999 right_x=0.3146 right_y=0.057 right_z=0.1092 right_yaw=0.0284 right_pitch=-0.0466 right_roll=-0.0228 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -1.7299, 7.1316, 1.8828, -0.0611, -0.0513, -0.0122, -0.1573, -3.412, 7.0085, 2.0244, 0.2564, 0.1929, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16bd5966574b4d472e5bf74e6f8244f539a9d67111a22e5feff2cb256cce6630",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:811c12a8d87514228abb6a576b422f5b1f34ea0c6258bb404c1282f02261069d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4446b8d04e0077297ba7a7cca91e960e108013485276e64047eaca36009c9939",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHmAR4UUqnzp6Pzo-UzPUTggztka9cL8IxYDH6lnm0m-SsPmEVtdrRWDIOXaZk-DCC2lGJWQ4KyHwrCvFk2k4aYH8kfaQtxZmj_XddXfG6NAUbZbhKF4Jgh4B2g1hw6KyC5qoPkN9F_BJMOU-00QGBhfGrzBsX3bfzAxcBgrUn_bwEvWapwYJYmqWMwfQtaHBMF_94zk5U0P1s6mqYpde-ptWZag0OvbaeyYD6730AjCzW420wP9xbOZskihZZF_z3PYrojz4oMaH7R0HGMAciykFJaVkAYSjXQ3a00or3UGvQhjde4e_vVqBRu1msbZ10IoTOmUNAeuPo-uaNc1GAH7nsvOT1gN-d_kqKDBKygk-48fm81_l3kx79KtTXbiNNSS0ya0yAoXKsf_BNVFdFoZI2sbe2DtBSAbd7Mdh3gp6RjQOahPezDEXo0BWF3AfvLZ7cxjopYm1wtAnQWZHjQyOeeoBgOft7GNvSnidpXFy8HRUWYEr7VwA3CzW-KzuImVkv4r-gYNWCG-bc9AMzeFsi8ILU5V_iC1JUAzFnGWmapCVHD5F1XpSe_2fXJFcMKWJ5ykAvPOrhmAn_f1ukoPmp-2iKlXUtHl7Vwy9YBzZxYWVeAdENTqFjWbHyVdGUKEM-1F8wGmN6wo-hZwkkAnP0GYFXJA3gP2Gxj39hbzMGhqb8izNun1IE6o4hbqXw8AAcSKUobb-geXqFm1fFqys-f5QZjUrfmQvM6UlhUSmzGWEX7QnkUgzj5kBXGM_ax9hlecDiBChNqZfxROjqEP1UWB156v4OfWHDCop4Gg1szEEARn30p2s5jKSEx_sWCfdazlchqqU7kcGBktxvyQy0F_k2FDGaOoWZCXdj9FotP5K6B_ydhJZ2lAaGJIhOIxBtxc1QeUNRvWgcBCZpXvkbClwKwRKJT5WLqd5XiPx6QeMkrbctyLRVeduv_aWLcxEUHorQkz3I3xi-UmluHM-_1yITVb6qDPAKnqB9Q8ySiGeWi4w9xTop7oAs9ZNhk3nR6B4xgmwBV9vc5F32EF0xPrdhhMuS-m_wrxl26NExUUHThjzuAC3YcoK-OJGlatohGdVtXWy4AQvPLS7RQ15FbTBCRXrTiWQHQwhKxKfgQG7oRtPgSZ9QPIfzeJTTVMemJQpJ12yB3uqPf0_IRM9cDXxp6J6smLdihoBN0WA4hNcWRqBcbQZG-Tippp2CMJ5DihgCcuexSgSS-HNTlfZeA0RFsHVkzlF1umJwVWLPe2lQDPpwZuO1OOnQK9EUdsAJzoAgdMEVyHUeUb7k7KXngQkJDxNvANTy0HhHO2jkg318AS0NNQwipmyxUFs7N59Piak2Mh3k0bZ7yLgXI_JnS3_dpW6_l_WU8cA0m6ci6Rz4ufHAy3CX7c-FlPBl0gHRhd5JBYlcvGv1Ac5F4yHf_XqVmRd002hPUW9HdnuxxjJqqFhTIkzap9ZR0WdfRQYOLlThRVpfUTkK0gogC9bK-UCdy9toOM60NP0TxkRIZTIzGLhvVAPsSgVTisf_XzLXd96ziFyvLvUlcMFgMOwppcAyFq60V4XI6PkinopnKhbWjOC9Zg-p7XKM913PF0AB7-RF86MjY-XwEOyBgPxUJVoroK8In6Z3FFvYre6qmDA1U8ZDPT1QMRBxY0sHKkMscbcS_TVYKDVzbL3LSEJraTcQM6B032ndErbLasGK2sOAtgMEPNuzALnFCQrKibD9n82ibqmo56Pf5D5BWmrifWzORaTakheSGKZm_RJteLAXwCtiZVKrLoxsr0Yzfkh2MVijUW4EOcDoWISPNrD-nlaeJu0kR8SwT2636gjBUauzg6zIDsL1Z-95kAcYGwJOyWwNDXF-_mSmsrqgvhBDpndd9iW4rdbbnrhxnUMh9Pc_REeGpBd8ises8kuSQuBfgdtdlP9_r3K3TNBCW-k54zP0TrGw7PUiL8KoKFkfh0dALAhDgEib502h0ORCBs-n3IlYisdFDHYZsKWToKxWbMYgItbg-AHN3FaOEsPWOPehtoQG7LoNalICQCngg-",
  "id": "rs_0c236c321c7a2a95016ab4797cdd8c87d08f44dcf8755d5fb2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.03,\"right_z\":0.025},\"note\":\"The green fruit is near the bottom of the wrist view but slightly right of the jaw centre. I’m shifting right a little and lowering the open jaws around it.\"}",
  "call_id": "call_HfC7KCzxbbhaT0V6IEqGJSH8",
  "id": "fc_0c236c321c7a2a95016ab4797fcae887d089e895b1bf05d11c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HfC7KCzxbbhaT0V6IEqGJSH8",
  "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, 0.8097, 0.6132, -0.4084, -0.0139, -0.0311, 0.999, 0.141, 1.3933, 0.2089, 0.5339, 0.1066, 0.033, 0.9994]\nstate[eef_state]: left_x=0.2931 left_y=-0.0002 left_z=0.1741 left_yaw=-0.0006 left_pitch=-0.0355 left_roll=-0.0008 left_gripper=0.999 right_x=0.3159 right_y=0.0295 right_z=0.0188 right_yaw=0.0247 right_pitch=-0.0772 right_roll=-0.0197 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -1.1556, 7.2, 1.8095, -0.0464, -0.0513, -0.0122, -0.3077, -3.9863, 4.6838, 1.9707, -0.0171, -0.0904, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c1a0ec77f53ab7f11261e2267dc4a730f1b51132b502afec38b435bf1ffcb9b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a799e2bf3d1fc13a069b1d374e7481aaf1e444c9d484ac9e251ba4351d68748d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cc610922e89da320bdd3c63baf5c80570a3172a885c53e99415e74ca23f2e17",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /responses · status 200 · 2.005 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 10 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8059, 0.6132, -0.3981, -0.0139, -0.0307, 0.999, 0.2955, 1.0378, 0.4465, -0.0441, 0.2325, 0.1173, 0.9994]\nstate[eef_state]: left_x=0.2942 left_y=-0.0002 left_z=0.1772 left_yaw=-0.0008 left_pitch=-0.0214 left_roll=-0.0007 left_gripper=0.999 right_x=0.3146 right_y=0.057 right_z=0.1092 right_yaw=0.0284 right_pitch=-0.0466 right_roll=-0.0228 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -1.7299, 7.1316, 1.8828, -0.0611, -0.0513, -0.0122, -0.1573, -3.412, 7.0085, 2.0244, 0.2564, 0.1929, -0.0757]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8097, 0.6132, -0.4084, -0.0139, -0.0311, 0.999, 0.141, 1.3933, 0.2089, 0.5339, 0.1066, 0.033, 0.9994]\nstate[eef_state]: left_x=0.2931 left_y=-0.0002 left_z=0.1741 left_yaw=-0.0006 left_pitch=-0.0355 left_roll=-0.0008 left_gripper=0.999 right_x=0.3159 right_y=0.0295 right_z=0.0188 right_yaw=0.0247 right_pitch=-0.0772 right_roll=-0.0197 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -1.1556, 7.2, 1.8095, -0.0464, -0.0513, -0.0122, -0.3077, -3.9863, 4.6838, 1.9707, -0.0171, -0.0904, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c1a0ec77f53ab7f11261e2267dc4a730f1b51132b502afec38b435bf1ffcb9b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a799e2bf3d1fc13a069b1d374e7481aaf1e444c9d484ac9e251ba4351d68748d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cc610922e89da320bdd3c63baf5c80570a3172a885c53e99415e74ca23f2e17",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHmJMyb9vupDKke9x-S5hlZCCVKziP0K3CX0ZKRq7A78ZaF0t1kYqVfqlqJqhEFfGg37SuAWbckgO8AWGvnBSdDmnFXqzXtSrzOxtf4tkPJiovB_gj1tCbQiC3xpoSPMUbnXkG3BNF8sbvsTpIxyJ6MHrRqpJ2cmLj5cQPbKe2TKv0YBJ1ejzD51jmmdK_cRCFQ66Rv-0AjH26__RYc2n2Bup5Bg8ETSM6NnE_NRIFAdsrP4tSzqlYL5hYLb99ZJMUxxEHWKrhtJ9c0enND6fgtj2vl1XirsjcLs6Pzfhsds1hwvVdu5EPWtBUOXnrPVGK2vlzYbuwXNzrYcEsvoDj_3zcvHeYKZdgA_AqKM0_36JG6ipLtiQjNGf1jouQ0opxyzHUYOOg5AT_98sin03pryBt9-hZuJK6Xk846jQVF0sAcIGzdCFjhzFnswRXm-YItAty45S2qlj2tK9qPNIM89ZnGXxd7VdYhyhjvOs_9ZN0tFG6JHjny4gxRProcpBGJUyoBod2jA8muhZbHOLNPtnThjQR78MsxkvXjLvHP4rHpbVL00SdVK3YtA9aWKAfBVt7zs7B6hgWlNXNdaVktt3Bc6qBgxU1vg1nPtULltH8wX1A7K0rhNLVnGlNNpLq80GMiVDcsZz4SsqSrGZCEsphIasHPTZQhAlUropljKJ4U0r98hVwWrtF4QoAEiZahQb1ekFq2qG1kJRvOMyvOVaTmn7MQckz75KUZNJzysp_9_TMZyEGr0V8xmGdjMsJO5aHT7sjQyEMBTV4TsTfzXE68WDD8WEOBUfl6kLhm9Xy5I-dJfPK-I1xLDOsxKtWkQ7t_yNrCRRqtNY9DqM4bCQutJeTuvnrQPV8aNeqW11EC5jmK1kpQSV3sg67IC27pw6njtYk2hG1v9EmK0thMR6ry01HuyBUfyqvGppmBXasnBcVs4Z0JXMd9X-qqcv-0Ec6gjocXxFd5cx4DbgHT_Ea8irDapQiJLb7w1WU3EQVeMItZIXNwIT9_xBK3rDPj1YR7E0btB1MGHoDSke4ttFQgUONXcwhP7k0MYYCiZIdaotF9qE9Zrvs91KMivq5IYgfuYNh_J2SQk9WE0UoGf-mZkQ8bgPykxLMKAaVjiiyGjxK0SRrP744AfHjstoPiiQCC8IAh8So2nWWGNf_YJbKI15wb7JIakGOGTprAsq1Rmn0jtheLeaX5aMJieRAiBJCnO_wWxS8g7quSP_eFTWjcpAAN_MxNHzLqpj1Ii16RMoGL0o2Opzsl-nYVbyekt7vPKDRyWTisC_CNqmQW-6HMTXlPeCceV_I6jvuafL9srMhQa7pn7XTAr0jCmgHPgGEMlF_XUOjVfZKxPkOX87JrFS1QXpjRELxc_2kEsyPoTPWgdqLfdWXIoqHgtIRe4gF36Hi-6uIs64UETwjsoGrX_GXMIlQlbmKQnMpdpaGCHvSXpz4ozUkROtRcBtFFfuJk5Bj7J9OveudeXLr0rqRYW65xupa2Izkf1yih_m1RxhxDTFu6QBCxb0ccQPmQGM55q5NQvEGYAxLee4X6hLNrBv9ApSYQh9QFkLDG3XV2khfEWgMfxpK53bK9Cq_wMcg3aIIaTeHOL1ALMjCCo8jjU3OGijnYWr0FvoNDIFYFuW9aDp4ABcTSaYm8-jnlb43LK8pV4aKXY4WiD0oQANTuxe1xSuF-dAx5okRWGx8qy8OR9TBpshiC71nOek-09EAR2QKr8MDTUwHI1I0tHS9ZSEJdGvRYLHnHpkkZMXIAfPL_LvaiGSdPmTVbTXodWsCZ_aHh4tbEHv4OXd8K2V_bYs4Az32JmoeA7Nk2fbK8=",
  "id": "rs_0c236c321c7a2a95016ab47986007487d0a75d9a558288b1c0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.305,\"right_y\":0.0,\"right_z\":0.025},\"note\":\"The close-up shows the green fruit still to the right of the open jaws. I’m making a small lateral correction before closing so the rounded fruit is not pushed sideways.\"}",
  "call_id": "call_wbzeYOjpUxcitbYmO374PBU7",
  "id": "fc_0c236c321c7a2a95016ab4798889d887d0b108e6cc55bc455a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wbzeYOjpUxcitbYmO374PBU7",
  "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]: [-0.0212, 0.8124, 0.6132, -0.416, -0.0139, -0.0307, 0.9989, -0.0242, 1.2846, 0.1837, 0.4717, -0.001, -0.0456, 0.9994]\nstate[eef_state]: left_x=0.2921 left_y=-0.0001 left_z=0.1718 left_yaw=-0.0008 left_pitch=-0.0458 left_roll=-0.0002 left_gripper=0.9989 right_x=0.3095 right_y=-0.0037 right_z=0.0289 right_yaw=-0.0072 right_pitch=-0.0601 right_roll=-0.0176 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -1.5111, 7.2137, 1.7851, -0.0415, -0.022, -0.0171, 0.1573, -3.4393, 4.547, 1.6044, -0.1245, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a8babdfe9f392b89c369701041cf68f5831bb937fddca2c33db5a82392d8de5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7f4da1275787014a82f17236997d4566113551146041f047901abecbdec5bda",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53ba645c3b13236ef01506970ec498476257f311a1f2272cc860a31982e17f8f",
      "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 · 2.828 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, -0.3828, -0.0143, -0.0296, 0.999, -0.0227, 0.8005, 0.6182, -0.387, -0.0158, -0.033, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=0.0002 left_z=0.1821 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.999 right_x=0.296 right_y=-0.0003 right_z=0.1832 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.4855, -1.6205, 9.5658, 1.8095, -0.149, 0.1636, -0.1148, -0.1162, -1.7983, 9.4017, 1.8242, -0.0757, 0.2076, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8097, 0.6132, -0.4084, -0.0139, -0.0311, 0.999, 0.141, 1.3933, 0.2089, 0.5339, 0.1066, 0.033, 0.9994]\nstate[eef_state]: left_x=0.2931 left_y=-0.0002 left_z=0.1741 left_yaw=-0.0006 left_pitch=-0.0355 left_roll=-0.0008 left_gripper=0.999 right_x=0.3159 right_y=0.0295 right_z=0.0188 right_yaw=0.0247 right_pitch=-0.0772 right_roll=-0.0197 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -1.1556, 7.2, 1.8095, -0.0464, -0.0513, -0.0122, -0.3077, -3.9863, 4.6838, 1.9707, -0.0171, -0.0904, -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]: [-0.0212, 0.8124, 0.6132, -0.416, -0.0139, -0.0307, 0.9989, -0.0242, 1.2846, 0.1837, 0.4717, -0.001, -0.0456, 0.9994]\nstate[eef_state]: left_x=0.2921 left_y=-0.0001 left_z=0.1718 left_yaw=-0.0008 left_pitch=-0.0458 left_roll=-0.0002 left_gripper=0.9989 right_x=0.3095 right_y=-0.0037 right_z=0.0289 right_yaw=-0.0072 right_pitch=-0.0601 right_roll=-0.0176 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -1.5111, 7.2137, 1.7851, -0.0415, -0.022, -0.0171, 0.1573, -3.4393, 4.547, 1.6044, -0.1245, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a8babdfe9f392b89c369701041cf68f5831bb937fddca2c33db5a82392d8de5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7f4da1275787014a82f17236997d4566113551146041f047901abecbdec5bda",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53ba645c3b13236ef01506970ec498476257f311a1f2272cc860a31982e17f8f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHmLCVUsWn6LuBfeLLCw5zmOQoZfhPKcbnUl7NYVMtahpZJ7mMeAL6huNYQUTtA48uhWZE_Mn4MWJrXhlag6oihLL4lMGNrO3vWY7eYdCTtZ32Hcs7TRfKCqr3aTp9SaYU3pHoZcC0loJCZzFfxYjq-3ZrTMjarIwVIjCELoeQv94-3Gq54aARoxxumdsnTMLX1vMCMryaYgzQStv6WslfO_V19OWtXS7-Z_ggduLokn8NnHBeJ8S66Avkd_-sHAdpvR5mf32MvtHxapj10tyweBEKsffcwB6hNeVTieewsOjSRk3W1wvKVMaEmPiGjpbXhX9Xbk2oO2fADMVZUH2FIDexdNDdfCgR0_w74kObR7UsJLtIuC0fZiUyDeQcNjtLAhHNcDOF_vvp_z1NmXRH51wNsTJ-sVuAgHgO_bz0dZ5GNVTgYAKeO_kQSktAEhNxDeINMXYR3b6lneKxo3Qja2C4FjQmbP1puir2I4gGenGcGfEuugKWeec3jw_236i6PBHloHqa6h6RQIR8GUQphAWjCsV4SQ1tFQtT_YUGUj5EGr1b08XyHl2Zz9KnT81VgM0eMzVM6B3eIVgk05G5Z--bHunys7bPo1E2w5kLrmrpOenmhrw8HgzyTm3wOh4tAhVkKE_SSo3oH7v0qpLfVvoX0CfDCdlA0YNrwaDBsMP_ssz1NBH6urdPgfDtH2f39rFlGOeEH9MSP0iH-KX2UwUrtS-3dGyQdzBIR8ZAJGLcuKztt_30IxQ4e6Kaa2tVSYchjiQiWEpzOjDYYDioLgGdLZYAE5Gb-qJwxHRA1QM_Mra46EccriKjvvX_PklH_Uar2BBVlZtIpMYgD_MLJQJ8-NwtE8-Y4TwOh34FPKUjULimdXGgDL70WSKS8y8yCu0Po51P0wPLwp0SVZ10UC4dTA7YQGSNGj4Y0XPmcMXIJmjfvC8TS7vDh3vON_8W7eaRp2dG6Urux78df6UW4BTAAMTAwFF_2rSh5R_Dd95BlcU-nk1y-SCcv99kov95F_7iMFUVcX4fvrAUJn16llc43vCrXmwaVcvR3d4UiC1Dey2NHAGZxPMK1ZQ1JgArdc9zC_XKGxlQ5s2s9mHx44FSNVrUzIytcrFhIBBs-pe-zk8x61GYmoKatn6fXj-2M_msHQ0egNF4O6Z3UURQ7G-3jspZ2x4jXIB34kLGEATcpTMI0Yc9Z1826tr182rkDggUEGhnvS9bZiwQRvt6jojQ==",
  "id": "rs_0c236c321c7a2a95016ab4798b15d087d0baa4e354457947ae",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The green fruit is now centred on the jaw column at grasp height. I’m closing the gripper around it.\"}",
  "call_id": "call_YygDD3kxv0A1QRDmevn6fQrc",
  "id": "fc_0c236c321c7a2a95016ab4798b520887d090b473d328790534",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YygDD3kxv0A1QRDmevn6fQrc",
  "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, 0.8124, 0.6132, -0.4236, -0.0139, -0.0311, 0.9989, -0.0265, 1.2781, 0.1898, 0.5117, -0.0128, -0.0532, 0.5565]\nstate[eef_state]: left_x=0.291 left_y=-0.0001 left_z=0.1702 left_yaw=-0.0006 left_pitch=-0.0534 left_roll=-0.0004 left_gripper=0.9989 right_x=0.3177 right_y=-0.0026 right_z=0.0412 right_yaw=0.0045 right_pitch=-0.0075 right_roll=-0.0184 right_gripper=0.5565\nstate[joint_eff]: [-0.2256, -1.0872, 7.2, 1.7363, -0.0464, -0.0122, -0.0073, 0.1573, -2.7556, 4.8205, 1.3211, 0.0855, 0.022, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d64c79f8d128e83692b51ff33f56087cefde194f0c85e757d102c076a2b39781",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ba17aaf862f454e03ddd920d8c0d3e6c0de5e0cf8e764260f76ac302c70db07",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bff9e191fc9f1091fb0c0d109f1eb1c0da3ae2a31c5c4c623a527ed83793c1b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /responses · status 200 · 3.668 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 14 changed as sent

message 18 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8059, 0.6132, -0.3981, -0.0139, -0.0307, 0.999, 0.2955, 1.0378, 0.4465, -0.0441, 0.2325, 0.1173, 0.9994]\nstate[eef_state]: left_x=0.2942 left_y=-0.0002 left_z=0.1772 left_yaw=-0.0008 left_pitch=-0.0214 left_roll=-0.0007 left_gripper=0.999 right_x=0.3146 right_y=0.057 right_z=0.1092 right_yaw=0.0284 right_pitch=-0.0466 right_roll=-0.0228 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -1.7299, 7.1316, 1.8828, -0.0611, -0.0513, -0.0122, -0.1573, -3.412, 7.0085, 2.0244, 0.2564, 0.1929, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8124, 0.6132, -0.416, -0.0139, -0.0307, 0.9989, -0.0242, 1.2846, 0.1837, 0.4717, -0.001, -0.0456, 0.9994]\nstate[eef_state]: left_x=0.2921 left_y=-0.0001 left_z=0.1718 left_yaw=-0.0008 left_pitch=-0.0458 left_roll=-0.0002 left_gripper=0.9989 right_x=0.3095 right_y=-0.0037 right_z=0.0289 right_yaw=-0.0072 right_pitch=-0.0601 right_roll=-0.0176 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -1.5111, 7.2137, 1.7851, -0.0415, -0.022, -0.0171, 0.1573, -3.4393, 4.547, 1.6044, -0.1245, -0.0317, -0.0171]",
      "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]: [-0.0212, 0.8124, 0.6132, -0.4236, -0.0139, -0.0311, 0.9989, -0.0265, 1.2781, 0.1898, 0.5117, -0.0128, -0.0532, 0.5565]\nstate[eef_state]: left_x=0.291 left_y=-0.0001 left_z=0.1702 left_yaw=-0.0006 left_pitch=-0.0534 left_roll=-0.0004 left_gripper=0.9989 right_x=0.3177 right_y=-0.0026 right_z=0.0412 right_yaw=0.0045 right_pitch=-0.0075 right_roll=-0.0184 right_gripper=0.5565\nstate[joint_eff]: [-0.2256, -1.0872, 7.2, 1.7363, -0.0464, -0.0122, -0.0073, 0.1573, -2.7556, 4.8205, 1.3211, 0.0855, 0.022, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d64c79f8d128e83692b51ff33f56087cefde194f0c85e757d102c076a2b39781",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ba17aaf862f454e03ddd920d8c0d3e6c0de5e0cf8e764260f76ac302c70db07",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bff9e191fc9f1091fb0c0d109f1eb1c0da3ae2a31c5c4c623a527ed83793c1b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHmVO3HtxAT9NhAD6zW-rVxrdaMo8DJ8V3mpkwpoIgK-MgOZYqr4aVlosXVuNeZjvCGTmb2L6t6g78t4BrrEMUhntIajzj0Z_QvZ5MT-LP49dErhojlReGAPcDBES5i53NGJxJ2CYhn4IA-JvXL-EiCpw0sehsVDTpBIhn3C_y5ujlSxdWv9rSvlcRPgZ1FAvVdCbTbGcqZ69lZ2K42Y4iPOK5y00o7ps3_KgyKIO_WAxYAZse4xfsPYp8RxaOtlpCW3n2JMFqfDQ3yW8ciD9ytXhPc5Cox4oxChvkrwvmITFCZf8OyoRkZuKs1Fmz6Qma1eOPuK2IdeP9PnP5E11HIcwPSY8vZhK91t_YJWdIwi8wnMc53yyjq6dnNrSUGgklXVdkZyTUCAiEmNqKlCSsfsRotQrFWFpbk8iFwtXtlHPs3H8fp2DeZabo9tAgm8YJ6jDPIguLiBJkDLQCCb4NTiNwTZjBxgksX6mar12k4cAo9Ghs_V5vpHdr9zVWFupsgVe56uWPwOgaKgkgk1NUkX3w_5zIF_OmoMtBYGE58sehXBGm_KOX1JhuovNXn2CERRo4t2QHK_u-_pUIKzYxKbrSjZzZ8yO5dXj1EtN5-B3hTPp3GauwFLSQVA-tq_sD3RyHuzejz5051rfiJfcd2hgC93959ERa0qFK6mB_d7xos_dzWWtXUZW_evZkYkUXMN3WqptmhGdg1ZY4eHmIwPVRT2MVCxZUb-Cu8QI0z1chLPZFshs8v5JlB5fm02ARhIcyUPhQKeWaQH8ouyoZ4bkDFiykexcxIJrcCxJ_MlfMzLWzWlGUY4OYODHMbv2WJzfqC4Q2rV4sMhAXrkKfeTgkQT1-bLRWbfLfrqO7b02AO-U5jyGsp2uRGghzn9wW1-VhfJtjKJossa6vJ9wsCjdJkC4Z5FQzPVvJPgqa9b1pW6UuDaCltg9uJgiz2SxBS9T967na3jpH7rK2AYKgWk5hZZQGwYH2OQsuBy8nTh3JfWW2n36QA_6XlSN6QO2svug__f9SnxDcRx0XjzXHJDM9bKuadq8W7CZzEdEXgoxHcETUcMS956vMxZooURrpJRdUZ8h4BdSkXpfx38LuP1uXnAhJfPh3mBC_AILsJoftyQeN73GjulEwkde3QoYCUel6YB5OTJiz1kXf6ZvuWMS30gBDX9RDV_pGviXkzOpYcsFvrO1HaSDezJ5iYEFWBsjO7pT6k-kUOZFdQbPgn2kGNjOquT4z8rlNm2iEypXq0H39lH5lc3D5PIdamA6ljJOMZMO8ehGrruMKujXqQ-lw==",
  "id": "rs_0c236c321c7a2a95016ab47993800c87d099eda54c67fb21ad",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.10,\"left_x\":0.296,\"left_y\":0.0,\"left_z\":0.182},\"note\":\"The gripper stopped at a fruit-sized opening rather than closing empty. I’m lifting the green fruit to verify the grasp, while returning the idle left arm to its parked height.\"}",
  "call_id": "call_D3DXkfyKnXZqnpMRlE3SQCbx",
  "id": "fc_0c236c321c7a2a95016ab4799405d087d0b03d8629b52e5193",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_D3DXkfyKnXZqnpMRlE3SQCbx",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8413, 0.638, -0.4675, -0.0135, -0.0334, 0.9989, -0.0265, 1.0191, 0.3336, 0.0582, -0.0135, -0.0536, 0.5545]\nstate[eef_state]: left_x=0.2896 left_y=-0.0004 left_z=0.1649 left_yaw=-0.0004 left_pitch=-0.1015 left_roll=-0.0014 left_gripper=0.9989 right_x=0.3092 right_y=-0.0022 right_z=0.0835 right_yaw=0.0054 right_pitch=-0.0582 right_roll=-0.0167 right_gripper=0.5545\nstate[joint_eff]: [0.0342, -1.6479, 9.6068, 1.8437, -0.0122, 0.0122, -0.0073, -0.1983, -2.8786, 8.6359, 1.873, -0.0366, -0.0464, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f5420c8bc4162df849cf16d14b17578b9cf67c6c76bd99a3cbb732124a89719",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63c10883c88226960555ad80f33d808deb14de44c76068690260358e09c26067",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2b0feb7c80dcdae95255df73b5e5d1a86f0c90d35641d96d6973bbfe303585f",
      "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 · 2.927 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 10 changed as sent

message 18 changed as sent

message 22 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8097, 0.6132, -0.4084, -0.0139, -0.0311, 0.999, 0.141, 1.3933, 0.2089, 0.5339, 0.1066, 0.033, 0.9994]\nstate[eef_state]: left_x=0.2931 left_y=-0.0002 left_z=0.1741 left_yaw=-0.0006 left_pitch=-0.0355 left_roll=-0.0008 left_gripper=0.999 right_x=0.3159 right_y=0.0295 right_z=0.0188 right_yaw=0.0247 right_pitch=-0.0772 right_roll=-0.0197 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -1.1556, 7.2, 1.8095, -0.0464, -0.0513, -0.0122, -0.3077, -3.9863, 4.6838, 1.9707, -0.0171, -0.0904, -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]: [-0.0212, 0.8124, 0.6132, -0.4236, -0.0139, -0.0311, 0.9989, -0.0265, 1.2781, 0.1898, 0.5117, -0.0128, -0.0532, 0.5565]\nstate[eef_state]: left_x=0.291 left_y=-0.0001 left_z=0.1702 left_yaw=-0.0006 left_pitch=-0.0534 left_roll=-0.0004 left_gripper=0.9989 right_x=0.3177 right_y=-0.0026 right_z=0.0412 right_yaw=0.0045 right_pitch=-0.0075 right_roll=-0.0184 right_gripper=0.5565\nstate[joint_eff]: [-0.2256, -1.0872, 7.2, 1.7363, -0.0464, -0.0122, -0.0073, 0.1573, -2.7556, 4.8205, 1.3211, 0.0855, 0.022, 1.033]",
      "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]: [-0.0219, 0.8413, 0.638, -0.4675, -0.0135, -0.0334, 0.9989, -0.0265, 1.0191, 0.3336, 0.0582, -0.0135, -0.0536, 0.5545]\nstate[eef_state]: left_x=0.2896 left_y=-0.0004 left_z=0.1649 left_yaw=-0.0004 left_pitch=-0.1015 left_roll=-0.0014 left_gripper=0.9989 right_x=0.3092 right_y=-0.0022 right_z=0.0835 right_yaw=0.0054 right_pitch=-0.0582 right_roll=-0.0167 right_gripper=0.5545\nstate[joint_eff]: [0.0342, -1.6479, 9.6068, 1.8437, -0.0122, 0.0122, -0.0073, -0.1983, -2.8786, 8.6359, 1.873, -0.0366, -0.0464, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f5420c8bc4162df849cf16d14b17578b9cf67c6c76bd99a3cbb732124a89719",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63c10883c88226960555ad80f33d808deb14de44c76068690260358e09c26067",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2b0feb7c80dcdae95255df73b5e5d1a86f0c90d35641d96d6973bbfe303585f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHmaaqFtuBcAk6lOwbeHb32jQO0CowTUWc5-mIG7MBiyioHEuZQXPw34hh_J4qeiCumTd63gEApkETkWx3A6hy8b4vW61UiWyn6ZynCQBvj4j3YXK8aFYLU5hQS_Ksg1Ewfva5Y85RpnrQYuPUoC8uPQEgwHtNvTC2_RpcPs0YhZzqxJob7JYBu4uTD758vkZ5qAWhDXjNaJ6REIIVkwPO_FQDsKV3K9qcjgjWyixET-DO6bvEHmMLli5ySqK_fH3FWVdBB1C5pDhVj_zhKRzaw422O5eg65tvD7NjL6hM0GKqjd7x3fu51b1p1OImLzG51o3vMFHVf6Va_tm5d1ZMEWcS_Imm_sLq1IRd2TGxx-8-93gqgymHfqdMy-fcSt4VcfSNy48SpR6bGMwKGwmBRfLAytI5Cc6xA_lA1x6U24rchPt9lgl3vUBjexhveBj7lMXTJKR47fSKvAd_KqwbhM7DHiL9ok0NKfFAAZjAyWRGXxK0zQ-MB-urFfJUfWKXAUBE-SOFCQYz7dA25CNb6wNDMiSOsZ2Sy8KHXFKkJSaEQ5x3shMWrzAmT5tIEUXcNo0JB6N1mRZ0oiHClYn1fKBbrGtX-hKX0tywAB5_kIGT35M8qT-mwlksItFMD76gU6NzQhR2j0s86w_vDZ7vM-RFEkwNJyYbPWz0WIav1a6UYwsAWS5nEdkfP-D6l2DXaytBvRonx5GF66rSR8X7Bb6o6-jskMCeMbYDQXamcJo4wHPEqRriMgkJh39Y3qh_tiv-niaB9on8Hq1QjPWj_D7wCV0rbh3u3pNET2a-oaM1DyfRIAXGMNLS9DDnvt82OWiXz7SyHuWVH14kUc6Z_HSodIAA7KbUGG2aIH6v3dE1Crqd6ns-61femVZKk5GEmOOapc8dFNj8PxawHGCj49bpVDoFRdX-7H4VooyD9BFhXd7RWqYlVsltq9Dy8eLog5Z9NldrhHCYb7XmSwPhLRkaAupGmULvIazLFstEomVCfIZOLmpo9IN8MjZvo_tq1MzFwC-lGmqcl1b_CgQCKg8EEyccojDLXVppR2EGZt0IubpOW2eIpA43aK6wr-Ejz3GE1wHqJjFDqGZvGk6nAW9t5VLJ7id0fGeOA7U9ALtGzWGPo6Vk3JPK2MqJZ16APQDYKBw7rTB3KRJ6_BL2C06YnQTB2467sAgNxCYmmlBMy3Sc9Zm-DeGC0JovazvA9WPOA022JY_Kp55rtJf9Ym5Wo6eYCHHAieuyttdd0-Db-XUXWp8iatzgqpE0Gg6I71sBcjMdq9l2cHOZe8I4h6WrB_CXDFhgyZMabHmokVSexwwbfZUuMV9KWjkelw1qfiQdgQtEoPvsfNnBum5IDueYhHtRW042BLoXXpmeAt_gnojw7pT1lqZlfLDYJpYx7a2P-1_8sbPd5jYIU1ErBrrlyg7cvM0ynS0m4ZUTnxt5VpoIgWnnhUh46kBt6OK-e_ZqUI-eAHJc6LWKQ7gy86rfqztVhJYYLKwSy3nMQMZExxLGo0LnLtD5yFzXwx-FKLLpW6doZMjKUl6w5Y9JWIug==",
  "id": "rs_0c236c321c7a2a95016ab47997864487d0936205fe69198df8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.12,\"right_z\":0.19},\"note\":\"The green fruit rose with the gripper and remains securely held. I’m carrying it above the blue bowl with clearance over the rim.\"}",
  "call_id": "call_7axCKHWjbbve7oJSft5MMNWL",
  "id": "fc_0c236c321c7a2a95016ab47998e8a887d08aa6dbbbf9a0d78f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7axCKHWjbbve7oJSft5MMNWL",
  "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]: [-0.0219, 0.8455, 0.6373, -0.4755, -0.0135, -0.0338, 0.9989, 0.4301, 1.4269, 1.005, -0.3229, 0.3298, 0.2024, 0.5581]\nstate[eef_state]: left_x=0.2884 left_y=-0.0003 left_z=0.1619 left_yaw=-0.0001 left_pitch=-0.1144 left_roll=-0.0015 left_gripper=0.9989 right_x=0.3902 right_y=0.12 right_z=0.167 right_yaw=0.0336 right_pitch=-0.128 right_roll=-0.0497 right_gripper=0.5581\nstate[joint_eff]: [-0.335, -1.7983, 7.0222, 1.707, -0.0269, -0.0708, -0.0122, -0.3214, -6.6256, 9.2786, 1.8974, 0.3443, 0.1538, 0.6813]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d46426f8564bb8c33d243931c22b62d48d9ba1ebdca3e0cb3e20deaab85d3b82",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de53701698ce6007e8db805280434d4db86d8a923763677dbd760fd68ab49292",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b699c6216a5efcafe49071229401b8ffae220c9992d7c7b67776f81b2dd4a63",
      "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 · 2.215 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 14 changed as sent

message 22 changed as sent

message 26 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8124, 0.6132, -0.416, -0.0139, -0.0307, 0.9989, -0.0242, 1.2846, 0.1837, 0.4717, -0.001, -0.0456, 0.9994]\nstate[eef_state]: left_x=0.2921 left_y=-0.0001 left_z=0.1718 left_yaw=-0.0008 left_pitch=-0.0458 left_roll=-0.0002 left_gripper=0.9989 right_x=0.3095 right_y=-0.0037 right_z=0.0289 right_yaw=-0.0072 right_pitch=-0.0601 right_roll=-0.0176 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -1.5111, 7.2137, 1.7851, -0.0415, -0.022, -0.0171, 0.1573, -3.4393, 4.547, 1.6044, -0.1245, -0.0317, -0.0171]",
      "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]: [-0.0219, 0.8413, 0.638, -0.4675, -0.0135, -0.0334, 0.9989, -0.0265, 1.0191, 0.3336, 0.0582, -0.0135, -0.0536, 0.5545]\nstate[eef_state]: left_x=0.2896 left_y=-0.0004 left_z=0.1649 left_yaw=-0.0004 left_pitch=-0.1015 left_roll=-0.0014 left_gripper=0.9989 right_x=0.3092 right_y=-0.0022 right_z=0.0835 right_yaw=0.0054 right_pitch=-0.0582 right_roll=-0.0167 right_gripper=0.5545\nstate[joint_eff]: [0.0342, -1.6479, 9.6068, 1.8437, -0.0122, 0.0122, -0.0073, -0.1983, -2.8786, 8.6359, 1.873, -0.0366, -0.0464, 1.0281]\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 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]: [-0.0219, 0.8455, 0.6373, -0.4755, -0.0135, -0.0338, 0.9989, 0.4301, 1.4269, 1.005, -0.3229, 0.3298, 0.2024, 0.5581]\nstate[eef_state]: left_x=0.2884 left_y=-0.0003 left_z=0.1619 left_yaw=-0.0001 left_pitch=-0.1144 left_roll=-0.0015 left_gripper=0.9989 right_x=0.3902 right_y=0.12 right_z=0.167 right_yaw=0.0336 right_pitch=-0.128 right_roll=-0.0497 right_gripper=0.5581\nstate[joint_eff]: [-0.335, -1.7983, 7.0222, 1.707, -0.0269, -0.0708, -0.0122, -0.3214, -6.6256, 9.2786, 1.8974, 0.3443, 0.1538, 0.6813]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d46426f8564bb8c33d243931c22b62d48d9ba1ebdca3e0cb3e20deaab85d3b82",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de53701698ce6007e8db805280434d4db86d8a923763677dbd760fd68ab49292",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b699c6216a5efcafe49071229401b8ffae220c9992d7c7b67776f81b2dd4a63",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHmh8stI-fyVAEi5D52mOolePvJqmqP0dzTpGwms7OBaEx3GA6ovSsaR2RkdpXHyrsZDeSCUx2opABnOxjlYJqvD79g7EKt48_pxnbNkZtHYbz061Tbl0gCiL8LuTJ2BFbsiIilIbkZUGr-DDM9ZvgGF66yIf_4OobkeEI8X4txZR4Ytzxc_BUHkKARXt0LaHjsa1jMXWsDJ3fDjJUyLSVoy94EB_2O5ZTGZLWGiS5_Hu6Vs10YqNwcRUxDzrsX2XT0bgIXDRAh3FIV6q7fBK3p2bjmB_PMMTf6NnLCbFzujKKAVCIfkwQpLNKYE04dLxxqofyA7G_sQr7yKN58aUqfJ-oUiReaKtf-UCcXYPg537Gy7flwqo8H40REht0b_7MsCwiNrHCoNeEjBPKcP_pXeXMVjo2Y-NzvXxs0i4tpB6Z4GLjsH1HlYKo25lHv9aKiMLUxQXS2iupB8PAA4wSVZk6hTMtPsGtLxhjMynocgTe8oV8nNCsw3Z6QC6qM0ym-lsIMneUYjGHBGKUzbLGOJfLC98IyZnKGRlw0RjWCcaY3M-EecQ-uVuCdcpg0lwOoWZD4Zr8UZlCCTaYyDYZBioA3WGj58yJqpoz13XEyo5QVpHyNGX22on7U92BQ-J9_waKBiEF1bFrTZZ_oOhVlIyuVn5dhtzdHydAtsclrW-B_wUfUKQ-_69bcpSpry3Enoqd7Rgl9AeKHbpFwNuni2QVpqv3x7UiR5J2L5sATD7pzDNJxMV3nD5MP31RiL25NfPE1uqqT7VI4vqZnz02_lsR7bryshj_clSeQE5FA2bNry_B_WWfJVg2viwZMwjfTWYgaE4eWwdBpoILEzgpWBgAxlR82MyDeKXSD3psaFuuijNWhTfZx9YWfOHa5wdGMFuwiaJx72FL1FI1_UWfFHgkEGLYDM0VC1aqinanqQ05LPIUI4Pf81DNJLKT-OhTOHrx1HzgJaImiEDvkNUIz6A2tRhjf70djoGoqUbE2zu9zOUj60dnurTroQItpxUDt_8jUUe35Ae3M3YH5P-9mbgf4zQoiVWHcA8WxX37hPggopMwts1_H7d5e-0gG8cdz74DiqBvir3fPPK5x2GiSKWM8DYF4iqO8SMUlBQIFqbsqNRUMcSGohnpPn5FfaiYtkIemG4nRInTL7SRnAqFgFz3vcZrMXOq9hiTTTXN38pv7DFxUrZRYpCVnY4icgt4o1mN4s9RI1UtFn9pXWAJb47nvc-gf7AU01ahN1ql43QbG-N_TjvjLYE15uZNWFT-Miacigjved8Zief35wXUxnHef_Bzpd-pORT969NV0dMXYbJ6hl7qHXE061fJYaOEIW7xcMYfEMGdRDAfm3XebBn1GgXIAREzYAeATh6n86MAT1QYEEf1JPRvbqfKARJpDs1TyNs51tLT7GjOiOLZ1ESw8gzMT-42QA4rSIy4LSH7eE7KTwwPDCpyVN_mLtXhis1pRLyRoC5Ti36Aig7fWVBQ3pi3u_nC2wgmIXZvD0xLA=",
  "id": "rs_0c236c321c7a2a95016ab4799fac8087d0a430158e05d1daf5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.105},\"note\":\"The blue bowl is directly beneath the carried fruit. I’m lowering the fruit into its opening before releasing it.\"}",
  "call_id": "call_zj2z5mdUvBIE7ddhs8TCE5Tw",
  "id": "fc_0c236c321c7a2a95016ab479a0921487d08a846fbe012599df",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zj2z5mdUvBIE7ddhs8TCE5Tw",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8471, 0.6369, -0.4763, -0.0135, -0.0338, 0.9989, 0.4301, 1.515, 0.8165, -0.1001, 0.3206, 0.1989, 0.559]\nstate[eef_state]: left_x=0.2883 left_y=-0.0003 left_z=0.1612 left_yaw=-0.0001 left_pitch=-0.1171 left_roll=-0.0014 left_gripper=0.9989 right_x=0.3829 right_y=0.1184 right_z=0.0938 right_yaw=0.0397 right_pitch=-0.1803 right_roll=-0.0672 right_gripper=0.559\nstate[joint_eff]: [-0.1846, -1.6752, 6.9812, 1.6728, -0.0415, -0.0708, -0.0122, -0.253, -7.1043, 6.3521, 1.9365, 0.1783, 0.0171, 0.8327]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da4e1988428202324393caf41fbff7c4c8d7366bce80ee0c245337e4b248ed40",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e715bc345f2fab9d6c5ff16ecf8ccc1a0137fd042827f8d9f4b5748668f7f85",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d8506fbff284f805ca3487a0d02057a0ccfa6a5f949124932f471facaed4eab",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 8 attempt 0 · /responses · status 200 · 4.375 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 18 changed as sent

message 26 changed as sent

message 30 changed as sent

message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8124, 0.6132, -0.4236, -0.0139, -0.0311, 0.9989, -0.0265, 1.2781, 0.1898, 0.5117, -0.0128, -0.0532, 0.5565]\nstate[eef_state]: left_x=0.291 left_y=-0.0001 left_z=0.1702 left_yaw=-0.0006 left_pitch=-0.0534 left_roll=-0.0004 left_gripper=0.9989 right_x=0.3177 right_y=-0.0026 right_z=0.0412 right_yaw=0.0045 right_pitch=-0.0075 right_roll=-0.0184 right_gripper=0.5565\nstate[joint_eff]: [-0.2256, -1.0872, 7.2, 1.7363, -0.0464, -0.0122, -0.0073, 0.1573, -2.7556, 4.8205, 1.3211, 0.0855, 0.022, 1.033]",
      "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]: [-0.0219, 0.8455, 0.6373, -0.4755, -0.0135, -0.0338, 0.9989, 0.4301, 1.4269, 1.005, -0.3229, 0.3298, 0.2024, 0.5581]\nstate[eef_state]: left_x=0.2884 left_y=-0.0003 left_z=0.1619 left_yaw=-0.0001 left_pitch=-0.1144 left_roll=-0.0015 left_gripper=0.9989 right_x=0.3902 right_y=0.12 right_z=0.167 right_yaw=0.0336 right_pitch=-0.128 right_roll=-0.0497 right_gripper=0.5581\nstate[joint_eff]: [-0.335, -1.7983, 7.0222, 1.707, -0.0269, -0.0708, -0.0122, -0.3214, -6.6256, 9.2786, 1.8974, 0.3443, 0.1538, 0.6813]\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 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8471, 0.6369, -0.4763, -0.0135, -0.0338, 0.9989, 0.4301, 1.515, 0.8165, -0.1001, 0.3206, 0.1989, 0.559]\nstate[eef_state]: left_x=0.2883 left_y=-0.0003 left_z=0.1612 left_yaw=-0.0001 left_pitch=-0.1171 left_roll=-0.0014 left_gripper=0.9989 right_x=0.3829 right_y=0.1184 right_z=0.0938 right_yaw=0.0397 right_pitch=-0.1803 right_roll=-0.0672 right_gripper=0.559\nstate[joint_eff]: [-0.1846, -1.6752, 6.9812, 1.6728, -0.0415, -0.0708, -0.0122, -0.253, -7.1043, 6.3521, 1.9365, 0.1783, 0.0171, 0.8327]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da4e1988428202324393caf41fbff7c4c8d7366bce80ee0c245337e4b248ed40",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e715bc345f2fab9d6c5ff16ecf8ccc1a0137fd042827f8d9f4b5748668f7f85",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d8506fbff284f805ca3487a0d02057a0ccfa6a5f949124932f471facaed4eab",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The green fruit is within the blue bowl’s opening, with the bowl surrounding it in the wrist view. I’m opening the jaws to leave it in the bowl.\"}",
  "call_id": "call_Zeouucb6Lginggpfm1bAyxjj",
  "id": "fc_0c236c321c7a2a95016ab479a7ad8487d0aa6a8ac6aa3ea4ee",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Zeouucb6Lginggpfm1bAyxjj",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8471, 0.6369, -0.4763, -0.0135, -0.0338, 0.9989, 0.4301, 1.515, 0.8165, -0.1051, 0.318, 0.1932, 0.9959]\nstate[eef_state]: left_x=0.2883 left_y=-0.0003 left_z=0.1612 left_yaw=-0.0001 left_pitch=-0.1171 left_roll=-0.0014 left_gripper=0.9989 right_x=0.3821 right_y=0.1185 right_z=0.0929 right_yaw=0.0447 right_pitch=-0.1858 right_roll=-0.0716 right_gripper=0.9959\nstate[joint_eff]: [-0.335, -1.347, 7.1179, 1.6288, -0.0171, -0.0366, -0.0122, -0.212, -6.3385, 6.5299, 1.5311, 0.1343, 0.0122, -0.2125]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f8bad77e352d9f665a835cde8705181fa66ae01ade66a80866f2e08a5050946",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5221c6021bfc4919deb043dfc4e2d70e1c359d277a158c8dcb8d3b80238bd9b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0f4843037b74e7e1d6b2daa14c42492c78ce9a4f10e79e774a7bd5b0f0c9d45",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 3.294 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 22 changed as sent

message 30 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]: [-0.0219, 0.8413, 0.638, -0.4675, -0.0135, -0.0334, 0.9989, -0.0265, 1.0191, 0.3336, 0.0582, -0.0135, -0.0536, 0.5545]\nstate[eef_state]: left_x=0.2896 left_y=-0.0004 left_z=0.1649 left_yaw=-0.0004 left_pitch=-0.1015 left_roll=-0.0014 left_gripper=0.9989 right_x=0.3092 right_y=-0.0022 right_z=0.0835 right_yaw=0.0054 right_pitch=-0.0582 right_roll=-0.0167 right_gripper=0.5545\nstate[joint_eff]: [0.0342, -1.6479, 9.6068, 1.8437, -0.0122, 0.0122, -0.0073, -0.1983, -2.8786, 8.6359, 1.873, -0.0366, -0.0464, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8471, 0.6369, -0.4763, -0.0135, -0.0338, 0.9989, 0.4301, 1.515, 0.8165, -0.1001, 0.3206, 0.1989, 0.559]\nstate[eef_state]: left_x=0.2883 left_y=-0.0003 left_z=0.1612 left_yaw=-0.0001 left_pitch=-0.1171 left_roll=-0.0014 left_gripper=0.9989 right_x=0.3829 right_y=0.1184 right_z=0.0938 right_yaw=0.0397 right_pitch=-0.1803 right_roll=-0.0672 right_gripper=0.559\nstate[joint_eff]: [-0.1846, -1.6752, 6.9812, 1.6728, -0.0415, -0.0708, -0.0122, -0.253, -7.1043, 6.3521, 1.9365, 0.1783, 0.0171, 0.8327]\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 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8471, 0.6369, -0.4763, -0.0135, -0.0338, 0.9989, 0.4301, 1.515, 0.8165, -0.1051, 0.318, 0.1932, 0.9959]\nstate[eef_state]: left_x=0.2883 left_y=-0.0003 left_z=0.1612 left_yaw=-0.0001 left_pitch=-0.1171 left_roll=-0.0014 left_gripper=0.9989 right_x=0.3821 right_y=0.1185 right_z=0.0929 right_yaw=0.0447 right_pitch=-0.1858 right_roll=-0.0716 right_gripper=0.9959\nstate[joint_eff]: [-0.335, -1.347, 7.1179, 1.6288, -0.0171, -0.0366, -0.0122, -0.212, -6.3385, 6.5299, 1.5311, 0.1343, 0.0122, -0.2125]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f8bad77e352d9f665a835cde8705181fa66ae01ade66a80866f2e08a5050946",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5221c6021bfc4919deb043dfc4e2d70e1c359d277a158c8dcb8d3b80238bd9b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0f4843037b74e7e1d6b2daa14c42492c78ce9a4f10e79e774a7bd5b0f0c9d45",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHmtyGZIETHxyCKEb9j3kpP5drkItYCVwXTh079yhZEY3aDY_kfU222RrejfANRSb9XFJWecQQQpsb9zwqXi6iYGRa4sXP4bKZPNyuRuWzz6ADS0sqer0d3DexQyABO2-DYz36s1AgWqccYyfVVol13PNlIa8uMDt21TOww6cwaG2pNQxJFGlthzoM0pPj-Of-XUBALPMT-AbIi1ZrftusyrH2fK2qrWYGvuRdCRo2zbuTfrUZTwVCdP1UC5cxHkgW_X0UuzaNqIbzgOlZd5024t47U9OIWFUkiAOfWBnSU_CA2UxDxuSDrK4Vrsz9WDdXEOle_2I1IeJqGx0DGRGggulYww6wb2_kncZuT2diQVvfbefSfcp4Xcr3PsJFELniVgFi95ZT46IY5gCjPXu0gs3V8u19wBR4XvKqG6I1i8zsmWg_xHYwg98j4KO0XUCY0tokAkUUcURNM2iaSKqua7U7zM4kc0AD_V0d_7THs2ngtxSpEbmLCWGndHfCaWjgexwafZyHWGDvJp6RIDAubt_4OsnF9UoPCVSaTX6TqylurmSJIJZzOOCHtNoqEXYUgCJ0nBxHfmeSo91rrbCieL2x7ZUS_0Ba-o2dkyrw9Wj6d4rwI5_D9GYrNnz77LZyYxDux9fW9U55Hi0bzebksZn24sRF_5NKL4K9PXg1ONNlgZddDXsO3m-1e3_eEtsT2nVJU24F3kHlquTphMCFEZ4N-89xhQNMPadBURBOgfIOtSyRDPPIFQuOBFncBdJ-IQQ1mdrM7kVr3UiP9Cb05lOCIduWFtGEvN5FkIqvW19ktcknbhbQGRFVC9c_0IAR4zfrwBdYAXHTxDXLbycLERV6aguDRbyL-facQ3v-mfS9t_qcPD1T0Ft_UY7tBHthRVYbGr2Yh80uq9oU0yqL1YClRtPujA1Tz9gKy-ow4PtOrQfadmv5k2-sW8snnMuka9_Uo2EjgE0BYj_F1U9rG7Q9cob1XQpqMvKpr00Jx0IXvGxk6tdwb1hbQGu27WJr1GksLy2PLtLvvQ32q7eqFwRcSOW3-fRAv9G2p8_e8qIMelVEcjXQkffngdlg4a-dHQdKDZooiv_NTr16i20QyjizcnsDblD3FxsJeamggmPtts7E2UxqyVMRcEYKBLpiIYb1giOIoNhuHC1wBmImolyjy0lnS26iNKksSTQh6R0sfuqv7anTg5l-dnpOeHIhdHqM6SGXSgbirsCYQhu5CSQcCjaKOS6JqAhGAbjm7CbBM6Vydy4bkoqGR8S16U0AKdnK-aENzpOUraGZ5ozJQrZN-M98sOdN1eW2wwrUY2NhiJZ8oJyJJuOtbj4iTLcHi1Cu_7t1D7mC7cEGmN0udw6bO7n7GmHAGGeNAGzJUTKrjulERllN2YDFUweP9LXZrme7TBJFtyhI6hvNtmJ6tINiA6Hg6_9iJP5J0Z1asVsHzcDclMNjPBQbYa_htdlJ4mPILmNYWEALfshz5MixEKJUlam_Azu0Yt4b5yj-bO74D0U2xFviCBJsMAOhzPqwJi1t67TerexnIUSsQqVMCL6imrTrbRRVcWjEmPDgcovR_2Ur_R3R7UXAKEBBvbaYhQg8LOBckq3eOOtIxck5WpAQ==",
  "id": "rs_0c236c321c7a2a95016ab479aa589487d0bf7946d5254edc4a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.296,\"right_y\":0,\"right_z\":0.2,\"left_x\":0.3,\"left_y\":-0.3,\"left_z\":0.14,\"left_gripper\":1},\"note\":\"The green fruit is visibly resting in the blue bowl. I’m clearing the right arm and bringing the left gripper above the dark fruit beside the white bowl.\"}",
  "call_id": "call_PxRO73gh4teAlKQ9HvvMqtr7",
  "id": "fc_0c236c321c7a2a95016ab479ac38e487d0864da62a99fe71b5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PxRO73gh4teAlKQ9HvvMqtr7",
  "output": [
    {
      "text": "executing move_to over 27 steps (2.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0714, 1.7145, 1.2026, -0.5545, -0.7193, -0.8764, 0.999, -0.0029, 0.9665, 0.8482, -0.6617, 0.025, -0.1009, 0.9965]\nstate[eef_state]: left_x=0.2963 left_y=-0.2927 left_z=0.128 left_yaw=-0.0112 left_pitch=-0.1497 left_roll=0.0137 left_gripper=0.999 right_x=0.2958 right_y=-0.0017 right_z=0.1866 right_yaw=0.0226 right_pitch=-0.2127 right_roll=-0.0738 right_gripper=0.9965\nstate[joint_eff]: [-0.6085, -8.2393, 8.6906, 1.0085, -0.6471, 0.0024, -0.1148, -0.2393, -2.8239, 9.4427, 1.5995, -0.1148, -0.1099, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbe6ece8ecc49f650dc3aa95536e8c0d55172ea70626da4e69ee1500c7536201",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:686d186f1341c2f9b0923226c3a29e8d1f0337315ae4f56b17887288b81c21af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87e249c0ad67f9167ed1318d9db895513b6335fd4a9b84f3095567b84f42196a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 3.742 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]: [-0.0219, 0.8455, 0.6373, -0.4755, -0.0135, -0.0338, 0.9989, 0.4301, 1.4269, 1.005, -0.3229, 0.3298, 0.2024, 0.5581]\nstate[eef_state]: left_x=0.2884 left_y=-0.0003 left_z=0.1619 left_yaw=-0.0001 left_pitch=-0.1144 left_roll=-0.0015 left_gripper=0.9989 right_x=0.3902 right_y=0.12 right_z=0.167 right_yaw=0.0336 right_pitch=-0.128 right_roll=-0.0497 right_gripper=0.5581\nstate[joint_eff]: [-0.335, -1.7983, 7.0222, 1.707, -0.0269, -0.0708, -0.0122, -0.3214, -6.6256, 9.2786, 1.8974, 0.3443, 0.1538, 0.6813]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8471, 0.6369, -0.4763, -0.0135, -0.0338, 0.9989, 0.4301, 1.515, 0.8165, -0.1051, 0.318, 0.1932, 0.9959]\nstate[eef_state]: left_x=0.2883 left_y=-0.0003 left_z=0.1612 left_yaw=-0.0001 left_pitch=-0.1171 left_roll=-0.0014 left_gripper=0.9989 right_x=0.3821 right_y=0.1185 right_z=0.0929 right_yaw=0.0447 right_pitch=-0.1858 right_roll=-0.0716 right_gripper=0.9959\nstate[joint_eff]: [-0.335, -1.347, 7.1179, 1.6288, -0.0171, -0.0366, -0.0122, -0.212, -6.3385, 6.5299, 1.5311, 0.1343, 0.0122, -0.2125]",
      "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]: [-1.0714, 1.7145, 1.2026, -0.5545, -0.7193, -0.8764, 0.999, -0.0029, 0.9665, 0.8482, -0.6617, 0.025, -0.1009, 0.9965]\nstate[eef_state]: left_x=0.2963 left_y=-0.2927 left_z=0.128 left_yaw=-0.0112 left_pitch=-0.1497 left_roll=0.0137 left_gripper=0.999 right_x=0.2958 right_y=-0.0017 right_z=0.1866 right_yaw=0.0226 right_pitch=-0.2127 right_roll=-0.0738 right_gripper=0.9965\nstate[joint_eff]: [-0.6085, -8.2393, 8.6906, 1.0085, -0.6471, 0.0024, -0.1148, -0.2393, -2.8239, 9.4427, 1.5995, -0.1148, -0.1099, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbe6ece8ecc49f650dc3aa95536e8c0d55172ea70626da4e69ee1500c7536201",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:686d186f1341c2f9b0923226c3a29e8d1f0337315ae4f56b17887288b81c21af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87e249c0ad67f9167ed1318d9db895513b6335fd4a9b84f3095567b84f42196a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHm1VS7Om7ntndVyf0rHqjNSKt-cEg0Jqq27EWEU2UF0Yma0HRQb_MgrN8PwJGJTzp8WhTZ-uZ-I_cF0TmkYXmdT0b4HY4lOnZRioFQSvMcRilctlHNDlaNSkveoqxo1BZ2WPMoyYP_-cXCyAAaKt2Pq6a6ZOabkqEIYHeg4a5_OWTB0BC2bZjBNHncI4uSDuyGl7Cgf6JhBZB_W91uBdy9sJeK2PTv6EPEAs_ZWvctWBM5GiXnVIXEL_Ex0hmchOxWHQO_SsVxtRPN-sTE_RbG573qu4uFAlnRJvmf2J3BNRjn4RM43f5dsYcOa1t7xRvuDsuIWjz8yWFDCSdwduOaIopDW2-kaP85vzzxd7AjVSAOc9iYYHGYUM_VtRDnchgvGhFkoTxbhfUCpgUlM09X0nvnSgz_2Std-GBzLN2ihcL_bjRRFvBXD6oLsZC7ockAhDb5wBKoC-zdfidoInNlgGB8iGzzgW8KGRoS_4fBmBVZ7rba5efioimJuQ6RJhgwRxhWOuASCwWU0qhuAeFZUUc1m2VO9qzb9IFerhVek_mk5jD3m9eKEUQO__c0Ab4LS6GbUIzfEMsHVW2dPuB7cAIjYa2bTRfsDDfnn3q8YK3JurADL8RfokW0IexnFQ_xgBtHyQZQkWMw5sUXGtES2_wcfYq4S3QYqlX_RNomxLUxrJ0FisxnPnjk8jmyMPZa_ulO73ax1eat8idA64cT1W16PLdd_muYw-uVNQJEohXjUQNjwtoStwURhrfK3SjtpKSAWcp7amgVYVmavjreim_eCl58ggVECLUjas7SUZzAVRfQHDwTYYYH5XiC5yJaREQysUx85Oi53FF9rSPLmODwyAATbC_5osldCXqNFvU9V15-LHftI5DhZqLdY3BPaHytJeCmJYXgw6gng1g7qLebOXdH9u03-lneH8kjIrRAxI-gTza8FBzs39-mfQoWPTrk6Pt5b-zz_KFCzWl30Bad5PldTk56hHrYJNyGJe9yjqbkMEEpLFIrkDq6g7Pgk9ETZs7lmPXS3WUtFD-y9R2x62oYus0nKjNWCzrTyUdreBlsONs1sv7W6_hcmOiGmD240n6sTGnhTeULNfYBgxXzk5Ub6hJLaDUAZcUkm46AOv2VB-lnqd1RU2mkR94K_DVvz9ziJtI5LrSh8qJ8nBHxrUFdAwjsgTw9-gTOtEtBjZpgXdSk2w_svnVXLcqe5JcQ5u3ykxsr-6QgyO3SHLZB59ctmXyF0xNabo2OnIW37AM2Wn9lcjlU-kkgzEu1BwvrlRSG11cYkT_3Q40j8zqR4D0OMyE_gjLeffu3xGPZ-0jffbeEA1dk32LK5ZVNLPrPf2CrZRrgZ4rmNVKbLtQMIP9TpymhHc_CGmR8sEBGUwRH5aBZzHDWCFTNCXo3ev5wzwV95BKpm1vNcROTWaMeHbbGSaONxHKE-n_jVPpA=",
  "id": "rs_0c236c321c7a2a95016ab479b3edb087d0b76282778ada0532",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.325,\"left_y\":-0.275,\"left_z\":0.025},\"note\":\"The dark fruit is slightly left of the jaw column and still ahead of the fingertips in the wrist view. I’m shifting left and forward as I lower to its grasp height.\"}",
  "call_id": "call_z0AcRWw5JK47lZVTIXFfgpAs",
  "id": "fc_0c236c321c7a2a95016ab479b50b4887d08741f2de1f482d91",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_z0AcRWw5JK47lZVTIXFfgpAs",
  "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]: [-0.9775, 1.8671, 0.971, -0.149, -0.6815, -0.7887, 0.999, -0.0059, 0.9688, 0.8524, -0.6785, 0.0139, -0.1135, 0.9966]\nstate[eef_state]: left_x=0.3194 left_y=-0.2682 left_z=0.0315 left_yaw=0.0105 left_pitch=-0.1678 left_roll=0.0442 left_gripper=0.999 right_x=0.2937 right_y=-0.0006 right_z=0.1848 right_yaw=0.0361 right_pitch=-0.2279 right_roll=-0.0744 right_gripper=0.9966\nstate[joint_eff]: [0.1709, -7.7607, 5.0667, 1.243, -0.2759, 0.1392, -0.0171, 0.1573, -2.2359, 6.6256, 1.6484, 0.1099, 0.0855, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3eaeab2306bd249624aef9667c526a0ded7637314336ebb839c833e7f20fc114",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54604b4f89076ce555658d6e7d7a4065bd0a8583acdb80fd2b4fa795970cc16d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58fda375870032a5344a26e973d05e2ca6abe2b0b5f59e1d00bab835d8da90e6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 7.909 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 30 changed as sent

message 37 changed as sent

message 41 changed as sent

message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8471, 0.6369, -0.4763, -0.0135, -0.0338, 0.9989, 0.4301, 1.515, 0.8165, -0.1001, 0.3206, 0.1989, 0.559]\nstate[eef_state]: left_x=0.2883 left_y=-0.0003 left_z=0.1612 left_yaw=-0.0001 left_pitch=-0.1171 left_roll=-0.0014 left_gripper=0.9989 right_x=0.3829 right_y=0.1184 right_z=0.0938 right_yaw=0.0397 right_pitch=-0.1803 right_roll=-0.0672 right_gripper=0.559\nstate[joint_eff]: [-0.1846, -1.6752, 6.9812, 1.6728, -0.0415, -0.0708, -0.0122, -0.253, -7.1043, 6.3521, 1.9365, 0.1783, 0.0171, 0.8327]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-1.0714, 1.7145, 1.2026, -0.5545, -0.7193, -0.8764, 0.999, -0.0029, 0.9665, 0.8482, -0.6617, 0.025, -0.1009, 0.9965]\nstate[eef_state]: left_x=0.2963 left_y=-0.2927 left_z=0.128 left_yaw=-0.0112 left_pitch=-0.1497 left_roll=0.0137 left_gripper=0.999 right_x=0.2958 right_y=-0.0017 right_z=0.1866 right_yaw=0.0226 right_pitch=-0.2127 right_roll=-0.0738 right_gripper=0.9965\nstate[joint_eff]: [-0.6085, -8.2393, 8.6906, 1.0085, -0.6471, 0.0024, -0.1148, -0.2393, -2.8239, 9.4427, 1.5995, -0.1148, -0.1099, 0.0464]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9775, 1.8671, 0.971, -0.149, -0.6815, -0.7887, 0.999, -0.0059, 0.9688, 0.8524, -0.6785, 0.0139, -0.1135, 0.9966]\nstate[eef_state]: left_x=0.3194 left_y=-0.2682 left_z=0.0315 left_yaw=0.0105 left_pitch=-0.1678 left_roll=0.0442 left_gripper=0.999 right_x=0.2937 right_y=-0.0006 right_z=0.1848 right_yaw=0.0361 right_pitch=-0.2279 right_roll=-0.0744 right_gripper=0.9966\nstate[joint_eff]: [0.1709, -7.7607, 5.0667, 1.243, -0.2759, 0.1392, -0.0171, 0.1573, -2.2359, 6.6256, 1.6484, 0.1099, 0.0855, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3eaeab2306bd249624aef9667c526a0ded7637314336ebb839c833e7f20fc114",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54604b4f89076ce555658d6e7d7a4065bd0a8583acdb80fd2b4fa795970cc16d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58fda375870032a5344a26e973d05e2ca6abe2b0b5f59e1d00bab835d8da90e6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHm6ndX6PWOEElx92VJOpj5eNYqB8Sp8_4AnFm7jOeidwVISWpr8GI7AKWFD5cmsAlt5zTePxniK64KqY22DzBg4TBK7fSH0nO8imEQ7Sq6VjvFW-NTIwOyiGR7J52LxETsFjgbCaSXZObApfFWN6ydF3s1bPagicoYBCXGDsUXUr4Vd69BFQYaRic6yGr_DK3XU4RFA1PrBZdvq8DMECnnZtdhURt6MKamGjqfCIOCaRck2zn-6dMU9wZdEj4G_syHxcbjMJkKUbszThNiOJASwhOb7MRi10fjfWMM7pudXdLLlOTND_gEe7iF9Pa-sDbdsLIl_vEcMblZmf3V0x-4a4mYjrVESl_CfnvjpZKgk4JQ3-cj7rL_XYwKFkAVVoZCfTJks1AIB7EbfqLz9ORB8VAiCtRwyyQLugvr3bUFlIeB56Li90kcOGBICZ0NdOghetFtHT_ELheQU0TTdBMeQSH5LR_u69WuXQf8IRtVFTVskTNDytjtE01TNWSRg_itL5gUVrYYzd9LwcpYl1XsPxe0kPITO8WitzzVk0ZKT5anFzfiepdl-fm9BHDh2CJIurLlmHjVohdb-iZPnVc5qSkbV8vAGqsv0KyXQ3DxiFMvlSBjAxQ7CyEpbixcL-VD_DOgfCo7EE1ZIFZIiVWvAUx-6aYKhrcIl3Dj_KAK7XSnnLkVaI1WFCh7PVd6SXV624JEhqTX6POthLa5KZGsenTtUkKPNcXro1sO3zb1RfKIuiINR9xY0GazmFlES8kHlqepDHVir9hjlu6pRysWf_FKD8rQ9caBIdUFw3saMJeuyMUqOOOglcwenutfGnCu9w9cd9kJR5ct6-G_rvl4Xfvg3NBf6d4iVKS3eHzBvrqWDMSNJx2LzHleQt72sRi1ZEMnqLHV6cF-fcbFiInXNLgTYBSr7Nory5V2vrvr-3pqLEjAb-miW0_2uTf6ZhknqpnVazKvIEL4QlvB74V1MQeNvFQUfSfmEMQK_QbbbNbeH-c9zM-IyaLxR4lHXwfwLkFPtOOFWR2tYggIi1r1VSdqIeMBkGzZni-oIUCDWSzDe0mqm4hv44GmFj4oPatPHfhClp7znWNQOVFNM-1wJ3W8zxluFNpRJmk9wkUFNtDvUS2rdrIorjwksYmA45fH8TPMfvJp1bKMd_eBfC7gls51bHJM8Si2Me1vYpapLEz3wirOBN5pT17kkTLQZATTi9IP6BEKPlBwjlbFJsKNrYl5cZNCnkS8_IH4CVImutt5wP4NV2-XnbYB7M0_eITGK5pJTDUjhnBkNNUL465PhUqhW136MVn26cW_mdGk22ii8JaVT2-jID68EHtJjkMZvv6i0xNcb96xZ1ThtopFPP3A54M8MWn-4GnVn6bGzyC83W96SCQo_C-i69GTh_wYIgLUvlQfbBv5HZU_u5IPY8M7Dw4w9-FZiBGdH4BiPgfQ_cbD0U-CgJAVFNBS_fQ2p_xA51EiJ-GahMZwyoZ14XOlr1J3JsWz2TKgNAR8d88S7XHY-ob6I7jgO4hdrBRZDo8pY7mV7yj4j66h7eQuXtA==",
  "id": "rs_0c236c321c7a2a95016ab479b7ccb487d09bac3c03f6e7578a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.258,\"left_gripper\":0},\"note\":\"The dark fruit is between the fingers but a little left of centre. I’m making a final small centring adjustment and closing around it.\"}",
  "call_id": "call_E3zz0lXYKpoSCNcT8Z9hvX26",
  "id": "fc_0c236c321c7a2a95016ab479b947c887d0b8521a92077efda7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_E3zz0lXYKpoSCNcT8Z9hvX26",
  "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]: [-0.968, 1.8816, 0.9401, -0.1303, -0.6647, -0.7815, 0.5188, -0.0059, 0.9688, 0.8524, -0.6792, 0.0135, -0.1143, 0.9966]\nstate[eef_state]: left_x=0.3158 left_y=-0.2603 left_z=0.0171 left_yaw=0.0104 left_pitch=-0.195 left_roll=0.064 left_gripper=0.5188 right_x=0.2935 right_y=-0.0005 right_z=0.1847 right_yaw=0.0369 right_pitch=-0.2286 right_roll=-0.0746 right_gripper=0.9966\nstate[joint_eff]: [0.5402, -12.1504, 4.7385, 1.1062, -0.4176, 0.105, 1.0281, -0.212, -2.2496, 6.7624, 1.4969, -0.0415, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f87e26ff4547e99dc5425c155bbb956128ce4b542b291cea6f9e1ffd4531c8d2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3475766b776a6eefdf87a0e2483330cb478ecbc0765700b450356feab5946f15",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f85ef52e3d3d15258ed5055bbc45b9193580f4d492f0716ff0cb909f96cb7c58",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 2.925 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 33 changed as sent

message 41 changed as sent

message 45 changed as sent

message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8471, 0.6369, -0.4763, -0.0135, -0.0338, 0.9989, 0.4301, 1.515, 0.8165, -0.1051, 0.318, 0.1932, 0.9959]\nstate[eef_state]: left_x=0.2883 left_y=-0.0003 left_z=0.1612 left_yaw=-0.0001 left_pitch=-0.1171 left_roll=-0.0014 left_gripper=0.9989 right_x=0.3821 right_y=0.1185 right_z=0.0929 right_yaw=0.0447 right_pitch=-0.1858 right_roll=-0.0716 right_gripper=0.9959\nstate[joint_eff]: [-0.335, -1.347, 7.1179, 1.6288, -0.0171, -0.0366, -0.0122, -0.212, -6.3385, 6.5299, 1.5311, 0.1343, 0.0122, -0.2125]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9775, 1.8671, 0.971, -0.149, -0.6815, -0.7887, 0.999, -0.0059, 0.9688, 0.8524, -0.6785, 0.0139, -0.1135, 0.9966]\nstate[eef_state]: left_x=0.3194 left_y=-0.2682 left_z=0.0315 left_yaw=0.0105 left_pitch=-0.1678 left_roll=0.0442 left_gripper=0.999 right_x=0.2937 right_y=-0.0006 right_z=0.1848 right_yaw=0.0361 right_pitch=-0.2279 right_roll=-0.0744 right_gripper=0.9966\nstate[joint_eff]: [0.1709, -7.7607, 5.0667, 1.243, -0.2759, 0.1392, -0.0171, 0.1573, -2.2359, 6.6256, 1.6484, 0.1099, 0.0855, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.968, 1.8816, 0.9401, -0.1303, -0.6647, -0.7815, 0.5188, -0.0059, 0.9688, 0.8524, -0.6792, 0.0135, -0.1143, 0.9966]\nstate[eef_state]: left_x=0.3158 left_y=-0.2603 left_z=0.0171 left_yaw=0.0104 left_pitch=-0.195 left_roll=0.064 left_gripper=0.5188 right_x=0.2935 right_y=-0.0005 right_z=0.1847 right_yaw=0.0369 right_pitch=-0.2286 right_roll=-0.0746 right_gripper=0.9966\nstate[joint_eff]: [0.5402, -12.1504, 4.7385, 1.1062, -0.4176, 0.105, 1.0281, -0.212, -2.2496, 6.7624, 1.4969, -0.0415, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f87e26ff4547e99dc5425c155bbb956128ce4b542b291cea6f9e1ffd4531c8d2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3475766b776a6eefdf87a0e2483330cb478ecbc0765700b450356feab5946f15",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f85ef52e3d3d15258ed5055bbc45b9193580f4d492f0716ff0cb909f96cb7c58",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHnD4KjJtdwu9HD-Tc-m7QmPfhNkv9uNYvZ0WiDQ5hC5TyhqkVzicYY8p1lc5v2CpJRuCh9y5HkuWiL7L-uqbHfY7aUOAhHjPkKvWA20uEVYPpaf3yHz-x71hfe-uUB7XrFdaao5NZtQwZXiNArt3ZD77UyJ7g646uySIBVA4i8JAq7P1pZk5R_ePAM8-y1CjBx8fE8J2LbUA3It0IlK6mKnrdSUpGkcXrmWBeFds0xrMAtyW7McQFP4OKgdqtM3wVtTy1ZfLyslBSa6deo1eu0DLagOZWk85OSG6PHVaycnAZGI0L6UheiQOMkOfX3LdDQ1B5RzSqAzgFaxo6cyv4Oqifi_pNWQFMGk9cvcatEJ3trIQRMbTtBMxdDaHvroUJtdHuRlN9n1EQWb94qEwkDdeduvf9FCQBKHbO8WxHWzD2x0593WSWYvf9q0cTH8m_ePlnM7wt0E65HbHHUqV7VFHxjZMYLmVep-3SWT2oa2oiDGZxhld3D4J0ohN140uT_BjxeibQAg7lOn7m3gRTTbDmLLE8HzzcrhfqdkkKMWmJpcucRjGXoqqKPmvPhCso3hGP6nFq12PEnRqLptF9FOuIDeadPt7tNu1jFO4l2V_msdR-iDia8SKbpcbozndXNZDJq-9tJ2wJxTHdd-jQYlHh5EdOs5hWUFDRrT7mL9JhgMe9GKPBioJiX0dcBIZSGoKamLX8vBMyB7BaQc0JnOFS3Ek2PLqBfEuNFSDLOCIwuD_HQGM_LjbrWqqCOEbfh7ih1Up6NQ8eWgxInP4RC_f2_05qZMwBus3joS8cHMUplwHEmG6PHbUWr872ttWJ1tZv0YpnDM8NY5oj1zl_U0FemxbSdkzn8G_pHKmXFSRbVzqUGqPrB9f6kPPcjizZvwI4-kQH6OUzK5wKETV3Xcq6RIdKEpvqI5gF33LdU4ojSqQf8zlxOoJWTMXgte6tjBusrKooF3Hs9QofIw3oWwO4gXPV98diFic2XmVYSbe0xJaL9Nv-yiRL6H2-GusRCi4TNe_bTrP3hOLuft_ZP5BFLHwL7LeOoIzKoXd9UX2fAcGdwWs9ygFiYkSnmuTFf8Z8DsRSd3WacQVym6cD0RAGKSi6sCJo6vjRjQ82605zsCBm8IKpZ8Gd24gf5IYYZDMgkSbnizP-iAsv1S1PmVGNJgFCXgovvuGB9Q2A1nKBKrYLGl1V8CtcsdAO6AEx8KDzfvsitq10EXlZiKPft2t97nYMTJjuIXjqLddd51xnhIImGe6C_1XWhc9J3BbefyRooobvAccQWPXC7ef7cE8092xmrpcgvJ-0P6bfNSqyPBJxM4AFCj-sB45zuSqI6SiJcKBlCyKd8G5f65Eb-F8Wre2ZXH4ETRyr2U24p4odM6hKWIsxq0kE_3F__hkxrPvAXT0pDTQKLijtP_I2hiXAhLgmP41XT7tuYjxoJLmuJyTfqEvoAveb9r5pTbuzRfetZg5J6fsFOjtFjQ3AofPNdHXI6yjD9HnHXcqcrIyKRT_EK0NejA9rGSzOOyv2kWFv_6-9zdqIknVM5OSBivYy1VjaOicq6VKD0MH9qzlaICTf40pSZsFI8O5fueK95e2jm713lvUQ3M0YaMwmNkp0loEXeC7IxHg3QnAKEV0P2JOLyrYpXAcQTiuDPVJ_gt_RyIl3AfRgmBLsJJE7aQYG4nQeBNd-8Dbz_c912I8IfERTVs-eL_vlQL9iUGRnxBRKi3AJe9POxb3pnVaYnmgic_29gGGDMp1VSNVjlroKEiPNJLJQ5PwASWx9D1fIBMTFQ80Teeq1PxwItgSSOhw_PaLnRx7IgxCB-PPaXmrmCBQrJBUTbFc_5A9_2VM-HlKHRxZlHiIT0xi2IdmrN7FhluGBOAwc5t1ie6xEcNcauE_FueJ1WP-O74WMFBID1UQQDLhX21UqXYDQ1NXeA2wtYZ9hUlEwYmkqzpDxWrcQMh3wSq1iibIZLQuNCt4qSHp5K8g3wcoUkS63UOTjo0MZmB6CrN-FCtbGaTMnc582BQPI45hlkvkkx-WlRZnJMnJG6kUjQ7YntQiy5prIkdF5C4c7Nt-Lzfno3LmoCztBJbH3z5dv60Tj38M8GLgc6jh5pk94jGYuP5F6kKZxwEx3so3vxeSSwTlDWcloJ24FIEUSuaVHOqDtmpEXHpsb_xJdAJsUUbakrGEukD5kgcWkVGkaTac2bd2E6fXbc21Bq5mADFa4A6PUE86sP1KbGMNOWH3OfUIE7V8W1i2rgOgZzY5fcO2WbnQOpSKGu1DO52h_wrhCe4WY3QMhLp8HyCbHFmS0chyZ9feB8Lc1e57D-dbW5i-RXWi21IcRGWzDVraJ0_6xH0tS2wWy-qtCDpaIpztL4N5S45eedG2uLDlj3aeBzz_qHsA2YNF59GZKKVoQFPOaVSUQzWMzj6UTvRefzB85K5Szr8iDLFkWcaEPpcAFURBpzyqw0KaCSHIfXzU5pQazGqjx8GYJ0nRESzC33QanODxxe_livRqqwnU9DasrrN_e6xypjMIhSkAoQ8GJQwHobSMTWT8bOP9FwVDY0sL3suA63H-nSOWIWsdIVrVL5HBab3TQUQzDKkzRw9E2qJCJydviQnCnhoU0VeUXucbQKrpgoesK_qRv1dKhNb-0ztXgZJYfPh69B_W0AH0r6zCJQW93UuWJsnkswCqjVe-QtooT83IWNlbIDE6VFcH1MSAZsEMEA1Z7ToaeQn-8rgGMPCxBR9qf7lUMUd",
  "id": "rs_0c236c321c7a2a95016ab479bc7bd487d09aafa31c4d9092b5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.1,\"right_x\":0.4,\"right_y\":0.185,\"right_z\":0.14,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The left gripper has a fruit-sized opening, so I’m lifting to check the dark fruit. The blue bowl is outside the left arm’s lateral reach; I’m approaching its left rim with the right arm so I can bring it closer to the centre.\"}",
  "call_id": "call_a25ES2nVih8NWhbtVz1tIupn",
  "id": "fc_0c236c321c7a2a95016ab479c1fcc887d0ad586189eaa92d79",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_a25ES2nVih8NWhbtVz1tIupn",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9665, 1.7477, 1.0782, -0.4484, -0.6571, -0.7925, 0.5217, 0.6025, 1.5581, 0.8986, -0.086, 0.4412, 0.2817, 0.9966]\nstate[eef_state]: left_x=0.312 left_y=-0.2556 left_z=0.0782 left_yaw=0.0219 left_pitch=-0.2258 left_roll=0.0914 left_gripper=0.5217 right_x=0.3834 right_y=0.1766 right_z=0.1175 right_yaw=0.0736 right_pitch=-0.0924 right_roll=-0.0559 right_gripper=0.9966\nstate[joint_eff]: [-0.4308, -10.7692, 8.4444, 0.9353, -0.4615, 0.105, 0.7595, 0.335, -7.1043, 8.8137, 1.8242, 0.3443, 0.3053, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab983e426f94b377a62b23745cca1ac654fe74cbea0b004b3efcc5756a7ad290",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2e9809edec31a1f70603a03a658c63d4bf2a549b7c413c6c51090c3d5a5ed1d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:977540687d0575d0d528e422aebe10582564ef49f49647f813885a1df89b5ece",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 2.579 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 37 changed as sent

message 45 changed as sent

message 49 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0714, 1.7145, 1.2026, -0.5545, -0.7193, -0.8764, 0.999, -0.0029, 0.9665, 0.8482, -0.6617, 0.025, -0.1009, 0.9965]\nstate[eef_state]: left_x=0.2963 left_y=-0.2927 left_z=0.128 left_yaw=-0.0112 left_pitch=-0.1497 left_roll=0.0137 left_gripper=0.999 right_x=0.2958 right_y=-0.0017 right_z=0.1866 right_yaw=0.0226 right_pitch=-0.2127 right_roll=-0.0738 right_gripper=0.9965\nstate[joint_eff]: [-0.6085, -8.2393, 8.6906, 1.0085, -0.6471, 0.0024, -0.1148, -0.2393, -2.8239, 9.4427, 1.5995, -0.1148, -0.1099, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.968, 1.8816, 0.9401, -0.1303, -0.6647, -0.7815, 0.5188, -0.0059, 0.9688, 0.8524, -0.6792, 0.0135, -0.1143, 0.9966]\nstate[eef_state]: left_x=0.3158 left_y=-0.2603 left_z=0.0171 left_yaw=0.0104 left_pitch=-0.195 left_roll=0.064 left_gripper=0.5188 right_x=0.2935 right_y=-0.0005 right_z=0.1847 right_yaw=0.0369 right_pitch=-0.2286 right_roll=-0.0746 right_gripper=0.9966\nstate[joint_eff]: [0.5402, -12.1504, 4.7385, 1.1062, -0.4176, 0.105, 1.0281, -0.212, -2.2496, 6.7624, 1.4969, -0.0415, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9665, 1.7477, 1.0782, -0.4484, -0.6571, -0.7925, 0.5217, 0.6025, 1.5581, 0.8986, -0.086, 0.4412, 0.2817, 0.9966]\nstate[eef_state]: left_x=0.312 left_y=-0.2556 left_z=0.0782 left_yaw=0.0219 left_pitch=-0.2258 left_roll=0.0914 left_gripper=0.5217 right_x=0.3834 right_y=0.1766 right_z=0.1175 right_yaw=0.0736 right_pitch=-0.0924 right_roll=-0.0559 right_gripper=0.9966\nstate[joint_eff]: [-0.4308, -10.7692, 8.4444, 0.9353, -0.4615, 0.105, 0.7595, 0.335, -7.1043, 8.8137, 1.8242, 0.3443, 0.3053, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab983e426f94b377a62b23745cca1ac654fe74cbea0b004b3efcc5756a7ad290",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2e9809edec31a1f70603a03a658c63d4bf2a549b7c413c6c51090c3d5a5ed1d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:977540687d0575d0d528e422aebe10582564ef49f49647f813885a1df89b5ece",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHnHyfEu7WgWx227oxNJPTPPgEVn9bJro4n36FNI3U9cnDPTw6zAYLPflgRwG2Dsw0TuJjGgN0Lx03xQ2QW_25ATnfjbUx-1HM0KSLH3Rtt_zWD8WDzJsBPBz41WTf4GV-SoKX3vF4J3RIP3oCldHTpAgp4x5hL0r-UQWK0xT1bW7rXqWOyvGHDTGXRT703vSN4i2ToHm0u00fRiXsvnxQUzshGPn472Pj553ij3ct3INzE1rSls6c3h17qe7Urmk1BHFMhDKW9lzAAV8SD9lmfGqUeiCIOxj0ks6M7A1TWL2LDnbmhZtI_mP6JNO-2e-Tm6GdtRIuWvwcewNpQTRUcYq3yuhFmV_axFlP8kfw7acLtz18VnCfumbvzyButSIRG13AW45uTWPLSRGGa2HLElGPTja6YJKgb3HxXo0is_mRXbhlBgOddKQpXWU8qXUiM9GW7GUAonjMhinymoDepnxSMyAxqfbMbaXPHU61gwVv7lk5uCRP-Ifci0POibVBRpiNYjis_q9OcUZ65NdDOkAyzAtPyCeQZMJIvXZhqnLsvJIzagGwqJ9sXKFRwVAubVyCDhAbdkMmitZCOy8C9HrWX8ACFt5TB41WYMib5trmW2jmJGVRhwSFozVRqyZAS5C0na0N8n4GqUkqNj59WLaqRHoCjezD819kG3m1ho74Ni5Hl74H5NHt5pMnKbd0cAbps7qiif7GQUl9uhAaSCfoeWZI5JSPjLgitdemJv5QSFRBhh_4LvF3lBhHH4OZZN8jThLpfwA4Nw057b8y7wqlnON7XhlIqgmRLtQKHVtJ8RmSOZ-VuNAJYjwFBRzzlun6AhfiLyYfx36Cp2Fq8212L6-ioJOK4mDyn9rjiTrZIN2bPc2nMTVOQxfNy46w84rwi3UwH3opVxuPLqL3_lG2Ljx1tKfh4X_ziPESARlWqMYJ6mrKEyS4F9ENZ2XoplUcvgKGDegIRKzDKkmPDsvvjHnzEq15puGPXJQHNIrfBgCkPofOu6QbAuvDMlU5RP52wPconKvfECbiffHMeIkG-lbov6PNk05kr_YEAsKqYnXT95CQJ3TCcJZ12vd5rZkwJVlc_Uaig7llyaQIacz88-H1_yhNUsNeJZOm_9bi15Hc0o21d1ln9KE1XjV_pCqyEY11SA8Yj3ijm0bTzW2MMHD9inm53O8ADzRz19AlfavNRqLuxmWRiKZuNNHhHjCfMLjHbcS2XJnsVIBXCz6IY2NQGBalNV7yNxTAFkirzuA7QCUBwyUGF62eRsr_zki99YeKp0Aa6IUPanqM0HDxOshD9dd2c-vnKZ61zKX1oT4NhOXTwO6ntzlqJmXDaWcYYOPYmHScLsQlfcn3bF7ZJdVeZzsPYxOeKBjanxHWwaxKzGuiBaduN9O_KNlXs0",
  "id": "rs_0c236c321c7a2a95016ab479c629d487d0853c23ca53a53341",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.045,\"left_z\":0.16},\"note\":\"The dark fruit lifted with the left gripper. The blue bowl’s near-left wall is aligned with the right jaws, so I’m lowering onto that rim while keeping the held fruit higher and clear.\"}",
  "call_id": "call_N4en1YPJx7qXipGo2NkiChjC",
  "id": "fc_0c236c321c7a2a95016ab479c6c38087d08b3d156701288da3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_N4en1YPJx7qXipGo2NkiChjC",
  "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]: [-0.9665, 1.7, 1.2797, -0.7132, -0.6495, -0.8017, 0.5245, 0.6064, 1.7096, 0.762, 0.1761, 0.4408, 0.2771, 0.9966]\nstate[eef_state]: left_x=0.3132 left_y=-0.2593 left_z=0.1378 left_yaw=0.0259 left_pitch=-0.2397 left_roll=0.0944 left_gripper=0.5245 right_x=0.3803 right_y=0.1764 right_z=0.0494 right_yaw=0.0788 right_pitch=-0.1152 right_roll=-0.0724 right_gripper=0.9966\nstate[joint_eff]: [-0.3624, -10.3043, 8.4034, 0.8425, -0.3883, 0.0855, 0.569, -0.4855, -6.5436, 4.8479, 1.4628, 0.1734, 0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2a6b3be48ad600a10bf9941ee9aea0f6149ff4a11d31bbb15c584de9d3db942",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35438281ff72d3eb21faabe4c6e5422d643a9de7e43d7ea00b0b423ac9801845",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48bb3aa3014021a5d009edb41a12b22a579e6acccea5ec2cfa45e850f7f39982",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /responses · status 200 · 3.31 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 41 changed as sent

message 49 changed as sent

message 53 changed as sent

message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9775, 1.8671, 0.971, -0.149, -0.6815, -0.7887, 0.999, -0.0059, 0.9688, 0.8524, -0.6785, 0.0139, -0.1135, 0.9966]\nstate[eef_state]: left_x=0.3194 left_y=-0.2682 left_z=0.0315 left_yaw=0.0105 left_pitch=-0.1678 left_roll=0.0442 left_gripper=0.999 right_x=0.2937 right_y=-0.0006 right_z=0.1848 right_yaw=0.0361 right_pitch=-0.2279 right_roll=-0.0744 right_gripper=0.9966\nstate[joint_eff]: [0.1709, -7.7607, 5.0667, 1.243, -0.2759, 0.1392, -0.0171, 0.1573, -2.2359, 6.6256, 1.6484, 0.1099, 0.0855, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9665, 1.7477, 1.0782, -0.4484, -0.6571, -0.7925, 0.5217, 0.6025, 1.5581, 0.8986, -0.086, 0.4412, 0.2817, 0.9966]\nstate[eef_state]: left_x=0.312 left_y=-0.2556 left_z=0.0782 left_yaw=0.0219 left_pitch=-0.2258 left_roll=0.0914 left_gripper=0.5217 right_x=0.3834 right_y=0.1766 right_z=0.1175 right_yaw=0.0736 right_pitch=-0.0924 right_roll=-0.0559 right_gripper=0.9966\nstate[joint_eff]: [-0.4308, -10.7692, 8.4444, 0.9353, -0.4615, 0.105, 0.7595, 0.335, -7.1043, 8.8137, 1.8242, 0.3443, 0.3053, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9665, 1.7, 1.2797, -0.7132, -0.6495, -0.8017, 0.5245, 0.6064, 1.7096, 0.762, 0.1761, 0.4408, 0.2771, 0.9966]\nstate[eef_state]: left_x=0.3132 left_y=-0.2593 left_z=0.1378 left_yaw=0.0259 left_pitch=-0.2397 left_roll=0.0944 left_gripper=0.5245 right_x=0.3803 right_y=0.1764 right_z=0.0494 right_yaw=0.0788 right_pitch=-0.1152 right_roll=-0.0724 right_gripper=0.9966\nstate[joint_eff]: [-0.3624, -10.3043, 8.4034, 0.8425, -0.3883, 0.0855, 0.569, -0.4855, -6.5436, 4.8479, 1.4628, 0.1734, 0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2a6b3be48ad600a10bf9941ee9aea0f6149ff4a11d31bbb15c584de9d3db942",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35438281ff72d3eb21faabe4c6e5422d643a9de7e43d7ea00b0b423ac9801845",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48bb3aa3014021a5d009edb41a12b22a579e6acccea5ec2cfa45e850f7f39982",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHnKXnRdRHyj2fyGntkC22fdBeGK-SenBLnzNoAeedPtrD9NjaWvfO00xh9GAFtSgPMUb5lzKkTiwwxwssTrPSvQlUuEDP5zyfeTxZmunzg82mCNMP1PwF_L9Si1hntfYCnLY13mxjg0K0ofqe9krEvZ1JvjU1CYErDXHL1IKsBOH6QLDGTf4eaYXQ5DFmuEx2HSij7p9aiv7JJ75vmL5sTpjQqrStQOP3l7a-LjrBxW8N_HGDmZqXNeUakcQxofVkOuU0tVKCtYVHOfiJ4uEywV7-K20cN7xaik6AAyriPZR3V7tPAWWvvXCT9SVd0bbFJHmnD30-NJ1ZqAScjiY5l8pi8zLs3ZR_AXOtGTj_iNMokPFa3emLEKLkxbC6yxUWY3jgbwlW9eIijx_LKgFveLnB2j2mY9TXxjosuBF0ZE4WWakzfjMqaXOAuedP9ozauq93W1DBda5C5HhQd7yjQOi04ANpCtFgs9zlkotWBrjBQKNjAxa08rdjmdOJK-OWLLx5IkegrADWuFdaZRS6-T8XRC2e6ybJAOVBFU4_tEYjHMN3KSZa-qnovZ3gvhUDI7CSxM7BU1FAaFvtodn5F2rcSQRkEd6E6iBVCaUJgUUmdOefJNDEq8ozB0ztQRM1_JWloTWpXevAYvOnDP_PguKoaR1MDNniYOl_oF9c01uflzawcTDnwDToJ8DA_qec-yYHM2d7wGpmftADqh7joqS-InN-7DTA1PHA0nrk9o72jOBCw12n7giHKfZ8leu4txT3rlaFs6KljNjgMuPiSv-RCpYU7oPnrx5xKjvEP4Heb6jUqPMW6_CSXa_zlgj3Of3SCkux4_XnTXpmxernAFV0jv-9qDUzjeeuzONexkpsqfOuKGWoZF4tU4tQqxfKvf-vapLJ4EqUSk5bNduX-UHebuuDOXDZoS41-FHCU03XE-aNrlrFGzPWz0iQrX5n5UXJA6LpE96dr0vqolsXvKyfd8E3I97lWxG1QH-8TPH68ERh9oie4Wgo_e2tgdXa4w2Vybug0Zn6qvvFolPC4HD0K8XZ5mE_lnx9KOmW7GMqXo1W1Sor8bj1cMYT-RMSz4N5cjZAuNJnwWpNfuq8r_efe2XCzUbUsj7DRXs6feKXDmAMV8rrnYflXYwVAgzKfAkEioDxolNQbHdSDTalO6Y1W0Ne3fYEd8TRZAY17Nm4NHrdN8E74FU-lRyE3G8rX4AVbWJxHEFvAunK96B6feOEZ9cyJFornsKGWQdKfvmZc=",
  "id": "rs_0c236c321c7a2a95016ab479c9873087d0baa88a034429f710",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right fingertips now straddle the blue bowl’s side wall. I’m closing on the rim to move the bowl without spilling its fruit.\"}",
  "call_id": "call_SZI2FrPKPvL3PLl3EHWK6RKY",
  "id": "fc_0c236c321c7a2a95016ab479c9d1f487d0af57dc4dc24ddc5b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SZI2FrPKPvL3PLl3EHWK6RKY",
  "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]: [-0.9661, 1.6978, 1.2865, -0.7284, -0.6456, -0.8043, 0.5257, 0.6056, 1.7271, 0.7475, 0.1753, 0.4381, 0.2703, 0.0232]\nstate[eef_state]: left_x=0.3122 left_y=-0.2585 left_z=0.1392 left_yaw=0.027 left_pitch=-0.2458 left_roll=0.0958 left_gripper=0.5257 right_x=0.3753 right_y=0.1731 right_z=0.0372 right_yaw=0.0817 right_pitch=-0.1448 right_roll=-0.0927 right_gripper=0.0232\nstate[joint_eff]: [-0.0889, -8.0479, 5.7641, 1.1111, -0.3687, 0.022, 0.4322, -0.1162, -8.6906, 6.694, 1.4921, 0.149, 0.0171, 0.8718]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c235c3b845d32743c004a3c8d13f2ca0e5559350b257d44b17a215ada09c584",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:939e4c29da0bc5312f788ea290a3a3fa3ef727906fc0d683085d0d9bd4b354c0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ace6ee52a1cbf115917b2aa5bf891a90c98f8637016d94e0ebc5fa5fb48711fd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 4.868 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 45 changed as sent

message 53 changed as sent

message 57 changed as sent

message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.968, 1.8816, 0.9401, -0.1303, -0.6647, -0.7815, 0.5188, -0.0059, 0.9688, 0.8524, -0.6792, 0.0135, -0.1143, 0.9966]\nstate[eef_state]: left_x=0.3158 left_y=-0.2603 left_z=0.0171 left_yaw=0.0104 left_pitch=-0.195 left_roll=0.064 left_gripper=0.5188 right_x=0.2935 right_y=-0.0005 right_z=0.1847 right_yaw=0.0369 right_pitch=-0.2286 right_roll=-0.0746 right_gripper=0.9966\nstate[joint_eff]: [0.5402, -12.1504, 4.7385, 1.1062, -0.4176, 0.105, 1.0281, -0.212, -2.2496, 6.7624, 1.4969, -0.0415, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9665, 1.7, 1.2797, -0.7132, -0.6495, -0.8017, 0.5245, 0.6064, 1.7096, 0.762, 0.1761, 0.4408, 0.2771, 0.9966]\nstate[eef_state]: left_x=0.3132 left_y=-0.2593 left_z=0.1378 left_yaw=0.0259 left_pitch=-0.2397 left_roll=0.0944 left_gripper=0.5245 right_x=0.3803 right_y=0.1764 right_z=0.0494 right_yaw=0.0788 right_pitch=-0.1152 right_roll=-0.0724 right_gripper=0.9966\nstate[joint_eff]: [-0.3624, -10.3043, 8.4034, 0.8425, -0.3883, 0.0855, 0.569, -0.4855, -6.5436, 4.8479, 1.4628, 0.1734, 0.0562, -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 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9661, 1.6978, 1.2865, -0.7284, -0.6456, -0.8043, 0.5257, 0.6056, 1.7271, 0.7475, 0.1753, 0.4381, 0.2703, 0.0232]\nstate[eef_state]: left_x=0.3122 left_y=-0.2585 left_z=0.1392 left_yaw=0.027 left_pitch=-0.2458 left_roll=0.0958 left_gripper=0.5257 right_x=0.3753 right_y=0.1731 right_z=0.0372 right_yaw=0.0817 right_pitch=-0.1448 right_roll=-0.0927 right_gripper=0.0232\nstate[joint_eff]: [-0.0889, -8.0479, 5.7641, 1.1111, -0.3687, 0.022, 0.4322, -0.1162, -8.6906, 6.694, 1.4921, 0.149, 0.0171, 0.8718]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c235c3b845d32743c004a3c8d13f2ca0e5559350b257d44b17a215ada09c584",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:939e4c29da0bc5312f788ea290a3a3fa3ef727906fc0d683085d0d9bd4b354c0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ace6ee52a1cbf115917b2aa5bf891a90c98f8637016d94e0ebc5fa5fb48711fd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHnO54DowXb3A_A3yAiX49j7p-TOAzPmtkoohR9CGhKjWosUtdREpBlgJDIf2mob7hJFoRD-nIJdYUHJZwQ2ERZ5JLrfYOCsTwJnhwdkqQ9FX6NrUPhoFs0Rg5-bfNic4-Vj9DINshbQNpN40My4aDspPXEj5DPeQwY-0CLExtT_Xts7YtYLh0F8qZ4DrRz30sOgXzAvPVTtW5Oe2VeDgg__sj6RE2CM7jir8OaxKd6spp2r92MRcWcFbadktAMgDyyA667SUwmaLuYafjXZFnvuFnf-RKbAGl-kY8REEqiJ68Erl7xmncsSH14yKWWCiutbval_b0RMvKst7EQS4uCv39562GVYWufvInEcyHzcQDGGs_E-z53xLKyPoNaMzbTv8lD0FaTifjU63UQKFSaZnQxDU24mwy4s_z9MUKijcKUKU3Y2ushiyGiXMj6STR1l_QHXxId-PKZsisPIhCmDf573D_O6Wk-1Ywpkh9xSef4GHtXCxKhqrPEK1O-hKMoa1kyRNEWxFnEQ_ov6bprFrCLxBK143w64uNsRTVa7RkspZORfVzzdWU_sxXKl6jQaUrEskEau3V9TIk-fzZMUdD9H4ysOBQawjtTzsCpjctx-crz5ZuzHAI4wSJGFXxGqzBLM1fn4lOm9nnQPlL2UE-Cuh8QlxriwAlsMH5a3WzCx5dm7pC3ku_WY_DbX-Kuw2QcaP1Ic1Kz6Ij4TxjVKfb07Qc_NHHMeRF0VbH-Etv27cYSnCCCMKJkC_SGx3k2OSIhOamtqzZaYzyPIFbDT8JaBDDUAZtNuFdUHWeZja4uxBw162gZkUZcqD1J-HNXzF0Idu_apizCnchcYgzCe_awuTAWrrsZ9prN12mfMS-TPWnADiGlfZKlp-nGZr-nlBGFj0qyA8k9Hol9NJB6w4k_4EBXD_XhENb6x2WIZGVCcSjQ2fYQRfRze-whp28LjM0sXehJma2ObldfxeMxfgztaxFtIbi0cS692HWXiirK9oAik6CrUqPtfGYK4HmNProCnozgOX7D-g3B16SAg-3qyWwEGJvAorrEQ2E0xxAXQBbyP58i2-Ghn03D51LyeS082tInNEJ-AdqSvJhePyUCVbGRDCgJeeU-VpzRzyPhbWjL9Use6CjOzLLqA_F1HzIMlGL7T2bWwEXjPf-xHA_qkNElMkTLnvZaDw0sL0vcMXzdX3v6XpmFnRJS4lZz5lJJDZxPkIklZS_ZknqFHD9xNvjwn4Ga6kUmntgJmLOj1tbHJH6e8DSJRkJkofQErxdZya3cIPnkf-CbVUOHANAq4loOwttF4QNfqcmNzmZuVehfgDZwx3xAMZANtf4m4nzmnQjilCqTUuSDpS8LWMs4zfqXtNWcW35ClxS9nWvtKBLmFe9lq_b6Iky89rtpb",
  "id": "rs_0c236c321c7a2a95016ab479cd106887d0bdb1fa716dec3aba",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.115},\"note\":\"The jaws closed almost fully, so the rim grasp is uncertain. I’m making a short vertical lift to see whether the blue bowl follows before attempting to carry it.\"}",
  "call_id": "call_jQEcYaYrWHpWJRlckp3nTTER",
  "id": "fc_0c236c321c7a2a95016ab479cde92087d098b9d5db2d73477a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jQEcYaYrWHpWJRlckp3nTTER",
  "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]: [-0.9661, 1.6978, 1.2865, -0.7296, -0.6384, -0.8047, 0.5259, 0.6056, 1.5871, 0.8783, -0.1345, 0.4213, 0.2695, 0.0304]\nstate[eef_state]: left_x=0.3114 left_y=-0.2592 left_z=0.1384 left_yaw=0.0235 left_pitch=-0.2519 left_roll=0.0928 left_gripper=0.5259 right_x=0.3706 right_y=0.1731 right_z=0.0895 right_yaw=0.0921 right_pitch=-0.1848 right_roll=-0.102 right_gripper=0.0304\nstate[joint_eff]: [-0.0752, -8.2256, 6.3111, 0.9792, -0.4371, -0.0562, 0.7057, -0.0889, -9.1009, 9.0188, 1.5751, 0.3346, -0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d159037a9e8681323c64c4852f3939c5646299eecaac9083070ab70345c44d0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc17f4f9c7b27bee66a028970e077ca381f5c0b49d13a1815510f0aeb1271274",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ad35d0dc8f41ca57ae4c91d03c4cbaaacc170eebdb60778800539e935331d57",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 3.437 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 49 changed as sent

message 57 changed as sent

message 61 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9665, 1.7477, 1.0782, -0.4484, -0.6571, -0.7925, 0.5217, 0.6025, 1.5581, 0.8986, -0.086, 0.4412, 0.2817, 0.9966]\nstate[eef_state]: left_x=0.312 left_y=-0.2556 left_z=0.0782 left_yaw=0.0219 left_pitch=-0.2258 left_roll=0.0914 left_gripper=0.5217 right_x=0.3834 right_y=0.1766 right_z=0.1175 right_yaw=0.0736 right_pitch=-0.0924 right_roll=-0.0559 right_gripper=0.9966\nstate[joint_eff]: [-0.4308, -10.7692, 8.4444, 0.9353, -0.4615, 0.105, 0.7595, 0.335, -7.1043, 8.8137, 1.8242, 0.3443, 0.3053, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9661, 1.6978, 1.2865, -0.7284, -0.6456, -0.8043, 0.5257, 0.6056, 1.7271, 0.7475, 0.1753, 0.4381, 0.2703, 0.0232]\nstate[eef_state]: left_x=0.3122 left_y=-0.2585 left_z=0.1392 left_yaw=0.027 left_pitch=-0.2458 left_roll=0.0958 left_gripper=0.5257 right_x=0.3753 right_y=0.1731 right_z=0.0372 right_yaw=0.0817 right_pitch=-0.1448 right_roll=-0.0927 right_gripper=0.0232\nstate[joint_eff]: [-0.0889, -8.0479, 5.7641, 1.1111, -0.3687, 0.022, 0.4322, -0.1162, -8.6906, 6.694, 1.4921, 0.149, 0.0171, 0.8718]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9661, 1.6978, 1.2865, -0.7296, -0.6384, -0.8047, 0.5259, 0.6056, 1.5871, 0.8783, -0.1345, 0.4213, 0.2695, 0.0304]\nstate[eef_state]: left_x=0.3114 left_y=-0.2592 left_z=0.1384 left_yaw=0.0235 left_pitch=-0.2519 left_roll=0.0928 left_gripper=0.5259 right_x=0.3706 right_y=0.1731 right_z=0.0895 right_yaw=0.0921 right_pitch=-0.1848 right_roll=-0.102 right_gripper=0.0304\nstate[joint_eff]: [-0.0752, -8.2256, 6.3111, 0.9792, -0.4371, -0.0562, 0.7057, -0.0889, -9.1009, 9.0188, 1.5751, 0.3346, -0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d159037a9e8681323c64c4852f3939c5646299eecaac9083070ab70345c44d0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc17f4f9c7b27bee66a028970e077ca381f5c0b49d13a1815510f0aeb1271274",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ad35d0dc8f41ca57ae4c91d03c4cbaaacc170eebdb60778800539e935331d57",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHnU0Ts7pF_uCdPxEIYy8rnYA-xs6INDO5_GgvaV5iaVA-2CmaO5A7zcFoCEgKO4BxSFJswzdmb6HeUWusgv5MfQQsbul0oaeH6QQwYDiRVc2wSlespQdJA9HE-ZZf4SmUvCrgqZPgaJcbUgfQFPr1ESsZa1npP79GSa82v5C9O5vQfO-4E2Im3PpZ5ZbBT6KA0cNX0rRN5cxGJlIC--1ORLd3Bt6gt7CAnEWGv2UYrS_anzfxfVOAvaL9OT_T3JLI1TJI4EsGyGDUeOyjGl3sgLGfybVBE_YyxnWikELa9ubUilmQ_5KywsMUCxcAExHWx5J4CYb3immiIdXhbAenUlfu7taxxOIhoHJG5k3CjKpPVaRAYt3OicZ9-KorPL8FPF7srbgPFS6w70R1CpPKCYCbNqx-eZt7Rkfg1hjgRXaK9I4tEREEYai_Am_6y7qIgSkeGo3TSmgizJ1AdQLHnfkOOaOHt7lWARg6AXeNcBvGx78mJUo619M6XTHkG8RzRXccdjSNC470G-L99qm1MjbFFHA2_fL7rEKo_fNmjX2eTqvj-dUqUuiSANs-Qy8f1NBTTVkdbETG8rprgTrmnm8vxM3PXKXnu1RAgsUahmqHlcv-AggPMnubidMegEaCQ0sW4x_nPHBP9bwFugOojC-97uhd2gpoR_xKxuHwkY7_6aA3Vj6MHnY5siem-sTmud6gvz79x2_VXvgZvn6RjLpKuIKuoe9YZDs7UaImQ2pTDo1Y7bOkwanyQ_TNKrohU5uKdqyS2RKKVdN87yAQOmDP2kdzwB6M1WXhT64LQ9xiBdKgWRB5OVxPrhgrmdmcANuis2baVMqi2mFMXIEH-3jzgjVZYcz5GyWP9bZDqcs1xvFTD8FOh4MqdA6xsqXCMvqTGKO3pj9qBO9E-ZFNc23GETR0dcyb2fr9UzZ6gDpTpSBzL6HJKSto5vcrLD-XWACUn4TbhI1xKeSMA_guM52o0MurymhXg9QFoBaeoXpNSVovCNqHDWFagb45vfnDvWNA11HoLErjMHp6B1pAjs0MbkPDWkMc_MfIuQaoypXR97wUb0RDlUDA4d9UtoXPc5BWIfka9i1PnRpi8gesb1c1xY_T0mTMikpdCmMvVzp33Y1qaHuQTi5BDgKHqBHjsTECchG3WNRbg4i34rqm4I4Usp4GXbpacGA6T8LTkMNb6_qdrbrMmrTV1hqkWf3U1lrkObhR6gvOB5MUHodl8YwZUigTxhLtFWR7poJ0YvjSjAmCSh7TGwFFARo79jI9flcK96a2jXLR6t1uumEl2zaAvPJMqOPI7JnmBg44MRoHTG0KDjbQK84-suULCI8iaIM6U9cUylWHZBXCBjzf_rAF9dS5ZvTfs9c3xrOIzDtVALKCIq8VBdSyNK-AwMz3ytXcnmkF2o1BYvW54_iwPIfHsqgmU-HA9bSq2iWOQz5Rly-ZjZw9YirzHNk7zO6G8yBC94v9BkoMo2r6YB5kJnF5kTllXoo4kmbDhl71-C8WZH0LUyU7TSvez1EsPnBVkWEnqzhn2BcY_G-1wZs5r1gVgtqmSUbM7w3dl-2F4mKj58XFjC3ZUhfCQt7LNjC3NUWJZagC98LFac4Q8NajhZchdyK-ehK7-jgcy0f9pNfVVqCHUrMC2yXIonA922FTbA4nGL1iS2FWG87H81H55saePquB6gGL0OWZyStlHM_s2aFoRvtoLnD-uyFvXmp9UyHHoAvKy6oCnPI_MIt8rPAtArdML-wCWwIgSLvO2QXRD5tTesrwBTbaTS6y3APvurjJ1f2pMD9fza9yK5HYzUq1KD_DW9LhTGoKLGYz8C-5A833N2v_HWzDV0syzDGjMHcYIlkbiAYALD7VYYuinSGGtPl5ATaWGbAta_xJUFSXUEtKwG3i41XI7a1bJyRV2Hi5DaFA_z174MPfuElZTidpun6GEBiFOrYWEcrTH_jh0hnuFLE69vP8Q76qfc9gshWzebAITAQiDMEjIoX9f_QTfG7QOyNAPo-JVeO6CB0mPDUeZGpIbrlenPh4LAawfCHMU8KwIJ6Ya-JA3H5Hy1Qg==",
  "id": "rs_0c236c321c7a2a95016ab479d0b7d087d0b42064d7b7265051",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.395,\"right_y\":0.32,\"right_z\":0.145},\"note\":\"The blue bowl rose with the gripper despite the thin rim giving a near-closed reading. I’m moving it toward the table centre so both arms can reach its opening.\"}",
  "call_id": "call_QR1DbEv4EU1DrAVSu2tWxJF5",
  "id": "fc_0c236c321c7a2a95016ab479d35bf087d0953c89d1b0150c59",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QR1DbEv4EU1DrAVSu2tWxJF5",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "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]: [-0.8402, 1.6138, 1.2911, -0.7029, -0.63, -0.812, 0.5268, 0.7605, 1.9415, 1.4967, -0.5724, 0.5354, 0.469, 0.0352]\nstate[eef_state]: left_x=0.3425 left_y=-0.2209 left_z=0.1731 left_yaw=0.1268 left_pitch=-0.1935 left_roll=-0.0146 left_gripper=0.5268 right_x=0.4069 right_y=0.2677 right_z=0.1181 right_yaw=0.0289 right_pitch=-0.2594 right_roll=-0.1383 right_gripper=0.0352\nstate[joint_eff]: [-10.0991, -0.4171, 6.3658, 0.7057, -0.4176, 0.0269, 0.6569, 8.3487, -8.8547, 13.3812, 1.3016, 0.5543, 0.1636, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0581c2933274b045f694a12feac38c69f3771c1b284c2a473b0c81f9b81ee45",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71684d5f1b0ee518d83cc9a2fdf44830f5ba806ca8c86e9851c6eff745fa437f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3341aa35d33e5e232431c4ce3b64f657c56157099d8e7869709cad39eaa02086",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 3.514 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 53 changed as sent

message 61 changed as sent

message 65 changed as sent

message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9665, 1.7, 1.2797, -0.7132, -0.6495, -0.8017, 0.5245, 0.6064, 1.7096, 0.762, 0.1761, 0.4408, 0.2771, 0.9966]\nstate[eef_state]: left_x=0.3132 left_y=-0.2593 left_z=0.1378 left_yaw=0.0259 left_pitch=-0.2397 left_roll=0.0944 left_gripper=0.5245 right_x=0.3803 right_y=0.1764 right_z=0.0494 right_yaw=0.0788 right_pitch=-0.1152 right_roll=-0.0724 right_gripper=0.9966\nstate[joint_eff]: [-0.3624, -10.3043, 8.4034, 0.8425, -0.3883, 0.0855, 0.569, -0.4855, -6.5436, 4.8479, 1.4628, 0.1734, 0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9661, 1.6978, 1.2865, -0.7296, -0.6384, -0.8047, 0.5259, 0.6056, 1.5871, 0.8783, -0.1345, 0.4213, 0.2695, 0.0304]\nstate[eef_state]: left_x=0.3114 left_y=-0.2592 left_z=0.1384 left_yaw=0.0235 left_pitch=-0.2519 left_roll=0.0928 left_gripper=0.5259 right_x=0.3706 right_y=0.1731 right_z=0.0895 right_yaw=0.0921 right_pitch=-0.1848 right_roll=-0.102 right_gripper=0.0304\nstate[joint_eff]: [-0.0752, -8.2256, 6.3111, 0.9792, -0.4371, -0.0562, 0.7057, -0.0889, -9.1009, 9.0188, 1.5751, 0.3346, -0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8402, 1.6138, 1.2911, -0.7029, -0.63, -0.812, 0.5268, 0.7605, 1.9415, 1.4967, -0.5724, 0.5354, 0.469, 0.0352]\nstate[eef_state]: left_x=0.3425 left_y=-0.2209 left_z=0.1731 left_yaw=0.1268 left_pitch=-0.1935 left_roll=-0.0146 left_gripper=0.5268 right_x=0.4069 right_y=0.2677 right_z=0.1181 right_yaw=0.0289 right_pitch=-0.2594 right_roll=-0.1383 right_gripper=0.0352\nstate[joint_eff]: [-10.0991, -0.4171, 6.3658, 0.7057, -0.4176, 0.0269, 0.6569, 8.3487, -8.8547, 13.3812, 1.3016, 0.5543, 0.1636, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0581c2933274b045f694a12feac38c69f3771c1b284c2a473b0c81f9b81ee45",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71684d5f1b0ee518d83cc9a2fdf44830f5ba806ca8c86e9851c6eff745fa437f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3341aa35d33e5e232431c4ce3b64f657c56157099d8e7869709cad39eaa02086",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHnYnsbzxEqzzKMy7ytBMdRq9tkgAKGQHGvQnkmDCkb-6xQTq4vVnLArAV1-QWxN2zYxmmD-5G5jd-b69B7HcNsH-rAdoPjSqgIogIe85_b4LXL9YTB20L7el4x2Mbrw21zEKgAd8X1l2WnaIl9WdGaTtWgOidURXCHHdI6SpPMSW7kd9Ic0UduxoQfgr2_hmMUzLwmQIrybU8XVQUhoF06J8bDv_uLK0XsU_IHEpR-jaaA1SoHgxX7DvCpFY-GKKyeS8QER5s9-eTVOEyxfzYP1H8hKhZqmG-L8eI0zwZ8Z5Ko2Nn5ndq4IDVy5dIWN4cCyn-l59L0O16ZqItPwORxeB4-neW-dGDMBS4zVaUwAbKgpo5VFdZUOvtc43_k9y2mTQYXc7v3fQP1lzThhFHiYolmqnW0htvL0I33P0QEjuEc5Q14jR9jJXFCVnXIH-mDJFkikzXy8SDbrPDHXmn-69TvOiAoXrB-TML8E6_vd1xE6cEq30FQ8UM7lBPBcmrNWORoDgRipGQtOEhebqy7xNtqvwK280UM092SRWt7A9JlR8ljKDhVOy57ZhtaqeFZ0sMJKioZgL4Il2PUnJdAVKeKKOPqeU9_dreN__L7oHlM-rfoyv6P8diz3-BbOz6Vo3L-xlg1liSV8YJejrTcyrW7ORNYRiOdypMzQp7yRWxsh3WYYiJZ7Gvh9Zp-37dCLrMK-rz8H4vQ91RZVYXePyFqJbO5fWPzWQRWk0xJLggAnHVCATydv54QofxG3rxHh3IFZoGuch_y0LfALWZt6aJXg1HWdmlOL3mZpaG8Ef5AoZb2DiRr9uM9KKxn89VrQ_j8hvy9iB5VJWnAlMZC4fi9H5qz_5AaPSi1YzBCZbp0xBxM4IMv8VkZrsNyIG-2awT7cAib2cOZRNR-ou6j_0h3Wj582UWygwxuGMerXbAsz_mE2fDIXkiU4RlfwA77KGpI68gL2ZAz_6xs7S7HVhqz6w2x9x0MPVN8T8CPDUx9UEpMoNydFtcx2RxIxuIEZJ6scUf7_QqyH8LirWocVgEwx3U66l9ZavGTg-3PukbeUfLPoXbUUMcvwrbKidcO-mYD5GEOiHxrqsbr_RefPhLhKqhBugrpmQdTozOJmY6kc0BinOk02e7LIsWL14GAN60ue99e6VWvHWSjPNVXO85ZmKJr_MN9uJHQg4Fp88rXSzeMr6CZdqxpvedWL_klQN7kob1IkDUe1Poqonx7ZD9RjbQhR5APrKXVqeUh_Mo_pFmGA7WITaP20ldQdP0b0kOjnEsVjOAVYrD87fXcpJaQP2rRl-RfTSEUs0rw6KO1sEEKTUTq-MMiFDlmArH95bvSE8uYGuhdEkuLJWHlGASw3tTXe6egg7oclIP58xmX_3Swsi2xZowkxa9_gkHR2Z0tJmmoLwNzTvBGEp-FyG4Pgld3wsYWs-GXAk3HeNzs=",
  "id": "rs_0c236c321c7a2a95016ab479d6e90087d0884f0ab605793b7c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.27,\"left_y\":-0.12,\"left_z\":0.21},\"note\":\"The arms crowded each other before the bowl reached its target, and the left arm was displaced. I’m withdrawing the left arm with the dark fruit to create clear space before continuing.\"}",
  "call_id": "call_WO3htXmbbcGxVuBsnlwnw2nZ",
  "id": "fc_0c236c321c7a2a95016ab479d7a0c887d09dc0451502ca3601",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WO3htXmbbcGxVuBsnlwnw2nZ",
  "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]: [-0.778, 1.1687, 1.0561, -0.8661, -0.5964, -0.7647, 0.5293, 0.7582, 1.9793, 1.4937, -0.5926, 0.5186, 0.4786, 0.0352]\nstate[eef_state]: left_x=0.277 left_y=-0.1286 left_z=0.2078 left_yaw=0.1344 left_pitch=-0.1879 left_roll=-0.0353 left_gripper=0.5293 right_x=0.4028 right_y=0.2658 right_z=0.0962 right_yaw=0.0208 right_pitch=-0.3136 right_roll=-0.1631 right_gripper=0.0352\nstate[joint_eff]: [0.294, -4.1778, 6.4479, 1.4139, -0.2857, 0.1294, 0.2418, 0.0889, -13.7778, 6.5846, 1.3358, 0.3394, -0.149, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb9ec455b07415d82a22a1306381706c99848917832f4e4840152f959e1fdbe4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:531740d9a703b50d4d4ac0985df642868b3ea2e2bb97dc57a912fbf8514d4acf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4123b75d8c1f7050e4a5abc1a5a7989209aaefca12f78295a525ca053d1d2464",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /responses · status 200 · 2.764 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 57 changed as sent

message 65 changed as sent

message 69 changed as sent

message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9661, 1.6978, 1.2865, -0.7284, -0.6456, -0.8043, 0.5257, 0.6056, 1.7271, 0.7475, 0.1753, 0.4381, 0.2703, 0.0232]\nstate[eef_state]: left_x=0.3122 left_y=-0.2585 left_z=0.1392 left_yaw=0.027 left_pitch=-0.2458 left_roll=0.0958 left_gripper=0.5257 right_x=0.3753 right_y=0.1731 right_z=0.0372 right_yaw=0.0817 right_pitch=-0.1448 right_roll=-0.0927 right_gripper=0.0232\nstate[joint_eff]: [-0.0889, -8.0479, 5.7641, 1.1111, -0.3687, 0.022, 0.4322, -0.1162, -8.6906, 6.694, 1.4921, 0.149, 0.0171, 0.8718]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8402, 1.6138, 1.2911, -0.7029, -0.63, -0.812, 0.5268, 0.7605, 1.9415, 1.4967, -0.5724, 0.5354, 0.469, 0.0352]\nstate[eef_state]: left_x=0.3425 left_y=-0.2209 left_z=0.1731 left_yaw=0.1268 left_pitch=-0.1935 left_roll=-0.0146 left_gripper=0.5268 right_x=0.4069 right_y=0.2677 right_z=0.1181 right_yaw=0.0289 right_pitch=-0.2594 right_roll=-0.1383 right_gripper=0.0352\nstate[joint_eff]: [-10.0991, -0.4171, 6.3658, 0.7057, -0.4176, 0.0269, 0.6569, 8.3487, -8.8547, 13.3812, 1.3016, 0.5543, 0.1636, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.778, 1.1687, 1.0561, -0.8661, -0.5964, -0.7647, 0.5293, 0.7582, 1.9793, 1.4937, -0.5926, 0.5186, 0.4786, 0.0352]\nstate[eef_state]: left_x=0.277 left_y=-0.1286 left_z=0.2078 left_yaw=0.1344 left_pitch=-0.1879 left_roll=-0.0353 left_gripper=0.5293 right_x=0.4028 right_y=0.2658 right_z=0.0962 right_yaw=0.0208 right_pitch=-0.3136 right_roll=-0.1631 right_gripper=0.0352\nstate[joint_eff]: [0.294, -4.1778, 6.4479, 1.4139, -0.2857, 0.1294, 0.2418, 0.0889, -13.7778, 6.5846, 1.3358, 0.3394, -0.149, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb9ec455b07415d82a22a1306381706c99848917832f4e4840152f959e1fdbe4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:531740d9a703b50d4d4ac0985df642868b3ea2e2bb97dc57a912fbf8514d4acf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4123b75d8c1f7050e4a5abc1a5a7989209aaefca12f78295a525ca053d1d2464",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHndvOAz8pUlrGR7huwIXkCgXvBJoznbtuIdM3Ue3J-z264a9LfxT45Nmjv4aproQqjQgATc4CCm75UmUdQwgp4ZguXcBdS0tufkcRsNkPVBnDNjbH_E0EgytVxxOgxlk4TgwaNJ5_DlhTbDCnWY2E0fl4rP0OBkOvQz6AC1RQaPHDZmfmLzvlNhYubq37o13VQlarYzB6zZxT36-EMVSr5-d80SMrM46G03iwMyMbXJFHklT5y0w2DZROkgiBkd43PoxWCL8GtI6mY6pCW3MR_8s9-zN30cQyPD9WIOu7AkZH_G39b_0r4XdM80OFRFbjrMQitG8I82RkzTon7RHbOg4twY1clcNVnxgmpnr-JlesbxYsiXGAfsHV0t5gobCWP6DErYu_mx-Rmc5kez5d1Q7y3A3rVfUV1VYCtJhd_27LPdwgx1PP6TnI-OYqAsQJVRHO4rYeRMQsLmi-A08KJBMMFTH4BP70R6FabYidTwPNiAir-jYj0xSHq1rSYbFHQSu8yMVTcwwiBOJgbFvX2Xt5Rft-nEVqG7lacqtI8FKMGg_lnB4oYTmELk9ktfQMuyA-ZGQMhaUftCH3lWcuItoJL0Nq20hajIrTT6ioOkpW6sXSP7cUx984zUyw7riUamfad2x_cuOQ-lmVmJoV9tvVebT-jk_ibhWIi7yRCk4lF27OCCO1m_pHFM2DmNbId0pxeCf7kSkFuRn68iV7P6NqDodSBLpMDloMGXXlhUdjB2AMgxXkSS_q0KE9guki0ae5qNQP9UH0yiUtz3CHvx1b3Q2N17JPKi4IbB2YO1ffsIPdB8TcS1A4Q-9Aj6toFtuCJyyPl_THc_q-9Bb1shg-mHjXPo1sSrRSRK4MK9x3qAZ4eDgzzzsF3zfqYGUGIDF0SQz7C7DGmoYYstI7229fhIzjMNJ3oKHipPSDeIgdzDdh7cfJY8_4j5ddJUGMxasPifobN9-StQLrymHsFbxRor4GWhmPyRfu5GEYg9SqBh4sEOpBhP7JGrYpcm5J9DKAW5KWGH69bSWOAcmdBrGP01YCyS7xDZijOV4mfJMcR7sV4BKBQgnNqvUKw42JgpEqPheEFji-dKIamobImd-vL8n8dhY2nARqqwPU9Q--0Sa65WV1-4iESu92pBTCpKsUJLQKyzOfRWT3x59Hytwc0RNL05Cg44AttGAbUoBAhogXMUvfwfaBECngXnLUjQeIoB32rHmpEGhUvLAnD52_5rU4fCQWd2D0OKzWljz238ZLG-9AwE3qu9hyxqo4zP_P_AWWajkWV2z-kRs89q_y0r9Nbuv_cjyxTNjA8aa6BpChO_-983bK89O-KHAM2WkMyJYJ6Ko3CCAhIR1IbgnIhx9iGOhO-UuPJ921GJQ5ETc-sVfaML4ayGDWuKv-hD-FDV8ix8mXB37g2h2KVZ5A==",
  "id": "rs_0c236c321c7a2a95016ab479db33ac87d081aa7f915946aad5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.33,\"right_z\":0.065,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The left arm is now clear and the green fruit remains inside the held blue bowl. I’m setting the bowl down nearer the centre, keeping it upright.\"}",
  "call_id": "call_FMixPSL4HPoiHuCJq3m4rDYh",
  "id": "fc_0c236c321c7a2a95016ab479dc4b4087d0a4c557e70ce354f2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FMixPSL4HPoiHuCJq3m4rDYh",
  "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]: [-0.7773, 1.1744, 1.0523, -0.886, -0.5896, -0.7666, 0.532, 0.9379, 2.0415, 1.2423, -0.1024, 0.6853, 0.5884, 0.0352]\nstate[eef_state]: left_x=0.274 left_y=-0.1268 left_z=0.2019 left_yaw=0.1365 left_pitch=-0.2105 left_roll=-0.0166 left_gripper=0.532 right_x=0.3723 right_y=0.3245 right_z=0.0514 right_yaw=0.0545 right_pitch=-0.0844 right_roll=-0.0504 right_gripper=0.0352\nstate[joint_eff]: [-0.1299, -4.0821, 6.8308, 1.3455, -0.3736, -0.0513, 0.2711, 0.2667, -10.6325, 5.9556, 1.7411, 0.569, 0.1099, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6129b0e3c259e5b3e1ecc1595b0a09bfc5c0fada85750ca7eab8d148dc3521fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bdc60515a2396e84f19f404ab7a6d176986ef7d697a0bfcf8253460dcf1b9ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5253313a63dc7c4272be400cdfe8d4a154336151ada77e40bcfc0b6fb1cde717",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 2.29 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 61 changed as sent

message 69 changed as sent

message 73 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9661, 1.6978, 1.2865, -0.7296, -0.6384, -0.8047, 0.5259, 0.6056, 1.5871, 0.8783, -0.1345, 0.4213, 0.2695, 0.0304]\nstate[eef_state]: left_x=0.3114 left_y=-0.2592 left_z=0.1384 left_yaw=0.0235 left_pitch=-0.2519 left_roll=0.0928 left_gripper=0.5259 right_x=0.3706 right_y=0.1731 right_z=0.0895 right_yaw=0.0921 right_pitch=-0.1848 right_roll=-0.102 right_gripper=0.0304\nstate[joint_eff]: [-0.0752, -8.2256, 6.3111, 0.9792, -0.4371, -0.0562, 0.7057, -0.0889, -9.1009, 9.0188, 1.5751, 0.3346, -0.0317, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.778, 1.1687, 1.0561, -0.8661, -0.5964, -0.7647, 0.5293, 0.7582, 1.9793, 1.4937, -0.5926, 0.5186, 0.4786, 0.0352]\nstate[eef_state]: left_x=0.277 left_y=-0.1286 left_z=0.2078 left_yaw=0.1344 left_pitch=-0.1879 left_roll=-0.0353 left_gripper=0.5293 right_x=0.4028 right_y=0.2658 right_z=0.0962 right_yaw=0.0208 right_pitch=-0.3136 right_roll=-0.1631 right_gripper=0.0352\nstate[joint_eff]: [0.294, -4.1778, 6.4479, 1.4139, -0.2857, 0.1294, 0.2418, 0.0889, -13.7778, 6.5846, 1.3358, 0.3394, -0.149, 1.033]\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 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7773, 1.1744, 1.0523, -0.886, -0.5896, -0.7666, 0.532, 0.9379, 2.0415, 1.2423, -0.1024, 0.6853, 0.5884, 0.0352]\nstate[eef_state]: left_x=0.274 left_y=-0.1268 left_z=0.2019 left_yaw=0.1365 left_pitch=-0.2105 left_roll=-0.0166 left_gripper=0.532 right_x=0.3723 right_y=0.3245 right_z=0.0514 right_yaw=0.0545 right_pitch=-0.0844 right_roll=-0.0504 right_gripper=0.0352\nstate[joint_eff]: [-0.1299, -4.0821, 6.8308, 1.3455, -0.3736, -0.0513, 0.2711, 0.2667, -10.6325, 5.9556, 1.7411, 0.569, 0.1099, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6129b0e3c259e5b3e1ecc1595b0a09bfc5c0fada85750ca7eab8d148dc3521fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bdc60515a2396e84f19f404ab7a6d176986ef7d697a0bfcf8253460dcf1b9ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5253313a63dc7c4272be400cdfe8d4a154336151ada77e40bcfc0b6fb1cde717",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHnhl-HjXh2NDpX-L44F6jgABqhZAd6uhO2-Hw9TGNya_KsjNh7eWpwKAI6RTJcpMrY0LbAw8_q9ZIeHYdU4E2UzhEhM9HJ-BSz1IBIpbbgZRfk7AXgGNWbqrAyCRQYx9TNDxMLpAP_O9vkgykWl3rKq_odnKXccSyEpeL1WVJZQylYzyynqtzsGTIXo-lPkSNDigPH7ZW93RkXC14VoZ0Ey712yw72qvg__-89UOOo1DPhMPImv9Mx13lv_RdEweVlV4lhegpBWjhjYgzU8OgYVztaRoAeD4GueTYzKB7ND2wz3WFLRxCErGxACo-dnibndHBNaYNmN7RkuHZUf3NLqC_QaYHb1w3kcVL43V3IxbJHHNQxErkSFjdTTb2vmwctnwmA4OJ2rRft5lDjYKV_gym7BnLBFE1pmMRwwvedFhYTW0DV-312-HnWejKgL9FZ_vrbJ7ZHYI0hkW0pJ52uP1-lR3riTGu8IBBw99uPJJW07AuN1myergvH8T8Ab2Jhc0V9RK4WFOnF3tVtKSr6Qg9Y4XOExvwPDUvmp6b8l60Ra8qi3gppiE_0JOuep0fXN7V0IXiVk_8VH77QkAjyeMdg87lyxH1-jtWKf-fiJpXBPrtKQPfQo490yD04krH-M_oIwnzx6cIupKo6HPl-XBYH4Hy2-Vy5zOjVSws9Ij7pg6rIXH41BVBOYf7QAoxKsLjdZHP-XsEICPBsNzWY6B9Y8LPE3qVGocqnOwbB_n_Bao_bIluqpSqLOJw5hLl6chART6mfAf7OCnBl_czjEHfYc0Tje4rPKCblZWuScoYqZFRvGlD4oTSHmfqMKqKFFTdiZhFIR2rNKJnc0bwR_BiTbL2Cl4AFBA438xAtlhOHMnpe1S3ANES060IujesQIcmO4gtH_l_TkCZjJiUOZSBTN3PeYq3wdWxcVt7qJYWNgch3lUtf_a2svDWmXX87mx-zhK4n-WME6s060beCz3S7yHHhW8HQDxXUyhD-TnkNCpxEMphlmQ8X-l9j4TOO6EUQ2D_hKLQB45p_fzQP3tcbRkTlqJSBMKKK2TLwvGPorGGHwgU96bkIghqVQneHO4g_ubNXHYCySLrjRiLfxgxmgY0iCHGZDW98ft1DUDJSSmXR_TmEsoeDRZ60d3MkIzTgIhuA9prxNE_F6q67OWOCBYFdR3YTyHR8rBPN-8qiZSN70mWBQiChdZ7o0jzMEq9brLLn7dnpe8K8S2U7fxCvwtp6xalLy6nstMm06env7tGgpwOekwyLaesu7km7_dIYPMziCg9ZMK8Jhzmh_nPUO00Ywo0aTE7BrPRhm7IwC4LQXcb7mWK1vMQd-z8R-tUmGAcQ11lwmPOl30YHIuLAhGoasAcFTfi_VH9XMbQQ=",
  "id": "rs_0c236c321c7a2a95016ab479dfaf1887d0a363e4587fd97aa7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The blue bowl is back on the table at the centre, with the green fruit still inside. I’m releasing its rim.\"}",
  "call_id": "call_dZgXwXNnOrkxAFnD6txNx0of",
  "id": "fc_0c236c321c7a2a95016ab479e0942887d089610e36034a813d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dZgXwXNnOrkxAFnD6txNx0of",
  "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]: [-0.7769, 1.1744, 1.0523, -0.8871, -0.5861, -0.7666, 0.5334, 0.9386, 2.0449, 1.2346, -0.104, 0.6765, 0.5835, 0.9954]\nstate[eef_state]: left_x=0.2737 left_y=-0.127 left_z=0.2015 left_yaw=0.1348 left_pitch=-0.2135 left_roll=-0.0175 left_gripper=0.5334 right_x=0.3698 right_y=0.3238 right_z=0.0463 right_yaw=0.0628 right_pitch=-0.0979 right_roll=-0.0596 right_gripper=0.9954\nstate[joint_eff]: [0.1709, -3.6444, 6.5709, 1.199, -0.3834, -0.0464, 0.1441, -0.0889, -11.0974, 6.5436, 1.2869, 0.2808, 0.0269, -0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1dbd5858c854702219329930fdc6e8adbd35a3cfb9687700a5bcd032cb87a977",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0d94e3865c3ed753e72865eb59e9899b45440cf956ab446130bf5b5eb43c18b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10a5f74e09cc5e6d0b10cfcfd0c760cd0a8cc7d8caa87aa5700a09701b59a4b9",
      "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 · 3.421 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 65 changed as sent

message 73 changed as sent

message 77 changed as sent

message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8402, 1.6138, 1.2911, -0.7029, -0.63, -0.812, 0.5268, 0.7605, 1.9415, 1.4967, -0.5724, 0.5354, 0.469, 0.0352]\nstate[eef_state]: left_x=0.3425 left_y=-0.2209 left_z=0.1731 left_yaw=0.1268 left_pitch=-0.1935 left_roll=-0.0146 left_gripper=0.5268 right_x=0.4069 right_y=0.2677 right_z=0.1181 right_yaw=0.0289 right_pitch=-0.2594 right_roll=-0.1383 right_gripper=0.0352\nstate[joint_eff]: [-10.0991, -0.4171, 6.3658, 0.7057, -0.4176, 0.0269, 0.6569, 8.3487, -8.8547, 13.3812, 1.3016, 0.5543, 0.1636, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7773, 1.1744, 1.0523, -0.886, -0.5896, -0.7666, 0.532, 0.9379, 2.0415, 1.2423, -0.1024, 0.6853, 0.5884, 0.0352]\nstate[eef_state]: left_x=0.274 left_y=-0.1268 left_z=0.2019 left_yaw=0.1365 left_pitch=-0.2105 left_roll=-0.0166 left_gripper=0.532 right_x=0.3723 right_y=0.3245 right_z=0.0514 right_yaw=0.0545 right_pitch=-0.0844 right_roll=-0.0504 right_gripper=0.0352\nstate[joint_eff]: [-0.1299, -4.0821, 6.8308, 1.3455, -0.3736, -0.0513, 0.2711, 0.2667, -10.6325, 5.9556, 1.7411, 0.569, 0.1099, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7769, 1.1744, 1.0523, -0.8871, -0.5861, -0.7666, 0.5334, 0.9386, 2.0449, 1.2346, -0.104, 0.6765, 0.5835, 0.9954]\nstate[eef_state]: left_x=0.2737 left_y=-0.127 left_z=0.2015 left_yaw=0.1348 left_pitch=-0.2135 left_roll=-0.0175 left_gripper=0.5334 right_x=0.3698 right_y=0.3238 right_z=0.0463 right_yaw=0.0628 right_pitch=-0.0979 right_roll=-0.0596 right_gripper=0.9954\nstate[joint_eff]: [0.1709, -3.6444, 6.5709, 1.199, -0.3834, -0.0464, 0.1441, -0.0889, -11.0974, 6.5436, 1.2869, 0.2808, 0.0269, -0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1dbd5858c854702219329930fdc6e8adbd35a3cfb9687700a5bcd032cb87a977",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0d94e3865c3ed753e72865eb59e9899b45440cf956ab446130bf5b5eb43c18b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10a5f74e09cc5e6d0b10cfcfd0c760cd0a8cc7d8caa87aa5700a09701b59a4b9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.03,\"right_z\":0.2},\"note\":\"The blue bowl is released, but the right arm still blocks the left arm’s path. I’m parking the right arm before bringing the dark fruit over the bowl.\"}",
  "call_id": "call_rbytLC4D7FDYHOiHg560ARIO",
  "id": "fc_0c236c321c7a2a95016ab479e3591887d0affaf5a7a100f113",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rbytLC4D7FDYHOiHg560ARIO",
  "output": [
    {
      "text": "executing move_to over 25 steps (2.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7765, 1.1782, 1.0508, -0.8948, -0.5827, -0.767, 0.535, 0.1707, 0.9291, 0.7589, -0.5304, 0.1589, 0.0265, 0.9964]\nstate[eef_state]: left_x=0.2726 left_y=-0.1265 left_z=0.1988 left_yaw=0.1355 left_pitch=-0.2237 left_roll=-0.0091 left_gripper=0.535 right_x=0.3004 right_y=0.0271 right_z=0.1837 right_yaw=0.0132 right_pitch=-0.1224 right_roll=-0.0642 right_gripper=0.9964\nstate[joint_eff]: [-0.1573, -3.7949, 6.6256, 1.243, -0.3541, -0.0562, 0.149, -0.1846, -2.7829, 10.1538, 1.8681, -0.0073, -0.0757, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01a57662013ba0a1cbd8fef30eab3f560ac4aef50bf30668192c8acede766668",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f7cc6bb7a353e6da4b8703e331d0fe069005d536a104aa80a834668bc7dce12",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af73750a04d27cb8e838710c452c8de8d8f12ab7fe806affb527aa4974ffdf02",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 3.418 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 69 changed as sent

message 77 changed as sent

message 80 changed as sent

message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.778, 1.1687, 1.0561, -0.8661, -0.5964, -0.7647, 0.5293, 0.7582, 1.9793, 1.4937, -0.5926, 0.5186, 0.4786, 0.0352]\nstate[eef_state]: left_x=0.277 left_y=-0.1286 left_z=0.2078 left_yaw=0.1344 left_pitch=-0.1879 left_roll=-0.0353 left_gripper=0.5293 right_x=0.4028 right_y=0.2658 right_z=0.0962 right_yaw=0.0208 right_pitch=-0.3136 right_roll=-0.1631 right_gripper=0.0352\nstate[joint_eff]: [0.294, -4.1778, 6.4479, 1.4139, -0.2857, 0.1294, 0.2418, 0.0889, -13.7778, 6.5846, 1.3358, 0.3394, -0.149, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7769, 1.1744, 1.0523, -0.8871, -0.5861, -0.7666, 0.5334, 0.9386, 2.0449, 1.2346, -0.104, 0.6765, 0.5835, 0.9954]\nstate[eef_state]: left_x=0.2737 left_y=-0.127 left_z=0.2015 left_yaw=0.1348 left_pitch=-0.2135 left_roll=-0.0175 left_gripper=0.5334 right_x=0.3698 right_y=0.3238 right_z=0.0463 right_yaw=0.0628 right_pitch=-0.0979 right_roll=-0.0596 right_gripper=0.9954\nstate[joint_eff]: [0.1709, -3.6444, 6.5709, 1.199, -0.3834, -0.0464, 0.1441, -0.0889, -11.0974, 6.5436, 1.2869, 0.2808, 0.0269, -0.1001]\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 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7765, 1.1782, 1.0508, -0.8948, -0.5827, -0.767, 0.535, 0.1707, 0.9291, 0.7589, -0.5304, 0.1589, 0.0265, 0.9964]\nstate[eef_state]: left_x=0.2726 left_y=-0.1265 left_z=0.1988 left_yaw=0.1355 left_pitch=-0.2237 left_roll=-0.0091 left_gripper=0.535 right_x=0.3004 right_y=0.0271 right_z=0.1837 right_yaw=0.0132 right_pitch=-0.1224 right_roll=-0.0642 right_gripper=0.9964\nstate[joint_eff]: [-0.1573, -3.7949, 6.6256, 1.243, -0.3541, -0.0562, 0.149, -0.1846, -2.7829, 10.1538, 1.8681, -0.0073, -0.0757, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01a57662013ba0a1cbd8fef30eab3f560ac4aef50bf30668192c8acede766668",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f7cc6bb7a353e6da4b8703e331d0fe069005d536a104aa80a834668bc7dce12",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af73750a04d27cb8e838710c452c8de8d8f12ab7fe806affb527aa4974ffdf02",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHnqF33t_Jm0CKhKzZCQtevDXg7l19Tefij1aOiVecM6O13ccoGyvDe8pCkTKXUZhpPv6aZ_QFb7MGjyohi9PvRMlQuGHZpQMYFGIHULS3QOWZAFLq5bLCk3lmMnnERok2sBAcXGUzfSwlE8UrsGG3tpI3eFXMGFYnwH6Rny-N7_KsGNOjjWRjj5yj_MiVbV9cStIWznniMSwLXHugJaYKjFg7gOvnYcC5wmysjr67u02QxhKztTGNfhzBJeAOnTPpHEZtH1-MxzZXzKqCi9RlRqo_wzt6Pt9vgbVq_LNOi2Pif0EilLKtbODhowbde9SC_ky0K_9_1PfT7vq6Xofx1lfPQXUE9yNfHa_-l3MaP-ngAbwTJfMPuXiJRte3HdSfzYWFsPZbScb9DBdU1poI_9XavcVCzliE8PuEul6nWyKdjbexthkLjbqCk0FsFRa66AOBZvklr7sLUNxd4DMAFhHDrEe4-5rZlynA9amQ0FrzthEfOVP5pexCtCrq6XyErq3JRe7LW1R7u14ghSGuU9eGuHJ9aDKHC4vKKL06Mzkvp5S9xlaTMTXvmnGXziHNnRULfkbe7UCYFtKPAzOQMUfXIWGjA3KwVvolFqJhpRl6edbUqQ373PtfAdP_rDoG8hrGm5DaenJ-YeYDsRPwrYa3yVlU3OUXjn1Q609MhBEtYSWPxIBEAPl1Wrkb1eRgPkrQILufN2-gEb-0tWFfsGOWrqMB0YXkJ-v6AL9v6RcnfS5HYO0U3zVeacA1H2mQtg1vyQQOv90uBoKcZbeK_zzhQaJQFemyQLbnfLJ00FZRIaAszqQT7GuGLOq51aBsaViGLznXLO5oz6bLv8Z0PrHpxztBoMqN7cgKCXIKNQ2wOJYzB30c-IVy2BJjL_BAvytyBBNkGcQmx9KD9Yc0XaUpEV_fOimnSwSDtRYYIPmu5rj8Z6LWd-UfF6b-N-BehGtd5qfEAgKcdmr_G4gQVEkZSx1bCvCN_F9dMzc2-TvnN6uafA3gmPvZ09oUG7VhON3nX3_RJ1hwxylcIErHtnnqQtRf48Q9oAJBHsxYQV3Q6LHPSRXC9L_uohQbHD6FmpRjSa7VdcOtt9RCKY8j-yb9jtziCyWwjJvPw1r2_d9LF555yQ4DQasHoCjH-10QzWhjxs1RQHjb8xRHgp5_nki4H0PHc-g6w3e8w1UGD7Lwr3EKLy0hXhqCk13sotYHbyfomJ93LoCkvvQRZhNTA_CVtJbgD8REZF4UDoGLzRvxPAa6B_SbSCQ6D2L7e_LPhkXVbqx2kGFu_hbNE1rs8Bucgw9XMc6sU7J6P26d5LqHgLOPpMeECTu050ZJ3x7MYS4vZiE1yyo9FqVzVDdm5O9hy9rP2bsVtv_K8dVNY7BVHUazJnerhxfQEogNkK4ZkoeONtfuHiUYaeLeZJtslYmbhCg4HxIlHHxeCRF4-EXNqeWIUcOnJSFqbOqYMUcy0W4JBGnGbs7h-YJDiQXPhMtQ==",
  "id": "rs_0c236c321c7a2a95016ab479e81d5087d0ad7b2d3fb836c93e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.39,\"left_z\":0.18,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0},\"note\":\"The bowl is now accessible to the left arm, and the dark fruit remains held. I’m carrying it above the blue bowl.\"}",
  "call_id": "call_F7RD1EZzepDYESDRkAFO16Eb",
  "id": "fc_0c236c321c7a2a95016ab479e9416087d08ba6237067f09f36",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_F7RD1EZzepDYESDRkAFO16Eb",
  "output": [
    {
      "text": "executing move_to over 24 steps (2.4s)",
      "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]: [-1.0344, 2.1048, 1.8038, -0.6453, -0.7887, -0.7921, 0.5365, 0.1703, 0.9314, 0.7597, -0.5514, 0.1482, 0.0109, 0.9965]\nstate[eef_state]: left_x=0.3765 left_y=-0.381 left_z=0.1662 left_yaw=0.0101 left_pitch=-0.0393 left_roll=0.0048 left_gripper=0.5365 right_x=0.2972 right_y=0.0283 right_z=0.1793 right_yaw=0.0299 right_pitch=-0.1464 right_roll=-0.0726 right_gripper=0.9965\nstate[joint_eff]: [-0.8547, -11.8632, 8.7863, 1.2088, -0.6227, 0.1294, 0.1441, -0.0205, -2.1538, 7.0496, 1.8144, 0.1001, 0.1392, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8457ad88dbbab5a9464a4394406a9df6b0d18ff823c2b2a06201f151da34fe5a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89b2850ac6418f044dd4a450293ddeefa02897166e1978137441e4bc55e80c10",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95ed09f6f8dd819f8f999adb74734e1d1e116d378537d434ff937341b50c582b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 22 attempt 0 · /responses · status 200 · 2.191 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 73 changed as sent

message 80 changed as sent

message 84 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7773, 1.1744, 1.0523, -0.886, -0.5896, -0.7666, 0.532, 0.9379, 2.0415, 1.2423, -0.1024, 0.6853, 0.5884, 0.0352]\nstate[eef_state]: left_x=0.274 left_y=-0.1268 left_z=0.2019 left_yaw=0.1365 left_pitch=-0.2105 left_roll=-0.0166 left_gripper=0.532 right_x=0.3723 right_y=0.3245 right_z=0.0514 right_yaw=0.0545 right_pitch=-0.0844 right_roll=-0.0504 right_gripper=0.0352\nstate[joint_eff]: [-0.1299, -4.0821, 6.8308, 1.3455, -0.3736, -0.0513, 0.2711, 0.2667, -10.6325, 5.9556, 1.7411, 0.569, 0.1099, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7765, 1.1782, 1.0508, -0.8948, -0.5827, -0.767, 0.535, 0.1707, 0.9291, 0.7589, -0.5304, 0.1589, 0.0265, 0.9964]\nstate[eef_state]: left_x=0.2726 left_y=-0.1265 left_z=0.1988 left_yaw=0.1355 left_pitch=-0.2237 left_roll=-0.0091 left_gripper=0.535 right_x=0.3004 right_y=0.0271 right_z=0.1837 right_yaw=0.0132 right_pitch=-0.1224 right_roll=-0.0642 right_gripper=0.9964\nstate[joint_eff]: [-0.1573, -3.7949, 6.6256, 1.243, -0.3541, -0.0562, 0.149, -0.1846, -2.7829, 10.1538, 1.8681, -0.0073, -0.0757, 0.0904]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0344, 2.1048, 1.8038, -0.6453, -0.7887, -0.7921, 0.5365, 0.1703, 0.9314, 0.7597, -0.5514, 0.1482, 0.0109, 0.9965]\nstate[eef_state]: left_x=0.3765 left_y=-0.381 left_z=0.1662 left_yaw=0.0101 left_pitch=-0.0393 left_roll=0.0048 left_gripper=0.5365 right_x=0.2972 right_y=0.0283 right_z=0.1793 right_yaw=0.0299 right_pitch=-0.1464 right_roll=-0.0726 right_gripper=0.9965\nstate[joint_eff]: [-0.8547, -11.8632, 8.7863, 1.2088, -0.6227, 0.1294, 0.1441, -0.0205, -2.1538, 7.0496, 1.8144, 0.1001, 0.1392, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8457ad88dbbab5a9464a4394406a9df6b0d18ff823c2b2a06201f151da34fe5a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89b2850ac6418f044dd4a450293ddeefa02897166e1978137441e4bc55e80c10",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95ed09f6f8dd819f8f999adb74734e1d1e116d378537d434ff937341b50c582b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHnvlOzXb8oXMWgHZkvJOICSfNPdyt8ypjMeOn7IVhm3Kfx_yr-6CAQnpCWpYErX76TcKbCkp0AG9izkQs9nlkYvoKZa0_ku5g_qPMNAtk-fQKPqMO1vGQ6NOR5EAk22txfqZ82PRX03d4aknTlWo91zpSr04H9D1QrzF6H_mhpSgCtxyaHxSCyMNrLfB-abp_db17OW6vkx-nTZoggCCrZ7PzAo4t3xJCAkGI2jsLYIBvlVDx0Tjgt_HbPoQxQCCrE0ZXTdBJl_UipBMFak5SFbL3HhJWhL5Vlg4VBE90X_mZzuWfyi41-icNK8qmJAvLrO59FmUuwE2pJv_7fG8Htf5U4gvLZmvqujmQpZu7CAPb-D1guD2OlMrOeJl5rfXmhFE9kmTL-nzKqSWo7N6AwqCiZETB1SIDyqOKWBOA_XcX06q9Xn9510CxQG5XztUUShARgkiReh5Yh8RduIgz_jy9IJ5yJ-nugplJZfJyT_MzMg-coq5JkoW3a0ntk2DqVWE3m1RkgK8tLWrYIxstCwLuunBIS6BeDyyOx_b8xptI-SQtsRnqfskZKwul3v3m0S3XQolSmKSqBD51A5hN_17cu3IFav4Z8AU_ODCCZng86XPTtPckeq31aDT8JnyzSXdi2vEmq-r47ZdpRh6EDMxScd5QGKF5-gpICm6En8OHn_jld6hRJ3p5KyLCpLWzFjVMTSUfO1bYdb13JUqwL6Mco9NnZ9Ao2DYpOtxZEdWv-A4V9kkDqUbgH44RfwdfSplH7fWJUXQtNg7l_EbqLfZ4piMRl502FpXG11JpSLjzYLPtVmX9fYGrVX7IeTXpngvN5qIgZxGgTJNPlUsw3b6zix4BcZzJ1AH2p9iua6u7yj2erCpMEvVxEd2hkcbLuJTqHQW_E1aUbmONKCuQ7rH8MYzc3zzU01UBQd7GZuJu2OB-tllHmTSkuqeCyHV_DDwXyV-7t3IY3wm0PuArNyH18ZAFF1kvLvcVrQGO5Uf9fyTjhK7LiVimQtdpbWc6lo_lpqEjScCcOm_NFD2UBfJqDAt7974dHwBbfB_uevfcE-q6mvT4MyQ6dQml5sl8cP4OpHuR7i19-eZxtae3TWb154BqnNi4j5udJ4g8kkespqpUHtN-W2QKb2PnMf8uwpKYzZyYx-mhMlvNjPBUF8Q1yDHJA0feAwjjOWTYMoI95z0FnlQ7jjOE-g8ooeJEUFT_YbXl8VJy2m-nfBpFMRdxy94y0PbjVEKlKuGCzbSE2_HX6EmnvevU5nj3q6aEySu7Ns-soDNWi5bI9E8s-LsW_of_y00Wzw8MIo60G63jSu5i6fk4ELTQ7LIhVXSaogw0CMkaxjKXEVMybfOZQ3pfVQUyqvlZU6wujRNL-a0PvxHlijIXe1n_ryx5dCjHC5GFJzAAa1UVktyo0MfWyDYHIRxZVgIJsPg_f4f2PXoXiZpr25xl7clxsm6VTyvxCs",
  "id": "rs_0c236c321c7a2a95016ab479edf37887d0b99eed976e265a04",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_y\":-0.38,\"left_z\":0.11},\"note\":\"The blue bowl is slightly ahead of the held dark fruit. I’m advancing a few centimetres and lowering the fruit into the bowl’s opening.\"}",
  "call_id": "call_pwUuI55Em5pDbLf6HK8qKjZH",
  "id": "fc_0c236c321c7a2a95016ab479eef88087d082bc7a3074ebc5b3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pwUuI55Em5pDbLf6HK8qKjZH",
  "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]: [-0.9764, 2.1899, 1.7298, -0.4957, -0.7593, -0.7517, 0.5379, 0.1699, 0.9318, 0.7597, -0.5526, 0.1478, 0.0097, 0.9965]\nstate[eef_state]: left_x=0.4026 left_y=-0.3721 left_z=0.1102 left_yaw=0.029 left_pitch=-0.065 left_roll=0.0335 left_gripper=0.5379 right_x=0.2971 right_y=0.0282 right_z=0.179 right_yaw=0.0304 right_pitch=-0.148 right_roll=-0.0735 right_gripper=0.9965\nstate[joint_eff]: [-0.1162, -12.5197, 6.5162, 1.4823, -0.2418, 0.149, 0.1294, -0.0342, -1.894, 6.9128, 1.6386, 0.0122, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4791a68afd25aa0fd38c28288694a663f6b413d2ffe5a6eb2c632454ad56d51",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4deb0987ee15832a4fb2e0149d39f0c36d6e6635fcdbf9301827ee43764ae948",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8dca658b09a59ce96afcd5225c48a6e8578e491e10c624a48d444f1bf7e541d0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /responses · status 200 · 10.01 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 77 changed as sent

message 84 changed as sent

message 88 changed as sent

message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7769, 1.1744, 1.0523, -0.8871, -0.5861, -0.7666, 0.5334, 0.9386, 2.0449, 1.2346, -0.104, 0.6765, 0.5835, 0.9954]\nstate[eef_state]: left_x=0.2737 left_y=-0.127 left_z=0.2015 left_yaw=0.1348 left_pitch=-0.2135 left_roll=-0.0175 left_gripper=0.5334 right_x=0.3698 right_y=0.3238 right_z=0.0463 right_yaw=0.0628 right_pitch=-0.0979 right_roll=-0.0596 right_gripper=0.9954\nstate[joint_eff]: [0.1709, -3.6444, 6.5709, 1.199, -0.3834, -0.0464, 0.1441, -0.0889, -11.0974, 6.5436, 1.2869, 0.2808, 0.0269, -0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0344, 2.1048, 1.8038, -0.6453, -0.7887, -0.7921, 0.5365, 0.1703, 0.9314, 0.7597, -0.5514, 0.1482, 0.0109, 0.9965]\nstate[eef_state]: left_x=0.3765 left_y=-0.381 left_z=0.1662 left_yaw=0.0101 left_pitch=-0.0393 left_roll=0.0048 left_gripper=0.5365 right_x=0.2972 right_y=0.0283 right_z=0.1793 right_yaw=0.0299 right_pitch=-0.1464 right_roll=-0.0726 right_gripper=0.9965\nstate[joint_eff]: [-0.8547, -11.8632, 8.7863, 1.2088, -0.6227, 0.1294, 0.1441, -0.0205, -2.1538, 7.0496, 1.8144, 0.1001, 0.1392, 0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9764, 2.1899, 1.7298, -0.4957, -0.7593, -0.7517, 0.5379, 0.1699, 0.9318, 0.7597, -0.5526, 0.1478, 0.0097, 0.9965]\nstate[eef_state]: left_x=0.4026 left_y=-0.3721 left_z=0.1102 left_yaw=0.029 left_pitch=-0.065 left_roll=0.0335 left_gripper=0.5379 right_x=0.2971 right_y=0.0282 right_z=0.179 right_yaw=0.0304 right_pitch=-0.148 right_roll=-0.0735 right_gripper=0.9965\nstate[joint_eff]: [-0.1162, -12.5197, 6.5162, 1.4823, -0.2418, 0.149, 0.1294, -0.0342, -1.894, 6.9128, 1.6386, 0.0122, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4791a68afd25aa0fd38c28288694a663f6b413d2ffe5a6eb2c632454ad56d51",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4deb0987ee15832a4fb2e0149d39f0c36d6e6635fcdbf9301827ee43764ae948",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8dca658b09a59ce96afcd5225c48a6e8578e491e10c624a48d444f1bf7e541d0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The dark fruit is over the blue bowl beside the green fruit. I’m releasing it into the bowl.\"}",
  "call_id": "call_vr4p7oer1F9zQswbSXLV3aZz",
  "id": "fc_0c236c321c7a2a95016ab479f1c3c087d092062f4eb2994ab6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vr4p7oer1F9zQswbSXLV3aZz",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9707, 2.2089, 1.7252, -0.4362, -0.7536, -0.733, 0.9929, 0.1699, 0.9321, 0.7597, -0.5526, 0.1478, 0.0093, 0.9965]\nstate[eef_state]: left_x=0.4091 left_y=-0.3775 left_z=0.1051 left_yaw=0.0194 left_pitch=-0.0497 left_roll=0.016 left_gripper=0.9929 right_x=0.2971 right_y=0.0282 right_z=0.1789 right_yaw=0.0306 right_pitch=-0.1483 right_roll=-0.0738 right_gripper=0.9965\nstate[joint_eff]: [-0.3897, -13.3402, 6.5436, 1.4139, -0.3883, 0.0171, 0.1441, -0.0752, -1.894, 7.1179, 1.5946, -0.0024, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dadcc143e7a8b04c578e684e6b62fdba0444bbea453f2c1764758e2b75e7e20e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:792e33180767bc8d37a600cbc73bbf5c99cb90e2fe968b2a807e7fcb38ca5664",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cca64d0b1f9ee72c538e912e63ae135cd829e2c9e10789e18d57b72dfcb173e",
      "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 · 3.756 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 80 changed as sent

message 88 changed as sent

message 91 changed as sent

message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7765, 1.1782, 1.0508, -0.8948, -0.5827, -0.767, 0.535, 0.1707, 0.9291, 0.7589, -0.5304, 0.1589, 0.0265, 0.9964]\nstate[eef_state]: left_x=0.2726 left_y=-0.1265 left_z=0.1988 left_yaw=0.1355 left_pitch=-0.2237 left_roll=-0.0091 left_gripper=0.535 right_x=0.3004 right_y=0.0271 right_z=0.1837 right_yaw=0.0132 right_pitch=-0.1224 right_roll=-0.0642 right_gripper=0.9964\nstate[joint_eff]: [-0.1573, -3.7949, 6.6256, 1.243, -0.3541, -0.0562, 0.149, -0.1846, -2.7829, 10.1538, 1.8681, -0.0073, -0.0757, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9764, 2.1899, 1.7298, -0.4957, -0.7593, -0.7517, 0.5379, 0.1699, 0.9318, 0.7597, -0.5526, 0.1478, 0.0097, 0.9965]\nstate[eef_state]: left_x=0.4026 left_y=-0.3721 left_z=0.1102 left_yaw=0.029 left_pitch=-0.065 left_roll=0.0335 left_gripper=0.5379 right_x=0.2971 right_y=0.0282 right_z=0.179 right_yaw=0.0304 right_pitch=-0.148 right_roll=-0.0735 right_gripper=0.9965\nstate[joint_eff]: [-0.1162, -12.5197, 6.5162, 1.4823, -0.2418, 0.149, 0.1294, -0.0342, -1.894, 6.9128, 1.6386, 0.0122, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9707, 2.2089, 1.7252, -0.4362, -0.7536, -0.733, 0.9929, 0.1699, 0.9321, 0.7597, -0.5526, 0.1478, 0.0093, 0.9965]\nstate[eef_state]: left_x=0.4091 left_y=-0.3775 left_z=0.1051 left_yaw=0.0194 left_pitch=-0.0497 left_roll=0.016 left_gripper=0.9929 right_x=0.2971 right_y=0.0282 right_z=0.1789 right_yaw=0.0306 right_pitch=-0.1483 right_roll=-0.0738 right_gripper=0.9965\nstate[joint_eff]: [-0.3897, -13.3402, 6.5436, 1.4139, -0.3883, 0.0171, 0.1441, -0.0752, -1.894, 7.1179, 1.5946, -0.0024, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dadcc143e7a8b04c578e684e6b62fdba0444bbea453f2c1764758e2b75e7e20e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:792e33180767bc8d37a600cbc73bbf5c99cb90e2fe968b2a807e7fcb38ca5664",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cca64d0b1f9ee72c538e912e63ae135cd829e2c9e10789e18d57b72dfcb173e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHn84tnN6uJIHDe6eyPQYtHTbVIHeIGrToW3SdZK-eEN6PeMo2-mSywP93I3Rq3_kZuVi-pvkDM3f215TCFYdhGm5VH6ftlKRx7DVxUUA-HvlVU_V37gGgfuLFLBXoCqfeAahidxVR3vaHmZBg5bdCcjZM49h7J3Mu3oq610G2pw4utAjGU9mcpUL4C6N_2Of7xspSZ0KNP_dzCGaCuRSk083vLxRMH4ZkI7EP6E-dGiRzSfMh9_OWSCJQ0D8TF5IDL6YkyUBuq6hcB3r2rszhsL9Nc0vQZcvwukJVCHNAMadKXmMn7ZeE-tlra9zCIOhSOkHxReV9xgT8cNIcu3E9xnrHOTtWASNjH88NrEl3uHV9CucpnS1KHSUMC44kSPJw-4Gh45bSHc7G65Il5J3yNsnMqQn_pt76qq299QJEMlp5P_DoyKqtUuiDYLdkXyqvClmRoW2RkmStNIPvxTgIDdz7jLn8dH3cveBnkRqNtX-XS25Oam43o_nzLY3EGZAByeon4_yCPuuX3V9wRen2oP2562PjFxZzxCXkTdd9e6jz9h_62LKVklBC3lD_oSkbsCkLsRVE1P7be3LtFkHWVqcLrMBkIDrDH5YBhECc0HhozToNV8LXtsr_-TMsTayYUY9GA2HgRvuhaBzLnS0OLN2XDT2BKqD5yeSFdM5snTFsc20Vk3PHnGaHwxbDMLB00qEV8iEtRiZu_m07yi12sEr--zT0TjeFI58PXULLDFzbI_jq1vdR59oJfqkhaFm94yk_owwz40w8zXcsVPdnL_qTGFPQyN7QjRxcckrmIOZae5zB7qZ6E45KTU_jaEW3zq8iJKX6dFBBJwBCSv7pjDe-Yj7-e-c9wJRnerTuFxp7V3YbA10DZLJi8xk6CS3L2doIZQgoHEC7r-UlKWiDHqyeMHSkqJhN07NaMGwOGw7e6CEHMSZ0TLxpKQMJFZFnpHPj7NRf90GNkB3vMVRhVVSDZB9syOxnZBWhQAst_STRyUiS8NZO-b8F5_rKjFKBJOVPD4SdIzePiJcS445QqawBcQS3xPuum-rHaJYUD9gXTivaWPGxJ7ZQMaegqFEJnO4uwT97JMDvcwtlXs2IY1fdXQfxpOi5tNM_yE_rlSuypZoN4tN6WSJUbt8T0mdmIkR6x3UVa11nRjerME0cmBq7HEqRtkW-r3zQj9ThRj69dYOjlyjtuLfnCRLDg-lj7hrQ32sIzgNz7rd0qdvGK9nk9vXP6muVWGASAjzZ-riuhO39Bp8QA4_aPs5mpZ5d1JO3qLScD85BIO5SfPdPVOSz6JieV_SAA3LDAH9EGht50Bh8PxXZT_9DBIrCZ0jplZ3tD7Rh327RNRPLlJ1n_PIOXqi00Rcz4s2HiYGGrj6VzXdjbBnH1_8HlueOUVMnwUWUo0zCe2fpaNHYDoZHKoOdLzyAA84G-5cuQudAlWGnf84CMNKuDwkKjhnCshhxrN_LgLZIdJqAFYNAomz2n28xstCIQf23ZJyIxD-f8Dfr77g8ofrdygZvp0UIWgl1pSCo6sW6yrKVhc88mv2I6yt7AlH1fYIdBwJnpiJCdY7OyVvLDmJZRmK4ezZ2pom1r1iZw9LGpCwe57RpVXRHGfWLth68Zoif6omzrhW4BRFJLY1-YvNnH8q0vzVAQW0OmLPVfTNVvVMIS7ImOb--xVRLv38OYehDiBYBgkC_sutXV20PgkeSAqXogfNi4iAtATARO9ScUxzKVCuS-Jg1WNij6kHnnxh1CCBEe4EFrGZjMsmSIHEHa3HLv91bvU1cv3HRgsTKgrYWX23ebqlK9_IqWIaObui6CFbNdXOGN_Uhh70qnoVTj8bPLE091Z6UR1YsciqeC_o0ONUN3UZC1Br0_eaUUo3ttXNsPNrhetFvfh548igtYVd5dsAg6kUOVD4C0x6ci5Xm8lVQNBVm4yDIISxRwVo6T_gsx5CprdwXBoOA_FEZ9mtZCQT02OGLhx_OUg_W5hcxeOfeQUP00WDA7mL4EcxB50xoyucr58iTApH2hMb3UXDxZHY50Kn7-uwL3ypFQk3J27ZIMtBdXlV8VGRLlJMe5ZyFVaIUo72cNySuE5tzuNz4nWmVaXCWXORlQm7W6miHpUs2o5Aerr_VY0_xYpeFsQzufClRI6jovcLe0p7JuLoxIY_-7OtgwlD717ITgXBnKsnaxi6cbivCMt-eJ6j7iJltu9G4nSzvtpeimoxoMcb1Tj4QH24Yl4gqx2j_xjtaqYyB3O7bHwLbHiwIVts0_PUsg7AQOF7TZlm3xks5kPdzYDaRtMMJdWrwRl2gOmDGAOqoWQ7tC2eutqMa_Mb4eGmzt0iMamJqNNP9sBcTVdmDlvAXDecEwVtkN2gONBFnciRORtAsX0isCvMTyQ1vxkq2eJKiTFfx_a6endvwdo6Ha3T-opLovHc9vNtRcNc6rnUA6ZmwVRFlBmzfJq9mLEr3CI3h7MzIqkUJYChdsTp1yttPZNV6qqerODnqKAQXhwdsR86I6lpzBZcDjzW648R65JhW3u6vtGbtQ7xA5L432GIrF0hOIlHCZATxTsJSYKe5SxXF7xaxGicMhniX57fiZxf1ovHZwuu7h64a95a9ycre4O8ci-5FqFKy5WtsjZsB1ajGcvt1L9c-SNRTG50ixAT0XNyjzEExjhDnzfFwDBlI2hciJr3dvsotnkPam_Pp9GEnGjxB5eOTnCRN3H502TdvGfQYAa9dqoG6WATR1kOkxQlOOkOGEXYtVGDBLUHT74P9w_tSUa7NxsI2mmREoghlhp4pJu7LOnHMmkdkLPsAFelY0wIz71ngS38KRrS6FIds6k3WERa8UG0KGYmT_kEFrt9lLTUXehcKM-goREO7ABN1mAoPHW2Mzt4STcDDxcrp1b7VNm640omgZWHFro1Ycg_P7Z2nIFOPWBMNYssDp5-RnMMT9R8_QYpEU6PBP6jVCVXvQdTr9BVEVWqCJV_WX6xiV4kFi1lIxtF573mFTI45zTXrypm5J5bvnOZBViU495nMC9OVXz3iiGv6hnZHABE6dORzQnNd_K3xXUaAr06Qnh6N3O50ucSOrnb36aj-37VwnuUa9Icq0pNgMkSVJRnC7FVygnW26PdUcakC11S6ZF_ATuI2X_vlsPhK94kSGUMsIMAttCtMnHSDyEd6cOt2a92takqpoJY1jLxRdhvaM4IoIyBQQHzLCJb2mmEpkKG2vtNHyq6nDzJVp8jAp1yTQ=",
  "id": "rs_0c236c321c7a2a95016ab479f443ec87d0b9e869a845c5f242",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.4,\"left_z\":0.03},\"note\":\"The dark fruit appears to have landed just outside the bowl’s near edge rather than settling inside. I’m lowering the left gripper to recover it before proceeding.\"}",
  "call_id": "call_7cTZBO6qzZ8hQIumBx4IfLtt",
  "id": "fc_0c236c321c7a2a95016ab479fbdc3c87d0839cbb70827fe3b3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7cTZBO6qzZ8hQIumBx4IfLtt",
  "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]: [-0.9707, 2.2089, 1.7252, -0.4366, -0.7475, -0.7322, 0.9945, 0.1699, 0.9321, 0.7597, -0.5522, 0.1478, 0.0071, 0.9965]\nstate[eef_state]: left_x=0.4087 left_y=-0.3783 left_z=0.1045 left_yaw=0.0151 left_pitch=-0.0539 left_roll=0.0142 left_gripper=0.9945 right_x=0.2972 right_y=0.0282 right_z=0.1789 right_yaw=0.0319 right_pitch=-0.1481 right_roll=-0.0755 right_gripper=0.9965\nstate[joint_eff]: [-0.3897, -13.3265, 6.5983, 1.3993, -0.398, 0.0513, 0.1538, -0.0068, -2.0581, 6.9128, 1.5995, 0.0122, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81c9b2a50328468c916d8b85f368bc1945a77f9bae75def9c83adaf3246ef5bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1eecdff8f624cc232e6d086b4cd1750fa8b605eec9009f483a11c5ad9d5e28ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:115e56cda7691d047ee0e1d99d5270bd8e6a9b12a56119543e09b9799e70bd6c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 25 attempt 0 · /responses · status 200 · 2.974 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 84 changed as sent

message 91 changed as sent

message 95 changed as sent

message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0344, 2.1048, 1.8038, -0.6453, -0.7887, -0.7921, 0.5365, 0.1703, 0.9314, 0.7597, -0.5514, 0.1482, 0.0109, 0.9965]\nstate[eef_state]: left_x=0.3765 left_y=-0.381 left_z=0.1662 left_yaw=0.0101 left_pitch=-0.0393 left_roll=0.0048 left_gripper=0.5365 right_x=0.2972 right_y=0.0283 right_z=0.1793 right_yaw=0.0299 right_pitch=-0.1464 right_roll=-0.0726 right_gripper=0.9965\nstate[joint_eff]: [-0.8547, -11.8632, 8.7863, 1.2088, -0.6227, 0.1294, 0.1441, -0.0205, -2.1538, 7.0496, 1.8144, 0.1001, 0.1392, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9707, 2.2089, 1.7252, -0.4362, -0.7536, -0.733, 0.9929, 0.1699, 0.9321, 0.7597, -0.5526, 0.1478, 0.0093, 0.9965]\nstate[eef_state]: left_x=0.4091 left_y=-0.3775 left_z=0.1051 left_yaw=0.0194 left_pitch=-0.0497 left_roll=0.016 left_gripper=0.9929 right_x=0.2971 right_y=0.0282 right_z=0.1789 right_yaw=0.0306 right_pitch=-0.1483 right_roll=-0.0738 right_gripper=0.9965\nstate[joint_eff]: [-0.3897, -13.3402, 6.5436, 1.4139, -0.3883, 0.0171, 0.1441, -0.0752, -1.894, 7.1179, 1.5946, -0.0024, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9707, 2.2089, 1.7252, -0.4366, -0.7475, -0.7322, 0.9945, 0.1699, 0.9321, 0.7597, -0.5522, 0.1478, 0.0071, 0.9965]\nstate[eef_state]: left_x=0.4087 left_y=-0.3783 left_z=0.1045 left_yaw=0.0151 left_pitch=-0.0539 left_roll=0.0142 left_gripper=0.9945 right_x=0.2972 right_y=0.0282 right_z=0.1789 right_yaw=0.0319 right_pitch=-0.1481 right_roll=-0.0755 right_gripper=0.9965\nstate[joint_eff]: [-0.3897, -13.3265, 6.5983, 1.3993, -0.398, 0.0513, 0.1538, -0.0068, -2.0581, 6.9128, 1.5995, 0.0122, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81c9b2a50328468c916d8b85f368bc1945a77f9bae75def9c83adaf3246ef5bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1eecdff8f624cc232e6d086b4cd1750fa8b605eec9009f483a11c5ad9d5e28ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:115e56cda7691d047ee0e1d99d5270bd8e6a9b12a56119543e09b9799e70bd6c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHoBG9kJRFKvzwmOTn-lcHOGDbapluBsX55v8OaVhb92FZCoDreY4TKJogK3nZTocOBrUJBgynNi74d3xbG-3y-6Vf5hGz131iDXdMYXG8NLY6_VvG16Q8UnS5873fo7SSM3T1YSCPWBBJNWAEW1qezw6jPFwfKvQXxM5XSXlfWb1hm4PstPhbdznKa7vY2s-gAkwl8DKZLsAEKKlDFCrAPOMmJhLIpJ3raeJCYV4HGwBrfL5ZyA4sAg-fKHkbRHk5WYy89QeTUbgOFqZNPuxC9kgyA9fTW2cwCzRu-CPdaGNfXi7nMxDS6Gz0E1SXFstdTrhWKh8e_cDR3FORMWmnucNSEdoLiIOwsRkETDhEmbOvnR32tzHhEaqJy5MOXKAPLwLWu-kZyWr4kD-3o9RjxVzy0rlUb62d5acmF7H_Ka-B8CnQSyU5Pbf-BnPVB_JbLwhvU5fVUdMyVocaGNxplU1pSPO6zQSIrqUiRo0P1WtzbSYnI_ER0VTtruFisPf8vXJ6WgjAQ8P56w0-5b4uYRqO0WoZUZw4JfxrSSL81-f7BBagEnNEHraJ8omR0pnsNAysq7YFW54hYhxv0lI_79ZWFCK5T53eyWQsdwI4a5hSWxIUC2b3CoGoSFTE407_z1QbpEv5tcAbd2GgaffImwPBf5ugHcKQTCuWT5MXWlTf-CEWZ19dJL6U5zfweWwgvt_YIBUUByWTjIfm3P5uO58gE05rWbOBCkYm8d4wbSEHBIxC04A8t0w-jT7pQBVCohPjg3K_1qjouzAIw8PxQvXPCAiJhQwIJ-s1ZCjVxvDLSEuC1KMUYxVxvpJQXz3qrfAIZI-5UfIN8MWzoUed7zlZb0KZ5YYyt-A3qrwFlv0CSs7iCrvbyy_leU4-tNaRYB67b9yF4lSuQIcu9t32K72ifAPg_Jl3LjbiV1PMf2fWh0Yvvbh7coYKOYgav9aN1y8m5gtmTP5R6vnmv8TgNca26Xgc2tHyPguCDHw3Hhl3drzKDaoqaoeMEAh5Ijc9pxX3all8v5CrsEkDlmydC5oOfPic5idUswf-NfwId6QAi7bCRidQpMW4J6qFmMmc_irWmTe8SqwKesADl3veTITIq4vGNSTH3_1ea7KVdbC1OL0pBW7hiOCAltU7EG47qtAKgPxPfDGjOqXKIKIxJG0kg4E06Uf_SPukbOKUKvR7wRx80quXrqYkGaAYSv2ZSiyKhdd7I9XLr4wwxbrGIKwhMVgy_-WJTbDDxVGnBI2MTUbNyagWfX6Rjabl30pBiwRK-h9nMfc_RPQaBssvgMKrUksGaxsLWugQr_O6APQwsB8jkCWjtGLMi2bOo-0QBSgFHozERS7emjFYlFN935zV4yr10HrZaMtZe2cVtDreQPWu-xqvFpmH4IZ6L_vulZ1QG7k23bk8eEjgQKdPScHnRYVCkoZlh3NzzaMYnybwcKmR0_dnSQxygfmnd8DDuH",
  "id": "rs_0c236c321c7a2a95016ab479fea7f487d0bb88791cf614ea90",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.28,\"left_y\":-0.1,\"left_z\":0.2,\"right_x\":0.34,\"right_y\":0.255,\"right_z\":0.13},\"note\":\"The left arm could not reach the low recovery pose at that lateral extension. I’m withdrawing it and using the closer right arm to recover the dark fruit.\"}",
  "call_id": "call_NQ3gEaJifLx8iO9mHxGxu4rK",
  "id": "fc_0c236c321c7a2a95016ab479ffda4c87d09748bab0d0a5252e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NQ3gEaJifLx8iO9mHxGxu4rK",
  "output": [
    {
      "text": "executing move_to over 25 steps (2.5s)",
      "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]: [-0.6815, 0.9871, 0.8169, -0.5636, -0.5655, -0.4892, 0.9946, 0.8803, 1.6711, 1.1175, -0.4412, 0.6102, 0.5434, 0.9965]\nstate[eef_state]: left_x=0.2864 left_y=-0.1058 left_z=0.2033 left_yaw=0.0388 left_pitch=-0.0318 left_roll=-0.0153 left_gripper=0.9946 right_x=0.3322 right_y=0.2488 right_z=0.1169 right_yaw=0.061 right_pitch=-0.1938 right_roll=-0.1149 right_gripper=0.9965\nstate[joint_eff]: [0.2803, -2.5231, 6.653, 1.5263, -0.1148, 0.1636, -0.0024, 0.1709, -8.0615, 8.6632, 1.3211, 0.5543, 0.3053, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23493df37ad571523cdce8bfc2f8e33edfbbe5a7e60a6eafe6e94fd3ce8e1ed2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:521c6d888cdd779e6b364987108bdcc1831d45a791e9090f35872aa1f69dee14",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45bfe64a18fc254909548ff6ce621d9cf1f205319dc8be51a0227216e1a0d424",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 26 attempt 0 · /responses · status 200 · 2.901 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 88 changed as sent

message 95 changed as sent

message 99 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9764, 2.1899, 1.7298, -0.4957, -0.7593, -0.7517, 0.5379, 0.1699, 0.9318, 0.7597, -0.5526, 0.1478, 0.0097, 0.9965]\nstate[eef_state]: left_x=0.4026 left_y=-0.3721 left_z=0.1102 left_yaw=0.029 left_pitch=-0.065 left_roll=0.0335 left_gripper=0.5379 right_x=0.2971 right_y=0.0282 right_z=0.179 right_yaw=0.0304 right_pitch=-0.148 right_roll=-0.0735 right_gripper=0.9965\nstate[joint_eff]: [-0.1162, -12.5197, 6.5162, 1.4823, -0.2418, 0.149, 0.1294, -0.0342, -1.894, 6.9128, 1.6386, 0.0122, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9707, 2.2089, 1.7252, -0.4366, -0.7475, -0.7322, 0.9945, 0.1699, 0.9321, 0.7597, -0.5522, 0.1478, 0.0071, 0.9965]\nstate[eef_state]: left_x=0.4087 left_y=-0.3783 left_z=0.1045 left_yaw=0.0151 left_pitch=-0.0539 left_roll=0.0142 left_gripper=0.9945 right_x=0.2972 right_y=0.0282 right_z=0.1789 right_yaw=0.0319 right_pitch=-0.1481 right_roll=-0.0755 right_gripper=0.9965\nstate[joint_eff]: [-0.3897, -13.3265, 6.5983, 1.3993, -0.398, 0.0513, 0.1538, -0.0068, -2.0581, 6.9128, 1.5995, 0.0122, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6815, 0.9871, 0.8169, -0.5636, -0.5655, -0.4892, 0.9946, 0.8803, 1.6711, 1.1175, -0.4412, 0.6102, 0.5434, 0.9965]\nstate[eef_state]: left_x=0.2864 left_y=-0.1058 left_z=0.2033 left_yaw=0.0388 left_pitch=-0.0318 left_roll=-0.0153 left_gripper=0.9946 right_x=0.3322 right_y=0.2488 right_z=0.1169 right_yaw=0.061 right_pitch=-0.1938 right_roll=-0.1149 right_gripper=0.9965\nstate[joint_eff]: [0.2803, -2.5231, 6.653, 1.5263, -0.1148, 0.1636, -0.0024, 0.1709, -8.0615, 8.6632, 1.3211, 0.5543, 0.3053, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23493df37ad571523cdce8bfc2f8e33edfbbe5a7e60a6eafe6e94fd3ce8e1ed2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:521c6d888cdd779e6b364987108bdcc1831d45a791e9090f35872aa1f69dee14",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45bfe64a18fc254909548ff6ce621d9cf1f205319dc8be51a0227216e1a0d424",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHoGj2QSWOeug9PY7sUTy6P0Carv_wv5PXC_js2cIUhRoa7SOt1axwUAaNzBSRjzxK0d1swsRCtRivET_cD7Q2UD1aePsG_0AFrU-FQPARWScCY1X7yktUnokb2UZpD2w8jmygidBKgEKpmTshUXW0GqCPf6x0qb1FTTEW_q4dVNw9sSoeoJfIihZTRNMwIIkQlD_WaZzOEWniOwg62FyM3_BARjYT1b_sDtYXe6qSZZju3NopdthLjTfYMOqYJx62l453diMvBxGGZFe7UBH-DMA8ZxA0gGhNHlFIUL9VQml3kAubT7MvVaT4d87Rzq1n9dojvUelRAJlUwX91eOmYPAe26rURS5vnsEt02Pw4YQF0Ld0zaTp4izVnNdqJdNc_WuPI1JVFw-hu48RyJrPVTNyqxkzVqbX5lrTOWMr9WRtoVW6L1RKIGP73VrIV90cvAUnMT8pIiO69R7xPQujfS6Q51jTk2Z1LeP8ibG0F1GfrdqYAIAFMdPqXyHoX3QmikQQhMS2DkEFauxMs5g91chrkCthHM3iP_-Q12-VckQHXZCHfN79lEKEXTaeHkOOfXBBLl-N5s-L-d8nrJkrPp84MvtJJVvVlPu5mPeyKxV4n44V40cptiUDOtWt-5eIgm1pz_CERkwskalrmXigfayuAbVpDtxSZ0Gy5nDEPGq4z0HVHa7fDUkbR5EFzTr4tVxKYUu-4Dpa5hH98EcHbh5a0zZD7uLZxG54inLJyJJEyErleO9EH5q6Ld35PX3KTlOgioGgSpcISeupBGBJAc5u3sXjN9Md83Ry51pq3h-zvdMB_9YkMw72CawQsDtqHJ_kbZnedazO3FMvvAYhMHb3JVwDdvvqdC57aqHB3JVJKpEySr1vYIW3Y31VXyLCN_kG4STC-_-02oi2n0r3qekbhEFDj5qEODoTKHDdKT0AD5KGuYAPSxn45CyTcQx6_ytgb3b4n987lydnLPsffcL6lAVFc8fT28FaevYs_58Q63XiNEI6DkgtAKlERiJ4QLRFxWgUjIEcry5UIjdV3qnAZLvKeDQRt3r8g9XqyclrDDvJP5jTWX9qaIbceGmS-kbKQNA6RYDEorXBJ7VaVaH6N0rYw8h8SNTuZib4rF3iBMKcRzCq-rPbxKl4Yyx4FND5nFdPNsKjEteSDxWU7Px6kiO9zo9LfArVfOU4kT4WKMpgoxhzpQajHHBiEo_SaaHWYDaeVI5_RGs9oZKP_F6ndfU7bDIe6vRNB2yQQoX9oKpCeOxP1pJBAq364fb2bVHhV9Gh5hKqSZJKpg3zGa5g==",
  "id": "rs_0c236c321c7a2a95016ab47a04c09c87d0ae8f4327000744d8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.278,\"right_z\":0.03,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The dark fruit is visible just left of the right jaw column, with the yellow fruit farther right. I’m centring the right gripper over the dark fruit and lowering around it.\"}",
  "call_id": "call_Pcd7YEb1YxeCGKmPPOWpdJ8H",
  "id": "fc_0c236c321c7a2a95016ab47a058adc87d09d5f5dc64124bb7b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Pcd7YEb1YxeCGKmPPOWpdJ8H",
  "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]: [-0.6792, 0.992, 0.8139, -0.5797, -0.5529, -0.4908, 0.9946, 0.9356, 1.8999, 0.8677, 0.1333, 0.6807, 0.5579, 0.9965]\nstate[eef_state]: left_x=0.2842 left_y=-0.1056 left_z=0.1973 left_yaw=0.0331 left_pitch=-0.0555 left_roll=-0.0072 left_gripper=0.9946 right_x=0.3308 right_y=0.2675 right_z=0.0201 right_yaw=0.0719 right_pitch=-0.0865 right_roll=-0.0703 right_gripper=0.9965\nstate[joint_eff]: [-0.4308, -2.8103, 7.0359, 1.6288, -0.3883, -0.0415, -0.0073, 0.4444, -8.9094, 4.6701, 1.5653, 0.5153, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14940a71836abde092694860969e1132586582f128375788e8bc4534aa6cc32d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:890b8c91c1ccad4a953ead2f76a3e0c1d113e141ae7db632dc1e73be3881482c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81d777e32dbe5ab3a5361eb9f392dcf3825ad9d453535f44bb37338dde1ebed9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 27 attempt 0 · /responses · status 200 · 11.9 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 91 changed as sent

message 99 changed as sent

message 103 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9707, 2.2089, 1.7252, -0.4362, -0.7536, -0.733, 0.9929, 0.1699, 0.9321, 0.7597, -0.5526, 0.1478, 0.0093, 0.9965]\nstate[eef_state]: left_x=0.4091 left_y=-0.3775 left_z=0.1051 left_yaw=0.0194 left_pitch=-0.0497 left_roll=0.016 left_gripper=0.9929 right_x=0.2971 right_y=0.0282 right_z=0.1789 right_yaw=0.0306 right_pitch=-0.1483 right_roll=-0.0738 right_gripper=0.9965\nstate[joint_eff]: [-0.3897, -13.3402, 6.5436, 1.4139, -0.3883, 0.0171, 0.1441, -0.0752, -1.894, 7.1179, 1.5946, -0.0024, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6815, 0.9871, 0.8169, -0.5636, -0.5655, -0.4892, 0.9946, 0.8803, 1.6711, 1.1175, -0.4412, 0.6102, 0.5434, 0.9965]\nstate[eef_state]: left_x=0.2864 left_y=-0.1058 left_z=0.2033 left_yaw=0.0388 left_pitch=-0.0318 left_roll=-0.0153 left_gripper=0.9946 right_x=0.3322 right_y=0.2488 right_z=0.1169 right_yaw=0.061 right_pitch=-0.1938 right_roll=-0.1149 right_gripper=0.9965\nstate[joint_eff]: [0.2803, -2.5231, 6.653, 1.5263, -0.1148, 0.1636, -0.0024, 0.1709, -8.0615, 8.6632, 1.3211, 0.5543, 0.3053, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6792, 0.992, 0.8139, -0.5797, -0.5529, -0.4908, 0.9946, 0.9356, 1.8999, 0.8677, 0.1333, 0.6807, 0.5579, 0.9965]\nstate[eef_state]: left_x=0.2842 left_y=-0.1056 left_z=0.1973 left_yaw=0.0331 left_pitch=-0.0555 left_roll=-0.0072 left_gripper=0.9946 right_x=0.3308 right_y=0.2675 right_z=0.0201 right_yaw=0.0719 right_pitch=-0.0865 right_roll=-0.0703 right_gripper=0.9965\nstate[joint_eff]: [-0.4308, -2.8103, 7.0359, 1.6288, -0.3883, -0.0415, -0.0073, 0.4444, -8.9094, 4.6701, 1.5653, 0.5153, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14940a71836abde092694860969e1132586582f128375788e8bc4534aa6cc32d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:890b8c91c1ccad4a953ead2f76a3e0c1d113e141ae7db632dc1e73be3881482c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81d777e32dbe5ab3a5361eb9f392dcf3825ad9d453535f44bb37338dde1ebed9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHoJIg63rMO7FoU_TtLOfmcRI5uLkC_76MDxn802i9knCOPmRt6ehv2VmMbO3g_5p5bBrUeBMLIngXHrq9JGW-O_bjuiIiZ3O6YWjnMl2um_freGLKE0X3Hcccat9FUBUB0rZ8p6nktRsJ5ORAE8SMkIZHdwH-9K_1VxXoxtveGN-B1O_28fyoT09Z1FfNB9Nz-PcFsTgwk_25BWWmdKAc2IubE5oPvO2Il_Dc_Uf6lGGE8S3fG3zl_GbAZbxhraUpEZx8JjGM2CXwI5sEPXWjAhEBVPTQ6rtkd-M1Dvv-NrzhgBvo9g2OXe76YuUCAlOdqZ2Htio6pF0rl5oylO0si5a5GRpQTjM6-ami1RXuHiSIWmz4f0TA4yGxANEgXXGgbRRwxkV2YeS-RgOKz71NfN-4K8nQoV_HqkjFDMdC_W7fXO5_EU6e-TXmoa796_bs9s0t9R7piwTo4hVAJjOaswIkrw5CBd1tX8feo_fv059B1O8FF6eOgvdfs5rZYi3ymKJ2XNjPEr5HE0UvrLyja7UXJ4WcepodW1L5HQb3taoUPbrnP3BfrOdQJx2WvRIuCRWzBfCIUyuQnsWgzGlq4XqX59b50AiD_-ahMCys0x4PWJExRZCFoWN1dAQQeAoA_ay14rQaISWtJaF-psb0twMD0qdRXxapRR70WpnCVjv9M2AIdtdQfrBBDqJeqhDNGypJostrTHFAQXNXx32d3kp5CDkRBI0keJR2npR51Ej3i_-7kFfX9CmFn9OpFJqG9ZAOWUfPAlDP0nmknptosvCd7ko7YqoXLJu--Otj5KpQr9z7MJrZ6s9xASUeczKs00PETXrhlaoBAiJRH7cJGRKbj6Zja35g2_fONX3KhIVf2AB7ZunZMZRMTQSNPoMGq5-Gd_kkKKRmWaAt1KelHSZBBVYFYpEb0e20bnlvoWjPxZRHGTcJb3UKwFn8C7R_jU4UIC-CfjSF80T2-Z5CDfaM1As3mCMAfyphW9Ouv4Noex5wI1HS_fpNgjKWJD4aqwCzCFChjbK70Xqp5eeu11ByiIE-mEpcfDCsF2WP22d6K33gFNUhdRCJos4lzkhvMxJTM1F3IhwyV8Svss-QO42_r-uEwJR9Hc4KkuO8cgx7jdQhDN9aFGeEqvKRpOx-2S2TtvDklA9np4huPNppMycxhybQSJn0mJvnB1cjSmtr71WQEQkUJFwmesUFNmaNlr_-6gy2Pvn9OVkCH2JpiVuw==",
  "id": "rs_0c236c321c7a2a95016ab47a086fac87d0b0b5ef0ba0889c03",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The dark fruit is centred between the right fingertips at table height. I’m closing to recover it.\"}",
  "call_id": "call_MRvKDHLAbj4yAM8dkbZ0Vbkm",
  "id": "fc_0c236c321c7a2a95016ab47a089f4087d08862f22807f634c5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MRvKDHLAbj4yAM8dkbZ0Vbkm",
  "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]: [-0.6788, 0.992, 0.8139, -0.5804, -0.5522, -0.4911, 0.9946, 0.9348, 1.924, 0.8543, 0.1444, 0.6769, 0.5575, 0.5055]\nstate[eef_state]: left_x=0.2842 left_y=-0.1056 left_z=0.1971 left_yaw=0.0331 left_pitch=-0.0564 left_roll=-0.0075 left_gripper=0.9946 right_x=0.3277 right_y=0.2636 right_z=0.0078 right_yaw=0.0719 right_pitch=-0.1059 right_roll=-0.0887 right_gripper=0.5055\nstate[joint_eff]: [-0.0889, -2.4137, 6.9402, 1.536, -0.2613, -0.0757, -0.022, -0.1026, -10.6735, 5.9692, 1.1502, 0.2515, -0.0317, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a304a67b9ce79b7bf3d16e5e4a1e850b590ed0174a251c3a9129569a079e01f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bf3b6b289f914fd20124666f528353a7c7271dda686c4e90dd8b8237614ae95",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a27224931c4911f1ff04a0a3115efbe557555d49eb09039323c9e5a90802bc35",
      "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 28 attempt 0 · /responses · status 200 · 2.999 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 95 changed as sent

message 103 changed as sent

message 107 changed as sent

message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9707, 2.2089, 1.7252, -0.4366, -0.7475, -0.7322, 0.9945, 0.1699, 0.9321, 0.7597, -0.5522, 0.1478, 0.0071, 0.9965]\nstate[eef_state]: left_x=0.4087 left_y=-0.3783 left_z=0.1045 left_yaw=0.0151 left_pitch=-0.0539 left_roll=0.0142 left_gripper=0.9945 right_x=0.2972 right_y=0.0282 right_z=0.1789 right_yaw=0.0319 right_pitch=-0.1481 right_roll=-0.0755 right_gripper=0.9965\nstate[joint_eff]: [-0.3897, -13.3265, 6.5983, 1.3993, -0.398, 0.0513, 0.1538, -0.0068, -2.0581, 6.9128, 1.5995, 0.0122, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6792, 0.992, 0.8139, -0.5797, -0.5529, -0.4908, 0.9946, 0.9356, 1.8999, 0.8677, 0.1333, 0.6807, 0.5579, 0.9965]\nstate[eef_state]: left_x=0.2842 left_y=-0.1056 left_z=0.1973 left_yaw=0.0331 left_pitch=-0.0555 left_roll=-0.0072 left_gripper=0.9946 right_x=0.3308 right_y=0.2675 right_z=0.0201 right_yaw=0.0719 right_pitch=-0.0865 right_roll=-0.0703 right_gripper=0.9965\nstate[joint_eff]: [-0.4308, -2.8103, 7.0359, 1.6288, -0.3883, -0.0415, -0.0073, 0.4444, -8.9094, 4.6701, 1.5653, 0.5153, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6788, 0.992, 0.8139, -0.5804, -0.5522, -0.4911, 0.9946, 0.9348, 1.924, 0.8543, 0.1444, 0.6769, 0.5575, 0.5055]\nstate[eef_state]: left_x=0.2842 left_y=-0.1056 left_z=0.1971 left_yaw=0.0331 left_pitch=-0.0564 left_roll=-0.0075 left_gripper=0.9946 right_x=0.3277 right_y=0.2636 right_z=0.0078 right_yaw=0.0719 right_pitch=-0.1059 right_roll=-0.0887 right_gripper=0.5055\nstate[joint_eff]: [-0.0889, -2.4137, 6.9402, 1.536, -0.2613, -0.0757, -0.022, -0.1026, -10.6735, 5.9692, 1.1502, 0.2515, -0.0317, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a304a67b9ce79b7bf3d16e5e4a1e850b590ed0174a251c3a9129569a079e01f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bf3b6b289f914fd20124666f528353a7c7271dda686c4e90dd8b8237614ae95",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a27224931c4911f1ff04a0a3115efbe557555d49eb09039323c9e5a90802bc35",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHoWmtDLkxej_4t83LLFXjQL1NDVyTYSKQpGwVZEZq1MF-cARRI4pJMJdUVb5Mojw2fwFDT02VnrgkVFFypSF3cnC3VIAgIvS-toHsbBXe5FLpu_v4n-reqiqwr-OZeBVFfJP9aUs_ofnpph-7PdkB4KMYh3UA7K1to_5JIlnf7svtQIkCXglgr4olw7NJZgAw7plc__6Mi9UQziHNYadmYLmTajXIRVxf9jTQ2umXhPWi0WirqCIGTxbFjZ-PuPIfrP3PBoRE6omgh0dgnOvjzaPI0UNPkPk89pxgtyUQUWX4VqCGgb1DBWRR1TmpaO1dpSoHdu_w-I87am3I_SpEjnvSbGNgwIg1wziP4-DVx16Hx3_BlSLnRmxCp3LKWEOsz8LniPS4hRcy2v5pnXHxZ38ZhAvx1tHcvoGWpQZVVJrxLfuksnbBCpsedqpvzjO3J_M0sn6L6Bk21Cn9GJFte4XiPOppw7-X64wH94phiVi1Y3GbaSCn3U3L4igugsxD_FM8x1yMlgQdSqcoDGRqXGZIS85sX9z0YqCWnaMFhPV9oq16ob4fcgBp9Gyqmo880GvaiKK1mxk-9w-J2sfAplk1F6rztaZ5SVhG3gSsjiAsGoUHND24w2t-gm9aZ6rPdgZKp_lxbZeRkQP1apERm6adNt5932ToAsX8cLwn7vDJGr68dKK_c9UrB_tVxC-UtJiDBIO9OmAUSsorgrliAd_kiqTWXcvLsyxJsjpThPL61s1ech-pcBDPaJiRtvsglb0DZM54VZV1TgP9-MEU24YtYVDBLNxFTkTRTLFIsrxvgy7QFJ-R-noXwyiM8MExMoMG8gsR9dAkEP_TtQxgld_4nPxncLLjwGAj3rXIk2utQVdGVD_eut_o178vTxyynGaIP6UZSPRAMDoBaEDT5QIPxCDxppjSVyMFyyLo4q9MPYC-t_PVb2JfFZN34bx_2saSgHPJlK4kp7HNaXCwLJbbqTfMXS8ubrv_cfYZCZSTGUFXs-HelugJT6kpZnorAQqrUxAUvksBUYo2iaG_R1YUI2bi7MR0ZCUO_oIrYVxhlc5ymHE33tXr6XH_Sydo-df9VzKybxOLS8QczmXv5HNYuV6IRN6XsY3SpAHL9xXw3zjO8heR99VZP5ifRUCzfQaY7hLI7eVi_krT89LKxv04QACslPDDUFIDmrrQqGEI6XilQ0bf0hEHxKx0TN2pelmkj2-VLF7MP4FzdK5G_lZ-SGxtWVD8o3pJNyD2NTW3q4wExLZUJciRbLN5uXTLN63hqd1dKsIQ6GLPZRL5S4JRymXV-rfE2VhBeCdrlVj1U6Q55w2u9hwGsHr0Yb65weWwfvMgdgYza_4mFeRjvpZQrSuu-zwvV3Its0k4Ma5ZIHO6b6vbwzy8xqLDiQaK1fDXwt52mtHMXmqMyJZh1hDbvdmimUOHd3SuRLKjveumXzTOHJS-uP3nYRrFw833yqsr8Ra6_fENCy53BXcK3PgDflVbZ4ka8bMTWMrHnMS5HVWJfd7-1zebc_vAoo_CNXuGuzFyfCu5tXPy2YKhupK2B9hQW0g4D5UrZ_E44pWkNpO3pWYzppFCNcNauZmn5hZSnFbLuttwEj3Ee86VdC5WtL7dl1EfqstfMa8_11pE-hfan2jfgD3i7OhUVRX4dTVlseooDTxZBOEL_sm64CBarowvg-xiOsH_seOF936qrNORJeWM4_gzppma7uCrblKQi2HFQ0euBtcEPa53fxNSW5enwsUu2H0jYNrGBqWwW8CGdG6bgyBPJYo-JR1mlD4z0Yq5YYJ-oCWlS-TZu918raowLeFfzVJVPnimMcep6nCr4QfSyhSvhawJSUfDCKUnoc25UyQoOEs6dhddrstpixFu4nOcSV5toSgnXKH95l45h_6oVsexnW6ojW12WlncyweRhPNwr-EuGeSUcuAO-UoId6MnNT_XdSYPUsKL9pRvLym9Tr9Pz2TUhpbwS_Q8ip4jIzykYUoGpwvqzRFo6PTHo960cBpRSjem29eAKjLP9ptXd2_aSZ14ych0Zh80swyhcFAYHsRN9HfpX1v9YhwEFppYqQOTXhlaNKkdhS2vz8U_h60lNKBGSZdXOEYdkxMFWbOUm5q1S-H850SJPbfIOXM-RdePrxUKNB7xkiH9p_vPdXX4ccPznfZ1b1SMOxG3nsSA45nBq59hM92kb3xZilyht-rDBibPXpOJSEv4tE38ISLvaic3A33z21fRZDrAoEGWYA5j-KOLCGS9B9kevX0pstVRzAIz_r3ss9tmYR-DMf-bAeYdiVlGZ65YyA8hg1QHGC5VpC1IEavEOUglDVNNp9LX_Gg6n6L5NwYq50LRWN44xkGhFnLnFm0Yho-mP4yIGT1PSQ81TnftcF9m209kRd7wFYUWMWQn5qEomLwB_BhHPDF6A4VuFlRCX75tYQkTgpLsdovIylt7KVXsak9Q-JxWMJtLilafGYXFA-DKm7PZCtA_6KbD138pzAbUGGwJZcmLMyGZpWqmnPRo0z8pJ-FrObStIlqnn0DeBZOS75xZXMIhIU3cvCNbsH8UQiT2C4qJTddkDnoUNdefMYGjJ6fbT50OE-UEWUfOQ7NohTVKi6azAsLPxoizEk04Hn2c6XTLwLQtwRfHLmQm4drcILDWJ9WZCyZ6L2frUgwx1ckS3xwqqdEDGFlIJP1GB9ySK-EVzr3cCeLLaezUTn1seSvZNbTRSL6R0HnAI6xf9ZgA_e-XB_39T9u3sKLc58rmovcuVenyaizjv0sfqDzQOkllN0LjxfmbZBi2sEFY2V19D2EDZIXl34MtZkeVCbP5BKl6HL27aIZJAyXJhY43TlW9vz0rV0-3_SEfPVTyg6SkMm5zcPA2sIq6WPXqvuM2NGYyIa7EPigNnvzV3nScWajzYreF4p-SXDCxcSKuhqknQ4yI2CXYE6G7s87zT9mzAjD-hdojKThec6YKsHAv0Y7P_M3qb9NehR6RfczfitqRMBUcBRQyXp9RLVR1VOIazj7QTUklqSsCzqcMERc67nPFZ75w6Inv9h-6L03bnUeo5Y5jxxNlhYHEJ_GtCB2p2hXNcfzRD1oc_HsJWEvUi968hEm7Jk91Sic3UW8EG7MIKxzQ_CnkYN6dxTtDEPL00zNrYw2piy6BV6iqZ0YFTOxY8K7O3TaQc-iIYnVRMNpgzI14PukBdVI8Y8q2V_nnayopOgu-rS_GxG_GiRKPafdO7naUnrLSLhl07jcOQZ2xU4h6fpt8IMVpNsyyqW388RxxDTKMEeKtNkEdfIZiAfOJ0rW-hNdFk9BPxeyS8onpx2ZWNxpb_Xsu0ZXD1O5iWKz2n8r5xfsGtdk3JIoNjwC9K8o-G5NPZKbZWcdR4CFNuzXa2twL0ZvmoIfU8eYBeoL0y1DRhxodn9saCN0no739M__xYXNs347kHYmLQWbxq9h2kYts2JsMbK7jm1P-v4APr9uTRh1H3y1uO2E1gpurdVGhq7zne0i_5JgG5cyG-UPNPbbvSiOr4GsntERxLMa_4Or8tyUut-5lwAczvDzoKojv0uE9K4iDJn6YEs2Ao0YMaAM7Q2SIuPJhu37hzoMYg9oqsiQOQ9G98JSJqb-owO_Puer-GGdkGdXrZkptaHU63eZpgDGQa5wdPyG8zcNrA690AXK17zhHkho3TVHAX10KnFJbUXv721QUjO5ZF0_EAbu7NYZ5uVaV5Me2B-I5eoNT0rEg==",
  "id": "rs_0c236c321c7a2a95016ab47a0c437087d0bd0109751515e9cd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.17},\"note\":\"The right gripper has closed to the dark fruit’s width. I’m lifting it clear of the table to verify recovery before placing it deeper into the bowl.\"}",
  "call_id": "call_BqCwGk283Hdq0z88GjkrxtII",
  "id": "fc_0c236c321c7a2a95016ab47a152c9887d0811c739633fe002f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BqCwGk283Hdq0z88GjkrxtII",
  "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]: [-0.6785, 0.992, 0.8139, -0.5808, -0.5522, -0.4946, 0.9946, 0.9348, 1.6505, 1.1763, -0.4717, 0.6724, 0.5571, 0.5063]\nstate[eef_state]: left_x=0.2842 left_y=-0.1054 left_z=0.1971 left_yaw=0.0354 left_pitch=-0.0567 left_roll=-0.01 left_gripper=0.9946 right_x=0.3281 right_y=0.2652 right_z=0.1479 right_yaw=0.0733 right_pitch=-0.1221 right_roll=-0.1023 right_gripper=0.5063\nstate[joint_eff]: [-0.3761, -2.1812, 6.8308, 1.5214, -0.2271, 0.0073, -0.0122, -0.1436, -9.9624, 8.7043, 1.2821, 0.3687, -0.0171, 0.5836]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd63ca3341e8382e917f273c104c65ae72334ac8d2e2318f0dd8645641240b77",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:807ac2a280ef3ad7399ac1f8b34fe9db82592272b87a47b11f3578c091ffbf91",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55c9e3de037be9f7ac20611a617c5f8da0ce90c06120dbe1d8786e1653af46e1",
      "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 · 2.401 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 99 changed as sent

message 107 changed as sent

message 111 changed as sent

message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6815, 0.9871, 0.8169, -0.5636, -0.5655, -0.4892, 0.9946, 0.8803, 1.6711, 1.1175, -0.4412, 0.6102, 0.5434, 0.9965]\nstate[eef_state]: left_x=0.2864 left_y=-0.1058 left_z=0.2033 left_yaw=0.0388 left_pitch=-0.0318 left_roll=-0.0153 left_gripper=0.9946 right_x=0.3322 right_y=0.2488 right_z=0.1169 right_yaw=0.061 right_pitch=-0.1938 right_roll=-0.1149 right_gripper=0.9965\nstate[joint_eff]: [0.2803, -2.5231, 6.653, 1.5263, -0.1148, 0.1636, -0.0024, 0.1709, -8.0615, 8.6632, 1.3211, 0.5543, 0.3053, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6788, 0.992, 0.8139, -0.5804, -0.5522, -0.4911, 0.9946, 0.9348, 1.924, 0.8543, 0.1444, 0.6769, 0.5575, 0.5055]\nstate[eef_state]: left_x=0.2842 left_y=-0.1056 left_z=0.1971 left_yaw=0.0331 left_pitch=-0.0564 left_roll=-0.0075 left_gripper=0.9946 right_x=0.3277 right_y=0.2636 right_z=0.0078 right_yaw=0.0719 right_pitch=-0.1059 right_roll=-0.0887 right_gripper=0.5055\nstate[joint_eff]: [-0.0889, -2.4137, 6.9402, 1.536, -0.2613, -0.0757, -0.022, -0.1026, -10.6735, 5.9692, 1.1502, 0.2515, -0.0317, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6785, 0.992, 0.8139, -0.5808, -0.5522, -0.4946, 0.9946, 0.9348, 1.6505, 1.1763, -0.4717, 0.6724, 0.5571, 0.5063]\nstate[eef_state]: left_x=0.2842 left_y=-0.1054 left_z=0.1971 left_yaw=0.0354 left_pitch=-0.0567 left_roll=-0.01 left_gripper=0.9946 right_x=0.3281 right_y=0.2652 right_z=0.1479 right_yaw=0.0733 right_pitch=-0.1221 right_roll=-0.1023 right_gripper=0.5063\nstate[joint_eff]: [-0.3761, -2.1812, 6.8308, 1.5214, -0.2271, 0.0073, -0.0122, -0.1436, -9.9624, 8.7043, 1.2821, 0.3687, -0.0171, 0.5836]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd63ca3341e8382e917f273c104c65ae72334ac8d2e2318f0dd8645641240b77",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:807ac2a280ef3ad7399ac1f8b34fe9db82592272b87a47b11f3578c091ffbf91",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55c9e3de037be9f7ac20611a617c5f8da0ce90c06120dbe1d8786e1653af46e1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHoajCJRnP7z30aqCDezUa4YC0coxPhF7v0d2c1ZEI7lNhoME4mdO0aJ-KajQfZHyHPs9TRKgXhIzh6ieL90TxzFWX8gT8IOD279PortiWF-XVKFVWZF5kRsO9NjybWTpDj40JoUjZdFyRtuOxdBJFLE_XlGDVU0-_WIoHHInV-DrI_1bG7a99K5K4buXhb82ewBxWMadGM3CBKBBiMTBPbg08p22u8RLQiq1jMElGpd-f1izpVQj1naKWB7yymPmALtciRzho3TAnW-kNg-KMYBsvWah--3WI0My2H2AmZSH7YTZgwq89TVnqXz473UiV5T-f-vJ-K0167x0VlWlm2LdZSqG243vCdJePoz0FJMUyu1vqbOYt_8NeLxRThEXZbkKvUsfOrOWaY0pQaonHh8EUWe0bcjNzIv_qAc0sB206NUEmLkNdPrRH5V7A02iWMrZywDtQ8qHY6dSgeJo9tDSoGc7auWIjABPwR79O_6NZPSYPLTYxZ8ynRGZCmDdKEdkyAu_yqLV12yW6NYcEEdLBbzwSFlTSDdBd2DZOrAnzKp9sg3MsvT5jjFpfkU3AywMqda68JEU76vAGI_RckcdLB0CbPqSCEMBU5ZRPxzh5JFKnMaRFwehFpThM54nUBZtBLtfHXDMXXPu27JZ8zyuoVYW7IfbWjIwZXYa7DTdpJ9bQNAPom8b_ht4H2n9GTCXo_8UkZG3gso1gi8OzIsK6lCTVuGpHwP1U3gkHGYTXQLvpaGp72XROkGaN-vulgfZSnM3YG3Y2lhb2PUYo8k40VsttiWY-yWIrVTttZKDdln31Vi5SOzs6xG8kSptmrVKYmeVkb0Jn74tVLSx121sU-X9wSJ_b2eDQ4lJeyXuZoM6GvFifmCLguifa7rHYmwT9Po80_nEUELrS-jcH4d0KK33ez4C5HmIZaZkl9JX3-hm6u0tnn79PAFb3Nqqf9NvEuQvwuORtLpRM6UymSYVQ8IWEZep0SRBRlu6_KP_K7wyCPpU7Oyk2H0-v42AyjXbWXB4v2oEwPbWjbTruhXQM5tBE0nE2DFO5Wp-4XXiFDUHBi0penk4XwffDU9S4oTVKbV0NSatt1TBTJJiNA4SCuv6qFKPKA-RepEEKaugA2MwQVQdPK56Tgnf84TxOf7t6gs_gXb1yXuD_dwrc9UCD0KhUcUCo3hTKBIZxlRjfAIJchkVC0PsgtHVOl3vnDCUikuOZPDPD6zN5w3arW88hHThZKWLONybirpzA_KHO0=",
  "id": "rs_0c236c321c7a2a95016ab47a194b3887d08c401473c7110727",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.47,\"right_y\":0.275,\"right_z\":0.145},\"note\":\"The dark fruit lifted successfully. I’m moving farther over the blue bowl this time so the release is well inside the rim, not at its near edge.\"}",
  "call_id": "call_ys7ywRaPNIYZA8b6DV3VObHD",
  "id": "fc_0c236c321c7a2a95016ab47a19b4f087d0a37ea2ca920a36ff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ys7ywRaPNIYZA8b6DV3VObHD",
  "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]: [-0.6781, 0.9939, 0.8139, -0.5816, -0.5522, -0.495, 0.9946, 0.6933, 2.0144, 1.57, -0.4438, 0.5137, 0.3298, 0.5093]\nstate[eef_state]: left_x=0.2842 left_y=-0.1054 left_z=0.1964 left_yaw=0.036 left_pitch=-0.0588 left_roll=-0.0085 left_gripper=0.9946 right_x=0.4543 right_y=0.2693 right_z=0.1257 right_yaw=0.0718 right_pitch=-0.1807 right_roll=-0.142 right_gripper=0.5093\nstate[joint_eff]: [-0.1709, -2.5504, 6.7897, 1.5018, -0.2759, -0.0122, -0.0122, -0.6496, -11.6855, 8.8, 1.6874, 0.1783, 0.022, 0.3004]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6c700635a968f6e73174975e569acea0edd61355d50c729b851156efbf1697f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea0defd6dc9f52f42cb4233f88589f4529af7185ad0d080ebee0170ac051ab54",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78a724033d6ffeef370bc0d1834a4d559a9d18df50c3d14cbdb4481712134470",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 30 attempt 0 · /responses · status 200 · 4.979 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 103 changed as sent

message 111 changed as sent

message 115 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6792, 0.992, 0.8139, -0.5797, -0.5529, -0.4908, 0.9946, 0.9356, 1.8999, 0.8677, 0.1333, 0.6807, 0.5579, 0.9965]\nstate[eef_state]: left_x=0.2842 left_y=-0.1056 left_z=0.1973 left_yaw=0.0331 left_pitch=-0.0555 left_roll=-0.0072 left_gripper=0.9946 right_x=0.3308 right_y=0.2675 right_z=0.0201 right_yaw=0.0719 right_pitch=-0.0865 right_roll=-0.0703 right_gripper=0.9965\nstate[joint_eff]: [-0.4308, -2.8103, 7.0359, 1.6288, -0.3883, -0.0415, -0.0073, 0.4444, -8.9094, 4.6701, 1.5653, 0.5153, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6785, 0.992, 0.8139, -0.5808, -0.5522, -0.4946, 0.9946, 0.9348, 1.6505, 1.1763, -0.4717, 0.6724, 0.5571, 0.5063]\nstate[eef_state]: left_x=0.2842 left_y=-0.1054 left_z=0.1971 left_yaw=0.0354 left_pitch=-0.0567 left_roll=-0.01 left_gripper=0.9946 right_x=0.3281 right_y=0.2652 right_z=0.1479 right_yaw=0.0733 right_pitch=-0.1221 right_roll=-0.1023 right_gripper=0.5063\nstate[joint_eff]: [-0.3761, -2.1812, 6.8308, 1.5214, -0.2271, 0.0073, -0.0122, -0.1436, -9.9624, 8.7043, 1.2821, 0.3687, -0.0171, 0.5836]\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 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6781, 0.9939, 0.8139, -0.5816, -0.5522, -0.495, 0.9946, 0.6933, 2.0144, 1.57, -0.4438, 0.5137, 0.3298, 0.5093]\nstate[eef_state]: left_x=0.2842 left_y=-0.1054 left_z=0.1964 left_yaw=0.036 left_pitch=-0.0588 left_roll=-0.0085 left_gripper=0.9946 right_x=0.4543 right_y=0.2693 right_z=0.1257 right_yaw=0.0718 right_pitch=-0.1807 right_roll=-0.142 right_gripper=0.5093\nstate[joint_eff]: [-0.1709, -2.5504, 6.7897, 1.5018, -0.2759, -0.0122, -0.0122, -0.6496, -11.6855, 8.8, 1.6874, 0.1783, 0.022, 0.3004]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6c700635a968f6e73174975e569acea0edd61355d50c729b851156efbf1697f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea0defd6dc9f52f42cb4233f88589f4529af7185ad0d080ebee0170ac051ab54",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78a724033d6ffeef370bc0d1834a4d559a9d18df50c3d14cbdb4481712134470",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHoe-M_FRzMTwQ8GhoKks4cMguItnvWp4uhVceW5FsR4ZNfCAVpn9om-rIH7KLq7f0XNTA5XNfXa0PwxZvG-C-tIOaf6LugTxm-HWSFYbTxJKRO3E6WEvPFxj6v9BIbUhDRFm8qMk2eBHls2rgl6k1xzcYXtGQB8Zer1bA6X-vuIoYTWYXq5FVdL2Mi8OgxzKszvMGsVLtrVzp5AUwYaE60L82WtIyVvYjyJ2wuoW2iAcR8-eHgzwL9ZQ9T5m8VbXYeyn4EgW80mIJGzIRrJMjLP5HTkP9pMV1KaL-s0gqFoqzidFJkGLGiQtT6xAHNo4aB_1adFNBM06_ECHG5b0wN1CgrGfFJAUbknxElW4XQlKQKrbaWvOnOCpRnGwfVbrToUGM9b22lcssn5ti8zADckxdX8JAcdoWS2FnxTILMfeWUwY5XOwQjbYf2f4zOJBPr336KjbfDmOQ1-xV3P7Wp9qAoPS-d2iqTvK0s8SEUd47UPbwmB3JjQqzlcZ0r1L7jHXw3b8ofA9Ms3Z7I1nG94dFYMDeIViBm-gIg_25ahoJIA6CWl4EFzXhqPXX8T87cMWcIJZkZOXwS3ko2J-nbYs0DzMvcXngOx0Jj5PZMdKJ0UPoaM0JG-ZHr9081jXyDY-EEI20pQo_Pm-SY5XtCjSkWjUtOybkIJ_la4JMrXRvpkrkti9rvo2NirVpyWmNMUANC9bbTHj_9p6ueeahXx1T2wOA2yDa0yRG38TveWwVByw4lUxkEeliLc3sCIJC9e_ixTRjqjF_xQ7YT99XO4fcM1LyJrDL8ryweSnOK1T-kw_MDd1x8-AlkRHpnxO3pS6JcSupz5O4iEdjyZiZGf5-JGlo_Ty88NPjJMO3oNw-MKNXAb6vUiM8mUAHKuezrEWEPU2STSCei8peOy3GoD18dUhJR_o--LeKaLkDJgfFPzA6khaIMk3bOkzQOsnZxtOWozlZB3Ag2LBH7MhAJtdEsDms5-QIoqwkicBiwgcSxLaOjQBL_EPcvfSseJhkAPwCMLHdhMcemm54lZ8qEUkx7ubfO5M8VqABDstYJmhuRZgztYX-9_oz0vT8rlOHcsanMxDNBPTwpPub1DQuzRCHz9cVkob4RWU1Z9v3jXygz0QCGYc6g3DPDcRk5nrRSWnYdWNDUhhRv4nxKvNkFxKT1w926-T5FFdLXpxT3CRIXaifrpsvIybAU5efiKyaYi",
  "id": "rs_0c236c321c7a2a95016ab47a1d529887d0935a886d320b1696",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The bowl’s opening is directly beneath the dark fruit now. I’m releasing the fruit inside.\"}",
  "call_id": "call_BW8x5qElDOHwJ6q8nAGK25aH",
  "id": "fc_0c236c321c7a2a95016ab47a1d9ff887d08e6989554620079b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BW8x5qElDOHwJ6q8nAGK25aH",
  "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]: [-0.6781, 0.9939, 0.8139, -0.5812, -0.5522, -0.495, 0.9946, 0.6899, 2.0293, 1.5749, -0.4503, 0.4999, 0.3241, 0.9956]\nstate[eef_state]: left_x=0.2843 left_y=-0.1054 left_z=0.1965 left_yaw=0.036 left_pitch=-0.0585 left_roll=-0.0088 left_gripper=0.9946 right_x=0.4546 right_y=0.27 right_z=0.1183 right_yaw=0.0799 right_pitch=-0.2008 right_roll=-0.147 right_gripper=0.9956\nstate[joint_eff]: [-0.1436, -2.3316, 6.9675, 1.5165, -0.2222, -0.0611, -0.0122, 0.1162, -12.6017, 6.2291, 1.3651, 0.315, 0.022, -0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab11e14094123fc0cf70995b45ec19cf0db6490d89563b48fc1b7ed4c6db78ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db2f299a15c49769dc5ff543e3f03e9ce30a46f90d7bdade3fe23351c5052ee8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c6a2cec24ab8a829ac64d05ce987e56b367537b4fe56527ddf79ac6010e8c66",
      "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 · 8.081 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 107 changed as sent

message 115 changed as sent

message 119 changed as sent

message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6788, 0.992, 0.8139, -0.5804, -0.5522, -0.4911, 0.9946, 0.9348, 1.924, 0.8543, 0.1444, 0.6769, 0.5575, 0.5055]\nstate[eef_state]: left_x=0.2842 left_y=-0.1056 left_z=0.1971 left_yaw=0.0331 left_pitch=-0.0564 left_roll=-0.0075 left_gripper=0.9946 right_x=0.3277 right_y=0.2636 right_z=0.0078 right_yaw=0.0719 right_pitch=-0.1059 right_roll=-0.0887 right_gripper=0.5055\nstate[joint_eff]: [-0.0889, -2.4137, 6.9402, 1.536, -0.2613, -0.0757, -0.022, -0.1026, -10.6735, 5.9692, 1.1502, 0.2515, -0.0317, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6781, 0.9939, 0.8139, -0.5816, -0.5522, -0.495, 0.9946, 0.6933, 2.0144, 1.57, -0.4438, 0.5137, 0.3298, 0.5093]\nstate[eef_state]: left_x=0.2842 left_y=-0.1054 left_z=0.1964 left_yaw=0.036 left_pitch=-0.0588 left_roll=-0.0085 left_gripper=0.9946 right_x=0.4543 right_y=0.2693 right_z=0.1257 right_yaw=0.0718 right_pitch=-0.1807 right_roll=-0.142 right_gripper=0.5093\nstate[joint_eff]: [-0.1709, -2.5504, 6.7897, 1.5018, -0.2759, -0.0122, -0.0122, -0.6496, -11.6855, 8.8, 1.6874, 0.1783, 0.022, 0.3004]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6781, 0.9939, 0.8139, -0.5812, -0.5522, -0.495, 0.9946, 0.6899, 2.0293, 1.5749, -0.4503, 0.4999, 0.3241, 0.9956]\nstate[eef_state]: left_x=0.2843 left_y=-0.1054 left_z=0.1965 left_yaw=0.036 left_pitch=-0.0585 left_roll=-0.0088 left_gripper=0.9946 right_x=0.4546 right_y=0.27 right_z=0.1183 right_yaw=0.0799 right_pitch=-0.2008 right_roll=-0.147 right_gripper=0.9956\nstate[joint_eff]: [-0.1436, -2.3316, 6.9675, 1.5165, -0.2222, -0.0611, -0.0122, 0.1162, -12.6017, 6.2291, 1.3651, 0.315, 0.022, -0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab11e14094123fc0cf70995b45ec19cf0db6490d89563b48fc1b7ed4c6db78ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db2f299a15c49769dc5ff543e3f03e9ce30a46f90d7bdade3fe23351c5052ee8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c6a2cec24ab8a829ac64d05ce987e56b367537b4fe56527ddf79ac6010e8c66",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHojgowqxpn16sescbyRqz15DoesbklVctDEBFiWb1upAvp0irUAKdckiLG08F1wxoHKOFlp7a4_-ebw7UYXwpSk661dGlYVZGKY1jXsht2Q9nREAeuGSNShXTXs_OxVewIjzhEYMmU3siwBZlbizBZPAh7M0S_gibNBpuIXv9jlWzcWSleUcgOUaWJvBAganDwuF5YGk-m3COrxHMH2ObvYO8BwQEP-6Mil4_bDWsYQkTLPUXVZKutYsGPBg2YU86hN4IkZiCp4IKYOvYHIVrkIMWB-j6GtnOcoCZ1an0h0NwA0ioL86SMjBqBbL57tPT8od0dNUZurijZA7XTjyH-yrjGw7WhCV3xmORXShu6o_TrTsHQ3eRYsnxxUEaUNYHRIodoB7lX3wiDfzEroyoL3XkH1_RRzdAG5WfHG-2rjNMFmO3LCQgeLEKEG5kaeNCJK0y0xbMyanhTn033GrV_-rZl-YaNY6n4nindZ-c9adZKekciezgtAiqS_jRfZp8oW2RCGL9yCE05nih6N4vbvRtOi9Spvxde67Ar4fqHTmpA5uqXCFLPzYlt5z06Jjv_Zq7n5wCIpBbqUvfRlNDyEYxxxKfxsoVDgVygtfdgolv6HlZcq3fCMt29OiFnhZT9Ir1NswtJmYvfoFqXNvU45aEQuM9tSJbq2_yr-P781uolwousY9Sto7iG6w8GwZnN66bF9Iy-LITMd7A3Q5Pxn0Deg5uCyD1YkXr_ZkJv-ZZ66n5-YVrAjAazCH8YBRkuIbCzSTyjja_EcLyP0nfV-Z0dcVf9zjbtwXdNCnrATYKOttgcu3gjC2ZOkVCR3Ryt94KEM-_At2aLbvqrkZ8R2SaonqcD4K1zkvu7phT0Zb4UUqFhzU2vgYK1GWjeDCLO8D2zmr1eEoYAOC1hVcbCHc5OgSx1BaOaQNRFqsp035-b-V1kMD3jx_JthqP01rEdaT9gRIiuMcE-EnLNzUE5ANmWYVUNgbwR-al8fijX8hk7F9KkY4jt-hme2TxlLHFJhWaNsxugm2Qdb4qk6WQF3bb7RoHNgHs8PLZsEHl2FfTUEeM8QQGG94HI88nmqk_5VjY048BA6V4U9h1Ho0ItrwzViCL_3V3PnasESXM4OBLDCligFEyoUo136NJ8ECUL1ybUSoqbZk2ms50oIFswLTOyQkm17scWyn4T1lCaz8lNPkM1KeNfy0yWTDVf2XvH5BtVCWfw9FhGjFe6rbnsclng7kIJKDGyTXrfSqlfz_tOhFD2F2U_ldZ6QzZj2SMaJ463mA_xF8ERDhS4vYbRXh5eNsIfTYvCjnQADns3Y_GkybM-lRwKLQksR7SA5yafItcg1k3z2iSNPxejL5csftOCfFTPG73ZoXIukgBGvdwJMKq1UVP5sKCKkztfJbj7uy8r35RJye10gn3SH9H0sU058HJqMOJrWvbyypYLslSxvwROYEuNxIaoGWtLvK-pSJ8nSCL75yNFf0fbvqNedKz-JoDQsZKIyG8kwlw0peHhnqenLcD9cSBrMGRzl25cOMnvPuQfoWi3cde5gvRhJ7CUMvNByATjfX2IKOaQYe3UWwZcclZUzNkYa3uEcF4zyxmArThanbnDMQhXhWs65BCN96Pd7tQrPKACEEpp0p40=",
  "id": "rs_0c236c321c7a2a95016ab47a2108d087d0803b66b6f5d479be",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.33,\"right_y\":0.185,\"right_z\":0.035},\"note\":\"The dark fruit is dropping into the blue bowl, leaving only the yellow fruit on the table. I’m moving the open right gripper down around that last fruit.\"}",
  "call_id": "call_qMFRlPjhVqvWh6h1c2flklyy",
  "id": "fc_0c236c321c7a2a95016ab47a22ad5087d097cd73ea15f2f65e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qMFRlPjhVqvWh6h1c2flklyy",
  "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]: [-0.6777, 0.9966, 0.8139, -0.5838, -0.5518, -0.4946, 0.9946, 0.7338, 1.6741, 0.7414, -0.0322, 0.5209, 0.3561, 0.9964]\nstate[eef_state]: left_x=0.2842 left_y=-0.1052 left_z=0.1953 left_yaw=0.0361 left_pitch=-0.0627 left_roll=-0.0052 left_gripper=0.9946 right_x=0.3302 right_y=0.1842 right_z=0.0301 right_yaw=0.0829 right_pitch=-0.2367 right_roll=-0.1742 right_gripper=0.9964\nstate[joint_eff]: [-0.294, -2.6735, 6.8034, 1.5653, -0.2613, -0.0269, -0.0073, 0.3077, -7.665, 6.1607, 1.6044, 0.3248, 0.1148, 0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64a7f921f8277daf0a2f114c54c7704359463f8455659e09fe57e4cfa6fd73d6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9594e093e904987c768472d4dbeb93df26ed79958481e0ea9296d927a5647fae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:445a5c4d2929e1550a9d78ae3e8ea5f1854418ae79c9f570a0981b1d22d73ac1",
      "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 · 5.48 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 111 changed as sent

message 119 changed as sent

message 123 changed as sent

message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6785, 0.992, 0.8139, -0.5808, -0.5522, -0.4946, 0.9946, 0.9348, 1.6505, 1.1763, -0.4717, 0.6724, 0.5571, 0.5063]\nstate[eef_state]: left_x=0.2842 left_y=-0.1054 left_z=0.1971 left_yaw=0.0354 left_pitch=-0.0567 left_roll=-0.01 left_gripper=0.9946 right_x=0.3281 right_y=0.2652 right_z=0.1479 right_yaw=0.0733 right_pitch=-0.1221 right_roll=-0.1023 right_gripper=0.5063\nstate[joint_eff]: [-0.3761, -2.1812, 6.8308, 1.5214, -0.2271, 0.0073, -0.0122, -0.1436, -9.9624, 8.7043, 1.2821, 0.3687, -0.0171, 0.5836]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6781, 0.9939, 0.8139, -0.5812, -0.5522, -0.495, 0.9946, 0.6899, 2.0293, 1.5749, -0.4503, 0.4999, 0.3241, 0.9956]\nstate[eef_state]: left_x=0.2843 left_y=-0.1054 left_z=0.1965 left_yaw=0.036 left_pitch=-0.0585 left_roll=-0.0088 left_gripper=0.9946 right_x=0.4546 right_y=0.27 right_z=0.1183 right_yaw=0.0799 right_pitch=-0.2008 right_roll=-0.147 right_gripper=0.9956\nstate[joint_eff]: [-0.1436, -2.3316, 6.9675, 1.5165, -0.2222, -0.0611, -0.0122, 0.1162, -12.6017, 6.2291, 1.3651, 0.315, 0.022, -0.1245]\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 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6777, 0.9966, 0.8139, -0.5838, -0.5518, -0.4946, 0.9946, 0.7338, 1.6741, 0.7414, -0.0322, 0.5209, 0.3561, 0.9964]\nstate[eef_state]: left_x=0.2842 left_y=-0.1052 left_z=0.1953 left_yaw=0.0361 left_pitch=-0.0627 left_roll=-0.0052 left_gripper=0.9946 right_x=0.3302 right_y=0.1842 right_z=0.0301 right_yaw=0.0829 right_pitch=-0.2367 right_roll=-0.1742 right_gripper=0.9964\nstate[joint_eff]: [-0.294, -2.6735, 6.8034, 1.5653, -0.2613, -0.0269, -0.0073, 0.3077, -7.665, 6.1607, 1.6044, 0.3248, 0.1148, 0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64a7f921f8277daf0a2f114c54c7704359463f8455659e09fe57e4cfa6fd73d6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9594e093e904987c768472d4dbeb93df26ed79958481e0ea9296d927a5647fae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:445a5c4d2929e1550a9d78ae3e8ea5f1854418ae79c9f570a0981b1d22d73ac1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHos9T_UMBNUrvbJLr27ZopZ7LarLuKDgzOU96l2A7mx5RiMN9Uyy8X7OwTxgVP1xItClY9EWB1OfPn_muH4G35oaQw4ca-k5akRyvn-S74ayDNbbuTMgiHWs5ac3yEHcZEsxB8y60NaSrTs5hgj1K4tE9oncBps9jteeZZXyOBhtRp60dGdwfG1xDzkqr9Auuqs9VBI21hTap-f6MA4JQ5kczFt8jD0HIEYlDFTJN97EhzbyRGv_ZQfoC-D3pmd6tdr5g-k2B-6figE-xzsKEs4qVpHvRAaups-0iN1kSs--Gqb_UfOR0WohgeObCA4eGKTtwP0tsEjpzha4_fRKZpEZ_ejfUR9uj1NGFymrpn2TcJYC2-VvgqTdq8DK35Ox3h2sEex-UrDhs_97GfTBF7swb4fDzeEj8u0BU-3cU1gQPWzKuvnjQvxXnQlQOejxb4UI1_kQYPeZlCgqLK-QtftSVxUDmaktLWpeYjiiyfbljrK-hSBCgwep7vuKKNMFLRMeAbH3pFua_q5YcVYZcvr44K9WXuUsl5axths02qMCxFuxsN3AyKIjlroqlbXBAXv6UnDxUgtVPJyuZwTzt0lToVqwW9_cAqulLxIXTJbtuDfK7IAUbIIclfWMrRdXHD4wQnYMbc69qQpa-Wth8SVGLo9NC8I0T8Hy24o2gTOMahq1y9pkQR3yWPmakvfvGCj1clY8HlJK9ytsJPkA02LkG-bgGpu_08pJPEH04CHhvbLdF5MbpCOw5UhnzHy_rDunipQVFQfHg-HnW_bFZCudO6OvFaeVRUzEp8iOUTAawIh-KF5pZQmFIXcjCu_xT_nHQ72JNt8t9dq119x0nKuC-olCP9DeT0w-j0H9Ayl76xMiMSQkSFT7LN7AVT044ASv6ApzgwNg7s83uU0Q3G9_mA1tBeV8Qd18SfKsLMcl84aOV1z3MjgC-U8XUglEeWB5k9f7OSVR2GMlaXNEMygTCFpC5SpMA0RCJh7NAHVU_CLZ1fYT3FQC8e5M-maPquQg4_QE7RTGxIxLRGOtzAFYE7eRIHWB_ramj39GkN_qAONCJ7xmHCyVSCh1E81PTqH_6rPy0lCO5PcOBrI13eg9m7NKEA8InS6SW0FzowENjuwGI8ynCfg9udSKqJ_JyRdTp4rgVv0D-bn5TAW_mkQgdC6ul2QKqAxGJw7rzq_AKfWRzr-IMw8eQf5lopj7pjikhj4aaC3UvFI8Up-FLA5jOXXLIa-12TbmrLJhc89aQm_Br6O5OL8hnanq7V1iPLgIPBjhSHDeVr4YfknFduTqBjhks6g8pv2eKMw-jSHeCsBCsG24gkO4K8lqpom4ylHM-1RTqxtZM3P8XTGZatpQM8tt5u_eaeImwLR8-GfWVhnBgI-YDfXtFVKKeB3Cu27_LdOezO-tq6LySKtnZR6oHzYhixDzS92zBFhCF4vlUptZo94Q3TLX_u2bDS8Brxgo5dv2r0x1QLlIZyThjNME9BusXFqr2s9KCbJX79BWuxoLtdOIHy4vHUbQiTnQODed-eVeRk_zh9T_S7DRRZtuVPc6eBNe1EDdW1S6QZRvUaw5kyPmMZUifr-OlvM7Bkaw9y9cGrBrZjc0ZCiyxy9g6bovZi_rcYVi9qn3lRDPdg-5XzIFzzMgks-E9RiXPphOO2a9JlG_E9vQrF0HflQZ6d6334QIcsc1e48A4IfZGX0FJvPfO50W6FnOADs8k7XuFs02zt_qqpZlC-oqRo7xgfaDUueMn4afSeNRZSMxGoKCDFXROXL7uQvER9ze25DGvliTSSgFveqQfeUjezk7Qaw4yE45YPYCj-3DYzrsvrA4tuWJu2TlwQsbYAF_u98hxK606HX4LjyHrJ-O1sOvi8j2-8bW6fSPHxKJ6lxHLYX8x_vZ-jqvTllRRO2zzeUxieadQMZ479gxxQi3mBRtFHPpfA6wZi2KVLU-nreAtI8HS7J3RBPpLOe_PyyXWBptWbnqLT-4dVcf-xhcbzd51Gnuq0LO4eL3kwWRakup1hV7FWl159qcC-dBLYKdlbeVOM2aY1nwVrr0a8pvZMFXysqvlKtgeUTayiV4QvvO-TNURAIC_qv8nefCLcqJfsn55FLwSinpIWa4d8v2LbvHI2c388n7CZ8KDQk5NMS5E2VLEimY38iJZofqV1RQeStt6bcMURs7HfrbbxI3gCLMosfDRUb-4eD9bfqobjhytNhWg_6fCTtB3GvqLVLSdjqxpmZFg9U54dOqpcCFT-3hUMIHfq5BUcLWuqrqH2dhApRizee0pcQlQFUV1-ojjvWWRzTAD7-lb0SC3yaH5CBR7iVwpQQJ3syCuPO0Cr_jsdmRd6gLoMOjtEZm8_DCYL4Xh8diCuinIEv9Gtt-mStR0GwNKbqR1Nu0jhAwYZLbhKeKj6D2rWNQ7HxTdHLFB6gSD9MK-j2rLJQ84jxQaKPvZhYcgnGz5JJZBYq19E9edtF9Oc9Z5jCNdYCKkU8fs9GaYUIx9hVIXtapMp2Rkhz5-gvbYFyXHKKxbyESH9W7l7T3W7ErJoA7FaE3h4TFp72qWiVoAJMglIeAktHL35OWmKnLrL3qlfXFbg4D2-GMfMUjyGFA1rxt7iLtu8jlCRLGSA9LviDKbX5T9hLOXxsyal_Xb4JqcbNhDv4GYwy7CmQ0H9e7klPIKdfRhStv-RdN3JNn-PCMBLyzDUJuq8m1A==",
  "id": "rs_0c236c321c7a2a95016ab47a25ec0087d0be8d21f7d88c699b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.296,\"right_y\":0,\"right_z\":0.2,\"left_x\":0.296,\"left_y\":0,\"left_z\":0.2},\"note\":\"The dark fruit bounced out of the crowded blue bowl and rolled toward the far edge of the table. I’m parking both arms to inspect its final position without pushing the remaining fruit.\"}",
  "call_id": "call_9L3yF9pcW8dtXTxgQYQRfJg3",
  "id": "fc_0c236c321c7a2a95016ab47a2b7d2087d0a3ca39d0e816b56e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9L3yF9pcW8dtXTxgQYQRfJg3",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0696, 0.8654, 0.7521, -0.5575, -0.1131, -0.1226, 0.9946, 0.0433, 1.0042, 0.8818, -0.6865, 0.1059, -0.1612, 0.9965]\nstate[eef_state]: left_x=0.2925 left_y=0.0032 left_z=0.1924 left_yaw=0.0844 left_pitch=-0.0965 left_roll=-0.0099 left_gripper=0.9946 right_x=0.2989 right_y=-0.0021 right_z=0.1867 right_yaw=0.0317 right_pitch=-0.2463 right_roll=-0.1761 right_gripper=0.9965\nstate[joint_eff]: [0.294, -2.2496, 6.9402, 1.9512, 0.1197, 0.2271, -0.0073, -0.2803, -3.3026, 9.2376, 1.5067, -0.0708, -0.0366, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:754858dfadb3fb2e29a1e0bb8c6ea7c414c1e4ec44d00638dfb545b8c4b010c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff9ada64903895bbe5d57cd98703b6bd6de2d93812774b924248d67ea639503b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41c623c6ed1b6ef887c48abd96e5d14dbb844cf17dd89088f76427c6fe9dab18",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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