adhoc

completed
2026-09-24T00:37:02.256096+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
254.3 s
total steps
381
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteI see three fruits on the table in front of the blue bowl, with the larger white bowl to the left. I’m bringing the right gripper above the green fruit first.
move_to
right_x0.3400right_y0.1600right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8005, 0.6151, -0.3859, -0.0143, -0.0299, 0.9991, -0.0227, 0.8005, 0.6189, -0.387, -0.0166, -0.0265, 0.9992] state[eef_state]: left_x=0.2958 left_y=-0.0004 left_z=0.1821 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9991 right_x=0.2961 right_y=-0.0002 right_z=0.1836 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9992 state[joint_eff]: [-0.1846, -1.4291, 10.0034, 1.9267, -0.1441, 0.1343, -0.105, -0.1983, -1.4154, 9.1419, 1.9023, -0.0611, 0.0952, -0.1001] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.34,"right_y":0.16,"right_z":0.15,"right_gripper":1},"note":"I see three fruits on the table in front of the blue bowl, with the larger white bowl to the left. I’m bringing the right gripper above the green fruit first."})
tool
executing move_to over 14 steps (1.4s)
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 just to the right of the jaw center in the wrist view. I’m correcting that offset and lowering to grasp its sides.
move_to
right_x0.3350right_y0.1350right_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]: [-0.0219, 0.8021, 0.6147, -0.4004, -0.0135, -0.0311, 0.999, 0.68, 1.3281, 0.7383, -0.1635, 0.5388, 0.3756, 0.9991] state[eef_state]: left_x=0.2939 left_y=-0.0005 left_z=0.1785 left_yaw=-0.0 left_pitch=-0.0164 left_roll=-0.001 left_gripper=0.999 right_x=0.3311 right_y=0.1557 right_z=0.1304 right_yaw=0.0272 right_pitch=-0.0598 right_roll=-0.046 right_gripper=0.9991 state[joint_eff]: [-0.1573, -1.3744, 7.0632, 1.8779, -0.0464, -0.022, -0.022, 0.1162, -4.9573, 9.5385, 1.8095, 0.4322, 0.1148, -0.105] 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_x":0.335,"right_y":0.135,"right_z":0.035},"note":"The green fruit is just to the right of the jaw center in the wrist view. I’m correcting that offset and lowering to grasp its sides."})
tool
executing move_to over 7 steps (0.7s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent noteThe gripper stopped higher and farther forward than requested, and the green fruit remains on its right side. I’m moving slightly back and right to place the fingers around it rather than on top of it.
move_to
right_x0.3100right_y0.1050right_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]: [-0.0219, 0.8021, 0.6147, -0.4084, -0.0139, -0.0315, 0.999, 0.5991, 1.5299, 0.4988, 0.4755, 0.5297, 0.276, 0.9991] state[eef_state]: left_x=0.2928 left_y=-0.0004 left_z=0.1768 left_yaw=0.0005 left_pitch=-0.0244 left_roll=-0.0009 left_gripper=0.999 right_x=0.3586 right_y=0.1412 right_z=0.0792 right_yaw=0.0052 right_pitch=0.0958 right_roll=-0.0111 right_gripper=0.9991 state[joint_eff]: [-0.335, -1.265, 6.9949, 1.8193, -0.0757, -0.0611, -0.0171, -0.0479, -3.0974, 2.6325, 0.6618, -0.3639, 0.3346, -0.022] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.31,"right_y":0.105,"right_z":0.035},"note":"The gripper stopped higher and farther forward than requested, and the green fruit remains on its right side. I’m moving slightly back and right to place the fingers around it rather than on top of it."})
tool
executing move_to over 4 steps (0.4s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteThe fruit is still slightly right of the open jaws, and the wrist has tilted during the descent. I’m centering the jaws and restoring a vertical grasp while keeping the idle arm parked.
move_to
right_x0.3250right_y0.0850right_z0.0450right_pitch0.0000left_x0.2960left_y0.0000left_z0.1850
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8051, 0.6147, -0.4225, -0.0135, -0.0334, 0.999, 0.5831, 1.4963, 0.2359, 0.9089, 0.5526, 0.2241, 0.9991] state[eef_state]: left_x=0.291 left_y=-0.0004 left_z=0.1731 left_yaw=0.0012 left_pitch=-0.0416 left_roll=-0.0023 left_gripper=0.999 right_x=0.3325 right_y=0.1125 right_z=0.0846 right_yaw=-0.0228 right_pitch=0.2705 right_roll=0.0486 right_gripper=0.9991 state[joint_eff]: [-0.1573, -1.3607, 7.3504, 1.8584, -0.0317, -0.0611, -0.0171, -0.1162, -1.7846, 1.6068, 0.5153, -0.2369, 0.4371, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.325,"right_y":0.085,"right_z":0.045,"right_pitch":0,"left_x":0.296,"left_y":0,"left_z":0.185},"note":"The fruit is still slightly right of the open jaws, and the wrist has tilted during the descent. I’m centering the jaws and restoring a vertical grasp while keeping the idle arm parked."})
tool
executing move_to over 10 steps (1.0s)
step 35
top_cam
camera top_cam step 35
left_cam
camera left_cam step 35
right_cam
camera right_cam step 35
assistant
agent noteThe arm is not tracking the low target, so I’m lifting away and keeping a modest forward wrist tilt before another approach.
move_to
right_x0.3300right_y0.0850right_z0.1500right_pitch0.3000
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]: [-0.0216, 0.8322, 0.6357, -0.4557, -0.0139, -0.0341, 0.999, 0.5835, 1.5005, 0.2359, 0.9138, 0.5526, 0.2237, 0.9991] state[eef_state]: left_x=0.2905 left_y=-0.0002 left_z=0.1687 left_yaw=0.0024 left_pitch=-0.0809 left_roll=-0.0018 left_gripper=0.999 right_x=0.3327 right_y=0.1128 right_z=0.0843 right_yaw=-0.0223 right_pitch=0.2712 right_roll=0.0487 right_gripper=0.9991 state[joint_eff]: [0.2256, -1.3333, 10.1402, 1.8193, -0.0415, -0.0366, -0.0073, 0.2667, -2.1128, 1.7026, 0.4371, -0.3004, 0.359, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.33,"right_y":0.085,"right_z":0.15,"right_pitch":0.3},"note":"The arm is not tracking the low target, so I’m lifting away and keeping a modest forward wrist tilt before another approach."})
tool
executing move_to over 5 steps (0.5s)
step 40
top_cam
camera top_cam step 40
left_cam
camera left_cam step 40
right_cam
camera right_cam step 40
assistant
agent noteThe raised view shows the green fruit slightly behind and left of the fingertips. I’m approaching that position with the wrist tilt that the arm can track.
move_to
right_x0.2900right_y0.1100right_z0.0350right_pitch0.3000
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, 0.8364, 0.6395, -0.4686, -0.0139, -0.0338, 0.999, 0.4736, 1.0954, 0.3286, 0.5072, 0.4576, 0.1959, 0.999] state[eef_state]: left_x=0.2893 left_y=-0.0003 left_z=0.1667 left_yaw=0.0018 left_pitch=-0.0942 left_roll=-0.0012 left_gripper=0.999 right_x=0.3351 right_y=0.0881 right_z=0.1615 right_yaw=-0.0485 right_pitch=0.3339 right_roll=0.0968 right_gripper=0.999 state[joint_eff]: [0.1026, -1.2103, 7.1043, 1.8388, -0.0562, -0.0317, -0.0171, -0.2803, -3.2479, 6.5299, 1.8877, -0.022, -0.1392, -0.0171] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.29,"right_y":0.11,"right_z":0.035,"right_pitch":0.3},"note":"The raised view shows the green fruit slightly behind and left of the fingertips. I’m approaching that position with the wrist tilt that the arm can track."})
tool
executing move_to over 9 steps (0.9s)
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 now directly in front of the fingers. I’m advancing slightly and closing only partway around its rounded body to avoid squeezing it sideways.
move_to
right_x0.3150right_y0.0980right_z0.0380right_pitch0.3000right_gripper0.5500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8425, 0.6395, -0.4767, -0.0135, -0.0338, 0.999, 0.7071, 1.9099, 0.0593, 1.3563, 0.6403, 0.2813, 0.9991] state[eef_state]: left_x=0.2884 left_y=-0.0003 left_z=0.1635 left_yaw=0.0016 left_pitch=-0.1083 left_roll=-0.0011 left_gripper=0.999 right_x=0.2825 right_y=0.1072 right_z=0.0087 right_yaw=0.0155 right_pitch=0.1782 right_roll=-0.0139 right_gripper=0.9991 state[joint_eff]: [-0.0615, -1.9214, 7.159, 1.7265, -0.0317, 0.0024, -0.0073, 0.2803, -6.7897, 0.9915, 2.5812, 0.4469, 0.1636, -0.0073] 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":0.315,"right_y":0.098,"right_z":0.038,"right_pitch":0.3,"right_gripper":0.55},"note":"The green fruit is now directly in front of the fingers. I’m advancing slightly and closing only partway around its rounded body to avoid squeezing it sideways."})
tool
executing move_to over 5 steps (0.5s)
step 54
top_cam
camera top_cam step 54
left_cam
camera left_cam step 54
right_cam
camera right_cam step 54
assistant
agent noteThe pear is centered between the jaws but the opening is still wider than its lower body. I’m tightening the grasp gently before a test lift.
move_to
right_gripper0.3500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8452, 0.6395, -0.4767, -0.0139, -0.0338, 0.999, 0.5808, 1.9392, 0.0872, 1.4742, 0.5602, 0.1696, 0.5649] state[eef_state]: left_x=0.2886 left_y=-0.0003 left_z=0.1628 left_yaw=0.0019 left_pitch=-0.111 left_roll=-0.0008 left_gripper=0.999 right_x=0.308 right_y=0.0942 right_z=0.0254 right_yaw=0.0027 right_pitch=0.2504 right_roll=-0.0227 right_gripper=0.5649 state[joint_eff]: [-0.1709, -1.6889, 6.9538, 1.6044, -0.0806, -0.0415, -0.0171, -0.2256, -5.4769, 2.441, 2.2491, 0.0611, -0.1929, 0.525] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 54): [image omitted: streamed camera frame] camera 'left_cam' (step 54): [image omitted: streamed camera frame] camera 'right_cam' (step 54): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.35},"note":"The pear is centered between the jaws but the opening is still wider than its lower body. I’m tightening the grasp gently before a test lift."})
tool
executing move_to over 3 steps (0.3s)
step 57
top_cam
camera top_cam step 57
left_cam
camera left_cam step 57
right_cam
camera right_cam step 57
assistant
agent noteThe jaws stopped at about 5.3 cm despite the tighter command, consistent with holding the pear. I’m lifting a short distance to verify it moves with the gripper.
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, 0.6395, -0.4763, -0.0139, -0.0338, 0.999, 0.5758, 1.9392, 0.0868, 1.4712, 0.5449, 0.1493, 0.5612] state[eef_state]: left_x=0.2886 left_y=-0.0003 left_z=0.1628 left_yaw=0.0019 left_pitch=-0.111 left_roll=-0.0008 left_gripper=0.999 right_x=0.308 right_y=0.0951 right_z=0.0242 right_yaw=0.0224 right_pitch=0.2441 right_roll=-0.0395 right_gripper=0.5612 state[joint_eff]: [-0.294, -1.306, 7.0222, 1.6044, -0.0855, -0.0464, -0.0073, 0.1709, -5.3265, 1.3197, 1.7607, 0.2222, 0.188, 1.0232] camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.105},"note":"The jaws stopped at about 5.3 cm despite the tighter command, consistent with holding the pear. I’m lifting a short distance to verify it moves with the gripper."})
tool
executing move_to over 6 steps (0.6s)
step 63
top_cam
camera top_cam step 63
left_cam
camera left_cam step 63
right_cam
camera right_cam step 63
assistant
agent noteThe pear lifted with the gripper. I’m carrying it over the blue bowl while bringing the left arm above the dark fruit, keeping the arms separated.
move_to
right_x0.4350right_y0.1750right_z0.2300right_pitch0.1500left_x0.3200left_y-0.2400left_z0.1600left_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, 0.8516, 0.6395, -0.4866, -0.0135, -0.0338, 0.999, 0.5774, 1.2114, 0.1581, 0.7174, 0.5339, 0.1482, 0.5613] state[eef_state]: left_x=0.2873 left_y=-0.0003 left_z=0.1592 left_yaw=0.0016 left_pitch=-0.1274 left_roll=-0.0006 left_gripper=0.999 right_x=0.3072 right_y=0.0971 right_z=0.1029 right_yaw=0.0276 right_pitch=0.2807 right_roll=-0.0126 right_gripper=0.5613 state[joint_eff]: [-0.3487, -1.5521, 6.9675, 1.8046, -0.0708, -0.0366, -0.0122, -0.4718, -2.9197, 7.9248, 2.0684, 0.1685, -0.022, 0.862] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.435,"right_y":0.175,"right_z":0.23,"right_pitch":0.15,"left_x":0.32,"left_y":-0.24,"left_z":0.16,"left_gripper":1},"note":"The pear lifted with the gripper. I’m carrying it over the blue bowl while bringing the left arm above the dark fruit, keeping the arms separated."})
tool
executing move_to over 22 steps (2.2s)
step 85
top_cam
camera top_cam step 85
left_cam
camera left_cam step 85
right_cam
camera right_cam step 85
assistant
agent noteThe pear is above the blue bowl, and the dark fruit is centered in the left wrist view. I’m lowering the pear for release and positioning the left fingers around the dark fruit.
move_to
right_z0.1200left_x0.3400left_y-0.2350left_z0.0350left_pitch0.3000
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]: [-0.9134, 1.5333, 1.0821, -0.5255, -0.6216, -0.7086, 0.999, 0.5579, 1.5387, 1.0801, -0.0746, 0.4725, 0.1753, 0.5645] state[eef_state]: left_x=0.3142 left_y=-0.2329 left_z=0.146 left_yaw=-0.0139 left_pitch=-0.168 left_roll=0.0186 left_gripper=0.999 right_x=0.4256 right_y=0.1751 right_z=0.2058 right_yaw=0.0638 right_pitch=0.0975 right_roll=-0.064 right_gripper=0.5645 state[joint_eff]: [-0.4718, -6.7487, 8.8684, 1.2186, -0.6569, -0.0855, -0.1099, -0.9094, -7.4598, 9.7983, 2.0733, 0.2173, 0.2515, 0.8132] camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.12,"left_x":0.34,"left_y":-0.235,"left_z":0.035,"left_pitch":0.3},"note":"The pear is above the blue bowl, and the dark fruit is centered in the left wrist view. I’m lowering the pear for release and positioning the left fingers around the dark fruit."})
tool
executing move_to over 16 steps (1.6s)
step 101
top_cam
camera top_cam step 101
left_cam
camera left_cam step 101
right_cam
camera right_cam step 101
assistant
agent noteThe blue bowl is directly beneath the pear, and the dark fruit lies between the left fingers. I’m releasing the pear into the bowl and closing the left gripper around the dark fruit.
move_to
right_gripper1.0000left_gripper0.4000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.9524, 2.0018, 0.5861, 0.8486, -0.87, -0.4019, 0.999, 0.5552, 1.6726, 0.8562, 0.2211, 0.4656, 0.1745, 0.5663] state[eef_state]: left_x=0.3348 left_y=-0.2315 left_z=0.0204 left_yaw=-0.0348 left_pitch=0.2165 left_roll=0.0679 left_gripper=0.999 right_x=0.4199 right_y=0.1714 right_z=0.1096 right_yaw=0.0692 right_pitch=0.0408 right_roll=-0.0908 right_gripper=0.5663 state[joint_eff]: [-0.1846, -8.1299, 2.947, 1.917, -0.5153, 0.105, -0.0171, 0.1573, -7.4735, 5.9692, 2.21, 0.1538, -0.0464, 0.486] camera 'top_cam' (step 101): [image omitted: streamed camera frame] camera 'left_cam' (step 101): [image omitted: streamed camera frame] camera 'right_cam' (step 101): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"left_gripper":0.4},"note":"The blue bowl is directly beneath the pear, and the dark fruit lies between the left fingers. I’m releasing the pear into the bowl and closing the left gripper around the dark fruit."})
tool
executing move_to over 6 steps (0.6s)
step 107
top_cam
camera top_cam step 107
left_cam
camera left_cam step 107
right_cam
camera right_cam step 107
assistant
agent noteThe pear is in the blue bowl. The left gripper has stopped around the dark fruit, so I’m test-lifting it while moving the right arm toward the yellow fruit.
move_to
left_z0.0950right_z0.2000right_x0.3700right_y0.2500right_pitch0.3000
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]: [-0.9524, 2.0289, 0.5789, 0.8585, -0.8749, -0.4, 0.523, 0.5541, 1.6779, 0.8513, 0.2119, 0.4656, 0.1719, 0.9964] state[eef_state]: left_x=0.3326 left_y=-0.2274 left_z=0.0107 left_yaw=-0.0362 left_pitch=0.2037 left_roll=0.0912 left_gripper=0.523 right_x=0.418 right_y=0.1696 right_z=0.1036 right_yaw=0.0698 right_pitch=0.0235 right_roll=-0.1022 right_gripper=0.9964 state[joint_eff]: [-0.1026, -10.3043, 3.9043, 1.3846, -0.1978, -0.0562, 0.9841, -0.1573, -8.2803, 6.5162, 1.6923, 0.0904, -0.0073, -0.1148] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 107): [image omitted: streamed camera frame] camera 'left_cam' (step 107): [image omitted: streamed camera frame] camera 'right_cam' (step 107): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.095,"right_z":0.2,"right_x":0.37,"right_y":0.25,"right_pitch":0.3},"note":"The pear is in the blue bowl. The left gripper has stopped around the dark fruit, so I’m test-lifting it while moving the right arm toward the yellow fruit."})
tool
executing move_to over 10 steps (1.0s)
step 117
top_cam
camera top_cam step 117
left_cam
camera left_cam step 117
right_cam
camera right_cam step 117
assistant
agent noteThe dark fruit lifted securely, and only the yellow fruit remains on the table. I’m lowering the right gripper around the yellow fruit while the left arm holds clear.
move_to
right_x0.3450right_y0.2500right_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]: [-0.952, 1.7035, 0.6231, 0.4744, -0.8753, -0.4007, 0.5241, 0.8707, 1.6173, 0.8921, 0.2214, 0.7742, 0.1822, 0.9969] state[eef_state]: left_x=0.3304 left_y=-0.2239 left_z=0.0816 left_yaw=-0.0374 left_pitch=0.1951 left_roll=0.1024 left_gripper=0.5241 right_x=0.3672 right_y=0.2497 right_z=0.1635 right_yaw=0.1264 right_pitch=0.2082 right_roll=-0.1634 right_gripper=0.9969 state[joint_eff]: [0.0205, -8.1573, 7.0222, 1.5458, -0.3541, -0.0415, 1.0281, 0.212, -10.2632, 9.0325, 2.0537, 0.3394, -0.0073, 0.0415] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 117): [image omitted: streamed camera frame] camera 'left_cam' (step 117): [image omitted: streamed camera frame] camera 'right_cam' (step 117): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.345,"right_y":0.25,"right_z":0.03},"note":"The dark fruit lifted securely, and only the yellow fruit remains on the table. I’m lowering the right gripper around the yellow fruit while the left arm holds clear."})
tool
executing move_to over 9 steps (0.9s)
step 126
top_cam
camera top_cam step 126
left_cam
camera left_cam step 126
right_cam
camera right_cam step 126
assistant
agent noteThe yellow fruit is slightly right of the jaw center. I’m making a small alignment correction and closing gently around it.
move_to
right_x0.3600right_y0.2330right_z0.0320right_gripper0.4000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.9516, 1.6981, 0.6254, 0.4534, -0.8745, -0.4004, 0.5262, 0.9207, 1.9766, 0.6621, 0.7155, 0.8032, 0.2016, 0.9969] state[eef_state]: left_x=0.3296 left_y=-0.2228 left_z=0.081 left_yaw=-0.0398 left_pitch=0.1865 left_roll=0.1132 left_gripper=0.5262 right_x=0.3427 right_y=0.2466 right_z=0.0242 right_yaw=0.1551 right_pitch=0.1512 right_roll=-0.2228 right_gripper=0.9969 state[joint_eff]: [-0.3487, -6.5983, 4.9573, 1.7558, -0.2662, -0.0464, 0.9841, 0.5128, -8.335, 3.8906, 1.8046, 0.4615, 0.1929, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 126): [image omitted: streamed camera frame] camera 'left_cam' (step 126): [image omitted: streamed camera frame] camera 'right_cam' (step 126): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.36,"right_y":0.233,"right_z":0.032,"right_gripper":0.4},"note":"The yellow fruit is slightly right of the jaw center. I’m making a small alignment correction and closing gently around it."})
tool
executing move_to over 6 steps (0.6s)
step 132
top_cam
camera top_cam step 132
left_cam
camera left_cam step 132
right_cam
camera right_cam step 132
assistant
agent noteThe yellow fruit is centered and the jaws have stopped against it. I’m test-lifting it before moving over the blue bowl.
move_to
right_z0.1100
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.9516, 1.6981, 0.6254, 0.4511, -0.8749, -0.4004, 0.5283, 0.8543, 1.9881, 0.6548, 0.7219, 0.7464, 0.1555, 0.4392] state[eef_state]: left_x=0.3295 left_y=-0.2225 left_z=0.0807 left_yaw=-0.0399 left_pitch=0.1853 left_roll=0.1152 left_gripper=0.5283 right_x=0.3548 right_y=0.2303 right_z=0.0149 right_yaw=0.1577 right_pitch=0.1146 right_roll=-0.2489 right_gripper=0.4392 state[joint_eff]: [-0.335, -6.9949, 5.3128, 1.5067, -0.3248, -0.0562, 0.7399, -0.4308, -11.1248, 4.2735, 1.6239, 0.2222, -0.0708, 1.5507] camera 'top_cam' (step 132): [image omitted: streamed camera frame] camera 'left_cam' (step 132): [image omitted: streamed camera frame] camera 'right_cam' (step 132): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.11},"note":"The yellow fruit is centered and the jaws have stopped against it. I’m test-lifting it before moving over the blue bowl."})
tool
executing move_to over 7 steps (0.7s)
step 139
top_cam
camera top_cam step 139
left_cam
camera left_cam step 139
right_cam
camera right_cam step 139
assistant
agent noteThe yellow fruit lifted successfully. I’m carrying it above the blue bowl, high enough to clear the pear already inside.
move_to
right_x0.4350right_y0.1750right_z0.2300right_pitch0.1500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.9516, 1.6981, 0.6254, 0.4484, -0.8745, -0.4004, 0.5288, 0.8524, 1.6829, 0.7361, 0.3332, 0.7387, 0.1455, 0.4403] state[eef_state]: left_x=0.3293 left_y=-0.2224 left_z=0.0803 left_yaw=-0.0406 left_pitch=0.1835 left_roll=0.1172 left_gripper=0.5288 right_x=0.3538 right_y=0.2294 right_z=0.0952 right_yaw=0.167 right_pitch=0.1087 right_roll=-0.2559 right_gripper=0.4403 state[joint_eff]: [-0.3487, -6.9538, 5.1761, 1.4921, -0.315, -0.0269, 0.7643, -0.0615, -8.5812, 8.0889, 1.6972, 0.2955, 0.0562, 1.0281] camera 'top_cam' (step 139): [image omitted: streamed camera frame] camera 'left_cam' (step 139): [image omitted: streamed camera frame] camera 'right_cam' (step 139): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.435,"right_y":0.175,"right_z":0.23,"right_pitch":0.15},"note":"The yellow fruit lifted successfully. I’m carrying it above the blue bowl, high enough to clear the pear already inside."})
tool
executing move_to over 9 steps (0.9s)
step 148
top_cam
camera top_cam step 148
left_cam
camera left_cam step 148
right_cam
camera right_cam step 148
assistant
agent noteThe yellow fruit is over the blue bowl. I’m lowering slightly and releasing it beside the pear.
move_to
right_z0.1700right_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]: [-0.9516, 1.6981, 0.625, 0.4484, -0.8745, -0.4004, 0.5319, 0.5667, 1.5635, 1.0641, -0.0105, 0.5148, -0.0486, 0.4431] state[eef_state]: left_x=0.3292 left_y=-0.2223 left_z=0.0801 left_yaw=-0.0406 left_pitch=0.1833 left_roll=0.1175 left_gripper=0.5319 right_x=0.4307 right_y=0.1752 right_z=0.2023 right_yaw=0.156 right_pitch=0.1068 right_roll=-0.274 right_gripper=0.4431 state[joint_eff]: [-0.2667, -6.9538, 5.2991, 1.4823, -0.2662, -0.0464, 0.5983, -0.253, -9.5932, 9.1282, 1.8779, 0.0806, -0.0659, 1.033] camera 'top_cam' (step 148): [image omitted: streamed camera frame] camera 'left_cam' (step 148): [image omitted: streamed camera frame] camera 'right_cam' (step 148): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.17,"right_gripper":1},"note":"The yellow fruit is over the blue bowl. I’m lowering slightly and releasing it beside the pear."})
tool
executing move_to over 6 steps (0.6s)
step 154
top_cam
camera top_cam step 154
left_cam
camera left_cam step 154
right_cam
camera right_cam step 154
assistant
agent noteThe pear is visible in the blue bowl, while the yellow fruit appears close to its left rim. I’m clearing the view and lining up beside the bowl so I can check the placement and grasp its rim.
move_to
right_x0.4300right_y0.0750right_z0.1300right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.9516, 1.6981, 0.6247, 0.4484, -0.8745, -0.4, 0.534, 0.5667, 1.5974, 0.9798, 0.0692, 0.4999, -0.0605, 0.9956] state[eef_state]: left_x=0.3292 left_y=-0.2222 left_z=0.08 left_yaw=-0.0409 left_pitch=0.183 left_roll=0.1182 left_gripper=0.534 right_x=0.4264 right_y=0.1752 right_z=0.1658 right_yaw=0.1757 right_pitch=0.0666 right_roll=-0.2926 right_gripper=0.9956 state[joint_eff]: [-0.2803, -7.0085, 5.3538, 1.4921, -0.2711, -0.0513, 0.525, -0.0479, -6.612, 6.4205, 2.1172, 0.2759, 0.0611, -0.2466] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 154): [image omitted: streamed camera frame] camera 'left_cam' (step 154): [image omitted: streamed camera frame] camera 'right_cam' (step 154): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.075,"right_z":0.13,"right_pitch":0,"right_roll":0,"right_yaw":0},"note":"The pear is visible in the blue bowl, while the yellow fruit appears close to its left rim. I’m clearing the view and lining up beside the bowl so I can check the placement and grasp its rim."})
tool
executing move_to over 9 steps (0.9s)
step 163
top_cam
camera top_cam step 163
left_cam
camera left_cam step 163
right_cam
camera right_cam step 163
assistant
agent noteThe yellow fruit landed outside the bowl, so it still needs to be recovered. I’m first positioning the right fingers across the blue bowl’s near rim to bring it within reach of the left arm holding the dark fruit.
move_to
right_x0.4300right_y0.1350right_z0.0550right_pitch0.1500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.9516, 1.6981, 0.6247, 0.4484, -0.8745, -0.4004, 0.5367, 0.2626, 1.5517, 0.8227, 0.0849, 0.2478, 0.083, 0.9962] state[eef_state]: left_x=0.3292 left_y=-0.2222 left_z=0.08 left_yaw=-0.0407 left_pitch=0.183 left_roll=0.1178 left_gripper=0.5367 right_x=0.4263 right_y=0.0735 right_z=0.1127 right_yaw=0.0041 right_pitch=-0.0546 right_roll=-0.0676 right_gripper=0.9962 state[joint_eff]: [-0.3761, -7.0085, 5.4222, 1.4872, -0.2906, -0.022, 0.2662, -0.1846, -9.5521, 6.5709, 1.9853, -0.0171, 0.1978, 0.0464] camera 'top_cam' (step 163): [image omitted: streamed camera frame] camera 'left_cam' (step 163): [image omitted: streamed camera frame] camera 'right_cam' (step 163): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.135,"right_z":0.055,"right_pitch":0.15},"note":"The yellow fruit landed outside the bowl, so it still needs to be recovered. I’m first positioning the right fingers across the blue bowl’s near rim to bring it within reach of the left arm holding the dark fruit."})
tool
executing move_to over 7 steps (0.7s)
step 170
top_cam
camera top_cam step 170
left_cam
camera left_cam step 170
right_cam
camera right_cam step 170
assistant
agent noteThe open fingers straddle the bowl’s right-side rim. I’m closing on that rim so I can lift and reposition the bowl without tipping 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]: [-0.9516, 1.6981, 0.6243, 0.4484, -0.8749, -0.4004, 0.5388, 0.461, 1.8366, 0.6743, 0.6174, 0.4126, 0.1238, 0.9963] state[eef_state]: left_x=0.3291 left_y=-0.222 left_z=0.0799 left_yaw=-0.0405 left_pitch=0.183 left_roll=0.1183 left_gripper=0.5388 right_x=0.4242 right_y=0.1356 right_z=0.0457 right_yaw=0.0442 right_pitch=0.0711 right_roll=-0.0873 right_gripper=0.9963 state[joint_eff]: [-0.1983, -6.9675, 5.1214, 1.4969, -0.3346, -0.0513, 0.1978, 0.2393, -7.788, 4.0684, 1.746, 0.2222, 0.0171, -0.0073] camera 'top_cam' (step 170): [image omitted: streamed camera frame] camera 'left_cam' (step 170): [image omitted: streamed camera frame] camera 'right_cam' (step 170): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The open fingers straddle the bowl’s right-side rim. I’m closing on that rim so I can lift and reposition the bowl without tipping it."})
tool
executing move_to over 10 steps (1.0s)
step 180
top_cam
camera top_cam step 180
left_cam
camera left_cam step 180
right_cam
camera right_cam step 180
assistant
agent noteThe gripper has closed against something firm at the rim. I’m making a short lift to check that the bowl, not just the pear, is attached.
move_to
right_z0.1200
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]: [-0.9516, 1.6978, 0.6235, 0.4484, -0.8745, -0.4004, 0.5409, 0.4625, 1.8454, 0.6701, 0.6754, 0.4107, 0.1234, 0.5956] state[eef_state]: left_x=0.329 left_y=-0.2219 left_z=0.0798 left_yaw=-0.0408 left_pitch=0.1826 left_roll=0.1184 left_gripper=0.5409 right_x=0.4282 right_y=0.1387 right_z=0.0521 right_yaw=0.0458 right_pitch=0.1119 right_roll=-0.0685 right_gripper=0.5956 state[joint_eff]: [-0.1162, -6.9812, 5.2034, 1.5116, -0.2857, -0.0562, 0.2125, -0.4991, -8.5538, 5.2308, 1.1648, 0.0806, -0.0269, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 180): [image omitted: streamed camera frame] camera 'left_cam' (step 180): [image omitted: streamed camera frame] camera 'right_cam' (step 180): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.12},"note":"The gripper has closed against something firm at the rim. I’m making a short lift to check that the bowl, not just the pear, is attached."})
tool
executing move_to over 5 steps (0.5s)
step 185
top_cam
camera top_cam step 185
left_cam
camera left_cam step 185
right_cam
camera right_cam step 185
assistant
agent noteThe bowl appears to have risen with the gripper. I’m bringing it toward the center and raising the held dark fruit so it can be placed safely inside.
move_to
right_x0.4450right_y0.2600right_z0.1900left_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]: [-0.9516, 1.6978, 0.6235, 0.448, -0.8745, -0.4004, 0.5424, 0.4625, 1.6646, 0.738, 0.3965, 0.4026, 0.12, 0.5807] state[eef_state]: left_x=0.329 left_y=-0.2219 left_z=0.0797 left_yaw=-0.0409 left_pitch=0.1823 left_roll=0.1187 left_gripper=0.5424 right_x=0.4237 right_y=0.1379 right_z=0.0975 right_yaw=0.0555 right_pitch=0.0825 right_roll=-0.08 right_gripper=0.5807 state[joint_eff]: [-0.0615, -6.9402, 5.3812, 1.4872, -0.315, -0.0415, 0.1441, -0.1299, -8.8684, 8.4171, 1.9316, 0.1783, -0.0024, 1.033] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 185): [image omitted: streamed camera frame] camera 'left_cam' (step 185): [image omitted: streamed camera frame] camera 'right_cam' (step 185): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.445,"right_y":0.26,"right_z":0.19,"left_z":0.21},"note":"The bowl appears to have risen with the gripper. I’m bringing it toward the center and raising the held dark fruit so it can be placed safely inside."})
tool
executing move_to over 11 steps (1.1s)
step 196
top_cam
camera top_cam step 196
left_cam
camera left_cam step 196
right_cam
camera right_cam step 196
assistant
agent noteThe clearer view shows that I lifted the pear rather than the bowl. I’m returning the pear to the blue bowl before attempting a rim grasp farther from the fruit.
move_to
right_x0.4350right_y0.1750right_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.9516, 1.4334, 0.9009, -0.1104, -0.8745, -0.4118, 0.5438, 0.7189, 1.8118, 1.3014, -0.1329, 0.5785, 0.2401, 0.5841] state[eef_state]: left_x=0.3293 left_y=-0.2224 left_z=0.191 left_yaw=-0.037 left_pitch=0.1728 left_roll=0.1215 left_gripper=0.5438 right_x=0.438 right_y=0.2597 right_z=0.1704 right_yaw=0.1088 right_pitch=0.0378 right_roll=-0.1151 right_gripper=0.5841 state[joint_eff]: [-0.0479, -7.8427, 9.2103, 1.4432, -0.3101, 0.0659, 0.1392, -0.0205, -9.6205, 8.7316, 1.8632, 0.3932, 0.2613, 0.6862] camera 'top_cam' (step 196): [image omitted: streamed camera frame] camera 'left_cam' (step 196): [image omitted: streamed camera frame] camera 'right_cam' (step 196): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.435,"right_y":0.175,"right_z":0.15},"note":"The clearer view shows that I lifted the pear rather than the bowl. I’m returning the pear to the blue bowl before attempting a rim grasp farther from the fruit."})
tool
executing move_to over 8 steps (0.8s)
step 204
top_cam
camera top_cam step 204
left_cam
camera left_cam step 204
right_cam
camera right_cam step 204
assistant
agent noteI’m releasing the pear back into the blue bowl. The left arm is moving the dark fruit toward the bowl’s left edge, rotating it so its body extends inward.
move_to
right_gripper1.0000left_x0.4300left_y-0.4000left_z0.2300left_yaw-0.8000
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]: [-0.9516, 1.4322, 0.9028, -0.1284, -0.8719, -0.4126, 0.5452, 0.5434, 1.6752, 1.013, -0.004, 0.4404, 0.136, 0.5862] state[eef_state]: left_x=0.3283 left_y=-0.2214 left_z=0.1893 left_yaw=-0.0405 left_pitch=0.1624 left_roll=0.1317 left_gripper=0.5452 right_x=0.4295 right_y=0.1757 right_z=0.1293 right_yaw=0.0984 right_pitch=-0.0317 right_roll=-0.1419 right_gripper=0.5862 state[joint_eff]: [-0.1709, -5.9419, 6.4889, 1.5995, -0.3541, -0.0366, 0.1294, -0.253, -9.9624, 6.7897, 2.1807, 0.1245, -0.1099, 0.6716] camera 'top_cam' (step 204): [image omitted: streamed camera frame] camera 'left_cam' (step 204): [image omitted: streamed camera frame] camera 'right_cam' (step 204): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"left_x":0.43,"left_y":-0.4,"left_z":0.23,"left_yaw":-0.8},"note":"I’m releasing the pear back into the blue bowl. The left arm is moving the dark fruit toward the bowl’s left edge, rotating it so its body extends inward."})
tool
executing move_to over 16 steps (1.6s)
step 220
top_cam
camera top_cam step 220
left_cam
camera left_cam step 220
assistant
agent noteThe dark fruit is near the blue bowl’s left edge, but the arms are getting close. I’m withdrawing the right arm and lowering the left-held fruit toward the bowl opening.
move_to
right_x0.3200right_y0.0200right_z0.2200left_x0.4050left_y-0.4000left_z0.1400left_pitch0.3000
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]: [-0.7502, 1.8999, 1.4689, -0.1112, -0.1738, 0.0635, 0.5461, 0.5091, 1.668, 0.9974, -0.028, 0.5014, 0.1547, 0.9982] state[eef_state]: left_x=0.4346 left_y=-0.3583 left_z=0.1882 left_yaw=-0.6445 left_pitch=0.0306 left_roll=0.1616 left_gripper=0.5461 right_x=0.4301 right_y=0.1469 right_z=0.1249 right_yaw=0.0049 right_pitch=-0.0413 right_roll=-0.1756 right_gripper=0.9982 state[joint_eff]: [-1.5932, -10.3453, 11.3162, 2.7912, 0.8913, 0.188, 0.0757, 2.6872, -7.5282, 7.7744, 1.7949, -0.5055, -0.2613, -0.0269] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 220): [image omitted: streamed camera frame] camera 'left_cam' (step 220): [image omitted: streamed camera frame] camera 'right_cam' (step 220): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.32,"right_y":0.02,"right_z":0.22,"left_x":0.405,"left_y":-0.4,"left_z":0.14,"left_pitch":0.3},"note":"The dark fruit is near the blue bowl’s left edge, but the arms are getting close. I’m withdrawing the right arm and lowering the left-held fruit toward the bowl opening."})
tool
executing move_to over 11 steps (1.1s)
step 231
assistant
agent noteThe left arm cannot reach far enough to release the dark fruit safely. The blue bowl is farther forward than my earlier estimate, so I’m approaching its exposed right rim at that corrected position.
move_to
right_x0.4900right_y0.1250right_z0.0850right_pitch0.3000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.7731, 1.9129, 1.3834, -0.0177, -0.1936, 0.0525, 0.5469, 0.1993, 0.9939, 0.8383, -0.4465, 0.2832, -0.0284, 0.9983] state[eef_state]: left_x=0.4259 left_y=-0.363 left_z=0.1622 left_yaw=-0.6448 left_pitch=0.0278 left_roll=0.1629 left_gripper=0.5469 right_x=0.3277 right_y=0.0195 right_z=0.219 right_yaw=-0.0288 right_pitch=-0.0162 right_roll=-0.1694 right_gripper=0.9983 state[joint_eff]: [-0.3897, -11.7675, 7.4325, 2.0537, -0.1294, -0.0122, 0.0611, -0.1709, -2.441, 8.0342, 1.79, 0.0024, -0.0806, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 231): [image omitted: streamed camera frame] camera 'left_cam' (step 231): [image omitted: streamed camera frame] camera 'right_cam' (step 231): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.49,"right_y":0.125,"right_z":0.085,"right_pitch":0.3,"right_roll":0,"right_yaw":0},"note":"The left arm cannot reach far enough to release the dark fruit safely. The blue bowl is farther forward than my earlier estimate, so I’m approaching its exposed right rim at that corrected position."})
tool
executing move_to over 13 steps (1.3s)
step 244
assistant
agent noteThe pear is left of the finger center, so I’m shifting outward before closing across the bowl wall rather than around the fruit.
move_to
right_x0.4900right_y0.0950right_z0.0750right_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]: [-0.7727, 1.9209, 1.3529, -0.0265, -0.1936, 0.0521, 0.5475, 0.3641, 1.9633, 0.783, 0.7582, 0.3367, 0.0643, 0.9983] state[eef_state]: left_x=0.4209 left_y=-0.3578 left_z=0.1426 left_yaw=-0.6442 left_pitch=-0.0191 left_roll=0.1687 left_gripper=0.5475 right_x=0.4736 right_y=0.1219 right_z=0.0554 right_yaw=0.0375 right_pitch=0.1701 right_roll=-0.0633 right_gripper=0.9983 state[joint_eff]: [-0.1436, -11.1521, 9.2103, 1.7753, -0.1099, -0.0562, 0.0611, 0.0479, -10.5778, 6.0513, 2.2149, 0.3053, 0.1978, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 244): [image omitted: streamed camera frame] camera 'left_cam' (step 244): [image omitted: streamed camera frame] camera 'right_cam' (step 244): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.49,"right_y":0.095,"right_z":0.075,"right_gripper":0},"note":"The pear is left of the finger center, so I’m shifting outward before closing across the bowl wall rather than around the fruit."})
tool
executing move_to over 10 steps (1.0s)
step 254
assistant
agent noteThe right fingers now appear to hold the bowl’s outer wall. I’m lifting it and shifting it toward the center, while raising the dark fruit out of the way.
move_to
right_z0.1500right_y0.1800left_x0.3700left_z0.2400
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]: [-0.7731, 1.9209, 1.3529, -0.0422, -0.1936, 0.0521, 0.5483, 0.2836, 1.9434, 0.8078, 0.712, 0.2451, 0.0353, 0.5155] state[eef_state]: left_x=0.4192 left_y=-0.3565 left_z=0.1394 left_yaw=-0.6446 left_pitch=-0.0346 left_roll=0.1707 left_gripper=0.5483 right_x=0.4854 right_y=0.1006 right_z=0.0619 right_yaw=0.0504 right_pitch=0.1573 right_roll=-0.0541 right_gripper=0.5155 state[joint_eff]: [-0.212, -10.6872, 6.7897, 1.8242, -0.1148, -0.0806, 0.0708, -0.9231, -11.2342, 7.2547, 1.5604, 0.1685, -0.0904, 0.9646] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 254): [image omitted: streamed camera frame] camera 'left_cam' (step 254): [image omitted: streamed camera frame] camera 'right_cam' (step 254): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.15,"right_y":0.18,"left_x":0.37,"left_z":0.24},"note":"The right fingers now appear to hold the bowl’s outer wall. I’m lifting it and shifting it toward the center, while raising the dark fruit out of the way."})
tool
executing move_to over 7 steps (0.7s)
step 261
assistant
agent noteThe bowl has moved toward the center with the pear still inside. I’m setting it down there and positioning the dark fruit over its opening.
move_to
right_z0.0750left_x0.4250left_y-0.3500left_z0.2400
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]: [-0.8478, 1.7779, 1.486, -0.3607, -0.2615, -0.001, 0.5489, 0.4778, 1.8473, 1.0428, 0.3233, 0.3904, 0.0952, 0.5144] state[eef_state]: left_x=0.3794 left_y=-0.3555 left_z=0.2113 left_yaw=-0.6338 left_pitch=-0.0648 left_roll=0.1742 left_gripper=0.5489 right_x=0.4842 right_y=0.179 right_z=0.1232 right_yaw=0.0923 right_pitch=0.1242 right_roll=-0.0779 right_gripper=0.5144 state[joint_eff]: [-1.3333, -11.7402, 9.5248, 1.6777, -0.2369, -0.0073, 0.0513, 0.2803, -12.5197, 8.1983, 1.8144, 0.2808, 0.2173, -0.1294] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 261): [image omitted: streamed camera frame] camera 'left_cam' (step 261): [image omitted: streamed camera frame] camera 'right_cam' (step 261): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.075,"left_x":0.425,"left_y":-0.35,"left_z":0.24},"note":"The bowl has moved toward the center with the pear still inside. I’m setting it down there and positioning the dark fruit over its opening."})
tool
executing move_to over 4 steps (0.4s)
step 265
assistant
agent noteI’m opening the right gripper to leave the bowl on the table and lowering the dark fruit toward the opening. I’ll check the unobstructed bowl position before releasing that fruit.
move_to
right_gripper1.0000left_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]: [-0.7612, 1.8866, 1.6726, -0.4862, -0.2192, 0.0219, 0.5497, 0.4805, 1.9392, 0.9886, 0.4614, 0.3988, 0.086, 0.5142] state[eef_state]: left_x=0.4197 left_y=-0.3419 left_z=0.2134 left_yaw=-0.5941 left_pitch=-0.1187 left_roll=0.1753 left_gripper=0.5497 right_x=0.4841 right_y=0.179 right_z=0.0845 right_yaw=0.0933 right_pitch=0.1178 right_roll=-0.0929 right_gripper=0.5142 state[joint_eff]: [-0.5128, -11.3162, 10.2769, 1.8046, 0.1294, 0.2173, 0.0611, -0.2393, -7.7607, 4.3692, 1.4872, 0.0464, 0.0513, -0.0269] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 265): [image omitted: streamed camera frame] camera 'left_cam' (step 265): [image omitted: streamed camera frame] camera 'right_cam' (step 265): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"left_z":0.16},"note":"I’m opening the right gripper to leave the bowl on the table and lowering the dark fruit toward the opening. I’ll check the unobstructed bowl position before releasing that fruit."})
tool
executing move_to over 5 steps (0.5s)
step 270
assistant
agent noteThe left arm is not descending while the right arm is close by. I’m parking the right arm to remove that obstruction and expose the bowl.
move_to
right_x0.3000right_y0.0000right_z0.2300
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]: [-0.7528, 1.8965, 1.7039, -0.5163, -0.197, 0.0372, 0.5498, 0.482, 1.9503, 0.9783, 0.477, 0.3901, 0.0711, 0.9956] state[eef_state]: left_x=0.421 left_y=-0.3422 left_z=0.2158 left_yaw=-0.6124 left_pitch=-0.131 left_roll=0.1742 left_gripper=0.5498 right_x=0.4823 right_y=0.1806 right_z=0.0779 right_yaw=0.1103 right_pitch=0.1101 right_roll=-0.1046 right_gripper=0.9956 state[joint_eff]: [-0.4034, -11.0291, 9.7573, 1.8877, -0.0317, 0.1392, 0.0073, -0.253, -10.7556, 6.5436, 1.7265, 0.1245, 0.1148, -0.0806] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 270): [image omitted: streamed camera frame] camera 'left_cam' (step 270): [image omitted: streamed camera frame] camera 'right_cam' (step 270): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0,"right_z":0.23},"note":"The left arm is not descending while the right arm is close by. I’m parking the right arm to remove that obstruction and expose the bowl."})
tool
executing move_to over 16 steps (1.6s)
step 286
assistant
agent noteThe bowl stayed farther to the right than intended, and the yellow fruit is still outside it. I’m moving the left-held fruit away and approaching the yellow fruit again with the right arm.
move_to
left_x0.3500left_y-0.3000left_z0.2000left_yaw0.0000left_pitch0.3000right_x0.4950right_y0.2700right_z0.0900right_pitch0.4000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.7525, 1.8965, 1.7031, -0.535, -0.1936, 0.033, 0.5503, -0.0505, 0.7914, 0.6567, -0.3119, -0.0338, -0.1505, 0.9962] state[eef_state]: left_x=0.4186 left_y=-0.3404 left_z=0.212 left_yaw=-0.6123 left_pitch=-0.1502 left_roll=0.1715 left_gripper=0.5503 right_x=0.308 right_y=-0.006 right_z=0.22 right_yaw=0.054 right_pitch=0.1185 right_roll=-0.1079 right_gripper=0.9962 state[joint_eff]: [-0.3487, -10.5641, 7.0906, 1.7949, -0.1197, 0.0073, 0.0366, 0.0205, -1.2103, 10.1675, 1.956, -0.2125, -0.0611, 0.0562] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 286): [image omitted: streamed camera frame] camera 'left_cam' (step 286): [image omitted: streamed camera frame] camera 'right_cam' (step 286): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.3,"left_z":0.2,"left_yaw":0,"left_pitch":0.3,"right_x":0.495,"right_y":0.27,"right_z":0.09,"right_pitch":0.4,"right_roll":0,"right_yaw":0},"note":"The bowl stayed farther to the right than intended, and the yellow fruit is still outside it. I’m moving the left-held fruit away and approaching the yellow fruit again with the right arm."})
tool
executing move_to over 24 steps (2.4s)
step 310
assistant
agent noteThe yellow fruit is aligned just below the right wrist view. I’m lowering and closing around it while moving the left arm well clear of the working area.
move_to
left_x0.2800left_y-0.1000left_z0.2200right_x0.5100right_y0.2550right_z0.0400right_gripper0.3500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-1.0431, 1.7576, 1.1557, -0.1005, -1.0706, -0.358, 0.5504, 0.6445, 2.2066, 1.1168, 0.8165, 0.6514, 0.1135, 0.9963] state[eef_state]: left_x=0.3501 left_y=-0.2858 left_z=0.1823 left_yaw=-0.0285 left_pitch=0.2336 left_roll=0.2934 left_gripper=0.5504 right_x=0.4989 right_y=0.2455 right_z=0.0783 right_yaw=0.0003 right_pitch=0.3516 right_roll=-0.0416 right_gripper=0.9963 state[joint_eff]: [-1.5248, -9.1419, 7.3231, 2.4396, 0.1343, -0.2125, -0.0073, 3.7675, -11.3846, 6.7761, 2.0342, 0.3297, 0.0415, -0.0073] camera 'top_cam' (step 310): [image omitted: streamed camera frame] camera 'left_cam' (step 310): [image omitted: streamed camera frame] camera 'right_cam' (step 310): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.28,"left_y":-0.1,"left_z":0.22,"right_x":0.51,"right_y":0.255,"right_z":0.04,"right_gripper":0.35},"note":"The yellow fruit is aligned just below the right wrist view. I’m lowering and closing around it while moving the left arm well clear of the working area."})
tool
executing move_to over 17 steps (1.7s)
step 327
assistant
agent noteThe yellow fruit is between the fingers, but the partial closure did not show firm contact. I’m completing the grasp and making a small test lift.
move_to
right_gripper0.0000right_z0.1400
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.8551, 0.9184, 0.6292, -0.2352, -0.9268, -0.1791, 0.5504, 0.6464, 2.3257, 1.1709, 0.8997, 0.6502, 0.1051, 0.3525] state[eef_state]: left_x=0.2827 left_y=-0.1044 left_z=0.2214 left_yaw=-0.0076 left_pitch=0.2472 left_roll=0.269 left_gripper=0.5504 right_x=0.5084 right_y=0.2541 right_z=0.0515 right_yaw=0.004 right_pitch=0.3659 right_roll=-0.0384 right_gripper=0.3525 state[joint_eff]: [0.2667, -1.812, 6.7487, 1.6777, -0.2173, 0.1294, -0.0122, 0.0342, -9.2513, 6.8034, 1.6093, 0.0952, 0.0415, 0.0806] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 327): [image omitted: streamed camera frame] camera 'left_cam' (step 327): [image omitted: streamed camera frame] camera 'right_cam' (step 327): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0,"right_z":0.14},"note":"The yellow fruit is between the fingers, but the partial closure did not show firm contact. I’m completing the grasp and making a small test lift."})
tool
executing move_to over 6 steps (0.6s)
step 333
assistant
agent noteThe right gripper closed empty, so the yellow fruit was not recovered. I don’t have a reliable bowl grasp for a controlled pour; I’m setting the dark fruit safely back on the table and parking the right arm.
move_to
left_x0.3300left_y-0.2300left_z0.0350left_pitch0.3000left_roll0.0000right_x0.3000right_y0.0000right_z0.2200right_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]: [-0.8532, 0.9245, 0.6205, -0.255, -0.9226, -0.1726, 0.5505, 0.6472, 2.1376, 1.1816, 0.6579, 0.6418, 0.0944, 0.0103] state[eef_state]: left_x=0.2816 left_y=-0.103 left_z=0.2131 left_yaw=-0.0185 left_pitch=0.2215 left_roll=0.3003 left_gripper=0.5505 right_x=0.504 right_y=0.2529 right_z=0.1073 right_yaw=0.0275 right_pitch=0.3294 right_roll=-0.0746 right_gripper=0.0103 state[joint_eff]: [-0.1983, -2.3179, 7.5419, 1.7021, -0.3053, -0.1001, -0.0073, -0.0615, -13.9419, 8.8137, 1.8144, 0.2271, 0.0904, 0.9597] camera 'top_cam' (step 333): [image omitted: streamed camera frame] camera 'left_cam' (step 333): [image omitted: streamed camera frame] camera 'right_cam' (step 333): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.33,"left_y":-0.23,"left_z":0.035,"left_pitch":0.3,"left_roll":0,"right_x":0.3,"right_y":0,"right_z":0.22,"right_gripper":1},"note":"The right gripper closed empty, so the yellow fruit was not recovered. I don’t have a reliable bowl grasp for a controlled pour; I’m setting the dark fruit safely back on the table and parking the right arm."})
tool
executing move_to over 22 steps (2.2s)
step 355
assistant
agent noteThe dark fruit is back at table level. I’m opening the left fingers to leave it supported on the table.
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]: [-0.9604, 1.9911, 0.5083, 0.9577, -0.9012, -0.3679, 0.5505, 0.02, 0.6601, 0.4244, 0.0414, 0.0921, -0.065, 0.9977] state[eef_state]: left_x=0.3255 left_y=-0.2174 left_z=0.0243 left_yaw=-0.0292 left_pitch=0.2535 left_roll=0.0765 left_gripper=0.5505 right_x=0.3055 right_y=-0.0065 right_z=0.2277 right_yaw=-0.0318 right_pitch=0.3735 right_roll=-0.0721 right_gripper=0.9977 state[joint_eff]: [-0.9778, -7.8974, 4.4923, 1.9609, -0.2662, -0.1294, -0.0171, -0.1026, -0.1846, 7.9111, 1.9658, -0.1734, -0.1929, -0.1294] camera 'top_cam' (step 355): [image omitted: streamed camera frame] camera 'left_cam' (step 355): [image omitted: streamed camera frame] camera 'right_cam' (step 355): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The dark fruit is back at table level. I’m opening the left fingers to leave it supported on the table."})
tool
executing move_to over 5 steps (0.5s)
step 360
assistant
agent noteThe dark fruit is released and stable on the table. I’m lifting both arms to their parked positions, leaving the bowls and fruits undisturbed.
move_to
left_x0.2960left_y0.0000left_z0.2000left_yaw0.0000left_pitch0.0000left_roll0.0000right_x0.2960right_y0.0000right_z0.2000right_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]: [-0.9619, 2.0083, 0.5102, 0.9619, -0.8997, -0.3714, 0.9955, 0.0216, 0.6647, 0.424, 0.0025, 0.0757, -0.0792, 0.9982] state[eef_state]: left_x=0.3248 left_y=-0.2177 left_z=0.0194 left_yaw=-0.0323 left_pitch=0.2464 left_roll=0.0818 left_gripper=0.9955 right_x=0.3041 right_y=-0.0032 right_z=0.2168 right_yaw=-0.0068 right_pitch=0.3289 right_roll=-0.0849 right_gripper=0.9982 state[joint_eff]: [0.0205, -8.9504, 2.9197, 1.4823, -0.3053, -0.0073, -0.1392, -0.3624, -0.8821, 7.4325, 2.2344, 0.1343, 0.105, 0.0415] camera 'top_cam' (step 360): [image omitted: streamed camera frame] camera 'left_cam' (step 360): [image omitted: streamed camera frame] camera 'right_cam' (step 360): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.296,"left_y":0,"left_z":0.2,"left_yaw":0,"left_pitch":0,"left_roll":0,"right_x":0.296,"right_y":0,"right_z":0.2,"right_pitch":0,"right_roll":0},"note":"The dark fruit is released and stable on the table. I’m lifting both arms to their parked positions, leaving the bowls and fruits undisturbed."})
tool
executing move_to over 20 steps (2.0s)
step 380
assistant
agent noteI could not complete the sequence reliably. The pear is in the blue bowl, but the yellow and dark fruits remain on the table, and no pour was attempted. Bowl-rim grasps were not secure enough to proceed safely. Both grippers are empty and the arms are parked.
give_up
hindsightIn this layout the blue bowl is beyond the left arm’s comfortable lateral reach; use the right arm or positively relocate the bowl before carrying a fruit there with the left. A nonzero gripper reading during a rim attempt can mean the pear was grasped instead—verify that the bowl itself moves, not just its contents. The yellow fruit landed outside the bowl despite apparent overhead alignment, so confirm the fruit body, not only the grasp point, is over the opening before release. Several diagonal long-reach targets had substantial position and orientation errors; always use the measured pose and avoid continuing from an untracked target.
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]: [-0.0517, 0.8169, 0.6403, -0.3927, -0.0967, -0.0837, 0.9961, -0.0105, 0.8074, 0.6518, -0.432, 0.0029, -0.041, 0.9983] state[eef_state]: left_x=0.299 left_y=0.0052 left_z=0.1881 left_yaw=0.0686 left_pitch=0.0048 left_roll=-0.0011 left_gripper=0.9961 right_x=0.2943 right_y=-0.0 right_z=0.1874 right_yaw=0.0036 right_pitch=-0.0194 right_roll=-0.0224 right_gripper=0.9983 state[joint_eff]: [0.3624, -1.7026, 9.6479, 1.7265, 0.1099, 0.1245, 0.0513, -0.4034, -1.0598, 9.935, 1.8242, -0.0562, 0.1783, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 380): [image omitted: streamed camera frame] camera 'left_cam' (step 380): [image omitted: streamed camera frame] camera 'right_cam' (step 380): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I could not complete the sequence reliably. The pear is in the blue bowl, but the yellow and dark fruits remain on the table, and no pour was attempted. Bowl-rim grasps were not secure enough to proceed safely. Both grippers are empty and the arms are parked.","hindsight":"In this layout the blue bowl is beyond the left arm’s comfortable lateral reach; use the right arm or positively relocate the bowl before carrying a fruit there with the left. A nonzero gripper reading during a rim attempt can mean the pear was grasped instead—verify that the bowl itself moves, not just its contents. The yellow fruit landed outside the bowl despite apparent overhead alignment, so confirm the fruit body, not only the grasp point, is over the opening before release. Several diagonal long-reach targets had substantial position and orientation errors; always use the measured pose and avoid continuing from an untracked target."})
tool
give_up: I could not complete the sequence reliably. The pear is in the blue bowl, but the yellow and dark fruits remain on the table, and no pour was attempted. Bowl-rim grasps were not secure enough to proceed safely. Both grippers are empty and the arms are parked.
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 · 6.141 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]: [-0.0219, 0.8005, 0.6151, -0.3859, -0.0143, -0.0299, 0.9991, -0.0227, 0.8005, 0.6189, -0.387, -0.0166, -0.0265, 0.9992]\nstate[eef_state]: left_x=0.2958 left_y=-0.0004 left_z=0.1821 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9991 right_x=0.2961 right_y=-0.0002 right_z=0.1836 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.1846, -1.4291, 10.0034, 1.9267, -0.1441, 0.1343, -0.105, -0.1983, -1.4154, 9.1419, 1.9023, -0.0611, 0.0952, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86c8539c570cdc6c635f0329ca10e0b0e3472324487c0ddcb592420f93002266",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa6c84b3cb1ed9aeffcacc11a478bfc1f97e796acfcd5fcc69e5464a665f9a61",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5eaa41f90bf471f555b9f16f9aecb128201998ae6e4945a09c0ab9f2aae4a59a",
      "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 · 3.816 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtHDCOanGHonDrzqbQOpSXoc0dc4qFp4RZ6PqIvoWnUPe_-mGU9Ye5Zng5IZnfDSrg3o9eLosxipMxsi87IZ-I7LF-gKGblsZQPiKgbhdiEe3RGvWEc8146RQt9xxlDkljxxVij-4XknWvBh_0wV5A1hD1Y2OrHkshHXp1xWMLHLqDNlUAndzcU_9UrWnyPhkZlGSGg55nzMRre6nRmoyki-XppzoXpZPCTRpXwyuqez9_1Q08PYOzaP6ItEMafi17Z1Pryxx_uomjmYvplO3OzjAPOY3_nNaFcAoFYxsOV_UCr6aMvjwyYgvcGinX0zy2Zq844BzRRLd-hQPMLhDg-vbwtsb-UxwyL_Pxbi8-gkt9dnWo1e34eBXlir-Qfpv6QI9PKe4CcxkWxalDYiFv1re_r8vckCZkHalX2kg6VeNoC4gEKjyvI3BtQsB2IZ8VnuMQ4t0CleFw6OW9BNkdTC-iqSs9bR5s9Af7V0xkW9xcDlCH0SCwTECg1K9L5WxkOtDpqnQ_8OOneOZSv8M_5zPOl7W9ZoPf5aioU-JY1gMxoNgrwKO65FMESU7bmc_UY27kOZ5XaOCCXPiTCQQQQUPCU6BTIrzR0lJUrpcxrpZa7vTP8_JjA0Ixo5bq-GSgSymGdCvSZpvUA4VQ9O-0n0R0Fxia5chrUd8XDB5OtGkdTYJ77B2S0s4ZnsJGWKqLWFvTHDYEJI0k46stDwlvapAycgK_87NMb4v-Tgj3PwgUc_qRgFB8495jyocWEa6hTESO4gu1OY4uPOWYrTjpUVjyfSHsDE2N2maBoiKHhuoHNGnRH-9yKVitFHuUmGst29pLpLXjHHTACsBkn7r0An_KpeeUFfBEQT5bgoJoa3CYFJE4ZcettkZuw8bpZIlc-Gs-08zVkPSMvQrJjBI_5zFljMeizNbANPBM5ZUOCaNLfzOauGFRBwu3_bnDRc4d-icM37cRqyoURgtznW6ix4P1mi6u_Y18rjID_QDqn0QQxzTWva7YAJesQ4KXxO_upsviklCupT8cYgPlX97IEnRkUopiD7Cz5Nne_AqSCYaJIM4YiomiR5hxSHQq3EWqKFNqAWeBoLhPdGloufhJw_Ul1Ehcgm93QKqu2r8ZmSETX-qs8rXy0u7OdX2IhqkHFeOGy3dRNyCPjyQEcU-6uU01rcejmoWclsjFN9pSsdIuLbbRCzZdGTFIH3hndaLTuqh_ElGUutnVKA94nMTlgNmEf0XRDfhka3r7qX87NVSA_NS3hknTWk_rWeYnK8X4vVAAlzqya31UAWam-hgXKPHNfsYRPSNgIYUPvpNaZxk_MPLU9lVIFIDTm0-UVY814iQx3I5OnxNHRNg364QNyRYVNeG2kDeEc5Y4bqhJp2hzLGAC98iCUN1YpFI9ZGj--S6_4jz1w2W6Lq507hDxPHgNOh_-tHJkFbDUc_NYaJwh_EN6b8cSgpImv6QzoOK5v2wtdf4IY-iLU_pK60Q3pVRCCOeGxaX3u23_AymuF50E6vci5q8Gugyto20bKWXqzOs51yGy7Mdwq2PxSc05AM-ieEvqJktOn-BW4JoHhwPqcwaSGc1Wx-EKjLXBEWsPkFAZKeqIlNhIwHBTTEw-Hd-c9ZbuSW9SpM7lDyDnZSoMvTI5WAB-WjUnBZZh_p-ML34VM2jib1BIAehbHEEQ4OJCWOSY1nXjqKdmgRnNkMNfsbztY0HctZvf4hkbrvhRhLYP_APcHYqvEs05wIPvTVs0dM1IhTYc___FJWGogWRc_Dj1SsVXqUwhzmq69YJLadXVM1s-pZuSNZxMIqXuuPFgEtAZE9MyTlb7eD3D2Qur6Eey8GFSwVU2HEpqsW239zIsfG7g8paa835V2uVi-1mzc3TP8MUzYG1LLyDXLGqgFgIIsW1F9DVgwQ3yuP9x52GQNYKC8oi8JX4CKtIJC-EWi0Txo8oIi4rVOTf6S8_4jF73niY9cqAg_E9BkJZF-TU",
  "id": "rs_0b17230ad2285d49016ab470bd55a887d09490f27815a0825a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.16,\"right_z\":0.15,\"right_gripper\":1},\"note\":\"I see three fruits on the table in front of the blue bowl, with the larger white bowl to the left. I’m bringing the right gripper above the green fruit first.\"}",
  "call_id": "call_gZeVqAFVqFtJa6MroUFYMQxR",
  "id": "fc_0b17230ad2285d49016ab470c0c64c87d0906255e52ca113bf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gZeVqAFVqFtJa6MroUFYMQxR",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8021, 0.6147, -0.4004, -0.0135, -0.0311, 0.999, 0.68, 1.3281, 0.7383, -0.1635, 0.5388, 0.3756, 0.9991]\nstate[eef_state]: left_x=0.2939 left_y=-0.0005 left_z=0.1785 left_yaw=-0.0 left_pitch=-0.0164 left_roll=-0.001 left_gripper=0.999 right_x=0.3311 right_y=0.1557 right_z=0.1304 right_yaw=0.0272 right_pitch=-0.0598 right_roll=-0.046 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -1.3744, 7.0632, 1.8779, -0.0464, -0.022, -0.022, 0.1162, -4.9573, 9.5385, 1.8095, 0.4322, 0.1148, -0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d37d3c98caf75fb7cc541b3b6bce6170ab70d1333e2c654007c5fb01d7d7314",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:071e7b05098c3d78635d86f69b3ea85023fb216e3fdf1f1389551a425f24a26f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:715abb8959bde7d59bd7fe815be1e981f2e4290581a52ef3293fd54cf65007ea",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 3.869 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]: [-0.0219, 0.8005, 0.6151, -0.3859, -0.0143, -0.0299, 0.9991, -0.0227, 0.8005, 0.6189, -0.387, -0.0166, -0.0265, 0.9992]\nstate[eef_state]: left_x=0.2958 left_y=-0.0004 left_z=0.1821 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9991 right_x=0.2961 right_y=-0.0002 right_z=0.1836 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.1846, -1.4291, 10.0034, 1.9267, -0.1441, 0.1343, -0.105, -0.1983, -1.4154, 9.1419, 1.9023, -0.0611, 0.0952, -0.1001]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8021, 0.6147, -0.4004, -0.0135, -0.0311, 0.999, 0.68, 1.3281, 0.7383, -0.1635, 0.5388, 0.3756, 0.9991]\nstate[eef_state]: left_x=0.2939 left_y=-0.0005 left_z=0.1785 left_yaw=-0.0 left_pitch=-0.0164 left_roll=-0.001 left_gripper=0.999 right_x=0.3311 right_y=0.1557 right_z=0.1304 right_yaw=0.0272 right_pitch=-0.0598 right_roll=-0.046 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -1.3744, 7.0632, 1.8779, -0.0464, -0.022, -0.022, 0.1162, -4.9573, 9.5385, 1.8095, 0.4322, 0.1148, -0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d37d3c98caf75fb7cc541b3b6bce6170ab70d1333e2c654007c5fb01d7d7314",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:071e7b05098c3d78635d86f69b3ea85023fb216e3fdf1f1389551a425f24a26f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:715abb8959bde7d59bd7fe815be1e981f2e4290581a52ef3293fd54cf65007ea",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHDQ2RKQaCsh8bevWvstIvS7LaxFHJ7Q9xqA49auSGb5v982qsmkXa24f5ssvatkN3c63GjOl1D_scOX8-Nob2wf98I6qkRxrUAcpjAkZwQkyVMcmlYwOvXrNnbr3kHmJuIrw9exp1vbAcY4SqJqW52lMogVqTOkfCnZFQ5rB-cJKN-rKVnABWf83T8i8rWIoSCxC1smn_OZi54u3VrQPdqRVQ7FHUrkW5Z_Wo_b5hj_-vvtsvtYySoocEzULQmgHCzr-63Sf29aI9PK5d7CNhxby6SIiYzx2-ZyJ08tx5Yf3O3q1TaGrkwxplwq0C4_aA1vCxZ6WaeUTEu6YYIVHlhz-cHq8uTE99by6QvsuAGN3ns08Pi8ssL6_UlCzSebQicNsCVg4kX2kUH74KZ4Wx07Ba2plKbae1njKRfb90xXEZ_j-BU9Z3DyqLqly8QpEewsH0SecTThhVODZ8PMe8mAQMb70PFNK-7NwSC7EvpIAHwLmHaBizKG_Sop7asZF0k93pzL8GLlT923WNa-jJBFiefC4n173vP0Tt03-SMbe0PuXN4nIytp9WE6s1gEpibjS9eqJkgzZmuf10xqnKpFm1xx09x4P3CE5ezWzkI-P84j1Wm4ygmfFkm0FbE3TcadQftkm4oqf6_w67evuW1uST5OEcOvOK5ZOtKBSMYbYcwaXovr0Cddln8Mgu0b3YGm5bdZbXefdSHWKvOYN6sOPsW1rmdzXt5RiEDmAGW0ZZQTRELmEpVhy-rIxRt1wQmEos7-pXhMsF9rfquRZErGoegKHL7W-9vAx2Hseh_yp9mJXMl96_zcXlolboXuLbFcYzkgR3tOjWENu40iM-Zw01tuc1dcHGbp4qq_ufm7RNHNpMc04owXjRpD7kbbC2zY4FgdetoeulJEYNnDV9W5BkfSRe8hFmY6mo2Snu6s_RE5XXlf3hQTMSVHKMyjJjemIw4UKei83JAbae18P6Ni_WWaWMr7bV5wRyGaUbwt7b7aTw2NTvvub7h95SDyY22R-pa2SccXGSYhpayzlaqj2cUM5o3HzNlDLqwZyKMZa61G0Nnj48I8urHKIr2Q27u7ma3Jlcdeqnqufdc98CWnRDIg90Fb735FhJ2YCu1zXA6f56IHfC4wz7LBmKNLmgdjy-RKgr8FJYQ5uNKvydhBjB7R_zwidO5gSjtqbYMblElCdl0EAc7mvGUseOzyB8koWgcSngditwyQSc8oq5cLpJM2ubZ3jyAX7QZA_3gI3iEDusMSQQUqQnEYGJASOgJ0tquTEWQmXBUgOEdr2cB9lkpB85P2pWEAhuW25gBX5ArybBfPzKpXsXmvAgjrA1msVi1bWc2b7CYZdFGrBW7_Ci-PDRofbInhCodeCy9Y0305ICeWlYbE__7-cuSarQ8YH5W0QNpuQlOJXeYl_slEDiwMA3tHLv4RrXl4C1jGn00dhIgRaTlJsje6h0nrGS69TYllqYTbj9eX8bX3wL_QtKX8_vTsJUaJbVC50FgvBt9wXpuO84DQwQGO1-mJPhKx",
  "id": "rs_0b17230ad2285d49016ab470cdc52087d0823e3d8c79c7e519",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.335,\"right_y\":0.135,\"right_z\":0.035},\"note\":\"The green fruit is just to the right of the jaw center in the wrist view. I’m correcting that offset and lowering to grasp its sides.\"}",
  "call_id": "call_fPiGPnYLICKDIqZjgOvwlNdG",
  "id": "fc_0b17230ad2285d49016ab470cf432887d0b8d47524d9a93c6b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fPiGPnYLICKDIqZjgOvwlNdG",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8021, 0.6147, -0.4084, -0.0139, -0.0315, 0.999, 0.5991, 1.5299, 0.4988, 0.4755, 0.5297, 0.276, 0.9991]\nstate[eef_state]: left_x=0.2928 left_y=-0.0004 left_z=0.1768 left_yaw=0.0005 left_pitch=-0.0244 left_roll=-0.0009 left_gripper=0.999 right_x=0.3586 right_y=0.1412 right_z=0.0792 right_yaw=0.0052 right_pitch=0.0958 right_roll=-0.0111 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -1.265, 6.9949, 1.8193, -0.0757, -0.0611, -0.0171, -0.0479, -3.0974, 2.6325, 0.6618, -0.3639, 0.3346, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fce8394789de27dcb9c0190d1fdd793466ee12a299ebfd2c8f095af29cd41d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50ad9aac7232263dab1c446c29099bebccb8a3ff919236c7e56c858f4569174b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c400d8d9eca1161bcdeac439c68a2ad3ae65377b64da89223a859409c6a4e66",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 3 attempt 0 · /responses · status 200 · 4.534 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]: [-0.0219, 0.8021, 0.6147, -0.4004, -0.0135, -0.0311, 0.999, 0.68, 1.3281, 0.7383, -0.1635, 0.5388, 0.3756, 0.9991]\nstate[eef_state]: left_x=0.2939 left_y=-0.0005 left_z=0.1785 left_yaw=-0.0 left_pitch=-0.0164 left_roll=-0.001 left_gripper=0.999 right_x=0.3311 right_y=0.1557 right_z=0.1304 right_yaw=0.0272 right_pitch=-0.0598 right_roll=-0.046 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -1.3744, 7.0632, 1.8779, -0.0464, -0.022, -0.022, 0.1162, -4.9573, 9.5385, 1.8095, 0.4322, 0.1148, -0.105]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8021, 0.6147, -0.4084, -0.0139, -0.0315, 0.999, 0.5991, 1.5299, 0.4988, 0.4755, 0.5297, 0.276, 0.9991]\nstate[eef_state]: left_x=0.2928 left_y=-0.0004 left_z=0.1768 left_yaw=0.0005 left_pitch=-0.0244 left_roll=-0.0009 left_gripper=0.999 right_x=0.3586 right_y=0.1412 right_z=0.0792 right_yaw=0.0052 right_pitch=0.0958 right_roll=-0.0111 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -1.265, 6.9949, 1.8193, -0.0757, -0.0611, -0.0171, -0.0479, -3.0974, 2.6325, 0.6618, -0.3639, 0.3346, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fce8394789de27dcb9c0190d1fdd793466ee12a299ebfd2c8f095af29cd41d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50ad9aac7232263dab1c446c29099bebccb8a3ff919236c7e56c858f4569174b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c400d8d9eca1161bcdeac439c68a2ad3ae65377b64da89223a859409c6a4e66",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHDXgJMXq7c7W3V6M-Fs9q0gX8b6woKRlcDSKk1x-PbESMUPt6nQWtZtVJi261aXckZLj9s5ju8oGA_6uasSIqixjuxjaDyeSYsOJTHp3M4GpEZIBNOW0IGjMt20Wk1OS84IIdJg0KE_M4qxUt3cWeyHsJNk_AsGMRWYd7iKNuz2inut6xzljQrUWxajM8yTMl_0Yrmm3Mp8zkh4mdBUubgRoIZQxDcnIFinTwFJC3Ili_dSBPIk62SyrqGkCJ8Am7dfP8uMKnpEuKppuSGCfL3nRRamquKzeJzPbK7PNVo7aXKwMSc3GPKqMOhXyn1W2oOkvykrHPNrUP8aMIWGRuAfoQMn-v_mLVWesRJzCNSn4RS8WdOxALI7dAqmQUVTL4_s8va7tQScHqzm8keC_eat3kJS-7SIyUd3HQ9nXgbSdMkoqiZftwsmp4BKYCMBJEdRCplunz9fWeY0ZzpbPlhxQN_Js75q8BCQ28gmyRIHoUgG3UD986SZJqRrjO4SW8tWON-J_hkm2fZ__8TlIzQL2o9M33ykMDsQs1WOh1T6JP1GawfFqqThAeUOOi2GwKt-tPomGXF2t6utizOkUzf82HPvEx7jlzb6nOm4qOGvdwsfvkLEaRvlvVDpE0iW3awSB4Aq0RU0a2P_1c5jDCWJuSnXPRy3QgI66KwFUMPAJLNBqL8SQcEVdsLM5KFdl5Po-JUHJBNEvdth4jFpHJlhOgpJ56IOwZd89i5iG1YXVRau30NYnp22akYPIjvpU7GBLio1Ax-Wk08Jdb2gppVA_M2j3J4cHW4EzI6vkVARkFlKOfgpdUOxWMIu9VPajs8Zzgv6W8Zb3UGpKdy-HxKv0m-aCYikXWVLEzVauBv_hRK8cgmFeq6Uha4ONLSW9n7eBYqHkeYaU5GP0-vnNhmmvqzZc9HpygrLow58LpHv2dnFJgFQsYG6pBruBPGTNmMK6M1goPrZ_YjzU63zwAPiux3uRtFkfFcKeEv7ZpQfP1UR7jMGnCzepKvgaEXS6ocE7T_D2ia5yUalWeBRgIqcXCxtLjqUeieCrZ05aygssi9SD8U-ipSsHLN8HKN6HjnPhP51hrbvANMgiH2JOORozQV35MqQdHIoBA4LtMWAaIlLwD0hGiyOnHtltOelvrwOk4Dy9cDjyfEASUPRDXKBSr0Lweq3x1d-NzK4jfBDjS7RePGR_0UCnYlnV0kmPvPInFpbgjPhTqlExvdjdzUz4WGcQlq_eszhnXukBsEd3KPv7ciU7du2sk2lYfZIsEm08KArM-RfZUxYJgc8AMKwJEWQu07LGSjzjD_8R3YP7KmXGpy7NHA54-yhc2ZycDsin4KaVIuX6JWLP28DDcPUl8717gEh8sUc5jdROqlaR1w_AkL3FqgGjpjJ4OFJzZ8zHNrDDGofyR6H_vjsVRMqiriccHIHViq_lbpA1wsOMAUS7x_NAu3EZc2qkbt0RDc4tDdwvnkfqpV2UTalNUl2NW_f_uI_GPRqnybLoHdeMdX9qeH9pBe1X4LmGMZ4RcXuMKnmjHDInxj3OpkjWV1ec6OCoAs0tpeB18fsM0ChhsJ7sm24A5ggbDoOF2FKBnS8",
  "id": "rs_0b17230ad2285d49016ab470d52c5487d0b137858aacaa160b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.31,\"right_y\":0.105,\"right_z\":0.035},\"note\":\"The gripper stopped higher and farther forward than requested, and the green fruit remains on its right side. I’m moving slightly back and right to place the fingers around it rather than on top of it.\"}",
  "call_id": "call_DGhD1V8fGbAp98XzfYWS5W6c",
  "id": "fc_0b17230ad2285d49016ab470d6743887d0a6fab52fb8f111be",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DGhD1V8fGbAp98XzfYWS5W6c",
  "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, 0.8051, 0.6147, -0.4225, -0.0135, -0.0334, 0.999, 0.5831, 1.4963, 0.2359, 0.9089, 0.5526, 0.2241, 0.9991]\nstate[eef_state]: left_x=0.291 left_y=-0.0004 left_z=0.1731 left_yaw=0.0012 left_pitch=-0.0416 left_roll=-0.0023 left_gripper=0.999 right_x=0.3325 right_y=0.1125 right_z=0.0846 right_yaw=-0.0228 right_pitch=0.2705 right_roll=0.0486 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -1.3607, 7.3504, 1.8584, -0.0317, -0.0611, -0.0171, -0.1162, -1.7846, 1.6068, 0.5153, -0.2369, 0.4371, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:050e462bfa7529352fb6787079f03055e2215b1e45ad5dbe0f74748d7e37dbc7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f59512b95dd78ada55d14ee91d17ce8d1fc5f31fd98b52ffb2ba9cfde57ef14c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91c394635af2c6fe13885692919d124d51278aa974d1e6fb9272321661bf3114",
      "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 · 4.001 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8005, 0.6151, -0.3859, -0.0143, -0.0299, 0.9991, -0.0227, 0.8005, 0.6189, -0.387, -0.0166, -0.0265, 0.9992]\nstate[eef_state]: left_x=0.2958 left_y=-0.0004 left_z=0.1821 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9991 right_x=0.2961 right_y=-0.0002 right_z=0.1836 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.1846, -1.4291, 10.0034, 1.9267, -0.1441, 0.1343, -0.105, -0.1983, -1.4154, 9.1419, 1.9023, -0.0611, 0.0952, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8021, 0.6147, -0.4084, -0.0139, -0.0315, 0.999, 0.5991, 1.5299, 0.4988, 0.4755, 0.5297, 0.276, 0.9991]\nstate[eef_state]: left_x=0.2928 left_y=-0.0004 left_z=0.1768 left_yaw=0.0005 left_pitch=-0.0244 left_roll=-0.0009 left_gripper=0.999 right_x=0.3586 right_y=0.1412 right_z=0.0792 right_yaw=0.0052 right_pitch=0.0958 right_roll=-0.0111 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -1.265, 6.9949, 1.8193, -0.0757, -0.0611, -0.0171, -0.0479, -3.0974, 2.6325, 0.6618, -0.3639, 0.3346, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8051, 0.6147, -0.4225, -0.0135, -0.0334, 0.999, 0.5831, 1.4963, 0.2359, 0.9089, 0.5526, 0.2241, 0.9991]\nstate[eef_state]: left_x=0.291 left_y=-0.0004 left_z=0.1731 left_yaw=0.0012 left_pitch=-0.0416 left_roll=-0.0023 left_gripper=0.999 right_x=0.3325 right_y=0.1125 right_z=0.0846 right_yaw=-0.0228 right_pitch=0.2705 right_roll=0.0486 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -1.3607, 7.3504, 1.8584, -0.0317, -0.0611, -0.0171, -0.1162, -1.7846, 1.6068, 0.5153, -0.2369, 0.4371, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:050e462bfa7529352fb6787079f03055e2215b1e45ad5dbe0f74748d7e37dbc7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f59512b95dd78ada55d14ee91d17ce8d1fc5f31fd98b52ffb2ba9cfde57ef14c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91c394635af2c6fe13885692919d124d51278aa974d1e6fb9272321661bf3114",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHDglDkCMFxScpU6jbgKqZyd1ZYWf0AidEUIdKAL4PA-bApVH-H9whGm-wT-7rzRYclMG11eaGQ9R4z5n0mKSnFBscqLMhZZw0Dyoz8txyW3LCesYFjbRUuTF9NeulqhaemcOZ1ZWueDjxoALfdEnPcfX2kzJ7ZzsYdri8z6JAC_0egpY0V5iXAyrWSBgnOp1J7E5gLQErN2lj2m4PuXbF7ncHDY6f7Q7CnIeA-MsBt0V9EK3VW7kIXxRX4bKh_-BeRNbCKLkfQ2YQUwLWzbMlZ3HbGNMvztC6KJvwROUjrpQgwS3HBc4fffnIw3dbJzFGUD6HN1HX16OJvQDUYp9GgvJpJwbXo7Nds3gYHGbrvXItxapv1FdWfOKLkRPUhDlqXmyB5FeyKRssIlya7qP13waIKbcsAPvx7b0P4CSv3DTevwy2Nbxd5_BLobdUk7y9px8FlD5aVdkNq5M8tw1L_4T2uymRZkL55uE0xiwmaONCIPwww0eCfGQjwQNY8HRj2W7dXCjdSB-MGtjap_qVhwcQM373xnhzwsZro5LBy-fWrVdAZtIErKd6TXFdgbcbK4jS2dBTauV7NMBPxhgoDpP76SLqmWKY4YMv4uFv63hR2mG-Twg7iMkszh3xwolb8qVRG0DtjNMcGtZLK4T_zCxhfxzf5_muh3tz6Q-gR5I04VTqPYuE8wbGYtP0-QwUIHwoFIBtIST8mAZe72FceY92rKorNYH60Nn0__HkHoZ5I5bALeYUPw2Txst1RIVwGGka5XwOpLgpLaAEbhnjp2vNDdpHKyxxeJisZAIPW0LYTB2mr3PzVqEGq8yfpG04NkyX73H9R_0tweEPK4Yf_qOLP_E5SyZR1HBXbxM6y9lz-v421CDx8kv77xtMeG6HYI2U91oONwTi--eS3oM6bCP595OOWW4wD1Vv9A0A7cPS-W8mcxggOyBYtj7JasNQT0fUmICM9PGzWVXmUPC8T5n4BQxM0aEbkHMkfJSNOQ-jzJI4YNAE63XFZB7DGlNC7T6B4iRMtSK5wtC3oa08bGjLhMkQ0s86V9yCayqGXP8lBuw6tZnKh60gh-vC5Rf1fVGSoL_B2iHHtHUZAuzyIWM1psVFiECux-repC2kIuI5A018--9Veh9l3PikFuT7in39s9jcLd-dfufnYMQm2vjctaQIKjyIob34L1ZnQGoRp2ibTdjil0Z2sd3x-DSb7Kc2pTEvkEscXZe31b6-fB6iCkgcXVW3v7jizibjtLC0NZeAmp1GmCItfYRjfls6VWKBsf2DnFsMA2q_CeF_IH5zLe-qeIECGTHCg0pS1aSLjl1b8sVQZS9exKu5RIQ9KfxBvSKY8mcYnonPJhiZyJAjjiDq5B2YapLK_F7bkPnWbREZIDApWEDqJ66LmDGowoC9HDBhrdEha539L4gJJ5LFO7vHdeWWw17yeuaAcfRQsdJz2YoHNIbxDoiD4xVMgZxz652wqvvY1bWdomaFrbT11IavVWSW-wdqcACvd1iou4GTJQ5G0gRnSa-ZNnNJ9X",
  "id": "rs_0b17230ad2285d49016ab470dd9dc487d09608e9032b0b2eba",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.325,\"right_y\":0.085,\"right_z\":0.045,\"right_pitch\":0,\"left_x\":0.296,\"left_y\":0,\"left_z\":0.185},\"note\":\"The fruit is still slightly right of the open jaws, and the wrist has tilted during the descent. I’m centering the jaws and restoring a vertical grasp while keeping the idle arm parked.\"}",
  "call_id": "call_g9oqkyEMqHlVFSEuo1xVTXqG",
  "id": "fc_0b17230ad2285d49016ab470dee4a887d0bbcbffd6939d78ad",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_g9oqkyEMqHlVFSEuo1xVTXqG",
  "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]: [-0.0216, 0.8322, 0.6357, -0.4557, -0.0139, -0.0341, 0.999, 0.5835, 1.5005, 0.2359, 0.9138, 0.5526, 0.2237, 0.9991]\nstate[eef_state]: left_x=0.2905 left_y=-0.0002 left_z=0.1687 left_yaw=0.0024 left_pitch=-0.0809 left_roll=-0.0018 left_gripper=0.999 right_x=0.3327 right_y=0.1128 right_z=0.0843 right_yaw=-0.0223 right_pitch=0.2712 right_roll=0.0487 right_gripper=0.9991\nstate[joint_eff]: [0.2256, -1.3333, 10.1402, 1.8193, -0.0415, -0.0366, -0.0073, 0.2667, -2.1128, 1.7026, 0.4371, -0.3004, 0.359, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73d74bae28d490958dc5e7a7e80729f569fca7c5b01024efc9f57444794b1430",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76b2efffe1052aef60d4bd399ae1ba136847feec9f869edcde8accc4fcf87c83",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84c6b404a8bb056fe6cfba3bd4f05afe1bc46d79b56957e8e645c271d4fd310e",
      "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 · 5.115 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]: [-0.0219, 0.8021, 0.6147, -0.4004, -0.0135, -0.0311, 0.999, 0.68, 1.3281, 0.7383, -0.1635, 0.5388, 0.3756, 0.9991]\nstate[eef_state]: left_x=0.2939 left_y=-0.0005 left_z=0.1785 left_yaw=-0.0 left_pitch=-0.0164 left_roll=-0.001 left_gripper=0.999 right_x=0.3311 right_y=0.1557 right_z=0.1304 right_yaw=0.0272 right_pitch=-0.0598 right_roll=-0.046 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -1.3744, 7.0632, 1.8779, -0.0464, -0.022, -0.022, 0.1162, -4.9573, 9.5385, 1.8095, 0.4322, 0.1148, -0.105]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8051, 0.6147, -0.4225, -0.0135, -0.0334, 0.999, 0.5831, 1.4963, 0.2359, 0.9089, 0.5526, 0.2241, 0.9991]\nstate[eef_state]: left_x=0.291 left_y=-0.0004 left_z=0.1731 left_yaw=0.0012 left_pitch=-0.0416 left_roll=-0.0023 left_gripper=0.999 right_x=0.3325 right_y=0.1125 right_z=0.0846 right_yaw=-0.0228 right_pitch=0.2705 right_roll=0.0486 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -1.3607, 7.3504, 1.8584, -0.0317, -0.0611, -0.0171, -0.1162, -1.7846, 1.6068, 0.5153, -0.2369, 0.4371, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0216, 0.8322, 0.6357, -0.4557, -0.0139, -0.0341, 0.999, 0.5835, 1.5005, 0.2359, 0.9138, 0.5526, 0.2237, 0.9991]\nstate[eef_state]: left_x=0.2905 left_y=-0.0002 left_z=0.1687 left_yaw=0.0024 left_pitch=-0.0809 left_roll=-0.0018 left_gripper=0.999 right_x=0.3327 right_y=0.1128 right_z=0.0843 right_yaw=-0.0223 right_pitch=0.2712 right_roll=0.0487 right_gripper=0.9991\nstate[joint_eff]: [0.2256, -1.3333, 10.1402, 1.8193, -0.0415, -0.0366, -0.0073, 0.2667, -2.1128, 1.7026, 0.4371, -0.3004, 0.359, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73d74bae28d490958dc5e7a7e80729f569fca7c5b01024efc9f57444794b1430",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76b2efffe1052aef60d4bd399ae1ba136847feec9f869edcde8accc4fcf87c83",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84c6b404a8bb056fe6cfba3bd4f05afe1bc46d79b56957e8e645c271d4fd310e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHDphxLcmzeDoCqej_qgVCLIpLMqJI-0c9d7NNtdsWsHitVixyYj21RZoTY8-d0PtC2Ywfdt0KirqQV30IKN9nMYa3P3PhThCi46tASaG_7YAB_d-UFV12-jaZDNqmp2OsOyTygxHtrF8mE7oANNh_hQbwF7vE2BOlkLwroC0LNVv_SEVAn6-el5dK05xH-LS6b35Fw1l8KetPKK22XPqKSOSPF8fyPCufbgEYO4x4S0ioRt5tfFX1k4EjECw4qhuWij0P4DuGGvJiA6nQXH9sDqiJ6xTC5B9_tz3kPDie6KHDznHap6wQP3N1TuNrpp3n3nig_CsOaNCP9hpAx6k_tjV95nEZE-JggmWtDiNgClcPKG69BosslUaVIqlEaHaDSfsG2iGcI7lyRWH6HGv8kwbG1LAVbEG2JkVuqt8sj8jM9i_jOLeyq4q31CxDGqwYKQ8wzw8n4FlVe8oVg-EFVRFaj_2a3GVycTCuSjvMq8Mqe2emqHrb0e3SMRuG_7rUq_CH-sltq2eQc1RUGmzMNVwf3j4DC_upb7pgMswICRCb24VJyJBzXjsn9MY2qzOcNpBhWhhkXihyapP6UcLbpGy5ZtmZ0lHyPvQjbNbhspH2dwYfGShyCNJVdFgHbrg2kr0JmlZLMG8bjJHpZD2BbMW64cFdtIojMypGxSuVL6sx8D5gR_YWzLYLDlkujNZSN8fjak1jgJ79Rzd7lgIvTYBZj0_IS48POMAvBGt76DCz6wRd-IdrjkRz5ENZDPj_kfPRpfE7bCONPMn8NYXO-v-BIVBkYXWFjARaWJhaBYw6f9TOYfq0d0CLqTFsFNecejPDDKW1raHaDZVBhqe2SIJhF3ABOpcXj9ZhRLxFNfZWqoWyMoa5d1fJUrZ3ORZzDVipWG6zqqECzciCv7NWUT8ywuU_hNIO_WTdf19MbJge4hjBtuPxmyz8ypk98yyaMU9ObLP15ANnWTI3bZeNOTo7wK4MeXfDzfxP7EH8b2cegIcKSnEnfGO1D2nSFn7gYz83hjvF9PMOqO9lFPCBXH8kqt_rYX8-E9zvolhZKymt_TvDtA09iHXSSU8YQLSnsW6mcucozpcDzYEc5s4AXYilrPixGTMy4SN9nSqBV8B-a5BTO1GXmceq9EsoTYVhJwusAok2MHfe2Xxl9IUIqpGSwbSXGUm7xfOgguosZgVVInSNVKPmFmXR013PMW6zltO7IQ5T-5lUOaiaET5fXEpZSc3B6DbGFyOyTSXMfsUgMJQtMhVVvE_F0eP3u71YLezw2vTPRn_XEtSsbrQ7rWfwLcwBNp-6qNKwU9sRtKhx8UJHx_0VNbwNt7T5YFolO8hPE0DH-BF1bgLgn8a-MbWejyICEBTF3T0AiiKRiBMXqqranC26j8PmkTRCqYIuZ87yhI_lMdJ9i-NYDtdVI0CqWXKfkMc-FYQZ6zc2pSNQ9oGOfl83SnSafUAXhT7kWBYwrIVmq7D1PVFFu-7ShMzjAE5DCPxQxRVbMQi2t5ZtFQJJ5L9WtdI_ZP85R8dON6wthK4By64zfcTWnNjflyoWmBG6M3tBk_LZe0KlvpZMZ9wmQ7aE-FFTc8u4jpPgZ2TYaVIebGebLAcM3_zLGD2MN8dRuX5YwVYtPN8n9zPpX-_P18VTLQxtGFzIAzV0a44oIcKDpJQhg9gLf8GNG9Y-a-xR74gwWosyhDvFXBF12mn4eLGzWhijgmgaWqXt0T",
  "id": "rs_0b17230ad2285d49016ab470e7230087d0ab070e870d3b9f62",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.33,\"right_y\":0.085,\"right_z\":0.15,\"right_pitch\":0.3},\"note\":\"The arm is not tracking the low target, so I’m lifting away and keeping a modest forward wrist tilt before another approach.\"}",
  "call_id": "call_hrSrjDhIiQTkjI9gut9RVXvh",
  "id": "fc_0b17230ad2285d49016ab470e8db8087d09bfc8f54db3f06f4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hrSrjDhIiQTkjI9gut9RVXvh",
  "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, 0.8364, 0.6395, -0.4686, -0.0139, -0.0338, 0.999, 0.4736, 1.0954, 0.3286, 0.5072, 0.4576, 0.1959, 0.999]\nstate[eef_state]: left_x=0.2893 left_y=-0.0003 left_z=0.1667 left_yaw=0.0018 left_pitch=-0.0942 left_roll=-0.0012 left_gripper=0.999 right_x=0.3351 right_y=0.0881 right_z=0.1615 right_yaw=-0.0485 right_pitch=0.3339 right_roll=0.0968 right_gripper=0.999\nstate[joint_eff]: [0.1026, -1.2103, 7.1043, 1.8388, -0.0562, -0.0317, -0.0171, -0.2803, -3.2479, 6.5299, 1.8877, -0.022, -0.1392, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0f626c76b4d6feb170e454b33749f54d7807482eca6b771175ad18c43d7a2d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bee49795b60a96dedbc48f944425ea82fcabee450983a8c6b9b11e2388e0ccc7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b36347230d689fc50cefdd44caab5fa76113c55160ec2ed9f3424dd65561a5ad",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /responses · status 200 · 3.81 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]: [-0.0219, 0.8021, 0.6147, -0.4084, -0.0139, -0.0315, 0.999, 0.5991, 1.5299, 0.4988, 0.4755, 0.5297, 0.276, 0.9991]\nstate[eef_state]: left_x=0.2928 left_y=-0.0004 left_z=0.1768 left_yaw=0.0005 left_pitch=-0.0244 left_roll=-0.0009 left_gripper=0.999 right_x=0.3586 right_y=0.1412 right_z=0.0792 right_yaw=0.0052 right_pitch=0.0958 right_roll=-0.0111 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -1.265, 6.9949, 1.8193, -0.0757, -0.0611, -0.0171, -0.0479, -3.0974, 2.6325, 0.6618, -0.3639, 0.3346, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0216, 0.8322, 0.6357, -0.4557, -0.0139, -0.0341, 0.999, 0.5835, 1.5005, 0.2359, 0.9138, 0.5526, 0.2237, 0.9991]\nstate[eef_state]: left_x=0.2905 left_y=-0.0002 left_z=0.1687 left_yaw=0.0024 left_pitch=-0.0809 left_roll=-0.0018 left_gripper=0.999 right_x=0.3327 right_y=0.1128 right_z=0.0843 right_yaw=-0.0223 right_pitch=0.2712 right_roll=0.0487 right_gripper=0.9991\nstate[joint_eff]: [0.2256, -1.3333, 10.1402, 1.8193, -0.0415, -0.0366, -0.0073, 0.2667, -2.1128, 1.7026, 0.4371, -0.3004, 0.359, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8364, 0.6395, -0.4686, -0.0139, -0.0338, 0.999, 0.4736, 1.0954, 0.3286, 0.5072, 0.4576, 0.1959, 0.999]\nstate[eef_state]: left_x=0.2893 left_y=-0.0003 left_z=0.1667 left_yaw=0.0018 left_pitch=-0.0942 left_roll=-0.0012 left_gripper=0.999 right_x=0.3351 right_y=0.0881 right_z=0.1615 right_yaw=-0.0485 right_pitch=0.3339 right_roll=0.0968 right_gripper=0.999\nstate[joint_eff]: [0.1026, -1.2103, 7.1043, 1.8388, -0.0562, -0.0317, -0.0171, -0.2803, -3.2479, 6.5299, 1.8877, -0.022, -0.1392, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0f626c76b4d6feb170e454b33749f54d7807482eca6b771175ad18c43d7a2d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bee49795b60a96dedbc48f944425ea82fcabee450983a8c6b9b11e2388e0ccc7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b36347230d689fc50cefdd44caab5fa76113c55160ec2ed9f3424dd65561a5ad",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHDvb4jHBay-NJAtVI03SiZBfX5LO3l-PnJURJ53wmVpnieWTYNX9M6luCUz5lP72725O4lIExPgk0uHEZ9XgVux0GgfTYi07xPba3rkCsvidckSCtpMs7iV9wwociR-kV1CY2mTCG3EVihAFsaoZbgyeO3Z6QGBW5cxOj14IGUclykVFe4JgIHkvc_Ch2BaboectFrvaQGaOy6Mv5FJjzxYUCzl1r5_d6wB1LmiTkIUzfoDJMuknl27XlBdf8WXZghnlDunI1W3p-YfGn28g93BFpjGdi5ofVqLzKSbdMUO5ERCV4Z8DCiv6pIZSEjqzghIchK94bCPj1knK573NleoB_3EhMFYXv6PaQfAS2bmq2-REd8GcwW-X1o6NzoWZ5wylEotmALIPaVz0gtApRzNbTay7G8S2sMu9xWveAGF2ucnAoXjlaWN8yszuX-x33Zljb_HwXuxAFb6ETsZGdKwvlM4H9ugi4dBh_LiPTWKP5batl_vP5rtxugcBh9XPDdL1jEzSp3eEbG10tAb11Q00_x6N3HCP54IDxy1gA3brllS9ljMNNVnIy3yJ-G-JIhP7uQaUxCN2MqxcR412xFUjIIqaFLB6UTmNqltbPgixjBVm65q57pcZHRk9q8PmhF0sKIRo62ViwBRQjgB5SpCEnjMq1-xrH6SFUfq0pLdC_-I2PD4birFJlAXAx2WyuY_wnUqxuKcZAA_FRa2Zd2wmwOB_QgXdKwLL8BXitGCg6hKQUN9j39dyz_6v6DxDqNaK3H0PMD-lXJM9nTrCP2EaW3u2ev8DKRt1WXO1S8L9BkSEgsQLgXp-mmOdY0v8jpe1CXRVgo8N03Z5dg3GdMLn24UzP3vA3KLXIM96QH6tLUct2OqGJgVfu3NcK-bbq6BUH0M3vPs1Fmno2QJqbeSz9ng2RC_2gUiv5toJ-2_p-iK4CT14pP-0sYS2TH9pA4jlHkXKLJzCuSj8RbYEXjBQ3dOIVYeEw3BbQH0FCcoQyKrQcyEfhqgiTkHC7Kiw75EpzV3_au2svH3gVO61JtX7gTFPRBM8PcBIaAxwdx1_jj7J51OOD6sciwokigdA5sLhho1jUPnZujYkVndZHi9TruCJyfs9Lg2VRHSogdPJgG1ugc4Y7JIOcadfuI4eQ9teCgKnGAkR4SdguyFeKB_Z7W5S0tGkGt8t80mg7AdTLX10bc3oLyrNBFwgbwTd1cCwvgc5p4FnkcLpXifJQKjyb6VCdj2VpVvjOgHi0ntGeZjJmWSOM9p54A2S28K541hsdQzLEO9O4wL8E2KlvR4i6oV7DeDnpim4D-DAFABWaMLrJLPVAyavf_dj1EDUrGOSXo9N7mqsJIPx4w2naNPZirNAajLU4PQij8HcHPFbvQAoZ6t738q6gNrDrxDWEGwyC6n_2uwt5fLug-wquXSQzuFkhioUFlb15wHZxYygbfUUF_MS4DcgtoIvx7T0DrV6VvBiiGyiM88oNUaZnXig2yUNYAkaCHD7nbTjiShJsEs2W-udGeO3uKSHFmuLWAc6iLg6uk-uJ3YT5xFMJ3qW_foFENxWU98yUnh6or8ucRu2Ge2N30KhT06W677hl--cJNVDNaFvfOh4z1LmnGij_01xtrO9qB7xQub9DVdu1KU9ZtRijfBjhSC-GjsAH8eFDTZ6tRsbTm7__i91FGZAIFpT0Q98xXcREF7lqkzMC7KXPk2z4-o1Hd-0d27iKlrsMZClLWXuEAuPY-9u-OiQ59ShVL-b2GQCQWUVPkIhpbrYlmWLXbYF_BrkTdSwaM905vn5rr6rwfhhlAKC0uB0u9qKojs6Erba6x6ifmfKy00Y1BTTx9KX4JfDKNqpWfkozThhDGsYYkXOfw1FfGTyQNn45xgc2QwFDiBp8flg7D5s_XWYtqq6RmoovLrOtm6uibt2LrJuoxLgQzgaAlHCOAhXhe6Q9jk3ESjkLq2lVk=",
  "id": "rs_0b17230ad2285d49016ab470ebafe887d089296b4efe28cce2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0.11,\"right_z\":0.035,\"right_pitch\":0.3},\"note\":\"The raised view shows the green fruit slightly behind and left of the fingertips. I’m approaching that position with the wrist tilt that the arm can track.\"}",
  "call_id": "call_QaNL1vK4Guhg4CTCiJ9Nly7i",
  "id": "fc_0b17230ad2285d49016ab470ee515087d0b3d1d468d1d16aa0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QaNL1vK4Guhg4CTCiJ9Nly7i",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8425, 0.6395, -0.4767, -0.0135, -0.0338, 0.999, 0.7071, 1.9099, 0.0593, 1.3563, 0.6403, 0.2813, 0.9991]\nstate[eef_state]: left_x=0.2884 left_y=-0.0003 left_z=0.1635 left_yaw=0.0016 left_pitch=-0.1083 left_roll=-0.0011 left_gripper=0.999 right_x=0.2825 right_y=0.1072 right_z=0.0087 right_yaw=0.0155 right_pitch=0.1782 right_roll=-0.0139 right_gripper=0.9991\nstate[joint_eff]: [-0.0615, -1.9214, 7.159, 1.7265, -0.0317, 0.0024, -0.0073, 0.2803, -6.7897, 0.9915, 2.5812, 0.4469, 0.1636, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bae4717fd670627d89d5bba23e61ac8ff03b4b58ff8446c7d3cb2065fa0b3579",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15fa3feea5c80bbe8dd1132ec47688077e9c4801ef3ec2c0d2df771d292ed33f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea12a1015c1fe151bcbf8c068ca43642e96771f84d6c9a9ebca3f5a162857f95",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 3.125 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]: [-0.0219, 0.8051, 0.6147, -0.4225, -0.0135, -0.0334, 0.999, 0.5831, 1.4963, 0.2359, 0.9089, 0.5526, 0.2241, 0.9991]\nstate[eef_state]: left_x=0.291 left_y=-0.0004 left_z=0.1731 left_yaw=0.0012 left_pitch=-0.0416 left_roll=-0.0023 left_gripper=0.999 right_x=0.3325 right_y=0.1125 right_z=0.0846 right_yaw=-0.0228 right_pitch=0.2705 right_roll=0.0486 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -1.3607, 7.3504, 1.8584, -0.0317, -0.0611, -0.0171, -0.1162, -1.7846, 1.6068, 0.5153, -0.2369, 0.4371, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8364, 0.6395, -0.4686, -0.0139, -0.0338, 0.999, 0.4736, 1.0954, 0.3286, 0.5072, 0.4576, 0.1959, 0.999]\nstate[eef_state]: left_x=0.2893 left_y=-0.0003 left_z=0.1667 left_yaw=0.0018 left_pitch=-0.0942 left_roll=-0.0012 left_gripper=0.999 right_x=0.3351 right_y=0.0881 right_z=0.1615 right_yaw=-0.0485 right_pitch=0.3339 right_roll=0.0968 right_gripper=0.999\nstate[joint_eff]: [0.1026, -1.2103, 7.1043, 1.8388, -0.0562, -0.0317, -0.0171, -0.2803, -3.2479, 6.5299, 1.8877, -0.022, -0.1392, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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, 0.8425, 0.6395, -0.4767, -0.0135, -0.0338, 0.999, 0.7071, 1.9099, 0.0593, 1.3563, 0.6403, 0.2813, 0.9991]\nstate[eef_state]: left_x=0.2884 left_y=-0.0003 left_z=0.1635 left_yaw=0.0016 left_pitch=-0.1083 left_roll=-0.0011 left_gripper=0.999 right_x=0.2825 right_y=0.1072 right_z=0.0087 right_yaw=0.0155 right_pitch=0.1782 right_roll=-0.0139 right_gripper=0.9991\nstate[joint_eff]: [-0.0615, -1.9214, 7.159, 1.7265, -0.0317, 0.0024, -0.0073, 0.2803, -6.7897, 0.9915, 2.5812, 0.4469, 0.1636, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bae4717fd670627d89d5bba23e61ac8ff03b4b58ff8446c7d3cb2065fa0b3579",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15fa3feea5c80bbe8dd1132ec47688077e9c4801ef3ec2c0d2df771d292ed33f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea12a1015c1fe151bcbf8c068ca43642e96771f84d6c9a9ebca3f5a162857f95",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHDzX-9bxYyN3cOnpUZjHq5fkondb1wzY1wVyoiPCSSH0FQ7CtZi9d2f75CsRK1380YAR8j8Z1zIxy70RcVzy8ZdYUW3HTr08fzCqVq_isKca4sZWIQY32AeParJADQMK-iej2_za-ngvrnyWq1fciW4TmBQ5jJ3jLlBxdpeha34PrTjeexITL-UHeNUAV901S32qwWbDvXKRnBoRtTkk1GLpD-6g09Wbl5gVPZcKf-4VBFRcd7TJLRzJqIyan2dGq066ZCeYflEP9DTKTSiV0wGRkv7bJjIKGY-LZ7B4pIBC-4SdTj9rTIGRvkvpAUspAV2lAhPs9XlWphYXdbCekMMqcg5MYAmcrstlm2IEGuEyC1WDWqC2Haap6s9Muaf0XPQFfEENmodYdZCgdm2PA3OFt2H6QCsg7OjzT1JDNT5jxbe_gL6UpKVb4dYwgjNlo_xQa1c1NZXGEkJCgO04x1OuZrRE3PawD1epHgQh3f9eQ0cHyny4OjXhmENuuYjxtOl2qPeCD-vQ9Pvrc_dp6c3RmZs68I5Csbtkdw0qMj8Dmul7lKlWPILqbuecf2hN-qKGsjc7AWXED31lWwKfKHHVwkshk8FOnD_O7fB9KQIqhq3skKVxCcYpUbL2B55EWENrI2ii2KBUvoZRtMz2jwjgpSVU68FeyQtbJKe3r_Q10Hpa60twhAmwkL23YLwz9gqcxiWk_rv79O7lU2-QzH3arJEORGyzGV-My7w0x7WcHBKo8zsa7vXgOg_liTciV7glS6IIHSORN-xubglqPT2vSNAP7mKcY8HMTkiJ8WAJELyuq73gzUPIeJnTFE1CPQoaF670Jz-odUfl0KZr6fkxM5XtC3EMIY5hWBrkpHVFBnVOREntTShgGcpb2JOEOYYo9deCCk8mqEu9Ie43Afv6iEO3xsH8XzRSflhnw3W4NZbiSCgYGPNASP1jUcmGoj-3otyTysi8DZS_kvmOyGCUT4OAcE3dkwSYJSNSQfxLvGfIN39sLgFvg0SymOZuhoAwrP2r7S9-gmeaGs-wjVUg0LKJoJFZwSzLURsFSRRjAggorCVYiYhpdxJa4g6z_uiQgB6W7sIU0HsLwKI-GQPXMETseEt5pcStHEpxHyAHjhMmm2hxOsPOYnyeWtsGOiT93CM_L3QZJVio_0q-5yMJyxK9KvXWewDNlRO4TNb6OavPDHRrKOc9PpOLzO00xnrKCtVFPFEjiGFdj_uan9p1M3bfKIpsADjKTxYWGUTcMP4Vj-XChqNAcL04U4FEEA0cWbdgeiL5mGHKBe3PwwMABNM7NCRw2Dmy3qm51gnBXkQjEyB6WQely-wZvpoZtdFZcMmU_RWUal1z2GXG6g8RGs1e-Od4xZWZTJFBKbVUCLravfB0YSbomdrK6DBr_d8SCdx2HPGnaYiKxZW9coT06sjpzEu6xKe4iG5ACfclQf9fKAO50DFq_i0fsaBd99xFU60gYY0C7UMFa0wFdozgGcSaDUmkNfrAfBY_64SwubYJjZI5ruIU0dchbf7mnOQ",
  "id": "rs_0b17230ad2285d49016ab470f17f6887d0b52b729e2a20db8b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.315,\"right_y\":0.098,\"right_z\":0.038,\"right_pitch\":0.3,\"right_gripper\":0.55},\"note\":\"The green fruit is now directly in front of the fingers. I’m advancing slightly and closing only partway around its rounded body to avoid squeezing it sideways.\"}",
  "call_id": "call_YtvMh3wqPYSA5qMe8Sjv77sZ",
  "id": "fc_0b17230ad2285d49016ab470f2fb9887d0ad56394451e71c36",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YtvMh3wqPYSA5qMe8Sjv77sZ",
  "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, 0.8452, 0.6395, -0.4767, -0.0139, -0.0338, 0.999, 0.5808, 1.9392, 0.0872, 1.4742, 0.5602, 0.1696, 0.5649]\nstate[eef_state]: left_x=0.2886 left_y=-0.0003 left_z=0.1628 left_yaw=0.0019 left_pitch=-0.111 left_roll=-0.0008 left_gripper=0.999 right_x=0.308 right_y=0.0942 right_z=0.0254 right_yaw=0.0027 right_pitch=0.2504 right_roll=-0.0227 right_gripper=0.5649\nstate[joint_eff]: [-0.1709, -1.6889, 6.9538, 1.6044, -0.0806, -0.0415, -0.0171, -0.2256, -5.4769, 2.441, 2.2491, 0.0611, -0.1929, 0.525]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6264d716b5f35d0cc4e253830225f3eccc1a90fe18ed9a24a83f4ea4b09239b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68d479f09f26586b50f055ac008629a529b0d7ee7c16fda709674593213932ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4eeec3bb3768a55f2e1060c462736587d9cdc5f91d496994319722e608377f0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 8 attempt 0 · /responses · status 200 · 2.378 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]: [-0.0216, 0.8322, 0.6357, -0.4557, -0.0139, -0.0341, 0.999, 0.5835, 1.5005, 0.2359, 0.9138, 0.5526, 0.2237, 0.9991]\nstate[eef_state]: left_x=0.2905 left_y=-0.0002 left_z=0.1687 left_yaw=0.0024 left_pitch=-0.0809 left_roll=-0.0018 left_gripper=0.999 right_x=0.3327 right_y=0.1128 right_z=0.0843 right_yaw=-0.0223 right_pitch=0.2712 right_roll=0.0487 right_gripper=0.9991\nstate[joint_eff]: [0.2256, -1.3333, 10.1402, 1.8193, -0.0415, -0.0366, -0.0073, 0.2667, -2.1128, 1.7026, 0.4371, -0.3004, 0.359, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8425, 0.6395, -0.4767, -0.0135, -0.0338, 0.999, 0.7071, 1.9099, 0.0593, 1.3563, 0.6403, 0.2813, 0.9991]\nstate[eef_state]: left_x=0.2884 left_y=-0.0003 left_z=0.1635 left_yaw=0.0016 left_pitch=-0.1083 left_roll=-0.0011 left_gripper=0.999 right_x=0.2825 right_y=0.1072 right_z=0.0087 right_yaw=0.0155 right_pitch=0.1782 right_roll=-0.0139 right_gripper=0.9991\nstate[joint_eff]: [-0.0615, -1.9214, 7.159, 1.7265, -0.0317, 0.0024, -0.0073, 0.2803, -6.7897, 0.9915, 2.5812, 0.4469, 0.1636, -0.0073]",
      "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, 0.8452, 0.6395, -0.4767, -0.0139, -0.0338, 0.999, 0.5808, 1.9392, 0.0872, 1.4742, 0.5602, 0.1696, 0.5649]\nstate[eef_state]: left_x=0.2886 left_y=-0.0003 left_z=0.1628 left_yaw=0.0019 left_pitch=-0.111 left_roll=-0.0008 left_gripper=0.999 right_x=0.308 right_y=0.0942 right_z=0.0254 right_yaw=0.0027 right_pitch=0.2504 right_roll=-0.0227 right_gripper=0.5649\nstate[joint_eff]: [-0.1709, -1.6889, 6.9538, 1.6044, -0.0806, -0.0415, -0.0171, -0.2256, -5.4769, 2.441, 2.2491, 0.0611, -0.1929, 0.525]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6264d716b5f35d0cc4e253830225f3eccc1a90fe18ed9a24a83f4ea4b09239b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68d479f09f26586b50f055ac008629a529b0d7ee7c16fda709674593213932ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4eeec3bb3768a55f2e1060c462736587d9cdc5f91d496994319722e608377f0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHD3-_-tXEkbvGMWeWnEs_z7tnq7PZ1-ICwTwzEhm7wHvWB4sqJYuMA3H7aZqr1pdz3HA8IAfRyuwG2ma7aVnMSffwEkrZRQ6X-z5uSWsVBpHw6EwR-39BaE0F4fyPTzMYP_NnmQdr7fZyZEyeCMqBj08iqqzYrHTCUPBuoRKGQn-3WeSCPhKYxCYGqKg_omoKfnWCkSgVFzjML-Om6gtQR5ywgEcjEJWXaShXUF6R3Ucn95pJrfKrtPiv6fLBEwZccwJSfS7fGa6z5iPhia5huk1hwSx40_gDKxnzcb8n9UxzKkHkxg5qsqK4DSUX3aEGAYDbBbRRsV8aw2jFzzfbYHUd1gM5vnJah6pklAwGTXu6q1bwlRzYeF5i2j3UvMFQK_uEeaOO9c76SOgrn5X4V9b3S76i0lgfJ2b_Zz7gUi0S3Tv5Vo_GnZnQ5EOMbg04NL_YYJFPEzpFKwApm3K85Mi7GF05Az58486B1TCJjom8zWMsdWKntMWQufO8nv5Y1ZxIDaKhvVm-ejvw5g0dmDAAjWvuNEQ0xEeqLE5Aj5zumLMdINOJQKVpHsBYlpGEkJxBfcOdL9b2VRV1mGmsc2s9y8zWEc_MtFGkXHe7RnQ8G0aIgG-6_YeN9pqf0g29T5MiKy8qO2hodmyPOqsmxQaU1SsrgXyPlQLCqTy9oMDwRHYtvb-j8qd3i9hTWLlPry3KPquTr7CDD_S8ISuS7PPCAFwpvJPqNkrdyDd_zDy7hI8OlXOfXlOtC573EP0A9G-tw8RASYZoxBPlqzJ6D0U2-H97bwGQSQ1q8h2PP200dDlAQX3YtJaVVsgBxbH6EjTSCYbzfNXNjPdZcUAyUejjC0omwTLHNT8y8dWIJ8xHjE-yAT9iFSMHDHmqLV55WRswBbFU7N8_gajIfO2w56NSZyiXbppiy5VQYPJaKkNAPv-jzkWOzhxMOv1sPtyN42nuKC-Y-qkGBw4UL2Zv44LmFn5pcx61doXExZ8o8YtnG5fctgFiW7H0wFQ1HaNMlBUFd3a5tL64URrTfMeS4875NhXRJzzGPr_V4VpVehXJIiitxZBd0kdPTqw0pImeWO389umgd45PTg3I7BiaKESR3MLfi70lFTn5q9PTrcDtoZGsX8vguRl7nPNMnyYlw-8nOWezLuUfYJxXgIMJ44mTZC2M1UIDaUNE6wtwCDqODfgbOG1h4aQxZBpQJGeI3uQ5tjzvi6-MZX5jKIwDSNp1X7UJHH23FKHPLAiHtCFG-e6lYM8Fq6DRMgsFkKUaft8QZ0Ov0NUQb2mytDKe8QuFOY32xnfTyElCsd5PSCZtEgI5YK4vrVj67AXKe-TtfFX7hygFgoQCAppCMJFYCE1nYIlormfSBHtjUgyDPBL76suPohs5wtVdRAsxo-xWerMtgaWxl7FFEGcDPU9c1YXw==",
  "id": "rs_0b17230ad2285d49016ab470f5de3887d08ec17aaeebac0156",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.35},\"note\":\"The pear is centered between the jaws but the opening is still wider than its lower body. I’m tightening the grasp gently before a test lift.\"}",
  "call_id": "call_Rdrg67FIsIov9YAEqdutMcag",
  "id": "fc_0b17230ad2285d49016ab470f6a6b887d086ed8f093ab5ad85",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Rdrg67FIsIov9YAEqdutMcag",
  "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]: [-0.0219, 0.8455, 0.6395, -0.4763, -0.0139, -0.0338, 0.999, 0.5758, 1.9392, 0.0868, 1.4712, 0.5449, 0.1493, 0.5612]\nstate[eef_state]: left_x=0.2886 left_y=-0.0003 left_z=0.1628 left_yaw=0.0019 left_pitch=-0.111 left_roll=-0.0008 left_gripper=0.999 right_x=0.308 right_y=0.0951 right_z=0.0242 right_yaw=0.0224 right_pitch=0.2441 right_roll=-0.0395 right_gripper=0.5612\nstate[joint_eff]: [-0.294, -1.306, 7.0222, 1.6044, -0.0855, -0.0464, -0.0073, 0.1709, -5.3265, 1.3197, 1.7607, 0.2222, 0.188, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f9f67cf0924e9b37142a9adb5c32e9fa5e22a3edb0dc52807fc4ebebe4ff85e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed8ae18663842d9a966c447ddceefb286c036be395cf495ebb7e0f882928b5bc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82c6a38e325c54522dd36a61e7fedbe0b47d470476ba38caa4e19fe6192c96fd",
      "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 · 3.745 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 22 changed as sent

message 30 changed as sent

message 34 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8364, 0.6395, -0.4686, -0.0139, -0.0338, 0.999, 0.4736, 1.0954, 0.3286, 0.5072, 0.4576, 0.1959, 0.999]\nstate[eef_state]: left_x=0.2893 left_y=-0.0003 left_z=0.1667 left_yaw=0.0018 left_pitch=-0.0942 left_roll=-0.0012 left_gripper=0.999 right_x=0.3351 right_y=0.0881 right_z=0.1615 right_yaw=-0.0485 right_pitch=0.3339 right_roll=0.0968 right_gripper=0.999\nstate[joint_eff]: [0.1026, -1.2103, 7.1043, 1.8388, -0.0562, -0.0317, -0.0171, -0.2803, -3.2479, 6.5299, 1.8877, -0.022, -0.1392, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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, 0.8452, 0.6395, -0.4767, -0.0139, -0.0338, 0.999, 0.5808, 1.9392, 0.0872, 1.4742, 0.5602, 0.1696, 0.5649]\nstate[eef_state]: left_x=0.2886 left_y=-0.0003 left_z=0.1628 left_yaw=0.0019 left_pitch=-0.111 left_roll=-0.0008 left_gripper=0.999 right_x=0.308 right_y=0.0942 right_z=0.0254 right_yaw=0.0027 right_pitch=0.2504 right_roll=-0.0227 right_gripper=0.5649\nstate[joint_eff]: [-0.1709, -1.6889, 6.9538, 1.6044, -0.0806, -0.0415, -0.0171, -0.2256, -5.4769, 2.441, 2.2491, 0.0611, -0.1929, 0.525]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8455, 0.6395, -0.4763, -0.0139, -0.0338, 0.999, 0.5758, 1.9392, 0.0868, 1.4712, 0.5449, 0.1493, 0.5612]\nstate[eef_state]: left_x=0.2886 left_y=-0.0003 left_z=0.1628 left_yaw=0.0019 left_pitch=-0.111 left_roll=-0.0008 left_gripper=0.999 right_x=0.308 right_y=0.0951 right_z=0.0242 right_yaw=0.0224 right_pitch=0.2441 right_roll=-0.0395 right_gripper=0.5612\nstate[joint_eff]: [-0.294, -1.306, 7.0222, 1.6044, -0.0855, -0.0464, -0.0073, 0.1709, -5.3265, 1.3197, 1.7607, 0.2222, 0.188, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f9f67cf0924e9b37142a9adb5c32e9fa5e22a3edb0dc52807fc4ebebe4ff85e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed8ae18663842d9a966c447ddceefb286c036be395cf495ebb7e0f882928b5bc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82c6a38e325c54522dd36a61e7fedbe0b47d470476ba38caa4e19fe6192c96fd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"right_z\":0.105},\"note\":\"The jaws stopped at about 5.3 cm despite the tighter command, consistent with holding the pear. I’m lifting a short distance to verify it moves with the gripper.\"}",
  "call_id": "call_uu6jEyOJbAUTa2FSEWqb0XvW",
  "id": "fc_0b17230ad2285d49016ab470f94fa487d09a1cb8ab50e09c42",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uu6jEyOJbAUTa2FSEWqb0XvW",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8516, 0.6395, -0.4866, -0.0135, -0.0338, 0.999, 0.5774, 1.2114, 0.1581, 0.7174, 0.5339, 0.1482, 0.5613]\nstate[eef_state]: left_x=0.2873 left_y=-0.0003 left_z=0.1592 left_yaw=0.0016 left_pitch=-0.1274 left_roll=-0.0006 left_gripper=0.999 right_x=0.3072 right_y=0.0971 right_z=0.1029 right_yaw=0.0276 right_pitch=0.2807 right_roll=-0.0126 right_gripper=0.5613\nstate[joint_eff]: [-0.3487, -1.5521, 6.9675, 1.8046, -0.0708, -0.0366, -0.0122, -0.4718, -2.9197, 7.9248, 2.0684, 0.1685, -0.022, 0.862]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:748b6871c7de7c521eadcd06426151a4442afa9390605feb0cf839848cf3f54c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a9e40c0568fbe57159d81bf15b5bfb57878774115ba357a34504767cf768005",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b4e0cf705173d96b2021a6f60ff9ca23508a7ccc0944eece8a3a6bfcf0aa308",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /responses · status 200 · 4.214 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 26 changed as sent

message 34 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, 0.8425, 0.6395, -0.4767, -0.0135, -0.0338, 0.999, 0.7071, 1.9099, 0.0593, 1.3563, 0.6403, 0.2813, 0.9991]\nstate[eef_state]: left_x=0.2884 left_y=-0.0003 left_z=0.1635 left_yaw=0.0016 left_pitch=-0.1083 left_roll=-0.0011 left_gripper=0.999 right_x=0.2825 right_y=0.1072 right_z=0.0087 right_yaw=0.0155 right_pitch=0.1782 right_roll=-0.0139 right_gripper=0.9991\nstate[joint_eff]: [-0.0615, -1.9214, 7.159, 1.7265, -0.0317, 0.0024, -0.0073, 0.2803, -6.7897, 0.9915, 2.5812, 0.4469, 0.1636, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8455, 0.6395, -0.4763, -0.0139, -0.0338, 0.999, 0.5758, 1.9392, 0.0868, 1.4712, 0.5449, 0.1493, 0.5612]\nstate[eef_state]: left_x=0.2886 left_y=-0.0003 left_z=0.1628 left_yaw=0.0019 left_pitch=-0.111 left_roll=-0.0008 left_gripper=0.999 right_x=0.308 right_y=0.0951 right_z=0.0242 right_yaw=0.0224 right_pitch=0.2441 right_roll=-0.0395 right_gripper=0.5612\nstate[joint_eff]: [-0.294, -1.306, 7.0222, 1.6044, -0.0855, -0.0464, -0.0073, 0.1709, -5.3265, 1.3197, 1.7607, 0.2222, 0.188, 1.0232]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8516, 0.6395, -0.4866, -0.0135, -0.0338, 0.999, 0.5774, 1.2114, 0.1581, 0.7174, 0.5339, 0.1482, 0.5613]\nstate[eef_state]: left_x=0.2873 left_y=-0.0003 left_z=0.1592 left_yaw=0.0016 left_pitch=-0.1274 left_roll=-0.0006 left_gripper=0.999 right_x=0.3072 right_y=0.0971 right_z=0.1029 right_yaw=0.0276 right_pitch=0.2807 right_roll=-0.0126 right_gripper=0.5613\nstate[joint_eff]: [-0.3487, -1.5521, 6.9675, 1.8046, -0.0708, -0.0366, -0.0122, -0.4718, -2.9197, 7.9248, 2.0684, 0.1685, -0.022, 0.862]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:748b6871c7de7c521eadcd06426151a4442afa9390605feb0cf839848cf3f54c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a9e40c0568fbe57159d81bf15b5bfb57878774115ba357a34504767cf768005",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b4e0cf705173d96b2021a6f60ff9ca23508a7ccc0944eece8a3a6bfcf0aa308",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHD-Aj97PWFU421zgt-P8kXk6mieECxkmEBd3tfT7IP61Uu2EZ4qAZzjm1wkygGa6VOxjirAMb5Uoxv1857hTe11biL6qOkyele8fYLdU4RD-3Z68Qpg6jAun3W0AemWpfoB6MKnXTbsMq_uBoYvah0Z0YArkkPawU9A0EzkWPHsQFSQ3TfCw1Pe1QzR59vcuOB6AAvhhey_JgnHRRCo0fykBBY5xrPp6NKFHn73zELfcRsJ0kPv6_bOnG6V5I-926pc-6zdM2LfsWkANcOBFSxuEgw88YgBbIk9XC2IAL9Sr0E1lXbj8G_Gy-3jUuuvJ_fqX5uqfyAjv_pL5H0Dc1XfToL-3tW8Su_1a1hGrOnUG2OkNbCYMjm_9pj_gOQEPuZ9xzQs-FE16v8P4dXON-KhoAUQMIcmU8w6cCx08t6y_y9LOrlS8FS0Uzzx8rXyKTjPpIYVmKi4czVBHsFkvkHsLvBwhEPvHIdomBmzwmUb48QP7MnVuHpfe3yAFodFZXqHqjS3ieYhduzVXPfwh91zVHv2zR1s_doy5hza7C54oXhP1WlTJORMzeSp9vETj69tHZ_Dlp5ExaUGroIFch_IOlLbDBQmhr_kDkRoRE9uS0mwdI2_YsL8vAAPVE7KXIrXKRX-Yo3HQe4TyICjcujAE4Dk70Aaz7lNV--ctYAsrn1B-otSsxBnaSkEQ6iH5W5XAHCSJ6ZIP6qS-lq4sPmtRaofVGlKISkIeWySoitefUcv09I5e2ShCLKhd1euQYJl8GgPxe0B71nVjptDC_KbQFG73pbcqChIx0DEFWwb2XI5NHVABCZSWFRUWmvZ3kG0aLOMU_Tkx7IHNxb-TukOPNxFV3bYNz2pxv5OrZljn79ebQo4pgv3MNV5zi3spLGigAegwVuPNCoW52rohpTDW3PjZVWSfeNU50WDIgxDvOUsi5YM_gi2GeYmWSYA96cFzLd4GChPCaBD9HmIUgEgoB-1fXjDI8IbKzrjN_zbTXNeoVxfgxesPNtPGtIEsSeElKwCb_RZ2OB5k2c3d4gOZTV1hVQH7OuTrUqu5Jh95dS8ycS-FLaE3wDshoUZjP5I1mNIH37ZuKhN8rIYg9exelcXpc0qBxJ3JnTOLadAvQD2PIZ_4RfVkNZLNdnmTKOwZq5KrPoPIu9o0RqtK_nldYH2nNjZ1iJmKw2JGHs178_hzkxgkEqO6-MUlDaZ8nb9KsyInMmZ9wNDutusf46OCfMpF_aoAsuvbqPojy8xISmNb026PCVYOxp4EA8AGsSYcr1-XWgtVRtpTmn3ePiMWQsKn8HTrUR4oRIyv8lgxQyVi1imaOui5UaULCezCWkH9_IokqHsLPFEIB_4S2TgTKvW7Q4f9LR7OwFkIU_ZXukLVITJsNS428MsUqWecNDM1cAsZIIkelkwNflL8a-bcxhCQrJlmBmhcrEdO80CZd0YPUzSLHTBECfvxuGEaADrYzwh5xrB-lnMg_yHLObyZA==",
  "id": "rs_0b17230ad2285d49016ab470fbf4e487d080274dec3a822220",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.435,\"right_y\":0.175,\"right_z\":0.23,\"right_pitch\":0.15,\"left_x\":0.32,\"left_y\":-0.24,\"left_z\":0.16,\"left_gripper\":1},\"note\":\"The pear lifted with the gripper. I’m carrying it over the blue bowl while bringing the left arm above the dark fruit, keeping the arms separated.\"}",
  "call_id": "call_PyHXLGny0kjxBL0leZdmI6dr",
  "id": "fc_0b17230ad2285d49016ab470fd131c87d0a24b3cf75761cec6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PyHXLGny0kjxBL0leZdmI6dr",
  "output": [
    {
      "text": "executing move_to over 22 steps (2.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9134, 1.5333, 1.0821, -0.5255, -0.6216, -0.7086, 0.999, 0.5579, 1.5387, 1.0801, -0.0746, 0.4725, 0.1753, 0.5645]\nstate[eef_state]: left_x=0.3142 left_y=-0.2329 left_z=0.146 left_yaw=-0.0139 left_pitch=-0.168 left_roll=0.0186 left_gripper=0.999 right_x=0.4256 right_y=0.1751 right_z=0.2058 right_yaw=0.0638 right_pitch=0.0975 right_roll=-0.064 right_gripper=0.5645\nstate[joint_eff]: [-0.4718, -6.7487, 8.8684, 1.2186, -0.6569, -0.0855, -0.1099, -0.9094, -7.4598, 9.7983, 2.0733, 0.2173, 0.2515, 0.8132]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2732cdf231b8c6489544af38b637cedd9c52090ac83bc5ac29843ed1b60ff4d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c47cf4ea2eb606a5d57bc240e6e595af630b0a8ef9809e4836089c8255184348",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7df3439bb939f0a6244b6cb620232cc041bb7a9e6413b590c3d16ac807d485d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /responses · status 200 · 2.017 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, 0.8452, 0.6395, -0.4767, -0.0139, -0.0338, 0.999, 0.5808, 1.9392, 0.0872, 1.4742, 0.5602, 0.1696, 0.5649]\nstate[eef_state]: left_x=0.2886 left_y=-0.0003 left_z=0.1628 left_yaw=0.0019 left_pitch=-0.111 left_roll=-0.0008 left_gripper=0.999 right_x=0.308 right_y=0.0942 right_z=0.0254 right_yaw=0.0027 right_pitch=0.2504 right_roll=-0.0227 right_gripper=0.5649\nstate[joint_eff]: [-0.1709, -1.6889, 6.9538, 1.6044, -0.0806, -0.0415, -0.0171, -0.2256, -5.4769, 2.441, 2.2491, 0.0611, -0.1929, 0.525]\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]: [-0.0219, 0.8516, 0.6395, -0.4866, -0.0135, -0.0338, 0.999, 0.5774, 1.2114, 0.1581, 0.7174, 0.5339, 0.1482, 0.5613]\nstate[eef_state]: left_x=0.2873 left_y=-0.0003 left_z=0.1592 left_yaw=0.0016 left_pitch=-0.1274 left_roll=-0.0006 left_gripper=0.999 right_x=0.3072 right_y=0.0971 right_z=0.1029 right_yaw=0.0276 right_pitch=0.2807 right_roll=-0.0126 right_gripper=0.5613\nstate[joint_eff]: [-0.3487, -1.5521, 6.9675, 1.8046, -0.0708, -0.0366, -0.0122, -0.4718, -2.9197, 7.9248, 2.0684, 0.1685, -0.022, 0.862]\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 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]: [-0.9134, 1.5333, 1.0821, -0.5255, -0.6216, -0.7086, 0.999, 0.5579, 1.5387, 1.0801, -0.0746, 0.4725, 0.1753, 0.5645]\nstate[eef_state]: left_x=0.3142 left_y=-0.2329 left_z=0.146 left_yaw=-0.0139 left_pitch=-0.168 left_roll=0.0186 left_gripper=0.999 right_x=0.4256 right_y=0.1751 right_z=0.2058 right_yaw=0.0638 right_pitch=0.0975 right_roll=-0.064 right_gripper=0.5645\nstate[joint_eff]: [-0.4718, -6.7487, 8.8684, 1.2186, -0.6569, -0.0855, -0.1099, -0.9094, -7.4598, 9.7983, 2.0733, 0.2173, 0.2515, 0.8132]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2732cdf231b8c6489544af38b637cedd9c52090ac83bc5ac29843ed1b60ff4d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c47cf4ea2eb606a5d57bc240e6e595af630b0a8ef9809e4836089c8255184348",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7df3439bb939f0a6244b6cb620232cc041bb7a9e6413b590c3d16ac807d485d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHEEMImHDeVR5B33VZ90LugnU4y9bIdExsCL-_EZQ1bZlyfUkclcOT3PccrLnVYS775qR5l1RRV8wJ416JGSWVgzuJsKK3SmjVF2AMezo7ZNwfT0FtpDRpDthv7RHWKDAnej5BaU80fsRW_aj4OmGgm5eDAhwhfZF_RQZdNF8_TU7Sufc-LNwMhzZm4AGRrJCVhIQpG02S7fZXy-H-GSB5TP78q36_rUqguDhsmZIRSWo-Ozgwa6kmWPKuJmwO2ch9va4ToNTMhF4xMm_VrwyjMXYT4E8eXPw6L526KTm6f46k84vhS_dG7bkSxUL9lyZt2GJTeBbOCjFEX28PdatleNXslw59f0clEOI7Nx03xywYyuUf8wRzJbOtplJmy12mh8DOtvwVmpzNKCIPHzZReiqd4fFVsazsYbEUV9SYEyrlfIWruTQOfDBLIqHeZY59eKn08bue_0t4WS7Oel3g6jNYZicbGQlj-VNWo_WK_X2AiypOk_TEdLazxL-t6P2oYIcuzzLm1gN1m3THawFlEyAdnGHsZO5ksDaXKVGwHL5M8bvN68t83jX9mGhefsXqhoQtx00yy4mbAwnUTMNMP3r8uJ_wrEDtWWYf-syau76Hp-Aq-Xj2ImJ3beci3rXb_VbyujVYWMR-CdgS3qceflyga17iSKWuPkBtAWK4Fi4ogdQseUobR-sIYjNk_fY8JCLL9jVSHy1IS-YrdSJ7QXv0A6NtsclmaveamPA_RmysTjA9RP2qqNF5qCztY98eKIpVJhotwHnJOG4QVk3c9BB0ZC_DEZEkSdp_-vsy_pTi164Q9eFMNbyMPmqFrPuEcjbUEOZyWMBDDJ9vOiq2MsFNN4ISYsmB28oua89UyzZU5zsKOI4rYjO_j0qrhbxOm4C4POIwcE_a0V4Jqi0iGWImMrNCY2-Itmd9lV26CCZhHQdSyDh7Pk416wic6sOG18Vu-9wbe9baWTRNQBAU0thwf5mBPGQvM3aCGwAcywAfMXz8bNpMeI3Txs9kxAewm4fDoxxnXt4ZtWs0SDyY4i5SIQbbcaUcKl8DHnhTZSFWQ9m2Ouc6T2v4IOKKs3eI9YM6q3xrGMadlibUwieUuj1i_mh_M5vcCliNAmmglqibrMdzAMHQnvxT6vOvqaJHnRbgxEqiu66c_HmiZoARorxBeCrkxjB_fiZMkXo9XM1g0ohJPCu2nTzKQnxvhwP_xSLa1yLw0jzyQ_5skKj62nGrNUnbkbWmwEZiOgnyc2CfbVmAwUBRGASKhWsNjtnETI0hYBXaRFaJe9SmcrU9Y8nJPEj_YKCqlVQBiy7RJDFNIPOZsjJwRQHvwQhPnu8RWjMhDdlL1faGujk9eYdooEyNkv_5xYUmkoUDvBOROKTjelhdJLUAILSgafeXPzcGGsGlyRxay2gMpJzPs4XHPBO4i4aPvC0SWNJHvN8EqOx-IZTblJ5woP6InPuqFiZCRIn_vwLZmy7ZaKf5i6cLtDbKCFHNQXktdfJBSObAmTebs_jWoEWCOYSdeoInpyIBI-v9xX0krg6aA6mfWf9h4E1GL44Rha2YFeQIMjjwtkiInalTH5_K_ZHazgl2FIq8JCRbPJ-16_yBfPvsrVLWlHuA==",
  "id": "rs_0b17230ad2285d49016ab471020ba887d0a2a3acddf9b52f85",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.12,\"left_x\":0.34,\"left_y\":-0.235,\"left_z\":0.035,\"left_pitch\":0.3},\"note\":\"The pear is above the blue bowl, and the dark fruit is centered in the left wrist view. I’m lowering the pear for release and positioning the left fingers around the dark fruit.\"}",
  "call_id": "call_cqR6VppAcUKXQ7liI7ymIwrP",
  "id": "fc_0b17230ad2285d49016ab47103976487d0bc1eb5c35e5638a6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cqR6VppAcUKXQ7liI7ymIwrP",
  "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]: [-0.9524, 2.0018, 0.5861, 0.8486, -0.87, -0.4019, 0.999, 0.5552, 1.6726, 0.8562, 0.2211, 0.4656, 0.1745, 0.5663]\nstate[eef_state]: left_x=0.3348 left_y=-0.2315 left_z=0.0204 left_yaw=-0.0348 left_pitch=0.2165 left_roll=0.0679 left_gripper=0.999 right_x=0.4199 right_y=0.1714 right_z=0.1096 right_yaw=0.0692 right_pitch=0.0408 right_roll=-0.0908 right_gripper=0.5663\nstate[joint_eff]: [-0.1846, -8.1299, 2.947, 1.917, -0.5153, 0.105, -0.0171, 0.1573, -7.4735, 5.9692, 2.21, 0.1538, -0.0464, 0.486]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efa1848d579fa93a1df5103253a20e6f17ee46d8f12e28ace30b5b91457574ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e3043ec920d180b7690f3956ad7ea54e4dffa8c3333d16f46dfb5a96b8be81b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c5c078ece82dd543172608e0b5eb0ea598885c9bfbe2c32725c82e2c7d3612e",
      "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 · 2.56 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 34 changed as sent

message 41 changed as sent

message 45 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8455, 0.6395, -0.4763, -0.0139, -0.0338, 0.999, 0.5758, 1.9392, 0.0868, 1.4712, 0.5449, 0.1493, 0.5612]\nstate[eef_state]: left_x=0.2886 left_y=-0.0003 left_z=0.1628 left_yaw=0.0019 left_pitch=-0.111 left_roll=-0.0008 left_gripper=0.999 right_x=0.308 right_y=0.0951 right_z=0.0242 right_yaw=0.0224 right_pitch=0.2441 right_roll=-0.0395 right_gripper=0.5612\nstate[joint_eff]: [-0.294, -1.306, 7.0222, 1.6044, -0.0855, -0.0464, -0.0073, 0.1709, -5.3265, 1.3197, 1.7607, 0.2222, 0.188, 1.0232]",
      "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]: [-0.9134, 1.5333, 1.0821, -0.5255, -0.6216, -0.7086, 0.999, 0.5579, 1.5387, 1.0801, -0.0746, 0.4725, 0.1753, 0.5645]\nstate[eef_state]: left_x=0.3142 left_y=-0.2329 left_z=0.146 left_yaw=-0.0139 left_pitch=-0.168 left_roll=0.0186 left_gripper=0.999 right_x=0.4256 right_y=0.1751 right_z=0.2058 right_yaw=0.0638 right_pitch=0.0975 right_roll=-0.064 right_gripper=0.5645\nstate[joint_eff]: [-0.4718, -6.7487, 8.8684, 1.2186, -0.6569, -0.0855, -0.1099, -0.9094, -7.4598, 9.7983, 2.0733, 0.2173, 0.2515, 0.8132]",
      "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]: [-0.9524, 2.0018, 0.5861, 0.8486, -0.87, -0.4019, 0.999, 0.5552, 1.6726, 0.8562, 0.2211, 0.4656, 0.1745, 0.5663]\nstate[eef_state]: left_x=0.3348 left_y=-0.2315 left_z=0.0204 left_yaw=-0.0348 left_pitch=0.2165 left_roll=0.0679 left_gripper=0.999 right_x=0.4199 right_y=0.1714 right_z=0.1096 right_yaw=0.0692 right_pitch=0.0408 right_roll=-0.0908 right_gripper=0.5663\nstate[joint_eff]: [-0.1846, -8.1299, 2.947, 1.917, -0.5153, 0.105, -0.0171, 0.1573, -7.4735, 5.9692, 2.21, 0.1538, -0.0464, 0.486]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efa1848d579fa93a1df5103253a20e6f17ee46d8f12e28ace30b5b91457574ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e3043ec920d180b7690f3956ad7ea54e4dffa8c3333d16f46dfb5a96b8be81b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c5c078ece82dd543172608e0b5eb0ea598885c9bfbe2c32725c82e2c7d3612e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"left_gripper\":0.4},\"note\":\"The blue bowl is directly beneath the pear, and the dark fruit lies between the left fingers. I’m releasing the pear into the bowl and closing the left gripper around the dark fruit.\"}",
  "call_id": "call_pdvQTCqpcy6TCTYD3Odps3nn",
  "id": "fc_0b17230ad2285d49016ab471078c6087d08eadcba46241ca04",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pdvQTCqpcy6TCTYD3Odps3nn",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9524, 2.0289, 0.5789, 0.8585, -0.8749, -0.4, 0.523, 0.5541, 1.6779, 0.8513, 0.2119, 0.4656, 0.1719, 0.9964]\nstate[eef_state]: left_x=0.3326 left_y=-0.2274 left_z=0.0107 left_yaw=-0.0362 left_pitch=0.2037 left_roll=0.0912 left_gripper=0.523 right_x=0.418 right_y=0.1696 right_z=0.1036 right_yaw=0.0698 right_pitch=0.0235 right_roll=-0.1022 right_gripper=0.9964\nstate[joint_eff]: [-0.1026, -10.3043, 3.9043, 1.3846, -0.1978, -0.0562, 0.9841, -0.1573, -8.2803, 6.5162, 1.6923, 0.0904, -0.0073, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6461d27d9510d71a945921be6733b8ac611a80211b7fbe4e585f11963274adc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94620b214b4bf74f72ab47da64994e50b16a6cb1db9e64fd57006713f718a61f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6b86756e5bd92632d30a5b8f568f6a06dbdef2f38539415675d655b898b53b9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 5.12 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 37 changed as sent

message 45 changed as sent

message 48 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8516, 0.6395, -0.4866, -0.0135, -0.0338, 0.999, 0.5774, 1.2114, 0.1581, 0.7174, 0.5339, 0.1482, 0.5613]\nstate[eef_state]: left_x=0.2873 left_y=-0.0003 left_z=0.1592 left_yaw=0.0016 left_pitch=-0.1274 left_roll=-0.0006 left_gripper=0.999 right_x=0.3072 right_y=0.0971 right_z=0.1029 right_yaw=0.0276 right_pitch=0.2807 right_roll=-0.0126 right_gripper=0.5613\nstate[joint_eff]: [-0.3487, -1.5521, 6.9675, 1.8046, -0.0708, -0.0366, -0.0122, -0.4718, -2.9197, 7.9248, 2.0684, 0.1685, -0.022, 0.862]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.9524, 2.0018, 0.5861, 0.8486, -0.87, -0.4019, 0.999, 0.5552, 1.6726, 0.8562, 0.2211, 0.4656, 0.1745, 0.5663]\nstate[eef_state]: left_x=0.3348 left_y=-0.2315 left_z=0.0204 left_yaw=-0.0348 left_pitch=0.2165 left_roll=0.0679 left_gripper=0.999 right_x=0.4199 right_y=0.1714 right_z=0.1096 right_yaw=0.0692 right_pitch=0.0408 right_roll=-0.0908 right_gripper=0.5663\nstate[joint_eff]: [-0.1846, -8.1299, 2.947, 1.917, -0.5153, 0.105, -0.0171, 0.1573, -7.4735, 5.9692, 2.21, 0.1538, -0.0464, 0.486]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9524, 2.0289, 0.5789, 0.8585, -0.8749, -0.4, 0.523, 0.5541, 1.6779, 0.8513, 0.2119, 0.4656, 0.1719, 0.9964]\nstate[eef_state]: left_x=0.3326 left_y=-0.2274 left_z=0.0107 left_yaw=-0.0362 left_pitch=0.2037 left_roll=0.0912 left_gripper=0.523 right_x=0.418 right_y=0.1696 right_z=0.1036 right_yaw=0.0698 right_pitch=0.0235 right_roll=-0.1022 right_gripper=0.9964\nstate[joint_eff]: [-0.1026, -10.3043, 3.9043, 1.3846, -0.1978, -0.0562, 0.9841, -0.1573, -8.2803, 6.5162, 1.6923, 0.0904, -0.0073, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6461d27d9510d71a945921be6733b8ac611a80211b7fbe4e585f11963274adc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94620b214b4bf74f72ab47da64994e50b16a6cb1db9e64fd57006713f718a61f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6b86756e5bd92632d30a5b8f568f6a06dbdef2f38539415675d655b898b53b9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"left_z\":0.095,\"right_z\":0.2,\"right_x\":0.37,\"right_y\":0.25,\"right_pitch\":0.3},\"note\":\"The pear is in the blue bowl. The left gripper has stopped around the dark fruit, so I’m test-lifting it while moving the right arm toward the yellow fruit.\"}",
  "call_id": "call_WWS15afJzHVmR6aCIktPVIg0",
  "id": "fc_0b17230ad2285d49016ab4710a49f887d0b039158c363c1e4b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WWS15afJzHVmR6aCIktPVIg0",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.952, 1.7035, 0.6231, 0.4744, -0.8753, -0.4007, 0.5241, 0.8707, 1.6173, 0.8921, 0.2214, 0.7742, 0.1822, 0.9969]\nstate[eef_state]: left_x=0.3304 left_y=-0.2239 left_z=0.0816 left_yaw=-0.0374 left_pitch=0.1951 left_roll=0.1024 left_gripper=0.5241 right_x=0.3672 right_y=0.2497 right_z=0.1635 right_yaw=0.1264 right_pitch=0.2082 right_roll=-0.1634 right_gripper=0.9969\nstate[joint_eff]: [0.0205, -8.1573, 7.0222, 1.5458, -0.3541, -0.0415, 1.0281, 0.212, -10.2632, 9.0325, 2.0537, 0.3394, -0.0073, 0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58042a1098340b3ed895c4e43a2342b2653519692dd80012b78a8034582befea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6aa508c2bff7d80594c05dc6f5e2a2efadaad629cdfd466433b504c1f4cbfb9d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a70fbeb5492975380f96180ebee80712d30dad977aa459642142220cc8fa0e84",
      "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 · 3.89 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 41 changed as sent

message 48 changed as sent

message 51 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]: [-0.9134, 1.5333, 1.0821, -0.5255, -0.6216, -0.7086, 0.999, 0.5579, 1.5387, 1.0801, -0.0746, 0.4725, 0.1753, 0.5645]\nstate[eef_state]: left_x=0.3142 left_y=-0.2329 left_z=0.146 left_yaw=-0.0139 left_pitch=-0.168 left_roll=0.0186 left_gripper=0.999 right_x=0.4256 right_y=0.1751 right_z=0.2058 right_yaw=0.0638 right_pitch=0.0975 right_roll=-0.064 right_gripper=0.5645\nstate[joint_eff]: [-0.4718, -6.7487, 8.8684, 1.2186, -0.6569, -0.0855, -0.1099, -0.9094, -7.4598, 9.7983, 2.0733, 0.2173, 0.2515, 0.8132]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9524, 2.0289, 0.5789, 0.8585, -0.8749, -0.4, 0.523, 0.5541, 1.6779, 0.8513, 0.2119, 0.4656, 0.1719, 0.9964]\nstate[eef_state]: left_x=0.3326 left_y=-0.2274 left_z=0.0107 left_yaw=-0.0362 left_pitch=0.2037 left_roll=0.0912 left_gripper=0.523 right_x=0.418 right_y=0.1696 right_z=0.1036 right_yaw=0.0698 right_pitch=0.0235 right_roll=-0.1022 right_gripper=0.9964\nstate[joint_eff]: [-0.1026, -10.3043, 3.9043, 1.3846, -0.1978, -0.0562, 0.9841, -0.1573, -8.2803, 6.5162, 1.6923, 0.0904, -0.0073, -0.1148]\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 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.952, 1.7035, 0.6231, 0.4744, -0.8753, -0.4007, 0.5241, 0.8707, 1.6173, 0.8921, 0.2214, 0.7742, 0.1822, 0.9969]\nstate[eef_state]: left_x=0.3304 left_y=-0.2239 left_z=0.0816 left_yaw=-0.0374 left_pitch=0.1951 left_roll=0.1024 left_gripper=0.5241 right_x=0.3672 right_y=0.2497 right_z=0.1635 right_yaw=0.1264 right_pitch=0.2082 right_roll=-0.1634 right_gripper=0.9969\nstate[joint_eff]: [0.0205, -8.1573, 7.0222, 1.5458, -0.3541, -0.0415, 1.0281, 0.212, -10.2632, 9.0325, 2.0537, 0.3394, -0.0073, 0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58042a1098340b3ed895c4e43a2342b2653519692dd80012b78a8034582befea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6aa508c2bff7d80594c05dc6f5e2a2efadaad629cdfd466433b504c1f4cbfb9d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a70fbeb5492975380f96180ebee80712d30dad977aa459642142220cc8fa0e84",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHERIw4D6o9yjGDwVLgn5Zlq1H1fhlR-NnbFoYItTc7l0WVQVGrAPEdOmgI8JdDU5ntqqqg4QhKpeHUZ3oO4JaM04jZOX03CWJYY0M1g0wSNux3GTA5y9EwdsAFFT_GmR36wZRKTlFqsYbGBNH50ENt981DwI5sGvrAJeg27I1gOIBbW9Jzr2DZKQIFsJIn_UXx9NS5CxVpK1McVMP6asvwe3jdIUE6tA0rbfjBJE-QR7F62EFUOCVqyFukC45NCVPPLF3ReJxNF1LsgFvRkU2R3Hl5lSsMwtZF7zYwpK5XZGeA3ycgZhQN77Zz_aKpCFYxYvPln4zHWzx2CeNh_VlOuL8IoJJTQRSGY6gNPb6K28wpZB5qnQuDlB3ePURybqGHTqzBVoWJJY995K4JA5r1tok2rEhKqil_tJnLX3Qgopy7n7RNkQW6iwUjiVtN6yxCaN6AUK5fOtvXE6u5-rQNLArn84rylDsGPN-53QA0BjKmCjSKpkKAhQMYZc1s2vkRZMkSKn26m_04A-aVFiLgw96K5aAMF3MefMbK9LWki8lJVlxr7JGHkO-2obfvPotpeEuLC3PB39w6iBcFdpeXUsS6c_t6N2vQrfPlTdZB3vUtiNAvpcfmnYXZ8cjwBYOFIn7ISO1G7LNCEx_vwj8uqZph5uyIJSQRWussvwouZg81SueqEGFrUjqSzVqEZp5yGYzmIYgDy0xHiX0QvBZoi4BNMC3FxqU6uQaO2Wk_HPKpdb10Ca_91f09RCMuUpPUO71ZbAwJ3f-D6u6NxCvnm01v0F3ySpCnx6P0CoAAKSIKOfYDaR1N5VTgmTkjlFVyB9L0g2eiURqCdNeRWX6MtQx6XcRh5QIuLyzFisCHwAj5pEsD2yf2bPwHIh1iO-M9ihy1RozlBuphc92B8eaIpCKQqDLnMt2qdKP7pFsw_YpOn-vTxXWEwhxXOTRzm3IJ1JtIXTGjKA_0Od3XWLXzJeLvo76sWVpc8GieUSRJyD0N4x13OvHGrawSd2eOwdw2JlKcEiTSMv1l43jF3KyNuBDseZu3zEr6-O17jMR8VzOjcvvrfr2Q-vidqEZ1Ikti3RLQ5sxjxIMkGeOBQZ9aFgdWfPLQfvqlj1Bqjy91rnWgO-L0JEtgzwbsXkLoP530zuOUEl9iKyU0JxN4SUjAmGMMc9RQ0VY1imeas6yPi9_MwnSfuolyfQjK8PFtArbBW3A_vyjAk2QTWh79MpWaeK_FqpiDSVDv3VtzKzn8duNkK65j7_u0a6Aoagd2TOAJ_PclupjUOHQH2GdIs2u11wntKizy6ltN1jPhkwYt4evEwlGPnR2vfW2jgU6Q1luiAr2hMyoqlhokSQy3PG9xAI5xovOki1bvWlaGlLbZWll-L_W14ANcfjae6hxsrHmvt3JwSlBtQtgkaVy8gvCSndlJ5KFD6faYcX299Onhz6e6w-TnYP88rYtU3GRfC9Wi9ARf3VBcW74adGgp-RVsTV60uB57JSsNf9IpVTSsjAULndXOtSjZs330fDCQqwnbsQNQBeNLRq2RdQyOnpKL6WGG0TvW1SmklXGCyXxFRGJFQzdOEntrpwASFYYWcUgDjx0y-5qaVHJ4HIwkjHUHgXWHJrC4_jybxBVDf6Iojj5s_PxCi4au-3GK9q_2ycQ9e7OYthFkva1XGZDYcVTZsSgg1NimVlCIxjm-Qk5rtg44jQBPiLR8Qam75_5zClqmad6xVBpSr80JvmFvicx_cIae-9ACtI9gsy35JwZJhOgwQggrv36fhlSwBJwnYLW58RAAfjxEPtY466eHzgsRUqGjFNOQvioIOCF7xd08OVBJjmoPBuzLbS_n8sLBaaw3562C3HrWpQvevt37kwYkgEP9qyS953cX7qvJGlrAn3UBKrC0ydQb2A18tvFvicSZHFoDTIMsdLhSGkV6JQ_W3ijS2iUUKALUiJXUKqzMQv-A=",
  "id": "rs_0b17230ad2285d49016ab4710def0487d09872ca2ab6f361ca",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.345,\"right_y\":0.25,\"right_z\":0.03},\"note\":\"The dark fruit lifted securely, and only the yellow fruit remains on the table. I’m lowering the right gripper around the yellow fruit while the left arm holds clear.\"}",
  "call_id": "call_OLYXdK0EC3R2oPXI592bc4K5",
  "id": "fc_0b17230ad2285d49016ab471107a9087d094d25d31f39a6bf4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OLYXdK0EC3R2oPXI592bc4K5",
  "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]: [-0.9516, 1.6981, 0.6254, 0.4534, -0.8745, -0.4004, 0.5262, 0.9207, 1.9766, 0.6621, 0.7155, 0.8032, 0.2016, 0.9969]\nstate[eef_state]: left_x=0.3296 left_y=-0.2228 left_z=0.081 left_yaw=-0.0398 left_pitch=0.1865 left_roll=0.1132 left_gripper=0.5262 right_x=0.3427 right_y=0.2466 right_z=0.0242 right_yaw=0.1551 right_pitch=0.1512 right_roll=-0.2228 right_gripper=0.9969\nstate[joint_eff]: [-0.3487, -6.5983, 4.9573, 1.7558, -0.2662, -0.0464, 0.9841, 0.5128, -8.335, 3.8906, 1.8046, 0.4615, 0.1929, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65cb811ea8234050d54635be07e30a8af9a75c263d464d2f16ffd8cee2454933",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df575065f6514b0f785b1c400c54f30bf02bbce63b5b76202b57bc1dc0d89a31",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c525204cd673fb5c3f61bb700ea08124d13cdfc99ba6ac7a9a9a1bd1ce0e6cba",
      "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 · 1.957 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 45 changed as sent

message 51 changed as sent

message 55 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]: [-0.9524, 2.0018, 0.5861, 0.8486, -0.87, -0.4019, 0.999, 0.5552, 1.6726, 0.8562, 0.2211, 0.4656, 0.1745, 0.5663]\nstate[eef_state]: left_x=0.3348 left_y=-0.2315 left_z=0.0204 left_yaw=-0.0348 left_pitch=0.2165 left_roll=0.0679 left_gripper=0.999 right_x=0.4199 right_y=0.1714 right_z=0.1096 right_yaw=0.0692 right_pitch=0.0408 right_roll=-0.0908 right_gripper=0.5663\nstate[joint_eff]: [-0.1846, -8.1299, 2.947, 1.917, -0.5153, 0.105, -0.0171, 0.1573, -7.4735, 5.9692, 2.21, 0.1538, -0.0464, 0.486]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.952, 1.7035, 0.6231, 0.4744, -0.8753, -0.4007, 0.5241, 0.8707, 1.6173, 0.8921, 0.2214, 0.7742, 0.1822, 0.9969]\nstate[eef_state]: left_x=0.3304 left_y=-0.2239 left_z=0.0816 left_yaw=-0.0374 left_pitch=0.1951 left_roll=0.1024 left_gripper=0.5241 right_x=0.3672 right_y=0.2497 right_z=0.1635 right_yaw=0.1264 right_pitch=0.2082 right_roll=-0.1634 right_gripper=0.9969\nstate[joint_eff]: [0.0205, -8.1573, 7.0222, 1.5458, -0.3541, -0.0415, 1.0281, 0.212, -10.2632, 9.0325, 2.0537, 0.3394, -0.0073, 0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9516, 1.6981, 0.6254, 0.4534, -0.8745, -0.4004, 0.5262, 0.9207, 1.9766, 0.6621, 0.7155, 0.8032, 0.2016, 0.9969]\nstate[eef_state]: left_x=0.3296 left_y=-0.2228 left_z=0.081 left_yaw=-0.0398 left_pitch=0.1865 left_roll=0.1132 left_gripper=0.5262 right_x=0.3427 right_y=0.2466 right_z=0.0242 right_yaw=0.1551 right_pitch=0.1512 right_roll=-0.2228 right_gripper=0.9969\nstate[joint_eff]: [-0.3487, -6.5983, 4.9573, 1.7558, -0.2662, -0.0464, 0.9841, 0.5128, -8.335, 3.8906, 1.8046, 0.4615, 0.1929, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65cb811ea8234050d54635be07e30a8af9a75c263d464d2f16ffd8cee2454933",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df575065f6514b0f785b1c400c54f30bf02bbce63b5b76202b57bc1dc0d89a31",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c525204cd673fb5c3f61bb700ea08124d13cdfc99ba6ac7a9a9a1bd1ce0e6cba",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHEWRdfJwV-XrvEslLf3V8p-tAEKYyNsfDCIwSjpB3e9juGNCfipp_3jdy79r-_bSjaoukRqBmzbOFEyb2kiXV_KjPqz19WHAtOtLJmBPbEzMqj2pxLMD-Q30ofj1nkC0WNIK-oU2H0wYbNDyeLO1_ToDx3b2oKIjXIYaTNQoxawVHKqFmOpNrfp22PmRD5oc3-psWmUgsxsg_6IxT22tcPzVfLF4aQVrIyA7baY6q1vV0DgzdS_m3O5Q-RYAbcER8wWiRxNLKWD7VBe5yQ180XVDSytihR9u6Ch7JvCTypKQ48jx1L9_4-gu75Edi0P2OuMJrlkg2srdMFKvbWv1-QixUC6jbyAXddL9M0U1l_ES5zpr1jBgD55z-sYortz5utlsKEFTuu7mbdbCbxDSV5sURtziuXSTR08fPqLRM8JKLJufhrgtABaislme2hzAEyjR-yEaUr2zpXYUUmZEH_21BL-LYrC0iExCiU85ZxwQknmbfGAZ_d19naRefVW2f0PPxEY0dGA1x3K0ReMVch7FmdjG_GrjvtqZ47Ilb6P1kxxBlPgyLp9nOqowBmk725QlQrzshvNsxEORwNI8UXl3S7pfvJKIS3_71mPAvwv2MDYEuZ1gPLYfVFFlZCFuJiWNPJlv5CuG9BmZtYFRtIfboCwyfTYeHLX-EoK1--sBA8OXiV3apgmCoYQIZm3e0-krQMHzcfIObw9lJzJNgdqlOI238JJdfrNR--Q-AFSrclww70H89oYXuoAh82-tT3CvJdNTvfBglxZ7W1LfgE-pXrnSuzwFYZbZRgbVPUfyiVN8PNZRldte3jjHs5We9CFcKoxClAjqN4haa9nuDInIHZQNuR7Gn7PZBm1fNfF2eiZqhSOvh8JqbmCoLhX8LUlXft2CxYKUWhx-t2ytvnkfNTJ86vL6PcHDcwN46cF5jwxzcrkM-6WjpfOWU-ER_uzJ_F0pMh73wX3JrdWZJsNpGrwVubrPQ8GtnWOeM82kU2yKmn1ghblo8ATv6lAmpuB9LjAvszWV8alAexLiBhJX6r6KwFgtgpb5UtzOqowEsScvoxOWlggjhyeD_G2Ma2JOhvc4lOFjQWirNPWXmUaQpKltiPy6IiFla_C4IrQormPyzoKFBR9cLP6A8krbrbn8R0Rz7phEtqgACmC41EhPlbghIDDMwGfUfUgGb6YXoL8uBVvN8a4JOW3TuenQNAiGaYKeI9HZ-fraatKhnYwMpcgBKqezqq4-lZPWKhyo-tD5zIN3eyA0E_xuGu9g5M_BK4xxDILCjUVDtwIYMq2EZ3HPWDj9zTdM-wAHXylvdrkOyjp2rWbjoeK1Di-vNkinVCRBB7kh9aGMscWOgj0QqZuxPBFAYK74lDqeUITe0mLJHU53yi8psWjaW5i70_qBQx3oPI5fJ0ywTfBdnvERw==",
  "id": "rs_0b17230ad2285d49016ab47113c01487d0a94e8f2677caa1e1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.233,\"right_z\":0.032,\"right_gripper\":0.4},\"note\":\"The yellow fruit is slightly right of the jaw center. I’m making a small alignment correction and closing gently around it.\"}",
  "call_id": "call_kjBwvW6oTY9gxOmUkPgYtA8N",
  "id": "fc_0b17230ad2285d49016ab47114d63c87d0a016e9b5aa2461fa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kjBwvW6oTY9gxOmUkPgYtA8N",
  "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]: [-0.9516, 1.6981, 0.6254, 0.4511, -0.8749, -0.4004, 0.5283, 0.8543, 1.9881, 0.6548, 0.7219, 0.7464, 0.1555, 0.4392]\nstate[eef_state]: left_x=0.3295 left_y=-0.2225 left_z=0.0807 left_yaw=-0.0399 left_pitch=0.1853 left_roll=0.1152 left_gripper=0.5283 right_x=0.3548 right_y=0.2303 right_z=0.0149 right_yaw=0.1577 right_pitch=0.1146 right_roll=-0.2489 right_gripper=0.4392\nstate[joint_eff]: [-0.335, -6.9949, 5.3128, 1.5067, -0.3248, -0.0562, 0.7399, -0.4308, -11.1248, 4.2735, 1.6239, 0.2222, -0.0708, 1.5507]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac6127ccfecadfc49f1a0380687428309032286a583eef5c9556ba4bd927be6e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9346ddb66d09adbbecaf7eb0fd4f6abfc0e0aebf4e5570c3dda432b7e0346ec2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97dc7455293688cddb33ab012fdad1b6598403bd718e1c2453d288df7b824298",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 9.008 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 48 changed as sent

message 55 changed as sent

message 59 changed as sent

message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9524, 2.0289, 0.5789, 0.8585, -0.8749, -0.4, 0.523, 0.5541, 1.6779, 0.8513, 0.2119, 0.4656, 0.1719, 0.9964]\nstate[eef_state]: left_x=0.3326 left_y=-0.2274 left_z=0.0107 left_yaw=-0.0362 left_pitch=0.2037 left_roll=0.0912 left_gripper=0.523 right_x=0.418 right_y=0.1696 right_z=0.1036 right_yaw=0.0698 right_pitch=0.0235 right_roll=-0.1022 right_gripper=0.9964\nstate[joint_eff]: [-0.1026, -10.3043, 3.9043, 1.3846, -0.1978, -0.0562, 0.9841, -0.1573, -8.2803, 6.5162, 1.6923, 0.0904, -0.0073, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9516, 1.6981, 0.6254, 0.4534, -0.8745, -0.4004, 0.5262, 0.9207, 1.9766, 0.6621, 0.7155, 0.8032, 0.2016, 0.9969]\nstate[eef_state]: left_x=0.3296 left_y=-0.2228 left_z=0.081 left_yaw=-0.0398 left_pitch=0.1865 left_roll=0.1132 left_gripper=0.5262 right_x=0.3427 right_y=0.2466 right_z=0.0242 right_yaw=0.1551 right_pitch=0.1512 right_roll=-0.2228 right_gripper=0.9969\nstate[joint_eff]: [-0.3487, -6.5983, 4.9573, 1.7558, -0.2662, -0.0464, 0.9841, 0.5128, -8.335, 3.8906, 1.8046, 0.4615, 0.1929, -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 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9516, 1.6981, 0.6254, 0.4511, -0.8749, -0.4004, 0.5283, 0.8543, 1.9881, 0.6548, 0.7219, 0.7464, 0.1555, 0.4392]\nstate[eef_state]: left_x=0.3295 left_y=-0.2225 left_z=0.0807 left_yaw=-0.0399 left_pitch=0.1853 left_roll=0.1152 left_gripper=0.5283 right_x=0.3548 right_y=0.2303 right_z=0.0149 right_yaw=0.1577 right_pitch=0.1146 right_roll=-0.2489 right_gripper=0.4392\nstate[joint_eff]: [-0.335, -6.9949, 5.3128, 1.5067, -0.3248, -0.0562, 0.7399, -0.4308, -11.1248, 4.2735, 1.6239, 0.2222, -0.0708, 1.5507]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac6127ccfecadfc49f1a0380687428309032286a583eef5c9556ba4bd927be6e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9346ddb66d09adbbecaf7eb0fd4f6abfc0e0aebf4e5570c3dda432b7e0346ec2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97dc7455293688cddb33ab012fdad1b6598403bd718e1c2453d288df7b824298",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"right_z\":0.11},\"note\":\"The yellow fruit is centered and the jaws have stopped against it. I’m test-lifting it before moving over the blue bowl.\"}",
  "call_id": "call_3hMHNIHMJYRsWTyj2Hh46eJI",
  "id": "fc_0b17230ad2285d49016ab47117f3dc87d0bfeb322b93e62f49",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3hMHNIHMJYRsWTyj2Hh46eJI",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9516, 1.6981, 0.6254, 0.4484, -0.8745, -0.4004, 0.5288, 0.8524, 1.6829, 0.7361, 0.3332, 0.7387, 0.1455, 0.4403]\nstate[eef_state]: left_x=0.3293 left_y=-0.2224 left_z=0.0803 left_yaw=-0.0406 left_pitch=0.1835 left_roll=0.1172 left_gripper=0.5288 right_x=0.3538 right_y=0.2294 right_z=0.0952 right_yaw=0.167 right_pitch=0.1087 right_roll=-0.2559 right_gripper=0.4403\nstate[joint_eff]: [-0.3487, -6.9538, 5.1761, 1.4921, -0.315, -0.0269, 0.7643, -0.0615, -8.5812, 8.0889, 1.6972, 0.2955, 0.0562, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e020dec3315041409afd1b3550dfedb824bd89f923bf05cdc7860c8bd62e31b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:540640bded054119f4971327f4ebffe5f8cb034cc30eb5b1674d7459094bf065",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88f297da95160272a353b9c57e787a1e0b19fa2da6c82646094b06c2367c3838",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 2.08 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 51 changed as sent

message 59 changed as sent

message 62 changed as sent

message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.952, 1.7035, 0.6231, 0.4744, -0.8753, -0.4007, 0.5241, 0.8707, 1.6173, 0.8921, 0.2214, 0.7742, 0.1822, 0.9969]\nstate[eef_state]: left_x=0.3304 left_y=-0.2239 left_z=0.0816 left_yaw=-0.0374 left_pitch=0.1951 left_roll=0.1024 left_gripper=0.5241 right_x=0.3672 right_y=0.2497 right_z=0.1635 right_yaw=0.1264 right_pitch=0.2082 right_roll=-0.1634 right_gripper=0.9969\nstate[joint_eff]: [0.0205, -8.1573, 7.0222, 1.5458, -0.3541, -0.0415, 1.0281, 0.212, -10.2632, 9.0325, 2.0537, 0.3394, -0.0073, 0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9516, 1.6981, 0.6254, 0.4511, -0.8749, -0.4004, 0.5283, 0.8543, 1.9881, 0.6548, 0.7219, 0.7464, 0.1555, 0.4392]\nstate[eef_state]: left_x=0.3295 left_y=-0.2225 left_z=0.0807 left_yaw=-0.0399 left_pitch=0.1853 left_roll=0.1152 left_gripper=0.5283 right_x=0.3548 right_y=0.2303 right_z=0.0149 right_yaw=0.1577 right_pitch=0.1146 right_roll=-0.2489 right_gripper=0.4392\nstate[joint_eff]: [-0.335, -6.9949, 5.3128, 1.5067, -0.3248, -0.0562, 0.7399, -0.4308, -11.1248, 4.2735, 1.6239, 0.2222, -0.0708, 1.5507]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9516, 1.6981, 0.6254, 0.4484, -0.8745, -0.4004, 0.5288, 0.8524, 1.6829, 0.7361, 0.3332, 0.7387, 0.1455, 0.4403]\nstate[eef_state]: left_x=0.3293 left_y=-0.2224 left_z=0.0803 left_yaw=-0.0406 left_pitch=0.1835 left_roll=0.1172 left_gripper=0.5288 right_x=0.3538 right_y=0.2294 right_z=0.0952 right_yaw=0.167 right_pitch=0.1087 right_roll=-0.2559 right_gripper=0.4403\nstate[joint_eff]: [-0.3487, -6.9538, 5.1761, 1.4921, -0.315, -0.0269, 0.7643, -0.0615, -8.5812, 8.0889, 1.6972, 0.2955, 0.0562, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e020dec3315041409afd1b3550dfedb824bd89f923bf05cdc7860c8bd62e31b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:540640bded054119f4971327f4ebffe5f8cb034cc30eb5b1674d7459094bf065",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88f297da95160272a353b9c57e787a1e0b19fa2da6c82646094b06c2367c3838",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHEi2sUqeu0uOOWZ3KdYGH3OHfsAmLg8zxWgnjms4TjkeH3zQHm8TqWbJpXDw1sRc5G0CLNNE_fNiT8XgUfGD-iK1RiPx4vKX3JvLL6p9Nw1die_07k2txXnncEdjonQYmVeCFb8uj4ZEe7tWNyqRclEUF9pKY_Z7EqV5JMBQjDunJ0NGUtyc0yISYSfYciLJGsUyV1gJmdogcNDHht1p-2suUynreiyBGZDW8dPQcr4Yx5QiceMSKl0qGf_1pbMW7dSvxHrGYcsAmaJCxbHiDkZUt1HY1VbRhUkSTmkcHDZ94tYA-HRtXK0L5oL-sfKvtfZpBWKeYDTxLeyv6wyhX_YAdnr-91M3m5vRJ8KTYZXOw5CNIyel0M8RAPbTMCPdH4BccmBKD1Lrln-71jLPWCwgE16vstCSGU0DY6_FqG4f7a3MwD6_WQP11VwT1psoczTpUfBH2cGJCUchJB3ng37MaXK2mRpAoKh720gvzyz2tuEXGPSXNZkDgW7NCYXvkPxB-aL3ycpvSbVZN-LuXtlBrRjboBP5TmIUHRiqKSa4gputVWfTMHPPbpcawwH0vYoZPgZex0FKWwny3PSBwMk2I6ZTAuWpfEXFbI3Op4xU3nFit8jYfKeDESZWfGnab4v1e4EuKl6IjRjk-S-1779Q-AXSHTwzPbF5zp6CJ_1SqL11QA7IbBuHIm2oqszGtVk5JS7WkM2yw-m9TpTPQyyB7rgh7WIHalAm1ZwYG84xGGJcRzYXkbHt4nvKo9As7s9ME0qb5VFdLSXciwV-3u-5_DRvEe-17q83kuobKcLq3xBAJZ3w__ApGDhQW1n3QwEQ2hbam4WBQA8xXln43VYlwFjRmrhs1EGczlu0MzVhvmMsBSaoCV6Egc7p6DaZn-sUKkR-HVmg6I_a6r-gQZrxEdHEElsZYdoO9YRNz3P7HD-Cuk48Ru4gOgnmQEofB6ptH8E2x7VNhjItvXPb8cOayCFkxMlvLiGn4MfOEi3FEpXfO2EhSdljUvFX09Fnk6uKdZMMJhFAgyWHqQPi9zjSZqQbr4xP_EWro8zbFLb36zAV8JB_m0hlHsGnBjUtLw40e4T1w2n5LzmqOQPBXz2EIkUn1O4x6RfUGZzgxh9ry-kYbnc13yXYgFuMk9fRIatHk87wSDIA30LrzHqF1pNfIQbV--iCOTRdqNFW7IotMrKNDbFe-daEWqLWVK562kyNoJdpyufLqpOURcqoP8t8Nnw7jCtNGIdx7FLlEyX771H28l-AoFr_3xG4aEDerKI1oQDqZfWwZ9bZS62wp2DkYZEN_UzjAHZBy__LJmGB_fOrfe6LohjeOi3voe1-DvdB8o6XAnsakl5h9K0Je-AO9ruYUCIAJoaKUvaMx6KpE05t4T3OV5Efq1LE9eo6IHdZEfAQCmsRWB7yXinYP3_4J8gi1i2phNajamm66kI0fot2j0KxGRWH9VReqhB-ImZ_RUGsucNW3NqLyvSqcH03yxfJ1Zst32hwT3sSzYIXmMkAAGPLYQ4Qc_lnaxNz7sZZzlfxsSmQx3_rK1AQihdn_7SIBLNFo71OMcWp5U4niIJ8FOGWllTe7nptyhoYy2n5ycc0GEozPYx5fa_y62TJO9ckVPQ0y6yVJteUg4x_b7GziI3TU8vNbNa0AqbUtl2sJTSamovWxXbKvs1K9tcIcD9hI0TpAECmMmnYOXd-LvnZ5H_B9DRtmBFYsPbrHVxiKT0L9WVorAaQDVYE2aquM4ot16X1cELYCCS9R4rXxeFL1sTb3IwfdBMzgFEa0nJmpNZ0bqDN0w8O-8U11KJHLdCYxBU7w9Do9Yn2cWniulx6Evk6pU7fyNt1OPSoBzo8GJta8lg51Ds3UR244xhzrqH_XEBtATlIAVVoWIXYkW4a_DMgFi-2LJF3iiIRsX9M5ZIjlOSPKumN7CKcpzcUyQ5ar-M0d7uL3GXO6qPsdewubH9RRnk4_-qqdGR-DerjVk25-vggTZt92R-1_auZkmGLEzp7eNcgy5loW9I_broPpyfSs-3BkjAmwBGz5YyCDcKZPSg3yNn50-qCXB2HkpZjFPN8M4LGQR9C2_KyQ_umC9FCiQEJKn_tATViYbRKlj2-5WMndsCa3hDh9PdqvOOcc34NwIo8IwLg1Z8rBpGsReQQha6PFXqfcNmTy6c8hDvaqh9M-HsWCPtOXMpjjCtHnq1LzPVDCgSveUsCDbIx4QgEcge-FTvwoO4-dYkmBvCXD4B6BmD4Q5d9TD38mTedt1sBpoKq-rG_4t2J6IXCPHQFIXMJomhMwqEFhGhZH9rimfZnp2gJ7YCn4yIfITxvby-jwFXND9stGDkx3iTftNoNLhObKGrlk9G2lnAqW-Bc1ZCIA5eVY8XFAhWWD9qpJU20wQ5I5uBRRC7jEXzzcQ63XzB185KwcWGQmYVuz2rSZArI_P9_Y5teqQ6G3LoGOSfQFRz-6cqVAr857vAB6fQk8Y16TfObZBIuFLh7G6ujjhigifArFezznqvGffgn8m-ocdrPmkgB8e_ZA8DPIGf77Cn_Rqvv-__z6eDQnp_vz5getZqelxw1i6wR0s4b7MltsTVGqbiU_Jg41L-5D7gf_UdLPPc4K4V88sQP2TudvGW28f4DWobsa5Y1OUUxhPXCSEXwGP5IOB7Y1yvmD4Ay07mRNBR5GHdSwTbmkre37xP3wRSWSy10zlMzZMjFhEGOJ6vEosivjbPIClYe64pry-qpfVNZwrR0j6rZRl9TFQjzdXVuiLlzc4Dd6zHsOVuTd6NyOm0ShIIUWJsvwAaDvcpjgpBquSXAsmAyLTUsbtZntK3QmOWbhKIgPKB4BsM15QSgxYTXkqYqqEx_sOoxTRHRQQsGatFX03Azbr0OAN3OlhHR2Kn2ZshM_bsjjhwOhvN7ZbB9zR3VZ1i_VKSF9YCahqq6xmzRz1rnsJW0eWcjTjAxpL6koQI09F3eSHeTZEODNoH-y1TWr00UNfV64GzG1W9fSn4uXwQgTTTk9U6BtYjE71M5PVhv-swmuZ-20WUPdT9Yv0oD1apYxnJzC9kVPHbhDKwlJnUBsddtjVHOZvGTcN0J2ztasIB2PfDfgsGxqCexfNDqCiKs74rd-WlkMSmLzdika1Wahti0XSRY4r05N7265gKNnVYToURZ_UeR-bRIX5q4ID32PMQ9m1wRllZx-ZVJsLXHDEljI2BQxyWgXofq08k5KMQnXr--pzND9fwOZ1rSxgwKZHESoqPoxZIDT-N7fwtogICi4HbSr_O2ydblx2XiSjuCnsGykcO6r9uC-3v153RAp5CLyEeJC1d5D829wbTjf5HnLXrqzzGzYPhNOQ-nwxsQaWQyeQmHReIOfqU3mYBf8u9ZXR6-xlovr5fluixA8tElR9Zp-Yi1Q8aNHImjmeqSxpFk2yBxwAjId3KN4C6xx1bpQsYWiPwQACucC0p",
  "id": "rs_0b17230ad2285d49016ab4711a7bd087d0b6f447337539ca30",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.435,\"right_y\":0.175,\"right_z\":0.23,\"right_pitch\":0.15},\"note\":\"The yellow fruit lifted successfully. I’m carrying it above the blue bowl, high enough to clear the pear already inside.\"}",
  "call_id": "call_13yK1hB6pL9NE8KtWtCV8TIS",
  "id": "fc_0b17230ad2285d49016ab471216b5087d0b0c0b66e93dadc6e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_13yK1hB6pL9NE8KtWtCV8TIS",
  "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]: [-0.9516, 1.6981, 0.625, 0.4484, -0.8745, -0.4004, 0.5319, 0.5667, 1.5635, 1.0641, -0.0105, 0.5148, -0.0486, 0.4431]\nstate[eef_state]: left_x=0.3292 left_y=-0.2223 left_z=0.0801 left_yaw=-0.0406 left_pitch=0.1833 left_roll=0.1175 left_gripper=0.5319 right_x=0.4307 right_y=0.1752 right_z=0.2023 right_yaw=0.156 right_pitch=0.1068 right_roll=-0.274 right_gripper=0.4431\nstate[joint_eff]: [-0.2667, -6.9538, 5.2991, 1.4823, -0.2662, -0.0464, 0.5983, -0.253, -9.5932, 9.1282, 1.8779, 0.0806, -0.0659, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63a22e9b78700e61d437686b399a75cfbcaee7e891b8d0cb0f6bd0bff5971da5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ec4c727efbfb9190a87e904bceb8c84d5d00f75db99fe48940b40f91a27276a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd6fc0741db0d0613c7d7cdaffb40b2eace9ff5f6ce271bc2444ea59b4ef2eaa",
      "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 18 attempt 0 · /responses · status 200 · 4.533 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 55 changed as sent

message 62 changed as sent

message 66 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9516, 1.6981, 0.6254, 0.4534, -0.8745, -0.4004, 0.5262, 0.9207, 1.9766, 0.6621, 0.7155, 0.8032, 0.2016, 0.9969]\nstate[eef_state]: left_x=0.3296 left_y=-0.2228 left_z=0.081 left_yaw=-0.0398 left_pitch=0.1865 left_roll=0.1132 left_gripper=0.5262 right_x=0.3427 right_y=0.2466 right_z=0.0242 right_yaw=0.1551 right_pitch=0.1512 right_roll=-0.2228 right_gripper=0.9969\nstate[joint_eff]: [-0.3487, -6.5983, 4.9573, 1.7558, -0.2662, -0.0464, 0.9841, 0.5128, -8.335, 3.8906, 1.8046, 0.4615, 0.1929, -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 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9516, 1.6981, 0.6254, 0.4484, -0.8745, -0.4004, 0.5288, 0.8524, 1.6829, 0.7361, 0.3332, 0.7387, 0.1455, 0.4403]\nstate[eef_state]: left_x=0.3293 left_y=-0.2224 left_z=0.0803 left_yaw=-0.0406 left_pitch=0.1835 left_roll=0.1172 left_gripper=0.5288 right_x=0.3538 right_y=0.2294 right_z=0.0952 right_yaw=0.167 right_pitch=0.1087 right_roll=-0.2559 right_gripper=0.4403\nstate[joint_eff]: [-0.3487, -6.9538, 5.1761, 1.4921, -0.315, -0.0269, 0.7643, -0.0615, -8.5812, 8.0889, 1.6972, 0.2955, 0.0562, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9516, 1.6981, 0.625, 0.4484, -0.8745, -0.4004, 0.5319, 0.5667, 1.5635, 1.0641, -0.0105, 0.5148, -0.0486, 0.4431]\nstate[eef_state]: left_x=0.3292 left_y=-0.2223 left_z=0.0801 left_yaw=-0.0406 left_pitch=0.1833 left_roll=0.1175 left_gripper=0.5319 right_x=0.4307 right_y=0.1752 right_z=0.2023 right_yaw=0.156 right_pitch=0.1068 right_roll=-0.274 right_gripper=0.4431\nstate[joint_eff]: [-0.2667, -6.9538, 5.2991, 1.4823, -0.2662, -0.0464, 0.5983, -0.253, -9.5932, 9.1282, 1.8779, 0.0806, -0.0659, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63a22e9b78700e61d437686b399a75cfbcaee7e891b8d0cb0f6bd0bff5971da5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ec4c727efbfb9190a87e904bceb8c84d5d00f75db99fe48940b40f91a27276a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd6fc0741db0d0613c7d7cdaffb40b2eace9ff5f6ce271bc2444ea59b4ef2eaa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"right_z\":0.17,\"right_gripper\":1},\"note\":\"The yellow fruit is over the blue bowl. I’m lowering slightly and releasing it beside the pear.\"}",
  "call_id": "call_pe7o35wjzuqWzcX2mIEETesG",
  "id": "fc_0b17230ad2285d49016ab47124802887d09c45ba8bf9ee3d78",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pe7o35wjzuqWzcX2mIEETesG",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9516, 1.6981, 0.6247, 0.4484, -0.8745, -0.4, 0.534, 0.5667, 1.5974, 0.9798, 0.0692, 0.4999, -0.0605, 0.9956]\nstate[eef_state]: left_x=0.3292 left_y=-0.2222 left_z=0.08 left_yaw=-0.0409 left_pitch=0.183 left_roll=0.1182 left_gripper=0.534 right_x=0.4264 right_y=0.1752 right_z=0.1658 right_yaw=0.1757 right_pitch=0.0666 right_roll=-0.2926 right_gripper=0.9956\nstate[joint_eff]: [-0.2803, -7.0085, 5.3538, 1.4921, -0.2711, -0.0513, 0.525, -0.0479, -6.612, 6.4205, 2.1172, 0.2759, 0.0611, -0.2466]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fbf0c764afd0ea42b2e39ea255165134abe37ddbf07895ad256ddcc00b59574",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22da6534a11e3136e5cdfc84463da802000431bc761d4379160e14d52af779f9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d30ceeb231c9368807c4ea240d1da082b4ba28962b9fd4ca865c2451b12dcc74",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 10.23 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 59 changed as sent

message 66 changed as sent

message 69 changed as sent

message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9516, 1.6981, 0.6254, 0.4511, -0.8749, -0.4004, 0.5283, 0.8543, 1.9881, 0.6548, 0.7219, 0.7464, 0.1555, 0.4392]\nstate[eef_state]: left_x=0.3295 left_y=-0.2225 left_z=0.0807 left_yaw=-0.0399 left_pitch=0.1853 left_roll=0.1152 left_gripper=0.5283 right_x=0.3548 right_y=0.2303 right_z=0.0149 right_yaw=0.1577 right_pitch=0.1146 right_roll=-0.2489 right_gripper=0.4392\nstate[joint_eff]: [-0.335, -6.9949, 5.3128, 1.5067, -0.3248, -0.0562, 0.7399, -0.4308, -11.1248, 4.2735, 1.6239, 0.2222, -0.0708, 1.5507]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9516, 1.6981, 0.625, 0.4484, -0.8745, -0.4004, 0.5319, 0.5667, 1.5635, 1.0641, -0.0105, 0.5148, -0.0486, 0.4431]\nstate[eef_state]: left_x=0.3292 left_y=-0.2223 left_z=0.0801 left_yaw=-0.0406 left_pitch=0.1833 left_roll=0.1175 left_gripper=0.5319 right_x=0.4307 right_y=0.1752 right_z=0.2023 right_yaw=0.156 right_pitch=0.1068 right_roll=-0.274 right_gripper=0.4431\nstate[joint_eff]: [-0.2667, -6.9538, 5.2991, 1.4823, -0.2662, -0.0464, 0.5983, -0.253, -9.5932, 9.1282, 1.8779, 0.0806, -0.0659, 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]: [-0.9516, 1.6981, 0.6247, 0.4484, -0.8745, -0.4, 0.534, 0.5667, 1.5974, 0.9798, 0.0692, 0.4999, -0.0605, 0.9956]\nstate[eef_state]: left_x=0.3292 left_y=-0.2222 left_z=0.08 left_yaw=-0.0409 left_pitch=0.183 left_roll=0.1182 left_gripper=0.534 right_x=0.4264 right_y=0.1752 right_z=0.1658 right_yaw=0.1757 right_pitch=0.0666 right_roll=-0.2926 right_gripper=0.9956\nstate[joint_eff]: [-0.2803, -7.0085, 5.3538, 1.4921, -0.2711, -0.0513, 0.525, -0.0479, -6.612, 6.4205, 2.1172, 0.2759, 0.0611, -0.2466]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fbf0c764afd0ea42b2e39ea255165134abe37ddbf07895ad256ddcc00b59574",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22da6534a11e3136e5cdfc84463da802000431bc761d4379160e14d52af779f9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d30ceeb231c9368807c4ea240d1da082b4ba28962b9fd4ca865c2451b12dcc74",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHEqM0H3qyvlNFQpf89zyS8_glqUnXbW49umHd2x3ykRp26Nh5Q5UDi7FTQ0oZ1NCDlfR7DmZVFR4lLD73BJoNpmSvWBdNEnP0RG_a_O0HcWY9r4qTGPTSkllhTBqNelb2vxaf4NGvk8y0tSs3lnXtkrZk9FPF_UNA71gqMj2CTPkzukWWtygh5lh_wew9lwB1QVUlVSSaDQ6x0D0-n6fQBZvhL2xOcqk0THShWZwOyVtm1b2VO63WrtiVOgzCMRoXk654ab_yWo2EepKNyFDmR6ZZrKlLtonTH4nxIAAzNghgk9cwQjXIBbi6ADJkkXEgPEunOS0cM1W-zL-SBrEj33xyd_7y9xeqWWOR-b_xZnQG9NT7trNMcjKKhvWJptksXqU2U_b7Ciacvupb6nihSgBclOtAY9YYCwhxfFw_NHphM5XBJe_bjL6MBnCNaVEGjTNQYjX-mknA2PR8r0C-eFkGGMPPMOAE3ySo9f4yZF3DyEpXDbT5dUuAS5XfCWuu5AcHPwuVl2IpmUrncfmcd302fcfNl6W7iqCbaatyrmIdlR9SGA6JG2mQ7RkVo-cx3nxO0gw7XNyq0BigAxV-aP6WS7ySpBbhlBpJzWpBsdh8j1OBtMr8SrcYvX8JJ8mUbRa3DhxF-dqmr31AjrqEek_f_ebbEM2ngwjLy-H1NdCqhT6y1gfoY51lLrPsfgPzUtLbOpZyz4hl93koRRokNUHoWoj8yCKvvz8HfuYyQY2LjzUTC1BKx-8Nn7exp5H4ttzrR68DnRr6ghA4GaLUwDOvfIev97V_sr_gHHc0hJjS1oz6qiittG-YXicWAdYc8z0POe7vWZVlIzNASbF1R40g5al_IyukQXakwnheoXxWWsK51IUUbhGqEsvyyzZXw-2zK2HEEO6Wq1Ywj2uifobbz-WhMEwZJ55rvpg4Pa0VaipmczT1Nm-bDwbGiDV477IZOwfkXETd56C2iyLNhkWUI5II1fsN14y_lHqz3t-ydH41i7rwjzFTDodA2WiRmPX2X86DWjmMTDsH4570r_kvc1-rQVk8PihAaGI48plm5N9HX3Tf-dC9n9--cmH092YAnauoxKYHrn_zwqorzcZXSUeMuH1wremC3tBjIscEyDwUNYioG_6nVvwnXNsXbSp4HaAHn8O4JhcCKlaukFiBWdLacKu8av0LglD4CW0scgBu0Bc8BRzC-qTfZxy3tF6H7UMvtiJWLsEzY9eu28reA26oMvTUmqP5WnSTDtX1y3RPXRn3ygo9MNqLesbNFFqB5t7TOtUmL84yBAbJqAB6Osg2dCAWX_icMGziYWvF1zSNGNJRUpVYhA3F3yilCNqJG960akzN_VLCCm8WR14KTsk9CsCPOKityAPKpysDP3Wl6PZHOC7DuKjoQTmV4SptcZCXPqZEHlFpq1Xg8rXv93xQ6DPnoEBBERdTYdAXHXcEPFO2QSrsqbaglWa0QQmQjpQUjR_0Xl14fuQ9iuGfkXjPLhqufBlHKlfP8b2eidLfHS9mrTvJ-d0Cu2jFnHrUvywi1G-0-gBTqxTjmLbQ==",
  "id": "rs_0b17230ad2285d49016ab47127b64887d08fc21e634c962c4d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.075,\"right_z\":0.13,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The pear is visible in the blue bowl, while the yellow fruit appears close to its left rim. I’m clearing the view and lining up beside the bowl so I can check the placement and grasp its rim.\"}",
  "call_id": "call_GNfvW6ygiMtzomGr1onnIqed",
  "id": "fc_0b17230ad2285d49016ab47128f44487d0916572e655ad735c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GNfvW6ygiMtzomGr1onnIqed",
  "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]: [-0.9516, 1.6981, 0.6247, 0.4484, -0.8745, -0.4004, 0.5367, 0.2626, 1.5517, 0.8227, 0.0849, 0.2478, 0.083, 0.9962]\nstate[eef_state]: left_x=0.3292 left_y=-0.2222 left_z=0.08 left_yaw=-0.0407 left_pitch=0.183 left_roll=0.1178 left_gripper=0.5367 right_x=0.4263 right_y=0.0735 right_z=0.1127 right_yaw=0.0041 right_pitch=-0.0546 right_roll=-0.0676 right_gripper=0.9962\nstate[joint_eff]: [-0.3761, -7.0085, 5.4222, 1.4872, -0.2906, -0.022, 0.2662, -0.1846, -9.5521, 6.5709, 1.9853, -0.0171, 0.1978, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a7b41dc33a8706d01d574401a1730f307ff29f6297bd65c41a987d5d7d94997",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81f92cbb34b6a243277ec3db832b74f6cb3078ce497ff044e66aaeeeaa8589eb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9b3109753615954e51069ddf374029200ed0fab25fb2065d61f6fd90b036419",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 20 attempt 0 · /responses · status 200 · 3.134 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 62 changed as sent

message 69 changed as sent

message 73 changed as sent

message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9516, 1.6981, 0.6254, 0.4484, -0.8745, -0.4004, 0.5288, 0.8524, 1.6829, 0.7361, 0.3332, 0.7387, 0.1455, 0.4403]\nstate[eef_state]: left_x=0.3293 left_y=-0.2224 left_z=0.0803 left_yaw=-0.0406 left_pitch=0.1835 left_roll=0.1172 left_gripper=0.5288 right_x=0.3538 right_y=0.2294 right_z=0.0952 right_yaw=0.167 right_pitch=0.1087 right_roll=-0.2559 right_gripper=0.4403\nstate[joint_eff]: [-0.3487, -6.9538, 5.1761, 1.4921, -0.315, -0.0269, 0.7643, -0.0615, -8.5812, 8.0889, 1.6972, 0.2955, 0.0562, 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]: [-0.9516, 1.6981, 0.6247, 0.4484, -0.8745, -0.4, 0.534, 0.5667, 1.5974, 0.9798, 0.0692, 0.4999, -0.0605, 0.9956]\nstate[eef_state]: left_x=0.3292 left_y=-0.2222 left_z=0.08 left_yaw=-0.0409 left_pitch=0.183 left_roll=0.1182 left_gripper=0.534 right_x=0.4264 right_y=0.1752 right_z=0.1658 right_yaw=0.1757 right_pitch=0.0666 right_roll=-0.2926 right_gripper=0.9956\nstate[joint_eff]: [-0.2803, -7.0085, 5.3538, 1.4921, -0.2711, -0.0513, 0.525, -0.0479, -6.612, 6.4205, 2.1172, 0.2759, 0.0611, -0.2466]\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 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]: [-0.9516, 1.6981, 0.6247, 0.4484, -0.8745, -0.4004, 0.5367, 0.2626, 1.5517, 0.8227, 0.0849, 0.2478, 0.083, 0.9962]\nstate[eef_state]: left_x=0.3292 left_y=-0.2222 left_z=0.08 left_yaw=-0.0407 left_pitch=0.183 left_roll=0.1178 left_gripper=0.5367 right_x=0.4263 right_y=0.0735 right_z=0.1127 right_yaw=0.0041 right_pitch=-0.0546 right_roll=-0.0676 right_gripper=0.9962\nstate[joint_eff]: [-0.3761, -7.0085, 5.4222, 1.4872, -0.2906, -0.022, 0.2662, -0.1846, -9.5521, 6.5709, 1.9853, -0.0171, 0.1978, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a7b41dc33a8706d01d574401a1730f307ff29f6297bd65c41a987d5d7d94997",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81f92cbb34b6a243277ec3db832b74f6cb3078ce497ff044e66aaeeeaa8589eb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9b3109753615954e51069ddf374029200ed0fab25fb2065d61f6fd90b036419",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHE1r54Af9VJ5wAQzEA-vKLyYML6xx2ued3Iis_rZzz5xa_bSKeG3mN73dVuMIXHHjECnLWRKmz2V5lqURv9qgLp2rT9UgCC3UkSxiP3kb5EXktIsYEerHRGQv_mylt57haukSvJTf07Di6ooOdZbzQofhA7vj2PexiqHedkQAGvhoffCi4ni37FADtvhFHzDmObL2mbIQl85y041YCAMrXnTJU37EtusBObeswmBBkz7x1m2DfE3Esa5BaOd9imxI1OWFn4fhiuipwE6n3E77MwntEmDrjHhCIbGcEJXSzZ4xmGRT_KqsHsm7hO-yjcPUnVoIIIpLpw82pL6rfhH6n_0aOJFQ749FYR4sI7hFl1Rxi2YYfnIkNRYFSrhkdzTmeFA1Zdb1bO2NQVtSWd1N9Tw9DuZkZQq6wCJhfu7xw_bI3X949GSa6vvzEFGeRrmuEeTWkpzwzQZ0b32C9rnD_ocdA0ht96Zi9O9Kz5yifz06k9jUSCuXKPXolqLOnSr3FJsbAFhPbU-Hsbb-BECKQKeLoDp1C7CvviivBY89SioJ0M4mxBI8eCRXkbLdSqkYYC9h-QPOfHehzS8lR3j4vZWIEkXQE35W4JpoNBsZmv5P1aBHrnJUJiZ30fh0N1vM-rhfKRVrLA7d3zSB4EtBjv6HN9Vg4JVGw_I7KIgH7w3O3bz6Z1kNGCAlwjEr7gSGkFCS48XdiYLiGlNieAyMYrTjE1yNQP8dP8MZGoAGhEy7XHh7ESoLe8p-pS6Gr__qnLCVwRoELUpjdgI1FqbdeQFrp5QdPypJOAIEB4hbDJ7UjvMDden_0wjQ5wWm14Z2-OjQT758-8PmWO6Wjmqz5ZbCx1Mr3Bcs1WGRj57Bg50LkTyMRf2bLxFf1S0H6vh-_wIi8BBAc2SB5LqVLhjFAx5RBr_GhqZxogh0o6-e1LDzPUeHdQiJ5MLix7SLdjy11ftOebSjL-TYyC2yBKHpeELFWlYRKREmFY-BE-NYhozF9YBjJDZ2pPuQb3QJsh_ua0V-0LGVCgs-3bt9qFHwwWKkaNHAWOy-rEHCu-PsgszpQ1rzJ2tUFz7A_-9BJke6foSEcDvKYx3GoLP2lxuJhS5tZk0d4f6ZfYIzBpKP35VML00v0oLy625g_vj0tbLb-FwgMnKTKNpAkC4DCA1OB_YXtKiMamRzY0ivTfSWJ9vVh-c88HFvaxG4B7POlN2mEA8jZ1bvb6AX4ZG3qn8IT0freBYE0a6_-FUPYEhMV2NI8ZOj0rthXylFXT7qVUSGpXz1U4zNL71m1RoovOx4xqIXU0vXcEcaLHvjvXsg3DerXJPXHL_S9DwxsiMJomizpVlD71W38LG2OiLfPcTu61Aa_brA-gYk8kSBVERh1dBR8oVSjvK0A4WPMrNGg4VPPKRUphMnCJ4X4sCekz3Vlsia91iDGnxlDL3WnZ0rLYbdA4_b3H7t8ccVrFpMQ-nJ2ugiCvtwaooj2tRcuUqZgZG2LEXFLuGzdFp8bHrUgvb2JTkU5WW6u5WXotbk85B-XCsyq076kDR8TFFwR_2cykNRbIsQW45pdGsM11A4P4Av3mphTV0HRw-peSEnAXlJ67CVFGiKqUeFRQ6gjeXdNwjoPPK_yjdRqoJnz3vVPAOdLL5zAXHyx-fWTRhFYCuRjo-6pgtnWIBpQGVZ-fRUe4Ck4DEYdbQf7LkZS8wrq-q27HR-t8W4Msjh1THoSCD8llyxYpue7AASDilQjBlAauZl3WskfWHvSh47zZ55rl4X4I--SMp3xm4edS_f7p6WvEuLS-rGPkBfA3xLjFzatTtntrk4AKWKK_kJHoV2iZCJwUTZmjGZw6hBwRnIYeF61M4QzkGNRIsB4K6Cay5CF19YM9f3wF2fbYJ_KEl4VOF9XnHMrmZThNAUE_DVPlfdkDDt2HCaqQtKcJkaDtSNHFi_Qhdku8W4mKr6jdRTzGSFexwZbIc16fnoxOFyrJyT_OctG3g4d5p5upL750GqOi1pdv7SAqEZccTC5H4GZBrAA62roMmm6yJrHlTNeUoxW9TZ6ZbL7mJiq0c31BUtVU4qRRUN9b19iT9nv-cP5YTzM8GaMvcFEhZ0bAr8wvJ0hi9IWhbph6ZoZDBMfylU1QYhfvD79pd-PttDnsQJCR8iJDBBMJFOS_SYTLd8nCxoqUuLv1vQxSX4QyLIJGfvIvIHSacLYVGx7yJdUnjZiGV4MEV-HPjQEQ2IdPIp39WqFxkBjRY7RT7JsyMeNn5iXAMSmHxn90J1k1TuVDtWjFmfphNe4iXeqVk6RR9IPm4eFkE7lvq4sgg84TDGpcIeKd_CT4wg-ln7UDYZlDp9nJaZ8WYOQ-37S6Ep7nxGnyekYS4nZUmZAnvBf0dwjMzkSDoACPxs4J0HmW_i9q_MoTs7DWDzIxqrpqtimZCXagiy1JDglfE3w0etLYGhAOKQxFx8P_FSXWvYnAzOQH6mlbdzRYp4Np2ixWfDI8_mH29TkOi1sVD9o4aBdopA2cPI6RucxPNIACtZnnKJl-aN8vxIGzXl6xBchadoDAndwkAd80WQ7KYztQBxsdUp3jpGoU9LnUaB3jFcGExxNMZ1Fkaxdc9f4OQmLHpv44BwMoIm9SwDOlNqJDz4iOMXrj0wum0EqXLn59AJ3V92SlXqQb3puVyYpB1U1BpAjHuRZv-iRIi6gy3exPPMt_c_6a9QLaKoVhvukeuRMKzEmtbKxyr3F75-5k4yYFodM172VSP36DaOyLDm6P-wp9jfafUcdczSHTb3nreMn6oVFbs5r9iSCrY5ukah3cBmpd2WRpkrKtwlqVZ_0SS_-NzTFnnnvFCFNffr55Daqu2SJcgPyZi41yk7hoTb82S4SSFW9_m9ob2bgmFEMItpwiiQzhreriqNdm4QPD9dbVFeBexPHhXBzQp_dEcVjrEmIzbTJgNoDvzV0Oq7HKqbPy8C964ET-ZkGptEsmMlMFwHJ-gFfp2WTyc7xfEuBh_gFbDMLth1EI0HCsxnw9mIahjMnuopzvTA==",
  "id": "rs_0b17230ad2285d49016ab4712c4c3887d0855e9fa45d44cb10",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.135,\"right_z\":0.055,\"right_pitch\":0.15},\"note\":\"The yellow fruit landed outside the bowl, so it still needs to be recovered. I’m first positioning the right fingers across the blue bowl’s near rim to bring it within reach of the left arm holding the dark fruit.\"}",
  "call_id": "call_LN2YF2DYZK6RGxm243cWiYl8",
  "id": "fc_0b17230ad2285d49016ab471342d5087d08390cf8a5383c535",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LN2YF2DYZK6RGxm243cWiYl8",
  "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]: [-0.9516, 1.6981, 0.6243, 0.4484, -0.8749, -0.4004, 0.5388, 0.461, 1.8366, 0.6743, 0.6174, 0.4126, 0.1238, 0.9963]\nstate[eef_state]: left_x=0.3291 left_y=-0.222 left_z=0.0799 left_yaw=-0.0405 left_pitch=0.183 left_roll=0.1183 left_gripper=0.5388 right_x=0.4242 right_y=0.1356 right_z=0.0457 right_yaw=0.0442 right_pitch=0.0711 right_roll=-0.0873 right_gripper=0.9963\nstate[joint_eff]: [-0.1983, -6.9675, 5.1214, 1.4969, -0.3346, -0.0513, 0.1978, 0.2393, -7.788, 4.0684, 1.746, 0.2222, 0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de0899b1f2547a0ce6e9fecac9e852aff9116f3d21cd3f13a43ee184bdbdb1ce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df4466b5b796c9e82395f88cb9aeaacbcc074fb95e5237eb15fc5054eccdb201",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56a1fc7e78227545dd919edb387c604a9cfe6f804acae2921ae3cb8570d3bd10",
      "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 21 attempt 0 · /responses · status 200 · 3.439 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 66 changed as sent

message 73 changed as sent

message 77 changed as sent

message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9516, 1.6981, 0.625, 0.4484, -0.8745, -0.4004, 0.5319, 0.5667, 1.5635, 1.0641, -0.0105, 0.5148, -0.0486, 0.4431]\nstate[eef_state]: left_x=0.3292 left_y=-0.2223 left_z=0.0801 left_yaw=-0.0406 left_pitch=0.1833 left_roll=0.1175 left_gripper=0.5319 right_x=0.4307 right_y=0.1752 right_z=0.2023 right_yaw=0.156 right_pitch=0.1068 right_roll=-0.274 right_gripper=0.4431\nstate[joint_eff]: [-0.2667, -6.9538, 5.2991, 1.4823, -0.2662, -0.0464, 0.5983, -0.253, -9.5932, 9.1282, 1.8779, 0.0806, -0.0659, 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]: [-0.9516, 1.6981, 0.6247, 0.4484, -0.8745, -0.4004, 0.5367, 0.2626, 1.5517, 0.8227, 0.0849, 0.2478, 0.083, 0.9962]\nstate[eef_state]: left_x=0.3292 left_y=-0.2222 left_z=0.08 left_yaw=-0.0407 left_pitch=0.183 left_roll=0.1178 left_gripper=0.5367 right_x=0.4263 right_y=0.0735 right_z=0.1127 right_yaw=0.0041 right_pitch=-0.0546 right_roll=-0.0676 right_gripper=0.9962\nstate[joint_eff]: [-0.3761, -7.0085, 5.4222, 1.4872, -0.2906, -0.022, 0.2662, -0.1846, -9.5521, 6.5709, 1.9853, -0.0171, 0.1978, 0.0464]",
      "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]: [-0.9516, 1.6981, 0.6243, 0.4484, -0.8749, -0.4004, 0.5388, 0.461, 1.8366, 0.6743, 0.6174, 0.4126, 0.1238, 0.9963]\nstate[eef_state]: left_x=0.3291 left_y=-0.222 left_z=0.0799 left_yaw=-0.0405 left_pitch=0.183 left_roll=0.1183 left_gripper=0.5388 right_x=0.4242 right_y=0.1356 right_z=0.0457 right_yaw=0.0442 right_pitch=0.0711 right_roll=-0.0873 right_gripper=0.9963\nstate[joint_eff]: [-0.1983, -6.9675, 5.1214, 1.4969, -0.3346, -0.0513, 0.1978, 0.2393, -7.788, 4.0684, 1.746, 0.2222, 0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de0899b1f2547a0ce6e9fecac9e852aff9116f3d21cd3f13a43ee184bdbdb1ce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df4466b5b796c9e82395f88cb9aeaacbcc074fb95e5237eb15fc5054eccdb201",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56a1fc7e78227545dd919edb387c604a9cfe6f804acae2921ae3cb8570d3bd10",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHE5H-VH_I-1dy_CvgXgx3SoAqzH3_aLJsupF1nQ069NL85N7_wii4_4w0C0AIGBifmUE_kqVTES5Zy7CtyhuhnQCyBKyn8_y_Aga2Nymedr6P_dKqAfWbiJ2EftKYDYYwO5vASCNAKHTqU3qlmGzhv9fpo8OW1gtnr6uQ2zDo9SJG0B4nJKIIzi_pnSI675TnYu0peww9rgu8-u3hkK41CljaHcSwgQsbWeD9aJ1WGeMcH9_kkYDp-pwHq9qrA5q5AMuj8_79P_hu7hHki_X5dFzr2bPL-sqxrOd49rIkF13CgZa8K9Lp7byon-TKWxRnk_7yOW_EP3PIhoIKNQXovrYVRKUEJLAz6tuiUM6DQkV7UglChD1twBjweJP3_uaEznkuCxkH9_W-puO8IlJQvMDUgXyOm9T_m8AOAaQPy2QUSlmpNPR5-a9QWClCmrYeopF1zXmWPSxJxcHFNw3AFCXSQ7gcWWPpZGBXJKHr6HTvsKMT8UVXhP-RO0o430cJR1hcNwMLGB2SIuAg1PBEQmWCL-2oUmgyQywDVOWJNdmruyIp2Xqsgmf6Q22HxUFS6e9E5Crh6qK77zjfUC_qMaPQB6mA4r3-M1mu0eHoVFuaUxUxI6ZfjR_HJ1kSEenq36l7xSM4hHbn8IM5_sxHUmdkPOPN4EJYnkSH35j5OiPIS2ADJeJD_fh-oCIg4Y1WXKG77RD3zcU3tLhD_jNcqCOiLfJUaAB2qDnGysKPbM-wMQysAvmwwX6IXWOxLOTbaU9RGzNJkTpv119Cnt04oed6mLDNnW7-BX_mTKRMKig27rODVU4FjFa9XVADwszsWe_QnkoqfQaecG8BU5SBWf2UvtgnaqONPtp2XDjo4JdOetUGbkL1e450MU4tGY4IPFajULD0azUHVa5LBZ0g_WI2SQsyIAo_TvpvlYaDCZIOAQ4kPRe8sHwDfLEdURQui6UicKfOB-4u21LVAzCdATNNrixY9XiirJIMpDRrQr1fw4l2dbScMRgsFH-G0UKpjMDFckqDCV3mXVbnTqYqAltBHqChidO8uZLRiYfJmfeVS2a-cGTgs-kqmJkZIkN4nMHMKfqrsMfXTgG7VJ6ASsdZPwHdXt_wVL_AM1nls__cCt1ZqTJbGNUmB3o31DE8fGt9YZdnVAl2krF05EUicqJmsSlzhpLW6TMYTi-vDMo9RdgJer5CeI2LgBsnLN4720zfHnLvOwl5kfhnxpSH_aJj0MK7rLjKXFZoGM1Op_15IZnrF98XPZ6_f2tF-a2bDdsomq8Esm_qMPGQ8_trHTxD_f9ccNcLlyyE7smJwMLDa3-bVAu8F2N9Jc75Gn0L_MILdROUbA84ubx0G7hbEZtg==",
  "id": "rs_0b17230ad2285d49016ab471372c9087d0803ab05adf0f7160",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The open fingers straddle the bowl’s right-side rim. I’m closing on that rim so I can lift and reposition the bowl without tipping it.\"}",
  "call_id": "call_DYz5LamjcOmIRmGeVEZow9AQ",
  "id": "fc_0b17230ad2285d49016ab47138155087d0aade61dd546a59a3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DYz5LamjcOmIRmGeVEZow9AQ",
  "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]: [-0.9516, 1.6978, 0.6235, 0.4484, -0.8745, -0.4004, 0.5409, 0.4625, 1.8454, 0.6701, 0.6754, 0.4107, 0.1234, 0.5956]\nstate[eef_state]: left_x=0.329 left_y=-0.2219 left_z=0.0798 left_yaw=-0.0408 left_pitch=0.1826 left_roll=0.1184 left_gripper=0.5409 right_x=0.4282 right_y=0.1387 right_z=0.0521 right_yaw=0.0458 right_pitch=0.1119 right_roll=-0.0685 right_gripper=0.5956\nstate[joint_eff]: [-0.1162, -6.9812, 5.2034, 1.5116, -0.2857, -0.0562, 0.2125, -0.4991, -8.5538, 5.2308, 1.1648, 0.0806, -0.0269, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6630307110c2eaa779b65ef3ca56e2917335cf19b548ea654d5253370bfe94e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8b3243346ffde17aee6e4f800ec95f399a666b3b18476ad91fb93e1e6f90875",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:631cceda2f0541b0bc466567d8638af84291c7c564aa46eb94c258ae6dd9b7d2",
      "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 22 attempt 0 · /responses · status 200 · 4.271 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 69 changed as sent

message 77 changed as sent

message 81 changed as sent

message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9516, 1.6981, 0.6247, 0.4484, -0.8745, -0.4, 0.534, 0.5667, 1.5974, 0.9798, 0.0692, 0.4999, -0.0605, 0.9956]\nstate[eef_state]: left_x=0.3292 left_y=-0.2222 left_z=0.08 left_yaw=-0.0409 left_pitch=0.183 left_roll=0.1182 left_gripper=0.534 right_x=0.4264 right_y=0.1752 right_z=0.1658 right_yaw=0.1757 right_pitch=0.0666 right_roll=-0.2926 right_gripper=0.9956\nstate[joint_eff]: [-0.2803, -7.0085, 5.3538, 1.4921, -0.2711, -0.0513, 0.525, -0.0479, -6.612, 6.4205, 2.1172, 0.2759, 0.0611, -0.2466]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.9516, 1.6981, 0.6243, 0.4484, -0.8749, -0.4004, 0.5388, 0.461, 1.8366, 0.6743, 0.6174, 0.4126, 0.1238, 0.9963]\nstate[eef_state]: left_x=0.3291 left_y=-0.222 left_z=0.0799 left_yaw=-0.0405 left_pitch=0.183 left_roll=0.1183 left_gripper=0.5388 right_x=0.4242 right_y=0.1356 right_z=0.0457 right_yaw=0.0442 right_pitch=0.0711 right_roll=-0.0873 right_gripper=0.9963\nstate[joint_eff]: [-0.1983, -6.9675, 5.1214, 1.4969, -0.3346, -0.0513, 0.1978, 0.2393, -7.788, 4.0684, 1.746, 0.2222, 0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9516, 1.6978, 0.6235, 0.4484, -0.8745, -0.4004, 0.5409, 0.4625, 1.8454, 0.6701, 0.6754, 0.4107, 0.1234, 0.5956]\nstate[eef_state]: left_x=0.329 left_y=-0.2219 left_z=0.0798 left_yaw=-0.0408 left_pitch=0.1826 left_roll=0.1184 left_gripper=0.5409 right_x=0.4282 right_y=0.1387 right_z=0.0521 right_yaw=0.0458 right_pitch=0.1119 right_roll=-0.0685 right_gripper=0.5956\nstate[joint_eff]: [-0.1162, -6.9812, 5.2034, 1.5116, -0.2857, -0.0562, 0.2125, -0.4991, -8.5538, 5.2308, 1.1648, 0.0806, -0.0269, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6630307110c2eaa779b65ef3ca56e2917335cf19b548ea654d5253370bfe94e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8b3243346ffde17aee6e4f800ec95f399a666b3b18476ad91fb93e1e6f90875",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:631cceda2f0541b0bc466567d8638af84291c7c564aa46eb94c258ae6dd9b7d2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHE9AHz0a8NsdshZ3gnS3CLGGTtuCvgI7yLwg-EwPuEJgauNt1AhRVXOTAH9KjZW-QK_RdqgUkEsieFv9Ayi5I_3JpToamPURzoSlFI2Nht9Adc5TLA-bP_thAyeFPrmsprFii6eM-aXG6BfUVq1aBhvHRfLjXIaEN6YxCBbrfb7zoie0TJFkqVGnrsz262cfqOxPZbCopyrIgNPGG8YKxH6BXr9SNSCy0pC8ji64tShz4ik6levZbRgLwG9Fa9jlOIZzMPlM5ajMxJEJ7dG8VlXH5bRpsXweo6FtFXcT0W-fiX6tLglZhi0__3okVMSEhn53n1ANMfBs-zLDd-gfDYAVmDS9rbHT2-jsDymMdYXHbEmyTn0YMlOQOvcBMAORRDyPyZ_jBBHld8AqQJvGpinZe5luLVUsel8_11eTgA5TT-yu3iuR_2g1KzjVNuUugAzYjK_gX7XZHdDsQENMx6c3INdIa3zJKz_401MBhIDrqruZkU3EEbBs-LTtg5QqgdYpX8-qiGegw3euz2w5vUBZDsttkwuYD3kkgsVPeQxWQcDI-sniQYo6fS8clAK96NgcIsHg0BhL0B_PDwYf0_Nnnl6d0-I9sFMcqGH4xz9Rfbq9QTgoXjgfTqfmDUkSA8czQiTyD99rvn9XSgq28L8Diok2Ftm8qv88CjIJ5q3hrqccOKVVGPIhboTH_Krm2-35sTeykUsGvY9rk4kVuJfGjMd38GY87N1UfcrWksvdjSqwTfvXp3xJFZm3CEzC0Vj1bSB2GFSjVYWFlYky_8SxlkWN68eeE0w7Ioic-5NNXkrGa1CNTuDobuSI80VkAwqOPaUc2MG6HP8wyRe2BatgoFKMAjuB9EKERBE9h2Ew7VSO41p7eM-pVfyEINRFNEoFXbU2GQdR9Ynrdc6YR9jITiBU3iHHSAemVFXwuavo1Vyx2qelyY-ApE8ClHPe_pwjTaZdWMjbVgmGqGtTEAJKoiSEtkPpapV0ee8FlYEWwIEfn2ezzLslzDo940qYOjJVPeGC_8-kuc4gpeKsT7c4xIsTJPzdd0_liyTwo8P_AJWVQ1OLhFJxelHLjkunlAHRkBEXtLjJwNtyDJFS2BfKOtQBM-ai8qieV4CtUTSCqlADSOzOXOAJ_ZugTBU-BYBpu9cuma9npU3Z9haABoImos2aXwwOD8H80r0Ivip8It8Adx0HYtLr9FRpGrXX0n62sbgyDf0tKKHKLnphkmlT22RdIRdt2TIplT0scE51pKNPjsvyqS_og7TGLtYWPjfpHPthDYl6J0upYThPdJ3PWZbr-zCSYnEutYlQ_xM1ndyhVfLefWBcMAiECUwGSrFzcmn3a6aol3zTCNEfkcgfuN_u5Y632AghNaNK-O1Uumy2GHYQDUyGL2GGqJoAwmbKFJ5ignVF0yZcQuEnYMm4GFIxPZuZ65IXfo6m_uJpA_eED_RjNsKhmlhuLQfwJLHnZgLK-q85OmVdmosjE__eKVjGs5Am0siaNhEWDBuodxd9qT8ZD0k6aqHVPAF7yYmXuVd82tL9ZFO48k6PWsnbQ==",
  "id": "rs_0b17230ad2285d49016ab4713b376087d0bc4c58d96b2d3117",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.12},\"note\":\"The gripper has closed against something firm at the rim. I’m making a short lift to check that the bowl, not just the pear, is attached.\"}",
  "call_id": "call_XBS68u4yaOmUOlen6zvgGP77",
  "id": "fc_0b17230ad2285d49016ab4713c1ea487d083a11335c03c7f47",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XBS68u4yaOmUOlen6zvgGP77",
  "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]: [-0.9516, 1.6978, 0.6235, 0.448, -0.8745, -0.4004, 0.5424, 0.4625, 1.6646, 0.738, 0.3965, 0.4026, 0.12, 0.5807]\nstate[eef_state]: left_x=0.329 left_y=-0.2219 left_z=0.0797 left_yaw=-0.0409 left_pitch=0.1823 left_roll=0.1187 left_gripper=0.5424 right_x=0.4237 right_y=0.1379 right_z=0.0975 right_yaw=0.0555 right_pitch=0.0825 right_roll=-0.08 right_gripper=0.5807\nstate[joint_eff]: [-0.0615, -6.9402, 5.3812, 1.4872, -0.315, -0.0415, 0.1441, -0.1299, -8.8684, 8.4171, 1.9316, 0.1783, -0.0024, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4468b395395f93889f59a4eff25eb3d9dcda18e5d32122b768afc7d20e0c6494",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b5b8eeb16216ccb5dfd9633d1158423fd7b5b245e6175a42ad8c75f98d5fae2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ec6dc40264c628d3bd1e51c5b57f6a2e241d5bc486df4050cd76ef96ed139b3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /responses · status 200 · 11.31 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 73 changed as sent

message 81 changed as sent

message 85 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9516, 1.6981, 0.6247, 0.4484, -0.8745, -0.4004, 0.5367, 0.2626, 1.5517, 0.8227, 0.0849, 0.2478, 0.083, 0.9962]\nstate[eef_state]: left_x=0.3292 left_y=-0.2222 left_z=0.08 left_yaw=-0.0407 left_pitch=0.183 left_roll=0.1178 left_gripper=0.5367 right_x=0.4263 right_y=0.0735 right_z=0.1127 right_yaw=0.0041 right_pitch=-0.0546 right_roll=-0.0676 right_gripper=0.9962\nstate[joint_eff]: [-0.3761, -7.0085, 5.4222, 1.4872, -0.2906, -0.022, 0.2662, -0.1846, -9.5521, 6.5709, 1.9853, -0.0171, 0.1978, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9516, 1.6978, 0.6235, 0.4484, -0.8745, -0.4004, 0.5409, 0.4625, 1.8454, 0.6701, 0.6754, 0.4107, 0.1234, 0.5956]\nstate[eef_state]: left_x=0.329 left_y=-0.2219 left_z=0.0798 left_yaw=-0.0408 left_pitch=0.1826 left_roll=0.1184 left_gripper=0.5409 right_x=0.4282 right_y=0.1387 right_z=0.0521 right_yaw=0.0458 right_pitch=0.1119 right_roll=-0.0685 right_gripper=0.5956\nstate[joint_eff]: [-0.1162, -6.9812, 5.2034, 1.5116, -0.2857, -0.0562, 0.2125, -0.4991, -8.5538, 5.2308, 1.1648, 0.0806, -0.0269, 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 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9516, 1.6978, 0.6235, 0.448, -0.8745, -0.4004, 0.5424, 0.4625, 1.6646, 0.738, 0.3965, 0.4026, 0.12, 0.5807]\nstate[eef_state]: left_x=0.329 left_y=-0.2219 left_z=0.0797 left_yaw=-0.0409 left_pitch=0.1823 left_roll=0.1187 left_gripper=0.5424 right_x=0.4237 right_y=0.1379 right_z=0.0975 right_yaw=0.0555 right_pitch=0.0825 right_roll=-0.08 right_gripper=0.5807\nstate[joint_eff]: [-0.0615, -6.9402, 5.3812, 1.4872, -0.315, -0.0415, 0.1441, -0.1299, -8.8684, 8.4171, 1.9316, 0.1783, -0.0024, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4468b395395f93889f59a4eff25eb3d9dcda18e5d32122b768afc7d20e0c6494",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b5b8eeb16216ccb5dfd9633d1158423fd7b5b245e6175a42ad8c75f98d5fae2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ec6dc40264c628d3bd1e51c5b57f6a2e241d5bc486df4050cd76ef96ed139b3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHFC-_3oxNBM08MtIL0DPJZvqz2pjvORGsN9J6o72RaTcVswe8gC7QdNHm87G1ZdxoPMtf4zzi5ls5YD6OI8aGOgsWWKWNShZJhxwA-c-Ogu3Gq_bNh8ptD-WDUz_Tyso02WFmVlXaenG4YT_4TXekwC4knRrdkBUhwfxq8VivGv7D4egdUydzbZBJnjQBkPFk-KWOH6SIsAy2hrAk3cPijELGdF_CN2RYk6JNPNJYD1sFtUaO9MdGZEii5pswPujaZJGGBFXygA5LuUnHz26DFGs9Nv4RkCbZ0y-iWT6RsQcWW--DATMokULUZNjbcwzYiASAevs60HeiecKHfKEUM-SKlOfc-2Kkg-PugySCcFGNw9oZ9SfEZsxf1NMiFC-j4yR_zw0cZpHHLk1zQEyH9BRJ3hU2h0_9x7rKAc4zc9wXVC8V92oRAGcnlzVADftQNdbVt0F3sdPg4w6scrDIBDehYmTTcA0eyJNXFKAYFsyPnYUAXr51bJdhcimAA1pmul_15OisVuWCwc8cDG1Y7bsvkS13GIVGeNDcYE8SJQ0SYlP8UsEaxpIQzbMJqoks7gfaomlmg406l972m_JkGb_82_jtSUbqvEu_Uqboja-uOxwn65F7mk1NmK8EC2PWrX80WXGCFBgyqbs1z-m1yN8dsUzWN7zY59dwaha_FW_ye3spc_aEuEODvm3tjZdbx_bkT6ZQVf_EC4wnrC6pC5N1vmfOICz87G-v2fSYJxEsqb9FMiK1RdmTySDB4BY3hBIaHBNLijkWkReSk7QezRDvXgdScIYEoLI-7EGUdyHvAD91jHNVs7a-w7YzHkNvadPyBI_ziMvV4wVA8vGgstv4pULrU9P24PZHjCK5DOLj2oBLs1LxIxuZXjBWSIdcQ9q8u0j7W2B1o-dbWAqc8JO7CiT7ih9H_7JSzXruuihKPdVLOLxJoDFwQ7YeMFfqbGgUKRMae6NQYYuCAonXYYW4-W_XnPBSuN4eKTycSOfrdMLabL0V94xToBi0-0HnVHJGAC_5p_ONThA28aLojk9D_qe-7ljHO91PeKIHav7jWF2GZkuMqqqCSbCoam5U_NwnLt0Yt0DaZLEeEp80p6j5qpbodME_AKyv50OpAwFL-0_UYuUZQecgY0oW5002OeCPFhNmtpTUqRG7XUtudIQihdJD1mV0mtOO9ku-6EaZtZs5qIr2RoKCdyzOuSDv42HcOupLXQnwz_Rv94rVssdNAFy1ZCi6zU63Bmlt1jCRY6lDH72H3w4USO0PZEL4DCPBKxN32VfcgSvFfKDu_BV6YazD0yMPfHiNTLwRUWjv-pqAvpeiDa-wup5Y0JiPcnJepC0qBC8te2kVXz9eTzyaoSU6uU0bNiVrXrxoefcuLUF9s0mdzxPTmZHnysSyjd-2waNHkNkNipmirW349WZh55S0IvFOCpHEg-7Yr9kX-YaEwUuBTGJEwnlpMuUEH0ONDvmdVF-oWIs6E7IP0Rrp435mr0UcuxxMC83FvHLRuZ4eg136HDNN9IZxm7S8X0",
  "id": "rs_0b17230ad2285d49016ab4713fc2e487d0a6ddaf141bbc097b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.445,\"right_y\":0.26,\"right_z\":0.19,\"left_z\":0.21},\"note\":\"The bowl appears to have risen with the gripper. I’m bringing it toward the center and raising the held dark fruit so it can be placed safely inside.\"}",
  "call_id": "call_BKnzLruiTcfEzCiKc3eOPCix",
  "id": "fc_0b17230ad2285d49016ab47141197c87d09cefcc1265b79b5b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BKnzLruiTcfEzCiKc3eOPCix",
  "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]: [-0.9516, 1.4334, 0.9009, -0.1104, -0.8745, -0.4118, 0.5438, 0.7189, 1.8118, 1.3014, -0.1329, 0.5785, 0.2401, 0.5841]\nstate[eef_state]: left_x=0.3293 left_y=-0.2224 left_z=0.191 left_yaw=-0.037 left_pitch=0.1728 left_roll=0.1215 left_gripper=0.5438 right_x=0.438 right_y=0.2597 right_z=0.1704 right_yaw=0.1088 right_pitch=0.0378 right_roll=-0.1151 right_gripper=0.5841\nstate[joint_eff]: [-0.0479, -7.8427, 9.2103, 1.4432, -0.3101, 0.0659, 0.1392, -0.0205, -9.6205, 8.7316, 1.8632, 0.3932, 0.2613, 0.6862]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc3f88b481472f3812e9360a46e8941d6310bbb9ed3ba908102a7f8bd3e149bb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8670428a536f710b3404d41919c8c7bda9e4349cc3079bd82b5a95beded497e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a94fea4660fe76c030dc71c774a3441ef1f51791694e936adee6f7a51e1a2e2f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 2.596 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 77 changed as sent

message 85 changed as sent

message 89 changed as sent

message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9516, 1.6981, 0.6243, 0.4484, -0.8749, -0.4004, 0.5388, 0.461, 1.8366, 0.6743, 0.6174, 0.4126, 0.1238, 0.9963]\nstate[eef_state]: left_x=0.3291 left_y=-0.222 left_z=0.0799 left_yaw=-0.0405 left_pitch=0.183 left_roll=0.1183 left_gripper=0.5388 right_x=0.4242 right_y=0.1356 right_z=0.0457 right_yaw=0.0442 right_pitch=0.0711 right_roll=-0.0873 right_gripper=0.9963\nstate[joint_eff]: [-0.1983, -6.9675, 5.1214, 1.4969, -0.3346, -0.0513, 0.1978, 0.2393, -7.788, 4.0684, 1.746, 0.2222, 0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9516, 1.6978, 0.6235, 0.448, -0.8745, -0.4004, 0.5424, 0.4625, 1.6646, 0.738, 0.3965, 0.4026, 0.12, 0.5807]\nstate[eef_state]: left_x=0.329 left_y=-0.2219 left_z=0.0797 left_yaw=-0.0409 left_pitch=0.1823 left_roll=0.1187 left_gripper=0.5424 right_x=0.4237 right_y=0.1379 right_z=0.0975 right_yaw=0.0555 right_pitch=0.0825 right_roll=-0.08 right_gripper=0.5807\nstate[joint_eff]: [-0.0615, -6.9402, 5.3812, 1.4872, -0.315, -0.0415, 0.1441, -0.1299, -8.8684, 8.4171, 1.9316, 0.1783, -0.0024, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9516, 1.4334, 0.9009, -0.1104, -0.8745, -0.4118, 0.5438, 0.7189, 1.8118, 1.3014, -0.1329, 0.5785, 0.2401, 0.5841]\nstate[eef_state]: left_x=0.3293 left_y=-0.2224 left_z=0.191 left_yaw=-0.037 left_pitch=0.1728 left_roll=0.1215 left_gripper=0.5438 right_x=0.438 right_y=0.2597 right_z=0.1704 right_yaw=0.1088 right_pitch=0.0378 right_roll=-0.1151 right_gripper=0.5841\nstate[joint_eff]: [-0.0479, -7.8427, 9.2103, 1.4432, -0.3101, 0.0659, 0.1392, -0.0205, -9.6205, 8.7316, 1.8632, 0.3932, 0.2613, 0.6862]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc3f88b481472f3812e9360a46e8941d6310bbb9ed3ba908102a7f8bd3e149bb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8670428a536f710b3404d41919c8c7bda9e4349cc3079bd82b5a95beded497e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a94fea4660fe76c030dc71c774a3441ef1f51791694e936adee6f7a51e1a2e2f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHFOVOvk4zVaCv13JuCwD1ForqY99sypCPG8ObDaQVP3ldQkhNUsILgViWb9HuUP8dtuGmpXo0PADRte9V212inT7nqYtwNJ205a2eIO8Ij57eJ9amHRC4y7LJorHO5N9JreQhCjzTULLspoQ3VX8x2PXrRP_gAbGYbIiH7FdnlEznjAcjDqT4mUjtHfzD48jWJYDBFeBkdmJtmiKX5brdx9E3E2chDsH5NUoyaM7XlrFYjEnct7Noa25ufaD3LLc0ccX8cGyGx8urDHTqM_9pFuE9GXi6RYH3J2NJ8AjEbiUaAjbK9XNdjIMFlPfVy8F6mDZWr-x8xGjab6tU0ZwaPPva-8S0IDMwKpXHkDhPG5bs0yzHmxqEhRRd2osGwD_nYpqZ5ky7JEsIBOs4wLzR6YiaqK5ZIzy8iIRwKBdocVfrLOPKlN0yiW2tucR7MSASjI5yJboQl5aB-tqOCz6QqvLukHn0af7jqpWRFSwEfdh3aAMeLpkpgLSpSCjbig0Xw1t0iQBeAhX2OoArPpfM5r9S0fIC6KCmFlM1Y5j_ViMVjZat18pCqqw3ddqwg_PPGrjrYWisNELMgC4tZKz7U93rN3yY2rXrSRr4LH5haJPvJene4c0OxjCb2FpY6nLwYPT4LnZ0miiwDqqpPdqw6dQvr2WaP-MvjDk8YtQJOKQp3yxcZtdviH5LVazYfxGsiglEtcrcoUkMR2l5p7oGor-GmGT0R3lEEbOOsq3uY4xPq_MjyicBPMg8Da60BbcGrm8RIjqRYV_J5t6FPPCFqdJjChmMFhspea9cHwnILicIguXUFXRa1yR9kFNb97_W7D5HZhk2iQx_fK_Aff86-Urivj516rfdE18vl1U3uWwTIk_JmtWPv7hdqwDhSoECQ8PVCn1XHyvqJHFUaSy_0fAVEbjSaZNXUe_wifY0woF6WaxQGeGRQLUTTxKbnkubDRnU2lIUtzFVTmsXnklbzd4N0dVAE5BN_m7EcQwDk1V54i9NAIRSwHcez5Pv5W14CJaG_wMV7lQ0HP1PQJad-DmMFyliL_txrlL5e5TdnDTa9oAUpGUTU3UyhhtByyjTNOpRMJ5VKvvhwqAlUoou-RplGQ2BTiBQyjWS41SRTF8ZaQDzPbhTfP2fmOWGUtFtjoIJeLj8FfjkhGh975r3f6viPDUjvDfj68bJNTlhVVK2zSqCfy4w7AK_guMGIbnsN5IZVzaXz8lhzwuc3FbKpHqHRDDwjt4asXOfVmidruA-LvNNo3m4JX2tpKByQz49gzsVU6K80FEnA6EBL4OdQHlrpeMqfuTp9uZmF0hoEVdla80dHJwnu9PoRxvwrRvHn8DDUvqD52ssdyqPGGlqUCIR-RKBNeLns5e4juFSObz4PvqpDgzDsQYbRP_jroh6AAAqEv2wzvNcGvckaPCdhko9O6ObQYCNKnpLrA7rbJtJ0ijKLsAB_NZNQ2SiB6xrEp3cN8Q7prMplcFBJqxl-E7BSLsMi9dPe3St2fdjhQnsareYm6BiuQIhWGSJiWTEyaN2GEUvnHygX2B-efyCkRxoYya8uKA7ThQLAaC0R-4c3CuEBaX9gNhsWkw_RB408fojEtxqEyKNjGrSGKbTkbkLsE_tiOgdD4nAekWEsROA2SEMjATdy1arz6h_uIJdcYV_QZ49QV-jQO-Vb-BEnAbAkAABhNw6a4Zq3zRS9nuxxk1mf-_24bGijv3Bd8IXfktLZ0g8TBKBNd3qRi-pfVoagv7mA57jT5KPR9astidNp79UanKv4Rp1Cnd4pPmQOlgUtpHfvIkSjVQoUjdB1D_WTzH-sykMJsBW1PCdj5mIVj9XVsmTTw4THpWVWP4N6JLGQxLZGpAQ2XhfsmJtBZXYqTpG4cja0YjqkQsZLI0kvpajtYK0iKsgjE1lTODlVQSdcAxJH8FgLSPwAo56G5DancUeGkooiW4PDX3Si9bi3djFJAufzyqhoFrTszItSS0IBhCr4pGsHNUwZ6wS5IAQcKp5uiJIsmwL6QXO_CmBj8NU_riTX_cjSlVpQ26dXB0Ny2HGLrq19dirNiZz1QNS0bxcfJID0Pj3ra67FKAHP4yR0hJa7_ofvz29VTgGP5iB70Hi5w_T3ZaekAn5_O8gMG7FWuuMKARzHiRI8BlRFgK88u0I_QRW38ZC_ceMwvC9OvBl3vddRhzRFjN9il58cIC8HhtHwXFFSm09_jj4b2erB9i1h3nJ_Oo1_5fcP6Kew7zHsHrzvFX_9w92zQkwJGj1xLsrRkG6sJRWhkQk4gBuzeMuPMJ9AwBpTuLLKQYZ9DInoLoDMaFpnGpkXj32xc5XW5xs3o-i0jA_Pz5taPlIOR-Ouo03rK8YyhDC8CUthua3Rck5VRAi6XdtRobzvRTa1v0Ze8puyCb6ZQPtzZwvURcevkdX56F_w3IG-noVypV5i73JZsqh-qzyPjv9aBel0fl5mcEviLcQXqEUqi73NqMgMKKLBk6S1BI55iB2CFjZjL36lJAvNxAbr1ij2DSqW63hyhd-folvO5UJDpkGAtw12wQYC8girfLsYiQB9eJyUpMSw0YeNMDKUZphD1vCbgxIPznwPNBdapgxXBvUTch4nrX1FXYgkKXWzUTVGmu2otPlUwKCUTyVb3L3tBJ8rJzfUVLOg-vFAbcrkL0NB9kYNJ7OW8OtLshXvvrDauOcbvxKDfgKUXIMsqnV3dBcMLvtZISmWpMD5RmC9qox5A8JbkEASsFDZTkmgsg8FI3mazEJElDnOoUSzW-h2a5wcewtS9v1ecJwvTCVw4hiMLgmm7gwk0lgCb_s_f5KZIuVopANCexJ2aOp1CpMW2iRF9udXMu9wNMT60jsbDykdxKX7mJZS2WxpWNu1PR6r3oUzs9vpRY3QHxmf_Rm4-lmslHxvZXJRKQuHutVtm06RxkXyFORNHgyE-lL9u3PxHpX48FH0YtHTM6mTqaHy9yWSpPvrSpIMgGjE1uUslhD7xGEjFvHFF76M8XC1U8BagWSdzWp1PhxCxmf4hBeaNORxizGWWYmHsmKHHAkftSwCMSdpF-Uzm7r4Vdt5UVQBuxX2JjipxBv0oS7ZvQbcjDLGF3HsEFXRoRmgDTEJnb2VnpoWABM89ivBetKX8ZmPhI6yOqBJntEmZeIFHw-bAVPEPucexJ3rVeqs83bC8FFf-OfUavpeW7EQRzEfJ1_Tf-e4Q1A_cs5rntDP1BcPjBP88C0FvnEmLpkXH-2qCizB8OA5KTIxTa4qZjQTWRS15ljhTMF-ct5xElEfyckBIo4_ot-YLwRRE2TtCOclANiibrQmz3tuUHI4R1HXPoyPMJvtZ3rOIB44uj4UznqhUtepA7r615F2IspJ4vz-PLGGxzSe-JkWS5qsTEo8o7VwGhEcf0Hc0P15XApknr9e4EGfIaWm6Urgg24n_JXuhdc26PtP_wDhjie9OIdQ-Rvev2VbzXrzu6iZl07gPUz--X_xxaqSUhOOEaqgudW6IjT5LC9TSgtaHUHon0kgYbl6ZGbxwWxWV-FZfz5QRow4B7TXqtYHCpc21qPO4YRqEhBVLkNSHoXFd2t9OW6dSfNR08czKp4dJGATL1BRqLxvTaOg46D6bawlBw3XNicxK6G3BG6C3PUZ0hEZNz2OUQhEKHGnzM4y7aX-nV2DkaI2dJQQdVyh0i25u-vW53myy8qcRdfLYXmmzkOmBHlTTgpL3xvDb9HulnZW2tXJjnRyC5Ln67JdUC4uZuXa-oyyfMOECNEuYVhYGXOWlNdw2R4GjxmdlszGxbCyIMAZct5rjfagSAjZ-rpTVY7-x6RYru-9i2ifq_le_4qbsVc5X_TEvl-dwj1Wt_qEZBrK0Ug==",
  "id": "rs_0b17230ad2285d49016ab47144828487d0b34a2a46297b5c18",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.435,\"right_y\":0.175,\"right_z\":0.15},\"note\":\"The clearer view shows that I lifted the pear rather than the bowl. I’m returning the pear to the blue bowl before attempting a rim grasp farther from the fruit.\"}",
  "call_id": "call_dWTE6iiXBufSPGR2IGFvGF1B",
  "id": "fc_0b17230ad2285d49016ab4714d68a887d0a2cc560ebe41863f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dWTE6iiXBufSPGR2IGFvGF1B",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9516, 1.4322, 0.9028, -0.1284, -0.8719, -0.4126, 0.5452, 0.5434, 1.6752, 1.013, -0.004, 0.4404, 0.136, 0.5862]\nstate[eef_state]: left_x=0.3283 left_y=-0.2214 left_z=0.1893 left_yaw=-0.0405 left_pitch=0.1624 left_roll=0.1317 left_gripper=0.5452 right_x=0.4295 right_y=0.1757 right_z=0.1293 right_yaw=0.0984 right_pitch=-0.0317 right_roll=-0.1419 right_gripper=0.5862\nstate[joint_eff]: [-0.1709, -5.9419, 6.4889, 1.5995, -0.3541, -0.0366, 0.1294, -0.253, -9.9624, 6.7897, 2.1807, 0.1245, -0.1099, 0.6716]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d4a2227ff62c79026d3188769c09536bbae48facc9615303b35cb4760e2791d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:083b3d62cd7ecdba64a0e0ef1e4c07a43e9cd934bc14c4f3e331aa7a69e54e83",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1e1b23043830f0132d83c42d1c3597faf533d6824b9cae132d761b8cc4993a0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /responses · status 200 · 4.856 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 81 changed as sent

message 89 changed as sent

message 93 changed as sent

message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9516, 1.6978, 0.6235, 0.4484, -0.8745, -0.4004, 0.5409, 0.4625, 1.8454, 0.6701, 0.6754, 0.4107, 0.1234, 0.5956]\nstate[eef_state]: left_x=0.329 left_y=-0.2219 left_z=0.0798 left_yaw=-0.0408 left_pitch=0.1826 left_roll=0.1184 left_gripper=0.5409 right_x=0.4282 right_y=0.1387 right_z=0.0521 right_yaw=0.0458 right_pitch=0.1119 right_roll=-0.0685 right_gripper=0.5956\nstate[joint_eff]: [-0.1162, -6.9812, 5.2034, 1.5116, -0.2857, -0.0562, 0.2125, -0.4991, -8.5538, 5.2308, 1.1648, 0.0806, -0.0269, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9516, 1.4334, 0.9009, -0.1104, -0.8745, -0.4118, 0.5438, 0.7189, 1.8118, 1.3014, -0.1329, 0.5785, 0.2401, 0.5841]\nstate[eef_state]: left_x=0.3293 left_y=-0.2224 left_z=0.191 left_yaw=-0.037 left_pitch=0.1728 left_roll=0.1215 left_gripper=0.5438 right_x=0.438 right_y=0.2597 right_z=0.1704 right_yaw=0.1088 right_pitch=0.0378 right_roll=-0.1151 right_gripper=0.5841\nstate[joint_eff]: [-0.0479, -7.8427, 9.2103, 1.4432, -0.3101, 0.0659, 0.1392, -0.0205, -9.6205, 8.7316, 1.8632, 0.3932, 0.2613, 0.6862]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9516, 1.4322, 0.9028, -0.1284, -0.8719, -0.4126, 0.5452, 0.5434, 1.6752, 1.013, -0.004, 0.4404, 0.136, 0.5862]\nstate[eef_state]: left_x=0.3283 left_y=-0.2214 left_z=0.1893 left_yaw=-0.0405 left_pitch=0.1624 left_roll=0.1317 left_gripper=0.5452 right_x=0.4295 right_y=0.1757 right_z=0.1293 right_yaw=0.0984 right_pitch=-0.0317 right_roll=-0.1419 right_gripper=0.5862\nstate[joint_eff]: [-0.1709, -5.9419, 6.4889, 1.5995, -0.3541, -0.0366, 0.1294, -0.253, -9.9624, 6.7897, 2.1807, 0.1245, -0.1099, 0.6716]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d4a2227ff62c79026d3188769c09536bbae48facc9615303b35cb4760e2791d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:083b3d62cd7ecdba64a0e0ef1e4c07a43e9cd934bc14c4f3e331aa7a69e54e83",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1e1b23043830f0132d83c42d1c3597faf533d6824b9cae132d761b8cc4993a0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"left_x\":0.43,\"left_y\":-0.4,\"left_z\":0.23,\"left_yaw\":-0.8},\"note\":\"I’m releasing the pear back into the blue bowl. The left arm is moving the dark fruit toward the bowl’s left edge, rotating it so its body extends inward.\"}",
  "call_id": "call_xm9X5ZoitQ5pSp6fCQ7BijFL",
  "id": "fc_0b17230ad2285d49016ab47150950487d0bdcd19d09b39312f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xm9X5ZoitQ5pSp6fCQ7BijFL",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7502, 1.8999, 1.4689, -0.1112, -0.1738, 0.0635, 0.5461, 0.5091, 1.668, 0.9974, -0.028, 0.5014, 0.1547, 0.9982]\nstate[eef_state]: left_x=0.4346 left_y=-0.3583 left_z=0.1882 left_yaw=-0.6445 left_pitch=0.0306 left_roll=0.1616 left_gripper=0.5461 right_x=0.4301 right_y=0.1469 right_z=0.1249 right_yaw=0.0049 right_pitch=-0.0413 right_roll=-0.1756 right_gripper=0.9982\nstate[joint_eff]: [-1.5932, -10.3453, 11.3162, 2.7912, 0.8913, 0.188, 0.0757, 2.6872, -7.5282, 7.7744, 1.7949, -0.5055, -0.2613, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92ec3bcf874bb5e2e76947ffed3e86c0610d0b029ffdc01f8853d6945561442e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8eaed49eb69e1e7e60e9308afbac4b5b2160a2c6724c5f3171ec103bb92bc3fc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7d6400af9a94b3e9ce94cf3f8965ed7bdd8b95f34dca37a17dcf0bfd7df3e48",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /responses · status 200 · 6.123 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 85 changed as sent

message 93 changed as sent

message 96 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9516, 1.6978, 0.6235, 0.448, -0.8745, -0.4004, 0.5424, 0.4625, 1.6646, 0.738, 0.3965, 0.4026, 0.12, 0.5807]\nstate[eef_state]: left_x=0.329 left_y=-0.2219 left_z=0.0797 left_yaw=-0.0409 left_pitch=0.1823 left_roll=0.1187 left_gripper=0.5424 right_x=0.4237 right_y=0.1379 right_z=0.0975 right_yaw=0.0555 right_pitch=0.0825 right_roll=-0.08 right_gripper=0.5807\nstate[joint_eff]: [-0.0615, -6.9402, 5.3812, 1.4872, -0.315, -0.0415, 0.1441, -0.1299, -8.8684, 8.4171, 1.9316, 0.1783, -0.0024, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9516, 1.4322, 0.9028, -0.1284, -0.8719, -0.4126, 0.5452, 0.5434, 1.6752, 1.013, -0.004, 0.4404, 0.136, 0.5862]\nstate[eef_state]: left_x=0.3283 left_y=-0.2214 left_z=0.1893 left_yaw=-0.0405 left_pitch=0.1624 left_roll=0.1317 left_gripper=0.5452 right_x=0.4295 right_y=0.1757 right_z=0.1293 right_yaw=0.0984 right_pitch=-0.0317 right_roll=-0.1419 right_gripper=0.5862\nstate[joint_eff]: [-0.1709, -5.9419, 6.4889, 1.5995, -0.3541, -0.0366, 0.1294, -0.253, -9.9624, 6.7897, 2.1807, 0.1245, -0.1099, 0.6716]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7502, 1.8999, 1.4689, -0.1112, -0.1738, 0.0635, 0.5461, 0.5091, 1.668, 0.9974, -0.028, 0.5014, 0.1547, 0.9982]\nstate[eef_state]: left_x=0.4346 left_y=-0.3583 left_z=0.1882 left_yaw=-0.6445 left_pitch=0.0306 left_roll=0.1616 left_gripper=0.5461 right_x=0.4301 right_y=0.1469 right_z=0.1249 right_yaw=0.0049 right_pitch=-0.0413 right_roll=-0.1756 right_gripper=0.9982\nstate[joint_eff]: [-1.5932, -10.3453, 11.3162, 2.7912, 0.8913, 0.188, 0.0757, 2.6872, -7.5282, 7.7744, 1.7949, -0.5055, -0.2613, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92ec3bcf874bb5e2e76947ffed3e86c0610d0b029ffdc01f8853d6945561442e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8eaed49eb69e1e7e60e9308afbac4b5b2160a2c6724c5f3171ec103bb92bc3fc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7d6400af9a94b3e9ce94cf3f8965ed7bdd8b95f34dca37a17dcf0bfd7df3e48",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHFYwRepREiIj4JGg7pCPFAMreyJMV6_r0iAfIefUzdAfjFC_V-JAw7Hl_QZm_zEBbGSK0VQ88VmZCNH_nYR0w8ne9POoFQqAUXTFa5HCOi2wBKW0X5vqrJc-JvNyTgcIYEj15r6DaxXDkmK3egNnWYZAaMmAniFcD3oExnxKdYN89QbbaEds_x47f8WAopPJc7vzjxyLa6G9PeFHVf3wAi5aY3EqVdpYPQQmGyhZLQf4ebp5tM7K4c9YWs69tkzYJw9oh2wO3ex6p0YLuagT7nmit1WTMl_RH68Edfimf6wyBbJjIVwg-Svi65M2jhk5XNPpP7efX-4cuikGijst-_6eYVocM4D7xxVbUiun51G48lieV-RWIYK24N2aE7mhQmTJlEoAo7MyVLzCAS-GvbXSo4FjOhzJ1BmI-dt8OBsxKRSrcuIybtSVYLlZewqF0aHYIbZZjHhK-XU374Oh0IvXKUTMWXxq547YKuSnOhqyyFLY0_y0xYsIbhNwobFaa_Ag_1XcTd4m9co0gOcEUKMDLoXOcKnr3Np5tBOIB9wn4MAzn_Z-EnknyiGN-B9_8RS6b0DRlGb6Wh79wmA3iS0tpHV2oJ-3UzjDWPXtrnEY6m2iZkRo5TbP0LG-hle8hnNFRE857KNx4LpG_El8B4KZ80LevaBJRdEPmtT0BUFSDJV_mo3gxMoSs05ng4ote5ZMlHPNBrlRftWr2nOHP8XJxsg5xz7rYUABwjMSADRY5p6OwGPcQyuVclerKvDJFqab026MWeFAAFFjVzubJPmG7xmG7d1kypJL8Vb86GfjKS_tpb1ryHUQtBsqRW_IZA-CyNjtSJQCAqNotSpuq_se8XHUqi29VH9sI2qpuQtgHAImUiWqejyKFtFTjrm--TMD5XwUzWrLPLEnyZhg6tYmxKWMfETZuT3jOruNmwNUwoYckFWrQvMLa25LRl7tReOFHM8acZb5a4bBXQc6GB2SWAFPNa04kN0IuBpKpYUsZTiGLyWLrxHLrhvNCjPhcVRmFO7tbHBvZOigkqAtXoPoVDgonNRRA330lkcs3NCLEdJI8HJhiRWQCak_OmjNVZYhOuXky0YVEi3y4C9YNXHWmbU8jSkfWIx57Xqq3RujfGiL4psAA_-vkS0xTKZoswC9kVa5xC7nnemkkUvGGi5YQe5B65WnQcbVuxFhar48erZ61EAfc8pXfvZV4uVAtb14SnEWqUde8nXXQYULqyG-2aOWdbBnMNaqbZgZTGSmD9LgGsqHuzsvmLIDgX5xEmzFtHnFA3nbx8iySjnvdo5DgzB_StLvmluBWYWxTOM3ogS_WaWKqmBEwEksMbkOebu1oo-K1FgS0O6-wyy5fY8NjYNp2FAPQFwgqLxuTOKYb8_4x2SwG9e0vgOwlPnJNha-50s4JNV4Ytz3J9bK1XnvYiezxahuNdRPsN8-5M74EyaZKYhiF5W6_fjEmNmsRSh_FEwGjBl70l-Tvck3AB0HTa-2e6EtlS0OPh48Yuu-i6Te_6myeqWjXolKtkCUCLQEPTKmmpxdlOyNTQJHWGB6O6wUohSJAvacYuXueS59CaQvyLsEsyl7dwW_M5fZa7OGU_xgz_waa5dL3s3Q6Sts-wECclOSha4N5DVQL5YtAQfUdyhRcaUNx0hPMcL4zIAqoR0xwGjXs8tyfhy0aF-YRhD6px5HYd4u4hNwj9Eg7Q3tZCntCqN8R0DwocnUDOvqlY-IWj8ejOYONa6c4kUdDI99SSaG7AOPlWhy26mJODtM1A2PBgdfQkyslOHECJn",
  "id": "rs_0b17230ad2285d49016ab47154ee8087d0ad684b493d39a411",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.02,\"right_z\":0.22,\"left_x\":0.405,\"left_y\":-0.4,\"left_z\":0.14,\"left_pitch\":0.3},\"note\":\"The dark fruit is near the blue bowl’s left edge, but the arms are getting close. I’m withdrawing the right arm and lowering the left-held fruit toward the bowl opening.\"}",
  "call_id": "call_DK1NYMWYwAGPu01ddaldQwt9",
  "id": "fc_0b17230ad2285d49016ab47156e46c87d0995733aa7ae4869c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DK1NYMWYwAGPu01ddaldQwt9",
  "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]: [-0.7731, 1.9129, 1.3834, -0.0177, -0.1936, 0.0525, 0.5469, 0.1993, 0.9939, 0.8383, -0.4465, 0.2832, -0.0284, 0.9983]\nstate[eef_state]: left_x=0.4259 left_y=-0.363 left_z=0.1622 left_yaw=-0.6448 left_pitch=0.0278 left_roll=0.1629 left_gripper=0.5469 right_x=0.3277 right_y=0.0195 right_z=0.219 right_yaw=-0.0288 right_pitch=-0.0162 right_roll=-0.1694 right_gripper=0.9983\nstate[joint_eff]: [-0.3897, -11.7675, 7.4325, 2.0537, -0.1294, -0.0122, 0.0611, -0.1709, -2.441, 8.0342, 1.79, 0.0024, -0.0806, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0100d9559f46979927ee98add0ab77a7c48bfda54eea4bbc9d71c8d92fbbd37d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0812a7ce2591d12a347ffa8331796cc7ee374b65407b86d8490d7594e0ff46f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:962e263f520221cb7113a56c8fdd4cb12d5132a90e99dd4a8b7ceb58017eabde",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 4.835 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 89 changed as sent

message 96 changed as sent

message 100 changed as sent

message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9516, 1.4334, 0.9009, -0.1104, -0.8745, -0.4118, 0.5438, 0.7189, 1.8118, 1.3014, -0.1329, 0.5785, 0.2401, 0.5841]\nstate[eef_state]: left_x=0.3293 left_y=-0.2224 left_z=0.191 left_yaw=-0.037 left_pitch=0.1728 left_roll=0.1215 left_gripper=0.5438 right_x=0.438 right_y=0.2597 right_z=0.1704 right_yaw=0.1088 right_pitch=0.0378 right_roll=-0.1151 right_gripper=0.5841\nstate[joint_eff]: [-0.0479, -7.8427, 9.2103, 1.4432, -0.3101, 0.0659, 0.1392, -0.0205, -9.6205, 8.7316, 1.8632, 0.3932, 0.2613, 0.6862]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7502, 1.8999, 1.4689, -0.1112, -0.1738, 0.0635, 0.5461, 0.5091, 1.668, 0.9974, -0.028, 0.5014, 0.1547, 0.9982]\nstate[eef_state]: left_x=0.4346 left_y=-0.3583 left_z=0.1882 left_yaw=-0.6445 left_pitch=0.0306 left_roll=0.1616 left_gripper=0.5461 right_x=0.4301 right_y=0.1469 right_z=0.1249 right_yaw=0.0049 right_pitch=-0.0413 right_roll=-0.1756 right_gripper=0.9982\nstate[joint_eff]: [-1.5932, -10.3453, 11.3162, 2.7912, 0.8913, 0.188, 0.0757, 2.6872, -7.5282, 7.7744, 1.7949, -0.5055, -0.2613, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7731, 1.9129, 1.3834, -0.0177, -0.1936, 0.0525, 0.5469, 0.1993, 0.9939, 0.8383, -0.4465, 0.2832, -0.0284, 0.9983]\nstate[eef_state]: left_x=0.4259 left_y=-0.363 left_z=0.1622 left_yaw=-0.6448 left_pitch=0.0278 left_roll=0.1629 left_gripper=0.5469 right_x=0.3277 right_y=0.0195 right_z=0.219 right_yaw=-0.0288 right_pitch=-0.0162 right_roll=-0.1694 right_gripper=0.9983\nstate[joint_eff]: [-0.3897, -11.7675, 7.4325, 2.0537, -0.1294, -0.0122, 0.0611, -0.1709, -2.441, 8.0342, 1.79, 0.0024, -0.0806, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0100d9559f46979927ee98add0ab77a7c48bfda54eea4bbc9d71c8d92fbbd37d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0812a7ce2591d12a347ffa8331796cc7ee374b65407b86d8490d7594e0ff46f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:962e263f520221cb7113a56c8fdd4cb12d5132a90e99dd4a8b7ceb58017eabde",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHFfhf7m2cw9gsjX-QehjncoolY_6cxHtiTEO5BTlOawombsbCariRV7IfX59k71vEK7WFZi0Le1FCWHQV7sY6zBqEllr_qK_0oJCPFoONOmAbjukXRgl2QQClVmU4n4ltH5wsrcsaniiClZ2QU0rm2sK4ior4D_4TwGC4VuVD6o49GC3N4irWzwZWvZcSHlEJsLmnJKBlyf4pJQ941JqUB6DDYvtX4e2WbaxCqx5e5yid_vtJ5eTQIWS7ryVKBzL119oQeXGsJBpqTHbdRrUKBDeFEObKerv-MHAOtdjs0z6TwozHROimPSQ4Ln4NEP8F8iF_sobGAIprQHLvOZseI4BuhS8_9Sg8beHROuPcCF6s10U-GPIXqv0UZ741TbX7VQd8HpUViKq1R9QjN9euqPqUQWVFfFsCUP5_SmvJGu1YQxjZXI4toY1uWETWRublluXvK6Y3ulBhDBRVY4WZaQM_TXLoGrOtR44q_H_FkSo2WtHBD5Qd6Y_LKdnsjGBVXqFMBkltqB5l8Z1HYyZnWWlZEbfXUmVx20PYIwhceRF1LsP4z1070SEKw0NwgkxaReNoxXjF1VQgxeCnfvLgncDqXItly7UXVIf-zfcnYmP_GnO89QeaDvPNXzudRSFks0xmXW_yDggp5YeNTM--0KyyBLRHmic4fIDfLmQVd4scN8vM2ZHqeo4fHvMzYck6gV2TIHY5HeNKj1fmoO51BofOdI-YXA8cTAMXmd8LmVYbVWL8tSZND_lya7S_a6eYp5Fic2EJFJJsqZR9u6fzwQZlLF1H6Uyzh1cRHeaksY0ME0k1HPasXliZXUwTpMzeD5X-9pPt26373HD4lVGTC9K6_ILK8B6m7evXej-ueJM3iQwpxAeWpYBMeMFszaqMf4-lJcGMBwkx5_PL3fFZcfg37LDDTZKb8Nakiife8I0TQr8KJieyArr_SBeZkW-cb0THHzzz29syvcnxkpdLw_CfflJ88WIpa_-co7LsADMRkSiGyQzlymOK5UO3MexGorzg3OKBHEPFY7Yb8d7N2-bN01xZ5-62cpBjH_iHQ9J6ZRYNNM0fkZlHdJoicbevuiBQqbVrxKk-kml3yZRVwagr85xtBz_KY6lsu6lL2hFgZzev4ZYRWPu3jYLFHYYQ7OPNxwVxklvSLyZHOvlTEmLxO2O9yBF59bb9QzjBbj77TR5sChQUrKXDPdmPOXRT9AayJEcwGfT2EdP5Qw1JApCi-Uj9MrHvM7TDsFonhwnmnB_laZLeiuARPEG5mL9S8MLKavc-IFgHpgmRm0a2PMjK896a-2-DOZKUV2_GFCwrSxjrJ20xcvLbxsGWGHHxfI3scX4NsKoRRDZIxFfEh2bG58-AZ8UvJotcput5ww5Go0VPQHZfQzIFYg7MV35u1is3gHqOVGZ48WnRzAWiEHhdkV6_aqz6jh6w1t18ncnxyuFXtzk4qoaNPtJPndoEdTe3pOvuCXJHljg4GeOdIruiMEVhU6GhYR6tuQpt0HXigWdfJAV4my5Zt-A1ApaiCdRxb1DAgPbAozs4N2RRjdT2Fyvu3f2C7doOpZuTGaJuQj40H4m3F9OGDYjpd2OFXmfucTWTSyJB-lwZPlOz1OdOtXn2PHq_IOnqCQ2YcRkakU6FuLWC-lp9o5obHu-kXtuIWKHcxG5SgN_dk5f87R1k0BF9F68A_a3ASXtXABOy75Il8I6aom9s3uFXw1TCthuKqorQLZkAItvttuTmSpUdZkaac20IRIbw2SX3ma25KlKqmdzATqwbA18cdmDFqoJ4hGuZ1pc76CXclzlAvpANNAmZugx6ijuGlEay5jIaaC5jQfH55PKrdifOXaRioE3PT9cxpq1xy_0XxN-AtE0tnKYRL0wtE8IJMQFeWqWIQvoiXonW9A4qjH1GT-kbayB66UBC4jAyjNI6dVZMiGVpFa4J7at4nRftjW51L5qCh4s2jQ9WE7wVW4y_mW899tcgv9VSunT7jeQBvxRawcemo5iNFQnvlZ6vON7RbYPthd9rPdntrJxhGZHkNrdKm7",
  "id": "rs_0b17230ad2285d49016ab4715a9ccc87d0a9b11a4d2671953c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.125,\"right_z\":0.085,\"right_pitch\":0.3,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The left arm cannot reach far enough to release the dark fruit safely. The blue bowl is farther forward than my earlier estimate, so I’m approaching its exposed right rim at that corrected position.\"}",
  "call_id": "call_s8DHMOMwQRbbAbIJy00I5b7E",
  "id": "fc_0b17230ad2285d49016ab4715e0a2c87d0aa11620930a66eb8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_s8DHMOMwQRbbAbIJy00I5b7E",
  "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]: [-0.7727, 1.9209, 1.3529, -0.0265, -0.1936, 0.0521, 0.5475, 0.3641, 1.9633, 0.783, 0.7582, 0.3367, 0.0643, 0.9983]\nstate[eef_state]: left_x=0.4209 left_y=-0.3578 left_z=0.1426 left_yaw=-0.6442 left_pitch=-0.0191 left_roll=0.1687 left_gripper=0.5475 right_x=0.4736 right_y=0.1219 right_z=0.0554 right_yaw=0.0375 right_pitch=0.1701 right_roll=-0.0633 right_gripper=0.9983\nstate[joint_eff]: [-0.1436, -11.1521, 9.2103, 1.7753, -0.1099, -0.0562, 0.0611, 0.0479, -10.5778, 6.0513, 2.2149, 0.3053, 0.1978, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f459098b08be41d8670a2b590902dfe21a3934e102cc3b996e0cb1167eca297",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7078bc9b776acb651049bac0560942c046757544bff56f878370b068fb2e0009",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1ef4b5f44b130fda16fce0f510ba2511d06858fdfcea8052631db9b91fdf0df",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 3.697 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 93 changed as sent

message 100 changed as sent

message 104 changed as sent

message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9516, 1.4322, 0.9028, -0.1284, -0.8719, -0.4126, 0.5452, 0.5434, 1.6752, 1.013, -0.004, 0.4404, 0.136, 0.5862]\nstate[eef_state]: left_x=0.3283 left_y=-0.2214 left_z=0.1893 left_yaw=-0.0405 left_pitch=0.1624 left_roll=0.1317 left_gripper=0.5452 right_x=0.4295 right_y=0.1757 right_z=0.1293 right_yaw=0.0984 right_pitch=-0.0317 right_roll=-0.1419 right_gripper=0.5862\nstate[joint_eff]: [-0.1709, -5.9419, 6.4889, 1.5995, -0.3541, -0.0366, 0.1294, -0.253, -9.9624, 6.7897, 2.1807, 0.1245, -0.1099, 0.6716]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7731, 1.9129, 1.3834, -0.0177, -0.1936, 0.0525, 0.5469, 0.1993, 0.9939, 0.8383, -0.4465, 0.2832, -0.0284, 0.9983]\nstate[eef_state]: left_x=0.4259 left_y=-0.363 left_z=0.1622 left_yaw=-0.6448 left_pitch=0.0278 left_roll=0.1629 left_gripper=0.5469 right_x=0.3277 right_y=0.0195 right_z=0.219 right_yaw=-0.0288 right_pitch=-0.0162 right_roll=-0.1694 right_gripper=0.9983\nstate[joint_eff]: [-0.3897, -11.7675, 7.4325, 2.0537, -0.1294, -0.0122, 0.0611, -0.1709, -2.441, 8.0342, 1.79, 0.0024, -0.0806, -0.0073]\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 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7727, 1.9209, 1.3529, -0.0265, -0.1936, 0.0521, 0.5475, 0.3641, 1.9633, 0.783, 0.7582, 0.3367, 0.0643, 0.9983]\nstate[eef_state]: left_x=0.4209 left_y=-0.3578 left_z=0.1426 left_yaw=-0.6442 left_pitch=-0.0191 left_roll=0.1687 left_gripper=0.5475 right_x=0.4736 right_y=0.1219 right_z=0.0554 right_yaw=0.0375 right_pitch=0.1701 right_roll=-0.0633 right_gripper=0.9983\nstate[joint_eff]: [-0.1436, -11.1521, 9.2103, 1.7753, -0.1099, -0.0562, 0.0611, 0.0479, -10.5778, 6.0513, 2.2149, 0.3053, 0.1978, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f459098b08be41d8670a2b590902dfe21a3934e102cc3b996e0cb1167eca297",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7078bc9b776acb651049bac0560942c046757544bff56f878370b068fb2e0009",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1ef4b5f44b130fda16fce0f510ba2511d06858fdfcea8052631db9b91fdf0df",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHFlknkgIEddc-Q9eRZyOP8wqkhL_6eoBTvZmM3bhQRAT6j-U-YnRVarzdvadBsOAUjvn_ds3lOna5C6ByYXZYDhNefXlVymswq5dmTRFjTwoBFMMRKcLleXjyn30QjXrIwG3n0XX-FrKtN-lNqgdOxdlv0NLFg5HOK95lSOAqTSDK2M14CaeNwKO9nLaRIv0u_CdnvRbeNK45p7btcWYFvmwsqVmYOn5m8WHndCmj2o_AE2v88-abPr_LCoeP7eFIm--jehKiisPV6smFBy8tQit4iUHBEQd5Rz9v8B6fYTsNg_PKixkw0ziMFeLAaqt3nLEZNsTaictXCKq_BJCFh4UfYkRADihT7kcOh7CmR7R6uEjhN_FdSVCyv6X6Hp-GLORaVIyyClucY3cVxtdM7nvMfrNlfyaWiem5x6mdfiqvUKLs6WPgZUxbIo4sosOpf3kRoDS24YsHdT6t8ZM2CVNBLkKd1PQA15NZvKg3Er9p-yDnl1dvM9zJfr_RNMaZ6WBiM6UsWvG7-eLoensmE2Z7MC7zA2FeoMEinTRFdB-GgHYJpy8m0f_VSBSNInqPcy7uslwaUfYBEvW2J7awGWiUcXOWvL2GnMsVV4SkhDJnEf451a-53rYd1HQr6S2FCBYUA49GubxR-0GzqnQBlk7i8pcEiOg2hA5jVvgynQZ_4ElaMT7xAcZ1cYbDDwPbWwEwjJxwAVu0Z6aIHmffXELjT50enfr0OuCESQiMGu4n_aGPE6MPhYtdss9R3OHcj6VdZ9WtqNJpvopF80O2wfslMrtkwt2SbGFgfSqQdgMJwSStHMJiszuph-ReNbLbfQgvM0RvRqhDCJOfDMNEfuSmuENwp_DC91ZVnB5qU6hUh8J1M3xwthYoHiNPD7Q4KAfWrSXAmAJKaMrsDdPzB1faZvDdDrVFRR6qi716TYxl_brvfBg28kyDjd9z1XbvdpU4p0OU_ePn6JLjamfsvzpTkmX-BmxjMvUFHCYJKoEl_WDJacOcZgmjHgeI0nhO2ppcoQay4vOL3_2AWpBjSKRuz3GmFsMAHxqEHqivJ8r0dNoiMlnQEAJxXHtjid2NO8LhaCK1Nb3ga7e0DylNY-IqJuOfuxVdhqmIUBP0pDe2bjVPrZKyo6dTujy6KxNif4OLi201Egm6gbTZxU0JZpjQiSujVvoxmnis_kVXKwx1urIUEIQ-B8yO4hr5N1GFneu77E1GTDFxVQefrwUCKgezWkWhTHVp7zJk6Aipvm6-eorWm177u5AQisuM3G4cgeryrfAOreB-7BNoikUGcf_nOQEpMEmzfspBBG6hGwnTHL_2JJczqW5S-5QRoPsTjJllaSru21PCIKJ0lzNEq4Sq5Ooc7t4AlpM_4bASHKonQjWbfwBFiNzpZNy2l2F0Wl9RJpMN6IDwm67M5RmZ_SZ3f7unns67guwAisPCU7Nw53QMvmtrlMeKsiFvm7jalkyOh5efpV-OKluIngYxEqOW7A4yyW4FuobXZ3sPZgW6Dx-cm08pZMt4AwhTFCxKR88AomhSJDb5wbTCL5PS2io4tsIIMiYasVZjU26t6jIIPmxR5_eZufeD33D3w-sU8nut39ykRgSv4RtBw79zChBmUwLio6WzXn4vk4qobCkWzVNPp41F9msVWmSTV96ZjpQdM_H602HB-KzuQsqihKw16InjniG74FW-nLR-qZHbqabhubguhLAKQQj-lHpJYjX6jT1MHfoGUvPO9iNTPieI4pWu-8MXN_cBQggeY27bgyNaWo37mG5SItd2clrV1O",
  "id": "rs_0b17230ad2285d49016ab47162743c87d090910bdcc6d20ebb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.095,\"right_z\":0.075,\"right_gripper\":0},\"note\":\"The pear is left of the finger center, so I’m shifting outward before closing across the bowl wall rather than around the fruit.\"}",
  "call_id": "call_AfFo5Anm6PB7uNZGTHVU39YK",
  "id": "fc_0b17230ad2285d49016ab47164376487d080cc3ef9caee54db",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AfFo5Anm6PB7uNZGTHVU39YK",
  "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]: [-0.7731, 1.9209, 1.3529, -0.0422, -0.1936, 0.0521, 0.5483, 0.2836, 1.9434, 0.8078, 0.712, 0.2451, 0.0353, 0.5155]\nstate[eef_state]: left_x=0.4192 left_y=-0.3565 left_z=0.1394 left_yaw=-0.6446 left_pitch=-0.0346 left_roll=0.1707 left_gripper=0.5483 right_x=0.4854 right_y=0.1006 right_z=0.0619 right_yaw=0.0504 right_pitch=0.1573 right_roll=-0.0541 right_gripper=0.5155\nstate[joint_eff]: [-0.212, -10.6872, 6.7897, 1.8242, -0.1148, -0.0806, 0.0708, -0.9231, -11.2342, 7.2547, 1.5604, 0.1685, -0.0904, 0.9646]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6916e307b6b3c9e464e7f972358286025cfe7d14beade21168316f4478c4963",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1665e35a1d888eced8d5f912353a087e6348dabb3382928c253db315ba13e72f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:875727d453210181bd1c42dced0cef2a879e666a7d23d13c5524ea59ec2a2753",
      "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 · 8.099 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 96 changed as sent

message 104 changed as sent

message 108 changed as sent

message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7502, 1.8999, 1.4689, -0.1112, -0.1738, 0.0635, 0.5461, 0.5091, 1.668, 0.9974, -0.028, 0.5014, 0.1547, 0.9982]\nstate[eef_state]: left_x=0.4346 left_y=-0.3583 left_z=0.1882 left_yaw=-0.6445 left_pitch=0.0306 left_roll=0.1616 left_gripper=0.5461 right_x=0.4301 right_y=0.1469 right_z=0.1249 right_yaw=0.0049 right_pitch=-0.0413 right_roll=-0.1756 right_gripper=0.9982\nstate[joint_eff]: [-1.5932, -10.3453, 11.3162, 2.7912, 0.8913, 0.188, 0.0757, 2.6872, -7.5282, 7.7744, 1.7949, -0.5055, -0.2613, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7727, 1.9209, 1.3529, -0.0265, -0.1936, 0.0521, 0.5475, 0.3641, 1.9633, 0.783, 0.7582, 0.3367, 0.0643, 0.9983]\nstate[eef_state]: left_x=0.4209 left_y=-0.3578 left_z=0.1426 left_yaw=-0.6442 left_pitch=-0.0191 left_roll=0.1687 left_gripper=0.5475 right_x=0.4736 right_y=0.1219 right_z=0.0554 right_yaw=0.0375 right_pitch=0.1701 right_roll=-0.0633 right_gripper=0.9983\nstate[joint_eff]: [-0.1436, -11.1521, 9.2103, 1.7753, -0.1099, -0.0562, 0.0611, 0.0479, -10.5778, 6.0513, 2.2149, 0.3053, 0.1978, -0.0122]\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 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7731, 1.9209, 1.3529, -0.0422, -0.1936, 0.0521, 0.5483, 0.2836, 1.9434, 0.8078, 0.712, 0.2451, 0.0353, 0.5155]\nstate[eef_state]: left_x=0.4192 left_y=-0.3565 left_z=0.1394 left_yaw=-0.6446 left_pitch=-0.0346 left_roll=0.1707 left_gripper=0.5483 right_x=0.4854 right_y=0.1006 right_z=0.0619 right_yaw=0.0504 right_pitch=0.1573 right_roll=-0.0541 right_gripper=0.5155\nstate[joint_eff]: [-0.212, -10.6872, 6.7897, 1.8242, -0.1148, -0.0806, 0.0708, -0.9231, -11.2342, 7.2547, 1.5604, 0.1685, -0.0904, 0.9646]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6916e307b6b3c9e464e7f972358286025cfe7d14beade21168316f4478c4963",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1665e35a1d888eced8d5f912353a087e6348dabb3382928c253db315ba13e72f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:875727d453210181bd1c42dced0cef2a879e666a7d23d13c5524ea59ec2a2753",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHFpZwKb1O6_zOUtor00di5d7FnDu5NpltdMj7Lo5ZDO7UhRlQ3WTTu0eq6z7S_5MaM3Efu3lazFGqrr9RbaVLOQd4O7Nkq8PndX0wC89ew1Ld0muX9Co-M6KsftCG-cl4nDojCTlMM3vSm13O-wwDP196s8sIQ-h1BI4-0-sJMsznnzFS3NQdLq7If6GR32dVx74oFCR7gOlndQ1QAK_dYn8SQ_bxmBy3sEnEiAz3HHO0Sggyk5001aNQnd2thqmKW-W-bTQoCpMwc8ZMRInibY6bZJtgyh7Z1my5LTiYjs2CatPDDsAsi4o7ND0iriI7qClrmYupZBgJ5cZUxViMCdL6Ka5srebSarwFe_TTCpHeC17CPVg73U19WLWh3QfrLniVW520PuwX31DCWsVMNtGihBIN7TjibteOVw56XDNDGBEoh9AglfxNapHJCzBE6gJVRZl6EeZave7tF9EEjpnLgGi8dqsdX686SRpCR8az3cLKAFg-1nt8xoHuHr1WyB8PYydiuth4SQHEcSqMBAPwDWGEa81X-RvtnkxPqzDjSDLKpk3PMq7VsR3ntsN3He8u_7Y4wvko4zhY8v4a_uLIvYNFBlDQPQisJr2VEZ3Sy8Opeg_cfB6gkF8-bx-kTFLK3RLvhhXGgo0hDNefhYD15IKxU3GT-3JLoPozib-8rClrFGv7a8ynUavaEj_U4gtUQ1VsCTOJ5rsBYzJlX8x1VNHCeMU3-Faq2YUW5HeIWEmGNaE8Ae4JwaOfQRwE5qAmd1Lv0q9RG_Oymd-dVh_JwIfWSNDgWCgkkGt27EMz5062V29dO0F1T8mVY9tuPWI-vHFFZnDVEZ1kLsYz7RpRvKxWhBqCICMZKUzBNBfcCLsrWkJtGfn0YPLdtIBAZ2Hdw7uQu9UejeBFXbykIWmkKEFNwHmBS7Xyup_JbzLa-mHICZlxVLAgMYGN4AYjG_5b_7JjBoDR7HkBAFa-LXZzZFnXl_WWUresrUOehNbfmv1fKGVp1f983FFSmhRUOFOaahSobjpiW4MilUoMQSSNB9009EGZIlrKBdeT_-6lJh2Ut6dbmWIIk6kxk23oGueZgK0-DOBsX106Oi3fhx14kWsp7EDcCgCmVlFaMY4ZW0QIPOqtsHeueW5j6o20tpyll28y0qnXNKDllmRn5qiaMgmYsp-UM5CbLRMG7sZtjEbIuBrUtr4oNt_ULDpVsoI1m0yy79Qz7T-PIINXMjnJHBK-_qIQBpECtESybyVBQeY4aLX53VoEbZrfIlse8aEhdbco4b7E0g_eNl3aVO6qpueFTGk0ObktfR1EIUzm3kiagy50-5T4deSy_s0YzYeSfH52NKhPBvuqWqNJdi7Ek5LwTjc_PMXOISeL4J-EyY8DJ7avoetc5P7BXbFEJlwDDApxITtPgo3K-YNzczEH13vrT_uEbdjHi2oZ9X7ieOXzldsrB47eUyz26kY-Nh",
  "id": "rs_0b17230ad2285d49016ab47167ab9487d09d11f6dd387e9cd7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.15,\"right_y\":0.18,\"left_x\":0.37,\"left_z\":0.24},\"note\":\"The right fingers now appear to hold the bowl’s outer wall. I’m lifting it and shifting it toward the center, while raising the dark fruit out of the way.\"}",
  "call_id": "call_kKJWmCZQxBKkuC5diS0892UK",
  "id": "fc_0b17230ad2285d49016ab47168dcc487d0ba3b858d14a9aec9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kKJWmCZQxBKkuC5diS0892UK",
  "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]: [-0.8478, 1.7779, 1.486, -0.3607, -0.2615, -0.001, 0.5489, 0.4778, 1.8473, 1.0428, 0.3233, 0.3904, 0.0952, 0.5144]\nstate[eef_state]: left_x=0.3794 left_y=-0.3555 left_z=0.2113 left_yaw=-0.6338 left_pitch=-0.0648 left_roll=0.1742 left_gripper=0.5489 right_x=0.4842 right_y=0.179 right_z=0.1232 right_yaw=0.0923 right_pitch=0.1242 right_roll=-0.0779 right_gripper=0.5144\nstate[joint_eff]: [-1.3333, -11.7402, 9.5248, 1.6777, -0.2369, -0.0073, 0.0513, 0.2803, -12.5197, 8.1983, 1.8144, 0.2808, 0.2173, -0.1294]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93ba8c8e2e85c394448c6c5cbef7b15c7c1ec63a4b869cf82352e2608f03de5a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6ac230c998418dd1e62fec9b3f098cad21a2fffb83c715928763a8d12eb6ed8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c405a3beace3e7f144d461d8296d7293f2c369e73813a84dfa142a7a672519a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /responses · status 200 · 8.676 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 100 changed as sent

message 108 changed as sent

message 112 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7731, 1.9129, 1.3834, -0.0177, -0.1936, 0.0525, 0.5469, 0.1993, 0.9939, 0.8383, -0.4465, 0.2832, -0.0284, 0.9983]\nstate[eef_state]: left_x=0.4259 left_y=-0.363 left_z=0.1622 left_yaw=-0.6448 left_pitch=0.0278 left_roll=0.1629 left_gripper=0.5469 right_x=0.3277 right_y=0.0195 right_z=0.219 right_yaw=-0.0288 right_pitch=-0.0162 right_roll=-0.1694 right_gripper=0.9983\nstate[joint_eff]: [-0.3897, -11.7675, 7.4325, 2.0537, -0.1294, -0.0122, 0.0611, -0.1709, -2.441, 8.0342, 1.79, 0.0024, -0.0806, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7731, 1.9209, 1.3529, -0.0422, -0.1936, 0.0521, 0.5483, 0.2836, 1.9434, 0.8078, 0.712, 0.2451, 0.0353, 0.5155]\nstate[eef_state]: left_x=0.4192 left_y=-0.3565 left_z=0.1394 left_yaw=-0.6446 left_pitch=-0.0346 left_roll=0.1707 left_gripper=0.5483 right_x=0.4854 right_y=0.1006 right_z=0.0619 right_yaw=0.0504 right_pitch=0.1573 right_roll=-0.0541 right_gripper=0.5155\nstate[joint_eff]: [-0.212, -10.6872, 6.7897, 1.8242, -0.1148, -0.0806, 0.0708, -0.9231, -11.2342, 7.2547, 1.5604, 0.1685, -0.0904, 0.9646]\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 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8478, 1.7779, 1.486, -0.3607, -0.2615, -0.001, 0.5489, 0.4778, 1.8473, 1.0428, 0.3233, 0.3904, 0.0952, 0.5144]\nstate[eef_state]: left_x=0.3794 left_y=-0.3555 left_z=0.2113 left_yaw=-0.6338 left_pitch=-0.0648 left_roll=0.1742 left_gripper=0.5489 right_x=0.4842 right_y=0.179 right_z=0.1232 right_yaw=0.0923 right_pitch=0.1242 right_roll=-0.0779 right_gripper=0.5144\nstate[joint_eff]: [-1.3333, -11.7402, 9.5248, 1.6777, -0.2369, -0.0073, 0.0513, 0.2803, -12.5197, 8.1983, 1.8144, 0.2808, 0.2173, -0.1294]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93ba8c8e2e85c394448c6c5cbef7b15c7c1ec63a4b869cf82352e2608f03de5a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6ac230c998418dd1e62fec9b3f098cad21a2fffb83c715928763a8d12eb6ed8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c405a3beace3e7f144d461d8296d7293f2c369e73813a84dfa142a7a672519a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHFytxBKHGW9sv6YiwSd0ZlMS6NTcr7gug4H0FACTRYy4P3-ea68zVmDL6oXbqniNlpJBe83veVkf-Or8fgxvadfu8reUmGeraryRC5TYK22KdFxKC4qqF64A0HltJtUtnfpHgn2dY2Dq-2WztrE1T8nYk0JiBLBQs3TiNEjloVQMzT9w6zeuUaWHnpoL6-FdnObgQSBwX6sDnDUJ0CAla-JbhBD-oSZ4nPRQ-xd8-gnfvKlMEJDauMXGGqbBKaFcrvXoKan75TWK4-TBnw7bXF9TDlURxmHf04DbmV9ZjGDxHaUs2L1M728I5BvgnesRwAEfTZ6Emu9_wdtUFUHtiM8-EtmPhQtZo0nXH4VPj4Q8yI8DxVIaIqiZWfv_qUFhL4CYoFlie9M5CzmNhpivS8ob19ZujfMiw7FY-Y85hiDG-ULslbRlWY-woBR5OM1YR4DSRtQ1pO7rKYipfCyDJe43BSeAv1vPZGfefOsfIZUQkA4GTk9yD6lO_SA0Nm4meKIQG2YB3RgaoLaMfjf-wDqnhNpNNwylds15riThgcmEEKf0YQAVD5pzE-j2mLdF2haKEZCLmq1NNrNe2-zXT4yyaqqnDHnDJEdZ2iqqUrpmeMVgzmvpDJFfEyIkPePTRg35Vyp27xwdQBnt-F-SMzsbXvssXpdA4Zoe1-0p1g9gE7ubYCHf-TCqmK_cFFIQsDBEACdXW_uQhTBss_NHLPISHNccb3og2d9ByifKmyMD_sl6SJLHV_7HI270jkSSzcfveF7Kuo_vC85CCOWhcd5th7xks0C_nsYXdghYx-TLS0hoaHFvWDO39sGR7khXHL4MvyEJ2XXwvfA_M2NLyL9IwEg8L3IxWrAZQQayLQFb7BakYeaFLD5Lg310-LzVsmxqufRGsmCLKuWQXl-Ry0aRjgYPznfkFr0MuI9eEpkdsEMjac6g9c-5VGNhFxnTVatHuupEAOxCWwbDJM4lhjPy4wf0lFOvk_OzTsn4nSylxTERTeBh6jIG0QGw2UB4ZeJnFpKdfs1d-p8X_9y1JM0Jdv3xXjqGW1FxhDg56ftke6p4nrpdOyuEbm7oAL97NB4cl1tWMkRQ6OculPkyAGgTMbVjRQkdhFKny-4Fdh5OEu4Nfbv7vsghSgR_URCNHpRgSHezTDf4SkUPvnB1Y3mIPCKxmo9UoelqizGvYiBtqubOjwBwDlUi5vm0Cp-dNBIau5tTmIqUhFqsHZb_tsa1BKXYxxh3WXPAbYFI0MA4KFcxxnkRtKBNW5r53svaLObgxzr580hhUbMhe8ngLlSvNXzDTyAANAcCLiZ9trWHJsBHLJy0lhnC5gIDUZhUcmXaeDYfAB75dqgAUDI28avk7WuoN4aADGxVYG1LaWdPqtfmsvkeXj4U3K9JT8IBQya89Q3Hdl-Q0ltMdU_6mzC6E71KIX-NNtGcoNK7mm9gL4Pa4j0i5-iuBK9svQxLv4Iz-D7E6QXGVNDkW7CjN32GyGImQQEw0cMn9TmamWgvJCjdCmKXaYokv-yavPvQ0M8Howdx6XdAF51QQj-IxQeO7XzlRua1sje-ldbvioM68e4NOKlPJRm9qxq4gGhGwtSL2P14S5tW1SGhXn0xK3eL8ZULN9E5CAsnJeAGLpYpQrFKsKuvBSAdHeZFDn7c8-qne_OHSwI6ahVixP7lOAfMQa7anhFc1Ua0EQ_OUZAV7lOJNW_ja8szuiADc3Hb_tm9qsJqJt9_Duy-Uc3GbNZUlfInDeIMg0hbmkc7fvW-mbwZ9IifoiaO31JZAxDFIXXhTaOSO0xbs67YywYVByL2kA9pZFaatbE9g5fov1r0C_swM4NgpnshQVXuUo3BSZkK97SqvXIOkm7vNKK47yRbwX3nM8OXez997PPcVtDWfIC6ng-DuKmY75OFor6SGQgXyk4AuWCrRo-nBDYlbf1Ij8tZKKNZgKJNGD76NEa7xE3G_ckrflVcWaVxGV5bPVgw8rDDyM1ljW7BPZDs5Djkxy8wk5XRoji98wHZaBKs6-3Bs-flmzQmvgsmZeXAhxtsH49MDYPifXWCPGg4G_WNC3UbBo7_QNqA7Gr8zwrP6nBsV2ilMP_ule4s3XklwOMbOsnyOIJWpiypeNz2fVE6yF9FUsImK5LISusR4Q7FPBjVbs8nMocOtlwo8yBnPXSonAOgH9uNTxwmGap9op_pVQTdOVo1WPwI76BC6w4cc_119UMQEsj5ZT0iMk7uQrx0W0ftW5MbN3gOkwHNxs7Ti5fB9IhT28LtH1t_7NfCGaRLm_uYwm-lBrPYkirvhQCanoPoj1yL2IP21PEFXtghPw5r6hfNnBHXaUuh_PgfwyOcY5CVvmpv_w6AOHPKe-7YFH_heaZ6H6ccZucDQ_HgfrsQB-zBVJGa7-sz6FWY9itCeIZCAMFIts7T0F1cHflkQISv6eeqWQ37MDmyKTXSpcpXYmn47Co8fmtrq24DV8UupzWFgvdqfG33CZ7FCCJuMUNGTMlwxBdSN93vYXgmV_N3t4mKfcbjvJppDwVN9Nw_8FrgaPU0xfWOjWMB7kBEqlI2Rt27Et3-dLzTTVLW3QId3X6gIEJCU1EoTIfm_L0AKh9lypyrEedfG_rLFX9ZNsB3epFCI-FQIiPBPXWnIkl7oG_0fw1vrGso-u5fcfiN_u2X49WjtLjC3KuyTKgA3bw9S7qoFhPmL15J_j7EEGOvtfkzcCW070zMyo7Ypuq4DJMdmJG6dtA8fKcviGUgyrFlltDCejwdaE3IqhMwg==",
  "id": "rs_0b17230ad2285d49016ab4716c280487d0af79083b763a8062",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.075,\"left_x\":0.425,\"left_y\":-0.35,\"left_z\":0.24},\"note\":\"The bowl has moved toward the center with the pear still inside. I’m setting it down there and positioning the dark fruit over its opening.\"}",
  "call_id": "call_FpMsgNAeA7Ocf8A6gkZHepfQ",
  "id": "fc_0b17230ad2285d49016ab47171aab087d0b31c57b3ead3bd14",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FpMsgNAeA7Ocf8A6gkZHepfQ",
  "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]: [-0.7612, 1.8866, 1.6726, -0.4862, -0.2192, 0.0219, 0.5497, 0.4805, 1.9392, 0.9886, 0.4614, 0.3988, 0.086, 0.5142]\nstate[eef_state]: left_x=0.4197 left_y=-0.3419 left_z=0.2134 left_yaw=-0.5941 left_pitch=-0.1187 left_roll=0.1753 left_gripper=0.5497 right_x=0.4841 right_y=0.179 right_z=0.0845 right_yaw=0.0933 right_pitch=0.1178 right_roll=-0.0929 right_gripper=0.5142\nstate[joint_eff]: [-0.5128, -11.3162, 10.2769, 1.8046, 0.1294, 0.2173, 0.0611, -0.2393, -7.7607, 4.3692, 1.4872, 0.0464, 0.0513, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bc636b26886e415de09f07ac0f87674ce19d2d77fd8d936516231125059497c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc2c96b695cbd5d1f57c09cd3632c67a8d590512b7db7f039fb18ed8ba56a0ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7af0d4873c9317f5142c90afdb5a722abc77668ffb73e842349cce595260cb37",
      "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 · 4.434 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 104 changed as sent

message 112 changed as sent

message 116 changed as sent

message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7727, 1.9209, 1.3529, -0.0265, -0.1936, 0.0521, 0.5475, 0.3641, 1.9633, 0.783, 0.7582, 0.3367, 0.0643, 0.9983]\nstate[eef_state]: left_x=0.4209 left_y=-0.3578 left_z=0.1426 left_yaw=-0.6442 left_pitch=-0.0191 left_roll=0.1687 left_gripper=0.5475 right_x=0.4736 right_y=0.1219 right_z=0.0554 right_yaw=0.0375 right_pitch=0.1701 right_roll=-0.0633 right_gripper=0.9983\nstate[joint_eff]: [-0.1436, -11.1521, 9.2103, 1.7753, -0.1099, -0.0562, 0.0611, 0.0479, -10.5778, 6.0513, 2.2149, 0.3053, 0.1978, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8478, 1.7779, 1.486, -0.3607, -0.2615, -0.001, 0.5489, 0.4778, 1.8473, 1.0428, 0.3233, 0.3904, 0.0952, 0.5144]\nstate[eef_state]: left_x=0.3794 left_y=-0.3555 left_z=0.2113 left_yaw=-0.6338 left_pitch=-0.0648 left_roll=0.1742 left_gripper=0.5489 right_x=0.4842 right_y=0.179 right_z=0.1232 right_yaw=0.0923 right_pitch=0.1242 right_roll=-0.0779 right_gripper=0.5144\nstate[joint_eff]: [-1.3333, -11.7402, 9.5248, 1.6777, -0.2369, -0.0073, 0.0513, 0.2803, -12.5197, 8.1983, 1.8144, 0.2808, 0.2173, -0.1294]\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 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7612, 1.8866, 1.6726, -0.4862, -0.2192, 0.0219, 0.5497, 0.4805, 1.9392, 0.9886, 0.4614, 0.3988, 0.086, 0.5142]\nstate[eef_state]: left_x=0.4197 left_y=-0.3419 left_z=0.2134 left_yaw=-0.5941 left_pitch=-0.1187 left_roll=0.1753 left_gripper=0.5497 right_x=0.4841 right_y=0.179 right_z=0.0845 right_yaw=0.0933 right_pitch=0.1178 right_roll=-0.0929 right_gripper=0.5142\nstate[joint_eff]: [-0.5128, -11.3162, 10.2769, 1.8046, 0.1294, 0.2173, 0.0611, -0.2393, -7.7607, 4.3692, 1.4872, 0.0464, 0.0513, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bc636b26886e415de09f07ac0f87674ce19d2d77fd8d936516231125059497c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc2c96b695cbd5d1f57c09cd3632c67a8d590512b7db7f039fb18ed8ba56a0ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7af0d4873c9317f5142c90afdb5a722abc77668ffb73e842349cce595260cb37",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHF7E2qO_etrk6HEjS7tTtPOYhRywiBY0bwfYFyfBpwsFhWj6dInrYsMWyIaQ7RrcUirJ9Lq2z4uNBLE4lybWVK3ixNSkG7g42wDXdxYDVn2BFkWhTZRmS5lgx2qlN52mMMQ0vFX4T0O_yGOtQ4OQZmUlY4pVG3u0hpY6FhMnRRrEkuq8cjvHM_kJWFzvGHFwBXYArutxqUIsJkwZHfwLvle5RkEOLNHtjVbyxC4uLYrCNXw_wbEvhYYZpNicEq6F4Fo3iEt7Ec5tlCodx2ftvsJ233cIa9FHxrLq4IANti5vYZIQRp53i_j-wNWSzxRIhewcfy4wz7phpPMCEPRN-esJyl5iZZsvOsdb0wKSWglAqvTPoflDfxwsc882kvR2KMFQ2jNOS63hXI1FHkrsBARVe7tf7FsanlKQ9xwuOJYYIL94MAl5hud7-iCovK_5aKb5o6QFcV2VzZ48WawO-7vfMg-eIomY6PAc3eUNNTAHrQBSxXboX60cg79tWXboJRcdljEBhQlDleLlbHXUrhgZ3m5xTU92L_kWglV4McQkSP_L5E8NXsIfDgZr4DeJX2lTMwoRPDDWc0uLXDsVeeXhQzs6iito6nfZZdegTiDKKB4whFllFeibwieODW7QGfymkU_lc7aR31cYUEi1Cfr1HJ3GN6gJ_thJXBaiZvr0V19RMWZo6i0ojbJV2LwQkZzIvsc0SNnQy6H3RBeM1dQ12WLCxki6Or8WvlTxrqnAsqorFLYYlc1un20StFtKZw6FRZ9bHy7OYaNHTlsXsKhoOEkSXh7K2D7Jn-sj_STWsE1_x6v-A_EX2BRlhrrFfSo5SX91LFVUe4ujt_oMPBtsHB12KCJs4o9Ycbc8gRK1tBAsY03GyQbzSfXmAfN7q8Sf4QAoD9fz2wvdmeUcv5epRSpr4iPfEw4L_qWEHCeXsfxQADGpUMknT0Iq3TrnodlCN5szKo4GSjbUqGnZako5U0J0yn_qu3sLc1m1CgvWvQ9227x2otxo59CdErWHBQfWq3sLff4P2z0iz8nV1_SjIwvPeftxe-TsgK7UwHnfXz1chXcD10PhaFB8V3_2jG9dwv4Y7noWhPE-TXLDeOlkoC8iY1HazvRiGjKhiVMtFwBV6pyK1aHTfJOH2FiwAZeBwkCPOQetof8whoy2XdUoGYMSC935fWeaRCtSPPMSfU4GbQl1HrsBJYgIlQazA9_UNcWXwfu8QGQe_AOn3cjgi7pGvjGkDV5JI6n3Sfy9T3MiPR6x323LWiof_VpS7G0bNyOA5H8FUMp4dofxEy579LaH968NSci9MUskN5MGlrITSR4omfszpzt0w8OAwLBHzNa--BgljM-nA2JYVxfMwhUYDcQub7QJYTloZNNPVfMsQFiSb2Glrh6imhB6D-BYJ2Nnt4eCJQxzXGNeg7radK6Ibg-Vy-ZbhCW7xdYqEfKvwIA8ZD7l4znbeYqP3OVibHNjXgVkLuqHq3pxsw3Rxm9Fq6VkbO8LQg5lcN7fOaRCIZ_mbrVxYSkCT7oaFQRjW6PrnKy0I_tNAMyq1NPIqFKCcoLJaVNiyhCI-V0M9JMEpy4G0N42x87nI3zEmo_SmISSsBwd768Zj1VXIyUoCSsdkDxSAziZqL3Pr6X4t70R2p4Aqqm8_DGN6R17SeYUOkPrLZUkfdeOf-yczhHAcvxGT3T07HBOxpAwS58V4mzt6oo2dEiUY_MOBugH72K91Q4Azunx5vFxsk8o0qH9Qskk1h0bwa_n7IawrEVGkZNqy0MrvvDftw99it32agUDKzp7B1xUyPIJf69XoxoZfOalZqfI6yGQ08EaSTrjf_YIqVeiREVHaNO9pc8qrleqW9KeddVYFpMQorfVNfGfYp08N5l6DOk6zHh22ByTPmxvU2PLdFqNDS6v4yrZdBxgQyVU1gGXSAfhwClklCqJxk9bPf67Un_xYlpkuaJCEjJYCCwjzWg65XjlxonDQ7y8agSxDho7RnVDdsMs3Srteg9Ai13JmQoz1w_FJqnsioRmjwgNnbnHr_QPzLbbS_TaGenrcbvGskOxpxScOjpdEg4rUDIBDv7sK7x7LQ0_CjZueO85uUg_NWRROdcjAyWhtgVv7MMn4CFHGoY4tTGu5WZulAJEL3iU6_p1QSswGQc-6cldq8XqVAcI5JR2Ez9C2WkPVJE0WTzVmGoMvkmZdzKl0cfNom2skUbxjI_HgKPV8R6w2xVTcrYSNY-cOjsQDSN4mOqCCPWZP9sNHAG-rzN2cuV11V_4ZNbh7TlYuvlZHS-QZLXp9nv2ltZIcyVyn8YZW9Ii8PfSzoSt4xE7sWp2MazSRW3xeusz343djyc1jf13JE9HtymEXmTo36XHQM6m4fdoowAt4NI-BkURCDj3vn0JT52LbUDTfn1tl6ojBFFAQOUceENjzW18IVzUMWyttw8VU_vwuuFaY0nMiQKlDq7NsWtPTCwPauIRZRs14ZiMLQ2kEj_ljyrMcKeEqo7_GrWhAFmXydgZ0cns4YS8jnlnlJ_UnNPjdyvl8xfQxzJkMJesJp5bYjbwLEgMBnASmHLbZasAZM4-zAJO6vmYLco8XBvjXAewvbEDz3zrJwA-J6myzUkwtYTNzjbOaBV5Cckc_Y_earOK1hg6_El050maGH3fnw_8DiXK46TJN2iqoW5LMuwUju7uuFsjEOpK8vn1jdgJi2AkXdv5Q==",
  "id": "rs_0b17230ad2285d49016ab471746df487d0a335c70f3e453ea8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"left_z\":0.16},\"note\":\"I’m opening the right gripper to leave the bowl on the table and lowering the dark fruit toward the opening. I’ll check the unobstructed bowl position before releasing that fruit.\"}",
  "call_id": "call_G7owlLhzptJ3LpdyqgFgf9Ox",
  "id": "fc_0b17230ad2285d49016ab471794bd087d098e8b3c371655bbe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_G7owlLhzptJ3LpdyqgFgf9Ox",
  "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]: [-0.7528, 1.8965, 1.7039, -0.5163, -0.197, 0.0372, 0.5498, 0.482, 1.9503, 0.9783, 0.477, 0.3901, 0.0711, 0.9956]\nstate[eef_state]: left_x=0.421 left_y=-0.3422 left_z=0.2158 left_yaw=-0.6124 left_pitch=-0.131 left_roll=0.1742 left_gripper=0.5498 right_x=0.4823 right_y=0.1806 right_z=0.0779 right_yaw=0.1103 right_pitch=0.1101 right_roll=-0.1046 right_gripper=0.9956\nstate[joint_eff]: [-0.4034, -11.0291, 9.7573, 1.8877, -0.0317, 0.1392, 0.0073, -0.253, -10.7556, 6.5436, 1.7265, 0.1245, 0.1148, -0.0806]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d61335dc5f8acc365e1a7ae06ff8a114560c92c1fb0b36e9fc9e59d825ab1bb5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e05f84bcec1bbd823606ee075bbc090d10503c3ed46ccbe8862536e9336aec35",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0646e2331e4cd3ad98fd66e84671d582e2ab6dd485cbd859e69bc07413d13dcf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /responses · status 200 · 11.28 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 108 changed as sent

message 116 changed as sent

message 120 changed as sent

message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7731, 1.9209, 1.3529, -0.0422, -0.1936, 0.0521, 0.5483, 0.2836, 1.9434, 0.8078, 0.712, 0.2451, 0.0353, 0.5155]\nstate[eef_state]: left_x=0.4192 left_y=-0.3565 left_z=0.1394 left_yaw=-0.6446 left_pitch=-0.0346 left_roll=0.1707 left_gripper=0.5483 right_x=0.4854 right_y=0.1006 right_z=0.0619 right_yaw=0.0504 right_pitch=0.1573 right_roll=-0.0541 right_gripper=0.5155\nstate[joint_eff]: [-0.212, -10.6872, 6.7897, 1.8242, -0.1148, -0.0806, 0.0708, -0.9231, -11.2342, 7.2547, 1.5604, 0.1685, -0.0904, 0.9646]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7612, 1.8866, 1.6726, -0.4862, -0.2192, 0.0219, 0.5497, 0.4805, 1.9392, 0.9886, 0.4614, 0.3988, 0.086, 0.5142]\nstate[eef_state]: left_x=0.4197 left_y=-0.3419 left_z=0.2134 left_yaw=-0.5941 left_pitch=-0.1187 left_roll=0.1753 left_gripper=0.5497 right_x=0.4841 right_y=0.179 right_z=0.0845 right_yaw=0.0933 right_pitch=0.1178 right_roll=-0.0929 right_gripper=0.5142\nstate[joint_eff]: [-0.5128, -11.3162, 10.2769, 1.8046, 0.1294, 0.2173, 0.0611, -0.2393, -7.7607, 4.3692, 1.4872, 0.0464, 0.0513, -0.0269]\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 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7528, 1.8965, 1.7039, -0.5163, -0.197, 0.0372, 0.5498, 0.482, 1.9503, 0.9783, 0.477, 0.3901, 0.0711, 0.9956]\nstate[eef_state]: left_x=0.421 left_y=-0.3422 left_z=0.2158 left_yaw=-0.6124 left_pitch=-0.131 left_roll=0.1742 left_gripper=0.5498 right_x=0.4823 right_y=0.1806 right_z=0.0779 right_yaw=0.1103 right_pitch=0.1101 right_roll=-0.1046 right_gripper=0.9956\nstate[joint_eff]: [-0.4034, -11.0291, 9.7573, 1.8877, -0.0317, 0.1392, 0.0073, -0.253, -10.7556, 6.5436, 1.7265, 0.1245, 0.1148, -0.0806]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d61335dc5f8acc365e1a7ae06ff8a114560c92c1fb0b36e9fc9e59d825ab1bb5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e05f84bcec1bbd823606ee075bbc090d10503c3ed46ccbe8862536e9336aec35",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0646e2331e4cd3ad98fd66e84671d582e2ab6dd485cbd859e69bc07413d13dcf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHGAB--CNzFGpXibp2BH2z7NGipTCxsBnZzIrM4UWMJSKctIiEqQZ1wIV_LXFn2OIS9VnoOAEw7Va5weM_mfpUcMTxN5rLxb-2INOVDiitOi6LtT4Ae_ySdnnNgWU6Al5H_TIZpwGEG8U8pek0Qbzucq37HIYN7FuLvR_jUXzNA8sSZCKQMcC6ns_xmwVMBTDvM1luBNYKXNFMSN92Co-Vb1mgo1ux6_HUfrAifa-nZ-0s0zOlB8jGM5fqL8MzCll-hjOrktA7wZIP9S5yhaVSrqxMc0pLFVumYtFKhTk5rmaZvFJgV8vLw7fDtJ5T_Ma1Hv7TOFBlMLFUKJbCfS2vTEdFeV4J_baaPj0So_gHGV_LVbsT9_7yqUGzL9cJi_qd6WaMtb4bPLWi9FVe0op0qdBxPLIEjKCS4qsxf2y45eCvrSyjK8jb-DtJUwFSqcX3oeUT7oIwh2t-vXB5oUjW0ub0efeJPbVHgDDYWhdVrRff9eaIo6-6W_CCUUbM8J4RC1CvViGXxNXyUbVvEDe2s0JwuGF3F0rxtAmzgRrAP6-W2w6mf5EBaFRDkxzZvb9aIp6Gn_DJjYb_23KBCAOo_MPyI8bubDecHNfFxDFSjnPYme7njQAuFL4RqKeYZykzSq-4dPAun1L0F7c0d1A1xuD79ocVU2cLzCCfXDDQM1_4T-iZ4wJcXq8Saq1Gg9Oqm5stG2Ozb_gTsBgUeh-s8lj4CYAXRxJ0qFOwPMdF72wbHU9nBrL3uThiQt0foUZLEV7_ZOgIub85LyiLO4_CDgrDou36hOkbn9Wj5KQcaBOYPZi19xrOoNpYZIn4iSFlWyjpcdOGdwquKaek4UfSWfKGuT39aHPb9QbOuyugc7_nQccBgkFDPjSYV6QNLMhydY2umrFtEwTOtK4VR16B2kbe0yRG2l4cmLBpx158yCr3SWx5WmEuM71G5h5eaiv9DyvhXUu5Iyc1pneimcEXH0N2pIpNkmxLPUR0MSAZVujhx7mKG38miz2lrGD1GtBkdFfEx_KZKNI9fWA72LVNI0HhJdyGHTcZJs7zTI86mResQcAm8uOWJqLT4_nsLgxJH7NTG0LtiXSbn5hNjkIph0kU4zi6RxA0gGdYLvBE0lEMACSOP34pynmYndO_yVeKnYVaTWhZ15p7g2NQMXPEeh97uUuzEEHe5Hd_3cd_YOLk6NuwcBizi8zg9kRF3R3ti7GNQkfLwoUW3yoJzVaVEZaK5xLK7CgblH_UNAss411qE_NTysePTMhWiEK_ktqPwlaZHvIOgOL33HlW1SDwUFBQ==",
  "id": "rs_0b17230ad2285d49016ab4717f3ef087d0a627d50c342ec8ad",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0,\"right_z\":0.23},\"note\":\"The left arm is not descending while the right arm is close by. I’m parking the right arm to remove that obstruction and expose the bowl.\"}",
  "call_id": "call_BXpHs1nma41en0NQKMnY2rxY",
  "id": "fc_0b17230ad2285d49016ab4717f8ccc87d0bf81397d803fb50f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BXpHs1nma41en0NQKMnY2rxY",
  "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]: [-0.7525, 1.8965, 1.7031, -0.535, -0.1936, 0.033, 0.5503, -0.0505, 0.7914, 0.6567, -0.3119, -0.0338, -0.1505, 0.9962]\nstate[eef_state]: left_x=0.4186 left_y=-0.3404 left_z=0.212 left_yaw=-0.6123 left_pitch=-0.1502 left_roll=0.1715 left_gripper=0.5503 right_x=0.308 right_y=-0.006 right_z=0.22 right_yaw=0.054 right_pitch=0.1185 right_roll=-0.1079 right_gripper=0.9962\nstate[joint_eff]: [-0.3487, -10.5641, 7.0906, 1.7949, -0.1197, 0.0073, 0.0366, 0.0205, -1.2103, 10.1675, 1.956, -0.2125, -0.0611, 0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f42a6fa86717ca6b2bc23c929d3ea437291a0879ac2839f5ed254c191a7c5210",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed5b03a8c3b8043a11279a9acd77f451e8ebe93d1c79fb7834c8afac718b7baf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8af076b4d97df89ee46b57e2cef9a720a78cf9ea1595773c8276fa7ed274f8ac",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 33 attempt 0 · /responses · status 200 · 4.367 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 112 changed as sent

message 120 changed as sent

message 124 changed as sent

message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8478, 1.7779, 1.486, -0.3607, -0.2615, -0.001, 0.5489, 0.4778, 1.8473, 1.0428, 0.3233, 0.3904, 0.0952, 0.5144]\nstate[eef_state]: left_x=0.3794 left_y=-0.3555 left_z=0.2113 left_yaw=-0.6338 left_pitch=-0.0648 left_roll=0.1742 left_gripper=0.5489 right_x=0.4842 right_y=0.179 right_z=0.1232 right_yaw=0.0923 right_pitch=0.1242 right_roll=-0.0779 right_gripper=0.5144\nstate[joint_eff]: [-1.3333, -11.7402, 9.5248, 1.6777, -0.2369, -0.0073, 0.0513, 0.2803, -12.5197, 8.1983, 1.8144, 0.2808, 0.2173, -0.1294]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7528, 1.8965, 1.7039, -0.5163, -0.197, 0.0372, 0.5498, 0.482, 1.9503, 0.9783, 0.477, 0.3901, 0.0711, 0.9956]\nstate[eef_state]: left_x=0.421 left_y=-0.3422 left_z=0.2158 left_yaw=-0.6124 left_pitch=-0.131 left_roll=0.1742 left_gripper=0.5498 right_x=0.4823 right_y=0.1806 right_z=0.0779 right_yaw=0.1103 right_pitch=0.1101 right_roll=-0.1046 right_gripper=0.9956\nstate[joint_eff]: [-0.4034, -11.0291, 9.7573, 1.8877, -0.0317, 0.1392, 0.0073, -0.253, -10.7556, 6.5436, 1.7265, 0.1245, 0.1148, -0.0806]\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 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7525, 1.8965, 1.7031, -0.535, -0.1936, 0.033, 0.5503, -0.0505, 0.7914, 0.6567, -0.3119, -0.0338, -0.1505, 0.9962]\nstate[eef_state]: left_x=0.4186 left_y=-0.3404 left_z=0.212 left_yaw=-0.6123 left_pitch=-0.1502 left_roll=0.1715 left_gripper=0.5503 right_x=0.308 right_y=-0.006 right_z=0.22 right_yaw=0.054 right_pitch=0.1185 right_roll=-0.1079 right_gripper=0.9962\nstate[joint_eff]: [-0.3487, -10.5641, 7.0906, 1.7949, -0.1197, 0.0073, 0.0366, 0.0205, -1.2103, 10.1675, 1.956, -0.2125, -0.0611, 0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f42a6fa86717ca6b2bc23c929d3ea437291a0879ac2839f5ed254c191a7c5210",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed5b03a8c3b8043a11279a9acd77f451e8ebe93d1c79fb7834c8afac718b7baf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8af076b4d97df89ee46b57e2cef9a720a78cf9ea1595773c8276fa7ed274f8ac",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHGNojPfUr8z0klJPIET28VmuF5UoEmLFQxhyK_4_7mWULQOV9EHBhpxcOu5NwmSq9KoZ-HxWEbJwSCmT_hhM2JfeAqrI9pijbEduleNZYzIl36yXLe2lpB7EEloafNVotuagkwaUMLMcA9Tj37ETX1Vf2WHhNoY9eORxo65oDKL8p_1w-GjyreQgmnL1B1wkyvI4I30nUqt2nJ5cB7HMqSthIPhSy_oj41gPm1LXxCWjHfQMFNGSjLBjVFDzghrPpt8oDsjb8Wa-kWlIjQcm5HMXjxcYk1h1pQfObyW58dFOKGdXTYV4Cggzns609KRP_7TAjo0nOf-9Oj0K8JStZNIVW4U46wlP0jW_pBRfjTlHFTPIMmIjElN17DdjY4Syx0zgE9pKDTfUgy6hXeqyoRNO7j4Af4AgfgqUDb8vGqpQK2A5L1UO7PW9Kbo4JeyCJFpulgfuPRO4RAPsKgIyuCWxeMWRVlVTT53F-i5WRDnHWp-ULW33wOeAKMoI9Y23GMtledJh_dN2Hd6lOy_PzDF-snHiWocRJ_K-zqcggzJ8a2PrTwp9ibEknhB1_OkW1weBertZLHAcU0cUCryRjTZjBbgjSGjBPZq37fpaI5f75YFQb27U3DnP4ix_ePS49S7knFsc9noNRJ-AhZ4u8ogJdG6zBm2c1hJjxsfUN2VA5ZqbA9thDP-d9VirvHrvLx7kif5TjZysrDCebkC2E3uT7WpvzNp2F2NdCXDGfQnscwAEVy5nA_x6XIfJ89FqJyveiS6gBAUV0ZPsGbcbOv8x05TUM7MQxt7ODusRBfG5ox0xXrxc-LT6vuW7GI65ylMs_FkbMOAX9veDvXq9HKzf7_CJU0mfTABg6cpl1bKH-NOZQ2ghAnEVN4MGwbExk2CiSGaUH6VKj4sy04NP2eSXRS2XjoGwkrLjahSf6tmLGpwOTQ9vSQm3jyUB1k5aqSg1SeC-Nz8EBRtcIC0KwIaSNNgm1U3AChOuNMEFvYdYG7BbIjEIF_gVPS_UfQfRd4LrTCzebN0FUVBo9kustaFGlznfiCExRlUl-SlVxtZG4DJZaXyrG4jMe1m1Kw63slMDskDbAWIdRjpU3eRpcWjFiLG11xfP6rSD8fMOs2XFyIP8l6hAKI-KvkSyeM7F5YujSjZ4htD_2OWf1oqWjDLS2sDy0HCZVNGLzEYZ2XFGa2KFawYtC1Qci_iTL75A9MCdQz8tvi8JNn63YnZ7N_o6D07EUII6xoe0qXTroSSqMjaWiZ-pQGzt2yZej_2IX_8d4iz2-UKZkVl1byPCo9CKLJSWAJd4Q_MYy8_ZQgO9XjrClOWhgfGr1iq4bUfjcPsloMmIEdjXqjl930pVXdtTVODoWvAPlQ04vNLmB1uu_hP02yjPgVNf18koThgznRwIfbsPk9XO42Iaxwyng-UeQOI4TAynCKGmIOrYMxhN91hwR9d0PzkQ9lnaIlz0-f1d3lu1tgcsvJnGqFZUrP0QgHeO7q2Yu6GpM0REdfzvrpaNVvYbg5wCxxo-rl5VVsz2BJSeQEVadnRaM6qjejZ0cFczSMlPYzH8Dn2FVexyUpD0tmMsUeBe5l3j6YO8soPtrcMEMLd6NuMMS_yUnt-CpAqs1YnCXpX62VRUSJKyUlvA6El7bTdGSUTzv7XoIsaaXpzGzRD5ezVpn1FZ3td_tvyF5A9lv3w3R-pPsQ7svvGdQxMVe1XEZfMxrc0pqJRCPwk1r96icGJZbcWU1opbhujXwOFWOSwlI7lP-1k7TWtL66CIJy09g4XmtiPcvBq3ou1QeQEvBEDdc4Y3gRoKZkTHBAeccEFvYFTm3pHXPuve9SMcybmXTPEyMlwa8XzH48ru6nXnAhhJ1Fex3RoCCjddEp3kXhY6LSt_sHY8crsnUrJlOqWQASXAolNR-Qp04OT7r9IYqdcJCkecHn8VQJnPwM6bc_obgyWkcuziTIXgsvf5-OouUnSR0jDSxWa3etcHZPV5898kkRd2Y_U9fOSBKjaxrUD2ZTQ6UR5TFr6FFyGiGg5C2eDw0r6H1nreOL61En9U6rU1qokTmBzKTc3gnQshiK-t_bb3xGgr2G9SHjCxKuc5S1tk-N4dx1eKSc8KvLNslyr_sLJKmSx5aJYfrc8hPRDDQd0SJqZFPnLSRiGMqvzFhPgupxXdLDK-hst6ZuwfIMsindpWhyE4GIVGXj3XhdBIum5rPhFITeNI9Lzt4aaa506JPbhEQQG9RiXEhF5kkSMF6b7cC9OaKVlmB2KItG7_Uu3xqqVs9K0VbvrBVxicUBT_FfvZQaAk7ihGZeSOpk87k1Cv9JtCGUwp1rJUIwi2Fn7khI0TFkA-wl7IMNhypFPAWlB6QWvgAVHTbg5wOW-JbLSLf4DhT-9TJ0UF_KR8iEOn3cb13wJm2K1yJ1NM2bddt8gSqf0vesG8l2GR3MfB3ZX1zbNuunlYTxhypKNbSaRQjD9PuSqa4z_lXkKd2Vs8-N3_krJVeqN8KKG-IS2GFh-rPZI-nF-LoPm-b3DeaBGtoC0A8kY__iK7Vr9vkR3w9yJAPeCUS6bsUuQ2o3bEffWWpJZqWnHKsCXL3XOL6g_d7b_Po6rNSqIyU-TSiKfDDPFg2-joOYAZEZx6Q3LQsL-Ox7ORScHcVKt5KeeH2w3Cs7zCYDP35Wwqjq63754l4QsJUiXKQzTRsInf8aU3GNzhNB1kVgJGW0Nkxnt36Ue-6HSfEAbgOGaYmyPRs_tF-h2oe8Lp2swM9k7pl6QwCKi4KVdhszNGJQl_W20_ZsV8PSGOENQy3m3OWi56wqXNPnzDb8xeB7Ymatwg3siE09HNTadFR8UdN_UFmyq1AvwLkarjpMlrXLxH78XIFt3590Gcvk3OG3ZIzd0e_Ij0s81BnMqbUqf1C1te1ILxD2EbhXeNvTNbi5qvtI1igYLG9FaUBUa0_6B_3S4V_1OnygUpig65DoreisL95DHVviKp07r_bbKI0JBVZ_gY3FDww2n5Pmbhh6HgN0Lf19UNKrj4geQOU812_U11e1HJMUjYIfsXOCOnle_kATrR9Ux2YHg0KHQmj6VprLpL7Y1zVu7NEPubHMzkeT3nqgv7QT7j4-nj99s4XUi1awByKN9913tNhj31GSNi_BKfzJyJjaqAUHe6TvPGp0TVHvfBzgWA0UCneVZGYRGg7OPmzgGZKhFiNcdlRN33BGJNDWq9cpnwBvONVoRXSBkeZv7jdc8zA1fYS7LcS-XtqCLFEh8KFgNz6fdWnIJdZB0OqghKJgZbwVzhaDnpK5nV6pMkeB2FRj1qczG2Hv6t3FBWT7XdC7nZEFZIx3Od0jVMjTA9e50Bxr6YrQmiSqokAF1oNPiIE5aSmSyNkk-RXDzXqSHrirpsHKPa2bI49-OT_lqxxR98M5xod2dEFy7t87B0-JTIVDHgMw4hb0CqmA1Idzyx6LMH8onGLtYdKY2BTbmVoc3R0owKboxRPlwbo2HHrMkWGg_EGtmU4YYNJSAozTnSLuzpqB8AWpuEoEpoddmvtoxzSoJ661UUDlQOXTVCp3uJF5rHCkPzwJIoBDDr-zhJDzFjceh8Y-KxYybAtfIMFIQhpyCQWMfxPvOim_6K2oc9ghhYhUlPaVH8zIdRnLyYPkfxRVvfzbRK6AjCwQKUvHm0QaFoFatLYgkh91jGuQ3tYVvqZE0TKOQ7nGeyW3Rm56Lgam27bNk7QR6yz1BWErYY6tF9Shaabuo9xTeEiquH4Y9uC_liV7SmzoXq5qCuhw7DWShtP3of8fHbusfIJh4TlVy54bWp7R8U3rpfmpbwdnpi-93bGdekbX19uGTrZbl8H3husgPGIdQ3vllvkkRSyUVLjfEQZTP7EVuFfnEwT5X5_tKvxHc4u1JxS_LWrjfG4SV4qcT_AlUzw2k0Oni9ADZgrLuuLm73SL5oXh-rUAixkXvMYrIicmGGwxCRz0b_FJMXHFy2rn8gxmF2sgGVZ3giBDcI7kHg2obndvByRP49NGgV9wrl3wUM3pBUNnVWudEklMZfxak72hYghOyemwg9Q==",
  "id": "rs_0b17230ad2285d49016ab47183840087d0a1493343b673aba8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.3,\"left_z\":0.2,\"left_yaw\":0,\"left_pitch\":0.3,\"right_x\":0.495,\"right_y\":0.27,\"right_z\":0.09,\"right_pitch\":0.4,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The bowl stayed farther to the right than intended, and the yellow fruit is still outside it. I’m moving the left-held fruit away and approaching the yellow fruit again with the right arm.\"}",
  "call_id": "call_SLfb4fz7HAOzBLtqifRtoyBy",
  "id": "fc_0b17230ad2285d49016ab4718bd48887d08649ddd4a262d03f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SLfb4fz7HAOzBLtqifRtoyBy",
  "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]: [-1.0431, 1.7576, 1.1557, -0.1005, -1.0706, -0.358, 0.5504, 0.6445, 2.2066, 1.1168, 0.8165, 0.6514, 0.1135, 0.9963]\nstate[eef_state]: left_x=0.3501 left_y=-0.2858 left_z=0.1823 left_yaw=-0.0285 left_pitch=0.2336 left_roll=0.2934 left_gripper=0.5504 right_x=0.4989 right_y=0.2455 right_z=0.0783 right_yaw=0.0003 right_pitch=0.3516 right_roll=-0.0416 right_gripper=0.9963\nstate[joint_eff]: [-1.5248, -9.1419, 7.3231, 2.4396, 0.1343, -0.2125, -0.0073, 3.7675, -11.3846, 6.7761, 2.0342, 0.3297, 0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0081aa2afdb5799a0275c7b7c079164f7d5d197b16abb1c30849245d7a392970",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42f3bd444119f64c1624d2f17bdb0bd6cc9549cf8a4178c631820dda24a4b7ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ea2945d0cbb319fb38d3b8a71691e0381e236d32d533abf5188845984dffa3d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /responses · status 200 · 3.369 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 116 changed as sent

message 124 changed as sent

message 128 changed as sent

message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7612, 1.8866, 1.6726, -0.4862, -0.2192, 0.0219, 0.5497, 0.4805, 1.9392, 0.9886, 0.4614, 0.3988, 0.086, 0.5142]\nstate[eef_state]: left_x=0.4197 left_y=-0.3419 left_z=0.2134 left_yaw=-0.5941 left_pitch=-0.1187 left_roll=0.1753 left_gripper=0.5497 right_x=0.4841 right_y=0.179 right_z=0.0845 right_yaw=0.0933 right_pitch=0.1178 right_roll=-0.0929 right_gripper=0.5142\nstate[joint_eff]: [-0.5128, -11.3162, 10.2769, 1.8046, 0.1294, 0.2173, 0.0611, -0.2393, -7.7607, 4.3692, 1.4872, 0.0464, 0.0513, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7525, 1.8965, 1.7031, -0.535, -0.1936, 0.033, 0.5503, -0.0505, 0.7914, 0.6567, -0.3119, -0.0338, -0.1505, 0.9962]\nstate[eef_state]: left_x=0.4186 left_y=-0.3404 left_z=0.212 left_yaw=-0.6123 left_pitch=-0.1502 left_roll=0.1715 left_gripper=0.5503 right_x=0.308 right_y=-0.006 right_z=0.22 right_yaw=0.054 right_pitch=0.1185 right_roll=-0.1079 right_gripper=0.9962\nstate[joint_eff]: [-0.3487, -10.5641, 7.0906, 1.7949, -0.1197, 0.0073, 0.0366, 0.0205, -1.2103, 10.1675, 1.956, -0.2125, -0.0611, 0.0562]\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 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0431, 1.7576, 1.1557, -0.1005, -1.0706, -0.358, 0.5504, 0.6445, 2.2066, 1.1168, 0.8165, 0.6514, 0.1135, 0.9963]\nstate[eef_state]: left_x=0.3501 left_y=-0.2858 left_z=0.1823 left_yaw=-0.0285 left_pitch=0.2336 left_roll=0.2934 left_gripper=0.5504 right_x=0.4989 right_y=0.2455 right_z=0.0783 right_yaw=0.0003 right_pitch=0.3516 right_roll=-0.0416 right_gripper=0.9963\nstate[joint_eff]: [-1.5248, -9.1419, 7.3231, 2.4396, 0.1343, -0.2125, -0.0073, 3.7675, -11.3846, 6.7761, 2.0342, 0.3297, 0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0081aa2afdb5799a0275c7b7c079164f7d5d197b16abb1c30849245d7a392970",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42f3bd444119f64c1624d2f17bdb0bd6cc9549cf8a4178c631820dda24a4b7ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ea2945d0cbb319fb38d3b8a71691e0381e236d32d533abf5188845984dffa3d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHGUbZSqpltJpJckWVy-3pYm-pUxzbiAaVPtYIQ1e7_J-ThJb6acbPY5QbHoYK8zQb7DaZfnTljhwIE40LwY42CDCvN7G0mJgBxuuNupeltQoVjc0hDoeYzlxHNl0fiy25-ib3cc7hKeqETsmxqImajHjTHCn7RH7ks-IICJCgdL9vjQAFWClrii6_H4jyO9GqO6xCvrHuJ9BGQktQxMLZRn6v1KqqMnpM24WuY1GOHAwq2nb3vYgOsV_9mDaig6CXKL5KIrQostEUJkJaFe0lm3t_okXb1RMqjeziVflE7YfdJYnQriECDvZqQ-xhhu4P50MjVNdB9WL-JXiCDjAOojuKmSyRq1gOnAHN-JO7gWE54zQQaEJq_sZlnesqpbHZVQde1d7pjok42uaZKu6Qje8O1NkG99DnaTAjJyRA68a764bo4xmywGZZi4FkQrxD4lyCP259Pus4TZFHLFUEOu1E6La00AutbKunbpcSk9p3JGo_Jh7MwULW9lWitOzBHUfpCOZtM9LfW3cuUQV21Ps-cl7wrwK0kmdBjBhFBat1MRv0wJQbRHULM_NKRVNnOdzJLBQ457SqKqKRNVkHXZJJV8-J0uh2F3w6HPoFg6KCQlyVRceE4adpE06DRaNakjE7jPTqaPr5m7981F0Xt_DPv0PeW6Liu6MbhdMkO9vOB0eZr94-PMkMM6kpfe0JFPBvwhtponsOmit630ACZYId5WowHRjFF5HW9tzBb56i7ol7Wwh9JOswJNcxlbApB5SFTssxmIDNCzE16zCgTtki7ZLP5fOracSilncsgPjBuPI5oSdoL_deeOkpsIfngvzV5kzb0vvJw6XhkTvbK4VgVY1kWay_3JX1jP-6z9NwyyMBLmy30FQGtsuzfgvaUHeancFp8VDC1nvA3bou4JNJAf4LP5b_o2AVyyS0GfYOn65_5dgojOXKg7V_6MTnS5zUBHIzq0HounvFWwIasEHmlRmU8CdVMIYWcdZp2_Q4OYRNiOCN10QD-hgUkOWPoQwZkN2yGs_vNuTQPYx1XzmL_CNqBRt_xJsDMb0ixxgUyi1qOQFOwzFnBb63MSTJlj41N5FAfSvKPqxS3rr94QSjCOtOPtzqJuke13wIVcYdJj3ZLiZQaOqj1MaPJK2dB9hr6YaLgUQHXZaRIrh6wR-6TKR9QcwXvEN1eVWScoAJRXqCft3H7J3li56smfRAyvKsF5LQnV-DHDEe5Lzibwc2IMYOS4SR1TAAMQDvhVO-kopHsEON5bF8FZspbKd96quEZo82DwlIyrzqYwvHRdfY1AD2ipEv3_N7cbxpSujicuN8MD1RmjrhNO1uU5KnL-ilG4RV50K4trEkS1WLzEEQjrnE-fNT1G-9fL0H6MWqSIWtWFdTuj6AZyjvZ9eIeS-7k4Ru6rWC4w4gdb9rMtCaaxrK4d455LOT9G6RxDAH_mIOoi27gyn7_42pfy9Rueckg9N4Jngu6BnIHtaOg4YrPlI4bNaHYpDYwnYfVByqj5x7dHqxwsKkIVdgVNVyZM",
  "id": "rs_0b17230ad2285d49016ab471913a9887d09b4af60527d1cc37",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.28,\"left_y\":-0.1,\"left_z\":0.22,\"right_x\":0.51,\"right_y\":0.255,\"right_z\":0.04,\"right_gripper\":0.35},\"note\":\"The yellow fruit is aligned just below the right wrist view. I’m lowering and closing around it while moving the left arm well clear of the working area.\"}",
  "call_id": "call_Djx4qUqcd14T7VOd9WbBVWIC",
  "id": "fc_0b17230ad2285d49016ab47192db6087d0a1427d2292edbb88",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Djx4qUqcd14T7VOd9WbBVWIC",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8551, 0.9184, 0.6292, -0.2352, -0.9268, -0.1791, 0.5504, 0.6464, 2.3257, 1.1709, 0.8997, 0.6502, 0.1051, 0.3525]\nstate[eef_state]: left_x=0.2827 left_y=-0.1044 left_z=0.2214 left_yaw=-0.0076 left_pitch=0.2472 left_roll=0.269 left_gripper=0.5504 right_x=0.5084 right_y=0.2541 right_z=0.0515 right_yaw=0.004 right_pitch=0.3659 right_roll=-0.0384 right_gripper=0.3525\nstate[joint_eff]: [0.2667, -1.812, 6.7487, 1.6777, -0.2173, 0.1294, -0.0122, 0.0342, -9.2513, 6.8034, 1.6093, 0.0952, 0.0415, 0.0806]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13a182421ba5b7b469a68ae5db1ccb176c6298fd0feef9721727665307636c40",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42a4970752ccaed91254b7fd054ad48bf4ae23a345cc71c4ab717d7b9dae5780",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aba621ae6f0097a687ce856aecd330ef71dabf1fc5f0136874001ac8ac1389af",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /responses · status 200 · 8.291 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 120 changed as sent

message 128 changed as sent

message 132 changed as sent

message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7528, 1.8965, 1.7039, -0.5163, -0.197, 0.0372, 0.5498, 0.482, 1.9503, 0.9783, 0.477, 0.3901, 0.0711, 0.9956]\nstate[eef_state]: left_x=0.421 left_y=-0.3422 left_z=0.2158 left_yaw=-0.6124 left_pitch=-0.131 left_roll=0.1742 left_gripper=0.5498 right_x=0.4823 right_y=0.1806 right_z=0.0779 right_yaw=0.1103 right_pitch=0.1101 right_roll=-0.1046 right_gripper=0.9956\nstate[joint_eff]: [-0.4034, -11.0291, 9.7573, 1.8877, -0.0317, 0.1392, 0.0073, -0.253, -10.7556, 6.5436, 1.7265, 0.1245, 0.1148, -0.0806]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0431, 1.7576, 1.1557, -0.1005, -1.0706, -0.358, 0.5504, 0.6445, 2.2066, 1.1168, 0.8165, 0.6514, 0.1135, 0.9963]\nstate[eef_state]: left_x=0.3501 left_y=-0.2858 left_z=0.1823 left_yaw=-0.0285 left_pitch=0.2336 left_roll=0.2934 left_gripper=0.5504 right_x=0.4989 right_y=0.2455 right_z=0.0783 right_yaw=0.0003 right_pitch=0.3516 right_roll=-0.0416 right_gripper=0.9963\nstate[joint_eff]: [-1.5248, -9.1419, 7.3231, 2.4396, 0.1343, -0.2125, -0.0073, 3.7675, -11.3846, 6.7761, 2.0342, 0.3297, 0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8551, 0.9184, 0.6292, -0.2352, -0.9268, -0.1791, 0.5504, 0.6464, 2.3257, 1.1709, 0.8997, 0.6502, 0.1051, 0.3525]\nstate[eef_state]: left_x=0.2827 left_y=-0.1044 left_z=0.2214 left_yaw=-0.0076 left_pitch=0.2472 left_roll=0.269 left_gripper=0.5504 right_x=0.5084 right_y=0.2541 right_z=0.0515 right_yaw=0.004 right_pitch=0.3659 right_roll=-0.0384 right_gripper=0.3525\nstate[joint_eff]: [0.2667, -1.812, 6.7487, 1.6777, -0.2173, 0.1294, -0.0122, 0.0342, -9.2513, 6.8034, 1.6093, 0.0952, 0.0415, 0.0806]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13a182421ba5b7b469a68ae5db1ccb176c6298fd0feef9721727665307636c40",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42a4970752ccaed91254b7fd054ad48bf4ae23a345cc71c4ab717d7b9dae5780",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aba621ae6f0097a687ce856aecd330ef71dabf1fc5f0136874001ac8ac1389af",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHGZQcKqQ_naW6vrJUWnnyGMci1tgwxc8qojzbus3EX-BBeg9PsrDiTEs441SePcdXlzEwG7wikxcv8cG4X_pq7bsF4g4H7I2A8yALPGBSDUJBcsQ7Wg5K-QPaomBdlELtg1fu_Jed1CxWEYBGuxIi0QH5fX2FC9J8xpmsEDAYK7HwdlkwYYDvPs2xzDyyy5ptPmU-mxfMhviNbvyVoAGK3C9B-Me8Bv9ZiY6y331U_9hh30mOiaP1QgleDFh4x1spxZG_JFngKiEPcowFWfW9dgQNemgg5PfWUe603WFnP0_XX93cq1VsGR_M_LaMZVlJH3FvZj_lijEd6TRep0_yUw-DuH5Qblqvi0srnaM0e5ulxIvRDnkNIMVKe1d1zAeqkDCyyq5E7Lp3fm_ehy9c0mWXYNFsE3eW0BNNOu1jO3ryTrfcdksqmDpKU1u7RgyF7aG3RuKZqeDxx_QtwqvtqFD46SXBHT6oYWUFMlECjDF_nD1iISg_gui4lYumautBXkhlxFKADSG1FBp6P1Y7yKYYFQaEGB4V34_jMCkIeQFQcHrqzJNGz949d5hmwzhg6pMygGs-OtZOR_K-tUQ59Vq72quXC1l4Ug62ioES-O9FRCt03Dzn1fuSPfMheA-FnJFSHu1LmcKTER7U2lZmxC5efWlH1WF5hfps8USSiBmwytKuHqbY1SC2NEXSZgav2e2EoX1LhcnJw7asj-R0XSgzb9JP2K6j_JNKBLySRWUWTsqL2zwxk9L_JK-chkD36Spi7M5ANuxCAKXbNIceAsW5-QjNOW4jNE5-gjX8AmgaduD5oM1nWiJ8-OM2OSMKPakKIytVGql9RVPt9UyhE7MZfRjgZ30zzz0UxREdOr7ROBe33AKceD8aRoPZ3dhI941V5y7BD8Ytwu0_KskvNsxrTlwknUpxFBjT8D0Q0JzzXncEk0aoSapHnfgQO_8VHxFCFZ1vQK6AUbW7ORdGLsu-cIMsdqLZdj47jmuvx8lcUsFWG5QUj8SWWV45__rDlN9knZk0g_nPFRzPSPeQ_3oD_P6SOUhv_fCdvLPl-j2AOPi0t_u7bv3sG4EYP1uOhQ_T57TiVpOzj0udIIa2Ihr5U2JxKixixjnDVPS6Uomb_tPwJEw1vXCDHAMCrqgxUOqCXgeDqpA7NSxJ-I-K2rKAFpwqhlrwjMcpDib5ZN30GmCbnWkEJzyBOES6uukuv_U8Zt94smpkFlE3JfDvDCHeuvLWPBnA8ERMkR5WmJBoQ23v3VgzWSBefh4VtLMLXWRvKXIeB292m_g311gf1-Kw==",
  "id": "rs_0b17230ad2285d49016ab471980b8887d085f8b48d572d6b63",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0,\"right_z\":0.14},\"note\":\"The yellow fruit is between the fingers, but the partial closure did not show firm contact. I’m completing the grasp and making a small test lift.\"}",
  "call_id": "call_XCxIg0FGdTW93ICUwOkrJqA1",
  "id": "fc_0b17230ad2285d49016ab471984f8087d0b095b28015c1ab36",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XCxIg0FGdTW93ICUwOkrJqA1",
  "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]: [-0.8532, 0.9245, 0.6205, -0.255, -0.9226, -0.1726, 0.5505, 0.6472, 2.1376, 1.1816, 0.6579, 0.6418, 0.0944, 0.0103]\nstate[eef_state]: left_x=0.2816 left_y=-0.103 left_z=0.2131 left_yaw=-0.0185 left_pitch=0.2215 left_roll=0.3003 left_gripper=0.5505 right_x=0.504 right_y=0.2529 right_z=0.1073 right_yaw=0.0275 right_pitch=0.3294 right_roll=-0.0746 right_gripper=0.0103\nstate[joint_eff]: [-0.1983, -2.3179, 7.5419, 1.7021, -0.3053, -0.1001, -0.0073, -0.0615, -13.9419, 8.8137, 1.8144, 0.2271, 0.0904, 0.9597]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d099da44231ae02dfc26110d5d8344668d985cb1332d29be11cd75a891d61564",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25487125bba8c65f9339e184d371ca4c7aae49cfee92e739544004206c84028c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fd5cc72e1c6ee2a07382dc5cea2be9e5d5838dad8c0a0a585d9fd9383c109b0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 36 attempt 0 · /responses · status 200 · 2.92 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 124 changed as sent

message 132 changed as sent

message 136 changed as sent

message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7525, 1.8965, 1.7031, -0.535, -0.1936, 0.033, 0.5503, -0.0505, 0.7914, 0.6567, -0.3119, -0.0338, -0.1505, 0.9962]\nstate[eef_state]: left_x=0.4186 left_y=-0.3404 left_z=0.212 left_yaw=-0.6123 left_pitch=-0.1502 left_roll=0.1715 left_gripper=0.5503 right_x=0.308 right_y=-0.006 right_z=0.22 right_yaw=0.054 right_pitch=0.1185 right_roll=-0.1079 right_gripper=0.9962\nstate[joint_eff]: [-0.3487, -10.5641, 7.0906, 1.7949, -0.1197, 0.0073, 0.0366, 0.0205, -1.2103, 10.1675, 1.956, -0.2125, -0.0611, 0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8551, 0.9184, 0.6292, -0.2352, -0.9268, -0.1791, 0.5504, 0.6464, 2.3257, 1.1709, 0.8997, 0.6502, 0.1051, 0.3525]\nstate[eef_state]: left_x=0.2827 left_y=-0.1044 left_z=0.2214 left_yaw=-0.0076 left_pitch=0.2472 left_roll=0.269 left_gripper=0.5504 right_x=0.5084 right_y=0.2541 right_z=0.0515 right_yaw=0.004 right_pitch=0.3659 right_roll=-0.0384 right_gripper=0.3525\nstate[joint_eff]: [0.2667, -1.812, 6.7487, 1.6777, -0.2173, 0.1294, -0.0122, 0.0342, -9.2513, 6.8034, 1.6093, 0.0952, 0.0415, 0.0806]\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 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8532, 0.9245, 0.6205, -0.255, -0.9226, -0.1726, 0.5505, 0.6472, 2.1376, 1.1816, 0.6579, 0.6418, 0.0944, 0.0103]\nstate[eef_state]: left_x=0.2816 left_y=-0.103 left_z=0.2131 left_yaw=-0.0185 left_pitch=0.2215 left_roll=0.3003 left_gripper=0.5505 right_x=0.504 right_y=0.2529 right_z=0.1073 right_yaw=0.0275 right_pitch=0.3294 right_roll=-0.0746 right_gripper=0.0103\nstate[joint_eff]: [-0.1983, -2.3179, 7.5419, 1.7021, -0.3053, -0.1001, -0.0073, -0.0615, -13.9419, 8.8137, 1.8144, 0.2271, 0.0904, 0.9597]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d099da44231ae02dfc26110d5d8344668d985cb1332d29be11cd75a891d61564",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25487125bba8c65f9339e184d371ca4c7aae49cfee92e739544004206c84028c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fd5cc72e1c6ee2a07382dc5cea2be9e5d5838dad8c0a0a585d9fd9383c109b0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHGhQorxvEjUg94QxjpmleP3yWuiekDiRiTjIYYmdE-xUwUHHRB-kPRIaNqB0eCz9E2hCSOLhb3UyEvVekMRH_KVS-wfcivNkDQgl3uGeRyzaOByLRsQ7zvp3aIfdG3YyFM5-R0Q-V9Z6v-MlbuwQrFdaya2qoO6ecy1yrOec8TjtBttBMVmsvfe2qcNBk4nO_A6qzuYNzS5doctjyu2uOlXxxWp8Zc80oTaPqHNinZBdUP_JHqtkEEZ7GvvA0p_jJaLoLsaigugYEL-QxBL7E0tz4YSfxo0eoOnXUnORZlTS6CDRt1PfooaIEmniY4JFCXtir04uMnCh9A82d1zObm89xR0_3gIM7jG_ADOKv9tAGUCK4ID6ii6Kbo7fIiMSaPy-L56rmugM03ESF8cJNB7VxwN-uLR4tNXl4TdEg-fslMxxzA80LB5SoJIfcPouaJjs5xkTOXwvmtHZ6jeeYGvfXWVar2r-kUAOA4WK0LOHOmW_k3T_vnhGOcy08616PzqbHadADN7Ny--_ZlNXsK98nq2EV600NLbHJDWm3_aCzEk_Q2SWalFiisD3UhVNCqc9x3p8fPytko7-I2-pib2FmctvVMr3EJCf25OWFzRgugR5bda8xr2R-uzHiWL9LXGSWOngkxIaBRgkUbTOyua0xQhTO1erqVMj3z9uxAJRA-84MG_4JzfYp4n9I8SOQiXi-r1zgYaH8IeSe49xjGVvvnwgWlysPCuYDnNxMnqcj0nM9G_mrE7npFiX_ok3wWvlW5-YTp-iYsomaelKHLMHyQw5617ZG1Z1HOcFaMQ5b1gY5YakAjsCbdlJYRo_r74LpOwGMuZeQEepE6rjRWU8meRdKvgNcZuYm7fQgqKV35zYtk0GP4dfuURKqdgKhiKku3o4GtmpOtsEkNDn4iqNmbPfqlyxajUqKCE5nJLaR7COEgZ5_1l5L3es8kfSwsODeLWc2B0EeVEydgzh6h4jBQy2ZyQqiNzGx748AFDXEzz6MJPVXbUeDY2c90S7EFLt4l4HHIFy8utaA-phJyYJi_UZztKy-DmNwfMVSU6xS7a5LecxEwX0wIZbfleeo5YZmvtUga72JMk3Uk1axlBfDAN-zRbkm7Y0sYAHjaqtKSSUfUY5SF-lu9YBUks3nsZ-OEk5rpZDvA-ztgH5VnF3T_Em2VdXv2negB65EiUsk0b7DdvYhqX1jJIoxNuGJWxyzplD3wlXXjO9ff9UntUuvOoCshr1veaYHyvqcOLtwv24v3knOolbQ4BrABozFSW53dH2-l05zhiBdKZvvsB5rvRB0vSMdzX6m1Qj2h96u1bmaqtJFTS-NwJ8HIp9OYLsQ3Kvo_LTKBBxk8Wu6pDapbohSEp6klaoGX1FMa5Xu_ji_tAHwsprgTkCWYKZHd13yxJoae--6S8GsNWdkdMEHbBpdnC7fwkFmAPCR6iRct33dt5AB5B5fZ4GTpOeofmMDpTn21F54AAcFmsTG5hLQklFDkp2DRxmdypPrZPlJq36sL5D9bCagvZZv3e9_GnMXF-nNYEBDDiwNtvc3JSUw3nAFMg4fq9t1P0CLO6mAyxAk5l-WJ8czmMAPg-dr1aoGbMbFJUlO_r2gCYeWnQyAZWy7PQjJz5DKcOHepMVb9fq_p94KKDpIZD3snUTAvgyzSitLoaoCcsWUPDIZKOIxn81W-3pmUAdKYSAxnRot9qxF0b5k0v4XXLBVGMBkRio6xlup5iZDObXIXile0Z_ln6GcvefarypTr7k2slsz-IyGKP4WMYo9yHabk2O64BABLNxOZV1c89I7LktoH0HxDha0T1ZoNwMA42_DukCvyC6UfOKkOzzrJJWIOK57ILecK3ud8yPySmNCYUjm_SrxCGeK0Dj5Z4O5adSz870yBEEklGv9NJqZdSwONF5u54ys48zYvwhwKDAaPP3IVPuNeM-xPPKWW1iljElDM0jsSRcKdTE33BupGXAf_ujqGfAyq61KlwU_QaNnZ-DL4YoywhG5OwaF3XqCW069ZT1FSOG5S3qF0oUJQACaBp8VHlk70QtuDjm5YLQNjFxMVb25-yMD7aKqn0NNQhpdPd8paoxtIsxK4UyfL1bczfJilm3xtVDj-ZQKLqX4YAc9jK3I1g8Y-CgfGoKC8XbKgn5qbEykmjNjNoGEKMCLmGY8Tvxja3sXV0kQ1u9Sv_l5-dF7n3-Qt9yoziaKxpstQg3-F2LD6NEJUQcH6KpD-mIIa64BEbaT0G-HeY31dsqmAO_gFYXZlsFVtP3GhBau7zghIMNtXg0fCI8YZKd4YtNNZJ9gdTWM_lQYFnTNt2ZYEulft_VankAalCZWdSjikBUGfpJDY9deeRmLcGBRxyAncqumzSE6FArxeprapqw9NeLZcBwfQDkhEnKr-h4lwaxhOrqsg2FpepQzQO8Hte2wmBJWqHSvnWmmz_C8RF2kCRieJSqJxiYycPPxGFb41FB1yu2YW0cQ4S-W7MOQ-oWmAurLwbzb6w67sZvG1gl1b6WYYVozLhbMSReeam0oY19VtY0SncOeitUVNnIw2MFkFklJ1TPzdGSrUbGuwcbik0pmx9N0oAfA5Q1ZPvwL5RIm9j3J-V6iMeJngHJxUv29f0K3HIWttg6wCVwlFeUa6Wq6gowgIEg-JH1GcUDLHd_-DsyfbLADvPe3BhexAeIVtfwG_9sJwmgiNU4AuvPc3KYtVLwyDvmJ8d9qZNpo8cMFZEjWfNiIglbQKcR1OO5hBg-Hv_2KBaVrqIFqEhWOiW259gKV7fN1VHJ6V97IKKZ9pzhk9XQj-l-1i6g5v7z8yoE5XVg6W0WZ3OaV2DN244tGUVdk_pUZML6hq8BV01HtvTk57TA3MJr1p3GRpGKmH9FVOcofFKmFPpYLwSq2cC30saS0qvfeIOQH5OKvx5jUcs2Vfslkjgwy8GMBXwwTOKZoNjMYdO_pJZDdJkRf-iDcxjUuYUo85dhmdtblaGe8QcLbbCc-HzInQgLloTatJDJfpYPjImJMX1FLA-OnnbnLXyc39LSYOISjxJ01ZU-HxP_1K7QmPqVwbHq29gCccAGGqY2PSt_RMNRM-Mko4FQp4-NW7fH51zdo10DQBmwfzfHAxySijwc8_X-Fy-5nmgZ40eXAlBeIX3fON3JlTk4JDWtQzrV1ZUKj0huqAtGiPBM6QzrSjCGmMr0ZaaDJejfBfG5SCwZquR1wDNLudbTo6bhptmv_7OnqrsrW7VDAV94RZrQYMnyd8GHuG54AECcsiDbAHBEmR2VmFjBvU90wS2nFrB45Jif4wVVK4jSCQ5xDCdIyOv8Gzf4vunr6rJ",
  "id": "rs_0b17230ad2285d49016ab4719b21c087d085458113f4831966",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.23,\"left_z\":0.035,\"left_pitch\":0.3,\"left_roll\":0,\"right_x\":0.3,\"right_y\":0,\"right_z\":0.22,\"right_gripper\":1},\"note\":\"The right gripper closed empty, so the yellow fruit was not recovered. I don’t have a reliable bowl grasp for a controlled pour; I’m setting the dark fruit safely back on the table and parking the right arm.\"}",
  "call_id": "call_j55hPNDZuIxTZR8JAbiijBQx",
  "id": "fc_0b17230ad2285d49016ab471a08fe887d0b665ddaf8a7ac153",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_j55hPNDZuIxTZR8JAbiijBQx",
  "output": [
    {
      "text": "executing move_to over 22 steps (2.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9604, 1.9911, 0.5083, 0.9577, -0.9012, -0.3679, 0.5505, 0.02, 0.6601, 0.4244, 0.0414, 0.0921, -0.065, 0.9977]\nstate[eef_state]: left_x=0.3255 left_y=-0.2174 left_z=0.0243 left_yaw=-0.0292 left_pitch=0.2535 left_roll=0.0765 left_gripper=0.5505 right_x=0.3055 right_y=-0.0065 right_z=0.2277 right_yaw=-0.0318 right_pitch=0.3735 right_roll=-0.0721 right_gripper=0.9977\nstate[joint_eff]: [-0.9778, -7.8974, 4.4923, 1.9609, -0.2662, -0.1294, -0.0171, -0.1026, -0.1846, 7.9111, 1.9658, -0.1734, -0.1929, -0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 355):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9530d7512bff2f341a465023329bcad3526181eb4db8c9084f1e5a5d6dd55e3f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 355):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3c2c5451d10ff13e157d406f6fa759ee157e543422b6214a16bce7ab6d8f5ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 355):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6625fba8d688f7898eca106e93ec6213d9b8379470697d83b7c4b073e6e01fff",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 37 attempt 0 · /responses · status 200 · 3.744 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 128 changed as sent

message 136 changed as sent

message 140 changed as sent

message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0431, 1.7576, 1.1557, -0.1005, -1.0706, -0.358, 0.5504, 0.6445, 2.2066, 1.1168, 0.8165, 0.6514, 0.1135, 0.9963]\nstate[eef_state]: left_x=0.3501 left_y=-0.2858 left_z=0.1823 left_yaw=-0.0285 left_pitch=0.2336 left_roll=0.2934 left_gripper=0.5504 right_x=0.4989 right_y=0.2455 right_z=0.0783 right_yaw=0.0003 right_pitch=0.3516 right_roll=-0.0416 right_gripper=0.9963\nstate[joint_eff]: [-1.5248, -9.1419, 7.3231, 2.4396, 0.1343, -0.2125, -0.0073, 3.7675, -11.3846, 6.7761, 2.0342, 0.3297, 0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8532, 0.9245, 0.6205, -0.255, -0.9226, -0.1726, 0.5505, 0.6472, 2.1376, 1.1816, 0.6579, 0.6418, 0.0944, 0.0103]\nstate[eef_state]: left_x=0.2816 left_y=-0.103 left_z=0.2131 left_yaw=-0.0185 left_pitch=0.2215 left_roll=0.3003 left_gripper=0.5505 right_x=0.504 right_y=0.2529 right_z=0.1073 right_yaw=0.0275 right_pitch=0.3294 right_roll=-0.0746 right_gripper=0.0103\nstate[joint_eff]: [-0.1983, -2.3179, 7.5419, 1.7021, -0.3053, -0.1001, -0.0073, -0.0615, -13.9419, 8.8137, 1.8144, 0.2271, 0.0904, 0.9597]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9604, 1.9911, 0.5083, 0.9577, -0.9012, -0.3679, 0.5505, 0.02, 0.6601, 0.4244, 0.0414, 0.0921, -0.065, 0.9977]\nstate[eef_state]: left_x=0.3255 left_y=-0.2174 left_z=0.0243 left_yaw=-0.0292 left_pitch=0.2535 left_roll=0.0765 left_gripper=0.5505 right_x=0.3055 right_y=-0.0065 right_z=0.2277 right_yaw=-0.0318 right_pitch=0.3735 right_roll=-0.0721 right_gripper=0.9977\nstate[joint_eff]: [-0.9778, -7.8974, 4.4923, 1.9609, -0.2662, -0.1294, -0.0171, -0.1026, -0.1846, 7.9111, 1.9658, -0.1734, -0.1929, -0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 355):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9530d7512bff2f341a465023329bcad3526181eb4db8c9084f1e5a5d6dd55e3f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 355):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3c2c5451d10ff13e157d406f6fa759ee157e543422b6214a16bce7ab6d8f5ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 355):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6625fba8d688f7898eca106e93ec6213d9b8379470697d83b7c4b073e6e01fff",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHGmliBpO-vFxPaszlAhFL3uqHXxgR1QHN5D5z26h4mYup71BygU1LJcj8VUudVmzUVMrgvZ4HVVZ_DLvfT0y6IMbeM4dmYHOVGbKNDPFuaobyqwBeqPjf8DHh5hW1g81lsfM2JoDPeZJ95jmAjSpwG3_djLofj5pVsKls2opIdido6EiYowqn9yJH2Qmr0JLWBLhJKknm0WaIALcK7alAIH66sQ2YkEv-JtKYFlJFMHdhoWkPL5JPyCQDLI2bfY2-XlRgPvF8cpP8ZO0sXtfM1g0JCQ0vKIyqNuHG0obsdSVEFySlZQitViP9aQosJcqc9qmmKOMaVTDv6IlAUOggZU_h9hjXHZ1Sj1r4ZVUIPgT9b0Wovi7WsMqIW929fbQ3zpdEatZ5KNiVLwpzs0sa-QT_KjKgwnlMAd5KVtu1f8oZ5UeVXXCKPmbK_cmjp7avpISyxptr5_rXknrRAk-zCRDyMnyxIWOA6D85dk0fav8r01gi3Me55SA_r4C_ubfqx5pc4mLlCP0E2wPqCKrtjDuSK8D6En0t-EPsuEwZY09lC1qXE60ZN5HcsnJNRgGMzu0gs5XvmnevhvcC2YWg3Lidq18joGW36xmBlc6qQ-8FEh1vfNiu51mQDRgpcaPt6l0xXi9UR5thps-xNYmRLMEmmD-OMYXijZAn7xArL6Nbeg36H18KlWMFnR35Y5bDRFiM-EFOD0PVCVMAjuUNSrZImEYDb8fXPiPZ4g8Iv46txwt5TMw9YWh4mn3ibZXNHsjQsxo4bQHAfJZ4pO88tTvUEBPf_qrWb4Qe0dFWMVk9k6ULabXEtJq1ZUOgoBit2msYnDh-TWZVE9pAg8JHRMsox7dpK2v3dgnjBcc7HJa1OwH501EugbobUiDBCG-fiiwrbNb7F3KNOyH4a26ebtJ0C7qn03tCfVmmwkCUY35rW3wtcOFON3byKPon7tNlssn1LqHr2WXvoKbnHM1CQVpaB-lTtXuA4hHBELuGBAunIVLR8MBChGsZi-hKpbwvqyU0NKZ42VHP2oG6VLqj5iwLX5Vch-x3EoxiDTePnRj4qk1fOPew5EEZ9HJCKcrjwMrMiUqwTn_rbxrT5QdJhpuiyDJvEFCl5zgRQO4QxEC7UPvZvvU1TeF0P4YzkwloNt35KVdWtxT1vPznLHzft1pShk9ZAaf87oYuPRmUwA-TVxx29ltuz7-xA3PIBM0sOaozSknL3KbqzIy49oLZGSsyCGwi-q21DGp1U5TTqZ0gE=",
  "id": "rs_0b17230ad2285d49016ab471a5c8a487d08a710373505ad20f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The dark fruit is back at table level. I’m opening the left fingers to leave it supported on the table.\"}",
  "call_id": "call_NlwwAp51J7bB8EWh0ZreLMx0",
  "id": "fc_0b17230ad2285d49016ab471a621d087d0a9b378d49441459c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NlwwAp51J7bB8EWh0ZreLMx0",
  "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]: [-0.9619, 2.0083, 0.5102, 0.9619, -0.8997, -0.3714, 0.9955, 0.0216, 0.6647, 0.424, 0.0025, 0.0757, -0.0792, 0.9982]\nstate[eef_state]: left_x=0.3248 left_y=-0.2177 left_z=0.0194 left_yaw=-0.0323 left_pitch=0.2464 left_roll=0.0818 left_gripper=0.9955 right_x=0.3041 right_y=-0.0032 right_z=0.2168 right_yaw=-0.0068 right_pitch=0.3289 right_roll=-0.0849 right_gripper=0.9982\nstate[joint_eff]: [0.0205, -8.9504, 2.9197, 1.4823, -0.3053, -0.0073, -0.1392, -0.3624, -0.8821, 7.4325, 2.2344, 0.1343, 0.105, 0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 360):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7226ca200aaa7478e70b1c6153e1d6abe2d311152b839e8d531fa3a72eb99462",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 360):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bdb3f6289ec03fb19069e81896f018ae08c585008c25e9e62f1845c0c8f56bc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 360):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d85af7f79234b82351fdd157b9772b5713274e98e493cf61a2ed1c0ee76d9807",
      "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 38 attempt 0 · /responses · status 200 · 4.399 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 132 changed as sent

message 140 changed as sent

message 144 changed as sent

message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8551, 0.9184, 0.6292, -0.2352, -0.9268, -0.1791, 0.5504, 0.6464, 2.3257, 1.1709, 0.8997, 0.6502, 0.1051, 0.3525]\nstate[eef_state]: left_x=0.2827 left_y=-0.1044 left_z=0.2214 left_yaw=-0.0076 left_pitch=0.2472 left_roll=0.269 left_gripper=0.5504 right_x=0.5084 right_y=0.2541 right_z=0.0515 right_yaw=0.004 right_pitch=0.3659 right_roll=-0.0384 right_gripper=0.3525\nstate[joint_eff]: [0.2667, -1.812, 6.7487, 1.6777, -0.2173, 0.1294, -0.0122, 0.0342, -9.2513, 6.8034, 1.6093, 0.0952, 0.0415, 0.0806]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9604, 1.9911, 0.5083, 0.9577, -0.9012, -0.3679, 0.5505, 0.02, 0.6601, 0.4244, 0.0414, 0.0921, -0.065, 0.9977]\nstate[eef_state]: left_x=0.3255 left_y=-0.2174 left_z=0.0243 left_yaw=-0.0292 left_pitch=0.2535 left_roll=0.0765 left_gripper=0.5505 right_x=0.3055 right_y=-0.0065 right_z=0.2277 right_yaw=-0.0318 right_pitch=0.3735 right_roll=-0.0721 right_gripper=0.9977\nstate[joint_eff]: [-0.9778, -7.8974, 4.4923, 1.9609, -0.2662, -0.1294, -0.0171, -0.1026, -0.1846, 7.9111, 1.9658, -0.1734, -0.1929, -0.1294]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9619, 2.0083, 0.5102, 0.9619, -0.8997, -0.3714, 0.9955, 0.0216, 0.6647, 0.424, 0.0025, 0.0757, -0.0792, 0.9982]\nstate[eef_state]: left_x=0.3248 left_y=-0.2177 left_z=0.0194 left_yaw=-0.0323 left_pitch=0.2464 left_roll=0.0818 left_gripper=0.9955 right_x=0.3041 right_y=-0.0032 right_z=0.2168 right_yaw=-0.0068 right_pitch=0.3289 right_roll=-0.0849 right_gripper=0.9982\nstate[joint_eff]: [0.0205, -8.9504, 2.9197, 1.4823, -0.3053, -0.0073, -0.1392, -0.3624, -0.8821, 7.4325, 2.2344, 0.1343, 0.105, 0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 360):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7226ca200aaa7478e70b1c6153e1d6abe2d311152b839e8d531fa3a72eb99462",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 360):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bdb3f6289ec03fb19069e81896f018ae08c585008c25e9e62f1845c0c8f56bc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 360):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d85af7f79234b82351fdd157b9772b5713274e98e493cf61a2ed1c0ee76d9807",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "arguments": "{\"targets\":{\"left_x\":0.296,\"left_y\":0,\"left_z\":0.2,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"right_x\":0.296,\"right_y\":0,\"right_z\":0.2,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The dark fruit is released and stable on the table. I’m lifting both arms to their parked positions, leaving the bowls and fruits undisturbed.\"}",
  "call_id": "call_dXhOUHbX6ftm27raKWNWjPrZ",
  "id": "fc_0b17230ad2285d49016ab471a9d55087d0829e2ded30fffeef",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dXhOUHbX6ftm27raKWNWjPrZ",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0517, 0.8169, 0.6403, -0.3927, -0.0967, -0.0837, 0.9961, -0.0105, 0.8074, 0.6518, -0.432, 0.0029, -0.041, 0.9983]\nstate[eef_state]: left_x=0.299 left_y=0.0052 left_z=0.1881 left_yaw=0.0686 left_pitch=0.0048 left_roll=-0.0011 left_gripper=0.9961 right_x=0.2943 right_y=-0.0 right_z=0.1874 right_yaw=0.0036 right_pitch=-0.0194 right_roll=-0.0224 right_gripper=0.9983\nstate[joint_eff]: [0.3624, -1.7026, 9.6479, 1.7265, 0.1099, 0.1245, 0.0513, -0.4034, -1.0598, 9.935, 1.8242, -0.0562, 0.1783, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 380):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a62032ad4499220ccdca40d5460cc2cff532f14f45e2ecf0a6434973c56d4e1f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 380):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4bdb3493e59e94bfcac401fcd3c7e07907ee30a089d727133fc8aa938aa59c7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 380):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:818e3fae998afe9b409ccf3776ae5a147972fa3a14ed15cb15d4ad5abe17bcb9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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