adhoc

completed
2026-09-23T23:14:35.751158+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (78 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-astra
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
253.1 s
total steps
372
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 can see a yellow fruit near the middle and a green fruit beside the right arm, with the blue bowl behind them and the white bowl on the left. I’m moving the right gripper above the green fruit first.
move_to
right_x0.3500right_y0.0450right_z0.1200right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.7994, 0.6136, -0.3824, -0.0143, -0.0292, 0.9945, -0.0227, 0.8005, 0.6189, -0.387, -0.0162, -0.0257, 0.9991] state[eef_state]: left_x=0.296 left_y=-0.0004 left_z=0.1824 left_yaw=-0.0002 left_pitch=0.0 left_roll=0.0003 left_gripper=0.9945 right_x=0.2961 right_y=-0.0003 right_z=0.1836 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9991 state[joint_eff]: [-0.335, -1.7026, 9.935, 1.8388, -0.0952, 0.149, -0.5788, -0.1709, -1.6205, 9.1556, 1.8828, -0.0611, 0.1001, -0.105] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.045,"right_z":0.12,"right_gripper":1},"note":"I can see a yellow fruit near the middle and a green fruit beside the right arm, with the blue bowl behind them and the white bowl on the left. I’m moving the right gripper above the green fruit first."})
tool
executing move_to over 5 steps (0.5s)
step 5
top_cam
camera top_cam step 5
left_cam
camera left_cam step 5
right_cam
camera right_cam step 5
assistant
agent noteThe green fruit is at the lower-right edge of the wrist view, so the gripper is too far left of it. I’m shifting right and lowering to straddle the fruit.
move_to
right_x0.3350right_y-0.0050right_z0.0450
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, 0.8059, 0.6132, -0.3981, -0.0139, -0.0269, 0.9939, 0.2066, 1.1782, 0.5114, 0.0467, 0.1577, 0.0719, 0.9991] state[eef_state]: left_x=0.2942 left_y=-0.0004 left_z=0.1772 left_yaw=-0.0018 left_pitch=-0.0225 left_roll=0.0025 left_gripper=0.9939 right_x=0.3453 right_y=0.0477 right_z=0.1096 right_yaw=0.0298 right_pitch=-0.0429 right_roll=-0.0201 right_gripper=0.9991 state[joint_eff]: [-0.0068, -1.6068, 7.0769, 1.8877, -0.0269, -0.0415, -0.0757, -0.253, -4.5607, 6.735, 1.9902, 0.1832, 0.2466, -0.105] camera 'top_cam' (step 5): [image omitted: streamed camera frame] camera 'left_cam' (step 5): [image omitted: streamed camera frame] camera 'right_cam' (step 5): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.335,"right_y":-0.005,"right_z":0.045},"note":"The green fruit is at the lower-right edge of the wrist view, so the gripper is too far left of it. I’m shifting right and lowering to straddle the fruit."})
tool
executing move_to over 5 steps (0.5s)
step 10
top_cam
camera top_cam step 10
left_cam
camera left_cam step 10
right_cam
camera right_cam step 10
assistant
agent noteThe green fruit is still slightly right of the jaw centre, and the descent stopped a little high. I’m making a small lateral correction before closing around its sides.
move_to
right_x0.3250right_y-0.0250right_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8062, 0.6132, -0.408, -0.0143, -0.0265, 0.9938, -0.0471, 1.3159, 0.3149, 0.4332, -0.0277, -0.078, 0.999] state[eef_state]: left_x=0.2929 left_y=-0.0003 left_z=0.1751 left_yaw=-0.0016 left_pitch=-0.0328 left_roll=0.0032 left_gripper=0.9938 right_x=0.3442 right_y=-0.0077 right_z=0.0611 right_yaw=0.013 right_pitch=0.0003 right_roll=-0.0381 right_gripper=0.999 state[joint_eff]: [-0.1026, -0.7726, 7.0085, 1.8339, -0.0122, -0.022, -0.0269, -0.1709, -2.5778, 3.9043, 1.2381, -0.149, 0.1685, -0.022] camera 'top_cam' (step 10): [image omitted: streamed camera frame] camera 'left_cam' (step 10): [image omitted: streamed camera frame] camera 'right_cam' (step 10): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.325,"right_y":-0.025,"right_z":0.025},"note":"The green fruit is still slightly right of the jaw centre, and the descent stopped a little high. I’m making a small lateral correction before closing around its sides."})
tool
executing move_to over 3 steps (0.3s)
step 13
top_cam
camera top_cam step 13
left_cam
camera left_cam step 13
right_cam
camera right_cam step 13
assistant
agent noteThe fruit remains visible just beyond the fingertips, and the arm is not reaching the requested low pose. I’m lifting slightly and advancing over its centre rather than pushing down.
move_to
right_x0.3800right_y-0.0350right_z0.0850
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8104, 0.6132, -0.4164, -0.0139, -0.0269, 0.9938, -0.1547, 1.4345, 0.2035, 0.7895, -0.0837, -0.1513, 0.999] state[eef_state]: left_x=0.292 left_y=-0.0004 left_z=0.1722 left_yaw=-0.0017 left_pitch=-0.0454 left_roll=0.003 left_gripper=0.9938 right_x=0.3438 right_y=-0.035 right_z=0.0576 right_yaw=-0.0067 right_pitch=0.126 right_roll=-0.0885 right_gripper=0.999 state[joint_eff]: [-0.0479, -1.6479, 7.0085, 1.8095, -0.0513, -0.0611, -0.0171, 0.0479, -2.7009, 3.1658, 0.9304, -0.3443, 0.1392, -0.0122] camera 'top_cam' (step 13): [image omitted: streamed camera frame] camera 'left_cam' (step 13): [image omitted: streamed camera frame] camera 'right_cam' (step 13): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.38,"right_y":-0.035,"right_z":0.085},"note":"The fruit remains visible just beyond the fingertips, and the arm is not reaching the requested low pose. I’m lifting slightly and advancing over its centre rather than pushing down."})
tool
executing move_to over 3 steps (0.3s)
step 16
top_cam
camera top_cam step 16
left_cam
camera left_cam step 16
right_cam
camera right_cam step 16
assistant
agent noteThe green fruit is now centred beneath the wrist-camera jaw column. I’m advancing a little farther and lowering the open jaws around it.
move_to
right_x0.3950right_y-0.0300right_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]: [-0.0219, 0.8124, 0.6132, -0.4236, -0.0139, -0.0269, 0.9938, -0.1345, 1.4288, 0.3141, 0.6514, -0.0765, -0.1581, 0.999] state[eef_state]: left_x=0.291 left_y=-0.0003 left_z=0.1702 left_yaw=-0.0017 left_pitch=-0.0545 left_roll=0.0031 left_gripper=0.9938 right_x=0.3639 right_y=-0.032 right_z=0.07 right_yaw=0.0107 right_pitch=0.1037 right_roll=-0.0946 right_gripper=0.999 state[joint_eff]: [-0.0889, -1.4564, 6.9949, 1.7705, -0.0415, -0.0415, -0.0171, -0.0889, -4.6838, 6.5299, 1.9023, 0.0855, 0.0904, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.395,"right_y":-0.03,"right_z":0.03},"note":"The green fruit is now centred beneath the wrist-camera jaw column. I’m advancing a little farther and lowering the open jaws around it."})
tool
executing move_to over 3 steps (0.3s)
step 19
top_cam
camera top_cam step 19
left_cam
camera left_cam step 19
right_cam
camera right_cam step 19
assistant
agent noteThe last reach did not move the arm, so I’m changing the approach instead of repeating it. A slight forward tilt and inward shift should give the jaws room to reach the fruit.
move_to
right_x0.3900right_y-0.0150right_z0.0500right_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, 0.8124, 0.6132, -0.424, -0.0139, -0.0265, 0.9938, -0.1349, 1.4288, 0.3153, 0.6506, -0.0765, -0.1581, 0.999] state[eef_state]: left_x=0.291 left_y=-0.0003 left_z=0.1702 left_yaw=-0.0019 left_pitch=-0.0549 left_roll=0.0035 left_gripper=0.9938 right_x=0.3641 right_y=-0.0322 right_z=0.0702 right_yaw=0.0103 right_pitch=0.1041 right_roll=-0.0947 right_gripper=0.999 state[joint_eff]: [-0.0068, -1.1829, 7.0222, 1.6972, -0.0415, -0.0415, -0.0171, -0.3077, -4.7111, 6.3795, 1.8535, 0.0366, 0.1001, -0.0122] camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":-0.015,"right_z":0.05,"right_pitch":0.3},"note":"The last reach did not move the arm, so I’m changing the approach instead of repeating it. A slight forward tilt and inward shift should give the jaws room to reach the fruit."})
tool
executing move_to over 7 steps (0.7s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
agent noteThe arm is still holding the same pose, and the green fruit is partly hidden near the table edge. I’m withdrawing upward to clear the fruit and recover a freely moving approach.
move_to
right_x0.3200right_y0.0200right_z0.1600right_pitch0.0000right_roll0.0000left_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, 0.8124, 0.6132, -0.4244, -0.0139, -0.0269, 0.9938, -0.1349, 1.4288, 0.3153, 0.6498, -0.0757, -0.1581, 0.999] state[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1701 left_yaw=-0.0017 left_pitch=-0.0553 left_roll=0.0032 left_gripper=0.9938 right_x=0.364 right_y=-0.0323 right_z=0.0701 right_yaw=0.0096 right_pitch=0.1033 right_roll=-0.0949 right_gripper=0.999 state[joint_eff]: [-0.0068, -1.2376, 6.9949, 1.6777, -0.0464, -0.0122, -0.0171, -0.3897, -4.7111, 6.2154, 1.8828, 0.0562, 0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.32,"right_y":0.02,"right_z":0.16,"right_pitch":0,"right_roll":0,"left_x":0.296,"left_y":0,"left_z":0.185},"note":"The arm is still holding the same pose, and the green fruit is partly hidden near the table edge. I’m withdrawing upward to clear the fruit and recover a freely moving approach."})
tool
executing move_to over 6 steps (0.6s)
step 32
top_cam
camera top_cam step 32
left_cam
camera left_cam step 32
right_cam
camera right_cam step 32
assistant
agent noteThe green pear is visible again and has shifted forward beside the blue bowl. I’m approaching its new position from above, with the open gripper centred on it.
move_to
right_x0.4350right_y0.0000right_z0.1300
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8417, 0.6476, -0.4755, -0.0139, -0.0307, 0.9938, 0.0898, 0.9386, 0.5468, -0.1558, 0.0566, 0.012, 0.999] state[eef_state]: left_x=0.2897 left_y=-0.0003 left_z=0.1675 left_yaw=0.0004 left_pitch=-0.1015 left_roll=0.0011 left_gripper=0.9938 right_x=0.3232 right_y=0.0227 right_z=0.1587 right_yaw=0.0305 right_pitch=0.0218 right_roll=-0.0063 right_gripper=0.999 state[joint_eff]: [0.1573, -1.4291, 9.6479, 1.7753, -0.0611, -0.0317, -0.0122, -0.2667, -2.6051, 8.7453, 1.873, 0.1294, 0.1343, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 32): [image omitted: streamed camera frame] camera 'left_cam' (step 32): [image omitted: streamed camera frame] camera 'right_cam' (step 32): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.435,"right_y":0,"right_z":0.13},"note":"The green pear is visible again and has shifted forward beside the blue bowl. I’m approaching its new position from above, with the open gripper centred on it."})
tool
executing move_to over 9 steps (0.9s)
step 41
top_cam
camera top_cam step 41
left_cam
camera left_cam step 41
right_cam
camera right_cam step 41
assistant
agent noteThe pear is aligned near the bottom centre of the wrist view. I’m lowering around its wider body, keeping the jaws open until they are beside it.
move_to
right_x0.4630right_y-0.0020right_z0.0420
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8463, 0.6472, -0.4881, -0.0139, -0.0307, 0.9937, -0.0231, 1.5017, 0.7498, 0.1463, -0.0391, -0.0528, 0.999] state[eef_state]: left_x=0.2879 left_y=-0.0003 left_z=0.1637 left_yaw=0.0005 left_pitch=-0.119 left_roll=0.0015 left_gripper=0.9937 right_x=0.4247 right_y=0.0007 right_z=0.1116 right_yaw=0.0332 right_pitch=-0.0366 right_roll=-0.0086 right_gripper=0.999 state[joint_eff]: [-0.1299, -1.6342, 7.0769, 1.746, -0.0464, -0.0562, -0.0171, -0.3761, -6.6256, 8.9231, 1.9902, -0.0855, -0.0366, -0.0122] camera 'top_cam' (step 41): [image omitted: streamed camera frame] camera 'left_cam' (step 41): [image omitted: streamed camera frame] camera 'right_cam' (step 41): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.463,"right_y":-0.002,"right_z":0.042},"note":"The pear is aligned near the bottom centre of the wrist view. I’m lowering around its wider body, keeping the jaws open until they are beside it."})
tool
executing move_to over 5 steps (0.5s)
step 46
top_cam
camera top_cam step 46
left_cam
camera left_cam step 46
right_cam
camera right_cam step 46
assistant
agent noteThe open jaws are down beside the pear, which is now mostly below the wrist view. I’m closing to grasp it, then I’ll check the jaw spacing and lift.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8471, 0.6472, -0.4919, -0.0135, -0.0307, 0.9938, -0.0246, 1.805, 0.7673, 0.4404, -0.0425, -0.0639, 0.999] state[eef_state]: left_x=0.2874 left_y=-0.0003 left_z=0.1628 left_yaw=0.0001 left_pitch=-0.1236 left_roll=0.0013 left_gripper=0.9938 right_x=0.4616 right_y=-0.0003 right_z=0.0498 right_yaw=0.0405 right_pitch=-0.0282 right_roll=-0.0163 right_gripper=0.999 state[joint_eff]: [-0.1709, -1.347, 6.9812, 1.707, -0.0269, -0.0171, -0.0122, -0.6632, -6.612, 5.6, 1.4383, -0.0464, 0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The open jaws are down beside the pear, which is now mostly below the wrist view. I’m closing to grasp it, then I’ll check the jaw spacing and lift."})
tool
executing move_to over 10 steps (1.0s)
step 56
top_cam
camera top_cam step 56
left_cam
camera left_cam step 56
right_cam
camera right_cam step 56
assistant
agent noteThe gripper closed empty. The pear is just behind and to the right of the fingertips, so I’m reopening and shifting back slightly for one corrected grasp.
move_to
right_gripper1.0000right_x0.4400right_y-0.0150right_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8471, 0.6472, -0.4919, -0.0139, -0.0307, 0.9937, -0.0235, 1.8091, 0.7681, 0.4358, -0.0429, -0.0704, 0.009] state[eef_state]: left_x=0.2874 left_y=-0.0003 left_z=0.1628 left_yaw=0.0005 left_pitch=-0.1236 left_roll=0.0016 left_gripper=0.9937 right_x=0.461 right_y=0.0004 right_z=0.0473 right_yaw=0.0455 right_pitch=-0.0363 right_roll=-0.0209 right_gripper=0.009 state[joint_eff]: [-0.0889, -1.5248, 6.9402, 1.6484, -0.0562, -0.0757, -0.0171, -0.1436, -8.5538, 5.3402, 1.7656, -0.0464, 0.0415, 0.735] camera 'top_cam' (step 56): [image omitted: streamed camera frame] camera 'left_cam' (step 56): [image omitted: streamed camera frame] camera 'right_cam' (step 56): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.44,"right_y":-0.015,"right_z":0.025},"note":"The gripper closed empty. The pear is just behind and to the right of the fingertips, so I’m reopening and shifting back slightly for one corrected grasp."})
tool
executing move_to over 10 steps (1.0s)
step 66
top_cam
camera top_cam step 66
left_cam
camera left_cam step 66
right_cam
camera right_cam step 66
assistant
agent noteThe corrected approach has the pear centred between the open jaws at the bottom of the wrist view. I’m closing again to test this grasp.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8471, 0.6468, -0.4927, -0.0139, -0.0307, 0.9937, -0.0696, 1.8091, 0.6773, 0.5804, -0.0849, -0.1009, 0.9954] state[eef_state]: left_x=0.2872 left_y=-0.0003 left_z=0.1624 left_yaw=0.0005 left_pitch=-0.1247 left_roll=0.0016 left_gripper=0.9937 right_x=0.4507 right_y=-0.0128 right_z=0.0435 right_yaw=0.0511 right_pitch=0.0189 right_roll=-0.0288 right_gripper=0.9954 state[joint_eff]: [-0.1709, -1.4974, 6.9402, 1.6044, -0.0562, -0.0464, -0.0122, -0.8137, -6.5299, 4.0274, 1.6239, -0.0464, 0.0171, -0.0317] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 66): [image omitted: streamed camera frame] camera 'left_cam' (step 66): [image omitted: streamed camera frame] camera 'right_cam' (step 66): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The corrected approach has the pear centred between the open jaws at the bottom of the wrist view. I’m closing again to test this grasp."})
tool
executing move_to over 10 steps (1.0s)
step 76
top_cam
camera top_cam step 76
left_cam
camera left_cam step 76
right_cam
camera right_cam step 76
assistant
agent noteThe second close was also empty, so I won’t repeat that approach. I’m lifting away to expose the pear in the overhead view and reassess its position.
move_to
right_x0.3000right_y0.0700right_z0.2000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8471, 0.6472, -0.4934, -0.0139, -0.0307, 0.9937, -0.0731, 1.8145, 0.6674, 0.5713, -0.0837, -0.1062, 0.0086] state[eef_state]: left_x=0.2871 left_y=-0.0003 left_z=0.1625 left_yaw=0.0005 left_pitch=-0.1251 left_roll=0.0016 left_gripper=0.9937 right_x=0.4458 right_y=-0.0142 right_z=0.0357 right_yaw=0.0495 right_pitch=-0.0055 right_roll=-0.0309 right_gripper=0.0086 state[joint_eff]: [-0.1026, -1.5385, 6.9128, 1.6239, -0.0513, -0.0464, -0.0122, 0.1436, -8.3897, 5.8462, 1.8486, -0.0366, 0.0317, 0.7302] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 76): [image omitted: streamed camera frame] camera 'left_cam' (step 76): [image omitted: streamed camera frame] camera 'right_cam' (step 76): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.30,"right_y":0.07,"right_z":0.20,"right_gripper":1},"note":"The second close was also empty, so I won’t repeat that approach. I’m lifting away to expose the pear in the overhead view and reassess its position."})
tool
executing move_to over 12 steps (1.2s)
step 88
top_cam
camera top_cam step 88
left_cam
camera left_cam step 88
right_cam
camera right_cam step 88
assistant
agent noteBoth fruits are still on the table. I’m parking the right arm clear and bringing the left gripper toward the yellow fruit; this will also uncover the pear’s position.
move_to
left_x0.3800left_y-0.3300left_z0.1500left_gripper1.0000right_x0.2500right_y-0.0400right_z0.2500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8528, 0.6468, -0.498, -0.0139, -0.0303, 0.9937, 0.3916, 0.9062, 0.7036, -0.4122, 0.2752, 0.1246, 0.9983] state[eef_state]: left_x=0.2866 left_y=-0.0002 left_z=0.1599 left_yaw=0.0003 left_pitch=-0.1358 left_roll=0.0022 left_gripper=0.9937 right_x=0.2993 right_y=0.0755 right_z=0.191 right_yaw=0.0886 right_pitch=-0.0206 right_roll=-0.0414 right_gripper=0.9983 state[joint_eff]: [-0.253, -1.5658, 6.9402, 1.663, -0.0122, -0.0513, -0.0122, -0.335, -2.1538, 9.1145, 1.5946, 0.1441, 0.2418, -0.188] camera 'top_cam' (step 88): [image omitted: streamed camera frame] camera 'left_cam' (step 88): [image omitted: streamed camera frame] camera 'right_cam' (step 88): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":-0.33,"left_z":0.15,"left_gripper":1,"right_x":0.25,"right_y":-0.04,"right_z":0.25},"note":"Both fruits are still on the table. I’m parking the right arm clear and bringing the left gripper toward the yellow fruit; this will also uncover the pear’s position."})
tool
executing move_to over 30 steps (3.0s)
step 118
top_cam
camera top_cam step 118
left_cam
camera left_cam step 118
right_cam
camera right_cam step 118
assistant
agent noteThe yellow fruit is near the fingertips but to the right of the left gripper’s centre. I’m correcting sideways and lowering around it without another large forward move.
move_to
left_x0.3750left_y-0.3700left_z0.0300left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.9291, 1.9453, 1.5398, -0.569, -0.6373, -0.7341, 0.9944, -0.4576, 0.749, 0.8772, -0.8124, -0.3889, -0.3531, 0.9983] state[eef_state]: left_x=0.3771 left_y=-0.323 left_z=0.1409 left_yaw=-0.0055 left_pitch=-0.1594 left_roll=0.0054 left_gripper=0.9944 right_x=0.2492 right_y=-0.0441 right_z=0.2351 right_yaw=0.0523 right_pitch=-0.0566 right_roll=-0.0307 right_gripper=0.9983 state[joint_eff]: [-0.7453, -10.3726, 8.3487, 1.0867, -0.5885, -0.0708, -0.3443, -0.2667, 0.0479, 9.4427, 1.6972, -0.3492, -0.0806, -0.0171] camera 'top_cam' (step 118): [image omitted: streamed camera frame] camera 'left_cam' (step 118): [image omitted: streamed camera frame] camera 'right_cam' (step 118): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.375,"left_y":-0.37,"left_z":0.03,"left_pitch":0},"note":"The yellow fruit is near the fingertips but to the right of the left gripper’s centre. I’m correcting sideways and lowering around it without another large forward move."})
tool
executing move_to over 8 steps (0.8s)
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 left jaws are down on either side of the yellow fruit. I’m closing them to secure it.
move_to
left_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]: [-1.0183, 2.1914, 1.3918, -0.1093, -0.7757, -0.7441, 0.9937, -0.4603, 0.7521, 0.8795, -0.8318, -0.3939, -0.3744, 0.9983] state[eef_state]: left_x=0.3749 left_y=-0.3656 left_z=0.0383 left_yaw=-0.0069 left_pitch=-0.03 left_roll=0.0071 left_gripper=0.9937 right_x=0.2471 right_y=-0.0428 right_z=0.2321 right_yaw=0.0658 right_pitch=-0.073 right_roll=-0.0351 right_gripper=0.9983 state[joint_eff]: [-0.8957, -10.0444, 5.1214, 0.8718, -0.2418, 0.1343, -0.0806, 0.0615, -0.3624, 6.4615, 1.7802, -0.1538, 0.1685, -0.0122] 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":{"left_gripper":0},"note":"The left jaws are down on either side of the yellow fruit. I’m closing them to secure it."})
tool
executing move_to over 10 steps (1.0s)
step 136
top_cam
camera top_cam step 136
left_cam
camera left_cam step 136
right_cam
camera right_cam step 136
assistant
agent noteThe yellow-fruit grasp was empty and it lies near the left arm’s sideways limit. I’m clearing that arm and returning the right gripper to the pear with a shorter, centred approach.
move_to
left_x0.2960left_y0.0000left_z0.1900left_gripper1.0000right_x0.3750right_y-0.0050right_z0.0750
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]: [-1.0214, 2.2063, 1.3884, -0.0608, -0.7929, -0.7567, 0.0095, -0.4603, 0.7536, 0.8795, -0.8364, -0.3939, -0.3782, 0.9983] state[eef_state]: left_x=0.3777 left_y=-0.369 left_z=0.0374 left_yaw=0.0073 left_pitch=-0.0029 left_roll=-0.0221 left_gripper=0.0095 right_x=0.2466 right_y=-0.0426 right_z=0.231 right_yaw=0.0681 right_pitch=-0.0784 right_roll=-0.0351 right_gripper=0.9983 state[joint_eff]: [0.0752, -13.2855, 6.1744, 0.8474, -0.1587, 0.105, 0.7106, -0.0205, -0.4171, 6.612, 1.6435, -0.2125, 0.022, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 136): [image omitted: streamed camera frame] camera 'left_cam' (step 136): [image omitted: streamed camera frame] camera 'right_cam' (step 136): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.296,"left_y":0,"left_z":0.19,"left_gripper":1,"right_x":0.375,"right_y":-0.005,"right_z":0.075},"note":"The yellow-fruit grasp was empty and it lies near the left arm’s sideways limit. I’m clearing that arm and returning the right gripper to the pear with a shorter, centred approach."})
tool
executing move_to over 33 steps (3.3s)
step 169
top_cam
camera top_cam step 169
left_cam
camera left_cam step 169
right_cam
camera right_cam step 169
assistant
agent noteThe pear is clearly visible between the open jaws but slightly right of centre. I’m shifting only two centimetres right and lowering to its middle.
move_to
right_x0.3650right_y-0.0250right_z0.0280
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0425, 0.8173, 0.6048, -0.3874, -0.0795, -0.104, 0.9935, -0.0624, 1.3891, 0.5297, 0.1543, -0.1009, -0.1448, 0.9983] state[eef_state]: left_x=0.2953 left_y=0.0051 left_z=0.1727 left_yaw=0.0744 left_pitch=-0.0299 left_roll=-0.024 left_gripper=0.9935 right_x=0.3656 right_y=-0.0014 right_z=0.0661 right_yaw=0.0968 right_pitch=-0.1328 right_roll=-0.0336 right_gripper=0.9983 state[joint_eff]: [0.212, -2.0308, 10.7556, 1.746, 0.1294, 0.1245, -0.6667, -0.0068, -4.7932, 5.9009, 2.044, 0.1001, 0.2125, -0.0122] camera 'top_cam' (step 169): [image omitted: streamed camera frame] camera 'left_cam' (step 169): [image omitted: streamed camera frame] camera 'right_cam' (step 169): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.365,"right_y":-0.025,"right_z":0.028},"note":"The pear is clearly visible between the open jaws but slightly right of centre. I’m shifting only two centimetres right and lowering to its middle."})
tool
executing move_to over 3 steps (0.3s)
step 172
top_cam
camera top_cam step 172
left_cam
camera left_cam step 172
right_cam
camera right_cam step 172
assistant
agent noteThe pear is now centred and the gripper has reached the low grasp height. I’m closing around its body.
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]: [-0.0399, 0.8188, 0.6098, -0.4141, -0.0559, -0.0914, 0.993, -0.1524, 1.5188, 0.4747, 0.2981, -0.1444, -0.1837, 0.9983] state[eef_state]: left_x=0.2924 left_y=0.0018 left_z=0.169 left_yaw=0.0505 left_pitch=-0.0542 left_roll=-0.0248 left_gripper=0.993 right_x=0.3615 right_y=-0.0262 right_z=0.028 right_yaw=0.0659 right_pitch=-0.1682 right_roll=-0.0268 right_gripper=0.9983 state[joint_eff]: [-0.4171, -1.265, 6.7077, 1.9512, -0.0757, -0.1197, -0.0611, 0.5538, -6.3385, 5.2855, 1.9414, -0.3639, -0.0171, -0.0122] camera 'top_cam' (step 172): [image omitted: streamed camera frame] camera 'left_cam' (step 172): [image omitted: streamed camera frame] camera 'right_cam' (step 172): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The pear is now centred and the gripper has reached the low grasp height. I’m closing around its body."})
tool
executing move_to over 10 steps (1.0s)
step 182
top_cam
camera top_cam step 182
left_cam
camera left_cam step 182
right_cam
camera right_cam step 182
assistant
agent noteThe jaws stopped at a substantial opening, consistent with holding the pear. I’m lifting it a short distance to verify that it comes off the table.
move_to
right_z0.1150
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0399, 0.8188, 0.6056, -0.4232, -0.0662, -0.1013, 0.993, -0.1524, 1.5383, 0.4599, 0.3099, -0.1577, -0.1986, 0.8144] state[eef_state]: left_x=0.2904 left_y=0.0037 left_z=0.1653 left_yaw=0.0646 left_pitch=-0.0671 left_roll=-0.0255 left_gripper=0.993 right_x=0.3566 right_y=-0.0231 right_z=0.0185 right_yaw=0.0863 right_pitch=-0.1883 right_roll=-0.0236 right_gripper=0.8144 state[joint_eff]: [-0.3761, -1.2923, 7.3504, 1.746, 0.0317, 0.0708, -0.0171, -0.212, -7.0769, 6.3932, 1.409, 0.0464, 0.1001, 1.033] camera 'top_cam' (step 182): [image omitted: streamed camera frame] camera 'left_cam' (step 182): [image omitted: streamed camera frame] camera 'right_cam' (step 182): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.115},"note":"The jaws stopped at a substantial opening, consistent with holding the pear. I’m lifting it a short distance to verify that it comes off the table."})
tool
executing move_to over 7 steps (0.7s)
step 189
top_cam
camera top_cam step 189
left_cam
camera left_cam step 189
right_cam
camera right_cam step 189
assistant
agent noteThe pear lifted with the gripper. I’m carrying it above the blue bowl with enough height to clear the rim.
move_to
right_x0.4550right_y0.1450right_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]: [-0.0399, 0.8188, 0.6056, -0.424, -0.0669, -0.104, 0.993, -0.1524, 1.293, 0.664, -0.1562, -0.1577, -0.2024, 0.8107] state[eef_state]: left_x=0.2903 left_y=0.0038 left_z=0.1652 left_yaw=0.0667 left_pitch=-0.0678 left_roll=-0.0271 left_gripper=0.993 right_x=0.3547 right_y=-0.0228 right_z=0.0975 right_yaw=0.0892 right_pitch=-0.2047 right_roll=-0.0224 right_gripper=0.8107 state[joint_eff]: [-0.3214, -1.3197, 7.1863, 1.6777, -0.0513, -0.0024, -0.0073, -0.1983, -5.7778, 9.2376, 1.6679, -0.105, 0.022, 1.0281] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 189): [image omitted: streamed camera frame] camera 'left_cam' (step 189): [image omitted: streamed camera frame] camera 'right_cam' (step 189): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.455,"right_y":0.145,"right_z":0.21},"note":"The pear lifted with the gripper. I’m carrying it above the blue bowl with enough height to clear the rim."})
tool
executing move_to over 14 steps (1.4s)
step 203
top_cam
camera top_cam step 203
left_cam
camera left_cam step 203
right_cam
camera right_cam step 203
assistant
agent noteThe carried pear is aligned over the blue bowl. I’m lowering it toward the bowl before releasing.
move_to
right_z0.1300
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0399, 0.8215, 0.6056, -0.4252, -0.0669, -0.1043, 0.993, 0.3759, 1.6989, 1.441, -0.598, 0.1879, 0.1249, 0.8128] state[eef_state]: left_x=0.2903 left_y=0.0038 left_z=0.1642 left_yaw=0.0669 left_pitch=-0.0716 left_roll=-0.027 left_gripper=0.993 right_x=0.444 right_y=0.1436 right_z=0.1855 right_yaw=0.1369 right_pitch=-0.2684 right_roll=-0.0491 right_gripper=0.8128 state[joint_eff]: [-0.3077, -1.5795, 7.1043, 1.6532, -0.0415, -0.0073, -0.0122, 0.1162, -9.1282, 9.347, 1.7216, 0.2711, 0.4029, 0.9304] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 203): [image omitted: streamed camera frame] camera 'left_cam' (step 203): [image omitted: streamed camera frame] camera 'right_cam' (step 203): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.13},"note":"The carried pear is aligned over the blue bowl. I’m lowering it toward the bowl before releasing."})
tool
executing move_to over 4 steps (0.4s)
step 207
top_cam
camera top_cam step 207
left_cam
camera left_cam step 207
right_cam
camera right_cam step 207
assistant
agent noteThe pear is lowered over the blue bowl’s opening. I’m opening the jaws to leave it in the bowl.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0399, 0.8246, 0.6056, -0.4255, -0.0669, -0.1047, 0.993, 0.3767, 1.7313, 1.2533, -0.4828, 0.1867, 0.1307, 0.8144] state[eef_state]: left_x=0.2904 left_y=0.0038 left_z=0.1634 left_yaw=0.0672 left_pitch=-0.0751 left_roll=-0.027 left_gripper=0.993 right_x=0.4263 right_y=0.1373 right_z=0.1136 right_yaw=0.127 right_pitch=-0.3702 right_roll=-0.0711 right_gripper=0.8144 state[joint_eff]: [-0.2393, -1.1145, 7.1043, 1.6581, -0.0708, -0.0757, -0.0122, -0.3897, -9.306, 7.8291, 1.9951, 0.1343, -0.0757, 0.9206] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 207): [image omitted: streamed camera frame] camera 'left_cam' (step 207): [image omitted: streamed camera frame] camera 'right_cam' (step 207): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The pear is lowered over the blue bowl’s opening. I’m opening the jaws to leave it in the bowl."})
tool
executing move_to over 2 steps (0.2s)
step 209
top_cam
camera top_cam step 209
left_cam
camera left_cam step 209
right_cam
camera right_cam step 209
assistant
agent noteThe jaws are open over the blue bowl. I’m lifting away toward the yellow fruit so I can verify the pear stayed in the bowl and collect the remaining fruit.
move_to
right_x0.3550right_y0.2100right_z0.1600right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0399, 0.8246, 0.6056, -0.4255, -0.0669, -0.1047, 0.993, 0.3767, 1.742, 1.2392, -0.4152, 0.186, 0.1158, 0.9929] state[eef_state]: left_x=0.2904 left_y=0.0038 left_z=0.1634 left_yaw=0.0672 left_pitch=-0.0751 left_roll=-0.027 left_gripper=0.993 right_x=0.4353 right_y=0.1409 right_z=0.1132 right_yaw=0.1399 right_pitch=-0.3295 right_roll=-0.0691 right_gripper=0.9929 state[joint_eff]: [-0.335, -1.2239, 7.0222, 1.7167, -0.0952, -0.0366, -0.0073, -0.4171, -10.0718, 7.3778, 1.7265, 0.0415, 0.0464, 0.0513] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 209): [image omitted: streamed camera frame] camera 'left_cam' (step 209): [image omitted: streamed camera frame] camera 'right_cam' (step 209): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.355,"right_y":0.21,"right_z":0.16,"right_pitch":0},"note":"The jaws are open over the blue bowl. I’m lifting away toward the yellow fruit so I can verify the pear stayed in the bowl and collect the remaining fruit."})
tool
executing move_to over 11 steps (1.1s)
step 220
top_cam
camera top_cam step 220
left_cam
camera left_cam step 220
right_cam
camera right_cam step 220
assistant
agent noteThe pear is visible inside the blue bowl. The yellow fruit is just below the wrist view, so I’m moving slightly back and left while lowering the jaws around it.
move_to
right_x0.3300right_y0.2250right_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0399, 0.8299, 0.6056, -0.4316, -0.0669, -0.1043, 0.993, 0.6765, 1.4971, 0.9478, -0.2352, 0.4007, 0.2298, 0.9939] state[eef_state]: left_x=0.2897 left_y=0.0039 left_z=0.1607 left_yaw=0.0671 left_pitch=-0.0864 left_roll=-0.0254 left_gripper=0.993 right_x=0.3572 right_y=0.203 right_z=0.1343 right_yaw=0.2088 right_pitch=-0.1433 right_roll=-0.0964 right_gripper=0.9939 state[joint_eff]: [-0.2256, -1.5385, 7.2137, 1.746, -0.022, -0.0464, -0.0122, -4.041, -5.5726, 7.9385, 2.1026, 0.7643, 0.2759, 0.0904] 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":0.33,"right_y":0.225,"right_z":0.025},"note":"The pear is visible inside the blue bowl. The yellow fruit is just below the wrist view, so I’m moving slightly back and left while lowering the jaws around it."})
tool
executing move_to over 8 steps (0.8s)
step 228
top_cam
camera top_cam step 228
left_cam
camera left_cam step 228
right_cam
camera right_cam step 228
assistant
agent noteThe yellow fruit is centred between the jaws at table height. I’m closing to pick it up.
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]: [-0.0395, 0.8322, 0.6056, -0.4347, -0.0669, -0.1047, 0.993, 0.7879, 1.7161, 0.7044, 0.1337, 0.4599, 0.3004, 0.9941] state[eef_state]: left_x=0.2894 left_y=0.004 left_z=0.1595 left_yaw=0.0677 left_pitch=-0.0918 left_roll=-0.0252 left_gripper=0.993 right_x=0.3245 right_y=0.2201 right_z=0.0218 right_yaw=0.2274 right_pitch=-0.1988 right_roll=-0.1287 right_gripper=0.9941 state[joint_eff]: [-0.0068, -1.4427, 7.2547, 1.6728, -0.0464, -0.0269, -0.0073, 0.3624, -7.159, 4.9299, 1.7411, 0.3785, 0.2076, -0.0024] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 228): [image omitted: streamed camera frame] camera 'left_cam' (step 228): [image omitted: streamed camera frame] camera 'right_cam' (step 228): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The yellow fruit is centred between the jaws at table height. I’m closing to pick it up."})
tool
executing move_to over 10 steps (1.0s)
step 238
assistant
agent noteThe gripper stopped at about five centimetres of opening, indicating a fruit grasp. I’m lifting to confirm it is secure.
move_to
right_z0.1000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0399, 0.8322, 0.6056, -0.4362, -0.0669, -0.1047, 0.993, 0.7891, 1.7355, 0.6899, 0.1375, 0.4583, 0.2962, 0.5134] state[eef_state]: left_x=0.2892 left_y=0.0039 left_z=0.1592 left_yaw=0.0673 left_pitch=-0.0933 left_roll=-0.025 left_gripper=0.993 right_x=0.3197 right_y=0.2162 right_z=0.0105 right_yaw=0.2285 right_pitch=-0.2253 right_roll=-0.1471 right_gripper=0.5134 state[joint_eff]: [-0.0479, -1.3744, 7.0496, 1.6728, -0.0659, -0.0415, -0.0122, -0.212, -8.8684, 6.4342, 1.2869, 0.1587, -0.0171, 1.033] camera 'top_cam' (step 238): [image omitted: streamed camera frame] camera 'left_cam' (step 238): [image omitted: streamed camera frame] camera 'right_cam' (step 238): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.1},"note":"The gripper stopped at about five centimetres of opening, indicating a fruit grasp. I’m lifting to confirm it is secure."})
tool
executing move_to over 6 steps (0.6s)
step 244
assistant
agent noteThe yellow fruit lifted securely. I’m carrying it toward the blue bowl, which shifted slightly during the first placement.
move_to
right_x0.4950right_y0.2050right_z0.1900
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0399, 0.8333, 0.6056, -0.4427, -0.0669, -0.1043, 0.993, 0.7891, 1.5414, 0.852, -0.2089, 0.4545, 0.2958, 0.516] state[eef_state]: left_x=0.2882 left_y=0.0039 left_z=0.1576 left_yaw=0.0672 left_pitch=-0.1008 left_roll=-0.0239 left_gripper=0.993 right_x=0.3216 right_y=0.219 right_z=0.0875 right_yaw=0.2329 right_pitch=-0.2185 right_roll=-0.1394 right_gripper=0.516 state[joint_eff]: [-0.1299, -1.4017, 6.9675, 1.7021, -0.0611, -0.0464, -0.0073, -0.2393, -7.9111, 7.8017, 1.3797, 0.1783, -0.0073, 0.7692] approver: 5 step(s) modified (delta_clamped ×5). 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":0.495,"right_y":0.205,"right_z":0.19},"note":"The yellow fruit lifted securely. I’m carrying it toward the blue bowl, which shifted slightly during the first placement."})
tool
executing move_to over 14 steps (1.4s)
step 258
assistant
agent noteThe yellow fruit is directly over the blue bowl, with the pear already inside. I’m releasing it into the bowl.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0399, 0.8368, 0.6056, -0.45, -0.0669, -0.1047, 0.993, 0.4759, 1.9266, 1.6646, -0.5888, 0.2451, 0.0353, 0.5192] state[eef_state]: left_x=0.2872 left_y=0.004 left_z=0.1553 left_yaw=0.0675 left_pitch=-0.1115 left_roll=-0.023 left_gripper=0.993 right_x=0.4832 right_y=0.2049 right_z=0.1725 right_yaw=0.2379 right_pitch=-0.2585 right_roll=-0.1539 right_gripper=0.5192 state[joint_eff]: [-0.2256, -1.7026, 7.0496, 1.6972, -0.0513, -0.0611, -0.0122, -0.7316, -10.5778, 9.0462, 1.6923, 0.0806, 0.0952, 0.652] camera 'top_cam' (step 258): [image omitted: streamed camera frame] camera 'left_cam' (step 258): [image omitted: streamed camera frame] camera 'right_cam' (step 258): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The yellow fruit is directly over the blue bowl, with the pear already inside. I’m releasing it into the bowl."})
tool
executing move_to over 5 steps (0.5s)
step 263
assistant
agent noteThe yellow fruit bounced out and is now on the table to the left of the blue bowl. I’m moving over it to recover it and place it more carefully.
move_to
right_x0.4050right_y0.3050right_z0.0750
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]: [-0.0399, 0.8379, 0.6056, -0.45, -0.0669, -0.1047, 0.993, 0.474, 1.9392, 1.6672, -0.6083, 0.2375, 0.0257, 0.9956] state[eef_state]: left_x=0.2873 left_y=0.004 left_z=0.155 left_yaw=0.0675 left_pitch=-0.1126 left_roll=-0.0229 left_gripper=0.993 right_x=0.4811 right_y=0.2041 right_z=0.164 right_yaw=0.2459 right_pitch=-0.2893 right_roll=-0.1617 right_gripper=0.9956 state[joint_eff]: [-0.1573, -1.5658, 7.1453, 1.6532, -0.0855, -0.0708, -0.0073, 0.0889, -11.8085, 6.5436, 1.5946, 0.1148, 0.0317, -0.1148] camera 'top_cam' (step 263): [image omitted: streamed camera frame] camera 'left_cam' (step 263): [image omitted: streamed camera frame] camera 'right_cam' (step 263): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.405,"right_y":0.305,"right_z":0.075},"note":"The yellow fruit bounced out and is now on the table to the left of the blue bowl. I’m moving over it to recover it and place it more carefully."})
tool
executing move_to over 9 steps (0.9s)
step 272
assistant
agent noteThe yellow fruit continued rolling toward the front of the table and has now settled. I’m following it with a raised, open gripper.
move_to
right_x0.2000right_y0.2600right_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]: [-0.0399, 0.8387, 0.6056, -0.4503, -0.0669, -0.1043, 0.993, 0.7635, 1.9995, 1.4399, -0.416, 0.3923, 0.2379, 0.9962] state[eef_state]: left_x=0.2873 left_y=0.004 left_z=0.1547 left_yaw=0.0673 left_pitch=-0.1137 left_roll=-0.0225 left_gripper=0.993 right_x=0.4054 right_y=0.2996 right_z=0.0798 right_yaw=0.2775 right_pitch=-0.3156 right_roll=-0.1747 right_gripper=0.9962 state[joint_eff]: [-0.1983, -1.5385, 7.2821, 1.6337, -0.0855, -0.0366, -0.0122, 0.2667, -10.3316, 5.7778, 1.5507, 0.3736, 0.1245, 0.0464] camera 'top_cam' (step 272): [image omitted: streamed camera frame] camera 'left_cam' (step 272): [image omitted: streamed camera frame] camera 'right_cam' (step 272): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.2,"right_y":0.26,"right_z":0.14},"note":"The yellow fruit continued rolling toward the front of the table and has now settled. I’m following it with a raised, open gripper."})
tool
executing move_to over 16 steps (1.6s)
step 288
assistant
agent noteThe yellow fruit is centred at the bottom of the wrist view. I’m lowering slightly behind it and straightening the gripper, whose tilt has accumulated during the earlier moves.
move_to
right_x0.1800right_y0.2700right_z0.0250right_yaw0.0000right_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]: [-0.0399, 0.8413, 0.6056, -0.4603, -0.0669, -0.1043, 0.993, 1.1984, 1.4639, 1.0718, -0.7738, 0.5762, 0.6315, 0.9962] state[eef_state]: left_x=0.2858 left_y=0.004 left_z=0.1522 left_yaw=0.0675 left_pitch=-0.1263 left_roll=-0.0211 left_gripper=0.993 right_x=0.2053 right_y=0.2709 right_z=0.1359 right_yaw=0.3209 right_pitch=-0.324 right_roll=-0.1711 right_gripper=0.9962 state[joint_eff]: [-0.1436, -1.4291, 6.9538, 1.7314, -0.0611, -0.022, -0.0073, 0.212, -7.1726, 5.7641, 1.033, 0.4518, 0.1148, -0.0073] camera 'top_cam' (step 288): [image omitted: streamed camera frame] camera 'left_cam' (step 288): [image omitted: streamed camera frame] camera 'right_cam' (step 288): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.18,"right_y":0.27,"right_z":0.025,"right_yaw":0,"right_pitch":0,"right_roll":0},"note":"The yellow fruit is centred at the bottom of the wrist view. I’m lowering slightly behind it and straightening the gripper, whose tilt has accumulated during the earlier moves."})
tool
executing move_to over 11 steps (1.1s)
step 299
assistant
agent noteWith the gripper straightened, the yellow fruit is visibly to the right of the jaws. I’m shifting five centimetres right to centre it before closing.
move_to
right_y0.2200right_z0.0250right_yaw0.0000right_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]: [-0.0399, 0.8413, 0.6056, -0.4683, -0.0669, -0.1047, 0.993, 1.4315, 1.7859, 0.7853, -0.3786, 0.9485, 1.2221, 0.9962] state[eef_state]: left_x=0.2845 left_y=0.0041 left_z=0.1506 left_yaw=0.0678 left_pitch=-0.1342 left_roll=-0.0205 left_gripper=0.993 right_x=0.1791 right_y=0.2696 right_z=0.0263 right_yaw=0.0529 right_pitch=-0.0431 right_roll=-0.0813 right_gripper=0.9962 state[joint_eff]: [-0.2803, -1.4974, 6.9402, 1.7411, -0.0855, -0.0366, -0.0122, 0.3761, -6.7077, 3.8769, 0.8132, -0.1294, 0.4567, -0.0122] camera 'top_cam' (step 299): [image omitted: streamed camera frame] camera 'left_cam' (step 299): [image omitted: streamed camera frame] camera 'right_cam' (step 299): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.22,"right_z":0.025,"right_yaw":0,"right_pitch":0,"right_roll":0},"note":"With the gripper straightened, the yellow fruit is visibly to the right of the jaws. I’m shifting five centimetres right to centre it before closing."})
tool
executing move_to over 5 steps (0.5s)
step 304
assistant
agent noteThe yellow fruit is now at the centre of the jaw opening. I’m closing around it for the recovery grasp.
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]: [-0.0399, 0.8463, 0.6056, -0.4725, -0.0666, -0.1047, 0.993, 1.4208, 1.6512, 0.5793, -0.2962, 0.9932, 1.2621, 0.9962] state[eef_state]: left_x=0.2841 left_y=0.004 left_z=0.1485 left_yaw=0.0676 left_pitch=-0.1434 left_roll=-0.0198 left_gripper=0.993 right_x=0.1793 right_y=0.2202 right_z=0.0257 right_yaw=0.012 right_pitch=0.0034 right_roll=-0.0448 right_gripper=0.9962 state[joint_eff]: [-0.2256, -1.8667, 6.9538, 1.6923, -0.0415, -0.0415, -0.0122, -0.4581, -5.8325, 4.8068, 0.8327, 0.5397, 0.1587, -0.0171] camera 'top_cam' (step 304): [image omitted: streamed camera frame] camera 'left_cam' (step 304): [image omitted: streamed camera frame] camera 'right_cam' (step 304): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The yellow fruit is now at the centre of the jaw opening. I’m closing around it for the recovery grasp."})
tool
executing move_to over 10 steps (1.0s)
step 314
assistant
agent noteThe recovered fruit is held at a five-centimetre jaw opening. I’m lifting it clear of the table before bringing it back to the blue bowl.
move_to
right_x0.3000right_y0.2200right_z0.2000right_yaw0.0000right_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]: [-0.0399, 0.8463, 0.6056, -0.4755, -0.0669, -0.1047, 0.993, 1.4181, 1.6451, 0.5606, -0.2729, 0.984, 1.2751, 0.4964] state[eef_state]: left_x=0.2836 left_y=0.0041 left_z=0.148 left_yaw=0.068 left_pitch=-0.1464 left_roll=-0.0192 left_gripper=0.993 right_x=0.1787 right_y=0.2179 right_z=0.0228 right_yaw=0.0042 right_pitch=-0.0035 right_roll=-0.0219 right_gripper=0.4964 state[joint_eff]: [-0.1162, -1.4701, 6.9812, 1.6728, -0.0464, -0.0464, -0.0122, -0.1026, -6.2291, 4.3009, 0.7057, 0.4274, 0.0317, 0.9011] camera 'top_cam' (step 314): [image omitted: streamed camera frame] camera 'left_cam' (step 314): [image omitted: streamed camera frame] camera 'right_cam' (step 314): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0.22,"right_z":0.2,"right_yaw":0,"right_pitch":0,"right_roll":0},"note":"The recovered fruit is held at a five-centimetre jaw opening. I’m lifting it clear of the table before bringing it back to the blue bowl."})
tool
executing move_to over 12 steps (1.2s)
step 326
assistant
agent noteThe fruit is secure, and the blue bowl is farther forward than the first release position. I’m moving directly over its opening, using a slight forward tilt for the longer reach.
move_to
right_x0.5550right_y0.2100right_z0.1600right_pitch0.3000right_yaw0.0000right_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]: [-0.0399, 0.8471, 0.6056, -0.4759, -0.0669, -0.1043, 0.993, 0.9695, 1.3819, 0.9989, -0.4843, 0.7742, 0.6762, 0.4967] state[eef_state]: left_x=0.2835 left_y=0.0041 left_z=0.1477 left_yaw=0.0678 left_pitch=-0.1475 left_roll=-0.0188 left_gripper=0.993 right_x=0.2953 right_y=0.2185 right_z=0.1858 right_yaw=-0.0149 right_pitch=-0.0082 right_roll=0.0017 right_gripper=0.4967 state[joint_eff]: [-0.1983, -1.4974, 6.9402, 1.5995, -0.0513, -0.0415, -0.0122, -0.2393, -5.3675, 8.2667, 1.2967, 0.3297, 0.0122, 0.0171] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 326): [image omitted: streamed camera frame] camera 'left_cam' (step 326): [image omitted: streamed camera frame] camera 'right_cam' (step 326): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.555,"right_y":0.21,"right_z":0.16,"right_pitch":0.3,"right_yaw":0,"right_roll":0},"note":"The fruit is secure, and the blue bowl is farther forward than the first release position. I’m moving directly over its opening, using a slight forward tilt for the longer reach."})
tool
executing move_to over 20 steps (2.0s)
step 346
assistant
agent noteThe gripper is over the relocated blue bowl at a lower release height. I’m opening the jaws to place the yellow fruit with the pear.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0395, 0.8497, 0.6056, -0.4763, -0.0669, -0.1047, 0.993, 0.5064, 2.0594, 1.3174, 0.3412, 0.4759, 0.1352, 0.4973] state[eef_state]: left_x=0.2836 left_y=0.0042 left_z=0.1469 left_yaw=0.0685 left_pitch=-0.1505 left_roll=-0.0188 left_gripper=0.993 right_x=0.5398 right_y=0.211 right_z=0.1354 right_yaw=0.022 right_pitch=0.2138 right_roll=-0.0403 right_gripper=0.4973 state[joint_eff]: [-0.1709, -1.7299, 7.1179, 1.5702, -0.0415, -0.0317, -0.0073, -0.9094, -11.5897, 8.5538, 2.21, 0.2808, -0.0171, 0.0513] camera 'top_cam' (step 346): [image omitted: streamed camera frame] camera 'left_cam' (step 346): [image omitted: streamed camera frame] camera 'right_cam' (step 346): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The gripper is over the relocated blue bowl at a lower release height. I’m opening the jaws to place the yellow fruit with the pear."})
tool
executing move_to over 6 steps (0.6s)
step 352
assistant
agent noteThe yellow fruit is visible beyond the fingertips after release, so I cannot confirm that it stayed in the blue bowl. I’m clearing both arms to inspect the final positions safely.
move_to
right_x0.3000right_y0.0000right_z0.2300right_pitch0.0000right_yaw0.0000right_roll0.0000left_x0.2960left_y0.0000left_z0.2000left_pitch0.0000left_yaw0.0000left_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]: [-0.0395, 0.8509, 0.6056, -0.4759, -0.0669, -0.1043, 0.993, 0.5049, 2.075, 1.3228, 0.3294, 0.466, 0.1223, 0.9959] state[eef_state]: left_x=0.2837 left_y=0.0042 left_z=0.1467 left_yaw=0.0683 left_pitch=-0.1513 left_roll=-0.0184 left_gripper=0.993 right_x=0.5403 right_y=0.212 right_z=0.1262 right_yaw=0.038 right_pitch=0.192 right_roll=-0.0594 right_gripper=0.9959 state[joint_eff]: [-0.0615, -1.6068, 6.9402, 1.6239, -0.1001, -0.0317, -0.0122, -0.0752, -12.7248, 6.2017, 1.917, 0.1392, 0.1245, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 352): [image omitted: streamed camera frame] camera 'left_cam' (step 352): [image omitted: streamed camera frame] camera 'right_cam' (step 352): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0,"right_z":0.23,"right_pitch":0,"right_yaw":0,"right_roll":0,"left_x":0.296,"left_y":0,"left_z":0.2,"left_pitch":0,"left_yaw":0,"left_roll":0},"note":"The yellow fruit is visible beyond the fingertips after release, so I cannot confirm that it stayed in the blue bowl. I’m clearing both arms to inspect the final positions safely."})
tool
executing move_to over 19 steps (1.9s)
step 371
assistant
agent noteThe pear is in the blue bowl, but the yellow fruit bounced out and rolled beyond the reachable far area of the table. Both arms are clear. I could not complete loading the blue bowl or the final pour; the yellow fruit needs operator repositioning.
give_up
hindsightExplicitly reset yaw, pitch, and roll during transfers: leaving them unnamed preserved accumulated orientation errors, which grew to roughly 0.3 radians. The blue bowl shifted during the pear placement, and I misjudged its centre from the partly occluded overhead view. Clear the arm to verify the actual bowl opening before releasing another fruit; the yellow fruit bounces and rolls a long distance if the placement misses.
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]: [-0.0257, 0.8177, 0.6483, -0.4831, -0.0284, -0.049, 0.993, 0.0025, 0.8696, 0.7898, -0.4622, 0.0463, 0.0067, 0.9967] state[eef_state]: left_x=0.2873 left_y=0.0012 left_z=0.1728 left_yaw=0.0187 left_pitch=-0.0841 left_roll=-0.0051 left_gripper=0.993 right_x=0.3101 right_y=-0.0038 right_z=0.227 right_yaw=-0.0453 right_pitch=0.0272 right_roll=-0.0053 right_gripper=0.9967 state[joint_eff]: [0.5949, -1.9897, 10.4274, 1.9902, 0.1392, 0.149, -0.0122, -0.1709, -1.7162, 9.4291, 1.8828, -0.0513, -0.0073, 0.0757] camera 'top_cam' (step 371): [image omitted: streamed camera frame] camera 'left_cam' (step 371): [image omitted: streamed camera frame] camera 'right_cam' (step 371): [image omitted: streamed camera frame]
assistant
give_up({"reason":"The pear is in the blue bowl, but the yellow fruit bounced out and rolled beyond the reachable far area of the table. Both arms are clear. I could not complete loading the blue bowl or the final pour; the yellow fruit needs operator repositioning.","hindsight":"Explicitly reset yaw, pitch, and roll during transfers: leaving them unnamed preserved accumulated orientation errors, which grew to roughly 0.3 radians. The blue bowl shifted during the pear placement, and I misjudged its centre from the partly occluded overhead view. Clear the arm to verify the actual bowl opening before releasing another fruit; the yellow fruit bounces and rolls a long distance if the placement misses."})
tool
give_up: The pear is in the blue bowl, but the yellow fruit bounced out and rolled beyond the reachable far area of the table. Both arms are clear. I could not complete loading the blue bowl or the final pour; the yellow fruit needs operator repositioning.
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 · 9.075 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, 0.7994, 0.6136, -0.3824, -0.0143, -0.0292, 0.9945, -0.0227, 0.8005, 0.6189, -0.387, -0.0162, -0.0257, 0.9991]\nstate[eef_state]: left_x=0.296 left_y=-0.0004 left_z=0.1824 left_yaw=-0.0002 left_pitch=0.0 left_roll=0.0003 left_gripper=0.9945 right_x=0.2961 right_y=-0.0003 right_z=0.1836 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -1.7026, 9.935, 1.8388, -0.0952, 0.149, -0.5788, -0.1709, -1.6205, 9.1556, 1.8828, -0.0611, 0.1001, -0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a63d92117a2cae5f8e4fd9cebd2baaa1ecf442ba033edd2e2390de685266bec6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49397ab3cfe74c51fb208a96b83b864a4d47119ef21a1b245eb091b33822aec1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65388513633de91ae0b13c2147c0b4fb88a9f80ea54077ee84e617ab88866a65",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 4.566 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtF1ySIXHIdyksbZGVl4GFD3OHNtFFpcpVTB_2LqMYxhQjEDfRYe5hu4rYxTxX55TqvhhaHJHOZ16ZGCUPlN1jElr229wtJcxARbUfAG0wMO-I3aCrpmMHOidFkdBhvTc_uk4ksztQWchvTcsoptrVf9R_qrqRLFRuCH-RJ0_pdFm0L-FRDjvQbg3HnpVPer9r6DH46w_GuAmvLrurJLuX9cRT2oPjlQHi17X4cG-Jbvs4gIrgtb3WRVOw6H4bmjcvf1faYh_xqmnzBmycQv3pGHj6AZNnyhdsVRRf-q6HnnhGhvjWlhT2Jx1PVqnOapbufG52ms_l68l4GQ8Kp4_KoMr2rJcxD9aQILRiLq5hssztUnfIVi3b-L9DLSuwwnsF_g26hHTWdmBvUqKfUfKQ8-tmXV2dquySNwn2g--tFdPlfk9de2eB-pWgv8i16c-7YV6zcrAn_hmEEJNNl-Linj9IEjDd8vTNJLyRi_z59nmkzZxrDC_YfJFYG8Ni1qiRp1MrExnFSs0ObAugcJmX_CHZ32E-0T7jNMYcAdp0CzOXHb-KtRM9We3yMzSsn0GdUm2cFrj3__qlquoFZpoH32wqLKwIoXzztXRq0niKOQx5wyEJDywBuQMVANNEyrggGsDRNU-Uq_kyCb8waZSitYyQFfDxDVjNnpuRp75Oz2Jv3jgKhzaXtDiHZRmYl2yHTodtraO6coA4apsfdBMVggpzV76QLCmwpZPs9Y-nZjY_8w2vUHWmHPX19jpEBfSh7dibl7vukV2xvRuy_zdz1KcpTbPk6BJ8UmJMd-dT6z2bzI_F2rGGm45_Yu-Xhiu5zTSGfnz6EQfURDxrBuGgM_uxDmxCfqouyDk3BY73_mvqeiEaPgyJ-g4mNtKTqcxDmgrzrRiitfw3iKJZjV1F0Px8axMYDt5nkRXkAkRhxVrML9nISRt1jCqTWfa23671t9fHxWxfCRFBQGeZGswmOTRU1Qymywu5oqXHnWsjManPtI_8dxOEYbCRSTK4b6eDuumN1jTBbpELMxGJuacP39EoXckwpFmcu1_Qh69PBqOxPQuDSoV5TX7tKq9ONuPja0iGnfAG7-yj-LrRa2k4NOMjR6GCvJfBmpO6aBKxtNTTBSZ4B3q81z_L2-NJToS6R9s9pbS0ZasiNxta26y-ipoGgzd7xUVjdqbCP5HHTbxOaHHHjXgyLQFIKgYuZb3jgUsFRfcq6oiYBiPMXH7iprYU-A5Skt_bpAI63HUILTrwRR9SUVR6epoKcGiV6OA91n9ZQN5OXadpfYYuwKWE9wxVI4Qs0JB6llU7g5AlylBQjy9xkm8A2MnyaYrvdckTb2B2pmNVV3hxFmIs-i7wi6GCMEF18glfijvHwVeRlS0FaSQrbUqCS_iU6-KLOPAXYMVSw4Y8JJPjAPF4FhUo9U6RpDxNim0BSG4hXDIj3f9aHlMFRjAxunBcL8PmVzt_kUR6P6mKrcM_hK_zk6SwZwjhEbhEyTkc2jGro0AliPoIC3JArHfTOqYAzehf60ZPZkZdsvgFMPVE2w7j2mxJNTgZml_on2mKG6kdN5q9Gf9zMTfaM66ftO4aZCGREmDNVzTX4h_z3G1xYiL_BsocrJ_zoFGk8Ra8_ZCfE5H40pUXrsAddgCP5NsQfKmFo6A6pDu7Al1p9qAs7GbFlNyHkQ_kU6nHn_iP3fG9dRoWl4ECun5nrxFgrngYFVQpMrFdl-oyjCUT04_DBG_yEiBUVQq2NH6pKT09b13eD7KNY5VI5x9p-tg87mW4P3ZD1AuOKQtx59nWHPvGto0TOIDgTVAUDIQ-22xpUuz2QN6spVkuORGPUct3nmSHA9RRHRpNbhzjGh61HWQfhRYViAEZi27QQmPunft417YFhP9ddzBVAxiy5OAg74_Jx3pHVpTLGsxIm24Q54iX5KObgafjvU4JyaDRmhuNWg27R28xQT-eyIjxZoOHda7AFnQP4G5y45L4EKy7qTEkVMrJs1Xuii3S-T0yEg9TJGE5krlPz1dgqzIuUFVwyrWKLpMn3NFnHY7c8hg5oROZDQCWWZkEojExuFc5WzJncSkN9XPrmlwO83FAqExjiVISGzPsBrFqilLcc8zaaUpja-Y72n52Ctfwj7N3TNrVSWPF36XbWZI8v1Z6kFwcqSetoPHY5S6bMQrpfrtx35LpAcmW1q2Ad4rggL1E5pIrhm0A0Yr-6LtHHozNiycxhlMwgigQUAI2T_dv_xUWUhE_Rng1JWDonoc21YgJY4BX5UmD_rn7K7kAHwNG8G86lUeAZauDy28z4MR_Jz4WxKwgsCtfDA4GknO-WM7ddPjHbVl6AVY1jgL9TggWD4sLnw0gf8q0vQK86pWMRLC_ahli5wlmNSnS_KSgaoHXg3HG7XxrnCHHXkQko6PHeVwk3H9MwJJpC7g3GbshpjoRWfI-ibVWdgtD6Rgnh1VY8XiTXMAsw-hwZ6k-FMOYWDOMvXv3r7j9r2WMrT6cRYRsNX6zNbucY0xeQxEPYLNZPDQS8O8uU83WRWFIIbFEJLOGMoyrKuypWFgoxzNcf-QF1DtD5cWdQTX9vQVMvv137OzcyrMPbLgiJfzGg4NCxkfwwzn5FIz-IIMPbxZtguhplNs-f3zV_vllF0nKIDXUEp72oltlS9Rc5bQBn7F2vJwBy7iMyfFKkDUfTivKjlrqTtekPBuf85Bfdc7HA==",
  "id": "rs_0bf2da72686913b1016ab45d6b17d887d0ac335dc3ee5ba64c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.045,\"right_z\":0.12,\"right_gripper\":1},\"note\":\"I can see a yellow fruit near the middle and a green fruit beside the right arm, with the blue bowl behind them and the white bowl on the left. I’m moving the right gripper above the green fruit first.\"}",
  "call_id": "call_e5Odc5PQGozwnVX4rS2m3xt5",
  "id": "fc_0bf2da72686913b1016ab45d71917887d0bc6ca4b2fd9657cd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_e5Odc5PQGozwnVX4rS2m3xt5",
  "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, 0.8059, 0.6132, -0.3981, -0.0139, -0.0269, 0.9939, 0.2066, 1.1782, 0.5114, 0.0467, 0.1577, 0.0719, 0.9991]\nstate[eef_state]: left_x=0.2942 left_y=-0.0004 left_z=0.1772 left_yaw=-0.0018 left_pitch=-0.0225 left_roll=0.0025 left_gripper=0.9939 right_x=0.3453 right_y=0.0477 right_z=0.1096 right_yaw=0.0298 right_pitch=-0.0429 right_roll=-0.0201 right_gripper=0.9991\nstate[joint_eff]: [-0.0068, -1.6068, 7.0769, 1.8877, -0.0269, -0.0415, -0.0757, -0.253, -4.5607, 6.735, 1.9902, 0.1832, 0.2466, -0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ee628f66f3192f01f1be84d463f5e0a703c4e556921c740274ec1914793c98e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcb57c99e44b64b0e81638b53381f10423332b15f21e7d8a260e2d94551cd7bb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:113028bb3bf00036df26f77ed9302805e93529a0f6f29ad122f8204af93d684f",
      "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 · 4.73 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, 0.7994, 0.6136, -0.3824, -0.0143, -0.0292, 0.9945, -0.0227, 0.8005, 0.6189, -0.387, -0.0162, -0.0257, 0.9991]\nstate[eef_state]: left_x=0.296 left_y=-0.0004 left_z=0.1824 left_yaw=-0.0002 left_pitch=0.0 left_roll=0.0003 left_gripper=0.9945 right_x=0.2961 right_y=-0.0003 right_z=0.1836 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -1.7026, 9.935, 1.8388, -0.0952, 0.149, -0.5788, -0.1709, -1.6205, 9.1556, 1.8828, -0.0611, 0.1001, -0.105]",
      "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, 0.8059, 0.6132, -0.3981, -0.0139, -0.0269, 0.9939, 0.2066, 1.1782, 0.5114, 0.0467, 0.1577, 0.0719, 0.9991]\nstate[eef_state]: left_x=0.2942 left_y=-0.0004 left_z=0.1772 left_yaw=-0.0018 left_pitch=-0.0225 left_roll=0.0025 left_gripper=0.9939 right_x=0.3453 right_y=0.0477 right_z=0.1096 right_yaw=0.0298 right_pitch=-0.0429 right_roll=-0.0201 right_gripper=0.9991\nstate[joint_eff]: [-0.0068, -1.6068, 7.0769, 1.8877, -0.0269, -0.0415, -0.0757, -0.253, -4.5607, 6.735, 1.9902, 0.1832, 0.2466, -0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ee628f66f3192f01f1be84d463f5e0a703c4e556921c740274ec1914793c98e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcb57c99e44b64b0e81638b53381f10423332b15f21e7d8a260e2d94551cd7bb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:113028bb3bf00036df26f77ed9302805e93529a0f6f29ad122f8204af93d684f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF17oYY1wLt_HXpeh4LnwgSNzV4m2vGrN_fMRVA7T-J726c17uTaDbs3FqXPkm77CnEAo1SoSYgNQPpWmzxcvlNN6D09pMrZlTZPyvIZDOkhb3c7myKDlC1V8UOcBsJ0nm4ECdtCmskH5RKmCxWv1DAMUEdtg6uvrFH3zQEhUsLf56pSP9J7Y1kESquu8tnwqR34jAdWb45mOlFGPF53QtlyUQnxK4i9gEgMA1RnCoIRU62bK1fRU0p45c0mJsQu8XMdZUTgNgIbSen2bbRK-ye1Xd7i2ZTp2kd5o06V-714JGfwcKNHV6QTdiTN9I_7SQ1FH8C51MuJcT4UuofnAAhOH6l7EmJAlXXgo5mvC0FiOZJTVe2cRyo6kI25pZJVWgccDY8jSNmCH20Bzf6tljMMz9VWKvDa_1StTA2lmcL6jaVLX25I8Etv2lyIs4lXz1ceKFGA4f5LFKcS1u3shw1keF3f8F2tnBdv8SWktAvzagB87oTHMtcavQB3jorptl1exeVlPgI-42GlA9EmAq8MQwIPL82IwsP5ZfgANTPEPFcWC86Jv_0BawV2d0VoN_7uiKhnXObmhYB1XGccff5N1jhc5U9ClQznD1wc8FOr0ney9D_0RoVWIM2Xw-tjODsV_lcge3-l_8yP84UGN0U4LWuYg5C8C2RiKPllk9TOQSTYdg0Vu2OsP3h6v1vDAH-uSHbUOcoLHMMkCiKc4b2vJlfJYzBu4wkH-ET-T0Vp-o9LbE8760lRZ0qKQ8XbSI95QvbHTFAQPXGxfHi3RAdNKLjLLAqqDRPnDOKYBDe3jNiBGhHnSlLt6yEAqHdtbDssyJ20Ck5k3WPEww9c472pDStyCAvER75wQTiXUJyLCrLuCQq_il1Hdr2HkIW_KqJxnErOeBhV552_ATFbri0h4336dAWi_D81GcmV50D7mD_Bi8jnGBBFDrNyVBqX2UT5L79wru4aJ1j1zR4jTQGKvLPDBPggRWKJcvLvr39lQdNwTWp9WIaWd33Ux_VRzD1w13K43QrPL7ur3eF_xQPT_PgQNBqFZBWLk7FaizbtVJwUelE3S0fKu4z7MKORf3xol80CxiSi1uWoF8RqmdME5LNG2RDh87LzKKwZ4drBeseEZg3Fva1X9pdSkBUqj7cMT9LvMmny9oM-FM0Y4CEbxtQxmg0_qhzL7TlrQV2G5FwVES_zBuZJk6i1Iw6m8mrtEdVIjzHphAcHiqyxx2C04pdgroL0YwblA_3xleF8CGp60MTI7d14n4L5BZDy40r6job7BUUwLjAOD_sEI9ZW0zDUIOeHSI7jjyOfIvs1xb3_tjeKG1NVx1AImGQ8KyeAAtC3_dl7K0AlUHPctevSZzo13kJwfKGIxo_sfpAbPYPn8NuRjd5PHZyJJJVJPFAMrTJpfDFOLHHX4tbeK2xp_zg-iSC6TlNIiImPSvVvlt5vEw0fAdOv54p9dWKhXSRYILR6JcHojepEYVEFeypquniUZ037HZhFWoQFHoncc5noDo_4r5SQrUWXCEPpundUyrfgZeR1QrQZcQx5igObtOzGn_HkG_V9uPF1LiL0Wc075AnPIzNiTTGYvvqxFhtyAeiqKB6hwnD5TIpXkiAhSZGyhAytgAlpx4kzQBevVhORnrP8SApRqLVgbojjMx6SKY3UGrdVTl0fKP42M1eUc2OXLcIewTIsw1QhQHKaQz38yioiqCLjfBLnJfKte4t0CF0nenAhnIa_3t11-vtMT3Eugmt8i7qGEjmddzhNPsE4BUW2lcPj579IAf881KoS-jqCUiucPpTEFpX__4FAWYQIT6ElBQ9Wsi0a7e4b76AqS1zSRpeps8jQ-Jr1qynQ7hqc_bw90_FrcwMcK1p6x64P2Q0LDFnNmq6WQ0ngVgrP9H6UiW9-oPZoOUYq2WWxoSoRCI5etbuhUJ2srCHim_Qw40ZTbsm8C1sVbASMIWwKXAJNyN-SK8GWuhrg6yI0l2U3wF1xM1mga_B5r-GmGw==",
  "id": "rs_0bf2da72686913b1016ab45d77fe4087d0b823948fd417d40b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.335,\"right_y\":-0.005,\"right_z\":0.045},\"note\":\"The green fruit is at the lower-right edge of the wrist view, so the gripper is too far left of it. I’m shifting right and lowering to straddle the fruit.\"}",
  "call_id": "call_Ym2heg2hScekXZhzq8KsbrDd",
  "id": "fc_0bf2da72686913b1016ab45d7a6a8087d0acb3c9d9e3348710",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Ym2heg2hScekXZhzq8KsbrDd",
  "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, 0.8062, 0.6132, -0.408, -0.0143, -0.0265, 0.9938, -0.0471, 1.3159, 0.3149, 0.4332, -0.0277, -0.078, 0.999]\nstate[eef_state]: left_x=0.2929 left_y=-0.0003 left_z=0.1751 left_yaw=-0.0016 left_pitch=-0.0328 left_roll=0.0032 left_gripper=0.9938 right_x=0.3442 right_y=-0.0077 right_z=0.0611 right_yaw=0.013 right_pitch=0.0003 right_roll=-0.0381 right_gripper=0.999\nstate[joint_eff]: [-0.1026, -0.7726, 7.0085, 1.8339, -0.0122, -0.022, -0.0269, -0.1709, -2.5778, 3.9043, 1.2381, -0.149, 0.1685, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:476d4cc5c6448c6d11cd2fac696fd66df1533764ef6bbb2f01303b5e3fc2de0e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:316ff6a93b84d92bf675cb0e3e1f210f07675501d71d9f6e7b7980d0a536850c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60cdbeb0c65732667c752c28b119da58fb13cdfeb700389dd5ed243b23e20cb3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /responses · status 200 · 5.097 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, 0.8059, 0.6132, -0.3981, -0.0139, -0.0269, 0.9939, 0.2066, 1.1782, 0.5114, 0.0467, 0.1577, 0.0719, 0.9991]\nstate[eef_state]: left_x=0.2942 left_y=-0.0004 left_z=0.1772 left_yaw=-0.0018 left_pitch=-0.0225 left_roll=0.0025 left_gripper=0.9939 right_x=0.3453 right_y=0.0477 right_z=0.1096 right_yaw=0.0298 right_pitch=-0.0429 right_roll=-0.0201 right_gripper=0.9991\nstate[joint_eff]: [-0.0068, -1.6068, 7.0769, 1.8877, -0.0269, -0.0415, -0.0757, -0.253, -4.5607, 6.735, 1.9902, 0.1832, 0.2466, -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, 0.8062, 0.6132, -0.408, -0.0143, -0.0265, 0.9938, -0.0471, 1.3159, 0.3149, 0.4332, -0.0277, -0.078, 0.999]\nstate[eef_state]: left_x=0.2929 left_y=-0.0003 left_z=0.1751 left_yaw=-0.0016 left_pitch=-0.0328 left_roll=0.0032 left_gripper=0.9938 right_x=0.3442 right_y=-0.0077 right_z=0.0611 right_yaw=0.013 right_pitch=0.0003 right_roll=-0.0381 right_gripper=0.999\nstate[joint_eff]: [-0.1026, -0.7726, 7.0085, 1.8339, -0.0122, -0.022, -0.0269, -0.1709, -2.5778, 3.9043, 1.2381, -0.149, 0.1685, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:476d4cc5c6448c6d11cd2fac696fd66df1533764ef6bbb2f01303b5e3fc2de0e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:316ff6a93b84d92bf675cb0e3e1f210f07675501d71d9f6e7b7980d0a536850c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60cdbeb0c65732667c752c28b119da58fb13cdfeb700389dd5ed243b23e20cb3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF2BnW-mM3T0fnAGApVysZDPaaqlWlfOIZnMZaOiSBTXju1iwTq1M_smZOglCMGlkZtFte_3tbSG8-t3thDJ0sv7EsQmBQ9NM0_vB76xxcc6X53yLd7qhbZER527xPhtqP--mhcN0yjWwQVEu3yaEip1pnjFB0ZPqcfqks0D_OiR03sQ3MijZNRCOm9X2EkZF9Vnh0YJ0AAo83qCQKVmVq7FknMju62pwxB0QraOzd5RZF00iE4mQc0W2QOmntQLrFj7nKJVaLqbaunCo4fnwdj7vUBrnOVsEOGTt8t1ZAxwuYuUQQa1UBRNtVsU_8ydnaTmVhQdYCh8bX9i3LHvkBasfm1w-sb9KEVmroCt_uKt1jr38DwOXvXmkM-dJqKvIeeApJB7uyfLYyaT-H7W7wf2a6cAsH5ri66fwnel2q0fHAiM_TxVDx9h6SdOfdkhetVDL2VY85d_ESTbHS8tGkYuP4qEcRiI0LO5zfUb6MROK-OSOpk9kOrNb-7opbJyOnLbt-RSQYF1o2Nif4S-kKUoJ-6Jmq8gbByV72X_0dUq1mKSxu4GorYKnHkSB4ISoRDU1eoDCsLEBR2lJmbDO9ClotQsTP1KCQNZENcRdv-DgeNSTIss_mS2DKeIe2IXubURPFaWJmarukclbbg9oyCOybMbnzUv-4LY9fOXaWWCKl2OE_PLiclBY7NMWJzUbvTT6BE-XyNSFXHTNoS_CheAyHUV7Kdu4_EDAiq4UI7CZ1HI1FCUT1vSgq2eP7qWdUATU8cFsivsvNAyKXdkaYAf4Enq6CDHBUCsZ76tbOVDalqxbh31WSIHWW6mGM6rB1jJFnk6x9Lpuhb_73qG9RRfc1mCtO_6v3ItSVk3tNDqeCZZ6T462lvZp-FcTLONBKVrqV0hjFU3IEEk7ZtJfb7B4wrr39fp6ngBFCxJXX_JbZMU1kQNaCJ4ue5vXmt0FcfCApA8D97nFYz_Xjlk6JyTBZsYZUn9Q_b3HX19PQbeM9UDUbrMdK9vOW16slRzgFp0tFzKyxnsl-oVMP3509prreXhUrs8GQtIGvpu1QSr_RHv-87orrrShL0b6Yrgh-YpfFr86mRuvoIIlh3qdO17yEyPzv_X_fyORgDoow59uUZWFmEJnwBK1T0CnrcoqEJ04wQnEI_Mh7DA0mE2CxwkfnjizzC848lW6cNvkdtWhRgCSx0bDn_eGxuv_Yz1Fvo2UyEuvU1DJplR0jA4WKJYv6SHqnWAaxGYnBcXMIkbLlBuM8Hb1tGUBjODVEbt15tlzuuB88svCAOS2j6ZlZW1CrYA36-7b4V2MON-qr4Mkgyz6EDQlFoUiYcDZa3WxKtNIHENo1FN4DT44bFN-SFx-9uq5qIFmN6Hg4sWQgqsUyULduPn7duuh8V8zHcOXdZN6Ed3C7eP4L-1hqb3ahbZgdPxF8O6jLo9lDxs62Zt3k4=",
  "id": "rs_0bf2da72686913b1016ab45d7ef75c87d0bb2bfcb4fc27e071",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.325,\"right_y\":-0.025,\"right_z\":0.025},\"note\":\"The green fruit is still slightly right of the jaw centre, and the descent stopped a little high. I’m making a small lateral correction before closing around its sides.\"}",
  "call_id": "call_4ZiwZMh6oZUKW7DHx0cpcYaJ",
  "id": "fc_0bf2da72686913b1016ab45d8034f487d0843f17f37f25da14",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4ZiwZMh6oZUKW7DHx0cpcYaJ",
  "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, 0.8104, 0.6132, -0.4164, -0.0139, -0.0269, 0.9938, -0.1547, 1.4345, 0.2035, 0.7895, -0.0837, -0.1513, 0.999]\nstate[eef_state]: left_x=0.292 left_y=-0.0004 left_z=0.1722 left_yaw=-0.0017 left_pitch=-0.0454 left_roll=0.003 left_gripper=0.9938 right_x=0.3438 right_y=-0.035 right_z=0.0576 right_yaw=-0.0067 right_pitch=0.126 right_roll=-0.0885 right_gripper=0.999\nstate[joint_eff]: [-0.0479, -1.6479, 7.0085, 1.8095, -0.0513, -0.0611, -0.0171, 0.0479, -2.7009, 3.1658, 0.9304, -0.3443, 0.1392, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0438c71acfd8cf6fe280801f8a15b4e468c3bb0964975aa39392979894699303",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:544b851c4fb87206f73c97cfc00e6ce51255c151c4056cf1b6c709ca7d1d01a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9de29b8f35f7a9d9ac80103a1620630f555c82dd7673c553440e6b3e13c41aa",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /responses · status 200 · 3.24 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, 0.7994, 0.6136, -0.3824, -0.0143, -0.0292, 0.9945, -0.0227, 0.8005, 0.6189, -0.387, -0.0162, -0.0257, 0.9991]\nstate[eef_state]: left_x=0.296 left_y=-0.0004 left_z=0.1824 left_yaw=-0.0002 left_pitch=0.0 left_roll=0.0003 left_gripper=0.9945 right_x=0.2961 right_y=-0.0003 right_z=0.1836 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -1.7026, 9.935, 1.8388, -0.0952, 0.149, -0.5788, -0.1709, -1.6205, 9.1556, 1.8828, -0.0611, 0.1001, -0.105]",
      "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, 0.8062, 0.6132, -0.408, -0.0143, -0.0265, 0.9938, -0.0471, 1.3159, 0.3149, 0.4332, -0.0277, -0.078, 0.999]\nstate[eef_state]: left_x=0.2929 left_y=-0.0003 left_z=0.1751 left_yaw=-0.0016 left_pitch=-0.0328 left_roll=0.0032 left_gripper=0.9938 right_x=0.3442 right_y=-0.0077 right_z=0.0611 right_yaw=0.013 right_pitch=0.0003 right_roll=-0.0381 right_gripper=0.999\nstate[joint_eff]: [-0.1026, -0.7726, 7.0085, 1.8339, -0.0122, -0.022, -0.0269, -0.1709, -2.5778, 3.9043, 1.2381, -0.149, 0.1685, -0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8104, 0.6132, -0.4164, -0.0139, -0.0269, 0.9938, -0.1547, 1.4345, 0.2035, 0.7895, -0.0837, -0.1513, 0.999]\nstate[eef_state]: left_x=0.292 left_y=-0.0004 left_z=0.1722 left_yaw=-0.0017 left_pitch=-0.0454 left_roll=0.003 left_gripper=0.9938 right_x=0.3438 right_y=-0.035 right_z=0.0576 right_yaw=-0.0067 right_pitch=0.126 right_roll=-0.0885 right_gripper=0.999\nstate[joint_eff]: [-0.0479, -1.6479, 7.0085, 1.8095, -0.0513, -0.0611, -0.0171, 0.0479, -2.7009, 3.1658, 0.9304, -0.3443, 0.1392, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0438c71acfd8cf6fe280801f8a15b4e468c3bb0964975aa39392979894699303",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:544b851c4fb87206f73c97cfc00e6ce51255c151c4056cf1b6c709ca7d1d01a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9de29b8f35f7a9d9ac80103a1620630f555c82dd7673c553440e6b3e13c41aa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF2HfooKKjLuuBkmujPM9ECaDkFU88BYDBrLvp8fNl0r77lQLbwNx4OZ4HX0X3IO7uTZCVh83v63C_CweGEZydpTfq_3tN7yC4--h_JVka_X3IrGf04g9862cn32SjMDNMmy6nQSgG_Gzluprd0RmR1Q_Ga9rIIgqzgtjUbe4N6VQczmET9toF8Tzx_0US7lbudUpuF7ipONpqhAq8j8fbiPhlGLcYAeOiNUFp-N9PLwtdNLT6YKRw-b7DsQt7iHCfCXwMdSTQHa_nE8CTi_AG6yeN4a_7R2sC8D40YSScHWr_7JWxRtIQ8PDPLE6oCKTGK258t1rhBll7CVsIHoGX2XHQMakPcPAAhY31qqHrcC5QMxsnjW6nVeeZAtBGXk20gddgfONDEy2CHie3m6uICdPxVjqH5CtqIetND2tNi5lRTd4kty6wJGIM9T29439qfh-ONflGr3XjfK17Vowa_n_3bwBh-Nni5UGPMY-C795sB3v1q47YsC8WBCAEr3tC3Hba6IUzsvRGNUJI-CvDxl6OLvqOE4EuSMGCcMyy0sTkY67L5cOR4ui1lovo-JwgvtDfH1Erp-aVZehmDjzyGvjleHmEK2izfXSWhCCdSs1tJD5nzL1-BqBkUFLyRCZg2gJI62ODKTkSr8kOfgtopo4dotrhdewMqektcJNm1tIo32TySFvFx5h01kvIN7lYc2t1cz6Vbj-0w6mdpg3rEIeQpXegMiMhWeJEr4ry03kklryUE-c8JtIcfi-z_Mt4zW6YYi3ULDsMzWyQiV_epWsKkPOz2EE6jug96IUn4ir9Vf-PinkMOITtB1dznbPYR9Ylp9RQ2zE-jCngN03VQBeIxWrlFxcdKwaXlovgA3uGZYB7kFl-FMO8QXOydtDOOO7mQcY6uJFifz7sV79EqzfJZ7rINYADZ-SvpDy0Tbh_Y9GbzvgZq49no3cgR8djJCNJd6rE87_LgE5jok-47a0hONYebV1aCSm3AwgkHCYbgu3vms33ln_Y_Ex-bP_hXz1Q8FajC0L1gM3ECsOC9dxcylwwA1_oapaUiQ2CtyNBbBt8DuN3d-cWT6nH8Q6vA524P0LraJ1VvgeH9F_R1C7BpzSko6iSbWmUBoQDP29_1Pb-rIO0wzuCyPXbPHcYIipgPhve77I8SK8w7FOXTOJXJmqwc8GQ-SDrRfX5d8gBx_XMf5f3PN2-KQbPvvjEnaK97xcpCo47dCI3NsZSJogXMUO6TjbjvhxEdbgWUoI3F_sETp0LFdgGF1TRhF5IGDxdPfio5ncNSmIe5TTrA7YYizu9RGqaQAP34TyStp0tzaiqq3GemId4XSOa5TtfoJpRX8eWBp1vEJyLobl9F9Fn5BfhIiwxloLD3i1uqjU-W3sCpPjPlrJlYJhVzavTTZ50bXbkTCGAizQ2yINMnLVcUdr4O-WkPnp6tzabNyJv3wo4AFIKpB9ey4-OK7Yhi_FbBogM1yesPu4WLRByYu--v7tdMRlvNAAj5qt4UPh3perOJ5CN7A3XGDqzV2jk9S4nkg54kLJZeSTq7L4oiSfQKuTlxga4CDFzorq0vRp0wgiLjl5NGMvv6-hEpHuM7wH1S-mc4tdCgFplM-k4B18MQnyCgTw72_hRXJ8ox-XbjeDhZO5ZlU7dXeCSnagJgHN-olxjcoQaAHyc8kEbObBrLp9S0GLN2CABXym27OjIZIncZPgVEg4BGc3bmOvfdJEEI-epFyFiWsXz1OdkvWmovObxvpSmixMMMyt7eqCLVlimpdZScD5piEwZVAJvAC",
  "id": "rs_0bf2da72686913b1016ab45d8418dc87d0998c5423cff5cdaa",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":-0.035,\"right_z\":0.085},\"note\":\"The fruit remains visible just beyond the fingertips, and the arm is not reaching the requested low pose. I’m lifting slightly and advancing over its centre rather than pushing down.\"}",
  "call_id": "call_8JTuTHnafQFtMFTFIFoexy4P",
  "id": "fc_0bf2da72686913b1016ab45d862f9487d084c6933a12d52514",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8JTuTHnafQFtMFTFIFoexy4P",
  "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, 0.8124, 0.6132, -0.4236, -0.0139, -0.0269, 0.9938, -0.1345, 1.4288, 0.3141, 0.6514, -0.0765, -0.1581, 0.999]\nstate[eef_state]: left_x=0.291 left_y=-0.0003 left_z=0.1702 left_yaw=-0.0017 left_pitch=-0.0545 left_roll=0.0031 left_gripper=0.9938 right_x=0.3639 right_y=-0.032 right_z=0.07 right_yaw=0.0107 right_pitch=0.1037 right_roll=-0.0946 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -1.4564, 6.9949, 1.7705, -0.0415, -0.0415, -0.0171, -0.0889, -4.6838, 6.5299, 1.9023, 0.0855, 0.0904, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fb9f26f5f672bbfa25520a7dcf0d870b0810d7bf4591317eae3b714ecf9d3c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd84daa6c8ba3bf203b18455a19308207710b40b187a1f32512004aed528ca87",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f02b4d31725f3458f94765579137538f95e90d852208ce3d23a863660a19278",
      "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 5 attempt 0 · /responses · status 200 · 4.557 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, 0.8059, 0.6132, -0.3981, -0.0139, -0.0269, 0.9939, 0.2066, 1.1782, 0.5114, 0.0467, 0.1577, 0.0719, 0.9991]\nstate[eef_state]: left_x=0.2942 left_y=-0.0004 left_z=0.1772 left_yaw=-0.0018 left_pitch=-0.0225 left_roll=0.0025 left_gripper=0.9939 right_x=0.3453 right_y=0.0477 right_z=0.1096 right_yaw=0.0298 right_pitch=-0.0429 right_roll=-0.0201 right_gripper=0.9991\nstate[joint_eff]: [-0.0068, -1.6068, 7.0769, 1.8877, -0.0269, -0.0415, -0.0757, -0.253, -4.5607, 6.735, 1.9902, 0.1832, 0.2466, -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, 0.8104, 0.6132, -0.4164, -0.0139, -0.0269, 0.9938, -0.1547, 1.4345, 0.2035, 0.7895, -0.0837, -0.1513, 0.999]\nstate[eef_state]: left_x=0.292 left_y=-0.0004 left_z=0.1722 left_yaw=-0.0017 left_pitch=-0.0454 left_roll=0.003 left_gripper=0.9938 right_x=0.3438 right_y=-0.035 right_z=0.0576 right_yaw=-0.0067 right_pitch=0.126 right_roll=-0.0885 right_gripper=0.999\nstate[joint_eff]: [-0.0479, -1.6479, 7.0085, 1.8095, -0.0513, -0.0611, -0.0171, 0.0479, -2.7009, 3.1658, 0.9304, -0.3443, 0.1392, -0.0122]",
      "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]: [-0.0219, 0.8124, 0.6132, -0.4236, -0.0139, -0.0269, 0.9938, -0.1345, 1.4288, 0.3141, 0.6514, -0.0765, -0.1581, 0.999]\nstate[eef_state]: left_x=0.291 left_y=-0.0003 left_z=0.1702 left_yaw=-0.0017 left_pitch=-0.0545 left_roll=0.0031 left_gripper=0.9938 right_x=0.3639 right_y=-0.032 right_z=0.07 right_yaw=0.0107 right_pitch=0.1037 right_roll=-0.0946 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -1.4564, 6.9949, 1.7705, -0.0415, -0.0415, -0.0171, -0.0889, -4.6838, 6.5299, 1.9023, 0.0855, 0.0904, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fb9f26f5f672bbfa25520a7dcf0d870b0810d7bf4591317eae3b714ecf9d3c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd84daa6c8ba3bf203b18455a19308207710b40b187a1f32512004aed528ca87",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f02b4d31725f3458f94765579137538f95e90d852208ce3d23a863660a19278",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF2L5-gzT-K6TCnGAMyF0f33fr1tTQpNnxFV8sW6s3HGgGqElB9d1yWacAJkRV4nNKMud91cBnCmc4F4NKCDJniQ03eGEkFuGnyk3dq9mvHq0nC7GvpyrrbxVgfU8Bw0zgfWFSbELCMxRuwJGeawdkwCgP_fEgbojs7OTwHpK6zdu2Ic6ZuV-W3iyyH3V9tL_yM4ARAv-wUIszqRkG1mIAXe-mfBAD2ECS0Zi90bcClivkUKUXaSgtGLTM0B1OU7tVNWwgIEtk4tYZuAnMi3paw-QY_B1xVsotMLC3PlSNwLEbQ5JXOAeHwVGqmiPQCX0_riwEJwCQVPO0QuRmO8B4gqe1RAqLFo9dwCqd_H1vjG6ufXVKiKr7bIKMx4iZ85MRlffh3GPJ7ostM1BVdoC-CotiGeBVNsQsq-k-MpPkAUqT3OpffA-THl15H8qvpl-fBooOQpy5k0QIJsEBO_7vHzKr-gjeokWhP9xzEQr7zVsnzeEwH0OC_6QA_jKPS4MlGFw-OGgDvrwvThqaI4M_QAvYCLZQPAx0TZNvCw0iMR44cSYzVjQ4k6ad8hAUJhp7OAj3nH_BAmKdIvEIz-TPTsuAJpBfzgL4SMxtMr5tDoqNmqnksT48TJuZGZE30HymnFOsAALMBTpS4_f-dWodMgqijfqbWJ58aKJcSyyTbYZQvsajoPvPw3wJ5MRNbU87wiHIba5mRAZrHekAbCOGFO9zS0DLJSlHJlNRhlmaNUSVNaMvt9IopsnPv2nni3C_3oI0cH8DZKsInnS3PFFFh7N0fDPBT-C_aGL1_OhEPEXDNkcYw1U1t1kVDlPItt-6qFHMs-Bb_BSF0cNIJPFgEY0S4Sd3B2SG5Z_AYry0W6nIPvnh2yZLuZ-XxU6WAbADsummEM4_PTVgeUUwt6977ADdLJ_12tFYJc6b5pbF4wZudD3m1s62mMcplwCI7zGgryFFWi8wKU3V_Q3LwAOtz49Hqmw9mLoik2LVXCXMwIeOhdEdoSHYxqFYg_ijJ7J6FvKwqEHJqrSGgcaIO2SQ4W797z4e7Pk0pmZSaMJpBEpBYRhIE3SYSBABOGBY2ULPa33Tdqk_25b_Nv2QKsUZaH70aKugfhywS41IDqNdz3dU2zfk8ni9WwlfoG_oTKprH1abxwzwGUBbmSfcFrCn0lcfN-xqsGw_MBQUfLhfOSUh_6VLV21d1lXXUQ_HAhQ_HHC05EpE-PRFMAiKl2aJEwdat236CZdNMa4K8L-0TABx73Z1qIydxOgtFCFIEHEoU6",
  "id": "rs_0bf2da72686913b1016ab45d89dcd087d0b6925d541591be74",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.395,\"right_y\":-0.03,\"right_z\":0.03},\"note\":\"The green fruit is now centred beneath the wrist-camera jaw column. I’m advancing a little farther and lowering the open jaws around it.\"}",
  "call_id": "call_wB52m7KgdWo6bCclrqFG39aS",
  "id": "fc_0bf2da72686913b1016ab45d8a7d0487d081c14cc42d8d3b9d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wB52m7KgdWo6bCclrqFG39aS",
  "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, 0.8124, 0.6132, -0.424, -0.0139, -0.0265, 0.9938, -0.1349, 1.4288, 0.3153, 0.6506, -0.0765, -0.1581, 0.999]\nstate[eef_state]: left_x=0.291 left_y=-0.0003 left_z=0.1702 left_yaw=-0.0019 left_pitch=-0.0549 left_roll=0.0035 left_gripper=0.9938 right_x=0.3641 right_y=-0.0322 right_z=0.0702 right_yaw=0.0103 right_pitch=0.1041 right_roll=-0.0947 right_gripper=0.999\nstate[joint_eff]: [-0.0068, -1.1829, 7.0222, 1.6972, -0.0415, -0.0415, -0.0171, -0.3077, -4.7111, 6.3795, 1.8535, 0.0366, 0.1001, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9c099e4315c53c1d28e7ae2b836b9b432b585640327704b72ea71ef58e758c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac1bfcf9ff9409885196358ce3c8d267557f2d68281e9f5f412dbf6a47fd3520",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4443a197684911f7c334717eb46020eaba31194a40f82747210018ae9fd6f4f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 3.685 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, 0.8062, 0.6132, -0.408, -0.0143, -0.0265, 0.9938, -0.0471, 1.3159, 0.3149, 0.4332, -0.0277, -0.078, 0.999]\nstate[eef_state]: left_x=0.2929 left_y=-0.0003 left_z=0.1751 left_yaw=-0.0016 left_pitch=-0.0328 left_roll=0.0032 left_gripper=0.9938 right_x=0.3442 right_y=-0.0077 right_z=0.0611 right_yaw=0.013 right_pitch=0.0003 right_roll=-0.0381 right_gripper=0.999\nstate[joint_eff]: [-0.1026, -0.7726, 7.0085, 1.8339, -0.0122, -0.022, -0.0269, -0.1709, -2.5778, 3.9043, 1.2381, -0.149, 0.1685, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4236, -0.0139, -0.0269, 0.9938, -0.1345, 1.4288, 0.3141, 0.6514, -0.0765, -0.1581, 0.999]\nstate[eef_state]: left_x=0.291 left_y=-0.0003 left_z=0.1702 left_yaw=-0.0017 left_pitch=-0.0545 left_roll=0.0031 left_gripper=0.9938 right_x=0.3639 right_y=-0.032 right_z=0.07 right_yaw=0.0107 right_pitch=0.1037 right_roll=-0.0946 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -1.4564, 6.9949, 1.7705, -0.0415, -0.0415, -0.0171, -0.0889, -4.6838, 6.5299, 1.9023, 0.0855, 0.0904, -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 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, 0.8124, 0.6132, -0.424, -0.0139, -0.0265, 0.9938, -0.1349, 1.4288, 0.3153, 0.6506, -0.0765, -0.1581, 0.999]\nstate[eef_state]: left_x=0.291 left_y=-0.0003 left_z=0.1702 left_yaw=-0.0019 left_pitch=-0.0549 left_roll=0.0035 left_gripper=0.9938 right_x=0.3641 right_y=-0.0322 right_z=0.0702 right_yaw=0.0103 right_pitch=0.1041 right_roll=-0.0947 right_gripper=0.999\nstate[joint_eff]: [-0.0068, -1.1829, 7.0222, 1.6972, -0.0415, -0.0415, -0.0171, -0.3077, -4.7111, 6.3795, 1.8535, 0.0366, 0.1001, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9c099e4315c53c1d28e7ae2b836b9b432b585640327704b72ea71ef58e758c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac1bfcf9ff9409885196358ce3c8d267557f2d68281e9f5f412dbf6a47fd3520",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4443a197684911f7c334717eb46020eaba31194a40f82747210018ae9fd6f4f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF2QXQ0-A_IS2wn6gY8x4S1XafL_i6hVP3f6DzlIbpZ26wx1nV8w2aOERG6ZY3yVB7M7hrnU07MCXxNVQTNcpei20OpAjDqGgRXU2ce_Rsv-HTZbde6j8bNyG9bA8adefg87HPWRQUdDe0SEOk2WWJB-wV69DQBd7GB4P8IbF_pppwr-baa7QvbXMjQLobpTtSvdletcsnlHgyHi2n7vmYB9PU_bnmNV5-nVzET7ybsal-gCf2qIKVRcMxJful4BmgZoh9iwt83VR4-Qm4hOvWE_ln_5SQhY_YWYBqnawxXgqpQX51UShgQXhuqPXoa0etzxItSm8anz9ZaWfGUG5V4lH8DWnCYCb8FSlHHigZyCS4eSEX4_fE6sdrui2sOTLTDuR2Rn7vdAuPllbk6ylzRJe7wgCAXrElXOeeF6cvpHMqpIi58bwIXXU1UmLyKn92fd-plTW_Na1Yy8vpYvbcd4vwV8fHVak_wQ9bXsAZzytTgYmbSl1na3_lYwoBhNGK906j5Kmhmvil_toyPKBfQBZ-zer5Cv5Pdct23CdbE2S_qNKYeWOchJkg4Ma9tOvBjf17dKiPcjuSobB1iWvQ-kafFdkC8pbdZQo4gtBHcgZvsMAOQ1o1c29Ja9JSdT609xq5dZdVVpC5sLIxmdah6MR85-9OnNpMm2a3FH1-wpxfn4IOyvm8-e_MMJqeM4lvc4yeW6bKGSxsVrnD-Ar5wthCqmlP31sbuwLOnQkNskM489VKQbfrbtFaAkIDZN-DS6ydNv9GkJDFtnrZ6pT-_qA9OLwHTtlYB8hrz3Sgu22GizSuOTjFZVWjmHUJDym7Wziw3hwSDmbFXVNEHEnzKsb7XcX-Y2wlgGmHY4uaqLPmg0E6c8LS74F9ml2d-SNbiYk4Qudt1uUADKIUyi-aEwVJbqluT5JY6itRiU5ql-dE1njzLM5uJ4p5Zv7nRnqH7YjrXASHW5r0R0nwuWoTDQKP3GSvo0QnP9Jnsas-vWrTDzEt1vwojjIqP6PIfQrkDT_LjQp8JbCjYjttJ7U_Rf0eKXkcI7fgzcWbMBVli66JtH8umw3-KM3a6sa7FXBi_6o12c4LMq2P7HJlb-b3d1KRFCQsTCV19jSHYn5kIlwlMTLJkcp_X4DwbRbn_-R1BhpeCvSCuLf7V6JST49igiGxdMJHSnJW5TZmEsWdwgqU4K9xV0seSj1dplSx0IwvkN4YI_UxSjFP4nRsfVM6kDiJZu8Y029UarhaYjrQjmz0EIZ-LxAP9v5Ko8bpDXnFm2S_zWe9erWCrW3Dd2RH-XExHGf0988fAc7VFFI7xZI7NLLeicq4qXVBGqL5l_Ua5sV5OM96tEaYGFeFtP3RQLMqC4mcwkmxB4SRSyMWjB-HNVBQebr5rpPZroxfQ8clBxCg6y-pPEg1GtpZOijosZu14tSvuhVDx1aZ5cn85O_6YHpIewdt2JRsUqbiSDioQw4Yi5SqAx02goyc9Se-5W9dROsmwGdzBp-o5XORs8fucKAYJQCoq_nuDp9jScS9IIr6qLqQp1a3mhHApBHxWeSF9-0i4q2sBndKJQXndTcaQMrd0fqUENPCnPFZswqZBb6tXhryRON5Mq92KaXVloGXRNclT7rVfYirtHPNu7cxdqj0nvVbqS3aiVO1JuXmoO1iWgBIql7_tSgilrdNYouhOunCXj2wSI2DV_exdzuFJlNxhGDYTh6rUc7w9vOSRFGoTOfzuNI5JmASI1-A5KSW91AiXh_QVAobWupgUBVOkSuHasjCF6CzjxdP0Fhg2Qk2AvNcMLN4hdEmaXLm88xhDDhv0qVsDcEqY07i8xUALNQOkdhZQCy-X5dbEsAQ8tHJ5hlffRZXs6NHu5rDsIfMoGnPoK8n8MJ1p8z9uO4AhnddsTh3bVsrJyJzuDqfWT",
  "id": "rs_0bf2da72686913b1016ab45d8d6c0c87d0babc0110c641ca32",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":-0.015,\"right_z\":0.05,\"right_pitch\":0.3},\"note\":\"The last reach did not move the arm, so I’m changing the approach instead of repeating it. A slight forward tilt and inward shift should give the jaws room to reach the fruit.\"}",
  "call_id": "call_0VhDr7eNsBFlPgcYnNofBF2p",
  "id": "fc_0bf2da72686913b1016ab45d8f78fc87d0a1f90338fe490fe4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0VhDr7eNsBFlPgcYnNofBF2p",
  "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, 0.8124, 0.6132, -0.4244, -0.0139, -0.0269, 0.9938, -0.1349, 1.4288, 0.3153, 0.6498, -0.0757, -0.1581, 0.999]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1701 left_yaw=-0.0017 left_pitch=-0.0553 left_roll=0.0032 left_gripper=0.9938 right_x=0.364 right_y=-0.0323 right_z=0.0701 right_yaw=0.0096 right_pitch=0.1033 right_roll=-0.0949 right_gripper=0.999\nstate[joint_eff]: [-0.0068, -1.2376, 6.9949, 1.6777, -0.0464, -0.0122, -0.0171, -0.3897, -4.7111, 6.2154, 1.8828, 0.0562, 0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50468a252833bf35882590927ecc1061f41dc705f461e175406a8564f0e1feb2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42bf6d11d8bfa541e367077afd996b66d7ba815cf848f5885cac500ab59b98bb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94ee96301058e57e56247d694c0e8d78a8fc38a0052f7eb1a888daa70d111a5e",
      "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 7 attempt 0 · /responses · status 200 · 3.923 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, 0.8104, 0.6132, -0.4164, -0.0139, -0.0269, 0.9938, -0.1547, 1.4345, 0.2035, 0.7895, -0.0837, -0.1513, 0.999]\nstate[eef_state]: left_x=0.292 left_y=-0.0004 left_z=0.1722 left_yaw=-0.0017 left_pitch=-0.0454 left_roll=0.003 left_gripper=0.9938 right_x=0.3438 right_y=-0.035 right_z=0.0576 right_yaw=-0.0067 right_pitch=0.126 right_roll=-0.0885 right_gripper=0.999\nstate[joint_eff]: [-0.0479, -1.6479, 7.0085, 1.8095, -0.0513, -0.0611, -0.0171, 0.0479, -2.7009, 3.1658, 0.9304, -0.3443, 0.1392, -0.0122]",
      "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, 0.8124, 0.6132, -0.424, -0.0139, -0.0265, 0.9938, -0.1349, 1.4288, 0.3153, 0.6506, -0.0765, -0.1581, 0.999]\nstate[eef_state]: left_x=0.291 left_y=-0.0003 left_z=0.1702 left_yaw=-0.0019 left_pitch=-0.0549 left_roll=0.0035 left_gripper=0.9938 right_x=0.3641 right_y=-0.0322 right_z=0.0702 right_yaw=0.0103 right_pitch=0.1041 right_roll=-0.0947 right_gripper=0.999\nstate[joint_eff]: [-0.0068, -1.1829, 7.0222, 1.6972, -0.0415, -0.0415, -0.0171, -0.3077, -4.7111, 6.3795, 1.8535, 0.0366, 0.1001, -0.0122]",
      "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, 0.8124, 0.6132, -0.4244, -0.0139, -0.0269, 0.9938, -0.1349, 1.4288, 0.3153, 0.6498, -0.0757, -0.1581, 0.999]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1701 left_yaw=-0.0017 left_pitch=-0.0553 left_roll=0.0032 left_gripper=0.9938 right_x=0.364 right_y=-0.0323 right_z=0.0701 right_yaw=0.0096 right_pitch=0.1033 right_roll=-0.0949 right_gripper=0.999\nstate[joint_eff]: [-0.0068, -1.2376, 6.9949, 1.6777, -0.0464, -0.0122, -0.0171, -0.3897, -4.7111, 6.2154, 1.8828, 0.0562, 0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50468a252833bf35882590927ecc1061f41dc705f461e175406a8564f0e1feb2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42bf6d11d8bfa541e367077afd996b66d7ba815cf848f5885cac500ab59b98bb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94ee96301058e57e56247d694c0e8d78a8fc38a0052f7eb1a888daa70d111a5e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF2UG5_hsiJrsnFUaukyK9xIzM7CKSl8FsPFIrntLFDw8dOY-XlDVf4dIBPzig06AdvGN_QRUIivAqaRNE6luqKgfIYC57PbZVSIbhutFWK_9fpp1vasexLDiKpFTbsoYaMiz9dmCLZkR7PbeOimmeS_JJV19Wj_ntjzdyviDpP-8GVFlSlgzg_bSWYj2YKB5h8PTZx8B7Y8qU5sQyJLfeQq4-PmkDgiF515yFv3HLPkEa-qulM7Cx1FcnBRBqakL4AQGRcAhCId7uzfo1_m71zr54FkuelFpcmvWpm7RPmltla6NzqmXJnHdgp9nL5x9OTPMs6otR4U-r1_IxjPXPaTL6bYMUOFtjI93CnrjQIoHIZeM2ykwBx3V5yTxyCAL62r_oGDeIFGegAcGAerqSYiwUwU0iCi63FKTEy0B58CcYhiRQIo9MaSRY0qBlMZYDQHRdnoObku7iiGI0BmJopCs4mRgf9UsoWTOgCvF7EC3fcrd7ylHl5__XeXR_POtkgdifhLMVUYMFDEi_ozFNI6vMzkueX2qJknbJ5sD9ZYdGv6Gu1yeVr_Sgf05ZwZzb61ANlQWLa5NQxixkvUTLSjYxvnNcXTFa3Zvlh47d43FTj_e23gx6zXnkZchZJ7e6ifBGk73IjSH2YRd2G_0b7zzJP6VQK-hwNSG6aOmjpaK1GNGkoa03d8esIIRIDCoulsOHP3HukmAWHzXng4DkfxU-PxX23dEDGIVGo7zNNbu53-f0R5kDxa3DnrFYfOiBvo7R0rXo8RquIDujdQ1Z6HZ6I3QWdQ9oEjNMlM118Xmrx4eHAVrBUKvfMB4Rtt4pAGP1SWEvre7CeIlAR2JLcYBwoRSP2YFke900Vy4XKPecp47FBZ_VBJqCAwFFJIqDhocb5V5y79nEFVC_w_R03WaFvmAx3sTByiOZYhChOXOyug0WoeLO5rbRgqscbkpTcMU2vsSqe5yoMgghmmV2Q6__wKz6f_kC_4uwUzOcpo1axRy9rhZ5lgzz6_NM7Ee14ck-Eu6AqHF3Ljgszi2VMyAc9XB4SFiP6PB2cpX36FtcPCc4MGIB2kr0zoffEA05H22twTzY3ioLCsfqlzsvvxl_FtmArX_dhxMYKJ3Ggl_gcBRqt9NKEiJ051d_mhdL2Ux8x75eWtLS2s9Rum0ten8EGp-s5cnquq4KsaVp1aE5_cLnAzBcVSzreFMfQtud_kSYnCRxNB6OnCbw1QySd_ZYuToa-qDNe34FlJqxdbbzy15bn7-4jSKf0NvN22U38NuzQoHxLw2_l7jGmhUsNOFYUldhSCsXLkUFWSsSF5kE8BdscpQ-llqUYVHbp-lJKPIU69iI0IupOsQAjFZX2_Hf4QFvRWNYkDt-RrxeM_x1AGdbnVB7YB-0DNmhF26fbb",
  "id": "rs_0bf2da72686913b1016ab45d926ca487d0914c49b325d86c86",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.02,\"right_z\":0.16,\"right_pitch\":0,\"right_roll\":0,\"left_x\":0.296,\"left_y\":0,\"left_z\":0.185},\"note\":\"The arm is still holding the same pose, and the green fruit is partly hidden near the table edge. I’m withdrawing upward to clear the fruit and recover a freely moving approach.\"}",
  "call_id": "call_IlPKFzVsCLV2BAAvbU0xRC7u",
  "id": "fc_0bf2da72686913b1016ab45d9360d887d0acd00c445955a420",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IlPKFzVsCLV2BAAvbU0xRC7u",
  "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, 0.8417, 0.6476, -0.4755, -0.0139, -0.0307, 0.9938, 0.0898, 0.9386, 0.5468, -0.1558, 0.0566, 0.012, 0.999]\nstate[eef_state]: left_x=0.2897 left_y=-0.0003 left_z=0.1675 left_yaw=0.0004 left_pitch=-0.1015 left_roll=0.0011 left_gripper=0.9938 right_x=0.3232 right_y=0.0227 right_z=0.1587 right_yaw=0.0305 right_pitch=0.0218 right_roll=-0.0063 right_gripper=0.999\nstate[joint_eff]: [0.1573, -1.4291, 9.6479, 1.7753, -0.0611, -0.0317, -0.0122, -0.2667, -2.6051, 8.7453, 1.873, 0.1294, 0.1343, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02311fa4ac9debeebc41de9c8f954eadbb09f76946892a770259aaf59944d311",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db0949f173020826a76f6d2870454c8f8ef9b5bd20eff90a58624bdbc861f998",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46f45928bf12c2c4cd5b6760cad0bb00fe7e33af01938052be700f5e7fdedd6c",
      "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 8 attempt 0 · /responses · status 200 · 3.249 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]: [-0.0219, 0.8124, 0.6132, -0.4236, -0.0139, -0.0269, 0.9938, -0.1345, 1.4288, 0.3141, 0.6514, -0.0765, -0.1581, 0.999]\nstate[eef_state]: left_x=0.291 left_y=-0.0003 left_z=0.1702 left_yaw=-0.0017 left_pitch=-0.0545 left_roll=0.0031 left_gripper=0.9938 right_x=0.3639 right_y=-0.032 right_z=0.07 right_yaw=0.0107 right_pitch=0.1037 right_roll=-0.0946 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -1.4564, 6.9949, 1.7705, -0.0415, -0.0415, -0.0171, -0.0889, -4.6838, 6.5299, 1.9023, 0.0855, 0.0904, -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 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, 0.8124, 0.6132, -0.4244, -0.0139, -0.0269, 0.9938, -0.1349, 1.4288, 0.3153, 0.6498, -0.0757, -0.1581, 0.999]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1701 left_yaw=-0.0017 left_pitch=-0.0553 left_roll=0.0032 left_gripper=0.9938 right_x=0.364 right_y=-0.0323 right_z=0.0701 right_yaw=0.0096 right_pitch=0.1033 right_roll=-0.0949 right_gripper=0.999\nstate[joint_eff]: [-0.0068, -1.2376, 6.9949, 1.6777, -0.0464, -0.0122, -0.0171, -0.3897, -4.7111, 6.2154, 1.8828, 0.0562, 0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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, 0.8417, 0.6476, -0.4755, -0.0139, -0.0307, 0.9938, 0.0898, 0.9386, 0.5468, -0.1558, 0.0566, 0.012, 0.999]\nstate[eef_state]: left_x=0.2897 left_y=-0.0003 left_z=0.1675 left_yaw=0.0004 left_pitch=-0.1015 left_roll=0.0011 left_gripper=0.9938 right_x=0.3232 right_y=0.0227 right_z=0.1587 right_yaw=0.0305 right_pitch=0.0218 right_roll=-0.0063 right_gripper=0.999\nstate[joint_eff]: [0.1573, -1.4291, 9.6479, 1.7753, -0.0611, -0.0317, -0.0122, -0.2667, -2.6051, 8.7453, 1.873, 0.1294, 0.1343, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02311fa4ac9debeebc41de9c8f954eadbb09f76946892a770259aaf59944d311",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db0949f173020826a76f6d2870454c8f8ef9b5bd20eff90a58624bdbc861f998",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46f45928bf12c2c4cd5b6760cad0bb00fe7e33af01938052be700f5e7fdedd6c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF2c-MVyHyH1upKik5DowSuILgjfCNrF_xiTN3UykKjofcTV-oPwO69FdfZBPXb2rg0A0ApYn8NcvHupenao2ezxE5So2Eag3xy4PnAKIhIt1s2tbvKdSV8t0iw9sYnhT0l5wzseydXI5T1FcAdnX9GX9eUeYjsn1yMOCp6-RNR_S2Mv1WK2jAN0qQZJQJOAuLVDo_Ypn4nExlzlb_9WNTh68os5OTl0JQYDPFBCZ4SXujveh11p-_UKxqH0Ua7TkvL3tRZHtwcP8eZkiaCrg8z9SNkboxtaEFrrX_4XNleLRT-c4oTop88cKjguRGnPRAg_UAIkue0xaAk1SYi89AQ31gEsvkU_NQrkpRa_mEh3vYpGz69Y1NRh6WiWBDxe2rpFvAxAo-GEugqsQOmOfliHqWckhjbWEMOc9-YVzsWwIJfK5UsFDzz3jwHrCYFr9WPBIOar0DM9tM4KqeTxvEv62w-w8rsF6UD8nrEm-sK2V2W1xzSF0QB0CZl-iNsniqUwIzSDN-P5IA4dtCho3f287CuT8HbWMUgmWsI7bBsiHiHk69kyVi83TT2Dot2Qwe9owiuj_STHG4Cv4ht4lbcdFkUnYd8_yUkJNpPB5jkUVoZvV9FWMS61X064KDX9_vMtuSyksGD6mpA-mCdp0jl4QBJ8NSP_mQfohON8eSOqv1RBsJRKTojvyjTra-UhQnWZL9agMKedRO773rtN5LubRL5S3UJf6qO45OClGZrhlq3iBVFLN8x_Gp7aYO7T6vWrOywDJx94NuK1l5o0mk6WJsYB_9waCpllgmGg5c9B3AaMlSfr2SOlEH-L5R_iS7Imeju2aiSSuy3Of5epqhudMP2SoUKtqcWigN_HX7o21kKzPog3yg63wwCUcyyX7lAWOWPPnFzE-YuTWzF8SmeJ_dk564V8wEiBBH4df6q502ZGMX_m0516eGwHPh4PoozWnGlgRoteaBlrXJFMo0mMUTFJU_VPqqTLvvrVCNsMYpkBf0cjNeSA0Kprg1R-jwzIiXjMiCERLTpraIN_sL-MS_Q3MgaSPyXEdcZTSCejKIHZyQIkvmyesNN3SthA2-A03Gg8NV3xwmK6NhoqOxFgpQ1tLkhSLlgIHWW_pS4guUDhfutJHPvdGMTzoFm9WV92tuyHpdtfPDRHj7mH2JzzcHQrh5etsbpR-ANzLFAI3GFUZm_WgOSzSoMeanMYF48ikZx1jbyoJdwXgFWY5Cpw2NnMUhFRwCqOluc7iUfl8lzDdTWFTARcAyvWapzNAzDmBntlDAIiRarzFsHF9XpLjbjX1R_ofNgn3ueCe7lyVAQ3rDOn6Mih2ls-IkLwX4p_poTfC4bkiZByQqZxX8U9PcwaMaGWAeU43PT0LpN4WFAxLtqLhC5txvRVAcTvsYNSf4l3wNhSSx0pbMjXjSA1FSWHiO0w7yURJ8QmQ6PGV0gjB7hC7t0T3o6wg2Pk2pmtZ-jhvsbrpEtrul6hsHOBW2amEOZIvqz5uMkMSwi79NPCo4K7iJu_bftc5qieVJiFjPWHXcHFIKRN0L2zYEfPNUsPdeJELB0fxZiYEpScqFq7lW9VxgGJwJgCBz39JjBi",
  "id": "rs_0bf2da72686913b1016ab45d9a23c887d0a99131455d699649",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.435,\"right_y\":0,\"right_z\":0.13},\"note\":\"The green pear is visible again and has shifted forward beside the blue bowl. I’m approaching its new position from above, with the open gripper centred on it.\"}",
  "call_id": "call_6UlCVB9cfgI9DQcDfFzRZw31",
  "id": "fc_0bf2da72686913b1016ab45d9bf99c87d0977d77575017db88",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6UlCVB9cfgI9DQcDfFzRZw31",
  "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, 0.8463, 0.6472, -0.4881, -0.0139, -0.0307, 0.9937, -0.0231, 1.5017, 0.7498, 0.1463, -0.0391, -0.0528, 0.999]\nstate[eef_state]: left_x=0.2879 left_y=-0.0003 left_z=0.1637 left_yaw=0.0005 left_pitch=-0.119 left_roll=0.0015 left_gripper=0.9937 right_x=0.4247 right_y=0.0007 right_z=0.1116 right_yaw=0.0332 right_pitch=-0.0366 right_roll=-0.0086 right_gripper=0.999\nstate[joint_eff]: [-0.1299, -1.6342, 7.0769, 1.746, -0.0464, -0.0562, -0.0171, -0.3761, -6.6256, 8.9231, 1.9902, -0.0855, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dabe4bdc865b2cf38e88a378b4af2a469b33c9765353fa9cbf4bcf8d410f0f7b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7d583c85609fba9b1c5a61de6787d35f75c7e591a2feb7ecf27f8d49ebc0ed7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37150716af058804b964271b28763cf3fdb9205cb3ded92fcc5f5bb8381b0290",
      "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 · 2.279 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, 0.8124, 0.6132, -0.424, -0.0139, -0.0265, 0.9938, -0.1349, 1.4288, 0.3153, 0.6506, -0.0765, -0.1581, 0.999]\nstate[eef_state]: left_x=0.291 left_y=-0.0003 left_z=0.1702 left_yaw=-0.0019 left_pitch=-0.0549 left_roll=0.0035 left_gripper=0.9938 right_x=0.3641 right_y=-0.0322 right_z=0.0702 right_yaw=0.0103 right_pitch=0.1041 right_roll=-0.0947 right_gripper=0.999\nstate[joint_eff]: [-0.0068, -1.1829, 7.0222, 1.6972, -0.0415, -0.0415, -0.0171, -0.3077, -4.7111, 6.3795, 1.8535, 0.0366, 0.1001, -0.0122]",
      "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, 0.8417, 0.6476, -0.4755, -0.0139, -0.0307, 0.9938, 0.0898, 0.9386, 0.5468, -0.1558, 0.0566, 0.012, 0.999]\nstate[eef_state]: left_x=0.2897 left_y=-0.0003 left_z=0.1675 left_yaw=0.0004 left_pitch=-0.1015 left_roll=0.0011 left_gripper=0.9938 right_x=0.3232 right_y=0.0227 right_z=0.1587 right_yaw=0.0305 right_pitch=0.0218 right_roll=-0.0063 right_gripper=0.999\nstate[joint_eff]: [0.1573, -1.4291, 9.6479, 1.7753, -0.0611, -0.0317, -0.0122, -0.2667, -2.6051, 8.7453, 1.873, 0.1294, 0.1343, -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 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, 0.8463, 0.6472, -0.4881, -0.0139, -0.0307, 0.9937, -0.0231, 1.5017, 0.7498, 0.1463, -0.0391, -0.0528, 0.999]\nstate[eef_state]: left_x=0.2879 left_y=-0.0003 left_z=0.1637 left_yaw=0.0005 left_pitch=-0.119 left_roll=0.0015 left_gripper=0.9937 right_x=0.4247 right_y=0.0007 right_z=0.1116 right_yaw=0.0332 right_pitch=-0.0366 right_roll=-0.0086 right_gripper=0.999\nstate[joint_eff]: [-0.1299, -1.6342, 7.0769, 1.746, -0.0464, -0.0562, -0.0171, -0.3761, -6.6256, 8.9231, 1.9902, -0.0855, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dabe4bdc865b2cf38e88a378b4af2a469b33c9765353fa9cbf4bcf8d410f0f7b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7d583c85609fba9b1c5a61de6787d35f75c7e591a2feb7ecf27f8d49ebc0ed7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37150716af058804b964271b28763cf3fdb9205cb3ded92fcc5f5bb8381b0290",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF2ljdlEA2SqpiyQA9Gde2DGKNYGQM8koq-vIoczR6NNTngq2ZwUQezbAbcuYJItb1dzGymjtQ06oZdr0aYv12KgYmB5qZSgwHTXluSQLw4HgpjNwNpRCygbuA6ZFDyUxdES8HDK3uQO4CDj8qZd3YwbFpsazR82WSgAXkdqsT23APZvJlhJWk-ZBSMGi_Ad4thvnf93AIdNekQwPloHXPXcC8OFVOa9WG94uMF1LaD8yI6lzRMzPGbkzZRRFKGfoxopUAGL0RvhXkm3C6ErcP9eMgX2C2PeLNlKn6F4O2JCI9FcNmSOiz4-sm1fLf3kLeVNRTxBiRcV_6AG_YEN3pAvVwP6lyGcwOd-J3vqe7r_1bjE0IGH2JJKPPWYxjkmmh-WbPXj2odCVN3WvEzwpQQUSovWgqLOU3lBRTUZs8G2M6hzRit7T-Edps29KIDM_88F2psznxKXBSPzyeE_ykwXHpsPZ0962Klf-wjJRFGevNSEOqLWKtpVmD8OM0BavOo5KwXZFYFLSmQBKj7P9sHQD2_2uINFqoTx0MayX6-xpQhWjNVGgrqtkcL8H5sQdYpTQFW8am7YjYNmj6nu6128cIBu8lu5wcM7sx_ig6zAOASB-f42hmGR30iihjDSj-c7DnQdxdIdY8yfsrQfwH1PibQ_4j4xh_Akn1TKwAuUePSOzTcuwB_j4FJQWAqwyxvSopsqXtyPdPucTz90g6a8ecRITr-HuOEOCEq_OQk3HFGvOnKUAn0DSG-_IWyWX-MQaRrzHqtA_A16QLZDKZcv7iYww32NMAQWHK-Yf3s8ocbX2m0pgE4NJVO76xtzCzk2BPdhDJiu3yMz9s3TldRiWJ7Mg15J3i1LeOm19nloN7RGlKkqnOLXKjE2ilMIiPX_9hUvF6gQgInCikUeVpp2hNhe_RHp4lUXCzJuN_s22vrJVx5G-jgOhv0bv48Jue4tZ-ZUFvMxqzCIR7zk-5e28oYTudC7wA1RxaKpFNWzdk2bjG4d2_CfQRddEwiVRulDZ0hHIxnmVygIW6Wied7b_FjfNQi4C-J3Iprt9A5ltJhRXhMGPtIvESDY3hxae0z4ywIvbOYrE7hHaBY8rkpdACUa5Je5vIyKjRSNqz58pscYNgwdpNNne1pEEwaYD2merVR7sV4uBcb8dJv7tRQSjCpytShWOS_hAZopAmAXoCMnBx31Kx-fWMDK0PFqJJ_M-55ibnG947dqIKcCM62YI3Cm9XUR7iJhG07wA_VGWmJ0Qi3QEP0q7UGp_g9Jdo_v",
  "id": "rs_0bf2da72686913b1016ab45da3edc487d0b9b3a124cc7ef4d2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.463,\"right_y\":-0.002,\"right_z\":0.042},\"note\":\"The pear is aligned near the bottom centre of the wrist view. I’m lowering around its wider body, keeping the jaws open until they are beside it.\"}",
  "call_id": "call_aS6nqsCnOmxDubMCVvLcoJf0",
  "id": "fc_0bf2da72686913b1016ab45da44aec87d08f97b9fb72d3d8aa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aS6nqsCnOmxDubMCVvLcoJf0",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8471, 0.6472, -0.4919, -0.0135, -0.0307, 0.9938, -0.0246, 1.805, 0.7673, 0.4404, -0.0425, -0.0639, 0.999]\nstate[eef_state]: left_x=0.2874 left_y=-0.0003 left_z=0.1628 left_yaw=0.0001 left_pitch=-0.1236 left_roll=0.0013 left_gripper=0.9938 right_x=0.4616 right_y=-0.0003 right_z=0.0498 right_yaw=0.0405 right_pitch=-0.0282 right_roll=-0.0163 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -1.347, 6.9812, 1.707, -0.0269, -0.0171, -0.0122, -0.6632, -6.612, 5.6, 1.4383, -0.0464, 0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cd4be2161f3ea6360b2940f485cbd52a9a1b065bc2252a7173831c38a8bad18",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:910dc352663b67ae8b2062952780ef40529b0fc003047b33a80a2da7d0f1fc0e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eec0a6e297e24e333e308678ef7791d9945e8ecfce91857d747c3c2d47cbd685",
      "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 · 4.442 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 26 changed as sent

message 34 changed as sent

message 38 changed as sent

message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4244, -0.0139, -0.0269, 0.9938, -0.1349, 1.4288, 0.3153, 0.6498, -0.0757, -0.1581, 0.999]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1701 left_yaw=-0.0017 left_pitch=-0.0553 left_roll=0.0032 left_gripper=0.9938 right_x=0.364 right_y=-0.0323 right_z=0.0701 right_yaw=0.0096 right_pitch=0.1033 right_roll=-0.0949 right_gripper=0.999\nstate[joint_eff]: [-0.0068, -1.2376, 6.9949, 1.6777, -0.0464, -0.0122, -0.0171, -0.3897, -4.7111, 6.2154, 1.8828, 0.0562, 0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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, 0.8463, 0.6472, -0.4881, -0.0139, -0.0307, 0.9937, -0.0231, 1.5017, 0.7498, 0.1463, -0.0391, -0.0528, 0.999]\nstate[eef_state]: left_x=0.2879 left_y=-0.0003 left_z=0.1637 left_yaw=0.0005 left_pitch=-0.119 left_roll=0.0015 left_gripper=0.9937 right_x=0.4247 right_y=0.0007 right_z=0.1116 right_yaw=0.0332 right_pitch=-0.0366 right_roll=-0.0086 right_gripper=0.999\nstate[joint_eff]: [-0.1299, -1.6342, 7.0769, 1.746, -0.0464, -0.0562, -0.0171, -0.3761, -6.6256, 8.9231, 1.9902, -0.0855, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8471, 0.6472, -0.4919, -0.0135, -0.0307, 0.9938, -0.0246, 1.805, 0.7673, 0.4404, -0.0425, -0.0639, 0.999]\nstate[eef_state]: left_x=0.2874 left_y=-0.0003 left_z=0.1628 left_yaw=0.0001 left_pitch=-0.1236 left_roll=0.0013 left_gripper=0.9938 right_x=0.4616 right_y=-0.0003 right_z=0.0498 right_yaw=0.0405 right_pitch=-0.0282 right_roll=-0.0163 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -1.347, 6.9812, 1.707, -0.0269, -0.0171, -0.0122, -0.6632, -6.612, 5.6, 1.4383, -0.0464, 0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cd4be2161f3ea6360b2940f485cbd52a9a1b065bc2252a7173831c38a8bad18",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:910dc352663b67ae8b2062952780ef40529b0fc003047b33a80a2da7d0f1fc0e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eec0a6e297e24e333e308678ef7791d9945e8ecfce91857d747c3c2d47cbd685",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The open jaws are down beside the pear, which is now mostly below the wrist view. I’m closing to grasp it, then I’ll check the jaw spacing and lift.\"}",
  "call_id": "call_qDTZMqEcixxgAR3yni0KJnxM",
  "id": "fc_0bf2da72686913b1016ab45da9b90087d0b3fab5656754ed77",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qDTZMqEcixxgAR3yni0KJnxM",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8471, 0.6472, -0.4919, -0.0139, -0.0307, 0.9937, -0.0235, 1.8091, 0.7681, 0.4358, -0.0429, -0.0704, 0.009]\nstate[eef_state]: left_x=0.2874 left_y=-0.0003 left_z=0.1628 left_yaw=0.0005 left_pitch=-0.1236 left_roll=0.0016 left_gripper=0.9937 right_x=0.461 right_y=0.0004 right_z=0.0473 right_yaw=0.0455 right_pitch=-0.0363 right_roll=-0.0209 right_gripper=0.009\nstate[joint_eff]: [-0.0889, -1.5248, 6.9402, 1.6484, -0.0562, -0.0757, -0.0171, -0.1436, -8.5538, 5.3402, 1.7656, -0.0464, 0.0415, 0.735]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8dc9a97ca676f5cbeb4332c8da39b3634d00b2285f4fee733898ac982d5049c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:111255ecbe0bc18393ea28170cf7681bb511ddec64b375073eb8ee33137ff82a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e529d399f4378b4c43b77a1346821281e43fdbb3de7979db55e974af49bd29a",
      "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 · 3.409 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 30 changed as sent

message 38 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, 0.8417, 0.6476, -0.4755, -0.0139, -0.0307, 0.9938, 0.0898, 0.9386, 0.5468, -0.1558, 0.0566, 0.012, 0.999]\nstate[eef_state]: left_x=0.2897 left_y=-0.0003 left_z=0.1675 left_yaw=0.0004 left_pitch=-0.1015 left_roll=0.0011 left_gripper=0.9938 right_x=0.3232 right_y=0.0227 right_z=0.1587 right_yaw=0.0305 right_pitch=0.0218 right_roll=-0.0063 right_gripper=0.999\nstate[joint_eff]: [0.1573, -1.4291, 9.6479, 1.7753, -0.0611, -0.0317, -0.0122, -0.2667, -2.6051, 8.7453, 1.873, 0.1294, 0.1343, -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 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8471, 0.6472, -0.4919, -0.0135, -0.0307, 0.9938, -0.0246, 1.805, 0.7673, 0.4404, -0.0425, -0.0639, 0.999]\nstate[eef_state]: left_x=0.2874 left_y=-0.0003 left_z=0.1628 left_yaw=0.0001 left_pitch=-0.1236 left_roll=0.0013 left_gripper=0.9938 right_x=0.4616 right_y=-0.0003 right_z=0.0498 right_yaw=0.0405 right_pitch=-0.0282 right_roll=-0.0163 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -1.347, 6.9812, 1.707, -0.0269, -0.0171, -0.0122, -0.6632, -6.612, 5.6, 1.4383, -0.0464, 0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8471, 0.6472, -0.4919, -0.0139, -0.0307, 0.9937, -0.0235, 1.8091, 0.7681, 0.4358, -0.0429, -0.0704, 0.009]\nstate[eef_state]: left_x=0.2874 left_y=-0.0003 left_z=0.1628 left_yaw=0.0005 left_pitch=-0.1236 left_roll=0.0016 left_gripper=0.9937 right_x=0.461 right_y=0.0004 right_z=0.0473 right_yaw=0.0455 right_pitch=-0.0363 right_roll=-0.0209 right_gripper=0.009\nstate[joint_eff]: [-0.0889, -1.5248, 6.9402, 1.6484, -0.0562, -0.0757, -0.0171, -0.1436, -8.5538, 5.3402, 1.7656, -0.0464, 0.0415, 0.735]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8dc9a97ca676f5cbeb4332c8da39b3634d00b2285f4fee733898ac982d5049c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:111255ecbe0bc18393ea28170cf7681bb511ddec64b375073eb8ee33137ff82a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e529d399f4378b4c43b77a1346821281e43fdbb3de7979db55e974af49bd29a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF2veYvpOO_vnt1L7Vm99kYSeTGpit7uX1TBJoH5eFdM94dqZIOAG5cs2v5P6UIYe8unpsEcWWAatqcMB4eCogZNy8-o2hzces5a0sA3wVqpldjqm2b7_SK5Y3ziT-vjhkNyIm2HmHWxrOYHHvBVbLEi0HeH9hyFX00LFK8tKw8jbAlJGZqdTp4JxCT_IDYUhMOeza3lxYB3fTIfF28qZyTSYY91pI5rZKPrXX8O-aHMRSl6WthOOlsjRBHZcy5to6YNyA4CykWBGL_RxrzBCs4k_pc7pI2P9IeLbnphQV-ClfCbhgeLSNlFyqE8OwdefriXTgMmgj0HQZ8AjQWRqsDpmspigCtKsC4VP4u_cfF93WWOyM1M0bXxo7RwPZ4YE-zaWW6OYHwVqIrfJMVE_MyHCI2NxblxPq45UjHqfk7jylEWiTeaNCvSjEKNiOnv44k5eQ3vol_snpz2zz2Mql-guIkQL8B0PDf5x_7p3zv1Cmnci1CgqxVVl8RA6YjQIuMWy-ghCB_tOLwkLSSaKHPmdemUQHH1fRMoc5RdsCp6zQ3rigd7T8UUUsO2zvb7CTSyjRRjnvCDxtmY_SZ73iWNAFSegMeXD0oKaaIdqZI9mOSbi6lED_fIRuCxTTOmkm_CrSdg10gvmuoR8sVsrgOhMD8b5ArHZS5JoEPhn89zaUpS5itwReL80rIjEz8YcfrWBHJREL_CmCe24p0LSh7GwPRLajaBfkVvAe2BelUig4Q_FZrJJQbSLzVCllmEkUQbwvZBZXWz5AaIMtoHC1k5Oqu_8QL68_-XPGpYvgnGOFdJIbP3KSV4mmTZcXguYyCstNRdXRjCAykf90YVVhTSlbTGTwIoCoceLk3ac6F59xDGQCUL5eZ2NuXzA6KRi-pRbwbs9kzHIExXLKAQ4DbJlcTHyH7brb-2eEATnCOfbpeNuFc2jM4LPJsFngX6GLIA3BJWoiYM3WxJoR1pJmZCnPYYdJr-aZ9PI9TDR3cDtO87aW4Yvwo1fbkgVZqLHsWPVk903j2jyLNRopF_mcLcKEnxN_v_oAuRJhPJsNMvA8dNTQAFs7bJjG5AXTXYX_95T1CsdhCqlhWZtxkUCnMUp-c3HmREOzSJFLGgJUxrZXXmDDlwvW3gk0E0obIp6swnTfr7_ui26RjROExOcQVF0k75NSeI-xXLgQ-bH-aL3peKhdZOkgCONgt2-3PFLZAI6GhxYA_W0FXW00MP1OMCryha6-vgTXmNi09M19WH1Vi_MEzGMYLAFwGDwYEsJBVMRYa-_xZOZnqb4ljcB03tMOtotImJjmv630gAzgPzuJIQQO4FHVBRTa2w5R6rsdOg0H8GXUk5AISr0BckZDKx1og4Q8qzz6SMfj-jHBZJEoASJnjbA0RgQ_WkXeJ4m9XC3oS3Lvz33qId--jx3FgA22bAdEvDuO3LrTjA7CTpPHYNqug8xc2r_FIsbo9R7wAba3omYn6iRo5frgbvVV10uYefgmFnUh_gM-Ln9vuvgZFId3cViZ7KnrigBWT9ZntQme-wcZ_IQNWvfU1cQ7pT2FM9MaQGXEmAwThsy0tfVFiVNf-mk5b-zz0BYzYb8QvGaJL4cQHbs6JqUwcUeyV223Hr0Ddt3Gju6jExa9_QUz2U7syt9lUxb4HtZmi_Zn8XRSYVE8uXUil2iA7uc4CCqNtwX7RttPH27P5w8EmgQn9avUPOii1kDpJ8aYIKLZTfdtbjuO4FRqTOBJlbpTHxzgnxGD-zFMrFejGltBAmoCL14RXndrXPM2aHD8tsQzcP7Vu2Y7uzEICxXu1NxOmtbiZaL3nOEO-PjDeOvvzbuUo=",
  "id": "rs_0bf2da72686913b1016ab45daca8d487d08f4ad9d24d1c24f8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.44,\"right_y\":-0.015,\"right_z\":0.025},\"note\":\"The gripper closed empty. The pear is just behind and to the right of the fingertips, so I’m reopening and shifting back slightly for one corrected grasp.\"}",
  "call_id": "call_VEot90PFr3s1KFHY50QeBE7T",
  "id": "fc_0bf2da72686913b1016ab45daee43887d0b5e78cd60c897936",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VEot90PFr3s1KFHY50QeBE7T",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8471, 0.6468, -0.4927, -0.0139, -0.0307, 0.9937, -0.0696, 1.8091, 0.6773, 0.5804, -0.0849, -0.1009, 0.9954]\nstate[eef_state]: left_x=0.2872 left_y=-0.0003 left_z=0.1624 left_yaw=0.0005 left_pitch=-0.1247 left_roll=0.0016 left_gripper=0.9937 right_x=0.4507 right_y=-0.0128 right_z=0.0435 right_yaw=0.0511 right_pitch=0.0189 right_roll=-0.0288 right_gripper=0.9954\nstate[joint_eff]: [-0.1709, -1.4974, 6.9402, 1.6044, -0.0562, -0.0464, -0.0122, -0.8137, -6.5299, 4.0274, 1.6239, -0.0464, 0.0171, -0.0317]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:056e84fed221684bfa642723904a870b1734d4c21b345f46fd0074738a32c203",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37fa795eb0d95487ad5e2ebf3999c978db024e38a63aa497cdce98ee018fea47",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7b2f8c4c7b94f3605da7974499634a301fd1966d95681cee73c90eeb638d44e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 3.127 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, 0.8463, 0.6472, -0.4881, -0.0139, -0.0307, 0.9937, -0.0231, 1.5017, 0.7498, 0.1463, -0.0391, -0.0528, 0.999]\nstate[eef_state]: left_x=0.2879 left_y=-0.0003 left_z=0.1637 left_yaw=0.0005 left_pitch=-0.119 left_roll=0.0015 left_gripper=0.9937 right_x=0.4247 right_y=0.0007 right_z=0.1116 right_yaw=0.0332 right_pitch=-0.0366 right_roll=-0.0086 right_gripper=0.999\nstate[joint_eff]: [-0.1299, -1.6342, 7.0769, 1.746, -0.0464, -0.0562, -0.0171, -0.3761, -6.6256, 8.9231, 1.9902, -0.0855, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8471, 0.6472, -0.4919, -0.0139, -0.0307, 0.9937, -0.0235, 1.8091, 0.7681, 0.4358, -0.0429, -0.0704, 0.009]\nstate[eef_state]: left_x=0.2874 left_y=-0.0003 left_z=0.1628 left_yaw=0.0005 left_pitch=-0.1236 left_roll=0.0016 left_gripper=0.9937 right_x=0.461 right_y=0.0004 right_z=0.0473 right_yaw=0.0455 right_pitch=-0.0363 right_roll=-0.0209 right_gripper=0.009\nstate[joint_eff]: [-0.0889, -1.5248, 6.9402, 1.6484, -0.0562, -0.0757, -0.0171, -0.1436, -8.5538, 5.3402, 1.7656, -0.0464, 0.0415, 0.735]",
      "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]: [-0.0219, 0.8471, 0.6468, -0.4927, -0.0139, -0.0307, 0.9937, -0.0696, 1.8091, 0.6773, 0.5804, -0.0849, -0.1009, 0.9954]\nstate[eef_state]: left_x=0.2872 left_y=-0.0003 left_z=0.1624 left_yaw=0.0005 left_pitch=-0.1247 left_roll=0.0016 left_gripper=0.9937 right_x=0.4507 right_y=-0.0128 right_z=0.0435 right_yaw=0.0511 right_pitch=0.0189 right_roll=-0.0288 right_gripper=0.9954\nstate[joint_eff]: [-0.1709, -1.4974, 6.9402, 1.6044, -0.0562, -0.0464, -0.0122, -0.8137, -6.5299, 4.0274, 1.6239, -0.0464, 0.0171, -0.0317]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:056e84fed221684bfa642723904a870b1734d4c21b345f46fd0074738a32c203",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37fa795eb0d95487ad5e2ebf3999c978db024e38a63aa497cdce98ee018fea47",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7b2f8c4c7b94f3605da7974499634a301fd1966d95681cee73c90eeb638d44e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF20jOE33kOhkWqlLYOsm3y51rY573g9uBuyM4Bcx_Au3NvUJAtndmHyJxx4esp8iNuMsH0juptOsS3NmlkHN5lwdydEWi75PwcfnXBYShQ1pPZDMELvJXJSIqJf_O8OsaI_srfibZ7PPEBPQqlTjh7_UjL_l2zL_laHfP1Depc57OLilGiwLHFuWMtV6WUXez6Hf_xrEn-qFkTzp_aCvmk9I1XHy_B4uNqhhuUHBFDru2LuVi4LUAuGm9x4Zc02d8Q_KiwyvPCW9pJkM9Ja-TZw4hFw9CwzIP_KW4B3LCoPkjWp4UfnOUF-mdWnc8pjV2A5T53cQtFzFbx3Q8QWbZquQ-EezJErdAlG6oh0DuAYp81Yhdg9thW9l8eoiJAODGY_jG8TMq5XHmBh8DTdcFeJO77cwt0qOjPvWihx4WJ37yRhjVbeuzLRYYp0KaDJW4VAR1rUA0CyPcDkuIe-7_f9z4K3pbLUzRWrdaFhy4jIZPtqJgcRUNxZkQtd5oVqnFsdenBLix0riX6bqioUvaVClm0bMAPLVgcRzGtS3G2aV274JS-D7awD--LWK9wqlNJ2j1LoGoh-VVst-1bv1K_pDH_zSgmbMCKYEuw7UyxCqbVH_MXCqFZcVuUynJ3rEXYLpdbLlvQqMnCKnyLsjVV3pI4EbKcPWvxFGKtv44AKhzbACkepy1Nh5QhBTkYa8FQ66WIqM_sj8fNfyASchvk5WEc_fOOKBxIBswxi2V97AgpGnvKkAjJtC9u-jk8tRN_EakpltSEeEn00y9VymPE99sgvNoPakj32cvJ6bhorXBbAe5APIhoLfJQKeH4jxL6_D2TTha3HcIBLJc-k41l15iL9dnbBVOKwE9-neclIB6vDLv-evVc8yKw7APbwCvQyg3GMZ-AnhuNFIY6fqwQ-VuRlPl7fZGoTCXFTU08lwfGYQWCMeP5S9PIDlb5Lp0bclI3M76Q0pg2B8T9dJcQdMJ-jymCa3PTDYbPmHk5D6cOvP-wV-39Yjq6_Vb40bS434li2Zw1giWFgoPbC8BhCCPkxW9a9WecsorKub0A4RHulZ-eQloYOGx-TD1nR1pT9kkRSxQIh2mM1zkYvr4mXJ6sTl4Oe7CndrZTl-8XP_08ZoTju5V45Xt_frGCA4gfcUM8iJGJM8e6KT3HeFZWd40mph_ypAyuIxwIwyLqNRMStAGGm8c5RjNiAFiOJhfjwZy4x0QXJfO0qko6aDv-csLPo9iLJCpl4sbFKWc7cGt17phmgWInLQ4WCEQwVPEMoXFlZSzJqv9db3cj6q511x5OdN1iIw_hhxGgr8ctaw0x5eHUaK_wQFakoS-wT9orcMO9uhduf1YimjOtHYnuUUS8E_lpA7nXcYI-07ePOoGRAZii6GLT3zzkarDTR6O9koeatLkUx3aPfKjqyZ4n54LEQ3RaW06lkBjfB1PdzF9EgU61NTEZyNg7olcUmWRg6CASiFNeBe5WgbBoskPhZORup6-oAIKdpOoRpt6mMg54=",
  "id": "rs_0bf2da72686913b1016ab45db218f887d083e44203f43bffba",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The corrected approach has the pear centred between the open jaws at the bottom of the wrist view. I’m closing again to test this grasp.\"}",
  "call_id": "call_F3bT3C8uerKAScEttwcEeBbS",
  "id": "fc_0bf2da72686913b1016ab45db351a087d0aa7bfa421e11eafe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_F3bT3C8uerKAScEttwcEeBbS",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8471, 0.6472, -0.4934, -0.0139, -0.0307, 0.9937, -0.0731, 1.8145, 0.6674, 0.5713, -0.0837, -0.1062, 0.0086]\nstate[eef_state]: left_x=0.2871 left_y=-0.0003 left_z=0.1625 left_yaw=0.0005 left_pitch=-0.1251 left_roll=0.0016 left_gripper=0.9937 right_x=0.4458 right_y=-0.0142 right_z=0.0357 right_yaw=0.0495 right_pitch=-0.0055 right_roll=-0.0309 right_gripper=0.0086\nstate[joint_eff]: [-0.1026, -1.5385, 6.9128, 1.6239, -0.0513, -0.0464, -0.0122, 0.1436, -8.3897, 5.8462, 1.8486, -0.0366, 0.0317, 0.7302]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01d7cfc9ffe6915fc6bf025593e30ab49c3cb7d1d988ffef84c49c5b62270baf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65915e6a5899900c98201aebb5c80f5d1e149777bf0e8219e86c6c64b8990c4f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:597c892048c6798a8fc59c99a8cd709f5cec9664b01bbcf02cf3dc6f67ffd766",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 3.923 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 38 changed as sent

message 45 changed as sent

message 49 changed as sent

message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8471, 0.6472, -0.4919, -0.0135, -0.0307, 0.9938, -0.0246, 1.805, 0.7673, 0.4404, -0.0425, -0.0639, 0.999]\nstate[eef_state]: left_x=0.2874 left_y=-0.0003 left_z=0.1628 left_yaw=0.0001 left_pitch=-0.1236 left_roll=0.0013 left_gripper=0.9938 right_x=0.4616 right_y=-0.0003 right_z=0.0498 right_yaw=0.0405 right_pitch=-0.0282 right_roll=-0.0163 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -1.347, 6.9812, 1.707, -0.0269, -0.0171, -0.0122, -0.6632, -6.612, 5.6, 1.4383, -0.0464, 0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0219, 0.8471, 0.6468, -0.4927, -0.0139, -0.0307, 0.9937, -0.0696, 1.8091, 0.6773, 0.5804, -0.0849, -0.1009, 0.9954]\nstate[eef_state]: left_x=0.2872 left_y=-0.0003 left_z=0.1624 left_yaw=0.0005 left_pitch=-0.1247 left_roll=0.0016 left_gripper=0.9937 right_x=0.4507 right_y=-0.0128 right_z=0.0435 right_yaw=0.0511 right_pitch=0.0189 right_roll=-0.0288 right_gripper=0.9954\nstate[joint_eff]: [-0.1709, -1.4974, 6.9402, 1.6044, -0.0562, -0.0464, -0.0122, -0.8137, -6.5299, 4.0274, 1.6239, -0.0464, 0.0171, -0.0317]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8471, 0.6472, -0.4934, -0.0139, -0.0307, 0.9937, -0.0731, 1.8145, 0.6674, 0.5713, -0.0837, -0.1062, 0.0086]\nstate[eef_state]: left_x=0.2871 left_y=-0.0003 left_z=0.1625 left_yaw=0.0005 left_pitch=-0.1251 left_roll=0.0016 left_gripper=0.9937 right_x=0.4458 right_y=-0.0142 right_z=0.0357 right_yaw=0.0495 right_pitch=-0.0055 right_roll=-0.0309 right_gripper=0.0086\nstate[joint_eff]: [-0.1026, -1.5385, 6.9128, 1.6239, -0.0513, -0.0464, -0.0122, 0.1436, -8.3897, 5.8462, 1.8486, -0.0366, 0.0317, 0.7302]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01d7cfc9ffe6915fc6bf025593e30ab49c3cb7d1d988ffef84c49c5b62270baf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65915e6a5899900c98201aebb5c80f5d1e149777bf0e8219e86c6c64b8990c4f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:597c892048c6798a8fc59c99a8cd709f5cec9664b01bbcf02cf3dc6f67ffd766",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF24-TyxDiEyQHPBsWPDNDHs-5alD-kFWq3k5IF9p2wX-cHZxt5k8e-4OZ4zmk3dqkqKJBPAbmPoMY0qWr4Nh2KBbWoAUwZchFxX1NF46JQ0y-6wiAxLI6MVdqsSdFxSJlm7ckHuWPVcb4tnPSICLzhwz1JkBGwyMOMGZouUdK_kB11iw-lLmJIWazhAbHDhLcCNykdwk-zMF-rkpJFDWduahjJc7emo2XDQGCqVm6dCGo9vF3Ckle7eNcjF3hZ7ztmw6hcJfSkeMy-8ROWmaCd_fIDc1SDGxwQKkKNCSFMGFaY1wQp2Lx380-ZUsOHtt1ZUYIgq2hiuDPrUzWLTqilMAp5JrfF0AtEg28k0gbJwIwpGxM0VgG3GQ7RNNHH_rqXqGlNAVxVDiro1OLtm0WnVbspD-dJyKj_-cXnbKyckSV_zKBWsfqCs_hNYgFtKFifRuwXvqbHzYvLauPf5MvWqeuiH6cr701_pHEPTuv-ye5-xxbiaNKptHPZNiPms_9o9o5xhomdE7wxM9qs0WAnbO_VcHlP8SasNHmRWWoUwokAKmw7bNwOCIdC6rOVj1_-_ANmGitrfa8HdQEvLl7yjv3YzyTgdwDOzLUZOx30O2U5XUk028B1qpfUQ2M1-OpkO2dekdOnM2SZHJ5rioexgdWtA4TQVGwRw3bVk4jzEcmIHBEPwCETVxCIAhKedD-E9nzhWDUzL_BgiCKYtfPDZz2Mu1KNLAQuQ8-3Uvuru-VQZyVQmcn20Nl1TY5-xMpmZUsdpyzJ0MSSPzQxijHte13nxkhPfHT7WgS6Zd1mwNApVoyxgdC15_PTRUYN55A21Cspu-nGs_OF5bK0sWZra0hi65P9Xqs9AcR8qIIAsjc7ejWJ0B2AN1eBIvgKg7iXf-SVaXLJHcGG7Bxq6Oi2yZ92EDsxgEYDUY_9YuZIv5RWUVNqw_V1bVdKkoW3dEQxTF91rnydGSzaZnMzCfc677QfmKi2f1lsCs8qTKDzW7y9aQvGgGh7S6FeaO6MXemtAIyHHI3VWvUbhyYI9SrZkdecLiKWVX7SCuFO82DzGAWPqBTU2k4dN3Z7FZAWB1ADCJrRy5aD7mJ9MpuyigfWuD4Gt_cH1pJZFGwHJKj0KtiOXLMyA71AScrO-_ltUH1Z3MQrm31_vR3ZOohB5rP3VAzZb4MCXcivfbHcp37cSy19Fn-A_q2EtFOPnzw9x3B2lbP34no_mxvq8FeQNGiio9ZXn0WFyUc_0N2jwv8JYpFKSw8DTaABmGuksHnvbYVZo6sTxI4bOtnO6ETxqImSfgw2UXd1zmIc6FaolzBlp3vQ=",
  "id": "rs_0bf2da72686913b1016ab45db68dd887d0bd166c0b1d770bb7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.30,\"right_y\":0.07,\"right_z\":0.20,\"right_gripper\":1},\"note\":\"The second close was also empty, so I won’t repeat that approach. I’m lifting away to expose the pear in the overhead view and reassess its position.\"}",
  "call_id": "call_qNJaElLd9W8bxZTfoZH7kM1C",
  "id": "fc_0bf2da72686913b1016ab45db725c487d09800a25f0759a0e7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qNJaElLd9W8bxZTfoZH7kM1C",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8528, 0.6468, -0.498, -0.0139, -0.0303, 0.9937, 0.3916, 0.9062, 0.7036, -0.4122, 0.2752, 0.1246, 0.9983]\nstate[eef_state]: left_x=0.2866 left_y=-0.0002 left_z=0.1599 left_yaw=0.0003 left_pitch=-0.1358 left_roll=0.0022 left_gripper=0.9937 right_x=0.2993 right_y=0.0755 right_z=0.191 right_yaw=0.0886 right_pitch=-0.0206 right_roll=-0.0414 right_gripper=0.9983\nstate[joint_eff]: [-0.253, -1.5658, 6.9402, 1.663, -0.0122, -0.0513, -0.0122, -0.335, -2.1538, 9.1145, 1.5946, 0.1441, 0.2418, -0.188]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19e90f725b17a71a7e53928a97d73eb7fedac941e09af51d935398fe39b56c83",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc5e670746708656866474112bef100658eb0c996d8202e740eed21fa7eb36fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcbcda0f9deb152029ce7686549815ce6bd1dc5f0c2aaff9ee12665d4c2db610",
      "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 · 10.37 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 41 changed as sent

message 49 changed as sent

message 53 changed as sent

message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8471, 0.6472, -0.4919, -0.0139, -0.0307, 0.9937, -0.0235, 1.8091, 0.7681, 0.4358, -0.0429, -0.0704, 0.009]\nstate[eef_state]: left_x=0.2874 left_y=-0.0003 left_z=0.1628 left_yaw=0.0005 left_pitch=-0.1236 left_roll=0.0016 left_gripper=0.9937 right_x=0.461 right_y=0.0004 right_z=0.0473 right_yaw=0.0455 right_pitch=-0.0363 right_roll=-0.0209 right_gripper=0.009\nstate[joint_eff]: [-0.0889, -1.5248, 6.9402, 1.6484, -0.0562, -0.0757, -0.0171, -0.1436, -8.5538, 5.3402, 1.7656, -0.0464, 0.0415, 0.735]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8471, 0.6472, -0.4934, -0.0139, -0.0307, 0.9937, -0.0731, 1.8145, 0.6674, 0.5713, -0.0837, -0.1062, 0.0086]\nstate[eef_state]: left_x=0.2871 left_y=-0.0003 left_z=0.1625 left_yaw=0.0005 left_pitch=-0.1251 left_roll=0.0016 left_gripper=0.9937 right_x=0.4458 right_y=-0.0142 right_z=0.0357 right_yaw=0.0495 right_pitch=-0.0055 right_roll=-0.0309 right_gripper=0.0086\nstate[joint_eff]: [-0.1026, -1.5385, 6.9128, 1.6239, -0.0513, -0.0464, -0.0122, 0.1436, -8.3897, 5.8462, 1.8486, -0.0366, 0.0317, 0.7302]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8528, 0.6468, -0.498, -0.0139, -0.0303, 0.9937, 0.3916, 0.9062, 0.7036, -0.4122, 0.2752, 0.1246, 0.9983]\nstate[eef_state]: left_x=0.2866 left_y=-0.0002 left_z=0.1599 left_yaw=0.0003 left_pitch=-0.1358 left_roll=0.0022 left_gripper=0.9937 right_x=0.2993 right_y=0.0755 right_z=0.191 right_yaw=0.0886 right_pitch=-0.0206 right_roll=-0.0414 right_gripper=0.9983\nstate[joint_eff]: [-0.253, -1.5658, 6.9402, 1.663, -0.0122, -0.0513, -0.0122, -0.335, -2.1538, 9.1145, 1.5946, 0.1441, 0.2418, -0.188]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19e90f725b17a71a7e53928a97d73eb7fedac941e09af51d935398fe39b56c83",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc5e670746708656866474112bef100658eb0c996d8202e740eed21fa7eb36fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcbcda0f9deb152029ce7686549815ce6bd1dc5f0c2aaff9ee12665d4c2db610",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF2-vjvZdw226WqJeFn5TCkKfT-JOP5Ks89h2w_GCC-KqD7hJPZPAEbdC6ilQwgzzQihbjJnYVF39RsIlTXkXdXIdpPm0-XS3LBWOEprH65UVgwVnwtAD4_JtvjHjm7Gxdyd1s-duG3jiLiGP1WdJPlTihTFxJeKhOgCH-xCHyD7QsKss13auJKZChYFo5lf-5_nqidfhogat7MxX9NO3A8oLy0hzyAURa6czGKy-bK6Ut1CDvsRkFvxqk-WQj2wuUm_mihjK3j8n-p6qFUpqYEt30soTrN54Gx-02U1AlEAow2hywmqU2HMxgmHubBUrRZwHrVV3_ih5YfvqbezCpT26cJehrlLXKW7DBdDo_wQYXK2YMlTKXWHqllis1zyB3fecaRIkrrPSTtvc5vuWLK39oEdXPRwna2CVoMA28EEclUSepAVLMOfZBI55zcMTKGhWFg-uwvEaKbkSpIyrM8OAotlFhSPHovJlsLSXBWjnxKJFHTpZmY-2D-FI5_PMVVLGDPbPmXyWoqaeoU2S0bb1l4qvvsqIDCn17Jq0GH14tTO5PMuuSMUTHKEb6mCdkBBGyCSX8nMcjD0AxfCkPtA4yMaCh5wCZQEQFmE4xDhQ_OdXe_o859VWE73ABgXN6111uHkRzOXAcu0No_sGkx9Fm7rAEwarwmphC9AmEyr1kwXWgno2Lia-leeEBOcuD_JgZDQQwA3FhkZDpXOw0uU6gV1Lv06lNOmINFYaGB_RrWc_E33yxkp75V1wzfsbOggFVDkkOHaLEtfOQ8MTvsWQrbS1_pxx8_UfuA6kIuUnUQlzGMH4wSmRSWJkG5fhvqOUnyT_X2ICxxZkZzjrtUkPAFC6cv4BImSzuzV9F6dhTFufA6dhRUsQdGbk3yCD98wO2-hVC5zBGC5GEtmrqudt3xNyf-IZ8CmWItxlNcyA6mdM-A5BH1Oy-wp-fbu2JG8cbY2qP_P5G4MGodjf8tQjKazcmT0DQ-i72wCumw81MYGndS5Twzyuac8eJX9qX7t88KMVjuYd8CiwOu1YFvZ0YY2i7gUU0izddUnS99TyND--OoHmiAWfswNWpW560jr0V6ZtOXlwSgvzSxKOOykU-pDEkfRR5Hu1U-Efbv3bQIDSQxORj5rvbGFcHtyGFjZW9SETIiRPEJROWOYBdWZA4txDtyThqITzL33EwondpKQcn6oVpzMIc8qTUKoFMH1pG45xLesS8G2y7YNmf7npcfLw2eXM3SXlRYpc4npfNlXKvZ85JDIMw6JkCQLnPWBxE1VZ3Jo-MJMRQ-qojuFXgPQJ3pp2uRTTPtP70KaVyWCBLYoi0QQKxIPrPA1OT9a4ynVeI2B3YxxDoiTMlAI5SoRINxfBnOqFBt5gs84P-WY1xE6k89Oi1diemX01sRaBj5hNWN3jHqNQ-VEEhX1O0KLAUesi8PdD8F98sQatKsNAA1uDV7pK4f3o5dVrOx1jm_Msax_cgDeUqiNZpo7AjjiVdPTfDu01m5xFr7U1Ppr8G2lLNCrJhkbuQ5EN4xKJdoU5A4w3MUKvPphTUyCLvWc06ICqwAvBTDBKPUY9oCr9ddjdRfGbciI9PAOzL4c9EEF782niXksBpQGAPsWmw==",
  "id": "rs_0bf2da72686913b1016ab45dbc2d2c87d09820b519118d62e2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.33,\"left_z\":0.15,\"left_gripper\":1,\"right_x\":0.25,\"right_y\":-0.04,\"right_z\":0.25},\"note\":\"Both fruits are still on the table. I’m parking the right arm clear and bringing the left gripper toward the yellow fruit; this will also uncover the pear’s position.\"}",
  "call_id": "call_FBKPh8y0OL5W39ZY5JlCUxtn",
  "id": "fc_0bf2da72686913b1016ab45dbd58d887d0b2d7c37a36613d8c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FBKPh8y0OL5W39ZY5JlCUxtn",
  "output": [
    {
      "text": "executing move_to over 30 steps (3.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9291, 1.9453, 1.5398, -0.569, -0.6373, -0.7341, 0.9944, -0.4576, 0.749, 0.8772, -0.8124, -0.3889, -0.3531, 0.9983]\nstate[eef_state]: left_x=0.3771 left_y=-0.323 left_z=0.1409 left_yaw=-0.0055 left_pitch=-0.1594 left_roll=0.0054 left_gripper=0.9944 right_x=0.2492 right_y=-0.0441 right_z=0.2351 right_yaw=0.0523 right_pitch=-0.0566 right_roll=-0.0307 right_gripper=0.9983\nstate[joint_eff]: [-0.7453, -10.3726, 8.3487, 1.0867, -0.5885, -0.0708, -0.3443, -0.2667, 0.0479, 9.4427, 1.6972, -0.3492, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c76075ff648c41e7ef09592f4896a4ac4ed72b5d4ed501946330d1eaacec0ba2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be6a3fa0d0eca82ed31d6cfcb0283dc8c8df5d2067bcd1d86ef834f2c2c2fcd3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74d97b1831003a020eaf8f90346b57cdd6d6120d03dfd7ccd5ddb3cd85b4a8cc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 4.058 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 45 changed as sent

message 53 changed as sent

message 57 changed as sent

message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8471, 0.6468, -0.4927, -0.0139, -0.0307, 0.9937, -0.0696, 1.8091, 0.6773, 0.5804, -0.0849, -0.1009, 0.9954]\nstate[eef_state]: left_x=0.2872 left_y=-0.0003 left_z=0.1624 left_yaw=0.0005 left_pitch=-0.1247 left_roll=0.0016 left_gripper=0.9937 right_x=0.4507 right_y=-0.0128 right_z=0.0435 right_yaw=0.0511 right_pitch=0.0189 right_roll=-0.0288 right_gripper=0.9954\nstate[joint_eff]: [-0.1709, -1.4974, 6.9402, 1.6044, -0.0562, -0.0464, -0.0122, -0.8137, -6.5299, 4.0274, 1.6239, -0.0464, 0.0171, -0.0317]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8528, 0.6468, -0.498, -0.0139, -0.0303, 0.9937, 0.3916, 0.9062, 0.7036, -0.4122, 0.2752, 0.1246, 0.9983]\nstate[eef_state]: left_x=0.2866 left_y=-0.0002 left_z=0.1599 left_yaw=0.0003 left_pitch=-0.1358 left_roll=0.0022 left_gripper=0.9937 right_x=0.2993 right_y=0.0755 right_z=0.191 right_yaw=0.0886 right_pitch=-0.0206 right_roll=-0.0414 right_gripper=0.9983\nstate[joint_eff]: [-0.253, -1.5658, 6.9402, 1.663, -0.0122, -0.0513, -0.0122, -0.335, -2.1538, 9.1145, 1.5946, 0.1441, 0.2418, -0.188]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9291, 1.9453, 1.5398, -0.569, -0.6373, -0.7341, 0.9944, -0.4576, 0.749, 0.8772, -0.8124, -0.3889, -0.3531, 0.9983]\nstate[eef_state]: left_x=0.3771 left_y=-0.323 left_z=0.1409 left_yaw=-0.0055 left_pitch=-0.1594 left_roll=0.0054 left_gripper=0.9944 right_x=0.2492 right_y=-0.0441 right_z=0.2351 right_yaw=0.0523 right_pitch=-0.0566 right_roll=-0.0307 right_gripper=0.9983\nstate[joint_eff]: [-0.7453, -10.3726, 8.3487, 1.0867, -0.5885, -0.0708, -0.3443, -0.2667, 0.0479, 9.4427, 1.6972, -0.3492, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c76075ff648c41e7ef09592f4896a4ac4ed72b5d4ed501946330d1eaacec0ba2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be6a3fa0d0eca82ed31d6cfcb0283dc8c8df5d2067bcd1d86ef834f2c2c2fcd3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74d97b1831003a020eaf8f90346b57cdd6d6120d03dfd7ccd5ddb3cd85b4a8cc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF3V0UdmtDJHzSVgiBzopjkUxwi68gckUjIrlmn-wyh1qoBhR281VU-5wrBLXrWyG92HKdF19lBVilIjdcPCsixgcuKBGSab3Ly_jx32tuH0yL2H8mBsQyNom3X0DgLQLHRffmeCas8B_bTbin4GVoFvo8RB7Sv3i-IxVgHfIAhX1UfTwWomzGSc5YE66fJ-PQtuX4DaQXLatL5n-z-qnXPbqRFODOLyuoTk2IIQ2qv15VhixD03NTBVlgIDYSHFe4CwjZ82ypE3Kg7UC4VJgbZas7auAXzsEHMxrSk3qNaCCE2mkj3-azMy91AmysPoLGBuQApb1iqdAssMfiUgwxhHSieH_UYBw1BqDSGl4MiVqbvQ5SMu3R6EfHZzQ4erTuCPof-n2CHGnv_AE2tgcrhqn-k0cvAb9PXMrC2hXbzr7Jtj4srJ-aZp2XqM5xFIWRIR1IaCryTKkV6zsUhQmK9e_hZxnVrvNYpxT9IAHzc5sbLPtwX7gR61fpy_sleqkV8kLLu1hSiQTQFCNsoMwUdQmN2ukS336xLkDc59elFt6Nk26sWmp-SQRg7d0MzG7DUcd9JTJe1kdR9oRZye6A-DlbseHgJBETOh-vED7BH0XOjxzLVXBTJk8UZq8fksLgDfWlKnkIHzEa5Xp8-zPv-ZZDQdI9cvkbmOkpqEpfRJfTolNVCvAbJfCxIOmpnhvNanrv4l3ibFuSGRW3BJX7CrmAIjY_PcUutzl8pJ0s5AbWAwR5aoXl_mlS_XYuYUrWvlo74Nl4TAVRqVp_8iYTpjbNvJJXW0yjFdmBLxLv8kcVmvnGuB0BG1IxBh_ohLm6gFoAN5rq07A8uJERAom6ODI9-uPUTEEADlrEvGFei5huVa8UWVFqi9uKjWsxZavdUhCsuG3GcUfbx7wqt0LymhgrlzZVZ-ffsUbGTxHSScKNpOElrBS5M9cuc-RD-262Kz6z_Hcgu3AWX2qCW_CktF8WL23fyk_YLVHbDxfON_J4zEg45KUChTJzQqOnBt7RdY6ldhE35vq_Nbs-tl72wB86OXku2kDIF3s9D3j0Z2yNSrF18tGn3viLqmphV9NBaUtMNs3n2pZGZODGITp3GqDaniJdp_gp80NncmwY2FMmUKzFhIXJ4V8RSOQ-JVbA7pM5v2_hseEl3TehobAMCCq4mE2F-H9i1-oHj-rxFNlQPvOR9KgvRrns1kFfSj9gi8YV7C0xOtHJPSAigj5JdaTeafhCQ0l_hTSQAcjZvLNW4uyPNdhv8TXUrcQg1EFfHOHUv-MIrwfy-uEXTEOHp4r_eOwXvCM7_C2KvJoN2fuUp5Pa_bbTnrPJ5SbIAOV0BZuBy7h8B1EX5uCQlqZ9_Be9rKhlnbrG1LW0CwKgGrhwRqF4wnEA6FiVdE-uIM9pnAiUlSX3Q3xdPBZnI_m0rKTu8KS-AYTVuoo7lhw1f7nNXO2j4WH9zNbi1FnmtiTocwHKaGgcMNt7ozQlz39rjpO35JHH75XgDJRYLkVln6YDOtgvtUMD50t1_KRPkkm7f6LzgeNI3m5f7dA1YslhWXf8RJCHIMuDN37w4NHU0VxunInYK3QWeHW5ZGW0KhBIru-p_dTgBqPFP5kCQFhi0FLzthuS5o1Wxe-cr717haheZ0cmkHx0EH9-Zk8ri_zQsc6ThgaYTxQU2VbhIcoQUqYFisi7uXF5Mp0XsOeG4Jn_25PUMgRaLPbuFeBAgRo5uWTqEsjH5Kboyxjj8v6Np0s-hAAyJ3MNKi9EwGDBYS4Gd643vox7B3qhDywsvzI-yKpIJsj8_4laj0ZjuEqfH3prHsZYbksKl4rz453wx35JZhPRO4E0O4G4nkRlS3MQqO6wKv8z9ucF-sL0ozbZlYWcolY6m-WTdwNAQcnPX3NviOTfgEOhPqx6LsECom05V10grBe5sSEbThKnpemHw_7zGmOmUznUS1I26ElbNLc-zt8xBY8cKPLhEtI5hnf-WH3dyw-Vr7x8nbCKAhlQMj7nzQd0W0JxIPevV1lx4fLUcFp7McijighpNzYOHtVw6Fn9f8GJ5pHaPrZSkWaw4KkJLGUandUxP9KeJyprQVrZxYcUT6u6Cp1_pU0Pjlh9lDZmly2HtLkUpiMOp91YBVA5LiJp-JazxgZLTG3fA7h_fyJUTWw4S1kucdav5z4tty0Jk4TF1R-8Mwu9gnOEed-Hy6UuGLWcWS9gNU0IC4ZOOu7BH5aE2HssMi1rhkVAS-PcjMCi9ghTLcq7Fut15FLh7SO_bVK3FbyNrtNuDZmqohXS-WjdrNKI4feeL9tsg8TZ9GjGYplDVzCa0nyhqnPxcXKLB_3fplCamFwNnhvdVi8EUn28Qvs67e8y1oFCG1SYVvBQT63mJkTUbVHMq11xK3O2QziMTinmwcn7CvyqIK07J0ISfiBv7hZophMQ1O0M_1k8a-5nfViV_jMzRfasmAdjy1-rvf7MKD_7lydqeSseoPwY_pFba23WNsx0NZKy3xyyQaDSyDx5MmP6v3Yvtx8p5G0OmY24N9QuloIUBM8WFEc5E0wDQR8DgmExGq4ckSzwdaXRTDfjkNvYReZB7bcLJPKUBOcsLdknWFPBySCK_NcWK4PanF89Va61j297cu7uhp92wSNNSGKLcVdKkUHzbkXJfE9jU37uQOXOV1u2m_ebioXFvcTCgGGhABw-dbNluX-iwtHK5MnhhyIlf86qWQRyiDaz81j38OSxqLmjatEr6114dk9SN_4Y2k1qnDI21qy8T0ke5ry-bh3EZCSZYDdyzdyIwgzvS68_8bbAJvG_TgOL5C7urz-LTvXyWNTQOj9A1o-J6Yga4Fsciw1E404kN12LzETxgzmgDvgAMOpxtLhTWQ9yH_HENiICjBSA4R4nZ04tb3-RlviRuX8fz0dVL5vWauZNm_fPe8T0_5xEK8JRiP5dH9eGdm4NvgkaFfSnIn8S-_LhIT_YEXW3ATLcWav2hWfK1-wbbg95O--_qNJJLWKTeL3qcd7YY9cpRIFg-fnzOv5MYDQ-549eM1vths5YMbRPcjObSDrBWYYOs8EPyHria5iJSB7byFMg5hcwSWb43tNbZHzadFajQeqBN9nbO2ET9o3e2W_VNsD0bvO3xhLeZ9IsFKC5_XBvKPjL25chk6JgMyBNF6Z_0bnIbCCzd6uuWyDzqnyZ7dilHRV0wYnZFSLoyQ",
  "id": "rs_0bf2da72686913b1016ab45dcce5b887d0a508125c6afcbd29",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.375,\"left_y\":-0.37,\"left_z\":0.03,\"left_pitch\":0},\"note\":\"The yellow fruit is near the fingertips but to the right of the left gripper’s centre. I’m correcting sideways and lowering around it without another large forward move.\"}",
  "call_id": "call_uiQgaA73f0WJQM8sSrAkwOvV",
  "id": "fc_0bf2da72686913b1016ab45dd40af087d0b8ddc5780b544bed",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uiQgaA73f0WJQM8sSrAkwOvV",
  "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]: [-1.0183, 2.1914, 1.3918, -0.1093, -0.7757, -0.7441, 0.9937, -0.4603, 0.7521, 0.8795, -0.8318, -0.3939, -0.3744, 0.9983]\nstate[eef_state]: left_x=0.3749 left_y=-0.3656 left_z=0.0383 left_yaw=-0.0069 left_pitch=-0.03 left_roll=0.0071 left_gripper=0.9937 right_x=0.2471 right_y=-0.0428 right_z=0.2321 right_yaw=0.0658 right_pitch=-0.073 right_roll=-0.0351 right_gripper=0.9983\nstate[joint_eff]: [-0.8957, -10.0444, 5.1214, 0.8718, -0.2418, 0.1343, -0.0806, 0.0615, -0.3624, 6.4615, 1.7802, -0.1538, 0.1685, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:450e471b37ce6187cf82d1df7b055d97a33b22ba5df16888c6d8f99df6b121d6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d4438a807b94c7f276c28a3e7ae93505d4129142bed77ca71191e17fbde1bb2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c2a259f33f9870fd3e7521db2109e7891c979b73d6d36bcc73d54f42185c26c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 16 attempt 0 · /responses · status 200 · 7.492 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 49 changed as sent

message 57 changed as sent

message 61 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8471, 0.6472, -0.4934, -0.0139, -0.0307, 0.9937, -0.0731, 1.8145, 0.6674, 0.5713, -0.0837, -0.1062, 0.0086]\nstate[eef_state]: left_x=0.2871 left_y=-0.0003 left_z=0.1625 left_yaw=0.0005 left_pitch=-0.1251 left_roll=0.0016 left_gripper=0.9937 right_x=0.4458 right_y=-0.0142 right_z=0.0357 right_yaw=0.0495 right_pitch=-0.0055 right_roll=-0.0309 right_gripper=0.0086\nstate[joint_eff]: [-0.1026, -1.5385, 6.9128, 1.6239, -0.0513, -0.0464, -0.0122, 0.1436, -8.3897, 5.8462, 1.8486, -0.0366, 0.0317, 0.7302]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9291, 1.9453, 1.5398, -0.569, -0.6373, -0.7341, 0.9944, -0.4576, 0.749, 0.8772, -0.8124, -0.3889, -0.3531, 0.9983]\nstate[eef_state]: left_x=0.3771 left_y=-0.323 left_z=0.1409 left_yaw=-0.0055 left_pitch=-0.1594 left_roll=0.0054 left_gripper=0.9944 right_x=0.2492 right_y=-0.0441 right_z=0.2351 right_yaw=0.0523 right_pitch=-0.0566 right_roll=-0.0307 right_gripper=0.9983\nstate[joint_eff]: [-0.7453, -10.3726, 8.3487, 1.0867, -0.5885, -0.0708, -0.3443, -0.2667, 0.0479, 9.4427, 1.6972, -0.3492, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0183, 2.1914, 1.3918, -0.1093, -0.7757, -0.7441, 0.9937, -0.4603, 0.7521, 0.8795, -0.8318, -0.3939, -0.3744, 0.9983]\nstate[eef_state]: left_x=0.3749 left_y=-0.3656 left_z=0.0383 left_yaw=-0.0069 left_pitch=-0.03 left_roll=0.0071 left_gripper=0.9937 right_x=0.2471 right_y=-0.0428 right_z=0.2321 right_yaw=0.0658 right_pitch=-0.073 right_roll=-0.0351 right_gripper=0.9983\nstate[joint_eff]: [-0.8957, -10.0444, 5.1214, 0.8718, -0.2418, 0.1343, -0.0806, 0.0615, -0.3624, 6.4615, 1.7802, -0.1538, 0.1685, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:450e471b37ce6187cf82d1df7b055d97a33b22ba5df16888c6d8f99df6b121d6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d4438a807b94c7f276c28a3e7ae93505d4129142bed77ca71191e17fbde1bb2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c2a259f33f9870fd3e7521db2109e7891c979b73d6d36bcc73d54f42185c26c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left jaws are down on either side of the yellow fruit. I’m closing them to secure it.\"}",
  "call_id": "call_dt5M5K0pl1ps1R2RACfhJ16R",
  "id": "fc_0bf2da72686913b1016ab45dd90b3487d0bbf8aab130905d42",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dt5M5K0pl1ps1R2RACfhJ16R",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0214, 2.2063, 1.3884, -0.0608, -0.7929, -0.7567, 0.0095, -0.4603, 0.7536, 0.8795, -0.8364, -0.3939, -0.3782, 0.9983]\nstate[eef_state]: left_x=0.3777 left_y=-0.369 left_z=0.0374 left_yaw=0.0073 left_pitch=-0.0029 left_roll=-0.0221 left_gripper=0.0095 right_x=0.2466 right_y=-0.0426 right_z=0.231 right_yaw=0.0681 right_pitch=-0.0784 right_roll=-0.0351 right_gripper=0.9983\nstate[joint_eff]: [0.0752, -13.2855, 6.1744, 0.8474, -0.1587, 0.105, 0.7106, -0.0205, -0.4171, 6.612, 1.6435, -0.2125, 0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba233155c7451974b37546cc4f222de77351628d079294ac54b3be9ad5633216",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:225ab8d9f55d6beb2b23838b80e1d186d1fa32b28eaacab2d0f67c70e007e51b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc3f9b0d51f3c9769f8e6e2a4b522da94bebdc0569f7fba2d04f4a53b00fcc19",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 6.561 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 53 changed as sent

message 61 changed as sent

message 64 changed as sent

message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8528, 0.6468, -0.498, -0.0139, -0.0303, 0.9937, 0.3916, 0.9062, 0.7036, -0.4122, 0.2752, 0.1246, 0.9983]\nstate[eef_state]: left_x=0.2866 left_y=-0.0002 left_z=0.1599 left_yaw=0.0003 left_pitch=-0.1358 left_roll=0.0022 left_gripper=0.9937 right_x=0.2993 right_y=0.0755 right_z=0.191 right_yaw=0.0886 right_pitch=-0.0206 right_roll=-0.0414 right_gripper=0.9983\nstate[joint_eff]: [-0.253, -1.5658, 6.9402, 1.663, -0.0122, -0.0513, -0.0122, -0.335, -2.1538, 9.1145, 1.5946, 0.1441, 0.2418, -0.188]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0183, 2.1914, 1.3918, -0.1093, -0.7757, -0.7441, 0.9937, -0.4603, 0.7521, 0.8795, -0.8318, -0.3939, -0.3744, 0.9983]\nstate[eef_state]: left_x=0.3749 left_y=-0.3656 left_z=0.0383 left_yaw=-0.0069 left_pitch=-0.03 left_roll=0.0071 left_gripper=0.9937 right_x=0.2471 right_y=-0.0428 right_z=0.2321 right_yaw=0.0658 right_pitch=-0.073 right_roll=-0.0351 right_gripper=0.9983\nstate[joint_eff]: [-0.8957, -10.0444, 5.1214, 0.8718, -0.2418, 0.1343, -0.0806, 0.0615, -0.3624, 6.4615, 1.7802, -0.1538, 0.1685, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0214, 2.2063, 1.3884, -0.0608, -0.7929, -0.7567, 0.0095, -0.4603, 0.7536, 0.8795, -0.8364, -0.3939, -0.3782, 0.9983]\nstate[eef_state]: left_x=0.3777 left_y=-0.369 left_z=0.0374 left_yaw=0.0073 left_pitch=-0.0029 left_roll=-0.0221 left_gripper=0.0095 right_x=0.2466 right_y=-0.0426 right_z=0.231 right_yaw=0.0681 right_pitch=-0.0784 right_roll=-0.0351 right_gripper=0.9983\nstate[joint_eff]: [0.0752, -13.2855, 6.1744, 0.8474, -0.1587, 0.105, 0.7106, -0.0205, -0.4171, 6.612, 1.6435, -0.2125, 0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba233155c7451974b37546cc4f222de77351628d079294ac54b3be9ad5633216",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:225ab8d9f55d6beb2b23838b80e1d186d1fa32b28eaacab2d0f67c70e007e51b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc3f9b0d51f3c9769f8e6e2a4b522da94bebdc0569f7fba2d04f4a53b00fcc19",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF3iWalqz_3wXypdEuySPnKbeu5BFHZY53xl1EnAB5oXXzL0Ey-E5IDh8TPxmxJHdYSH7xUGtzb9auyP5vJVhhPGWbLF4WHO5tnCe6C-A6MCiQn7HCDkxLf5-ragHAJPmZKr6lT0YWqle5WI3lP0gyhbqhZndMC2vTb3HjLe25ymRrJ0OJEkPyconmc5kIRsf_dc5BZ_s3yoT3sptlKqFtfBQQQAsSr5pzOxZHG3wYLnUzeY2uy3rDNq6rB2VdB4NHxzzcpuHL-keELO6gPFhbPH4OcgIsOE1PNJeQW8TmHZdSgac1MATNSdxm7Vp5rjT6xtTpZRo_pTD8tQk6N5Kh3Ib3Y5uY_6L7Sfv21IJqkNNqBFGeXFYufTp0e1ctLasfT8mxDp8cY9JzCZIbAj1kuts1Z1Qx7d1h3c6D6Gn84eGB_qVyLOpYbW8ZlnIg3IYrYeUTijRbEvNjZz44j439FpTJb6Bv8vdkzlGnURQpfhDcUDWOxLSIwI4qUluZQsxiUbtcklKpJynZUV40p5m3HQ6WGHWMwKWkHP0yFEhq0WYCpFscJBboGj4SJ8Wlb_5voOuHkBzQ-YvFKwM5XJ0z1QSkMd1tjMYwAwjI68JcsdqUO5xdyHpS1Er-0kSZHb4uDPY9U7P4zq4NdEPAkTqoNVrPYj5iG_R4a9xq7N6IiRr5n2AbK6290h4-_cDbEn062TawBnO0ghQxs-r0R5j1Kn-1mWGi6ivvDqBGisMMKiNaPYjnaEEqw0aGy4CY98vU7hSnOcDAIdg3NnftEOG3pDJxG8NJkE1s9GjP4FV_msbYiSfeXN6YqjFCgR13v4OzH5nU7uAlSKUFeFMy26uwXDJxV5hnj7NfmDcIk5LRkv_KBLPGNgU9YTOiQnhduQB3rD0DI1d6iQaC8eM7Yb02TETqvBqmdkA_4teSNBgdkATjLuEjiXb_MsvhJOwMcHbF-8zKflXDBhRqR5KhsNfuixOl8X8RTUMUHEox3EqaYQ9S1TUjIAkLjqUeRf8pML3lhP5-MvoGnnUMG3SG3V2l1f_dik8CbgeEjqD3YJKVMSlEUHiivJ-MzDmVIlzUZP48XYAwZP9lfGQmAN_CL4wEp5jC-BMdpc3Mg1boU6rg1_ZmZdPZ5XKaQyVfhwekrPPLhQwdi5nN5MzymkQVLJcShn59KjYZ5Lqq9xEglIy6ecs8Z8Z_iHnmL55qJ7ATG9dXC-0R8x72WCpIZAYN1iobMr1L356a8BamrYQZQ955Zg0VPotJQyHPv_qye7R9yIYykTmIYRzWN8wVQbGdk_oOS52fspMhjXb6bdFVCU8QNVhYAehuO55rpZ9eg7rra8bErfwNBOl3Fged5ppLrM-Hgbtd8PZocOxvSgajxQj1YgNb5jMJlVODO2_D9Md3vVXIbDxRPVzmRMuxGYxOaxRedOR1D4B84NgScqbu7eSYhYV2P3FqOgqiPzzWAooxFDEwpB9O4TRZYaFqr0oXWOKT5G8fh-oh4IA4L2v4MsWpt69UH-8jXzrtkpHa8SipP9dOZL16ypyHl24kE73jNxh4UMg7Wh1OtwNf7WiCNG50DnNBLGJrLtlK_dY043UhxziH-fnTfbaFc3eGilnnXmf9ml0skuI7gViUGfE993dBlO6B84Aay0weN0R1Lkda8lscIKC5XGgGo8cE2FSqEDBsLL49S4fgNr6zLExunp6X3RmWOEnMCH8vi5F9tkR8R3XKN3a73X-tsLX0UpxfDFfwFMfI4Q4eN3v01WTGEQJkRJr9uoEx0SYyk2kg2XN2VtfzeEZI3UUUC5QKWq4f-GjRXMkeGNu7JcrbdAb4-o8HoUIY6ONg9BKxQBxUdmg14Qh2wC6gelN7vHTpC7EFy5AZ5PtGgsfdPAs_32lnWDN5dwTyzVCYJ9sRRruiRcFcPw0Cr3OuHO8G93i5idRcvSumyFR5rJzxCyFbmVLSRbcuUVRrOGDuMTCDQoMQRXqLzgIeAn5b02eCAZCkbA42R3JC_lPLJljco7HaWUCnjUTh821cL8sEEnc7Btw2aZmJULu7YtwcrfzmQudxPavGH4QDQjOofqWw9C7w7rfeJdC1Hor8ujRS_U-EBrygKCAZnjaz1YPFCGFX5G30ItDP9vNo6DpcR2JGSW9lNW833wMv_SnnHNZxN_Td14Q2WXf-OVoQMJjUYCfYuk0IL4F2S58eApQFMb1BJcAH0-WVLERDcvuAiL_kr02x5AxJ2STWKpoU8pVnPrzPzlzHAgx864jximJQR4NOiXUINXDVxZLam-SbRsbqxmrMsAUcr9Ir0n3jYi8bQS5kZIeiFjjyLDquogqxqgKsFK23TMVpSvOcBtnuN5eX56qa3cc157mo-qVmAvPNYxoCj7mHj3AAK7c4iOsQ==",
  "id": "rs_0bf2da72686913b1016ab45ddd3c4087d0bcb21e5f6f54aa21",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.296,\"left_y\":0,\"left_z\":0.19,\"left_gripper\":1,\"right_x\":0.375,\"right_y\":-0.005,\"right_z\":0.075},\"note\":\"The yellow-fruit grasp was empty and it lies near the left arm’s sideways limit. I’m clearing that arm and returning the right gripper to the pear with a shorter, centred approach.\"}",
  "call_id": "call_5eBFXqrw7ypWhl7jWdhw5xJl",
  "id": "fc_0bf2da72686913b1016ab45de0f68c87d09b6fdffce9c14119",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5eBFXqrw7ypWhl7jWdhw5xJl",
  "output": [
    {
      "text": "executing move_to over 33 steps (3.3s)",
      "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]: [-0.0425, 0.8173, 0.6048, -0.3874, -0.0795, -0.104, 0.9935, -0.0624, 1.3891, 0.5297, 0.1543, -0.1009, -0.1448, 0.9983]\nstate[eef_state]: left_x=0.2953 left_y=0.0051 left_z=0.1727 left_yaw=0.0744 left_pitch=-0.0299 left_roll=-0.024 left_gripper=0.9935 right_x=0.3656 right_y=-0.0014 right_z=0.0661 right_yaw=0.0968 right_pitch=-0.1328 right_roll=-0.0336 right_gripper=0.9983\nstate[joint_eff]: [0.212, -2.0308, 10.7556, 1.746, 0.1294, 0.1245, -0.6667, -0.0068, -4.7932, 5.9009, 2.044, 0.1001, 0.2125, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fbfa9895c4dcad98ed3b4288e2fc5c2d4a56db25c420d2d39d80e5be7a04fab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09761e82cf09b897d4f0217f6ce1d039d22ac81dff9f121799873fac378cb26d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69ca4d72c332c8ae627dd7ead258d07c6e96b48c58ea7b6c647fb05a8db8ab70",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /responses · status 200 · 2.363 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 57 changed as sent

message 64 changed as sent

message 68 changed as sent

message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9291, 1.9453, 1.5398, -0.569, -0.6373, -0.7341, 0.9944, -0.4576, 0.749, 0.8772, -0.8124, -0.3889, -0.3531, 0.9983]\nstate[eef_state]: left_x=0.3771 left_y=-0.323 left_z=0.1409 left_yaw=-0.0055 left_pitch=-0.1594 left_roll=0.0054 left_gripper=0.9944 right_x=0.2492 right_y=-0.0441 right_z=0.2351 right_yaw=0.0523 right_pitch=-0.0566 right_roll=-0.0307 right_gripper=0.9983\nstate[joint_eff]: [-0.7453, -10.3726, 8.3487, 1.0867, -0.5885, -0.0708, -0.3443, -0.2667, 0.0479, 9.4427, 1.6972, -0.3492, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0214, 2.2063, 1.3884, -0.0608, -0.7929, -0.7567, 0.0095, -0.4603, 0.7536, 0.8795, -0.8364, -0.3939, -0.3782, 0.9983]\nstate[eef_state]: left_x=0.3777 left_y=-0.369 left_z=0.0374 left_yaw=0.0073 left_pitch=-0.0029 left_roll=-0.0221 left_gripper=0.0095 right_x=0.2466 right_y=-0.0426 right_z=0.231 right_yaw=0.0681 right_pitch=-0.0784 right_roll=-0.0351 right_gripper=0.9983\nstate[joint_eff]: [0.0752, -13.2855, 6.1744, 0.8474, -0.1587, 0.105, 0.7106, -0.0205, -0.4171, 6.612, 1.6435, -0.2125, 0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0425, 0.8173, 0.6048, -0.3874, -0.0795, -0.104, 0.9935, -0.0624, 1.3891, 0.5297, 0.1543, -0.1009, -0.1448, 0.9983]\nstate[eef_state]: left_x=0.2953 left_y=0.0051 left_z=0.1727 left_yaw=0.0744 left_pitch=-0.0299 left_roll=-0.024 left_gripper=0.9935 right_x=0.3656 right_y=-0.0014 right_z=0.0661 right_yaw=0.0968 right_pitch=-0.1328 right_roll=-0.0336 right_gripper=0.9983\nstate[joint_eff]: [0.212, -2.0308, 10.7556, 1.746, 0.1294, 0.1245, -0.6667, -0.0068, -4.7932, 5.9009, 2.044, 0.1001, 0.2125, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fbfa9895c4dcad98ed3b4288e2fc5c2d4a56db25c420d2d39d80e5be7a04fab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09761e82cf09b897d4f0217f6ce1d039d22ac81dff9f121799873fac378cb26d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69ca4d72c332c8ae627dd7ead258d07c6e96b48c58ea7b6c647fb05a8db8ab70",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF3sH7-P7WgLt6NKXUaPQVZd3Z5FWP0ZfKmDEeY4G6xdNItEBUaswvvxOSmZ85fH330XacrgNhL2GYY_zgNinAgEjvfJSl4jo97M6mcZxcdz-kkkmDCD9O-8_7HMtQVtIbWCIoJ7P8JMrTO8cPeQZSz3jZ541egBT9KWGu-npKsa3YGXGLYqhQghuc6exLOkZprONOMueiSO7cJmPtxRSkvsJh7izoMqJSam6FEP-LPFHBJDY5Ylj7un8X3o0nXQZlQLRRPDMJhSj1trbN3HpGJhT3NUzyLtw-BQnv-3mFwdHo-7g1QWScSswzR2GbuyfB8K9-xYAQZpwI-BnX9wVrLNO8nBP394eovkU-tyRWV1J2BFhpF-LvVGSY7IkACR9GWTQMWsXiIdJ6Ai04R2Y6RkBZHOhK9vD0XTj0Ppxg1dzVeaYMsjqdn2BEqrAi5MXLg0bBIxwf6NvGgX29HejtopCtRgrDDyqwb_i70kM1nvlBfeo1IQn2QCteQraDhupZi1y-xnMNOMG-RTwCSfDSOislcvvQbD0RbwdcFil6r2_2CxSAGUtgG8KvNGhp18hfGquTLkjVYMUqJsyBbEVmcZ78U8TTUbK0uoyJ90ojAFqujBeKnbJLrdMIX7pRcffl7gQyuhzCyw6bFGhPMj6UNL5GU7GUxf3sxtyYvfEzkbf4UoTD5uwT0_Hon1IYxgPmWH5KIPVzglioOyP71A4CcOsvoSGAW7ZJeX3mYnEuDRTRzXyu_FqEbipnyNXcrlL3BUcfxzsnn17HH1e6_YwfJDlMlS3vLoW7hUzUWuNr-oAxr7tJS6iCKY97FM64ja3bIjdxWkZ3Dtz79PXEZe2Z_UwGv51LPddknaedH4_g_6NDnhZhcQviLmwT8JH3br-WtVKTojjQwld2tE2Wi2mX4D2gt22Dbr8o3ahGkLlLRScoFpKDNa5R9mOuKAkyH4116GnVe1TG1bkoPIL0ULePa6UHFhu7NK8Syp3NS_j-O6Xuf5SrCju-IgOuRJYz61enzKfGhMsn7iJOC6eUZYJdnVOHKp4ixtHk_3JXOFKcsZZlpR1nwRfPn1VEhpLJ_3melgUc5d0jAABZpkR5sqK_eLL3TEs_p8lzu1JHnxJpOXxP-WpT6lMXcFAX2_GRNL7dhQQU69Sy3yxuH6DcZMhu55yAV73U3jWLwDwgXqWUf5awFPMP8nnc4Q20-N0Ot8wg8GVcjDpNW6rOU7XrE0solQh40ZgbpJ7Z-FjPsXvdlTb2s7rHkEsEpG9-vztrPO1oK_08b8deit1lx0sRXTSi3rZtMVSKZ_hA0Y62N2wDaOnZf5LogJj0tVPDx_j5qzn4TUMAne6zg9E6qYTuW-gfJtn5kfulNiUfTT808uSRAvCwMAJyelKeh57CXjbeLiVWLgyaKdatJvC_Xp7DrN8wfJcpnVi1JzjQNXa45mEC9PTWgEpa4uuzUgVF7GUDpQsKmhEUE_ghiGG3MImoudnEB1JMbV9AVU1y4lT9i8do32Vp6n6aPm92t8ay--keDnJTLuT9FiPkTah7FviUBrOL1O1lbTcin2L2fooyT24yN1WihG7a9lAZ-FCcGRI9HTFwAF6v3etuLSRr5URKUUX3Jovr4inA2r82-LsxkMO2aPBvndoJrJ3yfjuY2i-13Va-f5YNF3yurkAvAWDHLZEQOYvXp9OJqLa8vhrXoAmxyBn6v-Feosj1sCCC_XOknfZH5OjQRjL5qJLxKajPZZN1L9Mr0aKGwVkWGm_atKvyqdP58Hz-UYa6WWUKtqPhApQAvPzFcWV9rHPoAZ_anL_U2FGqkz-W7rShII0yF-UDLEY5UV9varQDxaa9iIQiR2IOhNy2PVj54GwJ6fzgZqCPv134ggCozCq_NLYNe4P0GoNPkycHET0bPkKoIfdIqjz5M8TxMEG8k2SYBnhC3sFCMuA54u4Pvu6u_gbVaopz0Lzfn2u-79mk45b2SIXlRjT9oUFgS-S2IgVaQA-DFfPV48MxdUlLlquE3iAXuJ6RbcU9XLN42Jzq980wAQs1ZILSIw",
  "id": "rs_0bf2da72686913b1016ab45de7e3b487d09d1ea9084ffb7fd8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.365,\"right_y\":-0.025,\"right_z\":0.028},\"note\":\"The pear is clearly visible between the open jaws but slightly right of centre. I’m shifting only two centimetres right and lowering to its middle.\"}",
  "call_id": "call_U5YoqS0L7zeCFfZlcY5NAzgL",
  "id": "fc_0bf2da72686913b1016ab45deb297087d0a39b7bb86024061d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_U5YoqS0L7zeCFfZlcY5NAzgL",
  "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]: [-0.0399, 0.8188, 0.6098, -0.4141, -0.0559, -0.0914, 0.993, -0.1524, 1.5188, 0.4747, 0.2981, -0.1444, -0.1837, 0.9983]\nstate[eef_state]: left_x=0.2924 left_y=0.0018 left_z=0.169 left_yaw=0.0505 left_pitch=-0.0542 left_roll=-0.0248 left_gripper=0.993 right_x=0.3615 right_y=-0.0262 right_z=0.028 right_yaw=0.0659 right_pitch=-0.1682 right_roll=-0.0268 right_gripper=0.9983\nstate[joint_eff]: [-0.4171, -1.265, 6.7077, 1.9512, -0.0757, -0.1197, -0.0611, 0.5538, -6.3385, 5.2855, 1.9414, -0.3639, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f40b9bd3718e97ce9b45c58f8450a1c8ec531a8cbf8d9c92ff10400a8690033e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bb97edef45485aeb3f75782f2b997cb7941349f4978ff89a05f1cfde6e77e9e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:502ffe5fa4e6356f76c13364c8456c31988a1766f716ffa1f4450b2574aeda27",
      "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 · 3.543 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 61 changed as sent

message 68 changed as sent

message 72 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0183, 2.1914, 1.3918, -0.1093, -0.7757, -0.7441, 0.9937, -0.4603, 0.7521, 0.8795, -0.8318, -0.3939, -0.3744, 0.9983]\nstate[eef_state]: left_x=0.3749 left_y=-0.3656 left_z=0.0383 left_yaw=-0.0069 left_pitch=-0.03 left_roll=0.0071 left_gripper=0.9937 right_x=0.2471 right_y=-0.0428 right_z=0.2321 right_yaw=0.0658 right_pitch=-0.073 right_roll=-0.0351 right_gripper=0.9983\nstate[joint_eff]: [-0.8957, -10.0444, 5.1214, 0.8718, -0.2418, 0.1343, -0.0806, 0.0615, -0.3624, 6.4615, 1.7802, -0.1538, 0.1685, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0425, 0.8173, 0.6048, -0.3874, -0.0795, -0.104, 0.9935, -0.0624, 1.3891, 0.5297, 0.1543, -0.1009, -0.1448, 0.9983]\nstate[eef_state]: left_x=0.2953 left_y=0.0051 left_z=0.1727 left_yaw=0.0744 left_pitch=-0.0299 left_roll=-0.024 left_gripper=0.9935 right_x=0.3656 right_y=-0.0014 right_z=0.0661 right_yaw=0.0968 right_pitch=-0.1328 right_roll=-0.0336 right_gripper=0.9983\nstate[joint_eff]: [0.212, -2.0308, 10.7556, 1.746, 0.1294, 0.1245, -0.6667, -0.0068, -4.7932, 5.9009, 2.044, 0.1001, 0.2125, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0399, 0.8188, 0.6098, -0.4141, -0.0559, -0.0914, 0.993, -0.1524, 1.5188, 0.4747, 0.2981, -0.1444, -0.1837, 0.9983]\nstate[eef_state]: left_x=0.2924 left_y=0.0018 left_z=0.169 left_yaw=0.0505 left_pitch=-0.0542 left_roll=-0.0248 left_gripper=0.993 right_x=0.3615 right_y=-0.0262 right_z=0.028 right_yaw=0.0659 right_pitch=-0.1682 right_roll=-0.0268 right_gripper=0.9983\nstate[joint_eff]: [-0.4171, -1.265, 6.7077, 1.9512, -0.0757, -0.1197, -0.0611, 0.5538, -6.3385, 5.2855, 1.9414, -0.3639, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f40b9bd3718e97ce9b45c58f8450a1c8ec531a8cbf8d9c92ff10400a8690033e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bb97edef45485aeb3f75782f2b997cb7941349f4978ff89a05f1cfde6e77e9e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:502ffe5fa4e6356f76c13364c8456c31988a1766f716ffa1f4450b2574aeda27",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF3uAj1xaHaJqdOUkI1b2gOqNyrVitB2rFngnL3ZENXdKFJVofTzOHgvrEqHeWgge-F730NQLqYULRuAe8wImIkROUsnPIgueet5_oueRje98F2A5N7iX7oTux35kx3z4korgp3suHEw98k-BErI7WqaWcCwtBisupD2fmTHWsd9yb8azs52OwHuA9pcqOTOG8oIIr-5St9N9axc_7MMp3H2VVcpkJqLamxiNVTKyr1VwH4ltYuRBb1eINRZbrxm31ab0zXHC_ZYpGsYBTxS_xY9rZ3VZaUhburwcWLVerWCfNnQ55MqDVH1p5gsbZ2nXHkeju2DiuTWAwkkpEhW_0rEdW7DLIJVtarNUsWlKHkMi7EHD9n_j0z9IqPjEKrYRuETLCiTDs_fCyUBy99fGsApX12VO2axD7tEkUwwi8GEkEd-jVn3rZjROhX38omeq26KAJ0DzNvmOtPvaGHXASjAfaCXVXRCcwBPiBMiVj9Xelcf7C9TlRX7L3BPF4LqqVQ2iso3R_-hfxs3EAD8_nd9GuqZK7csn4rOMEM8tVry6GmHyK3201dM3ORv4BjbGqC877DG5Sv2TxS0Duvt9RODxaoGgSb9ZNYY-B_y7E-6vrRZmD8mCijs-mZafnz8fSuFZKcTJ9T6DmOPs9UVfsTGVqU-2X5sVoPp2RCx7kiQutmTJpAKybd8S80S-AARIagw4wake6HCleGAglmROysA5mLCGEDBlO3Ol7G0zBu1J-L8N0FadaALeCdT_ru7my0Pi1nCJ9k4LlzF7RSFU08tGCsqpPIRJW0vrpJIFHaCT-L5cknl0n3OuIqTf6S-LQvfM9vDu28mcaZb079SUcSEksnOmvvf_9G73pDkXtn2i79Qad7zuMS1cDzhgWfXi482uCSHkO8dmNNK18MFtfMZouXBFzI0sh2CO7B4FLBzYOfJKL9xhYybtfBng__oj_PbuFW0JBIIGyNIU_K7bzyhig8eGrhN6DwyjS2EYfWg5E9bCU2T0I03w7ojM3krf5sHRo6GZ9BIdNwE8JdE745efvPg29osUb6SnxydDgbwNDTAOE1tU6_uzNYgWPlaY9wAIQiHMfuzXva-iu7EmbQmB4l68jUu9BUq7Xv8E4L_lwLViOKZMKHFmhCYDxn40eJQNK9o9mENvBzK6bjZm-XP24XnsLA5C4baeSsuRuKdo3vDy1KvC1Ies7f5-j9JsRDK",
  "id": "rs_0bf2da72686913b1016ab45dedb9c087d08a5f2551f7dc2013",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The pear is now centred and the gripper has reached the low grasp height. I’m closing around its body.\"}",
  "call_id": "call_IxNAGA9DukhKPpj6VO9W2JX8",
  "id": "fc_0bf2da72686913b1016ab45dedf67c87d0b60a38bb00c81612",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IxNAGA9DukhKPpj6VO9W2JX8",
  "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]: [-0.0399, 0.8188, 0.6056, -0.4232, -0.0662, -0.1013, 0.993, -0.1524, 1.5383, 0.4599, 0.3099, -0.1577, -0.1986, 0.8144]\nstate[eef_state]: left_x=0.2904 left_y=0.0037 left_z=0.1653 left_yaw=0.0646 left_pitch=-0.0671 left_roll=-0.0255 left_gripper=0.993 right_x=0.3566 right_y=-0.0231 right_z=0.0185 right_yaw=0.0863 right_pitch=-0.1883 right_roll=-0.0236 right_gripper=0.8144\nstate[joint_eff]: [-0.3761, -1.2923, 7.3504, 1.746, 0.0317, 0.0708, -0.0171, -0.212, -7.0769, 6.3932, 1.409, 0.0464, 0.1001, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:037a3bb7e194f616ec11adffbb7ec8f2a71cbb3fb7dc7decba1d70b43b83ddc2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f81e223fe7d09a1deb6b1e064362a33500539e4651dc45980d676bb7da5b5a4e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:164683e5f435c1808a8377601414c4eb7ca852883af88302dfdb44288315bbce",
      "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 · 3.629 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 64 changed as sent

message 72 changed as sent

message 76 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-1.0214, 2.2063, 1.3884, -0.0608, -0.7929, -0.7567, 0.0095, -0.4603, 0.7536, 0.8795, -0.8364, -0.3939, -0.3782, 0.9983]\nstate[eef_state]: left_x=0.3777 left_y=-0.369 left_z=0.0374 left_yaw=0.0073 left_pitch=-0.0029 left_roll=-0.0221 left_gripper=0.0095 right_x=0.2466 right_y=-0.0426 right_z=0.231 right_yaw=0.0681 right_pitch=-0.0784 right_roll=-0.0351 right_gripper=0.9983\nstate[joint_eff]: [0.0752, -13.2855, 6.1744, 0.8474, -0.1587, 0.105, 0.7106, -0.0205, -0.4171, 6.612, 1.6435, -0.2125, 0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0399, 0.8188, 0.6098, -0.4141, -0.0559, -0.0914, 0.993, -0.1524, 1.5188, 0.4747, 0.2981, -0.1444, -0.1837, 0.9983]\nstate[eef_state]: left_x=0.2924 left_y=0.0018 left_z=0.169 left_yaw=0.0505 left_pitch=-0.0542 left_roll=-0.0248 left_gripper=0.993 right_x=0.3615 right_y=-0.0262 right_z=0.028 right_yaw=0.0659 right_pitch=-0.1682 right_roll=-0.0268 right_gripper=0.9983\nstate[joint_eff]: [-0.4171, -1.265, 6.7077, 1.9512, -0.0757, -0.1197, -0.0611, 0.5538, -6.3385, 5.2855, 1.9414, -0.3639, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0399, 0.8188, 0.6056, -0.4232, -0.0662, -0.1013, 0.993, -0.1524, 1.5383, 0.4599, 0.3099, -0.1577, -0.1986, 0.8144]\nstate[eef_state]: left_x=0.2904 left_y=0.0037 left_z=0.1653 left_yaw=0.0646 left_pitch=-0.0671 left_roll=-0.0255 left_gripper=0.993 right_x=0.3566 right_y=-0.0231 right_z=0.0185 right_yaw=0.0863 right_pitch=-0.1883 right_roll=-0.0236 right_gripper=0.8144\nstate[joint_eff]: [-0.3761, -1.2923, 7.3504, 1.746, 0.0317, 0.0708, -0.0171, -0.212, -7.0769, 6.3932, 1.409, 0.0464, 0.1001, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:037a3bb7e194f616ec11adffbb7ec8f2a71cbb3fb7dc7decba1d70b43b83ddc2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f81e223fe7d09a1deb6b1e064362a33500539e4651dc45980d676bb7da5b5a4e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:164683e5f435c1808a8377601414c4eb7ca852883af88302dfdb44288315bbce",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF3zizy0pM7pMjBQUqu-PyszV-LOhpzb6oZj7r0YHi4euqR77LmGuIbzRsqvSdUJDclFLBW4W6PzD6aa-v0cd-fN0XDkh6rJsvZymTiNrpUmxAbeZjfb0BlIdnYvHOnyNLG7fOC2hFyYlO8ypWpyz7YBNXUyrG0XOoO4H6DPmmNoWTz2lztY_SZKQcZniIjkfQC58UGYINH97kvK3QgFqqtspyKOEt8W9fWbGGOp2Bn_zrCQ9HJGHz95epDYkJrSiR-2RBtvW-jQ9hbv0VetZUCJ7zH0YZyjsDWN6rqCwgFoJ_sw2L83kgcXahp-RKm5GsQJRF-z3YAMmzO5L76XOVXn-jDkTjDHiWEDhDmy_Ndj66ZehtNQD1888ZgekFHWZJbGtVYT3Ot9gI6uatsatlFpeImBQ4NWW22gAYZPdgSnz9wcPap2ZzIbskfAvPdIwhcDAAYwAE49E7RT5uJiKEuZPhxorXDUiEitBzrrL6t8cwDCP7ttUBf_ROvln0FTFVVdLR1_1eQXRErR0kgtzzN49iczazLw72-zbnQQxoG5uMnSFAQyaLmDHFgC1SMzyS4PyF8JazTkjk6LK4eYqEI9gFltRRjf3aK-sRSEHDbGQVeHI6DQRejG5f5k3Eo-lSx6kQ4Lc6awl_PEa_VjBGpE0c2Pls30F6B_8SgDj-b0PpSeavoTq5nb-7E5FUkWt84Zq2NgyHN8bSQ-b75G4KEKUAq_xTIzoJkjMbcb7MhEPdgyyLT5IoaULdgWMNud8MGdEwaWwOD0sCfLwC0BC4al3VVhd3Vq8XVow1kRUX4PUAwJH4Hm4DvCrvxXj8s5QfwPqDhht1lk1U29SK7O53FR2-lYRvvo5l6xBN8_tpADoPik7jAFBNGudKbhT9d_b71EFS0yIDB9T9oQy-73RyQ34A_CxCGkErAHuXMKA_kJGZOACqLEK32cOZz_JIUDMaoj9fgxTV7_JDqGy3CPG-En7aREBuZbtZAAGnfbjA-OyG2begPywv453q62kJfCUoF5dzTZVbtBGju7bGi4BHEj_VE3GWaZpANoIiwFdAiwSjYgHE6CY4RGniZ8gejiiLx6EMMaziL4FiSri6EbxPXCFweFhvIzRi6mmxG6Tp9jLNASFk1oEPKAkXj8dExMMa8rRkVBqxVNnu1QVZgZ-nsOGuSl9fQwpBnTGLbgGuY0pst8qIRguOOj7IrphGo8dpEGcCQJrd0qQKHfv5sqoholfzpyJqAtFq0Jrm0FoHtsKS6DlSmIQam0PF9WlOHEjX2Izh7ETIB88hZavBiwQeG9DLSwalz3rXT5jxLWH-DE4wP0opP012bbH697sAy5OWUupXM_K00n5gdUwrL129tH4w==",
  "id": "rs_0bf2da72686913b1016ab45df1995887d085d0b5e1d67f9ef7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.115},\"note\":\"The jaws stopped at a substantial opening, consistent with holding the pear. I’m lifting it a short distance to verify that it comes off the table.\"}",
  "call_id": "call_zY2RPZwloSNRtjl6Pk0thzEx",
  "id": "fc_0bf2da72686913b1016ab45df22efc87d086939312c7f6ea16",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zY2RPZwloSNRtjl6Pk0thzEx",
  "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]: [-0.0399, 0.8188, 0.6056, -0.424, -0.0669, -0.104, 0.993, -0.1524, 1.293, 0.664, -0.1562, -0.1577, -0.2024, 0.8107]\nstate[eef_state]: left_x=0.2903 left_y=0.0038 left_z=0.1652 left_yaw=0.0667 left_pitch=-0.0678 left_roll=-0.0271 left_gripper=0.993 right_x=0.3547 right_y=-0.0228 right_z=0.0975 right_yaw=0.0892 right_pitch=-0.2047 right_roll=-0.0224 right_gripper=0.8107\nstate[joint_eff]: [-0.3214, -1.3197, 7.1863, 1.6777, -0.0513, -0.0024, -0.0073, -0.1983, -5.7778, 9.2376, 1.6679, -0.105, 0.022, 1.0281]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5938b06f9404ca5ea3f1441fa8b1410adf347e473fd2d32e94d9fe2b12aa221b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c251c50044a03ac65d47b49f8bef58a3137fb8bb24d46b16a16245076b795e1e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04a98efd0755c998b6530d7c89835001f7178737a173eadd9fed578f0a77b2ef",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 5.629 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 68 changed as sent

message 76 changed as sent

message 80 changed as sent

message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0425, 0.8173, 0.6048, -0.3874, -0.0795, -0.104, 0.9935, -0.0624, 1.3891, 0.5297, 0.1543, -0.1009, -0.1448, 0.9983]\nstate[eef_state]: left_x=0.2953 left_y=0.0051 left_z=0.1727 left_yaw=0.0744 left_pitch=-0.0299 left_roll=-0.024 left_gripper=0.9935 right_x=0.3656 right_y=-0.0014 right_z=0.0661 right_yaw=0.0968 right_pitch=-0.1328 right_roll=-0.0336 right_gripper=0.9983\nstate[joint_eff]: [0.212, -2.0308, 10.7556, 1.746, 0.1294, 0.1245, -0.6667, -0.0068, -4.7932, 5.9009, 2.044, 0.1001, 0.2125, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0399, 0.8188, 0.6056, -0.4232, -0.0662, -0.1013, 0.993, -0.1524, 1.5383, 0.4599, 0.3099, -0.1577, -0.1986, 0.8144]\nstate[eef_state]: left_x=0.2904 left_y=0.0037 left_z=0.1653 left_yaw=0.0646 left_pitch=-0.0671 left_roll=-0.0255 left_gripper=0.993 right_x=0.3566 right_y=-0.0231 right_z=0.0185 right_yaw=0.0863 right_pitch=-0.1883 right_roll=-0.0236 right_gripper=0.8144\nstate[joint_eff]: [-0.3761, -1.2923, 7.3504, 1.746, 0.0317, 0.0708, -0.0171, -0.212, -7.0769, 6.3932, 1.409, 0.0464, 0.1001, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0399, 0.8188, 0.6056, -0.424, -0.0669, -0.104, 0.993, -0.1524, 1.293, 0.664, -0.1562, -0.1577, -0.2024, 0.8107]\nstate[eef_state]: left_x=0.2903 left_y=0.0038 left_z=0.1652 left_yaw=0.0667 left_pitch=-0.0678 left_roll=-0.0271 left_gripper=0.993 right_x=0.3547 right_y=-0.0228 right_z=0.0975 right_yaw=0.0892 right_pitch=-0.2047 right_roll=-0.0224 right_gripper=0.8107\nstate[joint_eff]: [-0.3214, -1.3197, 7.1863, 1.6777, -0.0513, -0.0024, -0.0073, -0.1983, -5.7778, 9.2376, 1.6679, -0.105, 0.022, 1.0281]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5938b06f9404ca5ea3f1441fa8b1410adf347e473fd2d32e94d9fe2b12aa221b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c251c50044a03ac65d47b49f8bef58a3137fb8bb24d46b16a16245076b795e1e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04a98efd0755c998b6530d7c89835001f7178737a173eadd9fed578f0a77b2ef",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF33neLxP5M-Di_6U_AUVI_vMUqbaAXyLue5f612WjUoO-3b0fA2nBKCv2-G-R0ypdi0JJBQ8r03ja-WZ-yqRw1GKBNZx7pav2pS-x6rOdYpONY6sb4U9dszM7CIp-OL0AtX4WBR9M6owrxMsxrg8ty36Bc0jzWw2yHp6rHEjdOlgpDVFJh6ViaHuUo9y--UeywrpjNE_HpDNdCeBfdMHsAuQ4ItZchbb7OOY_vdJhUdqv0INJb9iZJ86qyAr6f7m9wn9SYukqiKgEjGkVYDhhP4VHmwFgxFJHeT7AZVxpqojfWwzmJAIQX4WUE0tP3_sKdsgJCUc8CJORLjnAR6GKE5Bh-iKWencq-WM9Sr5l9_XoE_QI_XpOHymV96QHZzbJw_ZXZasYe05KdWstL5ocEx60DEoouNJ9muFTj31x8ZoKXl5gF5-w44fB8dVQDBnWYBcE9TBYOyhp3-khLdrAwcaV5D_lmjDLF3QEnKyRvXoei4j-7JVLlMflC-RbWR38yv6AB6QeP12WMsUQ1unWdRCyZLWXGcYi2Cs60v5CSdxd5F6MeOM_5fTNodEQkH5rjqp1N8NmwwPxNbApSMlLmE3NSKbmQvAWaoa5ezV5RdI7jq90NnS1s9rZUmtoMiJvozzwD6zsuKRPyTvKX9Lb33_4yLCaIq5WSpdFF5wWX2wrQaweNro0hkQ-GqNNN1_Y-V4lBjFesNFRWL2ktpKb-4yjQyZFvMDd0tDhZOFMs33nrU4L92fShyehoPwjaQpAKmNhtpgqoEOYr4ITK9TuW-nptNu-HL3ScOmuQtyuTnXeIjSQTqo8HRsAU4r6woeao9K-QP2PEXH_-FYBlaUsn88RXk8pGn2gTQeFxCUCkfegOWr2420OPSJXWqdDJP6mh-1sHyJy3W_DR2tw1irIXEYvf6bOtlSWUcTJ7Vaw58mkVyZFif9b10-RDeyqKKPk9jk-T5kfSy7pCSqxVvYgn66MLYiIDAY2Xe0KVDZwY8rKBW6QeelNQmFmS5R_XakrT5xy786QxAf_KKhh6w9mMHWBU51J7DIfV723Nzk0mcZZhmngh8P8TonxaxvG3CXM79aB2lzIuFEC7BJbaX8yHoM-UiWKgB02g9AkF5NJRSlwPSoUG641UrLMf1yHrJbWEHFA6GhH2GH_m0RDsJ50V29JXs4BY0y6eSGRvxIspE0oX1IXIUkZJiT3HptIbuWjzHTLO1YRX07IxnbAlOl2URYmLFmt7ywZ5QCcM1vNAK5Igykv861uZEKO87ItcYDt_yq-FAsimfjb65VCQiloD3IT8u5O9ql9udFFA4FJlx5_FoD55M1ZvJMHO3bl2PQOfIRJdToP_B3J1P79p4PraUHU-Don-wr4zDbhr_y3tGHXbS0B745GQgSAQKENXI965v5TLUrUnFNN-UDVBq64uCiu9SroCIu01g3lYFRWAs1uLsGi0nNhSbZxnxaK6NMFMT",
  "id": "rs_0bf2da72686913b1016ab45df53fc087d08847e059a2a51984",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.455,\"right_y\":0.145,\"right_z\":0.21},\"note\":\"The pear lifted with the gripper. I’m carrying it above the blue bowl with enough height to clear the rim.\"}",
  "call_id": "call_w2vkI7unrGhgRVHvz2pLoaFj",
  "id": "fc_0bf2da72686913b1016ab45df6576887d0a88a2904fca9e576",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_w2vkI7unrGhgRVHvz2pLoaFj",
  "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]: [-0.0399, 0.8215, 0.6056, -0.4252, -0.0669, -0.1043, 0.993, 0.3759, 1.6989, 1.441, -0.598, 0.1879, 0.1249, 0.8128]\nstate[eef_state]: left_x=0.2903 left_y=0.0038 left_z=0.1642 left_yaw=0.0669 left_pitch=-0.0716 left_roll=-0.027 left_gripper=0.993 right_x=0.444 right_y=0.1436 right_z=0.1855 right_yaw=0.1369 right_pitch=-0.2684 right_roll=-0.0491 right_gripper=0.8128\nstate[joint_eff]: [-0.3077, -1.5795, 7.1043, 1.6532, -0.0415, -0.0073, -0.0122, 0.1162, -9.1282, 9.347, 1.7216, 0.2711, 0.4029, 0.9304]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cae77d3964d503e9ed5da7fd857d4d5b4cf1a46c37a10693c7db5f11d87fd9b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df1bc3baee8ddbb124a7d75e12b032ffeeeebc366a2b45072dcb25fb13e5bf2c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:688a7d4dbdda3625989c5b43048574c37c56ad15f951ae4976683ae96fafffcc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /responses · status 200 · 3.361 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 72 changed as sent

message 80 changed as sent

message 84 changed as sent

message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0399, 0.8188, 0.6098, -0.4141, -0.0559, -0.0914, 0.993, -0.1524, 1.5188, 0.4747, 0.2981, -0.1444, -0.1837, 0.9983]\nstate[eef_state]: left_x=0.2924 left_y=0.0018 left_z=0.169 left_yaw=0.0505 left_pitch=-0.0542 left_roll=-0.0248 left_gripper=0.993 right_x=0.3615 right_y=-0.0262 right_z=0.028 right_yaw=0.0659 right_pitch=-0.1682 right_roll=-0.0268 right_gripper=0.9983\nstate[joint_eff]: [-0.4171, -1.265, 6.7077, 1.9512, -0.0757, -0.1197, -0.0611, 0.5538, -6.3385, 5.2855, 1.9414, -0.3639, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0399, 0.8188, 0.6056, -0.424, -0.0669, -0.104, 0.993, -0.1524, 1.293, 0.664, -0.1562, -0.1577, -0.2024, 0.8107]\nstate[eef_state]: left_x=0.2903 left_y=0.0038 left_z=0.1652 left_yaw=0.0667 left_pitch=-0.0678 left_roll=-0.0271 left_gripper=0.993 right_x=0.3547 right_y=-0.0228 right_z=0.0975 right_yaw=0.0892 right_pitch=-0.2047 right_roll=-0.0224 right_gripper=0.8107\nstate[joint_eff]: [-0.3214, -1.3197, 7.1863, 1.6777, -0.0513, -0.0024, -0.0073, -0.1983, -5.7778, 9.2376, 1.6679, -0.105, 0.022, 1.0281]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0399, 0.8215, 0.6056, -0.4252, -0.0669, -0.1043, 0.993, 0.3759, 1.6989, 1.441, -0.598, 0.1879, 0.1249, 0.8128]\nstate[eef_state]: left_x=0.2903 left_y=0.0038 left_z=0.1642 left_yaw=0.0669 left_pitch=-0.0716 left_roll=-0.027 left_gripper=0.993 right_x=0.444 right_y=0.1436 right_z=0.1855 right_yaw=0.1369 right_pitch=-0.2684 right_roll=-0.0491 right_gripper=0.8128\nstate[joint_eff]: [-0.3077, -1.5795, 7.1043, 1.6532, -0.0415, -0.0073, -0.0122, 0.1162, -9.1282, 9.347, 1.7216, 0.2711, 0.4029, 0.9304]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cae77d3964d503e9ed5da7fd857d4d5b4cf1a46c37a10693c7db5f11d87fd9b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df1bc3baee8ddbb124a7d75e12b032ffeeeebc366a2b45072dcb25fb13e5bf2c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:688a7d4dbdda3625989c5b43048574c37c56ad15f951ae4976683ae96fafffcc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF3-xSWx4IzHJfNu4hL1sjh2Ubi7HmMFVdWfGaQiL3G2rD1hewxnJx0_OmVvNNi8pYDtmWNu4VRnsiVf2TxZREnIkJQQIyOOSHGqTW2uHsUWq7DsVM3uPOvKt8wNhp-mDgT_Oxk12wNS8GzH77Hx19W5Fy5YRiKKIwRttJeiRxjMAVOfKceI0ILizEhOpADGMJqAB5zi-h5l5z_d3-Ze9HCD1pq5t9l7RCfq2xhEFERH1N8X22qPvZvoOkZoYgso6msivcrSdCL7kghQerAzG4ekUzqSdP5g22aiNMjVkGlwb1VRgQ7c5A4f6LH1e81Yw-jsP8DqBFpLSvsYcV00WLKxIK08SA12LG3VBfanRpSBFhSi4lyl6ZNhmp60WMfK1S3bqcLUrrpx6UZrHE6HougHrbu23afAc4Fbp8ImgILjBeEH3oGaGDZHzRnJHMPGk-aIamwEYe0KiMHY2XLyQR8yphoZaU3r8n6dRhOln8yJBOnwQjFjTa9E0QaKXSN5RLohPGV_6jXh92PzQgzvyLQ6NUnDmbk6GFGO72qKxhhFYlWY0OLrzN8srsv6RxtB_XQFG6NHM8ITu3fiEqh6Yti5rdoyYrUOy7NxCap9LqvVrsJ0hOgJDOMGJ9iaUDvQ6tc3QKzRrXy2qILD1Um4S9Qj3qF7WO7j6bh2SbYnwlTx25SQos2qMo_0aj0saC9XTTR1V-1KsH_9uc8XWxbCJdYfg0OvjaGGYkzx9ovF4MB758RKXERZcaJBfk0-jrz8Z5a9E-YTvaTpQJwHekXIS6-zY94ZmMAKQXPQgSWYlCTIzH3ubGBZURlGWpgpZV5NURa4_zd-vnKl8A9u5-WJj841vnvqn-il0lCKWvWeLmvieHgw8oLb2ea0zKUO_yY6byqD2KQ2LUoRFa1derVnqZucxtPVu_QoLqbNCwlMJ7hww1CiEL8lln1Yzd7cogaukCE0eYJBewHbTd2gi5Wv5ooFnjqB9uFnT8HAGEQh5HN4UybDNXRPULJjDxUA7ON2NxIt4bZ30z7z-tlJ5RP5Bhh7l5Mid_K8U5uxZGp4IEuqiDIVlhLxcdlYGhKDW-x1AzT8BwlADD0klMr51xV-1Bx2LwZUkJJa62QUJZb-MEulgIKgbF-yyySl7KnglOonc2otLFK1k9HHklEQfoA7xee9GYav-cAdt-Iz9K5nCeEHLobZi0DQz6kc7qE9lHKsa509YpviTp812x3cVcAerT9vENvGKV_Hbt7beJ_TJRAAA-ZVGCOyBTkG8Hw3fTjzuErUN1rNonsKcrkyJcdLd0tyJL3y7WEkhO4BGm9PvUkBGqDQxKqvDPHRIfwJemuaZMCs59semAUFQQmnytg0BI1DtpcdEg5i1D88sf5QLvfNbFoG0D2G6zcqFs4wn6P18qnz0J8f4zandQMO3nvFH4_VPUhBdyic_oObEuCi2ro78GMn2vsBCswQ1yho3Yr5iPBwAftCUbMLSmhwoBSGpHI0omsD5qJ7C2uhyJmC2FKbK-SVWwBJJJTyq9xnBVbV8tetSF_3tcFOaiRaUo5et9w7K6GiyqLHn241xF2qQHk3DRKNyYsaatI30ZmCOkjLyTxjQIIMX8bVnljaqgTSNNGIXQ==",
  "id": "rs_0bf2da72686913b1016ab45dfc4e8c87d0bbabf66f2f6e323d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.13},\"note\":\"The carried pear is aligned over the blue bowl. I’m lowering it toward the bowl before releasing.\"}",
  "call_id": "call_pM7ou8CUKBjeEf9igXbHRfpO",
  "id": "fc_0bf2da72686913b1016ab45dfd9d7087d0af9f317353356595",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pM7ou8CUKBjeEf9igXbHRfpO",
  "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]: [-0.0399, 0.8246, 0.6056, -0.4255, -0.0669, -0.1047, 0.993, 0.3767, 1.7313, 1.2533, -0.4828, 0.1867, 0.1307, 0.8144]\nstate[eef_state]: left_x=0.2904 left_y=0.0038 left_z=0.1634 left_yaw=0.0672 left_pitch=-0.0751 left_roll=-0.027 left_gripper=0.993 right_x=0.4263 right_y=0.1373 right_z=0.1136 right_yaw=0.127 right_pitch=-0.3702 right_roll=-0.0711 right_gripper=0.8144\nstate[joint_eff]: [-0.2393, -1.1145, 7.1043, 1.6581, -0.0708, -0.0757, -0.0122, -0.3897, -9.306, 7.8291, 1.9951, 0.1343, -0.0757, 0.9206]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91a3113c4e4f151981d22ffede0e1d404e822f785d4eac23da92c47ffde07ad0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29d02a6eecc9b6a7a3c7666693d90b02d80019d8347f25031b816a2de759cbe5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb9042cef439ba348fd537567eed4fd1fec5b6c62bb976b5ad0d0bb4937c9102",
      "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 23 attempt 0 · /responses · status 200 · 3.749 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 76 changed as sent

message 84 changed as sent

message 88 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0399, 0.8188, 0.6056, -0.4232, -0.0662, -0.1013, 0.993, -0.1524, 1.5383, 0.4599, 0.3099, -0.1577, -0.1986, 0.8144]\nstate[eef_state]: left_x=0.2904 left_y=0.0037 left_z=0.1653 left_yaw=0.0646 left_pitch=-0.0671 left_roll=-0.0255 left_gripper=0.993 right_x=0.3566 right_y=-0.0231 right_z=0.0185 right_yaw=0.0863 right_pitch=-0.1883 right_roll=-0.0236 right_gripper=0.8144\nstate[joint_eff]: [-0.3761, -1.2923, 7.3504, 1.746, 0.0317, 0.0708, -0.0171, -0.212, -7.0769, 6.3932, 1.409, 0.0464, 0.1001, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0399, 0.8215, 0.6056, -0.4252, -0.0669, -0.1043, 0.993, 0.3759, 1.6989, 1.441, -0.598, 0.1879, 0.1249, 0.8128]\nstate[eef_state]: left_x=0.2903 left_y=0.0038 left_z=0.1642 left_yaw=0.0669 left_pitch=-0.0716 left_roll=-0.027 left_gripper=0.993 right_x=0.444 right_y=0.1436 right_z=0.1855 right_yaw=0.1369 right_pitch=-0.2684 right_roll=-0.0491 right_gripper=0.8128\nstate[joint_eff]: [-0.3077, -1.5795, 7.1043, 1.6532, -0.0415, -0.0073, -0.0122, 0.1162, -9.1282, 9.347, 1.7216, 0.2711, 0.4029, 0.9304]\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 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0399, 0.8246, 0.6056, -0.4255, -0.0669, -0.1047, 0.993, 0.3767, 1.7313, 1.2533, -0.4828, 0.1867, 0.1307, 0.8144]\nstate[eef_state]: left_x=0.2904 left_y=0.0038 left_z=0.1634 left_yaw=0.0672 left_pitch=-0.0751 left_roll=-0.027 left_gripper=0.993 right_x=0.4263 right_y=0.1373 right_z=0.1136 right_yaw=0.127 right_pitch=-0.3702 right_roll=-0.0711 right_gripper=0.8144\nstate[joint_eff]: [-0.2393, -1.1145, 7.1043, 1.6581, -0.0708, -0.0757, -0.0122, -0.3897, -9.306, 7.8291, 1.9951, 0.1343, -0.0757, 0.9206]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91a3113c4e4f151981d22ffede0e1d404e822f785d4eac23da92c47ffde07ad0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29d02a6eecc9b6a7a3c7666693d90b02d80019d8347f25031b816a2de759cbe5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb9042cef439ba348fd537567eed4fd1fec5b6c62bb976b5ad0d0bb4937c9102",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The pear is lowered over the blue bowl’s opening. I’m opening the jaws to leave it in the bowl.\"}",
  "call_id": "call_3lprkQ5T9gLzIagRhk2ivqNe",
  "id": "fc_0bf2da72686913b1016ab45e00f8e887d09933351804b126a9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3lprkQ5T9gLzIagRhk2ivqNe",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0399, 0.8246, 0.6056, -0.4255, -0.0669, -0.1047, 0.993, 0.3767, 1.742, 1.2392, -0.4152, 0.186, 0.1158, 0.9929]\nstate[eef_state]: left_x=0.2904 left_y=0.0038 left_z=0.1634 left_yaw=0.0672 left_pitch=-0.0751 left_roll=-0.027 left_gripper=0.993 right_x=0.4353 right_y=0.1409 right_z=0.1132 right_yaw=0.1399 right_pitch=-0.3295 right_roll=-0.0691 right_gripper=0.9929\nstate[joint_eff]: [-0.335, -1.2239, 7.0222, 1.7167, -0.0952, -0.0366, -0.0073, -0.4171, -10.0718, 7.3778, 1.7265, 0.0415, 0.0464, 0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a92e3265bb1ea4991034c75532515841a816019c9e749d256be096394bf96948",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e2f928026e9319eb0e3b2c970869924a842511265c5b3839d047a01d851d7b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc79258ad5707ae488ac4144f0f7a73b2eae9c220ab2be2004487a84948f75c8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 24 attempt 0 · /responses · status 200 · 5.36 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 80 changed as sent

message 88 changed as sent

message 91 changed as sent

message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0399, 0.8188, 0.6056, -0.424, -0.0669, -0.104, 0.993, -0.1524, 1.293, 0.664, -0.1562, -0.1577, -0.2024, 0.8107]\nstate[eef_state]: left_x=0.2903 left_y=0.0038 left_z=0.1652 left_yaw=0.0667 left_pitch=-0.0678 left_roll=-0.0271 left_gripper=0.993 right_x=0.3547 right_y=-0.0228 right_z=0.0975 right_yaw=0.0892 right_pitch=-0.2047 right_roll=-0.0224 right_gripper=0.8107\nstate[joint_eff]: [-0.3214, -1.3197, 7.1863, 1.6777, -0.0513, -0.0024, -0.0073, -0.1983, -5.7778, 9.2376, 1.6679, -0.105, 0.022, 1.0281]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0399, 0.8246, 0.6056, -0.4255, -0.0669, -0.1047, 0.993, 0.3767, 1.7313, 1.2533, -0.4828, 0.1867, 0.1307, 0.8144]\nstate[eef_state]: left_x=0.2904 left_y=0.0038 left_z=0.1634 left_yaw=0.0672 left_pitch=-0.0751 left_roll=-0.027 left_gripper=0.993 right_x=0.4263 right_y=0.1373 right_z=0.1136 right_yaw=0.127 right_pitch=-0.3702 right_roll=-0.0711 right_gripper=0.8144\nstate[joint_eff]: [-0.2393, -1.1145, 7.1043, 1.6581, -0.0708, -0.0757, -0.0122, -0.3897, -9.306, 7.8291, 1.9951, 0.1343, -0.0757, 0.9206]\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 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0399, 0.8246, 0.6056, -0.4255, -0.0669, -0.1047, 0.993, 0.3767, 1.742, 1.2392, -0.4152, 0.186, 0.1158, 0.9929]\nstate[eef_state]: left_x=0.2904 left_y=0.0038 left_z=0.1634 left_yaw=0.0672 left_pitch=-0.0751 left_roll=-0.027 left_gripper=0.993 right_x=0.4353 right_y=0.1409 right_z=0.1132 right_yaw=0.1399 right_pitch=-0.3295 right_roll=-0.0691 right_gripper=0.9929\nstate[joint_eff]: [-0.335, -1.2239, 7.0222, 1.7167, -0.0952, -0.0366, -0.0073, -0.4171, -10.0718, 7.3778, 1.7265, 0.0415, 0.0464, 0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a92e3265bb1ea4991034c75532515841a816019c9e749d256be096394bf96948",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e2f928026e9319eb0e3b2c970869924a842511265c5b3839d047a01d851d7b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc79258ad5707ae488ac4144f0f7a73b2eae9c220ab2be2004487a84948f75c8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF4FaZA5P9SUTSAfsLt042C3noBQNwC1uK1TfWFHZyuOfdSSEY0eGPXyvWCYB1-Nt-EIIG1WAX50p_66-f0M5q5p6zVUir5zVH3qlJeEyClZQkyBkeo0pBbruna9mpfACRaKc-7U6DUHxxTPNXXYoR1ZIwUNSMeSJ9nZsybCp14oE9Got28CF936Geuu1K4Y-1pcxqEIyk85kw4g57KnBCnHnqyCmFXkGnabAzgf3R0bSt26EX0ud9EPSCBEzCvYb9N9jaL1o8X9jXqiA9Dgbo1X7DwP6NRN7PDyYf_XGUi4krpwr0w9h4wpHMcM7ILpdGKgtAZ-80519YBoI2SL_e1Nd71rnEwgq2o1CEpqY3PAdvbwhRlfAPBGDwj7S7Zg_gUwQXeMSXv1n7zBhSo8wQSFXmjUUg0oafagbPaSBUEoQBFZ0S9uYksAVJVzropa83SYd_YkVvL2tcv5naD3YkxAmcd0vZmfZQgsU9eAc04NmeWliaqDZofe9d0uUsMvgbVsOFqSBIVWWFLm2qxxXZ7oE1BywX6EOdVOvNL3Wrjvngf61Uz2qINhfrNMYEKnTqJ34-HJJNhW77m8DMFw15JlwnapEarFjVaHtc26DUAR_Ij1acvuUljYf4LcnK6xD_HAAOPrqz2xwfm6-CTRtYmMrEQqd9PtPgkcNmwk3_qug2qEEpc8zBNvxZC1aWArQYcvZiEoPxWyAGTuTkXHKS44SR7WAVvBM4cYLXGDrKbJgDEqCmN3VMTMYDZcDKfeu1SGnnacc1nCqQr-YXdfwynF6cdQ8vMm3SS01RjELmVBot1AsqkPGEHS-FCmflLdodr2VwvJMa1tzEejrwo5gs_FKhYH9gIh873bK-zdqJlntFyjSs2qcHKhyIUjotMjzZLrLqFfjA-3pxE8g6mA5DvjyTLojQTlPO_L_szl44acUGvoUXJGx1q2LmoHDMFdVPmS01zRHPOsjg6S1UqIAlgKTs-34Qs2Bbqe2xKQKjCVPOOtJqBiyrC-o75yo5BzI-USSyyonbY20Fy1p3MiYdn9R_cz9aaTFo5TwzSONXyIzUE6o7el20hHEUQopXfcueUOmVAZFmnwXc5Xehjrgb1bw4gw-6SszgxwE6fupB_k8mR46luYWjuiCrqZlF5UeOMu7Z5e63L6_v3PDPPn4_XHLAgNW-8E6-0s-aZ1qbW3zbJ99h28hkGTTuBoI9Ag1fSlw_Dt0ZBSsgn5EeAFcOKKzyEkqfnqqDfVazCt0O5_NEEjFV1jqOs7IWVm474FBfY_dS2gY5g66kjoxOFfcW-8izoOBlf_j41WcIE-BslVJaMxbyUuKfvrgWv5OuWq2-bJeEBHgp-4IK-4QCzgS_b5bXg3Opd55jJCCgIf8Zp92jfKp83E-qf0s2LrQT9yTAWpEDvzRUx_Z1RiS50Apf3w57MiwMLz3ijGh-FtGaB_AdMddHGPg282j2_Wghlcb_-0dXbYBXRfx9t5nYpUM6Gmyw==",
  "id": "rs_0bf2da72686913b1016ab45e0398d087d0b9587249a5e38232",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.355,\"right_y\":0.21,\"right_z\":0.16,\"right_pitch\":0},\"note\":\"The jaws are open over the blue bowl. I’m lifting away toward the yellow fruit so I can verify the pear stayed in the bowl and collect the remaining fruit.\"}",
  "call_id": "call_sB3vGbTbnVwPGQrmtw37Ufcv",
  "id": "fc_0bf2da72686913b1016ab45e04efc487d0a1094f72c7dd5b52",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sB3vGbTbnVwPGQrmtw37Ufcv",
  "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]: [-0.0399, 0.8299, 0.6056, -0.4316, -0.0669, -0.1043, 0.993, 0.6765, 1.4971, 0.9478, -0.2352, 0.4007, 0.2298, 0.9939]\nstate[eef_state]: left_x=0.2897 left_y=0.0039 left_z=0.1607 left_yaw=0.0671 left_pitch=-0.0864 left_roll=-0.0254 left_gripper=0.993 right_x=0.3572 right_y=0.203 right_z=0.1343 right_yaw=0.2088 right_pitch=-0.1433 right_roll=-0.0964 right_gripper=0.9939\nstate[joint_eff]: [-0.2256, -1.5385, 7.2137, 1.746, -0.022, -0.0464, -0.0122, -4.041, -5.5726, 7.9385, 2.1026, 0.7643, 0.2759, 0.0904]\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:26f055e41ac1dd275c880d1d2498d2271eef370f2ec39abe0cb160f22ebfc8a4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ec461fca4552dc29b68a87ae056a111ca91875392aaa517c0e6d7d5e7701aeb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9afe9e1f326982f9a4f80f7a1f147812f31593bc4aded9abe3696434ea176e66",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 2.156 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 84 changed as sent

message 91 changed as sent

message 95 changed as sent

message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0399, 0.8215, 0.6056, -0.4252, -0.0669, -0.1043, 0.993, 0.3759, 1.6989, 1.441, -0.598, 0.1879, 0.1249, 0.8128]\nstate[eef_state]: left_x=0.2903 left_y=0.0038 left_z=0.1642 left_yaw=0.0669 left_pitch=-0.0716 left_roll=-0.027 left_gripper=0.993 right_x=0.444 right_y=0.1436 right_z=0.1855 right_yaw=0.1369 right_pitch=-0.2684 right_roll=-0.0491 right_gripper=0.8128\nstate[joint_eff]: [-0.3077, -1.5795, 7.1043, 1.6532, -0.0415, -0.0073, -0.0122, 0.1162, -9.1282, 9.347, 1.7216, 0.2711, 0.4029, 0.9304]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0399, 0.8246, 0.6056, -0.4255, -0.0669, -0.1047, 0.993, 0.3767, 1.742, 1.2392, -0.4152, 0.186, 0.1158, 0.9929]\nstate[eef_state]: left_x=0.2904 left_y=0.0038 left_z=0.1634 left_yaw=0.0672 left_pitch=-0.0751 left_roll=-0.027 left_gripper=0.993 right_x=0.4353 right_y=0.1409 right_z=0.1132 right_yaw=0.1399 right_pitch=-0.3295 right_roll=-0.0691 right_gripper=0.9929\nstate[joint_eff]: [-0.335, -1.2239, 7.0222, 1.7167, -0.0952, -0.0366, -0.0073, -0.4171, -10.0718, 7.3778, 1.7265, 0.0415, 0.0464, 0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0399, 0.8299, 0.6056, -0.4316, -0.0669, -0.1043, 0.993, 0.6765, 1.4971, 0.9478, -0.2352, 0.4007, 0.2298, 0.9939]\nstate[eef_state]: left_x=0.2897 left_y=0.0039 left_z=0.1607 left_yaw=0.0671 left_pitch=-0.0864 left_roll=-0.0254 left_gripper=0.993 right_x=0.3572 right_y=0.203 right_z=0.1343 right_yaw=0.2088 right_pitch=-0.1433 right_roll=-0.0964 right_gripper=0.9939\nstate[joint_eff]: [-0.2256, -1.5385, 7.2137, 1.746, -0.022, -0.0464, -0.0122, -4.041, -5.5726, 7.9385, 2.1026, 0.7643, 0.2759, 0.0904]\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,$blob:26f055e41ac1dd275c880d1d2498d2271eef370f2ec39abe0cb160f22ebfc8a4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ec461fca4552dc29b68a87ae056a111ca91875392aaa517c0e6d7d5e7701aeb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9afe9e1f326982f9a4f80f7a1f147812f31593bc4aded9abe3696434ea176e66",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF4MfP7Y3ZiWGvwe6jtqdzFjbAH7OONp47A6SAqW2EzoAd6skTmg-1lgYwpmF76J4qoOkttxoAibU-2pmHOYq7-08nYD82TmvNknD-nKMk_FfejMQdEmZ5i2oBnmr4Y1adKMR908OMZxABKBZZA7dtwRWplDEWhT91w7jMsPWQYB-sslY9ev_8303ArxT22_dajfHu26U80WpRZzu2OHK_83u48Jx0op15EXbFR7JzD9JEvmq5JD75-gjQ3dlSfI-vGPwRQmIuHlRDsMEtf46c8p2VQv7PjanU13TaSEKCaxPVU_ziDrR2gNPtlixj1bIKZBpVW9MEZIGZY8n1qhQYWJU0FivRwM8gh1Cz6MCuNmBI7jJ3p_UxVWhOCKQvNfSCgyJnBFlSsJaGlLIYGVtdEnsXAvK2ElPzwGaKxorh-gP0x0Q2q_I02GvGkjomaR8eie8Q5Nylfl_4JgUskZ_sgxhMRLI3pAoItQbO1G2epa-23MpktF_7D5wcdYtShb1yllkl9AT0S3L6E41UV5LoS18a8lmKNdKx7U4RCQbChXCD6kdUSogI4jH0IIcUCFedO69b_ZIlZdhSQ1x2cIkuIjnKKdkUx2cnRkBzAqaI2uHHsKiim-u00BtyxKKZMXMZ2AWbcp-ftZE0WTUOWK7Ou--TRKhyO1d8ugw9xMAVN5prrD4z4a-AsN9dRbwK97yTSKqWJf-K1vUNcUdFurU3RQNj7oX1Tv68uK5Wb53foc3DXd-jihqy1bYnFE1rU33ISxDbohFgisIjWIGu-qboPnfXCgxDc-M8oOUHWT8sJIZOQxJFfI2HTrFmz1VS1oczg_2pSdYuDAkKM90T54pKaxX5Dx4bbdhTfJlxNET8RadocZiNdSGzcAnW-ulmrZXTcq6jHnS_yW81YykXlKMTGZJbg_ZIwXeSNG910CZ75RSdE5z-JV9NSbe2CbgLMTvH-25PIjCv1Sm_rqs2HDx3P-bxOv2A-pAcvrNRJv0nZamkxjqvq34BEo-e_GE4-QM7LMbIzkEGYIHB3K-Q4BsEmbEz_4q6jmKNjlAGYS2U5gLVeqzwf2VZCotZ-s9SvrUDSTkAtvxWIBFtfMhEMOmbpKcUQoFtv2oY9ZweEHFsNNy-IOC6uM3fV11I-NVZOpBzoNOFB-Z2eHPu6O0ezIRj_UQ26o4rMUkPJWD-WMl3u5C4TpgAjYik2pgyYKnpxIwk1ZQua9nxwwCIDXBds6funaZScHeHQbEA9g6vq9U98x6S6ad0Kwuf56f17PcLvNdcwaR8_PcsCLbLxAT6ol2dz8hDBKr7k2IVTBELPC0YeM8Ihx_qbM-2tXnvP1crPHTJHFXzjr6ZWu0DrvzQ8F5UVev6hC66jLO0NqJfjTJPqSvk0yqI33ezabAMStCTlbQMYqLtOuejAZ2_D15U-OhPbTY3WXQ_yXUhLS1kynF--_kWWwOY5sJoj-Tdt2nook9ebPUMq6wfDs-sL69N2U8UNYFHS7aPh36BsLnAKGQhpxTuJkzv0C3cflBw8cIMeQ1sr0xYe-J6hPPTdXbdX4MDz26wFSJ7MWxJoeNcHEiM5zyd-Kae0NpYfWs4PX6nrrSkPykJ9Svh_RhrkLQSe6PAR8sMNkhlFiWITBNmONTW7vCrqK6yIwzizmYWVvNni1OrR05yFyzQGYmhapQJVpSjw3GbJUDG29NeqYtFQ6IGQ2RaBM2Caev8X7Tt1s0FMqDmn1nrYsmPs20NNMIqt4VbZpMyzs4iMEZcK2HJGIQWts8uB37xuBNthtxBZbtvsuIKOW",
  "id": "rs_0bf2da72686913b1016ab45e08a31c87d096a01df0b5449293",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.33,\"right_y\":0.225,\"right_z\":0.025},\"note\":\"The pear is visible inside the blue bowl. The yellow fruit is just below the wrist view, so I’m moving slightly back and left while lowering the jaws around it.\"}",
  "call_id": "call_qgOcqphfMoABuh4JTc8pSlAM",
  "id": "fc_0bf2da72686913b1016ab45e0acbb087d0a9b7d248dfb98183",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qgOcqphfMoABuh4JTc8pSlAM",
  "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]: [-0.0395, 0.8322, 0.6056, -0.4347, -0.0669, -0.1047, 0.993, 0.7879, 1.7161, 0.7044, 0.1337, 0.4599, 0.3004, 0.9941]\nstate[eef_state]: left_x=0.2894 left_y=0.004 left_z=0.1595 left_yaw=0.0677 left_pitch=-0.0918 left_roll=-0.0252 left_gripper=0.993 right_x=0.3245 right_y=0.2201 right_z=0.0218 right_yaw=0.2274 right_pitch=-0.1988 right_roll=-0.1287 right_gripper=0.9941\nstate[joint_eff]: [-0.0068, -1.4427, 7.2547, 1.6728, -0.0464, -0.0269, -0.0073, 0.3624, -7.159, 4.9299, 1.7411, 0.3785, 0.2076, -0.0024]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99067d5514fc1d14a27a3beb13ce8b5ccc1cc686680bcb5c664bf77b2f17de6b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90ba07aa046f16240931087e35f39390d887b7f7b2986dd96cc856610b3cffe1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0bf9b0fcfe04b02894ee35380646a3cce9362369ffd9d5353a95bce9f89672e",
      "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 · 3.452 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 88 changed as sent

message 95 changed as sent

message 99 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0399, 0.8246, 0.6056, -0.4255, -0.0669, -0.1047, 0.993, 0.3767, 1.7313, 1.2533, -0.4828, 0.1867, 0.1307, 0.8144]\nstate[eef_state]: left_x=0.2904 left_y=0.0038 left_z=0.1634 left_yaw=0.0672 left_pitch=-0.0751 left_roll=-0.027 left_gripper=0.993 right_x=0.4263 right_y=0.1373 right_z=0.1136 right_yaw=0.127 right_pitch=-0.3702 right_roll=-0.0711 right_gripper=0.8144\nstate[joint_eff]: [-0.2393, -1.1145, 7.1043, 1.6581, -0.0708, -0.0757, -0.0122, -0.3897, -9.306, 7.8291, 1.9951, 0.1343, -0.0757, 0.9206]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0399, 0.8299, 0.6056, -0.4316, -0.0669, -0.1043, 0.993, 0.6765, 1.4971, 0.9478, -0.2352, 0.4007, 0.2298, 0.9939]\nstate[eef_state]: left_x=0.2897 left_y=0.0039 left_z=0.1607 left_yaw=0.0671 left_pitch=-0.0864 left_roll=-0.0254 left_gripper=0.993 right_x=0.3572 right_y=0.203 right_z=0.1343 right_yaw=0.2088 right_pitch=-0.1433 right_roll=-0.0964 right_gripper=0.9939\nstate[joint_eff]: [-0.2256, -1.5385, 7.2137, 1.746, -0.022, -0.0464, -0.0122, -4.041, -5.5726, 7.9385, 2.1026, 0.7643, 0.2759, 0.0904]\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 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0395, 0.8322, 0.6056, -0.4347, -0.0669, -0.1047, 0.993, 0.7879, 1.7161, 0.7044, 0.1337, 0.4599, 0.3004, 0.9941]\nstate[eef_state]: left_x=0.2894 left_y=0.004 left_z=0.1595 left_yaw=0.0677 left_pitch=-0.0918 left_roll=-0.0252 left_gripper=0.993 right_x=0.3245 right_y=0.2201 right_z=0.0218 right_yaw=0.2274 right_pitch=-0.1988 right_roll=-0.1287 right_gripper=0.9941\nstate[joint_eff]: [-0.0068, -1.4427, 7.2547, 1.6728, -0.0464, -0.0269, -0.0073, 0.3624, -7.159, 4.9299, 1.7411, 0.3785, 0.2076, -0.0024]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99067d5514fc1d14a27a3beb13ce8b5ccc1cc686680bcb5c664bf77b2f17de6b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90ba07aa046f16240931087e35f39390d887b7f7b2986dd96cc856610b3cffe1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0bf9b0fcfe04b02894ee35380646a3cce9362369ffd9d5353a95bce9f89672e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF4P7BdhpC8GOuJa8PkEyZSmh7EAI3cgKztczMZRZS6Y0CbPPEu_q3_5zoCAcu8CVGCtJS4K0HeI1abFcR4auBsfJdrCix6RehGuEI9ffSm4pfu168ilDCEY4W1z3pH0Zu1ruvd8KR8IOYakZgzBsDjXg5Nh2JqSL2bWPKZYLUvl6dzcZ1UOFEmjPkQENJFiTZ8uuEaLaqCY9zNt6E0RT4eRy50RHfKDd0dFgk3zRJeBgmZibx-6P4LBZUeg2NF6_4vueJVYmp6xn-kGmDP9RTVUWfBUKNfqW9JTmX8FCPIR3luRXj_ZN7KbZaEiM9UVy5_gHUTZIlz4ZruFtJEzUH0ea6gopmomX_TuTijiDS9wiI_0KcZsRO_jqbZ9ZiiwfanzqfWiMvgwDt5VDmw8EHDM7G5YTZUrWKDzqW-RI7dgKZ4vaB1p8xgvYsI0tg9_KWu-kvPoN71BxAUmJYEkcvmWzIi1YceCCVtd_rE9kOcGQdzZSHI9FEl-L5aztuBNGSkW5pEFvh-DRHUFbO7eDb47eb_tvJHd87p4DuQCdVwblolxZc5D8qQMLqHJFTDwBEl3QlYTy0mjdZWoHsnGvmR_2HkKGEZKwp-MowXZlsRLuoRe4qaxWm0VCrKr8izgzDdMxiSxkgGafkabub-9xcvTw-YeaqVnuoBCgjrrgl0EogMCXV3fCQrmxiDWG2BcrSFQJJqY1IPa8rsCvI9pRJpkabPNcQ1KF8xYQnc5_IAJc0gliqIKv8AjzrfUM9UvrPi8Wh6HNu4Ula5BrLh_-M6GWK0hocjjHQkIovHgXiDN6Kc4aYp8vMFdz43pQcg7WTaPHZbZ4MY7EA-5ZSH4Qs9ISfelcQ5ms3RO7xsmRR3yMoU8UeraCodxHmzsVhyhEEWDjYLX4G4pOB3IuZ0D0PlHX77TLPnqW1qPHBXMLnMpWnfjnUlb8pywbS0lCBXUtL7L3_fxEUtg6ZWAuHg3a0WjIJ_LdzYIBXp-dJiT6UX-aNEBq6h3a69eXEyvsuJyWr6AAi9d2vcQLtxH5iHU5ekJg_asQ64MiXd4xIbePqzUQ60BPgoF2ER1qjXoOiAtBE7lHjK4vXxzutXwV-B0FftqvLD_c_K-ElDtd-wLu0XDPJfM6SHsxPauXgWapD0fFpsYymWSCNHElw00RMey0NCCNjdzb32iGiP5aBtv7-02cwh9rnjSxbQpOTgr6RpfxxAF2PAkp76oJHiZlQDNjQ6RVg==",
  "id": "rs_0bf2da72686913b1016ab45e0e643887d0962810c962638849",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The yellow fruit is centred between the jaws at table height. I’m closing to pick it up.\"}",
  "call_id": "call_RejwHTFF5EvAk5dMMwpDdLWk",
  "id": "fc_0bf2da72686913b1016ab45e0e9da087d096b530356ae63d4c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RejwHTFF5EvAk5dMMwpDdLWk",
  "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]: [-0.0399, 0.8322, 0.6056, -0.4362, -0.0669, -0.1047, 0.993, 0.7891, 1.7355, 0.6899, 0.1375, 0.4583, 0.2962, 0.5134]\nstate[eef_state]: left_x=0.2892 left_y=0.0039 left_z=0.1592 left_yaw=0.0673 left_pitch=-0.0933 left_roll=-0.025 left_gripper=0.993 right_x=0.3197 right_y=0.2162 right_z=0.0105 right_yaw=0.2285 right_pitch=-0.2253 right_roll=-0.1471 right_gripper=0.5134\nstate[joint_eff]: [-0.0479, -1.3744, 7.0496, 1.6728, -0.0659, -0.0415, -0.0122, -0.212, -8.8684, 6.4342, 1.2869, 0.1587, -0.0171, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b98a20bb5724c78ca4fd36fa09b2c6118f82af6b9ec6a5691b25cb7d5b4a6d3d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:533b1e144b53fda09e0ccecda9c864db53c1a81ad3bdc7ace521df3c9109c924",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f808c8061f082cd7f6f4bd76dd0a90146e54f9e6b4e2d21a93237c98debf6112",
      "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 · 5.143 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 91 changed as sent

message 99 changed as sent

message 103 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0399, 0.8246, 0.6056, -0.4255, -0.0669, -0.1047, 0.993, 0.3767, 1.742, 1.2392, -0.4152, 0.186, 0.1158, 0.9929]\nstate[eef_state]: left_x=0.2904 left_y=0.0038 left_z=0.1634 left_yaw=0.0672 left_pitch=-0.0751 left_roll=-0.027 left_gripper=0.993 right_x=0.4353 right_y=0.1409 right_z=0.1132 right_yaw=0.1399 right_pitch=-0.3295 right_roll=-0.0691 right_gripper=0.9929\nstate[joint_eff]: [-0.335, -1.2239, 7.0222, 1.7167, -0.0952, -0.0366, -0.0073, -0.4171, -10.0718, 7.3778, 1.7265, 0.0415, 0.0464, 0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0395, 0.8322, 0.6056, -0.4347, -0.0669, -0.1047, 0.993, 0.7879, 1.7161, 0.7044, 0.1337, 0.4599, 0.3004, 0.9941]\nstate[eef_state]: left_x=0.2894 left_y=0.004 left_z=0.1595 left_yaw=0.0677 left_pitch=-0.0918 left_roll=-0.0252 left_gripper=0.993 right_x=0.3245 right_y=0.2201 right_z=0.0218 right_yaw=0.2274 right_pitch=-0.1988 right_roll=-0.1287 right_gripper=0.9941\nstate[joint_eff]: [-0.0068, -1.4427, 7.2547, 1.6728, -0.0464, -0.0269, -0.0073, 0.3624, -7.159, 4.9299, 1.7411, 0.3785, 0.2076, -0.0024]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0399, 0.8322, 0.6056, -0.4362, -0.0669, -0.1047, 0.993, 0.7891, 1.7355, 0.6899, 0.1375, 0.4583, 0.2962, 0.5134]\nstate[eef_state]: left_x=0.2892 left_y=0.0039 left_z=0.1592 left_yaw=0.0673 left_pitch=-0.0933 left_roll=-0.025 left_gripper=0.993 right_x=0.3197 right_y=0.2162 right_z=0.0105 right_yaw=0.2285 right_pitch=-0.2253 right_roll=-0.1471 right_gripper=0.5134\nstate[joint_eff]: [-0.0479, -1.3744, 7.0496, 1.6728, -0.0659, -0.0415, -0.0122, -0.212, -8.8684, 6.4342, 1.2869, 0.1587, -0.0171, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b98a20bb5724c78ca4fd36fa09b2c6118f82af6b9ec6a5691b25cb7d5b4a6d3d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:533b1e144b53fda09e0ccecda9c864db53c1a81ad3bdc7ace521df3c9109c924",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f808c8061f082cd7f6f4bd76dd0a90146e54f9e6b4e2d21a93237c98debf6112",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF4Tx_6avpX4nrxXU2L3cxddbNYoo0jXtC73D5kQY6dJvAwSSx1uHTvT5FipI0F0SiTinceHDWPhFBifrYL2m7cUwA2LdpqrKbP9IqgfAvM4LU-0p4iHUVxA83XSgWEMaEUJTyzsxDsgmgTqK0i0wlJdzHTOW19dmAqYu_NvsFM2r33iRxA-p0j785XdwvWGtbARYO0_3GVeoWZ0wY8wdiZXXtQ9BQGMEW6jeMBKQEtYAsC0pMb09K760qqbvwGxRP4Y1EBMasOW2hKQg6gClQ1LiCiG-5SXX8VbbQHYSrGXr8jwNN4bDU0T1INWt6Hhele1_bWGxKDAO8qx5C4R8WM0fb6cVG8YN8friSxNaT0EEflEkgXMuhpyzc2iesGa1lai447GD7gKUiO71VdVNKq7YsBqSqlm4OUbCNrqbhRifKHsWJ3rcPPYhkMCUgE0jdsWrHsmCIigSDXnQPFk5GyLjZHba-mz2ZpQCS-voFBTsZsexnMS8z0pJ-nSepokQZYWzuej7KgFJ50d1KiXqKBHYZ7q2drbDZc7V0YILMhpZH8nalsjJkujOQGsQl2p--N4OqTth1Jx4CT1BJFdYxFNC1pngXviXsI01Idj8a-bymwpbStMHLIMg2QwE--hF_nF6Oc94Pp3NDIz79JTgJgC7pYN74j-sGFlT7kbDRwKjSTB7MBBFIdsTp1B2wLNQgt6EL23NJaRqS_xQt2RSRazc-gL9pgEbku6K4FcFX7roGfzgDjXLhjEjcbwn24AgHbqcHWSw2bWLItgH8tWEeOugd2-ToE5KC67MnsEMGFlPvOZtXL_83nZE7o2gb3k7xtNYjGE62aU_jy_FhbdGzOIHMJXYoBLhcig0s1-WDCTiLrnYU0V-vD6GAEtMtO-mWJnkH2cq2Q_P-J9PkWCx-dqFhnUJ5Z_y48bdQpdh6N-0iGLVteiPvHmMKCz892CL5jSaVHnKNh5INZsVOZROErI1wa1UoPM59l6vaCK5x9FJjN9y3--AqvY9iDTfwFmb-tpWyvG7XvJC8lEYUYLXJ6itQjqwyIO_zMmBwr2Y7R5jYx538AJH7rkb5uxhvWSR8dcMOjWS5e6zots4sJ_rtBuRgFmOGXKOo0quQKcW0fp2H9mVniHpCfcA3ghw7tevunN23T7j_Iia5Xud2RghNJwSXgpiNdpw5ulyuv962fqa9xd9Nezye2bLD5kPaZPkwUJ_DQBw4QA4QjK9cq87joX2vwRsBogypNJnzWy9eIahOKBaEaR-x6h53gJmIZzF_kuFApynbuQmOG2qG2w5st4MsuPRKQexQjXb4Ju7doalsy2sVs_p5lZ8SsBaHe-dD11pYC7zguXOcSG64rSRtSV3enXpjNvCXbZcEol2e33cgKaojdYRXV0o9IMbrZAlQQLb-6X9HMClR11h7Nxf0jpOg==",
  "id": "rs_0bf2da72686913b1016ab45e11bd6887d0a9c3f3bf777d9d4a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.1},\"note\":\"The gripper stopped at about five centimetres of opening, indicating a fruit grasp. I’m lifting to confirm it is secure.\"}",
  "call_id": "call_E5zaSE4BB1wg1pccIGu9qEd7",
  "id": "fc_0bf2da72686913b1016ab45e12b50487d0bf0a457d0e497f16",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_E5zaSE4BB1wg1pccIGu9qEd7",
  "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]: [-0.0399, 0.8333, 0.6056, -0.4427, -0.0669, -0.1043, 0.993, 0.7891, 1.5414, 0.852, -0.2089, 0.4545, 0.2958, 0.516]\nstate[eef_state]: left_x=0.2882 left_y=0.0039 left_z=0.1576 left_yaw=0.0672 left_pitch=-0.1008 left_roll=-0.0239 left_gripper=0.993 right_x=0.3216 right_y=0.219 right_z=0.0875 right_yaw=0.2329 right_pitch=-0.2185 right_roll=-0.1394 right_gripper=0.516\nstate[joint_eff]: [-0.1299, -1.4017, 6.9675, 1.7021, -0.0611, -0.0464, -0.0073, -0.2393, -7.9111, 7.8017, 1.3797, 0.1783, -0.0073, 0.7692]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b51cbe8b49447040d4a99dd83ef0c2abc33a3afc9ed2b40604ce02bdda983503",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24ad98a7e59f286b1d0c9b719792bf1ec154a28e4003b6bd6119a324453d5d70",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69dd44a3ee875d8e8b9fd2eea43bac466771532980b2dc3ff8f3d5224e901e90",
      "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 · 3.156 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 95 changed as sent

message 103 changed as sent

message 107 changed as sent

message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0399, 0.8299, 0.6056, -0.4316, -0.0669, -0.1043, 0.993, 0.6765, 1.4971, 0.9478, -0.2352, 0.4007, 0.2298, 0.9939]\nstate[eef_state]: left_x=0.2897 left_y=0.0039 left_z=0.1607 left_yaw=0.0671 left_pitch=-0.0864 left_roll=-0.0254 left_gripper=0.993 right_x=0.3572 right_y=0.203 right_z=0.1343 right_yaw=0.2088 right_pitch=-0.1433 right_roll=-0.0964 right_gripper=0.9939\nstate[joint_eff]: [-0.2256, -1.5385, 7.2137, 1.746, -0.022, -0.0464, -0.0122, -4.041, -5.5726, 7.9385, 2.1026, 0.7643, 0.2759, 0.0904]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0399, 0.8322, 0.6056, -0.4362, -0.0669, -0.1047, 0.993, 0.7891, 1.7355, 0.6899, 0.1375, 0.4583, 0.2962, 0.5134]\nstate[eef_state]: left_x=0.2892 left_y=0.0039 left_z=0.1592 left_yaw=0.0673 left_pitch=-0.0933 left_roll=-0.025 left_gripper=0.993 right_x=0.3197 right_y=0.2162 right_z=0.0105 right_yaw=0.2285 right_pitch=-0.2253 right_roll=-0.1471 right_gripper=0.5134\nstate[joint_eff]: [-0.0479, -1.3744, 7.0496, 1.6728, -0.0659, -0.0415, -0.0122, -0.212, -8.8684, 6.4342, 1.2869, 0.1587, -0.0171, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0399, 0.8333, 0.6056, -0.4427, -0.0669, -0.1043, 0.993, 0.7891, 1.5414, 0.852, -0.2089, 0.4545, 0.2958, 0.516]\nstate[eef_state]: left_x=0.2882 left_y=0.0039 left_z=0.1576 left_yaw=0.0672 left_pitch=-0.1008 left_roll=-0.0239 left_gripper=0.993 right_x=0.3216 right_y=0.219 right_z=0.0875 right_yaw=0.2329 right_pitch=-0.2185 right_roll=-0.1394 right_gripper=0.516\nstate[joint_eff]: [-0.1299, -1.4017, 6.9675, 1.7021, -0.0611, -0.0464, -0.0073, -0.2393, -7.9111, 7.8017, 1.3797, 0.1783, -0.0073, 0.7692]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b51cbe8b49447040d4a99dd83ef0c2abc33a3afc9ed2b40604ce02bdda983503",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24ad98a7e59f286b1d0c9b719792bf1ec154a28e4003b6bd6119a324453d5d70",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69dd44a3ee875d8e8b9fd2eea43bac466771532980b2dc3ff8f3d5224e901e90",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF4ZVQlTLFylPs9920GCGJ72kwl0X6JqdEKuEegN6YgFfjO2nflnvTDiLQFsG0ByjD0qAK0tmX9lXIbzDRiiapdXfVcdUGImPMgCf96uquHyskgCb-4bnP45U3RrPm5S7ZRBQDXH2pJzqPIF228OJtKgVhep5eHcrBn7p23Zu74zmYT1D3GmMlQLYI51eWgaCVGDGA_2v0YSYO0OjRof2wDx5-mcbUtt7XTMdiiKw79GOMqtD53hFWg69A7s-wv84_2yIrYCN0V8AOwbHQPII43QGoViEPQHeBzOmmgfDaKTJ-bQZNKfo_YJu6X1MSEzl8NSrdcEab9UEXy-vG7lRDbmR6APjVNsgWIwkZT9HzKUI3C7xtmAh1al2gHSHV49BiJhHNSjMDauUEbNey6fsv5nPzThedIB36z_KwMm6oV3l_00PCjmuq4OcF-ANmVubwCNZHanmN8AEpQc7ljBxNKgilDs0Lt_ynRut1Jb3jz2mjGRjrtj0T6ja2DAeEpgQOtBWfwf94nQxmchuLtFBYZ-wGO70QFEsrByHc6tGQFevOeotVAk99y2ECJW-jNq1q-TWnuY9Xt3u5KUcUpjViJMEF2UDZMA_-RdTONurO_U6Azvgi1fCdKNc49FhUzBiBx3yN-8sgte-BcFa1APSR3TWbX46oDRFYtlVg-JXRY9ht-qj_WlOlc8-T0iX-xFdKc6eNjggGt5XHse-irQh8duI4dRMtIGPBAcVk86CQ3gAeFIc4nfoLoH_I6zfcLo0PdXGITID_ZahClOnu_iqND56KJhUS4a-JS3mzsDjjpQG-77AKGtA7B1EWyRpeF7spi1MyDdeIa_ND4AmwwKo8PQhQU_Wau-6rMLtOkqJjg6HQECW376Gopj7m4TgeYWpDEe3rR0tqkwsSUDmqmwNCIDk1XnIuc92FcMTTN9ju0B4corUNSLj-jlAjlGMTjszLzeokQ3F1QDP5OvHgps_KKSF1DKlvddG5XrtA1nWHjKO1Y_BHqYQbIdnTWyk4cvgy1ymb7gA7fNmUPiwQpDUPqhyndngYCsLErz1MJnOp_Ot-L-My4VMreMI-khFqh1p4VDf_ZPs1vvY-1HbGu1UmcppkSz0kosQ5kiDXkJYfi-4O9MVra13QpJtlM0bkQKgWSoUnvuJ92LXjQTTx555isnXN1U2OKXo0Wdr-ah7QvBIYDUA5QiYuL-6HO289bFGupx7a2izmBA3-FD1pSy0VQAjVQUCwLAqdRn4ohuaWUSsrCb1GHzVI3k3XSNyHTR_G9YYVpa7OU-imsaxJbgK-9h0eK05eAVQ4MAAci-B8Su-BJs9lI0ej1fBB3oTWSFL8XhWb8FGFFzUKbastznfPeqns5qVMMzeBGgCjdIkgPtCnCGTGez7bWI42FCvZTK4GzQ6IAhvLloE-lGFT58Vtk5T5ModVMz6JTETNlpAMGPirFM4lZ6_U9Z_aXs4isxFGyVk2whn-5U-vRm9cCJiKbS7KDGuDam-I7igvBSI6DWzVSbzJXd8P6Mdtqv8xlUjCbnOUhfpIE74oD4URf9H48bZxfkP-9tDwYe1kvJakWAFayi3hMdfcF1cdnREqKHurTbGcAWtzPoFKxsFRLCo6nJ45D723SqusVnCF1dC9vKRGtpvO9XDI6PCmoFVzh8lkmYjlOCyQwBK-Rfnr_aKXwfN3HKRvom36X-IxoqXoPPB2GRnelMT5rGxyA_-br_PPds74xDeZj8B4gwfUTwzcY-UoIUCG3hvJ-zKBqd_QvWQRU01_p1Ty9s4U0iLOH2uQA9m4-2A3TXQDLiFAf-T8Tw0TQYqYoyfKmwiJJ3jLvccgwhSeMSR8LkavypRnRESWBrhPVerzfvwgiKJNqwavvcklW0q_BHr90jYHcVfg0UMhcfoCy1ODhlBEK6-3UjbiHobhdRYx4Wq_I7ncgrICqq65sc7xlXruNvwcww3OMEivIZaF-YvMXY8F3BJA9RnaE3",
  "id": "rs_0bf2da72686913b1016ab45e158ae087d09e963d44d252d472",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.495,\"right_y\":0.205,\"right_z\":0.19},\"note\":\"The yellow fruit lifted securely. I’m carrying it toward the blue bowl, which shifted slightly during the first placement.\"}",
  "call_id": "call_k4mmgSuvVfR6B4NJmxYcDFgF",
  "id": "fc_0bf2da72686913b1016ab45e18748c87d0815c6713c694fe57",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_k4mmgSuvVfR6B4NJmxYcDFgF",
  "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]: [-0.0399, 0.8368, 0.6056, -0.45, -0.0669, -0.1047, 0.993, 0.4759, 1.9266, 1.6646, -0.5888, 0.2451, 0.0353, 0.5192]\nstate[eef_state]: left_x=0.2872 left_y=0.004 left_z=0.1553 left_yaw=0.0675 left_pitch=-0.1115 left_roll=-0.023 left_gripper=0.993 right_x=0.4832 right_y=0.2049 right_z=0.1725 right_yaw=0.2379 right_pitch=-0.2585 right_roll=-0.1539 right_gripper=0.5192\nstate[joint_eff]: [-0.2256, -1.7026, 7.0496, 1.6972, -0.0513, -0.0611, -0.0122, -0.7316, -10.5778, 9.0462, 1.6923, 0.0806, 0.0952, 0.652]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:981eb777c370253600bff2d4f918b43ac206f84ed8422d210d6308c61dc225fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7742e16660162d6c813e1afce7afff8314fca4abce5cbdab03302113d8a04842",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c21dfa75955defbaea9d8e503fa528cacf3bbeb4f1ce6c821070bc2edd971354",
      "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 29 attempt 0 · /responses · status 200 · 6.723 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 99 changed as sent

message 107 changed as sent

message 111 changed as sent

message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0395, 0.8322, 0.6056, -0.4347, -0.0669, -0.1047, 0.993, 0.7879, 1.7161, 0.7044, 0.1337, 0.4599, 0.3004, 0.9941]\nstate[eef_state]: left_x=0.2894 left_y=0.004 left_z=0.1595 left_yaw=0.0677 left_pitch=-0.0918 left_roll=-0.0252 left_gripper=0.993 right_x=0.3245 right_y=0.2201 right_z=0.0218 right_yaw=0.2274 right_pitch=-0.1988 right_roll=-0.1287 right_gripper=0.9941\nstate[joint_eff]: [-0.0068, -1.4427, 7.2547, 1.6728, -0.0464, -0.0269, -0.0073, 0.3624, -7.159, 4.9299, 1.7411, 0.3785, 0.2076, -0.0024]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0399, 0.8333, 0.6056, -0.4427, -0.0669, -0.1043, 0.993, 0.7891, 1.5414, 0.852, -0.2089, 0.4545, 0.2958, 0.516]\nstate[eef_state]: left_x=0.2882 left_y=0.0039 left_z=0.1576 left_yaw=0.0672 left_pitch=-0.1008 left_roll=-0.0239 left_gripper=0.993 right_x=0.3216 right_y=0.219 right_z=0.0875 right_yaw=0.2329 right_pitch=-0.2185 right_roll=-0.1394 right_gripper=0.516\nstate[joint_eff]: [-0.1299, -1.4017, 6.9675, 1.7021, -0.0611, -0.0464, -0.0073, -0.2393, -7.9111, 7.8017, 1.3797, 0.1783, -0.0073, 0.7692]\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 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0399, 0.8368, 0.6056, -0.45, -0.0669, -0.1047, 0.993, 0.4759, 1.9266, 1.6646, -0.5888, 0.2451, 0.0353, 0.5192]\nstate[eef_state]: left_x=0.2872 left_y=0.004 left_z=0.1553 left_yaw=0.0675 left_pitch=-0.1115 left_roll=-0.023 left_gripper=0.993 right_x=0.4832 right_y=0.2049 right_z=0.1725 right_yaw=0.2379 right_pitch=-0.2585 right_roll=-0.1539 right_gripper=0.5192\nstate[joint_eff]: [-0.2256, -1.7026, 7.0496, 1.6972, -0.0513, -0.0611, -0.0122, -0.7316, -10.5778, 9.0462, 1.6923, 0.0806, 0.0952, 0.652]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:981eb777c370253600bff2d4f918b43ac206f84ed8422d210d6308c61dc225fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7742e16660162d6c813e1afce7afff8314fca4abce5cbdab03302113d8a04842",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c21dfa75955defbaea9d8e503fa528cacf3bbeb4f1ce6c821070bc2edd971354",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF4d_g6PsI80AfiKbnyWsxoKmw2vBceCfViW9qjiw188OlTOW7UBsjhIZHvMqClS8_0OLCWHYuqBfMvTut2VHCFh5tbUp70qLb_H5O7DXJ9OWpj2_Sibae28PgJhDr234RaJEheQxJiQa4A96j_f00PBnfKxeLApp-qiOJ3lyqSipdHFESQqqnYFsXddSsZIHGYkvv0zUOKQ90BYJpqeLQxuXAbJrXVfwjgyTzLlOLcsxLMazRgPxceQl_6ERJjz2gc54D9EQ4yh294Lqmb8GpaVYqPU2VchSVKyV-5mqv4LQa10sKlr3N5b1ZeZLlwc6zfL1_X8XFpKCFzptKn3oNcNPM12E0cX5ULDyr4s4K9TUmzNER85bSB0l2XKgXxMOTuBZR33G7UIRQcAUwdGllb7LENQLTyGYlj2xrm6yVSfz6scD1gbldbUHFCIO4g7h50FYqCsoeZ2BRvUvTlL_uSMpaQGRJcL-Edyy5R3qcxMKn-f0brdoxxAga0NZhohZYFdxx-4BU4iqMI1Y4ftguqLKHkq4Z0mLeIZ8U0X6wD0MGy9nEQ6hsIB7dQiyVbTovzyrD7TTgaAVeGtkmlVeyELqjtEmCoINzWBuK6wLhxqFLx4oevUybWT9Sq5iGzpTKtALuL6HIE30tiObmv877RpPuaclyG6U-IgIS4e6rOVdcmLF-rYDgJktC2olwMD3uu8IKKlD3TFvKB-ymOd2z1fRilqi6st0XCaImWauOxgTvFrPyP91WXEZ3w0zTlMMXhl01s4ZD7o-H99cuTOqoQpxpsuvrqF8PS_0E5JQL0NhSVG2DgF0wjO7wBPBR3szCAkGYPzeUtCwdkAdbLiuO0oVXnKRvNE_IM1M04MHnVAEyxlqhZ36eOCw1A0y9rnq7Uo9ydM5jdcFSRAGVsM8VQjR7VoAJl7rb84CKl2CKjK9UYc2S1tmvpOC77iwCIRPAScfIfM33vb3VxfllXLCV6jG5-IT4g5QoDd3JmJwyq0Cl-GjL79y7_jtl8zZUzBefVoXRwNbAdUqzSkB0NQHfQ0Q80uZVUrIVgWMlAfyzyC5hUVo4FiAcShc9UNCfYr-v-fK8L53shuUicQKBBhDHwDMetFcxvf8_94vMggkG3VZNzKj18V12CNc2hjVwBAZE9kAuCrJYGGU7WbCMv8Qe80j7xLisVyLAku383-mHlohAdf8NKa5LO1xIPL36vyVgkz3tFZ4YSsFLKEBB4SlKU6ra25l06uNq5aG_gwEeR0XsNaRckeLnyL5X7HOmODpHwT",
  "id": "rs_0bf2da72686913b1016ab45e1cdca087d0997ff5f1536add0a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The yellow fruit is directly over the blue bowl, with the pear already inside. I’m releasing it into the bowl.\"}",
  "call_id": "call_EKXiYl8PI93WwSahiUdUpz2D",
  "id": "fc_0bf2da72686913b1016ab45e1d36cc87d09b115bced8cba26b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_EKXiYl8PI93WwSahiUdUpz2D",
  "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]: [-0.0399, 0.8379, 0.6056, -0.45, -0.0669, -0.1047, 0.993, 0.474, 1.9392, 1.6672, -0.6083, 0.2375, 0.0257, 0.9956]\nstate[eef_state]: left_x=0.2873 left_y=0.004 left_z=0.155 left_yaw=0.0675 left_pitch=-0.1126 left_roll=-0.0229 left_gripper=0.993 right_x=0.4811 right_y=0.2041 right_z=0.164 right_yaw=0.2459 right_pitch=-0.2893 right_roll=-0.1617 right_gripper=0.9956\nstate[joint_eff]: [-0.1573, -1.5658, 7.1453, 1.6532, -0.0855, -0.0708, -0.0073, 0.0889, -11.8085, 6.5436, 1.5946, 0.1148, 0.0317, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d2c832bb7f565d87911c0d2824a3ecc3e81fed04734ae3aa624a5081026e2c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd0b271e8d79c9c56fe32b09212e966193829d59c6394d96f00f4582da32dc9a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a190532db5442543d1234540a7fa4a74a9ec5ff9c7a865c72f24e030a399c709",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 30 attempt 0 · /responses · status 200 · 10.83 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 103 changed as sent

message 111 changed as sent

message 115 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0399, 0.8322, 0.6056, -0.4362, -0.0669, -0.1047, 0.993, 0.7891, 1.7355, 0.6899, 0.1375, 0.4583, 0.2962, 0.5134]\nstate[eef_state]: left_x=0.2892 left_y=0.0039 left_z=0.1592 left_yaw=0.0673 left_pitch=-0.0933 left_roll=-0.025 left_gripper=0.993 right_x=0.3197 right_y=0.2162 right_z=0.0105 right_yaw=0.2285 right_pitch=-0.2253 right_roll=-0.1471 right_gripper=0.5134\nstate[joint_eff]: [-0.0479, -1.3744, 7.0496, 1.6728, -0.0659, -0.0415, -0.0122, -0.212, -8.8684, 6.4342, 1.2869, 0.1587, -0.0171, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0399, 0.8368, 0.6056, -0.45, -0.0669, -0.1047, 0.993, 0.4759, 1.9266, 1.6646, -0.5888, 0.2451, 0.0353, 0.5192]\nstate[eef_state]: left_x=0.2872 left_y=0.004 left_z=0.1553 left_yaw=0.0675 left_pitch=-0.1115 left_roll=-0.023 left_gripper=0.993 right_x=0.4832 right_y=0.2049 right_z=0.1725 right_yaw=0.2379 right_pitch=-0.2585 right_roll=-0.1539 right_gripper=0.5192\nstate[joint_eff]: [-0.2256, -1.7026, 7.0496, 1.6972, -0.0513, -0.0611, -0.0122, -0.7316, -10.5778, 9.0462, 1.6923, 0.0806, 0.0952, 0.652]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0399, 0.8379, 0.6056, -0.45, -0.0669, -0.1047, 0.993, 0.474, 1.9392, 1.6672, -0.6083, 0.2375, 0.0257, 0.9956]\nstate[eef_state]: left_x=0.2873 left_y=0.004 left_z=0.155 left_yaw=0.0675 left_pitch=-0.1126 left_roll=-0.0229 left_gripper=0.993 right_x=0.4811 right_y=0.2041 right_z=0.164 right_yaw=0.2459 right_pitch=-0.2893 right_roll=-0.1617 right_gripper=0.9956\nstate[joint_eff]: [-0.1573, -1.5658, 7.1453, 1.6532, -0.0855, -0.0708, -0.0073, 0.0889, -11.8085, 6.5436, 1.5946, 0.1148, 0.0317, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d2c832bb7f565d87911c0d2824a3ecc3e81fed04734ae3aa624a5081026e2c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd0b271e8d79c9c56fe32b09212e966193829d59c6394d96f00f4582da32dc9a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a190532db5442543d1234540a7fa4a74a9ec5ff9c7a865c72f24e030a399c709",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF4k29TQE2xhXKCN_b71AO4b_5OAYAim9hemJ21Kq5kDbZfnJDJtTR4smf0-Av0HzVPcnNpRarRYh7o390va8_Fpga8sIOq0OGsqYoEiZXt6K2eGbephtysHAelSlHwEQsqcs_kbV3R4yH_C2r7BFie3wtuzXv1zU1pMGrItCJhwlepAcExtuuBou6JopyBHdREvoGvYTnSejCMega_lVQXh5rn8ZQMLs5RaxOtJJXUIVuVFEoDjQCLFt_9welxrTPPyD3wDQxQXyGglcInqVjiI0WIv6It9XlnCVa3c2MUzyzu639FSqpljzLg2yagFeBd-qtu1mcvipmYlUoycOh4c93TpOsC2a5IZuSCttcB4loOLNi8Fc4mMNevNtFIc4WFtCCVWKttRO_-KnOFGAOqlmZKLTYZgKOgtaK19geC9kN2zpGGvR_bx1NVc2KCwEW1oozEpL7tx97SK7sJHbW_6_5HXXeoFOwM94fqKWDCf5FZufE336zkn5q0EWRO7aSlo6-c2PBwziZVngUViIgXWXwlM2q2cbt6HH7eqdvXdhtwSfmkF6Sa2tdkA72-xLJ2pIKAXIitMzDCWuvgCtnpVTWk1B6zMKlJUQn0y6ZJWhv7TY-stkttC6J2XsVZzSyUvaZCdq3zVJAFfstKujYiGPcuF6xxjlhdkTP3nnh6AVhdDkid5LP9tgaMk5PKjXiDL_UL6mXUigBapRNWOWIZ6HBiUMGSTVKiQF9a9HgbOrqhAncOnUezUq0VqOD_PUyV0yi7ssNfT3_k-4umS1_XZw0aTivppJMeQFomyGnsJiFb4B3BLK8hc3_erHh1sOymgC_eeAm0gHiuLN0YoBctrOJJwu40fJY5slZGTM1xct8jRVpIi9KR_8pqDIySGidEpCAFjFG-NUEPqPM35d4r-Ih-EUo2MAEY0WKZtV4gqePr7ACI6fl-ABJG2MvWJQOCYGSek_HYvFmyHa1ePMGFc2YJm-HS3h4VF6Ie-korIlPlJSJRNi8MVmYGVkHXhZFHKjGbyTN-wh8n8ucZOUrPYZm9QF93qaSNrSwad9bpSlCtk-5Qrj5-6Sl4M6kwNCHAcYRG5dQ4mi1PhI23_aCedw3JGtYBROGBp9fgAY5fJK1uxvoK44vTMnC9QF5zYQNQ5QHMSFHp_6MkRKtM0XOdGNnMpBXad2t8muDWhX1_RaxnxjDPvVEpAC_Fiu5wwoPsiSR1841rNOd2nJUSvGuPILXKx84e7iQjwJXKaVGZk7g-fCEX2L4GblEgOR4Zj9P36RaHk2V2LvWlyMewcCCZpyw7nUoFtSbnxTIjEwoNb7oio4Mk0xKMuoa8IXzDSnHrkdkFWIGBd3Gdu-IQ-vyxOYZadkSGn704DpPrSGVIGuPslVhx1AuvH0aChcBuo2Ke172ml6pH5twQqzZ5rViF5utNHx-Fa9sB5rSIs8sorY1MvgBdimXSSpJQzozOUZXm2QGsCRSDi2-byxZb26jEiUL3g8dkd6PM94Lc1U08gmA9bev8C0nw4C-k2EU1_6riAHPs2Gc4z4mqTheaRvZgVZMFw8vReUXzIj3_SD1s90EmDyPL6bkqF-mx2vVIxJ8PdlPfp2-2_dqfQLI37IBoxz9WnC-VdRUb2kHqu9TUZXz1Qmkn9OCzl-ZNr2-ZI2bTkzJqBsyrhefWQvh3Aj7movY9HGpWcjqOCZf0GUZR3gfKKAaQryYE7gGlGpnwIEN7SYseP_YzOLkizJ7rHgyNFaTQPj8CpWvKEJoDLThAAWRtb8C1Gp1EcuZAF6tzcXXSYG4xoTcFywthfktBWwlupWNqvpZJivg0RKVzCqepZ6-y4X0bgKLqErNneyIcXH7XOMe_90mB7SIVOABuBuVvOO5Pl5cFdjIHwRpIJnlMrg94j60nEgq3ohLeByZRp066aNqvXBhRS0fXcL4msoxEvJPLtKeMMrSeUTI-0Q2QYBs0kTA8SUdEGSPFwkQz7SPEEFwBMYyWYGM5gAbmqyZKwo3K_uscI6AHcxOqqa0eC6s8vwoOiaxafmc32XrGjRkODOjXQfN5RnOFxm-nmW15dHVOzoNyUSG5UkM9ZXpc9rVyzki1_W0hHsWj3yF5o_3boMXC6DQ3SbCgf_rJSv7E_S5yjmgzsa1DkMGBnnXlH5VOCSbOC7FisJmGxuA_tGiTFSZvh3i2UDYeKK-EMOuDMkGMMS2aHpaaMzNqNynDbe80avux-xVfqnAIijRGy1xqEiVDp8RuDB3LaIpdJRHgY7Lc7XjiHcxWxgwjENwZ1vVN0-ooe1LCebg2gzIUjAj3Dzt-bRPNArHbFGeHOzQmWJu0n9tNIpJjf_sDvdw3KCJaC7oB-8W3Hu2kuAH6dEesx",
  "id": "rs_0bf2da72686913b1016ab45e1face487d095a807716df454f4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_y\":0.305,\"right_z\":0.075},\"note\":\"The yellow fruit bounced out and is now on the table to the left of the blue bowl. I’m moving over it to recover it and place it more carefully.\"}",
  "call_id": "call_YEyUjN9jqgeQOUgSo3dSxf4F",
  "id": "fc_0bf2da72686913b1016ab45e23812487d0b527cda9023a0153",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YEyUjN9jqgeQOUgSo3dSxf4F",
  "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]: [-0.0399, 0.8387, 0.6056, -0.4503, -0.0669, -0.1043, 0.993, 0.7635, 1.9995, 1.4399, -0.416, 0.3923, 0.2379, 0.9962]\nstate[eef_state]: left_x=0.2873 left_y=0.004 left_z=0.1547 left_yaw=0.0673 left_pitch=-0.1137 left_roll=-0.0225 left_gripper=0.993 right_x=0.4054 right_y=0.2996 right_z=0.0798 right_yaw=0.2775 right_pitch=-0.3156 right_roll=-0.1747 right_gripper=0.9962\nstate[joint_eff]: [-0.1983, -1.5385, 7.2821, 1.6337, -0.0855, -0.0366, -0.0122, 0.2667, -10.3316, 5.7778, 1.5507, 0.3736, 0.1245, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:335d6bd2aa6d29d66dba68ac0e4332ecf11160e34718982ecb4f99fa9a8329c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c91cb66feb2efb6bcc9a7945af9dd3c2d111a27baa3fbac88a7509da94454af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39d350451f1d12b002d6c8c02bc3c67721f409f1f31755dff185ce2d34cd3100",
      "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 31 attempt 0 · /responses · status 200 · 4.237 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 107 changed as sent

message 115 changed as sent

message 119 changed as sent

message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0399, 0.8333, 0.6056, -0.4427, -0.0669, -0.1043, 0.993, 0.7891, 1.5414, 0.852, -0.2089, 0.4545, 0.2958, 0.516]\nstate[eef_state]: left_x=0.2882 left_y=0.0039 left_z=0.1576 left_yaw=0.0672 left_pitch=-0.1008 left_roll=-0.0239 left_gripper=0.993 right_x=0.3216 right_y=0.219 right_z=0.0875 right_yaw=0.2329 right_pitch=-0.2185 right_roll=-0.1394 right_gripper=0.516\nstate[joint_eff]: [-0.1299, -1.4017, 6.9675, 1.7021, -0.0611, -0.0464, -0.0073, -0.2393, -7.9111, 7.8017, 1.3797, 0.1783, -0.0073, 0.7692]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0399, 0.8379, 0.6056, -0.45, -0.0669, -0.1047, 0.993, 0.474, 1.9392, 1.6672, -0.6083, 0.2375, 0.0257, 0.9956]\nstate[eef_state]: left_x=0.2873 left_y=0.004 left_z=0.155 left_yaw=0.0675 left_pitch=-0.1126 left_roll=-0.0229 left_gripper=0.993 right_x=0.4811 right_y=0.2041 right_z=0.164 right_yaw=0.2459 right_pitch=-0.2893 right_roll=-0.1617 right_gripper=0.9956\nstate[joint_eff]: [-0.1573, -1.5658, 7.1453, 1.6532, -0.0855, -0.0708, -0.0073, 0.0889, -11.8085, 6.5436, 1.5946, 0.1148, 0.0317, -0.1148]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0399, 0.8387, 0.6056, -0.4503, -0.0669, -0.1043, 0.993, 0.7635, 1.9995, 1.4399, -0.416, 0.3923, 0.2379, 0.9962]\nstate[eef_state]: left_x=0.2873 left_y=0.004 left_z=0.1547 left_yaw=0.0673 left_pitch=-0.1137 left_roll=-0.0225 left_gripper=0.993 right_x=0.4054 right_y=0.2996 right_z=0.0798 right_yaw=0.2775 right_pitch=-0.3156 right_roll=-0.1747 right_gripper=0.9962\nstate[joint_eff]: [-0.1983, -1.5385, 7.2821, 1.6337, -0.0855, -0.0366, -0.0122, 0.2667, -10.3316, 5.7778, 1.5507, 0.3736, 0.1245, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:335d6bd2aa6d29d66dba68ac0e4332ecf11160e34718982ecb4f99fa9a8329c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c91cb66feb2efb6bcc9a7945af9dd3c2d111a27baa3fbac88a7509da94454af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39d350451f1d12b002d6c8c02bc3c67721f409f1f31755dff185ce2d34cd3100",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF4wBdhqEaT3XLcXEnH3AaPffTuKPAPsCDLOn1Y1okehpGlJ57IT7aXbk33P-z0Dkx7cX6NqrKHWqX_WT_8OCMoWod5ivsmMInSWStd1jGrcfdUQryuVNP5v0puMoBxcXi_JiK7t-GrQpooy1gRU22ynprQZo8_wunqeAXgjlWEoXU8bTIN8ljyn2bkdtzPDGa7neDBGtteRlhyQfQ6lz4yz3pcj9EEC9hCD67Z39EsO55-XlIet5HK1RaUsT_xG_Qvjy2VDzqCLuEfeKT-gjW_qg3QtuE8DLKuiw3oOTzKVQy2wxqJlsbiASxsyNh_TX5GindWnO9xdwMvfATbQHNqAk1ZhO0dbRvvdaR_XOHSb6oowwuYWD_rYsFWgJeWaAaaVuzu7YcRKfqvbQgRQkFjvwDcnKc5diOjF5nF7F4q1MY8k1BqRxkDxt1AgaWBZ78aSBCxe7GJclYO8RVSoRTLQL7CjWvtyvzZyTV2I1gNdcp9T6Tz0RuBGeSqg20EQ_ZRn0YlgwRXpZih6Jlg07s6yAd6GnYdu6eF0r8Sh6EmfwEQXDPjF_8UaQ0QXpwZ9tySbeEw9kGnSSQSDM8e9YFM6fnnFEYCUgmelyLQJrGlootWxInuf2ubF_bgZYGRKsE3A1Q5VsfVQabCSM72VIc7cEziwHlsmYtl3pQBUXJ8MEtNlBi10sQM2Zodo21DbPhsRT1jXIwYDM2gBAd8b8f4FqBzAxaO0WvaokB-8JPQElU7MKdEL7DSla9BpO_l6ztEJmlbJwx91fl_0yKpBxbmG7C_5cdcSPdR6cKk5a5050c4Q6YxNViNB1HpxSArp1-7iAL1vaaOlpwRJqwdCYk27klpGrDyYwrXOVzcwLPY1WLZS34nwTxtntZo9poRo8HqJhtMrQEbrYScCP6opvFtzSEmGvlN0v41XsB-aS6oHnUm92oe7GxCqXA3A4DL9Ug5RYtBSY8yrehaJpeN-QVKUVinGMoL4ayg6pnYpEhA42pjmgEqDjfmqK7l8wt0TSSKeUzqaTfa-qLnGrGZ-dOdg9rypjDKBtXGYkznJVwdAbwxTsKMH_esnaBu7Enn7zCIU8cjrowo3U-qNXVkkXPbUjA5M1PFXMo_zFDQp9DKjOO1M08qQSs74OLICU8NVFRhG96o7WN8X-q6ozoug_fDMX_Pd54KVnla_U-59TF1wEGv7gZ5BVw6bCRaNJWuny_SVnIqvc1c9kT8Z1-tf5uAVA9v1WLwurrdnHpKGSx74E0iY5CexwHJjlHqzj5YqAzeQFZ57jgooWxdLOKmbggCLhIDj1N595_aPgCU1_ZglbMDM6L0uU0X-gx99_ztyHKVAAufk9TtOMs3p3bAargEtW0bCI4jXRBEpDXCvJ7dH8QUu0IH6raAfnjzxg8T612ssasevlw_kHzrtz5VGtmpUX0bn1dx5e-TYix3L4y16dm0TYf4fARtlt0U1_zpXyhhKGJGguRzt1vDe9tzr_Nks5ofSKpsnhWGMkEWmRo3kvyJ6Y3TkqvpUz5GkFrY23la4dnH8hxu7NVmc-w-j-wb52VOClULEnrjVD0O7p2lfan41Wpu0Cnh9cLjNUiO9T7V7yecvrrTwKM2lW_Ju5SiMSm8qVW6WnoGnY1R3_doy2JU=",
  "id": "rs_0bf2da72686913b1016ab45e2db45087d0b37d9d2b32d66ea2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.2,\"right_y\":0.26,\"right_z\":0.14},\"note\":\"The yellow fruit continued rolling toward the front of the table and has now settled. I’m following it with a raised, open gripper.\"}",
  "call_id": "call_IOXwK2Zi0d93G9AtFn5TYTAC",
  "id": "fc_0bf2da72686913b1016ab45e2f84e487d09312ec3b281f1942",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IOXwK2Zi0d93G9AtFn5TYTAC",
  "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]: [-0.0399, 0.8413, 0.6056, -0.4603, -0.0669, -0.1043, 0.993, 1.1984, 1.4639, 1.0718, -0.7738, 0.5762, 0.6315, 0.9962]\nstate[eef_state]: left_x=0.2858 left_y=0.004 left_z=0.1522 left_yaw=0.0675 left_pitch=-0.1263 left_roll=-0.0211 left_gripper=0.993 right_x=0.2053 right_y=0.2709 right_z=0.1359 right_yaw=0.3209 right_pitch=-0.324 right_roll=-0.1711 right_gripper=0.9962\nstate[joint_eff]: [-0.1436, -1.4291, 6.9538, 1.7314, -0.0611, -0.022, -0.0073, 0.212, -7.1726, 5.7641, 1.033, 0.4518, 0.1148, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:851af8cf4ab93ba1d3fcc2a6835689b72a467b82102539e2c8170f2f8aebc73a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30bf414b55e78076a4790fac82c92dc4c9930c2ee723f33d8ff3f0ecca6d8421",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46d343ea6d55af6a44bbffc795e84cc04efbe3f15f36d5b2e384d657c3931fa3",
      "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 32 attempt 0 · /responses · status 200 · 3.636 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 111 changed as sent

message 119 changed as sent

message 123 changed as sent

message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0399, 0.8368, 0.6056, -0.45, -0.0669, -0.1047, 0.993, 0.4759, 1.9266, 1.6646, -0.5888, 0.2451, 0.0353, 0.5192]\nstate[eef_state]: left_x=0.2872 left_y=0.004 left_z=0.1553 left_yaw=0.0675 left_pitch=-0.1115 left_roll=-0.023 left_gripper=0.993 right_x=0.4832 right_y=0.2049 right_z=0.1725 right_yaw=0.2379 right_pitch=-0.2585 right_roll=-0.1539 right_gripper=0.5192\nstate[joint_eff]: [-0.2256, -1.7026, 7.0496, 1.6972, -0.0513, -0.0611, -0.0122, -0.7316, -10.5778, 9.0462, 1.6923, 0.0806, 0.0952, 0.652]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0399, 0.8387, 0.6056, -0.4503, -0.0669, -0.1043, 0.993, 0.7635, 1.9995, 1.4399, -0.416, 0.3923, 0.2379, 0.9962]\nstate[eef_state]: left_x=0.2873 left_y=0.004 left_z=0.1547 left_yaw=0.0673 left_pitch=-0.1137 left_roll=-0.0225 left_gripper=0.993 right_x=0.4054 right_y=0.2996 right_z=0.0798 right_yaw=0.2775 right_pitch=-0.3156 right_roll=-0.1747 right_gripper=0.9962\nstate[joint_eff]: [-0.1983, -1.5385, 7.2821, 1.6337, -0.0855, -0.0366, -0.0122, 0.2667, -10.3316, 5.7778, 1.5507, 0.3736, 0.1245, 0.0464]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0399, 0.8413, 0.6056, -0.4603, -0.0669, -0.1043, 0.993, 1.1984, 1.4639, 1.0718, -0.7738, 0.5762, 0.6315, 0.9962]\nstate[eef_state]: left_x=0.2858 left_y=0.004 left_z=0.1522 left_yaw=0.0675 left_pitch=-0.1263 left_roll=-0.0211 left_gripper=0.993 right_x=0.2053 right_y=0.2709 right_z=0.1359 right_yaw=0.3209 right_pitch=-0.324 right_roll=-0.1711 right_gripper=0.9962\nstate[joint_eff]: [-0.1436, -1.4291, 6.9538, 1.7314, -0.0611, -0.022, -0.0073, 0.212, -7.1726, 5.7641, 1.033, 0.4518, 0.1148, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:851af8cf4ab93ba1d3fcc2a6835689b72a467b82102539e2c8170f2f8aebc73a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30bf414b55e78076a4790fac82c92dc4c9930c2ee723f33d8ff3f0ecca6d8421",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46d343ea6d55af6a44bbffc795e84cc04efbe3f15f36d5b2e384d657c3931fa3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF42vF3v1aDGm425YQ0lQY30ttZtPVsA9x5BPq99_nPlYZWfGAeLThiugD82PKXucQREzAhYQtWICxIpgLjgtk1YGixbrUoXtgasU7Ndkp9X_KRlhNHf4xJOiBb-O3Q5kmNT-TUswihHpDb-TKZ_X_zzRzbtVt5kYQZReJ3FjSkjQEVkmfMiyUyb7mLOfU7iaiPqhsQD0Tm_JZryNOptb8P41azdl8L5u6LFH7Do4tWynv3-QFiKgDMbjfHZWqj7vjihay1Mx30GCY1Hx4gVjBUuaZ3jHglxmeXNZE-1H04m8PBHs-DBb4fTuJ3tGnzHD13l8uHoiBIc92pVw1H71mFtP00aOKyh0K5QGoACQd06NpQTIGVheSidNt0OjQJGnwbB8Z1QYAmjibzo10P0vtkp1_TRAxpC_YTnpMnQiwdUGvQTBdU5KxiIXKmdU5dxJBpVsckpgpNgPK8mURzqItUidYIFmUVnzo3EDhYieY3NWFOl5Z7QQtsCKFs_b4jKTyNjO1vSzf7YcDLbYt7c1JkwFbmx2Bo1D3AEYvUTxPQQQ_G1jY4P-xI61e7OywACE9Z0Y4udOr1tDxjecsDu3Kddq9UyrC5YJzcObNQo25m1C0IyLsTdRZGxj4_8obN7hnkw1J2c8LGPcwQ2QwppwwV6eOxBiDCg77LJEomJ0OlKrFBk7ZZh9OucvZ2NZXbacZ8E4I8OGidQDnhw0BWidhowBkRwmnCfA4j-B1EuddAGC3KCTw-weU3lCeH4QbJLLKtkgtEQ654pik1MqpwlvH8tv6EaMaJaiJs7zNdjNNneVwqzIpym9Mlax-JKa3CnypGb7JmpnRud-xG-kJhjLIloNwEZOY1BtTLWBImPSFmMvvLjH-GnqRUL6yM16kkc6W_hwEeeiQp4sraXhIUR26_gwx3kv0Wntf5wkof3szRSiSnpwObFWDornVu3S7MqQWDSXBRllLIq2ZwvJRq6tSl37gcr7n7cAoUYxsMdfGzfbFkpUKoi2CTdEV7xGIZHdt460rIMiyuHNJpHIOh8zrtGdSb7DlZwcFhfKc65y6Gt4CMFcq28WnSuTeBmtbeEHR6mHKOG25MOtKPNVIn81ZYmj64ez90empJUF3BJO-R3nEXsLbKDJr1zaAespcaBst-9ItZNFF5enZ6kIGC5jSx59vC9pMbL0e-xN50Bkf_wC-RLxsY8v53h7pus09BH7eyKW4IVpSBLU4ByaOVD2PFclPcY0w4ei7xB0T5SjInES82SHuV0oJY5Yw5XJ7R_TNjy5KM4THrHIOIu7nVwB7nhQQGk1d5eqsdMrkDEUR9edx6PSHIEjD66BpzSXfDVStBg6M5alVe9QRnIBciyUr0N8SFJTrCi0tONCeRRoQxAunXXpGG_Z4GSZIm-LqirzVdu6A6QmqOO9JcflyY4KNdHrKBA2rdmCnG5utX8OmwykrxEzkHeaJpTCsH1inkTHVsJKPP4UHTjI340w_CZUjr7DCy0_nbNooz2ORy-9IfgYrE4XMnPr9XqqIiRsSJCHoVfwvpDJIZtuPp6YwAHD9O5rMeDqJ96PaUeF4qe2s6e2LRCQsqQpv3NAMVemymiBXgmAKEt6T5IaNN4-J3U1eM2ME8YlSG-8xsV51TEBjKgqWUUatHjJre46xbb93roBBV2A1mLR--VWExYkox4zHrWc7N8X4dyRxM9G4MUcu_VtZtuZbpmKtHLqYsHQ6DCkXU_Q7fgDPQ2D6kNwQdiflJ6BqEX2LBdfw5iMDcPD39tFtv0JCukbJRbLQhzMt5dJSqs58JV34kLah0gqH9YXr2yet3jRqqwhu_q9e3XvmQ0TzCKkBgdU51kC3ohrzSrvLhx2ne-FgtTvdA6mvzfMcC_FDofAThczvCvSeolgLu6AlzCOv2DueLNc9f2rXMYMPQf",
  "id": "rs_0bf2da72686913b1016ab45e33617487d0a967372ef893fda7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.18,\"right_y\":0.27,\"right_z\":0.025,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The yellow fruit is centred at the bottom of the wrist view. I’m lowering slightly behind it and straightening the gripper, whose tilt has accumulated during the earlier moves.\"}",
  "call_id": "call_2osP91Tl2fJGBxO9UCEtUzGO",
  "id": "fc_0bf2da72686913b1016ab45e3566e087d0b778552879bd1b3a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2osP91Tl2fJGBxO9UCEtUzGO",
  "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]: [-0.0399, 0.8413, 0.6056, -0.4683, -0.0669, -0.1047, 0.993, 1.4315, 1.7859, 0.7853, -0.3786, 0.9485, 1.2221, 0.9962]\nstate[eef_state]: left_x=0.2845 left_y=0.0041 left_z=0.1506 left_yaw=0.0678 left_pitch=-0.1342 left_roll=-0.0205 left_gripper=0.993 right_x=0.1791 right_y=0.2696 right_z=0.0263 right_yaw=0.0529 right_pitch=-0.0431 right_roll=-0.0813 right_gripper=0.9962\nstate[joint_eff]: [-0.2803, -1.4974, 6.9402, 1.7411, -0.0855, -0.0366, -0.0122, 0.3761, -6.7077, 3.8769, 0.8132, -0.1294, 0.4567, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6098cfd6e05321255444425d486ef74c2c0b65127abc6dd4837277d26f02a8ad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2017006fd419e1cf6b5e28b7123fa96ea796472807eea508ea6deee8a1a881a9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c9215955bc3fabfc2a982c8d95a7a523c37e56429095bf257a6f903e77431ff",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 33 attempt 0 · /responses · status 200 · 2.418 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 115 changed as sent

message 123 changed as sent

message 127 changed as sent

message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0399, 0.8379, 0.6056, -0.45, -0.0669, -0.1047, 0.993, 0.474, 1.9392, 1.6672, -0.6083, 0.2375, 0.0257, 0.9956]\nstate[eef_state]: left_x=0.2873 left_y=0.004 left_z=0.155 left_yaw=0.0675 left_pitch=-0.1126 left_roll=-0.0229 left_gripper=0.993 right_x=0.4811 right_y=0.2041 right_z=0.164 right_yaw=0.2459 right_pitch=-0.2893 right_roll=-0.1617 right_gripper=0.9956\nstate[joint_eff]: [-0.1573, -1.5658, 7.1453, 1.6532, -0.0855, -0.0708, -0.0073, 0.0889, -11.8085, 6.5436, 1.5946, 0.1148, 0.0317, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0399, 0.8413, 0.6056, -0.4603, -0.0669, -0.1043, 0.993, 1.1984, 1.4639, 1.0718, -0.7738, 0.5762, 0.6315, 0.9962]\nstate[eef_state]: left_x=0.2858 left_y=0.004 left_z=0.1522 left_yaw=0.0675 left_pitch=-0.1263 left_roll=-0.0211 left_gripper=0.993 right_x=0.2053 right_y=0.2709 right_z=0.1359 right_yaw=0.3209 right_pitch=-0.324 right_roll=-0.1711 right_gripper=0.9962\nstate[joint_eff]: [-0.1436, -1.4291, 6.9538, 1.7314, -0.0611, -0.022, -0.0073, 0.212, -7.1726, 5.7641, 1.033, 0.4518, 0.1148, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0399, 0.8413, 0.6056, -0.4683, -0.0669, -0.1047, 0.993, 1.4315, 1.7859, 0.7853, -0.3786, 0.9485, 1.2221, 0.9962]\nstate[eef_state]: left_x=0.2845 left_y=0.0041 left_z=0.1506 left_yaw=0.0678 left_pitch=-0.1342 left_roll=-0.0205 left_gripper=0.993 right_x=0.1791 right_y=0.2696 right_z=0.0263 right_yaw=0.0529 right_pitch=-0.0431 right_roll=-0.0813 right_gripper=0.9962\nstate[joint_eff]: [-0.2803, -1.4974, 6.9402, 1.7411, -0.0855, -0.0366, -0.0122, 0.3761, -6.7077, 3.8769, 0.8132, -0.1294, 0.4567, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6098cfd6e05321255444425d486ef74c2c0b65127abc6dd4837277d26f02a8ad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2017006fd419e1cf6b5e28b7123fa96ea796472807eea508ea6deee8a1a881a9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c9215955bc3fabfc2a982c8d95a7a523c37e56429095bf257a6f903e77431ff",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF46psMnuBHW2o4MQTbIwEb-uEWrszNAwdXx_RH4xSFFoRPxZAKPb_TeImQG0WdwJPBpthn-5a6Ffzfuu10W1vb3hHNX7bD8Mvwqecpk8bH9JpD9zchclr06IZa9nvWjlE-KoODEHa7_fBatOkGbMzYF4VlmHbhxdla0ZVdU2osZx8Pj7iv8jo0NoC9EVfvqoo0fw0qgHz5I7wBSGySwpE2p6axp0wwCtUO55W7PdrcbY0ZydA6PSC11TIazN95yb4VeSKHcDlNHBEQo7dnvJwum9F1GHKqT4msTgkpdt4tstgzzkdNB-MfeIRjlYcCjaiOX8_Ww6zJwLDtPxP-QfrMdBpgoxRYU9QNHl4ICc7S5M_jsgiPqpFlnmZIY-TEmXsUzO-fJCAacZXmiAIt8t4KAaKQWUgVzvc6ZrR0swU3Nx32g8W0g6cugCLU6ke22yPrr0azCz9HrB_Rd8eR_tRoR1EWxvuJYlRF73A9FaiR3Fcy-nxBojrD7qmPapGZYTCPf25rMiDrrN9Zyzeb3AunJh9QsA16hACi_WJPsMbArhSXVMhDAjKCjs48JCa3NhknHfxZ-8XAKUxtAsCggR8ku6d8-jcg7PT92dewDZO2hqH4EqyjA7VnpcPeJ_yYAHx7dBy6BEw9ra9su_yq4Br5JSuCH5r7ofmm6J36enQxhBDdGnk3Ai4FwuF0JoT_cI7Ci-aU124OyeDEdPLOavpGhxKATozE9W9hbWmir98p7IcbvItPjE4fpisTo_irOEyJ5AKOJ454LQn5cUvNVw_OZtSVxdj_cqaO5jUwcCWIjn-v2Yzb0Ri4K-McyjSTp7LvFW-Me--JeTo9zbitn4PZorFxgLD0atMydkDnTRtGxcN-asz5ORU-Ti7Nyfvs2fKPGLKHCRigFPHo3x9bq9TL3ObmbDr9CG8meA_hyDPopcxzfo4TZGr0XlRhwL4KVuHkJioUMVnc-1R1hskF9TBmluuFwIXF4-WZVeMC-WISOaoOLCot9cuhmeqKL0G3JhTahJ6q3eMUY1uD5XlnwiOEB-S7LD6CD26xWzelqCiubWTRIS2oSDFkCv4XCvZY35Mui21OrB7FmqECDgtX-9Iprsz5tOkWB3IU7-STMkxJ_1eP7-FfK0GuJ5WBWSqre6hdHZSIsplETi9v3utx-D3p_MdWEB6jP7xM84WCql-3e5gOICg7YtF5rfkJcd-g-7yCRZcSZS2i5HdvLYDS6U3WAj2gWeiZml4qoiSCcANSaCfJBkeMjXyJJL8VG-b2ybrL86ZaMCWHjDO1BjjCiFoMwEXUekv0T3SdBFRZSIzSSK48=",
  "id": "rs_0bf2da72686913b1016ab45e396ca487d0a5c77631dac37b48",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.22,\"right_z\":0.025,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"With the gripper straightened, the yellow fruit is visibly to the right of the jaws. I’m shifting five centimetres right to centre it before closing.\"}",
  "call_id": "call_6c6JJSlgkJuRnM5eVgYJlhKv",
  "id": "fc_0bf2da72686913b1016ab45e39f59c87d0ba73b6d0e225b6e3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6c6JJSlgkJuRnM5eVgYJlhKv",
  "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]: [-0.0399, 0.8463, 0.6056, -0.4725, -0.0666, -0.1047, 0.993, 1.4208, 1.6512, 0.5793, -0.2962, 0.9932, 1.2621, 0.9962]\nstate[eef_state]: left_x=0.2841 left_y=0.004 left_z=0.1485 left_yaw=0.0676 left_pitch=-0.1434 left_roll=-0.0198 left_gripper=0.993 right_x=0.1793 right_y=0.2202 right_z=0.0257 right_yaw=0.012 right_pitch=0.0034 right_roll=-0.0448 right_gripper=0.9962\nstate[joint_eff]: [-0.2256, -1.8667, 6.9538, 1.6923, -0.0415, -0.0415, -0.0122, -0.4581, -5.8325, 4.8068, 0.8327, 0.5397, 0.1587, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2407eebe4b3cc6d1683ac88886d5ffe21f78fcba164df48b870897313645ad8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac660831df63afa912604677b74094f3d993a0c60416c7aee16b79a502043437",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2e6a2c45fe89695202b68079460814f8072826d629d5cff554064dd5d543ea1",
      "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 34 attempt 0 · /responses · status 200 · 5.792 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 119 changed as sent

message 127 changed as sent

message 131 changed as sent

message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0399, 0.8387, 0.6056, -0.4503, -0.0669, -0.1043, 0.993, 0.7635, 1.9995, 1.4399, -0.416, 0.3923, 0.2379, 0.9962]\nstate[eef_state]: left_x=0.2873 left_y=0.004 left_z=0.1547 left_yaw=0.0673 left_pitch=-0.1137 left_roll=-0.0225 left_gripper=0.993 right_x=0.4054 right_y=0.2996 right_z=0.0798 right_yaw=0.2775 right_pitch=-0.3156 right_roll=-0.1747 right_gripper=0.9962\nstate[joint_eff]: [-0.1983, -1.5385, 7.2821, 1.6337, -0.0855, -0.0366, -0.0122, 0.2667, -10.3316, 5.7778, 1.5507, 0.3736, 0.1245, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0399, 0.8413, 0.6056, -0.4683, -0.0669, -0.1047, 0.993, 1.4315, 1.7859, 0.7853, -0.3786, 0.9485, 1.2221, 0.9962]\nstate[eef_state]: left_x=0.2845 left_y=0.0041 left_z=0.1506 left_yaw=0.0678 left_pitch=-0.1342 left_roll=-0.0205 left_gripper=0.993 right_x=0.1791 right_y=0.2696 right_z=0.0263 right_yaw=0.0529 right_pitch=-0.0431 right_roll=-0.0813 right_gripper=0.9962\nstate[joint_eff]: [-0.2803, -1.4974, 6.9402, 1.7411, -0.0855, -0.0366, -0.0122, 0.3761, -6.7077, 3.8769, 0.8132, -0.1294, 0.4567, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0399, 0.8463, 0.6056, -0.4725, -0.0666, -0.1047, 0.993, 1.4208, 1.6512, 0.5793, -0.2962, 0.9932, 1.2621, 0.9962]\nstate[eef_state]: left_x=0.2841 left_y=0.004 left_z=0.1485 left_yaw=0.0676 left_pitch=-0.1434 left_roll=-0.0198 left_gripper=0.993 right_x=0.1793 right_y=0.2202 right_z=0.0257 right_yaw=0.012 right_pitch=0.0034 right_roll=-0.0448 right_gripper=0.9962\nstate[joint_eff]: [-0.2256, -1.8667, 6.9538, 1.6923, -0.0415, -0.0415, -0.0122, -0.4581, -5.8325, 4.8068, 0.8327, 0.5397, 0.1587, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2407eebe4b3cc6d1683ac88886d5ffe21f78fcba164df48b870897313645ad8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac660831df63afa912604677b74094f3d993a0c60416c7aee16b79a502043437",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2e6a2c45fe89695202b68079460814f8072826d629d5cff554064dd5d543ea1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The yellow fruit is now at the centre of the jaw opening. I’m closing around it for the recovery grasp.\"}",
  "call_id": "call_gIyZgbf7af3fxGn6zKYRR3kw",
  "id": "fc_0bf2da72686913b1016ab45e3d238487d0aee3145228f6984c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gIyZgbf7af3fxGn6zKYRR3kw",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0399, 0.8463, 0.6056, -0.4755, -0.0669, -0.1047, 0.993, 1.4181, 1.6451, 0.5606, -0.2729, 0.984, 1.2751, 0.4964]\nstate[eef_state]: left_x=0.2836 left_y=0.0041 left_z=0.148 left_yaw=0.068 left_pitch=-0.1464 left_roll=-0.0192 left_gripper=0.993 right_x=0.1787 right_y=0.2179 right_z=0.0228 right_yaw=0.0042 right_pitch=-0.0035 right_roll=-0.0219 right_gripper=0.4964\nstate[joint_eff]: [-0.1162, -1.4701, 6.9812, 1.6728, -0.0464, -0.0464, -0.0122, -0.1026, -6.2291, 4.3009, 0.7057, 0.4274, 0.0317, 0.9011]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1317de5812d41c6757588e33b22c4d694188939b31853564f1f7eb5334a6892",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90eb1ffd7038287e2580ce0d02a94209457efd45269ed0996d95d0775b37f67e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99143a1026090768b8df5ae85449fceefdca40317a158f355ae8683df456a129",
      "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 · 4.188 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 123 changed as sent

message 131 changed as sent

message 134 changed as sent

message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0399, 0.8413, 0.6056, -0.4603, -0.0669, -0.1043, 0.993, 1.1984, 1.4639, 1.0718, -0.7738, 0.5762, 0.6315, 0.9962]\nstate[eef_state]: left_x=0.2858 left_y=0.004 left_z=0.1522 left_yaw=0.0675 left_pitch=-0.1263 left_roll=-0.0211 left_gripper=0.993 right_x=0.2053 right_y=0.2709 right_z=0.1359 right_yaw=0.3209 right_pitch=-0.324 right_roll=-0.1711 right_gripper=0.9962\nstate[joint_eff]: [-0.1436, -1.4291, 6.9538, 1.7314, -0.0611, -0.022, -0.0073, 0.212, -7.1726, 5.7641, 1.033, 0.4518, 0.1148, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0399, 0.8463, 0.6056, -0.4725, -0.0666, -0.1047, 0.993, 1.4208, 1.6512, 0.5793, -0.2962, 0.9932, 1.2621, 0.9962]\nstate[eef_state]: left_x=0.2841 left_y=0.004 left_z=0.1485 left_yaw=0.0676 left_pitch=-0.1434 left_roll=-0.0198 left_gripper=0.993 right_x=0.1793 right_y=0.2202 right_z=0.0257 right_yaw=0.012 right_pitch=0.0034 right_roll=-0.0448 right_gripper=0.9962\nstate[joint_eff]: [-0.2256, -1.8667, 6.9538, 1.6923, -0.0415, -0.0415, -0.0122, -0.4581, -5.8325, 4.8068, 0.8327, 0.5397, 0.1587, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0399, 0.8463, 0.6056, -0.4755, -0.0669, -0.1047, 0.993, 1.4181, 1.6451, 0.5606, -0.2729, 0.984, 1.2751, 0.4964]\nstate[eef_state]: left_x=0.2836 left_y=0.0041 left_z=0.148 left_yaw=0.068 left_pitch=-0.1464 left_roll=-0.0192 left_gripper=0.993 right_x=0.1787 right_y=0.2179 right_z=0.0228 right_yaw=0.0042 right_pitch=-0.0035 right_roll=-0.0219 right_gripper=0.4964\nstate[joint_eff]: [-0.1162, -1.4701, 6.9812, 1.6728, -0.0464, -0.0464, -0.0122, -0.1026, -6.2291, 4.3009, 0.7057, 0.4274, 0.0317, 0.9011]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1317de5812d41c6757588e33b22c4d694188939b31853564f1f7eb5334a6892",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90eb1ffd7038287e2580ce0d02a94209457efd45269ed0996d95d0775b37f67e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99143a1026090768b8df5ae85449fceefdca40317a158f355ae8683df456a129",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF5EjGS1hUKTw3QC0Nv6w3m0_KEASD413gDTVmzIqFxhGpOhwKFmHD9dSUVsAAAg-IEliGlgM_MtdxKeMKh3pc5ajTrv8eWF1KcjrjdVk4hCMF2vdiUkC-X5NCJvc6Tp03o-cdsa0lNO649YVsh9Ne6cvDczwB2jNs8CoAEvSYXeGBxMV1yCJTEn8mr2bV9wo4YrkLI-Jlj0GjP4YeqBZWJWpg54_iyoNebUsrfLr-_31N4TedKGLJYuaLarEJ3j6zkLk5WPFTsd2qIyf_bqcMvPkBBRCZMhxozDiPZeYPlfSE2zqFhhIix2iC2ltJebbFhql5h-Ohthk39GYFol07_TR4ffURfWbStjf1nVnv_6h6jN53vmbpHviMXDHaYWSVWrsIkZ22XFx9aZDR_zeg8Q03ZaGMg2THg2FSXDKusU_tIEqP8xnrp06c1Poof1NTX3nMefChXVN7I-wKy6KaTxLLVzZdebrO65Xn4dkpJXmgS0Z5Zd0ltuotpS1OlJI5NiJDL9Qw14-iaPywN7KcP7b7PU4D-V1tuSuWoo1NB02b3Zu31ENEM1PqAXIJP5hzJLP9TlRC8k-xGEGECqN3AB2RttRUN7y_pF1LOEVMdxH3rk0Zgt5sdkK6CgI4N_oIGtzpNamhHZA_p6G2Lg_24IzXaeKIkZ9mMjxNq2IqaIxX3t6HT2V3QNN2NVWLrqxCdrCsL7TWg5TEULhCBF6uZdezV4-u6-npySY4-Y7zWYje_-7tZvwJtbJRqbhjqgFPhsvGHyxePy2ZPs5YGGB-crhdbzWlC2ZzxjW9kXsyYhLq1k2I7pjryw3TufddqW4mohwAHkBQCrLWcnGIBstjcaB3-1opDNzqJBvbOLMXXDtX5y_eqGEtzimJ8Lp2yPbfDEt5avsCm15M4HmGVluogc67caQBCdo0eQgtbOG_cVMeLpeUSLLOldbq0bgO8n_rwzs0rzstRKezodZ-tBVGmuC_sgximTl8Zq_FR4njnAHm-G9E1405TAmc4_AIbVBa-LqaWesS9_ym_oYVkj7xCpSVHi3DEe_hFOsEF8G8_4Gct4Tv-EhI54WOHoU-kMhWy7dbg-SNVPC3LDhBmZFjPtf67X0pRZBiXRC8ElYFcaLXmyiMi2i22re0pkNgbKp4TT1dwNqgjeGXwjtpzF_C-1gZvXCNtZRmJ6yBkE9H5T_I7vK19yJ2OM1AnPDM6Qpc54Sv_QcaiSw9iuna6lVztFGjxSKkGmcUN9ffSb-svWWjT_InzFbIwlo-I_dEUDfvVxqLAQuYlW3PNlizx_aCF22yw744iGiHXd6R3-7nWVcBB0l-G39nGuNytZ9BD7Ad5EsV-_xTaZUpYR32qryxHKNQEYhh3fWV_t2ZmIichdB6S6iwV3IO7-uenrNopjp7lcFl2sAXZjqVNs9paUzl5HhTJ5TO8uSoHwxB295Cf_9gEfqmpyhldO6cagi7z34lhwIdNuFyo-bRmFWXVS884Nf8UlR0T_l_08ptqslGyXxWQwv0aSIMxWyTcPmZmhGcKFRKWVgY1X44xKhLBsVuVIM4_4rk-c-Fa7JSFMoRBa-8tPy83ybUoPNH04lFoh3t0gSF1g2riweAdvRtuVJ-oGXQFa2yGs93jR0iM40E1XN4edDIRurH49LHis9oYfqa8dZHcWDXv0D0JrDm_wLK2SoVR02i2VPYvbmyEPohfJOS7rmZANqCGxhX7u6Cf5iyZVLA75NLnDOXUN9bK4rUOY8mln_KUwJtsuqA6DcBx1PdFnRr34SQi_uKPK31_w0hdhh_nDh_OvmlQV6ssOh_6ucDQ7XQQ-oy81Psd1CoWapNsVZ5oN46xqwBt8qfb6mKVYrLHGe_JuubvWXDKKL_2Mxs3CS_45uTIjEQm48wemSeMja-_T95ItBe9NeJ-AEYXTeXh2Fq90GGPRgVQTkWNJn_66rUZ0eWXcx86acRi1BQwx0xeWTg9SeMLZ2MEc59k7SUP7sf2dsv2RcX3Oi-VzOF3h46sLjVk_tnORDjaPU2DEi2_WUdOK_P6sEGQDHv0qb2ikqWkwW5m8cIPSbgZUOCqMGMhH7x_Jp8EADhzEP_GlKQSS0phbO25iaKjgrruw7eusJiKBVejAycw7-TR4B7w54X6Ra__Rr1D_Wqx4NVrc6pTy9y9sD3gQEMFBtq3NUgLzzjv9N4T-jdLsdBm2iA==",
  "id": "rs_0bf2da72686913b1016ab45e403c6487d0bdf57e8e600a22c3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.22,\"right_z\":0.2,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The recovered fruit is held at a five-centimetre jaw opening. I’m lifting it clear of the table before bringing it back to the blue bowl.\"}",
  "call_id": "call_zSwA4ISZQIYDTVM23yBkmbMg",
  "id": "fc_0bf2da72686913b1016ab45e43963887d089035f6370749040",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zSwA4ISZQIYDTVM23yBkmbMg",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0399, 0.8471, 0.6056, -0.4759, -0.0669, -0.1043, 0.993, 0.9695, 1.3819, 0.9989, -0.4843, 0.7742, 0.6762, 0.4967]\nstate[eef_state]: left_x=0.2835 left_y=0.0041 left_z=0.1477 left_yaw=0.0678 left_pitch=-0.1475 left_roll=-0.0188 left_gripper=0.993 right_x=0.2953 right_y=0.2185 right_z=0.1858 right_yaw=-0.0149 right_pitch=-0.0082 right_roll=0.0017 right_gripper=0.4967\nstate[joint_eff]: [-0.1983, -1.4974, 6.9402, 1.5995, -0.0513, -0.0415, -0.0122, -0.2393, -5.3675, 8.2667, 1.2967, 0.3297, 0.0122, 0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d4e43494e1e9104a1d905b42226835d49865f58e4ab6a75cb034641dafc1857",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:718e1d13191f406baca7afd7319ede1ab5f3b6bc5e87a44c871c331bb0bfc8c5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9275fe062d8d3348144206183992386bf9ccad9d627f7de8d75f73700a66ab59",
      "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 · 3.19 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 127 changed as sent

message 134 changed as sent

message 138 changed as sent

message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0399, 0.8413, 0.6056, -0.4683, -0.0669, -0.1047, 0.993, 1.4315, 1.7859, 0.7853, -0.3786, 0.9485, 1.2221, 0.9962]\nstate[eef_state]: left_x=0.2845 left_y=0.0041 left_z=0.1506 left_yaw=0.0678 left_pitch=-0.1342 left_roll=-0.0205 left_gripper=0.993 right_x=0.1791 right_y=0.2696 right_z=0.0263 right_yaw=0.0529 right_pitch=-0.0431 right_roll=-0.0813 right_gripper=0.9962\nstate[joint_eff]: [-0.2803, -1.4974, 6.9402, 1.7411, -0.0855, -0.0366, -0.0122, 0.3761, -6.7077, 3.8769, 0.8132, -0.1294, 0.4567, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0399, 0.8463, 0.6056, -0.4755, -0.0669, -0.1047, 0.993, 1.4181, 1.6451, 0.5606, -0.2729, 0.984, 1.2751, 0.4964]\nstate[eef_state]: left_x=0.2836 left_y=0.0041 left_z=0.148 left_yaw=0.068 left_pitch=-0.1464 left_roll=-0.0192 left_gripper=0.993 right_x=0.1787 right_y=0.2179 right_z=0.0228 right_yaw=0.0042 right_pitch=-0.0035 right_roll=-0.0219 right_gripper=0.4964\nstate[joint_eff]: [-0.1162, -1.4701, 6.9812, 1.6728, -0.0464, -0.0464, -0.0122, -0.1026, -6.2291, 4.3009, 0.7057, 0.4274, 0.0317, 0.9011]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 138 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0399, 0.8471, 0.6056, -0.4759, -0.0669, -0.1043, 0.993, 0.9695, 1.3819, 0.9989, -0.4843, 0.7742, 0.6762, 0.4967]\nstate[eef_state]: left_x=0.2835 left_y=0.0041 left_z=0.1477 left_yaw=0.0678 left_pitch=-0.1475 left_roll=-0.0188 left_gripper=0.993 right_x=0.2953 right_y=0.2185 right_z=0.1858 right_yaw=-0.0149 right_pitch=-0.0082 right_roll=0.0017 right_gripper=0.4967\nstate[joint_eff]: [-0.1983, -1.4974, 6.9402, 1.5995, -0.0513, -0.0415, -0.0122, -0.2393, -5.3675, 8.2667, 1.2967, 0.3297, 0.0122, 0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d4e43494e1e9104a1d905b42226835d49865f58e4ab6a75cb034641dafc1857",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:718e1d13191f406baca7afd7319ede1ab5f3b6bc5e87a44c871c331bb0bfc8c5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9275fe062d8d3348144206183992386bf9ccad9d627f7de8d75f73700a66ab59",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF5JODjRbEW5vncJgB8SLQqc8fLomrIdmAucjIVZrLT9snLNiBXo4SlY7QtN67u63VXYkX1cu34aKyqzbGJW9jqDtFGlx8inRgwDp3v-5Iq7xvTkEGYXoE3kNrCq6Qi01LhZKmE4Jt3Sp7QSyGIcbz4oVYBp1m5poG5T5IEW36w9XCYGazSHcLaHmOv_Rl2fZ_vWQXBP0t8trlli4YCxICVjC-mGbcrvjsPtmHodvttLoyh0LTtERAbxUOJKMFu-nHU7KVkTvVlplACJqXeQAHoUREfcNrBHMoCNQjCYHDP0cv0bx98HsPRbQpBajVRHXPsVe-iAZr-uny7OTJvwGlnkrSbx6wQ4Kxg_d39gk1YHMuNjqSB5Vv0gQ7jmumqg2g67oGpAqY67vQUp5UiB_ZAiTIEY5rjhvXcbANij-VafbMvM44sD_fN4c8QmrsGhVTihzBaHY4lg9TyKqemg6QiC3RHyDLhwrvP5gRYkm_0zQlcMtOrQPiv9nBk0YVwxm6_3Ruzo-ifnIChMzQUKZTJC4C4tgn47P702QwV7efbKjXWqmK5JBtfoNoBB6NI7i6MsMUNhyD-uoDyYtxu3bAprULOGt6zS7yTbJAdwUTokZWtQkOsKQsWkwZHfersLmyRWlmIZba0uwE8HRSZlDh_eedr2iWtjMtaWpJc6iAd-3NV5vO4xB0wyJI_sJWfVrQczui7sjSXUWU80w1_RlqGaWnsio-V_Fe0IK_hny5Y2Onk5_0PiP4PDorYLjxsWufcCfptCOp7ntpTJT0GaJGpQukWD0lz7EQRAxSjAhhJvGRjingPIwHdjH8ysxZJxyHUnFAv9khfkMuBvNLcXVEYlVzGs64UF2Ne-aPz0gwehjAHCSpb2naW5nEFFPEdyYb2xsM17ynCQG4EwYCRiyfqJObCZs7Cj3JN1DrZ7qXICJs-kjcpSiO_7EPz0zdRFffBX0f4REwyG90mW-2sxOUT62mH8T_hZQ6ji4n2nhQg40czQw_NK2F--1gJ4P4VuBlS5mKda6vWWtzN0A5bnWoO55ATd7tPjs4KA5V_7l4ULDhzAxsktM5LSKyofkAe3K2-ikyX4d-cHRM6JVZnv7MapRfSfw8fghHIZkUKDY-7G_IH80EslahxUpHYHLJfMO6N1q2dC3iZx9MtF2NSWL2R12hE9Karr2gTCiLvc2rll55QdW97aaVerr3P3Q3BJbaHOju_80tSWyKyPHe536PHaDPDFHJIC90kEppaEys2EajsQOtjn0MU3nT-bWVgaj5iucbWVQKygo7vk-wlRe16fRw==",
  "id": "rs_0bf2da72686913b1016ab45e483e9087d0b7c81ca5fa4c1fe2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.555,\"right_y\":0.21,\"right_z\":0.16,\"right_pitch\":0.3,\"right_yaw\":0,\"right_roll\":0},\"note\":\"The fruit is secure, and the blue bowl is farther forward than the first release position. I’m moving directly over its opening, using a slight forward tilt for the longer reach.\"}",
  "call_id": "call_63tgZT3Nm0CesdAPgICzdNWb",
  "id": "fc_0bf2da72686913b1016ab45e48a7b487d0b1bc026eb63cea26",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_63tgZT3Nm0CesdAPgICzdNWb",
  "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]: [-0.0395, 0.8497, 0.6056, -0.4763, -0.0669, -0.1047, 0.993, 0.5064, 2.0594, 1.3174, 0.3412, 0.4759, 0.1352, 0.4973]\nstate[eef_state]: left_x=0.2836 left_y=0.0042 left_z=0.1469 left_yaw=0.0685 left_pitch=-0.1505 left_roll=-0.0188 left_gripper=0.993 right_x=0.5398 right_y=0.211 right_z=0.1354 right_yaw=0.022 right_pitch=0.2138 right_roll=-0.0403 right_gripper=0.4973\nstate[joint_eff]: [-0.1709, -1.7299, 7.1179, 1.5702, -0.0415, -0.0317, -0.0073, -0.9094, -11.5897, 8.5538, 2.21, 0.2808, -0.0171, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eae2de51d6559253ef7a26830bb7b6a72babd4e9786db46a3140f75ac9da4d43",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ef10f8df4aac6ab20ab90dd5168317b1d518375f4fb3d3967dc2b15fca83bc8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cb1e1f69e61dcd43d8bd4c498f4fb4510b8b87ddd922db1c956a07526f981d8",
      "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 · 7.93 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 131 changed as sent

message 138 changed as sent

message 142 changed as sent

message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0399, 0.8463, 0.6056, -0.4725, -0.0666, -0.1047, 0.993, 1.4208, 1.6512, 0.5793, -0.2962, 0.9932, 1.2621, 0.9962]\nstate[eef_state]: left_x=0.2841 left_y=0.004 left_z=0.1485 left_yaw=0.0676 left_pitch=-0.1434 left_roll=-0.0198 left_gripper=0.993 right_x=0.1793 right_y=0.2202 right_z=0.0257 right_yaw=0.012 right_pitch=0.0034 right_roll=-0.0448 right_gripper=0.9962\nstate[joint_eff]: [-0.2256, -1.8667, 6.9538, 1.6923, -0.0415, -0.0415, -0.0122, -0.4581, -5.8325, 4.8068, 0.8327, 0.5397, 0.1587, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 138 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0399, 0.8471, 0.6056, -0.4759, -0.0669, -0.1043, 0.993, 0.9695, 1.3819, 0.9989, -0.4843, 0.7742, 0.6762, 0.4967]\nstate[eef_state]: left_x=0.2835 left_y=0.0041 left_z=0.1477 left_yaw=0.0678 left_pitch=-0.1475 left_roll=-0.0188 left_gripper=0.993 right_x=0.2953 right_y=0.2185 right_z=0.1858 right_yaw=-0.0149 right_pitch=-0.0082 right_roll=0.0017 right_gripper=0.4967\nstate[joint_eff]: [-0.1983, -1.4974, 6.9402, 1.5995, -0.0513, -0.0415, -0.0122, -0.2393, -5.3675, 8.2667, 1.2967, 0.3297, 0.0122, 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 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0395, 0.8497, 0.6056, -0.4763, -0.0669, -0.1047, 0.993, 0.5064, 2.0594, 1.3174, 0.3412, 0.4759, 0.1352, 0.4973]\nstate[eef_state]: left_x=0.2836 left_y=0.0042 left_z=0.1469 left_yaw=0.0685 left_pitch=-0.1505 left_roll=-0.0188 left_gripper=0.993 right_x=0.5398 right_y=0.211 right_z=0.1354 right_yaw=0.022 right_pitch=0.2138 right_roll=-0.0403 right_gripper=0.4973\nstate[joint_eff]: [-0.1709, -1.7299, 7.1179, 1.5702, -0.0415, -0.0317, -0.0073, -0.9094, -11.5897, 8.5538, 2.21, 0.2808, -0.0171, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eae2de51d6559253ef7a26830bb7b6a72babd4e9786db46a3140f75ac9da4d43",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ef10f8df4aac6ab20ab90dd5168317b1d518375f4fb3d3967dc2b15fca83bc8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cb1e1f69e61dcd43d8bd4c498f4fb4510b8b87ddd922db1c956a07526f981d8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF5O5TQF-cvfPJz-k79xSh9wuS13OaAsbUz3MiJiOBfxuAukzw_Ooft9WyAw6GTwOh8Td53-ZFtolEvqml99oiFX95bnE1FVF07KsMAG2k8cskLxZ5YKoo2xWsGk4_JmGOgeLGl78e0W-jdKXQRuc13xYLxa1oLIpa3VMQJ4_wSf8cEwwdySl9lTvFJhCVOgjpmpeOoUgEBxNBidCdsAf5qzvLzQRkGGGRex2qzUsbOOGyBf7MTYvqFakhGMmo0DqnDDiF4qKrjxuuuS0MJv0TgmGI6M7nDm5-tjrewHI1oOEInH3LSvOqaoXu4GRdA62bc0h0RdjOVQsMdTBREt8Jm2UwZens2lF4g6iw0nVE5h3I2meQ4sIXfydUTJcBFrCHCrrTTkwsEHBeXMtmVn8xQJ_RSkIfdQsnVzdI9FxWgFR_tWf-a-EyHas0AAOArJezcWYzH9AOi-YYxtfIkjtSTZmZ5UDTw35evPZcp6gbxVekxsjn3Samwtl4f3ICYOu99IaP0kSeK40wNyknFYq3RE6niiFmUc-_0OyK1svQBM3eFUgNQcv06Y3Vok16OqUGpOWOW5ENfE9vXdpARJU1UfVkJddh61U5AU5vpFWjV5PUXjRP2dNIZTkXv2d4ayp7YTxt1osGMhLiDxJRBqU7R1ft9b4hZJdIE6WWSgRWStjIwTleHfwyznmztudWNRp-fc78VA8KerlnZhFxvn_Jtcw9kGbmmRmqUoA0j01XmBEHwN8V_SlgpI75H-DY1pRsUnlonrmn3_Z3wwHGaFonLxFVfUBXRyn6cshaJ5SB87KOBvpBwK5N6zKVGGhvKUKR_T4Zl9aiwbanlRnMpshC9p_BH19jYl6LvqqWdaW7UbR_sZdvZiVKRbKHKIFmz8fyRMzTEbLjmtfE_4E06YaPn3Tg8JD0NASyCt329znbkh82ms4DXM9zWvp1_zS-NmI5n98J7I2sz025Q-eipbiNZeO4Exu6X8pGpnuuGzW41amcdXyJbnBduhRboKRS67rYKYEUIcB1k-tZ8J4F6F3tDtDuCQSVmelmOHpBIngKavXY-f6qstOkJzfDXFku8O9PoRTRqlETvoAR0t5OmYjTUfgTce8AaB1_sTTzdgHN6_xzFrDc_ehiogmZriCoXN_17ghQBAIN-PkZF1K1KAIFuhtD0e0myBHeTXOthsSwg2XkCt-grYcnQiy8lG_OoNckhlioatGd-ElEXdhrqM7ZWYig==",
  "id": "rs_0bf2da72686913b1016ab45e4d8ab087d0b0095cccc41e3e78",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The gripper is over the relocated blue bowl at a lower release height. I’m opening the jaws to place the yellow fruit with the pear.\"}",
  "call_id": "call_iCVKTgJUSbosdebMVAWRCavF",
  "id": "fc_0bf2da72686913b1016ab45e4dd9e487d08b549f449f73054f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iCVKTgJUSbosdebMVAWRCavF",
  "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]: [-0.0395, 0.8509, 0.6056, -0.4759, -0.0669, -0.1043, 0.993, 0.5049, 2.075, 1.3228, 0.3294, 0.466, 0.1223, 0.9959]\nstate[eef_state]: left_x=0.2837 left_y=0.0042 left_z=0.1467 left_yaw=0.0683 left_pitch=-0.1513 left_roll=-0.0184 left_gripper=0.993 right_x=0.5403 right_y=0.212 right_z=0.1262 right_yaw=0.038 right_pitch=0.192 right_roll=-0.0594 right_gripper=0.9959\nstate[joint_eff]: [-0.0615, -1.6068, 6.9402, 1.6239, -0.1001, -0.0317, -0.0122, -0.0752, -12.7248, 6.2017, 1.917, 0.1392, 0.1245, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33c227fff3e66f9dd551c8685de4c527acaa0671555ce65b6ce76ee306c2d376",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cc824af159a4707690c1d28a054e2badc0487429dad9ff333e46366cbbecc79",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e3ffd9b37f0ccdb9aa56364925b5c7370264b0e8e94c1c909eb5b77559f5c3c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 38 attempt 0 · /responses · status 200 · 4.513 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 134 changed as sent

message 142 changed as sent

message 146 changed as sent

message 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0399, 0.8463, 0.6056, -0.4755, -0.0669, -0.1047, 0.993, 1.4181, 1.6451, 0.5606, -0.2729, 0.984, 1.2751, 0.4964]\nstate[eef_state]: left_x=0.2836 left_y=0.0041 left_z=0.148 left_yaw=0.068 left_pitch=-0.1464 left_roll=-0.0192 left_gripper=0.993 right_x=0.1787 right_y=0.2179 right_z=0.0228 right_yaw=0.0042 right_pitch=-0.0035 right_roll=-0.0219 right_gripper=0.4964\nstate[joint_eff]: [-0.1162, -1.4701, 6.9812, 1.6728, -0.0464, -0.0464, -0.0122, -0.1026, -6.2291, 4.3009, 0.7057, 0.4274, 0.0317, 0.9011]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0395, 0.8497, 0.6056, -0.4763, -0.0669, -0.1047, 0.993, 0.5064, 2.0594, 1.3174, 0.3412, 0.4759, 0.1352, 0.4973]\nstate[eef_state]: left_x=0.2836 left_y=0.0042 left_z=0.1469 left_yaw=0.0685 left_pitch=-0.1505 left_roll=-0.0188 left_gripper=0.993 right_x=0.5398 right_y=0.211 right_z=0.1354 right_yaw=0.022 right_pitch=0.2138 right_roll=-0.0403 right_gripper=0.4973\nstate[joint_eff]: [-0.1709, -1.7299, 7.1179, 1.5702, -0.0415, -0.0317, -0.0073, -0.9094, -11.5897, 8.5538, 2.21, 0.2808, -0.0171, 0.0513]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 146 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0395, 0.8509, 0.6056, -0.4759, -0.0669, -0.1043, 0.993, 0.5049, 2.075, 1.3228, 0.3294, 0.466, 0.1223, 0.9959]\nstate[eef_state]: left_x=0.2837 left_y=0.0042 left_z=0.1467 left_yaw=0.0683 left_pitch=-0.1513 left_roll=-0.0184 left_gripper=0.993 right_x=0.5403 right_y=0.212 right_z=0.1262 right_yaw=0.038 right_pitch=0.192 right_roll=-0.0594 right_gripper=0.9959\nstate[joint_eff]: [-0.0615, -1.6068, 6.9402, 1.6239, -0.1001, -0.0317, -0.0122, -0.0752, -12.7248, 6.2017, 1.917, 0.1392, 0.1245, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33c227fff3e66f9dd551c8685de4c527acaa0671555ce65b6ce76ee306c2d376",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cc824af159a4707690c1d28a054e2badc0487429dad9ff333e46366cbbecc79",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e3ffd9b37f0ccdb9aa56364925b5c7370264b0e8e94c1c909eb5b77559f5c3c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF5XVBB2aAauL_q6m3j_Omt_x-_kX-zcVr_azsUfwDPsUbSwkG29VtFh39BYkw38AMxYqzNZpJR7ubtHDsf517l5bEg1czRzA7E9FWEkhtnFkmRoFQcDGrvA3Hrp3HLlNaRiowbrn19wN2CzewJ3tgO3JZu2WJs8fwlulivfUadW35EAjwC36lqDfOPhgC-g6IQBJyX3cYEZCBbj1zGCTppAF6IMzpxwxyVM-7f63Y9ZALXRqQ_knNF-CtUlaD6PFh98HU0RZ_kDD-w9-ZHm5RX769z5PWUP4DuH4W-MN6aCyC8p4vM3kVTgaAuykYXDxkPxlK-_BmxhBrSq5mrCrFREIyIKU7WEs8ApuT9H5jINPh12r4BXTUo6DcYNF5L4-hqVZQ9YZPPMBJOkDYPtl5GOhJcZ7IgVrQOHbslgx7NY4IgE60lSd7_VAibq4OyG0gik1UXGeJk9g02rL2RajK5atFA2-yAvTc7S_F7DBOKWHjRIIl5HnlZXsCGgSWkxp9dkzcooDAJlCUIwC3S_J-zIufefeSiaVT3-LfN0wChXKY3eD2gYwhOEim9_uLS5OSVmZ4eDYqHqzaSTRbSugZmLhAF8EUOLRwci7RiFOoWsc6RFL0pP_4A4wRkl9c7OsR2GtDQ2YBtGOEJVBaTjJmkOeKlJWuBfap3raYOTRWVKqNZEvgupFmdVAP74f3gUhlUVa8c8zhFAds9OVY8UrSGVqklIIMGTA9rQVOJePe4rDOO06XeMwDUWW0x9HJ0bYD0J55gIa35QmDchp5L7ebQCb5tyDc3PlfK1sDpMHBkUIG2YzZ9uQzY2LKpePI69-wfGokN-uP8vdOm8IiO7dIFe5KIXrlCWiFaZuXBBwymosF13BrbkClgagqCbK3U9ihAOAA7z3v23_NaQkLMTzWmP6rgUdk3YS3e8dui2n7KsC2zEdQTAo6ibp7_uIhYosxss-qO3agsv9jV56F0wnt_4FCCZqe5rKoIM6yH-L7jc8a0Lc3yCYb6kWyCtU-EheVrf0L4NcMZHR_Xu-w_fX3XT51JeJZrnqNH3pf7BMQWrmY0FXvTC-5UiNNU4stCoQJsnVbp5Js7uyq1VoKBajBb1oL9hkezLm7IBtJsPo55JVkyQ6zZ2w_yhv4njMRi6L1EL3Trbjkw-FtOyfVZXUfH7b3HKqHFu5GZroYF-1Dt-t5f1GbFmIhB8Bbj-xz14soczK0q_59BTE1t8e6w_elfS3VoDUh8Bo2ceXbvm7waqthfynzsbPN44wUJW0j3IA1WKR096u_wAhzR1Xygr9C_daO0lT1U71-Aj4Tjlwvsh-jnFPIVAjOT3dljVbWgxu9LcHqIIUQgNtk6-JXpNbcGEUnRHWQF5-BlKxSeOoFhpHwC-CH7qWOUktAxpyr21Lf8oQuyK2s3je_HOkzQjFr-EJDUwb9bhtwlSZusvL5lsWou_Q_cchqetfpYk7hQRxDOsKPmwmTzsz7WGtOW5pFjzkhwwdKtp-Fae5N91LGisRT1kgWmIAAPcSEYL_cYjIm4OE4IqBV2JtLgH1ADhxa2LAaRbFmO-ALlOF6g0x97uzuLYpSSC92U3I8JK0UKpQqmaeRVD0CXEdzqMmU6D8r5WFLnRaqoQJcJ5gMEtQ1w8-dgL1TGqw2WE-pVUDg-RWQVLQtklb-ok3xWFpN4FjTeKOw7uLdpelnSWR3vmfRAORQvOrfK54Lze8SnEAcf5EgSp9k8nmlA39zmamEzHq1lrLbs4yRG9ctH3CBuCG48btj_HG86zKrg2avxRgynRJIKGzXqJafh2GDaLm16vIFIB13QcSXRmz0xBdr_ghe0qnVDAaza1BEVYX7CPLz8aMz5L0TdPa-tWW3dbZ-53x8f_nJB9S2yUPn5PpxAHKddUADmYPm0iPDcjpngWSaLKEdAQJ2_zL93Y1InrBCaV8eYTlgVikJ_Yzd4dqpQY4Av2woFPA1ANen3uPqnMwJ1k8_yPEOkFNlXjqTufJraYro8RG9-4kJpyq7rkL36al4zlYIqJsx67NU1kfE2JGToluKNSFO8NSlIp9pBP-AQ4d8BuS_VgSvmqvbXs8einBbueP1iPO3MIMUdDt3FTJ5BslVnIYyW8pHLlf6JiMEHfX0I58MLLcCY_sLYam6lP1n5L9Eph2vmodeHjBsEUv4A_DtseOZpWmFAemVNwQMH8igPdhLg2OCykatl2B3phdaC2bvO5sB0mLkW_g3RQlqELdw2Fvuf_WLJMYVld3ThEYw4cK27hg5x2I5ObcsA791P-P8KWbkg8QbGfYrVoOwJ21U68",
  "id": "rs_0bf2da72686913b1016ab45e52458c87d0b6c972793fe5fdef",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0,\"right_z\":0.23,\"right_pitch\":0,\"right_yaw\":0,\"right_roll\":0,\"left_x\":0.296,\"left_y\":0,\"left_z\":0.2,\"left_pitch\":0,\"left_yaw\":0,\"left_roll\":0},\"note\":\"The yellow fruit is visible beyond the fingertips after release, so I cannot confirm that it stayed in the blue bowl. I’m clearing both arms to inspect the final positions safely.\"}",
  "call_id": "call_7Eui7QyTzpqB78TVOW3OUglD",
  "id": "fc_0bf2da72686913b1016ab45e55e21c87d0ad4e87749189ed47",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7Eui7QyTzpqB78TVOW3OUglD",
  "output": [
    {
      "text": "executing move_to over 19 steps (1.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0257, 0.8177, 0.6483, -0.4831, -0.0284, -0.049, 0.993, 0.0025, 0.8696, 0.7898, -0.4622, 0.0463, 0.0067, 0.9967]\nstate[eef_state]: left_x=0.2873 left_y=0.0012 left_z=0.1728 left_yaw=0.0187 left_pitch=-0.0841 left_roll=-0.0051 left_gripper=0.993 right_x=0.3101 right_y=-0.0038 right_z=0.227 right_yaw=-0.0453 right_pitch=0.0272 right_roll=-0.0053 right_gripper=0.9967\nstate[joint_eff]: [0.5949, -1.9897, 10.4274, 1.9902, 0.1392, 0.149, -0.0122, -0.1709, -1.7162, 9.4291, 1.8828, -0.0513, -0.0073, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 371):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d73515b14b6c2530d13298ccba90b5c219d83f618de553bff58446e325d69495",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 371):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b52a78ec86369aa335c73db44973a12a96f40b6bd20a5289d183d33354ce33e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 371):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a1acd29abc4d45ff4de00fe235f5eaedc1ada656d504fa387b053d97f89d46e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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